LH1 0111 Eng

s
SINAMICS S120/S150

List Manual 01/2011
SINAMICS
01/2011
SINAMICS
SINAMICS S120/S150

List Manual
Valid for
Drive Firmware version
SINAMICS 4.4
6SL3097-4AP00-0BP2
s
Preface
Parameters
1
Function diagrams
2
Faults and alarms
3
Appendix
A
List of abbreviations
B
List of references
C
Index
D
Copyright Siemens AG 2011 All Rights Reserved
The reproduction, transmission, or use of this document or its con-
tents is not permitted without express written permission. Failure to
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cially those relating to granting patents or GM registration.
Siemens AG
Industry Sector
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Liability Disclaimer
We have checked that the contents of this document correspond to
the hardware and software described. Nevertheless, we cannot as-
sume responsibility for any deviations that may arise. The data in this
document is regularly checked and any necessary corrections includ-
ed in subsequent editions.
Siemens AG 2011
Subject to change without prior notice
Safety Notices
This Manual contains information which you must observe to ensure your own personal safety as well as
to avoid material damage. The notices referring to your personal safety are highlighted in the manual by
a warning triangle; notices that relate to material damage only have no warning triangle. The notices
shown below are graded according to the level of hazard (from most to least hazardous):
If more than one level of hazard exists, the warning for the highest hazard level is always used. A warning
on a warning triangle indicating possible personal injury may also include a warning relating to material
damage.
Qualified Personnel
The associated device/system may only be installed and operated in conjunction with this documentation.
The equipment/system may only be commissioned and operated by qualified personnel. For the pur-
pose of the safety information in this documentation, a "qualified person" is someone who is authorized to
start up, ground and tag equipment, systems and circuits in accordance with established safety proce-
dures.
Proper Use of Siemens Products
Please observe the following:
Trademarks
All names identified with are registered trademarks of Siemens AG. Any other names used in this pub-
lication may be trademarks whose use by third parties for their own purposes could violate the rights of
the owner.
Danger
Indicates that death or serious injury will result if proper precautions are not taken.
Warning
Indicates that death or serious injury may result if proper precautions are not taken.
Caution
With a warning triangle, indicates that minor injury may result if proper precautions are not taken.
Caution
Without a warning triangle, indicates that material damage may result if proper precautions are not taken.
Notice
Indicates that an undesirable result or condition may occur if the corresponding instructions are not
observed.
Warning
Siemens products are only permitted to be used for the applications envisaged in the catalog and in the
associated technical documentation. If third-party products and components are to be used, they must be
recommended or approved by Siemens. To ensure proper and safe operation of these products, they must
be correctly transported, stored, set up, mounted, installed, commissioned, operated, and maintained. The
permissible ambient conditions must be met. Information in the associated documentation must be
observed.
Siemens Aktiengesellschaft SINAMICS S120/S150 List Manual (LH1)
Preface-5 Siemens AG 2011 All Rights Reserved
SINAMICS S120/S150 List Manual (LH1), 01/2011, 6SL3097-4AP00-0BP2
Preface
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
General documentation/catalogs
Manufacturer/service documentation
More information
Information on the following topics is available under the link:
Ordering documentation/overview of documentation
Additional links to download documents
Using documentation online (find and search in manuals/information).
http://www.siemens.com/motioncontrol/docu
Please send any questions about the technical documentation (e.g. suggestions
for improvement, corrections) to the following e-mail address:
docu.motioncontrol@siemens.com
My Documentation Manager
Information on how to produce individual contents for your own machine docu-
mentation based on Siemens contents is available under the link:
http://www.siemens.com/mdm
Training
Information about SITRAIN (Siemens Training on products, systems and solu-
tions for automation) is available under the following link:
http://www.siemens.com/sitrain
FAQs
You can find Frequently Asked Questions in the Service&Support pages under
Product Support:
http://support.automation.siemens.com
Preface
SINAMICS
You can find information on SINAMICS at:
http://www.siemens.com/sinamics
Usage phases and their tools/documents (as an example)
Target group
This documentation is aimed at machine manufacturers, commissioning engi-
neers, and service personnel who use SINAMICS.
Benefits
This documentation contains the comprehensive information about parameters,
function diagrams and faults and alarms required to commission and service the
system.
Table Preface-1Usage phases and the available tools/documents
Usage phase Tools/documents
Orientation SINAMICS S Sales Documentation
Planning/configuration SIZER configuration tool
Configuration Manuals, Motors
Decision making/order-
ing
SINAMICS S Catalogs
Installation/assembly SINAMICS S120 Equipment Manual for Control Units and
Additional System Components
SINAMICS S120 Equipment Manual for Booksize Power
Units
SINAMICS S120 Equipment Manual for Chassis Power
Units
SINAMICS S150 Operating Instructions
Commissioning STARTER commissioning tool
SINAMICS S120 Getting Started
SINAMICS S120 Commissioning Manual
SINAMICS S120 CANopen Commissioning Manual
SINAMICS S120 Function Manual
SINAMICS S120/S150 List Manual
Usage/operation SINAMICS S120 Commissioning Manual
Maintenance/servicing SINAMICS S120 Commissioning Manual
Preface
This manual should be used in addition to the other manuals and tools provided
for the product.
Standard scope
The scope of the functionality described in this document can differ from the
scope of the functionality of the drive system that is actually supplied.
Other functions not described in this documentation might be able to be exe-
cuted in the drive system. This does not, however, represent an obligation to
supply such functions with a new control or when servicing.
The documentation can also contain descriptions of functions that are not
available in a particular product version of the drive system. The functionalities
of the supplied drive system should only be taken from the ordering documen-
tation.
Extensions or changes made by the machine manufacturer must be docu-
mented by the machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed infor-
mation on all of the product types. This documentation cannot take into consider-
ation every conceivable type of installation, operation and service/maintenance.
Search tools
The following guides are provided to help you locate information in this manual:
1. List of contents
General list of contents for the complete manual (after the preface).
List of contents for function diagrams (Section 2.1).
2. List of abbreviations
3. List of references
4. Index (Index)
Technical support
Country-specific telephone numbers for technical support are provided on the
Internet at:
http://www.siemens.com/automation/service&support
EC Declaration of Conformity
The EC Declaration of Conformity for the EMC Directive can be found on the
Internet at:
http://support.automation.siemens.com
There, as the search term, enter the number 15257461 or contact your local Sie-
mens office.
Preface
Contents-9 Siemens AG 2011 All Rights Reserved
Contents
1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.1 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.1.1 Explanation of list of parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.1.2 Number ranges of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28
1.2 List of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31
1.3 Parameters for data sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1416
1.3.1 Parameters for command data sets (CDS) . . . . . . . . . . . . . . . . . . . . . . 1-1416
1.3.2 Parameters for drive data sets (DDS) . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1419
1.3.3 Parameters for encoder data sets (EDS) . . . . . . . . . . . . . . . . . . . . . . . 1-1431
1.3.4 Parameters for motor data sets (MDS) . . . . . . . . . . . . . . . . . . . . . . . . . 1-1433
1.3.5 Parameters for power unit data sets (PDS). . . . . . . . . . . . . . . . . . . . . . 1-1437
2 Function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1439
2.1 List of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1441
2.2 Explanations on the function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . 2-1452
2.3 Overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1457
2.4 CU310-2 input/output terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1483
2.5 CU320-2 input/output terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1492
2.6 CU_LINK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1499
2.7 CX32-2 input/output terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1501
2.8 PROFIdrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1505
2.9 Internal control/status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1560
2.10 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1573
2.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1576
2.12 Safety Integrated. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1581
2.13 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1601
2.14 Setpoint channel not activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1612
2.15 Basic positioner (EPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1614
2.16 Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1630
2.17 Encoder evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1635
2.18 Servo control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1644
2.19 Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1664
2.20 Technology functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1694
2.21 Technology controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1702
2.22 Signals and monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1708
Contents
Contents-10 Siemens AG 2011 All Rights Reserved
2.23 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1717
2.24 Data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1723
2.25 Basic Infeed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1729
2.26 Smart Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1736
2.27 Active Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1745
2.28 Terminal Board 30 (TB30). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1757
2.29 Communication Board CAN10 (CBC10) . . . . . . . . . . . . . . . . . . . . . . . . 2-1762
2.30 Terminal Module 15 for SINAMICS (TM15DI/DO) . . . . . . . . . . . . . . . . 2-1769
2.31 Terminal Module 31 (TM31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1773
2.32 Terminal Module 120 (TM120) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1784
2.33 Terminal Module 41 (TM41) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1788
2.34 Auxiliaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1802
2.35 Voltage Sensing Module (VSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1805
2.36 Basic Operator Panel 20 (BOP20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1809
2.37 Braking Module External . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1811
3 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1813
3.1 Overview of faults and alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1814
3.1.1 General information on faults and alarms . . . . . . . . . . . . . . . . . . . . . . . 3-1814
3.1.2 Explanation of the list of faults and alarms . . . . . . . . . . . . . . . . . . . . . . 3-1819
3.1.3 Number ranges of faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1822
3.2 List of faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1824
A Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2269
A.1 ASCII table (excerpt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2270
B List of abbreviations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2271
C List of references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2281
D Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2287
1-11 Siemens AG 2011 All Rights Reserved
Parameters 1
Contents
1.1 Overview of parameters 1-12
1.2 List of parameters 1-31
1.3 Parameters for data sets 1-1416
Parameters
Overview of parameters
1.1 Overview of parameters
1.1.1 Explanation of list of parameters
Basic structure of parameter descriptions
The data in the following example has been chosen at random. The table below
contains all the information that can be included in a parameter description. Some
of the information is optional.
The parameter list (See Chapter 1.2) is structured as follows:
- - - - - - - - - - - - - - - - - - - - Start of example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Description: Text
Values: 0: Name and meaning of value 0
1: Name and meaning of value 1
2: Name and meaning of value 2
etc.
Recommenda-
tion:
Text
Index: [0] = Name and meaning of index 0
[1] = Name and meaning of index 1
[2] = Name and meaning of index 2
etc.
Dependency: Text
See also: pxxxx, rxxxx
See also: Fxxxxx, Axxxxx
Note: Information which might be useful.
- - - - - - - - - - - - - - - - - - - - End of example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
pxxxx[0...n] BICO: Full parameter name/Abbreviated name
Drive object (func-
tion module)
Can be changed: C1(x), C2(x), U, T Calculated: CALC_MOD_REG Access level: 2
Data type: Unsigned32/Integer16 Dynamic index: CDS, p0170 Function diagram: 2080
P group: Closed-loop control Unit group: 7_1 Unit selection: p0505
Not for motor type: FEM Scaling: p2000 Expert list: 1
Min Max Factory setting
0.00 [Nm] 10.00 [Nm] 0.00 [Arms]
Bit array: Bit Signal name 1 signal 0 signal FP
00 Name and meaning of bit 0 Yes No 8010
01 Name and meaning of bit 1 Yes No -
02 Name and meaning of bit 2 Yes No 8012
etc.
Danger: WARNING: Caution: Safety notices with a warning triangle
Caution: Notice: Safety notices without a warning triangle
Parameters
pxxxx[0...n] Parameter number
The parameter number is made up of a "p" or "r", followed by the parameter num-
ber and the index (optional).
Examples of number representation in the parameter list:
Other examples of the notation used in the documentation:
The following applies to adjustable parameters:
The parameter value "when shipped" is specified under "Factory setting" with the
relevant unit in square parentheses. The value can be adjusted within the range
defined by "Min" and "Max".
The term "linked parameterization" is used in cases where changes to adjustable
parameters affect the settings of other parameters.
Linked parameterization can occur, for example, as a result of the following
actions or parameters:
Execution of macros
p0015, p0700, p1000, p1500
Setting PROFIBUS telegram (BICO interconnection)
p0922
Setting component lists
p0230, p0300, p0301, p0400
Automatic calculation and pre-assignment
p0112, p0340, p0578, p3900
Restoring factory settings
p0970
The following applies to display parameters:
The fields "Min", "Max" and "Factory setting" are specified with a dash "-" and the
relevant unit in square parentheses.
p... Adjustable parameter (read and write parameter)
r... Display parameter (read-only)
p0918 Adjustable parameter 918
p0099[0...3] Adjustable parameter 99, indices 0 to 3
p1001[0...n] Adjustable parameter 1001, indices 0 to n (n = configurable)
r0944 Display parameter 944
p1070[1] Adjustable parameter 1070, index 1
p2098[1].3 Adjustable parameter 2098, index 1 bit 3
r0945[2](3) Display parameter 945, index 2 of drive object 3
p0795.4 Adjustable parameter 795, bit 4
r2129.0...15 Display parameter 2129 with bit array (maximum 16 bit)
Parameters
BICO: Full parameter name/Abbreviated name
The following abbreviations can appear in front of the parameter name:
Drive object (function module)
A drive object (DO) is an independent, "self-contained" functional unit that has its
own parameters and, in some cases, faults and alarms.
When carrying out commissioning using the commissioning software, you can
select/deselect additional functions and their parameters by activating/deactivat-
ing function modules accordingly.
The parameter list specifies the associated drive object and function module for
each individual parameter.
Note:
The parameter list can contain parameters that are not visible in the expert lists
of the respective commissioning software (e.g. parameters for trace functions).
BI: Binector Input
This parameter is used for selecting the source of a digital signal.
BO: Binector Output
This parameter is available as a digital signal for interconnection
with other parameters.
CI: Connector Input
This parameter is used for selecting the source of an analog sig-
nal.
CO: Connector Output
This parameter is available as an analog signal for interconnec-
tion with other parameters.
CO/BO: Connector/Binector Output
This parameter is available as an "analog" and digital signal for
interconnection with other parameters.
Note:
A connector input (CI) cannot be just interconnected with any connector output
(CO, signal source).
When interconnecting a connector input using the commissioning software, only
the corresponding possible signal sources are listed.
Note:
References: /FH1/ SINAMICS S120 Function Manual Drive Functions
Parameters
Examples:
p1070 CI: Main setpoint
SERVO (extended setpoint), VECTOR
The parameter is available only in association with drive object SERVO and
the "Extended setpoint channel" function module or with drive object VECTOR
irrespective of activated function modules.
p1055 BI: Jog bit 0
SERVO, VECTOR
The parameter is available in association with drive objects SERVO and VEC-
TOR irrespective of activated function modules, i.e. it is also available with
every activated function module belonging to the respective drive object.
A parameter can belong to a single, multiple, or all drive objects.
The following information relating to "Drive object" and "Function module" can be
displayed under the parameter number:
Table 1-1 Data in the Drive object (function module) field
Drive object (func-
tion module)
Type Meaning
All objects - All drive objects have this parameter.
A_INF 10 Active Infeed Control
Closed-loop controlled, self-commutated infeed/regenerative feed-
back unit for generating a constant DC-link voltage
A_INF (line trans-
former)
- Active Infeed with "Line transformer" function module (r0108.4).
A_INF (dynamic grid
support)
- Active Infeed with "Dynamic grid support" function module (r0108.7).
A_INF (line droop con-
trol)
- Active Infeed with "Line droop control" function module (r0108.12).
A_INF (parallel) - Active Infeed with "Parallel connection" function module (r0108.15).
A_INF (master/slave) - Active Infeed with "Master/Slave" function module (r0108.16).
A_INF (brk mod ext) - Active Infeed with "Braking Module External" function module
(r0108.26).
A_INF (cooling unit) - Active Infeed with "Cooling unit" function module (r0108.28)
A_INF (PROFINET) - Active Infeed with "PROFINET" function module (r0108.31).
B_INF 30 Basic Infeed closed-loop control
Unregulated line infeed unit (without feedback) for rectifying the line
voltage of the DC link
B_INF (parallel) - Basic Infeed with "Parallel connection" function module (r0108.15).
B_INF (brk mod ext) - Basic Infeed with "Braking Module External" function module
(r0108.26).
B_INF (cooling unit) - Basic Infeed with "Cooling unit" function module (r0108.28)
B_INF (PROFINET) - Basic Infeed with "PROFINET" function module (r0108.31).
CU - Control Unit, all versions.
Parameters
CU (CAN) - Control Unit with "CAN" function module.
CU (COMM BOARD) Control Unit with "COMM BOARD" function module.
CU (PROFINET) Control Unit with "PROFINET" function module.
CU_S 1 Control Unit SINAMICS S120.
CU_S_S150 - Control Unit SINAMICS S150.
CU_S_CU310DP - Control Unit SINAMICS S120 AC Drive with PROFIBUS interface.
CU_S_CU310PN - Control Unit SINAMICS S120 AC Drive with PROFINET interface.
CU_CX32 - Controller Extension for boosting the processing performance
CU_LINK 254 Object for Controller Extension 32 (CX32)
CU_I - Control Unit SINAMICS Integrated (only SIMOTION D4x5).
ENCODER 300 Object for a DRIVE-CLiQ encoder.
HUB 150 DRIVE-CLiQ Hub Module.
S_INF 20 Smart Infeed control
Unregulated line infeed/feedback unit for generating the DC link volt-
age.
S_INF (parallel) - Smart Infeed with "Parallel connection" function module (r0108.15).
S_INF (brk mod ext) - Smart Infeed with "Braking Module External" function module
(r0108.26).
S_INF (cooling unit) - Smart Infeed with "Cooling unit" function module (r0108.28).
S_INF (PROFINET) - Smart Infeed with "PROFINET" function module (r0108.31).
SERVO 11 Servo drive.
SERVO (extended
M_ctrl)
- Servo drive with "Extended torque control" function module (r0108.1).
SERVO (cl. loop posi-
tion ctrl)
- Servo drive with "Closed-loop position control" function module
(r0108.3).
SERVO (EPOS) - Servo drive with "Basic positioner" function module (r0108.4).
SERVO (APC) - Servo drive with "Advanced Positioning Control (APC)" function mod-
ule (r0108.7).
SERVO (extended set-
point)
- Servo drive with "Extended setpoint channel" function module
(r0108.8).
SERVO (Spin) - Servo drive with "Spindle" function module (r0108.11).
This function module can only be used in conjunction with a Sensor
Module Integrated 24 (SMI24).
SERVO (Lin) - Servo drive with "Linear motor" function module (r0108.12).
SERVO (Safety red) - Servo drive with "Safety rotary axis" function module (r0108.13).
SERVO (ext. brake) - Servo drive with "Extended brake control" function module (r0108.14)
SERVO (Tech_ctrl) - Servo drive with "Technology controller" function module (r0108.16)
Table 1-1 Data in the Drive object (function module) field, continued
Drive object (func-
tion module)
Type Meaning
Parameters
SERVO (ext. msg) - Servo drive with "Extended messages/monitoring functions" function
module (r0108.17).
SERVO (cooling unit) - Servo drive with "Cooling unit" function module (r0108.28).
SERVO (CAN) - Servo drive with "CAN" function module (r0108.29).
SERVO (PROFINET) - Servo drive with "PROFINET" function module (r0108.31).
TB30 100 Terminal Board 30
TM120 207 Terminal Module 120
TM15 203 Terminal Module 15 (SIMOTION D4xx only).
TM15DI_DO 204 Terminal Module 15 (for SINAMICS)
TM17 202 Terminal Module 17 (SIMOTION D4xx only).
TM54F_MA 205 Terminal Module 54F Master.
TM54F_SL 206 Terminal Module 54F Slave.
VECTOR 12 Vector drive.
VECTOR (n/M) - Vector drive with "Closed-loop speed/torque control" function module
(r0108.2).
VECTOR (pos ctrl) - Servo drive with "Closed-loop position control" function module
(r0108.3).
VECTOR (EPOS) - Vector drive with "Basic positioner" function module (r0108.4).
VECTOR (Safety red) - Vector drive with "Safety rotary axis" function module (r0108.13).
VECTOR (ext. brake) - Vector drive with "Extended brake control" function module
(r0108.14).
VECTOR (parallel) - Vector drive with "Parallel connection" function module (r0108.15).
VECTOR (tech_ctrl) - Vector drive with "Technology controller" function module (r0108.16).
VECTOR (ext. mess.) - Vector drive with "Extended messages/monitoring functions" function
module (r0108.17).
VECTOR (cooling unit) - Vector drive with "Cooling unit" function module (r0108.28).
VECTOR (CAN) - Vector drive with "CAN" function module (r0108.29).
VECTOR (PROFINET) - Vector drive with "PROFINET" function module (r0108.31).
Table 1-1 Data in the Drive object (function module) field, continued
Drive object (func-
tion module)
Type Meaning
Note:
The drive object type is used to identify the drive objects in the drive system (e.g.
r0107, r0975[1]).
Parameters
Can be changed
The "-" sign indicates that the parameter can be changed in any object state and
that the change will be effective immediately.
The information "C1(x), C2(x), T, U" ((x): optional) means that the parameter can
be changed only in the specified drive object state and that the change will not
take effect until the object switches to another state. This can be a single state or
multiple states.
The following states may be specified:
C1(x) Device commissioning C1: Commissioning 1
Device commissioning is in progress (p0009 >0).
Pulses cannot be enabled.
The parameter can only be changed when the device commissioning
settings (p0009 > 0) are as follows:
C1: Can be changed for all settings p0009 > 0.
C1(x): Can only be changed when the settings are p0009 = x
A modified parameter value does not take effect until device commis-
sioning mode is exited with p0009 = 0.
C2(x) Drive object commissioning C2: Commissioning 2
Drive commissioning is in progress (p0009 = 0 and p0010 > 0).
Pulses cannot be enabled.
The parameter can only be changed when the drive commissioning
settings (p0010 > 0) are as follows:
C2: Can be changed for all settings p0010 > 0
C2(x): Can only be changed when p0010 = x
A modified parameter value does not take effect until drive commis-
sioning mode is exited with p0010 = 0.
U Operation U: Run
Pulses are enabled.
T Ready for operation T: Ready to run
The pulses are not enabled and the status C1(x) or C2(x) is not
active.
Note:
Parameter p0009 is CU-specific (present on Control Unit).
Parameter p0010 is drive-specific (present for each drive object).
The operating state of individual drive objects is displayed in r0002.
Parameters
Calculated
Specifies whether the parameter is influenced by automatic calculations.
The calculation attribute defines which activities influence the parameter.
The following attributes apply:
CALC_MOD_ALL
p0340 = 1
Project download with commissioning software and send from p0340 = 3
CALC_MOD_CON
p0340 = 1, 3, 4
CALC_MOD_EQU
p0340 = 1, 2
CALC_MOD_LIM_REF
p0340 = 1, 3, 5
p0578 = 1
CALC_MOD_REG
p0340 = 1, 3
Access level
Specifies the access level required to be able to display and change the relevant
parameter. The required access level can be set via p0003.
The system uses the following access levels:
1. Standard
2. Extended
3. Expert
4. Service
Parameters with this access level are password protected.
Note:
For p3900 > 0, p0340 = 1 is also called automatically.
After p1910 = 1, p0340 = 3 is also called automatically.
Note:
Parameters
Data type
The information on the data type can consist of the following two items (separated
by a slash):
First item
Data type of the parameter
Second item (for binector or connector input only)
Data type of the signal source to be interconnected (binector/connector out-
put)
Parameters can have the following data types:
Depending on the data type of the BICO input parameters (signal sink) and BICO
output parameter (signal source), the following combinations are possible when
BICO interconnections are established:
I8 Integer8 8-bit integer
U8 Unsigned8 8 bits without sign
Float FloatingPoint32 32-bit floating point number
Table 1-2 Possible combinations of BICO interconnections
BICO input parameter
CI parameter BI parameter
BICO output parameter Unsigned32/Inte
ger16
Unsigned32/Inte
ger32
Unsigned32/Floa
tingPoint32
Unsigned32/Bina
ry
CO: Unsigned8 x x
CO: Unsigned16 x x
CO: Integer16 x x
CO: Unsigned32 x x
CO: Integer32 x x
CO: FloatingPoint32 x x x
1
BO: Unsigned8 x
BO: Unsigned16 x
Legend: x: BICO interconnection permitted
: BICO interconnection not permitted
1 Exception:
BICO input parameters with data type "Unsigned32/FloatingPoint32" can also be interconnected with the following
BICO output parameters, despite the fact that these are not of the "FloatingPoint32" data type:
CO: r8850, CO: r8860, CO: r2050, CO: r2060
Parameters
Dynamic index
For parameters with a dynamic index [0 to n], the following information is specified
here:
Data set (if available).
Parameter for the number of indices (n = number - 1).
This field can contain the following information:
"CDS, p0170" (Command Data Set, CDS count)
Example:
p1070[0] main setpoint [command data set 0]
p1070[1] main setpoint [command data set 1], etc.
"DDS, p0180" (Drive Data Set, DDS count)
"EDS, p0140" (Encoder Data Set, EDS count)
"MDS, p0130" (Motor Data Set, MDS count)
"PDS, p0120" (Power unit Data Set, PDS count)
"p2615" (traversing blocks count)
BO: Integer16 x
BO: Unsigned32 x
BO: Integer32 x
BO: FloatingPoint32
Table 1-2 Possible combinations of BICO interconnections, continued
BICO input parameter
CI parameter BI parameter
BICO output parameter Unsigned32/Inte
ger16
Unsigned32/Inte
ger32
Unsigned32/Floa
tingPoint32
Unsigned32/Bina
ry
Legend: x: BICO interconnection permitted
: BICO interconnection not permitted
1 Exception:
BICO input parameters with data type "Unsigned32/FloatingPoint32" can also be interconnected with the following
BICO output parameters, despite the fact that these are not of the "FloatingPoint32" data type:
CO: r8850, CO: r8860, CO: r2050, CO: r2060
Note:
Information on the data sets can be taken from the following references:
Chapter "Data Sets"
Parameters
Function diagram
The parameter is included in this function diagram. The structure of the parameter
function and its relationship with other parameters is shown in the specified func-
tion diagram.
Example:
P group (refers only to access via BOP (Basic Operator Panel))
Specifies the functional group to which the parameter belongs. The required
parameter group can be set via p0004.
"Unit", "Unit group", and "Unit selection"
The standard unit of a parameter is specified in square parentheses after the val-
ues for "Min", "Max", and "Factory setting".
For parameters where the unit can be switched, the specifications for "Unit group"
and "Unit selection" determine the group to which this parameter belongs and with
which parameter the unit can be switched over.
Example:
Unit group: 7_1, unit selection: p0505
The parameter belongs to unit group 7_1 and the unit can be switched over using
p0505.
All the potential unit groups and possible unit selections are listed below.
Function diagram: 3060.3 3060: Function diagram number
3: Signal path (optional)
Note:
Note:
Detailed information on switching over units can be found in the following refer-
ences:
References: /BA3/ SINAMICS S150 Operating Instructions
Table 1-3 Unit groups (p0100)
Unit group Unit selection for p0100 = Reference variable
at %
0 1
7_4 Nm lbf ft -
8_4 N lbf -
Parameters
14_2 W HP -
14_6 kW HP -
25_1 kgm
2
lb ft
2
-
27_1 kg lb -
28_1 Nm/A lbf ft/A -
29_1 N/Arms lbf/Arms -
30_1 m ft -
at %
1 2
15_1 mH %
16_1 Ohms %
at %
1 2 3 4
2_1 Hz % Hz % p2000
2_2 kHz % kHz % p2000
3_1 rpm % rpm % p2000
4_1 m/min % ft/min % p2000
4_2 m/min m/min ft/min ft/min -
5_1 Vrms % Vrms % p2001
5_2 V % V % p2001
5_3 V % V % p2001
6_1 mArms % mArms % p2002
6_2 Arms % Arms % p2002
6_3 mA % mA % p2002
6_4 A % A % p2002
6_5 A % A % p2002
7_1 Nm % lbf ft % p2003
Table 1-3 Unit groups (p0100), continued
at %
0 1
1000 p0304
2 3 p0305 p0310
-----------------------------------------------------------------
p0304
3 p0305
----------------------------
Parameters
7_2 Nm Nm lbf ft lbf ft -
7_3 Nm % lbf ft % 1.0
8_1 N % lbf % p2003
8_2 N N lbf lbf -
8_3 N % lbf % 1.0
14_1 W % HP % r2004 (drive)
14_3 W % HP % r2004 (infeed)
14_4 W % HP % r2004 (drive)
14_5 kW % HP % r2004 (drive)
14_7 kW % HP % r2004 (infeed)
14_8 kW % HP % r2004 (drive)
14_9 W W HP HP -
14_10 kW kW HP HP -
14_11 var % var % r2004
14_12 kvar % kvar % r2004
17_1 Nms/rad % lbf ft
s/rad
% p2000/p2003
18_1 V/A % V/A % p2002/p2001
19_1 A/V % A/V % p2001/p2002
21_1 C C F F
21_2 K K F F -
22_1 m/s
2
m/s
2
ft/s
2
ft/s
2
-
22_2 m/s
2
% ft/s
2
% p2007
23_1 Vrms
s/m
Vrms
s/m
Vrms s/ft Vrms s/ft -
24_1 Ns/m Ns/m lbf s/ft lbf s/ft -
24_2 Ns/m % lbf s/ft % p2000/p2003
26_1 m/s
3
m/s
3
ft/s
3
ft/s
3
-
39_1 1/s
2
% 1/s
2
% p2007
Table 1-5 Unit groups (p0505), continued
at %
1 2 3 4
Parameters
Parameter values
Not for motor type
Specifies for which motor type this parameter has no significance
ASM: Induction motor
FEM: Separately excited synchronous motor
PEM: Permanent-magnet synchronous motor
REL: Reluctance motor/SIEMOSYN motor
Scaling
Specification of the reference variable with which a signal value is automatically
converted for a BICO interconnection.
The following reference variables are possible:
p2000 to p2007: Reference speed, reference voltage, etc.
PERCENT: 1.0 = 100 %
4000H: 4000 hex = 100 %
Table 1-6 Unit group (p0595)
at %
Value Unit
9_1 The values that can be set and the technological units are shown in
p0595 (See Chapter 1.2).
Min Minimum value of the parameter [unit]
Max Maximum value of the parameter [unit]
Factory setting Value when shipped [unit]
A different value may be displayed for certain parameters
(e.g.p1800) at the initial commissioning stage.
Reason:
The setting of these parameters is determined by the
operating environment of the Control Unit (e.g.depending
on converter type, macro, power unit).
Note:
For SINAMICS G150/G130/S150, the macros and their settings are provided in
the following documentation:
References: /BAx/ x = 1, 2, 3
SINAMICS G150/G130/S150 Operating Instructions
Parameters
Expert list
Specifies whether this parameter is available in the expert list of the specified
drive objects in the commissioning software.
1: Parameter does exist in the expert list.
0: Parameter does not exist in the expert list.
Description
Explanation of the function of a parameter
Values
Lists the possible values of a parameter
Recommendation
Information about recommended settings.
Index
The name and meaning of each individual index is specified for indexed parame-
ters.
The following applies to the values (Min, Max, Factory setting) of indexed adjust-
able parameters:
Min, Max:
The adjustment range and unit apply to all indices.
Factory setting:
When all indices have the same factory setting, index 0 is specified with the
unit to represent all indices.
When the indices have different factory settings, they are all listed individually
with the unit.
Notice:
Users are responsible for using parameters that are marked Expert list: 0
(parameter not included in the expert list).
These parameters and their functionalities have not been tested and no further
user documentation is available for them (e.g. description of functions). Moreover,
no support is provided for these parameters by "Technical Support" (hotline).
Parameters
Bit array
For parameters with bit arrays, the following information is provided about each
bit:
Bit number and signal name
Meaning with signal states 0 and 1
Function diagram (optional)
The signal is shown on this function diagram.
Dependency
Conditions that must be fulfilled in connection with this parameter. Also includes
special effects that can occur between this parameter and others.
See also: List of other relevant parameters to be considered.
Safety notices
Important information that must be observed to avoid the risk of physical injury or
material damage.
Information that must be observed to avoid any problems.
Information that the user or operator may find useful.
Danger The description of this safety notice can be found at the
beginning of this manual (see Safety Notices).
Warning The description of this safety notice can be found at the
Caution The description of this safety notice can be found at the
Caution The description of this safety notice can be found at the
Notice The description of this safety notice can be found at the
Note Information that the user or operator may find useful.
Parameters
1.1.2 Number ranges of parameters
Parameters are grouped into the following number ranges:
Note:
The following number ranges represent an overview for all of the parameters
available for the SINAMICS drive family.
The parameters for the product described in this List Manual are described in
detail in Chapter 1.2.
Table 1-7 Number ranges for SINAMICS
Range Description
From To
0000 0099 Display and operation
0100 0199 Commissioning
0200 0299 Power unit
0300 0399 Motor
0400 0499 Encoder
0500 0599 Technology and units, motor-specific data, probes
0600 0699 Thermal monitoring, maximum current, operating hours, motor
data, central probe
0700 0799 Control Unit terminals, measuring sockets
0800 0839 CDS, DDS data sets, motor changeover
0840 0879 Sequence control (e.g. signal source for ON/OFF1)
0880 0899 ESR, parking, control and status words
0900 0999 PROFIBUS/PROFIdrive
1000 1199 Setpoint channel (e.g. ramp-function generator)
1200 1299 Functions (e.g. motor holding brake)
1300 1399 U/f control
1400 1799 Closed-loop control
1800 1899 Gating unit
1900 1999 Power unit and motor identification
2000 2009 Reference values
2010 2099 Communication (fieldbus)
2100 2139 Faults and alarms
2140 2199 Signals and monitoring
2200 2359 Technology controller
2360 2399 Staging, hibernation
Parameters
2500 2699 Position control (LR) and basic positioning (EPOS)
2700 2719 Reference values, display
2720 2729 Load gear
2800 2819 Logic operations
2900 2930 Fixed values (e.g. percentage, torque)
3000 3099 Motor identification results
3100 3109 Real time clock (RTC)
3110 3199 Faults and alarms
3200 3299 Signals and monitoring
3400 3659 Infeed closed-loop control
3660 3699 Voltage Sensing Module (VSM), Braking Module internal
3700 3779 Advanced Positioning Control (APC)
3780 3819 Synchronization
3820 3849 Friction characteristic
3850 3899 Functions (e.g. long stator)
3900 3999 Management
4000 4599 Terminal Board, Terminal Module (e.g. TB30, TM31)
4600 4699 Sensor Module
4700 4799 Trace
4800 4849 Function generator
4950 4999 OA application
5000 5169 Motor spindle
5400 5499 Line droop control (e.g. shaft generator)
5500 5599 Dynamic grid support (solar)
5900 6999 SINAMICS GM/SM/GL/SL
7000 7499 Parallel connection of power units
7500 7599 SINAMICS SM120
7700 7729 External signals
7770 7789 NVRAM, system parameters
7800 7839 EEPROM read/write parameters
7840 8399 Internal system parameters
8400 8449 Real time clock (RTC)
8500 8599 Data and macro management
8600 8799 CAN bus
Table 1-7 Number ranges for SINAMICS, continued
Range Description
From To
Parameters
8800 8899 Communication Board Ethernet (CBE), PROFIdrive
8900 8999 Industrial Ethernet, PROFINET, CBE20
9000 9299 Topology
9300 9399 Safety Integrated
9400 9499 Parameter consistency and storage
9900 9949 Topology
9950 9999 Diagnostics (internal)
11000 11299 Free technology controller 0, 1, 2
20000 20999 Free function blocks (FBLOCKS)
21000 25999 Drive Control Chart (DCC)
50000 53999 SINAMICS DC MASTER (closed-loop DC current control)
61000 61001 PROFINET
Table 1-7 Number ranges for SINAMICS, continued
Range Description
From To
List of parameters
Parameters
1.2 List of parameters
Product: SINAMICS S120/S150, Version: 4402100, Language: eng
Objects: A_INF, B_INF, CU_CX32, CU_I, CU_LINK, CU_S_CU310DP, CU_S_CU310PN, CU_S_CU320_DP, CU_S_CU320_PN,
CU_S_S150DP, CU_S_S150PN, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15, TM15DI_DO, TM17, TM31, TM41,
TM54F_MA, TM54F_SL, VECTOR
Description: Operating display for the infeed.
Value: 0: Operation - everything enabled
21: Ready for operation - set "Operation enable" = "1" (p0852)
31: Rdy for sw on - pre-chrg running (p0857)
32: Ready for switching on - set "ON/OFF1" = "0/1" (p0840)
35: Switching on inhibited - carry out first commissioning (p0010)
41: Switching on inhibited - set "ON/OFF1" = "0" (p0840)
42: Switching on inhibited - set "OC/OFF2" = "1" (p0844, p0845)
44: Switching on inhibited - connect 24 V to terminal EP (hardware)
45: Switching on inhibited - remove fault cause, acknowledge fault
46: Switching on inhibited - exit comm mode (p0009, p0010)
60: Infeed de-activated/not operational
70: Initialization
200: Wait for booting/partial booting
250: Device signals a topology error
Dependency: Refer to: r0046
Notice: For several missing enable signals, the corresponding value with the highest number is displayed.
Note: OC: Operating condition
EP: Enable Pulses (pulse enable)
COMM: Commissioning
Description: Operating display for the infeed.
31: Rdy for sw on - pre-chrg running (p0857)
60: Infeed de-activated/not operational
70: Initialization
r0002 Infeed operating display / INF op_display
A_INF, S_INF Can be changed: - Calculated: - Access level: 1
Data type: Integer16 Dynamic index: - Func. diagram: -
P-Group: - Units group: - Unit selection: -
Not for motor type: - Scaling: - Expert list: 1
0 250 -
r0002 Infeed operating display / INF op_display
B_INF Can be changed: - Calculated: - Access level: 1
0 250 -
Parameters
List of parameters
COMM: Commissioning
Description: Operating display for the Control Unit (CU).
Value: 0: Operation
10: Ready
20: Wait for run-up
25: Wait for automatic FW update of DRIVE-CLiQ components
31: Commissioning software download active
33: Remove/acknowledge topology error
34: Exit commissioning mode
35: Carry out first commissioning
70: Initialization
80: Reset active
99: Internal software error
101: Specify topology
111: Insert drive object
112: Delete drive object
113: Change drive object number
114: Change component number
115: Run parameter download
117: Delete component
Description: Operating display for encoder drive object
Value: 0: Encoder in cyclic operation
35: Carry out first commissioning (p0010)
45: Remove fault cause, acknowledge fault
46: Exit commissioning mode (p0009, p0010)
60: Encoder de-activated
r0002 Control Unit operating display / CU op_display
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Can be changed: - Calculated: - Access level: 1
0 117 -
r0002 Encoder DO operating display / Enc DO op_display
ENCODER Can be changed: - Calculated: - Access level: 1
0 250 -
List of parameters
Parameters
Description: Operating display for the DRIVE-CLiQ Hub Module.
Value: 0: Module in cyclic operation
40: Module not in cyclic operation
50: Alarm
60: Fault
70: Initialization
120: Module de-activated
Description: Operating display for the drive.
10: Operation - set "enable setpoint" = "1" (p1142, p1152)
11: Operation - set "enable speed controller" = "1" (p0856)
12: Operation - RFG frozen, set "RFG start" = "1" (p1141)
13: Operation - set "enable RFG" = "1" (p1140)
14: Oper. - MotID, excit. running and/or brake opens, SS2, SOS
15: Operation - open brake (p1215)
16: Operation - withdraw braking with OFF1 using "ON/OFF1" = "1"
17: Operation - braking with OFF3 can only be interrupted with OFF2
18: Operation - brake on fault, remove fault, acknowledge
19: Operation - armature short-circ./DC brake act. (p1230, p1231)
22: Ready for operation - de-magnetizing running (p0347)
23: Ready for operation - set "Infeed operation" = "1" (p0864)
45: Switching on inhibited - rectify fault, acknowledge fault, STO
60: Drive object de-activated/not operational
70: Initialization
RFG: Ramp-function generator
r0002 DRIVE-CLiQ Hub Module operating display / Hub op_display
HUB Can be changed: - Calculated: - Access level: 1
0 250 -
r0002 Drive operating display / Drv op_display
SERVO, VECTOR Can be changed: - Calculated: - Access level: 1
0 250 -
Parameters
List of parameters
COMM: Commissioning
MotID: Motor data identification
SS2: Safe Stop 2
SOS: Safe Operating Stop
STO: Safe Torque Off
Description: Operating display for Terminal Board 30 (TB30).
60: Fault
70: Initialization
80: Reset active
200: Wait for run-up
Description: Operating display for Terminal Module 120 (TM120)
50: Alarm
60: Fault
70: Initialization
Description: Operating display for Terminal Module 15 (TM15).
50: Alarm
60: Fault
70: Initialization
r0002 TB30 operating display / TB30 op_display
TB30 Can be changed: - Calculated: - Access level: 1
0 250 -
r0002 TM120 operating display / TM120 op_display
TM120 Can be changed: - Calculated: - Access level: 1
0 250 -
0 250 -
List of parameters
Parameters
50: Alarm
60: Fault
70: Initialization
50: Alarm
60: Fault
70: Initialization
50: Alarm
60: Fault
70: Initialization
r0002 TM15DI/DO operating display / TM15D op_display
TM15DI_DO Can be changed: - Calculated: - Access level: 1
0 250 -
0 250 -
0 250 -
Parameters
List of parameters
10: Operation - set "enable setpoint" = "1" (p1142)
12: Operation - RFG frozen, set "RFG start" = "1" (p1141)
13: Operation - set "enable RFG" = "1" (p1140)
18: Operation - brake on fault, remove fault, acknowledge
41: Switching on inhibited - set "ON/OFF1" = "1/0" (p0840)
42: Switching on inhibited - set "OC/OFF2" = "1" (p0844)
43: Switching on inhibited - set "OC/OFF3" = "1" (p0848)
70: Initialization
RFG: Ramp-function generator
COMM: Commissioning
Description: Operating display for Terminal Module 54F (TM54F).
50: Alarm
60: Fault
70: Initialization
0 250 -
r0002 TM54F operating display / TM54F op_display
TM54F_MA,
TM54F_SL
0 250 -
List of parameters
Parameters
Description: Sets the access level for reading and writing parameters via the Basic Operator Panel (BOP).
Value: 1: Standard
2: Extended
3: Expert
4: Service
Note: Access level 0 (user-defined):
Parameters from the user-defined list (p0013). Not used as of firmware version 2.6 (p0016).
Access level 1 (standard):
Parameters for the simplest operator control possibility (e.g. p1120 = ramp-function generator, ramp-up time).
Access level 2 (extended):
Parameters to operate the basic functions of the drive unit.
Access level 3 (experts):
Expert know-how is required for these parameters (e.g. BICO parameterization).
Access level 4 (service):
For these parameters, it is necessary that authorized service personnel enter the appropriate password (p3950).
Description: Sets the display filter for parameters with the Basic Operator Panel (BOP).
Value: 0: All parameters
1: Displays, signals
2: Power unit
3: Motor
4: Encoder/pos enc
5: Technology/units
7: Digital inputs/outputs commands sequence control
8: Analog inputs/outputs
10: Setpoint channel/ramp-fct generator
12: Functions
13: U/f control
14: Control
15: Data sets
17: Basic positioner
18: Gating unit
19: Motor identification
20: Communication
21: Faults, alarms, monitoring functions
25: Closed-loop position control
28: Free function blocks
47: Trace and function generator
p0003 BOP access level / BOP acc_level
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Can be changed: C1, U, T Calculated: - Access level: 1
1 4 1
p0004 BOP display filter / BOP disp_filter
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Can be changed: C2(1), U, T Calculated: - Access level: 1
Not for motor type: ASM Scaling: - Expert list: 1
0 99 0
Parameters
List of parameters
50: OA parameters
90: Topology
95: Safety Integrated
98: Command Data Sets (CDS)
99: Drive Data Sets (DDS)
Dependency: Refer to: p0003
Notice: The display filter via p0004 provides precise filtering and displays the corresponding parameters only when p0009
and p0010 = 0.
Note: The set access level via p0003 is also relevant for the display filter via p0004.
Examples (assumption: p0009 = p0010 = 0):
p0003 = 1, p0004 = 3
--> Only the parameters for the motor are displayed with access level 1.
p0003 = 2, p0004 = 3
--> Only the parameters for the motor are displayed with access levels 1 and 2.
Description: Sets the parameter number and parameter index for display for p0006 = 2, 4 for the Basic Operator Panel (BOP).
Examples for the SERVO drive object:
p0005[0] = 21, p0005[1] = 0: Actual speed smoothed (r0021)
p0005[0] = 25, p0005[1] = 0: Output voltage smoothed (r0025)
Index: [0] = Parameter number
[1] = Parameter index
Note: Procedure:
1.
The parameter number to be displayed should be set in index 0. Only the monitoring parameters (read-only param-
eters) can be set that actually exist for the actual drive object.
If the set parameter number is not indexed, or if there is an index in index 1 that lies outside the valid range of the
set parameter, then index 1 is automatically set to 0.
2.
The index that belongs to the parameter set in index 0 should be set in index 1. The permissible changes in index 1
always depend on the parameter number set in index 0.
p0005[0...1] BOP operating display selection / BOP op_disp sel
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
Can be changed: U, T Calculated: - Access level: 2
Data type: Unsigned16 Dynamic index: - Func. diagram: -
0 65535 [0] 2
[1] 0
List of parameters
Parameters
Description: Sets the mode of the operating display for the Basic Operator Panel (BOP) in the operating states "ready for opera-
tion" and "operation".
Value: 0: Operation --> r0021, otherwise r0020 <--> r0021
1: Operation --> r0021, otherwise r0020
2: Operation --> p0005, otherwise p0005 <--> r0020
3: Operation --> r0002, otherwise r0002 <--> r0020
4: p0005
Note: Mode 0 ... 3 can only be selected if also r0020, r0021 are available on the drive object.
Mode 4 is available for all drive objects.
Description: Sets the mode of the operating display for the Basic Operator Panel (BOP) in the operating states "ready for opera-
tion" and "operation".
Value: 4: p0005
Note: Mode 0 ... 3 can only be selected if also r0020, r0021 are available on the drive object.
Mode 4 is available for all drive objects.
Description: Sets the delay time until the background lighting of the Basic Operator Panel (BOP) is switched off.
If no keys are actuated, then the background lighting automatically switches itself off after this time has expired.
Note: p0007 = 0: Background lighting is always switched on (factory setting).
p0006 BOP operating display mode / BOP op_ disp mode
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 4 4
p0006 BOP operating display mode / BOP op_ disp mode
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL
4 4 4
p0007 BOP background lighting / BOP lighting
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 [s] 2000 [s] 0 [s]
Parameters
List of parameters
Description: Sets the required drive object that is active at the Basic Operator Panel (BOP) after booting.
Note: The value from p0008 initializes the display on the Basic Operator Panel (BOP) at the top left after booting.
The drive object Control Unit is selected using the value 1.
Description: Sets the device and basic drive commissioning.
By appropriately setting this parameter, those parameters are filtered that can be written into in the various commis-
sioning steps.
Value: 0: Ready
1: Device configuration
2: Defining the drive type/function module
3: Drive base configuration
4: Data set base configuration
29: Device download
30: Parameter reset
50: OA application configuration
55: OA application installation
101: Topology input
112: Delete drive object
115: Parameter download
117: Delete component
10000: Ready (asynchronous)
Notice: For p0009 = 10000 the following applies:
After the value has been modified, no further parameter modifications can be made and the status is shown in
r3996. Modifications can be made again when r3996 = 0.
Note: The drives can only be powered up outside the device commissioning (the inverter enabled). In this case, p0009
must be 0 (Ready) and the individual drive objects must have already gone into operation (p0010).
p0009 = 1: Device configuration
At the first commissioning of the device, after booting, the device is in the "device configuration" state. To start the
internal automatic first commissioning of the drive unit, p0009 should be set to 0 (Ready) after the ID for the actual
topology (r0098) was transferred into the ID for the target topology (p0099). To do this, it is sufficient to set a single
index value of p0099[x] the same as r0098[x]. Before the device has been completely commissioned, no other
parameter can be changed. After the first commissioning was carried out, in this state, when required, other basic
device configuration parameters can be adapted (e.g. the basic sampling time in p0110).
p0008 BOP drive object after booting / BOP DO after boot
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1 65535 1
p0009 Device commissioning parameter filter / Dev comm par_filt
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Can be changed: C1, T Calculated: - Access level: 1
0 10000 1
List of parameters
Parameters
p0009 = 2: Defines the drive type / function module
In this state, the drive object types and/or the function modules can be changed or selected for the individual drive
objects. To do this, the drive object type can be set using p0107[0...15] and the function can be set using
p0108[0...15] (refer to p0101[0...15]).
p0009 = 3: Drive basis configuration
In this state, after the device has been commissioned for the first time, basic changes can be made for the individ-
ual drive objects (e.g. sampling times in p0111, p0112, p0115 and the number of data sets in p0120, p0130, p0140,
p0170, p0180).
p0009 = 4: Data set basis configuration
In this state, after the device has been commissioned for the first time, for the individual drive objects changes can
be made regarding the assignment of the components (p0121, p0131, p0141, p0151, p0161) to the individual data
sets and the assignment of the power unit, motor and encoder to the drive data sets (p0185, ...).
p0009 = 29: Device download
If a download is made using the commissioning software, the device is automatically brought into this state. After
the download has been completed, p0009 is automatically set to 0 (ready). It is not possible to manually set p0009
to this value.
p0009 = 30: Parameter reset
In order to bring the complete unit into the "first commissioning" state or to load the parameters saved using p0977,
to start, p0009 must be set to this value. p0976 can then be changed to the required value.
p0009 = 50: OA application configuration
In this state, after the device has been commissioned for the first time, changes can be made for the individual drive
objects regarding the activity (p4956) of the OA applications.
p0009 = 55: OA application installation
OA applications can be installed and/or uninstalled in this state.
p0009 = 101: Topology input
In this state, the DRIVE-CLiQ target topology can be entered using p9902 and p9903.
p0009 = 111: Insert drive object
This state allows a new drive object to be inserted using p9911.
p0009 = 112: Delete drive object
This state allows existing drive objects to be deleted using p9912 after the device has been commissioned for the
first time.
p0009 = 113: Change drive object number
This state allows the drive object number of existing drive objects to be changed using p9913 after the device has
been commissioned for the first time.
p0009 = 114: Change component number
This state allows the component number of existing components to be changed using p9914 after the device has
been commissioned for the first time.
p0009 = 115: Parameter download
This state allows the complete device and drive commissioning using the parameter services.
p0009 = 117: Delete component
This state allows components to be deleted using p9917 after the device has been commissioned for the first time.
Description: Sets the parameter filter to commission an infeed unit.
Setting this parameter filters out the parameters that can be written into in the various commissioning steps.
Value: 0: Ready
1: Quick commissioning
2: Power unit commissioning
5: Technological application/units
p0010 Infeed commissioning parameter filter / INF comm par_filt
A_INF, B_INF,
S_INF
Can be changed: C2(1), T Calculated: - Access level: 1
0 30 1
Parameters
List of parameters
29: Only Siemens internal
30: Parameter reset
Note: The drive can only be powered up outside the drive commissioning (inverter enable). To realize this, this parameter
must be set to 0.
For p3900 not equal to 0, at the end of the quick commissioning, this parameter is automatically reset to 0.
Procedure for "Reset parameter": Set p0010 to 30 and p0970 to 1.
Description: Sets the parameter filter to commission an encoder drive object.
For the BOP, this setting also causes the read access operations to be filtered.
Value: 0: Ready
4: Encoder commissioning
30: Parameter reset
Note: Procedure for "Reset parameter": Set p0010 to 30 and p0970 to 1.
Description: Sets the parameter filter to commission a drive.
Value: 0: Ready
1: Quick commissioning
2: Power unit commissioning
3: Motor commissioning
15: Data sets
17: Basic positioner commissioning
25: Position control commissioning
30: Parameter reset
95: Safety Integrated commissioning
10000: Ready with immediate feedback signal
Notice: For p0010 = 10000 the following applies:
After the value has been modified, no further parameter modifications can be made and the status is shown in
Note: The drive can only be powered up outside the drive commissioning (inverter enable). To realize this, this parameter
must be set to 0.
By setting p3900 to a value other than 0, the quick commissioning is completed, and this parameter is automatically
reset to 0.
p0010 = 10000 corresponds to p0010 = 0. Unlike with p0010 = 0, the parameter modification is applied immediately
and the calculations are made in the background. Further parameter modifications cannot be made while the calcu-
lations are being performed.
p0010 Encoder DO commissioning parameter filter / EncDO com par_filt
ENCODER Can be changed: C2(1), T Calculated: - Access level: 1
0 30 0
p0010 Drive commissioning parameter filter / Drv comm. par_filt
SERVO, VECTOR Can be changed: C2(1), T Calculated: - Access level: 1
Data type: Integer16 Dynamic index: - Func. diagram: 2800, 2846
0 10000 1
List of parameters
Parameters
Description: Sets the parameter filter for commissioning a Terminal Board 30 (TB30).
Value: 0: Ready
30: Parameter reset
Description: Sets the parameter filter for commissioning a Terminal Module 120 (TM120).
Value: 0: Ready
30: Parameter reset
Note: Only the following values are possible: p0010 = 0, 30
Value: 0: Ready
30: Parameter reset
p0010 TB30 commissioning parameter filter / TB30 comm.par_filt
TB30 Can be changed: C2(1), T Calculated: - Access level: 1
0 30 0
p0010 TM120 commissioning parameter filter / TM120 com par_filt
TM120 Can be changed: C2(1), T Calculated: - Access level: 1
0 30 0
p0010 TM15 commissioning parameter filter / TM15 comm par_filt
0 30 0
Parameters
List of parameters
Value: 0: Ready
30: Parameter reset
Value: 0: Ready
30: Parameter reset
Value: 0: Ready
30: Parameter reset
p0010 TM15DI/DO commissioning the parameterizing filter / TM15D com par_filt
TM15DI_DO Can be changed: C2(1), T Calculated: - Access level: 1
0 30 0
0 30 0
0 30 0
List of parameters
Parameters
Value: 0: Ready
30: Parameter reset
Description: Sets the parameter filter for commissioning a Terminal Module 54F (TM54F).
Value: 0: Ready
30: Parameter reset
95: Safety Integrated commissioning
Description: Sets the password for the Basic Operator Panel (BOP).
Dependency: Refer to: p0012, p0013
0 30 0
p0010 TM54F commissioning parameter filter / TM54F com par_filt
TM54F_MA Can be changed: C2(1), T Calculated: - Access level: 1
Data type: Integer16 Dynamic index: - Func. diagram: 2847
0 95 0
p0011 BOP password entry (p0013) / BOP passw ent p13
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
P-Group: Functions Units group: - Unit selection: -
0 65535 0
Parameters
List of parameters
Description: Acknowledges the password for the Basic Operator Panel (BOP).
Description: Sets the required parameters to read and write via the Basic Operator Panel (BOP).
Activation:
1. p0003 = 3 (expert).
2. p0013[0...49] = requested parameter number
3. If required, enter p0011 = password in order to prevent non-authorized de-activation.
4. p0016 = 1 --> activates the selected user-defined list.
De-activation/change:
1. p0003 = 3 (expert).
2. If required, p0012 = p0011, in order to be authorized to change or de-activate the list.
3. If required p0013[0...49] = required parameter number.
4. p0016 = 1 --> activates the modified user-defined list.
5. p0003 = 0 --> de-activates the user-defined list.
Dependency: Refer to: p0009, p0011, p0012, p0976
Note: The following parameters can be read and written on the Control Unit drive object:
- p0003 (access stage)
- p0009 (device commissioning, parameter filter)
- p0012 (BOP password acknowledgement (p0013))
The following applies for the user-defined list:
- password protection is only available on the drive object Control Unit and is valid for all of the drive objects.
- p0013 cannot be included in the user-defined list for all drive objects.
- p0003, p0009, p0011, p0012, p0976 cannot, for the drive object Control Unit, be included in the user-defined list.
- the user-defined list can be cleared and de-activated "restore factory setting".
A value of 0 means: Entry is empty.
p0012 BOP password acknowledgement (p0013) / BOP passw ackn p13
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 65535 0
p0013[0...49] BOP user-defined list / BOP list
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
0 65535 0
List of parameters
Parameters
Description: Runs the corresponding macro files.
The selected macro file must be available on the memory card/device memory.
Example:
p0015 = 6 --> the macro file PM000006.ACX is run.
Dependency: Refer to: p0700, p1000, p1500, r8570
Caution: When executing a specific macro, the corresponding programmed settings are made and become active.
Notice: After the value has been modified, no further parameter modifications can be made and the status is shown in
No errors were issued during quick commissioning (p3900 = 1) when writing to parameters of the QUICK_IBN
group!
Note: The macros in the specified directory are displayed in r8570. r8570 is not in the expert list of the commissioning
software.
Macros available as standard are described in the technical documentation of the particular product.
The parameter is not influenced by setting the factory setting.
Example:
software.
p0015 Macro drive object / Macro DO
A_INF, B_INF,
S_INF, SERVO,
TM120, TM15DI_DO,
TM31, VECTOR
Can be changed: C2(1) Calculated: - Access level: 1
P-Group: Commands Units group: - Unit selection: -
0 999999 0
p0015 Macro drive unit / Macro drv unit
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN
Can be changed: C1 Calculated: - Access level: 1
0 999999 0
p0015 Macro drive unit / Macro drv unit
CU_S_S150DP,
CU_S_S150PN
0 999999 1
Parameters
List of parameters
Example:
software.
Description: Setting for activating/de-activating the user-defined list for the Basic Operator Panel (BOP).
If p0016 = 1, then it is only possible to access parameters in the parameter list (p0013).
Value: 0: BOP user-defined list de-activated
1: BOP user-defined list activated
Dependency: Refer to: p0011, p0012, p0013
Note: The user-defined list can only be de-activated with p0011 = p0012
Description: Displays the firmware version of the Control Unit.
Dependency: Refer to: r0128, r0148, r0158, r0197, r0198
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.
Description: Displays the control word for the Basic Operator Panel (BOP).
p0016 Activate BOP user-defined list / BOP user list act
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
r0018 Control Unit Firmware-Version / CU FW version
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4294967295 -
r0019.0...14 CO/BO: Control word BOP / STW BOP
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Data type: Unsigned16 Dynamic index: - Func. diagram: 9912
P-Group: Displays, signals Units group: - Unit selection: -
- - -
Bit field: Bit Signal name 1 signal 0 signal FP
00 ON / OFF (OFF1) ON OFF (OFF1) -
01 No coast-down / coast-down (OFF2) No coast down Coast down (OFF2) -
02 No Quick Stop / Quick Stop (OFF3) No Quick Stop Quick Stop (OFF3) -
List of parameters
Parameters
Description: Displays the currently smoothed speed setpoint at the input of the speed controller or U/f characteristic (after the
interpolator).
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the currently smoothed velocity setpoint at the input of the velocity controller or U/f characteristic (after the
interpolator).
The velocity setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the smoothed actual value of the motor speed.
Dependency: Refer to: r0022, r0063
The speed actual value is available smoothed (r0021, r0022) and unsmoothed (r0063).
07 Acknowledge fault (0 -> 1) Yes No -
13 Motorized potentiometer raise Yes No -
14 Motorized potentiometer lower Yes No -
r0020 Speed setpoint smoothed / n_set smth
Data type: FloatingPoint32 Dynamic index: - Func. diagram: 5020, 6799
P-Group: Displays, signals Units group: 3_1 Unit selection: p0505
Not for motor type: - Scaling: p2000 Expert list: 1
- [rpm] - [rpm] - [rpm]
r0020 Velocity setpoint smoothed / v_set smth
SERVO (Lin) Can be changed: - Calculated: - Access level: 2
- [m/min] - [m/min] - [m/min]
r0021 CO: Actual speed smoothed / n_act smooth
Data type: FloatingPoint32 Dynamic index: - Func. diagram: 1580, 1680,
4710, 6799
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the smoothed actual value of the motor velocity.
The velocity actual value is available smoothed (r0021, r0022) and unsmoothed (r0063).
Description: Displays the smoothed actual value of the motor speed.
r0022 is identical to r0021, however, it always has units of rpm and contrary to r0021 cannot be changed over.
Description: Displays the smoothed actual value of the motor velocity.
Description: Displays the smoothed line supply frequency.
r0021 CO: Actual velocity smoothed / v_act smooth
4710, 6799
r0022 Speed actual value rpm smoothed / n_act rpm smooth
4710, 6799
- [rpm] - [rpm] - [rpm]
r0022 Actual velocity smoothed / v_act smooth
4710, 6799
r0024 CO: Line supply frequency smoothed / f_line smooth
- [Hz] - [Hz] - [Hz]
List of parameters
Parameters
The line frequency is available smoothed (r0024) and unsmoothed (r0066).
A positive sign of the frequency is obtained when the line supply phases U, V and W are connected with the correct
phase sequence.
A negative sign of the frequency is obtained when the 3 line phases are interchanged therefore designating a neg-
ative direction of the rotating field of the 3-phase line supply voltage.
Description: Displays the smoothed converter frequency.
The output frequency is available smoothed (r0024) and unsmoothed (r0066).
Description: Displays the smoothed actual value of the input voltage.
Index: [0] = Voltage at input terminals of power unit from line supply model
[1] = Voltage at VSM or at input terminals of the line filter
[2] = Voltage of the voltage source from the line supply model
[3] = Smoothed voltage of voltage source from line supply model
The signals are not suitable as process quantity and may only be used as display quantities.
The input voltages are available smoothed (r0025) and unsmoothed (r0072).
Re r0025[0]:
Pulsed voltage at the line supply input terminals of the power unit. The value is calculated from the modulation
depth r0074 and is therefore only correct in the closed-loop controlled mode and when the pulses are enabled.
Re r0025[1]:
Absolute voltage at the input terminals of the line filter or the connection point of a VSM. The value is calculated
from the VSM measured values r3661 and r3662 and is therefore equal to 0 if a VSM is not connected.
Re r0025[2]:
Estimated value for the voltage of the voltage source that is calculated in the voltage model of the line supply PLL.
Re r0025[3]:
Smoothed display value of the filtered source voltage from r0072[3].
r0024 Output frequency smoothed / f_outp smooth
5730, 6799
- [Hz] - [Hz] - [Hz]
r0025[0...3] CO: Input voltage smoothed / U_inp smooth
- [Vrms] - [Vrms] - [Vrms]
Parameters
List of parameters
Description: Displays the smoothed output voltage of the power unit.
The output voltage is available smoothed (r0025) and unsmoothed (r0072).
Description: Displays the smoothed actual value of the DC link voltage.
Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case, the
unsmoothed value should be used.
Note: A_INF, B_INF, S_INF: smoothing time constant = 300 ms
The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
Notice: For SINAMICS S120 AC Drive (AC/AC) the following applies:
When measuring a DC link voltage < 200 V, for the Power Module (e.g. PM340) a valid measured value is not sup-
plied. In this case, when an external 24 V power supply is connected, a value of approx. 24 V is displayed in the dis-
play parameter.
Note: SERVO, VECTOR: Smoothing time constant = 100 ms
r0025 CO: Output voltage smoothed / U_outp smooth
6799
r0026 CO: DC link voltage smoothed / Vdc smooth
A_INF, B_INF,
S_INF
8750, 8850, 8950
- [V] - [V] - [V]
SERVO Can be changed: - Calculated: - Access level: 2
8850, 8950
- [V] - [V] - [V]
List of parameters
Parameters
plied. In this case, when an external 24 V power supply is connected, a value of approx. 24 V is displayed in the dis-
play parameter.
Note: SERVO, VECTOR: Smoothing time constant = 100 ms
Description: Displays the smoothed absolute actual current value.
Note: A_INF, S_INF, VECTOR: Smoothing time constant = 300 ms
SERVO: Smoothing time constant = 100 ms
The absolute current actual value is available smoothed (r0027) and unsmoothed (r0068).
Description: Displays the smoothed absolute actual current value.
For Basic Line Modules of chassis format, the displayed value is invalid as these units do not have any current
sensing.
VECTOR Can be changed: - Calculated: - Access level: 2
8850, 8950
- [V] - [V] - [V]
r0027 CO: Absolute actual current smoothed / I_act abs val smth
A_INF, S_INF,
SERVO, VECTOR
8850, 8950
- [Arms] - [Arms] - [Arms]
r0027 CO: Absolute actual current smoothed / I_act abs val smth
Data type: FloatingPoint32 Dynamic index: - Func. diagram: 8750
- [A] - [A] - [A]
Parameters
List of parameters
Description: Displays the smoothed actual value of the modulation depth.
Note: A_INF: Smoothing time constant = 300 ms
SERVO, VECTOR: Smoothing time constant = 100 ms
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).
Description: Displays the smoothed actual value of the reactive current component.
The reactive current actual value is available smoothed (r0029) and unsmoothed (r0076).
Description: Displays the smoothed field-generating actual current.
Note: SERVO: Smoothing time constant = 100 ms
VECTOR: Smoothing time constant = 300 ms
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).
Description: Displays the smoothed actual value of the active current components.
r0028 Modulation depth smoothed / Mod_depth smth
A_INF, SERVO,
VECTOR
8950
- [%] - [%] - [%]
r0029 Reactive current actual value smoothed / I_react smooth
r0029 Current actual value field-generating smoothed / Id_act smooth
r0030 Active current actual value smoothed / I_active smooth
List of parameters
Parameters
The active current actual value is available smoothed (r0030) and unsmoothed (r0078).
Description: Displays the smoothed torque-generating actual current.
The following applies for SERVO:
The torque-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
unsmoothed (r0078[0]).
The following applies for VECTOR:
The torque-generating current actual value is available smoothed (r0030 with 300 ms) and unsmoothed (r0078).
Description: Displays the smoothed force-generating actual current.
The force-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
Description: Displays the smoothed torque actual value.
r0030 Current actual value torque-generating smoothed / Iq_act smooth
r0030 Current actual value force generating smoothed / Iq_act smooth
r0031 Actual torque smoothed / M_act smooth
- [Nm] - [Nm] - [Nm]
Parameters
List of parameters
Description: Displays the smoothed force setpoint.
Description: Displays the smoothed actual value of the active power.
Note: Significance for the drive: Power output at the motor shaft
Significance for the infeed: Line power drawn
For A_INF, B_INF and S_INF the following applies:
The active power is available smoothed (r0032 with 300 ms) and unsmoothed (r0082).
The active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed (r0082[0]).
For VECTOR and VECTORMV, the following applies:
Description: Displays the smoothed actual value of the active power.
For Basic Line Modules of chassis format, the displayed value is invalid as these units do not have any current
sensing.
Note: Significance for the drive: Power output at the motor shaft
Significance for the infeed: Line power drawn
For A_INF, B_INF and S_INF the following applies:
r0031 Force actual value smoothed / F_act smooth
- [N] - [N] - [N]
r0032 CO: Active power actual value smoothed / P_actv_act smth
A_INF, S_INF,
SERVO, VECTOR
8750, 8850, 8950
Not for motor type: - Scaling: r2004 Expert list: 1
- [kW] - [kW] - [kW]
r0032 CO: Active power actual value smoothed / P_actv_act smth
8750, 8850, 8950
- [kW] - [kW] - [kW]
List of parameters
Parameters
The active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed (r0082[0]).
For VECTOR and VECTORMV, the following applies:
Description: Displays the smoothed torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque in reference to the torque limit, scaled using
p2196.
The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
For M_set total (r0079) > M_max offset (p1532), the following applies:
- demanded torque = M_set total - M_max offset
- actual torque limit = M_max upper effective (r1538) - M_max offset
For M_set total (r0079) <= M_max offset (p1532), the following applies:
- demanded torque = M_max offset - M_set total
- actual torque limit = M_max offset - M_max lower effective (r1539)
For the actual torque limit = 0, the following applies: r0033 = 100 %
For the actual torque limit < 0, the following applies: r0033 = 0 %
Description: Displays the smoothed force utilization as a percentage.
The force utilization is obtained from the required smoothed force referred to the force limit.
The force utilization is available smoothed (r0033) and unsmoothed (r0081).
For F_set total (r0079) > F_max offset (p1532), the following applies:
- demanded torque = F_set total - F_max offset
- actual force limit = F_max upper effective (r1538) - F_max offset
For F_set total (r0079) <= F_max offset (p1532), the following applies:
- demanded force = F_max offset - F_set total
- actual force limit = F_max offset - F_max lower effective (r1539)
For the actual force limit = 0, the following applies: r0033 = 100 %
For the actual force limit < 0, the following applies: r0033 = 0 %
r0033 Torque utilization smoothed / M_util smooth
Not for motor type: - Scaling: PERCENT Expert list: 1
- [%] - [%] - [%]
r0033 Force utilization smoothed / F_util smooth
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the smoothed torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque in reference to the torque limit, scaled using
p2196.
The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
For M_set total (r0079) > 0, the following applies:
- Required torque = M_set total
- Actual torque limit = M_max upper effective (r1538)
For M_set total (r0079) <= 0, the following applies:
- Required torque = - M_set total
- Actual torque limit = - M_max lower effective (r1539)
For the actual torque limit = 0, the following applies: r0033 = 100 %
For the actual torque limit < 0, the following applies: r0033 = 0 %
Description: Displays the motor utilization from the thermal I2t motor model.
Dependency: The motor utilization is only determined for permanent-magnet synchronous motors and if the I2t motor model is
activated.
The motor utilization is formed from the ratio between the I2t motor model temperature (minus 40 Kelvin) and the
reference value p0605 (motor overtemperature, fault threshold) - 40 Kelvin. If p0605 is reduced, r0034 increases
and the motor temperature remains the same.
Refer to: p0611, p0612, p0615
A value of r0034 = -200.0 % indicates an invalid display, for example, because the thermal I2t motor model was not
activated or was incorrectly parameterized.
Description: Displays the temperature currently measured at X21 (booksize) or X41 (chassis).
When using an Active Interface Module (p0220 = 41 ... 45) a bimetallic sensor must be connected up to monitor the
temperature. The temperature sensor type is indicated using p0601 and cannot be changed when an Active Inter-
face Module is being used.
r0033 Torque utilization smoothed / M_util smooth
- [%] - [%] - [%]
r0034 CO: Motor utilization / Motor utilization
Not for motor type: ASM, REL, FEM Scaling: PERCENT Expert list: 1
- [%] - [%] - [%]
r0035 CO: Temperature input / Temp_input
- [C] - [C] - [C]
List of parameters
Parameters
Temperature within permissible limit values: r0035 = -50C
Temperature outside the permissible limit values: r0035 = -250C
Dependency: Refer to: A06260, F06261, F06262
Notice: The function in r0192.11 must be available in order to obtain a correct display.
Note: For r0035 equal to -200.0 C, the following applies:
- "no sensor" selected in p0601!
For r0035 equal to -300.0 C, the following applies:
- a KTY84 is selected in p0601 but is not connected!
- the temperature display is not valid (temperature sensor error)!
Description: Displays the temperature currently measured at X21 (booksize) or X41 (chassis).
For a BLM with internal Braking Module, a bimetallic sensor must be connected up to monitor the temperature of
the braking resistor. The temperature sensor type is indicated using p0601 and cannot be changed for the existing
internal Braking Module.
Temperature within permissible limit values: r0035 = -50C
Temperature outside the permissible limit values: r0035 = -250C
Dependency: Refer to: F06907, F06908
Notice: The function in r0192.11 must be available in order to obtain a correct display.
Note: For r0035 equal to -200.0 C, the following applies:
- "no sensor" selected in p0601!
- a KTY84 is selected in p0601 but is not connected!
- the temperature display is not valid (temperature sensor error)!
Description: Displays the actual temperature in the motor.
Note: For r0035 not equal to -200.0 C, the following applies:
- this temperature display is valid.
- a KTY sensor is connected.
- the thermal model for the induction motor is activated (p0612 bit 1 = 1 and temperature sensor de-activated:
p0600 = 0 or p0601 = 0).
- this temperature display is not valid (temperature sensor error).
- A PTC sensor or bimetallic NC contact is connected.
- the temperature sensor of the synchronous motor is de-activated (p0600 = 0 or p0601 = 0).
r0035 CO: Temperature input / Temp_input
- [C] - [C] - [C]
r0035 CO: Motor temperature / Mot temp
8017
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays the power unit overload determined using the I2t calculation.
A current reference value is defined for the I2t monitoring of the power unit. It represents the current that can be
conducted by the power unit without any influence of the switching losses (e.g. the continuously permissible current
of the capacitors, inductances, busbars, etc.).
If the I2t reference current of the power unit is not exceeded, then an overload (0 %) is not displayed.
In the other case, the degree of thermal overload is calculated, whereby 100% results in a trip.
Refer to: F30005
Description: Displays the temperatures in the power unit.
Index: [0] = Inverter, maximum value
[1] = Depletion layer maximum value
[2] = Rectifier maximum value
[3] = Air intake
[4] = Interior of power unit
[5] = Inverter 1
[6] = Inverter 2
[7] = Inverter 3
[8] = Inverter 4
[9] = Inverter 5
[10] = Inverter 6
[11] = Rectifier 1
[12] = Rectifier 2
[13] = Depletion layer 1
[19] = Cooling system liquid intake
Note: The value of -200 indicates that there is no measuring signal.
r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]).
r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
r0037[2]: Maximum value of the rectifier temperatures (r0037[11...12]).
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.
r0036 CO: Power unit overload I2t / PU overload I2t
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- [%] - [%] - [%]
r0037[0...19] CO: Power unit temperatures / PU temperatures
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- [C] - [C] - [C]
List of parameters
Parameters
Description: Displays the Control Unit temperature.
An appropriate message is output when 87 C is exceeded.
Index: [0] = Temperature actual
[1] = Temperature maximum
Dependency: Refer to: A01009
Description: Displays the smoothed actual power factor.
Significance for the motor: Motor power factor
Significance for the infeed: Power factor at the connection point (p3470, p3471)
Description: Displays the electrical energy used since the last reset.
Description: Setting to reset the energy consumption display (r0039).
Procedure:
Set p0040 = 0 --> 1
The display is reset and the parameter is automatically set to zero.
r0037[0...1] Control Unit temperature / CU temperature
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Data type: FloatingPoint32 Dynamic index: - Func. diagram: -
- [C] - [C] - [C]
r0038 Power factor smoothed / Cos phi smooth
A_INF, S_INF, VEC-
TOR
8950
- - -
r0039 Energy consumption / Energy consumption
- [kWh] - [kWh] - [kWh]
p0040 Reset energy consumption display / Energy usage reset
VECTOR Can be changed: U, T Calculated: - Access level: 2
0 1 0
Parameters
List of parameters
Description: Displays the saved energy referred to 100 operating hours.
Description: Sets the smoothing time constant for the following display values:
SERVO: r0078[1], r0079[1], r0081 (calculated from the quantities smoothed with p0045), r0082[1].
VECTOR: r0063[1], r0068[1], r0080[1], r0082[1].
Description: Displays missing enable signals that are preventing the closed-loop infeed control from being commissioned.
Note: The value r0046 = 0 indicates that all enable signals for the infeed are present.
Bit 00 = 1 (enable signal missing), if:
- the signal source in p0840 is a 0 signal.
- there is a "switching on inhibited".
- the signal source in p0844 or p0845 is a 0 signal.
- the pulse enable via terminal EP is missing (booksize: X21, chassis: X41).
r0041 Energy usage saved / Energy usage saved
- [kWh] - [kWh] - [kWh]
p0045 Smoothing time constant, display values / T_smth display
SERVO, VECTOR Can be changed: U, T Calculated: - Access level: 2
5730, 6714, 8012
0.00 [ms] 1000.00 [ms] 1.00 [ms]
r0046.0...29 CO/BO: Missing enable sig / Missing enable sig
Data type: Unsigned32 Dynamic index: - Func. diagram: 8834, 8934
- - -
00 OFF1 enable missing Yes No -
03 Operation enable missing Yes No -
08 EP terminals enable missing Yes No -
16 OFF1 enable internal missing Yes No -
19 Pulse enable internal missing Yes No -
26 Infeed inactive or not operational Yes No -
29 Cooling system ready signal missing Yes No -
List of parameters
Parameters
- there is an OFF1 fault response. The system is only enabled if the fault is removed and was acknowledged and
the "switching on inhibited" withdrawn with OFF1 = 0.
- the commissioning mode is selected (p0009 > 0 or p0010 > 0) or there is an OFF2 fault response or the OFF1 sig-
nal source (p0840) is changed.
Bit 19 = 1 (internal pulse enable missing), if:
- synchronization is running between the basic clock cycle, DRIVE-CLiQ clock cycle and application clock cycle.
- the infeed is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
- the cooling system ready signal via BI: p0266[1] missing.
Description: Displays missing enable signals that are preventing the closed-loop infeed control from being commissioned.
Note: The value r0046 = 0 indicates that all enable signals for the infeed are present.
- the commissioning mode is selected (p0009 > 0 or p0010 > 0) or there is an OFF2 fault response or the OFF1 sig-
nal source (p0840) is changed.
- the infeed is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
- - -
26 Infeed inactive or not operational Yes No -
Parameters
List of parameters
Description: Displays missing enable signals that are preventing the closed-loop drive control from being commissioned.
Note: The value r0046 = 0 indicates that all enable signals for this drive are present.
Bit 04 =1 (armature short-circuit active), if:
- the signal source in p1230 has a 1 signal
Bit 05, Bit 06: Being prepared
- - -
04 Armature short-circuit / DC braking, enable
missing
Yes No 7014,
7016
05 STOP2 enable missing Yes No -
09 Infeed enable missing Yes No -
10 Ramp-function generator enable missing Yes No -
11 Ramp-function generator start missing Yes No -
12 Setpoint enable missing Yes No -
20 Armature short-circuit/DC braking internal
enable missing
Yes No 7014,
7016
21 STOP2 enable internal missing Yes No -
25 Function bypass active Yes No -
26 Drive inactive or not operational Yes No -
27 De-magnetizing not completed Yes No -
28 Brake open missing Yes No -
30 Speed controller inhibited Yes No -
31 Jog setpoint active Yes No -
List of parameters
Parameters
Bit 11 = 1 (enable signal missing) if the speed setpoint is frozen, because:
- the speed setpoint is entered from jogging and the two signal sources for jogging, bit 0 (p1055) and bit 1 (p1056)
have a 1 signal.
- When activating the function module "basic positioner" (r0108.4 = 1), the signal source in p1142 is set to a 0 sig-
nal.
- commissioning mode is selected (p0009 > 0 or p0010 > 0).
- there is an OFF2 fault response.
- the drive is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
- OFF3 has still not been completed or an OFF3 fault response is present.
Bit 20 =1 (internal armature short-circuit active), if:
- the drive is not in the state "S4: Operation" or "S5x" (refer to function diagram 2610).
- the internal pulse enable is missing (r0046.19 = 0).
The pulses have been enabled and the speed setpoint has still not been enabled, because:
- the holding brake opening time (p1216) has still not expired.
- the motor has still not been magnetized (induction motor).
- the encoder has not been calibrated (U/f vector and synchronous motor)
Bit 22: Being prepared
- de-magnetizing has still not been completed (only for vector).
- the holding brake is closed or has still not been opened.
Bit 30 = 1 (speed controller inhibited), if one of the following reasons is present:
- A 0 signal is available via BI: p0856.
- the function generator with current input is active.
- the measuring function "current controller reference frequency characteristic" is active.
- the pole position identification is active.
- motor data identification is active (only certain steps).
- the speed setpoint from jog 1 or 2 is entered.
Parameters
List of parameters
Description: Displays missing enable signals that are preventing the closed-loop drive control from being commissioned.
Note: The value r0046 = 0 indicates that all enable signals for this drive are present.
Bit 04 =1 (armature short-circuit active), if:
- the signal source in p1230 has a 1 signal
Bit 05, Bit 06: Being prepared
- - -
04 Armature short-circuit / DC braking, enable
missing
Yes No 7014,
7016
09 Infeed enable missing Yes No -
10 Ramp-function generator enable missing Yes No -
11 Ramp-function generator start missing Yes No -
12 Setpoint enable missing Yes No -
20 Armature short-circuit/DC braking internal
enable missing
Yes No 7014,
7016
25 Function bypass active Yes No -
26 Drive inactive or not operational Yes No -
27 De-magnetizing not completed Yes No -
28 Brake open missing Yes No -
30 Velocity controller inhibited Yes No -
31 Jog setpoint active Yes No -
List of parameters
Parameters
Bit 11 = 1 (enable signal missing) if the velocity setpoint is frozen, because:
- the velocity setpoint is entered from jogging and the two signal sources for jogging, bit 0 (p1055) and bit 1 (p1056)
have a 1 signal.
- When activating the function module "basic positioner" (r0108.4 = 1), the signal source in p1142 is set to a 0 sig-
nal.
- commissioning mode is selected (p0009 > 0 or p0010 > 0).
- there is an OFF2 fault response.
- OFF3 has still not been completed or an OFF3 fault response is present.
Bit 20 =1 (internal armature short-circuit active), if:
- the drive is not in the state "S4: Operation" or "S5x" (refer to function diagram 2610).
The pulses have been enabled and the velocity setpoint has still not been enabled, because:
- the holding brake opening time (p1216) has still not expired.
- the motor has still not been magnetized (induction motor).
Bit 22: Being prepared
- de-magnetizing has still not been completed (only for vector).
- the holding brake is closed or has still not been opened.
Bit 30 = 1 (velocity controller inhibited), if one of the following reasons is present:
- A 0 signal is available via BI: p0856.
- the function generator with current input is active.
- the measuring function "current controller reference frequency characteristic" is active.
- the pole position identification is active.
- motor data identification is active (only certain steps).
- the velocity setpoint from jog 1 or 2 is entered.
Parameters
List of parameters
Description: Displays the currently executed steps or the first step after the enable for the motor identification and pole position
identification routines.
Value: 0: No measurement
1: PolID: Wait for brake closing time
2: PolID: Measurement, step 1
6: PolID: Measurement, stage 2
7: PolID: Measurement evaluation
8: PolID: Measurement end
11: MotID: Inductance measurement, step 1
12: MotID: Inductance measurement, step 2
13: MotID: Inductance measurement evaluation
14: MotID: Resistance measurement evaluation
15: MotID: Fine synchronization, step 1
18: MotID: Fine synchronization, end
20: MotID: Rotating inductance measurement, step 1
24: MotID: Rotating Inductance measurement evaluation
25: MotID: Rotating Inductance measurement end
30: MotID: Induction motor measurement, step 1
40: MotID: Commutating angle, step 1
45: MotID: Commutating angle rotating, step 1
48: MotID: Commutating angle rotating complete
50: MotID: kT determination, step 1
53: MotID: kT determination evaluation
54: MotID: kT determination end
60: MotID: Reluctance constant measurement, step 1
63: MotID: Reluctance constant measurement end
70: MotID: Moment of inertia measurement, step 1
r0047 Status, identification / Status ident
0 104 -
List of parameters
Parameters
73: MotID: Moment of inertia measurement end
80: MotID: Magnetizing inductance measurement, step 1
83: MotID: Magnetizing inductance measurement evaluation
84: MotID: Magnetizing inductance measurement end
90: MotID: Saturation characteristic. step 1
93: MotID: Saturation characteristic evaluation 1
94: MotID: Saturation characteristic evaluation 2
95: MotID: Saturation characteristic end
96: MotID: Converter model, step 1
100: PolID: Motion-based, step 1
Description: Displays the actual status for the motor data identification (stationary measurement) and the speed/velocity control-
ler optimization (rotating measurement).
Value: 0: No measurement
115: Measurement q leakage inductance (part 2)
120: Speed controller optimization (vibration test)
140: Calculate speed controller setting
150: Measurement, moment of inertia
170: Measurement, magnetizing current and saturation characteristic
190: Speed encoder test
195: Measurement q leakage inductance (part 1)
200: Rotating measurement selected
210: Pole position identification selected
220: identification, leakage inductance
230: Identification, rotor time constant
240: Identification, stator inductance
250: Identification, stator inductance LQLD
270: Identification, stator resistance
290: Identification, valve lockout time
300: Stationary measurement selected
Note: Re r0047 = 300:
This value is also displayed if encoder calibration p1990 is selected.
Description: Displays the effective Motor Data Set (MDS) and the effective Encoder Data Sets (EDS).
r0047 Motor data ident. routine and speed controller optimization / MotID and n_opt
0 300 -
r0049[0...3] Motor data set/encoder data set effective / MDS/EDS effective
- - -
Parameters
List of parameters
Index: [0] = Motor Data Set MDS effective
[1] = Encoder 1 Encoder Data Set EDS effective
Dependency: Refer to: p0186, p0187, p0188, p0189, r0838
Note: Value 99 means the following: No encoder assigned (not configured).
Description: Displays the effective Command Data Set (CDS).
Dependency: Refer to: p0810, p0811, r0836
Note: The Command Data Set selected using a binector input (e.g. p0810) is displayed using r0836.
Description: Displays the effective Drive Data Set (DDS).
Dependency: Refer to: p0820, p0821, p0822, p0823, p0824, r0837
Note: The drive data set changeover is suppressed when selecting the motor identification, during the rotating measure-
ment, the encoder calibration and the friction characteristic record.
Description: Displays the status word of the closed-loop control.
r0050.0...3 CO/BO: Command Data Set CDS effective / CDS effective
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - -
00 CDS eff., bit 0 ON OFF -
r0051.0...4 CO/BO: Drive Data Set DDS effective / DDS effective
ENCODER, SERVO,
TM41, VECTOR
- - -
00 DDS eff., bit 0 ON OFF -
r0056.1...15 CO/BO: Status word, closed-loop control / ZSW cl-loop ctrl
- - -
01 De-magnetizing completed Yes No -
04 Magnetizing completed Yes No 2701
08 Field weakening active Yes No -
14 Vdc_max controller active Yes No -
15 Vdc_min controller active Yes No -
List of parameters
Parameters
Note: Re bit 04:
The bit is immediately set after power-on
Exception:
For an induction motor with brake (except for p1215 = 2), the bit is only set when 60% of the reference flux is
reached.
Description: Displays the status word of the closed-loop control.
Description: Displays the actual speed setpoint at the input of the speed controller or U/f characteristic (after the interpolator).
Note: The speed setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the actual velocity setpoint at the input of the velocity controller or U/f characteristic (after the interpolator).
r0056.0...15 CO/BO: Status word, closed-loop control / ZSW cl-loop ctrl
- - -
00 Initialization completed Yes No -
01 De-magnetizing completed Yes No -
02 Pulse enable present Yes No -
03 Soft starting present Yes No -
04 Magnetizing completed Yes No -
05 Voltage boost when starting Active Inactive 6300
06 Acceleration voltage Active Inactive 6300
07 Frequency negative Yes No 6719
08 Field weakening active Yes No -
09 Voltage limit active Yes No 6714
10 Slip limit active Yes No 6310
11 Frequency limit active Yes No 6719
12 Current limiting controller voltage output
active
Yes No -
13 Current/torque limiting Active Inactive 6060
14 Vdc_max controller active Yes No 6220,
6320
15 Vdc_min controller active Yes No 6220,
6320
r0060 CO: Speed setpoint before the setpoint filter / n_set before filt.
5020, 6030, 6799
- [rpm] - [rpm] - [rpm]
r0060 CO: Velocity setpoint before the setpoint filter / v_set before filt
5020, 6030, 6799
Parameters
List of parameters
Note: The velocity setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the unsmoothed actual speed values sensed by the encoders.
Description: Displays the unsmoothed actual velocity values sensed by the encoders.
Description: Displays the unsmoothed actual speed values sensed by the encoders.
Index: [0] = Encoder 1
[1] = Encoder 2
Description: Displays the actual unsmoothed velocities sensed by the encoders.
[1] = Encoder 2
r0061 CO: Actual speed unsmoothed / n_act unsmoothed
4715
- [rpm] - [rpm] - [rpm]
r0061 CO: Actual velocity unsmoothed / v_act unsmoothed
ENCODER (Lin enc) Can be changed: - Calculated: - Access level: 2
4715
r0061[0...1] CO: Actual speed unsmoothed / n_act unsmoothed
4715
- [rpm] - [rpm] - [rpm]
r0061[0...1] CO: Actual velocity unsmoothed / v_act unsmoothed
4715
List of parameters
Parameters
Description: Displays the actual speed values sensed by the encoders.
[1] = Encoder 2
[2] = Encoder 3
Note: With a parameterized filter time constant p1441, the speed signal from encoder 1 is displayed corrected by the fol-
lowing error.
The speeds from encoder 2 and 3 are only displayed in U/f operating modes if the function module (speed/torque
control) (r0108.2) has been activated.
Description: Displays the actual speed setpoint after the setpoint filters.
Description: Displays the actual velocity setpoint after the setpoint filters.
Description: Displays the current smoothed actual speed for speed control.
Dependency: Refer to: r0021, r0022, r0061, p1441
Note: The speed actual value is calculated in encoderless operation.
For operation with encoder, r0063 is smoothed with p1441.
r0061[0...2] CO: Actual speed unsmoothed / n_act unsmoothed
4715
- [rpm] - [rpm] - [rpm]
r0062 CO: Speed setpoint after the filter / n_set after filter
5020, 5030, 5210, 6030
- [rpm] - [rpm] - [rpm]
r0062 CO: Velocity setpoint after the filter / v_set after filter
5020, 5030, 5210, 6030
4710, 5300
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the actual smoothed velocity actual value for velocity control.
Note: The velocity actual value is calculated in encoderless operation.
For operation with encoder, r0063 is smoothed with p1441.
Description: Displays the current smoothed actual speed.
Note: For Terminal Module 41 (TM41), this value is used to interconnect with standard telegram 3 and is always zero.
Description: Displays the actual speed of the closed-loop speed control and the U/f control.
Index: [0] = Unsmoothed
[1] = Smoothed with p0045
[2] = Calculated from f_set - f_slip
Note: The speed actual value is calculated in encoderless operation and for U/f control.
For operation with encoder, r0063[0] is smoothed with p1441.
The speed actual value (r0063[0]) is additionally displayed - smoothed with p0045 - in r0063[1].
The speed (r0063[2]) calculated from the output frequency and slip can only be compared with the speed actual
value (r0063[0]) in the steady-state.
The actual speed (r0063[0]) is available as a display quantity with additional smoothing in r0021.
Description: Displays the actual system deviation of the speed controller.
4710, 5300
r0063 CO: Speed actual value / n_act
- [rpm] - [rpm] - [rpm]
r0063[0...2] CO: Speed actual value / n_act
- [rpm] - [rpm] - [rpm]
r0064 CO: Speed controller system deviation / n_ctrl system dev
- [rpm] - [rpm] - [rpm]
List of parameters
Parameters
Note: In servo control mode with active reference model, the system deviation to the P component of the speed controller
is displayed.
Description: Displays the actual system deviation of the velocity controller.
Note: In servo control mode with active reference model, the system deviation to the P component of the velocity control-
ler is displayed.
Description: Displays the slip frequency for induction motors (ASM).
Description: Displays the line frequency.
Re index 0:
Displays the instantaneous value of the line supply PLL.
Re index 1:
Displays the values smoothed with a time constant of 50 ms to monitor the frequency.
[1] = Smoothed
Note: The line frequency is also available with an adjustable smoothing (r0024).
A positive sign of the frequency is obtained when the line supply phases U, V, W are connected with the correct
phase sequence.
A negative sign of the frequency is obtained when the 3 line phases are interchanged therefore designating a neg-
ative direction of the rotating field of the 3-phase line supply voltage.
r0064 CO: Velocity controller system deviation / v_ctrl system dev
r0065 Slip frequency / f_Slip
6727, 6730, 6732
- [Hz] - [Hz] - [Hz]
r0066[0...1] CO: Line frequency / f_line
8950, 8964
- [Hz] - [Hz] - [Hz]
Parameters
List of parameters
Description: Displays the Motor Module output frequency.
Note: The output frequency is available smoothed (r0024) and unsmoothed (r0066).
Description: Displays the actual permissible absolute line-side current.
Index: [0] = Motor mode
[1] = Regenerative mode
Dependency: The permissible current is the minimum from the maximum converter current (r0209), the parameterized current
limits (p3530 to p3533) as well as the maximum permissible current of line filter (r3534).
Refer to: p3530, p3531, r3534
Description: Displays the maximum output current of the Motor Module.
Dependency: The maximum output current is determined by the parameterized current limit and the motor and converter thermal
protection.
Refer to: p0290, p0640
Description: Displays actual absolute current.
Notice: For A_INF, S_INF the following applies:
The value is updated with the current controller sampling time.
r0066 CO: Output frequency / f_outp
5730, 6310, 6730, 6731, 6799
- [Hz] - [Hz] - [Hz]
r0067[0...1] Absolute current value permissible / I_abs val perm
r0067 CO: Output current, maximum / I_outp max
6640, 6724
r0068 CO: Absolute current actual value / I_act abs val
A_INF, S_INF,
SERVO
8014, 8017, 8850, 8950
List of parameters
Parameters
The value is updated with a sampling time of 1 ms.
Note: Absolute current value = sqrt(Iq^2 + Id^2)
Description: Displays the DC current in the DC link.
Notice: For Basic Line Modules of chassis format, the displayed value is invalid as these units do not have any current
sensing.
Note: The DC current in the DC link is available smoothed (r0027) and unsmoothed (r0068).
Notice: The value is updated with the current controller sampling time.
Note: Absolute current value = sqrt(Iq^2 + Id^2)
The absolute value of the current actual value is available smoothed (r0027 with 300 ms, r0068[1] with p0045) and
Description: Displays the measured actual phase currents as peak value.
Index: [0] = Phase U
[1] = Phase V
[2] = Phase W
[3] = Phase U offset
[4] = Phase V offset
[5] = Phase W offset
[6] = Total U, V, W
Note: In indices 3 ... 5, the offset currents of the 3 phases, which are added to correct the phase currents, are displayed.
The sum of the 3 corrected phase currents is displayed in index 6.
r0068 CO: DC current in the DC link / Idc DC link
- [A] - [A] - [A]
r0068[0...1] CO: Absolute current actual value / I_act abs val
6799, 7017, 8014, 8017, 8018
r0069[0...6] Phase current actual value / I_phase act value
A_INF, S_INF,
SERVO
6714, 6730, 6731, 8850, 8950
- [A] - [A] - [A]
Parameters
List of parameters
Description: Displays the measured actual phase currents as peak value.
[1] = Phase V
[2] = Phase W
[3] = Phase U offset
[4] = Phase V offset
[5] = Phase W offset
[6] = Total U, V, W
Note: In indices 3 ... 5, the offset currents of the 3 phases, which are added to correct the phase currents, are displayed.
The sum of the 3 corrected phase currents is displayed in index 6.
Description: Displays the measured actual value of the DC link voltage.
Note: The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
plied. In this case, when an external 24V power supply is connected, a value of approx. 24 V is displayed.
r0069[0...6] CO: Phase current actual value / I_phase act value
6714, 6730, 6731, 8850, 8950
- [A] - [A] - [A]
r0070 CO: Actual DC link voltage / Vdc act val
A_INF, B_INF,
S_INF
8850, 8864, 8940, 8950, 8964
- [V] - [V] - [V]
- [V] - [V] - [V]
List of parameters
Parameters
plied. In this case, when an external 24V power supply is connected, a value of approx. 24 V is displayed.
Description: Displays the maximum output voltage.
Dependency: The maximum output voltage depends on the actual DC link voltage (r0070) and the maximum modulation depth
(p1803).
Note: As the (driven) motor load increases, the maximum output voltage drops as a result of the reduction in DC link volt-
age.
Description: Displays the current power unit input voltage (Line Module).
Index: [0] = Voltage at input terminals of power unit from line supply model
[1] = Voltage at VSM or at input terminals of the line filter
[2] = Voltage of the voltage source from the line supply model
[3] = Smoothed voltage of voltage source from line supply model
Note: The input voltages are available smoothed (r0025) and unsmoothed (r0072).
r0072[0]:
Displays the pulsed voltage at the line supply input terminals of the power unit. The value is calculated from the
modulation depth (r0074) and is therefore only correct in the closed-loop controlled mode and when the pulses are
enabled.
r0072[1]:
Displays the absolute voltage at the input terminals of the line filter or the connection point of a Voltage Sensing
Module (VSM). The value is calculated from the VSM measured values r3661 and r3662 and is therefore equal to 0
if a VSM is not connected.
6730, 6731, 6799
- [V] - [V] - [V]
r0071 Maximum output voltage / U_output max
6640, 6722, 6723, 6724, 6725,
6727
r0072[0...3] CO: Input voltage / U_input
Parameters
List of parameters
r0072[2]:
Displays the estimated value for the voltage of the voltage source that is calculated in the voltage model of the line
supply PLL. (input quantities of the model are the measured values of the line currents and the DC link voltage as
well as the characteristics of the line filter p0225, p0226 as well as the line inductance p3424).
r0072[3]:
Displays the smoothed value for the source voltage in r0072[2]. The PT1 smoothing time constant is set in p3472.
Description: Displays the actual power unit output voltage (Motor Module).
Note: The output voltage is available smoothed (r0025) and unsmoothed (r0072).
Description: Displays the maximum modulation depth.
Description: Displays the actual modulation depth.
Note: For space vector modulation, 100% corresponds to the maximum output voltage without overcontrol.
Values above 100 % indicate an overcontrol condition - values below 100% have no overcontrol.
The phase voltage (phase-to-phase, rms) is calculated as follows:(r0074 x r0070) / (sqrt(2) x 100 %).
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).
Description: Displays the reactive current setpoint.
r0072 CO: Output voltage / U_output
6730, 6731, 6799
r0073 Maximum modulation depth / Modulat_depth max
6725
P-Group: Modulation Units group: - Unit selection: -
- [%] - [%] - [%]
r0074 CO: Modulat_depth / Modulat_depth
A_INF, SERVO,
VECTOR
6731, 6799, 8940, 8950
- [%] - [%] - [%]
r0075 CO: Reactive current setpoint / I_react_set
A_INF Can be changed: - Calculated: - Access level: 3
List of parameters
Parameters
Dependency: Refer to: r3471, p3610
Note: The reactive current requirement of a line filter should be covered by the controlled infeed/regenerative feedback so
that the converter always operates with a power factor of 1 compared to the line. Setpoint r0075 includes the reac-
tive current for a line filter that depends on the current operating point (r3471).
If the line phases are reversed and the line voltage therefore has a negative orientation (r0066 < 0), it should be
noted that the sign of the reactive current is reversed.
Description: Displays the field-generating current setpoint (Id_set).
Note: This value is irrelevant for the U/f control mode.
Description: Displays the reactive current actual value.
Note: The reactive current actual value is available smoothed (r0029) and unsmoothed (r0076).
Description: Displays the field-generating current actual value (Id_act).
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).
Description: Displays the active current setpoint (Iq_set).
r0075 CO: Current setpoint field-generating / Id_set
5722, 6714
r0076 CO: Reactive current actual value / I_reactive_act
8850, 8946, 8950
r0076 CO: Current actual value field-generating / Id_act
5714, 5730, 6714, 6799
r0077 CO: Active current setpoint / I_active_set
8946
Parameters
List of parameters
Description: Displays the torque/force generating current setpoint.
Description: Displays the torque/force generating current setpoint.
Description: Displays the actual value for the active current.
Note: The active current actual value is available smoothed (r0030) and unsmoothed (r0078).
Description: Displays the torque-generating current actual value (Iq_act).
Note: These values are irrelevant for the U/f control mode.
The torque-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
r0077 CO: Current setpoint torque-generating / Iq_set
5714, 6710, 6714, 6719
r0077 CO: Current setpoint force-generating / Iq_set
5714, 6710, 6714, 6719
r0078 CO: Active current actual value / I_active_act
8850, 8946, 8950
r0078[0...1] CO: Current actual value torque-generating / Iq_act
5730
List of parameters
Parameters
Description: Displays the force-generating current actual value (Iq_act).
Note: These values are irrelevant for the U/f control mode.
The force-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
Description: Displays the torque-generating current actual value (Iq_act).
Description: Displays the torque setpoint at the output of the speed controller (before clock cycle interpolation).
Description: Displays the force setpoint at the output of the velocity controller (before clock cycle interpolation).
r0078[0...1] CO: Current actual value force-generating / Iq_act
5730
r0078 CO: Current actual value torque-generating / Iq_act
6714, 6799
r0079[0...1] CO: Torque setpoint total / M_set total
- [Nm] - [Nm] - [Nm]
r0079[0...1] CO: Total force setpoint / F_set total
- [N] - [N] - [N]
Parameters
List of parameters
Description: Displays the torque setpoint at the output of the speed controller.
Description: Displays the actual torque value.
Note: The torque actual value is available smoothed (r0031) and unsmoothed (r0080).
Description: Displays the actual force value.
Note: The force actual value is available smoothed (r0031) and unsmoothed (r0080).
Description: Displays the actual torque value.
Note: The torque actual value is available smoothed (r0031 with 100 ms, r0080[1] with p0045) and unsmoothed
(r0080[0]).
r0079 CO: Torque setpoint / M_set total
6030, 6060, 6710, 8012
- [Nm] - [Nm] - [Nm]
r0080 CO: Torque actual value / M_act
- [Nm] - [Nm] - [Nm]
r0080 CO: Force actual value / F_act
- [N] - [N] - [N]
r0080[0...1] CO: Torque actual value / M_act
- [Nm] - [Nm] - [Nm]
List of parameters
Parameters
Description: Displays the torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque referred to the torque limit.
Note: The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
The torque utilization is obtained from the required torque referred to the torque limit as follows:
- Positive torque: r0081 = ((r0079 + p1532) / (r1538 - p1532)) * 100 %
- Negative torque: r0081 = ((-r0079 + p1532) / (-r1539 + p1532)) * 100 %
The calculation of the torque utilization depends on the selected smoothing time constant (p0045).
Description: Displays the force utilization as a percentage.
The force utilization is obtained from the required smoothed force referred to the force limit.
Note: The force utilization is available smoothed (r0033) and unsmoothed (r0081).
The calculation of the force utilization depends on the selected smoothing time constant (p0045).
Description: Displays the torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque referred to the torque limit.
Note: The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
The torque utilization is obtained from the required torque referred to the torque limit as follows:
- Positive torque: r0081 = (r0079 / r1538) * 100 %
- Negative torque: r0081 = (-r0079 / -r1539) * 100 %
r0081 CO: Torque utilization / M_Utilization
- [%] - [%] - [%]
r0081 CO: Force utilization / F_utilization
- [%] - [%] - [%]
r0081 CO: Torque utilization / M_Utilization
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the instantaneous active power.
Note: The active power is available smoothed (r0032) and unsmoothed (r0082).
Notice: For Basic Line Modules of chassis format, the displayed value is invalid as these units do not have any current
sensing.
Note: The active power is available smoothed (r0032) and unsmoothed (r0082).
[2] = Electric power
Note: The mechanical active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed
(r0082[0]).
r0082 CO: Active power actual value / P_act
8950
- [kW] - [kW] - [kW]
r0082 CO: Active power actual value / P_act
8950
- [kW] - [kW] - [kW]
r0082[0...2] CO: Active power actual value / P_act
- [kW] - [kW] - [kW]
- [kW] - [kW] - [kW]
List of parameters
Parameters
(r0082[0]).
(r0082[0]).
Description: Displays the flux setpoint.
Description: Displays the flux setpoint.
Description: Displays the flux actual value.
- [kW] - [kW] - [kW]
r0083 CO: Flux setpoint / Flex setp
- [%] - [%] - [%]
r0083 CO: Flux setpoint / Flex setp
- [%] - [%] - [%]
r0084 CO: Flux actual value / Flux act val
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the flux actual value.
[1] = Smoothed
Note: The flux actual value (index 1) smoothed with p1585 is only displayed for separately-excited synchronous motors.
In the following cases, the unsmoothed flux actual value is also displayed:
- in the range of the current model.
- during the pole position identification.
- for I/f control.
- for a stalled drive.
Description: Displays the actual active power factor.
Description: Displays the setpoint for the DC link voltage.
Description: Displays the setpoint for the DC link voltage.
r0084[0...1] CO: Flux actual value / Flux act val
6732
- [%] - [%] - [%]
r0087 CO: Actual power factor / Cos phi act
6732, 6799
- - -
r0088 CO: DC link voltage setpoint / Vdc setpoint
A_INF, SERVO
(Tech_ctrl)
- [V] - [V] - [V]
r0088 CO: DC link voltage setpoint / Vdc setpoint
VECTOR (Tech_ctrl) Can be changed: - Calculated: - Access level: 3
- [V] - [V] - [V]
List of parameters
Parameters
Description: Displays the actual phase voltage.
[1] = Phase V
[2] = Phase W
Note: The values are determined from the transistor power-on duration.
Description: Setting to pre-assign/check the sampling times for the internal controller clock cycles for clock-synchronous PRO-
FIdrive operation.
p0092 = 1:
The controller clock cycles are set so that clock synchronous PROFIdrive operation is possible. If it is not possible
to change the controller clock cycles of the clock-cycle synchronous PROFIdrive operation, then an appropriate
message is output.
The pre-setting of the controller clock cycles can result in a derating of the Motor Module (e.g. p0115[0] = 400 s --
> 375 s).
When the drive unit utilization (r9976) is calculated, its maximum computing time load has already been calculated
during ramp-up for clock-cycle synchronous operation and taken into account in r9976 (V4.3 and higher), if fixed
DCC run-time groups "Receive AFTER IF1 PROFIdrive PZD" and "Send BEFORE IF1 PROFIdrive PZD" are used.
p0092 = 0:
The controller clock cycles are set without any restrictions by the clock-cycle PROFIdrive operation (as for up to
version V2.3).
during ramp-up for non-clock-cycle-synchronous operation and taken into account in r9976 (V4.3 and higher), if
fixed DCC run-time groups "Receive AFTER IF1 PROFIdrive PZD" and "Send BEFORE IF1 PROFIdrive PZD" are
used.
Value: 0: No isochronous PROFIBUS
1: Isochronous PROFIBUS
Refer to: A01223, A01224
Caution: Only current controller clock cycles (p0115[0]) which are integers of 125 s are permitted for isochronous mode.
In addition, current controller clock cycles 31.25 s and 62.5 s are possible.
Notice: p0092 only affects the automatic default for the clock cycles (p0115) in the drive. If the clock cycles are modified
subsequently in expert mode (p0112 = 0), p0092 = 0 should be set so that the new values are not overwritten again
by the automatic default when the parameters are downloaded.
The conditions for current controller clock cycle for isosynchronous operation must still be carefully ensured (refer
under Caution!).
r0089[0...2] Actual phase voltage / U_phase act val
- [V] - [V] - [V]
p0092 Clock synchronous operation pre-assignment/check / Clock sync op
CU_CX32, CU_I Can be changed: C1(1) Calculated: - Access level: 1
0 1 1
Parameters
List of parameters
Description: Setting to pre-assign/check the sampling times for the internal controller clock cycles for clock-synchronous PRO-
FIdrive operation.
p0092 = 1:
The controller clock cycles are set so that clock synchronous PROFIdrive operation is possible. If it is not possible
to change the controller clock cycles of the clock-cycle synchronous PROFIdrive operation, then an appropriate
message is output.
The pre-setting of the controller clock cycles can result in a derating of the Motor Module (e.g. p0115[0] = 400 s --
> 375 s).
during ramp-up for clock-cycle synchronous operation and taken into account in r9976 (V4.3 and higher), if fixed
DCC run-time groups "Receive AFTER IF1 PROFIdrive PZD" and "Send BEFORE IF1 PROFIdrive PZD" are used.
p0092 = 0:
The controller clock cycles are set without any restrictions by the clock-cycle PROFIdrive operation (as for up to
version V2.3).
during ramp-up for non-clock-cycle-synchronous operation and taken into account in r9976 (V4.3 and higher), if
fixed DCC run-time groups "Receive AFTER IF1 PROFIdrive PZD" and "Send BEFORE IF1 PROFIdrive PZD" are
used.
Value: 0: No isochronous PROFIBUS
1: Isochronous PROFIBUS
Refer to: A01223, A01224
Caution: Only current controller clock cycles (p0115[0]) which are integers of 125 s are permitted for isochronous mode.
In addition, current controller clock cycles 31.25 s and 62.5 s are possible.
Notice: p0092 only affects the automatic default for the clock cycles (p0115) in the drive. If the clock cycles are modified
subsequently in expert mode (p0112 = 0), p0092 = 0 should be set so that the new values are not overwritten again
by the automatic default when the parameters are downloaded.
The conditions for current controller clock cycle for isosynchronous operation must still be carefully ensured (refer
under Caution!).
Description: Displays the scaled electrical pole position angle.
Dependency: Refer to: r0094, p0431, r1778
Notice: When the pole position angle (r0093) is output via test socket Tx (x = 0, 1, 2) to adjust the encoder (to determine the
angular commutation offset) the test socket being used must be parameterized as follows:
p0771[x] = r0093
p0777[x] = 0 %
p0778[x] = 0 V
p0779[x] = 400 %
p0092 Clock synchronous operation pre-assignment/check / Clock sync op
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
r0093 CO: Pole position angle electrically scaled / Pole pos el scale
- [] - [] - []
List of parameters
Parameters
p0780[x] = 4 V
p0783[x] = 0 V
p0784[x] = 0
For p1821 = 1 (counter-clockwise direction of rotation) the following applies:
In order to adjust the encoder using the EMF method, the value, determined using the oscilloscope, must be
inverted and then entered in p0431.
Note: For operation with encoder and pulse suppression, the following applies:
- the value is generated from r0094 + 180 .
- this angle can be used to adjust the encoders of synchronous motors.
For pulse enable, the following applies:
- the value indicates the transformation angle used by the control + 180 .
- this value is, contrary to r0094, also applicable (provides information) for encoderless operation and after a pole
position identification routine.
Description: Displays the transformation angle.
Note: The transformation angle corresponds to the line supply angle.
Description: Displays the transformation angle.
Note: The transformation angle corresponds to the electrical commutation angle.
If no pole position identification is carried out (p1982), and the encoder is adjusted, the following applies:
The encoder supplies the value and indicates the electrical angle of the flux position (d axis).
Description: Executes an automatic device configuration.
In so doing, p0099, p0107 and p0108 are appropriately set.
Value: 0: No selection
1: Drive object type SERVO
2: Drive object type VECTOR
3: SINAMICS GM (DFEMV & VECTORMV)
r0094 CO: Transformation angle / Transformat_angle
- [] - [] - []
r0094 CO: Transformation angle / Transformat_angle
1690, 4710, 6714, 6730, 6731,
6732
- [] - [] - []
p0097 Select drive object type / Select DO type
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
P-Group: Topology Units group: - Unit selection: -
0 24 0
Parameters
List of parameters
4: SINAMICS SM (AFEMV & VECTORMV)
5: SINAMICS GL (VECTORGL)
6: SINAMICS SL (VECTORSL)
12: Drive object type VECTOR parallel circuit
13: Drive object type VECTORMV - GM parallel circuit
14: Drive object type VECTORMV - SM parallel circuit
15: Drive object type DC_CTRL
16: Drive object type SERVO HMI
17: Drive object type VECTOR HMI
24: Drive object type VECTORMV - SM parallel circuit
Refer to: A01330
Note: For p0097 = 0, p0099 is automatically set to the factor setting.
The possible settings are dependent upon the device type.
Description: Displays the automatically detected actual device topology in coded form.
Index: [0] = DRIVE-CLiQ socket X100
[1] = DRIVE-CLiQ socket X101
Note: Topology coding: abcd efgh hex
a = number of Active Line Modules
b = number of Motor Modules
c = number of motors
d = number of encoders (or the line supply voltage sensing for Active Line Modules)
e = number of additional encoders (or the line supply voltage sensing for Active Line Modules)
f = number of Terminal Modules
g = number of Terminal Boards
h = reserved
if the value 0 is displayed in all indices, then components are not detected via DRIVE-CLiQ.
If a value F hex occurs at a position of the coding (abcd efgh hex), then an overflow has occurred.
Description: Sets the device target topology in coded form (refer to r0098). The setting is made during commissioning.
De-activated or non-available components are also counted
r0098[0...5] Actual device topology / Device_act topo
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p0099[0...5] Device target topology / Device_target topo
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 hex FFFF FFFF hex 0000 hex
List of parameters
Parameters
Index: [0] = DRIVE-CLiQ socket X100
Dependency: The parameter can only be written into for p0097 = 0.
To perform an automatic device configuration run, an index of the device target topology must be set to the value of
the device actual topology in r0098 for acknowledgement. An index of the device actual topology with a value other
than 0 must be selected.
Refer to: p0097, r0098
Refer to: A01330
Note: The parameter can only be set to the values 0, the value of the actual device topology, the value of the actual
device target topology and FFFFFFFF hex.
If the value 0 is displayed in all of the indices, then the system has still not been commissioned.
The value FFFFFFFF hex indicates that the topology was not generated by the automatic device configuration but
was commissioned using the commissioning software (e.g. using parameter download).
Description: Defines whether the motor and drive converter power settings (e.g. rated motor power - p0307) are expressed in
[kW] or [hp].
Depending on the selection, the rated motor frequency (p0310) is either set to 50 Hz or 60 Hz.
For p0100 = 0, the following applies: The power factor (p0308) should be parameterized.
For p0100 = 1, the following applies: The efficiency (p0309) should be parameterized.
Value: 0: IEC-Motor (50 Hz, SI units)
1: NEMA motor (60 Hz, US units)
Dependency: If p0100 is changed, all of the rated motor parameters are reset. Only then are possible unit changeovers made.
The units of all motor parameters are changed that are involved in the selection of IEC or NEMA (e.g. r0206, p0307,
p0316, r0333, r0334, p0341, p0344, r1493, r1969).
Refer to: r0206, p0210, p0300, p0304, p0305, p0307, p0308, p0309, p0310, p0311, p0312, p0314, p0320, p0322,
p0323, p0335, r0336, r0337, p0338, p1800
Note: The parameter can only be changed for vector control (p0107).
The parameter value is not reset when the factory setting is restored (p0010 = 30, p0970).
Description: Defines whether the motor and drive converter power settings (e.g. rated motor power - p0307) are expressed in
[kW] or [hp].
Depending on the selection, the rated motor frequency (p0310) is either set to 50 Hz or 60 Hz.
For p0100 = 0, the following applies: The power factor (p0308) should be parameterized.
For p0100 = 1, the following applies: The efficiency (p0309) should be parameterized.
Value: 0: IEC-Motor (50 Hz, SI units)
1: NEMA motor (60 Hz, US units)
p0100 IEC/NEMA mot stds / IEC/NEMA mot stds
SERVO Can be changed: C2(1) Calculated: - Access level: 3
P-Group: Converter Units group: - Unit selection: -
Not for motor type: FEM Scaling: - Expert list: 1
0 1 0
p0100 IEC/NEMA mot stds / IEC/NEMA mot stds
VECTOR Can be changed: C2(1) Calculated: - Access level: 1
0 1 0
Parameters
List of parameters
Dependency: If p0100 is changed, all of the rated motor parameters are reset. Only then are possible unit changeovers made.
The units of all motor parameters are changed that are involved in the selection of IEC or NEMA (e.g. r0206, p0307,
p0316, r0333, r0334, p0341, p0344, r1493, r1969).
Refer to: r0206, p0210, p0300, p0304, p0305, p0307, p0308, p0309, p0310, p0311, p0312, p0314, p0320, p0322,
p0323, p0335, r0336, r0337, p0338, p1800
Note: The parameter can only be changed for vector control (p0107).
The parameter value is not reset when the factory setting is restored (p0010 = 30, p0970).
Description: The parameter contains the object number via which every drive object can be addressed.
The number of an existing drive object is entered into each index.
Value = 0: No drive object is defined.
Index: [0] = Drive object number Control Unit
[1] = Drive object number object 1
Note: The numbers are automatically assigned once and can no longer be changed as long as the object has not been
deleted.
In the commissioning software, this object number cannot be entered using the expert list, but is automatically
assigned when inserting an object.
p0101[0...23] Drive object numbers / DO numbers
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 62 0
List of parameters
Parameters
Description: Displays the number of existing or existing and prepared drive objects.
Index: [0] = Existing drive objects
[1] = Existing and prepared drive objects
Note: The numbers of the drive objects are in p0101.
Index 0:
Displays the number of drive objects that have already been set up.
Index 1:
Displays the number of drive objects that have already been set up and, in addition, the drive objects that still have
to be set up.
Description: Displays the application-specific view of the individual drive object.
Dependency: Refer to: p0107, r0107
Description: The application-specific view of an existing drive object is entered into each index.
The parameter cannot be changed.
Note: In the non-volatile memory, the application-specific views are defined in files with the following structure:
PDxxxyyy.ACX
xxx: Application-specific view (p0103)
yyy: Type of drive object (p0107)
Example:
PD052011.ACX
--> "011" stands for the drive object, type SERVO
--> "052" is the number of the view for this drive object
r0102[0...1] Number of drive objects / DO count
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r0103 Application-specific view / Appl_spec view
A_INF, B_INF,
S_INF, SERVO,
VECTOR
P-Group: Closed-loop control Units group: - Unit selection: -
0 65535 -
p0103[0...23] Application-specific view / Appl_spec view
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 999 0
Parameters
List of parameters
Description: Setting to activate/de-activate a drive object.
Value: 0: De-activate drive object
1: Activate drive object
2: Drive object, de-activate and not present
Recommend.: After inserting all of the components of a drive object, before activating, first wait for Alarm A01316.
Refer to: A01314, A01316
Caution: When activating drive objects with the safety functions enabled, the following applies:
After reactivating, a warm restart (p0009 = 30, p0976 = 2, 3) or POWER ON should be carried out.
Notice: The following applies when activating:
If components are inserted for the first time and the appropriate drive object is activated, then the drive system is
automatically booted. To do this, the pulses of all of the drive objects must be suppressed.
Note: Re value = 0, 2:
When a drive object is deactivated it no longer outputs any errors.
If value = 0:
All components of the drive object were completely commissioned and are deactivated using this value. They can
be removed from the DRIVE-CLiQ without any error.
If value = 1:
All components of the drive object must be available for error-free operation.
If value = 2:
Components of a drive object in a project generated offline and set to this value must never be inserted in the actual
topology from the very start. This means that the components are marked to be bypassed in the DRIVE-CLiQ line.
For components that comprise several individual components (e.g. Double Motor Modules), it is not permissible to
set just one subset to this value.
p0105 Activate/de-activate drive object / DO act/deact
A_INF, B_INF,
CU_LINK,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120,
TM15DI_DO, TM17,
VECTOR
Can be changed: T Calculated: - Access level: 2
0 2 1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 1
List of parameters
Parameters
Refer to: A01314, A01316
Warning: A drive that is moved by simulating the inputs of a Terminal Module is brought to a standstill while this parameter is
being changed over.
If value = 0:
If value = 1:
If value = 2:
Refer to: A01314, A01316
Caution: TM54F can only be de-activated if all of the drives assigned to it via P10010 have been de-activated or safety on
the assigned drives has not be enabled.
When activating drive objects with the safety functions enabled, the following applies:
After reactivating, a warm restart (p0009 = 30, p0976 = 2, 3) or POWER ON should be carried out.
TM15, TM31, TM41 Can be changed: T Calculated: - Access level: 2
0 2 1
TM54F_MA,
TM54F_SL
0 2 1
Parameters
List of parameters
If value = 0:
If value = 1:
If value = 2:
Description: Displays the "active/inactive" state of a drive object.
Value: 0: Drive object inactive
1: Drive object active
Description: Displays the type of each drive object.
Value: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
r0106 Drive object active/inactive / DO act/inact
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
0 1 -
r0107 Drive object type / DO type
A_INF, B_INF,
CU_LINK,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
0 300 -
List of parameters
Parameters
6: SINAMICS DC
7: SINAMICS GL
9: SINAMICS S110
10: ACTIVE INFEED CONTROL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
16: VECTORSL
17: DC_CTRL
18: VECTORM2C
19: VECTORDM
20: SMART INFEED CONTROL
30: BASIC INFEED CONTROL
35: BRAKE MODULE M2C
40: ACTIVE INFEED CONTROLMV
41: BASIC INFEED CONTROLMV
42: ACTIVE INFEED CONTROLM2C
51: SINAMICS G120 230 (SingleDO-Drive which combines Device+Vector)
52: SINAMICSG120 240_2 (SingleDO-Drive which combines Device+Vector)
100: TB30 (Terminal Board)
101: SINAMICS SL
102: SINAMICS SM120
104: SINAMICS SM120I
150: DRIVE-CLiQ Hub Module
200: TM31 (Terminal Module)
202: TM17 High Feature (Terminal Module)
204: TM15 (Terminal Module for SINAMICS)
205: TM54F - Master (Terminal Module)
206: TM54F - Slave (Terminal Module)
254: CU-LINK
300: ENCODER
Description: The type of an existing drive object is entered into each index.
Value: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
6: SINAMICS DC
7: SINAMICS GL
9: SINAMICS S110
10: ACTIVE INFEED CONTROL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
p0107[0...23] Drive object type / DO type
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 300 0
Parameters
List of parameters
16: VECTORSL
17: DC_CTRL
18: VECTORM2C
19: VECTORDM
20: SMART INFEED CONTROL
30: BASIC INFEED CONTROL
35: BRAKE MODULE M2C
40: ACTIVE INFEED CONTROLMV
41: BASIC INFEED CONTROLMV
42: ACTIVE INFEED CONTROLM2C
51: SINAMICS G120 230 (SingleDO-Drive which combines Device+Vector)
52: SINAMICSG120 240_2 (SingleDO-Drive which combines Device+Vector)
100: TB30 (Terminal Board)
101: SINAMICS SL
102: SINAMICS SM120
104: SINAMICS SM120I
150: DRIVE-CLiQ Hub Module
202: TM17 High Feature (Terminal Module)
204: TM15 (Terminal Module for SINAMICS)
205: TM54F - Master (Terminal Module)
206: TM54F - Slave (Terminal Module)
254: CU-LINK
300: ENCODER
Index: [0] = Drive object type, Control Unit
[1] = Drive object type, object 1
Caution: If you change this parameter and exit the device commissioning mode, then the complete software will be set up
again and all of the previous drive parameter settings are deleted.
Note: The number (p0101) and the associated drive object type are in the same index.
For SINAMICS S a drive object type can only be changed between SERVO and VECTOR. If you change the
parameter and exit drive start-up (p0009 from 2 to 0) the drive parameters are set up again.
List of parameters
Parameters
Description: Displays the activated function module for the particular drive object.
Note: A "function module" is a functional expansion of a drive object that can be activated when commissioning.
Description: The function module of an existing drive object is entered into each index (see p0101, p0107).
The following bits are available for the Control Unit (Index 0):
Bit 18: Free function blocks
Bit 29: CAN
Bit 30: COMM BOARD
Bit 31: PROFINET
For all other drive objects (Index > 0), the significance of the bits should be taken from the display parameters r0108
of the drive object.
r0108 Drive object, function module / DO function module
- - -
04 Line transformer Activated Not activated -
07 Dynamic grid support Activated Not activated -
12 Line droop control Activated Not activated -
15 Parallel connection Activated Not activated -
18 Free function blocks Activated Not activated -
19 Master/Slave Activated Not activated -
26 Braking Module external Activated Not activated -
28 Cooling unit Activated Not activated -
31 PROFINET Activated Not activated -
B_INF, S_INF Can be changed: - Calculated: - Access level: 2
- - -
26 Braking Module external Activated Not activated -
p0108[0...23] Drive object, function module / DO function module
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Parameters
List of parameters
Index: [0] = Function module Control Unit
[1] = Function module object 1
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
List of parameters
Parameters
- - -
12 Linear encoder Activated Not activated -
- - -
01 Extended closed-loop torque control Activated Not activated -
02 Closed-loop speed/torque control Activated Not activated -
03 Closed-loop position control Activated Not activated -
04 Basic positioner Activated Not activated -
06 DSC with spline Activated Not activated -
07 Advanced Positioning Control (APC) Activated Not activated -
08 Extended setpoint channel Activated Not activated -
09 Extended Stopping and Retraction Activated Not activated -
10 Moment of inertia estimator Activated Not activated -
11 Spindle Activated Not activated -
12 Linear motor Activated Not activated -
13 Safety rotary axis Activated Not activated -
14 Extended brake control Activated Not activated -
16 Techn controller Activated Not activated -
17 Extended messages/monitoring Activated Not activated -
29 CAN Activated Not activated -
TB30, TM120,
TM15DI_DO, TM31,
TM41
- - -
Parameters
List of parameters
Description: Displays the basic sampling times.
The sampling times are set using p0112 and p0115. The values for the basic sampling times are determined as a
result of these settings.
Index: [0] = Basic sampling time 0
[1] = Basic sampling time 1
[2] = Basic sampling time 2
- - -
02 Closed-loop speed/torque control Activated Not activated -
03 Closed-loop position control Activated Not activated -
04 Basic positioner Activated Not activated -
08 Extended setpoint channel Activated Not activated -
13 Safety rotary axis Activated Not activated -
14 Extended brake control Activated Not activated -
16 Techn controller Activated Not activated -
17 Extended messages/monitoring Activated Not activated -
20 Software gating unit Activated Not activated -
29 CAN Activated Not activated -
r0110[0...2] Basic sampling times / t_basis
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [s] 10000.00 [s] - [s]
List of parameters
Parameters
Description: Displays the selected basic sampling time for this drive object.
Description: Displays the selected basic sampling time for this drive object.
Note: For TB30 and the Terminal Module, this parameter has no significance.
For TB30 and certain Terminal Modules, the sampling times can be set using p4099 (see description of p4099 for
the Module in question).
Description: Pre-assignment of the sampling times in p0115.
The clock cycles for the current controller / speed controller / flux controller / setpoint channel / position controller /
positioning / technology controller are pre-assigned as follows:
SINAMICS S, servo drive:
p0112 = 1: 250 / 250 / 250 / 4000 / 2000 / 8000 / 4000 s (for chassis units)
p0112 = 2: 125 / 250 / 250 / 4000 / 2000 / 8000 / 4000 s
p0112 = 3: 125 / 125 / 125 / 4000 / 1000 / 4000 / 4000 s
p0112 = 4: 62.5 / 62.5 / 62.5 / 1000 / 1000 / 2000 / 1000 s
p0112 = 5: 31.25 / 31.25 / 31.25 / 1000 / 1000 / 2000 / 1000 s
SINAMICS S, Active Infeed (p0112 = 1 not for p0092 = 1):
p0112 = 1: 400 / - / - / 1600 s (pre-setting for the rated pulse frequency = 2.5 kHz)
p0112 = 3: 125 / - / - / 2000 s
p0112 = 4: 125 / - / - / 1000 s
p0112 = 5: 125 / - / - / 500 s
r0111 Basic sampling time selection / t_basis sel
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
HUB, S_INF,
SERVO, VECTOR
0 2 -
r0111 Basic sampling time selection / t_basis sel
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41
0 2 -
p0112 Sampling times pre-setting p0115 / t_sample for p0115
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 5 3
Parameters
List of parameters
SINAMICS S, Smart Infeed (p0112 = 1 not for p0092 = 1):
p0112 = 3: 250 / - / - / 2000 s
p0112 = 4: 250 / - / - / 1000 s
p0112 = 5: Not possible
SINAMICS S, Basic Infeed, booksize:
p0112 = 4: 250 / - / - / 2000 s
SINAMICS S, Basic Infeed, chassis:
p0112 = 1: 2000 / - / - / 2000 s
p0112 = 2: 2000 / - / - / 2000 s (pre-setting)
p0112 = 3: 2000 / - / - / 2000 s
SINAMICS S/G, vector drive (p0112 = 1 not for p0092 = 1 and not for PM340):
p0112 = 1: 400 / 1600 / 1600 / 1600 / 3200 / 3200 / 3200 s (for rated pulse frequency = 1.25, 2.5 kHz)
p0112 = 2: 250 / 1000 / 2000 / 1000 / 2000 / 4000 / 4000 s
p0112 = 3: 250 / 1000 / 1000 / 1000 / 2000 / 4000 / 4000 s (for rated pulse frequency = 2.0, 4.0 kHz)
SINAMICS S, vector drive:
p0112 = 4: 250 / 500 / 1000 / 500 / 1000 / 2000 / 2000 s
p0112 = 5: 250 / 250 / 1000 / 250 / 1000 / 2000 / 1000 s
Value: 0: Expert
1: xLow
2: Low
3: Standard
4: High
5: xHigh
Recommend.: When changing the sampling times of the current and speed controllers (also refer to p0115), then we recommend
that after exiting commissioning (p0009 = 0) the controller settings are re-calculated using p0340 = 4.
Dependency: It is prohibited to select a parameter value from p0112 if the associated current controller clock cycle cannot set
(e.g. p0112 = 1 is not possible for a vector drive and PM340 power unit).
If, for a servo drive, p112 = 5 is set, then the pulse frequency p1800 is preassigned 8 kHz.
Refer to: p0092
Note: For p0112 = 0 (expert) the individual sampling times in p0115 can be adjusted.
p0112 = 1 cannot be set for a power unit type PM340 (refer to r0203) for vector drives.
Description: The current controller sampling time (p0115[0]) is pre-assigned by selecting the minimum pulse frequency.
Dependency: The parameter can only be changed with p0112 = 0 (expert). For isochronous operation (p0092 = 1) the parameter
can only be set so that a current controller clock cycle of 125 s is obtained as an integer number.
The required pulse frequency can be set in p1800 after commissioning (p0009 = p0010 = 0).
Refer to: p0112, r0114, p0115, p1800
Note: The current controller sampling time (p0115[0]) is set to the inverse value of twice the minimum pulse frequency.
For p0113 = 2.0 kHz, p0115[0] = 250 s is set, for p0113 = 4.0 kHz, p0115[0] = 125 s is set. The current controller
sampling time (p0115[0]), calculated from the pulse frequency, is set in a grid of 1.25 s.
For a power unit type PM340 (refer to r0203), only the values 2.0 and 4.0 kHz can be set.
p0113 Minimum pulse frequency, selection / f_puls min sel
2.000 [kHz] 4.000 [kHz] 4.000 [kHz]
List of parameters
Parameters
Description: The current controller sampling time (p0115[0]) is pre-assigned by selecting the minimum pulse frequency.
Dependency: The parameter can only be changed with p0112 = 0 (expert). For isochronous operation (p0092 = 1) the parameter
can only be set so that a current controller clock cycle of 125 s is obtained as an integer number.
The required pulse frequency can be set in p1800 after commissioning (p0009 = p0010 = 0).
Refer to: p0112, r0114, p0115, p1800
Note: The current controller sampling time (p0115[0]) is set to the inverse value of twice the minimum pulse frequency.
For p0113 = 1.0 kHz, p0115[0] = 500 s is set, for p0113 = 2.0 kHz, p0115[0] = 250 s is set. The current controller
sampling time (p0115[0]), calculated from the pulse frequency, is set in a grid of 1.25 s.
For a power unit type PM340 (refer to r0203), only the values 1.0 and 2.0 kHz can be set. 1.0 kHz can be set in
order to achieve a current controller clock cycle of 500s. However, in this case, the minimum pulse frequency
p1800 is limited to 2 kHz.
Description: Displays the recommended values (indices 0 and 1) for the minimum pulse frequency (p0113).
If the system rejects a change to p0113 because the value to be used lies outside the permitted value range, then
instead the recommended value from r0114 can be used.
Index: [0] = If only the actual drive is changed
[1] = If all drives connected to the DRIVE-CLiQ line are changed
[2] = 2. possible pulse frequency
Note: After exiting commissioning (p0009 = p0010 = 0), the pulse frequencies calculated from the sampling time p115[0]
are displayed in indices 1 to 9. If additional restrictions do not apply (e.g. due to having selected an output filter),
these can be entered into p1800. The maximum pulse frequency of the power units was already taken into account
in r0114.
A value of 0 kHz does not define a recommended pulse frequency.
p0113 Minimum pulse frequency, selection / f_puls min sel
1.000 [kHz] 4.000 [kHz] 2.000 [kHz]
r0114[0...9] Minimum pulse frequency, recommended / f_puls min recom
- [kHz] - [kHz] - [kHz]
Parameters
List of parameters
Description: Sets the sampling times for the control loops.
The default setting is made using p0112 and can only be individually changed for p0112 = 0 (expert).
Index: [0] = Current controller
[1] = Speed controller
[2] = Flux controller
[3] = Setpoint channel
[4] = Pos controller
[5] = Positioning
[6] = Techn controller
Dependency: The sampling times can only be separately set if p0112 is 0 (expert). If a sampling time is modified in the expert
mode, then all of the sampling times with higher indices are automatically changed in the same ratio as the sam-
pling time itself was changed. Slower time slices are only taken if the calculated sampling time is also permitted.
Upper limit is 8 ms.
Higher-level controls must be calculated in integral ratios to lower-level controls (e.g. p0115[1] = N * p0115[0];
where N is an integer number). The sampling time of the speed controller (p0115[1]) can have as a maximum a
value of 800% of the current controller sampling time (p0115[0]).
For servo drives, the maximum sampling time of the current controller is 250 s and for vector drives, 500 s.
The sampling times for setpoint channel (p0115[3]), position controller (p0115[4]), positioning (p0115[5]) and tech-
nology controller (p0115[6]) must have at least 2x the value of the current controller sampling time (p0115[0]).
Refer to: r0110, r0111, p0112
Note: For function modules that can be activated (e.g. technology controller), the parameters values are pre-assigned.
For the Active Line Module (ALM) and Smart Line Module (SLM), the current and DC link voltage controllers oper-
ate with the same sampling time. For ALM/SLM the maximum current controller clock cycle is 400 s.
For the Basic Line Module (BLM), the DC link voltage measurement operates in the current controller sampling
time.
For BLM booksize, only the current controller sampling time of 250 s is permitted. For BLM chassis, only the cur-
rent controller sampling time of 2000 s is permitted.
For power unit type PM340 (r0203), only current controller sampling times of 62.5 s, 125 s, 250 s and 500 s
can be set. The maximum current controller clock cycle for servo drives and the minimum current controller clock
cycle for vector drives is 250 s.
If sampling times in p0115 are individually changed for p0112 = 0 (expert) then it must always be observed that the
selected sampling times of the setpoint channel (p0115[3]), position controller (p0115[4]), positioning (p0115[5])
and technology controller (p0115[6]) are always greater than or equal to twice the current controller sampling time
(p0115[0]).
p0115[0...6] Sampling times for internal control loops / t_sample int ctrl
A_INF, B_INF,
S_INF, SERVO
0.00 [s] 16000.00 [s] [0] 125.00 [s]
[1] 125.00 [s]
[2] 125.00 [s]
[3] 4000.00 [s]
[4] 1000.00 [s]
[5] 4000.00 [s]
[6] 4000.00 [s]
List of parameters
Parameters
Description: Sets the basic sampling time for supplementary functions (DCC, free function blocks) on this object.
Only setting values that are an integer multiple of 125 s are permissible.
Index: [0] = Basic sampl. time
Description: Sets the sampling times for speed detection.
Recommend.: When changing the sampling times of the current and velocity controllers (p0115), then we recommend that after
exiting commissioning (p0009 = 0) the controller settings are re-calculated using p0340 = 4.
[1] = Velocity controller
[5] = Positioning
Dependency: The sampling times can only be separately set if p0112 is 0 (expert). If a sampling time is modified in the expert
where N is an integer number). The sampling time of the velocity controller (p0115[1]) can have as a maximum a
p0115[0] Sampling time for supplementary functions / t_samp suppl_fct
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [s] 16000.00 [s] 4000.00 [s]
p0115[0] Sampling time for speed detection / t_sample n_det
ENCODER Can be changed: C1(3) Calculated: - Access level: 3
125.00 [s] 500.00 [s] 125.00 [s]
SERVO (Lin) Can be changed: C1(3) Calculated: - Access level: 3
0.00 [s] 16000.00 [s] [0] 125.00 [s]
[1] 125.00 [s]
[2] 125.00 [s]
[3] 4000.00 [s]
[4] 1000.00 [s]
[5] 4000.00 [s]
[6] 4000.00 [s]
Parameters
List of parameters
For servo drives, the maximum sampling time of the current controller is 250 s and for vector drives, 500 s.
Refer to: r0110, r0111, p0112
For the Active Line Module (ALM) and Smart Line Module (SLM), the current and DC link voltage controllers oper-
ate with the same sampling time. For ALM/SLM the maximum current controller clock cycle is 400 s.
For the Basic Line Module (BLM), the DC link voltage measurement operates in the current controller sampling
time.
For BLM booksize, only the current controller sampling time of 250 s is permitted. For BLM chassis, only the cur-
rent controller sampling time of 2000 s is permitted.
For power unit type PM340 (r0203), only current controller sampling times of 62.5 s, 125 s, 250 s and 500 s
can be set. The maximum current controller clock cycle for servo drives and the minimum current controller clock
cycle for vector drives is 250 s.
If sampling times in p0115 are individually changed for p0112 = 0 (expert) then it must always be observed that the
selected sampling times of the setpoint channel (p0115[3]), position controller (p0115[4]), positioning (p0115[5])
and technology controller (p0115[6]) are always greater than or equal to twice the current controller sampling time
(p0115[0]).
Description: Sets the sampling times for supplementary functions (DCC, free function blocks) on this object.
Note: This parameter only applies to set the sampling times of possible supplementary functions.
The sampling times for inputs/outputs must be set in p4099.
Note: This parameter only applies to set the sampling times of possible supplementary functions.
The sampling times for inputs/outputs or encoder emulation must be set in p4099.
TB30, TM15DI_DO,
TM31
0.00 [s] 16000.00 [s] 4000.00 [s]
TM120 Can be changed: C1(3) Calculated: - Access level: 3
0.00 [s] 16000.00 [s] 4000.00 [s]
0.00 [s] 16000.00 [s] 4000.00 [s]
List of parameters
Parameters
When adjusting the current controller sampling time, it is recommended to use values that are an integer multiple of
6.25 s. The sampling times of analog or digital inputs/outputs (see p0799, p4099) should be set to an integer mul-
tiple of the current controller sampling time.
If the current controller sampling time is to be reduced with respect to the default setting (e.g. below 250 s), then it
is recommended that the motor data identification (standstill measurement) is executed beforehand, in order to
avoid a thermal overload of the power section as a result of high pulse frequencies (p1800).
[1] = Speed controller
[5] = Positioning
Dependency: Depending on the number and type of vector drives, the sampling times are preset differently.
The sampling times can only be separately set if p0112 is 0 (expert). If a sampling time is modified in the expert
where N is an integer number). The sampling time of the speed controller (p0115[1]) can have as a maximum a
The sampling times for setpoint channel (p0115[3]), position controller (p0115[4]), positioning (p0115[5]) and tech-
nology controller (p0115[6]) must have at least 2x the value of the current controller sampling time (p0115[0]).
The sampling time of the current controller p0115[0] and pulse frequency p1800 are checked at each parameter
download, and when necessary changed, if, for p0092 = 1, the current controller clock cycle is not an integral multi-
ple of 125 s or if p0112 is set > 1. For p0092 = 0, the check with p0112 = 0 (= expert) can be deactivated.
Refer to: r0110, r0111, p0112
For power unit type PM340 (r0203), only current controller sampling times of 250 s or 500 s can be set. The min-
imum current controller clock cycle is otherwise 125 s, the maximum current controller clock cycle is 500 s.
Current controller clock cycles less than 250 s are restricted by the number of drives or by the number of power
units connected in parallel (also see F01340).
For chassis power units connected in parallel, it is recommended to connect the DRIVE-CLiQ cables (partially) in
parallel between the Control Unit and the individual Motor Modules.
0.00 [s] 16000.00 [s] [0] 250.00 [s]
[1] 1000.00 [s]
[2] 1000.00 [s]
[3] 1000.00 [s]
[4] 2000.00 [s]
[5] 4000.00 [s]
[6] 4000.00 [s]
Parameters
List of parameters
Description: Displays the recommended sampling time for the drive objects.
r00116[0] = recommended sampling time:
Recommended value which would then make the complete system operational.
r00116[1] = recommended sampling time:
Recommended value, which after changing other clock cycles on the DRIVE-CLiQ line, would result in an opera-
tional system.
Index: [0] = Change only for the actual drive object
[1] = Changing all objects on the DRIVE-CLiQ line
Description: Sets the mode for the computing dead time of the current controller.
0: Offset (shifted) clocking, minimum computing dead time of each drive, automatic setting
1: Clocking at the same time, the dead time aligns itself to the dead time of the latest drive, automatic setting
2: Manual setting of the computing dead time, early transfer
3: Manual setting of the computing dead time, late transfer
4-6: As for 0-2, however, no early transfers are set for vectors
Refer to: A02100
Note: The mode change is not effective until the drive unit is powered up again.
Re p0117 = 0:
The times when the setpoints become effective for the individual controls is automatically and individually deter-
mined. Another computing dead time is set for each control (closed-loop) (p0118). Current is impressed for the indi-
vidual controls without any offset with respect to time (improved EMC compatibility).
Re p0117 = 1:
The latest closed-loop control determines when the setpoints for each of the individual controls become active. The
same computing dead time is set for each control (p0118). Current is impressed (flows) for the individual controls
without any offset with respect to time.
Re p0117 = 2:
The computing dead time is manually set. The user must optimize the value in p0118.
r0116[0...1] Drive object clock cycle recommended / DO_clock recom
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, SERVO,
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
- [s] - [s] - [s]
p0117 Current controller computing dead time mode / I_ctrl t_dead mode
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 6 6
List of parameters
Parameters
Re p0117 = 3:
The computing dead time is manually set. The user must optimize the value in p0118.
Re p0117 = 4 ... 6:
Behavior as for p0117 = 0 ... 2, however for vectors, the earliest times are not determined.
Description: This parameter is pre-set as a function of the current controller sampling time (p0115[0]) and normally does not
have to be changed.
Refer to: A02100
Note: For p0118 <= 0.005 s, the current controller output is delayed by a complete current controller clock cycle
(p0115[0]).
After p0118 has been changed, we recommend that the current controller is adapted (p1715).
Description: This parameter is pre-set as a function of the current controller sampling time (p0115[0]) and normally does not
have to be changed.
Refer to: A02100
Note: For p0118 <= 0.005 s, the current controller output is delayed by a complete current controller clock cycle
(p0115[0]).
After p0118 has been changed, we recommend that the current controller is adapted (p1715).
Description: Sets the number of Power unit Data Sets (PDS).
The value corresponds to the number of power units connected together for a parallel circuit configuration.
Note: This parameter is only significant for drive objects A_INFEED and VECTOR with a parallel circuit configuration.
p0118 Current controller computing dead time / I_ctrl t_dead
A_INF, B_INF,
S_INF, VECTOR
0.00 [s] 2000.00 [s] 0.00 [s]
p0118 Current controller computing dead time / I_ctrl t_dead
SERVO Can be changed: U, T Calculated: CALC_MOD_CON Access level: 4
0.00 [s] 2000.00 [s] 0.00 [s]
p0120 Number of Power unit Data Sets (PDS) / PDS count
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
P-Group: Data sets Units group: - Unit selection: -
1 8 1
Parameters
List of parameters
Description: The power unit data set is assigned to a power unit using this parameter.
This unique component number is assigned when parameterizing the topology.
Only component numbers can be entered into this parameter that correspond to a power unit.
Note: For parallel circuit configurations, the parameter index is assigned to a power unit.
Description: Detects the power unit assigned to this drive and data set.
Note: While p0124 = 1, the READY LED flashes green/orange or red/orange with 2 Hz at the appropriate power unit.
For parallel circuit configurations, the parameter index is assigned to a power unit.
Description: Detection of the main components of the drive object selected via the index.
Description: Setting to activate/de-activate a power unit component.
Value: 0: De-activate component
1: Activate component
2: Component, de-activate and not present
Recommend.: After inserting a component, before activating, first wait for Alarm A01317.
Refer to: A01314, A01317
Caution: It is not permissible to de-activate drive objects with safety functions enabled.
p0121[0...n] Power unit component number / PU comp_no
A_INF, B_INF,
S_INF, SERVO,
VECTOR
Data type: Unsigned8 Dynamic index: PDS, p0120 Func. diagram: -
0 199 0
p0124[0...n] Power unit detection via LED / PU detection LED
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 1 0
p0124[0...23] Main component detection using LED / M_comp detect LED
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
p0125[0...n] Activate/de-activate power unit components / PU_comp act/deact
A_INF, B_INF,
S_INF, SERVO,
VECTOR
Data type: Integer16 Dynamic index: PDS, p0120 Func. diagram: -
0 2 1
List of parameters
Parameters
Note: The activation of a component can be rejected if the component was inserted for the first time. In this case, it is only
possible to activate the component when the pulses for all of the drive objects are inhibited.
For units connected in parallel, when one of the power units is de-activated, then the enable in p7001 is withdrawn.
In the case of de-activation via p0125, the power unit components of the parallel circuit may not be connected.
Re value = 0, 2:
When a component is deactivated it no longer outputs any errors.
If value = 0:
The component was completely commissioned and is deactivated using this value. It can be removed from the
DRIVE-CLiQ without any error.
If value = 1:
The component must be available for error-free operation.
If value = 2:
A component in a project generated offline and set to this value must never be inserted in the actual topology from
the very start. This means that the component is marked to be bypassed in the DRIVE-CLiQ line.
Description: Displays the "active/inactive" state of a power unit component.
Value: 0: Component inactive
1: Component active
Description: Displays the version of the EPROM data of the power unit.
Description: Displays the firmware version of the power unit.
Note: Example:
r0126[0...n] Power unit components active/inactive / PU comp act/inact
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 1 -
r0127[0...n] Power unit version EPROM data / PU EPROM version
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
r0128[0...n] Power unit, firmware version / PU FWversion
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
Parameters
List of parameters
Description: Sets the number of Motor Data Sets (MDS).
Description: The motor data set is assigned to a motor using this parameter.
Only component numbers can be entered into this parameter that correspond to a motor.
Description: Copying a Motor Data Set (MDS) into another.
Index: [0] = Source motor data set
[1] = Target motor data set
[2] = Start copying procedure
Note: Procedure:
1. In Index 0, enter which motor data set should be copied.
2. In Index 1, enter the motor data set data that is to be copied into.
3. Start copying: Set index 2 from 0 to 1.
p0139[2] is automatically set to 0 when copying is completed.
When copying, p0131 is not taken into account.
Description: Sets the number of VSM data sets.
Note: The value cannot be changed for infeed units; it corresponds to the number of power units connected in parallel.
p0130 Number of Motor Data Sets (MDS) / MDS count
SERVO, VECTOR Can be changed: C1(3) Calculated: - Access level: 2
1 16 1
p0131[0...n] Motor component number / Mot comp_no
Data type: Unsigned8 Dynamic index: MDS, p0130 Func. diagram: -
0 199 0
p0139[0...2] Copy Motor Data Set MDS / Copy MDS
0 31 0
p0140 Number of VSM data sets / VSM count
A_INF, S_INF Can be changed: C1(3) Calculated: - Access level: 4
1 8 1
List of parameters
Parameters
Description: Sets the number of Encoder Data Sets (EDS).
Note: When parameterizing the drive with "no encoder" there must be at least one encoder data set (p0140 >= 1).
Description: Sets the number of Encoder Data Sets (EDS).
Note: When parameterizing the drive with "no encoder" there must be at least one encoder data set (p0140 >= 1).
Description: The VSM data set is assigned to a VSM evaluation using this parameter.
Only component numbers that correspond to a VSM evaluation can be entered in this parameter.
Description: This parameter is used to assign the encoder data set to an encoder evaluation (e.g. SMC).
Only component numbers can be entered into this parameter that correspond to an encoder evaluation.
Note: If the encoder evaluation and encoder are integrated (motor with DRIVE-CLiQ), then their component numbers are
identical.
For an SMC, different component numbers are assigned for the SMC (p0141) and the (actual) encoder (p0142).
p0140 Number of Encoder Data Sets (EDS) / EDS count
1 1 1
p0140 Number of Encoder Data Sets (EDS) / EDS count
1 16 1
p0141[0...n] VSM component number / VSM comp_no
Data type: Unsigned8 Dynamic index: p0140 Func. diagram: -
0 199 0
p0141[0...n] Encoder interface (Sensor Module) component number / Enc_interf comp_no
ENCODER, SERVO,
VECTOR
Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: 4704, 8570
0 199 0
Parameters
List of parameters
Description: This parameter is used to assign the encoder data set to an encoder.
This assignment is made using the unique component number that was assigned when parameterizing the topol-
ogy.
Only component numbers can be entered into this parameter that correspond to an encoder.
Note: If the encoder evaluation and encoder are integrated (motor with DRIVE-CLiQ), then their component numbers are
identical.
For an SMC, different component numbers are assigned for the SMC (p0141) and the (actual) encoder (p0142).
Description: Detects the Voltage Sensing Module (VSM) module assigned to this infeed.
Description: Detects the Sensor Module assigned to this drive and data set.
Note: While p0144 = 1, the READY LED flashes green/orange or red/orange with 2 Hz at the appropriate Sensor Module.
Description: Setting to activate/de-activate a Voltage Sensing Module (VSM).
Refer to: A01314, A01317
Note: For chassis infeeds, it is not possible to activate/de-activate the Voltage Sensing Module (VSM) via p0145. The
VSM can only be activated/de-activated in the group with the appropriate infeed via p0125[0...n].
The activation of a component can be rejected if the component was inserted for the first time.
In this case, it is only possible to activate the component when the pulses for all of the drive objects are inhibited.
p0142[0...n] Encoder component number / Encoder comp_no
ENCODER, SERVO,
VECTOR
Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: 4704
0 199 0
p0144[0...n] Voltage Sensing Module detection via LED / VSM detection LED
A_INF, S_INF Can be changed: U, T Calculated: - Access level: 3
P-Group: Encoder Units group: - Unit selection: -
0 1 0
p0144[0...n] Sensor Module detection via LED / SM detection LED
ENCODER, SERVO,
VECTOR
Data type: Unsigned8 Dynamic index: EDS, p0140 Func. diagram: -
0 1 0
p0145[0...n] Voltage Sensing Module, activate/de-activate / VSM act/deact
A_INF, S_INF Can be changed: C1(4), T Calculated: - Access level: 2
Data type: Integer16 Dynamic index: p0140 Func. diagram: -
0 2 1
List of parameters
Parameters
Description: Setting to activate/de-activate an encoder interface (Sensor Module).
Refer to: A01314, A01317
Note: The de-activation of an encoder interface corresponds to the"parking encoder" function and has the same effect.
The activation of a component can be rejected if the component was inserted for the first time.
With the encoder interface for encoder 1 (motor encoder), the relevant drive object for writing the parameter must
be in the "Ready for operation" state.
With the encoder interface for encoders 2 and 3, the parameter can also be written during operation.
Re value = 0, 2:
If value = 0:
If value = 1:
If value = 2:
the very start.
Description: Displays the "active" or "inactive" state of a Voltage Sensing Module (VSM).
1: Component active
Description: Displays the "active" or "inactive" state of an encoder interface (Sensor Module).
p0145[0...n] Activate/de-activate encoder interface / Enc_intf act/deact
ENCODER, SERVO,
VECTOR
Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: -
0 2 1
r0146[0...n] Voltage Sensing Module, active/inactive / VSM act/inact
0 1 -
r0146[0...n] Encoder interface active/inactive / Enc_intf act/inact
ENCODER, SERVO,
VECTOR
0 1 -
Parameters
List of parameters
1: Component active
Description: Displays the version of the EPROM data of the Voltage Sensing Module (VSM).
Note: Example:
Description: Displays the version of the EEPROM data of the Sensor Module.
Note: Example:
Description: Displays the firmware version of the Voltage Sensing Module (VSM).
Note: Example:
Description: Displays the firmware version of the Sensor Module.
Note: Example:
r0147[0...n] Voltage Sensing Module, EPROM data version / VSM EEPROM version
- - -
r0147[0...n] Sensor Module EEPROM data version / SM EEPROM version
ENCODER, SERVO,
VECTOR
- - -
r0148[0...n] Voltage Sensing Module firmware version / VSM FWversion
- - -
r0148[0...n] Sensor Module firmware version / SM FW version
ENCODER, SERVO,
VECTOR
- - -
List of parameters
Parameters
Description: Sets the number of VSM2 data sets.
Dependency: The Voltage Sensing Module 2 (VSM2) can only be used if the "line transformer" function module has been acti-
vated (r0108.4 = 1).
For the VSM2, parameters p5460 and following are significant.
Note: The Voltage Sensing Module 2 (VSM2) should always be connected to the primary side of the line transformer if at
all possible.
Description: Sets the number of VSM data sets.
Description: The VSM2 data set is assigned to a VSM2 evaluation using this parameter.
Description: This parameter is used to assign the data set to a DRIVE-CLiQ Hub Module.
Only the numbers of components operated as hubs can be entered in these parameters.
[0] = DRIVE-CLiQ node 1
[1] = DRIVE-CLiQ node 2
p0150 VSM2 data sets selection / VSM2 dat_sets qty
1 2 1
p0150 Number of VSM data sets / VSM dat_sets qty.
1 2 1
p0151[0...n] Voltage Sensing Module 2 component number / VSM2 comp_num
0 199 0
p0151[0...1] DRIVE-CLiQ Hub Module component number / Hub comp_no
HUB Can be changed: C1(4) Calculated: - Access level: 3
0 199 0
Parameters
List of parameters
Description: Sets the component number for the Terminal Module.
Only component numbers can be entered into this parameter that correspond to a Terminal Module.
Description: The VSM data set is assigned to a VSM evaluation using this parameter.
Description: Detects the Voltage Sensing Module 2 (VSM2) assigned to this infeed.
Description: Detects any DRIVE-CLiQ Hub Module that has been assigned.
Description: Detects the Terminal Module assigned to this drive and data set.
Note: While p0154 = 1, the READY LED flashes green/orange or red/orange with 2 Hz at the appropriate Terminal Mod-
ule.
p0151 Terminal Module component number / TM comp_no
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL
0 199 0
p0151[0...n] Voltage Sensing Module component number / VSM comp_no
0 199 0
p0154[0...n] Voltage Sensing Module 2 detection via LED / VSM2 detection LED
0 1 0
p0154 DRIVE-CLiQ Hub Module detection via LED / Hub detection LED
HUB Can be changed: U, T Calculated: - Access level: 2
0 1 0
p0154 Terminal Module detection via LED / TM detection LED
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL
P-Group: Terminals Units group: - Unit selection: -
0 1 0
List of parameters
Parameters
Description: Setting to activate/de-activate a Voltage Sensing Module 2 (VSM2).
Refer to: A01314, A01317
Description: Setting to activate/de-activate a Voltage Sensing Module (VSM).
Refer to: A01314, A01317
Description: Displays the "active" or "inactive" state of a Voltage Sensing Module 2 (VSM2).
1: Component active
Description: Displays the "active" or "inactive" state of a Voltage Sensing Module (VSM).
1: Component active
p0155[0...n] Voltage Sensing Module 2, activate/de-activate / VSM2 act/deact
0 2 1
p0155[0...n] Voltage Sensing Module, activate/de-activate / VSM act/deact
VECTOR Can be changed: C1(4), T Calculated: - Access level: 2
0 2 1
r0156[0...n] Voltage Sensing Module 2, active/inactive / VSM2 act/inact
0 1 -
r0156[0...n] Voltage Sensing Module, active/inactive / VSM act/inact
0 1 -
Parameters
List of parameters
Description: Displays the version of the EPROM data of the Voltage Sensing Module 2 (VSM2).
Note: Example:
Description: Displays the version of the EPROM data for the DRIVE-CLiQ Hub Module.
Note: Example:
Description: Displays the version of the EPROM data of the Terminal Module.
Note: Example:
Description: Displays the version of the EPROM data of the Voltage Sensing Module (VSM).
Note: Example:
r0157[0...n] Voltage Sensing Module 2, EPROM data version / VSM2 EPROM version
- - -
r0157 DRIVE-CLiQ Hub Module EPROM data version / Hub EPROM version
- - -
r0157 Terminal Module EPROM data version / TM EPROM version
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL
- - -
r0157[0...n] Voltage Sensing Module, EPROM data version / VSM EPROM version
- - -
List of parameters
Parameters
Description: Displays the firmware version of the Voltage Sensing Module 2 (VSM2).
Dependency: Refer to: r0018, r0197, r0198
Note: Example:
Description: Displays the firmware version of the DRIVE-CLiQ Hub Module.
Description: Displays the firmware version of the Terminal Module.
Note: Example:
Description: Displays the firmware version of the Voltage Sensing Module (VSM).
Dependency: Refer to: r0018, r0128, r0197, r0198
Note: Example:
r0158[0...n] Voltage Sensing Module 2 firmware version / VSM2 FW version
- - -
r0158 DRIVE-CLiQ Hub Module firmware version / Hub FW version
- - -
r0158 Terminal Module Firmware Version / TM FW version
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL
- - -
r0158[0...n] Voltage Sensing Module firmware version / VSM FWversion
- - -
Parameters
List of parameters
Description: Sets the component number for the filter module.
Only component numbers can be entered into this parameter that correspond to a filter module.
Description: Sets the component number for the option board (e.g. Terminal Board 30).
Only component numbers can be entered into this parameter that correspond to an option board.
Description: Sets the component number for the reactor module.
Only component numbers can be entered into this parameter that correspond to a filter module.
Description: Setting for activating/de-activating the filter module.
p0161 Filter module component number / Filt mod comp_no.
0 199 0
p0161 Option board, component number / Opt board comp_num
TB30 Can be changed: C1(4) Calculated: - Access level: 4
0 199 0
p0162 CU-Link slave component number / CX32 comp_no
CU_LINK Can be changed: C1(4) Calculated: - Access level: 3
0 199 0
p0162 Reactor module component number / Reactor comp_no
0 199 0
p0165 Activate/de-activate filter module / FM act/deact
SERVO Can be changed: C1(4), T Calculated: - Access level: 2
0 2 1
List of parameters
Parameters
Refer to: A01314, A01317
Note: The activation of a component can be rejected if the component was inserted for the first time.
Re value = 0, 2:
If value = 0:
If value = 1:
If value = 2:
the very start.
Description: Displays the "active/inactive" state of a filter module.
1: Component active
Description: Sets the number of Command Data Sets (CDS).
Note: It is possible to toggle between command parameters (BICO parameters) using this data set changeover.
r0166 Filter module active/inactive / FM act/inact
0 1 -
p0170 Number of Command Data Sets (CDS) / CDS count
A_INF, B_INF,
S_INF, SERVO
1 2 1
1 1 1
Parameters
List of parameters
Description: Sets the number of Drive Data Sets (DDS).
Description: Using the parameter, each Drive Data Set (= index) is assigned the associated Motor Data Set (MDS).
The parameter value therefore corresponds to the number of the assigned motor data set.
Description: Assign a drive data set (= index) the corresponding encoder data set (EDS) for encoder 1.
The value corresponds to the number of the assigned encoder data set.
Example:
Encoder data set 0 should be assigned to encoder 1 in drive data set 2.
--> p0187[2] = 0
Note: A value of 99 means that no encoder has been assigned to this drive data set (not configured).
2 4 2
p0180 Number of Drive Data Sets (DDS) / DDS count
SERVO, TM41, VEC-
TOR
1 32 1
p0186[0...n] Motor Data Sets (MDS) number / MDS number
Data type: Unsigned8 Dynamic index: DDS, p0180 Func. diagram: 8575
0 15 0
p0187[0...n] Encoder 1 encoder data set number / Enc 1 EDS number
Data type: Unsigned8 Dynamic index: DDS, p0180 Func. diagram: 1580, 8570
0 99 99
0 99 99
List of parameters
Parameters
Example:
Encoder data set 1 should be assigned to encoder 2 in drive data set 2.
--> p0188[2] = 1
Description: Displays the properties supported by the power unit firmware.
0 99 99
r0192 Power unit firmware properties / PU FW property
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
00 Edge modulation possible Yes No -
01 Free telegram can be selected Yes No -
02 Smart mode possible for Active Line Module Yes No -
03 Safety Integrated possible for VECTOR Yes No -
06 Liquid cooling Yes No -
07 SERVO pulse frequency changeover, DDS-
dependent
Yes No -
08 Simulation mode possible Yes No -
09 Internal armature short-circuit possible Yes No -
10 Autonomous internal armature short-circuit
possible
Yes No -
11 Infeed temperature inputs X21.1/2 Yes No -
12 Integral scaled to half the gating unit clock
cycle freq.
Yes No -
13 Filtering thermal power unit current limit
possible
Yes No -
14 DC link compensation possible in power unit Yes No -
15 PT100 temperature evaluation possible Yes No -
16 Gating unit with pulse frequency wobbula-
tion possible
Yes No -
17 Compound braking possible Yes No -
18 Extended voltage range possible Yes No -
19 Gating unit available with current limitation
control
Yes No -
20 Component status possible Yes No -
21 Temperature evaluation via Motor Module /
CU terminals possible
Yes No -
22 Reduced device supply voltage possible Yes No -
23 Current measurement oversampling avail-
able
Yes No -
24 Keep the relevant data for parking available Yes No -
Parameters
List of parameters
Notice: This information represents the characteristics/features of the power unit firmware. It does not provide informa-
tion/data about the characteristics/features of the hardware (e.g. bit 06 = 1 means that although the firmware sup-
ports "liquid cooling", a power unit with liquid cooling does not have to be used).
Note: Re bit 09:
The Motor Module supports the internal armature short-circuit. The function is internally required for voltage protec-
tion (p1231 = 3).
Re bit 10:
The Motor Module supports the autonomous internal voltage protection. If the voltage protection function is inter-
nally activated (p1231 = 3) the Motor Module decides autonomously - using the DC link voltage - as to whether the
short-circuit is activated.
Re bit 23:
The component supports the detection of current actual values (and the detection of valve close durations) with
double clocking and phase shift.
Description: Displays the properties supported by the Voltage Sensing Module (VSM).
Description: Displays the properties supported by the Voltage Sensing Module (VSM).
Description: Displays the status of DRIVE-CLiQ components.
r0196[0...1]: Not used
r0196[2]: Status of DRIVE-CLiQ component with component number 2
...
r0196[255]: Status of DRIVE-CLiQ component with component number 255
25 Internal fan operating hours counter avail-
able
Yes No -
26 Software gating unit in the CU is supported Yes No -
27 Current controller dynamics higher Yes No -
r0194[0...n] VSM properties / VSM properties
- - -
00 Reserved Yes No -
r0194[0...n] VSM properties / VSM properties
- - -
r0196[0...255] DRIVE-CLiQ component status / DLQ comp status
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
Note: Structure of status value: Bits 31 ... 08, 07, 06 ... 04, 03 ... 00
Re Bit 31 ... 08: Reserved
Re Bit 07: 1: Part of target topology, 0: Only in actual topology
Re Bit 06 ... 04: 1: Active, 0: Inactive or parked
Re bit 03 ... 00:
0: Component data not available.
1: Power-up, acyclic DRIVE-CLiQ communication (LED = orange).
2: Ready for operation, cyclic DRIVE-CLiQ communication (LED = green).
3: Alarm (LED = green).
4: Fault (LED = red).
5: Detection via LED and ready for operation (LED = green/orange).
6: Detection via LED and alarm (LED = green/orange).
7: Detection via LED and fault (LED = red/orange).
8: Downloading firmware (LED = green/red at 0.5 Hz).
9: Firmware downloading completed, Waiting for POWER ON (LED = green/red at 2.0 Hz).
Description: Displays the bootloader version.
Note: Example:
Description: Displays the BIOS and EEPROM data version.
r0198[0]: BIOS version
r0198[1]: EEPROM data version
Note: Example:
r0197 Bootloader vers / Bootloader vers
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r0198[0...1] BIOS/EEPROM data version / BIOS/EEPROM vers
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Freely assignable name for a drive object.
In the commissioning software, this name cannot be entered using the expert list, but is specified in the configura-
tion assistant. The object name can be subsequently modified in the Project Navigator using standard Windows
resources.
Note: The parameter is not influenced by setting the factory setting.
Description: Displays the unique code number of the power unit.
Note: r0200 = p0201: No power unit found
Description: Sets the actual code number from r0200 to acknowledge the power unit being used.
When commissioned for the first time, the code number is automatically transferred from r0200 into p0201.
Dependency: Refer to: F07815
Note: The parameter is used to identify when the drive is being commissioned for the first time.
The power unit commissioning can only be exited (p0201 = r0200), if the actual and acknowledged code numbers
are identical (p0010 = 2).
Description: Sets the actual code number from r0200 to acknowledge the power unit being used.
When commissioned for the first time, the code number is automatically transferred from r0200 into p0201.
Notice: When p0201 = 10000, the rated power unit data is reloaded and dependent parameters are set (e.g. p0205, p0210,
p0230, p0857, p1800). p0201 is then automatically assigned the value of r0200 if the code number of the power
unit could be read. A warm start must be performed after this procedure (automatically if necessary).
p0199[0...24] Drive object name / DO name
All objects Can be changed: C1 Calculated: - Access level: 2
0 65535 0
r0200[0...n] Power unit code number actual / PU code no. act
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
p0201[0...n] Power unit code number / PU code no
A_INF, B_INF,
S_INF
0 65535 0
0 65535 0
List of parameters
Parameters
Note: The parameter is used to identify when the drive is being commissioned for the first time.
The power unit commissioning can only be exited (p0201 = r0200), if the actual and acknowledged code numbers
are identical (p0010 = 2). However, if the comparator in p9906 or p9908 is at 2 (low) or 3 (minimum), the power unit
commissioning is automatically set to p0201 = r0200 upon exiting.
When the code number is changed, the connection voltage (p0210) is checked and, if necessary, adjusted.
Description: Displays the type of power unit found.
Value: 2: MICROMASTER 440
3: MICROMASTER 411
4: MICROMASTER 410
5: MICROMASTER 436
6: MICROMASTER 440 PX
7: MICROMASTER 430
100: SINAMICS S
101: SINAMICS S (value)
102: SINAMICS S (combi)
112: PM220 (SINAMICS G120)
118: SINAMICS G120 Px
120: PM340 (SINAMICS S120)
133: SINAMICS G120C
150: SINAMICS G
200: SINAMICS GM
250: SINAMICS SM
260: SINAMICS SM120
300: SINAMICS GL
350: SINAMICS SL
400: SINAMICS DCM
Description: Displays the name of the memory card in ASCII code.
r0203[0]: Name character 1
...
r0203[15]: Name character 16
For the commissioning software, the ASCII characters are displayed uncoded.
Notice: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.
r0203[0...n] Actual power unit type / PU actual type
A_INF, B_INF,
S_INF, SERVO,
VECTOR
2 400 -
r0203[0...15] Memory card name / Sp_card name
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays the properties supported by the power unit hardware.
Description: Displays the properties supported by the power unit hardware.
r0204[0...n] Power unit hardware properties / PU HW property
A_INF, B_INF,
S_INF
- - -
00 Device type DC/AC device AC/DC device -
01 RFI filter available Yes No -
02 Active Line Module available Yes No -
03 Smart Line Module available Yes No -
04 Basic Line Module available with thyristor
bridge
Yes No -
05 Basic Line Module available with diode
bridge
Yes No -
06 Liquid cooling with cooling system (chassis
PU)
Yes No -
07 F3E regenerative feedback into the line sup-
ply
Yes No -
08 Internal Braking Module Yes No -
09 Different cooling type supported Yes No -
12 Safe Brake Control (SBC) supported No Yes -
13 Safety Integrated supported Yes No -
14 Internal LC output filter Yes No -
- - -
00 Device type DC/AC device AC/AC device -
01 RFI filter available Yes No -
02 Active Line Module available Yes No -
03 Smart Line Module available Yes No -
04 Basic Line Module available with thyristor
bridge
Yes No -
05 Basic Line Module available with diode
bridge
Yes No -
06 Liquid cooling with cooling system (chassis
PU)
Yes No -
07 F3E regenerative feedback into the line sup-
ply
Yes No -
08 Internal Braking Module Yes No -
09 Different cooling type supported Yes No -
12 Safe Brake Control (SBC) supported No Yes -
13 Safety Integrated supported Yes No -
14 Internal LC output filter Yes No -
List of parameters
Parameters
Description: Overloading the load duty cycles applies under the prerequisite that before and after the overload, the drive con-
verter is operated with its base load current - in this case, a load duty cycle of 300 s is used as basis.
For booksize drive units, the following applies:
Only the setting p0205 = 0 can be selected. In this particular case, the base load current has a load duty cycle of
150 % for 60 s and 176 % for 30 s.
For chassis units, the following applies:
The base load current for a low overload condition is based on a load duty cycle 110 % for 60 s and 150 % for 10 s.
The base load current for a high overload condition is based on a load duty cycle 150 % for 60 s and 160 % for 10 s.
Value: 0: Load duty cycle with high overload for vector drives
1: Load duty cycle with low overload for vector drives
6: S1 duty cycle for servo drives (feed drive)
7: S6 duty cycle for servo drives (spindle drive)
Note: When the parameter is changed, all of the motor parameters and the control mode are pre-assigned according to
the selected application.
The parameter has not influence when calculating the thermal overload.
p0205 can only be changed to the settings that are saved in the power unit EEPROM.
The parameter value is not reset when the factory setting is restored (see p0010 = 30, p0970).
Description: Displays the rated power unit power for various load duty cycles.
Index: [0] = Rating plate
[1] = Load duty cycle with low overload
[2] = Load duty cycle with high overload
[3] = S1 cont duty cyc
[4] = S6 load duty cycle
Dependency: IECdrives (p0100 = 0): Units kW
NEMA drives (p0100 = 1): Units hp
Description: Displays the rated power unit power for various load duty cycles.
p0205 Power unit application / PU application
VECTOR Can be changed: C2(1, 2) Calculated: - Access level: 2
0 7 6
r0206[0...4] Rated power unit power / PU P_rated
A_INF, B_INF,
S_INF, SERVO,
VECTOR
P-Group: Converter Units group: 14_6 Unit selection: p0100
- [kW] - [kW] - [kW]
r0207[0...4] Rated power unit current / PU PI_rated
A_INF, B_INF,
S_INF, SERVO,
VECTOR
Parameters
List of parameters
Description: Displays the rated line supply voltage of the power unit.
r0208 = 400 : 380 - 480 V +/-10 %
r0208 = 500 : 500 - 600 V +/-10 %
r0208 = 690 : 660 - 690 V +/-10 %
For the Basic Line Module (BLM) the following applies:
r0208 = 690 : 500 - 690 V +/-10 %
Description: Displays the maximum output current of the power unit.
Index: [0] = Catalog
Description: Sets the drive unit supply voltage (3-ph. AC).
The value corresponds to the rms value of the phase-to-phase rated line supply voltage.
Warning: If the infeed is continually in the controlled mode with high DC link voltages (p3510 > 660 V), depending on the par-
ticular application, this can damage the connected motors that have not been specified for these high voltages.
Before an active infeed with a line supply voltage p0210 > 415 V goes into pulsed operation it must be ensured that
all of the components connected to the DC link can be permanently operated with DC link voltages exceeding 660
V.
Controlled operation of booksize power units for p0210 > 415 V is possible if the maximum steady-state DC link
voltage (p0280) is increased as follows: p0280 >= 1.5 x p0210 and p0280 > 660 V.
In this case, the setpoint of the DC link voltage p3510 is not automatically adapted. We recommend p3510 = 1.5 x
p0210. Closed-loop voltage controlled operation is active with p3400.0 = 0 and p3400.3 = 1.
r0208 Rated power unit line supply voltage / PU U_rated
A_INF, B_INF,
S_INF, SERVO,
VECTOR
r0209[0...4] Power unit, maximum current / PU I_max
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8950
p0210 Drive unit line supply voltage / V_connect
100 [Vrms] 1000 [Vrms] 400 [Vrms]
List of parameters
Parameters
Notice: For p0210 > 415 V for booksize power units with a supply voltage of 3-ph. 380 ... 480 V, the Smart Mode is auto-
matically activated (p3400.0 = 1); this is because in the voltage-controlled mode, the maximum permissible steady-
state DC link voltage (p0280) would otherwise be exceeded.
For booksize power units with supply voltage of 3-ph. 380 ... 480 V AC, the following applies:
380 V <= p0210 <= 400 V --> Pre-assignment, setpoint for the DC link voltage: p3510 = 600 V
401 V <= p0210 <= 415 V --> Pre-assignment, setpoint for the DC link voltage: p3510 = 625 V
416 V <= p0210 <= 480 V --> Smart Mode with non-regulated DC link voltage: p3510 = 1.35 x p0210
Note: When pre-assigning the setpoint for the DC link voltage (p3510), the following is generally valid:
p3510 = 1.5 x p0210
The voltage range for the supply voltage depends on the type and the voltage class of the power unit.
Active Line Module, 400 V unit: 180 V <= p0210 <= 480 V
Smart Line Module, 400 V unit: 180 V <= p0210 <= 480 V
Active Line Module, 500/690 V unit: 380 V <= p0210 <= 690 V
Description: Sets the drive unit supply voltage (3-ph. AC).
The value corresponds to the rms value of the phase-to-phase rated line supply voltage.
Dependency: The parameter can be reduced to p0210 = 70 V if p0212.0 is set.
Caution: If the line supply voltage is higher than the entered value, the Vdc controller may be automatically de-activated in
some cases to prevent the motor from accelerating. In this case, an appropriate alarm is output.
Notice: When connected to 3-ph. 230 V AC (only booksize units) the following must be observed:
- the undervoltage and overvoltage limits change (r0296, r0297).
- when using the internal braking chopper of Basic Line Modules (20 or 40 kW) the threshold when the braking
chopper becomes active is reduced to 385 V. When using an external braking chopper, it must be ensured that a
suitable activation threshold is used.
- all of the components connected to this DC link must also be adapted to the low line supply voltage. It is especially
important that the rated DC voltage of all of the drives connected to this DC link is set with p0210 (e.g.
p0210(SERVO) = 1.35 x p0210(B_INF) = 310 V).
- it is not possible to use a Control Supply Module (CSM) to generate a 24 V supply from the DC link, as the mini-
mum continuous DC link voltage should not be below 430 V.
Note: The supply voltage range depends on the voltage class of the power unit.
400 V chassis units: 380 V <= p0210 <= 480 V
690 V chassis units: 500 V <= p0210 <= 690 V
400 V booksize units can also be connected to 3-ph. 230 V AC:
400 V booksize units: 180 V <= p0210 <= 480 V
A reduced supply voltage up to 70 V is possible if p0212.0 = 1 has been set.
B_INF Can be changed: C2(1) Calculated: - Access level: 1
70 [Vrms] 1000 [Vrms] 400 [Vrms]
Parameters
List of parameters
Description: Sets the drive unit supply voltage.
AC/AC unit: The rms value of the phase-to-phase line supply voltage should be entered.
DC/AC unit: The rated DC voltage of the connection busbar should be entered.
Dependency: Set p1254, p1294 (automatic detection of the Vdc switch-on levels) = 0.
The switch-in thresholds of the Vdc_max controller are then directly determined using p0210.
Note: Setting ranges for p0210 as a function of the rated power unit voltage:
U_rated = 400 V:
- p0210 = 380 ... 480 V (AC/AC), 510 ... 720 V (DC/AC)
U_rated = 500 V:
- p0210 = 500 ... 600 V (AC/AC), 675 ... 900 V (DC/AC)
U_rated = 660 V ... 690 V:
- p0210 = 660 ... 690 V (AC/AC), 890 ... 1035 V (DC/AC)
U_rated = 500 V ... 690 V:
- p0210 = 500 ... 690 V (AC/AC), 675 ... 1035 V (DC/AC)
The pre-charging switch-in threshold for the DC link voltage (Vdc) is calculated from p0210:
Vdc_pre = p0210 * 0.82 * 1.35 (AC/AC)
Vdc_pre = p0210 * 0.82 (DC/AC)
The undervoltage thresholds for the DC link voltage (Vdc) are calculated from p0210 as a function of the rated
power unit voltage:
U_rated = 400 V:
- U_min = p0210 * 0.78 (AC/AC) > 330 V, p0210 * 0.60 (DC/AC) > 380 V
U_rated = 500 V:
- U_min = p0210 * 0.76 (AC/AC) > 410 V
U_rated = 660 V ... 690 V:
U_rated = 500 V ... 690 V:
Description: Sets the drive unit supply voltage.
AC/AC unit: The rms value of the phase-to-phase line supply voltage should be entered.
DC/AC unit: The rated DC voltage of the connection busbar should be entered.
Dependency: Set p1254, p1294 (automatic detection of the Vdc switch-on levels) = 0.
The switch-in thresholds of the Vdc_max controller are then directly determined using p0210.
The parameter can be reduced to p0210 = 100 V if p0212.0 = 1 has been set.
Refer to: p0212
1 [V] 63000 [V] 600 [V]
1 [V] 63000 [V] 600 [V]
List of parameters
Parameters
Note: Setting ranges for p0210 as a function of the rated power unit voltage:
U_rated = 400 V:
- p0210 = 380 ... 480 V (AC/AC), 510 ... 720 V (DC/AC)
U_rated = 500 V:
- p0210 = 500 ... 600 V (AC/AC), 675 ... 900 V (DC/AC)
U_rated = 660 V ... 690 V:
- p0210 = 660 ... 690 V (AC/AC), 890 ... 1035 V (DC/AC)
U_rated = 500 V ... 690 V:
- p0210 = 500 ... 690 V (AC/AC), 675 ... 1035 V (DC/AC)
The pre-charging switch-in threshold for the DC link voltage (Vdc) is calculated from p0210:
Vdc_pre = p0210 * 0.82 * 1.35 (AC/AC)
Vdc_pre = p0210 * 0.82 (DC/AC)
The undervoltage thresholds for the DC link voltage (Vdc) are calculated from p0210 as a function of the rated
power unit voltage:
U_rated = 400 V:
U_rated = 500 V:
- U_min = p0210 * 0.76 (AC/AC) > 410 V
U_rated = 660 V ... 690 V:
U_rated = 500 V ... 690 V:
Description: Sets the rated line frequency for the infeed.
Notice: For p3409 = 1, the following applies:
After operation has been enabled, the rated line supply frequency (p0211) is automatically set to a value of 50 Hz or
60 Hz corresponding to the currently measured frequency. This means that the parameter value of p0211 is, under
certain circumstances, changed.
For p3409 = 0, the following applies:
The system does not change parameter p0211.
Description: Sets the power unit configuration.
p0211 Rated line freq / Rated line freq
A_INF, S_INF Can be changed: T Calculated: - Access level: 3
10 [Hz] 100 [Hz] 50 [Hz]
p0212 Power unit configuration / PU config
- - 0000 bin
00 Drive unit line supply voltage reduced Yes No -
Parameters
List of parameters
Dependency: Re bit 00:
Reduced supply voltages are only possible on booksize power units.
Bit 00 = 1 can only be set if r0192.22 = 1.
Refer to: r0192, p0210
Caution: Re bit 00:
Working with reduced input voltages de-activates undervoltage detection.
Note: Re bit 00 = 0:
It is not possible to reduce the supply voltage in p0210.
Re bit 00 = 1 (only for B_INF):
With this setting the supply voltage in p0210 can be reduced to 70 V. Bit 00 = 1 can only be set for booksize power
units with a rated power of up to 40 kW.
Dependency: Re bit 01 = 1:
The external pre-charging setting only affects the DC/AC power units.
Caution: Re bit 00:
Re bit 00 = 1:
With this setting the supply voltage in p0210 can be reduced to 100 V.
Only operating mode p1300 = 19 is possible.
Re bit 01 = 0:
There is no external pre-charging of the DC/AC Motor Modules. The pre-charging monitoring is bypassed.
Re bit 01 = 1:
There is external pre-charging of the DC/AC Motor Modules. The pre-charging monitoring is calculated.
Dependency: Re bit 00:
Reduced supply voltages are only possible on booksize power units.
Bit 00 = 1 can only be set if r0192.22 = 1.
- - 0000 bin
01 External pre-charging present Yes No -
- - 0000 bin
00 Drive unit line supply voltage reduced Yes No -
01 External pre-charging present Yes No -
List of parameters
Parameters
Re bit 01 = 1:
The external pre-charging setting only affects the DC/AC power units.
Caution: Re bit 00:
Re bit 00 = 1:
With this setting the supply voltage in p0210 can be reduced to 100 V.
Only operating mode p1300 = 19 is possible.
Re bit 01 = 0:
There is no external pre-charging of the DC/AC Motor Modules. The pre-charging monitoring is bypassed.
Re bit 01 = 1:
There is external pre-charging of the DC/AC Motor Modules. The pre-charging monitoring is calculated.
Description: Sets the line filter type for the Active Line Module (ALM).
Using the line filter type, filter capacitance (p0221), filter resistance (p0222) and inductance (p0223) and resistance
(p0224) of the reactor are pre-assigned.
For an Active Line Module (ALM), the power is automatically selected corresponding to the Active Interface Module
(AIM) and the line filter type (p0220) pre-set as follows:
- "booksize" format: p0220 = 41 ... 45
- "chassis" format: p0220 = 10 ... 19
Value: 0: No line filter
1: Wideband Line Filter booksize 400 V 16 kW (6SL3000-0BE21-6AA0)
10: AIM F 400 V 132 kW 160 kW (6SL3300-7TE32-6Ax0)
11: AIM G 400 V 235 kW (6SL3300-7TE33-8Ax0)
12: AIM G 400 V 300 kW (6SL3300-7TE35-0Ax0)
13: AIM H 400 V 380 kW 500 kW (6SL3300-7TE38-4Ax0)
14: AIM J 400 V 630 kW 900 kW (6SL3300-7TE41-4Ax0)
15: AIM F 690 V 150 kW (6SL3300-7Tx31-4Ax0)
16: AIM G 690 V 330 kW (6SL3300-7Tx33-1Ax0)
17: AIM H 690 V 560 kW (6SL3300-7Tx35-8Ax0)
18: AIM J 690 V 800 kW (6SL3300-7Tx37-4Ax0)
19: AIM J 690 V 1100 kW 1400 kW (6SL3300-7Tx41-3Ax0)
31: Basic Line Filter booksize 400 V 16 kW (6SL3000-0BE21-6DA0)
34: Basic Line Filter Booksize 400 V 80 kW (6SL3000-0BE28-0DAx)
35: Basic Line Filter Booksize 400 V 120 kW (6SL3000-0BE31-2DAx)
41: AIM 400 V 16 kW (6SL3100-0BE21-6AB0)
42: AIM 400 V 36 kW (6SL3100-0BE23-6AB0)
43: AIM 400 V 55 kW (6SL3100-0BE25-5AB0)
44: AIM 400 V 80 kW (6SL3100-0BE28-0AB0)
45: AIM 400 V 120 kW (6SL3100-0BE31-2AB0)
p0220[0...1] Infeed line filter type / INF line filt type
A_INF Can be changed: C2(1) Calculated: - Access level: 3
0 45 0
Parameters
List of parameters
Index: [0] = Line filter
[1] = Line filter, optional
Notice: "Booksize" format:
When using an Active Interface Module (AIM), it is absolutely necessary that the terminals for the temperature
switch between the Active Interface Module (X121.1/2) and the Active Line Module (X21.1/2) are connected.
Note: For booksize units, when using an Active Interface Module in p0220[0] it is also possible to use a Basic Filter that is
parameterized in p0220[1].
The setting of the filter capacitance (p0221) and filter resistance (p0222) - derived from p0220[0, 1] - are required in
the closed-loop voltage controlled mode to automatically compensate the filter reactive current.
For two power ratings, the same line filter is used for both power ratings.
AIM: Active Interface Module
Description: Sets the filter capacitance of the line filter (connected in a delta configuration).
Note: When a Siemens line filter is used (p0220) this parameter is automatically pre-set with the correct value.
For a parallel circuit, the value corresponds to the capacitance of a power unit.
Index 0 refers to the first line filter from p0220[0].
Index 1 refers to the optional second line filter from p0220[1].
Description: Sets the filter resistance in series with the filter capacitance.
Note: When a Siemens line filter is used (p0220) this parameter is automatically pre-set with the correct value.
For a parallel circuit, the value corresponds to the resistance of a power unit.
Index 0 refers to the first line filter from p0220[0].
Index 1 refers to the optional second line filter from p0220[1].
Description: Sets the inductance between the filter and power unit.
Note: The parameter is automatically pre-assigned depending on the power unit being used and matches the specified
Siemens line reactors.
For a parallel circuit, the value corresponds to the inductance of a power unit.
p0221[0...1] Infeed filter capacitance / INF C_filter
0.00 [F] 100000.00 [F] 0.00 [F]
p0222[0...1] Infeed filter resistance / INF R_filter
0.00000 [ohm] 100.00000 [ohm] 0.00000 [ohm]
p0223 Infeed inductance between filter and power unit / INF L filter/PU
0.001 [mH] 1000.000 [mH] 2.100 [mH]
List of parameters
Parameters
Description: Sets the resistance between the filter and power unit
Note: The parameter is automatically pre-assigned depending on the power unit being used and matches the specified
Siemens line reactors.
For a parallel circuit, the value corresponds to the resistance of a power unit.
Description: Sets the inductance between line supply and filter.
Note: The value must be, for example, appropriately increased if an additional inductance (reactor or transformer is
installed in front of the filter).
Description: Sets the resistance between the line supply and filter.
Note: The value must be, for example, appropriately increased if an additional resistor is installed in front of the filter.
Description: Sets the total DC link capacitance.
Note: The total DC link capacitance of a DC link group comprises the sum of the sub-capacitances of all motor/infeed
modules and the additional DC link capacitors.
Description: Sets the type of the filter at the motor side.
p0224 Infeed resistance between filter and power unit / INF R filter/PU
0.00000 [ohm] 100.00000 [ohm] 0.00100 [ohm]
p0225 Infeed inductance between line supply and filter / INF L line/filter
0.001 [mH] 1000.000 [mH] 0.001 [mH]
p0226 Infeed resistance between line supply and filter / INF R line/filter
0.00 [ohm] 100.00 [ohm] 0.00 [ohm]
p0227 Infeed, DC link capacitance, power unit / INF C
0.20 [mF] 1000.00 [mF] 1.00 [mF]
p0230 Drive filter type, motor side / Drv filt type mot
0 4 0
Parameters
List of parameters
Value: 0: No filter
1: Motor reactor
2: dv/dt filter
3: Sine-wave filter, Siemens
4: Sine-wave filter, third-party
Dependency: The following parameters are influenced using p0230:
p0230 = 1:
--> p0233 (power unit, motor reactor) = filter inductance
p0230 = 3:
--> p0234 (power unit sine-wave filter capacitance) = filter capacitance
--> p0290 (power unit overload response) = inhibit pulse frequency reduction
--> p1082 (maximum speed) = Fmax filter / pole pair number
--> p1800 (pulse frequency) >= nominal pulse frequency of the filter
--> p1802 (modulator modes) = space vector modulation without overcontrol
--> p1811 (modulator configuration) = wobbulation amplitude
--> p1909 (motor data identification, control word) = only Rs measurement
p0230 = 4:
--> p0290 (power unit overload response) = inhibit pulse frequency reduction
--> p1802 (modulator modes) = space vector modulation without overcontrol
--> p1811 (modulator configuration) = wobbulation amplitude
--> p1909 (motor data identification, control word) = only Rs measurement
The user must set the following parameters according to the data sheet of the sine-wave filter and also the user
must check whether they are permitted.
--> p0234 (power unit sine-wave filter capacitance) = filter capacitance
--> p1082 (maximum speed) = Fmax filter / pole pair number
--> p1800 (pulse frequency) >= nominal pulse frequency of the filter
Refer to: p0233, p0234, p0290, p1082, r1082, p1800, p1802
Note: if a filter type cannot be selected, then this filter type is not permitted for the Motor Module.
p0230 = 1:
The output frequency of booksize power units with output reactors is restricted to 120 Hz, for blocksize and chassis
power units, to 150Hz. The maximum pulse frequency for booksize and blocksize power units is 4 kHz, for chassis
power units, twice the rated pulse frequency (2.5 kHz or 4 kHz).
p0230 = 2:
Chassis power units with dv/dt filter, depending on the rated pulse frequency, may be operated with a maximum
pulse frequency of p1800 = 2.5 kHz or 4 kHz. The output frequency is limited to 150 Hz.
p0230 = 3:
Sine-wave filters with a rated pulse frequency of 1.25 or 2.5 kHz should only be operated with a current controller
sampling rate p0115[0] = 400 s, sine-wave filters with a rated pulse frequency of 2 or 4 kHz with p0115[0] = 250
s.
The sine-wave filter cannot be selected if the current controller sampling rate has not been appropriately set.
Chassis power units with sine-wave filter are limited to output frequencies of 115 Hz or 150 Hz.
Description: Enter the inductance of a filter connected at the power unit output.
Dependency: This parameter is automatically pre-set when you select a filter via p0230 if a SIEMENS filter is defined for the
power unit.
Refer to: p0230
p0233 Power unit motor reactor / PU mot reactor
SERVO Can be changed: C2(2), U, T Calculated: - Access level: 4
0.000 [mH] 1000.000 [mH] 0.000 [mH]
List of parameters
Parameters
Note: The parameter cannot be changed if the power unit has an internal sine-wave filter.
Description: Enter the inductance of a filter connected at the power unit output.
power unit.
Refer to: p0230
Note: When exiting the quick commissioning using p3900 = 1, the parameter value is set to the value of the defined SIE-
MENS filter or to zero. For this reason, the parameter value of a third-party filter only has to be entered outside the
commissioning phase (p0010 = 0) and then the controller calculation (p0340 = 3) is carried out.
Description: Enters the capacitance of a sine-wave filter connected at the power unit output.
power unit.
Refer to: p0230
Note: The parameter value includes the sum of all of the capacitances of a phase connected in series (phase - ground).
The parameter cannot be changed if the power unit has an internal sine-wave filter.
Description: Enters the capacitance of a sine-wave filter connected at the power unit output.
power unit.
Refer to: p0230
Note: The parameter value includes the sum of all of the capacitances of a phase connected in series (phase - ground).
When exiting the quick commissioning using p3900 = 1, the parameter value is set to the value of the defined SIE-
MENS filter or to zero. For this reason, the parameter value of a third-party filter only has to be entered outside the
commissioning phase (p0010 = 0).
p0233 Power unit motor reactor / PU mot reactor
VECTOR Can be changed: C2(2), U, T Calculated: - Access level: 2
0.000 [mH] 1000.000 [mH] 0.000 [mH]
p0234 Power unit sine-wave filter capacitance / PU sine filter C
0.000 [F] 1000.000 [F] 0.000 [F]
p0234 Power unit sine-wave filter capacitance / PU sine filter C
0.000 [F] 1000.000 [F] 0.000 [F]
Parameters
List of parameters
Description: Sets the number of reactors connected in series at the power unit output.
Caution: If the number of motor reactors connected in series does not correspond to this parameter value, then this can
result in an unfavorable control behavior.
Note: The parameter cannot be changed for chassis units and for p0230 = 1.
Description: Displays the internal resistance of the power unit (IGBT and line resistance).
Note: For a parallel circuit, the value corresponds to the resistance of a power unit.
Description: Sets the cooling type for booksize compact power units.
This therefore defines whether for these power units, the internal air cooling is shut down and instead, the "Cold-
Plate" cooling type is used.
Value: 0: Air cooling int
1: Cold-Plate
Note: For booksize compact power units, there is a 4 at the 5th position in the Order No.
The parameter is irrelevant for all other power unit types.
Description: Displays the power unit fan operating hours.
The number of hours operated can only be reset to 0 in this parameter (e.g. after a fan has been replaced).
p0235 Motor reactor in series number / L_mot in SeriesQty
1 3 1
r0238 Internal power unit resistance / PU R internal
- [ohm] - [ohm] - [ohm]
p0249 Power unit cooling type / PU cool type
S_INF, SERVO,
VECTOR
Can be changed: C2(1, 2) Calculated: - Access level: 4
0 1 0
p0251[0...n] Operating hours counter power unit fan / PU fan t_oper
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 [h] 4294967295 [h] 0 [h]
List of parameters
Parameters
Description: Sets the maximum operating time of the power unit fan.
The pre-alarm (warning) is output 500 hours before this set value.
The monitoring is de-activated with p0252 = 0.
Note: For chassis units, the maximum operating time in the power unit parameter is set to 50000 via the factory setting.
Description: Displays the power unit internal fan operating hours.
The number of hours operated can only be reset to 0 in this parameter (e.g. after a fan has been replaced).
Description: Sets the monitoring time for internal monitoring of the contactor feedback contacts.
Index: [0] = Pre-charge contactor
[1] = Bypass contactor
Note: This parameter is only effective for chassis power units with 3 AC line connection and line contactors.
A value of 0 de-activates the associated line contactor monitoring.
Description: Sets starting time 1 to monitor the cooling system after power-on command.
After powering up, the following signals must be present within starting time 1:
- "RKA powered up"
- "RKA liquid flow OK"
When a fault occurs, an appropriate message is output.
p0252 Maximum operating time power unit fan / PU fan t_oper max
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 [h] 100000 [h] 40000 [h]
p0254[0...n] Power unit internal fan operating hours counter / PU int fan t_oper
0 [h] 4294967295 [h] 0 [h]
p0255[0...1] Power unit contactor monitoring time / PU cont t_monit
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 [ms] 6500 [ms] 0 [ms]
p0260 Cooling system, starting time 1 / RKA start time 1
A_INF (Cooling unit),
B_INF (Cooling unit),
S_INF (Cooling unit),
SERVO (Cooling
unit), VECTOR
(Cooling unit)
0.0 [s] 60.0 [s] 5.0 [s]
Parameters
List of parameters
Note: RKA: Cooling system
Description: Sets starting time 2 to monitor the cooling system after power-on command.
After powering up, the following signals must be present within starting time 2:
- "RKA conductivity, no fault"
- "RKA conductivity, no alarm"
When a fault occurs, an appropriate message is output.
Refer to: F49151, A49171
Description: Sets the delay time for the fault "RKA: Conductive limit value exceeded" during operation.
The fault is only output if, during operation, the conductivity exceeds the permissible fault value and the value
remains for a longer time than is set in this parameter.
Description: Sets the delay time for the fault "RKA: Liquid flow too low".
The fault is only output if the cause is present for a time longer than is set in this parameter.
Description: Sets the run-up time of the cooling system after a power-off command.
p0261 Cooling system, starting time 2 / RKA start time 2
SERVO (Cooling
unit), VECTOR
(Cooling unit)
0.0 [s] 1200.0 [s] 180.0 [s]
p0262 Cooling system, fault conductivity delay time / RKA cond t_del
SERVO (Cooling
unit), VECTOR
(Cooling unit)
0.0 [s] 30.0 [s] 0.0 [s]
p0263 Cooling system fault liquid flow, delay time / RKA flow t_del
SERVO (Cooling
unit), VECTOR
(Cooling unit)
0.0 [s] 20.0 [s] 3.0 [s]
p0264 Cooling system, run-on time / RKA run-on time
SERVO (Cooling
unit), VECTOR
(Cooling unit)
0.0 [s] 180.0 [s] 30.0 [s]
List of parameters
Parameters
Description: Displays the control word for the cooling system.
Description: Sets the signal sources for the feedback signals from the cooling system.
Index: [0] = Cooling system powered up
[1] = Cooling system ready to be powered up
[2] = Cooling system, no alarm present
[3] = Cooling system, no fault present
[4] = Cooling system, no leaked liquid
[5] = Cooling system, liquid flow OK
[6] = Cooling system, conductivity < fault threshold
[7] = Cooling system, conductivity < alarm threshold
Description: Displays the status word of the cooling system.
r0265.0...3 BO: Cooling system, control word / RKA CTW
SERVO (Cooling
unit), VECTOR
(Cooling unit)
- - -
00 Power up cooling system Activating De-activating -
01 Message converter off OFF ON -
02 Acknowledge faults Acknowledgement No acknowledgement -
03 Leakage sensing OK No leaked liquid Leaked liquid -
p0266[0...7] BI: Cooling system, feedback signals, signal source / RKA fdbk S_src
SERVO (Cooling
unit), VECTOR
(Cooling unit)
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: -
P-Group: Communications Units group: - Unit selection: -
- - 1
r0267.0...7 BO: Cooling system status word / RKA ZSW
SERVO (Cooling
unit), VECTOR
(Cooling unit)
- - -
00 RKA powered up Yes No -
01 RKA ready to be powered up Yes No -
02 RKA no alarm present Yes No -
03 RKA no fault present Yes No -
04 RKA no leaked fluid Yes No -
05 RKA liquid flow OK Yes No -
06 RKA conductivity, no fault Yes No 9974
07 RKA conductivity, no alarm Yes No 9974
Parameters
List of parameters
Description: Sets the absolute value by which the threshold to initiate the undervoltage fault (F30003) is reduced.
Refer to: F30003
Notice: When using a Control Supply Module (CSM) for 24 V supply from the DC link, the minimum continuous DC link volt-
age may not lie below 430 V. DC link voltages in the range 300 ... 430 V are permissible up to a duration of 1 min.
For chassis power units, this parameter has no significance.
Note: The resulting shutdown threshold can be read in r0296 and is dependent on the selected rated voltage (p0210) and
the power unit being used.
Description: Sets the voltage threshold to initiate alarm A06810.
The value represents an offset so that the alarm threshold is obtained from the total of r0296 and p0279.
Refer to: A06810
Note: The absolute value of the undervoltage threshold r0296 depends on the selected unit supply voltage (p0210).
Description: Sets the maximum steady-state DC link voltage. When the DC link voltage setpoint reaches the threshold, alarm
A06800 is output.
The setpoint for the DC link voltage in p3510 is limited to the value in p0280.
The voltage can be increased (boosted) using the modulation depth reserve controller. The modulation depth
reserve (p3480) can be too low if p0210 (drive unit supply voltage) was incorrectly parameterized, a line overvolt-
age condition is present or a high reactive current is required.
Refer to: A06800
Warning: Before increasing the voltage limit for pulsed operation of a controlled booksize infeed with line supply voltages
p0210 > 415 V it should be checked whether the motors connected to the DC link are specified for the higher motor
voltages.
The warning information associated with p0210 must be carefully observed.
Caution: All motors connected to the DC link must be rated for the maximum DC link voltage set in this parameter.
p0278 DC link voltage undervoltage threshold reduction / Vdc U_under red
SERVO, VECTOR Can be changed: T Calculated: - Access level: 3
-80 [V] 0 [V] 0 [V]
p0279 DC link voltage offset alarm threshold / Vdc offs A thresh
A_INF, B_INF,
S_INF
8964
0 [V] 500 [V] 0 [V]
p0280 DC link voltage maximum steady-state / Vdc_max stat
A_INF Can be changed: C2(1), T Calculated: - Access level: 3
270 [V] 1500 [V] 660 [V]
List of parameters
Parameters
Notice: For chassis power units, for the extended line supply voltage range from 500 V to 690 V, the value in p0280 is auto-
matically adapted if the line supply voltage in p0210 is changed. The individual parameter setting for p0280 is then
lost and if necessary must be re-entered.
Note: A brief dynamic increase of the DC link voltage does not result in an alarm.
Pre-setting values:
380 ... 480 V booksize units: 660 V
380 ... 480 V chassis units: 750 V
500 ... 690 V chassis units: 0.875 * p0210 + 502 V
Maximum values:
380 ... 480 V booksize units: 785 V
Description: Sets the alarm threshold for a line supply overvoltage condition.
The setting is made as a percentage of the drive unit supply voltage (p0210).
Dependency: Refer to: p0211, p0221, p0222, p0223, p0224, p0225, p0226
Note: If synchronizing voltages are not detected, the line supply voltage is estimated using a model. It is therefore impor-
tant to ensure that drive unit data is correctly specified.
Description: Sets the alarm threshold for a line undervoltage condition.
Dependency: Refer to: p0222, p0224, p0225, p0226, p3421, p3422
Refer to: A06105
Note: If synchronizing voltages are not detected, the line supply voltage is estimated using a model. It is therefore impor-
tant to ensure that drive unit data is correctly specified.
Description: Sets the shutdown threshold for the line supply undervoltage.
Refer to: F06100
Notice: For booksize Active Line Modules, the following applies:
When operated without Active Interface Module (p0220 = 41 ... 45), the minimum shutdown threshold is 75 %.
p0281 Line supply overvoltage, alarm threshold / U_l_over A thresh
100 [%] 200 [%] 110 [%]
p0282 Line supply undervoltage, alarm threshold / U_l_under A thresh
10 [%] 100 [%] 85 [%]
p0283 Line supply undervoltage, shutdown (trip) threshold / U_l_under tr_thrsh
10 [%] 100 [%] 75 [%]
Parameters
List of parameters
Description: Sets the alarm threshold for an excessively high line frequency.
Dependency: Set as a percentage of the rated line frequency.
Refer to: p0211
Description: Sets the alarm threshold for an excessively low line frequency.
Dependency: Set as a percentage of the rated line frequency.
Refer to: p0211
Description: Sets the shutdown thresholds for the ground fault monitoring.
The setting is made as a percentage of the maximum power unit current (r0209).
Index: [0] = Threshold at which pre-charging starts
[1] = Threshold at which pre-charging stops
Note: The parameter only applies to booksize and chassis power units.
De-activating the ground fault monitoring:
- Sequence: --> p0287[1] = 0 --> p0287[0] = 0
- irrespective of the firmware version of the power unit.
Sets the thresholds:
- the prerequisite is at least firmware version 2.2 of the power unit.
Description: Displays the actual maximum output current of the power unit taking into account derating factors.
p0284 Line supply frequency exceeded, alarm threshold / f_l_exc A thresh
100.0 [%] 300.0 [%] 110.0 [%]
p0285 Line supply frequency undershot, alarm threshold / f_l_under A thresh
0.0 [%] 100.0 [%] 90.0 [%]
p0287[0...1] Ground fault monitoring thresholds / Gnd flt threshold
A_INF, S_INF,
SERVO, VECTOR
0.0 [%] 100.0 [%] [0] 6.0 [%]
[1] 16.0 [%]
r0289 CO: Maximum power unit output current / PU I_outp max
List of parameters
Parameters
Description: Sets the response to a thermal overload condition of the power unit.
The following quantities can result in a response to thermal overload:
- heat sink temperature (r0037.0)
- chip temperature (r0037.1)
- power unit overload I2T (r0036)
Possible measures to avoid thermal overload:
- reduce the output current limit r0289 and r0067 (for closed-loop speed/velocity or torque/force control) or the out-
put frequency (for U/f control) indirectly via the output current limit and the intervention of the current limiting control-
ler).
- reduce the pulse frequency (only for vector control).
A reduction, if parameterized, is always realized after an appropriate alarm is output.
Value: 0: Reduce output current or output frequency
1: No reduction, shutdown when overload threshold is reached
2: Reduce I_output or f_output and f_pulse (not using I2t)
3: Reduce the pulse frequency (not using I2t)
Dependency: If a sine-wave filter is parameterized as output filter (p0230 = 3, 4), then only responses can be selected without
pulse frequency reduction (p0290 = 0, 1).
If a fault or alarm is present, then r2135.13 or r2135.15 is set.
Refer to: r0036, r0037, p0108, r0108, p0230, r2135
Refer to: A05000, A05001, A07805
Caution: If the thermal overload of the power unit is not sufficiently reduced by the actions taken, the drive is always shut
down. This means that the power unit is always protected irrespective of the setting of this parameter.
Note: The setting p0290 = 0, 2 is only practical if the load decreases with decreasing speed (e.g. for applications with vari-
able torque such as for pumps and fans).
Under overload conditions, the current and torque limit are reduced, and therefore the motor is braked and forbid-
den speed ranges (e.g. minimum speed p1080 and suppression [skip] speeds p1091 ... p1094) can be passed
through.
For p0290 = 2, 3, the I2t overload detection of the power unit does not influence the responses.
When the motor data identification routine is selected, p0290 cannot be changed.
Description: Temperature alarm threshold for the difference from the chip and heat sink temperature in the thermal model.
Refer to: F30024
Note: The parameter is only relevant for chassis power units.
p0290 Power unit overload response / PU overld response
0 3 0
r0293 CO: Power unit alarm threshold model temperature / PU A_thr mod_temp
- [C] - [C] - [C]
Parameters
List of parameters
Description: Sets the alarm threshold for the I2t power unit overload.
Drive:
If this threshold is exceeded, an overload alarm is generated and the system responds as parameterized in p0290.
Infeed:
When the threshold value is exceeded, only an overload alarm is output.
Refer to: A07805
Note: The I2t fault threshold is 100 %. If this value is exceeded, fault F30005 is output.
Description: Sets the alarm threshold for the I2t power unit overload.
Refer to: A07805
Note: The parameter is only relevant for booksize units!
Description: Sets the fan run-on time after the pulses for the power unit have been canceled.
Note: - Under certain circumstances, the fan can continue to run for longer than was set (e.g. as a result of the exces-
sively high heat sink temperature).
- For values less than 1 s, a 1 s run on time for the fan is active.
Description: If the DC link voltage falls below the threshold specified here, the infeed is tripped due to a DC link undervoltage
condition.
Note: The value depends on the device type and the selected rated voltage p0210.
p0294 Power unit alarm with I2t overload / PU I2t alrm thresh
A_INF, S_INF,
SERVO, VECTOR
10.0 [%] 100.0 [%] 95.0 [%]
p0294 Power unit alarm with I2t overload / PU I2t alrm thresh
B_INF Can be changed: U, T Calculated: - Access level: 3
10.0 [%] 100.0 [%] 95.0 [%]
p0295 Fan run-on time / Fan run-on time
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 [s] 600 [s] 0 [s]
r0296 DC link voltage undervoltage threshold / Vdc U_lower_thresh
A_INF, B_INF,
S_INF
Data type: Unsigned16 Dynamic index: - Func. diagram: 8750, 8760,
8850, 8864, 8950, 8964
- [V] - [V] - [V]
List of parameters
Parameters
Description: If the DC link voltage falls below this threshold, the Motor Module is shut down due to a DC link undervoltage condi-
tion (F30003).
Refer to: F30003
Note: The value depends on the device type and the selected rated voltage p0210.
For booksize units, the following applies:
The undervoltage threshold can be reduced with p0278.
Description: If the DC link voltage exceeds the threshold specified here, the drive unit is tripped due to DC link overvoltage.
Description: Selects the motor type or start to read in the motor parameters for a motor with DRIVE-CLiQ (p0300 = 10000).
The following applies for p0300 < 10000: The first digit of the parameter value always defines the general motor
type and corresponds to the third-party motor belonging to a motor list:
1 = Rotating induction motor
2 = Rotating synchronous motor
3 = Linear induction motor (reserved)
4 = Linear synchronous motor
The type information must be entered to filter motor-specific parameters and to optimize the operating characteris-
tics and behavior. For example, for synchronous motors, power factor (p0308) is neither used nor displayed (in the
BOP/AOP).
Value: 0: No motor
1: Induction motor (rotating)
2: Synchronous motor (rotating, permanent-magnet)
4: Synchronous motor (linear, permanent-magnet)
102: 1PH2 induction motor
111: Induction motor (rotary) for OEMs
134: 1PM4 induction motor
r0296 DC link voltage undervoltage threshold / Vdc U_lower_thresh
- [V] - [V] - [V]
r0297 DC link voltage overvoltage threshold / Vdc U_upper_thresh
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8850, 8864, 8950, 8964
- [V] - [V] - [V]
p0300[0...n] Motor type selection / Mot type sel
SERVO Can be changed: C2(1, 3) Calculated: - Access level: 1
Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: 6310
P-Group: Motor Units group: - Unit selection: -
0 10001 0
Parameters
List of parameters
166: 1PL6 induction motor
200: 1PH8 synchronous motor
206: 1FT6 synchronous motor
207: 1FT7 synchronous motor
222: Synchronous motor (rotary) for OEMs
236: 1FK6 synchronous motor
237: 1FK7 synchronous motor
261: 1FE1 synchronous motor
276: 1FS6 synchronous motor
283: 1FW3 synchronous motor
291: 2SP1 synchronous motor
401: 1FN1 synchronous motor (linear)
444: Synchronous motor (linear) for OEMs
10000: Motor with DRIVE-CLiQ
10001: Motor with DRIVE-CLiQ 2nd data set
Dependency: When the motor type is changed, the code number in p0301 may be reset to 0.
If p0300 is changed during quick commissioning (p0010 = 1), then the matching technological application (p0500) is
automatically pre-assigned. This does not occur when commissioning the motor (p0010 = 3). If p0300 = 10000 is
written for a parameter download, p0500 is pre-assigned with DRIVE-CLiQ corresponding to the motor type.
Refer to: p0301
Caution: If a catalog motor is selected (p0300 >= 100) and an associated motor code number (p0301), then the parame-
ters,that are associated with this list cannot be changed (write protection). The write protection is canceled if the
motor type p0300 is set to a non-Siemens motor that matches p0301 (e.g. p0300 = 2 for p0301 = 2xxxx). Write pro-
tection is automatically canceled when the results of motor data identification are copied to the motor parameters.
The motor type of a catalog motor corresponds to the upper three digits of the code number or the following assign-
ment (if the particular motor type is listed):
Type/code number ranges
102 / 102xx, 112xx, 122xx
104 / 104xx, 114xx, 124xx
107 / 107xx, 117xx, 127xx
108 / 108xx, 118xx, 128xx
134 / 134xx, 144xx, 154xx
136 / 136xx, 146xx, 156xx
166 / 166xx, 176xx, 186xx
200 / 200xx, 210xx, 220xx
204 / 204xx, 214xx, 224xx
206 / 206xx, 216xx, 226xx
207 / 207xx, 217xx, 227xx
261 / 261xx, 262xx
283 / 283xx, 293xx
286 / 286xx, 296xx
403 / 403xx, 413xx
406 / 406xx, 416xx, 426xx
Notice: If required, the list of motor codes/encoder codes can be found in the Appendix of the List Manual.
Note: With p0300 = 10000, for a motor with DRIVE-CLiQ, the motor parameters are automatically downloaded, with
p0300 = 10001, the motor parameters of a second data set (if available).
If a motor type has not been selected (p0300 = 0), then the drive commissioning routine cannot be exited.
A motor type with a value above p0300 >= 100 describes motors for which a motor parameter list exists.
Motor types with a value below p0300 < 100 correspond to the selection of a third-party motor. When appropriately
selected, this means that the motor parameters are pre-assigned the settings for a third-party motor.
This also applies for parameters for a motor with DRIVE-CLiQ. In this case p0300 can only be set to p0300 = 10000
or 10001 (read motor parameters) or to the corresponding non-Siemens motor (first digit of the motor code number)
in order to be able to cancel the write protection.
List of parameters
Parameters
Description: Selects the motor type or starts to read in the motor parameters for a motor with DRIVE-CLiQ (p0300 = 10000 or
10001, if there is a second data set).
For p0300 < 10000 the following applies:
The first digit of the parameter value always defines the general motor type and corresponds to the third-party
motor belonging to a motor list:
1 = Rotating induction motor
2 = Rotating synchronous motor
3 = Linear induction motor (reserved)
4 = Linear synchronous motor
5 = Synchronous motor separately-excited
7 = SIEMOSYN motor
8 = Reluctance motor
The type information must be entered to filter motor-specific parameters and to optimize the operating characteris-
tics and behavior. For example, for synchronous motors, power factor (p0308) is neither used nor displayed (in the
BOP/AOP).
Value: 0: No motor
1: Induction motor (rotating)
2: Synchronous motor (rotating, permanent-magnet)
5: Synchronous motor (separately excited)
7: SIEMOSYN motor
8: Reluctance motor
11: 1LA1 standard induction motor
12: 1LE2 standard induction motor (NEMA)
18: 1LA8 / 1PQ8 standard induction motor
111: Induction motor (rotary) for OEMs
166: 1PL6 induction motor
222: Synchronous motor (rotary) for OEMs
10000: Motor with DRIVE-CLiQ
10001: Motor with DRIVE-CLiQ 2nd data set
Dependency: Motors, selection 206, 236, 237 cannot be operated (also not as motor with DRIVE-CLiQ).
p0300 = 5 cannot be selected with SINAMICS G.
When the motor type is changed, the code number in p0301 may be reset to 0.
p0300 = 12 can only be selected for p0100 = 1 (NEMA).
When selecting a motor type from the 1LA5 and 1LA7 series, parameters p0335, p0626, p0627 and p0628 of the
thermal motor model are pre-assigned as a function of p0307 and p0311.
Refer to: p0301
Caution: A permanent-magnet synchronous motor cannot be operated with an SSI encoder without HTL/TTL track.
A separately-excited synchronous motor can only be operated with an SSI encoder if this is used as the second
encoder and an HTL/TTL encoder is used as the first encoder.
0 10001 0
Parameters
List of parameters
Caution: If a catalog motor is selected (p0300 >= 100) and an associated motor code number (p0301), then the parame-
ters,that are associated with this list cannot be changed (write protection). The write protection is canceled if the
motor type p0300 is set to a non-Siemens motor that matches p0301 (e.g. p0300 = 2 for p0301 = 2xxxx). Write pro-
tection is automatically canceled when the results of motor data identification are copied to the motor parameters.
The motor type of a catalog motor corresponds to the upper three digits of the code number or the following assign-
ment (if the particular motor type is listed):
Type/code number ranges
102 / 102xx, 112xx, 122xx
104 / 104xx, 114xx, 124xx
107 / 107xx, 117xx, 127xx
108 / 108xx, 118xx, 128xx
134 / 134xx, 144xx, 154xx
136 / 136xx, 146xx, 156xx
166 / 166xx, 176xx, 186xx
200 / 200xx, 210xx, 220xx
204 / 204xx, 214xx, 224xx
206 / 206xx, 216xx, 226xx
207 / 207xx, 217xx, 227xx
261 / 261xx, 262xx
283 / 283xx, 293xx
286 / 286xx, 296xx
403 / 403xx, 413xx
406 / 406xx, 416xx, 426xx
For 1PQ8 motors (p0300 = 18) the fan type p0335 should be set to 5.
Note: With p0300 = 10000, for a motor with DRIVE-CLiQ, the motor parameters are automatically downloaded, with
p0300 = 10001, the motor parameters of a second data set (if available).
If a motor type has not been selected (p0300 = 0), then the drive commissioning routine cannot be exited.
A motor type with a value above p0300 >= 100 describes motors for which a motor parameter list exists.
Motor types with a value below p0300 < 100 correspond to the selection of a third-party motor. When appropriately
selected, this means that the motor parameters are pre-assigned the settings for a third-party motor.
This also applies for parameters for a motor with DRIVE-CLiQ. In this case p0300 can only be set to p0300 = 10000
or 10001 (read motor parameters) or to the corresponding non-Siemens motor (first digit of the motor code number)
in order to be able to cancel the write protection.
Description: The parameter is used to select a motor from a motor parameter list.
When changing the code number (with the exception to the value 0), all of the motor parameters are pre-assigned
from the internally available parameter lists.
Dependency: Code numbers can only be selected for motor types that correspond to the motor type selected in p0300. For 1PH2,
1PH4, 1PH7, 1PM4, 1PM6, 1FT6 motors, code numbers are also possible, whose fourth decimal position is greater
by a value of 1 or 2 than the matching motor type in p0300. For 1FE1 motors, the third decimal position can be
higher by a value of 1.
Refer to: p0300
Note: The motor code number can only be changed if the matching catalog motor was first selected in p0300.
For a motor with DRIVE-CLiQ, p0301 cannot be changed. In this case, p0301 is automatically written to the code
number of the motor parameter read in (r0302) if p0300 is set to 10000.
p0301[0...n] Motor code number selection / Mot code No. sel
0 65535 0
List of parameters
Parameters
When selecting a catalog motor (p0300 >= 100), drive commissioning can only be exited if a code number is
selected.
If, for direct drives, the motor code number (p0301) is changed, this does not automatically result in the angular
commutation offset being determined (p0431).
Dependency: Code numbers can only be selected for motor types that correspond to the motor type selected in p0300.
Refer to: p0300
selected.
Dependency: Code numbers can only be selected for motor types that correspond to the motor type selected in p0300. For 1PH2,
1PH4, 1PH7, 1PM4, 1PM6, 1FT6 motors, code numbers are also possible, whose fourth decimal position is greater
by a value of 1 or 2 than the matching motor type in p0300. For 1FE1 motors, the third decimal position can be
higher by a value of 1.
Refer to: p0300
For a motor with DRIVE-CLiQ, p0301 cannot be changed. In this case, p0301 is automatically written to the code
number of the motor parameter read in (r0302) if p0300 is set to 10000.
selected.
Description: Displays the motor code number from the saved motor data from a motor with DRIVE-CLiQ.
Note: Drive commissioning can only be exited if the code number that was downloaded (r0302) matches the stored code
number (p0301). If the numbers differ, then the motor data set should be re-loaded using p0300 = 10000.
SERVO (Lin) Can be changed: C2(1, 3) Calculated: - Access level: 1
0 65535 0
0 65535 0
r0302[0...n] Motor code number of motor with DRIVE-CLiQ / Motor code Mot DLQ
- - -
Parameters
List of parameters
The motor data are always expected from the first encoder that is assigned to the drive data sets (refer to p0187 =
encoder 1) data set number.
The value is not updated cyclically but only on specific events (e.g. update DRIVE-CLiQ device).
r0302 = 0: No motor with DRIVE-CLiQ found
Description: Displays the status word of the automatic motor parameter sensing of a motor with DRIVE-CLiQ.
Motor parameter sensing takes place in the following events if the SMI is connected to the Motor Module and the
encoder is activated (p0145):
- Warm restart
- downloading projects.
- POWER ON (off/on).
- where p0300 = 10000, 10001.
Note: SMI: SINAMICS Sensor Module Integrated
Description: Sets the rated motor voltage (rating plate).
Caution: When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected. Infor-
mation in p0300 should be carefully observed when removing write protection.
Note: When the parameter value is entered the connection type of the motor (star-delta) must be taken into account.
Description: Sets the rated motor current (rating plate).
Notice: If p0305 is changed during quick commissioning (p0010 = 1), then the maximum current p0640 is pre-assigned
accordingly. This is not the case when commissioning the motor (p0010 = 3).
r0303[0...n] Motor with DRIVE-CLiQ status word / Motor w DLQ ZSW
- - -
00 Motor data set selected MDS1 MDS0 -
01 Motor connection type Delta Star -
02 Windings can be changed Yes No -
03 Windings can be changed number 2 0 -
p0304[0...n] Rated motor voltage / Mot U_rated
SERVO, VECTOR Can be changed: C2(1, 3) Calculated: - Access level: 1
Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6300, 6724
0 [Vrms] 20000 [Vrms] 0 [Vrms]
p0305[0...n] Rated motor current / Mot I_rated
Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 6300
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
List of parameters
Parameters
Description: Sets the rated motor current (rating plate).
If the rated motor current exceeds twice the maximum drive converter current (r0209), then the maximum current is
reduced due to the current harmonics that increase overproportionally (r0067).
Description: Sets the number (count) of motors that can be operated in parallel using one motor data set.
Depending on the motor number entered, internally an equivalent motor is calculated.
The following should be carefully observed for motors connected in series:
The following rating plate data should only be entered for one motor:
- resistances and inductances: p0350, p0352, p0353, p0354, p0356, p0357, p0358, p0360
- currents: p0305, p0318, p0320, p0323, p0325, p0329, p0338, p0391, p0392
- torques/forces: p0312, p0319
- power ratings: p0307
- masses/moments of inertia: p0341, p0344
All other parameters take into account the replacement/equivalent motor (e.g. r0331, r0370, r0373, r0374).
Recommend.: For motors connected in parallel, external thermal protection should be provided for each individual motor.
Dependency: Refer to: r0331, r0370, r0373, r0374, r0376, r0377, r0382
Caution: The motors to be connected in parallel must be of the same type and size (same order no. (MLFB)).
The mounting regulations when connecting motors in parallel must be carefully maintained! Especially for synchro-
nous motors, the pole position of motors that are rigidly coupled with one another (mechanically) must be identical.
The number of motors set must correspond to the number of motors that are actually connected in parallel.
After changing p0306, it is imperative that the control parameters are adapted (e.g. using automatic calculation with
p0340 = 1).
For synchronous motors connected in parallel with p1300 >= 20, be following applies:
- the individual motors must be mechanically coupled with one another and the EMF must be aligned to one
another.
For induction motors that are connected in parallel, but which are not mechanically coupled with one another, then
the following applies:
- an individual motor must not be loaded beyond its stall point.
Notice: If p0306 is changed during quick commissioning (p0010 = 1), then the maximum current p0640 is appropriately pre-
assigned. This is not the case when commissioning the motor (p0010 = 3).
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
p0306[0...n] Number of motors connected in parallel / Motor qty
1 10 1
Parameters
List of parameters
Description: Number of motors that can be operated in parallel using one motor data set.
Depending on the motor number entered, internally an equivalent motor is calculated.
The following should be carefully observed for motors connected in series:
The following rating plate data should only be entered for one motor:
- resistances and inductances: p0350 ... p0361
- currents: p0305, p0320, p0323, p0325, p0329, p0389, p0390, p0391, p0392
- power ratings: p0307
- masses/moments of inertia: p0341, p0344
All other parameters take into account the replacement/equivalent motor (e.g. r0331, r0333).
Recommend.: For motors connected in parallel, external thermal protection should be provided for each individual motor.
Caution: The motors to be connected in parallel must be of the same type and size (same order no. (MLFB)).
The mounting regulations when connecting motors in parallel must be carefully maintained! Especially for synchro-
nous motors, the pole position of motors that are rigidly coupled with one another (mechanically) must be identical.
The number of motors set must correspond to the number of motors that are actually connected in parallel.
After changing p0306, it is imperative that the control parameters are adapted (e.g. using automatic calculation with
p0340 = 1).
For synchronous motors connected in parallel with p1300 >= 20, be following applies:
- the individual motors must be mechanically coupled with one another and the EMF must be aligned to one
another.
For induction motors that are connected in parallel, but which are not mechanically coupled with one another, then
the following applies:
- an individual motor must not be loaded beyond its stall point.
Note: Only operation with U/f characteristic makes sense if more than 10 identical motors are connected in parallel.
Separately-excited synchronous motors must not be connected in parallel.
Synchronous and reluctance motors that are not coupled with one another align themselves when the pulses are
switched in. If the motors have different load levels, then equalization currents flow between the motors.
Description: Sets the rated motor power (rating plate).
Refer to: p0100
1 50 1
p0307[0...n] Rated motor power / Mot P_rated
Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: -
P-Group: Motor Units group: 14_6 Unit selection: p0100
0.00 [kW] 100000.00 [kW] 0.00 [kW]
List of parameters
Parameters
Description: Sets the rated motor power (rating plate).
Refer to: p0100
Note: For generators, a negative rated power should be entered.
Description: Sets the rated motor power factor (cos phi, rating plate).
For a parameter value of 0.000, the power factor is internally calculated and displayed in r0332.
Dependency: This parameter is only available for IEC motors (p0100 = 0).
Refer to: p0100, p0309, r0332
Note: The parameter is not used for synchronous motors (p0300 = 2xx).
Description: Sets the rated motor efficiency (rating plate).
For a parameter value of 0.0, the power factor is internally calculated and displayed in r0332.
Dependency: This parameter is only available for NEMA motors (p0100 = 1).
Refer to: p0100, p0308, r0332
-100000.00 [kW] 100000.00 [kW] 0.00 [kW]
p0308[0...n] Rated motor power factor / Mot cos_phi_rated
Not for motor type: PEM, REL Scaling: - Expert list: 1
0.000 1.000 0.000
p0309[0...n] Rated motor efficiency / Mot eta_rated
0.0 [%] 99.9 [%] 0.0 [%]
Parameters
List of parameters
Description: Sets the rated motor frequency (rating plate).
Dependency: The number of pole pairs (r0313) is automatically re-calculated when the parameter is changed (together with
p0311), if p0314 = 0.
If p0310 is changed during quick commissioning (p0010 = 1), then the maximum speed p1082, which is also asso-
ciated with quick commissioning, is pre-assigned accordingly.
Refer to: p0311, r0313, p0314
Notice: If p0310 is changed during quick commissioning (p0010 = 1), the maximum speed p1082, which is also associated
with quick commissioning, is pre-assigned accordingly. This is not the case when commissioning the motor (p0010
= 3).
Note: For synchronous motors, the parameter is not required and must therefore be pre-assigned zero. For p0310 = 0, it
is not possible to calculate the pole pair; instead, it must be entered in p0314.
Description: Sets the rated motor frequency (rating plate).
Dependency: The number of pole pairs (r0313) is automatically re-calculated when the parameter is changed (together with
p0311), if p0314 = 0.
The rated frequency is restricted to values between 1.00 Hz and 650.00 Hz.
Refer to: p0311, r0313, p0314
= 3).
Description: Sets the rated motor speed (rating plate).
Dependency: If p0311 is changed and for p0314 = 0, the pole pair (r0313) is re-calculated automatically.
Refer to: p0310, r0313, p0314
= 3).
p0310[0...n] Rated motor frequency / Mot f_rated
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
p0311[0...n] Rated motor speed / Mot n_rated
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
List of parameters
Parameters
Description: Sets the rated motor velocity (rating plate).
Dependency: The pole pair width is set in p0315.
Refer to: p0310, r0313, p0314
= 3).
Description: Sets the rated motor speed (rating plate).
For VECTOR the following applies (p0107):
For p0311 = 0, the rated motor slip of induction motors is internally calculated and displayed in r0330.
It is especially important to correctly enter the rated motor speed for vector control and slip compensation for U/f
control.
Dependency: If p0311 is changed and for p0314 = 0, the pole pair (r0313) is re-calculated automatically.
Refer to: p0310, r0313, p0314
= 3).
Description: Sets the rated motor torque (rating plate).
p0311[0...n] Rated motor velocity / Mot v_rated
0.0 [m/min] 6000.0 [m/min] 0.0 [m/min]
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
p0312[0...n] Rated motor torque / Mot M_rated
Not for motor type: ASM, REL, FEM Scaling: - Expert list: 1
0.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
Description: Sets the rated motor force (rating plate).
Description: Displays the number of motor pole pairs. The value is used for internal calculations.
r0313 = 1: 2-pole motor
r0313 = 2: 4-pole motor, etc.
Dependency: For p0314 > 0, the entered value is displayed in r0313.
For p0314 = 0, the pole pair number (r0313) is automatically calculated from the rated frequency (p0310) and the
rated speed (p0311).
Refer to: p0310, p0311, p0314
Note: For the automatic calculation, the pole pair number is set to the value of 2 if the rated speed or the rated frequency
is zero.
Description: Displays the number of motor pole pairs. The value is used for internal calculations.
r0313 = 1: 2-pole motor
Dependency: For p0314 > 0, the entered value is displayed in r0313.
For p0314 = 0, the pole pair number (r0313) is automatically calculated from the rated power (p0307), rated fre-
quency (p0310) and rated speed (p0311).
Refer to: p0307, p0310, p0311, p0314
Note: For the automatic calculation, the pole pair number is set to the value of 2 if the rated speed or the rated frequency
is zero.
p0312[0...n] Rated motor force / Mot F_rated
0.00 [N] 1000000.00 [N] 0.00 [N]
r0313[0...n] Motor pole pair number, actual (or calculated) / Mot PolePairNo act
Data type: Unsigned16 Dynamic index: MDS, p0130 Func. diagram: 5300
- - -
- - -
List of parameters
Parameters
Description: Sets the motor pole pair number.
p0314 = 1: 2-pole motor
Dependency: For p0314 = 0, the pole pair number is automatically calculated from the rated frequency (p0310) and the rated
speed (p0311) and displayed in r0313.
= 3).
For induction motors, the value need only be input if the rated data of a generator is entered therefore resulting in a
negative rated slip. In this case, the number of pole pairs in r0313 is too low by 1 and must be manually corrected.
Description: Sets the motor pole pair number.
p0314 = 1: 2-pole motor
Dependency: For p0314 = 0, the pole pair number is automatically calculated from the rated frequency (p0310) and the rated
speed (p0311) and displayed in r0313.
= 3).
For induction motors, the value need only be input if the rated data of a generator is entered therefore resulting in a
negative rated slip. In this case, the number of pole pairs in r0313 is too low by 1 and must be manually corrected.
Description: Sets the pole pair width of the linear motor.
p0314[0...n] Motor pole pair number / Mot pole pair No.
0 4000 0
0 255 0
p0315[0...n] Motor pole pair width / MotPolePair width
1.00 [mm] 1000.00 [mm] 30.00 [mm]
Parameters
List of parameters
Description: Sets the torque constant of the synchronous motor.
p0316 = 0: The torque constant is calculated from the motor data.
p0316 > 0: The selected value is used as torque constant.
Note: This parameter is not used for induction motors (p0300 = 1xx).
Description: Sets the force constant of the synchronous motor.
p0316 = 0: The force constant is calculated from the motor data.
p0316 > 0: The selected value is used as force constant.
Description: Sets the torque constant of the synchronous motor.
p0316 = 0: The torque constant is calculated from the motor data.
p0316 > 0: The selected value is used as torque constant.
p0316[0...n] Motor torque constant / Mot kT
SERVO Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
0.00 [Nm/A] 400.00 [Nm/A] 0.00 [Nm/A]
p0316[0...n] Motor force constant / Mot kT
SERVO (Lin) Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
0.00 [N/Arms] 15000.00 [N/Arms] 0.00 [N/Arms]
VECTOR Can be changed: C2(1, 3), U, T Calculated: - Access level: 2
0.00 [Nm/A] 400.00 [Nm/A] 0.00 [Nm/A]
List of parameters
Parameters
Description: Sets the voltage constant for synchronous motors.
Units for rotating synchronous motors: Vrms/(1000 rpm), phase-to-phase
Description: Sets the voltage constant for synchronous motors.
Units for linear synchronous motors: Vrms s/m, phase
Description: Sets the stall current for synchronous motors (p0300 = 2xx).
Note: The parameter is used for the I2t monitoring of the motor (refer to p0611).
This parameter is not used for induction motors (p0300 = 1xx).
Description: Sets the stall current for synchronous motors (p0300 = 2xx).
p0317[0...n] Motor voltage constant / Mot kE
0.0 [Vrms] 24000.0 [Vrms] 0.0 [Vrms]
0.0 [Vrms s/m] 5000.0 [Vrms s/m] 0.0 [Vrms s/m]
p0318[0...n] Motor stall current / Mot I_standstill
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Parameters
List of parameters
Note: The parameter is used for the I2t monitoring of the motor (refer to p0611).
This parameter is not used for induction motors (p0300 = 1xx).
Description: Sets the standstill (stall) torque for rotating synchronous motors (p0300 = 2xx).
This parameter value is not evaluated from a control-related perspective.
Description: Sets the standstill (stall) force for linear synchronous motors (p0300 = 4xx).
Note: This parameter value is not evaluated from a control-related perspective.
Description: Induction motors:
Sets the rated motor magnetizing current.
For p0320 = 0.000 the magnetizing current is internally calculated and displayed in r0331.
Synchronous motors:
Sets the rated motor short-circuit current.
Note: The magnetization current p0320 for induction motors (not for catalog motors) is reset when quick commissioning is
exited with p3900 > 0.
VECTOR:
If, for induction motors, the magnetizing current p0320 is changed outside the commissioning phase (p0010 > 0),
then the magnetizing inductance p0360 is changed so that the EMF r0337 remains constant.
p0319[0...n] Motor stall torque / Mot M_standstill
0.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
p0319[0...n] Motor stall force / Mot F_standstill
0.00 [N] 100000.00 [N] 0.00 [N]
p0320[0...n] Motor rated magnetizing current/short-circuit current / Mot I_mag_rated
SERVO, VECTOR Can be changed: C2(3), U, T Calculated: - Access level: 3
Not for motor type: REL, FEM Scaling: - Expert list: 1
0.000 [Arms] 5000.000 [Arms] 0.000 [Arms]
List of parameters
Parameters
Description: Sets the maximum motor speed.
= 3).
Description: Sets the maximum motor velocity.
= 3).
= 3).
p0322[0...n] Maximum motor speed / Mot n_max
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
p0322[0...n] Motor maximum velocity / Mot v_max
SERVO (Lin, Spin) Can be changed: C2(1, 3) Calculated: - Access level: 1
0.0 [m/min] 1000.0 [m/min] 0.0 [m/min]
SERVO (Spin) Can be changed: C2(1, 3) Calculated: - Access level: 1
0.0 [rpm] 260000.0 [rpm] 0.0 [rpm]
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Parameters
List of parameters
= 3).
Description: Sets the maximum permissible motor current (e.g. de-magnetizing current for synchronous motors).
Note: The parameter has no effect for induction motors.
For synchronous motors, a value must always be entered for the maximum motor current.
p0323 is a motor data. The user-selectable current limit is entered into p0640.
Description: Sets the maximum permissible motor current (e.g. de-magnetizing current for synchronous motors).
Note: The parameter has no effect for induction motors.
The parameter has not effect for synchronous motors if a value of 0.0 is entered. The user-selectable current limit is
entered into p0640.
Description: Sets the electrical maximum speed of the winding.
Notice: If p0324 is changed during quick commissioning (p0010 = 1), then the maximum speed p1082, which is also asso-
ciated with quick commissioning, is pre-assigned appropriately. This is not the case when commissioning the motor
(p0010 = 3).
p0323[0...n] Maximum motor current / Mot I_max
Not for motor type: ASM, FEM Scaling: - Expert list: 1
0.00 [Arms] 20000.00 [Arms] 0.00 [Arms]
0.00 [Arms] 20000.00 [Arms] 0.00 [Arms]
p0324[0...n] Winding maximum speed / Winding n_max
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
List of parameters
Parameters
Description: Sets the electrical maximum velocity of the winding.
(p0010 = 3).
Description: Sets the electrical maximum speed of the winding.
(p0010 = 3).
Description: Sets the current for the 1st phase of the two-stage technique for pole position identification routine.
The current of the 2nd phase is set in p0329.
The two-stage technique is selected with p1980 = 4.
Dependency: Refer to: p0329, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992
Refer to: F07995
Notice: When the motor code (p0301) is changed, it is possible that p0325 is not pre-assigned.
p0325 can be pre-assigned using p0340 = 3.
Note: The value is automatically pre-assigned for the following events:
- For p0325 = 0 and automatic calculation of the closed-loop control parameters (p0340 = 1, 2, 3).
- for quick commissioning (p3900 = 1, 2, 3).
p0324[0...n] Winding maximum velocity / Winding v_max
0.0 [m/min] 1000.0 [m/min] 0.0 [m/min]
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
p0325[0...n] Motor pole position identification current, 1st phase / Mot PolID I 1st ph
0.000 [Arms] 10000.000 [Arms] 0.000 [Arms]
Parameters
List of parameters
Description: Sets the correction factor for the stall torque/force at a 600 V DC link voltage.
Note: When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
selected (refer to p0300).
The reference value for this parameter is inversely proportional to the leakage inductance of the motor (p0353,
p0354, p0356).
The following applies for firmware version 2.6 SP2 and higher:
If leakage inductances are changed for motor data identification, the value in p0326 is automatically adapted to
maintain the stall torque.
Description: Sets the correction factor for the stall force at a 600 V DC link voltage.
The reference value for this parameter is inversely proportional to the leakage inductance of the motor (p0353,
p0354, p0356).
The following applies for firmware version 2.6 SP2 and higher:
If leakage inductances are changed for motor data identification, the value in p0326 is automatically adapted to
maintain the stall torque.
Description: Sets the optimum load angle for synchronous motors with reluctance torque (e.g. 1FE ... motors).
SERVO: The load angle is measured at 1.5 x rated motor current.
VECTOR: The load angle is measured at the rated motor current.
Note: This parameter has no significance for induction motors.
For synchronous motors without reluctance torque, a angle of 90 degrees must be set.
When quick commissioning is exited with p3900 > 0, then the parameter is reset if a catalog motor has not been
p0326[0...n] Motor stall torque correction factor / Mot M_stall_corr
5 [%] 300 [%] 60 [%]
p0326[0...n] Motor stall force correction factor / Mot F_stall_corr
SERVO (Lin) Can be changed: C2(3), U, T Calculated: - Access level: 3
5 [%] 300 [%] 60 [%]
p0327[0...n] Optimum motor load angle / Mot phi_load opt
0.0 [] 135.0 [] 90.0 []
List of parameters
Parameters
Description: Sets the reluctance torque constant for synchronous motors with reluctance torque (e.g. 1FE ... motors).
This parameter has no significance for induction motors.
Note: For synchronous motors without reluctance torque, the value 0 must be set.
Description: Sets the reluctance force constant for synchronous motors with reluctance force (e.g. 1FE ... motors).
This parameter has no significance for induction motors.
Note: For synchronous motors without reluctance torque, the value 0 must be set.
Description: Sets the current for the pole position identification routine.
For a two-stage technique, the current is set for the 2nd phase.
Dependency: Refer to: p0325, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992
Refer to: F07995
Description: Displays the rated motor slip.
Dependency: The rated slip is calculated from the rated frequency, rated speed and number of pole pairs.
Refer to: p0310, p0311, r0313
p0328[0...n] Motor reluctance torque constant / Mot kT_reluctance
-1000.00 [mH] 1000.00 [mH] 0.00 [mH]
p0328[0...n] Motor reluctance force constant / Mot kT_reluctance
-1000.00 [mH] 1000.00 [mH] 0.00 [mH]
p0329[0...n] Motor pole position identification current / Mot PolID current
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
r0330[0...n] Rated motor slip / Mot slip_rated
Not for motor type: PEM, REL, FEM Scaling: - Expert list: 1
- [Hz] - [Hz] - [Hz]
Parameters
List of parameters
Description: Induction motor:
Displays the rated magnetizing current from p0320.
For p0320 = 0, the internally calculated magnetizing current is displayed.
Synchronous motor:
Displays the rated short-circuit current from p0320.
Dependency: If p0320 was not entered, then the parameter is calculated from the rating plate parameters.
Note: In the case of multi-motor operation r0331 is increased by the factor p0306 compared to p0320.
Description: Displays the rated power factor for induction motors.
For IEC motors, the following applies (p0100 = 0):
For p0308 = 0, the internally-calculated power factor is displayed.
For p0308 > 0, this value is displayed.
For NEMA motors, the following applies (p0100 = 1):
For p0309 = 0, the internally-calculated power factor is displayed.
For p0309 > 0, this value is converted into the power factor and displayed.
Dependency: If p0308 is not entered, the parameter is calculated from the rating plate parameters.
Description: Displays the rated motor torque.
Dependency: IEC drives (p0100 = 0): unit Nm
NEMA drives (p0100 = 1): unit lbf ft
Note: For induction and reluctance motors, r0333 is calculated from p0307 and p0311.
For synchronous motors, r0333 is calculated from p0305, p0316, p0327 and p0328. The result can deviate from the
input in p0312. If p0316 = 0, then r0333 = p0312 is displayed.
In the case of multi-motor operation r0333 is increased by the factor p0306 compared to the rated torque of an indi-
vidual motor.
r0331[0...n] Actual motor magnetizing current/short-circuit current / Mot I_mag_rtd act
Data type: FloatingPoint32 Dynamic index: MDS, p0130 Func. diagram: 5722, 6722,
6724
r0332[0...n] Rated motor power factor / Mot cos_phi_rated
- - -
r0333[0...n] Rated motor torque / Mot M_rated
- [Nm] - [Nm] - [Nm]
List of parameters
Parameters
Description: Displays the rated motor force.
Dependency: IEC drives (p0100 = 0): unit Nm
NEMA drives (p0100 = 1): unit lbf ft
Note: For synchronous motors, r0333 is calculated from p0305, p0316, p0327 and p0328. The result can deviate from the
input in p0312. If p0316 = 0, then r0333 = p0312 is displayed.
Description: Displays the torque constant of the synchronous motor used.
Dependency: IEC drives (p0100 = 0): unit Nm / A
NEMA drives (p0100 = 1): unit lbf ft / A
Refer to: p0316
For synchronous motors, parameter r0334 = p0316 is displayed. if p0316 = 0, r0334 is calculated from p0305 and
p0312.
Description: Displays the force constant of the synchronous motor used.
Refer to: p0316
Note: For synchronous motors, parameter r0334 = p0316 is displayed. if p0316 = 0, r0334 is calculated from p0305 and
p0312.
Description: Displays the torque constant of the synchronous motor used.
r0333[0...n] Rated motor force / Mot F_rated
- [N] - [N] - [N]
r0334[0...n] Actual motor-torque constant / Mot kT act
- [Nm/A] - [Nm/A] - [Nm/A]
r0334[0...n] Actual motor force constant / Mot kT act
- [N/Arms] - [N/Arms] - [N/Arms]
- [Nm/A] - [Nm/A] - [Nm/A]
Parameters
List of parameters
Refer to: p0316
For synchronous motors, parameter r0334 = p0316 is displayed. When p0316 = 0, r0334 is calculated from p0305
and p0312 or p0305, p0307, and p0311.
Description: Sets the motor cooling system used.
Value: 0: Non-ventilated
1: Forced cooling
2: Liquid cooling
4: Non-ventilated and internal fan
5: Forced cooling and internal fan
6: Liquid cooling and internal fan
128: No fan
Dependency: For 1LA5 and 1LA7 motors (refer to p0300), the parameter is pre-set as a function of p0307 and p0311.
Note: The parameter influences the thermal 3-mass motor model.
1LA1 and 1LA8 motors are characterized by the fact that they have an internal rotor fan. This "internal cooling" lies
within the motor frame and is not visible. Air is not directly exchanged with the motor ambient air. For 1PQ8 motors,
p0335 should be set to 5 as these motors are force-ventilated motors.
1LA7 motors, frame size 56 are operated without fan.
Description: Displays the rated frequency of the motor.
For p0310 > 0, this value is displayed.
Note: For p0310 = 0 or for synchronous motors, the rated motor frequency r0336 is calculated from the rated speed and
the pole pair number.
For p0310 > 0, this value is displayed (not for synchronous motors).
Description: Displays the rated EMF of the motor.
Note: EMF: Electromagnetic force
p0335[0...n] Motor cooling type / Motor cooling type
SERVO, VECTOR Can be changed: C2(1, 3), T Calculated: - Access level: 1
Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: -
0 128 0
r0336[0...n] Actual rated motor frequency / Mot f_rated act
- [Hz] - [Hz] - [Hz]
r0337[0...n] Rated motor EMF / Mot EMF_rated
Not for motor type: REL Scaling: - Expert list: 1
List of parameters
Parameters
Description: Displays the rated EMF of the motor.
Note: EMF: Electromagnetic force
Description: Sets the motor limit current for synchronous motors (for a 600 V DC link voltage).
Using this current, the maximum torque is achieved at the rated speed (voltage limit characteristic).
Description: Displays the rated motor voltage.
Note: For induction motors (p0300 = 1xx) the parameter is set to p0304.
For synchronous motors, parameter r0339 = p0304 is displayed. If p0304 = 0, then r0339 is calculated from p0305
and p0316.
Description: Setting to reset and automatically calculate filter and control (closed-loop) parameters.
Value: 0: No calculation
1: Complete re-calculation. of control parameters with COMM data
2: Reset control parameters
The following parameters are influenced using p0340:
- [Vrms s/m] - [Vrms s/m] - [Vrms s/m]
p0338[0...n] Motor limit current / Mot I_limit
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
r0339[0...n] Rated motor voltage / Mot U_rated
p0340 Automatic calculation, control parameters / Calc auto par
0 2 0
Parameters
List of parameters
p0340 = 1:
--> All of the parameters influenced for p0340 = 2
--> p3421 = p0223, p0225
--> p3422 = p0227
--> p3424 = p0225
--> p3415, p3425, p3555, p3614, p3620, p3622 are reset to the factory setting dependent on the particular unit.
p0340 = 2:
--> p3560, p3562, p3564, p3603, p3615 and p3617 are reset to the factory setting. For S_INF, these control param-
eters are not available
Note: When quick commissioning is exited using p3900 > 0, p0340 is automatically set to 1.
At the end of the calculations, p0340 is automatically set to 0.
Description: Setting to automatically calculate motor parameters and U/f open-loop and closed-loop control parameters from the
rating plate data.
1: Complete calculation
2: Calculation of equivalent circuit diagram parameters
3: Calculation of closed-loop control parameters
4: Calculation of controller parameters
5: Calculation of technological limits and threshold values
The following parameters are influenced using p0340:
The parameters designated with (*) are not overwritten for catalog motors (p0300 > 100).
SERVO:
p0340 = 1:
--> All of the parameters influenced for p0340 = 2, 3, 4, 5
--> p0341 (*)
--> p0342, p0344, p0600, p0640, p1082, p2000, p2001, p2002, p2003, p2005, p2007
p0340 = 2:
--> p0350 (*), p0354 (*), p0356 (*), p0358 (*), p0360 (*)
--> p0625 (matching p0350)
p0340 = 3:
--> All of the parameters influenced for p0340 = 4, 5
--> p0325 (is only calculated for p0325 = 0)
--> p0348 (*) (is only calculated for p0348 = 0)
--> p0441, p0442, p0443, p0444, p0445 (only for 1FT6, 1FK6, 1FK7 motors)
--> p0492, p1082, p1980, p1319, p1326, p1327, p1612, p1752, p1755
p0340 = 4:
--> p1441, p1460, p1462, p1463, p1464, p1465, p1470, p1472, p1590, p1592, p1596, p1656, p1657, p1658,
p1659, p1715, p1717
--> p1461 (for p0348 > p0322, p1461 is set to 100 %)
--> p1463 (for p0348 > p0322, p1463 is set to 400 %)
p0340 = 5:
--> p1037, p1038, p1520, p1521, p1530, p1531, p2140 ... p2142, p2148, p2150, p2155, p2161, p2162, p2163,
p2164, p2175, p2177, p2194, p3820 ... p3829
p0340[0...n] Automatic calculation, motor/control parameters / Calc auto par
Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: -
0 5 0
List of parameters
Parameters
VECTOR:
p0340 = 1:
--> All of the parameters influenced for p0340 = 2, 3, 4, 5
--> p0341 (*)
--> p0342, p0344, p0600, p0640, p1082, p1231, p1232, p1333, p1349, p1360, p1362, p1441, p1442, p1576,
p1577, p1609, p1610, p1611, p1619, p1620, p1621, p1654, p1726, p1825, p1828 ... p1832, p1909, p1959, p2000,
p2001, p2002, p2003, p2005, p2007, p3927, p3928
p0340 = 2:
--> p0350 (*), p0354 ... p0361 (*), p0652 ... p0660
--> p0625 (matching p0350)
p0340 = 3:
--> All of the parameters influenced for p0340 = 4, 5
--> p0346, p0347, p0492, p0622, p1262, p1320 ... p1327, p1582, p1584, p1612, p1616, p1744, p1748, p1749,
p1755, p1756, p2178
p0340 = 4:
--> p1290, p1292, p1293, p1299, p1338, p1339, p1340, p1341, p1345, p1346, p1460, p1461, p1462, p1463,
p1464, p1465, p1470, p1472, p1590, p1592, p1600, p1628, p1629, p1630, p1643, p1703, p1715, p1717, p1740,
p1756, p1757, p1760, p1761, p1764, p1767, p1781, p1783, p1785, p1786, p1795, p7036, p7037, p7038
p0340 = 5:
--> p260 ... p264, p1037, p1038, p1520, p1521, p1530, p1531, p1574, p1750, p1802, p1803, p2140, p2142, p2148,
p2150, p2161, p2162, p2163, p2164, p2175, p2177, p2194, p3207, p3208, p3815, p3820 ... p3829
Note: p0340 = 1 contains the calculations of p0340 = 2, 3, 4, 5 without overwriting the motor parameters from the Sie-
mens motor lists (p0301 > 0).
p0340 = 2 calculates the motor parameters (p0350 ... p0360), but only if it does involve a Siemens catalog motor
(p0301 = 0).
p0340 = 3 contains the calculations of p0340 = 4, 5.
p0340 = 4 only calculates the controller parameters.
p0340 = 5 only calculates the controller limits.
When quick commissioning is exited using p3900 > 0, p0340 is automatically set to 1.
If the STARTER commissioning software writes a 3 into p0340 when "downloading to target device", then this cor-
responds to a "complete calculation of the motor/control parameters without equivalent circuit diagram data". The
same calculations are carried out as for p0340 = 1, however, without the equivalent circuit diagram parameters of
the motor (p0340 = 2), the motor moment of inertia (p0341) and the motor weight (p0344).
For third-party linear synchronous motors (p0300 = 4) equivalent circuit diagram data are not calculated (p0340 =
2).
Description: Sets the motor moment of inertia (without load).
Dependency: IEC drives (p0100 = 0): unit kg m^2
NEMA drives (p0100 = 1): unit lb ft^2
The parameter value is included, together with p0342, in the rated starting time of the motor.
Note: SERVO:
p0341 * p0342 + p1498 influence the speed/torque pre-control in encoderless operation.
p0341[0...n] Motor moment of inertia / Mot M_mom of inert
SERVO, VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 3
5210, 6030, 6031
0.000000 [kgm] 100000.000000 [kgm] 0.000000 [kgm]
Parameters
List of parameters
VECTOR:
The product of p0341 * p0342 is used when the speed controller (p0340 = 4) is calculated automatically.
Description: Sets the high moments of inertia (without load).
The parameter value is included, together with p0342, in the rated starting time of the motor.
Note: p0341 * p0342 + p1498 influence the speed/torque pre-control in encoderless operation.
Description: Sets the ratio between the total moment of inertia/mass (load + motor) and the intrinsic motor moment of iner-
tia/mass (no load).
Dependency: This means that together with p0341, the rated starting (accelerating time) of the motor is calculated for a vector
drive.
Refer to: p0341, r0345, p1498
Note: SERVO:
p0341 * p0342 + p1498 influence the speed/torque pre-control in encoderless operation.
VECTOR:
Description: Sets the ratio between the total force of inertia/mass (load + motor) and the intrinsic motor force of inertia/mass (no
load).
Dependency: This means that together with p0341, the rated starting (accelerating time) of the motor is calculated for a vector
drive.
Refer to: p0341, r0345, p1498
Note: SERVO:
p0341 * p0342 + p1498 influence the velocity/force pre-control in encoderless operation.
VECTOR:
p0341[0...n] Motor weight / Mot weight
SERVO (Lin) Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 3
0.000000 [kg] 10000.000000 [kg] 0.000000 [kg]
p0342[0...n] Ratio between the total and motor moment of inertia / Mot MomInert Ratio
SERVO, VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 3
5210, 6030, 6031
1.000 10000.000 1.000
p0342[0...n] Ratio between the total and motor force of inertia / Mot MomInert Ratio
SERVO (Lin) Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 3
1.000 10000.000 1.000
List of parameters
Parameters
Description: Displays the identified rated motor current.
Description: Sets the motor weight.
Dependency: IEC drives (p0100 = 0): unit kg
NEMA drives (p0100 = 1): unit lb
Note: The parameter influences the thermal 3 mass model of the induction motor.
The parameter is not used for synchronous motors (p0300 = 2xx).
Description: Displays the rated motor starting time. This time corresponds to the time from standstill up to reaching the motor
rated speed and the acceleration with motor rated torque (r0333).
Dependency: Refer to: r0313, r0333, r0336, p0341, p0342
Description: Sets the excitation build-up time of the motor.
This involves the delay time between enabling the pulses and enabling the ramp-function generator. The induction
motor is magnetized during this time.
Caution: If there is insufficient magnetization under load or if the acceleration rate is too high, then an induction motor can
stall (refer to the note). This is especially true for sensorless vector control or U/f control.
Notice: If the parameter is set to 0 s for separately-excited synchronous motors (p0300 = 5), then an excitation current set-
point is generated even if the drive is powered down. In the base speed range, this is the no-load excitation current
(p0389). In the field-weakening range, the value is reduced with the inverse value of the actual speed. An excitation
current setpoint is not generated during de-magnetizing (p0347) and if an encoder fault is detected.
r0343[0...n] Rated motor current identified / Mot I_rated ident
0.00 [Arms] 10000.00 [Arms] - [Arms]
p0344[0...n] Motor weight (for the thermal motor model) / Mot weight th mod
SERVO, VECTOR Can be changed: C2(3), T Calculated: CALC_MOD_ALL Access level: 3
0.0 [kg] 50000.0 [kg] 0.0 [kg]
r0345[0...n] Nominal motor starting time / Mot t_start_rated
- [s] - [s] - [s]
p0346[0...n] Motor excitation build-up time / Mot t_excitation
VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_REG Access level: 3
-20.000 [s] 20.000 [s] 0.000 [s]
Parameters
List of parameters
When starting an encoderless separately-excited synchronous motor with vector control from standstill, the rotor
position is detected using the field current ramp. The length of the ramp is pre-assigned from the machine data for
p0346=0s. If it crystallizes out that this time is too short, then it can be extended by entering a negative value in
p0346, whereby otherwise, the excitation behavior corresponds with that for p0346=0s. For all other cases, p0346
is internally limited downwards to 0s.
Note: The parameter is calculated using p0340 = 1, 3.
For induction motors, the result depends on the rotor time constant (r0384). If this time is excessively reduced, this
can result in an inadequate magnetizing of the induction motor. This is the case if the current limit is reached while
building up magnetizing. For induction motors, the parameter cannot be set to 0 s (internal limit: 0.1 * r0384).
For permanent-magnet synchronous motors and vector control, the value depends on the stator time constant
(r0386). Here, it defines the time to establish the current for encoderless operation immediately after the pulses
have been enabled.
Description: Sets the de-magnetizing time (for induction motors) after the inverter pulses have been canceled.
The inverter pulses cannot be switched in (enabled) within this delay time.
For SERVO, the de-excitation time is only used for DC current braking.
For induction motors, the result depends on the rotor time constant (r0384).
if this time is shortened too much, then this can result in an inadequate de-magnetizing of the induction motor and
in an overcurrent condition when the pulses are subsequently enabled (only when the flying restart function is acti-
vated and the motor is rotating).
Description: Sets the de-magnetizing time (for induction motors) after the inverter pulses have been canceled.
The inverter pulses cannot be switched in (enabled) within this delay time.
For induction motors, the result depends on the rotor time constant (r0384).
if this time is shortened too much, then this can result in an inadequate de-magnetizing of the induction motor and
in an overcurrent condition when the pulses are subsequently enabled (only when the flying restart function is acti-
vated and the motor is rotating).
Description: Sets the speed at the start of field weakening for a DC link voltage of 600 V.
p0347[0...n] Motor de-excitation time / Mot t_de-excitat.
SERVO Can be changed: C2(3), U, T Calculated: CALC_MOD_REG Access level: 3
0.000 [s] 20.000 [s] 0.000 [s]
0.000 [s] 20.000 [s] 0.000 [s]
p0348[0...n] Speed at the start of field weakening Vdc = 600 V / Mot n_field weaken
SERVO Can be changed: C2(3), U, T Calculated: CALC_MOD_REG Access level: 3
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
List of parameters
Parameters
Description: Sets the velocity at the start of field weakening for a DC link voltage of 600 V.
Description: Sets the actual system of units for motor equivalent circuit diagram data.
Value: 1: System of units, physical
2: System of units, referred
Note: The reference parameter for resistances of the rated motor impedance Z = p0304 / (1.732 * p0305) is in the % units
system.
Inductances are converted into a resistance using the factor 2 * Pi * p0310.
If a reference parameter (p0304, p305, p0310) is zero, then it is not possible to make a changeover to "referred"
values (per unit values).
Description: Sets the stator resistance of the motor at ambient temperature p0625.
Note: The motor identification routine determines the stator resistance from the total stator resistance minus the cable
resistance (p0352).
Description: Resistance of the power cable between the Motor Module and motor.
p0348[0...n] Velocity at the start of field weakening Vdc = 600 V / Mot v_field weaken
SERVO (Lin) Can be changed: C2(3), U, T Calculated: CALC_MOD_REG Access level: 3
0.0 [m/min] 1000.0 [m/min] 0.0 [m/min]
p0349 System of units, motor equivalent circuit diagram data / Unit_sys mot ESB
1 2 1
p0350[0...n] Motor stator resistance, cold / Mot R_stator cold
SERVO, VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 2
0.00000 [ohm] 2000.00000 [ohm] 0.00000 [ohm]
p0352[0...n] Cable resistance / Mot R_cable cold
0.00000 [ohm] 120.00000 [ohm] 0.00000 [ohm]
Parameters
List of parameters
Caution: The cable resistance should be entered prior to motor data identification. If it is used subsequently, the difference
by which p0352 was changed must be subtracted from the stator resistance p0350 or motor data identification must
be repeated.
Note: The parameter influences the temperature adaptation of the stator resistance.
The motor identification routine does not change the cable resistance. This is subtracted from the total measured
stator resistance in order to calculate the stator resistance (p0350, p0352).
The cable resistance is reset when quick commissioning is exited with p3900 > 0.
Description: Resistance of the power cable between the Motor Module and motor.
Caution: The cable resistance should be entered prior to motor data identification. If it is used subsequently, the difference
by which p0352 was changed must be subtracted from the stator resistance p0350 or motor data identification must
be repeated.
Notice: Parallel circuits with one winding system (p7003 = 0):
p0352 includes the feeder cable resistance of an individual Motor Module. The total feeder cable resistance is
obtained from p0352 divided by the number of activated Motor Modules (refer to r0395).
Parallel circuits with multi-winding system (p7003 = 1):
p0352 includes the complete feeder cable resistance and is directly added to the stator resistance (refer to r0395).
Note: The parameter influences the temperature adaptation of the stator resistance.
The motor identification sets the cable resistance to 20% of the measured total resistance if p0352 is zero at the
time that the measurement is made. If p0352 is not zero, then the value is subtracted from the measured total stator
resistance to calculate stator resistance p0350. In this case, p0350 is a minimum of 10% of the measured value.
Exception:
For parallel circuit configurations with one winding system (p07003 = 0), the cable resistance is directly measured.
It is important to note that only the component of an individual Motor Module is entered into p0352.
The cable resistance is reset when quick commissioning is exited with p3900 > 0.
Description: Sets the series inductance.
Note: For the automatic calculation with p0340 = 1 or 3, the calculation of p0348 is influenced by p0353 if p0348 was 0.
For the automatic calculation with p0340 = 1, 3 or 4, the calculation of p1715 is influenced by p0353.
The series inductance is reset when quick commissioning is exited with p3900 > 0.
The reference value for p0326 is inversely proportional to the leakage inductance of the motor (p0353, p0354,
p0356).
0.00000 [ohm] 120.00000 [ohm] 0.00000 [ohm]
p0353[0...n] Motor series inductance / Mot L_series
0.000 [mH] 1000000.000 [mH] 0.000 [mH]
List of parameters
Parameters
Description: Sets the series inductance.
Note: For the automatic calculation with p0340 = 1, 3 or 4, the calculation of p1715 is influenced by p0353.
The series inductance is reset when quick commissioning is exited with p3900 > 0.
Description: Sets the rotor/secondary section resistance of the motor at the ambient temperature p0625.
For separately-excited synchronous motors: Sets the damping resistance in the rotor direction (d-axis).
This parameter value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor data iden-
tification routine (p1910) (not for separately-excited synchronous motors).
The reference value for p0326 is inversely proportional to the leakage inductance of the motor (p0353, p0354,
p0356).
Description: Sets the rotor/secondary section resistance of the motor at the ambient temperature p0625.
For separately-excited synchronous motors: Sets the damping resistance in the rotor direction (d-axis).
This parameter value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor data iden-
tification routine (p1910) (not for separately-excited synchronous motors).
0.000 [mH] 1000000.000 [mH] 0.000 [mH]
p0354[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold/R_D d
SERVO Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
0.00000 [ohm] 300.00000 [ohm] 0.00000 [ohm]
VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
0.00000 [ohm] 300.00000 [ohm] 0.00000 [ohm]
Parameters
List of parameters
Description: Sets the damping resistance of the separately-excited synchronous motor quadrature to the rotor direction (q axis).
This parameter value is automatically calculated using the motor model (p0340 = 1, 2).
Description: Induction motor, separately-excited synchronous motor: Sets the rotor leakage inductance of the motor.
Synchronous motor: Sets the stator quadrature axis inductance of the motor.
This parameter value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identifica-
tion routine (p1910).
Note: The reference value for p0326 is inversely proportional to the leakage inductance of the motor (p0353, p0354,
p0356).
Description: Induction motor, separately-excited synchronous motor: Sets the rotor leakage inductance of the motor.
Synchronous motor: Sets the stator quadrature axis inductance of the motor.
Note: If the stator leakage inductance (p0356) for induction motors is changed outside the commissioning phase (p0010 >
0), the magnetizing inductance (p0360) is automatically adapted to the new EMF (r0337). You are then advised to
repeat the measurement for the saturation characteristic (p1960).
For permanent-magnet synchronous motors (p0300 = 2), this is the non-saturated value and is, therefore, ideal for
a low current.
Description: Sets the stator direct-axis inductance of the synchronous motor.
p0355[0...n] Motor damping resistance, q axis / Mot R_damp q
Not for motor type: ASM, PEM, REL Scaling: - Expert list: 1
0.00000 [ohm] 300.00000 [ohm] 0.00000 [ohm]
p0356[0...n] Motor stator leakage inductance / Mot L_stator leak.
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
p0357[0...n] Motor stator inductance, d axis / Mot L_stator d
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
List of parameters
Parameters
Note: The parameter is not used for separately-excited synchronous motors (p0300 = 5).
For permanent-magnet synchronous motors (p0300 = 2), this is the non-saturated value and is ideal for a low cur-
rent.
Description: Sets the rotor/secondary section leakage inductance of the motor.
For separately-excited synchronous motors: Sets the damping inductance in the rotor direction (d-axis).
This value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identification routine
(p1910) (not for separately-excited synchronous motors).
VECTOR:
If the rotor leakage inductance (p0358) for induction motors is changed outside the commissioning phase (p0010 >
0), then the magnetizing inductance (p0360) is automatically adapted to the new EMF (r0337). You are then
advised to repeat the measurement for the saturation characteristic (p1960).
Description: Sets the rotor/secondary section leakage inductance of the motor.
For separately-excited synchronous motors: Sets the damping inductance in the rotor direction (d-axis).
This value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identification routine
(p1910) (not for separately-excited synchronous motors).
VECTOR:
If the rotor leakage inductance (p0358) for induction motors is changed outside the commissioning phase (p0010 >
0), then the magnetizing inductance (p0360) is automatically adapted to the new EMF (r0337). You are then
advised to repeat the measurement for the saturation characteristic (p1960).
Description: Sets the damping inductance of the separately-excited synchronous motor quadrature to the rotor direction (q axis).
p0358[0...n] Motor rotor leakage inductance / damping inductance, d axis / Mot L_r leak / LDd
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
p0359[0...n] Motor damping inductance, q axis / Mot L_damp q
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Parameters
List of parameters
Description: Sets the magnetizing inductance of the motor.
For separately-excited synchronous motors: Sets the saturated magnetizing inductance in the rotor direction (d-
axis).
tion routine (p1910) (not for separately-excited synchronous motors).
Description: Sets the magnetizing inductance of the motor.
For separately-excited synchronous motors: Sets the saturated magnetizing inductance in the rotor direction (d-
axis).
tion routine (p1910) (not for separately-excited synchronous motors).
Description: Sets the saturated magnetizing inductance of the separately-excited synchronous motor quadrature to the rotor
direction (q axis).
Description: The saturation characteristic (flux as mapping of current) is defined using 4 points.
This parameter specifies the y coordinate (flux) for the 1st value pair of the characteristic.
p0360[0...n] Motor magnetizing inductance/magn. inductance, d axis saturated / Mot Lh/Lh d sat
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
p0361[0...n] Motor magnetizing inductance q axis, saturated / Mot L_magn q sat
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
p0362[0...n] Motor saturation characteristic flux 1 / Mot saturat.flux 1
10.0 [%] 300.0 [%] 60.0 [%]
List of parameters
Parameters
Induction motors (ASM) and separately-excited synchronous motors (SESM):
The saturation characteristic describes the mapping of the magnetizing current onto the motor flux.
The parameter sets the first motor flux as a [%] referred to the rated motor flux.
Permanent-magnet synchronous motors (PESM):
The saturation characteristic describes the mapping of the stator quadrature axis current onto the stator quadrature
axis flux.
The parameter sets the first stator quadrature axis flux as a [%] referred to the product of the unsaturated quadra-
ture inductance (p0356) and the rated motor current.
Dependency: The following applies for the flux values:
p0362 < p0363 < p0364 < p0365
The following applies for the stator quadrature axis flux values (PESM):
20% < p0362 < p0363 < p0364 < p0365
Refer to: p0366
Caution: For permanent-magnet synchronous motors (PESM):
If the parameters are not set as specified, i.e. not in ascending order and to more than 20 %, the unsaturated
quadrature inductance (p0356) is always used for quadrature axis flux calculation purposes.
Note: For induction motors, p0362 = 100 % corresponds to the rated motor flux.
For separately-excited synchronous motors p0362 = 100% corresponds to an induced terminal voltage with the
magnitude of the rated motor voltage (under no-load conditions at the synchronous speed).
With permanent-magnet synchronous motors, p0362 = 100 % corresponds to the product of the unsaturated
quadrature inductance (p0356) and the rated motor current (p0305).
This parameter specifies the y coordinate (flux) for the 2nd value pair of the characteristic.
The parameter sets the second motor flux as a [%] referred to the rated motor flux.
axis flux.
The parameter sets the second stator quadrature axis flux as a [%] referred to the product of the unsaturated
quadrature inductance (p0356) and the rated motor current.
p0362 < p0363 < p0364 < p0365
20% < p0362 < p0363 < p0364 < p0365
Refer to: p0367
10.0 [%] 300.0 [%] 85.0 [%]
Parameters
List of parameters
This parameter specifies the y coordinate (flux) for the 3rd value pair of the characteristic.
The parameter sets the third motor flux as a [%] referred to the rated motor flux.
axis flux.
The parameter sets the third stator quadrature axis flux as a [%] referred to the product of the unsaturated quadra-
p0362 < p0363 < p0364 < p0365
20% < p0362 < p0363 < p0364 < p0365
Refer to: p0368
This parameter specifies the y coordinate (flux) for the 4th value pair of the characteristic.
The parameter sets the fourth motor flux as a [%] referred to the rated motor flux.
axis flux.
The parameter sets the fourth stator quadrature axis flux as a [%] referred to the product of the unsaturated quadra-
10.0 [%] 300.0 [%] 115.0 [%]
10.0 [%] 300.0 [%] 125.0 [%]
List of parameters
Parameters
p0362 < p0363 < p0364 < p0365
20% < p0362 < p0363 < p0364 < p0365
Refer to: p0369
This parameter specifies the x coordinate for the 1st value pair of the characteristic.
The parameter sets the first magnetizing current as a [%] referred to the rated magnetizing current r0331 (ASM),
which in turn is referred to the no-load excitation current (SESM).
axis flux.
The parameter sets the first stator quadrature axis current as a [%] referred to the rated motor current (p0305).
Dependency: The following applies for the magnetizing currents:
p0366 < p0367 < p0368 < p0369
The following applies for the stator quadrature axis current values (PESM):
20% < p0366 < p0367 < p0368 < p0369
Refer to: p0362
This parameter specifies the x coordinate for the 2nd value pair of the characteristic.
p0366[0...n] Motor saturation characteristic I_mag 1 / Mot sat. I_mag 1
5.0 [%] 800.0 [%] 50.0 [%]
5.0 [%] 800.0 [%] 75.0 [%]
Parameters
List of parameters
The parameter sets the second magnetizing current as a [%] referred to the rated magnetizing current r0331
(ASM), which in turn is referred to the no-load excitation current (SESM).
axis flux.
The parameter sets the second stator quadrature axis current as a [%] referred to the rated motor current (p0305).
p0366 < p0367 < p0368 < p0369
20% < p0366 < p0367 < p0368 < p0369
Refer to: p0363
This parameter specifies the x coordinate for the 3rd value pair of the characteristic.
The parameter sets the third magnetizing current as a [%] referred to the rated magnetizing current r0331 (ASM),
axis flux.
The parameter sets the third stator quadrature axis current as a [%] referred to the rated motor current (p0305).
p0366 < p0367 < p0368 < p0369
20% < p0366 < p0367 < p0368 < p0369
Refer to: p0364
5.0 [%] 800.0 [%] 150.0 [%]
List of parameters
Parameters
This parameter specifies the x coordinate for the 4th value pair of the characteristic.
The parameter sets the fourth magnetizing current as a [%] referred to the rated magnetizing current r0331 (ASM),
axis flux.
The parameter sets the fourth stator quadrature axis current as a [%] referred to the rated motor current (p0305).
p0366 < p0367 < p0368 < p0369
20% < p0366 < p0367 < p0368 < p0369
Refer to: p0365
Description: Displays the motor stator resistance at an ambient temperature (p0625).
The value does not include the cable resistance.
Description: Displays the total cable resistance between Motor Module and motor, as well as the internal converter resistance.
5.0 [%] 800.0 [%] 210.0 [%]
r0370[0...n] Motor stator resistance, cold / Mot R_stator cold
- [ohm] - [ohm] - [ohm]
r0372[0...n] Cable resistance / Mot R_cable
- [ohm] - [ohm] - [ohm]
Parameters
List of parameters
Description: Displays the rated motor stator resistance at rated temperature (total of p0625 and p0627).
Description: Displays the rotor/secondary section resistance of the motor for the ambient temperature p0625.
For separately-excited synchronous motors: Displays the damping resistance in the rotor direction (d-axis).
Description: Displays the damping resistance of the separately-excited synchronous motor quadrature to the rotor direction (q
axis).
Description: Displays the rated (nominal) rotor/secondary section resistance of the motor at the rated temperature (total of
p0625 and p0628).
r0373[0...n] Motor rated stator resistance / Mot R_stator rated
- [ohm] - [ohm] - [ohm]
r0374[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
- [ohm] - [ohm] - [ohm]
r0375[0...n] Motor damping resistance, q axis / Mot R_damp q
- [ohm] - [ohm] - [ohm]
r0376[0...n] Rated motor rotor resistance / Mot R_rotor rated
- [ohm] - [ohm] - [ohm]
List of parameters
Parameters
Description: Induction motor:
Displays the stator leakage inductance of the motor including the series inductance (p0353).
Synchronous motor:
Displays the stator quadrature axis inductance of the motor including the series inductance (p0353).
Description: Induction motor, separately-excited synchronous motor:
Displays the stator leakage inductance of the motor, including the series inductance (p0353) and the motor reactor
(p0233).
Synchronous motor:
Displays the stator quadrature inductance, including the series inductance (p0353) and the motor reactor (p0233).
Description: Displays the stator longitudinal inductance of the synchronous motor including the series inductance (p0353) and
the motor reactor (p0233).
Note: The parameter is not used for separately-excited synchronous motors (p0300 = 5).
Description: Displays the damping inductance of the separately-excited synchronous motor in the rotor direction (d-axis).
r0377[0...n] Motor leakage inductance, total / Mot L_leak total
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
r0378[0...n] Motor stator inductance, d axis / Mot L_stator_d
- [mH] - [mH] - [mH]
r0380[0...n] Motor damping inductance, d axis / Mot L_damping_d
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Displays the damping inductance of a separately-excited synchronous motor quadrature to the rotor direction (q
axis).
Description: Displays the magnetizing inductance of the motor.
For separately-excited synchronous motors: Displays the saturated magnetizing inductance in the rotor direction (d-
axis).
Description: Displays the saturated magnetizing inductance of a separately-excited synchronous motor quadrature to the rotor
direction (q axis).
Description: Displays the rotor time constant.
For separately-excited synchronous motors: Displays the damping time constant in the rotor direction (d-axis).
Note: The parameter is not used for synchronous motors.
The value is calculated from the total of the inductances on the rotor side (p0358, p0360) divided by the rotor/damp-
ing resistance (p0354). The temperature adaptation of the rotor resistance for induction motors is not taken into
account.
r0381[0...n] Motor damping inductance, q axis / Mot L_damping_q
- [mH] - [mH] - [mH]
r0382[0...n] Motor magnetizing inductance transformed / Lh d axis saturated / Mot L_m tr/Lhd sat
- [mH] - [mH] - [mH]
r0383[0...n] Motor magnetizing inductance q axis, saturated / Mot L_magn q sat
- [mH] - [mH] - [mH]
r0384[0...n] Motor rotor time constant / damping time constant d axis / Mot T_rotor/T_Dd
- [ms] - [ms] - [ms]
List of parameters
Parameters
Description: Displays the damping time constant of a separately-excited synchronous motor quadrature to the rotor direction (q
axis).
Note: The value is calculated from the total of the inductances on the damping side (p0359, p0361) divided by the damp-
ing resistance (p0355).
Description: Displays the stator leakage time constant.
Note: The value is calculated from the total of all leakage inductances (p0233*, p0353, p0356, p0358) divided by the total
of all motor resistances (p0350, p0352, p0354). The temperature adaptation of the resistances is not taken into
account.
* only applies for VECTOR (r0107).
Description: Displays the stator leakage time constant quadrature to the rotor direction (q axis).
Note: The value is calculated from the total of all leakage inductances (p0233, p0356, p0359) divided by the total of all
motor resistances (p0350, p0352, p0355).
The temperature adaptation of the resistances is not taken into account.
Description: Sets the rated no-load current (I_F0) for the excitation.
r0385[0...n] Motor damping time constant, q axis / Mot T_Dq
- [ms] - [ms] - [ms]
r0386[0...n] Motor stator leakage time constant / Mot T_stator leak
- [ms] - [ms] - [ms]
r0387[0...n] Motor stator leakage time constant, q axis / Mot T_Sleak /T_Sq
- [ms] - [ms] - [ms]
p0389[0...n] Excitation rated no-load current / Exc I_noload_rated
0.00 [A] 10000.00 [A] 0.00 [A]
Parameters
List of parameters
Description: Setting the rated current (I_F) of the controlled excitation rectifier (DC master).
Description: Sets the starting point of the current-dependent current controller adaptation where the current controller gain
p1715 is effective.
Note: For p0393 = 100 % or p1402.2 = 0, the current controller adaptation is disabled and p1715 is effective over the
entire range.
Description: Sets the starting point of the current-dependent current controller adaptation where the current controller gain
p1715 is effective.
Description: Sets the starting point of the current-dependent current controller adaptation where the adapted current controller
gain p1715 x p0393 is effective.
entire range.
p0390[0...n] Rated excitation current / Exc I_rated
0.00 [A] 10000.00 [A] 0.00 [A]
p0391[0...n] Current controller adaptation, starting point KP / I_adapt pt KP
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
p0392[0...n] Current controller adaptation, starting point KP adapted / I_adapt pt KP adap
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
List of parameters
Parameters
Description: Sets the starting point of the current-dependent current controller adaptation where the adapted current controller
gain p1715 x p0393 is effective.
Description: Sets the factor for the current controller P gain in the adaptation range (current > p0392).
The value is referred to p1715.
entire range.
Description: Sets the factor for the current controller P gain in the adaptation range (e.g. r0078 > p0392, if p0392 > p0391).
entire range.
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
p0393[0...n] Current controller adaptation p gain adaptation / I_adapt Kp adapt
0.00 [%] 1000.00 [%] 100.00 [%]
p0393[0...n] Current controller adaptation P gain scaling / I_adapt Kp scal
0.00 [%] 1000.00 [%] 100.00 [%]
Parameters
List of parameters
Description: Displays the actual stator resistance (phase value).
The parameter value also contains the temperature-independent cable resistance.
Dependency: In the case of induction motors the parameter is also affected by the motor temperature model.
Refer to: p0350, p0352, p0620
Note: In each case, only the stator resistance of the active Motor Data Set is included with the stator temperature of the
thermal motor model.
Description: Displays the actual rotor/secondary section resistance (phase value).
The parameter is affected by the motor temperature model.
Note: In each case, only the rotor resistance of the active Motor Data Set is included with the rotor temperature of the
thermal motor model.
This parameter is not used for synchronous motors (p0300 = 2xx).
Description: The magnetic cross coupling of the motor's d and q axes caused by saturation (current-dependent) leads to an
angle offset affecting the axis system d'q'; this decouples the magnetic quantities.
The angle offset can be described as a 3rd order polynomial function of the load current consumed:
phiOffset = f(C1*iq + C3*iq^3)
This parameter is the coefficient C1; it describes the linear load impact effect.
Description: The magnetic cross coupling of the motor's d and q axes caused by saturation (current-dependent) leads to an
angle offset affecting the axis system d'q'; this decouples the magnetic quantities.
r0395[0...n] Actual stator resistance / R_stator act
6731, 6732
- [ohm] - [ohm] - [ohm]
r0396[0...n] Actual rotor resistance / R_rotor act
- [ohm] - [ohm] - [ohm]
p0398[0...n] Angle magn decoupling (cross saturation) coeff 1 / Magn decoupl C1
-10.000000 10.000000 0.000000
-10.000000 10.000000 0.000000
List of parameters
Parameters
The angle offset can be described as a 3rd order polynomial function of the load current consumed:
phiOffset = f(C1*iq + C3*iq^3)
This parameter is the coefficient C3; it describes the cubic load impact effect.
Description: Selects the encoder from the list of encoder types supported.
Value: 0: No encoder
202: DRIVE-CLiQ encoder AS20, singleturn
204: DRIVE-CLiQ encoder AM20, multiturn 4096
242: DRIVE-CLiQ encoder AS24, singleturn
244: DRIVE-CLiQ encoder AM24, multiturn 4096
1001: Resolver 1 speed
2001: 2048, 1 Vpp, A/B C/D R
2002: 2048, 1 Vpp, A/B R
2003: 256, 1 Vpp, A/B R
2004: 400, 1 Vpp, A/B R
2005: 512, 1 Vpp, A/B R
2006: 192, 1 Vpp, A/B R
2007: 480, 1 Vpp, A/B R
2008: 800, 1 Vpp, A/B R
2010: 18000, 1 Vpp, A/B R distance-coded
2051: 2048, 1 Vpp, A/B, EnDat, Multiturn 4096
2055: 2048, 1 Vpp, A/B, EnDat, Singleturn
2081: 2048, 1 Vpp, A/B, SSI, Singleturn
2082: 2048, 1 Vpp, A/B, SSI, Multiturn 4096
2083: 2048, 1 Vpp, A/B, SSI, singleturn, error bit
2084: 2048, 1 Vpp, A/B, SSI, multiturn 4096, error bit
2110: 4000 nm, 1 Vpp, A/B R distance-coded
2151: 16000 nm, 1 Vpp, A/B, EnDat, resolution 100 nm
3001: 1024 HTL A/B R
3002: 1024 TTL A/B R
3003: 2048 HTL A/B R
3005: 1024 HTL A/B
3006: 1024 TTL A/B
3007: 2048 HTL A/B
3008: 2048 TTL A/B
3009: 1024 HTL A/B unipolar
3011: 2048 HTL A/B unipolar
3020: 2048 TTL A/B R, with sense
3081: SSI, Singleturn, 24 V
3082: SSI, Multiturn 4096, 24 V
3090: 4096, HTL, A/B, SSI, Singleturn
3109: 2000 nm, TTL, A/B R distance-coded
9999: User-defined
10000: Identify encoder
10050: Encoder with EnDat interface identified
10051: DRIVE-CLiQ encoder identified
p0400[0...n] Encoder type selection / Enc_typ sel
ENCODER, SERVO,
VECTOR
Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: 1580, 4704
0 10100 0
Parameters
List of parameters
10058: Digital encoder (absolute) identified
10059: Digital encoder (incremental) identified
10100: Identify encoder (waiting)
Caution: An encoder type with p0400 < 9999 defines an encoder for which there is an encoder parameter list. When select-
ing a catalog encoder (p0400 < 9999) the parameters from the encoder parameter list cannot be changed (write
protection). To remove write protection, the encoder type should be set to a third-party encoder (p0400 = 9999).
Note: The connected encoder can be identified by setting p0400 to 10000 or 10100. This assumes that the encoder sup-
ports this method, which is possible in the following cases: Motor with DRIVE-CLiQ, encoder with EnDat interface,
DRIVE-CLiQ encoder.
The encoder data (e.g. pulse number p0408) can only be changed when p0400 = 9999.
When using an encoder with track A/B and zero pulse, as standard, fine synchronization is not set using a zero
mark. If, for a synchronous motor, fine synchronization is to be realized using a zero mark, then the following must
be executed:
- set p0400 to 9999
- set p0404.15 to 1
Prerequisite:
Coarse synchronization must be selected (e.g. pole position identification) and the zero pulse of the encoder must
be either mechanically or electronically (p0431) adjusted to the pole position.
For p0400 = 10000 the following applies:
If an identification is not possible, then p0400 is set to 0.
If an identification is not possible, p0400 remains set to 10100 until it becomes possible.
Description: Selects the encoder from the list of encoder types that the OEM supports.
Note: The connected encoder can be identified by p0400 = 10000. This means that the encoder must support this and is
possible in the following cases: Motor with DRIVE-CLiQ, encoder with EnDat interface.
If an identification is not possible, then p0400 is set to 0.
The encoder data (e.g. pulse number p0408) can only be changed when p0400 = 9999.
Using p0400 = 20000, the encoder type can be selected from the list of OEM encoders using p0401.
Description: Selects the gearbox type to pre-set the inversion and the gearbox factor.
Measuring gear factor = motor or load revolutions / encoder revolutions.
Value: 1: Gearbox 1:1 not inverted
2: Gearbox 2:7 inverted
9999: Gearbox, user-defined
10000: Identify gearbox
10100: Identify gearbox
p0401[0...n] Encoder type, OEM selection / Enc type OEM sel
ENCODER, SERVO,
VECTOR
Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: 1580, 4704
0 32767 0
p0402[0...n] Gearbox type selection / Gearbox type sel
ENCODER, SERVO,
VECTOR
1 10100 9999
List of parameters
Parameters
Note: Re p0402 = 1:
Automatic setting of p0410 = 0000 bin, p0432 = 1, p0433 = 1.
Re p0402 = 2:
Re p0402 = 3:
Re p0402 = 4:
Re p0402 = 9999:
No automatic setting of p0410, p0432, p0433. The parameters should be manually set.
Re p0402 = 10000:
It is only possible to identify the gearbox type for a motor with DRIVE-CLiQ. Parameters p0410, p0432 and p0433
are set corresponding to the identified gearbox. If an identification is not possible, then p0402 is set to 9999.
Description: Settings for the basic encoder properties.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400).
When selecting a catalog encoder, this parameter cannot be changed (write protection). Information in p0400
should be carefully observed when removing write protection.
Notice: If an SSI encoder (bit 9 = 1) is used as motor encoder for permanent-magnet synchronous motors, then this is only
permissible in conjunction with an additional A/B track (bit 3 = 1 or bit 4 = 1).
Note: ZM: Zero mark
SMC: Sensor Module Cabinet
If a technique to determine the commutation information/data has not been selected (e.g. track C/D, Hall sensor),
and the encoder pulse number is an integer multiple of the pole number, then the following applies:
The track A/B is adjusted to match the magnetic position of the motor.
Re bit 01, 02 (absolute encoder, multiturn encoder):
These bits can only be selected for EnDat encoders, SSI encoders or DRIVE-CLiQ encoders.
p0404[0...n] Encoder configuration effective / Enc_config eff
ENCODER, SERVO,
VECTOR
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 Linear encoder Yes No -
01 Abs value encoder Yes No -
02 Multiturn encoder Yes No -
03 Track A/B sq-wave Yes No -
04 Track A/B sinus Yes No -
05 Track C/D Yes No -
06 Hall sensor Yes No -
08 EnDat encoder Yes No -
09 SSI encoder Yes No -
10 DRIVE-CLiQ encoder Yes No -
11 Digital encoder Yes No -
12 Equidistant zero mark Yes No -
13 Irregular zero mark Yes No -
14 Distance-coded zero mark Yes No -
15 Commutation with zero mark (not ASM) Yes No -
16 Acceleration Yes No -
17 Track A/B analog Yes No -
20 Voltage level 5 V Yes No -
22 Remote sense (only SMC30) Yes No -
23 Resolver excit. Yes No -
Parameters
List of parameters
Re bit 10 (DRIVE-CLiQ encoder):
This bit is only used for the large-scale integrated DRIVE-CLiQ encoders that provide their encoder data directly in
DRIVE-CLiQ format without converting this data. This bit is not, therefore, set for first-generation DRIVE-CLiQ
encoders.
Re bit 12 (equidistant zero mark):
The zero marks occur at regular intervals (e.g. rotary encoder with 1 zero mark per revolution or linear encoder with
constant zero mark distance).
The bit activates monitoring of the zero mark distance (p0424/p0425, linear/rotary) or in the case of the linear
encoder with 1 zero mark and p0424 = 0 zero mark monitoring is activated.
Re bit 13 (irregular zero mark):
The zero marks occur at irregular intervals (e.g. a linear scale with only 1 zero mark in the traversing range). The
zero mark distance is not monitored.
Re bit 14 (distance-coded zero mark):
The distance (clearance) between two or several consecutive zero marks allows the absolute position to be calcu-
lated.
Re bit 15 (commutation with zero mark):
Only applicable for synchronous motors.
The function can be de-selected by priority via p0430.23.
For distance-coded zero marks, the following applies:
The phase sequence of the C/D track (if available) must be the same as the phase sequence of the encoder (A/B
track).
The phase sequence of the Hall signal (if available) must be the same as the phase sequence of the motor. Further,
the position of the Hall sensor must be mechanically adjusted to the motor EMF.
The fine synchronization is only started after two zero marks have been passed.
Description: Settings for the track A/B in a square-wave encoder.
For square-wave encoders, p0404.3 must also be 1.
Caution: This parameter is automatically pre-set for encoders from the encoder list (p0400). When selecting a catalog
encoder, this parameter cannot be changed (write protection). Information in p0400 should be carefully observed
when removing write protection.
Note: Re bit 02:
When the function is activated, track monitoring can be de-activated by setting p0437.26.
Re bit 05:
When the function is activated, a frequency setpoint and a direction for traveling can be entered via an encoder
interface.
p0405[0...n] Square-wave encoder track A/B / Sq-wave enc A/B
ENCODER, SERVO,
VECTOR
- - 0000 1111 bin
00 Signal Bipolar Unipolar -
01 Level TTL HTL -
02 Track monitoring A/B <> -A/B None -
03 Zero pulse Same as A/B track 24 V unipolar -
04 Switching thresh High Low -
05 Pulse/direction Active Inactive -
List of parameters
Parameters
Description: Sets the grid division for a linear encoder.
Note: The lowest permissible value is 250 nm.
Description: Sets the number of pulses for a rotary encoder.
Note: The number of pole pairs for a resolver is entered here.
The smallest permissible value is 1 pulse.
Description: Sets the number of pulses for a rotary encoder.
Danger: In the SINAMICS operating mode (p4400 = 1) the following applies:
The number of pulses per encoder revolution of the TM41 (p0408) must always precisely correspond to the number
of pulses per encoder revolution of the encoder interconnected at connector input p4420. If this condition is not
taken into account, then the TM41 zero mark is not in synchronism with the interconnected encoder.
Note: TM41 SAC: order no. = 6SL3055-0AA00-3PA0
TM41 DAC: order no. = 6SL3055-0AA00-3PA1
The following applies for TM41 SAC:
- Every time the pulse number is changed, a POWER ON must be carried out for CU and TM41.
- Minimum/maximum value: 1000/8192
The following applies for TM41 DAC:
- Minimum/maximum value: 32/16384
p0407[0...n] Linear encoder grid division / Enc grid div
ENCODER, SERVO,
VECTOR
0 [nm] 250000000 [nm] 16000 [nm]
p0408[0...n] Rotary encoder pulse No. / Rot enc pulse No.
ENCODER, SERVO,
VECTOR
0 16777215 2048
p0408 TM41 encoder emulation pulse number / Enc_emul puls No.
32 16384 2048
Parameters
List of parameters
Description: Setting to invert actual values.
Note: The inversion influences the following parameters:
Bit 00: r0061, r0063 (exception: encoderless control), r0094
Bit 01: r0482, r0483
Description: Setting to invert actual values.
Note: The inversion influences the following parameters:
Bit 00: r0061, r0063 (exception: encoderless control), r0094
Bit 01: r0482, r0483
Description: Sets the configuration for position tracking of a measuring gear.
Notice: For p0411.3 = 1 the following applies:
If position tracking is activated for incremental encoders, only the position actual value is stored. Axis or encoder
motion is not detected when de-activated! Any tolerance window entered in p0413 has no effect.
Note: For the following events, the non-volatile, saved position values are automatically reset:
- when an encoder replacement has been identified.
- when changing the configuration of the Encoder Data Set (EDS).
p0410[0...n] Encoder inversion actual value / Enc inv act value
ENCODER, SERVO,
VECTOR
- - 0000 bin
00 Invert speed actual value Yes No 4710,
4715
01 Invert position actual value Yes No 4704
ENCODER (Lin enc),
SERVO (Lin)
- - 0000 bin
00 Invert velocity actual value Yes No 4710,
4715
p0411[0...n] Measuring gear, configuration / Meas gear config
ENCODER, SERVO,
VECTOR
- - 0000 bin
00 Measuring gear, activate position tracking Yes No -
01 Axis type Linear axis Rotary axis -
02 Measuring gear, reset position Yes No -
03 Meas. gearbox, activate pos. tracking for
incremental encoders
Yes No -
List of parameters
Parameters
Description: Sets the number of rotations that can be resolved for a rotary encoder with activated position tracking of the mea-
suring gear.
Dependency: This parameter is only of significance for an absolute encoder (p0404.1 = 1) with activated position tracking
(p0411.0 = 1) and for an incremental encoder with activated position tracking (p0411.3 = 1).
Note: The resolution that is set must be able to be represented using r0483.
For rotary axes/modulo axes, the following applies:
p0411.0 = 1:
This parameter is pre-set with p0421 and can be changed.
p0411.3 = 1:
The parameter value is pre-set to the highest possible value. The highest possible value depends on the pulse
number (p0408) and the fine resolution (p0419).
For linear axes, the following applies:
p0411.0 = 1:
This parameter is pre-assigned with p0421, expanded by 6 bits for multiturn information (maximum number of over-
flows) and cannot be changed.
p0411.3 = 1:
The parameter value is pre-set to the highest possible value. The highest possible value depends on the pulse
number (p0408) and the fine resolution (p0419).
Description: Sets a tolerance window for position tracking.
After the system is powered up, the difference between the saved position and the actual position is determined,
and depending on this, the following is initiated:
Difference within the tolerance window --> The position is reproduced as a result of the encoder actual value.
Difference outside the tolerance window --> An appropriate message is output.
Dependency: Refer to: F31501, F32501, F33501
Caution: Rotation, e.g. through a complete encoder range is not detected.
Note: The value is entered in integer (complete) encoder pulses.
For p0411.0 = 1, the value is automatically pre-assigned quarter of the encoder range.
Example:
Quarter of the encoder range = (p0408 * p0421) / 4
It is possible that the tolerance window may not be able to be precisely set due to the data type (floating point num-
ber with 23 bit mantissa).
p0412[0...n] Measuring gear, absolute encoder, rotary, revolutions, virtual / Abs rot rev
ENCODER, SERVO,
VECTOR
0 4194303 0
p0413[0...n] Measuring gear, position tracking tolerance window / Pos track window
ENCODER, SERVO,
VECTOR
Data type: FloatingPoint32 Dynamic index: EDS, p0140 Func. diagram: -
0.00 4294967300.00 0.00
Parameters
List of parameters
Description: Sets the number of relevant bits for the redundant coarse position value.
Description: Sets the bit number for the safe most significant bit (MSB) of the Gx_XIST1 coarse position.
Note: MSB: Most Significant Bit
Description: Sets the fine resolution in bits of the incremental position actual values.
Note: The parameter applies for the following process data:
- Gx_XIST1
- Gx_XIST2 for reference mark or flying measurement
The fine resolution specifies the fraction between two encoder pulses. Depending on the physical measurement
principle, an encoder pulse can be broken down into a different number of fractions (e.g. squarewave encoder: 2 bit
= resolution 4, sin/cos encoder: Typical 11 bit = resolution 2048).
For a squarewave encoder, with the factory setting, the least significant bits have the value zero, i.e. they do not
supply any useful information.
For especially high quality measuring systems, the fine resolution must be increased corresponding to the available
accuracy.
Description: Sets the fine resolution in bits of the incremental position actual values.
Danger: In the SINAMICS mode (p4400 = 1) and (p4408 = 0), the following applies:
The fine resolution of the TM41 (p0418) must always precisely correspond to the fine resolution of the encoder
interconnected at connector input p4420. If this condition is not taken into account, then the TM41 zero mark is not
in synchronism with the interconnected encoder. Further, in this case, the frequency of the pulses for the encoder
emulation differs from the pulse frequency of the leading encoder.
For TM41 SAC (order no. = 6SL3055-0AA00-3PA0), the following applies:
Every time the fine resolution has been changed, a POWER ON must be performed for the CU and TM41.
p0414[0...n] Redundant coarse position value relevant bits (identified) / Relevant bits
ENCODER, SERVO,
VECTOR
0 16 16
p0415[0...n] Gx_XIST1 Coarse position safe most significant bit (identified) / Gx_XIST1 safe MSB
ENCODER, SERVO,
VECTOR
0 31 14
p0418[0...n] Fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1
ENCODER, SERVO,
VECTOR
2 18 11
p0418 TM41 encoder emulation fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1
2 18 11
List of parameters
Parameters
Description: Sets the fine resolution in bits of the absolute position actual values.
Note: This parameter applies to process data Gx_XIST2 when reading the absolute value.
Description: Selecting the encoder connection.
Description: Sets the number of rotations that can be resolved for a rotary absolute encoder.
Description: Sets the resolution of the absolute position for a linear absolute encoder.
Note: The serial protocol of an absolute encoder provides the position with a certain resolution , e.g. 100 nm. This value
must be entered here.
p0419[0...n] Fine resolution absolute value Gx_XIST2 (in bits) / Enc fine Gx_XIST2
ENCODER, SERVO,
VECTOR
2 18 9
p0420[0...n] Encoder connection / Enc_connection
ENCODER, SERVO,
VECTOR
- - 0000 bin
00 SUB-D Yes No -
01 Terminal Yes No -
p0421[0...n] Absolute encoder rotary multiturn resolution / Enc abs multiturn
ENCODER, SERVO,
VECTOR
0 65535 4096
p0422[0...n] Absolute encoder linear measuring step resolution / Enc abs meas step
ENCODER, SERVO,
VECTOR
0 [nm] 4294967295 [nm] 100 [nm]
Parameters
List of parameters
Description: Sets the number of measuring steps per revolution for a rotary absolute encoder. The resolution refers to the abso-
lute position.
Description: Sets the distance between two zero marks for a linear encoder. This information is used for zero mark monitoring.
Note: For distance-coded zero marks, this means the basic distance.
Description: Sets the distance in pulses between two zero marks for a rotary encoder. This information is used for zero mark
monitoring.
Note: For distance-coded zero marks, this means the basic distance.
Description: Sets the differential distance with distance-coded zero marks [signal periods].
The value corresponds to jump displacement of "zero mark with interference".
p0423[0...n] Absolute encoder rotary singleturn resolution / Enc abs singleturn
ENCODER, SERVO,
VECTOR
0 1073741823 8192
p0424[0...n] Encoder, linear zero mark distance / Enc lin ZM_dist
ENCODER, SERVO,
VECTOR
0 [mm] 65535 [mm] 20 [mm]
p0425[0...n] Encoder, rotary zero mark distance / Enc rot dist ZM
ENCODER, SERVO,
VECTOR
0 16777215 2048
p0426[0...n] Encoder zero mark differential distance / Enc ZM Dif_dist
ENCODER, SERVO,
VECTOR
1 65535 1
List of parameters
Parameters
Description: Sets the baud rate for an SSI encoder.
Note: SSI: Synchronous Serial Interface
Description: Sets the minimum delay time between two data transfers of the absolute value for an SSI encoder.
Description: Sets the configuration for an SSI encoder.
Note: Re bit 06:
The quiescent signal level of the data line corresponds to the inverted, set level.
Description: Sets the configuration of the Sensor Module.
p0427[0...n] Encoder SSI baud rate / Enc SSI baud rate
ENCODER, SERVO,
VECTOR
0 [kHz] 65535 [kHz] 100 [kHz]
p0428[0...n] Encoder SSI monoflop time / Enc SSI t_monoflop
ENCODER, SERVO,
VECTOR
0 [s] 65535 [s] 30 [s]
p0429[0...n] Encoder SSI configuration / Enc SSI config
ENCODER, SERVO,
VECTOR
- - 0000 0000 bin
00 Transfer code Binary code Gray code -
02 Transfer absolute value twice Yes No -
06 Data line during the monoflop time High level Low level -
p0430[0...n] Sensor Module configuration / SM config
ENCODER, SERVO,
VECTOR
- - 1110 0000 0000 1000 0000
0000 0000 0000 bin
Parameters
List of parameters
Notice: A bit-wise configuration is only possible if the corresponding property is also present in r0458.
Note: Re bit 17 (burst oversampling):
- if bit = 1, burst oversampling is switched on.
Re bit 18 (continuous oversampling):
- if bit = 1, continuous oversampling is switched on.
Re bit 19 (Safety position actual value sensing):
- if bit = 1, the Safety position actual value is transferred in the cyclic telegram.
Re bit 20 (speed calculation mode):
- if bit = 1, the speed is calculated via incremental difference without extrapolation.
- if bit = 0, the speed is calculated via edge time measurement with extrapolation. p0453 is effective in this mode.
Re bit 21 (zero mark tolerance):
- if bit = 1, a one-off zero mark distance error is tolerated. In the event of a defect, the fault F3x100/F3x101 does not
appear, but alarm A3x400/A3x401 does.
Re bit 22 (rotor position adaptation):
- if bit = 1, the rotor position is corrected automatically. The correction speed is +/-1/4 encoder pulse per zero mark
distance.
Re bit 23 (de-select commutation with zero mark):
- The bit should only be set for encoders that have not been adjusted.
Re bit 24 (commutation with selected zero mark):
- if bit = 1, the commutation position is corrected via a selected zero mark.
Re bit 25 (disconnect the encoder power supply on parking):
- if bit = 1, the encoder power supply is switched off on parking (0 V).
- if bit = 0, the encoder power supply is not switched off on parking, it is reduced from 24 V to 5 V.
Re bit 27 (extrapolate position values):
- if bit = 1, the extrapolation of the position values is activated.
Re bit 28 (cubic correction);
- if bit = 1, the cubic correction for track A/B sine is activated.
Re bit 29 (phase correction):
- if bit = 1, the phase correction for track A/B sine is activated.
Re bit 30 (amplitude correction):
- if bit = 1, the amplitude correction for track A/B sine is activated.
Re bit 31 (offset correction):
- if bit = 1, the offset correction for track A/B sine is activated.
17 Burst oversampling Yes No -
18 Continuous oversampling (reserved) Yes No -
19 Safety position actual value sensing Yes No -
20 Speed calculation mode (only SMC30) Incremental diff Flank time meas -
21 Zero mark tolerance Yes No -
22 Rot pos adapt Yes No -
23 De-select commutation with zero mark Yes No -
24 Commutation with selected zero mark Yes No -
25 Switch off encoder voltage supply during
parking
Yes No -
27 Extrapolate position values Yes No -
28 Cubic correction Yes No -
29 Phase correction Yes No -
30 Amplitude correction Yes No -
31 Offset correction Yes No -
List of parameters
Parameters
Description: Sets the configuration of the Sensor Module.
Notice: A bit-wise configuration is only possible if the corresponding property is also present in r0458.
Note: Re bit 17 (burst oversampling):
- if bit = 1, burst oversampling is switched on.
Re bit 18 (continuous oversampling):
- if bit = 1, continuous oversampling is switched on.
Re bit 19 (Safety position actual value sensing):
- if bit = 1, the Safety position actual value is transferred in the cyclic telegram.
Re bit 20 (speed calculation mode):
- if bit = 1, the speed is calculated via incremental difference without extrapolation.
- if bit = 0, the speed is calculated via edge time measurement with extrapolation. p0453 is effective in this mode.
Re bit 21 (zero mark tolerance):
- if bit = 1, a one-off zero mark distance error is tolerated. In the event of a defect, the fault F3x100/F3x101 does not
appear, but alarm A3x400/A3x401 does.
Re bit 22 (rotor position adaptation):
- if bit = 1, the rotor position is corrected automatically. The correction speed is +/-1/4 encoder pulse per zero mark
distance.
Re bit 23 (de-select commutation with zero mark):
- The bit should only be set for encoders that have not been adjusted.
Re bit 24 (commutation with selected zero mark):
- if bit = 1, the commutation position is corrected via a selected zero mark.
Re bit 25 (disconnect the encoder power supply on parking):
- if bit = 1, the encoder power supply is switched off on parking (0 V).
- if bit = 0, the encoder power supply is not switched off on parking, it is reduced from 24 V to 5 V.
Re bit 27 (extrapolate position values):
- if bit = 1, the extrapolation of the position values is activated.
Re bit 28 (cubic correction);
- if bit = 1, the cubic correction for track A/B sine is activated.
Re bit 29 (phase correction):
- if bit = 1, the phase correction for track A/B sine is activated.
ENCODER (Lin enc),
SERVO (Lin)
- - 1110 0000 0000 1000 0000
0000 0000 0000 bin
18 Continuous oversampling (reserved) Yes No -
20 Velocity calculation mode (only SMC30) Incremental diff Flank time meas -
23 De-select commutation with zero mark Yes No -
25 Switch off encoder voltage supply during
parking
Yes No -
27 Extrapolate position values Yes No -
Parameters
List of parameters
Re bit 30 (amplitude correction):
- if bit = 1, the amplitude correction for track A/B sine is activated.
Re bit 31 (offset correction):
- if bit = 1, the offset correction for track A/B sine is activated.
Description: Sets the angular commutation offset.
Dependency: The value is taken into account in r0094.
Refer to: r0094, r1778
Caution: When the firmware is upgraded from V2.3 to V2.4 or higher, the value must be reduced by 60 if all the following
conditions are fulfilled:
- The motor is a synchronous motor (p0300 = 2, 2xx, 4, 4xx).
- The encoder is a resolver (p0404.23 = 1).
- The actual speed value is inverted (p0410.0 = 1).
Notice: The angular commutation offset cannot be generally taken from other drive systems. As a minimum - the sign of the
offset determined for SIMODRIVE 611 digital and SIMODRIVE 611 universal must be reversed for SINAMICS
(p0431 (SINAMICS) = -p1016 (SIMODRIVE)).
Note: Angular commutation offset, angular difference between electrical position of encoder and flux position.
For p0404.5 = 1 (track C/D) the following applies:
The angular offset in p0431 acts on track A/B, the zero mark on track C/D.
For p0404.6 = 1 (Hall sensor) the following applies:
The angular offset in p0431 acts on track A/B and the zero mark.
Description: Sets the encoder revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between
the encoder shaft and the load.
Dependency: This parameter can only be set for p0402 = 9999.
Refer to: p0402, p0410, p0433
Note: Negative gearbox factors should be implemented with p0410.
Description: Sets the motor and load revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between
the encoder shaft and the load.
p0431[0...n] Angular commutation offset / Ang_com offset
-180.00 [] 180.00 [] 0.00 []
p0432[0...n] Gearbox factor, encoder revolutions / Grbx_fact enc_rev
ENCODER, SERVO,
VECTOR
1 10000 1
p0433[0...n] Gearbox factor, motor/load revolutions / Grbx_fact mot_rev
ENCODER, SERVO,
VECTOR
1 10000 1
List of parameters
Parameters
Dependency: This parameter can only be set for p0402 = 9999.
Refer to: p0402, p0410, p0432
Note: Negative gearbox factors should be implemented with p0410.
Description: Sets the position and level of the error bit in the SSI protocol.
Notice: The bit may only be positioned before (p0446) or after (p0448) the absolute value in the SSI protocol.
Note: Value = dcba
ba: Position of the error bit in the protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
d: Status of the evaluation (0: Off, 1: On with 1 error bit, 2: On with 2 error bits ... 9: On with 9 error bits).
For several error error bits, the following applies:
- the position specified under ba and the additional bits are assigned increasing consecutively.
- the level set under c applies to all error bits.
Example:
p0434 = 1013
--> The evaluation is switched in and the error bit is at position 13 with a low level.
p0434 = 1113
--> The evaluation is switched in and the error bit is at position 13 with a high level.
Description: Sets the position and level of the alarm bit in the SSI protocol.
Note: Value = dcba
ba: Position of the alarm bit in protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
d: State of the evaluation (0: Off, 1: On).
Example:
p0435 = 1014
--> The evaluation is switched in and the alarm bit is at position 14 with a low level.
p0435 = 1114
--> The evaluation is switched in and the alarm bit is at position 14 with a high level.
Description: Sets the position and parity of the parity bit in the SSI protocol.
p0434[0...n] Encoder SSI error bit / Enc SSI error bit
ENCODER, SERVO,
VECTOR
0 65535 0
p0435[0...n] Encoder SSI alarm bit / Enc SSI alarm bit
ENCODER, SERVO,
VECTOR
0 65535 0
p0436[0...n] Encoder SSI parity bit / Enc SSI parity bit
ENCODER, SERVO,
VECTOR
0 65535 0
Parameters
List of parameters
Note: Value = dcba
ba: Position of the parity bit in the protocol (0 ... 63).
c: Parity (0: even, 1: uneven).
d: State of the evaluation (0: Off, 1: On).
Example:
p0436 = 1015
--> The evaluation is switched in and the parity bit is at position 15 with even parity.
p0436 = 1115
--> The evaluation is switched in and the parity bit is at position 15 with uneven parity.
Description: Sets the extended configuration of the Sensor Module.
Note: A value of zero is displayed if an encoder is not present.
Re bit 00:
When the data logger (trace) is activated, in the case of a fault, data before and after the event are recorded
(traced) and saved in files on the non-volatile memory medium. Experts can then evaluate this data.
Re bit 01:
If bit = 0, the zero mark is evaluated by ANDing tracks A and B and the zero mark.
For bit = 1, the zero mark is evaluated depending on the direction of rotation detected. For a positive direction of
rotation, the positive edge of the zero mark is considered and for a negative direction of rotation, the negative edge
of the zero mark.
Re bit 02:
If the bit is set, in the event of a deviation less than the tolerance window for the zero mark (p4681, p4682), the
pulses per revolution are corrected. If the bit is not set, encoder fault F3x131 is triggered.
Re Bit 04 and Bit 05:
The current hardware only supports 1x or 4x signal evaluation.
Bit 5/4 = 0/0: Signal evaluation per period, 4x.
Bit 5/4 = 1/0: Illegal setting.
p0437[0...n] Sensor Module configuration extended / SM config ext
ENCODER, SERVO,
VECTOR
- - 0011 0000 0000 0000 0000
1000 0000 0000 bin
00 Data logger Yes No -
01 Zero mark edge detection Yes No -
02 Correction position actual value XIST1 Yes No -
04 Edge evaluation bit 0 Yes No -
06 Freeze the speed actual value for dn/dt
errors
Yes No -
07 Accumulate uncorrected encoder pulses Yes No -
11 Fault handling after PROFIdrive Yes No -
12 Activate additional messages Yes No -
26 Track monitoring de-selection Yes No -
28 EnDat linear encoder monitoring incremen-
tal/absolute
Yes No -
29 EnDat encoder initialization with high accu-
racy
Yes No -
31 Analog unipolar track monitoring Yes No -
List of parameters
Parameters
Re bit 06:
If the function is active, when dn/dt monitoring responds, the speed actual value is internally frozen for a time equiv-
alent to two current controller clock cycles. The rotor position continues to be integrated. The actual value is then
re-enabled after this time has expired.
Re bit 07:
If the bit is set, the encoder pulses which have not been corrected are added to p4688 at the zero mark.
Re bit 11:
If the bit is set, the Sensor Module checks within a certain time grid whether the fault cause is still present. This
enables the Sensor Module to switch from the fault state to the operating state and provide valid actual values auto-
matically. The faults are displayed until the user acknowledges them.
Re bit 12:
Additional fault messages can be activated for extended fault diagnostics.
Re bit 20:
If the bit is set, the bandwidth of the analog filter for SMx10 (resolver) and SMx20 (sin/cos encoder) can be set via
p4660.
Re bit 26:
Track monitoring is de-activated for the square-wave encoders when the bit is set, even if the monitoring function is
selected in p0405.2.
Re bit 28:
Monitoring of the difference between incremental and absolute position in the case of linear encoders.
Re bit 29:
When the bit is set, the EnDat encoder is initialized under a certain speed and, therefore, with high accuracy. If ini-
tialization at a higher speed is requested, fault F31151, F32151, or F33151 is output.
Re bit 31:
When monitoring is active, the levels of the individual track signals and the corresponding inverted track signals are
monitored separately.
Description: Sets the extended configuration of the Sensor Module.
ENCODER (Lin enc),
SERVO (Lin)
- - 0011 0000 0000 0000 0000
1000 0000 0000 bin
errors
Yes No -
tal/absolute
Yes No -
racy
Yes No -
Parameters
List of parameters
Re bit 00:
When the data logger (trace) is activated, in the case of a fault, data before and after the event are recorded
(traced) and saved in files on the non-volatile memory medium. Experts can then evaluate this data.
Re bit 01:
If bit = 0, the zero mark is evaluated by ANDing tracks A and B and the zero mark.
For bit = 1, the zero mark is evaluated depending on the direction detected. For a positive direction, the positive
edge of the zero mark is considered and for a negative direction, the negative edge of the zero mark.
Re bit 02:
If the bit is set, in the event of a deviation less than the tolerance window for the zero mark (p4681, p4682), the
pulses per revolution are corrected. If the bit is not set, encoder fault F3x131 is triggered.
Re Bit 04 and Bit 05:
Re bit 06:
If the function is active, when dn/dt monitoring responds, the velocity actual value is internally frozen for a time
equivalent to two current controller clock cycles. The rotor position continues to be integrated. The actual value is
then re-enabled after this time has expired.
Re bit 07:
If the bit is set, the encoder pulses detected as faulty between two zero marks are accumulated (p4688).
Re bit 29:
When the bit is set, the EnDat encoder is initialized under a certain velocity and, therefore, with high accuracy. If ini-
tialization at a higher velocity is requested, fault F31151, F32151, or F33151 is output.
Re bit 31:
When monitoring is active, the levels of the individual track signals and the corresponding inverted track signals are
monitored separately.
Description: Sets the filter time for a squarewave encoder.
The hardware of the squarewave encoder only supports the following values:
0: No filtering
0.04 s
0.64 s
2.56 s
10.24 s
20.48 s
Notice: If the filter time is too long, the track signals A/B/R may be suppressed and the appropriate messages output.
Note: The most suitable filter time depends on the number of pulses and maximum speed of the square-wave encoder.
The filter time is automatically corrected to the next value when entering a non-specified value. In this case, no
message is output.
The effective filter time is displayed in r0452.
p0438[0...n] Squarewave encoder filter time / Enc t_filt
ENCODER, SERVO,
VECTOR
0.00 [s] 100.00 [s] 0.64 [s]
List of parameters
Parameters
Description: Sets the ramp-up time for the encoder.
The encoder supplies stable track signals once this time has elapsed.
Description: Copies the actual serial number of the encoder belonging to this Encoder Data Set (EDS) to p0441 ... p0445.
Example:
For p0440[0] = 1, the serial number of the encoder belonging EDS0 is copied to p0441[0] ... p0445[0].
Value: 0: No action
1: Transfer serial number
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0463, r0464, p1990
Note: For encoders with serial number, encoder replacement is monitored in order to request angular commutation cali-
bration (adjustment) for motor encoders and absolute calibration for direct measuring systems with absolute value
data. The serial number, which from then onwards is used for monitoring purposes, can be transferred using p0440.
In the following cases, copying is automatically started in the following cases:
1.) When commissioning 1FT6, 1FK6, 1FK7 motors.
2.) When writing into p0431.
3.) For p1990 = 1.
p0440 is automatically set to 0 when the copying has been completed.
In order to permanently accept the copied values, it is necessary to save in a non-volatile fashion (p0977).
Description: Serial number part 1 of the encoder for the commissioning.
Dependency: Refer to: p0440, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0463, r0464
Refer to: F07414
p0439[0...n] Encoder ramp-up time / Enc ramp-up time
ENCODER, SERVO,
VECTOR
0 [ms] 65535 [ms] 0 [ms]
p0440[0...n] Copy encoder serial number / Copy enc ser_no
ENCODER, SERVO,
VECTOR
0 1 0
p0441[0...n] Encoder commissioning serial number part 1 / Enc comm ser_no 1
ENCODER, SERVO,
VECTOR
Can be changed: C2(4) Calculated: CALC_MOD_ALL Access level: 4
Parameters
List of parameters
Refer to: F07414
Refer to: F07414
Refer to: F07414
Refer to: F07414
ENCODER, SERVO,
VECTOR
ENCODER, SERVO,
VECTOR
ENCODER, SERVO,
VECTOR
ENCODER, SERVO,
VECTOR
List of parameters
Parameters
Description: Sets the number of bits before the absolute value in the SSI protocol.
Note: For example, error bit, alarm bit or parity bit can be positioned at these bits.
Description: Sets the number of bits for the absolute value in the SSI protocol.
Description: Sets the number of bits after the absolute value in the SSI protocol.
Note: For example, error bit, alarm bit or parity bit can be positioned at these bits.
Description: Sets the number of filler bits for double absolute value transfer in the SSI protocol.
Note: This parameter is only of significance for p0429.2 = 1.
p0446[0...n] Encoder SSI number of bits before the absolute value / Enc SSI bit before
ENCODER, SERVO,
VECTOR
0 65535 0
p0447[0...n] Encoder SSI number of bits absolute value / Enc SSI bit val
ENCODER, SERVO,
VECTOR
0 65535 25
p0448[0...n] Encoder SSI number of bits after the absolute value / Enc SSI bit after
ENCODER, SERVO,
VECTOR
0 65535 0
p0449[0...n] Encoder SSI number of bits, filler bits / Enc SSI fill bits
ENCODER, SERVO,
VECTOR
0 65535 1
Parameters
List of parameters
Description: Displays the relationship between the electrical and mechanical pole positions.
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the effective filter time for a squarewave encoder.
The filter time is set using p0438.
Description: Displays the effective filter time for a squarewave encoder.
The filter time is set using p0438.
[1] = Encoder 2
[2] = Encoder 3
Description: Sets the measuring time for evaluating zero speed.
If no pulses are detected from track A/B during this time, a speed actual value of zero is output.
Note: This function is required for slow-running motors so that actual speeds close to zero can be output correctly.
r0451[0...2] Commutation angle factor / Enc commut_factor
- - -
r0452 Squarewave encoder filter time display / Enc t_filt displ
- [s] - [s] - [s]
r0452[0...2] Squarewave encoder filter time display / Enc t_filt displ
- [s] - [s] - [s]
p0453[0...n] Pulse encoder evaluation zero speed measuring time / Enc_ev z 0 t_meas
ENCODER, SERVO,
VECTOR
0.10 [ms] 10000.00 [ms] 1000.00 [ms]
List of parameters
Parameters
Description: Displays the detected encoder configuration.
In this case, the encoder must automatically support the function (e.g. encoder with EnDat interface).
Note: ZM: Zero mark
This parameter is only used for diagnostics.
A value of zero is displayed if an encoder is not present.
Re bit 20, 21 (voltage level 5 V, voltage level 24 V):
The voltage level cannot be detected. Therefore, these bits are always set to 0.
Description: Displays the detected encoder configuration.
In this case, the encoder must automatically support the function (e.g. encoder with EnDat interface).
[1] = Encoder 2
[2] = Encoder 3
r0455 Encoder configuration recognized / Enc config act
- - -
r0455[0...2] Encoder configuration recognized / Enc config act
- - -
Parameters
List of parameters
Note: ZM: Zero mark
Re bit 20, 21 (voltage level 5 V, voltage level 24 V):
The voltage level cannot be detected. Therefore, these bits are always set to 0.
Description: Contains the encoder configuration supported by the Sensor Module.
Note: ZM: Zero mark
r0456 Encoder configuration supported / Enc config supp
- - -
List of parameters
Parameters
Description: Contains the encoder configuration supported by the Sensor Module.
[1] = Encoder 2
[2] = Encoder 3
Note: ZM: Zero mark
Description: Sets the Sensor Module configuration.
r0456[0...2] Encoder configuration supported / Enc config supp
- - -
r0458 Sensor Module properties / SM properties
- - -
00 Encoder data available Yes No -
01 Motor data available Yes No -
02 Temperature sensor connection available Yes No -
03 Connection for PTC for motor with DRIVE-
CLiQ also available
Yes No -
04 Module temperature available Yes No -
05 Absolute encoder p0408/p0421, no power
of 2
Yes No -
06 Sensor Module permits parking/unparking Yes No -
Parameters
List of parameters
Re bit 11:
When the property is set, the following parameters can be changed without the actual value in the encoder interface
becoming invalid (state r0481.14 = 1 "parking encoder active"):
p0314, p0315, p0430, p0431, p0441, p0442, p0443, p0444, p0445
Re bit 12:
The extended functions can be configured using p0437.
Re bit 13:
Encoder faults can be acknowledged via Gn_STW.15.
Re bit 14:
Only for internal Siemens use.
Re bit 23:
When the property is set, commutation with zero mark can be de-selected using p0430.23.
Re bit 24:
If the property is set, commutation to the selected zero mark can be carried out.
07 Hall sensor can be combined with actual
value inversion
Yes No -
08 Evaluation through several temperature
channels possible
Yes No -
09 Encoder fault and its associated information
available
Yes No -
10 Speed diagnostics in the Sensor Module Yes No -
11 Configuring without park state possible Yes No -
12 Extended functions available Yes No -
13 Extended encoder fault handling Yes No -
14 Extended singleturn/multiturn information
available
Yes No -
15 Valuation figures available Yes No -
16 Pole position identification Yes No -
18 Continuous oversampling Yes No -
20 Extended speed calculation being used
(only SMC30)
Yes No -
23 Commutation with zero mark can be de-
selected
Yes No -
25 Disconnection of encoder power supply on
parking supported
Yes No -
26 Parking with temperature evaluation Yes No -
27 SSI position value extrapolation Yes No -
r0458 Sensor Module properties / SM properties
- - -
List of parameters
Parameters
Re bit 11:
p0314, p0315, p0430, p0431, p0441, p0442, p0443, p0444, p0445
Re bit 12:
Re bit 13:
Re bit 14:
Re bit 23:
Re bit 24:
CLiQ also available
Yes No -
of 2
Yes No -
value inversion
Yes No -
channels possible
Yes No -
available
Yes No -
10 Velocity diagnostics in the Sensor Module Yes No -
available
Yes No -
20 Extended velocity calculation available (only
SMC30)
Yes No -
selected
Yes No -
parking supported
Yes No -
Parameters
List of parameters
[1] = Encoder 2
[2] = Encoder 3
Re bit 11:
p0314, p0315, p0430, p0431, p0441, p0442, p0443, p0444, p0445
r0458[0...2] Sensor Module properties / SM properties
- - -
CLiQ also available
Yes No -
of 2
Yes No -
value inversion
Yes No -
channels possible
Yes No -
available
Yes No -
10 Speed diagnostics in the Sensor Module Yes No -
available
Yes No -
20 Extended speed calculation being used
(only SMC30)
Yes No -
selected
Yes No -
parking supported
Yes No -
List of parameters
Parameters
Re bit 12:
Re bit 13:
Re bit 14:
Re bit 23:
Re bit 24:
[1] = Encoder 2
[2] = Encoder 3
r0458[0...2] Sensor Module properties / SM properties
- - -
CLiQ also available
Yes No -
of 2
Yes No -
value inversion
Yes No -
channels possible
Yes No -
available
Yes No -
10 Velocity diagnostics in the Sensor Module Yes No -
available
Yes No -
20 Extended velocity calculation available (only
SMC30)
Yes No -
selected
Yes No -
parking supported
Yes No -
Parameters
List of parameters
Re bit 11:
p0314, p0315, p0430, p0431, p0441, p0442, p0443, p0444, p0445
Re bit 12:
Re bit 13:
Re bit 14:
Re bit 23:
Re bit 24:
Description: Displays the extended properties supported by the Sensor Module.
Re bit 09:
Parameter p0426 or p0439 has been modified. These functions are not supported by the connected Sensor Mod-
ule.
r0459 Sensor Module properties extended / SM prop ext
- - -
errors
Yes No -
09 Support function p0426, p0439 Yes No -
10 Pulse/direction interface Yes No -
14 Spindle functionality Yes No -
25 Parameter check shift factor Gx_XIST2 Yes No -
tal/absolute
Yes No -
racy
Yes No -
List of parameters
Parameters
Re bit 09:
ule.
[1] = Encoder 2
[2] = Encoder 3
r0459 Sensor Module properties extended / SM prop ext
- - -
06 Freeze actual velocity for dn/dt errors Yes No -
tal/absolute
Yes No -
racy
Yes No -
r0459[0...2] Sensor Module properties extended / SM prop ext
- - -
errors
Yes No -
Parameters
List of parameters
Re bit 09:
ule.
[1] = Encoder 2
[2] = Encoder 3
Re bit 09:
ule.
tal/absolute
Yes No -
racy
Yes No -
r0459[0...2] Sensor Module properties extended / SM prop ext
- - -
06 Freeze actual velocity for dn/dt errors Yes No -
tal/absolute
Yes No -
29 EnDat encoder velocity monitoring on initial-
ization
Yes No -
List of parameters
Parameters
Description: Displays the actual serial number part 1 of the appropriate encoder.
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0461, r0462, r0463, r0464
[1] = Encoder 2
[2] = Encoder 3
[1] = Encoder 2
[2] = Encoder 3
r0460 Encoder serial number part 1 / Enc ser_no 1
- - -
r0460[0...2] Encoder serial number part 1 / Enc ser_no 1
- - -
- - -
- - -
Parameters
List of parameters
[1] = Encoder 2
[2] = Encoder 3
[1] = Encoder 2
[2] = Encoder 3
- - -
- - -
- - -
- - -
List of parameters
Parameters
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the identification/serial number of encoder 1.
Index 0 = first character of the identification number
...
Index x = 20 hex (blank) --> separation between the identification number of serial number
Index x + 1 = 2F hex (slash) --> separation between the identification number of serial number
Index x + 2 = 20 hex (blank) --> separation between the identification number of serial number
Index x + 3 = first character of the serial number
...
Index y with contents = last character of the serial number
Note: The individual characters of the identification number/serial number are available coded as ASCII characters.
- - -
- - -
r0465[0...27] Encoder 1 identification number/serial number / Enc1 ID_no/Ser_no
ENCODER, SERVO,
VECTOR
- - -
- - -
Parameters
List of parameters
...
...
...
...
Description: Displays the valid bits of the redundant coarse position value.
Description: Displays the valid bits of the redundant coarse position value.
[1] = Encoder 2
[2] = Encoder 3
- - -
r0470 Redundant coarse value valid bits / Valid bits
- - -
r0470[0...2] Redundant coarse value valid bits / Valid bits
- - -
List of parameters
Parameters
Description: Displays the number of valid bits for the fine resolution of the redundant coarse position value.
Description: Displays the number of valid bits for the fine resolution of the redundant coarse position value.
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the number of relevant bits for the redundant coarse position value.
Description: Displays the number of relevant bits for the redundant coarse position value.
[1] = Encoder 2
[2] = Encoder 3
r0471 Redundant coarse value fine resolution bits / Fine bit
- - -
r0471[0...2] Redundant coarse value fine resolution bits / Fine bit
- - -
r0472 Redundant coarse position value relevant bits / Relevant bits
- - -
r0472[0...2] Redundant coarse position value relevant bits / Relevant bits
- - -
Parameters
List of parameters
Description: Displays the encoder configuration for the redundant coarse position value.
Description: Displays the encoder configuration for the redundant coarse position value.
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the bit number for the safe most significant bit (MSB) of the Gx_XIST1 coarse position.
Description: Displays the bit number for the safe most significant bit (MSB) of the Gx_XIST1 coarse position.
r0474 Redundant coarse position value configuration / Red pos config
- - -
00 Incrementer Yes No -
01 Encoder CRC least significant byte first Yes No -
02 Redundant coarse position val. most signifi-
cant bit left-aligned
Yes No -
r0474[0...2] Redundant coarse position value configuration / Red pos config
- - -
Yes No -
r0475 Gx_XIST1 coarse position safe most significant bit / Gx_XIST1 safe MSB
- - -
r0475[0...2] Gx_XIST1 coarse position safe most significant bit / Gx_XIST1 safe MSB
- - -
List of parameters
Parameters
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the position difference before the measuring gear between powering down and powering up.
Note: The increments are displayed in the format the same as r0483. The position difference should be read in encoder
increments.
Description: Displays the position difference before the measuring gear between powering down and powering up.
[1] = Encoder 2
[2] = Encoder 3
Note: The increments are displayed in the format the same as r0483. The position difference should be read in encoder
increments.
Description: Displays the encoder actual position value Gn_XIST1 according to PROFIdrive for diagnostics.
In contrast to r0482, the value is updated in each DRIVE-CLiQ basic clock cycle and displayed with sign.
Caution: Following ramping-up or after a data set changeover, the new value is present at connector inputs which are inter-
connected to connector output r0479 and under certain circumstances take 100 ms to become available.
Reason:
These interconnections are updated in the background, unlike interconnections involving other connector outputs
(e.g. CO: r0482).
The value is immediately available when non-cyclically reading r0479 (e.g. via the expert list).
r0477 CO: Measuring gear, position difference / Meas gear pos diff
- - -
r0477[0...2] CO: Measuring gear, position difference / Meas gear pos diff
- - -
r0479 CO: Diagnostics encoder position actual value Gn_XIST1 / Diag Gn_XIST1
- - -
Parameters
List of parameters
[1] = Encoder 2
[2] = Encoder 3
Caution: Following ramping-up or after a data set changeover, the new value is present at connector inputs which are inter-
connected to connector output r0479 and under certain circumstances take 100 ms to become available.
Reason:
These interconnections are updated in the background, unlike interconnections involving other connector outputs
(e.g. CO: r0482).
The value is immediately available when non-cyclically reading r0479 (e.g. via the expert list).
Description: Sets the signal source for the encoder control word Gn_STW according to PROFIdrive.
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished:
CI: p0480[0] = r2520[0], CI: p0480[1] = r2520[1] and CI: p0480[2] = r2520[2]
Description: Sets the signal source for the encoder control word Gn_STW according to PROFIdrive.
[1] = Encoder 2
[2] = Encoder 3
r0479[0...2] CO: Diagnostics encoder position actual value Gn_XIST1 / Diag Gn_XIST1
- - -
r0479 CO: TM41 encoder emulation diagnostics Gn_XIST1 / Diag Gn_XIST1
- - -
p0480 CI: Signal source for encoder control word Gn_STW / Enc S_src Gn_STW
ENCODER Can be changed: T Calculated: - Access level: 3
Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 1580, 4720
- - 0
p0480[0...2] CI: Signal source for encoder control word Gn_STW / Enc S_src Gn_STW
- - 0
List of parameters
Parameters
lished:
Description: Displays the encoder status word Gn_ZSW according to PROFIdrive.
Notice: Information on Gn_STW/Gn_ZSW can, e.g. be found in the following literature:
SINAMICS S120 Function Manual Drive Functions
Note: Re bit 14:
Displays the acknowledgement for "activate parking encoder" (Gn_STW.14 = 1) or encoder position actual value
(Gn_XIST1) invalid.
Re bit 14, 15:
r0481.14 = 1 and r0481.15 = 0 can have one of the following causes:
- the encoder is parked.
- the encoder is de-activated.
- the encoder is being commissioned.
- no parameterized encoder available.
- encoder data set is being changed over.
r0481.14 = 1 and r0481.15 = 1 has the following significance:
An encoder error has occurred and the encoder position actual value (Gn_XIST1) is invalid.
[1] = Encoder 2
[2] = Encoder 3
r0481 CO: Encoder status word Gn_ZSW / Enc Gn_ZSW
4730
- - -
00 Function 1 active Yes No -
04 Value 1 Displayed in r0483 Not present -
08 Measuring probe 1 deflected Yes No -
11 Encoder fault acknowledge active Yes No 9676
13 Absolute value cyclically Displayed in r0483 No -
14 Parking encoder active Yes No -
15 Encoder fault Displayed in r0483 None -
r0481[0...2] CO: Encoder status word Gn_ZSW / Enc Gn_ZSW
4730
- - -
Parameters
List of parameters
Note: Re bit 14:
Displays the acknowledgement for "activate parking encoder" (Gn_STW.14 = 1) or encoder position actual value
(Gn_XIST1) invalid.
Re bit 14, 15:
r0481.14 = 1 and r0481.15 = 0 can have one of the following causes:
- the encoder is parked.
- the encoder is de-activated.
- the encoder is being commissioned.
- no parameterized encoder available.
- encoder data set is being changed over.
r0481.14 = 1 and r0481.15 = 1 has the following significance:
An encoder error has occurred and the encoder position actual value (Gn_XIST1) is invalid.
r0481 CO: TM41 encoder emulation status word Gn_ZSW / Enc Gn_ZSW
- - -
List of parameters
Parameters
Note: For p4401 = 0, the following applies:
For Terminal Module 41 (TM41), this value is used to interconnect with standard telegram 3 and is always zero.
r0481.0 indicates as to whether the zero mark synchronization is active.
r0481.4 indicates whether the zero mark of the incremental encoder was found.
r0481.14 indicates whether the output of track A/B is activated.
Description: Displays the encoder actual position value Gn_XIST1 according to PROFIdrive.
Note: - this value is reset if necessary when the "parking encoder" (r0481.14) function is de-selected.
- in this value, the measuring gear (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).
[1] = Encoder 2
[2] = Encoder 3
Note: - this value is reset if necessary when the "parking encoder" (r0481.14) function is de-selected.
- in this value, the measuring gear (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).
r0482 CO: Encoder actual position value Gn_XIST1 / Enc Gn_XIST1
4010, 4704, 4735, 4740
- - -
r0482[0...2] CO: Encoder actual position value Gn_XIST1 / Enc Gn_XIST1
4010, 4704, 4735, 4740
- - -
r0482 CO: TM41 encoder emulation position actual value Gn_XIST1 / Enc Gn_XIST1
- - -
r0483 CO: Encoder actual position value Gn_XIST2 / Enc Gn_XIST2
4010, 4704
- - -
Parameters
List of parameters
Recommend.: Possible causes of the error codes:
Error code 4097 and 4098: Defective Control Unit hardware.
Error codes 4099 and 4100: Too many measuring pulses have occurred.
Notice: The encoder position actual value must be requested using the encoder control word Gn_STW.13.
Note: - in this value, the measuring gear (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).
- if GxZSW.15 = 1 (r0481), then an error code with the following significance is located in Gx_XIST2 (r0483):
1: Encoder fault.
2: Possible position shift in Gx_XIST1.
3: Encoder parking not possible.
4: Abort, reference mark search.
5: Abort, retrieve reference value.
6: Abort, flying measurement.
7: Abort, retrieve measured value.
8: Abort, absolute value transfer.
3841: Function not supported.
4097: Abort, reference mark search due to an initialization error.
4098: Abort, flying measurement due to an initialization error.
4099: Abort, reference mark search due to a measuring error.
4100: Abort, flying measurement due to a measuring error.
Recommend.: Possible causes of the error codes:
Error code 4097 and 4098: Defective Control Unit hardware.
Error codes 4099 and 4100: Too many measuring pulses have occurred.
[1] = Encoder 2
[2] = Encoder 3
Note: - in this value, the measuring gear (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).
- if GxZSW.15 = 1 (r0481), then an error code with the following significance is located in Gx_XIST2 (r0483):
1: Encoder fault.
2: Possible position shift in Gx_XIST1.
3: Encoder parking not possible.
4: Abort, reference mark search.
5: Abort, retrieve reference value.
6: Abort, flying measurement.
7: Abort, retrieve measured value.
8: Abort, absolute value transfer.
3841: Function not supported.
4097: Abort, reference mark search due to an initialization error.
4098: Abort, flying measurement due to an initialization error.
4099: Abort, reference mark search due to a measuring error.
4100: Abort, flying measurement due to a measuring error.
r0483[0...2] CO: Encoder actual position value Gn_XIST2 / Enc Gn_XIST2
4010, 4704
- - -
List of parameters
Parameters
Note: SIMOTION (p4400 = 0) operating mode:
This value is used for interconnection with standard telegram 3 and is always zero.
SINAMICS (p4400 = 1) operating mode:
Once automatic zero mark synchronization is complete, the position of the zero mark of the leading encoder is dis-
played in this parameter. The leading encoder is interconnected via connector input p4420.
Description: Displays the redundant coarse encoder position including CRC (Cyclic Redundancy Check).
Upper 16 bits:
CRC over the redundant coarse encoder position.
Lower 16 bits:
Redundant coarse encoder position.
On an SMx Sensor Module, the encoder coarse position count direction is opposite to r0482 (encoder actual value
Gn_XIST1). The value contains 2 bit fine resolution.
With a DRIVE-CLiQ encoder, the encoder coarse position count direction is the same as r0482. The encoder
coarse position contains 9 valid bits and no bits for fine resolution.
Dependency: The values are valid when the safety position actual value sensing is activated (p0430.19 = 1).
Refer to: p0430
Note: This absolute value does not change, contrary to r0482, when de-selecting the function "parking axis".
Description: Displays the redundant coarse encoder position including CRC (Cyclic Redundancy Check).
Upper 16 bits:
CRC over the redundant coarse encoder position.
Lower 16 bits:
Redundant coarse encoder position.
On an SMx Sensor Module, the encoder coarse position count direction is opposite to r0482 (encoder actual value
Gn_XIST1). The value contains 2 bit fine resolution.
With a DRIVE-CLiQ encoder, the encoder coarse position count direction is the same as r0482. The encoder
coarse position contains 9 valid bits and no bits for fine resolution.
r0483 CO: TM41 encoder emulation position actual value Gn_XIST2 / Enc Gn_XIST2
- - -
r0484 CO: Redundant coarse encoder position + CRC Gn_XIST1 / Enc red pos+CRC
- - -
r0484[0...2] CO: Redundant coarse encoder position + CRC Gn_XIST1 / Enc red pos+CRC
- - -
Parameters
List of parameters
[1] = Encoder 2
[2] = Encoder 3
Dependency: The values are valid when the safety position actual value sensing is activated (p0430.19 = 1).
Refer to: p0430
Note: This absolute value does not change, contrary to r0482, when de-selecting the function "parking axis".
Description: Displays the raw value of the incremental encoder actual value before the measuring gear.
Description: Displays the raw value of the incremental encoder actual value before the measuring gear.
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the raw value of the absolute encoder actual value before the measuring gear.
Description: Displays the raw value of the absolute encoder actual value before the measuring gear.
[1] = Encoder 2
[2] = Encoder 3
r0485 CO: Measuring gear, encoder raw value incremental / Enc raw val incr
- - -
r0485[0...2] CO: Measuring gear, encoder raw value incremental / Enc raw val incr
- - -
r0486 CO: Measuring gear, encoder raw value absolute / Enc raw val abs
- - -
r0486[0...2] CO: Measuring gear, encoder raw value absolute / Enc raw val abs
- - -
List of parameters
Parameters
Description: Displays the encoder control word Gn_STW according to PROFIdrive for diagnostics.
Notice: Information on Gn_STW/Gn_ZSW should be taken from the corresponding product documentation.
Note: The signal source for the encoder control word is set with p0480.
Description: Displays the encoder control word Gn_STW according to PROFIdrive for diagnostics.
[1] = Encoder 2
[2] = Encoder 3
Notice: Information on Gn_STW/Gn_ZSW should be taken from the corresponding product documentation.
Note: The signal source for the encoder control word is set with p0480.
r0487 Diagnostic encoder control word Gn_STW / Enc Gn_STW
4720, 4740
- - -
00 Request function 1 Yes No -
04 Request command bit 0 Yes No -
07 Flying measurement mode/search for refer-
ence mark
Flying measurement Reference marks -
13 Request absolute value cyclic Yes No -
14 Request parking encoder Yes No -
15 Request acknowledge encoder fault Yes No -
r0487[0...2] Diagnostic encoder control word Gn_STW / Enc Gn_STW
4720, 4740
- - -
ence mark
Parameters
List of parameters
Description: Sets the input terminal to connect probe 1.
Value: 0: No measuring probe
1: DI/DO 9 (X122.10/X121.8)
2: DI/DO 10 (X122.12/X121.10)
3: DI/DO 11 (X122.13/X121.11)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9/X121.7)
8: DI/DO 12 (X132.9)
Notice: To the terminal designation:
The first designation is valid for CU320, the second for CU310.
To select the values:
For Cx32, NX10 and NX15, only DI/DO 8, 9, 10, 11 can be selected as fast inputs (refer to the Equipment Manual).
Note: DI/DO: Bidirectional Digital Input/Output
The terminal must be set as input (p0728).
Refer to the encoder interface for PROFIdrive.
If parameterization is rejected, check whether the terminal is already being used in p0580, p0680, p2517 or p2518.
1: DI/DO 9 (X122.10/X121.8)
2: DI/DO 10 (X122.12/X121.10)
3: DI/DO 11 (X122.13/X121.11)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9/X121.7)
8: DI/DO 12 (X132.9)
[1] = Encoder 2
[2] = Encoder 3
p0488 Measuring probe 1 input terminal / Meas probe 1 inp
ENCODER Can be changed: U, T Calculated: - Access level: 3
0 8 0
p0488[0...2] Measuring probe 1 input terminal / Meas probe 1 inp
0 8 0
List of parameters
Parameters
1: DI/DO 9 (X122.10/X121.8)
2: DI/DO 10 (X122.12/X121.10)
3: DI/DO 11 (X122.13/X121.11)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9/X121.7)
8: DI/DO 12 (X132.9)
1: DI/DO 9 (X122.10/X121.8)
2: DI/DO 10 (X122.12/X121.10)
3: DI/DO 11 (X122.13/X121.11)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9/X121.7)
8: DI/DO 12 (X132.9)
[1] = Encoder 2
[2] = Encoder 3
p0489 Measuring probe 2 input terminal / Meas probe 2 inp
0 8 0
p0489[0...2] Measuring probe 2 input terminal / Meas probe 2 inp
0 8 0
Parameters
List of parameters
Description: Setting to invert the digital input signals to connect a measuring probe or an equivalent zero mark.
Dependency: Refer to: p0488, p0489, p0493, p0495, p0728
Notice: To select the values:
Note: The terminal must be set as input.
When the measuring probe or the equivalent zero mark is inverted, this has no effect on the status displays of the
digital inputs (r0721, r0722, r0723).
DI/DO: Bidirectional Digital Input/Output
Description: Setting to invert the digital input signals to connect a measuring probe or an equivalent zero mark.
Note: The terminal must be set as input.
When the measuring probe or the equivalent zero mark is inverted, this has no effect on the status displays of the
digital inputs (r0721, r0722, r0723).
p0490 Invert measuring probe or equivalent zero mark / Pr or ZM_equiv inv
CU_CX32, CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0000 0000 0000 0000 bin
08 DI/DO 8 (X122.9) Inverted Not inverted -
p0490 Invert measuring probe or equivalent zero mark / Pr or ZM_equiv inv
CU_S_CU310DP,
CU_S_CU310PN
- - 0000 0000 0000 0000 bin
List of parameters
Parameters
Description: Sets the behavior for the ENCODER fault response (motor encoder).
This means, for example, if an encoder fault occurs, encoderless operation can be automatically selected with a
shutdown behavior that can be selected.
Value: 0: Encoder fault results in OFF2
1: Enc fault results in encoderless oper. and oper. continues
2: Encoder fault results in encoderless operation and OFF1
4: Encoder fault results in an armature short-cct int/DC braking
5: Enc fault results in encoderless op, operation continues, alarm
Dependency: The following parameters are relevant for encoderless operation.
Refer to: p0341, p0342, p1470, p1472, p1517, p1612, p1755
Refer to: F07575
Caution: For a value = 1, 2, 3, 5 the following applies:
- encoderless operation must have been started.
- if, for synchronous motors, an encoder fault occurs below the switchover speed p1755, when switching over to
encoderless operation, the motor can stall.
For a value = 1, 5 the following applies:
- in spite of the motor encoder fault that has occurred, the motor continues to operate.
Note: For a value = 1, 2, 3, the following applies:
- for encoderless operation the following condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, etc.
- Refer to the status signal "encoderless operation due to a fault" (BO: r1407.13).
- If, when setting r1407.13, a different drive data set is selected (e.g. interconnection from p0820), then the open-
loop or closed-loop control type p1300 of this data set must match that of the original data set (e.g. p1300 = 21).
Encoderless closed-loop controlled operation is kept when changing over.
For a value = 4, the following applies:
- The value can only be set for all motor data sets when p1231 = 3, 4.
- For synchronous motors, an armature short circuit is initiated on an encoder fault.
- For induction motors, DC braking is initiated on an encoder fault. DC braking must be commissioned (p1232,
p1233, p1234).
p0491 Motor encoder fault response ENCODER / Fault resp ENCODER
SERVO Can be changed: T Calculated: - Access level: 3
0 5 0
TM41 Can be changed: T Calculated: - Access level: 3
0 5 0
Parameters
List of parameters
Refer to: p0341, p0342, p1470, p1472, p1517, p1612, p1755
Refer to: F07575
Caution: For a value = 1, 2, 3, 5 the following applies:
- if, for synchronous motors, an encoder fault occurs below the switchover speed p1755, when switching over to
encoderless operation, the motor can stall.
For a value = 1, 5 the following applies:
Note: For a value = 1, 2, 3, 5 the following applies:
- If, when setting r1407.13, a different drive data set is selected (e.g. interconnection from p0820), then the open-
loop or closed-loop control type p1300 of this data set must match that of the original data set (e.g. p1300 = 21).
Encoderless closed-loop controlled operation is kept when changing over.
- The value can only be set for all motor data sets when p1231 = 3, 4.
- For synchronous motors, an armature short circuit is initiated on an encoder fault.
- For induction motors, DC braking is initiated on an encoder fault. DC braking must be commissioned (p1232,
p1233, p1234).
Same function as for value = 1. However, encoder faults are output as alarm and the fault bit (p2139.3) is not set.
The encoder fault has to be acknowledged via the encoder interface in order to resume operation with encoder.
Refer to: p0341, p0342, p1470, p1472, p1517, p1612, p1755
Refer to: F07575
Caution: For a value = 1, 2, 3, the following applies:
Note: For a value = 1, 2, 3, the following applies:
- Not possible for separately excited synchronous motors (p0300 = 5).
VECTOR Can be changed: T Calculated: - Access level: 3
0 5 0
List of parameters
Parameters
Description: Sets the maximum permissible speed difference within the current controller sampling time for squarewave encod-
ers.
Dependency: Refer to: F31118, A31418
Note: For a value of 0.0, the speed change monitoring is disabled.
if the set maximum speed difference is only exceeded for one sampling time of the current controller, then an
appropriate alarm is output. However, if the maximum speed difference is exceeded over several sampling times,
then a corresponding fault is output.
Description: Sets the maximum permissible velocity difference within the current controller sampling time for square-wave
encoders.
Dependency: Refer to: F31118, A31418
Note: For a value of 0.0, velocity change monitoring is disabled.
if the set maximum velocity difference is only exceeded for one sampling time of the current controller, then an
Description: Sets the maximum permissible speed difference within the current controller sampling time for squarewave encod-
ers.
When the value is exceeded, depending on p0491, either encoderless closed-loop speed/torque control is selected
or the drive is powered down.
Dependency: Refer to: F31118, A31418, F32118, A32418, F33118, A33418
if the set maximum speed difference is only exceeded for one sampling time of the current controller, then an
The speed actual value used for the monitoring is a floating average between p0115[0] and p0115[1].
p0492 Square-wave encoder, maximum speed difference per sampling cycle /
n_dif max/samp_cyc
ENCODER Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
p0492 Square-wave encoder, max. velocity difference per sampling cycle /
v_dif max/samp_cyc
ENCODER (Lin enc) Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
0.00 [m/min] 1000.00 [m/min] 0.00 [m/min]
p0492 Square-wave encoder, maximum speed difference per sampling cycle /
n_dif max/samp_cyc
SERVO Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Parameters
List of parameters
Description: Sets the maximum permissible speed difference between two computing cycles when square-wave encoders are
evaluated.
When the value is exceeded, depending on p0491, either encoderless closed-loop velocity/force control is selected
or the drive is powered down.
Dependency: Refer to: F31118, A31418, F32118, A32418, F33118, A33418
Note: For a value of 0.0, velocity change monitoring is disabled.
When half of the parameter value is exceeded, an alarm is already generated and the velocity change is limited to
this.
Description: Sets the maximum permissible speed difference within the current controller sampling time.
Refer to: F07902, F31118, A31418, F32118, A32418, F33118, A33418
The following applies for square-wave encoders:
If the speed difference exceeds the threshold value p0492, depending on p0491, either encoderless closed-loop
speed/torque control is selected or the drive is powered down with fault F3x118.
The following applies for other speed encoders:
If the speed difference exceeds threshold value p0492, in order to avoid subsequent faults, the old speed actual
value is kept and after time p2178 shut down with fault F07902 (motor stalled).
Description: Sets the input terminal for selecting the reference mark via BERO/switching signal when performing referencing
with several zero marks.
The encoder interface supplies the position of the reference mark, which was detected immediately after the posi-
tive edge of the BERO signal.
Value: 0: No selection via BERO
1: DI/DO 9 (X122.10)
2: DI/DO 10 (X122.12)
3: DI/DO 11 (X122.13)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
p0492 Square-wave encoder, max. velocity difference per sampling cycle /
v_dif max/samp_cyc
SERVO (Lin) Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
0.00 [m/min] 1000.00 [m/min] 0.00 [m/min]
p0492 Maximum speed difference per sampling cycle / n_dif max/samp_cyc
VECTOR Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
p0493 Zero mark selection, input terminal / ZM_sel inp_term
0 8 0
List of parameters
Parameters
7: DI/DO 8 (X122.9)
8: DI/DO 12 (X132.9)
Notice: For CU310, CX32, NX10 and NX15, only DI/DO 9, 10, 11 can be selected as fast inputs (refer to the Equipment
Manual).
Note: Refer to the encoder interface for PROFIdrive.
For p0493 = 0 (factory setting) the following applies:
- there is no logic operation between the reference mark search and an input signal.
For p0493 > 0, the following applies:
- the positive edge of the input signal is evaluated. If the negative edge is to be evaluated, signal inversion must be
parameterized via p0490.
- if a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0580, p0680, p2517, or p2518.
Description: Sets the input terminal for selecting the reference mark via BERO/switching signal when performing referencing
with several zero marks.
The encoder interface supplies the position of the reference mark, which was detected immediately after the posi-
tive edge of the BERO signal.
Value: 0: No selection via BERO
1: DI/DO 9 (X122.10)
2: DI/DO 10 (X122.12)
3: DI/DO 11 (X122.13)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9)
8: DI/DO 12 (X132.9)
Manual).
For p0493 = 0 (factory setting) the following applies:
- there is no logic operation between the reference mark search and an input signal.
- the positive edge of the input signal is evaluated. If the negative edge is to be evaluated, signal inversion must be
parameterized via p0490.
- if a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0580, p0680, p2517, or p2518.
Description: Selects the input terminal for connecting an equivalent zero mark (external encoder zero mark).
p0493[0...n] Zero mark selection, input terminal / ZM_sel inp_term
0 8 0
p0494[0...n] Equivalent zero mark, input terminal / ZM_equiv input
0 8 0
Parameters
List of parameters
Value: 0: No equivalent zero mark (evaluation of the encoder zero mark)
1: DI/DO 9 (X122.10)
2: DI/DO 10 (X122.12)
3: DI/DO 11 (X122.13)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9)
8: DI/DO 12 (X132.9)
Manual).
For p0494 = 0 (factory setting), the setting in p0495 is effective.
The terminal must be set as input.
1: DI/DO 9 (X122.10)
2: DI/DO 10 (X122.12)
3: DI/DO 11 (X122.13)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9)
8: DI/DO 12 (X132.9)
Manual).
For p0494 > 0, the setting in p0494 and p0495 is invalid.
For p0495 = 0 (factory setting), the encoder zero mark is evaluated as zero mark.
Depending on the direction of motion, the positive or negative edge at the appropriate input is evaluated.
- increasing position actual values (r0482) --> the 0/1 edge is evaluated.
- decreasing position actual values (r0482) --> the 1/0 edge is evaluated.
Only one zero mark is supported. If function 2, 3 or 4 is selected, this results in a fault message in Gn_ZSW.
The inversion of the inputs via p0490 affects the function "referencing with equivalent zero mark". This is the reason
that the edge evaluation is interchanged as a function of the direction of motion.
An input can only be assigned to one encoder as measuring probe 1, 2 or equivalent zero mark. Exception: The
same encoder can be simultaneously used as measuring probe and equivalent zero mark as both functions cannot
be simultaneously requested.
p0495 Equivalent zero mark, input terminal / ZM_equiv input
0 8 0
List of parameters
Parameters
1: DI/DO 9 (X122.10)
2: DI/DO 10 (X122.12)
3: DI/DO 11 (X122.13)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9)
8: DI/DO 12 (X132.9)
[1] = Encoder 2
[2] = Encoder 3
Manual).
For p0494 > 0, the setting in p0494 and p0495 is invalid.
For p0495 = 0 (factory setting), the encoder zero mark is evaluated as zero mark.
Depending on the direction of motion, the positive or negative edge at the appropriate input is evaluated.
- increasing position actual values (r0482) --> the 0/1 edge is evaluated.
- decreasing position actual values (r0482) --> the 1/0 edge is evaluated.
Only one zero mark is supported. If function 2, 3 or 4 is selected, this results in a fault message in Gn_ZSW.
The inversion of the inputs via p0490 affects the function "referencing with equivalent zero mark". This is the reason
that the edge evaluation is interchanged as a function of the direction of motion.
An input can only be assigned to one encoder as measuring probe 1, 2 or equivalent zero mark. Exception: The
same encoder can be simultaneously used as measuring probe and equivalent zero mark as both functions cannot
be simultaneously requested.
Description: Selects the trace signal to be output in r0497, r0498 and r0499 for encoder diagnostics.
Value: 0: Inactive
1: r0497: Mechanical revolution
10: r0498: Raw value, track A, r0499: Raw value, track B
11: r0498: Fine position X (-A/2), r0499: Fine position Y (-B/2)
12: r0498: Fine position Phi, r0499: -
13: r0498: Offset correction X, r0499: Offset correction Y
14: r0498: Phase correction X, r0499: Amplitude correction Y
15: r0498: Cubic correction X, r0499: Fine position X
16: r0498: oversampling channel A, r0499: oversampling channel B
17: r0498: fan-out, amount, r0499: fan-out, number
p0495[0...2] Equivalent zero mark, input terminal / ZM_equiv input
0 8 0
p0496 Encoder diagnostic signal selection / Enc diag select
0 86 0
Parameters
List of parameters
18: r0498: Oversampling angle, r0499: Oversampling amount
20: r0498: Raw value, track C, r0499: Raw value, track D
21: r0498: CD position X (-D/2), r0499: CD position Y (C/2)
22: r0498: CD position Phi, r0499: CD pos. Phi - mech. revolution
23: r0497: Zero mark status
24: r0498: Raw value, track R, r0499: Zero mark status
25: r0498: Raw value, track A, r0499: Raw value, track R
30: r0497: Absolute position serial
31: r0497: Absolute position, incremental
32: r0497: Zero mark position
33: r0497: Correction absolute position difference
40: r0498: Raw temperature, r0499: Temperature in 0.1 C
41: r0498: Resistance in 0.1 Ohm, r0499: Temperature in 0.1 C
42: r0497: Resistance 2500 Ohm
51: r0497: Absolute speed difference (dn/dt)
52: r0497: Xact1 corrected quadrants
60: Analog sensor: r0498: raw val chann. A, r0499: raw val chann. B
61: Analog sensor: r0498: fine pos chann. A,r0499: fine pos chann. B
62: Analog sensor: r0498: Fine pos before characteristic, r0499: -
70: Resolver: r0498: Transformation ratio, r0499: phase
80: Spindle: r0498: Sensor S1 (raw), r0499: Sensor S4 (raw)
81: Spindle: r0498: Sensor S5 (raw), r0499: -
85: Spindle: r0498: Sensor S1 (cal), r0499: Sensor S4 (cal)
86: Spindle: r0498: Sensor S5 (cal), r0499: -
Notice: The setting option depends on the following properties:
Sensor Module type, hardware version, firmware version (Sensor Module and Control Units), order number (last
digit).
Not all combinations are supported.
Note: Re p0496 = 1: 360 <--> 2^32
Re p0496 = 10 (resolver): 2900 mV <--> 26214 dec
Re p0496 = 10, 20 (sin/cos 1 Vpp, EnDat): 500 mV <--> 21299 dec
Re p0496 = 11 (resolver): 2900 mV <--> 13107 dec, internal processor offset is corrected
Re p0496 = 11, 21 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec, internal processor offset is corrected
Re p0496 = 12: 180 fine position <--> 32768 dec
Re p0496 = 13 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec
Re p0496 = 14: 1 <--> 286 dec, 100% <--> 16384 dec
Re p0496 = 15: 100 % <--> 16384 dec
Re p0496 = 16: (resolver): channel A: 2900 mV <--> 26214 dec, channel B: 2900 mV <--> 26214 dec
Re p0496 = 16: (sin/cos 1 Vpp, EnDat) channel A: 500 mV <--> 21299 dec, channel B: 500 mV <--> 21299 dec
Re p0496 = 17 (resolver): absolute value: 2900 mV <--> 13107 dec, number: 1 ... 8
Re p0496 = 17 (sin/cos 1 Vpp, EnDat): absolute value 500 mV <--> 10650 dec, number: 1 ... 8
Re p0496 = 18 (resolver): angle: signal period <--> 2^16, absolute value: 2900 mV <--> 13107 dec
Re p0496 = 18 (sin/cos 1 Vpp, EnDat): angle: signal period <--> 2^16, absolute value: 500 mV <--> 10650 dec
Re p0496 = 22: 180 <--> 32768 dec
Re p0496 = 23, 24: r0497.31 (r0499.15) set for at least 1 current controller cycle when encoder zero mark detected
Re p0496 = 24, 25: 500 mV <--> 21299 dec
Re p0496 = 30: Rotary: 1 singleturn measuring step <--> 1 dec, linear: 1 measuring step <--> 1 dec
Re p0496 = 31: Absolute position, incremental in 1/4 encoder pulses
Re p0496 = 32: Zero mark position in 1/4 encoder pulses
Re p0496 = 33: counter offset absolute value in 1/4 encoder pulses
Re p0496 = 40: r0498 <--> (R_KTY/1 kOhm - 0.9) * 32768
Re p0496 = 42: 2500 Ohm <--> 2^32
Re p0496 = 51: 1 rpm <--> 1000 dec
Re p0496 = 52: In 1/4 encoder pulses
Re p0496 = 60: voltage, channel A in mV, voltage, channel B in mV
List of parameters
Parameters
Re p0496 = 61: Channel A: encoder periods <--> 2^16, channel B: encoder periods <--> 2^16
Re p0496 = 62: encoder periods <--> 2^16
Re p0496 = 70: r: 100% <--> 10000 dec, phase: 180 <--> 18000 dec
Re p0496 = 80, 81, 85, 86: 1V <--> 1000 inc
Description: Selects the trace signal to be output in r0497, r0498 and r0499 for encoder diagnostics.
Value: 0: Inactive
1: r0497: Mechanical revolution
10: r0498: Raw value, track A, r0499: Raw value, track B
11: r0498: Fine position X (-A/2), r0499: Fine position Y (-B/2)
12: r0498: Fine position Phi, r0499: -
13: r0498: Offset correction X, r0499: Offset correction Y
14: r0498: Phase correction X, r0499: Amplitude correction Y
15: r0498: Cubic correction X, r0499: Fine position X
16: r0498: oversampling channel A, r0499: oversampling channel B
17: r0498: fan-out, amount, r0499: fan-out, number
18: r0498: Oversampling angle, r0499: Oversampling amount
20: r0498: Raw value, track C, r0499: Raw value, track D
21: r0498: CD position X (-D/2), r0499: CD position Y (C/2)
22: r0498: CD position Phi, r0499: CD pos. Phi - mech. revolution
23: r0497: Zero mark status
24: r0498: Raw value, track R, r0499: Zero mark status
25: r0498: Raw value, track A, r0499: Raw value, track R
30: r0497: Absolute position serial
31: r0497: Absolute position, incremental
32: r0497: Zero mark position
33: r0497: Correction absolute position difference
40: r0498: Raw temperature, r0499: Temperature in 0.1 C
41: r0498: Resistance in 0.1 Ohm, r0499: Temperature in 0.1 C
42: r0497: Resistance 2500 Ohm
51: r0497: Absolute speed difference (dn/dt)
52: r0497: Xact1 corrected quadrants
60: Analog sensor: r0498: raw val chann. A, r0499: raw val chann. B
61: Analog sensor: r0498: fine pos chann. A,r0499: fine pos chann. B
62: Analog sensor: r0498: Fine pos before characteristic, r0499: -
70: Resolver: r0498: Transformation ratio, r0499: phase
80: Spindle: r0498: Sensor S1 (raw), r0499: Sensor S4 (raw)
81: Spindle: r0498: Sensor S5 (raw), r0499: -
85: Spindle: r0498: Sensor S1 (cal), r0499: Sensor S4 (cal)
86: Spindle: r0498: Sensor S5 (cal), r0499: -
[1] = Encoder 2
[2] = Encoder 3
Notice: The setting option depends on the following properties:
Sensor Module type, hardware version, firmware version (Sensor Module and Control Units), order number (last
digit).
Not all combinations are supported.
Note: Re p0496 = 1: 360 <--> 2^32
Re p0496 = 10, 20 (sin/cos 1 Vpp, EnDat): 500 mV <--> 21299 dec
Re p0496 = 11 (resolver): 2900 mV <--> 13107 dec, internal processor offset is corrected
p0496[0...2] Encoder diagnostic signal selection / Enc diag select
0 86 0
Parameters
List of parameters
Re p0496 = 11, 21 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec, internal processor offset is corrected
Re p0496 = 12: 180 fine position <--> 32768 dec
Re p0496 = 13 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec
Re p0496 = 14: 1 <--> 286 dec, 100% <--> 16384 dec
Re p0496 = 15: 100 % <--> 16384 dec
Re p0496 = 16: (resolver): channel A: 2900 mV <--> 26214 dec, channel B: 2900 mV <--> 26214 dec
Re p0496 = 16: (sin/cos 1 Vpp, EnDat) channel A: 500 mV <--> 21299 dec, channel B: 500 mV <--> 21299 dec
Re p0496 = 17 (resolver): absolute value: 2900 mV <--> 13107 dec, number: 1 ... 8
Re p0496 = 17 (sin/cos 1 Vpp, EnDat): absolute value 500 mV <--> 10650 dec, number: 1 ... 8
Re p0496 = 18 (resolver): angle: signal period <--> 2^16, absolute value: 2900 mV <--> 13107 dec
Re p0496 = 18 (sin/cos 1 Vpp, EnDat): angle: signal period <--> 2^16, absolute value: 500 mV <--> 10650 dec
Re p0496 = 22: 180 <--> 32768 dec
Re p0496 = 23, 24: r0497.31 (r0499.15) set for at least 1 current controller cycle when encoder zero mark detected
Re p0496 = 24, 25: 500 mV <--> 21299 dec
Re p0496 = 30: Rotary: 1 singleturn measuring step <--> 1 dec, linear: 1 measuring step <--> 1 dec
Re p0496 = 31: Absolute position, incremental in 1/4 encoder pulses
Re p0496 = 32: Zero mark position in 1/4 encoder pulses
Re p0496 = 33: counter offset absolute value in 1/4 encoder pulses
Re p0496 = 40: r0498 <--> (R_KTY/1 kOhm - 0.9) * 32768
Re p0496 = 42: 2500 Ohm <--> 2^32
Re p0496 = 51: 1 rpm <--> 1000 dec
Re p0496 = 52: In 1/4 encoder pulses
Re p0496 = 60: voltage, channel A in mV, voltage, channel B in mV
Re p0496 = 61: Channel A: encoder periods <--> 2^16, channel B: encoder periods <--> 2^16
Re p0496 = 62: encoder periods <--> 2^16
Re p0496 = 70: r: 100% <--> 10000 dec, phase: 180 <--> 18000 dec
Re p0496 = 80, 81, 85, 86: 1V <--> 1000 inc
Description: Displays the trace signal for encoder diagnostics (double word).
The signal to be output is selected in p0496.
Dependency: Refer to: p0496, r0498, r0499
Description: Displays the trace signal for encoder diagnostics (double word).
[1] = Encoder 2
[2] = Encoder 3
r0497 Encoder diagnostic signal double word / Enc diag DW
- - -
r0497[0...2] CO: Encoder diagnostic signal double word / Enc diag DW
- - -
List of parameters
Parameters
Description: Displays the trace signal for encoder diagnostics (low component).
Description: Displays the trace signal for encoder diagnostics (low component).
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the trace signal for encoder diagnostics (high component).
Description: Displays the trace signal for encoder diagnostics (high component).
[1] = Encoder 2
[2] = Encoder 3
r0498 Encoder diagnostic signal low word / Enc diag low word
- - -
r0498[0...2] CO: Encoder diagnostic signal low word / Enc diag low word
- - -
r0499 Encoder diagnostic signal high word / Enc diag high word
- - -
r0499[0...2] CO: Encoder diagnostic signal high word / Enc diag high word
- - -
Parameters
List of parameters
Description: Sets the technology application.
The parameter influences the calculation of open-loop and closed-loop control parameters that is e.g. initiated using
p0578.
Value: 100: Standard drive (SERVO)
101: Feed drive (limit current limitation)
102: Spindle drive (rated current limitation)
Caution: After changing over the technological application and then calculating the open-loop and closed-loop parameters,
the behavior of the motor can have changed very significantly (e.g. the same setpoint results in a higher speed due
to a different reference speed). For this reason extreme caution must be taken when the motor is started for the first
time.
Note: The calculation of parameters dependent on the technology application can be called up as follows:
- when exiting quick commissioning using p3900 > 0
- when writing p0340 = 1, 3, 5
- when writing p0578 = 1
For p0500 = 100 and when the calculation is initiated, the following parameters are set:
- p1520/p1521 = rated motor torque (r0333)
- p1530/p1531= 2*pi*r0333*p0311 (rotary) or r0333*p0311 (linear)
- p2000 = rated motor speed (p0311)
- p2175 = factory setting
- p1520/p1521 = torque at the maximum motor current (p0323)
- p1530/p1531= power at the maximum motor current (p0323) and rated motor speed (p0311)
- p2000 = rated motor speed (p0311)
- p2175 = maximum value
- p2177 = 0.2 s
- p1520/p1521 = rated motor torque (r0333)
- p1530/p1531= 2*pi*r0333*p0311 (rotary) or r0333*p0311 (linear)
- p2000 = maximum motor speed (p0322) if p0322 is not equal to 0, otherwise rated motor speed (p0311)
Description: Sets the technology application.
The parameter influences the calculation of open-loop and closed-loop control parameters that is e.g. initiated using
p0578.
p0500 Technology application / Tec application
SERVO Can be changed: C2(1, 5), T Calculated: - Access level: 2
P-Group: Applications Units group: - Unit selection: -
100 102 100
p0500 Technology application / Tec application
VECTOR Can be changed: C2(1, 5), T Calculated: - Access level: 2
0 2 1
List of parameters
Parameters
Value: 0: Standard drive (VECTOR)
1: Pumps and fans
2: Sensorless closed-loop control down to f = 0 (passive loads)
Note: The calculation of parameters dependent on the technology application can be called up as follows:
- when exiting quick commissioning using p3900 > 0
- when writing p0340 = 1, 3, 5
- when writing p0578 = 1
p1574 = 10 V (for separately-excited synchronous motors: 20 V)
p1750 bit 2 = 0
p1802 = 4 (SVM/FLB without overcontrol)
p1803 = 106 %
p1750 bit 2 = 0
p1802 = 9 (edge modulation), if r0192 bit 0 = 1
p1802 = 4, if r0192 bit 0 = 0 or parallel circuit configuration with single-winding system (p7003)
p1803 = 106 %
p1750 bit 2 = 1: Sensorless closed-loop control of induction motors effective up to a frequency of zero.
This operating mode is possible for passive loads. These include applications where the load does not generate
regenerative torque when breaking away and the motor comes to a standstill (zero speed) itself when the pulses
are inhibited.
p1802 = 4 (SVM/FLB without overcontrol)
p1803 = 106 %
The setting of p1750 is only relevant for induction motors.
p1802 and p1803 are only changed, in all cases, if a sine-wave output filter (p0230 = 3, 4) has not been selected.
Description: Adjustable parameter of the actual system of units.
Value: 1: SI system of units
2: System of units, referred/SI
3: US system of units
4: System of units, referred/US
Dependency: The parameter cannot be changed if the master control was fetched.
Caution: If a per unit representation is selected and if the reference parameters (e.g. p2000) are subsequently changed, then
the physical significance of several control parameters is also adapted at the same time. As a consequence, the
control behavior can change (see p1576, p1621, p1744, p1752, p1755 and p1609, p1612, p1619, p1620).
Note: Reference parameter for the unit system % are, for example, p2000 ... p2004. Depending on what has been
selected, these are displayed using either SI or US units.
p0505 Selecting the system of units / Unit sys select
A_INF, B_INF,
ENCODER, S_INF,
SERVO, TM41, VEC-
TOR
1 4 1
Parameters
List of parameters
Description: Sets the system of units for the controller gains.
Value: 0: Representation, physical/% (p0505)
1: Representation, no dimensions (referred)
Note: For p0528 = 0 (physical/%), the following applies:
Using p0505, the dependent parameters can be changed over between physical and % representation.
For SERVO (r0107) the following applies:
The parameter is pre-assigned a value of 0 and cannot be changed.
Description: Sets the system of units for the controller gains.
Value: 0: Representation, physical/% (p0505)
1: Representation, no dimensions (referred)
Note: For VECTOR (r0107) the following applies:
The parameter is pre-assigned a value of 1 and cannot be changed.
Description: Sets the bearing type.
0 = No selection
1 = Manual entry
101 = STANDARD
102 = PERFORMANCE
103 = HIGH PERFORMANCE
104 = ADVANCED LIFETIME
If the bearing type changes the bearing code number (p0531) is pre-assigned accordingly.
Caution: If a valid bearing type (p0530) is entered, the parameters in the bearing list cannot be changed (write protection).
Write protection is canceled if bearing type 1 is entered.
(p0010 = 3). The maximum speed of the bearing is factored into the limit for the maximum speed p1082.
Note: For a motor with DRIVE-CLiQ, p0530 can only be changed to the value 1 (manual entry).
p0528 Controller gain, system of units / Ctrl_gain unit_sys
ENCODER, SERVO,
TM41
0 1 0
p0528 Controller gain, system of units / Ctrl_gain unit_sys
0 1 1
p0530[0...n] Bearing type selection / Bearing type sel
0 104 0
List of parameters
Parameters
Description: Display and setting the bearing code number.
It is pre-assigned automatically (from the parameter lists which are available internally) when p0301 and p0530 are
entered and cannot be changed (write protection). The information in p0530 should be observed when removing
write protection.
When changing the bearing code number (except in the case of changing the value to 0), all of the bearing param-
eters are pre-assigned from the parameter lists which are available internally.
Note: p0531 cannot be changed on a motor with DRIVE-CLiQ.
Description: Sets the maximum speed for the bearing.
Caution: This parameter is pre-assigned in the case of motors from the motor list (p0301) if a bearing type (p0530) or a bear-
ing code (p0531) is selected. When selecting a catalog motor, this parameter cannot be changed (write protection).
The information in p0530 should be observed when removing write protection.
Description: Sets the maximum velocity for the bearing.
Notice: If p0532 is changed during quick commissioning (p0010 = 1), then the maximum velocity p1082, which is also asso-
(p0010 = 3). The maximum velocity of the bearing is factored into the limit for the maximum velocity in p1082.
p0531[0...n] Bearing code number selection / Bear. code num sel
0 65535 0
p0532[0...n] Bearing maximum speed / Bearing n_max
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
p0532[0...n] Bearing maximum velocity / Bearing v_max
0.0 [m/min] 1000.0 [m/min] 0.0 [m/min]
Parameters
List of parameters
Description: Sets the maximum speed for the bearing.
Description: Sets the number of parameters in the inhibit list p0571 that should be withdrawn from the automatic motor and
closed-loop control parameter calculation (refer to p0340, p0578), starting from index 0.
Note: Defines the number of entries in p0571 that should be taken into account. This means that a value of 0 de-activates
the complete list.
Description: The inhibit list contains parameters that should be withdrawn from the automatic motor and closed-loop control
parameter calculation (p0340, p0578).
Value: 0: No parameter
348: Speed at the start of field weakening Vdc = 600 V
600: Motor temperature sensor
640: Current limit
1082: Maximum speed
1441: Actual speed smoothing time
1460: Speed controller P gain
1462: Speed controller integral time
1470: Speed controller P gain, encoderless
1472: Speed controller integral time, encoderless
1520: Torque limit upper/motoring
1521: Torque limit lower/regenerative
1530: Power limit motoring
1531: Power limit regenerative
1590: Flux controller P gain
1592: Flux controller integral time
1656: Activates current setpoint filter
2141: Speed threshold 1
2142: Hysteresis speed 1
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
p0570 Inhibit list values effective number / Inhib list no
0 50 0
p0571[0...49] Inhibit list, motor/closed-loop control parameter calculation / Inhib list calc
SERVO Can be changed: U, T Calculated: - Access level: 2
0 2142 0
List of parameters
Parameters
Note: p0570 defines the number of entries (starting at index 0) for which the inhibit should apply. p0572 can be used to
define for which drive data sets the inhibit list should apply.
If a motor data set is entered into a parameter number, then this is not overwritten as soon as only one drive data
set refers to the motor data set (p0186).
Description: The inhibit list contains parameters that should be withdrawn from the automatic motor and closed-loop control
parameter calculation (p0340, p0578).
Value: 0: No parameter
600: Motor temperature sensor
640: Current limit
1082: Maximum speed
1460: Speed controller P gain
1462: Speed controller integral time
1470: Speed controller P gain, encoderless
1472: Speed controller integral time, encoderless
1520: Torque limit upper/motoring
1521: Torque limit lower/regenerative
1530: Power limit motoring
1531: Power limit regenerative
1590: Flux controller P gain
1592: Flux controller integral time
2141: Speed threshold 1
2142: Hysteresis speed 1
Note: p0570 defines the number of entries (starting at index 0) for which the inhibit should apply. p0572 can be used to
define for which drive data sets the inhibit list should apply.
If a motor data set is entered into a parameter number, then this is not overwritten as soon as only one drive data
set refers to the motor data set (p0186).
Description: Enable ID as to whether the parameters of the inhibit list p0571 should be overwritten when calculating the motor
and closed-loop control parameters for the particular drive data set (index = DDS).
Value: 0: No
1: Yes
Note: 0: The automatic calculation (p0340, p0578) also overwrites the parameters of list p0571.
1: The automatic calculation (p0340, p0578) does not overwrite the parameters of list p0571.
p0571[0...49] Inhibit list, motor/closed-loop control parameter calculation / Inhib list calc
0 2142 0
p0572[0...n] Activate inhibit list / Act inhib list
0 1 0
Parameters
List of parameters
Description: Setting to inhibit the calculation of reference parameters (e.g. p2000) when automatically calculating the motor and
closed-loop control parameters (p0340, p3900).
Value: 0: No
1: Yes
Notice: The inhibit for the reference value calculation is canceled when new motor parameters (e.g. p0305) are entered and
only one drive data set exists (p0180 = 1). This is the case during initial commissioning.
Once the motor and control parameters have been calculated (p0340, p3900), the inhibit for the reference value
calculation is automatically re-activated.
Note: If value = 0:
The automatic calculation (p0340, p3900) overwrites the reference parameters.
If value = 1:
The automatic calculation (p0340, p3900) does not overwrite the reference parameters.
Description: This parameter is used to calculate all parameters that depend on the technology of the application (p0500).
All of the parameters are calculated that can also be determined using p0340 = 5.
1: Complete calculation
Note: At the end of the calculations, p0578 is automatically set to 0.
Description: Sets the input terminal for the measuring probe for speed actual value measurement.
1: DI/DO 9 (X122.10/X121.8)
2: DI/DO 10 (X122.12/X121.10)
3: DI/DO 11 (X122.13/X121.11)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9/X121.7)
8: DI/DO 12 (X132.9)
Refer to: A07498
p0573 Inhibit automatic reference value calculation / Inhibit calc
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
0 1 0
p0578[0...n] Calculate technology-dependent parameters / Calc tec par
0 1 0
p0580 Measuring probe, input terminal / MT input terminal
0 8 0
List of parameters
Parameters
For CU310, Cx32, NX10 and NX15, only DI/DO 8, 9, 10, 11 can be selected as fast inputs (refer to the Equipment
Manual).
Note: The terminal must be set as input (p0728).
If a parameter change is rejected, a check should be performed as to whether the input terminal is already being
used in p0488, p0489, p0493, p0494, p0495, p0680, p2517 or p2518.
Description: Sets the edge to evaluate the measuring probe signal for speed actual value measurement.
0: 0/1 edge
1: 1/0 edge
Description: Sets the number of pulses per revolution (e.g. for disks with holes).
Description: Sets the maximum measuring time for the measuring probe.
If a new pulse is not received before the maximum measuring time has expired, then the speed actual value in
r0586 is set to zero. This timer is re-started with the next pulse.
Description: Displays the speed actual value measured using the BERO.
Note: For p0580 = 0 (no measuring probe), a value of zero is displayed here.
p0581 Measuring probe, edge / MT edge
0 1 0
p0582 Measuring probe, pulses per revolution / MT pulses per rev
1 12 1
p0583 Measuring probe, maximum measuring time / MT t_meas max
0.040 [s] 10.000 [s] 10.000 [s]
r0586 CO: Measuring probe, speed actual value / MT n_act
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the velocity actual value measured using the BERO.
Description: Displays the time between the last two BERO pulses.
The measuring time is specified as 32-bit value with a resolution of 1/48 s.
If a new pulse is not received before the maximum measured time in p0583 expires, then r0587 is set to the maxi-
mum measuring time.
Description: Displays the number of measuring pulses that have occurred (been received) up until now.
Note: After reaching 4294967295 (2^32 - 1), the counter starts again at 0.
Description: Displays the time since the last measuring pulse was detected.
The delay time is specified as 32-bit value with a resolution of 1/48 s.
When a measuring pulse occurs (is received) the delay time is reset and is limited to the maximum measuring time
in p0583.
r0586 CO: Measuring probe, velocity actual value / MT v_act
r0587 CO: Measuring probe, measuring time measured / MT t_meas measured
- - -
r0588 CO: Measuring probe, pulse counter / MT pulse counter
- - -
r0589 Measuring probe, delay time / MT t_delay
- - -
List of parameters
Parameters
Description: Selects the units for the parameters of the technology controller.
Value: 1: %
2: 1 referred, no dimensions
3: bar
4: C
5: Pa
6: ltr/s
7: m/s
8: ltr/min
9: m/min
10: ltr/h
11: m/h
12: kg/s
13: kg/min
14: kg/h
15: t/min
16: t/h
17: N
18: kN
19: Nm
20: psi
21: F
22: gallon/s
23: inch/s
24: gallon/min
25: inch/min
26: gallon/h
27: inch/h
28: lb/s
29: lb/min
30: lb/h
31: lbf
32: lbf ft
Dependency: Only units of parameters with unit group 9_1 can be changed over using this parameter.
Refer to: p0596
Description: Sets the reference quantity for the technological units. When changing over using changeover parameter 595 to
absolute units, all of the parameters involved refer to the reference quantity.
p0595 Selecting technological units / Select tech units
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
1 32 1
p0596 Reference quantity, technological units / Ref tech units
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.01 340.28235E36 1.00
Parameters
List of parameters
Description: Sets the sensor to monitor the motor temperature.
Value: 0: No sensor
1: Temperature sensor via encoder 1
10: Temperature sensor via a BICO interconnection
11: Temperature sensor via Motor Module / CU terminals
20: Temperature sensor via a BICO interconnection p608
Dependency: Refer to: r0458, p0601, p0603
Caution: If, for a selected temperature sensor (p0600 > 0), the motor temperature sensor is not connected but another
encoder, then the temperature adaptation of the motor resistances must be switched out. Otherwise, in controlled-
loop operation, torque errors will occur that will mean that the drive will not be able to be stopped.
Notice: The parameter is calculated in the drive using p0340 and is inhibited for p0340 > 0.
Note: Re p0600 = 0:
With induction motors, the motor temperature is calculated using the motor temperature model (see also p0612.1).
Re p0600 = 1, 2, 3:
Bimetallic switch (p0601 = 4) and PT100 temperature sensor (p0601 = 5) are not supported.
Re p0600 = 10:
The BICO interconnection should be executed via connector input p0603.
Re p0600 = 11:
For SINAMICS S120 AC Drive (AC/AC) and using the Control Unit Adapter CUA31, the temperature sensor is con-
nected at the adapter (X210).
Re p0600 = 20, 21:
The BICO interconnection should be executed via connector input p0608 or p0609.
Associated parameters: p0601, p4600 ... 4603, p4610 ... p4613
Description: Sets the sensor to monitor the motor temperature.
Value: 0: No sensor
10: Temperature sensor via a BICO interconnection
11: Temperature sensor via Motor Module / CU terminals
Caution: If, for a selected temperature sensor (p0600 > 0), the motor temperature sensor is not connected but another
encoder, then the temperature adaptation of the motor resistances must be switched out. Otherwise, in controlled-
loop operation, torque errors will occur that will mean that the drive will not be able to be stopped.
p0600[0...n] Motor temperature sensor for monitoring / Mot temp_sensor
SERVO Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 2
0 21 1
VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 2
0 21 0
List of parameters
Parameters
Notice: The parameter is calculated in the drive using p0340 and is inhibited for p0340 > 0.
Note: Re p0600 = 0:
With induction motors, the motor temperature is calculated using the motor temperature model (see also p0612.1).
Re p0600 = 1, 2, 3:
Bimetallic switch (p0601 = 4) and PT100 temperature sensor (p0601 = 5) are not supported.
Re p0600 = 10:
The BICO interconnection should be executed via connector input p0603.
Re p0600 = 11:
For SINAMICS S120 AC Drive (AC/AC) and using the Control Unit Adapter CUA31, the temperature sensor is con-
nected at the adapter (X210).
Re p0600 = 20, 21:
The BICO interconnection should be executed via connector input p0608 or p0609.
Associated parameters: p0601, p4600 ... 4603, p4610 ... p4613
Description: Sets the sensor type for the temperature measurement at input X21 (booksize) or X41 (chassis).
The measured value is displayed in r0035.
Value: 0: No sensor
1: PTC alarm & timer
2: KTY84
4: Bimetallic NC contact alarm & timer
Note: The measured value display depends on the selected sensor type.
Re p0601 = 0 (no sensor):
--> r0035 = -200 C
Re p0601 = 1 (PTC alarm & timer):
Tripping resistance = 1650 Ohm (lower resistance --> r0035 = -50 C, higher resistance --> r0035 = 250 C).
Re p0601 = 2 (KTY84):
Displays the temperature in C.
Re p0601 = 4 (bimetallic NC contact alarm & timer):
r0035 = -50 C
--> The tripping resistance is less than 100 Ohm (bimetallic NC contact is closed or has a short-circuit).
r0035 = 250 C
--> The tripping resistance is greater than 100 Ohm (bimetallic NC contact is open, not connected or has a wire
breakage).
When using the following components, a value of 4 is set as the factory setting and can no longer be changed:
- Basic Line Module (BLM) with internal Braking Module.
- Active Line Module (ALM) with line filter Active Interface Module (AIM, p0220[0] = 41 ... 45).
In these cases, in addition to the temperature display, the temperature is also monitored.
Description: Sets the sensor type for the motor temperature monitoring.
p0601 Temperature sensor, sensor type / Temp_sens type
A_INF, B_INF,
S_INF
0 4 0
p0601[0...n] Motor temperature sensor type / Mot_temp_sens type
0 11 2
Parameters
List of parameters
Value: 0: No sensor
2: KTY84
3: KTY84 and PTC (only for motors with DRIVE-CLiQ):
4: Bimetallic NC contact alarm & timer (only for temp_eval via MM)
5: PT100
10: Evaluation via several temperature channels SME12x
11: Evaluation via several temperature channels BICO
Dependency: The thermal motor model is only calculated for p0612.1 = 1.
Refer to: r0458, p0600, p0612
Note: The temperature sensor for the temperature evaluation is set in p0600.
For p0600 = 10 (temperature sensor via a BICO interconnection), the setting in p0601 has no significance.
Information on using temperature sensors is provided in the following literature:
- hardware description of the appropriate components
- SINAMICS S120 Commissioning Manual
Re p0601 = 1 (PTC alarm & timer):
Tripping resistance = 1650 Ohm.
After the tripping resistance has been exceeded, an appropriate alarm is output and after the delay time set in
p0606 has expired, an appropriate fault is output.
Re p0601 = 3 (KTY84 and PTC (only for motors with DRIVE-CLiQ)):
For motors with DRIVE-CLiQ and 2 temperature sensors, the value is automatically set.
Re p0601 = 4 (bimetallic NC contact alarm & timer (only for temperature evaluation via the Motor Module)):
Tripping resistance = 100 Ohm.
After tripping, an appropriate alarm is output and after the delay time set in p0606 has expired, an appropriate fault
is output.
Re p0601 = 5 (PT100):
It is only possible to evaluate a PT100 for p0600 = 11 and r0192 bit 15 = 1.
Re p0601 = 10 (evaluation through several temperature channels (SME12x)):
Not permitted for p0600 = 0, 10, 11.
Associated parameters: p4600 ... p4603 (can be switched via EDS)
For r0458.8 = 1, a temperature evaluation is supported through several temperature channels.
Examples:
When evaluating using SME120 or SME125, 4 temperature channels are available ( parameterized using p4600,
p4601, p4602, p4603).
When evaluating using CU310 and CUA32, 2 temperature channels are available (encoder interface, parameteriza-
tion via p4600 / terminal block, parameterization via p4601).
Re p0601 = 11 (evaluation via several temperature channels (BICO)):
Not permitted for p0600 = 0, 10, 11.
Associated parameters: p4610 ... p4613 (can be switched via MDS)
Description: Sets the power unit number to which the temperature sensor is connected. The value corresponds to the Power unit
Data Set number (PDS) of the power unit. The number of power unit data sets is defined in p0120.
p0602 Par_circuit power unit number, temperature sensor / PU_No temp_sensor
VECTOR (Parallel) Can be changed: C2(3), U, T Calculated: - Access level: 2
0 10 0
List of parameters
Parameters
Description: Sets the signal source to evaluate the motor temperature via a BICO interconnection.
Note: Temperature sensor KTY: Valid temperature range -48 C ... 248 C.
PTC temperature sensor:
For a value = -50 C, the following applies: Motor temperature < nominal response temperature of the PTC.
For a value = 250 C, the following applies: Motor temperature >= nominal response temperature of the PTC.
Note:
When using a Terminal Module 31 (TM31), the following applies:
- the sensor type used is set using p4100.
- the temperature signal is interconnected using CO: r4105.
Description: Sets the alarm threshold for monitoring the motor temperature.
Note: The hysteresis for canceling the alarm is 2 Kelvin.
Description: Sets the alarm threshold for monitoring the motor temperature.
Note: The hysteresis for canceling the alarm is 2 Kelvin.
p0603 CI: Motor temperature signal source / Mot temp S_src
Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 8016
- - 0
p0604[0...n] Motor temperature alarm threshold / Mot_temp al thr
0.0 [C] 200.0 [C] 120.0 [C]
0.0 [C] 200.0 [C] 130.0 [C]
Parameters
List of parameters
Description: Sets the fault threshold for monitoring the motor temperature.
Note: The hysteresis for canceling the fault is 2 Kelvin.
Description: Sets the timer for the alarm threshold for the motor temperature monitoring function.
This timer is started when the temperature alarm threshold (p0604) is exceeded.
If the timer expires before the temperature in the meantime falls below the alarm threshold, the fault F07011 is out-
put.
If the temperature fault threshold (p0605) is prematurely exceeded before the timer has expired, then fault F07011
is immediately output.
As long as the motor temperature has still not exceeded the fault threshold and the alarm thresholds have again
been undershot, the fault can be acknowledged.
Refer to: F07011, A07910
Note: With p0606 = 0 s, the timer is de-activated and only the fault threshold is effective.
KTY sensor: When setting the minimum value, the timer is disabled and a fault is not output until p0605 is
exceeded.
PTC sensor, bimetallic NC contact: The timer minimum value has no special significance.
Description: Sets the timer for the alarm threshold for the motor temperature monitoring function.
This timer is started when the temperature alarm threshold (p0604) is exceeded.
If the timer expires before the temperature in the meantime falls below the alarm threshold, the fault F07011 is out-
put.
If the temperature fault threshold (p0605) is prematurely exceeded before the timer has expired, then fault F07011
is immediately output.
As long as the motor temperature has still not exceeded the fault threshold and the alarm thresholds have again
been undershot, the fault can be acknowledged.
Refer to: F07011, A07910
p0605[0...n] Motor temperature fault threshold / Mot_temp flt thr
0.0 [C] 200.0 [C] 145.0 [C]
p0606[0...n] Motor temperature timer / Mot_temp timer
0.000 [s] 600.000 [s] 240.000 [s]
0.000 [s] 600.000 [s] 0.000 [s]
List of parameters
Parameters
Note: With p0606 = 0 s, the timer is de-activated and only the fault threshold is effective.
KTY sensor: When setting the minimum value, the timer is disabled and a fault is not output until p0605 is
exceeded.
PTC sensor, bimetallic NC contact: The timer minimum value has no special significance.
Description: Sets the timer between the output of alarm and fault for a temperature sensor fault.
If there is a sensor fault, this timer is started. If the sensor fault is still present after the timer has expired, a corre-
sponding fault message is output.
Notice: The parameterized time is internally rounded-off to an integer multiple of 48 ms.
Note: If the motor is an induction motor, the timer is switched off when setting the minimum value and no alarm is output.
Temperature monitoring is then based on the thermal model.
Description: Sets signal source 2 to evaluate the motor temperature via a BICO interconnection.
Index: [0] = Motor temperature channel 1
[1] = Motor temperature channel 2
Note: Temperature sensor KTY:
Valid temperature range -48 C ... 248 C.
Temperature sensor PTC/bimetal:
For a value of -50 C, the following applies: Motor temperature < nominal response temperature of the PTC (bimetal
contact closed).
For a value of 250 C, the following applies: Motor temperature >= nominal response temperature of the PTC
(bimetal contact open).
Note:
- the temperature signal is interconnected using connector output r4105.
Description: Sets signal source 3 to evaluate the motor temperature via a BICO interconnection.
Index: [0] = Motor temperature channel 1
p0607[0...n] Temperature sensor fault timer / Sensor fault time
0.000 [s] 600.000 [s] 0.100 [s]
p0608[0...3] CI: Motor temperature signal source 2 / Mot_temp S_src 2
- - 0
p0609[0...3] CI: Motor temperature signal source 3 / Mot_temp S_src 3
- - 0
Parameters
List of parameters
Note: Temperature sensor KTY:
Valid temperature range -48 C ... 248 C.
Temperature sensor PTC/bimetal:
For a value of -50 C, the following applies: Motor temperature < nominal response temperature of the PTC (bimetal
contact closed).
For a value of 250 C, the following applies: Motor temperature >= nominal response temperature of the PTC
(bimetal contact open).
Note:
- the temperature signal is interconnected using connector output r4105.
Description: Sets the system response when the motor temperature reaches the alarm threshold.
Value: 0: No response only alarm no reduction of I_max
1: Alarm with reduction of I_max and fault
2: Alarm and fault no reduction of I_max
Refer to: F07011, A07910
Note: The I_max reduction is not executed for PTC (p0601 = 1) or bimetallic NC contact (p0601 = 4).
The I_max reduction results in a lower output frequency.
Description: Sets the winding time constant.
The time constant specifies the warm-up time of the cold stator winding when loaded with the motor standstill cur-
rent up until a temperature rise of 63 % of the continuously permissible winding temperature has been reached.
Dependency: This parameter is only used for synchronous motors (p0300 = 2xx).
Refer to: r0034, p0612, p0615
Refer to: F07011, A07012, A07910
Caution: This parameter is automatically pre-set from the motor database for motors from the motor list (p0301).
When selecting a catalog motor, this parameter cannot be changed (write protection). Information in p0300 should
be carefully observed when removing write protection.
Note: When parameter p0611 is reset to 0, then this switches out the thermal I2t motor model (also refer to p0612).
If no temperature sensor is parameterized, then the ambient temperature for the thermal motor model is referred to
p0625.
p0610[0...n] Motor overtemperature response / Mot temp response
0 2 1
p0611[0...n] I2t motor model thermal time constant / I2t mot_mod T
0 [s] 20000 [s] 0 [s]
List of parameters
Parameters
Description: Sets the configuration for the thermal motor model.
Note: Re bit 00:
This bit is only used for permanent-magnet synchronous motors (p0300 = 2xx). It is only possible to switch in ther-
mal I2t monitoring with a time constant greater than zero (p0611 > 0).
Re bit 01:
This bit is used to activate/de-activate the thermal motor model for induction motors.
Description: Sets the fault threshold for monitoring using the thermal I2t motor model.
Dependency: The parameter is only used for permanent-magnet synchronous motors (p0300 = 2xx).
Refer to: r0034, p0611, p0612
Refer to: F07011, A07012
Description: Sets the alarm threshold 1 for monitoring the motor temperature.
Note: The alarm threshold is not, as for p0604, coupled to the timer p0606. The hysteresis for canceling the fault is 2 Kel-
vin.
Description: Sets the alarm threshold 1 for monitoring the motor temperature.
p0612[0...n] Thermal motor model configuration / Therm Mot_mod conf
- - 0010 bin
00 Activate I2t motor model Yes No -
01 Activate motor temperature model Yes No -
p0615[0...n] I2t motor model fault threshold / I2t mot_mod thresh
0.0 [C] 220.0 [C] 180.0 [C]
p0616[0...n] Motor overtemperature alarm threshold 1 / Mot temp alarm 1
0.0 [C] 200.0 [C] 195.0 [C]
0.0 [C] 200.0 [C] 130.0 [C]
Parameters
List of parameters
Note: The alarm threshold is not, as for p0604, coupled to the timer p0606. The hysteresis for canceling the fault is 2 Kel-
vin.
Description: Sets the thermal adaptation of the stator/primary section resistance and rotor/secondary section resistance accord-
ing to r0395 and r0396.
Value: 0: No thermal adaptation of stator and rotor resistances
1: Resistances adapted to the temperatures of the thermal model
2: Resistances adapted to the measured stator winding temperature
The stator resistance is adapted using the temperature in r0035 and the rotor resistance together with the model
temperature in r0633.
The stator resistance is adapted using the temperature in r0035. If applicable, the rotor temperature for adapting
the rotor resistance is calculated from the stator temperature (r0035) as follows:
theta_R = (r0628 + r0625) / (r0627 + r0625) * r0035
Description: Sets the thermal adaptation of the stator/primary section resistance and rotor/secondary section resistance accord-
ing to r0395 and r0396.
Value: 0: No thermal adaptation of stator and rotor resistances
1: Resistances adapted to the temperatures of the thermal model
2: Resistances adapted to the measured stator winding temperature
The stator resistance is adapted using the temperature in r0035 and the rotor resistance together with the model
temperature in r0633.
The stator resistance is adapted using the temperature in r0035. If applicable, the rotor temperature for adapting
the rotor resistance is calculated from the stator temperature (r0035) as follows:
theta_R = (r0628 + r0625) / (r0627 + r0625) * r0035
For separately-excited synchronous motors and p0620 = 1, p0620 = 2 is internally and automatically used for calcu-
lating. There is no thermal model to adapt the damping resistances.
Description: Selects the identification of the stator resistance after booting the Control Unit (only for vector control).
p0620[0...n] Thermal adaptation, stator and rotor resistance / Mot therm_adapt R
0 2 2
VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_ALL Access level: 2
0 2 1
p0621[0...n] Identification stator resistance after restart / Rst_ident Restart
VECTOR (n/M) Can be changed: C2(3), T Calculated: - Access level: 2
0 2 0
List of parameters
Parameters
The identification is used to measure the actual stator resistance and from the ratio of the result of motor data iden-
tification (p0350) to the matching ambient temperature (p0625) the actual mean temperature of the stator winding is
calculated. The result is used to initialize the thermal motor model.
p0621 = 1:
Identification of the stator resistance only when the drive is powered up for the first time (pulse enable) after booting
the Control Unit.
p0621 = 2:
Identification of the stator resistance every time the drive is powered up (pulse enable).
Value: 0: No Rs identification
1: Rs identification after switching-on again
2: Rs identification after switching-on each time
Dependency: - perform motor data identification (see p1910) with cold motor.
- enter ambient temperature at time of motor data identification in p0625.
Notice: The calculated stator temperature can only be compared with the measured value of a temperature sensor (KTY) to
a certain extent, as the sensor is usually the warmest point of the stator winding, whereas the measured value of
identification reflects the mean value of the stator winding.
Furthermore this is a short-time measurement with limited accuracy that is performed during the magnetizing phase
of the induction motor.
Note: The measurement is carried out:
- For induction motors
- When vector control is active (see p1300)
- If a temperature sensor (KTY) has not been connected
- When the motor is at a standstill when switched on
When a flying restart is performed on a rotating motor, the temperatures of the thermal motor model are set to a
third of the overtemperatures. This occurs only once, however, when the CU is booted (e.g. after a power failure).
If identification is activated, the magnetizing time is determined via p0622 and not via p0346. Quick magnetizing
(p1401.6) is de-energized internally and alarm A07416 is displayed. The speed is enabled after completion of the
measurement.
Description: Sets the excitation time of the motor for the stator resistance identification after powering up again (restart).
Note: For p0622 < p0346 the following applies:
If identification is activated, the magnetizing time is influenced by p0622. The speed is enabled after measurement
is complete, but not before the time in p0346 has elapsed (see r0056 bit 4). The time taken for measurement also
depends on the settling time of the measured current.
For p0622 >= p0346 the following applies:
Parameter p0622 is internally limited to the magnetizing time p0346, so that p0346 represents the maximum possi-
ble magnetizing time during identification. The entire measurement period (magnetizing plus measurement settling
time plus measuring time) will always be greater than p0346.
p0622[0...n] Motor excitation time for Rs_ident after powering up again / t_excit Rs_id
VECTOR (n/M) Can be changed: C2(3), U, T Calculated: CALC_MOD_REG Access level: 3
0.000 [s] 20.000 [s] 0.000 [s]
Parameters
List of parameters
Description: Displays the identified stator resistance after the Rs identification after powering up again.
Description: Sets the temperature offset for the PT100 measured value.
If there is a difference between the motor temperature displayed in r0035 and the actual motor temperature, this off-
set can be entered in this parameter, thereby compensating for the difference.
Note: The parameter only takes effect with the following settings:
- Temperature sensor of the power unit detected (p0600 = 11).
- Sensor type PT100 selected (p0601 = 5).
If the resistance in series with the PT100 (e.g. the cable resistance of the feeder cable) is known, the following con-
version formula must be used:
Offset in p0624 = Measured resistance in ohms x 2.5 K/Ohm
Example:
Measured cable resistance = 2 Ohm
--> 2 Ohm x 2.5 K / Ohm = 5.0 K
Description: Defines the ambient temperature of the motor for calculating the motor temperature model.
Note: The parameters for stator and rotor resistance (p0350, p0354) refer to this temperature.
If the thermal I2t motor model is activated for permanent-magnet synchronous motors (refer to p0611), p0625 is
included in the model calculation if a temperature sensor is not being used (see p0601).
Description: Defines the rated overtemperature of the stator core referred to the ambient temperature.
r0623 Stator resistance of Rs identification after powering up again / R_Stator Reset_Id
VECTOR (n/M) Can be changed: - Calculated: - Access level: 4
P-Group: Motor identification Units group: - Unit selection: -
- [ohm] - [ohm] - [ohm]
p0624[0...n] Motor Temperature Offset PT100 / Mot T_offset PT100
-100.0 [K] 100.0 [K] 0.0 [K]
p0625[0...n] Motor ambient temperature / Mot T_ambient
SERVO, VECTOR Can be changed: C2(3), U, T Calculated: CALC_MOD_EQU Access level: 3
-40 [C] 80 [C] 20 [C]
p0626[0...n] Motor overtemperature, stator core / Mot T_over core
20 [K] 200 [K] 50 [K]
List of parameters
Parameters
Refer to: p0625
Description: Defines the rated overtemperature of the stator winding referred to the ambient temperature.
Refer to: p0625
Description: Defines the rated overtemperature of the squirrel cage rotor referred to ambient temperature.
Refer to: p0625
Description: Displays the ambient temperature of the motor temperature model.
Description: Displays the stator core temperature of the motor temperature model.
p0627[0...n] Motor overtemperature, stator winding / Mot T_over stator
20 [K] 200 [K] 80 [K]
p0628[0...n] Motor overtemperature rotor winding / Mot T_over rotor
20 [K] 200 [K] 100 [K]
r0630[0...n] Motor temperature model ambient temperature / MotTMod T_amb.
Not for motor type: PEM, REL, FEM Scaling: p2006 Expert list: 1
- [C] - [C] - [C]
r0631[0...n] Motor temperature model, stator core temperature / MotTMod T_core
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays the stator winding temperature of the motor temperature model.
Description: Displays the rotor temperature of the motor temperature model.
Description: The non-linear and cross-coupled quadrature axis flux functions are defined using 4 coefficients.
The parameter weights the unsaturated component of the quadrature axis flux function.
This parameter describes the interdependency of the unsaturated component of the quadrature axis current.
This parameter describes the interdependency of the unsaturated component of the direct axis current.
r0632[0...n] Motor temperature model, stator winding temperature / MotTMod T_copper
- [C] - [C] - [C]
r0633[0...n] Motor temperature model, rotor temperature / MotTMod T_rotor
- [C] - [C] - [C]
p0634[0...n] Q flux flux constant unsaturated / PSIQ KPSI UNSAT
0.000 [Vsrms] 100.000 [Vsrms] 0.000 [Vsrms]
p0635[0...n] Q flux quadrature axis current constant unsaturated / PSIQ KIQ UNSAT
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
p0636[0...n] Q flux direct axis current constant unsaturated / PSIQ KID UNSAT
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
List of parameters
Parameters
This parameter describes the gradients of the saturated component over the quadrature axis current.
Description: Sets the current limit.
Note: The parameter is part of the quick commissioning (p0010 = 1); this means that it is appropriately pre-assigned when
changing p0305, p0323 and p0338.
The current limit p0640 is limited to r0209 and p0323. The limit to p0323 is not realized if a value of zero is entered
there.
The resulting current limit is displayed in r0067 and if required, r0067 is reduced by the thermal model of the Motor
Module.
The torque and power limits (p1520, p1521, p1530, p1531) matching the current limit are automatically calculated
when exiting the quick commissioning using p3900 > 0 or using the automatic parameterization with p0340 = 3, 5.
For VECTOR the following applies (p0107):
p0640 is limited to 4.0 x p0305.
p0640 is pre-assigned for the automatic self commissioning routine (e.g. to 1.5 x p0305, with p0305 = r0207[1]).
p0640 must be entered when commissioning the system. This is the reason that p0640 is not calculated by the
automatic parameterization when exiting the quick commissioning (p3900 > 0).
For SERVO the following applies (p0107):
p0640 is pre-assigned as follows using the automatic parameterization (p0340 = 1, p3900 > 0) taking into account
the limits r0209 and r0323:
- for induction motors: p0640 = 1.5 x p0305
- for synchronous motors: p0640 = p0338
Description: Sets the signal source for the variable current limit.
p0637[0...n] Q flux flux gradient saturated / PSIQ Grad SAT
0.00 [mH] 10000.00 [mH] 0.00 [mH]
p0640[0...n] Current limit / Current limit
SERVO, VECTOR Can be changed: C2(1, 3), U, T Calculated: CALC_MOD_ALL Access level: 2
Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 5722, 6640
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
p0641[0...n] CI: Current limit, variable / Curr lim var
Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 6640
- - 1
Parameters
List of parameters
Description: Sets the reduction for the current limit in encoderless operation.
Dependency: Refer to: r0209, p0323, p0491, p0640, p1300, p1404
Note: If the motor is operated both with encoder as well as without encoder (e.g. p0491 is not equal to 0 or p1404 <
p1082) then the maximum current can be reduced in encoderless operation. This reduces disturbing saturation-
related motor data changes in encoderless operation.
Description: Sets the overvoltage protection for synchronous motors in the field-weakening range.
Value: 0: No measure
1: Voltage Protection Module (VPM)
Dependency: Refer to: p0316, p1082, r1082, p1231, p9601, p9801
Refer to: F07432, F07906, F07907
Notice: When the speed limiting is removed, the user is responsible for implementing a suitable overvoltage protection.
Note: In the field-weakening range, synchronous motors can, when a fault condition exists, generate high DC link volt-
ages. The following possibilities exist to protect the drive system from being destroyed due to overvoltage:
- limit the maximum speed (p1082) without any additional protection.
The maximum speed without protection is calculated as follows:
Rotary motors: p1082 [rpm] <= 11.695 * r0297/p0316 [Nm/A]
Linear motors: p1082 [m/min] <= 73.484 *r0297/0316 [N/A]
- use a Voltage Protection Module (VPM) in conjunction with the function "Safe Torque Off" (p9601, p9801).
When a fault condition exists, the VPM short-circuits the motors. During the short-circuit, the pulses must be sup-
pressed - this means that the terminals for the function "Safe Torque Off" must be connected to the VPM.
- activating the internal voltage protection (IVP) with p1231 = 3.
Description: Sets the overvoltage protection for synchronous motors in the field-weakening range.
Value: 0: No measure
1: Voltage Protection Module (VPM)
Dependency: Refer to: p0316, p1082, r1082, p1231, p9601, p9801
Refer to: F07432, F07906, F07907
Notice: When the speed limiting is removed, the user is responsible for implementing a suitable overvoltage protection.
p0642[0...n] Encoderless operation current reduction / Encoderl op I_red
SERVO Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: -
0.00 [%] 100.00 [%] 100.00 [%]
p0643[0...n] Overvoltage protection for synchronous motors / Overvolt_protect
0 1 0
VECTOR (n/M) Can be changed: C2(3) Calculated: - Access level: 3
0 1 0
List of parameters
Parameters
Note: In the field-weakening range, synchronous motors can, when a fault condition exists, generate high DC link volt-
ages. The following possibilities exist to protect the drive system from being destroyed due to overvoltage:
Rotary motors: p1082 [rpm] <= 11.695 * r0297/p0316 [Nm/A]
Linear motors: p1082 [m/min] <= 73.484 *r0297/0316 [N/A]
- use a Voltage Protection Module (VPM) in conjunction with the function "Safe Torque Off" (p9601, p9801).
pressed - this means that the terminals for the function "Safe Torque Off" must be connected to the VPM.
- activating the internal voltage protection (IVP) with p1231 = 3.
Description: Sets the constant kT1 for the kT characteristic.
kT(iq) = kT1 + kT3 * iq^2 + kT5 * iq^4 + kT7 * iq^6
Note: For the standard setting, the value in p0316 is effective.
The value in p0316 is ignored and the kT characteristic is effective, if the following conditions are fulfilled:
- the function module "expanded torque control" has been activated (r0108 = 1).
- the kT characteristic has been activated (p1780.9 = 1).
p0645[0...n] Motor kT characteristic kT1 / Mot kT char kT1
SERVO (Exp M_ctrl,
Lin)
Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
SERVO (Exp M_ctrl) Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
0.00 [Nm/A] 200.00 [Nm/A] 0.00 [Nm/A]
- - -
Parameters
List of parameters
Description: Displays the operating hours for the corresponding motor.
The motor operating time counter continues to run when the pulses are enabled. When the pulse enable is with-
drawn, the counter is held and the value saved.
Dependency: The following prerequisites must be fulfilled in order to be able to save the operating hours counter in a non-volatile
fashion:
- firmware with V2.2 or higher.
- Control Unit 320 (CU320) with hardware version C or higher (module with NVRAM).
Refer to: p0651
Refer to: A01590
- - -
- - -
p0650[0...n] Actual motor operating hours / Mot t_oper act
0 [h] 4294967295 [h] 0 [h]
List of parameters
Parameters
Note: The operating hours counter in p0650 can only be reset to 0. In this case, p0651 is automatically set to 0.
For p0651 = 0, the operating hours counter is disabled.
The operating hours counter only runs with motor data set 0 and 1 (MDS).
Description: Sets the service/maintenance intervals in hours for the appropriate motor.
An appropriate fault is output when the operating hours set here are reached.
Refer to: A01590
Note: For p0651 = 0, the operating hours counter is disabled.
The operating hours counter only runs with motor data set 0 and 1 (MDS).
Description: Sets the factor to evaluate the stator resistance.
Description: Sets the factor to evaluate the stator leakage induction.
Description: Factor to evaluate the magnetizing inductance in the direction of the rotor axis (d axis).
p0651[0...n] Motor operating hours maintenance interval / Mot t_op maint
0 [h] 150000 [h] 0 [h]
p0652[0...n] Motor stator resistance, scaling / Mot R_stator scal
10.0 [%] 300.0 [%] 100.0 [%]
p0653[0...n] Motor stator leakage inductance, scaling / Mot L_S_leak scal
10.0 [%] 300.0 [%] 100.0 [%]
p0655[0...n] Motor magnetizing inductance, d axis saturated scaling / Mot L_m d sat scal
10.0 [%] 300.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Factor to evaluate the magnetizing inductance quadrature to the rotor axis (q axis).
Description: Factor to evaluate the damping inductance in the direction of the rotor axis (d axis).
Description: Factor to evaluate the damping inductance quadrature to the rotor axis (q axis).
Description: Factor to evaluate the damping resistance in the direction of the rotor axis (d axis).
Description: Factor to evaluate the damping resistance quadrature to the rotor axis (q axis).
p0656[0...n] Motor magnetizing inductance, q axis, saturated scaling / Mot L_m q sat scal
10.0 [%] 300.0 [%] 100.0 [%]
p0657[0...n] Motor damping inductance, d axis scaling / Mot L_damp d scal
10.0 [%] 300.0 [%] 100.0 [%]
p0658[0...n] Motor damping inductance, q axis scaling / Mot L_damp q scal
10.0 [%] 300.0 [%] 100.0 [%]
p0659[0...n] Motor damping resistance, d axis scaling / Mot R_damp d scal
10.0 [%] 300.0 [%] 100.0 [%]
p0660[0...n] Motor damping resistance, q axis scaling / Mot R_damp q scal
10.0 [%] 300.0 [%] 100.0 [%]
List of parameters
Parameters
Description: Sets the digital input used for the function "central measuring probe evaluation".
p0680[0]: Digital input, measuring probe 1
...
1: DI/DO 9 (X122.10/X121.8)
2: DI/DO 10 (X122.12/X121.10)
3: DI/DO 11 (X122.13/X121.11)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9/X121.7)
8: DI/DO 12 (X132.9)
Manual).
Prerequisite: The DI/DO must be set as input (p0728.x = 0).
used in p0488, p0489, p0493, p0494, p0495, p0580, p2517 or p2518.
Description: Sets the signal source for the synchronizing signal (SYN) of the function "central measuring probe evaluation".
The signal is used to synchronize the common system time between the master and slave.
Notice: The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
p0680[0...7] Central measuring probe, input terminal / Cen meas inp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 8 0
p0681 BI: Central measuring probe, synchronizing signal signal source /
Cen meas sync_sig
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
Parameters
List of parameters
Description: Sets the signal source for the control word of the function "central measuring probe evaluation".
Description: Sets the evaluation technique for the "central measuring probe evaluation" function.
Value: 0: Measurement with handshake
1: Measurement without handshake
Note: During measurement without a handshake, the probe may have a higher evaluation frequency.
The setting "Measurement without handshake" must be supported by the higher-level control. This setting cannot
be used for SIMOTION D with integrated SINAMICS or with CX32.
Description: Displays the control word for the function "central measuring probe evaluation".
p0682 CI: Central measuring probe, control word signal source / Cen meas STWS_src
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: -
- - 0
p0684 Central measuring probe evaluation technique / Cen meas eval_tech
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
r0685 Central measuring probe, control word display / Cen meas STW disp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Falling edge, measuring probe 1 Yes No -
08 Rising edge, measuring probe 1 Yes No -
List of parameters
Parameters
Description: Displays the measuring time for a rising edge at the digital input for the "central measuring probe evaluation" func-
tion.
The measuring time is specified as 16-bit value with a resolution of 0.25 s.
r0686[0]: Measuring time, rising edge measuring probe 1
Description: Displays the measuring time for a falling edge at the digital input for the "central measuring probe evaluation" func-
tion.
The measuring time is specified as 16-bit value with a resolution of 0.25 s.
r0687[0]: Measuring time, falling edge measuring probe 1
Description: Displays the status word for the function "central measuring probe evaluation".
r0686[0...7] CO: Central measuring probe, measuring time rising edge / CenMeas t_meas 0/1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r0687[0...7] CO: Central measuring probe, measuring time falling edge / CenMeas t_meas 1/0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r0688 CO: Central measuring probe, status word display / Cen meas ZSW disp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
The binector inputs of the corresponding command data set are appropriately interconnected.
Example:
p0700 = 6 --> macro file PM000006.ACX is run.
Notice: No errors were issued during quick commissioning (p3900 = 1) when writing to parameters of the QUICK_IBN
group!
software.
BI: Binector Input
CDS: Command Data Set
Example:
p0700 = 6 --> macro file PM000006.ACX is run.
00 Digital input, measuring probe 1 High Low -
08 Sub-sampling, measuring probe 1 High Low -
p0700[0...n] Macro Binector Input (BI) / Macro BI
A_INF, B_INF,
S_INF, SERVO,
VECTOR
Data type: Unsigned32 Dynamic index: CDS, p0170 Func. diagram: -
0 999999 0
p0700 Macro Binector Input (BI) for TMs / Macro BI TM
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
TB30, TM15DI_DO,
TM31
0 999999 0
List of parameters
Parameters
group!
software.
BI: Binector Input
CDS: Command Data Set
Description: Displays the actual value at the digital inputs.
This means that the actual input signal can be checked at terminal DI x or DI/DO x prior to switching from the simu-
lation mode (p0795.x = 1) to terminal mode (p0795.x = 0).
Note: If a DI/DO is parameterized as output (p0728.x = 1), then r0721.x = 0 is displayed.
DI: Digital Input
r0721 CX digital inputs, terminal actual value / CX DI actual value
CU_CX32 Can be changed: - Calculated: - Access level: 2
2231
- - -
00 DI 0 (X122.1) High Low -
01 DI 1 (X122.2) High Low -
02 DI 2 (X122.3) High Low -
03 DI 3 (X122.4) High Low -
08 DI/DO 8 (X122.9) High Low -
09 DI/DO 9 (X122.10) High Low -
10 DI/DO 10 (X122.12) High Low -
11 DI/DO 11 (X122.13) High Low -
16 DI 16 (X122.5) High Low -
17 DI 17 (X122.6) High Low -
r0721 CU digital inputs, terminal actual value / CU DI actual value
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - -
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
Parameters
List of parameters
DI: Digital Input
DI: Digital Input
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
r0721 CU digital inputs, terminal actual value / CU DI actual value
CU_S_CU310DP,
CU_S_CU310PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - -
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
18 DI 18 (-/X120.6) High Low -
19 DI 19 (-/X120.7) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
22 DI 22 (-/X130.1) High Low -
List of parameters
Parameters
Description: Displays the status of the digital inputs.
Note: DI: Digital Input
r0722.0...17 CO/BO: CX digital inputs, status / CX DI status
2231
- - -
00 DI 0 (X122.1) High Low -
01 DI 1 (X122.2) High Low -
02 DI 2 (X122.3) High Low -
03 DI 3 (X122.4) High Low -
09 DI/DO 9 (X122.10) High Low -
10 DI/DO 10 (X122.12) High Low -
11 DI/DO 11 (X122.13) High Low -
16 DI 16 (X122.5) High Low -
17 DI 17 (X122.6) High Low -
r0722.0...21 CO/BO: CU digital inputs, status / CU DI status
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - -
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
Parameters
List of parameters
Description: Displays the inverted status of the digital inputs.
r0722.0...22 CO/BO: CU digital inputs, status / CU DI status
CU_S_CU310DP,
CU_S_CU310PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - -
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
18 DI 18 (-/X120.6) High Low -
19 DI 19 (-/X120.7) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
22 DI 22 (-/X130.1) High Low -
r0723.0...17 CO/BO: CX digital inputs, status inverted / CX DI status inv
2230, 2231
- - -
00 DI 0 (X122.1) High Low -
01 DI 1 (X122.2) High Low -
02 DI 2 (X122.3) High Low -
03 DI 3 (X122.4) High Low -
09 DI/DO 9 (X122.10) High Low -
List of parameters
Parameters
10 DI/DO 10 (X122.12) High Low -
11 DI/DO 11 (X122.13) High Low -
16 DI 16 (X122.5) High Low -
17 DI 17 (X122.6) High Low -
r0723.0...21 CO/BO: CU digital inputs, status inverted / CU DI status inv
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - -
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
r0723.0...22 CO/BO: CU digital inputs, status inverted / CU DI status inv
CU_S_CU310DP,
CU_S_CU310PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - -
Parameters
List of parameters
Description: Sets the bidirectional digital inputs/outputs as an input or output.
Description: Sets the bidirectional digital inputs/outputs as an input or output.
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
18 DI 18 (-/X120.6) High Low -
19 DI 19 (-/X120.7) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
22 DI 22 (-/X130.1) High Low -
p0728 CX set input or output / CX DI or DO
CU_CX32 Can be changed: T Calculated: - Access level: 1
2231
- - 0000 0000 0000 0000 bin
08 DI/DO 8 (X122.9) Output Input 2230
p0728 CU, set input or output / CU DI or DO
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2031, 2130, 2131, 2132, 2133
- - 0000 0000 0000 0000 bin
08 DI/DO 8 (X122.9/X121.7) Output Input -
List of parameters
Parameters
Description: Displays the access authority at the digital outputs.
Bit = 1:
The control has access authority to the digital output via PROFIBUS or direct access.
Bit = 0:
The drive has access authority to the digital output or the digital input/output is not set as digital output or is not
available.
Dependency: Refer to: p0728, p0738, p0739, p0740, p0741, p0742, p0743, p0744, p0745, r0747, p0748
Note: The DI/DO must be connected as output (p0728).
Bit = 1:
Bit = 0:
available.
r0729 CX digital outputs access authority / CX DO acc_auth
2130, 2131, 2132, 2133
- - -
09 DI/DO 9 (X122.10) High Low -
10 DI/DO 10 (X122.12) High Low -
11 DI/DO 11 (X122.13) High Low -
r0729 CU digital outputs access authority / CU DO acc_auth
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2130, 2131, 2132, 2133
- - -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
Parameters
List of parameters
Bit = 1:
Bit = 0:
available.
Description: Sets the signal source for terminal DI/DO 8 (X122.7).
Note: Prerequisite: The DI/DO must be set as an output (p0728.8 = 1).
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
r0729 CU digital outputs access authority / CU DO acc_auth
CU_S_CU310DP,
CU_S_CU310PN
2130, 2131, 2132, 2133
- - -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DO 16 (-/X130.7, 8) High Low -
p0738 BI: CX signal source for terminal DI/DO 8 / CX S_src DI/DO 8
CU_CX32 Can be changed: U, T Calculated: - Access level: 1
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2230
- - 0
List of parameters
Parameters
p0738 BI: CU, signal source for terminal DI/DO 8 / CU S_src DI/DO 8
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 1510, 2030,
2130
- - 0
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Data type: Unsigned32 / Binary Dynamic index: - Func. diagram: 2030, 2130
- - 0
- - 0
Parameters
List of parameters
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2131
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
List of parameters
Parameters
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
Parameters
List of parameters
Description: Sets the signal source for terminal DO 16.
Note: DO: Digital Output
Description: Displays the status of digital outputs.
Note: Inversion using p0748 has been taken into account.
p0746 BI: CU signal source for terminal DO 16 / CU S_src DO 16
CU_S_CU310DP,
CU_S_CU310PN
2130
- - 0
r0747 CX digital outputs, status / CX DO status
- - -
09 DI/DO 9 (X122.10) High Low -
10 DI/DO 10 (X122.12) High Low -
11 DI/DO 11 (X122.13) High Low -
r0747 CU, digital outputs status / CU DO status
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2132, 2133
- - -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
List of parameters
Parameters
Description: Setting to invert the signals at the digital outputs.
Notice: If telegram 39x is set via p0922 in SINAMICS Integrated, the inversion of the output has no effect.
To the terminal designation:
r0747 CU, digital outputs status / CU DO status
CU_S_CU310DP,
CU_S_CU310PN
2132, 2133
- - -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DO 16 (-/X130.7, 8) High Low -
p0748 CX invert digital outputs / CX DO inv
- - 0000 0000 0000 0000 bin
p0748 CU, invert digital outputs / CU DO inv
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2130, 2131, 2132, 2133
- - 0000 0000 0000 0000 bin
08 DI/DO 8 (X122.9/X121.7) Inverted Not inverted -
Parameters
List of parameters
Description: Displays the actual input voltage in V when set as voltage input.
Displays the actual input current in mA when set as current input and with the load resistor switched in.
Index: [0] = AI0 (X131.7, 8)
Dependency: The type of analog input AI 0 (voltage or current input) is set using p0756.
Refer to: p0756
Note: AI: Analog Input
p0748 CU, invert digital outputs / CU DO inv
CU_S_CU310DP,
CU_S_CU310PN
2130, 2131, 2132, 2133
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
16 DO 16 (-/X130.7, 8) Inverted Not inverted -
r0752[0] CO: CU analog input, input voltage actual / CU AI U_input act
CU_S_CU310DP,
CU_S_CU310PN
- - -
List of parameters
Parameters
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog input.
Index: [0] = AI0 (X131.7, 8)
Description: Displays the currently referred input value of the analog input of the CU310-2.
When interconnected, the signals are referred to the reference quantities p200x and p205x.
Index: [0] = AI0 (X131.7, 8)
Description: Sets the type of analog inputs of the CU310-2.
p0756[x] = 0, 4 corresponds to a voltage input (r0752, p0757, p0759 are displayed in V).
p0756[x] = 2, 3, 5 corresponds to a current input (r0752, p0757, p0759 are displayed in mA).
In addition, the associated DIP switch S1200 must be set. For a voltage input, S1200.1 must be switched to setting
"BL". For a current input, S1200.1 must be switched to the "ON" setting (load resistor = 250 Ohm is switched in).
Value: 0: Unipolar voltage input (0 V ... +10 V)
4: Bipolar voltage input (-10 V ... +10 V)
5: Bipolar current input (-20 mA to +20 mA)
Index: [0] = AI0 (X131.7, 8)
Warning: The maximum voltage difference between analog input terminals AI+, AI-, and the ground must not exceed 35 V
(X131.3, X131.6).
For operation with the load resistor switched in, the voltage between the differential inputs AI+ and AI- may not
exceed 12.50 V or the impressed current of 60 mA; if this is not carefully observed, the input will be damaged.
Notice: For use as voltage input, DIP switch S1200 must be set to 0 for the input involved (0).
DIP switch S1200 is located on the front panel, below the BOP cover.
Note: When changing p0756 , the parameters of the scaling characteristic (p0757, p0758, p0759, p0760) are overwritten
with the following default values:
For p0756 = 0, 4, p0757 is set to 0.0 V, p0758 = 0.0 %, p0759 = 10.0 V and p0760 = 100.0 %.
For p0756 = 2, 5, p0757 is set to 0.0 mA, p0758 = 0.0 %, p0759 = 20.0 mA and p0760 = 100.0 %.
For p0756 = 3, p0757 is set to 4.0 mA, p0758 = 0.0 %, p0759 = 20.0 mA and p0760 = 100.0 %.
p0753[0] CU analog input smoothing time constant / CU AI T_smooth
CU_S_CU310DP,
CU_S_CU310PN
0.0 [ms] 1000.0 [ms] 0.0 [ms]
r0755[0] CO: CU analog input actual value in percent / CU AI value in %
CU_S_CU310DP,
CU_S_CU310PN
- [%] - [%] - [%]
p0756[0] CU analog input type / CU AI type
CU_S_CU310DP,
CU_S_CU310PN
0 5 4
Parameters
List of parameters
Description: Sets the scaling characteristic for the analog input of the CU310-2.
The scaling characteristic for the analog input is defined using 2 points.
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 1st value pair of the char-
acteristic.
Index: [0] = AI0 (X131.7, 8)
Dependency: The unit of this parameter (V or mA) depends on the analog input type.
Refer to: p0756
Notice: This parameter is automatically overwritten when the analog input type (p756) is modified.
Note: The parameters for the characteristic do not have a limiting effect.
The scaling characteristic for the analog inputs is defined using 2 points.
This parameter specifies the y coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AI0 (X131.7, 8)
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 2nd value pair of the
characteristic.
Index: [0] = AI0 (X131.7, 8)
Refer to: p0756
p0757[0] CU analog input characteristic value x1 / CU AI char x1
CU_S_CU310DP,
CU_S_CU310PN
-20.000 20.000 0.000
p0758[0] CU analog input characteristic value y1 / CU AI char y1
CU_S_CU310DP,
CU_S_CU310PN
-1000.00 [%] 1000.00 [%] 0.00 [%]
p0759[0] CU analog input characteristic value x2 / CU AI char x2
CU_S_CU310DP,
CU_S_CU310PN
-20.000 20.000 10.000
List of parameters
Parameters
This parameter specifies the y coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AI0 (X131.7, 8)
Description: Sets the response threshold for the wire breakage monitoring of the analog input.
The unit for the parameter value depends on the set analog input type.
Index: [0] = AI0 (X131.7, 8)
Dependency: For the following analog input type, the wire breakage monitoring is active:
p0756[0...1] = 1 (unipolar voltage input monitored (+2 V ... +10 V)), unit [V]
p0756[0...2] = 3 (unipolar current input monitored (+4 mA ... +20 mA)), unit [mA]
p0756[3]: Wire breakage monitoring is not supported for this analog input.
Refer to: p0756
Description: Sets the delay time for the wire breakage monitoring of the analog input of the CU310-2.
Index: [0] = AI0 (X131.7, 8)
Description: Sets the offset for the analog input.
The offset is added to the input signal before the scaling characteristic.
p0760[0] CU analog input characteristic value y2 / CU AI char y2
CU_S_CU310DP,
CU_S_CU310PN
-1000.00 [%] 1000.00 [%] 100.00 [%]
p0761[0] CU analog input wire breakage monitoring response threshold / CU WireBrkThresh
CU_S_CU310DP,
CU_S_CU310PN
0.00 [mA] 20.00 [mA] 2.00 [mA]
p0762[0] CU analog input wire breakage monitoring delay time / CU wire brk t_del
CU_S_CU310DP,
CU_S_CU310PN
0 [ms] 1000 [ms] 100 [ms]
p0763[0] CU analog input offset / CU AI offset
CU_S_CU310DP,
CU_S_CU310PN
-20.000 20.000 0.000
Parameters
List of parameters
Index: [0] = AI0 (X131.7, 8)
Description: Activates the absolute value generation of the analog input signal.
Value: 0: No absolute value generation
1: Absolute value generation switched in
Index: [0] = AI0 (X131.7, 8)
Description: Sets the signal source to invert the analog input signals.
Index: [0] = AI0 (X131.7, 8)
Description: Sets the noise suppression window for the analog input.
Changes less than the window are suppressed.
Index: [0] = AI0 (X131.7, 8)
Description: Sets the signal source to enable the analog input.
Index: [0] = AI0 (X131.7, 8)
p0766[0] CU analog input activate absolute value generation / CU AI absVal act
CU_S_CU310DP,
CU_S_CU310PN
0 1 0
p0767[0] BI: CU analog input signal source for inversion / CU AI inv S_src
CU_S_CU310DP,
CU_S_CU310PN
- - 0
p0768[0] CU analog input window to suppress noise / CU AI window
CU_S_CU310DP,
CU_S_CU310PN
0.00 [%] 20.00 [%] 0.00 [%]
p0769[0] BI: CU analog input signal source for enable / CU AI enable
CU_S_CU310DP,
CU_S_CU310PN
- - 1
List of parameters
Parameters
Description: Sets the signal source for the signal to be output at the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Can only be set when p0776 = 99.
Refer to: r0772, r0774, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786
Description: Displays the actual value of the signal to be output.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0774, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786
Description: Displays the actual output voltage for the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0772, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786
p0771[0...2] CI: Test sockets signal source / Test skt S_src
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
Data type: Unsigned32 / Integer16 Dynamic index: - Func. diagram: 8134
- - 0
r0772[0...2] Test sockets output signal / TestSktsSignalVal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
r0774[0...2] Test sockets output voltage / TestSkts U_output
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [V] - [V] - [V]
Parameters
List of parameters
Description: Sets the mode for the test sockets.
Value: 96: Physical address (32-bit integer signal unsigned)
97: Physical address (32-bit integer signal)
98: Physical address (32-bit floating-point signal)
99: BICO signal
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0772, r0774, p0777, p0778, p0779, p0780, p0783, p0784, r0786, p0788, p0789, r0790
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the x coordinate
(percentage) of the first point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0778, p0779, p0780, r0786
Note: The value 0.00 % corresponds to 2.49 V.
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the y coordinate
(output voltage) of the first point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0777, p0779, p0780, r0786
p0776[0...2] Test socket mode / Test skt mode
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
96 99 99
p0777[0...2] Test socket characteristic value x1 / Test skt char x1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-100000.00 [%] 100000.00 [%] 0.00 [%]
p0778[0...2] Test socket characteristic value y1 / Test skt char y1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [V] 4.98 [V] 2.49 [V]
List of parameters
Parameters
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the x coordinate
(percentage) of the second point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0777, p0778, p0780, r0786
Note: The value 100.00 % corresponds to 4.98 V.
Description: The scaling characteristic for the test sockets is defined using two points. This parameter specifies the y coordinate
(output voltage) of the second point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0777, p0778, p0779, r0786
Description: Sets an additional offset for the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
p0779[0...2] Test socket characteristic value x2 / Test skt char x2
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-100000.00 [%] 427.9E9 [%] 100.00 [%]
p0780[0...2] Test socket characteristic value y2 / Test skt char y2
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [V] 4.98 [V] 4.98 [V]
p0783[0...2] Test sockets offset / Test skt offset
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-4.98 [V] 4.98 [V] 0.00 [V]
Parameters
List of parameters
Description: Sets the limit for a signal to be output via test sockets.
Value: 0: Limiting off
1: Limiting on
Index: [0] = T0
[1] = T1
[2] = T2
Note: Limiting on:
If signals are output outside the permissible measuring range, the signal is limited to 4.98 V or to 0 V.
Limiting off:
If signals are output outside the permissible measuring range, this causes signal overflow. In the case of signal
overflow, the signal jumps from 0 V to 4.98 V or from 4.98 V to 0 V.
Description: Displays the scaling of the signal to be output. A change in the output voltage by 1 volt corresponds to the value in
this parameter. The units are determined by the interconnected test signal.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0772, r0774, p0777, p0778, p0779, p0780, p0783, p0784
Note: Example:
r0786[0] = 1500.0 and the measuring signal is r0063 (CO: Actual speed smoothed [rpm]).
A change of 1 V at the output of test socket T0 corresponds to 1500.0 [rpm].
Description: Sets the physical address to output signals via the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
p0784[0...2] Test socket limit on/off / TestSktLim on/off
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
r0786[0...2] Test socket scaling per volt / TestSktScale/Volt
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p0788[0...2] Test sockets physical address / Test skt PhyAddr
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
List of parameters
Parameters
Dependency: Changes only become effective if p0776 does not equal 99.
Description: Sets the gain of a signal output of a physical address via test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Changes only become effective if p0776 does not equal 99.
Refer to: p0788
Description: Displays the actual value of a signal determined via a physical address.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Only effective when p0776 = 97 or p0776 = 96.
Refer to: p0788
Description: Sets the simulation mode for digital inputs.
p0789[0...2] Test sockets physical address gain / TestSktPhyAddrGain
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-340.28235E36 340.28235E36 1.00000
r0790[0...2] Test sockets physical address signal value / TestSktsPhyAddrVal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p0795 CX digital inputs, simulation mode / CX DI simulation
2231
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 DI 0 (X122.1) Simulation Terminal eval. -
08 DI/DO 8 (X122.9) Simulation Terminal eval. -
Parameters
List of parameters
Dependency: The setpoint for the input signals is specified using p0796.
Notice: If a digital input is used as signal source for the function "STO" (BI: p9620) then it is not permissible to select the
simulation mode and this is rejected.
Note: This parameter is not saved when data is backed-up (p0971, p0977).
DI: Digital Input
The first designation stands for CU320, the second for CU310.
DI: Digital Input
p0795 CU digital inputs simulation mode / CU DI simulation
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 DI 0 (X122.1/X121.1) Simulation Terminal eval. -
08 DI/DO 8 (X122.9/X121.7) Simulation Terminal eval. -
List of parameters
Parameters
The first designation stands for CU320, the second for CU310.
DI: Digital Input
Description: Sets the setpoint for the input signals in the digital input simulation mode.
p0795 CU digital inputs simulation mode / CU DI simulation
CU_S_CU310DP,
CU_S_CU310PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
18 DI 18 (-/X120.6) Simulation Terminal eval. -
p0796 CX digital inputs, simulation mode, setpoint / CX DI simul setp
2031
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 DI 0 (X122.1) High Low -
01 DI 1 (X122.2) High Low -
02 DI 2 (X122.3) High Low -
03 DI 3 (X122.4) High Low -
Parameters
List of parameters
Dependency: The simulation of a digital input is selected using p0795.
Refer to: p0795
DI: Digital Input
Refer to: p0795
DI: Digital Input
09 DI/DO 9 (X122.10) High Low -
10 DI/DO 10 (X122.12) High Low -
11 DI/DO 11 (X122.13) High Low -
16 DI 16 (X122.5) High Low -
17 DI 17 (X122.6) High Low -
p0796 CU digital inputs simulation mode setpoint / CU DI simul setp
CU_I,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
List of parameters
Parameters
Refer to: p0795
DI: Digital Input
Description: Sets the simulation mode for the analog input of the CU310-2.
Value: 0: No simulation mode for analog input x
1: Simulation mode for analog input x
Index: [0] = AI0 (X131.7, 8)
Dependency: The setpoint for the input voltage is specified via p0798.
Refer to: p0798
AI: Analog Input
p0796 CU digital inputs simulation mode setpoint / CU DI simul setp
CU_S_CU310DP,
CU_S_CU310PN
2030, 2031, 2100, 2120, 2130,
2131, 2132, 2133
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
08 DI/DO 8 (X122.9/X121.7) High Low -
09 DI/DO 9 (X122.10/X121.8) High Low -
10 DI/DO 10 (X122.12/X121.10) High Low -
11 DI/DO 11 (X122.13/X121.11) High Low -
12 DI/DO 12 (X132.9/X131.1) High Low -
13 DI/DO 13 (X132.10/X131.2) High Low -
14 DI/DO 14 (X132.12/X131.4) High Low -
15 DI/DO 15 (X132.13/X131.5) High Low -
16 DI 16 (X122.5/X120.3) High Low -
17 DI 17 (X122.6/X120.4) High Low -
18 DI 18 (-/X120.6) High Low -
19 DI 19 (-/X120.7) High Low -
20 DI 20 (X132.5/X120.9) High Low -
21 DI 21 (X132.6/X120.10) High Low -
22 DI 22 (-/X130.1) High Low -
p0797[0] CU analog input simulation mode / CU AI sim_mode
CU_S_CU310DP,
CU_S_CU310PN
0 1 0
Parameters
List of parameters
Description: Sets the setpoint for the input value in the simulation mode of the analog input of the CU310-2.
Index: [0] = AI0 (X131.7, 8)
Dependency: The simulation of an analog input is selected using p0797.
If AI x is parameterized as a voltage input (p0756), the setpoint is a voltage in V.
If AI x is parameterized as a current input (p0756), the setpoint is a current in mA.
AI: Analog Input
Description: Sets the sampling time for the inputs and outputs of the Control Unit.
Index: [0] = Digital inputs/outputs (DI/DO)
[1] = Not available - analog inputs (AI)
[2] = Not available - analog outputs (AO)
Dependency: The parameter can only be modified for p0009 = 3, 29.
Refer to: p0009
Note: The changed sampling time is immediately effective after a completed sub-boot (p0009 -> 0).
[1] = Not available - analog inputs (AI)
[2] = Not available - analog outputs (AO)
Refer to: p0009
p0798[0] CU analog input simulation mode setpoint / CU AI sim setp
CU_S_CU310DP,
CU_S_CU310PN
-20.000 20.000 0.000
p0799[0...2] CX inputs/outputs, sampling time / CX I/O t_sampl
CU_CX32 Can be changed: C1(3) Calculated: - Access level: 3
2031
0.00 [s] 5000.00 [s] 4000.00 [s]
p0799[0...2] CU inputs/outputs, sampling time / CU I/O t_sampl
CU_I Can be changed: C1(3) Calculated: - Access level: 3
2031
0.00 [s] 5000.00 [s] 4000.00 [s]
List of parameters
Parameters
[1] = Analog inputs (AI)
[2] = Analog outputs (AO)
Refer to: p0009
Notice: The sampling times entered in index 0 (digital inputs/outputs) and index 2 (analog outputs) must always be greater
than or equal to the sampling time in index 1 (analog inputs).
Note: - the modified sampling time is not effective until the drive unit is powered up again.
- Parameter p0799[0] must never equal zero.
Description: Sets the signal source to block the master control.
Note: The master control is used from the commissioning software (drive control panel) and from the Advanced Operator
Panel (AOP, LOCAL mode).
Description: Displays what has the master control.
The drive can be controlled via the BICO interconnection or from external (e.g. the commissioning software).
Notice: The master control only influences control word 1 and speed setpoint 1. Other control words/setpoints can be trans-
ferred from another automation device.
Note: Bit 0 = 0: BICO interconnection active
Bit 0 = 1: Master control for PC/AOP
The master control is used from the commissioning software (drive control panel) and from the Advanced Operator
Panel (AOP, LOCAL mode).
p0799[0...2] CU inputs/outputs, sampling time / CU I/O t_sampl
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2031
0.00 [s] 5000.00 [s] 4000.00 [s]
p0806 BI: Inhibit master control / PcCtrl inhibit
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - 0
r0807.0 BO: Master control active / PcCtrl active
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
00 Master control active Yes No 5030,
6031
Parameters
List of parameters
Description: Copies one Command Data Set (CDS) into another.
Index: [0] = Source Command Data Set
[1] = Target Command Data Set
Note: Procedure:
1. In Index 0, enter which command data set should be copied.
2. In Index 1, enter the command data set that is to be copied into.
Description: Sets the signal source to select the Command Data Set bit 0 (CDS bit 0).
Note: The Command Data Set selected using the binector inputs is displayed in r0836.
The currently effective command data set is displayed in r0050.
A Command Data Set can be copied using p0809.
Description: Sets the signal source to select the Command Data Set bit 1 (CDS bit 1).
Note: The Command Data Set selected using the binector inputs is displayed in r0836.
A Command Data Set can be copied using p0809.
Description: Copies one Drive Data Set (DDS) into another.
p0809[0...2] Copy Command Data Set CDS / Copy CDS
0 15 0
p0810 BI: Command data set selection CDS bit 0 / CDS select., bit 0
- - 0
p0811 BI: Command data set selection CDS bit 1 / CDS select., bit 1
- - 0
p0819[0...2] Copy Drive Data Set DDS / Copy DDS
SERVO, TM41, VEC-
TOR
0 31 0
List of parameters
Parameters
Index: [0] = Source Drive Data Set
[1] = Target Drive Data Set
Note: Procedure:
1. In Index 0, enter which drive data set is to be copied.
2. In Index 1, enter the drive data set data that is to be copied into.
Description: Sets the signal source to select the Drive Data Set, bit 0 (DDS, bit 0).
p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0
SERVO, TM41, VEC-
TOR
Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 8565, 8575
- - 0
SERVO, TM41, VEC-
TOR
Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 8565
- - 0
SERVO, TM41, VEC-
TOR
- - 0
SERVO, TM41, VEC-
TOR
- - 0
Parameters
List of parameters
Description: Sets the freely-assignable motor number for the motor changeover.
Caution: When changing over motor data sets with the same motor number (e.g. star-delta changeover) and for a motor with
brake, the motor brake remains open during the changeover.
Note: When the motor data sets are changed over, the following applies:
The same motor number signifies the same thermal model.
Description: Sets the freely-assignable motor number for the motor changeover.
Caution: When changing over motor data sets with the same motor number (e.g. star-delta changeover) and for a motor with
brake, the motor brake remains open during the changeover.
Note: When the motor data sets are changed over, the following applies:
The same motor number signifies the same thermal model.
For the same motor number, the correction values of the Rs, Lh or kT adaptation are applied for the data set
changeover (refer to r1782, r1787, r1797).
Description: Sets the bit number for every motor data set.
Example:
p0827[0] = 0: For MDS0, r0830.0 is switched.
p0827[1] = 5: For MDS1, r0830.5 is switched.
SERVO, TM41, VEC-
TOR
- - 0
p0826[0...n] Motor changeover, motor number / Mot_chng mot No.
0 15 0
0 15 0
p0827[0...n] Motor changeover status word bit number / Mot_chg ZSW bitNo.
0 15 0
List of parameters
Parameters
Note: A motor is only changed over (a new motor selected) after the pulses have been suppressed.
When the motor data sets are changed over, the following applies:
Bit numbers that are not identical, signify that the motor must be changed over.
Description: Sets the signal source for the feedback signal when changing over the motor.
For p0833.0 = 1 the following applies:
This feedback signal (0/1 edge) is required after a motor changeover to enable the pulses.
Description: Displays the status word of the motor changeover.
These signals can be connected to digital outputs to change over the motor.
Description: Sets the signal source for the feedback signal of the contactors when changing over motors.
There is a fixed inter-relationship between energizing the contactor and the feedback signal.
p0828[0...n] BI: Motor changeover, feedback signal / Mot_chng fdbk sig
- - 0
r0830.0...15 CO/BO: Motor changeover, status word / Mot_chngov ZSW
- - -
00 Motor selection, bit 0 High Low -
p0831[0...15] BI: Motor changeover, contactor feedback / Mot_chg cont fdbk
- - 0
Parameters
List of parameters
Example:
A changeover is to be made between MDS0 (motor 0) and MDS1 (motor 1). The contactors should be switched
using bit 4 (contactor 0) and 5 (contactor 1). The changeover should be made with an interconnection of the feed-
back signal.
Implementation:
MDS0: p0827[0] = 4, interconnect output to switch contactor 0 to r0830.4, p0831[4] = "input, feedback signal, con-
tactor 0"
MDS1: p0827[1] = 5, interconnect output to switch contactor 1 to r0830.5, p0831[5] = "input, feedback signal, con-
tactor 1"
The following sequence applies when changing over from MDS0 to MDS1:
1. The status bit r0830.4 is deleted. When the feedback signal (p0831[4]) is connected, the system waits until the
feedback signal "contactor open" is displayed. If the feedback signal is not connected, then the system waits for the
switch-off interlocking time of 320 ms.
2. The status bit r0830.5 is set. If the feedback signal (p0831[5]) is connected, the system waits until the feedback
signal "contactor closed" is displayed. If the feedback signal is not connected, then the system waits for the switch-
on interlocking time of 160 ms.
Index: [0] = Feedback signal contactor 0
[1] = Feedback signal contactor 1
Description: Displays the status word of the contactor feedback signals when changing over a motor.
r0832.0...15 CO/BO: Mot. changeover, contactor feedback sig. status word / Mot_chng fdbk ZSW
- - -
00 Feedback signal contactor 0 Closed Opened -
List of parameters
Parameters
Description: Sets the configuration for the motor and encoder changeover.
Note: Re bit 00:
When the bit is set and the motor has to be changed over, then p0827 must be set differently in the appropriate
motor data sets.
Re bit 02:
The bit defines whether, for an EDS changeover, the status signal Gn_ZSW.14 is suppressed (parking encoder
active).
Description: Sets the configuration for the motor and encoder changeover.
Note: Re bit 00:
When the bit is set and the motor has to be changed over, then p0827 must be set differently in the appropriate
motor data sets.
Re bit 02:
The bit defines whether, for an EDS changeover, the status signal Gn_ZSW.14 is suppressed (parking encoder
active).
Re motor changeover to running motor:
The "flying restart" function should also be activated (p1200) when changing over to a motor that is already running.
Description: Displays the status word for the drive data set changeover.
p0833 Data set changeover configuration / DS_chng config
- - 0000 bin
00 Contactor changeover from the applica-
tion/drive
application Drive -
01 Pulse suppression by application/drive application Drive -
02 Suppress drive parking for EDS changeover Yes No -
p0833 Data set changeover configuration / DS_chng config
- - 0010 bin
00 Contactor changeover from the applica-
tion/drive
application Drive -
01 Pulse suppression by application/drive application Drive -
02 Suppress drive parking for EDS changeover Yes No -
r0835.2 CO/BO: Data set changeover status word / DDS_ZSW
ENCODER, TM41 Can be changed: - Calculated: - Access level: 2
- - -
02 Internal parameter calculation active Yes No -
Parameters
List of parameters
Note: Re bit 02:
A data set changeover is delayed by the time required for the internal parameter calculation.
Description: Displays the status word for the drive data set changeover.
Note: This parameter is only supplied with up-to-date values if data set changeover has been selected or is running.
Re bit 00:
The signal is only influenced when a motor changeover is set via p0827 (unequal bit numbers).
Re bit 01:
The signal is only influenced when an encoder changeover is set via p0187, p0188, or p0189.
Re bit 02:
A data set changeover is delayed by the time required for the internal parameter calculation.
Re bit 04:
A data set changeover is only carried out when the armature short circuit is not activated.
Re bit 05:
A data set changeover is only carried out when pole position identification, encoder adjustment, motor data identifi-
cation, and rotating measurement are not running.
A data set changeover is only carried out when pole position identification is not running.
Re bit 06:
A data set changeover is only carried out when the friction characteristic record is not running.
Re bit 07 (VECTOR only):
A data set changeover is only carried out when rotating measurement is not running.
Re bit 08 (VECTOR only):
A data set changeover is only carried out when motor data identification is not running.
Re bit 10:
A motor changeover is set with p0833.1 = 1. It can only be carried out when the application performs pulse suppres-
sion.
Re bit 11:
A motor changeover is set with p0833.0 = 1. The pulses are only enabled when the "Motor changeover feedback"
signal is detected.
r0835.0...11 CO/BO: Data set changeover status word / DDS_ZSW
- - -
00 Motor changeover active Yes No 8575
01 Encoder changeover active Yes No -
02 Internal parameter calculation active Yes No -
04 Armature short circuit active Yes No -
05 Identification running Yes No -
06 Friction characteristic record running Yes No -
07 Rotating measurement running Yes No -
08 Motor data identification running Yes No -
10 Wait for pulse suppression Yes No -
11 Wait for motor changeover feedback signal Yes No -
List of parameters
Parameters
Description: Displays the command data set (CDS) selected via the binector input.
Note: Command data sets are selected via binector input p0810 and following.
Description: Displays the drive data set (DDS) selected via the binector input.
Dependency: Refer to: r0051, p0820, p0821, p0822, p0823, p0824
Note: Drive data sets are selected via binector input p0820 and following.
The currently effective drive data set is displayed in r0051.
If there is only one data set, then a value of 0 is displayed in this parameter and not the selection via binector inputs.
Description: Displays the selected Motor Data Set (MDS) and the selected Encoder Data Sets (EDS).
Index: [0] = Motor Data Set MDS selected
[1] = Encoder 1 Encoder Data Set EDS selected
Dependency: Refer to: r0049, p0186, p0187, p0188, p0189
Note: Value 99 means the following: No encoder assigned (not configured).
r0836.0...3 CO/BO: Command Data Set CDS selected / CDS selected
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - -
00 CDS select. bit 0 ON OFF -
r0837.0...4 CO/BO: Drive Data Set DDS selected / DDS selected
ENCODER, SERVO,
TM41, VECTOR
- - -
00 DDS select. bit 0 ON OFF -
r0838[0...3] Motor/Encoder Data Set selected / MDS/EDS selected
- - -
Parameters
List of parameters
Description: Sets the delay time for the contactor control for the motor changeover.
Note: The delay time is taken into account in the following cases:
- for feedback signal, previous contactor "Open". The new motor contactor is controlled (energized) after the delay
time has expired.
- for the feedback signal, new motor contactor "Closed". The pulses are enabled after the delay time has expired.
Description: Sets the signal source for the command "ON/OFF (OFF1)".
For the PROFIdrive profile, this command corresponds to control word 1 bit 0 (STW1.0).
Recommend.: When the setting for this binector input is changed, the motor can only be switched on by means of an appropriate
signal change of the source.
Caution: When "master control from PC" is activated, this binector input is ineffective.
Notice: For binector input p0840 = 0 signal, the motor can be moved, jogging using binector input p1055 or p1056.
The command "ON/OFF (OFF1)" can be issued using binector input p0840 or p1055/p1056.
For binector input p0840 = 0 signal, the switch-on inhibit is acknowledged.
Only the signal source that originally powered up can also power down again.
The parameter may be protected as a result of p0922 or p2079 and cannot be changed.
Note: For drives with closed-loop speed control (p1300 = 20, 21), the following applies:
- BI: p0840 = 0 signal: OFF1 (braking with the ramp-function generator, then pulse suppression)
For drives with closed-loop torque control (p1300 = 22, 23), the following applies:
- BI: p0840 = 0 signal: immediate pulse cancellation
For drives with closed-loop torque control (activated using p1501), the following applies:
- BI: p0840 = 0 signal: No dedicated braking response, but pulse suppression when standstill is detected (p1226,
p1227)
For drives with closed-loop speed/torque control, the following applies:
- BI: p0840 = 0/1 signal: ON (pulses can be enabled)
For active infeeds (Active Line Module and Smart Line Module) the following applies:
- BI: p0840 = 0 signal: OFF1 (reduce Vdc along the ramp, then pulse suppression and pre-charging contactor/line
contactor open)
- BI: p0840 = 0/1 signal: ON (pre-charging contactor/line contactor close, pulses can be enabled)
For passive infeeds (Basic Line Module) the following applies:
- BI: p0840 = 0 signal: OFF1 (pre-charging contactor/line contactor open)
- BI: p0840 = 0/1 signal: ON (pre-charging contactor/line contactor close)
r0863.1 of a drive can also be selected as signal source.
p0839 Motor changeover contactor control delay time / Mot_chg ctrl t_del
0 [ms] 500 [ms] 0 [ms]
p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)
A_INF, B_INF,
S_INF, SERVO,
VECTOR
Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: 2501, 2610,
8720, 8820, 8920
- - 0
List of parameters
Parameters
Description: Sets the signal source for the command "ON/OFF (OFF1)".
Notice: Only the signal source that originally powered up can also power down again.
Note: BI: p0840 = 0 signal: OFF1 (pulse cancellation and switch-on inhibit)
BI: p0840 = 0/1 signal: ON (pulses can be enabled)
This parameter has no function in the "SINAMICS" (p4400 = 1) operating mode.
Description: Sets the first signal source for the command "No coast down/coast down (OFF2)".
The following signals are AND'ed:
- BI: p0844 "No coast-down / coast-down (OFF2) signal source 1"
For the PROFIdrive profile, the result of the AND logic operation corresponds to control word 1 bit 1 (STW1.1).
BI: p0844 = 0 signal or BI: p0845 = 0 signal
- OFF2 (immediate pulse suppression and switch on inhibit)
BI: p0844 = 1 signal and BI: p0845 = 1 signal
- No OFF2 (enable is possible)
Note: For Active Line Modules, Smart Line Modules and binector input p0844 = 0 signal or p0845 = 0 signal, the following
applies:
- pre-charging contactor/line contactor is additionally opened.
p0840 BI: ON / OFF (OFF1) / ON / OFF (OFF1)
- - 0
p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8820, 8920
- - 1
Parameters
List of parameters
Description: Sets the signal source for the command "No coast down/coast down (OFF2)".
BI: p0844 = 0 signal
Note: This parameter has no function in the "SINAMICS" (p4400 = 1) operating mode.
Description: Sets the second signal source for the command "No coast down/coast down (OFF2)".
Caution: When "master control from PC" is activated, this binector input is effective.
Note: For Active Line Modules, Smart Line Modules and binector input p0844 = 0 signal or p0845 = 0 signal, the following
applies:
- pre-charging contactor/line contactor is additionally opened.
Description: Sets the first signal source for the command "No quick stop/quick stop (OFF3)".
p0844 BI: No coast-down / coast-down (OFF2) / OFF2
- - 1
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8820, 8920
- - 1
p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1
- - 1
List of parameters
Parameters
- BI: p0848 "No quick stop / quick stop (OFF3) signal source 1"
- OFF3 (braking along the OFF3 ramp (p1135), then pulse suppression and switch on inhibit)
Description: Sets the first signal source for the command "No quick stop/quick stop (OFF3)".
Description: Sets the second signal source for the command "No quick stop/quick stop (OFF3)".
Caution: When "master control from PC" is activated, this binector input is effective.
p0848 BI: No Quick Stop / Quick Stop (OFF3) / OFF3
- - 1
- - 1
Parameters
List of parameters
Description: Sets the signal source for the command "enable operation/inhibit operation".
Inhibit operation (suppress pulses).
Enable operation (pulses can be enabled).
Description: Sets the signal source for the command "enable operation/inhibit operation".
Inhibit operation (suppress pulses).
Enable operation (pulses can be enabled).
Description: Sets the signal source for the command "control by PLC/no control by PLC".
No control by PLC
p0852[0...n] BI: Enable operation/inhibit operation / Operation enable
A_INF, S_INF,
SERVO, VECTOR
8920
- - 1
p0852 BI: Enable operation/inhibit operation / Operation enable
- - 1
p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8820, 8920
- - 1
List of parameters
Parameters
Control by PLC.
Note: This bit is used to initiate a response for the drives when the control fails (F07220). If there is no control available,
then binector input p0854 should be set to 1.
If a control is available, then STW1.10 must be set to 1 (PZD1) so that the received data is updated. This applies
regardless of the setting in p0854 and even in the case of free telegram configuration (p0922 = 999).
No control by PLC
Control by PLC.
Note: This bit is used to initiate a response for the drives when the control fails (F07220). If there is no control available,
then binector input p0854 should be set to 1.
If a control is available, then STW1.10 must be set to 1 (PZD1) so that the received data is updated. This applies
regardless of the setting in p0854 and even in the case of free telegram configuration (p0922 = 999).
No control by PLC
Control by PLC.
p0854 BI: Control by PLC/no control by PLC / Master ctrl by PLC
8820, 8920
- - 1
p0854 BI: Control by PLC/no control by PLC / Master ctrl by PLC
- - 1
Parameters
List of parameters
Note: For the TM41, a response can be initiated using this bit if the control fails.
The parameter is only effective in the "SIMOTION" operating mode (p4400 = 0).
In the "SINAMICS" operating mode, the setpoints at connector input p4420 are evaluated independently of p0854.
Further, the setting of p2037 should be observed.
Description: Sets the signal source for the command "unconditionally open holding brake".
Note: The signal via BI: p0858 (unconditionally close holding brake) has a higher priority than via BI: p0855 (uncondition-
ally open holding brake).
Description: Sets the signal source for the command "enable speed controller" (r0898.12).
0 signal: Set the I component and speed controller output to zero.
1 signal: Enable speed controller.
Note: If "enable speed controller" is withdrawn, then an existing brake will be closed.
If "speed controller enable" is withdrawn, the pulses are not suppressed.
Description: Sets the signal source for the command "enable speed controller" (r0898.12).
0 signal: Set the I component and speed controller output to zero.
1 signal: Enable speed controller.
Note: If "enable speed controller" is withdrawn, then an existing brake will be closed.
If "speed controller enable" is withdrawn, the pulses are not suppressed.
p0855[0...n] BI: Unconditionally release holding brake / Uncond open brake
2707
- - 0
p0856[0...n] BI: Speed controller enable / n_ctrl enable
2707
- - 1
p0856[0...n] BI: Velocity controller enable / v_ctrl enable
SERVO (Lin) Can be changed: T Calculated: - Access level: 3
2707
- - 1
List of parameters
Parameters
Description: Sets the monitoring time for the power unit.
The following applies for infeeds and drives:
The monitoring time is started after an 0/1 edge of the ON/OFF1 command. If the power unit does not return a
READY signal within the monitoring time, then fault F06000 (infeeds) or F07802 (drives) is output.
For drives, the following also applies:
After the pulse enable (operation enabled, p0852), the monitoring time is re-started. If the infeed does not signal
ready to the drive within the monitoring time (using BI: p0864 of the drive), fault F07840 is initiated.
Dependency: Refer to: F06000, F07802, F07840, F30027
Notice: The maximum time to pre-charge the DC link is monitored in the power unit and cannot be changed. The maximum
duration of the pre-charging depends on the power class and the power unit design.
The monitoring time for the pre-charging is started after the ON command (BI: p0840 = 0/1 signal). Fault F30027 is
output when the maximum pre-charging duration is exceeded.
Note: The factory setting for p0857 depends on the power class and the design of the power unit.
The monitoring time for the ready signal of the power unit includes the time to pre-charge the DC link and, if rele-
vant, the de-bounce time of the contactors.
If an excessively low value is entered into p0857, then after enable, this results in the corresponding fault.
Description: Sets the signal source for the command "unconditionally close holding brake".
For a 1 signal via BI: p0858, the command "unconditionally close the holding brake" is executed and internally a
zero setpoint is entered.
Description: Sets the signal source for the command "unconditionally close holding brake".
For a 1 signal via BI: p0858, the command "unconditionally close the holding brake" is executed and internally a
zero setpoint is entered.
p0857 Power unit monitoring time / PU t_monit
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8964
100.0 [ms] 60000.0 [ms] 6000.0 [ms]
p0858[0...n] BI: Unconditionally close holding brake / Uncond close brake
2707
- - 9719.13
2707
- - 0
Parameters
List of parameters
Description: Sets the signal source for the feedback signal from the line contactor.
Recommend.: When the monitoring is activated (BI: p0860 not equal to r0863.1), then to control the line contactor, signal BO:
r0863.1 of its own drive object should be used.
Refer to: F07300
Notice: The line contactor monitoring is de-activated if the control signal of the particular drive object is set as the signal
source for the feedback signal of the line contactor (BI: p0860 = r0863.1).
Note: The state of the line contactor is monitored depending on signal BO: r0863.1.
When the monitoring is activated (BI: p0860 not equal to r0863.1), fault F07300 is then also output if the contactor
is closed before it is controlled using r0863.1.
Description: Sets the monitoring time of the line contactor.
This time starts each time that the line contactor switches (r0863.1). If a feedback signal is not received from the
line contactor within the time, a message is output.
Refer to: F07300
Note: The monitoring function is disabled for the factory setting of p0860.
Description: Sets the delay time for the control command of the power unit and a line contactor, if used.
Note: This means that it is possible to realize a shifted (delayed) pre-charging or power-on using a single ON command.
When the infeed units are active, before the line contactor is closed, an offset adjustment of the current measure-
ment is carried out for a duration of 120 ms (p3491).
p0860 BI: Line cont. fdbk sig / Line contact feedb
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8834, 8934
- - 863.1
p0861 Line contactor monitoring time / LineContact t_mon
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8834, 8934
0 [ms] 5000 [ms] 100 [ms]
p0862 Power unit ON delay / PU t_on
A_INF, B_INF,
S_INF, SERVO,
VECTOR
8832, 8932
0 [ms] 65000 [ms] 0 [ms]
List of parameters
Parameters
Description: Displays the status and control words of the drive coupling.
Note: Re bit 00:
Bit 0 signals that the infeed is ready.
When the operating signal is transferred via BO: r0863.0 this allows several drives to start (run-up) staggered over
time when they are simultaneously powered up.
To realize this, the following connections/interconnections are required:
Drive 1: Internconnect BI: p0864 with BO: r0863.0 of the infeed
Drive 2: Internconnect BI: p0864 with BO: r0863.0 of drive 1
Drive 3: Internconnect BI: p0864 with BO: r0863.0 of drive 2, etc.
The first drive only transfers the operating signal to the next drive after it has reached its ready condition.
Re bit 01:
Bit 1 is used to control an external line contactor.
Re bit 02:
This bit only signals line supply failure for Active Infeed (A_INF) and Smart Infeed (S_INF).
Description: Sets the signal source for the operating signal of the infeed (e.g. BO: r0863.0).
Note: The sequence control of a servo/vector drive requires this signal.
The following applies for an infeed without DRIVE-CLiQ:
For these infeeds, the "ready" message is available via an output terminal. This signal must be connected to a digi-
tal input. The drives supplied from this infeed must use this signal as ready signal (BI: p0864 = digital input).
r0863.0...2 CO/BO: Drive coupling status word/control word / CoupleZSW/STW
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
00 Closed-loop control operation Yes No 2610,
6495,
8732,
8832,
8932,
9794
01 Energize contactor Yes No 2610,
2634,
8732,
8734,
8832,
8834,
8932,
8934
02 Infeed line supply failure Yes No -
p0864 BI: Infeed operation / INF operation
2610
- - 0
Parameters
List of parameters
Description: Sets the debounce time for the DC circuit breaker for Motor Modules in "chassis" format.
Note: The following applies if p0868 = 65000 ms:
The debounce time defined internally in the power unit's EEPROM is implemented.
Description: Displays the operational readiness of the infeeds when using Smart Line Module (SLM) and Basic Line Module
(BLM) together (mixed operation).
In order that signal BO: r0873 is available at one of the infeeds, then BI: p0874 of the one infeed must be intercon-
nected to BO: r0863.0 of the other infeed.
Note: Mixed operation is not possible with the Active Line Module (ALM)!
Description: Setting to interconnect the ready signal for mixed operation of Smart Line Module (SLM) and Basic Line Module
(BLM).
In order that signal BO: r0873 is available at one of the infeeds, then BI: p0874 of the one infeed must be intercon-
nected to BO: r0863.0 of the other infeed.
Note: Mixed operation is not possible with the Active Line Module (ALM)!
Description: Displays the status word for the "ESR" function.
p0868 Power unit DC switch debounce time / PU DC sw t_deboun
0 [ms] 65000 [ms] 65000 [ms]
r0873 CO/BO: Infeed, total operation / INF total oper
B_INF, S_INF Can be changed: - Calculated: - Access level: 2
- - -
p0874 BI: Smart/ Basic Line Module operation / SLM/BLM operation
B_INF, S_INF Can be changed: T Calculated: - Access level: 2
- - 0
r0887.0...13 BO: ESR status word / ESR ZSW
SERVO (ESR) Can be changed: - Calculated: - Access level: 2
- - -
00 ESR monitoring activated Yes No -
01 Profile "Extended stopping (integrated in the
drive)" active
Yes No -
02 Profile "Extended retraction (integrated in
the drive)" active
Yes No -
List of parameters
Parameters
Note: ESR: Extended Stop and Retract
Description: Setting to configure the "ESR" function.
0: No function
1: Extended stopping (integrated in the drive)
2: Extended retraction (integrated in the drive)
3: Generator operation (Vdc controller)
Caution: For p0888 = 3 generator operation (Vdc controller) must be correspondingly configured using p1240.
Description: Sets the signal source to enable the response for the "ESR" function.
The ESR response is locked. A possible trigger event that occurs is ignored.
The ESR response is enabled. A possible trigger event that occurs initiates the response.
03 Profile "Generator operation (Vdc control-
ler)" active
Yes No -
09 ESR enabled (p0889) Yes No -
10 ESR trigger active (p0890) Yes No -
11 ESR OFF ramp OFF1/OFF3 (p0891) OFF1 OFF3 -
12 ESR response initiated Yes No 3082
13 ESR response presently running Yes No -
p0888 ESR configuration / ESR configuration
SERVO (ESR) Can be changed: U, T Calculated: - Access level: 2
0 3 0
p0889 BI: ESR response enable / Response enab
- - 2090.9
Parameters
List of parameters
Description: Sets the signal sources for the trigger for the "ESR" function.
The binector inputs cannot be interconnected or interconnected as follows:
BI: p0890[0] = r2090.2 (CU_STW1.2)
BI: p0890[1] = r9721.15 (Safety Integrated STOP E)
BI: p0890[2] = r9723.1 (Safety Integrated STOP F)
BI: p0890[3] = r9723.2 (Safety Integrated, communication failure)
BI: p0890[4] = can be freely interconnected
Index: [0] = Trigger for NCK
[1] = Trigger for SI STOP E
[2] = Trigger for SI STOP F
[3] = Trigger for SI communication failure
[4] = Trigger can be freely interconnected
Description: Sets the OFF ramp for the "ESR" function.
0: OFF3
1: OFF1
Description: Sets the timer for the brake delay for the "ESR" function.
p0890[0...4] BI: ESR trigger / ESR trigger
- - [0] 2090.2
[1] 9721.15
[2] 9723.1
[3] 9723.2
[4] 0
p0891 ESR OFF ramp / ESR OFF ramp
0 1 0
p0892 ESR timer / ESR timer
0.00 [s] 20.00 [s] 0.50 [s]
List of parameters
Parameters
Description: Sets the speed/velocity, which, when triggered, is approached with an OFF3 ramp.
The timer in p0892 is the total time that elapses for the approach and constant velocity travel. After this, depending
on the setting in p0891, an OFF1 ramp or OFF3 ramp is realized.
Note: This parameter is only of significance for the profile "retraction" (p0888 = 2).
ESR: Extended Stop and Retract
Description: Sets the speed/velocity, which, when triggered, is approached with an OFF3 ramp.
The timer in p0892 is the total time that elapses for the approach and constant velocity travel. After this, depending
on the setting in p0891, an OFF1 ramp or OFF3 ramp is realized.
Note: This parameter is only of significance for the profile "retraction" (p0888 = 2).
Description: Pre-setting for the "Parking axis" and "Parking encoder" function.
Note: Re bit 00:
If there is at least one BICO interconnection for "Parking axis" or "Parking encoder", this default setting is taken into
consideration during power-up.
Description: Sets the signal source to activate/de-activate a power unit component.
p0893 ESR velocity / ESR velocity
SERVO (ESR, Lin) Can be changed: U, T Calculated: - Access level: 2
-340.28235E36 [m/min] 340.28235E36 [m/min] 0 [m/min]
p0893 ESR speed / ESR speed
-340.28235E36 [rpm] 340.28235E36 [rpm] 0 [rpm]
p0894 Parking pre-setting / Parking pre-set
ENCODER, SERVO,
VECTOR
- - 0000 bin
00 Default with interconnection Park Do not park -
p0895[0...n] BI: Activate/de-activate power unit components / PU_comp act/deact
A_INF, B_INF,
S_INF, SERVO,
VECTOR
Data type: Unsigned32 / Binary Dynamic index: PDS, p0120 Func. diagram: -
- - 1
Parameters
List of parameters
Dependency: BI: p0895 = 0 signal
De-activating power unit components
Activating power unit components
Refer to: A05054
Caution: It is not permissible to de-activate drive objects with safety functions enabled.
Note: The power unit is only de-activated when the pulses are suppressed.
For units connected in parallel, when one of the power units is de-activated, then the enable in p7001 is withdrawn.
Description: Displays the status word for the "parking axis" function.
Description: Sets the signal source to select the "parking axis" function.
Dependency: BI: p0897 = 0 signal
The function "parking axis" is not selected.
The function "parking axis" is selected.
Refer to: r0896
Note: After it has been selected the "parking axis" function only becomes active when the pulses are suppressed.
Description: Displays control word 1 of the infeed.
r0896.0 BO: Parking axis, status word / Parking axis, ZSW
- - -
00 Parking axis active Yes No -
p0897 BI: Parking axis selection / Parking axis sel
- - 0
r0898.0...10 CO/BO: Control word sequence control infeed / STWseq_ctrl INF
8920
- - -
00 ON/OFF1 Yes No -
01 OC / OFF2 Yes No -
03 Operation enable Yes No -
05 Inhibit motoring operation Yes No -
List of parameters
Parameters
Description: Displays control word 1 of the infeed.
Description: Displays the control word of drive object 1 (Control Unit).
Description: Displays the control word for sequence control on the encoder drive object.
06 Inhibit regenerative Yes No -
10 Master ctrl by PLC Yes No -
r0898.0...10 CO/BO: Control word sequence control infeed / STWseq_ctrl INF
- - -
00 ON/OFF1 Yes No -
r0898.0...15 CO/BO: Control word drive object 1 / STW DO1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Synchronization signal SYN Yes No -
01 Real time synchronization PING Yes No -
07 Acknowledge fault Yes No -
12 Master sign-of-life bit 0 Yes No -
r0898.10 CO/BO: Control word sequence control encoder DO / STW seq_ctrl encDO
- - -
Parameters
List of parameters
Description: Displays the control word of the sequence control.
r0898.0...14 CO/BO: Control word sequence control / STWseq_ctrl
- - -
00 ON/OFF1 Yes No -
04 Ramp-function generator enable Yes No -
05 Continue ramp-function generator Yes No -
06 Speed setpoint enable Yes No -
07 Command open brake Yes No -
08 Jog 1 Yes No -
09 Jog 2 Yes No -
12 Speed controller enable Yes No -
14 Command close brake Yes No -
- - -
00 ON/OFF1 Yes No -
05 Continue ramp-function generator Yes No -
06 Velocity setpoint enable Yes No -
07 Command open brake Yes No -
08 Jog 1 Yes No -
09 Jog 2 Yes No -
12 Velocity controller enable Yes No -
14 Command close brake Yes No -
List of parameters
Parameters
Description: Displays the status word of the infeed sequence control.
Note: Re bit 12:
The feedback signal of a line contactor (auxiliary contact) can be interconnected via BI: p0860.
Description: Displays the status word of the infeed sequence control.
- - -
00 ON/OFF1 Yes No -
05 Start ramp-function generator Yes No -
13 Zero mark enable Yes No -
r0899.0...12 CO/BO: Status word sequence control infeed / ZSW seq_ctrl INF
8926
- - -
00 Rdy for switch on Yes No -
01 Ready Yes No -
02 Operation enabled Yes No -
04 No OFF2 active OFF2 inactive OFF2 active -
06 Sw on inhibit Yes No -
08 Power-up active Yes No -
09 Control request Yes No -
11 Pre-charging compl Yes No -
12 Line contactor closed Yes No 8934
r0899.0...12 CO/BO: Status word sequence control infeed / ZSW seq_ctrl INF
- - -
01 Ready Yes No -
Parameters
List of parameters
Note: Re bits 00, 01, 02, 04, 06, 09:
For PROFIdrive, these signals are used for status word 1.
Description: Displays the status word from drive object 1 (Control Unit).
Description: Displays the status word for sequence control on the encoder drive object.
Note: For PROFIdrive, this signal is used for status word ZSW2_ENC.
Description: Displays the status word of the sequence control.
04 No OFF2 active OFF2 inactive OFF2 active -
11 Pre-charging compl Yes No -
12 Line contactor closed Yes No -
r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 reserved Yes No -
03 Fault present Yes No -
07 Alarm present Yes No -
08 System time synchronized Yes No -
12 Slave sign-of-life bit 0 Yes No -
r0899.9 CO/BO: Status word sequence control encoder DO / ZSW seq_ctrl encDO
- - -
r0899.0...15 CO/BO: Status word sequence control / ZSWseq_ctrl
- - -
01 Ready Yes No -
03 Jog active Yes No -
04 No coasting active OFF2 inactive OFF2 active -
05 No Quick Stop active OFF3 inactive OFF3 active -
List of parameters
Parameters
Note: Re bits 00, 01, 02, 04, 05, 06, 09:
Re bit 13:
When the "Safe Brake Control" (SBC) is activated and selected, the brake is no longer controlled using this signal.
Re bit 14, 15:
These signals are only of significance when the "extended brake control" function module is activated (r0108.14 =
1).
Description: Displays the status word of the sequence control.
Note: Re bit 00, 01, 02, 06:
Description: Is used to assign the process data received from the master (PZD, setpoints).
06 Switching on inhibited active Yes No -
07 Drive ready Yes No -
08 Controller enable Yes No -
11 Pulses enabled Yes No -
12 Open holding brake Yes No -
13 Command close holding brake Yes No -
14 Pulse enable from the brake control Yes No -
15 Setpoint enable from the brake control Yes No -
r0899.0...15 CO/BO: Status word sequence control / ZSWseq_ctrl
- - -
01 Ready Yes No -
04 Coast down active No Yes -
05 Quick Stop active No Yes -
13 Zero mark enabled Yes No -
14 Track A/B enabled Yes No -
15 Interface encoder emulation enabled Yes No -
p0915[0...29] TM15 PROFIdrive PZD setpoint assignment / TM15 PD PZD setp
0 4273 [0] 4201
[1] 4204
[2] 4205
[3] 4211
[4] 4212
[5] 4213
[6...29] 0
Parameters
List of parameters
Value: 0: ZERO
4201: r4201 (system time for synchronization)
4204: r4204 (control digital output 0 ... 15)
4211: r4211 (edge mode digital input 0 ... 7)
4250: r4250 (set/resetting time digital output 0)
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
List of parameters
Parameters
Note: Example:
The telegram for the setpoints should have the following process data (PZD) and assignments:
PZD 1 (r4201), PZD 2 (r4204), PZD 3 (r4250)
The setpoint assignment must be realized as follows:
p0915[0] = 4201 - 16 bit
p0915[1] = 4204 - 16 bit
p0915[2] = 4250 - 16 bit
p0915[3] = 0
...
p0915[29] = 0
Description: Is used to assign the process data received from the master (PZD, setpoints).
Value: 0: ZERO
4201: r4201 (system time for synchronization)
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
p0915[0...35] TM17 PROFIdrive PZD setpoint assignment / TM17 PD PZD setp
0 4265 [0] 4201
[1] 4204
[2] 4211
[3] 4212
[4...35] 0
Parameters
List of parameters
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
[32] = PZD 33
[33] = PZD 34
[34] = PZD 35
[35] = PZD 36
Note: Example:
The telegram for the setpoints should have the following process data (PZD) and assignments:
PZD 1 (r4201), PZD 2 (r4204), PZD 3 (r4250), PZD 4 (r4250)
The setpoint assignment must be realized as follows:
p0915[0] = 4201 - 16 bit
p0915[1] = 4204 - 16 bit
p0915[2] = 4250 - 32 bit - specified twice one after the other
p0915[3] = 4250 - 32 bit
p0915[4] = 0
...
p0915[35] = 0
Description: Is used to assign the process data to be sent to the master (PZD, actual values).
Value: 0: ZERO
4301: r4301 (module synchronization)
4304: r4304 (status digital input 0 ... 15)
4311: r4311 (edge status digital input 0 ... 7)
4350: r4350 (edge times digital input 0)
p0916[0...29] TM15 PROFIdrive PZD actual value assignment / TM15 PD PZD actVal
0 4373 [0] 4301
[1] 4304
[2] 4305
[3] 4311
[4] 4312
[5] 4313
[6...29] 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
Note: Example:
The telegram for the actual values should have the following process data (PZD) and assignments:
PZD 1 (r4301), PZD 2 (r4304), PZD 3 (r4350)
The actual value assignment must be implemented as follows:
p0916[0] = 4301 - 16 bit
p0916[1] = 4304 - 16 bit
p0916[2] = 4350 - 16 bit
p0916[3] = 0
...
p0916[29] = 0
Parameters
List of parameters
Description: Is used to assign the process data to be sent to the master (PZD, actual values).
Value: 0: ZERO
4301: r4301 (module synchronization)
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
p0916[0...35] TM17 PROFIdrive PZD actual value assignment / TM17 PD PZD actVal
0 4365 [0] 4301
[1] 4304
[2] 4311
[3] 4312
[4...35] 0
List of parameters
Parameters
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
[32] = PZD 33
[33] = PZD 34
[34] = PZD 35
[35] = PZD 36
Note: Example:
The telegram for the actual values should have the following process data (PZD) and assignments:
PZD 1 (r4301), PZD 2 (r4304), PZD 3 (r4350), PZD 4 (r4350)
The actual value assignment must be implemented as follows:
p0916[0] = 4301 - 16 bit
p0916[1] = 4304 - 16 bit
p0916[2] = 4350 - 32 bit - specified twice one after the other
p0916[3] = 4350 - 32 bit
p0916[4] = 0
...
p0916[35] = 0
Description: Displays or sets the PROFIBUS address for PROFIBUS interface on the Control Unit.
The address can be set as follows:
1) Using the address switch on the Control Unit.
--> p0918 can then only be read and displays the selected address.
--> A change only becomes effective after a POWER ON.
2) Using p0918
--> Only if the address 00 hex, 7F hex, 80 hex, or FF hex has been set using the address switch.
--> The address is saved in a non-volatile fashion using the function "copy from RAM to ROM".
Note: Permissible PROFIBUS addresses: 1 ... 126 (01 hex ... 7E hex)
Address 126 is used for commissioning.
Every PROFIBUS address change only becomes effective after a POWER ON.
Description: Sets the send and receive telegram.
Value: 370: SIEMENS telegram 370, PZD-1/1
371: SIEMENS telegram 371, PZD-5/8
999: Free telegram configuration with BICO
p0918 PROFIBUS address / PB address
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
1 126 126
p0922 IF1 PROFIdrive telegram selection / IF1 PD Telegr_sel
A_INF, B_INF,
S_INF
2423, 2447, 2457, 2481, 2483
370 999 999
Parameters
List of parameters
Note: If a value is not equal to 999, a telegram is set and the automatically set interconnections in the telegram are inhib-
ited.
The inhibited interconnections can only be changed again after setting value 999.
Refer to: F01505, F01506
ited.
Value: 1: Standard telegram 1, PZD-2/2
2: Standard telegram 2, PZD-4/4
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
2423, 2481, 2483
390 999 999
ENCODER Can be changed: C2(1), T Calculated: - Access level: 1
2422, 2423, 2424
81 999 999
2422, 2423, 2424
1 999 999
List of parameters
Parameters
Refer to: F01505, F01506
Note: For p0922 = 100 ... 199, p2038 is automatically set to 1 and p2038 can no longer be changed. This means that for
these telegrams, the "SIMODRIVE 611 universal" interface mode is set and cannot be changed.
If a value is not equal to 999, a telegram is set and the automatically set interconnections in the telegram are inhib-
ited.
Refer to: F01505, F01506
ited.
Value: 999: Free telegram configuration with BICO
Refer to: F01505, F01506
ited.
SERVO (EPOS, Pos
ctrl, Spin)
2422, 2423, 2424
7 999 999
SERVO (Pos ctrl,
Spin)
2422, 2423, 2424
999 999 999
Parameters
List of parameters
Refer to: F01505, F01506
ited.
Value: 0: Free telegram configuring with p0915/p0916
SERVO (Spin) Can be changed: C2(1), T Calculated: - Access level: 1
2422, 2423, 2424
1 999 999
TM15, TM17 Can be changed: C2(1), T Calculated: - Access level: 1
0 0 0
9679, 9681, 9683
3 999 999
List of parameters
Parameters
ited.
Caution: Telegrams 2, 3 and 4 are not suitable for sensorless vector control (p1300 = 20). For sensorless vector control, it is
necessary that the setpoint speed is entered at the ramp-function generator input (e.g. p1070) and not after the
ramp-function generator (p1155).
ited.
ited.
2422, 2423, 2424
1 999 999
VECTOR (EPOS,
n/M, Pos ctrl)
2422, 2423, 2424
7 999 999
Parameters
List of parameters
ited.
ited.
Description: Displays the position of the "Pulses enabled" status signal in the PROFIdrive telegram.
Index: [0] = Signal number
[1] = Bit position
VECTOR (n/M, Pos
ctrl)
2422, 2423, 2424
999 999 999
2422, 2423, 2424
1 999 999
r0924[0...1] ZSW bit pulses enabled / ZSWpulse enab
- - -
List of parameters
Parameters
Description: Sets the number of tolerated consecutive sign-of-life errors of the clock-cycle synchronous master.
The sign-of-life signal is normally received in PZD4 (control word 2) from the master.
Refer to: F01912
Note: The sign-of-life monitoring is disabled for p0925 = 65535.
Description: Displays the operating mode.
1: Closed-loop speed controlled operation with ramp-function generator
2: Closed-loop position controlled operation
3: Closed-loop speed controlled operation without ramp-function generator
Description: Displays fault buffer changes. This counter is incremented every time the fault buffer changes.
Recommend.: Used to check whether the fault buffer has been read out consistently.
Description: Displays the numbers of faults that have occurred.
Dependency: Refer to: r0947, r0948, r0949, r2109, r2130, r2133, r2136, r3120, r3122
p0925 PROFIdrive clock synchronous sign-of-life tolerance / PD SoL_tol
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TM41, VECTOR
(n/M)
0 65535 1
r0930 PROFIdrive operating mode / PD operating mode
P-Group: Setpoints Units group: - Unit selection: -
- - -
r0944 CO: Counter for fault buffer changes / Fault buff change
All objects Can be changed: - Calculated: - Access level: 2
P-Group: Messages Units group: - Unit selection: -
- - -
r0945[0...63] Fault code / Fault code
- - -
Parameters
List of parameters
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
Fault buffer structure (general principle):
r0945[0], r0949[0], r0948[0], r2109[0], r3115[0] --> actual fault case, fault 1
. . .
r0945[7], r0949[7], r0948[7], r2109[7], r3115[7] --> actual fault case, fault 8
r0945[8], r0949[8], r0948[8], r2109[8], r3115[8] --> 1st acknowledged fault case, fault 1
. . .
r0945[15], r0949[15], r0948[15], r2109[15], r3115[15] --> 1st acknowledged fault case, fault 8
. . .
r0945[56], r0949[56], r0948[56], r2109[56], r3115[56] --> 7th acknowledged fault case, fault 1
. . .
r0945[63], r0949[63], r0948[63], r2109[63], r3115[63] --> 7th acknowledged fault case, fault 8
Description: Lists the fault codes stored in the drive unit.
The indices can only be accessed with a valid fault code.
Dependency: The parameter assigned to the fault code is entered in r0951 under the same index.
Description: This parameter is identical to r0945.
Description: Displays the system runtime in milliseconds when the fault occurred.
Dependency: Refer to: r0945, r0947, r0949, r2109, r2114, r2130, r2133, r2136, r3115, r3120, r3122
Notice: The time comprises r2130 (days) and r0948 (milliseconds).
The structure of the fault buffer and the assignment of the indices is shown in r0945.
When the parameter is read via PROFIdrive, the TimeDifference data type applies.
r0946[0...65534] Fault code list / Fault code list
- - -
r0947[0...63] Fault number / Fault number
- - -
r0948[0...63] Fault time received in milliseconds / t_fault recv ms
- [ms] - [ms] - [ms]
List of parameters
Parameters
Description: Displays additional information about the fault that occurred (as integer number).
Dependency: Refer to: r0945, r0947, r0948, r2109, r2130, r2133, r2136, r3115, r3120, r3122
Description: Number of fault situations that have occurred since the last reset.
Dependency: The fault buffer is deleted (cleared) by setting p0952 to 0.
Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136
Description: Displays the corresponding value for the PROFIBUS baud rate.
Value: 0: 9.6 kbit/s
1: 19.2 kbit/s
2: 93.75 kbit/s
3: 187.5 kbit/s
4: 500 kbit/s
6: 1.5 Mbit/s
7: 3 Mbit/s
8: 6 Mbit/s
9: 12 Mbit/s
10: 31.25 kbit/s
11: 45.45 kbit/s
255: Baud rate unknown
Description: Displays the device identification.
Index: [0] = Company (Siemens = 42)
[1] = Device type
r0949[0...63] Fault value / Fault value
- - -
p0952 Fault cases, counter / Fault cases qty
All objects Can be changed: U, T Calculated: - Access level: 3
0 65535 0
r0963 PROFIBUS baud rate / PB baud rate
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 255 -
r0964[0...6] Device identification / Device ident.
- - -
Parameters
List of parameters
[2] = Firmware version
[3] = Firmware date (year)
[4] = Firmware date (day/month)
[5] = Number of drive objects
[6] = Firmware patch/hot fix
Note: Example:
r0964[0] = 42 --> SIEMENS
r0964[1] = device type, see below
r0964[2] = 403 --> first part of the firmware version V04.03 (for second part, refer to index 6)
r0964[3] = 2010 --> year 2010
r0964[4] = 1705 --> 17th of May
r0964[5] = 2 --> 2 drive objects
r0964[6] = 200 --> second part, firmware version (complete version: V04.03.02.00)
Device type:
r0964[1] = 5100 --> SIMOTION CX32
r0964[1] = 5120 --> SINUMERIK NX10
r0964[1] = 5121 --> SINUMERIK NX15
[1] = Device type
Note: Example:
r0964[0] = 42 --> SIEMENS
r0964[3] = 2010 --> year 2010
r0964[4] = 1705 --> 17th of May
Device type:
r0964[1] = 5800 --> SINAMICS S120 in SIMOTION D435
r0964[1] = 5850 --> SINAMICS S120 in SINUMERIK NCU710
r0964[1] = 5853 --> SINAMICS S120 in SINUMERIK NCU730.2
r0964[1] = 5861 --> SINAMICS S120 in SINUMERIK 828D
CU_I Can be changed: - Calculated: - Access level: 2
- - -
List of parameters
Parameters
[1] = Device type
Note: Example:
r0964[0] = 42 --> SIEMENS
r0964[3] = 2010 --> year 2010
r0964[4] = 1705 --> 17th of May
Device type:
r0964[1] = 5000 --> SINAMICS S120 CU320(-2 DP)
r0964[1] = 5001 --> SINAMICS S120 CU320-2 PN
r0964[1] = 5010 --> SINAMICS S120 CU310(-2) DP
r0964[1] = 5011 --> SINAMICS S120 CU310(-2) PN
r0964[1] = 5250 --> SINAMICS S150 CU320(-2 DP)
r0964[1] = 5251 --> SINAMICS S150 CU320-2 PN
Description: Displays the PROFIdrive profile number and profile version.
Constant value = 0329 hex.
Byte 1: Profile number = 03 hex = PROFIdrive profile
Byte 2: Profile version = 29 hex = Version 4.1
Note: When the parameter is read via PROFIdrive, the Octet String 2 data type applies.
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r0965 PROFIdrive profile number / PD profile number
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays the system runtime in ms since the last POWER ON.
Note: The value in p0969 can only be reset to 0.
The value overflows after approx. 49 days.
When the parameter is read via PROFIdrive, the TimeDifference data type applies.
Description: The parameter is used to initiate a reset of the parameters of an individual infeed unit.
The parameters of the basic commissioning (refer to p0009) are in this case not reset (p0107, p0108, p0121,
p0170). These can only be reset using the factory setting of the complete drive unit (p0976).
The sampling times (p0111, p0112, p0115) are only not reset if this results in a conflict with the basic clock cycle
(p0110).
Value: 0: Inactive
1: Start a parameter reset
100: Start a BICO interconnection reset
Note: A factory setting run can only be started if p0010 was first set to 30 (parameter reset).
Parameter reset has been completed if p0970 and p0010 have been set to 0.
Description: The parameter is used to initiate the reset of the parameters on the ENCODER drive object.
Parameter p0141 is not reset. It is only reset if the entire drive unit is reset to the factory settings (p0976).
Value: 0: Inactive
p0969 System runtime relative / t_System relative
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 [ms] 4294967295 [ms] 0 [ms]
p0970 Reset infeed parameter / INF par reset
A_INF, B_INF,
S_INF
P-Group: Factory settings Units group: - Unit selection: -
0 100 0
p0970 ENCODER reset parameters / ENC par reset
0 100 0
List of parameters
Parameters
Description: The parameter is used to initiate the reset of the parameters of an individual drive unit.
Parameters p0100, p0205 (only for VECTOR) and the parameters of the basic drive commissioning (p0009) are not
reset (p0107, p0108, p0111, p0112, p0115, p0121, p0130, p0131, p0140, p0141, p0142, p0170, p0186 ... p0189).
These can only be reset using the factory setting of the complete drive unit (p0976).
Value: 0: Inactive
5: Starts a safety parameter reset
The password for Safety Integrated must be set.
When Safety Integrated is enabled, this can result in error messages, which then require an acceptance test to be
performed.
Then save the parameters and carry out a POWER ON.
If a Safety Integrated function is parameterized (p9601), then the safety parameters are not reset. In this case, a
fault F01659 is output with fault value 2.
Description: The parameter is used to initiate a reset of the parameters on Terminal Board 30 (TB30).
The sampling time p4099 is not reset if in so doing a conflict occurs with the basic clock cycle.
Value: 0: Inactive
p0970 Reset drive parameters / Drive par reset
0 100 0
p0970 TB30 reset parameters / TB30 par reset
0 100 0
Parameters
List of parameters
Description: The parameter is used to initiate a reset of the parameters on Terminal Module 120 (TM120).
Value: 0: Inactive
Value: 0: Inactive
Value: 0: Inactive
p0970 TM120 reset parameters / TM120 par reset
0 100 0
p0970 TM15 reset parameter / TM15 par reset
0 100 0
p0970 TM15DI/DO reset parameter / TM15D par reset
TM15DI_DO Can be changed: C2(30) Calculated: - Access level: 2
0 100 0
List of parameters
Parameters
Value: 0: Inactive
Value: 0: Inactive
Value: 0: Inactive
p0970 TM17 reset parameter / TM17 par reset
0 100 0
0 100 0
0 100 0
Parameters
List of parameters
Description: The parameter is used to initiate a reset of the parameters on Terminal Module 54F (TM54F).
Value: 0: Inactive
5: Starts a safety parameter reset
The password for Safety Integrated must be set.
When Safety Integrated is enabled, this can result in error messages, which then require an acceptance test to be
performed.
Then save the parameters and carry out a POWER ON.
Description: Setting to save the parameter of the particular drive object in the non-volatile memory.
Value: 0: Inactive
1: Save drive object
Caution: The Control Unit power supply may only be powered down after data has been saved (i.e. after data save has been
started, wait until the parameter again has the value 0).
Notice: Writing to parameters is inhibited while saving.
The progress while saving is displayed in r3996.
Note: Starting from the particular drive object, the following parameters are saved:
CU3xx: Device-specific parameters and PROFIBUS device parameters.
Other objects: Parameters of the actual object and PROFIBUS device parameters.
Prerequisite:
In order that the parameter of a drive object, saved with p0971 = 1, is read the next time that the Control Unit is
booted, then all parameters must, as a minimum, have first been saved once with p0977 = 1.
p0970 TM54F reset parameters / TM54F par reset
TM54F_MA Can be changed: C2(30) Calculated: - Access level: 2
0 100 0
p0971 Save drive object parameters / Drv_obj par save
0 1 0
List of parameters
Parameters
Description: Sets the required procedure to execute a hardware reset for the drive unit.
Value: 0: Inactive
1: Hardware-Reset immediate
2: Hardware reset preparation
3: Hardware reset after cyclic communication has failed
Danger: It must be absolutely ensured that the system is in a safe condition.
The memory card/device memory of the Control Unit must not be accessed.
Note: If value = 1:
Reset is immediately executed and communications interrupted.
After communications have been established, check the reset operation (refer below).
If value = 2:
Help to check the reset operation.
Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is possibly no lon-
ger acknowledged). The communication is then interrupted.
If value = 3:
The reset is executed after interrupting cyclic communication. This setting is used to implement a synchronized
reset by a control for several drive units.
If the cyclic communication is active for both PROFIdrive interfaces, then the reset is executed after completing
both cycle communications.
To check the reset operation:
After the drive unit has been restarted and communications have been established, read p0972 and check the fol-
lowing:
p0972 = 0? --> The reset was successfully executed.
p0972 > 0? --> The reset was not executed.
Description: Sets the required procedure to execute a hardware reset for the drive unit.
Value: 0: Inactive
3: Hardware reset after cyclic communication has failed
Danger: It must be absolutely ensured that the system is in a safe condition.
The memory card/device memory of the Control Unit must not be accessed.
Notice: For SIMOTION or SINUMERIK with integrated SINAMICS, the hardware reset acts on the complete system and
depends on the state of the control.
p0972 Drive unit reset / Drv_unit reset
CU_CX32,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 3 0
p0972 Drive unit reset / Drv_unit reset
CU_I Can be changed: U, T Calculated: - Access level: 1
0 3 0
Parameters
List of parameters
Note: If value = 3:
The reset is executed after interrupting cyclic communication. This setting is used to implement a synchronized
reset by a control for several drive units.
If the cyclic communication is active for both PROFIdrive interfaces, then the reset is executed after completing
both cycle communications.
Description: Displays the identification of the drive object.
[1] = Drive object type
[5] = PROFIdrive drive object, type class
[6] = PROFIdrive drive object, sub-type Class 1
[7] = Drive object number
[8] = Reserved
[9] = Reserved
Note: Example:
r0975[0] = 42 --> SIEMENS
r0975[1] = 11 --> SERVO drive object type
r0975[2] = 102 --> first part, firmware version V01.02 (second part, refer to index 10)
r0975[3] = 2003 --> year 2003
r0975[4] = 1401 --> 14th of January
r0975[5] = 1 --> PROFIdrive drive object, type class
r0975[6] = 9 --> PROFIdrive drive object sub-type class 1
r0975[7] = 2 --> drive object number = 2
r0975[8] = 0 (reserved)
r0975[9] = 0 (reserved)
Description: Resets or downloads all parameters of the drive system.
Value: 0: Inactive
1: Start reset of all parameters to factory setting
2: Start dnload of param. saved in non-volatile mem w/ p0977=1
3: Start dnload of volatile parameters from RAM
20: Start download Siemens internal setting 20
r0975[0...10] Drive object identification / DO identification
- - -
p0976 Reset and load all parameters / Reset load all par
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1013 0
List of parameters
Parameters
100: Start resetting of all BICO interconnections
1011: Start dnload of param. saved in volatile mem w/ p0977=1011
Note: After all of the parameters have been reset to their factory setting, the system must be commissioned for the first
time again.
Resetting or loading is realized in the non-volatile memory.
Procedure:
1. Set p0009 = 30 (parameter reset).
2. Set p0976 to "required value". The system is rebooted.
p0976 is automatically set to 0 and p0009 is automatically set to 1 after this has been carried out.
Description: Saves all parameters of the drive system to the non-volatile memory.
Value: 0: Inactive
1: Save in non-volatile memory - downloaded at POWER ON
10: Save as opt. in non-vol. memory - downloaded w/ p0976=10
20: Save in non-volatile memory as setting 20 (reserved)
80: Save in non-volatile memory time-optimized (reserved)
1011: Save in volatile memory, downloaded with p0976=1011
Caution: The Control Unit power supply may only be powered down after data has been saved (i.e. after data save has been
started, wait until the parameter again has the value 0).
Notice: Writing to parameters is inhibited while saving.
The progress while saving is displayed in r3996.
Note: Parameters saved with p0977 = 10, 11 or 12 can be downloaded again with p0976 = 10, 11 or 12.
p0977 Save all parameters / Save all par
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1013 0
Parameters
List of parameters
Description: This parameter is an image of p0101 in conformance with PROFIdrive.
Parameters p0101 and p0978 contain the following information:
1) The same number of drive objects
2) The same drive objects
In this sense, they are consistent.
Difference between p0101 and p0978:
p0978 can be re-sorted and a zero inserted in order to identify those drive objects that participate in the process
data exchange and to define their sequence in the process data exchange. Drive objects that are listed after the
first zero, are excluded from the process data exchange.
For p0978, in addition, the value 255 can be inserted a multiple number of times.
p0978[n] = 255 means: The drive object is visible for the PROFIBUS master and is empty (without any actual pro-
cess data exchange). This allows cyclic communications of a PROFIBUS master with unchanged configuring to the
drive units with a lower number of drive objects.
Note: p0978 cannot be changed when the drive system is first commissioned. The reason for this is that at this time the
actual topology has still not been acknowledged (p0099 is still not equal to r0098 and p0009 is set to 0).
Description: Displays the actual position encoder used according to PROFIdrive.
Index: [0] = Header
[1] = Type, encoder 1
[2] = Resolution enc 1
[3] = Shift factor G1_XIST1
[5] = Distinguishable revolutions encoder 1
[6] = Reserved
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Reserved
Note: Information about the individual indices can be taken from the following literature:
PROFIdrive Profile Drive Technology
p0978[0...24] List of drive objects / List of the DO
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 [0] 1
[1...24] 0
r0979[0...10] PROFIdrive encoder format / PD encoder format
ENCODER, TM41 Can be changed: - Calculated: - Access level: 3
- - -
List of parameters
Parameters
Index: [0] = Header
[5] = Distinguishable distance encoder 1
[6] = Reserved
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Reserved
Index: [0] = Header
[6] = Reserved
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Reserved
[16] = Reserved
[17] = Reserved
[18] = Reserved
[19] = Reserved
[20] = Reserved
[26] = Reserved
[27] = Reserved
- - -
- - -
Parameters
List of parameters
[28] = Reserved
[29] = Reserved
[30] = Reserved
Index: [0] = Header
[6] = Reserved
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Reserved
[16] = Reserved
[17] = Reserved
[18] = Reserved
[19] = Reserved
[20] = Reserved
[26] = Reserved
[27] = Reserved
[28] = Reserved
[29] = Reserved
[30] = Reserved
Description: Displays the parameters that exist for this drive.
- - -
r0980[0...299] List of existing parameters 1 / List avail par 1
- - -
List of parameters
Parameters
Note: The existing parameters are displayed in indices 0 to 298. If an index contains the value 0, then the list ends here.
In a long list, index 299 contains the parameter number at which position the list continues.
This list consists solely of the following parameters:
r0980[0...299], r0981[0...299] ... r0989[0...299]
The parameters in this list are not displayed in the expert list of the commissioning software. However, they can be
read from a higher-level control system (e.g. PROFIBUS master).
In a long list, index 299 contains the parameter number at which position the list continues.
r0980[0...299], r0981[0...299] ... r0989[0...299]
r0980[0...299], r0981[0...299] ... r0989[0...299]
Description: Displays those parameters with a value other than the factory setting for this drive.
Note: Modified parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here. In a
long list, index 99 contains the parameter number at which position the list continues.
r0990[0...99], r0991[0...99] ... r0999[0...99]
- - -
- - -
r0990[0...99] List of modified parameters 1 / List chang. par 1
- - -
Parameters
List of parameters
Note: Modified parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here. In a
long list, index 99 contains the parameter number at which position the list continues.
r0990[0...99], r0991[0...99] ... r0999[0...99]
Note: Modified parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here.
r0990[0...99], r0991[0...99] ... r0999[0...99]
The Connector Inputs (CI) for the speed setpoints of the appropriate Command Data Set (CDS) are appropriately
interconnected.
Example:
group!
software.
CI: Connector Input
- - -
- - -
p1000[0...n] Macro Connector Inputs (CI) for speed setpoints / Macro CI n_set
0 999999 0
List of parameters
Parameters
The Connector Inputs (CI) for the velocity setpoints of the appropriate Command Data Set (CDS) are appropriately
interconnected.
Example:
group!
software.
CI: Connector Input
Description: Sets a value for the fixed speed / velocity setpoint 1.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive data set always acts on the effective data set.
p1000[0...n] Macro Connector Inputs (CI) for velocity setpoints / Macro CI v_set
SERVO (Lin) Can be changed: C2(1), T Calculated: - Access level: 1
0 999999 0
p1001[0...n] CO: Fixed velocity setpoint 1 / n_set_fixed 1
SERVO (Extended
set, Lin)
P-Group: Setpoints Units group: 4_1 Unit selection: p0505
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1001[0...n] CO: Fixed speed setpoint 1 / n_set_fixed 1
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3010
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
List of parameters
Parameters
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
List of parameters
Parameters
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
List of parameters
Parameters
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
Description: Sets the signal source to select the fixed velocity setpoint.
Dependency: Selects the required fixed velocity setpoint using p1020 ... p1023.
Displays the number of the actual fixed velocity setpoint in r1197.
Sets values for the fixed velocity setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1021, p1022, p1023, r1197
Note: If a fixed velocity setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
p1020[0...n] BI: Fixed velocity setpoint selection Bit 0 / v_set_fixed Bit 0
SERVO (Extended
set, Lin)
- - 0
List of parameters
Parameters
Description: Sets the signal source for selecting the fixed speed setpoint.
Dependency: Selects the required fixed speed setpoint using p1020 ... p1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets the values for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1021, p1022, p1023, r1197
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).
Refer to: p1020, p1022, p1023, r1197
Refer to: p1020, p1022, p1023, r1197
p1020[0...n] BI: Fixed speed setpoint selection Bit 0 / n_set_fixed Bit 0
SERVO (Extended
set), VECTOR
- - 0
SERVO (Extended
set, Lin)
- - 0
SERVO (Extended
set), VECTOR
- - 0
SERVO (Extended
set, Lin)
- - 0
Parameters
List of parameters
Refer to: p1020, p1021, p1023, r1197
Refer to: p1020, p1021, p1023, r1197
Refer to: p1020, p1021, p1022, r1197
Refer to: p1020, p1021, p1022, r1197
SERVO (Extended
set), VECTOR
- - 0
SERVO (Extended
set, Lin)
- - 0
SERVO (Extended
set), VECTOR
- - 0
List of parameters
Parameters
Description: Displays the selected and effective fixed velocity setpoint.
This setpoint is the output value for the fixed velocity setpoints and must be appropriately interconnected (e.g. with
the main setpoint).
Recommend.: Interconnect the signal with main setpoint (p1070).
Description: Displays the selected and effective fixed speed setpoint.
This setpoint is the output value for the fixed speed setpoints and must be appropriately interconnected (e.g. with
the main setpoint).
Description: Sets the configuration for the motorized potentiometer.
Notice: The following prerequisites must be fulfilled in order to be able to save the setpoint (Bit 03 = 1) in a non-volatile
fashion:
- Firmware with V2.3 or higher.
r1024 CO: Fixed velocity setpoint effective / v_set_fixed eff
SERVO (Extended
set, Lin)
r1024 CO: Fixed speed setpoint effective / n_set_fixed eff
SERVO (Extended
set), VECTOR
- [rpm] - [rpm] - [rpm]
p1030[0...n] Motorized potentiometer configuration / Mop configuration
SERVO (Extended
set), VECTOR
- - 0000 0110 bin
00 Data save active Yes No -
01 Automatic mode, ramp-function generator
active
Yes No -
02 Initial rounding-off active Yes No -
03 Save in NVRAM active Yes No -
04 Ramp-function generator always active Yes No -
Parameters
List of parameters
Note: Re bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
1: The setpoint for the motorized potentiometer is saved after OFF and after ON set to the saved value. In order to
save in a non-volatile fashion, bit 03 should be set to 1.
Re bit 01:
0: Without ramp-function generator in the automatic mode (ramp-up/ramp-down time = 0).
1: With ramp-function generator in the automatic mode.
For manual operation (0 signal via BI: p1041), the ramp-function generator is always active.
Re bit 02:
0: Without initial rounding-off
1: With initial rounding-off. The selected ramp-up/down time is correspondingly exceeded. The initial rounding-off is
a sensitive way of specifying small changes (progressive reaction when keys are pressed).
The jerk for the initial rounding-off is independent of the ramp-up time and only depends on the selected maximum
speed (p1082). It is calculated as follows:
r = 0.01 % * p1082 [1/s] / 0.13^2 [s^2]
The jerk acts up until the maximum acceleration is reached (a_max = p1082 [1/s] / p1047 [s]), and then the drive
continues to run linearly with a constant rate of acceleration. The higher the maximum acceleration (the lower that
p1047 is), the longer the ramp-up time increases with respect to the set ramp-up time.
Re bit 03:
0: Non-volatile data save de-activated.
1: The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for bit 00 = 1).
Re bit 04:
When the bit is set, the ramp-function generator is computed independent of the pulse enable. The actual output
value of the motorized potentiometer is always in r1050.
Description: Sets the signal source to continually increase the setpoint for the motorized potentiometer.
The setpoint change (CO: r1050) depends on the set ramp-up time (p1047) and the duration of the signal that is
present (BI: p1035).
Description: Sets the signal source to enable the zero marks.
Note: For TM41, this parameter has no function.
The zero mark can only be switched in or switched out using p4401.
p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise
SERVO (Extended
set), VECTOR
- - 0
p1035 BI: Zero marks enable / ZM enable
- - 0
List of parameters
Parameters
Description: Sets the signal source to continuously lower the setpoint for the motorized potentiometer.
The setpoint change (CO: r1050) depends on the set ramp-down time (p1048) and the duration of the signal that is
Description: Sets the maximum speed/velocity for the motorized potentiometer.
Note: This parameter is automatically pre-assigned in the commissioning phase.
The setpoint output from the motorized potentiometer is limited to this value.
Description: Sets the maximum speed/velocity for the motorized potentiometer.
Description: Sets the minimum speed/velocity for the motorized potentiometer.
p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower
SERVO (Extended
set), VECTOR
- - 0
p1037[0...n] Motorized potentiometer maximum velocity / MotP n_max
SERVO (Extended
set, Lin)
Can be changed: U, T Calculated:
CALC_MOD_LIM_REF
Access level: 2
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1037[0...n] Motorized potentiometer maximum speed / MotP n_max
SERVO (Extended
set), VECTOR
CALC_MOD_LIM_REF
Access level: 2
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
p1038[0...n] Motorized potentiometer minimum velocity / MotP n_min
SERVO (Extended
set, Lin)
CALC_MOD_LIM_REF
Access level: 2
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
Description: Sets the minimum speed/velocity for the motorized potentiometer.
Description: Sets the signal source to invert the minimum speed/velocity or the maximum speed/velocity for the motorized
potentiometer.
Note: The inversion is only active during "motorized potentiometer raise" or "motorized potentiometer lower".
Description: Sets the starting value for the motorized potentiometer. This starting value becomes effective after the drive has
been powered up.
Dependency: Only effective if p1030.0 = 0.
Refer to: p1030
Description: Sets the starting value for the motorized potentiometer. This starting value becomes effective after the drive has
been powered up.
Dependency: Only effective if p1030.0 = 0.
Refer to: p1030
p1038[0...n] Motorized potentiometer minimum speed / MotP n_min
SERVO (Extended
set), VECTOR
CALC_MOD_LIM_REF
Access level: 2
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
p1039[0...n] BI: Motorized potentiometer inversion / MotP inv
SERVO (Extended
set), VECTOR
- - 0
p1040[0...n] Motorized potentiometer starting value / Mop start value
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
List of parameters
Parameters
Description: Sets the signal source to change over from manual to automatic when using a motorized potentiometer.
In the manual mode, the setpoint is changed using two signals - raise and lower. In the automatic mode, the set-
point must be interconnected via a connector input.
Note: The effectiveness of the internal ramp-function generator can be set in automatic mode.
Description: Sets the signal source for the setpoint of the motorized potentiometer in the automatic mode.
Description: Sets the signal source to accept the setting value for the motorized potentiometer.
Note: The setting value (CI: p1044) becomes effective for a 0/1 edge of the setting command (BI: p1043).
Description: Sets the signal source for the setting value for the motorized potentiometer.
Note: The setting value (CI: p1044) becomes effective for a 0/1 edge of the setting command (BI: p1043).
p1041[0...n] BI: Motorized potentiometer manual/automatic / Mop manual/auto
SERVO (Extended
set), VECTOR
- - 0
p1042[0...n] CI: Motorized potentiometer automatic setpoint / Mop auto setpoint
SERVO (Extended
set), VECTOR
- - 0
p1043[0...n] BI: Motorized potentiometer accept setting value / MotP acc set val
SERVO (Extended
set), VECTOR
- - 0
p1044[0...n] CI: Motorized potentiometer setting value / Mop set val
SERVO (Extended
set), VECTOR
- - 0
Parameters
List of parameters
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator.
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator.
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from zero up to the speed/velocity limit (p1082) within this time (if no initial rounding-off has
been activated).
Note: When the initial rounding-off is activated (p1030.2) the ramp-up time is correspondingly extended.
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from the speed/velocity limit (p1082) to zero within this time (if no initial rounding-off has
been activated).
Note: The deceleration time is extended corresponding to the activated initial rounding-off (p1030.2).
r1045 CO: Mot. potentiom. velocity setp. in front of ramp-fct. gen. / Mop n_set bef RFG
SERVO (Extended
set, Lin)
r1045 CO: Mot. potentiometer speed setp. in front of ramp-fct. gen. / Mop n_set bef RFG
SERVO (Extended
set), VECTOR
- [rpm] - [rpm] - [rpm]
p1047[0...n] Motorized potentiometer ramp-up time / Mop ramp-up time
SERVO (Extended
set), VECTOR
0.000 [s] 1000.000 [s] 10.000 [s]
p1048[0...n] Motorized potentiometer ramp-down time / Mop ramp-down time
SERVO (Extended
set), VECTOR
0.000 [s] 1000.000 [s] 10.000 [s]
List of parameters
Parameters
Description: Sets the effective setpoint after the internal motorized potentiometer ramp-function generator.
This setpoint is the output value of the motorized potentiometer and must be appropriately interconnected onwards
(e.g. with the main setpoint).
Note: For "With ramp-function generator", after an OFF1, OFF2, OFF3 or for a 0 signal via BI: p0852 (inhibit operation,
cancel pulses) the ramp-function generator output (r1050) is set to the starting value (configuration via p1030.0).
Description: Sets the effective setpoint after the internal motorized potentiometer ramp-function generator.
This setpoint is the output value of the motorized potentiometer and must be appropriately interconnected onwards
(e.g. with the main setpoint).
Note: For "With ramp-function generator", after an OFF1, OFF2, OFF3 or for a 0 signal via BI: p0852 (inhibit operation,
cancel pulses) the ramp-function generator output (r1050) is set to the starting value (configuration via p1030.0).
Description: Sets the signal source for the velocity limit of the positive direction on the ramp-function generator input.
Description: Sets the signal source for the speed limit of the positive direction on the ramp-function generator input.
r1050 CO: Motor. potentiometer setpoint after the ramp-function generator /
Mop setp after RFG
SERVO (Extended
set, Lin)
r1050 CO: Motor. potentiometer setpoint after the ramp-function generator /
Mop setp after RFG
SERVO (Extended
set), VECTOR
- [rpm] - [rpm] - [rpm]
p1051[0...n] CI: Velocity limit RFG positive direction / v_limit RFG pos
SERVO (ESR,
Extended set, Lin)
- - 1083[0]
p1051[0...n] CI: Speed limit RFG positive direction of rotation / n_limit RFG pos
SERVO (ESR,
Extended set), VEC-
TOR
- - 1083[0]
Parameters
List of parameters
Description: Sets the signal source for the velocity limit of the negative direction on the ramp-function generator input.
Description: Sets the signal source for the speed limit of the negative direction on the ramp-function generator input.
Description: Sets the signal source for jog 1.
Notice: The drive is enabled for jogging using BI: p1055 or BI: p1056.
The command "ON/OFF1" can be issued using BI: p0840 or using BI: p1055/p1056.
Only the signal source that was used to power up can also be used to power down again.
Notice: The drive is enabled for jogging using BI: p1055 or BI: p1056.
The command "ON/OFF1" can be issued using BI: p0840 or using BI: p1055/p1056.
Only the signal source that was used to power up can also be used to power down again.
p1052[0...n] CI: Velocity limit RFG negative direction / v_limit RFG neg
SERVO (ESR,
Extended set, Lin)
- - 1086[0]
p1052[0...n] CI: Speed limit RFG negative direction of rotation / n_limit RFG neg
SERVO (ESR,
Extended set), VEC-
TOR
- - 1086[0]
p1055[0...n] BI: Jog bit 0 / Jog bit 0
SERVO (Extended
set), VECTOR
- - 0
SERVO (Extended
set), VECTOR
- - 0
List of parameters
Parameters
Description: Sets the speed/velocity for jog 1. Jogging is level-triggered and allows the motor to be incrementally moved.
Description: Sets the speed limit/velocity limit effective in the setpoint channel.
Dependency: Refer to: p1082, r1082, p1083, p1085, p1086, p1088
p1058[0...n] Jog 1 velocity setpoint / Jog 1 n_set
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1058[0...n] Jog 1 speed setpoint / Jog 1 n_set
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
p1063[0...n] Velocity limit setpoint channel / v_limit setp
SERVO (Extended
set, Lin)
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
Parameters
List of parameters
Description: Sets the signal source for the main setpoint.
Examples:
r1024: Fixed speed setpoint effective
r1050: Motor. potentiometer setpoint after the ramp-function generator
Description: Sets the signal source for scaling the main setpoint.
Description: Displays the effective main setpoint. The value shown is the main setpoint after scaling.
p1063[0...n] Speed limit setpoint channel / n_limit setp
SERVO (Extended
set)
0.000 [rpm] 210000.000 [rpm] 210000.000 [rpm]
0.000 [rpm] 210000.000 [rpm] 40000.000 [rpm]
p1070[0...n] CI: Main setpoint / Main setpoint
SERVO (Extended
set), VECTOR
Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3030
- - 1024[0]
p1071[0...n] CI: Main setpoint scaling / Main setp scal
SERVO (Extended
set), VECTOR
- - 1
r1073 CO: Main setpoint effective / Main setpoint eff
SERVO (Extended
set, Lin)
List of parameters
Parameters
Description: Displays the effective main setpoint. The value shown is the main setpoint after scaling.
Description: Sets the signal source for the supplementary setpoint.
Description: Sets the signal source for scaling the supplementary setpoint.
Description: Displays the effective supplementary setpoint. The value shown is the additional setpoint after scaling.
Description: Displays the effective supplementary setpoint. The value shown is the additional setpoint after scaling.
r1073 CO: Main setpoint effective / Main setpoint eff
SERVO (Extended
set), VECTOR
- [rpm] - [rpm] - [rpm]
p1075[0...n] CI: Suppl setpoint / Suppl setpoint
SERVO (Extended
set), VECTOR
- - 0
p1076[0...n] CI: Supplementary setpoint scaling / Suppl setp scal
SERVO (Extended
set), VECTOR
- - 1
r1077 CO: Supplementary setpoint effective / Suppl setpoint eff
SERVO (Extended
set, Lin)
r1077 CO: Supplementary setpoint effective / Suppl setpoint eff
SERVO (Extended
set), VECTOR
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the total effective setpoint. The value indicates the sum of the effective main setpoint and supplementary
setpoint.
Description: Displays the total effective setpoint. The value indicates the sum of the effective main setpoint and supplementary
setpoint.
Description: Sets the lowest possible motor velocity.
This value is not undershot in operation.
Note: The parameter value applies for both motor directions.
In exceptional cases, the motor can operate below this value (e.g. when reversing).
Description: Sets the lowest possible motor speed.
This value is not undershot in operation.
Note: The parameter value applies for both motor directions.
In exceptional cases, the motor can operate below this value (e.g. when reversing).
r1078 CO: Total setpoint effective / Total setpoint eff
SERVO (Extended
set, Lin)
r1078 CO: Total setpoint effective / Total setpoint eff
SERVO (Extended
set), VECTOR
- [rpm] - [rpm] - [rpm]
p1080[0...n] Minimum velocity / v_min
SERVO (Extended
set, Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1080[0...n] Minimum speed / n_min
SERVO (Extended
set), VECTOR
0.000 [rpm] 19500.000 [rpm] 0.000 [rpm]
List of parameters
Parameters
Description: Sets the highest possible speed.
Note: The parameter applies for both motor directions. The parameter has a limiting effect and is the reference quantity
for all ramp-up and ramp-down times (e.g. down ramps, ramp-function generator, motor potentiometer).
Since the parameter is part of quick commissioning (p0010 = 1), it is defined appropriately when p0310, p0311,
p0322, p0324, p0530, p0531, and p0532 are changed.
The following limits are always effective for p1082:
p1082 <= min(p0324, p0532) if p0324 > 0 and p0532 > 0
p1082 <= p0322 if p0324 = 0 or p0532 = 0 and p0322 > 0
p1082 <= 60 / (10.0 * p0115[0] * r0313)
p1082 <= 60 * Maximum power unit pulse frequency / (5.0 * r0313)
For the automatic calculation (p0340 = 1) the value of the parameter is pre-assigned the maximum motor speed
(p0322). If p0322 = 0, the rated motor speed (p0311) is used as default (pre-assignment) value. For induction
motors that are not catalog motors (p0301 = 0), the synchronous no-load speed is used as default (pre-assignment)
value (p0310 * 60 / r0313).
For synchronous motors, the following additionally applies:
In the automatic calculation (p0340 = 1), p1082 is limited to speeds for which the rated current of the power unit (S1
continuous operation r0207[3]) is not sufficient as field current: p1082 < p0348 / (1 - r0207 / r0331), valid for
r0207[3]<r0331.
On the other hand, an additional limit is effective, which prevents the EMF from exceeding the maximum DC link
voltage (see p0643 and p1231).
The effective assignment of the motor data set parameter (e.g. p0311) to the drive data set parameter p1082 when
pre-assigning should be taken from p0186.
p1082 is also available in the quick commissioning (p0010 = 1); this means that when exiting via p3900 > 0, the
value is not changed.
Description: Sets the highest possible velocity.
p1082[0...n] Maximum speed / n_max
SERVO Can be changed: C2(1), T Calculated: CALC_MOD_ALL Access level: 1
Data type: FloatingPoint32 Dynamic index: DDS, p0180 Func. diagram: 3020, 3050,
3060, 3070, 3095, 5300
0.000 [rpm] 210000.000 [rpm] 1500.000 [rpm]
p1082[0...n] Maximum velocity / v_max
SERVO (Lin) Can be changed: C2(1), T Calculated: CALC_MOD_ALL Access level: 1
3060, 3070, 3095, 5300
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
Parameters
List of parameters
p1082 <= min(p0324, p0532) if p0324 > 0 and p0532 > 0
p1082 <= p0322 if p0324 = 0 or p0532 = 0 and p0322 > 0
p1082 <= 60 / (10.0 * p0115[0] * r0313)
p1082 <= 60 * Maximum power unit pulse frequency / (5.0 * r0313)
value (p0310 * 60 / r0313).
In the automatic calculation (p0340 = 1), p1082 is limited to speeds for which the rated current of the power unit (S1
continuous operation r0207[3]) is not sufficient as field current: p1082 < p0348 / (1 - r0207 / r0331), valid for
r0207[3]<r0331.
On the other hand, an additional limit is effective, which prevents the EMF from exceeding the maximum DC link
voltage (see p0643 and p1231).
Description: This parameter indicates the frequency limit of the signal output (also see fault F35220) as maximum speed of the
encoder emulation. The parameter is filled independent of the operating mode set in p4400.
Description: Sets the highest possible speed.
Dependency: Refer to: p0115, p0230, r0313, p0322, p0324, r0336, p0532
p1082 <= min(p0324, p0532) if p0324 > 0 and p0532 > 0
p1082 <= p0322 if p0324 = 0 or p0532 = 0 and p0322 > 0
p1082 <= 60 * Minimum (15 * r0336, 650 Hz) / r0313
p1082 <= 60 * Maximum power unit pulse frequency / (k * r0313)
k = 12 for vector control (r0108.2 = 1), k = 6.5 for U/f control (r0108.2 = 0)
r1082[0...n] Encoder emulation, maximum speed / n_max
P-Group: - Units group: 3_1 Unit selection: p0505
- [rpm] - [rpm] - [rpm]
VECTOR Can be changed: C2(1), T Calculated: CALC_MOD_ALL Access level: 1
3060, 3070, 3095, 5300
0.000 [rpm] 210000.000 [rpm] 1500.000 [rpm]
List of parameters
Parameters
If a sine-wave filter (p0230 = 3) is parameterized as output filter, then the maximum speed is limited corresponding
to the maximum permissible filter output frequency (refer to the filter data sheet). For reactors and dU/dt filters, it is
limited to 150 Hz / r0313 (for chassis power units) or 120 Hz / r0313 (for booksize power units).
value (p0310 * 60 / r0313).
The maximum speed p1082 is restricted to speeds (r1084) where the EMF does not exceed the DC link voltage.
For vector control (p1300 = 20 ... 23) the maximum speed is limited to 60.0 / (8.333 * p0115[0] * r0313). This can be
identified by a reduction in r1084. p1082 is not changed in this process due to the fact that the operating mode
p1300 can be changed over.
When using sine-wave filters (p0230 = 3, 4), the maximum speed r1084 is limited to 70% of the resonant frequency
of the filter capacitance and the motor leakage inductance.
Description: Sets the maximum speed for the positive direction.
Description: Sets the maximum velocity for the positive direction.
Description: Sets the maximum speed for the positive direction.
p1083[0...n] CO: Speed limit in positive direction of rotation / n_limit pos
0.000 [rpm] 210000.000 [rpm] 210000.000 [rpm]
p1083[0...n] CO: Velocity limit positive direction / v_limit pos
SERVO (Lin) Can be changed: U, T Calculated: - Access level: 2
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
0.000 [rpm] 210000.000 [rpm] 40000.000 [rpm]
Parameters
List of parameters
Description: Displays the effective positive speed limit.
Dependency: Refer to: p1082, r1082, p1083, p1085
Description: Displays the effective positive velocity limit.
Description: Sets the signal source for the velocity limit of the positive direction.
Description: Sets the signal source for the speed limit of the positive direction.
Description: Sets the speed limit for the negative direction.
r1084 CO: Speed limit positive effective / n_limit pos eff
- [rpm] - [rpm] - [rpm]
r1084 CO: Velocity limit positive effective / v_limit pos eff
p1085[0...n] CI: Velocity limit positive direction / v_limit pos
SERVO (Extended
set, Lin)
- - 1083[0]
p1085[0...n] CI: Speed limit in positive direction of rotation / n_limit pos
SERVO (Extended
set), VECTOR
- - 1083[0]
p1086[0...n] CO: Speed limit in negative direction of rotation / n_limit neg
-210000.000 [rpm] 0.000 [rpm] -210000.000 [rpm]
List of parameters
Parameters
Description: Sets the velocity limit for the negative direction.
Description: Sets the speed limit for the negative direction.
Description: Displays the effective negative speed limit.
Description: Displays the effective negative velocity limit.
Description: Sets the signal source for the speed/velocity limit of the negative direction.
p1086[0...n] CO: Velocity limit negative direction / v_limit neg
-1000.000 [m/min] 0.000 [m/min] -1000.000 [m/min]
-210000.000 [rpm] 0.000 [rpm] -40000.000 [rpm]
r1087 CO: Speed limit negative effective / n_limit neg eff
- [rpm] - [rpm] - [rpm]
r1087 CO: Velocity limit negative effective / v_limit neg eff
p1088[0...n] CI: Velocity limit negative direction / n_limit neg
SERVO (Extended
set, Lin)
- - 1086[0]
Parameters
List of parameters
Description: Sets the signal source for the speed/velocity limit of the negative direction.
Description: Sets skip velocity 1.
Notice: Skip bandwidths can also become ineffective as a result of the downstream limits in the setpoint channel.
Note: The skip (suppression) velocities can be used to prevent the effects of mechanical resonance.
Description: Sets skip speed 1.
Note: The skip (suppression) speeds can be used to prevent the effects of mechanical resonance.
p1088[0...n] CI: Speed limit in negative direction of rotation / n_limit neg
SERVO (Extended
set), VECTOR
- - 1086[0]
p1091[0...n] Skip velocity 1 / v_skip 1
SERVO (Extended
set, Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1091[0...n] Skip speed 1 / n_skip 1
SERVO (Extended
set), VECTOR
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
List of parameters
Parameters
SERVO (Extended
set), VECTOR
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
set), VECTOR
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
SERVO (Extended
set, Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
Description: Sets the bandwidth for the skip velocities 1 to 4.
Note: The setpoint velocities are skipped (suppressed) in the range of the skip velocity +/-p1101.
Steady-state operation is not possible in the skipped (suppressed) velocity range. The skip (suppression) range is
skipped.
Example:
p1091 = 600 and p1101 = 20
--> setpoint velocities between 580 and 620 [rpm] are skipped.
For the skip bandwidths, the following hysteresis behavior applies:
For a setpoint velocity coming from below, the following applies:
r1170 < 580 [m/min] and 580 [m/min] <= r1114 <= 620 [m/min] --> r1119 = 580 [m/min]
For a setpoint velocity coming from above, the following applies:
r1170 > 620 [m/min] and 580 [m/min] <= r1114 <= 620 [m/min] --> r1119 = 620 [m/min]
Description: Sets the bandwidth for the skip speeds/velocities 1 to 4.
Note: The setpoint (reference) speeds are skipped (suppressed) in the range of the skip speed +/-p1101.
Steady-state operation is not possible in the skipped (suppressed) speed range. The skip (suppression) range is
skipped.
Example:
p1091 = 600 and p1101 = 20
--> setpoint speeds between 580 and 620 [rpm] are skipped.
For the skip bandwidths, the following hysteresis behavior applies:
For a setpoint speed coming from below, the following applies:
r1170 < 580 [rpm] and 580 [rpm] <= r1114 <= 620 [rpm] --> r1119 = 580 [rpm]
For a setpoint speed coming from above, the following applies:
r1170 > 620 [rpm] and 580 [rpm] <= r1114 <= 620 [rpm] --> r1119 = 620 [rpm]
SERVO (Extended
set), VECTOR
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
p1101[0...n] Skip velocity bandwidth / v_skip bandwidth
SERVO (Extended
set, Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1101[0...n] Skip speed bandwidth / n_skip bandwidth
SERVO (Extended
set), VECTOR
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
List of parameters
Parameters
Description: Sets the signal source to disable the negative direction.
Description: Sets the signal source to disable the positive direction.
Description: Displays the velocity setpoint after the minimum limiting.
Description: Displays the speed setpoint after the minimum limiting.
Description: Sets the signal source to invert the setpoint.
p1110[0...n] BI: Inhibit negative direction / Inhib neg dir
SERVO (Extended
set), VECTOR
- - 0
p1111[0...n] BI: Inhibit positive direction / Inhib pos dir
SERVO (Extended
set), VECTOR
- - 0
r1112 CO: Velocity setpoint after minimum limiting / v_set n. min_lim
SERVO (Extended
set, Lin)
r1112 CO: Speed setpoint after minimum limiting / n_set n. min_lim
SERVO (Extended
set), VECTOR
- [rpm] - [rpm] - [rpm]
p1113[0...n] BI: Setpoint inversion / Setp inv
SERVO (Extended
set), VECTOR
2505, 3040
- - 0
Parameters
List of parameters
Description: Displays the speed/velocity setpoint after the changeover and limiting the direction.
Description: Displays the speed/velocity setpoint after the changeover and limiting the direction.
Description: Sets the ramp-function generator type.
Value: 0: Basic ramp-function generator
1: Extended ramp-function generator
Note: Another ramp-function generator type can only be selected when the motor is at a standstill.
Description: Displays the setpoint at the input of the ramp-function generator.
Note: The setpoint is influenced by other functions, e.g. skip (suppressed) speeds, minimum and maximum limits.
r1114 CO: Setpoint after the direction limiting / Setp after limit
SERVO (Extended
set, Lin)
3050
r1114 CO: Setpoint after the direction limiting / Setp after limit
SERVO (Extended
set), VECTOR
3050
- [rpm] - [rpm] - [rpm]
p1115 Ramp-function generator selection / RFG selection
SERVO (ESR,
Extended set), VEC-
TOR
0 1 0
r1119 CO: Ramp-function generator setpoint at the input / RFG setp at inp
SERVO (ESR,
Extended set, Lin)
3050, 3060, 3070
List of parameters
Parameters
Description: Displays the setpoint at the input of the ramp-function generator.
Note: The setpoint is influenced by other functions, e.g. skip (suppressed) speeds, minimum and maximum limits.
Description: The drive is accelerated from standstill (setpoint = 0) up to the maximum velocity (p1082) in this time.
Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed
(p1082) in this time.
Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed
(p1082) in this time.
Note: The parameter is adapted during the rotating measurement (p1960 > 0). This is the reason that during the rotating
measurement, the motor can accelerate faster than was originally parameterized.
For U/f control and sensorless vector control (see p1300), ramp-up times of 0 s are not expedient. The setting
should be based on the startup times (r0345) of the motor.
r1119 CO: Ramp-function generator setpoint at the input / RFG setp at inp
SERVO (ESR,
Extended set), VEC-
TOR
3050, 3060, 3070
- [rpm] - [rpm] - [rpm]
p1120[0...n] Ramp-function generator ramp-up time / RFG ramp-up time
SERVO (ESR,
Extended set, Lin)
0.000 [s] 999999.000 [s] 10.000 [s]
SERVO (ESR,
Extended set)
0.000 [s] 999999.000 [s] 10.000 [s]
0.000 [s] 999999.000 [s] 10.000 [s]
Parameters
List of parameters
Description: The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill
(setpoint = 0) in this time.
Further, the ramp-down time is always effective for OFF1.
Note: The following applies for SERVO:
The ramp-function generator is only available when the function module "extended setpoint channel" is active
(r0108.8 = 1).
Description: The drive is decelerated from the maximum velocity (p1082) down to standstill (setpoint = 0) in this time.
Note: The following applies for SERVO:
The ramp-function generator is only available when the function module "extended setpoint channel" is active
(r0108.8 = 1).
Description: The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill
(setpoint = 0) in this time.
Further, the ramp-down time is always effective for OFF1.
Note: For U/f control and sensorless vector control (see p1300), ramp-down times of 0 s are not recommended. The set-
ting should be based on the startup times (r0345) of the motor.
Description: Sets the signal source for bypassing the ramp generator (ramp-up and ramp-down times = 0).
Note: For VECTOR in encoderless operation, it is not permissible that the ramp-function generator is bypassed.
p1121[0...n] Ramp-function generator ramp-down time / RFG ramp-down time
0.000 [s] 999999.000 [s] 10.000 [s]
0.000 [s] 999999.000 [s] 0.000 [s]
0.000 [s] 999999.000 [s] 10.000 [s]
p1122[0...n] BI: Bypass ramp-function generator / Bypass RFG
SERVO (ESR,
Extended set), VEC-
TOR
- - 0
List of parameters
Parameters
Description: Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
Description: Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
Description: Sets the smoothed response to the OFF1 command or the reduced setpoint for the extended ramp-function gener-
ator.
Value: 0: Cont. smoothing
1: Discont smoothing
Dependency: No effect up to initial rounding-off time (p1130) > 0 s.
Note: p1134 = 0 (continuous smoothing)
If the setpoint is reduced while ramping-up, initially a final rounding-off is carried out and then the ramp-up com-
pleted. During the final rounding-off, the output of the ramp-function generator continues to go in the direction of the
previous setpoint (overshoot). After the final rounding-off has been completed, the output goes toward the new set-
point.
p1134 = 1 (discontinuous smoothing)
If the setpoint is reduced while ramping-up, then the output goes immediately in the direction of the new setpoint.
For the setpoint change there is no rounding-off.
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.
Note: This time can be exceeded if the DC link voltage reaches its maximum value.
p1130[0...n] Ramp-function generator initial rounding-off time / RFG t_start_round
SERVO (ESR,
Extended set), VEC-
TOR
0.000 [s] 30.000 [s] 0.000 [s]
p1131[0...n] Ramp-function generator final rounding-off time / RFG t_end_delay
SERVO (ESR,
Extended set), VEC-
TOR
0.000 [s] 30.000 [s] 0.000 [s]
p1134[0...n] Ramp-function generator rounding-off type / RFG round-off type
SERVO (ESR,
Extended set), VEC-
TOR
Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 3070
0 1 0
p1135[0...n] OFF3 ramp-down time / OFF3 t_RD
0.000 [s] 600.000 [s] 0.000 [s]
Parameters
List of parameters
Description: Sets the ramp-down time from the maximum velocity down to zero speed for the OFF3 command.
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.
Description: Sets the initial rounding-off time for OFF3 for the extended ramp generator.
Description: Sets the final rounding-off time for OFF3 for the extended ramp generator.
Description: Sets the signal source for the command "enable ramp-function generator/inhibit ramp-function generator".
BI: p1140 = 0 signal:
Inhibits the ramp-function generator (the ramp-function generator output is set to zero).
Enables the ramp-function generator.
0.000 [s] 600.000 [s] 0.000 [s]
0.000 [s] 600.000 [s] 3.000 [s]
p1136[0...n] OFF3 initial rounding-off time / RFGOFF3 t_strt_rnd
SERVO (ESR,
Extended set), VEC-
TOR
0.000 [s] 30.000 [s] 0.000 [s]
p1137[0...n] OFF3 final rounding-off time / RFG OFF3 t_end_del
SERVO (ESR,
Extended set), VEC-
TOR
0.000 [s] 30.000 [s] 0.000 [s]
p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / RFG enable
- - 1
List of parameters
Parameters
Description: Sets the signal source for the command "enable ramp-function generator/inhibit ramp-function generator".
Inhibits the ramp-function generator (the ramp-function generator output is set to zero).
Enables the ramp-function generator.
Description: Sets the signal source for the command "continue ramp-function generator/freeze ramp-function generator".
Freezes the ramp-function generator.
Continues the ramp-function generator.
Notice: The ramp-function generator is, independent of the state of the signal source, active in the following cases:
- OFF1/OFF3.
- ramp-function generator output within the suppression bandwidth.
- ramp-function generator output below the minimum speed.
p1140 BI: Enable ramp-function generator/inhibit ramp-function generator / RFG enable
- - 1
p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator / Continue RFG
- - 1
Parameters
List of parameters
Description: Sets the signal source for the command "continue ramp-function generator/freeze ramp-function generator".
Freezes the ramp-function generator.
Continues the ramp-function generator.
Description: Sets the signal source for the command "enable setpoint/inhibit setpoint".
Inhibits the setpoint (the ramp-function generator input is set to zero).
Enables the setpoint.
Description: Sets the signal source for the command "enable setpoint/inhibit setpoint".
Inhibits the setpoint (the ramp-function generator input is set to zero).
p1141 BI: Continue ramp-function generator/freeze ramp-function generator / Continue RFG
- - 1
p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable
- - 1
p1142 BI: Enable setpoint/inhibit setpoint / Setpoint enable
- - 1
List of parameters
Parameters
Enables the setpoint.
Description: Sets the signal source for accepting the setting value of the ramp-function generator.
Dependency: The signal source for the ramp-function generator setting value is set using parameters.
Refer to: p1144
Note: 0/1 signal:
The ramp-function generator output is immediately (without delay) set to the setting value of the ramp-function gen-
erator.
1 signal:
The setting value of the ramp-function generator is effective.
1/0 signal:
The input value of the ramp-function generator is effective. The ramp-function generator output is adapted to the
input value using the ramp-up time or the ramp-down time.
0 signal:
The input value of the ramp-function generator is effective.
Description: Sets the signal source for the ramp-function generator setting value.
Dependency: The signal source for accepting the setting value is set using parameters.
Refer to: p1143
Description: Sets the ramp-function generator tracking.
The output value of the ramp-function generator is tracked (corrected) corresponding to the maximum possible
drive acceleration. The reference value is the deviation at the speed/velocity controller input that is necessary to
ensure that the motor accelerates at the torque/force limit.
p1143[0...n] BI: Ramp-function generator, accept setting value / RFG accept set v
SERVO (ESR,
Extended set), VEC-
TOR
- - 0
p1144[0...n] CI: Ramp-function generator setting value / RFG setting value
SERVO (ESR,
Extended set), VEC-
TOR
- - 0
p1145[0...n] Ramp-function generator tracking intensity. / RFG track intens
SERVO (ESR,
Extended set), VEC-
TOR
0.0 50.0 1.3
Parameters
List of parameters
Recommend.: p1145 = 0.0:
This value de-activates the ramp-function generator tracking.
p1145 = 0.0 ... 1.0:
Generally, these values are not practical. They cause the motor to accelerate below its torque limit. The lower the
selected value, the greater the margin between the controller and torque limit when accelerating.
p1145 > 1.0:
The greater the value, the higher the permissible deviation between the speed setpoint and speed actual value.
Notice: If ramp-function generator tracking is activated and the ramp time is set too short, this can cause unsteady acceler-
ation.
Remedy:
- switch off ramp-function generator tracking (p1145 = 0).
- increase the ramp-up/ramp-down time (p1120, p1121).
Note: In the U/f mode, ramp-function generator tracking is not active.
For SERVO with U/f operation, the following applies:
The complete ramp-function generator is not active, i.e. ramp-up and ramp-down time = 0.
Description: Sets the tolerance value for the status of the ramp-function generator (ramp-up active, ramp-down active).
If the input of the ramp-function generator does not change in comparison to the output by more than the entered
tolerance time, then the status bits "ramp-up active" and "ramp-down active" are not influenced.
Description: Sets the tolerance value for the status of the ramp-function generator (ramp-up active, ramp-down active).
If the input of the ramp-function generator does not change in comparison to the output by more than the entered
tolerance time, then the status bits "ramp-up active" and "ramp-down active" are not influenced.
Description: Displays the acceleration of the ramp-function generator.
p1148[0...n] Ramp-function gen., tolerance for ramp-up and ramp-down active / RFG tol HL/RL act
SERVO (ESR,
Extended set, Lin)
0.000 [m/min] 10.000 [m/min] 0.200 [m/min]
SERVO (ESR,
Extended set), VEC-
TOR
0.000 [rpm] 1000.000 [rpm] 19.800 [rpm]
r1149 CO: Ramp-function generator, acceleration / RFG acceleration
SERVO (ESR,
Extended set, Lin)
- [m/s] - [m/s] - [m/s]
List of parameters
Parameters
Description: Displays the acceleration of the ramp-function generator.
Description: Displays the setpoint at the output of the ramp-function generator.
Description: Displays the setpoint at the output of the ramp-function generator.
Description: Sets the configuration for the extended ramp-function generator.
Caution: Re bit 00 = 1:
If the ramp-up time is longer than the ramp-down time (p1120 > p1121), then there is an acceleration step at the
zero crossover. This can have a negative impact on the mechanical system.
When the direction change is changed there is no rounding-off before and after the zero crossover.
r1149 CO: Ramp-function generator, acceleration / RFG acceleration
SERVO (ESR,
Extended set), VEC-
TOR
- [rev/s] - [rev/s] - [rev/s]
r1150 CO: Ramp-function generator velocity setpoint at the output / RFG n_set at outp
SERVO (ESR,
Extended set, Lin)
r1150 CO: Ramp-function generator speed setpoint at the output / RFG n_set at outp
SERVO (ESR,
Extended set), VEC-
TOR
- [rpm] - [rpm] - [rpm]
p1151[0...n] Ramp-function generator configuration / RFG config
SERVO (ESR,
Extended set), VEC-
TOR
- - 0000 bin
00 Disable rounding-off at the zero cross-over Yes No 3070
Parameters
List of parameters
Description: Sets the signal source for "setpoint 2 enable".
Description: Sets the signal source for speed setpoint 1 of the speed controller.
Dependency: The effectiveness of this setpoint depends on, e.g. STW1.4 and STW1.6.
Refer to: r0002, p0840, p0844, p0848, p0852, p0854, r0898, p1140, p1142, p1160, r1170, p1189, p1412, p1414,
p1417, p1418
Description: Sets the signal source for velocity setpoint 1 of the velocity controller.
Dependency: The effectiveness of this setpoint depends on, e.g. STW1.4 and STW1.6.
Refer to: r0002, p0840, p0844, p0848, p0852, p0854, r0898, p1140, p1142, p1160, r1170, p1189, p1412, p1414,
p1417, p1418
Description: Sets the signal source for speed setpoint 1 of the encoder emulation.
The speed setpoint is processed corresponding to the sequencer of the TM41.
Dependency: The effectiveness of this setpoint depends on control word 1 (STW1).
Refer to: r0898
p1152 BI: Setpoint 2 enable / Setp 2 enab
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 899.15
p1155[0...n] CI: Speed controller speed setpoint 1 / n_ctrl n_set 1
Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: 1550, 3080,
5030, 6031
- - 0
p1155[0...n] CI: Velocity controller, velocity setpoint 1 / v_ctrl v_set 1
5030, 6031
- - 0
p1155 CI: TM41 encoder emulation speed setpoint 1 / Enc_emulat n_set 1
- - 0
List of parameters
Parameters
Description: Sets the signal source for speed setpoint 2 of the speed controller.
Note: For OFF1/OFF3, the ramp-function generator ramp is effective.
The ramp-function generator is set (SERVO: to the actual value, VECTOR: To the setpoint (r1170)) and stops the
drive corresponding to the ramp-downtime (p1121 or p1135). While stopping via the ramp-function generator,
STW1.4 is effective (enable ramp-function generator).
When the function module "position control" (r0108.3 = 1) is activated, this connector input is interconnected as fol-
lows as standard:
CI: p1160 = r2562
Description: Sets the signal source for velocity setpoint 2 of the velocity controller.
Note: For OFF1/OFF3, the ramp-function generator ramp is effective.
The ramp-function generator is set to the actual value and stops the drive corresponding to the ramp-downtime
(p1121 or p1135). While stopping via the ramp-function generator, STW1.4 is effective (enable ramp-function gen-
erator).
For the function module "position control" (r0108.3 = 1), this connector input is interconnected as follows as stan-
dard:
CI: p1160 = r2562
Description: Displays the speed setpoint after the addition of the speed setpoint 1 (p1155) and speed setpoint 2 (p1160).
Note: The value is only correctly displayed at r0899.2 = 1 (operation enabled).
- - 0
- - 0
r1169 CO: Speed controller, speed setpoints 1 and 2 / n_ctrl n_set 1/2
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the velocity setpoint after the addition of the velocity setpoint 1 (p1155) and velocity setpoint 2 (p1160).
Note: The value is only correctly displayed at r0899.2 = 1 (operation enabled).
Description: Displays the speed setpoint after selecting the ramp-function generator and adding the speed setpoint 1 (p1155)
and speed setpoint 2 (p1160).
Description: Displays the velocity setpoint after selecting the ramp-function generator and adding the velocity setpoint 1 (p1155)
and velocity setpoint 2 (p1160).
Description: Sets the configuration for the speed setpoint.
Note: Re bit 01:
The interpolator is only effective in following cases:
- isochronous PROFIBUS operation with a sign-of-life received from the master (STW2.12 ... STW2.15).
- speed setpoint 1 and/or 2 is supplied from the technology controller (CI: p1155 = r2294, CI: p1160 = r2294).
r1169 CO: Velocity controller, velocity setpoints 1 and 2 / v_ctrl n_set 1/2
r1170 CO: Speed controller, setpoint sum / n_ctrl setp sum
1690, 1700, 1750, 3080, 5020,
6030
- [rpm] - [rpm] - [rpm]
r1170 CO: Velocity controller, setpoint sum / v_ctrl setp sum
1750, 3080, 5020
p1189[0...n] Speed setpoint configuration / n_ctrl config
- - 0011 bin
00 Interpolation ramp-fct gen/speed controller
active
Yes No 3080
01 Interpol. op-loop ctrl /speed controller active Yes No 3080
List of parameters
Parameters
Description: Sets the configuration for the velocity setpoint.
Note: Re bit 01:
The interpolator is only effective in following cases:
- isochronous PROFIBUS operation with a sign-of-life received from the master (STW2.12 ... STW2.15).
- velocity setpoint 1 and/or 2 is supplied from the technology controller (CI: p1155 = r2294, CI: p1160 = r2294).
Description: Sets the configuration for the incremental encoder emulation.
Note: The parameter is not effective in the SINAMICS operating mode (p4400 = 1).
Re bit 01:
The interpolator is only effective for clock-cycle synchronous PROFIBUS operation and when the master receives a
sign-of-life (STW 2.12 ... STW 2.15).
Description: Sets the signal source for the position deviation XERR for DSC (position controller output of the higher-level con-
trol).
Dependency: Clock cycle synchronous operation must be activated for DSC.
The position controller gain factor (KPC), the position deviation (XERR) and the speed setpoint (N_SOLL_B) must
be included in the setpoint telegram.
At least the encoder interface (Gx_XIST1) must be included in the actual value telegram.
The position actual value used for the internal position controller can be selected using p1192.
The parameter can only be interconnected to a signal source with Integer32 data type.
Note: DSC: Dynamic Servo Control
p1189[0...n] Velocity setpoint configuration / v_ctrl config
- - 0011 bin
00 Interpolation ramp-fct gen/velocity controller
active
Yes No 3080
01 Interpol. op-loop ctrl /velocity controller
active
Yes No 3080
p1189 TM41 encoder simulation configuration / Enc_emulat config
TM41 Can be changed: U, T Calculated: - Access level: 2
- - 0010 bin
01 Interpol. op-loop ctrl /speed controller active Yes No 9674
p1190 CI: DSC position deviation XERR / DSC XERR
- - 0
Parameters
List of parameters
Description: Sets the signal source for the position controller gain KPC for DSC.
Dependency: Clock cycle synchronous operation must be activated for DSC.
Refer to: p1190
Description: Sets the number of the encoder used for DSC.
Value: 1: Encoder 1 (motor encoder)
2: Encoder 2
3: Encoder 3
Value 1 corresponds to encoder 1 (motor encoder); the encoder data set is assigned via p0187.
Value 2 corresponds to encoder 2; the encoder data set is assigned via p0188.
Value 3 corresponds to encoder 3; the encoder data set is assigned via p0189.
Description: Sets the factor to adapt the encoder when using either encoder 2 or 3 for DSC.
The factor sets the ratio of the pulse difference between the motor encoder and the selected encoder for the same
distance moved through.
This factor takes into account e.g. gear ratios, differences in the number of encoder pulses.
Example:
Encoder 1: Motor encoder with 2048 pulses/revolution, ballscrew with 10 mm/revolution pitch
Encoder 2: Linear scale with 20 m grid division as direct measuring system
p1193 = number of pulses, encoder 1 per motor revolution / number of pulses, encoder 2 per motor revolution
p1193 = 2048 / (10 mm / 20 m) = 4.096
p1191 CI: DSC position controller gain KPC / DSC KPC
Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: 1550, 3090
- - 0
p1192[0...n] DSC enc selection / DSC enc selection
1 3 1
p1193[0...n] DSC encoder adaptation factor / DSC encodAdaptFact
0.000 1000000.000 1.000
List of parameters
Parameters
Description: Sets the signal source for control word DSC_STW for DSC with spline.
Bit 0: DSC with spline on
Bit 4: Speed pre-control for DSC with spline on
Bit 5: Torque pre-control for DSC with spline on
Dependency: The control word is only evaluated if the "DSC with spline" function module (r0108.6) is activated.
The closed-loop control structure selected by the DSC control word is displayed in r1407.
Refer to: p1191, p1192, p1195
Description: Sets the signal source for the symmetrizing time constant T_SYMM for DSC with spline.
T_SYMM = 0:
Symmetrization is de-activated.
T_SYMM > 0:
The position setpoint is always symmetrized.
The speed pre-control value is only symmetrized if speed pre-control and torque pre-control are activated
(r1407.20, 21, 22).
Torque pre-control value is not symmetrized.
Dependency: The symmetrizing time constant is only evaluated if the "DSC with spline" function module (r0108.6) is activated.
Refer to: p1191, p1192, p1194
Note: The symmetrizing time constant T_SYMM has the unit 10 s in the Unsigned16 format.
DSC: Dynamic Servo Control
Description: Displays the number of the selected fixed speed/velocity setpoint.
p1194 CI: DSC control word DSC_STW / DSC_STW
SERVO (DSC spline) Can be changed: T Calculated: - Access level: 3
- - 0
p1195 CI: DSC symmetrizing time constant T_SYMM / DSC_T_SYMM
SERVO (DSC spline) Can be changed: T Calculated: - Access level: 3
- - 0
r1197 Fixed velocity setpoint number actual / n_set_fixed No act
SERVO (Extended
set, Lin)
- - -
Parameters
List of parameters
Description: Displays the number of the selected fixed speed/velocity setpoint.
Description: Displays the control word for the setpoint channel.
Description: Displays the status word for the ramp-function generator (RFG).
Note: Re bit 02:
The bit is an OR logic operation - bit 00 and bit 01.
r1197 Fixed speed setpoint number actual / n_set_fixed No act
SERVO (Extended
set), VECTOR
- - -
r1198.0...15 CO/BO: Control word setpoint channel / STW setpoint chan
SERVO (Extended
set), VECTOR
- - -
00 Fixed setp bit 0 Yes No 3010
05 Inhibit negative direction Yes No 3040
06 Inhibit positive direction Yes No 3040
11 Setpoint inversion Yes No 3040
13 Motorized potentiometer raise Yes No 3020
14 Motorized potentiometer lower Yes No 3020
15 Bypass ramp-function generator Yes No 3060,
3070
r1199.0...6 CO/BO: Ramp-function generator status word / RFG ZSW
SERVO (ESR,
Extended set), VEC-
TOR
8010
- - -
00 Ramp-up active Yes No -
01 Ramp-down active Yes No -
02 RFG active Yes No -
03 Ramp-function generator set Yes No -
04 Ramp-function generator held Yes No -
05 Ramp-function generator tracking active Yes No -
06 Maximum limit active Yes No -
List of parameters
Parameters
Description: Sets the operating mode for flying restart.
The flying restart allows the drive converter to be powered up while the motor is still rotating. In so doing, the drive
converter output frequency is changed until the actual motor speed/velocity is found. The motor then accelerates up
to the setpoint at the ramp-function generator setting.
Value: 0: Flying restart inactive
1: Flying restart always active (start in setpoint direction)
2: FlyRestart active after on, fault, OFF2 (start in setp. dir.)
3: FlyRestart active after fault, OFF2 (start in setp. direction)
4: Flying restart always active (start only in setpoint direction)
5: FlyRestart active after on, fault, OFF2 (start only in setp_dir)
6: FlyRestart active after fault, OFF2 (start only in setp. dir.)
Dependency: For induction motors, the following applies:
A differentiation is made between flying restart for U/f control and for vector control (p1300).
Flying restart, U/f control: p1202, p1203, r1204
Flying restart, vector control: p1202, p1203, r1205
For synchronous motors, the following applies:
Flying restart is not possible with U/f control or if, in the case of sensorless vector control, a Voltage Sensing Mod-
ule has not been connected and parameterized.
Refer to: p1201
Refer to: F07330, F07331
Notice: The "flying restart" function must be used in cases where the motor may still be running (e.g. after a brief line supply
interruption) or is being driven by the load. The system might otherwise shut down as a result of overcurrent.
It does not make sense to use "flying restart" together with the "motor holding brake function" (p1215 > 0) because
then the flying restart will always be realized with the motor stationary.
Note: For p1200 = 1, 4, the following applies:
Flying restart is active after faults, OFF1, OFF2, OFF3.
For p1200 = 2, 5, the following applies:
The "power-on" is the first power-on operation after the drive system has been booted. This is practical for motors
with a high-inertia load.
For p1200 = 1, 2, 3, the following applies: The search is made in both directions.
For p1200 = 4, 5, 6, the following applies: The search is only made in the setpoint direction. For a setpoint of zero,
a search is not made in the negative direction of rotation.
For operation with encoder, the following applies:
p1200 = 1, 4 as well as p1200 = 2, 5 and p1200 = 3, 6 have the same meaning.
For U/f control (p1300 < 20), the following applies:
The speed can only be sensed for values above approx. 5 % of the rated motor speed. For lower speeds, it is
assumed that the motor is at a standstill.
If p1200 is changed while commissioning (p0009, p0010 > 0), then it is possible that the old value will no longer be
able to be set. The reason for this is that the dynamic limits of p1200 have been changed by a parameter that was
set when the drive was commissioned (e.g. p0300).
p1200[0...n] FlyRest oper mode / FlyRest op_mode
0 6 0
Parameters
List of parameters
Description: Sets the signal source to enable the "flying restart" function.
Note: Withdrawing the enable signal has the same effect as setting p1200 = 0.
Description: Sets the search current for the "flying restart" function.
The value is referred to the motor magnetizing current.
Caution: An unfavorable parameter value can result in the motor behaving in an uncontrollable fashion.
Note: In U/f control mode, the parameter serves as a threshold value for establishing the current at the beginning of the
flying restart function. When the threshold value is reached, the prevailing search current is set dependent upon the
frequency on the basis of voltage inputs.
Reducing the search current can also improve flying restart performance (if the system moment of inertia is not very
high, for example).
Description: The value influences the rate at which the output frequency is changed during a flying restart . A higher value
results in a longer search time.
Recommend.: For sensorless vector control and long motor cables, a setting of 300 % and higher is recommended for p1203.
Caution: An unfavorable parameter value can result in the motor behaving in an uncontrollable fashion.
For vector control, a value that is too low or too high can cause flying restart to become unstable.
Note: The parameter factory setting is selected so that standard induction motors that are rotating can be found and
restarted as quickly as possible (fast flying restart).
With this pre-setting, if the motor is not found (e.g. for motors that are accelerated as a result of active loads or with
U/f control and low speeds), we recommend that the search rate is reduced (by increasing p1203).
p1201[0...n] BI: Flying restart enable signal source / Fly_res enab S_src
Data type: Unsigned32 / Binary Dynamic index: CDS, p0170 Func. diagram: -
- - 1
p1202[0...n] FlyRest srch curr / FlyRest I_srch
10 [%] 400 [%] 100 [%]
p1203[0...n] Flying restart search rate factor / FlyRst v_Srch Fact
10 [%] 4000 [%] 100 [%]
List of parameters
Parameters
Description: Displays the status for checking and monitoring flying restart states in the U/f control mode.
Description: Displays the status for checking and monitoring flying restart states in the vector control mode.
Note: Re bit 00 ... 09:
Used to control internal sequences during the flying restart.
Depending on the motor type (p0300), the number of active bits differs.
Re bits 10 ... 15:
Are used to monitor the flying restart sequence.
For permanent-magnet synchronous motors (PEM) only bits 10, 11 and 15 are supported.
r1204.0...13 CO/BO: Flying restart, U/f control status / FlyRest Uf st
- - -
00 Current impressed Yes No -
01 No current flow Yes No -
02 Voltage input Yes No -
03 Voltage reduced Yes No -
05 Wait for execution Yes No -
06 Slope filter act Yes No -
07 Positive gradient Yes No -
08 Current < thresh Yes No -
09 Current minimum Yes No -
10 Search in the positive direction Yes No -
11 Stop after positive direction Yes No -
12 Stop after negative direction Yes No -
13 No result Yes No -
r1205.0...15 CO/BO: Flying restart, vector control status / FlyRest vector st
- - -
00 Speed adaptation circuit record angle Yes No -
01 Speed adaptation circuit set gain to 0 Yes No -
02 Isd channel enable Yes No -
03 Speed control switched out Yes No -
04 Quadrature arm switched in Yes No -
05 Special transformation active Yes No -
06 Speed adaptation circuit set I comp to 0 Yes No -
07 Current control on Yes No -
08 Isd_set = 0 A Yes No -
09 Frequency held Yes No -
10 Search in the positive direction Yes No -
11 Search Started Yes No -
12 Current impressed Yes No -
13 Search interrupted Yes No -
14 Speed adaptation circuit deviation = 0 Yes No -
15 Speed control activated Yes No -
Parameters
List of parameters
Description: Selects the faults for which automatic restart should not be effective.
Dependency: The setting is only effective for p1210 = 6, 16.
Refer to: p1210
Description: Modifies the pre-charging monitoring of the infeed.
The active automatic restart (AR) of the following drive object can be interconnected using this binector input (BI:
p1207 = r1214.2).
This means that when the automatic restart is operational, the pre-charging monitoring of the infeed is de-activated
and is only re-activated under the following conditions:
- the absolute current in the DC link is greater than 2 % of the maximum current (r0209) of the infeed to provide pro-
tection against short-circuit in the DC link.
- if a Voltage Sensing Module (VSM) is being used, the line supply voltage amplitude is greater than 3 % of the
parameterized unit supply voltage (p0210) to protect the pre-charging resistors against continuous filter current
when the line supply partially returns.
Description: Sets the signal source to modify the automatic restart (AR).
Interconnections between the automatic restart and infeed:
With the following interconnection in the mode p1210 = 6, the automatic restart can respond to infeed faults:
BI: p1208[0] = r2139.3
With the following interconnection, in the mode p1210 = 4, the automatic restart can respond to line supply failure of
the infeed:
BI: p1208[1] = r0863.2
Index: [0] = Infeed fault
[1] = Infeed line supply failure
p1206[0...9] Set the fault number without automatic restart / Fault_No w/o AR
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 65535 0
p1207 BI: AR connection following drive object / AR connection DO
A_INF, B_INF,
S_INF
- - 0
p1208[0...1] BI: AR modification infeed / AR modification
- - 0
List of parameters
Parameters
Description: Sets the automatic restart mode (AR).
Value: 0: Inhibit automatic restart
1: Acknowledge all faults without restarting
4: Restart after line supply failure w/o additional start attempts
6: Restart after fault with additional start attempts
Dependency: The automatic restart requires an active ON command (e.g., via a digital input). If, for p1210 > 1, there is no active
ON command, then the automatic restart is interrupted.
When using an Advanced Operator Panel (AOP) in the LOCAL Mode, then there is no automatic restart.
Refer to: p0840, p0857, p1267
Refer to: F30003
Danger: If the automatic restart is activated (p1210 > 1) if there is an ON command (refer to p0840), the drive is powered up
as soon as any fault messages that are present can be acknowledged. This also occurs after the line supply returns
or the Control Unit boots if the DC link voltage is again present or the feedback of the line supply infeed (refer to
p0864) is again available. This automatic power-up sequence can only be interrupted by withdrawing the ON com-
mand.
Caution: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).
For p1210 > 1, the infeed is automatically started.
Note: When automatic restart mode is activated, the supply voltage must remain connected (e.g. backed up by UPS).
Re p1210 = 1:
Faults that are present are automatically acknowledged. If new faults occur after a successful fault acknowledg-
ment, then these are also automatically acknowledged again. A minimum time of p1212 + 1 s must expire between
a successful fault acknowledgement and a fault re-occurring if the signal ON/OFF1 (STW1.0) is at a HIGH signal
level. If the signal ON/OFF1 is at a LOW signal level, then the time between a successful fault acknowledgement
and a new fault must be at least 1 s. p1211 has no influence on the number of acknowledgment attempts.
Re p1210 = 4:
An automatic restart is only executed if fault F06200 has occurred. If additional faults are present, then these faults
are also acknowledged and when successful, starting continues. If the 24 V Control Unit power supply fails, then
this is interpreted as a line supply failure.
Re p1210 = 6:
An automatic restart is carried out if any fault has occurred.
When using an Advanced Operator Panel (AOP) in the LOCAL Mode, then there is no automatic restart.
Refer to: p0840, p0857, p1267
Refer to: F30003
p1210 Automatic restart, mode / AR mode
A_INF, B_INF Can be changed: U, T Calculated: - Access level: 2
0 6 0
S_INF Can be changed: U, T Calculated: - Access level: 2
0 6 0
Parameters
List of parameters
mand.
For p1210 > 1, the infeed is automatically started.
Re p1210 = 1:
ment, then these are also automatically acknowledged again. A minimum time of p1212 + 1 s must expire between
a successful fault acknowledgement and a fault re-occurring if the signal ON/OFF1 (STW1.0) is at a HIGH signal
level. If the signal ON/OFF1 is at a LOW signal level, then the time between a successful fault acknowledgement
and a new fault must be at least 1 s.
p1211 has no influence on the number of acknowledgment attempts.
Re p1210 = 4:
An automatic restart is only executed if fault F06200 has occurred. If additional faults are present, then these faults
are also acknowledged and when successful, starting continues. If the 24 V Control Unit power supply fails, then
this is interpreted as a line supply failure.
Re p1210 = 6:
An automatic restart is carried out if any fault has occurred.
14: Restart after line supply failure following man. acknowledgment
16: Restart after fault following manual acknowledgment
When using an Operator Panel in the LOCAL mode, then there is no automatic start.
For p1210 = 14, 16, a manual acknowledgement is required for an automatic restart.
Refer to: p0840, p0857, p1267
Refer to: F30003
mand.
Caution: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1). When faults
are present, therefore, the parameter cannot be changed.
For p1210 > 1, the motor is automatically started.
Re p1210 = 1:
ment, then these are also automatically acknowledged again. p1211 has no influence on the number of acknowl-
edgment attempts.
0 16 0
List of parameters
Parameters
Re p1210 = 4:
An automatic restart is only carried out if fault F30003 occurred at the Motor Module or a 1 signal is present at
binector input p1208[1]. If additional faults are present, then these faults are also acknowledged and when success-
ful, starting continues. If the 24 V Control Unit power supply fails, then this is interpreted as a line supply failure.
Re p1210 = 6:
An automatic restart is carried out if any fault has occurred or there is a 1 signal at binector input p1208[0].
Re p1210 = 14:
As for p1210 = 4. However, faults that are present must be manually acknowledged.
Re p1210 = 16:
14: Restart after line supply failure following man. acknowledgment
16: Restart after fault following manual acknowledgment
Recommend.: For brief line supply failures, the motor shaft may still be rotating when restarting. The "flying restart" function
(p1200) might need to be activated to restart while the motor shaft is still rotating.
When using an Operator Panel in the LOCAL mode, then there is no automatic start.
For p1210 = 14, 16, a manual acknowledgement is required for an automatic restart.
Refer to: p0840, p0857, p1267
Refer to: F30003
mand.
Caution: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1). When faults
are present, therefore, the parameter cannot be changed.
For p1210 > 1, the motor is automatically started.
Re p1210 = 1:
ment, then these are also automatically acknowledged again. p1211 has no influence on the number of acknowl-
edgment attempts.
Re p1210 = 4:
An automatic restart is only carried out if fault F30003 occurred at the Motor Module or a 1 signal is present at
binector input p1208[1]. If additional faults are present, then these faults are also acknowledged and when success-
ful, starting continues. If the 24 V Control Unit power supply fails, then this is interpreted as a line supply failure.
Re p1210 = 6:
An automatic restart is carried out if any fault has occurred or there is a 1 signal at binector input p1208[0].
Re p1210 = 14:
Re p1210 = 16:
0 16 0
Parameters
List of parameters
Description: Sets the start attempts of the automatic restart function for p1210 = 4, 6.
Dependency: The setting of this parameter is always effective for p1210 = 6. For p1210 = 4, the parameter only has an influence
if an additional line phase failure (F6200) occurs at the start attempt.
Refer to: F07320
Notice: After fault F07320 occurs, the power-on command must be withdrawn and all of the faults acknowledged so that the
automatic restart function is re-activated.
After a complete power failure the start counter always starts with the counter value that applied before the power
failure, and decrements this start attempt by 1. If a further attempt to acknowledge is started by the automatic
restart function prior to power failure, e.g. when the CU remains active on power failure longer than the time p1212
/ 2, the fault counter will already have been decremented once. In this case, the start counter is thus decreased by
the value 2.
Note: A start attempt starts immediately when a fault occurs. The restart attempt is considered to have been completed if
the infeed is powered up and an additional delay time of 1 s has expired.
As long as a fault is present, an acknowledge command is generated in the time intervals of p1212 / 2. When suc-
cessfully acknowledged, the start counter is decremented. If, after this, a fault re-occurs before a restart has been
completed, then acknowledgement starts again from the beginning.
Fault F07320 is output if, after several faults occur, the number of parameterized start attempts has been reached.
After a successful start attempt (i.e. a fault/error has no longer occurred up to the end of the power-up operation)
the start counter is again reset to the parameter value after 1 s. If faults re-occur, the parameterized number of start
attempts is again available.
At least one start attempt is always carried out.
After a line supply failure, acknowledgement is immediate and when the line supply returns, the system is powered
up. If, between successfully acknowledging the line fault and the line supply returning, another fault occurs, then its
acknowledgement also causes the start counter to be decremented.
Description: Sets the start attempts of the automatic restart function for p1210 = 4, 6.
Refer to: F07320
After a complete power failure the start counter always starts with the counter value that applied before the power
failure, and decrements this start attempt by 1. If a further attempt to acknowledge is started by the automatic
restart function prior to power failure, e.g. when the CU remains active on power failure longer than the time p1212
/ 2, the fault counter will already have been decremented once. In this case, the start counter is thus decreased by
the value 2.
Note: A start attempt starts immediately when a fault occurs. The start attempt is considered to been completed if the
motor was magnetized (r0056.4 = 1) and an additional delay time of 1 s has expired.
p1211 Automatic restart, start attempts / AR start attempts
A_INF, B_INF,
S_INF
0 10 3
p1211 Automatic restart, start attempts / AR start attempts
0 10 3
List of parameters
Parameters
As long as a fault is present, an acknowledge command is generated in the time intervals of p1212 / 2. When suc-
cessfully acknowledged, the start counter is decremented. If, after this, a fault re-occurs before a restart has been
completed, then acknowledgement starts again from the beginning.
Fault F07320 is output if, after several faults occur, the number of parameterized start attempts has been reached.
After a successful start attempt, i.e. a fault/error has no longer occurred up to the end of the magnetizing phase, the
start counter is again reset to the parameter value after 1 s. If a fault re-occurs - the parameterized number of start
attempts is again available.
At least one start attempt is always carried out.
After a line supply failure, acknowledgement is immediate and when the line supply returns, the system is powered
up. If, between successfully acknowledging the line fault and the line supply returning, another fault occurs, then its
acknowledgement also causes the start counter to be decremented.
Description: Sets the delay time up to restart.
Dependency: This parameter setting is active for p1210 = 4, 6.
For p1210 = 1, the following applies: Faults are only acknowledged, no restart.
Note: The faults are automatically acknowledged and the system is powered up again after half of the delay time has
expired and after the full delay time has expired.
Description: Sets the delay time up to restart.
Dependency: This parameter setting is active for p1210 = 4, 6.
For p1210 = 1, the following applies: Faults are only automatically acknowledged in half of the delay time, no
restart.
Note: The faults are automatically acknowledged after half of the delay time has expired and the full delay time.
If the cause of a fault is not removed in the first half of the delay time, then it is no longer possible to acknowledge in
the delay time.
Description: Sets the monitoring time of the automatic restart (AR).
Index: [0] = For restart
[1] = To reset the start counter
p1212 Automatic restart, delay time start attempts / AR t_wait start
A_INF, B_INF,
S_INF
0.1 [s] 1000.0 [s] 1.0 [s]
p1212 Automatic restart, delay time start attempts / AR t_wait start
0.1 [s] 1000.0 [s] 1.0 [s]
p1213[0...1] Automatic restart, monitoring time / AR t_monitoring
A_INF, B_INF,
S_INF
0.0 [s] 10000.0 [s] 0.0 [s]
Parameters
List of parameters
Note: Index 0:
The monitoring time starts when the faults are detected. If the automatic acknowledgements are not successful, the
monitoring time runs again. If the drive has not restarted at the end of the monitoring time, fault F07320 is signaled.
The monitoring is de-activated with p1213 = 0. If p1213 is set to a value which is lower than in p1212, fault F07320
is generated at each restart. If, for p1210 = 1, the time in p1213 is set lower than in p1212, then fault F07320 is also
generated at each restart.
The monitoring time must be extended if the faults that occur cannot be immediately and successfully acknowl-
edged (e.g. for faults that are permanently present).
Index 1:
The start counter (refer to r1214) is only set back to the starting value p1211 if, after successful restart, the time in
p1213 index 1 has expired. The delay time is not effective for fault acknowledgement without automatic restart
(p1210 = 1). After a power failure (blackout) the delay time only starts after the line supply returns and the Control
Unit boots. The start counter is set to p1211, if F07320 occurred, the power-on command is withdrawn and the fault
is acknowledged.
The start counter is immediately updated if the starting value p1211 or the mode p1210 is changed.
Description: Sets the monitoring time of the automatic restart (AR).
Index: [0] = For restart
[1] = To reset the start counter
Note: Index 0:
The monitoring time starts when the faults are detected. If the automatic acknowledgements are not successful, the
monitoring time runs again. If, after the monitoring time has expired, the drive has still not successfully started again
(flying restart and magnetizing of the motor must have been completed: r0056.4 = 1), then fault F07320 is output.
The monitoring is de-activated with p1213 = 0. If p1213 is set lower than the sum of p1212, the magnetizing time
p0346 and the additional delay time due to the flying restart, then fault F07320 is generated at each restart. If, for
p1210 = 1, the time in p1213 is set lower than in p1212, then fault F07320 is also generated at each restart.
The monitoring time must be extended if the faults that occur cannot be immediately and successfully acknowl-
edged (e.g. for faults that are permanently present).
In the case of p1210 = 14, 16, the faults which are present must be acknowledged manually within the time in
p1213 index 0. Otherwise, fault F07320 is generated after the set time.
Index 1:
The start counter (refer to r1214) is only set back to the starting value p1211 if, after successful restart, the time in
p1213 index 1 has expired. The delay time is not effective for fault acknowledgement without automatic restart
(p1210 = 1). After a power failure (blackout) the delay time only starts after the line supply returns and the Control
Unit boots. The start counter is set to p1211, if F07320 occurred, the power-on command is withdrawn and the fault
is acknowledged.
The start counter is immediately updated if the starting value p1211 or the mode p1210 is changed.
p1213[0...1] Automatic restart, monitoring time / AR t_monitoring
0.0 [s] 10000.0 [s] 0.0 [s]
List of parameters
Parameters
Description: Displays the status of the automatic restart (AR).
Note: Re bit 00:
State to display the single initialization after POWER ON.
Re bit 01:
State in which the automatic restart function waits for faults (initial state).
Re bit 02:
General display that a fault has been identified and that the restart or acknowledgement has been initiated.
Re bit 03:
Displays the acknowledge command within the "acknowledge alarms" state (bit 4 = 1). For bit 5 = 1 or bit 6 = 1, the
acknowledge command is continually displayed.
Re bit 04:
State in which the faults that are present are acknowledged. The state is exited again after successful acknowl-
edgement. A change is only made into the next state if it is signaled that a fault is no longer present after an
acknowledgement command (bit 3 = 1).
Re bit 05:
State in which the drive is automatically powered up (only for p1210 = 4, 6).
Re bit 06:
State in which the system waits after having been powered up, to the end of the start attempt.
For p1210 = 1, this signal is directly set after the faults have been successfully acknowledged.
Re bit 07:
State which is assumed after a fault occurs within the automatic restart function.
Re bits 12 ... 15:
Actual state of the start counter (binary coded).
Description: Displays the status of the automatic restart (AR).
r1214.0...15 CO/BO: Automatic restart, status / AR status
A_INF, B_INF,
S_INF
- - -
00 Initialization Yes No -
01 Wait for alarm Yes No -
02 Auto restart act Yes No -
03 Setting the acknowledgement command Yes No -
04 Acknowledge alarms Yes No -
05 Restart Yes No -
06 Delay time running after automatic power-
up
Yes No -
07 Fault Yes No -
10 Effective fault Yes No -
12 Start count. bit 0 ON OFF -
r1214.0...15 CO/BO: Automatic restart, status / AR status
- - -
Parameters
List of parameters
Note: Re bit 00:
State to display the single initialization after POWER ON.
Re bit 01:
State in which the automatic restart function waits for faults (initial state).
Re bit 02:
General display that a fault has been identified and that the restart or acknowledgement has been initiated.
Re bit 03:
Displays the acknowledge command within the "acknowledge alarms" state (bit 4 = 1). For bit 5 = 1 or bit 6 = 1, the
acknowledge command is continually displayed.
Re bit 04:
State in which the faults that are present are acknowledged. The state is exited again after successful acknowl-
edgement. A change is only made into the next state if it is signaled that a fault is no longer present after an
acknowledgement command (bit 3 = 1).
Re bit 05:
State in which the drive is automatically powered up (only for p1210 = 4, 6).
Re bit 06:
State in which the system waits after having been powered up, to the end of the start attempt (to the end of the
magnetizing process).
For p1210 = 1, this signal is directly set after the faults have been successfully acknowledged.
Re bit 07:
State which is assumed after a fault occurs within the automatic restart function. This is only reset after acknowl-
edging the fault and withdrawing the power-on command.
Re bit 10:
When the automatic restart function is active, r1214 bit 7 is displayed, otherwise the effective fault r2139 bit 3.
Re bits 12 ... 15:
Actual state of the start counter (binary coded).
Description: Sets the holding brake configuration.
Value: 0: No motor holding brake being used
1: Motor holding brake acc. to sequence control
2: Motor holding brake always open
3: Motor holding brake like sequence control, connection via BICO
Caution: For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy the brake.
01 Wait for alarm Yes No -
02 Auto restart act Yes No -
03 Setting the acknowledgement command Yes No -
04 Acknowledge alarms Yes No -
05 Restart Yes No -
06 Delay time running after automatic power-
up
Yes No -
07 Fault Yes No -
10 Effective fault Yes No -
p1215 Motor holding brake configuration / Brake config
Data type: Integer16 Dynamic index: - Func. diagram: 2701, 2707,
2711
0 3 0
List of parameters
Parameters
Notice: If p1215 was set to 1 or if p1215 was set to 3, then when the pulses are suppressed, the brake is closed even if the
motor is still rotating. Pulse suppression can either be caused by a 0 signal at p0844, p0845 or p0852 or as a result
of a fault with OFF2 response. If this is not desirable (e.g. for a flying restart), then the brake can be kept open using
a 1 signal at p0855.
Note: If the configuration is set to "no holding brake present" when booting, then the motor holding brake will be automat-
ically identified. If a motor holding brake is detected, the configuration is set to "motor holding brake as for sequence
control".
If a holding brake integrated in the motor is used, then it is not permissible that p1215 is set to 3.
if an external motor holding brake is being used, then p1215 should be set to 3 and r0899.12 should be intercon-
nected as control signal.
When the function module "extended brake control" is activated (r0108.14 = 1), r1229.1 should be interconnected
as control signal.
The parameter can only be set to zero when the pulses are inhibited.
The parameterization "no motor holding brake available" and "Safe Brake Control" enabled (p1215 = 0, p9602 = 1,
p9802 = 1) is not practical if there is no motor holding brake.
The parameterization "motor holding brake the same as sequence control, connection via BICO" and "Safe Brake
Control" enabled (p1215 = 3, p9602 = 1, p9802 = 1) is not practical.
Description: Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this, the
speed/velocity setpoint is enabled.
Recommend.: This time should be set longer than the actual opening time of the brake. This ensures that the drive cannot accel-
erate when the brake is applied.
Description: Sets the time to apply the motor holding brake.
After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop con-
trolled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are suppressed when the
time expires.
Recommend.: This time should be set longer than the actual closing time of the brake. This ensures that the pulses are only sup-
pressed after the brake has closed.
Notice: If the selected closing time is too short with respect to the actual closing time of the brake, then the load can sag.
If the closing time is selected to be too long with respect to the actual closing time of the brake, the control works
against the brake and therefore reduces its lifetime.
p1216 Motor holding brake, opening time / Brake t_open
0 [ms] 10000 [ms] 100 [ms]
p1217 Motor holding brake closing time / Brake t_close
0 [ms] 10000 [ms] 100 [ms]
Parameters
List of parameters
Description: Sets the signal source for a conditional opening of the motor holding brake.
Note: [0]: Signal, open brake, AND logic operation, input 1
[1]: Signal, open brake, AND logic operation, input 2
Description: Sets the signal source for an unconditional (immediate) closing of the motor holding brake.
Note: [0]: Signal, immediately close brake, inversion via p1275.0
[1]: Signal, immediately close brake, inversion via p1275.1
[2]: Signal, immediately close brake
[3]: Signal, immediately close brake - refer to the factory setting
These four signals form an OR logic operation.
Description: Sets the signal source for the command "open brake".
Dependency: Refer to: p1215, p1221, r1229, p1277
Description: Sets the threshold value for the command "open brake".
Dependency: Refer to: p1220, r1229, p1277
p1218[0...1] BI: Open motor holding brake / Open brake
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 1
p1219[0...3] BI: Immediately close motor holding brake / Close brake
SERVO (Extended
brk), VECTOR
(Extended brk)
- - [0] 0
[1] 0
[2] 0
[3] 1229.9
p1220 CI: Open motor holding brake, signal source, threshold / Open brake thresh
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 1
p1221 Open motor holding brake, threshold / Open brake thresh
SERVO (Extended
brk), VECTOR
(Extended brk)
0.00 [%] 200.00 [%] 0.00 [%]
List of parameters
Parameters
Description: Sets the signal source for the feedback signal "brake closed".
For motor holding brakes with feedback signal, the signal "brake closed" can be activated using p1275.5 = 1.
Note: 1 signal: Brake closed.
When braking with 1 feedback signal, the inverted feedback signal is connected to the BICO input for the second
feedback signal (p1223).
For r1229.5 = 1, OFF1/OFF3 are suppressed to prevent the drive accelerating by a load that drives the motor -
whereby OFF2 remains effective.
Description: Sets the signal source for the feedback signal "brake open".
For motor holding brakes with feedback signal, the signal "brake open" can be activated using p1275.5 = 1.
Note: 1 signal: Brake open.
When braking with 1 feedback signal, the inverted feedback signal is connected to the BICO input for the second
feedback signal (p1222).
Description: Sets the signal source for close brake at standstill.
Note: [0]: Signal, close brake at standstill, inversion via p1275.2
[1]: Signal, close brake at standstill, inversion via p1275.3
[2]: Signal, close brake at standstill
[3]: Signal, close brake at standstill
These four signals form an OR logic operation.
p1222 BI: Motor holding brake feedback signal brake closed / Brake feedb closed
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0
p1223 BI: Motor holding brake feedback signal brake open / Brake feedb open
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 1
p1224[0...3] BI: Close motor holding brake at standstill / Brk close standst
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0
Parameters
List of parameters
Description: Sets the signal source "threshold value" for the standstill identification.
Description: Sets the speed threshold for the standstill identification.
Acts on the actual value and setpoint monitoring.
When braking with OFF1 or OFF3, when the threshold is undershot, standstill is identified.
The following applies when the brake control is activated:
When the threshold is undershot, the brake control is started and the system waits for the brake closing time in
p1217. The pulses are then suppressed.
if the brake control is not activated, the following applies:
When the threshold is undershot, the pulses are suppressed and the drive coasts down.
Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indices 1 to 31 is
overwritten with the parameter value in index 0 when the Control Unit boots.
Note: Standstill is identified in the following cases:
- the speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- the speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the speed
threshold is too low.
Description: Sets the velocity threshold for the standstill identification.
Acts on the actual value and setpoint monitoring.
When braking with OFF1 or OFF3, when the threshold is undershot, standstill is identified.
The following applies when the brake control is activated:
When the threshold is undershot, the brake control is started and the system waits for the brake closing time in
p1217. The pulses are then suppressed.
if the brake control is not activated, the following applies:
When the threshold is undershot, the pulses are suppressed and the drive coasts down.
Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indices 1 to 31 is
overwritten with the parameter value in index 0 when the Control Unit boots.
p1225 CI: Standstill detection, threshold value / Standstill thresh
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 63[0]
p1226[0...n] Threshold for zero speed detection / n_standst n_thresh
P-Group: Functions Units group: 3_1 Unit selection: p0505
0.00 [rpm] 210000.00 [rpm] 20.00 [rpm]
p1226[0...n] Standstill detection, velocity threshold / v_standst v_thresh
0.00 [m/min] 1000.00 [m/min] 0.20 [m/min]
List of parameters
Parameters
- the velocity actual value falls below the velocity threshold in p1226 and the time started after this in p1228 has
expired.
- the velocity setpoint falls below the velocity threshold in p1226 and the time started after this in p1227 has expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the velocity
threshold is too low.
Description: Sets the monitoring time for the standstill identification.
When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed has
fallen below p1226 (also refer to p1145).
After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are sup-
pressed.
Notice: For p1145 > 0.0 (RFG tracking) the setpoint is not equal to zero dependent on the selected value. This can there-
fore cause the monitoring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not sup-
pressed.
expired.
For p1227 = 300.000 s, the following applies:
Monitoring is de-activated.
For p1227 = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor "coasts"
down.
Description: Sets the delay time for pulse suppression.
After OFF1 or OFF3 and zero speed detection, the system waits for this time to expire and the pulses are then sup-
pressed.
Notice: If the motor holding brake is activated, the pulse suppression is only conducted if this delay time (p1228) and then
the closing time for the brake (p1217) have elapsed.
expired.
p1227 Zero speed detection monitoring time / n_standst t_monit
0.000 [s] 300.000 [s] 4.000 [s]
p1228 Pulse suppression delay time / Pulse suppr t_del
0.000 [s] 299.000 [s] 0.000 [s]
Parameters
List of parameters
Description: Displays the status word for the motor holding brake.
Description: Sets the signal source to activate the armature short-circuit or DC braking.
Dependency: Refer to: p1231, p1232, p1233, p1234, p1235, p1236, p1237, r1238, r1239, p1345, p1346
Note: 1 signal: Armature short-circuit/DC braking activated.
0 signal: Armature short-circuit/DC braking de-activated.
Description: Setting to activate the various types for armature short-circuit / DC braking.
Value: 0: No function
1: External armature short-circuit with contactor feedback signal
2: Ext. armature short circuit without contactor feedback signal
3: Internal voltage protection
4: Internal armature short-circuit / DC braking
5: DC braking for OFF1/OFF3
14: DC braking below starting speed
Dependency: Refer to: p0300, p1230, p1232, p1233, p1234, p1235, p1236, p1237, r1238, r1239, p1345, p1346
r1229.1...11 CO/BO: Motor holding brake status word / Brake ZSW
SERVO (Extended
brk), VECTOR
(Extended brk)
- - -
01 Command open brake (continuous signal) Yes No 2711
03 Pulse enable, extended brake control Yes No 2711
04 Brake does not open Yes No 2711
05 Brake does not close Yes No 2711
06 Brake threshold exceeded Yes No 2707
07 Brake threshold undershot Yes No 2704
08 Brake monitoring time expired Yes No 2704
09 Pulse enable request missing/n_ctrl inhib-
ited
Yes No 2707
10 Brake OR logic operation result Yes No 2707
11 Brake AND logic operation result Yes No 2707
p1230[0...n] BI: Armature short-circuit / DC braking activation / ASC/DCBRK act
7017
- - 0
p1231[0...n] Armature short-circuit / DC braking configuration / ASC/DCBRK config
Data type: Integer16 Dynamic index: MDS, p0130 Func. diagram: 7014, 7016,
7017
0 14 0
List of parameters
Parameters
Danger: Re p1231 = 1, 2:
- only short-circuit-proof motors may be used, or suitable resistors must be used to short-circuit the motor
Re p1231 = 3:
- when the internal voltage protection is active, after pulse suppression, all of the motor terminals are at half of the
DC link voltage (without an internal voltage protection, the motor terminals are at zero potential)!
- it is only permissible to use motors that are short-circuit proof (p0320 < p0323).
- The Motor Module must be able to conduct 180% short-circuit current (r0320) of the motor (r0209).
- the internal voltage protection cannot be interrupted due to a fault response. If an overcurrent condition occurs
during the active, internal voltage protection, then this can destroy the Motor Module and/or the motor.
- if the Motor Module does not support the autonomous, internal voltage protection (r0192.10 = 0), in order to
ensure safe, reliable functioning when the line supply fails, an external 24 V power supply (UPS) must be used for
the components.
- if the Motor Module does support the autonomous, internal voltage protection (r0192.10 = 1), in order to ensure
safe, reliable functioning when the line supply fails, the 24 V power supply for the components must be provided
through a Control Supply Module.
- if the internal voltage protection is active, it is not permissible that the motor is driven by the load for a longer
period of time (e.g. as a result of loads that move the motor or another coupled motor).
Re p1231 = 4 and synchronous motor:
- when armature short-circuit is active, all of the motor terminals are at half of the DC link potential.
- The Motor Module must be able to conduct 180% short-circuit current (r0320) of the motor (r0209).
Note: Re p1231 = 1, 2:
The external armature short circuit can only be selected for synchronous motors (p0300). In this case, control bit
BO: r1239.0 must be interconnected (e.g. to a digital input) to control the external contactor.
The external armature short circuit cannot be set as a fault response. It can be triggered via binector input p1230. It
is also always activated in the case of pulse suppression.
Re p1231 = 3:
Internal voltage protection (using an internal armature short circuit) can only be selected for synchronous motors
(p0300) and Motor Modules in booksize or chassis format. Further, it is not permissible for Safety Integrated to be
active on blocksize Motor Modules (i.e. p9501 = 0 and p9601 = 0). The internal voltage protection prevents the DC
link capacitance from being charged if there is no possibility of regenerating the EMF of a motor operated in the
field-weakening mode. The Motor Module must support this function (r0192.9 = 1).
a) If the Motor Module does not support the autonomous, internal armature short-circuit (r0192.10 = 0), the arma-
ture short-circuit is activated as soon as the activation criterion is fulfilled (refer below):
b) If the Motor Module supports the autonomous internal voltage protection (r0192.10 = 1), then the Motor Module
itself decides - using the DC link voltage - as to whether the short-circuit should be activated. In this case, protection
is also provided even if the DRIVE-CLiQ connection between the Control Unit and Motor Module was interrupted.
The short circuit is activated if the DC link voltage exceeds 800 V. If the DC link voltage falls below 450 V, then the
short-circuit is withdrawn. This therefore ensures that the required input voltage for the Control Supply Module is
maintained.
The value for the voltage limits is calculated, depending on the voltage class, from EEPROM data of the particular
power unit and a factor.
Re p1231 = 4:
The function is activated as soon as the activation criterion is fulfilled.
- the function can be initiated by OFF2
a) For synchronous motors (p0300 = 2xx, 4xx), the internal armature short-circuit is initiated.
- the Motor Module must support this function (r0192.9 = 1).
b) For induction motors (p0300 = 1xx), the DC braking is initiated.
Activation criterion (one of the following criteria is fulfilled):
- binector input p1230 = 1 signal (DC braking activation).
- the drive is not in the state "S4: Operation" or in S5x (refer to function diagram 2610).
Parameters
List of parameters
Re p1231 = 5:
DC braking can only be set for induction motors.
DC braking is activated if the OFF1 or OFF3 command is present. Binector input p1230 is ineffective. If the drive
speed still lies above the speed threshold p1234, then initially, the drive is ramped-down to this threshold, demag-
netized (see p0347) and is then switched into DC braking for the time set in p1233. After this, the drive is switched-
off. If, at OFF1/OFF3, the drive speed is below p1234, then it is immediately demagnetized and switched into DC
braking. A change is made into normal operation if the OFF1 command is withdrawn prematurely.
DC braking by means of fault response continues to be possible.
Re p1231 = 14:
DC braking can only be set for induction motors.
DC braking is initiated if binector input p1230 = 1 during operation and the actual speed is below the starting speed
p1234 (before this, the drive must have operated above p1234 plus the hysteresis). Then, following upstream de-
magnetization (see p0347), the braking current p1232 is injected for the time set in p1233. The drive then changes
into normal operation. During braking the command for DC braking can be withdrawn. If the time p1233 is
exceeded, then DC braking is inhibited and the drive changes into normal operation.
For OFF1 and OFF3, DC braking is only executed, if binector input p1230 = 1 signal.
DC braking by means of fault response continues to be possible.
Re p1231 = 3, 4, 5, 14:
The value can only be changed to values not equal to 3, 4, 5 or 14 if p0491 is not equal to 4 and p2101 is not equal
to 6 (armature short-circuit/DC braking not set).
Note:
ASC: Armature Short Circuit
CSM: Control Supply Module
DCBRK: DC Braking
IVP: Internal Voltage Protection
UPS: Uninterruptible Power Supply
Description: Sets the braking current for DC braking.
Dependency: Refer to: p1230, p1231, p1233, p1234, r1239, p1345, p1346
Note: A change to the braking current becomes effective the next time that DC braking is switched-on.
The value for p1232 is specified as an rms value in the 3-phase system. The magnitude of the braking current is the
same as that of an identical output current at frequency zero (see r0067, r0068, p0640). The braking current is
internally limited to r0067.
Description: Sets the braking current for DC braking.
Note: A change to the braking current becomes effective the next time that DC braking is switched-on.
The value for p1232 is specified as an rms value in the 3-phase system. The magnitude of the braking current is the
same as that of an identical output current at frequency zero (see r0067, r0068, p0640). The braking current is
internally limited to r0067.
For the current controller, the settings of parameters p1345 and p1346 (I_max limiting controller) are used.
p1232[0...n] DC braking, braking current / DCBRK I_brake
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
VECTOR Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 1
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
List of parameters
Parameters
Description: Sets the DC braking time (as fault response).
Note: The time set is also effective when parameterizing DC braking as fault response.
If a speed encoder is being used, DC braking is ended as soon as the drive falls below the standstill threshold
(p1226).
Description: Sets the starting speed for DC braking.
If the actual speed falls below this threshold, then DC braking is activated.
Caution: If an encoder fault occurs during closed-loop operation with an encoder, controlled deceleration of the drive down to
the start speed p1234 can no longer take place. In this case, DC braking is activated immediately and injects the
braking current p1232 for the braking time p1233 after de-magnetizing. The braking current and braking duration
must, therefore, be dimensioned accordingly for this situation so that the drive can be decelerated to standstill.
In the case of operation with an encoder, this speed may not be set too low so as ensure that the oscillation move-
ment induced by the residual flux/remanence of the motor does not cause DC braking to be de-activated again.
Description: Sets the starting velocity for DC braking.
If the actual velocity falls below this threshold, then DC braking is activated.
p1233[0...n] DC braking time / DCBRK time
0.0 [s] 3600.0 [s] 1.0 [s]
p1234[0...n] Speed at the start of DC braking / DCBRK n_start
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
p1234[0...n] DC braking, starting velocity / DCBRK v_start
0.00 [m/min] 1000.00 [m/min] 1000.00 [m/min]
Parameters
List of parameters
Description: Sets the starting speed for DC braking.
If the actual speed falls below this threshold, then DC braking is activated.
Description: Sets the signal source for the contactor feedback signal for external armature short-circuit.
Notice: In order that the pulses are not enabled when the contactor is closed, the contactor feedback signal must lag by a
sufficiently long time when opening the contactor.
Note: 1 signal: The contactor is closed.
0 signal: The contactor is open.
Description: Sets the monitoring time of the contactor feedback signal for the external armature short-circuit configuration.
If the contactor feedback signal (p1235) is parameterized, then the appropriate feedback signal (r1239.1) is
expected within this monitoring time after either opening or closing the contactor.
Refer to: A07904, F07905
Description: Sets the delay time when opening the contactor of the external armature short-circuit.
0.00 [rpm] 210000.00 [rpm] 40000.00 [rpm]
p1235[0...n] BI: External armature short-circuit, contactor feedback signal / ASC ext feedback
- - 0
p1236[0...n] Ext. armature short-cct., contactor feedback signal monit. time / ASC ext t_monit
0 [ms] 1000 [ms] 200 [ms]
p1237[0...n] External armature short-circuit, delay time when opening / ASC ext t_wait
0 [ms] 1000 [ms] 200 [ms]
List of parameters
Parameters
If no contactor feedback signal has been selected (p1235), then the system waits for this time before the pulses are
switched in.
Notice: This delay time must be at least long enough so that the contactor contacts reliably open before the pulses are
switched in. The delay time must be greater than the contactor response time. The Motor Module can be damaged
if the delay time is too short.
Description: Displays the state for the external armature short-circuit.
Value: 0: Switched off
1: Ready
2: Active
3: Active - feedback signal "Closed" OK
4: Active - feedback signal "Closed" missing
5: Prompt to remove the armature short-circuit
6: Active - feedback signal "Open" missing
Refer to: A07904, F07905
Note: Activation criterion (one of the following criteria is fulfilled):
- the signal at BI: p1230 (armature short-circuit activation) is 0.
Re state "switched out" (r1238 = 0):
- the external armature short-circuit can be selected with p1231 = 1.
Re state "ready" (r1238 = 1):
- as soon as the activation criterion is fulfilled, then a transition is made into the state "active" (r1238 = 2).
Regarding the state "active" (r1238 = 2), "active - feedback signal "Closed" OK" (r1238 = 3)", "active - feedback sig-
nal "Closed" missing" (r1238 = 4)":
- the control signal to close contactor r1239.0 is set to "1" (closed) and the pulses are suppressed.
- if a contactor feedback signal is not connected (BI: p1235 = 0 signal), then a transition is immediately made into
state 3.
- if a contactor feedback signal is connected, then a transition is made into state 3 if the feedback signal at BI:
p1235 goes to "1" (closed) within the monitoring time (p1236).
- otherwise, a transition is made into state 4.
Re state "prompt to remove the armature short-circuit" (r1238 = 5):
- the activation criterion is no longer fulfilled. An attempt is made to again remove the armature short circuit.
- the control signal to close the contactor r1239.0 is set to "0" (open) and the pulses remain suppressed.
- if a contactor feedback signal is not connected (BI: p1235 = 0 signal), the system waits for the delay time (p1237)
to expire until a transition is made into state 1.
- if a contactor feedback signal is connected, the system waits until the feedback signal at BI:p1235 goes to "0"
(open) until a transition is made into state 1. If this does not occur within the monitoring time (p1236), then a transi-
tion is made into state 6.
Re state "active - feedback signal "Open" missing" (r1238 = 6):
- this error state can be exited by de-selecting the external armature short-circuit (p1231 = 0).
r1238 CO: Armature short-circuit, external state / EASC state
0 6 -
Parameters
List of parameters
Description: Displays the status word for armature short-circuit.
Dependency: Refer to: p1230, p1231, p1232, p1233, p1234, p1235, p1236, p1237
Note: External armature short-circuit (bits 0 ... 3):
Re bit 00:
Using this signal, the motor is short-circuited through an external contactor circuit. This means that this BO:
p1239.0 must be interconnected e.g. to a digital output.
Re bit 01:
This signal indicates the state of the contactor to establish the armature short-circuit. To do this, BI: p1235 must be
interconnected to a digital input.
Re bit 02:
The external armature short-circuit configuration is ready and is activated as soon as the activation criterion is ful-
filled.
Re bit 03:
1: A feedback signal from an external contactor was parameterized in BI: p1235.
Internal voltage protection / internal armature short-circuit (bits 4 ... 6):
Re bit 04:
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module does not support the autonomous
internal voltage protection (r0192.10 = 0).
The Control Unit issues the command to the Motor Module to short-circuit the motor through the power semicon-
ductors.
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module supports the autonomous internal
voltage protection (r0192.10 = 1).
The Motor Module decides autonomously whether the armature short-circuit is activated. In this case, the following
applies: r1239.4 = r1239.5.
c) Internal armature short-circuit (p1231 = 4) was selected.
The Control Unit issues the command to the Motor Module to short-circuit the motor through the power semicon-
ductors.
Re bit 05:
The Motor Module signals that the motor is short-circuited in the Motor Module through the power semiconductors.
Re bit 06:
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module does not support the autonomous
internal voltage protection (r0192.10 = 0).
The internal voltage protection is ready and is activated as soon as the activation criterion is fulfilled.
r1239.0...13 CO/BO: Armature short-circuit / DC braking status word / ASC/DCBRK ZSW
- - -
00 External armature short-circuit Active Inactive -
01 External armature short-circuit, contactor
feedback signal
Closed Open -
02 External armature short-circuit ready Yes No -
03 External armature short-circuit with contac-
tor feedback signal
Yes No -
04 Internal armature short-circuit Active Inactive -
05 Internal armature short circuit, feedback sig-
nal from power unit
Active Inactive -
06 Internal armature short-circuit ready Yes No -
08 DC braking active Yes No 7017
10 DC braking ready Yes No 7017
11 Armature short circuit/DC braking selected Yes No -
12 DC braking selection internally inhibited Yes No -
13 DC braking for OFF1/OFF3 Yes No -
List of parameters
Parameters
a) Internal voltage protection (p1231 = 3) was selected and the Motor Module supports the autonomous internal
voltage protection (r0192.10 = 1).
The internal voltage protection is ready and the Motor Module decides autonomously - using the DC link voltage -
whether the short-circuit is activated. In this case, protection is also provided even if the DRIVE-CLiQ connection
between the Control Unit and Motor Module was interrupted. The short-circuit is activated if the DC link voltage
exceeds 800 V. If the DC link voltage falls below 450 V, then the short-circuit is withdrawn.
c) Internal armature short-circuit (p1231 = 4) was selected.
The internal armature short-circuit is ready and is activated as soon as the activation criterion is fulfilled.
Activation criterion (one of the following criteria is fulfilled):
- the signal at BI: p1230 (armature short-circuit activation) is 1.
Re bit 12, 13:
Only effective for p1231 = 14.
Description: Sets the configuration of the controller or monitoring for the DC link voltage (Vdc).
Value: 0: Inhib Vdc ctrl
1: Vdc_max controller enable
2: Vdc_min controller (kinetic buffering) enable
3: Vdc_min controller and Vdc_max controller enable
4: Activates Vdc_max monitoring
5: Activates Vdc_min monitoring
6: Activates Vdc_min monitoring and Vdc_max monitoring
7: Vdc_max controller without accelerating enable
8: Vdc_min controller without braking enable
9: Vdc_min and Vdc_max controller w/o braking/accelerating enable
Notice: During a few steps of the rotating measurement (p1960 = 1) the Vdc_min controller and/or Vdc_max controller is
disabled.
Note: p1240 = 1, 3:
When the upper DC link voltage threshold is reached (p1244), then the following applies:
- the Vdc_max controller limits the regenerative energy in order that the DC link voltage is kept below the maximum
DC link voltage when braking.
- when other drives regenerate into the DC link, then the Vdc_max controller causes the motor to accelerate.
p1240 = 2, 3:
When the lower DC link voltage threshold is reached (p1248), the following applies:
- the Vdc_min controller limits the energy taken from the DC link in order to keep the DC link voltage above the min-
imum DC link voltage when accelerating.
- the motor is braked in order to use its kinetic energy to buffer the DC link.
p1240 = 4, 5, 6:
When the threshold in p1244 or p1248 is reached, the DC link voltage monitoring initiates a fault with a response
and therefore reduces additional negative effects on the DC link voltage.
p1240 = 7, 9:
As for p1240 = 1, 3. However, the motor is prevented from accelerating due to the fact that other drives are regen-
erating. The effective lower torque limit cannot exceed the offset of the torque limit (p1532).
p1240 = 8, 9:
As for p1240 = 2, 3. However, the motor is prevented from braking due to the fact that the DC link voltage has been
lowered. The effective upper torque limit cannot be less than the offset of the torque limit (p1532).
p1240[0...n] Vdc controller or Vdc monitoring configuration / Vdc_ctrl config
Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 3082, 5650
0 9 0
Parameters
List of parameters
Description: Sets the controller configuration of the DC link voltage (Vdc controller) in the closed-loop control mode.
Refer to: A07400, A07401, A07402, F07403, F07404, F07405, F07406
Notice: An excessively high value in p1245 can possibly negatively influence the normal operation of the drive.
Note: p1240 = 1, 3:
When the DC link voltage limit specified for the Motor Module is reached the following applies:
- the Vdc_max controller limits the regenerative energy in order that the DC link voltage is kept below the maximum
DC link voltage when braking.
- the ramp-down times are automatically increased.
p1240 = 2, 3:
When the switch-in threshold of the Vdc_min controller is reached (p1245), the following applies:
- the Vdc_min controller limits the energy taken from the DC link in order to keep the DC link voltage above the min-
imum DC link voltage when accelerating.
- the motor is braked in order to use its kinetic energy to buffer the DC link.
p1240 = 4, 5, 6:
When the threshold in r1242 or r1246 is reached, the DC link voltage monitoring initiates a fault (F07403 or F07404)
with a response and therefore reduces additional negative effects on the DC link voltage.
Description: Displays the switch-in level for the Vdc_max controller.
If p1254 = 0 (automatic sensing of the switch-in level = off), then the following applies:
AC/AC device: r1242 = 1.15 * sqrt(2) * V_mains = 1.15 * sqrt(2) * p0210 (supply voltage)
DC/AC device: r1242 = 1.15 * Udc = 1.15 * p0210 (supply voltage)
If p1254 = 1 (automatic sensing of the switch-in level = on), then the following applies:
r1242 = Vdc_max - 50.0 V (Vdc_max: Overvoltage threshold of the power unit)
Note: The Vdc_max controller is not switched back off until the DC-link voltage falls below the threshold 0.95 * p1242 and
the controller output is zero.
VECTOR (n/M) Can be changed: U, T Calculated: - Access level: 3
0 6 1
r1242 Vdc_max controller switch-in level / Vdc_max on_level
Not for motor type: REL Scaling: p2001 Expert list: 1
- [V] - [V] - [V]
List of parameters
Parameters
Description: Sets the dynamic factor for the DC link voltage controller (Vdc_max controller).
100% means that p1250, p1251, and p1252 (gain, integral time, and rate time) are used corresponding to their
basic settings and based on a theoretical controller optimization.
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case p1250, p1251,
p1252 are weighted with the dynamic factor p1243.
If several modules are connected to the DC link, then the dynamic factor must be increased corresponding to the
ratio of the additional capacitances to the capacitance of the module involved.
Note: The pre-setting of the dynamic factor is based on the power units connected to DRIVE-CLiQ. It is assumed that the
power units connected via DRIVE-CLiQ are also electrically connected to the DC link. If this is not the case, then
the dynamic factor must be optimized manually.
Description: Sets the upper threshold for the DC link voltage.
For p1240 = 1, 3, 7, 9, this threshold is used as limit setpoint for the Vdc_max controller.
For p1240 = 4, 6, for DC link voltages above this threshold, an appropriate fault is output.
Note: For p1244 < 1.07 * "parameterized DC link voltage" input of values is rejected.
For p0204.0 = 1, the following applies:
"Parameterized DC link voltage" = p0210
"Parameterized DC link voltage" = p0210 * 1.4142
Description: Sets the switch-in level for the Vdc-min controller (kinetic buffering).
The value is obtained as follows:
AC/AC device: r1246[V] = p1245[%] * sqrt(2) * p0210
DC/AC device: r1246[V] = p1245[%] * p0210
Warning: An excessively high value may adversely affect normal drive operation. The values up to 150 % are intended for
operating modes p1240 = 5, 6.
Note: For SINAMICS GM/SM, the following applies:
Minimum value = 0.75, Maximum value = 0.90
p1243[0...n] Vdc_max controller dynamic factor / Vdc_max dyn_factor
VECTOR (n/M) Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
1 [%] 10000 [%] 100 [%]
p1244[0...n] DC link voltage threshold upper / Vdc upper thresh
165 [V] 1200 [V] 750 [V]
p1245[0...n] Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level
65 [%] 150 [%] 76 [%]
Parameters
List of parameters
Description: Displays the switch-in level for the Vdc_min controller (kinetic buffering).
Note: The Vdc_min controller is not switched back off until the DC-link voltage rises above the threshold 1.05 * p1246 and
Description: Sets the dynamic factor for the Vdc_min controller (kinetic buffering).
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case p1250, p1251,
p1252 are weighted with the dynamic factor p1247.
Description: Sets the lower threshold for the DC link voltage.
For p1240 = 2, 3, 8, 9, this threshold is used as limit setpoint for the Vdc_min controller.
For p1240 = 5, 6, for DC link voltages below this threshold, an appropriate fault is output.
Note: For p1248 > 0.93 * "parameterized DC link voltage" input of values is rejected.
"Parameterized DC link voltage" = p0210
"Parameterized DC link voltage" = p0210 * 1.4142
Description: Sets the lower speed threshold for the Vdc_max controller. When this speed threshold is undershot, the Vdc_max
control is switched out and the speed is controlled using the ramp-function generator.
r1246 Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level
- [V] - [V] - [V]
p1247[0...n] Vdc_min controller dynamic factor (kinetic buffering) / Vdc_min dyn_factor
1 [%] 10000 [%] 100 [%]
p1248[0...n] DC link voltage threshold lower / Vdc lower thresh
100 [V] 1000 [V] 450 [V]
p1249[0...n] Vdc_max controller speed threshold / Vdc_max n_thresh
VECTOR (n/M) Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
0.00 [rpm] 210000.00 [rpm] 10.00 [rpm]
List of parameters
Parameters
Note: For fast braking where the ramp-function generator tracking was active, it is possible to prevent the drive rotating in
the opposite direction by increasing the speed threshold and setting a final rounding-off time in the ramp-function
generator (p1131). This is supported using a dynamic setting of the speed controller.
Description: Sets the proportional gain for the DC-link voltage controller (Vdc_min controller, Vdc_max controller).
Description: Sets the proportional gain for the DC-link voltage controller (Vdc_min controller, Vdc_max controller).
Dependency: The effective proportional gain is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note: The gain factor is proportional to the capacitance of the DC link. The parameter is pre-set to a value that is optimally
adapted to the capacitance of the individual Motor Module. The capacitances of the other power units, which are
connected to the DC link, can be taken into account using the dynamic factor (p1247 or p1243).
Description: Sets the integral time for the DC-link voltage controller (Vdc_min controller, Vdc_max controller).
Dependency: The effective integral time is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note: An integral time is normally not required for single axis drives. For multi-axis drives on the other hand, it may be
possible to compensate for interference from other axes using the integral time (integral component) .
p1251 = 0: The integral component is de-activated.
Description: Sets the rate time constant for the DC-link voltage controller (Vdc_min controller, Vdc_max controller).
Dependency: The effective rate time is obtained taking into account p1243 (Vdc_max controller dynamic factor).
p1250[0...n] Vdc controller proportional gain / Vdc_ctrl Kp
0.00 [A/V] 10.00 [A/V] 1.00 [A/V]
0.00 100.00 1.00
p1251[0...n] Vdc controller integral time / Vdc_ctrl Tn
0 [ms] 10000 [ms] 0 [ms]
p1252[0...n] Vdc controller rate time / Vdc_ctrl t_rate
0 [ms] 1000 [ms] 0 [ms]
Parameters
List of parameters
Description: Activates/de-activates the automatic sensing of the switch-in level for the Vdc_max controller.
Value: 0: Automatic detection inhibited
1: Automatic detection enabled
Description: Sets the time threshold for the Vdc_min controller (kinetic buffering).
If this value is exceeded a fault is output; the required response can be parameterized.
Prerequisite: p1256 = 1
Notice: If a time threshold has been parameterized, the Vdc_max controller should also be activated (p1240 = 3) so that the
drive does not shut down with overvoltage when Vdc_min control is exited (due to the time violation) and in the
event of fault response OFF3. It is also possible to increase the OFF3 ramp-down time p1135.
Description: Sets the response for the Vdc_min controller (kinetic buffering).
Value: 0: Buffer Vdc until undervoltage, n<p1257 -> F07405
1: Buff. Vdc until undervolt., n<p1257 -> F07405, t>p1255 -> F07406
Description: Sets the speed threshold for the Vdc-min controller (kinetic buffering).
If this value is exceeded a fault is output; the required response can be parameterized .
p1254 Vdc_max controller automatic ON level detection / Vdc_max SenseOnLev
0 1 1
p1255[0...n] Vdc_min controller time threshold / Vdc_min t_thresh
0.000 [s] 10000.000 [s] 0.000 [s]
p1256[0...n] Vdc_min controller response (kinetic buffering) / Vdc_min response
0 1 0
p1257[0...n] Vdc_min controller speed threshold / Vdc_min n_thresh
0.00 [rpm] 210000.00 [rpm] 50.00 [rpm]
List of parameters
Parameters
Description: Displays the actual output of the Vdc controller (DC link voltage controller)
Note: The regenerative power limit p1531 is used for vector control to pre-control the Vdc_max controller. The lower the
power limit is set, the lower the correction signals of the controller when the voltage limit is reached.
Description: Sets the configuration for the bypass function.
Value: 0: Bypass de-activated
1: Bypass with synchronization and overlap
2: Bypass with synchronization without overlap
3: Bypass without synchronization
Note: If the bypass function is selected ((p1260 > 0), then when the power unit restarts after POWER OFF, the state of
the bypass switch is evaluated. This means that after the ramp-up, it is possible to directly change into the standby
mode. This is only possible for p1267 = 1 (bypass using the control signal) and if the control command after the sys-
tem has been booted is still available (p1266). This function has a higher priority than the automatic restart function
(p1210).
The "bypass" function can only be switched off again (p1260 = 0) if the bypass is not active or the bypass function
has a fault.
The corresponding function should be activated in p3800 for bypass with synchronization.
Description: Control and feedback signals of the bypass switch.
Note: Control bits 0 and 1 should be interconnected to the signal outputs via which the switches in the motor feeder
cables should be controlled. These should be selected/dimensioned for switching under load.
r1258 CO: Vdc controller output / Vdc_ctrl output
p1260 Bypass configuration / Bypass config
VECTOR (Tech_ctrl) Can be changed: U, T Calculated: - Access level: 2
0 3 0
r1261.0...9 CO/BO: Bypass control/status word / Bypass STW / ZSW
- - -
00 Command switch motor - drive Close Open -
01 Command switch motor - line supply Close Open -
02 Synchronization requested Yes No -
03 Staging status Active Not active -
05 Feedback signal switch motor - drive Closed Opened -
06 Feedback signal switch motor - line supply Closed Opened -
07 Bypass command (from p1266) Yes No -
08 Feedback signal synchronization completed
(from p1268)
Yes No -
09 Staging requested (from p2369) Yes No -
Parameters
List of parameters
Description: Sets the dead time for non-synchronized bypass.
Note: This parameter is used to define the changeover time of the contactors. It should not be shorter than the de-magne-
tizing time of the motor (p0347).
The total changeover time for the bypass is based on the total of p1262 plus the OFF time for the relevant switch
(p1274[x]).
Description: Sets the delay time to switch back to converter operation for a non-synchronized bypass.
Description: Sets the delay time for switching to line operation for a non-synchronized bypass.
Description: Sets the speed threshold to activate the bypass.
Note: When selecting p1260 = 3 and p1267.1 = 1, the bypass is automatically activated when this speed is reached.
Description: Sets the signal source for the control command to the bypass.
p1262[0...n] Bypass dead time / Bypass t_dead
VECTOR (Tech_ctrl) Can be changed: U, T Calculated: CALC_MOD_REG Access level: 2
0.000 [s] 20.000 [s] 1.000 [s]
p1263 Debypass delay time / Debypass t_del
0.000 [s] 300.000 [s] 1.000 [s]
p1264 Bypass delay time / Bypass t_del
0.000 [s] 300.000 [s] 1.000 [s]
p1265 Bypass speed threshold / Bypass n_thresh
0.00 [rpm] 210000.00 [rpm] 1480.00 [rpm]
p1266 BI: Bypass, control command / Bypass command
- - 0
List of parameters
Parameters
Description: Sets the cause that should initiate the bypass.
Note: The parameter only has an effect for a non-synchronized bypass.
p1267.0 = 1:
The bypass is initiated by setting a binary signal. When the command is reset, after the debypass delay time
(p1263) has expired, operation at the power unit is re-selected.
p1267.1 = 1:
When the speed threshold entered in p1265 is reached, the bypass is switched in. The system only switches back
when the speed setpoint again falls below the threshold value.
Description: Sets the signal source for the feedback signal "synchronization completed" for the bypass function.
Description: Sets the signal source for the feedback signal of the bypass switch.
Index: [0] = Switch motor/drive
[1] = Switch motor/line supply
Note: In the case of switches without a feedback signal, interconnect the corresponding control bit as the signal source:
BI: p1269[0] = r1261.0
BI: p1269[1] = r1261.1
Description: In the simulation mode, the closed-loop control or U/f control can be operated without motor.
p1267 Bypass changeover source configuration / Chngov_src config
- - 0000 bin
00 Bypass via signal (BI: p1266) Yes No -
01 Bypass via reaching the speed threshold Yes No -
p1268 BI: Bypass, feedback synchronization completed / FS sync compl
- - 3819.2
p1269[0...1] BI: Bypass switch feedback signal / Bypass FS
- - 0
p1272 Simulation mode / Simulation mode
0 1 0
Parameters
List of parameters
The simulation mode is used to test the power unit. Even though the DC link voltage is missing, the pulses are
enabled when powering up. The DC link pre-charging is bypassed and the undervoltage detection is disabled.
Closed-loop speed control with an encoder is possible if the torque setpoint (r0079) is used in order to operate a
second drive in the closed-loop torque controlled mode.
Value: 0: OFF
1: ON
Dependency: The following functions are de-activated in the simulation mode:
- motor data identification routine
- motor data identification routine, rotating without encoder
- pole position identification routine
For U/f control and sensorless vector control, flying restart is not carried out (refer to p1200).
Refer to: r0192, p1900, p1910, p1960, p1990
Refer to: A07825, F07826
Notice: In simulation mode, binector output r0863.1 = 1 is set. This is why you need to check whether other devices are
powered up via this signal before activating simulation mode. You might need to disconnect the corresponding
BICO interconnection temporarily.
Note: Simulation mode is only possible for DC link voltages below 40 V. In order that the closed-loop control can be calcu-
lated, the displayed DC link voltage (r0026, r0070) is set to the rated DC link voltage (refer to p0210). Closed-loop
current control and motor model are switched out (disabled) - the same is true for the speed controller for encoder-
less closed-loop speed control.
When fault messages occur, the parameter is not automatically reset. This function is not implemented for SIN-
AMICS GM.
Description: Sets the monitoring time for the bypass switch.
Index: [0] = Switch motor/drive
[1] = Switch motor/line supply
Note: The monitoring is de-activated with p1274 = 0 ms.
The changeover time for the bypass (p1262) is extended by the value in this parameter.
Description: Sets the control word for the motor holding brake.
p1274[0...1] Bypass switch monitoring time / Switch t_monit
0 [ms] 5000 [ms] 1000 [ms]
p1275 Motor holding brake control word / Brake STW
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0000 0000 bin
00 Inverting BI: 1219[0] Yes No 2707
05 Brake with feedback Yes No 2711
List of parameters
Parameters
Description: Sets the delay time for closing the brake at standstill.
After this time has expired, if the "close brake at standstill" or OFF1/OFF3 is present, the brake is closed and the
pulses are suppressed.
For p1276 = 300.000 s, the timer is de-activated - this means that the timer output is always zero.
Description: Sets the delay time for the signal "braking threshold exceeded" (BO: r1229.6).
Description: Sets the brake control type (with or without diagnostics evaluation).
Example for brake control with diagnostics evaluation.
- brake control in the Motor Modules in booksize format
- Safe Brake Relay for AC Drive
Example for brake control without diagnostics evaluation.
- Brake Relay for AC Drive
Value: 0: Brake control with diagnostics evaluation
1: Brake control without diagnostics evaluation
Note: If the configuration of the motor holding brake (p1215) is set to "no holding brake present" when booting, then an
automatic identification of the motor holding brake will be carried out. If a brake control is detected without diagnos-
tics evaluation (e.g. Brake Relay for AC Drive), then the parameter is set to "brake control without diagnostics eval-
uation".
It is not permissible to parameterize "brake control without diagnostics evaluation" and also enable "safe brake con-
trol" (p1278 = 1, p9602 = 1, p9802 = 1).
Description: Sets the signal source for the OR/AND logic operation.
p1276 Motor holding brake, standstill detection, bypass / Brk standst bypass
SERVO (Extended
brk), VECTOR
(Extended brk)
0.000 [s] 300.000 [s] 300.000 [s]
p1277 Motor holding brake, braking threshold delay exceeded / Del thresh exceed.
SERVO (Extended
brk), VECTOR
(Extended brk)
0.000 [s] 300.000 [s] 0.000 [s]
p1278 Brake control, diagnostics evaluation / Brake diagnostics
0 1 0
p1279[0...3] BI: Motor holding brake, OR/AND logic operation / Brake OR AND
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0
Parameters
List of parameters
Note: [0]: OR logic operation, input 1 --> the result is displayed in r1229.10.
[1]: OR logic operation, input 2 --> the result is displayed in r1229.10.
[2]: AND logic operation, input 1 --> the result is displayed in r1229.11.
Description: Sets the configuration of the controller for the DC link voltage (Vdc controller) in the U/f operating mode.
Note: p1240 = 4, 5, 6:
When the threshold in r1282 or r1286 is reached, the DC link voltage monitoring initiates a fault (F07403 or F07404)
with a response and therefore reduces additional negative effects on the DC link voltage.
Description: Displays the switch-in level for the Vdc_max controller.
If p1294 = 0 (automatic sensing of the switch-in level = off), then the following applies:
AC/AC device: r1282 = 1.15 * sqrt(2) * V_mains = 1.15 * sqrt(2) * p0210 (supply voltage)
DC/AC device: r1282 = 1.15 * Vdc = 1.15 * p0210 (supply voltage)
If p1294 = 1 (automatic sensing of the switch-in level = on), then the following applies:
r1282 = Vdc_max - 50.0 V (Vdc_max: Overvoltage threshold of the power unit)
Note: The Vdc_max controller is not switched back off until the DC-link voltage falls below the threshold 0.95 * p1282 and
Description: Sets the dynamic factor for the DC link voltage controller (Vdc_max controller).
100% means that p1290, p1291, and p1292 (gain, integral time, and rate time) are used in accordance with their
basic settings and on the basis of a theoretical controller optimization.
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case, p1290, p1291,
and p1292 are weighted with the dynamic factor p1283.
p1280[0...n] Vdc controller or Vdc monitoring configuration (U/f) / Vdc_ctr config U/f
0 6 1
r1282 Vdc_max controller switch-in level (U/f) / Vdc_max on_level
- [V] - [V] - [V]
p1283[0...n] Vdc_max controller dynamic factor (U/f) / Vdc_max dyn_factor
VECTOR Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
1 [%] 10000 [%] 100 [%]
List of parameters
Parameters
Description: Sets the switch-in level for the Vdc-min controller (kinetic buffering).
The value is obtained as follows:
AC/AC unit: p1286[V] = p1285[%] * sqrt(2) * p0210
DC/AC unit: p1286[V] = p1285[%] * p0210
Warning: An excessively high value may adversely affect normal drive operation. The values up to 150 % are intended for
operating modes p1240 = 5, 6.
Description: Displays the switch-in level for the Vdc_min controller (kinetic buffering).
Note: The Vdc_min controller is not switched back off until the DC-link voltage rises above the threshold 1.05 * p1286 and
Description: Sets the dynamic factor for the Vdc_min controller (kinetic buffering).
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case, p1290, p1291,
and p1292 are weighted with the dynamic factor p1287.
p1285[0...n] Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
65 [%] 150 [%] 76 [%]
r1286 Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
- [V] - [V] - [V]
p1287[0...n] Vdc_min controller dynamic factor (kinetic buffering) (U/f) / Vdc_min dyn_factor
1 [%] 10000 [%] 100 [%]
Parameters
List of parameters
Description: Sets the feedback factor for the ramp-function generator. Its ramp times are decelerated relative to the output signal
of the Vdc_max controller.
Note: For values p1288 = 0.0 to 0.5, the controller dynamics are automatically adapted internally.
Description: Sets the lower speed threshold for the Vdc_max controller. When this speed threshold is undershot, the Vdc_max
control is switched out and the speed is controlled using the ramp-function generator.
Description: Sets the proportional gain for the Vdc controller (DC link voltage controller).
Note: The gain factor is proportional to the capacitance of the DC link. The parameter is pre-set to a value that is optimally
adapted to the capacitance of the individual Motor Module. The capacitances of the other power units which are
connected to the DC link can be taken into account using the dynamic factor (p1287 or p1283).
Description: Sets the integral time for the Vdc controller (DC link voltage controller).
Description: Sets the rate time constant for the Vdc controller (DC link voltage controller).
p1288[0...n] Vdc_max controller feedback coupling factor ramp-fct. gen. (U/f) /
Vdc_max factor RFG
0.000 100.000 0.500
p1289[0...n] Vdc_max controller speed threshold (U/f) / Vdc_max n_thresh
0.00 [rpm] 210000.00 [rpm] 10.00 [rpm]
p1290[0...n] Vdc controller proportional gain (U/f) / Vdc_ctrl Kp
0.00 100.00 1.00
p1291[0...n] Vdc controller integral time (U/f) / Vdc_ctrl Tn
0 [ms] 10000 [ms] 40 [ms]
p1292[0...n] Vdc controller rate time (U/f) / Vdc_ctrl t_rate
0 [ms] 1000 [ms] 10 [ms]
List of parameters
Parameters
Description: Sets the output limit for the Vdc min controller (DC link undervoltage controller).
Description: Activates/de-activates the automatic sensing of the switch-in level for the Vdc_max controller. When the sensing
function is de-activated, the activation threshold r1282 for the Vdc_max controller is determined from the parame-
terized connection voltage p0210.
Value: 0: Automatic detection inhibited
1: Automatic detection enabled
Description: Sets the time threshold for the Vdc_min controller (kinetic buffering). If this value is exceeded a fault is output; the
required response can be parameterized.
Prerequisite: p1296 = 1.
Notice: If a time threshold has been parameterized, the Vdc_max controller should also be activated (p1280 = 3) so that the
drive does not shut down with overvoltage when Vdc_min control is exited (due to the time violation) and in the
event of fault response OFF3. It is also possible to increase the OFF3 ramp-down time p1135.
Description: Sets the response for the Vdc_min controller (kinetic buffering).
Value: 0: Buffer Vdc until undervoltage, n<p1297 -> F07405
1: Buff. Vdc until undervolt., n<p1297 -> F07405, t>p1295 -> F07406
Note: Re p1296 = 1:
The quick stop ramp entered in p1135 must not be equal to zero, to prevent overcurrent shutdown if F07406 is trig-
gered.
p1293[0...n] Vdc min controller output limit (U/f) / Vdc_min outp_lim
0.00 [Hz] 600.00 [Hz] 10.00 [Hz]
p1294 Vdc_max controller automatic detection ON signal level (U/f) / Vdc_max SenseOnLev
0 1 0
p1295[0...n] Vdc_min controller time threshold (U/f) / Vdc_min t_thresh
0.000 [s] 10000.000 [s] 0.000 [s]
p1296[0...n] Vdc_min controller response (kinetic buffering) (U/f / Vdc_min response
0 1 0
Parameters
List of parameters
Description: Sets the speed threshold for the Vdc-min controller (kinetic buffering).
If this value is exceeded a fault is output; the required response can be parameterized .
Description: Displays the actual output of the Vdc controller (DC link voltage controller)
Description: Sets the open and closed-loop control mode of a drive.
Value: 20: Speed control (encoderless)
21: Speed control (with encoder)
23: Torque control (with encoder)
Dependency: Closed-loop speed or torque control (with encoder) cannot be selected if the encoder type is not entered (p0400).
Refer to: p0108, r0108, p0300, p0311, p0400, p1501
Notice: General conditions for encoderless operation can be found in the following literature:
Note: The closed-loop torque control can only be changed over in operation (p1300 = 20, 21) by selecting the closed-loop
speed control (p1501). At the changeover, the setting of p1300 does not change. In this case, the actual state is dis-
played in r1407, bit 2 and bit 3.
For encoderless operation (p1404 = 0 or p1300 = 20), the following applies:
- The following condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, ...
- For motors with a small power rating (< 300 W) we recommend to set n >= 2.
p1297[0...n] Vdc_min controller speed threshold (U/f) / Vdc_min n_thresh
0.00 [rpm] 210000.00 [rpm] 50.00 [rpm]
r1298 CO: Vdc controller output (U/f) / Vdc_ctrl output
- [rpm] - [rpm] - [rpm]
p1300[0...n] Open-loop/closed-loop control operating mode / Op/cl-lp ctrl_mode
Data type: Integer16 Dynamic index: DDS, p0180 Func. diagram: 1590, 1690,
5060, 6300
P-Group: V/f open-loop control Units group: - Unit selection: -
20 23 21
5060, 6300
20 23 21
List of parameters
Parameters
Value: 20: Velocity control (encoderless)
21: Velocity control (with encoder)
23: Force control (with encoder)
Dependency: Closed-loop velocity or force control (with encoder) cannot be selected if the encoder type is not entered (p0400).
Refer to: p0108, r0108, p0300, p0311, p0400, p1501
Note: It is only possible to change over to force control during operation (p1501) if velocity control is selected (p1300 = 20,
21). At the changeover, the setting of p1300 does not change. In this case, the actual state is displayed in r1407, bit
2 and bit 3.
- The following condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, ...
Description: Sets the U/f control mode of the drive.
Value: 0: U/f control with linear characteristic
1: U/f control with linear characteristic and FCC
2: U/f control with parabolic characteristic
3: U/f control with parameterizable characteristic
4: U/f control with linear characteristic and ECO
5: U/f control for drives requiring a precise freq. (e.g. textiles)
6: U/f control for drives requiring a precise frequency and FCC
7: U/f control for a parabolic characteristic and ECO
15: Operation with braking resistor
19: U/f control with independent voltage setpoint
Recommend.: The use of the vector control operating modes is recommended for synchronous motors.
Dependency: If you are working with reduced supply voltages (p0212.0 = 1), only U/f control with independent voltage setpoint
(p1300 = 19) can be set as the operating mode.
p1300 = 15 (operation with braking resistor), can only be activated or deactivated in quick commissioning (p0010 =
1). This operating mode is only possible for chassis power units (DC/AC Motor Module).
Notice: Active slip compensation is required in the U/f control types with Eco mode (p1300 = 4, 7). The scaling of the slip
compensation (p1335) should be set so that the slip is completely compensated (generally 100%).
The Eco mode is only effective in steady-state operation and when the ramp-function generator is not bypassed. In
the case of analog setpoints, if required the tolerance for ramp-up and ramp-down should be actively increased for
the ramp-function generator using p1148 in order to reliably signal a steady-state condition.
Note: For the open-loop control modes p1300 = 5 and 6, the slip compensation p1335 and the resonance damping p1338
are internally switched out (disabled) in order to be able to precisely set the output frequency.
For the open-loop control modes p1300 = 4 and 7 (Eco mode), the efficiency can be optimized by varying the volt-
age (when the operating point is constant).
During operation (pulses enabled) the open-loop control mode cannot be changed by changing over drive data
sets.
6310, 6320
0 19 0
Parameters
List of parameters
Value: 0: U/f control with linear characteristic
1: U/f control with linear characteristic and FCC
2: U/f control with parabolic characteristic
3: U/f control with parameterizable characteristic
4: U/f control with linear characteristic and ECO
5: U/f control for drives requiring a precise freq. (e.g. textiles)
6: U/f control for drives requiring a precise frequency and FCC
7: U/f control for a parabolic characteristic and ECO
18: I/f control with fixed current
19: U/f control with independent voltage setpoint
20: Speed control (encoderless)
21: Speed control (with encoder)
22: Torque control (encoderless)
23: Torque control (with encoder)
Recommend.: The use of the vector control operating modes is recommended for synchronous motors.
Dependency: Closed-loop speed or torque control (with encoder) cannot be selected if the encoder type is not entered (p0400).
Closed-loop speed or torque control can be selected if the closed-loop speed/torque control was selected as oper-
ating mode (p0108.2).
Only operation with U/f characteristic is possible if the rated motor speed is not entered (p0311).
A reluctance motor can only be operated in a U/f control mode (p1300 < 20).
Sensorless control on separately excited synchronous motors is only possible with a VSM module (see p0150,
p0151).
Refer to: p0108, r0108, p0300, p0311, p0400, p1501
Notice: Active slip compensation is required in the U/f control types with Eco mode (p1300 = 4, 7). The scaling of the slip
compensation (p1335) should be set so that the slip is completely compensated (generally 100%).
The Eco mode is only effective in steady-state operation and when the ramp-function generator is not bypassed. In
the case of analog setpoints, if required the tolerance for ramp-up and ramp-down should be actively increased for
the ramp-function generator using p1148 in order to reliably signal a steady-state condition.
Note: The closed-loop torque control can only be changed over in operation (p1300 = 20, 21) by selecting the closed-loop
speed control (p1501). At the changeover, the setting of p1300 does not change. In this case, the actual state is dis-
played in r1407, bit 2 and bit 3.
For the open-loop control modes p1300 = 5 and 6 (textile sector), slip compensation p1335, resonance damping
p1338, and the Imax frequency controller are switched off internally so that the output frequency can be set pre-
cisely. The Imax voltage controller remains active.
For the open-loop control modes p1300 = 4 and 7 (Eco mode), the efficiency can be optimized by varying the volt-
age (when the operating point is constant).
Separately-excited synchronous motors can only be operated in modes p1300 = 20, 21 and 23 - or for diagnostic
purposes in modes p1300 = 0, 3 and 18. For I/f control (p1300 = 18), the current amplitude can be set using p1609.
Both for U/f as well as for I/f control only a small load may be applied to the separately-excited synchronous motor
because the excitation current is not calculated as a function of the load.
During operation (pulses enabled) the open-loop/closed-loop control mode cannot be changed by changing over
drive data sets.
p1300 is pre-assigned depending on r0108.2 and p0187.
6300, 8012
0 23 20
List of parameters
Parameters
Description: Sets the configuration for the U/f control.
Note: Re bit 00:
If the bit is set the device will always start up with setpoint angle zero on pulse enable. This also affects the setpoint
angle for DC braking (p1231).
Re bit 01:
If the bit is set, in the case of U/f control with independent voltage setpoint (p1300 = 19) and negative setpoint volt-
ages at the input of p1330, the setpoint angle is rotated through 180 degrees, thereby achieving a negative output
voltage. The voltage boost is in this case not active (p1310, p1311).
Description: Defines the voltage boost as a [%] referred to the rated motor current (p0305).
The magnitude of the permanent voltage boost is reduced with increasing frequency so that at the rated motor fre-
quency, the rated motor voltage is present.
The magnitude of the boost in Volt at a frequency of zero is defined as follows:
Voltage boost [V] = 1.732 x p0305 (rated motor current [A]) x r0395 (stator/primary section resistance [ohm]) x
p1310 (permanent voltage boost [%]) / 100 %
At low output frequencies, there is only a low output voltage in order to maintain the motor flux. However, the output
voltage can be too low in order to achieve the following:
- magnetize the induction motor.
- hold the load.
- compensate for losses in the system.
This is the reason that the output voltage can be increased using p1310.
The voltage boost can be used for both linear as well as square-law U/f characteristics.
Dependency: The current limit p0640 limits the boost.
For vector control, the permanent voltage boost (p1310) has no effect as the drive converter automatically sets the
optimum operating conditions.
Refer to: p1300, p1311, p1312, r1315
Notice: The voltage boost increases the motor temperature (particularly at zero speed).
Note: The voltage boost is only effective for U/f control (p1300).
The boost values are combined with one another if the permanent voltage boost (p1310) is used in conjunction with
other boost parameters (acceleration boost (p1311), voltage boost for starting (p1312)).
However, these parameters are assigned the following priorities: p1310 > p1311, p1312
p1302[0...n] U/f control configuration / U/f configuration
Data type: Unsigned16 Dynamic index: DDS, p0180 Func. diagram: -
- - 0000 bin
00 U_output starting angle zero Yes No -
01 Take into account the setpoint voltage sign Yes No -
p1310[0...n] Voltage boost permanent / U_boost perm
0.0 [%] 250.0 [%] 50.0 [%]
Parameters
List of parameters
Description: p1311 only results in a voltage boost when accelerating and generates a supplementary torque to accelerate the
load.
The voltage boost becomes effective for a positive setpoint increase and disappears as soon as the setpoint has
been reached. The build-up and withdrawal of the voltage boost are smoothed.
The magnitude of the boost in Volt at a frequency of zero is defined as follows:
Voltage boost [V] = 1.732 * p0305 (rated motor current [A]) x r0395 (stator/primary section resistance [ohm]) x
p1311 (voltage boost when accelerating [%]) / 100 %
Refer to: p1300, p1310, p1312, r1315
Notice: The voltage boost results in a higher motor temperature increase.
Note: The voltage boost when accelerating can improve the response to small, positive setpoint changes.
Assigning priorities for the voltage boosts: refer to p1310
Description: Setting for an additional voltage boost when powering-up, however, only for the first acceleration phase.
The voltage boost becomes effective for a positive setpoint increase and disappears as soon as the setpoint has
been reached. The build-up and withdrawal of the voltage boost are smoothed.
Refer to: p1300, p1310, p1311, r1315
Notice: The voltage boost results in a higher motor temperature increase.
Note: The voltage boost when accelerating can improve the response to small, positive setpoint changes.
Assigning priorities for the voltage boosts: refer to p1310
Description: Displays the total resulting voltage boost in volt.
r1315 = p1310 + p1311 + p1312
p1311[0...n] Voltage boost at acceleration / U_boost accelerate
0.0 [%] 250.0 [%] 0.0 [%]
p1312[0...n] Voltage boost when starting / U_boost starting
0.0 [%] 250.0 [%] 0.0 [%]
r1315 Voltage boost total / U_boost total
List of parameters
Parameters
Description: Setting to activate the U/f control with linear characteristic.
Value: 0: De-activated (p1300 effective)
1: Activated
Note: The following applies for firmware version 4.3 and higher:
When U/f control is activated, resonance damping is automatically activated. The resonance damping must be de-
activated (p1338 = 0) in order to obtain pure diagnostics operation without the influence of actual values.
Further, when U/f control is activated, the following functions are active:
- Vdc controller (p1240, p1244, p1248, p1250).
- the up ramp is limited by the set M, P and I limits (p0326, p0341, p0342, p0640, p1520, p1521, p1530, p1531,
p1498).
- the ramp-function generator is held if the current actual value exceeds the current limit set in p0640.
Description: Sets the ramp-up and ramp-down time for the U/f control.
The ramp-function generator requires this time to reach the maximum speed (p1082) from zero.
Note: This ramp is used for stall protection and operates independently of any ramp-function generator that might have
been configured.
Description: The linear characteristic for the U/f control is defined by 0 Hz / p1319 and p1326 / p1327.
This parameter specifies the voltage for a frequency of 0 Hz.
Dependency: The U/f control is activated via p1317 = 1.
Refer to: p1317, p1326, p1327
Note: Linear interpolation is carried out between the points 0 Hz/p1319 and p1326/p1327.
p1317[0...n] U/f control activation / Uf act
0 1 0
p1318[0...n] U/f control ramp-up/ramp-down time / Uf t_rmp-up_rmp-dn
0.000 [s] 999999.000 [s] 10.000 [s]
p1319[0...n] U/f control voltage at zero frequency / Uf U at f=0 Hz
0.0 [Vrms] 50.0 [Vrms] 0.0 [Vrms]
Parameters
List of parameters
Description: The programmable characteristic for the U/f control is defined using 4 points and 0 Hz/p1310.
This parameter specifies the voltage of the first point along the characteristic.
Dependency: Selects the freely programmable characteristic using p1300 = 3.
The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard charac-
teristic is used that contains the rated motor operating point.
Refer to: p1300, p1310, p1311, p1321, p1322, p1323, p1324, p1325, p1326, p1327
Note: Linear interpolation is carried out between the points 0 Hz/p1310, p1320/p1321 ... p1326/p1327.
The voltage boost when accelerating (p1311) is also applied to the freely programmable U/f characteristic.
This parameter specifies the voltage of the first point along the characteristic.
Refer to: p1310, p1311, p1320, p1322, p1323, p1324, p1325, p1326, p1327
This parameter specifies the voltage of the second point along the characteristic.
Dependency: The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard charac-
This parameter specifies the voltage of the second point along the characteristic.
p1320[0...n] U/f control programmable characteristic frequency 1 / Uf char f1
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
p1321[0...n] U/f control programmable characteristic voltage 1 / Uf char U1
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
List of parameters
Parameters
Dependency: Refer to: p1310, p1311, p1320, p1321, p1322, p1324, p1325, p1326, p1327
This parameter specifies the voltage of the third point along the characteristic.
Dependency: The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard charac-
This parameter specifies the voltage of the third point along the characteristic.
This parameter specifies the frequency of the fourth point along the characteristic.
Refer to: p1317, p1319, p1327
This parameter specifies the frequency of the fourth point along the characteristic.
The following applies for the frequency values:
p1320 <= p1322 <= p1324 <= p1326
Otherwise, a standard characteristic is used that contains the rated motor operating point.
Refer to: p1310, p1311, p1317, p1319, p1320, p1321, p1322, p1323, p1324, p1325, p1327
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
p1326[0...n] U/f control characteristic frequency / Uf char f4
0.00 [Hz] 10000.00 [Hz] 0.00 [Hz]
0.00 [Hz] 10000.00 [Hz] 0.00 [Hz]
Parameters
List of parameters
Note: Linear interpolation is carried out between the points 0 Hz/p1310, p1320/p1321 ... p1326/p1327. For output fre-
quencies above p1326, the characteristic is extrapolated with the gradient between the characteristic points
p1324/p1325 and p1326/p1327.
This parameter specifies the voltage of the fourth point along the characteristic.
Refer to: p1317, p1319, p1326
This parameter specifies the voltage of the fourth point along the characteristic.
Refer to: p1310, p1311, p1317, p1319, p1320, p1321, p1322, p1323, p1324, p1325, p1326
Description: Sets the signal source for the voltage setpoint for U/f control with an independent voltage setpoint (p1300 = 19).
Dependency: Selects the U/f control with independent voltage setpoint via p1300 = 19.
Refer to: p1300
Description: Sets the starting frequency at which FCC (Flux Current Control) is activated.
Dependency: The correct operating mode must be set (p1300 = 1, 6).
p1327[0...n] U/f control characteristic voltage / Uf char U4
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
p1330[0...n] CI: U/f control independent voltage setpoint / Uf U_set independ.
- - 0
p1333[0...n] U/f control FCC starting frequency / U/f FCC f_start
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
List of parameters
Parameters
Warning: An excessively low value can result in instability.
Note: For p1333 = 0 Hz, the FCC starting frequency is automatically set to 6 % of the rated motor frequency.
Description: Sets the starting frequency of the slip compensation.
Note: For p1334 = 0, the starting frequency of the slip compensation is automatically set to 6 % of the rated motor fre-
quency.
Description: Sets the setpoint for slip compensation in [%] referred to r0330 (motor rated slip).
p1335 = 0.0 %: Slip compensation de-activated.
p1335 = 100.0 %: The slip is completely compensated.
Dependency: Prerequisite for a precise slip compensation for p1335 = 100 % are the precise motor parameters (p0350 ... p0360).
If the parameters are not precisely known, a precise compensation can be achieved by varying p1335.
For U/f control types with Eco optimization (4 and 7), the slip compensation must be activated in order to guarantee
correct operation.
Note: The purpose of slip compensation is to maintain a constant motor speed regardless of the applied load. The fact
that the motor speed decreases with increasing load is a typical characteristic of induction motors.
For synchronous motors, this effect does not occur and the parameter has no effect in this case.
For the open-loop control modes p1300 = 5 and 6 (textile sector), the slip compensation is internally disabled in
order to be able to precisely set the output frequency.
If p1335 is changed during commissioning (p0009, p0010 > 0), then it is possible that the old value will no longer be
Description: Sets the limit value for slip compensation in [%] referred to r0330 (motor rated slip).
p1334[0...n] U/f control slip compensation starting frequency / Slip comp start
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
p1335[0...n] Slip compensation, scaling / Slip comp scal
0.0 [%] 600.0 [%] 0.0 [%]
p1336[0...n] Slip compensation limit value / Slip comp lim val
0.00 [%] 600.00 [%] 250.00 [%]
Parameters
List of parameters
Description: Displays the actual compensated slip [%] referred to r0330 (rated motor slip).
Dependency: p1335 > 0 %: Slip compensation active.
Refer to: p1335
Description: Sets the gain for resonance damping for U/f control.
In U/f mode, the resonance damping function dampens oscillations that are frequently experienced by induction
motors in certain speed ranges and by synchronous motors above even low speeds.
Note: Resonance damping is active in the following ranges:
- Active: 3.1 Hz ... p1349
- Build-up (linear): 3.1 ... 4.77 Hz
- Reduction (linear): 0.95 * p1349 ... p1349
Where the value = 1 and at the oscillation amplitude of the rated current, the rated slip frequency is switched in for
induction motors, while a frequency of 10 Hz is switched in for synchronous motors.
Description: Sets the gain for resonance damping for U/f control.
Note: The resonance damping function dampens active current oscillations that frequency occur under no-load condi-
tions.
The resonance damping is active in a range of approximately 5 ... 90 % of the rated motor frequency (p0310), but
up to a maximum of 45 Hz.
For the open-loop control modes p1300 = 5 and 6 (textile sectors), the resonance damping is internally disabled in
order that the output frequency can be precisely set.
r1337 CO: Actual slip compensation / Slip comp act val
Not for motor type: PEM, REL Scaling: PERCENT Expert list: 1
- [%] - [%] - [%]
p1338[0...n] U/f mode resonance damping gain / Uf Res_damp gain
0.00 100.00 1.00
0.00 100.00 0.00
List of parameters
Parameters
Description: Sets the filter time constant for resonance damping for U/f control.
Note: The filter time constant must be greater than the oscillation period of the oscillation to be dampened.
Description: Sets the filter time constant for resonance damping for U/f control.
Description: Sets the proportional gain of the I_max voltage controller.
The I_max controller reduces the drive converter output current if the maximum current (r0067) is exceeded.
In the U/f operating modes (p1300) for the I_max control, one controller is used that acts on the output frequency
and one controller that acts on the output voltage. The frequency controller reduces the current by decreasing the
converter output frequency. The frequency is reduced down to a minimum value (equaling twice rated slip). If the
overcurrent condition cannot be successfully resolved using this measure, then the drive converter output voltage is
reduced using the I_max voltage controller. Once the overcurrent condition has been resolved, the drive is acceler-
ated along the ramp set in p1120 (ramp-up time).
Dependency: In the U/f modes (p1300) for textile applications and for external voltage setpoints, only the I_max voltage controller
is used.
Notice: When de-activating the I_max controller, the following must be carefully observed:
When the maximum current (r0067) is exceeded, the output current is no longer reduced, however, overcurrent
alarm messages are generated. The drive is shut down if the overcurrent limit (r0209) is exceeded.
Note: The I_max limiting controller becomes ineffective if the ramp-function generator is de-activated with p1122 = 1.
p1341 = 0: I_max frequency controller de-activated and I_max voltage controller activated over the complete speed
range.
Description: Sets the integral time for the I_max frequency controller.
p1339[0...n] U/f mode resonance damping filter time constant / Uf Res_damp T
1.00 [ms] 1000.00 [ms] 20.00 [ms]
1.00 [ms] 1000.00 [ms] 20.00 [ms]
p1340[0...n] I_max frequency controller proportional gain / I_max_ctrl Kp
0.000 0.500 0.000
p1341[0...n] I_max frequency controller integral time / I_max_ctrl Tn
0.000 [s] 50.000 [s] 0.300 [s]
Parameters
List of parameters
Note: When p1341 = 0, the current limiting controller influencing the frequency is de-activated and only the current limiting
controller influencing the output voltage remains active (p1345, p1346).
Description: Displays the effective frequency limit.
Description: Displays the amount by which the converter output voltage is reduced.
Description: Sets the proportional gain for DC braking (p1230, p1231).
Note: Current controller adaptation is not effective for DC braking.
Description: Sets the proportional gain for the I_max voltage controller.
Note: The controller settings are also used in the current controller of the DC braking (refer to p1232).
r1343 CO: I_max controller frequency output / I_max_ctrl f_outp
P-Group: V/f open-loop control Units group: 3_1 Unit selection: p0505
- [rpm] - [rpm] - [rpm]
r1344 I_max controller voltage output / I_max_ctrl U_outp
P-Group: V/f open-loop control Units group: 5_1 Unit selection: p0505
p1345[0...n] DC braking proportional gain / DCBRK Kp
0.000 100000.000 0.000
p1345[0...n] I_max voltage controller proportional gain / I_max_U_ctrl Kp
0.000 100000.000 0.000
List of parameters
Parameters
Description: Sets the integral time for DC braking (p1230, p1231).
The integral time of DC braking is de-activated.
Description: Sets the integral time for the I_max voltage controller.
Note: p1346 = 0: Integral time of the I_max voltage controller de-activated.
The controller settings are also used in the current controller of the DC braking (refer to p1232).
Description: Displays the economic factor determined for optimizing motor consumption.
Note: The value is only determined for operating modes with Economic (p1300 = 4, 7).
Description: Sets the maximum output frequency for resonance damping for U/f control.
Resonance damping is inactive above this output frequency.
Note: Resonance damping is active in the following ranges:
- Active: 3.1 Hz ... p1349
- Build-up (linear): 3.1 ... 4.77 Hz
- Reduction (linear): 0.95 * p1349 ... p1349
p1346[0...n] DC braking, integral time / DCBRK Tn
0.000 [ms] 50.000 [ms] 0.030 [ms]
p1346[0...n] I_max voltage controller integral time / I_max_U_ctrl Tn
0.000 [s] 50.000 [s] 0.030 [s]
r1348 CO: U/f control Eco factor actual value / U/f Eco fac act v
- [%] - [%] - [%]
p1349[0...n] U/f mode resonance damping maximum frequency / Uf res_damp f_max
SERVO Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
0.00 [Hz] 3000.00 [Hz] 3000.00 [Hz]
Parameters
List of parameters
Description: Sets the maximum output frequency for resonance damping for U/f control.
Resonance damping is inactive above this output frequency.
Note: For p1349 = 0, the changeover limit is automatically set to 95 % of the rated motor frequency - however, to a max.
of 45 Hz.
Description: Sets whether the voltage is continuously increased during the magnetizing phase (p1350 = 1, On) or whether it
jumps directly to the voltage boost (p1350 = 0, Off).
Value: 0: OFF
1: ON
Note: The settings for this parameter have the following advantages and disadvantages:
0 = off (jump directly to voltage boost)
Advantage: Flux is established quickly -> torque is quickly available
Disadvantage: The motor can move while it is being magnetized
1 = on (voltage is continually established)
Advantage: The motor is unlikely to rotate
Disadvantage: The flux is established slower -> torque is available later
Description: Sets the frequency setting value at the slip compensation output for starting up with motor holding brake.
Dependency: When setting p1351 > 0, then slip compensation is automatically activated (p1335 = 100 %).
Note: A value of 100% corresponds to the motor rated slip (r0330).
Description: Sets the signal source for the differential angular generation for U/f control.
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
p1350[0...n] Soft starting / Soft starting
0 1 0
p1351[0...n] CO: Motor holding brake starting frequency / Brake f_start
Not for motor type: REL Scaling: PERCENT Expert list: 1
-300.00 [%] 300.00 [%] 0.00 [%]
p1356[0...n] CI: U/f control, angular setpoint / Uf ang setpoint
Data type: Unsigned32 / FloatingPoint32 Dynamic index: CDS, p0170 Func. diagram: -
- - 0
List of parameters
Parameters
Description: Sets the dead time for the symmetrizing of the actual angle value for the differential angular generation.
The selected multiplier refers to the current controller clock cycle (dead time= p1358 * p0115[0]).
Description: Displays the output of the differential angular generation.
Note: The difference between the setpoint angle, read-in in p1356 and the actual value of the U/f control delayed with
p1358 is displayed.
Description: Sets the braking resistor for the braking chopper.
Refer to: A06921, F06922
Description: Sets the activation threshold for the brake chopper.
The hysteresis defines the range of the output voltage from zero up to the maximum voltage.
Index: [0] = Braking chopper threshold value
[1] = Braking chopper hysteresis
Refer to: A06921, F06922
p1358[0...n] Angular difference, symmetrizing, actual angle / Sym act angle
0 1 0
r1359 CO: Angular difference / Angular difference
- [] - [] - []
p1360 Braking chopper braking resistor cold / Br_chop R cold
0.000 [ohm] 10.000 [ohm] 0.000 [ohm]
p1362[0...1] Braking chopper activation threshold / Br_chop thresh
0 [V] 1158 [V] [0] 0 [V]
[1] 60 [V]
Parameters
List of parameters
Description: Displays the actual power unit output voltage (Motor Module) in braking chopper operation.
Refer to: A06921, F06922
Description: Sets the percentage value for the asymmetry detection for the braking chopper.
Refer to: F06922
Note: Zero means no asymmetry detection.
Description: Sets the configuration for the closed-loop speed control.
Note: Re bit 07:
sign-of-life (STW 2.12 ... STW 2.15). Further, for active Dynamic Servo Control (DSC) an additional dead time of
one speed controller clock cycle is obtained.
r1363 CO: Braking chopper output voltage / Br_chop U_output
p1364 Braking chopper resistor asymmetry / Br_chop R asym
0.00 [%] 100.00 [%] 25.00 [%]
p1400[0...n] Speed control configuration / n_ctrl config
- - 0000 0000 0000 0000 0000
0011 1010 0000 bin
03 Reference model speed setpoint, I compo-
nent
ON OFF 5030
04 Torque limiting active in motoring/regenera-
tive mode
Yes No -
05 Kp/Tn adaptation active Yes No -
07 Interpolation speed pre-control active Yes No -
08 Interpolation torque setpoint active Yes No -
09 Damping for encoderless open-loop con-
trolled oper.
Yes No -
10 Speed pre-control For balancing For setp_filter 2 -
11 Encoderless oper. speed actual value start-
ing value
Setpoint 0.0 -
12 Encoderless operation changeover Steady-state When accelerating -
13 Motoring/regenerative depending on Speed setpoint Speed actual value -
16 I component for limiting Enable Hold -
17 DSC position controller limit active Yes No 3090
18 Moment of inertia estimator active Yes No -
List of parameters
Parameters
Re bit 10:
The pre-control signal via connector input p1430 only becomes effective at p1402.4 = 1 (torque-speed pre-control
with encoder) at p1400.10 = 0 (for setp_filter 2).
Re bit 11:
If the motor rotates when the pulses are enabled, then we recommend p1400.11 = 1 (starting value = setpoint) with
the matching sign.
If the motor remains stationary (zero speed) when the pulses are enabled, the we recommend p1400.11 = 0 (start-
ing value = 0.0).
Re bit 12:
If a changeover is made from operation with encoder to encoderless operation while accelerating (with the thresh-
old from p1404), then we recommend p1400.12 = 0.
If the changeover is made from operation with encoder to encoderless at constant speed/velocity (e.g. with a DDS
changeover or if there is an encoder fault via p0491) then we recommend p1400.12 = 1.
Re bit 17:
In order to avoid limit cycles (e.g. as a result of disturbing torques) for DSC with a high Kv factor, the position con-
troller output can be limited using a root function corresponding to the currently available deceleration capability of
the drive. In this case, the total moment of inertia (J_tot) must be parameterized precisely (if necessary, determine
the moment of inertia p0341, p0342 and p1498 using the motor data identification). If the limiting function responds,
then this is indicated in r1407.19.
As a result of the absolute value limitation, the dynamic performance of the position controller is above n[rpm] =
0.91 x M_max[Nm] / (Kv[1000/min] x J_tot[kgm]), no longer linear (M_max, see r1538, r1539). This is the reason
that speed precontrol is recommended.
Re bit 18:
Only active when the "moment of inertia estimator" function module is active (r0108.10 = 1).
For operation with encoder, in addition, p1402.4 must be set to 1.
The result of the moment of inertia estimator is displayed in r1493 when the function is activated.
The function assumes that speed changes are made without load. If a speed change must be realized under load,
then during this time, the estimated moment of inertia should be frozen using binector input p1502.
Description: Sets the configuration for the closed-loop velocity control.
p1400[0...n] Velocity control, configuration / v_ctrl config
- - 0000 0000 0000 0000 0000
0011 1010 0000 bin
03 Reference model velocity setpoint I compo-
nent
ON OFF 5030
04 Force limiting active in motoring/regenera-
tive mode
Yes No -
05 Kp/Tn adaptation active Yes No -
07 Interpolation velocity controller pre-control
active
Yes No -
08 Interpolation force setpoint active Yes No -
09 Damping for encoderless open-loop con-
trolled oper.
Yes No -
10 Velocity pre-control For balancing For setp_filter 2 -
11 Encoderless oper. velocity actual value
starting value
Setpoint 0.0 -
12 Encoderless operation changeover Steady-state When accelerating -
13 Motoring/regenerative depending on Speed setpoint Speed actual value -
16 I component for limiting Enable Hold -
17 DSC position controller limit active Yes No 3090
18 Moment of inertia estimator active Yes No -
Parameters
List of parameters
Note: Re bit 07:
sign-of-life (STW 2.12 ... STW 2.15). Further, for active Dynamic Servo Control (DSC) an additional dead time of
one velocity controller clock cycle is obtained.
Re bit 10:
The pre-control signal via connector input p1430 only becomes effective at p1402.4 = 1 (force-velocity pre-control
Re bit 11:
If the motor rotates when the pulses are enabled, then we recommend p1400.11 = 1 (starting value = setpoint) with
the matching sign.
If the motor remains stationary (zero speed) when the pulses are enabled, the we recommend p1400.11 = 0 (start-
ing value = 0.0).
Re bit 12:
If a changeover is made from operation with encoder to encoderless operation while accelerating (with the thresh-
old from p1404), then we recommend p1400.12 = 0.
If the changeover is made from operation with an encoder to encoderless at constant velocity (e.g. with a DDS
changeover or if there is an encoder fault via p0491), then we recommend p1400.12 = 1.
Re bit 17:
In order to avoid limit cycles (e.g. as a result of disturbing forces) for DSC with a high Kv factor, the position control-
ler output can be limited using a root function corresponding to the currently available deceleration capability of the
drive. In this case, the total mass (m_tot) must be parameterized precisely (if necessary, determine the mass
p0341, p0342 and p1498 using the motor data identification). If the limiting function responds, then this is indicated
in r1407.19.
As a result of the absolute value limitation, the dynamic performance of the position controller above v[m/min] = 5.7
x F_max[N] / (Kv[1000/min] x m_tot[kg]), is no longer linear (F_max, see r1538, r1539). This is the reason that
velocity precontrol is recommended.
Re bit 18:
Only active when the "moment of inertia estimator" function module is active (r0108.10 = 1).
The result of the moment of inertia estimator is displayed in r1493 when the function is activated.
The function assumes that velocity changes are made without load. If a velocity change must be realized under
load, then during this time, the estimated moment of inertia should be frozen using binector input p1502.
Description: Sets the configuration for the closed-loop speed control.
Note: Re bit 01:
When the bit is set, the I component of the speed controller is kept when changing into the open-loop controlled
mode.
- - 1000 0000 0010 0001 bin
00 Automatic Kp/Tn adaptation active Yes No 6040
01 Sensorless vector control freeze I comp Yes No 6040
02 Acceleration pre-control source External (p1495) Internal (n_set) 6031
03 Reference model speed setpoint, I compo-
nent
ON OFF 6031
05 Kp/Tn adaptation active Yes No 6040
06 Free Tn adaptation active Yes No 6050
14 Torque pre-control Always active For n_ctrl enab 6060
15 Sensorless vector control, speed pre-control Yes No 6030
List of parameters
Parameters
Description: Sets the configuration for flux setpoint control
Note: Re bit 00 (only for induction motors)
Initially, the flux is only established with a low rate of rise when magnetizing the induction motor. The flux setpoint
p1570 is reached again at the end of the magnetizing time p0346.
Re bit 01 (only for induction motors)
Initially, the flux is only established with a low rate of rise when magnetizing the induction motor. The flux setpoint
p1570 is reached again at the end of the magnetizing time p0346. When quick magnetizing (p1401.6 = 1) is
selected, soft starting is internally de-activated and alarm A07416 is displayed.
The flux differentiation can be switched out if a significant ripple occurs in the field-generating current setpoint
(r0075) when entering the field weakening range. However, this is not suitable for fast acceleration operations
because then, the flux decays more slowly and the voltage limiting responds.
Re bit 02 (only for induction motors)
The flux build-up control operates during the magnetizing phase p0346 of the induction motor. If it is switched out, a
constant current setpoint is injected and the flux is built up corresponding to the rotor time constant. When quick
magnetizing (p1401.6 = 1) is selected and when flux build-up control is de-energized alarm A07416 is displayed.
Re bit 03:
The load-dependent calculation of the flux characteristic is only available for separately-excited synchronous
motors.
Re bit 04 (only for induction motors with encoder):
The flux controller does not operate in the range of the current model and not in the range of the flux impression
(refer to p1750.4).
Re bit 05 (only for induction motors with encoder):
Extremely rugged control operation is possible by directly toggling between the current model and flux impression.
We therefore recommend that, in addition, the time-controlled model change is switched in (p1750.4 = 1) or the
model changeover limits are significantly increased (p1752 > 0.35 * p0311; p1753 = 5 %).
Re bit 06 (not for induction motors):
Magnetizing is performed with maximum current (0.9 * r0067). With active identification of the stator resistance (see
p0621) quick magnetizing is internally de-activated and alarm A07416 is displayed. During a flying restart of a rotat-
ing motor (see p1200) no quick magnetizing takes place.
Re bit 07:
if the speed of the drive exceeds the effective speed limit of the speed limiting controller, the torque limit is reduced
linearly to zero as the deviation becomes greater. This reduces the integral component of the speed controller and,
in turn, the overshoot during load shedding (see also F07901 and p2162).
p1401[0...n] Flux control configuration / Flux ctrl config
- - 0000 0000 0000 1110 bin
00 Flux setpoint soft starting active Yes No 6722,
6725
01 Flux setpoint differentiation active Yes No 6723,
6726
02 Flux build-up control active Yes No 6722,
6723,
6725,
6726
03 Flux characteristic, load-dependent Yes No 6725
04 Flux controller (ASM with encoder) Yes No -
05 Flux impression (ASM with encoder) with model chngov From 30 % n_rated -
06 Quick magnetizing Yes No 6722
07 Pre-control speed limitation Yes No 6640
08 Speed limiting controller With M_limits With I_limits 6640
Parameters
List of parameters
Re bit 08:
The speed limiting controller sets the speed to maximum by opening the torque limits as far as the current limits (bit
8 = 0) or taking the torque limits into account (bit 8 = 1).
Description: Sets the configuration for the closed-loop control and the motor model.
Note: Re bit 01:
When the bit is set, the encoder is parked as soon as the actual speed is greater than the changeover speed
(p1404). The encoder state is indicated in r0481.14.
Re bit 02:
The current controller adaptation (p0391 ... p0393) is only calculated when the bit is set.
Note: Re bit 01:
When the bit is set, the encoder is parked as soon as the actual velocity is greater than the changeover velocity
(p1404). The encoder state is indicated in r0481.14.
Re bit 02:
p1402[0...n] Closed-loop current control and motor model configuration / I_ctrl config
- - 0000 0100 bin
01 Park encoder for n_act > p1404 Yes No -
02 Current controller adaptation active Yes No -
04 Torque-speed pre-control with encoder Yes No -
- - 0000 0100 bin
01 Park encoder for v_act > p1404 Yes No -
04 Force-velocity pre-control with encoder Yes No -
VECTOR (n/M) Can be changed: U, T Calculated: CALC_MOD_REG Access level: 3
- - 0000 0000 0000 0001 bin
00 Speed-following error correction active Yes No -
08 Changeover current model/voltage model
with speed setpoint
Yes No -
List of parameters
Parameters
Note: Re bit 00:
When the bit is set, the speed following error is compensated that is obtained as a result of the smoothing time con-
stant in p1441.
Re bit 02:
Re bit 08:
Only with encoderless control of separately excited synchronous motors.
Description: Sets the speed to change over between operation with and without an encoder.
Above this speed, the drive system is automatically operated in encoderless mode.
Note: The changeover speed applies when changing over between operation with and without encoder.
With p1404 > 0, the effective changeover speed is limited to values greater than or equal to p1755 in order to avoid
controlled operation.
Separate speed controllers should be set when operating with and without encoder.
- Operation with encoder: p1460 (Kp), p1462 (Tn), p1461, p1463, p1457, p1458 (speed controller adaptation)
- Operation without encoder: p1470 (Kp), p1472 (Tn)
- The condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, ...
Description: Sets the velocity to change over between operation with and without an encoder.
Above this velocity, the drive system is automatically operated in encoderless mode.
Note: The changeover velocity applies when changing over between operation with and without an encoder.
With p1404 > 0, the effective changeover velocity is limited to values greater than or equal to p1755 in order to
avoid controlled operation.
Separate velocity controllers should be set when operating with and without an encoder.
- Operation with encoder: p1460 (Kp), p1462 (Tn), p1461, p1463, p1457, p1458 (velocity controller adaptation)
- Operation without encoder: p1470 (Kp), p1472 (Tn)
- The condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, ...
p1404[0...n] Encoderless operation changeover speed / Encoderl op n_chg
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
p1404[0...n] Encoderless operation changeover velocity / Encoderl op v_chg
0.00 [m/min] 1000.00 [m/min] 1000.00 [m/min]
Parameters
List of parameters
Description: Displays the control word of the speed controller.
Description: Displays the control word of the velocity controller.
Description: Displays the control word of the speed controller.
Description: Displays the status word of the speed controller.
r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl
- - -
08 Travel to fixed stop active Yes No -
12 Torque control active Yes No -
r1406.8...12 CO/BO: Control word velocity controller / STW v_ctrl
- - -
08 Travel to fixed stop active Yes No -
12 Force control active Yes No -
r1406.4...15 CO/BO: Control word speed controller / STW n_ctrl
- - -
04 Hold speed controller I component Yes No 6040
05 Set speed controller I component Yes No 6040
08 Travel to fixed stop Yes No 8012
11 Droop enable Yes No 6030
12 Torque control active Yes No 6060
15 Set speed adaptation controller I compo-
nent
Yes No -
r1407.0...22 CO/BO: Status word speed controller / ZSW n_ctrl
- - -
00 U/f control active Yes No -
01 Encoderless operation active Yes No -
02 Torque control active Yes No 8010
List of parameters
Parameters
Note: Re bit 04:
The following conditions must be fulfilled to set to 1:
- CI: p1190 and CI: p1191 must be interconnected with a signal source that is not equal to zero.
- it is not permissible that OFF1, OFF3 or STOP2 are active.
- it is not permissible that the motor data identification is active.
- Master control must not be active.
The following conditions can mean that the DSC function is not active in spite of the fact that the bit is set:
- clock-cycle synchronous operation is not selected (r2054 not equal to 4).
- the PROFIBUS is not clock-cycle synchronous (r2064[0] not equal to 1).
- DSC is not switched on at the control side; this means that KPC = 0 is transferred as the value at CI: p1191.
Description: Displays the status word of the velocity controller.
Note: Re bit 04:
The following conditions must be fulfilled to set to 1:
- CI: p1190 and CI: p1191 must be interconnected with a signal source that is not equal to zero.
- it is not permissible that OFF1, OFF3 or STOP2 are active.
- it is not permissible that the motor data identification is active.
- Master control must not be active.
The following conditions can mean that the DSC function is not active in spite of the fact that the bit is set:
- clock-cycle synchronous operation is not selected (r2054 not equal to 4).
- the PROFIBUS is not clock-cycle synchronous (r2064[0] not equal to 1).
- DSC is not switched on at the control side; this means that KPC = 0 is transferred as the value at CI: p1191.
04 Speed setpoint from DSC Yes No 2522
05 Speed controller I component frozen Yes No -
06 Speed controller I component set Yes No -
07 Torque limit reached Yes No 5610
08 Upper torque limit active Yes No 5610
09 Lower torque limit active Yes No 5610
11 Speed setpoint limited Yes No -
13 Encoderless operation due to a fault Yes No -
19 DSC position controller limited Yes No 3090
20 DSC with spline on Yes No -
21 Speed pre-control for DSC with spline on Yes No -
22 Torque pre-control for DSC with spline on Yes No -
r1407.0...22 CO/BO: Status word velocity controller / ZSW v_ctrl
- - -
02 Force control active Yes No 8010
04 Velocity setpoint from DSC Yes No 2522
05 Velocity controller I component frozen Yes No -
06 Velocity controller I component set Yes No -
07 Force limit reached Yes No 5610
08 Upper force limit active Yes No 5610
09 Lower force limit active Yes No 5610
11 Velocity setpoint limited Yes No -
19 DSC position controller limited Yes No 3090
20 DSC with spline on Yes No -
21 Velocity pre-control for DSC with spline on Yes No -
22 Force pre-control for DSC with spline on Yes No -
Parameters
List of parameters
Description: Displays the status word of the speed controller.
Description: Displays the current controller status word.
Note: The set current limit is taken into account in upstream torque limiting. Bits 6, 7, and 8 are, therefore, only set in the
event of overshoots on account of the current setpoint filter.
Description: Displays the current controller status word.
r1407.0...15 CO/BO: Status word speed controller / ZSW n_ctrl
- - -
02 Torque control active Yes No 6030,
6060,
8010
03 Speed control active Yes No 6040
05 Speed controller I component frozen Yes No 6040
06 Speed controller I component set Yes No 6040
07 Torque limit reached Yes No 6060
08 Upper torque limit active Yes No 6060
09 Lower torque limit active Yes No 6060
10 Droop enabled Yes No 6030
11 Speed setpoint limited Yes No 6030
12 Ramp-function generator set Yes No -
14 I/f control active Yes No -
15 Torque limit reached (without pre-control) Yes No 6060
r1408.0...9 CO/BO: Status word current controller / ZSWI_ctrl
- - -
00 Closed-loop current control Active Not active -
04 Limit Ud Active Not active -
05 Limit Vq Active Not active -
06 Positive limiting Iq Active Not active -
07 Negative limiting Iq Active Not active -
08 Limit iq_set Active Not active -
09 Limit id_set Active Not active -
r1408.0...15 CO/BO: Status word current controller / ZSWI_ctrl
- - -
List of parameters
Parameters
Note: Re bit 11:
For operation with speed encoder, bit 11 is set as a result of steps/jumps in the speed signal (see p0492) or due to
deviations at the adaptation controller output (see p1744).
Description: Sets the delay of the speed setpoint for the incremental encoder emulation.
Description: Setting for activating/de-activating the speed actual value filter.
Dependency: The speed actual value filter is parameterized from p1446.
Description: Setting for activating/de-activating the velocity actual value filter.
Dependency: The velocity actual value filter is parameterized from p1446 and higher.
00 Current ctrl act Active Not active -
01 Id control, I component limiting Active Not active 6714
03 Voltage limiting Active Not active 6714
10 Speed adaptation, limiting Active Not active -
11 Speed adaptation, speed deviation Out tolerance In tolerance 6719
12 Motor stalled Yes No 6719,
8018
13 Separately excited synchronous motor is
excited
Yes No -
14 Current model FEM: magnetizing excitation
current limited to 0
Yes No -
15 Excitation current differential exceeded Yes No -
p1412[0...n] TM41 increm. encoder emulation, speed setpoint filter deadtime / n_set dead time
0.000 [ms] 1.000 [ms] 0.000 [ms]
p1413[0...n] Speed actual value filter activation / n_act_filt act
- - 0000 bin
01 General filter activation Yes No -
p1413[0...n] Velocity actual value filter activation / v_act_filt act
- - 0000 bin
01 General filter activation Yes No -
Parameters
List of parameters
Description: Setting for activating/de-activating the speed setpoint filter.
Recommend.: If only one filter is required, filter 1 should be activated and filter 2 de-activated, to avoid excessive processing time.
Dependency: The individual speed setpoint filters are parameterized as of p1415.
Description: Setting for activating/de-activating the velocity setpoint filter.
Recommend.: If only one filter is required, filter 1 should be activated and filter 2 de-activated, to avoid excessive processing time.
Dependency: The individual velocity setpoint filters are parameterized as of p1415.
Description: Setting for activating/de-activating speed setpoint filter 1 for the incremental encoder emulation.
Dependency: The speed setpoint filter can be parameterized using p1417 and p1418.
Description: Sets the type for speed setpoint filter 1.
p1414[0...n] Speed setpoint filter activation / n_set_filt act
- - 0000 bin
00 Activate filter 1 Yes No -
p1414[0...n] Velocity setpoint filter activation / v_set_filt act
- - 0000 bin
p1414[0...n] TM41 incr. encoder emulation, speed setpoint filter activation / n_set_filt act
- - 0000 bin
00 Activate filter 1 Yes No 9674
p1415[0...n] Speed setpoint filter 1 type / n_set_filt 1 typ
0 2 0
List of parameters
Parameters
Value: 0: Low pass: PT1
1: Low pass: PT2
2: General 2nd-order filter
Dependency: PT1 low pass: p1416
PT2 low pass: p1417, p1418
General filter: p1417 ... p1420
1: Low pass: PT2
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
Note: This parameter is only effective if the filter is set as a PT1 low pass.
Description: Sets the time constant for the velocity setpoint filter 1 (PT1).
Note: This parameter is only effective if the filter is set as a PT1 low pass.
p1415[0...n] Velocity setpoint filter 1 type / v_setp_filt 1 typ
0 2 0
p1416[0...n] Speed setpoint filter 1 time constant / n_set_filt 1 T
0.00 [ms] 5000.00 [ms] 0.00 [ms]
p1416[0...n] Velocity setpoint filter 1 time constant / v_set_filt 1 T
0.00 [ms] 5000.00 [ms] 0.00 [ms]
0.00 [ms] 5000.00 [ms] 0.00 [ms]
Parameters
List of parameters
Description: Sets the denominator natural frequency for speed setpoint filter 1 (PT2, general filter).
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
Description: Sets the denominator natural frequency for velocity setpoint filter 1 (PT2, general filter).
Note: This parameter is only effective if the velocity filter is parameterized as a PT2 low pass or as general filter.
Description: Sets the denominator natural frequency for the speed setpoint filter 1 (PT2) of the incremental encoder emulation.
This parameter is only effective if the speed setpoint filter in p1414 is activated.
Description: Sets the denominator damping for speed setpoint filter 1 (PT2, general filter).
p1417[0...n] Speed setpoint filter 1 denominator natural frequency / n_set_filt 1 fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1417[0...n] Velocity setpoint filter 1 denominator natural frequency / v_set_filt 1 fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1417[0...n] TM41 Speed setpoint filter 1 denominator natural frequency / n_set_filt 1 fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1418[0...n] Speed setpoint filter 1 denominator damping / n_set_filt 1 D_d
0.001 10.000 0.700
List of parameters
Parameters
Description: Sets the denominator damping for velocity setpoint filter 1 (PT2, general filter).
Description: Sets the denominator damping for the speed setpoint filter 1 (PT2) of the incremental encoder emulation.
This parameter is only effective if the speed setpoint filter in p1414 is activated.
Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).
Note: This parameter is only effective if the speed filter is set as a general filter.
Description: Sets the numerator natural frequency for velocity setpoint filter 1 (general filter).
Note: This parameter is only effective if the velocity filter is set as a general filter.
p1418[0...n] Velocity setpoint filter 1 denominator damping / v_set_filt 1 D_d
0.001 10.000 0.700
p1418[0...n] TM41 Speed setpoint filter 1 denominator damping / n_set_filt 1 D_d
0.001 1.000 0.700
p1419[0...n] Speed setpoint filter 1 numerator natural frequency / n_set_filt 1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1419[0...n] Velocity setpoint filter 1 numerator natural frequency / v_set_filt 1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
Parameters
List of parameters
Description: Sets the numerator damping for speed setpoint filter 1 (general filter).
Description: Sets the numerator damping for velocity setpoint filter 1 (general filter).
1: Low pass: PT2
1: Low pass: PT2
p1420[0...n] Speed setpoint filter 1 numerator damping / n_set_filt 1 D_n
0.000 10.000 0.700
p1420[0...n] Velocity setpoint filter 1 numerator damping / v_set_filt 1 D_n
0.000 10.000 0.700
0 2 0
0 2 0
List of parameters
Parameters
Note: This parameter is only effective if the speed filter is set as a PT1 low pass.
Description: Sets the time constant for the velocity setpoint filter 2 (PT1).
Note: This parameter is only effective if the velocity filter is set as a PT1 low pass.
Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).
Description: Sets the denominator natural frequency for velocity setpoint filter 2 (PT2, general filter).
0.00 [ms] 5000.00 [ms] 0.00 [ms]
0.00 [ms] 5000.00 [ms] 0.00 [ms]
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
Parameters
List of parameters
Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).
Description: Sets the denominator damping for velocity setpoint filter 2 (PT2, general filter).
Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).
Description: Sets the numerator natural frequency for velocity setpoint filter 2 (general filter).
0.001 10.000 0.700
0.001 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
List of parameters
Parameters
Description: Sets the numerator damping for speed setpoint filter 2 (general filter).
Description: Sets the numerator damping for velocity setpoint filter 2 (general filter).
Description: Sets the dead time to symmetrize the speed setpoint for active torque pre-control.
The selected multiplier refers to the speed controller clock cycle (dead time= p1428 * p0115[1]).
Dependency: In conjunction with p1429, this parameter can emulate the characteristics of how the torque is established (dynamic
response of closed current control loop).
Description: Sets the dead time to symmetrize the velocity setpoint for active force pre-control.
The selected multiplier refers to the velocity controller clock cycle (dead time= p1428 * p0115[1]).
Dependency: In conjunction with p1429, this parameter can emulate the characteristics of how the force is established (dynamic
0.000 10.000 0.700
0.000 10.000 0.700
p1428[0...n] Speed pre-control balancing dead time / n_prectrBal t_dead
5210
0.0 2.0 0.0
p1428[0...n] Velocity pre-control balancing dead time / n_prectrBal t_dead
5210
0.0 2.0 0.0
Parameters
List of parameters
Description: Sets the dead time to symmetrize the speed setpoint for active torque pre-control.
Dependency: In conjunction with p1429, this parameter can emulate the characteristics of how the torque is established (dynamic
The parameter is only effective if the acceleration model is supplied using external acceleration signals (p1400.2 =
1). For p1400.2 = 0, a fixed dead time is used.
Description: Sets the time constant (PT1) for symmetrizing the speed setpoint for active torque pre-control.
Dependency: In conjunction with p1428, this parameter can emulate the characteristics of how torque is established (dynamic
response of the closed current control loop).
For VECTOR (r0107) the following applies:
The parameter is only effective if the acceleration model is supplied using external acceleration signals (p1400.2 =
1). For p1400.2 = 0, time constant p1442 (or p1452 for sensorless vector control) is used.
Description: Sets the time constant (PT1) for symmetrizing the velocity setpoint for active force pre-control.
Dependency: In conjunction with p1428, this parameter can emulate the characteristics of how the force is established (dynamic
Description: Sets the signal source for speed pre-control channel (speed pre-control or torque pre-control).
0.0 3.0 0.0
p1429[0...n] Speed pre-control balancing time constant / n_prectr bal T
SERVO, VECTOR
(n/M)
5210, 6031
0.00 [ms] 10000.00 [ms] 0.00 [ms]
p1429[0...n] Velocity pre-control balancing time constant / n_prectr bal T
5210
0.00 [ms] 10000.00 [ms] 0.00 [ms]
p1430[0...n] CI: Speed pre-control / n_prectrl
5020
- - 0
List of parameters
Parameters
Note: The pre-control signal via connector input p1430 only becomes effective at p1402.4 = 1 (torque-speed pre-control
Description: Sets the signal source for the velocity pre-control channel (velocity pre-control or force pre-control).
Note: The pre-control signal via connector input p1430 only becomes effective at p1402.4 = 1 (force-velocity pre-control
Description: Displays the speed setpoint for pre-controlling the motor model with sensorless vector control.
Note: With p1400 bit 15 = 0 or encoderless torque control, the pre-control signal is kept continuously in the range of the
voltage model.
Description: Displays the speed pre-control value after symmetrizing for the torque build-up (emulates the closed current control
loop).
Dependency: Symmetrizing can be parameterized with p1428 and/or p1429.
Description: Displays the velocity pre-control value after symmetrizing for the force build-up (emulates the closed current control
loop).
Dependency: Symmetrizing can be parameterized with p1428 and/or p1429.
p1430[0...n] CI: Velocity pre-control / v_prectrl
5020
- - 0
r1431 CO: Speed pre-control to motor model / n_pctrl mot_mod
- [rpm] - [rpm] - [rpm]
r1432 CO: Speed pre-control after symmetrizing / n_prectr after sym
- [rpm] - [rpm] - [rpm]
r1432 CO: Velocity pre-control after symmetrizing / n_prectr after sym
Parameters
List of parameters
Description: Sets the natural frequency of a PT2 element for the reference model of the speed controller.
Recommend.: The reference model is correctly set when the characteristics of p1439 (reference model output) and p1445 (actual
speed value) are virtually identical when the I component of the speed controller is disabled.
Dependency: Together with p1434 and p1435, the characteristics (in the time domain) of the closed-loop speed control (P) can be
emulated.
The reference model is activated with p1400.3 = 1. For sensorless vector control (p1300 = 20) the reference model
is disabled in open-loop speed controlled operation (refer to p1755).
Description: Sets the natural frequency of a PT2 element for the reference model of the velocity controller.
Recommend.: The reference model is correctly set when the characteristics of p1439 (reference model output) and p1445 (veloc-
ity actual value) are virtually identical when the I component of the velocity controller is disabled.
Dependency: Together with p1434 and p1435, the characteristics (in the time domain) of the closed-loop velocity control (P) can
be emulated.
Description: Sets the damping of a PT2 element for the reference model of the speed controller.
Dependency: In conjunction with p1433 and p1435, the characteristics (in time) of the P-controlled speed control loop can be
emulated.
The reference model is activated with p1400.3 = 1.
p1433[0...n] Speed controller reference model natural frequency / n_ctrl RefMod fn
SERVO, VECTOR
(n/M)
0.0 [Hz] 8000.0 [Hz] 0.0 [Hz]
p1433[0...n] Velocity controller reference model natural frequency / v_ctrl RefMod fn
0.0 [Hz] 8000.0 [Hz] 0.0 [Hz]
p1434[0...n] Speed controller reference model damping / n_ctrl RefMod D
SERVO, VECTOR
(n/M)
0.000 5.000 1.000
List of parameters
Parameters
Description: Sets the damping of a PT2 element for the reference model of the velocity controller.
Dependency: Together with p1433 and p1435, the characteristics (in the time domain) of the P-controlled velocity control loop
can be emulated.
Description: Sets the "fractional" dead time for the reference model of the speed controller.
This parameter emulates the computing dead time of the proportionally controlled speed control loop.
emulated.
Refer to: p0115, p1433, p1434
Description: Sets the "fractional" dead time for the reference model of the velocity controller.
This parameter emulates the computing dead time of the proportionally controlled velocity control loop.
The selected multiplier refers to the velocity controller clock cycle (dead time= p1435 * p0115[1]).
Dependency: Together with p1433 and p1434, the characteristics (in the time domain) of the P-controlled velocity control loop
can be emulated.
Refer to: p0115, p1433, p1434
p1434[0...n] Velocity controller reference model damping / v_ctrl RefMod D
0.000 5.000 1.000
p1435[0...n] Speed controller reference model dead time / n_ctrRefMod t_dead
0.00 2.00 0.00
p1435[0...n] Velocity controller reference model dead time / v_ctrRefMod t_dead
0.00 2.00 0.00
Parameters
List of parameters
Description: Sets the "fractional" dead time for the reference model of the speed controller.
This parameter emulates the computing dead time of the proportionally controlled speed control loop.
emulated.
Refer to: p0115, p1433, p1434
Description: Displays the speed setpoint at the output of the reference model.
Dependency: For VECTOR (r0107) the following applies:
Description: Displays the velocity setpoint at the output of the reference model.
Dependency: For VECTOR (r0107) the following applies:
Description: Sets the signal source for speed setpoint for the integral component of the speed controller.
Dependency: The reference model is activated with p1400.3 = 1.
Refer to: p1400
0.00 3.00 0.00
r1436 CO: Speed controller reference model speed setpoint output / RefMod n_set outp
SERVO, VECTOR
(n/M)
- [rpm] - [rpm] - [rpm]
r1436 CO: Velocity controller, reference model velocity_setpoint output /
RefMod v_set outp
p1437[0...n] CI: Speed controller, reference model I component input / n_ctrRefMod I_comp
VECTOR (n/M) Can be changed: T Calculated: - Access level: 3
- - 1436[0]
List of parameters
Parameters
Caution: In should be ensured that a speed setpoint is selected as signal source that corresponds to the setpoint for the P
component of the speed controller.
Description: Displays the speed setpoint after setpoint limiting for the P component of the speed controller.
For U/f operation, the value that is displayed is of no relevance.
Note: In the standard state (the reference model is de-activated), r1438 = r1439.
Description: Displays the velocity setpoint after setpoint limiting for the P component of the velocity controller.
For U/f operation, the value that is displayed is of no relevance.
Description: Displays the speed setpoint for the I component of the speed controller (output of the reference model after the set-
point limiting).
Description: Displays the velocity setpoint for the I component of the velocity controller (output of the reference model after the
setpoint limiting).
r1438 CO: Speed controller, speed setpoint / n_ctrl n_set
SERVO, VECTOR
(n/M)
1700, 5030, 5040, 5042, 5210,
5300, 5620, 6031, 6040
- [rpm] - [rpm] - [rpm]
r1438 CO: Velocity controller, velocity setpoint / v_ctrl v_set
5030, 5040, 5042, 5210, 5300,
5620
r1439 Speed setpoint, I component / n_set I_comp
SERVO, VECTOR
(n/M)
6031
- [rpm] - [rpm] - [rpm]
r1439 Velocity setpoint, I component / v_set I_comp
6031
Parameters
List of parameters
Description: Sets the signal source for the speed actual value of the speed controller.
Caution: Speed control with encoder (p1300 = 21):
For the speed or position signal of the motor model there must always be a motor encoder available (evaluation via
SMC/SMI, see p0400). The actual speed of the motor (r0061) and the position data for synchronous motors con-
tinue to come from this motor encoder and are not affected by the setting of p1440.
Interconnection of p1440:
If connector input p1440 is interconnected with an external speed actual value, the identical scaling of the speed
should be observed (p2000).
Notice: Speed control without encoder (p1300 = 20):
Dependent upon the transmission path of the external speed signal there will be dead times which have to be taken
into account when setting the speed controller parameters (p1470, p1472) and can lead to dynamic losses accord-
ingly. It is for this reason that signal transmission times have to be kept as low as possible.
So that the speed controller can also work at standstill, set p1750.2 = 1 (closed-loop operation from zero speed for
passive loads). If you do not make this setting, operation will switch to open-loop speed control in the low speed
range, switching the closed-loop speed controller off and rendering the measured actual speed ineffective.
Note: Speed control with encoder (p1300 = 21):
An external speed signal should, on the average, correspond to the speed of the motor encoder (r0061).
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Note: The speed actual value should be smoothed for encoders with a low pulse number or for resolvers.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed con-
troller settings checked Kp (p1460) and Tn (p1462).
Description: Sets the smoothing time constant (PT1) for the velocity actual value.
After this parameter has been changed, we recommend that the velocity controller is adapted and/or the velocity
controller settings checked Kp (p1460) and Tn (p1462).
p1440[0...n] CI: Speed controller speed actual value / n_ctrl n_act
- - 63[0]
p1441[0...n] Actual speed smoothing time / n_act T_smooth
0.00 [ms] 50.00 [ms] 0.00 [ms]
p1441[0...n] Actual velocity smoothing time / v_act T_smooth
SERVO (Lin) Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
0.00 [ms] 50.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Notice: Smoothing times above 20 ms are only possible if the drive is accelerated or braked with the appropriately long
ramp-up/ramp-down times. Otherwise, significant torque errors can occur and there is the danger that the drive is
powered down (tripped) with F07902 (motor stalled).
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed con-
troller settings checked Kp (p1460) and Tn (p1462).
Description: Sets the smoothing time for the actual speed value of the speed controller for closed-loop control with encoder.
Note: The smoothing must be increased if there is gear backlash. For longer smoothing times, the integral time of the
speed controller must also be increased (e.g. using p0340 = 4).
Description: Displays the speed actual value at the speed controller's free-wiring actual value input p1440.
Note: This speed signal is only used by the speed controller and not by the motor model.
Description: Displays the sum of all speed setpoints that are present.
The following sources are available for the displayed setpoint:
- setpoint at the ramp-function generator input (r1119).
- speed setpoint 1 (p1155).
- speed setpoint 2 (p1160).
- speed setpoint for the speed pre-control (p1430).
0.00 [ms] 1000.00 [ms] 0.00 [ms]
p1442[0...n] Speed controller speed actual value smoothing time / n_ctr n_act T_smth
0.00 [ms] 32000.00 [ms] 4.00 [ms]
r1443 CO: Speed controller speed actual value at actual value input / n_ctrl n_act inp
- [rpm] - [rpm] - [rpm]
r1444 Speed controller, speed setpoint steady-state (static) / n_ctrl n_set stat
SERVO, VECTOR
(n/M)
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
- setpoint from DSC (for DSC active).
- setpoint via PC (for master control active).
Dependency: Refer to: r1119, p1155, p1160, p1430
Description: Displays the sum of all velocity setpoints that are present.
The following sources are available for the displayed setpoint:
- setpoint at the ramp-function generator input (r1119).
- velocity setpoint 1 (p1155).
- velocity setpoint 2 (p1160).
- velocity setpoint for the velocity pre-control (p1430).
- setpoint from DSC (for DSC active).
- setpoint via PC (for master control active).
Dependency: Refer to: r1119, p1155, p1160, p1430
Description: Displays the actual smoothed actual speed for speed control.
Description: Displays the actual smoothed velocity actual value for velocity control.
Description: Displays the actual smoothed actual speed for speed control.
r1444 Velocity controller, velocity setpoint, total / v_ctrl v_set stat
- [rpm] - [rpm] - [rpm]
- [rpm] - [rpm] - [rpm]
List of parameters
Parameters
Description: Sets the type for the general speed actual value filter.
Dependency: PT2 low pass: p1447, p1448
Description: Sets the type for the general velocity actual value filter.
Dependency: PT2 low pass: p1447, p1448
Description: Sets the denominator natural frequency for the speed actual value filter (PT2, general filter).
Note: The filter is only effective if the natural frequency is less than half of the sampling frequency.
Description: Sets the denominator natural frequency for the velocity actual value filter (PT2, general filter).
p1446[0...n] Speed actual value filter type / n_act_filt type
1 2 2
p1446[0...n] Velocity actual value filter type / v_act_filt type
1 2 2
p1447[0...n] Speed actual value filter denominator natural frequency / n_act_filt fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1447[0...n] Velocity actual value filter denominator natural frequency / v_act_filt fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
Parameters
List of parameters
Description: Sets the denominator damping for the speed actual value filter (PT2, general filter).
Description: Sets the denominator damping for the velocity actual value filter (PT2, general filter).
Description: Sets the numerator natural frequency for the speed actual value filter (general filter).
Description: Sets the numerator natural frequency for the velocity actual value filter (general filter).
Description: Sets the numerator damping for the speed actual value filter (general filter).
p1448[0...n] Speed actual value filter denominator damping / n_act_filt D_d
0.001 10.000 0.700
p1448[0...n] Velocity actual value filter denominator damping / v_act_filt D_d
0.001 10.000 0.700
p1449[0...n] Speed actual value filter numerator natural frequency / n_act_filt fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1449[0...n] Velocity actual value filter numerator natural frequency / v_act_filt fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1450[0...n] Speed actual value filter numerator damping / n_act_filt D_n
0.000 10.000 0.700
List of parameters
Parameters
Description: Sets the numerator damping for the velocity actual value filter (general filter).
Note: This parameter is only effective if the velocity actual value filter is set as a general filter.
Description: Sets the smoothing time for the calculated speed actual value in sensorless operation.
Description: Sets the smoothing time for the calculated velocity actual value in sensorless operation.
Description: Sets the smoothing time for the speed actual value calculated by the motor model in sensorless operation.
Description: Sets the smoothing time for the actual speed of the speed controller for encoderless closed-loop speed control.
p1450[0...n] Velocity actual value filter numerator damping / v_act_filt D_n
0.000 10.000 0.700
p1451[0...n] Speed actual value smoothing time sensorless / n_act t_sm SL
0 [ms] 100 [ms] 0 [ms]
p1451[0...n] Velocity actual value smoothing time sensorless / v_act t_sm SL
0 [ms] 100 [ms] 0 [ms]
p1451[0...n] Motor model speed actual value smoothing time SLVC / Mot_mod n_act t_sm
0 [ms] 100 [ms] 4 [ms]
p1452[0...n] Speed controller speed actual value smoothing time (SLVC) / n_C n_act T_s SLVC
0.00 [ms] 32000.00 [ms] 10.00 [ms]
Parameters
List of parameters
Note: The smoothing must be increased if there is gear backlash. For longer smoothing times, the integral time of the
speed controller must also be increased (e.g. using p0340 = 4).
Description: Displays the system deviation of the I component of the speed controller.
When the reference model is inactive (p1433 = 0 Hz), this parameter corresponds to the system deviation of the
complete PI controller (r1454 = r0064).
Description: Displays the system deviation of the I component of the velocity controller.
Description: Displays the system deviation of the I component of the speed controller.
Description: Sets the source for the adaptation signal to additionally adapt the P gain of the speed controller.
r1454 CO: Speed controller system deviation I component / n_ctrl sys dev Tn
- [rpm] - [rpm] - [rpm]
r1454 CO: Velocity controller system deviation I component / v_ctrl sys dev Tn
r1454 CO: Speed controller system deviation I component / n_ctrl sys dev Tn
- [rpm] - [rpm] - [rpm]
p1455[0...n] CI: Speed controller P gain adaptation signal / n_ctrl Adpt_sig Kp
- - 0
List of parameters
Parameters
Description: Sets the source for the adaptation signal to additionally adapt the P gain of the velocity controller.
Description: Sets the source for the adaptation signal to additionally adapt the P gain of the speed controller.
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
The values are in % and refer to the set source of the adaptation signal.
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the velocity con-
troller.
p1455[0...n] CI: Velocity controller, P gain adaptation signal / v_ctrl Adpt_sig Kp
- - 0
- - 0
p1456[0...n] Speed controller P gain adaptation lower starting point / n_ctrl AdaptKpLow
0.00 [%] 400.00 [%] 0.00 [%]
p1456[0...n] Velocity controller P gain adaptation, lower starting point / v_ctrl AdaptKpLow
0.00 [%] 400.00 [%] 0.00 [%]
Parameters
List of parameters
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
Note: If the upper transition point p1457 of the speed controller adaptation is set to lower values than the lower transition
p1456, then the controller gain below p1457 is adapted with p1459 and above p1456, with p1458.
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the velocity con-
troller.
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
0.00 [%] 400.00 [%] 0.00 [%]
p1457[0...n] Speed controller P gain adaptation upper starting point / n_ctrl AdaptKp up
0.00 [%] 400.00 [%] 0.00 [%]
p1457[0...n] Velocity controller P gain adaptation upper starting point / v_ctrl AdaptKp up
0.00 [%] 400.00 [%] 0.00 [%]
0.00 [%] 400.00 [%] 0.00 [%]
List of parameters
Parameters
Description: Sets the adaptation factor before the adaptation range (0 % ... p1456) to additionally adapt the P gain of the
speed/velocity controller.
Description: Sets the adaptation factor before the adaptation range (0 % ... p1456) to additionally adapt the P gain of the
speed/velocity controller.
Description: Sets the adaptation factor after the adaptation range (> p1457) to additionally adapt the P gain of the speed/velocity
controller.
Description: Sets the adaptation factor after the adaptation range (> p1457) to additionally adapt the P gain of the speed/velocity
controller.
p1458[0...n] Adaptation factor, lower / Adapt_factor lower
0.0 [%] 200000.0 [%] 100.0 [%]
0.0 [%] 200000.0 [%] 100.0 [%]
p1459[0...n] Adaptation factor, upper / Adapt_factor upper
0.0 [%] 200000.0 [%] 100.0 [%]
0.0 [%] 200000.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Sets the P gain of the speed controller before the adaptation speed range (0 ... p1464). This value corresponds to
the basic setting of the P gain of the speed controller without adaptation (p1461 = 100 %).
Note: When automatically calculating the speed controller, only the motor moment of inertia is taken into account (p0341).
For higher load moments of inertia (p0342 > 1 or p1498 > 0), you are advised to check the speed controller gain.
Description: Sets the P gain of the velocity controller before the adaptation velocity range (0 ... p1464). This value corresponds
to the basic setting of the P gain of the velocity controller without adaptation (p1461 = 100 %).
Note: When automatically calculating the velocity controller, only the motor inertia is taken into account (p0341). For
higher inertias (p0342 > 1 or p1498 > 0), you are advised to check the velocity controller gain.
Description: Sets the P gain of the speed controller before the adaptation speed range (0 ... p1464). This value corresponds to
the basic setting of the P gain of the speed controller without adaptation (p1461 = 100 %).
Dependency: For p0528 = 1, the speed controller gain is represented without any dimensions.
Refer to: p1461, p1464, p1465
Description: Sets the P gain of the speed controller for the upper adaptation speed range (> p1465). The entry is made referred
to the P gain for the lower adaptation speed range of the speed controller (% referred to p1460).
p1460[0...n] Speed controller P gain adaptation speed, lower / n_ctrl Kp n lower
0.000 [Nms/rad] 999999.000 [Nms/rad] 0.300 [Nms/rad]
p1460[0...n] Velocity controller, P gain adaptation velocity, lower / v_ctrl Kp n lower
0.000 [Ns/m] 999999.000 [Ns/m] 10.000 [Ns/m]
0.000 999999.000 0.300
p1461[0...n] Speed controller Kp adaptation speed, upper scaling / n_ctrl Kp n upper
0.0 [%] 200000.0 [%] 100.0 [%]
List of parameters
Parameters
Description: Sets the P gain of the velocity controller for the upper adaptation velocity range (> p1465). The entry is made
referred to the P gain for the lower adaptation velocity range of the velocity controller (% referred to p1460).
Description: Sets the P gain of the speed controller for the upper adaptation speed range (> p1465). The entry is made referred
to the P gain for the lower adaptation speed range of the speed controller (% referred to p1460).
p1464, then the controller gain below p1465 is adapted with p1461. This means that an adaptation can be imple-
mented for low speeds without having to change the controller parameters.
Description: Sets the integration time of the speed controller before the adaptation speed range (0 ... p1464).
This value corresponds to the basic setting of the integral time of the speed controller without adaptation (p1461 =
100 %).
Description: Sets the integration time of the velocity controller before the adaptation velocity range (0 ... p1464).
This value corresponds to the basic setting of the integral time of the velocity controller without adaptation (p1461 =
100 %).
p1461[0...n] Velocity controller, P gain adaptation velocity, upper / v_ctrl Kp n upper
0.0 [%] 200000.0 [%] 100.0 [%]
0.0 [%] 200000.0 [%] 100.0 [%]
p1462[0...n] Speed controller integral time adaptation speed lower / n_ctrl Tn n lower
5042, 6040
0.00 [ms] 100000.00 [ms] 20.00 [ms]
p1462[0...n] Velocity contr. integral act. time adaptation velocity lower / v_ctrl Tn n lower
0.00 [ms] 100000.00 [ms] 20.00 [ms]
Parameters
List of parameters
Description: Sets the integration time of the speed controller before the adaptation speed range (0 ... p1464).
This value corresponds to the basic setting of the integral time of the speed controller without adaptation (p1461 =
100 %).
Note: The integral component is stopped if the complete controller output or the sum of controller output and torque pre-
control reach the torque limit.
Description: Sets the integral time of the speed controller after the adaptation speed range (> p1465). The entry is made referred
to the integral time for the lower adaptation speed range of the speed controller (% referred to p1462).
Description: Sets the integral time of the velocity controller after the adaptation velocity range (> p1465). The entry is made
referred to the integral time for the lower adaptation velocity range of the velocity controller (% referred to p1462).
Description: Sets the integral time of the speed controller after the adaptation speed range (> p1465). The entry is made referred
to the integral time for the lower adaptation speed range of the speed controller (% referred to p1462).
point p1464, then the controller integral time below p1465 is adapted with p1463. This means that an adaptation
can be implemented for low speeds without having to change the controller parameters.
5042, 6040
0.00 [ms] 100000.00 [ms] 20.00 [ms]
p1463[0...n] Speed controller Tn adaptation speed, upper scaling / n_ctrl Tn n upper
0.0 [%] 200000.0 [%] 100.0 [%]
p1463[0...n] Velocity contr. integral act. time adaptation velocity upper / v_ctrl Tn n upper
0.0 [%] 200000.0 [%] 100.0 [%]
0.0 [%] 200000.0 [%] 100.0 [%]
List of parameters
Parameters
Description: Sets the lower adaptation speed of the speed controller.
No adaptation is effective below this speed.
Description: Sets the lower adaptation velocity of the velocity controller.
No adaptation is effective below this velocity.
Description: Sets the lower adaptation speed of the speed controller.
No adaptation is effective below this speed.
point p1464, then the controller below p1465 is adapted with p1461 or p1463. This means that an adaptation can
be implemented for low speeds without having to change the controller parameters.
Description: Sets the upper adaptation speed of the speed controller.
No adaptation is effective above this speed.
For P gain, p1460 x p1461 is effective. For the integral time, p1462 x p1463 is effective.
p1464[0...n] Speed controller adaptation speed, lower / n_ctrl n lower
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
p1464[0...n] Velocity controller adaptation velocity, lower / v_ctrl n lower
0.00 [m/min] 1000.00 [m/min] 0.00 [m/min]
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
p1465[0...n] Speed controller adaptation speed, upper / n_ctrl n upper
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Parameters
List of parameters
Description: Sets the upper adaptation velocity of the velocity controller.
No adaptation is effective above this velocity.
Description: Sets the upper adaptation speed of the speed controller.
No adaptation is effective above this speed.
point p1464, then the controller below p1465 is adapted with p1461 or p1463. This means that an adaptation can
be implemented for low speeds without having to change the controller parameters.
Description: Sets the signal source for the scaling of the P gain of the speed controller. This also makes the effective P gain
(including adaptations) scalable.
Description: Sets the signal source for the scaling of the P gain of the velocity controller. This also makes the effective P gain
p1465[0...n] Velocity controller adaptation velocity, upper / v_ctrl n upper
0.00 [m/min] 1000.00 [m/min] 1000.00 [m/min]
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
p1466[0...n] CI: Speed controller P-gain scaling / n_ctrl Kp scal
- - 1
p1466[0...n] CI: Velocity controller P gain scaling / v_ctrl Kp scal
- - 1
List of parameters
Parameters
Description: Sets the signal source for the scaling of the P gain of the speed controller. This also makes the effective P gain
Description: Displays the effective P gain of the speed controller.
Description: Displays the effective P gain of the velocity controller.
Description: Displays the effective P gain of the speed controller.
Dependency: For p0528 = 1, the speed controller gain is represented without any dimensions. In this case, connector output sig-
nal r1468 is increased by a factor of 100 in order to improve the resolution.
Description: Displays the effective integral time of the speed controller.
- - 1
r1468 Speed controller P-gain effective / n_ctr Kp eff
5210
- [Nms/rad] - [Nms/rad] - [Nms/rad]
r1468 Velocity controller P gain effective / v_ctrl Kp eff
5210
- [Ns/m] - [Ns/m] - [Ns/m]
r1468 CO: Speed controller P-gain effective / n_ctr Kp eff
- - -
r1469 Speed controller integral time effective / n_ctr Tn eff
SERVO, VECTOR
(n/M)
6040
- [ms] - [ms] - [ms]
Parameters
List of parameters
Description: Displays the effective integral time of the velocity controller.
Description: Sets the P gain for encoderless operation for the speed controller.
Description: Sets the P gain for encoderless operation for the velocity controller.
Description: Sets the P gain for encoderless operation for the speed controller.
Dependency: For p0528 = 1, the speed controller gain is represented without any dimensions.
Note: The product p0341 x p0342 is taken into account when automatically calculating the speed controller (p0340 = 1, 3,
4).
Description: Set the integral time for encoderless operation for the speed controller.
r1469 Velocity controller integral time effective / v_ctrl Tn eff
- [ms] - [ms] - [ms]
p1470[0...n] Speed controller encoderless operation P-gain / n_ctrl SLVC Kp
p1470[0...n] Velocity controller encoderless operation P-gain / v_ctrl SLVC Kp
0.000 [Ns/m] 999999.000 [Ns/m] 10.000 [Ns/m]
0.000 999999.000 0.300
p1472[0...n] Speed controller encoderless operation integral time / n_ctrl SLVC Tn
0.0 [ms] 100000.0 [ms] 20.0 [ms]
List of parameters
Parameters
Description: Set the integral time for encoderless operation for the velocity controller.
Description: Set the integral time for encoderless operation for the speed controller.
Note: The integral component is stopped if the complete controller output or the sum of controller output and torque pre-
control reach the torque limit.
Description: Sets the signal source for the torque setting value when starting up with motor holding brake.
Recommend.: To hold the actual torque when stopping the motor, you are advised to set p1400 bit 1 = 1. As a result, the integral
component of the speed controller is frozen when changing to the open-loop controlled operating range.
Dependency: The switching in of the torque setting value for the motor holding brake has a higher priority than the setting of the
integrator value using p1477 and p1478.
Note: The setting of the integral output of the speed controller begins after magnetizing (see p0346, r0056 bit 4) and ends
at the end of the brake control opening time p1216. A setting value of zero means that no setting procedure will take
place.
Description: Sets the signal source to hold the integrator for the speed controller.
p1472[0...n] Velocity controller encoderless operation integral time / v_ctrl SLVC Tn
0.0 [ms] 100000.0 [ms] 20.0 [ms]
0.0 [ms] 100000.0 [ms] 20.0 [ms]
p1475[0...n] CI: Speed controller torque setting value for motor holding brake / n_ctrl M_sv MHB
- - 0
p1476[0...n] BI: Speed controller hold integrator / n_ctrl integ stop
SERVO, VECTOR
(n/M)
5042, 5210, 6040
- - 0
Parameters
List of parameters
Description: Sets the signal source to hold the integrator for the velocity controller.
Description: Sets the signal source to set the integrator setting value (p1478).
Note: For the interface mode "SIMODRIVE 611 universal" (p2038 = 1), p1477 and p1478 are used for the signal STW2.6
(integrator inhibit, speed controller).
Description: Sets the signal source to set the integrator setting value (p1478).
Description: Sets the signal source for the integrator setting value for the velocity controller.
The signal to set this integrator setting value is interconnected via p1477.
p1476[0...n] BI: Velocity controller hold integrator / v_ctrl integ stop
5042, 5210
- - 0
p1477[0...n] BI: Speed controller set integrator value / n_ctrl integ set
SERVO, VECTOR
(n/M)
5042, 5210, 6040
- - 0
p1477[0...n] BI: Velocity controller set integrator value / v_ctrl integ set
5042, 5210
- - 0
p1478[0...n] CI: Speed controller integrator setting value / n_ctr integ_setVal
5210
- - 0
List of parameters
Parameters
Dependency: The setting value of the speed controller integrator is weighted with the scaling factor of the signal source in p1479.
If p1478 is interconnected to the integral output of the speed controller (r1482), then after the magnetizing time
(r0346) and if the speed controller is enabled, the integral component of the controller is set to the last value before
the pulse inhibit. This value is set if no setting command (p1477) is interconnected or, at the instant that the pulses
were inhibited, a setting command is available, which is not de-activated up to the next time that the pulses are
inhibited. For sensorless vector control, in addition p1400.1 should be set to 1 so that when the drive is stopped, the
integral component of the speed controller is not controlled down to zero.
In order that when setting the integrator output, only the static torque is detected, we recommend that the accelerat-
ing torque is completely pre-controlled (e.g. p1496).
If p1478 is interconnected to another output other than r1482, then after magnetizing and speed controller enable,
the integral output is set once if the setting command is not interconnected (p1477 = 0).
Description: Sets the signal source for scaling the integrator setting value (p1478) of the speed controller.
p1478[0...n] CI: Velocity controller integrator value / v_ctr integ_setVal
5210
- - 0
- - 0
p1479[0...n] CI: Speed controller integrator setting value scaling / n_ctrl I_val scal
- - 1
Parameters
List of parameters
Description: Displays the torque setpoint at the output of the PI speed controller.
Description: Displays the force setpoint at the output of the PI velocity controller.
Description: Displays the torque setpoint at the output of the P speed controller.
Description: Displays the force setpoint at the output of the P velocity controller.
Description: Displays the torque setpoint at the output of the I speed controller.
r1480 CO: Speed controller PI torque output / n_ctrl PI-M_output
SERVO, VECTOR
(n/M)
5042, 5060, 5210, 6060
- [Nm] - [Nm] - [Nm]
r1480 CO: Velocity controller PI force output / v_ctrl PI-F_output
5042, 5060, 5210
- [N] - [N] - [N]
r1481 CO: Speed controller P torque output / n_ctrl P-M_output
SERVO, VECTOR
(n/M)
5210, 6040
- [Nm] - [Nm] - [Nm]
r1481 CO: Velocity controller P force output / v_ctrl P-F_output
5210
- [N] - [N] - [N]
r1482 CO: Speed controller I torque output / n_ctrl I-M_output
SERVO, VECTOR
(n/M)
5210, 6030, 6040
- [Nm] - [Nm] - [Nm]
List of parameters
Parameters
Description: Displays the force setpoint at the output of the I velocity controller.
Description: Sets the signal source for the compensation torque to be output within the droop calculation.
Description: Sets the scaling for the compensation torque within the droop calculation.
Description: Sets the source for droop feedback.
Value: 0: Droop feedback not connected
1: Droop from torque setpoint
2: Droop from speed controller output
3: Droop from integral output, speed controller
Description: Sets the scaling for the droop feedback
r1482 CO: Velocity controller I force output / v_ctrl I-F_output
5210
- [N] - [N] - [N]
p1486[0...n] CI: Droop compensation torque / Droop M_comp
- - 0
p1487[0...n] Droop compensation torque scaling / Droop M_comp scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
p1488[0...n] Droop input source / Droop input source
0 3 0
p1489[0...n] Droop feedback scaling / Droop scaling
0.000 0.500 0.050
Parameters
List of parameters
Note: Example:
A value of 0.05 means that for a torque equal to the rated motor torque, the rated motor speed is reduced by 5 %.
Description: Displays the output signal of the droop calculation. The droop feedback result is subtracted from the speed setpoint
when activated (p1492).
Description: Enables the droop to be applied to the speed/velocity setpoint.
Note: Even when not enabled, the droop speed is calculated but not subtracted from the setpoint speed. This makes it
possible to subtract the result of this calculation from the speed of another drive.
Description: Displays the parameterized total moment of inertia ((p0341 * p0342) + p1498) without evaluation by the scaling via
p1497.
Note: The parameterized total moment of inertia, taking into account p1497, influences the torque pre-control.
In encoderless operation or when the torque-speed pre-control with encoder (p1402.4 = 1) is activated, then torque-
speed pre-control is activated.
Description: Displays the parameterized total weight ((p0341 * p0342) + p1498) without evaluation by the scaling via p1497.
Note: The parameterized total weight, taking into account p1497, influences the force-velocity pre-control in encoderless
operation or when activated, force-velocity pre-control with encoder (p1402.4).
r1490 CO: Droop feedback speed reduction / Droop n_reduction
- [rpm] - [rpm] - [rpm]
p1492[0...n] BI: Droop feedback enable / Droop enable
- - 0
r1493 CO: Moment of inertia, total / M_inertia total
- [kgm] - [kgm] - [kgm]
r1493 CO: Load mass / Load mass
- [kg] - [kg] - [kg]
List of parameters
Parameters
Description: Displays the parameterized total moment of inertia ((p0341 * p0342) + p1496) without evaluation by the scaling via
p1497.
Description: Sets the time constant of the PT1 filter for integrator feedback.
The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (1st
Order low pass filter characteristics).
The following applies:
p1494 < 0.25 (2 x p0115[1]) --> the PT1 filter is not active - the pure integrator is effective.
p1494 >= 0.25 (2 x p0115[1]) --> the PT1 filter is active and has replaced the pure integrator.
Note: Applications:
Motion at zero setpoint and dominant stiction can be suppressed but this has a negative impact on the remaining
setpoint-actual value difference. This can be used, for example, to avoid oscillation of a position-controlled axis at
standstill (stick-slip effect) or overshoot when traversing (moving) in micrometer steps.
Also prevents tension/stressing for axes that are mechanically and rigidly coupled with one another (e.g. for syn-
chronous spindles, master - slave axes).
Description: Sets the time constant of the PT1 filter for integrator feedback.
The integrator of the velocity controller is re-parameterized to become a PT1 filter through a feedback element (1st
Order low pass filter characteristics).
The following applies:
p1494 < 0.25 (2 x p0115[1]) --> the PT1 filter is not active - the pure integrator is effective.
p1494 >= 0.25 (2 x p0115[1]) --> the PT1 filter is active and has replaced the pure integrator.
Note: Applications:
Motion at zero setpoint and dominant stiction can be suppressed but this has a negative impact on the remaining
setpoint-actual value difference. This can be used, for example, to avoid oscillation of a position-controlled axis at
standstill (stick-slip effect) or overshoot when traversing (moving) in micrometer steps.
Also prevents tension/stressing for axes that are mechanically and rigidly coupled with one another (e.g. for syn-
chronous spindles, master - slave axes).
r1493 CO: Moment of inertia, total / M_inertia total
- [kgm] - [kgm] - [kgm]
p1494[0...n] Speed controller integrator feedback time constant / n_ctr integ_fdbk T
5210
0.00 [ms] 1000.00 [ms] 0.00 [ms]
p1494[0...n] Velocity controller integrator feedback time constant / v_ctr integ_fdbk T
5210
0.00 [ms] 1000.00 [ms] 0.00 [ms]
Parameters
List of parameters
Description: Sets the signal source for the acceleration pre-control.
Dependency: The signal source for the acceleration is activated with p1400.2 = 1.
For p1400.2 = 0, the acceleration pre-control is calculated from the speed setpoint change from r0062.
For p1400.2 = 0 and activate reference model (p1400.3 = 1) the acceleration pre-control is switched out.
Note: If the acceleration is entered as external signal, then the accelerating torque is calculated as follows (r1518):
r1518 = acceleration (% of p2007) / 100 % * (p2007 * 60 s) / p0311 * r0345 / 1 s * r0333
Description: Sets the scaling for the acceleration pre-control of the speed/velocity controller.
Dependency: When the reference model is activated (p1400.3 = 1) and for an internal acceleration pre-control (p1400.2 = 0), the
acceleration pre-control is switched out (disabled). The reference model (p1400.3 = 1) and external acceleration
pre-control (p1400.2 = 1) can be operated together.
Note: The parameter is set to 100% by the rotating measurement (refer to p1960).
The acceleration pre-control may not be used if the speed setpoint manifests significant ripple (e.g. analog setpoint)
and the rounding-off in the speed ramp-function generator is disabled.
We also recommend that the pre-control mode is not used if there is gearbox backlash.
Description: Sets the signal source for scaling the moment of inertia.
Notice: This parameter has no effect when the "moment of inertia estimator" function is active (r0108.10 = 1, p1400.18 = 1).
Description: Sets the signal source for scaling the motor weight.
Notice: This parameter has no effect when the "moment of inertia estimator" function is active (r0108.10 = 1, p1400.18 = 1).
p1495[0...n] CI: Acceleration pre-control / a_prectrl
- - 0
p1496[0...n] Acceleration pre-control scaling / a_before scaling
0.0 [%] 10000.0 [%] 0.0 [%]
p1497[0...n] CI: Moment of inertia, scaling / M_mom inert scal
6030, 6031
- - 1
p1497[0...n] CI: Motor weight scaling / Motor weight scal
- - 1
List of parameters
Parameters
Description: Sets the signal source for scaling the moment of inertia.
Description: Sets the load moment of inertia.
Note: (p0341 * p0342) + p1498 influence the speed/torque pre-control in encoderless operation.
Description: Sets the load mass.
Note: (p0341 * p0342) + p1498 influence the velocity/force pre-control in encoderless operation.
Description: Sets the scaling for the acceleration integrator at low speeds (only for encoderless torque control).
The Connector Inputs (CI) for the torque setpoints of the appropriate Command Data Set (CDS) are appropriately
interconnected.
6030, 6031
- - 1
p1498[0...n] Load moment of inertia / Load mom of inert
0.00000 [kgm] 100000.00000 [kgm] 0.00000 [kgm]
p1498[0...n] Load mass / Load mass
0.00000 [kg] 10000.00000 [kg] 0.00000 [kg]
p1499[0...n] Accelerating for torque control, scaling / a for M_ctrl scal
0.0 [%] 400.0 [%] 100.0 [%]
p1500[0...n] Macro Connector Inputs (CI) for torque setpoints / Macro CI M_set
0 999999 0
Parameters
List of parameters
Example:
group!
software.
CI: Connector Input
The connector inputs (CI) for the force setpoints of the appropriate command data set (CDS) are appropriately
interconnected.
Example:
group!
software.
CI: Connector Input
Description: Sets the signal source for toggling between speed and torque control.
Dependency: The input connectors to enter the torque are provided using p1511, p1512 and p1513.
Refer to: p1300
Caution: If the closed-loop torque control is not activated (p1300) and a change is made to closed-loop torque control
(p1501), OFF1 (p0840) does not have its own braking response but pulse suppression when standstill is detected
(p1226, p1227).
Note: 0 signal: Closed-loop speed control
1 signal: Closed-loop torque control
p1500[0...n] Macro Connector Inputs (CI) for force setpoints / Macro CI F_set
0 999999 0
p1501[0...n] BI: Change over between closed-loop speed/torque control / Changeov n/M_ctrl
SERVO, VECTOR
(n/M)
5060, 6060
- - 0
List of parameters
Parameters
Description: Sets the signal source for toggling between velocity and force control.
Dependency: The input connectors to enter the force are provided using p1511, p1512 and p1513.
Refer to: p1300
Caution: If the closed-loop force control is not activated (p1300) and a change is made to closed-loop force control (p1501),
OFF1 (p0840) does not have its own braking response but pulse suppression when standstill is detected (p1226,
p1227).
Note: 0 signal: Velocity control
1 signal: Force control
Description: Sets the signal source to freeze the estimated moment of inertia.
0 signal:
Moment of inertia estimator active
1 signal:
Determined moment of inertia frozen.
Note: Only active when the "moment of inertia estimator" function module is active (r0108.10 = 1) and p1400.18 =1.
Description: Sets the signal source for the torque setpoint for torque control.
Note: A change is made to closed-loop torque control if, in p1300, closed-loop torque control was selected or if the selec-
tion was made using the changeover source in p1501.
it is also possible to change over in operation using p1501.
p1501[0...n] BI: Change over velocity/force control / Changeov n/F_ctrl
- - 0
p1502[0...n] BI: Freeze moment of inertia estimator / J_estim freeze
- - 0
p1503[0...n] CI: Torque setpoint / M_set
- - 0
Parameters
List of parameters
Description: Displays the torque setpoint before entering the supplementary torque.
For closed-loop speed control, r1508 corresponds to the speed controller output; for closed-loop torque control,
r1508 corresponds to the torque setpoint of the signal source assigned in p1503.
Description: Displays the total torque setpoint before the torque limiting (total of the controller output, supplementary torque and
if required, the pre-control torque, encoderless operation).
Description: Displays the total torque setpoint before the force limiting (total of the controller output, supplementary force and if
required, the pre-control force, encoderless operation).
Description: Sets the signal source for supplementary torque 1.
Description: Sets the signal source for supplementary force 1.
r1508 CO: Torque setpoint before supplementary torque / M_set bef. M_suppl
6722
- [Nm] - [Nm] - [Nm]
r1509 CO: Torque setpoint before torque limiting / M_set before M_lim
5610
- [Nm] - [Nm] - [Nm]
r1509 CO: Force setpoint before force limiting / F_set before F_lim
5610
- [N] - [N] - [N]
p1511[0...n] CI: Supplementary torque 1 / M_suppl 1
SERVO, VECTOR
(n/M)
- - 0
p1511[0...n] CI: Supplementary force 1 / F_suppl 1
- - 0
List of parameters
Parameters
Description: Sets the signal source for scaling the supplementary torque 1.
Description: Sets the signal source for scaling the supplementary force 1.
Description: Sets the scaling for supplementary torque 2.
p1512[0...n] CI: Supplementary torque 1 scaling / M_suppl 1 scal
SERVO, VECTOR
(n/M)
- - 0
p1512[0...n] CI: Supplementary force 1 scaling / F_suppl 1 scal
- - 0
SERVO, VECTOR
(n/M)
- - 0
- - 0
p1514[0...n] Supplementary torque 2 scaling / M_suppl 2 scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Displays the total supplementary torque.
The displayed value is the total of supplementary torque values 1 and 2 (p1511, p1512, p1513, p1514).
Description: Displays the total supplementary force.
The displayed value is the total of supplementary forces 1 and 2 (p1511, p1512, p1513, p1514).
Description: Displays the total supplementary torque and the accelerating torque.
The displayed value is the total of the smoothed supplementary torque and the accelerating torque (p1516 =
p1518[1] + r1515).
Description: Sets the smoothing time constant of the accelerating torque.
Note: For servo drives, the parameter is only effective in encoderless operation.
For vector drives, the acceleration pre-control is inhibited if the smoothing is set to the maximum value.
Description: Sets the smoothing time constant of the accelerating force.
Note: For servo drives, the parameter is only effective in encoderless operation.
r1515 Supplementary torque total / M_suppl total
SERVO, VECTOR
(n/M)
- [Nm] - [Nm] - [Nm]
r1515 Supplementary force total / F_suppl total
- [N] - [N] - [N]
r1516 CO: Supplementary torque and acceleration torque / M_suppl + M_accel
- [Nm] - [Nm] - [Nm]
p1517[0...n] Accelerating torque smoothing time constant / M_accel T_smooth
SERVO, VECTOR
(n/M)
6060
0.00 [ms] 100.00 [ms] 4.00 [ms]
p1517[0...n] Acceleration force smoothing time constant / F_accel T_smooth
0.00 [ms] 100.00 [ms] 4.00 [ms]
List of parameters
Parameters
Description: Displays the accelerating torque to pre-control the speed controller for torque-speed pre-control (p1402.4 = 1) or in
encoderless operation.
[1] = Smoothed
Description: Displays the accelerating torque to pre-control the velocity controller for force- velocity pre-control (p1402.4 = 1 or in
encoderless operation).
[1] = Smoothed
Description: Displays the accelerating torque for pre-control of the speed controller.
[1] = Smoothed
Description: Sets the fixed upper torque limit or the torque limit when motoring.
Dependency: p1400.4 = 0: upper/lower
p1400.4 = 1: motoring / regenerating
Refer to: p0500, p1521, p1522, p1523, p1532, r1538, r1539
r1518[0...1] CO: Accelerating torque / M_accel
- [Nm] - [Nm] - [Nm]
r1518[0...1] CO: Accelerating force / F_accel
- [N] - [N] - [N]
r1518[0...1] CO: Accelerating torque / M_accel
- [Nm] - [Nm] - [Nm]
p1520[0...n] CO: Torque limit upper/motoring / M_max upper/mot
SERVO Can be changed: U, T Calculated:
CALC_MOD_LIM_REF
Access level: 2
-1000000.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Description: Sets the fixed upper or force limit when motoring.
Refer to: p0500, p1521, p1522, p1523, p1532, r1538, r1539
Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Description: Sets the fixed, upper torque limit.
Dependency: Refer to: p1521, p1522, p1523, r1538, r1539
Danger: Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Note: The torque limit is limited to 400% of the rated motor torque. When automatically calculating the motor/closed-loop
control parameters (p0340), the torque limit is set to match the current limit (p0640).
Description: Sets the fixed lower torque limit or the torque limit when regenerating.
Refer to: p0500, p1520, p1522, p1523, p1532
p1520[0...n] CO: Force limit upper/motoring / F_max upper/mot
SERVO (Lin) Can be changed: U, T Calculated:
CALC_MOD_LIM_REF
Access level: 2
-1000000.00 [N] 20000000.00 [N] 0.00 [N]
p1520[0...n] CO: Torque limit upper / M_max upper
VECTOR (n/M) Can be changed: U, T Calculated:
CALC_MOD_LIM_REF
Access level: 2
-1000000.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
p1521[0...n] CO: Torque limit lower/regenerative / M_max lower/regen
CALC_MOD_LIM_REF
Access level: 2
-20000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
List of parameters
Parameters
Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Description: Sets the fixed lower or force limit when regenerating.
Refer to: p0500, p1520, p1522, p1523, p1532
Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Description: Sets the fixed, lower torque limit.
Danger: Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Note: The torque limit is limited to 400% of the rated motor torque. When automatically calculating the motor/closed-loop
control parameters (p0340), the torque limit is set to match the current limit (p0640).
Description: Sets the signal source for the upper or torque/force limit when motoring.
Refer to: p1520, p1521, p1523, p1532
p1521[0...n] CO: Force limit lower/regenerative / F_max lower/regen
CALC_MOD_LIM_REF
Access level: 2
-20000000.00 [N] 1000000.00 [N] 0.00 [N]
p1521[0...n] CO: Torque limit lower / M_max lower
CALC_MOD_LIM_REF
Access level: 2
-20000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
p1522[0...n] CI: Torque limit upper/motoring / M_max upper/mot
5630, 6630
- - 1520[0]
Parameters
List of parameters
Negative values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
Description: Sets the signal source for the upper or torque/force limit when motoring.
Refer to: p1520, p1521, p1523, p1532
manner.
Description: Sets the signal source for the upper torque limit.
Danger: Negative values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
Description: Sets the signal source for the lower or torque/force limit when regenerating.
Refer to: p1520, p1521, p1522, p1532
Positive values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
p1522[0...n] CI: Force limit upper/motoring / F_max upper/mot
5630, 6630
- - 1520[0]
p1522[0...n] CI: Torque limit upper / M_max upper
- - 1520[0]
p1523[0...n] CI: Torque limit lower/regenerative / M_max lower/regen
5630
- - 1521[0]
List of parameters
Parameters
Description: Sets the signal source for the lower or torque/force limit when regenerating.
Refer to: p1520, p1521, p1522, p1532
manner.
Description: Sets the signal source for the lower torque limit.
Danger: Positive values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
Description: Sets the scaling for the upper torque limit or the torque limit when motoring.
Note: This parameter can be freely interconnected.
The value has the meaning stated above if it is interconnected from connector input p1528.
Description: Sets the scaling for the upper force limit or the force limit when motoring.
p1523[0...n] CI: Force limit lower/regenerative / F_max lower/regen
5630
- - 1521[0]
p1523[0...n] CI: Torque limit lower / M_max lower
- - 1521[0]
p1524[0...n] CO: Torque limit upper/motoring scaling / M_max up/mot scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
p1524[0...n] CO: Force limit upper/motoring scaling / F_max up/mot scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Sets the scaling for the upper torque limit.
Description: Sets the scaling for the lower torque limit or the torque limit when regenerating.
Description: Sets the scaling for the lower force limit or the force limit when regenerating.
p1524[0...n] CO: Torque limit upper scaling / M_max upper scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
p1525[0...n] CO: Torque limit lower/regenerative scaling / M_max low/gen scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
p1525[0...n] CO: Force limit lower/regenerative scaling / F_max lo/reg scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
List of parameters
Parameters
Description: Sets the scaling for the lower torque limit.
Description: Displays the upper torque limit of all torque limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
Description: Displays the upper force limit of all force limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
Description: Displays the upper torque limit of all torque limits without offset.
p1525[0...n] CO: Torque limit lower scaling / M_max lower scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
r1526 CO: Torque limit upper/motoring without offset / M_max up w/o offs
- [Nm] - [Nm] - [Nm]
r1526 CO: Force limit upper/motoring without offset / F_max up w/o offs
- [N] - [N] - [N]
r1526 CO: Torque limit upper without offset / M_max up w/o offs
6640
- [Nm] - [Nm] - [Nm]
Parameters
List of parameters
Description: Displays the lower torque limit of all torque limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
Description: Displays the lower force limit of all force limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
Description: Displays the lower torque limit of all torque limits without offset.
Description: Sets the signal source for the scaling of the upper or motoring torque limit in p1522.
manner.
r1527 CO: Torque limit lower/regenerative without offset / M_max low w/o offs
- [Nm] - [Nm] - [Nm]
r1527 CO: Force limit lower/regenerative without offset / F_max low w/o offs
- [N] - [N] - [N]
r1527 CO: Torque limit lower without offset / M_max low w/o offs
6640
- [Nm] - [Nm] - [Nm]
p1528[0...n] CI: Torque limit upper/motoring scaling / M_max up/mot scal
5620, 5630
- - 1524[0]
List of parameters
Parameters
Description: Sets the signal source for the scaling of the upper or motoring force limit in p1522.
manner.
Description: Sets the signal source for the scaling of the upper torque limit in p1522.
manner.
Description: Sets the signal source for the scaling of the lower torque limit or the regenerative torque limit in p1523.
manner.
p1528[0...n] CI: Force limit upper/motoring scaling / F_max up/mot scal
5620, 5630
- - 1524[0]
p1528[0...n] CI: Torque limit upper scaling / M_max upper scal
- - 1524[0]
p1529[0...n] CI: Torque limit lower/regenerative scaling / M_max low/gen scal
5620, 5630
- - 1525[0]
Parameters
List of parameters
Description: Sets the signal source for the scaling of the lower force limit or the regenerative force limit in p1523.
manner.
Description: Sets the signal source for the scaling of the lower torque limit in p1523.
manner.
Description: Sets the power limit when motoring.
p1529[0...n] CI: Force limit lower/regenerative scaling / F_max lo/reg scal
5620, 5630
- - 1525[0]
p1529[0...n] CI: Torque limit lower scaling / M_max lower scal
- - 1525[0]
p1530[0...n] Power limit motoring / P_max mot
CALC_MOD_LIM_REF
Access level: 2
0.00 [kW] 100000.00 [kW] 0.00 [kW]
CALC_MOD_LIM_REF
Access level: 2
0.00 [kW] 100000.00 [kW] 0.00 [kW]
List of parameters
Parameters
Note: The power limit is limited to 300% of the rated motor power.
Description: Sets the regenerative power limit.
Note: The power limit is limited to 300% of the rated motor power.
For power units without regenerative feedback into the line supply, the regenerative power limit is pre-set to 30% of
the motoring power limit p1530 and in the ratio rated drive converter power to rated motor power.
CALC_MOD_LIM_REF
Access level: 2
0.00 [kW] 100000.00 [kW] 0.00 [kW]
p1531[0...n] Power limit regenerative / P_max gen
CALC_MOD_LIM_REF
Access level: 2
-100000.00 [kW] -0.01 [kW] -0.01 [kW]
CALC_MOD_LIM_REF
Access level: 2
-100000.00 [kW] -0.01 [kW] -0.01 [kW]
CALC_MOD_LIM_REF
Access level: 2
-100000.00 [kW] -0.01 [kW] -0.01 [kW]
Parameters
List of parameters
Description: Sets the torque offset for the torque limit.
Description: Sets the force offset for the force limit.
Description: Displays the maximum torque/force generating current as a result if all current limits.
Description: Displays the maximum torque/force generating current as a result if all current limits.
p1532[0...n] CO: Torque limit offset / M_max offset
5650, 7010, 8012
-100000.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
p1532[0...n] CO: Force offset, force limit / F_max offset
5650, 7010, 8012
-100000.00 [N] 100000.00 [N] 0.00 [N]
r1533 Current limit torque-generating total / Iq_max total
SERVO, VECTOR
(n/M)
6640
r1533 Current limit force-generating total / Iq_max total
6640
List of parameters
Parameters
Description: Displays the upper torque limit of all torque limits.
Description: Displays the upper force limit of all force limits.
Description: Displays the lower torque limit of all torque limits.
Description: Displays the lower force limit of all force limits.
Description: Displays the maximum limit for the torque-generating current component.
r1534 CO: Torque limit upper total / M_max upper total
5630, 5640
- [Nm] - [Nm] - [Nm]
r1534 CO: Force limit upper total / F_max upper total
5630, 5640
- [N] - [N] - [N]
r1535 CO: Torque limit lower total / M_max lower total
5630, 5640
- [Nm] - [Nm] - [Nm]
r1535 CO: Force limit lower total / F_max lower total
5630, 5640
- [N] - [N] - [N]
r1536 Current limit maximum torque-generating current / Isq_max
Parameters
List of parameters
Description: Displays the minimum limit for the torque-generating current component.
Description: Displays the currently effective upper torque limit.
Note: The effective upper torque limit is reduced with respect to the selected upper torque limit p1520, if the current limit
p0640 is reduced or the rated magnetizing current of the induction motor p0320 is increased.
The following applies in the case of VECTOR: This may be the case for rotating measurements (see p1960).
The following applies in the case of VECTOR: Further variable torque limiting is possible (e.g. binector input
p1540).
The torque limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
Description: Displays the currently effective upper force limit.
Note: The effective, upper force limit is reduced with respect to the selected upper force limit p1520 if the current limit
p0640 is reduced.
The force limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
Description: Displays the currently effective lower torque limit.
Note: The effective lower torque limit is reduced with respect to the selected lower torque limit p1521, if the current limit
p0640 is reduced or the rated magnetizing current of the induction motor p0320 is increased.
The following applies in the case of VECTOR: This may be the case for rotating measurements (see p1960).
The following applies in the case of VECTOR: Further variable torque limiting is possible (e.g. binector input
p1541).
The torque limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
r1537 Current limit minimum torque-generating current / Isq_min
r1538 CO: Upper effective torque limit / M_max upper eff
SERVO, VECTOR
(n/M)
5610, 5650, 6060, 6640
- [Nm] - [Nm] - [Nm]
r1538 CO: Upper force limit effective / F_max upper eff
5650
- [N] - [N] - [N]
r1539 CO: Lower effective torque limit / M_max lower eff
SERVO, VECTOR
(n/M)
5610, 5650, 6060, 6640
- [Nm] - [Nm] - [Nm]
List of parameters
Parameters
Description: Displays the currently effective lower force limit.
Note: The effective lower force limit is reduced with respect to the selected lower force limit p1521 if the current limit
p0640 is reduced.
The force limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
Description: Sets the signal source for the scaling of the upper torque limiting to limit the speed controller output.
Description: Sets the signal source for the scaling of the lower torque limiting to limit the speed controller output.
Description: Sets the signal source for the torque/force reduction when traversing to a fixed stop. This value is converted into a
factor and is interconnected to the scaling of the torque/force limits.
Dependency: Refer to: p1528, p1529, r1543, p1544, p1545
Description: Sets the signal source for the torque/force reduction when traversing to a fixed stop. This value is converted into a
factor and is interconnected to the scaling of the torque/force limits.
r1539 CO: Lower force limit effective / F_max lower eff
5650
- [N] - [N] - [N]
p1540[0...n] CI: Torque limit speed controller upper scaling / M_max n-ctr upScal
- - 1
p1541[0...n] CI: Torque limit. speed controller lower scaling / M_max nctr lowScal
- - 1
p1542[0...n] CI: Travel to fixed stop torque reduction / TfS M_red
- - 0
p1542[0...n] CI: Travel to fixed stop force reduction / TfS F_red
- - 0
Parameters
List of parameters
Description: Displays the internally converted factor to interconnect to the scaling of the torque/force limits.
Description: Displays the internally converted factor to interconnect to the scaling of the torque/force limits.
Description: Sets the evaluation for the torque/force reduction when traversing to a fixed stop.
Dependency: Refer to: p1528, p1529, p1542, r1543, p1545
Note: 4000 hex (16384 dec) in the MOMRED control word corresponds to a reduction by the percentage specified in this
parameter.
Description: Sets the evaluation for the torque/force reduction when traversing to a fixed stop.
Note: 4000 hex (16384 dec) in the MOMRED control word corresponds to a reduction by the percentage specified in this
parameter.
r1543 CO: Travel to fixed stop torque scaling / TfS M scal
- [%] - [%] - [%]
r1543 CO: Travel to fixed stop force scaling / TfS F scal
- [%] - [%] - [%]
p1544 Travel to fixed stop evaluation torque reduction / TfS M_red eval
0 [%] 65535 [%] 100 [%]
p1544 Travel to fixed stop evaluation force reduction / TfS F_red eval
0 [%] 65535 [%] 100 [%]
List of parameters
Parameters
Description: Sets the signal source to activate/de-activate the "travel to fixed stop" function
1: Travel to fixed stop is active
0: Travel to fixed stop is inactive
Description: Sets the signal source to activate/de-activate the "travel to fixed stop" function
1: Travel to fixed stop is active
0: Travel to fixed stop is inactive
Note: EPOS uses the parameter (refer to p2686).
When traveling to fixed stop, the fault F07900 "motor locked" is suppressed.
Description: Sets the speed threshold for the motoring/regenerative limit.
For speeds where the absolute value is less than p1546, then the following applies:
- For p1400.13 = 0: Motoring limit (speed threshold is compared to the speed actual value).
- For p1400.13 = 1: Regenerative limiting (speed threshold is compared to the speed setpoint).
Description: Sets the velocity threshold for the motoring/regenerative limit.
For velocities where the absolute value is less than p1546, then the following applies:
- For p1400.13 = 0: Motoring limit (velocity threshold is compared to the velocity actual value).
- For p1400.13 = 1: Regenerative limiting (velocity threshold is compared to the velocity setpoint).
p1545[0...n] BI: Activates travel to a fixed stop / TfS activation
8012
- - 0
8012
- - 0
p1546 Speed threshold motoring/regenerating / n_thresh mot/regen
0.00 [rpm] 210000.00 [rpm] 20.00 [rpm]
p1546 Velocity threshold motoring/regenerative / v_thresh mot/regen
0.00 [m/min] 1000.00 [m/min] 0.20 [m/min]
Parameters
List of parameters
Description: Displays the torque limit to limit the speed controller output.
Index: [0] = Upper limit
[1] = Lower limit
Description: Displays the limit for the torque-generating current component using the stall calculation, the current limit of the
Motor Module as well as the parameterization in p0640.
Index: [0] = Upper limit
[1] = Lower limit
Description: Displays the instantaneous stall power.
Note: The stall power is influenced by p0326, p0353, p0354 and p0356.
Description: Displays the instantaneous stall power.
Note: The stall power is influenced by p0326, p0353, p0354 and p0356.
r1547[0...1] CO: Torque limit for speed controller output / M_max outp n_ctrl
- [Nm] - [Nm] - [Nm]
r1548[0...1] CO: Stall current limit torque-generating maximum / Isq_max stall
r1549 CO: Stall power actual value / P_stall
- [kW] - [kW] - [kW]
r1549 CO: Stall power actual value / P_stall
- [kW] - [kW] - [kW]
List of parameters
Parameters
Description: For a positive edge, the actual torque (r0079[0]) at this instant in time is used instead of the torque offset from
p1532 as long as p1550 remains at 1.
Description: For a positive edge, the actual force (r0079[0]) at this instant in time is used instead of the force offset from p1532
as long as p1550 remains at 1.
Description: Sets the signal source to change over the torque limits between variable and fixed torque limit.
1 signal from BI: p1551:
The variable torque limit applies (fixed torque limit + scaling).
The fixed torque limit applies.
Example:
In order that for a Quick Stop (OFF3) the fixed torque limit is effective, BI: p1551 must be interconnected to r0899.5.
Description: Sets the signal source to change over the force limits between variable and fixed force limit.
The variable force limit applies (fixed force limit + scaling).
The fixed force limit applies.
Example:
In order that for a Quick Stop (OFF3) the fixed force limit is effective, BI: p1551 must be interconnected to r0899.5.
p1550[0...n] BI: Transfer actual torque as torque offset / Accept act torque
- - 9718.23
p1550[0...n] BI: Transfer actual force as force offset / Accept act force
- - 9718.23
p1551[0...n] BI: Torque limit variable/fixed signal source / M_lim var/fixS_src
SERVO, VECTOR
(n/M)
6060, 6630
- - 1
p1551[0...n] BI: Force limit variable/fixed signal source / F_lim var/fixS_src
6060, 6630
- - 1
Parameters
List of parameters
Description: Sets the signal source for the scaling of the upper torque limiting to limit the speed controller output without taking
into account the current and power limits.
Notice: Speed controller limiting is only active if a BICO interconnection is set for connector input p1552 or p1554, (different
than the factory setting).
Description: Sets the signal source for the scaling of the upper force limiting to limit the velocity controller output without taking
Description: Sets the signal source for the scaling of the upper torque limiting to limit the speed controller output without taking
Description: Sets the signal source for the scaling of the lower torque limiting to limit the speed controller output without taking
p1552[0...n] CI: Torque limit upper scaling without offset / M_max up w/o offs
- - 1
p1552[0...n] CI: Force limit upper scaling without offset / F_max up w/o offs
- - 1
- - 1
p1554[0...n] CI: Torque limit lower scaling without offset / M_max low w/o offs
- - 1
List of parameters
Parameters
Description: Sets the signal source for the scaling of the lower force limiting to limit the velocity controller output without taking
Description: Sets the signal source for the scaling of the lower torque limiting to limit the speed controller output without taking
Description: Sets the signal source for the motoring and negative regenerative power limit.
Note: The resulting motoring power limit is the minimum from p1530 and the signal which is read in.
The resulting regenerative power limit is the maximum from p1531 and the negative signal which is read in.
Description: Sets the scaling of the signal source for the motoring and negative regenerative power limit.
0 signifies no power limiting.
p1554[0...n] CI: Force limit lower scaling without offset / F_max low w/o offs
- - 1
- - 1
p1555[0...n] CI: Power limit / P_max
Not for motor type: REL Scaling: r2004 Expert list: 1
- - 1
p1556[0...n] Power limit scaling / P_max scal
0.00 340.28235E36 0.00
SERVO, VECTOR
(n/M)
- - 3841[0]
Parameters
List of parameters
Notice: The signal input is after the torque limit (r1538, r1539). For vector drives, the signals that are entered are only lim-
ited by the current and power limits.
Note: The signal input is preferably used to enter the friction characteristic. The friction compensation is also effective if
the speed controller output reaches its torque limits, but the current limits have still not been reached (this only
applies to vector drives).
Notice: The signal input is after the force limit (r1538, r1539). For vector drives, the signals that are entered are only limited
by the current and power limits.
Note: The signal input is preferably used to enter the friction characteristic. The friction compensation is also effective if
the velocity controller output reaches its force limits, but the current limits have still not been reached (this only
applies to vector drives).
Description: Sets the flux setpoint referred to rated motor flux.
Note: For p1570 > 100%, the flux setpoint increases as a function of the load from 100% (no-load operation) to the setting
in p1570 (above rated motor torque), if p1580 > 0% has been set.
Description: Sets the signal source for the supplementary flux setpoint.
Notice: Low flux setpoints can cause the drive to stall at higher loads. This is the reason that the flux setpoint should only be
adapted for slow load changes.
Note: The supplementary flux setpoint is limited to +/- 50 %.
Description: Sets the supplementary flux setpoint for the flux controller.
- - 3841[0]
p1570[0...n] CO: Flux setpoint / Flux setpoint
50.0 [%] 200.0 [%] 100.0 [%]
p1571[0...n] CI: Supplementary flux setpoint / Suppl flux setp
Not for motor type: ASM, PEM, REL Scaling: p2003 Expert list: 1
- - 0
p1572[0...n] Supplementary flux setpoint / Suppl flux setp
Not for motor type: ASM, PEM, REL Scaling: PERCENT Expert list: 1
0.0 [%] 100.0 [%] 0.0 [%]
List of parameters
Parameters
The value is referred to the rated motor flux.
Notice: The parameter should be set back to 0% again for normal closed-loop control operation.
Note: The parameter is used to optimize the flux controller. The current model is not influenced by the setting.
Description: Sets the flux threshold value for enabling the speed setpoint and the end of magnetizing (r0056.4).
Note: The parameter only has an influence if the flux actual value reaches the threshold value p1573 more quickly during
magnetizing than the time set in p0346.
The parameter has no influence for flying restart (see p1200) and after DC braking (see p1231).
Description: Sets a dynamic voltage reserve.
Note: In the field weakening range, it must be expected that the control dynamic performance is somewhat restricted due
to the limited possibilities of controlling/adjusting the voltage. This can be improved by increasing the voltage
reserve. Increasing the reserve reduces the steady-state maximum output voltage (r0071).
Description: Sets the lower adaptation speed of the flux boost.
Below this speed, p1570 is set as reference (setpoint) flux.
Description: Sets the upper adaptation speed of the flux boost.
Above this speed, the rated motor flux (100 %) is set as reference (setpoint) flux.
Dependency: The parameter value refers to the lower adaptation speed of the flux boost.
Refer to: p1576
p1573[0...n] Flux threshold value magnetizing / Flux thresh magnet
10.0 [%] 200.0 [%] 100.0 [%]
p1574[0...n] Voltage reserve dynamic / U_reserve dyn
CALC_MOD_LIM_REF
Access level: 3
0.0 [Vrms] 150.0 [Vrms] 10.0 [Vrms]
p1576[0...n] Flux boost, adaptation speed, lower / Flux boost n lower
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
p1577[0...n] Flux boost adaptation speed, upper / Flux boost n upper
1.0 [%] 10000.0 [%] 200.0 [%]
Parameters
List of parameters
Description: Sets the smoothing time for the flux setpoint when decreasing the flux due to flux reduction (p1581 < 100 %).
Description: Sets the smoothing time for the flux setpoint for the flux build-up due to flux reduction (p1581 < 100 %).
Note: An excessively long smoothing time extends the time until the maximum torque is reached from the no-load phase.
Description: Sets the efficiency optimization. When optimizing the efficiency, the flux setpoint of the closed-loop control is
adapted as a function of the load.
For p1580 = 100 %, under no-load operating conditions, the flux setpoint is reduced to 50 % of the rated motor flux.
Note: It only makes sense to activate this function if the dynamic response requirements of the speed controller are low.
In order to avoid oscillations, if required, the speed controller parameters should be adapted (increase Tn, reduce
Kp).
Further, the smoothing time of the flux setpoint filter (p1582) should be increased.
Description: Sets the factor to which the flux is reduced under no-load conditions.
For a value of 100%, the flux reduction is switched out.
This parameter refers to the flux saved in the field weakening characteristic.
By reducing the flux, the losses in induction motors can be reduced under no-load conditions or at low torques.
However, the time it takes to reach the maximum torque is extended.
Recommend.: For induction motors with closed rotor slots, we recommend that the integral time of the current controller (p1717) is
e.g. increased to three times the value.
p1578[0...n] Flux reduction flux decrease smoothing time / Flux red dec t_sm
20 [ms] 5000 [ms] 200 [ms]
p1579[0...n] Flux reduction flux build-up smoothing time / Flux red up t_sm
0 [ms] 5000 [ms] 4 [ms]
p1580[0...n] Efficiency optimization / Efficiency opt.
0 [%] 100 [%] 0 [%]
p1581[0...n] Flux reduction factor / Flux red factor
20 [%] 100 [%] 100 [%]
List of parameters
Parameters
For stable operation, the maximum field-weakening factor in operation with an encoder must be less than 16 and in
operation without an encoder must be less than 4. Lower field weakening factors are recommended. The field
weakening factor is calculated as follows:
(p1082 * 100 % * 600 V) / (p0348 * p1581 * p0070)
In order to reduce losses due to magnetizing and de-magnetizing, we recommend that the smoothing times are
adapted for flux decrease (p1578) and flux build-up (p1579).
In order to reduce the losses as a result of building-up and reducing the torque, we recommend that the torque set-
point is smoothed (current setpoint filter (p1656 ...) or speed actual value filter (p1441)).
Note: It only makes sense to activate this function if there are low dynamic requirements placed on the speed controller
and there are frequent phases with a low load.
In order to avoid oscillations, if required, the speed controller parameters should be adapted (decrease Kp (p1460,
p1470), increase Tn (p1462, p1472)).
When used without an encoder, flux reduction is not possible for induction motors with closed rotor slots.
Description: Sets the smoothing time for the flux setpoint.
Description: Displays the smoothed flux setpoint.
Description: Sets the smoothing time for the flux setpoint in the field-weakening range
Recommend.: Smoothing should be especially used if there is no regenerative feedback into the line supply. This means that the
DC link voltage can quickly increase in regenerative operation
Note: Only the flux setpoint rise is smoothed
p1582[0...n] Flux setpoint smoothing time / Flux setp T_smth
6725
4 [ms] 5000 [ms] 15 [ms]
r1583 Flux setpoint smoothed / Flux setp smooth
6724
- [%] - [%] - [%]
p1584[0...n] Field weakening operation, flux setpoint smoothing time / Field weak T_smth
0 [ms] 20000 [ms] 0 [ms]
Parameters
List of parameters
Description: Sets the smoothing time for the flux actual value.
Description: Sets the smoothing time for the flux actual value.
Description: Sets the scaling of the pre-control characteristic for the start of field weakening.
For values above 100 % and for partial load situations, the field weakening starts at higher speeds.
Note: If the start of field weakening is shifted to lower speeds, then the voltage reserve is increased for partial load situa-
tions.
If the start of field weakening is shifted to higher speeds, the voltage reserve is appropriately reduced so that for fast
load changes, it can be expected that this will have a negative impact on the dynamic performance.
Description: Displays the pre-control value for the field weakening current.
Description: Sets the proportional gain for the flux controller.
Note: For synchronous motors, this parameters has no effect.
The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
When calculating controller parameters (p0340 = 4), this value is re-calculated.
p1585[0...n] Flux actual value, smoothing time / Flux actVal T_smth
0 [ms] 1000 [ms] 0 [ms]
0 [ms] 1000 [ms] 0 [ms]
p1586[0...n] Field weakening characteristic, scaling / Field weak scal
80.0 [%] 120.0 [%] 100.0 [%]
r1589 Field-weakening current, pre-control value / I_FieldWeak prectr
Not for motor type: ASM, REL, FEM Scaling: p2002 Expert list: 1
p1590[0...n] Flux controller P gain / Flux controller Kp
0.0 [A/Vs] 999999.0 [A/Vs] 10.0 [A/Vs]
List of parameters
Parameters
Description: Sets the proportional gain for the flux controller.
Note: The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
Description: Sets the integral time for the flux controller.
Note: For synchronous motors, this parameters has no effect.
The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
Description: Sets the integral time for the flux controller.
Description: Displays the output of the field weakening controller (synchronous motor) or the output of the flux controller (sepa-
rately-excited synchronous motor, induction motor).
Index: [0] = PI output
[1] = I output
0.0 999999.0 10.0
p1592[0...n] Flux controller integral time / Flux controller Tn
0 [ms] 10000 [ms] 30 [ms]
0 [ms] 10000 [ms] 30 [ms]
r1593[0...1] CO: Field weakening controller / flux controller output / Field/Fl_ctrl outp
6726
Parameters
List of parameters
Description: Sets the P gain of the field-weakening controller.
Description: Sets the integral-action time of the field-weakening controller.
Description: Displays the output of the field weakening controller.
Description: Displays the effective flux setpoint.
Description: Sets the permissible difference between the actual excitation current and the excitation current setpoint.
The excitation current flux controller is active within this difference.
If the difference lies outside the specified limit value, then the I component of the excitation current flux controller is
kept. Instead of this, for the flux controller of the field-generating current, an additional I controller is switched in
(integral time according to p1592).
p1594[0...n] Field-weakening controller, P gain / Field_ctrl Kp
0.00 1000.00 0.00
p1596[0...n] Field weakening controller integral-action time / Field_ctrl Tn
10 [ms] 10000 [ms] 50 [ms]
r1597 CO: Field weakening controller output / Field_ctrl outp
- [%] - [%] - [%]
r1598 CO: Total flux setpoint / Flux setp total
6724, 6725, 6726, 8018
- [%] - [%] - [%]
p1599[0...n] Flux controller, excitation current difference / Flux ctr I_exc_dif
0.0 [%] 100.0 [%] 3.0 [%]
List of parameters
Parameters
If the difference again lies within the bandwidth, the I component of the excitation current flux controller is re-acti-
vated and the I component of the flux controller of the field-generating current is reduced as an exponential function
with respect to time. The reduction of the I component over time depends on the rotor time constant (r0384).
Description: Sets the proportional gain of the P flux controller for separately-excited synchronous motors (FEM).
Description: Displays the output of the P flux controller for separately-excited synchronous motors (FEM).
Description: Sets the effective current limit within the pulse technique.
Note: The saturation characteristic of the motor defines the available operating range for the pulse technique.
This operating range can be adjusted using the current limit.
When commissioning a catalog motor, the technique is automatically selected depending on the motor type being
used.
Otherwise, the rated motor current is used as pre-assigned value.
Description: Sets the applied pulse patterns for estimating the continuous rotor position.
Remark:
See p1750 for the activation of the pulse-pattern technique.
Value: 1: pm
2: ppmm
Note: When commissioning a catalog motor, the technique is automatically selected depending on the motor type being
used.
p1600[0...n] P flux controller, P gain / P flux ctrl Kp
0.0 999999.0 10.0
r1602 CO: P flux controller output / P flux ctrl outp
p1604[0...n] Pulse technique current limit / Pulse current lim
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
p1605[0...n] Pulse technique pattern configuration / Puls pattrn config
1 2 2
Parameters
List of parameters
Description: Displays the currently applied pulse patterns for estimating the continuous rotor position.
Value: 0: None
1: pm
2: ppmm
Description: Sets the excitation amplitude (voltage-time pulse) for the pulse technique for estimating the continuous rotor posi-
tion.
Description: Displays the signal responses to the excitation of the pulse technique.
Index: [0] = Phase R
[1] = Phase S
[2] = D estimated
[3] = Q estimated
[4] = D estimated AC
[5] = Q estimated AC
[6] = Pointer length AC
Description: Sets the stator current setpoint for operation of a separately-excited synchronous motor (FEM) in operating mode I/f
(p1300 = 18).
r1606 CO: Pulse technique pattern current / Puls pattern act
0 2 -
p1607[0...n] Pulse technique stimulus / Puls stimulus
0.000 [mVs] 20000.000 [mVs] 32.000 [mVs]
r1608[0...6] CO: Pulse technique response / Puls response
Not for motor type: ASM, REL, FEM Scaling: p2002 Expert list: 1
- [A] - [A] - [A]
p1609[0...n] I/f operation current setpoint / I/f op I_setp
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
List of parameters
Parameters
Description: Sets the static torque setpoint for sensorless vector control (SLVC).
This parameter is entered as a percentage referred to the rated motor torque (r0333).
For sensorless vector control, when the motor model is shut down, an absolute current is impressed. p1610 repre-
sents the maximum load that occurs at a constant setpoint speed.
Notice: p1610 should always be set to at least 10 % higher than the maximum steady-state load that can occur.
Note: For p1610 = 0%, a current setpoint is calculated that corresponds to the no-load case (ASM: rated magnetizing cur-
rent).
For p1610 = 100 %, a current setpoint is calculated that corresponds to the rated motor torque.
Negative values are converted into positive setpoints in the case of induction and permanent-magnet synchronous
motors.
Description: Enters the dynamic torque setpoint for the low-speed range for sensorless vector control (SLVC). This parameter is
entered as a percentage referred to the rated motor torque (r0333).
Note: When accelerating and braking p1611 is added to p1610 and the resulting total torque is converted into an appro-
priate current setpoint and controlled.
For pure accelerating torques, it is always favorable to use the torque pre-control of the speed controller (p1496).
Description: Sets the current setpoint for controlled (open-loop) encoderless operation.
Note: The value is effective at speeds less than p1755 and represents a reserve for a possibly existing load torque or
torque error in the moment of inertia.
Description: Sets the magnetizing current setpoint in the open-loop controlled encoderless operation.
The value is only valid during the current model orientation.
p1610[0...n] Torque setpoint static (SLVC) / M_set static
6722, 6726
-200.0 [%] 200.0 [%] 50.0 [%]
p1611[0...n] Supplementary accelerating torque (SLVC) / M_suppl_accel
6722, 6726
0.0 [%] 200.0 [%] 30.0 [%]
p1612[0...n] Current setpoint, open-loop control, encoderless / I_setCtrEncoderl
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
p1612[0...n] Current setpoint magnetizing open-loop controlled / Id_set ctrl
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Parameters
List of parameters
Note: The value is effective at speeds less than p1755 and represents a reserve for a possibly existing load torque or
torque error in the moment of inertia.
Description: Sets the smoothing time for the current/torque setpoint in the open-loop-controlled operating range in the case of
sensorless vector control.
Note: This parameter is only effective in the range where current is injected for sensorless vector control.
For induction motors, the current setpoint is calculated from p1610 and p1611 and for separately excited synchro-
nous motors the torque setpoint is calculated from p1610 and p1611.
Description: Torque setpoint for sensorless control of the separately excited synchronous motor in the open-loop-controlled
operating range (under p1755 * p1756).
Description: Displays the pre-control value of the current model controller. It involves a magnetizing current in the d-direction.
Description: Threshold for setpoint/actual value tracking of the stator current in the q direction of the current model.
p1616[0...n] Current setpoint smoothing time / I_set T_smooth
6726
4 [ms] 10000 [ms] 40 [ms]
r1617 CO: Torque setpoint (controlled) / M_setp sv SLVC
- [Nm] - [Nm] - [Nm]
r1618 Current model controller, pre-control / I_mod_ctrl prectrl
p1619[0...n] Setpoint/actual value tracking threshold / SetAct track thrsh
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
List of parameters
Parameters
Description: Sets the minimum stator current for separately-excited synchronous motors (FEM).
A negative value means that the field-generating stator current (d-axis) has a negative sign. The valid value is inter-
nally limited to 50% of the rated motor current (p0305).
Description: Sets the speed where a change is made from the inner to the outer cos phi = 1.
If the value that is entered exceeds the rated speed, then a change is made to the inner cos phi = 1 over the com-
plete speed range.
Description: Sets the smoothing time constant for the setpoint of the field-generating current components.
The current filtered in this way is included in the calculation of the cos phi.
Description: Displays the steady-state field generating current setpoint (Id_set).
Note: Re index 1:
Displays the stationary field-generating current on the stator side in the case of separately excited synchronous
motors without the excitation current monitoring component (r1644).
p1620[0...n] Stator current, minimum / I_stator min
-10000.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
p1621[0...n] Changeover speed, inner cos phi = 1 / n_chngov cos phi=1
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
p1622[0...n] Field-generating current setpoint smoothing time constant / Id_setp T_smth
0.1 [ms] 200.0 [ms] 20.0 [ms]
r1623[0...1] Field-generating current setpoint (steady-state) / Id_set stationary
6727
Not for motor type: PEM, REL Scaling: p2002 Expert list: 1
Parameters
List of parameters
Description: Displays the limited field-generating current setpoint (Id_set).
This value comprises the steady-state field-generating current setpoint r1623 and a dynamic component that is only
set when changes are made to the flux setpoint.
Description: Gain factor to weight the excitation current setpoint.
Description: Displays the calculated excitation current setpoint.
Description: Displays the load angle of the current model.
Description: Sets the dynamic response factor for the current model controller.
r1624 Field-generating current setpoint, total / Id_setp total
6723, 6727
p1625[0...n] Excitation current setpoint calibration / I_exc_setp cal
10.0 [%] 200.0 [%] 100.0 [%]
r1626 CO: Excitation current setpoint / I_exc_setp
- [%] - [%] - [%]
r1627 CO: Current model load angle / I_mod load angle
- [] - [] - []
p1628[0...n] Current model controller, dynamic factor / I_mod_ctr dyn_fact
1 [%] 400 [%] 50 [%]
List of parameters
Parameters
Description: Sets the proportional gain for the current model controller.
This value is automatically pre-set using p3900 or p0340 when commissioning has been completed.
Description: Sets the integral time for the current model controller.
Description: Displays the effective P gain of the current model controller.
Description: Displays the effective integral time of the current model controller.
Description: Displays the effective flux setpoint of the current model.
p1629[0...n] Current model controller P gain / I_mod_ctrl Kp
0.000 100000.000 0.000
p1630[0...n] Current model controller integral time / I_mod_ctrl Tn
0.00 [ms] 10000.00 [ms] 0.00 [ms]
r1631 Current model controller, P gain effective / I_mod ctrl Kp eff
- - -
r1632 Current model controller integral time effective / I_mod_ctrl Tn eff
- [ms] - [ms] - [ms]
r1633 Current model, flux setpoint / I_mod flux setp
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the effective flux actual value of the current model.
Description: Displays the I component of the current model controller.
Description: Displays the output of the current model controller.
Description: Displays the magnetizing current of the current model in the d-axis.
Description: Displays the magnetizing current of the current model in the q-axis.
r1634 Current model, flux actual value / I_mod flux act val
- [%] - [%] - [%]
r1635 Current model controller, I component / I_mod_ctrl I comp
r1636 Current model controller output / I_mod_ctrl outp
r1637 Current model, magnetizing current, d axis / I_mod I_mag d-ax
r1638 Current model, magnetizing current, q axis / I_mod I_mag q-ax
List of parameters
Parameters
Description: Displays the stator current in the q axis after current actual value tracking.
Description: Sets the signal source for the excitation current actual value
Description: Displays the excitation current actual value that is read in.
Description: Sets the minimum excitation current.
This means that negative excitation currents can be avoided.
Description: Sets the gain factor for the minimum excitation current, closed-loop control.
This is active if the excitation current is below 75 % of p1642.
r1639 CO: Current model Isq after actual value tracking / I_mod Isq track
p1640[0...n] CI: Excitation current actual value signal source / I_exc_ActVal S_src
- - 0
r1641 Excitation current actual value / I_exc_act val
- [%] - [%] - [%]
p1642[0...n] Minimum excitation current / Min I_exc
0.1 [%] 50.0 [%] 5.0 [%]
p1643[0...n] Gain factor, minimum excitation current closed-loop control / Min I_exc Kp
0.00 5.00 0.40
Parameters
List of parameters
Description: Displays the output of the excitation current monitoring for separately excited synchronous motors.
Description: Sets the signal source for the individual feedback signals from the excitation.
Index: [0] = Excitation ready to be powered up
[1] = Excitation ready
[2] = Excitation operational
[3] = Excitation group signal fault
[4] = Excitation group signal alarm
[5] = Not used
[6] = Not used
Description: Sets the monitoring time of the excitation.
After an ON command, the feedback signal must be received within this monitoring time.
Note: After the on command for the excitation (r1648.0 = 1), its feedback signal must be available at r1649.1 within this
monitoring time (BI: p1645[1]).
The same monitoring time is effective after the excitation is enabled for operation (r1648.3 = 1) up to the feedback
signal "excitation operational" (r1649.2 = 1, BI: p1645[2]).
Description: Sets the switch-off delay time to shut down the excitation equipment.
Note: The delay time starts if, when powering down, r0863.0 = 0.
r1648.0 and r1648.3 are reset at the end of the delay time.
r1644 CO: Excitation current monitoring output / I_exc_monit outp
p1645[0...6] BI: Excitation feedback signals signal source / Exc FS S_src
- - 1
p1646 Excitation monitoring time / Excit t_monit
2.0 [s] 1300.0 [s] 20.0 [s]
p1647 Excitation switch-off delay time / Exc t_off
0.0 [s] 5.0 [s] 0.8 [s]
List of parameters
Parameters
Description: Displays the control word for the excitation equipment.
Description: Displays the status word of the excitation equipment.
Description: Displays the torque generating current setpoint Iqset after the torque limits and the clock cycle interpolation is
ahead of the current setpoint filters.
Description: Displays the force generating current setpoint Iqset after the force limits and the clock cycle interpolation is ahead of
the current setpoint filters.
r1648.0...11 CO/BO: Excitation, control word / Excitation STW
- - -
00 Power up excitation Yes No -
01 Excitation no OFF2 Yes No -
02 Excitation no OFF3 Yes No -
03 Excitation operation enable Yes No -
07 Excitation acknowledge fault Yes No -
10 Master control by excitation equipment Yes No -
11 ccw rotating field excitation invert excitation
current setpoint
Yes No -
r1649.0...7 CO/BO: Excitation status word / Excitation ZSW
- - -
00 Excitation ready to be powered up feedback
signal
Yes No -
01 Excitation ready feedback signal Yes No -
02 Excitation operational feedback signal Yes No -
03 Excitation group signal fault Yes No -
07 Excitation group signal alarm Yes No -
r1650 Current setpoint torque-generating before filter / Iq_set before filt
SERVO, VECTOR
(n/M)
r1650 Current setpoint force-generating before filter / Iq_set before filt
Parameters
List of parameters
Description: Displays the torque setpoint of the function generator.
Description: Displays the force setpoint of the function generator.
Description: Sets the minimum smoothing time constant for the setpoint of the torque-generating current components.
Description: Sets the smoothing time constant for the setpoint of the torque-generating current components.
Note: The smoothing time does not become effective until the field-weakening range is reached.
Description: Sets the signal source for tuning the natural frequency of the current setpoint filter 1, 2 and speed actual value filter
5.
Index: [0] = Filter 1
[1] = Filter 2
[2] = Reserved
[3] = Reserved
[4] = Filter 5
r1651 CO: Torque setpoint, function generator / M_set FG
SERVO, VECTOR
(n/M)
- [Nm] - [Nm] - [Nm]
r1651 CO: Force setpoint, function generator / F_set FG
- [N] - [N] - [N]
p1653[0...n] Current setpoint torque-generating smoothing time minimum / Isq_s T_smth min
0.1 [ms] 20.0 [ms] 0.1 [ms]
p1654[0...n] Curr. setpoint torque-gen. smoothing time field weakening range / Isq_s T_smth FW
0.1 [ms] 50.0 [ms] 4.8 [ms]
p1655[0...4] CI: Current setpoint/Speed actual value filter nat. frequency tuning / I/n_setp_filt f_n
- - 1
List of parameters
Parameters
Description: Setting for activating/de-activating the current setpoint filter.
Dependency: The individual current setpoint filters are parameterized as of p1657.
Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1.
Description: Setting for activating/de-activating the current setpoint filter 1, 2 and speed actual value filter 5.
Dependency: The individual current setpoint/speed actual value filters are parameterized starting at p1657.
Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1.
Description: Sets the current setpoint filter 1 as low pass (PT2) or as extended general 2nd-order filter.
Dependency: Current setpoint filter 1 is activated via p1656.0 and parameterized via p1657 ... p1661.
Note: For an extended general 2nd-order filter, by inserting the same natural frequency in both the numerator and in the
denominator, i.e. bandstop frequency, a bandstop filter is implemented. If the numerator damping of zero is
selected, the bandstop frequency is completely suppressed.
The denominator damping can be determined from the equation for the 3 dB bandwidth:
f_3dB bandwidth = 2 * D_denominator * f_bandstop frequency
p1656[0...n] Activates current setpoint filter / I_setp_filt act
- - 0001 bin
00 Filter 1 Active Inactive -
p1656[0...n] Current setpoint/Speed actual value filter activation / I_setp_filt act
- - 0000 0001 bin
p1657[0...n] Current setpoint filter 1 type / I_set_filt 1 Typ
SERVO, VECTOR
(n/M)
Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
1 2 1
Parameters
List of parameters
Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).
Description: Sets the denominator damping for current setpoint filter 1.
Description: Sets the numerator natural frequency for current setpoint filter 1 (general filter).
Description: Sets the numerator damping for current setpoint filter 1.
p1658[0...n] Current setpoint filter 1 denominator natural frequency / I_set_filt 1 fn_n
SERVO, VECTOR
(n/M)
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
p1659[0...n] Current setpoint filter 1 denominator damping / I_set_filt 1 D_n
SERVO, VECTOR
(n/M)
0.001 10.000 0.700
p1660[0...n] Current setpoint filter 1 numerator natural frequency / I_set_filt 1 fn_z
SERVO, VECTOR
(n/M)
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
p1661[0...n] Current setpoint filter 1 numerator damping / I_set_filt 1 D_z
SERVO, VECTOR
(n/M)
0.000 10.000 0.700
SERVO, VECTOR
(n/M)
1 2 1
List of parameters
Parameters
SERVO, VECTOR
(n/M)
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
SERVO, VECTOR
(n/M)
0.001 10.000 0.700
SERVO, VECTOR
(n/M)
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
SERVO, VECTOR
(n/M)
0.000 10.000 0.700
Parameters
List of parameters
1 2 1
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.001 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.000 10.000 0.700
List of parameters
Parameters
1 2 1
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.001 10.000 0.700
p1675[0...n] Current setpoint filter 4 numerator natural frequency / I_set_filt 4 fn_n
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.000 10.000 0.700
Parameters
List of parameters
Description: Sets speed actual value filter 5 as low pass (PT2) or as extended general 2nd order filter.
Dependency: The speed actual value filter is activated with p1656.4 and parameterized with p1677 ... p1681.
Description: Sets the denominator natural frequency for speed actual value filter 5 (PT2, general filter).
Description: Sets the denominator damping for speed actual value filter 5.
Description: Sets the numerator natural frequency for speed actual value filter 5 (general filter).
p1677[0...n] Speed actual value filter 5 type / n_act_filt 5 type
1 2 2
p1678[0...n] Speed actual value filter 5 denominator natural frequency / n_act_filt 5 fn_d
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
p1679[0...n] Speed actual value filter 5 denominator damping / n_act_filt 5 D_d
0.001 10.000 0.700
p1680[0...n] Speed actual value filter 5 numerator natural frequency / n_act_filt 5 fn_n
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
List of parameters
Parameters
Description: Sets the numerator damping for speed actual value filter 5.
Description: Activates data acceptance for parameter changes for the filter.
p1699 = 0:
The new filter data are immediately accepted.
p1699 = 1:
The new filter data are only accepted when this parameter is reset.
Dependency: Refer to: p1414, p1415, p1416, p1417, p1418, p1419, p1420, p1421, p1422, p1423, p1424, p1425, p1426, p1656,
p1657, p1658, p1659, p1660, p1661, p1662, p1663, p1664, p1665, p1666, p1667, p1668, p1669, p1670, p1671,
p1672, p1673, p1674, p1675, p1676
Description: Sets the fractional dead time for the current controller reference model.
This parameter emulates the computing dead time of the proportionally controlled current control loop.
Note: Dead time = p1701 * p0115[0]
Description: Sets the scaling of the dynamic current controller pre-control for the flux-generating current component Isd.
Note: The parameter is effective for permanent and separately-excited synchronous motors.
p1681[0...n] Speed actual value filter 5 numerator damping / n_act_filt 5 D_n
0.000 10.000 0.700
p1699 Filter data acceptance / Filt data accept
SERVO, VECTOR
(n/M)
0 1 0
p1701[0...n] Current controller reference model dead time / I_ctrRefMod t_dead
0.0 1.0 1.0
p1702[0...n] Isd current controller pre-control scaling / Isd_ctr_prectrScal
Not for motor type: ASM, REL Scaling: - Expert list: 1
0.0 [%] 200.0 [%] 70.0 [%]
Parameters
List of parameters
Description: Sets the scaling of the dynamic current controller pre-control for the torque/force-generating current component Isq.
Description: Sets the scaling of the EMF pre-control for the Isq current controller.
Description: Threshold for the setpoint - actual value tracking of the EMF pre-control of the Isq current controller.
Description: Sets the proportional gain of the current controller for the lower adaptation current range.
Note: For p0393 = 100 %, the current controller adaptation is disabled and p1715 is effective over the entire range.
Description: Sets the proportional gain of the current controller for the lower adaptation current range.
Note: For p0393 = 100 %, the current controller adaptation is disabled and p1715 is effective over the entire range.
p1703[0...n] Isq current controller pre-control scaling / Isq_ctr_prectrScal
0.0 [%] 200.0 [%] 70.0 [%]
p1704[0...n] Isq current controller pre-control EMF scaling / Isq_ctrl EMF scal
0.0 [%] 200.0 [%] 100.0 [%]
p1705[0...n] Flux setpoint/actual value tracking threshold / Flux track thresh
0.0 [%] 100.0 [%] 100.0 [%]
p1715[0...n] Current controller P gain / I_ctrl Kp
0.000 [V/A] 100000.000 [V/A] 0.000 [V/A]
7017
0.000 100000.000 0.000
List of parameters
Parameters
Description: Sets the integral-action time of the current controller.
Description: Displays the actual output of the Isq current controller (torque/force generating current, PI controller).
The value contains the proportional and integral components of the PI controller.
Description: Displays the integral component of the Isq current controller (torque/force-generating current, PI controller).
Description: Displays the actual output of the Isd current controller (flux-generating current, PI controller).
The value contains the proportional and integral components of the PI controller.
Description: Displays the integral component of the Isd current controller (flux-generating current, PI controller).
p1717[0...n] Current controller integral-action time / I_ctrl Tn
SERVO, VECTOR
(n/M)
6714, 7017
0.00 [ms] 1000.00 [ms] 2.00 [ms]
r1718 CO: Isq controller output / Isq_ctrl outp
r1719 Isq controller integral component / Isq_ctrl I_comp
r1723 CO: Isd controller output / Isd_ctrl outp
r1724 Isd controller integral component / Isd_ctrl I_comp
Parameters
List of parameters
Description: Displays the limit value for the integral component of the Isd current controller.
Description: Sets the scaling of the quadrature arm decoupling
Note: This parameter is ineffective for sensorless vector control. In this case, p1727 is always used. If p1726 is set to 0,
then the quadrature de-coupling is de-activated. The integral component of the Isd current controller remains effec-
tive in the complete speed control range.
For the closed-loop control of synchronous motors, this parameter is used to scale the current controller de-cou-
pling.
Description: Sets the scaling of quadrature arm decoupling when the voltage limit is reached.
Description: Displays the actual output of the quadrature channel de-coupling for the d axis.
Description: Displays the actual output of the quadrature channel de-coupling for the q axis.
r1725 Isd controller integral component limit / Isd_ctrl I_limit
p1726[0...n] Quadrature arm decoupling, scaling / Transv_decpl scal
0.0 [%] 200.0 [%] 75.0 [%]
p1727[0...n] Quadrature arm decoupling at voltage limit scaling / TrnsvDecplVmaxScal
0.0 [%] 200.0 [%] 50.0 [%]
r1728 De-coupling voltage, in-line axis / U_dir-axis_decoupl
r1729 De-coupling voltage, quadrature axis / U_quad_decoupl
List of parameters
Parameters
Description: Sets the speed activation threshold (referred to the synchronous speed r0336 / r0313) for pure quadrature branch
operation of the closed-loop current control.
The d current controller is only effective as P controller for speeds greater than the threshold value.
Warning: For settings above 80%, the d current controller is active up to the field weakening limit (maximum voltage)
This can result in unstable behavior as the closed-loop control at the maximum voltage is based on pure quadrature
branch operation.
Setting values as high as this should not be selected; they are only intended for test purposes.
Note: The parameter is only effective for induction motor operation without an encoder.
Description: Displays the direct-axis voltage setpoint Ud.
Description: Displays the direct-axis voltage setpoint Ud.
Description: Displays the quadrature-axis component of voltage setpoint Uq.
p1730[0...n] Isd controller integral component shutdown threshold / Isd_ctrl I_thresh
30 [%] 150 [%] 30 [%]
r1732 CO: Direct-axis voltage setpoint / Direct U set
6714, 5718
r1732[0...1] CO: Direct-axis voltage setpoint / Direct U set
6714, 5718
r1733 CO: Quadrature-axis voltage setpoint / Quad U set
5718, 6714, 6719
Parameters
List of parameters
Description: Displays the quadrature-axis component of voltage setpoint Uq.
Description: Defines the gain of the controller for resonance damping for operation with sensorless vector control in the range
that current is injected.
Description: Sets the speed threshold value to detect a stalled motor.
If the adaptation controller output exceeds the parameterized speed difference, then bit 11 in status word p1408 is
set.
Dependency: If a stalled drive is detected (p1408.11 set), fault 7902 is output after the delay time in p2178.
Refer to: p2178
Note: Speed monitoring is only effective in operation with a speed encoder (refer to p1300).
Stalling is also identified if steps/jumps occur in the speed signal, which exceed the value in p0492.
Description: Sets the fault threshold in order to detect a motor that has stalled.
If the error signal (r1746) exceeds the parameterized error threshold, then status signal r1408.12 is set to 1.
Dependency: If a stalled drive is detected (r1408.12 = 1), fault F07902 is output after the delay time set in p2178.
Refer to: p2178
Note: Monitoring is only effective in the low-speed range (below p1755 * (100% - p1756)).
r1733[0...1] CO: Quadrature-axis voltage setpoint / Quad U set
5718, 6714, 6719
p1740[0...n] Gain resonance damping for encoderless closed-loop control / Gain res_damp
0.000 10.000 0.025
p1744[0...n] Motor model speed threshold stall detection / MotMod n_thr stall
0.00 [rpm] 210000.00 [rpm] 100.00 [rpm]
p1745[0...n] Motor model error threshold stall detection / MotMod ThreshStall
0.0 [%] 1000.0 [%] 5.0 [%]
List of parameters
Parameters
Description: Signal to initiate stall detection
Note: The signal is not calculated while magnetizing and only in the low speed range (below p1755 * (100 % - p1756)).
Description: Sets the lower speed for the transition "n_set -> n_act" in encoderless operation.
This value is entered as a percentage referred to p1749.
Description: Sets the upper speed for the transition "n_set -> n_act" in sensorless operation.
This value is entered as a percentage of p1755.
Description: Sets the configuration for the motor model.
Bit 0 = 1: Forces open-loop speed-controlled starting (ASM).
Bit 1 = 1: Forces the system to pass through frequency zero, open-loop-controlled (ASM).
Bit 2 = 1: Drive remains in full closed-loop control mode, even at zero frequency (ASM).
Bit 3 = 1: Motor model evaluates the saturation characteristic (ASM).
Bit 4 = 1: Time-controlled change between current and observer models (ASM).
Bit 5 = 1: HF signal injection to estimate the continuous rotor position (PESM).
Bit 6 = 1: If the motor is blocked, sensorless vector control remains speed-controlled (ASM).
r1746 Motor model error signal stall detection / MotMod sig stall
- [%] - [%] - [%]
p1748[0...n] Motor model lower changeover speed n_set -> n_act / Lower n_chngov
0.0 [%] 90.0 [%] 50.0 [%]
p1749[0...n] Motor model upper changeover speed n_set -> n_act / Upper n_chgov
0.0 [%] 99.0 [%] 50.0 [%]
p1750[0...n] Motor model configuration / MotMod config
CALC_MOD_LIM_REF
Access level: 3
- - 0000 0000 bin
00 Controlled start Yes No -
01 Controlled through 0 Hz Yes No -
Parameters
List of parameters
Caution: Do not use bit 6 = 1 if the motor can be reversed by the load. Long delay times due to blocking (p2177) can cause
the motor to stall. In this case you should de-activate the function or use closed-loop control throughout the speed
range (note the information re bit 2 = 1).
Note: Bit 0 ... 3 only have influence for sensorless vector control, bit 4 only for vector control with encoder. Bit 2 is pre-
assigned depending on p0500.
Re bit 2 = 1:
The sensorless vector control is effective down to zero frequency. A change is not made into the open-loop speed
controlled mode.
This operating mode is possible for passive loads. These include applications where the load itself does not gener-
ate any active torque and therefore only acts reactively to the drive torque of the induction motor.
If bit 2 = 1, then bit 3 is automatically set to 1. Manual de-selection is possible and may be sensible if the saturation
characteristic (p1960) was not measured for third-party motors. Generally, for standard SIEMENS motors, the
already pre-assigned (default value) saturation characteristic is adequate.
When the bit is set, the selection of bits 0 and 1 is ignored.
Re bit 2 = 0:
If the model feedback is deactivated (p1784 = 0), with bit 2 = 0, then bit 3 is also automatically set to 0.
Re bit 5 = 1:
The selection of HF signal injection is only relevant for permanent-magnet synchronous motors (PESM). Therefore,
activation of bit 5 is only possible outside of motor commissioning (p0010 = 0).
In order to achieve user-friendly configuration of the power unit components in the oversampling mode, when acti-
vated for the first time, initially p1810.3 is set, and then an automatic system boot is initiated.
When deactivating p1750.5, on the other hand p1810.3 remains unchanged and the system does not boot again.
Therefore, to reverse configure the power unit components from the oversampling mode (after manually deselect-
ing p1750.5) then initially p1810.x must be manually deleted and then a manual warm restart (p0009) initiated.
As alternative to a warm restart: save the parameters and then power-up again.
When the function "safety without encoder" (p9306/p9506) is activated, this setting is not permissible and results in
monitoring errors.
Re bit 6 = 1:
The following applies for encoderless vector control of induction motors:
For a blocked motor (see p2175, p2177) the time condition in p1758 is bypassed and a change is not made into
open-loop controlled operation.
Description: Displays the status of the motor model.
02 Closed-loop ctrl oper. down to zero freq. for
passive loads
Yes No -
03 Motor model Lh_pre = f(PsiEst) Yes No -
04 Model changeover Time controlled Freq. controlled -
05 Cl.-loop control mode PESM up to f=0Hz
with HF signal injection
Yes No -
06 Closed-loop control when motor is blocked Yes No -
r1751 Motor model status / MotMod status
- - -
00 Controlled operation Active Inactive 6721
01 Set ramp-function generator Active Inactive -
02 Stop RsLh adaptation Yes No -
03 Feedback Active Inactive -
04 Encoder operation Active Inactive -
05 Holding angle Yes No -
06 Acceleration criterion Active Inactive -
07 Set angular integrator PEM No Yes -
List of parameters
Parameters
Description: Sets the speed to change over the motor model for operation with encoder.
Note: Induction motor (ASM):
The motor model is influenced for speeds/velocities greater than p1752.
Synchronous motor (SRM):
A monitoring (F07412) is activated for speeds/velocities greater than p1752.
The motor model is additionally influenced when kT adaptation is activated (p1780.3 = 1).
Description: Sets the velocity to change over the motor model for operation with encoder.
Note: Induction motor (ASM):
The motor model is influenced for speeds/velocities greater than p1752.
Synchronous motor (SRM):
A monitoring (F07412) is activated for speeds/velocities greater than p1752.
The motor model is additionally influenced when kT adaptation is activated (p1780.3 = 1).
Description: Sets the speed to change over the motor model for operation with encoder.
Dependency: In U/f characteristic mode the parameter is of no significance.
Refer to: p1756
08 Stop Kt adaptation PEM No Yes -
09 PolID active PEM SLVC No Yes -
10 I injection PEM No Yes -
11 Speed controller output cannot be set to
zero
Yes No -
12 Rs adapt waits Yes No -
13 Motor operation Yes No -
14 Stator frequency sign Positive Negative -
15 Torque sign Motor mode Regenerative mode -
16 Pulse injection active PEM Yes No -
17 Operation with feedback Selected Deselected -
p1752[0...n] Motor model changeover speed operation with encoder / MotMod n_chgov enc
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
p1752[0...n] Motor model with encoder changeover velocity / MotMod v_chgov enc
0.00 [m/min] 1000.00 [m/min] 1000.00 [m/min]
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Parameters
List of parameters
Description: Sets the hysteresis for the changeover speed of the motor model for operation with speed encoder.
Note: The value refers to p1752. In the case of separately excited synchronous motors, the lower hysteresis value is cal-
culated with p1752 * p1753; in the case of all other types of motor, p1752 * (1 - p1753) is used.
Description: Sets the smoothing time constant to filter the main flux angle difference from the voltage and current models.
The filtered value is included in the calculation of the total flux angle.
PESM: Sets the smoothing time constant for the angular difference display between motor model and encoder.
Note: In the case of a separately excited synchronous motor and sensorless vector control, the parameter must be set to
the minimum value to improve motor model changeover.
Description: Sets the speed to change over the motor model to encoderless operation.
Note: The changeover speed applies for the changeover between open-loop and closed-loop control mode.
Description: Sets the velocity to change over the motor model to encoderless operation.
Note: The changeover velocity applies for the changeover between open-loop and closed-loop control mode.
p1753[0...n] Motor model changeover speed hysteresis operation with encoder /
MotMod n_chgovHysE
0.0 [%] 90.0 [%] 0.0 [%]
p1754[0...n] Flux angle difference smoothing time / Angle diff T_smth
0.1 [ms] 1000.0 [ms] 5.0 [ms]
p1755[0...n] Motor model changeover speed encoderless operation / MotMod n_chgSnsorl
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
p1755[0...n] Motor model changeover velocity encoderless operation / MotMod v_chgSnsorl
0.00 [m/min] 1000.00 [m/min] 1000.00 [m/min]
List of parameters
Parameters
Description: Sets the speed to change over the motor model to encoderless operation.
Refer to: p1756
Notice: The changeover speed represents the steady-state minimum speed up to which the motor model can be used in
sensorless steady-state operation. If the stability is not adequate close to the changeover speed, it may make
sense to increase the parameter value.
Note: The changeover speed applies for the changeover between open-loop and closed-loop control mode.
Description: Sets the hysteresis for the changeover speed/velocity of the motor model.
Note: The value is entered relative to p1404, p1752 or p1755.
Description: Sets the hysteresis for the changeover speed/velocity of the motor model.
Note: The value is entered relative to p1404, p1752 or p1755.
Description: Sets the hysteresis for the changeover speed of the motor model for encoderless operation.
Refer to: p1755
Note: The parameter value refers to p1755. In the case of separately excited synchronous motors, the lower hysteresis
value is calculated with p1755 * p1756; in the case of all other types of motor, p1755 * (1 - p1756) is used.
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
p1756 Motor model changeover speed hysteresis / MotMod n_chgov hys
0.0 [%] 90.0 [%] 5.0 [%]
p1756 Motor model changeover velocity hysteresis / MotMod v_chgov hys
0.0 [%] 90.0 [%] 5.0 [%]
p1756 Motor model changeover speed hysteresis encoderless operation /
MotMod n_chgov hys
6732, 6733
0.0 [%] 95.0 [%] 50.0 [%]
Parameters
List of parameters
Description: Sets the gain of the transient response controller when the motor model changes over from open-loop controlled
operation to closed-loop controlled operation.
Note: Only for ASM and PSM in encoderless operation:
The settling range starts at 0.5 * p1755 * p1756.
For ASM it ends at p1755 * p1756 or at p1755, if p1759 is at the maximum value.
For PSM it always ends at p1755 * p1756.
Description: Sets the minimum time for falling below the changeover speed when changing from closed-loop controlled opera-
tion to open-loop controlled operation.
Description: Sets the minimum time for exceeding the changeover speed when changing from open-loop controlled operation to
closed-loop controlled operation.
Note: When p1759 = 2000 ms, the delay time becomes ineffective and the model changeover is determined by the output
frequency only.
Description: Sets the proportional gain of the controller for speed adaptation with encoder
p1757[0...n] Motor model w/o enc. op./cl.-loop controlled stab. controller Kp / MotMod w/o enc Kp
0.01 10.00 0.70
p1758[0...n] Motor model changeover delay time closed/open-loop control / MotMod t cl_op
100 [ms] 10000 [ms] 1000 [ms]
p1759[0...n] Motor model changeover delay time open/closed-loop control / MotMod t op_cl
0 [ms] 2000 [ms] 0 [ms]
p1760[0...n] Motor model with encoder speed adaptation Kp / MotMod wE n_ada Kp
0.000 100000.000 1000.000
List of parameters
Parameters
Description: Sets the integral-action time of the controller for speed adaptation with encoder
Description: Induction motor (ASM):
Displays the referred imaginary system deviation for the adaptation circuit of the motor model.
Permanent-magnet synchronous motor (PESM):
Displays the system deviation for speed adaptation.
r1762.0: Angular deviation [rad-el] of the estimated EMF.
r1762.1: Angular deviation [electr. deg.] of the low-level signal response for pulse technique.
Index: [0] = Deviation Model1
[1] = Deviation Model2
Displays the referred real system deviation for the adaptation circuit of the motor model.
Not used.
Description: Sets the proportional gain of the controller for speed adaptation without encoder.
p1761[0...n] Motor model with encoder speed adaptation Tn / MotMod wE n_ada Tn
0 [ms] 1000 [ms] 4 [ms]
r1762[0...1] Motor model deviation component 1 / MotMod dev comp 1
6731
- - -
r1763 Motor model deviation component 2 / MotMod dev comp 2
- - -
p1764[0...n] Motor model without encoder speed adaptation Kp / MotMod woE n_adaKp
0.000 100000.000 1000.000
Parameters
List of parameters
Description: Displays the effective proportional gain of the controller for the speed adaptation.
Description: Sets the speed to enable the voltage model to calculate the speed actual value.
This value is entered as a percentage referred to p1752.
Description: Sets the integral time of the controller for speed adaptation without encoder
Description: Displays the effective gain of the integral component of the controller for speed adaptation.
Description: Displays the P component of the controller for speed adaptation.
r1765 Motor model, speed adaptation Kp effective / MotM n_ada Kp act
Not for motor type: REL, FEM Scaling: p2001 Expert list: 1
- - -
p1766[0...n] Motor model voltage model calculation enable / U_mod calc enab
0.0 [%] 90.0 [%] 50.0 [%]
p1767[0...n] Motor model without encoder speed adaptation Tn / MotMod woE n_adaTn
1 [ms] 200 [ms] 4 [ms]
r1768 Motor model, speed adaptation Vi effective / MotM n_ada Vi act
- - -
r1770 CO: Motor model speed adaptation proportional component / MotMod n_adapt Kp
- [rpm] - [rpm] - [rpm]
List of parameters
Parameters
Description: Displays the I component of the controller for speed adaptation.
Description: Displays estimated (speed) signals of the motor model.
r1773[0]: Displays the estimated (mechanical) slip of the motor model.
r1773[1]: Displays the estimated input speed of the motor model.
Index: [0] = Slip speed estimated
[1] = Speed estimated
Description: Sets the offset voltage in the alpha direction; this compensates the offset voltages of the drive converter/inverter at
low speeds. The value is valid for the rated (nominal) pulse frequency of the power unit.
Note: The value is pre-set during the rotating measurement.
Description: Sets the offset voltage in the beta direction; this compensates the offset voltages of the drive converter/inverter at
low speeds. The value is valid for the rated (nominal) pulse frequency of the power unit.
Note: The value is pre-set during the rotating measurement.
Description: Displays the internal status signals of the motor model:
r1771 CO: Motor model speed adaptation I comp. / MotMod n_adapt Tn
- [rpm] - [rpm] - [rpm]
r1773[0...1] Motor model slip speed / MotMod slip
- [rpm] - [rpm] - [rpm]
p1774[0...n] Motor model, offset voltage compensation alpha / MotMod offs comp A
-5.000 [V] 5.000 [V] 0.000 [V]
p1775[0...n] Motor model, offset voltage compensation beta / MotMod offs comp B
-5.000 [V] 5.000 [V] 0.000 [V]
r1776[0...6] Motor model status signals / MotMod status sig
- - -
Parameters
List of parameters
Index 0: Changeover ramp between current and voltage models
Index 1: Changeover ramp for model tracking (encoderless induction motors only)
Index 2: Changeover ramp for zero frequency range (encoderless induction motors only)
Index 3: Transition ramp actual speed from speed setpoint to model value (encoderless FEM)
Index 4: Speed controller enable (encoderless FEM)
Index 5: Transition ramp between current and voltage models (encoderless FEM)
Index 6: Transition ramp for EMF deviation at PLL input (encoderless PESM)
Index: [0] = Changeover ramp motor model
[1] = Changeover ramp model tracking
[2] = Changeover ramp zero frequency encoderless ASM
[3] = Changeover ramp actual speed encoderless FEM
[4] = Enable speed controller encoderless FEM
[5] = Changeover ramp motor model encoderless FEM
[6] = Changeover ramp motor model encoderless PESM
Note: Indices 3 through 5 are only relevant in the case of encoderless control of separately excited synchronous motors.
Displays the difference between the motor model flux angle and the transformation angle.
Displays the angular difference between motor model and encoder.
Dependency: A setting for smoothing the display can be made using p1754.
Notice: The display only makes sense for corrected actual value inversion, encoder pulse number and pole pair number.
Example:
Moving in encoderless operation at a speed not equal to zero and without load.
--> Check the sign of r0061 and r0063. If the sign is not equal, then change p0410.0.
--> Check the stationary value of r0061 and r0063. If the value is not equal, change the encoder pulse number
(p0408) or pole pair number (p0314).
Displays the difference between the motor model flux angle and the transformation angle.
Displays the angular difference between motor model and encoder.
Dependency: A setting for smoothing the display can be made using p1754.
r1778 Motor model flux angle difference / MotMod ang. diff.
- [] - [] - []
r1778 Motor model flux angle difference / MotMod ang. diff.
- [] - [] - []
List of parameters
Parameters
Description: Displays the absolute value of the flux of the motor model.
Description: Sets the configuration for the adaptation circuit of the motor model.
Induction motor (ASM): Rs, Rr (only for operation with encoder), Lh and offset compensation.
Permanent magnet synchronous motor (PEM): kT
Caution: For the PEM kT adaptation (p1780.3) as well as the compensation of the voltage emulation error (p1780.8) and for
the kT(iq) characteristic (p1780.9), the function module "Extended torque control" (r0108.1) should be activated.
Note: ASM: Induction motor
PEM: Permanent magnet synchronous motor
The kT adaptation is only active at a speed greater than the changeover speed with encoder (p1752). Near the cur-
rent limit when strongly saturating motors are operated.
r1779 Motor model absolute flux / MotMod abs flux
Not for motor type: PEM, REL, FEM Scaling: PERCENT Expert list: 1
- [%] - [%] - [%]
p1780[0...n] Motor model adaptation configuration / MotMod adapt conf
- - 0000 0000 0010 0000 bin
03 Select motor model PEM kT adaptation Yes No -
05 Select ASM Rr adaptation (only with
encoder)
Yes No -
07 Select T(valve) with Rs adaptation Yes No -
08 Compensation voltage emulation error in
the drive converter
Yes No -
09 kT(iq) characteristic active Yes No -
p1780[0...n] Motor/converter model adaptation configuration / MotMod adapt conf
SERVO (Exp M_ctrl) Can be changed: U, T Calculated: - Access level: 3
- - 0000 0001 0010 1000 bin
encoder)
Yes No -
08 Compensation voltage emulation error in
the drive converter
Yes No -
09 kT(iq) characteristic active Yes No -
Parameters
List of parameters
Caution: For the PEM kT adaptation (p1780.3) as well as the compensation of the voltage emulation error (p1780.8) and for
the kT(iq) characteristic (p1780.9), the function module "Extended torque control" (r0108.1) should be activated.
The kT adaptation and the kT characteristic can be simultaneously selected.
Re kT adaptation (p1780.3 = 1):
- the kT adaptation is only active at a speed greater than the changeover speed with encoder (p1752).
- beforehand, an identification of the voltage emulation error must be started (p1909.14 = 1).
- If the electrical configuration (e.g. Motor Module, cable routing) or the pulse frequency (p1800) changes, then a
new identification run must be carried out.
- To identify the voltage emulation error the Motor Module should still be warm.
- the motor temperature (r0035) should not change significantly (i.e. it should not be identified immediately after a
load duty cycle).
Re kT(iq) characteristic (p1780.9 = 1):
- for the kT(iq) characteristic kT(iq) = kT + kT3 * iq^2 + kT5 * iq^4 + kT7 * iq^6 the parameters must first be identified
(p1959.6 = 1) (kT: p0316, kT3: p0646, kT5: p0647, kT7: p0647).
Dependency: In U/f characteristic operating mode only bit 7 is relevant.
When selecting the compensation of the valve interlocking via Rs (bit 7), the compensation in the gating unit is de-
activated and is instead taken into account in the motor model.
In order that the correction values of the Rs, Lh and kT adaptation (selected using Bit 0 ... Bit 2) are correctly
accepted when changing over the drive data set, a dedicated motor number must be entered into p0826 for each
different motor.
Description: Sets the scaling for model fault feedback.
- - 0111 1100 bin
01 Select motor model ASM Rs adaptation Yes No -
02 Select motor model ASM Lh adaptation Yes No -
04 Select motor model offset adaptation Yes No -
encoder)
Yes No -
06 Select pole position identification PEM
encoderless
Yes No -
p1784[0...n] Motor model feedback scaling / Mod_FB_scal
0.0 [%] 1000.0 [%] 0.0 [%]
List of parameters
Parameters
Note: Feeding back the measured model fault to the model states increases the control stability and makes the motor
model rugged against parameter errors.
The model feedback is only effective for encoderless operation of the ASM.
When feedback is selected (p1784 > 0), Lh adaptation is not effective.
Description: Sets the proportional gain for the Lh adaptation of the motor model for an induction motor (ASM).
Description: Sets the integral time for the Lh adaptation of the motor model for an induction motor (ASM).
Description: Displays the corrective value for the Lh adaptation of the motor model for an induction motor (ASM).
Note: The adaptation result is reset if the magnetizing inductance of the induction motor is changed (p0360, r0382). This
also happens when changing over the data set if a different motor is not being used (p0826).
The display of the inactive data sets is only updated when changing over the data set.
Description: Displays the power-on stator frequency/ primary section frequency for the Lh adaptation for the induction motor
(ASM).
p1785[0...n] Motor model Lh adaptation Kp / MotMod Lh Kp
0.000 10.000 0.100
p1786[0...n] Motor model Lh adaptation integral time / MotMod Lh Tn
10 [ms] 10000 [ms] 100 [ms]
r1787[0...n] Motor model Lh adaptation corrective value / MotMod Lh corr
- [mH] - [mH] - [mH]
r1791 Motor model Lh adaptation power-on frequency / MotMod Lh f_on
- [Hz] - [Hz] - [Hz]
Parameters
List of parameters
Description: Displays the power-on slip frequency for the Lh adaptation for the induction motor (ASM).
Description: Sets the smoothing time of the kT adaptation of the motor model for a permanent-magnet synchronous motor
(PEM).
Description: Sets the integral time of the kT adaptation of the motor model for a permanent-magnet synchronous motor (PEM).
Description: Displays the corrective value of the kT adaptation of the motor model for a permanent-magnet synchronous motor
(PEM).
(PEM).
r1792 Motor model Lh adaptation power-on slip / MotMod Lh fslip
- [Hz] - [Hz] - [Hz]
p1795[0...n] Motor model kT adaptation smoothing time / MotMod kT T_smth
SERVO (Exp M_ctrl) Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
1 [ms] 10000 [ms] 100 [ms]
p1795[0...n] Motor model kT adaptation integral time / MotMod kT Tn
10 [ms] 10000 [ms] 100 [ms]
r1797 Motor model kT adaptation corrective value / MotMod kT corr
SERVO (Exp M_ctrl,
Lin)
r1797 Motor model kT adaptation corrective value / MotMod kT corr
SERVO (Exp M_ctrl) Can be changed: - Calculated: - Access level: 3
- [Nm/A] - [Nm/A] - [Nm/A]
List of parameters
Parameters
(PEM).
Note: The display of the inactive data sets is only updated when changing over the data set.
Description: Sets the proportional gain Kp for speed adaptation with active pulse technique for the estimation of the continuous
rotor position.
Description: Sets the pulse frequency for the converter.
This parameter is pre-set to the rated converter value when the drive is first commissioned.
Dependency: The pulse frequency can, depending on the current controller sampling time (p0115[0]) assume the following val-
ues:
a) p1800 = 1000 / (p0115[0] * n) mit n = 2, 3, 4, 5
b) p1800 = 1000 * n / p0115[0] with n = 1, 2, 3, 4, ...
Example:
p0115[0] = 125 s -> p1800 = 1.6, 2, 2.6, 4 kHz (from equation a)
p0115[0] = 125 s -> p1800 = 8, 16 kHz (from equation b)
Possible setting values can be taken from r0114 (if p0009 = p0010 = 0).
Refer to: r0110, r0111, p0112, p0113, r0114, p0115, p0230, p1817
Note: The maximum possible pulse frequency is also determined by the power unit being used.
When the pulse frequency is increased, depending on the particular power unit, the maximum output current can be
reduced (derating, refer to r0067).
For encoderless operation (p1404 = 0 or p1300 = 20), the following conditions apply:
p1800 = 1 / (2 * p0115[0])
or
p1800 >= n / p0115[0], n = 1, 2, ...
For motors with a low power rating (< 300 W) we recommend that p1800 is set acc. to the second condition.
r1797[0...n] Motor model kT adaptation corrective value / MotMod kT corr
- [Nm/A] - [Nm/A] - [Nm/A]
p1798[0...n] Motor model pulse technique speed adaptation Kp / MotMod pulses Kp
0.000 1000.000 1.000
p1800[0...n] Pulse frequency setpoint / Pulse freq setp
1.000 [kHz] 32.000 [kHz] 4.000 [kHz]
Parameters
List of parameters
Description: Sets the pulse frequency for the converter.
This parameter is pre-set to the rated converter value when the drive is first commissioned.
Dependency: The pulse frequency can, depending on the current controller sampling time (p0115[0]) assume the following val-
ues:
p1800 = 1 / (p0115[0] * 2)
or
p1800 = n / p0115[0] where n = 1, 2, 3, ...
Example:
p0115[0] = 250 s --> p1800 = 2, 4, 8, 12, 16 kHz
Possible setting values can be taken from r0114 (if p0009 = p0010 = 0).
If p0092 = 1 the sampling times p0115 and the pulse frequency p1800 are checked every time the parameters are
downloaded, and reset to the initial values if necessary. This check can be de-activated by setting p0092 = 0 (mak-
ing this setting does not affect isochronous PROFIBUS operation).
If wobbulation is selected (p1810.2), the pulse frequency can only be changed as part of pulse enabling to values
with the following ratio:
a) p1800 <= 1000 / p0115[0] for p1811 > 0 %
b) p1800 <= 1000 * 2 / p0115[0] for p 1811 = 0 %
Under pulse inhibit
p1800 > 1000 / p0115[0] -> p1811 = 0
p1800 > 1000 * 2 / p0115[0] -> 1810.2 = 0 and p1811 = 0
(applicable for all indices)
Refer to: r0110, r0111, p0112, p0113, r0114, p0115, p0230, p1817
Note: The maximum possible pulse frequency is also determined by the power unit being used.
When the pulse frequency is increased, depending on the particular power unit, the maximum output current can be
reduced (derating, refer to r0067).
The maximum pulse frequency for operation with output reactors (see p0230) is 4 kHz for booksize and blocksize
power units, for chassis power units it is twice the rated pulse frequency (2.5 kHz or 4 kHz).
If a sine-wave filter is parameterized as output filter (p0230 = 3), then the pulse frequency cannot be changed below
the minimum value required for the filter.
Description: Display and connector output for the actual converter switching frequency.
Index: [0] = Actual
[1] = Modulator minimum value
Note: The selected pulse frequency (p1800) may be reduced if the drive converter has an overload condition (p0290).
The following applies for vector drives (p0107):
The pulse frequency can also be reduced when changing over the modulator to an optimized pulse pattern. This is
used to avoid overcontrol.
1.000 [kHz] 16.000 [kHz] 4.000 [kHz]
r1801[0...1] CO: Pulse frequency / Pulse frequency
- [kHz] - [kHz] - [kHz]
List of parameters
Parameters
In the case of chassis power units, two-thirds of the setpoint pulse frequency is displayed in the FLB modulation
range.
Description: Sets the modulator mode.
Value: 0: Automatic changeover SVM/FLB
1: Flat top modulation (FLB)
2: Space vector modulation (SVM)
3: SVM without overcontrol
4: SVM/FLB without overcontrol
5: SVM with pulse frequency reduction
6: SVM/FLB with pulse frequency reduction
7: No edge modulation up to 100 Hz
8: No edge modulation up to 60 Hz
9: Edge modulation
Dependency: If a sine-wave filter is parameterized as output filter (p0230 = 3, 4), or if the power unit firmware is not able to calcu-
late edge modulation (r0192.0 = 0), then only space vector modulation without overcontrol can be set as modulation
type (p1802 = 3).
p1802 > 6: Wobbulation is de-activated, p1810.2 = 0 and p1811 = 0 (valid for all indices)
Refer to: r0192, p0230, p7003
Notice: If the edge modulation is enabled (p1802 > 6), then the current actual value correction should be activated (p1840.0
= 0), if the Motor Module is connected to a controlled (regulated) DC link (Active Infeed).
Note: When modulation modes are enabled that could lead to overmodulation (p1802 = 0, 1, 2, 5, 6), the modulation
depth must be limited using p1803 (default p1803 < 100 %). The higher the overmodulation, the greater the current
ripple and torque ripple.
When changing p1802[x], the values for all of the other existing indices are also changed.
p1802 = 7, 8 should be used if the drive is operated below 100 Hz or 60 Hz, and it is necessary to avoid changing
over to edge modulation. Above these output frequencies, the modulation depth remains limited so that there the
full output voltage of the edge modulation is not reached.
Description: Defines the maximum modulation depth.
Note: p1803 = 100% is the overcontrol limit for space vector modulation (for an ideal drive converter without any switching
delay).
If an optimized pulse pattern is enabled (edge modulation), then the modulation depth is limited to below the output
frequency of 28 Hz as there is no optimized pulse pattern in this range.
p1802[0...n] Modulator mode / Modulator mode
VECTOR Can be changed: T Calculated:
CALC_MOD_LIM_REF
Access level: 3
0 9 0
p1803[0...n] Maximum modulation depth / Modulat depth max
VECTOR Can be changed: U, T Calculated:
CALC_MOD_LIM_REF
Access level: 3
20.0 [%] 150.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Filter time constant for the smoothed modulation index to change over the modulator mode.
Description: Sets the filter time constant of the DC link voltage used to calculate the modulation depth.
Description: DC link voltage that is used to convert the setpoint voltage into an equivalent modulation depth.
Description: DC link voltage used to determine the maximum possible output voltage.
Description: Displays the effective modulator mode.
Value: 1: Flat top modulation (FLB)
2: Space vector modulation (SVM)
3: Edge modulation from 28 Hz; 23:3
p1804[0...n] Filter time constant smoothed modulation index / T_filt mod_idxSmth
0.0 [ms] 10000.0 [ms] 10.0 [ms]
p1806[0...n] Filter time constant Vdc correction / T_filt Vdc_corr
0.0 [ms] 10000.0 [ms] 0.0 [ms]
r1807 Actual DC link voltage to calculate the modulation depth / VdcActValMod_depth
- [V] - [V] - [V]
r1808 DC link voltage actual value for U_max calculation / Vdc act val U_max
- [V] - [V] - [V]
r1809 CO: Modulator mode actual / Modulator mode act
1 8 -
List of parameters
Parameters
Description: Sets the configuration for the modulator.
Dependency: If bit 2 is set from 1 to 0, p1811 = 0 is set.
Notice: Bit 02 = 1 can only be set subject to the following prerequisites:
- Pulse inhibit
- r0192.16 = 1
- p1800 < 2 x 1000/p0115[0]
Bit 09 = 0 pulse-dropping function
Bit 09 = 1 pulse-locking function
Bit 15 can only be changed subject to the following prerequisites:
- Pulse inhibit
A gating unit that does not permit wobbulation is used.
Re bit 02 = 1:
A gating unit that permits wobbulation is used.
For a pulse frequency wobbulation amplitude equal to zero (p1811 = 0), the maximum possible pulse frequency in
p1800 = 2 x 1/current controller clock cycle (p0115[0]).
For a wobbulation amplitude greater than zero (p1811 > 0), the maximum possible pulse frequency in p1800 =
1/current controller clock cycle (p0115[0]).
Re bit 04 = 0 (only valid for bit 2 = 1):
The pulse frequency wobbulation amplitude (p1811) is enabled.
Re bit 04 = 1 (only valid for bit 2 = 1):
The pulse frequency wobbulation amplitude (p1811) is disabled.
Re bit 10 = 0:
Pulse-locking function activated
Re bit 10 = 1:
Pulse-dropping function activated
Re bit 15 = 0:
To de-activate flat-top control mode, p3400.1 also needs to be set to 0.
Re bit 15 = 1:
Flat-top control mode is active regardless of the setting for p3400.1.
p1810 Modulator configuration / Modulator config
- - 1000 0100 0001 0000 bin
02 Activate wobbulation Yes No -
04 Disable wobbulation amplitude Yes No -
05 Activate extended current limitation control Yes No -
06 Activate isochronous current limitation Yes No -
07 Activate voltage impression with dynamic
current limits
Yes No -
10 Activate pulse-locking/pulse-dropping func-
tion
Pulse-Dropping Pulse-Locking -
15 Activate flat-top modulation Yes No -
Parameters
List of parameters
Note: Re bit 11:
Precondition:
- firmware version 4.4 or higher for the Control Unit and power unit.
- booksize power unit (r0192.27 = 1).
- current controller sampling time p0115[0} >= 62.5 s.
- for a Double Motor Module the two drive controls must be operated with the same current controller sampling time
(p0115[0]). Otherwise, the higher current controller dynamics can only be activated on the drive with the longer
sampling time.
- it is not permissible that the "safety without encoder" is activated (p9306/p9506).
The following changes are necessary after changing bit 11:
- computing dead time (p0118 = 22 s for bit 11 = 1, p0118 = 0 s for bit 11 = 0).
- controller gains (p1715, p1460).
- with p0340 = 4 computing dead time and controller gains can be automatically pre-assigned. It may be necessary
to still optimize the speed controller.
Before commissioning for the first time (p3925.0 = 0 for all data sets) this parameter is automatically preassigned to
the optimum value.
Dependency: If bit 2 is set from 1 to 0, p1811 = 0 is set.
- - 0000 0000 0000 0000 bin
11 Current controller dynamics higher Yes No -
- - 0000 0000 0000 0010 bin
00 Avg value filter for U_lim (only for
Vdc_comp. in modulator)
Yes No -
01 DC link voltage compensation in the current
control
Yes No -
02 Wobbulation activated Yes No -
03 Current measurement oversampling
selected
Yes No -
08 Pulse frequency reduction (speed depen-
dent) stage 1
Yes No -
09 Pulse frequency reduction (speed depen-
dent) stage 2
Yes No -
tion
13 Pulse freq. reduction before optimized pulse
patterns for 500 s
Yes No -
14 Deactivate maximum angular difference
adaptation
Yes No -
List of parameters
Parameters
Notice: Bit 1 = 0 can only be set under a pulse inhibit and for r0192.14 = 1.
Bit 2 can only be set to 1 subject to the following prerequisites:
- Pulse inhibit
- r0192.16 = 1
- p1800 < 2 x 1000/p0115[0]
Voltage limitation from the minimum of the DC link voltage (lower ripple in the output current, reduced output volt-
age).
Re bit 00 = 1:
Voltage limitation from averaged DC link voltage (higher output voltage with increased ripple in the output current).
The selection is only valid if the DC link compensation is not performed in the Control Unit (bit 1 = 0).
Re bit 01 = 0:
DC link voltage compensation in the modulator.
Re bit 01 = 1:
DC link voltage compensation in the current control.
Re bit 02 = 0:
A gating unit that does not permit wobbulation is used.
Edge modulation is not possible for a parallel connection with a single-winding system (p7003 = 0).
Re bit 02 = 1:
A gating unit that permits wobbulation is used.
For a wobbulation amplitude p1811 = 0, the maximum possible pulse frequency in P1800 = 2 x 1000 / p0115[0].
For a wobbulation amplitude p1811 > 0, the maximum possible pulse frequency in P1800 = 1000 / p0115[0].
Re bit 03 = 1:
The actual current value sensing and the determination of the valve ON times takes place with a double current
controller clock cycle and phase offset.
The activation is only possible with r0192.23 = 1 and takes effect the next time the system is powered up.
Re bit 08 = 1:
Above the frequency threshold r1836[0], the pulse frequency is switched to the value in p1800. Below r1836[0]
(minus the hysteresis), the pulse frequency is reduced to the next possible pulse frequency (see r0114).
Re bit 09 = 1:
Above the frequency threshold r1836[1], the pulse frequency is increased to the next possible value. Below
r1836[1] (minus the hysteresis), the pulse frequency is reduced to the next possible pulse frequency.
If bit 8 is set to 0, bit 9 is automatically reset.
Re bit 10 = 0:
Pulse-locking function activated
Re bit 10 = 1:
Pulse-dropping function activated
Description: Sets the amplitude of the statistical wobbulation signal.
This signal is used to vary the pulse frequency to create a more pleasant sound.
Note: It is only possible to modify the parameter for p1810.2 = 1 (wobbulation activated).
p1811 Pulse frequency wobbulation amplitude / Puls wobb ampl
0 [%] 20 [%] 0 [%]
Parameters
List of parameters
Description: Sets the amplitude of the statistical wobbulation signal.
This signal is used to vary the pulse frequency to create a more pleasant sound.
Note: p1811 > 0 is possible, if the following applies:
- configuration: p1810.2 = 1 (wobbulation activated)
- pulse frequency: p1800 <= 1000 / p115[0]
- output filter, filter type: p0230 < 3 (no sine-wave filter)
Description: Sets the signal source to activate/de-activate offset calibration for output current measurement.
Caution: The absence of offset calibration can have a negative effect on control properties. Offset calibration must be per-
formed before switching on the power unit for the first time after POWER ON.
Note: Offset calibration is only performed with pulses suppressed and can take up to one second.
Description: Sets bit 0 for recording the power unit in the subgroup for the "offset clocking".
Note: A change only becomes effective after booting.
If one of the following secondary conditions is not fulfilled, then none of the power units from the subgroup are
clocked with an offset.
Secondary conditions for clocking with an offset:
- the PWM frequency (p1800[D]) of all power units in the subgroup must be the same.
- the PWM frequency (p1800[D]) must be the same in all drive data sets in the subgroup.
- the following must apply for the ratio between the PWM cycle (1/p1800[D]) and the current controller cycle
(p0115[0]):
The ratio (1/p1800[D]) / (p0115[0]) must be an even integer number (2, 4, 6, ...) for all power units in the subgroup.
or
The ratio (p0115[0]) / (1/p1800[D]) must be an integer number (1, 2, 3, ...) for all power units in the subgroup.
p1811[0...n] Pulse frequency wobbulation amplitude / Puls wobb ampl
0 [%] 20 [%] 0 [%]
p1812 BI: Offset calibration output current measurement / Off_calibr I_outp
- - 1
p1815 Phase for PWM generation subgroup / Ph for PWM subgr
A_INF, S_INF,
SERVO, VECTOR
- - 0001 bin
00 Recording in subgroup for offset clocking Yes No -
List of parameters
Parameters
Description: Sets manual setting and overwriting of automatically determined phase shift for "offset clocking".
Automatic mode. The phase shift value is automatically determined.
For p1816 = 0 ... 16, the following applies:
Manual mode. The user should define the phase shift value as follows:
1. PWM cycle (1/p1800) > current controller clock cycle (p0115[0])
The power unit executes a phase shift from Tshift = current controller cycle (p0115[0]) * p1816.
2. PWM cycle (1/p1800) <= current controller clock cycle (p0115[0])
For p1816 >= 1, the power unit executes a phase shift from Tshift = PWM cycle/2.
Description: Sets the minimum ratio between the pulse frequency and the output frequency.
Notice: If the ratio between the pulse frequency and the output frequency is reduced, then oscillations can occur in the out-
put current that can result in significant levels of current ripple with the appropriate negative effects.
Note: When the maximum speed is changed, the pulse frequency p1800 is automatically limited to this minimum ratio. It
is not permissible to reduce the pulse frequency if this would result in this ratio being undershot.
Description: Sets the phase shift for offset clocking.
For the first active power unit, it is specified whether clocking is to start at 0 (value = 0) or 180 (value = 1). All other
active power units are clocked alternately according to the setting made here.
Note: A change only becomes effective after a POWER ON.
p1816 Set phase for PWM generation manually / Set Ph for PWM
A_INF, S_INF,
SERVO, VECTOR
-1 16 -1
p1817 Minimum ratio, pulse frequency to the output frequency / Min f_puls / f_max
8.3 15.0 12.0
p1818 Phase for PWM generation configuration / Ph for PWM config
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 1
Parameters
List of parameters
Description: Display for "offset clocking".
Depending on the particular case, the value is interpreted differently:
Case 1:
The PWM clock cycle is greater than the current controller clock cycle (p0115[0]) and the ratio between the PWM
clock cycle and the current controller clock cycle and is an integer and even multiple of it (e.g. p0115[0] = 125 s,
pulse frequency = 4 kHz, 2 kHz).
The value displayed refers to:
- the phase shift in the current-controller cycles to be applied by the power unit.
Case 2:
The PWM clock cycle is less than or equal to the current controller clock cycle (p0115[0]) and the ratio between the
current controller clock cycle and the PWM clock cycle is an integer and even multiple of it (e.g. p0115[0] = 125 s,
pulse frequency = 8 kHz, 16 kHz).
The value 1 displayed means that:
- the power unit is to apply a phase shift of 180 (from the PWM cycle).
A value of 0 displayed on all power units of the drive line-up means the following:
- the general conditions of the "offset clocking" (see p1815) are not fulfilled, i.e. no power unit is clocked with an off-
set.
Dependency: Refer to: p0108, r0108, p0115, p1800, p1815, p1816, p1818
Note: For reasons of compatibility, the parameter is an adjustable parameter. However, it functions solely as a display
parameter. This means that the minimum value -1 no longer has any significance and is only available for reasons
of compatibility.
Description: Display for "offset clocking".
Depending on the particular case, the value is interpreted differently:
Case 1:
The PWM clock cycle (1/p1800[D]) is greater than the current controller clock cycle (p115[0]) and the ratio between
the PWM clock cycle and the current controller clock cycle and is an integer and even multiple of it (e.g. p0115[0] =
125 s, p1800[D] = 4 kHz, 2 kHz, 1 kHz).
The value displayed refers to:
- the phase shift in the current-controller cycles to be applied by the power unit.
Case 2:
The PWM clock cycle (1/p1800[D]) is less than or equal to the current controller clock cycle (p0115[0]) and the ratio
between the current controller clock cycle and the PWM clock cycle is an integer and even multiple of it (e.g.
p0115[0] = 125 s, p1800[D] = 8 kHz, 16 kHz).
The value 1 displayed means that:
- the power unit is to apply a phase shift of 180 (from the PWM cycle).
A value of 0 displayed on all power units of the drive line-up means the following:
- the general conditions of the "offset clocking" (see p1815) are not fulfilled, i.e. no power unit is clocked with an off-
set.
Dependency: Refer to: p0108, r0108, p0115, p1800, p1815, p1816, p1818
p1819 Phase for PWM generation / Ph for PWM
A_INF Can be changed: U, T Calculated: - Access level: 3
-1 16 0
p1819 Phase for PWM generation / Ph for PWM
S_INF, SERVO,
VECTOR
-1 16 -1
List of parameters
Parameters
Note: For reasons of compatibility, the parameter is an adjustable parameter. However, it functions solely as a display
parameter. This means that factory setting -1 no longer has any significance and is only available for reasons of
compatibility.
Description: Sets the phase sequence reversal for the motor.
If the motor does not rotate in the required direction, then the output phase sequence can be reversed using this
parameter. This means that with the same setpoint, the motor direction is reversed without reversing the encoder
actual value.
When a speed encoder is being used, it may be necessary to also invert the encoder actual value (p0410).
Value: 0: OFF
1: ON
Note: This setting can only be changed when the pulses are inhibited.
p1821 can be used to reverse the phase sequence and encoder actual value.
Description: Setting to change the direction of rotation.
If the parameter is changed, it reverses the direction of rotation of the motor and the encoder actual value without
changing the setpoint.
Value: 0: CW
1: CCW
Notice: An appropriate fault is output for a drive data set changeover where the direction of rotation changes and the pulses
are enabled.
Note: For operation with the phase sequence U/V/W, the direction of rotation is defined when viewing the face side of the
motor output shaft.
When changing the direction of rotation, the rotating field direction of the current controller is reversed. The speed
actual value (e.g. r0063) is also reversed so that the control sense is kept and internally causing the direction of
rotation to be reversed with the same setpoint. Further, the position actual values of the actual encoder are
reversed (e.g. r0482[0...2]).
For VECTOR, the following applies:
p1820 can be used to reverse the direction of the motor without reversing the encoder actual value.
p1820[0...n] Reverse the output phase sequence / Outp_ph_seq rev
0 1 0
p1821[0...n] Dir of rot / Dir of rot
4711, 4715, 5730, 6730, 6731,
6732
0 1 0
Parameters
List of parameters
Description: Setting to change the direction.
If the parameter is changed, it reverses the direction of rotation of the motor and the encoder actual value without
changing the setpoint.
Value: 0: CW
1: CCW
Notice: For a drive data set changeover with differently set direction and pulse enable, an appropriate fault is output.
Note: For operation with the phase sequence U/V/W, the direction is defined when viewing the face side of the motor out-
put shaft.
When changing the direction, the rotating field direction of the current controller is reversed. The actual velocity
(e.g. r0063) is also reversed so that the control sense is kept and internally causing the direction of rotation to be
reversed with the same setpoint. Further, the position actual values of the actual encoder are reversed (e.g.
r0482[0...2]).
p1820 can be used to reverse the direction of the motor without reversing the encoder actual value.
Description: Sets the threshold voltage drop of the valves (power semiconductor devices) to be compensated.
Note: The value is automatically calculated in the motor data identification routine.
Description: Sets the operating mode for the compensation of the valve lockout time.
Value: 0: Compensation valve lockout time de-activated
1: Compensation valve lockout time activated
Note: The compensation is always active, independent of the value of this parameter if the closed-loop control is activated
to suppress circulating currents (p7035) for power units connected in parallel.
p1821[0...n] Direction / Direction
4711, 4715, 5730, 6730, 6731,
6732
0 1 0
p1825 Converter valve threshold voltage / Threshold voltage
0.0 [Vrms] 100.0 [Vrms] 0.6 [Vrms]
p1827 Infeed compensation valve lockout time operating mode / INFcomp t_lockMode
0 1 0
List of parameters
Parameters
Description: Sets the valve lockout time to compensate for phase U.
Note: The value is automatically calculated in the motor data identification routine.
For type PM340 power units, the value is limited to 3.98 s.
Description: Sets the valve lockout time to compensate for phase V.
Note: For type PM340 power units, the value is limited to 3.98 s.
Description: Sets the valve lockout time to compensate for phase W.
Note: For type PM340 power units, the value is limited to 3.98 s.
Description: Sets the current level for the dead time compensation.
Above the current level, the dead time - resulting from the converter switching delays - is compensated by a previ-
ously calculated constant value. If the relevant phase current setpoint falls below the absolute value defined by
p1832, the corrective value for this phase is continuously reduced.
Dependency: The factor setting of p1832 is automatically set to 0.02 * rated drive converter current (r0207).
p1828 Compensation valve lockout time phase U / Comp t_lock ph U
0.00 [s] 1000000.00 [s] 0.00 [s]
p1829 Compensation valve lockout time phase V / Comp t_lock ph V
0.00 [s] 1000000.00 [s] 0.00 [s]
p1830 Compensation valve lockout time phase W / Comp t_lock ph W
0.00 [s] 1000000.00 [s] 0.00 [s]
p1832 Dead time compensation current level / t_dead_comp I_lev
0.0 [Arms] 10000.0 [Arms] 0.0 [Arms]
Parameters
List of parameters
Description: Frequency to shift the switchover frequency r1836 for pulse frequency reduction.
The parameter value reduces the switchover frequency threshold with the same parameter index.
Index: [0] = Frequency limit 1
[1] = Frequency limit 2
Description: Displays the frequency limits, under which the pulse frequency is automatically reduced.
Starting from the parameterized pulse frequency p1800, the pulse frequency is reduced to the next possible one, if
the frequency limits and an additional hysteresis are fallen below.
Index 0: Frequency limit for the first pulse frequence reduction (active for p1810.8 = 1)
Index 1: Frequency limit for the second pulse frequence reduction (active for p1810.9 = 1)
Index: [0] = Frequency limit 1
[1] = Frequency limit 2
Note: The pulse frequency reduction is not active for U/f control.
A minimum clearance of 10 Hz is kept between the frequency thresholds, which cannot be fallen below when
changing p1835.
Description: Display for the configuration of the gating unit driver.
p1835[0...1] Pulse frequency reduction shift switchover frequency / f_puls_red f_sw
0.00 [Hz] 800.00 [Hz] 0.00 [Hz]
r1836[0...1] Pulse frequency reduction, switchover frequency / f_puls_red f_sw
- [Hz] - [Hz] - [Hz]
r1837 Gating unit configuration / Gating unit config
- - -
00 Modulation depth for a flying restart Limited Not limited -
01 Modulation depth for Vdc closed-loop con-
trol
Limited Not limited -
02 Vdc_min controller Active Not active -
03 Motor data identification routine Active Not active -
04 Current offset calculation Active Not active -
05 Simulation mode Active Not active -
06 Reverse the output phase sequence Active Not active -
07 CCW dir of rot Active Not active -
08 Synchronization (bypass) Active Not active -
09 F07801 monitor by application Active Not active -
10 Chassis Drive active Yes No -
11 Short-circuit test active No Yes -
List of parameters
Parameters
Description: Sets the configuration of the actual value correction.
Note: During operation (pulses enabled) the configuration cannot be changed by changing over drive data sets.
Description: Displays the status of actual value correction.
Description: Sets the weighting factor for the leakage inductance of the L-R element of the actual value correction.
Note: The load-dependent adaptation of the leakage inductance of the current actual value correction is defined using
p0391 ... p0393.
12 FL modulation prohibited Yes No -
13 F3E present Yes No -
14 PS-ASIC3 present Yes No -
15 CU230 or CU240 present Yes No -
16 Current measurement oversampling active Yes No -
17 Actual value averaging temporarily sup-
pressed
Yes No -
18 Modulation depth limiting Yes No -
19 Reduced DC link capacitance (without F3E) Yes No -
p1840[0...n] Actual value correction configuration / ActVal_corr conf
- - 0000 bin
00 Actual value correction de-activated Yes No -
01 Compares the integrals from modulator and
setpoint
Yes No -
r1841 Actual value correction status word / ActVal_corr status
- - -
00 Hardware for the actual value correction
detected
Yes No -
01 Automatic shutdown (too many switching
instants)
Yes No -
02 Integral scaled to half the gating unit clock
cycle freq.
Yes No -
03 Actual value correction temporarily sup-
pressed
Yes No -
15 Actual value correction active Yes No -
p1845[0...n] Actual value correction evaluation factor Lsig / ActVal_cor ev Lsig
0.00 10.00 1.00
Parameters
List of parameters
Description: Sets the damping factor for the actual value correction.
The factor multiplies the T0/Tsig ratio in the feedback branch of the LR element.
Description: Displays phase correction currents as well as the drive converter phase currents
Index: [0] = Harmonics, phase U
[1] = Harmonics, phase V
[2] = Harmonics, phase W
[3] = Meas val phase U
[4] = Meas val phase V
[5] = Meas val phase W
Description: Displays the phase correction voltages and and the drive converter phase voltages
Index: [0] = Harmonics, phase U
[1] = Harmonics, phase V
[2] = Harmonics, phase W
[3] = Meas val phase U
[4] = Meas val phase V
[5] = Meas val phase W
Description: Sets the motor data identification and speed controller optimization.
p1900 = 0:
Function inhibited.
p1900 = 2:
Induction motors --> set p1910 = 1 and p1960 = 0
Permanent-magnet or separately-excited synchronous motors --> set p1910 = 1, p1990 = 1 and p1960 = 0
p1846[0...n] Actual value correction damping factor / ActV_corr D_factor
0.00 10.00 1.00
r1848[0...5] Actual value correction phase currents / ActVal_corr I_ph
- - -
r1849[0...5] Actual value correction phase voltages / ActVal_corr U_ph
- - -
p1900 Motor data identification and rotating measurement / MotID and rot meas
0 2 2
List of parameters
Parameters
When the drive enable signals are present, a motor data identification routine is carried out at standstill with the
next power-on command. Current flows through the motor which means that it can align itself by up to a quarter of
a revolution.
For permanent-magnet or separately-excited synchronous motors, the encoder is adjusted with the next power-on
command. The motor must be free to rotate and rotates through 1.5 revolutions of the motor encoder.
Value: 0: Inhibited
2: Identify motor data at standstill
Dependency: In the simulation mode, the parameter cannot be written into. When selecting the motor data identification routine,
the drive data set changeover is suppressed.
Refer to: p1272, p1300, p1910
Refer to: F07990, A07991
Notice: If there is a motor holding brake, it must be open (p1215 = 2).
To permanently accept the determined settings they must be saved in a non-volatile fashion (p0971, p0977).
Note: The motor and control parameters are only optimally set when both measurements are carried out (initially at stand-
still, and then with the motor rotating).
An appropriate alarm is output when the parameter is set.
The power-on command must remain set during a measurement and after the measurement has been completed,
the drive automatically resets it.
The duration of the measurements can lie between 0.3 s and several minutes. This time is, for example, influenced
by the motor size and the mechanical conditions.
p1900 is automatically set to 0 after the motor data identification routine has been completed.
Description: Sets the motor data identification and speed controller optimization.
p1900 = 0:
Function inhibited.
p1900 = 1:
Induction motors --> set p1910 = 1 and p1960 = 0, 1, 2 depending on p1300
Permanent-magnet or separately-excited synchronous motors --> set p1910 = 1, p1990 = 1 and p1960 = 0, 1, 2
depending on p1300
a revolution.
With the following power-on command, a rotating motor data identification routine is carried out - and in addition, a
speed controller optimization by making measurements at different motor speeds.
p1900 = 2:
Induction motors --> set p1910 = 1 and p1960 = 0
Permanent-magnet or separately-excited synchronous motors --> set p1910 = 1, p1990 = 1 and p1960 = 0
a revolution.
p1900 = 3:
Sets p1960 = 0, 1, 2 depending on p1300
This setting should only be selected if the motor data identification was already carried out at standstill.
p1900 Motor data identification and rotating measurement / MotID and rot meas
0 3 2
Parameters
List of parameters
When the drive enable signals are present, with the next power-on command, a rotating motor data identification
routine is carried out - and in addition, speed controller optimization by taking measurements at different motor
speeds.
Value: 0: Inhibited
1: Identify motor data at standstill and with motor rotating
2: Identify motor data at standstill
3: Identify motor data with motor rotating
Dependency: In the simulation mode, the parameter cannot be written into. When selecting the motor data identification routine,
Refer to: p1272, p1300, p1910, p1960, p1990
Refer to: A07980, A07981, F07982, F07983, F07984, F07985, F07986, A07987, F07988, F07990, A07991
Note: The motor and control parameters are only optimally set when both measurements are carried out (initially at stand-
still, and then with the motor rotating).
An appropriate alarm is output when the parameter is set.
The power-on command must remain set during a measurement and after the measurement has been completed,
the drive automatically resets it.
The duration of the measurements can lie between 0.3 s and several minutes. This time is, for example, influenced
by the motor size and the mechanical conditions.
p1900 is automatically set to 0 after the motor data identification routine has been completed.
Description: Sets the configuration for the test pulse evaluation.
Re bit 00:
Check for conductor-to-conductor short circuit when pulse is enabled.
Note: Re bit 00:
If the test was successful once after POWER ON (see r1902.0), it is not repeated.
If a conductor-to-conductor short-circuit is detected during the test, this is displayed in r1902.1.
Description: Displays the status of the test pulse evaluation.
Short-circuit test:
Bit 0: The short-circuit test was run without any faults detected.
Bit 1: A phase short circuit has been detected.
p1901 Test pulse evaluation configuration / Test puls config
- - 0000 bin
00 Phase short-circuit test pulse active Yes No -
r1902 Test pulse evaluation status / Test puls ev stat
- - -
00 Short-circuit test executed Yes No -
01 Phase short-circuit detected Yes No -
List of parameters
Parameters
Description: Sets the configuration for the motor data identification.
Recommend.: For the stationary motor data identification, if a motor holding brake is being used it should be opened and the
motor finely synchronized before the measurement. This should only be done if it can be safely carried out and no
external forces can act on the motor. This determines the angular commutation offset (p1909.13, p0431).
Dependency: Refer to: p1910, r1912, r1913, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951, p1952, p1953
Note: For an induction motor (ASM) the following bits: 8, 9, 10, 13 are effective
For a synchronous motor (SRM) the following bits: 8, 9, 13, 14 are effective
Re bit 14:
- after successfully determining the voltage emulation error, the display of the phase voltage actual values r0089
and the active power actual value r0082 and the torque actual value r0080 are significantly more accurate.
- the voltage emulation errors should be identified with the Motor Module in the warm state.
load duty cycle).
Recommend.: For the stationary motor data identification, if a motor holding brake is being used it should be opened and the
motor finely synchronized before the measurement. This should only be done if it can be safely carried out and no
external forces can act on the motor. This determines the angular commutation offset (p1909.13, p0431).
Note: For an induction motor (ASM) the following bits: 8, 9, 10, 13 are effective
For a synchronous motor (SRM) the following bits: 8, 9, 13, 14 are effective
p1909[0...n] Motor data identification control word / MotID STW
SERVO, SERVO
(Lin)
Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
- - 0010 0111 0000 0000 bin
08 Measure D inductance Yes No -
09 Measure Q inductance Yes No -
10 Magnetizing field inductance and measure
rotor resistance
Yes No -
13 Measure commutation angle and direction
of rotation
Yes No -
14 Determining the voltage emulation error Yes No -
SERVO (Exp M_ctrl,
Lin)
- - 0110 0111 0000 0000 bin
08 Measure D inductance Yes No -
09 Measure Q inductance Yes No -
10 Magnetizing field inductance and measure
rotor resistance
Yes No -
13 Measure commutation angle and direction
of rotation
Yes No -
14 Determining the voltage emulation error Yes No -
Parameters
List of parameters
Re bit 14:
- after successfully determining the voltage emulation error, the display of the phase voltage actual values r0089
and the active power actual value r0082 and the torque actual value r0080 are significantly more accurate.
- the voltage emulation errors should be identified with the Motor Module in the warm state.
load duty cycle).
Note: The following applies to permanent-magnet synchronous motors:
Without de-selection in bit 11, in the closed-loop control mode, the direct inductance LD and the quadrature induc-
tance Lq are measured at a low current.
When de-selecting with bit 11 or in the U/f mode, the stator inductance is measured at half the rated motor current.
If the stator is inductance is not measured but is to be estimated, then bit 0 should be set and bit 11 should be de-
selected.
Description: Setting to control the motor data identification with the motor stationary.
Value: -3: Accept identified parameters
-2: Acknowledge encoder inversion actual value (F07993)
-1: Start motor data identification without acceptance
0: Inactive/inhibit
1: Start motor data identification with acceptance
VECTOR Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
- - 0000 0000 0000 0000 bin
00 Stator inductance estimate no measure-
ment
Yes No -
01 Cl.-loop current control w/ dead-beat con-
troller
Yes No -
02 Rotor time constant estimate no measure-
ment
Yes No -
03 Leakage inductance estimate no measure-
ment
Yes No -
04 Activates the identification dynamic leak-
age inductance
Yes No -
05 Determine Tr and Lsig evaluation in the time
range
Yes No -
06 Activate vibration damping Yes No -
07 De-activate vibration detection Yes No -
11 De-activate pulse measurement Lq Ld Yes No -
12 De-activate rotor resistance Rr measure-
ment
Yes No -
14 De-activate valve interlocking time mea-
surement
Yes No -
15 Determine only stator resistance, valve volt-
age fault, dead time
Yes No -
p1910 Motor data identification routine, stationary (standstill) / MotID standstill
-3 1 0
List of parameters
Parameters
Recommend.: For motors with brakes, the brake should be opened before carrying out the stationary motor data identification rou-
tine (p1215 = 2) as long as this can be done without incurring any danger. The commutation angle and the direction
of rotation are also determined.
Refer to: F07990, A07991, F07993
Caution: For motors without brake or with the brake open (p1215 = 2), for the stationary (zero speed) measurement, the
motor may rotate slightly.
Note: Motor data identification can only be selected when the pulses of all of the drive objects of the Control Unit have
been suppressed. After selection, all of the other drive objects of the Control Unit are interlocked so that they can-
not be powered up until the motor data identification has been completed or de-selected.
After a started motor identification is ended, the parameter is automatically reset to 0.
A motor data identification that is presently being carried out can be terminated with p1910 = 0.
Description: Sets the motor data identification routine.
The motor data identification routine is carried out after the next power-on command.
p1910 = 1:
All motor data and the drive converter characteristics are identified and then transferred to the following parame-
ters:
p0350, p0354, p0356, p0357, p0358, p0360, p1825, p1828, p1829, p1830
After this, the control parameter p0340 = 3 is automatically calculated.
Value: 0: Inhibited
1: Complete identification (ID) and acceptance of motor data
2: Complete identification (ID) of motor data without acceptance
3: ID of the saturation characteristic and acceptance
4: ID of the saturation characteristic without acceptance
5: ID of dynamic leakage inductance Lsig (r1920) without acceptance
6: ID of lockout time (r1926) without acceptance
7: ID of stator resistance Rs (r1912) without acceptance
8: ID of stator inductance Ls (r1915) Rr (r1927) without acceptance
9: ID of rotor time constant Tr (r1913) without acceptance
10: ID of static leakage inductance Lsig (r1914) without acceptance
20: Voltage vector input
21: Voltage vector input without filter
22: Rectangular voltage vector input without filter
23: Triangular voltage vector input without filter
24: Rectangular voltage vector input with filter
25: Triangular voltage vector input with filter
26: Enter voltage vector with DTC correction
Dependency: "Quick commissioning" must be carried out (p0010 = 1) before executing the motor data identification routine!
In the simulation mode, the parameter cannot be written into. When selecting the motor data identification routine,
Caution: After the motor data identification (p1910 > 0) has been selected, alarm A07991 is output and a motor data identifi-
cation routine is carried out as follows at the next power-on command:
- current flows through the motor and a voltage is present at the drive converter output terminals.
- during the identification routine, the motor shaft can rotate through a maximum of half a revolution.
- however, no torque torque is generated.
p1910 Motor data identification selection / MotID selection
0 26 1
Parameters
List of parameters
Note: When setting p1910, the following should be observed:
1. "With acceptance" means:
The parameters specified in the description are overwritten with the identified values and therefore have an influ-
ence on the controller setting.
2. "Without acceptance" means:
The identified parameters are only displayed in the range r1912 ... r1926. The controller settings remain
unchanged.
3. p1910 = 3, 4, 5 can only be selected for induction motors.
Description: Sets the number of phases to be identified.
Value: 1: 1 phase U
2: 2 phases U, V
3: 3 phases U, V, W
Note: When identifying with several phases, the accuracy increases and also the time it takes to make the measurement.
Description: Displays the identified stator resistance.
Dependency: Refer to: p1909, p1910, r1913, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951, p1952,
p1953
Description: Displays the identified stator resistance.
[1] = Phase V
[2] = Phase W
p1911 Number of phases to be identified / Qty ph to ident
1 3 1
r1912 Stator resistance identified / R_stator ident
- [ohm] - [ohm] - [ohm]
r1912[0...2] Identified stator resistance / R_stator ident
- [ohm] - [ohm] - [ohm]
List of parameters
Parameters
Description: Displays the identified rotor time constant.
p1953
Description: Displays the identified rotor time constant.
[1] = Phase V
[2] = Phase W
Description: Displays the identified total leakage inductance.
[1] = Phase V
[2] = Phase W
Description: Displays the identified stator inductance.
p1953
r1913 Rotor time constant identified / T_rotor ident
Not for motor type: PEM Scaling: - Expert list: 1
- [ms] - [ms] - [ms]
r1913[0...2] Identified rotor time constant / T_rotor ident
Not for motor type: PEM Scaling: - Expert list: 1
- [ms] - [ms] - [ms]
r1914[0...2] Identified total leakage inductance / L_total_leak ident
- [mH] - [mH] - [mH]
r1915 Stator inductance identified / L_stator ident
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Displays the nominal stator inductance identified.
[1] = Phase V
[2] = Phase W
Description: Displays the nominal stator inductance identified for the 1st point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
Description: Displays the nominal stator inductance identified for the 2nd point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
Description: Displays the nominal stator inductance identified for the 3rd point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
r1915[0...2] Identified nominal stator inductance / L_stator ident
- [mH] - [mH] - [mH]
r1916[0...2] Identified stator inductance 1 / L_stator 1 ident
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
List of parameters
Parameters
Description: Displays the nominal stator inductance identified for the 4th point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
Description: Displays the identified dynamic total leakage inductance.
[1] = Phase V
[2] = Phase W
[1] = Phase V
[2] = Phase W
[1] = Phase V
[2] = Phase W
- [mH] - [mH] - [mH]
r1920[0...2] Identified dynamic leakage inductance / L_leak dyn ident
- [mH] - [mH] - [mH]
r1921[0...2] Identified dynamic leakage inductance 1 / L_leak 1 dyn id
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
Parameters
List of parameters
[1] = Phase V
[2] = Phase W
[1] = Phase V
[2] = Phase W
Description: Displays the identified threshold voltage of the power unit.
p1953
Description: Displays the identified IGBT threshold voltage.
[1] = Phase V
[2] = Phase W
Description: Displays the identified effective valve lockout time.
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
r1925 Threshold voltage identified / U_threshold ident
r1925[0...2] Identified threshold voltage / U_threshold ident
r1926[0...2] Identified effective valve lockout time / t_lock_valve id
- [s] - [s] - [s]
List of parameters
Parameters
[1] = Phase V
[2] = Phase W
Description: Displays the identified rotor resistance.
p1953
Description: Displays identified rotor resistance (on separately excited synchronous motors: damping resistance).
[1] = Phase V
[2] = Phase W
Description: Displays the identified cable resistance.
[1] = Phase V
[2] = Phase W
Description: Displays the identified (differential) d-inductance.
p1953
Note: The Ld characteristic consists of the value pairs from p1932 and p1933 with the same index.
This value corresponds to the value of the total leakage inductance (r0377).
r1927 Rotor resistance identified / R_rotor ident
- [ohm] - [ohm] - [ohm]
r1927[0...2] Identified rotor resistance / R_rotor ident
- [ohm] - [ohm] - [ohm]
r1929[0...2] Identified cable resistance / R_cable ident
- [ohm] - [ohm] - [ohm]
r1932[0...19] d inductance identified / Ld ident
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Displays the identification current of the d inductance.
p1953
Note: The Ld characteristic consists of the value pairs from p1932 and p1933 with the same index.
Description: Displays the identified (differential) q-inductance.
Dependency: Refer to: p1909, p1910, r1932, r1933
Note: The Lq characteristic consists of the value pairs from p1934 and p1935 with the same index.
Description: Displays the identified (differential) q-inductance.
Note: The Lq characteristic consists of the value pairs from p1934 and p1935 with the same index.
Description: Displays the identification current for the identification of the q-inductance ([0...9]) as well as the torque constant
([10]) and the torque characteristic ([11...20]).
Index: [0] = q inductance identification current measuring point 1
[1] = q inductance identification current measuring point 2
r1933[0...19] d inductance identification current / Ld I_ident
r1934[0...9] q inductance identified / Lq ident
- [mH] - [mH] - [mH]
r1934[0...9] q inductance identified / Lq ident
- [mH] - [mH] - [mH]
r1935[0...20] Identification current / I_ident
List of parameters
Parameters
[10] = Torque constant identification current
[11] = Torque characteristic identification current measuring point 1
Note: - the Lq characteristic consists of the value pairs from r1934 and r1935 with the same index.
- the torque constant is identified with the current r1935[10] and displayed in r1937[0]. If the reluctance torque con-
stant is identified (p1959.7 = 1), the torque constant is identified with 150% rated current (p0305), otherwise with
100% rated current.
- the torque characteristic (r1937[1...10]) is identified in the range between the rated current (p0305) and the maxi-
mum current (p0640) (r1935[11...20]).
Description: Displays the identification current for the identification of the q-inductance ([0...9]) as well as the force constant
([10]) and the force characteristic ([11...20]).
Index: [0] = q inductance identification current measuring point 1
[10] = Force constant identification current
[11] = Force characteristic identification current measuring point 1
Note: - the Lq characteristic consists of the value pairs from r1934 and r1935 with the same index.
- the force constant is identified with the current r1935[10] and displayed in r1937[0]. If the reluctance force constant
is identified (p1959.7 = 1), the force constant is identified with 150% rated current (p0305), otherwise with 100%
rated current.
- the force characteristic (r1937[1...10]) is identified in the range between the rated current (p0305) and the maxi-
mum current (p0640) (r1935[11...20]).
r1935[0...20] Identification current / I_ident
Parameters
List of parameters
Description: Displays the identification current to identify the q inductance ([0...9]).
Note: The Lq characteristic consists of the value pairs from r1934 and r1935 with the same index.
Description: Displays the identified magnetizing inductance(gamma equivalent circuit diagram).
Dependency: Refer to: p1909, p1910, r1913, r1915, r1927, p1959, p1960, r1962, r1963
Note: This value corresponds to the value of the transformed magnetizing inductance (r0382).
Description: Displays the identified torque constant/torque characteristic over the q current.
Index: [0] = Torque constant identified
[1] = Torque characteristic identified measuring point 1
Dependency: Refer to: r1938, r1939, p1959, p1960, r1969
Note: - the value in r1937[0] corresponds to the torque constant (p0316) and was identified with the current in r1935[10].
If the reluctance torque is identified (p1959.7 = 1), the torque constant is identified with 150% rated current (p0305),
otherwise with 100% rated current.
- if indices r1937[1...10] are not equal to zero, they show the values of the torque characteristic identified for the cur-
rent in r1935[11...20]. The torque characteristic is identified in the range between rated current (p0305) and maxi-
mum current (p0640).
r1935[0...9] q inductance identification current / Lq I_ident
r1936 Magnetizing inductance identified / L_H ident
- [mH] - [mH] - [mH]
r1937[0...10] Torque constant identified / kT ident
P-Group: Motor identification Units group: 28_1 Unit selection: p0100
- [Nm/A] - [Nm/A] - [Nm/A]
List of parameters
Parameters
Description: Displays the identified force constant.
Index: [0] = Force constant identified
[1] = Force characteristic identified measuring point 1
Note: - the value in r1937[0] corresponds to the force constant (p0316) and was identified with the current in r1935[10]. If
the reluctance force constant is identified (p1959.7 = 1), the force constant is identified with 150% rated current
(p0305), otherwise with 100% rated current.
Description: Displays the identified voltage constant.
Note: This value corresponds to the voltage constant (p0317).
Description: Displays the identified voltage constant.
Note: This value corresponds to the voltage constant (p0317).
r1937[0...10] Force constant identified / kT ident
r1938 Voltage constant identified / kE ident
r1938 Voltage constant identified / kE ident
- [Vrms s/m] - [Vrms s/m] - [Vrms s/m]
Parameters
List of parameters
Description: Displays the identified reluctance torque constant.
Note: This value corresponds to the reluctance torque constant (p0328).
Description: Displays the identified reluctance force constant.
Note: This value corresponds to the reluctance force constant (p0328).
Description: Displays the identified, optimum load angle.
Note: This value corresponds to the optimum load angle (p0327).
Description: Displays the identified magnetizing current.
Note: This value corresponds to the magnetizing current (p0320 / r0331).
Description: The identified characteristic of the voltage emulation error is displayed r1950[0...19] and r1951[0...19].
r1939 Reluctance torque constant identified / kT_reluct ident
- [mH] - [mH] - [mH]
r1939 Reluctance force constant identified / kT_reluct ident
- [mH] - [mH] - [mH]
r1947 Optimum load angle identified / phi_load ident
- [] - [] - []
r1948 Magnetizing current identified / I_mag ident
r1950[0...19] Voltage emulation error voltage values / U_error U_values
- [V] - [V] - [V]
List of parameters
Parameters
Description: The identified characteristic of the voltage emulation error is displayed r1950[0...19] and r1951[0...19].
Description: Sets the final value to compensate the voltage emulation error.
Note: The voltage emulation error is calculated and compensated for every phase according to the following formula:
u_error = u0 * i / (abs(i) + i0)
u0: This is set in p1952.
i0: This is set in p1953.
i: Phase current to which the emulation error u_error belongs.
Description: Sets the current offset to compensate the voltage emulation error.
Note: The voltage emulation error is calculated and compensated for every phase according to the following formula:
u_error = u0 * i / (abs(i) + i0)
u0: This is set in p1952.
i0: This is set in p1953.
i: Phase current to which the emulation error u_error belongs.
Description: Sets the ramp-up/ramp-down time for the rotating measurement.
r1951[0...19] Voltage emulation error current values / U_error I_error
- [A] - [A] - [A]
p1952[0...n] Voltage emulation error final value / U_error final val
SERVO (Exp M_ctrl) Can be changed: T Calculated: - Access level: 3
0.000 [V] 100.000 [V] 0.000 [V]
p1953[0...n] Voltage emulation error current offset / U_error I_offset
SERVO (Exp M_ctrl) Can be changed: T Calculated: - Access level: 3
0.000 [A] 100.000 [A] 0.000 [A]
p1958[0...n] Rotating measurement ramp-up/ramp-down time / Rot meas t_r up/dn
-1.00 [s] 999999.00 [s] -1.00 [s]
Parameters
List of parameters
The following applies for negative values:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the maximum of the ramp-
up/ramp-down time of the setpoint channel becomes effective. When this function module is inactive, then no ramp-
up/ramp-down time is effective.
The following applies for positive values:
The selected ramp-up/ramp-down time becomes effective.
Recommend.: A ramp-up/ramp-down time should not be activated for the motor data identification (p1958 = 0) as long as this can
be safely done without incurring any danger. This means that the identification is complete and more accurate.
When the ramp-up/ramp-down time is activated, the following steps of the rotating motor data identification are not
executed:
- p1959.5 (identifying the q inductance)
- p1959.7 (identifying the reluctance torque constant)
Description: Sets the ramp-up/ramp-down time for the moving measurement.
The following applies for negative values:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the maximum of the ramp-
up/ramp-down time of the setpoint channel becomes effective. When this function module is inactive, then no ramp-
up/ramp-down time is effective.
The following applies for positive values:
The selected ramp-up/ramp-down time becomes effective.
Recommend.: A ramp-up/ramp-down time should not be activated for the motor data identification (p1958 = 0) as long as this can
be safely done without incurring any danger. This means that the identification is complete and more accurate.
When the ramp-up/ramp-down time is activated, the following steps of the moving motor data identification are not
executed:
- p1959.5 (identifying the q inductance)
- p1959.7 (identifying the reluctance force constant)
Description: Sets the configuration of the rotating measurement.
Recommend.: A direction inhibit should not be activated for the rotating measurement (p1959.14 = 1 and p1959.15 = 1) as long as
this can be done without incurring any danger. This means that the identification is complete and more accurate.
When the direction inhibit is activated, the reluctance torque constant (p1959.7) is not identified and the angular
commutation offset (p1959.10, p0431) is inaccurately determined. The reluctance torque constant (p1959.7) is also
not identified in encoderless operation.
p1958[0...n] Moving measurement ramp-up/ramp-down time / Mov meas t_r up/dn
-1.00 [s] 999999.00 [s] -1.00 [s]
p1959[0...n] Rotating measurement configuration / Rot meas config
SERVO Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
- - 0000 1110 1110 0111 bin
01 Identify the saturation characteristic Yes No -
02 Identify the moment of inertia Yes No -
05 Identify the q inductance Yes No -
06 Identify the torque constant Yes No -
07 Identify the reluctance torque constant Yes No -
List of parameters
Parameters
Notice: The step p1959.8 (identify q inductance on the test stand) may only be selected if the drive can be kept at zero
speed or at a fixed speed either using a test stand or other mechanical measures.
During steps p1959.2 (identifying the moment of inertia) and p1959.6 (identifying the torque constant) the Vdc_min
controller is disabled (p1240).
During step p1959.7 (identifying the reluctance torque constant) the Vdc_min controller and Vdc_max controller are
disabled (p1240).
Note: For an induction motor (ASM), the following bits 1, 2, 5, 8, 9, 10, 14, 15 are effective
For a synchronous motor (SRM), the following bits 2, 5, 6, 7, 8, 10, 14, 15 are effective
Re bit 05:
For "motor holding brake the same as sequence control" (p1215 = 1 or 3), the Lq characteristic is only measured up
to approximately the rated motor current (p0305) instead of up to the current limit (p0640). Before carrying out the
rotation measurement for motors with brake, the brake should be opened (p1215 = 2) - as long as this can be done
without incurring any danger.
Re bit 10:
If the motor holding brake is set just the same as the sequence control (p1215 = 1 or 3), the commutation angle and
the direction of rotation are not measured. Before carrying out the rotation measurement for motors with brake, the
brake should be opened (p1215 = 2) - as long as this can be done without incurring any danger.
Re bit 14, 15:
The following applies for bit 14 and 15 = 0:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the direction inhibit of the setpoint
channel becomes effective. No direction of inhibit is effective if the function module is inactive.
The following applies for minimum bit 14 = 1 or bit 15 = 1:
The direction inhibit set in p1959 becomes effective.
Description: Sets the configuration of the moving measurement.
Recommend.: A direction inhibit should not be activated for the moving measurement (p1959.14 = 1 and p1959.15 = 1) as long as
this can be done without incurring any danger. This means that the identification is complete and more accurate.
When the direction inhibit is activated, the reluctance force constant (p1959.7) is not identified and the angular com-
mutation offset (p1959.10, p0431) is inaccurately determined. The reluctance force constant (p1959.7) is also not
identified in encoderless operation.
08 Identify the q inductance at the test stand Yes No -
09 Identify the magnetizing current / magnetiz-
ing inductance
Yes No -
10 Identify the commutation angle and direc-
tion of rotation
Yes No -
11 Identify rotor resistance Yes No -
14 Positive direction permitted Yes No -
15 Negative direction permitted Yes No -
p1959[0...n] Moving measurement configuration / Mov meas config
SERVO (Lin) Can be changed: T Calculated: CALC_MOD_ALL Access level: 3
- - 0000 1110 1110 0111 bin
01 Identify the saturation characteristic Yes No -
02 Identify the moment of inertia Yes No -
05 Identify the q inductance Yes No -
06 Identify the force constant Yes No -
07 Identify the reluctance force constant Yes No -
08 Identify the q inductance at the test stand Yes No -
09 Identify the magnetizing current / magnetiz-
ing inductance
Yes No -
10 Identify commutation angle and direction Yes No -
11 Identify rotor resistance Yes No -
Parameters
List of parameters
Notice: The step p1959.8 (identify q inductance on the test stand) may only be selected if the drive can be kept at zero
speed or at a fixed velocity either using a test stand or other mechanical measures.
During steps p1959.2 (identifying the moment of inertia) and p1959.6 (identifying the force constant) the Vdc_min
controller is disabled (p1240).
During step p1959.7 (identifying the reluctance force constant) the Vdc_min controller and Vdc_max controller are
disabled (p1240).
Note: For an induction motor (ASM), the following bits 1, 2, 5, 8, 9, 10, 14, 15 are effective
For a synchronous motor (SRM), the following bits 2, 5, 6, 7, 8, 10, 14, 15 are effective
Re bit 05:
For "motor holding brake the same as sequence control" (p1215 = 1 or 3), the Lq characteristic is only measured up
to approximately the rated motor current (p0305) instead of up to the current limit (p0640). Before carrying out the
rotation measurement for motors with brake, the brake should be opened (p1215 = 2) - as long as this can be done
without incurring any danger.
Re bit 10:
If the motor holding brake is set just the same as the sequence control (p1215 = 1 or 3), the commutation angle and
the direction of rotation are not measured. Before carrying out the rotation measurement for motors with brake, the
brake should be opened (p1215 = 2) - as long as this can be done without incurring any danger.
Re bit 14, 15:
The following applies for bit 14 and 15 = 0:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the direction inhibit of the setpoint
channel becomes effective. No direction of inhibit is effective if the function module is inactive.
The following applies for minimum bit 14 = 1 or bit 15 = 1:
The direction inhibit set in p1959 becomes effective.
Description: Sets the configuration of the rotating measurement.
Note: The encoder is only tested if the rotating measurement with encoder is selected (p1960 = 2).
The following parameters are influenced for the individual optimization steps:
Bit 00: None
Bit 01: p0320, p0360, p0362 ... p0369
Bit 02: p0341, p0342
Bit 03: p1400.0, p1458, p1459, p1460, p1462, p1463, p1470, p1472, p1496
Bit 04: Dependent on p1960
Bit 05: p0391, p0392, p0393, p1402.2 only for induction motors
p1960 = 1, 3: p1400.0, p1458, p1459, p1470, p1472, p1496
p1960 = 2, 4: p1458, p1459, p1460, p1461, p1462, p1463, p1496
14 Positive direction permitted Yes No -
15 Negative direction permitted Yes No -
VECTOR (n/M) Can be changed: T Calculated: CALC_MOD_ALL Access level: 2
- - 0001 1111 bin
00 Enc test active Yes No -
01 Saturation characteristic identification Yes No -
02 Moment of inertia identification Yes No -
03 Re-calculates the speed controller parame-
ters
Yes No -
04 Speed controller optimization (vibration test) Yes No -
05 q leakage inductance ident. (for current con-
troller adaptation)
Yes No -
List of parameters
Parameters
The identification of the q leakage inductance can only be carried out for unloaded motors or motors with a low load
(load approx. 30% below the rated motor torque). Only then is a current controller adaptation (p0391 ... p0393)
parameterized if the q-leakage inductance under no-load conditions is at least 30 % higher than the total leakage
inductance (p0356, p0358).
Description: Activates the rotating measurement.
0: Inactive/inhibit
Recommend.: Before carrying out the rotation measurement for motors with brake, the brake should be opened (p1215 = 2) - as
long as this can be done without incurring any danger. The commutation angle and the direction are also deter-
mined.
Dependency: Refer to: r1934, r1935, r1936, r1937, r1938, r1939, r1947, r1948, p1958, p1959, r1962, r1963, r1969
Refer to: F07990, A07991, F07993
Danger: For the rotating measurement, the motor is accelerated up to the maximum speed. Only the parameterized current
limit (p0640) and the maximum speed (p1082) are effective.
The behavior of the motor can be influenced using the direction inhibit (p1959.14, p1959.15) and the ramp-
up/ramp-down time (p1958).
Note: The rotating measurement can only be selected when the pulses of all of the drive objects of the Control Unit have
not be powered up until the rotating measurement has been completed or de-selected.
When the rotating measurement is activated (p1960 = 1), it is not possible to save the parameters (p0971, p0977).
Description: Activates the rotating measurement.
0: Inactive/inhibit
Recommend.: Before carrying out the rotation measurement for motors with brake, the brake should be opened (p1215 = 2) - as
long as this can be done without incurring any danger. The commutation angle and the direction are also deter-
mined.
Dependency: Refer to: r1934, r1935, r1936, r1937, r1938, r1939, r1947, r1948, p1958, p1959, r1962, r1963, r1969
Refer to: F07990, A07991, F07993
Danger: For the moving measurement, the motor is accelerated up to the maximum velocity. Only the parameterized current
limit (p0640) and the maximum velocity (p1082) are effective.
The behavior of the motor can be influenced using the direction inhibit (p1959.14, p1959.15) and the ramp-
p1960 Rotating measurement selection / Rot meas sel
-3 1 0
p1960 Moving measurement selection / Mov meas sel
-3 1 0
Parameters
List of parameters
Note: The moving measurement can only be selected when the pulses of all of the drive objects of the Control Unit have
not be powered up until the moving measurement has been completed or de-selected.
When the moving measurement is activated (p1960 = 1), it is not possible to save the parameters (p0971, p0977).
Description: Sets the rotating measurement.
The rotating measurement is carried out after the next power-on command.
The setting possibilities of the parameter depend on the open-loop/closed-loop control mode (p1300).
p1300 < 20 (U/f open-loop control):
It is not possible to select rotating measurement or speed controller optimization.
p1300 = 20, 22 (encoderless operation):
Only rotating measurement or speed controller optimization can be selected in the encoderless mode.
p1300 = 21, 23 (operation with encoder):
Both versions (encoderless and with encoder) of the rotating measurement and speed controller optimization can
be selected.
Value: 0: Inhibited
1: Rotating measurement in encoderless operation
2: Rotating measurement with encoder
3: Speed controller optimization in encoderless operation
4: Speed controller optimization with encoder
Dependency: Before the rotating measurement is carried out, the motor data identification routine (p1900, p1910, r3925) should
have already been done.
In the simulation mode, a value of 1 cannot be written into the parameter.
When selecting the rotating measurement, the drive data set changeover is suppressed.
Refer to: p1272, p1300, p1900, p1959
Refer to: A07987
Danger: For drives with a mechanical system that limits the distance moved, it must be ensured that this is not reached dur-
ing the rotating measurement. If this is not the case, then it is not permissible that the measurement is carried out.
Note: When the rotating measurement is activated, it is not possible to save the parameters (p0971, p0977).
Parameter changes are automatically made for the rotating measurement (e.g. p1120); this is the reason that up to
the end of the measurement, and if no faults are present, no manual changes should be made.
The ramp-up and ramp-down times (p1120, p1121) are limited, for the rotating measurement, to 900 s.
For speed controller optimization with encoder (p1960 = 2, 4), the speed controller for encoderless operation is also
pre-assigned (p1470, p1472).
Depending on whether the speed controller optimization is carried out with or without encoder, different Kp/Tn
adaptations of the speed controller are set (p1464, p1465). If the drive should be controlled with as well as without
speed encoder, then we recommend the use of two drive data sets (p0180). These can then be executed with dif-
ferent speed controller adaptations.
p1960 Rotating measurement selection / Rot meas sel
0 4 0
List of parameters
Parameters
Description: Sets the speed to determine the saturation characteristic and the encoder test.
The percentage value is referred to p0310 (rated motor frequency).
Refer to: F07983
Note: The saturation characteristics should be determined at an operating point with the lowest possible load.
Description: Displays the magnetizing currents of the identified saturation characteristic.
The values are referred to r0331.
Note: The saturation characteristic consists of the value pairs from p1962 and p1963 with the same index.
Description: Displays the magnetizing currents of the identified saturation characteristic.
After they have been determined, the values are transferred to p0366 ... p0369.
Index: [0] = Value 1
[1] = Value 2
[2] = Value 3
[3] = Value 4
[4] = Value 5
Description: Displays the stator flux of the identified saturation characteristic.
The values are referred to the stator flux at the magnetizing current (r0331).
p1961 Saturation characteristic speed to determine / Sat_char n determ
26 [%] 75 [%] 40 [%]
r1962[0...9] Saturation characteristic magnetizing current identified / Sat_char I_mag
- [%] - [%] - [%]
r1962[0...4] Saturation characteristic magnetizing current / Sat_char I_mag
- [%] - [%] - [%]
r1963[0...9] Saturation characteristic stator flux identified / Sat_char flux
- [%] - [%] - [%]
Parameters
List of parameters
Note: The saturation characteristic consists of the value pairs from p1962 and p1963 with the same index.
Description: Displays the magnetizing inductances of the identified saturation characteristic.
[1] = Value 2
[2] = Value 3
[3] = Value 4
[4] = Value 5
Description: Displays the rotor flux values of the identified saturation characteristic.
After they have been determined, the values are transferred to p0362 ... p0365.
[1] = Value 2
[2] = Value 3
[3] = Value 4
[4] = Value 5
Description: Sets the speed for the identification of the moment of inertia and the vibration test.
Induction motor:
The percentage value is referred to p0310 (rated motor frequency).
Synchronous motor:
The percentage value is referred to the minimum from p0310 (rated motor frequency) and p1082 (maximum
speed).
Refer to: F07984, F07985
Note: In order to calculate the inertia, sudden speed changes are carried out - the specified value corresponds to the
lower speed setpoint. This value is increased by 20 % for the upper speed value. The q leakage inductance (refer to
p1959 bit 5) is determined at zero speed and at 50% of p1965 - however, with a maximum output frequency of 15
Hz and at a minimum of 10% of the rated motor speed.
r1963[0...4] Saturation characteristic magnetizing inductance / Sat_char L_main
- [%] - [%] - [%]
r1964[0...4] Saturation characteristic rotor flux / Sat_char rot flux
- [%] - [%] - [%]
p1965 Speed_ctrl_opt speed / n_opt speed
10 [%] 75 [%] 40 [%]
List of parameters
Parameters
Description: Sets the dynamic response factor for speed controller optimization.
Refer to: F07985
Note: For a rotating measurement, this parameter can be used to optimize the speed controller.
p1967 = 100 % --> speed controller optimization according to a symmetric optimum.
p1967 > 100 % --> optimization with a higher dynamic response (Kp higher, Tn lower).
Description: Displays the dynamic factor which is actually achieved for the vibration test
Refer to: F07985
Note: This dynamic factor only refers to the control mode of the speed controller set in p1960.
Description: Displays the identified moment of inertia.
Refer to: p0341, p0342, p1498, p1959, p1960
Description: Displays the identified high load inertia.
Refer to: p0341, p0342, p1498, p1959, p1960
p1967 Speed_ctrl_opt dynamic factor / n_opt dyn_factor
1 [%] 400 [%] 100 [%]
r1968 Speed_ctrl_opt dynamic factor actual / n_opt dyn_fact act
- [%] - [%] - [%]
r1969 Moment of inertia identified / M_inertia ident
- [kgm] - [kgm] - [kgm]
r1969 High load inertia identified / High load inert id
- [kg] - [kg] - [kg]
Parameters
List of parameters
Description: Displays the determined moment of inertia of the drive.
After it has been determined, the value is transferred to p0341, p0342.
Refer to: p0341, p0342, p1959
Refer to: F07984
Description: Displays the vibration frequencies determined by the vibration test.
Index: [0] = Frequency low
[1] = Frequency high
Refer to: F07985
Description: Displays the standard deviations of the vibration frequencies determined by the vibration test
Index: [0] = Standard deviation of low frequency
[1] = Standard deviation of high frequency
Refer to: F07985
Description: Displays the period number determined by the vibration test.
Index: [0] = No. of periods of the low frequency
[1] = No. of periods of the high frequency
Refer to: F07985
r1969 Speed_ctrl_opt moment of inertia determined / n_opt M_inert det
- [kgm] - [kgm] - [kgm]
r1970[0...1] Speed_ctrl_opt vibration test vibration frequency determined / n_opt f_vibration
- [Hz] - [Hz] - [Hz]
r1971[0...1] Speed_ctrl_opt vibration test standard deviation determined / n_opt std. deviat.
- [Hz] - [Hz] - [Hz]
r1972[0...1] Speed_ctrl_opt vibration test number of periods determined / n_opt period qty
- - -
List of parameters
Parameters
Description: Index 0:
Rotating motors: Displays the identified encoder pulse number (per revolution).
Linear motors: Encoder pulse number per meter. Grid division = 1/p1973 [meter].
Index 1:
Rotating motors: No significance.
Linear motors: Identified grid division in nm.
Index: [0] = Rotating motor encoder pulse number
[1] = Linear motor, grid division in nm
Notice: Due to the measuring accuracy (approx. 5 %) only the approximate value is shown in p1973 and may not be directly
transferred into p0407 or p0408. An incorrect pole pair number (r0313, p0314) or pole pair width (p0315) results in
an incorrect value in p1973.
Note: A negative signal indicates an incorrect polarity of the encoder signal.
Description: Displays the number of pulses determined during the vibration test.
Note: A negative signal indicates an incorrect polarity of the encoder signal.
Description: Displays the status to check and monitor the states of speed controller optimization.
r1973[0...1] Encoder, pulse number identified / Pulse No. ident
- - -
r1973 Rotating measurement, encoder test pulse number determined / n_opt pulse No.
- - -
r1979.0...11 BO: Speed_ctrl_opt status / n_opt status
- - -
00 Speed controller optimization activated Yes No -
01 Speed controller optimization completed Yes No -
02 Speed controller optimization interrupted Yes No -
05 Saturation char. identification active Yes No -
06 Moment of inertia identification active Yes No -
07 Recalc. speed controller parameters active Yes No -
08 Speed controller vibration test active Yes No -
09 Magnetizing inductance adapt. active Yes No -
10 Operation with encoder after encoderless
operation
Yes No -
11 q-leakage inductance identification Yes No -
Parameters
List of parameters
Description: Sets the pole position identification technique.
Value: 0: Saturation-based 1st + 2nd harmonics
1: Saturation-based 1st harmonics
4: Saturation based 2-stage
10: Motion-based
20: Elasticity-based
99: No technique selected
Dependency: Refer to: p0325, p0329, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Refer to: F07995
Notice: If the incorrect technique is applied, this can cause the motor to accelerate in an uncontrolled fashion.
Under the following conditions, the integral time must be disabled (p1996 = 0):
- p1980 = 10 (motion-based)
- motor encoder with track A/B sq-wave (p0404.3 = 1)
- p0430.20 = 0 (flank time measurement)
Once the integral time has been disabled, the motion is increased during the identification (a minimum of 90 elec-
trical). As a result of this, the maximum distance (p1981) must also be increased.
Note: PolID: Pole position identification
When commissioning a catalog motor, the technique is automatically selected depending on the motor type being
used.
The following applies for 1FN3 motors:
A technique with 2nd harmonic may not be used (do not use p1980 = 0, 4).
For 1FN7 motors, the following applies:
A two-stage technique may not be used (do not use p1980 = 4).
The automatically set value in p0329 may not be changed.
Description: Sets the pole position identification technique.
Value: 1: Voltage pulsing 1st harmonics
4: Voltage pulsing 2-stage
6: Voltage pulsing 2-stage inverse
10: DC current injection
Dependency: In the simulation mode, the parameter cannot be written into.
Refer to: F07995
Note: Voltage pulse technique (p1980 = 1, 4) cannot be applied to separately-excited synchronous motors (p0300 = 5)
and for for operation with sine-wave output filters (p0230).
p1980[0...n] PolID technique / PolID technique
0 99 99
1 10 4
List of parameters
Parameters
Description: Sets the maximum distance (electrical angle) when carrying out the pole position identification routine.
If this distance (travel) is exceeded, an appropriate fault is output.
p1996, p1997
Refer to: F07995
Notice: Value = 180 : Monitoring is de-activated.
Description: Activates the pole position identification routine to determine the commutation angle and to carry out a plausibility
check.
Value: 0: Pole position identification off
1: Pole position identification for commutation
2: Pole position identification for plausibility check
Recommend.: Re p1982 = 1:
This is used for synchronous motors with motor encoder without absolute data.
The information/data regarding the absolute commutation angle is supplied via a track C/D, Hall sensors, an abso-
lute encoder or from the pole position identification routine.
Re p1982 = 2:
This is used for synchronous motor with motor encoder with absolute data to check this data.
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Description: Activates the pole position identification routine to determine the commutation angle and to carry out a plausibility
check.
Value: 0: Pole position identification off
1: Pole position identification for commutation
2: Pole position identification for plausibility check
Recommend.: Re p1982 = 1:
This is used for synchronous motors with motor encoder without absolute data.
The information/data regarding the absolute commutation angle is supplied via a track C/D, Hall sensors, an abso-
lute encoder or from the pole position identification routine.
p1981[0...n] PolID distance max / PolID distance max
0 [] 180 [] 10 []
p1982[0...n] PolID selection / PolID selection
0 2 0
0 2 0
Parameters
List of parameters
Re p1982 = 2:
This is used for synchronous motor with motor encoder with absolute data to check this data.
With p1982 = 2, each time the pulses are enabled it is checked whether the absolute position supplied from the
encoder does not exceed a deviation of 45 degrees to the identified pole wheel position.
With separately-excited synchronous motors (p0300 = 5), pole position identification cannot be selected if an
encoder with position data is used (e.g. SSI encoder).
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Note: For encoderless operation, the pole position identification routine is selected with p1780.6
Description: Starts the pole position identification routine for test purposes.
p1983 = 1:
Start of pole position identification. The parameter is set to zero automatically on completion of the identification
process.
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Notice: For p1983 = 1 and if the pulses are not enabled, then the function is only executed the next time that the pulses are
enabled.
Note: When this test is executed, it does not influence the commutation angle.
Description: Displays the angular difference between the actual electrical commutation angle and the angle determined by the
pole position identification.
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1985, r1986, r1987, p1990, r1992, p1993, p1994, p1995,
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
When the pole position identification routine is executed several times using p1983, the spread of the measured
values can be determined using this value. At the same position, the spread should be less than 2 degrees electri-
cal.
Description: Displays the saturation characteristic of the pole position identification routine (saturation technique).
Displays the current characteristic of the pole position identification routine (elasticity technique).
p1983 PolID test / PolID test
0 1 0
r1984 PolID angular difference / PolID ang diff
SERVO, VECTOR
(n/M)
- [] - [] - []
r1985 PolID saturation curve / PolID sat_char
SERVO, VECTOR
(n/M)
List of parameters
Parameters
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Regarding the saturation technique:
The values for the characteristic of the last saturation-based pole position identification routine are output every 1
ms in order to record signals (e.g. trace).
Description: Displays the pole position characteristic of the elasticity-based pole position identification routine.
The values for the characteristic of the last pole position identification routine are output every 1 ms in order to
record signals (e.g. trace).
Dependency: Refer to: p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Description: Displays the trigger characteristic of the pole position identification routine.
The values for the characteristic of the last pole position identification routine are output every 1 ms in order to
record signals (e.g. trace).
The values for trigger characteristic and saturation characteristic are always output in synchronism from a time per-
spective.
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
The following information and data can be taken from the trigger characteristic.
- the value -100% marks the angle at the start of the measurement.
- the value +100 % marks the commutation angle determined from the pole position identification routine.
Description: This function is only required for synchronous motors and can be started when commissioning for the first time or
after replacing an encoder. The function acts on the active motor data set.
When adjusting the encoder, the angular commutation offset is determined and transferred into p0431. Alarm
A07971 is output while the angular commutation offset is being determined. p1990 is automatically set to 0 after the
angular commutation offset has been determined.
p1990 = 0: De-activated
p1990 = 1: Activated with transfer
r1986 PolID saturation characteristic 2 / PoleID sat_curve 2
- - -
r1987 PolID trigger characteristic / PolID trig_char
SERVO, VECTOR
(n/M)
- [%] - [%] - [%]
p1990 Encoder adjustment, determine angular commutation offset / Enc_adj det ang
0 1 0
Parameters
List of parameters
Dependency: Refer to: p0325, p0329, p0431, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1999
Refer to: A07971
Caution: In order to prevent an incorrect orientation of the electrical pole position (uncontrolled motor movement), the auto-
matically determined angular commutation offset (p0431) should, for reasons of safety, be checked using one of the
following recommendations:
Recommendation 1:
Set encoderless operation (p1300 = 20 or p1404 = 0), de-select pole position identification (p1982 = 0), operate
under no-load conditions with a speed > p1755, correct the actual value inversion (p0410.0) (e.g. r0061 = r0063),
read the angular error in r1778; the result in r1778 should be approximately 0, for |r1778| > 2 degrees, add the
value to p0431 - taking into account the sign - and enter in p0431.
Recommendation 2:
Set the current limit to 0 (p0640 = 0), activate travel to fixed stop (p1545 = 1), record r0089[0] (phase voltage) and
r0093 (electrically scaled pole position) (e.g. trace) while the motor is externally moved; in this case, the rising zero
crossover of the phase voltage must coincide with the 360 --> 0 step (jump) from r0093.
Recommendation 3:
Measure the phase voltage U (measure phase U with respect to the virtual star point using 3 resistors) and r0093
(electrically scaled pole position); the rising zero crossover of the phase voltage must coincide with the 360 --> 0
step (jump) of r0093.
Recommendation 4:
Determine the average value from several results of a pole position identification routine executed as test (p1983)
at various electrical angles and add the value to p0431 - taking into account the sign and enter into p0431.
Notice: For p1990 = 1 and with the pulses not enabled, the function is only executed the next time that the pulses are
enabled.
Note: If fault F07414 is present, the following applies:
First set p1990 to 1, then acknowledge the fault and then issue the enable signals.
Description: This function is only required for synchronous motors and can be started when commissioning for the first time or
after replacing an encoder. The function acts on the active motor data set.
Alarm A07971 is output while the angular commutation offset is being determined. p1990 is automatically set to 0
after the angular commutation offset has been determined.
For p1990 = 1 (encoder adjustment with transfer), the following applies:
The angular commutation offset is determined and transferred into p0431.
For p1990 = 2 (encoder adjustment for checking), the following applies:
The angular commutation offset is determined and is not transferred into p0431. For a deviation of more than 6
electrical, fault F07413 is output.
Value: 0: De-activated
1: Activated with transfer
2: Activated for checking
Dependency: In the simulation mode, the parameter cannot be written into.
When selecting the encoder adjustment, the changeover of the drive data sets is suppressed.
Encoder adjustment is only carried out if the function module for "speed/torque control" is activated (r0108.2 = 1).
Refer to: p0325, p0329, p0431, p1272, p1900
Caution: When the encoder is being adjusted, the motor must be operated without a load - and if a motor holding brake is
being used, this must be opened.
p1990 Encoder adjustment, determine angular commutation offset / Enc_adj det ang
0 2 0
List of parameters
Parameters
Description: Sets the angle that is added to the commutating angle.
Caution: If the angular correction is not correctly set, when changing over and with closed-loop torque control, the motor can
accelerate to high speeds in spite of the fact that a setpoint of zero has been entered.
Description: Displays diagnostics information for the pole position identification routine (PollD).
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, p1993, p1994, p1995,
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Description: Displays diagnostics information for the pole position identification routine (PollD).
p1991[0...n] Motor changeover, angular commutation correction / Ang_com corr
-180 [] 180 [] 0 []
r1992 PolID diagnostics / PolID diag
- - -
00 Critical encoder fault occurred Yes No -
02 Encoder parking active Yes No -
05 Encoder fault Class 1 Yes No -
07 Pole position identification for encoder car-
ried out
Yes No -
08 Fine synchronization carried out Yes No -
09 Coarse synchronization carried out Yes No -
10 Commutation information available Yes No -
11 Speed information available Yes No -
12 Position information available Yes No -
15 Zero mark passed Yes No -
r1992 PolID diagnostics / PolID diag
- - -
00 Critical encoder fault occurred Yes No -
02 Encoder parking active Yes No -
07 Pole position identification for encoder car-
ried out
Yes No -
08 Fine synchronization carried out Yes No -
09 Coarse synchronization carried out Yes No -
Parameters
List of parameters
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, p1993, p1994, p1995,
p1996, p1997, p3090, p3091, p3092, p3093, p3094, p3095, p3096, r3097
Description: Sets the current when executing the motion-based pole position identification.
Dependency: Refer to: p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p1994, p1995, p1996, p1997
Note: PolID mot: Motion-based pole position identification
Description: Sets the rise time of the current when executing the motion-based pole position identification.
Description: Sets the gain when executing the motion-based pole position identification.
Description: Sets the gain when executing the motion-based pole position identification.
10 Commutation information available Yes No -
11 Velocity information available Yes No -
12 Position information available Yes No -
15 Zero mark passed Yes No -
p1993[0...n] PolID motion-based current / PolID I mot_bas
SERVO Can be changed: U, T Calculated: CALC_MOD_EQU Access level: 3
0.00 [Arms] 20000.00 [Arms] 0.00 [Arms]
p1994[0...n] PolID motion-based rise time / PolID T mot_bas
0 [ms] 2500 [ms] 100 [ms]
p1995[0...n] PolID motion-based gain / PolID kp mot_bas
0.000 [Ns/m] 999999.000 [Ns/m] 10.000 [Ns/m]
List of parameters
Parameters
Description: Sets the integral time when executing the motion-based pole position identification.
Note: The value 0 de-activates the I component.
Once the integral time has been disabled, the motion is increased during the identification (a minimum of 90 elec-
trical).
PolID mot: Motion-based pole position identification
Description: Sets the smoothing time when executing the motion-based pole position identification.
Description: Sets the scaling for the runtime of the automatic encoder calibration and of the pole position identification technique
in which the current is injected.
Caution: For p1999 > 100 % (setting large moments of inertia) the following applies:
There is no locked rotor monitoring (F07970 fault value 2).
The plausibility check of the encoder signal (F07970 fault value 4) only checks the sign.
Note: For high moments of inertia, it is practical to scale the runtime of the calibration higher.
Description: Sets the reference quantity for the frequency.
All frequencies specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
The following applies: Reference frequency (in Hz)
p1996[0...n] PolID motion-based integral time / PolID Tn mot_bas
0.0 [ms] 500.0 [ms] 2.0 [ms]
p1997[0...n] PolID motion-based smoothing time / PolID t_sm mot_bas
0.0 [ms] 50.0 [ms] 0.0 [ms]
p1999[0...n] Ang. commutation offset calibr. and PollD scaling / Com_ang_offs scal
10 [%] 5000 [%] 100 [%]
p2000 Reference frequency / f_ref
A_INF, B_INF,
S_INF
0.10 [Hz] 1000.00 [Hz] 50.00 [Hz]
Parameters
List of parameters
Description: Sets the reference quantity for speed and frequency.
All speeds or frequencies specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex..
Note: If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.
Description: Sets the reference quantity for velocity and frequency.
All velocities or frequencies specified as relative value are referred to this reference quantity.
The following applies: Reference frequency (in Hz) = reference velocity (in (m/min) / 60)
Note: For the automatic calculation (p0340 = 1, p3900 > 0) an appropriate pre-assignment is only made if the parameter
is not inhibited from being overwritten using p0573 = 1.
If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
Example 1:
The signal of an analog input (e.g. r4055[0]) is connected to a speed setpoint (e.g. p1070[0]). The actual percent-
age input value is cyclically converted into the absolute speed setpoint using the reference speed (p2000).
Example 2:
The setpoint from PROFIBUS (r2050[1]) is connected to a speed setpoint (e.g. p1070[0]). The actual input value is
cyclically converted into a percentage value via the pre-specified scaling 4000 hex. This percentage value is con-
verted to the absolute speed setpoint via reference speed (p2000).
p2000 Reference speed reference frequency / n_ref f_ref
ENCODER Can be changed: T Calculated: CALC_MOD_ALL Access level: 2
6.00 [rpm] 210000.00 [rpm] 3000.00 [rpm]
p2000 Reference velocity, reference frequency / v_ref f_ref
ENCODER (Lin enc) Can be changed: T Calculated: CALC_MOD_ALL Access level: 2
0.60 [m/min] 600.00 [m/min] 120.00 [m/min]
SERVO Can be changed: T Calculated: CALC_MOD_ALL Access level: 2
6.00 [rpm] 210000.00 [rpm] 3000.00 [rpm]
List of parameters
Parameters
Description: Sets the reference quantity for velocity and frequency.
The following applies: Reference frequency (in Hz) = reference velocity (in (m/min) / 60)
is at the factory setting.
Example 1:
The signal of an analog input (e.g. r4055[0]) is connected to a velocity setpoint (e.g. p1070[0]). The actual percent-
age input value is cyclically converted into the absolute velocity setpoint using the reference velocity (p2000).
Example 2:
The setpoint from PROFIBUS (r2050[1]) is connected to a velocity setpoint (e.g. p1070[0]). The actual input value is
verted to the absolute velocity setpoint via reference velocity (p2000).
Example 1:
Example 2:
p2000 Reference velocity, reference frequency / v_ref f_ref
0.60 [m/min] 600.00 [m/min] 120.00 [m/min]
6.00 [rpm] 210000.00 [rpm] 3000.00 [rpm]
Parameters
List of parameters
The following applies: Reference frequency (in Hz) = reference speed (in ((rpm) / 60) x pole pair number).
Example 1:
Example 2:
Description: Sets the reference quantity for voltages.
All voltages specified as relative value are referred to this reference quantity. This also applies for direct voltage val-
ues (= rms value) like the DC-link voltage.
For infeed units, the parameterized device supply voltage (p0210) is pre-assigned as the reference quantity.
Example:
The actual value of the DC link voltage (r0070) is connected to a test socket (e.g. p0771[0]). The actual voltage
value is cyclically converted into a percentage of the reference voltage (p2001) and output according to the param-
eterized scaling.
Description: Sets the reference quantity for currents.
VECTOR Can be changed: T Calculated: CALC_MOD_ALL Access level: 2
6.00 [rpm] 210000.00 [rpm] 3000.00 [rpm]
p2001 Reference voltage / Reference voltage
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
10 [Vrms] 100000 [Vrms] 1000 [Vrms]
p2002 Reference current / I_ref
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
0.10 [Arms] 100000.00 [Arms] 100.00 [Arms]
List of parameters
Parameters
All currents specified as relative value are referred to this reference quantity.
Notice: If various DDS are used with different motor data, then the reference quantities remain the same as these are not
changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for trace records).
Example:
p2002 = 100 A
Reference quantity 100 A corresponds to 100 %
p305[0] = 100 A
Rated motor current 100 A for MDS0 in DDS0 --> 100 % corresponds to 100 % of the rated motor current
p305[1] = 50 A
Rated motor current 50 A for MDS1 in DDS1 --> 100 % corresponds to 200 % of the rated motor current
For infeed units, the rated line current, which is obtained from the rated power and parameterized rated line supply
voltage (p2002 = r0206 / p0210 / 1.73) is pre-assigned as the reference quantity.
Example:
The actual value of a phase current (r0069[0]) is connected to a test socket (e.g. p0771[0]). The actual current
value is cyclically converted into a percentage of the reference current (p2002) and output according to the param-
eterized scaling.
Description: Sets the reference quantity for torque.
All torques specified as relative value are referred to this reference quantity.
Example:
The actual value of the total torque (r0079) is connected to a test socket (e.g. p0771[0]). The actual torque is cycli-
cally converted into a percentage of the reference torque (p2003) and output according to the parameterized scal-
ing.
Description: Sets the reference quantity for forces.
All forces specified as relative value are referred to this reference quantity.
is at the factory setting.
p2003 Reference torque / M_ref
SERVO, TM41, VEC-
TOR
P-Group: Communications Units group: 7_2 Unit selection: p0505
0.01 [Nm] 20000000.00 [Nm] 1.00 [Nm]
p2003 Reference force / Reference force
0.01 [N] 20000000.00 [N] 100.00 [N]
Parameters
List of parameters
Example:
The actual value of the total force (r0079[0]) is connected to a test socket (e.g. p0771[0]). The actual force is cycli-
cally converted into a percentage of the reference force (p2003) and output according to the parameterized scaling.
Description: Displays the reference quantity for power.
All power ratings specified as relative value are referred to this reference quantity.
Dependency: This value is calculated as follows:
Infeed: Calculated from voltage times current.
Closed-loop control: Calculated from torque times speed.
Refer to: p2000, p2001, p2002, p2003
The reference power is calculated as follows:
- 2 * Pi * reference speed / 60 * reference torque (motor)
- reference voltage * reference current * root(3) (infeed)
Description: Sets the reference quantity for angle.
All angles specified as relative value are referred to this reference quantity.
Description: Sets the reference quantity for temperature.
All temperatures specified as relative value are referred to this reference quantity.
r2004 Reference power / P_ref
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- [kW] - [kW] - [kW]
p2005 Reference angle / Reference angle
SERVO, TM41, VEC-
TOR
90.00 [] 180.00 [] 90.00 []
p2006 Reference temp / Ref temp
A_INF, B_INF,
S_INF, SERVO,
TM120, TM31,
TM41, VECTOR
50.00 [C] 300.00 [C] 100.00 [C]
List of parameters
Parameters
Description: Sets the reference quantity for acceleration rates.
All acceleration rates specified as relative value are referred to this reference quantity.
is not inhibited from being overwritten using p0573 = 1. If a BICO interconnection is established between different
physical quantities, then the particular reference quantities are used as internal conversion factor.
The reference acceleration is calculated as follows:
Reference speed (p2000) converted from 1/min to 1/s divided by 1 s
--> p2007 = p2000 [rpm] / (60 [s/min] * 1 [s])
Description: Sets the reference quantity for acceleration rates.
All acceleration rates specified as relative value are referred to this reference quantity.
is not inhibited from being overwritten using p0573 = 1. If a BICO interconnection is established between different
physical quantities, then the particular reference quantities are used as internal conversion factor.
The reference acceleration is calculated as follows:
Reference speed (p2000) converted from 1/min to 1/s divided by 1 s
--> p2007 = p2000 [rpm] / (60 [s/min] * 1 [s])
Description: Displays the receive errors at the commissioning interface (RS232).
Index: [0] = Number of error-free telegrams
[1] = Number of rejected telegrams
[2] = Number of framing errors
[3] = Number of overrun errors
[4] = Number of parity errors
[5] = Number of starting character errors
[6] = Number of checksum errors
[7] = Number of length errors
p2007 Reference acceleration / a_ref
SERVO, TM41, VEC-
TOR
0.01 [rev/s] 500000.00 [rev/s] 0.01 [rev/s]
p2007 Reference acceleration / a_ref
0.01 [m/s] 10000.00 [m/s] 0.01 [m/s]
r2019[0...7] Comm int error statistics / Comm err
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Sets the baud rate for the fieldbus interface USS.
Value: 4: 2400 baud
5: 4800 baud
6: 9600 baud
7: 19200 baud
8: 38400 baud
Note: Fieldbus SS: Fieldbus interface
Changes only become effective after POWER ON.
The parameter is set to the factory setting when the protocol is reselected.
Description: Displays or sets the address for the fieldbus interface USS.
The address can be set as follows:
--> p2021 displays the address setting.
2) Using p2021
--> Only if an address of 0 or an address which is invalid for the fieldbus selected in p2030 has been set using the
address switch.
--> The address is saved in a non-volatile fashion using the function "copy from RAM to ROM".
Note: Changes only become effective after POWER ON.
The parameter is set to the factory setting when the protocol is reselected.
Description: Sets the number of 16-bit words in the PZD part of the USS telegram for the field bus interface.
p2020 Field bus interface baud rate / Field bus baud
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
4 8 8
p2021 Field bus interface address / Field bus address
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 31 0
p2022 Field bus int USS PZD no. / Field bus USS PZD
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 16 2
List of parameters
Parameters
Description: Sets the number of 16-bit words in the PKW part of the USS telegram for the field bus interface.
Value: 0: PKW 0 words
3: PKW 3 words
4: PKW 4 words
127: PKW variable
Description: Displays the receive errors on the field bus interface (USS).
Index: [0] = Number of error-free telegrams
[1] = Number of rejected telegrams
[2] = Number of framing errors
[3] = Number of overrun errors
[4] = Number of parity errors
[5] = Number of starting character errors
[6] = Number of checksum errors
[7] = Number of length errors
Description: Sets the communication protocol for the field bus interface.
Value: 3: PROFIBUS
6: USS(RS232) at X140
Note: Changes only become effective after POWER ON.
Description: Displays the effective control word 1 (STW1) of the drive for the master control.
p2023 Field bus int USS PKW no. / Field bus USS PKW
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 127 127
r2029[0...7] Field bus int error statistics / Field bus error
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
- - -
p2030 Field bus int protocol selection / Field bus protocol
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
3 6 3
r2032 Master control, control word effective / PcCtrl STW eff
A_INF, B_INF,
S_INF
- - -
Parameters
List of parameters
00 ON/OFF1 Yes No -
- - -
00 ON/OFF1 Yes No -
08 Jog bit 0 Yes No 3030
- - -
00 ON/OFF1 Yes No -
06 Velocity setpoint enable Yes No -
List of parameters
Parameters
Description: Sets the drive object number for communication via the field bus interface (USS).
Note: p2035 defines the destination for USS parameter requests (PIV).
p0978[0] defines the destination for USS process data (PZD).
The parameter is available globally on all drive objects.
Description: Sets the processing mode for PROFIdrive STW1.10 "master control by PLC".
Generally, control world 1 is received with the first receive word (PZD1) (this is in conformance to the PROFIdrive
profile). The behavior of STW1.10 = 0 corresponds to that of the PROFIdrive profile. For other applications that
deviate from this, the behavior can be adapted using this particular parameter.
Value: 0: Freeze setpoints and continue to process sign-of-life
1: Freeze setpoints and sign-of-life
2: Setpoints are not frozen
Recommend.: Do not change the setting p2037 = 0.
Note: If the STW1 is not transferred according to the PROFIdrive with PZD1 (with bit 10 "master control by PLC"), then
p2037 should be set to 2.
Description: Sets the interface mode of the PROFIdrive control words and status words.
When selecting a telegram via p0922 (p2079), this parameter influences the device-specific assignment of the bits
in the control and status words.
Value: 0: SINAMICS
1: SIMODRIVE 611 universal
2: VIK-NAMUR
Note: For p0922 (p2079) = 100 ... 199, p2038 is automatically set to 1 and p2038 can no longer be changed. This means
that for these telegrams, the "SIMODRIVE 611 universal" interface mode is set and cannot be changed.
p2035 Fieldbus interface USS PIV drive object number / Fieldbus USS DO_no
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
1 62 2
p2037 IF1 PROFIdrive STW1.10 = 0 mode / IF1 PD STW1.10=0
A_INF, B_INF,
ENCODER, S_INF,
SERVO, TM41, VEC-
TOR
0 2 0
p2038 IF1 PROFIdrive STW/ZSW interface mode / PD STW/ZSW IF mode
0 2 0
Parameters
List of parameters
Description: Displays the interface mode of the PROFIdrive control words and status words.
Value: 0: SINAMICS
Note: For p0922 (p2079) = 7, 9, 110, 111, p2038 is automatically set to 0 and cannot be changed.
Description: Sets the serial interface for the debug monitor.
The serial interface for the debug monitor is COM1 (X140) or COM2 (internal).
Value = 0: COM2 (internal)
Value = 1: COM1 (X140), commissioning protocol is de-activated
Value = 3: Reserved
Description: Sets the serial interface for the debug monitor.
The serial interface for the debug monitor is COM1 (X140) or COM2 (internal).
Value = 1: COM1 (X140), commissioning protocol is de-activated
Value = 3: Reserved
Description: Sets the monitoring time to monitor the process data received via the internal communications interface.
If no process data is received within this time, an appropriate message is output.
p2038 IF1 PROFIdrive STW/ZSW interface mode / PD STW/ZSW IF mode
SERVO (EPOS, Pos
ctrl), VECTOR
(EPOS, Pos ctrl)
0 0 0
p2039 Select debug monitor interface / Debug monit select
CU_I Can be changed: U, T Calculated: - Access level: 3
0 3 1
p2039 Select debug monitor interface / Debug monit select
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 3 0
p2040 COMM INT monitoring time / C INT t_monit
CU_CX32, CU_I,
CU_LINK
0 [ms] 1999999 [ms] 20 [ms]
List of parameters
Parameters
Note: 0: The monitoring is de-activated.
Description: Sets the monitoring time to monitor the process data received via the fieldbus interface.
Description: Sets the PROFIBUS Ident Number (PNO-ID).
SINAMICS can be operated with various identities on PROFIBUS. This allows the use of a PROFIBUS GSD that is
independent of the device (e.g. PROFIdrive VIK-NAMUR with Ident Number 3AA0 hex).
Value: 0: SINAMICS
1: VIK-NAMUR
Note: Every change only becomes effective after a POWER ON.
Description: Displays the PROFIdrive PZD state.
Note: When using the "setpoint failure" signal, the bus can be monitored and an application-specific response triggered
when the setpoint fails.
p2040 Fieldbus interface monitoring time / Fieldbus t_monit
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 [ms] 1999999 [ms] 100 [ms]
p2042 PROFIBUS Ident Number / PB Ident No.
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 1 0
r2043.0...2 BO: IF1 PROFIdrive PZD state / IF1 PD PZD state
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Setpoint failure Yes No -
01 Clock cycle synchronous operation active Yes No -
02 Fieldbus oper Yes No -
Parameters
List of parameters
Description: Sets the delay time to initiate fault F01910 after a setpoint failure.
The time until the fault is initiated can be used by the application. This means that is is possible to respond to the
failure while the drive is still operational (e.g. emergency retraction).
Refer to: F01910
Description: Connector input for the sign-of-life of the clock synchronous PROFIdrive controller.
The sign-of-life is expected at bits 12 to 15. Bits 0 to 11 are not evaluated.
The sign-of-life signal is normally received in PZD4 (control word 2) from the PROFIdrive controller.
Description: Sets the additional monitoring time to monitor the process data received via PROFIBUS.
The additional monitoring time enables short bus faults to be compensated.
Recommend.: Do not set the additional monitoring time for clock-synchronous operation.
Note: For controller STOP, the additional monitoring time is not effective.
p2044 IF1 PROFIdrive fault delay / IF1 PD fault delay
A_INF, B_INF,
ENCODER, S_INF,
SERVO, TM41, VEC-
TOR
0 [s] 100 [s] 0 [s]
p2045 CI: PROFIdrive clock-cyc. synchr. master sign-of-life, signal source /
PD mast-SoL S_src
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TM41, VECTOR
(n/M)
- - 0
p2047 PROFIBUS additional monitoring time / PB suppl t_monit
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 [ms] 20000 [ms] 0 [ms]
List of parameters
Parameters
Description: Sets the sampling time for the cyclic interface 1 (IF1).
Note: For clock cycle synchronous operation, the specified bus cycle time applies (Tdp).
Description: Connector output to interconnect PZD (setpoints) with word format received from the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Note: IF1: Interface 1
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
Notice: Where there is a multiple interconnection of a connector output, all the connector inputs must either have Integer or
FloatingPoint data types.
A BICO interconnection for a single PZD can only take place either on r2050 or r2060.
p2048 IF1 PROFIdrive PZD sampling time / IF1 PZD t_sample
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1.00 [ms] 16.00 [ms] 4.00 [ms]
r2050[0...4] CO: IF1 PROFIdrive PZD receive word / IF1 PZD recv word
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, TB30,
TM120, TM15DI_DO,
TM31
Not for motor type: - Scaling: 4000H Expert list: 1
- - -
- - -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
SERVO, TM41 Can be changed: - Calculated: - Access level: 3
- - -
- - -
List of parameters
Parameters
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Description: Selects the PZD (actual values) with word format to be sent to the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
p2051[0...7] CI: IF1 PROFIdrive PZD send word / IF1 PZD send word
A_INF, B_INF,
S_INF
- - 0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
Parameters
List of parameters
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
- - 0
SERVO, TM41 Can be changed: U, T Calculated: - Access level: 3
- - 0
List of parameters
Parameters
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
TB30, TM120,
TM15DI_DO, TM31
- - 0
- - 0
Parameters
List of parameters
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Description: Displays the PZD (actual values) with word format sent to the PROFIdrive controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
r2053[0...7] IF1 PROFIdrive diagnostics PZD send word / IF1 diag send word
A_INF, B_INF,
S_INF
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
- - -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
- - -
List of parameters
Parameters
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
TB30, TM120,
TM15DI_DO, TM31
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
List of parameters
Parameters
Description: Status display for the internal communications interface.
Value: 0: No initialization
1: Fatal fault
2: Initialization
3: Send configuration
4: Receive configuration
5: Non-cyclic communication
6: Cyclic communications but no setpoints (stop/no clock cycle)
255: Cyclic communication
Description: Status display for the PROFIBUS interface.
Value: 0: OFF
1: No connection (search for baud rate)
2: Connection OK (baud rate found)
3: Cyclic connection with master (data exchange)
4: Cyclic data OK
Note: Re r2054 = 3:
In state 3 (the LED flashes green), a cyclic connection has been established to the PROFIBUS master; however,
one of the following prerequisites is missing for cyclic operation:
- No setpoints are being received as the PROFIBUS master is in the STOP condition.
Only for clock-cycle synchronous operation, the following applies:
- The drive is not in synchronism as the global control (GC) has an error.
Re r2054 = 4:
In the status 4 (LED green), the cyclic connection to the PROFIBUS master has been established and setpoints are
being received. The clock cycle synchronization is OK, the global control (GC) is error-free.
This state does not provide any statement regarding the quality of the clock cycle synchronous sign-of-life charac-
ters on the drive objects.
Description: Diagnostics display for the PROFIBUS interface.
Index: [0] = Master bus address
[1] = Master input total length bytes
[2] = Master output total length bytes
r2054 COMM INT state / C INT state
CU_CX32, CU_I,
CU_LINK
0 255 -
r2054 PROFIBUS status / PB status
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
0 4 -
r2055[0...2] PROFIBUS diagnostics standard / PB diag standard
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
- - -
Parameters
List of parameters
Description: Displays the setting of the PROFIBUS address switch "DP ADDRESS" on the Control Unit.
Description: Displays the configuration data received via COMM BOARD.
Description: Displays the identification data of the COMM BOARD.
Note: Index 0: CB data structure version (e.g.: 100 = V1.00).
Index 1: CB driver version (e.g.: 100 = V1.00).
Index 2: Company, (e.g.: 42 = Siemens).
Index 3: Device type
Index 4: Firmware version.
Index 5: Firmware date (year).
Index 6: Firmware date (day/month).
Description: Connector output to interconnect PZD (setpoints) with double word format received from the PROFIdrive controller.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
r2057 PROFIBUS address switch diagnostics / PB addr diagn
CU_S_CU310DP,
CU_S_CU320_DP,
CU_S_S150DP
- - -
r2058[0...139] COMM INT receive configuration data / C INT E_config_dat
CU_CX32, CU_I,
CU_LINK
- - -
r2059[0...7] COMM INT identification data / C INT ident_dat
CU_CX32, CU_I,
CU_LINK
- - -
r2060[0...2] CO: IF1 PROFIdrive PZD receive double word / IF1 PZD recv DW
- - -
List of parameters
Parameters
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
A maximum of 4 indices of the "trace" function can be used.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
- - -
- - -
Parameters
List of parameters
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
Description: Selects the PZD (actual values) with double word format to be sent to the PROFIdrive controller.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
Notice: A BICO interconnection for a single PZD can only take place either on r2051 or r2061.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
p2061[0...10] CI: IF1 PROFIdrive PZD send double word / IF1 PZD send DW
- - 0
- - 0
List of parameters
Parameters
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
- - 0
Parameters
List of parameters
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
Description: Displays the PZD (actual values) with double word format sent to the PROFIdrive controller.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
r2063[0...10] IF1 PROFIdrive diagnostics PZD send double word / IF1 diag send DW
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
List of parameters
Parameters
Notice: A maximum of 4 indices of the "trace" function can be used.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Parameters
List of parameters
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
- - -
List of parameters
Parameters
Description: Displays the last parameter received from the PROFIdrive controller for clock synchronism.
The parameters for clock synchronism are created when configuring the bus and are transferred at the start of
cyclic operation from the controller to the device.
Index: [0] = Clock synchronous mode activated
[1] = Bus cycle time (Tdp) [s]
[2] = Master cycle time (Tmapc) [s]
[3] = Instant of actual value acquisition (Ti) [s]
[4] = Instant of setpoint acquisition (To) [s]
[5] = Data exchange interval (Tdx) [s]
[6] = PLL window (Tpll-w) [1/12 s]
[7] = PLL delay time (Tpll-d) [1/12 s]
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
r2064[0...7] PROFIdrive diagnostics clock synchronous mode / PD diag clock sync
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays how often the sign-of-life from the clock synchronous PROFIdrive controller has failed.
An appropriate fault is output when the tolerance, specified in p0925, is exceeded.
Description: Displays the PROFIBUS address of the sender from which the process data (PZD) is received.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Value range:
0 - 125: Bus address of the sender
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
r2065 PROFIdrive controller sign-of-life, diagnostics / PD ctrl SoL diag
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TM41, VECTOR
(n/M)
- - -
r2074[0...4] IF1 PROFIdrive diagnostics bus address PZD receive / IF1diag addr recv
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, TB30,
TM120, TM15DI_DO,
TM31
- - -
- - -
List of parameters
Parameters
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
- - -
- - -
Parameters
List of parameters
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Value range:
65535: not assigned
Description: Displays the PZD byte offset in the PROFIdrive receive telegram (controller output).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Value range:
0 - 242: Byte offset
65535: not assigned
r2075[0...4] IF1 PROFIdrive diagnostics telegram offset PZD receive / IF1 diag offs recv
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, TB30,
TM120, TM15DI_DO,
TM31
- - -
- - -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
- - -
- - -
Parameters
List of parameters
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Value range:
65535: not assigned
Description: Displays the PZD byte offset in the PROFIdrive send telegram (controller input).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
Value range:
65535: not assigned
r2076[0...7] IF1 PROFIdrive diagnostics telegram offset PZD send / IF1 diag offs send
A_INF, B_INF,
S_INF
- - -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
- - -
Parameters
List of parameters
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
- - -
TB30, TM120,
TM15DI_DO, TM31
- - -
List of parameters
Parameters
[3] = PZD 4
[4] = PZD 5
Value range:
65535: not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Value range:
65535: not assigned
- - -
Parameters
List of parameters
Description: Displays the addresses of the slaves (peers) where peer-to-peer data transfer has been configured via PROFIBUS.
Contrary to p0922, a telegram can be selected using p2079 and subsequently expanded.
p2079 has the same value and is inhibited. All of the interconnections and extensions contained in the telegram are
inhibited.
p2079 can be freely set. If p2079 is also set to 999, then all of the interconnections can be set.
For p0922 = 999 and p2079 < 999 the following applies:
The interconnections contained in the telegram are inhibited. However, the telegram can be extended.
inhibited.
r2077[0...15] PROFIBUS diagnostics peer-to-peer data transfer addresses / PB diag peer addr
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p2079 IF1 PROFIdrive PZD telegram selection extended / IF1 PD PZD tel ext
A_INF, B_INF,
S_INF
370 999 999
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
390 999 999
List of parameters
Parameters
inhibited.
inhibited.
81 999 999
1 999 999
Parameters
List of parameters
inhibited.
inhibited.
SERVO (EPOS, Pos
ctrl, Spin), VECTOR
(EPOS, n/M, Pos ctrl)
7 999 999
SERVO (Pos ctrl,
Spin), VECTOR
(n/M, Pos ctrl)
999 999 999
List of parameters
Parameters
inhibited.
inhibited.
SERVO (Spin) Can be changed: T Calculated: - Access level: 3
1 999 999
3 999 999
Parameters
List of parameters
inhibited.
inhibited.
1 999 999
1 999 999
List of parameters
Parameters
Description: Selects bits to be sent to the PROFIdrive controller.
The individual bits are combined to form status word 1.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
p2080[0...15] BI: Binector-connector converter status word 1 / Bin/con ZSW1
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0
Parameters
List of parameters
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Note: For clock synchronous operation, bit 12 to 15 to transfer the sign-of-life are reserved in status word 2 - and may not
be freely interconnected.
The individual bits are combined to form free status word 3.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0
List of parameters
Parameters
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0
Parameters
List of parameters
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Description: Setting to invert the individual binector inputs of the binector connector converter.
Index: [0] = Status word 1
[1] = Status word 2
[2] = Free status word 3
p2088[0...4] Invert binector-connector converter status word / Bin/con ZSW inv
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0000 0000 0000 0000 bin
00 Bit 0 Inverted Not inverted -
List of parameters
Parameters
Description: Connector output to interconnect the status words to a PZD send word.
[1] = Status word 2
Note: r2089 together with p2080 to p2084 forms five binector-connector converters.
r2089[0...4] CO: Send binector-connector converter status word / Bin/con ZSWsend
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Parameters
List of parameters
Description: Binector output for bit-serial interconnection of PZD1 (normally control word 1) received from the PROFIdrive con-
troller.
Description: Binector output for bit-serial interconnection of PZD2 received from the PROFIdrive controller.
r2090.0...15 BO: IF1 PROFIBUS PZD1 receive bit-serial / IF1 PZD1 recv bitw
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
r2091.0...15 BO: IF1 PROFIdrive PZD2 receive bit-serial / IF1 PZD2 recv bitw
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
List of parameters
Parameters
Description: Binector output for bit-serial interconnection of PZD3 received from the PROFIdrive controller.
Description: Binector output for bit-serial interconnection of PZD4 (normally control word 2) received from the PROFIdrive con-
troller.
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TM41, VECTOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TM41, VECTOR
- - -
Parameters
List of parameters
Description: Binector output for bit-serial onward interconnection of a PZD word received from the PROFIdrive controller.
The PZD is selected via p2099[0].
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
r2094.0...15 BO: Connector-binector converter binector output / Con/bin outp
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
List of parameters
Parameters
Description: Binector output for bit-serial interconnection of a PZD word received from the PROFIdrive controller.
Description: Setting to invert the individual binector outputs of the connector-binector converter.
Using p2098[0], the signals of CI: p2099[0] are influenced.
r2095.0...15 BO: Connector-binector converter binector output / Con/bin outp
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
p2098[0...1] Inverter connector-binector converter binector output / Con/bin outp inv
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0000 0000 0000 0000 bin
Parameters
List of parameters
Dependency: Refer to: r2094, r2095, p2099
Description: Sets the signal source for the connector-binector converter.
A PZD receive word can be selected as signal source. The signals are available to be serially passed-on (intercon-
nection).
Note: From the signal source set via the connector input, the corresponding lower 16 bits are converted.
p2099[0...1] together with r2094.0...15 and r2095.0...15 forms two connector-binector converters:
Connector input p2099[0] to binector output in r2094.0...15
Description: Selects the faults for which the fault response should be changed
Dependency: The fault is selected and the required response is set under the same index.
Refer to: p2101
Notice: For the following cases, it is not possible to re-parameterize the fault response to a fault:
- if there is no existing fault number.
- the message type is not "fault" (F).
- when a fault is present.
p2099[0...1] CI: Connector-binector converter signal source / Con/bin S_src
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
- - 0
p2100[0...19] Setting the fault number for fault response / F_no F response
0 65535 0
List of parameters
Parameters
Description: Sets the fault response for the selected fault.
Value: 0: NONE
1: OFF1
2: OFF2
8: OFF1_DELAYED
Value: 0: NONE
Value: 0: NONE
1: OFF1
2: OFF2
3: OFF3
4: STOP1 (being developed)
5: STOP2
6: Internal armature short-circuit / DC braking
7: ENCODER (p0491)
8: OFF1_DELAYED
Refer to: p2100
Notice: It is not possible to re-parameterize the response to a specific fault for faults that are already present (queued).
p2101[0...19] Setting the fault response / Fault response
A_INF, B_INF,
S_INF
0 8 0
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
0 0 0
SERVO, TM41, VEC-
TOR
0 8 0
Parameters
List of parameters
Note: The fault response can only be changed for faults with the appropriate identification (see the List Manual, chapter
"Faults and alarms").
Example:
F12345 and fault response = OFF3 (OFF1, OFF2, NONE)
--> The default fault response OFF3 can be changed to OFF1, OFF2 or NONE.
Re value = 1 (OFF1):
Braking along the ramp-function generator down ramp followed by a pulse inhibit.
Internal/external pulse inhibit.
Braking along the OFF3 down ramp followed by a pulse inhibit.
Re value = 5 (STOP2):
n_set = 0
Re value = 6 (armature short-circuit, internal/DC braking):
The value can only be set for all motor data sets when p1231 = 3, 4.
a) For synchronous motors (p0300 = 2xx, 4xx), an internal armature short-circuit is executed.
b) For induction motors (p0300 = 1xx), a DC braking is initiated.
Re value = 7 (ENCODER (p0491)):
The fault response set in p0491 is executed if applicable.
Note:
IASC: Internal Armature Short Circuit
DCBRK: DC braking
Description: Sets the signal source to acknowledge all faults at all drive objects of the drive system.
Note: A fault acknowledgement is triggered with a 0/1 signal.
Description: Sets the first signal source to acknowledge faults.
p2102 BI: Acknowledge all faults / Ackn all faults
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
p2103[0...n] BI: 1. Acknowledge faults / 1. Acknowledge
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
2443, 2447, 2475, 2546, 9220,
9677, 9678
- - 0
List of parameters
Parameters
Description: Sets the first signal source to acknowledge faults.
Description: Sets the second signal source to acknowledge faults.
Description: Sets the second signal source to acknowledge faults.
p2103 BI: 1. Acknowledge faults / 1. Acknowledge
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 0
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 0
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 0
Parameters
List of parameters
Description: Sets the third signal source to acknowledge faults.
Description: Sets the third signal source to acknowledge faults.
Description: Sets the signal source for external fault 1.
Note: An external fault is triggered with a 1/0 signal.
If this fault is output at the Control Unit, then it is transferred to all existing drive objects.
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 0
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 0
p2106[0...n] BI: External fault 1 / External fault 1
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 1
List of parameters
Parameters
p2106 BI: External fault 1 / External fault 1
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 1
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 1
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 1
Parameters
List of parameters
External fault 3 is initiated by the following AND logic operation:
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Displays the system runtime in milliseconds when the fault was removed.
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 1
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 1
r2109[0...63] Fault time removed in milliseconds / t_flt resolved ms
- [ms] - [ms] - [ms]
List of parameters
Parameters
Description: This parameter is identical to r2122.
Description: Number of alarms that have occurred after the last reset.
Dependency: When p2111 is set to 0, the following is initiated:
- all of the alarms of the alarm buffer that have gone [0...7] are transferred into the alarm history [8...63].
- the alarm buffer [0...7] is deleted.
Refer to: r2110, r2122, r2123, r2124, r2125
Note: The parameter is reset to 0 at POWER ON.
Description: Sets the signal source for external alarm 1.
Note: An external alarm is triggered with a 1/0 signal.
r2110[0...63] Alarm number / Alarm number
- - -
p2111 Alarm counter / Alarm counter
0 65535 0
p2112[0...n] BI: External alarm 1 / External alarm 1
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 1
p2112 BI: External alarm 1 / External alarm 1
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 1
Parameters
List of parameters
Description: Displays the total system runtime for the drive unit.
The time comprises r2114[0] (milliseconds) and r2114[1] (days).
After r2114[0] has reached a value of 86.400.000 ms (24 hours) this value is reset and r2114[1] is incremented.
Index: [0] = Milliseconds
[1] = Days
Dependency: Refer to: r0948, r2109, r2123, r2125, r2130, r2136, r2145, r2146
Note: The time in r2114 is used to display the times for faults and alarms.
When the electronic power supply is switched out, the counter values are saved.
After the drive unit is powered up, the counter continues to run with the last value that was saved.
r2114[0...1] System runtime total / Sys runtime tot
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 1
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 1
List of parameters
Parameters
Description: Selects faults or alarms for which the message type should be changed.
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
Refer to: p2119
Notice: It is not possible to re-parameterize the message type in the following cases:
- if there is no existing message number.
- if a message is present.
Description: Sets the message type for the selected fault or alarm.
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 1
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 1
p2118[0...19] Sets the message number for message type. / Msg_no Msg_type
0 65535 0
p2119[0...19] Setting the message type / Message type
1 3 1
Parameters
List of parameters
Value: 1: Fault (F)
2: Alarm (A)
3: No message (N)
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
Refer to: p2118
Notice: It is not possible to re-parameterize the message type for the existing faults or alarms.
Note: The message type can only be changed for messages with the appropriate identification.
Example:
F12345(A) --> Fault F12345 can be changed to alarm A12345.
In this case, the message number that may be possibly entered in p2100[0...19] and p2126[0...19] is automatically
removed.
Description: Displays the sum of all of the fault and alarm buffer changes in the drive unit.
Description: This counter is incremented every time the alarm buffer changes.
Description: Displays the number of alarms that have occurred.
Alarm buffer structure (general principle):
r2122[0], r2124[0], r2123[0], r2125[0] --> alarm 1 (the oldest)
. . .
r2122[7], r2124[7], r2123[7], r2125[7] --> Alarm 8 (the latest)
When the alarm buffer is full, the alarms that have gone are entered into the alarm history:
r2122[8], r2124[8], r2123[8], r2125[8] --> Alarm 1 (the latest)
. . .
r2122[63], r2124[63], r2123[63], r2125[63] --> alarm 56 (the oldest)
r2120 CO: Sum of fault and alarm buffer changes / Sum buffer changed
- - -
r2121 CO: Counter, alarm buffer changes / Alrm buff changed
- - -
r2122[0...63] Alarm code / Alarm code
- - -
List of parameters
Parameters
Description: Displays the system runtime in milliseconds when the alarm occurred.
The structure of the alarm buffer and the assignment of the indices is shown in r2122.
Description: Displays additional information about the active alarm (as integer number).
Description: Displays the system runtime in milliseconds when the alarm was cleared.
Description: Selects the faults for which the acknowledge mode is to be changed
Dependency: Selects the faults and sets the required acknowledge mode realized under the same index
Refer to: p2127
r2123[0...63] Alarm time received in milliseconds / t_alarm recv ms
- [ms] - [ms] - [ms]
r2124[0...63] Alarm value / Alarm value
- - -
r2125[0...63] Alarm time removed in milliseconds / t_alarm res ms
- [ms] - [ms] - [ms]
p2126[0...19] Setting fault number for acknowledge mode / Fault_no ackn_mode
0 65535 0
Parameters
List of parameters
Notice: It is not possible to re-parameterize the acknowledge mode of a fault in the following cases:
Description: Sets the acknowledge mode for selected fault.
Value: 1: Acknowledgment only using POWER ON
2: Ack IMMEDIATELY after the fault cause has been removed
3: Acknowledgement only for PULSE INHIBIT
Dependency: Selects the faults and sets the required acknowledge mode realized under the same index
Refer to: p2126
Notice: It is not possible to re-parameterize the acknowledge mode of a fault in the following cases:
Note: The acknowledge mode can only be changed for faults with the appropriate identification.
Example:
F12345 and acknowledge mode = IMMEDIATE (POWER ON)
--> The acknowledge mode can be changed from IMMEDIATELY to POWER ON.
Description: Selects faults or alarms which can be used as trigger.
Description: Trigger signal for the selected faults and alarms
p2127[0...19] Sets acknowledgement mode / Acknowledge mode
1 3 1
p2128[0...15] Selecting fault/alarm code for trigger / Message trigger
0 65535 0
r2129.0...15 CO/BO: Trigger word for faults and alarms / Trigger word
- - -
00 Trigger signal p2128[0] ON OFF -
List of parameters
Parameters
Dependency: If one of the faults or alarms selected in p2128[n] occurs, then the particular bit of this binector output is set.
Refer to: p2128
Note: CO: r2129 = 0 --> None of the selected messages has occurred.
CO: r2129 > 0 --> At least one of the selected messages has occurred.
Description: Displays the system runtime in days when the fault occurred.
Description: Displays the code of the oldest active fault.
Note: 0: No fault present.
Description: Displays the code of the last alarm that occurred.
Note: 0: No alarm present.
r2130[0...63] Fault time received in days / t_fault recv days
- - -
r2131 CO: Actual fault code / Actual fault code
- - -
r2132 CO: Actual alarm code / Actual alarm code
- - -
Parameters
List of parameters
Description: Displays additional information about the fault that occurred for float values.
Description: Displays additional information about the active alarm for float values.
Description: Displays the second status word of faults and alarms.
Description: Displays the system runtime in days when the fault was removed.
r2133[0...63] Fault value for float values / Fault val float
- - -
r2134[0...63] Alarm value for float values / Alarm value float
- - -
r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSWfault/alarm 2
- - -
00 Fault encoder 1 Yes No -
12 Fault motor overtemperature Yes No -
13 Fault power unit thermal overload Yes No -
14 Alarm motor overtemperature Yes No -
15 Alarm power unit thermal overload Yes No -
r2136[0...63] Fault time removed in days / t_flt resolv. days
- - -
List of parameters
Parameters
Description: Displays the control word of the faults and alarms.
Dependency: Refer to: p2103, p2104, p2105, p2106, p2107, p2108, p2112, p2116, p2117, p3110, p3111, p3112
Description: Displays the first status word of faults and alarms.
Note: Re bit 03, 05, 07:
These bits are set if at least one fault/alarm occurs. Data is entered into the fault/alarm buffer with delay. This is the
reason that the fault/alarm buffer should only be read if, after "fault present"/"alarm present" has occurred, a change
in the buffer was also detected (r0944, r9744, r2121).
Re bit 06, 08:
These status bits are used for internal diagnostic purposes only.
Re bit 11, 12:
These status bits are used for the classification of internal alarm classes and are intended for diagnostic purposes
only on certain automation systems with integrated SINAMICS functionality.
r2138.7...15 CO/BO: Control word faults/alarms / STW fault/alarm
- - -
10 External alarm 1 (A07850) effective Yes No -
13 External fault 1 (F07860) effective Yes No -
r2139.0...12 CO/BO: Status word faults/alarms 1 / ZSWfault/alarm 1
- - -
00 Being acknowledged Yes No -
01 Acknowledgment required Yes No -
05 Safety message present Yes No -
06 Internal message 1 present Yes No -
08 Internal message 2 present Yes No -
11 Alarm class bit 0 High Low -
12 Alarm class bit 1 High Low -
Parameters
List of parameters
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| < = speed threshold value 2" (BO: r2197.1)
"|n_act| > speed threshold value 2" (BO: r2197.2)
Description: Sets the hysteresis velocity (bandwidth) for the following signals:
"|n_act| < = velocity threshold value 2" (BO: r2197.1)
"|n_act| > velocity threshold value 2" (BO: r2197.2)
Description: Sets the speed threshold value for the signal "f or n comparison value reached or exceeded" (BO: r2199.1).
Description: Sets the velocity threshold value for the signal "f or n comparison value reached or exceeded" (BO: r2199.1).
p2140[0...n] Hysteresis speed 2 / n_hysteresis 2
SERVO, VECTOR Can be changed: U, T Calculated:
CALC_MOD_LIM_REF
Access level: 3
P-Group: Messages Units group: 3_1 Unit selection: p0505
0.00 [rpm] 300.00 [rpm] 90.00 [rpm]
p2140[0...n] Hysteresis velocity 2 / v_hysteresis 2
CALC_MOD_LIM_REF
Access level: 3
0.00 [m/min] 10.00 [m/min] 0.90 [m/min]
p2141[0...n] Speed threshold 1 / n_thresh val 1
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 210000.00 [rpm] 5.00 [rpm]
p2141[0...n] Velocity threshold value 1 / v_thresh val 1
CALC_MOD_LIM_REF
Access level: 3
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
List of parameters
Parameters
Description: Sets the hysteresis speed (bandwidth) for the signal "f or n / v comparison value reached or exceeded" (BO:
r2199.1).
Description: Sets the hysteresis velocity (bandwidth) for the signal "f or n / v comparison value reached or exceeded" (BO:
r2199.1).
Description: Sets the signal source for the negated enable (0 = enable) of the motor stall monitoring.
Refer to: F07900
Note: If the enable signal is connected to r2197.7 then the stall signal is suppressed if there is no speed setpoint - actual
value deviation.
Description: Displays the system runtime in days when the alarm occurred.
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 300.00 [rpm] 2.00 [rpm]
CALC_MOD_LIM_REF
Access level: 3
0.00 [m/min] 10.00 [m/min] 0.02 [m/min]
p2144[0...n] BI: Motor stall monitoring enable (negated) / Mot stall enab neg
- - 0
r2145[0...63] Alarm time received in days / t_alarm recv days
- - -
Parameters
List of parameters
Description: Displays the system runtime in days when the alarm was cleared.
Description: Setting to delete the fault buffer of all existing drive objects.
Value: 0: Inactive
1: Start to delete the fault buffer of all drive objects
Note: p2147 is automatically set to 0 after execution.
Description: Sets the signal source for the signal "ramp-function generator active" for the following signals/messages:
"Speed setpoint - actual value deviation within tolerance t_on" (BO: r2199.4)
"Ramp-up/ramp-down completed" (BO: r2199.5)
Note: The binector input is automatically pre-assigned to r1199.2.
The pre-assignment is only made when the function module "setpoint channel" is activated (r0108.8 = 1).
Description: Sets the configuration for messages and monitoring functions.
r2146[0...63] Alarm time removed in days / t_alarm res days
- - -
p2147 Delete fault buffer of all drive objects / Del fault buffer
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
p2148[0...n] BI: RFG active / RFG active
CALC_MOD_LIM_REF
Access level: 3
- - 0
p2149[0...n] Monitoring configuration / Monit config
- - 0000 0000 0000 0000 bin
List of parameters
Parameters
Refer to: A07903
Note: Re bit 00:
Alarm A07903 is output when the bit is set with r2197.7 = 0 (n_set <> n_act).
Re bit 01:
When the bit is set, load monitoring is only carried out in the 1st quadrant as a result of the positive characteristic
parameters (p2182 ... p2190).
Re bit 03:
When the bit is set, r2197 bit 1 and bit 2 are determined via separate hystereses.
Re bit 15:
The bit indicates whether the automatic parameterization (p0340 = 1, p3900 > 0) for the parameters of the extended
monitoring functions was carried out. If the bit is not set (e.g. when the configuration is activated (p0108.15)), the
parameterization is automatically carried out during booting even if r3925.0 is already 1.
Description: Sets the configuration for messages and monitoring functions.
Refer to: A07903
Note: Re bit 00:
Alarm A07903 is output when the bit is set with r2197.7 = 0 (n_set <> n_act).
Re bit 01:
When the bit is set, load monitoring is only carried out in the 1st quadrant as a result of the positive characteristic
parameters (p2182 ... p2190).
Re bit 03:
When the bit is set, r2197 bit 1 and bit 2 are determined via separate hystereses.
Re bit 15:
The bit indicates whether the automatic parameterization (p0340 = 1, p3900 > 0) for the parameters of the extended
monitoring functions was carried out. If the bit is not set (e.g. when the configuration is activated (p0108.15)), the
parameterization is automatically carried out during booting even if r3925.0 is already 1.
00 Enable alarm A07903 Yes No 8010
01 Load monitoring only in the 1st quadrant Yes No 8013
03 n_act > p2155 own hysteresis Yes No 8010
15 Automatic parameterization carried out
(p0340 = 1, p3900 > 0)
Yes No -
- - 0000 0000 0000 0001 bin
00 Enable alarm A07903 Yes No 8010
01 Load monitoring only in the 1st quadrant Yes No 8013
03 n_act > p2155 own hysteresis Yes No 8010
15 Automatic parameterization carried out
(p0340 = 1, p3900 > 0)
Yes No -
Parameters
List of parameters
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| < speed threshold value 3" (BO: r2199.0)
"n_set >= 0" (BO: r2198.5)
"n_act >= 0" (BO: r2197.3)
Description: Sets the hysteresis velocity (bandwidth) for the following signals:
"|n_act| < speed threshold value 3" (BO: r2199.0)
"n_set >= 0" (BO: r2198.5)
"n_act >= 0" (BO: r2197.3)
Description: Sets the signal source for the speed setpoint for the following messages:
"Speed setpoint - actual value deviation within tolerance t_off" (BO: r2197.7)
"|n_set| < p2161" (BO: r2198.4)
"n_set > 0" (BO: r2198.5)
Description: Sets the signal source for the velocity setpoint for the following messages:
"Velocity setpoint - actual value deviation within tolerance t_off" (BO: r2197.7)
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 300.00 [rpm] 2.00 [rpm]
CALC_MOD_LIM_REF
Access level: 3
0.00 [m/min] 3.00 [m/min] 0.02 [m/min]
p2151[0...n] CI: Speed setpoint for messages/signals / n_set for msg
- - 1438[0]
p2151[0...n] CI: Velocity setpoint for messages/signals / v_set for msg
- - 1438[0]
List of parameters
Parameters
"|v_set| < p2161" (BO: r2198.4)
"v_set > 0" (BO: r2198.5)
Description: Sets the signal source for the speed setpoint for the following messages:
"Speed setpoint - actual value deviation within tolerance t_off" (BO: r2197.7)
"|n_set| < p2161" (BO: r2198.4)
"n_set > 0" (BO: r2198.5)
Description: Sets the time constant of the PT1 element to smooth the speed / velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and sig-
nals.
Description: Sets the time constant of the PT1 element to smooth the speed / velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and sig-
nals.
Description: Sets the signal source for speed setpoint 2.
The sum of p2151 and p2154 is used for the following messages/signals:
"Speed setpoint - actual value deviation within tolerance t_off" (r2197.7)
- - 1170[0]
p2153[0...n] Speed actual value filter time constant / n_act_filt T
0 [ms] 1000000 [ms] 0 [ms]
p2153[0...n] Velocity actual value filter time constant / v_act_filt T
0 [ms] 1000000 [ms] 0 [ms]
p2154[0...n] CI: Speed setpoint 2 / n_set 2
- - 0
Parameters
List of parameters
"Speed setpoint - actual value deviation within tolerance t_on" (r2199.4)
"Ramp-up/ramp-down completed" (r2199.5)
Description: Sets the signal source for the velocity setpoint 2.
The sum of p2151 and p2154 is used for the following messages/signals:
"Velocity setpoint - actual value deviation within tolerance t_off" (r2197.7)
"Velocity setpoint - actual value deviation within tolerance t_on" (r2199.4)
"Ramp-up/ramp-down completed" (r2199.5)
Description: Sets the speed threshold value for the following messages:
"|n_act| < = speed threshold value 2" (BO: r2197.1)
"|n_act| > speed threshold value 2" (BO: r2197.2)
Description: Sets the velocity threshold value for the following messages:
"|v_act| < = velocity threshold value 2" (BO: r2197.1)
"|v_act| > velocity threshold value 2" (BO: r2197.2)
Description: Sets the switch-in delay time for the signal "comparison value reached" (BO: r2199.1).
p2154[0...n] CI: Velocity setpoint 2 / v_set 2
- - 0
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]
CALC_MOD_LIM_REF
Access level: 3
0.00 [m/min] 1000.00 [m/min] 9.00 [m/min]
p2156[0...n] On delay, comparison value reached / t_on cmpr val rchd
0.0 [ms] 10000.0 [ms] 0.0 [ms]
List of parameters
Parameters
Description: Sets the speed threshold value for the signal "|n_act| < speed threshold value 3" (BO: r2199.0).
Description: Sets the velocity threshold value for the signal "|v_act| < velocity threshold value 3" (BO: r2199.0).
Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max" (BO: r2197.6).
Notice: For p0322 = 0, the following applies: p2162 <= 0.1 * p0311
For p0322 > 0, the following applies: p2162 <= 1.02 * p0322 - p1082
If one of the conditions is violated, p2162 is appropriately and automatically reduced when exiting the commission-
ing mode.
Note: For a negative speed limit (r1087) the hysteresis is effective below the limit value and for a positive speed limit
(r1084) above the limit value.
If significant overshoot occurs in the maximum speed range (e.g. due to load shedding), you are advised to
increase the dynamic response of the speed controller (if possible). If this is insufficient, the hysteresis p2162 can
only be increased by more than 10% of the rated speed when the maximum speed (p0322) of the motor is suffi-
ciently greater than the speed limit p1082.
Description: Sets the hysteresis velocity (bandwidth) for the signal "v_act > v_max" (BO: r2197.6).
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 210000.00 [rpm] 5.00 [rpm]
CALC_MOD_LIM_REF
Access level: 3
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
p2162[0...n] Hysteresis speed n_act > n_max / Hyst n_act>n_max
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 60000.00 [rpm] 0.00 [rpm]
p2162[0...n] Hysteresis velocity v_act > v_max / Hyst v_act>v_max
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 1000.00 [m/min] 6.00 [m/min]
Parameters
List of parameters
Notice: For p0322 = 0, the following applies: p2162 <= 0.1 * p0311
For p0322 > 0, the following applies: p2162 <= 1.02 * p0322 - p1082
If one of the conditions is violated, p2162 is appropriately and automatically reduced when exiting the commission-
ing mode.
Note: For a negative velocity limit (r1087) the hysteresis is effective below the limit value and for a positive velocity limit
(r1084) above the limit value.
Description: Sets the speed threshold value for the "speed setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
Description: Sets the velocity threshold value for the "speed setpoint - actual value deviation in tolerance t_off" message (BO:
r2197.7).
Description: Sets the hysteresis speed (bandwidth) for the "speed setpoint - actual value deviation in tolerance t_off" signal/mes-
sage (BO: r2197.7).
Description: Sets the hysteresis velocity (bandwidth) for the "speed setpoint - actual value deviation in tolerance t_off" message
(BO: r2197.7).
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 90.00 [rpm]
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 1000.00 [m/min] 0.90 [m/min]
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 200.00 [rpm] 2.00 [rpm]
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 10.00 [m/min] 0.02 [m/min]
List of parameters
Parameters
Description: Sets the switch-off delay time for the "speed setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
Description: Sets the switch-off delay time for the "velocity setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
Description: Sets the switch-on delay for the "speed setpoint - actual value deviation in tolerance t_on" signal/message (BO:
r2199.4).
Description: Sets the switch-on delay for the "speed setpoint - actual value deviation in tolerance t_on" signal/message (BO:
r2199.4).
Description: Displays the smoothed actual speed for messages/signals.
p2166[0...n] Off delay n_act = n_set / t_del_off n_i=n_so
0.0 [ms] 10000.0 [ms] 200.0 [ms]
p2166[0...n] Off delay v_act = v_set / t_del_off n_i=n_so
0.0 [ms] 10000.0 [ms] 200.0 [ms]
p2167[0...n] Switch-on delay n_act = n_set / t_on n_act=n_set
0.0 [ms] 10000.0 [ms] 200.0 [ms]
p2167[0...n] On delay v_act = v_set / t_on n_act=n_set
0.0 [ms] 10000.0 [ms] 200.0 [ms]
r2169 CO: Actual speed smoothed signals / n_act smth message
8012, 8013
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the smoothed actual velocity for messages/signals.
Description: Sets the torque threshold value for the signal "Torque setpoint < torque threshold value 1" (BO: r2198.10).
Description: Sets the force threshold value for the signal "force setpoint < force threshold value 1" (BO: r2198.10).
Description: Sets the torque threshold value for the messages:
"Torque setpoint < torque threshold value 1 and n_set reached" (BO: r2198.9)
"Torque setpoint < torque threshold value 1" (BO: r2198.10)
"Torque setpoint > torque threshold value 1" (BO: r2198.13)
r2169 CO: Actual velocity smoothed signals / v_act smth message
8012, 8013
p2174[0...n] Torque threshold value 1 / M_thresh val 1
0.00 [Nm] 20000000.00 [Nm] 5.13 [Nm]
p2174[0...n] Force threshold value 1 / F_thresh val 1
0.00 [N] 20000000.00 [N] 1000.00 [N]
0.00 [Nm] 20000000.00 [Nm] 5.13 [Nm]
List of parameters
Parameters
Description: Sets the speed threshold for the message "Motor locked" (BO: r2198.6).
Description: Sets the velocity threshold for the message "Motor locked" (BO: r2198.6).
Description: Sets the speed threshold for the message "Motor locked" (BO: r2198.6).
Note: The following applies for sensorless vector control:
At low speeds in open-loop speed controlled operation (see p1755, p1756), a locked motor cannot be detected.
Description: Sets the delay time for the message "Motor locked" (BO: r2198.6).
p2175[0...n] Motor locked speed threshold / Mot lock n_thresh
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 210000.00 [rpm] 120.00 [rpm]
p2175[0...n] Motor locked, velocity threshold / Mot lock v_thresh
CALC_MOD_LIM_REF
Access level: 3
0.00 [m/min] 1000.00 [m/min] 1.20 [m/min]
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 210000.00 [rpm] 120.00 [rpm]
p2177[0...n] Motor locked delay time / Mot lock t_del
CALC_MOD_LIM_REF
Access level: 2
0.000 [s] 65.000 [s] 1.000 [s]
Parameters
List of parameters
Description: Sets the delay time for the message "Motor stalled" (BO: r2198.7).
Description: Sets the response when evaluating the load monitoring.
Value: 0: Load monitoring disabled
1: A07920 for torque/speed too low
2: A07921 for torque/speed too high
3: A07922 for torque/speed out of tolerance
4: F07923 for torque/speed too low
5: F07924 for torque/speed too high
6: F07925 for torque/speed out of tolerance
Dependency: Refer to: p2182, p2183, p2184, p2185, p2186, p2187, p2188, p2189, p2190, p2192, r2198
Refer to: A07920, A07921, A07922, F07923, F07924, F07925
Note: The response to the faults F07923 ... F07925 can be set. F07926 is evaluated only if p2181 is not zero.
Description: Sets the speed/torque envelope curve for load monitoring.
The envelope curve (upper and lower envelope curve) is defined as follows based on 3 speed thresholds:
p2182 (n_threshold 1) --> p2185 (M_threshold 1, upper), p2186 (M_threshold 1, lower)
Dependency: The following applies: p2182 < p2183 < p2184
Refer to: p2183, p2184, p2185, p2186
Refer to: A07926
p2178[0...n] Motor stalled delay time / Mot stall t_del
0.000 [s] 10.000 [s] 0.010 [s]
p2181[0...n] Load monitoring response / Load monit resp
SERVO (Ext msg),
VECTOR (Ext msg)
0 6 0
p2182[0...n] Load monitoring velocity threshold 1 / n_thresh 1
SERVO (Ext msg,
Lin)
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
List of parameters
Parameters
Refer to: p2183, p2184, p2185, p2186
Refer to: A07926
Refer to: p2182, p2184, p2187, p2188
Refer to: A07926
Refer to: p2182, p2184, p2187, p2188
Refer to: A07926
p2182[0...n] Load monitoring speed threshold value 1 / n_thresh 1
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [rpm] 210000.00 [rpm] 150.00 [rpm]
SERVO (Ext msg,
Lin)
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]
Parameters
List of parameters
Refer to: p2182, p2183, p2189, p2190
Refer to: A07926
Refer to: p2182, p2183, p2189, p2190
Refer to: A07926
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2185 > p2186
Refer to: A07926
Note: The upper envelope curve is defined by p2185, p2187 and p2189.
SERVO (Ext msg,
Lin)
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [rpm] 210000.00 [rpm] 1500.00 [rpm]
p2185[0...n] Load monitoring force threshold 1, upper / M_thresh 1 upper
SERVO (Ext msg,
Lin)
0.00 [N] 100000.00 [N] 100000.00 [N]
List of parameters
Parameters
Refer to: A07926
Dependency: The following applies: p2186 < p2185
Refer to: A07926
Note: The lower envelope curve is defined by p2186, p2188 and p2190.
Refer to: A07926
Refer to: A07926
p2185[0...n] Load monitoring torque threshold 1, upper / M_thresh 1 upper
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
p2186[0...n] Load monitoring force threshold 1, lower / M_thresh 1 lower
SERVO (Ext msg,
Lin)
0.00 [N] 100000.00 [N] 0.00 [N]
p2186[0...n] Load monitoring torque threshold 1, lower / M_thresh 1 lower
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
SERVO (Ext msg,
Lin)
0.00 [N] 100000.00 [N] 100000.00 [N]
Parameters
List of parameters
Refer to: A07926
Refer to: A07926
Refer to: A07926
Refer to: A07926
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
SERVO (Ext msg,
Lin)
0.00 [N] 100000.00 [N] 0.00 [N]
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
SERVO (Ext msg,
Lin)
0.00 [N] 100000.00 [N] 100000.00 [N]
List of parameters
Parameters
Refer to: A07926
Refer to: A07926
Refer to: A07926
Description: Sets the delay time to evaluate the load monitoring.
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
SERVO (Ext msg,
Lin)
0.00 [N] 100000.00 [N] 0.00 [N]
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
p2192[0...n] Load monitoring delay time / Load monit t_del
SERVO (Ext msg),
VECTOR (Ext msg)
0.00 [s] 65.00 [s] 10.00 [s]
Parameters
List of parameters
Description: Sets the torque threshold value for the message "Torque utilization < torque threshold value 2" (BO: r2199.11).
The message "torque setpoint < p2174" (BO: r2198.10) and "torque utilization < p2194" (BO: r2199.11) are only
evaluated after the run-up and the delay time has expired.
Description: Sets the force threshold value for the signal "force utilization < force threshold value 2" (BO: r2199.11).
The message "force setpoint < p2174" (BO: r2198.10) and "force utilization < p2194" (BO: r2199.11) are only eval-
uated after the run-up and the delay time has expired.
Description: Sets the switch-off delay time for the negated signal "run-up completed".
The message "torque setpoint < p2174" (BO: r2198.10) and "torque utilization < p2194" (BO: r2199.11) are only
evaluated after the run-up and the delay time has expired.
Description: Sets the switch-off delay time for the negated signal "run-up completed".
The message "force setpoint < p2174" (BO: r2198.10) and "force utilization < p2194" (BO: r2199.11) are only eval-
uated after the run-up and the delay time has expired.
CALC_MOD_LIM_REF
Access level: 2
0.00 [%] 100.00 [%] 90.00 [%]
CALC_MOD_LIM_REF
Access level: 2
0.00 [%] 100.00 [%] 90.00 [%]
p2195[0...n] Torque utilization switch-off delay / M_util t_off
0.0 [ms] 1000.0 [ms] 800.0 [ms]
p2195[0...n] Force utilization switch-off delay / F_util t_off
0.0 [ms] 1000.0 [ms] 800.0 [ms]
List of parameters
Parameters
Description: Sets the scaling factor for torque utilization (r0033).
Description: Displays the first status word for monitoring functions.
Note: Re bit 01, 02:
The threshold value is set in p2155 and the hysteresis in p2140.
Re bit 03:
The hysteresis is set in p2150.
Re bit 06:
Re bit 07:
The threshold value is set in p2163 and the hysteresis is set in p2164.
Description: Displays the first status word for monitoring functions.
The threshold value is set in p2155 and the hysteresis in p2140.
p2196[0...n] Torque utilization scaling / M_util scal
SERVO, VECTOR Can be changed: C2(1, 3), U, T Calculated: - Access level: 1
0.00 [%] 1000.00 [%] 100.00 [%]
r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1
- - -
01 -
02 -
03 n_act >= 0 Yes No 8011
06 |n_act| > n_max Yes No 8010
07 Speed setp - act val deviation in tolerance
t_off
Yes No 8011
13 |n_act| > n_max error Yes No -
- - -
01 -
02 -
03 v_act >= 0 Yes No 8011
06 |v_act| > v_max Yes No 8010
07 Velocity setpoint - actual value deviation in
tolerance t_off
Yes No 8011
13 |n_act| > n_max error Yes No -
Parameters
List of parameters
Re bit 03:
Re bit 06:
Re bit 07:
The threshold value is set in p2163 and the hysteresis is set in p2164.
Description: Displays the second status word for monitoring functions.
Note: Re bit 10:
The torque threshold value 1 is set in p2174.
Re bit 12:
This bit is reset after the fault cause disappears, even if the fault itself is still present.
Note: Re bit 10:
The force threshold value 1 is set in p2174.
- - -
04 |n_set| < p2161 Yes No 8010
05 n_set > 0 Yes No 8010
06 Motor stalled Yes No 8012
10 |M_set| < torque threshold value 1 Yes No 8012
11 Load monitoring signals an alarm Yes No 8013
12 Load monitoring signals a fault condition Yes No 8013
- - -
04 |n_set| < p2161 Yes No 8010
05 v_set > 0 Yes No 8010
10 Force setpoint < force threshold value 1 Yes No 8012
- - -
List of parameters
Parameters
Note: Re bit 10:
Re bit 12:
This bit is reset after the fault cause disappears, even if the fault itself is still present.
Description: Displays the third status word for monitoring functions.
Note: Re bit 00:
The speed threshold value 3 is set in p2161.
Re bit 01:
The comparison value is set in p2141. We recommend setting the hysteresis (p2142) for canceling the bit to a value
lower than that in p2141. Otherwise, the bit will never be reset.
Re bit 11:
04 |n_set| < p2161 Yes No 8010
05 n_set > 0 Yes No 8010
10 |M_set| < torque threshold value 1 Yes No 8012
- - -
00 |n_act| < speed threshold value 3 Yes No 8010
01 f or n comparison value reached or
exceeded
Yes No 8010
t_on
Yes No 8010
05 Ramp-up/ramp-down completed Yes No 8010
06 Current below the zero current threshold Yes No -
11 Torque utilization < torque threshold value 2 Yes No 8012
- - -
00 |v_act| < velocity threshold value 3 Yes No 8010
01 f or v comparison value reached or
exceeded
Yes No 8010
04 Velocity setpoint - actual value deviation in
tolerance t_on
Yes No 8010
11 Force utilization < force threshold value 2 Yes No 8012
Parameters
List of parameters
Note: Re bit 00:
The velocity threshold value 3 is set in p2161.
Re bit 01:
The comparison value is set in p2141.
Re bit 11:
The force threshold value 2 is set in p2194.
Note: Re bit 00:
The speed threshold value 3 is set in p2161.
Re bit 01:
The comparison value is set in p2141. We recommend setting the hysteresis (p2142) for canceling the bit to a value
lower than that in p2141. Otherwise, the bit will never be reset.
Re bit 11:
Description: Sets the signal source to switch in/switch out the technology controller.
The technology controller is switched in with a 1 signal.
Description: Sets the value for fixed value 1 of the technology controller.
8018
- - -
00 |n_act| < speed threshold value 3 Yes No 8010
01 f or n comparison value reached or
exceeded
Yes No 8010
t_on
Yes No 8010
07 Speed deviation model/external in tolerance Yes No 8012
11 Torque utilization < torque threshold value 2 Yes No 8012
12 Excitation current outside the tolerance
range
Yes No 8018
p2200[0...n] BI: Technology controller enable / Tec_ctrl enable
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
P-Group: Technology Units group: - Unit selection: -
- - 0
p2201[0...n] CO: Technology controller, fixed value 1 / Tec_ctr fix val 1
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
P-Group: Technology Units group: 9_1 Unit selection: p0595
-200.00 [%] 200.00 [%] 10.00 [%]
List of parameters
Parameters
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 20.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 30.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 40.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 50.00 [%]
Parameters
List of parameters
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 60.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 70.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 80.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 90.00 [%]
List of parameters
Parameters
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 100.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 110.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 120.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 130.00 [%]
Parameters
List of parameters
Description: Selects the method that can be used to select the fixed setpoints.
Value: 1: Fixed value selection direct
2: Fixed value selection binary
Description: Sets the signal source to select the fixed value of the technology controller.
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 140.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 150.00 [%]
p2216[0...n] Technology controller fixed value selection method / Tec_ctr FixVal sel
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
1 2 2
p2220[0...n] BI: Technology controller fixed value selection bit 0 / Tec_ctrl sel bit 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
List of parameters
Parameters
Description: Displays the selected and effective fixed value of the technology controller.
Description: Displays the status word for the fixed value selection of the technology controller.
Description: Displays the number of the selected fixed setpoint of the technology controller.
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
r2224 CO: Technology controller, fixed value effective / Tec_ctr FixVal eff
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
r2225.0 CO/BO: Technology controller fixed value selection status word / Tec_ctr FixVal ZSW
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - -
00 Technology controller fixed value selected Yes No 7950,
7951
r2229 Technology controller number actual / Tec_ctrl No. act
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - -
Parameters
List of parameters
Description: Sets the configuration for the motorized potentiometer of the technology controller.
Notice: The following prerequisites must be fulfilled in order to be able to save the setpoint in a non-volatile fashion:
- Firmware with V2.3 or higher.
Note: Re bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p2240.
1: The setpoint for the motorized potentiometer is saved and after ON is entered using r2231. In order to save in a
non-volatile fashion, bit 03 should be set to 1.
Re bit 02:
0: Without initial rounding-off
1: With initial rounding-off.
The selected ramp-up/down time is correspondingly exceeded. The initial rounding-off is a sensitive way of specify-
ing small changes (progressive reaction when keys are pressed). The jerk for initial rounding is independent of the
ramp-up time and only depends on the selected maximum value (p2237).
It is calculated as follows:
r = 0.0001 x max(p2237, |p2238| ) [%] / 0.13^2 [s^2]
The jerk is effective until the maximum acceleration is reached (a_max = p2237 [%] / p2247 [s] or a_max = p2238
[%] / p2248 [s]), after which the drive continues to run linearly with constant acceleration. The higher the maximum
acceleration (the lower that p2247 is), the longer the ramp-up time increases with respect to the set ramp-up time.
Re bit 03:
0: Non-volatile data save de-activated.
1. The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1).
Re bit 04:
When the bit is set, the ramp-function generator is computed independent of the pulse enable. The actual output
value of the motorized potentiometer is always in r2250.
Description: Displays the setpoint memory for the motorized potentiometer of the technology controller.
For p2230.0 = 1, the last setpoint that was saved is entered after ON.
p2230[0...n] Technology controller motorized potentiometer configuration / Tec_ctr mop config
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0000 0100 bin
00 Data save active Yes No -
02 Initial rounding-off active Yes No -
03 Non-volatile data save active for p2230.0 =
1
Yes No -
04 Ramp-function generator always active Yes No -
r2231 Technology controller motorized potentiometer setpoint memory /
Tec_ctrl mop mem
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
List of parameters
Parameters
Description: Sets the signal source to continually increase the setpoint for the motorized potentiometer of the technology control-
ler.
The setpoint change (CO: r2250) depends on the set ramp-up time (p2247) and the duration of the signal that is
Description: Sets the signal source to continually reduce the setpoint for the motorized potentiometer of the technology control-
ler.
The setpoint change (CO: r2250) depends on the set ramp-down time (p2248) and the duration of the signal that is
Description: Sets the maximum value for the motorized potentiometer of the technology controller.
Description: Sets the minimum value for the motorized potentiometer of the technology controller.
p2235[0...n] BI: Technology controller motorized potentiometer raise setpoint /
Tec_ctrl mop raise
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2236[0...n] BI: Technology controller motorized potentiometer lower setpoint /
Tec_ctrl mop lower
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2237[0...n] Technology controller motorized potentiometer maximum value / Tec_ctrl mop max
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 100.00 [%]
p2238[0...n] Technology controller motorized potentiometer minimum value / Tec_ctrl mop min
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] -100.00 [%]
Parameters
List of parameters
Description: Sets the starting value for the motorized potentiometer of the technology controller.
For p2230.0 = 0, this setpoint is entered after ON.
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator of the technology
controller.
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Note: The time is referred to 100 %.
When the initial rounding-off is activated (p2230.2 = 1) the ramp-up is correspondingly extended.
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Note: The time is referred to 100 %.
When the initial rounding-off is activated (p2230.2 = 1) the ramp-down is correspondingly extended.
p2240[0...n] Technology controller motorized potentiometer starting value / Tec_ctrl mop start
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 0.00 [%]
r2245 CO: Technology controller mot. potentiometer setpoint before RFG /
Tec_ctr mop befRFG
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2247[0...n] Technology controller motorized potentiometer ramp-up time / Tec_ctr mop t_r-up
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.0 [s] 1000.0 [s] 10.0 [s]
p2248[0...n] Technology controller motorized potentiometer ramp-down time /
Tec_ctrMop t_rdown
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.0 [s] 1000.0 [s] 10.0 [s]
List of parameters
Parameters
Description: Displays the effective setpoint after the internal ramp-function generator for the motorized potentiometer of the
technology controller.
Description: Sets the configuration of the technology controller.
The ramp-down time (p2258) switches to the ramp-up time (p2257) when the sign for the output signal r2260
changes. When the sign changes, the output signal is kept at zero for one arithmetic cycle.
Re bit 00 = 1:
When r2260 exhibits a positive gradient, the ramp-up time (p2257) is active; when it exhibits a negative gradient,
the ramp-down time (p2258) is active. The sign for r2260 does not have any effect on the ramp time.
Re bit 01 = 0:
The integration time of the PID controller is evaluated with the gain factor Kp (p2280) (p2285 = integral time).
Re bit 01 = 1:
The integration time of the PID controller is independent of the gain factor (p2285 = integration time) if p2280 > 0.
Re bit 02 = 0:
When the PID controller is de-activated via p2200, the output signal r2294 is reduced to zero via the ramp-down
time p2293.
Re bit 02 = 1:
When the PID controller is de-activated via p2200, the output signal r2294 is set directly to zero.
Re bit 03 = 0:
The actual values are not limited by p2267 and p2268.
Re bit 03 = 1:
The actual values are limited by p2267 and p2268.
r2250 CO: Technology controller motorized potentiometer setpoint after RFG /
Tec_ctr mop aftRFG
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2252 Technology controller configuration / Tec_ctrl config
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0111 bin
00 Ramp-up/down time independent of set-
point sign
Yes No -
01 Integrator independent of Kp Yes No -
02 Output signal without ramp active Yes No -
03 Actual value limiting Yes No -
Parameters
List of parameters
Description: Sets the signal source for the setpoint 1 of the technology controller.
Description: Sets the signal source for the setpoint 2 of the technology controller.
Description: Sets the scaling for the setpoint 1 of the technology controller.
Description: Sets the scaling for the setpoint 2 of the technology controller.
Description: Sets the ramp-up time of the technology controller.
Note: The ramp-up time is referred to 100 %.
p2253[0...n] CI: Technology controller setpoint 1 / Tec_ctrl setp 1
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2255 Technology controller setpoint 1 scaling / Tec_ctrl set1 scal
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [%] 100.00 [%] 100.00 [%]
p2256 Technology controller setpoint 2 scaling / Tec_ctrl set2 scal
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [%] 100.00 [%] 100.00 [%]
p2257 Technology controller, ramp-up time / Tec_ctrl t_ramp-up
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 650.00 [s] 1.00 [s]
List of parameters
Parameters
Description: Sets the ramp-down time of the technology controller.
Note: The ramp-down time is referred to 100 %.
Description: Sets the setpoint after the ramp-function generator of the technology controller.
Description: Sets the time constant for the setpoint filter (PT1) of the technology controller.
Description: Displays the smoothed setpoint after the setpoint filter (PT1) of the technology controller.
Description: Sets the technology controller type.
Value: 0: D component in the actual value signal
1: D component in the fault signal
p2258 Technology controller ramp-down time / Tec_ctrl t_ramp-dn
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 650.00 [s] 1.00 [s]
r2260 CO: Technology controller setpoint after ramp-function generator /
Tec_ctr set aftRFG
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2261 Technology controller setpoint filter time constant / Tec_ctrl set T
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 [s] 60.000 [s] 0.000 [s]
r2262 CO: Technology controller setpoint after filter / Tec_ctr set aftFlt
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2263 Technology controller type / Tec_ctrl type
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0 1 0
Parameters
List of parameters
Description: Sets the signal source for the actual value of the technology controller.
Description: Sets the time constant for the actual value filter (PT1) of the technology controller.
Description: Displays the smoothed actual value after the filter (PT1) of the technology controller
Description: Sets the upper limit for the actual value signal of the technology controller.
Refer to: F07426
Notice: If the actual value exceeds this upper limit, this results in fault F07426.
Note: Limiting only active for p2252 bit 3 = 1.
Description: Sets the lower limit for the actual value signal of the technology controller.
Refer to: F07426
Notice: If the actual value falls below this lower limit, this results in fault F07426.
p2264[0...n] CI: Technology controller actual value / Tec_ctrl act val
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2265 Technology controller actual value filter time constant / Tec_ctrl act T
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 [s] 60.000 [s] 0.000 [s]
r2266 CO: Technology controller actual value after filter / Tec_ctr act aftFlt
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2267 Technology controller upper limit actual value / Tec_ctrl u_lim act
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 200.00 [%]
p2268 Technology controller lower limit actual value / Tec_ctrl l_lim act
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] -200.00 [%]
List of parameters
Parameters
Note: Limiting only active for p2252 bit 3 = 1.
Description: Scaling factor for the actual value of the technology controller.
Note: For 100%, the actual value is not changed.
Description: Setting to use an arithmetic function for the actual value signal of the technology controller.
1: Root function (root from x)
2: Square function (x * x)
3: Cube function (x * x * x)
Description: Setting to invert the actual value signal of the technology controller.
The inversion depends on the sensor type for the actual value signal.
Value: 0: No inversion
1: Inversion actual value signal
Caution: If the actual value inversion is incorrectly selected, then the closed-loop control with the technology controller can
become unstable and can oscillate!
Note: The correct setting can be determined as follows:
- inhibit the technology controller (p2200 = 0).
- increase the motor speed and in so doing, measure the actual value signal of the technology controller.
--> If the actual value increases as the motor speed increases, then p2271 should be set to 0 (no inversion).
--> If the actual value decreases as the motor speed increases, then p2271 should be set to 1 (the actual value sig-
nal is inverted).
p2269 Technology controller gain actual value / Tech_ctrl gain act
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [%] 500.00 [%] 100.00 [%]
p2270 Technology controller actual value function / Tec_ctr ActVal fct
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0 3 0
p2271 Technology controller actual value inversion (sensor type) / Tech_ctrl act inv
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0 1 0
Parameters
List of parameters
Description: Displays the scaled actual value signal of the technology controller.
Dependency: Refer to: p2264, p2265, r2266, p2267, p2268, p2269, p2270, p2271
Description: Displays the error (system deviation) between the setpoint and actual value of the technology controller.
Description: Sets the time constant for the differentiation (D component) of the technology controller.
Note: p2274 = 0: Differentiation is disabled.
Description: Sets the proportional gain (P component) of the technology controller.
Note: p2280 = 0: The proportional gain is disabled.
Description: Sets the integral time (I component, integrating time constant) of the technology controller.
Note: p2285 = 0: The integral time is disabled.
r2272 CO: Technology controller actual value scaled / Tech_ctrl act scal
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
r2273 CO: Technology controller error / Tec_ctrl error
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2274 Technology controller differentiation, time constant / Tec_ctrl D comp T
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 [s] 60.000 [s] 0.000 [s]
p2280 Technology controller proportional gain / Tec_ctrl Kp
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 1000.000 1.000
p2285 Technology controller integral time / Tec_ctrl Tn
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 [s] 60.000 [s] 0.000 [s]
List of parameters
Parameters
Description: Sets the signal source to hold the integrator for the technology controller.
Description: Sets the signal source for the pre-control signal of the technology controller.
Description: Sets the maximum limit of the technology controller.
Caution: The maximum limit must always be greater than the minimum limit (p2291 > p2292).
Description: Sets the minimum limit of the technology controller.
Caution: The maximum limit must always be greater than the minimum limit (p2291 > p2292).
p2286[0...n] BI: Hold technology controller integrator / Tec_ctr integ stop
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2289[0...n] CI: Technology controller pre-control signal / Tec_ctrl prectrl
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2291 CO: Technology controller maximum limiting / Tec_ctrl max_limit
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 100.00 [%]
p2292 CO: Technology controller minimum limiting / Tec_ctrl min_lim
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 0.00 [%]
Parameters
List of parameters
Description: Sets the ramping time for the output signal of the technology controller.
Note: The time refers to the set maximum and minimum limits (p2291, p2292).
Description: Displays the output signal of the technology controller.
Description: Sets the scaling for the output signal of the technology controller.
Description: Sets the signal source for the scaling value of the technology controller.
Description: Sets the signal source for the maximum limiting of the technology controller.
p2293 Technology controller ramp-up/ramp-down time / Tec_ctr ramp up/dn
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 100.00 [s] 1.00 [s]
r2294 CO: Technology controller output signal / Tec_ctrl outp_sig
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2295 CO: Technology controller output scaling / Tec_ctrl outp scal
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-100.00 [%] 100.00 [%] 100.00 [%]
p2296[0...n] CI: Technology controller output scaling / Tec_ctrl outp scal
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 2295[0]
p2297[0...n] CI: Technology controller maximum limit signal source / Tec_ctrl m_lm s_sc
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 2291[0]
List of parameters
Parameters
Description: Sets the signal source for the minimum limiting of the technology controller.
Description: Sets the signal source for the offset of the output limiting of the technology controller.
Description: Setting to invert the fault signal of the technology controller.
The setting depends on the type of control loop.
Value: 0: No inversion
1: Inversion
Caution: If the actual value inversion is incorrectly selected, then the closed-loop control with the technology controller can
become unstable and can oscillate!
Note: The correct setting can be determined as follows:
- inhibit the technology controller (p2200 = 0).
- increase the motor speed and in so doing, measure the actual value signal (of the technology controller).
- if the actual value increases with increasing motor speed, then the inversion should be switched out.
- if the actual value decreases with increasing motor speed, then the inversion should be set.
If value = 0:
The drive reduces the output speed when the actual value rises (e.g. for heating fans, intake pump, compressor).
If value = 1:
The drive increases the output speed when the actual value increases (e.g. for cooling fans, discharge pumps).
Description: Displays the status word of the technology controller.
p2298[0...n] CI: Technology controller minimum limit signal source / Tec_ctrl min_l s_s
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 2292[0]
p2299[0...n] CI: Technology controller limit offset / Tech_ctrl lim offs
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2306 Technology controller fault signal inversion / Tec_ctrl fault inv
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0 1 0
r2349.0...11 CO/BO: Technology controller status word / Tec_ctrl status
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - -
Parameters
List of parameters
Description: Sets the signal source to select the "staging" function.
When the function is selected, monitoring of the switches is de-activated with the "bypass" function. This means
that the power unit can be connected to other motors via an external control without switch monitoring responding.
Description: Sets the assigned encoder.
The actual value preprocessing and the closed-loop position control are carried out using the assigned encoder.
Value: 0: No encoder
1: Encoder 1
2: Encoder 2
3: Encoder 3
Notice: For the setting p2502 = 0 (no encoder), closed-loop position control is not possible. This setting is only practical as
supportive measure to implement encoderless closed-loop speed control (e.g. if the motor encoder is defective).
Note: The assigned encoder (p2502 = 1, 2, 3) must be allocated an encoder data set (p0187, p0188, p0189).
Description: Sets the neutral length units LU per 10 mm.
Therefore, for a linear scale, a reference is established between the physical arrangement and the neutral length
units LU used in the drive.
00 Technology controller de-activated Yes No -
01 Technology controller limited Yes No -
02 Technology controller, motorized potentiom-
eter limited max.
Yes No -
03 Technology controller, motorized potentiom-
eter limited min.
Yes No -
08 Technology controller actual value at the
minimum
Yes No -
09 Technology controller actual value at the
maximum
Yes No -
10 Technology controller output at the mini-
mum
Yes No -
11 Technology controller output at the maxi-
mum
Yes No -
p2369 BI: Staging control word / Staging STW
- - 0
p2502[0...n] LR encoder assignment / Encoder assignment
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
P-Group: Closed loop position control Units group: - Unit selection: -
0 3 1
p2503[0...n] LR length unit LU per 10 mm / LU per 10 mm
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
1 [LU] 2147483647 [LU] 10000 [LU]
List of parameters
Parameters
Example:
Linear scale, 10 mm should be broken down to units of m (i.e. 1 LU = 1 m).
--> p2503 = 10000
Note: The assignment to the grid spacing can be achieved using this for a rotary axis with linear encoder.
Description: Sets the motor distance for the gearbox factor between the motor shaft and load shaft.
Gearbox factor = motor distance (p2504) / load path (p2505)
Note: The gearbox factor between the encoder shaft and the motor shaft is set using p0432 and p0433.
Description: Sets the motor revolutions for the gearbox factor between the motor shaft and load shaft.
Gearbox factor = motor revolutions (p2504) / load revolutions (p2505)
Description: Sets the load revolutions for the gearbox factor between the motor shaft and load shaft.
Gearbox factor = motor revolutions (p2504) / load revolutions (p2505)
Description: Sets the neutral length units LU per load path.
p2504[0...n] LR motor/load motor distance / Mot/load motor dis
SERVO (APC, Lin,
Pos ctrl)
Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 4010, 4704,
4711
1 1048576 1
p2504[0...n] LR motor/load motor revolutions / Mot/load motor rev
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
Data type: Unsigned32 Dynamic index: DDS, p0180 Func. diagram: 4010, 4704,
4711
1 1048576 1
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
4711
-1048576 1048576 1
p2506[0...n] LR length unit LU per load path / LU per load path
SERVO (APC, Lin,
Pos ctrl)
1 [LU] 2147483647 [LU] 10000 [LU]
Parameters
List of parameters
Therefore, for a rotary encoder, a reference is established between the physical arrangement and the neutral length
Example:
Rotary encoder, ballscrew with 10 mm/revolution, 10 mm should be broken down to units of m (i.e. 1 LU = 1 m).
--> One load path corresponds to 10000 LU
--> p2506 = 10000
Note: The position controller can only process position setpoints in the interpolator clock cycle (IPO clock cycle) in integer
length units (LU, Length Unit). This is the reason that speed setpoints that are not a multiple integer of 1 LU per IPO
clock cycle can only be realized as an average. The result speed setpoint steps are especially noticeable for a high
loop gain or when the pre-control is active. Increasing p2506 counteracts this behavior.
Description: Sets the neutral length units LU per load revolution.
Therefore, for a rotary encoder, a reference is established between the physical arrangement and the neutral length
Example:
Rotary encoder, ballscrew with 10 mm/revolution, 10 mm should be broken down to units of m (i.e. 1 LU = 1 m).
--> One load revolution corresponds to 10000 LU
--> p2506 = 10000
Note: The position controller can only process position setpoints in the interpolator clock cycle (IPO clock cycle) in integer
length units (LU, Length Unit). This is the reason that speed setpoints that are not a multiple integer of 1 LU per IPO
clock cycle can only be realized as an average. The result speed setpoint steps are especially noticeable for a high
loop gain or when the pre-control is active. Increasing p2506 counteracts this behavior.
Description: Activating the adjustment and display of the status of the adjustment for absolute encoders.
Value: 0: Error occurred while adjusting
1: Absolute encoder not adjusted
2: Absolute encoder not adjusted and encoder adjustment initiated
3: Absolute encoder adjusted
Caution: For rotating absolute encoders, when adjusting, a range is set up symmetrically around zero with half of the
encoder range, within which the position must be re-established after powering down/powering up. In this range, it
is only permissible that the encoder overflows.
After the adjustment has been completed, it must be guaranteed that the range is not exited. The reason for this is
that outside the range, there is no clear reference any longer between the encoder actual value and mechanical
system.
If the reference point (CI: p2598) lies in this range, then the position actual value is set when adjusting to the refer-
ence point. Otherwise, adjustment is canceled with F07443.
There is no overflow for linear absolute encoders. This means that after the adjustment, the position can be re-
established in the complete traversing range after powering down/powering up. When adjusting, the position actual
value is set to the reference point.
p2506[0...n] LR length unit LU per load revolution / LU per load rev
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
1 [LU] 2147483647 [LU] 10000 [LU]
p2507[0...n] LR absolute encoder adjustment status / Abs_enc_adj stat
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
Data type: Integer16 Dynamic index: EDS, p0140 Func. diagram: 4010
0 3 1
List of parameters
Parameters
Note: The encoder adjustment is initiated with p2507 = 2. The status is displayed using the other values.
In order to permanently save the determined position offset (p2525) it must be saved in a non-volatile fashion
(p0971, p0977).
This adjustment can only be initiated for an absolute encoder.
Description: Sets the signal source for the function "activate reference mark search".
Index: [0] = Closed-loop position control
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Refer to: A07495
Notice: When activating the function "set position actual value" while the function "reference mark search" is activated, then
the function "reference mark search" is automatically de-activated.
lished: BI: p2508[0] = r2684.0
The function can only be activated using a 0/1 signal if no reference function is active (r2526.2).
If "reference mark search" and "measuring probe evaluation" are simultaneously activated, then no function is acti-
vated and the actual function is interrupted.
Description: Sets the signal source for the function "activating the measuring probe evaluation".
0/1 signal: The function "activate measuring probe evaluation" is started.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Refer to: A07495
Notice: When the "set position actual value" is activated while the function "measuring probe evaluation" is activated, then
the function "measuring probe evaluation" is automatically de-activated.
lished: BI: p2509[0] = r2684.1
The function can only be activated using a 0/1 signal if no reference function is active (r2526.2).
If "reference mark search" and "measuring probe evaluation" are simultaneously activated, then no function is acti-
vated and the actual function is interrupted.
p2508[0...3] BI: LR activate reference mark search / Ref_mark act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2509[0...3] BI: LR activating measuring probe evaluation / MT_eval act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
Parameters
List of parameters
Description: Sets the signal source to select the measuring probe.
1 signal = measuring probe 2 is activated for BI: p2509 = 0/1 edge.
0 signal = measuring probe 1 is activated for BI: p2509 = 0/1 edge.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
lished: BI: p2509[0] = r2684.1
The measuring probe is selected at the 0/1 signal transition at r2684.1 (flying referencing active).
Description: Sets the signal source for the edge evaluation of the measuring probe.
1 signal = falling edge of the measuring probe (p2510) is activated for BI: p2509 = 0/1 edge.
0 signal = rising edge of the measuring probe (p2510) is activated for BI: p2509 = 0/1 edge.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Description: Sets the signal source for the function "activate position actual value preprocessing, corrective value (edge)".
0/1 signal: The corrective value available through CI: p2513 is activated.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
lished: BI: p2512[0] = r2684.7
p2510[0...3] BI: LR selecting measuring probe evaluation / MT_eval select
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2511[0...3] BI: LR measuring probe evaluation edge / MT_eval edge
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2512[0...3] BI: LR pos. actual value preprocessing activate corr. value (edge) /
ActVal_prepCorrAct
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
List of parameters
Parameters
Description: Sets the signal source for the corrective value for position actual value preprocessing.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
lished: CI: p2513[0] = r2685
For BI: p2512[0] = 0/1 signal, the position actual value (CO: r2521[0]) is corrected corresponding to the value via CI:
p2513[0]. In so doing, the sign of the corrective value present is taken into account.
Description: Sets the signal source to activate the function "set position actual value".
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Refer to: A07495, A07497
Warning: As long as the position actual value is set, encoder increments that are received are not evaluated. In this state, any
position difference cannot be corrected!
Notice: When the function "set position actual value" is activated while the function "reference mark search" or "measuring
probe evaluation" is activated, then the corresponding function is de-activated.
Note: BI: p2514 = 1 signal:
The position actual value is set to the setting value in CI: p2515. Alarm A07497 "position setting value activated" is
output. Encoder increments that are received in the meantime, are not taken into account.
BI: p2514 = 1/0 signal:
The position actual value preprocessing is activated and is based on the setting value.
Description: Sets the signal source for the setting value of the function "setting position actual value".
[1] = Encoder 1
p2513[0...3] CI: LR Position actual value preprocessing, corrective value / Act val_prep corr
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2514[0...3] BI: LR activate position actual value setting / s_act setting act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2515[0...3] CI: LR position actual setting, setting value / s_act set setVal
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
Parameters
List of parameters
[2] = Encoder 2
[3] = Encoder 3
Description: Sets the signal source for the position offset.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
lished: CI: p2516[0] = r2667
Description: Sets the input terminal for direct measuring probe 1.
The direct measuring probe can either be parameterized as a non-cyclic (value 1 ... 8) or a cyclic (value 11 ... 18)
measuring probe.
After it has been activated via BI: p2509 = 0/1 signal, the non-cyclic measuring probe measures once and can be
used with EPOS.
After it has been activated via the p2509 = 1 signal, the cyclic measuring probe measures cyclically and cannot be
used with EPOS.
In order to process signals faster, the direct measuring probe bypasses the handshake technique via the encoder
control word and encoder status word.
1: DI/DO 9 (X122.10)
2: DI/DO 10 (X122.12)
3: DI/DO 11 (X122.13)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9)
8: DI/DO 12 (X132.9)
11: DI/DO 9 cyclic
12: DI/DO 10 cyclic
13: DI/DO 11 cyclic
14: DI/DO 13 cyclic
15: DI/DO 14 cyclic
16: DI/DO 15 cyclic
17: DI/DO 8 cyclic
18: DI/DO 12 cyclic
[1] = Encoder 2
[2] = Encoder 3
p2516[0...3] CI: LR position offset / Position offset
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2517[0...2] LR direct measuring probe 1 / Direct MT 1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 18 0
List of parameters
Parameters
Manual).
used in p0488, p0489, p0493, p0494, p0495, p0580 or p0680.
Direct measurement via p2517 has a higher priority than measurements via p0488.
For the direct measuring probe evaluation, the DP clock cycle must be integer multiple of the position controller
clock cycle.
Description: Sets the input terminal for direct measuring probe 2.
The direct measuring probe can either be parameterized as a non-cyclic (value 1 ... 6) or a cyclic (value 11 ... 16)
measuring probe.
After it has been activated via BI: p2509 = 0/1 signal, the non-cyclic measuring probe measures once and can be
used with EPOS.
After it has been activated via the p2509 = 1 signal, the cyclic measuring probe measures cyclically and cannot be
used with EPOS.
In order to process signals faster, the direct measuring probe bypasses the handshake technique via the encoder
control word and encoder status word.
1: DI/DO 9 (X122.10)
2: DI/DO 10 (X122.12)
3: DI/DO 11 (X122.13)
4: DI/DO 13 (X132.10)
5: DI/DO 14 (X132.12)
6: DI/DO 15 (X132.13)
7: DI/DO 8 (X122.9)
8: DI/DO 12 (X132.9)
11: DI/DO 9 cyclic
12: DI/DO 10 cyclic
13: DI/DO 11 cyclic
14: DI/DO 13 cyclic
15: DI/DO 14 cyclic
16: DI/DO 15 cyclic
17: DI/DO 8 cyclic
18: DI/DO 12 cyclic
[1] = Encoder 2
[2] = Encoder 3
Manual).
used in p0488, p0489, p0493, p0494, p0495, p0580 or p0680.
Direct measurement via p2518 has a higher priority than measurements via p0489.
For the direct measuring probe evaluation, the DP clock cycle must be integer multiple of the position controller
clock cycle.
p2518[0...2] LR direct measuring probe 2 / Direct MT 2
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 18 0
Parameters
List of parameters
Description: Sets the behavior of the position actual value preprocessing for the position controller for a DDS changeover.
Re p2519 = 1:
In the following cases, for a DDS changeover, the actual position actual value becomes invalid and the reference
point is reset:
- the EDS effective for the closed-loop position control changes.
- the encoder assignment changes (p2502).
- the mechanical relationships change (p2503 ... p2506).
- the direction of rotation changes (p1821).
For absolute encoders, the status of the adjustment (p2507) is also reset if the same absolute encoder remains
selected for the closed-loop position control, but the mechanical relationships or the direction of rotation have
changed.
In the operation state, in addition, a fault (F07494) is generated.
Notice: The remaining setting values are intended for expanded functionality.
Note: The behavior for a DDS changeover is determined using the value of p2519 in the target data set.
Description: Displays the encoder control word generated by the position actual value preprocessing.
[1] = Encoder 2
[2] = Encoder 3
lished:
p2519[0...n] LR position actual value preprocessing config. DDS changeover / s_act config DDS
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 5 1
r2520[0...2] CO: LR Position actual value preprocessing, encoder control word /
ActVal_prep STW
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - -
ence mark
List of parameters
Parameters
Description: Displays the actual position actual value determined by the position actual value preprocessing.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Note: r2526.0 = 1 --> The position actual value in r2521[0] for the position control is valid.
r2527.0 = 1 --> The position actual value in r2521[1] for encoder 1 is valid.
Description: Displays the velocity actual value determined by the position actual value preprocessing.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Note: r2526.0 = 1 --> The velocity actual value in r2522[0] for the position control is valid.
r2527.0 = 1 --> The velocity actual value in r2522[1] for encoder 1 is valid.
Description: Displays the value determined by the function "reference mark search" and "measuring probe evaluation".
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Note: r2526.2 = 1 --> The measured value in r2523[0] for the position control is valid.
r2527.2 = 1 --> The measured value in r2523[1] for encoder 1 is valid.
r2521[0...3] CO: LR position actual value / s_act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2522[0...3] CO: LR velocity actual value / v_act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1000 LU/min] - [1000 LU/min] - [1000 LU/min]
r2523[0...3] CO: LR measured value / Measured value
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
Parameters
List of parameters
Description: Displays the internal length units LU/mm.
Description: Displays the internal length units LU/motor revolution.
Description: For the absolute encoder adjustment, a drive determines the position offset.
Note: The position offset is only relevant for absolute encoders. The drive determines it when making the adjustment and
the user should not change it.
Description: Displays the status word of the position controller.
r2524 CO: LR LU/mm / LU/mm
SERVO (Lin, Pos
ctrl)
- [LU] - [LU] - [LU]
r2524 CO: LR LU/revolution / LU/revolution
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
p2525[0...n] CO: LR encoder adjustment, offset / Enc_adj offset
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 4294967295 [LU] 0 [LU]
r2526.0...9 CO/BO: LR status word / ZSW
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - -
00 Position actual value valid Yes No 4010,
4015
01 Referencing active Yes No 4010
02 Measured value valid Yes No 3615,
4010
03 Closed-loop position control active Yes No 4015
04 Fixed stop reached Yes No 3617,
4025
05 Fixed stop outside window Yes No 3617,
4025
06 Position controller output limited Yes No 4015
List of parameters
Parameters
Note: Re bit 04:
The signal is influenced via p2634.
Re bit 05:
The signal is influenced via p2635.
Description: Displays the status word of the position actual value sensing for encoder 1.
07 Request tracking mode Yes No -
08 Clamping active when traveling to fixed stop Yes No 4025
09 Setting value for adjustment valid Yes No -
r2527.0...2 CO/BO: LR actual value sensing status word encoder 1 / ActValSensZSW enc1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - -
00 Position actual value valid Yes No -
01 Referencing active Yes No -
02 Measured value valid Yes No -
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - -
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - -
Parameters
List of parameters
Description: Sets the signal source for the position setpoint of the position controller.
lished: BI: p2530 = r2665
Description: Sets the signal source for the velocity setpoint of the position controller.
lished: BI: p2531 = r2666
Description: Sets the signal source for the position actual value of the position controller.
Description: Sets the time constant for the position setpoint filter (PT1).
Note: The effective Kv factor (position loop gain) is reduced with the filter. This allows a softer control behavior with
improved tolerance with respect to noise/disturbances.
Applications:
- reduces the pre-control dynamic response.
- jerk limiting.
p2530 CI: LR position setpoint / s_set
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2531 CI: LR velocity setpoint / v_set
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2532 CI: LR position actual value / s_act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
Data type: Unsigned32 / Integer32 Dynamic index: - Func. diagram: 4015, 4020,
4025
- - 2521[0]
p2533[0...n] LR position setpoint filter, time constant / s_set_filt T
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 1000.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Setting to activate and weight the velocity pre-control value.
Value = 0 % --> The pre-control is de-activated.
Note: When the axis control loop is optimally set as well as a precisely determined equivalent time constant of the velocity
control loop, the pre-control factor is 100%.
Description: Setting to activate and weight the speed pre-control value.
Value = 0 % --> The pre-control is de-activated.
Note: When the axis control loop is optimally set as well as a precisely determined equivalent time constant of the speed
control loop, the pre-control factor is 100%.
Description: Sets the "fractional" dead time to emulate the timing behavior of the velocity control loop.
The selected multiplier refers to the position controller clock cycle (deadtime= p2535 * p0115[4]).
Notice: When velocity pre-control is active (p2534 > 0 %), the following applies:
In addition to the set dead time (p2535), internally two position controller clock cycles are effective.
When velocity pre-control is inactive (p2534 = 0 %), the following applies:
No dead time is effective (p2535 and internal).
Note: Together with p2536, the timing behavior of the velocity control loop can be emulated.
Description: Sets the "fractional" dead time to emulate the timing behavior of the speed control loop.
The selected multiplier refers to the position controller clock cycle (deadtime= p2535 * p0115[4]).
p2534[0...n] LR velocity pre-control factor / v_prectrl fact
SERVO (Lin, Pos
ctrl)
0.00 [%] 200.00 [%] 0.00 [%]
p2534[0...n] LR speed pre-control factor / n_prectrl fact
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [%] 200.00 [%] 0.00 [%]
p2535[0...n] LR velocity pre-control balancing filter dead time / v_prectrFlt t_dead
SERVO (Lin, Pos
ctrl)
0.00 2.00 0.00
p2535[0...n] LR speed pre-control balancing filter dead time / n_prectrFlt t_dead
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 2.00 0.00
Parameters
List of parameters
Notice: When speed pre-control is active (p2534 > 0 %), the following applies:
In addition to the set dead time (p2535), internally two position controller clock cycles are effective.
When speed pre-control is inactive (p2534 = 0 %), the following applies:
No dead time is effective (p2535 and internal).
Note: Together with p2536, the timing behavior of the closed-loop control loop can be emulated.
Description: Sets a PT1 filter to emulate the timing behavior of the velocity control loop.
Notice: When velocity pre-control is inactive (p2534 = 0 %), the following applies:
If a PT1 filter has been set, it is not effective.
Note: Together with p2535, the timing behavior of the velocity control loop can be emulated.
Description: Sets a PT1 filter to emulate the timing behavior of the closed-speed control loop.
Notice: When speed pre-control is inactive (p2534 = 0 %), the following applies:
If a PT1 filter has been set, it is not effective.
Note: Together with p2535, the timing behavior of the closed-loop control loop can be emulated.
Description: Sets the signal source for the adaptation of the proportional gain of the position controller.
Description: Sets the proportional gain (P gain, position loop gain, Kv factor) of the position controller.
p2536[0...n] LR velocity pre-control, balancing filter PT1 / v_prectrl filt PT1
SERVO (Lin, Pos
ctrl)
0.00 [ms] 100.00 [ms] 0.00 [ms]
p2536[0...n] LR speed pre-control, symmetrizing filter PT1 / n_prectrl filt PT1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100.00 [ms] 0.00 [ms]
p2537 CI: LR position controller adaptation / Adaptation
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 1
p2538[0...n] LR proportional gain / Kp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.000 [1000/min] 300.000 [1000/min] 1.000 [1000/min]
List of parameters
Parameters
Note: The proportional gain is used define at which traversing velocity which following error is obtained (without pre-con-
trol)
Low proportional gain:
Slow response to a setpoint - actual value difference, the following error becomes large.
High proportional gain:
Fast response to the setpoint - actual value difference, the following error becomes small.
Description: Setting to activate the integral time of the position controller.
Value = 0 ms --> The I component of the position controller is de-activated.
Description: Sets the velocity limit of the position controller output.
Description: Sets the speed limit of the position controller output.
Description: Sets the signal source for the position controller output limit.
p2539[0...n] LR integral time / Tn
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100000.00 [ms] 0.00 [ms]
p2540 CO: LR position controller output, velocity limit / LR_outp limit
SERVO (Lin, Pos
ctrl)
P-Group: Closed loop position control Units group: 4_1 Unit selection: p0505
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
p2540 CO: LR position controller output, speed limit / LR_outp limit
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.000 [rpm] 210000.000 [rpm] 210000.000 [rpm]
p2541 CI: LR position controller output, velocity limit signal source / LR_outp lim S_src
SERVO (Lin, Pos
ctrl)
- - 2540[0]
Parameters
List of parameters
Description: Sets the signal source for the position controller output limit.
Description: Sets the standstill window for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and
actual position is located within the standstill window and, if required, an appropriate fault is output.
Value = 0 --> The standstill monitoring is de-activated.
Refer to: F07450
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) >= positioning window (p2544)
Description: Sets the standstill monitoring time for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and
actual position is located within the standstill window and, if required, an appropriate fault is output.
Refer to: F07450
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) <= positioning monitoring time (p2545)
Description: Sets the positioning window for the positioning monitoring function.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint
and actual position lies within the positioning window and if required an appropriate fault is output.
Value = 0 --> The positioning monitoring function is de-activated.
p2541 CI: LR position controller output, speed limit signal source / LR_outp lim S_src
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 2540[0]
p2542 LR standstill window / Standstill window
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147483647 [LU] 200 [LU]
p2543 LR standstill monitoring time / t_standstill monit
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100000.00 [ms] 200.00 [ms]
p2544 LR positioning window / Pos_window
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147483647 [LU] 40 [LU]
List of parameters
Parameters
Refer to: F07451
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) >= positioning window (p2544)
Description: Sets the positioning monitoring time for the positioning monitoring.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint
and actual position lies within the positioning window and if required an appropriate fault is output.
Refer to: F07451
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) <= positioning monitoring time (p2545)
Description: Sets the tolerance for the dynamic following error monitoring.
If the dynamic following error (r2563) exceeds the selected tolerance, then an appropriate fault is output.
Value = 0 --> The dynamic following error monitoring is de-activated.
Refer to: F07452
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly responding due to
operational control sequences (e.g. during load surges).
Description: Sets the cam switching position 1.
Caution: Only after the axis has been referenced can it be guaranteed that the cam switching signals when output have a
"true" position reference.
Note: Position actual value <= cam switching position 1 --> r2683.8 = 1 signal
Position actual value > cam switching position 1 --> r2683.8 = 0 signal
p2545 LR positioning monitoring time / t_pos_monit
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100000.00 [ms] 1000.00 [ms]
p2546[0...n] LR dynamic following error monitoring tolerance / s_delta_monit tol
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147483647 [LU] 1000 [LU]
p2547 LR cam switching position 1 / Cam position 1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
Parameters
List of parameters
Description: Sets the cam switching position 2.
Caution: Only after the axis has been referenced can it be guaranteed that the cam switching signals when output have a
"true" position reference.
Note: Position actual value <= cam switching position 2 --> r2683.9 = 1 signal
Position actual value > cam switching position 2 --> r2683.9 = 0 signal
Description: Sets the signal source for the position controller enable 1.
Note: The position controller is enabled by ANDing BI: p2549 and BI: p2550.
Description: Sets the signal source for the position controller enable 2.
Note: The position controller is enabled by ANDing BI: p2549 and BI: p2550.
When the function module "closed-loop position control" or "basic positioner" is activated, the following BICO inter-
connection is established: BI: p2550 = 1
Description: Sets the signal source for the "setpoint present" signal.
The end of the positioning operation on the setpoint side is signaled and the positioning and standstill monitoring
activated.
p2548 LR cam switching position 2 / Cam position 2
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
p2549 BI: LR enable 1 / Enable 1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 899.2
p2550 BI: LR enable 2 / Enable 2
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2551 BI: LR setpoint signal present / Sig s_set pres
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
List of parameters
Parameters
The start of a positioning operation or tracking mode on the setpoint side is signaled and the positioning and stand-
still monitoring de-activated.
lished: BI: p2551 = r2683.2
Description: Sets the signal source for the signal "travel to fixed stop active".
The activity associated with travel to fixed stop is signaled and the detection of the fixed stop is started via the max-
imum following error (p2634).
lished: BI: p2552 = r2683.14
Description: Sets the signal source for the signal "fixed stop reached".
When the fixed stop is reached, this is signaled and the fixed stop monitoring window is activated.
lished: BI: p2553 = r2683.12
Description: Sets the signal source for the signal "traversing command active".
It is signaled that positioning is active and therefore the positioning monitoring is not activated with the signal "set-
point present" (p2551).
lished: BI: p2554 = r2684.15
p2552 BI: LR signal travel to fixed stop active / Signal TfS act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2553 BI: LR signal fixed stop reached / Signal fixed stop
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2554 BI: LR signal traversing command active / Sig trav_cmnd act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
Parameters
List of parameters
Description: Sets the signal source for the reference of the internal length units LU to motor revolution for rotary encoders and to
mm for linear encoders.
Note: The signal value is used to convert the length unit to the speed or velocity setpoint.
Description: Displays the position setpoint after the setpoint smoothing.
Description: Displays the difference between the position setpoint and the position actual value at the position controller input.
Description: Displays the P component at the output of the position controller for the velocity setpoint.
Description: Displays the P component at the output of the position controller for the speed setpoint.
p2555 CI: LR LU/revolution LU/mm / LU/rev LU/mm
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 2524[0]
r2556 CO: LR position setpoint after setpoint smoothing / s_set after interp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2557 CO: LR position controller input, system deviation / LR_inp sys dev
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2558 CO: LR position controller output, P component / LR_outp P comp
SERVO (Lin, Pos
ctrl)
r2558 CO: LR position controller output, P component / LR_outp P comp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [rpm] - [rpm] - [rpm]
List of parameters
Parameters
Description: Displays the I component at the output of the position controller for the velocity setpoint.
Description: Displays the I component at the output of the position controller for the speed setpoint.
Description: Displays the velocity setpoint after limiting (CI: p2541).
Description: Displays the speed setpoint after limiting (CI: p2541).
Description: Displays the velocity setpoint due to the pre-control.
r2559 CO: LR position controller output, I component / LR_outp I comp
SERVO (Lin, Pos
ctrl)
r2559 CO: LR position controller output, I component / LR_outp I comp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [rpm] - [rpm] - [rpm]
r2560 CO: LR velocity setpoint / v_set
SERVO (Lin, Pos
ctrl)
r2560 CO: LR speed setpoint / n_set
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [rpm] - [rpm] - [rpm]
r2561 CO: LR velocity pre-control value / v_prectrl val
SERVO (Lin, Pos
ctrl)
Parameters
List of parameters
Description: Displays the speed setpoint due to the pre-control.
Description: Displays the total velocity setpoint.
This value is obtained from the sum of the velocity pre-control and position controller output.
Description: Displays the total speed setpoint
This value is obtained from the sum of the speed pre-control and position controller output.
Description: Displays the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and the
position actual value.
Note: For p2534 >= 100 % (pre-control activated) the following applies:
The dynamic following error (r2563) corresponds to the system deviation (r2557) at the position controller input.
For 0 % < p2534 < 100 % (pre-control activated) or p2534 = 0 % (pre-control de-activated) the following applies:
The dynamic following error (r2563) is the deviation between the measured position actual value and a value that is
calculated from the position setpoint via a PT1 model. This compensates the system-related velocity-dependent
system deviation for a P controller.
r2561 CO: LR speed pre-control value / n_prectrl val
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [rpm] - [rpm] - [rpm]
r2562 CO: LR velocity setpoint, total / v_set total
SERVO (Lin, Pos
ctrl)
r2562 CO: LR total speed setpoint / n_set total
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [rpm] - [rpm] - [rpm]
r2563 CO: LR following error dynamic model / Follow error dyn
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
List of parameters
Parameters
Description: Displays the force pre-control value.
Note: The force pre-control value is the derivation over time of the velocity pre-control value and is referred to a high iner-
tia mass of 1000.0 kg. When using the pre-control, then this should be evaluated corresponding to the actual mass.
Description: Displays the torque pre-control value.
Note: The torque pre-control value is the derivation over time of the speed pre-control value and is referred to a moment
of inertia of 1 kgm^2/2 PI. When using the pre-control, then this should be evaluated corresponding to the actual
moment of inertia.
Description: Displays the actual following error.
This value is the deviation between the position setpoint - after fine interpolation - and the position actual value.
Notice: When speed pre-control is active (p2534 > 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
When speed pre-control is inactive (p2534 = 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
Description: Displays the velocity at the input of the pre-control channel.
Note: This display parameter is used for diagnostics even when the pre-control is inactive (p2534 = 0%).
r2564 CO: LR force pre-control value / F_prectrl val
SERVO (Lin, Pos
ctrl)
- [N] - [N] - [N]
r2564 CO: LR torque pre-control value / M_prectrl val
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [Nm] - [Nm] - [Nm]
r2565 CO: LR following error actual / Following err act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2566 LR velocity input pre-control / v inp prectrl
SERVO (Lin, Pos
ctrl)
Parameters
List of parameters
Description: Displays the speed at the input of the pre-control channel.
Note: This display parameter is used for diagnostics even when the pre-control is inactive (p2534 = 0%).
Description: Sets the mass for the force pre-control.
Note: When calculating the force pre-control value (r2654), the derivation over time of the speed pre-control value is mul-
tiplied by p2567.
For reasons associated with the compatibility to earlier firmware releases, the factory setting for p2567 = 1 kg. This
means that CO: r2564 remains, as standard, the derivation over time of the velocity pre-control value and refers, as
before, to a weight of 1 kg. For force pre-control, the mass can now be directly entered into p2567 (instead of sub-
sequently evaluating the pre-control value.
Description: Sets the moment of inertia for the torque pre-control.
Note: When calculating the torque pre-control value (r2654), the time derivation of the speed pre-control value is multi-
plied by 2 PI * p2567.
For reasons associated with the compatibility to earlier firmware versions, the factory setting for p2567 = 1 kgm^2/2
PI. This means that CO: r2564 remains as standard the derivation over time of the speed pre-control value and is
referred, as before, to a moment of inertia of 1 kgm^2/2 PI. For torque pre-control, the moment of inertia can now be
directly entered into p2567 (instead of subsequently evaluating the pre-control value.
Description: Sets the signal source to activate the function "STOP cam".
--> The evaluation of the STOP cam minus (BI: p2569) and STOP cam plus (BI: p2570) is active.
r2566 LR speed input pre-control / n inp prectrl
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [rpm] - [rpm] - [rpm]
p2567[0...n] LR force pre-control mass / F_prectrl mass
SERVO (Lin, Pos
ctrl)
0.000000 [kg] 10000.000000 [kg] 1.000000 [kg]
p2567[0...n] LR torque pre-control moment of inertia / M_prectr M_inertia
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.000000 [kgm] 100000.000000 [kgm] 0.159155 [kgm]
p2568 BI: EPOS STOP cam activation / STOP cam act
SERVO (EPOS),
VECTOR (EPOS)
P-Group: Basic positioner Units group: - Unit selection: -
- - 0
List of parameters
Parameters
Note: The traversing range can also be limited using software limit switches.
Description: Sets the signal source for the STOP cam in the negative direction of travel.
Recommend.: Set the OFF3 ramp-down time (p1135), so that the axis, after reaching the STOP cam at the maximum velocity,
does not move through a higher braking travel than is actually available.
Sets message 07491 as alarm (A07491):
Set the maximum deceleration (p2573), so that the axis, after reaching the STOP cam at the maximum velocity,
Refer to: F07491
Caution: The STOP cams are low active.
Sets message 07491 as fault (F07491):
For a 0 signal, the axis is stopped with the OFF3 ramp-down time (p1135), status signal r2684.13 is set to 1, saved
and the appropriate fault is output. After the fault has been acknowledged, only motion moving away from the STOP
cam is permitted.
For a 0/1 signal and valid travel direction, when the stop cam is exited, this is detected and the status signal
r2684.13 is set to 0.
For a 0 signal, the axis is stopped with the maximum deceleration (p2573), status signal r2684.13 is set to 1, saved
and the appropriate alarm is output. Only motion away from the STOP cam is permitted.
r2684.13 is set to 0 and the alarm is deleted.
Description: Sets the signal source for the STOP cam in the positive direction of travel.
Recommend.: Set the OFF3 ramp-down time (p1135), so that the axis, after reaching the STOP cam at the maximum velocity,
Set the maximum deceleration (p2573), so that the axis, after reaching the STOP cam at the maximum velocity,
Refer to: F07492
Caution: The STOP cams are low active.
Sets message 07492 as fault (F07492):
For a 0 signal, the axis is stopped with the OFF3 ramp-down time (p1135), status signal r2684.14 is set to 1, saved
and the appropriate fault is output. After the fault has been acknowledged, only motion moving away from the STOP
cam is permitted.
r2684.14 is set to 0.
p2569 BI: EPOS STOP cam minus / STOP cam minus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
p2570 BI: EPOS STOP cam plus / STOP cam plus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
Parameters
List of parameters
For a 0 signal, the axis is stopped with the maximum deceleration (p2573), status signal r2684.14 is set to 1, saved
and the appropriate alarm is output. Only motion away from the STOP cam is permitted.
r2684.14 is set to 0 and the alarm is deleted.
Description: Sets the maximum velocity for the function module "basic positioner" (r0108.4).
Dependency: Refer to: r1084, r1087, p2503, p2504, p2505, p2506
Note: The maximum velocity is active in all of the operating modes of the basic positioner.
The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the
speed/velocity controller:
Rotary encoders:
p2571[1000 LU/min] = min(|r1084|, |r1087|)[rpm] x p2505/p2504 x p2506/1000
Linear encoders:
p2571[1000 LU/min] = min(|r1084|, |r1087|)[m/min] x p2503/10[m]
Description: Sets the maximum acceleration for the function module "basic positioner" (r0108.4).
Note: The maximum acceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed acceleration override (p2619) acts on the maximum acceleration.
"Direct setpoint input/MDI" mode:
The acceleration override is effective (p2644, 4000 hex = 100 %).
"Jog" and "search for reference" modes
No acceleration override is active. The axis starts with the maximum acceleration.
Description: Sets the maximum deceleration for the function module "basic positioner" (r0108.4).
Note: The maximum deceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override (p2620) acts on the maximum deceleration.
p2571 EPOS maximum velocity / v_max
SERVO (EPOS),
VECTOR (EPOS)
1 [1000 LU/min] 40000000 [1000 LU/min] 30000 [1000 LU/min]
p2572 EPOS maximum acceleration / a_max
SERVO (EPOS),
VECTOR (EPOS)
1 [1000 LU/s] 2000000 [1000 LU/s] 100 [1000 LU/s]
p2573 EPOS maximum deceleration / -a_max
SERVO (EPOS),
VECTOR (EPOS)
1 [1000 LU/s] 2000000 [1000 LU/s] 100 [1000 LU/s]
List of parameters
Parameters
"Direct setpoint input/MDI" mode:
The deceleration override is effective (p2645, 4000 hex = 100 %).
"Jog" and "search for reference" modes
No deceleration override is effective. The axis breaks with the maximum deceleration.
Description: Sets the jerk limiting
Note: The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573) / p2574
The jerk time is internally limited to 1000 ms and is rounded-off to an integer multiple of the sampling time position-
ing (p0115[5]).
The jerk time is valid for the acceleration and deceleration phases also for unequal maximum acceleration (p2572)
and maximum deceleration (p2573).
For unequal maximum acceleration and maximum deceleration, the motion is not optimal from a time perspective
as the jerk limit cannot be used for the lower of the two values.
If, in the traversing profile, the acceleration time without jerk limiting is less than the jerk time Tr, then the motion
with jerk limiting is not optimum from a time perspective.
For traversing motion with a direct transition between acceleration and deceleration (i.e. jerk time is greater than the
constant velocity phase), jerk can increase up to twice the parameterized jerk.
CONTINUE_FLYING with direction reversal acts internally just like a CONTINUE_WITH_STOP without the "posi-
tion reached" being set. Without jerk limiting, this behavior can hardly be noticed as, when reversing, the position
setpoint is only kept at zero for one interpolator clock cycle.
For block change enable CONTINUE_WITH_STOP, jerk limiting results in a longer delay time.
Description: Sets the signal source to activate the jerk limiting.
Activating/de-activating:
- using BI: p2575 = 1 signal or 0 signal.
- using the command JERK in the traversing block (only for BI: p2575 = 0 signal).
Note: A change of the signal state at the binector input is only accepted at zero speed.
Description: Sets the modulo range for axes with modulo correction.
p2574 EPOS jerk limiting / Jerk lim
SERVO (EPOS),
VECTOR (EPOS)
1 [1000 LU/s] 100000000 [1000 LU/s] 10000 [1000 LU/s]
p2575 BI: EPOS jerk limiting activation / Jerk limit act
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2576 EPOS modulo correction, modulo range / Modulo corr range
SERVO (EPOS),
VECTOR (EPOS)
1 [LU] 2147482647 [LU] 360000 [LU]
Parameters
List of parameters
Description: Sets the signal source to activate modulo correction.
Note: When the signal state changes at the binector input, this only becomes effective in the "ready to power-up" state.
Selecting modulo correction:
The current position setpoint in the modulo range is corrected. The position actual value differs from the position
setpoint by the following error and can also leave the modulo range.
De-selecting modulo correction:
It is based on the current position actual value.
Description: Sets the signal source for the software limit switch minus.
Refer to: A07469, A07477, A07479, F07481
Notice: A change to the software limit switch becomes immediately effective.
If the software limit switch is changed, then this results in the positions in the traversing blocks being checked.
Note: The following applies for the setting of the software limit switch:
Software limit switch minus < software limit switch plus
Description: Sets the signal source for the software limit switch plus.
Refer to: A07470, A07478, A07480, F07482
Notice: A change to the software limit switch becomes immediately effective.
If the software limit switch is changed, then this results in the positions in the traversing blocks being checked.
Note: The following applies for the setting of the software limit switch:
Software limit switch minus < software limit switch plus
p2577 BI: EPOS modulo correction activation / Modulo corr act
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2578 CI: EPOS software limit switch minus signal source / SW limSw Min S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 2580[0]
p2579 CI: EPOS software limit switch plus signal source / SW limSwPlus S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 2581[0]
List of parameters
Parameters
Description: Sets the software limit switch in the negative direction of travel.
Description: Sets the software limit switch in the positive direction of travel.
Description: Sets the signal source to activate the "software limit switch".
Caution: Software limit switch effective:
- axis is referenced (r2684.11 = 1) and BI: p2582 = 1 signal.
Software limit switch ineffective:
- modulo correction active (BI: p2577 = 1 signal).
- search for reference is executed.
Notice: Target position for relative positioning outside software limit switch:
The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate alarm is
output and the traversing block is interrupted. Traversing blocks with valid position can be activated.
Target position for absolute positioning outside software limit switch:
In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output.
Axis outside the valid traversing range:
If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be acknowl-
edged at standstill. Traversing blocks with valid position can be activated.
Note: The traversing range can also be limited using STOP cams.
Description: Sets the amount of play (backlash) for positive or negative play.
p2580 CO: EPOS software limit switch minus / SW limSwitch minus
SERVO (EPOS),
VECTOR (EPOS)
-2147482648 [LU] 2147482647 [LU] -2147482648 [LU]
p2581 CO: EPOS software limit switch plus / SW lim switch plus
SERVO (EPOS),
VECTOR (EPOS)
-2147482648 [LU] 2147482647 [LU] 2147482647 [LU]
p2582 BI: EPOS software limit switch activation / SW lim sw act
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2583 EPOS backlash compensation / Backlash comp
SERVO (EPOS),
VECTOR (EPOS)
-200000 [LU] 200000 [LU] 0 [LU]
Parameters
List of parameters
0: The backlash compensation is de-activated.
> 0: Positive backlash (normal case)
When the direction is reversed, the encoder actual value leads the actual value.
< 0: Negative backlash
When the direction is reversed, the actual value leads the encoder actual value.
Dependency: If a stationary axis is referenced by setting the reference point, or an adjusted with absolute encoder is powered up,
then the setting of p2604 is relevant for entering the compensation value.
p2604 = 1:
Traveling in the positive direction -> A compensation value is immediately entered.
Traveling in the negative direction -> A compensation value is not entered
p2604 = 0:
Traveling in the positive direction -> A compensation value is not entered
Traveling in the negative direction -> A compensation value is immediately entered.
When again setting the reference point (a referenced axis) or for "flying referencing", p2604 is not relevant but
instead the history of the axis.
Description: Sets the setpoint velocity for jog 1.
Description: Sets the setpoint velocity for jog 2.
Description: Sets the traversing distance for incremental jog 1.
Note: Incremental jog 1 is started with BI: p2591 = 1 signal and BI: p2589 = 0/1 signal.
With BI: p2589 = 0 signal, incremental jog is interrupted.
p2585 EPOS jog 1 setpoint velocity / Jog 1 v_set
SERVO (EPOS),
VECTOR (EPOS)
-40000000 [1000 LU/min] 40000000 [1000 LU/min] -300 [1000 LU/min]
p2586 EPOS jog 2 setpoint velocity / Jog 2 v_set
SERVO (EPOS),
VECTOR (EPOS)
-40000000 [1000 LU/min] 40000000 [1000 LU/min] 300 [1000 LU/min]
p2587 EPOS jog 1 traversing distance / Jog 1 distance
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147482647 [LU] 1000 [LU]
List of parameters
Parameters
Description: Sets the traversing distance for incremental jog 2.
Note: Incremental jog 2 is started with BI: p2591 = 1 signal and BI: p2590 = 0/1 signal.
With BI: p2590 = 0 signal, incremental jogging is interrupted.
Dependency: When jogging, the axis is accelerated or braked with the maximum acceleration/deceleration (p2572/p2573).
The axis endlessly moves with the setpoint velocity, jog 1 (p2585).
The axis traverses through a parameterized distance (p2585) with the setpoint velocity, jog 1 (p2587).
Refer to: p2572, p2573, p2585, p2587, p2591
Dependency: When jogging, the axis is accelerated or braked with the maximum acceleration/deceleration (p2572/p2573).
The axis endlessly moves with the setpoint velocity, jog 2 (p2586).
The axis traverses through a parameterized distance (p2586) with the setpoint velocity, jog 2 (p2588).
Refer to: p2572, p2573, p2586, p2588, p2591
p2588 EPOS jog 2 traversing distance / Jog 2 distance
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147482647 [LU] 1000 [LU]
p2589 BI: EPOS jog 1 signal source / Jog 1 S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2590 BI: EPOS jog 2 signal source / Jog 2 S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the signal source for jogging incremental.
Description: Sets the signal source for the reference of the internal length units LU to motor revolution for rotary encoders and to
mm for linear encoders.
Note: The signal value is used to convert the length unit to the speed or velocity setpoint.
Description: Sets the signal source for the externally limited maximum velocity.
Warning: In order that the externally limited velocity can be effective for the EPOS operating modes, connector input p2593
must be correctly interconnected.
Description: Sets the signal source to start the "search for reference" or "flying referencing".
BI: p2595 = 0/1 signal
Referencing is started.
Referencing is interrupted.
p2591 BI: EPOS jogging incremental / Jog incr
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2593 CI: EPOS LU/revolution LU/mm / LU/rev LU/mm
SERVO (EPOS),
VECTOR (EPOS)
Data type: Unsigned32 / FloatingPoint32 Dynamic index: - Func. diagram: -
- - 2524[0]
p2594 CI: EPOS Maximum velocity externally limited / v_Max ext lim
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2595 BI: EPOS referencing start / Ref start
SERVO (EPOS),
VECTOR (EPOS)
3614
- - 0
List of parameters
Parameters
Note: Search for reference (BI: p2597 = 0 signal):
The reference point approach can only be activated (0/1 edge) after traversing motion that is being processed has
been completed.
With the start, where relevant, the state signal "reference point set" (r2684.11) is reset.
Flying referencing (BI: p2597 = 1 signal):
With the start, the state signal "reference point set" (r2684.11) is not reset.
Description: Sets the signal source for the "set reference point".
Note: Reference point setting is effective in the following operating states:
- in the basic state.
- for FIXED STOP with progress condition END (corresponds to the initial state).
- for traversing block interrupted via BI: p2640 = 0 signal (intermediate stop).
- for EPOS not enabled (BI: p2656 = 0 signal) and position actual value valid (BI: p2658 = 1 signal).
Description: Sets the signal source to select referencing type.
1 signal: Flying referencing
0 signal: Search for reference
Note: Referencing is activated as follows:
- Select the referencing type (BI: p2597)
- Start referencing (BI: p2595 = 0/1 signal)
Description: Sets the signal source for the reference point coordinate.
This value is used as reference for the following referencing operations:
- search for reference
- set reference point
p2596 BI: EPOS set reference point / Set ref_pt
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2597 BI: EPOS referencing type selection / Ref_typ select
SERVO (EPOS),
VECTOR (EPOS)
3625
- - 0
p2598[0...3] CI: EPOS reference point coordinate, signal source / Ref_pt coord S_src
SERVO (EPOS, Pos
ctrl), VECTOR
(EPOS, Pos ctrl)
- - [0] 2599[0]
[1] 0
[2] 0
[3] 0
Parameters
List of parameters
- flying referencing
- absolute value adjustment
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following applies:
Incremental measuring system:
After the reference point is reached, the drive accepts the current axis position from the position received via the
connector input CI: p2598[0].
Absolute encoder:
When adjusting the encoder, the position received via the connector input is set as the current axis position. The
position offset to the actual encoder value is displayed in p2525.
Description: Sets the position value for the reference point coordinate.
This value is set as the current axis position after referencing or adjustment.
Description: Sets the reference point offset for search for reference.
Description: Sets the inner window for flying referencing.
Value = 0:
The evaluation of the inner window is de-activated.
Notice: The inner window must be set so that it is smaller than the outer window.
Note: If the difference between the reference point coordinate and detected actual position is less than the inner window,
then no correction is executed for a referenced axis.
If the difference between the reference point coordinate and detected actual position is greater than the inner win-
dow and less than the outer window (p2602), then a correction is executed for a referenced axis.
p2599 CO: EPOS reference point coordinate value / Ref_pt coord val
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
-2147482648 [LU] 2147482647 [LU] 0 [LU]
p2600 EPOS search for reference, reference point offset / Ref_pt offset
SERVO (EPOS),
VECTOR (EPOS)
-2147482648 [LU] 2147482647 [LU] 0 [LU]
p2601 EPOS flying referencing, inner window / Inner window
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147482647 [LU] 0 [LU]
List of parameters
Parameters
Description: Sets the outer window for flying referencing.
Value = 0:
The evaluation of the outer window is de-activated.
Refer to: A07489
Notice: The inner window must be set so that it is smaller than the outer window.
Note: If the difference between the reference point coordinate and detected actual position is greater than the outer win-
dow, then no correction is executed for the referenced axis. Further, an appropriate message is output and r2684.3
is set to 1.
Description: Sets the relative positioning mode for flying referencing.
Value = 1:
The corrected setpoint is not calculated into the traversing distance.
Value = 0:
The corrected setpoint is calculated into the traversing distance.
Caution: For p2603 = 0 the direction can change.
Description: Sets the signal sources for the start direction of the search for reference.
1 signal: Start in the negative direction.
0 signal: Start in the positive direction.
Description: Sets the approach velocity to the reference cam for the search for reference.
p2602 EPOS flying referencing, outer window / Outer window
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147482647 [LU] 0 [LU]
p2603 EPOS flying referencing, positioning mode, relative / Pos_mode relative
SERVO (EPOS),
VECTOR (EPOS)
0 1 1
p2604 BI: EPOS search for reference, start direction / Srch for ref dir
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2605 EPOS search for reference, approach velocity, reference cam / v_appr ref_cam
SERVO (EPOS),
VECTOR (EPOS)
Parameters
List of parameters
Dependency: The search for reference only starts with the approach velocity to the reference cam when there is a reference cam
(p2607 = 1).
Refer to: p2595, p2597, p2604, p2606, p2607
Note: When traversing to the reference cam, the velocity override is effective.
If, at the start of the search for reference, the axis is already at the reference cam, then the axis immediately starts
to traverse to the zero mark.
Description: Sets the maximum distance after the start of the search for reference when traversing to the reference cam.
Refer to: F07458
Note: When using a reversing cam, the maximum distance must be set appropriately long.
Description: Sets whether or not a reference cam is present for the search for reference.
Value = 1: Reference cam present.
Value = 0: No reference cam present.
Description: Sets the approach velocity after detecting the reference cam to search for the zero mark for the the search for refer-
ence.
Dependency: If there is no reference cam (p2607 = 0), the search for reference immediately starts with the axis traversing to the
zero mark.
Refer to: p2595, p2597, p2604, p2607, p2609, p2610
Caution: If the reference cam is not adjusted so that at each search for reference the same zero mark for synchronization is
detected, then an "incorrect" axis reference point is obtained.
After the reference cam has been left, the search for the zero mark is activated with a time delay due to internal fac-
tors. This is the reason that the reference cam should be adjusted in this center between two zero marks and the
approach velocity should be adapted to the distance between two zero marks.
Note: The velocity override is not effective when traversing to the zero mark.
p2606 EPOS search for reference, reference cam, maximum distance / Ref_cam max s
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147482647 [LU] 2147482647 [LU]
p2607 EPOS search for reference, reference cam present / Ref_cam pres
SERVO (EPOS),
VECTOR (EPOS)
0 1 1
p2608 EPOS search for reference, approach velocity, zero mark / v_appr ref_ZM
SERVO (EPOS),
VECTOR (EPOS)
List of parameters
Parameters
Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark.
Refer to: F07459
Description: Sets the tolerance bandwidth for the distance to the zero mark
The zero mark is evaluated within the maximum distance between the reference cam and zero mark (p2609) minus
the tolerance bandwidth for the distance to the zero mark (p2610).
Description: Sets the approach velocity after detecting the zero mark to approach the reference point.
Note: When traversing to the reference point, the velocity override is not effective.
Description: Sets the signal source for the reference cam.
p2609 EPOS search for reference, max. distance ref. cam and zero mark / Max s ref_cam ZM
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147482647 [LU] 20000 [LU]
p2610 EPOS search for ref., tol. bandwidth for distance to zero mark / Tol_band to ZM
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147482647 [LU] 2147482647 [LU]
p2611 EPOS search for reference, approach velocity, reference point / v_appr ref_pt
SERVO (EPOS),
VECTOR (EPOS)
p2612 BI: EPOS search for reference, reference cam / Ref_cam
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the signal source for the reversing cam in the negative direction of travel.
1 signal: Reversing cam not reached.
0 signal: Reversing cam reached.
Note: If, during the search for reference from the reversing cam minus and plus, a 0 signal is detected, then the axis
remains stationary (at standstill).
Description: Sets the signal source for the reversing cam in the negative direction of travel.
1 signal: Reversing cam not reached.
0 signal: Reversing cam reached.
Note: If, during the search for reference from the reversing cam minus and plus, a 0 signal is detected, then the axis
remains stationary (at standstill).
Description: Sets the maximum number of traversing blocks that are available.
Description: Sets a block number.
-1: Invalid block number. These blocks are not taken into account.
0 ... 63: Valid block number.
Dependency: The number of indices depends on p2615.
p2613 BI: EPOS search for reference reversing cam minus / Rev minus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
p2614 BI: EPOS search for reference reversing cam plus / Rev plus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
p2615 EPOS maximum number of traversing blocks / Trav_block qty max
SERVO (EPOS),
VECTOR (EPOS)
1 64 64
p2616[0...n] EPOS traversing block, block number / Trav_blk, blkNo.
SERVO (EPOS),
VECTOR (EPOS)
Data type: Integer16 Dynamic index: p2615 Func. diagram: 3616
-1 63 -1
List of parameters
Parameters
Description: Sets the target position for the traversing block.
Note: The target position is approached in either relative or absolute terms depending on p2623.
Description: Sets the velocity for the traversing block.
Note: The velocity can be influenced using the velocity override (p2646).
Description: Sets the acceleration override for the traversing block.
The override refers to the maximum acceleration (p2572).
Description: Sets the deceleration override for the traversing block.
The override refers to the maximum deceleration (p2573).
Notice: If, when calculating the traversing profile, it is identified that the target position of the next block with the pro-
grammed deceleration override will not be reached without direction reversal (flying block change), then the old
(current) deceleration override remains effective.
p2617[0...n] EPOS traversing block position / Trav_block pos
SERVO (EPOS),
VECTOR (EPOS)
-2147482648 [LU] 2147482647 [LU] 0 [LU]
p2618[0...n] EPOS traversing block velocity / Trav_block v
SERVO (EPOS),
VECTOR (EPOS)
p2619[0...n] EPOS traversing block acceleration override / Trav_block a_over
SERVO (EPOS),
VECTOR (EPOS)
Data type: FloatingPoint32 Dynamic index: p2615 Func. diagram: 3616
1.0 [%] 100.0 [%] 100.0 [%]
p2620[0...n] EPOS traversing deceleration override / Trav_block -a_over
SERVO (EPOS),
VECTOR (EPOS)
1.0 [%] 100.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Sets the required task for the traversing block.
Value: 1: POSITIONING
2: FIXED STOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAITING
6: GOTO
7: SET_O
8: RESET_O
9: JERK
Description: Sets additional information/data of the appropriate task for the traversing block.
Note: The following should be set depending on the task:
FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear 0...65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
RESET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
JERK: 0 - de-activate, 1 - activate
Description: Sets the influence of the task for the traversing block.
Value = 0000 cccc bbbb aaaa
cccc: Positioning mode
cccc = 0000 --> ABSOLUTE
cccc = 0001 --> RELATIVE
cccc = 0010 --> ABS_POS (only for a rotary axis with modulo correction)
cccc = 0011 --> ABS_NEG (only for a rotary axis with modulo correction)
p2621[0...n] EPOS traversing block task / Trav_block task
SERVO (EPOS),
VECTOR (EPOS)
1 9 1
p2622[0...n] EPOS traversing block task parameter / Trav_blck task_par
SERVO (EPOS),
VECTOR (EPOS)
-2147483648 2147483647 0
p2623[0...n] EPOS traversing block, task mode / Trav_block mode
SERVO (EPOS),
VECTOR (EPOS)
Data type: Unsigned16 Dynamic index: p2615 Func. diagram: 3515, 3616
0 65535 0
List of parameters
Parameters
bbbb: Progression condition
bbbb = 0000 --> END
bbbb = 0001 --> CONTINUE WITH STOP
bbbb = 0010 --> CONTINUE FLYING
bbbb = 0011 --> CONTINUE EXTERNAL
bbbb = 0100 --> CONTINUE EXTERNAL WAIT
bbbb = 0101 --> CONTINUE EXTERNAL ALARM
aaaa: IDs
aaaa = 000x --> show/hide block (x = 0: show, x = 1: hide)
Description: Sets the traversing blocks for sorting corresponding to their block number.
Procedure: Set p2624 = 0 --> 1.
Sorting is started and the parameters are automatically reset to zero once the operation has been completed.
Note: After sorting, the traversing blocks are written at the beginning of the memory in increasing sequence without any
gaps.
Description: Sets the signal source to select the traversing block, bit 0.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2626, p2627, p2628, p2629, p2630
versing blocks.
Refer to: p2625, p2627, p2628, p2629, p2630
p2624 EPOS traversing block, sorting / Trav_block sort
SERVO (EPOS),
VECTOR (EPOS)
0 1 0
p2625 BI: EPOS traversing block selection, bit 0 / Trav_blk sel bit 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
versing blocks.
Refer to: p2625, p2626, p2628, p2629, p2630
versing blocks.
Refer to: p2625, p2626, p2627, p2629, p2630
versing blocks.
Refer to: p2625, p2626, p2627, p2628, p2630
versing blocks.
Refer to: p2625, p2626, p2627, p2628, p2629
SERVO (EPOS),
VECTOR (EPOS)
- - 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
List of parameters
Parameters
Description: Sets the signal source for "activating traversing task".
The traversing task, selected using BI: p2625 ... p2630, is started.
Note: To start a traversing block, the axis must be referenced (r2684.11 = 1).
The status signal r2684.12 = 0/1 signal is used for acknowledgement.
A traversing task can be influenced using the following signals:
- intermediate stop via BI: p2640.
- reject traversing task via BI: p2641.
Description: Sets the mode to evaluate "external block change".
Value: 0: External block change via the measuring probe
1: External block change via BI: p2633
Note: In the mode "external block change via measuring probe (p2632 = 0), the following applies:
When starting a traversing block with the block change enable CONTINUE_EXTERNAL,
CONTINUE_EXTERNAL_WAIT and CONTINUE_EXTERNAL_ALARM an activated "flying referencing" is inter-
rupted. After ending the block, "flying referencing" must be re-activated via BI: p2595 = 0/1 signal.
Description: Sets the signal source for "external block change".
Dependency: The evaluation of the signal is only active p2632 = 1.
Refer to: p2623, p2632, p2640, p2641, r2677, r2678
Note: A 0/1 edge initiates a flying block change in the subsequent traversing block.
When the external block change is identified, the actual position is saved in r2678.
A traversing task can be influenced using the following signals:
p2631 BI: EPOS activate traversing task (0 -> 1) / Trav_task act
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2632 EPOS external block change evaluation / Ext BlckChg eval
SERVO (EPOS),
VECTOR (EPOS)
0 1 0
p2633 BI: EPOS external block change (0 -> 1) / Ext BlckChg (0->1)
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the following error to detect the "fixed stop reached" state (r2526.4).
Note: The state "fixed stop reached" is detected if the following error exceeds the theoretically calculated following error
value by p2634.
Description: Sets the monitoring window of the actual position after the fixed stop is reached.
Refer to: F07484
Note: If, after the fixed stop is reached, the end stop shifts in either the positive or negative direction by more than the
value set here, then BO: r2526.5 is set to 1 and an appropriate message is output.
Description: Sets the signal source for the feedback signal "fixed stop reached".
Fixed stop is reached.
Fixed stop is not reached.
Note: The identification of "fixed stop reached" is, for the factory setting, dependent on the signal BO: r2526.4 (fixed stop
reached). This signal is influenced via p2634 (EPOS fixed stop, maximum following error).
Description: Sets the signal source for the feedback signal "fixed stop outside the monitoring window".
Fixed stop is located outside the monitoring window.
p2634[0...n] EPOS fixed stop maximum following error / Following err max
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147482647 [LU] 1000 [LU]
p2635 EPOS fixed stop monitoring window / Fixed stop monit
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147482647 [LU] 100 [LU]
p2637 BI: EPOS fixed stop reached / Fixed stop reached
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.4
p2638 BI: EPOS fixed stop outside the monitoring window / Fixed stop outside
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.5
List of parameters
Parameters
Fixed stop is inside the monitoring window.
Note: The identification of "fixed stop outside the monitoring window" is, for the factory setting, dependent on signal BO:
r2526.5 (fixed stop outside window). This signal is influenced via p2635 (EPOS fixed stop monitoring window).
Description: Sets the signal source for the feedback signal "force limit reached" when traversing to fixed stop.
Force limit has been reached.
Force limit has not been reached.
Note: The feedback signal from "force limit reached" is, for the factory setting, dependent on the signal BO: r1407.7
(torque limit reached).
Description: Sets the signal source for the feedback signal "torque limit reached" when traversing to fixed stop.
Torque limit is reached.
Torque limit is not reached.
Note: The feedback signal from "torque limit reached" is, for the factory setting, dependent on the signal BO: r1407.7
(torque limit reached).
Description: Sets the signal source for the "no intermediate stop/intermediate stop".
No intermediate stop.
Intermediate stop.
p2639 BI: EPOS force limit reached / F_limit reached
SERVO (EPOS, Lin) Can be changed: T Calculated: - Access level: 3
- - 1407.7
p2639 BI: EPOS torque limit reached / M_limit reached
SERVO (EPOS),
VECTOR (EPOS)
- - 1407.7
p2640 BI: EPOS intermediate stop (0 signal) / Intermediate stop
SERVO (EPOS),
VECTOR (EPOS)
3625
- - 0
Parameters
List of parameters
Caution: For BI: p2649 = 1 signal, the following applies:
Motion starts without any explicit control signal.
Note: This signal is only effective in the modes "traversing blocks" and "direct setpoint input/MDI".
When activating the intermediate stop, the axis brakes with the parameterized deceleration (p2620 or p2645).
Description: Sets the signal source for "do not reject traversing task/reject traversing task".
Do not reject traversing task.
Reject traversing task.
Note: This signal is only effective in the modes "traversing blocks" and "direct setpoint input/MDI".
When activating reject traversing tasks, then the axis brakes with the maximum deceleration (p2573).
Description: Sets the signal source for the position setpoint in the mode "direct setpoint input/MDI".
Note: Depending on p2649, the position setpoint is either transferred continuously or edge-triggered.
The position setpoint input is interpreted as length unit [LU].
Description: Sets the signal source for the velocity setpoint in the "direct setpoint input/MDI mode".
Note: Depending on p2649, the velocity setpoint is either transferred continuously or edge-triggered.
The velocity setpoint input is interpreted as [1000 LU/min].
p2641 BI: EPOS reject traversing task (0 signal) / Trav_task reject
SERVO (EPOS),
VECTOR (EPOS)
3625
- - 0
p2642 CI: EPOS direct setpoint input/MDI position setpoint / MDI s_set
SERVO (EPOS),
VECTOR (EPOS)
- - 2690[0]
p2643 CI: EPOS direct setpoint input/MDI velocity setpoint / MDI v_set
SERVO (EPOS),
VECTOR (EPOS)
- - 2691[0]
List of parameters
Parameters
Description: Sets the signal source for the acceleration override in the operating mode "direct setpoint input/MDI".
Note: Depending on p2649, the acceleration override is either transferred continuously or edge-triggered.
The signal value 4000 hex (16384 dec) corresponds to 100 %.
Description: Sets the signal source for the deceleration override in the operating mode "direct setpoint input/MDI".
Notice: If, when calculating the traversing profile, it is identified that the target position with the programmed deceleration
override cannot be reached without reversing the direction, then when accepting the dynamic values, the larger
deceleration override is accepted and becomes effective.
Note: Depending on p2649, the deceleration override is either transferred continuously or edge-triggered.
The signal value 4000 hex (16384 dec) corresponds to 100 %.
Description: Sets the signal source for the velocity override.
This velocity override is effective in the following operating modes "direct setpoint input/MDI", "traversing blocks",
"jogging" and "search for reference" (when approaching the reference cam).
Dependency: Refer to: p2571, p2585, p2586, p2605, p2618, p2643, r2681
Note: The effective override (r2681) can differ from the specified override due to limits (e.g. maximum velocity).
Description: Sets the signal source for selecting the operating mode "direct setpoint input/MDI".
p2644 CI: EPOS direct setpoint input/MDI acceleration override / MDI a_over
SERVO (EPOS),
VECTOR (EPOS)
- - 2692[0]
p2645 CI: EPOS direct setpoint input/MDI deceleration override / MDI -a_over
SERVO (EPOS),
VECTOR (EPOS)
- - 2693[0]
p2646 CI: EPOS velocity override / v_over
SERVO (EPOS),
VECTOR (EPOS)
- - 1
p2647 BI: EPOS direct setpoint input/MDI selection / MDI selection
SERVO (EPOS),
VECTOR (EPOS)
3640
- - 0
Parameters
List of parameters
Dependency: Refer to: p2640, p2641, p2642, p2643, p2644, p2645, p2646, p2648, p2649, p2650, p2651, p2652, p2653
Note: In this mode, using BI: p2653 it is possible to make a flying changeover between setting-up and positioning.
In this mode, even if the axis is not referenced (r2684.11 = 0) relative positioning is possible.
Description: Sets the signal source for the positioning type in the mode "direct setpoint input/MDI".
Absolute positioning is selected.
Relative positioning is selected.
Refer to: A07461, F07488
Notice: Absolute positioning:
To traverse, the reference point must be set (r2684.11 = 1).
Relative positioning:
To traverse, it is not necessary that the reference point is set.
Note: Depending on p2649, the positioning type is either transferred continuously or edge-triggered.
Binector input p2648 is only evaluated when connector input p2654 = 0. If p2654 is a value other than 0, the posi-
tioning type is evaluated by means of the set signal source.
Description: Sets the signal source to define how values are transferred in the operating mode "direct setpoint input/MDI".
Values are continually transferred (refer to parameter under dependency).
The values are transferred for BI: p2650 = 0/1 signal.
Note: Parameter p2649 can only be changed when p0922 (p2079) = 999.
Description: Sets the signal source to accept the values for edge-triggered selection (BI: p2649 = 0 signal) in the operating mode
"direct setpoint input/MDI".
p2648 BI: EPOS direct setpoint input/MDI positioning type / MDI pos_type
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2649 BI: EPOS direct setpoint input/MDI transfer type selection / MDI trans_type sel
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2650 BI: EPOS direct setpoint input/MDI setpoint acceptance edge / MDI setp_accept
SERVO (EPOS),
VECTOR (EPOS)
- - 0
List of parameters
Parameters
BI: p2650 = 0/1 signal and BI: p2649 = 0 signal
Values are accepted, edge-triggered (refer to parameter under dependency).
Dependency: Refer to: p2640, p2641, p2642, p2643, p2644, p2645, p2648, p2649, p2651, p2652, r2684
Note: The status signal r2684.12 = 0/1 signal is used for acknowledgement.
The operating mode "direct setpoint input/MDI" can be influenced via the following signals:
Description: Sets the signal source for the positive direction selection in the operating mode "direct setpoint input/MDI".
Note: The following applies for "setting-up":
- the traversing direction can be entered using this binector input.
- if both directions (p2651, p2652) are selected, then the axis remains stationary (zero speed).
- if both directions (p2651, p2652) are de-selected, then the axis remains stationary (zero speed).
The following applies for "positioning":
Using binector inputs p2651 and p2652, when the modulo correction (BI: p2577 = 1 signal) is activated and for
absolute positioning (BI: p2648 = 1 signal), the traversing direction is specified as follows:
BI: p2651 / BI: p2652
0 signal / 0 signal: Absolute positioning through the shortest distance.
1 signal / 0 signal: Absolute positioning in the positive direction.
0 signal / 1 signal: Absolute positioning in the negative direction.
Description: Sets the signal source for the negative direction selection in the operating mode "direct setpoint input/MDI".
Note: The following applies for "setting-up":
- the traversing direction can be entered using this binector input.
- if both directions (p2651, p2652) are selected, then the axis remains stationary (zero speed).
- if both directions (p2651, p2652) are de-selected, then the axis remains stationary (zero speed).
The following applies for "positioning":
Using binector inputs p2651 and p2652, when the modulo correction (BI: p2577 = 1 signal) is activated and for
absolute positioning (BI: p2648 = 1 signal), the traversing direction is specified as follows:
BI: p2651 / BI: p2652
1 signal / 0 signal: Absolute positioning in the positive direction.
0 signal / 1 signal: Absolute positioning in the negative direction.
p2651 BI: EPOS direct setpoint input/MDI direction selection, positive / MDI dir_sel pos
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2652 BI: EPOS direct setpoint input/MDI direction selection, negative / MDI dir_sel neg
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the signal source for setting-up in the operating mode "direct setpoint input/MDI".
Setting-up selected.
Positioning selected.
Note: In the operating mode "direct setpoint input/MDI", it is possible to make a flying changeover between setting-up and
positioning.
For "setup" (BI: p2653 = 1 signal), the following applies:
A traversing direction must be selected via binector inputs p2651 and p2652.
Description: Sets the signal source to interconnect the MDI mode to the operating mode "direct setpoint input MDI" via PROFI-
BUS telegram 110.
CI: p2654 = 0
The binector inputs listed below are evaluated.
CI: p2654 > 0
The following binector inputs are not evaluated:
- BI: p2648 (positioning type)
- BI: p2651 (direction selection, positive)
- BI: p2652 (direction selection, negative)
In this case, the following definitions apply:
Signal via CI: p2654 = xx0x hex -> absolute
Signal via CI: p2654 = xx1x hex -> relative
Signal via CI: p2654 = xx2x hex -> abs_pos (only for modulo correction)
Signal via CI: p2654 = xx3x hex -> abs_neg (only for modulo correction)
Description: Sets the signal source to select tracking mode.
BI: p2655[0] or BI: p2655[1] = 1 signal
Tracking mode after withdrawing the enable signal from EPOS (BI: p2656 = 0 signal).
p2653 BI: EPOS direct setpoint input/MDI setting-up selection / MDI setting-up sel
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2654 CI: EPOS direct setpoint input/MDI mode adaptation / MDI mode adapt
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2655[0...1] BI: EPOS select tracking mode / Sel tracking mode
SERVO (EPOS),
VECTOR (EPOS)
- - [0] 1
[1] 2526.7
List of parameters
Parameters
BI: p2655[0] and BI: p2655[1] = 0 signal
No tracking mode after withdrawing the enable signal from EPOS (BI: p2656 = 0 signal).
Note: For the following events, independent of the signal that is present, tracking mode is selected:
- after booting.
- after a 0/1 signal at BI: p2658 (EPOS position actual value, valid feedback signal).
- while a fault is present.
Description: Sets the signal source to enable the basic positioner.
The basic positioner is enabled.
The basic positioner is not enabled.
Description: Sets the signal source for the position actual value/position setting value.
Note: In the tracking mode, the position setpoint is taken from this connector input.
Description: Sets the signal source for the feedback signal "position actual value is valid".
The position actual value received via CI: p2657 is valid.
The position actual value received via CI: p2657 is invalid.
Note: While a 0 signal is present, the position setpoint (p2665) is held at the value of 0.
p2656 BI: EPOS enable basic positioner / EPOS enable
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.3
p2657 CI: EPOS position actual value/position setting value / Pos act/set value
SERVO (EPOS),
VECTOR (EPOS)
3620, 3635
- - 2521[0]
p2658 BI: EPOS pos. actual value valid, feedback signal / Pos valid feedback
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.0
Parameters
List of parameters
Description: Sets the signal source for the feedback signal "referencing active".
Referencing is active.
Referencing is not active.
Description: Sets the signal source for the measured value for the function "referencing".
Description: Sets the signal source for the feedback signal "measured value valid".
The measured value received via CI: p2660 is valid.
The measured value received via CI: p2660 is invalid.
Description: Sets the signal source for the feedback signal "adjustment value valid".
The adjustment value received via CI: p2660 is valid.
The adjustment value received via CI: p2660 is not valid.
p2659 BI: EPOS referencing active feedback signal / Ref act fdbk
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.1
p2660 CI: EPOS measured value referencing / Meas val ref
SERVO (EPOS),
VECTOR (EPOS)
- - 2523[0]
p2661 BI: EPOS measured value valid, feedback signal / MeasVal valid fdbk
SERVO (EPOS),
VECTOR (EPOS)
3615
- - 2526.2
p2662 BI: EPOS adjustment value valid feedback signal / Adj val valid FS
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.9
List of parameters
Parameters
Description: Sets the signal source for the feedback signal "clamping active for travel to fixed stop".
Clamping is active
Clamping is not active.
Note: The feedback signal from "terminals active" is, for the factory setting, dependent on the signal BO: r2526.8 (termi-
nals active when moving to a fixed stop).
Description: Displays the current absolute position setpoint.
Note: As standard, the following BICO interconnection is established: CI: p2530 = r2665
Description: Displays the current velocity setpoint.
Description: Displays the currently effective value for backlash compensation.
p2663 BI: EPOS clamping active feedback signal / Clamping active FS
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.8
r2665 CO: EPOS position setpoint / s_set
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
r2666 CO: EPOS velocity setpoint / v_set
SERVO (EPOS),
VECTOR (EPOS)
r2667 CO: EPOS backlash compensation value / Backlash value
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
Parameters
List of parameters
Description: Displays the current active operating mode.
Value = 00 hex -> no operating mode active
Value = 01 hex -> jogging active
Value = 02 hex -> search for reference active
Value = 04 hex -> traversing blocks active
Value = 08 hex -> Positioning for direct setpoint input/MDI active
Value = 10 hex -> Setting-up for direct setpoint input/MDI active
Value = 20 hex -> flying referencing active
Description: Displays the status word for the active traversing block.
r2670.0: Active traversing block, bit 0
...
r2670.5: Active traversing block, bit 5
r2670.15: MDI active
Note: Re bit 00 ... 05:
Displays the active traversing block in the traversing blocks operating mode.
Re bit 15:
For a 1 signal, the operating mode - direct setpoint input/MDI - is active
Description: Displays the position setpoint presently being processed.
r2669 CO: EPOS current operating mode / Op mode act
SERVO (EPOS),
VECTOR (EPOS)
- - -
r2670.0...15 CO/BO: EPOS status word, active traversing block / ZSWact trav_block
SERVO (EPOS),
VECTOR (EPOS)
3650
- - -
00 Active traversing block, bit 0 Active Not active -
15 MDI active Active Not active -
r2671 CO: EPOS current position setpoint / s_set act
SERVO (EPOS),
VECTOR (EPOS)
3620
- [LU] - [LU] - [LU]
List of parameters
Parameters
Note: A position of 0 is displayed for non position-related tasks (e.g. ENDLESS_POS, ENDLESS_NEG).
Description: Displays the velocity setpoint presently being processed.
Description: Displays the acceleration override presently being processed.
Note: An override of 100% is effective in the "jogging" and "search for reference" operating modes.
Description: Displays the deceleration override presently being processed.
Note: An override of 100% is effective in the "jogging" and "search for reference" operating modes.
Description: Displays the task that is presently being processed.
Value: 0: Inactive
1: POSITIONING
2: FIXED STOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAITING
6: GOTO
7: SET_O
8: RESET_O
9: JERK
r2672 CO: EPOS current velocity setpoint / v_set act
SERVO (EPOS),
VECTOR (EPOS)
3616, 3620
r2673 CO: EPOS current acceleration override / a_over act
SERVO (EPOS),
VECTOR (EPOS)
3616, 3620
- [%] - [%] - [%]
r2674 CO: EPOS current deceleration override / -a_over act
SERVO (EPOS),
VECTOR (EPOS)
3616, 3620
- [%] - [%] - [%]
r2675 CO: EPOS current task / Task cur
SERVO (EPOS),
VECTOR (EPOS)
0 9 -
Parameters
List of parameters
Description: Displays the task parameter presently being processed in the "traversing blocks" operating mode.
Note: The following is displayed depending on the task:
FIXED STOP: Clamping torque (0 ... 65536 [0.01 Nm]) or clamping force (0 ... 65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
SET_O: 1, 2, 3 --> direct output 1, 2 or 3 (both) is set
RESET_O: 1, 2, 3 --> direct output 1, 2 or 3 (both) is set
JERK: 0 --> de-activate, 1 --> activate
Description: Displays the task mode presently being processed.
Description: Displays the actual position for the following events:
- external block change via measuring probe (p2632 = 0, BI: p2661 = 0/1 signal).
- external block change via BI: p2633 (p2632 = 1, BI: p2633 = 0/1 signal).
- activate traversing task (BI: p2631 = 0/1 signal).
Description: Displays the clearance determined between the reference cam and zero mark in the search for reference.
r2676 CO: EPOS current task parameter / Task para cur
SERVO (EPOS),
VECTOR (EPOS)
- - -
r2677 CO: EPOS current task mode / Task mode cur
SERVO (EPOS),
VECTOR (EPOS)
- - -
r2678 CO: EPOS external block change / Ext BlckChg s_act
SERVO (EPOS),
VECTOR (EPOS)
3620
- [LU] - [LU] - [LU]
r2680 CO: EPOS clearance, reference cam and zero mark / Clearance cam/ZM
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
List of parameters
Parameters
Description: Displays the currently effective velocity override.
Note: The effective override can differ from the specified override due to limits (e.g. p2571, maximum velocity).
Description: Displays the current residual distance.
The remaining distance is the distance to still to be moved through up to the end of the current positioning task.
Description: Displays status word 1 for the basic positioner (EPOS).
r2681 CO: EPOS velocity override effective / v_over effective
SERVO (EPOS),
VECTOR (EPOS)
- [%] - [%] - [%]
r2682 CO: EPOS residual distance to go / Residual distance
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
r2683.0...14 CO/BO: EPOS status word 1 / POS_ZSW1
SERVO (Lin, Pos
ctrl)
- - -
00 Tracking mode active Yes No 3635,
4020
01 Velocity limiting active Yes No 3630
02 Setpoint available Yes No 3635
03 Target position reached Yes No 3635
04 Axis moves forwards Yes No 3635
05 Axis moves backwards Yes No 3635
06 Software limit switch minus reached Yes No 3635
07 Software limit switch plus reached Yes No 3635
08 Position actual value <= cam switching posi-
tion 1
Yes No 4025
tion 2
Yes No 4025
10 Direct output 1 via traversing block Yes No 3616
3617
13 Fixed stop clamping force reached Yes No 3616,
3617
14 Travel to fixed stop active Yes No 3616,
3617
Parameters
List of parameters
Note: Re bit 02, 04, 05, 06, 07:
This signals designate the state after jerk limiting.
Re bit 08, 09:
These signals are generated in the "closed-loop position control" function module.
Note: Re bit 02, 04, 05, 06, 07:
This signals designate the state after jerk limiting.
Re bit 08, 09:
These signals are generated in the "closed-loop position control" function module.
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - -
00 Tracking mode active Yes No 3635,
4020
01 Velocity limiting active Yes No 3630
02 Setpoint available Yes No 3635
04 Axis moves forwards Yes No 3635
05 Axis moves backwards Yes No 3635
06 Software limit switch minus reached Yes No 3635
07 Software limit switch plus reached Yes No 3635
tion 1
Yes No 4025
tion 2
Yes No 4025
3617
13 Fixed stop clamping torque reached Yes No 3616,
3617
14 Travel to fixed stop active Yes No 3616,
3617
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - -
00 Search for reference active Active Not active 3612
01 Flying referencing active Active Not active 3614
02 Referencing active Active Not active -
03 Printing mark outside outer window Yes No 3614
04 Axis accelerating Yes No 3635
05 Axis decelerating Yes No 3635
06 Jerk limiting active Yes No 3635
List of parameters
Parameters
Note: Re bit 02:
The "referencing active" signal is an OR logic operation of "search for reference active" and "flying referencing
active".
Re bit 00 ... 07 and 11 ... 14:
These signals are generated in the function module "basic positioner".
Re bit 08:
The signal is generated in the "closed-loop position control" function module.
Description: Displays the corrective value for the position actual value.
Using this value, e.g. modulo corrections are carried out.
Description: Displays the effective force limiting.
r2686[0]: Displays the effective upper force limiting when traversing to fixed stop (referred to CI: p1522, CI: p1523).
r2686[1]: Displays the effective lower force limiting when traversing to fixed stop (referred to CI: p1522, CI: p1523).
Note: As standard, the following BICO interconnections are established:
CI: p1528 = r2686[0]
CI: p1529 = r2686[1]
07 Activate correction Yes No 3635
08 Following error in tolerance Yes No 4025
09 Modulo correction active Yes No -
11 Reference point set Yes No 3612,
3614,
3630
12 Acknowledgement, traversing block acti-
vated
Yes No 3616,
3620
13 STOP cam minus active Yes No 3630
14 STOP cam plus active Yes No 3630
15 Traversing command active Yes No 3635
r2685 CO: EPOS corrective value / Corrective value
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
r2686[0...1] CO: EPOS force limit effective / F_limit eff
SERVO (EPOS, Lin) Can be changed: - Calculated: - Access level: 3
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the effective torque limiting.
r2686[0]: Displays the effective upper torque limiting when traversing to fixed stop (referred to CI: p1522, CI:
p1523).
r2686[1]: Displays the effective lower torque limiting when traversing to fixed stop (referred to CI: p1522, CI:
p1523).
Note: As standard, the following BICO interconnections are established:
CI: p1528 = r2686[0]
CI: p1529 = r2686[1]
Description: Displays the effective force setpoint when reaching the fixed stop (referred to CI: p1522, CI: p1523).
Description: Displays the effective torque setpoint when reaching the fixed stop (referred to CI: p1522, CI: p1523).
Description: Sets a fixed setpoint for the position.
r2686[0...1] CO: EPOS torque limiting effective / M_limit eff
SERVO (EPOS),
VECTOR (EPOS)
- [%] - [%] - [%]
r2687 CO: EPOS force setpoint / F_set
SERVO (EPOS, Lin) Can be changed: - Calculated: - Access level: 3
- [N] - [N] - [N]
r2687 CO: EPOS torque setpoint / M_set
SERVO (EPOS),
VECTOR (EPOS)
- [Nm] - [Nm] - [Nm]
p2690 CO: EPOS position fixed setpoint / Pos fixed value
SERVO (EPOS),
VECTOR (EPOS)
-2147482648 [LU] 2147482647 [LU] 0 [LU]
List of parameters
Parameters
Description: Sets a fixed setpoint for the velocity.
Description: Sets a fixed setpoint for the acceleration override.
The percentage value refers to the maximum acceleration (p2572).
Description: Sets a fixed setpoint for the deceleration override.
The percentage value refers to the maximum deceleration (p2573).
Description: Display and connector output of the current reference quantity for the frequency (p2000).
All frequencies specified as relative value are referred to this reference quantity. The reference quantity in this
parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit Hz.
Note: This parameter provides the numerical value of the reference quantity p2000 as a connector output for interconnec-
tion with Drive Control Chart (DCC). The numerical value can be adopted unchanged from this connector output in
DCC.
p2691 CO: EPOS velocity fixed setpoint / v fixed value
SERVO (EPOS),
VECTOR (EPOS)
p2692 CO: EPOS acceleration override, fixed setpoint / a_over fixed val
SERVO (EPOS),
VECTOR (EPOS)
0.100 [%] 100.000 [%] 100.000 [%]
p2693 CO: EPOS deceleration override, fixed setpoint / -a_over fixed val
SERVO (EPOS),
VECTOR (EPOS)
0.100 [%] 100.000 [%] 100.000 [%]
r2700 CO: Reference frequency / f_ref
A_INF, B_INF Can be changed: - Calculated: - Access level: 2
- - -
Parameters
List of parameters
Description: Display and connector output for the reference quantity for speed and frequency (p2000).
The following applies: Reference frequency (in Hz) = reference speed (in rpm) / 60
This parameter has the unit rpm.
DCC.
Description: Display and connector output for the current reference quantity for velocity and frequency.
The following applies: Reference frequency (in Hz) = reference velocity (in m/min) / 60
DCC.
Description: Display and connector output of the current reference quantity for the frequency (p2000).
All frequencies specified as relative value are referred to this reference quantity. The reference quantity in this
This parameter has the unit Hz.
DCC.
r2700 CO: Reference speed/reference frequency / n_ref/f_ref
ENCODER, SERVO,
TM41, VECTOR
- - -
r2700 CO: Reference velocity/reference frequency current / v_ref/f_ref act
- - -
r2700 CO: Reference frequency, current / f_ref act
S_INF Can be changed: - Calculated: - Access level: 2
- - -
List of parameters
Parameters
Description: Display and connector output for the current reference quantity for velocity and frequency.
The following applies: Reference frequency (in Hz) = reference velocity (in m/min) / 60
Note: This parameter represents the numerical value of the reference quantity in the currently selected units and is only
available for interconnection with Drive Control Chart (DCC).
Example 1:
The signal of an analog input (e.g. r4055[0]) is connected to a velocity setpoint (e.g. p1070[0]). The actual percent-
age input value is cyclically converted into the absolute velocity setpoint using the reference velocity (p2000).
Example 2:
The setpoint from PROFIBUS (r2050[1]) is connected to a velocity setpoint (e.g. p1070[0]). The actual input value is
verted to the absolute velocity setpoint via reference velocity (p2000).
Description: Connector output of the reference quantity for voltages p2001.
All voltages specified as relative value are referred to this reference quantity. The reference quantity in this param-
eter corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit Vrms.
DCC.
Description: Connector output of the reference quantity for currents p2002.
All currents specified as relative value are referred to this reference quantity. The reference quantity in this parame-
ter corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit Arms.
r2700 CO: Reference velocity/reference frequency current / v_ref/f_ref act
- - -
r2701 CO: Reference voltage / Reference voltage
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - -
r2702 CO: Reference current / Reference current
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - -
Parameters
List of parameters
DCC.
Description: Connector output of the reference quantity p2003 for torque (r0108.12 = 0) or force (r0108.12 = 1).
All torques specified as relative values (r0108.12 = 0) or forces (r0108.12 = 1) are referred to this reference quan-
tity. The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
The unit of this parameter is the same as the unit selected for p2003.
Dependency: p0505, r0108.12
Refer to: p2003
Note: This parameter provides the numerical value of the reference quantity p2003 in the currently selected unit as a con-
nector output for interconnection with Drive Control Chart (DCC). The numerical value can be adopted unchanged
from this connector output in DCC.
Description: Displays the current reference quantity for forces.
All forces specified as relative value are referred to this reference quantity. The reference quantity in this parameter
corresponds to 100% or 4000 hex or 4000 0000 hex.
Dependency: p0505, r0108.12
Refer to: p2003
Note: This parameter represents the numerical value of the reference quantity in the currently selected units and is only
available for interconnection with Drive Control Chart (DCC).
Example:
The actual value of the total force (r0079[0]) is connected to a test socket (e.g. p0771[0]). The actual force is cycli-
cally converted into a percentage of the reference force (p2003) and output according to the parameterized scaling.
Description: Connector output of the reference quantity for powers p2004.
All power ratings specified as relative value are referred to this reference quantity. The reference quantity in this
Dependency: This value is calculated as voltage x current for the infeed and as torque x speed for closed-loop controls.
Refer to: r2004
r2703 CO: Reference torque / Reference torque
SERVO, TM41, VEC-
TOR
- - -
r2703 CO: Reference force current / Ref force cur
- - -
r2704 CO: Reference power / Reference power
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - -
List of parameters
Parameters
Note: This parameter provides the numerical value of the reference quantity p2004 in the currently selected unit as a con-
nector output for interconnection with Drive Control Chart (DCC). The numerical value can be adopted unchanged
The reference power is calculated as follows:
- 2 * Pi * reference speed / 60 * reference torque (motor)
- reference voltage * reference current * root(3) (infeed)
Description: Connector output of the reference quantity for angles p2005.
All angles specified as relative value are referred to this reference quantity. The reference quantity in this parameter
corresponds to 100% or 4000 hex or 4000 0000 hex.
This parameter has the unit degree.
DCC.
Description: Connector output of the reference quantity for temperatures.
All temperatures specified as relative value are referred to this reference quantity. The reference quantity in this
This parameter has the unit degree Celsius.
Note: This parameter provides the numerical value of the reference quantity for the temperature as a connector output for
interconnection with Drive Control Chart (DCC). The numerical value can be adopted unchanged from this connec-
tor output in DCC.
Description: Connector output of the reference quantity for accelerations p2007.
All acceleration rates specified as relative value are referred to this reference quantity. The reference quantity in
this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
Dependency: r0108.12, p0505
Refer to: p2007
tion with Drive Control Chart (DCC). The numerical value in the currently selected unit can be adopted unchanged
r2705 CO: Reference angle / Reference angle
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - -
r2706 CO: Reference temp / Reference temp
A_INF, B_INF,
S_INF, SERVO,
TM120, TM31,
TM41, VECTOR
- - -
r2707 CO: Reference acceleration / Ref accel
SERVO, TM41, VEC-
TOR
- - -
Parameters
List of parameters
Description: Sets the configuration for position tracking of a load gear.
Note: For the following events, the non-volatile, saved position values are automatically reset:
- when an encoder replacement has been identified.
- when changing the configuration of the Encoder Data Set (EDS).
- when adjusting the absolute encoder again
Description: Sets the number of rotations that can be resolved for a rotary absolute encoder with activated position tracking of
the load gear.
Dependency: This parameter is only of significance for an absolute encoder (p0404.1 = 1) with activated position tracking of the
load gear (p2720.0 = 1).
Note: The resolution that is set must be able to be represented using r2723.
For rotary axes/modulo axes, the following applies:
This parameter is pre-set with p0421 and can be changed.
For linear axes, the following applies:
This parameter is pre-assigned with p0421, expanded by 6 bits for multiturn information (maximum number of over-
flows) and cannot be changed.
Description: Sets a tolerance window for position tracking.
After the system is powered up, the difference between the saved position and the actual position is determined,
and depending on this, the following is initiated:
Difference within the tolerance window --> The position is reproduced as a result of the encoder actual value.
Difference outside the tolerance window --> An appropriate message is output.
Caution: Rotation, e.g. through a complete encoder range is not detected.
p2720[0...n] Load gear configuration / Load gear config
- - 0000 bin
00 Load gear, activate position tracking Yes No -
01 Axis type Linear axis Rotary axis -
02 Load gear, reset position Yes No -
p2721[0...n] Load gear, rotary absolute gearbox, revolutions, virtual / Abs rot rev
0 4194303 0
p2722[0...n] Load gear, position tracking tolerance window / Pos track tol
0.00 4294967300.00 0.00
List of parameters
Parameters
Note: The value is entered in integer (complete) encoder pulses.
For p2720.0 = 1, the value is automatically pre-assigned quarter of the encoder range.
Example:
Quarter of the encoder range = (p0408 * p0421) / 4
It is possible that the tolerance window may not be able to be precisely set due to the data type (floating point num-
ber with 23 bit mantissa).
Description: Displays the absolute value after the load gear.
Note: The increments are displayed in the format the same as r0483.
Description: Displays the position difference before the load gear between powering down and powering up.
Note: The increments are displayed in the same format as for r0483/r2723.
If the measuring gear of the motor encoder is not activated, the position difference should be read in encoder incre-
ments.
If the measuring gear of the motor encoder is activated, the position difference is converted using the measuring
gear factor.
Description: Sets the signal source for the function "activate position actual value preprocessing, negative corrective value
(edge)".
0/1 signal:
The correction value available via CI: p2513 is negated and activated.
[1] = Encoder 1
[2] = Encoder 2
[3] = Encoder 3
r2723[0...n] CO: Load gear absolute value / Load gear abs_val
- - -
r2724[0...n] CO: Load gear position difference / Load gear pos diff
- - -
p2730[0...3] BI: LR pos. actual value preprocessing activate neg. corr. (edge) /
ActV_prep neg corr
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
Parameters
List of parameters
Description: Sets the signal sources for the inputs of the AND logic operation.
Note: [0]: AND logic operation, input 1 --> the result is displayed in r2811.0.
Description: Displays the result of the AND logic operation
Description: Sets the signal sources for the inputs of the OR logic operation.
Note: [0]: OR logic operation, input 1 --> the result is displayed in r2817.0.
[1]: OR logic operation, input 2 --> the result is displayed in r2817.0.
Description: Displays the result of the OR logic operation.
p2810[0...1] BI: AND logic operation inputs / AND inputs
- - 0
r2811.0 CO/BO: AND logic operation result / AND result
- - -
00 AND logic operation result Yes No -
p2816[0...1] BI: OR logic operation inputs / OR inputs
- - 0
r2817.0 CO/BO: OR logic operation result / OR result
- - -
00 OR logic operation result Yes No -
List of parameters
Parameters
Description: Sets a fixed percentage.
Note: The value can be used to interconnect a scaling function (e.g. scaling of the main setpoint)
Description: Sets a fixed percentage.
Note: The value can be used to interconnect a scaling function (e.g. scaling of the supplementary setpoint)
Description: Signal sources for frequently used percentage values.
Index: [0] = Fixed value +0 %
[1] = Fixed value +5 %
[8] = Fixed value -5 %
[13] = Fixed value -150%
Note: The signal sources can, for example, be used to interconnect scalings.
p2900[0...n] CO: Fixed value 1 [%] / Fixed value 1 [%]
P-Group: Free function blocks Units group: - Unit selection: -
-10000.00 [%] 10000.00 [%] 0.00 [%]
-10000.00 [%] 10000.00 [%] 0.00 [%]
r2902[0...14] CO: Fixed values [%] / Fixed values [%]
- [%] - [%] - [%]
Parameters
List of parameters
Description: Sets a fixed value for torque.
Note: The value can, for example, be used to interconnect a supplementary torque.
Description: Sets a fixed value for force.
Note: The value can, for example, be used to interconnect a supplementary force.
Description: Torque constant for the synchronous motor determined by the motor data identification.
This torque constant can be changed after the identification and accepted in p0316 with p1910/p1960 = -3.
Dependency: Refer to: p0316, r0334, r1937, p1960
Description: Force constant for a synchronous linear motor determined by the motor data identification.
This force constant can be changed after the identification and is accepted in p0316 with p1910/p1960 = -3.
Dependency: Refer to: p0316, r0334, r1937, p1960
p2930[0...n] CO: Fixed value M [Nm] / Fixed value M [Nm]
P-Group: Free function blocks Units group: 7_1 Unit selection: p0505
-100000.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
p2930[0...n] CO: Fixed value F [N] / Fixed value F [N]
P-Group: Free function blocks Units group: 8_1 Unit selection: p0505
-100000.00 [N] 100000.00 [N] 0.00 [N]
p3016 MotId torque constant identified / kT ident
0.00 [Nm/A] 100.00 [Nm/A] 0.00 [Nm/A]
p3016 MotId force constant identified / kT ident
SERVO (Lin) Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
List of parameters
Parameters
Description: Voltage constant for a synchronous motor determined by the motor data identification.
This voltage constant can be changed after the identification and accepted in p0317 with p1910/p1960 = -3.
Units for rotating synchronous motors: Vrms/(1000 rpm), phase-to-phase
Description: Voltage constant for a synchronous linear motor determined by the motor data identification.
This voltage constant can be changed after the identification and accepted in p0317 with p1910/p1960 = -3.
Units for linear synchronous motors: Vrms s/m, phase
Description: Magnetizing current for an induction motor determined by the motor data identification.
This magnetizing current can be changed after the identification and accepted in p0320 with p1910/p1960 = -3.
Dependency: Refer to: p0320, r0331, p1910, r1948, p1960
Description: Optimum load angle for a synchronous motor determined by the motor data identification.
This optimum load angle can be changed after the identification and accepted in p0327 with p1910/p1960 = -3.
p3017 MotId voltage constant identified / kE ident
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
p3017 MotId voltage constant identified / kE ident
0.0 [Vrms s/m] 1000.0 [Vrms s/m] 0.0 [Vrms s/m]
p3020 MotId magnetizing current identified / I_mag ident
0.000 [Arms] 5000.000 [Arms] 0.000 [Arms]
p3027 MotId optimum load angle identified / phi_load opt ident
0.0 [] 135.0 [] 0.0 []
Parameters
List of parameters
Description: Reluctance torque constant for a synchronous motor determined by the motor data identification.
This reluctance torque constant can be changed after the identification and accepted in p0328 with p1910/p1960 =
-3.
Description: Reluctance force constant for a synchronous motor determined by the motor data identification.
This reluctance force constant can be changed after the identification and accepted in p0328 with p1910/p1960 = -
3.
Description: Angular commutation offset for a synchronous motor determined by the motor data identification.
This angular commutation offset can be changed after the identification and accepted in p0431 with p1910/p1960 =
-3.
Description: Inversion of the encoder actual value determined by the motor data identification.
This inversion can be changed after the identification and accepted in p0410 with p1910/p1960 = -3.
p3028 MotId reluctance torque constant identified / kT_reluct ident
-1000.00 [mH] 1000.00 [mH] 0.00 [mH]
p3028 MotId reluctance force constant identified / kT_reluct ident
-1000.00 [mH] 1000.00 [mH] 0.00 [mH]
p3030 MotId angular commutation offset identified / Ang_com offset
-180.00 [] 180.00 [] 0.00 []
p3031 MotId encoder inversion actual value identified / EncInvActVal ident
- - 0000 bin
00 Invert speed actual value Yes No 4710,
4715
List of parameters
Parameters
Description: Inversion of the encoder actual value determined by the motor data identification.
This inversion can be changed after the identification and accepted in p0410 with p1910/p1960 = -3.
Description: Motor moment of inertia determined by the motor data identification.
This motor moment of inertia can be changed after the identification and accepted in p0341 with p1910/p1960 = -3.
Description: Mass of the motor determined by the motor data identification.
This mass can be changed after the identification and accepted in p0341 with p1910/p1960 = -3.
Description: Load moment of inertia determined by the motor data identification.
This load moment of inertia can be changed after the identification and accepted in p1498 with p1910/p1960 = -3.
Note: For p1910/p1960 = -3, p0342 is set to 1 (ratio between the total and motor).
p3031 MotId encoder inversion actual value identified / EncInvActVal ident
- - 0000 bin
00 Invert velocity actual value Yes No 4710,
4715
p3041 MotId moment of inertia identified / M_inertia ident
0.000000 [kgm] 100000.000000 [kgm] 0.000000 [kgm]
p3041 MotId motor mass identified / Mot mass ident
0.000000 [kg] 10000.000000 [kg] 0.000000 [kg]
p3042 MotId load moment of inertia identified / Load mom ident
0.00000 [kgm] 100000.00000 [kgm] 0.00000 [kgm]
Parameters
List of parameters
Description: Load mass determined by the motor data identification.
This load mass can be changed after the identification and accepted in p1498 with p1910/p1960 = -3.
Note: For p1910/p1960 = -3, p0342 is set to 1 (ratio between the total and motor).
Description: Coefficient kT1 for the force characteristic for a synchronous linear motor determined by the motor data identifica-
tion.
This coefficient can be changed after the identification and accepted in p0645 with p1910/p1960 = -3.
Description: Coefficient kT1 for the torque characteristic for a synchronous motor determined by the motor data identification.
tion.
p3042 MotId load mass identified / Load mass ident
0.00000 [kg] 10000.00000 [kg] 0.00000 [kg]
p3045 MotId force characteristic kT1 identified / kT1 ident
SERVO (Exp M_ctrl,
Lin)
Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
-340.28235E36 [N/Arms] 340.28235E36 [N/Arms] 0.00 [N/Arms]
p3045 MotId torque characteristic kT1 identified / kT1 ident
SERVO (Exp M_ctrl) Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
-340.28235E36 [Nm/A] 340.28235E36 [Nm/A] 0.00 [Nm/A]
SERVO (Exp M_ctrl,
Lin)
- - -
List of parameters
Parameters
tion.
tion.
- - -
SERVO (Exp M_ctrl,
Lin)
- - -
- - -
SERVO (Exp M_ctrl,
Lin)
- - -
Parameters
List of parameters
Description: Speed at the start of field weakening determined by the motor data identification.
This start speed can be changed after the identification and accepted in p0348 with p1910/p1960 = -3.
Description: Velocity at the start of field weakening determined by the motor data identification.
This start velocity can be changed after the identification and accepted in p0348 with p1910/p1960 = -3.
Description: Stator resistance determined by the motor data identification.
This stator resistance can be changed after the identification and accepted in p0350 with p1910/p1960 = -3.
- - -
p3049[0...n] MotId Speed at start of field weakening identified / ident
0.00000 [rpm] 210000.00000 [rpm] 0.00000 [rpm]
p3049[0...n] MotId Speed at start of field weakening identified / v_Fieldweak ident
0.00000 [m/min] 1000.00000 [m/min] 0.00000 [m/min]
p3050[0...n] MotorId stator resistance identified / R_stator ident
0.00000 [ohm] 2000.00000 [ohm] 0.00000 [ohm]
List of parameters
Parameters
Description: Rotor resistance for an induction motor determined by the motor data identification.
This stator resistance can be changed after the identification and accepted in p0354 with p1910/p1960 = -3.
Description: Stator leakage inductance determined by the motor data identification.
This stator leakage inductance can be changed after the identification and accepted in p0356 with p1910/p1960 = -
3.
Description: Rotor leakage induction for an induction motor determined by the motor data identification.
This rotor leakage inductance can be changed after the identification and accepted in p0358 with p1910/p1960 = -3.
Description: Magnetizing inductance for an induction motor determined by the motor data identification.
This magnetizing inductance can be changed after the identification and accepted in p0360 with p1910/p1960 = -3.
Dependency: Refer to: p0360, p1910, r1936, p1960
p3054[0...n] MotId rotor resistance identified / R_rotor ident
0.00000 [ohm] 300.00000 [ohm] 0.00000 [ohm]
p3056[0...n] MotId stator leakage inductance identified / L_stator leak
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
p3058[0...n] MotId rotor leakage inductance identified / L_rotor leak
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
p3060[0...n] MotId magnetizing inductance identified / MotId Lh ident
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
Parameters
List of parameters
Description: Final value of the voltage emulation error determined by the motor data identification.
This final value can be changed after the identification and accepted in p1952 with p1910/p1960 = -3.
Description: Current offset of the voltage emulation error determined by the motor data identification.
This current offset can be changed after the identification and accepted in p1953 with p1910/p1960 = -3.
Description: P gain of the flux controller for an induction motor determined by the motor data identification.
This P gain can be changed after the identification and accepted in p1590 with p1910/p1960 = -3.
Description: Integral time of the flux controller for an induction motor determined by the motor data identification.
This integral time can be changed after the identification and accepted in p1592 with p1910/p1960 = -3.
p3070 MotId voltage emulation error final value identified / U_err final ident
0.000 [V] 100.000 [V] 0.000 [V]
p3071 MotId voltage emulation error current offset identified / U_error I_offset
0.000 [A] 100.000 [A] 0.000 [A]
p3080 MotId flux controller P gain identified / Flux ctrl Kp ident
0.0 [A/Vs] 999999.0 [A/Vs] 0.0 [A/Vs]
p3081 MotId flux controller integral time identified / Flux ctrl Tn ident
0 [ms] 10000 [ms] 0 [ms]
List of parameters
Parameters
Description: P gain of the current controller determined by the motor data identification.
This P gain can be changed after the identification and accepted in p1715 with p1910/p1960 = -3.
Description: Integral time of the current controller determined by the motor data identification.
This integral time can be changed after the identification and accepted in p1717 with p1910/p1960 = -3.
Description: Changeover speed for the motor model with encoder determined by the motor data identification.
This changeover speed can be changed after the identification and accepted in p1752 with p1910/p1960 = -3.
Description: Changeover velocity for the motor model with encoder determined by the motor data identification.
This changeover velocity can be changed after the identification and accepted in p1752 with p1910/p1960 = -3.
p3082 MotId current controller P gain identified / I_ctrl Kp ident
0.000 [V/A] 100000.000 [V/A] 0.000 [V/A]
p3083 MotId current controller integral time identified / I_ctrl Tn ident
0.00 [ms] 1000.00 [ms] 0.00 [ms]
p3088 MotId Motor model changeover speed operation with encoder ident. /
MotMod n_chgSnsorl
0.00000 [rpm] 210000.00000 [rpm] 0.00000 [rpm]
p3088 MotId Motor model changeover velocity operat. with encod. ident. /
v_chg Ident encod
0.00000 [m/min] 1000.00000 [m/min] 0.00000 [m/min]
Parameters
List of parameters
Description: Sets the configuration for the elasticity-based pole position identification.
Depending on the mechanical design (sequence machine - encoder - brake) and the braking force, the pole posi-
tion identification can cause deflections with a different control sense.
Re bit 00 = 0:
The deflection caused by the pole position identification acts in the positive control sense.
Re bit 00 = 1:
The deflection caused by the pole position identification acts in the negative control sense.
This can only occur for a linear measuring system if a brake is installed between the machine and the measuring
system and the brake is powerful enough to do this.
Dependency: Refer to: p1980, p1981, p1982, p1983, r1984, r1985, r1986, r1987, p1990, r1992, p3091, p3092, p3093, p3094,
p3095, p3096, r3097
Refer to: F07995
Note: PolID el: pole position identification, elasticity-based
Description: Sets the ramp time for the current increase when executing the elasticity-based pole position identification.
The current is ramped up in order to reduce the mechanical load on the machine.
p3095, p3096, r3097
Refer to: F07995
Description: Sets the wait time between two measurements when executing the elasticity-based pole position identification.
The wait time between two measurements is necessary in order to avoid mechanical resonance effects.
p3095, p3096, r3097
Refer to: F07995
p3090[0...n] PolID elasticity-based configuration / PolID el config
- - 0000 bin
00 Sign change Yes No -
p3091[0...n] PolID elasticity-based ramp time / PolID el t_ramp
0.0 [ms] 1000.0 [ms] 250.0 [ms]
p3092[0...n] PolID elasticity-based wait time / PolID el t_wait
0.0 [ms] 1000.0 [ms] 100.0 [ms]
List of parameters
Parameters
Description: Sets the number of measuring operations when executing the elasticity-based pole position identification.
When the value is increased, the result is more accurate, however, the identification takes longer.
p3095, p3096, r3097
Refer to: F07995
Description: Sets the expected deflection when executing the elasticity-based pole position identification.
The following setting makes sense: p3094 < p3095
p3095, p3096, r3097
Refer to: F07995
Description: Sets the expected deflection when executing the elasticity-based pole position identification.
p3095, p3096, r3097
Refer to: F07995
Description: Sets the permissible deflection when executing the elasticity-based pole position identification.
p3093[0...n] PolID elasticity-based measurement number / PolID el meas
6 56 12
p3094[0...n] PolID elasticity-based deflection expected / PolID el defl exp
0.0000 [] 90.0000 [] 0.0030 []
0.0000 [mm] 90.0000 [mm] 0.0030 [mm]
p3095[0...n] PolID elasticity-based deflection permissible / PolID el defl exp
0.0000 [] 90.0000 [] 1.0000 []
Parameters
List of parameters
p3094, p3096, r3097
Refer to: F07995
Description: Sets the permissible deflection when executing the elasticity-based pole position identification.
p3094, p3096, r3097
Refer to: F07995
Description: Sets the maximum permissible current when executing the elasticity-based pole position identification.
The following setting makes sense: p3096 <= min (p0305, p0640, p0209)
p3094, p3095, r3097
Refer to: F07995
Description: Displays the status for the elasticity-based pole position identification.
0.0000 [mm] 90.0000 [mm] 1.0000 [mm]
p3096[0...n] PolID elasticity-based current / PolID el curr
0.000 [Arms] 20000.000 [Arms] 0.000 [Arms]
r3097.0...31 BO: PolID elasticity-based status / PolID el status
- - -
00 PolID el selected Yes No -
01 PolID el background registered Yes No -
02 PolID el initialization completed Yes No -
03 PolID el background started Yes No -
04 PolID el time slice registered Yes No -
05 PolID el time slice started Yes No -
06 PolID el phi used Yes No -
07 PolID el time slice ready Yes No -
08 PolID el background ready Yes No -
14 PolID el is repeated Yes No -
15 PolID el fault present Yes No -
16 Background state machine bit 0 Active Inactive -
List of parameters
Parameters
p3094, p3095, p3096
Refer to: F07995
Re bit 00 ... 15:
Displays the actual status of the elasticity-based pole position identification.
Re bits 16 ... 23:
Displays the status for the background state machine.
Re bits 24 ... 31:
Displays the status for the time slices state machine.
Description: Sets the mode for the time stamp
p3100 = 0: Time stamp, operating hours
p3100 = 1: Time stamp, UTC format
Note: RTC: Real-time clock
UTC: Universal Time Coordinates
The UTC time started, according to the definition on 01.01.1970 at 00:00:00 and is output in days and milliseconds.
Description: Setting the UTC time.
This means that the drive system is synchronized to the time specified by the time master. To start p3101[1] must
be written to followed by p3101[0]. After writing to p3101[0], the UTC time is accepted.
p3101[0]: Milliseconds
p3101[1]: Days
24 Time slice state machine bit 0 Active Inactive -
p3100 RTC time stamp mode / RTC t_stamp mode
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
p3101[0...1] RTC set UTC time / RTC set UTC
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4294967295 0
Parameters
List of parameters
Description: Displays the current UTC time in the drive system.
p3102[0]: Milliseconds
p3102[1]: Days
Description: Sets the synchronization source/technique.
Value: 0: PROFIBUS
1: PROFINET
2: PPI
3: PROFINET PTP
Description: Sets the signal source for the PING event to set the UTC time.
Description: Displays the last synchronization deviation that was determined.
r3108[0]: Milliseconds
r3108[1]: Days
r3102[0...1] RTC read UTC time / RTC read UTC
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p3103 RTC synchronization source / RTC sync_source
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 3 0
p3104 BI: RTC real time synchronization PING / RTC PING
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
r3108[0...1] RTC last synchronization deviation / RTC sync_dev
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Sets the tolerance window for time synchronization.
When this tolerance window is exceeded, an appropriate alarm is output.
Description: Sets the delay time for external fault 3.
Refer to: F07862
Description: Sets the signal source for the enable signal of external fault 3.
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
p3109 RTC real time synchronization, tolerance window / RTC sync tol
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 [ms] 1000 [ms] 100 [ms]
p3110 External fault 3, power-up delay / Ext fault 3 t_on
0 [ms] 1000 [ms] 0 [ms]
p3111[0...n] BI: External fault 3, enable / Ext fault 3 enab
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 1
Parameters
List of parameters
Description: Sets the signal source for the enable signal of external fault 3.
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Sets the signal source for the negated enable signal of external fault 3.
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Sets the signal source for the negated enable signal of external fault 3.
p3111 BI: External fault 3, enable / Ext fault 3 enab
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 1
p3112[0...n] BI: External fault 3 enable negated / Ext flt 3 enab neg
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 0
p3112 BI: External fault 3 enable negated / Ext flt 3 enab neg
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM54F_MA,
TM54F_SL
- - 0
List of parameters
Parameters
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Displays the status of NAMUR signal bit bar.
The faults or alarms are assigned to the appropriate signaling/message classes and influence a specific message
bit.
Description: Displays the global status word for messages.
The appropriate bit is set if at least one message is present at the drive objects.
Note: The status bits are displayed with delay.
r3113.0...15 CO/BO: NAMUR message bit bar / NAMUR bit bar
- - -
00 Fault drive converter data electronics / soft-
ware error
Yes No -
01 Line supply fault Yes No -
02 DC link overvoltage Yes No -
03 Fault drive converter power electronics Yes No -
04 Drive converter overtemperature Yes No -
05 Ground fault Yes No -
06 Motor overload Yes No -
07 Bus error Yes No -
08 External safety-relevant shutdown Yes No -
09 Mot encoder fault Yes No -
10 Error communication internal Yes No -
11 Fault infeed Yes No -
15 Other faults Yes No -
r3114.9...11 CO/BO: Messages status word global / Msg ZSW global
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
09 Alarm present Yes No 8065
10 Fault present Yes No 8060
Parameters
List of parameters
Description: Displays the drive object number of the initiating drive object for this fault as integer number.
Value = 63:
The fault was initiated by the drive object itself.
Description: Sets the signal source for the automatic acknowledgement on the device drive object.
Faults present are automatically acknowledged on the device drive object. Local device faults are forwarded to the
first active drive object.
Faults present are not automatically acknowledged on the device drive object. Local device faults are not for-
warded.
Note: When selecting a standard telegram, the BICO interconnection for control signal STW1.10 (master control by PLC)
is automatically established.
Description: Sets the re-parameterization of all safety messages for faults and alarms.
The relevant message type during changeover is selected by the firmware.
0: Safety messages are not re-parameterized
1: Safety messages are re-parameterized
r3115[0...63] Fault drive object initiating / F DO initiating
- - -
p3116 BI: Acknowledgement automatically suppressed / Ackn suppress
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
p3117 Change safety message type / Ch. SI mess type
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
List of parameters
Parameters
Description: Displays the component number of the fault which has occurred.
Note: Value = 0: Assignment to a component not possible.
The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
Description: Displays the component number of the alarm which has occurred.
The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
Description: Displays the diagnostic attribute of the fault which has occurred.
Description: Displays the diagnostic attribute of the alarm which has occurred.
r3120[0...63] Component number fault / Comp_num flt
- - -
r3121[0...63] Component number alarm / Comp_num alarm
- - -
r3122[0...63] Diagnostic attribute fault / Diag_attr fault
- - -
00 Hardware replacement recommended Yes No -
r3123[0...63] Diagnostic attribute alarm / Diag_attr alarm
- - -
Parameters
List of parameters
Description: Displays the fault value of the oldest active fault.
Description: Displays the component number of the oldest fault that is still active.
Description: Sets the suppression of r2139.3 "Fault present" for certain fault responses.
Note: Depending on the suppression of a fault reaction in this parameter, r2139.1 "Acknowledgement required" is set
when at least one fault occurs.
Re bit 08:
The suppression is only effective if p0491 = 1.
Description: Sets the threshold value for the "excitation current outside tolerance" message for the excitation current monitoring.
If the absolute value of the difference between the excitation current setpoint and actual value (r1641 - r1626)
exceeds the threshold value and the hysteresis is longer than the selected delay time, then fault F07913 is output.
This fault is withdrawn when the threshold voltage is undershot.
Dependency: Refer to: r1626, r1641, p3202, p3203
Refer to: F07913
r3131 CO: Current flt value / Current flt value
- - -
r3132 CO: Actual component number / Act comp_no.
- - -
p3135 Suppress active fault / Supp act flt
A_INF, B_INF,
S_INF, SERVO,
TM41, VECTOR
- - 0000 0000 0000 0000 bin
08 Suppression of fault response ENCODER ON OFF -
10 Suppression of fault response NONE ON OFF -
p3201[0...n] Excitation current outside the tolerance threshold value / I_exc n Tol thresh
0.1 [%] 100.0 [%] 10.0 [%]
List of parameters
Parameters
Note: The monitoring function is only carried out for separately-excited synchronized motors (p0300 = 5).
Description: Sets the hysteresis for the "excitation current outside tolerance" message for the excitation current monitoring.
Refer to: F07913
Description: Sets the delay time for the "excitation current outside tolerance" message for the excitation current monitoring.
Refer to: F07913
Description: Sets the threshold value for the "flux outside the tolerance" message for the flux monitoring.
If the absolute value of the difference between the flux setpoint and actual value (r0083 - r0084) falls below the
threshold value with hysteresis longer than the selected delay time, then fault F07914 is output.
This fault is withdrawn when the threshold voltage is undershot.
Refer to: F07914
The flux monitoring is only active after magnetizing (r0056.4 = 1).
Description: Sets the hysteresis for the "flux outside tolerance" message for the flux monitoring.
Refer to: F07914
p3202[0...n] Excitation current outside the tolerance hysteresis / I_exc n Tol hyst
0.1 [%] 100.0 [%] 10.0 [%]
p3203[0...n] Excitation current outside the tolerance delay time / I_exc n Tol t_del
0.0 [s] 10.0 [s] 1.0 [s]
p3204[0...n] Flux outside the tolerance threshold value / Flux n tol thresh
0.1 [%] 100.0 [%] 10.0 [%]
p3205[0...n] Flux outside the tolerance hysteresis / Flux n tol hyst
0.1 [%] 50.0 [%] 10.0 [%]
Parameters
List of parameters
Description: Sets the delay time for the "flux outside tolerance" message for the flux monitoring.
Refer to: F07914
Description: Sets the threshold value for the zero current signal for the zero current monitoring.
If the absolute current falls below the threshold value then r2199.6 is set to 1 after the delay time has expired. The
bit is reset if the threshold value and the hysteresis are exceeded again.
The monitoring is only carried out for speeds less than the speed threshold value in p2161 (r2199.0 = 1).
Description: Sets the hysteresis for the zero current signal for the zero current monitoring.
The monitoring is only carried out for speeds less than the speed threshold value in p2161 (r2199.0 = 1).
Description: Sets the delay time for the zero current signal for the zero current monitoring.
p3206[0...n] Flux outside tolerance delay time / Flux n tol t_del
0.0 [s] 10.0 [s] 5.0 [s]
p3207[0...n] Zero current signal threshold value / I_0_sig thresh
CALC_MOD_LIM_REF
Access level: 3
0.01 [Arms] 10000.00 [Arms] 1.00 [Arms]
p3208[0...n] Zero current signal hysteresis / I_0_sig hyst
CALC_MOD_LIM_REF
Access level: 3
0.01 [Arms] 10000.00 [Arms] 1.00 [Arms]
p3209[0...n] Zero current signal delay time / I_0_sig t_del
0.00 [s] 10.00 [s] 0.02 [s]
List of parameters
Parameters
The monitoring is only carried out for speeds less than the speed threshold in p2161 (r2199.0 = 1).
Description: Sets the time constant of the PT1 element to smooth the torque actual value.
The smoothed actual torque is compared with the threshold values and is only used for messages and signals.
Description: Sets the monitoring time for phase failure detection of the motor.
Note: Monitoring is only effective for blocksize and booksize power units.
For p3235 = 0 the function is deactivated.
The monitoring is automatically de-activated during the flying restart operation for a motor that is still rotating.
Description: Sets the speed threshold value for the signal "speed deviation model/external" (BO: r2199.7).
Description: Sets the hysteresis speed for the signal "speed deviation model/external" (BO: r2199.7).
p3233[0...n] Torque actual value filter, time constant / M_act_filt T
SERVO (Ext msg),
VECTOR (Ext msg)
0 [ms] 1000000 [ms] 0 [ms]
p3235 Phase failure signal motor monitoring time / Ph_fail t_monit
0 [ms] 2000 [ms] 320 [ms]
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 3000.00 [rpm] 100.00 [rpm]
CALC_MOD_LIM_REF
Access level: 3
0.00 [rpm] 200.00 [rpm] 2.00 [rpm]
Parameters
List of parameters
Description: Sets the OFF delay for the signal "speed deviation model/external in tolerance" (BO: r2199.7). The smoothed actual
speed of the motor model r2169 is compared with the speed measured externally r1443 (threshold value p3236).
Description: Settings for start/stop and the comparison type for the variable signaling function.
Description: Sets the signal source for the variable signaling function.
Note: Re p3291 = 1:
In this case, the signal source is defined using p3292 and p3293.
Description: Sets the address of the signal source for the variable signaling function.
Caution: If an incorrect address and data type are set, then this can cause the software to crash.
Note: This parameter should only be set for p3291 = 1.
p3238[0...n] OFF delay n_act_motor model = n_act external / t_del n_a = n_ext
0.0 [s] 100.0 [s] 3.0 [s]
p3290 Variable signaling function start / Var sig start
- - 0010 bin
00 Activate function Active Not active -
01 Comparison with sign With sign Without sign -
p3291 CI: Variable signaling function signal source / Var sig S_src
- - 0
p3292 Variable signaling function signal source address / Var sig S_src addr
List of parameters
Parameters
Description: Sets the data type of the signal source for the variable signaling function.
Value: 0: Unknown
1: U8, Unsigned8
2: I8, Signed8
3: U16, Unsigned16
4: I16, Signed16
5: U32, Unsigned32
6: I32, Signed32
7: Float, FloatingPoint32
Caution: If an incorrect address and data type are set, then this can cause the software to crash.
Note: This parameter should only be set for p3291 = 1.
Description: Displays the output signal for the variable signaling function.
Description: Sets the threshold value for the variable signaling function.
Description: Sets the hysteresis for the variable signaling function.
p3293 Variable signaling function signal source data type / Var sig S_src type
0 7 0
r3294 BO: Variable signaling function output signal / Var sig outp_sig
- - -
p3295 Variable signaling function threshold value / Var sig thresh_val
-340.28235E36 340.28235E36 0.000
p3296 Variable signaling function hysteresis / Var sig hyst
0.000 340.28235E36 0.000
Parameters
List of parameters
Description: Sets the pickup delay for the variable signaling function.
Notice: Values that do not comply with the following condition are treated just like value 0:
Pickup delay (p3297) >= sampling time (p3299)
Note: For a value of 0, the pickup delay is disabled.
The output signal is set if the condition for the 1 signal is fulfilled for longer than the selected time.
Description: Sets the dropout delay for the variable signaling function.
Notice: Values that do not comply with the following condition are treated just like value 0:
Dropout delay (p3298) >= sampling time (p3299)
Note: For a value of 0, the dropout delay is disabled.
The output signal is reset if the condition for the 0 signal is fulfilled for longer than the selected time.
Description: Sets the sampling time for the variable signaling function.
Notice: The following must apply for the setting:
Sampling time (p3299) <= pickup delay (p3297), dropout delay (p3298)
Note: Only the following values can be set:
1.000, 2.000, 3.000, 4.000
Description: The power (P) for point 1 on the Y coordinate of the flow characteristic is saved in p3320. Unit: %
Note: The reference value for power and speed is the rated power/rated speed.
The energy saved is displayed in r0041.
p3297 Variable signaling function pickup delay / Var sig t_pickup
0 [ms] 10000 [ms] 0 [ms]
p3298 Variable signaling function dropout delay / Var sig t_dropout
0 [ms] 10000 [ms] 0 [ms]
p3299 Variable signaling function, sampling time / Var sig t_sample
1.000 [ms] 4.000 [ms] 4.000 [ms]
p3320[0...n] Fluid flow machine P = f(n), Y coordinate: P flow1 %, point 1 / Fluid flow mach Y1
0.00 100.00 25.00
List of parameters
Parameters
Description: The speed (n) for point 1 on the X coordinate of the flow characteristic is saved in p3321. Unit: %
p3321[0...n] Fluid flow machine P = f(n), X coordinate: n flow1 %, point 1 / Fluid flow mach X1
0.00 100.00 0.00
0.00 100.00 50.00
0.00 100.00 25.00
0.00 100.00 77.00
Parameters
List of parameters
0.00 100.00 50.00
0.00 100.00 92.00
0.00 100.00 75.00
0.00 100.00 100.00
List of parameters
Parameters
Description: Sets the configuration word of the infeed.
Note: Re bit 00:
In the Smart Mode, the DC link voltage is not controlled - however, infeed can still regenerate. The magnitude of the
DC link voltage depends on the current line supply voltage and the DC link load.
For drive units belonging to the 400 V voltage class, for a drive unit supply voltage (p0210) greater than 415 V, the
infeed is always operated in the Smart Mode. This means that the 660 V limit can be maintained for the steady-
state DC link voltage (p0280) up to a line supply voltage of 480 V.
Re bit 01:
If the Flat Top Mode is de-activated, switching losses are higher. This means that the full power is no longer contin-
uously available.
For p3400.0 = 1 or p1810.15 =1, this bit is not effective.
Re bit 03:
If the Vdc controller is switched out, overvoltage or undervoltage conditions occur in the DC link if no other voltage-
regulating component is located in the DC link.
For p3400.0 = 1, this bit is not effective.
Re bit 05:
If a VSM is detected when commissioning the system, this bit is automatically set.
When the bit is set, the line supply voltage input of the VSM must be connected (connected at the line side of the
line reactor).
The bit must be set in the case of chassis power units.
VSM: Voltage Sensing Module
0.00 100.00 100.00
p3400 Infeed configuration word / INF config_word
- - 0000 1010 bin
00 Smart Mode ON OFF -
01 Flat-Top Mode ON OFF -
03 Vdc controller ON OFF -
05 Line supply voltage sensing with VSM ON OFF -
Parameters
List of parameters
Description: Displays the internal status of the infeed module.
Value: 0: Initialization
1: Fault
2: No ON command
3: Offset measurement running
4: ON delay active
5: Precharg. running
6: Pulse enable missing
7: Synchronization running
8: Voltage ramp-up active
9: Operation
10: Shutdown running
11: Identification running
12: Transformer magnetization running
Description: Displays the internal status of the infeed module.
1: Fault
2: No ON command
3: Offset measurement running
4: ON delay active
5: Precharg. running
6: Operation
Description: Displays the status word of the infeed.
r3402 Infeed internal state / INF state int
0 12 -
r3402 Infeed status internal BIC / INF state int
0 6 -
r3405.0...7 CO/BO: Infeed status word / Inf ZSW
A_INF, S_INF,
SERVO (Tech_ctrl)
- - -
00 Smart Mode active Yes No -
01 Vdc-ctrl active Yes No -
02 Phase failure detected Yes No -
03 Current limit reached Yes No -
04 Infeed operates in generator/motor mode Regenerative mode Motor mode -
05 Motor mode inhibited Yes No -
06 Generator mode inhibited Yes No -
07 DC link undervoltage alarm threshold
undershot
Yes No -
List of parameters
Parameters
Note: Re bit 00:
Smart Mode is activated with p3400.0.
Re bit 01:
The DC link voltage closed-loop control is activated with parameters p3400.3 and p3513.
Re bit 02:
When phase failure is detected the bit is set and alarm A06205 is output.
The bit is reset for the following events:
- the infeed had reached the normal operating state again after a phase failure has been bypassed/buffered (p3402
= 9).
- the pulse enable is withdrawn due to a fault or powering down with OFF1/OFF2.
Re bit 03:
The present current limit is displayed in r0067.
Re bit 04:
An active current setting r0078 >= 0 means infeed operation in motor mode; an active current setting r0078 < 0
means regenerative operation in generator mode.
Re bit 05:
The motor mode inhibit is activated with p3532.
Re bit 06:
The generator mode inhibit is activated with p3533.
Re bit 07:
The alarm threshold is dependent on r0296 and the setting in p0279.
Description: Displays the status word of the infeed.
Description: Displays the status word for DC-link voltage control.
Note: Re bit 01:
DC-link voltage control is disabled and enabled with p3513.
r3405.7 CO/BO: Infeed status word / Inf ZSW
- - -
07 DC link undervoltage alarm threshold
undershot
Yes No -
r3405.1 CO/BO: Status word DC-link control / UDC ZSW
- - -
01 Vdc-ctrl active Yes No -
Parameters
List of parameters
Description: Sets the mode to detect the line supply frequency.
Value: 0: Line supply frequency setting 50/60 Hz off
1: Line supply frequency setting 50/60 Hz on
Refer to: A06350, A06351, F06500
After operation has been enabled, the rated line supply frequency (p0211) is automatically set to a value of 50 Hz or
60 Hz corresponding to the currently measured frequency. This means that the parameter value of p0211 is, under
certain circumstances, changed.
The system does not change parameter p0211.
Description: Sets the line and DC link parameter identification routine for the infeed module.
Value: 0: Identification (Id) off
1: Activate identification (Id)
2: Set controller settings
3: Save identification and controller settings
4: Save identification and controller settings with L adaptation
5: Reset, save Id and controller setting with L adaptation
Dependency: Refer to: r3411, r3412, r3414, p3415, p3416, p3417, p3421, p3422, p3424, p3555, p3560, p3614
Refer to: A06400
Notice: For p3410 = 1, 3, 4, 5, alarm A06400 is output and designates that the selected identification will take place the next
time that the pulses are enabled.
Note: When p3410 = 1 an identification run for the total inductance and DC link capacitance is initiated when the pulses
are next enabled. The results are displayed in r3411 and r3412. If a Voltage Sensing Module (VSM) is connected,
then the line inductance (r3414) is also measured. The infeed then goes into the ready for switching on state.
For p3410 = 2, the data (r3411, r3412 and r3414) determined during the identification run (p3410 = 1) are trans-
ferred into p3421, p3422 and p3424. The control loop parameters are suitably scaled to achieve a rugged controller
setting (p3425); the fast controller response (p3555[2]) and the current actual value smoothing (p3614) are pre-set.
Calculations for the controller are then repeated. The user must save the new parameters in a non-volatile fashion
in order to permanently select the new controller setting.
When p3410 = 3 an identification run for the inductance and DC link capacitance is initiated when the pulses are
next enabled. Data determined during the identification (r3411, r3412, r3414) are used, as described under p3410 =
2 for the setting of p3421, p3422, p3424, p3425, p3555 as well as p3614, and the controller is re-calculated. All of
the parameters for the infeed module are then automatically stored in a non-volatile memory. The infeed continues
to operate without any interruption with the new controller parameters.
p3409 Infeed line frequency setting / INF f_line_mode
0 1 1
p3410 Infeed identification method / INF Ident_type
0 5 5
List of parameters
Parameters
When p3410 = 4 an identification run for the inductance and DC link capacitance is initiated when the pulses are
next enabled. Data determined during the identification (r3411, r3412, r3414) are used, as described under p3410 =
2 for the setting of p3421, p3422, p3424, p3425, p3555 as well as p3614, and the controller is re-calculated. The
line inductance identification is then repeated, if p3415[1] > p3514[0]. If the inductance measured the second time is
lower than the first, the parameters are written to the current controller adaptation (p3620, p3622).. All of the param-
eters for the infeed module are then automatically stored in a non-volatile memory. The infeed continues to operate
without any interruption with the new controller parameters.
For p3410 = 5, the same measurements and write operations are always carried out as for p3410 = 4. However, for
the first identification run, initially the controller setting is reset by setting p3421 = p0223 + p0225, p3424 = p0225,
p3422 = p0227 and p3425[.] = 100 %. Further, before the measurements are carried out, a brief identification run is
executed to coarsely set the controller.
p3410 is automatically set to 0 after an identification run has been completed.
Description: Displays the identified total inductance. The value corresponds to the total inductance between the rigid line supply
and the infeed input terminals.
Index: [0] = Run 1
[1] = Run 2
Note: The value measured in the first identification run is displayed in r3411[0] (for p3410 = 1, 3, 4, 5). This value is trans-
ferred to p3421.
The value measured in the second identification run (for p3410 = 4, 5) is displayed in r3411[1] - this value is used to
set the current controller adaptation (p3622).
For the inductance value of the line reactor, r3411 - r3414 applies.
Description: Displays the identified total DC link capacitance.
Index: [0] = Run 1
[1] = Run 2
Note: The value measured in the first identification run (for p3410 = 1, 3, 4, 5) is displayed in r3412[0]. For p3410 = 1, 3,
this value is transferred to p3422.
The DC link capacitance is not measured at the second identification run.
The total DC link capacitance of a DC link group comprises the sum of the sub-capacitances of all motor/infeed
modules and the additional DC link capacitors.
r3411[0...1] Infeed identified inductance / INF L ident
- [mH] - [mH] - [mH]
r3412[0...1] Infeed DC link capacitance identified / INF C_DClink ident
- [mF] - [mF] - [mF]
Parameters
List of parameters
Description: Displays the identified line supply inductance.
The value corresponds to the total inductance between the stiff line supply and the connection point of the Voltage
Sensing Module (VSM).
Index: [0] = Run 1
[1] = Run 2
Notice: The value is only automatically determined for the line supply identification (p3410 > 0), if operation with a Voltage
Sensing Module is selected (p3400.5 = 1). Otherwise, r3414 = 0 is displayed.
Note: The value measured in the first identification run is displayed in r3414[0] (for p3410 = 1, 3, 4, 5). This value is trans-
ferred to p3421.
The value measured in the second identification run is displayed in r3414[1] (for p3410 = 4, 5).
For the inductance value of the line reactor, r3411 - r3414 applies.
Description: Sets the magnitude of the excitation frequency for the L identification.
The setting is made as a percentage of the maximum power unit current (r0209).
Index: [0] = Run 1
[1] = Run 2
Dependency: Refer to: p3410, r3411, p3421, p3620, p3622
Notice: To correctly identify the current level (p3410 = 4, 5) depending on the reactor inductance, the following must apply:
p3415[0] < p3415[1]
For A_INF booksize units, the following applies:
The interrelationship between the reactor inductance and the current magnitude should be measured. Generally,
the factory setting of p3415[0] and p3415[1] should be kept.
For chassis units and S_INF booksize units, the following applies:
Generally, there is only a very low inter-relationship between the reactor inductance and the current magnitude.
This means that for the factory setting p3415[0] = p3415[1] = 20 %, i.e. run 2 is not executed.
Note: The reactive current for identification run 1 is set in p3415[0] (basic controller setting).
The reactive current for identification run 2 is set in p3415[1] (adaptation of the current controller when reducing the
reactor inductance with increasing current magnitude).
Description: Sets the level of the excitation frequency for identification of the total DC link capacitance. The amplitude is indi-
cated as a percentage of the DC voltage setpoint (Vdc = p0210 * p3510).
r3414[0...1] Infeed, line supply inductance identified / INF t_line ident
- [mH] - [mH] - [mH]
p3415[0...1] Infeed excitation current L identification / INF I_exc L_Ident
1.00 [%] 75.00 [%] 20.00 [%]
p3416 Infeed excitation amplitude C identification / INF exc_amp C_Id
0.10 [%] 20.00 [%] 2.00 [%]
List of parameters
Parameters
Description: Sets the level of the excitation frequency for identification of the total DC link capacitance.
Description: Sets the total effective inductance for the closed-loop current control from the sum of the line supply inductance and
inductance of the line reactor.
This parameter is pre-set to the sum of p0223 and p0225.
Note: The controller setting is derived from this value and p3425.
The value can be automatically determined using the identification run (p3410).
For the inductance value of the line reactor, p3421 - p3424 applies.
Description: Sets the DC link capacitance for the closed-loop voltage control.
This value is pre-set with p0227.
A suitable value can be automatically determined using the identification run (p3410).
Description: Sets the total DC link capacitance for closed-loop voltage control.
The capacitance of one power unit is pre-assigned to this value. The value should be adapted according to the
number of power units.
Note: The controller setting for the DC-link voltage controller is derived from this value.
p3417 Infeed excitation frequency C identification / INF f_exc C_ID
10.00 [Hz] 200.00 [Hz] 50.00 [Hz]
p3421 Infeed inductance / INF L
0.001 [mH] 2000.000 [mH] 1.000 [mH]
p3422 Infeed DC link capacitance / INF C_DCL
A_INF, S_INF,
SERVO (Tech_ctrl)
0.20 [mF] 2000.00 [mF] 2.00 [mF]
p3422 DC-link capacitance, total / C_DC tot
0.20 [mF] 2000.00 [mF] 2.00 [mF]
Parameters
List of parameters
Description: Sets the line supply inductance.
This parameter is pre-set with p0225.
The value can be automatically determined using the identification (p3410) if operation with a Voltage Sensing
Module is selected. Otherwise, p3424 is set to p3421 - p0223.
Description: Sets the scaling factors for controller parameters p3421, p3422 and p3424.
Index: [0] = Scaling, inductance
[1] = Scaling, capacitance
Note: p3425 is automatically set to the optimum value when setting the control parameters using the line supply data
identification p3410 >= 2. As the line supply inductance (p3424) increases in comparison to the total inductance
(p3421), lower values must be selected for p3425. This means that the control is adapted to weak line supplies with
high relative short-circuit voltage uk or high line supply inductance (also refer to p3614).
The scaled control loop parameters become effective for closed-loop control, i.e. the products p3421 * p3425[0] and
p3422 * p3425[1] represent the controller setting.
Description: Sets the configuration of the Smart Mode.
Note: Re bit 00:
When the pulsed mode for Smart Mode is de-activated, when regenerating, higher phase current gradients occur.
Re bit 01:
When feedback control is activated, the transistors are only activated for feedback. This reduces switching losses
and the DC-link voltage reaches higher values (higher output voltage for the motors).
In the case of firmware version 4.3.x, a 1 signal is only permissible for S120 Combi.
p3424 Infeed, line supply inductance / INF L_line
0.001 [mH] 1000.000 [mH] 0.001 [mH]
p3425[0...1] Infeed control loop parameter scaling / INF par scal
1.00 [%] 1000.00 [%] 100.00 [%]
p3440 Smart Mode configuration / Smart Mode config
- - 0001 bin
00 Soft Pulse Mode ON OFF -
01 Feedback control ON OFF -
02 De-select automatic line identification after
POWER ON
Yes No -
List of parameters
Parameters
Re bit 02:
When automatic line identification is selected, the inductance and DC-link capacitance values are calculated on the
first pulse enable after each POWER ON and saved in p3448[0...1]. In the case of manual input of p3448[0...1],
automatic line identification must be de-selected.
In the case of firmware version 4.3.x, a 1 signal is only permissible for S120 Combi.
Description: Sets the standardized proportional gain (index 0) and the integral time (index 1) for the DC-link voltage controller
(Vdc controller) in Smart Mode.
Index: [0] = Proportional gain
[1] = Integral time
Note: A value of 100% corresponds to the basic setting derived from loop control parameters (p0115, p3409, p3448[1]).
Description: Sets the time constant for PT1 filtering of the DC-link voltage for the Vdc controller (index 0) and the monitored DC-
link load current (index 1) in Smart Mode.
Index: [0] = DC-link voltage actual value (r3445)
[1] = Monitored DC-link load current (r3446[2])
Description: Sets the current threshold values for the de-activation (index 0) and activation (index 1) of line commutation in
Smart Mode.
Index: [0] = De-activating
[1] = Activating
Note: A value of 100% corresponds to the minimum feedback load current derived from the loop control parameters
(p0210, p0211, p3409, p3448[0], p3432) without infeed components.
To avoid frequent changeovers in operation close to the changeover point, the value for activation (index 1) must be
significantly higher than the value for de-activation (index 0).
p3441[0...1] Smart Mode Vdc ctrl Kp/Tn / SLM Vdc_ctrl Kp/Tn
0.00 [%] 1000.00 [%] 100.00 [%]
p3442[0...1] Smart Mode smoothing times / SLM t_smooth
0.00 [ms] 20.00 [ms] [0] 0.25 [ms]
[1] 1.00 [ms]
p3443[0...1] Smart Mode line commutation current threshold values / SLM line com I_thr
0.00 [%] 1000.00 [%] [0] 100.00 [%]
[1] 200.00 [%]
Parameters
List of parameters
Description: Sets the minimum line voltage for regenerative feedback or the DC-link voltage setpoint in Smart Mode.
Index: [0] = Minimum line voltage for feedback
[1] = DC-link voltage setpoint
Note: Re index 0:
A value of 100% corresponds to the supply voltage set in p0210.
If the minimum line voltage is undershot, feedback is de-activated to prevent the DC-link voltage decaying in the
event of a significant system voltage dip.
Re index 1:
A value of 100% corresponds to the rectified value of the current line voltage.
The value must be greater than or equal to 100%.
Description: Displays the various voltages in Smart Mode.
Index: [0] = DC link voltage smoothed
[1] = DC-link voltage setpoint
Note: Re index 0:
Displays the DC-link voltage actual value measured and smoothed with p3442[0].
The smoothed value is used for the DC-link voltage controller (Vdc controller) in Smart Mode.
The DC-link voltage is also available unsmoothed (r0070).
Re index 1:
Displays the DC-link voltage setpoint for the DC-link voltage controller (Vdc controller) in Smart Mode.
Description: Displays the various current values in Smart Mode.
Index: [0] = DC-link current setpoint
[1] = Vdc controller I component
[2] = Monitored DC-link load current
Note: Re index 0:
Displays the DC-link current setpoint requested by the DC-link voltage controller (Vdc controller) in Smart Mode.
Re index 1:
Displays the I component of the DC-link voltage controller (Vdc controller).
p3444[0...1] Smart Mode voltages / SLM voltages
0.00 [%] 105.00 [%] [0] 90.00 [%]
[1] 100.50 [%]
r3445[0...1] Smart Mode voltages display / SLM voltages disp
- [V] - [V] - [V]
r3446[0...2] Smart Mode currents / SLM currents
- [A] - [A] - [A]
List of parameters
Parameters
Re index 2:
Displays the monitored DC-link load current.
Description: Displays the OFF angle requested by the DC-link voltage controller (Vdc controller) in Smart Mode.
Note: A value = 30 de-activates feedback.
A value = 0 requests maximum feedback (line commutation).
Description: Sets the effective inductance or DC-link capacitance in Smart Mode.
Index: [0] = Effective inductance referred to p0223
[1] = Effective DC-link capacitance referred to p0227
Notice: p3448[0] is used in the calculation of the reference value of p3443 and in the controller models.
p3448[1] is used in the calculation of the reference value of p3441 and in the controller models.
When automatic line identification is selected (p3440.2 = 0), the following applies:
- the inductance and DC-link capacitance values are calculated on the first pulse enable after each POWER ON
and saved in p3448[0...1].
- values entered manually are overwritten after the next POWER ON.
When automatic line identification is de-selected (p3440.2 = 1), the following applies:
- the inductance and DC-link capacitance values must be entered manually.
Note: Re index 0:
A value of 100% corresponds to the inductance parameterized in p0223.
Re index 1:
A value of 100% corresponds to the capacitance parameterized in p0227.
The value includes the capacitances of all modules connected on the DC link.
Description: Displays the status of the line supply PLL.
Value: 0: Initialization running
1: Error when synchronizing
2: Line analysis
3: Calculation line data
5: PLL calculation
r3447 Smart Mode OFF angle / SLM phi_OFF
- [] - [] - []
p3448[0...1] Smart Mode effective inductance/DC-link capacitance / SLM L/C effect
10.00 [%] 10000.00 [%] [0] 110.00 [%]
[1] 100.00 [%]
r3452 Infeed PLL status / INF PLL status
0000 bin 0111 bin -
Parameters
List of parameters
6: Final status controlled / Smart Mode
7: Reserved
Description: Sets the smoothing time for the line supply PLL.
Index: [0] = Encoderless operation line supply frequency smoothing time
[1] = VSM operation line supply frequency smoothing time
Note: It may be necessary to reduce the smoothing time for weak line supplies with high frequency fluctuations. There is
otherwise a risk of brief orientation errors and the infeed could fail.
Description: Displays the PLL system deviation.
Description: Displays the PLL system deviation after filtering.
Description: If the line supply angle (angle between the line supply phases) suddenly changes by this value, then a phase failure
is assumed. The pulses are then inhibited for 10 ms.
p3458[0...1] Infeed PLL smoothing time / INF PLL t_smooth
1.0 [ms] 1000.0 [ms] [0] 23.1 [ms]
[1] 9.1 [ms]
r3460 Infeed PLL system deviation / INF PLL ctrl_dev
- [] - [] - []
r3461 Infeed PLL system deviation after filtering / INF PLL ctrl_devSm
- [] - [] - []
p3463 Infeed, line angle change, phase failure detection / INF phi ph_fail
-180.0 [] 180.0 [] 15.0 []
List of parameters
Parameters
Description: Displays the line current in the alpha/beta components.
Index: [0] = Alpha
[1] = Beta
[2] = Alpha
[3] = Beta
Note: Re Index 0, 1:
Displays the line current at the input terminals of the line filter.
Re Index 2, 3:
Displays the line current at the input terminals of the power unit.
Description: Displays the line supply voltage at the input terminals of the line filter in alpha/beta components.
Index: [0] = Alpha
[1] = Beta
Note: The input terminals of the line filter form, for infeeds, the connection point of the Voltage Sensing Module (VSM) to
measure the line supply voltage.
For operation with VSM (p3400.5 = 1), the following applies:
The voltage measured values r3661 and r3662, transformed into the alpha/beta system are displayed in r3468.
For encoderless operation without VSM (p3400.5 = 0), the following applies:
The estimated values of the voltages from the line supply model of the PLL transformed into the alpha/beta system
are displayed in r3468.
Description: Calibration value for the RC filter of the zero crossover detection of the line supply voltage in the power unit.
When p3469 = 0, a new calibration is performed the next time identification is carried out with p3410 = 4 or 5.
Note: The calibration value is stored in the EEPROM of the power unit because it is a characteristic of the power unit.
r3467[0...3] CO: Infeed current alpha/beta / INF I a/b
- [A] - [A] - [A]
r3468[0...1] CO: Infeed voltage alpha/beta line filter / INF U a/b filter
- [V] - [V] - [V]
p3469[0...n] Latch delay time correction, zero crossover detection / t_latch corr PLL
Data type: FloatingPoint32 Dynamic index: PDS, p0120 Func. diagram: -
-10000.0 [s] 10000.0 [s] 0.0 [s]
Parameters
List of parameters
Description: Displays the active current requirement due to the line filter.
Note: With respect to the line supply, the sum of the active currents of the power unit (p0078) and line filter (p3470) are
effective.
The active current demand of the line filter is taken into account when calculating the power factor (r0038).
The magnitude of the line filter active current depends on the capacitance (p0221) and the resistance (p0222) of the
line filter.
Description: Displays the reactive current requirement as a result of the line filter.
The reactive current requirement of a line filter is covered by the controlled infeed/regenerative feedback so that the
converter always operates with a power factor of 1 compared to the line.
Note: With respect to the line supply, the sum of the reactive currents of the power unit (p0076) and line filter (p3471) are
effective.
The reactive current requirement of the line filter is taken into account when calculating the power factor (r0038).
The amount of the reactive current depends on the capacitance (p0221) of the line filter that is automatically param-
eterized when a line filter is selected (p0220).
If the line phases are reversed and the line voltage therefore has a negative orientation (r0066 < 0), it should be
noted that the sign of the reactive current is reversed.
Description: Sets the smoothing time of the line supply voltage for the line supply PLL.
Index: [0] = Encoderless operation line supply voltage smoothing time
[1] = VSM operation line supply voltage smoothing time
[2] = Detection line supply undervoltage smoothing time
[3] = Detection line supply overvoltage smoothing time
[4] = Detection line supply voltage step smoothing time
r3470 Infeed active current filter / INF I_act filter
r3471 Infeed reactive current filter / INF I_reactiveFilt
p3472[0...4] Line supply PLL line supply voltage smoothing time / Line PLL U_l t_sm
1.0 [ms] 30000.0 [ms] [0] 200.0 [ms]
[1] 100.0 [ms]
[2] 5000.0 [ms]
[3] 8.0 [ms]
[4] 8.0 [ms]
List of parameters
Parameters
Note: For the pre-control of the line supply voltage, a smoothed value of the line supply voltage is used in the closed-loop
control.
p3472[0]: Sets the PT1 time constant to smooth the line supply voltage for operation without VSM (p3400.5 = 0).
p3472[1]: Sets the PT1 time constant to smooth the line supply voltage for operation with VSM (p3400.5 = 1).
p3472[2]: Sets the smoothing time constant to slowly detect a line supply undervoltage (F06100).
p3472[3]: Sets the smoothing time constant to quickly detect line supply undervoltages for phase failure (A06205).
p3472[4]: Sets the smoothing time constant to quickly adapt the line supply pre-control for line supply voltage steps
(p0286).
Description: Sets the maximum steady-state modulation depth.
When this limit is reached, the DC link voltage is boosted to maintain the control margin. This means that the control
reserve is maintained.
Description: Sets the dynamic response of the reserve controller for the modulation depth. As the smoothing time increases, the
response of the DC link voltage tracking becomes slower.
Description: Displays the reserve controller output for the modulation depth.
The DC link voltage is increased by this voltage value - the summed setpoint for the DC link voltage is output in
r0088.
The summed setpoint is limited to the maximum steady-stage DC link voltage (p0280).
p3480 Infeed modulation depth limit / INF mod_depth lim
50.0 [%] 110.0 [%] 97.0 [%]
p3481 Infeed standby controller dynamic response / INF res_ctrl dyn
0.0 [ms] 1000.0 [ms] 7.5 [ms]
r3485 Infeed standby controller output / INF res_ctrl outp
- [V] - [V] - [V]
Parameters
List of parameters
Description: Sets the delay time for the ON/OFF1 command of the infeed.
After ON/OFF1 = 0 the infeed remains in operation for the specified time
Notice: The ON/OFF1 command of the infeed can be interrupted.
Note: This parameter is only relevant if a Motor Module and the infeed are controlled by the same OFF command. In this
case, the delay time and the stop ramp time of the motor can be coordinated with one another.
Description: Sets the monitoring time for the current-offset measurement of the power unit.
The time is started with the normal end of the measurement. If the measurement is invalid and if no valid measure-
ment can be taken within the monitoring period (phase currents too high), an appropriate message is generated.
Note: Set this parameter to 0 to allow variations in the delay when running-up.
Description: Sets the delay time for shutdown due to a line supply undervoltage condition (A06100).
After the fault occurs, the power unit is only tripped (shut down) after this delay has expired. If the fault is removed
during this design time, then the power unit is not tripped (shut down).
Refer to: F06100
Note: The degree of ruggedness of the infeed with respect to fluctuations in the line supply voltage can be increased by
parameterizing this delay value.
However, the following should be noted:
- the infeed power decreases proportionally (linearly) with the line supply voltage.
- when other components are connected, for low line supply voltage, operating faults or damage can occur. In this
case, the specifications of the connected electrical components should always be carefully observed.
p3490 Infeed delay time OFF1 command / INF t_del OFF1
A_INF, B_INF,
S_INF
8932
0.0 [ms] 1000000.0 [ms] 0.0 [ms]
p3491 Infeed I-offset measurement monitoring time / INF I_offs t_monit
0 [ms] 65000 [ms] 2000 [ms]
p3492 Infeed, line supply undervoltage delay time / INF U_line t_del
0 [s] 300 [s] 0 [s]
List of parameters
Parameters
Description: Sets the maximum permissible step-up factor for the power unit used in conjunction with the line filter parameter-
ized in p0220[0].
Note: The maximum step-up factor determines the maximum ratio between the DC link voltage setpoint (p3510) and the
unit supply voltage (p0210).
The input of the DC link voltage setpoint (p3510) is limited corresponding to the permissible step-up factor (p3508):
p3510 <= p0210 * p3508.
Pre-setting values:
380 ... 480 V booksize units without Active Interface Module: 1.60
380 ... 480 V booksize units with Active Interface Module (p0220 = 41 ... 45): 2.00
380 ... 480 V chassis units: 2.00
500 ... 690 V chassis units: 2.00
Maximum values:
380 ... 480 V booksize units without Active Interface Module: 1.60
380 ... 480 V booksize units with Active Interface Module (p0220 = 41 ... 45): 2.00
380 ... 480 V chassis units: 2.00
500 ... 690 V chassis units: 2.00
When the filter setting (p0220) is changed, then the setting of the maximum step-up factor (p3508) is also automat-
ically adapted.
Description: Sets the setpoint for the DC link voltage.
Warning: Before increasing the voltage limit for pulsed operation of a controlled booksize infeed with line supply voltages
p0210 > 415 V it should be checked whether the motors connected to the DC link are specified for the higher motor
voltages.
The warning information associated with p0210 must be carefully observed.
Note: When the Smart Mode is activated (p3400.0 = 1) the DC link voltage is not regulated, i.e. the value entered here is
in this case not effective.
The permissible range of the DC link voltage depends on the parameterized unit supply voltage (p0210) and the
permissible, maximum continuous DC link voltage (p0280).
In voltage-controlled operation (p3400.0 = 0) the following applies:
p3510 >= 1.42 * p0210 and
p3510 <= p3508 * p0210 and
p3510 <= p0280.
In the Smart Mode (p3400.0 = 1) the following applies:
The setpoint p3510 for the DC link voltage control is inactive. In order to permit an adapted display, deviating from
voltage-controlled operation, the lower limit p3510 is >= 1.2 * p0210.
p3508 Infeed step-up factor maximum / Step-up factor max
A_INF Can be changed: T Calculated: - Access level: 2
1.60 3.00 1.60
p3510 Infeed DC link voltage setpoint / INF Vdc setp
A_INF, SERVO
(Tech_ctrl)
100.00 [V] 1600.00 [V] 600.00 [V]
Parameters
List of parameters
Description: Sets the setpoint for the DC-link voltage on the motor side.
Description: Sets the signal source for the supplementary setpoint for the DC link voltage.
Description: Sets the signal source for the supplementary setpoint for the DC-link voltage on the motor side.
Description: Sets the signal source for inhibiting the voltage-controlled mode of the infeed.
Notice: The DC link voltage must be controlled by a different component at the DC link; otherwise this results in an overvolt-
age or undervoltage condition.
Note: The current controller remains active and can be controlled by means of its setpoint inputs (p3515, p3610).
This binector input is used to change over between master (0 signal) and slave (1 signal) operation and vice versa.
Description: Sets the signal source for disabling DC-link voltage control on the motor side.
p3510 DC link voltage setpoint / Vdc setp
100.00 [V] 1600.00 [V] 600.00 [V]
p3511 CI: Infeed DC link voltage supplementary setpoint / INF Vdc Z_set
A_INF, SERVO
(Tech_ctrl)
- - 0
p3511 CI: DC-link voltage supplementary setpoint / Vdc Z_set
VECTOR (Tech_ctrl) Can be changed: T Calculated: - Access level: 3
- - 0
p3513 BI: Inhibit voltage-controlled operation / Inhib U_ctrl mode
A_INF, SERVO
(Tech_ctrl)
- - 0
p3513 BI: Inhibit voltage-controlled operation / Inhib U_ctrl mode
- - 1
List of parameters
Parameters
Description: Sets a steady-state supplementary setpoint for the active line supply current.
Description: Sets the signal source for the supplementary setpoint of the active current.
Description: Sets the factor to be multiplied by the active current setpoint for the current controller.
Description: Displays the unlimited setpoint of the active current controller.
For a master-slave infeed configuration, the master retrieves this setpoint and distributes it to all of the slaves. The
slaves operate in the current-controlled mode.
Description: Displays the unlimited setpoint of the active current controller for DC-link voltage control on the motor side.
p3514 Infeed supplementary active current steady-state / INF I_sup_eff stat
-1000.00 [Arms] 1000.00 [Arms] 0.00 [Arms]
p3515 CI: Infeed supplementary active current / INF I_suppl eff
- - 0
p3516 Infeed current distribution factor / INF I_distr_factor
0.00 [%] 100.00 [%] 100.00 [%]
r3517 CO: Infeed active current controller unlimited setpoint / INF I_act ctrl set
A_INF, SERVO
(Tech_ctrl)
r3517 CO: DC-link controller active current setpoint / Vdc I_act set
Parameters
List of parameters
Description: Sets the signal source for power pre-control.
Note: Closed-loop control of the DC link voltage is improved by pre-controlling the power required for the other modules.
A non-scaled quantity is expected so that the various power reference values (r2004) of the drive objects do not
have to be taken into account. The scaling factors are used to adapt the scaling (p3521).
Description: Sets the signal source for power pre-control.
Note: Closed-loop control of the DC link voltage is improved by pre-controlling the power required for the other modules.
A non-scaled quantity is expected so that the various power reference values (r2004) of the drive objects do not
have to be taken into account. The scaling factors are used to adapt the scaling (p3521).
Description: Sets the scaling factor for the power pre-control.
Description: Sets the scaling factor for the power pre-control.
p3520[0...3] CI: Infeed power pre-control / INF pre-control P
A_INF, SERVO
(Tech_ctrl)
- - 0
p3520[0...3] CI: DC link pre-control power / Vdc pre-ctrl P
- - 0
p3521[0...3] Infeed pre-control power scaling / INF prectrl P scal
A_INF, SERVO
(Tech_ctrl)
-100000.00000 [%] 100000.00000 [%] 100.00000 [%]
p3521[0...3] DC link pre-control power scaling / Vdc prectrl P scal
-100000.00000 [%] 100000.00000 [%] 100.00000 [%]
List of parameters
Parameters
Description: Sets the filter time for power pre-control.
Description: Sets the filter time for power pre-control.
Description: Sets the motoring limit for the active line current.
The currently effective current limit is displayed in r0067[0].
Caution: If this limit is selected lower than the maximum current permissible for the power unit (r0067), the infeed can no lon-
ger provide its full controlled power.
Operating faults of the infeed can occur due to the resulting DC link undervoltage.
Notice: For self-commutated infeeds, the DC link voltage decreases if more power is drawn from the DC link by the con-
nected load than can be supplied by the line because of the power unit maximum current or a limit in p3530.
If the DC link voltage decreases down to the rectified value, then the complete current - necessary to cover the
required active power - flows, uncontrolled into the rectifier circuit via the diodes.
This is the reason that, for physical reasons, the value in p3530 cannot act as current limit that is always main-
tained.
The value forms a current threshold from which point onwards the DC link energy is used as buffer for brief power
fluctuations.
Note: If Smart Mode is activated (p3400.0 = 1), the setting in this parameter is not active.
Description: Sets the limit for the active line supply current when regenerating.
The currently effective current limit is displayed in r0067[1].
p3523[0...3] Infeed pre-control power smoothing / INF pre-ctrl P sm
SERVO (Tech_ctrl) Can be changed: U, T Calculated: - Access level: 2
0 [ms] 1000 [ms] 0 [ms]
p3523[0...3] DC link pre-control power smoothing / Vdc pre-ctrl P sm
0 [ms] 1000 [ms] 0 [ms]
p3530 Infeed current limit motoring / INF I_limit mot
1.00 [Arms] 100000.00 [Arms] 10000.00 [Arms]
p3531 Infeed current limit regenerative / INF I_limit regen
-100000.00 [Arms] -1.00 [Arms] -10000.00 [Arms]
Parameters
List of parameters
Caution: If this limit is selected lower than the maximum current permissible for the power unit (r0067), the infeed can no lon-
ger provide its full controlled power.
This can result in an overvoltage condition in the DC link.
Notice: For self-commutated infeeds, the DC link voltage increases if more power is input to the DC link through the con-
nected source than can be fed to the line because of the maximum power unit current or a limit in p3531
If the DC link voltage exceeds the permissible threshold (p0297), defined by the hardware, then the unit is tripped
due to overvoltage.
The value in p3531 represents a current limit that is always maintained - however, this can result in overvoltage
conditions in the DC link.
The value in p3531 represents a current limit from which point onwards the capacitance of the DC link can be used
as buffer for brief power fluctuations.
Note: If Smart Mode is activated (p3400.0 = 1), the setting in this parameter is not active.
Description: Sets the signal source for inhibiting the motor mode of the infeed.
Notice: If the motor mode is inhibited although power is withdrawn from the DC link, then the DC link voltage drops to the
rectified value.
In this state, the DC link is post-charged through the diodes and motoring power is fed to the power unit in spite of
the motoring inhibit.
Note: The inhibit only becomes active after operation has been enabled and the Vdc has been ramped up (r0863.0 = 1).
If Smart Mode is activated (p3400.0 = 1), the setting in this parameter is not active.
Description: Sets the signal source to inhibit the generator mode of the infeed.
Notice: The DC link voltage will increase if generator mode is inhibited even though power is being regenerated into the DC
link.
Note: The inhibit only becomes active after operation has been enabled and the Vdc has been ramped up (r0863.0 = 1).
Description: Displays the maximum permissible current for the line filter set using p0220[0].
p3532 BI: Infeed, inhibit motoring / INF mot mode inhib
- - 0
p3533 BI: Infeed, inhibit generator mode / INF gen mode inhib
- - 0
r3534 Infeed line filter maximum current / INF filter I_max
List of parameters
Parameters
Note: The currently effective maximum current for the power unit is displayed in r0067.
The value in r0067 is obtained as minimum of the current limits in r0209, p3530 ... r3534.
Description: Displays the integral action component of the DC link voltage controller (Vdc controller).
Description: Displays the integral action component of the DC link voltage controller (Vdc controller).
Description: Sets the fast Vdc controller intervention for a step-like decrease of the DC link voltage due to a high motor load of
the infeed.
The Vdc controller fast intervention is de-activated for p3555[5] = 0 % or p3560 < 100% or p0225 > 0.5 * p0223.
For a line supply and DC link identification (p3410 >= 2) the level of the fast controller intervention (p3555[2]) is
automatically adapted to the line supply inductance.
Recommend.: Precise system knowhow is required when correctly changing this parameter!
- generally, the fast controller intervention is used to improve the control behavior for high-speed load changes. The
function can therefore always be de-activated with p3555[5] = 0 % if no peak load duty cycles are required in the
application.
- using p3555[0], the calculation of the modulation depth is determined in the case of high system deviations also
when the controller intervention is de-activated. This is the reason that p3555[0] should generally not be changed.
Index: [0] = Intervention threshold 1: Vdc deviation from the setpoint
[1] = Intervention threshold 2: Vdc difference to the rectified value
[2] = Fast intervention automatic scaling
[3] = Fast intervention pre-control
[4] = Fast intervention timeout
[5] = Fast intervention manual scaling
Note: p3555[0]:
Vdc system deviation as a percentage of the setpoint of the DC link voltage (first condition to initiate fast controller
intervention). The threshold is also used to internally change over the modulation depth calculation for high system
deviations and should therefore generally not be changed!
r3554 Infeed Vdc controller integral component / INF Vdc_ctr I_comp
A_INF, SERVO
(Tech_ctrl)
r3554 Vdc controller integral component / Vdc_ctrl I_comp
p3555[0...5] Infeed Vdc controller integral component fast intervention / Vdc_ctr I-compFast
0.00 [%] 200.00 [%] [0] 2.00 [%]
[1] 102.00 [%]
[2] 0.00 [%]
[3] 5.00 [%]
[4] 100.00 [%]
[5] 0.00 [%]
Parameters
List of parameters
p3555[1]:
Vdc threshold as a percentage of the rectified value of the current line supply voltage (second condition to initiate
the fast controller intervention). Both threshold conditions must be fulfilled to initiate the controller intervention.
p3555[2]:
Percentage overall level of the fast intervention (scaling factor). For a line supply identification with p3410 >= 2, the
factor is automatically adapted or, for weak line supplies with a high inductance, set to 0.
p3555[3]:
Percentage correction of the pre-control for a fast voltage dip (dead time compensation).
p3555[4]:
Percentage minimum time between controller interventions (100% corresponds to 100 ms). If high load change fre-
quencies occur with the application, the minimum time between two controller interventions can be reduced using
p3555[4].
p3555[5]:
Percentage overall level of the fast intervention (scaling factor). With p3555[5] = 0, the fast controller intervention is
inhibited. For weak line supplies with a high inductance, it makes sense to de-activate the fast intervention.
Description: Sets the scaled proportional gain for the DC link voltage controller (Vdc controller).
Note: A value of 100 % corresponds to the basic setting derived from loop control parameters (p3421, p3422).
Description: Sets the scaled proportional gain for the DC link voltage controller (Vdc controller).
Note: A value of 100% corresponds to the basic setting derived from the loop control parameter (p3422).
Description: Sets the scaled integral time for the DC link voltage controller (Vdc).
p3560 Infeed Vdc controller proportional gain / INF Vdc_ctrl Kp
A_INF, SERVO
(Tech_ctrl)
0.01 [%] 1000.00 [%] 100.00 [%]
p3560 Vdc controller proportional gain / Vdc_ctrl Kp
0.01 [%] 1000.00 [%] 100.00 [%]
p3562 Infeed,Vdc controller integral time / INF Vdc_ctrl Tn
A_INF, SERVO
(Tech_ctrl)
0.10 [%] 100000.00 [%] 100.00 [%]
List of parameters
Parameters
Description: Sets the scaled integral time for the DC link voltage controller (Vdc).
Note: A value of 100% corresponds to the basic setting derived from the loop control parameter (p3422).
Description: Sets the filter time constant for the DC link voltage monitor (Vdc).
Description: Sets the ramp time for the DC link voltage (Vdc) when powering up and powering down.
Powering up (pulses enabled, r0898.3 = 1):
During this time, the DC link voltage is increased from the rectifier value after pre-charging to the voltage setpoint
(p3510, p3511). The voltage setpoint is increased, when necessary, so that the modulation depth reserve (p3481)
is maintained. The reactive current is set to the value 0 while ramping.
Powering down (inhibit pulses, r0898.3 = 0):
During this time, the DC link voltage is reduced to the rectified value (sqrt(2) * line supply voltage). The reactive cur-
rent value is set to the value 0 when the ramp starts.
Description: Sets the signal source of the active current setpoint for the closed-loop current control of the slave.
The signal value is received from the master infeed (e.g. via the mulitplexer or direct).
p3562 Vdc controller integral time / Vdc_ctrl Tn
0.10 [%] 100000.00 [%] 100.00 [%]
p3564 Infeed Vdc monitor, time constant / INF Vdc monit T
0.0 [ms] 100.0 [ms] 0.2 [ms]
p3566 Infeed Vdc ramp duration / INF Vdc t_ramp
40 [ms] 1000 [ms] 100 [ms]
p3570 CI: Master/slave active current setpoint / I_act_setp
A_INF (Mas-
ter/Slave)
- - 3573[0]
Parameters
List of parameters
Description: Sets the signal sources for the input values of the multiplexer.
The signal values are used as setpoint for the closed-loop current control of the slave infeed.
Index: [0] = Multiplexer input value 0
[1] = Multiplexer input value 1
Note: For a master infeed and a slave infeed, the active current setpoint can be entered without using a multiplexer. If the
multiplexer for the master/slave is not required, then it can also be used for another function.
Description: Sets the signal source to select the required input value for the multiplexer.
CI: p3572 = 0, 1, 2, 3 --> valid values
Fault F06320 is output for other values.
Refer to: F06320
Description: Displays (connector output) the output for the multiplexer.
The signal value is used as standard for the active current setpoint for the slave infeed.
p3571[0...3] CI: Master/slave active current setpoint, multiplexer input / I_act multi inp
A_INF (Mas-
ter/Slave)
- - 0
p3572 CI: Master/slave active current setpoint, multiplexer selection / I_act multi sel
A_INF (Mas-
ter/Slave)
- - 0
r3573 CO: Master/slave active current setpoint, multiplexer output / I_act multi outp
A_INF (Mas-
ter/Slave)
List of parameters
Parameters
Description: Sets the upper and lower limit values and hysteresis values for the DC link voltage monitoring.
The values are entered as absolute values and refer to the DC link voltage setpoint (p3510).
For a slave infeed, if the limits are violated, then the closed-loop voltage control is automatically switched in.
Index: [0] = Vdc upper limit value
[1] = Vdc lower limit value
[2] = Vdc upper hysteresis value
[3] = Vdc lower hysteresis value
Dependency: Refer to: r0088, p0210, p3510, r3575
Description: Displays the status of the DC link voltage monitoring for the master/slave.
Description: Sets up to 6 factors to be multiplied by the active current setpoint for the current controller.
For a master slave infeed configuration, the value reduced in this way can be distributed to the slave axes. The
overall gain from the perspective of the voltage controller remains the same.
[1] = Value 1
[2] = Value 2
[3] = Value 3
[4] = Value 4
[5] = Value 5
Note: If the multiplexer for the master/slave is not required, then it can also be used for another function.
p3574[0...3] Master/slave DC link voltage monitoring / Vdc monitoring
A_INF (Mas-
ter/Slave)
-60 [V] 60 [V] [0] 20 [V]
[1] -20 [V]
[2] 5 [V]
[3] -5 [V]
r3575.0...2 BO: Master/slave DC link voltage monitoring status / Vdc monit status
A_INF (Mas-
ter/Slave)
- - -
00 Upper limit value reached Yes No -
01 Lower limit value reached Yes No -
02 Upper/lower limit value reached Yes No -
p3576[0...5] Master/slave current distribution factor, multiplexer input / I_dist_factor inp
A_INF (Mas-
ter/Slave)
0.00 [%] 100.00 [%] 100.00 [%]
Parameters
List of parameters
Description: Sets the signal source to select the required input value for the multiplexer.
CI: p3577 = 0, 1, 2, 3, 4, 5 --> valid values
Fault F06321 is output for other values.
Refer to: F06321
Description: Display and connector output for the multiplexer output value.
The signal value is used as standard for the current distribution factor for the infeed master slave operation.
Description: Sets the factor to be multiplied by the active current setpoint for the current controller.
For a master slave infeed configuration, the value reduced in this way can be distributed to the slave axes. The
overall gain from the perspective of the voltage controller remains the same.
Description: Displays the status of the closed-loop infeed control.
Value: 0: Initialization running
2: Ramp-up, DC link voltage
3: Ramp-up reactive current
4: Shutdown running
5: Reset identification
6: Operation
p3577 CI: Master/slave current distribution factor, multiplexer selection / I_dist_factor sel
A_INF (Mas-
ter/Slave)
- - 0
r3578 CO: Master/slave current distribution factor, multiplexer output / I_dist_factor outp
A_INF (Mas-
ter/Slave)
- [%] - [%] - [%]
p3579 CI: Master/Slave current distribution factor / I_dist_factor
A_INF (Mas-
ter/Slave)
- - 3578[0]
r3602 Infeed control status / INF ctrl state
0000 bin 1000 bin -
List of parameters
Parameters
7: Identification running
8: Smart Mode running
Description: The D component of the current pre-control is determined from the device data of the filter. p3603 can be used to
weigh the pre-calculated D component. If no dynamic pre-control is to be used, set the factor to zero.
Description: Displays the system deviation of the active current controller.
Description: Displays the system deviation of the reactive current controller.
Description: Sets the fixed setpoint for the reactive current.
The permissible maximum absolute value for the reactive current is the device rated current r0207.
The following applies: | p3610 | <= r0207
Notice: If the line phases are reversed and the line voltage therefore has a negative orientation (r0066 < 0), it should be
noted that the sign of the reactive current is also reversed. The negated value of p3610 is effective in display
parameters r0029, r0075, r0076 as appropriate.
Note: p3610 < 0: Inductive reactive current is produced, i. e. the current follows the voltage.
p3610 < 0: Capacitive reactive current is produced, i. e. the current leads the voltage.
This definition applies to 3AC voltage systems both with positive rotational orientation (r0066 > 0) and for negative
rotational orientation (r0066 < 0).
p3603 Infeed current pre-control factor D component / INF I_ctrl D-comp
0.00 [%] 500.00 [%] 100.00 [%]
r3606 Infeed active current controller system deviation / INF I_act ctrl dev
r3608 Infeed reactive current controller system deviation / INF I_reactvCtrDev
p3610 Infeed reactive current fixed setpoint / INF I_reactv F_set
-10000.0 [Arms] 10000.0 [Arms] 0.0 [Arms]
Parameters
List of parameters
Description: Sets the signal source for the supplementary setpoint of the reactive current.
Description: Sets the time constant for the PT1 filtering of the active current actual value and reactive current actual value.
Index: [0] = Current actual value smoothing with dead time
[1] = Current actual value smoothing without dead time
Note: Re index 0:
The PT1 filter with a clock cycle dead time can be used to stabilize the closed-loop current control for extremely
weak line supplies with higher relative short-circuit voltage uk).
The current actual value filter is de-activated with p3614[0] = 0.
For an automatic controller setting with p3410 >= 2, the current actual value filter is automatically pre-set.
Re index 1:
The PT1 filter without dead time can be used to optimize the closed-loop current control, e.g. in conjunction with fre-
quency wobbulation.
The current actual value filter is de-activated with p3614[1] = 0.
Description: Sets the scaled P gain for closed-loop current control of the infeed.
Description: Sets the scaled integral time for the infeed current controller.
p3611 CI: Infeed reactive current supplementary setpoint / INF I_reactv Z_set
- - 0
p3614[0...1] Infeed current actual value filter smoothing time / INF I_act t_sm
0.000 [ms] 2.000 [ms] 0.000 [ms]
p3615 Infeed current controller P gain / INF I_ctrl Kp
0.00 [%] 1000.00 [%] 100.00 [%]
p3617 Infeed current controller integral time / INF I_ctrl Tn
0.10 [%] 100000.00 [%] 100.00 [%]
List of parameters
Parameters
Description: Displays the integral component of the active current controller.
Description: Displays the integral action component of the reactive current controller.
Description: Sets the switch-in threshold for the current controller adaptation.
The value refers to the maximum power unit current (r0209). From the starting threshold onwards, the inductance
value (p3421) used for current control is reduced linearly as a function of the current value. The inductance value
for the maximum power unit current is therefore p3421 * p3622.
Note: The parameter can be set automatically using the line supply identification (p3410 = 4, 5) (also refer to p3622). Pre-
requisite for a reliable measurement of p3622 is that the current magnitude for run 2 (p3415[1]) is at least 10 %
higher than the current magnitude for run 1 of the line supply identification. Otherwise, the measurement result is
rejected.
In the case of a correct measurement, p3620 is set to 80% of the current magnitude for run 1 (p3415[0]).
For chassis power units, it is generally not necessary to adapt p3620 and p3622 to the characteristics of the line
supply. However, when required, the current controller adaptation can be optimized by selecting suitable current
magnitudes for p3415.
For booksize power units, p3620 and p3622 are automatically adapted with the then valid default setting of the line
identification p3415.
Description: Sets the inductance of the line reactor at the maximum power unit current (r0209) as a percentage of the induc-
tance (p3421) at the application threshold (p3620).
r3618 Infeed active current controller, integral component / INF I_act_ctrl Tn
r3619 Infeed reactive current controller integral component / INF I_reactv_ctrTn
p3620 Infeed current controller adaptation lower application threshold /
INF I_adptLowThrsh
0.00 [%] 100.00 [%] 40.00 [%]
p3622 Infeed current controller adaptation reduction factor / INF I_adapt factor
0.01 [%] 100.00 [%] 85.00 [%]
Parameters
List of parameters
Note: The parameter for a line supply identification (p3410 = 4, 5) automatically optimized, if the following applies:
p3415[1] - p3415[0] > 10%. Otherwise, the measurement result is rejected.
For chassis power units, it is generally not necessary to adapt p3620 and p3622 to the characteristics of the line
supply. However, when required, the current controller adaptation can be optimized by selecting suitable current
magnitudes for p3415.
For booksize power units, p3620 and p3622 are automatically adapted with the then valid default setting of the line
identification p3415.
Description: Sets the Order of the line harmonics for the current harmonics controller.
p3624[0]: Order of the line harmonics for the first harmonics controller.
p3624[1]: Order of the line harmonics for the second harmonics controller.
Note: Harmonics in the line supply voltage can cause harmonics in the converter current. These types of current harmon-
ics can be reduced by activating additional controller modules.
Example:
For a 50 Hz line supply harmonics at 250 Hz in the phase currents can be reduced by activating a harmonic control-
ler with Order 5 (p3624[0] = 5).
Description: Sets the gain of the harmonics controller.
p3625[0]: Gain of the first harmonics controller
p3625[1]: Gain of the second harmonics controller
0 %: Controller is de-activated
100 %: Controller is activated with default gain setting
Note: The harmonics controller corrects the power unit voltages so that the line-side current harmonics are reduced.
The order of a current harmonic, that is to be dampened using a harmonics controller, is defined using p3624.
Description: Displays the output voltages of the harmonics controller.
r3626[0]: RMS value of the 5th harmonic of the controller output voltage
r3626[1]: RMS value of the 7th harmonic of the controller output voltage
The harmonics controller corrects the power unit voltages so that the line-side current harmonics are reduced.
p3624[0...1] Infeed harmonics controller order / INF harm_ctr order
5 13 [0] 5
[1] 7
p3625[0...1] Infeed harmonics controller scaling / INF harm_ctrl scal
0.0 [%] 300.0 [%] 100.0 [%]
r3626[0...1] Infeed harmonics control output / INF harm_ctrl outp
List of parameters
Parameters
Description: Displays the voltage Usd (active component) at the 3-phase line supply input of the power unit.
Description: Displays the voltage Usq (reactive component) at the 3-phase line supply input of the power unit.
Description: Displays the angle of the input voltage (relative to the line angle).
Index: [0] = Active
[1] = Reactive
Description: Display and connector output for the current actual values for the negative phase-sequence system control.
The setpoint for the positive phase-sequence system current is compensated in the displayed negative-phase
sequence system current.
r3632 Infeed input voltage Vsd (active component) / INF U_inp Usd
8950
r3633 Infeed input voltage Usq (reactive component) / INF U_inp Usq
8950
r3635 CO: Infeed input voltage angle / INF U_inp angle
- [] - [] - []
r3637[0...1] CO: Negative phase-sequence system control current setpoint / Neg_seq_ctrl I_set
A_INF (Dyn. grid
support, Line transf)
r3638[0...3] CO: Negative phase-sequence system control current actual value /
Neg_seq ctr I_act
A_INF (Dyn. grid
Parameters
List of parameters
The setpoint for the negative phase-sequence system current is compensated in the displayed positive-phase
sequence system current.
Index: [0] = Negative phase-sequence system component active current
[1] = Negative phase-sequence system component reactive current
[2] = Positive phase-sequence system component active current
[3] = Positive phase-sequence system component reactive current
Note: The total active current actual value in the positive phase-sequence system coordinates is displayed in r0078.
The total reactive current actual value in the positive phase-sequence system coordinates is displayed in r0076.
Description: Sets the integral time of the negative phase-sequence system current control.
Note: The value 100% corresponds to the integral time, which is active for the regular positive phase-sequence system
current controller (p3617).
Description: Sets the operating mode of the negative phase-sequence system control.
The negative phase-sequence system control controls the negative phase-sequence system component in the line
current (supplementary setpoint p3641).
Description: Sets the signal source for the setpoint for the negative phase-sequence system current control.
Index: [0] = Active
[1] = Reactive
Warning: Setpoints not equal to zero result in an oscillating line power and therefore in voltage fluctuations in the DC link and
unsymmetrical line supply load.
Note: When the function module "dynamic grid support" (r0108.7 = 1) is activated, the following applies:
The setpoints r5510[4, 6] and the setpoints of the signal source are summed.
p3639 Negative phase-sequence system control integral time / Neg_seq_ctrl_Tn
A_INF (Dyn. grid
5.00 [%] 200.00 [%] 100.00 [%]
p3640 Negative phase-sequence system control operating mode / Neg_SeqCtr op_mode
A_INF (Dyn. grid
- - 0000 bin
00 Negative phase-sequence system current
controller activated
Yes No -
p3641[0...1] CI: Negative phase-sequence system control setpoint / Neg_seq ctrl setp
A_INF (Dyn. grid
- - 0
List of parameters
Parameters
Description: Display and connector output for the output voltage in alpha/beta coordinates for the negative phase-sequence sys-
tem current control.
Index: [0] = Alpha
[1] = Beta
Description: Displays the correction value for the DC link voltage setpoint to compensate the negative phase-sequence system
active current.
Note: The corrected DC link voltage setpoint (r0088) is effective for the voltage controller.
Description: Sets the voltage scaler for the Voltage Sensing Module (VSM).
Note: When the 690 V input is used (X522) without voltage scaler, 0 % should be entered.
When the 100 V input (X521) is used with voltage scaler to measure medium voltages, the dividing (scaling) factor
multiplied by 100% should be entered.
Example:
1000 V line supply voltage, voltage scaling, 10:1
--> voltage at the VSM input is 100 V
--> p3660 = 10 * 100 % = 1000 %
Description: Sets the voltage scaler for the Voltage Sensing Module (VSM).
r3642[0...1] CO: Negative phase-sequence system control manipulated variable /
NegSeqCtr ManipVar
A_INF (Dyn. grid
- [V] - [V] - [V]
r3643 Neg phase-sequence system control DC link voltage correction / NegSeqCtr Vdc corr
A_INF (Dyn. grid
- [V] - [V] - [V]
p3660 VSM input line supply voltage, voltage scaler / VSM inp U_scaler
0.00 [%] 100000.00 [%] 0.00 [%]
p3660[0...n] VSM input line supply voltage, voltage scaler / VSM inp U_scaler
0.00 [%] 100000.00 [%] 0.00 [%]
Parameters
List of parameters
Example:
--> p3660 = 10 * 100 % = 1000 %
Description: Displays the input voltage between phases L1 and L2 for the Voltage Sensing Module (VSM).
Note: X521.1 or X522.1: Connection of L1
X521.2 or X522.2: Connection of L2
The absolute voltage value (3-ph. AC) resulting from the phase voltages is displayed unsmoothed in r0072[1] and
smoothed in r0025[1].
The absolute voltage value resulting from the phase voltages is displayed in r0072[1] and smoothed in r0025[1].
r3661 CO: VSM input line supply voltage u1 - u2 / VSM inp u1-u2
9880
- [V] - [V] - [V]
r3661[0...n] CO: VSM input line supply voltage u1 - u2 / VSM inp u1-u2
Data type: FloatingPoint32 Dynamic index: p0150 Func. diagram: -
- [V] - [V] - [V]
r3662 CO: VSM input line supply voltage u2 - u3 / VSM inp u2-u3
9880
- [V] - [V] - [V]
List of parameters
Parameters
Description: Displays the status of the temperature evaluation of the Voltage Sensing Module (VSM).
This displays whether the temperature actual value has exceeded the fault/alarm threshold.
Description: Displays the status of the temperature evaluation of the Voltage Sensing Module (VSM).
Description: Setting of the temperature sensor for the Voltage Sensing Module (VSM).
The temperature sensor is connected to terminals X520.5 and X520.6 of the VSM.
r3662[0...n] CO: VSM input line supply voltage u2 - u3 / VSM inp u2-u3
- [V] - [V] - [V]
r3664.0...1 BO: VSM temperature evaluation, status / VSM temp status
- - -
00 Temperature alarm threshold exceeded Yes No -
01 Temperature fault threshold exceeded Yes No -
r3664[0...n] CO: VSM temperature evaluation, status / VSM temp status
Data type: Unsigned16 Dynamic index: p0150 Func. diagram: 9886
- - -
p3665[0...n] VSM temperature evaluation, sensor type / VSM TempSensorType
0 2 0
Parameters
List of parameters
Value: 0: No sensor
1: PTC
2: KTY84
Description: Setting of the temperature sensor for the Voltage Sensing Module (VSM).
The temperature sensor is connected to terminals X520.5 and X520.6 of the VSM.
Value: 0: No sensor
1: PTC
2: KTY84
Description: Displays the temperature actual value of a KTY84 temperature sensor connected to the Voltage Sensing Module
(VSM).
Prerequisite:
A KTY84 sensor is connected and p3665 is set to 2.
Note: For sensor type PTC (p3665 = 1), the following applies:
- below the nominal response temperature, r3666 = -50C.
- above the nominal response temperature, r3666 = 199.9 C.
Description: Displays the temperature actual value of a KTY84 temperature sensor connected to the Voltage Sensing Module
(VSM).
Prerequisite:
- above the nominal response temperature, r3666 = 199.9 C.
p3665[0...n] VSM temperature evaluation, sensor type / VSM TempSensorType
0 2 0
r3666 CO: VSM temperature KTY / VSM temp KTY
- [C] - [C] - [C]
r3666[0...n] CO: VSM temperature KTY / VSM temp KTY
- [C] - [C] - [C]
List of parameters
Parameters
Description: Sets the alarm threshold for the KTY temperature sensor of the Voltage Sensing Module (VSM) to monitor the line
filter temperature.
Prerequisite:
Refer to: A34211
Description: Sets the alarm threshold for the KTY temperature sensor of the Voltage Sensing Module (VSM) to monitor the line
filter temperature.
Prerequisite:
Refer to: A34211
Description: Sets the shutdown threshold for the KTY temperature sensor of the VSM to monitor the line filter temperature.
Refer to: F34207
Description: Sets the shutdown threshold for the KTY temperature sensor of the VSM to monitor the line filter temperature.
Refer to: F34207
p3667 VSM line filter overtemperature alarm threshold / VSMfilt_T A_thresh
0 [C] 301 [C] 150 [C]
p3667[0...n] VSM line filter overtemperature alarm threshold / VSMfilt_T A_thresh
0.00 [C] 301.00 [C] 150.00 [C]
p3668 VSM line filter overtemperature shutdown threshold / VSM filt_T F_thres
0 [C] 301 [C] 180 [C]
p3668[0...n] VSM line filter overtemperature shutdown threshold / VSM filt_T F_thres
0.00 [C] 301.00 [C] 180.00 [C]
Parameters
List of parameters
Description: Sets the hysteresis for the alarm threshold of the VSM to monitor the line filter temperature.
Description: Sets the hysteresis for the alarm threshold of the VSM to monitor the line filter temperature.
Description: Sets CT gain of the CT connected at the 10 V input of the Voltage Sensing Module (VSM).
The parameter specifies the current magnitude in [A] referred to the input voltage at the VSM in [V].
Example:
CT with 1 V per 200 A.
--> p3670 = 200
Note: The CT for phase 1 is connected at terminals X520.1 and X520.2 of the VSM.
The CT for phase 2 is connected at terminals X520.3 and X520.4 of the VSM.
Description: Sets CT gain of the CT connected at the 10 V input of the Voltage Sensing Module (VSM).
The parameter specifies the current magnitude in [A] referred to the input voltage at the VSM in [V].
Example:
--> p3670 = 200
The CT for phase 2 is connected at terminals X520.3 and X520.4 of the VSM.
p3669 VSM line filter overtemperature hysteresis / VSM filt_T hyst
1.0 [K] 50.0 [K] 3.0 [K]
p3669[0...n] VSM line filter overtemperature hysteresis / VSM filt_T hyst
1.00 [K] 50.00 [K] 3.00 [K]
p3670 VSM 10 V input CT gain / VSM CT_gain
0.000 [A] 1000.000 [A] 1.000 [A]
p3670[0...n] VSM 10 V input CT gain / VSM CT_gain
0.000 [A] 1000.000 [A] 1.000 [A]
List of parameters
Parameters
Description: Displays the current actual value from current transducer (CT) 1 at the 10 V input of the Voltage Sensing Module
(VSM).
(VSM).
(VSM).
(VSM).
r3671 CO: VSM 10 V input CT 1 actual value / VSM CT 1 I_act
- [A] - [A] - [A]
r3671[0...n] CO: VSM 10 V input CT 1 actual value / VSM CT 1 I_act
- [A] - [A] - [A]
r3672 CO: VSM 10 V input CT 2 actual value / VSM CT 2 I_act
- [A] - [A] - [A]
r3672[0...n] CO: VSM 10 V input CT 2 actual value / VSM CT 2 I_act
- [A] - [A] - [A]
Parameters
List of parameters
Description: Displays the actual value of the voltage measured at the 10 V input 1 of the Voltage Sensing Modules (VSM).
Note: 10 V input 1: Terminals X520.1 and X520.2
r3673 CO: VSM 10 V input 1 actual value / VSM inp 1 U_act
- [V] - [V] - [V]
r3673[0...n] CO: VSM 10 V input 1 actual value / VSM inp 1 U_act
- [V] - [V] - [V]
r3674 CO: VSM 10 V input 2 actual value / VSM inp 2 U_act
- [V] - [V] - [V]
r3674[0...n] CO: VSM 10 V input 2 actual value / VSM inp 2 U_act
- [V] - [V] - [V]
List of parameters
Parameters
Description: Sets the alarm threshold for the change of the capacitance of the line filter.
The monitoring of the filter capacitance is de-activated with p3676 = 0.00 %.
Refer to: A06250
Note: Prerequisites for monitoring the filter capacitance:
The phase currents must be measured at two capacitors of the line filter. To do this, CTs should be connected at
the 10 V inputs of the VSM.
Description: Displays the capacitance of the line filter (for a star circuit configuration).
[1] = Phase V
[2] = Phase W
Note: Prerequisite:
The monitoring of the filter capacitance is activated.
Description: Sets the threshold values for filter monitoring.
The voltage threshold value is referred to p0210.
The current threshold value is referred to the nominal filter current.
Nominal filter current = 2 x PI x p0211 x 3 x p0221[0] x p0210 x sqrt(2) / sqrt(3)
Index: [0] = Voltage threshold value
[1] = Current threshold value
Refer to: F06855
Note: The filter monitoring function is de-activated with p3678 = 0.00.
Recommended setting for activation:
Voltage threshold value: 5.0 %
Current threshold value: 500 %
p3676 VSM line filter capacitance alarm threshold / VSMfilt C A_thresh
0.00 [%] 100.00 [%] 0.00 [%]
r3677[0...2] CO: VSM line filter capacitance / VSM filt C
- [F] - [F] - [F]
p3678[0...1] Filter monitoring threshold values / Filter monit thr
A_INF (Line transf) Can be changed: C2(1) Calculated: - Access level: 3
0.00 [%] 10000.00 [%] [0] 0.00 [%]
[1] 0.00 [%]
Parameters
List of parameters
Description: Sets the times for filter monitoring.
Index 0:
Smoothing time for the alpha and beta components of the filter voltage.
Index 1:
If the set current threshold value is exceeded at least for the time set, a corresponding fault is output.
Index: [0] = Voltage threshold value
[1] = Current threshold value
Description: Sets the signal source to inhibit the internal Braking Module.
The Braking Module is inhibited.
The Braking Module is enabled.
Caution: When the Braking Module is inhibited, no energy can be dissipated in the braking resistor.
Description: Sets the signal source to activate the DC link fast discharge for an internal braking module.
When the following conditions apply, the DC link fast discharge is started later with delay time (p3682):
- BI: p3681 = 1 signal.
- an external line contactor is opened via r0863.1 "energize contactor".
The DC link fast discharge is interrupted when the following conditions apply:
- BI: p3681 = 0 signal.
- ON command for the infeed.
Recommend.: The DC link fast discharge should be activated if there is an external line contactor and is correctly interconnected
(r0863.1, p0860). If the DC link fast discharge is not activated together with an external line contactor, then faults
could occur when pre-charging (e.g. F300027).
p3679[0...1] Transformer filter monitoring times / Filter monit times
0.00 [ms] 40.00 [ms] [0] 20.00 [ms]
[1] 0.50 [ms]
p3680 BI: Braking Module internal inhibit / BM int inhib
B_INF Can be changed: T Calculated: - Access level: 3
- - 0
p3681 BI: Activating Braking Module internal DC link fast discharge / BM intDCdischg act
B_INF Can be changed: T Calculated: - Access level: 3
- - 0
List of parameters
Parameters
Refer to: F30027
Notice: The parameter is only effective for Basic Line Modules with the internal Braking Module (this is valid for Basic Line
Modules with a power rating of less than 100 kW).
Description: Sets the delay time for switching in the DC link fast discharge for an internal Braking Module.
Notice: The parameter is only effective for Basic Line Modules with the internal Braking Module (this is valid for Basic Line
Modules with a power rating of less than 100 kW).
Description: Sets the activation threshold for the braking chopper.
Note: The activation threshold is only effective if the "Device supply voltage reduced" function (p0212.0 = 1) has been
activated!
Description: The binector output uses a 1 signal to indicate that 80 % of the highest permissible I2t value has been reached in
the Braking Module.
Description: The binector output uses a 1 signal to indicate an overcurrent fault or an I2t shutdown in the Braking Module.
p3682 Braking Module internal DC link fast discharge delay time / BM int DC dischg t
B_INF Can be changed: C1(3), T Calculated: - Access level: 3
500 [ms] 4294967295 [ms] 1000 [ms]
p3683 Braking Module internal activation threshold brake chopper / BM int act thresh
110.00 [V] 780.00 [V] 760.00 [V]
r3685 BO: Digital Braking Module: Pre-alarm I2t shutdown / Dig BM A I2t shutd
- - -
r3686 BO: Digital Braking Module Fault / Dig BM Fault
- - -
Parameters
List of parameters
Description: Displays a fault due to the excessively high temperature.
1 signal:
The connected temperature sensor (X21.1, X21.2) signals an overtemperature.
Recommend.: Measure the braking resistor temperature using the temperature sensor.
Description: Displays the shutdown due to the excessively high temperature.
1 signal:
The connected temperature sensor (X21.1, X21.2) signals an overtemperature. The highest permissible tempera-
ture at the connected temperature sensor has been exceeded and results in a shutdown.
Description: Displays an Uce fault in the internal Braking Module.
1 signal:
An Uce fault is present in the internal Braking Module.
Description: Sets the configuration for APC (Advanced Positioning Control).
r3687 BO: Digital Braking Module pre-alarm overtemperature / Dig BM A overtemp
- - -
r3688 BO: Braking Module internal overtemperature shutdown / BM int temp shutd
- - -
r3689 BO: Digital Braking Module Uce fault / Dig BM Uce fault
- - -
p3700 APC configuration / APC config
SERVO (APC) Can be changed: U, T Calculated: - Access level: 2
- - 0000 0000 0000 0000 bin
00 Activating APC Yes No -
01 APC acceleration sensor Yes No -
08 Activating pulse de-coupling Yes No -
List of parameters
Parameters
Note: Re bit 00:
For a 1 signal, the acceleration filter output is added to the speed setpoint.
For a 0 signal, the value 0 is added. This must be used to evaluate the filter frequency characteristics.
Re bit 08:
For bit 0 = 1 and activated pulse de-coupling (bit 8 = 1), the speed of the direct measuring system (p3701) selected
for APC is used as the actual value for the closed-loop speed control.
Description: Sets the number of the encoder used for for APC (Advanced Positioning Control).
Value: 2: Encoder 2
3: Encoder 3
Note: Encoder 1 is the motor encoder and cannot be used for APC as APC requires a load measuring system.
An encoder used for APC is, regarding its fault messages, treated just like a motor encoder - this means that its
fault messages are assigned to the drive.
Description: Setting to activate the filter for APC (Advanced Positioning Control).
Description: Sets the filter type for the filter for APC (Advanced Positioning Control).
p3701 APC enc sel / APC enc sel
SERVO (APC) Can be changed: C1(4) Calculated: - Access level: 3
2 3 2
p3704[0...n] APC filter activation / APC filter act
- - 0000 0000 0000 0000 bin
00 Activate filter 1.1 Yes No -
p3705[0...n] APC filter type / APC filter type
- - 0000 0000 0000 0000 bin
00 Filter 1.1 type A. Filter 2nd ord. Low pass (PT2) -
Parameters
List of parameters
Description: Sets the factor for the sub-sampling in the branch of filter 2.1 and 2.2 for APC (Advanced Positioning Control).
Note: The values are integer multiples of the speed controller clock cycle (p0115[1]).
Description: Sets the factor for the sub-sampling in the branch of filter 3.1 and 3.2 for APC (Advanced Positioning Control).
Note: The values are integer multiples of the speed controller clock cycle (p0115[1]).
Description: Sets the smoothing time constant (PT1) for the velocity actual value of encoder 2 with APC (Advanced Positioning
Control).
Description: Sets the smoothing time constant (PT1) for the speed actual value of encoder 2 with APC (Advanced Positioning
Control).
Description: Sets the smoothing time constant (PT1) for the velocity actual value of encoder 3 with APC (Advanced Positioning
Control).
p3706[0...n] APC sub-sampling, filter 2.x / APC sub-samp. 2.x
1 64 1
1 64 1
p3708[0...n] APC velocity actual value smoothing time encoder 2 / APC v_act t_sm 2
SERVO (APC, Lin) Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
0.00 [ms] 50.00 [ms] 0.00 [ms]
p3708[0...n] APC speed actual value smoothing time encoder 2 / APC n_act t_sm 2
SERVO (APC) Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
0.00 [ms] 50.00 [ms] 0.00 [ms]
0.00 [ms] 50.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Sets the smoothing time constant (PT1) for the speed actual value of encoder 3 with APC (Advanced Positioning
Control).
Description: Sets the denominator natural frequency for filter 1.1 (PT2, general 2nd Order filter) for APC (Advanced Positioning
Control).
Description: Sets the denominator damping for filter 1.1 (PT2, general 2nd Order filter) for APC (Advanced Positioning Control).
Description: Sets the numerator natural frequency for filter 1.1 (general 2nd Order filter) for APC (Advanced Positioning Control).
Description: Sets the numerator damping for filter 1.1 (general 2nd Order filter) for APC (Advanced Positioning Control).
0.00 [ms] 50.00 [ms] 0.00 [ms]
p3711[0...n] APC filter 1.1 denominator natural frequency / APC Filt 1.1 fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p3712[0...n] APC filter 1.1 denominator damping / APC Filt 1.1 D_d
0.050 10.000 0.700
p3713[0...n] APC filter 1.1 numerator natural frequency / APC Filt 1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p3714[0...n] APC filter 1.1 numerator damping / APC Filt 1.1 D_n
0.000 10.000 0.700
Parameters
List of parameters
Control).
Control).
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.050 10.000 0.700
p3723[0...n] APC filter 2.1 numerator natural frequency / APC Filt 2.1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.000 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
List of parameters
Parameters
Control).
0.050 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.000 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.050 10.000 0.700
Parameters
List of parameters
Control).
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.000 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.050 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
List of parameters
Parameters
Description: Sets the signal source for the actual value of the acceleration sensor for APC (Advanced Positioning Control).
Description: Sets the time constant of the high pass filter for the acceleration sensor for APC (Advanced Positioning Control).
Description: Sets the proportional gain of the load velocity controller 1 for APC (Advanced Positioning Control).
The gain acts on the difference between the velocity setpoint and load velocity in the branch for filter 2.1 and 2.2.
Description: Sets the proportional gain of the load speed controller 1 for APC (Advanced Positioning Control).
The gain acts on the difference between the speed setpoint and load speed in the branch for filter 2.1 and 2.2.
0.000 10.000 0.700
p3750[0...n] CI: APC acceleration sensor input / APC accel input
SERVO (APC) Can be changed: T Calculated: - Access level: 2
- - 0
p3751[0...n] APC acceleration sensor high pass time constant / APC accel DT1 T
0.00 [ms] 10000.00 [ms] 100.00 [ms]
p3760[0...n] APC load velocity controller 1 P gain / APC v_load ctr1 Kp
-100.000 100.000 0.000
p3760[0...n] APC load speed controller 1 P gain / APC n_load ctr1 Kp
-100.000 100.000 0.000
Parameters
List of parameters
Description: Sets the rate time of the load velocity controller 1 for APC (Advanced Positioning Control).
The rate time acts on the load acceleration in the branch for filter 2.1 and 2.2.
Description: Sets the rate time of the load speed controller 1 for APC (Advanced Positioning Control).
Description: Sets the proportional gain of the load velocity controller 2 for APC (Advanced Positioning Control).
The gain acts on the difference between the velocity setpoint and load velocity in the branch for filter 3.1 and 3.2.
Description: Sets the proportional gain of the load speed controller 2 for APC (Advanced Positioning Control).
The gain acts on the difference between the speed setpoint and load speed in the branch for filter 3.1 and 3.2.
Description: Sets the rate time of the load velocity controller 2 for APC (Advanced Positioning Control).
p3761[0...n] APC load velocity controller 1 rate time / APC v_load ctr1 Tv
-500.00 [ms] 500.00 [ms] 0.00 [ms]
p3761[0...n] APC load speed controller 1 rate time / APC n_load ctr1 Tv
-500.00 [ms] 500.00 [ms] 0.00 [ms]
-100.000 100.000 0.000
-100.000 100.000 0.000
-500.00 [ms] 500.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Sets the rate time of the load speed controller 2 for APC (Advanced Positioning Control).
Description: Displays the load velocity for APC (Advanced Positioning Control).
Description: Displays the load speed for APC (Advanced Positioning Control).
Description: Displays the smoothed load velocity for APC (Advanced Positioning Control).
Description: Displays the smoothed load speed for APC (Advanced Positioning Control).
-500.00 [ms] 500.00 [ms] 0.00 [ms]
r3770 CO: APC load velocity / APC v_load
SERVO (APC, Lin) Can be changed: - Calculated: - Access level: 3
r3770 CO: APC load speed / APC n_load
SERVO (APC) Can be changed: - Calculated: - Access level: 3
- [rpm] - [rpm] - [rpm]
r3771 CO: APC load velocity smoothed / APC v_load smth
r3771 CO: APC load speed smoothed / APC n_load smth
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the velocities in filter branch 2.
Index: [0] = Filter 2.1 input value
[1] = Filter 2.2 output value
Description: Displays the speeds in filter branch 2.
r3772[0...1] APC filter branch 2 display values / APC branch 2 val
- [rpm] - [rpm] - [rpm]
- [rpm] - [rpm] - [rpm]
r3777[0...1] CO: APC filter branch 1 display values / APC branch 1 val
List of parameters
Parameters
Description: Sets the velocity limit for APC (Advanced Positioning Control).
Description: Sets the speed limit for APC (Advanced Positioning Control).
Description: Sets the monitoring time to limit the output for APC (Advanced Positioning Control).
This monitoring time is started after the selected limit value (p3778) has been exceeded. A corresponding fault is
output if the limit value is not undershot before this time expires.
Refer to: F07425
r3777[0...1] CO: APC filter branch 1 display values / APC branch 1 val
- [rpm] - [rpm] - [rpm]
p3778[0...n] APC velocity limit / APC v_limit
0.00 [m/min] 1000.00 [m/min] 1000.00 [m/min]
p3778[0...n] APC speed limit / APC n_limit
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
p3779[0...n] APC velocity limit monitoring time / APC v_limit t
0 [ms] 1000000 [ms] 0 [ms]
Parameters
List of parameters
Description: Sets the monitoring time to limit the output for APC (Advanced Positioning Control).
This monitoring time is started after the selected limit value (p3778) has been exceeded. A corresponding fault is
output if the limit value is not undershot before this time expires.
Refer to: F07425
Description: Sets the signal source to increase the voltage for external line-drive synchronization.
The voltage is increased.
Note: Only SINAMICS GM150.
Description: Sets the signal source to decrease the voltage for external line-drive synchronization.
The voltage is lowered.
Note: Only SINAMICS GM150.
Description: Sets the activation for the line-drive synchronization.
Value: 0: Sync-line-drive de-activated
1: Sync-line-drive activated VSM-INT
p3779[0...n] APC speed limit monitoring time / APC n_limit t
0 [ms] 1000000 [ms] 0 [ms]
p3784[0...n] BI: Sync-line-drive external increase voltage / Sync ext U incr
- - 0
p3785[0...n] BI: Sync-line-drive external decrease voltage / Sync ext U decr
- - 0
p3800[0...n] Sync-line-drive activation / Sync act
0 1 0
List of parameters
Parameters
Note: When the ground fault monitoring initiates a fault for overlapping synchronizing the threshold value p0287[1] for the
Motor Module and the associated infeed must be appropriately increased (e.g. p0287[1] = 100 %).
The INTERNAL voltage actual values are used for synchronization. The effects that a (sine-wave) filter - that is con-
nected between the Motor Module and motor - has on the voltage actual values are taken into account (theoreti-
cally) by appropriately selecting p0230.
VSM: Voltage Sensing Module
Description: Sets the drive object number of the Voltage Sensing Module (VSM) used for the line-drive synchronization.
Notice: The current controller sampling time p0115[0] of the drive object with the VSM used for synchronization must be
identical to the current controller sampling time of the drive of the drive used to perform line synchronization.
Note: VSM: Voltage Sensing Module
The setting p3801 = 1 is always possible (no VSM selected).
If the VSM is assigned subsequently to a Motor Module, its drive object number must be entered in p3801.
Description: Sets the signal source to switch in/switch out for the line-drive synchronization.
The line-drive synchronization is switched in.
Description: Displays the control word for the line-drive synchronization.
Note: Re bit 00:
For a 1 signal, p3800 > 0 is set.
p3801[0...n] Sync-line-drive, drive object number / Sync DO_No
1 62 1
p3802[0...n] BI: Sync-line-drive enable / Sync enable
- - 0
r3803.0 CO/BO: Sync-line-drive control word / Sync STW
- - -
00 Sync-line-drive selected Yes No -
Parameters
List of parameters
Description: Displays the target frequency for the line-drive synchronization.
Description: Displays the frequency difference between the measured target frequency and output frequency of the gating unit
of the closed-loop control for line-drive synchronization.
Description: Sets the threshold value of the frequency difference to activate the closed-loop phase control for line-drive synchro-
nization.
The closed-loop phase control is activated (r3819.6 = 1), if the frequency difference is less that the threshold value.
Description: Displays the phase difference between the measured target phase and phase of the gating unit of the closed-loop
control for line-drive synchronization.
Description: Sets the phase setpoint for the line-drive synchronization.
r3804 CO: Sync-line-drive target frequency / Sync f_target
- [Hz] - [Hz] - [Hz]
r3805 CO: Sync-line-drive frequency difference / Sync f_diff
- [Hz] - [Hz] - [Hz]
p3806[0...n] Sync-line-drive frequency difference threshold value / Sync f_diff thresh
0.00 [Hz] 1.00 [Hz] 0.10 [Hz]
r3808 CO: Sync-line-drive phase difference / Sync phase diff
- [] - [] - []
p3809[0...n] Sync-line-drive phase setpoint / Sync phase setp
-180.00 [] 179.90 [] 0.00 []
List of parameters
Parameters
Description: Sets the frequency limiting of the phase controller output for the line-drive synchronization.
Description: Displays the correction frequency for the line-drive synchronization.
Description: Sets the threshold value of the phase synchronism for the line-drive synchronization.
A prerequisite for synchronism is achieved if the phase difference is lower than the threshold value.
Note: Synchronism is reached (r3819.2 = 1), if the AND logic operation of the results from the phase measurement
(p3813) and voltage measurement (p3815) is fulfilled.
Description: Displays the voltage difference between the measured target voltage and output voltage of the gating unit of the
closed-loop control for line-drive synchronization.
Description: Sets the threshold value of the voltage difference for the line-drive synchronization.
A prerequisite for synchronism is reached if the voltage difference is less than the threshold value.
Note: Synchronism is reached (r3819.2 = 1), if the AND logic operation of the results from the phase measurement
(p3813) and voltage measurement (p3815) is fulfilled.
p3811[0...n] Sync-line-drive frequency limiting / Sync f_lim
0.00 [Hz] 1.00 [Hz] 0.20 [Hz]
r3812 CO: Sync-line-drive correction frequency / Sync f_corr
- [Hz] - [Hz] - [Hz]
p3813[0...n] Sync-line-drive phase synchronism threshold value / Sync Ph_sync thrsh
1.00 [] 20.00 [] 2.00 []
r3814 CO: Sync-line-drive voltage difference / Sync U_diff
p3815[0...n] Sync-line-drive voltage difference threshold value / Sync U_diff thresh
CALC_MOD_LIM_REF
Access level: 2
0.00 [%] 20.00 [%] 10.00 [%]
Parameters
List of parameters
For voltage manipulated quantity margin (reserve) of the drive converter, the amplitude difference (r3814) between
the setpoint and actual value is controlled (corrected) to zero.
Description: Displays the status word for the line-drive synchronization.
Description: The friction characteristic is defined by 10 value pairs.
This parameter specifies the n coordinate of the 1st value pair of the friction characteristic.
This parameter specifies the v coordinate of the 1st value pair of the friction characteristic.
This parameter specifies the n coordinate of the 2nd value pair of the friction characteristic.
r3819.0...7 CO/BO: Sync-line-drive status word / Sync ZSW
- - -
00 Sync-line-drive enabled Yes No -
02 Sync-line-drive synchronism reached Yes No -
03 Sync-line-drive synchronizing error Yes No -
05 Sync-line-drive frequency measurement
active
Yes No -
06 Sync-line-drive phase control active Yes No -
07 Sync-line-drive without drive Yes No -
p3820[0...n] Friction characteristic, value n0 / Friction n0
SERVO, VECTOR
(n/M)
Can be changed: T Calculated:
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 15.00 [rpm]
p3820[0...n] Friction characteristic, value v0 / Friction v0
SERVO (Lin) Can be changed: T Calculated:
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 1.50 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 30.00 [rpm]
List of parameters
Parameters
This parameter specifies the v coordinate of the 2nd value pair of the friction characteristic.
This parameter specifies the n coordinate of the 3rd value pair of the friction characteristic.
This parameter specifies the v coordinate of the 3rd value pair of the friction characteristic.
This parameter specifies the n coordinate of the 4th value pair of the friction characteristic.
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 3.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 60.00 [rpm]
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 6.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 120.00 [rpm]
Parameters
List of parameters
This parameter specifies the v coordinate of the 4th value pair of the friction characteristic.
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 12.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 150.00 [rpm]
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 15.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 300.00 [rpm]
List of parameters
Parameters
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 30.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 600.00 [rpm]
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 60.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 1200.00 [rpm]
Parameters
List of parameters
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 120.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 1500.00 [rpm]
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 150.00 [m/min]
SERVO, VECTOR
(n/M)
CALC_MOD_LIM_REF
Access level: 2
0.00 [rpm] 210000.00 [rpm] 3000.00 [rpm]
List of parameters
Parameters
This parameter specifies the M coordinate of the 1st value pair of the friction characteristic.
This parameter specifies the F coordinate of the 1st value pair of the friction characteristic.
This parameter specifies the M coordinate of the 2nd value pair of the friction characteristic.
CALC_MOD_LIM_REF
Access level: 2
0.00 [m/min] 21000.00 [m/min] 300.00 [m/min]
p3830[0...n] Friction characteristic, value M0 / Friction M0
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
p3830[0...n] Friction characteristic, value F0 / Friction F0
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
This parameter specifies the F coordinate of the 2nd value pair of the friction characteristic.
This parameter specifies the M coordinate of the 3rd value pair of the friction characteristic.
This parameter specifies the F coordinate of the 3rd value pair of the friction characteristic.
This parameter specifies the M coordinate of the 4th value pair of the friction characteristic.
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
List of parameters
Parameters
This parameter specifies the F coordinate of the 4th value pair of the friction characteristic.
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
List of parameters
Parameters
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
Description: Displays the state of the friction characteristic.
Description: Displays the torque of the friction characteristic dependent on the speed.
Description: Displays the force of the friction characteristic dependent on the velocity.
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
r3840.0...8 CO/BO: Friction characteristic, status word / Friction ZSW
SERVO, VECTOR
(n/M)
- - -
00 Friction characteristic OK Yes No -
01 Friction characteristic record activated Yes No -
02 Friction characteristic record completed Yes No -
03 Friction characteristic record aborted Yes No -
08 Friction characteristic positive direction Yes No -
r3841 CO: Friction characteristic output / Frict outp
SERVO, VECTOR
(n/M)
- [Nm] - [Nm] - [Nm]
r3841 CO: Friction characteristic output / Frict outp
- [N] - [N] - [N]
List of parameters
Parameters
Description: Setting to activate and de-activate the friction characteristic.
Value: 0: Friction characteristic de-activated
1: Friction characteristic activated
Description: Setting for the friction characteristic record.
After the next power-on command, the friction characteristic is automatically recorded.
Value: 0: Friction characteristic record de-activated
1: Friction char record activated for all directions
2: Friction char record activated for positive direction
3: Friction char record activated for negative direction
Dependency: When selecting the friction characteristic measurement, the drive data set changeover is suppressed.
For linear drives (refer to r0108 bit 12) it is not permissible to carry out the friction characteristic measurement for
mechanical systems that limit travel.
Danger: For drives with a mechanical system that limit the distance moved, it must be ensured that during recording, the fric-
tion characteristic is not reached. If this is not the case, then it is not permissible that the measurement is carried
out.
Notice: To permanently accept the determined settings they must be saved in a non-volatile fashion (p0971, p0977).
Note: When the friction characteristic record is active, it is not possible to save the parameters (p0971, p0977).
When the friction characteristic record is active (p3845 > 0), it is not possible to change p3820 ... p3829, p3830 ...
p3839 and p3842.
When recording the friction characteristic, in addition to the friction, the motor losses are also determined (e.g. iron
losses, eddy current losses and re-magnetizing losses). A differentiation is not made between these individual loss
components. We recommend that a motor temperature sensor is used because torque deviations can also be emu-
lated/mapped on the characteristic due to the thermal influence.
Description: Sets the ramp-up/ramp-down time of the ramp-up/ramp-down function generator to automatically record the friction
characteristic. The drive is accelerated from standstill (setpoint = 0) up to the maximum speed/velocity (p1082) in
this time.
p3842 Friction characteristic activation / Frict act
SERVO, VECTOR
(n/M)
0 1 0
p3845 Friction characteristic record activation / Frict rec act
0 3 0
p3846[0...n] Friction characteristic record ramp-up/ramp-down time / Frict rec t_RFG
SERVO, VECTOR
(n/M)
0.000 [s] 999999.000 [s] 10.000 [s]
Parameters
List of parameters
Description: Sets the warm-up time.
For an automatic trace (record) to start, the highest selected speed (p3829) is approached and this time is held.
After this, the measurement is started with the highest speed.
Description: Sets the number of Braking Modules connected in parallel in a DC link.
Note: The parameter can only be written to if the infeed is in the commissioning mode (p0010 = 2).
Description: Signal to energize terminal X21.1 "inhibit/acknowledgement" on the Braking Module.
This binector output is used as signal source to interconnect to a digital output.
For "booksize" formats the digital output must be connected to terminal X21.1 and for "chassis" formats the digital
output must be connected to terminal X21.3 of the particular Braking Module.
Warning: Check that binector outputs BO: r3861.n are connected correctly and that the appropriate digital outputs are wired
correctly.
If the interconnection/wiring is incorrect, the software could execute a different (incorrect) function via binector out-
puts BO: r3861.n if the Braking Module develops a fault.
p3847[0...n] Friction characteristic record warm-up time / Frict rec t_warm
SERVO, VECTOR
(n/M)
0.000 [s] 3600.000 [s] 0.000 [s]
p3860 Number of Braking Modules connected in parallel / BM qty par_cct
A_INF (Brk Mod ext),
B_INF (Brk Mod ext),
S_INF (Brk Mod ext)
1 8 1
r3861.0...7 BO: Braking Module inhibit/acknowledgement / BM inhib/ackn
S_INF (Brk Mod ext)
- - -
00 Inhibit/acknowledge Braking Module 1 High Low -
List of parameters
Parameters
Description: Sets the delay time for switching in the DC link fast discharge.
Note: The DC link fast discharge is only possible for "booksize" formats. This function is not supported for "chassis" for-
mats.
Description: Sets the signal source to activate the DC link fast discharge.
The DC link fast discharge is started later with delay time (p3862) when the following conditions apply:
- BI: p3863 = 1 signal.
- an external line contactor is opened via r0863.1 "energize contactor".
The DC link fast discharge is interrupted when the following conditions apply:
- BI: p3863 = 0 signal.
- ON command for the infeed.
Recommend.: The DC link fast discharge should be activated if there is an external line contactor and is correctly interconnected
(r0863.1, p0860). If the DC link fast discharge is not activated together with an external line contactor, then faults
could occur when pre-charging (e.g. F30027).
Refer to: F30027
mats.
Description: Signal to control (energize) terminal X21.2 "DC link fast discharge" on the Braking Module.
This binector output is used as signal source to interconnect to a digital output. The digital output must be con-
nected to terminal X21.2 of the particular Braking Module.
p3862 Braking Module DC link fast discharge delay time / BM DC-dischg t_del
S_INF (Brk Mod ext)
500 [ms] 4294967295 [ms] 1000 [ms]
p3863 BI: Activating Braking Module DC link fast discharge / BM DC-dischg act
S_INF (Brk Mod ext)
- - 0
r3864.0...7 BO: Braking Module DC link fast discharge / BM DC link dischg
S_INF (Brk Mod ext)
- - -
00 Fast discharge Braking Module 1 High Low -
Parameters
List of parameters
Refer to: F30027
Warning: It must be carefully ensured that the binector outputs BO: p3864.n are correctly interconnected and also that the
appropriate digital outputs are correctly connected up.
If the interconnection/connection is incorrect, in the case of an active DC link fast discharge, the software could exe-
cute another function (incorrect function) via binector outputs BO: p3864.n or could also permanently control the DC
link fast discharge even if the line contactor is closed.
mats.
Description: Sets the signal source for the signal "pre-alarm I*t shutdown (X21.3) of the Braking Module.
BI: p3865[0...7] = 0 signal --> no pre-alarm, I*t shutdown
BI: p3865[0...7] = 1 signal --> pre-alarm I*t shutdown (A06901)
Note: The pre-alarm I*t shutdown is only possible for "booksize" formats. This function is not supported for "chassis" for-
mats.
Description: Sets the signal source for the "fault" signal of the Braking Module (X21.4 for "booksize" formats and X21.3 for
"chassis" formats).
BI: p3866[0...7] = 0 signal --> fault (A06900)
BI: p3866[0...7] = 1 signal --> No fault
For a 1 signal, an acknowledgement via BO: r3861 is automatically carried out at certain time intervals.
Description: Sets the configuration when operating a long stator motor.
Dependency: Refer to: p3871, p3872, p3873, p3874, r3875, p3876, p3878, p3879
Notice: The following restrictions apply to this function:
- it is not permissible to change over the drive data set.
- the encoder/drive may not be parked using a PROFIBUS telegram.
p3865[0...7] BI: Braking Module pre-warning I*t shutdown / BM I*t shutdown
S_INF (Brk Mod ext)
- - 0
p3866[0...7] BI: Braking Module fault / BM fault
S_INF (Brk Mod ext)
- - 0
p3870 Long stator configuration / Long stator config
- - 0000 bin
00 Activate long stator help functions Active Inactive -
01 Suppress Gx_ZSW.14 Active Inactive -
List of parameters
Parameters
- a maximum of 4 drives may be connected to the Control Unit.
- it is not permissible to commutate with the zero mark (p0404).
Note: Re bit 00:
All of the help functions for long stator motors can be enabled/disabled using this bit.
Re bit 01:
When the bit is set, bit 14 (parking encoder active) is set to 0 in the encoder status word GX_ZSW independent of
whether the encoder is parked or not.
Description: Sets the signal source to set the commutation angle available via connector input p3872.
Danger: Setting an incorrect commutation angle can result in instability in the closed-loop control and in turn injure person-
nel or cause damage to the machine!
Note: Setting takes place for a 0/1 signal edge.
Description: Sets the signal source for the commutation angle.
This angle is set for a 0/1 signal edge via BI: p3871.
Dependency: Refer to: p3870, p3871, p3873, r3875, p3876, p3878, p3879
Description: Sets the signal source to change over to closed-loop control with encoder.
Note: BI: p3873 = 1 signal --> closed-loop control with encoder
BI: p3873 = 0 signal --> encoderless closed-loop control
For a 0/1 edge, the commutation angle is set from CI: p3874.
p3871 BI: Set long stator signal source commutation angle (p3872) / Set S_src com_ang
- - 0
p3872 CI: Long stator signal source commutation angle / S_src com_angle
- - 3878[0]
p3873 BI: Long stator sig. source changeover to cl.-loop ctrl w/ enc. / S_src ctrl w/ enc
- - 0
Parameters
List of parameters
Description: Sets the signal source for the commutation angle for operation with encoder.
Note: This angle is set for a 0/1 signal edge via BI: p3873.
Description: Displays the status word for long stator motors.
Note: The display is updated with a sampling time of 1 ms.
Re bit 00 = 1:
The encoder is parked. Contrary to r0481.14, parking is also displayed here if the suppression of the parking bit is
active in r0481.14 (p3870.1 = 1).
Re bit 01 = 1:
The long-stator functions requested closed-loop speed control with encoder. In r1407.2, it is indicated as to whether
an encoder is actually used for the closed-loop control.
Description: Displays the status word for long stator motors.
Note: The display is updated with a sampling time of 1 ms.
Re bit 00 = 1:
The encoder is parked. Contrary to r0481.14, parking is also displayed here if the suppression of the parking bit is
active in r0481.14 (p3870.1 = 1).
Re bit 01 = 1:
The long-stator functions requested closed-loop velocity control with encoder. In r1407.2, it is indicated as to
whether an encoder is actually used for the closed-loop control.
p3874 CI: Long stator signal source commutation angle oper. with encoder /
S_src com_ang enc
- - 3879[0]
r3875.0...1 CO/BO: Long stator status word / Long stator ZSW
- - -
00 Sensor Module is unparked Yes No -
01 Closed-loop speed control with encoder
requested
Active Inactive -
r3875.0...1 CO/BO: Long stator status word / Long stator ZSW
- - -
00 Sensor Module is unparked Yes No -
01 Closed-loop velocity control with encoder
requested
Active Inactive -
List of parameters
Parameters
Description: Sets the signal source 1 to unpark the encoder.
Dependency: Refer to: p3870, p3871, p3872, p3873, p3874, r3875, p3878, p3879
Note: BI: p3876 = 1 signal --> encoder is unparked
BI: p3876 = 0 signal --> encoder is parked
Description: Sets the commutation angle 1 for long stator motors.
Description: Sets the commutation angle 2 for long stator motors.
Description: Exits the quick commissioning (p0010 = 1) with automatic calculation of all of the parameters that depend on the
entries made during the quick commissioning.
p3900 = 1 initially includes a parameter reset (factory setting, the same as p0970 = 1) for all parameters of the drive
object; however, without overwriting the entries made during the quick commissioning. The interconnections of
PROFIBUS PZD telegram selection (p0922) and the interconnections via p0700 are re-established and all of the
dependent filter and closed-loop control parameters are calculated (corresponding to p0340 = 1).
p3900 = 2 includes the restoration of the interconnections of PROFIBUS PZD telegram selection (p0922) and the
interconnections via p0700 and the calculations corresponding to p0340 = 1.
p3900 = 3 only includes the end of quick commissioning.
Value: 0: No quick parameterization
1: Quick parameterization after parameter reset
2: Quick param. (only) for controller par. and reset for BICO par
3: Completion of quick commissioning
p3876 BI: Unpark long stator signal source 1 encoder / S_src 1 enc unpark
- - 0
p3878 CO: Long stator commutation angle 1 / Com_angle 1
-180 [] 180 [] 0 []
p3879 CO: Long stator commutation angle 2 / Com_angle 2
-180 [] 180 [] 0 []
p3900 Completion of quick commissioning / Compl quick_comm
A_INF, B_INF,
S_INF
0 3 0
Parameters
List of parameters
Note: When the calculations have been completed, p3900 and p0010 are automatically reset to a value of 0.
Description: Exits quick commissioning (p0010 = 1) with automatic calculation of all parameters of all existing drive data sets
that depend on the entries made during quick commissioning.
object; however, without overwriting the entries made during the quick commissioning.
The interconnections of PROFIBUS PZD telegram selection (p0922) and the interconnections via p0700, p1000
and p1500 are re-established and all of the dependent motor, open-loop and control-loop control parameters are
calculated (corresponding to p0340 = 1).
interconnections via p0700, p1000 and p1500 and the calculations corresponding to p0340 = 1.
p3900 = 3 only includes the calculations associated with the motor, open-loop and closed-loop control parameters
corresponding to p0340 = 1.
2: Quick parameterization (only) for BICO and motor parameters
3: Quick parameterization for motor parameters (only)
When calculating motor, open-loop and closed-loop control parameters (such as for p0340 = 1) parameters associ-
ated with a selected Siemens catalog motor are not overwritten.
If a catalog motor has not been selected (see p0300), then the following parameters are reset with p3900 > 0 in
order to restore the situation that applied when commissioning the drive for the first time:
for induction motors p0320, p0352, p0353, p0604, p0605, p0626 ... p0628.
for synchronous motors p0326, p0327, p0352, p0353, p0391 ... p0393, p0604, p0605.
Description: Exits quick commissioning (p0010 = 1) with automatic calculation of all parameters of all existing drive data sets
that depend on the entries made during quick commissioning.
object; however, without overwriting the entries made during the quick commissioning.
The interconnections of PROFIBUS PZD telegram selection (p0922) and the interconnections via p0700, p1000
and p1500 are re-established and all of the dependent motor, open-loop and control-loop control parameters are
calculated (corresponding to p0340 = 1).
interconnections via p0700, p1000 and p1500 and the calculations corresponding to p0340 = 1.
p3900 = 3 only includes the calculations associated with the motor, open-loop and closed-loop control parameters
corresponding to p0340 = 1.
0 3 0
0 3 0
List of parameters
Parameters
2: Quick parameterization (only) for BICO and motor parameters
3: Quick parameterization for motor parameters (only)
When calculating motor, open-loop and closed-loop control parameters (such as for p0340 = 1) parameters associ-
ated with a selected Siemens catalog motor are not overwritten.
If a catalog motor has not been selected (see p0300), then the following parameters are reset with p3900 > 0 in
order to restore the situation that applied when commissioning the drive for the first time:
for induction motors p0320, p0352, p0353, p0362 ... p0369, p0391 ... p0393, p0604, p0605, p0626 ... p0628.
for synchronous motors p0326, p0327, p0352, p0353, p0391 ... p0393, p0604, p0605.
Description: Differential voltage for calibrating the offset for DC-link voltage measurement.
Caution: Incorrect use of the calibration can have a negative impact on the closed-loop control. The parameter influences the
upper and lower voltage detection.
Note: Parameter entries are directly saved in the DRIVE-CLiQ component involved.
The parameter is only effective in the case of booksize power units if r0192 bit 22 and p0212 bit 0 are set.
Description: Displays the commissioning steps that have been carried out.
Note: The individual bits are only set if the appropriate action has been initiated and successfully completed.
When motor rating plate parameters are changed, the final display is reset.
When setting the individual bits, all of the most significant bits are reset.
p3901[0...n] Power unit EEPROM Vdc offset calibration / PU EEPROM Vdc_offs
B_INF, VECTOR Can be changed: C1, C2(1), T Calculated: - Access level: 3
-40.0 [V] 40.0 [V] 0.0 [V]
r3925[0...n] Identification final display / Ident final_disp
SERVO Can be changed: - Calculated: CALC_MOD_ALL Access level: 3
- - -
00 Motor/control parameters calculated (p0340
= 1, p3900 > 0)
Yes No -
02 Motor data identification carried out at
standstill (p1910 = 1)
Yes No -
03 Rotating measurement carried out (p1960 =
1, 2)
Yes No -
04 Motor encoder adjustment carried out
(p1960 = 1, p1990 = 1)
Yes No -
05 Motor encoder manually adjusted Yes No -
15 Motor equivalent circuit diagram parameters
changed
Changed Not changed -
Parameters
List of parameters
Description: Displays the commissioning steps that have been carried out.
Note: The individual bits are only set if the appropriate action has been initiated and successfully completed.
When motor rating plate parameters are changed, the final display is reset.
When setting the individual bits, all of the most significant bits are reset.
Description: Displays the data of an induction motor determined and accepted from the stationary motor data identification or
rotating measurement.
VECTOR Can be changed: - Calculated: CALC_MOD_ALL Access level: 3
- - -
00 Motor/control parameters calculated (p0340
= 1, p3900 > 0)
Yes No -
02 Motor data identification carried out at
standstill (p1910 = 1)
Yes No -
03 Rotating measurement carried out (p1960 =
1, 2)
Yes No -
04 Motor encoder adjustment carried out
(p1960 = 1, p1990 = 1)
Yes No -
10 Automatic parameterization only for U/f con-
trol (r0108.2 = 0)
Yes No -
15 Motor equivalent circuit diagram parameters
changed
Changed Not changed -
r3927[0...n] Motor data identification induction motor data determined / MotID ASM dat det
- - -
00 p0350 accepted Yes No -
List of parameters
Parameters
Description: Successfully completed component of the last motor data identification carried out.
Note: The parameter is a copy of p1909.
Description: Successfully completed component of the last rotating measurement carried out.
r3927[0...n] Motor data identification control word / MotID STW
VECTOR Can be changed: - Calculated: CALC_MOD_ALL Access level: 3
- - -
00 Stator inductance estimate no measure-
ment
Yes No -
01 Cl.-loop current control w/ dead-beat con-
troller
Yes No -
02 Rotor time constant estimate no measure-
ment
Yes No -
03 Leakage inductance estimate no measure-
ment
Yes No -
04 Activates the identification dynamic leak-
age inductance
Yes No -
05 Determine Tr and Lsig evaluation in the time
range
Yes No -
06 Activate vibration damping Yes No -
07 De-activate vibration detection Yes No -
11 De-activate pulse measurement Lq Ld Yes No -
12 De-activate rotor resistance Rr measure-
ment
Yes No -
14 De-activate valve interlocking time mea-
surement
Yes No -
15 Determine only stator resistance, valve volt-
age fault, dead time
Yes No -
r3928[0...n] Motor data identification synchronous motor data determined / MotId PEM dat det
- - -
23 kT characteristic parameter accepted Yes No -
Parameters
List of parameters
Description: Successfully completed component of the last rotating measurement carried out.
Note: The parameter is a copy of p1959.
Description: For service personnel only.
Description: Displays the measured operating hours since the last fan replacement.
Description: Displays the status word for the drive unit.
r3928[0...n] Rotating measurement configuration / Rot meas config
VECTOR (n/M) Can be changed: - Calculated: CALC_MOD_ALL Access level: 3
- - -
01 Saturation characteristic identification Yes No -
02 Moment of inertia identification Yes No -
03 Re-calculates the speed controller parame-
ters
Yes No -
04 Speed controller optimization (vibration test) Yes No -
05 q leakage inductance ident. (for current con-
troller adaptation)
Yes No -
p3950 Service parameter / Serv. par.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r3961 Fan operating hours counter / Fan op hr counter
CU_S_CU310DP,
CU_S_CU310PN
0.000 [h] 150000.000 [h] - [h]
r3974 Drive unit status word / Drv_unit ZSW
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Software reset active Yes No -
List of parameters
Parameters
Description: Displays the BICO interconnections that have been parameterized in the complete (overall) topology.
The counter is incremented by one for each modified BICO interconnection.
Description: Displays the counter reading for modified BICO interconnections on this device.
Description: Displays the counter reading for modified BICO interconnections on this drive object.
Description: Setting to acknowledge all active faults of a drive object.
01 Writing of parameters disabled as parame-
ter save in progress
Yes No -
02 Writing of parameters disabled as macro is
running
Yes No -
r3977 BICO counter, topology / BICO counter topo
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r3978 BICO CounterDevice / BICO CounterDevice
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r3979 BICO counter, drive object / BICO counter DO
A_INF, B_INF,
CU_LINK,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
- - -
p3981 Faults, acknowledge drive object / Faults ackn DO
0 1 0
Parameters
List of parameters
Note: Parameter should be set from 0 to 1 to acknowledge.
After acknowledgement, the parameter is automatically reset to 0.
Description: Sets the mode to change over the master control / LOCAL mode.
Value: 0: Change master control for STW1.0 = 0
1: Change master control in operation
Danger: When changing the master control in operation, the drive can manifest undesirable behavior - e.g. it can accelerate
up to another setpoint.
Description: Displays the number of parameters for this drive unit.
The number comprises the device-specific and the drive-specific parameters.
Displays the boot state.
Index 1:
Displays the partial boot state
Value: 0: Not active
1: Fatal fault
10: Fault
20: Reset all parameters
30: Drive object modified
40: Download using commissioning software
50: Parameter download using commissioning software
90: Reset Control Unit and delete drive objects
100: Start initialization
101: Wait for topology input
110: Instantiate Control Unit basis
112: Remove drive object
p3985 Master control mode selection / PcCtrl mode select
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 1 0
r3986 Parameter count / Parameter No.
- - -
r3988[0...1] Boot state / Boot_state
CU_CX32,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 10800 -
List of parameters
Parameters
117: Remove component
150: Wait until actual topology determined
160: Evaluate topology
170: Instantiate Control Unit reset
180: Initialization YDB configuration information
200: First commissioning
210: Create drive packages
250: Wait for topology acknowledge
325: Wait for input of drive type
350: Determine drive type
360: Write into topology-dependent parameters
370: Wait until p0009 = 0 is set
380: Check topology
550: Call conversion functions for parameter
625: Wait non-cyclic starting DRIVE-CLiQ
650: Start cyclic operation
660: Evaluate drive commissioning status
670: Autom. FW update DRIVE-CLiQ components
680: Wait for CU LINK slaves
700: Save parameters
725: Wait until DRIVE-CLiQ cyclic
740: Check the ability to operate
745: Start of the time slices
750: Interrupt enable
800: Initialization finished
10050: Wait for synchronization
10200: Evaluation component status
10300: Preparation cyclic operation
10400: Wait for slave properties
10450: Check CX/NX status
10550: Carry out warm start
10600: Evaluate, encoder status
10800: Partial boot completed
Index: [0] = System
[1] = Partial boot
Displays the boot state.
Index 1:
Displays the partial boot state
Value: 0: Not active
1: Fatal fault
10: Fault
20: Reset all parameters
30: Drive object modified
40: Download using commissioning software
r3988[0...1] Boot state / Boot_state
CU_I Can be changed: - Calculated: - Access level: 3
0 10800 -
Parameters
List of parameters
90: Reset Control Unit and delete drive objects
100: Start initialization
101: Wait for topology input
110: Instantiate Control Unit basis
112: Remove drive object
117: Remove component
160: Evaluate topology
170: Instantiate Control Unit reset
180: Initialization YDB configuration information
190: FW update for CU LINK slaves
200: First commissioning
210: Create drive packages
250: Wait for topology acknowledge
325: Wait for input of drive type
350: Determine drive type
360: Write into topology-dependent parameters
370: Wait until p0009 = 0 is set
380: Check topology
650: Start cyclic operation
660: Evaluate drive commissioning status
700: Save parameters
740: Check the ability to operate
745: Start of the time slices
750: Interrupt enable
800: Initialization finished
10050: Wait for synchronization
10200: Evaluation component status
10300: Preparation cyclic operation
10400: Wait for slave properties
10450: Check CX/NX status
10550: Carry out warm start
10600: Evaluate, encoder status
10800: Partial boot completed
Index: [0] = System
[1] = Partial boot
Description: Displays whether writing to parameters is inhibited.
r3996 Parameter write inhibit status / Par_write inhib st
- - -
List of parameters
Parameters
r3996 = 0:
Parameter write not inhibited.
0 < r3996 < 100:
Parameter write inhibited. The value shows how the calculations are progressing.
Description: Displays whether the infeed must be commissioned for the first time.
0 = Yes
2 = No
Description: Displays whether the drive still has to be commissioned for the first time.
0 = Yes
2 = No
This means that the actual input signal can be checked at terminal DI x prior to switching from the simulation mode
(p4095.x = 1) to the terminal mode (p4095.x = 0).
r3998 First infeed commissioning / First inf_comm
A_INF, B_INF,
S_INF
0 65535 -
r3998[0...n] First drive commissioning / First drv_comm
0 65535 -
r4021 TB30 digital inputs terminal actual value / TB30 DI act value
- - -
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
r4021 TM15DI/DO digital inputs, terminal actual value / TM15D DI act val
9402
- - -
Parameters
List of parameters
DI: Digital Input
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
r4021 TM31 digital inputs terminal actual value / TM31 DI act value
9552, 9560, 9562
- - -
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
List of parameters
Parameters
DI: Digital Input
Description: Displays the status of the digital inputs of the Terminal Board 30 (TB30).
Description: Displays the status of the digital inputs of Terminal Module 15 (TM15).
r4021 TM41 digital inputs terminal actual value / TM41 DI act val
- - -
00 DI 0 (X522.1) High Low 9660
01 DI 1 (X522.2) High Low 9660
02 DI 2 (X522.3) High Low 9660
03 DI 3 (X522.4) High Low 9660
08 DI/DO 0 (X521.1) High Low 9661
09 DI/DO 1 (X521.2) High Low 9661
10 DI/DO 2 (X521.3) High Low 9662
11 DI/DO 3 (X521.4) High Low 9662
r4022.0...3 CO/BO: TB30 digital inputs, status / TB30 DI status
- - -
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
r4022.0...23 CO/BO: TM15DI/DO digital inputs, status / TM15D DI status
9401, 9402
- - -
Parameters
List of parameters
Notice: For the BICO interconnection of the connector output (CO) only bit 00 ... bit 15 are transferred.
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
r4022.0...11 CO/BO: TM31 digital inputs, status / TM31 DI status
9552, 9560, 9562
- - -
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
r4022.0...11 CO/BO: TM41 digital inputs, status / TM41 DI status
9661, 9662
- - -
List of parameters
Parameters
Description: Displays the inverted status of the digital inputs of the Terminal Board 30 (TB30).
Description: Displays the inverted status of the digital inputs of Terminal Module 15 (TM15).
00 DI 0 (X522.1) High Low 9660
01 DI 1 (X522.2) High Low 9660
02 DI 2 (X522.3) High Low 9660
03 DI 3 (X522.4) High Low 9660
08 DI/DO 0 (X521.1) High Low 9661
09 DI/DO 1 (X521.2) High Low 9661
10 DI/DO 2 (X521.3) High Low 9662
11 DI/DO 3 (X521.4) High Low 9662
r4023.0...3 BO: TB30 digital inputs, status inverted / TB30 DI status inv
- - -
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
r4023.0...23 CO/BO: TM15DI/DO digital inputs, status inverted / TM15D DI stat inv
9401, 9402
- - -
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
Parameters
List of parameters
Notice: For the BICO interconnection of the connector output (CO) only bit 00 ... bit 15 are transferred.
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
r4023.0...11 CO/BO: TM31 digital inputs, status inverted / TM31 DI status inv
9552, 9560, 9562
- - -
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
r4023.0...11 BO: TM41 digital inputs, status inverted / TM41 DI status inv
9661, 9662
- - -
00 DI 0 (X522.1) High Low 9660
01 DI 1 (X522.2) High Low 9660
02 DI 2 (X522.3) High Low 9660
03 DI 3 (X522.4) High Low 9660
08 DI/DO 0 (X521.1) High Low 9661
09 DI/DO 1 (X521.2) High Low 9661
10 DI/DO 2 (X521.3) High Low 9662
11 DI/DO 3 (X521.4) High Low 9662
List of parameters
Parameters
Description: Displays the status of digital inputs 16 ... 23 of Terminal Module 15 (TM15).
Description: Displays the inverted status of digital inputs 16 ... 23 of Terminal Module 15 (TM15).
Description: Sets the bidirectional digital inputs/outputs on the Terminal Module 15 (TM15) as input or output.
r4024 CO: TM15DI/DO digital inputs 16 ... 23 status / TM15D DI 16-23 St
- - -
00 DI/DO 16 (X522.2) ON OFF -
01 DI/DO 17 (X522.3) ON OFF -
02 DI/DO 18 (X522.4) ON OFF -
03 DI/DO 19 (X522.5) ON OFF -
04 DI/DO 20 (X522.6) ON OFF -
05 DI/DO 21 (X522.7) ON OFF -
06 DI/DO 22 (X522.8) ON OFF -
07 DI/DO 23 (X522.9) ON OFF -
r4025 CO: TM15DI/DO digital inputs 16 ... 23 status inverted / TM15D DI 16-23 inv
- - -
00 DI/DO 16 (X522.2) ON OFF -
01 DI/DO 17 (X522.3) ON OFF -
02 DI/DO 18 (X522.4) ON OFF -
03 DI/DO 19 (X522.5) ON OFF -
04 DI/DO 20 (X522.6) ON OFF -
05 DI/DO 21 (X522.7) ON OFF -
06 DI/DO 22 (X522.8) ON OFF -
07 DI/DO 23 (X522.9) ON OFF -
p4028 TM15 set input or output / TM15 DI or DO
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 DI/DO 0 (X520.2) Output Input -
Parameters
List of parameters
p4028 TM15DI/DO set input or output / TM15D DI or DO
TM15DI_DO Can be changed: T Calculated: - Access level: 1
9401, 9402
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
List of parameters
Parameters
Description: Sets the bidirectional digital inputs/outputs as input or output on the Terminal Module 31 (TM31).
- - 0000 0000 0000 0000 bin
9562
- - 0000 0000 0000 0000 bin
9662
- - 0000 0000 0000 0000 bin
Parameters
List of parameters
Description: Sets the signal source for digital output DO 0 (X481.5) of the Terminal Board 30 (TB30).
Description: Sets the signal source for terminal DI/DO 0 (X520.2) of Terminal Module 15 (TM15).
Description: Sets the signal source for the digital output DO 0 (X542.1, X542.2, X542.3) of Terminal Module 31 (TM31).
Digital output 0 of TM31 is a relay output.
If the signal at the binector input p4030 is low, then terminal COM 0 (X542.2) is connected to NC 0 (X542.1). This
connection also matches the mechanical quiescent setting of the relay.
If the signal at the binector input p4030 is high, then terminal COM 0 (X542.2) is connected to NO 0 (X542.3).
NC: Normally Closed contact
NO: Normally Open contact
Description: Sets the signal source for terminal DO 1 (X481.6) of the Terminal Board 30 (TB30).
p4030 BI: TB30 signal source for terminal DO 0 / TB30 S_src DO 0
TB30 Can be changed: U, T Calculated: - Access level: 1
- - 0
p4030 BI: TM15DI/DO signal source for terminal DI/DO 0 / TM15D S_src DI/DO0
TM15DI_DO Can be changed: U, T Calculated: - Access level: 1
- - 0
p4030 BI: TM31 signal source for terminal DO 0 / TM31 S_src DO 0
- - 0
- - 0
List of parameters
Parameters
Description: Sets the signal source for the digital output DO 1 (X542.4, X542.5, X542.6) of Terminal Module 31 (TM31).
Digital output 1 of TM31 is a relay output.
If the signal at the binector input p4031 is low, then terminal COM 1 (X542.5) is connected to NC 1 (X542.4). This
connection also matches the mechanical quiescent setting of the relay.
If the signal at the binector input p4031 is high, then terminal COM 1 (X542.5) is connected to NO 1 (X542.6).
NC: Normally Closed contact
NO: Normally Open contact
- - 0
p4031 BI: TM31 signal source for terminal DO 1 / TM31 S_src DO 1
- - 0
- - 0
- - 0
Parameters
List of parameters
- - 0
- - 0
- - 0
- - 0
- - 0
List of parameters
Parameters
Description: Sets the signal source for terminal DI/DO 8 (X521.2) of terminal module 15 (TM15).
- - 0
- - 0
p4038 BI: TM31 signal source for terminal DI/DO 8 / TM31 S_src DI/DO8
- - 0
p4038 BI: TM41 signal source for terminal DI/DO 0 / TM41 S_src DI/DO 0
- - 0
Parameters
List of parameters
- - 0
- - 0
- - 0
p4040 BI: TM15DI/DO signal source for terminal DI/DO 10 / TM15D S_srcDI/DO10
- - 0
List of parameters
Parameters
p4040 BI: TM31 signal source for terminal DI/DO 10 / TM31 S_srcDI/DO10
- - 0
- - 0
- - 0
- - 0
Parameters
List of parameters
- - 0
- - 0
- - 0
- - 0
List of parameters
Parameters
Description: Sets the limit for the total output voltage of terminals X541.1, X541.2, X541.3 and X541.4 (DI/DO 8 ... 11) of Termi-
nal Module 31 (TM31).
Value: 0: 0.1 A total current limit DI/DO 8 ... 11
1: 1.0 A total current limit DI/DO 8 ... 11
Warning: Since the sum of the output currents at terminals X541.1, X541.2, X541.3 and X541.4 is limited, an overcurrent or
short circuit at one output terminal can cause a dip in the signal at the other terminals.
Description: Displays the status of the digital outputs of the Terminal Board 30 (TB30).
DO: Digital Output
Description: Displays the status of the digital outputs of Terminal Module 15 (TM15).
- - 0
p4046 TM31 digital outputs, limit current / TM31 DO limit curr
0 1 0
r4047 TB30 digital outputs status / TB30 DO status
- - -
00 DO 0 (X481.5) High Low -
01 DO 1 (X481.6) High Low -
02 DO 2 (X481.7) High Low -
03 DO 3 (X481.8) High Low -
r4047 TM15DI/DO digital outputs, status / TM15D DO status
9402
- - -
Parameters
List of parameters
The setting of the DI/DO as either input or output is of no significance (p4028).
DO: Digital Output
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
r4047 TM31 digital outputs status / TM31 DO status
9562
- - -
00 DO 0 (X542.1 - 3) High Low -
01 DO 1 (X542.4 - 6) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
r4047 TM41 digital outputs status / TM41 DO status
- - -
List of parameters
Parameters
DO: Digital Output
Description: Setting to invert the signals at the digital outputs of the Terminal Board 30 (TB30).
Description: Setting to invert the signals at the digital inputs/outputs of Terminal Module 15 (TM15).
08 DI/DO 0 (X521.1) High Low 9661
09 DI/DO 1 (X521.2) High Low 9661
10 DI/DO 2 (X521.3) High Low 9662
11 DI/DO 3 (X521.4) High Low 9662
p4048 TB30 invert digital outputs / TB30 DO inv
- - 0000 bin
00 DO 0 (X481.5) Inverted Not inverted -
p4048 TM15 invert digital inputs/outputs / TM15 DI/DO inv
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Parameters
List of parameters
Description: Setting to invert the signals at the digital outputs of Terminal Module 15 (TM15).
Description: Setting to invert the signals at the digital inputs/outputs of Terminal Module 17 (TM17).
p4048 TM15DI/DO invert digital outputs / TM15D DO inv
9402
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
p4048 TM17 invert digital inputs/outputs / TM17 DI/DO inv
- - 0000 0000 0000 0000 bin
List of parameters
Parameters
Description: Sets the mode of the DI/DOs of Terminal Module 15 (TM15).
p4048 TM31 invert digital outputs / TM31 DO inv
9562
- - 0000 0000 0000 0000 bin
00 DO 0 (X542.1 - 3) Inverted Not inverted -
01 DO 1 (X542.4 - 6) Inverted Not inverted -
p4048 TM41 invert digital outputs / TM41 DO inv
- - 0000 0000 0000 0000 bin
08 DI/DO 0 (X521.1) Inverted Not inverted 9661
p4049 TM15 digital inputs/outputs, set the mode / TM15 DI/DO mode
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Parameters
List of parameters
Description: Sets the mode of the DI/DO of Terminal Module 17 (TM17).
00 DI/DO 0 (X520.2) I/O with time I/O -
p4049 TM17 digital inputs/outputs, set the mode / TM17 DI/DO mode
- - 0000 0000 0000 0000 bin
List of parameters
Parameters
Description: Displays the actual input voltage at the analog inputs of the Terminal Board 30 (TB30).
Note:
For p4056[x] = 3 (unipolar current input monitored (+4 mA ... +20 mA)) the following applies:
A current less than 4 mA is not displayed in r4052[x] - but instead r4052[x] = 4 mA is output.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Displays the actual input voltage in V when set as voltage input.
Displays the actual input current in mA when set as current input and with the load resistor switched in.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Dependency: The type of analog input AI x (voltage or current input) is set using p4056.
Description: Displays the current input voltage in V.
Index: [0] = AI 0 (X523.1/X523.2)
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog inputs of the Terminal Board 30
(TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
r4052[0...1] CO: TB30 analog inputs, current input voltage / TB30 AI inp_U
- [V] - [V] - [V]
r4052[0...1] CO: TM31 analog inputs, current input voltage/current / TM31 AI inp_U/I
- - -
r4052[0] CO: TM41 analog inputs, current input voltage / TM41 AI inp_U
- [V] - [V] - [V]
p4053[0...1] TB30 analog inputs, smoothing time constant / TB30 AI T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
Parameters
List of parameters
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog inputs of Terminal Module 31
(TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog input of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
Description: Displays the currently referred input value of the analog inputs of Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Displays the currently referred input value of the analog inputs of Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
p4053[0...1] TM31 analog inputs, smoothing time constant / TM31 AI T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
p4053[0] TM41 analog inputs, smoothing time constant / TM41 AI T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
r4055[0...1] CO: TB30 analog inputs, actual value in percent / TB30 AI value in %
- [%] - [%] - [%]
r4055[0...1] CO: TM31 analog inputs, actual value in percent / TM31 AI value in %
9568
- [%] - [%] - [%]
List of parameters
Parameters
Description: Displays the currently referred input value of the analog inputs of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
Description: Displays the type of analog inputs.
Value: 4: Bipolar voltage input (-10 V ... +10 V)
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the type of analog inputs of Terminal Module 31 (TM31).
p4056[x] = 0, 4 correspond to a voltage input (r4052, p4057, p4059 are displayed in V).
p4056[x] = 2, 3, 5 correspond to a current input (r4052, p4057, p4059 are displayed in mA).
In addition, the associated switch S5 must be switched.
For a voltage input, S5.1 or S5.2 must be switched to setting "V".
For a current input, S5.1 or S5.2 must be switched to setting "I" (load resistor = 250 ohm is switched in).
Value: 0: Unipolar voltage input (0 V ... +10 V)
2: Unipolar current input (0 mA ... +20 mA)
3: Unipolar current input monitored (+4 mA to +20 mA)
4: Bipolar voltage input (-10 V ... +10 V)
5: Bipolar current input (-20 mA to +20 mA)
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Warning: The maximum voltage difference between the analog input terminals AI+, AI- and the ground of the TM31 (X520.6,
X530.3) may not exceed 35 V.
For operation with the load resistor switched in, the voltage between the differential inputs AI+ and AI- may not
exceed 15 V or the impressed current of 60 mA; if this is not carefully observed, the input will be damaged.
Notice: For use as voltage input, switch S500 must be set to 0 for the input involved.
Switch S500 is located on the front panel of the TM31 above terminal block X521.
r4055[0] CO: TM41 analog inputs, current value in percent / TM41 AI value in %
- [%] - [%] - [%]
r4056[0...1] TB30 analog inputs, type / TB30 AI type
4 4 -
p4056[0...1] TM31 analog inputs, type / TM31 AI type
0 5 4
Parameters
List of parameters
Note: When changing p4056, the parameters of the scaling characteristic (p4057, p4058, p4059, p4060) are overwritten
For p4056 = 0, 4, p4057 is set to 0.0 V, p4058 to 0.0 %, p4059 to 10.0 V and p4060 to 100.0 %.
For p4056 = 2, 5, p4057 is set to 0.0 mA, p4058 to 0.0 %, p4059 to 20.0 mA and p4060 to 100.0 %.
For p4056 = 3, p4057 is set to 4.0 mA, p4058 to 0.0 %, p4059 to 20.0 mA and p4060 to 100.0 %.
Description: Displays the type of the analog input.
Value: 4: Bipolar voltage input (-10 V ... +10 V)
Description: Sets the scaling characteristic for the analog inputs of Terminal Board 30 (TB30).
This parameter specifies the x coordinate (input voltage in V) of the 1st value pair of the characteristic.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the scaling characteristic for the analog inputs of Terminal Module 31 (TM31).
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 1st value pair of the char-
acteristic.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
r4056 TM41 analog input, type / TM41 AI type
4 4 -
p4057[0...1] TB30 analog inputs, characteristic value x1 / TB30 AI char x1
-11.000 [V] 11.000 [V] 0.000 [V]
p4057[0...1] TM31 analog inputs, characteristic value x1 / TM31 AI char x1
-20.000 20.000 0.000
List of parameters
Parameters
Description: Sets the scaling characteristic for the analog input of Terminal Module 41 (TM41).
This parameter specifies the x coordinate (input voltage in V) of the 1st value pair of the characteristic.
Index: [0] = AI 0 (X523.1/X523.2)
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
p4057[0] TM41 analog input, characteristic value x1 / TM41 AI char x1
-20.000 [V] 20.000 [V] 0.000 [V]
p4058[0...1] TB30 analog inputs, characteristic value y1 / TB30 AI char y1
-1000.00 [%] 1000.00 [%] 0.00 [%]
p4058[0...1] TM31 analog inputs, characteristic value y1 / TM31 AI char y1
-1000.00 [%] 1000.00 [%] 0.00 [%]
p4058[0] TM41 analog input, characteristic value y1 / TM41 AI char y1
-1000.00 [%] 1000.00 [%] 0.00 [%]
Parameters
List of parameters
Index: [0] = AI 0 (X523.1/X523.2)
This parameter specifies the x coordinate (input voltage in V) of the 2nd value pair of the characteristic.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 2nd value pair of the
characteristic.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
This parameter specifies the x coordinate (input voltage in V) of the 2nd value pair of the characteristic.
Index: [0] = AI 0 (X523.1/X523.2)
p4059[0...1] TB30 analog inputs, characteristic value x2 / TB30 AI char x2
-11.000 [V] 11.000 [V] 10.000 [V]
p4059[0...1] TM31 analog inputs, characteristic value x2 / TM31 AI char x2
-20.000 20.000 10.000
p4059[0] TM41 analog input, characteristic value x2 / TM41 AI char x2
-20.000 [V] 20.000 [V] 10.000 [V]
List of parameters
Parameters
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Index: [0] = AI 0 (X523.1/X523.2)
Description: Sets the response threshold for wire-breakage monitoring of the analog inputs of Terminal Module 31 (TM31).
p4060[0...1] TB30 analog inputs, characteristic value y2 / TB30 AI char y2
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4060[0...1] TM31 analog inputs, characteristic value y2 / TM31 AI char y2
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4060[0] TM41 analog input, characteristic value y2 / TM41 AI char y2
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4061[0...1] TM31 analog inputs, wire breakage monitoring response threshold /
TM31 WireBrkThresh
0.00 [mA] 20.00 [mA] 2.00 [mA]
Parameters
List of parameters
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Dependency: For the following analog input type, the wire breakage monitoring is active:
p4056[x] = 3 (unipolar current input monitored (+4 mA ... +20 mA))
Description: Sets the delay time for wire-breakage monitoring of the analog inputs on Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the offset for the analog inputs of Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the offset for the analog inputs of Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the offset for the analog input of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
p4062[0...1] TM31 analog inputs, wire breakage monitoring delay time / TM31 wirebrk t_del
0 [ms] 1000 [ms] 100 [ms]
p4063[0...1] TB30 analog inputs offset / TB30 AI offset
-20.000 [V] 20.000 [V] 0.000 [V]
p4063[0...1] TM31 analog inputs offset / TM31 AI offset
-20.000 20.000 0.000
p4063[0] TM41 analog input, offset / TM41 AI offset
-20.000 [V] 20.000 [V] 0.000 [V]
List of parameters
Parameters
Description: Activates the absolute value generation for the analog input signals of the Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Activates the absolute value generation for the analog input signals of Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Activates the absolute value generation of the analog input signal of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
Description: Sets the signal source to invert the analog input signals of the Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
p4066[0...1] TB30 analog inputs, activate absolute value generation / TB30 AI absVal act
0 1 0
p4066[0...1] TM31 analog inputs, activate absolute value generation / TM31 AI absVal act
0 1 0
p4066[0] TM41 analog input, activate absolute value generation / TM41 AI absVal act
0 1 0
p4067[0...1] BI: TB30 analog inputs invert signal source / TB30 AI inv S_src
- - 0
Parameters
List of parameters
Description: Sets the signal source to invert the analog inputs signals of Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the signal source to invert the analog input signal of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
Description: Sets the noise suppression window of the analog inputs for Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the noise suppression window of the analog inputs for Terminal Module31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
p4067[0...1] BI: TM31 analog inputs invert signal source / TM31 AI inv S_src
- - 0
p4067[0] BI: TM41 analog input invert signal source / TM41 AI inv S_src
- - 0
p4068[0...1] TB30 analog inputs, noise suppression window / TB30 AI window
0.00 [%] 20.00 [%] 0.00 [%]
p4068[0...1] TM31 analog inputs, window to suppress noise / TM31 AI window
0.00 [%] 20.00 [%] 0.00 [%]
List of parameters
Parameters
Description: Sets the noise suppression window of the analog input for Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
Description: Sets the signal source for enabling the analog inputs of the Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the signal source for the enable signal of the analog inputs of Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the signal source for the enable signal of the analog input of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
Description: Sets the signal source for the analog outputs of the Terminal Board 30 (TB30).
p4068[0] TM41 analog input, window to suppress noise / TM41 AI window
0.00 [%] 20.00 [%] 0.00 [%]
p4069[0...1] BI: TB30 analog inputs, signal source for enable / TB30 AI enable
- - 1
p4069[0...1] BI: TM31 analog inputs, signal source for enable / TM31 AI enable
- - 1
p4069[0] BI: TM41 analog input, signal source for enable / TM41 AI enable
- - 1
p4071[0...1] CI: TB30 analog outputs, signal source / TB30 AO S_src
- - 0
Parameters
List of parameters
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Note: AO: Analog Output
Description: Sets the signal source for the analog outputs of Terminal Module 31 (TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Displays the actual referred output value of the analog outputs of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Displays the actual referred output value of the analog outputs of Terminal Module 31 (TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Sets the smoothing time constant of the 1st order low pass filter for the analog outputs of the Terminal Board 30
(TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
p4071[0...1] CI: TM31 analog outputs, signal source / TM31 AO S_src
- - 0
r4072[0...1] TB30 analog outputs, output value currently referred / TB30 AO outp_val
- [%] - [%] - [%]
r4072[0...1] TM31 analog outputs, output value currently referred / TM31 AO outp_val
- [%] - [%] - [%]
p4073[0...1] TB30 analog outputs, smoothing time constant / TB30 AO T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
List of parameters
Parameters
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog outputs of Terminal Module 31
(TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Displays the actual output voltage at the analog outputs of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Displays the actual output voltage in V when set as voltage output.
Displays the actual output voltage in mA when set as current output.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Dependency: The type of the analog output AO x (voltage or current output) is set using p4076.
Description: Activates the absolute value generation for the analog outputs of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
p4073[0...1] TM31 analog outputs, smoothing time constant / TM31 AO T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
r4074[0...1] TB30 analog outputs, current output voltage / TB30 AO U_outp
- [V] - [V] - [V]
r4074[0...1] TM31 analog outputs, current output voltage/current / TM31 AO U/I_outp
- - -
p4075[0...1] TB30 analog outputs, activate absolute value generation / TB30 AO absVal act
TB30 Can be changed: T Calculated: - Access level: 3
0 1 0
Parameters
List of parameters
Description: Activates the absolute value generation for the analog outputs of Terminal Module 31 (TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Displays the type of analog outputs of the Terminal Board 30 (TB30).
Value: 4: Voltage output (-10 V ... +10 V)
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the type of analog outputs of Terminal Module 31 (TM31).
p4076[x] = 1, 4 correspond to a voltage output (p4074, p4078, p4080, p4083 are displayed in V).
p4076[x] = 0, 2, 3 correspond to a current output (p4074, p4078, p4080, p4083 are displayed in mA).
Value: 0: Current output (0 mA ... +20 mA)
1: Voltage output (0 V ... +10 V)
2: Current output (+4 mA ... +20 mA)
3: Current output (-20 mA ... +20 mA)
4: Voltage output (-10 V ... +10 V)
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: When changing p4076, the parameters of the scaling characteristic (p4077, p4078, p4079, p4080) are overwritten
For p4076 = 0, 3, p4077 is set to 0.0 %, p4078 to 0.0 mA, p4079 to 100.0 % and p4080 to 20.0 mA.
For p4076 = 1, 4, p4077 is set to 0.0 %, p4078 to 0.0 V, p4079 to 100.0 % and p4080 to 10.0 V.
For p4076 = 2, p4077 is set to 0.0 %, p4078 to 4.0 mA, p4079 to 100.0 % and p4080 to 20.0 mA.
p4075[0...1] TM31 analog outputs, activate absolute value generation / TM31 AO absVal act
0 1 0
r4076[0...1] TB30 analog outputs, type / TB30 AO type
4 4 -
p4076[0...1] TM31 analog outputs, type / TM31 AO type
0 4 4
List of parameters
Parameters
Description: Sets the scaling characteristic for the analog outputs of Terminal Board 30 (TB30).
The scaling characteristic for the analog outputs is defined using 2 points.
This parameter specifies the x coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the scaling characteristic for the analog outputs of Terminal Module 31 (TM31).
This parameter specifies the x coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Notice: This parameter is automatically overwritten when the analog output type is changed (p4076).
Note: This parameter is automatically overwritten if p4076 (type of analog output) is changed.
The parameters for the characteristic do not have a limiting effect.
This parameter specifies the y coordinate (output voltage in V) of the 1st value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
p4077[0...1] TB30 analog outputs, characteristic value x1 / TB30 AO char x1
-1000.00 [%] 1000.00 [%] 0.00 [%]
p4077[0...1] TM31 analog outputs, characteristic value x1 / TM31 AO char x1
-1000.00 [%] 1000.00 [%] 0.00 [%]
p4078[0...1] TB30 analog outputs, characteristic value y1 / TB30 AO char y1
-11.000 [V] 11.000 [V] 0.000 [V]
Parameters
List of parameters
This parameter specifies the y coordinate (output voltage in V or output current in mA) of the 1st value pair of the
characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This parameter is automatically overwritten if p4076 (type of analog output) is changed.
This parameter specifies the x coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
This parameter specifies the x coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This parameter is overwritten if p4076 (type of analog output) is changed.
p4078[0...1] TM31 analog outputs, characteristic value y1 / TM31 AO char y1
-20.000 [V] 20.000 [V] 0.000 [V]
p4079[0...1] TB30 analog outputs, characteristic value x2 / TB30 AO char x2
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4079[0...1] TM31 analog outputs, characteristic value x2 / TM31 AO char x2
-1000.00 [%] 1000.00 [%] 100.00 [%]
List of parameters
Parameters
This parameter specifies the y coordinate (output voltage in V) of the 2nd value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
This parameter specifies the y coordinate (output voltage in V or output current in mA) of the 2nd value pair of the
characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This parameter is overwritten if p4076 (type of analog output) is changed.
Description: Sets the signal source for inverting the analog output signals of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the signal source to invert the analog output signals of Terminal Module 31 (TM31).
p4080[0...1] TB30 analog outputs, characteristic value y2 / TB30 AO char y2
-11.000 [V] 11.000 [V] 10.000 [V]
p4080[0...1] TM31 analog outputs, characteristic value y2 / TM31 AO char y2
-20.000 [V] 20.000 [V] 10.000 [V]
p4082[0...1] BI: TB30 analog outputs invert signal source / TB30 AO inv S_src
- - 0
p4082[0...1] BI: TM31 analog outputs invert signal source / TM31 AO inv S_src
- - 0
Parameters
List of parameters
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Sets the offset for the analog outputs of Terminal Board 30 (TB30).
The offset is added to the output signal after the scaling characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the offset for the analog outputs of Terminal Module 31 (TM31).
The offset is added to the output signal after the scaling characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This means, for example, the offset of a downstream isolating amplifier can be compensated.
p4083[0...1] TB30 analog outputs, offset / TB30 AO offset
-10.000 10.000 0.000
p4083[0...1] TM31 analog outputs, offset / TM31 AO offset
-20.000 20.000 0.000
- - 0
- - 0
List of parameters
Parameters
- - 0
- - 0
- - 0
- - 0
Parameters
List of parameters
Description: Displays the inverted status of the raw data of the digital inputs of the Terminal Module 15 (TM15).
- - 0
- - 0
r4094.0...23 BO: TM15 digital inputs status inverted raw data internal / TM15 DI st raw dat
- - -
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
List of parameters
Parameters
Notice: The raw data of the digital inputs is directly displayed (e.g. without any debounce).
Note: Should only used for internal Siemens purposes (alternative r4022, r4023).
Description: Sets the simulation mode for the digital inputs of the Terminal Board 30 (TB30).
Refer to: p4096
Warning: A drive that is moved by simulating the inputs of a Terminal Board is brought to a standstill while the Terminal Mod-
ule is being activated or de-activated.
DI: Digital Input
Description: Sets the simulation mode for the digital inputs of Terminal Module 15 (TM15).
p4095 TB30 digital inputs, simulation mode / TB30 DI sim_mode
- - 0000 bin
p4095 TM15DI/DO digital inputs, simulation mode / TM15D DI sim_mode
9402
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Parameters
List of parameters
Refer to: p4096
Warning: A drive that is moved by simulating the inputs of a Terminal Module is brought to a standstill while the Terminal
Module is being activated or de-activated.
Refer to: p4096
DI: Digital Input
p4095 TM31 digital inputs, simulation mode / TM31 DI sim_mode
9552, 9560, 9562
- - 0000 0000 0000 0000 bin
p4095 TM41 digital inputs, simulation mode / TM41 DI sim_mode
- - 0000 0000 0000 0000 bin
00 DI 0 (X522.1) Simulation Terminal eval. 9660
08 DI/DO 0 (X521.1) Simulation Terminal eval. 9661
List of parameters
Parameters
Refer to: p4096
DI: Digital Input
Description: Sets the setpoint for the input signals in the simulation mode of the digital inputs of the Terminal Board 30 (TB30).
Refer to: p4095
DI: Digital Input
Description: Sets the setpoint for the input signals in the simulation mode of the digital inputs of Terminal Module 15 (TM15).
p4096 TB30 digital inputs, simulation mode setpoint / TB30 DI sim setpt
- - 0000 bin
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
p4096 TM15DI/DO digital inputs, simulation mode, setpoint / TM15D DI sim setp
9402
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
Parameters
List of parameters
Refer to: p4095
Refer to: p4095
DI: Digital Input
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
p4096 TM31 digital inputs, simulation mode setpoint / TM31 DI sim setp
9552, 9560, 9562
- - 0000 0000 0000 0000 bin
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
p4096 TM41 digital inputs, simulation mode setpoint / TM41 DI sim setp
- - 0000 0000 0000 0000 bin
00 DI 0 (X522.1) High Low 9660
01 DI 1 (X522.2) High Low 9660
02 DI 2 (X522.3) High Low 9660
03 DI 3 (X522.4) High Low 9660
08 DI/DO 0 (X521.1) High Low 9661
09 DI/DO 1 (X521.2) High Low 9661
List of parameters
Parameters
Refer to: p4095
DI: Digital Input
Description: Sets the simulation mode for the analog inputs of the Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Refer to: p4098
AI: Analog Input
Description: Sets the simulation mode for the analog inputs of Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Refer to: p4098
AI: Analog Input
Description: Sets the simulation mode for the analog input of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
10 DI/DO 2 (X521.3) High Low 9662
11 DI/DO 3 (X521.4) High Low 9662
p4097[0...1] TB30 analog inputs simulation mode / TB30 AI sim_mode
0 1 0
p4097[0...1] TM31 analog inputs simulation mode / TM31 AI sim_mode
0 1 0
p4097[0] TM41 analog input, simulation mode / TM41 AI sim_mode
0 1 0
Parameters
List of parameters
Refer to: p4098
AI: Analog Input
Description: Sets the setpoint for the input voltage in the simulation mode of the analog inputs of Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Refer to: p4097
AI: Analog Input
Description: Sets the setpoint for the input value in simulation mode of the analog inputs of Terminal Module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
If AI x is parameterized as voltage input (p4056), then the setpoint is a voltage in V.
If AI x is parameterized as current input (p4056), then the setpoint is a current in mA.
Refer to: r4056, p4056, p4097
AI: Analog Input
Description: Sets the setpoint for the input value in simulation mode of the analog input of Terminal Module 41 (TM41).
Index: [0] = AI 0 (X523.1/X523.2)
Dependency: The simulation of the analog input is selected using p4097.
If AI x is parameterized as voltage input (p4056), then the setpoint is a voltage in V.
If AI x is parameterized as current input (p4056), then the setpoint is a current in mA.
Refer to: p4097
AI: Analog Input
p4098[0...1] TB30 analog inputs simulation mode setpoint / TB30 AI sim setp
-11.000 [V] 11.000 [V] 0.000 [V]
p4098[0...1] TM31 analog inputs simulation mode setpoint / TM31 AI sim setp
-20.000 20.000 0.000
p4098[0] TM41 analog input, simulation mode setpoint / TM41 AI sim setp
-20.000 [V] 20.000 [V] 0.000 [V]
List of parameters
Parameters
Description: Sets the sampling time for the inputs and outputs of the Terminal Board 30 (TB30).
The sampling times can only be set as an integer multiple of the basic sampling time (r0110, r0111).
Refer to: p0009, r0110, r0111
For clock cycle synchronous PROFIBUS operation, the TB30 hardware (e.g. A/D converter ) is operated with the
PROFIBUS clock cycle (r2064[1]). This clock cycle is also kept after the PROFIBUS connection has been exited up
to the next time that the Control Unit is powered down. In this case, a faster sampling time than the PROFIBUS
clock cycle is not practical in p4099[0...2].
Description: The sampling time of the Terminal Module 15 (TM15) is determined by the DRIVE-CLiQ clock cycle of the line to
which the component is attached. An entry is not possible using p4099. At power on, p4099 is correctly set to the
resulting sampling time.
Description: Sets the sampling time for the inputs and outputs of Terminal Module 15 (TM15).
Refer to: p0009, r0110, r0111
Parameter p4099[0] must never be equal to zero.
p4099[0...2] TB30 inputs/outputs, sampling time / TB30 I/O t_sample
0.00 [s] 5000.00 [s] [0] 4000.00 [s]
[1] 4000.00 [s]
[2] 4000.00 [s]
p4099 TM15 inputs/outputs, sampling time / TM15 I/O t_sample
31.25 [s] 500.00 [s] 125.00 [s]
p4099 TM15DI/DO inputs/outputs, sampling time / TM15D I/O t_sampl
TM15DI_DO Can be changed: C1(3) Calculated: - Access level: 3
0.00 [s] 5000.00 [s] 4000.00 [s]
Parameters
List of parameters
Description: The sampling time of the Terminal Module 17 (TM17) is determined by the DRIVE-CLiQ clock cycle of the line to
which the component is attached. An entry is not possible using p4099. At power on, p4099 is correctly set to the
resulting sampling time.
The sampling times can only be set as an integer multiple of the basic sampling time (r0110, r0111).
Refer to: p0009, r0110, r0111
Notice: The sampling times entered in index 0 (digital inputs/outputs) and index 2 (analog outputs) must always be greater
than or equal to the sampling time in index 1 (analog inputs).
[2] = Not present
[3] = Incremental encoder emulation
Refer to: p0009, r0110, r0111
Refer to: A35228
Note: The value of the sampling time of the incremental encoder emulation p4099[3] can be pre-set in both operating
modes (p4400). The next time that the system boots, the validity of the value is checked. For an invalid value, fault
F35228 is output and p4099[3] is automatically set to the correct value. The modified parameter must then be
saved and POWER ON carried out. If necessary, the sampling time can be checked again, taking into account any
other TM41s located on the same DRIVE-CLiQ line.
p4099 TM17 inputs/outputs, sampling time / TM17 I/O t_sample
31.25 [s] 500.00 [s] 125.00 [s]
p4099[0...2] TM31 inputs/outputs, sampling time / TM31 I/O t_sample
0.00 [s] 5000.00 [s] 4000.00 [s]
p4099[0...3] TM41 inputs/outputs, sampling time / TM41 I/O t_sample
0.00 [s] 5000.00 [s] [0] 4000.00 [s]
[1] 4000.00 [s]
[2] 0.00 [s]
[3] 125.00 [s]
List of parameters
Parameters
The changed sampling time is immediately effective after a completed sub-boot (p0009 -> 0).
If there are several TM41s located on a DRIVE-CLiQ line, the same sampling time in p4099[3] must be set for all
components.
The sampling time of a TM41 in the SINAMICS mode (p4400 = 1) must be the same as that of the emulated
encoder.
The sampling time of a TM41 in the SIMOTION mode (p4400 = 0) is determined by the topology used
Description: Sets the temperature evaluation of Terminal Module 120 (TM120).
This means that the temperature sensor type is selected and the evaluation is switched in.
The temperature sensor is connected to the following terminals:
Channel 1: X521.2(+) and X521.1(-)
Channel 2: X521.4(+) and X521.3(-)
Channel 3: X521.6(+) and X521.5(-)
Channel 4: X521.8(+) and X521.7(-)
Value: 0: Evaluation disabled
1: PTC thermistor
2: KTY84
4: Bimetallic NC contact
Index: [0] = Temperature sensor channel 1
[1] = Temperature sensor channel 2
Note: If a value > 250 C is in p4102[0-7], alarms A35211-A35214 or faults F35207-F35210 are de-activated.
To activate alarms or faults for a PTC thermistor sensor type, any value <= 250 C must be set in p4102[0-7].
Description: Sets the temperature evaluation of Terminal Module 31 (TM31).
This means that the temperature sensor type is selected and the evaluation is switched in.
The temperature sensor is connected at terminals X522.7(+) and X522.8(-).
Value: 0: Evaluation disabled
1: PTC thermistor
2: KTY84
Note: For p4102[0, 1] > 250 C, Alarm A35211 or Fault F35207 is deactivated.
To activate the alarm or fault for a PTC thermistor sensor type, any value < = 250 C must be set in p4102[0,1].
p4100[0...3] TM120 temperature evaluation, sensor type / TM120 sensor type
9607
0 4 1
p4100 TM31 temperature evaluation, sensor type / TM31 temp sens_typ
0 2 0
Parameters
List of parameters
Description: Displays the actual resistance value of the temperature sensor connected at Terminal Module 120 (TM120).
Note: The maximum measurable resistance value is approx. 1700 Ohm.
Channel 1: X521.2(+) and X521.1(-)
Channel 2: X521.4(+) and X521.3(-)
Channel 3: X521.6(+) and X521.5(-)
Channel 4: X521.8(+) and X521.7(-)
Description: Displays the actual resistance value of the temperature sensor connected at Terminal Module 31 (TM31).
Note: The maximum measurable resistance value is approx. 1700 Ohm.
The temperature sensor is connected at terminals X522.7(+) and X522.8(-).
Description: Sets the fault/alarm threshold for the temperature evaluation of Terminal Module 120 (TM120).
Temperature actual value 1 > p4102[0] --> alarm A35211 is output.
Temperature actual value 1 > p4102[1] --> fault F35207 is output.
For alarms A35211, A35212, A35213, A35214 the following applies:
Remains until the temperature actual value (r4105[0...3]) falls below the value (p4102[0, 2, 4, 6] - hysteresis).
For fault F35207, F35208, F35209, F35210 the following applies:
Remains until the temperature actual value (r4105[0...3]) falls below the value (p4102[1, 3, 5, 7] - hysteresis) and
the fault has been acknowledged.
The hysteresis value is 5 K and cannot be changed by the user.
r4101[0...3] TM120 temperature evaluation, sensor resistance / TM120 temp R_sens
- [ohm] - [ohm] - [ohm]
r4101 TM31 temperature evaluation, sensor resistance / TM31 temp R_sensor
- [ohm] - [ohm] - [ohm]
p4102[0...7] TM120 temperature evaluation fault/alarm threshold / TM120 temp thresh
-48 [C] 251 [C] 251 [C]
List of parameters
Parameters
Channel 1: X521.2(+) and X521.1(-)
Channel 2: X521.4(+) and X521.3(-)
Channel 3: X521.6(+) and X521.5(-)
Channel 4: X521.8(+) and X521.7(-)
Index: [0] = Sensor 1 alarm threshold
[1] = Sensor 1 fault threshold
[2] = Sensor 2 alarm threshold
Warning: Fault F35207 ... F35210 only causes the drive to shut down if there is at least one BICO interconnection between
the drive and TM120.
Note: A value > 250 C de-activates the alarm or fault.
To activate the alarms or faults for a PTC thermistor sensor type (p4100[0-4] = 1), any value <= 250 C must be set.
Description: Sets the fault/alarm threshold for the temperature evaluation of Terminal Module 31 (TM31).
Temperature actual value > p4102[0] --> alarm A35211 is output.
Temperature actual value > p4102[1] --> fault F35207 is output.
For alarm A35211 the following applies:
Remains until the temperature actual value (r4105) falls below the value (p4102[0] - hysteresis).
For fault F35207 the following applies:
Remains until the temperature actual value (r4105) falls below the value (p4102[1] - hysteresis) and the fault has
been acknowledged.
The hysteresis value is 5 K and cannot be changed by the user.
Index: [0] = Alarm threshold
[1] = Fault threshold
Warning: Fault F35207 only causes the drive to be shut down if there is at least one BICO interconnection between the drive
and TM31.
Note: A value > 250 C de-activates the alarm or fault.
To activate the alarm or fault for a PTC thermistor sensor type (p4100 = 1), any value <= 250 C must be set.
Description: Sets the timer for the output of the fault for the temperature evaluation of Terminal Module 120 (TM120).
p4102[0...1] TM31 temperature evaluation fault/alarm threshold / TM31 temp thresh
-48 [C] 251 [C] [0] 100 [C]
[1] 120 [C]
p4103[0...3] TM120 temperature evaluation timer / TM120 temp t_timer
0.000 [ms] 600.000 [ms] 0.000 [ms]
Parameters
List of parameters
This timer is started when the alarm threshold (p4102[0, 2, 4, 6]) is exceeded.
If the timer expires before the alarm threshold has been fallen below, then fault F35207 ... F35210 is output.
If, after the timer has expired, the alarm threshold is fallen below again, then the fault can be acknowledged.
For sensor type "KTY84" (p4100[0 ... 3] = 2), the following applies:
If the fault threshold (p4102[1, 3, 5, 7]) is exceeded before the timer has expired, then fault F35207 ... F35210 is
immediately output.
For sensor type "PTC thermistor" (p4100[0 ... 3] = 1), the following applies:
The fault is only issued after the timer has expired.
Warning: Fault F35207 ... F35210 only causes the drive to shut down if there is at least one BICO interconnection between
the drive and TM120.
Note: With p4103 = 0 ms, the timer is de-activated and only the fault threshold is effective.
Description: Sets the timer for the output of the fault for the temperature evaluation of Terminal Module 31 (TM31).
This timer is started when the alarm threshold (p4102[0]) is exceeded.
If the timer expires and the alarm threshold was not fallen below, then fault F35207 is output.
If, after the timer has expired, the alarm threshold is fallen below again, then the fault can be acknowledged.
For sensor type "KTY84" (p4100 = 2), the following applies:
If the fault threshold (p4102[1]) is exceeded before the timer has expired, then fault F35207 is immediately output.
For sensor type "PTC thermistor" (p4100 = 1), the following applies:
The fault is only issued after the timer has expired.
Warning: Fault F35207 only causes the drive to be shut down if there is at least one BICO interconnection between the drive
and TM31.
Note: With p4103 = 0 ms, the timer is de-activated and only the fault threshold is effective.
Description: Displays the status for the temperature evaluation of Terminal Module 120 (TM120).
p4103 TM31 temperature evaluation timer / TM31 temp t_timer
0.000 [ms] 600.000 [ms] 0.000 [ms]
r4104.0...7 BO: TM120 temperature evaluation, status / TM120 temp status
- - -
00 Temperature alarm threshold sensor 1
exceeded
Yes No 9605
01 Temperature fault threshold sensor 1
exceeded
Yes No 9605
List of parameters
Parameters
Description: Displays the status for the temperature evaluation of Terminal Module 31 (TM31).
Description: Displays the actual temperature value of the temperature evaluation of Terminal Module 120 (TM120).
Dependency: For sensor type PTC thermistor (p4100 = 1) and bimetallic NC contact (p4100 = 4 ), the following applies:
- above the nominal response temperature, r4105 = 250 C.
For sensor type KTY84 (p4100 = 2), the following applies:
- the displayed value corresponds to the temperature actual value.
Refer to: p4100
Note: r4105[0...3] = -300 C is displayed in the following cases:
- temperature actual value invalid (F35920 ... F35923 output).
- no sensor selected (p4100[0...3] = 0).
Channel 1: X521.2(+), X521.1(-)
Channel 2: X521.4(+), X521.3(-)
Channel 3: X521.6(+), X521.5(-)
Channel 4: X521.8(+), X521.7(-)
exceeded
Yes No 9605
exceeded
Yes No 9605
exceeded
Yes No 9606
exceeded
Yes No 9606
exceeded
Yes No 9606
exceeded
Yes No 9606
r4104.0...1 BO: TM31 temperature evaluation, status / TM31 temp status
- - -
r4105[0...3] CO: TM120 temperature evaluation, actual value / TM120 temp act val
9606
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays the actual temperature value of the temperature evaluation of Terminal Module 31 (TM31).
Dependency: For sensor type PTC thermistor (p4100 = 1), the following applies:
- above the nominal response temperature, r4105 = 250 C.
For sensor type KTY84 (p4100 = 2), the following applies:
- the displayed value corresponds to the temperature actual value.
Refer to: p4100
Note: r4105 = -300 C is displayed in the following cases:
- temperature actual value invalid (F35920 output).
- no sensor selected (p4100 = 0).
X522.7(+), X522.8(-)
Description: Displays the unfiltered speed setpoint N_SETPT in revolutions per minute for diagnostic purposes.
In contrast to p1155, this value is updated in each DRIVE-CLiQ basic clock cycle and displayed with sign.
Description: Displays the filtered speed setpoint N_SETPT in revolutions per minute for diagnostic purposes.
In contrast to p1155, this value is updated in each DRIVE-CLiQ basic clock cycle and displayed with sign.
r4105 CO: TM31 temperature evaluation, actual value / TM31 temp actValue
- [C] - [C] - [C]
r4154 TM41 diagnostics speed setpoint non-filtered / n_set non-filt
- [rpm] - [rpm] - [rpm]
r4155 TM41 diagnostics speed setpoint / TM41 Diag n_set
- [rpm] - [rpm] - [rpm]
List of parameters
Parameters
Description: Is used to synchronize the timer of Terminal Module 15 (TM15) with the system time of the DP master.
To do this, the sign-of-life of the DP master is transferred in the form of a counter in bits 12 to 15.
At each cycle of the system of the DP master, bit 0 (SYN signal) is set for the duration of a DP master clock cycle.
To do this, the sign-of-life of the DP master is transferred in the form of a counter in bits 12 to 15.
At each cycle of the system of the DP master, bit 0 (SYN signal) is set for the duration of a DP master clock cycle.
Description: Used to control digital output 0 ... 15 of Terminal Module 15 (TM15).
r4201 TM15 system time for synchronization / TM15 t_system sync
- - -
r4201 TM17 system time for synchronization / TM17 t_system sync
- - -
r4204 TM15 control digital output 0 ... 15 / TM15 ctrl DO 0-15
- - -
00 DI/DO 0 (X520.2) ON OFF -
01 DI/DO 1 (X520.3) ON OFF -
02 DI/DO 2 (X520.4) ON OFF -
03 DI/DO 3 (X520.5) ON OFF -
04 DI/DO 4 (X520.6) ON OFF -
05 DI/DO 5 (X520.7) ON OFF -
06 DI/DO 6 (X520.8) ON OFF -
07 DI/DO 7 (X520.9) ON OFF -
08 DI/DO 8 (X521.2) ON OFF -
09 DI/DO 9 (X521.3) ON OFF -
10 DI/DO 10 (X522.4) ON OFF -
11 DI/DO 11 (X521.5) ON OFF -
12 DI/DO 12 (X521.6) ON OFF -
13 DI/DO 13 (X521.7) ON OFF -
14 DI/DO 14 (X521.8) ON OFF -
15 DI/DO 15 (X521.9) ON OFF -
Parameters
List of parameters
Description: Displays the edge mode for digital input 0 ... 7 of Terminal Module 15 (TM15).
- - -
00 DI/DO 0 (X520.2) ON OFF -
01 DI/DO 1 (X520.3) ON OFF -
02 DI/DO 2 (X520.5) ON OFF -
03 DI/DO 3 (X520.6) ON OFF -
04 DI/DO 4 (X520.8) ON OFF -
05 DI/DO 5 (X520.9) ON OFF -
06 DI/DO 6 (X521.2) ON OFF -
07 DI/DO 7 (X521.3) ON OFF -
08 DI/DO 8 (X521.8) ON OFF -
09 DI/DO 9 (X521.9) ON OFF -
10 DI/DO 10 (X522.2) ON OFF -
11 DI/DO 11 (X522.3) ON OFF -
12 DI/DO 12 (X522.5) ON OFF -
13 DI/DO 13 (X522.6) ON OFF -
14 DI/DO 14 (X522.8) ON OFF -
15 DI/DO 15 (X522.9) ON OFF -
- - -
00 DI/DO 16 (X522.2) ON OFF -
01 DI/DO 17 (X522.3) ON OFF -
02 DI/DO 18 (X522.4) ON OFF -
03 DI/DO 19 (X522.5) ON OFF -
04 DI/DO 20 (X522.6) ON OFF -
05 DI/DO 21 (X522.7) ON OFF -
06 DI/DO 22 (X522.8) ON OFF -
07 DI/DO 23 (X522.9) ON OFF -
r4211 TM15 edge mode digital input 0 ... 7 / TM15 EdgMd DI0-7
- - -
List of parameters
Parameters
Assignment of the digital inputs to the bits:
DI 0: r4211.1 ... 0
DI 1: r4211.3 ... 2
DI 2: r4211.5 ... 4
DI 3: r4211.7 ... 6
DI 4: r4211.9 ... 8
DI 5: r4211.11 ... 10
DI 6: r4211.13 ... 12
DI 7: r4211.15 ... 14
Possible edge modes:
Bit x, y = 0, 0 --> no edge detection
Bit x, y = 0, 1 --> rising - rising edge
Bit x, y = 1, 0 --> falling - falling edge
Bit x, y = 1, 1 --> rising - falling edge or falling - rising edge
DI 0: r4211.1 ... 0
DI 1: r4211.3 ... 2
DI 2: r4211.5 ... 4
DI 3: r4211.7 ... 6
DI 4: r4211.9 ... 8
DI 5: r4211.11 ... 10
DI 6: r4211.13 ... 12
DI 7: r4211.15 ... 14
DI 8: r4212.1 ... 0
DI 9: r4212.3 ... 2
DI 10: r4212.5 ... 4
DI 11: r4212.7 ... 6
r4211 TM17 edge mode digital input 0 ... 7 / TM17 EdgMd DI 0-7
- - -
- - -
Parameters
List of parameters
DI 12: r4212.9 ... 8
DI 13: r4212.11 ... 10
DI 14: r4212.13 ... 12
DI 15: r4212.15 ... 14
DI 8: r4212.1 ... 0
DI 9: r4212.3 ... 2
DI 10: r4212.5 ... 4
DI 11: r4212.7 ... 6
DI 12: r4212.9 ... 8
DI 13: r4212.11 ... 10
DI 14: r4212.13 ... 12
DI 15: r4212.15 ... 14
DI 16: r4213.1 ... 0
DI 17: r4213.3 ... 2
DI 18: r4213.5 ... 4
DI 19: r4213.7 ... 6
DI 20: r4213.9 ... 8
DI 21: r4213.11 ... 10
DI 22: r4213.13 ... 12
DI 23: r4213.15 ... 14
r4212 TM17 edge mode digital input 8 ... 15 / TM17 EdgMd DI 8-15
- - -
- - -
List of parameters
Parameters
Description: Sets the enable signal with bits 0 ... 5 for DI/DO 0 ... 5 of Terminal Module 17 (TM17).
Sets the triggering of the enable signal with bits 8 ... 13.
The following assignment applies:
Enable signal for DI/DO 0, 1, 2, 3, 4 or 5 via DI/DO 10, 11, 12, 13, 14 or 15.
Description: Sets the smoothing time constant for digital input 0 ... 15 of Terminal Module 17 (TM17).
p4220 TM17 enable DI/DO 0 ... 5 / TM17 enable 0-5
- - 0000 0000 0000 0000 bin
00 DI/DO 0 (X520.2) With enable Without enable -
08 DI/DO 10 (X522.2) Level-triggered Edge-triggered -
p4221 TM17 smoothing time constant, digital input 0 ... 15 / TM17 T_sm DI 0-15
- - 0000 0000 0000 0000 bin
00 DI/DO 0 (X520.2) Smoothing 1 s Smoothing 125 s -
Parameters
List of parameters
Description: Sets as absolute or relative timing with bit 0 ... 15 for digital output 0 ... 15 of Terminal Module 17 (TM17).
Description: Displays the time to set and reset for digital output 0 of Terminal Module 15 (TM15).
The two times are specified as 8 bit values with a resolution of 64 s.
The two times are specified as 16 bit values with a resolution of 0.25 s.
p4222 TM17 time absolute/relative digital output 0 ... 15 / TM17 abs/rel 0-15
- - 0000 0000 0000 0000 bin
00 DI/DO 0 (X520.2) Relative time Absolute time -
r4250 TM15 set/reset time digital output 0 / TM15 t_set DO 0
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
Bit 12 ... 15:
After synchronization with the DP master, the module sends its sign-of-life in the form of a counter.
Bit 0:
This SYNC signal is set if the module has aligned its time to the system time of the DP master.
Bit 9:
This bit is set if a fault has occurred on the module (r0945).
Bit 12 ... 15:
After synchronization with the DP master, the module sends its sign-of-life in the form of a counter.
Bit 0:
This SYNC signal is set if the module has aligned its time to the system time of the DP master.
Bit 9:
This bit is set if a fault has occurred on the module (r0945).
- - -
- - -
r4301 TM15 module synchronization / TM15 module sync
- - -
r4301 TM17 module synchronization / TM17 module sync
- - -
List of parameters
Parameters
Description: Displays status for digital input 0 ... 15 of Terminal Module 15 (TM15).
r4304 TM15 status, digital input 0 ... 15 / TM15 St DI 0-15
- - -
00 DI/DO 0 (X520.2) ON OFF -
01 DI/DO 1 (X520.3) ON OFF -
02 DI/DO 2 (X520.4) ON OFF -
03 DI/DO 3 (X520.5) ON OFF -
04 DI/DO 4 (X520.6) ON OFF -
05 DI/DO 5 (X520.7) ON OFF -
06 DI/DO 6 (X520.8) ON OFF -
07 DI/DO 7 (X520.9) ON OFF -
08 DI/DO 8 (X521.2) ON OFF -
09 DI/DO 9 (X521.3) ON OFF -
10 DI/DO 10 (X522.4) ON OFF -
11 DI/DO 11 (X521.5) ON OFF -
12 DI/DO 12 (X521.6) ON OFF -
13 DI/DO 13 (X521.7) ON OFF -
14 DI/DO 14 (X521.8) ON OFF -
15 DI/DO 15 (X521.9) ON OFF -
- - -
00 DI/DO 0 (X520.2) ON OFF -
01 DI/DO 1 (X520.3) ON OFF -
02 DI/DO 2 (X520.5) ON OFF -
03 DI/DO 3 (X520.6) ON OFF -
04 DI/DO 4 (X520.8) ON OFF -
05 DI/DO 5 (X520.9) ON OFF -
06 DI/DO 6 (X521.2) ON OFF -
07 DI/DO 7 (X521.3) ON OFF -
08 DI/DO 8 (X521.8) ON OFF -
09 DI/DO 9 (X521.9) ON OFF -
10 DI/DO 10 (X522.2) ON OFF -
11 DI/DO 11 (X522.3) ON OFF -
12 DI/DO 12 (X522.5) ON OFF -
13 DI/DO 13 (X522.6) ON OFF -
14 DI/DO 14 (X522.8) ON OFF -
15 DI/DO 15 (X522.9) ON OFF -
Parameters
List of parameters
Description: Displays the edge status for digital input 0 ... 7 of Terminal Module 15 (TM15).
DI 0: r4311.1 ... 0
DI 1: r4311.3 ... 2
DI 2: r4311.5 ... 4
DI 3: r4311.7 ... 6
DI 4: r4311.9 ... 8
DI 5: r4311.11 ... 10
DI 6: r4311.13 ... 12
DI 7: r4311.15 ... 14
Possible edge states:
Bit x, y = 0, 1 --> 1st edge detected
Bit x, y = 1, 0 --> 2nd edge detected
Bit x, y = 1, 1 --> both edges detected
- - -
00 DI/DO 16 (X522.2) ON OFF -
01 DI/DO 17 (X522.3) ON OFF -
02 DI/DO 18 (X522.4) ON OFF -
03 DI/DO 19 (X522.5) ON OFF -
04 DI/DO 20 (X522.6) ON OFF -
05 DI/DO 21 (X522.7) ON OFF -
06 DI/DO 22 (X522.8) ON OFF -
07 DI/DO 23 (X522.9) ON OFF -
r4311 TM15 edge status digital input 0 ... 7 / TM15 EdgSt DI 0-7
- - -
- - -
List of parameters
Parameters
DI 0: r4311.1 ... 0
DI 1: r4311.3 ... 2
DI 2: r4311.5 ... 4
DI 3: r4311.7 ... 6
DI 4: r4311.9 ... 8
DI 5: r4311.11 ... 10
DI 6: r4311.13 ... 12
DI 7: r4311.15 ... 14
DI 8: r4312.1 ... 0
DI 9: r4312.3 ... 2
DI 10: r4312.5 ... 4
DI 11: r4312.7 ... 6
DI 12: r4312.9 ... 8
DI 13: r4312.11 ... 10
DI 14: r4312.13 ... 12
DI 15: r4312.15 ... 14
DI 8: r4312.1 ... 0
DI 9: r4312.3 ... 2
DI 10: r4312.5 ... 4
DI 11: r4312.7 ... 6
- - -
- - -
Parameters
List of parameters
DI 12: r4312.9 ... 8
DI 13: r4312.11 ... 10
DI 14: r4312.13 ... 12
DI 15: r4312.15 ... 14
DI 16: r4313.1 ... 0
DI 17: r4313.3 ... 2
DI 18: r4313.5 ... 4
DI 19: r4313.7 ... 6
DI 20: r4313.9 ... 8
DI 21: r4313.11 ... 10
DI 22: r4313.13 ... 12
DI 23: r4313.15 ... 14
Description: Displays the time when detecting the 1st and 2nd edge for digital input 0 of Terminal Module 15 (TM15).
r4313 TM15 edge status digital input 16 ... 23 / TM15 EdgSt DI16-23
- - -
r4350 TM15 edge times digital input 0 / TM15 edge_t DI 0
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
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- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
Parameters
List of parameters
Description: Sets the operating mode for the incremental encoder emulation.
Value: 0: SIMOTION
1: SINAMICS
Note: A change only becomes effective after the next boot.
If value = 0:
Incremental encoder emulation using speed setpoint (p1155).
If value = 1:
Incremental encoder emulation using encoder position setpoint (p4420).
- - -
- - -
- - -
p4400 TM41 encoder emulation operating mode / Enc_emulat mode
0 1 0
List of parameters
Parameters
Description: Sets the mode for the incremental encoder emulation.
This parameter is used to configure the zero mark output at X520.
Note: When the TM41 is operated in the SINAMICS mode (p4400 = 1), the following applies:
A new zero mark search is initiated by switching in the zero mark at the TM41. The zero mark is output at the TM41
as soon as it was synchronized with the encoder interconnected at connector input p4420.
The zero pulse is output at X520 when the absolute encoder passes the zero position of the absolute position (mod-
ulo converted) in its absolute position.
The zero pulse is output at X520 compatible with previous firmware versions. The zero pulse is output precisely
when the TM41 (modulo converted) passes the position it was in when the 24 V supply was switched on.
Description: Displays the status of the incremental encoder emulation on Terminal Module 41 (TM41).
Description: Displays the current operating mode of Terminal Module 41 (TM41).
p4401 TM41 encoder emulation mode / Enc_emulat mode
- - 0011 bin
00 Zero mark enable Yes No 9674
01 Zero marks synchronized with zero position
of absolute encoders
Yes No 9674
r4402.0...2 CO/BO: TM41 encoder emulation status / Enc_emulat status
- - -
00 Zero mark enabled Yes No -
01 Tracks A/B enabled Yes No -
02 Interface encoder emulation enabled Yes No -
r4403 TM41 encoder emulation operating mode active / Enc_emul mode act
- - -
Parameters
List of parameters
Description: Sets the controller option for incremental encoder emulation on Terminal Module 41 (TM41).
p4404.0 = 1:
Control with minimum following error (pre-control active) for synchronous position and synchronous zero-mark
emulation
p4404.1 = 1:
In the case of TTL encoders, the control response improves at slow velocities.
p4404.0 = p4404.1 = 0
Control with fixed following error.
Note: The parameter is only effective in the "SINAMICS" operating mode (p4400 = 1).
Description: This parameter and p4418 define the format of the position actual value from the original encoder (CI parameter
p4420 incremental encoder emulation position setpoint), i.e. the TM41 input.
The number of pulses per encoder revolution of the TM41 input (p4408) must always precisely correspond to the
number of pulses per encoder revolution of the encoder interconnected at connector input p4420. If this condition is
not taken into account, then the TM41 zero mark is not in synchronism with the interconnected encoder.
Description: This parameter and p4408 define the format of the position actual value from the original encoder (CI parameter
p4420 incremental encoder emulation position setpoint), i.e. the TM41 input.
The fine resolution of the TM41 input (p4418) must always precisely correspond to the fine resolution of the
encoder interconnected at connector input p4420. If this condition is not taken into account, then the TM41 zero
mark is not in synchronism with the interconnected encoder. Further, in this case, the frequency of the pulses for
the encoder emulation differs from the pulse frequency of the leading encoder.
p4404 TM41 encoder emulation controller options / Enc_emul ctrl_opt
- - 0001 bin
00 Pre-control Active Inactive -
01 Pre-control with adaptation for TTL encoder Active Inactive -
p4408 TM41 encoder emulation pulse number signal source / TM41 enc puls no.
0 16384 0
p4418 TM41 encoder emulation fine resolution signal source / TM41 FineRes S_src
2 18 11
List of parameters
Parameters
Description: The parameter displays the position setpoint after the step up / step down ratio has been calculated in.
The format of this parameter is defined by TM41 parameters p0408 / p0418.
Description: Sets the signal source for the incremental encoder emulation position setpoint.
Recommend.: The following BICO interconnection should be preferably set:
CI: p4420 = r0479
Notice: General conditions for incremental encoder emulation can be found in the following literature:
Note: The parameter is not effective in the SIMOTION operating mode (p4400 = 0).
Prerequisites for the signal source:
For the incremental encoder emulation, an encoder is required that supplies precisely one zero mark per revolution.
The following BICO interconnection should be preferably set: CI: p4420 = r0479.
An encoder actual value (r0479) can only be interconnected once on a TM41.
The zero mark of the incremental encoder is output at the encoder interface after successful internal, automatic
synchronization.
If an absolute encoder is interconnected with the TM41, then the behavior of the zero mark depends on p4401.
Description: Sets the deadtime compensation for incremental encoder emulation.
This factor defines the multiplier in which the encoder position setpoint of the incremental encoder emulation is
shifted depending on the velocity.
Dependency: For p4421 = 0, the deadtime compensation for the position setpoint is switched out.
For p4421 <> 0, the deadtime compensation is taken into account as follows:
Setpoint new = setpoint via CI: p4420 + delta s * p4421
delta s: Position change per sampling time (4099[3]), internally smoothed
Refer to: p4400
Note: The parameter is not effective in the SIMOTION operating mode (p4400 = 0).
r4419 TM41 encoder emulation diagnostics position setpoint / TM41 diag pos set
- - -
p4420 CI: TM41 encoder emulation position setpoint / Enc_emul s_setp
- - 0
p4421 TM41 encoder emulation deadtime compensation / Enc_emul t_dead
-10.00 10.00 0.00
Parameters
List of parameters
Description: Setting to invert the position setpoint for Terminal Module 41 (TM41).
0 -> Position setpoint (CI: p4420) is evaluated as normal.
1 -> Position setpoint (CI: p4420) is processed inverted.
Description: Sets standstill adaptation on Terminal Module 41 (TM41).
p4423 is used to specify the number of clock cycles (one clock cycle = p4099[3]) used for encoder standstill detec-
tion. Once this time has elapsed, any potential deviation is compensated when adaptation is active.
Parameter value = 0: adaptation inactive
Parameter value > 0: adaptation active
Danger: The option p4404.1 = 1 is only effective if TM41 DAC is being used.
If the possibility of a TM41 DAC (new) being replaced by a TM41 SAC (old) cannot be excluded, this option should
not be set.
TM41 SAC: order no. = 6SL3055-0AA00-3PA0
TM41 DAC: order no. = 6SL3055-0AA00-3PA1
Note: The parameter is only effective in the SINAMICS operating mode (p4400 = 1).
The parameter value must be assigned a value of 4 or more to ensure that the system functions properly.
This parameter is only relevant in the following cases:
- TTL encoder is available
- the controller option "Pre-control with adaptation for TTL encoder" has been activated (p4404.1 = 1)
Description: Sets pulse number to output the zero mark for the incremental encoder simulation/emulation.
Example:
p0408 = 2048 (encoder pulses)
p4426 = 512 (pulses for the zero mark)
--> Position direction: The zero mark is output after 512 pulses.
--> Negative direction: The zero mark is output after 1536 pulses.
Note: The pulses for the zero mark (p4426) must be less than the encoder pulse number (p0408).
For p4400 = 1, this parameter has no effect.
p4422 TM41 encoder emulation position setpoint inversion / Enc_emul s_set inv
0 1 0
p4423 TM41 encoder emulation standstill adaptation / Enc standst_adapt
0 2000 4
p4426 TM41 encoder emulation pulses for zero mark / Enc_emul pulses ZM
0 8192 0
List of parameters
Parameters
Description: This parameter provides the position of the next zero mark in the positive traversing direction.
The display is provided (defined using p0408 and p0418) in the same format as the position actual value Xact1.
Description: Sets the sensor type of the first temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
30: Bimetallic NC contact fault
31: Bimetallic NC contact alarm
Note: This parameter is effective only when p0601 = 10.
PTC thermistor: Tripping resistance = 1650 Ohm
Description: Sets the sensor type of the second temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
Terminals for KTY84: X200.1, X200.2
r4427 TM41 encoder emulation zero mark position / TM41 ZM Pos
- - -
p4600[0...n] Motor temperature sensor 1 sensor type / Temp_sens 1 type
0 32 0
0 32 0
Parameters
List of parameters
Description: Sets the sensor type of the third temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
Terminals for PTC triplet and bimetallic: X200.3, X200.4
Description: Sets the sensor type of the fourth temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
Terminals for PTC triplet: X200.5, X200.6
0 32 0
0 32 0
List of parameters
Parameters
Description: Sets the sensor type of the first temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
Description: Sets the sensor type of the second temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
Description: Sets the sensor type of the third temperature sensor for the motor temperature monitoring.
p4610[0...n] Motor temperature sensor 1 sensor type MDS / Temp sens1 typ MDS
0 32 10
0 32 10
0 32 10
Parameters
List of parameters
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
Description: Sets the sensor type of the fourth temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
Description: Displays the actual temperature in the motor measured through temperature channels 1 ... 4.
Index: [0] = Temperature channel 1
[1] = Temperature channel 2
Note: For a value not equal to -200.0 C, the following applies:
- this temperature display is valid.
- a KTY sensor is connected.
For a value equal to -200.0 C, the following applies:
- this temperature display is not valid (temperature sensor error).
- A PTC sensor or bimetallic NC contact is connected.
0 32 10
r4620[0...3] Motor temperature measured / Mot_temp meas
- [C] - [C] - [C]
List of parameters
Parameters
- the temperature sensor evaluation is de-activated (p0600 = 0 or p0601 = 0).
- the sensor channel is de-activated (p460x = 0 or p461x = 0).
Description: Displays the encoder diagnostics for the PROFIdrive interface.
Description: Sets the component number (p0141) of the encoder whose functional reserve is to be displayed (r4651).
Description: Displays the functional reserve of the encoder selected via p4650.
0 ... 25 %:
The function limit has been reached. A service is recommended.
26 ... 100 %:
The encoder is working in the specified range.
Index: [0] = Incremental
[1] = Reserved
[2] = Abs track
[3] = Code conn
Note: Value = 999 means:
- the component specified in p4650 is not connected
- the encoder does not support the display of the functional reserve
r4640[0...95] Encoder diagnostics state machine / Enc diag SM
ENCODER, SERVO,
VECTOR
- - -
p4650 Encoder functional reserve component number / Enc fct_res num
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 399 0
r4651[0...3] Encoder functional reserve / Enc fct_reserve
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
Parameters
List of parameters
Description: Sets the filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The value set on the Sensor Module is displayed in r4661.
The Sensor Module hardware only supports the following values:
- 0: The Sensor Module's default is used.
- 50 kHz
- 170 kHz
- 500 kHz
- Unlimited: Only the bandwidth of the operational amplifier is effective.
Description: Sets the filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The value set on the Sensor Module is displayed in r4661.
The Sensor Module hardware only supports the following values:
- 0: The Sensor Module's default is used.
- 50 kHz
- 170 kHz
- 500 kHz
- Unlimited: Only the bandwidth of the operational amplifier is effective.
[1] = Encoder 2
[2] = Encoder 3
Description: Display of the effective filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The bandwidth of the filter is set using p4660.
p4660 Sensor Module filter bandwidth / SM Filt_bandw
0.00 [kHz] 20000.00 [kHz] 0.00 [kHz]
p4660[0...2] Sensor Module filter bandwidth / SM Filt_bandw
0.00 [kHz] 20000.00 [kHz] 0.00 [kHz]
r4661 Sensor Module filter bandwidth display / SM Filt_bandw disp
- [kHz] - [kHz] - [kHz]
List of parameters
Parameters
Description: Display of the effective filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The bandwidth of the filter is set using p4660.
[1] = Encoder 2
[2] = Encoder 3
Description: Sets the characteristic type.
For non-linear sensors, the interrelationship between the signal voltage and the position can be defined using a
third degree polynomial.
Value: 0: Characteristic inactive
1: Characteristic polynomial third degree
Note: If value = 1:
A third degree polynomial is defined as follows:
F(x) = K3 * x^3 + K2 * x^2 + K1 * x + K0
Coefficients K0 ... K3 should be defined and entered into p4663 ... p4666.
The sensor range is emulated to x = -0.5 ... +0.5.
Description: Setting for coefficient K0 to calculate the characteristic (p4662).
r4661[0...2] Sensor Module filter bandwidth display / SM Filt_bandw disp
- [kHz] - [kHz] - [kHz]
p4662[0...n] Encoder characteristic type / Enc char_type
ENCODER, SERVO,
VECTOR
0 1 0
p4663[0...n] Encoder characteristic K0 / Enc char K0
ENCODER, SERVO,
VECTOR
- - -
ENCODER, SERVO,
VECTOR
- - -
Parameters
List of parameters
Description: Sets the configuration for evaluation on the analog sensor.
Notice: Re bit 06:
Setting the bit sets the velocity actual value (r0061) permanently to 0.
Re bit 13:
Setting the bit sets the commutation angle permanently to the commutation angle offset (p0431).
Note: Re bit 09:
A setting of bit = 0 will trigger a fault for the relevant channel if the actual value is invalid.
A setting of bit = 1 will trigger an alarm for the relevant channel if the actual value is invalid.
Re bit 10, 11:
If both channels are activated, the actual value is generated from the mean value of both channels. If a channel fails
(actual value invalid), it is not included when the mean value is generated.
ENCODER, SERVO,
VECTOR
- - -
ENCODER, SERVO,
VECTOR
- - -
p4670[0...n] Analog sensor configuration / Ana_sens config
ENCODER, SERVO,
VECTOR
- - 0000 0000 0000 0000 bin
06 Set velocity to 0 Yes No -
08 Pos val range 0.0 / 1.0 pulse -0.5 / +0.5 pulse -
09 Fault/alarm messages Alarm Fault -
10 Chann B act Yes No -
11 Chann A act Yes No -
13 Commutation angle constant Yes No -
List of parameters
Parameters
Description: Sets the input circuit for the analog sensor.
Value: 0: Differential
1: Single-ended A, B
2: Single-ended A*, B*
3: Single-ended A, B sensitive
Note: p4671 = 0:
The two signals on a track are evaluated differentially.
p4671 = 1:
Only the non-inverted signal on a track is evaluated.
p4671 = 2:
Only the inverted signal on a track is evaluated.
p4671 = 3:
Only the non-inverted signal on a track (high resolution) is evaluated.
Description: Sets the voltage when the connected sensor is at actual value zero.
At this voltage channel A supplies an actual value of zero.
Description: Sets the output voltage range to be mapped for the connected analog sensor.
The voltage range is determined by the following parameters:
- p4672 (voltage at actual value 0)
- p4673 (voltage per encoder period)
Note: The minimum actual value which can be mapped is equal to p4672 - p4673/2.
The maximum actual value which can be mapped is equal to p4672 + p4673/2.
p4671[0...n] Analog sensor input / Ana_sens inp
ENCODER, SERVO,
VECTOR
0 3 0
p4672[0...n] Analog sensor channel A voltage at actual value zero / Ana_sens A U at 0
ENCODER, SERVO,
VECTOR
-10.0000 [V] 10.0000 [V] 0.0000 [V]
p4673[0...n] Analog sensor channel A voltage per encoder period / Ana_sens A U/per
ENCODER, SERVO,
VECTOR
-10.0000 [V] 10.0000 [V] 6.0000 [V]
Parameters
List of parameters
Description: Sets the voltage when the connected sensor is at actual value zero.
At this voltage channel B supplies an actual value of zero.
Description: Sets the output voltage range to be mapped for the connected analog sensor.
The voltage range is determined by the following parameters:
- p4674 (voltage at actual value 0)
- p4675 (voltage per encoder period)
Note: The minimum actual value which can be mapped is equal to p4674 - p4675/2.
The maximum actual value which can be mapped is equal to p4674 + p4675/2.
Description: Sets the threshold for limit monitoring of the absolute actual value on the analog sensor.
If this threshold is overshot by the actual value of a channel, a corresponding fault/alarm (p4670.9) is output.
Description: Sets the configuration for LVDT mode on the analog sensor.
p4674[0...n] Analog sensor channel B voltage at actual value zero / Ana_sens B U at 0
ENCODER, SERVO,
VECTOR
-10.0000 [V] 10.0000 [V] 0.0000 [V]
p4675[0...n] Analog sensor channel B voltage per encoder period / Ana_sens B U/per
ENCODER, SERVO,
VECTOR
-10.0000 [V] 10.0000 [V] 6.0000 [V]
p4676[0...n] Analog sensor range limit threshold / Ana_sens lim thr
ENCODER, SERVO,
VECTOR
0.0 [%] 100.0 [%] 100.0 [%]
p4677[0...n] Analog sensor LVDT configuration / Ana_sens LVDT conf
ENCODER, SERVO,
VECTOR
- - 0000 bin
00 LVDT ON Yes No -
01 Track B excitation Yes No -
02 Fixed value amplitude Yes No -
03 Fixed value amplitude and phase Yes No -
List of parameters
Parameters
Description: Sets the ratio for the LVDT sensor.
Description: Sets the phase for the LVDT sensor.
Description: Sets the permissible tolerance in encoder pulses for the zero mark distance in the context of zero mark monitoring.
Causes fault F3x100 to appear less frequently.
Refer to: F31100
Note: The parameter is activated using p0430.21 = 1 (zero mark tolerance).
Description: Sets the positive tolerance window in encoder pulses for limit 1 for the zero mark monitoring.
If the deviation is less than this limit, the PPR is not corrected. If it is higher than this limit, fault F3x131 is triggered.
If fault F3x131 is re-parameterized to alarm (A) or no message (N), the encoder pulses which have not been cor-
rected are added to the accumulator (p4688). The accumulator can be de-activated using p0437.7.
Refer to: F31131
Note: This monitoring is activated by setting p0437.2 = 1 (position actual value correction).
The positive limit describes additional pulses due to EMC.
p4678[0...n] Analog sensor LVDT ratio / An_sens LVDT ratio
ENCODER, SERVO,
VECTOR
0.00 [%] 200.00 [%] 50.00 [%]
p4679[0...n] Analog sensor LVDT phase / An_sens LVDT ph
ENCODER, SERVO,
VECTOR
-360.00 [] 360.00 [] 0.00 []
p4680[0...n] Zero mark monitoring tolerance permissible / ZM_monit tol perm
ENCODER, SERVO,
VECTOR
0 1000 4
p4681[0...n] Zero mark monitoring, tolerance window limit 1 positive / ZM tol lim 1 pos
ENCODER, SERVO,
VECTOR
0 1000 2
Parameters
List of parameters
Description: Sets the negative tolerance window in encoder pulses for limit 1 for the zero mark monitoring.
If the deviation is less than this limit, the PPR is not corrected. If it is higher than this limit, fault F3x131 is triggered.
rected are added to the accumulator (p4688). The accumulator can be de-activated using p0437.7.
Refer to: F31131
Note: This monitoring is activated by setting p0437.2 = 1 (position actual value correction).
For a set value = -1001, the negated value of p4681 is effective.
The negative limit describes the pulses lost due to a covered glass panel in the incremental encoder.
Description: Sets the positive tolerance window in encoder pulses for limit 2 for the zero mark monitoring.
If the zero mark deviation is higher than the tolerance set in p4681 and p4682 and fault F3x131 is re-parameterized
to alarm (A) or no message (N), the accumulator p4688 is compared with this parameter and, if applicable, alarm
A3x422 is output for 5 seconds.
Refer to: F31131, A31422
Note: Zero mark monitoring is activated by setting p0437.2 = 1 (position actual value correction).
Description: Sets the negative tolerance window in encoder pulses for limit 2 for the zero mark monitoring.
If the zero mark deviation is higher than the tolerance set in p4681 and p4682 and fault F3x131 is re-parameterized
to alarm (A) or no message (N), the accumulator p4688 is compared with this parameter and, if applicable, alarm
A3x422 is output for 5 seconds.
Refer to: F31131, A31422
Note: Zero mark monitoring is activated by setting p0437.2 = 1 (position actual value correction).
For a set value = -100001, the negated value of p4683 is effective.
p4682[0...n] Zero mark monitoring, tolerance window limit 1 negative / ZM tol lim 1 neg
ENCODER, SERVO,
VECTOR
-1001 0 -1001
p4683[0...n] Zero mark monitoring tolerance window alarm threshold positive / ZM tol A_thr pos
ENCODER, SERVO,
VECTOR
0 100000 0
p4684[0...n] Zero mark monitoring tolerance window alarm threshold negative / ZM tol A_thr neg
ENCODER, SERVO,
VECTOR
-100001 0 -100001
List of parameters
Parameters
Description: Sets the number of current controller clock cycles for mean value generation of the speed actual value.
Note: Value = 0, 1: No mean value generation.
Higher values also mean higher dead times for the speed actual value.
Description: Sets the minimum length for the zero mark.
Note: The value for the minimum length of the zero mark must be set less than p0425.
The parameter is activated using p0437.1 = 1 (zero mark edge detection).
Description: Displays the number of differential pulses for the zero mark monitoring that have accumulated.
rected are added to the accumulator (p4688).
Note: The display can only be reset to zero.
Description: Displays the number of differential pulses for the zero mark monitoring that have accumulated.
rected are added to the accumulator (p4688).
[1] = Encoder 2
[2] = Encoder 3
Note: The display can only be reset to zero.
p4685[0...n] Speed actual value mean value generation / n_act mean val
ENCODER, SERVO,
VECTOR
0 20 0
p4686[0...n] Zero mark minimum length / ZM min length
ENCODER, SERVO,
VECTOR
0 10 1
p4688 CO: Zero mark monitoring, differential pulse count / ZM diff_pulse qty
-2147483648 2147483647 0
p4688[0...2] CO: Zero mark monitoring, differential pulse count / ZM diff_pulse qty
-2147483648 2147483647 0
Parameters
List of parameters
Description: Displays the encoder status according to PROFIdrive for a squarewave encoder.
Note: After alarm A3x422 is output, this parameter is set for 100 ms.
Description: Displays the encoder status according to PROFIdrive for a squarewave encoder.
[1] = Encoder 2
[2] = Encoder 3
Note: After alarm A3x422 is output, this parameter is set for 100 ms.
Description: Sets the component number for the SMI/DQI for which motor and/or encoder data should be saved, deleted or
downloaded.
Note: DQI: DRIVE-CLiQ Sensor Integrated
SMI: SINAMICS Sensor Module Integrated
Description: Setting for the saving/downloading/deletion of motor and/or encoder data for the component specified in p4690
(SMI/DQI).
r4689 CO: Squarewave encoder, diagnostics / Sq-wave enc diag
- - -
r4689[0...2] CO: Squarewave encoder, diagnostics / Sq-wave enc diag
- - -
p4690 SMI spare part component number / SMI comp_no
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 399 0
p4691 SMI spare part save/download data / Save/DL SMI data
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 39 0
List of parameters
Parameters
A backup of this data can be saved to non-volatile memory. The backup procedure is performed automatically as
part of the function for saving to non-volatile memory (p0977 = 1 or "Copy RAM to ROM"). If a part is replaced, the
saved data can be reloaded.
Procedure:
p4690 = set component number
p4691 = 1, 2, 30: Set the required procedure (save/download/delete).
p4691 = 9, 10, 36: Feedback signal on successful completion of the procedure.
p4691 = 11... 22, 37, 38: Error vales if the procedure could not be executed successfully.
Value: 0: Inactive
1: Save SMI data
2: Download SMI data
9: SMI data downloaded and POWER ON required for component
10: SMI data backup complete
11: SMI data backup for selected component not found
12: Selected component not available or not connected
13: Insufficient memory space for backup
14: Format of saved data is incompatible
15: Transfer fault during data download
16: Transfer fault during data backup
17: Data backup does not match parameterized encoder/motor
18: Data backup directory not permissible
19: Component already contains data
20: Component does not contain any data
21: Component is not an SMI or a DQI
22: SMI data cannot be downloaded for component
30: Delete SMI data
35: Confirmation of SMI data delete required
36: SMI data deleted and POWER ON required for component
37: Access level not sufficient for delete
38: Delete SMI data not permitted for component
39: SMI data for component cannot be deleted
Notice: Once SMI/DQI data has been deleted or downloaded successfully, the component has to be powered up.
DQI: DRIVE-CLiQ Sensor Integrated
Help for error value = 11:
- Save the data for the original SMI on the memory card.
- Use an SMI with a suitable hardware version.
- Set the correct component number or connect the component.
- Use a memory card with more memory space.
- Create a data backup on the memory card corresponding to the SMI type.
- Check the DRIVE-CLiQ wiring for the component.
- Check the DRIVE-CLiQ wiring for the component.
- Save the data for the original SMI on the memory card.
- Set parameter p4693 to an appropriate value.
- Perform an SMI delete or use a blank SMI.
- Use an SMI card that is not blank.
Parameters
List of parameters
- Set the correct component number (p4690).
Note for error value = 22:
- Data cannot be downloaded for component.
- Reset parameter p4691 to 30.
- Set the access level to Expert or higher.
- Insert the SMI/DQI into the actual topology as an additional component (component number >= 200).
- Set the component number from the actual topology (p4690 >= 200).
- Set the correct component number (p4690 >= 200).
Note for error value = 39:
- SMI already deleted or too old. Delete not possible.
Description: Setting to back up the data of all SMIs and DQIs featured in the target topology.
Value: 0: Inactive
1: Save data of all SMIs and DQIs
10: Save all data successful
13: Insufficient memory space for backup
16: Transfer fault during data backup
20: Component does not contain any data
29: Not all components from target topology saved
p4692 = 10: Automatic on successful completion of backup procedure.
p4692 = 13, 16, 20, 29: Error vales if the procedure could not be executed successfully.
The procedure must be repeated if the data save operation was interrupted (e.g. if the power supply voltage failed).
- Use a memory card with more memory space.
- check the DRIVE-CLiQ connection.
- Use an SMI card that is not blank.
- Check and correct the target and actual topologies for the SMIs.
- Repeat the save procedure.
p4692 SMI spare part save data of all SMIs / Save SMI data
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 29 0
List of parameters
Parameters
Description: Sets the directory for downloading and saving data.
Example:
The SMI has the component number 5 and the SMI data (motor/encoder data) is to be stored in subdirectory C205.
--> p4690 = 5, p4693[0] = 205, p4691 = 1
Index: [0] = Subdirectory selection
[1] = Reserved
Notice: If p4693[0] is not equal to 0 and p4693[0] is not equal to p4690, the following applies:
- Only a number >= 200 may be selected for the subdirectory when saving.
- In the case of downloads, a selection for the subdirectory may only be made for an SMI/DQI with a component
number >= 200 (preliminary component number) (p4690 >= 200).
Note: DQI: DRIVE-CLiQ Sensor Integrated
Re index 0:
This index is used to select the subdirectory for saving and downloading data. The motor order number (MLFB) of
the corresponding data backup is displayed in r4694.
For p4693[0] = 0, the following applies:
The directory is determined by the setting of p4690.
Description: Displays the motor order number (MLFB) of the data backup selected with p4693.
Caution: If the selected subdirectory contains a number of data sets, "More Datasets" is displayed in r4694[0...19].
If there is no SMI data (motor/encoder data) in the selected subdirectory or if the selected subdirectory does not
exist, the following applies:
- The number of the next subdirectory located is displayed.
- This subdirectory is not checked for valid SMI data.
- If another subdirectory cannot be located, nothing is displayed in r4694[0...19].
p4693[0...1] SMI spare part data backup directory / SMI dat_bkup dir
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 399 0
r4694[0...19] SMI spare part data backup motor order number / SMI dat_bkup MLFB
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Setting to control the trace function.
Value: 0: Stop trace
1: Start trace
Index: [0] = Trace 0
[1] = Trace 1
Description: Setting to control the measurement function.
Value: 0: Stop measuring function
1: Start measuring function
2: Measuring function, check parameterization
3: Start measuring function without enable signals
Description: Displays the actual status of the trace.
Value: 0: Trace inactive
1: Trace is recording presamples
2: Trace is waiting for trigger event
3: Trace is recording
4: Recording (trace) ended
[1] = Trace 1
p4700[0...1] Trace control / Trace control
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
P-Group: Trace and function generator Units group: - Unit selection: -
0 1 0
p4701 Measuring function, control / Meas fct ctrl
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 3 0
r4705[0...1] Trace status / Trace status
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4 -
List of parameters
Parameters
Description: Displays the actual status of the measuring function.
Value: 0: Measurement function inactive
1: Measuring function, parameterization checked
2: Measuring function waits for stabilizing time
3: Measuring function recording (tracing)
4: Measuring function, trace ended with error
5: Measuring function, trace successfully completed
Description: Setting to configure the measurement function.
Value: 0: Standard
1: Free meas fct
Note: The parameter cannot be changed when the measurement function has been started (r4706 = 2, 3).
For value = 0:
The system injection point selected to inject the function generator signal is used.
For value = 1:
No system injection point is used.
When using the measuring function in the STARTER commissioning software, the following applies:
A change to a value only becomes effective after first closing and opening the measuring function screen form.
For value = 0:
The master control must be fetched.
There are two fixed and two freely selectable signals for recording.
For value = 1:
Master control does not have to be fetched.
There are four freely selectable signals for recording.
Description: Displays the required memory in bytes for the actual parameterization.
r4706 Measuring function, status / Meas fct status
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 5 -
p4707 Measurement function configuration / Meas fct config
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
r4708[0...1] Trace memory space required / Trace mem required
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
[1] = Trace 1
Description: Displays the memory space required for the current parameter setting in bytes, if the trace is used for the measur-
ing functions.
[1] = Trace 1
Description: Sets the trigger condition for the trace.
Value: 1: Immediate start
2: Positive edge
3: Negative edge
4: Entry to hysteresis band
5: Leaving hysteresis band
6: Trigger at bit mask
7: Start with function generator
[1] = Trace 1
Description: Selects the trigger signal for the trace.
Index: [0] = Trace 0 parameter in BICO format
[1] = Trace 1 parameter in BICO format
[2] = Trace 0 PINx with DO Id and chart Id
[3] = Trace 0 PINx with block Id and PIN Id
[4] = Trace 1 PINy with DO Id and chart Id
[5] = Trace 1 PINy with block Id and PIN Id
Dependency: Only effective when p4710 does not equal 1.
r4709[0...1] Trace memory space required for measuring functions / Trace mem required
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p4710[0...1] Trace trigger condition / Trace Trig_cond
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1 7 2
p4711[0...5] Trace trigger signal / Trace trig_signal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
List of parameters
Parameters
Note: It only makes sense to trace the PINs using the commissioning software.
For index 2(4) and 3(5) equal to zero, index 0(1) can only be written and vice versa.
Re index 0 ... 1:
Here, the trigger signal for trace 0 or 1 is entered as parameter in the BICO format.
For trace with a physical address (p4789), the data type of the trigger signal is set here.
Re index 2 ...3:
The triggering PIN for trace 0 is entered here.
Index 2 bit 31 ... 16: Number of the Drive Object (DO), bit 15 ... 0: Number of the chart
Index 3 bit 31 ... 16: Number of the block, bit 15 ... 0: Number of the PIN
Re index 4 ... 5:
The triggering PIN for trace 1 is entered here.
Index 4 bit 31 ... 16: Number of the Drive Object (DO), bit 15 ... 0: Number of the chart
Index 5 bit 31 ... 16: Number of the block, bit 15 ... 0: Number of the PIN
Description: Sets the trigger threshold for the trace.
[1] = Trace 1
Dependency: Only effective when p4710 = 2, 3.
Description: Sets the first trigger threshold for trigger via tolerance band.
[1] = Trace 1
Description: Sets the second trigger threshold for trigger via tolerance band
[1] = Trace 1
p4712[0...1] Trace trigger threshold / Trace trig_thresh
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-340.28235E36 340.28235E36 0.00
p4713[0...1] Trace tolerance band trigger threshold / Trace trig thresh
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-340.28235E36 340.28235E36 0.00
p4714[0...1] Trace tolerance band trigger threshold / Trace trig thresh
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-340.28235E36 340.28235E36 0.00
Parameters
List of parameters
Description: Sets the bit mask for the bit mask trigger.
[1] = Trace 1
Dependency: Only effective when p4710 = 6.
Description: Sets the trigger condition for bit mask trigger.
[1] = Trace 1
Description: Sets the number of averaging operations for the measuring function.
Description: Sets the number of stabilizing periods for the measuring function.
p4715[0...1] Trace bit mask trigger, bit mask / Trace trig mask
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4294967295 0
p4716[0...1] Trace, bit mask trigger, trigger condition / Trace Trig_cond
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4294967295 0
p4717 Measuring function, number of averaging operations / Meas fct avg qty
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 0
p4718 Measuring function, number of stabilizing periods / MeasFct StabPerQty
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 0
List of parameters
Parameters
Description: Displays the trigger index in the trace buffer. The trigger event occurred at this point.
[1] = Trace 1
Dependency: Only valid when p4705 = 4.
Description: Sets the recording cycle for the trace.
[1] = Trace 1
Description: Sets the recording time for the trace.
[1] = Trace 1
Description: Sets the trigger delay for the trace.
Trigger delay < 0:
Pretrigger: Tracing (recording) starts the selected time before the trigger event actually occurs.
r4719[0...1] Trace trigger index / Trace Trig_index
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p4720[0...1] Trace recording cycle / Trace record_cyc
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.000 [ms] 60000.000 [ms] 1.000 [ms]
p4721[0...1] Trace recording time / Trace record_time
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.000 [ms] 3600000.000 [ms] 1000.000 [ms]
p4722[0...1] Trace trigger delay / Trace trig_delay
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-3600000.000 [ms] 3600000.000 [ms] 0.000 [ms]
Parameters
List of parameters
Trigger delay > 0:
Post trigger: Tracing does not start until the set time after the trigger event.
[1] = Trace 1
Description: Sets the time slice cycle in which the trace is called.
[1] = Trace 1
[1] = Trace 1
[1] = Trace 1
[1] = Trace 1
p4723[0...1] Time slice cycle for trace / Trace cycle
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.03125 [ms] 4.00000 [ms] 0.12500 [ms]
p4724[0...1] Trace average in the time range / Trace average
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 0001 bin 0000 bin
r4725[0...1] Trace, data type 1 traced / Trace rec type 1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
[1] = Trace 1
[1] = Trace 1
Description: Displays the number of traced values for each signal.
[1] = Trace 1
Dependency: Only valid when p4705 = 4.
Description: Selects the first signal to be traced.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r4729[0...1] Trace number of recorded values / Trace rec values
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p4730[0...5] Trace record signal 0 / Trace record sig 0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
Parameters
List of parameters
Description: Selects the second signal to be traced.
Description: Selects the third signal to be traced.
Description: Selects the fourth signal to be traced.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
List of parameters
Parameters
Description: Selects the fifth signal to be traced.
Description: Selects the sixth signal to be traced.
Description: Selects the seventh signal to be traced.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
Parameters
List of parameters
Description: Selects the eighth signal to be traced.
Description: Displays the trace buffer (record buffer) for trace 0 and signal 0.
The trace (record) buffer is sub-divided into memory banks, each containing 16384 values. Parameter p4795 can
be used to toggle between the individual banks.
Example A:
The first 16384 values of signal 0, trace 0 are to be read out.
In this case, memory bank 0 is set with p4795 = 0. The first 16384 values can now be read out using r4740[0] to
r4740[16383].
Example B:
The values 16385 to 32768 from signal 0, trace 0 are to be read out.
In this case, memory bank 1 is set with p4795 = 1. The values can now be read out in r4740[0] to r4740[16383].
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
r4740[0...16383] Trace 0 trace buffer signal 0 floating point / Trace 0 trace sig0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays the trace buffer (record buffer) for trace 0 and signal 0 as integer number.
Note: For signals, data type I32 or U32, the trace buffer is assigned as follows:
r4760[0] = value 0
r4760[1] = value 1
...
r4760[8191] = value 8191
For signals, data type I16 or U16, the trace buffer is assigned as follows:
r4760[0] = value 0 (bit 31 ... 16) and value 1 (bit 15 ... 0)
...
For signals, data type I8 or U8, the trace buffer is assigned as follows:
r4760[0] = value 0 (bit 31 ... 24) value 1 (bit 23 ... 16) value 2 (bit 15 ... 8) value 3 (bit 7 ... 0)
...
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r4760[0...16383] Trace 0 trace buffer signal 0 / Trace 0 trace sig0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Sets the physical address for the first signal to be traced.
The data type is defined using p4730.
[1] = Trace 1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p4780[0...1] Trace physical address signal 0 / Trace PhyAddr Sig0
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
List of parameters
Parameters
Description: Sets the physical address for the second signal to be traced.
[1] = Trace 1
Description: Sets the physical address for the third signal to be traced.
[1] = Trace 1
Description: Sets the physical address for the fourth signal to be traced.
[1] = Trace 1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
Parameters
List of parameters
Description: Sets the physical address for the fifth signal to be traced.
[1] = Trace 1
Description: Sets the physical address for the sixth signal to be traced.
[1] = Trace 1
Description: Sets the physical address for the seventh signal to be traced.
[1] = Trace 1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
List of parameters
Parameters
Description: Sets the physical address for the eighth signal to be traced.
[1] = Trace 1
Description: Sets the physical address for the trigger signal.
The data type is defined by making the appropriate selection in p4711.
[1] = Trace 1
[1] = Trace 1
[1] = Trace 1
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
p4789[0...1] Trace physical address trigger signal / Trace PhyAddr Trig
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
[1] = Trace 1
[1] = Trace 1
Description: Changes over the memory bank to read out the contents of the trace buffer.
Description: Displays the free memory for the trace in bytes.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p4795 Trace memory bank changeover / Trace mem changeov
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 500 0
r4799 Trace memory location free / Trace mem free
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: The function generator is started with p4800 = 1.
The signal is only generated for a 1 signal of binector input p4819.
Value: 0: Stop function generator
1: Start function generator
2: Check function generator parameterization
3: Start function generator without enable signals
Description: Displays the actual status of the function generator.
Value: 0: Inactive
1: Generate accelerating ramp to offset
2: Generate parameterized signal shape
3: Generate braking ramp
4: Function generator stopped due to missing enable signals
5: Function generator waits for BI: p4819
6: Function generator parameterization has been checked
Description: Displays the status of the function generator.
0 signal: Function generator inactive
1 signal: Function generator running
p4800 Function generator control / FG control
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 3 0
r4805 Function generator status / FG status
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 6 -
r4806.0 BO: Function generator status signal / FG status signal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Bit 0 ON OFF -
Parameters
List of parameters
Description: Sets the operating mode of the function generator.
Value: 0: Connection at connector output r4818
1: Connection at current setpoint after filter and r4818
2: Connection as disturbing torque and r4818
3: Connection at speed setpoint after filter and r4818
4: Connection at current setpoint before filter and r4818
5: Connection at speed setpoint before filter and r4818
6: Connection for free measurement function r4818 and r4834
99: Connection at physical address and r4818
Description: Sets the physical address where the function generator is to be connected.
Description: Sets the reference value for 100 % for referred inputs.
Description: Selects the required drive where the function generator is to be connected.
p4810 Function generator mode / FG operating mode
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 99 0
p4812 Function generator physical address / FG phys address
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4294967295 0
p4813 Function generator physical address reference value / FG phys addr ref
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1.00 1000000.00 1.00
p4815[0...2] Function generator drive number / FG drive number
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 65535 0
List of parameters
Parameters
Index: [0] = First drive for connection
[1] = Second drive for connection
[2] = Third drive for connection
Dependency: Only effective when p4810 = 1, 2, 3, 4 or 5.
Note: For the function generator, only type SERVO, VECTOR or DC_CTRL type drives can be used.
Description: Sets the scaling for the integer number of the output signal for the function generator.
Note: The parameter can only be changed in the following operating states:
r4805 = 0, 4, 6
Description: Display and connector output for the integer number of the output signal for the function generator.
Note: The value is output independent of the function generator operating mode.
Description: Displays the output signal for the function generator.
Note: The value is displayed independently of the function generator mode.
p4816 Function generator output signal integer number scaling / FG outp integ scal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-2147483648 2147483647 0
r4817 CO: Function generator output signal integer number / FG outp integ no.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r4818 CO: Function generator output signal / FG outp_sig
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
Parameters
List of parameters
Description: Sets the signal source to control the function generator.
When the function generator is running, signal generation is stopped with a 0 signal from BI: p4819 and p4800 is
set to 0.
Description: Sets the signal to be generated for the function generator.
Value: 1: Square-wave
2: Staircase
3: Delta
4: Binary noise - PRBS (Pseudo Random Binary Signal)
5: Sine-wave
Description: Sets the period of the signal to be generated for the function generator.
Dependency: Ineffective when p4820 = 4 (PRBS).
Description: Sets the pulse width for the signal to be generated for the function generator.
Dependency: Only effective when p4820 = 1 (square-wave).
p4819 BI: Function generator control / FG control
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 1
p4820 Function generator signal shape / FG signal shape
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1 5 1
p4821 Function generator period / FG period duration
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [ms] 60000.00 [ms] 1000.00 [ms]
p4822 Function generator pulse width / FG pulse width
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [ms] 60000.00 [ms] 500.00 [ms]
List of parameters
Parameters
Description: Sets the bandwidth for the signal to be generated for the function generator.
Dependency: Only effective when p4820 = 4 (PRBS).
Refer to: p4830
Refer to: A02041
Description: Sets the amplitude for the signal to be generated for the function generator.
Dependency: Units are dependent on p4810.
If p4810 = 1, 2, 4: The amplitude is referred to p2002 (reference current).
If p4810 = 3, 5: The amplitude is referred to p2000 (reference speed).
Description: Sets the second amplitude for the signal to be generated for the function generator.
Dependency: Only effective for p4820 = 2 (staircase).
Units are dependent on p4810.
If p4810 = 1, 2, 4: The amplitude is referred to p2002 (reference current).
If p4810 = 3, 5: The amplitude is referred to p2000 (reference speed).
p4823 Function generator bandwidth / FG bandwidth
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.0025 [Hz] 16000.0000 [Hz] 4000.0000 [Hz]
p4824 Function generator amplitude / FG amplitude
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-1600.00 [%] 1600.00 [%] 5.00 [%]
p4825 Function generator 2nd amplitude / FG 2nd amplitude
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-1600.00 [%] 1600.00 [%] 7.00 [%]
Parameters
List of parameters
Description: Sets the offset (DC component) of the signal to be generated for the function generator.
Dependency: Units are dependent on p4810.
If p4810 = 1, 2, 4: The offset is referred to p2002 (reference current).
If p4810 = 3, 5: The offset is referred to p2000 (reference speed).
If p4810 = 2: In order to avoid the undesirable effects of play (backlash), the offset does not act on the current set-
point, but instead on the speed setpoint.
Description: Sets the ramp-up time to the offset for the function generator.
Description: Sets the lower limit for the function generator.
Dependency: For p4810 = 2 the limit only applies to the current setpoint, but not the speed setpoint (offset).
Description: Sets the upper limit for the function generator.
Dependency: For p4810 = 2 the limit only applies to the current setpoint, but not the speed setpoint (offset).
p4826 Function generator offset / FG offset
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-1600.00 [%] 1600.00 [%] 0.00 [%]
p4827 Function generator ramp-up time to offset / FG ramp-up offset
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [ms] 100000.00 [ms] 32.00 [ms]
p4828 Function generator lower limit / FG lower limit
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-10000.00 [%] 0.00 [%] -100.00 [%]
p4829 Function generator upper limit / FG upper limit
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00 [%] 10000.00 [%] 100.00 [%]
List of parameters
Parameters
Description: Sets the time slice cycle in which the function generator is called.
Description: Sets the scaling for the amplitude of the signal waveforms for all output channels.
The value can be changed while the function generator is running.
Description: Sets the scaling for the amplitude of the signal waveforms separately for each output channel.
The value cannot be changed while the function generator is running.
Description: Sets the scaling for the offset of the signal waveforms separately for each output channel.
The value cannot be changed while the function generator is running.
p4830 Function generator time slice cycle / FG time slice
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.03125 [ms] 2.00000 [ms] 0.12500 [ms]
p4831 Function generator amplitude scaling / FG amplitude scal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0.00000 [%] 200.00000 [%] 100.00000 [%]
p4832[0...2] Function generator amplitude scaling / FG amplitude scal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-340.28235E36 [%] 340.28235E36 [%] 100.00000 [%]
p4833[0...2] Function generator offset scaling / FG offset scal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-340.28235E36 [%] 340.28235E36 [%] 100.00000 [%]
Parameters
List of parameters
Description: Displays the output signal for the free measurement function.
Index: [0] = Signal 1
[1] = Signal 2
[2] = Signal 3
[3] = Signal 4
[4] = Signal 5
Note: The signals are only output in the "free measurement function" operating mode (p4810 = 6)
Description: Sets the scaling of the output signals for the free measurement function.
Index: [0] = Signal 1
[1] = Signal 2
[2] = Signal 3
[3] = Signal 4
[4] = Signal 5
Note: The parameter cannot be changed when the measurement function has been started (r4706 = 2, 3).
Description: Displays the status word of the sequence control from Terminal Module 41 (TM41).
r4834[0...4] CO: Function generator free measurement output signal / FG fr MeasFct outp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
p4835[0...4] Function generator free measurement function scaling / FG fr MeasFct scal
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-200.00000 [%] 200.00000 [%] 100.00000 [%]
r4899 Status word sequence control / ZSWseq_ctrl
- - -
01 Ready Yes No -
04 Coast down active No Yes -
05 Quick Stop active No Yes -
14 Motor rotates forwards Yes No -
List of parameters
Parameters
Description: Displays the number of OA applications installed on the memory card/device memory.
Dependency: Refer to: r4951, r4952, r4955, p4956, r4957, r4958, r4959, r4960
Note: OA: Open Architecture
Description: Displays the total length of the IDs of all the OA applications installed on the memory card/device memory.
Note: The identifier of an OA application comprises a maximum of 8 characters plus separator.
Description: Displays the total length of the GUIDs of all the OA applications installed on the memory card/device memory.
Note: The GUID of an OA application comprises 16 characters plus 1 character major information plus 1 character, minor
information.
GUID: Globally Unique IDentifier
Description: Displays the IDs of all the OA applications installed on the memory card/device memory.
r4955[0...8]: Identifier of OA application 1
r4955[9...17]: Identifier of OA applications 2, ...
Notice: If there is no OA application, then it is not possible to access an index.
r4950 OA application count / OA no
P-Group: OEM range Units group: - Unit selection: -
0 10 -
r4951 OA application identifier, total length / OA ID length
0 90 -
r4952 OA application GUID, total length / OA GUID length
0 180 -
r4955[0...n] OA application identifier / OA ID
Data type: Unsigned8 Dynamic index: r4951 Func. diagram: -
- - -
Parameters
List of parameters
Description: Setting to activate the OA applications installed on the memory card/device memory.
r4956[0]: Activates OA application 1
r4956[1]: Activates OA application 2, ...
Value: 0: OA application inactive
1: OA application active
Description: Displays the versions of the OA applications installed on the memory card/device memory.
r4957[0]: Version of OA application 1
r4957[1]: Version of OA application 2, ...
Dependency: Refer to: r4950, r4951, r4952, r4955, p4956, r4958, r4959, r4960
Note: Example:
Description: Displays the interface versions of the OA applications installed on the memory card/device memory.
r4958[0]: Interface version of OA application 1
r4958[1]: Interface version of OA applications 2, ...
Note: Example:
p4956[0...n] OA application activation / OA act
All objects Can be changed: C1, T Calculated: - Access level: 4
Data type: Integer16 Dynamic index: r4950 Func. diagram: -
0 1 0
r4957[0...n] OA application version / OA version
0 4294967295 -
r4958[0...n] OA application interface version / OA int_version
- - -
List of parameters
Parameters
Description: Displays the GUIDs of the OA applications installed on the memory card/device memory.
r4959[0...15]: GUID of OA application 1
r4960[16]: Major information of OA application 1
r4960[17]: Minor information of OA application 1
r4959[18...33]: GUID of OA application 2
r4960[34]: Major information of OA application 2
r4960[35]: Minor information of OA application 2, ...
Description: Displays the GUIDs of the drive object of the OA applications installed on the memory card/device memory.
r4960[0...15]: GUID of this drive object of OA application 1
r4960[16]: Major information of this drive object of OA application 1
r4960[17]: Minor information of this drive object of OA application 1
r4960[18...33]: GUID of this drive object of OA application 2
r4960[34]: Major information of this drive object of OA application 2
r4960[35]: Minor information of this drive object of OA application 2, ...
Description: Only for service purposes.
r4959[0...n] OA application GUID / OA GUID
- - -
r4960[0...n] OA application GUID drive object / OA GUID DO
- - -
p4961[0...n] OA application logbook module selection / OA logbook module
All objects Can be changed: T Calculated: - Access level: 4
Parameters
List of parameters
Description: Displays the number of invalid OA applications installed on the memory card/device memory.
Description: Displays the total length of the IDs of all the invalid OA applications installed on the memory card/device memory.
Note: The identifier of an invalid OA application comprises a maximum of 8 characters plus separator.
Description: Displays the IDs of all the invalid OA applications installed on the memory card/device memory.
r4978[0...8]: Identifier of invalid OA application 1
r4978[9...17]: Identifier of invalid OA application 2, ...
Notice: If there is no invalid OA application, then it is not possible to access an index.
Description: Displays the error code of the invalid OA applications installed on the memory card/device memory.
r4975 OA application invalid number / OA inv no.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r4976 OA application invalid identifier, total length / OA inv ID length
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r4978[0...n] OA application invalid identifier / OA inv ID
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r4979[0...n] OA application invalid error code / OA inv error code
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
r4979[0]: Fault value of OA application 1
r4979[1]: Fault value of OA application 2, ...
Notice: If there is no invalid OA application, then it is not possible to access an index.
Note: The value in the error code must be interpreted in binary form. The bits have the following meaning:
Bit 0: Incompatible OA interface version.
Bit 1: OA application could not be loaded.
Bit 2: Incorrect description files.
Bit 3: OA application does not define a CPU type.
Bit 4: OA application for this device not supported (incorrect CPU type).
Bit 5: OA application for this device not supported (incorrect type ID).
Bit 6: Incorrect description files (Const/Startup incompatible).
Description: Displays the properties supported by the spindle hardware and status.
Note: This display value is contained in the manufacturer-specific telegram 139 (SP_CONFIG).
Re bit 11:
After each change in p5043[0...6] the signal level of this bit is changed.
Description: Display and connector output for the clamped state.
Message A3x940 is output in states 2 and 11.
The voltage threshold values for the states can be set using parameter p5041. The hysteresis is adapted using
parameter p5040.
The transition from state 4 to states 7, 8 or 10 can be influenced by the the wait time p5042[0].
A transition is made into state 10 if the analog value in p5002 falls below the voltage threshold value in p5041[4].
However, if the analog value p5002 lies below the voltage threshold value in p5041[2] and the wait time in p5042[0]
has expired, then a transition is made into state 7 or 8 - otherwise state 4 is kept.
Value: 0: System being initialized
1: State being initialized
2: Released with message
3: Released without message
4: Clamping
5: Releasing
6: Releasing without tool
r5000 CO: Spindle properties/status / Prop/status
SERVO (Spin) Can be changed: - Calculated: - Access level: 1
- - -
00 Spindle functionality available Yes No -
01 Sensor S1 available Yes No -
10 State machine enabled Yes No -
11 Parameter p5043 changed State 2 State 1 -
r5001 CO: Spindle clamp state / Clamp state
0 11 -
Parameters
List of parameters
7: Clamped with tool (S4 inactive)
8: Clamped with tool (S4 active)
9: Clamping without tool
10: Clamped without tool
11: Clamped with message
Dependency: Refer to: r5002, r5003, p5040, p5041, p5042
Note: This display value is contained in the manufacturer-specific telegram 139 (SP_ZSW).
Description: Display and connector output for the measured value from analog sensor S1 (1 increment = 1 mV).
Note: This display value is contained in the manufacturer-specific telegram 139 (SP_XIST_A).
Description: Display and connector output for the status of the digital sensors.
Note: This display value is contained in the manufacturer-specific telegram 139 (SP_XIST_D).
Description: Displays the status for the file system on the non-volatile memory.
The individual result data and characteristic data are summarized in a corresponding file.
r5002 CO: Spindle analog sensor S1 measured value / Ana_sensS1 MeasVal
- - -
r5003 CO: Spindle digital sensors status / Dig_sens status
- - -
04 Sensor S4 piston end position reached Yes No -
05 Sensor S5 axis position OK Yes No -
06 Sensor S6 reserved - - -
r5005 Spindle file system status / File sys stat
- - -
01 Result data clamping cycle thresholds avail-
able
Yes No -
02 Result data clamping cycle counter avail-
able
Yes No -
03 Result data operating hours counter avail-
able
Yes No -
04 Result data temperature diagnostics avail-
able
Yes No -
05 Result data real time clock synchronization
available
Yes No -
06 Result data speed/torque matrix available Yes No -
16 Characteristic data spindle available Yes No -
17 Characteristic data clamping cycle counter
available
Yes No -
List of parameters
Parameters
Description: Sets the files to adapt the file system.
Description: Setting to adapt the file system on the non-volatile memory.
Example:
The result data "clamping cycle thresholds" are available (r5005.1 = 1) and should be reset.
--> set p5007.1 = 1: select result data "clamping cycle thresholds".
--> set p5009 = 1: initiate "reset" function for the file selected in p5007.
--> p5009 = 40: feedback signal during "operation running".
--> p5009 = 20: feedback signal for a successfully completed operation.
--> p5009 = 51 ... 53: fault values if the operation was not able to be successfully completed.
--> carry out a POWER ON (switch-off/switch-on).
19 Characteristic data operating hours counter
available
Yes No -
20 Characteristic data temperature diagnostics
available
Yes No -
22 Characteristic data speed/torque matrix
available
Yes No -
30 Characteristic data sensor description avail-
able
Yes No -
31 Characteristic data sensor calibration data
available
Yes No -
p5007 Spindle file system selection / File sys select
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
01 Result data clamping cycle thresholds
selected
Yes No -
02 Result data clamping cycle counter selected Yes No -
03 Result data operating hours counter
selected
Yes No -
04 Result data temperature diagnostics
selected
Yes No -
05 Result data real time clock synchronization
selected
Yes No -
06 Result data speed/torque matrix selected Yes No -
17 Characteristic data clamping cycle counter
selected
Yes No -
19 Characteristic data operating hours counter
selected
Yes No -
20 Characteristic data temperature diagnostics
selected
Yes No -
22 Characteristic data speed/torque matrix
selected
Yes No -
p5009 Adapt spindle file system / Adapt file sys
0 53 0
Parameters
List of parameters
1: Reset
2: Set invalid
3: Reserved
5: Set valid
20: Operation successfully completed.
40: Operation running
51: Function not supported
52: File access unsuccessful
53: Operation unsuccessful
Note: Help for fault value = 51 ... 53:
- repeat the operation.
Description: Setting to enable/inhibit spindle commissioning.
Value: 0: Spindle commissioning enabled
1: Spindle commissioning inhibited
Note: The parameter is automatically set to a value of 1 after exiting commissioning (p0009 = 0).
Description: Sets the password for the spindle write parameters.
Number range for the spindle:
5000 ... 5169
Description: Displays the spindle manufacturer.
Value: 0: Unknown
1: Siemens
32: Heidenhain
33: Hengstler
48: Weiss
p5016 Enable spindle commissioning / Enable comm
SERVO Can be changed: C2, T Calculated: - Access level: 3
0 1 0
p5019 Spindle password / Password
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r5020 Spindle manufacturer / Manufacturer
0 48 -
List of parameters
Parameters
Description: Displays the order number (MLFB) or the spindle drawing number.
Description: Displays the spindle serial number.
Description: Displays the production date of the spindle.
Note: Format: yyyymmdd
Description: Displays the maximum spindle speed.
Note: The highest possible (maximum) speed is set using p1082 (p1082 <= r5032).
Description: Displays the maximum spindle speed.
Note: The highest possible (maximum) speed is set using p1082 (p1082 <= r5032).
r5021[0...18] Spindle order number / Order No.
- - -
r5022[0...15] Spindle serial number / Serial No.
- - -
r5023 Spindle production date / Prod_date
- - -
r5032 Maximum spindle speed / n_max
SERVO (Lin, Spin) Can be changed: - Calculated: - Access level: 3
r5032 Maximum spindle speed / n_max
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Displays the angular commutation offset for the spindle encoder.
Note: When exiting commissioning, the value is transferred into p0431.
Description: Displays the maximum sampling time for the spindle current controller.
This value must, as a minimum, be set using p0112 or p0115[0].
Description: Sets the voltage tolerance for the voltage threshold values.
The tolerance acts symmetrically around the individual voltage threshold values (p5041[0...5]).
Description: Sets the voltage threshold values for the spindle.
Index: [0] = Released (upper limit)
[1] = Released (lower limit)
[2] = Clamped with tool (upper limit)
[3] = Clamped with tool (lower limit)
[4] = Clamped without tool (upper limit)
[5] = Clamped without tool (lower limit)
Note: Only values can be entered, which do not overlap, taking into consideration the set tolerance (p5040).
r5033 Spindle angular commutation offset / Commut_ang_off
- [] - [] - []
r5034 Spindle current controller sampling time maximum / I_ctrl t_samp max
- [s] - [s] - [s]
p5040 Spindle voltage threshold values tolerance / U_thresh tol
0.0 [mV] 1000.0 [mV] 0.0 [mV]
p5041[0...5] Spindle voltage threshold values / U_thresh
0.0 [mV] 340.28235E36 [mV] 0.0 [mV]
List of parameters
Parameters
Description: Sets the transition times for the clamping state machine of the spindle.
Index: [0] = Stabilization time for "clamped with tool"
[1] = Maximum time to clamp
Description: Sets the speed limits for the clamping state machine of the spindle.
Index: [0] = Released
[1] = Clamping
[2] = Releasing from the state "clamped with tool"
[3] = Releasing from the state "clamped without tool"
[4] = Clamped with tool
[5] = Clamping without tool
[6] = Clamped without tool
Note: Value = 65535: speed limit not active.
Description: Sets the speed limits for the clamping state machine of the spindle.
Index: [0] = Released
[1] = Clamping
[2] = Releasing from the state "clamped with tool"
[3] = Releasing from the state "clamped without tool"
[4] = Clamped with tool
[5] = Clamping without tool
[6] = Clamped without tool
Note: Value = 65535: speed limit not active.
p5042[0...1] Spindle transition times / t_transition
0.0 [s] 340.28235E36 [s] 0.0 [s]
p5043[0...6] Spindle speed limits / n_limits
SERVO (Lin, Spin) Can be changed: T Calculated: - Access level: 3
0.0 [m/min] 65535.0 [m/min] 0.0 [m/min]
p5043[0...6] Spindle speed limits / n_limits
0.0 [rpm] 65535.0 [rpm] 0.0 [rpm]
Parameters
List of parameters
Description: Displays the maximum permissible speed limit in the state "clamped without tool".
Note: The speed limit set in p5043[6] is effective.
Value = 65535: speed limit not active.
Description: Displays the maximum permissible speed limit in the state "clamped without tool".
Note: The speed limit set in p5043[6] is effective.
Value = 65535: speed limit not active.
Description: Displays the measured phase currents as peak value.
Index: [0] = Phase U motor current
[1] = Phase V motor current
[2] = Phase W motor current
[3] = Phase U capacitor current
[4] = Phase V capacitor current
[5] = Phase W capacitor current
Note: HF: High frequency converter
Re index 0 ... 2:
The 3 motor phase currents are displayed.
Re index 3 ... 5:
The currents in the filter capacitors of the 3 phases are displayed.
r5044 Spindle clamped without tool speed limit / Cl w/o tool n_lim
SERVO (Lin, Spin) Can be changed: - Calculated: - Access level: 1
r5044 Spindle clamped without tool speed limit / Cl w/o tool n_lim
- [rpm] - [rpm] - [rpm]
r5170[0...5] HF phase current actual values / HF I_ph act val
- [A] - [A] - [A]
List of parameters
Parameters
Description: Displays the actual value of the damping voltage.
Note: HF: High frequency converter
Description: Displays the temperatures in the HF reactor module and HF damping module.
Index: [0] = Reactor module heat sink
[1] = Damping module heat sink
[2] = Damping module board
[3] = Damping module depletion layer
Description: Displays the overload of the filter capacitors of the damping module determined using an I2t calculation.
Description: Setting the HF control word.
Note: Re bit 00:
This bit can be used to compensate the filter resonance frequency shift for low motor inductances.
Re bit 01:
Is used for diagnostic purposes.
r5171 HF damping voltage actual value / HF U_damp act val
- [V] - [V] - [V]
r5172[0...3] CO: HF temperatures / HF temp
- [C] - [C] - [C]
r5173 CO: HF damping module I2t overload / HF DM overl I2t
- [%] - [%] - [%]
p5174 HF control word / HF control word
SERVO Can be changed: T Calculated: CALC_MOD_REG Access level: 4
- - 0000 bin
00 Supplementary capacitor active Yes No -
01 Activate damping Continuously For pulse enable -
Parameters
List of parameters
Description: Sets the signal source to activate line droop control for the infeed.
Activation of line droop control and de-activation of closed-loop DC-link voltage control/closed-loop current control.
Activation of closed-loop DC-link voltage control/closed-loop current control and de-activation of line droop control.
Notice: Line droop control can only be activated if the power units have a gating unit with current limitation control (r0192.19
= 1).
Note: So that closed-loop DC-link voltage control is activated by the VECTOR drive object's technology controller (due to
closed-loop DC-link voltage control for the infeed being de-activated) the following BICO interconnection must be
set:
BI: p3513 (VECTOR) = r5402.0 (A_INF)
Description: Displays the status word of line droop control for the infeed.
The line droop control is activated via binector input p5401.
Re bit 02:
The operating mode of the current hysteresis controller is specified via binector input p5451.
Re bit 04:
The status word of the sequence control is displayed in r5452.
Re bit 05:
The pulse frequency wobbulation is activated via p1810.2 = 1, and the wobbulation amplitude p1811 is enabled via
p5456[0...2].4 = 0.
p5401 BI: Line droop control activation / Line drp act
A_INF (Line droop
ctrl)
- - 0
r5402.0...5 CO/BO: Line droop control status word / Line drp ZSW
A_INF (Line droop
ctrl)
- - -
00 Line droop control not active Yes No -
01 Line droop control active Yes No -
02 Line droop control in single mode Yes No -
03 Current limitation control active Yes No -
04 Operating state line short circuit active Yes No -
05 Modulation type wobbulation active Yes No -
List of parameters
Parameters
Description: Sets the signal source for the current to be regulated in alpha/beta coordinates.
Index: [0] = Alpha
[1] = Beta
Note: The following BICO interconnections are recommended:
- Droop control for current/voltage at the line filter: BI: p5403 = r3467 (BI: p5404 = r3468 must be set)
- Droop control for current/voltage at the line transformer: BI: p5403 = r5497 (BI: p5404 = r5488 or r5498 must be
set)
Description: Sets the signal source for the voltage to be regulated in alpha/beta coordinates.
Index: [0] = Alpha
[1] = Beta
- Droop control for current/voltage at the line filter: BI: p5404 = r3468 (BI: p5403 = r3467 must be set)
- Droop control for current/voltage at the line transformer: BI: p5404 = r5488 or r5498 (BI: p5403 = r5497 must be
set)
Description: Sets the no-load frequency (as a % of p0211) for the line droop control active power frequency droop.
Droop formula (without smoothing):
r5410 = (p5405 + p5406 + p5407 x r5411[0] / r0206) x p0211
Note: The droop characteristic input variable is the active power r5411[0] at the selected connection point (p5403, p5404).
The output frequency calculated using the above formula is filtered in accordance with the parameterized smooth-
ing time (p5409).
The smoothed output frequency is displayed in r5410.
p5403[0...1] CI: Line droop control current signal source / Line drp I s_src
A_INF (Line droop
ctrl)
- - [0] 3467[0]
[1] 3467[1]
p5404[0...1] CI: Line droop control voltage signal source / Line drp U s_src
A_INF (Line droop
ctrl)
- - [0] 3468[0]
[1] 3468[1]
p5405 Line droop control frequency droop no-load frequency / Line drp f_no-ld
A_INF (Line droop
ctrl)
30.00 [%] 300.00 [%] 100.00 [%]
Parameters
List of parameters
Description: Sets the signal source for the frequency droop supplementary setpoint (as a % of p0211).
Description: Sets the frequency droop gradient (as a % of p0211).
Description: Sets the smoothing time for the output frequency of the active power frequency droop (r5410).
Note: When the load changes, mechanical energy generation units induce a delayed change in frequency on account of
their inertia. The converter tries to emulate this response with the assistance of the smoothing time.
For the line to remain stable, all the energy generation units in a separate network have to respond in a similar man-
ner during operation.
Description: Displays the smoothed output frequency of the active power frequency droop.
r5410 = (p5405 + p5406 + p5407 * r5411[0] / r0206) * p0211
p5406 CI: Line droop control frequency droop supplementary setpoint / L drp f_suppl_setp
A_INF (Line droop
ctrl)
- - 0
p5407 Line droop control frequency droop gradient / Line drp f grad
A_INF (Line droop
ctrl)
0.00 [%] 100.00 [%] 5.00 [%]
p5409 Line droop control frequency droop smoothing time / Line drp f t_sm
A_INF (Line droop
ctrl)
0.00 [ms] 10000.00 [ms] 150.00 [ms]
r5410 Line droop control frequency droop output / Line drp f outp
A_INF (Line droop
ctrl)
- [Hz] - [Hz] - [Hz]
List of parameters
Parameters
Description: Displays the input active power of the active power frequency droop.
The active power is calculated for the currents and voltages defined with connector inputs p5403 and p5404.
[1] = Smoothed
Note: The value is smoothed by a PT1 filter (p5409).
Description: Displays the current line angle for line droop control.
The value is calculated by integrating the output frequency of the active power frequency droop (r5410).
Description: Sets the gradient for the additional, fast frequency droop.
The reference quantity is the gradient for the regular frequency droop (p5407).
The settings for the regular frequency droop (p5405 onwards) apply to the other droop parameters.
Note: For example, a strong frequency dip can be generated when the load is connected with the additional frequency
droop, and this can be used to emulate the behavior of a diesel generator.
The frequency is initially changed with the smoothing time p5414 in accordance with the additional droop, reaching
the stationary end value in accordance with the time constant p5409 for the regular frequency droop.
The additional droop is de-activated with p5413 = 0.
Description: Sets the smoothing time for the additional, fast frequency droop.
The reference quantity is the smoothing time for the regular frequency droop (p5409).
r5411[0...1] Line droop control frequency droop active power / Line drp f P_act
A_INF (Line droop
ctrl)
- [kW] - [kW] - [kW]
r5412 Line droop control line angle / Line drp angle
A_INF (Line droop
ctrl)
- [] - [] - []
p5413 Line droop control additional frequency droop gradient / Line droop add-f
A_INF (Line droop
ctrl)
0.0 [%] 10000.0 [%] 0.0 [%]
p5414 Line droop control additional frequency droop smoothing time / Line droop add-t
A_INF (Line droop
ctrl)
0.0 [%] 100.0 [%] 10.0 [%]
Parameters
List of parameters
Note: The smoothing time for the additional, fast frequency droop is less than or equal to the time constant for the regular
frequency droop.
Description: Sets the no-load voltage (as a % of p0210) for the reactive current voltage droop for line droop control.
p5420 = (p5415 + p5416 + p5417 * r5421[0] / r0207) * p0210
Note: The droop characteristic input variable is the reactive power r5421[0] at the selected connection point (p5403,
p5404).
The output voltage calculated using the above formula is filtered in accordance with the parameterized smoothing
time p5419.
The smoothed output voltage is displayed in r5420.
Description: Sets the signal source for the voltage droop supplementary setpoint (as a % of p0210).
Description: Sets the voltage droop gradient (as a % of p0210).
Description: Sets the smoothing time for the reactive current actual value (r5421[1]).
The smoothed reactive current is the input quantity for the reactive current voltage droop.
Note: When the load changes, mechanical energy generation units induce a delayed change in voltage on account of
their electrical properties. The converter tries to emulate this response with the assistance of the smoothing time.
p5415 Line droop control voltage droop no-load voltage / Line drp U_no-ld
A_INF (Line droop
ctrl)
30.00 [%] 300.00 [%] 100.00 [%]
p5416 CI: Line droop control voltage droop supplementary setpoint / L drp U_suppl_setp
A_INF (Line droop
ctrl)
- - 0
p5417 Line droop control voltage droop gradient / Line drp U grad
A_INF (Line droop
ctrl)
0.00 [%] 100.00 [%] 5.00 [%]
p5419 Line droop control voltage droop smoothing time / Line drp U t_sm
A_INF (Line droop
ctrl)
0.00 [ms] 10000.00 [ms] 150.00 [ms]
List of parameters
Parameters
For the line to remain stable, all the energy generation units in a separate network have to respond in a similar man-
ner during operation.
Description: Displays the smoothed output voltage of the reactive current voltage droop.
p5420 = p5415 + p5416 + p5417 * r5421[0] / r0207 * p0210
Description: Displays the input reactive current of the reactive current voltage droop.
The reactive current is calculated for the currents and voltages defined with connector inputs p5403 and p5404.
[1] = Smoothed
Description: Displays the input reactive power of the reactive current voltage droop.
The reactive power is calculated for the currents and voltages defined with connector inputs p5403 and p5404.
[1] = Smoothed
Description: Sets an imaginary supplementary inductance for the infeed.
The supplementary inductance supplements the effect of the voltage droop, in particular for transient operations.
r5420 Line droop control voltage droop output / Line drp U outp
A_INF (Line droop
ctrl)
r5421[0...1] Line droop control voltage droop reactive current / Line drp U I_reac
A_INF (Line droop
ctrl)
- [A] - [A] - [A]
r5422[0...1] Line droop control voltage droop reactive power / Line drp U Q_reac
A_INF (Line droop
ctrl)
- [kvar] - [kvar] - [kvar]
p5423 Line droop control supplementary inductance / Line drp L_suppl
A_INF (Line droop
ctrl)
-10.000 [mH] 10.000 [mH] 0.000 [mH]
Parameters
List of parameters
Warning: Unsuitable supplementary inductance and smoothing time settings will make line droop control unstable.
Note: The supplementary inductance is de-activated with p5523 = 0.
The converter's output voltage is calculated so that the converter behaves like a supplementary inductance and as
such achieves an effect similar to a line reactor with higher/lower inductance.
The supplementary inductance can be used for damping in the event of resonance phenomena on the line.
Description: Sets the smoothing time for the effect of the supplementary inductance (p5423).
Note: The supplementary inductance causes current change to be fed back to the converter's output voltage.
Description: Sets the signal source for the voltage to be regulated at the connection point in alpha/beta coordinates.
Index: [0] = Alpha
[1] = Beta
- Compensation of the internal voltage drop for connection point at line filter: BI: p5425 = r3468
- Compensation of the internal voltage drop for connection point at line transformer: BI: p5425 = r5488 or r5498
Description: Sets the proportional gain for the controller for voltage control at the connection point.
The controller compensates internal voltage drops under load conditions and as such precisely converts the droop
characteristic at the connection point (defined in p5425).
Note: The proportional component of the controller is de-activated with p5426 = 0.
p5424 Line droop control supplementary inductance smoothing time / L drp L_suppl t_sm
A_INF (Line droop
ctrl)
0.00 [ms] 100.00 [ms] 0.00 [ms]
p5425[0...1] CI: Line droop control voltage control signal source / L drp U_ctrl s_sc
A_INF (Line droop
ctrl)
- - [0] 3468[0]
[1] 3468[1]
p5426 Line droop control voltage control P gain / Line drp U_ctrl Kp
A_INF (Line droop
ctrl)
0.0 [%] 100.0 [%] 0.0 [%]
List of parameters
Parameters
Description: Sets the integration time for the controller for voltage control at the connection point.
The controller compensates internal voltage drops under load conditions and as such precisely converts the droop
characteristic at the connection point (defined in p5425).
Note: The integral component of the controller is de-activated with p5427 = 0.
Description: Sets the parameters for rapid pre-control of the output voltage in the event of a voltage dip.
The values relate to the voltage setpoint from the voltage droop (r5420).
The voltage output by the converter is formed from the product of the voltage setpoint and the adaptation factor,
which is calculated in rapid pre-control.
Index: [0] = Adaptation factor lower limit
[1] = Adaptation factor increment current limit
[2] = Adaptation factor increment voltage difference
[3] = Adaptation factor increment increase
Note: Rapid adaptation of the voltage setpoint to a reduced line voltage (e.g. in the event of a line short circuit) reduces
the number of additional switching operations completed by the lower-level rapid current hysteresis controller.
Re index 0:
Minimum value for the adaptation factor, must be complied with for the calculation of the reduced output voltage.
The value is dependent upon the voltage drop at the the line reactor when the current limit is reached. As such, the
value results from the reactor inductance, the frequency, and the current limit. A value of 100% de-activates the
function.
Re index 1:
When the current limit is reached, the adaptation factor is weighted with this factor in each sampling cycle. A value
of 0 means that the adaptation factor will jump to the minimum value (p5428[0]) if the current limit is reached. A
value of 100% de-activates the function.
Re index 2:
If the voltage across the line reactor exceeds the minimum value (p5428[0]) for at least 2 current controller clock
cycles, the adaptation factor will be weighted with this factor (p5428[2]) in every sampling cycle.
Re index 3:
If none of the above criteria for reducing the adaptation factor is met, the adaptation factor is increased by the per-
centage value p5428[3] in each current controller clock cycle (the increase is additive). If the adaptation factor
reaches the maximum value of 100%, the effect of pre-control by means of multiplication by the droop setpoint
r5420 is cancelled out.
p5427 Line droop control voltage control integration time / Line drp U_ctrl Ti
A_INF (Line droop
ctrl)
0.0 [ms] 10000.0 [ms] 500.0 [ms]
p5428[0...3] Line droop control voltage control short circuit / Line drp U_ctrl sh
A_INF (Line droop
ctrl)
0.00 [%] 100.00 [%] [0] 20.00 [%]
[1] 0.00 [%]
[2] 90.00 [%]
[3] 2.00 [%]
Parameters
List of parameters
Description: Displays the controller output for voltage control at the connection point.
Description: Sets the setpoint for the maximum stationary modulation depth.
Description: Sets the dynamic response for the modulation depth controller.
Description: Sets the limits for the output voltage on the modulation depth controller.
Index: [0] = Maximum value
[1] = Minimum value
Description: Display and connector output for the modulation depth controller output.
r5429 Line droop control voltage control output / L drp U_ctrl outp
A_INF (Line droop
ctrl)
p5430 Modulation depth controller setpoint / Mod_ctrl setp
A_INF (Line droop
ctrl)
50.0 [%] 110.0 [%] 94.0 [%]
p5431 Modulation depth controller dynamic response / Mod_ctrl dyn
A_INF (Line droop
ctrl)
0.0 [ms] 10000.0 [ms] 10.0 [ms]
p5432[0...1] Modulation depth controller output voltage limits / Mod_ctrl lim U
A_INF (Line droop
ctrl)
-200.0 [V] 200.0 [V] [0] 100.0 [V]
[1] -100.0 [V]
r5433 CO: Modulation depth controller output / Mod_ctrl outp
A_INF (Line droop
ctrl)
- [V] - [V] - [V]
List of parameters
Parameters
Description: Sets the limit frequency for the 2nd order low-pass filter to suppress the direct component in the converter current.
Description: Sets the damping for the 2nd order low-pass filter to suppress the direct component in the converter current.
Description: Sets the proportional gain for the PI controller to suppress the direct component in the converter current.
Note: Recommended setting: p5436 = total resistance of reactor and transformer.
Description: Sets the integration time for the PI controller to suppress the direct component in the converter current.
Note: Recommended setting: p5437 = 70% of the control loop time constant transformer magnetizing inductance/total
resistance.
Description: Setting to activate the bandpass filter for the harmonics controller.
p5434 Direct component controller low pass limit frequency / I_dc_reg PT2 f
A_INF (Line droop
ctrl)
0.000 [Hz] 1.000 [Hz] 0.500 [Hz]
p5435 Direct component controller low pass damping / I_dc_reg PT2 D
A_INF (Line droop
ctrl)
0.001 10.000 1.000
p5436 Direct component controller P gain / I_dc_reg Kp
A_INF (Line droop
ctrl)
0.000 [ohm] 10.000 [ohm] 0.020 [ohm]
p5437 Direct component controller integration time / I_dc_reg Ti
A_INF (Line droop
ctrl)
0.000 [s] 100.000 [s] 3.500 [s]
p5440 Harmonics controller bandpass filter activation / Bandpass act
A_INF (Line droop
ctrl)
- - 0000 bin
Parameters
List of parameters
Description: Sets the gain for the bandpass filter for the harmonics controller.
[1] = Filter 1
[2] = Filter 2
[3] = Filter 3
Note: The parameter should be set to a value which is greater than or equal to the fundamental frequency.
Description: Sets the mid-frequency for the bandpass filter for the harmonics controller.
[1] = Filter 1
[2] = Filter 2
[3] = Filter 3
Description: Sets the total gain for all bandpass filters for the harmonics controller.
00 Filter 0 ON OFF -
p5441[0...3] Harmonics controller bandpass filter gain / Bandpass gain
A_INF (Line droop
ctrl)
0.00 10000.00 120.00
p5442[0...3] Harmonics controller bandpass filter mid-frequency / Bandpass f_mid
A_INF (Line droop
ctrl)
0.00 [Hz] 1000.00 [Hz] 300.00 [Hz]
p5443 Harmonics controller bandpass filter gain total / Bandpass gain tot
A_INF (Line droop
ctrl)
0.00 100.00 1.00
List of parameters
Parameters
Description: Displays the absolute value of the line voltage.
r5444 = sqrt (r5445[0]^2 + r5445[1]^2)
Index: [0] = Droop (p5404)
[1] = Voltage correction (p5425)
Description: Displays the alpha/beta component of the line voltage.
Index: [0] = Alpha
[1] = Beta
Description: Displays the active/reactive component of the line voltage.
Index: [0] = Active
[1] = Reactive
Description: Displays the line current absolute value at the connection point (p5403, p5404).
Note: The following applies:
r5447 = sqrt(r5448[0]^2 + r5448[1]^2)
r5444[0...1] Line droop control line voltage absolute value / U_line abs val
A_INF (Line droop
ctrl)
- [V] - [V] - [V]
r5445[0...1] Line droop control line voltage alpha/beta component / U_line A/B comp
A_INF (Line droop
ctrl)
- [V] - [V] - [V]
r5446[0...1] Line droop control line voltage active/reactive component / U_line P/Q comp
A_INF (Line droop
ctrl)
- [V] - [V] - [V]
r5447 CO: Line droop control line voltage absolute value / I_line abs val
A_INF (Line droop
ctrl)
Parameters
List of parameters
Description: Displays the alpha/beta component of the line current.
Index: [0] = Alpha
[1] = Beta
Description: Displays the active/reactive component of the line current.
Index: [0] = Active
[1] = Reactive
Description: Sets the signal source for setting the operating mode on the current hysteresis controller.
Combined operation (main generator and auxiliary generator on the line).
Isolated operation (main generator only on the line).
Description: Displays the sequence control status word on the current hysteresis controller.
Refer to: F06850
r5448[0...1] Line droop control line current alpha/beta component / I_line A/B comp
A_INF (Line droop
ctrl)
- [A] - [A] - [A]
r5449[0...1] Line droop control line current active/reactive component / I_line P/Q comp
A_INF (Line droop
ctrl)
- [A] - [A] - [A]
p5451 BI: Current hysteresis controller operating mode / I_hyst_ctrl mode
A_INF (Line droop
ctrl)
- - 0
r5452.0...3 CO/BO: Current hysteresis controller sequence control status word /
I_hyst_ctrl seqZSW
A_INF (Line droop
ctrl)
- - -
01 No-load Yes No -
02 Normal Yes No -
03 Short circuit Yes No -
List of parameters
Parameters
Description: Sets the permissible maximum current in the event of an overload and short circuit for the modulator to intervene
and apply limiting.
The effective current limits are calculated from the parameterized overcurrent (p5453) and the hysteresis width
(p5454).
Index: [0] = No-load operation (p5451 = 1 signal)
[1] = Normal operation (p5451 = 1 signal)
[2] = Short-circuit operation (p5451 = 1 signal)
[3] = No-load operation (p5451 = 0 signal)
Dependency: The overcurrent limit (p5453) cannot be set less than or equal to the hysteresis width (p5454).
Note: The value is referred to the internal reference current.
Description: Sets the permissible current hysteresis in the event of an overload and short circuit for the modulator to intervene
and apply limiting.
The effective current limits are calculated from the parameterized overcurrent (p5453) and the hysteresis width
(p5454).
Dependency: The hysteresis width (p5454) cannot be set greater than or equal to the overcurrent limit (p5453).
Refer to: p5453
Description: Sets the permissible tolerance range in the event of an overload and short circuit for the modulator to intervene and
apply limiting.
The effective current limit is calculated from the overcurrent limit (p5453) plus the overcurrent tolerance range
(p5455).
p5453[0...5] Current hysteresis controller overcurrent limit / I_hyst_ctrl I lim
A_INF (Line droop
ctrl)
45.0 [%] 130.0 [%] [0...4] 85.0 [%]
[5] 115.0 [%]
p5454[0...5] Current hysteresis controller overcurrent hysteresis width / I_hyst_ctrl I hyst
A_INF (Line droop
ctrl)
15.0 [%] 50.0 [%] 20.0 [%]
p5455[0...5] Current hysteresis controller overcurrent tolerance range / I_hyst_ctrl I tol
A_INF (Line droop
ctrl)
10.0 [%] 100.0 [%] 20.0 [%]
Parameters
List of parameters
Description: Sets the configuration for the current hysteresis controller.
Index: [0] = No-load
[1] = Normal operation
[2] = Sh-cct operation
Notice: Re bit 04 = 0:
The pulse frequency wobbulation amplitude (p1811) is enabled. Only applies if p1810.2 = 1.
Re bit 04 = 1:
The pulse frequency wobbulation amplitude (p1811) is disabled. Only applies if p1810.2 = 1.
Description: Sets the pulse frequency for the operating states of the current hysteresis controller.
Index: [0] = No-load
[1] = Normal operation
Note: The value refers to p1800.
Only factors of the pulse frequency in p1800 are permitted.
p5456[0...2] Current hysteresis controller configuration / I_hyst_ctrl config
A_INF (Line droop
ctrl)
- - [0] 1000 0000 0010 0000 bin
[1] 1000 0000 0010 0000 bin
[2] 1000 0000 0011 0000 bin
04 Disable wobbulation amplitude Yes No -
05 Activate extended current limitation control Yes No -
06 Activate isochronous current limitation Yes No -
tion
15 Activate flat-top modulation Yes No -
p5457[0...2] Current hysteresis controller pulse frequency changeover / I_hyst_ctrl f_puls
A_INF (Line droop
ctrl)
50.0 [%] 200.0 [%] [0] 200.0 [%]
[1] 100.0 [%]
[2] 100.0 [%]
List of parameters
Parameters
Description: Sets the minimum times for the operating states of the current hysteresis controller.
Index: [0] = Normal operation
Note: Re p5458[0]:
Minimum time for operating state "Rated operation" for change to "No-load operation".
Re p5458[1]:
Permissible short-circuit duration. If the short circuit is not cleared within this time, the main generator will shut down
with fault F06850.
Description: Sets the limits for state change in the sequence control on the current hysteresis controller.
Index: [0] = Lower current limit no-load/normal operation
[1] = Upper current limit normal/no-load operation
[2] = Lower voltage limit short-circuit operation
[3] = Upper voltage limit short-circuit/normal operation
Note: The current value refers to r0209.
The voltage value refers to p0210.
Description: Sets a voltage scaler for Voltage Sensing Module 2 (VSM2).
Example:
--> p5460 = 10 * 100 % = 1000 %
p5458[0...1] Current hysteresis controller minimum time operating state / I_hyst_ctrl t mode
A_INF (Line droop
ctrl)
0.000 [s] 3.000 [s] [0] 1.000 [s]
[1] 1.000 [s]
p5459[0...3] Current hysteresis controller sequence control state change / I_hyst_ctrl seq
A_INF (Line droop
ctrl)
0.0 [%] 200.0 [%] [0] 10.0 [%]
[1] 5.0 [%]
[2] 70.0 [%]
[3] 75.0 [%]
p5460 VSM2 input line supply voltage, voltage scaler / VSM2 inp U_scaler
A_INF (Line transf) Can be changed: T Calculated: - Access level: 3
0.00 [%] 100000.00 [%] 0.00 [%]
Parameters
List of parameters
Description: Displays the voltage between phases L1 and L2.
Description: Displays the voltage between phases L2 and L3.
Description: Displays the status of the temperature evaluation of Voltage Sensing Module 2 (VSM2).
Description: Sets the temperature sensor for Voltage Sensing Module 2 (VSM2).
The temperature sensor is connected to terminals X520.5 and X520.6 on the VSM2.
Value: 0: No sensor
1: PTC
2: KTY84
r5461[0...n] CO: VSM2 input line supply voltage u1 - u2 / VSM2 inp u1-u2
A_INF (Line transf) Can be changed: - Calculated: - Access level: 3
- [V] - [V] - [V]
r5462[0...n] CO: VSM2 input line supply voltage u2 - u3 / VSM2 inp u2-u3
- [V] - [V] - [V]
r5464[0...n] CO: VSM2 temperature evaluation status / VSM2 temp status
- - -
p5465[0...n] VSM2 temperature evaluation sensor type / VSM2 temp sens_typ
0 2 0
List of parameters
Parameters
Description: Displays the temperature actual value of a KTY84 temperature sensor connected to Voltage Sensing Module 2
(VSM2).
Prerequisite:
A KTY84 sensor is connected and p5465 = 2 is set.
- Below the nominal response temperature, r5466 = -50 C.
- Above the nominal response temperature, r5466 = 199.9 C.
Description: Sets the alarm threshold for the KTY temperature sensor on Voltage Sensing Module 2 (VSM2).
Prerequisite:
A KTY84 sensor is connected and p5465 = 2 is set.
Refer to: A34211
Description: Sets the shutdown threshold for the KTY temperature sensor of the VSM2 to monitor a temperature.
Refer to: F34207
Description: Sets the hysteresis for the warning threshold of the VSM2 to monitor a temperature.
r5466[0...n] CO: VSM2 temperature KTY / VSM2 temp KTY
- [C] - [C] - [C]
p5467[0...n] VSM2 overtemperature alarm threshold / VSM2 temp A_thresh
0.00 [C] 301.00 [C] 150.00 [C]
p5468[0...n] VSM2 overtemperature shutdown threshold / VSM2 temp F_thresh
0.00 [C] 301.00 [C] 180.00 [C]
p5469[0...n] VSM2 overtemperature hysteresis / VSM2 temp hyst
1.00 [K] 50.00 [K] 3.00 [K]
Parameters
List of parameters
Description: Sets the CT gain of the CT connected at the 10 V input of Voltage Sensing Module 2 (VSM2).
The parameter specifies the current magnitude in [A] referred to the input voltage at VSM2 in [V].
Example:
--> p5470 = 200
Note: The CT for phase 1 is connected at terminals X520.1 and X520.2 of VSM2.
The CT for phase 2 is connected at terminals X520.3 and X520.4 of VSM2.
Description: Displays the current actual value from current transducer (CT) 1 at the 10 V input of Voltage Sensing Module 2
(VSM2).
Description: Displays the current actual value from current transducer (CT) 2 at the 10 V input of Voltage Sensing Module 2
(VSM2).
Description: Displays the actual value of the voltage measured at the 10 V input 1 of Voltage Sensing Modules 2 (VSM2).
p5470[0...n] VSM2 10 V input CT gain / VSM2 CT_gain
0.000 [A] 1000.000 [A] 1.000 [A]
r5471[0...n] CO: VSM2 10 V input CT 1 actual value / VSM2 CT1 I_act
- [A] - [A] - [A]
r5472[0...n] CO: VSM2 10 V input CT 2 actual value / VSM2 CT2 I_act
- [A] - [A] - [A]
r5473[0...n] CO: VSM2 10 V input 1 actual value / VSM2 inp 1 U_act
- [V] - [V] - [V]
List of parameters
Parameters
Description: Displays the actual value of the voltage measured at the 10 V input 2 of Voltage Sensing Modules 2 (VSM2).
Description: Setting for the permissible maximum current in the event of an overload and short circuit with active line droop con-
trol (p5401 = 1 signal).
Index: [0] = Normal operation
Note: The value refers to r0209.
The current limits p5453, p5454 and p5455 for the gating unit are automatically set.
In the case of p5478[0] = 50 % and p5478[1] = 50 %, the current limits p5453, p5454, p5455 can be set manually.
Re index 0:
Current limit for normal operation and for line short circuit in combined operation with a generator. Maximum value
is 100 %.
Re index 1:
Current limit for short circuit with a main generator in isolated operation in the line.
Description: Displays the permissible converter line current with active line droop control (p5401 = 1 signal).
Index: [0] = Overload current limiting
[1] = Short-circuit current limiting
[2] = Continuous current permissible at an ambient 40 C
Note: Re index 0:
Permissible overload current and permissible current during a line short circuit in combined operation (p5451). The
converter current is limited to this current value.
Re index 1:
Permissible current during a line short circuit in isolated operation (p5451). The converter current is limited to this
current value.
r5474[0...n] CO: VSM2 10 V input 2 actual value / VSM2 inp 2 U_act
- [V] - [V] - [V]
p5478[0...1] Line droop control current limits / Line droop I_lim
A_INF (Line droop
ctrl)
50.0 [%] 123.0 [%] [0] 90.0 [%]
[1] 123.0 [%]
r5479[0...4] Line droop control current permissible / Line droop I perm
A_INF (Line droop
ctrl)
Parameters
List of parameters
Re index 2, 3, 4:
Continuously permissible line current at cos(phi) = 1 for I2t monitoring. The I2t numerator (r0036) is incremented
above this current value with active line droop control (r5402.1 = 1).
The current limit is dependent on the ambient temperature.
Derating should be observed at cos(phi) < 1 in order to avoid overtemperatures.
Description: Sets the mode for transformer magnetization.
If value = 11:
Automatic determination of the magnetizing inductance.
The magnetizing inductance determined in r5491 must be transferred to p5492 in order to take effect.
If value = 12:
Automatic determination of the transformer phase shift and the gain correction.
The transformer phase shift determined in r6440 must be transferred to p6420 in order to take effect.
The gain correction determined in r6441 must be transferred to p6421 in order to take effect.
If value = 13:
Determination of the total leakage inductance of the transformer during line data identification. p3410 = 1 is set
automatically and the inductance is measured on the next power-up. Once the measurement has been taken the
converter shuts down automatically and p3410 is set to 0.
The total leakage inductance of the transformer determined in r5489 must be transferred to p5490 in order to take
effect.
If value = 101:
The infeed switches to line droop control, but the main switch/circuit breaker does not close. Test operation requires
the "Line droop control" function module to be activated (r0108.12 = 1).
If value = 102:
The same as test operation 1. However, synchronization with the line is not realized (VSM2 measured data r5460
and following is not used); instead, the output voltage is generated corresponding to the rated data p0210, p0211,
p5486.
1: Normal operation 1
11: Identification transformer magnetizing inductance
12: Identification transformer phase shift/gain correction
13: Identification total transformer leakage inductance
101: Test operation 1 (without activation of circuit breaker)
102: Test oper. 2 (w/o activation of circuit breaker, without VSM2)
Note: If value = 13:
On low-power systems it is advisable to reduce the excitation current p3415 for inductance identification (e.g.
p3415[0] = p3415[1] = 5%).
To repeat a measurement p5480 must first be set to 1 and then reset to a value of 13 once the measurement has
been taken.
p5480 Transformer magnetization mode / Transf mag mode
0 102 0
List of parameters
Parameters
Description: Sets the ramp-up time for the voltage ramp, the bounce time for the circuit breaker, and a maximum time for line
synchronization.
Re index 2:
If the maximum time elapses without the line being synchronized, message A06502 is output.
The minimum duration of line synchronization is 25 % of the maximum time (p5481[2]).
Index: [0] = Voltage ramp ramp-up time
[1] = Circuit breaker bounce time
[2] = Line synchronization timeout
Description: Displays the state of sequence control for transformer magnetization.
1: Wait for r3402 = 12
2: Magnetization with voltage ramp running
3: Line synchronization in progress
4: Wait for CB enable (p5483 = 1 signal)
5: Wait for bounce time for circuit breaker
6: Transition to operation running (r3402 = 9)
7: Procedure complete
8: Identification of magnetizing inductance
9: Identification of transformer phase shift and gain correction
Description: Sets the signal source for activating the circuit breaker after following voltage ramp ramp-up.
p5481[0...2] Transformer magnetization ramp-up time/bounce time/timeout / Transf mag t_r-up
0.10 [s] 100.00 [s] [0] 2.00 [s]
[1] 1.00 [s]
[2] 1.00 [s]
r5482 Transf magnetization state / Transf mag state
0 9 -
p5483 BI: Transf. magnetiz. signal source for circuit breaker activation / Trans mag CB ON
- - 0
Parameters
List of parameters
Description: Sets the various integration times for transformer magnetization.
Index: [0] = Angle controller
[1] = Voltage controller
[2] = Voltage threshold
Description: Sets the permissible voltage difference between the space vectors of the line voltage and the Active Line Module
(ALM).
Description: Sets the primary rated voltage of the transformer.
Description: Sets the signal source for the measured phase voltage (u12, u23) on the primary side.
Index: [0] = Phase voltage u12
[1] = Phase voltage u23
p5484[0...2] Transf magnetization integration times / Transf mag t_integ
0.00 [ms] 1000.00 [ms] [0] 50.00 [ms]
[1] 50.00 [ms]
[2] 100.00 [ms]
p5485 Transf magnetization voltage threshold / Transf mag U_thr
0 [V] 300 [V] 35 [V]
p5486 Transf rated voltage primary / Transf U_rated pri
A_INF (Line transf) Can be changed: C2(1, 2) Calculated: - Access level: 3
0.00 [Vrms] 63000.00 [Vrms] 400.00 [Vrms]
p5487[0...1] CI: Transf primary voltage / Transf U_prim
- - [0] 5461[0]
[1] 5462[0]
List of parameters
Parameters
Description: Displays the components for the transformed voltage on the secondary side of the transformer from measured pri-
mary voltage (p5487).
Index: [0] = Alpha
[1] = Beta
[2] = Amplitude
Description: Displays the total leakage inductance of the line transformer determined by means of automatic transformer identi-
fication (p5480 = 13).
The result should be entered in parameter p5490.
During identification, the value previously entered in p5490 is not effective.
Description: Sets the total leakage inductance of the line transformer.
Description: Displays the magnetizing inductance of the line transformer determined by means of automatic transformer identifi-
cation (p5480 = 11).
The result should be entered in parameter p5492.
During identification, the value previously entered in p5492 is not effective.
r5488[0...2] CO: Transf secondary voltage transformed / Transf U_sec trans
- [V] - [V] - [V]
r5489 Transf leakage inductance identified / Transf L_l ident
- [mH] - [mH] - [mH]
p5490 Transf leakage inductance / Transf L_leak
0.001 [mH] 1000.000 [mH] 0.100 [mH]
r5491 Transf magnetizing inductance identified / Transf L_m ident
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Sets the magnetizing inductance of the line transformer.
Description: Displays the control signals for transformer magnetization.
Note: Re bit 00:
The signal is used to control the external bypass contactor in the pre-charge branch.
The external bypass contactor is closed if pre-charging is complete (r3402 > 5) and the circuit breaker has not been
activated (r0863.1 = 0).
Description: Sets the scaling for the setpoint voltage for the transformer magnetization.
Description: Displays the components for the transformer's calculated secondary current.
Index: [0] = Alpha
[1] = Beta
p5492 Transf magnetizing inductance / Transf L_mag
0.10 [mH] 10000.00 [mH] 250.00 [mH]
r5493.0 CO/BO: Transf control signals / Transf ctrl sig
- - -
00 Control bypass contactor Yes No -
p5494 Transformer magnetization setpoint scaling / Transf setp scal
90.0 [%] 100.0 [%] 100.0 [%]
r5497[0...1] CO: Transf secondary current / Transf I_second
- [A] - [A] - [A]
List of parameters
Parameters
Description: Displays the components for the secondary voltage calculated from the filter (r3467, r3468) via the transformer
model.
Index: [0] = Alpha
[1] = Beta
[2] = Amplitude
Description: Sets the configuration for dynamic grid support.
Note: Re bit 00:
If p5500.0 = 0 the output value of the grid support characteristic is added to the control's reactive current setpoint.
r0075 = p3610 + p3611 + r3471 + r5510[0].
If p5500.0 = 1 the dynamic reactive current setpoint p3611 is subtracted if dynamic grid support is active (p5502.1 =
1). In this case, the following applies:
r0075 = p3610 + r3471 + r5510[0].
Re bit 01:
Only active for p5500.3 = 0.
If p5500.1 = 0 the alpha and beta amplitudes of the line voltage, which were smoothed with p5507[2], are deter-
mined. The absolute value of the line voltage, calculated from these amplitudes, is used as input value for the char-
acteristic for grid support. In the event of an asymmetrical line disturbance, oscillation of the reactive current
setpoint (r5510) is prevented.
If p5500.1 = 1, the smoothed absolute value of the measured line voltage is used as the input value for the grid sup-
port characteristic. Smoothing is set with p5507[3].
Re bit 02:
Only effective if p5500.1 = 0 and p5500.3 = 0.
If p5500.2 = 0, the maximum value from the alpha and beta line voltage amplitudes is used as the input value for
the grid support characteristic. The reactive current setpoint (r5510) will, therefore, remain virtually constant even in
the event of asymmetrical line disturbance. Power fluctuations in the DC link are reduced.
If p5500.2 = 1, the mean value from the alpha and beta line voltage amplitudes is used as the input value for the
grid support characteristic.
r5498[0...2] CO: Transf secondary voltage / Transf U_second
- [V] - [V] - [V]
p5500 Dynamic grid support configuration / Dyn grid config
A_INF (Dyn. grid
support)
- - 0000 1000 bin
00 De-activate characteristic Yes No -
01 Line voltage alpha/beta amplitudes No Yes -
02 Grid support mode in the event of asymme-
try
No Yes -
03 Grid support negative phase-sequence sys-
tem calculation
Yes No -
04 Grid support neg sequence tolerance
threshold characteristic
No Yes -
Parameters
List of parameters
Re bit 03:
For p5500.3 = 0, no negative phase-sequence system current setpoint according to the characteristic is calculated.
This means that the setpoints for the negative phase-sequence system current controller are also equal to 0 if the
line supply is not symmetrical.
For p5500.3 = 1, for an unsymmetrical line supply voltage, a negative phase-sequence system current setpoint is
calculated, which counteracts the voltage dissymmetry and therefore supports the grid.
The negative phase-sequence system current is impressed using the negative phase-sequence system controller
(p3636 and following).
The negative phase-sequence system controller is automatically activated and deactivated (the following applies,
p3636.0 = p5500.3).
Re bit 04:
For p5500.4 = 0, a negative phase-sequence system current setpoint according to the characteristic p5505/p5506
is generated, if the difference between two line phase voltage amplitude is greater than p5509[8] and the amplitude
of at least one line phase voltage exceeds the line tolerance range according to the characteristic.
For p5500.4 = 1, an already supporting negative phase-sequence system current is impressed according to the
characteristic, if only the difference between two line phase voltage amplitudes is greater than p5509[9].
Description: Sets the signal source to activate dynamic grid support.
Activates dynamic grid support.
De-activates dynamic grid support.
Recommend.: The smoothing time for the line PLL (p3458[1]) should be set to values higher than 20 ms so as to ensure stable
operation even with sharp dips in supply voltage.
Notice: Dynamic grid support can only be activated if the power units have a gating unit with current limitation control
(r0192.19 = 1).
Note: If grid support is de-activated:
Line disturbance will generate the standard response to phase failures on the part of the infeed for drive applica-
tions (see A06205).
If grid support has been activated:
Line disturbance will trigger grid support in accordance with the set characteristic (p5505, p5506).
Description: Displays the status word for dynamic grid support.
p5501 BI: Dynamic grid support activation / Dyn grid act
A_INF (Dyn. grid
support)
- - 0
r5502.0...4 CO/BO: Dynamic grid support status word / Dyn grid ZSW
A_INF (Dyn. grid
support)
- - -
00 Line voltage within the permissible toler-
ance range
Yes No -
01 Line voltage outside the permissible toler-
ance range
Yes No -
02 Line asymmetry outside the permissible tol-
erance range
Yes No -
List of parameters
Parameters
Note: Re bit 02:
The tolerance range is set using p5509[8, 9].
Re bit 04:
The status word of the sequence control is displayed in r5522.
Description: Sets the signal source for the line voltage in alpha/beta coordinates.
The signals are used as input values for the characteristic for dynamic grid support (p5505, p5506).
Index: [0] = Alpha
[1] = Beta
Dependency: Refer to: r0072, r3468, r5488, r5498, p5505, p5506
Note: Possible signal sources include r3468, r5488, or r5498.
If p5504[0] = 0 or p5504[1] = 0:
The internal unsmoothed model value from current control is used for the line voltage.
Description: Sets the voltage values for the characteristic for dynamic grid support.
The characteristic points for positive and negative voltage deviation are set separately.
The positive and the negative characteristic are each defined based on their starting and finishing points.
Positive voltage deviation:
- Starting point: p5505[0], p5506[0]
- Finishing point: p5505[1], p5506[1]
Negative voltage deviation:
- Starting point: p5505[2], p5506[2]
- Finishing point: p5505[3], p5506[3]
Index: [0] = Characteristic positive starting point
[1] = Characteristic positive finishing point
[2] = Characteristic negative starting point
[3] = Characteristic negative finishing point
Note: The voltage values refer to p0210.
Dynamic grid support is not applied in the event of voltage deviations between the starting points of the positive and
the negative characteristic (p5505[0], p5505[2]).
In the event of voltage deviations above the finishing points of the positive or the negative characteristic (p5505[1],
p5505[3]), grid support is limited to the reactive current setpoint of the corresponding finishing point (p5506[1],
p5506[3]).
03 Current limitation control active Yes No -
04 Operating state line short circuit active Yes No -
p5504[0...1] CI: Dynamic grid support voltage signal source / Dyn grid U sig_src
A_INF (Dyn. grid
support)
- - [0] 3468[0]
[1] 3468[1]
p5505[0...3] Dynamic grid support characteristic voltage values / Dyn grid char U
A_INF (Dyn. grid
support)
0.0 [%] 100.0 [%] [0] 10.0 [%]
[1] 50.0 [%]
[2] 10.0 [%]
[3] 50.0 [%]
Parameters
List of parameters
Description: Sets the reactive current setpoints for the characteristic for dynamic grid support.
For more information, see p5505.
Index: [0] = Characteristic positive starting point
[1] = Characteristic positive finishing point
[2] = Characteristic negative starting point
[3] = Characteristic negative finishing point
Note: The values are referred to r0207.
Description: Sets the time values for dynamic grid support.
Index: [0] = Minimum time dynamic grid support
[1] = Minimum time line disturbance
[2] = Smoothing time alpha/beta
[3] = Smoothing time instantaneous value
Note: Re index 0:
Minimum time for continuing grid support in accordance with the characteristic once the line voltage has returned to
the permissible tolerance range between the two starting points (p5505[0], p5505[2]).
Re index 1:
Minimum time for line disturbance for the start of grid support in accordance with the characteristic.
If the tolerance band between the two characteristic starting points is violated for at least this period of time, voltage
control in accordance with characteristic will start up.
Re index 2:
Smoothing time for the calculation of the alpha amplitude and the beta amplitude of the line voltage if p5500.1 = 0.
An estimated value for the current line voltage absolute value is calculated from the alpha and beta amplitudes and
serves as the input value for the grid support characteristic.
A smoothing time of less than a line period makes no sense.
If the estimated absolute value deviates from the smoothed measured voltage absolute value by more than 25%,
the smoothed measured value is used. This corresponds to a temporary automatic changeover from p5500.1 = 0 to
p5500.1 = 1.
Re index 3:
Smoothing time for the measured absolute value of the line voltage if p5500.1 = 1.
The smoothed absolute value of the line voltage is used as the input value for the grid support characteristic.
Setting p5507[3] = 0 de-activates smoothing.
p5506[0...3] Dynamic grid support characteristic reactive current setpoint / Dyn grid char I
A_INF (Dyn. grid
support)
0.0 [%] 100.0 [%] [0] 20.0 [%]
[1] 100.0 [%]
[2] 20.0 [%]
[3] 100.0 [%]
p5507[0...3] Dynamic grid support times / Dyn grid times
A_INF (Dyn. grid
support)
0.00 [ms] 10000.00 [ms] [0] 500.00 [ms]
[1] 2.00 [ms]
[2] 20.00 [ms]
[3] 4.00 [ms]
List of parameters
Parameters
Description: Sets the threshold for the DC-link voltage (Vdc) to reduce the reactive current setpoint from dynamic grid support.
The value represents an offset in relation to the DC-link maximum voltage, with the result that the intervention
threshold is obtained from the total of r0297 and p5508.
Note: To avoid imminent shutdown due to a DC-link overvoltage, the reactive current setpoint is reduced for dynamic grid
support. Instead of this, the available converter current is used as the active current to reduce the DC-link voltage.
Description: Sets the scaling values for dynamic grid support.
Index: [0] = Ramp reactive current at the beginning/end of grid support
[1] = Ramp reactive current when Vdc threshold is overshot
[2] = Ramp reactive current when Vdc threshold is undershot
[3] = Hysteresis line voltage to exit grid support
[4] = Reference voltage scaling
[5] = Current limitation scaling
[6] = Line voltage change for fast negative sequence calculation
[7] = Line asymmetry current limit positive phase-sequence system
[8] = Line asymmetry current limit negative phase-sequence system
[9] = Line asymmetry minimum value for start of grid support
[10] = Line asymmetry maximum value for end of grid support
Note: Re index 0:
Change in the reactive current setpoint (% per ms) at the beginning and end of dynamic grid support.
This avoids sudden changes in the reactive current if the starting points for the line voltage (p5505[0], p5505[2]) are
overshot.
Re index 1:
Change in the reactive current setpoint (% per ms) when the maximum Vdc threshold (p5508) is overshot.
To avoid beat phenomena, the following must apply: p5509[1] > p5509[2].
Re index 2:
Change in the reactive current setpoint (% per ms) when the maximum Vdc threshold (p5508) is undershot.
To avoid beat phenomena, the following must apply: p5509[1] > p5509[2].
p5508 Dynamic grid support Vdc threshold / Dyn grid Vdc thr
A_INF (Dyn. grid
support)
-200 [V] 0 [V] -50 [V]
p5509[0...10] Dynamic grid support scaling values / Dyn grid scal
A_INF (Dyn. grid
support)
0.10 [%] 200.00 [%] [0] 40.00 [%]
[1] 40.00 [%]
[2] 4.00 [%]
[3] 1.00 [%]
[4] 100.00 [%]
[5] 100.00 [%]
[6] 1.00 [%]
[7] 100.00 [%]
[8] 100.00 [%]
[9] 10.00 [%]
[10] 5.00 [%]
Parameters
List of parameters
Re index 3:
Sets the hysteresis for the line voltage to exit grid support (as a percentage of the supply voltage p0210).
To exit grid support, the line voltage must be in the interval reduced by the hysteresis width (the interval is defined
with the starting points p5505[0] and p5505[2] and the hysteresis width p5509[3]).
Re index 4:
Sets the scaling factor for the reference voltage for dynamic grid support (as a percentage of the supply voltage
p0210).
As a result, the product of p0210 x p5509[4] is applied as the voltage zero.
Re index 5:
Sets the scaling factor for the permissible maximum converter current absolute value for dynamic grid support (as a
percentage of the converter maximum current r0209).
Values higher than 100% will not be applied.
Re index 6:
Sets the percentage voltage change (as a percentage of p0210) from which value the calculated positive phase-
sequence system and negative phase-sequence system amplitudes are quickly adapted. As a consequence, the
grid is quickly supported when step-type faults occur.
Re index 7:
Sets the maximum positive phase-sequence system reactive current to support the grid in the case of line asymme-
try (r5502.2 = 1) as a percentage of r0207.
Re index 8:
Sets the maximum negative phase-sequence system absolute current to support the grid in the case of line asym-
metry (r5502.2 = 1) as a percentage of r0207.
Re index 9:
Sets the minimum value of the voltage asymmetry to impress a negative phase-sequence system current for asym-
metrical grid support.
For p5500.4 = 1, a negative phase-sequence system current is already impressed, if the voltage asymmetry
exceeds the set value.
For p5500.4 = 0, in addition, for at least one of the phase voltages, the tolerance condition from the characteristic
p5505 / p5506 must be exceeded.
Re index 10:
Sets the maximum value of the voltage asymmetry to end asymmetrical grid support.
This means that parameters p5509[9] and p5509[10] define a hysteresis range.
Description: Display and connector output for the reactive current setpoint calculated according to the characteristic for dynamic
grid support (p5505, p5506).
Index: [0] = Reactive current setpoint not limited
[1] = Reactive current setpoint Vdc threshold
[2] = Reactive current setpoint ramp
[3] = Reactive current setpoint characteristic
[4] = Negative phase-sequence system active current setpoint unlimited
[5] = Neg phase-sequence system active current setpoint characteristic
[6] = Neg phase-sequence system reactive current setpoint unlimited
[7] = Negative phase-sequence reactive current setpoint characteristic
r5510[0...7] CO: Dynamic grid support output / Dyn grid outp
A_INF (Dyn. grid
support)
List of parameters
Parameters
Note: Re index 0:
Output of characteristic following addition of reactive current setpoints prior to current limitation. The reactive cur-
rent setpoint applied for current control including dynamic grid support is displayed in r0075.
Re index 1:
Output of characteristic following correction on the basis of the Vdc threshold (p5508).
Re index 2:
Output of characteristic after ramp function.
Re index 3:
Output of characteristic for dynamic grid support.
Re index 4:
Setpoint for the active current in the negative phase-sequence system before current limiting.
Re index 5:
Output of the characteristic for the active current in the negative phase-sequence system.
Re index 6:
Setpoint for the reactive current in the negative phase-sequence system before current limiting.
Re index 7:
Output of the characteristic for the reactive current in the negative phase-sequence system.
Description: Display and connector output for the calculated alpha and beta amplitudes for the line voltage.
The amplitudes are calculated from the alpha and beta coordinates of the current voltage measured values
(p5504).
Index: [0] = Alpha
[1] = Beta
Note: The alpha and beta amplitudes calculated are used to calculate grid support dependent upon the selected configu-
ration (p5500).
Line asymmetry cannot be identified just as a result of unequal alpha and beta amplitudes.
Description: Display and connector output for the voltage absolute value calculated from the alpha/beta input voltages (p5504).
Index: [0] = Line voltage characteristic absolute value input
[1] = Line voltage absolute value smoothed
Note: Re index 0:
Displays the effective voltage absolute value for the input of the characteristic for dynamic grid support.
Re index 1:
Displays the voltage absolute value following smoothing of the actual value according to p5507[3].
If p5500.1 = 1, this value is used as the input value for the characteristic.
For p5500.1 = 0, the alpha/beta amplitudes are used to calculate the voltage absolute value (r5511).
r5511[0...1] CO: Dynamic grid support line voltage amplitude / Dyn grid U ampl
A_INF (Dyn. grid
support)
- [V] - [V] - [V]
r5512[0...1] CO: Dynamic grid support line voltage absolute value / Dyn grid U abs val
A_INF (Dyn. grid
support)
Parameters
List of parameters
Description: Display and connector output for the positive phase-sequence system component and negative phase-sequence
system component of the line voltage (p5504).
Index: [0] = Positive phase-sequence system active component
[1] = Positive phase-sequence system reactive component
[2] = Negative phase-sequence system active component
[3] = Negative phase-sequence system reactive component
Note: The determined active and reactive voltages of the positive phase-sequence and negative phase-sequence sys-
tems are used to calculate grid support dependent upon the selected configuration (p5500.3).
Description: Displays the setpoint for the line current at the input terminals of the power unit in alpha/beta components.
Index: [0] = Alpha
[1] = Beta
Description: Displays the sequence control status word on the current hysteresis controller.
Refer to: F06850
r5513[0...3] CO: Dynamic grid support line voltage pos/neg phase-sequence system /
Dyn grid U pos/neg
A_INF (Dyn. grid
support)
r5514[0...1] CO: Dynamic grid support current setpoint alpha/beta / Dyn grid I a/b
A_INF (Dyn. grid
support)
- [A] - [A] - [A]
r5522.0...3 CO/BO: Dynamic grid support sequence control status word / Dyn grid seq ZSW
A_INF (Dyn. grid
support)
- - -
01 No-load Yes No -
02 Normal Yes No -
03 Short circuit Yes No -
List of parameters
Parameters
Description: Sets the times for the operating states of the current hysteresis controller.
Index: [0] = Minimum time in normal state
[1] = Minimum time in short-circuit state
Dependency: Refer to: A06849, F06850
Note: Re index 0:
Minimum time for operating state "Rated operation" for change to "No-load operation".
Re index 1:
Permissible short-circuit duration.
If the short circuit is not cleared within this time, the main generator will shut down with fault F06850.
Description: Sets the limits for state change in the context of sequence control on the current hysteresis controller.
Index: [0] = Minimum current for change from no-load to rated operation
[1] = Maximum current for change from rated to no-load operation
[2] = Minimum voltage for state change to short circuit
[3] = Maximum voltage for change from short circuit to rated operation
Note: The current value refers to r0209.
The voltage value refers to p0210.
Description: Sets the configuration for line monitoring.
Line monitoring is activated using binector input p5541 = 1 signal.
p5528[0...1] Dynamic grid support minimum time operating state / Dyn grid t op
A_INF (Dyn. grid
support)
0.000 [s] 3.000 [s] [0] 1.000 [s]
[1] 2.000 [s]
p5529[0...3] Dynamic grid support sequence control state change / Dyn grid seq state
A_INF (Dyn. grid
support)
0.0 [%] 200.0 [%] [0] 10.0 [%]
[1] 5.0 [%]
[2] 65.0 [%]
[3] 70.0 [%]
p5540 Line monitoring configuration / Line monit config
A_INF (Dyn. grid
support)
- - 0011 bin
00 Voltage and frequency monitoring Yes No -
01 AISL frequency shift technique Yes No -
Parameters
List of parameters
Note: AISL: Anti Islanding (islanding detection)
Re bit 00:
The monitoring bandwidths of the voltage and frequency criteria are defined using the thresholds p5543 and p5544.
Re bit 01:
The frequency shift technique actively changes the frequency that is fed in. For islanding formation this results in
the permissible frequency bandwidth being violated. Shut down is realized via fault F06851.
Description: Sets the signal source to activate line monitoring.
Activating line monitoring.
Deactivating line monitoring.
Note: The techniques and monitoring functions selected in the configuration parameter (p5540) are activated.
Description: Display and connector output for the status word of line monitoring.
Description: Sets the voltage thresholds for line monitoring.
The setting is a percentage of p0210.
p5541 BI: Line monitoring activation / Line monit act
A_INF (Dyn. grid
support)
- - 0
r5542.0...9 CO/BO: Line monitoring status word / Line monit ZSW
A_INF (Dyn. grid
support)
- - -
00 Line monitoring activated Yes No -
01 Voltage and frequency monitoring active Yes No -
02 AISL frequency shift technique active Yes No -
06 AISL voltage monitoring lower threshold vio-
lated
Yes No -
07 AISL voltage monitoring upper threshold
violated
Yes No -
08 AISL frequency monitoring lower threshold
violated
Yes No -
09 AISL frequency monitoring upper threshold
violated
Yes No -
p5543[0...1] Line monitoring voltage threshold / Line mon_U thresh
A_INF (Dyn. grid
support)
50.0 [%] 120.0 [%] [0] 110.0 [%]
[1] 88.0 [%]
List of parameters
Parameters
Index: [0] = Upper
[1] = Lower
Note: The active thresholds of the voltage criteria are obtained as follows:
Threshold, upper = p0210 x p5543[0]
Threshold, lower = p0210 x p5543[1]
Description: Sets the relative frequency thresholds for line monitoring.
The setting is realized as a deviation from p0211.
Index: [0] = Upper
[1] = Lower
Note: The active thresholds of the frequency criteria are obtained as follows:
Threshold, upper = p0211 + p5544[0]
Threshold, lower = p0211 - p5544[1]
Description: Sets the time values for line monitoring.
Index: [0] = Voltage and frequency monitoring, break time minimum
[1] = AISL input angular frequency smoothing time
Description: Sets the frequency for line monitoring.
Index: [0] = AISL frequency shift excitation frequency
Re index 0:
For frequency changes below the set excitation frequency, a normal line frequency change is assumed. For fre-
quency changes above the setpoint excitation frequency, the algorithm of the islanding detection is triggered.
p5544[0...1] Line monitoring frequency threshold / Line mon_f thresh
A_INF (Dyn. grid
support)
0.1 [Hz] 3.0 [Hz] [0] 0.5 [Hz]
[1] 0.7 [Hz]
p5545[0...1] Line monitoring times / Line monit times
A_INF (Dyn. grid
support)
0.00 [ms] 300000.00 [ms] [0] 150.00 [ms]
[1] 50.00 [ms]
p5547[0] Line monitoring frequencies / Line monit f
A_INF (Dyn. grid
support)
0.01 [Hz] 1.00 [Hz] 0.10 [Hz]
Parameters
List of parameters
Description: Sets the gains for line monitoring.
Index: [0] = AISL frequency shift frequency deviation
Re index 0:
Sets the gain factor for the frequency deviation for the frequency shift technique.
Description: Sets the phase shift between the line transformer's primary and secondary voltages.
Note: The phase shift relates to the primary side of the transformer, which is connected to the line. The secondary side is
connected to the infeed.
Example:
A Dy5n transformer has a phase shift of -5 x 30 = -150 .
This means that the secondary voltage is shifted from the primary voltage by -150 , the primary voltage leads by
150 .
This phase shift must be determined when commissioning the system.
Description: Sets the correction for the gain factor for fine calibration of the line transformer transformation ratio.
Description: Displays the phase shift between the primary and secondary voltages of the line transformer identified by automatic
transformer identification (p5480 = 12).
Note: The phase shift relates to the primary side of the transformer, which is connected to the line. The secondary side is
connected to the infeed.
p5548[0] Line monitoring gains / Line monit gains
A_INF (Dyn. grid
support)
-10.0 10.0 0.1
p6420 Line transformer phase shift / Tr ph_shift
-180.00 [] 179.90 [] 0.00 []
p6421 Line transformer gain correction / Transf gain corr
50.000 [%] 200.000 [%] 100.000 [%]
r6440 Line transformer phase shift identified / Tr ph_shift ident
- [] - [] - []
List of parameters
Parameters
Example:
A Dy5n transformer has a phase shift of -5 x 30 = -150 .
This means that the secondary voltage is shifted from the primary voltage by -150 , the primary voltage leads by
150 .
The result should be entered into p6420. During identification, the value previously entered in p6420 is not effective.
Description: Displays the gain factor correction identified (p5480 = 12) for fine calibration of the line transformer transformation
ratio.
Note: The result should be entered in parameter p6421. During identification, the value previously entered in p6421 is not
effective.
Description: Displays the active power units for a parallel circuit configuration.
Description: Enables the power units in the parallel circuit configuration.
1: Activated
Note: For motors with separate winding systems (p7003 = 1) it is not possible to inhibit an individual power unit.
p7001 is automatically reset if a power unit is de-activated via p0125 or p0895.
Description: Displays the status of the power units in the parallel circuit configuration.
Value: 0: Pulses inhibited
1: Pulses enabled
r6441 Line transformer gain adaptation identified / Transf gain ident
- [%] - [%] - [%]
r7000 Par_circuit No. of active power units / Qty active PU
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
p7001[0...n] Par_circuit power units enable / PU enable
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
0 1 1
r7002[0...n] Par_circuit status power units / Status PU
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
0 1 -
Parameters
List of parameters
Description: Specifies the winding system for a parallel circuit configuration.
The following limitations/restrictions are obtained depending on the setting:
One-winding system (p7003 = 0):
- the motor data identification routine (p1910) determines the stator resistance and the cable resistance. The cable
resistance of an individual Motor Module is entered into p0352.
- the current symmetrizing is activated as standard after the motor data identification routine (p7035 = 1).
- individual Motor Modules can be activated and de-activated (p7001).
Several separate winding systems or motors (p7003 = 1):
- the motor data identification routine (p1910) determines the total (overall) resistance. The cable resistance is not
measured, but instead, entered as a component of the total resistance (refer to p0352).
- all Motor Modules are activated. It is not possible to de-activate a motor model.
Value: 0: One-winding system
1: Several separate winding systems or motors
Description: Sets the alarm threshold to detect current dissymmetry in the parallel circuit configuration.
The deviation between the measured values and average value is evaluated. The specified value is referred to the
rated power unit current (p7251[0]).
Refer to: A05052
Description: Sets the alarm threshold to detect dissymmetry of the DC link voltages in the parallel circuit configuration.
The deviation between the measured values and average value is evaluated. The specified value is referred to the
rated link voltage.
p7003 Par_circuit winding system / Winding system
VECTOR (Parallel) Can be changed: C2(2) Calculated: - Access level: 3
0 1 0
p7010 Par_circuit current dissymmetry alarm threshold / i_dissym A thresh
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
2 [%] 100 [%] 20 [%]
p7011 Par_circuit DC link voltage dissymmetry alarm threshold / Vdc_dissym A thrsh
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
2 [%] 100 [%] 10 [%]
List of parameters
Parameters
Description: Displays the deviation between the measured current actual value of phase U and the average value as peak value.
The maximum deviation from the average value is displayed in r7025.
Description: Displays the deviation between the measured current actual value of phase V and the average value as peak value.
Description: Displays the deviation between the measured current actual value of phase W and the average value as peak
value.
Description: Displays the maximum absolute deviation of the measured current actual values of phase U from the average value
as peak value.
The deviation of the individual currents from the average value is displayed in r7020.
Refer to: A05052
r7020[0...n] CO: Par_circuit deviation current in phase U / Phase U curr dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7021[0...n] CO: Par_circuit deviation current in phase V / Phase V curr dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7022[0...n] CO: Par_circuit deviation current in phase W / Phase W curr dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7025 CO: Par_circuit max. deviation currents phase U / Phase U Max i_dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
Parameters
List of parameters
Description: Displays the maximum absolute deviation of the measured current actual values of phase V from the average value
as peak value.
Refer to: A05052
Description: Displays the maximum absolute deviation of the measured current actual values of phase W from the average
value as peak value.
Refer to: A05052
Description: Displays the deviation of the measured DC link voltage from the average value.
Description: Displays the maximum absolute deviation of the measured DC link voltage from the average value.
The deviation of the individual voltages from the average value is displayed in r7030.
Refer to: A05053
r7026 CO: Par_circuit max. deviation currents phase V / Phase V Max i_dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7027 CO: Par_circuit max. deviation currents phase W / Phase W Max i_dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7030[0...n] CO: Par_circuit DC link voltage deviation / Vdc deviation
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
r7031 CO: Par_circuit DC link voltage maximum deviation / Vdc deviation max.
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
List of parameters
Parameters
Description: Sets the operating mode of the circulating current control.
The circulating current control ensures symmetrical distribution of the total currents to the individual converters.
Value: 0: Circulating current control de-activated
1: Circulating control control activated
Description: Sets the operating mode of the circulating current control.
The circulating current control ensures symmetrical distribution of the total currents to the individual converters.
Value: 0: Circulating current control de-activated
1: Circulating control control activated
Description: Sets the scaled proportional gain for the circulating current controller.
Description: Sets the proportional gain for the circulating current controller.
The parameter is pre-set to the cable resistance.
Description: Sets the scaled integral time of the circulating current controller.
p7035 Infeed par_circuit circulating current control operating mode / Circ_I mode
A_INF (Parallel),
S_INF (Parallel)
0 1 1
p7035[0...n] Par_circuit circulating current control operating mode / Circ_I mode
VECTOR (Parallel) Can be changed: U, T Calculated: - Access level: 3
0 1 1
p7036 Infeed par_cct circulating current controller proportional gain / Circ_I Kp
A_INF (Parallel),
S_INF (Parallel)
0.00000 [%] 1000.00000 [%] 100.00000 [%]
p7036[0...n] Par_circuit circulating current control proportional gain / Circ_I Kp
VECTOR (Parallel) Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
0.00000 [ohm] 200.00000 [ohm] 0.00000 [ohm]
p7037 Infeed par_cct circulating current control integral time / I_circ Tn
A_INF (Parallel),
S_INF (Parallel)
0.0 [%] 100000.0 [%] 100.0 [%]
Parameters
List of parameters
Note: A value of 100 % corresponds to the basic setting derived from the controller sampling time p0115[0].
The integral component of the controller is de-activated with p7037 = 0.
Description: Sets the integral time of the circulating current controller.
The parameter is referred to the current controller sampling time (p0115[0]).
Description: Sets the limit of the circulating current controller output values.
The parameter is, depending on the phase, referred to the valve lockout times (p1828, p1829, p1830).
Description: Sets the limit of the circulating current controller output values.
The parameter is, depending on the phase, referred to the valve lockout times (p1828, p1829, p1830).
Description: For the particular Motor Module, the correction time must be added to the valve lockout time to be compensated for
phase U (p1828).
The corrective value is used to compensate variations/spread in the valve lockout times of Motor Modules for a par-
allel circuit configuration.
p7037[0...n] Par_circuit circulating current control integral time / I_circ Tn
VECTOR (Parallel) Can be changed: U, T Calculated: CALC_MOD_CON Access level: 3
2.0 1000.0 4.0
p7038 Infeed par_circuit circulating current control limit / I_circ limit
A_INF (Parallel),
S_INF (Parallel)
1 [%] 100 [%] 100 [%]
p7038[0...n] Par_circuit circulating current control limit / I_circ limit
VECTOR (Parallel) Can be changed: U, T Calculated: CALC_MOD_ALL Access level: 3
1 [%] 100 [%] 50 [%]
p7040[0...n] Par_circuit correction valve lockout time phase U / Comp t_lockout U
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
-1000000.00 [s] 1000000.00 [s] 0.00 [s]
List of parameters
Parameters
phase V (p1829).
phase W (p1830).
Description: Displays the circulating current of phase U as peak value.
Description: Displays the circulating current of phase V as peak value.
Description: Displays the circulating current of phase W as peak value.
p7042[0...n] Par_circuit correction valve lockout time phase V / Comp t_lockout V
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
-1000000.00 [s] 1000000.00 [s] 0.00 [s]
p7044[0...n] Par_circuit correction valve lockout time phase W / Comp t_lockout W
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
-1000000.00 [s] 1000000.00 [s] 0.00 [s]
r7050[0...n] Par_circuit circulating current phase U / Circ_I_phase U
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7051[0...n] Par_circuit circulating current phase V / Circ_I_phase V
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7052[0...n] Par_circuit circulating current phase W / Circ_I_phase W
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
Parameters
List of parameters
Description: Ring buffer for faults and alarms that have occurred from power units connected in parallel (Motor Module, Active
Line Infeed, Voltage Sensing Module).
Displays the fault/alarm code.
Note: The last fault case that occurred is documented in index 0.
The parameter is reset to 0 at POWER ON.
p7101 < 100:
Displays the Power unit Data Set number (PDS).
p7101 >= 100:
Displays the Voltage Sensing Module Data Set number (VSMDS)
Displays the relative system runtime when the fault or alarm occurred.
r7100[0...99] Par_circuit ring buffer fault/alarm code / Fault/alarm code
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
r7101[0...99] Par_circuit ring buffer data set number / Ring buffer Ds_No
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
r7102[0...99] Par_circuit ring buffer fault/alarm received / F/A received
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
List of parameters
Parameters
Displays the relative system runtime when the fault or alarm was withdrawn.
Description: Displays the overload of the particular power unit in a parallel circuit configuration calculated using the I2t function.
The maximum value of all power units is displayed in r0036.
Description: Displays the maximum inverter temperature in the power unit for a parallel circuit configuration.
The maximum value of all power units is displayed in r0037[0].
Description: Displays the maximum depletion layer temperature in the power unit for a parallel circuit configuration.
r7103[0...99] Par_circuit ring buffer fault/alarm gone / F/A gone
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
r7200[0...n] Par_circuit power unit overload I2T / PU overload I2T
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [%] - [%] - [%]
r7201[0...n] CO: Par_circuit power unit temperatures max. inverter / PU temp max inv
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7202[0...n] Par_circuit power unit temperatures max. depletion layer / PU TempMaxDepLayer
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays the maximum rectifier temperature in the power unit for a parallel circuit configuration.
Description: Displays the air intake temperature in the power unit for a parallel circuit configuration.
Description: Displays the temperature of the electronics module in the power unit for a parallel circuit configuration.
Description: Displays the inverter temperature 1 in the power unit for a parallel circuit configuration.
r7203[0...n] Par_circuit power unit temperatures max. rectifier / PU temp max rect
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7204[0...n] Par_circuit power unit temperatures air intake / PU temp air intake
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7205[0...n] Par_circuit power unit temperatures electronics / PU temp electr
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7206[0...n] Par_circuit power unit temperatures inverter 1 / PU temp inv 1
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
List of parameters
Parameters
Description: Displays rectifier temperature 1 in the power unit for a parallel circuit configuration.
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7212[0...n] Par_circuit power unit temperatures inverter 1 / PU temp rect 1
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays rectifier temperature 2 in the power unit for a parallel circuit configuration.
Description: Displays depletion layer temperature 1 in the power unit for a parallel circuit configuration.
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7214[0...n] Par_circuit power unit temperatures depletion layer 1 / PU temp DepLayer 1
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
List of parameters
Parameters
Description: Displays the currently permissible line-side absolute current when motoring.
The minimum value of all power units multiplied by the number of Motor Modules is displayed in r0067[0].
Description: Displays the maximum output current of the power unit.
The minimum value of all power units multiplied by the number of Motor Modules is displayed in r0067.
Description: Displays the currently permissible line-side absolute regenerative current.
The minimum value of all power units multiplied by the number of Motor Modules is displayed in r0067[1].
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7220[0...n] Infeed par_circuit absolute current value motoring permissible / INF I_abs mot perm
A_INF (Parallel),
S_INF (Parallel)
r7220[0...n] CO: Par_circuit drive output current maximum / Drv I_outp max
VECTOR (Parallel) Can be changed: - Calculated: - Access level: 3
r7221[0...n] Infeed par_circuit absolute current regenerating permissible / INF I_absRegenPerm
A_INF (Parallel),
S_INF (Parallel)
Parameters
List of parameters
The summed value of all power units is displayed in r0068.
Description: Displays the measured actual value of phase U as peak value.
The summed value of all power units is displayed in r0069[0].
Description: Displays the measured actual value of phase V as peak value.
Description: Displays the measured actual value of phase W as peak value.
Description: Displays the measured offset of phase U as peak value.
r7222[0...n] CO: Par_circuit absolute current actual value / I_act abs val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
r7223[0...n] CO: Par_circuit phase current actual value phase U / I_phase U act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7224[0...n] CO: Par_circuit phase current actual value phase V / I_phase V act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7225[0...n] CO: Par_circuit phase current actual value phase W / I_phase W act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7226[0...n] CO: Par_circuit phase current actual value phase U offset / I_phase U offset
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
List of parameters
Parameters
Description: Displays the measured offset of phase V as peak value.
Description: Displays the measured offset of phase W as peak value.
Description: Displays the measured sum of the currents in phases U, V and W as peak value.
The average value of all power units is displayed in r0070.
Description: Displays the actual voltage, phase U.
The average value of all power units is displayed in r0089[0].
r7227[0...n] CO: Par_circuit phase current actual value phase V offset / I_phase V offset
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7228[0...n] CO: Par_circuit phase current actual value phase W offset / I_phase W offset
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7229[0...n] CO: Par_circuit phase current actual value sum U, V, W / I_phase sum UVW
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7230[0...n] CO: Par_circuit DC link voltage actual value / Vdc_act
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
r7231[0...n] CO: Par_circuit phase voltage actual value phase U / U_phase U act val
A_INF, S_INF (Paral-
lel), VECTOR (Paral-
lel)
- [V] - [V] - [V]
Parameters
List of parameters
Description: Displays the actual voltage, phase U.
Description: Displays the actual voltage, phase V.
Description: Displays the actual voltage, phase V.
Description: Displays the actual voltage, phase W.
Description: Displays the actual voltage, phase W.
A_INF (Parallel) Can be changed: - Calculated: - Access level: 3
- [V] - [V] - [V]
r7232[0...n] CO: Par_circuit phase voltage actual value phase V / U_phase V act val
lel)
- [V] - [V] - [V]
- [V] - [V] - [V]
r7233[0...n] CO: Par_circuit phase voltage actual value phase W / U_phase Wact val
lel)
- [V] - [V] - [V]
r7233[0...n] CO: Par_circuit phase voltage actual value phase W / U_phase Wact val
- [V] - [V] - [V]
List of parameters
Parameters
Description: Displays status word 1 of the power unit.
Description: Displays the rated power of the individual power units connected in parallel for various load duty cycles.
The sum of the rated powers of all power units connected in parallel is displayed in r0206.
Dependency: The value is displayed in [kW] or [hp].
Description: Displays the rated current of the individual power units connected in parallel for various load duty cycles.
The sum of the rated currents of all power units connected in parallel is displayed in r0207.
r7240[0...n] Par_circuit gating unit status word 1 / Gating unit ZSW1
VECTOR (Parallel) Can be changed: - Calculated: - Access level: 4
- - -
00 Fault time-critical ON OFF -
01 Gating unit mode bit 0 ON OFF -
02 Pulse enable ON OFF -
03 5 V upper circuit breaker ON OFF -
04 5 V lower circuit breaker ON OFF -
07 Brake state ON OFF -
08 Brake diagnostics ON OFF -
09 Armature short-circuit braking Active Not active -
10 Gating unit state bit 0 ON OFF -
13 Alarm status bit 0 ON OFF -
14 Alarm status bit 1 ON OFF -
15 Diagnostics 24 V ON OFF -
r7250[0...4] Par_circuit power unit rated power / PU P_rated
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [kW] - [kW] - [kW]
r7251[0...4] Par_circuit power unit rated current / PU PI_rated
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
Parameters
List of parameters
Description: Displays the maximum output current of the individual power units connected in parallel.
The sum of the maximum currents of all power units connected in parallel is displayed in r0209.
Description: Displays the voltage between phases L1 and L2 of the particular Voltage Sensing Module (VSM) for a parallel cir-
cuit configuration.
The average value of all VSMs is displayed in r3661.
Description: Displays the voltage between phases L2 and L3 of the particular Voltage Sensing Module (VSM) for a parallel cir-
cuit configuration.
r7252[0...4] Par_circuit maximum power unit current / PU I_max
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
r7300[0...n] CO: Par_circuit VSM input line voltage u1 - u2 / VSM inp u1-u2
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
r7301[0...n] CO: Par_circuit VSM input line voltage u2 - u3 / VSM inp u2-u3
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
List of parameters
Parameters
Description: Displays the status of the temperature evaluation of the particular Voltage Sensing Module (VSM) for a parallel cir-
cuit configuration.
The overall status of the temperature evaluation of all VSMs is displayed in r3664.
Description: Displays the temperature actual value of the KTY84 temperature sensor connected to the Voltage Sensing Module
(VSM) for a parallel circuit configuration.
The maximum value of all VSMs is displayed in r3666.
Prerequisite:
Description: Displays the current actual value from current transducer (CT) 1 at the 10 V input of the particular Voltage Sensing
Module (VSM) for a parallel circuit configuration.
Description: Displays the current actual value from current transducer (CT) 2 at the 10 V input of the particular Voltage Sensing
Module (VSM) for a parallel circuit configuration.
r7305[0...n] Par_circuit VSM temperature evaluation status / VSM temp status
A_INF (Parallel),
S_INF (Parallel)
- - -
r7306[0...n] CO: Par_circuit VSM temperature KTY / VSM temp KTY
A_INF (Parallel),
S_INF (Parallel)
- [C] - [C] - [C]
r7310[0...n] CO: Par_circuit VSM 10 V input CT1 actual value / VSM CT 1 I_act
A_INF (Parallel),
S_INF (Parallel)
- [A] - [A] - [A]
r7311[0...n] CO: Par_circuit VSM 10 V input CT2 actual value / VSM CT 2 I_act
A_INF (Parallel),
S_INF (Parallel)
- [A] - [A] - [A]
Parameters
List of parameters
The average value of all VSM is displayed in r3673.
Description: Displays the capacitance of the line filter, phase U of the particular Voltage Sensing Module (VSM).
The average value of all VSMs is displayed in r3677[0].
Note: Prerequisites:
Description: Displays the capacitance of the line filter, phase V of the particular Voltage Sensing Module (VSM).
r7315[0...n] CO: Par_circuit VSM 10 V input 1 actual value / VSM inp 1 U_act
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
r7316[0...n] CO: Par_circuit VSM 10 V input 2 actual value / VSM inp 2 U_act
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
r7320[0...n] Par_circuit VSM line filter capacitance phase U / VSM filt C phase U
A_INF (Parallel),
S_INF (Parallel)
- [F] - [F] - [F]
r7321[0...n] Par_circuit VSM line filter capacitance phase V / VSM filt C phase V
A_INF (Parallel),
S_INF (Parallel)
- [F] - [F] - [F]
List of parameters
Parameters
Description: Displays the capacitance of the line filter, phase W of the particular Voltage Sensing Module (VSM).
Description: Displays the status for write protection of adjustable parameters.
Note: Write protection can be activated/deactivated via p7760 on the Control Unit.
Description: Setting for activating/de-activating the write protection for adjustable parameters.
Value: 0: Inactive
1: Active
Note: The following parameters are excluded from the write protection:
- p0003 (BOP access level)
- p0971 (drive object save parameters)
- p0977 (save all parameters)
- p3950 (service parameters)
- p3981 (acknowledge fault, drive object)
- p7760 (adjustable parameters write protection)
r7322[0...n] Par_circuit VSM line filter capacitance phase W / VSM filt C phase W
A_INF (Parallel),
S_INF (Parallel)
- [F] - [F] - [F]
r7760 Write protection status / Write prot stat
- - -
00 Write protection active -
p7761 Write protection / Write protection
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
Parameters
List of parameters
Description: Sets the action to be executed for NVRAM data.
At the end of the action the value is automatically set to 0.
Value: 0: Inactive
1: Load NVRAM data to parameters
2: Load parameters to NVRAM
3: Reset
Notice: After action p7770 = 1 no more pulses may be enabled.
After action p7770 = 2, it is essential that parameters are backed up (p0977 = 1) and that a warm restart is then per-
formed (p0009 = 30, p0976 = 2, 3). This will apply the values written.
Note: If value = 1:
This action loads the NVRAM data to the parameters.
If value = 2:
This action loads the parameters to the NVRAM.
If value = 3:
This action sets parameters p7771 ... p7774 to the factory setting.
It is recommended to avoid placing unnecessary load on the subsequent upload/download operation.
Description: Setting of the tolerance window for the sign of life monitoring for communication to the power unit.
Note: An active window is generated by means of DRIVE-CLiQ telegrams.
If more than one sign-of-life error appears in the window, then A30853 is output.
The lower the value in p7788, the greater the monitoring tolerance.
Description: Sets the number of consecutive sign-of-life errors that are tolerated for communication to the power unit.
Note: F30008 is output in the case of a fault.
The higher the value in the parameter, the higher the monitoring tolerance.
p7770 NVRAM action / NVRAM action
A_INF, B_INF,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
0 3 0
p7788 Power unit sign-of-life monitoring tolerance window / PU SoL monit tol
A_INF, B_INF,
S_INF, SERVO,
VECTOR
1 1000 10
p7789 Power unit sign-of-life monitoring fault threshold / PU SoL monit F_thr
A_INF, B_INF,
S_INF, SERVO,
VECTOR
0 1000 1
List of parameters
Parameters
Description: Sets the component number of the DRIVE-CLiQ component whose parameters are to be accessed.
Description: Sets the parameter number to access a parameter of a DRIVE-CLiQ component.
Description: Sets the parameter index to access a parameter of a DRIVE-CLiQ component.
Description: Displays the parameter value read from the DRIVE-CLiQ component.
p7820 DRIVE-CLiQ component component number / DLQ comp_no
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 65535 0
p7821 DRIVE-CLiQ component parameter number / DLQ para_no
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 65535 0
p7822 DRIVE-CLiQ component parameter index / DLQ para_index
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 65535 0
r7823 DRIVE-CLiQ component read parameter value / Read DLQ value
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays the firmware and EPROM versions of the DRIVE-CLiQ component selected using p7828[1].
Index: [0] = Reference firmware version
[1] = Actual firmware version
[2] = EPROM0 version
Note: Reference firmware version: Version on the memory card/device memory.
Current firmware version: Actual version of the DRIVE-CLiQ component.
EPROM version: Current EPROM version of the DRIVE-CLiQ component.
Description: Sets the behavior for the automatic firmware update of the DRIVE-CLiQ components.
1: Upgrade and downgrade
2: Upgrade
Notice: If this parameter is changed, it only becomes effective the next time that the drive system boots.
Note: The firmware is automatically updated when the system boots. The boot can take several minutes.
After the update has been completed, it is necessary to carry out a new POWER ON (power-down/power-up) for
the components involved.
The firmware update procedure is displayed as follows:
Control Unit (LED RDY):
Flashes yellow with 0.5 Hz --> firmware is being updated.
Flashing yellow with 2 Hz --> POWER ON is required for the components involved.
Components involved:
Flashing red/green with 0.5 Hz --> firmware is being updated.
Flashing red/green with 2 Hz --> POWER ON of the components is required.
Only components from firmware version 2.5 support the red/green flashing at 2 Hz.
r7825[0...6] DRIVE-CLiQ component versions / DLQ version
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p7826 Firmware update automatic / FWupdate auto
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 2 1
List of parameters
Parameters
Description: Displays the progress when updating the firmware of the DRIVE-CLiQ components.
Description: Sets the component number for the required DRIVE-CLiQ component.
Index 0:
Component number of the DRIVE-CLiQ component for which a firmware download is to be made.
Index 1:
Component number of the DRIVE-CLiQ component for which the reference firmware version, saved in r7825 on the
memory card/device memory, is to be displayed.
Index: [0] = Firmware download
[1] = Reference firmware version
Note: For p7828[0] = 399, the firmware for all of the existing components is downloaded.
The firmware download is started with p7829 = 1.
Description: Activating the firmware download for the DRIVE-CLiQ components specified in p7828.
1: Activate download.
0: Download successfully completed.
> 1: Fault code
011: DRIVE-CLiQ component has detected a checksum error.
015: The selected DRIVE-CLiQ components did not accept the contents of the firmware file.
018: Firmware version is too old and is not accepted by the component.
019: Firmware version is not suitable for the hardware release of the component.
101: After several communication attempts, no response from the DRIVE-CLiQ component.
140: Firmware file for the DRIVE-CLiQ component not available on the memory card/device memory.
143: Component has not changed to the mode for firmware download. It was not possible to delete the existing
firmware.
r7827 Firmware update progress display / FW update progress
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
p7828[0...1] Firmware download component number / FW downl comp_no
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 399 0
p7829 Activate firmware download / FW download act
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 999 0
Parameters
List of parameters
144: When checking the firmware that was downloaded (checksum), the component detected a fault. It is possible
that the file on the memory card/device memory is defective.
145: Checking the loaded firmware (checksum) was not completed by the component in the appropriate time.
156: Component with the specified component number is not available.
Additional values:
Only for internal Siemens troubleshooting.
Note: p7829 is automatically set to 0 after the firmware has been successfully downloaded.
The new firmware only becomes active at the next system run-up.
Description: Selects a telegram whose contents should be shown in p7831 ... p7836.
Value: 0: Reserved
1: First cyclic receive telegram sensor 1
Dependency: Refer to: r7831, r7832, r7833, r7834, r7835, r7836
Description: Displays the signals contained in the selected telegram (p7830).
Value: 0: UNUSED
1: UNKNOWN
102: SAPAR_ID_DSA_ALARM
110: SAPAR_ALARMBITS_FLOAT_0
10500: ENC_ID_TIME_PRETRIGGER
10501: ENC_ID_TIME_SEND_TELEG_1
10502: ENC_ID_TIME_CYCLE_FINISHED
10503: ENC_ID_TIME_DELTA_FUNMAN
10504: ENC_ID_SUBTRACE_CALCTIMES
10505: ENC_ID_SYNO_PERIOD
10516: ENC_ID_ADC_TRACK_A
10517: ENC_ID_ADC_TRACK_B
10518: ENC_ID_ADC_TRACK_C
10519: ENC_ID_ADC_TRACK_D
10520: ENC_ID_ADC_TRACK_A_SAFETY
10521: ENC_ID_ADC_TRACK_B_SAFETY
10523: ENC_ID_ADC_TEMP_1
10526: ENC_ID_ADC_TRACK_R
10532: ENC_ID_TRACK_AB_X
10533: ENC_ID_TRACK_AB_Y
10534: ENC_ID_OFFSET_CORR_AB_X
p7830 Diagnostics telegram selection / Diag telegram
ENCODER, SERVO,
VECTOR
0 3 0
r7831[0...15] Telegram diagnostics signals / Tel diag signals
ENCODER, SERVO,
VECTOR
0 15157 -
List of parameters
Parameters
10535: ENC_ID_OFFSET_CORR_AB_Y
10536: ENC_ID_AB_ABS_VALUE
10537: ENC_ID_TRACK_CD_X
10538: ENC_ID_TRACK_CD_Y
10539: ENC_ID_TRACK_CD_ABS
10542: ENC_ID_AB_RAND_X
10543: ENC_ID_AB_RAND_Y
10544: ENC_ID_AB_RAND_ABS_VALUE
10545: ENC_ID_SUBTRACE_ABS_ARRAY
10546: ENC_ID_PROC_OFFSET_0
10547: ENC_ID_PROC_OFFSET_4
10564: ENC_SELFTEMP_ACT
10565: ENC_ID_MOTOR_TEMP_TOP
10566: ENC_ID_MOTOR_TEMP_1
10580: ENC_ID_RESISTANCE_1
10590: ENC_ID_ANA_CHAN_A
10591: ENC_ID_ANA_CHAN_B
10592: ENC_ID_ANA_CHAN_X
10593: ENC_ID_ANA_CHAN_Y
10596: ENC_ID_AB_ANGLE
10597: ENC_ID_CD_ANGLE
10598: ENC_ID_MECH_ANGLE_HI
10599: ENC_ID_RM_POS_PHI_COMMU
10600: ENC_ID_PHI_COMMU
10612: ENC_ID_DIFF_CD_INC
10613: ENC_ID_RM_POS_PHI_COMMU_RFG
10628: ENC_ID_MECH_ANGLE
10629: ENC_ID_MECH_RM_POS
10644: ENC_ID_INIT_VECTOR
10645: FEAT_INIT_VEKTOR
10660: ENC_ID_SENSOR_STATE
10661: ENC_ID_BASIC_SYSTEM
10662: ENC_ID_REFMARK_STATUS
10663: ENC_ID_DSA_STATUS1_SENSOR
10664: ENC_ID_DSA_RMSTAT_HANDSHAKE
10665: ENC_ID_DSA_CONTROL1_SENSOR
10667: ENC_ID_SAFETY
10676: ENC_ID_COUNTCORR_SAW_VALUE
10677: ENC_ID_COUNTCORR_ABS_VALUE
10678: ENC_ID_SAWTOOTH_CORR
10692: ENC_ID_RESISTANCE_CALIB_INSTANT
10693: ENC_ID_SERPROT_POS
10724: ENC_ID_ACT_FUNMAN_FUNCTION
10725: ENC_ID_SAFETY_COUNTER_CRC
10740: ENC_ID_POS_ABSOLUTE
10741: ENC_ID_POS_REFMARK
10742: ENC_ID_SAWTOOTH
10743: ENC_ID_SAFETY_PULSE_COUNTER
10756: ENC_ID_DSA_ACTUAL_SPEED
10757: ENC_ID_SPEED_DEV_ABS
10772: ENC_ID_DSA_POS_XIST1
10788: ENC_ID_AB_CROSS_CORR
10789: ENC_ID_AB_GAIN_Y_CORR
10790: ENC_ID_AB_PEAK_CORR
11825: ENC_ID_RES_TRANSITION_RATIO
11826: ENC_ID_RES_PHASE_SHIFT
15150: ENC_ID_SPINDLE_S1_RAW
15155: ENC_ID_SPINDLE_S1_CAL
Parameters
List of parameters
Description: Displays the original numerical format of the signals contained in the telegram.
The associated signal number is represented in the appropriate index of r7831.
Value: -1: Unknown
0: Boolean
1: Signed 1 byte
2: Signed 2 byte
3: Signed 4 byte
4: Signed 8 byte
5: Unsigned 1 byte
6: Unsigned 2 byte
7: Unsigned 4 byte
8: Unsigned 8 byte
9: Float 4 byte
10: Double 8 byte
11: mm dd yy HH MM SS MS DOW
12: ASCII string
13: SIMUMERIK frame type
14: SIMUMERIK axis type
Description: Parameter to display a DSA signal in the unsigned-integer format.
The associated signal number is represented at the appropriate index in r7831.
Description: Parameter to display a DSA signal in the signed-integer format.
r7832[0...15] Telegram diagnostics numerical format / tel diag format
ENCODER, SERVO,
VECTOR
-1 14 -
r7833[0...15] Telegram diagnostics unsigned / Tel diag unsigned
ENCODER, SERVO,
VECTOR
- - -
r7834[0...15] Telegram diagnostics signed / Tel diag signed
ENCODER, SERVO,
VECTOR
- - -
List of parameters
Parameters
Description: Parameter to display a DSA signal in the float format.
Description: Displays the units of a DSA signal.
Value: -1: Unknown
0: None
1: Millimeter or degrees
2: Millimeter
3: Degrees
4: mm/min or RPM
5: Millimeter / min
6: Revolutions / min
7: m/sec^2 or U/sec^2
8: m/sec^2
9: U/sec^2
10: m/sec^3 or U/sec^3
11: m/sec^3
12: U/sec^3
13: sec
14: 16.667 / sec
15: mm/revolution
16: ACX_UNIT_COMPENSATION_CORR
18: Newton
19: Kilogram
20: Kilogram meter^2
21: Percent
22: Hertz
23: Volt peak-to-peak
24: Amps peak-to-peak
25: Degrees Celsius
26: Degrees
28: Millimeter or degrees
29: Meters / minute
30: Meters / second
31: ohm
32: Millihenry
33: Newton meter
34: Newton meter/Ampere
35: Volt/Ampere
36: Newton meter second / rad
38: 31.25 microseconds
39: Microseconds
40: Milliseconds
r7835[0...15] Telegram diagnostics real / Tel diag real
ENCODER, SERVO,
VECTOR
- - -
r7836[0...15] Telegram diagnostics unit / Tel diag unit
ENCODER, SERVO,
VECTOR
-1 147 -
Parameters
List of parameters
42: Kilowatt
43: Micro amps peak-to-peak
44: Volt seconds
45: Microvolt seconds
46: Micro newton meters
47: Amps / volt seconds
48: Per mille
49: Hertz / second
53: Micrometer or millidegrees
54: Micrometer
55: Millidegrees
59: Nanometer
61: Newton/Amps
62: Volt seconds/meter
63: Newton seconds/meter
64: Micronewton
65: Liters / minute
66: Bar
67: Cubic centimeters
68: Millimeter / volt minute
69: Newton/Volt
80: Millivolts peak-to-peak
81: Volt rms
82: Millivolts rms
83: Amps rms
84: Micro amps rms
85: Micrometers / revolution
90: Tenths of a second
91: Hundredths of a second
92: 10 microseconds
93: Pulses
94: 256 pulses
95: Tenths of a pulse
96: Revolutions
97: 100 revolutions / minute
98: 10 revolutions / minute
99: 0.1 revolutions / minute
100: Thousandth revolution / minute
101: Pulses / second
102: 100 pulses / second
103: 10 revolutions / (minute x seconds)
104: 10000 pulses/second^2
105: 0.1 Hertz
106: 0.01 Hertz
107: 0.1 / seconds
108: Factor 0.1
109: Factor 0.01
110: Factor 0.001
111: Factor 0.0001
112: 0.1 Volt peak-to-peak
113: 0.1 Volt peak-to-peak
114: 0.1 amps peak-to-peak
115: Watt
116: 100 Watt
117: 10 Watt
118: 0.01 percent
119: 1/second^3
120: 0.01 percent/millisecond
121: Pulses / revolution
122: Microfarads
123: Milliohm
124: 0.01 Newton meter
125: Kilogram millimeter^2
126: Rad / (seconds newton meter)
List of parameters
Parameters
127: Henry
128: Kelvin
129: Hours
130: Kilohertz
131: Milliamperes peak-to-peak
132: Millifarads
133: Meter
135: Kilowatt hours
136: Percent
137: Amps / Volt
138: Volt
139: Millivolts
140: Microvolts
141: Amps
142: Milliamperes
143: Micro amps
144: Milliamperes rms
145: Millimeter
146: Nanometer
147: Joules
Description: Displays the actual serial number of the memory card.
The individual characters of the serial number are displayed in the ASCII code in the indices.
Note: Example: displaying the serial number for a memory card:
r7843[0] = 49 dec --> ASCII characters = "1" --> serial number, character 1
r7843[6] = 69 dec --> ASCII characters = "E" --> serial number, character 7
r7843[7] = 0 dec --> ASCII characters = " " --> serial number, character 8
...
r7843[19] = 0 dec --> ASCII characters = " " --> serial number, character 20
r7843[20] = 0 dec
Serial number = 111923E
r7843[0...20] Memory card serial number / Mem_card ser.no
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays the version of the firmware stored on the memory card/device memory.
Index 0: Firmware version internal (e.g. 01203300)
Index 1: Firmware version external (e.g. 01020000 -> 1.2)
Description: Displays whether, for an activated drive object, all activated topology components are available or not (or whether
these can be addressed).
0: Drive object not ready for operation
1: Drive object ready for operation
Description: Displays the number of indices for r7853[0...n].
This corresponds to the number of DRIVE-CLiQ components that are in the target topology.
Note: The values are valid if all available Control Units adopt the "Initialization finished" state (r3988 = 800) following
power-up.
Description: Displays the component and whether this component is currently present.
r7844[0...1] Memory card/device memory firmware version / Mem_crd/dev_mem FW
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r7850[0...23] Drive object operational/not operational / DO ready for oper
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-32786 32767 -
p7852 Number of indices for r7853 / Qty indices r7853
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1 200 1
r7853[0...n] Component available/not available / Comp present
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 hex FFFF hex -
List of parameters
Parameters
High byte: Component number
Low byte: 0/1 (not available/available)
Note: The values are valid if all available Control Units adopt the "Initialization finished" state (r3988 = 800) following
power-up.
Description: Sets the mode for the sub-boot.
Value: 0: Sub-boot manual
1: Sub-boot automatic
Note: For p7857 = 0 (manual sub-boot) the following applies:
The parameter should be set to 1 to start the sub-boot.
Description: Sets the global and unique component number in a drive system with several Control Units.
Each index of the parameter corresponds to a possible local component number on the corresponding Control Unit.
The indices are allocated to the global component numbers as follows:
p7859[0]: Not used
p7859[1]: Sets the global component number for the local component number 1
...
Notice: This parameter is preferably set via suitable commissioning software (e.g. UpdateAgent, STARTER, SCOUT).
Changing the parameter via the AOP (Advanced Operator Panel) or BOP (Basic Operator Panel) can destroy a
valid unique setting.
p7857 Sub-boot mode / Sub-boot mode
A_INF, B_INF,
CU_LINK,
ENCODER, HUB,
S_INF, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
0 1 1
p7859[0...199] Component number global / Comp_nr global
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-32786 32767 0
Parameters
List of parameters
Description: Displays status and configuration changes of all of the drive objects in the complete unit.
When changing the status or the configuration of the Control Unit or a drive object, the value of this parameter is
incremented.
Description: Reference to the drive objects whose configuration has changed.
Index 0:
When changing one of the following indices, then the value in this index is increased.
Index 1...n:
The drive object with object number in p0101[n-1] has changed its configuration.
Example:
r7868[3] was incremented since the last time it was read.
--> the configuration of the drive object with object number in p0101[2] was changed.
Index: [0] = Sum of the following indices
[1] = Object number in p0101[0]
r7867 Status/configuration changes global / Changes global
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r7868[0...24] Configuration changes drive object reference / Config_chng DO ref
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Reference to the drive objects whose status has changed.
Index 0:
When changing one of the following indices, then the value in this index is increased.
Index 1...n:
The drive object with object number in p0101[n-1] has changed its status.
Example:
r7868[3] was incremented since the last time it was read.
--> the status of the drive object with object number in p0101[2] was changed.
Description: Displays the configuration changes of all of the drive objects in the complete unit.
r7869[0...24] Status changes drive object reference / Status_chng DO ref
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r7870[0...7] Configuration changes global / Config_chng global
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
[1] = r7871[0] of a drive object
[2] = p0101 or r0102
[3] = PROFIBUS configuration (p0978)
[4] = DRIVE-CLiQ actual topology (r9900 or r9901)
[5] = DRIVE-CLiQ target topology (r9902 or r9903)
[6] = DRIVE-CLiQ ports (p0109)
[7] = OA applications
Note: Index 0:
When changing one of the following indices, then the value in this index is incremented.
Index 1:
Drive object configuration. When changing r7871[0] on a drive object, the value in this index is incremented.
Index 2:
Drive object, configuration unit. When changing either p0101 or r0102, the value in this index is incremented.
Index 3:
PROFIBUS configuration unit. When changing p0978, the value in this index is incremented.
Index 4:
DRIVE-CLiQ actual topology. When changing either r9900 or r9901, the value in this index is incremented.
Index 5:
DRIVE-CLiQ target topology. When changing either p9902 or p9903, the value in this index is incremented.
Index 6:
DRIVE-CLiQ ports. When changing p0109, the value in this index is incremented.
Index 7:
OA applications. When changing OA applications, the value in this index is incremented.
Description: Displays the configuration changes on the drive object.
[1] = p0010, p0107 or p0108
[2] = Drive object name (p0199)
[3] = Structure-relevant parameters (e.g. p0180)
[4] = BICO interconnections
[5] = Activate/de-activate drive object
[6] = Data backup required
[7] = Activate/de-activate component
[8] = Reference or changeover parameters (e.g. p2000)
[9] = Parameter count through Drive Control Chart (DCC)
[10] = p0107 or p0108
Note: Re index 0:
Re index 1:
Drive object commissioning: When changing p0010, p0107 or p0108, the value in this index is incremented.
Re index 2:
Drive object name. When changing p0199, the value in this index is incremented.
Re index 3:
Drive object structure. When changing a parameter that is relevant for the structure (e.g. number of data sets), the
value in this index is incremented.
r7871[0...10] Configuration changes drive object / Config_chng DO
A_INF, B_INF,
S_INF
- - -
List of parameters
Parameters
Re index 4:
Drive object BICO interconnections. When changing r3977, the value in this index is incremented.
Re index 5:
Drive object activity: When changing p0105, the value in this index is incremented.
Re index 6:
Drive object, data save.
0: There are no parameter changes to save.
1: There are parameter changes to save.
Re index 7:
Drive object component activity: When changing either p0125 or p0145, the value in this index is incremented.
Re index 8:
Drive object changeover of units. When changing reference or changeover parameters (e.g. p2000, p0304), the
Re index 9:
Drive object parameter count. When changing the number of parameters by loading Drive Control Chart (DCC), the
Re index 10:
Drive object configuration. When changing either p0107 or p0108, the value in this index is incremented.
[1] = p0107 or p0108
[7] = Reserved
[10] = p0107 or p0108
Note: Re index 0:
Re index 1:
Drive object commissioning: When changing either p0107 or p0108, the value in this index is incremented.
Re index 2:
Re index 3:
Re index 4:
Re index 5:
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Re index 6:
Re index 8:
Re index 9:
Re index 10:
[1] = p0010, p0107 or p0108
[7] = Reserved
[10] = p0107 or p0108
Note: Re index 0:
Re index 1:
Re index 2:
Re index 3:
Re index 4:
Re index 5:
Re index 6:
Re index 8:
CU_LINK, HUB,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41
- - -
List of parameters
Parameters
Re index 9:
Re index 10:
[1] = p0010, p0107 or p0108
[10] = p0107 or p0108
[11] = p0530 or p0531
[12] = Reserved
[13] = Reserved
[14] = Reserved
[15] = Enc type (p0400)
Note: Re index 0:
Re index 1:
Drive object configuration. When changing p0010, p0107 or p0108, the value in this index is incremented.
Re index 2:
Re index 3:
Re index 4:
Re index 6:
Re index 8:
Drive object changeover of units. When changing reference or changeover parameters (e.g. p2000, p0304 ...), the
Re index 9:
Re index 15:
Encoder configuration. When changing p0400, the value in this index is incremented.
- - -
Parameters
List of parameters
[1] = p0010, p0107 or p0108
[10] = p0107 or p0108
[11] = p0530 or p0531
[12] = Reserved
[13] = Reserved
[14] = Reserved
[15] = SERVO or VECTOR (e.g. p0300)
Note: Re index 0:
Re index 1:
Re index 2:
Re index 3:
Re index 4:
Re index 5:
Re index 6:
Re index 7:
Drive object component activity: When changing either p0125 or p0145, the value in this index is incremented.
Re index 8:
Re index 9:
Re index 10:
Re index 11:
Drive object bearing. When changing p0530 or p0531, the value in this index is incremented.
- - -
List of parameters
Parameters
Re index 15:
SERVO/VECTOR configuration. When changing p0300, p0301 or p0400, the value in this index is incremented.
[1] = p0010, p0107 or p0108
[5] = Reserved
[7] = Reserved
[10] = p0107 or p0108
Note: Re index 0:
Re index 1:
Re index 2:
Re index 3:
Re index 4:
Re index 6:
Re index 8:
Re index 9:
Re index 10:
Description: Displays the status changes on the drive object.
TM54F_MA,
TM54F_SL
- - -
r7872[0...3] Status changes drive object / Status_chng DO
- - -
Parameters
List of parameters
Index 0:
Index 1:
Drive object faults. When changing r0944, the value in this index is incremented.
Index 2:
Drive object alarms. When changing r2121, the value in this index is incremented.
Index 3:
Drive object safety messages. When changing r9744, the value in this index is incremented.
[1] = Faults (r0944)
[2] = Alarms (r2121)
[3] = Safety messages (r9744)
Description: Sets the priority for processing the existing drive objects in the system.
The parameter enables a free sequence to be set for processing the drive objects. For this purpose all the drive
object numbers existing in the system have to be written in the desired sequence into the corresponding indices of
the parameter. After re-booting this sequence will be effective without a plausibility check.
With the factory setting the following priorities regarding processing are applicable:
- The drive objects are pre-sorted according to their type as follows: CONTROL UNIT, INFEED, SERVO, VECTOR,
TM, HUB, CU-LINK
- If they are of the same type, they are sorted in ascending order according to their drive object number, i.e. the
lower the number, the higher the priority for processing.
Index: [0] = Drive object number Control Unit
Notice: This parameter may only be used by qualified service personnel.
p7900[0...23] Drive objects priority / DO priority
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 65535 0
List of parameters
Parameters
Note: If the same drive object numbers are used and if the existing drive object numbers in the system are entered incom-
pletely, the content of this parameter is ignored entirely. The behavior as with factory setting will then become effec-
tive.
Description: Displays the sampling times currently present on the drive unit.
For r7901[x] = 0, the following applies: The time slice is not active.
Description: Displays the number of hardware sampling times that can still be assigned.
These free sampling times can be used by OA applications such as DCC (Drive Control Chart) or FBLOCKS (free
function blocks).
Description: Sets the signal source for bitwise data transfer.
These signals are transferred to another Control Unit and are located in BO: r8510.0 ... 7 for further interconnection.
Index: [0] = Send signal to BO: r8510.0
[1] = Send signal to BO: r8510.1
Note: Example:
Providing the operating signals calculated on this Control Unit for the infeeds on a different Control Unit.
p8500[0] = r0863.0 (operating signal infeed 1)
p8500[1] = r0863.0 (operating signal infeed 2) etc.
r7901[0...43] Sampling times / t_sample
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [s] - [s] - [s]
r7903 Hardware sampling times still cannot be assigned / HW t_samp free
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p8500[0...7] BI: Data transfer 0 bitwise / Transfer 0 bit
CU_CX32, CU_LINK Can be changed: U, T Calculated: - Access level: 2
- - 0
Parameters
List of parameters
These signals are available in BO: r8510.0 ... 7 for further interconnection.
These signals are transferred to another Control Unit and are located in BO: r8511.0 ... 15 for further interconnec-
tion.
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
- - [0] 722.0
[1] 722.1
[2] 722.2
[3] 722.3
[4...7] 0
[8] 722.8
[9] 722.9
[10] 722.10
[11] 722.11
[12...15] 0
[16] 722.16
[17] 722.17
[18...21] 0
List of parameters
Parameters
These signals are available in BO: r8511.0 ... 15 for further interconnection.
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
Parameters
List of parameters
These signals are transferred to another Control Unit and are located in BO: r8511.0 ... 15 for further interconnec-
tion.
CU_LINK Can be changed: U, T Calculated: - Access level: 2
- - [0] 722.0
[1] 722.1
[2] 722.2
[3] 722.3
[4] 722.4
[5] 722.5
[6] 722.6
[7] 722.7
[8] 722.8
[9] 722.9
[10] 722.10
[11] 722.11
[12] 722.12
[13] 722.13
[14] 722.14
[15] 722.15
[16] 722.16
[17] 722.17
[18] 0
[19] 0
[20] 722.20
[21] 722.21
List of parameters
Parameters
Description: Sets the signal source for the wordwise data transfer (process signal).
This signal value is transferred to another Control Unit and is located at CO: r8512 for further interconnection.
This signal value is available in CO: r8512 for further interconnection.
This signal value is transferred to another Control Unit and is located in CO: r8513 for further interconnection.
p8502 CI: Data transfer 0 wordwise / Transfer 0 word
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
Parameters
List of parameters
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
- - 0
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
List of parameters
Parameters
Description: Displays the signals of the bitwise received data.
These signals were interconnected and transferred to another Control Unit via BI: p8500[0...7].
These signals were interconnected and transferred via BI: p8500[0...7].
These signals were interconnected and transferred to another Control Unit via BI: p8501[0...15].
r8510.0...7 BO: Data transfer 0 receive bitwise / Trans 0 recv bit
CU_CX32, CU_LINK Can be changed: - Calculated: - Access level: 2
- - -
00 Receive signal from BI: p8500 ON OFF -
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
- - -
Parameters
List of parameters
These signals were interconnected and transferred via BI: p8501[0...15].
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Displays the signals of the wordwise received data (process signal).
This signal value is interconnected and transferred to another Control Unit via CI: p8502.
This signal value is interconnected and transferred via CI: p8502.
r8512 CO: Data transfer 0 receive wordwise / Trans 0 recv word
- - -
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
- - -
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
Parameters
List of parameters
- - -
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
- - -
CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
List of parameters
Parameters
Description: Sets the scaling for signal value 0 ... 3 (process signals).
Index: [0] = Signal value 0 (CI: p8502) scaling
[1] = Signal value 1 (CI: p8503) scaling
Description: Setting for saving the actual configuration of the Advanced Operator Panel (AOP).
Description: Displays the macro file saved in the appropriate directory on the memory card/device memory.
Note: For a value = 9999999, the following applies: The read operation is still running.
p8520[0...3] CU_LINK signal value scaling / Sig val scal
0.00010 10000.00000 1.00000
p8550 AOP LOCAL/REMOTE / AOP LOCAL/REMOTE
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0000 0000 0000 1001 bin
00 LOCAL save Yes No -
01 Start in LOCAL Yes No -
02 Change in oper. Yes No -
03 OFF acts like OFF1 Yes No -
07 CW/CCW active Yes No -
08 Jog active Yes No -
09 Save speed setpoint Yes No -
14 Inhibit operation Yes No -
15 Inhibit parameterization Yes No -
r8570[0...39] Macro drive object / Macro DO
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, SERVO,
TM120, TM15DI_DO,
TM31, VECTOR
- - -
Parameters
List of parameters
Description: Displays the ACX file saved in the appropriate directory in the non-volatile memory.
Description: Displays the macro currently being executed on the drive object.
Dependency: Refer to: p0015, p0700, p1000, p1500, r8570, r8571, r8572, r8573
r8571[0...39] Macro Binector Input (BI) / Macro BI
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
r8572[0...39] Macro Connector Inputs (CI) for speed setpoints / Macro CI n_set
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
r8573[0...39] Macro Connector Inputs (CI) for torque setpoints / Macro CI M_set
A_INF, B_INF,
S_INF, SERVO,
VECTOR
- - -
r8585 Macro execution actual / Macro executed
A_INF, B_INF,
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, SERVO,
TB30, TM120,
TM15DI_DO, TM31,
VECTOR
- - -
List of parameters
Parameters
Description: Displays all of the devices connected to the CAN bus after run-up.
r8600
= 00000000 hex: No drive recognized.
= FFFF0192 hex: Several drives - drive 1 is an Active Line Module, servo drive or vector drive
= FFFF0191 hex: Several drives - 1st drive is a Terminal Module
= 02010192 hex: 1 Vector drive
= 00020192 hex: 1 Servo drive
= 01000192 hex: 1 Active Line Module
= 00080191 hex: 1 Terminal Module
Note: Corresponds to the CANopen object 1000 hex.
For each detected drive, the device type is displayed in object 67FF hex + 800 hex * x (x: Drive number 0 ... 7).
Description: Displays the error register for CANopen.
Bit 0: Generic error
0 signal: No error present.
1 signal: Generic error present.
Bit 1 ... 3: Not supported (always a 0 signal)
Bit 4: Communications error
0 signal: There is no message in the range 8700 ... 8799.
1 signal: There is at least one message (fault or alarm) in the range 8700 ... 8799.
Bit 5 ... 6: Not supported (always a 0 signal)
Bit 7:; Fault outside the range 8700 ... 8799
0 signal: There is no fault outside the range 8700 ... 8799.
1 signal: There is at least one fault outside the range 8700 ... 8799.
r8600 CAN device type / Device type
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
r8601 CAN error register / Error register
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
Parameters
List of parameters
Description: Sets the SYNC object parameter for the following CANopen objects:
- 1005 hex: COB-ID
Note: SINAMICS operates as SYNC load.
COB-ID: CAN object identification
Description: Sets the COB-ID for the emergency message (error telegram).
It corresponds to the CANopen objects:
- 1014 hex: COB-ID
Note: If, when downloading, the pre-set value 0 is downloaded, then the CANopen pre-set value 80 hex + Node-ID is
automatically set.
Online, the value 0 is rejected as, according to the CANopen Standard, COB-ID 0 is not permitted here.
The changeover of the node ID using the hardware switch at the Control Unit or per software has no effect on the
COB-ID EMCY. The saved value remains effective.
Description: Sets the node guarding parameter for the following CANopen objects:
- 100C hex: Guard Time
- 100D hex: Life Time Factor
The life time is derived by multiplying guard time by the life time factor.
Index: [0] = Time interval [ms] for new node guarding telegram
[1] = Factor for failure of the node guarding telegram
Dependency: Only adjustable if heartbeat time = 0 (heartbeat is disabled).
Refer to: p8606
p8602 CAN SYNC object / SYNC object
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
p8603 CAN COB-ID Emergency Message / COB-ID EMCY Msg
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
p8604[0...1] CAN node guarding / Node guarding
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 65535 0
List of parameters
Parameters
Note: For p8604[0] = 0 and/or p8604[1] = 0, the node guarding protocol is not used.
Either node guarding or heartbeat can be used.
Description: Sets the time [ms] to cyclically send heartbeat telegrams.
The smallest cycle time is 100 ms.
When a 0 is written, then heartbeat telegrams are not sent.
Dependency: Only adjustable if guard time = 0 (node guarding disabled).
Refer to: p8604
Either node guarding or heartbeat can be used.
Description: General device information display.
Index: [0] = Vendor ID
[1] = Product code
[2] = Revision number
[3] = Serial number
Re index 3:
The SINAMICS serial number comprises 60 bits. Of these bits, the following are displayed in this index:
Bits 0 ... 19: Consecutive number
Bits 20 ... 23: Production ID
- 0 hex: Development
- 1 hex: P1 unique number
- 2 hex: P2 unique number
- 3 hex: WA unique number
- 9 hex: Pattern
- F hex: All others
Bits 24 ... 27: Month of manufacture (0 means January, B means December)
Bits 28 ... 31: Year of manufacture (0 means 2002)
p8606 CAN Producer Heartbeat Time / Prod Heartb Time
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 [ms] 65535 [ms] 0 [ms]
r8607[0...3] CAN Identity Object / Identity object
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
Parameters
List of parameters
Description: As a result of a Bus Off error, the CAN controller is set into the initialization state.
Index 0:
The CAN controller is manually started after resolving the cause of the error with p8608[0] = 1
Index 1:
The automatic CAN bus start function is activated using p8608[1] = 1.
At 2 second intervals, the CAN controller is automatically restarted until the cause of the error has been resolved
and a CAN connection has been established.
Value: 0: Inactive
1: Start CAN controller
Index: [0] = Manual controller start function
[1] = Activating the automatic controller start function
Note: Index 0:
This parameter is automatically reset to 0 after start.
Description: Sets the behavior of the CAN node referred to the communications error or equipment fault.
Value: 0: Pre-operational
1: No change
2: Stopped
Index: [0] = Behavior for communication errors
[1] = Behavior for device faults
Description: Displays the identifier (client/server and server/client) of the SDO channel.
p8608[0...1] CAN Clear Bus Off Error / Clear bus off err
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 1 0
p8609[0...1] CAN Error Behavior / Error behavior
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 2 1
r8610[0...1] CAN First Server SDO / First server SDO
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
List of parameters
Parameters
Index: [0] = Displays the COB ID from client to server
[1] = Displays the COB ID from server to client
SDO: Service Data Object
Description: Displays the Pre-defined Error Field of the CAN node.
It includes the number of all errors that have occurred, the number of errors that have occurred for each drive and
the errors according to their history.
The first 16 bits represent the CANopen error code and the second 16 bits the SINAMICS error code.
Index 1 has the same structure - however, the drive object ID is in the second 16 bits instead of the SINAMICS error
code.
CANopen error code:
0000 hex: No error present
8110 hex: Alarm A08751 present
8120 hex: Alarm A08752 present
8130 hex: Alarm A08700(F) with alarm value = 2 present
1000 hex: Generic error 1 present (there is at least one fault outside the range 8700 ... 8799)
1001 hex: Generic error 2 present (there is at least one alarm in the range 8700 ... 8799 with the exception of
A08751, A08752, A08700)
All drive objects are acknowledged by writing the value 0 to the index 0. As soon as a fault has been acknowledged
or an alarm cleared, then it is also cleared from the fault list.
Index: [0] = Number of all faults in the drive unit
[1] = Most recent drive number / fault number
[2] = Number of faults drive 1
[3] = Fault 1/ drive 1
p8611[0...82] CAN Pre-defined Error Field / Pre_def err field
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0000 hex FFFF 1000 hex 0000 hex
Parameters
List of parameters
[74] = Number of faults Control Unit
[75] = Fault 1/Control Unit
List of parameters
Parameters
Description: Display or setting of the CANopen Node ID.
The Node ID can be set as follows:
--> p8620 can then only be read and displays the selected Node ID.
--> CANopen Node ID and PROFIBUS address are identical.
2) Using p8620
--> Only if address 0 is set using the address switch.
--> the Node ID is set as standard to 126.
--> A change only becomes effective after save and POWER ON.
Note: Every node ID change only becomes effective after a POWER ON.
The active node ID is displayed in r8621.
It is only possible to independently set CANopen node ID and the PROFIBUS address using p0918 and p8620 (pre-
requisite: the address 0 is set for the address switch).
Description: Displays the active CANopen Node ID.
Description: Setting the bit rate for the CAN bus.
The appropriate bit timings are selected that are defined in p8623 in the associated sub-index.
p8620 CAN Node-ID / Node ID
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
1 127 126
r8621 CAN Node-ID active / Node ID active
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
p8622 CAN bit rate / Bit rate
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 7 6
Parameters
List of parameters
Example:
Bit rate = 20 kbit/s --> p8622 = 6 --> associated bit timing is in p8623[6].
Value: 0: 1 Mbit/s
1: 800 kbit/s
2: 500 kbit/s
3: 250 kbit/s
4: 125 kbit/s
5: 50 kbit/s
6: 20 kbit/s
7: 10 kbit/s
Description: Sets the bit timing for the C_CAN controller to the associated and selected bit rate (p8622).
Bits are distributed to the following parameters of the C_CAN controller in p8623[0...7]:
Bit 0 ... 5: BRP (Baud Rate Prescaler)
Bit 6 ... 7: SJW (Synchronization Jump Width)
Bit 8 ... 11: TSEG1 (Time Segment 1, before the sampling point)
Bit 12 ... 14: TSEG2 (Time Segment 2, after the sampling point)
Bit 15: Reserved
Bit 16 ... 19: BRPE (Baud Rate Prescaler Extension)
Bit 20 ... 31: Reserved
Example:
Bit rate = 20 kbit/s --> p8622 = 6 --> associated bit timing is in p8623[6] --> 0001 2FB6
Recommend.: Use the factory setting when setting the bit timing.
Index: [0] = 1 Mbit/s
[1] = 800 kbit/s
[2] = 500 kbit/s
[3] = 250 kbit/s
[4] = 125 kbit/s
[5] = 50 kbit/s
[6] = 20 kbit/s
[7] = 10 kbit/s
p8623[0...7] CAN Bit Timing selection / Bit timing select
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0000 hex 000F 7FFF hex [0] 1405 hex
[1] 1605 hex
[2] 1C05 hex
[3] 1C0B hex
[4] 1C17 hex
[5] 1C3B hex
[6] 0002 1C15 hex
[7] 0004 1C2B hex
List of parameters
Parameters
Description: Sets the drive object selection (index 0), the sub-index area (index 1) and the parameter area (index 2) when using
virtual objects.
This means that it is possible to access all SINAMICS parameters via CAN.
Index 0 (drive object number):
0: Not possible to access virtual CANopen objects
1: Device
2 ... 65535: drive object number of drive 1 ... 8
Index 1 (sub-index area):
0: 0 ... 255
1: 256 ... 511
2: 512 ... 767
3: 768 ... 1023
Index 2 (parameter area):
0: 1 ... 9999
1: 10000 ... 19999
2: 20000 ... 29999
3: 30000 ... 39999
Index: [0] = Drive object number
[1] = Sub-index range
[2] = Parameter range
Description: Sets the drive behavior if a CAN communication error occurs.
Value: 0: No response
1: OFF1
2: OFF2
3: OFF3
p8630[0...2] CAN virtual objects / Virtual objects
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 65535 0
p8641 CAN Abort Connection Option Code / Abort con opt code
SERVO (CAN), VEC-
TOR (CAN)
0 3 3
Parameters
List of parameters
Description: Displays the register of the CAN controller C_CAN:
Register, Message Interface Register and Message Handler Register - referred to the CAN protocol.
Index: [0] = Control register
[1] = Status register
[2] = Error counter
[3] = Bit timing register
[4] = Interrupt register
[5] = Test register
[6] = Baud rate prescaler extension register
[7] = Interface 1 command request register
[8] = Interface 1 command mask register
[9] = Interface 1 mask 1 register
[11] = Interface 1 arbitration 1 register
[13] = Interface 1 message control register
[14] = Interface 1 data A1 register
[16] = Interface 1 data B1 register
[18] = Interface 2 command request register
[19] = Interface 2 command mask register
[24] = Interface 2 message control register
[29] = Transmission request 1 register
[30] = Transmission request 2 register
[31] = New data 1 register
[32] = New data 2 register
[33] = Interrupt pending 1 register
[34] = Interrupt pending 2 register
[35] = Message valid 1 register
[36] = Message valid 2 register
Note: A description of the individual registers of the C_CAN controller can be taken from "C_CAN User's Manual".
r8680[0...36] CAN Diagnosis Hardware / Diagnostics HW
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
List of parameters
Parameters
Description: Sets the CANopen NMT state that is effective after booting.
Value: 4: Stopped
5: Operational
127: Pre-operational
Note: Booting in the NMT state pre-operational corresponds to the CANopen standard
Description: Sets and displays the CANopen NMT state.
Value: 0: Initializing
4: Stopped
5: Operational
127: Pre-operational
128: Reset node
129: Reset Communication
Note: The value 0 (initialization) is only displayed and cannot be set.
Description: Sets the monitoring time to monitor the process data received via the CAN bus.
A value that is not a multiple integer of CANopen (p8848) is rounded-off.
If no process data is received within this time, fault F08702 is output.
Refer to: F08702
p8684 CAN NMT state after booting / NMT state aft boot
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
4 127 127
p8685 CAN NMT states / NMT states
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 129 127
p8699 CAN: RPDO monitoring time / RPDO t_monit
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 [ms] 65535000 [ms] 0 [ms]
Parameters
List of parameters
Description: Sets the communication parameters for CANopen Receive Process Data Object 1 (RPDO 1).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Note: Corresponds to the CANopen object 1400 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object
p8700[0...1] CAN Receive PDO 1 / Receive PDO 1
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
List of parameters
Parameters
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Parameters
List of parameters
Description: Sets the mapping parameters for CANopen Receive Process Data Object 1 (RPDO 1).
Index: [0] = Mapped object 1
[1] = Mapped object 2
Dummy mapping not supported.
The parameter can only be written online when the associated COB ID in p870x is set as invalid.
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
p8710[0...3] CAN Receive Mapping for RPDO 1 / Mapping RPDO 1
SERVO (CAN), VEC-
TOR (CAN)
List of parameters
Parameters
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
Parameters
List of parameters
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
List of parameters
Parameters
Description: Sets the communication parameters for CANopen Transmit Process Data Object 1 (TPDO 1).
[2] = Inhibit time (in 100 s)
[3] = Reserved
[4] = Event timer (in ms)
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Transmission types 0, 1 ... F0, FE and FF can be set.
SERVO (CAN), VEC-
TOR (CAN)
p8720[0...4] CAN Transmit PDO 1 / Transmit PDO 1
SERVO (CAN), VEC-
TOR (CAN)
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Parameters
List of parameters
[3] = Reserved
[3] = Reserved
[3] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
List of parameters
Parameters
[3] = Reserved
[3] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Parameters
List of parameters
[3] = Reserved
[3] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
List of parameters
Parameters
Description: Sets the mapping parameters for CANopen Transmit Process Data Object 1 (TPDO 1).
Note: Corresponds to the CANopen object 1A00 hex + 40 hex * x (x: Drive number 0 ... 7).
p8730[0...3] CAN Transmit Mapping for TPDO 1 / Mapping TPDO 1
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
Parameters
List of parameters
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
List of parameters
Parameters
Description: Sets the number of channels for receive PDOs and Transmit PDOs.
To define the number of channels of a drive, there are 3 indices (3 * n indices, n = 8).
Index 0: Number of channels for receive PDOs (1st drive)
Index 1: Number of channels for transmit PDOs (1st drive)
Index 2: Reserved
Correspondingly, indices 3 to 5 are valid for the 2nd drive, etc.
Index: [0] = Number of channels for receive PDOs (drive 1)
[1] = Number of channels for transmit PDOs (drive 1)
[2] = Reserved
[3] = Number of channels for receive PDOs (drive 2)
[5] = Reserved
[8] = Reserved
[11] = Reserved
[14] = Reserved
[17] = Reserved
[20] = Reserved
[23] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
p8740[0...23] CAN channel distribution / Chann assign.
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 8 0
Parameters
List of parameters
Note: Channel assignment not yet in effect. To acknowledge set p8741 = 1.
Description: Acknowledges the channel distribution selection made (p8740) and the setting of the predefined connection sets
(p8744).
Value: 0: Inactive
1: Acknowledge configuration
Description: Displays the RPDO channels that are still available.
Note: The display is updated after acknowledging the configuration (p8741 = 1).
Only the RPDO channels in p8740 for which an axis is present in the topology are detected!
RPDO: Receive Process Data Object
Description: Displays the drive ID associated with each drive.
Index: [0] = Drive ID for 1st drive
[1] = Drive ID for 2nd drive
[2] = Drive ID for 3rd drive
[3] = Drive ID for 4th drive
p8741 CAN PDO configuration acknowledgement / PDO config ackn
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
0 1 0
r8742 CAN number of free RPDO channels / Qty free RPDO
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
r8743[0...7] CAN assignment drive/drive ID / Drive ID
CU_S_CU320_DP
(CAN),
CU_S_CU320_PN
(CAN),
CU_S_S150DP
(CAN),
CU_S_S150PN
(CAN)
- - -
List of parameters
Parameters
Description: Selector switch for the PDO mapping.
Sets the mapping for download or in the online mode after acknowledging with p8741.
Value: 1: Predefined Connection Set
2: Free PDO Mapping
Description: Displays the mapped 16-bit receive CANopen objects in the process data buffer.
Example:
If, e.g. the control word is mapped in an RPDO, then r8750 indicates the position of the control word in the process
data buffer.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Description: Displays mapped 16-bit transmit CANopen objects in the process data buffer.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
p8744 CAN PDO mapping configuration / PDO Mapping conf.
SERVO (CAN), VEC-
TOR (CAN)
Can be changed: C2, T Calculated: - Access level: 2
9208, 9210
1 2 2
r8750[0...15] CAN mapped 16-bit receive objects / RPDO 16 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
r8751[0...15] CAN mapped 16-bit transmit objects / TPDO 16 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
Parameters
List of parameters
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Description: Displays the mapped 32-bit receive CANopen objects in the process data buffer.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
Description: Displays mapped 32-bit transmit CANopen objects in the process data buffer.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
r8760[0...14] CAN mapped 32-bit receive objects / RPDO 32 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
r8761[0...14] CAN mapped 32-bit transmit objects / TPDO 32 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
List of parameters
Parameters
Description: Displays the CANopen status word.
Re bit 10:
When the ramp-function generator is activated, the interconnection from CI: p2151 = r1119 can be changed, so that
to evaluate bit 10, the setpoint can be retrieved (taken) from in front of the ramp-function generator.
Re bit 10, 12:
When braking, the two bits must indicate the same state. This is the reason that the following parameters must be
set the same:
p2161 (speed threshold value 3, for r2199.0) = p2163 (speed threshold value 4, for r2197.7)
p2150 (hysteresis speed 3, for r2199.0) = p2164 (hysteresis speed 4, for r2197.7)
Description: Binector input for CANopen status word bit 8.
r8784 CO: CAN status word / Status word
SERVO (CAN), VEC-
TOR (CAN)
- - -
01 Ready Yes No -
04 No coasting active Yes No -
05 No Quick Stop active Yes No -
06 Switching on inhibited active Yes No -
08 Can be freely interconnected (BI: p8785) High Low -
10 Target reached Yes No -
11 Torque limit reached Yes No -
12 Velocity equal to zero Yes No -
p8785 BI: CAN status word bit 8 / Status word bit 8
SERVO (CAN), VEC-
TOR (CAN)
- - 0
SERVO (CAN), VEC-
TOR (CAN)
- - 0
Parameters
List of parameters
Description: Sets the automatic BICO interconnection of the CANopen control word.
Value: 0: No interconn
1: Interconnection
Dependency: Refer to: r2050, r2090, r2091, r2092, r2093, r8750, r8795, r8850, r8890, r8891, r8892, r8893
Note: The following BICO interconnections are automatically established if the CANopen control word is mapped at one
of the locations x = 0 ... 3 in the receive process data buffer.
For SINAMICS S120 with CBC10, the PZD interface IF2 is used:
BI: p0840.0 = r889x.0
BI: p0844.0 = r889x.1
BI: p0848.0 = r889x.2
BI: p0852.0 = r889x.3
BI: p2103.0 = r889x.7
For SINAMICS S110, the PZD interface IF1 is used:
BI: p0840.0 = r209x.0
BI: p0844.0 = r209x.1
BI: p0848.0 = r209x.2
BI: p0852.0 = r209x.3
BI: p2103.0 = r209x.7
The write access is rejected if a CANopen control word is not mapped at one of these locations.
This also causes the project download of the commissioning software to be canceled.
Description: Access to the CANopen control word using SDO transfer.
SERVO (CAN), VEC-
TOR (CAN)
- - 0
p8790 CAN control word - auto interconnection / STW interc auto
SERVO (CAN), VEC-
TOR (CAN)
0 1 0
r8795 CAN control word / Control word
SERVO (CAN), VEC-
TOR (CAN)
- - -
00 ON/OFF1 Yes No -
01 Do not activate coast down Yes No -
02 Do not activate a Quick Stop Yes No -
11 Freely interconn High Low -
List of parameters
Parameters
Description: Access to the CANopen object target velocity using the SDO transfer.
The value is displayed in increments/second as standard.
Note: Corresponds to the CANopen object 60FF hex + 800 hex * x (x: Drive number 0 ... 7).
The displayed value is calculated as follows:
r8796 = n_set [RPM] / 60 s * p0408 * 2^p0418 * p8798[1] / p8798[0]
Description: Access to the CANopen object target torque using SDO transfer.
The value is displayed as per mille (1/1000) as standard.
The displayed value is calculated as follows:
r8797 [per mille] = M_set [Nm] / p0333 [Nm] * 1000
Description: The factor converts the required velocity units into the internal velocity units (U/s).
With the factor setting, for CANopen, the velocity units are increments/second.
The parameter corresponds to the CANopen object 6094 hex.
The internal velocity is calculated as follows:
n_set_internal = object 6094.1 / object 6094.2 * 1/(p0408 * 2^p0418) * n_set_bus
Index: [0] = Counter
[1] = Denominator
r8796 CAN Target Velocity / Target velocity
SERVO (CAN), VEC-
TOR (CAN)
- - -
r8797 CAN Target Torque / Target torque
SERVO (CAN), VEC-
TOR (CAN)
- - -
p8798[0...1] CAN speed conversion factor / n_conv_factor
SERVO (CAN), VEC-
TOR (CAN)
1 4294967295 1
Parameters
List of parameters
Description: Selects the PZD interface for the clock cycle synchronization functionality and PROFIsafe.
Value: 1: Interface 1 (IF1)
2: Interface 2 (IF2)
Index: [0] = Isochronous mode
[1] = PROFIsafe
Note: A change only becomes effective after POWER ON, reset or project download.
Example:
p8815[0] = 1: IF1 supports the isochronous mode.
p8815[1] = 2: IF2 supports PROFIsafe.
Description: Sets the number of remote controllers expected for PROFINET CBE20.
The "Shared Device" functionality is activated with a value = 2.
The drive is being accessed by two PROFINET controllers simultaneously:
- automation controller (SIMOTION or SIMATIC A-CPU).
- safety controller (SIMATIC F-CPU).
Value: 1: Automation or Safety
2: Automation and Safety
Notice: The F CPU may only use PROFIsafe telegrams.
The A CPU must be connected to enable the F CPU to gain access.
Set the value = 1 to commission the F CPU individually.
Description: Selects the firmware version for the CBE20.
Value: 1: PROFINET Device
2: PN gate
3: SINAMICS Link
99: Customer-specific from the OEM directory
p8815[0...1] IF1/IF2 PZD functionality selection / IF1/IF2 PZD fct
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1 2 1
p8829 CBE20 remote controller number / CBE20 rem ctrl num
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
1 2 1
p8835 CBE20 firmware selection / CBE20 FWsel
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
1 99 1
List of parameters
Parameters
CBE20: Communication Board Ethernet 20
Description: Selects the node address for the SINAMICS Link on the Communication Board Ethernet 20 (CBE20).
p8836 = 0: SINAMICS Link de-activated
p8836 = 1 ... 64: SINAMICS Link node address
Note: SINAMICS Link requires that the appropriate CBE20 firmware version is selected (p8835 = 3).
A change only becomes effective after a POWER ON.
Description: Sets the processing mode for PROFIdrive STW1.10 "master control by PLC".
Generally, control world 1 is received with the first receive word (PZD1) (this is in conformance to the PROFIdrive
profile). The behavior of STW1.10 = 0 corresponds to that of the PROFIdrive profile. For other applications that
deviate from this, the behavior can be adapted using this particular parameter.
Value: 0: Freeze setpoints and continue to process sign-of-life
1: Freeze setpoints and sign-of-life
2: Setpoints are not frozen
Recommend.: Do not change the setting p2037 = 0.
Note: If the STW1 is not transferred according to the PROFIdrive with PZD1 (with bit 10 "master control by PLC"), then
p2037 should be set to 2.
Description: Assignment of the hardware for cyclic communications via PZD interface 1 (IF1) and interface 2 (IF2).
Value: 0: Inactive
1: Control Unit onboard
2: COMM BOARD
99: Automatic
Index: [0] = Interface 1
[1] = Interface 2
p8836 SINAMICS Link address / SINAMICS Link add
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
0 64 0
p8837 IF2 STW1.10 = 0 mode / IF2 STW1.10=0
A_INF, B_INF,
ENCODER, S_INF,
SERVO, TM41, VEC-
TOR
0 2 2
p8839[0...1] PZD interface hardware assignment / PZD IF HWassign
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 99 99
Parameters
List of parameters
Note: For value = 99 (automatic) the following applies:
- if a COMM BOARD is not inserted, then the onboard interface (PROFIBUS/PROFINET/USS) communicates via
IF1.
- if a CBE20 is inserted, then the following applies:
-- CU320-2 DP: PROFINET CBE20 communicates via IF1 and PROFIBUS/USS via IF2.
-- CU320-2 PN: PROFINET onboard communicates via IF1 and PROFINET CBE20 via IF2.
- CAN always communicates via IF2.
For a value not equal to 99 (automatic) the following applies:
- both indices must be set to a number not equal to 99 (automatic).
A change only becomes effective after POWER ON, reset or download.
Description: Sets the monitoring time to monitor the process data received via COMM BOARD.
If, during this time, the Control Unit does not receive any process data from the COMM BOARD, then an appropri-
ate message is output.
Note: This monitoring function only monitors the connection between the Control Unit and COMM BOARD and not the
data traffic on the fieldbus.
Value = 0: Monitoring is de-activated.
p8840 COMM BOARD monitoring time / CB t_monit
CU_S_CU310PN,
CU_S_CU320_DP
(COMM BOARD,
PROFINET),
CU_S_CU320_PN
(COMM BOARD),
CU_S_CU320_PN,
CU_S_S150DP
(COMM BOARD,
PROFINET),
CU_S_S150PN
(COMM BOARD),
CU_S_S150PN
0 [ms] 65535000 [ms] 20 [ms]
p8841[0...239] COMM BOARD send configuration data / CB s config_dat
CU_S_CU310PN,
CU_S_CU320_DP
(COMM BOARD,
PROFINET),
CU_S_CU320_PN
(COMM BOARD),
CU_S_CU320_PN,
CU_S_S150DP
(COMM BOARD,
PROFINET),
CU_S_S150PN
(COMM BOARD),
CU_S_S150PN
0 65535 0
List of parameters
Parameters
Description: Displays the PROFIdrive PZD state.
Note: When using the "setpoint failure" signal, the bus can be monitored and an application-specific response triggered
when the setpoint fails.
Description: Sets the delay time to initiate fault F01910 after a setpoint failure.
The time until the fault is initiated can be used by the application. This means that is is possible to respond to the
failure while the drive is still operational (e.g. emergency retraction).
Refer to: F01910
p8842 COMM BOARD start configuration / CB config start
CU_S_CU310PN,
CU_S_CU320_DP
(COMM BOARD,
PROFINET),
CU_S_CU320_PN
(COMM BOARD),
CU_S_CU320_PN,
CU_S_S150DP
(COMM BOARD,
PROFINET),
CU_S_S150PN
(COMM BOARD),
CU_S_S150PN
0 1 0
r8843.0...2 BO: IF2 PZD state / IF2 PZD state
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Setpoint failure Yes No -
01 Clock cycle synchronous operation active Yes No -
02 Fieldbus oper Yes No -
p8844 IF2 fault delay / IF2 F delay
A_INF, B_INF,
ENCODER, S_INF,
SERVO, TM41, VEC-
TOR
0 [s] 100 [s] 0 [s]
Parameters
List of parameters
Description: Sets the sampling time for the cyclic interface 2 (IF2).
Description: Connector output for interconnecting the PZD (setpoints) received via interface 2 in the word format.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
PZD1 to PZD2 are displayed bit-serially in r8890 to r8891.
p8848 IF2 PZD sampling time / IF2 PZD t_sample
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1.00 [ms] 16.00 [ms] 4.00 [ms]
r8849[0...139] COMM BOARD receive configuration data / CB r config_dat
CU_S_CU310PN,
CU_S_CU320_DP
(COMM BOARD,
PROFINET),
CU_S_CU320_PN
(COMM BOARD),
CU_S_CU320_PN,
CU_S_S150DP
(COMM BOARD,
PROFINET),
CU_S_S150PN
(COMM BOARD),
CU_S_S150PN
- - -
r8850[0...4] CO: IF2 PZD receive word / IF2 PZD recv word
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, TB30,
TM120, TM15DI_DO,
TM31
- - -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
9206
- - -
9206
- - -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Description: Selects the PZD (actual values) to be sent via interface 2 in the word format.
9206
- - -
p8851[0...7] CI: IF2 PZD send word / IF2 PZD send word
A_INF, B_INF,
S_INF
- - 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - 0
- - 0
Parameters
List of parameters
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
- - 0
TB30, TM120,
TM15DI_DO, TM31
- - 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Description: Displays the sent PZD (actual values) sent via interface 2.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
- - 0
r8853[0...7] IF2 diagnostics PZD send / IF2 diag PZD send
A_INF, B_INF,
S_INF
- - -
Parameters
List of parameters
[6] = PZD 7
[7] = PZD 8
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
9210
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
9210
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
TB30, TM120,
TM15DI_DO, TM31
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
9210
- - -
Parameters
List of parameters
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Description: Status display for COMM BOARD.
Value: 0: No initialization
1: Fatal fault
2: Initialization
3: Send configuration
4: Receive configuration
5: Non-cyclic communication
6: Cyclic communications but no setpoints (stop/no clock cycle)
255: Cyclic communication
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
r8854 COMM BOARD state / CB state
CU_S_CU310PN,
CU_S_CU320_DP
(COMM BOARD,
PROFINET),
CU_S_CU320_PN
(COMM BOARD),
CU_S_CU320_PN,
CU_S_S150DP
(COMM BOARD,
PROFINET),
CU_S_S150PN
(COMM BOARD),
CU_S_S150PN
0 255 -
List of parameters
Parameters
Description: Displays the COMM BOARD diagnostics data.
Note: The display depends on the COMM BOARD being used.
Example for CBE20:
r8858[0] = 4201 --> Siemens CBE20
r8858[1] = 1 --> firmware type = PROFINET device (see p8835)
r8858[2] = x --> state of cyclic communication
r8858[3] = y --> state of the IP configuration
r8858[4] = 1281 --> device ID 0501 hex = SINAMICS S120/S150
r8858[5 ... 39] --> only for internal Siemens diagnostics.
Description: Displays the COMM BOARD identification data
Index: [0] = Version interface structure
[1] = Version interface driver
[2] = Company (Siemens = 42)
[3] = CB type
r8858[0...39] COMM BOARD read diagnostics channel / CB diag_chan read
CU_S_CU310PN,
CU_S_CU320_DP
(COMM BOARD,
PROFINET),
CU_S_CU320_PN
(COMM BOARD),
CU_S_CU320_PN,
CU_S_S150DP
(COMM BOARD,
PROFINET),
CU_S_S150PN
(COMM BOARD),
CU_S_S150PN
- - -
r8859[0...7] COMM BOARD identification Data / CB Ident_data
CU_S_CU310PN,
CU_S_CU320_DP
(COMM BOARD,
PROFINET),
CU_S_CU320_PN
(COMM BOARD),
CU_S_CU320_PN,
CU_S_S150DP
(COMM BOARD,
PROFINET),
CU_S_S150PN
(COMM BOARD),
CU_S_S150PN
- - -
Parameters
List of parameters
Note: Example for CBE20:
r8859[0] = 100 --> version of the interface structure V1.00
r8859[1] = 111 --> version of the interface driver V1.11
r8859[2] = 42 --> SIEMENS
r8859[3] = 0 --> CBE20
r8859[4] = 1200 --> first part, firmware version V12.00 (second part, see index 7)
r8859[5] = 2010 --> year 2010
r8859[6] = 2306 --> 23rd June
Description: Connector output for interconnecting the PZD (setpoints) received via interface 2 in the double word format.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
r8860[0...2] CO: IF2 PZD receive double word / IF2 PZD recv DW
9206
- - -
9206
- - -
List of parameters
Parameters
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
9206
- - -
Parameters
List of parameters
Description: Selects the PZD (actual values) to be sent via interface 2 in the double word format.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
p8861[0...10] CI: IF2 PZD send double word / IF2 PZD send DW
9210
- - 0
9210
- - 0
List of parameters
Parameters
[25] = PZD 26 + 27
[26] = PZD 27 + 28
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
Description: Displays the PZD sent via interface 2 (actual values) with double word format.
9210
- - 0
r8863[0...10] IF2 diagnostics PZD send double word / IF2 diag send DW
- - -
Parameters
List of parameters
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
- - -
List of parameters
Parameters
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
Parameters
List of parameters
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
16 Bit 16 ON OFF -
17 Bit 17 ON OFF -
18 Bit 18 ON OFF -
19 Bit 19 ON OFF -
List of parameters
Parameters
Description: Assignment of a PZD to a telegram word from a SINAMICS Link receive telegram.
PZD p2050[index] is assigned by means of p8870[index], p8872[index].
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
20 Bit 20 ON OFF -
21 Bit 21 ON OFF -
22 Bit 22 ON OFF -
23 Bit 23 ON OFF -
24 Bit 24 ON OFF -
25 Bit 25 ON OFF -
26 Bit 26 ON OFF -
27 Bit 27 ON OFF -
28 Bit 28 ON OFF -
29 Bit 29 ON OFF -
30 Bit 30 ON OFF -
31 Bit 31 ON OFF -
p8870[0...15] SINAMICS Link receive telegram word PZD / Recv link word
A_INF (PROFINET),
B_INF (PROFINET),
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN,
ENCODER (PROFI-
NET), S_INF (PRO-
FINET), SERVO
(PROFINET), TB30
(PROFINET), TM120
(PROFINET), TM15
(PROFINET),
TM15DI_DO (PRO-
FINET), TM17 (PRO-
FINET), TM31
(PROFINET), TM41
(PROFINET), VEC-
TOR (PROFINET)
0 16 0
Parameters
List of parameters
Note: Value range:
0: Not used
1 ... 16: Telegram word
A pair of values p8870[index], p8872[index] may only be used once in single a device.
Description: Assigns a PZD to a telegram word in the SINAMICS Link send telegram.
p8871[index] assigns PZD p2051[index].
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Refer to: A50002
Note: Value range:
0: Not used
1 ... 16: Send telegram word
A specific telegram word send may only be used once within a single device.
p8871[0...15] SINAMICS Link send telegram word PZD / Send link word
A_INF (PROFINET),
B_INF (PROFINET),
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN,
ENCODER (PROFI-
NET), S_INF (PRO-
FINET), SERVO
(PROFINET), TB30
(PROFINET), TM120
(PROFINET), TM15
(PROFINET),
TM15DI_DO (PRO-
FINET), TM17 (PRO-
FINET), TM31
(PROFINET), TM41
(PROFINET), VEC-
TOR (PROFINET)
0 16 0
List of parameters
Parameters
Description: Selects the address of the SINAMICS Link sender from which the process data (PZD) is received.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Note: Value range:
0: Not used
1 ... 64: Address
p8872[0...15] SINAMICS Link address receive PZD / Link addr recv
A_INF (PROFINET),
B_INF (PROFINET),
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN,
ENCODER (PROFI-
NET), S_INF (PRO-
FINET), SERVO
(PROFINET), TB30
(PROFINET), TM120
(PROFINET), TM15
(PROFINET),
TM15DI_DO (PRO-
FINET), TM17 (PRO-
FINET), TM31
(PROFINET), TM41
(PROFINET), VEC-
TOR (PROFINET)
0 64 0
Parameters
List of parameters
Description: Displays the bus address of sender from which the PZD is received.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
Value range:
255: Not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
r8874[0...4] IF2 diagnostics bus address PZD receive / IF2 diag addr recv
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, TB30,
TM120, TM15DI_DO,
TM31
- - -
- - -
- - -
List of parameters
Parameters
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Value range:
255: Not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Value range:
255: Not assigned
- - -
Parameters
List of parameters
Description: Displays the byte offset of the PZD in the receive telegram.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
Value range:
255: Not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
r8875[0...4] IF2 diagnostics telegram offset PZD receive / IF diag offs recv
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
S_INF, TB30,
TM120, TM15DI_DO,
TM31
- - -
- - -
- - -
List of parameters
Parameters
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
Value range:
255: Not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Value range:
255: Not assigned
- - -
Parameters
List of parameters
Description: Displays the byte offset of the PZD in the send telegram.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
r8876[0...7] IF2 diagnostics telegram offset PZD send / IF2 diag offs send
A_INF, B_INF,
S_INF
- - -
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
- - -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
Value range:
255: Not assigned
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
Value range:
255: Not assigned
- - -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Value range:
255: Not assigned
TB30, TM120,
TM15DI_DO, TM31
- - -
- - -
List of parameters
Parameters
Description: Selects bits to be sent via interface 2.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
p8880[0...15] BI: IF2 binector-connector converter status word 1 / Bin/con ZSW1
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0
Parameters
List of parameters
[14] = Bit 14
[15] = Bit 15
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0
List of parameters
Parameters
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Description: Setting to invert the individual binector inputs of the binector connector converter.
[1] = Status word 2
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0
p8888[0...4] IF2 invert binector-connector converter status word / Bin/con ZSW inv
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0000 0000 0000 0000 bin
Parameters
List of parameters
Description: Connector output to interconnect the status words to a PZD send word.
[1] = Status word 2
Note: r8889 together with p8880 to p8884 forms five binector-connector converters.
r8889[0...4] CO: IF2 send binector-connector converter status word / Bin/con ZSW send
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
List of parameters
Parameters
Description: Binector output for bit-serial interconnection of PZD1 (normally control word 1) received via interface 2.
Description: Binector output for bit-serial interconnection of PZD2 received via interface 2.
r8890.0...15 BO: IF2 PZD1 receive bit-serial / IF2 PZD1 recv bitw
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
9204, 9206
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15DI_DO,
TM31, TM41, VEC-
TOR
9204, 9206
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
Parameters
List of parameters
Description: Binector output for bit-serial interconnection of PZD3 received via interface 2.
Description: Binector output for bit-serial interconnection of PZD4 (normally control word 2) received via interface 2.
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TM41, VECTOR
9206
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TM41, VECTOR
9206
- - -
List of parameters
Parameters
Description: Binector output for bit-serial interconnection of a PZD word received via interface 2.
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
r8894.0...15 BO: IF2 connector-binector converter binector output / Con/bin outp
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
Parameters
List of parameters
Description: Binector output for bit-serial interconnection of a PZD word received via interface 2.
Description: Setting to invert the individual binector outputs of the connector-binector converter.
r8895.0...15 BO: IF2 connector-binector converter binector output / Con/bin outp
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - -
00 Bit 0 ON OFF -
01 Bit 1 ON OFF -
02 Bit 2 ON OFF -
03 Bit 3 ON OFF -
04 Bit 4 ON OFF -
05 Bit 5 ON OFF -
06 Bit 6 ON OFF -
07 Bit 7 ON OFF -
08 Bit 8 ON OFF -
09 Bit 9 ON OFF -
10 Bit 10 ON OFF -
11 Bit 11 ON OFF -
12 Bit 12 ON OFF -
13 Bit 13 ON OFF -
14 Bit 14 ON OFF -
15 Bit 15 ON OFF -
p8898[0...1] IF2 invert connector-binector converter binector output / Con/bin outp inv
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0000 0000 0000 0000 bin
List of parameters
Parameters
Description: Sets the signal source for the connector-binector converter.
A PZD receive word can be selected as signal source. The signals are available to be serially passed-on (intercon-
nection).
Note: From the signal source set via the connector input, the corresponding lower 16 bits are converted.
p8899[0...1] together with r8894.0...15 and r8895.0...15 forms two connector-binector converters:
Description: Sets the station name for the Industrial Ethernet interface (X127) on the Control Unit.
The active station name is displayed in r8910.
Note: An ASCII table (excerpt) can be found, for example, in the appendix to the List Manual.
The interface configuration (p8900 and following) is activated with p8905 = 1.
IE: Industrial Ethernet
Description: Sets the IP address for the Industrial Ethernet interface (X127) on the Control Unit.
The active IP address is displayed in r8911.
p8899[0...1] CI: IF2 connector-binector converter signal source / Con/bin S_src
A_INF, B_INF,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, VECTOR
- - 0
p8900[0...239] IE Name of Station / IE Name Stat
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p8901[0...3] IE IP Address of Station / IE IP of Stat
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 0
Parameters
List of parameters
Note: The interface configuration (p8900 and following) is activated with p8905 = 1.
Description: Sets the default gateway for the Industrial Ethernet interface (X127) on the Control Unit.
The active default gateway is displayed in r8912.
Description: Sets the subnet mask for the Industrial Ethernet interface (X127) on the Control Unit.
The active subnet mask is displayed in r8913.
Description: Sets the DHCP mode for the Industrial Ethernet interface (X127) on the Control Unit.
Description: Setting to control the configuration of the Industrial Ethernet interface (X127) on the Control Unit.
p8902[0...3] IE Default Gateway of Station / IE Def Gateway
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 0
p8903[0...3] IE Subnet Mask of Station / IE Subnet Mask
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 0
p8904 IE DHCP mode / IE DHCP mode
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 3 0
p8905 IE Interface configuration / IE IF config
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 3 0
List of parameters
Parameters
p8905 is automatically set to 0 at the end of an operation.
1: Activate configuration
2: Activate and save configuration
3: Delete configuration
Refer to: A08561
Note: Re p8905 = 1:
The interface configuration (p8900 and following) is activated.
Re p8905 = 2:
The interface configuration (p8900 and following) is activated and saved to non-volatile memory.
Re p8905 = 3:
The interface configuration is reset to the factory setting at all points.
The factory settings for the interface configuration are loaded on activation (p8905 = 1) or at the next POWER ON.
Description: Displays the PROFINET Device ID. Every SINAMICS device type has its own PROFINET Device ID and its own
PROFINET GSD.
Note: List of the SINAMICS Device IDs:
0501 hex: S120/S150
0504 hex: G130/G150
0505 hex: GM150
0509 hex: GL150
050A hex: DC MASTER
050B hex: SL150
050C hex: SM120
050E hex: S110
Description: Displays the active station name for the Industrial Ethernet interface (X127) on the Control Unit.
r8909 PN device ID / PN device ID
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r8910[0...239] IE Name of Station active / IE Name Stat act
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays the active IP address for the Industrial Ethernet interface (X127) on the Control Unit.
Description: Displays the active default gateway for the Industrial Ethernet interface (X127) on the Control Unit.
Description: Displays the active subnet mask for the Industrial Ethernet interface (X127) on the Control Unit.
Description: Displays the active DHCP mode for the Industrial Ethernet interface (X127) on the Control Unit.
Description: Displays the MAC address for the Industrial Ethernet interface (X127) on the Control Unit.
r8911[0...3] IE IP Address of Station active / IE IP of Stat act
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r8912[0...3] IE Default Gateway of Station active / IE Def Gateway act
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r8913[0...3] IE Subnet Mask of Station active / IE Subnet Mask act
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r8914 IE DHCP mode of station active / IE DHCP mode act
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r8915[0...5] IE MAC Address of Station / IE MAC of Station
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Sets the station name for the onboard PROFINET interface on the Control Unit.
The active station name is displayed in r8930.
The interface configuration (p8920 and following) is activated with p8925 = 1.
PN: PROFINET
Description: Sets the IP address for the onboard PROFINET interface on the Control Unit.
The active IP address is displayed in r8931.
Description: Sets the default gateway for the onboard PROFINET interface on the Control Unit.
The active default gateway is displayed in r8932.
Description: Sets the subnet mask for the onboard PROFINET interface on the Control Unit.
The active subnet mask is displayed in r8933.
p8920[0...239] PN Name of Station / PN Name Stat
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
p8921[0...3] PN IP address of station / PN IP of stat
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
0 255 0
p8922[0...3] PN Default Gateway of Station / PN Def Gateway
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
0 255 0
p8923[0...3] PN Subnet Mask of Station / PN Subnet Mask
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
0 255 0
Parameters
List of parameters
Description: Setting to control the configuration for the onboard PROFINET interface on the Control Unit.
p8925 is automatically set to 0 at the end of the operation.
1: Activate configuration
2: Activate and save configuration
Note: Re p8925 = 1:
The interface configuration (p8920 and following) is activated.
Re p8925 = 2:
The interface configuration (p8920 and following) is activated and saved to non-volatile memory.
Re p8925 = 3:
Restores all memory locations for the interface configuration to the factory settings.
The factory settings for the interface configuration are loaded on activation (p8925 = 1) or at the next POWER ON.
Description: Sets the number of remote controllers expected for PROFINET onboard.
The "Shared Device" functionality is activated with a value = 2.
The drive is being accessed by two PROFINET controllers simultaneously:
- automation controller (SIMOTION or SIMATIC A-CPU).
- safety controller (SIMATIC F-CPU).
Value: 1: Automation or Safety
2: Automation and Safety
Notice: The F CPU may only use PROFIsafe telegrams.
Note: A change only becomes effective after POWER ON, reset or download.
Description: Displays the active station name for the onboard PROFINET interface on the Control Unit.
p8925 PN interface configuration / PN IF config
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
0 3 0
p8929 PN remote controller number / PN rem ctrl num
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
1 2 1
r8930[0...239] PN Name of Station active / PN Name Stat act
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Displays the active IP address for the onboard PROFINET interface on the Control Unit.
Description: Displays the active default gateway for the onboard PROFINET interface on the Control Unit.
Description: Displays the active subnet mask for the onboard PROFINET interface on the Control Unit.
Description: Displays the MAC address for the onboard PROFINET interface on the Control Unit.
Description: Displays the state of the cyclic PROFINET connections.
For two connections (Shared Device) the display in the index depends on the sequence in which the connections
are established.
Value: 0: Interrupted
1: Not connected
2: Connection starts to be established
3: Module information expected
4: Module information received
5: Module address expected
r8931[0...3] PN IP Address of Station active / PN IP of Stat act
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
r8932[0...3] PN Default Gateway of Station active / PN Def Gateway act
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
r8933[0...3] PN Subnet Mask of Station active / PN Subnet Mask act
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
r8935[0...5] PN MAC Address of Station / PN MAC of Station
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
r8936[0...1] PN state cyclic connections / PN state cycl
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
0 13 -
Parameters
List of parameters
6: Module address received
7: Parameterization data expected
8: Parameterization data received
9: Evaluate parameterization data
10: Connection being established completion expected
11: Configured controller RUN expected
12: Configured controller STOP
13: Configured controller RUN
Note: If value = 10:
If the connection remains in this state, then when using PROFINET IRT the following can apply:
- topology error (incorrect port assignment).
- synchronization missing.
Description: Display to diagnose the cyclic PROFINET connections.
Index: [0] = Number of cyclic connections
[1] = Number of send subslots of all connections
[2] = Number of send net data (bytes) of all connections
[3] = Number of receive subslots of all connections
[4] = Number of receive net data (bytes) of all connections
[5] = Connection type (RT, IRT)
Note: Re index 5:
Bit 0 = 1: there is at least one RT connection.
Bit 1 = 1: there is an IRT connection.
Description: Displays the PROFINET Device Access Point ID (DAP ID) for the onboard PROFINET interface.
The combination of device ID (r8909) and DAP ID uniquely identifies a PROFINET access point.
Note: List of the SINAMICS DAP IDs:
20005 hex: CBE20 V4.3
20006 hex: CBE20 V4.4
20106 hex: CU310-2 PN V4.4
20206 hex: CU305 PN V4.4
20306 hex: CU320-2 PN V4.4
r8937[0...5] PN diagnostics / PN diag
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
r8939 PN DAP ID / PN DAP ID
CU_S_CU310PN,
CU_S_CU320_PN,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Sets the station name for the Communication Board Ethernet 20 (CBE20).
The interface configuration (p8940 and following) is activated with p8945 = 1 (becomes effective after the next
POWER ON).
Description: Sets the IP address for the Communication Board Ethernet 20 (CBE20).
Note: The interface configuration (p8940 and following) is activated with p8945 = 1 (becomes effective after the next
POWER ON).
Description: Sets the default gateway for the Communication Board Ethernet 20 (CBE20).
POWER ON).
Description: Sets the subnet mask for the Communication Board Ethernet 20 (CBE20).
p8940[0...239] CBE20 Name of Station / CBE20 Name Stat
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
p8941[0...3] CBE20 IP Address of Station / CBE20 IP of Stat
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
0 255 0
p8942[0...3] CBE20 Default Gateway of Station / CBE20 Def Gateway
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
0 255 0
p8943[0...3] CBE20 Subnet Mask of Station / CBE20 Subnet Mask
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
0 255 0
Parameters
List of parameters
POWER ON).
Description: Sets the DHCP mode for the Communication Board Ethernet 20 (CBE20).
POWER ON).
Description: Sets the configuration control for the Communication Board Ethernet 20 (CBE20).
p8945 is automatically set to 0 at the end of an operation.
2: Save and activate configuration
Note: Re p8945 = 2:
The interface configuration (p8940 and following) is saved and activated after the next POWER ON.
Re p8945 = 3:
The factory setting of the interface configuration is loaded after the next POWER ON.
Description: Displays the active station name for the Communication Board Ethernet 20 (CBE20).
p8944 CBE20 DHCP Mode / CBE20 DHCP Mode
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
0 255 0
p8945 CBE20 interface configuration / CBE20 IF config
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
0 3 0
r8950[0...239] CBE20 Name of Station active / CBE20 name act
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Displays the active IP address for the Communication Board Ethernet 20 (CBE20).
Description: Displays the active standard gateway for the Communication Board Ethernet 20 (CBE20).
Description: Displays the active subnet mask for the Communication Board Ethernet 20 (CBE20).
Description: Displays the active DHCP mode for the Communication Board Ethernet 20 (CBE20).
r8951[0...3] CBE20 IP Address of Station active / CBE20 IP act
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
r8952[0...3] CBE20 Default Gateway of Station active / CBE20 def GW act
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
r8953[0...3] CBE20 Subnet Mask of Station active / CBE20 sub mask act
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
r8954 CBE20 DHCP Mode active / CBE20 DHCP actno
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
Parameters
List of parameters
Description: Displays the MAC address for the Communication Board Ethernet 20 (CBE20).
Description: Displays the PROFINET Device Access Point ID (DAP ID) for PROFINET CBE20.
The combination of device ID (r8909) and DAP ID uniquely identifies a PROFINET access point.
Note: List of the SINAMICS DAP IDs:
20005 hex: CBE20 V4.3
20006 hex: CBE20 V4.4
20106 hex: CU310-2 PN V4.4
20206 hex: CU305 PN V4.4
20306 hex: CU320-2 PN V4.4
Description: Data setting to read topology properties.
The result is displayed depending on the property in r9207 or r9208.
Re index 0:
0: actual topology, 1: target topology
Re index 1:
Sets the component number of the component involved.
Re index 2:
7: Name (r9208)
8: Component type (r9207)
9: Number of DRIVE-CLiQ connections (r9207)
11: Manufacturer (upper byte) and version (lower byte) (r9207)
12: Serial number (r9208)
13: Index (r9207)
15: Comparison level (r9207)
r8955[0...5] CBE20 MAC Address of Station / CBE20 MAC addr
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
r8959 CBE20 DAP ID / CBE20 DAP ID
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
p9206[0...2] Topology direct access / Topo access
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4294967295 0
List of parameters
Parameters
23: Order number (r9207)
24: Hardware serial number (r9208)
25: Collective order number (r9207)
28: Firmware version (r9207)
29: EPROM version (r9207)
30: Hardware version (r9207)
Index: [0] = Actual apology/target topology
[1] = Component number
[2] = Identifier/property
Description: Displays the value for the property set in p9206.
A value is only displayed for integer type properties.
Description: Displays the value for the property set in p9206.
A value is only displayed for string type properties.
Description: Sets the component number for a component to get its status LED to flash.
r9207 Topology direct access integer value / Topo access int
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r9208[0...50] Topology direct access string / Topo access string
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p9210 Flashing component number / Flash comp_no.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 499 0
Parameters
List of parameters
Description: Sets the function for the component selected in p9210.
After initiating a function, the parameter is automatically reset again.
Example:
- Set the component number (p9210).
- Select the "flashing on" function (set p9211 = 1).
Value: -1: Select function
0: Flashing off
1: Flashing on
Notice: If a task cannot be executed (e.g. the component number in p9210 does not exist), the following applies:
- There is no negative feedback signal.
- The value is reset anyway.
Description: Sets the monitoring clock cycle for safe motion monitoring.
Refer to: F01652
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive.
Note: The monitoring clock cycle must be a multiple of the actual value sensing clock cycle in p9311 or of the DP clock
cycle.
Description: Sets the enable signals for the safe motion monitoring.
Refer to: F01682, F01683
p9211 Flash function / Flash fct.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
-1 1 -1
p9300 SI Motion monitoring clock cycle (Motor Module) / SI Mtn clock MM
P-Group: Safety Integrated Units group: - Unit selection: -
500.00 [s] 25000.00 [s] 12000.00 [s]
p9301 SI Motion enable safety functions (Motor Module) / SI Mtn enable MM
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 Enable SOS/SLS Enable Inhibit -
03 Enable actual value synchronization Enable Inhibit -
16 Enable SSM hysteresis and filtering Enable Inhibit 2860
17 Enable SDI Enable Inhibit 2861
List of parameters
Parameters
SDI: Safe Direction (safe motion direction)
SLS: Safely-Limited Speed
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring)
Description: Sets the axis type (linear axis or rotary axis/spindle).
Value: 0: Linear axis
1: Rot axis/spindle
Note: For the commissioning software, after changing over the axis type, the units dependent on the axis type are only
updated after a project upload.
Description: Sets the function specification for the safe motion monitoring.
Value: 0: Safety with encoder
1: Safety without encoder
3: Safety without encoder with accel_monitoring/delay time
Dependency: Refer to: C30711
Description: Sets the function configuration for the safe motion monitoring functions.
Note: Re bit 00:
When the function is activated, a safety-relevant acknowledgement (internal event acknowledge) can be performed
by selecting/deselecting STO.
p9302 SI Motion axis type (Motor Module) / SI Mtn AxisType MM
0 1 0
p9306 SI Motion function specification (Motor Module) / SI Mtn fct_spc MM
0 3 0
p9307 SI Motion function configuration MM / SI Mtn config MM
- - 0000 bin
00 Extended message acknowledgement Yes No -
01 Setpoint velocity limit for STOP F No Yes -
02 Motor type sensorless actual value sensing Synchronous motor Induction motor -
Parameters
List of parameters
Re bit 01:
When the function is activated, the active setpoint velocity limit (CO: r9733) is set to zero when STOP F is active.
Re bit 02:
This bit defines the type of motor, which the sensorless safety technology evaluates.
For bit = 0, the sensorless motion monitoring function calculates the actual velocity for an induction motor.
For bit = 1, an actual velocity is calculated for a synchronous motor. This value depends on the setting in p0300.
Bit = 0 should be set if no motor is defined (p0300 = 0).
Description: Sets the behavior of safety functions and their feedback during pulse suppression in encoderless operation.
Note: SDI: Safe Direction (safe motion direction)
Re bit 00:
For bit = 1 and with the SSM safety function activated, the following applies:
- During pulse suppression, monitoring is switched off and the feedback signal has a 0 signal level.
- Monitoring continues during pulse suppression. The feedback signal last displayed before pulse suppression is
kept and the system goes into the STO state.
Re bit 08:
For bit = 1 and with the SDI safety function activated, the following applies:
- During pulse suppression, monitoring is switched off and the status signal indicates inactive.
- Monitoring continues during pulse suppression. The status signal indicates active and the system goes into the
STO state.
Description: Sets the clock cycle time of the actual value sensing for safe motion monitoring.
Setting criteria if the motion monitoring functions are executed with an encoder.
- A slower clock cycle time reduces the maximum permissible velocity - however, it ensures a lower load of the Con-
trol Unit for safe actual value sensing.
- The maximum permissible velocity which, when exceeded, can mean that errors occur during safe actual value
sensing, is displayed in r9730.
- The isochronous PROFIBUS clock cycle is used as a clock cycle time for actual value sensing with a setting of 0
ms; the setting is 1 ms if isochronous operation is not being used.
Setting criteria if the motion monitoring functions are executed without an encoder:
- The actual value sensing clock cycle must be set to the same value as the current controller clock cycle (p0115).
p9309 SI Motion behavior during pulse suppression (Motor Module) / SI Mtn behav IL MM
- - 0000 0000 1111 1111 bin
00 SSM during pulse suppression and sensor-
less
Becomes inactive Remains active -
08 SDI during pulse suppression and sensor-
less
p9311 SI Motion actual value sensing clock cycle (Motor Module) / SI Mtn act clk MM
0.0000 [s] 25000.0000 [s] 0.0000 [s]
List of parameters
Parameters
Refer to: F01652
Note: The parameter is only active for drive-based motion monitoring functions (p9801.2 = 1).
The monitoring clock cycle from p9300 must be an integer multiple of this parameter.
In the case of motion monitoring functions with encoder, the clock cycle time for actual value sensing must be an
integer multiple of the current controller clock cycle and at least 4 times slower than the current controller clock
cycle. A factor of at least 8 is recommended.
The clock cycle time of the actual value sensing should not be set to more than 8 ms.
Description: Sets the encoder configuration for the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on the Motor Module must be parameterized in
this parameter.
Description: Sets the configuration for the encoder and position actual value.
this parameter.
Description: Sets the grid division for a linear encoder.
p9315 SI Motion coarse position value configuration (Motor Module) / SI Mtn s config MM
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Yes No -
p9316 SI Motion encoder configuration, safety functions (Motor Module) /
SI Mtn enc_cfg MM
- - 0000 bin
00 Encoder rotating/linear Linear Rotating: -
01 Position actual value, sign change Yes No -
p9317 SI Motion linear scale grid division (Motor Module) / SI Mtn grid MM
0.00 [nm] 250000000.00 [nm] 10000.00 [nm]
Parameters
List of parameters
this parameter.
Description: Sets the number of encoder pulses per revolution for rotary encoders.
this parameter.
Description: Sets the fine resolution for G1_XIST1 in bits.
this parameter.
Refer to: F01670, F01671
Note: For safety functions that have not been enabled (p9301 = 0), the following applies: When booting, p9319 is auto-
matically set the same as p0418.
For safety functions that are enabled (p9301 > 0), the following applies: p9319 is checked for agreement with
p0418.
G1_XIST1: Encoder 1 position actual value 1 (PROFIdrive)
Description: Sets the gear ratio between the encoder and load in mm/revolution for a linear axis with rotary encoder.
this parameter.
Notice: The fourth decimal point can be rounded-off depending on the size of the entered number (from 3 places before the
decimal point).
p9318 SI Motion encoder pulses per revolution (Motor Module) / SI Mtn p/rev MM
0 16777215 2048
p9319 SI Motion fine resolution G1_XIST1 (Motor Module) / SI Mtn G1_XIST1 MM
2 18 11
p9320 SI Motion spindle pitch (Motor Module) / SI Mtn sp_pitch MM
0.1000 [mm] 8388.0000 [mm] 10.0000 [mm]
List of parameters
Parameters
Description: Sets the denominator for the gearbox between the encoder (or motor in the case of encoderless monitoring func-
tions) and the load.
Index: [0] = Gearbox 1
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Notice: It is not possible to change over the gearbox stages. Gearbox 1 (index 0) is always active.
Description: Sets the numerator for the gearbox between the encoder (or motor in the case of encoderless monitoring functions)
and the load.
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Note: In the case of encoderless monitoring functions, the pole pair number must be multiplied by the numerator of the
gearbox ratio.
Example:
Gearbox ratio 1:4, pole pair number (r0313) = 2
--> p9321 = 1, p9322 = 8 (4 x 2)
p9321[0...7] SI Motion gearbox encoder (motor)/load denom (Motor Module) /
SI Mtn gearDenomMM
1 2147000000 1
p9322[0...7] SI Motion gearbox encoder (motor)/load numerator (Motor Module) /
SI Mtn gear num MM
1 2147000000 1
Parameters
List of parameters
Description: Sets the number of valid bits of the redundant coarse position value.
this parameter.
Description: Sets the number of valid bits for the fine resolution of the redundant coarse position value.
this parameter.
this parameter.
Description: Sets the number of the encoder, which is used on the Motor Module for safe motion monitoring functions.
Dependency: For the safe motion monitoring functions, the redundant safety position actual value sensing must be activated in
the appropriate encoder data set (p0430.19 = 1).
Refer to: p0187, p0188, p0189, p0430, p9526
Note: For p9326 = 1 the following applies: Motor Module uses an encoder for closed-loop speed control, it involves a 1-
encoder system.
p9323 SI Motion red. coarse position value valid bits (Motor Module) / Valid bits MM
0 16 9
p9324 SI Motion redundant coarse pos. value fine resolution bits (MM) / SI Mtn fine bit MM
-16 16 -2
p9325 SI Motion redundant coarse pos. value relevant bits (MM) / Relevant bits MM
0 16 16
p9326 SI Motion encoder assignment (Motor Module) / SI Mtn encoder MM
1 3 1
List of parameters
Parameters
Description: Sets the node identifier of the Sensor Module that is used by the Motor Module for the motion monitoring functions.
this parameter.
Description: Sets the tolerance for the function "Safe Operating Stop" (SOS).
Refer to: C01707
Note: SOS: Safe Operating Stop
Refer to: C01707
p9328[0...11] SI Motion Sensor Module Node Identifier (Motor Module) / SI Mtn SM Ident MM
0000 hex 00FF hex 0000 hex
p9329 SI Motion Gx_XIST1 coarse pos safe most significant bit (MM) / Gx_XIST1 MSB MM
0 31 14
p9330 SI Motion standstill tolerance (Motor Module) / SI Mtn SOS Tol MM
0.000 [mm] 100.000 [mm] 1.000 [mm]
p9330 SI Motion standstill tolerance (Motor Module) / SI Mtn SOS Tol MM
SERVO (Safety rot),
VECTOR (Safety rot)
0.000 [] 100.000 [] 1.000 []
Parameters
List of parameters
Description: Sets the limit values for the function "Safely-Limited Speed" (SLS).
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
[3] = Limit value SLP4
Refer to: C01714
Note: SLS: Safely-Limited Speed
Refer to: C01714
Description: Sets the tolerance for the cross-check of the actual position between the two monitoring channels.
For encoderless motion monitoring functions, the tolerance must be set to a higher value (12 degrees rotary and 1
mm linear).
Refer to: C01711
p9331[0...3] SI Motion SLS limit values (Motor Module) / SI Mtn SLS lim MM
0.00 [mm/min] 1000000.00 [mm/min] 2000.00 [mm/min]
p9331[0...3] SI Motion SLS limit values (Motor Module) / SI Mtn SLS lim MM
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 1000000.00 [rpm] 2000.00 [rpm]
p9342 SI Motion act val comparison tol (crosswise) (Motor Module) / SI Mtn actV tol MM
0.0010 [mm] 360.0000 [mm] 0.1000 [mm]
List of parameters
Parameters
mm linear).
Refer to: C01711
Description: Sets the filter time for the SSM feedback signal to detect standstill.
Note: The filter time is effective only if the function is enabled (p9301.16 = p9501.16 = 1).
The parameter is included in the crosswise data comparison of the two monitoring channels.
Description: Sets the velocity limit for the SSM feedback signal to detect standstill (n < nx).
When this limit value is undershot, the signal "SSM feedback signal active" is set.
For p9368 = p9568 = 0 the value in p9346/p9546 is also applicable for the function "SAM".
Caution: The "SAM" function is switched out if the selected threshold value is undershot.
Note: SAM: Safe Acceleration Monitor (safe acceleration monitoring)
p9342 SI Motion act val comparison tol (crosswise) (Motor Module) / SI Mtn actV tol MM
SERVO (Safety rot),
VECTOR (Safety rot)
0.0010 [] 360.0000 [] 0.1000 []
p9345 SI Motion SSM filter time (Motor Module) / SI Mtn SSM filt MM
0.00 [s] 100000.00 [s] 0.00 [s]
p9346 SI Motion SSM velocity limit (Motor Module) / SI Mtn SSM v_limMM
Parameters
List of parameters
When this limit value is undershot, the signal "SSM feedback signal active" is set.
For p9368 = p9568 = 0 the value in p9346/p9546 is also applicable for the function "SAM".
Caution: The "SAM" function is switched out if the selected threshold value is undershot.
Description: Sets the velocity hysteresis for the SSM feedback signal to detect standstill (n < nx).
Note: The velocity hysteresis is effective only if the function is enabled (p9301.16 = p9501.16 = 1).
Note: The velocity hysteresis is effective only if the function is enabled (p9301.16 = p9501.16 = 1).
p9346 SI Motion SSM velocity limit (Motor Module) / SI Mtn SSM v_limMM
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 1000000.00 [rpm] 20.00 [rpm]
p9347 SI Motion SSM velocity hysteresis (Motor Module) / SI Mtn SSM Hyst MM
p9347 SI Motion SSM velocity hysteresis (Motor Module) / SI Mtn SSM Hyst MM
SERVO (Safety rot),
VECTOR (Safety rot)
0.0010 [rpm] 500.0000 [rpm] 10.0000 [rpm]
List of parameters
Parameters
Description: Sets the velocity tolerance for the "SAM" function.
Refer to: C01706
Refer to: C01706
Description: Sets the velocity tolerance that is used for a 2-encoder system in crosswise comparison between the two monitor-
ing channels.
Note: If the "actual value synchronization" is not enabled (p9301.3 = 0), then the value parameterized in p9342 is used as
tolerance in the crosswise data comparison.
ing channels.
p9348 SI Motion SAM actual velocity tolerance (Motor Module) / SI Mtn SAM tol MM
p9348 SI Motion SAM actual velocity tolerance (Motor Module) / SI Mtn SAM tol MM
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 120000.00 [rpm] 300.00 [rpm]
p9349 SI Motion slip velocity tolerance (Motor Module) / SI Mtn slip MM
p9349 SI Motion slip velocity tolerance (Motor Module) / SI Mtn slip MM
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 6000.00 [rpm] 6.00 [rpm]
Parameters
List of parameters
Description: Sets the delay time for the SLS changeover or for the changeover from SLS to SOS for the function "Safely-Limited
Speed" (SLS).
When transitioning from a higher to a lower safely-limited velocity/speed stage or to the safe operating stop (SOS),
within this delay time, the "old" velocity stage remains active.
Even if SLS or SOS is activated from non safety-related operation, then this delay is still applied.
Description: Sets the transition time from STOP C to "Safe Operating Stop" (SOS).
Description: Sets the transition time from STOP D to "Safe Operating Stop" (SOS).
Description: Sets the transition time from STOP E to "Safe Operating Stop" (SOS).
p9351 SI Motion SLS changeover delay time (Motor Module) / SI Mtn SLS t MM
0.00 [s] 600000000.00 [s] 100000.00 [s]
p9352 SI Motion transition time STOP C to SOS (Motor Module) / SI Mtn t C->SOS MM
0.00 [s] 600000000.00 [s] 100000.00 [s]
p9353 SI Motion transition time STOP D to SOS (Motor Module) / SI Mtn t D->SOS MM
0.00 [s] 600000000.00 [s] 100000.00 [s]
p9354 SI Motion transition time STOP E to SOS (Motor Module) / SI Mtn t E->SOS MM
0.00 [s] 600000000.00 [s] 100000.00 [s]
List of parameters
Parameters
Description: Sets the transition time from STOP F to STOP B.
Description: Sets the delay time for the safe pulse suppression after STOP B / SS1.
In the case of encoderless motion monitoring functions with brake ramp monitoring (p9306 = 1), the parameter has
no effect.
Refer to: C01701
Note: SS1: Safe Stop 1
Description: Sets the time after which the pulses must have been suppressed when initiating the test stop.
Refer to: C01798
Description: Sets the maximum time for the acceptance test mode.
If the acceptance test mode takes longer than the selected time limit, then the mode is automatically terminated.
Refer to: C01799
p9355 SI Motion transition time STOP F to STOP B (Motor Module) / SI Mtn t F->B MM
0.00 [s] 600000000.00 [s] 0.00 [s]
p9356 SI Motion pulse suppression delay time (Motor Module) / SI Mtn IL t_del MM
0.00 [s] 600000000.00 [s] 100000.00 [s]
p9357 SI Motion pulse suppression test time (Motor Module) / SI Mtn IL t MM
0.00 [s] 10000000.00 [s] 100000.00 [s]
p9358 SI Motion acceptance test mode time limit (Motor Module) / SI Mtn acc t MM
5000000.00 [s] 100000000.00 [s] 40000000.00 [s]
Parameters
List of parameters
Description: Sets the shutdown velocity for pulse suppression.
Below this velocity "standstill" is assumed and for STOP B / SS1, the pulses are suppressed (by changing to STOP
A).
In the case of encoderless motion monitoring functions, the parameter must be > 0 (recommended value: 10).
Description: Sets the shutdown speed for the pulse suppression.
Below this speed "standstill" is assumed and for STOP B / SS1, the pulses are suppressed (by changing to STOP
A).
Description: Sets the stop response for the function "Safely-Limited Speed" (SLS).
These settings apply to the individual limit values for SLS.
In the case of encoderless motion monitoring (p9306 = 1), only a value of 0 or 1 is permitted.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
10: STOP A with delayed pulse suppression when the bus fails
11: STOP B with delayed pulse suppression when the bus fails
12: STOP C with delayed pulse suppression when the bus fails
13: STOP D with delayed pulse suppression when the bus fails
14: STOP E with delayed pulse suppression when the bus fails
p9360 SI Motion pulse suppression shutdown velocity (Motor Module) / SI Mtn IL v_sh MM
SERVO, SERVO
(Lin), VECTOR
p9360 SI Motion pulse suppression shutdown speed (Motor Module) / SI Mtn IL n_sh MM
SERVO (Lin, Safety
rot), VECTOR
(Safety rot)
0.00 [rpm] 6000.00 [rpm] 0.00 [rpm]
p9363[0...3] SI Motion SLS stop response (Motor Module) / SI Mtn SLS Stop MM
0 14 2
List of parameters
Parameters
Description: Sets the tolerance for the function "Safe motion direction" (SDI). This motion in the monitored direction is still per-
missible before an alarm is initiated.
Refer to: C30716
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive. Sets the tolerance
for the function "Safe motion direction" (SDI).
Refer to: C30716
Notice: This parameter is overwritten by the copy function of the safety functions integrated in the drive. Sets the tolerance
for the function "Safe motion direction" (SDI).
Description: Sets the delay time for the function "Safe motion direction" (SDI). When selecting the SDI function, motion in the
monitored direction is permissible as a maximum for this time; this means that this time can be used for braking
existing motion.
Refer to: C30716
p9364 SI Motion SDI tolerance (Motor Module) / SI Mtn SDI tol MM
0.001 [mm] 360.000 [mm] 12.000 [mm]
p9364 SI Motion SDI tolerance (Motor Module) / SI Mtn SDI tol MM
SERVO (Safety rot),
VECTOR (Safety rot)
0.001 [] 360.000 [] 12.000 []
p9365 SI Motion SDI delay time (Motor Module) / SI Mtn SDI t MM
0.00 [s] 600000000.00 [s] 100000.00 [s]
Parameters
List of parameters
Description: Sets the stop response for the function "Safe motion direction" (SDI).
This setting applies to both directions of motion.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
Refer to: C30716
Description: Sets the velocity tolerance limit for the "SAM" function.
SAM is de-activated once the set velocity limit has been undershot.
For p9568 = p9368 = 0, the following applies:
The value in p9546/p9346 (SSM) is applied as the velocity limit for SAM.
p9366 SI Motion SDI stop response (Motor Module) / SI Mtn SDI Stop MM
0 14 1
p9368 SI Motion SAM velocity limit (Motor Module) / SI Mtn SAM v_limMM
p9368 SI Motion SAM velocity limit (Motor Module) / SI Mtn SAM v_limMM
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 1000.00 [rpm] 0.00 [rpm]
List of parameters
Parameters
Description: Setting to select and de-select the acceptance test mode.
Value: 0: [00 hex] De-select the acceptance test mode
172: [AC hex] Select the acceptance test mode
Refer to: C01799
Note: Acceptance test mode can only be selected if the motion monitoring functions, which are integrated in the drives,
are enabled (p9601.2/p9801.2).
Description: Displays the status of the acceptance test mode.
Value: 0: [00 hex] Acc_mode inactive
12: [0C hex] Acc_mode not possible due to POWER ON fault
13: [0D hex] Acc_mode not possible due to incorrect ID in p9370
15: [0F hex] Acc_mode not possible due to expired Acc_timer
172: [AC hex] Acc_mode active
Refer to: C01799
Description: Sets the delay time after which the pulses are safely suppressed after a bus failure.
Description: Sets the reference value to define the brake ramp.
The rate of rise of the brake ramp depends upon p9381 (reference value) and p9383 (monitoring time).
p9370 SI Motion acceptance test mode (Motor Module) / SI Mtn acc_mod MM
0000 hex 00AC hex 0000 hex
r9371 SI Motion acceptance test status (Motor Module) / SI Mtn acc_stat MM
0000 hex 00AC hex -
p9380 SI Motion pulse suppression delay bus failure (Motor Module) / SI Mtn t to IL MM
0.00 [s] 800000.00 [s] 0.00 [s]
p9381 SI Motion brake ramp reference value (Motor Module) / SI Mtn ramp ref MM
Parameters
List of parameters
Description: Sets the delay time for monitoring the brake ramp.
Monitoring of the brake ramp starts once the delay time has elapsed.
Description: Sets the monitoring time to define the brake ramp.
Description: Sets the evaluation delay for encoderless actual value sensing after pulse enable.
The value should be greater than or equal to the motor magnetizing time.
p9381 SI Motion brake ramp reference value (Motor Module) / SI Mtn ramp ref MM
SERVO (Safety rot),
VECTOR (Safety rot)
600.0000 [rpm] 24000.0000 [rpm] 1500.0000 [rpm]
p9382 SI Motion brake ramp delay time (Motor Module) / SI Mtn rp t_del MM
10000.00 [s] 99000000.00 [s] 250000.00 [s]
p9383 SI Motion brake ramp monitoring time (Motor Module) / SI Mtn rp t_mon MM
500.00 [ms] 1000000.00 [ms] 10000.00 [ms]
p9386 SI Motion delay time of the evaluation sensorless (MM) / SI Mtn t_del SL MM
5.00 [ms] 1000.00 [ms] 100.00 [ms]
List of parameters
Parameters
Description: Sets the filter time for smoothing the actual value with sensorless actual value sensing.
Note: This parameter is only effective for encoderless actual value sensing (p9306/p9506 = 1).
Description: Sets the minimum current for encoderless actual value sensing in reference to 10 mA (i.e. when 1 % = 10 mA).
- The value must be increased if C30711 has occurred with message value 1042.
- The value must be decreased if C30711 has occurred with message value 1041.
Reducing this percentage value can adversely affect actual value sensing.
Description: Sets the voltage tolerance for suppressing acceleration peaks.
Increasing this percentage value means that voltage peaks will need to have a higher amplitude during acceleration
procedures if they are not to affect actual value sensing.
- The value must be lowered if acceleration procedures have led to an excessive Safety actual velocity.
Description: Displays the Safety Integrated version for the safe monitoring functions.
p9387 SI Motion act val sensing encoderless filter time (Motor Module) / SI Mtn SL filt MM
0.00 [s] 100000.00 [s] 25000.00 [s]
p9388 SI Motion act val sensing encoderless min current (Motor Module) /
SI Mtn SL I_min MM
0.00 [%] 1000.00 [%] 10.00 [%]
p9389 SI Motion voltage tolerance acceleration (Motor Module) / SI Mtn U tol MM
10.00 [%] 1000.00 [%] 100.00 [%]
r9390[0...3] SI Motion version safety motion monitoring (Motor Module) / SI Mtn Version MM
- - -
Parameters
List of parameters
Index: [0] = Safety Version (major release)
[1] = Safety Version (minor release)
[2] = Safety Version (baselevel or patch)
[3] = Safety Version (hotfix)
Note: Example:
r9390[0] = 2, r9390[1] = 60, r9390[2] = 1, r9390[3] = 0 --> SI Motion version V02.60.01.00
Description: Displays the checksum for the checked Safety Integrated parameters of the motion monitoring function (actual
checksum) on the Motor Module.
Index: [0] = Checksum over SI parameters for motion monitoring
[1] = Checksum over SI parameters with hardware reference
Note: SI: Safety Integrated
Description: Sets the checksum for the checked Safety Integrated parameters of the motion monitoring functions (reference
checksum) on the Motor Module.
[1] = Checksum over SI parameters with hardware reference
Note: SI: Safety Integrated
Description: Displays the parameters that were not able to be transferred when reading the parameter back-up files (PS files)
from the non-volatile memory (e.g. memory card).
r9406[0] = 0
--> All of the parameter values were able to be transferred error-free.
r9406[0...x] > 0
--> indicates the parameter number in the following cases:
- parameter, whose value was not able to be completely accepted.
- indexed parameter, where at least 1 index was not able to be accepted. The first index that is not transferred is
displayed in r9407.
r9398[0...1] SI Motion actual checksum SI parameters (Motor Module) / SI Mtn act CRC MM
- - -
p9399[0...1] SI Motion reference checksum SI parameters (Motor Module) / SI Mtn setp CRC MM
r9406[0...19] PS file parameter number parameter not transferred / PS par_no n transf
- - -
List of parameters
Parameters
Note: All indices from r9406 to r9408 designate the same parameter.
r9406[x] parameter number, parameter not accepted
r9407[x] parameter index, parameter not accepted
r9408[x] fault code, parameter not accepted
Description: Displays the first index of the parameters that could not be transferred when the parameter backup files (PS files)
were read from the non-volatile memory (e.g. memory card).
If, from an indexed parameter, at least one index was not able to be transferred, then the parameter number is dis-
played in r9406[n] and the first index that was not transferred is displayed in r9407[n].
r9406[0] = 0
--> All of the parameter values were able to be transferred error-free.
r9406[n] > 0
--> Displays r9407[n] the first index of the parameter number r9406[n] that was not transferred.
Description: Only for internal Siemens service purposes.
Description: Displays the number of modified parameters and those that have still not be saved for this drive object.
Note: The modified parameters that still need to be saved are internally listed in r9410 ... r9419.
r9407[0...19] PS file parameter index parameter not transferred / PS parameter index
- - -
r9408[0...19] PS file fault code parameter not transferred / PS fault code
- - -
r9409 Number of parameters to be saved / Qty par to save
- - -
Parameters
List of parameters
Description: Displays the parameters for which the re-calculation was unsuccessful after an internal system reference value
change.
Description: Displays the parameters whose parameter would have to be changed during a units changeover.
Description: Displays the number of BICO interconnections (signal sinks).
Note: The selected BICO interconnections should be entered into r9482 and r9483.
r9450[0...29] Reference value change parameter with unsuccessful calculation /
Ref_chg par n poss
A_INF, B_INF,
ENCODER, S_INF,
SERVO, TM41, VEC-
TOR
- - -
r9451[0...29] Units changeover adapted parameters / Unit_chngov par
A_INF, B_INF,
ENCODER, S_INF,
SERVO, TM41, VEC-
TOR
- - -
r9481 Number of BICO interconnections / BICO count
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
- - -
List of parameters
Parameters
Description: Displays the signal sinks (binector/connector inputs, BI/CI parameters).
The number of BICO interconnections is displayed in r9481.
Note: The list is sorted according to signal sources and is structured as follows:
r9842[0]: Interconnection 1 (signal sink, BICO coded), r9843[0]: Interconnection 1 (signal source, BICO coded)
...
Description: Displays the signal sources (binector/connector outputs, BO/CO parameters).
The number of BICO interconnections is displayed in r9481.
Note: The list is sorted according to signal sources and is structured as follows:
...
r9482[0...n] BICO interconnections BI/CI parameters / BICO BI/CI par
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
- - -
r9483[0...n] BICO interconnections BO/CO parameters / BICO BO/CO par
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
- - -
Parameters
List of parameters
Description: Sets the signal source (BO/CO parameter, BICO coded) to search in the signal sinks.
The question is answered:
How often is a connection made to a signal source in the drive object and from which index are these interconnec-
tions saved (r9482 and r9483)?
Description: Displays the number of BICO interconnections to the signal sink being searched for.
Dependency: Refer to: r9481, r9482, r9483, p9484, r9486
Note: The signal source to be searched is set in p9484 (BICO-coded).
The search result is contained in r9482 and r9483 and is specified by the count (r9485) and the first index (r9486).
p9484 BICO interconnections search signal source / BICO S_src srch
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
0 4294967295 0
r9485 BICO interconnections signal source search count / BICO S_src srchQty
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
- - -
List of parameters
Parameters
Description: Displays the first index of the signal source being searched for.
Dependency: Refer to: r9481, r9482, r9483, p9484, r9485
Note: The signal source to be searched is set in p9484 (BICO-coded).
The search result is contained in r9482 and r9483 and is specified by the count (r9485) and the first index (r9486).
Description: Displays the number of signal sources from this drive to other drives/drive objects (Binector Output/Connector Out-
put, BO/CO).
Description: Displays the signal receiver list (Binector Input/Connector Input, BI/CI) for the first interconnections between this
drive and other drives/drive objects.
Notice: A drive cannot be deleted if this list is not empty! Otherwise, another drive would continue to attempt to read a sig-
nal from a drive that no longer existed.
Note: All indices of r9491 to p9493 designate the same interconnection.
r9491[x] contains the signal receiver and r9492[x] the matching signal source; p9493[x] can be set to modify the
interconnection.
r9486 BICO interconnections signal source search first index / BICO S_src srchIdx
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, S_INF,
SERVO, TB30,
TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41,
TM54F_MA,
TM54F_SL, VEC-
TOR
- - -
r9490 Number of BICO interconnections to other drives / Qty BICO to drive
- - -
r9491[0...9] BI/CI of BICO interconnections to other drives / BI/CI to drive
- - -
Parameters
List of parameters
Description: Displays the signal source list (Binector Output/Connector Output, BO/CO) for the first interconnections between
this drive and other drives/drive objects.
Notice: A drive cannot be deleted if this list is not empty! Otherwise, another drive would continue to attempt to read a sig-
nal from a drive that no longer existed.
interconnection.
Description: Setting to reset the BICO interconnections to other drives. Each interconnection can be individually reset.
Value: 0: Set connection to 0
1: Set connection to 1 (100 %)
2: Set connection to factory setting
15: Finished
interconnection.
Description: Sets the behavior for BICO interconnections to drive objects that are either not capable of operation or have been
deactivated.
BO/CO parameters are on the drive object that is either not capable of operation or has been deactivated (signal
source).
r9492[0...9] BO/CO of BICO interconnections to other drives / BO/CO to drive
- - -
p9493[0...9] Reset BICO interconnections to other drives / Reset BICO to drv
All objects Can be changed: T Calculated: - Access level: 3
0 15 15
p9495 BICO behavior for de-activated drive objects / Behav for deact DO
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
0 2 0
List of parameters
Parameters
Value: 0: Inactive
1: Save interconnections
2: Save interconnections and establish the factory setting
Refer to: A01318, A01507
- the number of interconnections is zero (p9497 = 0).
For p9495 not equal to 0, the following applies:
- the BI/CI parameters involved are listed in p9498[0...29] (signal sink).
- the associated BO/CO parameters are listed in p9499[0...29] (signal source).
Description: Sets the behavior when activating BICO interconnections to drive objects that are either not capable of operation or
have been deactivated.
Value: 0: Inactive
1: Restore the interconnections from the list
2: Delete the interconnections from the list
Refer to: A01318, A01507
Note: The BI/CI parameters involved are listed in p9498[0...29] (signal sink).
The associated BO/CO parameters are listed in p9499[0...29] (signal source).
After p9496 = 1, 2 the following applies:
- p9497 = 0
- p9496 = 0
p9496 BICO behavior when activating drive objects / Behav when act DO
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
0 2 0
Parameters
List of parameters
Description: Displays the number of saved BICO interconnections to drive objects that are either not capable of operation or
have been deactivated.
BO/CO parameters are on the drive object that is either not capable of operation or has been deactivated (signal
source).
Refer to: A01318, A01507
Description: Displays the saved BI/CI parameters (signal sink), whose source is located on drive objects that are either not
capable of operation or have been deactivated.
Refer to: A01318, A01507
Note: A BICO interconnection (signal sink, signal source) is displayed in the same index of p9498 and p9499.
p9497 BICO interconnections to de-activated drive objects number / Interconn obj qty
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
0 65535 0
p9498[0...29] BICO BI/CI parameters to de-activated drive objects / BI/CI to deact obj
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
- - 0
List of parameters
Parameters
Description: Displays the saved BO/CO parameters (signal source), which are located on drive objects that are either not capa-
ble of operation or have been deactivated.
Refer to: A01318, A01507
Note: A BICO interconnection (signal sink, signal source) is displayed in the same index of p9498 and p9499.
Description: Sets the monitoring clock cycle for safe motion monitoring.
Refer to: F01652
The monitoring clock cycle must be a multiple of the actual value sensing clock cycle in p9511 (dbSI) or of the DP
clock cycle (ncSI).
Description: Sets the enable signals for the safe motion monitoring.
SLS: Safely-Limited Speed / SG: Safely reduced speed
p9499[0...29] BICO BO/CO parameters to de-activated drive objects / BO/CO to deact obj
A_INF, B_INF,
CU_CX32, CU_I,
CU_LINK,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN,
ENCODER, SERVO,
TB30, TM120, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
- - 0
p9500 SI Motion monitoring clock cycle (Control Unit) / SI Mtn clock CU
0.50 [ms] 25.00 [ms] 12.00 [ms]
p9501 SI Motion enable safety functions (Control Unit) / SI Mtn enable CU
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 Enable SOS/SLS (SBH/SG) Enable Inhibit -
03 Enable actual value synchronization Enable Inhibit -
16 Enable SSM (n < nx) hysteresis and filtering Enable Inhibit 2860
17 Enable SDI Enable Inhibit 2861
Parameters
List of parameters
SOS: Safe Operating Stop / SBH: Safe operating stop
Description: Sets the axis type (linear axis or rotary axis/spindle).
Value: 0: Linear axis
1: Rot axis/spindle
Note: For the commissioning software, after changing over the axis type, the units dependent on the axis type are only
updated after a project upload.
Description: Setting to enable the function "Safe Cam" (SCA).
p9502 SI Motion axis type (Control Unit) / SI Mtn ax type CU
0 1 0
p9503 SI Motion SCA (SN) enable (Control Unit) / SI Mtn SCA enab
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
00 Enable SCA1 (SN1) Enable Inhibit -
16 Enable ESCA17 (SN17) Enable Inhibit -
List of parameters
Parameters
Refer to: F01686
Note: The "Safe Cam" function (SCA) can either be enabled using p9501 or p9503.
SCA: Safe Cam / SN: Safe software cam
Description: Sets the modulo range of the safe position actual value in degrees for the function "Safe Cam" (SCA) for rotary
axes.
Note: SCA: Safe Cam / SN: Safe software cam
Description: Sets the function specification for the safe motion monitoring.
Value: 0: Safety with encoder
1: Safety without encoder
3: Safety without encoder with accel_monitoring/delay time
Description: Sets the function configuration for the safe motion monitoring functions.
Note: Re bit 00:
When the function is activated, a safety-relevant acknowledgement (internal event acknowledge) can be performed
by selecting/deselecting STO.
Re bit 01:
When the function is activated, the active setpoint velocity limit (CO: r9733) is set to zero when STOP F is active.
Re bit 02:
This bit defines the type of motor, which the sensorless safety technology evaluates.
For bit = 0, the sensorless motion monitoring function calculates the actual velocity for an induction motor.
For bit = 1, an actual velocity is calculated for a synchronous motor. This value depends on the setting in p0300.
Bit = 0 should be set if no motor is defined (p0300 = 0).
p9505 SI Motion SCA (SN) modulo value (Control Unit) / SI Mtn SCA modulo
0 [] 737280 [] 0 []
p9506 SI Motion function specification (Control Unit) / SI Mtn fct_spc CU
0 3 0
p9507 SI Motion function specification (Control Unit) / SI Mtn config CU
- - 0000 bin
00 Extended message acknowledgement Yes No -
01 Setpoint velocity limit for STOP F No Yes -
02 Motor type sensorless actual value sensing Synchronous motor Induction motor -
Parameters
List of parameters
Description: Sets the behavior of safety functions and their feedback during pulse suppression in encoderless operation.
Re bit 00:
- During pulse suppression, monitoring is switched off and the feedback signal has a 0 signal level.
- Monitoring continues during pulse suppression. The feedback signal last displayed before pulse suppression is
kept and the system goes into the STO state.
Re bit 08:
- During pulse suppression, monitoring is switched off and the status signal indicates inactive.
- Monitoring continues during pulse suppression. The status signal indicates active and the system goes into the
STO state.
Description: Setting for clock cycle synchronous communication between PROFIdrive controller and Control Unit.
The parameter is only relevant, if the safety-relevant motion monitoring functions integrated in the drive have been
enabled (p9601.2 =1 ).
If a PROFIdrive controller exchanges process data in clock cycle synchronism with the Control Unit, then p9510
must be set to 1. This also applies if the drive itself does not exchange process data in clock cycle synchronism.
Examples for clock cycle synchronous communication:
- clock-cycle synchronous control for the motion control (e.g. SIMOTION).
- clock-cycle synchronous PROFIsafe master (e.g. SIMATIC S7-400F).
Value: 0: Communication not isochronous
1: Communication isochronous
Dependency: Refer to: C01711, A01796
Notice: As of firmware V2.6, the parameter has no effect.
p9509 SI Motion behavior during pulse suppression (Control Unit) / SI Mtn behav IL CU
- - 0000 0000 1111 1111 bin
00 SSM during pulse suppression and sensor-
less
08 SDI during pulse suppression and sensor-
less
p9510 SI Motion clock-cycle synchronous PROFIBUS master / SI Mtn sync master
0 1 0
List of parameters
Parameters
Description: Sets the clock cycle time of the actual value sensing for safe motion monitoring.
Setting criteria if the motion monitoring functions are executed with an encoder.
- A slower clock cycle time reduces the maximum permissible velocity - however, it ensures a lower load of the Con-
trol Unit for safe actual value sensing.
- The maximum permissible velocity which, when exceeded, can mean that errors occur during safe actual value
sensing, is displayed in r9730.
- The isochronous PROFIBUS clock cycle is used as a clock cycle time for actual value sensing with a setting of 0
ms; the setting is 1 ms if isochronous operation is not being used.
Setting criteria if the motion monitoring functions are executed without an encoder:
- The actual value sensing clock cycle must be set to the same value as the current controller clock cycle (p0115).
Refer to: F01652
Note: The parameter is only active for drive-based motion monitoring functions (p9601.2 = 1).
The monitoring clock cycle from p9500 must be an integer multiple of this parameter.
In the case of motion monitoring functions with encoder, the clock cycle time for actual value sensing must be an
integer multiple of the current controller clock cycle and at least 4 times slower than the current controller clock
cycle. A factor of at least 8 is recommended.
The clock cycle time of the actual value sensing should not be set to more than 8 ms.
Description: Sets the encoder configuration for the redundant coarse position value.
The encoder that is used for the safe motion monitoring functions on the Control Unit must be parameterized in this
parameter.
Note: For safe functions that are not enabled (p9501 = 0), the following applies:
- p9515 is automatically set the same as p0474 when the system boots.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9515 is checked to see that it matches p0474.
p9511 SI Motion actual value sensing cycle clock (Control Unit) / SI Mtn act clk CU
0.0000 [ms] 25.0000 [ms] 0.0000 [ms]
p9515 SI Motion encoder coarse position value config (Control Unit) / SI Mtn s config CU
- - 0000 0000 0000 0000 0000
0000 0000 0000 bin
Yes No -
Parameters
List of parameters
Description: Sets the configuration for the motor encoder and position actual value.
parameter.
Refer to: F01671
- p9516.0 is automatically set the same as p0404.0 when the system boots.
- p9516.1 is automatically set the same as p0410.1 when the system boots.
- p9516.1 is checked to identify whether it coincides with p0410.1.
Description: Sets the grid division for a linear motor encoder.
parameter.
Refer to: F01671
Note: For safety functions that have not been enabled (p9501 = 0), the following applies: When booting p9517 is automat-
ically set the same as p0407.
For safety functions that are enabled (p9501 > 0), the following applies: p9517 is checked whether it coincides with
p0407.
Description: Sets the number of encoder pulses per revolution for rotary motor encoders.
parameter.
Refer to: F01671
p9516 SI Motion encoder configuration safety functions (Control Unit) / SI Mtn enc_cfg CU
- - 0000 bin
00 Motor encoder, rotating/linear Linear Rotating: -
01 Position actual value, sign change Yes No -
p9517 SI Motion linear scale grid division (Control Unit) / SI Mtn grid CU
0.00 [nm] 250000000.00 [nm] 10000.00 [nm]
p9518 SI Motion encoder pulses per revolution (Control Unit) / SI Mtn puls/rev CU
0 16777215 2048
List of parameters
Parameters
p0408.
Description: Sets the fine resolution for G1_XIST1 in bits.
parameter.
Refer to: F01671
p0418.
G1_XIST1: Encoder 1 position actual value 1 (PROFIdrive)
Description: Sets the gear ratio between the encoder and load in mm/revolution for a linear axis with rotary encoder.
Notice: The fourth decimal point can be rounded-off depending on the size of the entered number (from 3 places before the
decimal point).
Description: Sets the denominator for the gearbox between the encoder (or motor in the case of encoderless monitoring func-
tions) and the load.
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
p9519 SI Motion fine resolution G1_XIST1 (Control Unit) / SI Mtn G1_XIST1 CU
2 18 11
p9520 SI Motion spindle pitch (Control Unit) / SI Mtn Sp_pitch CU
0.1000 [mm] 8388.0000 [mm] 10.0000 [mm]
p9521[0...7] SI Motion gearbox enc (motor)/load denominator (Control Unit) / SI Mtn gear den CU
1 2147000000 1
Parameters
List of parameters
Description: Sets the numerator for the gearbox between the encoder (or motor in the case of encoderless monitoring functions)
and the load.
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Note: In the case of encoderless monitoring functions, the pole pair number must be multiplied by the numerator of the
gearbox ratio.
Example:
Gearbox ratio 1:4, pole pair number (r0313) = 2
--> p9521 = 1, p9522 = 8 (4 x 2)
Description: Sets the number of valid bits of the redundant coarse position value.
parameter.
- p9523 is automatically set the same as r0470 when the system boots.
- p9523 is checked to see that it matches r0470.
Description: Sets the number of valid bits for the fine resolution of the redundant coarse position value.
parameter.
p9522[0...7] SI Motion gearbox encoder (motor)/load numerator (Control Unit) /
SI Mtn gear num CU
1 2147000000 1
p9523 SI Motion redundant coarse pos. value valid bits (Control Unit) / Valid bits CU
0 16 9
p9524 SI Motion Redundant coarse pos. value fine resolution bits (CU) / SI Mtn fine bit CU
-16 16 -2
List of parameters
Parameters
parameter.
Description: Sets the number of the encoder that the second channel (control, Motor Module) uses for safe motion monitoring
functions.
Dependency: For the safe motion monitoring functions, the redundant safety position actual value sensing must be activated in
the appropriate encoder data set (p0430.19 = 1).
Refer to: p0187, p0188, p0189, p0430
Note: For p9526 = 1, the encoder for the closed-loop speed control is used for the second channel of the motion monitor-
ing functions (1-encoder system).
parameter.
MSB: Most Significant Bit
p9525 SI Motion Redundant coarse pos. value relevant bits (CU) / Relevant bits CU
0 16 16
p9526 SI Motion encoder assignment second channel / SI Mtn enc chan 2
1 3 1
p9529 SI Motion Gx_XIST1 coarse pos. safe most significant bit (CU) / Gx_XIST1 MSB CU
0 31 14
Parameters
List of parameters
Note: SOS: Safe Operating Stop / SBH: Safe operating stop
Refer to: C01714
Note: SLS: Safely-Limited Speed / SG: Safely reduced speed
Refer to: C01714
p9530 SI Motion standstill tolerance (Control Unit) / SI Mtn standst_tol
0.000 [mm] 100.000 [mm] 1.000 [mm]
p9530 SI Motion standstill tolerance (Control Unit) / SI Mtn standst_tol
SERVO (Safety rot),
VECTOR (Safety rot)
0.000 [] 100.000 [] 1.000 []
p9531[0...3] SI Motion SLS (SG) limit values (Control Unit) / SI Mtn SLS lim CU
p9531[0...3] SI Motion SLS (SG) limit values (Control Unit) / SI Mtn SLS lim CU
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 1000000.00 [rpm] 2000.00 [rpm]
List of parameters
Parameters
Description: Sets the override factor for the limit value for SLS2 and SLS4 for the function "Safely-Limited Speed" (SLS).
Index: [0] = SLS (SG) override factor 0
[1] = SLS (SG) override factor 1
Note: The actual override factor for SLS2 and SLS4 is selected using the safety-relevant inputs (SGE).
Description: This is an evaluation factor to define the setpoint limit from the selected actual speed limit.
The active SLS limit value is evaluated with this factor and is made available as setpoint limit in r9733.
Dependency: This parameter only has to be parameterized for the motion monitoring functions integrated in the drive (p9601.2 =
1)
r9733[0] = p9531[x] x p9533 (converted from the load side to the motor side)
r9733[1] = - p9531[x] x p9533 (converted from the load side to the motor side)
[x] = Selected SLS stage
Conversion factor from the motor side to the load side:
- motor type = rotary and axis type = linear: p9522 / (p9521 x p9520)
- otherwise: p9522 / p9521
Refer to: p9501, p9531, p9601
Note: The active actual speed limit is selected via safety-relevant inputs (SGE).
When selecting SOS or a STOP A ... D, setpoint 0 is specified in r9733.
p9532[0...15] SI Motion SLS (SG) override factor (Control Unit) / SI Mtn SLS over CU
0.000 [%] 100.000 [%] 100.000 [%]
p9533 SI Motion SLS setpoint velocity limiting (Control Unit) / SI Mtn SLS set_lim
0.000 [%] 100.000 [%] 80.000 [%]
Parameters
List of parameters
Description: Sets the upper limit for the function "Safely-Limited Position" (SLP).
Index: [0] = Limit value SLP1 (SE1)
[1] = Limit value SLP2 (SE2)
Note: For the setting of these limit values, the following applies: p9534 > p9535
SLP: Safely-Limited Position / SE: Safe software limit switches
Description: Sets the upper limit for the function "Safely-Limited Position" (SLP).
Description: Sets the lower limit for the function "Safely-Limited Position" (SLP).
p9534[0...1] SI Motion SLP (SE) upper limit values (Control Unit) / SI Mtn SLP up lim
-2147000.000 [mm] 2147000.000 [mm] 100000.000 [mm]
p9534[0...1] SI Motion SLP (SE) upper limit values (Control Unit) / SI Mtn SLP up lim
SERVO (Safety rot),
VECTOR (Safety rot)
-2147000.000 [] 2147000.000 [] 100000.000 []
p9535[0...1] SI Motion SLP (SE) lower limit values (Control Unit) / SI Mtn SLP low lim
-2147000.000 [mm] 2147000.000 [mm] -100000.000 [mm]
List of parameters
Parameters
Description: Sets the lower limit for the function "Safely-Limited Position" (SLP).
Description: Sets the plus cam position for the function "Safe Cam" (SCA).
Index: [0] = Cam position SCA1 (SN1)
[1] = Cam position SCA2 (SN2)
p9535[0...1] SI Motion SLP (SE) lower limit values (Control Unit) / SI Mtn SLP low lim
SERVO (Safety rot),
VECTOR (Safety rot)
-2147000.000 [] 2147000.000 [] -100000.000 []
p9536[0...29] SI Motion SCA (SN) plus cam position (Control Unit) / SI Mtn SCA+
-2147000.000 [mm] 2147000.000 [mm] 10.000 [mm]
Parameters
List of parameters
Description: Sets the plus cam position for the function "Safe Cam" (SCA).
Description: Sets the minus cam position for the function "Safe Cam" (SCA).
p9536[0...29] SI Motion SCA (SN) plus cam position (Control Unit) / SI Mtn SCA+
SERVO (Safety rot),
VECTOR (Safety rot)
-2147000.000 [] 2147000.000 [] 10.000 []
p9537[0...29] SI Motion SCA (SN) plus cam position (Control Unit) / SI Mtn SCA-
-2147000.000 [mm] 2147000.000 [mm] -10.000 [mm]
List of parameters
Parameters
Description: Sets the minus cam position for the function "Safe Cam" (SCA).
p9537[0...29] SI Motion SCA (SN) plus cam position (Control Unit) / SI Mtn SCA-
SERVO (Safety rot),
VECTOR (Safety rot)
-2147000.000 [] 2147000.000 [] -10.000 []
Parameters
List of parameters
Description: Assigns the individual cams to the maximum of 4 cam tracks and defines the numerical value for the SGA "cam
range".
p9538[0...29] = CBA dec
C = Assignment of the cam to the cam track.
Valid values are 1, 2, 3, 4.
BA = Numerical value for the SGA "cam range".
If the position lies in the range of this cam, the value BA is signaled to the safety-relevant logic via the SGA "cam
range" of the cam track set using C.
Valid values are 0 ... 14. Each numerical value may only be used once for each cam track.
p9538[0...29] SI Motion SCA (SN) cam track assignment (Control Unit) / SI Mtn SCA assign.
100 414 [0] 100
[1] 101
[2] 102
[3] 103
[4] 104
[5] 105
[6] 106
[7] 107
[8] 108
[9] 109
[10] 110
[11] 111
[12] 112
[13] 113
[14] 114
[15] 200
[16] 201
[17] 202
[18] 203
[19] 204
[20] 205
[21] 206
[22] 207
[23] 208
[24] 209
[25] 210
[26] 211
[27] 212
[28] 213
[29] 214
List of parameters
Parameters
Examples:
p9538[0] = 207
Cam 1 (index 0) is assigned cam track 2. If the position lies within the range of this cam, a value of 7 is entered in
the SGA "cam range" of the second cam track.
p9538[5] = 100
Cam 6 (index 5) is assigned cam track 1. If the position lies within the range of this cam, a value of 0 is entered in
the SGA "cam range" of the first cam track.
Index: [0] = Track assignment SCA1
[1] = Track assignment SCA2
Refer to: F01681
Description: Sets the tolerance for the function "Safe Cam" (SCA).
Within this tolerance, both monitoring channels may signal different signal states of the same safe cam.
p9540 SI Motion SCA (SN) tolerance (Control Unit) / SI Mtn SCA tol CU
0.0010 [mm] 10.0000 [mm] 0.1000 [mm]
Parameters
List of parameters
Description: Sets the tolerance for the function "Safe Cam" (SCA).
Within this tolerance, both monitoring channels may signal different signal states of the same safe cam.
mm linear).
mm linear).
Description: Sets the tolerance to check the actual values after referencing (incremental encoder) or when powering up (abso-
lute encoder).
p9540 SI Motion SCA (SN) tolerance (Control Unit) / SI Mtn SCA tol CU
SERVO (Safety rot),
VECTOR (Safety rot)
0.0010 [] 10.0000 [] 0.1000 []
p9542 SI Motion act val comparison tol (crosswise) (Control Unit) / SI Mtn act tol CU
0.0010 [mm] 360.0000 [mm] 0.1000 [mm]
p9542 SI Motion act val comparison tol (crosswise) (Control Unit) / SI Mtn act tol CU
SERVO (Safety rot),
VECTOR (Safety rot)
0.0010 [] 360.0000 [] 0.1000 []
p9544 SI Motion actual value comparison tolerance (referencing) (CU) / SI Mtn ref tol
0.0000 [mm] 36.0000 [mm] 0.0100 [mm]
List of parameters
Parameters
Description: Sets the tolerance to check the actual values after referencing (incremental encoder) or when powering up (abso-
lute encoder).
Description: Sets the filter time for the SSM feedback signal to detect standstill.
Note: The filter time is effective only if the function is enabled (p9501.16 = 1).
When this limit value is undershot, the signal "SSM feedback signal active" (SGA n < n_x) is set.
For p9568 = 0, the value in p9546 is also applicable for the function "SAM".
Caution: The following applies for p9506 = 3:
The "SAM" function is switched out if the selected threshold value is undershot.
Note: F-DO: Failsafe Digital Output / SGA: Safety-related output
SAM: Safe Acceleration Monitor (safe acceleration monitoring)
SSM: Safe Speed Monitor (safety-relevant feedback signal from the velocity monitoring) / SGA n < nx: Safety-
related output n < nx
p9544 SI Motion actual value comparison tolerance (referencing) (CU) / SI Mtn ref tol
SERVO (Safety rot),
VECTOR (Safety rot)
0.0000 [] 36.0000 [] 0.0100 []
p9545 SI Motion SSM (SGA n < nx) filter time (Control Unit) / SI Mtn SSM filt CU
0.00 [ms] 100.00 [ms] 0.00 [ms]
p9546 SI Motion SSM (SGA n < nx) velocity limit (CU) / SI Mtn SSM v_limCU
Parameters
List of parameters
When this limit value is undershot, the signal "SSM feedback signal active" (SGA n < n_x) is set.
For p9568 = 0, the value in p9546 is also applicable for the function "SAM".
Caution: The following applies for p9506 = 3:
The "SAM" function is switched out if the selected threshold value is undershot.
Note: F-DO: Failsafe Digital Output / SGA: Safety-related output
Note: The velocity hysteresis is effective only if the function is enabled (p9501.16 = 1).
Note: The velocity hysteresis is effective only if the function is enabled (p9501.16 = 1).
p9546 SI Motion SSM (SGA n < nx) velocity limit (CU) / SI Mtn SSM v_limCU
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 1000000.00 [rpm] 20.00 [rpm]
p9547 SI Motion SSM (SGA n < nx) velocity hysteresis (CU) / SI Mtn SSM hyst CU
p9547 SI Motion SSM (SGA n < nx) velocity hysteresis (CU) / SI Mtn SSM hyst CU
SERVO (Safety rot),
VECTOR (Safety rot)
0.0010 [rpm] 500.0000 [rpm] 10.0000 [rpm]
List of parameters
Parameters
ing channels.
ing channels.
p9548 SI Motion SAM actual velocity tolerance (Control Unit) / SI Mtn SAM tol CU
p9548 SI Motion SAM actual velocity tolerance (Control Unit) / SI Mtn SAM tol CU
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 120000.00 [rpm] 300.00 [rpm]
p9549 SI Motion slip velocity tolerance (Control Unit) / SI Mtn slip tol
p9549 SI Motion slip velocity tolerance (Control Unit) / SI Mtn slip tol
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 6000.00 [rpm] 6.00 [rpm]
Parameters
List of parameters
Description: Sets the tolerance time for the changeover of the safety-related inputs (SGE).
Description: Sets the delay time for the SLS changeover or for the changeover from SLS to SOS for the function "Safely-Limited
Speed" (SLS).
When transitioning from a higher to a lower safely-limited velocity/speed stage or to the safe operating stop (SOS),
within this delay time, the "old" velocity stage remains active.
Even if SLS or SOS is activated from non safety-related operation, then this delay is still applied.
Description: Sets the transition time from STOP C to "Safe Operating Stop" (SOS).
Description: Sets the transition time from STOP D to "Safe Operating Stop" (SOS).
Description: Sets the transition time from STOP E to "Safe Operating Stop" (SOS).
p9550 SI Motion SGE changeover tolerance time (Control Unit) / SI Mtn SGE_chg tol
0.00 [ms] 10000.00 [ms] 500.00 [ms]
p9551 SI Motion SLS (SG) changeover delay time (Control Unit) / SI Mtn SLS t CU
0.00 [ms] 600000.00 [ms] 100.00 [ms]
p9552 SI Motion transition time STOP C to SOS (SBH) (Control Unit) / SI Mtn t C->SOS CU
0.00 [ms] 600000.00 [ms] 100.00 [ms]
p9553 SI Motion transition time STOP D to SOS (SBH) (Control Unit) / SI Mtn t D->SOS CU
0.00 [ms] 600000.00 [ms] 100.00 [ms]
p9554 SI Motion transition time STOP E to SOS (SBH) (Control Unit) / SI Mtn t E->SOS CU
0.00 [ms] 600000.00 [ms] 100.00 [ms]
List of parameters
Parameters
Description: Sets the transition time from STOP F to STOP B.
Description: Sets the delay time for the safe pulse suppression after STOP B.
In the case of encoderless motion monitoring functions with brake ramp monitoring (p9506 = 1), the parameter has
no effect.
Refer to: C01701
Description: Sets the time after which the pulses must have been suppressed when initiating the test stop.
Description: Sets the maximum time for the acceptance test mode.
If the acceptance test mode takes longer than the selected time limit, then the mode is automatically terminated.
p9555 SI Motion transition time STOP F to STOP B (Control Unit) / SI Mtn t F->B CU
0.00 [ms] 600000.00 [ms] 0.00 [ms]
p9556 SI Motion pulse suppression delay time (Control Unit) / SI Mtn IL t_del CU
0.00 [ms] 600000.00 [ms] 100.00 [ms]
p9557 SI Motion pulse suppression test time (Control Unit) / SI Mtn IL t_test
0.00 [ms] 10000.00 [ms] 100.00 [ms]
p9558 SI Motion acceptance test mode time limit (Control Unit) / SI Mtn acc t CU
5000.00 [ms] 100000.00 [ms] 40000.00 [ms]
Parameters
List of parameters
Description: Sets the time interval for carrying out the forced checking procedure and testing the safety motion monitoring func-
tions integrated in the drives.
Within the parameterized time, the safety functions must have been tested at least once (including de-selection of
the "STO" function).
This monitoring time is reset each time the test is carried out.
The signal source to initiate the forced checking procedure is set in p9705.
Refer to: A01697, C01798
Note: STO: Safe Torque Off
A).
Description: Sets the shutdown speed for the pulse suppression.
Below this speed "standstill" is assumed and for STOP B, the pulses are suppressed by changing to STOP A).
A).
p9559 SI Motion forced checking procedure timer (Control Unit) / SI Mtn dyn timer
0.00 [h] 9000.00 [h] 8.00 [h]
p9560 SI Motion pulse suppression shutdown velocity (Control Unit) / SI Mtn IL v_shutCU
p9560 SI Motion pulse suppression shutdown speed (Control Unit) / SI Mtn IL n_shutCU
SERVO (Lin, Safety
rot), VECTOR
(Safety rot)
0.00 [rpm] 6000.00 [rpm] 0.00 [rpm]
p9560 SI Motion pulse suppression shutdown velocity (Control Unit) / SI Mtn IL v_shutd
List of parameters
Parameters
Description: Sets the stop response for the function "Safely-Limited Speed" (SLS).
This setting applies for all SLS limit values.
An input value of less than 5 signifies personnel protection, from 10 and upwards, machine protection.
This parameter can only be used for ncSI nutzbar, not for dbSI1/2. For motion monitoring functions integrated in the
drive (dbSI1/2) only the value 5 is permissible; all other settings result in fault F01711 or F30711 with fault value 44.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
5: Sets the stop response via p9563 (SLS-specific)
Description: Sets the stop response for the function "Safely-Limited Position" (SLP).
Value: 2: STOP C
3: STOP D
4: STOP E
Note: SLP: Safely-Limited Position / SE: Safe software limit switches
Description: Sets the SLS-specific stop response for the function "Safely-Limited Speed" (SLS).
These settings apply to the individual limit values for SLS.
In the case of encoderless motion monitoring (p9506/p9306 = 1), only a value of 0 or 1 is permitted.
Value: 0: STOP A
1: STOP B
2: STOP C
p9561 SI Motion SLS (SG) stop response (Control Unit) / SI Mtn SLS resp
0 14 5
p9562 SI Motion SLP (SE) stop response (Control Unit) / SI Mtn SLP resp
2 4 2
p9563[0...3] SI Motion SLS (SG)-specific stop response (Control Unit) / SI Mtn SLS stop CU
0 14 2
Parameters
List of parameters
3: STOP D
4: STOP E
Refer to: C01716
Refer to: C01716
Description: Sets the delay time for the function "Safe motion direction" (SDI). When selecting the SDI function, motion in the
monitored direction is permissible as a maximum for this time; this means that this time can be used for braking
existing motion.
Refer to: C01716
p9564 SI Motion SDI tolerance (Control Unit) / SI Mtn SDI tol CU
0.001 [mm] 360.000 [mm] 12.000 [mm]
p9564 SI Motion SDI tolerance (Control Unit) / SI Mtn SDI tol CU
SERVO (Safety rot),
VECTOR (Safety rot)
0.001 [] 360.000 [] 12.000 []
p9565 SI Motion SDI delay time (Control Unit) / SI Mtn SDI t CU
0.00 [ms] 600000.00 [ms] 100.00 [ms]
List of parameters
Parameters
Description: Sets the stop response for the function "Safe motion direction" (SDI).
This setting applies to both directions of motion.
Value: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
Refer to: C01716
p9566 SI Motion SDI stop response (Control Unit) / SI Mtn SDI Stop CU
0 14 1
p9568 SI Motion SAM velocity limit (Control Unit) / SI Mtn SAM v_limCU
p9568 SI Motion SAM velocity limit (Control Unit) / SI Mtn SAM v_limCU
SERVO (Safety rot),
VECTOR (Safety rot)
0.00 [rpm] 1000.00 [rpm] 0.00 [rpm]
Parameters
List of parameters
Description: Setting to select and de-select the acceptance test mode.
Value: 0: [00 hex] De-select the acceptance test mode
172: [AC hex] Select the acceptance test mode
Refer to: C01799
Note: Acceptance test mode can only be selected if the safe motion monitoring functions are enabled.
Description: Displays the status of the acceptance test mode.
Value: 0: [00 hex] Acc_mode inactive
12: [0C hex] Acc_mode not possible due to POWER ON fault
13: [0D hex] Acc_mode not possible due to incorrect ID in p9570
15: [0F hex] Acc_mode not possible due to expired Acc_timer
172: [AC hex] Acc_mode active
Refer to: C01799
Description: Sets the delay time after which the pulses are safely suppressed after a bus failure.
p9570 SI Motion acceptance test mode (Control Unit) / SI Mtn Acc_mode
r9571 SI Motion acceptance test status (Control Unit) / SI Mtn acc_status
0000 hex 00AC hex -
p9580 SI Motion pulse suppression delay bus failure (Control Unit) / SI Mtn t to IL CU
0.00 [ms] 800.00 [ms] 0.00 [ms]
p9581 SI Motion brake ramp reference value (Control Unit) / SI Mtn ramp ref CU
List of parameters
Parameters
Description: Sets the delay time for monitoring the brake ramp.
Monitoring of the brake ramp starts once the delay time has elapsed.
Description: Sets the monitoring time to define the brake ramp.
Description: Sets the evaluation delay for encoderless actual value sensing after pulse enable. The value should be greater than
or equal to the motor magnetizing time. Shortening the time can result in Alarm 1711 with fault value 1041 or1042.
Notice: Reducing this value can adversely affect the actual value sensing and the plausibility check.
When the value is increased, this results in a longer evaluation delay.
p9581 SI Motion brake ramp reference value (Control Unit) / SI Mtn ramp ref CU
SERVO (Safety rot),
VECTOR (Safety rot)
600.0000 [rpm] 24000.0000 [rpm] 1500.0000 [rpm]
p9582 SI Motion brake ramp delay time (Control Unit) / SI Mtn rp t_del CU
10.00 [ms] 99000.00 [ms] 250.00 [ms]
p9583 SI Motion brake ramp monitoring time (Control Unit) / SI Mtn rp t_mon CU
0.50 [s] 1000.00 [s] 10.00 [s]
p9586 SI Motion delay time of the evaluation sensorless (CU) / SI Mtn t_del SL CU
5.00 [ms] 1000.00 [ms] 100.00 [ms]
Parameters
List of parameters
Description: Sets the filter time for smoothing the actual value with sensorless actual value sensing.
Description: Sets the minimum current for encoderless actual value sensing in reference to 10 mA (i.e. when 1 % = 10 mA).
- The value must be decreased if C01711 has occurred with message value 1041.
Notice: Reducing this percentage value can adversely affect actual value sensing.
Description: Sets the voltage tolerance for suppressing acceleration peaks.
Increasing this percentage value means that voltage peaks will need to have a higher amplitude during acceleration
procedures if they are not to affect actual value sensing.
- The value must be lowered if acceleration procedures have led to an excessive Safety actual velocity.
Description: Displays the Safety Integrated version for the safe monitoring functions.
p9587 SI Motion act val sensing sensorless filter time (Control Unit) / SI Mtn SL filt CU
0.00 [ms] 100.00 [ms] 25.00 [ms]
p9588 SI Motion act val sensing sensorless min current (Control Unit) / SI Mtn SL I_min CU
0.00 [%] 1000.00 [%] 10.00 [%]
p9589 SI Motion voltage tolerance acceleration (Control Unit) / SI Mtn U tol CU
10.00 [%] 1000.00 [%] 100.00 [%]
r9590[0...3] SI Motion version safety motion monitoring (Control Unit) / SI Mtn version CU
- - -
List of parameters
Parameters
Note: Example:
r9590[0] = 2, r9590[1] = 60, r9590[2] = 1, r9590[3] = 0 --> SI Motion version V02.60.01.00
Description: Sets the enable signals for safety functions on the Control Unit that are integrated in the drive.
Not all of the settings listed below will be permissible, depending on the Control Unit and Motor Module or Power
Module being used:
- p9601 = 0: Safety functions integrated in the drive disabled.
- p9601 = 1: STO/SS1 enabled via terminals. Permissible if r9771.0 = 1.
- p9601 = 4: Motion monitoring functions integrated in the drive enabled via Terminal Module 54F (TM54F) (SIN-
AMICS S120) or via an integrated F-DI/F-DO (SINAMICS S110). Permissible if r9771.5 = 1.
- p9601 = 5: Motion monitoring functions integrated in the drive enabled via Terminal Module 54F (TM54F) and
STO/SS1 via terminals (SINAMICS S120 only). Permissible if r9771.5 = 1.
- p9601 = 8: STO/SS1 enabled via PROFIsafe. Permissible if r9771.6 = 1.
- p9601 = 9: STO/SS1 enabled via PROFIsafe and STO/SS1 via terminals. Permissible if r9771.6 = 1.
- p9601 = 12: Motion monitoring functions integrated in the drive enabled via PROFIsafe. Permissible if r9771.4 = 1.
- p9601 = 13: Motion monitoring functions integrated in the drive enabled via PROFIsafe and STO/SS1 via termi-
nals. Permissible if r9771.4 = 1.
Note: A change always becomes effective only after a POWER ON. Exception: Changes to p9601.0 become effective
immediately.
CU: Control Unit.
STO: Safe Torque Off/SH: Safe standstill.
SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN 60204).
SI: Safety Integrated.
SMM: Safe Motion Monitoring.
F-DI: Failsafe Digital Input.
F-DO: Failsafe Digital Output.
Description: Sets the enable signal for the function "Safe Brake Control" (SBC) on the Control Unit.
Value: 0: Inhibit SBC
1: Enable SBC
p9601 SI enable, functions integrated in the drive (Control Unit) / SI enable fct CU
- - 0000 bin
00 STO (SH) via terminals (Control Unit)
enable
Enable Inhibit 2810
02 Motion monitoring functions integr. in the
drive (Control Unit)
Enable Inhibit -
03 PROFIsafe (Control Unit) enable Enable Inhibit -
p9602 SI enable Safe Brake Control (Control Unit) / SI enable SBC CU
0 1 0
Parameters
List of parameters
Note: The "Safe Brake Control" function is not activated until at least one safety monitoring function has been enabled
(i.e. p9501 not equal to 0 and/or p9601 not equal to 0).
It does not make sense to parameterize "no motor holding brake available" and enable "Safe Brake Control" (p1215
= 0, p9602 = p9802 = 1) if there is no motor holding brake.
It is not permissible to parameterize "motor holding brake without feedback signals" and also enable "safe brake
control" (p1278 = 1, p9602 = 1, p9802 = 1).
CU: Control Unit
SBC: Safe Brake Control
SI: Safety Integrated
Description: Sets the PROFIsafe address for the Control Unit.
Description: Sets the signal source for the following functions on the Control Unit:
STO: Safe Torque Off / SH: Safe standstill
SS1: Safe Stop 1 (time monitored)
Note: The following signal sources are permitted:
- fixed zero (standard setting).
- digital inputs DI 0 ... 7, 16, 17, 20, 21 on the Control Unit 320-2 (CU320-2).
- digital inputs DI 0 ... 3 on the Controller Extensions (CX32-2, NX10.3, NX15.3).
- digital inputs DI 0 ... 3, 16 on the Control Unit 310-2 (CU310-2).
It is not permitted to establish an interconnection to a digital input in the simulation mode.
For a parallel circuit configuration of n power units, the following applies:
p9620[0] = Signal source for power unit 1
...
p9620[n-1] = Signal source for power unit n
Description: Sets the signal source for Safe Brake Adapter (SBA).
p9610 SI PROFIsafe address (Control Unit) / SI PROFIsafe CU
0000 hex FFFE hex 0000 hex
p9620[0...7] BI: SI signal source for STO (SH)/SBC/SS1 (Control Unit) / SI S_srcSTO/SS1 CU
- - 0
p9621 BI: SI Safe Brake Adapter signal source (Control Unit) / SI SBA S_src CU
- - 0
List of parameters
Parameters
This defines via which digital input the Safe Brake Adapter feedback signal is read-in (SBA_DIAG).
p9621/p9821 = 0:
There is no Safe Brake Control (SBC) with Safe Brake Adapter (SBA) available.
p9621/p9821 = r0722.x (x = 0, 1 ... 7)
Safe Brake Adapter and Booksize unit (no Communication Interface Module (CIM)).
p9621/p9821 = r9872.3
Safe Brake Adapter and Chassis unit (CIM).
Note: No difference is tolerated for a crosswise data comparison between p9621 and p9821.
To use the "Safe Brake Adapter" function the following must apply:
p9601 = p9801 <> 0 and p9602 = p9802 = 1
Description: Sets the delay times for activating and de-activating the Safe Brake Adapter relay.
The relay-specific minimum delay times for evaluating the feedback signal contacts have to be set. They differ for
the activation and de-activation of one and the same relay.
Index: [0] = Wait time activation
[1] = Wait time deactivation
Note: For a crosswise data comparison between p9622 and p9822, a difference of one Safety monitoring clock cycle is
tolerated. The parameterized time is internally rounded-off to an integer multiple of the monitoring clock cycle.
The relay-specific minimum delay times (ms) for evaluating the feedback signal contacts are entered.
Description: Sets the tolerance time to change over the safety-related inputs (SGE) on the Control Unit.
An SGE changeover is not effective simultaneously due to the different runtimes in the two monitoring channels.
After an SGE changeover, dynamic data is not subject to a crosswise data comparison during this tolerance time.
tolerated.
The parameterized time is internally rounded-off to an integer multiple of the monitoring clock cycle.
SGE: Safety-related input (e.g. STO terminals)
p9622[0...1] SI SBA relay delay times (Control Unit) / SI SBA relay t CU
0.00 [ms] 1000.00 [ms] [0] 100.00 [ms]
[1] 65.00 [ms]
p9650 SI SGE changeover tolerance time (Control Unit) / SI SGE_chg tol CU
0.00 [ms] 2000.00 [ms] 500.00 [ms]
Parameters
List of parameters
Description: Sets the debounce time for the failsafe digital inputs used to control STO/SBC/SS1.
Note: The debounce time is rounded to whole milliseconds. It specifies the maximum duration of a fault pulse at the fail-
safe digital inputs with no reaction/influence on the selection or deselection of the Safety Basic Functions.
Example:
Debounce time = 1 ms: Fault pulses of 1 ms are filtered; only pulses longer than 2 ms are processed.
Description: Sets the delay time of the pulse suppression for the function "Safe Stop 1" (SS1) on the Control Unit to brake along
the OFF3 down ramp (p1135).
Recommend.: In order that the drive can completely ramp-down along the OFF3 ramp and a motor holding brake that is possibly
available can close, then the delay time should be set as follows:
Motor holding brake parameterized: delay time >= p1135 + p1228 + p1217
Motor holding brake not parameterized: delay time >= p1135 + p1228
tolerated.
The parameterized time is rounded internally to an integer multiple of the monitoring clock cycle.
SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN60204)
Description: Sets the transition period from STOP F to STOP A on the Control Unit.
Refer to: F01611
tolerated.
STOP F: Defect in a monitoring channel (error in the crosswise data comparison)
STOP A: Pulse suppression via the safety shutdown path
p9651 SI STO/SBC/SS1 debounce time (Control Unit) / SI STO t_debou CU
0.00 [ms] 100.00 [ms] 0.00 [ms]
p9652 SI Safe Stop 1 delay time (Control Unit) / SI Stop 1 t_del CU
0.00 [s] 300.00 [s] 0.00 [s]
p9658 SI transition time STOP F to STOP A (Control Unit) / SI STOP F->A CU
0.00 [ms] 30000.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Sets the time interval for carrying out the forced checking procedure and testing the Safety shutdown paths.
Within the parameterized time, STO must have been de-selected at least once. The monitoring time is reset each
time that STO is de-selected.
Note: STO: Safe Torque Off / SH: Safe standstill
Description: Displays the time remaining before dynamization and testing of the safety shutdown paths (forced checking proce-
dure).
Description: Sets the delay time for the pulse suppression after bus failure via failsafe values on the Control Unit (e.g. used for
ESR).
Description: Setting to start the required copy function.
After starting, the appropriate parameters are copied from the Control Unit to the Motor Module.
Once copying is complete, the parameter is automatically reset to zero.
Value: 0: [00 hex] Copy function ended
29: [1D hex] Start copy function node identifier
87: [57 hex] Start copy function SI parameters
208: [D0 hex] Start copy function SI basic parameters
p9659 SI forced checking procedure timer / SI FrcdCkProcTimer
0.00 [h] 9000.00 [h] 8.00 [h]
r9660 SI forced checking procedure remaining time / SI frc chk remain
- [h] - [h] - [h]
p9697 SI Motion pulse suppression failsafe delay time (CU) / SI Mtn IL t_del CU
0.00 [ms] 800.00 [ms] 0.00 [ms]
p9700 SI Motion copy function / SI Mtn copy fct
0000 hex 00D0 hex 0000 hex
Parameters
List of parameters
Note: Re value = 57 hex and D0 hex:
The value can only be set if the safety commissioning mode is set and the Safety Integrated password was entered.
Re value = D0 hex:
The following parameters are copied after starting the copy function:
p9601/p9801, p9602/p9802, p9610/9810, p9650/p9850, p9652/p9852, p9658/p9858
Description: Setting to start the required copy function.
After starting, the appropriate parameters are copied from the Control Unit to the Motor Module.
Once copying is complete, the parameter is automatically reset to zero.
Value: 0: [00 hex] Copy function ended
29: [1D hex] Start copy function node identifier
87: [57 hex] Start copy function SI parameters
Note: Re value = 57 hex:
The value can only be set if the safety commissioning mode is set and the Safety Integrated password was entered.
Description: Setting to transfer the reference checksums from the associated actual checksums after changes (SI parameters,
hardware).
After transferring the reference checksums, parameters are automatically reset to zero.
Value: 0: [00 hex] Data unchanged
172: [AC hex] Acknowledge data change complete
220: [DC hex] Acknowledge SI basic parameter change
236: [EC hex] Acknowledge hardware CRC
Dependency: Refer to: r9398, p9399, r9728, p9729, r9798, p9799, r9898, p9899
Note: Re value = AC and DC hex:
These values can only be set if the safety commissioning mode is set and the Safety Integrated password was
entered.
Description: Setting to transfer the reference checksums from the associated actual checksums after changes (SI parameters,
hardware).
After transferring the reference checksums, parameters are automatically reset to zero.
p9700 SI Motion copy function / SI Mtn copy fct
TM54F_MA Can be changed: C2(95), U, T Calculated: - Access level: 3
0000 hex 0057 hex 0000 hex
p9701 Acknowledge SI motion data change / Ackn SI Mtn dat
0000 hex 00EC hex 0000 hex
p9701 Acknowledge SI motion data change / Ackn SI Mtn dat
TM54F_MA,
TM54F_SL
0000 hex 00EC hex 0000 hex
List of parameters
Parameters
Value: 0: [00 hex] Data unchanged
172: [AC hex] Acknowledge data change complete
236: [EC hex] Acknowledge hardware CRC
Dependency: Refer to: r9398, p9399, r9728, p9729, r9798, p9799, r9898, p9899
Note: Re value = AC hex:
These values can only be set if the safety commissioning mode is set and the Safety Integrated password was
entered.
Description: Sets the signal source for the test stop of the safety-relevant motion monitoring functions.
Caution: Before setting the signal source in p9705 it must be ensured that the signal source is at a logical 0.
If, in the Safety commissioning mode, the signal source in p9705 is set - and it already has a logical 1 - then a test
stop is immediately initiated and the messages C01711/C30711 are output with message value 1005.
Notice: It is not permissible to use TM54F inputs to start the test stop.
Description: Displays result list 1 that, for the crosswise data comparison between the monitoring channels, led to the fault.
Index: [0] = Result list, second channel
[1] = Result list, drive
p9705 BI: SI Motion: Test stop signal source / SI Mtn test stop
- - 0
r9710[0...1] SI Motion diagnostics result list 1 / SI Mtn res_list 1
- - -
00 Actual value > upper limit SOS Yes No -
01 Actual value > lower limit SOS Yes No -
02 Actual value > upper limit, SLP1 Yes No -
03 Actual value > lower limit, SLP1 Yes No -
04 Actual value > upper limit, SLP2 Yes No -
05 Actual value > lower limit, SLP2 Yes No -
06 Actual value > upper limit, SLS1 Yes No -
07 Actual value > lower limit, SLS1 Yes No -
16 Actual value > upper limit, SAM/SBR Yes No -
17 Actual value > lower limit, SAM/SBR Yes No -
18 Actual value > upper limit SDI positive Yes No -
19 Actual value > lower limit SDI positive Yes No -
20 Actual value > upper limit SDI negative Yes No -
21 Actual value > lower limit SDI negative Yes No -
Parameters
List of parameters
Note: SBR: Safe Brake Ramp (safe brake ramp monitoring)
SLP: Safely-Limited Position
Description: Displays result list 2 that, for the crosswise data comparison between the monitoring channels, led to the fault.
Index: [0] = Result list, second channel
[1] = Result list, drive
Note: SCA: Safe Cam
Description: Displays the actual motor-side position actual value for the motion monitoring functions on the Control Unit.
r9711[0...1] SI Motion diagnostics result list 2 / SI Mtn res_list 2
- - -
00 Actual value > upper limit SCA1+ Yes No -
01 Actual value > lower limit, SCA1+ Yes No -
02 Actual value > upper limit SCA1- Yes No -
03 Actual value > lower limit, SCA1- Yes No -
16 Actual value > upper limit, SSM+ Yes No -
17 Actual value > lower limit, SSM+ Yes No -
18 Actual value > upper limit, SSM- Yes No -
19 Actual value > lower limit, SSM- Yes No -
20 Actual value > upper limit, modulo Yes No -
21 Actual value > lower limit, modulo Yes No -
r9712 SI Motion diagnostics position actual value motor side / SI Mtn s_act mot
- - -
List of parameters
Parameters
Description: Displays the actual load-side actual values of both monitoring channels and their difference.
Index: [0] = Load-side actual value on the Control Unit
[1] = Load-side actual value on the second channel
[2] = Load-side actual value difference Control Unit - second channel
[3] = Load-side max. actual value difference CU - 2nd channel
Note: Re index 0:
The display of the load-side position actual value on the Control Unit is updated in the monitoring clock cycle.
Re index 1:
The display of the load-side position actual value on the second channel is updated in the CDC clock cycle (r9724)
and delayed by one CDC clock cycle.
Re index 2:
The difference between the load-side position actual value on the Control Unit and load-side position actual value in
the second channel is updated in the CDC clock cycle (r9724) and delayed by one CDC clock cycle.
Re index 3:
The maximum difference between the load-side position actual value on the Control Unit and the load-side position
actual value on the second channel.
CDC: Crosswise Data Check
Description: Displays the current velocity actual values for the motion monitoring functions on the Control Unit.
Index: [0] = Load-side velocity actual value on the Control Unit
[1] = Actual SAM/SBR velocity limit on the Control Unit
Note: For linear axes, the following unit applies: millimeters per minute
For rotary axes, the following unit applies: revolutions per minute
Description: Displays the current velocity actual values for the motion monitoring functions on the Control Unit.
Index: [0] = Load-side velocity actual value on the Control Unit
[1] = Actual SAM/SBR velocity limit on the Control Unit
Note: For linear axes, the following unit applies: millimeters per minute
For rotary axes, the following unit applies: revolutions per minute
r9713[0...3] SI Motion diagnostics position actual value load side / SI Mtn s_act load
- - -
r9714[0...1] SI motion diagnostics velocity / SI Mtn diag v
- [mm/min] - [mm/min] - [mm/min]
r9714[0...1] SI motion diagnostics velocity / SI Mtn diag v
SERVO (Safety rot),
VECTOR (Safety rot)
- [rpm] - [rpm] - [rpm]
Parameters
List of parameters
Description: Control signal 1 for safety-relevant motion monitoring functions.
Note: TfS: Traverse to fixed stop
Note: TfS: Traverse to fixed stop
r9718.23 CO/BO: SI Motion control signals 1 / SI Mtn ctrl_sig 1
- - -
23 Set offset for TfS to the actual torque Set Reset -
r9718.23 CO/BO: SI Motion control signals 1 / SI Mtn ctrl_sig 1
- - -
23 Set offset for TfS to the actual force Set Reset -
r9719.0...31 CO/BO: SI Motion control signals 2 / SI Mtn ctrl_sig 2
- - -
00 De-select SOS/SLS (SBH/SG) Yes No -
01 De-select SOS (SBH) Yes No -
03 Select SLS (SG) bit 0 Set Not set -
04 Select SLS (SG) bit 1 Set Not set -
05 Deselect SDI positive Yes No -
06 Deselect SDI negative Yes No -
08 Gearbox selection, bit 0 Set Not set -
12 Select SLP (SE) SLP2 (SE2) SLP1 (SE1) -
13 Close brake from control Yes No -
15 Select test stop Yes No -
16 SGE valid Yes No -
18 De-select external STOP A Yes No -
19 De-select external STOP C Yes No -
20 De-select external STOP D Yes No -
21 De-select external STOP E Yes No -
28 SLS (SG) override bit 0 Set Not set -
List of parameters
Parameters
Note: Re r9719.0 and r9719.1:
These two bits must be considered together.
- if SOS/SLS (SBH/SG) is de-selected using bit 0, then assignment of bit 1 is irrelevant.
- if SOS/SLS (SBH/SG) is selected using bit 0, then a changeover is made between SOS (SBH) and SLS (SG)
using bit 1.
Description: Control signals for safety-relevant motion monitoring functions integrated in the drive.
Note: This parameter is only supplied with actual values in the case of Safety Integrated Extended Functions. For Safety
Integrated Basic Functions (SBC, SS1, STO), the value is equal to zero.
Description: Status signal for safety-relevant motion monitoring functions.
r9720.0...13 CO/BO: SI Motion control signals integrated in the drive / SI Mtn integ STW
- - -
00 De-select STO Yes No -
01 De-select SS1 Yes No -
02 De-select SS2 Yes No -
03 De-select SOS Yes No -
04 De-select SLS Yes No -
07 Acknowledgement Signal edge active No -
09 Select SLS bit 0 Set Not set -
10 Select SLS bit 1 Set Not set -
12 Deselect SDI positive Yes No 2861
13 Deselect SDI negative Yes No 2861
r9721.0...15 CO/BO: SI Motion status signals / SI Mtn stat_sig
- - -
00 SOS or SLS active Yes No -
01 SOS active Yes No -
02 Pulse enable Deleted Enabled -
03 Active SLS stage bit 0 Set Not set -
05 Velocity below limit value n_x Yes No -
06 Status signals valid Yes No -
07 Safely referenced Yes No -
08 SDI pos active Yes No -
09 SDI neg active Yes No -
12 STOP A or B active Yes No -
13 STOP C active Yes No -
14 STOP D active Yes No -
15 STOP E active Yes No -
Parameters
List of parameters
Description: Status signal for safety-relevant motion monitoring functions integrated in the drive.
Notice: Re bit 07:
The signal state behaves in an opposite way to the PROFIsafe Standard.
Re bit 07:
An internal event is displayed if a STOP A ... F is active.
Description: Status signal for safety-relevant motion monitoring functions integrated in the drive.
Notice: Re bit 07:
The signal state behaves in an opposite way to the PROFIsafe Standard.
Re bit 07:
r9722.0...15 CO/BO: SI Motion status signals integrated in the drive / SI Mtn integ stat
- - -
00 STO active Yes No -
01 SS1 active Yes No -
04 SLS active Yes No -
07 Internal event No Yes -
11 SOS selected Yes No -
12 SDI pos active Yes No 2861
13 SDI neg active Yes No 2861
15 SSM (speed below limit value) Yes No 2860
r9722.0...15 CO/BO: SI Motion status signals integrated in the drive / SI Mtn integ stat
- - -
07 Internal event No Yes -
12 SDI pos active Yes No 2861
13 SDI neg active Yes No 2861
15 SSM (velocity below limit value) Yes No 2860
List of parameters
Parameters
Description: Displays the diagnostic signals for safety-relevant motion monitoring functions integrated in the drive.
SBR: Safe Brake Ramp (safe brake ramp monitoring)
Description: Displays the crosswise comparison clock cycle.
The value indicates the clock cycle time with which each individual CDC value is compared between the two moni-
toring channels.
Note: Crosswise comparison clock cycle = monitoring clock cycle (p9500) * number of data to be crosswise compared
Description: Re index 0:
Displays the message value that resulted in the STOP F on the drive.
Value = 0:
The Control Unit signaled a STOP F.
Value = 1 ... 999:
Number of the incorrect date in the crosswise data comparison between the monitoring channels.
Value >= 1000:
Additional diagnostic values of the drive.
Re index 1:
Displays the value of the Control Unit that resulted in the STOP F.
r9723.0...16 CO/BO: SI Motion diagnostic signals integrated in the drive / SI Mtn integ diag
- - -
00 Forced checking procedure required Yes No -
01 For ESR, STOP F and subsequent stop B is
active
Yes No -
02 Communication failure Yes No -
03 Actual value sensing supplies valid value Yes No -
04 Encoderless act val sensing acc to tech-
nique for U/f control
Yes No -
16 SAM/SBR active Yes No -
r9724 SI Motion crosswise comparison clock cycle / SI Mtn CDC clk cyc
- [ms] - [ms] - [ms]
r9725[0...2] SI Motion, diagnostics STOP F / SI Mtn Diag STOP F
- - -
Parameters
List of parameters
Re index 2:
Displays the value from the second channel that resulted in the STOP F.
Index: [0] = Message value for CDC
[1] = Control Unit CDC act value
[2] = Components CDC act val
Note: The significance of the individual message values is described in message C01711.
Description: Setting to select and de-select the user agreement.
Value: 0: [00 hex] De-select user agreement
172: [AC hex] Select user agreement
Description: Displays the internal state of the user agreement.
Value = 0: User agreement is not set.
Value = AC hex: User agreement is set.
Description: Displays the checksum over the checked Safety Integrated parameters of the motion monitoring functions (actual
checksum).
[1] = Checksum over SI parameters for actual values
[2] = Checksum over SI parameters for hardware
Refer to: F01680
p9726 SI Motion, user agreement selection/de-selection / SI Mtn UserAgr sel
r9727 SI Motion user agreement, inside the drive / SI Mtn UserAgr int
- - -
r9728[0...2] SI Motion actual checksum, SI parameters / SI Mtn act CRC
- - -
List of parameters
Parameters
Description: Sets the checksum using the checksum-tested Safety Integrated parameters for motion monitoring functions (refer-
ence checksum).
[1] = Checksum over SI parameters for actual values
[2] = Checksum over SI parameters for hardware
Refer to: F01680
Description: Displays the safe maximum velocity (on the load side) that is permissible for the safe motion monitoring functions
as a result of the actual value sensing.
This parameter is only of significance for enabled safety with encoder. Otherwise, it is set to "0".
Note: If the value displayed is exceeded, message C01711 is output indicating relevant subsequent faults.
Description: Displays the safe maximum velocity (on the load side) that is permissible for the safe motion monitoring functions
as a result of the actual value sensing.
This parameter is only of significance for enabled safety with encoder. Otherwise, it is set to "0".
Note: If the value displayed is exceeded, message C01711 is output indicating relevant subsequent faults.
Description: Displays the safe position accuracy (on the load side) that can be achieved as a maximum for the safe motion mon-
itoring functions as a result of the actual value sensing. This parameter is only of significance for enabled safety
with encoder. Otherwise, it is set to "0".
p9729[0...2] SI Motion reference checksum, SI parameters / SI Mtn ref CRC
r9730 SI Motion Safe maximum velocity / SI mtn safe v_Max
r9730 SI Motion Safe maximum velocity / SI mtn safe v_Max
SERVO (Safety rot),
VECTOR (Safety rot)
- [rpm] - [rpm] - [rpm]
r9731 SI Motion safe position accuracy / SI Mtn pos acc
- [mm] - [mm] - [mm]
Parameters
List of parameters
Description: Displays the safe position accuracy (on the load side) that can be achieved as a maximum for the safe motion mon-
itoring functions as a result of the actual value sensing. This parameter is only of significance for enabled safety
with encoder. Otherwise, it is set to "0".
Description: Displays the safe velocity resolution (load side).
Setpoints for velocity limits or parameter changes for velocities below this threshold have no effect.
Note: This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends
on the type of actual value sensing, the gear factors as well as the quality of the encoder being used.
Description: Displays the safe velocity resolution (load side).
Setpoints for velocity limits or parameter changes for velocities below this threshold have no effect.
Note: This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends
on the type of actual value sensing, the gear factors as well as the quality of the encoder being used.
Description: Displays the necessary setpoint speed limit as a result of the selected motion monitoring functions.
Contrary to the parameterization of the SI limit values, this parameter specifies the motor-side limit value and not
the load-side limit value.
Index: [0] = Setpoint limiting positive
[1] = Setpoint limiting negative
[2] = Setpoint limit absolute
r9731 SI Motion safe position accuracy / SI Mtn pos acc
SERVO (Safety rot),
VECTOR (Safety rot)
- [] - [] - []
r9732 SI Motion velocity resolution / SI Mtn v_res
r9732 SI Motion velocity resolution / SI Mtn v_res
SERVO (Safety rot),
VECTOR (Safety rot)
- [rpm] - [rpm] - [rpm]
r9733[0...2] CO: SI Motion setpoint speed limit effective / SI Mtn setp_lim
P-Group: Safety Integrated Units group: 3_1 Unit selection: p0505
- [rpm] - [rpm] - [rpm]
List of parameters
Parameters
Dependency: For SLS: r9733[0] = p9531[x] x p9533 (converted from the load side to the motor side)
For SDI negative: r9733[0] = 0
For SLS: r9733[1] = - p9531[x] x p9533 (converted from the load side to the motor side)
For SDI positive: r9733[1] = 0
Notice: If p1051 = r9733[0] is interconnected, p1052 = r9733[1] must also be interconnected.
If only the absolute value of the setpoint velocity limiting is required, r9733[2] must be interconnected.
Note: The unit changeover between linear and rotary axis is not implemented via the safety changeover (p9502) but by
the linear motor changeover.
If the "SLS" or "SDI" function is not selected, r9733[0] shows p1082 and r9733[1] shows -p1082.
The display in r9733 can be delayed by up to one Safety monitoring clock cycle as compared to the display in
r9719/r9720 and r9721/r9722.
Description: Displays the necessary setpoint speed limit as a result of the selected motion monitoring functions.
Contrary to the parameterization of the SI limit values, this parameter specifies the motor-side limit value and not
the load-side limit value.
Index: [0] = Setpoint limiting positive
[1] = Setpoint limiting negative
[2] = Setpoint limit absolute
Dependency: For SLS: r9733[0] = p9531[x] x p9533 (converted from the load side to the motor side)
For SDI negative: r9733[0] = 0
For SLS: r9733[1] = - p9531[x] x p9533 (converted from the load side to the motor side)
For SDI positive: r9733[1] = 0
Notice: If p1051 = r9733[0] is interconnected, p1052 = r9733[1] must also be interconnected.
If only the absolute value of the setpoint velocity limiting is required, r9733[2] must be interconnected.
Note: The unit changeover between linear and rotary axis is not implemented via the safety changeover (p9502) but by
the linear motor changeover.
If the "SLS" or "SDI" function is not selected, r9733[0] shows p1082 and r9733[1] shows -p1082.
The display in r9733 can be delayed by up to one Safety monitoring clock cycle as compared to the display in
r9719/r9720 and r9721/r9722.
r9733[0...2] CO: SI Motion setpoint speed limit effective / SI Mtn setp_lim
P-Group: Safety Integrated Units group: 4_1 Unit selection: p0505
Parameters
List of parameters
Description: Displays the status word for the Safety information channel.
Re bit 07:
Description: Displays the changes of the safety message buffer. This counter is incremented every time that the safety message
buffer changes.
Recommend.: This is used to check whether the safety message buffer has been read out consistently.
Description: Displays the component number of the safety message that has occurred.
r9734.0...15 CO/BO: SI Motion Safety Info Channel status word / SI Mtn info ch ZSW
- - -
06 SLS selected Yes No -
07 Internal event Yes No -
12 SDI positive selected Yes No -
13 SDI neg selected Yes No -
14 ESR retract requested Yes No -
r9744 SI message buffer changes, counter / SI msg_buffer chng
- - -
r9745[0...63] SI component number / SI comp_num
- - -
List of parameters
Parameters
Description: Displays the numbers of safety messages that have occurred.
Note: The messages type "safety message" (Cxxxxx) are entered in the message fault buffer.
Message buffer structure (principle):
r9747[0], r9748[0], r9749[0], r9753[0], r9754[0], r9755[0], r9756[0] --> Actual message case, safety message 1
...
r9747[7], r9748[7], r9749[7], r9753[7], r9754[7], r9755[7], r9756[7] --> Actual message case, safety message 8
r9747[8], r9748[8], r9749[8], r9753[8], r9754[8], r9755[8], r9756[8] --> 1st acknowledged message case, safety
message 1
...
r9747[15], r9748[15], r9749[15], r9753[15], r9754[15], r9755[15], r9756[15] --> 1st acknowledged message case,
safety message 8
...
r9747[56], r9748[56], r9749[56], r9753[56], r9754[56], r9755[56], r9756[56] --> 7th acknowledged message case,
safety message 1
...
r9747[63], r9748[63], r9749[63], r9753[63], r9754[63], r9755[63], r9756[63] --> 7th acknowledged message case,
safety message 8
Description: Displays the relative system runtime in milliseconds when the safety message occurred.
Description: Displays the additional information about the safety message that occurred (as integer number).
r9747[0...63] SI message code / SI msg_code
- - -
r9748[0...63] SI message time received in milliseconds / SI t_msg recv ms
- [ms] - [ms] - [ms]
r9749[0...63] SI message value / SI msg_value
- - -
Parameters
List of parameters
Description: Displays the diagnostic attributes of the safety messages that have occurred.
Description: Number of safety messages that have occurred since the last reset.
Dependency: The safety message buffer is cleared by resetting the parameter to 0.
Refer to: r9744, r9747, r9748, r9749, r9753, r9754, r9755, r9756
Note: The parameter is reset to 0 at POWER ON.
Description: Displays additional information about the safety message that has occurred for float values.
Description: Displays the relative system runtime in days when the safety message occurred.
Description: Displays the relative system runtime in milliseconds when the safety message was removed.
r9750[0...63] SI diagnostic attributes / SI diag_attr
- - -
p9752 SI message cases, counter / SI msg_cases count
0 65535 0
r9753[0...63] SI message value for float values / SI msg_val float
- - -
r9754[0...63] SI message time received in days / SI t_msg recv days
- - -
r9755[0...63] SI message time removed in milliseconds / SI t_msg rem ms
- [ms] - [ms] - [ms]
List of parameters
Parameters
Description: Displays the relative system runtime in days when the safety message was removed.
Description: Enters the Safety Integrated password.
Note: It is not possible to change Safety Integrated parameters until the Safety Integrated password has been entered.
Description: Enters a new Safety Integrated password.
Dependency: A change made to the Safety Integrated password must be acknowledged in the following parameter:
Refer to: p9763
Description: Acknowledges the new Safety Integrated password.
Note: The new password entered into p9762 must be re-entered in order to acknowledge.
p9762 = p9763 = 0 is automatically set after the new Safety Integrated password has been successfully acknowl-
edged.
r9756[0...63] SI message time removed in days / SI t_msg rem days
- - -
p9761 SI password input / SI password inp
SERVO, VECTOR Can be changed: C1, T Calculated: - Access level: 3
p9762 SI password new / SI password new
p9763 SI password acknowledgement / SI ackn password
Parameters
List of parameters
Description: Displays the time remaining until the next dynamization and testing of the safety motion monitoring functions inte-
grated in the drives.
The signal source to initiate the forced checking procedure is parameterized in p9705.
Refer to: C01798
Description: Displays the Safety Integrated version for the drive-integrated safety functions on the Control Unit.
Note: Example:
r9770[0] = 2, r9770[1] = 60, r9770[2] = 1, r9770[3] = 0 --> Safety version V02.60.01.00
Description: Displays the Safety Integrated monitoring functions supported on the Control Unit and Motor Module.
The Control Unit determines this display.
r9765 SI Motion forced check procedure remaining time (Control Unit) / SI Mtn dyn remain
- [h] - [h] - [h]
r9770[0...3] SI version drive-integrated safety function (Control Unit) / SI version Drv CU
- - -
r9771 SI common functions (Control Unit) / SI common fct CU
- - -
00 STO supported via terminals Yes No 2804
01 SBC supported Yes No 2804
02 Extended Functions supported (p9501 > 0) Yes No 2804
03 SS1 supported Yes No 2804
04 Extended Functions PROFIsafe supported Yes No -
05 Extended Functions integrated in drive sup-
ported (p9601.2 = 1)
Yes No -
06 Basic Functions PROFIsafe supported Yes No -
07 Extended Functions encoderless supported Yes No -
08 Safe Brake Adapter supported Yes No -
09 Basic Functions PROFIsafe for parallel con-
nection supported
Yes No -
10 Extended Functions integrated in drive for
parallel connection
Yes No -
11 Extended Functions SDI supported Yes No -
List of parameters
Parameters
Note: CU: Control Unit
SS1: Safe Stop 1
Description: Displays the Safety Integrated status on the Control Unit.
Note: Re bit 00:
When STO is selected, the cause is displayed in bits 16 ... 20.
Re bit 05:
When SS1 is selected, the cause is displayed in bits 22 and 23.
Re bit 18:
When the bit is set, STO is selected via PROFIsafe or Terminal Module 54F (TM54F).
Re bit 19:
With SMM encoderless no actual value sensing is possible on account of OFF2.
With SMM with encoder no actual value sensing is possible on account of parking.
SMM: Safe Motion Monitoring
12 Extended Functions SSM encoderless sup-
ported
Yes No -
13 ESR delay of the pulse suppression Yes No -
r9772.0...23 CO/BO: SI status (Control Unit) / SI status CU
- - -
00 STO selected on Control Unit Yes No 2810
01 STO active on Control Unit Yes No 2810
02 SS1 delay time active on the Control Unit Yes No 2810
04 SBC requested Yes No 2814
05 SS1 selected on the Control Unit (Basic
Functions)
Yes No -
06 SS1 active on the Control Unit (Basic Func-
tions)
Yes No -
09 STOP A cannot be acknowledged, active Yes No 2802
10 STOP A active Yes No 2802
15 STOP F active Yes No 2802
16 STO cse: Safety comm. mode Yes No -
17 STO cause selection via terminal (Basic
Functions)
Yes No -
18 STO cause: selection via SMM Yes No -
19 STO cause actual value missing Yes No -
20 STO cause selection PROFIsafe (Basic
Functions)
Yes No -
22 SS1 cause selection terminal (Basic Func-
tions)
Yes No -
23 SS1 cause selection PROFIsafe (Basic
Functions)
Yes No -
Parameters
List of parameters
Re bit 22 and 23:
These bits show via which path the SS1 has been triggered, i.e. what has started the SS1 delay time.
If the SS1 delay time is not started (e.g. because an STO is triggered at the same time), neither of the two bits is
set.
Description: Displays the Safety Integrated status on the drive (Control Unit + Motor Module).
Note: This status is formed from the AND operation of the relevant status of the two monitoring channels.
Description: Displays the status for Safety Integrated of the group to which this drive belongs.
These signals are an AND logic operation of the individual status signals of the drives included in this group.
Notice: If a drive belonging to a group is de-activated via p0105, then the signals in r9774 can no longer be correctly dis-
played (Remedy: Before de-activating, remove this drive from the group).
Note: A group is formed by appropriately grouping the terminals for the function "Safe Torque Off" (STO).
The status of a group of n drives is, for drives 1 to n - 1 displayed with a delay of one monitoring clock cycle; this is
a system-related effect.
Description: The parameter is used for diagnostics.
r9773.0...31 CO/BO: SI status (Control Unit + Motor Module) / SI status CU+MM
- - -
00 STO selected in drive Yes No 2804
01 STO active in drive Yes No 2804
02 SS1 delay time active in the drive Yes No 2804
05 SS1 selected in the drive (Basic Functions) Yes No -
06 SS1 active in the drive (Basic Functions) Yes No -
31 Shutdown paths must be tested Yes No 2810
r9774.0...31 CO/BO: SI status (group STO) / SI stat group STO
- - -
00 STO selected in group Yes No 2804
01 STO active in group Yes No 2804
02 SS1 delay time active in group Yes No -
04 SBC requested in group Yes No 2804
05 SS1 selected in group (Basic Functions) Yes No -
06 SS1 active in group (Basic Functions) Yes No -
31 Shutdown paths of the group must be tested Yes No 2804
r9776 SI diagnostics / SI diagnostics
- - -
List of parameters
Parameters
At least one Safety parameter has been changed that will only take effect after a POWER ON.
Description: Displays the clock cycle time for the Safety Integrated Basic Functions on the Control Unit.
Description: Displays the checksum for tracking changes for Safety Integrated.
These are additional checksums that are created to track changes (fingerprint for the "safety logbook" functionality)
to safety parameters (that are relevant for checksums).
Index: [0] = SI checksum to track functional changes
[1] = SI checksum to track hardware-specific changes
Refer to: F01690
Description: Displays the time stamps for the checksums for tracking changes for Safety Integrated.
The time stamps for the checksums for tracking changes (fingerprint for the "safety logbook" functionality) made to
safety parameters are saved in parameters p9781[0] and p9781[1].
Index: [0] = SI time stamp for checksum to track functional changes
[1] = SI time stamp for checksum to track hardware-specific changes
Refer to: F01690
00 Safety parameter changed POWER ON
required
Yes No -
r9780 SI monitoring clock cycle (Control Unit) / SI monitor_clck CU
- [ms] - [ms] - [ms]
r9781[0...1] SI checksum to check changes (Control Unit) / SI chg chksm CU
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r9782[0...1] SI time stamps to check changes (Control Unit) / SI chg t CU
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [h] - [h] - [h]
Parameters
List of parameters
Description: Sets the field-generating current for sensorless actual value sensing of synchronous motors.
For synchronous motors, this current is fed in using sensorless safety functions.
The value must fulfill the following condition: |p0305 x p9783| >= p9588 x 1.2
Refer to: C01711
Notice: Reducing this percentage value can adversely affect actual value sensing with synchronous motors.
If the value is increased, this results in an increased motor power loss.
Description: Displays the number of the data that are being presently compared crosswise on the Control Unit.
The content of the list of crosswise-compared data is dependent upon the particular application.
Note: Example:
r9794[0] = 1 (monitoring clock cycle)
r9794[1] = 2 (enable safety functions)
r9794[2] = 3 (F-DI changeover, tolerance time)
...
A complete list of numbers for crosswise-compared data items appears in fault F01611.
Description: Displays the number of the cross-checked data which has caused STOP F on the Control Unit.
Refer to: F01611
Note: A complete list of numbers for crosswise-compared data items appears in fault F01611.
p9783 SI motion synchr. motor current injection sensorless / SI Mtn SM Id SL
SERVO, VECTOR
(n/M)
-50.00 [%] 0.00 [%] -20.00 [%]
r9794[0...19] SI crosswise comparison list (Control Unit) / SI CDC_list CU
- - -
r9795 SI diagnostics STOP F (Control Unit) / SI diag STOP F CU
- - -
List of parameters
Parameters
Description: Displays the checksum over the checked Safety Integrated parameters on the Control Unit (actual checksum).
Description: Sets the checksum for the checked Safety Integrated parameters on the Control Unit (reference checksum).
Description: Sets the enable signals for safety functions on the Motor Module that are integrated in the drive.
Not all of the settings listed below will be permissible, depending on the Control Unit and Motor Module or Power
Module being used:
- p9801 = 0: Safety functions integrated in the drive disabled.
- p9801 = 1: STO/SS1 enabled via terminals. Permissible if r9871.0 = 1.
- p9801 = 4: Motion monitoring functions integrated in the drive enabled via Terminal Module 54F (TM54F) (SIN-
AMICS S120) or via an integrated F-DI/F-DO (SINAMICS S110). Permissible if r9871.5 = 1.
- p9801 = 5: Motion monitoring functions integrated in the drive enabled via Terminal Module 54F (TM54F) and
STO/SS1 via terminals (SINAMICS S120 only). Permissible if r9871.5 = 1.
- p9801 = 8: STO/SS1 enabled via PROFIsafe. Permissible if r9871.6 = 1.
- p9801 = 9: STO/SS1 enabled via PROFIsafe and STO/SS1 via terminals. Permissible if r9871.6 = 1.
- p9801 = 12: Motion monitoring functions integrated in the drive enabled via PROFIsafe. Permissible if r9871.4 = 1.
- p9801 = 13: Motion monitoring functions integrated in the drive enabled via PROFIsafe and STO/SS1 via termi-
nals. Permissible if r9871.4 = 1.
Note: MM: Motor Module.
SI: Safety Integrated.
SMM: Safe Motion Monitoring.
STO: Safe Torque Off/SH: Safe standstill.
r9798 SI actual checksum SI parameters (Control Unit) / SI act_checksum CU
- - -
p9799 SI reference checksum SI parameters (Control Unit) / SI set_checksum CU
p9801 SI enable, functions integrated in the drive (Motor Module) / SI enable fct MM
- - 0000 bin
00 STO (SH) via terminals (Motor Module)
enable
Enable Inhibit 2810
02 Motion monitoring functions integr. in the
drive (Motor Module)
Enable Inhibit -
03 PROFIsafe (Motor Module) enable Enable Inhibit -
Parameters
List of parameters
SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN 60204).
F-DI: Failsafe Digital Input.
F-DO: Failsafe Digital Output.
A change always becomes effective only after a POWER ON. Exception: Changes to p9801.0 become effective
immediately.
Description: Sets the enable signal for the "Safe Brake Control" function (SBC) on the Motor Module.
0: Inhibit SBC
1: Enable SBC
Note: The "Safe Brake Control" function is not activated until at least one safety monitoring function has been enabled
(i.e. p9501 not equal to 0 and/or p9801 not equal to 0).
It does not make sense to parameterize "no motor holding brake available" and enable "Safe Brake Control" (p1215
= 0, p9602 = p9802 = 1) if there is no motor holding brake.
It is not permissible to parameterize "motor holding brake without feedback signals" and also enable "safe brake
control" (p1278 = 1, p9602 = 1, p9802 = 1).
MM: Motor Module
Description: Sets the PROFIsafe address of the Motor Module.
Description: Sets the signal source for Safe Brake Adapter (SBA).
This defines via which digital input the Safe Brake Adapter feedback signal is read-in (SBA_DIAG).
p9621/p9821 = 0:
There is no Safe Brake Control (SBC) with Safe Brake Adapter (SBA) available.
p9621/p9821 = r0722.x (x = 0, 1 ... 7)
Safe Brake Adapter and Booksize unit (no Communication Interface Module (CIM)).
p9802 SI enable Safe Brake Control (Motor Module) / SI enable SBC MM
0 1 0
p9810 SI PROFIsafe address (Motor Module) / SI PROFIsafe MM
0000 hex FFFE hex 0000 hex
p9821 BI: SI Safe Brake Adapter signal source (Motor Module) / SI SBA S_src MM
- - 0
List of parameters
Parameters
p9621/p9821 = r9872.3
Safe Brake Adapter and Chassis unit (CIM).
Note: No difference is tolerated for a crosswise data comparison between p9621 and p9821.
To use the "Safe Brake Adapter" function the following must apply:
p9601 = p9801 <> 0 and p9602 = p9802 = 1
Description: Sets the delay times for activating and de-activating the Safe Brake Adapter relay.
The relay-specific minimum delay times for evaluating the feedback signal contacts have to be set. They differ for
the activation and de-activation of one and the same relay.
Index: [0] = Wait time activation
[1] = Wait time deactivation
Description: Sets the tolerance time to change over the safety-related inputs (SGE) on the Motor Module.
An SGE changeover is not effective simultaneously due to the different runtimes in the two monitoring channels.
After an SGE changeover, dynamic data is not subject to a crosswise data comparison during this tolerance time.
tolerated.
The parameterized time is internally rounded-off to an integer multiple of the monitoring clock cycle.
SGE: Safety-related input (e.g. STO terminals)
Description: Sets the debounce time for the EP terminal of the Motor Module.
p9822[0...1] SI SBA relay delay times (Motor Module) / SI SBA relay t MM
0.00 [s] 1000000.00 [s] [0] 100000.00 [s]
[1] 65000.00 [s]
p9850 SI SGE changeover tolerance time (Motor Module) / SI SGE_chg tol MM
0.00 [s] 2000000.00 [s] 500000.00 [s]
p9851 SI STO/SBC/SS1 debounce time (Motor Module) / SI STO t_debou MM
0.00 [s] 100000.00 [s] 0.00 [s]
Parameters
List of parameters
Note: The debounce time is rounded to whole milliseconds. It specifies the maximum duration of a fault pulse at the fail-
safe digital inputs with no reaction/influence on the selection or deselection of the Safety Basic Functions.
Example:
Description: Sets the delay time of the pulse suppression for the function "Safe Stop 1" (SS1) on the Motor Module to brake
along the OFF3 down ramp (p1135).
Recommend.: In order that the drive can completely ramp-down along the OFF3 ramp and a motor holding brake that is possibly
available can close, then the delay time should be set as follows:
Motor holding brake parameterized: delay time >= p1135 + p1228 + p1217
Motor holding brake not parameterized: delay time >= p1135 + p1228
tolerated.
Description: Sets the transition period from STOP F to STOP A on the Motor Module.
Refer to: F30611
tolerated.
STOP F: Defect in a monitoring channel (error in the crosswise data comparison)
STOP A: Pulse suppression via the safety shutdown path
Description: Displays the Safety Integrated version for the drive-integrated safety functions on the Motor Module.
p9852 SI Safe Stop 1 delay time (Motor Module) / SI Stop 1 t_del MM
0.00 [ms] 300000.00 [ms] 0.00 [ms]
p9858 SI transition time STOP F to STOP A (Control Unit) / SI STOP F->A MM
0.00 [s] 30000000.00 [s] 0.00 [s]
r9870[0...3] SI version drive-integrated safety function (Motor Module) / SI version MM
- - -
List of parameters
Parameters
Note: Example:
r9870[0] = 2, r9870[1] = 60, r9870[2] = 1, r9870[3] = 0 --> Safety version V02.60.01.00
Description: Displays the Safety Integrated monitoring functions supported on the Control Unit and Motor Module.
The Motor Module determines this display.
Note: MM: Motor Module
SS1: Safe Stop 1
Description: Displays the Safety Integrated status on the Motor Module.
r9871 SI common functions (Motor Module / SI general fct MM
- - -
00 STO supported via terminals Yes No 2804
01 SBC supported Yes No 2804
02 Extended Functions supported (p9501 > 0) Yes No 2804
03 SS1 supported Yes No 2804
04 Extended Functions PROFIsafe supported Yes No -
05 Extended Functions integrated in drive sup-
ported (p9601.2 = 1)
Yes No -
06 Basic Functions PROFIsafe supported Yes No -
07 Extended Functions encoderless supported Yes No -
08 Safe Brake Adapter supported Yes No -
09 Basic Functions PROFIsafe for parallel con-
nection supported
Yes No -
10 Extended Functions integrated in drive for
parallel connection
Yes No -
11 Extended Functions SDI supported Yes No -
12 Extended Functions SSM encoderless sup-
ported
Yes No -
13 ESR delay of the pulse suppression Yes No -
r9872.0...24 CO/BO: SI status list (Motor Module) / SI status MM
- - -
Parameters
List of parameters
Notice: If communication between the Control Unit and the Motor Module is interrupted (e.g. by switching off the Motor
Module), this display parameter is no longer updated. The last transferred status of the Motor Module is displayed.
Note: Re bit 00:
When STO is selected, the cause is displayed in bits 16 ... 18 and in bit 20.
Re bit 05:
When SS1 is selected, the cause is displayed in bits 22 and 23.
Re bit 18:
When the bit is set, STO is selected via PROFIsafe or Terminal Module 54F (TM54F).
Re bit 22, 23:
These bits show via which path the SS1 was triggered, i.e. what has started the SS1 delay time.
If the SS1 delay time is not started (e.g. because an STO is triggered at the same time), neither of the two bits is
set.
Re bit 24:
Only for parallel connection and active motion monitoring functions: Slave Motor Module ready for communication
Description: Displays the clock cycle time for the Safety Integrated Basic Functions on the Motor Module.
00 STO on Motor Module selected Yes No 2810
01 STO on Motor Module active Yes No 2810
02 SS1 delay time on Motor Module active Yes No 2810
03 Safe Brake Adapter feedback signal Yes No 2814
05 SS1 selected on the Motor Module (Basic
Functions)
Yes No -
06 SS1 active on the Motor Module (Basic
Functions)
Yes No -
09 STOP A cannot be acknowledged, active Yes No 2802
10 STOP A active Yes No 2802
15 STOP F active Yes No 2802
16 STO cse: Safety comm. mode Yes No -
17 STO cause selection via terminal (Basic
Functions)
Yes No -
18 STO cause: selection via SMM Yes No -
20 STO cause selection PROFIsafe (Basic
Functions)
Yes No -
22 SS1 cause selection terminal (Basic Func-
tions)
Yes No -
23 SS1 cause selection PROFIsafe (Basic
Functions)
Yes No -
24 Slave Motor Module ready for communica-
tion
Yes No -
r9880 SI monitoring clock cycle (Motor Module) / SI monitor_clck MM
- [ms] - [ms] - [ms]
List of parameters
Parameters
Description: Displays the Node Identifier of the Sensor Module that the second channel uses for the motion monitoring func-
tions.
Description: Displays the Safety Integrated version on the Sensor Module.
Note: Example:
r9890[0] = 2, r9890[1] = 3, r9890[2] = 1 --> Safety-Version V02.03.01
Description: Displays the number of the data that are being presently compared crosswise on the Motor Module.
The content of the list of crosswise-compared data is dependent upon the particular application.
Note: Example:
r9894[0] = 1 (monitoring clock cycle)
r9894[1] = 2 (enable safety functions)
r9894[2] = 3 (F-DI changeover, tolerance time)
...
The complete list of numbers for crosswise data comparison is listed in Fault F30611.
Description: Displays the number of the cross-checked data which has caused STOP F on the Motor Module.
Refer to: F30611
r9881[0...11] SI Motion Sensor Module Node Identifier second channel / SI Mtn SM Ident
- - -
r9890[0...2] SI version (Sensor Module) / SI version SM
- - -
r9894[0...19] SI crosswise comparison list (Motor Module) / SI CDC_list MM
- - -
r9895 SI diagnostics STOP F (Motor Module) / SI diag STOP F MM
- - -
Parameters
List of parameters
Note: The complete list of numbers for crosswise data comparison is listed in Fault F30611.
Description: Sets the delay time for the pulse suppression after bus failure via failsafe values on the Motor Module (e.g. used for
ESR).
Description: Displays the checksum for the checked Safety Integrated parameters on the Motor Module (actual checksum).
Description: Sets the checksum for the checked Safety Integrated parameters on the Motor Module (reference checksum).
Description: Displays the number of indices of the actual topology.
Note: Only for internal Siemens use.
The parameter is not displayed for the STARTER commissioning software.
p9897 SI Motion pulse suppression failsafe delay time (MM) / SI Mtn IL t_del MM
0.00 [s] 800000.00 [s] 0.00 [s]
r9898 SI actual checksum SI parameters (Motor Module) / SI act_checksum MM
- - -
p9899 SI reference checksum SI parameters (Motor Module) / SI set_checksum MM
r9900 Actual topology number of indices / Act topo indices
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Displays the actual topology of the drive unit.
The actual topology is sub-divided into several sections. Each of the following data is saved under an index.
General data on the topology:
- version
- attribute to compare the actual topology and target topology
- number of components
Data on a component:
- type component of the node ID of the component
- number of DRIVE-CLiQ sockets in the Node Identifier
- manufacturer and version of the Node Identifier
- serial number of the Node Identifier (4 indices)
- index of the component
- order number (8 indices)
- attribute to compare the actual topology and target topology of the component
- communications address
- number of port types
- port type
- number of ports of the port type
- communications address of the associated/linked component
- number of the associated/linked port
- communications address of the associated/linked component
- number of the associated port, etc.
Data on the next component:
- etc.
Description: Sets the number of target topology indices.
r9901[0...n] Actual topology / Act topo
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p9902 Target topology number of indices / TargetTopo indices
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
1 65535 1
Parameters
List of parameters
Description: Sets the target topology of the drive unit.
The target topology is sub-divided into several sections. Each of the following data is saved under an index.
General data on the topology:
- version
- attribute to compare the actual topology and target topology
- number of components
Data on a component:
- type component of the Node Identifier of the component
- number of DRIVE-CLiQ sockets in the Node Identifier
- manufacturer and version of the Node Identifier
- serial number of the Node Identifier (4 indices)
- index of the component
- order number (8 indices)
- attribute to compare the actual topology and target topology of the component
- component number
- number of port types
- port type
- number of ports of the port type
- component number of the associated/linked component
- number of the associated/linked port
- component number of the associated/linked component
- number of the associated port, etc.
Data on the next component:
- etc.
Note: The target topology can only be modified using the commissioning software.
Changes do not become effective until they have been accepted with p9428 = 1, or on change of status from p0009
= 101 to 0 or 111.
Description: If, when comparing the actual topology and target topology, only error has occurred, that can be acknowledged,
then using this parameter, a new comparison can be started - acknowledging the error in the target topology.
p9903[0...n] Target topology / Target topo
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 hex FFFF hex 0000 hex
p9904 Topology comparison, acknowledge differences / Topo_compare ackn
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
List of parameters
Parameters
Differences that can be acknowledged:
- topology comparison, component shifted
- topology comparison, serial number of a component has been detected to be different (byte 3 = 1)
- topology comparison shows one component that is connected differently
The following parameter values are available:
p9904 = 1 --> the procedure is started.
p9904 = 0 after starting --> the procedure has been successfully completed.
p9904 = 1 after starting --> the procedure has not been successfully completed.
The possible causes for an unsuccessful procedure are located in bytes 4, 3, 2.
Byte 2:
Number of structural differences.
Byte 3:
Number of differences that can be acknowledged (p9904).
Byte 4:
Number of differences. These differences can be resolved as follows:
- sets the topology comparison (p9906 or p9907/p9908).
- change over the actual topology.
The appropriate action should be selected corresponding to the message that is displayed/output.
Note: In order to permanently accept the acknowledgement of the fault that can be resolved, then it must be saved in a
non-volatile fashion (p0977).
Description: With p9905 = 1, the serial numbers and the hardware versions of all of the components are transferred from the
actual topology into the target topology and a new comparison is started..
For this device specialization, the components of the target topology may only differ from those of the actual topol-
ogy by the serial numbers.
With p9905 = 2, the serial numbers, the hardware versions and the order numbers of all of the components are
transferred from the actual topology into the target topology and a new comparison is started..
For this device specialization, the components of the target topology may only differ from those of the actual topol-
ogy by the serial numbers and order numbers.
Note: p9905 is automatically set to 0 at the end of the operation.
In order to permanently accept the data, it is necessary to save in a non-volatile fashion (p0977).
Description: Sets the type of comparison between the actual topology and target topology.
The comparison is started by setting the required value.
Value: 0: High: Compares the complete electronic rating plate
1: Average: Compares the component type and the Order number
p9905 Device specialization / Specialization
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 2 0
p9906 Topology comparison, comparison stage of all components / Topo_cmpr tot comp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 99 0
Parameters
List of parameters
2: Low: Compares the component type
3: Minimum: Compares the component class
99: Topology has different comparison stages
Note: The electronic rating plate comprises the following data:
- component type (e.g. "SMC20")
- Order No. (e.g. "6SL3055-0AA0-5BA0")
- manufacturer (e.g. SIEMENS)
- hardware version (e.g. "A")
- Serial No. (e.g. "T-P30050495")
When comparing the topology, the following data is compared in the target and actual topologies:
p9906 = 0: Component type, Order No., Hardware version, Manufacturer, Serial No.
p9906 = 1: Component type, Order No.
p9906 = 2: Component type
p9906 = 3: Component class (e.g. Sensor Module or Motor Module)
Description: Enters the number of the component where the setting of how the actual topology should be compared to the target
topology should be changed.
Description: Sets the type of comparison of a component in the target topology with the actual topology.
The comparison is started by setting the required value.
Value: 0: High: Compares the complete electronic rating plate
1: Average: Compares the component type and the Order number
2: Low: Compares the component type
3: Minimum: Compares the component class
99: Topology has different comparison stages
Note: The electronic rating plate comprises the following data:
- manufacturer (e.g. SIEMENS)
- hardware version (e.g. "A")
- Serial No. (e.g. "T-P30050495")
p9907 Topology comparison, comparison stage of the component number /
Topo_cmpr comp_no
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 199 0
p9908 Topology comparison, comparison stage of a component / Topo_cmpr 1 comp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 99 0
List of parameters
Parameters
When comparing the topology, the following data is compared in the target and actual topologies:
p9908 = 0: Component type, Order No., Hardware version, Manufacturer, Serial No.
p9908 = 1: Component type, Order No.
p9908 = 2: Component type
p9908 = 3: Component class (e.g. Sensor Module or Motor Module)
Description: For p9909 = 1, the serial number and the hardware version of the new replaced component is automatically trans-
ferred from the actual topology into the target topology and then saved in a non-volatile fashion.
For the components that have been replaced, the electronic rating plate must match as far as the following data is
concerned:
For p9909 = 0, serial numbers and hardware versions are not automatically transferred. In this case, the transfer
must be made using p9904.
Note: The modified target topology is automatically saved in a non-volatile fashion when the drive object runs-up (e.g.
after a POWER ON).
Special case for Control Unit and option slot modules:
When replacing these components, independent of p9909, the serial number and hardware version are automati-
cally transferred and saved in a non-volatile fashion.
Description: Transfer additional inserted DRIVE-CLiQ components into the target topology and add the appropriate drive objects
to the project.
Value: 0: No selection
1: Drive object type SERVO
2: Drive object type VECTOR
3: SINAMICS GM (DFEMV & VECTORMV)
4: SINAMICS SM (AFEMV & VECTORMV)
5: SINAMICS GL (VECTORGL)
6: SINAMICS SL (VECTORSL)
p9909 Topology comparison, component replacement / Topo_cmpr replace
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 1
p9910 Transfer additional components into the target topology / Transfer comp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 6 0
Parameters
List of parameters
Description: New drive objects can be created using this parameter.
Index 0:
The values 2 ... 62 are permissible.
Index 1:
Number of the drive object type (e.g. 11 for type SERVO).
Index 2:
Function modules defined for the drive object.
Index 3:
= 0: Ready.
= 1: Reset (only indices 0 ... 3).
= 2: Reset all (indices 0 ... 3 and flagged entries).
= 3: Check and flag for insertion.
[1] = Drive object type
[2] = Drive object function module
[3] = Reset or check and flag for insertion
Description: Drive objects can be deleted using this parameter.
Index 0:
Index 1:
= 0: Ready.
= 1: Reset (only indices 0 and 1)
= 2: Reset all (indices 0 and 1 and flagged entries).
= 3: Check and flag for deletion.
= 30: Check and flag for deletion. Keep target topology.
[1] = Reset or check and flag for deletion
p9911[0...3] Insert drive object / Drv_obj insert
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 4294967295 0
p9912[0...1] Delete drive object / Drv_obj delete
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 62 0
List of parameters
Parameters
Description: Existing drive objects can be assigned new numbers using these parameters.
Index 0:
Index 1:
Index 2:
= 0: Ready.
= 3: Check and flag for modification.
Index: [0] = Drive object number old
[1] = Drive object number new
[2] = Reset or check and flag for modification
Description: You can change the number of topology components using this parameter.
Index 0:
Index 1:
Index 2:
= 0: Ready.
= 3: Check and flag for modification.
Index: [0] = Component number old
[1] = Component number new
[2] = Reset or check and flag for modification
p9913[0...2] Change drive object number / Change drv_obj_no
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 62 0
p9914[0...2] Change component number / Change comp_no
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 199 0
Parameters
List of parameters
Description: Excessive components that have not been assigned can be removed from the component target topology using this
parameter.
Index 0:
Index 1:
= 0: Ready.
= 1: Reset (only indices 0 and 1)
= 2: Reset all (indices 0 and 1 and flagged entries).
= 3: Check and flag for deletion.
Index: [0] = Component number
[1] = Reset or check and flag for deletion
p9915 DRIVE-CLiQ data transfer error shutdown threshold master / DLQ fault master
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 hex 0007 07FF hex 0007 02FF hex
p9916 DRIVE-CLiQ data transfer error shutdown threshold slave / DLQ fault slave
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0000 hex 0007 07FF hex 0007 02FF hex
p9917[0...1] Delete component / Delete comp
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 199 0
List of parameters
Parameters
Description: Enters the license key for this drive unit.
Example of the license key:
EACZ-QBCA = 69 65 67 90 45 81 66 67 65 dec (ASCII characters)
Index 0 = license key character 1 (e.g. 69 dec)
...
...
With the STARTER commissioning software, ASCII characters are not entered coded, i.e. the characters of the
license key can be entered as printed in the Certificate of License. In this case, STARTER codes the characters.
Refer to: A13000, A13001, F13010
Note: If there is not a valid license key present, all the indices have the value 0 dec.
Only the ASCII characters, contained in a license key can be entered.
When changing p9920[x] to the value 0 dec, all the values of all the following indices are also set to 0 dec.
After entering the license key, the license key must be activated (p9921).
If the licensing is not adequate, then the following alarm is displayed together with LED:
- A13000 --> licensing not sufficient
- LED READY --> flashes green/red with 0.5 Hz
Description: Activates the entered license key.
The following is executed when activating the license key.
- the checksum of the entered license key is checked.
- the entered license key is saved in a non-volatile fashion on the memory card.
- re-enter the license key.
Value: 0: Inactive
1: Activate start license key
Refer to: A13000, A13001, F13010
Note: Before activation, the license key entered using parameter p9920 is checked. If this check identifies an error, acti-
vation is rejected. In this case, writing a 1 to p9921 is rejected.
When the license key has been activated, p9921 is automatically set to 0.
p9920[0...99] Licensing, enter license key / Enter license key
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p9921 Licensing, activate license key / Act license key
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
Parameters
List of parameters
Description: Displays the directory and name of the file whose status as shipped from the factory was identified as impermissi-
ble.
Refer to: A01016
Note: The directory and name of the file is displayed in the ASCII code.
Description: Displays the status when the firmware is checked when the system is booted.
0: Firmware not yet checked.
1: Check running.
2: Check successfully completed.
3: Check indicates an error.
Refer to: A01016
Index: [0] = System logbook stage (0: Not active)
[1] = COM2/COM1 (0: COM2, 1: COM1)
[2] = Activate file write (0: Not active)
[3] = Display time stamp (0: Not displayed)
[4] = Reserved
[5] = Reserved
[6] = Reserved
[7] = Reserved
[8] = System logbook file size (stages, each 10 kB)
Notice: Before powering down the Control Unit, ensure that the system logbook is switched out (p9930[0] = 0).
If writing to the file is activated (p9930[2] = 1), writing to the file must be de-activated again before switching off the
Control Unit (p9930[2] = 0) in order to ensure that the system logbook has been completely written to the file.
r9925[0...99] Firmware file incorrect / FW file incorr
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r9926 Firmware check status / FWcheck status
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p9930[0...8] System logbook activation / SYSLOG activation
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 0
List of parameters
Parameters
Description: After power-on, binector output r9935.0 is set with the start of the first sampling time and is again reset after approx.
100 ms.
Description: For p9941 =1, the serial numbers of all components in the target topology are deleted (zero is written).
Through activation and de-activation this enables the actual topology components to be newly assigned to the tar-
get topology components.
Note: p9941 is automatically set to 0 at the end of the operation.
A warm restart is triggered automatically after p0009 = 0.
p9931[0...129] System logbook module selection / SYSLOG mod select.
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
p9932 Save system logbook EEPROM / SYSLOG EEPROM save
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 255 0
r9935.0 BO: POWER ON delay signal / POWER ON t_delay
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
00 POWER ON delay signal High Low -
p9941 Target topology feature delete all components / Feature delete
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 1 0
Parameters
List of parameters
Description: Displays the measured system utilization.
The higher the value displayed, the higher the system utilization.
Index: [0] = Computing time utilization (min)
[1] = Computing time utilization (averaged)
[2] = Computing time utilization (max)
[3] = Largest total utilization (min)
[4] = Largest total utilization (averaged)
[5] = Largest total utilization (max)
[6] = Reserved
[7] = Reserved
Refer to: F01054, F01205
Note: Re index 3 ... 5:
The total utilizations are determined using all sampling times used. The largest total utilizations are mapped here.
The sampling time with the largest total utilization is displayed in r9979.
Total utilization:
Computing time load of sampling time involved including load from higher-priority sampling times (interrupts).
Description: Displays the system utilization.
If the utilization is greater than 100%, fault F01054 is output.
Index: [0] = Reserved
[1] = Computing time utilization
[2] = Reserved
[3] = Reserved
[4] = Reserved
[5] = Largest total utilization
[6] = Reserved
[7] = Reserved
Refer to: F01054, F01205
Note: Re index 1:
The value shows the total computing time load of the system.
Re index 5:
The total utilization is determined using all sampling times used. The largest total utilization is mapped here. The
sampling time with the largest total utilization is displayed in r9979.
Total utilization:
r9975[0...7] System utilization measured / Sys util meas
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
r9976[0...7] System utilization / Sys util
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
List of parameters
Parameters
Description: Displays the sampling time with the largest total utilization.
Refer to: F01054
Note: The largest total utilization is displayed in r9976[5].
Total utilization:
Description: Displays the calculated utilizations for the active sampling times based on the existing target topology.
Index: [0] = Net utilization 0
[1] = Total utilization 0
[2] = Net utilization 1
r9979 Sampling time with largest total utilization / t_sampl lg total
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [s] - [s] - [s]
r9980[0...101] Sampling times utilization calculated / t_sampl util calc
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
Parameters
List of parameters
List of parameters
Parameters
Refer to: F01054
Note: The corresponding sampling times can be read out in parameter r7901.
Net utilization:
Computing time load that is only called by the sampling time involved.
Total utilization:
Description: Displays the utilizations measured for the active sampling times.
Index: [0] = Net utilization 0
r9981[0...101] Sampling times utilization measured / t_sampl util meas
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
Parameters
List of parameters
List of parameters
Parameters
Refer to: F01054
Note: The corresponding sampling times can be read out in parameter r7901.
Net utilization:
Computing time load that is only called by the sampling time involved.
Total utilization:
Description: Displays the calculated data memory utilization rates based on the existing target topology.
Index: [0] = Fast Memory 1
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Reserved
Description: Displays the measured data memory utilization rates based on the existing target topology.
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap
Description: Displays the utilization of the data memory by OA applications.
r9982[0...4] Data memory utilization / Mem_util dat_mem
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
r9983[0...4] Measured data memory utilization (actual load) / Mem_ut dat_mem ms
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
r9984[0...4] Data memory utilization OA / Mem_ut dat_mem OA
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
Parameters
List of parameters
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Reserved
Description: Displays the calculated DRIVE-CLiQ system load based on the existing target topology.
The values are not made available until the RUNUP READY (800) state is adopted (see p3988).
Index 0 ... 7 corresponds to DRIVE-CLiQ socket X100 ... X107.
Description: Displays the calculated DRIVE-CLiQ bandwidth load based on the existing target topology.
Description: Displays the calculated DRIVE-CLiQ DPRAM load based on the existing target topology.
r9986[0...7] DRIVE-CLiQ system load / DQ system load
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
r9987[0...7] DRIVE-CLiQ bandwidth load / DQ bandw load
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
r9988[0...7] DRIVE-CLiQ DPRAM load / DQ DPRAM load
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- [%] - [%] - [%]
List of parameters
Parameters
Description: The meaning of the parameter differs for reading and writing.
Read:
- Returns the number of memory areas monitored.
Write:
- Memory usage of a drive object: Enter drive object number
- Memory usage of the complete system: Enter value 65535
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap
p9990 DO memory usage actual value determination selection / Mem_use ActVal sel
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
0 65535 0
r9991[0...4] Memory usage actual values per DO / Mem_use ActVal/DO
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r9992[0...4] Memory usage setpoints per DO / Mem_use setp/DO
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
Parameters
List of parameters
[1] = Fast Memory 2
[2] = Fast Memory 3
[3] = Fast Memory 4
[4] = Heap
Description: Diagnostics parameter to display additional information for internal software errors.
Note: Only for internal Siemens troubleshooting.
Description: Sets the sampling time for the Terminal Module 54F (TM54F).
Note: The sampling time in p10000 must be identical to the monitoring clock cycle in p9500/p9300 on the drives.
Description: Sets the delay time for testing the digital outputs 0 ... 3 (DO 0 ... DO 3).
Within this time, for a forced checking procedure of the digital outputs, the signal must have been detected via the
corresponding readback input (p10047).
Note: The delay time must be set to a value greater than the debounce time (p10017).
r9993[0...4] OA memory usage / Mem_use OA
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
r9999[0...99] Software error internal supplementary diagnostics / SW_err int diag
CU_CX32, CU_I,
CU_S_CU310DP,
CU_S_CU310PN,
CU_S_CU320_DP,
CU_S_CU320_PN,
CU_S_S150DP,
CU_S_S150PN
- - -
p10000 SI sampling time / SI t_sample
TM54F_MA,
TM54F_SL
1.00 [ms] 25.00 [ms] 12.00 [ms]
p10001 SI delay time for test stop at DO 0 ... DO 3 / SI t_delay DO
TM54F_MA,
TM54F_SL
2.00 [ms] 2000.00 [ms] 500.00 [ms]
List of parameters
Parameters
Description: Sets the monitoring time for the discrepancy for the digital inputs.
The signal states at the two associated digital inputs (F-DI) must assume the same state within this monitoring time.
Note: F-DI: Failsafe Digital Input
Description: Sets the time to carry out the forced checking procedure (test stop).
Within the parameterized time, the digital inputs/outputs must must have been subject to a forced checking proce-
dure at least once. The forced checking procedure is started with BI: p10007 = 0/1 signal.
Description: Displays the actual checksum of the checksum-checked parameters for the Terminal Module 54F (TM54F).
Index: [0] = Checksum HW-independent TM54F parameters
[1] = Checksum HW-dependent TM54F parameters (MM)
Description: Displays the reference checksum of the checksum-checked parameters for the Terminal Module 54F (TM54F).
Index: [0] = Checksum HW-independent TM54F parameters
[1] = Checksum HW-dependent TM54F parameters (MM)
p10002 SI discrepancy monitoring time / SI discrep t_monit
TM54F_MA,
TM54F_SL
1.00 [ms] 2000.00 [ms] 500.00 [ms]
p10003 SI forced checking procedure timer / SI FrcdCkProcTimer
0.00 [h] 8760.00 [h] 8.00 [h]
r10004[0...1] SI actual checksum TM54F parameters / SI act CRC TM54F
TM54F_MA,
TM54F_SL
- - -
p10005[0...1] SI reference checksum TM54F parameters / SI ref CRC TM54F
TM54F_MA,
TM54F_SL
Parameters
List of parameters
Description: Select a fail-safe digital input for the signal "acknowledge internal event" (internal fault).
The signal is transferred to the corresponding control signal of all drives.
The falling edge at this input resets the status "internal event" in the drives.
The rising edge at this input acknowledges any existing discrepancy errors.
Value: 0: Statically active
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
255: Statically inact
If value = 0:
No terminal assigned, acknowledge input has a static zero value.
Description: Sets the signal source to initiate the test stop.
For example, a digital input of the Control Unit or one of the other Terminal Modules can be set as signal source.
The test stop is triggered on a 0/1 signal edge.
The TM54F must be in the "ready" state (p0010 = 0).
Notice: Digital inputs of the TM54F must not be used to trigger the test stop.
Description: Sets the operating mode for the Terminal Module 54F (TM54F).
Value: 0: Function interface
1: Control interface
Note: Parameter being prepared. For this firmware version, the function interface is not supported.
p10006 SI acknowledgement internal event input terminal / SI ackn int event
TM54F_MA,
TM54F_SL
0 255 0
p10007 BI: SI forced checking procedure F-DO 0 ... 3 signal source / SI frc_chF-DO s_sc
- - 0
p10008 SI operating mode TM54F / SI op_mode TM54F
TM54F_MA,
TM54F_SL
0 1 1
List of parameters
Parameters
Description: Sets the drive object number for the drives that are available.
Index: [0] = Drive 1
[1] = Drive 2
[2] = Drive 3
[3] = Drive 4
[4] = Drive 5
[5] = Drive 6
Notice: If, for a drive, Terminal Module 54F (TM54F) is activated (p9601.2 = 1), its drive object number must be set in an
index.
Description: Sets the drive group for the drives that are available.
A drive group is a combination of several drives with the same types of behavior.
[1] = Drive 2
[2] = Drive 3
[3] = Drive 4
[4] = Drive 5
[5] = Drive 6
Description: Sets the current Node Identifier (word 1, bit 0 ... 31) for the Motor Modules.
[1] = Drive 2
[2] = Drive 3
[3] = Drive 4
[4] = Drive 5
[5] = Drive 6
p10010[0...5] SI drive object assignment / SI drv_obj assign
TM54F_MA,
TM54F_SL
0 62 0
p10011[0...5] SI drive group assignment / SI drv_gr assign
TM54F_MA,
TM54F_SL
1 4 1
p10012[0...5] SI Motor Module Node Identifier Word 1 / SI MM Node ID 1
TM54F_MA,
TM54F_SL
Parameters
List of parameters
Note: The Node Identifier (96 bit) is represented in the following 3 parameters.
p10012[0] word 1 (bit 0 ... 31) for Motor Module 1
...
...
...
[1] = Drive 2
[2] = Drive 3
[3] = Drive 4
[4] = Drive 5
[5] = Drive 6
Note: The complete Node Identifier (96 bit) is represented in p10012, p10013 and p10014.
[1] = Drive 2
[2] = Drive 3
[3] = Drive 4
[4] = Drive 5
[5] = Drive 6
Note: The complete Node Identifier (96 bit) is represented in p10012, p10013 and p10014.
Description: Sets the debounce time for digital inputs.
The debounce time is accepted rounded off to whole milliseconds.
TM54F_MA,
TM54F_SL
TM54F_MA,
TM54F_SL
p10017 SI digital inputs debounce time / SI DI t_debounce
TM54F_MA,
TM54F_SL
1.00 [ms] 100.00 [ms] 1.00 [ms]
List of parameters
Parameters
The debounce time acts on the following digital inputs:
- Fail-safe digital inputs (F-DI).
- Single-channel digital inputs (DI).
Note: Example:
The debounce result can be read in r10051.
Description: Sets the special operating mode for the operating mode "function interface".
0 = Inactive
1 = Safe Operating Stop with braking (SS2)
2 = Safe Operating Stop without braking (SOS)
3 = Safely reduced speed without standstill (SLS)
4 = Safely reduced speed with agreement (SS2 --> SLS)
Index: [0] = Drive group 1
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
SS2: Safe Stop 2
Description: Sets the stop response for the drive group for Emergency Stop.
The input terminal for Emergency Stop is set in p10038.
0 = Stop reaction STO
1 = Stop reaction SS1
2 = Stop reaction SS2
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
p10020[0...3] SI special operating mode selection / SI spec op sel
TM54F_MA,
TM54F_SL
0 3 1
p10021[0...3] SI Emergency Stop stop response / SI Emergency Stop
TM54F_MA,
TM54F_SL
0 2 0
Parameters
List of parameters
Description: Sets the input terminal for the "STO" function (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: If value = 0:
No terminal assigned, safety function always active.
If value = 255:
No terminal assigned, safety function always inactive.
F-DI: Failsafe Digital Input
Description: Sets the input terminal for SS1 (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
p10022[0...3] SI STO input terminal / SI STO DI
TM54F_MA,
TM54F_SL
0 255 0
p10023[0...3] SI SS1 input terminal / SI SS1 DI
TM54F_MA,
TM54F_SL
0 255 0
List of parameters
Parameters
Note: If value = 0:
If value = 255:
SS1: Safe Stop 1
Description: Sets the input terminal for SS2 (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: If value = 0:
If value = 255:
SS2: Safe Stop 2
Description: Sets the fail-safe digital input (F-DI) for the "SOS" function (operating mode = control interface).
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
p10024[0...3] SI SS2 input terminal / SI SS2 DI
TM54F_MA,
TM54F_SL
0 255 0
p10025[0...3] SI SOS input terminal / SI SOS DI
TM54F_MA,
TM54F_SL
0 255 0
Parameters
List of parameters
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: If value = 0:
If value = 255:
Description: Sets the input terminal for SLS (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: If value = 0:
If value = 255:
Description: Sets the input terminal for SLS limit bit 0 (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
p10026[0...3] SI SLS input terminal / SI SLS DI
TM54F_MA,
TM54F_SL
0 255 0
p10027[0...3] SI SLS limit bit 0 input terminal / SI SLS lim 0 DI
TM54F_MA,
TM54F_SL
0 255 0
List of parameters
Parameters
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: If value = 0:
No terminal assigned, selection bit remains statically at "0".
If value = 255:
Description: Sets the input terminal for SLS limit bit 1 (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: If value = 0:
If value = 255:
p10028[0...3] SI SLS limit bit 1 input terminal / SI SLS lim 1 DI
TM54F_MA,
TM54F_SL
0 255 0
Parameters
List of parameters
Description: Sets the input terminal for SDI positive (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: If value = 0:
If value = 255:
Description: Sets the input terminal for SDI negative (operating mode "control interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
p10030[0...3] SI SDI positive input terminal / SI SDI pos DI
TM54F_MA,
TM54F_SL
0 255 0
p10031[0...3] SI SDI negative input terminal / SI SDI neg DI
TM54F_MA,
TM54F_SL
0 255 0
List of parameters
Parameters
Note: If value = 0:
If value = 255:
Description: Sets the input terminal for "special operating mode" (operating mode "function interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
If value = 0:
No terminal assigned, static special operation.
If value = 255:
No terminal assigned, static normal operation.
Description: Sets the input terminal for "agreement" (operating mode "function interface").
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
p10036[0...3] SI special operating mode input terminal / SI spec op DI
TM54F_MA,
TM54F_SL
0 255 0
p10037[0...3] SI agreement input terminal / SI agreement DI
TM54F_MA,
TM54F_SL
0 255 0
Parameters
List of parameters
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
If value = 0:
No terminal assigned, no static agreement.
If value = 255:
No terminal assigned, static agreement.
Description: Sets the input terminal for input "Emergency Stop" (operating mode "function interface").
The behavior of this input signal is set in p10021.
1: F-DI 0 (X521.2/3/6)
2: F-DI 1 (X521.4/5/7)
3: F-DI 2 (X522.1/2/7)
4: F-DI 3 (X522.3/4/8)
5: F-DI 4 (X522.5/6/9)
6: F-DI 5 (X531.2/3/6)
7: F-DI 6 (X531.4/5/7)
8: F-DI 7 (X532.1/2/7)
9: F-DI 8 (X532.3/4/8)
10: F-DI 9 (X532.5/6/9)
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
If value = 0:
No terminal assigned, "Emergency Stop" statically active.
If value = 255:
No terminal assigned, no "Emergency Stop" statically active.
Description: Sets the signals for the drive group specific signal "Safe State".
Bit 0 = Power_removed
Bit 1 = SS1_active
Bit 2 = SS2_active
Bit 3 = SOS_active
Bit 4 = SLS_active
p10038[0...3] SI Emergency Stop input terminal / SI Emer Stop DI
TM54F_MA,
TM54F_SL
0 255 0
p10039[0...3] SI Safe State signal selection / SI Safe State Sel
TM54F_MA,
TM54F_SL
- - 0000 0001 bin
List of parameters
Parameters
Bit 5 = SDI_pos_active
Bit 6 = SDI_neg_active
[1] = Drive group 2
[2] = Drive group 3
[3] = Drive group 4
Note: Bit = 0 signal --> not selected
Bit = 1 signal --> selected
The selected signals (high-active) are OR'ed The result of the logic operation results in the status "Safe State".
Description: Sets the input mode for the safety digital inputs (F-DI).
Note: Only an NC contact can be connected for the safety digital inputs not listed.
Description: Enable signal for the integration of F-DI in the test (forced checking procedure) of the sensor power supply.
00 Power_removed Selected Not selected -
01 SS1_active Selected Not selected -
02 SS2_active Selected Not selected -
03 SOS_active Selected Not selected -
04 SLS_active Selected Not selected -
05 SDI_pos_active Selected Not selected -
06 SDI_neg_active Selected Not selected -
p10040 SI F-DI input mode / SI F-DI inp_mode
TM54F_MA,
TM54F_SL
- - 0000 0000 0000 0000 bin
00 F-DI 0, DI 1+ (X521.3) NO contact NC contact 2850
p10041 SI F-DI enable for test / SI F-DI enab test
TM54F_MA,
TM54F_SL
- - 0000 0000 0000 0000 bin
00 F-DI 0, power supply L1+ Test active No test -
Parameters
List of parameters
Description: Sets the signal sources for F-DO 0.
The 6 signal sources in p10042[0...5] are AND'ed and the result is output at F-DO 0.
1: Drive group 1 STO active
2: Drive group 1 SS1 active
4: Drive group 1 SOS active
5: Drive group 1 SLS active
6: Drive group 1 SSM feedback signal active
7: Drive group 1 safe state
8: Drive group 1 SOS selected
9: Drive group 1 internal event
10: Drive group 1 active SLS stage bit 0
12: Drive group 1 SDI positive active
13: Drive group 1 SDI negative active
p10042[0...5] SI F-DO 0 signal sources / SI F-DO 0 S_src
TM54F_MA,
TM54F_SL
0 781 0
List of parameters
Parameters
Index: [0] = AND logic operation input 1
[1] = AND logic operation input 2
Note: F-DO: Failsafe Digital Output
TM54F_MA,
TM54F_SL
0 781 0
Parameters
List of parameters
TM54F_MA,
TM54F_SL
0 781 0
List of parameters
Parameters
TM54F_MA,
TM54F_SL
0 781 0
Parameters
List of parameters
Description: Activates the readback input for the safety digital outputs (F-DO)
The test mode for the particular safety digital output is set in p10047.
p10046 SI F-DO feedback signal input activation / SI F-DO FS act
TM54F_MA,
TM54F_SL
- - 0000 bin
00 Read back F-DO 0 Test active No test -
List of parameters
Parameters
Description: Sets the test stop mode for the particular safety digital output (F-DO)
Index 0: F-DO 0
Index 1: F-DO 1
Index 2: F-DO 2
Index 3: F-DO 3
Value: 1: Test mode 1 evaluation of int. diagnostic signal (passive load)
2: Test mode 2 read back F-DO in DI (relay circuit)
3: Test mode 3 read back F-DO in DI (actuator with feedback signal)
Note: If value = 1:
When this test mode is being used, and excessive resistance of the load between DO+ and DO- can lead to prob-
lems during the test stop. It is therefore important to make sure that the load resistance at an individual F-DO does
not exceed 10 kOhm.
Description: Displays the single-channel, logical, and debounced status of the safety digital inputs F-DI 0 ... 9 at Terminal Mod-
ule 54F (TM54F).
Note: If a safety function is assigned to an input (e.g. via p10022), then the following applies:
- logical "0": Safety function is selected
- logical "1": Safety function is de-selected
The interrelationship between the logical level and the external voltage level at the input depends on the parameter-
ization (refer to p10040) of the input as either NC or NO contact and is aligned to the use of a safety function:
With 24 V at the input, NC contacts have a logical "1" level, for 0 V at the input, a logical "0" level.
This means that an NC/NC contact parameterization of 0 V at both inputs of the F-DI selects the safety function, for
24 V at both inputs, de-selects the safety function.
With 24 V at the input, NO contacts have a logical "0" level, for 0 V at the input, a logical "1" level.
This means that for an NC/NO contact parameterization, the level 0 V/24 V selects the safety function, the level 24
V/0 V de-selects the safety function.
p10047[0...3] SI F-DO test stop mode / SI F-DO test mode
TM54F_MA,
TM54F_SL
0001 bin 0011 bin 0010 bin
r10051.0...9 CO/BO: SI digital inputs status / SI DI status
TM54F_MA,
TM54F_SL
- - -
00 F-DI 0 Logical 1 Logical 0 2850
Parameters
List of parameters
Description: Displays the status of the digital outputs at the Terminal Module 54F (TM54F).
TM54F_MA (master): display of DO-
TM54F_SL (slave): display of DO+
Description: Displays the status of the digital inputs at the Terminal Module 54F (TM54F).
Description: Displays the events that lead to the transfer of failsafe signals to all drives assigned to the TM54F. If the second
channel of the TM54F transmits failsafe signals, then these are synchronized to the other channel.
Possibilities of resolving the situation:
- error during test stop: correctly perform the test stop.
- internal software error: no possibility of resolving this problem, POWER ON.
- internal synchronization problem: no possibility of resolving this problem, POWER ON.
- all other causes: remove the cause of the error and carry out a safety-relevant acknowledgement (p10006).
r10052.0...3 CO/BO: SI digital outputs status / SI DO status
TM54F_MA,
TM54F_SL
- - -
00 DO 0 High Low 2853
r10053.0...3 CO/BO: SI digital inputs 20 ... 23 status / SI DI 20...23 stat
TM54F_SL Can be changed: - Calculated: - Access level: 3
- - -
00 DI 20 High Low 2853
r10054 SI TM54F failsafe events active / SI failsafe act
TM54F_MA,
TM54F_SL
- - -
00 Commissioning mode active (p0010 = 95) Yes No 2847
01 Checksum error of the safety parameters Yes No -
02 Internal synchronization problem within
RM54F
Yes No -
03 Internal software error Yes No -
04 Overvoltage in the TM54F Yes No -
05 Undervoltage in the TM54F Yes No -
06 Error at test stop Yes No -
List of parameters
Parameters
Description: Displays the communication status of the individual drives with the the Terminal Module 54F (TM54F).
For r10055 = 0, the following applies:
All drives assigned in p10010 communicate with the TM54F.
Description: Displays the status of the Terminal Module 54F (TM54F).
Description: Enters the Safety Integrated password for the Terminal Module 54F (TM54F).
This password is required to change the safety-relevant parameters.
07 Error for crosswise data comparison within
TM54F
Yes No -
08 Overvoltage in the TM54F Yes No -
31 Failsafe events active on another channel Yes No -
r10055 SI TM54F communication status drive-specific / SI comm_stat drv
TM54F_MA,
TM54F_SL
- - -
00 Communication between drive 1 and
TM54F
Not configured Configured -
TM54F
TM54F
TM54F
TM54F
TM54F
r10056.0 CO/BO: SI Status / SI stat
TM54F_MA Can be changed: - Calculated: - Access level: 3
- - -
00 Test stop status Active Inactive -
p10061 SI password input TM54F / SI password inp
TM54F_MA,
TM54F_SL
Parameters
List of parameters
Description: Enters the new Safety Integrated password for the Terminal Module 54F (TM54F).
Dependency: A change made to the Safety Integrated password must be acknowledged in the following parameter:
Refer to: p10063
Description: Acknowledgement of the new Safety Integrated password for the Terminal Module 54F (TM54F).
Note: The new password entered into p10062 must be re-entered in order to acknowledge.
p10062 = p10063 = 0 is automatically set after the new Safety Integrated password has been successfully acknowl-
edged.
Description: Displays the Safety Integrated version for the Terminal Module 54F (TM54F).
Note: Example:
r10090[0] = 2, r10090[1] = 60, r10090[2] = 1, r10090[3] = 0 --> SI TM54F version V02.60.01.00
Description: Displays PROFINET Name of Station.
p10062 SI password new TM54F / SI password new
TM54F_MA,
TM54F_SL
p10063 SI password acknowledgement TM54F / SI ackn password
TM54F_MA,
TM54F_SL
r10090[0...3] SI TM54F version / SI TM54F version
TM54F_MA,
TM54F_SL
- - -
r61000[0...239] PROFINET Name of Station / PN Name of Station
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
List of parameters
Parameters
Description: Displays PROFINET IP of Station.
r61001[0...3] PROFINET IP of Station / PN IP of Station
CU_S_CU310PN,
CU_S_CU320_DP
(PROFINET),
CU_S_CU320_PN,
CU_S_S150DP
(PROFINET),
CU_S_S150PN
- - -
Parameters
Parameters for data sets
1.3 Parameters for data sets
1.3.1 Parameters for command data sets (CDS)
The following list contains the parameters that are dependent on the command data sets.
Product: SINAMICS S120/S150, Version: 4402100, Language: eng, Type: CDS
p0641[0...n] CI: Current limit, variable / Curr lim var
p0700[0...n] Macro Binector Input (BI) / Macro BI
p0828[0...n] BI: Motor changeover, feedback signal / Mot_chng fdbk sig
p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)
p0852[0...n] BI: Enable operation/inhibit operation / Operation enable
p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC
p0855[0...n] BI: Unconditionally release holding brake / Uncond open brake
p0856[0...n] BI: Speed controller enable / n_ctrl enable
p0856[0...n] BI: Velocity controller enable / v_ctrl enable
p1000[0...n] Macro Connector Inputs (CI) for speed setpoints / Macro CI n_set
p1000[0...n] Macro Connector Inputs (CI) for velocity setpoints / Macro CI v_set
p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise
p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower
p1039[0...n] BI: Motorized potentiometer inversion / MotP inv
p1041[0...n] BI: Motorized potentiometer manual/automatic / Mop manual/auto
p1042[0...n] CI: Motorized potentiometer automatic setpoint / Mop auto setpoint
p1043[0...n] BI: Motorized potentiometer accept setting value / MotP acc set val
p1044[0...n] CI: Motorized potentiometer setting value / Mop set val
p1051[0...n] CI: Velocity limit RFG positive direction / v_limit RFG pos
p1051[0...n] CI: Speed limit RFG positive direction of rotation / n_limit RFG pos
Note:
Chapter "Data Sets"
Parameters
p1052[0...n] CI: Velocity limit RFG negative direction / v_limit RFG neg
p1052[0...n] CI: Speed limit RFG negative direction of rotation / n_limit RFG neg
p1070[0...n] CI: Main setpoint / Main setpoint
p1071[0...n] CI: Main setpoint scaling / Main setp scal
p1075[0...n] CI: Suppl setpoint / Suppl setpoint
p1076[0...n] CI: Supplementary setpoint scaling / Suppl setp scal
p1085[0...n] CI: Velocity limit positive direction / v_limit pos
p1085[0...n] CI: Speed limit in positive direction of rotation / n_limit pos
p1088[0...n] CI: Velocity limit negative direction / n_limit neg
p1088[0...n] CI: Speed limit in negative direction of rotation / n_limit neg
p1110[0...n] BI: Inhibit negative direction / Inhib neg dir
p1111[0...n] BI: Inhibit positive direction / Inhib pos dir
p1113[0...n] BI: Setpoint inversion / Setp inv
p1122[0...n] BI: Bypass ramp-function generator / Bypass RFG
p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / RFG enable
p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator / Continue RFG
p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable
p1143[0...n] BI: Ramp-function generator, accept setting value / RFG accept set v
p1144[0...n] CI: Ramp-function generator setting value / RFG setting value
p1201[0...n] BI: Flying restart enable signal source / Fly_res enab S_src
p1230[0...n] BI: Armature short-circuit / DC braking activation / ASC/DCBRK act
p1235[0...n] BI: External armature short-circuit, contactor feedback signal / ASC ext feedback
p1330[0...n] CI: U/f control independent voltage setpoint / Uf U_set independ.
p1356[0...n] CI: U/f control, angular setpoint / Uf ang setpoint
p1430[0...n] CI: Speed pre-control / n_prectrl
p1430[0...n] CI: Velocity pre-control / v_prectrl
p1437[0...n] CI: Speed controller, reference model I component input / n_ctrRefMod I_comp
p1440[0...n] CI: Speed controller speed actual value / n_ctrl n_act
p1455[0...n] CI: Velocity controller, P gain adaptation signal / v_ctrl Adpt_sig Kp
p1466[0...n] CI: Velocity controller P gain scaling / v_ctrl Kp scal
p1475[0...n] CI: Speed controller torque setting value for motor holding brake / n_ctrl M_sv MHB
p1476[0...n] BI: Speed controller hold integrator / n_ctrl integ stop
p1476[0...n] BI: Velocity controller hold integrator / v_ctrl integ stop
p1477[0...n] BI: Speed controller set integrator value / n_ctrl integ set
p1477[0...n] BI: Velocity controller set integrator value / v_ctrl integ set
p1478[0...n] CI: Velocity controller integrator value / v_ctr integ_setVal
p1479[0...n] CI: Speed controller integrator setting value scaling / n_ctrl I_val scal
p1486[0...n] CI: Droop compensation torque / Droop M_comp
p1492[0...n] BI: Droop feedback enable / Droop enable
p1495[0...n] CI: Acceleration pre-control / a_prectrl
p1497[0...n] CI: Motor weight scaling / Motor weight scal
p1500[0...n] Macro Connector Inputs (CI) for torque setpoints / Macro CI M_set
p1500[0...n] Macro Connector Inputs (CI) for force setpoints / Macro CI F_set
Parameters
p1501[0...n] BI: Change over between closed-loop speed/torque control / Changeov n/M_ctrl
p1501[0...n] BI: Change over velocity/force control / Changeov n/F_ctrl
p1502[0...n] BI: Freeze moment of inertia estimator / J_estim freeze
p1503[0...n] CI: Torque setpoint / M_set
p1512[0...n] CI: Supplementary torque 1 scaling / M_suppl 1 scal
p1512[0...n] CI: Supplementary force 1 scaling / F_suppl 1 scal
p1522[0...n] CI: Torque limit upper/motoring / M_max upper/mot
p1522[0...n] CI: Force limit upper/motoring / F_max upper/mot
p1522[0...n] CI: Torque limit upper / M_max upper
p1523[0...n] CI: Torque limit lower/regenerative / M_max lower/regen
p1523[0...n] CI: Force limit lower/regenerative / F_max lower/regen
p1523[0...n] CI: Torque limit lower / M_max lower
p1528[0...n] CI: Torque limit upper/motoring scaling / M_max up/mot scal
p1528[0...n] CI: Force limit upper/motoring scaling / F_max up/mot scal
p1528[0...n] CI: Torque limit upper scaling / M_max upper scal
p1529[0...n] CI: Torque limit lower/regenerative scaling / M_max low/gen scal
p1529[0...n] CI: Force limit lower/regenerative scaling / F_max lo/reg scal
p1529[0...n] CI: Torque limit lower scaling / M_max lower scal
p1540[0...n] CI: Torque limit speed controller upper scaling / M_max n-ctr upScal
p1541[0...n] CI: Torque limit. speed controller lower scaling / M_max nctr lowScal
p1542[0...n] CI: Travel to fixed stop torque reduction / TfS M_red
p1542[0...n] CI: Travel to fixed stop force reduction / TfS F_red
p1550[0...n] BI: Transfer actual torque as torque offset / Accept act torque
p1550[0...n] BI: Transfer actual force as force offset / Accept act force
p1551[0...n] BI: Torque limit variable/fixed signal source / M_lim var/fixS_src
p1551[0...n] BI: Force limit variable/fixed signal source / F_lim var/fixS_src
p1552[0...n] CI: Force limit upper scaling without offset / F_max up w/o offs
p1554[0...n] CI: Force limit lower scaling without offset / F_max low w/o offs
p1555[0...n] CI: Power limit / P_max
p1571[0...n] CI: Supplementary flux setpoint / Suppl flux setp
p1640[0...n] CI: Excitation current actual value signal source / I_exc_ActVal S_src
p2144[0...n] BI: Motor stall monitoring enable (negated) / Mot stall enab neg
p2148[0...n] BI: RFG active / RFG active
p2151[0...n] CI: Velocity setpoint for messages/signals / v_set for msg
Parameters
p2154[0...n] CI: Speed setpoint 2 / n_set 2
p2154[0...n] CI: Velocity setpoint 2 / v_set 2
p2200[0...n] BI: Technology controller enable / Tec_ctrl enable
p2235[0...n] BI: Technology controller motorized potentiometer raise setpoint / Tec_ctrl mop raise
p2236[0...n] BI: Technology controller motorized potentiometer lower setpoint / Tec_ctrl mop lower
p2264[0...n] CI: Technology controller actual value / Tec_ctrl act val
p2286[0...n] BI: Hold technology controller integrator / Tec_ctr integ stop
p2289[0...n] CI: Technology controller pre-control signal / Tec_ctrl prectrl
p2296[0...n] CI: Technology controller output scaling / Tec_ctrl outp scal
p2297[0...n] CI: Technology controller maximum limit signal source / Tec_ctrl m_lm s_sc
p2298[0...n] CI: Technology controller minimum limit signal source / Tec_ctrl min_l s_s
p2299[0...n] CI: Technology controller limit offset / Tech_ctrl lim offs
p3111[0...n] BI: External fault 3, enable / Ext fault 3 enab
p3112[0...n] BI: External fault 3 enable negated / Ext flt 3 enab neg
p3750[0...n] CI: APC acceleration sensor input / APC accel input
p3784[0...n] BI: Sync-line-drive external increase voltage / Sync ext U incr
p3785[0...n] BI: Sync-line-drive external decrease voltage / Sync ext U decr
p3802[0...n] BI: Sync-line-drive enable / Sync enable
1.3.2 Parameters for drive data sets (DDS)
The following list contains the parameters that are dependent on the drive data sets.
Product: SINAMICS S120/S150, Version: 4402100, Language: eng, Type: DDS
p0186[0...n] Motor Data Sets (MDS) number / MDS number
p0340[0...n] Automatic calculation, motor/control parameters / Calc auto par
p0572[0...n] Activate inhibit list / Act inhib list
p0578[0...n] Calculate technology-dependent parameters / Calc tec par
p0640[0...n] Current limit / Current limit
p0642[0...n] Encoderless operation current reduction / Encoderl op I_red
Note:
Chapter "Data Sets"
Parameters
p1030[0...n] Motorized potentiometer configuration / Mop configuration
p1037[0...n] Motorized potentiometer maximum velocity / MotP n_max
p1037[0...n] Motorized potentiometer maximum speed / MotP n_max
p1038[0...n] Motorized potentiometer minimum velocity / MotP n_min
p1038[0...n] Motorized potentiometer minimum speed / MotP n_min
p1047[0...n] Motorized potentiometer ramp-up time / Mop ramp-up time
p1048[0...n] Motorized potentiometer ramp-down time / Mop ramp-down time
p1063[0...n] Velocity limit setpoint channel / v_limit setp
p1080[0...n] Minimum velocity / v_min
p1080[0...n] Minimum speed / n_min
p1082[0...n] Maximum velocity / v_max
r1082[0...n] Encoder emulation, maximum speed / n_max
p1083[0...n] CO: Velocity limit positive direction / v_limit pos
p1086[0...n] CO: Velocity limit negative direction / v_limit neg
Parameters
p1101[0...n] Skip velocity bandwidth / v_skip bandwidth
p1101[0...n] Skip speed bandwidth / n_skip bandwidth
p1130[0...n] Ramp-function generator initial rounding-off time / RFG t_start_round
p1131[0...n] Ramp-function generator final rounding-off time / RFG t_end_delay
p1134[0...n] Ramp-function generator rounding-off type / RFG round-off type
p1136[0...n] OFF3 initial rounding-off time / RFGOFF3 t_strt_rnd
p1137[0...n] OFF3 final rounding-off time / RFG OFF3 t_end_del
p1145[0...n] Ramp-function generator tracking intensity. / RFG track intens
p1151[0...n] Ramp-function generator configuration / RFG config
p1189[0...n] Speed setpoint configuration / n_ctrl config
p1189[0...n] Velocity setpoint configuration / v_ctrl config
p1192[0...n] DSC enc selection / DSC enc selection
p1193[0...n] DSC encoder adaptation factor / DSC encodAdaptFact
p1200[0...n] FlyRest oper mode / FlyRest op_mode
p1202[0...n] FlyRest srch curr / FlyRest I_srch
p1203[0...n] Flying restart search rate factor / FlyRst v_Srch Fact
p1226[0...n] Threshold for zero speed detection / n_standst n_thresh
p1226[0...n] Standstill detection, velocity threshold / v_standst v_thresh
p1243[0...n] Vdc_max controller dynamic factor / Vdc_max dyn_factor
p1244[0...n] DC link voltage threshold upper / Vdc upper thresh
p1245[0...n] Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level
p1247[0...n] Vdc_min controller dynamic factor (kinetic buffering) / Vdc_min dyn_factor
p1248[0...n] DC link voltage threshold lower / Vdc lower thresh
p1249[0...n] Vdc_max controller speed threshold / Vdc_max n_thresh
p1251[0...n] Vdc controller integral time / Vdc_ctrl Tn
p1252[0...n] Vdc controller rate time / Vdc_ctrl t_rate
p1255[0...n] Vdc_min controller time threshold / Vdc_min t_thresh
p1256[0...n] Vdc_min controller response (kinetic buffering) / Vdc_min response
p1257[0...n] Vdc_min controller speed threshold / Vdc_min n_thresh
p1262[0...n] Bypass dead time / Bypass t_dead
p1280[0...n] Vdc controller or Vdc monitoring configuration (U/f) / Vdc_ctr config U/f
p1283[0...n] Vdc_max controller dynamic factor (U/f) / Vdc_max dyn_factor
p1285[0...n] Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
p1287[0...n] Vdc_min controller dynamic factor (kinetic buffering) (U/f) / Vdc_min dyn_factor
p1288[0...n] Vdc_max controller feedback coupling factor ramp-fct. gen. (U/f) / Vdc_max factor RFG
p1289[0...n] Vdc_max controller speed threshold (U/f) / Vdc_max n_thresh
p1290[0...n] Vdc controller proportional gain (U/f) / Vdc_ctrl Kp
p1291[0...n] Vdc controller integral time (U/f) / Vdc_ctrl Tn
p1292[0...n] Vdc controller rate time (U/f) / Vdc_ctrl t_rate
p1293[0...n] Vdc min controller output limit (U/f) / Vdc_min outp_lim
p1295[0...n] Vdc_min controller time threshold (U/f) / Vdc_min t_thresh
p1296[0...n] Vdc_min controller response (kinetic buffering) (U/f / Vdc_min response
p1297[0...n] Vdc_min controller speed threshold (U/f) / Vdc_min n_thresh
p1302[0...n] U/f control configuration / U/f configuration
p1310[0...n] Voltage boost permanent / U_boost perm
Parameters
p1311[0...n] Voltage boost at acceleration / U_boost accelerate
p1312[0...n] Voltage boost when starting / U_boost starting
p1317[0...n] U/f control activation / Uf act
p1318[0...n] U/f control ramp-up/ramp-down time / Uf t_rmp-up_rmp-dn
p1319[0...n] U/f control voltage at zero frequency / Uf U at f=0 Hz
p1326[0...n] U/f control characteristic frequency / Uf char f4
p1327[0...n] U/f control characteristic voltage / Uf char U4
p1333[0...n] U/f control FCC starting frequency / U/f FCC f_start
p1334[0...n] U/f control slip compensation starting frequency / Slip comp start
p1335[0...n] Slip compensation, scaling / Slip comp scal
p1336[0...n] Slip compensation limit value / Slip comp lim val
p1340[0...n] I_max frequency controller proportional gain / I_max_ctrl Kp
p1341[0...n] I_max frequency controller integral time / I_max_ctrl Tn
p1345[0...n] DC braking proportional gain / DCBRK Kp
p1345[0...n] I_max voltage controller proportional gain / I_max_U_ctrl Kp
p1346[0...n] DC braking, integral time / DCBRK Tn
p1346[0...n] I_max voltage controller integral time / I_max_U_ctrl Tn
p1350[0...n] Soft starting / Soft starting
p1351[0...n] CO: Motor holding brake starting frequency / Brake f_start
p1358[0...n] Angular difference, symmetrizing, actual angle / Sym act angle
p1400[0...n] Velocity control, configuration / v_ctrl config
p1401[0...n] Flux control configuration / Flux ctrl config
p1404[0...n] Encoderless operation changeover speed / Encoderl op n_chg
p1404[0...n] Encoderless operation changeover velocity / Encoderl op v_chg
p1412[0...n] TM41 increm. encoder emulation, speed setpoint filter deadtime / n_set dead time
p1413[0...n] Speed actual value filter activation / n_act_filt act
p1413[0...n] Velocity actual value filter activation / v_act_filt act
p1414[0...n] Speed setpoint filter activation / n_set_filt act
p1414[0...n] Velocity setpoint filter activation / v_set_filt act
p1414[0...n] TM41 incr. encoder emulation, speed setpoint filter activation / n_set_filt act
p1417[0...n] TM41 Speed setpoint filter 1 denominator natural frequency / n_set_filt 1 fn_d
p1418[0...n] TM41 Speed setpoint filter 1 denominator damping / n_set_filt 1 D_d
Parameters
p1428[0...n] Velocity pre-control balancing dead time / n_prectrBal t_dead
p1429[0...n] Speed pre-control balancing time constant / n_prectr bal T
p1429[0...n] Velocity pre-control balancing time constant / n_prectr bal T
p1433[0...n] Speed controller reference model natural frequency / n_ctrl RefMod fn
p1433[0...n] Velocity controller reference model natural frequency / v_ctrl RefMod fn
p1434[0...n] Speed controller reference model damping / n_ctrl RefMod D
p1434[0...n] Velocity controller reference model damping / v_ctrl RefMod D
p1435[0...n] Velocity controller reference model dead time / v_ctrRefMod t_dead
p1441[0...n] Actual velocity smoothing time / v_act T_smooth
p1442[0...n] Speed controller speed actual value smoothing time / n_ctr n_act T_smth
p1446[0...n] Speed actual value filter type / n_act_filt type
p1446[0...n] Velocity actual value filter type / v_act_filt type
p1447[0...n] Speed actual value filter denominator natural frequency / n_act_filt fn_d
p1447[0...n] Velocity actual value filter denominator natural frequency / v_act_filt fn_d
p1448[0...n] Speed actual value filter denominator damping / n_act_filt D_d
p1448[0...n] Velocity actual value filter denominator damping / v_act_filt D_d
p1449[0...n] Speed actual value filter numerator natural frequency / n_act_filt fn_n
p1449[0...n] Velocity actual value filter numerator natural frequency / v_act_filt fn_n
p1450[0...n] Speed actual value filter numerator damping / n_act_filt D_n
p1450[0...n] Velocity actual value filter numerator damping / v_act_filt D_n
p1451[0...n] Speed actual value smoothing time sensorless / n_act t_sm SL
p1451[0...n] Velocity actual value smoothing time sensorless / v_act t_sm SL
p1451[0...n] Motor model speed actual value smoothing time SLVC / Mot_mod n_act t_sm
p1452[0...n] Speed controller speed actual value smoothing time (SLVC) / n_C n_act T_s SLVC
p1456[0...n] Velocity controller P gain adaptation, lower starting point / v_ctrl AdaptKpLow
p1457[0...n] Velocity controller P gain adaptation upper starting point / v_ctrl AdaptKp up
p1460[0...n] Velocity controller, P gain adaptation velocity, lower / v_ctrl Kp n lower
p1461[0...n] Velocity controller, P gain adaptation velocity, upper / v_ctrl Kp n upper
Parameters
p1462[0...n] Velocity contr. integral act. time adaptation velocity lower / v_ctrl Tn n lower
p1463[0...n] Velocity contr. integral act. time adaptation velocity upper / v_ctrl Tn n upper
p1464[0...n] Velocity controller adaptation velocity, lower / v_ctrl n lower
p1465[0...n] Velocity controller adaptation velocity, upper / v_ctrl n upper
p1470[0...n] Velocity controller encoderless operation P-gain / v_ctrl SLVC Kp
p1472[0...n] Velocity controller encoderless operation integral time / v_ctrl SLVC Tn
p1487[0...n] Droop compensation torque scaling / Droop M_comp scal
p1488[0...n] Droop input source / Droop input source
p1489[0...n] Droop feedback scaling / Droop scaling
p1494[0...n] Speed controller integrator feedback time constant / n_ctr integ_fdbk T
p1494[0...n] Velocity controller integrator feedback time constant / v_ctr integ_fdbk T
p1496[0...n] Acceleration pre-control scaling / a_before scaling
p1498[0...n] Load moment of inertia / Load mom of inert
p1498[0...n] Load mass / Load mass
p1499[0...n] Accelerating for torque control, scaling / a for M_ctrl scal
p1514[0...n] Supplementary torque 2 scaling / M_suppl 2 scal
p1517[0...n] Accelerating torque smoothing time constant / M_accel T_smooth
p1517[0...n] Acceleration force smoothing time constant / F_accel T_smooth
p1520[0...n] CO: Torque limit upper/motoring / M_max upper/mot
p1520[0...n] CO: Force limit upper/motoring / F_max upper/mot
p1520[0...n] CO: Torque limit upper / M_max upper
p1521[0...n] CO: Torque limit lower/regenerative / M_max lower/regen
p1521[0...n] CO: Force limit lower/regenerative / F_max lower/regen
p1521[0...n] CO: Torque limit lower / M_max lower
p1524[0...n] CO: Torque limit upper/motoring scaling / M_max up/mot scal
p1524[0...n] CO: Force limit upper/motoring scaling / F_max up/mot scal
p1524[0...n] CO: Torque limit upper scaling / M_max upper scal
p1525[0...n] CO: Torque limit lower/regenerative scaling / M_max low/gen scal
p1525[0...n] CO: Force limit lower/regenerative scaling / F_max lo/reg scal
p1525[0...n] CO: Torque limit lower scaling / M_max lower scal
p1532[0...n] CO: Torque limit offset / M_max offset
p1532[0...n] CO: Force offset, force limit / F_max offset
p1556[0...n] Power limit scaling / P_max scal
p1570[0...n] CO: Flux setpoint / Flux setpoint
p1572[0...n] Supplementary flux setpoint / Suppl flux setp
p1573[0...n] Flux threshold value magnetizing / Flux thresh magnet
p1574[0...n] Voltage reserve dynamic / U_reserve dyn
p1576[0...n] Flux boost, adaptation speed, lower / Flux boost n lower
p1577[0...n] Flux boost adaptation speed, upper / Flux boost n upper
p1578[0...n] Flux reduction flux decrease smoothing time / Flux red dec t_sm
p1579[0...n] Flux reduction flux build-up smoothing time / Flux red up t_sm
p1580[0...n] Efficiency optimization / Efficiency opt.
p1581[0...n] Flux reduction factor / Flux red factor
p1582[0...n] Flux setpoint smoothing time / Flux setp T_smth
p1584[0...n] Field weakening operation, flux setpoint smoothing time / Field weak T_smth
Parameters
p1586[0...n] Field weakening characteristic, scaling / Field weak scal
p1594[0...n] Field-weakening controller, P gain / Field_ctrl Kp
p1596[0...n] Field weakening controller integral-action time / Field_ctrl Tn
p1599[0...n] Flux controller, excitation current difference / Flux ctr I_exc_dif
p1600[0...n] P flux controller, P gain / P flux ctrl Kp
p1604[0...n] Pulse technique current limit / Pulse current lim
p1605[0...n] Pulse technique pattern configuration / Puls pattrn config
p1607[0...n] Pulse technique stimulus / Puls stimulus
p1609[0...n] I/f operation current setpoint / I/f op I_setp
p1610[0...n] Torque setpoint static (SLVC) / M_set static
p1611[0...n] Supplementary accelerating torque (SLVC) / M_suppl_accel
p1612[0...n] Current setpoint, open-loop control, encoderless / I_setCtrEncoderl
p1612[0...n] Current setpoint magnetizing open-loop controlled / Id_set ctrl
p1616[0...n] Current setpoint smoothing time / I_set T_smooth
p1619[0...n] Setpoint/actual value tracking threshold / SetAct track thrsh
p1620[0...n] Stator current, minimum / I_stator min
p1621[0...n] Changeover speed, inner cos phi = 1 / n_chngov cos phi=1
p1622[0...n] Field-generating current setpoint smoothing time constant / Id_setp T_smth
p1625[0...n] Excitation current setpoint calibration / I_exc_setp cal
p1628[0...n] Current model controller, dynamic factor / I_mod_ctr dyn_fact
p1629[0...n] Current model controller P gain / I_mod_ctrl Kp
p1630[0...n] Current model controller integral time / I_mod_ctrl Tn
p1642[0...n] Minimum excitation current / Min I_exc
p1643[0...n] Gain factor, minimum excitation current closed-loop control / Min I_exc Kp
p1653[0...n] Current setpoint torque-generating smoothing time minimum / Isq_s T_smth min
p1654[0...n] Curr. setpoint torque-gen. smoothing time field weakening range / Isq_s T_smth FW
p1656[0...n] Activates current setpoint filter / I_setp_filt act
p1656[0...n] Current setpoint/Speed actual value filter activation / I_setp_filt act
p1675[0...n] Current setpoint filter 4 numerator natural frequency / I_set_filt 4 fn_n
p1677[0...n] Speed actual value filter 5 type / n_act_filt 5 type
p1678[0...n] Speed actual value filter 5 denominator natural frequency / n_act_filt 5 fn_d
Parameters
p1679[0...n] Speed actual value filter 5 denominator damping / n_act_filt 5 D_d
p1680[0...n] Speed actual value filter 5 numerator natural frequency / n_act_filt 5 fn_n
p1681[0...n] Speed actual value filter 5 numerator damping / n_act_filt 5 D_n
p1701[0...n] Current controller reference model dead time / I_ctrRefMod t_dead
p1702[0...n] Isd current controller pre-control scaling / Isd_ctr_prectrScal
p1703[0...n] Isq current controller pre-control scaling / Isq_ctr_prectrScal
p1704[0...n] Isq current controller pre-control EMF scaling / Isq_ctrl EMF scal
p1705[0...n] Flux setpoint/actual value tracking threshold / Flux track thresh
p1717[0...n] Current controller integral-action time / I_ctrl Tn
p1726[0...n] Quadrature arm decoupling, scaling / Transv_decpl scal
p1727[0...n] Quadrature arm decoupling at voltage limit scaling / TrnsvDecplVmaxScal
p1730[0...n] Isd controller integral component shutdown threshold / Isd_ctrl I_thresh
p1740[0...n] Gain resonance damping for encoderless closed-loop control / Gain res_damp
p1744[0...n] Motor model speed threshold stall detection / MotMod n_thr stall
p1745[0...n] Motor model error threshold stall detection / MotMod ThreshStall
p1748[0...n] Motor model lower changeover speed n_set -> n_act / Lower n_chngov
p1749[0...n] Motor model upper changeover speed n_set -> n_act / Upper n_chgov
p1750[0...n] Motor model configuration / MotMod config
p1752[0...n] Motor model with encoder changeover velocity / MotMod v_chgov enc
p1753[0...n] Motor model changeover speed hysteresis operation with encoder / MotMod n_chgovHysE
p1754[0...n] Flux angle difference smoothing time / Angle diff T_smth
p1755[0...n] Motor model changeover velocity encoderless operation / MotMod v_chgSnsorl
p1757[0...n] Motor model w/o enc. op./cl.-loop controlled stab. controller Kp / MotMod w/o enc Kp
p1758[0...n] Motor model changeover delay time closed/open-loop control / MotMod t cl_op
p1759[0...n] Motor model changeover delay time open/closed-loop control / MotMod t op_cl
p1760[0...n] Motor model with encoder speed adaptation Kp / MotMod wE n_ada Kp
p1761[0...n] Motor model with encoder speed adaptation Tn / MotMod wE n_ada Tn
p1764[0...n] Motor model without encoder speed adaptation Kp / MotMod woE n_adaKp
p1766[0...n] Motor model voltage model calculation enable / U_mod calc enab
p1767[0...n] Motor model without encoder speed adaptation Tn / MotMod woE n_adaTn
p1774[0...n] Motor model, offset voltage compensation alpha / MotMod offs comp A
p1775[0...n] Motor model, offset voltage compensation beta / MotMod offs comp B
p1780[0...n] Motor/converter model adaptation configuration / MotMod adapt conf
p1784[0...n] Motor model feedback scaling / Mod_FB_scal
p1785[0...n] Motor model Lh adaptation Kp / MotMod Lh Kp
p1786[0...n] Motor model Lh adaptation integral time / MotMod Lh Tn
r1787[0...n] Motor model Lh adaptation corrective value / MotMod Lh corr
p1795[0...n] Motor model kT adaptation smoothing time / MotMod kT T_smth
p1795[0...n] Motor model kT adaptation integral time / MotMod kT Tn
r1797[0...n] Motor model kT adaptation corrective value / MotMod kT corr
p1798[0...n] Motor model pulse technique speed adaptation Kp / MotMod pulses Kp
p1802[0...n] Modulator mode / Modulator mode
p1803[0...n] Maximum modulation depth / Modulat depth max
p1804[0...n] Filter time constant smoothed modulation index / T_filt mod_idxSmth
p1806[0...n] Filter time constant Vdc correction / T_filt Vdc_corr
p1811[0...n] Pulse frequency wobbulation amplitude / Puls wobb ampl
p1820[0...n] Reverse the output phase sequence / Outp_ph_seq rev
p1821[0...n] Dir of rot / Dir of rot
Parameters
p1821[0...n] Direction / Direction
p1840[0...n] Actual value correction configuration / ActVal_corr conf
p1845[0...n] Actual value correction evaluation factor Lsig / ActVal_cor ev Lsig
p1846[0...n] Actual value correction damping factor / ActV_corr D_factor
p1952[0...n] Voltage emulation error final value / U_error final val
p1953[0...n] Voltage emulation error current offset / U_error I_offset
p2153[0...n] Speed actual value filter time constant / n_act_filt T
p2153[0...n] Velocity actual value filter time constant / v_act_filt T
p2156[0...n] On delay, comparison value reached / t_on cmpr val rchd
p2162[0...n] Hysteresis speed n_act > n_max / Hyst n_act>n_max
p2162[0...n] Hysteresis velocity v_act > v_max / Hyst v_act>v_max
p2166[0...n] Off delay n_act = n_set / t_del_off n_i=n_so
p2166[0...n] Off delay v_act = v_set / t_del_off n_i=n_so
p2167[0...n] Switch-on delay n_act = n_set / t_on n_act=n_set
p2167[0...n] On delay v_act = v_set / t_on n_act=n_set
p2175[0...n] Motor locked, velocity threshold / Mot lock v_thresh
p2177[0...n] Motor locked delay time / Mot lock t_del
p2178[0...n] Motor stalled delay time / Mot stall t_del
p2181[0...n] Load monitoring response / Load monit resp
Parameters
p2192[0...n] Load monitoring delay time / Load monit t_del
p2195[0...n] Torque utilization switch-off delay / M_util t_off
p2195[0...n] Force utilization switch-off delay / F_util t_off
p2196[0...n] Torque utilization scaling / M_util scal
p2216[0...n] Technology controller fixed value selection method / Tec_ctr FixVal sel
p2230[0...n] Technology controller motorized potentiometer configuration / Tec_ctr mop config
p2237[0...n] Technology controller motorized potentiometer maximum value / Tec_ctrl mop max
p2238[0...n] Technology controller motorized potentiometer minimum value / Tec_ctrl mop min
p2240[0...n] Technology controller motorized potentiometer starting value / Tec_ctrl mop start
p2247[0...n] Technology controller motorized potentiometer ramp-up time / Tec_ctr mop t_r-up
p2248[0...n] Technology controller motorized potentiometer ramp-down time / Tec_ctrMop t_rdown
p2502[0...n] LR encoder assignment / Encoder assignment
p2503[0...n] LR length unit LU per 10 mm / LU per 10 mm
p2504[0...n] LR motor/load motor distance / Mot/load motor dis
p2506[0...n] LR length unit LU per load path / LU per load path
p2506[0...n] LR length unit LU per load revolution / LU per load rev
p2519[0...n] LR position actual value preprocessing config. DDS changeover / s_act config DDS
p2533[0...n] LR position setpoint filter, time constant / s_set_filt T
p2534[0...n] LR velocity pre-control factor / v_prectrl fact
p2534[0...n] LR speed pre-control factor / n_prectrl fact
p2535[0...n] LR velocity pre-control balancing filter dead time / v_prectrFlt t_dead
p2535[0...n] LR speed pre-control balancing filter dead time / n_prectrFlt t_dead
p2536[0...n] LR velocity pre-control, balancing filter PT1 / v_prectrl filt PT1
p2536[0...n] LR speed pre-control, symmetrizing filter PT1 / n_prectrl filt PT1
p2538[0...n] LR proportional gain / Kp
p2539[0...n] LR integral time / Tn
p2546[0...n] LR dynamic following error monitoring tolerance / s_delta_monit tol
p2567[0...n] LR force pre-control mass / F_prectrl mass
p2567[0...n] LR torque pre-control moment of inertia / M_prectr M_inertia
p2634[0...n] EPOS fixed stop maximum following error / Following err max
Parameters
p2720[0...n] Load gear configuration / Load gear config
p2721[0...n] Load gear, rotary absolute gearbox, revolutions, virtual / Abs rot rev
p2722[0...n] Load gear, position tracking tolerance window / Pos track tol
r2723[0...n] CO: Load gear absolute value / Load gear abs_val
r2724[0...n] CO: Load gear position difference / Load gear pos diff
p2930[0...n] CO: Fixed value M [Nm] / Fixed value M [Nm]
p2930[0...n] CO: Fixed value F [N] / Fixed value F [N]
p3201[0...n] Excitation current outside the tolerance threshold value / I_exc n Tol thresh
p3202[0...n] Excitation current outside the tolerance hysteresis / I_exc n Tol hyst
p3203[0...n] Excitation current outside the tolerance delay time / I_exc n Tol t_del
p3204[0...n] Flux outside the tolerance threshold value / Flux n tol thresh
p3205[0...n] Flux outside the tolerance hysteresis / Flux n tol hyst
p3206[0...n] Flux outside tolerance delay time / Flux n tol t_del
p3207[0...n] Zero current signal threshold value / I_0_sig thresh
p3208[0...n] Zero current signal hysteresis / I_0_sig hyst
p3209[0...n] Zero current signal delay time / I_0_sig t_del
p3233[0...n] Torque actual value filter, time constant / M_act_filt T
p3238[0...n] OFF delay n_act_motor model = n_act external / t_del n_a = n_ext
p3704[0...n] APC filter activation / APC filter act
p3705[0...n] APC filter type / APC filter type
p3713[0...n] APC filter 1.1 numerator natural frequency / APC Filt 1 fn_n
Parameters
p3751[0...n] APC acceleration sensor high pass time constant / APC accel DT1 T
p3778[0...n] APC velocity limit / APC v_limit
p3778[0...n] APC speed limit / APC n_limit
p3779[0...n] APC velocity limit monitoring time / APC v_limit t
p3779[0...n] APC speed limit monitoring time / APC n_limit t
p3800[0...n] Sync-line-drive activation / Sync act
p3801[0...n] Sync-line-drive, drive object number / Sync DO_No
p3806[0...n] Sync-line-drive frequency difference threshold value / Sync f_diff thresh
p3809[0...n] Sync-line-drive phase setpoint / Sync phase setp
p3811[0...n] Sync-line-drive frequency limiting / Sync f_lim
p3813[0...n] Sync-line-drive phase synchronism threshold value / Sync Ph_sync thrsh
p3815[0...n] Sync-line-drive voltage difference threshold value / Sync U_diff thresh
Parameters
p3846[0...n] Friction characteristic record ramp-up/ramp-down time / Frict rec t_RFG
p3847[0...n] Friction characteristic record warm-up time / Frict rec t_warm
r3927[0...n] Motor data identification induction motor data determined / MotID ASM dat det
r3928[0...n] Motor data identification synchronous motor data determined / MotId PEM dat det
r3998[0...n] First drive commissioning / First drv_comm
p7035[0...n] Par_circuit circulating current control operating mode / Circ_I mode
p7036[0...n] Par_circuit circulating current control proportional gain / Circ_I Kp
p7037[0...n] Par_circuit circulating current control integral time / I_circ Tn
p7038[0...n] Par_circuit circulating current control limit / I_circ limit
1.3.3 Parameters for encoder data sets (EDS)
The following list contains the parameters that are dependent on the encoder data sets.
Product: SINAMICS S120/S150, Version: 4402100, Language: eng, Type: EDS
p0141[0...n] Encoder interface (Sensor Module) component number / Enc_interf comp_no
p0142[0...n] Encoder component number / Encoder comp_no
p0144[0...n] Sensor Module detection via LED / SM detection LED
p0145[0...n] Activate/de-activate encoder interface / Enc_intf act/deact
r0146[0...n] Encoder interface active/inactive / Enc_intf act/inact
r0147[0...n] Sensor Module EEPROM data version / SM EEPROM version
r0148[0...n] Sensor Module firmware version / SM FW version
p0400[0...n] Encoder type selection / Enc_typ sel
p0401[0...n] Encoder type, OEM selection / Enc type OEM sel
p0402[0...n] Gearbox type selection / Gearbox type sel
p0404[0...n] Encoder configuration effective / Enc_config eff
p0405[0...n] Square-wave encoder track A/B / Sq-wave enc A/B
p0407[0...n] Linear encoder grid division / Enc grid div
p0408[0...n] Rotary encoder pulse No. / Rot enc pulse No.
p0411[0...n] Measuring gear, configuration / Meas gear config
Note:
Chapter "Data Sets"
Parameters
p0412[0...n] Measuring gear, absolute encoder, rotary, revolutions, virtual / Abs rot rev
p0413[0...n] Measuring gear, position tracking tolerance window / Pos track window
p0414[0...n] Redundant coarse position value relevant bits (identified) / Relevant bits
p0415[0...n] Gx_XIST1 Coarse position safe most significant bit (identified) / Gx_XIST1 safe MSB
p0418[0...n] Fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1
p0419[0...n] Fine resolution absolute value Gx_XIST2 (in bits) / Enc fine Gx_XIST2
p0420[0...n] Encoder connection / Enc_connection
p0421[0...n] Absolute encoder rotary multiturn resolution / Enc abs multiturn
p0422[0...n] Absolute encoder linear measuring step resolution / Enc abs meas step
p0423[0...n] Absolute encoder rotary singleturn resolution / Enc abs singleturn
p0424[0...n] Encoder, linear zero mark distance / Enc lin ZM_dist
p0425[0...n] Encoder, rotary zero mark distance / Enc rot dist ZM
p0426[0...n] Encoder zero mark differential distance / Enc ZM Dif_dist
p0427[0...n] Encoder SSI baud rate / Enc SSI baud rate
p0428[0...n] Encoder SSI monoflop time / Enc SSI t_monoflop
p0429[0...n] Encoder SSI configuration / Enc SSI config
p0431[0...n] Angular commutation offset / Ang_com offset
p0432[0...n] Gearbox factor, encoder revolutions / Grbx_fact enc_rev
p0433[0...n] Gearbox factor, motor/load revolutions / Grbx_fact mot_rev
p0434[0...n] Encoder SSI error bit / Enc SSI error bit
p0435[0...n] Encoder SSI alarm bit / Enc SSI alarm bit
p0436[0...n] Encoder SSI parity bit / Enc SSI parity bit
p0438[0...n] Squarewave encoder filter time / Enc t_filt
p0439[0...n] Encoder ramp-up time / Enc ramp-up time
p0440[0...n] Copy encoder serial number / Copy enc ser_no
p0446[0...n] Encoder SSI number of bits before the absolute value / Enc SSI bit before
p0447[0...n] Encoder SSI number of bits absolute value / Enc SSI bit val
p0448[0...n] Encoder SSI number of bits after the absolute value / Enc SSI bit after
p0449[0...n] Encoder SSI number of bits, filler bits / Enc SSI fill bits
p0453[0...n] Pulse encoder evaluation zero speed measuring time / Enc_ev z 0 t_meas
p0493[0...n] Zero mark selection, input terminal / ZM_sel inp_term
p0494[0...n] Equivalent zero mark, input terminal / ZM_equiv input
p2507[0...n] LR absolute encoder adjustment status / Abs_enc_adj stat
p2525[0...n] CO: LR encoder adjustment, offset / Enc_adj offset
p4662[0...n] Encoder characteristic type / Enc char_type
p4670[0...n] Analog sensor configuration / Ana_sens config
p4671[0...n] Analog sensor input / Ana_sens inp
p4672[0...n] Analog sensor channel A voltage at actual value zero / Ana_sens A U at 0
Parameters
p4673[0...n] Analog sensor channel A voltage per encoder period / Ana_sens A U/per
p4674[0...n] Analog sensor channel B voltage at actual value zero / Ana_sens B U at 0
p4675[0...n] Analog sensor channel B voltage per encoder period / Ana_sens B U/per
p4676[0...n] Analog sensor range limit threshold / Ana_sens lim thr
p4677[0...n] Analog sensor LVDT configuration / Ana_sens LVDT conf
p4678[0...n] Analog sensor LVDT ratio / An_sens LVDT ratio
p4679[0...n] Analog sensor LVDT phase / An_sens LVDT ph
p4680[0...n] Zero mark monitoring tolerance permissible / ZM_monit tol perm
p4681[0...n] Zero mark monitoring, tolerance window limit 1 positive / ZM tol lim 1 pos
p4682[0...n] Zero mark monitoring, tolerance window limit 1 negative / ZM tol lim 1 neg
p4683[0...n] Zero mark monitoring tolerance window alarm threshold positive / ZM tol A_thr pos
p4684[0...n] Zero mark monitoring tolerance window alarm threshold negative / ZM tol A_thr neg
p4685[0...n] Speed actual value mean value generation / n_act mean val
p4686[0...n] Zero mark minimum length / ZM min length
1.3.4 Parameters for motor data sets (MDS)
The following list contains the parameters that are dependent on the motor data sets.
Product: SINAMICS S120/S150, Version: 4402100, Language: eng, Type: MDS
p0131[0...n] Motor component number / Mot comp_no
r0302[0...n] Motor code number of motor with DRIVE-CLiQ / Motor code Mot DLQ
r0303[0...n] Motor with DRIVE-CLiQ status word / Motor w DLQ ZSW
p0304[0...n] Rated motor voltage / Mot U_rated
p0308[0...n] Rated motor power factor / Mot cos_phi_rated
p0309[0...n] Rated motor efficiency / Mot eta_rated
p0311[0...n] Rated motor velocity / Mot v_rated
p0312[0...n] Rated motor torque / Mot M_rated
p0312[0...n] Rated motor force / Mot F_rated
p0315[0...n] Motor pole pair width / MotPolePair width
p0316[0...n] Motor force constant / Mot kT
p0319[0...n] Motor stall torque / Mot M_standstill
p0319[0...n] Motor stall force / Mot F_standstill
p0320[0...n] Motor rated magnetizing current/short-circuit current / Mot I_mag_rated
Note:
Chapter "Data Sets"
Parameters
p0322[0...n] Motor maximum velocity / Mot v_max
p0324[0...n] Winding maximum velocity / Winding v_max
p0325[0...n] Motor pole position identification current, 1st phase / Mot PolID I 1st ph
p0326[0...n] Motor stall torque correction factor / Mot M_stall_corr
p0326[0...n] Motor stall force correction factor / Mot F_stall_corr
p0327[0...n] Optimum motor load angle / Mot phi_load opt
p0328[0...n] Motor reluctance torque constant / Mot kT_reluctance
p0328[0...n] Motor reluctance force constant / Mot kT_reluctance
p0329[0...n] Motor pole position identification current / Mot PolID current
r0330[0...n] Rated motor slip / Mot slip_rated
r0331[0...n] Actual motor magnetizing current/short-circuit current / Mot I_mag_rtd act
r0332[0...n] Rated motor power factor / Mot cos_phi_rated
r0333[0...n] Rated motor torque / Mot M_rated
r0334[0...n] Actual motor force constant / Mot kT act
p0335[0...n] Motor cooling type / Motor cooling type
r0336[0...n] Actual rated motor frequency / Mot f_rated act
p0338[0...n] Motor limit current / Mot I_limit
r0339[0...n] Rated motor voltage / Mot U_rated
p0341[0...n] Motor moment of inertia / Mot M_mom of inert
p0341[0...n] Motor weight / Mot weight
p0342[0...n] Ratio between the total and motor moment of inertia / Mot MomInert Ratio
p0342[0...n] Ratio between the total and motor force of inertia / Mot MomInert Ratio
r0343[0...n] Rated motor current identified / Mot I_rated ident
p0344[0...n] Motor weight (for the thermal motor model) / Mot weight th mod
r0345[0...n] Nominal motor starting time / Mot t_start_rated
p0346[0...n] Motor excitation build-up time / Mot t_excitation
p0348[0...n] Speed at the start of field weakening Vdc = 600 V / Mot n_field weaken
p0348[0...n] Velocity at the start of field weakening Vdc = 600 V / Mot v_field weaken
p0350[0...n] Motor stator resistance, cold / Mot R_stator cold
p0355[0...n] Motor damping resistance, q axis / Mot R_damp q
p0357[0...n] Motor stator inductance, d axis / Mot L_stator d
p0359[0...n] Motor damping inductance, q axis / Mot L_damp q
p0361[0...n] Motor magnetizing inductance q axis, saturated / Mot L_magn q sat
Parameters
r0370[0...n] Motor stator resistance, cold / Mot R_stator cold
r0372[0...n] Cable resistance / Mot R_cable
r0373[0...n] Motor rated stator resistance / Mot R_stator rated
r0374[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
r0375[0...n] Motor damping resistance, q axis / Mot R_damp q
r0376[0...n] Rated motor rotor resistance / Mot R_rotor rated
r0378[0...n] Motor stator inductance, d axis / Mot L_stator_d
r0380[0...n] Motor damping inductance, d axis / Mot L_damping_d
r0381[0...n] Motor damping inductance, q axis / Mot L_damping_q
r0382[0...n] Motor magnetizing inductance transformed / Lh d axis saturated / Mot L_m tr/Lhd sat
r0383[0...n] Motor magnetizing inductance q axis, saturated / Mot L_magn q sat
r0384[0...n] Motor rotor time constant / damping time constant d axis / Mot T_rotor/T_Dd
r0385[0...n] Motor damping time constant, q axis / Mot T_Dq
r0386[0...n] Motor stator leakage time constant / Mot T_stator leak
r0387[0...n] Motor stator leakage time constant, q axis / Mot T_Sleak /T_Sq
p0389[0...n] Excitation rated no-load current / Exc I_noload_rated
p0390[0...n] Rated excitation current / Exc I_rated
p0393[0...n] Current controller adaptation p gain adaptation / I_adapt Kp adapt
p0393[0...n] Current controller adaptation P gain scaling / I_adapt Kp scal
r0395[0...n] Actual stator resistance / R_stator act
r0396[0...n] Actual rotor resistance / R_rotor act
p0530[0...n] Bearing type selection / Bearing type sel
p0531[0...n] Bearing code number selection / Bear. code num sel
p0532[0...n] Bearing maximum velocity / Bearing v_max
p0601[0...n] Motor temperature sensor type / Mot_temp_sens type
p0605[0...n] Motor temperature fault threshold / Mot_temp flt thr
p0607[0...n] Temperature sensor fault timer / Sensor fault time
p0610[0...n] Motor overtemperature response / Mot temp response
p0611[0...n] I2t motor model thermal time constant / I2t mot_mod T
p0612[0...n] Thermal motor model configuration / Therm Mot_mod conf
p0615[0...n] I2t motor model fault threshold / I2t mot_mod thresh
p0621[0...n] Identification stator resistance after restart / Rst_ident Restart
p0622[0...n] Motor excitation time for Rs_ident after powering up again / t_excit Rs_id
p0624[0...n] Motor Temperature Offset PT100 / Mot T_offset PT100
p0625[0...n] Motor ambient temperature / Mot T_ambient
p0626[0...n] Motor overtemperature, stator core / Mot T_over core
p0627[0...n] Motor overtemperature, stator winding / Mot T_over stator
p0628[0...n] Motor overtemperature rotor winding / Mot T_over rotor
r0630[0...n] Motor temperature model ambient temperature / MotTMod T_amb.
r0631[0...n] Motor temperature model, stator core temperature / MotTMod T_core
r0632[0...n] Motor temperature model, stator winding temperature / MotTMod T_copper
r0633[0...n] Motor temperature model, rotor temperature / MotTMod T_rotor
Parameters
p0634[0...n] Q flux flux constant unsaturated / PSIQ KPSI UNSAT
p0635[0...n] Q flux quadrature axis current constant unsaturated / PSIQ KIQ UNSAT
p0636[0...n] Q flux direct axis current constant unsaturated / PSIQ KID UNSAT
p0637[0...n] Q flux flux gradient saturated / PSIQ Grad SAT
p0650[0...n] Actual motor operating hours / Mot t_oper act
p0651[0...n] Motor operating hours maintenance interval / Mot t_op maint
p0652[0...n] Motor stator resistance, scaling / Mot R_stator scal
p0653[0...n] Motor stator leakage inductance, scaling / Mot L_S_leak scal
p0655[0...n] Motor magnetizing inductance, d axis saturated scaling / Mot L_m d sat scal
p0656[0...n] Motor magnetizing inductance, q axis, saturated scaling / Mot L_m q sat scal
p0657[0...n] Motor damping inductance, d axis scaling / Mot L_damp d scal
p0658[0...n] Motor damping inductance, q axis scaling / Mot L_damp q scal
p0659[0...n] Motor damping resistance, d axis scaling / Mot R_damp d scal
p0660[0...n] Motor damping resistance, q axis scaling / Mot R_damp q scal
p0827[0...n] Motor changeover status word bit number / Mot_chg ZSW bitNo.
p1231[0...n] Armature short-circuit / DC braking configuration / ASC/DCBRK config
p1233[0...n] DC braking time / DCBRK time
p1234[0...n] DC braking, starting velocity / DCBRK v_start
p1236[0...n] Ext. armature short-cct., contactor feedback signal monit. time / ASC ext t_monit
p1237[0...n] External armature short-circuit, delay time when opening / ASC ext t_wait
p1958[0...n] Rotating measurement ramp-up/ramp-down time / Rot meas t_r up/dn
p1958[0...n] Moving measurement ramp-up/ramp-down time / Mov meas t_r up/dn
p1959[0...n] Moving measurement configuration / Mov meas config
p1981[0...n] PolID distance max / PolID distance max
p1991[0...n] Motor changeover, angular commutation correction / Ang_com corr
p1993[0...n] PolID motion-based current / PolID I mot_bas
p1994[0...n] PolID motion-based rise time / PolID T mot_bas
p1996[0...n] PolID motion-based integral time / PolID Tn mot_bas
p1997[0...n] PolID motion-based smoothing time / PolID t_sm mot_bas
p1999[0...n] Ang. commutation offset calibr. and PollD scaling / Com_ang_offs scal
p3049[0...n] MotId Speed at start of field weakening identified / ident
p3049[0...n] MotId Speed at start of field weakening identified / v_Fieldweak ident
p3050[0...n] MotorId stator resistance identified / R_stator ident
p3054[0...n] MotId rotor resistance identified / R_rotor ident
p3056[0...n] MotId stator leakage inductance identified / L_stator leak
p3058[0...n] MotId rotor leakage inductance identified / L_rotor leak
p3060[0...n] MotId magnetizing inductance identified / MotId Lh ident
p3090[0...n] PolID elasticity-based configuration / PolID el config
p3091[0...n] PolID elasticity-based ramp time / PolID el t_ramp
p3092[0...n] PolID elasticity-based wait time / PolID el t_wait
Parameters
p3093[0...n] PolID elasticity-based measurement number / PolID el meas
p3096[0...n] PolID elasticity-based current / PolID el curr
1.3.5 Parameters for power unit data sets (PDS)
The following list contains the parameters that are dependent on the power unit data sets.
Product: SINAMICS S120/S150, Version: 4402100, Language: eng, Type: PDS
p0121[0...n] Power unit component number / PU comp_no
p0124[0...n] Power unit detection via LED / PU detection LED
p0125[0...n] Activate/de-activate power unit components / PU_comp act/deact
r0126[0...n] Power unit components active/inactive / PU comp act/inact
r0127[0...n] Power unit version EPROM data / PU EPROM version
r0128[0...n] Power unit, firmware version / PU FW version
r0200[0...n] Power unit code number actual / PU code no. act
r0203[0...n] Actual power unit type / PU actual type
p0251[0...n] Operating hours counter power unit fan / PU fan t_oper
p0254[0...n] Power unit internal fan operating hours counter / PU int fan t_oper
p0895[0...n] BI: Activate/de-activate power unit components / PU_comp act/deact
p3469[0...n] Latch delay time correction, zero crossover detection / t_latch corr PLL
p3901[0...n] Power unit EEPROM Vdc offset calibration / PU EEPROM Vdc_offs
p7001[0...n] Par_circuit power units enable / PU enable
r7002[0...n] Par_circuit status power units / Status PU
r7020[0...n] CO: Par_circuit deviation current in phase U / Phase U curr dev
r7021[0...n] CO: Par_circuit deviation current in phase V / Phase V curr dev
r7022[0...n] CO: Par_circuit deviation current in phase W / Phase W curr dev
r7030[0...n] CO: Par_circuit DC link voltage deviation / Vdc deviation
p7040[0...n] Par_circuit correction valve lockout time phase U / Comp t_lockout U
p7042[0...n] Par_circuit correction valve lockout time phase V / Comp t_lockout V
p7044[0...n] Par_circuit correction valve lockout time phase W / Comp t_lockout W
r7050[0...n] Par_circuit circulating current phase U / Circ_I_phase U
r7051[0...n] Par_circuit circulating current phase V / Circ_I_phase V
r7052[0...n] Par_circuit circulating current phase W / Circ_I_phase W
r7200[0...n] Par_circuit power unit overload I2T / PU overload I2T
r7201[0...n] CO: Par_circuit power unit temperatures max. inverter / PU temp max inv
r7202[0...n] Par_circuit power unit temperatures max. depletion layer / PU TempMaxDepLayer
r7203[0...n] Par_circuit power unit temperatures max. rectifier / PU temp max rect
r7204[0...n] Par_circuit power unit temperatures air intake / PU temp air intake
Note:
Chapter "Data Sets"
Parameters
r7205[0...n] Par_circuit power unit temperatures electronics / PU temp electr
r7220[0...n] Infeed par_circuit absolute current value motoring permissible / INF I_abs mot perm
r7220[0...n] CO: Par_circuit drive output current maximum / Drv I_outp max
r7221[0...n] Infeed par_circuit absolute current regenerating permissible / INF I_absRegenPerm
r7222[0...n] CO: Par_circuit absolute current actual value / I_act abs val
r7223[0...n] CO: Par_circuit phase current actual value phase U / I_phase U act val
r7224[0...n] CO: Par_circuit phase current actual value phase V / I_phase V act val
r7225[0...n] CO: Par_circuit phase current actual value phase W / I_phase W act val
r7226[0...n] CO: Par_circuit phase current actual value phase U offset / I_phase U offset
r7227[0...n] CO: Par_circuit phase current actual value phase V offset / I_phase V offset
r7228[0...n] CO: Par_circuit phase current actual value phase W offset / I_phase W offset
r7229[0...n] CO: Par_circuit phase current actual value sum U, V, W / I_phase sum UVW
r7230[0...n] CO: Par_circuit DC link voltage actual value / Vdc_act
r7233[0...n] CO: Par_circuit phase voltage actual value phase W / U_phase W act val
r7240[0...n] Par_circuit gating unit status word 1 / Gating unit ZSW1
Function diagrams 2
Contents
2.1 List of contents 2-1441
2.2 Explanations on the function diagrams 2-1452
2.3 Overviews 2-1457
2.4 CU310-2 input/output terminals 2-1483
2.5 CU320-2 input/output terminals 2-1492
2.6 CU_LINK 2-1499
2.7 CX32-2 input/output terminals 2-1501
2.8 PROFIdrive 2-1505
2.9 Internal control/status words 2-1560
2.10 Sequence control 2-1573
2.11 Brake control 2-1576
2.12 Safety Integrated 2-1581
2.13 Setpoint channel 2-1601
2.14 Setpoint channel not activated 2-1612
2.15 Basic positioner (EPOS) 2-1614
2.16 Position control 2-1630
2.17 Encoder evaluation 2-1635
2.18 Servo control 2-1644
2.19 Vector control 2-1664
2.20 Technology functions 2-1694
2.21 Technology controller 2-1702
2.22 Signals and monitoring functions 2-1708
2.23 Diagnostics 2-1717
Function diagrams
2.24 Data sets 2-1723
2.25 Basic Infeed 2-1729
2.26 Smart Infeed 2-1736
2.27 Active Infeed 2-1745
2.28 Terminal Board 30 (TB30) 2-1757
2.29 Communication Board CAN10 (CBC10) 2-1762
2.30 Terminal Module 15 for SINAMICS (TM15DI/DO) 2-1769
2.31 Terminal Module 31 (TM31) 2-1773
2.34 Auxiliaries 2-1802
2.35 Voltage Sensing Module (VSM) 2-1805
2.36 Basic Operator Panel 20 (BOP20) 2-1809
2.37 Braking Module External 2-1811
List of contents
Function diagrams
2.1 List of contents
2.2 Explanations on the function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1452
1020 Explanation of the symbols (Part 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1453
1030 Handling BICO technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1456
2.3 Overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1457
1508 CU310-2 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1458
1510 CU320-2 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1459
1512 CX32-2 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1460
1520 PROFIdrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1461
1530 Internal control/status words, data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1462
1550 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1463
1580 Servo control, encoder evaluations (position, speed, temperature) . . . . . . . . . . 2-1464
1590 Servo control, speed control and U/f control . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1465
1610 Servo control, generation of the torque limits . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1466
1630 Servo control, current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1467
1680 Vector control, encoder evaluations (position, speed, temperature) . . . . . . . . . 2-1468
1690 Vector control, U/f control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1469
1700 Vector control, speed control and generation of the torque limits . . . . . . . . . . . 2-1470
1710 Vector control, current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1471
1750 Monitoring functions, faults, alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1472
1773 Basic Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1473
1774 Active Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1474
1775 Smart Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1475
1780 Terminal Module 15 (TM15) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1476
1781 Terminal Module 15 for SINAMICS (TM15DI/DO) . . . . . . . . . . . . . . . . . . . . . . . 2-1477
1782 Terminal Module 17 High Feature (TM17 High Feature) . . . . . . . . . . . . . . . . . . 2-1478
1790 Terminal Board 30 (TB30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1479
1850 Terminal Module 54F (TM54F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1482
Function diagrams
List of contents
2.4 CU310-2 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1483
2020 Digital inputs, electrically isolated (DI 0 to DI 3, DI 22) . . . . . . . . . . . . . . . . . . . 2-1484
2021 Digital inputs, electrically isolated (DI 16 to DI 21) . . . . . . . . . . . . . . . . . . . . . . . 2-1485
2030 Digital inputs/outputs, bidirectional (DI/DO 8 to DI/DO 9) . . . . . . . . . . . . . . . . . 2-1486
2031 Digital inputs/outputs, bidirectional (DI/DO 10 to DI/DO 11) . . . . . . . . . . . . . . . 2-1487
2038 Digital output (DO 16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1490
2040 Analog input (AI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1491
2.5 CU320-2 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1492
2120 Digital inputs, electrically isolated (DI 0 to DI 3, DI 16, DI 17) . . . . . . . . . . . . . . 2-1493
2.6 CU_LINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1499
2211 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1500
2.7 CX32-2 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1501
2.8 PROFIdrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1505
2410 PROFIBUS (PB) / PROFINET (PN), addresses and diagnostics . . . . . . . . . . . 2-1507
2420 Standard telegrams and process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1508
2422 Manufacturer-specific telegrams and process data 1 . . . . . . . . . . . . . . . . . . . . 2-1509
2423 Manufacturer-specific telegrams and process data 2 . . . . . . . . . . . . . . . . . . . . 2-1510
2424 Manufacturer-specific/free telegrams and process data . . . . . . . . . . . . . . . . . . 2-1511
2425 STW1_BM control word metal industry interconnection . . . . . . . . . . . . . . . . . . 2-1512
2426 STW2_BM control word metal industry interconnection . . . . . . . . . . . . . . . . . . 2-1513
2427 E_STW1_BM control word infeed metal industry interconnection . . . . . . . . . . . 2-1514
2428 ZSW1_BM status word metal industry interconnection . . . . . . . . . . . . . . . . . . . 2-1515
2429 ZSW2_BM status word metal industry interconnection . . . . . . . . . . . . . . . . . . . 2-1516
List of contents
Function diagrams
2430 E_ZSW1_BM control word infeed metal industry interconnection . . . . . . . . . . . 2-1517
2433 STW2_ENC control word ENCODER interconnection . . . . . . . . . . . . . . . . . . . 2-1518
2434 ZSW2_ENC status word ENCODER interconnection . . . . . . . . . . . . . . . . . . . . 2-1519
2439 PZD receive signals, interconnection, profile-specific . . . . . . . . . . . . . . . . . . . . 2-1520
2440 PZD receive signals, interconnection, manufacturer-specific . . . . . . . . . . . . . . 2-1521
2441 STW1 control word interconnection (p2038 = 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-1522
2447 E_STW1 control word infeed interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1527
2449 PZD send signals, interconnection, profile-specific . . . . . . . . . . . . . . . . . . . . . . 2-1528
2450 PZD send signals, interconnection, manufacturer-specific . . . . . . . . . . . . . . . . 2-1529
2451 ZSW1 status word interconnection (p2038 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . 2-1530
2456 MELDW status word interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1535
2457 E_ZSW1 status word infeed interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1536
2462 POS_STW positioning control word interconnection (r0108.4 = 1) . . . . . . . . . . 2-1537
2463 POS_STW1 positioning control word 1 interconnection (r0108.4 = 1) . . . . . . . 2-1538
2464 POS_STW2 positioning control word 2 interconnection (r0108.4 = 1) . . . . . . . 2-1539
2466 POS_ZSW1 positioning status word 1 interconnection (r0108.4 = 1) . . . . . . . . 2-1540
2467 POS_ZSW2 positioning status word 2 interconnection (r0108.4 = 1) . . . . . . . . 2-1541
2468 IF1 receive telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . 2-1542
2470 IF1 send telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . . . 2-1543
2472 IF1 status words, free interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1544
2475 STW1 control word 1 interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . 2-1545
2476 SATZANW-Pos block selection interconnection (r0108.4 = 1) . . . . . . . . . . . . . 2-1546
2479 ZSW1 status word 1 interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . 2-1547
2480 MDI_MOD-MDI mode interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . 2-1548
Function diagrams
List of contents
2489 IF2 status words, free interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1553
2491 IF2 receive telegram, free interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1554
2493 IF2 send telegram, free interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1555
2495 CU_STW1 control word 1, Control Unit interconnection . . . . . . . . . . . . . . . . . . 2-1556
2496 CU_ZSW1 status word 1, Control Unit interconnection . . . . . . . . . . . . . . . . . . . 2-1557
2497 A_DIGITAL interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1558
2498 E_DIGITAL interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1559
2.9 Internal control/status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1560
2501 Control word, sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1561
2503 Status word, sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1562
2505 Control word, setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1563
2520 Control word, speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1564
2522 Status word, speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1565
2526 Status word, closed-loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1566
2530 Status word, current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1567
2534 Status word, monitoring functions 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1568
2546 Control word, faults/alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1571
2548 Status word, faults/alarms 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1572
2.10 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1573
2610 Sequencer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1574
2634 Missing enable signals, line contactor control, logic operation . . . . . . . . . . . . . 2-1575
2.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1576
2701 Basic brake control (r0108.14 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1577
2704 Extended brake control, zero-speed detection (r0108.14 = 1) . . . . . . . . . . . . . . 2-1578
2707 Extended brake control, open/close brake (r0108.14 = 1) . . . . . . . . . . . . . . . . . 2-1579
2711 Extended brake control, signal outputs (r0108.14 = 1) . . . . . . . . . . . . . . . . . . . 2-1580
2.12 Safety Integrated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1581
2800 Basic Functions, parameter manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1582
2802 Basic Functions, monitoring functions and faults/alarms . . . . . . . . . . . . . . . . . . 2-1583
2804 Basic Functions, status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1584
List of contents
Function diagrams
2810 Basic Functions, STO (Safe Torque Off)/SS1 (Safe Stop 1) . . . . . . . . . . . . . . . 2-1585
2814 Basic Functions, SBC (Safe Brake Control), SBA (Safe Brake Adapter) . . . . . 2-1586
2820 Extended Functions, SLS (Safely-Limited Speed) . . . . . . . . . . . . . . . . . . . . . . . 2-1587
2825 Extended Functions, SS1, SS2, SOS, internal STOP B, C, D, F . . . . . . . . . . . . 2-1588
2840 Extended Functions, control word and status word . . . . . . . . . . . . . . . . . . . . . . 2-1589
2846 Extended Functions, parameter manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1590
2847 Extended Functions, TM54F parameter manager . . . . . . . . . . . . . . . . . . . . . . . 2-1591
2848 Extended Functions, TM54F configuration, F-DI/F-DO test . . . . . . . . . . . . . . . . 2-1592
2850 Extended Functions, TM54F (F-DI 0 to F-DI 4) . . . . . . . . . . . . . . . . . . . . . . . . . 2-1593
2851 Extended Functions, TM54F (F-DI 5 to F-DI 9) . . . . . . . . . . . . . . . . . . . . . . . . . 2-1594
2853 Extended Functions, TM54F (F-DO 0 to F-DO 3, DI 20 to DI 23) . . . . . . . . . . . 2-1595
2855 Extended Functions, TM54F control interface . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1596
2856 Extended Functions, TM54F Safe State selection . . . . . . . . . . . . . . . . . . . . . . . 2-1597
2857 Extended Functions, TM54F assignment (F-DO 0 to F-DO 3) . . . . . . . . . . . . . 2-1598
2860 Extended Functions, SSM (Safe Speed Monitor) . . . . . . . . . . . . . . . . . . . . . . . 2-1599
2861 Extended Functions, SDI (Safe Direction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1600
2.13 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1601
3010 Fixed speed setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1602
3020 Motorized potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1603
3030 Main/supplementary setpoint, setpoint scaling, jogging . . . . . . . . . . . . . . . . . . . 2-1604
3040 Direction limitation and direction reversal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1605
3050 Skip frequency bands and speed limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1606
3060 Basic ramp-function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1607
3070 Extended ramp-function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1608
3080 Ramp-function generator selection, status word, tracking . . . . . . . . . . . . . . . . . 2-1609
3082 Extended Stop and Retract (ESR, r0108.9 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . 2-1610
3090 Dynamic Servo Control (DSC) linear and DSC Spline (r0108.6 = 1) . . . . . . . . . 2-1611
2.14 Setpoint channel not activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1612
3095 Generating the speed limits (r0108.8 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1613
2.15 Basic positioner (EPOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1614
3610 Jog mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1615
3612 Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal) . 2-1616
3614 Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) . . . . . . . . . . . . . . . . . 2-1617
3615 Traversing block mode, external block change (r0108.4 = 1) . . . . . . . . . . . . . . 2-1618
Function diagrams
List of contents
3616 Traversing block mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1619
3617 Travel to fixed stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1620
3618 Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1) . . . . . . . . . . . . . 2-1621
3620 Direct setpoint input/MDI mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1622
3625 Mode control (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1623
3630 Traversing range limits (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1624
3635 Interpolator (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1625
3640 Control word block selection/MDI selection (r0108.4 = 1) . . . . . . . . . . . . . . . . . 2-1626
3645 Status word 1 (r0108.3 = 1, r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1627
3646 Status word 2 (r0108.3 = 1, r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1628
3650 Status word, active traversing block/MDI active (r0108.4 = 1) . . . . . . . . . . . . . . 2-1629
2.16 Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1630
4010 Position actual value preprocessing (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . 2-1631
4015 Position controller (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1632
4020 Standstill/positioning monitoring (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1633
4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1) . . . . . . . . . . 2-1634
2.17 Encoder evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1635
4704 Position and temperature sensing, encoders 1 to 3 . . . . . . . . . . . . . . . . . . . . . . 2-1636
4710 Speed actual value and pole position sensing, motor encoder (encoder 1) . . . 2-1637
4711 Speed actual value sensing, encoders 2, 3 ((r0108.7 = 1, APC activated) . . . . 2-1638
4715 Speed actual value and pole position sensing, motor encoder ASM/SM
(encoder 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1639
4720 Encoder interface, receive signals, encoders 1 to 3 . . . . . . . . . . . . . . . . . . . . . 2-1640
4730 Encoder interface, send signals, encoders 1 to 3 . . . . . . . . . . . . . . . . . . . . . . . 2-1641
4735 Reference mark search with equivalent zero mark, encoders 1 to 3 . . . . . . . . . 2-1642
4740 Measuring probe evaluation, measured value memory, encoders 1 to 3 . . . . . 2-1643
2.18 Servo control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1644
5020 Speed setpoint filter and speed pre-control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1645
5030 Reference model/pre-control balancing/speed limitation . . . . . . . . . . . . . . . . . . 2-1646
5040 Speed controller with encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1647
5042 Speed controller, torque/speed pre-control with encoder (p1402.4 = 1) . . . . . . 2-1648
5050 Kp_n-/Tn_n adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1649
5060 Torque setpoint, control type changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1650
5210 Speed controller without encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1651
List of contents
Function diagrams
5300 U/f control for diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1652
5301 Signaling function variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1653
5490 Speed control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1654
5610 Torque limiting/reduction/interpolator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1655
5620 Motoring/generating torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1656
5630 Upper/lower torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1657
5640 Mode changeover, power/current limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1658
5650 Vdc_max controller and Vdc_min controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1659
5710 Current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1660
5714 Iq and Id controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1661
5722 Field current/flux input, flux reduction, flux controller . . . . . . . . . . . . . . . . . . . . . 2-1662
5730 Interface to the Motor Module (gating signals, current actual values) . . . . . . . . 2-1663
2.19 Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1664
6030 Speed setpoint, droop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1666
6031 Pre-control balancing, reference/acceleration model . . . . . . . . . . . . . . . . . . . . . 2-1667
6040 Speed controller with/without encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1668
6050 Kp_n-/Tn_n adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1669
6060 Torque setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1670
6300 U/f characteristic and voltage boost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1672
6310 Resonance damping and slip compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1673
6490 Speed control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1675
6491 Flux control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1676
6495 Excitation (FEM, p0300 = 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1677
6630 Upper/lower torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1678
6640 Current/power/torque limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1679
6710 Current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1680
6714 Iq and Id controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1681
6721 Id setpoint (PEM, p0300 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1682
6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) . . . . . . . . . . . . . . 2-1683
6723 Field weakening controller, flux controller (ASM, p0300 = 1) . . . . . . . . . . . . . . 2-1684
6724 Field weakening controller (PEM, p0300 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1685
6725 Flux setpoint, field weakening controller (FEM, p0300 = 5) . . . . . . . . . . . . . . . . 2-1686
6726 Field weakening controller, flux controller (FEM, p0300 = 5) . . . . . . . . . . . . . . . 2-1687
Function diagrams
List of contents
6727 Current model, excitation current monitoring, control cos phi (FEM, p0300 = 5) 2-1688
6730 Interface to the Motor Module (ASM, p0300 = 1) . . . . . . . . . . . . . . . . . . . . . . . . 2-1689
6731 Interface to the Motor Module (PEM, p0300 = 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-1690
6732 Interface to the Motor Module (FEM, p0300 = 5) . . . . . . . . . . . . . . . . . . . . . . . . 2-1691
6733 Motor model selection (FEM, p0300 = 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1692
6799 Display signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1693
2.20 Technology functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1694
7008 kT estimator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1695
7010 Friction characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1696
7012 Advanced Positioning Control (APC, r0108.7 = 1) . . . . . . . . . . . . . . . . . . . . . . . 2-1697
7014 External Armature Short-Circuit (EASC, p0300 = 2xx or 4xx) . . . . . . . . . . . . . . 2-1698
7016 Internal Armature Short-Circuit (IASC, p0300 = 2xx or 4xx) . . . . . . . . . . . . . . . 2-1699
7017 DC brake (p0300 = 1xx) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1700
7020 Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1701
2.21 Technology controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1702
7950 Fixed value selection binary (r0108.16 = 1 and p2216 = 2) . . . . . . . . . . . . . . . . 2-1703
7951 Fixed value selection direct (r0108.16 = 1 and p2216 = 1) . . . . . . . . . . . . . . . . 2-1704
7954 Motorized potentiometer (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1705
7958 Closed-loop control (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1706
7960 DC link voltage controller (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1707
2.22 Signals and monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1708
8010 Speed signals 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1709
8011 Speed signals 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1710
8012 Torque signals, motor locked/stalled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1711
8013 Load monitoring (r0108.17 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1712
8014 Thermal monitoring, power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1713
8016 Thermal monitoring, motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1714
8017 Thermal I2t motor model (PEM, p0300 = 2xx) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1715
8018 Separately excited synchronous motor (FEM, p0300 = 5) . . . . . . . . . . . . . . . . . 2-1716
2.23 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1717
8060 Fault buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1718
8065 Alarm buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1719
8070 Fault/alarm trigger word (r2129) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1720
List of contents
Function diagrams
8075 Fault/alarm configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1721
8134 Measuring sockets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1722
2.24 Data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1723
8560 Command Data Sets (CDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1724
8565 Drive Data Sets (DDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1725
8570 Encoder Data Sets (EDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1726
8575 Motor Data Sets (MDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1727
8580 Power unit Data Sets (PDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1728
2.25 Basic Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1729
8720 Control word, sequence control infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1730
8726 Status word, sequence control infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1731
8732 Sequencer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1732
8734 Missing enable signals, line contactor control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1733
8750 Interface to the Basic Infeed power unit (control signals, actual values) . . . . . . 2-1734
8760 Signals and monitoring functions (p3400.0 = 0) . . . . . . . . . . . . . . . . . . . . . . . . 2-1735
2.26 Smart Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1736
8828 Status word, infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1739
8832 Sequencer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1740
8850 Interface to the Smart Infeed (control signals, actual values) . . . . . . . . . . . . . . 2-1742
8860 Signals and monitoring functions, line supply voltage monitoring . . . . . . . . . . . 2-1743
8864 Signals and monitoring functions, line frequency and Vdc monitoring . . . . . . . . 2-1744
2.27 Active Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1745
8928 Status word, infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1748
8932 Sequencer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1749
8940 Controller modulation depth reserve / controller DC link voltage (p3400.0 = 0) 2-1751
8946 Current pre-control / current controller / gating unit (p3400.0 = 0) . . . . . . . . . . . 2-1752
8948 Master/slave (r0108.19 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1753
Function diagrams
List of contents
8950 Interface to the Active Infeed, control signals, actual values (p3400.0 = 0) . . . . 2-1754
8960 Signals and monitoring functions, line supply voltage monitoring (p3400.0 = 0) 2-1755
8964 Signals and monitoring functions, line frequency/Vdc monit. (p3400.0 = 0) . . . 2-1756
2.28 Terminal Board 30 (TB30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1757
9100 Digital inputs, electrically isolated (DI 0 to DI 3) . . . . . . . . . . . . . . . . . . . . . . . . . 2-1758
9102 Digital outputs, electrically isolated (DO 0 to DO 3) . . . . . . . . . . . . . . . . . . . . . . 2-1759
9104 Analog inputs (AI 0 to AI 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1760
9106 Analog outputs (AO 0 to AO 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1761
2.29 Communication Board CAN10 (CBC10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1762
9204 Receive telegram, free PDO mapping (p8744 = 2) . . . . . . . . . . . . . . . . . . . . . . 2-1763
9206 Receive telegram, Predefined Connection Set (p8744 = 1) . . . . . . . . . . . . . . . 2-1764
9208 Send telegram, free PDO mapping (p8744 = 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-1765
9210 Send telegram, Predefined Connection Set (p8744 = 1) . . . . . . . . . . . . . . . . . . 2-1766
9220 Control word, CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1767
9226 Status word, CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1768
2.30 Terminal Module 15 for SINAMICS (TM15DI/DO) . . . . . . . . . . . . . . . . . . . . . . 2-1769
9401 Digital inputs/outputs, bidirectional (DI/DO 8 to DI/DO 15) . . . . . . . . . . . . . . . . 2-1771
2.31 Terminal Module 31 (TM31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1773
9556 Digital relay outputs, electrically isolated (DO 0 to DO 1) . . . . . . . . . . . . . . . . . 2-1776
9566 Analog input 0 (AI 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1779
9568 Analog input 1 (AI 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1780
9572 Analog outputs (AO 0 to AO 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1781
9576 Temperature evaluation (KTY/PTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1782
9577 Sensor monitoring (KTY/PTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1783
List of contents
Function diagrams
2.32 Terminal Module 120 (TM120) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1784
9605 Temperature evaluation channel 1 and 2 (KTY/PTC) . . . . . . . . . . . . . . . . . . . . 2-1785
9606 Temperature evaluation channel 3 and 4 (KTY/PTC) . . . . . . . . . . . . . . . . . . . . 2-1786
9607 Sensor monitoring (KTY/PTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1787
2.33 Terminal Module 41 (TM41) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1788
9663 Analog input (AI 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1792
9674 Incremental encoder emulation (p4400 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1793
9676 Incremental encoder emulation (p4400 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1794
9678 Control word, sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1796
9680 Status word, sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1798
9682 Sequencer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1800
2.34 Auxiliaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1802
9794 Cooling unit, control and feedback signals (r0108.28 = 1) . . . . . . . . . . . . . . . . . 2-1803
9795 Cooling unit, sequence control (r0108.28 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1804
2.35 Voltage Sensing Module (VSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1805
9880 Analog inputs (AI 0 to AI 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1806
9886 Temperature evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1807
9887 Sensor monitoring KTY/PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1808
2.36 Basic Operator Panel 20 (BOP20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1809
9912 Control word interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1810
2.37 Braking Module External . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1811
9951 Sequencer (r0108.26 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1812
Function diagrams
Explanations on the function diagrams
2.2 Explanations on the function diagrams
Function diagrams
1020 Explanation of the symbols (Part 1) 2-1453
1030 Handling BICO technology 2-1456
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- 1020 -
Function diagram
8 7 6 5 4 3 2 1
fp_1020_51_eng.vsd DO: All objects
SINAMICS 10.08.10 V04.04.00 Explanations for the function diagrams - Explanation of the symbols (Part 1)
Data sets
Parameter belongs to the
Command Data Set (CDS).
Drive Data Set (DDS).
Encoder Data Set (EDS).
Motor Data Set (MDS).
Power unit Data Set (PDS).
Parameter name
[Unit]
rxxxx[y] or
rxxxx[y...z] or
rxxxx[y].ww or
rxxxx.ww
pxxxx[y] or
pxxxx[y...z] or
pxxxx[y].ww or
pxxxx.ww
from ... to
(xxxx[y].ww)
(Def)
(Def.w)
Information on parameters, binectors, connectors
Parameter name (up to 18 characters)
[dimension unit] rotatry axis, for linear axis see list of parameters
"r" = monitoring parameter. These parameters are read-only
"xxxx" stands for the parameter number
"[y]" specifies the valid index, "[y...z]" specifies the applicable index range
".ww" specifies the bit number (e.g. 0...15).
"p" = setting parameter. These parameters can be changed.
"xxxx" stands for the parameter number,
"[y]" specifies the applicable index, "[y...z]" specifies the applicable index range
".ww" specifies the bit number (e.g. 0...15).
Value range.
Parameter number (xxxx) with Index number [y] and bit number .ww.
Factory setting.
Factory setting with bit number as prefix.
Diagram references for setting parameters that occur a multiple number of times.
[Function diagram number, signal path]
Text = Unique signal designation
aaaa = Signal goes to target diagram aaaa
b = Signal goes to signal path b
Text = Unique signal designation
cccc = Signal comes from source diagram cccc
d = Signal comes from signal path d
Meaning Symbol
Meaning Symbol
Parameter
Monitoring parameter
(parameter may appear .
Monitoring parameter
with index.
Setting parameter
(if the parameter appears
a multiple number of times,
then diagram references
are specified).
Setting parameter with
index (if the parameter
appears a multiple number
of times, then diagram
references are specified).
Meaning Symbol
The function diagrams are sub-divided
into 8 signal paths in order to facilitate
orientation.
pxxxx= Original parameter of signal
aaaa = Signal comes from source diagram aaaa
b = Signal comes from signal path b
[aaaa.b]
Parameter name [Unit]
rxxxx [x...y]
Parameter name [Unit]
Index name
rxxxx[x]
[aaaa.b]
Parameter name
from ... to [Unit]
pxxxx[y...z] (Def)
[aaaa.b]
Parameter name
Index name
from ... to [Unit]
pxxxx[y] (Def)
pxxxx[P]
pxxxx[M]
pxxxx[E]
pxxxx[D]
pxxxx[C]
PROFIdrive sampling time
name
(xxxx [y])
pxxxx[y...z]
name
(xxxx [x])
pxxxx[y]
rxxxx[y...z]
name [unit]
rxxxx[y]
name [unit]
(Def)
name
pxxxx[y...z]
(Def)
name
pxxxx[y]
name
rxxxx
name
rxxxx.y
(Def)
name
pxxxx
name
(xxxx)
pxxxx Binektor input BI with
factory setting (Def).
Connectors
Connector input CI with index
range [y...z]
Connector input CI.
Connector output CO with [dimension
unit] and index range [y...z].
Connector output CO
[dimension unit] and with index [y]
Meaning Symbol
Connector input CI with index [y]
Binector output BO with
bit y.
Binector output BO.
Binector input BI with
index [y] and factory
setting (Def).
Binector input BI with
index range [y...z] and
factory setting (Def).
Binectors
Symbol Meaning
Connectors/binectors
Parameter name
rxxxx
rxxxx
Konnektor-/Binektorausgang CO/BO
Symbol Meaning
Cross references between diagrams
[aaaa.b]
[cccc.d]
Text
Text
Symbol Meaning
Sampling times
Setting parameter with factory setting to
select the time slice.
Symbol Meaning
Presetting for IF1 in p2048.
Presetting for IF2 in p8848.
The bus clock applies to a clock
synchronized operate to IF1 or IF2.
A static state is displayed here. The
sampling time data is not relevant.
There is no fixed sampling time for this
function. The processing takes place in
background. The cycle time depends on
the computational load of the control unit.
Time slice depending on the rated pulse
frequency of the motor module.
"[y]" specifies the applicable index.
Time slice depending on the pre-setting
p0112 of the drive object.
"[y]" specifies the applicable index.
Symbol
[aaaa.b]
pxxxx
Meaning
p0115[y] (Drive Object)
p0115[y] (Motor Modules)
Background
pxxxx[Y] (ZZZ.ZZ s)
Presetting in p8848.
8 1
Signal path 1 Signal path 8
CAN bus sampling time
Not relevant
Cross references for control bits
To "function diagram name" [aaaa.b] = for binectors.
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- 1021 -
Function diagram
8 7 6 5 4 3 2 1
Symbols for logic functions Pre-assigned binectors and connectors
Logical inversion
AND element
with logical inversion
of an input signal
Symbols for computational and closed-loop
control functions
Sign reversal
y = -x
Absolute value generator
y = |x|
Divider
y =
2
1
x
x
Comparator
Output y = a logical "1", if the analog
signal x > 0, i.e. is positive.
Threshold value switch 1/0
Outputs at y a logical "1" if x < S.
Simple changeover switch
The switch position is shown according to
the factory setting
(in this case, switch position 1 in the
default state on delivery).
Limiter
x is limited to the upper limit LU and the lower
limit LL and output at y.
The digital signals MLU and MLL have the
value "1", if the upper or lower limit is active.
1
&
R/S flip-flop
S = setting input
R = reset input
Q = non-inverted output
= inverted output
Q
x y
x y
>0
-1
x y
x2
x1
y
S Q
R Q
p2900[D]
Fixed value 1
p2901[D]
Fixed value 2
-10 000.00...10 000.00 [%]
p2900[D] (0.00)
-10 000.00...10 000.00 [%]
p2901[D] (0.00)
Fixed percentage values
S
y
x
1
0
Threshold value switch 0/1
Outputs at y a logical "1" if x > S.
0
1
y
x
S
Symbols for computational and
closed-loop control functions
Differentiator
y =
dt
dx
Sample & Hold element
Sample and hold element.
y = x if SET = 1
(not retentively saved at POWER OFF)
1
0
pxxxx
LU
LL MLL
MLU
x y
Fixed speed values
-210 000.000...210 000.000 [1/min]
p1001[D] (0.000)
p1001[D]
n_set_fixed 1
-210 000.000...210 000.000 [1/min]
p1015[D] (0.000)
p1015[D]
n_set_fixed 15
Fixed torque values
-100 000.00...100 000.00 [Nm]
p2930[D] (0.00)
p2930[D]
Fixed value M [Nm]
dx
dt
x
y
Pre-assigned binectors and connectors
Pre-assigned binectors and connectors
Switch symbol
Threshold value 1/0 with
hysteresis
Outputs a logical "1" at y if x < S.
If x >= S + H then y returns to 0.
0
1
S
H
y
x
Threshold value 0/1 with
hysteresis
Outputs a logical "1" at y if x > S.
If x <= S - H then y returns to 0.
0
1
H
S
y
x
p2902[0...14]
p2902[0...14] (0.00)
SET
S & H
x y
Monitoring
Axxxxx
or
Fxxxxx
Symbol for monitoring
Monitoring
In the bottom right-hand corner of
the diagram.
Exclusiv-OR/XOR
y = 1 when x1 x2 is.
=1
x1
y
x2
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- 1022 -
Function diagram
8 7 6 5 4 3 2 1
Switch-on delay
T 0
x y
pxxxx
The digital signal x must have the value "1" without any interruption
during the time T before output y changes to "1".
PT1 element PT2 low pass
0 T
Switch-off delay
x y
pxxxx
The digital signal x must have the value "0" without interruption during
the time T before output y changes to "0".
Delay (switch-on and switch-off)
T1 T2
T 0
pxxxx
0 T
pxxxx
x y
x y
The digital signal x must have the value "1" without interruption during
time T1 or must have the value "0" during time T2 before output y
changes its signal state.
x y
T1 T2
x y
pxxxx pxxxx
pxxxx pxxxx
x
T T T T
y
T T
x
y
x
T T
y
T1 T1 T2 T2
y x
H(s) =
s
2 fn_z 2 fn_z
s +
+
s
2 fn_n
.
.
2 fn_n
D_n
s
+
+
1
1
2
.
D_z 2
.
2
2
|y|
f
2nd Order Filter
fs
f_B
t
y
pxxxx
y
x1
I
x2
1
y x
f
|y|
fn
D
Mot U_rated p0304
U_output max r0071
Linear
p0310
Parabolic
U_output max r0071
p0310
Mot U_rated p0304
H(s) =
+
s
2 fn_n
.
2 fn_n
D_n
s + 1
2
. 2
Flux current control (FCC)
Dependent on the load current
Mot U_rated p0304
U_output max r0071
Mot f_rated
p0310
f_set
f_set
f_set
U_boost total r1315
U_boost total r1315
U_boost total r1315
Analog adder can be activated
The following applies to I = 1 signal: y = x1 + x2
The following applies to I = 0 signal: y = x1
Delay element, first order.
pxxxx = time constant
Natural frequency, numerator
fn_z
pxxxx
Damping, numerator
D_z
pxxxx
Natural frequency, denominator
fn_n
pxxxx
Damping, denominator
D_n
pxxxx
Used as bandstop filter - center frequency fs: fn_z = fs
fn_n = fs
- bandwidth f_B: D_z = 0
D_n =
f_B
fs 2
.
Transfer function when used as general filter
Transfer function
2nd-order filter (bandstop/general filter)
Natural frequency, denominator
fn_n
pxxxx
Damping, denominator
D_n
pxxxx
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- 1030 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 19.01.09 V04.04.00 Explanations for the function diagrams - Handling BICO technology
Handling BICO technology
r0723.15
r0723 Connector:
Binector:
Binectors are binary signals that can be freely interconnected (BO = Binector Output).
They represent a bit of a "BO:" display parameter (e.g. bit 15 from r0723).
Connectors are "analog signals" that can be freely interconnected (e.g. percentage variables, speeds or torques).
Connectors are also "CO:" display parameters (CO = Connector Output).
At the signal destination, the required binector or connector is selected using appropriate parameters:
"BI:" parameter for binectors (BI = Binector Input)
or
"CI:" parameter for connectors (CI = Connector Input)
Parameterization:
Example:
r0722.0
1
2
722.0
p1055 [C]
X122.1
r0967.8
[2120] [2501]
[3020]
Motorized potentiometer
Raise
Lower
r1050
Parameterizing steps:
Main setpoint
1050
p1070[C]
[3030]
Jog setpoint 1
2
1 p1055[0] = 722.0
p1070[0] = 1050
Terminal X122.1 acts as "Jog bit 0".
The output of the motorized potentiometer acts as main setpoint for the speed controller.
Setpoint channel Control bit 8
Digital input
DI 0
Speed controller
The main setpoint for the speed controller (CI: p1070) should be received from the output of the motorized potentiometer (CO: r1050) and
the "jog" command (BI: p1055) from digital input DI 0 (BO: r0722.0, X122.1 terminal) on the CU320.
Overviews
Function diagrams
2.3 Overviews
Function diagrams
1508 CU310-2 input/output terminals 2-1458
1510 CU320-2 input/output terminals 2-1459
1512 CX32-2 input/output terminals 2-1460
1520 PROFIdrive 2-1461
1530 Internal control/status words, data sets 2-1462
1550 Setpoint channel 2-1463
1580 Servo control, encoder evaluations (position, speed, temperature) 2-1464
1590 Servo control, speed control and U/f control 2-1465
1610 Servo control, generation of the torque limits 2-1466
1630 Servo control, current control 2-1467
1680 Vector control, encoder evaluations (position, speed, temperature) 2-1468
1690 Vector control, U/f control 2-1469
1700 Vector control, speed control and generation of the torque limits 2-1470
1710 Vector control, current control 2-1471
1750 Monitoring functions, faults, alarms 2-1472
1773 Basic Infeed 2-1473
1774 Active Infeed 2-1474
1775 Smart Infeed 2-1475
1780 Terminal Module 15 (TM15) 2-1476
1781 Terminal Module 15 for SINAMICS (TM15DI/DO) 2-1477
1782 Terminal Module 17 High Feature (TM17 High Feature) 2-1478
1790 Terminal Board 30 (TB30) 2-1479
1850 Terminal Module 54F (TM54F) 2-1482
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- 1508 -
Function diagram
8 7 6 5 4 3 2 1
fp_1508_51_eng.vsd DO: CU310-2
SINAMICS 03.12.10 V04.04.00 Overviews CU310-2 input/output terminals
<1> Fast measuring probe inputs.
<2> Jumper open, electrical isolation for DI
0...3.
<3> Digital Inputs DI 0...3, 8...11, 16...22
4000.00 s
1
2
3
4
5
6
X130
DI 22+
DI 22-
M 1
M
F-M
F-P24
7
2 digital input / digital output bidirectional
1 digital output DO 16
1
0
1
0
p0738
r0722.8 r0723.8
p0728.8
p0728.11
p0741
r0722.11 r0723.11
[2032]
...
...
...
...
...
[2020]
CU310-2
1
2
3
4
5
6
X120
+Temp
-Temp
DI 16
DI 17+
DI 17-
DI 18
7
8
9
10
11
12
DI 19+
DI 19-
DI 20
DI 21+
DI 21-
F-M
1 r0723.16
[2021]
r0722.16
... ...
6 digital input electrically isolated
8
[2030]
[2031]
1
2
3
4
5
6
X131
DI/DO 12
DI/DO 13
M
DI/DO 14
DI/DO 15
M
7
AI+
AI-
1
0
1
0
p0738
r0722.12 r0723.12
p0728.12
p0728.15
p0741
r0722.15 r0723.15
...
...
...
...
...
<2>
1
2
3
4
5
6
X121
DI 0
DI 1
DI 2
DI 3
M1
M
7
8
9
10
11
12
DI/DO 8
DI/DO 9
M
DI/DO 10
DI/DO 11
M
+ 24 V
M
M
=
~
+ M
+24 V DC to
the next device
X124
M
+
M
+
Simulation for DI 0...DI 22
1
0
1 = Simulation on
p0795.0...22
Simulation
p0796.0...22
r0722.0...22
r0721.0...22
1 r0723.0...22
1
1
1
1
1 analog input
r0722.0 r0723.0
r0722.3 r0723.3
... ...
1
1
4 digital inputs, electrically isolated
[2031]
[2030]
[2033]
A
D
r0755[0]
[%]
[2040]
p0746
1 r0722.18 r0723.20
<1>
<1>
<1>
8
[2020] 1 digital input electrically isolated DI 22
1 r0723.21 r0722.21
2 digital inputs / Digital output bidirektional
DO 16+
DO 16-
[2038]
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- 1510 -
Function diagram
8 7 6 5 4 3 2 1
fp_1510_51_eng.vsd DO: CU_G, CU_GL, CU_GM, CU_S, CU_SL, CU_SM2
SINAMICS 03.12.10 V04.04.00 Overviews - CU320-2 input/output terminals
<1> For SERVO and VECTOR (except for G130/G150), the following applies:
Can be used as fast measuring probe inputs (refer to [4735], [4740]).
<2> Jumper open, electrical isolation for DI 0 DI 7, DI 16, DI 17, DI 20, DI 21.
4 digital inputs/outputs, bidirectional
1 r0722.4 r0723.4
1 r0722.21 r0723.21
1
0
1
0
p0742
1 r0722.12 r0723.12
p0728.12
p0728.15
p0745
1 r0722.15 r0723.15
[2132]
[2133]
...
...
...
...
...
...
...
[2121]
CU320-2
1
0
1 = Simulation on
p0795.0...21
Simulation signals
p0796.0...21
r0722.0...21
r0721.0...21
1 r0723.0...21
+24 V
M
M
=
~
+ M
24 V DC to the
next device
X124
M
+
M
+
DI 4
DI 5
DI 6
DI 7
M2
M
DI/DO 12 <1>
DI/DO 13 <1>
M
DI/DO 14 <1>
DI/DO 15 <1>
M
<2>
1
2
3
4
5
6
X132
7
8
9
10
11
12
14
13
DI 20
DI 21
1 r0722.20 r0723.20
1 r0722.7 r0723.7
p0799 (4000.00 s)
4 digital inputs/outputs, bidirectional
[2120]
DI 0
DI 1
DI 2
DI 3
M1
M
DI/DO 8 <1>
DI/DO 9 <1>
M
DI/DO 10 <1>
DI/DO 11 <1>
M
<2>
1
2
3
4
5
6
X122
7
8
9
10
11
12
14
13
DI 16
DI 17
1 r0722.0 r0723.0
1 r0722.17 r0723.17
... ...
1 r0722.16 r0723.16
1 r0722.3 r0723.3
1
0
1
0
p0738
1 r0722.8 r0723.8
p0728.8
p0728.11
p0741
1 r0722.11 r0723.11
[2131]
...
...
...
...
...
[2130]
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- 1512 -
Function diagram
8 7 6 5 4 3 2 1
DO: CX32
SINAMICS 23.06.09 V04.04.00 Overviews - CX32-2 input/output terminals
=
~
+24 V
+
M
M
M
1
0
1
0
p0738
1 r0722.8 r0723.8
p0728.8
p0728.11
p0741
1 r0722.11 r0723.11
6 electrically isolated digital inputs
4 bidirectional digital inputs/outputs
...
...
...
...
+24 V DC
to the next unit
X124
M
M
+
+
...
CX32-2
<1> For SERVO drive object, the following applies:
Fast measuring probe inputs.
<2> Jumper open, electrical isolation for DI 0...3.
<3> Can only be used in conjunction with drive object CU_I
(e.g. SIMOTION D).
1
0
1 = simulation on
p0795.0...11
Simulation signals
p0796.0...11
r0722.0...11
r0721.0...11
1 r0723.0...11
[2230]
[2220]
<3>
fp_1512_51_eng.vsd
p0799 (4000.00 s)
1 r0722.0 r0723.0
1 r0722.17 r0723.17
... ...
1 r0722.16 r0723.16
1 r0722.3 r0723.3
DI 0
DI 1
DI 2
DI 3
M1
M
DI/DO 8 <1>
DI/DO 9 <1>
M
DI/DO 10 <1>
DI/DO 11 <1>
M
<2>
1
2
3
4
5
6
X122
7
8
9
10
11
12
14
13
DI 16
DI 17
[2231]
O
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d
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2
-
1
4
6
1

S
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m
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s

A
G

2
0
1
1

A
l
l

R
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h
t
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R
e
s
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v
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d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
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t
M
a
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u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
1
5
2
0

P
R
O
F
I
d
r
i
v
e
- 1520 -
Function diagram
8 7 6 5 4 3 2 1
DO: All objects
S120/S150/G130/G150 20.07.10 V04.04.00 Overviews - PROFIdrive
Interconnecting the free receive telegram
. .
.
[2468] [2481]
[2470] [2472] [2483]
Interconnecting the free send telegram
Interconnecting the permanently assigned receive telegrams.
Signal Description Interconnection
[2439] ... [2447] [2495] [2497]
Interconnecting the permanently assigned send telegrams
Signal Description Interconnection
[2449] ... [2457] [2496] [2498]
Drive
n
Receive telegram
PROFIdrive
Send telegram
Drive
n
Permanently assigned telegrams
... ... ...
... ... ...
... ... ...
... ... ...
...
PZD3
PZD2
PZD1
...
PZD3
PZD1
PZD2
Free telegram
fp_1520_54_eng.vsd
Monitoring
Diagnostics
[2410] PROFIBUS (PB) / PROFINET (PN) address and diagnostics
PB adress
p0918
Axxxxx
Fxxxxx
rxxxx
LED
[2420] Standard telegrams and process data
Signal assignment
Signal x
Telegram 1, 2 ...... 83
PD Telegr_sel
p0922
PZD1
PZD32
Signal assignment
Signal x
Telegram 102 ...... 118
PD Telegr_sel
p0922
PZD1
PZD32
[2423] Manufacturer-specific telegrams and process data 2
Signal assignment
Signal x
Telegram 125 ...... 352
PD Telegr_sel
p0922
PZD1
PZD32
[2424] Manufacturer-specific/free telegrams and process data
Signal assignment
Signal x
Telegram 370 .... 392; 999
PD Telegr_sel
p0922
PZD1
PZD32 999
[2422] Manufacturer-specific telegrams and process data 1
F
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2
-
1
4
6
2

S
i
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m
e
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s

A
G

2
0
1
1

A
l
l

R
i
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h
t
s

R
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s
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r
v
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d
S
I
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A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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u
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
9
1
5
3
0

I
n
t
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r
n
a
l

c
o
n
t
r
o
l
/
s
t
a
t
u
s

w
o
r
d
s
,

d
a
t
a

s
e
t
s
- 1530 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 06.03.07 V04.04.00 Overviews - Internal control/status words, data sets
0
15
[2502]
STW3
Sequence control
0
15
[2501]
STW
sequence control
ZSW
sequence control
Setpoint channel
0
15
[2505]
STW
setpoint channel
0
15
[2522]
Speed controller
0
15
[2520]
STW
n-controller
ZSW
n-controller
0
15
[2536]
Monitoring functions
0
15
[2534]
ZSW Monitoring
functions 1
ZSW Monitoring
functions 2
0
15
[2537]
ZSW Monitoring
functions 3
0
15
[2548]
ZSW
Faults/alarms 1
Faults/alarms
0
15
[2546]
STW
Faults/alarms
0
15
[2548]
ZSW
Faults/alarms 2
r1407
r1406
r1198
r0899
r0898
r2197
r2198
r2199
r2138
r2135
r2139
CDS - Command Data Sets
0
31
[8560]
STW
CDS selection
r0836
DDS - Drive Data Sets
0
31
[8565]
STW
DDS selection
r0837
MDS - Motor Data Sets
0
15
[8575]
STW
MDS selection
r0838[0]
EDS - Encoder Data Sets
0
2
[8570]
STW
EDS selection
r0838[1...3]
PDS - Power unit Data Sets
0
15
[8580]
STW
PDS selection
0
15
[2526]
ZSW
controller
r0056
Closed-loop control
0
15
[2530]
ZSW
Current control
r1408
Current control
O
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d
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2
-
1
4
6
3

S
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m
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s

A
G

2
0
1
1

A
l
l

R
i
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h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
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t
M
a
n
u
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
1
0
1
5
5
0

S
e
t
p
o
i
n
t

c
h
a
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n
e
l
- 1550 -
Function diagram
8 7 6 5 4 3 2 1
fp_1550_51_eng.vsd DO: SERVO, VECTOR, VECTORGL, VECTORMV, VECTORSL
SINAMICS 03.12.10 V04.04.00 Overviews - Setpoint channel
<1> Only for SERVO
[3010] Fixed speed setpoints
r1050
r1024
Suppl setpoint
Main setp scal
p1075
+
+
[3030] Main/supplementary setpoint, setpoint scaling,
jogging
[3040] Direction limitation/-reversal
RFG setpoint
at the input
+ / -
Setpt after limit
n_set_5
n_set_4
[3070] Expanded ramp-function
generator
[3060] Basic ramp-function
generator
Simulate ramp-function generator
r1119
p1076
p1071
p1070
r1114
pos
neg
(-1)
[3020] Motorized potentiometer
raise
lower
n_set_1
[3090] Dynamic Servo Control (DSC) linear and DSC spline (r0108.6 = 1).
p1190
p1191
+
+
DSC_XERR
x_act
+
Kp
NSOLL_B
DSC KPC
n_set from DSC
[5020.1]
[5030.1]
DSC position
controller
Interpolator
Deadtime element
from
PROFIdrive
Jog 2
r0898.9
Jog 1
r0898.8
Jog setpoint 1
p1058
Jog setpoint 2
p1059
t
x,y x
y
p0115[3]
<1>
Main setp scal
Suppl setp scal
n_act
Ramp-function
generator
tracking
+
M_limit
ZSW
p1160
r1170
n_ctrl setp sum
1
0
r1199
+
+
RFG selection
p1115
r1438
p1155
+
[1590.1]
[1700.1]
r1150
RFG n_set at outp
p0115[1]
p1430
Balancing
Spline-Interpolation
p1194
p1195
DSC T_SYMM
DSC_STW
[5060.1]
n_pre_control
[5030.1]
[5020.1]
+
x a ' u 2
x a ' u 2
Dynamic
setpoint limit
[3050] Skip (suppression) bandwidth
and speed limiting
[3080] Ramp-function generator selection,
status word, tracking
0 0
0 1
1 0
1 1
F
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O
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s
2
-
1
4
6
4

S
i
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m
e
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s

A
G

2
0
1
1

A
l
l

R
i
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t
s

R
e
s
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r
v
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d
S
I
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A
M
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S
S
1
2
0
/
S
1
5
0

L
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M
a
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
1
1
1
5
8
0

S
e
r
v
o

c
o
n
t
r
o
l
,

e
n
c
o
d
e
r

e
v
a
l
u
a
t
i
o
n
s

(
p
o
s
i
t
i
o
n
,

s
p
e
e
d
,

t
e
m
p
e
r
a
t
u
r
e
)
- 1580 -
Function diagram
8 7 6 5 4 3 2 1
fp_1580_55_eng.vsd DO: SERVO
SINAMICS S120/S150 09.02.10 V04.04.00 Overviews - Servo control, encoder evaluations (position, speed, temperature)
[4720]
[4730]
[4704]
[8570] [4740]
r0483[n-1]
Position actual
value 1
r0483[n-1]
Position actual
value 2
Position sensing for encoders (1 ... 3)
Measuring probe evaluation for encoders (1 ... 3)
Status word Gn_ZSW for encoders (1 ... 3)
Control word Gn_STW for encoders (1 ... 3)
EDS Encoder Data Sets
Measuring probe
signals
from the "fast"
digital inputs
[2130...2133]
p0480[n-1] r0487[n-1]
r0487[n-1]
0
1
15
0
1
15
DI 9
DI 10
DI 11
DI 13
DI 14
DI 15
4 measured value
memory for XIST2
X_IST
Control
SET
SET
SET
SET
Measuring probe position
from the measured
value memory
Sequence
control
for Gn_XIST2
EDS[0]
EDS[1]
EDS[2]
3 encoder
data sets
No encoder
Parameters,
encoder 1
Parameters,
encoder 2
Parameters,
encoder 3
p0400...p4025
p0187...p0189
SMx
~
x2n
x2n
III
p0418 p0410.1
31 0 n
Fine resolution
x absolute
Error
Reference mark position
Gn_XIST2
Gn_XIST1
Temp.
Fault/
alarm messages
F31100-A33904
0
1
2
99
2 from 6 selection
Encoders (1 ... 3)
p0400...
Fine resolution
-
+
Position counter
p0419
from sensor n
[4710]
III
r0094
Transformat_angle
r0061[0]
n_act encoder 1
r0063
n_act smooth
n_act calculation
x2
n
Rotor position sensing
p1441
n_act_measurement
Fine
resolution
100 ms
0
1
p0432
p0433
p0410.0 p1821
Inverting
Speed actual value and rotor position sensing for motor encoder (encoder 1)
Encoderless (sensorless) closed-loop control
r0021
n_act smooth
O
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2
-
1
4
6
5

S
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m
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s

A
G

2
0
1
1

A
l
l

R
i
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h
t
s

R
e
s
e
r
v
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d
S
I
N
A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
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t
M
a
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u
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
1
5
9
0

S
e
r
v
o

c
o
n
t
r
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l
,

s
p
e
e
d

c
o
n
t
r
o
l

a
n
d

U
/
f

c
o
n
t
r
o
l
- 1590 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 14.04.08 V04.04.00 Overviews - Servo control, speed control and V/f control
Closed-loop speed control, servo with encoder
[5020] Speed setpoint filter
and speed pre-control
[5030] Speed limiting
[5040] Speed controller
Reference
model
Pre-control
symmetriz-
ation
Kp
Tn
Integrator
Control
Kp adaptation Tn adaptation
r1480
n_ctrl
PI-M_output r1170
n_ctrl setp sum
[5300] V/f open-loop control for diagnostics
[5210] Closed-loop speed control, servo with encoder
Speed actual value sensing r1480
n_ctrl
PI-M_output
[4710]
n_pre-ctrl_1
(0)
p1430
r0063
n_act smooth
Actual speed
value
n_act measured
n_act calculated
[5060] Setpoint input, changeover of the closed-loop control type
[5050] Kp_n and Tp_n adaptation
Generating the
torque limits
[5620]...[5650]
1538
1539
1
0
Sampling times:
p1300
Ramp-function generator
n_act > p1404
r1438
r0062
n_set after
filter
n_pre-ctrl_2
n
f
U
f
p1400
. . .
r1407
. . .
Acceleration
model
Torque
setpoint
Torque
pre-control
r1509
M_set before
M_limit
[5610] Torque limiting
M_set_6
[1630.1]
[5730.1]
Uq
Adaptation
Closed-loop
speed control
Closed-loop
current control
p0115[0] (125.00 s)
p0115[1] (125.00 s)
1000.00 s
[1550.8]
[5040.8]
[5210.7]
r0062
n_set after filter
r1438
n_ctrl n_set
[2522] Status word,
speed controller
r0056
. . .
[2526] Status word,
closed-loop control
[5490] Closed-loop speed
control, configuration
0
[5714.8]
[5714.8] Ud_set_3
1
0
1
p1317
r1733
U_quadrature
axis_set
r1732
U_direct axis_set
Ud
20
21
F
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O
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2
-
1
4
6
6

S
i
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m
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s

A
G

2
0
1
1

A
l
l

R
i
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h
t
s

R
e
s
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r
v
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d
S
I
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A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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u
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
1
6
1
0

S
e
r
v
o

c
o
n
t
r
o
l
,

g
e
n
e
r
a
t
i
o
n

o
f

t
h
e

t
o
r
q
u
e

l
i
m
i
t
s
- 1610 -
8 7 6 5 4 3 2 1
DO: SERVO
SINAMICS S120 14.04.08 V04.04.00 Overviews - Servo control, generation of the torque limits
The 4 quadrants
Torque limit input
p1522
p1528
p1523
p1529
M_max_upper/mot
Torque limits
upper/lower
M_max_lower/gen
p1522
p1528
p1523
p1529
Torque limits
motoring/
regenerating
r1534
r1535
r1534
r1535
r1538
M_max
upper effective
r1539
M_max
lower effective
[5620] Motoring/generating
torque limit
[5630] Upper/lower torque
limit
1
0
1
0
Power limits
motoring
Power limits generating
[Nm]
[Nm]
[Nm]
[Nm] Iq_min_1 [A]
Iq_max_1 [A]
[5640] Mode changeover,
power/current limiting
[5650] Vdc_max controller
and Vdc_min
controller
Mode torque limiting
p1400.4 [5490.7]
[5060]
[5610]
[5714]
[7010]
[8012]
From the
closed-
loop
current
control
M
n
3 4
M
n
2 1
M
n
1
3
M
n
2
4
M
n
3 4
M
n
2 1
+
+
Reverse,
generating
Forwards,
generating
Forwards,
motoring
reverse,
motoring
2 1
M
n
3 4
Compatible to
MASTERDRIVES and
MICROMASTER
Compatible to
SIMODRIVE
Stall power P_stall
Torque factor M2Iq
Maximum torque-generating current Iq_max total
[5730]
[5730]
[5722]
1000.00 s
p0115[1] (125.00 s)
For synchronous motor
For induction motor
M_max_upper/mot scal
M_max_lower/gen scal
M_max_upper/mot
M_max_upper/mot scal
M_max_lower/gen
M_max_lower/gen scal
M_max_upper/mot tot
M_max_lower/gen tot
M_max_upper/mot tot
M_max_lower/gen tot
Function diagram fp_1610_01_eng.vsd
[3616.7]
[3616.7]
[3616.7]
[3616.7]
O
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2
-
1
4
6
7

S
i
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s

A
G

2
0
1
1

A
l
l

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s

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e
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v
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S
I
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A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
4
1
6
3
0

S
e
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v
o

c
o
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t
r
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l
,

c
u
r
r
e
n
t

c
o
n
t
r
o
l
- 1630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 14.04.08 V04.04.00 Overviews - Servo control, current control
Field current input
synchronous motor
Flux controller
[5722] Field current input, flux controller
[5710] Current setpoint filter
Iq controller
Adaptation
r0075
Id_set
r1733
U_quad_set
[5714] Current controller
Motor model
r0072
U_output
|U|
U
[5730] Control signals, current actual values
r0076
Id_act
r0078[0]
Iq_act
Trans-
formation
Trans-
Id controller
Motor type
SM
ASM
Limit
+
+
formation
Motor Module
Flux setpoint (input)
Induction motor
M2Iq
Iq
~
M
r1732
U_direct-axis_set
r0077
Iq_set
Kp
Kp
M_set_6
[1590.8]
I_act U
r0069[0]
I_act V
r0069[1]
I_act W
r0069[2]
F
u
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c
t
i
o
n

d
i
a
g
r
a
m
s
O
v
e
r
v
i
e
w
s
2
-
1
4
6
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
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M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
5
1
6
8
0

V
e
c
t
o
r

c
o
n
t
r
o
l
,

e
n
c
o
d
e
r

e
v
a
l
u
a
t
i
o
n
s

(
p
o
s
i
t
i
o
n
,

s
p
e
e
d
,

t
e
m
p
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r
a
t
u
r
e
)
- 1680 -
Function diagram
8 7 6 5 4 3 2 1
fp_1680_55_eng.vsd DO: VECTOR
SINAMICS S120/S150 11.05.10 V04.04.00 Overviews - Vector control, encoder evaluations (position, speed, temperature)
[4720]
[4704]
[8570]
r0483[n-1]
Position actual
value 1
r0483[n-1]
Position actual
value 2
Position sensing for encoders (1 ... 3)
Control word Gn_STW
for encoders (1 ... 3)
EDS Encoder Data Sets
p0480[n-1]
0
1
15
from the measured
value memory
Sequence
control
for Gn_XIST2
EDS[0]
EDS[1]
EDS[2]
3 encoder
data sets
No encoder
Parameters,
encoder 1
Parameters,
encoder 2
Parameters,
encoder 3
p0400...p4025
p0187...p0189
SMx
~
x2n
x2n
III
p0418 p0410.1
31 0 n
Fine resolution
x absolute
Error
Gn_XIST2
Gn_XIST1
Temp.
Fault/
alarm messages
F31100-A33904
0
1
2
99
Encoders (1 ... 3)
p0400...
Fine resolution
-
+
Position counter
p0419
from sensor n
[4730]
Status word Gn_ZSW
for encoders (1 ... 3)
r0487[n-1]
r0487[n-1]
0
1
15
[4715]
[4740]
Speed actual value and rotor position sensing for motor encoder ASM/SM (encoder 1)
Measuring probe evaluation for encoders (1 ... 3)
Measuring probe
signals from the
"fast" digital inputs
[2130...2133]
DI 9
DI 10
DI 11
DI 13
DI 14
DI 15
4 measured value
memory for XIST2
X_IST
Control
SET
SET
SET
SET
III
r0061[0]
n_act encoder 1
r0063[1]
n_act smoothed
with p0045
n_act calculation
x2
n
p1441
2 from 6 selection
n_act_measurement
Fine reso-lution
1
0
p0432
p0433
p0410.0 p1821
Inverting
p0045
r0063[0]
n_act unsmooth
r0094
Transformat_angle
Rotor position
sensing
r1407.1 [2522.6]
1 = Encoderless operation active
(1)
p1655[4]
1
0
p1656[D].4
2
1
p1677[D]
p1681[D]
p1678[D] P1679[D]
p1680[D]
p1679[D] p1678[D]
p1681[D]
Speed act. val. filter 5
O
v
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v
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s
F
u
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c
t
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d
i
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r
a
m
s
2
-
1
4
6
9

S
i
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m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
6
1
6
9
0

V
e
c
t
o
r

c
o
n
t
r
o
l
,

U
/
f

c
o
n
t
r
o
l
- 1690 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 06.07.10 V04.04.00
Slip compensation
p1335
Overviews - Vector control, U/f control
-
+
+
+
+
Vdc_ctrl config
p1280
Vf Res_damp gain
p1338
+
Imax closed-loop
frequency control
p1340 ... p1341
Imax closed-loop
voltage control
p1345 ... p1346
Control mode
p1300
V_boost perm
p1310
V_boost accelerate
p1311
V_boost starting
p1312
Eco mode
I_max reduction
[6310]
[6320] [6310] [6310]
[3050.8]
[8016.8]
[6730.4]
[6714.5]
[6730.4]
r0068
I_act abs.val.
[4715]
+
Mot PolePairNo act
r0313
60
[6300.8]
[6300]
f_set
100 ms
100 ms
r1119
RFG setpt at input
Ramp-function
generator
[6030.1]
[3060]
I_max Motor Module
MIN
Current limit
p0640
r0056
.
.
.
[2526]
Refer to [1020.7]
p0115[1] (Motor Modules)
r1359
Angle difference
Vf angle setpt
(0)
p1356
Sym act angle
p1358
+
+
+
+
0
1
1
0
0
180
<1>
+
+
Current limit Var
(1)
p0641[C]
r0066
f_outp
f_outp smooth
r0024
r0094
Transformat_angle
r0025
V_outp smooth
r0072
V_output
Speed actual value
calculation
<1> Only for p1300 = 19 and p1302.1 = 1.
Soft starting
p1350
r1348
V/f Eco fac act v
I_max_ctrl V_outp
r1344
I_max_ctrl f_outp
r1343
Flying restart mode
p1200
r1170
n_ctrl setp sum
r0067
I_outp max
[6640.1]
F
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d
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O
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-
1
4
7
0

S
i
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m
e
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s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
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M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
7
1
7
0
0

V
e
c
t
o
r

c
o
n
t
r
o
l
,

s
p
e
e
d

c
o
n
t
r
o
l

a
n
d

g
e
n
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r
a
t
i
o
n

o
f

t
h
e

t
o
r
q
u
e

l
i
m
i
t
s
- 1700 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 08.02.10 V04.04.00 Overviews - Vector control, speed control and generation of the torque limits
r1170
n_ctrl setp sum
[6030] Speed setpoint filter
Droop input
p1488
Reference model
p1400.3
Symmetrizing
Generating the
torque limits
[6031] Acceleration model
[6060] Torque setpoint
[6630] Torque limit
[6640] Current-power limit
[6490] Closed-loop speed control configuration
[6491] Closed-loop flux control configuration
[2526] Status word closed-loop control
[2530] Status word closed-loop current control
p1400 p1401 r0056 r1408
p1530 p1531
p0640
r0067
I_outp max
r1538
M_max upper eff.
r1539
M_max lower eff.
p1522
p1523 p1521
M-max lower/gen
p1520
M-max upper/mot
Kp
Integrator control
[6040] Speed controller
[4715] Speed actual value and pole position sensing motor encoder ASM/SM (encoder 1)
p1416
r0062
n_set after filter
For Kp
adaptation
p1496
p0342 p0341
Kp adaptation Tn adaptation
p1460 p1470 p1462 p1472
[6050] Kp_n-/Tn_n adaptation
Tn
r0063
n_act smooth
r0061[0]
n_act encoder 1
p1300
(r1407.1)
n_model
p1541
p1503
r0079
M_set total
p1514
r1518
p1508
p1300
(r1407.1)
p1511
p1512
p1513
p1540
p1442 p1452
<1>
<1> Only for vector control without encoder.
<1>
p1300
(r1407.1)
n_pre-control [1710.1]
<1>
<1> <1>
p1501
r1438
n_ctrl n_set
r1515
[1710.1]
Refer to [1020.7]
[1550.8]
[1710.1]
n_set I_comp
r1439
O
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F
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n

d
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r
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s
2
-
1
4
7
1

S
i
e
m
e
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s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
8
1
7
1
0

V
e
c
t
o
r

c
o
n
t
r
o
l
,

c
u
r
r
e
n
t

c
o
n
t
r
o
l
f
|y|
- 1710 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 30.01.09 V04.04.00 Overviews - Vector control, current control
p1655
Transformation
r0079
M_set total
r0077
Iq_set
[6722] Field weakening characteristic, Id setpoint
[6723] Field weakening control, flux controller for induction motors (p0300 = 1)
[6724] Field weakening controller for synchronous motors (p0300 = 2)
[6725] Flux setpoit, field weakening controller (FEM, p0300 = 5)
p1715
[6714] Current controller
Current model
Motor model
(Observer)
[6730] Interface to the motor module for an induction motor (p0300 = 1)
[6731] Interface to the motor module for a synchronous motor (p0300 = 2)
p1717
p1715 p1717
Iq
M
f
|y|
r0078
Iq_act
p1611
p1570
p1580
p1610
[6710] Current setpoint filter
+
+
<1>
+
+
r0076
Id_act
iq controller
Iq
M
K
P
r0070
Vdc_act
r0066
f_outp
p1764 p1767
+
+
+
+
V_set
r0072
U_output
r0074
Modulation depth
<1>
+
<1> Only for vector control without encoder.
n_pre-control
n_model
[1700.5]
Field weakening
controller
Field weakening
characteristic
Current calculation
r0065
V_angle
V_set
[1700.1]
Refer to [1020.7]
[1700.8]
[6722.1]
[6723.4]
[6724.4]
[6725.4]
V_phase actual value
I_phase actual value
V_output max
r0071
<2> Only for SINAMICS S120/S150.
<2>
<2>
r0075
Id_set
F
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d
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O
v
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2
-
1
4
7
2

S
i
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m
e
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s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
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M
a
n
u
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
1
7
5
0

M
o
n
i
t
o
r
i
n
g

f
u
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c
t
i
o
n
s
,

f
a
u
l
t
s
,

a
l
a
r
m
s
- 1750 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 28.09.10 V04.04.00 Overviews - Monitoring functions, faults, alarms
System runtime
r2114
III
III
III
III
III
[8060] Fault buffer
[8065] Alarm buffer
Fxxxxx
Fyyyyy
Fzzzzz
faults
Axxxxx
Ayyyyy
Azzzzz
alarms
[0]
[15]
p2128
r2129
[8070] Fault/alarm trigger word
[8075] Fault/alarm configuration
p2100 [0]
[19]
Changing the fault response
[1]
p2101
p2126 [0]
[19]
[1]
p2127
Changing the acknowledge mode
p2118 [0]
[19]
[1]
p2119
Changing the message type
Fault case count
r0952
Alarms counter
r2111
<2> Only for VECTOR.
[8013] load monitoring
<3> Only for p0108.17 = 1.
<1> <3>
r0080
M_act
[5730] <1>
[6714] <2>
r2169
n_act smth message
[8010]
<1> Only for SERVO.
<2>
n_max
[3080] <2>
[8010] Speed monitoring 1
<1> <2>
[8011] Speed monitoring 2
<1> <2>
Motor locked
[8012] torque monitoring
<1>
Limit value monitor
[5650] <1>
[6640] <2>
[5650] <1>
[6640] <2>
[8010]
[5610] <1>
[6060] <2>
<2>
[8012]
[8013]
r2169
n_act smth message
r1438
n_ctrl setp sum
[5210] <1>
r0063
n_act smooth
[4710] <1>
<2>
r0063
n_act unsmoothed
[4715]
r0079
M_set total
r1538
M_max upper eff
r1539
M_max lower eff
r2169
n_act smth message
r1170
n_ctrl setp sum
going comin Value Code Diag Co.nu. Drive
Diag going comin Value Code Co.nu.
r2125 r2123 r2124 r2122 r3123 r3121
r2109 r0948 r0949 r0945
r0947
r3115 r3120 r3122
O
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F
u
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c
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i
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d
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a
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r
a
m
s
2
-
1
4
7
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
0
1
7
7
3

B
a
s
i
c

I
n
f
e
e
d
- 1773 -
Function diagram
8 7 6 5 4 3 2 1
fp_1773_54_eng.vsd DO: B_INF
S120/S150/G130/G150 22.10.10 V04.04.00 Overviews - Basic Infeed
Line supply voltage
monitoring
[2447], [2457] [2410], [2468], [2470]
[8750]
PROFIdrive
receive/send
telegram
Control words Status words
STW2
ZSW1
ZSW2
STW1
[8720], [8726]
r0070
Vdc_act
Sequence control
Control Unit Basic Infeed
Thermal power module
monitoring
max
Faults and alarms
Fxxxxx
Axxxxx
[8732], [8734]
[8060] ... [8075] [8760] [8014]
Closed-loop
control operation
r0863.0 p0864
to SERVO/VECTOR
r0863.1
Energize contactor
[2610]
Telegram
370
E_STW1
E_ZSW1
Gating signals, actual values
Vdc measurement
DCP DCN
+
To the Motor Modules
Pre-charging
U1 V1 W1
L3
L2
L1
PE
PROFIdrive
Slave address
Diagnostics
Interconnection of the
free receive and send
telegrams
<1> Only for S120 and G150.
<1>
F
u
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o
n

d
i
a
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r
a
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s
O
v
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v
i
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s
2
-
1
4
7
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
1
7
7
4

A
c
t
i
v
e

I
n
f
e
e
d
- 1774 -
Function diagram
8 7 6 5 4 3 2 1
fp_1774_55_eng.vsd DO: A_INF
SINAMICS S120/S150 10.07.09 V04.04.00 Overviews - Active Infeed
Line supply voltage
monitoring
[8940]
[2447], [2457] [2410], [2468], [2470]
Line supply
model
[8950]
Vdc measurement
r0078
I_act_act
r0076
I_reactive_act
PROFIdrive
receive/send
telegram
r3632
Usd
STW2
ZSW1
ZSW2
STW1
[8920] ... [8928]
Trans-
formation
U
r0070
Vdc_act
r3633
Usq
Trans-
formation
Current controller Gating signals, actual values
Sequence control
Control Unit
r0077
I_act_set
Active Infeed
monitoring
max
Line supply frequency
and Vdc monitoring
Faults and alarms
Fxxxxx
Axxxxx
[8932], [8934]
[8060] ... [8075] [8960] [8964] [8014]
[8946]
DC link voltage controller
Id_set
p3610
DCP DCN
+
Pre-charging
U1 V1 W1
Vdc_set
p3510
|U|
PWM
Closed-loop
control operation
r0863.0 p0864
to SERVO/VECTOR
p3511
p3611
r0863.1
Energize contactor
[2610]
L3
L2
L1
PE
Telegram
370
E_STW1
E_ZSW1
PROFIdrive
Slave address
Diagnostics
telegrams
O
v
e
r
v
i
e
w
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
7
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
2
1
7
7
5

S
m
a
r
t

I
n
f
e
e
d
- 1775 -
Function diagram
8 7 6 5 4 3 2 1
fp_1775_01_eng.vsd DO: S_INF
SINAMICS S120 10.07.09 V04.04.00 Overviews - Smart Infeed
Line supply voltage
monitoring
[2447], [2457] [2410], [2468], [2470]
Line supply
model
[8850]
Vdc measurement
r0078
I_act_act
r0076
I_reactive_act
PROFIdrive
receive/send
telegram
STW2
ZSW1
ZSW2
STW1
[8820] ... [8828]
Trans-
formation
U
r0070
Vdc_act
Trans-
formation
Gating signals, actual values
Sequence control
Control Unit Smart Infeed
monitoring
max
and Vdc monitoring
Faults and alarms
Fxxxxx
Axxxxx
[8832], [8834]
[8060] ... [8075] [8860] [8864] [8014]
DCP DCN
+
Pre-charging
U1 V1 W1
t
50Hz / 60Hz
Closed-loop
control operation
r0863.0 p0864
to SERVO/VECTOR
r0863.1
Energize contactor
[2610]
L3
L2
L1
PE
Telegram
370
E_STW1
E_ZSW1
I, U
PROFIdrive
Slave address
Diagnostics
telegrams
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
O
v
e
r
v
i
e
w
s
2
-
1
4
7
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
3
1
7
8
0

T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

(
T
M
1
5
)
- 1780 -
Function diagram
8 7 6 5 4 3 2 1
fp_1780_51_eng.vsd DO: TM15
SINAMICS 19.03.09 V04.04.00 Overviews - Terminal Module 15 (TM15)
p4099 (125.00 s)
<2> The plug-in connections X520, X521 and X522 have to be coded
according to the specifications in the relevant technical
documentation.
DRIVE-CLiQ socket 0 X500
DRIVE-CLiQ socket 1
X501
L3+
M3
+ 24 V
M
M
=
~
+ M
+24 V DC
To the next
device
X524
M
+
M
+
X520
1
2
3
4
5
6
7
8
L1+
DI/DO 0
DI/DO 1
DI/DO 2
DI/DO 3
DI/DO 4
DI/DO 5
DI/DO 6
10
DI/DO 7
M1
9
L1+
1
0
r4304.0
r4204.0
p4028.0
1
0
p4028.7
r4304.7
r4204.7
...
1
0
r4304.8
r4204.8
p4028.8
1
0
p4028.15
r4304.15
r4204.15
... ... ...
1
0
r4305.0
r4205.0
p4028.10
1
0
p4028.15
r4305.7
r4205.7
... ... ...
...
<1>
...
M1
X521
1
2
3
4
5
6
7
8
L2+
DI/DO 8
DI/DO 9
DI/DO 10
10
M2
9
<1>
...
L2+
DI/DO 11
DI/DO 12
DI/DO 13
DI/DO 14
DI/DO 15
M2
X522
1
2
3
4
5
6
7
8
L3+
DI/DO 16
DI/DO 17
DI/DO 18
10
M3
9
<1>
... DI/DO 19
DI/DO 20
DI/DO 21
DI/DO 22
DI/DO 23
...
<1> The wiring shown dashed applies for the setting as
digital output (p4028.x = 1).
<2>
<2>
<2>
O
v
e
r
v
i
e
w
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
7
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
4
1
7
8
1

T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

f
o
r

S
I
N
A
M
I
C
S

(
T
M
1
5
D
I
/
D
O
)
- 1781 -
Function diagram
8 7 6 5 4 3 2 1
fp_1781_51_eng.vsd DO: TM15DI_DO
SINAMICS 19.03.09 V04.04.00 Overviews - Terminal Module 15 for SINAMICS (TM15DI/DO)
p4099 (4000.00 s)
L3+
M3
X520
1
2
3
4
5
6
7
8
L1+
DI/DO 0
DI/DO 1
DI/DO 2
DI/DO 3
DI/DO 4
DI/DO 5
DI/DO 6
10
DI/DO 7
M1
9
L1+
1
0
p4030
1 r4022.0 r4023.0.
p4028.0
1
0
p4028.7
p4037
1 r4022.7 r4023.7
...
1
0
p4038
1 r4022.8 r4023.8
p4028.8
...
1
0
p4028.15
p4045
1 r4022.15 r4023.15
... ... ... ...
1
0
p4086
1 r4022.16 r4023.16
p4028.16
...
1
0
p4028.23
p4093
1 r4022.23 r4023.23
... ... ... ...
... ... ...
<1>
...
M1
X521
1
2
3
4
5
6
7
8
L2+
DI/DO 8
DI/DO 9
DI/DO 10
10
M2
9
<1>
...
L2+
DI/DO 11
DI/DO 12
DI/DO 13
DI/DO 14
DI/DO 15
M2
X522
1
2
3
4
5
6
7
8
L3+
DI/DO 16
DI/DO 17
DI/DO 18
10
M3
9
<1>
... DI/DO 19
DI/DO 20
DI/DO 21
DI/DO 22
DI/DO 23
...
[9400]
[9401]
[9402]
X500
X501
+ 24 V
M
M
=
~
+ M
+24 V DC
To the next
device
X524
M
+
M
+
DRIVE-CLiQ socket 0
DRIVE-CLiQ socket 1
<2> The plug-in connections X520, X521 and
X522 have to be coded according to the
specifications in the relevant technical
documentation
<1> The wiring shown dashed applies for the
setting as digital output (p4028.x = 1).
<2>
<2>
<2>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
O
v
e
r
v
i
e
w
s
2
-
1
4
7
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
5
1
7
8
2

T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
7

H
i
g
h

F
e
a
t
u
r
e

(
T
M
1
7

H
i
g
h

F
e
a
t
u
r
e
)
- 1782 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 19.03.09 V04.04.00 Overviews - Terminal Module 17 High Feature (TM17 High Feature)
<1>
p4099 (125.00 s)
<1>
<1>
L2+
M2
X522
1
2
3
4
5
6
7
8
M
DI/DO 10
DI/DO 11
M
DI/DO 12
DI/DO 13
M
DI/DO 14
10
DI/DO 15
M
9
X521
1
2
3
4
5
6
7
8
M
DI/DO 6
DI/DO 7
M
L1+
L2+
M
DI/DO 8
10
DI/DO 9
M
9
X520
1
2
3
4
5
6
7
8
M
DI/DO 0
DI/DO 1
M
DI/DO 2
DI/DO 3
M
DI/DO 4
10
DI/DO 5
M
9
<2>
M1
1
0
r4304.0
1 r4204.0 r0723.8
p4028.0
...
1
0
p4028.5
r4304.5
1 r4204.5 r0723.11
... ... ...
1
0
r4304.6
1 r4204.6 r0723.8
p4028.6
...
1
0
p4028.9
r4304.9
1 r4204.9 r0723.11
... ... ... ...
1
0
r4304.10
1 r4204.10 r0723.8
p4028.10
...
1
0
p4028.15
r4304.15
1 r4204.15 r0723.11
... ... ... ...
... ... ...
L1+
<1>
... ...
... ...
<2> The plug-in connections X520, X521 and X522
have to be coded according to the specifications
in the relevant technical documentation.
<1>
<1>
X500
X501
+ 24 V
M
M
=
~
+ M
+24 V DC
To the next
device
X524
M
+
M
+
<1> The wiring shown dashed applies for the setting
as digital output (p4028.x = 1).
<2>
<2>
DRIVE-CLiQ socket 0
DRIVE-CLiQ socket 1
O
v
e
r
v
i
e
w
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
7
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
1
7
9
0

T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
Function diagram
- 1790 -
8 7 6 5 4 3 2 1
DO: TB30
SINAMICS 19.03.09 V04.04.00 Overviews - Terminal Board 30 (TB30)
+24 V
M
X424
M
+
M
+
M
=
~
+ M
+24 V DC
to the next
device
DI 0
X481
1
DI 1
DI 3
DI 2
DO 0
8
DO 1
DO 2
DO 3
4
3
2
1
5
6
7
8
r4022.0 1 r4023.0
r4022.3 1 r4023.3
p4030
p4033
V
V
AI 0+
AI 0-
AI 1-
AI 1+
AO 0+
AO 0-
AO 1+
AO 1-
X482
1
8
4
3
2
1
5
6
7
8
10 V
...
...
...
A
D
r4055[0] [%]
A
D
0
p4071[0]
A
D
r4055[1] [%]
A
D
0
p4071[1]
[9100]
4 digital outputs, electrically isolated
[9102]
2 analog inputs +/-11 V
[9104]
2 analog outputs +/-11 V
[9106]
1
0
1 = Simulation on p4095.0...3
Simulation signals p4096.0..3
r4022.0...3 1 r4023.0...3
...
Reference quantities for 10 V or 100 %
p200x 10 V 100 %
p205x 10 V 100 %
fp_1790_51_eng.vsd
p4099 (4000.00 s)
X500
X501
DRIVE-CLiQ socket 0
DRIVE-CLiQ socket 1
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
O
v
e
r
v
i
e
w
s
2
-
1
4
8
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
1
8
4
0

T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
Function diagram
- 1840 -
8 7 6 5 4 3 2 1
DO: TM31
SINAMICS 19.11.10 V04.04.00 Overviews - Terminal Module 31 (TM31)
X520
1
2
3
4
5
6
DI 0
DI 1
DI 2
DI 3
M
M1
X530
1
2
3
4
5
6
DI 4
DI 5
DI 6
DI 7
M
M2
M
M
+24 V DC
to the next
device
M
+
M
+
1
0
1 = Simulation on
p4095.0...11
Simulation signals
p4096.0...11
r4022.0 1 r4023.0
r4022.3 1 r4023.3
... ...
r4022.4 1 r4023.4
r4022.7 1 r4023.7
... ...
1
0
1
0
p4038
1 r4022.8 r4023.8
p4028.8
p4028.11
p4041
1 r4022.11 r4023.11
...
...
...
...
...
A
D
r4055[0] [%]
A
D
r4055[1] [%]
X521
1
2
3
4
5
6
7
8
AI 0+
AI 0-
AI 1+
AI 1-
P10
M
N10
M
X522
1
AO 0V+
2
3
4
5
6
7
8
AO 0-
AO 0A+
AO 1V+
AO 1-
AO 1A+
+Temp
-Temp
A
D
0
p4071[1]
A
D
0
p4071[0]
DO 0
DO 1
X542
1
2
3
4
5
6
X541
1
2
3
4
5
6
DI/D0 8
DI/D0 9
DI/D0 10
DI/D0 11
M
+
NC 0
COM
NO 0
NC 1
COM
NO 1
p4030
p4031
[9566], [9568] 2 analog inputs
[9572] 2 analog outputs
[9556] 2 digital outputs (relay)
[9560], [9562] 4 digital inputs/outputs
[9552] 4 digital inputs, electrically isolated
r4021.0...11
r4104.1
r4104.0
Alarm:
Overtemperature
sensor TM31
Fault:
Overtemperature
sensor TM31
A
D
[9576][9577] Input for temperature sensor
A35211
F35207
r4105
Temp. KTY/PTC
p4048.0
1
0
1
1
0
1
p4048.1
X540
1
+24 V
2
3
4
5
6
7
8
+24 V
+24 V
+24 V
+24 V
+24 V
+24 V
+24 V
Auxiliary voltage for
the digital inputs
fp_1840_51_eng.vsd
X500
X501
DRIVE-CLiQ-socket 0
DRIVE-CLiQ-socket 1
=
~
+ M
p4099 (4000.00 s)
r4022.0...11 1 r4023.0...11
X524
+24 V
O
v
e
r
v
i
e
w
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
8
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
1
8
4
2

T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
- 1842 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 18.08.09 V04.04.00 Overviews - Terminal Modules 41 (TM41)
+ 24 V
Simulation for DI 0 ... DI 11
1
0
1 = Simulation on
p4095.0...11
Simulation signals
p4096.0...11
r4022.0...11
r4022.0 1 r4023.0
r4022.3 1 r4023.3
... ...
1
0
1
0
p4038
1 r4022.8 r4023.8
p4028.8
p4028.11
p4041
1 r4022.11 r4023.11
...
...
...
...
...
A
D
r4055[0] [%]
[9663] 1 analog input
[9661], [9662] 4 digital inputs/outputs
r4021.0...11
1 r4023.0..11
X523
1
2
3
AI 0
AI 0+
NC
X521
1
2
3
4
5
6
+
DI/DO 0
DI/DO 10
DI/DO 11
M
DI/DO 9
X522
1
2
3
4
5
6
DI 0
DI 3
M1
M
DI 2
DI 1
=
~
+ M
+24 V DC to the
next device
M
+
M
+
X524
M
M
p4099 (4000.00 s)
X500
X501
DRIVE-CLiQ-socket 0
DRIVE-CLiQ-socket 1
+ 24 V_1
+
M
+
M
+
X514
M
M
+ 24 V_1
X520
1
2
3
4
5
6
A
A*
R
R*
7
8
9
B
B*
M
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
O
v
e
r
v
i
e
w
s
2
-
1
4
8
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
1
8
5
0

T
e
r
m
i
n
a
l

M
o
d
u
l
e

5
4
F

(
T
M
5
4
F
)
- 1850 -
Function diagram
8 7 6 5 4 3 2 1
fp_1850_51_eng.vsd DO : TM54F_MA, TM54F_SL
SINAMICS 30.10.09 V04.04.00 Overviews - Terminal Module 54F (TM54F)
X522
1
2
3
4
5
6
7
8
DI 4
DI 5+
DI 6
DI 7+
DI 8
DI 9+
DI 5-
DI 7-
X531
1
2
3
4
5
6
7
8
L2
DI 10
DI 11+
DI 12
DI 13+
DI 11-
DI 13-
M1
X535
1
2
3 DO 3-
DO 3+
DI 23
X533
1
2
3 DO 2-
DO 2+
DI 22
X532
1
2
3
4
5
6
7
8
DI 14
DI 15+
DI 16
DI 17+
DI 18
DI 19+
DI 15-
DI 17-
10
DI 19-
M1
9
X520
1
2
L3+
M1
X525
1
2
3 DO 1-
DO 1+
DI 21
X523
1
2
3 DO 0-
DO 0+
DI 20
X521
1
2
3
4
5
6
7
8
L1
DI 0
DI 1+
DI 2
DI 3+
DI 1-
DI 3-
M1
9 DI 9-
10 M1
IC for current limiting
+ 24 Vext
+
M
+
M
+
X514
M1
M1
+24 V
M
M
+24 V DC to the
next device
X524
M
+
M
+
X500
X501
=
~
+ M
p10040.9
&
F-DI 4
[2855.1]
F35151
Discrepancy
error
1
0
1
M1
T 0
=1
p10040.0
&
F-DI 0
[2855.1]
F35151
Discrepancy
error
1
0
1
M1
T 0
=1
[2850]
5 digital inputs error-free
... ... ...
p10040.19
&
F-DI 9
[2855.1]
F35151
Discrepancy
error
1
0
1
M1
T 0
=1
p10040.10
&
F-DI 5
[2855.1]
F35151
Discrepancy
error
1
0
1
M1
T 0
=1
[2851]
5 digital inputs error-free
... ... ...
[2853]
+24 V_1
F-DO 0
DI 20
M1
M1
[2848.2]
[2857.8]
M
... ...
...
+24 V_1
F-DO 3
DI 23
M1
M1
[2848.2]
[2857.8]
M
...
... ...
...
CU310-2 input/output terminals
Function diagrams
2.4 CU310-2 input/output terminals
Function diagrams
2020 Digital inputs, electrically isolated (DI 0 to DI 3, DI 22) 2-1484
2021 Digital inputs, electrically isolated (DI 16 to DI 21) 2-1485
2030 Digital inputs/outputs, bidirectional (DI/DO 8 to DI/DO 9) 2-1486
2038 Digital output (DO 16) 2-1490
2040 Analog input (AI) 2-1491
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
2
-
1
4
8
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
2
0
2
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

0

t
o

D
I

3
,

D
I

2
2
)
- 2020 -
Function diagram
8 7 6 5 4 3 2 1
fp_2020_51_eng.vsd DO: CU_S
SINAMICS 18.11.10 V04.04.00 CU310-2 input/output terminals - Digital inputs, electrically isolated (DI 0 ... DI 3, DI 22)
<1> When using the electrical isolation, omit the
terminal jumper and connect the load power supply
shown as a dashed line.
+24 V
X124.M
X124.+
X121.1
X121.2
X121.3
X130.1
1 = Simulation on
p0795.0
r0723.0
r0722.0
p0795.1
r0723.1
r0722.1
p0795.2
r0723.2
r0722.2
p0795.22
r0723.22
r0722.22
X130.2 M1
M
X124.M M
<1>
X130.4
24 V DC to the next device
X124.+ +24 V
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 22
DI 2
DI 1
DI 0
<1>
DI 0 DI 3, DI 22
inverted
DI 0 DI 3, DI 22
r0721.0
r0721.1
r0721.2
r0721.22
<1>
p0796.22
p0796.2
p0796.1
p0796.0
<1>
p0799
+
M
+
24 V
5 V
X121.4
p0795.3
r0723.3
r0722.3
1
0
1 DI 3
r0721.3
p0796.3
X121.5 M1
M
<1>
X121.6 24 V
<1>
<1>
+
24 V
5 V
r0722 r0723
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
8
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
1
2
0
2
1

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

1
6

t
o

D
I

2
1
)
- 2021 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 22.11.10 V04.04.00 CU310-2 input/output terminals - Digital inputs, electrically isolated (DI 16 ... DI 21)
+24 V
X124.M
X124.+
X120.3
X120.4
X120.6
X120.10
1 = Simulation on
p0795.16
r0723.16
r0722.16
p0795.17
r0723.17
r0722.17
p0795.18
r0723.18
r0722.18
p0795.21
r0723.21
r0722.21
r0722
X130.2 M1
M
X124.M M
<1>
X130.4
X124.+ +24 V
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 21
DI 18
DI 17
DI 16
<1>
DI 16 DI 21
inverted
DI 16 DI 21
r0721.16
r0721.17
r0721.18
r0721.21
<1>
p0796.21
p0796.18
p0796.17
p0796.16
<1>
p0799
+
M
+
24 V
5 V
X120.7
p0795.19
r0723.19
r0722.19
1
0
1 DI 19
r0721.19
p0796.19
p0795.20
r0723.20
r0722.20
1
0
1
r0721.20
p0796.20
X120.9
DI 20
terminal jumper and connect the load power
supply shown as a dashed line.
r0723
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
2
-
1
4
8
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
2
2
0
3
0

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

8

t
o

D
I
/
D
O

9
)
- 2030 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 09.12.10 V04.04.00 CU310-2 input/output terminals - Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9)
p0795.8 (0)
X121.9 M
p0796.8
p0748.8 (0)
DI
DO
p0795.9 (0) p0796.9
p0748.9 (0)
DI
DO
X121.8 DI/DO 9
p0728.9 (0)
DI/DO 8 X121.7
p0728.8 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
+24 V
X124.M
X124.+
M
X124.M M
X124.+ +24 V
<1> The connection shown as a dashed line applies
when used as digital output (p0728.x = 1).
<1>
DI
DI
1
1
r0722
r0723.9
r0723.8
r0721.8
r0721.9
r0722.9
r0722.8
DI 9_probe
p0799
<2> Can be used as fast measuring probe inputs (refer to [4735], [4740]).
<3> The digital output access authority is displayed in r0729.
<3>
<3>
r0747.9
DO
DI/DO 8 9
inverted
DI/DO 8 9
DO
(0)
CU S_src DI/DO 9
p0739
(0)
CU S_src DI/DO 8
p0738
0
1
0
r0747.8
0
1
0
<2>
24 V
5 V
<1>
+
r0723
DI 8_probe
<2>
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
8
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
3
2
0
3
1

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
0

t
o

D
I
/
D
O

1
1
)
- 2031 -
Function diagram
8 7 6 5 4 3 2 1
p0795.10 (0)
X121.12 M
p0796.10
p0748.10 (0)
DI
DO
p0795.11 (0) p0796.11
p0748.11 (0)
DI
DO
X121.11 DI/DO 11
p0728.11 (0)
DI/DO 10 X121.10
p0728.10 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
+24 V
X124.M
X124.+
M
X124.M M
X124.+ +24 V
<1>
DI
DI
1
1
r0722
r0723.11
r0723.10
r0721.10
r0721.11
r0722.11
r0722.10
DI 11_probe
p0799
<3>
<3>
r0747.11
DO
DI/DO 10 11
inverted
DI/DO 10 11
DO
(0)
CU S_src DI/DO 11
p0741
(0)
CU S_src DI/DO 10
p0740
0
1
0
r0747.10
0
1
0
<2>
24 V
5 V
<1>
+
DI 10_probe
<2>
r0723
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
2
-
1
4
8
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
4
2
0
3
2

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
2

t
o

D
I
/
D
O

1
3
)
- 2032 -
Function diagram
8 7 6 5 4 3 2 1
p0795.12 (0)
X131.3 M
p0796.12
p0748.12 (0)
DI
DO
p0795.13 (0) p0796.13
p0748.13 (0)
DI
DO
X131.2 DI/DO 13
p0728.13 (0)
DI/DO 12 X131.1
p0728.12 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
+24 V
X124.M
X124.+
M
X124.M M
X124.+ +24 V
<1>
DI
DI
1
1
r0722
r0723.13
r0723.12
r0721.12
r0721.13
r0722.13
r0722.12
DI 13_probe
p0799
<3>
<3>
r0747.13
DO
DI/DO 12 13
inverted
DI/DO 12 13
DO
(0)
CU S_q DI/DO 13
p0743
(0)
CU S_q DI/DO 12
p0742
0
1
0
r0747.12
0
1
0
<2>
24 V
5 V
<1>
+
DI 12_probe
<2>
<2> For SERVO and VECTOR (except for SINAMICS G130/G150), the following applies:
r0723
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
8
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
5
2
0
3
3

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
4

t
o

D
I
/
D
O

1
5
)
- 2033 -
Function diagram
8 7 6 5 4 3 2 1
p0795.14 (0)
X131.6 M
p0796.14
p0748.14 (0)
DI
DO
p0795.15 (0) p0796.15
p0748.15 (0)
DI
DO
X131.5 DI/DO 15
p0728.15 (0)
DI/DO 14 X131.4
p0728.14 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
+24 V
X124.M
X124.+
M
X124.M M
X124.+ +24 V
<1>
DI
DI
1
1
r0722
r0723.15
r0723.14
r0721.14
r0721.15
r0722.15
r0722.14
DI 15_probe
p0799
<3>
<3>
r0747.15
DO
DI/DO 14 15
inverted
DI/DO 14 15
DO
(0)
CU S_q DI/DO 15
p0743
(0)
CU S_q DI/DO 14
p0742
0
1
0
r0747.14
0
1
0
<2>
24 V
5 V
<1>
+
DI 14_probe
<2>
r0723
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
2
-
1
4
9
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
6
2
0
3
8

D
i
g
i
t
a
l

o
u
t
p
u
t

(
D
O

1
6
)
- 2038 -
Function diagram
8 7 6 5 4 3 2 1
fp_2038_51_eng.vsd DO: CU_310-2
SINAMICS 03.12.10 V04.04.00 CU310-2 input/output terminals - Digital output (DO 16)
4000.00 s
<1> Additional external I/O supply
DO16+ X131.5
M1 X131.8
24 V1
X131.7
M1
p0748.16 (0)
1
0
1
CU S_q DO 16
p0746 (0)
DO 16 (X131.5)
r0747.16
+24 V1 M
24 V
<1>
24 V1 M1
r0747
CU DO status
<2>
<2> For restrictions, refer to p0746.
C
U
3
1
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
9
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
7
2
0
4
0

A
n
a
l
o
g

i
n
p
u
t

(
A
I
)
- 2040 -
Function diagram
8 7 6 5 4 3 2 1
fp_2040_51_eng.vsd DO: CU_310-2
SINAMICS 10.11.10 V04.04.00 CU310-2 - Analog input (AI)
AI
r0755[0]
p0769[0]
(1)
Enable
p0766 [0]
(0)
p0767[0]
y = x if |y - x| > p0768
otherwise y = y(old)
y x
A
D
Offset
-20.000...20.000 V
p0763[0] (0.000)
X131.7
X131.8
+
-
0 %
Smoothing
0.0...1 000.0 ms
p0753[0] (0.0)
Window to suppress noise
0.00...20.00 %
p0768[0] (0.00)
<3>
+
+
-10...+10 V
Reference quantities
p200x
y
x2
x1
4000.00 s
-1
0
1
0
1
<1> Caution: The voltage
between an input and
the grounding point
must not exceed 35V.
1
0
x
% 100
x x
2 1
x
<3> When interconnected
further, the output
signals are referred to
the reference
quantities
p2000 ... r2004
(100 % p200x).
<2> Differential inputs!
For input signals
referred to ground,
terminal 8 must be
connected to the
reference potential M.
<2>
Hardware smoothing
100 s
Scaling
-11.000...11.000 V
p0757[0] (0.000)
-11.000...11.000 V
p0759[0] (10.000)
[V]
r0752[0]
p0797.0
-1000.00...1000.00 %
p0760[0] (100.00)
-1000.00...1000.00 %
p0758[0] (0.00)
[%]
1
0
x y
x1
y2
x2
y1
y
x
[%]
[V]
<1>
Simulation mode
-20.000...20.000 V
p0798[0] (0.000)
Analogeingang Typ
p0756 (4)
<4>
4
0
0
<4> p0756
= 0: 0 V ... +10 V
= 4: -10 V ... +10 V
Function diagrams
CU320-2 input/output terminals
2.5 CU320-2 input/output terminals
Function diagrams
2120 Digital inputs, electrically isolated (DI 0 to DI 3, DI 16, DI 17) 2-1493
C
U
3
2
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
9
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
8
2
1
2
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

0

t
o

D
I

3
,

D
I

1
6
,

D
I

1
7
)
- 2120 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 03.12.10 V04.04.00 CU320-2 input/output terminals - Digital inputs, electrically isolated (DI 0 ... DI 3, DI 16, DI 17)
<1>
<1>
X122.1 DI 0
X122.2 DI 1
X122.3 DI 2
X122.4 DI 3
X122.5 DI 16
X122.7 M1
M X122.8
24 V
+
X122.6 DI 17
<1>
<1>
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
24 V
5 V
1 = Simulation on
p0795.0
1
0
p0796.0
p0795.1
1
0
p0796.1
p0795.2
1
0
p0796.2
p0795.3
1
0
p0796.3
p0795.16
1
0
p0796.16
p0795.17
1
0
p0796.17
r0723.0 1
r0723.1 1
r0723.2 1
r0723.3 1
r0723.16 1
r0723.17 1
r0722.0
r0722.1
r0722.2
r0722.3
r0722.16
r0722.17
r0723
DI 0 DI 3, DI 16, DI 17
inverted
r0722
DI 0 DI 3, DI 16, DI 17
r0721.0
r0721.1
r0721.2
r0721.3
r0721.16
r0721.17
p0799
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
3
2
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
2
-
1
4
9
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
9
2
1
2
1

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

4

t
o

D
I

7
,

D
I

2
0
,

D
I

2
1
)
- 2121 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 03.12.10 V04.04.00 CU320-2 input/output terminals - Digital inputs, electrically isolated (DI 4 ... DI 7, DI 20, DI 21)
<1>
<1>
X132.1 DI 4
X132.2 DI 5
X132.3 DI 6
X132.4 DI 7
X132.5 DI 20
X132.7 M2
M X132.8
24 V
+
X132.6 DI 21
<1>
<1>
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
24 V
5 V
1 = Simulation on
p0795.4
1
0
p0796.4
p0795.5
1
0
p0796.5
p0795.6
1
0
p0796.6
p0795.7
1
0
p0796.7
p0795.20
1
0
p0796.20
p0795.21
1
0
p0796.21
r0723.4 1
r0723.5 1
r0723.6 1
r0723.7 1
r0723.20 1
r0723.21 1
r0722.4
r0722.5
r0722.6
r0722.7
r0722.20
r0722.21
r0721.4
r0721.5
r0721.6
r0721.7
r0721.20
r0721.21
r0723
DI 4 DI 7, DI 20, DI 21
inverted
r0722
DI 4 DI 7, DI 20, DI 21
p0799
C
U
3
2
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
9
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
4
0
2
1
3
0

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

8

t
o

D
I
/
D
O

9
)
- 2130 -
Function diagram
8 7 6 5 4 3 2 1
p0795.8 (0)
X122.11 M
p0796.8 (0)
p0748.8 (0)
DI
DO
p0795.9 (0) p0796.9 (0)
p0748.9 (0)
DI
DO
X122.10 DI/DO 9
p0728.9 (0)
DI/DO 8 X122.9
p0728.8 (0)
1
0
1
0
0
1
0
1
DI
DI
1
1 r0723.9
r0723.8
r0721.8
r0721.9
r0722.9
r0722.8
DI 9_probe
r0747.9
DO
DO
(0)
CU S_src DI/DO 9
p0739
(0)
CU S_src DI/DO 8
p0738
0
1
0
r0747.8
0
1
0
<2>
24 V
5 V
DI 8_probe
<2>
r0722
DI/DO 8 9
r0723
DI/DO 8 9
inverted
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
<1>
<3>
<1>
<3>
1
0
1
1
0
1
p0799
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
3
2
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
2
-
1
4
9
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
4
1
2
1
3
1

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
0

t
o

D
I
/
D
O

1
1
)
- 2131 -
Function diagram
8 7 6 5 4 3 2 1
p0795.10 (0)
X122.14 M
p0796.10 (0)
p0748.10 (0)
DI
DO
p0795.11 (0) p0796.11 (0)
p0748.11 (0)
DI
DO
X122.13 DI/DO 11
p0728.11 (0)
DI/DO 10 X122.12
p0728.10 (0)
1
0
1
0
0
1
0
1
DI
DI
1
1 r0723.11
r0723.10
r0721.10
r0721.11
r0722.11
r0722.10
DI 11_probe
r0747.11
DO
DO
(0)
CU S_src DI/DO 11
p0741
(0)
CU S_src DI/DO 10
p0740
0
1
0
r0747.10
0
1
0
<2>
24 V
5 V
DI 10_probe
<2>
r0722
DI/DO 10 11
r0723
DI/DO 10 11
inverted
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
<1>
<3>
<1>
<3>
1
0
1
1
0
1
p0799
C
U
3
2
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
4
9
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
4
2
2
1
3
2

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
2

t
o

D
I
/
D
O

1
3
)
- 2132 -
Function diagram
8 7 6 5 4 3 2 1
p0795.12 (0)
X132.11 M
p0796.12 (0)
p0748.12 (0)
DI
DO
p0795.13 (0) p0796.13 (0)
p0748.13 (0)
DI
DO
X132.10 DI/DO 13
p0728.13 (0)
DI/DO 12 X132.9
p0728.12 (0)
1
0
1
0
0
1
0
1
DI
DI
1
1 r0723.13
r0723.12
r0721.12
r0721.13
r0722.13
r0722.12
DI 13_probe
r0747.13
DO
DO
(0)
CU S_src DI/DO 13
p0743
(0)
CU S_src DI/DO 12
p0742
0
1
0
r0747.12
0
1
0
<2>
24 V
5 V
DI 12_probe
<2>
r0722
DI/DO 12 13
r0723
DI/DO 12 13
inverted
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
<1>
<3>
<1>
<3>
1
0
1
1
0
1
p0799
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
3
2
0
-
2

i
n
p
u
t
/
o
u
t
p
u
t

t
e
r
m
i
n
a
l
s
2
-
1
4
9
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
4
3
2
1
3
3

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
4

t
o

D
I
/
D
O

1
5
)
- 2133 -
Function diagram
8 7 6 5 4 3 2 1
p0795.14 (0)
X132.14 M
p0796.14 (0)
p0748.14 (0)
DI
DO
p0795.15 (0) p0796.15 (0)
p0748.15 (0)
DI
DO
X132.13 DI/DO 15
p0728.15 (0)
DI/DO 14 X132.12
p0728.14 (0)
1
0
1
0
0
1
0
1
DI
DI
1
1 r0723.15
r0723.14
r0721.14
r0721.15
r0722.15
r0722.14
DI 15_probe
r0747.15
DO
DO
(0)
CU S_src DI/DO 15
p0745
(0)
CU S_src DI/DO 14
p0744
0
1
0
r0747.14
0
1
0
<2>
24 V
5 V
DI 14_probe
<2>
r0722
DI/DO 14 15
r0723
DI/DO 14 15
inverted
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
<1>
<3>
<1>
<3>
1
0
1
1
0
1
p0799
CU_LINK
Function diagrams
2.6 CU_LINK
Function diagrams
2211 Data transfer 2-1500
F
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,

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,

6
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9
7
-
4
A
P
0
0
-
0
B
P
2
F
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g
.

2
-
4
4
2
2
1
1

D
a
t
a

t
r
a
n
s
f
e
r
- 2211 -
Function diagram
8 7 6 5 4 3 2 1
fp_2211_51_eng.vsd DO: CU_LINK, CU_CX32
SINAMICS 23.06.09 V04.04.00 CU_LINK - Data transfer
CU_LINK (master) CU_CX32-2 (slave)
Digital inputs 0 3
8 ... 11
16 ... 17
Digital inputs 0 7
e.g.:
(interconnect ready for
operation signal of the
infeed unit (r0863.0))
DRIVE-CLiQ
<1> The drive object CU_LINK only exists for automation systems with integrated SINAMICS functionality (e.g. SINUMERIK NCU) and the corresponding expansion components (e.g. CX32, NX10).
The master functionality is available on the automation system, the slave functionality is available on the expansion components.
<2> p8800: CU_LINK address.
Address of the CX32 resp. NX10/15, representing the DO CU_LINK.
The address correlates with the DRIVE-CliQ port of the CU connected to the CX/NX configured.
Value range: See p0918 (PROFIBUS address)
Only available within the unit, not visible in the STARTER, can be read, for example, through acyclic communication with DPV1 services.
p8500[0]
p8500[7]
r8510.7
r8510.0
<1>
p8501[0]
p8501[17]
r8511.17
r8511.0
r8510.0
r8510.7
p8500[0]
p8500[7]
r8511.0
r8511.17
p8501[0]
p8501[17]
r8512
r8515
r8514
r8513
p8505
p8504
Signal value 3
Signal value 2
Signal value 1
Signal value 0
p8503
p8502
p8502
p8504
p8505
r8515
r8514
r8512
p8503
r8513
p8520[0]
p8520[1]
p8520[2]
p8520[3]
p8520[3]
p8520[2]
p8520[1]
p8520[0]
<2>
CX32-2 input/output terminals
Function diagrams
2.7 CX32-2 input/output terminals
Function diagrams
F
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2
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2
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2

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A
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2
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1
1

A
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R
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S
1
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0
/
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1
5
0

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(
L
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)
,

0
1
/
2
0
1
1
,

6
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
4
5
2
2
2
0

D
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a
l

i
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p
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s
,

e
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c
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r
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c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

0

t
o

D
I

3
,

D
I

1
6
,

D
I

1
7
)
- 2220 -
Function diagram
8 7 6 5 4 3 2 1
fp_2220_51_eng.vsd DO: CU_CX32
SINAMICS 24.07.09 V04.04.00 CX32-2 input/output terminals - Digital inputs, electrically isolated (DI 0 ... DI 3, DI 16, DI 17)
<1>
<1>
X122.1 DI 0
X122.2 DI 1
X122.3 DI 2
X122.4 DI 3
X122.5 DI 16
X122.7 M1
M X122.8
24 V
+
X122.6 DI 17
<1>
<1>
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
24 V
5 V
1 = Simulation on
p0795.0
1
0
p0796.0
p0795.1
1
0
p0796.1
p0795.2
1
0
p0796.2
p0795.3
1
0
p0796.3
p0795.16
1
0
p0796.16
p0795.17
1
0
p0796.17
r0723.0 1
r0723.1 1
r0723.2 1
r0723.3 1
r0723.16 1
r0723.17 1
0722.0
0722.1
0722.2
0722.3
0722.16
0722.17
r0723
DI 0 DI 3, DI 16, DI 17
inverted
r0722
DI 0 DI 3, DI 16, DI 17
r0721.0
r0721.1
r0721.2
r0721.3
r0721.16
r0721.17
p0799
<2> Can only be used with drive object CU_I (e.g. SIMOTION D).
<2>
C
X
3
2
-
2

i
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p
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p
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2
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5
0
3

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2
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1
1

A
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1
2
0
/
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1
5
0

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(
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)
,

0
1
/
2
0
1
1
,

6
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
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.

2
-
4
6
2
2
3
0

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p
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/
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p
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s
,

b
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a
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(
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/
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8

t
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D
I
/
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O

9
)
- 2230 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 24.07.09 V04.04.00 CX32-2 input/output terminals - Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9)
p0795.8 (0)
X122.11 M
p0796.8 (0)
p0748.8 (0)
DI
DO
p0795.9 (0) p0796.9 (0)
p0748.9 (0)
DI
DO
X122.10 DI/DO 9
p0728.9 (0)
DI/DO 8 X122.9
p0728.8 (0)
1
0
1
0
0
1
0
1
DI
DI
1
1 r0723.9
r0723.8
r0721.8
r0721.9
r0722.9
r0722.8
DI 9_probe
r0747.9
DO
DO
(0)
CU S_src DI/DO 9
p0739
(0)
CU S_src DI/DO 8
p0738
0
1
0
r0747.8
0
1
0
<2>
24 V
5 V
DI 8_probe
<2>
r0722
DI/DO 8 9
r0723
DI/DO 8 9
inverted
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
<1>
<3>
<1>
<3>
1
0
1
1
0
1
p0799
<4>
F
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3
2
-
2

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p
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p
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t
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m
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2
-
1
5
0
4

S
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m
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s

A
G

2
0
1
1

A
l
l

R
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s

R
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s
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S
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A
M
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S
S
1
2
0
/
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1
5
0

L
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M
a
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(
L
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1
)
,

0
1
/
2
0
1
1
,

6
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
4
7
2
2
3
1

D
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a
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i
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p
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/
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p
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s
,

b
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i
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a
l

(
D
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/
D
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1
0

t
o

D
I
/
D
O

1
1
)
- 2231 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 24.07.09 V04.04.00 CX32-2 input/output terminals - Digital inputs/outputs, bidirectional (DI/DO 10 ... DI/DO 11)
p0795.10 (0)
X122.14 M
p0796.10 (0)
p0748.10 (0)
DI
DO
p0795.11 (0) p0796.11 (0)
p0748.11 (0)
DI
DO
X122.13 DI/DO 11
p0728.11 (0)
DI/DO 10 X122.12
p0728.10 (0)
1
0
1
0
0
1
0
1
DI
DI
1
1 r0723.11
r0723.10
r0721.10
r0721.11
r0722.11
r0722.10
DI 11_probe
r0747.11
DO
DO
(0)
CU S_src DI/DO 11
p0741
(0)
CU S_src DI/DO 10
p0740
0
1
0
r0747.10
0
1
0
<2>
24 V
5 V
DI 10_probe
<2>
r0722
DI/DO 10 11
r0723
DI/DO 10 11
inverted
+24 V
X124.M
X124.+
M X124.M
M
X124.+
+
<1>
<3>
<1>
<3>
1
0
1
1
0
1
p0799
<4>
PROFIdrive
Function diagrams
2.8 PROFIdrive
Function diagrams
2410 PROFIBUS (PB) / PROFINET (PN), addresses and diagnostics 2-1507
2420 Standard telegrams and process data 2-1508
2422 Manufacturer-specific telegrams and process data 1 2-1509
2423 Manufacturer-specific telegrams and process data 2 2-1510
2424 Manufacturer-specific/free telegrams and process data 2-1511
2425 STW1_BM control word metal industry interconnection 2-1512
2426 STW2_BM control word metal industry interconnection 2-1513
2427 E_STW1_BM control word infeed metal industry interconnection 2-1514
2428 ZSW1_BM status word metal industry interconnection 2-1515
2429 ZSW2_BM status word metal industry interconnection 2-1516
2430 E_ZSW1_BM control word infeed metal industry interconnection 2-1517
2433 STW2_ENC control word ENCODER interconnection 2-1518
2434 ZSW2_ENC status word ENCODER interconnection 2-1519
2439 PZD receive signals, interconnection, profile-specific 2-1520
2440 PZD receive signals, interconnection, manufacturer-specific 2-1521
2441 STW1 control word interconnection (p2038 = 2) 2-1522
2447 E_STW1 control word infeed interconnection 2-1527
2449 PZD send signals, interconnection, profile-specific 2-1528
2450 PZD send signals, interconnection, manufacturer-specific 2-1529
2451 ZSW1 status word interconnection (p2038 = 2) 2-1530
Function diagrams
PROFIdrive
2456 MELDW status word interconnection 2-1535
2457 E_ZSW1 status word infeed interconnection 2-1536
2462 POS_STW positioning control word interconnection (r0108.4 = 1) 2-1537
2463 POS_STW1 positioning control word 1 interconnection (r0108.4 = 1) 2-1538
2464 POS_STW2 positioning control word 2 interconnection (r0108.4 = 1) 2-1539
2466 POS_ZSW1 positioning status word 1 interconnection (r0108.4 = 1) 2-1540
2467 POS_ZSW2 positioning status word 2 interconnection (r0108.4 = 1) 2-1541
2468 IF1 receive telegram, free interconnection via BICO (p0922 = 999) 2-1542
2470 IF1 send telegram, free interconnection via BICO (p0922 = 999) 2-1543
2472 IF1 status words, free interconnection 2-1544
2475 STW1 control word 1 interconnection (r0108.4 = 1) 2-1545
2476 SATZANW-Pos block selection interconnection (r0108.4 = 1) 2-1546
2479 ZSW1 status word 1 interconnection (r0108.4 = 1) 2-1547
2480 MDI_MOD-MDI mode interconnection (r0108.4 = 1) 2-1548
2489 IF2 status words, free interconnection 2-1553
2491 IF2 receive telegram, free interconnection 2-1554
2493 IF2 send telegram, free interconnection 2-1555
2495 CU_STW1 control word 1, Control Unit interconnection 2-1556
2496 CU_ZSW1 status word 1, Control Unit interconnection 2-1557
2497 A_DIGITAL interconnection 2-1558
2498 E_DIGITAL interconnection 2-1559
P
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2
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5
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7

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m
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A
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2
0
1
1

A
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l

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S
S
1
2
0
/
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1
5
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L
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M
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(
L
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,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
4
8
2
4
1
0

P
R
O
F
I
B
U
S

(
P
B
)

/

P
R
O
F
I
N
E
T

(
P
N
)
,

a
d
d
r
e
s
s
e
s

a
n
d

d
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n
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t
i
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s
- 2410 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 12.10.10 V04.04.00 PROFIdrive - PROFIBUS (PB) / PROFINET (PN), addresses and diagnostics
CU-specific functions
Setting the PROFIBUS address
PB address
1...126
p0918 (126)
Drive-specific functions (available once for each drive object)
POWER ON
Memory
SET
p0918
Actual
PROFIBUS
address
Monitoring functions
Sign-of-life from the
clock cycle
synchronous master
Diagnostic parameters
Cyclic telegrams
from the master
A01900 "PROFIBUS: Configuration telegram error"
A01901 "PROFIBUS: Parameterizing telegram error"
A01902 "IF1: PB/PN clock cycle synchronous operation parameterization not permissible"
1...126
PB diag clock sync
r2064[0...7]
PB diag standard
r2055[0...2]
PB status
r2054
r2075 IF1 diag offs recv
r2076 IF1 diag offs send
t
Refer to [1020.7]
PROFIBUS sampling time
PB addr diagn
r2057
PB PZD state Setpoint failure
2043.0
PROFINET address
PN Name of Station
r61000[0...239]
PN IP of Station
r61001[0...3]
PD PZD state Clock cycle synchronous operation active
r2043.1
<7>
<7>
Address switches
on the Control Unit
DP ADDRESS
Example: 15 hex = 21 dez
Setting the PROFIBUS address:
- Via p0918:
Set the address switches DP H and
DP L to 00 hex (= 0 dez), 7F hex
(= 127 dez), 80 hex or FF hex.
- Via the address switches
DP H and DP L:
Set the desired address as hexa-
decimal value between 01 hex
(= 1 dez) und 7E hex (= 126 dez).
Any change only becomes
effective after a POWER ON.
PB state t_monit
p2047
T 0
<8>
<9>
>
Detecting
missing
signs-of-life
in a series
n
PD SoL_tol
0...65535
p0925 (1)
= 65535
<1>
&
No telegrams from the master
Alarms
Faults
n > p0925
A01921 "PROFIBUS: Receive setpoints after To"
A01930 "IF1: PB/PN current controller clock cycle clock cycle synchronous not equal"
A01931 "IF1: PB/PN speed controller clock cycle clock cycle synchronous not equal"
A01940 "IF1: PB/PN clock cycle synchronism not reached"
A01941 "IF1: PB/PN clock signal missing when establishing bus"
A01943 "IF1: PB/PN clock cycle signal faulted when establishing the bus"
A01944 "IF1: PB/PN sign-of-life synchronism not reached"
A01950 "IF1: PB/PN clock cycle synchronous operation synchronization unsuccessful"
<5>
<1> The monitoring function is only executed after at least one "valid" cyclic
telegram has been received. "Valid" means: the master is in operation and
net data are transmitted.
<2> The monitoring function is only executed after the first sign-of- life has
been received.
<3> Sign-of-life monitoring not effective for p0925 = 65535.
<4> The response monitoring time t_response is automatically defined when
configuring PROFIBUS/PROFINET
(e.g. HW Config made by SIEMENS).
<5> Only for the clock-cycle synchronous operation of the SERVO and
VECTOR drive object.
<6> p2045 is automatically interconnected when the telegram is selected.
(no clock cycle synchronous operation with G130/G150).
<8> Only for cyclic operation.
<9> Not when the master CPU stops.
F01912
"IF1: PB/PN clock cycle synchronous operation sign-of-life failure"
<5>
r2050[3]
PD mast-SoL S_Src
(0)
p2045
PD mast-SoL diag
r2065
<6>
<5>
PD fault delay
0...100 [s]
p2044 (0)
F01910 "PROFIBUS: Setpoint timeout"
S Q
R Q
T 0
<2>
<3>
<7>
<7>
<9>
F01911 "IF1: PB/PN clock cycle synchronous operation clock cycle failure"
t > t_response <4> No cyclic telegrams from the master
A01920 "PROFIBUS: Interruption cyclic connection"
DP H
DP L
F
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8

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2
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1
1

A
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l

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S
S
1
2
0
/
S
1
5
0

L
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M
a
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L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
4
9
2
4
2
0

S
t
a
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d
a
r
d

t
e
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s

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s

d
a
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a
- 2420 -
Function diagram
8 7 6 5 4 3 2 1
fp_2420_54_eng.vsd
S120/S150/G130/G150 20.07.10 V04.04.00
PROFIdrive - Standard telegrams and process data
DO: ENCODER, SERVO, VECTOR
<2> <1>
<4> The maximum number of PZD words depends on the drive object type.
<4>
Refer to [1020.7]
<3> Freely interconnectable (pre-setting: MELD_NAMUR).
<2> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2420] - [2424].
If p0922 999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2420] - [2424].
= Position encoder signal
Interconnec
tion is made
according to
Telegram 1 2 3 4 20 7 6 5
Appl.-Class 1 1 1, 4 1, 4 1 3 4 DSC
PZD6
PZD8
PZD9
PZD10
PZD11
PZD13
PZD14
PZD15
PZD16
PZD12
PZD7
PZD5
PZD4
PZD1
PZD2
PZD3
PZD17
PZD18
PZD19
PZD24
PZD26
PZD27
PZD28
PZD29
PZD31
PZD32
PZD30
PZD25
PZD23
PZD22
PZD20
PZD21
STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
NSOLL_A NIST_A
NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
SATZANW AKTSATZ
STW2 ZSW2 ZSW2 STW2 STW2 ZSW2
4 DSC
STW1 ZSW1
MIST_GLATT
PIST_GLATT
<3>
NIST_A_GLATT
IAIST_GLATT
NSOLL_A
STW2 ZSW2 STW2 ZSW2
G1_STW G1_ZSW
G2_XIST1
G2_XIST2
G1_XIST1
G2_ZSW
G1_STW G1_ZSW
G2_STW
G1_XIST1
G1_XIST2 G1_XIST2
NSOLL_B NIST_B
G1_STW G1_ZSW G1_STW G1_ZSW
G1_XIST2
XERR
KPC
G1_XIST1
G2_STW
G1_XIST2
G2_ZSW
KPC
G1_XIST1
XERR
G2_XIST1
G2_XIST2 R
e
c
e
i
v
e

t
e
l
e
g
r
a
m

f
r
o
m
P
R
O
F
I
d
r
i
v
e
S
e
n
d

t
e
l
e
g
r
a
m

t
o
P
R
O
F
I
d
r
i
v
e
9
3
STW1 ZSW1
MDI_
TARPOS
XIST_A
STW2 ZSW2
MDI_
VELOCITY
SATZANW AKTSATZ
Not suitable for sensorless vector control
<5> <5> <5>
[2440] [2450] automatically
81
1
STW2_ENC ZSW2_ENC
G1_ZSW
G1_XIST1
G1_STW
G1_XIST2
<6>
82
1
STW2_ENC ZSW2_ENC
G1_ZSW
G1_XIST1
G1_STW
G1_XIST2
<6>
NIST_A
83
1
STW2_ENC ZSW2_ENC
G1_ZSW
G1_XIST1
G1_STW
G1_XIST2
<6>
NIST_B
MDI_ACC
MDI_DEC
MDI_MOD
PD Telegram select
p0922 (999)
<6> Only for ENCODER.
<1> Depending on the drive object, only specific telegrams can be used. Not suitable for sensorless vector control.
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
0
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
0
2
4
2
2

M
a
n
u
f
a
c
t
u
r
e
r
-
s
p
e
c
i
f
i
c

t
e
l
e
g
r
a
m
s

a
n
d

p
r
o
c
e
s
s

d
a
t
a

1
- 2422 -
Function diagram
8 7 6 5 4 3 2 1
fp_2422_54_eng.vsd
S120/S150/G130/G150 20.07.10 V04.04.00 PROFIdrive Manufacturer-specific telegrams and process data 1
<2>
PD Telegr_select
p0922 (999)
DO: SERVO, VECTOR
<1>
Interconnec-
tion is made
according to
Telegram
Appl.- Class
PZD6
PZD8
PZD9
PZD10
PZD11
PZD13
PZD14
PZD15
PZD16
PZD12
PZD7
PZD5
PZD4
PZD1
PZD2
PZD3
PZD17
PZD18
PZD19
PZD24
PZD26
PZD27
PZD28
PZD29
PZD31
PZD32
PZD30
PZD25
PZD23
PZD22
PZD20
PZD21
<4>
<3> Can be freely connected.
<1> Depending on the drive object, only specific telegrams can be used.
= Position encoder signal
If p0922 999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2420] - [2424]!
Refer to [1020.7]
G3_STW G2_STW
G1_XIST1
102 103 105 106 116 110
1, 4 1, 4 4 DSC 4 DSC 4 DSC 3
STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
POS_STW POS_ZSW
SATZANW AKTSATZ
NSOLL_B NIST_B
G1_STW
MOMRED
STW2
G1_ZSW
G1_XIST2
MELDW
ZSW2
G1_ZSW
G1_XIST1
G1_XIST2
G2_ZSW
G2_XIST1
MOMRED MELDW
STW2 ZSW2
G2_XIST2
G1_STW G1_ZSW
G1_XIST1
G1_XIST2
XERR
MOMRED MELDW
STW2 ZSW2
KPC
G1_STW G1_ZSW
G1_XIST1
G2_STW
KPC
XERR
G1_XIST2
G2_ZSW
G2_XIST2
MOMRED MELDW
STW2 ZSW2
G2_XIST1
MDI_TAR
POS
XIST_A
OVERRIDE MELDW
ZSW2 STW2
MDI_VELO
CITY
MDI_ACC
MDI_DEC
MDI_MODE
G1_STW G1_ZSW
KPC
XERR
G1_XIST2
G2_ZSW
G2_XIST1
MOMRED MELDW
STW2 ZSW2
AIST_GLATT
ITIST_GLATT
PIST_GLATT
MSOLL_GLATT
G2_STW
G1_XIST1
G2_XIST2
G1_STW
<5> <5> <5> <5> <5> <5>
111
3
STW1 ZSW1
POS_STW1 POS_ZSW1
MDI_TAR
POS
XIST_A
OVERRIDE MELDW
ZSW2 STW2
MDI_VELO
CITY
MDI_ACC
MDI_DEC
<5>
FAULT_CODE
WARN_CODE
NIST_B
POS_STW2 POS_ZSW2
118
4 DSC
STW1 ZSW1
NSOLL_B NIST_B
G2_STW G2_ZSW
KPC
XERR
G2_XIST2
G3_ZSW
G3_XIST1
MOMRED MELDW
STW2 ZSW2
AIST_GLATT
ITIST_GLATT
PIST_GLATT
MSOLL_GLATT
G2_XIST1
G3_XIST2
<5>
<3> <3>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
1
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
1
2
4
2
3

M
a
n
u
f
a
c
t
u
r
e
r
-
s
p
e
c
i
f
i
c

t
e
l
e
g
r
a
m
s

a
n
d

p
r
o
c
e
s
s

d
a
t
a

2
- 2423 -
Function diagram
8 7 6 5 4 3 2 1
fp_2423_54_eng.vsd
S120/S150/G130/G150 07.12.10 V04.04.00 PROFIdrive - Manufacturer-specific telegrams and process data 2
<2>
DO: A_INF, B_INF, CU_G, CU_S, S_INF, SERVO, VECTOR
<1> <4>
Refer to [1020.7]
PD Telegram select
p0922 (999)
<3> In order to comply with the PROFIdrive profile, PZD1 must be used as control word 1 (STW1) or status word 1 (ZSW1).
p2037 = 2 should be set if STW1 is not transferred with PZD1 as specified in the PROFIdrive profile.
<5> Only if the DSC with Spline function module is active (r0108.6 = 1).
<6> Freely interconn.
<7> Not for U/f control.
<8> Preassignment, not disabled.
<9> Only if the Spindle function module is active (r0108.11 = 1).
<10> Only for S120/S150.
<11> Values smoothed at Vector, Values unsmooted at Servo.
Interconnection
is made
according to
Telegram
Appl.- Class
PZD6
PZD8
PZD9
PZD10
PZD11
PZD13
PZD14
PZD15
PZD16
PZD12
PZD7
PZD5
PZD4
PZD1
PZD2
PZD3
PZD17
PZD18
PZD19
PZD24
PZD26
PZD27
PZD28
PZD29
PZD31
PZD32
PZD30
PZD25
PZD23
PZD22
PZD20
PZD21
<4>
136
4 DSC
STW1
NSOLL_B NIST_B
ZSW1
STW2
MOMRED
G1_STW
G2_STW
XERR
KPC
M_VST
ZSW2
MELDW
G1_ZSW
G1_XIST1
G1_XIST2
G2_XIST1
PIST_GLATT
G2_XIST2
AIST_GLATT
MSOLL_GLATT
ITIST_GLATT
G2_ZSW
139 125 126
4 DSC 4 DSC
STW1 ZSW1 STW1 ZSW1
NSOLL_B NIST_B NSOLL_B NIST_B
G1_STW G1_ZSW
G1_XIST1
G1_XIST2
XERR
MOMRED MELDW
STW2 ZSW2
KPC
G1_STW G1_ZSW
G1_XIST1
G2_STW
KPC
XERR
G1_XIST2
G2_ZSW
G2_XIST2
MOMRED MELDW
STW2 ZSW2
G2_XIST1
<10>
M_VST
M_VST
4 DSC
STW1
NSOLL_B NIST_B
ZSW1
STW2
MOMRED
G1_STW
Reserved
XERR
KPC
M_VST
ZSW2
MELDW
G1_ZSW
G1_XIST1
G1_XIST2
PIST_GLATT
AIST_GLATT
MSOLL_GLATT
ITIST_GLATT
SP_ZSW
T_SYMM <5>
SP_KONFIG
Reserved
SP_XIST_A
SP_XIST_D
T_SYMM <5>
Reserved
DSC_STW <5>
T_SYMM <5>
Reserved
T_SYMM <5>
Reserved Reserved
<10> <9>
DSC_STW <5> DSC_STW <5> DSC_STW <5>
352
1
STW1 ZSW1
NSOLL_A NIST_A_GLATT
<3> IAIST_GLATT
MIST_GLATT
<3>
<3>
WARN_CODE
FAULT_CODE
<3>
220
STW1_BM ZSW1_BM
NIST_A /NIST_A_GLATT <6> <11>
IAIST/IAIST_GLATT <6> <11>
MIST/MIST_GLATT<6> <11>
WARN_CODE
FAULT_CODE
ZSW2_BM
M_LIM <7> <8>
NSOLL_B
STW2_BM
1
r1482 <6>
<6>
<6>
<6>
<6>
<6>
<6>
M_ADD <8>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
1
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
2
2
4
2
4

M
a
n
u
f
a
c
t
u
r
e
r
-
s
p
e
c
i
f
i
c
/
f
r
e
e

t
e
l
e
g
r
a
m
s

a
n
d

p
r
o
c
e
s
s

d
a
t
a
- 2424 -
Function diagram
8 7 6 5 4 3 2 1
fp_2424_54_eng.vsd
S120/S150/G130/G150 08.10.10 V04.04.00 PROFIdrive - Manufacturer-specific/free telegrams and process data
<2>
DO: A_INF, B_INF, CU_G, CU_S, S_INF, SERVO, VECTOR
<1> <4>
Refer to [1020.7]
PD Telegram select
p0922 (999)
<3> In order to comply with the PROFIdrive profile, PZD1 must be used as control word 1 (STW1) or status word 1 (ZSW1).
p2037 = 2 should be set if STW1 is not transferred with PZD1 as specified in the PROFIdrive profile.
<5> Only for S120/S150.
<6> Freely interconn.
Interconnection
is made
according to
Telegram
Appl.- Class
PZD6
PZD8
PZD9
PZD10
PZD11
PZD13
PZD14
PZD15
PZD16
PZD12
PZD7
PZD5
PZD4
PZD1
PZD2
PZD3
PZD17
PZD18
PZD19
PZD24
PZD26
PZD27
PZD28
PZD29
PZD31
PZD32
PZD30
PZD25
PZD23
PZD22
PZD20
PZD21
999
-
STW1 ZSW1
R
e
c
e
i
v
e

t
e
l
e
g
r
a
m

l
e
n
g
t
h

f
r
e
e
l
y

s
e
l
e
c
t
a
b
l
e

v
i
a

c
e
n
t
r
a
l

P
R
O
F
I
d
r
i
v
e

c
o
n
f
i
g
u
r
a
t
i
o
n

i
n

t
h
e

m
a
s
t
e
r

<
4
>
T
r
a
n
s
m
i
t

t
e
l
e
g
r
a
m

l
e
n
g
t
h

f
r
e
e
l
y

s
e
l
e
c
t
a
b
l
e

v
i
a

c
e
n
t
r
a
l

P
R
O
F
I
d
r
i
v
e

c
o
n
f
i
g
u
r
a
t
i
o
n

i
n

t
h
e

m
a
s
t
e
r

<
4
>
<4>
[2481] [2483]
<3> <3>
392 391
- -
CU_STW1 CU_ZSW1 CU_STW1 CU_ZSW1
A_DIGITAL E_DIGITAL
MT_STW MT_ZSW
MT1_ZS_F
MT1_ZS_S
MT2_ZS_F
MT2_ZS_S
A_DIGITAL E_DIGITAL
MT_STW MT_ZSW
MT1_ZS_F
MT1_ZS_S
MT2_ZS_F
MT2_ZS_S
MT3_ZS_F
MT3_ZS_S
MT4_ZS_F
MT4_ZS_S
MT5_ZS_F
MT5_ZS_S
MT6_ZS_F
MT6_ZS_S
370
-
E_STW1 E_ZSW1
<5>
371
-
E_STW1_BM E_ZSW1_BM
IAIST
WARN_CODE
FAULT_CODE
<6> <6>
<6>
<6>
<6>
<6>
<6>
<6>
390
-
CU_STW1 CU_ZSW1
E_DIGITAL A_DIGITAL
393
-
CU_STW1 CU_ZSW1
A_DIGITAL E_DIGITAL
A_DIGITAL_1 E_DIGITAL_1
MT1_ZS_F
MT1_ZS_S
MT2_ZS_F
MT2_ZS_S
MT3_ZS_F
MT3_ZS_S
MT4_ZS_F
MT4_ZS_S
MT5_ZS_F
MT5_ZS_S
MT6_ZS_F
MT6_ZS_S
MT_STW MT_ZSW
MT7_ZS_S
MT7_ZS_F
MT8_ZS_S
MT8_ZS_F
E_ANALOG
394
-
CU_STW1 CU_ZSW1
A_DIGITAL E_DIGITAL
A_DIGITAL_1 E_DIGITAL_1
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
1
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
3
2
4
2
5

S
T
W
1
_
B
M

c
o
n
t
r
o
l

w
o
r
d

m
e
t
a
l

i
n
d
u
s
t
r
y

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
- 2425 -
Function diagram
8 7 6 5 4 3 2 1
fp_2425_54_eng.vsd DO: SERVO, VECTOR
S120/S150/G130/G150 06.08.09 V04.04.00 PROFIdrive - STW1_BM-control word metal industry interconnection
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.7
STW1.10
p0848[0] = r2090.2
p2816[0] = r2090.3
p1140[0] = r2090.4
p1141[0] = r2090.5
p1142[0] = r2090.6
p2103[0] = r2090.7
-
-
p0854[0] = r2090.10
p0840[0] = r2090.0
p0844[0] = r2090.1
= ON (pulses can be enabled)
0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready-to-power-up)
1 = No OFF2 (enable is possible)
0 = OFF2 (immediate pulse suppression and power-on inhibit)
1 = No OFF3 (enable possible)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and power-on inhibit)
1 = Enable operation (pulses can be enabled)
0 = Inhibit operation (cancel pulses)
1 = Operating condition (the ramp-function generator can be enabled)
0 = inhibit ramp-function generator (set the ramp-function generator output to zero)
1 = Enable the ramp-function generator
0 = stop the ramp-function generator (freeze the ramp-function generator output)
1 = Enable setpoint
0 = inhibit setpoint (set the ramp-function generator input to zero)
= Acknowledge faults
Reserved
Reserved
1 = Control via PLC
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2546.1]
-
-
[2501.3]
[2501.3]
[2501.3]
Signal targets for STW1_BM
[2610]
[2634.3]
[3060] [3070] [3080]
[3060] [3070]
[3060] [3070] [3080]
[8060]
-
-
[2501]
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
internal control word
[Function diagram]
signal target
Inverted
<2>
<1>
Refer to [1020.7]
<1> Used in telegram 220.
<2> STW1.10 must be set to ensure that the drive object accepts the process data (PZD).
<3> Interconnection is not disabled.
STW1.11 Reserved - - - -
STW1.12 Reserved - - -
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
P
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F
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F
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d
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r
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s
2
-
1
5
1
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
4
2
4
2
6

S
T
W
2
_
B
M

c
o
n
t
r
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l

w
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d

m
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t
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- 2426 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 13.01.10 V04.04.00 PROFIdrive - STW2_BM-control word metal industry interconnection
Signal targets for STW2_BM
STW2.0
STW2.1
STW2.2
STW2.3
STW2.4
STW2.5
STW2.6
STW2.8
STW2.9
STW2.11
STW2.12
STW2.13
STW2.14
STW2.15
STW2.7
STW2.10
Drive data set selection DDS, bit 2
1 = Speed controller set integrator value
1 = Droop enabled
Reserved
Reserved
1 = Bypass ramp-function generator
Command data set selection CDS, bit 1
Command data set selection CDS, bit 0
1 = Speed controller enabled
Reserved
Controller slave sign-of-life Toggle bit
-
-
-
-
-
-
-
-
-
-
-
[8565]
[8565]
[8565]
-
-
-
-
-
-
[8560]
[8560]
-
-
-
-
-
-
-
-
-
-
-
-
Signal Meaning
Interconnection
parameters
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
Reserved
Reserved
1 = Torque controlled operation
0 = Speed controlled operation
-
-
-
-
-
-
-
-
-
-
-
[6030] -
-
p0820[0] = r2093.2
<2>
p0821[0] = r2093.3
<2>
p0822[0] = r2093.4
<2>
p1122[0] = r2093.5
-
p1492[0] = r2093.8
p0856[0] = r2093.9
<2>
p1501[0] = r2093.11
p0810 = r2093.0
p0811 = r2093.1
p1477[0] = r2093.7
p2081[15] = r2093.15
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<3> Only for Vector.
<4> Only for "extended setpoint channel" and Vector.
<4>
<3>
F
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2
-
1
5
1
4

S
i
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m
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s

A
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2
0
1
1

A
l
l

R
i
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t
s

R
e
s
e
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v
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d
S
I
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A
M
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S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
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a
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
5
2
4
2
7

E
_
S
T
W
1
_
B
M

c
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t
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l

w
o
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d

i
n
f
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m
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l

i
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Function diagram
8 7 6 5 4 3 2 1
fp_2427_54_eng.vsd DO: A_INF, B_INF, S_INF
S120/S150/G130/G150 22.10.10 V04.04.00 PROFIdrive - E_STW1-control word infeed metal industry interconnection
Signal targets for E_STW1_BM
<3> Only for A_INF, S_INF
<4> Only for A_INF
<1>
STW1.0 p0840[0] = r2090.0
Signal
[Function diagram] signal target [Function diagram] internal control word
Interconnection
parameters
STW1.1 p0844[0] = r2090.1
STW1.2
STW1.3 p0852[0] = r2090.3
STW1.4 -
STW1.5 p3532= r2090.5
STW1.6 p3533= r2090.6
STW1.7 p2103[0] = r2090.7
STW1.8
STW1.9
STW1.10 p0854[0] = r2090.10
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
[2546.3]
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[8060]
[8920.3]
[8920.3]
-
[8920.3]
-
[8920.3]
[8920.3]
-
-
[8920.3]
-
-
-
-
-
A_INF
[8720.3]
[8720.3]
-
-
-
-
-
[8720.3]
-
-
-
-
-
-
-
B_INF <7>
[8820.3]
[8820.3]
-
[8820.3]
-
[8820.3]
-
-
[8820.3]
-
-
-
-
-
-
S_INF <5>
[8932]
-
[8932]
-
-
-
-
-
-
-
-
[8932]
[8920]
[8920]
[8920]
A_INF
[8732]
-
-
-
-
[8720]
-
-
-
-
-
[8732]
-
-
-
B_INF <7>
[8832]
[8832]
-
[8832]
-
[8820]
-
-
[8820]
-
-
-
-
-
-
S_INF <5>
= ON (close pre-charging/line contactor, pulses can be enabled)
0 = OFF1 (reduce Vdc along a ramp, suppress pulse and open pre-charging/line contactor)
Meaning
0 = OFF2 (immediate pulse suppression and power-on inhibit)
Reserved
0 = Inhibit operation (suppress pulses)
Reserved
1 = Infeed, inhibit motoring
1 = Infeed, inhibit regenerative operation
Reserved
Reserved
1 = Control via PLC
Reserved
Reserved
Reserved
Reserved
Controller-sign-of-life Toggle Bit
<3>
<3>
<2>
<4>
Refer to [1020.7]
- 2427 -
p2080[15] = r2090.15
<5> B_INF and S_INF only for S120.
<8> Not for G130.
<6>
<6>
<6> <6>
<6>
<6>
<6>
<6>
<6>
<6>
<6>
<6>
-
<7>
P
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F
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F
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d
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s
2
-
1
5
1
5

S
i
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m
e
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s

A
G

2
0
1
1

A
l
l

R
i
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h
t
s

R
e
s
e
r
v
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d
S
I
N
A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
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t
M
a
n
u
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
6
2
4
2
8

Z
S
W
1
_
B
M

s
t
a
t
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s

w
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m
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- 2428 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 06.12.10 V04.04.00 PROFIdrive - ZSW1_BM-status word metal industry interconnection
Signal sources for ZSW1_BM
<2> The ZSW1 is generated using the binector-connector converter (BI: p2080[0...15], inversion: p2088[0].0...p2088[0].15)
<3> The drive object is ready to accept data.
<4> Not for VECTOR V/f.
<5> Only for SINAMICS S120.
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Ready for operation
1 = Ready for switching on
1 = Operation enabled
1 = Fault present
1 = No coast down active (OFF2 inactive)
1 = No fast stop active (OFF3 inactive)
1 = Switching on inhibited active
1 = Alarm present
1 = Speed setpoint - actual value deviation within tolerance t_off
1 = Control requested
1 = f or n comparison value reached/exceeded
1 = I, M, or P limit not reached
1 = Open the holding brake
Reserved
<3>
p2080[2] = r2811.0
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2197.7
p2080[9] = r0899.9
p2080[10] = r2199.1
p2080[11] = r1407.7
p2080[12] = r0899.12
p2080[0] = r0899.0
p2080[1] = r0899.1
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[2534.7]
[2503.7]
[2536.7]
[2522.7]
[2503.7]
-
-
[2503.7]
[2503.7]
-
[Function diagram]
Internal status word
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[8010]
[2503]
[8010]
[5610] [6060]
[2701]
-
-
[2610]
[2610]
-
[Function diagram]
signal source
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
<2>
Inverted
<4>
Refer to [1020.7]
PROFIdrive Abtastzeit
<5>
Reserved
Reserved
-
-
<6>
<6>
<6>
<6>
<6>
<6>
F
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n

d
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P
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F
I
d
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e
2
-
1
5
1
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
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d
S
I
N
A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
7
2
4
2
9

Z
S
W
2
_
B
M

s
t
a
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u
s

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m
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- 2429 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 14.01.10 V04.04.00 PROFIdrive - ZSW2_BM status word metal industry interconnection
[Function diagram]
signal source
Interconnection
parameters
Signal Meaning
ZSW2.0
ZSW2.1
ZSW2.2
ZSW2.3
ZSW2.4
ZSW2.5
ZSW2.6
ZSW2.8
ZSW2.9
ZSW2.11
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
ZSW2.7
ZSW2.10
Reserved
1 = Speed setpoint controll activ
1 = Lower torque limit
1 = SS1 delay time active in the drive
Controller slave sign-of-life Toggle bit
1 = STO active in drive
-
-
-
-
-
-
-
-
-
-
[Function diagram]
internal status word
-
-
-
-
-
-
-
-
-
-
Signal sources for ZSW2_BM
<1>
-
-
-
-
-
-
-
-
-
-
-
Inverted
Refer to [1020.7]
-
-
- -
- 1 = Alarm class bit 1
1 = Alarm class bit 0 [2548]
[2548]
1 = Upper torque limit - -
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Encoderless operation due to fault
Reserved
-
-
-
-
-
-
-
-
-
-
-
-
-
p2081[5] = r2139.11
p2081[6] = r2139.12
p2081[15] = r2093.15
p2081[12] = r1407.13
-
-
p2081[14] = r9773.1
p2081[13] = r9773.2
p2081[11] = r1407.9
p2081[10] = r1407.8
p2081[9] = r1407.11
<2>
<2>
<2>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
P
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F
I
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e
F
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c
t
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n

d
i
a
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r
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m
s
2
-
1
5
1
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
8
2
4
3
0

E
_
Z
S
W
1
_
B
M

c
o
n
t
r
o
l

w
o
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d

i
n
f
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d

m
e
t
a
l

i
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y

i
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- 2430 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 22.10.10 V04.04.00 PROFIdrive - E_ZSW1_BM-status word infeed metal industry interconnection
<3> Only for S120.
Signal sources for E_ZSW1_BM <1>
ZSW1.0
Signal
[Function diagram] signal source [Function diagram] internal status word
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.7
ZSW1.8
ZSW1.9
ZSW1.10
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
[2548.7]
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[8065]
[8060]
p2080[0] = r0899.0
Interconnection parameters
r2080[15] = r2090.15
p2080[1] = r0899.1
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
-
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[11] = r0899.11
p2080[12] = r0899.12
Meaning
1 = Fault present
1 = No OFF2 effective
1 = Switching on inhibited
1 = Alarm present
Reserved
1 = PLC requests control
<2>
1 = Pre-charging completed
1 = Line contactor closed
Reserved
Reserved
Controller sign-of-life Toggle bit
Reserved
Reserved
[8926.7]
[8926.7]
[8926.7]
-
-
-
-
A_INF
[8926.7]
[8926.7]
-
[8926.7]
-
[8926.7]
[8926.7]
[8726.7]
-
-
-
-
-
-
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[2548.7]
[8826.7]
[8826.7]
-
-
-
-
-
S_INF
[8932]
[8932]
-
-
-
-
[8932]
[8932]
A_INF
[8934]
[8950]
-
[8926]
-
[8932]
[8732]
-
-
-
-
[8732]
-
B_INF <5>
[8732]
[8732]
[8732]
[8726]
-
[8750]
[8734]
-
-
-
-
-
S_INF
[8834]
[8850]
-
[8826]
[8832]
[8832]
[8832]
[8832]
[8832] [8826.7]
[8826.7]
[8826.7]
[8826.7]
-
[8826.7]
[8826.7]
Refer to [1020.7]
<3> <3>
<4>
<4>
<4>
<4> <4>
<4>
<4>
<4>
p2080[9] = r0899.9
<6> Not for G130.
B_INF <5>
<6>
F
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2
-
1
5
1
8

S
i
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m
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s

A
G

2
0
1
1

A
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l

R
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s

R
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s
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S
I
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A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
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M
a
n
u
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
5
9
2
4
3
3

S
T
W
2
_
E
N
C

c
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l

w
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d

E
N
C
O
D
E
R

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n
- 2433 -
Function diagram
8 7 6 5 4 3 2 1
fp_2433_55_eng.vsd DO: ENCODER
SINAMICS S120/S150 02.02.10 V04.04.00 PROFIdrive - STW2_ENC-control word ENCODER interconnection
Signal targets for STW2_ENC
<1> Used in telegrams 81, 82, 83.
Signal Meaning
<2>
Reserved
STW1.12
STW1.13
STW1.14
STW1.15
Reserved
Reserved
1 = Control via PLC
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.7
STW1.10
p2045= r2050
-
p0854[0] = r2090.10 [2501.3]
- -
- -
p2103[0] = r2090.7 [2546.1]
Interconnection
parameters
[Function diagram]
[2410]
[2501]
-
-
[8060]
[Function diagram]
signal target
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
<1>
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Master-sign-of-life, bit 0
-
-
-
-
-
- -
-
-
-
-
-
- -
-
-
-
-
-
-
-
- -
-
Refer to [1020.7]
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
1
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
6
0
2
4
3
4

Z
S
W
2
_
E
N
C

s
t
a
t
u
s

w
o
r
d

E
N
C
O
D
E
R

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
- 2434 -
Function diagram
8 7 6 5 4 3 2 1
fp_2434_55_eng.vsd DO: ENCODER
SINAMICS S120/S150 02.02.10 V04.04.00 PROFIdrive - ZSW2-ENC-status word ENCODER interconnection
Signal sources for ZSW2_ENC
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Fault present
Reserved
p2080[3] = r2139.3
Interconnection
parameters
[2548.7]
[Function diagram]
signal source
[8060]
[Function diagram]
<1>
-
Inverted
Reserved
Reserved
Reserved
- - - -
- - - -
- - - -
Reserved
Reserved
Reserved
- - - -
- - - -
- - - -
1 = Alarm present
Reserved
[8065] -
- - - -
1 = Control requested <2> p2080[9] = r0899.9 [2503.7] [2503]
- - - -
-
- - - -
- [2410] - p2045 = r2050[3]
Slave-sign-of-life bit 0
Refer to [1020.7]
Reserved
p2080[7] = r2139.7 [2548.7]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
2
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
6
1
2
4
3
9

P
Z
D

r
e
c
e
i
v
e

s
i
g
n
a
l
s
,

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
,

p
r
o
f
i
l
e
-
s
p
e
c
i
f
i
c
- 2439 -
Function diagram
8 7 6 5 4 3 2 1
fp_2439_54_eng.vsd DO: A_INF, B_INF, CU_CX32, CU_G, CU_S, ENCODER, S_INF, SERVO, VECTOR
S120/S150/G130/G150 11.11.09 V04.04.00
PROFIdrive - PZD receive signals, interconnection, profile-specific
Signal receivers for PZD receive signals
<2>
(bitwise)
(bitwise)
p1070 (Erw. Soll.)
p1155
p1070 (Erw. Soll.)
p1155
p1430 (DSC) <3>
p0480[0]
p0480[1]
p0480[2]
<1>
[2442][2443] <3>
[2475] <3>
[2444]
[2445]
[3030.2]
[3080.4] <3>
[3030.2]
[3080.4]
[3090.8] <3>
[4720]
[4720]
[4720]
[2497]
U16
U16
I16
I32
U16
U16
U16
U16
-
4000 hex p2000
-
4000 0000 hex p2000
-
-
-
-
<1> When selecting a standard telegram or a manufacturer-specific telegram via p0922, these interconnection parameters of the command data set CDS0 are automatically set.
<2> Data type according to to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32.
SATZANW 32 Pos block selection
p1190
p1191
(bitwise)
[3090.5]
[3090.5]
[2476]
I32
I32
U16
-
-
-
(bitwise)
MDI_TARPOS
MDI_VELOCITY
MDI_ACC
MDI_MOD
MDI_DEC
<3>
<3>
<3>
<3>
34 MDI position
35 MDI velocity
36 MDI acceleration override
37 MDI deceleration override
38 MDI mode (bitwise) [2480] U16 -
<3>
p2645 [3618] I16 4000 hex 100%
p2642 [3618] I32 1 hex 1 LU
p2643 [3618] I32 1 hex 1000 LU/min
p2644 [3618] I16 4000 hex 100%
Interconnection
parameter
Function diagram
Data
type
Scaling
STW1
STW2
NSOLL_A
NSOLL_B
G1_STW
G2_STW
G3_STW
A_DIGITAL
1
3
5
7
9
13
17
22
XERR
KPC
25
26
Control word 1
Control word 2
Speed setpoint A (16-bit)
Speed setpoint B (32-bit)
Encoder 1 control word
Digital output (16-bit)
Position deviation
Position controller gain factor
Signal Meaning
PROFIdrive
Signal No.
Refer to [1020.7]
PROFIdrive
receive telegram
[2468], [2481]
r2090...r2095 bit
r2050[0...n] WORD
r2060[0...30] DWORD
Telegram assignment
according to p0922
[2420]
...
PROFIBUS
PROFINET
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
STW2_ENC 80 Status word 2 ENCODER (bitwise) [2433] U16 - <4>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
2
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
6
2
2
4
4
0

P
Z
D

r
e
c
e
i
v
e

s
i
g
n
a
l
s
,

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
,

m
a
n
u
f
a
c
t
u
r
e
r
-
s
p
e
c
i
f
i
c
- 2440 -
Function diagram
8 7 6 5 4 3 2 1
fp_2440_54_eng.vsd DO: A_INF, B_INF, CU_CX32, CU_G, CU_S, S_INF, SERVO, VECTOR
S120/S150/G130/G150 25.02.10 V04.04.00 PROFIdrive - PZD receive signals, interconnection, manufacturer-specific
<3>
POS_STW1 220 Pos control word 1
POS_STW2 222 Pos control word 2
Signal receivers for PZD receive signals
Signal
<2>
MOMRED 101 [5610.2] I16 4000 hex p2003
MT_STW 130 - U16
POS_STW 203 [2462] U16
OVERRIDE 205 [3630] I16 4000 hex 100%
Meaning
Torque reduction
Measuring probe control word
Pos control word
Pos velocity override
PROFIdrive
Signal No.
Interconnection
parameter
<1>
p1542
p0682
(bitwise)
p2646
Function
diagram
Data type Scaling
<1> When selecting a standard telegram or a manufacturer-specific telegram via p0922, these interconnection parameters of the command data set CDS0 are automatically set.
<2> Data type according to to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32.
PROFIdrive
receive telegram
[2468], [2481]
r2090...r2095 bit
r2050[0...n] WORD
r2060[0...30] DWORD
Telegram assignment
according to p0922
[2420]
...
PROFIBUS
PROFINET
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
Refer to [1020.7]
E_STW1 320 (bitwise) [2447] U16
CU_STW1 500 Control word 1 for Control Unit (bitwise) [2495] U16
STW1_BM 322 Control word 1, variant for BM [2425] U16
STW2_BM 324 Control word 2, variant for BM [2426] U16
E_STW1_BM 326 Control word 1 for Active Infeed [2427] U16
Control word 1 for Active Infeed (ALM, SMART)
(bitwise)
(bitwise)
(bitwise)
(bitwise)
(bitwise)
[2463]
[2464]
U16
U16
MDI_MOD 229 [3620] U16 Pos MDI mode p2654
M_ADD 311 Additional torque p1495 - U16
M_LIM 310 Torque limit - U16 p1503/p1552/p1554
M_VST 112 Torque pre-control value p1513[0] [5060] I16 4000 hex p2003
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
2
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
6
3
2
4
4
1

S
T
W
1

c
o
n
t
r
o
l

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
p
2
0
3
8

=

2
)
- 2441 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 14.01.10 V04.04.00 PROFIdrive - STW1 control word interconnection (p2038 = 2)
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r2090.2
p0852[0] = r2090.3
p1140[0] = r2090.4
p1141[0] = r2090.5
p1142[0] = r2090.6
p2103[0] = r2090.7
-
-
p0854[0] = r2090.10
p1113[0] = r2090.11
-
-
-
p0810[0] = 2090.15
p0840[0] = r2090.0
p0844[0] = r2090.1
0 = OFF1 (braking with ramp-function generator, then pulse suppression & ready for switching on)
1 = No OFF2 (enable is possible) <3>
0 = OFF2 (immediate pulse suppression and switching on inhibited)
1 = No OFF3 (enable possible) <3>
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited)
0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)
0 = Stop the ramp-function generator (freeze the ramp-function generator output)
1 = Enable setpoint
0 = Inhibit setpoint (set the ramp-function generator input to zero)
Reserved
Reserved
1 = Control via PLC
1 = Direction reversal
Reserved
Reserved
1 = Command Data Set selection CDS bit 0
Reserved
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2546.1]
-
-
[2501.3]
[2505.3]
-
-
-
-
[2501.3]
[2501.3]
Signal targets for STW1 in Interface Mode VIK-NAMUR (p2038 = 2)
[2610]
[2610]
[3060] [3070] [3080]
[3060] [3070]
[3060] [3070] [3080]
[8060]
-
-
[2501]
[3040]
-
-
-
[8560]
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<2>
<1>
Refer to [1020.7]
<3> OC = Operating condition.
<4>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
2
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
6
4
2
4
4
2

S
T
W
1

c
o
n
t
r
o
l

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
p
2
0
3
8

=

0
)
- 2442 -
Function diagram
8 7 6 5 4 3 2 1
<1> Used in telegrams 1, 2, 3, 4, 5, 6, 352.
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r2090.2
p0852[0] = r2090.3
p1140[0] = r2090.4
p1141[0] = r2090.5
p1142[0] = r2090.6
p2103[0] = r2090.7
-
p0854[0] = r2090.10
p1113[0] = r2090.11
-
p1035[0] = r2090.13
p1036[0] = r2090.14
-
p0840[0] = r2090.0
p0844[0] = r2090.1
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited)
1 = Continue ramp-function generator
0 = Freeze ramp-function generator (freeze the ramp-function generator output)
1 = Enable setpoint
= 1. Acknowledge faults
Reserved
1 = Control via PLC
1 = Setpoint inversion
Reserved
1 = Motorized potentiometer setpoint raise
Reserved
1 = Motorized potentiometer setpoint lower
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2546.1]
-
[2501.3]
[2505.3]
-
[2505.3]
[2505.3]
-
[2501.3]
[2501.3]
Signal targets for STW1 in Interface Mode SINAMICS (p2038 = 0)
[2610]
[2610]
[3060] [3070] [3080]
[3060] [3070]
[3060] [3070] [3080]
[8060]
-
[2501]
[3040]
-
[3020]
[3020]
-
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<2>
<1>
<3> Only for "expanded setpoint channel" and "extended ramp-function generator".
<4> OC = Operating condition.
<3>
<3>
<3>
Refer to [1020.7]
<5>
Reserved - - -
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
2
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
6
5
2
4
4
3

S
T
W
1

c
o
n
t
r
o
l

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
p
2
0
3
8

=

1
)
- 2443 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 02.12.10 V04.04.00 PROFIdrive - STW1 control word interconnection (p2038 = 1)
Signal targets for STW1 in Interface Mode SIMODRIVE 611 universal (p2038 = 1)
<1> Used in telegrams 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 118, 125, 126, 136, 139.
STW1.12
STW1.13
STW1.14
STW1.15
0 = OFF2 (immediate pulse cancellation and power-on inhibit)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse cancellation and power-on inhibit)
Reserved
1 = Control via PLC
1 = Ramp-function generator active
1 = Unconditionally open the holding brake
Reserved
Reserved
1 = Closed-loop torque control active
0 = Closed-loop speed control active
Meaning Signal
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.7
STW1.10
- -
p1501[0] = r2090.14 [2520.3]
- -
p0855[0] = r2090.12 [2501.3]
p2148[0] = r2090.11 -
p0854[0] = r2090.10 [2501.3]
- -
p2103[0] = r2090.7 [2546.1]
p1142[0] = r2090.6 [2501.3]
p1141[0] = r2090.5 [2501.3]
p1140[0] = r2090.4 [2501.3]
p0852[0] = r2090.3 [2501.3]
p0848[0] = r2090.2 [2501.3]
p0844[0] = r2090.1 [2501.3]
p0840[0] = r2090.0 [2501.3]
Interconnection
parameters
[Function diagram]
-
[5060] [6060]
-
[2701]
[8010]
[2501]
-
[8060]
[3060] [3070] [3080]
[3060] [3070]
[3060] [3070] [3080]
[2610]
[2610]
[2610]
[2610]
[Function diagram]
signal target
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
1 = Enable setpoint
<2>
<1>
Refer to [1020.7]
<3> OC -> Operating condition.
<4> Only available when the funktion module "extended setpoint channel" is active (r0108.9 = 1)
<3>
<3>
p0889 = r2090.9 1 = Enable ESR reaction [2495] [3082] - <4>
P
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1

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-
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B
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6
6
2
4
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4

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(
p
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3
8

=

0
)
- 2444 -
Function diagram
8 7 6 5 4 3 2 1
Signal targets for STW2 in Interface Mode SINAMICS (p2038 = 0)
<1> Used in telegrams 2, 3, 4, 5, 6, 9, 110 and 111.
STW2.0
STW2.1
STW2.2
STW2.3
STW2.4
STW2.5
STW2.6
STW2.8
STW2.9
STW2.11
STW2.12
STW2.13
STW2.14
STW2.15
STW2.7
STW2.10
1 = Parking axis
1 = Traverse to fixed endstop
Reserved
Master sign-of-life, bit 0
Reserved
Reserved
Reserved
1 = Motor changeover, feedback Signal
-
-
-
-
-
-
[2520.2]
-
-
-
-
-
-
[8565]
[8565]
[8565]
-
-
-
[8012]
-
-
-
[2410]
[8565]
[8565]
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal Meaning
Interconnection
parameters
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
<2> Not for telegrams 9, 110 and 111. <3> Only for SINAMICS S120.
<3>
p0822[0] = r2093.2
<4> r2092.2
p0823[0] = r2093.3
<4> r2092.3
p0824[0] = r2093.4
<4> r2092.4
-
-
p1545[0] = r2093.8
-
-
p0828[0] = r2093.11
<4> r2092.11
p2045 = r2050[3]
<4> r2050[2]
p0820[0] = r2093.0
<4> r2092.0
p0821[0] = r2093.1
<4> r2092.1
p0897 = r2093.7
<4> r2092.7
<4> Only for telegram 9.
<2> <3>
<5>
<5>
<5>
<5>
<5>
<5> Not for Vector V/f.
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6
7
2
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4
5

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3
8

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1
)
- 2445 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 28.04.10 V04.04.00 PROFIdrive - STW2 control word interconnection (p2038 = 1)
<1> Used in telegrams 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 118, 125, 126, 136, 139.
Signal targets for STW2 in Interface Mode SIMODRIVE 611 universal (p2038 = 1)
-
-
-
-
-
-
-
-
-
-
-
-
[8565]
-
[3060] [3070]
-
[5040] [5210]
-
[8012]
[8565]
[8565]
-
[2410]
[8565]
-
-
-
-
-
-
[2520.2]
-
-
-
-
-
p0822[0] = r2093.2
-
p1122[0] = r2093.4
-
p1477[0] = r2093.6
p0897 = r2093.7
p1545[0] = r2093.8
p0823[0] = r2093.9
p0824[0] = r2093.10
p0828[0] = r2093.11
p2045 = r2050[3]
p0821[0] = r2093.1
1 = Parking axis selection
1 = Integrator inhibit, speed controller
Reserved
Reserved
= Motor changeover, feedback signal
STW2.1
STW2.2
STW2.3
STW2.4
STW2.5
STW2.6
STW2.8
STW2.9
STW2.11
STW2.12
STW2.13
STW2.14
STW2.15
STW2.7
STW2.10
- [8565] - p0820[0] = r2093.0 Drive data set selection DDS, bit 0 STW2.0
Inverted
[Function diagram]
signal target
[Function diagram]
Interconnection
parameters
Meaning Signal
<1>
<2> For a 1 signal, the integral component of the speed controller is cleared and the integrator is inhibited.
<2>
<3> Only if the function module "extended setpoint channel" is active (r0108.8 = 1).
<3>
Refer to [1020.7]
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6
8
2
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7

E
_
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1

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- 2447 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 22.10.10 V04.04.00 PROFIdrive - E_STW1 control word infeed interconnection
Signal targets for E_STW1
<3> Only for A_INF, S_INF
<4> Only for A_INF
<1>
STW1.0 p0840[0] = r2090.0
Signal
[Function diagram] signal target [Function diagram] internal control word
Interconnection
parameters
STW1.1 p0844[0] = r2090.1
STW1.2
STW1.3 p0852[0] = r2090.3
STW1.4 -
STW1.5 p3532= r2090.5
STW1.6 p3533= r2090.6
STW1.7 p2103[0] = r2090.7
STW1.8 -
STW1.9 -
STW1.10 p0854[0] = r2090.10
STW1.11 -
STW1.12 -
STW1.13 -
STW1.14 -
STW1.15 -
[2546.3]
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[8060]
[8920.3]
[8920.3]
-
[8920.3]
-
[8920.3]
[8920.3]
-
-
[8920.3]
-
-
-
-
-
A_INF
[8720.3]
[8720.3]
-
-
-
-
-
[8720.3]
-
-
-
-
-
-
-
B_INF <6>
[8820.3]
[8820.3]
-
[8820.3]
-
[8820.3]
-
-
[8820.3]
-
-
-
-
-
-
S_INF <5>
[8932]
-
[8932]
-
-
-
-
-
-
-
-
[8932]
[8920]
[8920]
[8920]
A_INF
[8732]
-
-
-
-
[8720]
-
-
-
-
-
[8732]
-
-
-
B_INF <6>
[8832]
[8832]
-
[8832]
-
[8820]
-
-
[8820]
-
-
-
-
-
-
S_INF <5>
0 = OFF1 (reduce Vdc along a ramp, suppress pulse and open pre-charging/line contactor)
Meaning
Reserved
Reserved
1 = Infeed, inhibit motoring operation
1 = Infeed, inhibit regenerative operation
Reserved
Reserved
1 = Control via PLC
Reserved
Reserved
Reserved
Reserved
Reserved
<3>
<3>
<2>
<4>
Refer to [1020.7]
<5> B_INF and S_INF only for S120.
<6> Only for S120 and G150
<7> Not for G130.
<7>
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9

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- 2449 -
Function diagram
8 7 6 5 4 3 2 1
fp_2449_54_eng.vsd DO: A_INF, B_INF, ENCODER, S_INF, SERVO, VECTOR
S120/S150/G130/G150 11.11.09 V04.04.00 PROFIdrive - PZD send signals interconnection, profile-specific
<1> Data type according to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32.
Signal sources for PZD send signals
Data type
Send words 1...16
p2051[0...15] WORD
r2053[0...15] WORD
p2061[0...14] DWORD
r2063[0...14] DWORD
PROFIdrive send
telegram
Telegram
assignment
according to p0922
[2420]
...
<1>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
Description
Interconnection
parameter
PROFIdrive
Signal No.
Function diagram Signal
U16 Status word 1 r2089[0] 2 [2452][2453][2479] <2> ZSW1
U16 Status word 2 r2089[1] 4 [2454][2455] <2> ZSW2
Speed setpoint A (16 bit) 6 NIST_A
Speed setpoint B (32 bit) 8 NIST_B
U16 Encoder 1 status word r0481[0] 10 [4730] G1_ZSW
U32 Encoder 1 actual position 1 r0482[0] 11 [4704] G1_XIST1
I16 Current actual value, torque-generating r0078[1] 52 [6714] ITIST_GLATT
U16 VIK-NAMUR message bit bar r3113 58 MELD_NAMUR -
I16 Power factor, smoothed r0082[1] 54 [6714] PIST_GLATT
I16 Actual torque smoothed r0080[1] 53 [6714] MIST_GLATT
I16 Absolute actual current, smoothed r0068[1] 51 [6714] IAIST_GLATT
I16 Actual speed, smoothed r0063[1] 57 [4715] NIST_A_GLATT
Refer to [1020.7]
PROFIBUS
PROFINET
r0063 SERVO
r0063[0] VECTOR
r0061 ENCODER
[4710] <2>
[4715]
[4710]
<2>
Scaling
-
-
-
-
-
-
-
-
-
-
-
4000 hex p2002
-
4000 hex p2004
4000 hex p2003
4000 hex p2002
4000 hex p2000
U16 Digital inputs r2089[2] 21 [2459] E_DIGITAL -
28 I32 r2521[0] [4010] 1 hex 1 LU XIST_A Position actual value A
U16 Pos selected block r2670 33 [3650] AKTSATZ -
<2>
<2>
4000 hex p2000
4000 0000 hex p2000 I32
I16
r0063 SERVO
r0063[0] VECTOR
r0061 ENCODER
[4710] <2>
[4715]
[4710]
Absolute actual current 59 IAIST
4000 hex p2003 I16 Actual torque 60 MIST [6714] r0080[0]
r0068[0] [6714] I16 4000 hex p2002
Status word 2 ENCODER 81 ZSW2_ENC [2434] (bitwise) - U16 <3>
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1

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9
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4
A
P
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0
-
0
B
P
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F
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7
0
2
4
5
0

P
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D

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- 2450 -
Function diagram
8 7 6 5 4 3 2 1
fp_2450_54_eng.vsd DO: A_INF, B_INF, S_INF, SERVO, TM41, VECTOR
S120/S150/G130/G150 26.11.09 V04.04.00 PROFIdrive - PZD send signals, interconnection, manufacture-specific
<1> Data type according to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
Signal sources for PZD send signals
Data type
Send words 1...16
p2051[0...15] WORD
r2053[0...15] WORD
p2061[0...14] DWORD
r2063[0...14] DWORD
PROFIdrive send
telegram
Telegram
assignment
according to p0922
[2420]
...
<1>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
Description
Interconnection
parameter
PROFIdrive
Signal No.
Function
diagram
Signal
U16 Message word r2089[2] 102 [2456] MELDW
U16 Status word 1 for Active Infeed r2089[1] 321 [2457]
FAULT_CODE
U16
Fault code r2131 301 [8060]
E_ZSW1
U16
Alarm code r2132 303 [8065] WARN_CODE
Measuring probe 1 measuring time, rising edge r0686[0] 133 MT1_ZS_S
I16 Total speed setpoint smoothed r0079[1] 120 [5610] <2> MSOLL_GLATT
I16 Torque utilization smoothed r0081 121 [8012] AIST_GLATT
Measuring probe status word r0688 131 - MT_ZSW
Measuring probe 1 measuring time, falling edge r0687[0] 132 - MT1_ZS_F
Measuring probe 2 measuring time, falling edge r0687[1] 134 - MT2_ZS_F
Measuring probe 2 measuring time, rising edge r0686[1] 135 MT2_ZS_S
U16
U16
U16
U16
U16
U16 Status word 1 for Control Unit r2089[1] 501 [2496] CU_ZSW1
U16 Pos status word r2683 204 [3645] POS_ZSW
Refer to [1020.7]
PROFIBUS
PROFINET
<2>
<2>
Scaling
-
-
-
4000 hex p2003
4000 hex 100%
-
-
-
-
-
-
-
Status word 1, variant for BM ZSW1_BM
Status word 2, variant for BM ZSW2_BM
- U16 Status word 1 for Infeed, variant for BM (ALM, BLM, SLM) 327 E_ZSW1_BM
-
[2430]
-
-
Measuring probe 2 measuring time, falling edge
Measuring probe 2 measuring time, rising edge
r0687[2] 136 -
r0686[2] 137
U16
U16 - -
-
r0687[3] 138 -
r0686[3] 139
U16
U16 - -
-
r0687[4] 140 -
r0686[4] 141
U16
U16 - -
-
r0687[5] 142 -
r0686[5] 143
U16
U16 - -
-
MT3_ZS_F
MT3_ZS_S
MT4_ZS_F
MT4_ZS_S
MT5_ZS_F
MT5_ZS_S
MT6_ZS_F
MT6_ZS_S
Pos status word 1
Pos status word 2
POS_ZSW1
POS_ZSW2
U16 221 -
U16 223 - [2467]
[2466]
U16 r2089[0] 323
U16 r2089[1] 325
[2428]
[2429] -
-
r2080
r2089[3]
r2089[4]
I16 Torque pre-control value p1513 - - M_VST 4000 hex p2003
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9
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4
A
P
0
0
-
0
B
P
2
F
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7
1
2
4
5
1

Z
S
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1

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s

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p
2
0
3
8

=

2
)
- 2451 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 14.01.10 V04.04.00 PROFIdrive - ZSW1 status word interconnection (p2038 = 2)
Signal sources for ZSW1 in Interface Mode VIK-NAMUR (p2038 = 2)
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Ready for operation (DC link loaded, pulses inhibited)
1 = Operation enabled (drive follows n_set)
1 = Fault present
1 = Power-on inhibit active
1 = Alarm present
Reserved
1 = No motor overtemperature alarm
1 = Command Data Set selection CDS bit 0
1 = Motor rotates forwards (n_act 0)
0 = Motor rotates backwards (n_act < 0)
<3>
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2197.7
p2080[9] = r0899.9
p2080[10] = r2199.1
p2080[11] = r0056.13
-
p2080[13] = r2135.14
p2080[0] = r0899.0
p2080[1] = r0899.1
p2080[14] = r2197.3
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[2534.7]
[2503.7]
[2536.7]
[2522.7]
-
[2548.7]
-
[2503.7]
[2503.7]
[2534.7]
[Function diagram]
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[8010]
[2503]
[8010]
[6060]
-
[8016]
-
[2610]
[2610]
[8010]
[Function diagram]
Signal source
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
<2>
Inverted
p2080[15] = r0836.0
Refer to [1020.7]
<4>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
3
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
2
2
4
5
2

Z
S
W
1

s
t
a
t
u
s

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
p
2
0
3
8

=

0
)
- 2452 -
Function diagram
8 7 6 5 4 3 2 1
Signal sources for ZSW1 im Interface Mode SINAMICS (p2038 = 0)
<1> Used in telegrams 1, 2, 3, 4, 5, 6, 352.
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Fault present
1 = Alarm present
1 = No alarm, thermal overload, power unit
1 = Motor rotates forwards (n_act 0)
0 = Motor rotates backwards (n_act < 0)
<3>
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2197.7
p2080[9] = r0899.9
p2080[10] = r2199.1
p2080[11] = r1407.7
p2080[12] = r0899.12
p2080[13] = r2135.14
p2080[15] = r2135.15
p2080[0] = r0899.0
p2080[1] = r0899.1
p2080[14] = r2197.3
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[2534.7]
[2503.7]
[2536.7]
[2522.7]
[2503.7]
[2548.7]
[2548.7]
[2503.7]
[2503.7]
[2534.7]
[Function diagram]
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[8010]
[2503]
[8010]
[5610] [6060]
[2701]
[8016]
[8014]
[2610]
[2610]
[8010]
[Function diagram]
signal source
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
<2>
Inverted
<4>
siehe [1020.7]
<5>
<5>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
3
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
3
2
4
5
3

Z
S
W
1

s
t
a
t
u
s

w
o
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d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
p
2
0
3
8

=

1
)
- 2453 -
Function diagram
8 6 5 4 3 2 1
SINAMICS S120 28.04.10 V04.04.00 PROFIdrive - ZSW1 status word interconnection (p2038 = 1)
Signal sources for ZSW1 in Interface Mode SIMODRIVE 611 universal (p2038 = 1)
<1> Used in telegrams 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 118, 125, 126, 136, 139.
7
<1>
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[8010]
[2503]
[8010]
-
-
-
[2522]
-
[2610]
[2610]
[Function diagram]
Signal source
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2197.7
p2080[9] = r0899.9
p2080[10] = r2199.1
-
p2080[14] = r1407.2
-
p2080[0] = r0899.0
p2080[1] = r0899.1
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[2534.7]
[2503.7]
[2536.7]
-
-
-
[2522.7]
-
[2503.7]
[2503.7]
[Function diagram]
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
Signal
1 = Fault present
1 = No coast down active
1 = No fast stop active
1 = Alarm present
1 = Control requested <2>
1 = Alarm class bit 0
Reserved
Reserved
Meaning
Refer to [1020.7]
-
-
p2080[11] = r2139.11
p2080[12] = r2139.12
[2548.7]
[2548.7] -
-
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
3
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
4
2
4
5
4

Z
S
W
2

s
t
a
t
u
s

w
o
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d

i
n
t
e
r
c
o
n
n
e
c
t
i
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n

(
p
2
0
3
8

=

0
)
- 2454 -
Function diagram
8 7 6 5 4 3 2 1
<2>
<1> Used in telegrams 2, 3, 4, 5, 6, 9, 110, 111.
<2> These signals are automatically interconnected for clock-cycle synchronous operation.
[Function diagram]
signal source
Interconnection
parameters
Signal Meaning
p2081[2] = r0051.2
p2081[3] = r0051.3
p2081[4] = r0051.4
p2081[7] = r0896.0
p2081[8] = r1406.8
-
p2081[11] = r0835.0
Implicitly interconnected
p2081[0] = r0051.0
p2081[1] = r0051.1
ZSW2.0
ZSW2.1
ZSW2.2
ZSW2.3
ZSW2.4
ZSW2.5
ZSW2.6
ZSW2.8
ZSW2.9
ZSW2.11
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
ZSW2.7
ZSW2.10
1 = Drive data set DDS effective, bit 0
1 = Parking axis active
Reserved
1 = Motor data set changeover active
Slave sign-of-life bit 0
-
-
-
-
-
-
-
-
-
-
[Function diagram]
[8565]
[8565]
[8565]
-
[2520]
-
-
-
[8565]
[8565]
Signal sources for ZSW2 in Interface Mode SINAMICS (p2038 = 0)
<1>
-
-
-
-
-
-
-
-
-
-
-
Inverted
Refer to [1020.7]
<3>
<3>
-
-
- -
- 1 = Alarm class bit 1
1 = Alarm class bit 0 p2081[5] = r2139.11
p2081[6] = r2139.12
[2548]
[2548]
1 = Pulses enabled p2082[13] = r0899.11 [2503.7] [2610]
<4> Not for Vector V/f.
<4>
<4>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
3
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
5
2
4
5
5

Z
S
W
2

s
t
a
t
u
s

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
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n

(
p
2
0
3
8

=

1
)
- 2455 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 06.12.10 V04.04.00 PROFIdrive - ZSW2 status word interconnection (p2038 = 1)
Signal sources for ZSW2 in Interface Mode SIMODRIVE 611 universal (p2038 = 1)
<2>
<1> Used in telegrams 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 118, 125, 126, 136, 139.
<1>
p2081[2] = r0051.2
-
p2081[4] = r1199.2
p2081[5] = r0899.12
p2081[6] = r2093.6
p2081[7] = r0896.0
p2081[8] = r1406.8
p2081[9] = r0051.3
p2081[10] = r0051.4
p2081[11] = r0835.0
p2081[0] = r0051.0
p2081[1] = r0051.1
Interconnection
parameters
Reserved
1 = Ramp-function generator inactive
1 = Integrator inhibit, speed controller
1 = Parking axis active
1 = Motor data set changeover active
Meaning
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
[8565]
-
[3060] [3080]
[2701]
[5040] [5210]
-
[2520]
[8565]
[8565]
-
-
[8565]
[8565]
[Function diagram]
Signal source
-
-
-
[2503.7]
-
-
-
-
-
-
-
-
-
[Function diagram]
ZSW2.0
ZSW2.1
ZSW2.2
ZSW2.3
ZSW2.4
ZSW2.5
ZSW2.6
ZSW2.8
ZSW2.9
ZSW2.11
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
ZSW2.7
ZSW2.10
Signal
<3> Only if the function module "extended setpoint channel" is active (r0108.8 = 1).
<3>
Refer to [1020.7]
<4>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
3
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
6
2
4
5
6

M
E
L
D
W

s
t
a
t
u
s

w
o
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d

i
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- 2456 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 22.10.10 V04.04.00 PROFIdrive - MELDW status word interconnection
<1> Used in telegrams 102, 103, 105, 106, 110, 111, 116, 118, 125, 126, 136, 139.
Signal sources for MELDW <1>
Interconnection
parameters
[Function diagram]
[Function diagram]
signal source
Meaning Signal
MELDW.0
MELDW.1
MELDW.2
MELDW.3
MELDW.4
MELDW.5
MELDW.6
MELDW.8
MELDW.9
MELDW.11
MELDW.12
MELDW.13
MELDW.14
MELDW.15
MELDW.7
MELDW.10
1 = Torque utilization [%] < torque threshold value 2 (p2194)
1 = Ramp-up/ramp-down completed
1 = |n_act| < speed threshold value 3 (p2161)
1 = |n_act| speed threshold value 2 (p2155)
1 = Vdc_min controller activ (Vdc < p1248)
Variable signaling function
1 = No alarm, thermal overload, power unit
1 = Speed setpoint - actual value deviation within tolerance t_on
1 = Initiated ESR reaction
Reserved
1 = Controller enable
1 = Drive ready
Reserved
Reserved
1 = Pulses enabled
p2082[2] = r2199.0
p2082[3] = r2197.1
p2082[6] = r2135.14
p2082[7] = r2135.15
p2082[8] = r2199.4
-
p2082[11] = r0899.8
p2082[12] = r0899.7
p2082[13] = r0899.11
-
-
p2082[0] = r2199.5
p2082[1] = r2199.11
[2537.7]
[2534.7]
-
-
[2548.7]
[2548.7]
[2537.7]
-
-
[2503.7]
[2503.7]
[2503.7]
-
-
[2537.7]
[2537.7]
[8010]
[8010]
-
[5301]
[8016]
[8014]
[8010]
-
-
[2610]
[2610]
[2610]
-
-
[8010]
[8012]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
<2>
Refer to [1020.7]
p2082[5] = r3294
<4> <4> <5>
<2> The status word is generated using the binector-connector converter p2088[2].
<3> Only available when the function module "extended setpoint channel" is active (r0108.9 = 1).
<4> Only for Servo.
<4>
p2082[4] = r0056.15
p2082[9] = r0887.12
<5> Only for EPOS.
<3>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
3
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
7
2
4
5
7

E
_
Z
S
W
1

s
t
a
t
u
s

w
o
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d

i
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f
e
e
d

i
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n
- 2457 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 22.10.10 V04.04.00 PROFIdrive - E_ZSW1 status word infeed interconnection
<3> Only for S120.
<5> Not for G130.
Signal sources for E_ZSW1 <1>
ZSW1.0
Signal
[Function diagram] signal source [Function diagram] internal status word
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.7
ZSW1.8
ZSW1.9
ZSW1.10
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
[2548.7]
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[8065]
[8060]
p2080[0] = r0899.0
Interconnection parameters
-
-
-
-
-
p2080[1] = r0899.1
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
-
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[9] = r0899.9
-
p2080[11] = r0899.11
p2080[12] = r0899.12
Meaning
1 = Fault present
1 = No OFF2 effective
1 = Alarm present
Reserved
1 = PLC requests control
<2>
Reserved
Reserved
Reserved
Reserved
Reserved
[8926.7]
[8926.7]
[8926.7]
-
-
-
-
A_INF
[8926.7]
[8926.7]
-
[8926.7]
-
[8926.7]
[8926.7]
[8726.7]
-
-
-
-
-
-
B_INF
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[2548.7]
[8826.7]
[8826.7]
-
-
-
-
-
S_INF
[8932]
[8932]
-
-
-
-
[8932]
[8932]
A_INF
[8934]
[8950]
-
[8926]
-
[8932]
[8732]
-
-
-
-
[8732]
-
B_INF
[8732]
[8732]
[8732]
[8726]
-
[8750]
[8734]
-
-
-
-
-
S_INF
[8834]
[8850]
-
[8826]
[8832]
[8832]
[8832]
[8832]
[8832] [8826.7]
[8826.7]
[8826.7]
[8826.7]
-
[8826.7]
[8826.7]
Refer to [1020.7]
<4> <3> <4> <3>
<5>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
3
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
8
2
4
6
2

P
O
S
_
S
T
W

p
o
s
i
t
i
o
n
i
n
g

c
o
n
t
r
o
l

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2462 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 09.11.09 V04.04.00 PROFIdrive - POS_STW-Pos control word interconnection (r0108.4 = 1)
<1> Used in telegrams 110, 999.
POS_STW.0
POS_STW.1
POS_STW.2
POS_STW.3
POS_STW.4
POS_STW.5
POS_STW.6
POS_STW.8
POS_STW.9
POS_STW.11
POS_STW.12
POS_STW.13
POS_STW.14
POS_STW.15
POS_STW.7
POS_STW.10
p2612 = r2092.2
-
-
p2591 = r2092.5
-
-
-
-
-
-
-
-
-
p2655[0] = r2092.0
p2596 = r2092.1
1 = Tracking mode active
0 = No tracking mode active
1 = Set home position
0 = Do not set home position
1 = Reference cam active
Reserved
Reserved
1 = Jogging, incremental active
0 = Jogging, velocity active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal targets for POS_STW (positioning mode, r0108.4 = 1)
[3612]
-
-
[3610]
-
-
-
-
-
-
-
-
-
[3635]
[3612]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
- -
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
3
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
7
9
2
4
6
3

P
O
S
_
S
T
W
1

p
o
s
i
t
i
o
n
i
n
g

c
o
n
t
r
o
l

w
o
r
d

1

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2463 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.01.10 V04.04.00 PROFIdrive POS_STW1-Pos control word 1 interconnection (r0108.4 = 1)
POS_STW1.0
POS_STW1.1
POS_STW1.2
POS_STW1.3
POS_STW1.4
POS_STW1.5
POS_STW1.6
POS_STW1.8
POS_STW1.9
POS_STW1.11
POS_STW1.12
POS_STW1.13
POS_STW1.14
POS_STW1.15
POS_STW1.7
POS_STW1.10
p2627 = r2091.2
p2628 = r2091.3
p2629 = r2091.4
p2630 = r2091.5
-
-
p2648 = r2091.8
p2652 = r2091.10
-
p2649 = r2091.12
-
p2653 = r2091.14
p2625 = r2091.0
p2626 = r2091.1
Traversing block selection, bit 0
1 = Absolute positioning is selected.
0 = Relative positioning is selected.
1 = Absolute positioning/MDI direction selection, positive.
2 = Absolute positioning/MDI direction selection, negative.
3 = Absolute positioning through the shortest distance.
0 = Absolute positioning through the shortest distance.
1 = signal setting-up selected
0 = signal positioning selected.
1 = MDI selection
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- p2647 = r2091.15
siehe [1020.7]
-
-
-
-
Reserved
1 = Continuous transfer
0 = Activate MDI block change with of a traversing task (STW1.6)
Reserved
p2651 = r2091.9
Signal targets for POS_STW1 (positioning mode, r0108.4 = 1)
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Reserved
Reserved
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
3
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
0
2
4
6
4

P
O
S
_
S
T
W
2

p
o
s
i
t
i
o
n
i
n
g

c
o
n
t
r
o
l

w
o
r
d

2

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2464 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 09.11.09 V04.04.00 PROFIdrive - POS_STW2-POS control word 2 interconnection (r0108.4 = 1)
POS_STW2.0
POS_STW2.1
POS_STW2.2
POS_STW2.3
POS_STW2.4
POS_STW2.5
POS_STW2.6
POS_STW2.8
POS_STW2.9
POS_STW2.11
POS_STW2.12
POS_STW2.13
POS_STW2.14
POS_STW2.15
POS_STW2.7
POS_STW2.10
p2612 = r2092.2
-
-
p2591 = r2092.5
-
-
p2597 = r2092.8
p2604 = r2092.9
p2510[0] = r2092.10
p2511[0] = r2092.11
-
-
p2582 = r2092.14
p2655[0] = r2092.0
p2596 = r2092.1
1 = Referencing type selection for flying referencing
0 = Referencing type selection for search for reference
1 = Measuring probe 2 is activated
0 = Measuring probe 1 is activated
1 = Software limit switch activation
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[3612]
-
-
[3610]
-
-
-
-
-
-
-
-
-
[3635]
[3612]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
- p2568 = r2092.15
1 = Start the search for reference in the negative direction
0 = Start the search for reference in the positive direction.
1 = Falling edge of the measuring probe
0 = Rising edge of the measuring probe
1 = STOP cam active
1 = Set reference point
1 = Reference cam active
Reserved
1 = Jogging, incremental active
0 = Jogging, velocity active
Reserved
Reserved
Meaning
Reserved
Reserved
Interconnection
parameters
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
Signal targets for POS_STW2 (positioning mode, r0108.4 = 1)
Reserved
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
4
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
1
2
4
6
6

P
O
S
_
Z
S
W
1

p
o
s
i
t
i
o
n
i
n
g

s
t
a
t
u
s

w
o
r
d

1

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2466 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 09.11.09 V04.04.00 PROFIdrive POS_ZSW1-Pos status word 1 interconnection (r0108.4 = 1)
POS_ZSW1.0
POS_ZSW1.1
POS_ZSW1.2
POS_ZSW1.3
POS_ZSW1.4
POS_ZSW1.5
POS_ZSW1.6
POS_ZSW1.8
POS_ZSW1.9
POS_ZSW1.11
POS_ZSW1.12
POS_ZSW1.13
POS_ZSW1.14
POS_ZSW1.15
POS_ZSW1.7
POS_ZSW1.10
p2083[2] = r2670[2]
p2083[3] = r2670[3]
p2083[4] = r2670[4]
p2083[5] = r2670[5]
-
-
p2083[08] = r2684[13]
p2083[09] = r2684[14]
p2083[10] = r2094[0]
p2083[12] = r2684[1]
p2083[0] = r2670[0]
p2083[1] = r2670[1]
Active Traversing Block Bit 0 (2
0
)
1
)
2
)
3
)
4
)
5
)
Reserved
Reserved
1 = STOP cam minus active
1 = Jogging active
1 = Reference point approach active
1 = Flying referencing active
1 = Traversing Block active
1 = MDI active
0 = MDI inactive
1 = Set-up active
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- p2083[15] = r2670[15]
1 = STOP cam plus active
p2083[11] = r2094[1]
p2083[14] = r2094[4]
p2083[13] = r2094[2]
-
-
-
-
Signal targets for POS_ZSW1 (positioning mode, r0108.4 = 1)
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
4
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
2
2
4
6
7

P
O
S
_
Z
S
W
2

p
o
s
i
t
i
o
n
i
n
g

s
t
a
t
u
s

w
o
r
d

2

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2467 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 09.11.09 V04.04.00 PROFIdrive POS_ZSW2-Pos status word 2 interconnection (r0108.4 = 1)
POS_ZSW2.0
POS_ZSW2.1
POS_ZSW2.2
POS_ZSW2.3
POS_ZSW2.4
POS_ZSW2.5
POS_ZSW2.6
POS_ZSW2.8
POS_ZSW2.9
POS_ZSW2.11
POS_ZSW2.12
POS_ZSW2.13
POS_ZSW2.14
POS_ZSW2.15
POS_ZSW2.7
POS_ZSW2.10
p2084[2] = r2683.2
p2084[3] = r2684.3
p2084[4] = r2683.4
p2084[5] = r2683.5
p2084[6] = r2683.6
p2084[7] = r2683.7
p2084[8] = r2683.8
p2084[9] = r2683.9
p2084[10] = r2683.10
p2084[11] = r2683.11
p2084[12] = r2683.12
p2084[13] = r2683.13
p2084[14] = r2683.14
p2084[0] = r2683.0
p2084[1] = r2683.1
1 = Velocity limiting active
1 = Setpoint available
1 = Printing mark outside outer window
1 = Axis moves forward
1 = Axis moves backwards
1 = Software limit switch minus reached
1 = Software limit switch plus reached
1 = Position actual value <= cam switching position 1
1 = Direct output 1 via traversing block
1 = Direct output 2 via traversing block
1 = Fixed stop reached
1 = Fixed stop clamping torque reached
1 = Traversing command active
1 = Travel to fixed stop active
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- p2084[15] = r2684.15
siehe [1020.7]
-
-
-
Signal targets for POS_ZSW2 (positioning mode, r0108.4 = 1)
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
-
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
4
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
3
2
4
6
8

I
F
1

r
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

v
i
a

B
I
C
O

(
p
0
9
2
2

=

9
9
9
)
- 2468 -
Function diagram
8 7 6 5 4 3 2 1
fp_2468_54_eng.vsd DO: ENCODER, SERVO, TM41, VECTOR
S120/S150/G130/G150 27.05.10 V04.04.00 PROFIdrive - IF1 receive telegram, free interconnection via BICO (p0922 = 999)
PZD receive word 1
PZD receive word 2
r2060[0] DWORD
r2060[4] DWORD
r2091.0
r2050[1]
r2091.15
r2090.0
r2050[0]
r2090.15
...
PZD receive word 3
PZD receive word 4
r2060[2] DWORD
r2093.0
r2050[3]
r2093.15
r2092.0
r2050[2]
r2092.15
...
...
r2060[1] DWORD
...
r2050[4]
r2060[3] DWORD
PZD receive word 32
r2050[30]
r2060[30] DWORD
r2050[31]
(0)
p2099[0]
r2095.0
r2095.15
(0)
p2099[1]
Reference quantities for further interconnection
p200x
<3> <3>
2 connector-binector converter
<5>
r2094.0
r2094.15
<1> The number of PZD receive words depends on the drive object type.
<2> The connector-binector converter only converts the lower 16 bits irrespective of the input variable.
<3> The following representation applies for words: 4000 hex = 100 % for double words 4000 0000 hex = 100 %.
The reference variables p200x apply for the ongoing interconnection (100 % -> p200x).
The following applies for temperature values: 100 C -> 100 % = 4000 hex or 4000 0000 hex; 0 C -> 0 %.
<4> In order to maintain the PROFIdrive profile, receive word 1 must be used as control word (STW1) (due to bit 10 "control requested").
<5> Using the connector-binector converters, the bits can be extracted from two of the PZD receive words 5 to 32 and used as binectors.
<6> Every PZD word can be assigned a word or a double word. Only one of the 2 interconnection parameters r2050 or r2060 can have a value 0 for a PZD word.
<7> When interconnecting a connector output multiple times all the connector inputs must have either Integer or FloatingPoint data type.
p2098[1].0
p2098[1].15
p2098[0].15
p2098[0].0
<4>
PROFIdrive
receive telegram
1
0
1
1
0
1
1
0
1
1
0
1
<5>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
p2048
PZD receive word 5
PZD receive word 31
r2050[29]
r2060[29] DWORD
PZD receive word 30
PZD receive word 29 r2050[28]
r2060[28] DWORD
r2060[5] DWORD
r2050[5]
PZD receive word 6
Refer to [1020.7]
PROFIBUS
PROFINET
<1>
<6>
<6>
<7>
<7>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
4
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
4
2
4
7
0

I
F
1

s
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

v
i
a

B
I
C
O

(
p
0
9
2
2

=

9
9
9
)
- 2470 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 26.01.10 V04.04.00 PROFIdrive - IF1 send telegram, free interconnection via BICO (p0922 = 999)
IF1 Diag send word 1...32
r2053[0...31]
...
PZD send word 1
PZD send word 2
DWORD
p2061[0]
DWORD
p2061[1]
DWORD
p2061[2]
DWORD
p2061[3]
DWORD
p2061[4]
DWORD
p2061[5]
DWORD
p2061[6]
DWORD
p2061[7]
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PZD send word 7
PZD send word 8
<2>
(0)0
p2051[1]
(0)0
p2051[2]
(0)0
p2051[3]
(0)0
p2051[4]
(0)0
p2051[5]
(0)0
p2051[6]
(0)0
p2051[7]
(0)0
p2051[8]
(0)0
p2051[0]
<2>
Reference quantities for
further interconnection
p200x
<3>
<1>
r2063[0...30]
PROFIdrive send
telegram
PROFIBUS
PROFINET
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
<1> To comply with the PROFIdrive profile, send word 1 must be used as status word 1 (ZSW1), not as DWORD.
<2> A PZD send word can either be supplied via connector input p2051[x] (WORD) or via p2061[x] (DWORD).
The two corresponding connector inputs cannot be interconnected.
<3> 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).
The following applies for temperature values: 100 C -> 100 % = 4000 hex or 4000 0000 hex; 0 C -> 0%.
<4> The number of PZD send words depends on the drive object type.
<1>
<4>
(0)
p2051[28]
(0)
p2051[29]
(0)
p2051[30]
(0)
p2051[31]
PZD send word 30
PZD send word 31
PZD send word 32
DWORD
p2061[27]
DWORD
p2061[28]
DWORD
p2061[29]
DWORD
p2061[30]
PZD send word 9
PZD send word 29
Refer to [1020.7]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
4
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
5
2
4
7
2

I
F
1

s
t
a
t
u
s

w
o
r
d
s
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
- 2472 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 15.01.10 V04.04.00 PROFIdrive - IF1 status words, free interconnection
5 binector-connector converter
p2048
(0.0)
p2081[0...15]
r2089[1]
Status word 2
(0.0)
(0.0)
[0]
[1]
[11]
p2088[1].0
p2088[1].11
1
0
1
1
0
1
(0.0)
p2080[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p2088[0].15
p2088[0].0
1
0
1
1
0
1
(0.0)
p2082[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p2088[2].15
p2088[2].0
1
0
1
1
0
1
(0.0)
p2083[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p2088[3].0
p2088[3].15
1
0
1
1
0
1
<1>
<1> For clock-cycle synchronous all drive objects, these signals must not be interconnected (slave sign-of-life).
(0.0)
(0.0)
[12]
[15]
r2089[0]
Status word 1
r2089[2]
Free status word 3
r2089[3]
Free status word 4
<2>
(0.0)
p2084[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p2088[4].0
p2088[4].15
1
0
1
1
0
1
r2089[4]
Free status word 4
P
R
O
F
I
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e
F
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n

d
i
a
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r
a
m
s
2
-
1
5
4
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
6
2
4
7
5

S
T
W
1

c
o
n
t
r
o
l

w
o
r
d

1

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2475 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 19.01.10 V04.04.00 PROFIdrive - STW1 control word 1 interconnection (r0108.4 = 1)
<1> Used in telegrams 7, 9, 110, 111.
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r2090.2
p0852[0] = r2090.3
p2641 = r2090.4
p2640 = r2090.5
p2631 = r2090.6
p2650 = r2090.6
p2103[0] = r2090.7
p2589 = r2090.8
p2590 = r2090.9
p0854[0] = r2090.10
p2595 = r2090.11
-
p2633 = r2090.13
-
-
p0840[0] = r2090.0
p0844[0] = r2090.1
0 = OFF1 (braking with ramp-funct. generator, then pulse suppression & ready for switching on)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression & switching on inhibited)
1 = Do not reject traversing task
0 = Reject traversing task (ramp-down with the maximum deceleration)
1 = No intermediate stop
0 = Intermediate stop
= Activate traversing task
1 = Jog 1 signal source
1 = Jog 2 signal source
1 = Control via PLC
1 = Start homing
0 = Stop homing
Reserved
= External block change
Reserved
Reserved
[2501.3]
[2501.3]
-
-
-
[2546.1]
-
-
[2501.3]
-
-
-
-
-
[2501.3]
[2501.3]
Signal targets for STW1 (positioning mode, r0108.4 = 1)
[2610]
[2610]
[3616.5]
[3625]
[3616.5]
[3625]
[3620.1]
[3625]
[8060]
[3610.1]
[3625]
[3610.1]
[3625]
[2501]
[3612.1]
[3625]
-
[3615]
-
-
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<2>
<1>
<3>
<3> The interconnection p2649 = 0 is made additionally only in Telegram 7,9 and 110.
Refer to [1020.7]
<4> OC Operating condition
<4>
<4>
F
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n

d
i
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r
a
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s
P
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F
I
d
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e
2
-
1
5
4
6

S
i
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m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
7
2
4
7
6

S
A
T
Z
A
N
W
-
P
o
s

b
l
o
c
k

s
e
l
e
c
t
i
o
n

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2476 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 19.01.10 V04.04.00 PROFIdrive - SATZANW-Block selection interconnection (r0108.4 = 1)
SATZANW.0
SATZANW.1
SATZANW.2
SATZANW.3
SATZANW.4
SATZANW.5
SATZANW.6
SATZANW.8
SATZANW.9
SATZANW.11
SATZANW.12
SATZANW.13
SATZANW.14
SATZANW.15
SATZANW.7
SATZANW.10
p2627 = r2091.2
p2628 = r2091.3
p2629 = r2091.4
p2630 = r2091.5
-
-
-
-
-
-
-
-
-
p2647 = r2091.15
p2625 = r2091.0
p2626 = r2091.1
1 = Traversing block selection, bit 0
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Activate MDI
0 = De-activate MDI
Reserved
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal targets for SATZANW (positioning mode, r0108.4 = 1)
[3640]
[3640]
[3640]
[3640]
-
-
-
-
-
-
-
-
-
[3625]
[3640]
[3640]
[3640]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
4
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
8
2
4
7
9

Z
S
W
1

s
t
a
t
u
s

w
o
r
d

1

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2479 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 19.01.10 V04.04.00 PROFIdrive - ZSW1-Status word 1 interconnection (r0108.4 = 1)
Signal sources for ZSW1 (positioning mode, r0108.4 = 1)
<1> Used in telegrams 7, 9, 110, 111. <3> Only for telegram 111.
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Ready for operation (DC link loaded, pulses blocked)
1 = Fault present
1 = Alarm present
1 = Following error within tolerance
1 = Target position reached
1 = Home position set
= Acknowledgement traversing block activated
1 = |v_act| < velocity threshold value 3
1 = Axis decelerated
1 = Axis accelerated
<2>
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2684.8
p2080[9] = r0899.9
p2080[10] = r2684.10
p2080[11] = r2684.11
p2080[12] = r2684.12
p2080[13] = r2199.0
p2080[15] = r2684.5
p2080[0] = r0899.0
p2080[1] = r0899.1
p2080[14] = r2684.4
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[3646.7]
[2503.7]
[3646.7]
[3646.7]
[3646.7]
[2537.7]
[2503.7]
[2503.7]
[Function diagram]
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[4025]
[2503]
[4020] [3625]
[3612] [3614]
[3616] [3620]
[8010] [3625]
[3635]
[2610]
[2610]
[Function diagram]
signal source
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
Refer to [1020.7]
-
-
[3635] [3646.7]
[3646.7] <3>
<3>
F
u
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c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
4
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
8
9
2
4
8
0

M
D
I
_
M
O
D
-
M
D
I

m
o
d
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
r
0
1
0
8
.
4

=

1
)
- 2480 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 30.04.09 V04.04.00 PROFIdrive MDI_MOD-MDI Mode interconnection (r0108.4 = 1)
MDI_MOD.0
MDI_MOD.1
MDI_MOD.2
MDI_MOD.3
MDI_MOD.6
MDI_MOD.8
MDI_MOD.9
MDI_MOD.11
MDI_MOD.12
MDI_MOD.13
MDI_MOD.14
MDI_MOD.15
MDI_MOD.7
MDI_MOD.10
-
-
-
-
-
-
-
-
-
-
-
1 = Absolute positioning is selected.
0 = Relative positioning is selected.
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal targets for MDI_MOD (positioning mode, r0108.4 = 1)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
MDI_MOD.4
MDI_MOD.5
-
-
-
-
- -
- -
0 = Absolute
positioning
through the
shortest
distance.
1 = Absolute
positioning in the
positive direction.
2 = Absolute
positioning in the
negative direction.
3 = Absolute
positioning through
the shortest
distance.
Reserved
Reserved
p2652 = r2094.2
p2648 = r2094.0
p2651 = r2094.1
-
-
-
-
-
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
4
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
9
0
2
4
8
1

I
F
1

r
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

v
i
a

B
I
C
O

(
p
0
9
2
2

=

9
9
9
)
- 2481 -
Function diagram
8 7 6 5 4 3 2 1
fp_2481_54_eng.vsd DO: A_INF, B_INF, S_INF, CU_G, CU_S, TB30, TM15DI_DO, TM31, TM120
S120/S150/G130/G150 27.05.10 V04.04.00 PROFIdrive - IF1 receive telegram, free interconnection via BICO (p0922 = 999)
PROFIBUS
PROFINET PZD receive word 1
PZD receive word 2
PZD receive word 5
r2050[1]
r2091.15
PZD receive word 3
r2050[2]
r2050[4]
(0)
p2099[0]
r2095.0
r2095.15
(0)
p2099[1]
p200x
<3>
<2>
r2094.0
r2094.15
<1> To comply with the PROFIdrive profile, receive word 1 for A_INF, B_INF, S_INF and CU_S must be used as control word (STW1)
(due to bit 10 "control requested").
<2> Using the two connector-binector converters, two of the PZD receive words 3 to 5 can be converted into binectors for continued interconnection.
<3> The following representation applies for words: 4000 hex = 100 %.
The following applies for temperature values: 100 C -> 100 % = 4000 hex; 0 C -> 0 %.
p2098[1].0
p2098[1].15
p2098[0].15
p2098[0].0
<1>
PROFIdrive
receive telegram
1
0
1
1
0
1
1
0
1
1
0
1
<2>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
p2048
Refer to [1020.7]
r2091.0
r2090.0
r2050[0]
r2090.15
<4>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
5
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
9
1
2
4
8
3

I
F
1

s
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

v
i
a

B
I
C
O

(
p
0
9
2
2

=

9
9
9
)
- 2483 -
Function diagram
8 7 6 5 4 3 2 1
fp_2483_54_eng.vsd DO: A_INF, B_INF, CU_G, CU_S, S_INF, TB30, TM15DI_DO, TM31, TM120
S120/S150/G130/G150 02.09.10 V04.04.00 PROFIdrive - IF1 send telegram, free interconnection via BICO (p0922 = 999)
Refer to [1020.7]
PROFIdrive Sampling time
<4>
PZD send word 7
PZD send word 8
PZD send word 9
PZD send word 20
PZD send word 21
<3>
PROFIBUS
PROFINET
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PROFIdrive send telegram
<5>
(0)
p2051[1]
(0)
p2051[2]
(0)
p2051[3]
(0)
p2051[4]
(0)
p2051[0]
p200x
<6>
(0)
p2051[5]
(0)
p2051[6]
(0)
p2051[7]
(0)
p2051[19]
(0)
p2051[20]
(0)
p2051[8]
IF1 Diag send word
r2053[0...4], [0...7], [0...20]
... ... ...
<3>
<1>
<2>
<1> A_INF and S_INF not for G130/G150.
<2> TM15DI_DO, TM120 not for G130/G150.
<4> In order to maintain the PROFIdrive profile, send word 1 must be used as status word 1 (ZSW1) for A_INF, B_INF, S_INF and CU_S.
<5> Using the binector/connector converters at [2472], bits of 4 send words can be interconnected with any binectors.
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
5
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
9
2
2
4
8
5

I
F
2

r
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

v
i
a

B
I
C
O

(
p
0
9
2
2

=

9
9
9
)
- 2485 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 03.09.10 V04.04.00 PROFIdrive - IF2 receive telegram, free interconnection
PZD receive word 1
PZD receive word 2
r8860[0] DWORD
r8860[4] DWORD
r8891.0
r8850[1]
r8891.15
r8890.0
r8850[0]
r8890.15
...
PZD receive word 3
PZD receive word 4
r8860[2] DWORD
r8893.0
r8850[3]
r8893.15
r8892.0
r8850[2]
r8892.15
...
...
r8860[1] DWORD
...
r8850[4]
r8860[3] DWORD
PZD receive word 32
r8850[30]
r8860[30] DWORD
r8850[31]
(0)
p8899[0]
r8895.0
r8895.15
(0)
p8899[1]
p880x
<3> <3>
<4>
r8894.0
r8894.15
<2> The connector-binector converter only converts the lower 16 bits irrespective of the input variable.
<3> The following representation applies for words: 4000 hex = 100 % for double words 40000 0000 hex = 100 %.
The following applies for temperature values: 100 C -> 100 % = 4000 hex or 40000 0000 hex; 0 C -> 0 %.
<4> Using the connector-binector converters, the bits can be extracted from two of the PZD receive words 5 to 16 and used as binectors.
<5> Every PZD word can be assigned a word or a double word. Only one of the 2 interconnection parameters r8850 or r8860 can have a value 0 for a PZD word.
p8898[1].0
p8898[1].15
p8898[0].15
p8898[0].0
receive telegram
1
0
1
1
0
1
1
0
1
1
0
1
<4>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
p8848
PZD receive word 5
PZD receive word 31
r8850[29]
r8860[29] DWORD
PZD receive word 30
r8860[28] DWORD
r8860[5] DWORD
r8850[5]
PZD receive word 6
Refer to [1020.7]
PROFIBUS
PROFINET
<1>
<2>
<5>
<5>
<6>
<6>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
5
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
9
3
2
4
8
7

I
F
2

s
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

v
i
a

B
I
C
O

(
p
0
9
2
2

=

9
9
9
)
- 2487 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 03.09.10 V04.04.00 PROFIdrive - IF2 send telegram, free interconnection
IF2 Diag send Wort 1...16
r8853[0...15]
...
PZD send word 1
PZD send word 2
DWORD
p8861[0]
DWORD
p8861[1]
DWORD
p8861[2]
DWORD
p8861[3]
DWORD
p8861[4]
DWORD
p8861[5]
DWORD
p8861[6]
DWORD
p8861[7]
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PZD send word 7
PZD send word 8
<1>
(0)0
p8851[1]
(0)0
p8851[2]
(0)0
p8851[3]
(0)0
p8851[4]
(0)0
p8851[5]
(0)0
p8851[6]
(0)0
p8851[7]
(0)0
p8851[8]
(0)0
p8851[0]
<1>
Reference quantities for
further interconnection
p880x
<2>
r8863[0...14]
send telegram
PROFIBUS
PROFINET
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
<1> A PZD send word can either be supplied via connector input p8851[x] (WORD) or via
p8861[x] (DWORD).
The two corresponding connector inputs cannot be interconnected.
<2> Physical word and double word values are inserted in the telegram as referenced
variables. p880x 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 p880x).
The following applies for temperature values: 100 C -> 100 % = 4000 hex; 0 C -> 0%
= 4000 0000 hex.
<3> The number of PZD send words depends on the drive object type.
<3>
(0)
p8851[28]
(0)
p8851[29]
(0)
p8851[30]
(0)
p8851[31]
PZD send word 30
PZD send word 31
PZD send word 32
DWORD
p8861[27]
DWORD
p8861[28]
DWORD
p8861[29]
DWORD
p8861[30]
PZD send word 9
PZD send word 29
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
5
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
9
4
2
4
8
9

I
F
2

s
t
a
t
u
s

w
o
r
d
s
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
- 2489 -
Function diagram
8 7 6 5 4 3 2 1
fp_2489_54_eng.vsd DO: A_INF, B_INF, ENCODER, S_INF, SERVO, VECTOR
S120/S150/G130/G150 20.01.10 V04.04.00 PROFIdrive - IF2 status words, free interconnection
5 binector-connector converter
p8848
(0.0)
p8881[0...15]
r8889[1]
Status word 2
(0.0)
(0.0)
[0]
[1]
[11]
p8888[1].0
p8888[1].11
1
0
1
1
0
1
(0.0)
p8880[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p8888[0].15
p8888[0].0
1
0
1
1
0
1
(0.0)
p8882[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p8888[2].15
p8888[2].0
1
0
1
1
0
1
(0.0)
p8883[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p8888[3].0
p8888[3].15
1
0
1
1
0
1
(0.0)
(0.0)
[12]
[15]
r8889[0]
Status word 1
r8889[2]
Free status word 3
r8889[3]
Free status word 4
(0.0)
p8884[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p8888[4].0
p8888[4].15
1
0
1
r8889[4]
Free status word 5
1
0
1
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
d
r
i
v
e
2
-
1
5
5
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
9
5
2
4
9
1

I
F
2

r
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
- 2491 -
Function diagram
8 7 6 5 4 3 2 1
fp_2491_54_eng.vsd DO: A_INF, B_INF, CU_G, CU_S, S_INF, TB30, TM15DI_DO, TM31, TM120
S120/S150/G130/G150 12.10.10 V04.04.00 PROFIdrive - IF2 receive telegram, free interconnection
PROFIBUS
PROFINET PZD receive word 1
PZD receive word 2
PZD receive word 5
r8850[1]
r8891.15
PZD receive word 3
r8850[2]
r8850[4]
(0)
p8899[0]
r8895.0
r8895.15
(0)
p8899[1]
p880x
<3>
<4>
r8894.0
r8894.15
<1> B_INF and S_INF not for S150 and G130.
<2> A_INF, S_INF, TM15DI_DO and TM120 not for G130/G150.
<4> Using the two connector-binector converters, two of the PZD receive words 3 to 5 can be converted into binectors for continued interconnection.
<6> Not for TB30, TM15DI_DO, TM31 and TM120.
p8898[1].0
p8898[1].15
p8898[0].15
p8898[0].0
receive telegram
1
0
1
1
0
1
1
0
1
1
0
1
<4>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
p8848
Refer to [1020.7]
r8891.0
r8890.0
r8850[0]
r8890.15
<1>
<5>
<2>
<6>
P
R
O
F
I
d
r
i
v
e
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
5
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
9
6
2
4
9
3

I
F
2

s
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
- 2493 -
Function diagram
8 7 6 5 4 3 2 1
fp_2493_54_eng.vsd DO: A_INF, B_INF, CU_G, CU_S, S_INF,TB30, TM15DI_DO, TM31, TM120
S120/S150/G130/G150 12.10.10 V04.04.00 PROFIdrive - IF2 send telegram, free interconnection
Refer to [1020.7]
PROFIdrive Sampling time
<3>
p880x
<1> B_INF and S_INF not for S150 and G130.
<2> A_INF and S_INF not for G130/G150.
<3> TM15DI_DO and TM120 not for G130/G150.
<4> Not for TB30, TM15DI_DO, TM31 and TM120.
<5> Only for CU_S and CU_G
<6> Using the binector/connector converters at [2472], bits of 4 send words can be interconnected with any binectors.
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
<6>
(0)
p8851[1]
(0)
p8851[2]
(0)
p8851[3]
(0)
p8851[4]
(0)
p8851[0]
<7>
PZD send word 6
PZD send word 7
PZD send word 8
(0)
p8851[5]
(0)
p8851[6]
(0)
p8851[7]
IF2 Diag send word
r8853[0...4], [0...7], [0...20]
...
PZD send word 9 (0)
p8851[8]
PZD send word 20 (0)
p8851[19]
PZD send word 21 (0)
p8851[20]
<4>
<4>
<4>
<4>
<4>
<5>
<5>
<4>
<5> <4>
<5> <4> <5> <4>
<4>
<4>
<5> <4>
<5> <4>
... ...
<2>
<1>
PROFIBUS
PROFINET
Drive object n
Header
Drive object 1
Drive object 2
.
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.
.
Drive object m
Trailer
send telegram
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- 2495 -
Function diagram
8 7 6 5 4 3 2 1
fp_2495_54_eng.vsd DO: CU_G, CU_S
S120/S150/G130/G150 07.12.10 V04.04.00 PROFIdrive - CU_STW1 control word 1 Control Unit interconnection
Signal targets for CU_STW1
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
p0890.0 = r2090.2
-
-
-
p2103[0] = r2090.7
p3104 = r2090.1
Reserved
1. Acknowledge faults
Control via PLC
Master sign-of-life bit 0
Reserved
Reserved
Reserved
ESR-Trigger
RTC real time synchronization PING
Reserved
Reserved
CU_STW1.1
CU_STW1.2
CU_STW1.3
CU_STW1.4
CU_STW1.5
CU_STW1.6
CU_STW1.8
CU_STW1.9
CU_STW1.11
CU_STW1.12
CU_STW1.13
CU_STW1.14
CU_STW1.15
CU_STW1.7
CU_STW1.10
- - - Central measuring probe, synchronizing signal source CU_STW1.0
Inverted
[Function diagram]
signal target
[Function diagram]
Interconnection
parameters
Meaning Signal
-
-
-
-
-
-
- -
p0681[0] = r2090.0
p3116 = r2090.10
Reserved
p2045 =r2050[0]
-
<1> Used in telegrams 390 to 394.
<2> Only available when the function module "extended setpoint channel" is active (r0108.9 = 1).
<1>
Refer to [1020.7]
<2>
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- 2496 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 07.12.10 V04.04.00 PROFIdrive - CU_ZSW1 status word 1 Control Unit interconnection
Signal sources for CU_ZSW1
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
p2081[7] = r2139.7
p2081[8] = r0899.8
Implicitly
interconnected
-
Reserved
1 = Alarm present
1 = System time synchronized (SYNC)
1 = No fault present
Reserved
Reserved
1 = Fault present
Reserved
Reserved
1 = No alarm present
1 = No safety message present
CU_ZSW1.1
CU_ZSW1.2
CU_ZSW1.3
CU_ZSW1.4
CU_ZSW1.5
CU_ZSW1.6
CU_ZSW1.8
CU_ZSW1.9
CU_ZSW1.11
CU_ZSW1.12
CU_ZSW1.13
CU_ZSW1.14
CU_ZSW1.15
CU_ZSW1.7
CU_ZSW1.10
- - - Reserved CU_ZSW1.0
Inverted
[Function diagram]
signal source
[Function diagram]
Interconnection
parameters
Meaning Signal
-
- -
-
p2081[3] = r2139.3
<1> Used in telegrams 390 to 394.
<1>
Refer to [1020.7]
-
-
-
-
-
-
p2081[11] = r3114.11
p2081[10] = r3114.10
p2081[9] = r3114.9
- -
<2>
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- 2497 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 07.12.10 V04.04.00 PROFIdrive - A_DIGITAL interconnection
Signal targets for A_DIGITAL
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
p0740[0] = r2091.2
p0742[0] = r2091.4
p0743[0] = r2091.5
p0744[0] = r2091.6
p0745[0] = r2091.7
p0739[0] = r2091.1
- - -
Inverted
[Function diagram]
signal target
[Function diagram]
Interconnection
parameters
-
-
-
-
-
-
-
-
-
- -
p0738[0] = r2091.0
-
p0741[0] = r2091.3
A_DIGITAL.1
A_DIGITAL.2
A_DIGITAL.3
A_DIGITAL.4
A_DIGITAL.5
A_DIGITAL.6
A_DIGITAL.8
A_DIGITAL.9
A_DIGITAL.11
A_DIGITAL.12
A_DIGITAL.13
A_DIGITAL.14
A_DIGITAL.15
A_DIGITAL.7
A_DIGITAL.10
A_DIGITAL.0
Signal
Digital output 12 (DI/DO 12)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Meaning
Reserved
-
-
-
-
<3> Pre-assignment, can be freely changed.
<3>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2> Can be set via p0728 as input (DI) or output (DO). <1> Used in telegrams 390 to 394.
<1>
Refer to [1020.7]
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- 2498 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 08.10.10 V04.04.00 PROFIdrive - E_DIGITAL interconnection
Signal targets for E_DIGITAL
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- -
Inverted
[Function diagram]
signal target
-
-
-
-
-
-
-
E_DIGITAL.1
E_DIGITAL.2
E_DIGITAL.3
E_DIGITAL.4
E_DIGITAL.5
E_DIGITAL.6
E_DIGITAL.8
E_DIGITAL.9
E_DIGITAL.11
E_DIGITAL.12
E_DIGITAL.13
E_DIGITAL.14
E_DIGITAL.15
E_DIGITAL.7
E_DIGITAL.10
E_DIGITAL.0
Signal
<3> Pre-assignment, can be freely changed.
Digital input 12 (DI/DO 12)
Digital input 2 (DI 2)
Meaning
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[Function diagram]
-
<3>
Interconnection
parameters
p2081[0] = r0722.8
p2081[3] = r0722.11
p2081[5] = r0722.13
p2081[6] = r0722.14
p2081[7] = r0722.15
p2081[8] = r0722.0
p2081[2] = r0722.10
p2081[4] = r0722.12
p2081[1] = r0722.9
p2081[9] = r0722.1
p2081[11] = r0722.3
p2081[13] = r0722.5
p2081[14] = r0722.6
p2081[15] = r0722.7
p2081[10] = r0722.2
p2081[12] = r0722.4
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2> Can be set via p0728 as input (DI) or output (DO). <1> Used in telegrams 390 to 394.
<1>
Refer to [1020.7]
Function diagrams
Internal control/status words
2.9 Internal control/status words
Function diagrams
2501 Control word, sequence control 2-1561
2503 Status word, sequence control 2-1562
2505 Control word, setpoint channel 2-1563
2520 Control word, speed controller 2-1564
2522 Status word, speed controller 2-1565
2526 Status word, closed-loop control 2-1566
2530 Status word, current control 2-1567
2534 Status word, monitoring functions 1 2-1568
2546 Control word, faults/alarms 2-1571
2548 Status word, faults/alarms 1 and 2 2-1572
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- 2501 -
Function diagram
8 7 6 5 4 3 2 1
fp_2501_54_eng.vsd DO: ENCODER, SERVO, VECTOR
S120/S150/G130/G150 19.11.09 V04.04.00 Internal control/status words - Control word, sequence control
11
12
13
14
15
p0840[C]
(0)
p0852[C]
(1)
p1140[C]
(1)
p1141[C]
(1)
PROFIdrive bit
<1> STW1.10 must be set to ensure that the
drive object accepts the process data (PZD).
<2> Only for telegram 220.
<3> When the master control is retrieved,
predefined by STARTER or AOP30.
<4> Only applies if the function module
"extended brake control (r0108.14 = 1)" is
active.
<5> For DO ENCODER only bit 10.
10
7
6
5
4
3
2
1
0
Bit No.
<6> PROFIdrive interconnection: For PROFIdrive standard telegrams, the upper inputs are connected with PROFIdrive-STW1 [2420]. Only relevant for CDS0.
2000.00 s
p0854[C]
(1)
r0898.0
r0898.1
r0898.2
r0898.3
r0898.4
r0898.5
r0898.6
r0898.10
r0898
STW sequence ctrl
p0855[C]
(0) r0898.7
9
8
p1055 [C]
(0)
p1056 [C]
(0)
r0898.8
r0898.9
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
To jog [3030.6]
To Ramp-function generator tracking [3080.4]
To jog [3030.6]
To Ramp-function generator tracking [3080.3]
To the brake control [2701.5]
To the expanded brake control [2707.1]
To the setpoint channel
[3060.1] [3070.1] [3080.4]
[3060.1] [3070.1]
[3060.6] [3070.7] [3080.5]
To the Control Unit [2610]
r0898.12
To the torque setpoint [6060.4]
p0856[C]
(1)
Control word sequence control
1 = Operating condition, no coast stop (no OFF2)
0 = OFF2
1 = Operating condition, no quick stop (no OFF3)
0 = OFF3
1 = Command, open brake
1 = Control via PLC
Reserved
Reserved
1 = Command, close brake
<1>
Reserved
1 = Jog 1
1 = Jog 2
1 = Speed controller enable
= ON
0 = OFF1
1 = Unfreeze ramp-function generator
1 = Enable ramp-function generator
1 = Enable speed setpoint
1 = Enable operation
<4>
p0858[C]
(0) <3> r0898.14
p0844[C]
(1)
1. OFF2 (electrical)
p0845[C]
(1)
p0848[C]
(1)
1. OFF3 (fast stop)
p0849[C]
(1)
2. OFF3 (fast stop)
<6>
<6>
<3>
<3>
<3>
<3>
<4>
[2711.8]
(1)
Enable n_set
p1142[C]
(r0899.15)
Setpoint 2 enable
p1152
r2090.3
p2816[0]
(0)
p2816[1]
r2817.0
<2> [2425]
<5>
<5>
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- 2503 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 06.12.10 V04.04.00 Internal control/status words - Status word, sequence control
11
12
13
14
15
<2> Only for Telegram 220.
<3> These signals are only relevant if the "extended brake control" function module is active (r0108.14 = 1).
<4> If "Safe Brake Control" (SBC) is activated and selected, the brake is no longer controlled via this signal.
<5> Only with message frame 220 and activated function module "Extended brake control" (r0108.14 = 1), otherwise hard wiring set to 1.
PROFIdrive bit
Bit No.
10
9
8
7
6
5
4
3
0
1
2
From the Control Unit [2610]
From the Control Unit [2610.4]
2000.00 s
r0899.0
r0899.1
r0899.4
r0899.5
r0899.11
r0899.12
r0899.2
r0899.6
r0899.9
1 = Ready for operation (DC link loaded, pulses inhibited)
Status word sequence control
1 = Jog active
1 = Drive ready
1 = Controller enable
Reserved
1 = Pulses enabled
1 = Open the holding brake (only for booksize units when the brake is
connected to the power unit)
1 = Command, close holding brake
1 = Enable setpoint from the brake control
1 = Pulse enable from the brake control
Bit 9 = 1 --> Ready to exchange process data
r0899.13
From the basic brake control (r0108.14 = 0) [2701.8]
From the expanded brake control/standstill detection (r0108.14 = 1) [2711.8]
r0899.14
r0899.15
From the Control Unit [2610] r0899.3
<4>
<3>
<3>
r0899.7
r0899.8 From the Control Unit [2610]
(1)
2. OFF2
p0845[C]
(1)
2. OFF3
p0849[C]
(0)
INF operation
p0864
OFF1
OFF2
OFF3
1
Enable
internal
missing
or
fault with
this reaction
&
From the basic brake control (r0108.14 = 0) [2701.8]
[4015.1]
[4015.1]
[2701.1][2711.1]
[2701.1][2711.1]
r0899
ZSW sequence ctrl
(0)
p2810[1]
r2811.0
[2428]
(0)
p2810[0]
<2>
<5>
<6> For DO ENCODER only bit 9.
<6>
<6> <1>
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1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
0
3
2
5
0
5

C
o
n
t
r
o
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o
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,

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- 2505 -
Function diagram
8 7 6 5 4 3 2 1
fp_2505_51_eng.vsd DO: SERVO, VECTOR, VECTORGL, VECTORMV
SINAMICS 20.06.08 V04.04.00 Internal control/status words - Control word, setpoint channel
11
12
13
14
15
1 = Fixed setpoint, bit 0
Control word, setpoint channel
Reserved
1 = Inhibit negative direction
1 = Inhibit positive direction
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Motorized potentiometer, raise
1 = Motorized potentiometer, lower
p1020[C]
(0)
Fixed setpoint selection, bit 0
p1023[C]
(0)
p1111[C]
(0)
Inhib pos dir
p1036[C]
(0)
Motorized potentiometer, lower
p1035[C]
(0)
Motorized potentiometer, raise
9
10
8
7
6
5
4
3
2
1
0
Bit No.
p0115[3]
r1198.3
r1198.5
r1198.6
r1198.11
r1198.13
r1198.14
p1022[C]
(0)
p1021[C]
(0)
r1198.2
r1198.1
r1198.0
p1113[C]
(0)
Setpoint inversion
To the setpoint channel [3060.1] [3070.3] r1198.15
p1122[C]
(0)
Bypass RFG
To fixed speed setpoints [3010.2]
To direction limiting and direction reversal
[3040.3]
[3040.5]
To the motorized potentiometer [3020.1]
To the motorized potentiometer [3020.1]
[3040.2]
p1110[C]
(0)
Inhib neg dir
r1198
STW setpoint channel
F
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t
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d
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s

w
o
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s
2
-
1
5
6
4

S
i
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m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
0
4
2
5
2
0

C
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l
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- 2520 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 27.02.08 V04.04.00 Internal control/status words - Control word, speed controller
1
2
3
4
5
6
7
8
9
10
11
0
Bit No.
12
13
14
15
Vector
-
-
Servo
-
- -
Reserved
Control word, speed controller
Reserved
Reserved
Reserved
1 = speed controller, hold I component
1 = speed controller, set I component
Reserved
Reserved
1 = Travel to fixed stop
Reserved
Reserved
1 = Droop enable
Reserved
Set speed adaptation controller I component
Reserved
r1406.11
r1406.5
r1406.8
r1406.4
r1406.12
-
To the speed controller [6040.4]
To the closed-loop speed control
[5060.1 and 6060.1]
p1492[C]
(0)
Enables droop
p1545[C]
(0)
TfS activation
p1501[C]
(0)
Changeov n/M_ctrl
-
- -
- -
- -
- -
-
-
-
-
- -
-
-
-
To the speed setpoint, droop [6030.1]
To torque signals,
Motor locked/stalled [8012.5]
p1476[C]
(0)
n_ctrl integ stop
p1477[C]
(0)
n_ctrl integ set
<1>
1000.00 s
<1> Only for Servo.
r1406.15
<2>
<2>
<2> r1406
STW n_ctrl
<1>
<2>
<2>
<2>
I
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n
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l

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F
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d
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r
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s
2
-
1
5
6
5

S
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m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
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d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
0
5
2
5
2
2

S
t
a
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s

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,

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p
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d

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- 2522 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 06.08.10 V04.04.00 Internal control/status words - Status word, speed controller
1
2
3
4
5
6
7
8
9
10
11
0
Bit No.
12
13
14
15
Vector
-
Servo
-
From torque limiting [5610.4]
From the torque setpoint [6060.4][6060.7]
<3> From the setpoint, n-ctrl [5030.8]
<3><1> From the speed controller [5210.3]
From the speed setpoint, droop [6030.4][6030.5]
From the torque setpoint [6060.7]
From the torque setpoint [6060.7]
Sensorless operation
[2520.7]
-
-
-
r1407.8
r1407.9
r1407.11
r1407.1
1 = Torque control
r1406.12
r1407.7
From the changeover, closed-loop control types [5060.5]
From the speed controller [5040.7][6040.7]
From the speed controller [5040.7][6040.7]
1 = V/f control active
Status word, speed controller
1 = Sensorless operation active
1 = Closed-loop speed control active
1 = Speed setpoint from DSC
1 = Speed controller, I component held
1 = Speed controller, I component set
1 = Torque limit reached
1 = Torque limiting, upper, active
1 = Torque limiting, lower, active
1 = Droop enabled
1 = Speed setpoint limited
1 = Ramp-function generator set
1 = Sensorless operation due to a fault
Reserved
1 = I/f control active
-
r1407.10
r1407.11
r1407.5
r1407.6
r1407.2
<1> Only for servo control without encoder.
From the control unit [2610.4]
From the speed setpoint, droop [6030.3]
r1407.3
r1407.12
-
r1407.4
To the speed actual value and pole position
sensing, motor encoder (encoder 1)
[4710.4]<3> [4715.4]
To speed setpoint, droop [6030.5]
To torque setpoint [6060.3]
Ramp-function generator tracking [3080.1]
Traveling blocks mode [3616.1]<3>
Speed controller [5040.7]<3>[5042.5][6040.4]
Motor locked/stalled [8012.5]
<2>
r1407.13
<2> Only for SERVO.
<2>
1000.00 s
r1407.0
p1190 > 0 (interconnected)
p1191 > 0 (interconnected)
PcCtrl active
Mot-ID
OFF1
1
OFF3
STOP2
&
Motion-based
PolID
To Speed setpoint filter [5020.1]
To Reference model [5030.3]
r1407.14
<3>
r1407
ZSW n_ctrl
<3>
<3>
<3>
<3>
<3>
<3>
&
<3>
<2>
<3>
<3>
ESR active
F
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2
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5
6
6

S
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s

A
G

2
0
1
1

A
l
l

R
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R
e
s
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v
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S
I
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A
M
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C
S
S
1
2
0
/
S
1
5
0

L
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
0
6
2
5
2
6

S
t
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s

w
o
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,

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p

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- 2526 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 24.10.08 V04.04.00 Internal control/status words - Status word, closed-loop control
1
2
4
1 = Initialization completed
Meaning
1 = De-magnetization completed
1 = Pulses enabled
1 = Magnetization completed
1 = Frequency, negative
0
Bit No.
7
Status word closed-loop control
8
9
11
1 = Field weakening active
1 = Voltage limit active
1 = Frequency limit active
1 = Vdc_max controller active 14
1 = Vdc_min controller active 15
r0056
ZSW closed-loop control
r0056.11
r0056.14
r0056.15
r0056.0
r0056.1
r0056.2
r0056.4
r0056.7
r0056.8
r0056.9
3 1 = Soft starting available r0056.3
5 Reserved r0056.5
6 1 = Acceleration voltage active r0056.6
12 1 = Current limiting controller, voltage output active r0056.12
13 1 = Current/torque limiting active r0056.13
10 1 = Slip limiting active r0056.10
Refer to [1020.7]
<1>
<1>
<1>
<1>
<1>
<1> Only for V/f control.
<2> Not for SERVO.
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
[6722.6][6725.6]
[6725.4][6730.5][6731.5][6732.4]
[6722.3][6725.4]
[6714.8]
[6730.5][6731.5][6732.4]
[6220.8][6320.8]
[6220.8][6320.8]
[6310.8]
[6060.7]
[6710.2]
[6031.6][6710.2]
[8012.5]
[8018.1]
[2701.1][2707.1]
<3>
<3> <3>
<3>
<3> <3>
I
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t
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d
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s
2
-
1
5
6
7

S
i
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m
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s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
0
7
2
5
3
0

S
t
a
t
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s

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- 2530 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 24.10.08 V04.04.00 Internal control/status words - Status word, current control
r1408
ZSW closed-loop
current control
1
2
1 = Closed-loop current control active
Meaning
1 = Lim. I comp. Id-R active
Reserved
0
Bit No.
Status word closed-loop current control
[6714.5]
[6714.7] 3
4
1 = Limiting U active
5
6
7
8
9
1 = Lim. EMF/Obs-ctrl. active 10
11 1 = Error EMF/Obs-N active
12 1 = Motor stalled active
13 Reserved
14 Reserved
15 Reserved
[6730.3]
Refer to [1020.7]
1 = Limiting Ud active
1 = Limiting Uq active
1 = Pos. limit. Iq active
1 = Neg. limit. Iq active
1 = Iq setpoint limit. active
1 = Id setpoint limit. active
<1> Only for SERVO.
<1>
<2>
<1>
<1>
<1>
<1>
<1>
<2>
<2>
<2>
<2>
r1408.5 [5040.7][5042.5]
[5714.5] r1408.6
[5714.4] r1408.7
[5714.4] r1408.8
[5722.7] r1408.9
r1408.10
r1408.11
r1408.12
r1408.4
r1408.3
r1408.1
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
F
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/
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t
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s

w
o
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s
2
-
1
5
6
8

S
i
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m
e
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s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
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d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
0
8
2
5
3
4

S
t
a
t
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s

w
o
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d
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m
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g

f
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s

1
- 2534 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 08.07.09 V04.04.00 Internal control/status words - Status word, monitoring functions 1
Reserved
Status word, monitoring functions 1
|n_act| <= speed threshold value 2 (p2155)
|n_act| > speed threshold value 2 (p2155)
1 = n_act >= 0
Reserved
Reserved
n_act > n_max
Reserved
Reserved 9
8
7
6
5
4
3
2
1
0
Bit No. r2197
ZSW monitoring functions 1
r2197.7
r2197.6
r2197.2
r2197.1
r2197.3
<1> nact = smoothed speed actual value r2169 [8010.2].
<1>
<1>
p0115[3]
From speed signals 2 [8011.8]
1
Reserved 10
Reserved 11
Reserved 12
Reserved 13
Reserved 14
Reserved 15
I
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F
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t
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d
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a
m
s
2
-
1
5
6
9

S
i
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m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
0
9
2
5
3
6

S
t
a
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u
s

w
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f
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2
- 2536 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 04.11.09 V04.04.00 Internal control/status words - Status word, monitoring functions 2
p0115[3] (4000.00 s)
r2198
r2198.10
r2198.6
r2198.7
11
12
13
14
15
Reserved
Reserved
Reserved
Reserved
1 = |n_set| < p2161
1 = n_set >0
1 = Motor blocked
1 = Motor stalled
Reserved
Reserved
1 = Torque setpoint < torque threshold value 1 (p2174)
1 = Load monitoring signals an alarm
1 = Load monitoring signals a fault
Reserved
Reserved
Reserved
9
10
8
6
5
4
3
2
1
0
Bit No.
r2198.5
7
From torque messages, motor locked/stalled [8012.8]
From load monitoring [8013.8]
From load monitoring [8013.8]
r2198.11
r2198.12
r2198.4
<1> Only relevant if the function module "extended signals/
monitoring functions" (r0108.17 = 1) is active.
<1>
<1>
F
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w
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s
2
-
1
5
7
0

S
i
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m
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s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
1
0
2
5
3
7

S
t
a
t
u
s

w
o
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,

m
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g

f
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s

3
Function diagram
- 2537 -
8 7 6 5 4 3 2 1
SINAMICS 29.06.09 V04.04.00 Internal control/status words - Status word, monitoring functions 3
11
12
13
14
15
1 = |n_act| < speed threshold value 3 (p2161)
1 = f or n comparison value reached or exceeded (p2141)
Reserved
Reserved
1 = Speed setpoint - actual value deviation within tolerance t_on
1 = Ramp-up/ramp-down completed
1 = Current below residual current threshold
Reserved
Reserved
Reserved
Reserved
1 = Torque utilization < torque threshold value 2 (p2194)
Reserved
Reserved
Reserved
Reserved
PROFIdrive bit
9
10
8
7
6
5
4
3
2
1
0
Bit No.
P0115[4]
From torque signals [8012.5]
r2199
r2199.11
r2199.5
r2199.1
r2199.0 <1>
<1>n_act = smoothed speed actual value r2169 [8010.2].
[8012.1]
From speed signals 2 [8011.8] r2199.4
r2199.6
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- 2546 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 08.05.08 V04.04.00 Internal control/status words - Control word, faults/alarms
p2103[C] 1. Acknowledge
p2102[C] Ackn all faults
Pulse generator
11
12
13
14
15
Reserved
Control word, faults/alarms
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
= External alarm 1 (A07850)
= External fault 1 (F07860)
PROFIdrive bit
9
10
8
7
6
5
4
3
2
1
0
Bit No.
To alarm buffer [8065.1] r2138.11
To fault buffer [8060.1] r2138.13
r2138
STW faults/alarms
p2112[C] (1)
p2116[C] (1)
p2117[C] (1)
p2106[C] (1)
p2107[C] (1)
4000.00 s
To fault buffer [8060.1]
r2138.7
p2108[C] (1)
p3111[C] (1)
p3112[C] (0)
T 0
p3110 [ms]
This parameter refers to the Control Unit and is
used as source to simultaneously acknowledge
all faults on all drive objects.
<2>
<1>
These parameters refer to the Command Data Sets (CDS)
depending on the individual drive object (DO).
<2>
<1>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
1
1
1
1
1
1
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- 2548 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 06.12.10 V04.04.00 Internal control/status words - Status word, faults/alarms 1 and 2
Source sampling time
Refer to [1020.7]
3
...
9
r2135
ZSW faults/alarms 2
0
r2139.3
r2139.7
r2135.14
r2135.15
r2135.13
r2135.12
r2139.0
r2139.6
r2135.0
r2135.1
r2135.2
From the thermal monitoring, power module [8014.8]
From the thermal monitoring, power module [8014.8]
From the thermal monitoring, motor [8016.8]
From the thermal monitoring, motor [8016.8]
r2139.8
From the alarm buffer [8065.4]
From the fault buffer [8060.6]
1 = Fault encoder 1
Status word, faults/alarms 2
1 = Fault encoder 2
1 = Fault encoder 3
1 = Alarm transformer overtemperature
1 = Fault motor overtemperature
1 = Fault power unit thermal overload
1 = Acknowledgement running
Status word, faults/alarms 1
1 = Fault present
Reserved
1 = Internal message 2 present
1 = Alarm motor overtemperature
1 = Alarm power unit thermal overload
1 = Internal message 1 present
1 = Alarm present
1 = Safety message present
2
1
Bit No.
r2139.5
4
6
7
8
12
13
14
15
0
Bit No.
5
3
r2139.11
Reserved 9
Reserved 10
1 = Alarm class bit 0 11
r2139.12 1 = Alarm class bit 1 12
1 = Acknowledgement required
Reserved
1
2
Reserved 13
Reserved 14
Reserved 15
11
1 = Fault transformer overtemperature 10
<1> From the thermal monitoring, infeed
[8770.6]
[8970.6]
r2135.11
r2135.10
Reserved
<1>
<1>
<1>
<1>
<1> Only for A_INFMV, B_INFMV, VECTORMV, VECTORSL.
r2139
ZSW faults/alarms 1
r2139.1
Sequence control
Function diagrams
2.10 Sequence control
Function diagrams
2610 Sequencer 2-1574
2634 Missing enable signals, line contactor control, logic operation 2-1575
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S4: Operation
ZSWA.00/01/02 = 1
ZSWA.11 = 1
ZSWA.06 = 0
Pulses enabled
Controller enabled
No jog operation: Setpoints enabled
- 2610 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 23.11.10 V04.04.00 Sequence control - Sequencer
POWER ON
S1: Switching on inhibited
ZSWA.06 = 1, ZSWA.11 = 0
ZSWA.00/01/02 = 0
Pulses inhibited
S2: Ready for switching on
ZSWA.00 = 1, ZSWA.11 = 0
Main contactor is OPEN
Wait for power-up or jog
<2>
S5a: Ramp stop
ZSWA.00/01 = 1
ZSWA.11 = 1
ZSWA.02/06 = 0
Bring the drive to n <= 0 along
the Ramp-funktion generator,
then inhibit the pulses
S5b: Fast stop
ZSWA.00/01 = 1, ZSWA.11 = 1
ZSWA.02/06 = 0
Bring the drive to n <= 0 along the
fast stopping ramp or torque limit,
S3: Ready
ZSWA.00/01 = 1, ZSWA.11 = 0
ZSWA.02/06 = 0
Line contactor is CLOSED
Wait for pre-charging
&
"Enable operation"
(STWA.03)
"Enable operation" (STWA.03)
&
"0 = OFF"
Jog 1
Jog 1
&
&
&
Pulse enable HW[
2701.8][2711.8]
"0 = Fast stop"
(STWA.02)
"0 = Coast down" (STWA.01)
&
Pulse enable
HW [2701.8] [2711.8]
"0 = Coast down"
(STWA.01)
<1> POWER ON = 24 V electronics supply OFF --> ON or RESET button.
<2> The sequence control is implemented according to the PROFIdrive profile.
<3> Only for SINAMICS S120 and G150:
If a DO Infeed (A_INF, B_INF and S_INF) is used, it closes the line contactor
(refer to [8732][8832][8932]) and not the DO SERVO/VECTOR.
p0857...p0862
2000.00 s
Missing enable
signals
[2634]
Faults
F07300...F07802
F6000
&
Pulse enable
HW[2701.8]
Drive at standstill
Fault
with OFF1 or
OFF3
response
Drive at standstill
1
1
Drive at
standstill
<4>
<4>
<4>
<4>
<4>
<4> These control commands can also be triggered by a fault response.
&
&
Closed-loop control operation
De-magnetization completed
(r0046.27 = 0)
&
"Commissioning completed" (p0010 = 0 & p0009 = 0)
From all states
. . .
1
1
"0 = OFF" (STWA.00)
"0 = Fast stop" (STWA.02)
r0046.8 EP terminals, enable missing
<5> STWA.xx = control word, sequence control, bit xx (r0898) [2501]; ZSWA.xx = status word, sequence control bit xx (r0899) [2503].
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<1>
<5>
<5>
<5>
<5>
S5c: Jogging -
down ramp
ZSWA.00/01 = 1
ZSWA.11 = 1
ZSWA.02/06 = 0
Bring the drive to n <= 0 along
the Ramp-funktion generator,
Jog 2
Jog mode
1
Jog 2
No jog operation
"0 = OFF"
Jog 1
Jog 2
OFF3 (has priority over jogging)
Drive at
standstill
OFF2 (has priority over jogging)
r0863.0
No LT_fault
UDC uploaded
&
Energize contactor
r0863.1
Controller enable
r0899.8
1
Infeed ready
p0864
&
"0 = OFF"
Jog 1
Jog 2
1
[2503.3]
<7>
<7>
<7>
<6> Only if Safety Integrated is active.
<7> The parameters p1226, p1227 and p1228 influence this status.
<6>
<6>
<6>
T 0
p0862
<3>
0 = Coast down (STWA.01)
0 = Fast stop (STWA.02)
<4> <5>
r0046.8 EP terminals,
enable missing
<6>
<4> <5>
[2634] <6>
<5>
[2634]
[2634]
enable missing
[2634]
enable missing
enable missing
[2634]
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- 2634 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 12.10.10 V04.04.00 Sequence control - Missing enable signals, line contactor control, logic operation
+24 V
Control Unit
Line contactor control
T
p0861
Time monitoring
&
F07300
"Line contactor
feedback signal
missing"
[2120]...[2133]
DI
DO
[2130]...[2133]
r0863.1
Line contactor feedback signal
p0860
Energize line contactor
r0863.1
Missing enable signals that prevent the drive going into operation
(this situation can be detected at the ZSW sequence control, infeed r0899.2 = 1 [8926] <5>).
Missing enable signals
1
To the infeed
&
1
Operating monitoring
ON/OFF monitoring
0
From the line
supply
p0115[3] (2000.00 s)
<2> For AC/AC devices, diode infeed
<2>
<1>
1 = OFF2, enable missing 1
2
3
5
6
9
1 = OFF1, enable missing
Bedeutung
1 = OFF3, enable missing
1 = Enable operation missing
1 = STOP2, enable missing
1 = STOP1, enable missing
1 = Infeed, enable missing
Bit Nr.
0
10
11
12
1 = Ramp-function generator enable missing
1 = Ramp-function generator start missing
1 = Setpoint, enable missing
16
17
18
1 = OFF1, enable, internal missing
26 1 = Drive inactive or not operational
19 1 = Pulse enable, internal missing
25 1 = Function bypass active
27 1 = De-magnetization not completed
28 1 = Open brake missing
4 1 = Armature short-circuit/DC brake, enable missing
8 1 = EP terminals, enable missing
20
21
1 = Internal armature short circuit/DC brake, enable missing
1 = STOP2, enable internal missing
22 1 = STOP1, enable internal missing
29
30
31
1 = Cooling system ready missing
1 = Jog setpoint active
1 = Speed controller inhibited
[2701.8]
[2610.4]<2>
[8732.4]<3>
[8832.4]<4>
[8932.4]<5>
Line contactor control from sequence control
1
r0046
Missing enable sig
[3020.5]
r0046.0
r0046.1
r0046.2
r0046.3
r0046.5
r0046.6
r0046.9
r0046.10
r0046.11
r0046.12
r0046.8
r0046.16
r0046.17
r0046.18
r0046.19
r0046.20
r0046.22
r0046.25
r0046.26
r0046.27
r0046.28
r0046.29
r0046.30
r0046.31
r0046.21
r0046.4
1
Fault with
OFF3 response
[3060.2]
[3060.4]
[3070.2]
[3070.4]
1 = Internal RFG missing
[3060.2]
[3070.2]
0 = Internal fast stop
<3> Only for SINAMICS S120/G150.
(0)
p2810[1]
(0)
p2816[0]
(0)
p2816[1]
(0)
Logic operation
p2810[0]
AND operation
r2811.0
OR operation
r2817.0
<4> Only for SINAMICS S120. <5> Only for SINAMICS S120/S150.
Function diagrams
Brake control
2.11 Brake control
Function diagrams
2701 Basic brake control (r0108.14 = 0) 2-1577
2704 Extended brake control, zero-speed detection (r0108.14 = 1) 2-1578
2707 Extended brake control, open/close brake (r0108.14 = 1) 2-1579
2711 Extended brake control, signal outputs (r0108.14 = 1) 2-1580
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- 2701 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 06.12.10 V04.04.00 Braking control - Basic braking control (r0108.14 = 0)
n_stop n_thresh
0.0...210 000.0 [RPM]
p1226 (20.0)
r0060
n_set before filter
Pulse enable HW
OFF 1 present
OFF 3 present
<3> If p1215 = 0, 2 -> t = 0 ms.
Background
Refer to [1020.7]
<1> Motor holding brake configuration (p1215)
0 = No motor holding brake being used.
1 = Motor holding brake acc. to sequence control.
2 = Motor holding brake always released.
3 = Motor holding brake like sequence control, connection via BICO.
<4> Only if Safety Integrated is active (Double Motor Module: X22, Chassis: X41).
<5> For p1227 = 300 s, the monitoring function is deactivated.
Stop 2 enable internal missing
r0046.21 [2634.1]
<2> Priority assignment (high -> low): p1215, p0858, p0855, p0856, sequence control.
[2501.3]
p0855
1 = Unconditionally open the
holding brake
r0898.7
<6> If an external motor holding brake is used, p1215 should be set to 3 and r0899.12 should be interconnected as
control signal.
<3>
<8> The internal signal includes signals that lead to OFF1 or OFF3 (e. g. BICO or fault response).
<9> If the brake is permanently applied or released (p0855, p0858 or p1215), the drive does not wait while the brake is released or applied.
[2501.3]
p0856 1 = Enable speed controller
r0898.12
[2501.3]
p0852 1 = Operation enabled
r0898.3
<7> r0046.21 = 0, as long as r0046.0 = 1 (OFF1 enable missing or power-on inhibit).
r0046.21 = 1, if p0858 = 1 or p0856 = 0.
The signal generation is shown simplified.
[2501.3]
p0858 1 = Unconditionally close the holding brake
r0898.14
0...10 000 [ms]
p1217 (100)
1
T 0
0.000...300.000 [s]
p1227 (4.000)
T 0
p1215 = 2
1
0
1
0
T 0
1
1
1
<4>
T 0
0.000...10.000 [s]
p1228 (0.000)
[2814.2]
[2503.3]
[2503.3]
[2610.5]
[2610.8]
[5042.8]
[5730.4]
&
<5>
<1>
<2>
<2>
<6>
[2503.3]
<3>
<7>
<8>
[2503.7]
Q
Q
RESET
(Q=0)
SET
(Q=1)
Q
Q
RESET
(Q=0)
SET
(Q=1)
RESET
(Q=0)
Q
Q
SET
(Q=1)
Q
Q
RESET
(Q=0)
SET
(Q=1)
Q
Q
RESET
(Q=0)
SET
(Q=1)
0...10 000 [ms]
p1216 (100)
<1>
p1215 = 0
&
&
&
1
&
r0899.13
Close "normal" brake
r0899.12
Open brake
Close brake
r0063
n_act smooth
[4710.7]
r0063[0]
n_act unsmoothed
[4715.7]
r0899.4
Pulse enable X21
[2503.7]
r0899.6
Magnetizing completed
r0056.4
<9>
[2526.6]
Note: Braking signal diagnostic evaluation (p1278) only applies for SBC (Safe Brake Control) (controls the Safe Brake Relay).
<10>
<10>
<10>
<10>
<10>
<10>
[6030.2]
for VECTOR
<10>
r1438
n_ctrl n_set
[5030.8]
for SERVO
F
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- 2704 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 12.10.10 V04.04.00 Braking control - Extended braking control, zero-speed detection (r0108.14 = 1)
T 0
<2>
0.000...300.000 [s]
p1227 (4.000)
0.000...10.000 [s]
p1228 (0.000)
&
T 0
(0)
p1224[1]
Standstill threshold
(r0063)0
p1225
<2>
0.000...300.000 [s]
p1276 (300.000)
1
0
1
0
p1275.02 (0) p1275.03 (0)
Brake, threshold value
fallen below
r1229.7
Brake,
monitoring
time expired
r1229.8
(0)
p1224[2]
(0)
p1224[3]
r0063
n_act smooth
[4710.7]
n_stop n_thresh
0.0...210 000.0 [RPM]
p1226 (20.0)
OFF1 present
OFF3 present
Close brake from standstill detection
<2> For p1276 = 300.000 s, the timer is de-activated, i.e. the timer output is always 0. Note: When operating a
motor with a brake which must not be applied while the motor is rotating, the monitoring time of both timers
must be set to 300 s.
<1> Shutdown threshold of the standstill detection. In this case (e.g. when using a brake), another criterion than the
speed actual value can be selected to clear the pulses. Otherwise, we recommend to keep the factory setting.
<1>
1
0
1
-1
0
1
<3>
<3> For operation without brake, p1224[0...3] must be 0 (factory setting) in order to avoid undesirable interaction
with the sequence control.
[2707.1]
[2711.1]
Background
Refer to [1020.7]
T 0
SET
(Q=1)
Q
RESET
(Q=0)
Q
1
(0)
Brk close standstill
p1224[0]
<4> The internal signal comprises signals that lead to OFF1 or OFF3, e.g. BICO or fault response.
<4>
r0063[0]
n_act unsmoothed
[4715.7] (r0063[0])
p1225
<5>
<5>
r0060
n_set before filter
[6030.2]
for VECTOR
r1438
n_ctrl n_set
[5030.8]
for SERVO
B
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7

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- 2707 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 13.10.10 V04.04.00 Braking control - Extended braking control, open/close brake (r0108.14 = 1)
<1> Motor holding brake configuration
0 = No brake or brake always applied (brake connected to the power unit)
1 = Brake control active (brake connected to the power unit)
2 = Brake always released (brake connected to the power unit)
3 = Brake control active (brake connection can be interconnected using BICO)
Note:
A motor brake cannot be connected to all power units. p1215 is set to 3 and the brake is controlled via a digital output (e.g. TM31).
<3> These blocks/modules are evaluated with the same sampling rate as the brake control and therefore may only be used to individually adapt the brake control.
<4> If the brake is permanently applied or released (p0855, p0858 or p1215), the drive does not wait until the brake is released or applied.
Brake OR
logic operation
result
1229.10
(0)
p1279[3]
Brake AND
logic operation
result
1229.11
<3>
Background
Refer to [1020.7]
<2> Priority assignment (high -> low): p1215, p0858, p0855, p0856/p1219, apply brake from standstill detection, p1218.
r0056.4
T 0
0.000...300.000 [s]
p1277(0.000)
Brake open threshold
(1)
p1220
(1)
Open brake
p1218[0]
0
1
Brake open threshold
0.00...200.00 [%]
p1221(0.00)
Open brake (internal)
Brake threshold exceeded
r1229.6
(1)
p1218[1]
[2711.1]
<2>
p1215 = 2
<1>
[2501.3]
p0855 1 = Unconditionally open the holding brake
r0898.7
[2501.3]
p0856
1 = Enable speed controller
r0898.12
(0)
p1219[2]
(r1229.9)
p1219[3]
Close brake (internal)
(0)
p1219[1]
(0)
Immediately close brake
p1219[0]
1
0
1
p1275.00(0)
1
0
1
p1275.01(0)
Request, pulse enable missing/n_ctrl inhibited
r1229.9 1 &
Request pulse enable
[2711.1]
[2711.8]
[2704.8]
<1>
p1215 = 0
<2>
(0)
OR logic operation
p1279[0]
(0)
p1279[1]
(0)
AND logic operation
p1279[2]
[2501.3]
p0858
1 = Unconditionally close the holding brake
r0898.14
<4>
[2526.6]
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- 2711 -
Function diagram
8 7 6 5 4 3 2 1
DO: SERVO, VECTOR
S120/S150/G130/G150 06.12.10 V04.04.00 Braking control - Extended braking control, signal outputs (r0108.14 = 1)
1 = Command, open brake
r1229.1
Pulse enable from the brake control
r0899.14
Setpoint enable from the brake control
r0899.15
&
&
&
Brake does not close
&
&
0...10 000 [ms]
p1217(100)
T 0
0...10 000 [ms]
p1216(100)
[2704.8]
Brake does not open
r1229.4
r1229.5
Close brake (internal)
[2707.8]
Close "normal" brake
1
Open brake (internal)
[2707.8]
T 0 <1>
No OFF1
No OFF3
Pulse enable from the expanded brake control
r1229.3
&
1
<2>
<2>
1
0
1
0
1
0
1
1
0
1
Brake is being used
p1215 > 0
Brake with
feedback signal
p1275.5
[2814.2]
A07932
A07931
[2501.1]
[2503.3]
fp_2711_54_eng.vsd
Background
Refer to [1020.7]
Pulse enable, HW
1
0
Brake is being used
p1215 > 0
1
&
[2610.5]
[2610.8]
[5730.4]
&
Coast down not active (r0899.4)
Pulse enable X21<7>, X41<8>
Enable operation (r0898.3)
Switching on inhibited (r0899.6)
[2704.8]
Request pulse enable
[2707.1]
Close brake
From the standstill detection
[2503.7]
[2503.7]
[2501.7]
<4>
<3>
(1)
Brake feedb open
p1223
<5>
r0899.12
r0899.13
<6>
<1> This pulse enable path only works for operation with brake (p1215 > 0).
<2> For brakes with one single checkback signal, the inverted signal has to be interconnected to the BICO input for the second checkback. The switching times of the brake are set in p1216 and p1217.
<3> Only if Safety Integrated is active (Double Motor Module: X22, Chassis: X41).
<4> If an external motor holding brake is used, p1215 should be set to 3 and r1229.1 should be used as control signal.
<5> The internal signal comprises signals that lead to OFF1 or OFF3, e.g. BICO or fault response.
<6> If the function module "extended brake control" is active (r0108.14 = 1), r1229.1 should be interconnected as control signal.
<7> Only for SINAMICS S120 booksize.
<8> Only for SINAMICS S120 Chassis/S150/G130/G150.
Note: Braking signal diagnostic evaluation (p1278) is only relevant for SBC (Safe Brake Control) (controls the Safe Brake Relay).
(0)
Brake feedb closed
p1222
[2503.3]
[2503.3]
[2503.3]
1
1
<7>
<7>
SET
(Q=1)
Q
RESET
(Q=0)
Q
Safety Integrated
Function diagrams
2.12 Safety Integrated
Function diagrams
2800 Basic Functions, parameter manager 2-1582
2802 Basic Functions, monitoring functions and faults/alarms 2-1583
2804 Basic Functions, status words 2-1584
2810 Basic Functions, STO (Safe Torque Off)/SS1 (Safe Stop 1) 2-1585
2814 Basic Functions, SBC (Safe Brake Control), SBA (Safe Brake Adapter) 2-1586
2820 Extended Functions, SLS (Safely-Limited Speed) 2-1587
2825 Extended Functions, SS1, SS2, SOS, internal STOP B, C, D, F 2-1588
2840 Extended Functions, control word and status word 2-1589
2846 Extended Functions, parameter manager 2-1590
2847 Extended Functions, TM54F parameter manager 2-1591
2848 Extended Functions, TM54F configuration, F-DI/F-DO test 2-1592
2850 Extended Functions, TM54F (F-DI 0 to F-DI 4) 2-1593
2851 Extended Functions, TM54F (F-DI 5 to F-DI 9) 2-1594
2853 Extended Functions, TM54F (F-DO 0 to F-DO 3, DI 20 to DI 23) 2-1595
2855 Extended Functions, TM54F control interface 2-1596
2856 Extended Functions, TM54F Safe State selection 2-1597
2857 Extended Functions, TM54F assignment (F-DO 0 to F-DO 3) 2-1598
2860 Extended Functions, SSM (Safe Speed Monitor) 2-1599
2861 Extended Functions, SDI (Safe Direction) 2-1600
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- 2800 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 Safety Integrated - Basic Functions, parameter manager
Change safety parameters
p9601 = 0
[2810.3]
SI password input
p9761
Reset safety parameters
Inhibit safety functions
x
r9780 CU/r9880 MM
07.08.08 V04.04.00
p9801 = 0
[2810.3]
Safety parameters
p9601 ... p9899
can be reset to the
factory settings via
p0970, p3900
Safety parameters
p9601 ... p9899
can be changed
SI password new
p9762
SI ackn password
p9763
Safety commissioning mode
[2802.1][2804.1][2804.3][2810.3]
--> select STO
Safety parameterizing enable
y
<1>
<1>
Effective password
=
Enter password
=
SET
y = x
Safety parameters
p9601 ... p9899
are valid
=
<1>
<1>
<1> Comparator, refer to [1021]
<2> Analog signal memory, refer to [1021]
<3> The target checksum must be equal to the actual checksum.
p9899
SI set_checksum MM
r9898
SI act_checksum MM
SI set_checksum CU
p9799
SI act_checksum CU
r9798
<3>
p0010 95
Exit safety
commissioning mode
=
Checksum check
for safety
parameters
&
& &
<2>
Safety Integrated commissioning
p0010 = 95
<3>
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- 2802 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 02.12.09 V04.04.00 Safety Integrated - Basic Functions, Monitoring functions and faults/alarms
[2810.3] STO terminal CU (r0722.x)
[2810.1] STO terminal MM (X21/22 <1>)
(X41 <2>)
Additional diagnostics
Information
[2800.3] Safety commissioning mode
[2810.6] DIAG_U
[2810.6] DIAG_L
[2814.7] BR_DIAG
CU
r9794
MM
r9894
STOP F->A CU
p9658
STOP F->A MM
p9858
CU
r9795
MM
r9895
CU
r9770
MM
r9870
CU
r9780
MM
r9880
Cross checking list Diagnostics for STOP F
Faults/alarms
CU: F/A01600 ... 01699
MM: F/A30600 ... 30699
Safety monitoring functions
Safety Integrated version Monitoring clock cycle
F01611
F30611
1 = Faults with response "NONE"
STOP F
r9772.15 (CU)
[2804.2]
r9872.15 (MM)
[2804.5]
T 0
Timer for emergency retraction
1 = Faults with response "immediate pulse cancelation"
1 = STOP A
To Safe Torque Off
[2810.3]
F01600/F30600
"STOP A initiated"
r9780 CU/r9880 MM
To Safe Brake Control
[2814.1]
1
r9872.9 (MM)
[2804.5]
r9772.9 (CU)
[2804.2]
r9872.10 (MM)
[2804.5]
r9772.10 (CU)
[2804.2]
1 = Faults with response "immediate pulse cancelation"
that cannot be acknowledged
1
[2810.3] Status SS1 CU
[2810.3] Status SS1 MM
<1> Only for SINAMICS S120 Booksize.
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- 2804 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 05.11.10 V04.04.00 Safety Integrated - Basic functions, status words
1
9
10
15
1 = STO selected on Control Unit
Status (Control Unit)
1 = STO active on Control Unit
Reserved
1 = STOP A cannot be acknowledged, active
1 = STOP A active
Reserviert
1 = STOP F active
0
Bit
No.
r9772
Status word Safety Integrated
Control Unit
Motor Module
Control Unit and Motor Module
[2810.3]
[2810.7]
[2802.5]
[2802.8]
r9780 CU/r9880 MM
1
9
10
15
1 = STO on Motor Module selected
Status (Motor Module)
1 = STO on Motor Module active
Reserven
1 = STOP A cannot be acknowledged, active
1 = STOP A active
Reserved
1 = STOP F active
0
Bit
No.
r9872
[2810.3]
[2802.5]
[2802.8]
1
1 = STO selected in drive
Status (Control Unit + Motor Module)
1 = STO active in drive
0
Bit
No.
r9773
&
& [2810.6]
4 [2814.3] [2814.3] 1 = SBC requested
31 [2810.5] [2802.7] [2802.7]
Safe Torque Off group
1
1 = STO selected in group
Status (Safe Torque Off group)
1 = STO active in group
0
Bit
No.
31
1 = Shutdown paths of the group
must be tested
1 = SS1 delay time active in group
&
&
Reserved
1 = SS1 delay time on Motor Module active
4 1 = SBC requested in group &
1 = SBC requested 4
Reserved
4 1 = SBC requested
1 = SS1 delay time active in the drive 2
1 = Safe Brake Adapter feedback signal
2 2 1 = SS1 delay time active on the Control Unit
3
2
&
&
3
[2810.3] [2810.3] &
&
16 [2800.3]
17 [2810.3]
18 [2825.8]
16 1 = STO cause: Safety comm. mode [2800.3]
17 1 = STO cause selection via terminal (Basic Functions) [2810.3]
18 1 = STO cause: selection via SMM [2825.8]
19 1 = STO cause actual value missing []
1 = STO cause: selection via SMM
1 = STO cause selection via terminal (Basic Functions)
1 = STO cause: Safety comm. mode
Reserved
5 [2814.4] 1 = SS1 selected on the Control Unit (Basic Functions)
1 = SS1 active on the Control Unit (Basic Functions) 6 [2814.5]
20 1 = STO cause selection PROFIsafe (Basic Functions)
21
[]
22 1 = SS1 cause selection terminal (Basic Functions) []
23 1 = SS1 cause selection PROFIsafe (Basic Functions) []
24 1 = Slave Motor Module ready for communication
[2814.4] 5 1 = SS1 selected on the Motor Module (Basic Functions)
[2814.5] 6 1 = SS1 active on the Motor Module (Basic Functions)
20 1 = STO cause selection PROFIsafe (Basic Functions) []
22 1 = SS1 cause selection terminal (Basic Functions) []
23 1 = SS1 cause selection PROFIsafe (Basic Functions) []
[]
r9774
Group n
Group n
Group n
Group n
r9773.2
r9773.4
r9773.0
r9773.1
r9773.31
Group n
5
1 = SS1 selected in group
(Basic Functions)
&
Group n
r9773.5
6
1 = SS1 active in group
(Basic Functions)
&
Group n
r9773.5
1 = SS1 selected in the drive
(Basic Functions)
5 &
1 = SS1 active in the drive
(Basic Functions)
6 &
Reserved
1 = Shutdown paths must be tested
Reserved
Reserved
Reserved
Reserved
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v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
2
2
8
1
0

B
a
s
i
c

F
u
n
c
t
i
o
n
s
,

S
T
O

(
S
a
f
e

T
o
r
q
u
e

O
f
f
)
/
S
S
1

(
S
a
f
e

S
t
o
p

1
)
- 2810 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 13.10.10 V04.04.00 Safety Integrated - Basic Functions, STO (Safe Torque Off), SS1 (Safe Stop 1)
Motor Module
1 = STO active on Control Unit
r9772.1
r9880 (Motor Modules)
<6>
Motor Module
r0722.3
r0722.4
<1>
F01611 (CU)
F30611 (MM)
<4>
1
1 = STOP A [2802.8]
&
EP M
+24 V
X21/22
EP +
M
~
U
V
W
+ Vdc
- Vdc
1
&
+5 V
+5 V
M
Shutdown path
from MM
0 = STO_MM
+24 V
<3>
[2802.1][2814.2] DIAG_L
[2802.1][2814.2] DIAG_U
<5>
<5>
1
[2802.2]
[2802.2]
T 0
[2802.2]
[2804.1]
SS1: Safe Stop 1
&
p9620[3]
p9620[21]
r0722.21
r0722.0
0 = Safe Torque Off CU
p9620[0]
p9620[4]
p0120
&
<7>
Upper IGBT
bridge halve
Gating unit
Lower IGBT
bridge halve
Gating unit
0 = Request pulse suppression MM
1 = STO on MM active
r9872.1
[2804.5]
1 = "STO active" for
sequence control
Safe pulse
suppression
Monitoring for simultaneous occurrence
to SBC
[2814.2]
Shutdown path
from CU
0 = STO_CU
to SBC
[2814.2]
SI Stop 1 t_del MM
0.00...300000.00 [s]
p9852 (0.00)
1 = Safety commissioning mode [2800.3]
Redundant functions
r9772.2 SS1 active on Control Unit
r9872.2 SS1 active on Motor Module
0 = Request pulse
suppression CU
D
R
I
V
E
-
C
L
i
Q
r9780 Control Unit
Timer for forced
checking procedure
Control Unit
Additional for
CU320-2,
SIMOTION,
Dxxx and
NCU7xx
CU terminals that can be used for STO.
EP: Enable Pulses
&
1 = STO release [2825.8]
1
1 = Enable SOS/SLS p9301.0
1 = Enable STO (SH) via terminals (MM) p9801.0
&
1
=1
T 0
F-DI chg tol CU p9650
F-DI chg tol MM p9850
0...2000 ms (500 ms)
X41 <8>
<1> One terminal can be used for several drives to form a group.
<2> Switch-on delay according to [1022], starts when the "request pulse suppression CU" is withdrawn.
<3> Value range: p9620 = 0 or r0722.0...7 (for CU310 and CX32 only r0722.0...17).
<4> Redundant functions in the Control Unit (CU) and Motor Modules (MM).
<5> Transistors inhibited for a "0" signal.
<6> Only for Booksize.
<7> Only for VECTOR. The number of active AND inputs corresponds to the number of Motor Modules
connected in parallel (p0120).
1 = STO was selected on the MM
r9872.0
1 = STO cause selection
via terminal
r9872.17
[2804.3]
[2804.5]
1
1 = STOP A
[2802.8]
&
1
[2802.2]
T 0
[2802.2]
[2804.1]
1
&
1 = STO
release
[2825.8]
1 = Enable SOS/SLS (SBH/SG) p9501.0
1 = Enable STO (SH) via terminals (CU) p9601.0
1 = STO cause selection via terminal
r9772.17
[2804.1]
[2804.2]
1 = Safety commissioning mode
[2800.3]
SI Stop 1 t_del CU
0.00...300.00 [s]
p9652 (0.00)
1 = STO selected
on CU
r9772.0
T 0
A01699
"Shutdown
paths must
be tested"
Timer forced checking procedure
0...9000 h
p9659(8)
<2>
1 = Shutdown paths must be tested
r9773.31
T
[2804.7]
[2804.2]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
2
-
1
5
8
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
3
2
8
1
4

B
a
s
i
c

F
u
n
c
t
i
o
n
s
,

S
B
C

(
S
a
f
e

B
r
a
k
e

C
o
n
t
r
o
l
)
,

S
B
A

(
S
a
f
e

B
r
a
k
e

A
d
a
p
t
e
r
)
- 2814 -
Function diagram
8 7 6 5 4 3 2 1
DO: SERVO, VECTOR
S120/S150/G130/G150 29.01.10 V04.04.00 Safety Integrated - Basic Functions, SBC (Safe Brake Control), SBA (Safe Brake Adapter)
Control Unit
Motor Module
> 0
Safety enable p9801
Enable SBC p9802
Enable signals for SBC MM
Causes for "close brake"
From the STO
shutdown paths
[2810.6]
0 = STO_CU
0 = STO_MM
DIAG_U
DIAG_L
Safety fault
[2802.8]
1 = STOP A
Enable signals for SBC CU
> 0
Safety enable p9601
Enable SBC p9602
Causes for "safely close brake"
From the STO
Shutdown paths
[2810.6]
0 = STO_CU
0 = STO_MM
DIAG_U
DIAG_L
Safety fault
[2802.8]
1 = STOP A
0 = Pulses
canceled
[2810.7]
= 1
= 1
0 = Pulses
cancelled
[2810.7]
fp_2814_54_eng.vsd
r9880 MM
DRIVE-CLiQ
M
~
BR1*
BR2
BR_DIAG
BR1
DRIVE-CLiQ-Controller
BR2*
+24 V
BR1
BR2
1 = Transistor conductive
Upper gating control channel
Lower gating control channel
SBA - BR+
<1>
<1>
BR1
1
&
0 = "SBC angewhlt"
F30630 "Incorrect safety brake control, MM"
1 = Fault, brake control
0 = "SBC requested"
0 = "SBC requested"
1 = "SBC enabled"
1
1 = "Fault, brake control"
<1> Motor brake 24 V DC.
<2> Not if:
p9602 = p9802 = 0 and p1278 = 1
<3> Only for Booksize.
<4> Only for Chassis (CIM).
<5> Motor brake 230 V AC.
1 = "SBC enabled"
0 = "SBC selected"
Diagnostic signal
BR2*
1
1 = SBC
requested
r9872.4
[2804.5]
1
1 = SBC
requested
r9772.4
2804.2]
BR1* BR_DIAG
&
BR_DIAG
[2802.1]
M
SBA - BR-
1
0
r9780 CU
&
<2>
<2>
<2>
<2>
SBC: Safe Brake Control (Sichere Bremsenansteuerung)
&
&
SBA_DIAG
SBA_DIAG
SBA_Diag
SBA-DIAG
SBA_DIAG
SI SBA WT CU
p9622
p9822
SI SBA t_wait MM
S
B
A
p9621
SI S_q SBA CU
Safe Brake Adapter Rckmeldesignal
r9872.3
<3>
<4>
<3>
<4>
<3>
<4>
F07930 "Incorrect brake control"
F01630 "Incorrect safety brake control, CU"
Safety Logic CU
(Implementation and
monitoring of brake control)
Close "normal" brake from the basic brake control [2701.8]
Close "normal" brake from the expanded brake control [2711.8]
Safety Logic MM
(Implementation and
monitoring of brake control)
SBA: Safe Brake Adapter
<3>
Rapid de-exitation
Brake rectifier
<5>
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
8
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
4
2
8
2
0

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

S
L
S

(
S
a
f
e
l
y
-
L
i
m
i
t
e
d

S
p
e
e
d
)
- 2820 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 13.10.10 V04.04.00 Safety Integrated - Extended Functions, SLS (Safely-Limited Speed)
SI Mtn SLS set_lim
0.000...100.000 [%]
p9533 (80.000)
<1> For encoder only.
<2> For encoderless only (p9506 = 1).
<2> <2>
<2> <2>
SI Mtn SLS lim MM
0.00...1000000.00 [1/min]
p9331[0...3] (2000.00)
SI Mtn SLS lim CU
0.00...1000000.00 [1/min]
p9531[0...3] (2000.00)
Safety speed monitoring
SI Mtn ramp ref CU
600.0000...24000.0000 [1/min]
p9581 (1500.0000)
SI Mtn rp t_mon CU
0.50...1000.00 [s]
p9583 (10.00)
SI Mtn ramp ref MM
600.0000...24000.0000 [1/min]
p9381 (1500.0000)
SI Mtn rp t_mon MM
500.00...1000000.00 [ms]
p9383 (10000.00)
Brake ramp monitoring
SI Mtn SLS t MM
0.00...600000000.00 [s]
p9351 (100000.00)
1
SI Mtn SLS Gr CU
0.00...1000000.00 [1/min]
p9531[0..3] (2000.00)
1
0
Select SLS bit 1
r9720.10
Select SLS bit 0
r9720.9
<1>
Deselect SLS
r9720.4
r9720
SI Mtn integ STW
SI Mtn SLS lim MM
0.00...1000000.00 [mm/min]
p9331[0..3] (2000.00)
SLS active
r9722.4
Status of the SBR function
r9723.16
r9733[0...1]
SI Mtn setp_lim
T 0
<1>
<2>
SI Mtn rp t_del CU
10.00...99000.00 [ms]
p9582 (250.00)
SI Mtn SLS t CU
0.00...600000.00 [ms]
p9551 (100.00)
SI Mtn rp t_del MM
10000.00...99000000.00 [s]
p9382 (250000.00)
<2>
n_Max
0.000...210000.000 [1/min]
p1082[D] (1500.000)
Conversion load side --> motor side
SI Mtn ax type CU
p9502 (0)
SI Mtn gear den CU
p9521[0...7] (1)
SI Mtn gear num CU
p9522[0...7] (1)
Motor encoder rotating/linear
p9516.0
SI Mtn sp_pitch CU
0.1000...8388.0000 [mm]
p9520 (10.0000)
SI Mtn gear num MM
p9322[0...7] (1)
SI Mtn gear den MM
p9321[0...7] (1)
SI Mtn sp_pitch MM
0.1000...8388.0000 [mm]
p9320 (10.0000)
SI Mtn ax type MM
p9302 (0)
Encoder rotating/linear
p9316.0
Pos_act sign_chng
p9316.1
Pos_act sign_chng
p9516.1
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
2
-
1
5
8
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
5
2
8
2
5

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

S
S
1
,

S
S
2
,

S
O
S
,

i
n
t
e
r
n
a
l

S
T
O
P

B
,

C
,

D
,

F
- 2825 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 15.10.10 V04.04.00 Safety Integrated - Extended Functions, SS1, SS2, SOS, Internal STOP B, C, D, F
p9500 (12000 s)
T 0
SI Mtn SLS t CU
0.00...600000.00 [ms]
p9551 (100.00)
SI Mtn SLS t MM
0.00...600000000.00 [s]
p9351 (100000.00)
Deselect SOS
r9720.3
T 0
SOS active
r9722.3
SI Mtn t D->SOS CU
0.00...600000.00 [ms]
p9553 (100.00)
T 0
SI Mtn t C->SOS CU
0.00...600000.00 [ms]
p9552 (100.00)
SI Mtn t D->SOS MM
0.00...600000000.00 [s]
p9353 (100000.00)
SI Mtn t C->SOS MM
0.00...600000000.00 [s]
p9352 (100000.00)
Deselect SS2
r9720.2
SS2 active
r9722.2
[2840.4]
[2840.4]
[2840.4]
[2840.4]
STOP C active
r9721.13
STOP D active
r9721.14 [2840.8]
<1>
T 0 STOP F
SI Mtn t F->B CU
0.00...600000.00 [ms]
p9555 (0.00)
SI Mtn t F->B MM
0.00...600000000.00 [s]
p9355 (0.00)
Deselect SS1
r9720.1 [2840.4]
STOP B active
r9721.12
T 0
SI Mtn IL t_Ver CU
0.00...600000.00 [ms]
p9556 (100.00)
SI Mtn IL t_Ver MM
0.00...600000000.00 [s]
p9356 (100000.00)
SS1 active
r9722.1 [2840.4]
&
Actual value speed < p9360/p9560
SS1 active
r9722.1
SS2 active
r9722.2
Safe Acceleration Monitor / Safe Brake
Ramp exceeded
[2840.8]
[2840.8]
Deselect STO
r9720.0 [2840.4]
STO active
r9722.0 [2840.4]
STO initiate
[2804.1]
[2804.3]
[2810.3]
1
&
p9526 = 1
p9526 = 2
p9526 = 3
r0487[0].14
r0487[1].14
r0487[2].14
&
&
r0487[0].14
STO cause Parking Axis
[2804.1]
SAM: Safe Acceleration Monitor
SBR: Safe Brake Ramp
SS1: Safe Stop 1
SS2: Safe Stop 2
<1> Only for p9601.2 = 1 and p9801.2 = 1.
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
8
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
6
2
8
4
0

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

c
o
n
t
r
o
l

w
o
r
d

a
n
d

s
t
a
t
u
s

w
o
r
d
- 2840 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 28.09.10 V04.04.00 Safety Integrated - Extended Functions, control word and status word
p9500 (12.00 ms)
1
7
8
10
1 = STO deselection
Motion PROFIsafe control word
Reserved
1/0 = Acknowledgement
Reserved
1 = SLS selection bit 0 active
1 = SLS selection bit 1 active
0
Bit No.
Motion PROFIsafe control word Motion PROFIsafe status word
[2855.3]
1
2
1 = STO active
Motion PROFIsafe status word
1 = SS1 active
1 = SS2 active
0
Bit No.
4 1 = SLS deselection
1 = SOS deselection
2
3 1 = SOS active
4 1 = SLS active
9 1 = Active SLS stage, bit 0
1 = SS1 deselection
1 = SS2 deselection
3
5
9
5 Reserved
7 1 = Not an internal event
Reserved 8
10 1 = Active SLS stage, bit 1
11 1 = SOS selected
r9720.0 r9722.0
r9722.1
r9722.2
r9722.3
r9722.4
r9722.7
r9722.9
r9722.11
[2855.6]
r9720.1
r9720.2
r9720.3
r9720.4
r9720.9
r9720.7
r9720.10
r9720
Mtn integ STW
r9722
Mtn integ Stat
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.6]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
[2855.3]
14 Reserved
SSM (Speed below limit) 15 [2855.6]
6 Reserved
r9722.15 [2855.6]
Reserved 6
[2855.6] r9722.10 [2855.6]
13
1 = Deselect SDI positive
1 = Deselect SDI negative
12 r9720.12
r9720.13 [2855.3]
[2855.3] [2855.3]
[2855.3]
Reserved 11
1 = SDI positive active 12
13 [2855.6]
[2855.6]
1 = SDI negative active r9722.13 [2855.6]
r9722.12 [2855.6]
F
u
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c
t
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n

d
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a
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r
a
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s
S
a
f
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t
y

I
n
t
e
g
r
a
t
e
d
2
-
1
5
9
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
7
2
8
4
6

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

p
a
r
a
m
e
t
e
r

m
a
n
a
g
e
r
- 2846 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 Safety Integrated - Extended Functions, Parameter manager
Changing Safety parameters
SI password input
p9761
Resetting safety parameters Disabling Safety functions
x
p10000 (12.00 ms)
05.03.10 V04.04.00
Safety parameter
p10000 p10099
can be reset to
p0970, p3900
Safety parameter
p9300 ... p9399
p9500 ... p9599 can
be changed
SI password new
p9762
SI ackn password
p9763
Safety parameterization enable
y
<1>
<1>
Effective password
=
Password entry
=
SET
y = x
Safety parameters
p9300 p9399
p9500 ... p9599
are valid after
POWER ON
=
<1>
<1>
<1> Comparator, see [1021].
<2> Analog signal memory, see [1021].
<3> The target checksum must be equal to the actual check sum.
p9399
SI ref CRC MM
r9398
SI act CRC MM
SI ref CRC
p9729
SI act CRC
r9728
<3>
p0010 95
Quit Safety commissioning mode
=
Checksum check
for
Safety parameters
& &
<2>
p0010 = 95
<3>
SI enable fct CU
p9601 = 0
SI enable fct MM
p9801 = 0
SI Mtn enable MM
p9301 = 0
SI Mtn enable fct
p9501 = 0
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
9
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
8
2
8
4
7

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

T
M
5
4
F

p
a
r
a
m
e
t
e
r

m
a
n
a
g
e
r
- 2847 -
Function diagram
8 7 6 5 4 3 2 1
fp_2847_51_eng.vsd DO: TM54F_MA, TM54F_SL
SINAMICS Safety Integrated - Extended Functions, parameter manager
Changing Safety parameters
SI password input
p10061
Resetting safety parameters Disabling Safety functions
x
p10000 (12.00 ms)
11.07.07 V04.04.00
Safety parameter
p10000 p10099
can be reset to
p0970
Safety parameter
p10000 ... p10099
can be changed
SI password new
p10062
SI ackn password
p10063
Safety parameterization enable
y
<1>
<1>
Effective password
=
Password entry
=
SET
y = x
Safety parameters
p10000 p10099
are valid after
POWER ON
=
<1>
<1>
<1> Comparator, see [1021].
<2> Analog signal memory, see [1021].
<3> The target checksum must be equal to the actual check sum.
p10005
SI ref CRC TM54F_SL
r10004
SI act CRC TM54F_SL
SI ref CRC TM54F_MA
p10005
SI act CRC TM54F_MA
r10004
<3>
p0010 95
Quit Safety commissioning mode
=
Checksum check
for
Safety parameters
& &
<2>
p0010 = 95
<3>
Commissioning mode active (p0010 = 95)
r10054.0
SI drv_obj assign_MA
p10010[0...5] = 0
SI drv_obj assign_SL
p10010[0..5] = 0
&
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
2
-
1
5
9
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
2
9
2
8
4
8

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

T
M
5
4
F

c
o
n
f
i
g
u
r
a
t
i
o
n
,

F
-
D
I
/
F
-
D
O

t
e
s
t
- 2848 -
Function diagram
8 7 6 5 4 3 2 1
fp_2848_51_eng.vsd DO: TM54F_MA, TM54F_SL
SINAMICS 10.07.09 V04.04.00 Safety Integrated - Extended Functions, TM54F Configuration, F-DI/F-DO Test
p10000 (12.00 ms)
Drive 1
p10011[0] (1)
Drive 2
p10011[1] (1)
Drive 3
p10011[2] (1)
Drive 4
p10011[3] (1)
Drive 5
p10011[4] (1)
Drive group assignment
SI FrcdCkProcTimer
0.00...8760.00 [h]
p10003 (8.00)
(0)
SI fcp F-DO S_q
p10007
T 0
Drive group 1
Drive group 2
Drive group 3
Drive group 4
Drive 6
p10011[5] (1)
A35012
Test stop activ
F35013
Test stop error
A35014
Test stop required
Test F-DI
Test F-DO
SI F-DI enab test
p10041
SI test sens FS
p10046
Test stop
Restart timer (on successful test stop)
r10053.3 DI 23
r10053.0 DI 20
r10053.1 DI 21
r10053.2 DI 22
p10010[0]
Drive 1
p10010[1]
Drive 2
p10010[2]
Drive 3
p10010[3]
Drive 4
p10010[4]
Drive 5
p10010[5]
Drive 6
[2853.8]
[2853.8]
[2853.8]
[2853.8]
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
9
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
0
2
8
5
0

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

T
M
5
4
F

(
F
-
D
I

0

t
o

F
-
D
I

4
)
- 2850 -
Function diagram
8 7 6 5 4 3 2 1
DO: TM54F_MA, TM54F_SL
SINAMICS 15.10.10 V04.04.00 Safety Integrated - Extended Functions, TM54F (F-DI 0 ... F-DI 4)
fp_2850_51_eng.vsd
DI 0
p10040.0
DI 1-
DI 3+
X521.2
X521.6
X521.5
1000 s
DI 1+ X521.3
L1+
X521.1
X521.4 DI 2
X521.7 DI 3-
DI 5+ X522.2
DI 5- X522.7
DI 4 X522.1
p10040.2
p10040.1
DI 7+ X522.4
DI 7- X522.8
DI 6 X522.3
p10040.3
DI 9+ X522.6
DI 9- X522.9
DI 8 X522.5
M1
p10040.4
M1
X522.10
X521.8
M1
X524.M
X524.+
24 V DC To the next device
+24 V electronic
M
M
P24
M
+
X524.+
X514.M
X514.+
P24_1
M1
+
X514.+
X514.M
M1
M1
+24 V
F-DI 1
F-DI 2
F-DI 3
F-DI 4
[2855.1]
[2855.1]
[2855.1]
[2855.1]
[2855.1]
F-DI 0
F35151
Discrepancy error
F35151
Discrepancy error
F35151
Discrepancy error
F35151
Discrepancy error
F35151
Discrepancy error
SI discrep t_monit
1.00...2000.00 [ms]
p10002 (500.00)
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
X524.M
r10051.0 (MA)
r10051.2 (MA)
r10051.3 (MA)
r10051.4 (MA)
r10051.0 (SL)
&
&
&
&
&
r10051.1 (MA)
r10051.1 (SL)
r10051.2 (SL)
r10051.3 (SL)
r10051.4 (SL)
M1
M1
M1
M1
T 0
T 0
=1
=1
T 0
=1
T 0
=1
T 0
=1
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
2
-
1
5
9
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
1
2
8
5
1

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

T
M
5
4
F

(
F
-
D
I

5

t
o

F
-
D
I

9
)
- 2851 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 24.03.09 V04.04.00 Safety Integrated - Extended Functions, TM54F (F-DI 5 ... F-DI 9)
fp_2851_51_eng.vsd
DI 10
p10040.5
DI 11-
DI 13+
X531.2
X531.6
X531.5
1000 s
DI 11+ X531.3
L2+
X531.1
X531.4 DI 12
X531.7 DI 13-
DI 15+ X532.2
DI 15- X532.7
DI 14 X532.1
M1
p10040.7
p10040.6
DI 17+ X532.4
DI 17- X532.8
DI 16 X532.3
p10040.8
DI 19+ X532.6
DI 19- X532.9
DI 18 X532.5
p10040.9
M1
X532.10
X531.8
M1
X524.M
X524.+
24 V DC To the next device
+24 V electronic
M
M
P24
M
+
X524.+
X514.M
X514.+
P24_1
M1
+
X514.+
X514.M
M1
M1
+24 V
F-DI 7
F-DI 8
F-DI 9
[2855.1]
[2855.1]
[2855.1]
[2855.1]
[2855.1]
F-DI 6
SI discrep t_monit
1.00...2000.00 [ms]
p10002 (500.0)
F35151
Discrepancy error
F35151
Discrepancy error
F35151
Discrepancy error
F35151
Discrepancy error
F35151
Discrepancy error
F-DI 5
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
r10051.7 (SL)
r10051.8 (SL)
r10051.9 (SL)
r10051.5 (MA)
r10051.6 (MA)
r10051.7 (MA)
r10051.8 (MA)
r10051.9 (MA)
&
&
&
&
&
X524.M
r10051.6 (SL)
r10051.5 (SL)
M1
M1
M1
M1
T 0
T 0
=1
=1
T 0
=1
T 0
=1
T 0
=1
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
5
9
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
2
2
8
5
3

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

T
M
5
4
F

(
F
-
D
O

0

t
o

F
-
D
O

3
,

D
I

2
0

t
o

D
I

2
3
)
- 2853 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 22.12.09 V04.04.00 Safety Integrated - Extended Functions, TM54F (F-DO 0 ... F-DO 3, DI 20 ... DI 23)
fp_2853_51_eng.vsd
p1000 (12.00 ms)
X522.10
M1
DO 3+ X535.2
X535.3 DO 3-
+24V
F-DO 3
DI 23
M1
M1
DO 2+ X533.2
X533.1
X533.3 DO 2- F-DO 2
DI 22
X535.1
+24V
M1
M1
M1
X532.10
DO 1+
DO 1-
+24V
F-DO 1
DI 21
M1
M1
X520.1
L3+
DO 0+
DO 0-
F-DO 0
DI 20
+24V
M1
M1
X525.2
X525.1
X523.2
X523.1
X523.3
X525.3
X524.M
X524.+
+24 V electronic
M
M
P24
M
+
X524.+
DI: Digital Input
F-DO: Failsafe Digital Output
r10052.0
r10052.1
r10052.2
r10052.3
r10053.3
r10053.2
r10053.1
r10053.0
[2848.2]
[2857.8]
[2848.2]
[2848.2]
[2848.2]
[2857.8]
[2857.8]
[2857.8]
M1
M1
M1
M1
Read-back of F-DO 0
Read-back of F-DO 1
Read-back of F-DO 2
Read-back of F-DO 3
Example of a circuit with contactors - only
the feedback signal contacts are shown
X524.M
<1>
<1>
<1>
<1>
<1> Only for drive objekt TM54F_SL (Slave).
X514.M
X514.+
P24_1
M1
+
X514.+
X514.M
M1
M1
+24 V
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
a
f
e
t
y

I
n
t
e
g
r
a
t
e
d
2
-
1
5
9
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
3
2
8
5
5

E
x
t
e
n
d
e
d

F
u
n
c
t
i
o
n
s
,

T
M
5
4
F

c
o
n
t
r
o
l

i
n
t
e
r
f
a
c
e
- 2855 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 18.08.10 V04.04.00 Safety Integrated - Extended Functions, TM54F control interface
fp_2855_51_eng.vsd
p10000 (12.00 ms)
SLS active
SOS active
SS1 active
Pulses
suppressed
[2850.8]
[2850.8]
[2851.8]
[2851.8]
[2851.8]
[2851.8]
[2851.8]
SS2 active
Statically inactive
[2850.8]
[2850.8]
[2850.8]
[????]
F-DI 9
F-DI 8
F-DI 7
F-DI 6
F-DI 5
F-DI 4
F-DI 3
F-DI 2
F-DI 1
F-DI 0
TM54F_XX TM54F_XX
MM/CU
p10000 (12.00 ms) p10000 (12.00 ms)
Internal event
STO active
r9722.0
SS1 active
r9722.1
SS2 active
r9722.2
SOS active
r9722.3
SLS active
r9722.4
Internal event
r9722.7
Active SLS stage, bit 0
r9722.9
Active SLS stage, bit 1
r9722.10
SOS selected
r9722.11
SDI negative active
r9722.13
Statically active
Deselection STO
r9720.0
Deselection SS1
r9720.1
Deselection SS2
r9720.2
Deselection SOS
r9720.3
Deselection SLS
r9720.4
Acknowledgement
r9720.7
Selection SLS Bit 0
r9720.9
Selection SLS Bit 1
r9720.10
Distribution of
drive groups
1...4
to drives 1...6
[????]
SI STO DI
p10022[0...3]
SI SS1 DI
p10023[0...3]
SI SS2 DI
p10024[0...3]
SI SOS DI
p10025[0...3]
SI SLS DI
p10026[0...3]
SI SLS-Limit(0) DI
p10027[0...3]
SI SLS-Limit(1) DI
p10028[0...3]
DRIVE-
CLiQ
[2840.8]
[2840.8]
[2840.8]
[2840.8]
[2840.8]
[2840.8]
[2840.8]
[2840.8]
[2840.8]
[2840.8]
[2840.4]
[2840.4]
[2840.4]
[2840.4]
[2840.4]
[2840.4]
[2840.4]
[2840.4]
DRIVE-
CLiQ
Data encryption/
decryption
Data encryption/
decryption
Data encryption/
decryption
Safe motion
monitoring in
the drives
Grouping drives
1...6
to drive groups
1...4
SI ackn int event
p10006(0)
Assignment of
drive groups
F-DI assignment
of drive groups
Sets all
inputs to 0
r10054 SI Failsafe-event
Extended
Functions
Drive group 1
Drive group 2
Drive group 3
Drive group 4
SLS-stage bit 0
SSM speed
Pulses
suppressed
[2856.1]
[2857.1]
SI SDI pos DI
p10030[0...3]
SI SDI neg DI
p10031[0...3]
SI SDI
p10029[0...3]
Deselection SDI pos
r9720.12
[2840.4]
Deselection SDI neg
r9720.13
[2840.4]
SLS-stage bit 1
SDI pos active
SLS active
SOS active
SS1 active
Pulses
suppressed
SS2 active
Internal event
SLS-stage bit 0
SLS-stage bit 1
SSM speed
SSM speed
SSM speed
SDI neg active
SDI pos active
SDI neg active
Pulses
suppressed
SSM (speed below limit)
r9722.15
[2840.8]
SDI positive active
r9722.12
[2840.8]
S
a
f
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t
y

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a
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d
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2
-
1
5
9
7

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m
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A
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2
0
1
1

A
l
l

R
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h
t
s

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v
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d
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I
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A
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S
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1
2
0
/
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1
5
0

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(
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,

0
1
/
2
0
1
1
,

6
S
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
4
2
8
5
6

E
x
t
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n
d
e
d

F
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c
t
i
o
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s
,

T
M
5
4
F

S
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s
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- 2856 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 13.08.10 V04.04.00 Safety Integrated - Extended Functions, TM54F Safe State selection
fp_2856_51_eng.vsd
p10000 (12.00 ms)
[2857.1]
[2857.1]
[2857.1]
[2857.1]
Drive group 4 Safe State
[2855.8]
[2855.8]
[2855.8]
[2855.8]
Drive group 1 SS2_ active
Drive group 1 SS1_active
Drive group 1 SOS_ active
[2855.8]
Drive group 1 Power_removed
Drive group 1 SLS_active
SI Safe State selection
p10039[0].6
1
0
p10039[0].0
0
0
Drive group 1 SDI_pos_active
Drive group 1 SDI_neg_active
[2855.8]
[2855.8]
1
0
[2855.8]
[2855.8]
[2855.8]
[2855.8]
Drive group 2 SOS_active
[2855.8]
p10039[1].6
1
0
p10039[1].0
0
0
[2855.8]
[2855.8]
1
0
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
p10039[2].6
1
0
p10039[2].0
0
0
[2855.8]
[2855.8]
1
0
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
p10039[3].6
1
0
p10039[3].0
0
0
[2855.8]
[2855.8]
1
0
F
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2
-
1
5
9
8

S
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A
G

2
0
1
1

A
l
l

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d
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2
0
/
S
1
5
0

L
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(
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,

0
1
/
2
0
1
1
,

6
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0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
5
2
8
5
7

E
x
t
e
n
d
e
d

F
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c
t
i
o
n
s
,

T
M
5
4
F

a
s
s
i
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n
m
e
n
t

(
F
-
D
O

0

t
o

F
-
D
O

3
)
- 2857 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 13.08.10 V04.04.00 Safety Integrated - Extended Functions, TM54F assignment (F-DO 0 ... F-DO 3)
fp_2857_51_eng.vsd
[2855.8]
[2855.8]
[2855.8]
[2855.8]
1: Drive group 1 pulses suppressed
0: No function
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2856.8]
15: Drive group 1 SSM speed below limit value
[2855.8]
[2855.8]
[2855.8]
[2856.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2856.8]
p10000.00 (12.00 ms)
F-DO 0
[2853.8]
[2853.8]
[2853.8]
[2853.8]
F-DO 3
F-DO 2
F-DO 1
SI F-DO 0 S_src
p10042[0]
<1> If no signal F-DO = 0
&
&
&
&
SI F-DO 0 S_src
p10042[1]
SI F-DO 0 S_src
p10042[2]
SI F-DO 0 S_src
p10042[3]
SI F-DO 0 S_src
p10042[4]
SI F-DO 0 S_src
p10042[5]
1
4
3
2
5
6
SI F-DO 1 S_src
p10043[0]
SI F-DO 1 S_src
p10043[1]
SI F-DO 1 S_src
p10043[2]
SI F-DO 1 S_src
p10043[3]
SI F-DO 1 S_src
p10043[4]
SI F-DO 1 S_src
p10043[5]
1
4
3
2
5
6
1
4
3
2
5
6
SI F-DO 2 S_src
p10044[1]
SI F-DO 2 S_src
p10044[2]
SI F-DO 2 S_src
p10044[3]
SI F-DO 2 S_src
p10044[4]
SI F-DO 2 S_src
p10044[5]
SI F-DO 2 S_src
p10044[0]
1
4
3
2
5
6
SI F-DO 3 S_src
p10045[1]
SI F-DO 3 S_src
p10045[2]
SI F-DO 3 S_src
p10045[3]
SI F-DO 3 S_src
p10045[4]
SI F-DO 3 S_src
p10045[5]
SI F-DO 3 S_src
p10045[0]
<1>
<1>
<1>
<1>
[2855.8]
[2856.8]
780: Drive group 4 SDI positiv active
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
[2855.8]
S
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2
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9
9

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A
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2
0
1
1

A
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/
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0

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,

0
1
/
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0
1
1
,

6
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0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
1
3
6
2
8
6
0

E
x
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n
d
e
d

F
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t
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s
,

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M

(
S
a
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S
p
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d

M
o
n
i
t
o
r
)
- 2860 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 Safety Integrated - Extended Functions, SSM (Safe Speed Monitor)
p9500 (12.00 ms)
15.10.10 V04.04.00
0
1
Enable SSM hysteresis filter
p9501.16 (0000 bin)
Enable SSM hysteresis filter
p9301.16 (0000 bin)
SI Mtn SSM hyst CU
0.0010...500.0000 [1/min]
p9547 (10.0000)
SI Mtn SSM hyst MM
0.0010...500.0000 [1/min]
p9347 (10.0000)
Si Mtn SSM v_limCU
0.00...1000 000.00 [1/min]
p9546 (20.00)
SI Mtn SSM v_limMM
0.00...1000 000.00 [1/min]
p9346 (20.00)
0
1
0
1
0.00...100.00 [ms]
p9545 (0.00)
0.00...100 000.00 [s]
p9345 (0.00)
Load-side v_act
r9714[0] SSM (speed below limit value)
r9722.15
r9722
SI Mtn integ stat
F
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c
t
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n

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a
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2
-
1
6
0
0

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m
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s

A
G

2
0
1
1

A
l
l

R
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t
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R
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v
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1
2
0
/
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1
5
0

L
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(
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,

0
1
/
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0
1
1
,

6
S
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
7
2
8
6
1

E
x
t
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n
d
e
d

F
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c
t
i
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s
,

S
D
I

(
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a
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D
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)
- 2861 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 Safety Integrated - Extended Functions, SDI (Safe Direction)
p9500 (12.00 ms)
24.08.10 V04.04.00
<1>
0
1
0
1
1
r9733[0...2]
SI Mtn setp_lim
0
1
0
Enable SDI
p9501.17 (0000 bin)
Enable SDI
p9301.17 (0000 bin)
SI Mtn SDI t CU
0.00...600000.00 [ms]
p9565 (100.00)
SI Mtn SDI t MM
0.00...600000000.00 [s]
p9365 (100000.00)
SI Mtn SDI tol MM
0.001...360.000 []
p9364 (12.000)
SI Mtn SDI tol CU
0.001...360.000 []
p9564 (12.000)
SI Mtn SDI Stop CU
0...14
p9566 (1)
SI Mtn SDI Stop MM
0...14
p9366 (1)
Monitoring
T 0
SDI positive active
r9722.12
r9722
SI Mtn integ stat
SDI negative active
r9722.13
SDI positive select
r9720.12
r9720
SI Mtn integ STW
SDI negative select
r9720.13
<1>
p1082
0
p9531[x] x p9533
0
0
p1082
0
p9531[x] x p9533
|p1082|
|p1082|
|p9531[x] x p9533|
|p9531[x] x p9533|
r9733[1]
Setpoint limiting negative
r9733[2]
Setpoint limit absolute Selected SI-Function
SDI positive
SDI negative
SDI positive + SLSx
SDI negativ + SLSx
r9733[0]
Setpoint limiting positive
Setpoint channel
Function diagrams
2.13 Setpoint channel
Function diagrams
3010 Fixed speed setpoints 2-1602
3020 Motorized potentiometer 2-1603
3030 Main/supplementary setpoint, setpoint scaling, jogging 2-1604
3040 Direction limitation and direction reversal 2-1605
3050 Skip frequency bands and speed limitations 2-1606
3060 Basic ramp-function generator 2-1607
3070 Extended ramp-function generator 2-1608
3080 Ramp-function generator selection, status word, tracking 2-1609
3082 Extended Stop and Retract (ESR, r0108.9 = 1) 2-1610
3090 Dynamic Servo Control (DSC) linear and DSC Spline (r0108.6 = 1) 2-1611
F
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2
-
1
6
0
2

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2
0
1
1

A
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l

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S
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1
2
0
/
S
1
5
0

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,

0
1
/
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1
1
,

6
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0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
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2
-
1
3
8
3
0
1
0

F
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d

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p
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s
- 3010 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 29.06.09 V04.04.00 Setpoint channel - Fixed speed setpoints
r1024
Fixed speed setpoint, actual
0 0 1 1
0 1 0 1
0 1 1 0
0 1 1 1
1 0 0 1
1 0 1 0
1 0 1 1
1 1 0 0
1 1 0 1
1 1 1 0
1 1 1 1
0 0 0 1
0 0 1 0
Fixed speed setpoint 1
-210 000.000...210 000.000 [RPM]
p1001[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1002[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1003[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1004[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1005[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1006[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1007[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1008[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1009[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1010[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1011[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1012[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1013[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1014[D] (0.000)
-210 000.000...210 000.000 [RPM]
p1015[D] (0.000)
p1001[D]
p1003[D]
p1002[D]
p1004[D]
p1005[D]
p1006[D]
p1007[D]
p1008[D]
p1009[D]
p1010[D]
p1011[D]
p1012[D]
p1013[D]
p1014[D]
p1015[D]
0.000
Fixed speed setpoint number actual
0...15
r1197
<100>
Fixed speed setpoint selection bit 0
r1198.0
r1198.1
r1198.2
r1198.3
From
control word
setpoint
channel
0 0 0 0
0 1 0 0
1 0 0 0
[2505.3]
p1020
[2505.3]
p1021
[2505.3]
p1022
[2505.3]
p1023
<101>
<100> For SERVO, the following applies:
Only if the function module "extended setpoint
channel" is activated (r0108.8 = 1).
<101> Pre-assignment of the sampling times in p0115,
refer to p0112.
Refer to [1020.7]
p0115[3]
S
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t
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t

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6
0
3

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1
1

A
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1
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0
/
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5
0

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,

0
1
/
2
0
1
1
,

6
S
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
3
9
3
0
2
0

M
o
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o
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d

p
o
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r
-1
0
1
- 3020 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 29.10.10 V04.04.00 Setpoint channel - Motorized potentiometer
p1042[C] (0)
Mop auto setpoint
p1039[C] (0)
Mop inversion
p1041[C] (0)
Mop manual/auto
OFF1 enable missing (r0046.0)
3
2
1
0
Data save active
Automatic mode
Ramp-function generator active
Initial rounding-off active
p1044[C]
Mop setting value
p1043[C]
Mop accept set val
Mop n_max
-210 000.000...210 000.000 [RPM]
p1037[D] (n_max_Mot)
Mop start value
-210 000.000...210 000.000 [RPM]
p1040[D] (0.000)
Mop ramp-up time
0.0...1 000.0 [s]
p1047[D] (10.0)
Mop ramp-down time
0.0...1 000.0 [s]
p1048[D] (10.0)
<1>
Mop n_min
-210 000.000...210 000.000 [RPM]
p1038[D] (-n_max_Mot)
<1>
Old value is kept
1
0
0 0
0 1
1 0
1 1
r1198.14
r1198.13
e.g. to [3030.1]
<1> For automatic commissioning, p1037 and p1038 are set to the
maximum motor speed or to the rated motor speed, provided that
n_max_mot has not been specified.
<3> Only effective if p1030.0 = 0.
<3>
0 = The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
1 = The setpoint for the motorized potentiometer is saved in a ashion after OFF and after ON set to the saved value.
0 = Without ramp-function generator in automatic mode (ramp-up/ramp-down time = 0).
1 = With ramp-function generator in automatic mode.
0 = Without initial rounding.
1 = With initial rounding. The ramp-up/down time set is exceeded accordingly.
-1
0
1
n_max (reference value for
ramp-function generator p1082)
<100> For SERVO, the following applies: Only if the function module "extended setpoint channel" is activated (r0108.8 = 1).
[2505.7]
[3050.5]
<101> To view the pre-assignment of the sampling times in p0115, refer to p0112.
<100>
<101>
x y
<2> If initial rounding-off is active (p1030.2 = 1), the selected ramp-up/down times are exceeded accordingly.
<2> <2>
(0)
Mop raise
p1035
(0)
Mop lower
p1036
[2505.7]
r1050
Mop setp after RFG
[2634.3]
Refer to [1020.7]
p0115[3]
Save in NVRAM active
0 = Not saved in the NVRAM.
1 = Save in NVRAM active.
r1045
Mop n_set bef RFG
&
p1030.1
0
1
y
p1082
-p1082
x
y = 0
The ramp-function generator is always active
0 = Ramp-up encoder inactive with pulse disable.
1 = The ramp-up encoder is calculated independently of the pulse enable.
4
Mop configuration
0000...0111
p1030[D] (00110)
1
0
p1030.4
0
F
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6
0
4

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1
1

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0

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0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
4
0
3
0
3
0

M
a
i
n
/
s
u
p
p
l
e
m
e
n
t
a
r
y

s
e
t
p
o
i
n
t
,

s
e
t
p
o
i
n
t

s
c
a
l
i
n
g
,

j
o
g
g
i
n
g
- 3030 -
Function diagram
8 7 6 5 4 3 2 1
DO: SERVO, VECTOR, VECTORGL, VECTORMV, VECTORSL
SINAMICS 15.10.10 V04.04.00 Setpoint channel - Main/supplementary setpoint, setpoint scaling, jogging
r1077
r1078
Jog 1
r0898.8
Jog 2
r0898.9
fp_3030_51_eng.vsd
p1055
p1056
Suppl setp scal
(1)
p1076[C]
Main setp scal
(1)
p1071[C]
Main setpoint
(1024[0])
p1070[C]
Supplement setpoint
(0)
p1075[C]
p2901
Fixed value 2 [%]
p2900
Fixed value 1 [%]
AOP30
JOG
LOCAL
REMOTE
I
O
[3040.1]
[2501.1]
<2>
<2>
<3>
0 0
0 1
1 0
1 1
n_set_1
Jog setpoint 1
-210 000.000...210 000.000 [RPM]
p1058[D] (100.000)
Jog setpoint 2
-210 000.000...210 000.000 [RPM]
p1059[D] (100.000)
[3040.1]
Keep old setpoint
<100>
<101>
Refer to [1020.7]
p0115[3]
1
0
&
Synchronization
No OFF1
No OFF2
No OFF3
+
f _slip
[6730.2]
[7020.8]
<1> AOP30 not at SINAMICS SM150.
<2> Only active in LOCAL mode (r0807.0 = 1) [2501.2].
<3> Jogging can only be activated in the following operating states (sequencer see [2610]):
- For SERVO and VECTOR: In the Ready to start (S2) operating state.
- For VECTORGL and VECTORMV: In the Operation (S4) operating strate.
<4> Only if control priority is with control panel with speed setpoint input.
<5> With simultaneous jog 1 and 2 (p1055 = p1056 = 1) the last setpoint remains effective (Freeze ramp-function generator).
<100> For SERVO, the following applies: Only if the function module extended setpoint channel is activated (r0108.8 = 1).
<1>
r3804
Sync f_targ
[2501.3]
[2501.3]
r1073
+
+
[2501.2]
0
1
PcCtrl active
r0807.0
<4>
0
1
<4>
<3>
<5>
<5>
S
e
t
p
o
i
n
t

c
h
a
n
n
e
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
0
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
4
1
3
0
4
0

D
i
r
e
c
t
i
o
n

l
i
m
i
t
a
t
i
o
n

a
n
d

d
i
r
e
c
t
i
o
n

r
e
v
e
r
s
a
l
- 3040 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 29.06.09 V04.04.00 Setpoint channel - Direction limitation and direction reversal
r1114
Setp after lim
n_set_1
[3030.8] [3050.1]
r1198.11
-1
0
1
1 = Inhibit negative direction
r1198.5
1 = Inhibit positive direction
r1198.6
[2505.3]
p1110
[2505.3]
p1111
[2505.3]
p1113
<1> AOP30 not at SINAMICS SM150.
<2> Only active in LOCAL mode (r0807.0 = 1) [2501.2]
<100> For SERVO, the following applies: Only if the function module extended setpoint channel is activated (r0108.8 = 1).
<100>
<101>
p0115[3]
Refer to [1020.7]
0
1
0
0
1
0
AOP30
JOG
LOCAL
REMOTE
I
O
<2>
n_limit setp
p1063[D]
<1>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
e
t
p
o
i
n
t

c
h
a
n
n
e
l
2
-
1
6
0
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
4
2
3
0
5
0

S
k
i
p

f
r
e
q
u
e
n
c
y

b
a
n
d
s

a
n
d

s
p
e
e
d

l
i
m
i
t
a
t
i
o
n
s
- 3050 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 15.10.10 V04.04.00 Setpoint channel - Skip frequency bands and speed limitations
<1> A suppression speed of "0" de-activates the suppression speed bandwidth.
<2> The setting range of p1082 is limited to n_max_mot.
<3> If the drive is not stopped via the input setpoint, but via controlled intervention, the lower hysteresis branch is relevant after a subsequent run-up.
<4> Not at S150/G130/G150.
<100> For SERVO, the following applies: Only if the function module "Extended setpoint channel" is activated (r0108.8 = 1). For r0108.8 = 0, [3095] applies for the generation of the speed limits.
w
n_skip 2
0.000...210 000.000 [RPM]
p1092[D] (0.000)
n_skip 3
0.000...210 000.000 [RPM]
p1093[D] (0.000)
n_skip 1
0.000...210 000.000 [RPM]
p1091[D] (0.000)
n_skip 4
0.000...210 000.000 [RPM]
p1094[D] (0.000)
n_skip bandwidth
0.000...210 000.000 [RPM]
p1101[D] (0.000)
[3020.6]
[3060.4]
[3070.4]
[3040.8]
(1083)
p1085[C]
p1083
n_limit pos
0.000...210 000.000 [RPM]
p1083[D] (210 000.000)
Maximum speed
0...210 000.000 [RPM]
p1082[D] (n_max_Mot)
(1086)
p1088[C]
p1086
n_limit neg
-210 000.000...0.000 [RPM]
p1086[D] (-210 000.000)
r1114
Setpt after limit
Reference value
for the ramp-
function generator
<1> <1> <1> <1>
Max
1000.00 s
Min
<2>
<3>
<4>[5030.5]
<4>[5210.1]
[6640.5]
[7020.5]
[8010.2]
<100> <101>
0
0
Refer to [1020.7]
p0115[3]
r1084
n_limit pos eff
r1087
n_limit neg eff
<4> [5030.5]
<4> [5210.1]
[6640.5]
[7020.5]
[8010.2]
w
w
w
w
w
w
w
-1 -1 -1 -1
y
x
-1
Minimum speed
0.00...19 500.00 [RPM]
p1080[D] (0.00)
y
(1086)
p1052[C]
(1083)
p1051[C]
p1083
p1086
-1
r1119
RFG setpt at input
[3060.1]
[3070.1]
0
0
Maximum
limiting
active
[3080.4]
1
r1112
n_set n. min_lim
1
0
Extended
retraction
p0888 = 2
p0893
ESR speed
S
e
t
p
o
i
n
t

c
h
a
n
n
e
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
0
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
4
3
3
0
6
0

B
a
s
i
c

r
a
m
p
-
f
u
n
c
t
i
o
n

g
e
n
e
r
a
t
o
r
- 3060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 05.05.09 V04.04.00 Setpoint channel - Basic ramp-function generator
Ramp-down time
0.000...999 999.000 s
p1121[D] (10.000)
OFF3 ramp-down time
0.000...600.000 s
p1135[D] (0.000)
Ramp-up time
0.000...999 999.000 s
p1120[D] (10.000)
x
t
y
t
p1082
-p1082
x
p1082
-p1082
Tup Tdn
Tup Tdn
[3050.8]
y
0
0
0
0
[2634.4]
Tup Tdn
r1119
RFG setpt at input
Threshold for
"Ramp-up/ramp-down active"
0.00...1000.00 RPM
p1148[D] (19.80)
0
1
x
y
[3050.5]
[3095.7]
n_max
p1082
From the setpoint limiting
Freeze ramp-function generator
[3080.1]
1 0
0 1
0
1
1
0
0
1
1 0
0 = Freeze ramp-function generator
r0898.5
r0898.6
+
[2634.4]
r0898.4
Ramp-function generator, status bits
[3080.5]
Other status bits
Ramp-up active
Ramp-down active
n_set_4
[2501.3]
p1140
[2501.3]
p1141
[2501.3]
p1142
[3080.8]
Ramp flattening-off
p0115[3]
<101>
Refer to [1020.7]
1 = Internal RFG enable
[2634.4]
r1198.15 [2505.3]
p1122
RFG setting value
(0)
p1144[C]
(0)
Accept RFG set val
p1143[C]
0
1
0
1
<1>
<1> For SERVO and VECTOR, the following applies: Inhibited during jogging.
<2> Not at S150/G130/G150.
<3> After a 0/1 signal a ramp-up is started again.
<4> With simultaneous jog 1 and 2 (p1055 = p1056 = 1) the last setpoint
remains effective (Freeze ramp-function generator).
<100> For SERVO, the following applies: Only if the function module
"Extended setpoint channel" is activated (r0108.8 = 1).
<100>
r1149
RFG acceleration
<2>
<3>
<4>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
e
t
p
o
i
n
t

c
h
a
n
n
e
l
2
-
1
6
0
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
4
4
3
0
7
0

E
x
t
e
n
d
e
d

r
a
m
p
-
f
u
n
c
t
i
o
n

g
e
n
e
r
a
t
o
r
- 3070 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 22.11.10 V04.04.00 Setpoint channel - Extended ramp-function generator
Initial rounding-off
0.000...30.000 [s]
p1130[D] (0.000)
OFF3
Initial rounding-off
0.000...30.000 [s]
p1136[D] (0.000)
Final rounding-off
0.000...30.000 [s]
p1131[D] (0.000)
OFF3
Final rounding-off
0.000...30.000 [s]
p1137[D] (0.000)
OFF3
Ramp-down time
0.000...600.000 [s]
p1135[D] (0.000)
Ramp-down time
0.000...999 999.000 [s]
p1121[D] (10.000)
Ramp-up time
0.000...999 999.000 [s]
p1120[D] (10.000)
Tup
FR IR FR IR FR IR FR IR
Tdn
p1082
Tup_eff <2> Tdn_eff <2>
-p1082
Extended ramp-function
generator
IR FR
[3050.8]
RFG rounding-off type
0...1
p1134[D] (0)
Ramp-function generator setting value
(0)
p1144[C]
Ramp-function generator, status bits
[2634.4]
[3080.5]
0
p1082
x
y
<3>
<4>
[3050.5]
[3095.7]
n_max
r1119
RFG setpoint at the input
x
t
y
dy/dt
y
0 1 0 1 0 1
1
0
0
1
0
1
x
y
+
0 = Freeze ramp generator
r0898.5
1 = Ramp-function
generator enabled
r0898.4
(0)
Set ramp-function generator
p1143[C]
1 0 1 0
[3080.1]
n_set_5
[2501.3]
p1140
[2501.3]
p1141
Ramp flattening-off
[3080.8]
<1> Not at S150/G130/G150.
<2> Effective ramp-up time: Tup_eff = Tup + (IR/2 + FR/2)
Effective ramp-down time: Tdn_eff = Tdn + (IR/2 + FR/2)
<3> p1151.00 = 0: Rounding-off at zero crossover enabled.
p1151.00 = 1: Rounding-off at zero crossover disabled.
<4> p1134 = 0: Rounding-off is always active.
Overshoots can occur.
p1134 = 1: Final rounding-off is not effective
when the setpoint is suddenly
reduced during ramp-up.
0
Threshold for
"Ramp-up/ramp-down active"
0.00...1000.00 [rpm]
p1148[D] (19.80)
Other status bits
Ramp-up active
Ramp-down active
p0115[3]
<101>
Refer to [1020.7]
r0898.6
[2634.4]
p1142
1 = Internal RFG enable
[2634.4]
r1198.15 [2505.3]
p1122
[2501.3]
Freeze ramp-function generator
1
0
1
0 0
<5> For SERVO and VECTOR, the following applies: Inhibited during jogging.
<6> After a 0/1 signal a ramp-up is started again.
<7> With simultaneous jog 1 and 2 (p1055 = p1056 = 1) the last setpoint remains effective (Freeze ramp-function generator).
<100> For SERVO, the following applies: Only if the function module "extended setpoint channel" is activated (r0108.8 = 1).
<5>
<100>
r1149
HLG acceleration
t
nset
t
t
<1>
<6>
0
0
1
<7>
S
e
t
p
o
i
n
t

c
h
a
n
n
e
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
0
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
4
5
3
0
8
0

R
a
m
p
-
f
u
n
c
t
i
o
n

g
e
n
e
r
a
t
o
r

s
e
l
e
c
t
i
o
n
,

s
t
a
t
u
s

w
o
r
d
,

t
r
a
c
k
i
n
g
- 3080 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 22.11.10 V04.04.00 Setpoint channel - Ramp-function generator selection, status word, tracking
<1> For p1145 > 0, ramp-function generator tracking is activated when the
torque limiting responds. This means that the speed controller output only exceeds the torque limit by a
deviation that can be set via p1145.
<2> For OFF1/OFF3, the ramp-function generator ramp is active. The ramp-function generator is set (SERVO: to the
actual value, VECTOR, VECTORGL, VECTORMV, VECTORSL: to the setpoint (r1170)) and stops the drive
with the ramp-downtime (p1121 or p1135). STW1.4 (enable ramp-function generator) is effective while the drive
is stopped via the ramp-function generator. Depending on the p1115, the basic ramp-function generator [3060]
or the extended ramp-function generator [3070] is effective.
For SERVO is valid: When the function module "extended setpoint channel" is not active (r0108.8 = 0), for
OFF1/OFF3 the down ramp of the basic ramp-function generator is effective (refer to n_set_4 on [3060.8]).
<3> The interpolator is only effective for clock-cycle synchronous PROFIBUS operation and sign-of-life received from
the master (STW2.12 ... STW2.15).
<4> Behavior of the response ramp of the torque limiting:
p1145 = 0.0: No ramp-function generator tracking. The ramp-function generator ramp is no longer in the range
of the speed actual value.
p1145 = 1.0: The ramp-function generator ramp remains as close as possible to the speed actual value.
p1145 > 1.0: The ramp-function generator ramp is steeper than for p1145 = 1.0 (higher "speed following error").
<5> The value is displayed correctly only with r0899.2 = 1 (Operation enabled).
<6> For SERVO only.
<7> For VECTOR, VECTORMV only.
<8> For VECTORGL only.
From the basic ramp-function generator
[5020.1] <6>
[6030.1]
[8011.2]
[3060.8]
[3070.8]
r1170
n_ctrl setp sum
1
0
0
1
0
Enable speed setpoint
r0898.6
Enable ramp-function generator
r0898.4
n_ctrl n_set 1
(0)
p1155[C]
<2>
n_ctrl n_set 2
(0)
p1160[C]
+
+
Interpolator
x y
+
+
Interpolator
x y
p1189.0
p1189.1
r1150
RFG n_set at outp RFG track intens
0.0...50.0
p1145[D] (1.3)
0
<2>
<101>
r1169
n_ctrl n_set 1/2
<3>
0
1
0
1
Refer to [1020.7]
p0115[3] (Drive Object)
1
0
&
Refer to [1020.7]
t
x,y x
y
t
x,y x
y
T1
T1
<5>
+
Jog 1
r0898.8
Jog 2
r0898.9
from the
STW
sequence
control
[2501.7]
Ramp-function generator tracking
Torque limit reached
r1407.7 [2522.7]
Ramp flattening-off
Ramp-function generator tracking active
r1199.5
<4>
From the ramp-function
generator friction characteristic
[7010.6]
Ramp-function generator selection
Friction char. Record
n_set_4
n_set_5
RFG selection
p1115
[3060.1]
[3070.3]
<5>
Synchronization
No OFF1
No OFF2
No OFF3
0
r3812
Sync f_corr [Hz]
&
[7020.8]
f_set
[9816.7]
<7>
<8>
0
1
Not SERVO or
r0108.8 = 1 (Extend setp)
1
0
<4>
No OFF2
No OFF3
Ramp-function generator status word
1
Ramp-function generator status word
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Bit
[3060.8]
[3070.8]
Ramp-up active
Ramp-function generator held
Ramp-function generator set
Ramp-down active
Ramp-function generator tracking active
Maximum limiting active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
r1199
RFG ZSW
0
1
[3080.8]
[3050.8]
r1199.2
[3060.8]
[3070.8]
<1>
&
From the extended ramp-function generator
F
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- 3082 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 27.10.10 V04.04.00 Setpoint channel - Extended Stopping and Retraction (ESR, r0108.9 = 1)
1000.00 s
r0887
ESR status word
ESR configuration
p0888 (0)
p0888 = 3 Generator operation (Vdc controller)
Vdc-controller
p1240
Vdc_ctrl config
ESR response
initiated
r0887.12 (r0887.12)
MeldW
p2082[9]
(r0056.15)
MeldW
p2082[4]
1
&
&
Vdc_max-controller active
r0056.14
ESR reaction initiated
Vdc enable
1
Vdc_ist
ESR configuration
p0888 = 3
1
r0070
Vdc act val
<1> [0] Trigger for NCK
[1] Trigger for SI STOP E
[2] Trigger for SI STOP F
[3] Trigger for SI loss of communication
[4] Trigger for free connection
Vdc_min-controller active
r0056.15
(r2090.2)
ESR Trigger
p0890
(r2090.2)
ESR Trigger
p0890
<1>
ESR
reaction
F07220
F01910
F08502
1
CU_STW1
ESR trigger
r2090.2
Drive DOn
Control Unit DO 1
Communication failure
ESR
reaction
Drive DO 4
<1>
(r2090.2)
ESR Trigger
p0890[0]
ESR
reaction
Drive DO 3
<1>
Internal drive
is missing
(OFF1, OFF3,
2. OFF3)
Internal drive
is missing
(OFF1, OFF3,
2. OFF3)
Internal drive
is missing
(OFF1, OFF3,
2. OFF3)
PROFiBUS
connection
(Teleg.- no.
390, 391
und 392)
Trigger sources for function triggering
OFF1
OFF3
n
OFF1
OFF3
n
OFF3
t
t
ESR Response enab
(r2090.9)
p0889
p0888 = 0 No function
p0888 = 1 Extended stopping (integrated in the drive)
ESR timer
p0892
Drive follows
frozen set
point
Function triggering
Function triggering Retreat way
Drive gene-
rates self-
sufficiently his
set point profile
ESR timer
p0892
ESR off ramp
p0891 (OFF3)
ESR speed
p0893
p0888 = 2 Extended retraction (integrated in the drive)
ESR off ramp
p0891 (OFF3)
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-
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- 3090 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 21.05.10 V04.04.00 Setpoint channel - Dynamic Servo Control (DSC) linear and DSC spline (r0108.6 = 1)
Higher-level motion control
(e.g. SINUMERIK, SIMOTION)
Position actual value
generation
<1> Principle of operation of Dynamic Servo Control (DSC): The feedback branch {2} completely
compensates the feedback coupling branch {1} in respect of the position actual value sent from the
drive. The fast actual value channel {3} allows for a high dynamic performance and high Kv factors.
<2> For the motor encoder (p1192 = 1) p1193 = 1 is effective.
When using encoder 2 or 3 (p1192 = 2, 3), p1193 corresponds to the "Increments per motor encoder
revolution/increments of the encoder selected (2, 3) during one motor rotation" (considering gear ratios
and also different encoder lines and fine resolutions).
<3> The deadtime for the PROFIdrive data transfer is set automatically.
Application clock-cycle
synchronous (at PROFIdrive)
Encoder signals acc.
telegram [2420]
PROFIdrive
Transmission Delay
Offset and
compensation
Refer to [1020.7]
<4> Sample & Hold element; refer to [1021].
<5> The position deviation must be referred to the increments of the motor including the fine resolution.
<6> Normalization of KPC: If signal x = 1 motor revolution and KPC = 1, then "n_set from DSC" = 0.001
motor revolutions/s.
<7> Clock-synchronous operation must be active for DSC.
<8> Only for p1400.17 = 1 and at limitation becomes p1407.19 = 1.
t
x,y x
y
S & H
SET
SINAMICS
Control Unit
S & H
SET
S & H
SET
Kp
Motion Control
&
Path
Interpolation
KPC
XERR
+
+
x
+
r0479[0]
From motor encoder
Diag G1_XIST1
r0479[1]
Diag G2_XIST1
r0479[2]
Diag G3_XIST1
Position actual value from encoder 1, 2, 3
[4704.8]
y
DSC enc selection
p1192
DSC XERR
p1190
n_set from DSC
[5020.1]
[5030.3]
<5>
<4>
y <2>
<4>
<4>
+
+
<5>
+
<6>
DSC position
controller
Interpolator
P gain
x
DSC encodAdaptFact
p1193 (1)
Fast position
actual value
channel
PROFIdrive
Transmission Delay
<3>
T_MAPC
Master application cycle-time
x
{2}
{3} <1>
{1}
y
T_SAPC
Slave Appilcation cycle -time
<101>
Speed controller clock cycle
<7>
DSC KPC
p1191
p1191 > 0 (connected)
p1190 > 0 (connected)
Speed pre-control
p1430
DSC T_SYMM
p1195
DSC_STW
p1194
T_SYMM
DSC_STW
NSOLL_B
0
1
0
1
0
1
0
1
0
1
Balancing
Spline-Interpolation
1
2
3
0
1
n_set from DSC
p1407.4
Speed pre-control
DSC control word
Spline-
Interpolation
DSC on
r1407.20
Spline torque
pre-control on
r1407.22
Spline speed
pre-control
r1407.21
n_cmd
[2522.1]
[2522.1]
[5060.1]
[5030.1]
[5020.1]
+
x
x a ' u 2
<8>
Dynamic setpoint limit
x a ' u 2
Refer to [1020.7]
x_cmd
Function diagrams
Setpoint channel not activated
2.14 Setpoint channel not activated
Function diagrams
3095 Generating the speed limits (r0108.8 = 0) 2-1613
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1
1

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9
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A
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-
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8
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- 3095 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 15.05.08 V04.04.00 Setpoint channel not activated - Generating the speed limits (r0108.8 = 0)
[3020.6]
[3060.4]
[3070.4]
[5300.1]
<1> With OFF1/OFF3, the deceleration ramp of the basic ramp-function generator is active (p1135 or p1121).
<100> Applies only if the function module "expanded setpoint channel" (r0108.8 = 0) is not active. For r0108.8 = 1, [3050] applies instead of [3095].
n_limit neg
-210 000.000...0.000 RPM
p1086[D] (-210 000.000)
Reference value for the ramp-function generator
Max
-1
Min
<1>
<100>
[5030.5]
[5210.1]
[8010.2]
[5030.5]
[5210.1]
[8010.2]
n_limit pos
0.000...210 000.000 RPM
p1083[D] (210 000.000)
Maximum speed
0.000...210 000.000 RPM
p1082[D] (1500.000)
Speed limits if a setpoint channel
has not been activated
(r0108.8 = 0).
0
0
p1083[D]
n_limit pos
p1086[D]
n_limit neg
p0115[3] (4000.00 s)
r1084
n_limit pos eff
r1087
n_limit neg eff
Function diagrams
Basic positioner (EPOS)
2.15 Basic positioner (EPOS)
Function diagrams
3610 Jog mode (r0108.4 = 1) 2-1615
3612 Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal) 2-1616
3614 Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) 2-1617
3615 Traversing block mode, external block change (r0108.4 = 1) 2-1618
3616 Traversing block mode (r0108.4 = 1) 2-1619
3617 Travel to fixed stop 2-1620
3618 Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1) 2-1621
3620 Direct setpoint input/MDI mode (r0108.4 = 1) 2-1622
3625 Mode control (r0108.4 = 1) 2-1623
3630 Traversing range limits (r0108.4 = 1) 2-1624
3635 Interpolator (r0108.4 = 1) 2-1625
3640 Control word block selection/MDI selection (r0108.4 = 1) 2-1626
3645 Status word 1 (r0108.3 = 1, r0108.4 = 1) 2-1627
3646 Status word 2 (r0108.3 = 1, r0108.4 = 1) 2-1628
3650 Status word, active traversing block/MDI active (r0108.4 = 1) 2-1629
B
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1
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9
7
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A
P
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0
-
0
B
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F
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9
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)
- 3610 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Jog mode (r0108.4 = 1)
0 0
0 1
1 0
1 1
Jog 1 distance
0...4294967295 [LU]
p2587 (1000)
Jog 2 distance
0...4294967295 [LU]
p2588 (1000)
0 [LU]
0 0
0 1
1 0
1 1
v_set act
Jog 1 v_set
-40000000...40000000 [1000 LU/min]
p2585 (-300)
Jog 2 v_set
-40000000...40000000 [1000 LU/min]
p2586 (300)
0 [1000 LU/min]
p2591
(0)
Jog incr
0
1
0
Start of traversing range
End of traversing range
Motion variables
in jog mode
[3630.1]
a_over act
-a_over act
Position
100 %
100 %
p0115[5]
r2674 <1>
r2673 <1>
r2672 <1>
<1> The connector outputs are only supplied with values from here if the jog mode is active.
[3635.4]
p2657
Pos act/set value
+
-1
0
1
1
0
D Q
Q
p2589
(0)
Jog 1 src
p2590
(0)
Jog 2 src
r2671
s_set act
<1>
+
0
1
Keep old setpoint
Keep old setpoint x y
Store
x y
Store
<2>
1 = Travel parameterized distance (incremental)
0 = Travel endlessly
<2>
<2>
<2> Jog incremental: The edge is only effective for setpoint = 0 (exception: Override = 0 %, CI: p2646).
Renewed jogging can only be activated after the jog motion has been completed (0/1 edge).
<3> The second "jog" is not evaluated while "incremental jogging" is running.
<3>
<3>
F
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-
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2

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(
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0
1
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4

=

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(
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2
5
9
7

=

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- 3612 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal)
[3630.1]
p2612
(0)
Ref_cam
p2604
(0)
Srch for ref dir
Motion variables in referencing/
reference point approach mode
a_over act
-a_over act
Position
Approach direction
A B
Reversing cam
Reversing cam
v_appr ref_cam
1...40000000 [1000 LU/min]
p2605 (5000)
v_appr ref_ZM
1...40000000 [1000 LU/min]
p2608 (300)
v_appr ref_pt
1...40000000 [1000 LU/min]
p2611 (300)
|v|
s
Ref_pt coord val
-2147483648...2147483647 [LU]
p2599 (0)
p2599
Ref_pt coord S_src
(p2599)
p2598[0]
p2613
(1)
Rev cam minus
p2614
(1)
Rev cam plus
Ref_pt offset
-2147483648...2147483647 [LU]
p2600 (0)
p2659
(r2526.1)
Ref act fdbk
p2661
(r2526.2)
MeasVal valid fdbk
100 %
100 %
p2595
(0)
Ref start
p2596
(0)
Set ref_pt
p2597
(0)
Ref_typ select
Feedback
signals
Meas val ref
(r2523[0])
p2660
Ref_cam pres
p2607 (1)
<1>
<1>
<1>
p0115[5]
r2680
Clearance cam/ZM
<2>
<2>
[3614.2]
[3614.2]
[3614.2]
Reference point set
r2684.11
Search for reference active
r2684.0
F07458
"Reference cam not found"
F07459
"No zero mark" <1>
F07460
"End of reference cam not found"
<3>
<3>
<3>
[3614.1]
[3614.1]
Zero marks (ZM)
<1> If no reference cam exists, the axis directly moves to the zero mark (in the defined start direction). Without a reference cam, the tolerance bandwidth is not evaluated.
<2> When "flying referencing" is selected (passive referencing, p2597 = 1 signal), this function diagram is of no significance => refer to [3614].
<3> The connector outputs are only supplied with values from here if the referencing mode is active.
<4> The reversing cams are low active. When a cam is actuated, motion (reference cam search) is continued in the opposite direction.
<5> Reference point setting is only effective in the initial state [3625].
[3646.3]
[3646.1]
[4010.8]
[4010.8]
[4010.8]
<4>
<4>
I
II
III
Zero mark evaluation
activated
r2674
r2673
r2672
v_set act
Velocity
<5>
1 = Negative
0 = Positive
Max s ref_cam ZM
0...2147483647 [LU]
p2609 (10000)
Tol_band to ZM
0...2147483647 [LU]
p2610 (2147483647)
Ref_cam max s
0...2147483647 [LU]
p2606 (2147483647)
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A
P
0
0
-
0
B
P
2
F
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2
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1
5
1
3
6
1
4

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m
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0
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8
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=

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)

(
p
2
5
9
7

=

1

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- 3614 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal)
s_set
s_act
t
With referencing
s_corr)
F1 = Inner window
F2 = Outer window
0...2147483647
p2601 (0) F1
p2602 (0) F2
0
Without referencing
[3612.1]
p2661 MeasVal valid fdbk
-
+
[3612.4]
p2598 Ref_pt coord S_src
[3612.1]
p2660 Meas val ref
[3612.1]
p2595[0]
Ref start
[3612.1]
p2597
Ref_typ select
<1> When "reference point approach" is selected (active referencing p2597 = 0 signal), this function diagram is of no significance => refer to [3612].
Active traversing is not directly associated with the "flying referencing" mode (passive referencing, p2597 = 1 signal).
The mode can be superimposed on the jog [3610], traversing blocks [3614] and direct setpoint input/MDI [3618] modes!
<1>
<1>
Reference point set
r2684.11
Flying referencing active
r2684.1
Print mark outside the outer window (F2) [3646.3]
r2684.3
A07489
Reference point correction outside the window
F(
Reference point set
r2684.11
0
1
[3646.7]
[3646.3]
[3635.6]
s_corr) F(
V
t
[3646.1]
F1 = Inner window
F2 = Outer window
s_corr
F( s_corr)
F1
F2
F1
F2
F
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c
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(
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4

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)
- 3615 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Traversing block mode, external block change (r0108.4 = 1)
p0115[5]
(r2526.2)
MeasVal valid fdbk
p2661
(0)
Ext BlckChg (0->1)
p2633
1
0
[3616.3]
Ext BlckChg eval
p2632
(0)
MT_eval select
p2510[0...3]
1
0
p0488 Meas probe 1 input
p0489 Meas probe 2 input
(0)
MT_eval edge
p2511[0...3]
Meas val valid
r2526.2
Measured value
memory
V
400
200
100
-100
t
0
1 2
3
Signal for external
block change has
not been received
r2678
Ext BlckChg s_act
External block change (via the measuring probe or BICO)
A07463 External block change not requested in the traversing block
r2670
ZSW act trav_block
a
b
c
CONTINUE EXTERNAL
CONTINUE EXTERNAL WAIT
p2623 Trav_blk mode
c
a b
b
a
c
c
CONTINUE EXTERNAL
ALARM
[3640.2]
B
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- 3616 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Traversing block mode (r0108.4 = 1)
0
1
0
&
100 %
100 %
Velocity
Motion variables
in
"traversing block"
mode
Acceleration override
Deceleration override
Position
+
Task
Task parameter
Block number
Trav_blk blk no
-1...63
p2616 [p2615-1] (-1)
Trav_blk task
1...8
p2621 [p2615-1] (1)
Trav_blk task_par
-2147483648...2147483647
p2622 [p2615-1] (0)
Trav_blk pos
-2147483648...2147483647 [LU]
p2617 [p2615-1] (0)
Trav_blk v
1...40000000 [1000 LU/min]
p2618 [p2615-1] (600)
Trav_blk a_over
1.0...100.0 [%]
p2619 [p2615-1] (100.0)
Trav_blk mode
0...65535
p2623 [p2615-1] (0)
Position
Velocity
Acceleration
override
Deceleration
override
Task mode
Trav_blk -a_over
1.0...100.0 [%]
p2620 [p2615-1] (100.0)
Parameter index 0 1
p2615
-1
...
0
1
Actual traversing block
[3640.7]
p2625
p2626
p2627
p2628
p2629
p2630
Block selection
p2631
Activate traversing task
x
y
Store
0
1
0
[3635.6]
p2657
Pos act/set val
P
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m
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Task ENDLESS_POS or ENDLESS_NEG
Task ENDLESS_NEG
Trav_blk sort
p2624 (0)
<2>
r2674
r2673
r2672
r2671
r2677
r2675
r2676
<3>
<3>
<3>
<3>
<3>
<3>
r2678
<3>
Status signals
p2640
(0)
0 = Intermediate stop
p2641
(0)
1 = Do not reject traversing task
0 = Reject traversing task
[3620.4]
[3620.1][3620.4]
+
0
1
0
1
0
1
<4>
[3630.1]
[3650.2]
0
p0115[5]
A07461-A07472
A07483, A07485-A07487
F07484
r2686[0] Upper torque limiting effective [3617.7]
r2686[1] Lower torque limiting effective [3617.7]
Torque limits
<5>
r2687 Torque setpoint
<1> Evaluated only in the following cases:
Current job/traversing block and step enabling CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT,
CONTINUE_EXTERNAL_ALARM.
<2> The tasks are sorted according to their traversing block number in the parameter index (the task with the
lowest number in index 1).
<3> The connector outputs are only supplied from here when the traversing blocks mode is active.
<4> p2615 specifies the maximum number of traversing blocks.
<5> Torque limits are only influenced by the "FIXED STOP" job. A value of 100 % is specified in all other cases.
[3615.7]
p2632
<1>
External block change
Signal source feedback signals
Direct output 1 via traversing block [3645.3] r2683.10
Direct output 2 via traversing block [3645.3] r2683.11
Travel to fixed stop active [3645.3][3617.7]
r2683.13 Fixed stop clamping torque reached [3645.3][3617.4]
r2683.14
Acknowledgement, traversing block activated [3646.3] r2684.12
p2637
(2526.4)
p2638
(2526.5)
p2639
(1407.7)
p2663
(2526.8)
[3617.7]
[4025.8]
[3617.6]
[4025.8]
[2522.7]
[4025.8]
<3>
Fixed stop reached [3645.3][3617.7] r2683.12
[3640.7]
F
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p
- 3617 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 19.05.08 V04.04.00 EPOS - Travel to fixed stop (r0108.4 = 1)
p0115[5]
Position
value
Traversing block 1
Programmed setpoint position
p2634
Traversing block 2
Position
setpoint
Position actual
value
t
r2687
M_set
Fixed stop clamping torque reached
r2683.13
p2635
r2526.4 (r2526.4)
Fixed stop reached
p2637
[3616]
r2686[0]
M_limit eff up
r2686[1]
M_limit eff down
Torque limits
Travel to fixed stop active
r2683.14
0
1
Following err max
0...2147483647 [LU]
p2634 (1000)
0
1
Fixed stop monit
0...2147483647 [LU]
p2635 (100)
(r2526.4)
Fixed stop reached
p2637
(r2526.5)
Fixed stop outside
p2638
F07484 Fixed stop outside the monitoring window
[3616]
[4025]
[4025]
Target position
Tracking
Programmed setpoint position
Overview
Actual position to fixed stop
Fixed stop reached
Fixed stop reached
r2683.12
Fixed stop outside window
r2526.5
Fixed stop reached
r2526.4
Sensor
p2635
[2520.3]
[8012.5]
[5620.3]
[5630.3]
[6630.4]
[5620.3]
[5630.3]
[6630.4]
TfS activation
p1545
M_max upper scal
p1528
M_max lower scal
p1529
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- 3618 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1)
[3620.1]
p0115[5]
Pos fixed value
-2147483648...2147483647 [LU]
p2690 (0)
p2690
v fixed value
1...2147483647 [1000 LU/min]
p2691 (600)
p2691
a_over fixed value
0.100...100.000 [%]
p2692 (100.000)
p2692
-a_over fixed value
0.100...100.000 [%]
p2693 (100.000)
p2693
[3620.1]
[3620.1]
[3620.1]
MDI s_set
(p2690)
p2642
MDI -a_over
(p2693)
p2645
MDI a_over
(p2692)
p2644
MDI v_set
(p2691)
p2643
100 %
0.1 %
100 %
0.1 %
1
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- 3620 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Direct setpoint input/MDI mode (r0108.4 = 1)
p2653
(0)
MDI setting-up sel
V
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v
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x
y
0
1
x
y
Store
0
p2648
(0)
MDI pos_typ
&
1
p2652
(0)
MDI direct_sel neg
p2651
(0)
MDI direct_sel pos
0
1
0
&
100 %
100 %
[3630.1]
Velocity
Motion variables
in
"direct setpoint input/MDI" mode
Position
MDI mode adapt
(0)
p2654
+
p0115[5]
r2674 <3>
r2673 <3>
r2672 <3>
r2671 <3>
[3616.5] p2640
<1>
r2678 <3>
Acknowledgement, traversing block activated
r2684.12
<2>
<4>
[3618.7]
[3618.7]
[3618.7]
[3618.7]
MDI s_set
MDI v_set
MDI a_over
MDI -a over
A07486
"Intermediate stop missing"
A07487
"Reject traversing task missing"
+
1
0
1
0
0
1
0
1
[3640.6] p2647
&
[3616.5] p2641
<1> If connector input p2654 is assigned a connector input <> 0, the control signals "select positioning type", "direction selection positive"
and "direction input negative" are internally supplied with values from this output.
Based on the value of the connector input, the following IDs are evaluated xxXx:
xx0x = absolute => p2648; xx1x = relative => p2648; xx2x = ABS_POS => p2648, p2651; xx3x = ABS_NEG => p2648, p2652.
<2> Only evaluated with transfer type "edge evaluation" (BI: p2649 = 0 signal).
<3> The connector outputs are only supplied with values from here if the "direct setpoint input MDI" mode is active.
<4> For the transfer type "continuous transfer" (BI: p2649 = 1 signal), relative positioning is not permissible.
1 = Setting-up
0 = Positioning
1 = Absolute
0 = Relative
[3646.3]
1 = MDI selection
1 = Do not reject traversing block
p2649
(0)
MDI trans_type sel
p2650
(0)
MDI setp_accept
Accept setpoint
[3635.6] p2657
Pos act/set value
1 = Continuous
0 = Edge
1 = Do not reject traversing block
1 = MDI selection
RESET
(y = 0)
SET
1
0
1
1
POWER ON
[3640.6] p2647
<2>
1
<4>
&
[3616.5] p2641
1
F07488
"Relative positioning not possible"
&
Controller enable
[2503.8]
[2475.5]
[2440.6]
&
B
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Direct setpoint input mode[3620]
- 3625 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Mode control (r0108.4 = 1)
POWER ON
Initial state
Target position reached r2684.10 = 1
Axis stationary r2199.0 = 1
Jog mode
[3610]
r2684.10 = 0
r2199.0 = 0
Ref. point approach mode
[3612]
Traversing block
mode
[3616]
Intermediate
stop r2199.0 = 1
Traversing blocks
active
r2684.10 = 0 / r2199.0 = 0
and 0/1 at r2684.12
Ramp stop
r2684.10 = 0 / r2199.0 = 0
Ramp down the drive
depending on the
deceleration rate of the
traversing block
&
"Intermediate stop"
p2640 = 0
"No intermediate stop"
p2640 = 1
"Jog 1 src" p2589 = 1
"Jog 2 src" p2590 = 1
"Jog 1 src" p2589 = 0
"Jog 2 src" p2590 = 0
Ramp stop
r2684.10 = 0 / r2199.0 = 0
r2669: no change
The drive is ramped down with the
maximum deceleration rate (p2573)
"Reject traversing task"
p2641 = 0
Drive at standstill
p0115[5]
&
"Start referencing" p2595 = 0/1
"Select reference type" p2597 = 0
"Stop referencing"
p2595 = 0
Reference point approach active:
r2684.10/11 = 1, r2199.0 = 1
r2684.10/11 = 0, r2199.0 = 0
Referenced
Reference point approach completed:
"Do not reject traversing task" p2641 = 1
"No intermediate stop" p2640 = 1
"Activate traversing task" p2631 = 0/1
"Activate traversing task"
p2631 = 0/1
"Direct setpoint input" p2647 = 0
Direct setpoint input/MDI active
r2670.15
1
1
&
"MDI selection" p2647 = 1
Intermediate stop
r2199.0 = 1
Traversing blocks active
r2684.10 = 0 / r2199.0 = 0
Flying changeover between
positioning p2653 = 0 and setting-up
p2653 = 1 possible
Ramp stop
r2684.10 = 0 / r2199.0 = 0
The drive is ramped down
depending on the deceleration
rate of the traversing block
"Intermediate
stop" p2640 = 0
Drive at standstill
MDI/initial state
no task for MDI active
r2684.10 = 1 / r2199.0 =1
Ramp stop
r2684.10 = 0 / r2199.0 = 0
The drive is ramped down
depend. on the maximum
deceleration (p2573)
"Reject traversing task"
p2641 = 0
Drive at standstill
"Activate traversing task"
(p2649 = 0 and p2650 = 0/1) or
continuous transfer (p2649 = 1 and
signal off CI: p2642 (old <> new ))
Continuous transfer p2649 = 1 and
r2665 <> Signal off CI: p2642
"Activate traversing task" p2649 = 0 and p2650 = 0/1
Traversing task
completed
"Traversing task
completed
<1> The more points exist at a transition, the higher the priority.
S4: Operation (run) ZSWA.00/01/02/11 = 1, ZSWA.06 = 0 [2610]
1
&
&
&
1
Drive at standstill
<1>
r2669 = 0 hex
r2669 = 1 hex
r2669 = 4 hex
r2669 = 2 hex
Positioning/setting-up, r2669 = 8 hex/10 hex
r2684.15 = 1
r2684.15 = 1
F
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2
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2
0
1
1

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1
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0
/
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0

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,

0
1
/
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1
1
,

6
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0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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2
-
1
5
8
3
6
3
0

T
r
a
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s
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r
a
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e

l
i
m
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s

(
r
0
1
0
8
.
4

=

1
)
- 3630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 08.09.09 V04.04.00 EPOS - Traversing range limits (r0108.4 = 1)
Motion variables
Mode
manager
[3625]
-a_Max
1...2000000 [1000 LU/s2]
p2573 (100)
a_Max
1...2000000 [1000 LU/s2]
p2572 (100)
Velocity
r2669
Op mode act
p0115[5]
0
r2681
Position
SW limit switch PLUS
-2147483648...2147483647 [LU]
p2581 (2147483647)
p2581
SW limSwPlus src
(p2581)
p2579
SW limSwitch minus
-2147483648...2147483647 [LU]
p2580 (-2147483647)
p2580
SW limSw min src
(p2580)
p2578
1 = Reference point set
r2684.11
[3635.4] 1
v_over
(1)
p2646
-a [3635.1]
<1>
<1> When the reference point approach mode is active, the velocity override influences the approach velocity reference cams (p2605).
However, the approach velocity reference zero mark (p2608) and the approach velocity reference point (p2611) are not influenced.
<2> The STOP cams are low active.
When a cam responds, the drive brakes with maximum deceleration along the ramp. After the fault has been acknowledged, only
movements away from the STOP cam are permitted.
&
&
A07477
"Target position < software limit switch minus"
F07475
"Target position < start of traversing range"
A07478
"Target position > software limit switch plus"
F07476
"Target position > end of traversing range"
<2>
<2>
<2>
STOP cam minus active
r2684.13
STOP cam plus active
r2684.14
A07457
A07486
A07487
F07490
F07491
F07492
1
0
Motion variables of the
"Jog" mode
"Reference point approach"
"Traversing blocks"
"Direct setpoint input/MDI"
Initial state
v = 0, a = 100 %, -a = 100 %
[3610.8]
[3612.8]
[3616.8]
[3620.8]
v [3635.1]
a [3635.1]
[3646.7]
1
0
s [3635.1]
p2568
(0)
STOP cam act
p2569
(1)
STOP cam minus
p2570
(1)
STOP cam plus
p2582
(0)
SW lim sw act
[3646.3]
[3646.3]
A07456 Setpoint velocity limited
Velocity limiting active
r2683.1 [3645.3]
[3625]
p2577
(0)
Modulo corr act
[3646.3]
0-200 %
r9733
SI Mtn setp limit
v_Max ext lim
(0)
p2594
r2524
LU/revolution
LU/rev LU/mm
(r2524)
p2593
[4010.8]
[4010.8]
v_Max
1...40000000 [1000 LU/min]
p2571 (30000)
B
a
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p
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2
-
1
6
2
5

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s

A
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2
0
1
1

A
l
l

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1
2
0
/
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0

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,

0
1
/
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0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
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.

2
-
1
5
9
3
6
3
5

I
n
t
e
r
p
o
l
a
t
o
r

(
r
0
1
0
8
.
4

=

1
)
- 3635 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 27.11.08 V04.04.00 EPOS - Interpolator (r0108.4 = 1)
p0115[5]
r2665
s_set
r2666
v_set
RD RU
v_set V
A
Up
Down
S
V
Interpolator
S
a
[3630.8]
-a
[3630.8]
v
[3630.8]
s
[3630.8]
SET
SET
VALUE
v
s
Modulo corr range
1...2147483647 [LU]
p2576 (360000)
0
1 0
Pos act/set value
(2521)
p2657
Setpoint available r2683.2
Axis moves forwards r2683.4
Axis moves backwards r2683.5
Software limit switch plus reached
r2683.6 Software limit switch minus reached
r2683.7
Tracking active r2683.0
Axis accelerating r2684.4
Axis decelerating r2684.5
Activate correction r2684.7
r2682
Residual distance
r2667
Backlash value
r2685
Corrective value
Backlash comp
-200000...200000 [LU]
p2583 (0)
A07455 Maximum velocity limited
A07473 Beginning of the traversing range reached
A07474 End of the traversing range reached
A07479 Software limit switch minus reached
A07480 Software limit switch plus reached
F07481 Axis position < software limit switch minus
F07482 Axis position > software limit switch plus
Calculation,
backlash compensation
Traversing command active r2684.15
s_corr) F(
[3614.8]
1
CORR.
VALUE
[3645.3]
[3646.3]
[3646.3]
[3646.3]
[3646.3]
[3645.3]
[3645.3]
[3645.3]
[3645.3]
[3645.3]
[4010.2]/p2513
[4010.5]/p2516
[4015.1]/p2530
[4015.1]/p2531
Pos_mode relative
0...1
p2603 (1)
&
p2655
(1)
Sel tracking mode
p2656
(2526.3)
EPOS enable
p2658
(2526.0)
Pos valid feedback
p2577
(0)
Modulo corr act
[3610.4]
[3616.1]
[3620.1]
[3630.1]
[4010.8]
[4010.8]
[4015.8]
Jerk activation via order in
the traversing block mode
Jerk limit
1...100000000 [1000 LU/s
3
]
p2574 (1)
0 1 = Jerk limiting active
r2684.6
1 0
p2575
(0)
Jerk limit act
&
[3646.3]
[3646.3]
Target position reached r2683.3 [3645.3]
F
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2
6

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A
G

2
0
1
1

A
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S
S
1
2
0
/
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1
5
0

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,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
1
6
0
3
6
4
0

C
o
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w
o
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b
l
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c
k

s
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n
/
M
D
I

s
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l
e
c
t
i
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n

(
r
0
1
0
8
.
4

=

1
)
- 3640 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Control word block selection/MDI selection (r0108.4 = 1)
11
12
13
14
15
p2625
(0)
p2628
(0)
p2629
(0)
p2630
(0)
10
5
4
3
2
1
0
Bit No.
9
8
To traversing block mode [3616.3]
p2647
(0)
Control word, block selection
Reserved
Reserved
1 = MDI selection
Reserved
Reserved
Reserved
p2626
(0)
p2627
(0)
Reserved
Reserved
p0115[5]
0
0
1
1
0
1
0
1
0
0
1
1
To direct setpoint input/MDI mode [3620.1][3620.4]
To mode control [3625.6]
7
6 Reserved
Reserved
B
a
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p
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s
i
t
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e
r

(
E
P
O
S
)
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s
2
-
1
6
2
7

S
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m
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s

A
G

2
0
1
1

A
l
l

R
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h
t
s

R
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s
e
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v
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S
I
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A
M
I
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S
S
1
2
0
/
S
1
5
0

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M
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
6
1
3
6
4
5

S
t
a
t
u
s

w
o
r
d

1

(
r
0
1
0
8
.
3

=

1
,

r
0
1
0
8
.
4

=

1
)
- 3645 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 27.11.08 V04.04.00 EPOS - Status word 1 (r0108.3 = 1, r0108.4 = 1)
11
15
r2683
POS_ZSW1
Bit No.
10
9
8
7
6
5
4
3
0
1
2
From interpolator [3635.7]
From traversing range limits [3630.7]
From traversing block mode [3616.7]
p0115[4]
r2683.0
r2683.1
r2683.4
r2683.5
r2683.11
r2683.2
r2683.6
r2683.9
1 = Velocity limiting active
Status word, positioning mode 1
1 = Setpoint static
1 = Axis moves forwards
0 = Axis stand still or moves backwards
1 = Axis moves backwards
0 = Axis stand still or moves forwards
1 = Software limit switch minus reached
1 = Software limit switch plus reached
0 = Overrun cam switching position 1
0 = Overrun cam switching position 2
1 = Direct output 1 via the traversing block
1 = Direct output 2 via the traversing block
Reserved
r2683.7
r2683.8
r2683.10
From dynamic following error monitoring, cam controllers [4025.8]
[4020.1]/p2551
From dynamic following error monitoring, cam controllers [4025.8]
12
13
14
r2683.12 1 = Fixed stop reached
1 = Fixed stop, clamping torque reached
1 = Travel to fixed stop active
r2683.13
r2683.14
[4025.1]/p2553
[4025.6]/p2552
[4020.1]
r2683.3 From interpolator [3635.7]
F
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p
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(
E
P
O
S
)
2
-
1
6
2
8

S
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m
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s

A
G

2
0
1
1

A
l
l

R
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t
s

R
e
s
e
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v
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d
S
I
N
A
M
I
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S
S
1
2
0
/
S
1
5
0

L
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M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
6
2
3
6
4
6

S
t
a
t
u
s

w
o
r
d

2

(
r
0
1
0
8
.
3

=

1
,

r
0
1
0
8
.
4

=

1
)
- 3646 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.10.08 V04.04.00 EPOS - Status word 2 (r0108.3 = 1, r0108.4 = 1)
11
12
13
14
15
r2684
POS_ZSW2
Bit No.
10
9
8
7
5
4
3
0
1
2
From "referencing" mode [3612.7]
From "referencing/flying referencing" mode [3614.8]
From "traversing block" mode [3616.7]
From "direct setpoint input/MDI" mode [3620.8]
p0115[4]
r2684.0
r2684.1
r2684.4
r2684.5
r2684.11
r2684.12
r2684.2
r2684.9
1 = Flying referencing active
1 = Reference point approach active
Status word, positioning mode 2
1 = Referencing active
1 = Print mark outside the outer window
1 = Axis is accelerating
1 = Axis is decelerating
= Activate correction
1 = Modulo correction active
1 = Reference point set
= Acknowledgement traversing block activated
1 = STOP cam minus active
1 = Traversing command active
1 = STOP cam plus active
r2684.13 From traversing range limits [3630.3]
r2684.14
r2684.15
From traversing range limits [3630.3]
r2684.3
r2684.7
r2684.8
r2684.10
From dynamic following error monitoring, cam controllers
[4025.8]
From standstill/positioning monitoring [4020.8]
From "referencing/flying referencing" mode [3614.4]
<1> By default, the status bit is supplied with values from the traversing block mode.
However, if the direct setpoint input/MDI mode is active, it is supplied with values from this mode.
<2> The signal is only effective when the drive has reached the "Ready" state.
<1>
[3614.3] [3630.1]
[4010.3]/p2512
[4020.1]/p2554
[4010.1]/p2508
[4010.1]/p2509
6 From interpolator [3635.3] r2684.6 1 = Jerk limiting active
1
[3614.7]
[3612.7]
Reference point approach active
r2684.0
Flying referencing
r2684.1
<2> From traversing range limits [3630.3]
B
a
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i
c

p
o
s
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t
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(
E
P
O
S
)
F
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d
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a
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r
a
m
s
2
-
1
6
2
9

S
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m
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s

A
G

2
0
1
1

A
l
l

R
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h
t
s

R
e
s
e
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v
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d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
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t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
6
3
3
6
5
0

S
t
a
t
u
s

w
o
r
d
,

a
c
t
i
v
e

t
r
a
v
e
r
s
i
n
g

b
l
o
c
k
/
M
D
I

a
c
t
i
v
e

(
r
0
1
0
8
.
4

=

1
)
- 3650 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 EPOS - Status word, active traversing block/MDI active (r0108.4 = 1)
11
12
13
14
15
r2670
ZSW act trav_block
Bit No.
10
9
8
7
6
5
4
3
0
1
2
p0115[5]
r2670.0
r2670.1
r2670.4
r2670.5
r2670.11
r2670.12
r2670.2
r2670.6
r2670.9
Active traversing block, bit 1
Status word, active traversing block
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = MDI active
Reserved
r2670.13
r2670.14
r2670.15
r2670.3
r2670.7
r2670.8
r2670.10
Mode control [3625.7]
Actual block from traversing block mode
[3616.4]
0
0
1
1
0
1
0
1
0
0
1
1
Function diagrams
Position control
2.16 Position control
Function diagrams
4010 Position actual value preprocessing (r0108.3 = 1) 2-1631
4015 Position controller (r0108.3 = 1) 2-1632
4020 Standstill/positioning monitoring (r0108.3 = 1) 2-1633
4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1) 2-1634
P
o
s
i
t
i
o
n

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
3
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
6
4
4
0
1
0

P
o
s
i
t
i
o
n

a
c
t
u
a
l

v
a
l
u
e

p
r
e
p
r
o
c
e
s
s
i
n
g

(
r
0
1
0
8
.
3

=

1
)
- 4010 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 02.12.09 V04.04.00 Position control - Position actual value preprocessing (r0108.3 = 1)
p0115[4]
s_act set setVal
(0)
p2515[0...3]
+
Act val_prep corr
(0/2685)
p2513[0...3]
Mot/load motor rev
-1048576...1048576
p2505[D] (1)
Mot/load motor rev
1...1048576
p2504[D] (1)
Encoder 1
Encoder 2
Encoder 3
1
2
3
LU
Incr.
p2510[0...3]
(0)
MT_eval select
p2511[0...3]
(0)
MT_eval edge
LU per load rev
1...2147483647
p2506[D] (10000)
p0404.0
r0483[n-1]
Enc Gn_XIST2
r0483[n-1]
Enc Gn_XIST1
Encoder assignment
0...3
p2502[D] (1)
LU per 10 mm
1...2147483647
p2503[D] (10000)
r2521[0]
s_act
r2522[0]
v_act
r2523[0]
Measured value
r2524
LU/revolution
p2525[E]
Enc_adj offset
Pos act val valid
r2526.0
Referencing active
r2526.1
Meas val valid
r2526.2
0 = Rotary encoder
1 = Linear encoder
Abs_enc_adj stat
0...3
p2507[E] (1)
<1>
<2>
<2>
<2>
<2>
r2520[0]
ActVal_prep STW encoder 1
r2520[1]
r2520[2]
r0481[n-1]
Enc Gn_ZSW
[4704.8]
[4704.8]
[3612.1]
[3612.1]
[3635.1][4015.1]
[3630.5][4015.1]
[3612.1]
[3635.4]
[4015.1]
[4730.5]
[4704.3]
[4720]
[4720]
[4720]
<3>
0 = Measuring probe 1
1 = Measuring probe 2
0 = Rising edge
1 = Falling edge
Position controller: A07454, A07495, F07453, F07493, F07494
Encoder 1: A07587, A07596, A07581, A07593, A07590
Encoder 2: A07588, A07597, A07582, A07594, A07591
Encoder 3: A07589, A07598, A07583, A07595, A07592
Enc grid div
0...250000000 [nm]
p0407[E] (16000)
Rot enc pulse No.
0...16777215
p0408[E] (2048)
1 0 1 0
Enc fine Gx_XIST1
2...18
p0418[0...n] (11)
[-/3646.7]
[-/3646.7]
[-/3646.7]
[-/3635.7]
Position difference betw.
2 sampling times +
+
1 0
0
+
+
Xn
Yn
Yn = Yn - 1 + Xn
s_act
r2521[1...3]
s_act
r2522[1...3]
v_act
r2523[1...3]
Measured value
<2> When the "basic positioner" function module (r0108.4 = 1) is active, these binector/connector inputs
are supplied by default with values from this module. The second value specifies this assignment.
<3> p2502 = 0: Position actual value preprocessing is not assigned to any encoder.
<4> [0] for position control; [1...3] for encoders 1...3.
Ref_mark act
(0/2684.0)
p2508[0...3]
MT_eval act
(0/2684.1)
p2509[0...3]
<1> The parameter is only relevant for absolute
encoders. p2598/p2599 is used to perform
the adjustment. The position is entered via
p2598/p2599 [3612].
[4704.8]
(0/2684.7)
ActVal_prepCorrAct
p2512[0...3]
<4>
<4>
(0)
s_act setting act
p2514
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4>
Position tracking
load gearbox for
absolute encoder
[4704.4]
Enc fine Gx_XIST2
2...18
p0419[0...n] (9)
[-/3646.7]
<5> Index [n-1] encoder n.
<5>
<5>
<5>
Direct MT 2
p2518[0...2]
Direct MT 1
p2517[0...2]
r2723[D]
Load grbx abs_val
<6> Encoder 1 = r2527.0 - 2
Encoder 2 = r2528.0 - 2
Encoder 3 = r2529.0 - 2
<6>
Position offset
(0/2667)
p2516[0...3]
<2>
[-/3635.7]
<4>
+
1 0
(0)
ActVal_prepCorrAct
p2730[0...1]
<2>
<4>
0
<4>
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- 4015 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 19.02.10 V04.04.00 Position control - Position controller (r0108.3 = 1)
p0115[4]
t
x,y x
y
x
t
y
s_set_filt T
0.00...1000.00 [ms]
p2533[D] (0.00)
d
dt
Pre-control
balancing
Simulation of the build-up of the
pre-control speed
+
n_pre-ctrl factor
0.00...200.00 [%]
p2534[D] (0.00)
n_pre-ctrl filter PT1
0.00...100.00 [ms]
p2536[D] (0.00)
Tn
0.00...100000.00 [ms]
p2539[D] (0.00)
r2559
LR_output I-comp
r2558
LR_output P-comp
Kp
0.000...300.000 [1000/min]
p2538[D] (1.000)
+
r2562
n_set total
+
r2556
s_set after interp
r2557
LR_input sys dev
d
dt r2564
M_pre-ctrl value
-1
LR_output limit
0.000...210000.000 [RPM]
p2540[D] (210000.000)
p2540
LR_output lim src
(p2540)
p2541
s_act
(r2521[0])
p2532
v_set
(0/r2666)
p2531
s_set
(0/r2665)
p2530
Adaptation
(1)
p2537
1 = Position controller output limited
r2526.6
r2560
n_setp
r2561
n_pre-ctrl value
Tn
P
[4025.1]
n_ffCtrl flt t_dead
0.00...2.00
p2535[D] (0.00)
t_sample int ctrl
p0115[4]
[4010.8]
[4010.8]
LU/rev LU/mm
(r2524)
p2555
p2513 p2512
and
p2730
[4020.1]
<1>
<1> When the "basic positioner" function module (r0108.4 = 1) is active, these binector/connector inputs are supplied by default with values from this module.
The second value specifies this assignment.
<1>
[4020.1]
[4025.1]
[-/3635.7]
[-/3635.7]
<2> For p2534 > 0 % the following applies: A deadtime of two position controller clock cycles is additionally effective.
<3> For p2534 = 0 % the following applies: Pre-control balancing is not effective.
+
<2>
<3>
r2565
Following err act
<2>
r2566
M_prectr M_inertia
p2567[D]
2
<4>
<4> Not applicable if the linear motor function module is active (r0108.12 = 1).
<5> Only if the extended brake control function module is active (r0108.14 = 1).
[3080.3]
&
[4010.8]
p2549
(r0899.2)
Enable 1
p2550
(0/1)
Enable 2
<1>
p1152
(r0899.15)
Setpt 2 enable
<5>
[2503.7]
[2503.7]
Pos act val valid
r2526.0
1 = Position control active
r2526.3
[3635.1]
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- 4020 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 Position control - Standstill/positioning monitoring (r0108.3 = 1)
p0115[4]
<1> When the "basic positioner" function module (r0108.4 =1) is active, these binector inputs are supplied by default with values from this module.
The second value specifies the assignment.
Standstill window
0...2147483647 [LU]
p2542 (200)
p2551
(0/2683.2)
Sig s_set pres
t_pos_monit
0.00...100000.00 [ms]
p2545 (1000.00)
T 0
t_standstill monit
0.00...100000.00 [ms]
p2543 (200.00)
0
1
F07450
"Standstill monitoring has responded"
1
T 0
Pos_window
0...2147483647 [LU]
p2544 (40)
p2554
(0/2684.15)
Sign trav_cmnd act
-
+
r2684.10
Standstill monitoring
p2532
s_act
F07451
"Positioning monitoring has responded"
Positioning monitoring
[4015.2]
[4015.1]
1
1
0
R Q
S
RESET
(Q=0)
Q
Q
SET
(Q=1)
p2530
s_set
From here, the standstill
monitoring is cyclically evaluated
p2543
p2545
Position
value
Target
position
p2542
p2544
Position
setpoint
Position
actual value
t
<1>
<1>
r2683.0
[-/3645.7]
[-/3646.7]
[-/3645.7]
[3646.3]
Single evaluation
during the positioning monitoring function
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- 4025 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 Position control - Dynamic following error monitoring, cam controllers (r0108.3 = 1)
r2683.8
Cam position 1
-2147483648...2147483647 [LU]
p2547 (0)
r2683.9
1
0
p0115[4]
[4015.1]
PT1
model -
+
r2684.8
r2563
Following error dyn
Dynamic following error monitoring
F07452 "Following error too high"
p2532
s_act
[4015.1]
1
0
Position setpoint after the pre-control ballancing filter
[4015.5]
<1>
n_prectrl fact
0.00...200.00 [%]
p2534[D] (0.00)
p2534 >= 100 %
p2534 < 100 %
p2552
(0/2683.14)
Signal TfS act
0
1
Following err max
0...2147483647 [LU]
p2634 (1000)
1 = Fixed stop reached
r2526.4
0
1
Fixed stop monit
0...2147483647 [LU]
p2635 (100)
x y
Store
p2553
(0/2683.12)
Signal, fixed stop
1 = Fixed stop outside window
r2526.5
+
-
1
1
0
1
s_delta_monit tol
0...2147483647 [LU]
p2546 (1000)
Cam controllers
Cam position 2
-2147483648...2147483647 [LU]
p2548 (0)
<1> With a pre-control factor of less than 100 % (p2534 < 100 %), the PT1 model emulates an additional time constant of the control loop subordinate to the position controller.
p2532
s_act
1 = Clamping active when traveling to fixed stop
r2526.8
[3645.3]
[3646.3]
[3645.3]
[-/3645.7][3617.6][3617.7]
[-/3645.7]
[3616.1][3617.6]
[3616.1]
[3616.1][3617.6]
Encoder evaluation
Function diagrams
2.17 Encoder evaluation
Function diagrams
4704 Position and temperature sensing, encoders 1 to 3 2-1636
4710 Speed actual value and pole position sensing, motor encoder (encoder 1) 2-1637
4711 Speed actual value sensing, encoders 2, 3 ((r0108.7 = 1, APC activated) 2-1638
4715 Speed actual value and pole position sensing, motor encoder ASM/SM (encoder 1) 2-1639
4720 Encoder interface, receive signals, encoders 1 to 3 2-1640
4730 Encoder interface, send signals, encoders 1 to 3 2-1641
4735 Reference mark search with equivalent zero mark, encoders 1 to 3 2-1642
4740 Measuring probe evaluation, measured value memory, encoders 1 to 3 2-1643
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- 4704 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.08.09 V04.04.00 Encoder evaluation - Position and temperature sensing, encoders 1 3
A
B
1 signal period
A
B
1 2
1 2
III
u
p
dn
32 bits
Enco-
ders
Sensor
Modules
Control Unit
Encoder
Comp_No.
p0142[E]
SMx
Raw position signals
Raw position signals
(only from encoder 1)
To speed
sensing
[4710.1]
Enc
grid division
p0407[E]
Abs enc.
Multiturn
p0421[E]
Enc fine
Gx_XIST2
p0419[E]
Encoder pulse number
(number of signals periods per
track and encoder revolution)
p0408[E]
<1>
Abs enc.
Singleturn
p0423[E]
<3> <3> <3> <3>
A
B
The encoder data set
changeover is shown
at [8570].
Encoder type selection
0 = No encoder
p0400[E]
2
n
2
n
x2n
Free-running position
counter
-1
1
0
31 n-1 n 0
No. of signal
periods
Fine resolution
(multiplication by
hardware)
r0482[n-1]
Enc Gn_XIST1
[4010.1]
[4710.1]
[4735.6]
[4740.6]
Enc
configuration
p0404[E]
<3>
Configuration, absolute value encoder
x2
n
Cyclic absolute
position value Absolute value
r0483[n-1]
Enc Gn_XIST2
<2> <7>
<2> <6>
from sensor n
Encoder status bits
to Gn_ZSW
[4730.1]
[8016.1]
To thermal motor monitoring
Error code
Measuring probe positions
&
Sequence control
Encoder error
processing
SM characteristics
r0458
Multiplication
by hardware
Enc fine
Gx_XIST1
p0418[E]
Invert position actual value
p0410.1[E]
r0487[n-1]
Enc Gn_STW
<9> Only of significance when the "Position control function
module is activated (r0108.3 = 1) and with encoder 1.
<10> Updated in each DRIVE-CLiQ basic cycle.
<11> Not for DO ENCODER.
<12> DO ENCODER only encoder 1 acc. Index= 0.
Function selection
Bit 0-13 Bit 14-15
[4720.4]
[4740.7]
[E]
Encoder control word
<2>
(only for absolute value encoders,
e.g. EQN)
p0979[0...25]
Encoder format acc. to PROFIdrive
F31100...A33905
encoder faults/alarms
Enc rot clearance NM
p0425[E]
1 signal period
sin/cos
Incr
DRIVE-CLiQ
For SSI encoders: Absolute position information
Enc
squarewave A/B
p0405[E]
0
2
32
-1
Enc_interface
Comp_No.
p0141[E]
[4735.7]
r0481[n-1]
Enc Gn_ZSW
[4730.5]
Encoder status word
Abs enc.
Meas. Step
p0422[E]
<3>
<5>
<4>
<1> For rotary encoders = pulse number setting.
For resolvers = pole pair number setting.
<2> Assignment of the indices: Index [n-1] --> Encoder n
Index [0] --> Encoder 1
<3> For "EnDat encoders", these parameters are read out automatically.
<4> For SIMODRIVE-compatible functions: Set p0418 = 11.
<5> Generating the two's complement.
Dir of rot
p1821[D]
-1
0
1
Dir of rot
p1821[D]
-1
0
1
0
1
Measuring gearbox,
activate position tracking
p0411.0[E]
p0412[E]
and
p0432[E]/
p0433[E]
[4710.1]
Refer to [1020.7]
<6> Gn_XIST1 is a free-running position value.
The external control must process the overflows.
<7> The contents of r0483/r2723 are determined by the encoder status word/control
word. Refer to [4720] and [4730].
<8> Interface EnDat or SSI.
<8>
r2723[n-1]
Load grbx abs_val
Dir of rot
p1821[D]
[4010.1]
-1
0
1
0
1
Load gearbox, activate position tracking
p2720.0[D]
p2721[D]
and
p2504[D]/p2505[D]
<9>
<9>
<9>
Encoder n
<7> <2>
r0479[n-1]
Diag Gn_XIST1
<10>
[3090.1]
[4711.1]
<12>
<11>
<11>
<11>
<11>
<12>
<12>
<12>
<12>
<12>
<12>
<11>
<11>
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- 4710 -
Function diagram
8 7 6 5 4 3 2 1
fp_4710_01_eng.vsd DO: ENCODER, SERVO
SINAMICS S120 09.02.10 V04.04.00 Encoder evaluation - Speed actual value and pole pos. sensing, motor encoder (encoder 1)
Gearbox mot
p0433[E]
<1> The [E]ncoder data set changeover is represented at [8570].
<2> Ratio between the electrical and mechanical pole position (= motor pole pair number).
<3> Not for DO ENCODER.
<4> DO ENCODER smoothed with 1ms.
Raw position
signals from
encoder 1
Inv enc. act. val.
p0410.0[E]
p0115[0] (125.00 s)
III
up
dn
y x A,B
[4704.8]
Fine resolution
for the speed
actual value
Zero mark
1 encoder revolution
C
D
n_act measurement
-1
0
1
dx
dt
C,D
r0479[0]
Diag G1_XIST1
<1>
<1>
-1
0
1
-1
0
1
r0093
Pole pos el norm
r0094
Transformat_angle
<1>
Dir of rot
p1821[D]
-1
0
1
<3>
r0061[0]
n_act encoder 1
n_act T_smooth
0.00...50.00 ms
p1441[D] (0.00)
r0021
n_act smooth
100 ms
r0063
n_act smooth
0
1
Smoothing
<4>
Pole position sensing Incl.
measuring gearbox
p0432[E], p0433[E]
<2>
Enc commut_factor
r0451
Inv encoder actual value
p0410.0[E]
p0410.0[E]
r1407.1 [2522.6]
(refer to p1300 [5060])
n_act calculation
Gearbox enc
p0432[E]
To brake control [2701.1]
To extended brake control/standstill. [2704.1]
To speed messages/signals [8010.1]
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- 4711 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 06.10.08 V04.04.00 Encoder evaluation - Speed actual value sensing, encoders 2, 3 (r0108.7 = 1, APC activated)
Raw position signals,
encoder 2
p0410.0[E]
2
3
p0115[0] (125.00 s)
<1> The [E]ncoder data set changeover is determined by [8570].
<1>
III
up
dn
y
x
A, B
Fine resolution
for n_act
Zero mark
C
D
n_act measurement
-1
0
1
dx
dt
C, D
A, B
C, D
Raw position signals,
encoder 3
p3701
<2> The following applies for
- motor encoders, rotary/direct measuring systems, linear
- motor encoders, linear/direct measuring system, rotary:
The parameters p2503 (LU per 10 mm) and p2506 (LU per load revolution) are also effective.
Dir of rot
p1821[D]
-1
0
1
Gearbox enc
p0432[E]
Gearbox mot
p0433[E]
Mot/load motor revolution
p2504
<2>
<2>
Mot/load load revolution
p2505
<3> The function module "Advanced Position Control (APC, r0108.7)" is only available for SINUMERIK controllers with integrated SINAMICS functions.
<3>
[4704.8]
[4704.8]
r0479[1]
Diag G2_XIST1
r0479[2]
Diag G3_XIST1
Enc fine Gx_XIST1
p0418
r3771
APC n_load smth
r3770
APC n_load
p3708
To Advanced Positioning
Control (APC)
[7012.1]
To servo speed control with
encoder
[5040.1]
2
3
p3709
Smoothing
Smoothing
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- 4715 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 22.04.10 V04.04.00 Encoder evaluation - Speed act. value and pole pos. sensing, motor enc. ASM/SM (encoder 1)
To basic braking control [2701.1]
To extended braking control [2704.1] <7>
To speed controller with/without encoder [6040.1]
To Kp_n-/Tn_n adaptation [6050.1]
To current/power/torque limits [6640.1]
To Iq and Id controllers [6714.7]
To field-weakening characteristic [6722.1] <7>
[6724.1]
To motor model select [6733.1] <6>
To display signals [6799.1]
To speed signals 1[8010.1]
To interface to the Motor Module [6730.1] <7>
-1
0
1
r0063[0]
n_act unsmoothed
r0061[0]
n_act encoder 1
Zero mark
C
D
Induction motor and synchronous motor
-1
0
1
[6731.1]
[6732.1]
<7> Only with induction motor (ASM).
<8> General 2nd order filter (detailed representation on [1022]).
<9> PT2 low pass (detailed representation on [1022]).
<10> The frequency is multiplied by this factor.
<11> p1699 = 1 allows to import the filter parameter settings on the controller.
Refer to [1020.7]
p0115[0]
r0063[1]
n_act smoothed with p0045
Raw position
signals from
encoder 1
<2>
III
up
dn
y x A,B
Fine resolution
for the speed
actual value
dx
dt
C,D
[4710.8]
-1
0
1
n_act measurement
<5>
<5>
r0094
Transformat_angle
<3>
1
0
r1407.1 [2522.6]
n_act calculation
[6730.1] <7>
[6731.1] <5>
[6733.8] <6>
<1>
[6731.1]
Only for synchronous motor
fn_z
p1680[D]
D_z
p1681[D]
fn_n
p1678[D]
D_n
p1679[D]
p1656[D].4
y
y
fn_n
p1678[D]
D_n
p1679[D]
1
0
p1677[D]
<8>
<9>
f
|y|
fn
D
f
2nd Order Filter
|y|
2
1
x
x
I_soll_filt fn
(1)
p1655[4]
<11>
Speed actual value filter 5
<10>
<4>
<4>
Encoder angel
Gearbox enc
p0432[E]
p0410.0[E]
Dir of rot
p1821[D]
<2> [E]: The encoder data set changeover is represented on [8570].
<3> Only for operation with encoder and PEM..
<4> Only for S120/S150.
<5> Only for S120/S150 and p0300 = 2, 5
<6> Only for FEM.
<1> = Only for vector control without encoder.
Pole position sensing Incl.
measuring gearbox
p0432[E], p0433[E]
<2>
Enc commut_factor
r0451
p0410.0[E]
<5>
-1
0
1
Smoothing
Gearbox mot
p0433[E]
T_smth display
0.00...200.00 [ms]
p0045 (1.00)
n_act T_smooth
0.00...1000.00 [ms]
p1441[D] (0.00)
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- 4720 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.08.09 V04.04.00 Encoder evaluation - Encoder interface, receive signals, encoders 1 ... 3
Bits 0...13 control what is transferred
in Gn_XIST 2.
There are 3 alternatives:
- Bit 7 = 0: Position actual value at
the reference mark <2>
- Bit 7 = 1: Position actual value when
the measuring probe
edge is received <2>
- Bit 13 = 1: Cyclic absolute position
value from absolute
encoder
(0)0
p0480[n-1]
Selects the function to be activated (with bit value = 1)
Start/stop/read selected function
0
r0487[n-1]
Enc Gn_STW
<1> Index [n-1] --> encoder n
Index [0] --> encoder 1
Select function 1 [Bit 3...0]
("search for reference mark 1")
Start function [Bit 6...4]
Function active [Gn_ZSW Bit 0]
Actual value save at the
reference mark
Read generated value [Bit 6...4]
Value from function 1 available
[Gn_ZSW Bit 4]
Position actual value at reference
mark 1 in Gn_XIST2
000 000 001
000 010
0001
1 0 1
0 0
0 0
1
0 0
0
1
2
3 4
3
2
1
Function
No.
Bit No.
Function for bit 7 = 0
(search for reference mark)
Function for bit 7 = 1
(flying measurement)
Reference mark 1 Measuring probe 1
<1>
Control word for encoder n (n = 1, 2 or 3)
5
7
8...12
13
14
15
Mode of the function to be activated
1 = flying measurement
0 = Search for reference mark (zero mark or BERO)
Reserved part
1 = Request cyclic transfer of the absolute position value in
Gn_XIST2
(e.g. EQN absolute track; acknowledgment in Gn_ZSW bit 13)
1 = Request parking encoder (handshake with Gn_ZSW bit 14)
= acknowledge encoder fault (located in Gn_ZSW, bit 15;
Handshake with Gn_ZSW bit 11)
1
<3> The bits are processed with the following priority sequence (highest priority -->
lowest priority bit): Bit 14 --> Bit 15 --> Bit 4-7 --> Bit 12 --> Bit 13.
<3>
To the position sensing, encoder n
[4704.3]
6
<4> The checkback signal is provided in Gn_ZSW bit 14, but the encoder is not
actually parked.
<4>
<1>
PROFIdrive bit
Interrupt function
Read generated value
Activate selected function
No function
4
Refer to [1020.7]
<5> If the "position module" function module (r0108.3 = 1) is activated, the
interconnection is established via r2520[0]...[2] from [4010.8].
If a standard telegram (PROFIdrive) is selected, the interconnection is
performed according to the specifications of the standard telegrams [2420].
<5>
<2> Actual position values are read out from Gn.XIST2 using a handshake procedure.
e.g.: Read position value(s) at reference mark(s)
1. Set r0487.[0-3] according to the function to be activated.
2. Set r0487.4 (activate function)
3. Reset all bits from r0487.[0-4] to 0.
4. r0481[0-3] must be active depending on the activated function.
5. Overtravel zero mark(s) until all bits in r0481.[0-3] are reset to 0.
6. Select r0487.[0-3] individually and activate with r0487.5 until r0481.[4-7] is equal
to 1 and read out the position values in r0483.
7. Reset all bits, starting with r0487.5 followed by r0487.[0-3].
<6>
<6>
<6>
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- 4730 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.08.09 V04.04.00 Encoder evaluation - Encoder interface, send signals, encoders 1 ... 3
From the measuring probe
evaluation
[4740.4]
Feedback signal of the active function (1 = function active)
r0481[n-1]
Enc Gn_ZSW
<1>
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Status word from encoder n (n = 1, 2 or 3) <2>
1 = Position actual value from function 1
1 = Measuring probe 1 deflected (high signal)
1 = Measuring probe 2 deflected (high signal)
Reserved
1 = Acknowledge encoder fault active
Reserved (for reference point offset)
Absolute value is cyclically transferred
Encoder fault, the fault is in Gn_XIST2 (r0483)
Parking encoder active (i.e. the encoder is not operational)
Bit 0
Bit No.
Bit 12
Bit 13
Bit 14
Bit 15
Generated value
in Gn_XIST2
(and can be
read)
Encoder status bits
from the position sensing, encoder n
[4704.8]
to the sequence control for Gn_XIST2
[4704.5]
Position value 2 from encoder n
The contents of position actual value 2 (Gn_XIST2) at [4704] depends on Gn_STW and Gn_ZSW.
This can be done as follows:
- Undefined for a parking encoder (Gn_ZSW.14 = 1).
- For Gn_ZSW.15 = 1 the fault code for encoder faults is located here.
- Position actual value at the reference mark (for Gn_STW.7 = 0 and Gn_ZSW.4-7 > 0; with handshake).
- Position actual value due to flying measurement (for Gn_STW.7 = 1 and Gn_ZSW.4.7 > 0; with handshake).
- Cyclic absolute position value (free-running value, e.g. from the EQN absolute track (for Gn_ZSW.13 = 1).
4
3
2
1
Function
No.
For reference number and flying
measurement
reference mark 1 or measuring probe 1
PROFIdrive bit
Refer to [1020.7]
<1> Index [n-1] --> encoder n
<2>
<2>
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- 4735 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.08.09 V04.04.00 Encoder evaluation - Reference mark search with equivalent zero mark, encoders 1 ... 3
Reference mark search
This function is provided once for each of
the maximum 3 encoders.
STW for encoder n
Gn_STW [4720]
r0487[n-1].0
Gn_XIST2
for function No. = 1
x y
Store
<1>
Measured-value memory
&
r0487[n-1].4
r0487[n-1].7
Q
D
D memory
element
(flip-flop)
Reference mark
position to the
encoder interface
[4704.4]
<3>
r0483[n-1]
Position actual value 1
from encoder n
[4704.8]
1
&
<4>
Store
Select the function to be activated Refer to [1020.7]
p0490.12
p0490.8
p0490.15
p0490.14
p0490.13
p0490.11
DI15_probe
(X132.13)
[2133.5]
DI14_probe
(X132.12)
[2133.5]
DI13_probe
(X132.10)
[2132.5]
DI11_probe
(X122.13)
[2131.5]
DI10_probe
(X122.12)
[2131.5]
DI9_probe
(X122.10)
[2130.5]
"Fast inputs" Zero mark input
0...8
p0495[n-1] (0)
No equivalent zero mark (p0495 = 0)
(evaluate the encoder zero mark for encoder n)
From the
digital
inputs/
outputs
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
0
1
2
3
4
5
7
<5>
<5>
<5>
<6>
<6>
<6>
<6>
p0490.10
DI8_probe
(X122.9)
[2130.5]
1
0
1
6
8
p0490.9
DI12_probe
(X132.9)
[2132.5]
1
0
1
<5>
<5>
<5>
<5>
<5>
<1> The measured value memory is read out using a handshaking technique according to [4720], [4730].
<2> Index [n-1] --> encoder n (n = 1, 2, 3)
<3> All other bits in the encoder control word must be 0.
<4> Increasing position actual values (r0482) --> The 0/1 edge is evaluated.
Decreasing position actual values (r0482) --> The 1/0 edge is evaluated.
This means that the same reference point is always used when traversing to an equivalent zero
mark.
<5> Measuring probe inputs from CU320-2.
<6> Measuring probe inputs from CU_CX32-2.
<7> Measuring probe inputs from CU_S.
<8> For DO ENCODER only encoder 1 resp. index = 0.
<7>
<7>
<7>
<8>
<8>
<8>
<8>
<8>
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1
1

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0
0
-
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B
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2
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5
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,

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3
- 4740 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 08.12.10 V04.04.00 Encoder evaluation - Measuring probe evaluation, measured value memory, encoders 1 ... 3
Measuring probe evaluation
This function is provided once for each of
the maximum 3 encoders.
STW for encoder n
Gn_STW [4720]
r0487[n-1].0
Gn_XIST2
Gn_XIST2
Gn_XIST2
Gn_XIST2
x y
Store
x y
Store
x y
Store
x y
Store
<1>
4 measured value memory
&
&
&
&
r0487[n-1].1
r0487[n-1].3
r0487[n-1].2
r0487[n-1].4
r0487[n-1].7
&
Q
D
Q
D
Q
D
Q
D
Selecting the function to be activated
Store
D memory element (flip-flop)
Measuring
probes
positions to
the encoder
interface
[4704.3]
<3>
r0483[n-1]
Position actual value 1
from encoder n
[4704.8]
Refer to [1020.7]
Measuring probe 2 input
0...8
p0489[n-1] (0)
Measuring probe 2 deflected
to Gn_ZSW9 [4730.2]
(no measuring probe
for encoder n) 0
1
0
2
3
4
5
8
0
1
2
3
4
5
6
x=
Measuring probe 1 deflected
to Gn_ZSW8 [4730.2]
Measuring probe 1 input
0...8
p0488[n-1] (0)
0
1
2
3
4
5
6
p0490.12
p0490.8
p0490.15
p0490.14
p0490.13
p0490.11
"Fast inputs"
From the
digital
inputs/
outputs
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
p0490.10
1
0
1
p0490.9
1
0
1
6
7
7
8
7
8
<1> Up to 4 measuring functions can be simultneously active; the measured value memory is read out
using a handshaking technique according to [4720], [4730].
<2> Index [n-1] --> encoder n (n = 1, 2, 3)
<3> All other bits in the encoder control word must be 0.
<4> Measuring probe inputs from CU310-2
<5> Measuring probe inputs from CU320-2
<6> Measuring probe inputs from CU_CX32-2.
<7> DO ENCODER only encoder 1 acc. Index=0.
<7>
<7>
<7>
<7>
<7>
<7>
<7>
<7>
<7>
DI 15_probe
[2033.5]<4>
[2133.5]<5>
DI 14_probe
[2033.5]<4>
[2133.5]<5>
DI 13_probe
[2032.5]<4>
[2132.5]<5>
DI 11_probe
[2031.5]<4>
[2131.5]<5>
[2231.5]<6>
DI 10_probe
[2031.5]<4>
[2131.5]<5>
[2231.5]<6>
DI 9_probe
[2030.5]<4>
[2130.5]<5>
[2230.5]<6>
DI 8_probe
[2030.5]<4>
[2130.5]<5>
[2230.5]<6>
DI 12_probe
[2032.5]<4>
[2132.5]<5>
Function diagrams
Servo control
2.18 Servo control
Function diagrams
5020 Speed setpoint filter and speed pre-control 2-1645
5030 Reference model/pre-control balancing/speed limitation 2-1646
5040 Speed controller with encoder 2-1647
5042 Speed controller, torque/speed pre-control with encoder (p1402.4 = 1) 2-1648
5050 Kp_n-/Tn_n adaptation 2-1649
5060 Torque setpoint, control type changeover 2-1650
5210 Speed controller without encoder 2-1651
5300 U/f control for diagnostics 2-1652
5301 Signaling function variable 2-1653
5490 Speed control configuration 2-1654
5610 Torque limiting/reduction/interpolator 2-1655
5620 Motoring/generating torque limit 2-1656
5630 Upper/lower torque limit 2-1657
5640 Mode changeover, power/current limiting 2-1658
5650 Vdc_max controller and Vdc_min controller 2-1659
5710 Current setpoint filter 2-1660
5714 Iq and Id controller 2-1661
5722 Field current/flux input, flux reduction, flux controller 2-1662
5730 Interface to the Motor Module (gating signals, current actual values) 2-1663
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- 5020 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 30.08.10 V04.04.00 Servo control - Speed setpoint filter and speed pre-control
PT1 low pass
PT2 low pass
p1416[D]
x
y
p1415[D]
fn_n
p1417[D]
D_n
p1418[D]
fn_z
p1419[D]
D_z
p1420[D]
fn_n
p1417[D]
D_n
p1418[D]
+
+
p1414.0[D]
Setpoint filter 1
PT1 low pass
PT2 low pass
p1422[D]
x
p1421[D]
fn_n
p1423[D]
D_n
p1424[D]
fn_z
p1425[D]
D_z
p1426[D]
fn_n
p1423[D]
D_n
p1424[D]
p1414.1[D]
Setpoint filter 2
To
speed controller
[5210.1]
and to
reference model
[5030.1]
Speed pre-control signal
x
x
x
x
1
0
1
0
y
y
<2>
f
2nd Order filter
y
f
2nd Order filter
y
y
y
<2>
r0060
n_set before filt
<1> Low-pass, 2nd order:
Detailed representation at [1022].
<2> General 2nd-order filter:
Detailed representation at [1022].
<3> Only for encoder:
p1400.10 = 1 is recommended if a torque pre-control signal is also
connected at [5060] in addition to the speed pre-control signal.
<4> The interpolator is only effective for clock-cycle synchronous
PROFIdrive operation and sign-of-life received from the master
(STW2.12 ... STW2.15). If the Dynamic Servo Control (DSC) is
active, an additional deadtime of one speed controller clock cycle
is effective.
<5> For a 1/0 edge from control command STW2.8 "travel to fixed
stop" [2444] the output of all filters is set to the input value for an
instantaneous response to a change of the speed setpoint sign.
<6> The value is displayed correctly only with r0899.2 = 1 (Operation
enabled).
t
y
t
y
r0062
n_set after filt
<1>
<1>
f
|y|
fn
D
f
|y|
fn
D
0
1
2
0
1
2
p0115[1] (125.00 s)
<5>
<5>
n_set smth
r0020
n before setpoint filter
from function generator
+
+
n after setpoint filter
100 ms
[2701.1]
[2704.1]
Speed setpoint
n_set from DSC
[3090.8]
y
r1170
n_ctrl setp sum
[3080.8]
+
+
[2522.7]
Speed setpoint from DSC
r1407.4
1
0
<6>
0
1
0
&
[3090.8]
0
1
n_prectrl
Interpolator
x y
1
0
<3>
<4>
[5490.7]
1 = Interpolation
Speed controller pre-control active
From speed control configuration
p1400.7
[5490.7]
1 = Speed pre-control
for balancing
From the speed control
configuration
p1400.10
n_prectrl_2
[5030.1]
t
x,y x
y
F07421 "Speed setpoint filter natural frequency > Shannon frequency" Monitoring
Enable speed setpoint
r0898.6
Enable ramp-function generator
r0898.4
from the
STW
sequence
control
[2501.7]
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- 5030 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 08.11.10 V04.04.00 Servo control - Reference model/pre-control balancing/speed limitation
n_ctrl RefMod fn
0.0...8000.0 [Hz]
p1433[D] (0.0)
n_ctrl RefMod D
0.000...5.000
p1434[D] (1.000)
n_ctrlRefMod t_dead
0.00...2.00
p1435[D] (0.00)
y = x for the factory setting
x
+
y
n_prectrl sym T
0.00...10 000.00 [ms]
p1429[D] (0.00)
n_prectrlSym t_dead
0.0...2.0
p1428[D] (0.0)
y = x for the factory setting
x
[5020.8]
y
Emulating the P-controlled speed control loop
Reference model
Pre-control balancing
Simulation of the build-up of the pre-control torque
r1432
n_prectrl after sym
r0062
n_set after filter
Sampling time, speed control (p0115[1])
Sampling time, speed control (p0115[1])
r1436
RefMod v_set outp
p0115[1] (125.00 s)
+
+
+
Speed
limiting
Speed setpoint limited
r1407.11
r1438
n_ctrl n_set
To status word,
speed controller [2522.3]
To V/f control [5300.1]
To speed controller [5040.1]
From setpoint limiting
[3050.8]
[3095.7]
[3050.8]
[3095.7]
r1119
RFG setpoint on input
n_ctrl n_set 1
p1155[C]
n_ctrl n_set 2
p1160[C]
+
n_ctrl n_set stat
r1444
0
1
n_set via PC
n_set I_comp
r1439
To speed controller
[5040.1]
Steady-state setpoint calculation
+
+
n_precrtl
p1430[C]
+
+
n_prectrl_2
+
From Advanced Positioning Control (APC)

[7012.1]
[7012.8]
0
1
Reference model
speed setpoint
I component
p1400.3
0
1
[3090.8]
n_set from DSC
[2522.7]
Speed setpoint from DSC
r1407.4
To Extended braking control [2704.1] Extended braking control
To basic braking control [2701.1]
r1084
n_limit pos eff
r1087
n_limit neg eff
r1084
n_limit pos eff
r1087
n_limit neg eff
r1084
n_limit pos eff
r1087
n_limit neg eff
PcCtrl active
r0807.0
<1>
Spline speed pre-control
[3090.8]
+
+
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- 5040 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 02.12.10 V04.04.00 Servo control - Speed controller with encoder
n_ctrl Kp n lower
0.000...999 999.000 [Nms/rad]
p1460[D] (0.300)
r1480
n_ctrl PI-M_output
(M_set_1)
(0)
n_ctrl integ set
p1477[C]
n_ctrl integ_setVal
(0)
p1478[C]
Kp_n_basic
n_ctrl Tn n lower
0.00...100 000.00 [ms]
p1462[D] (20.00)
Integrator
control
r1482
n_ctrl I-M_output
Tn_n_basic Tn_n_adapt
Speed
controller
+
+
1 0 1 0
Kp_n_adapt
Speed controller, I component set
r1407.6
Speed controller, I component held
r1407.5 [2522.3]
[2522.3]
Tn
Kp
Hold Set
Set
Val
Uq at the limit of the ZSW current control
r1408.5
r1407.7 [2522.7]
[2530.7]
To Kp/Tn adaptation
[5050.2]
From Kp/Tn adaptation
[5050.7]
r1454
n_ctrl sys dev Tn
r0064
n_ctrl sys dev
n_ctrl Kp eff
r1468
n_ctrl Tn eff
r1469
<1>
<1> For p1462 = 0.0, the I component is disabled (integral time ).
Kp
p0115[1] (125.00 s)
r1481
n_ctrl P-M_output
<2> For torque control, the I component is set to the value of r1515 (total supplementary torque).
<3> This parameter is set to 0 when pulses are canceled.
<2> <3>
<3>
<3>
1 = Kp/Tn adaptation active
p1400.5
[5490.7]
TF
<4>
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
n_ctrl integ fdbk T
p1494
(0)
n_ctrl integ stop
p1476[C]
[2610.4]
Enable speed controller from
sequence control S4: Operation
[4710.7]
+
+
[5030.8]
[5030.8]
(0)
p1476[C]
[4711.7]
&
r0108.7 =1
p3700.8 =1
PT2 low pass
fn_z
p1449[D]
D_z
p1450[D]
fn_n
1447[D]
D_n
p1448[D]
p1413.1
x
x y
fn_n
p1447[D] D_n
p1448[D]
<1>
<2>
Speed active filter
f
2nd Order Filter
|y|
1
0
f
|y|
fn
D
p1446[D]
y
1 0
n_set for I component
r1439
r0063
n_act smooth
r1438
n_ctrl n_set
r3771
APC n_load smth
2
1
r1445
n_act smooth
To torque
setpoint input
[5060.2]
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2
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2

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(
p
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4
0
2
.
4

=

1
)
- 5042 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 24.02.10 V04.04.00 Servo control - Speed controller, M/n pre-control with encoder (p1402.4 = 1)
<5> Adjustment instructions: Correctly set p0341, p0342 and p1498 and set p1517 to 0.00 ms to achieve dynamic precontrol.
<2> This parameter is set to 0 when pulses are canceled.
<3> For torque control, the I component is set to the value of r1515 (total supplementary torque).
r0062
n_set after filter
[7012.1]
Speed setpoint limited
r1407.11
[2522.3]
Acceleration
model
Total moment of
inertia
Mot M_inertia
0.000 00...100 000.000 00 [kgm]
p0341[M] (0.000 00)
Mot MomInert Ratio
1.000...10 000.000
p0342[M] (1.000)
<5>
Balanced speed setpoint
(0)
n_ctrl integ set
p1477[C]
n_ctr integ_setVal
(0)
p1478[C]
Integrator control
x
[3050.8]
[3095.7]
(0)
n_ctrl integ stop
p1476[C]
Load mom of inertia
p1498
+
+
From Advanced
Positioning Control
[7012.8]
r1493
Mom of inert total
+
Mom of inert skal
(1)
p1497[C]
TF
[4710.7]
r0063
n_act smooth
0
1
r3771
APC n_load smth
[4711.7]
&
r0108.7 =1
p3700.8 =1
Pre-control
balancing
n_prectr sym T
p1429[D]
t_sample int ctrl
p0115[D]
1 = Encoderless oper. speed actual value starting value
From speed control config
p1400.11
[5490.7]
<1> For p1472 = 0 the I component is disabled (Integral time = ).
M_pre-control_1
[5060.2]
r1518[0]
M_accel unsmoothed
r1518[1]
M_accel smoothed
r1084
n_limit pos eff
[3050.8]
[3095.7]
r1087
n_limit neg eff
I component set
r1407.6
I component frozen
r1407.5 [2522.3]
[2522.3]
r1480
n_ctrl PI-M_output
(M_set_4)
r1482
n_ctrl I-M_output
r1481
n_ctrl P-M_output
Servo control enable
from sequence control S4: Operation
PT2 low pass
fn_z
p1449[D]
D_z
p1450[D]
fn_n
1447[D]
D_n
p1448[D]
x
x
y
fn_n
p1447[D] D_n
p1448[D]
<1>
<3>
f
2nd Order Filter
|y|
f
|y|
fn
D
p1446[D]
y
2
1
Kp Tn
n_ctrl Kp n lower
0.000...999 999.000 [Nms/rad]
p1460[D] (0.300)
Kp_n_basic
n_ctrl Tn n lower
0.00...100 000.00 [ms]
p1462[D] (20.00)
Tn_n_basic
Tn_n_adapt
1 0 1 0
Kp_n_adapt
To the Kp-/Tn adaption
[5050.2]
n_ctrl Kp eff
r1468
n_ctrl Tn eff
r1469
<1>
p0115[1] (125.00 s)
<4>
n_ctr integ_fdbk T
p1494
Kp/Tn adapt act
p1400.5
Limit Vq
r1408.5
r1407.7 [2522.7]
[2530.7]
Speed controller
<2> <3>
<2>
<2>
M_accel T_smooth
0.00...100.00 [ms]
p1517[D] (4.00)
Smoothing
r1438
n_ctrl n_set
[8010.5]
From Kp-/Tn-adaption
[5050.7]
n_prectrSym t_dead
p1428[D]
Speed active filter
+
p1413.1
1
0
r0064
n_ctrl sys dev
r1454
n_ctrl sys dev Tn
r1454
n_act smooth
To torque
setpoint input
[5060.2]
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2
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/
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,

0
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/
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9
7
-
4
A
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0
0
-
0
B
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2
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-
1
8
0
5
0
5
0

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p
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n
-
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a
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a
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- 5050 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 Servo control Speed/control adaptation (Kp_n/Tn_n adaptation)
Free Kp_n adaptation
Adapt_factor upper
0.0...200 000.0 [%]
p1459[D] (100.0)
[5040.8]
0.00...210 000.00 [RPM]
p1465[D] (0.00)
Speed-dependent Kp_n/Tn_n adaptation
Tn_n_adapt
Kp_n_basic (p1460)
y
x
Tn
r0063
n_act smooth
[4710.7]
p1461[D] (100 %)
Kp
n
Kp
0.00...210 000.00 [RPM]
p1464[D] (0.00)
Kp_n_adapt
To the speed controller with encoder
[5040.4]
To the speed controller without encoder
[5210.3]
1.00 with factory setting
0.00...400.00 [%]
p1456[D] (0.00)
0.00...400.00 [%]
p1457[D] (0.00)
n_ctrl Kp scal
(1)
p1466[C]
n_ctrl Adpt_sig Kp
(0)
p1455[C]
Adapt_factor lower
0.0...200 000.0 [%]
p1458[D] (100.0)
referred to p200x
x
n
1000.00 s
Tn
n
07.10.09 V04.04.00
p1463[D] (100 %)
[5040.8]
n
Tn_n_basic (p1462)
Kp_n adaptation factor
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9
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-
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1
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- 5060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 21.05.10 V04.04.00 Servo control - Torque setpoint, control type changeover
<1> Torque control can only be activated for operation with encoder.
A related message is output if:
1) Sensorless operation is active and closed-loop torque control is requested (r1406.12 = 0 --> 1).
2) Torque control is active and n_act smooth > p1404.
<2> Automatic changeover to sensorless operation (e.g. for extremely high-speed spindle drives).
r1509
M_set before M_lim
0
1
+
+
1
0
+
e.g. p2900
[1021]
[5610.3]
+
+
0
<1>
[4710.7]
[2522.3]
<2>
p0115[1] (125.00 s)
<3>
[2520.3]
p1501
1
p1300 = 23 (M_Ctrl)
1 0
1
0
0
<1>
<1>
1
p1402.4 = 1
Control mode
p1300[D] = 20
0
0
1
1
M_suppl total
r1515
(1)
M_lim var/fixS_src
p1551
e.g.
0 = OFF3 active
r0899.5
M_suppl 2
(0)
p1513[C]
M_suppl 1 scal
(0)
p1512[C]
M_suppl 1
(0)
p1511[C]
r1538
M_max upper eff
r1534
M_max upper total
M_max Scaling, upper
(1)
p1552
r1407.1
From speed
controller without
encoder
[5210.8]
or
speed controller
M/n_pre-control
[5042]
From speed
controller with
encoder
[5040.8]
r1535
M_max upper total
r1480
n_ctrl PI-M_output
r1480
n_ctrl PI-M_output
1 = Torque control active
r1406.12
r0063
n_act smooth
M_pre-control_1
Sensorl op n_chgov
0.0...210 000.0 [RPM]
p1404[D] (210 000.0)
M_max low offsScal
(1)
p1554
r1539
M_max lower eff
[5650.8]
[5640.4]
[5650.8]
[5640.4]
0
1
PcCtrl active
r0807.0 <4>
0
<1>
<1>
<1> <1>
<1>
<1>
<3> When the pulses are canceled, r1509 is set to 0.
+
+
Spline torque pre-control
[3090.8]
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-
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- 5210 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 24.02.10 V04.04.00 Servo control - Speed controller without encoder
To torque
setpoint input
[5060.2]
r0062
n_set after filter
[7012.1]
Speed setpoint
limited
r1407.11
[2522.3]
Acceleration
model
Total moment of
inertia
Mot M_Trgheit
0.000 00...100 000.000 00 [kgm]
p0341[M] (0.000 00)
Mot MomInert Ratio
1.000...10 000.000
p0342[M] (1.000)
<2>
Balanced speed setpoint
+
M_accel T_smooth
0.00...100.00 [ms]
p1517[D] (4.00)
(0)
n_ctrl integ set
p1477[C]
n_ctr integ_setVal
(0)
p1478[C]
Integrator control
Smoothing
r1438
n_ctrl n_set
x
[3050.8]
[3095.7]
(0)
n_ctrl integ stop
p1476[C]
Load mom of inertia
p1498
+
+
From Advanced
Positioning Control
[7012.8]
[8011.2]
r1493
Mom of inert total
+
M_mom inert scal
(1)
p1497[C]
TF
n_ctr integ_fdbk T
p1494
[4710.7]
r0063
n_act smooth
0
1
r3771
APC n_load smth
[4711.7]
&
r0108.7 =1
p3700.8 =1
Pre-control
balancing
n_prectr sym T
p1429[D]
n_prectrSym t_dead
p1428[D]
t_sample int ctrl
p0115[D]
0
1
n_ctrl SLVC Tn
0.0...100 000.0 [ms]
p1472[D] (20.0)
<1>
n_ctrl SLVC Kp
0.000...999 999.000 [Nms/rad]
p1470[D] (0.300)
1 = Kp-/Tn adaptation active
From speed control configuration
p1400.5
Kp_n adaptation factor [5050.6]
(= 1.00 for the factory setting)
[5490.4]
<3>
p0115[1] (250.00 s)
1 = Sensorless operation speed
actual value, starting value
From speed control, configuration p1400.11
[5490.7]
M_pre-control_1
[5060.2]
Speed controller
r1518[0]
M_accel unsmoothed
r1518[1]
M_accel smoothed
r1084
n_limit pos eff
[3050.8]
[3095.7]
r1087
n_limit neg eff
I component set
r1407.6
I component frozen
r1407.5 [2522.3]
[2522.3]
r1480
n_ctrl PI-M_output
(M_set_4)
r1482
n_ctrl I-M_output
r1481
n_ctrl P-M_output
Servo control enable
p1413.1
PT2 low pass
fn_z
p1449[D]
D_z
p1450[D]
fn_n
1447[D]
D_n
p1448[D]
x
x
y
fn_n
p1447[D] D_n
p1448[D]
<1>
<2>
f
2nd Order Filter
|y|
f
|y|
fn
D
p1446[D]
y
2
1
1
0
Kp Tn
n_ctrl Kp eff
r1468
<2> Setting rule: p0341, p0342 and p1498 are correctly set if the r1480 speed output displays values around 0 when accelerating in sensorless operation.
<1> For p1472 = 0 the I component is disabled (Integral time = ).
Speed active filter
r1445
n_act smooth
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Servo control - V/f control for diagnostics
- 5300 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 12.02.10 V04.04.00
p0115[0] (125.00 s)
<4>
f_set_1
f_max
[5030.8]
[3050.6]
[3095.7]
n_max (p1082)
Reference variable for
the ramp-up time
60
n p
f
60
n p
f
Uq_set_3
f
U
f
430 V
(Synchronous
frequencies)
r1438
n_ctrl n_set
r0066
f_outp
<1>
Monitoring
F07801
"Motor overcurrent"
(No automatic current limiting
for V/f control)
[5730.1]
r0313[M]
Pole pair number p
r0063
n_act smooth [RPM]
r0313[M]
p
f 60
n
Pole pair number p

Vf T res damp
p1339 (20.00)
+
f_res damp
r0078
f_outp
V/f resonance damping
[6714.4]
3,1 Hz
4,77 Hz
95 % x p1349
1
<2>
p1349
f/f Mot N
f_soll_2
0
fmax
Safety ramp-function generator
for V/f control (as stall
protection)
Vf t_rmp-up_rmp-dn
0.000...999 999.000 [s]
p1318[D] (10.000)
f_set_2
+
+
Max.
ramp
steepness
r1538
r1318
r1539
r1493
<3> <3>
r0068
I_act abs val
p0640
Current limit
Stop ramp-function
generator
0
1
<1> The changeover to V/f control is represented at [5730.2].
<2> For p1349 = 0: Limit at 0,95 x f Mot N <= 45 Hz.
<3> Max. ramp steepness is also influenced by Vdc controller (p1240 0).
<4> For synchronous motors, only speed setpoints with up to approximate 25 % of the rated speed can be used in order to prevent any risk of resonant oscillation.
Vf char f4
0.00...10 000.00 [Hz]
p1326[D] (0.00)
Vf U at f=0 Hz
0.0...50.0 [V]
p1319[D] (0.0)
Vf char U4
0.0...10 000.0 [V]
p1327[D] (0.0)
V/f characteristic
V_set Ud_set_3
To current control
Vf gain res damp
p1338 (1.00)
f_outp smooth
r0024 100 ms
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-
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4
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- 5301 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 05.12.08 V04.04.00 Servo control - Signaling function variable
p3299 (4.000 ms)
Car sig S_src addr
p3292
Var sig S_src type
p3293
Var sig thresh_val
p3295
Var sig t_pickup
p3297
Var sig t_dropout
p3298
Var sig hyst
p3296
fall below
exceed
fall below
1
0
Var sig outp_sig
r3294
Comparison with sign
p3290.1
Activate function
p3290.0
0
1
0
Contents of
data register
1
0
1
1
t
Var sig S_src
(0)
p3291
p3291(0) Var sig S_src
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0
-
0
B
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2
F
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5
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4
9
0

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- 5490 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 14.04.08 V04.04.00 Servo control - Speed control configuration
1
2
3
4
5
6
Reserved
Meaning
Reserved
Reserved
Reserved
1 = Torque limiting active in motoring/regenerating mode
0
Bit No.
Speed control configuration
1
[5020.3]
[5640.3]
[5040.2]
[5210.5]
p1400[D]
p1400[D]
n_ctrl config
Factory setting
1000.00 s
Reserved
7
8
10
11
12
1 = Interpolation, speed pre-control active
1 = Interpolation, torque setpoint active
Speed pre-control
0 = To setpoint filter 2; 1 = To balancing
Sensorless operation, speed actual value starting value
0 = 0.0; 1 = setpoint
1
1
[5210.2]
[5020.5]
[5610.6]
Sensorless operation, changeover
0 = When accelerating, 1 = Stationary
13
14
Motoring/regenerating mode depending on:
0 = Speed actual value, 1 = Speed setpoint
Reserved
Reserved 15
9 1 = Damping for sensorless open-loop controlled mode 1
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9
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A
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0
-
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B
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F
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1
0

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r
t
x,y x
y
- 5610 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 15.10.10 V04.04.00 Servo control - Torque limiting/reduction/interpolator
[5060.7]
r1509
M_set before M_lim
r1538
M_max upper eff
r1539
M_max lower eff
[5650.8]
5490.8
[2522.3]
[3080.1)
r1407.7
Upper torque limit active
r1407.8
Lower torque limit active
r1407.9
Torque limiting
1
r0079[0]
Interpolator
0
1
y x
M_set_6
[5710.1]
p0115[1] (125.00 s) p0115[0] (125.00 s)
<1>
<1> For p0115[1] = p0115[0], the interpolator is automatically jumpered (bypassed) independently of the control.
[2522.3]
[2522.3]
<2> As for torque reduction (e.g. for "Travel to fixed stop (TfS)" with process data MOMRED), refer to
PROFIdrive telegrams 102 ... 106 [2420]).
<3> Injecting an additional torque via p1569 is to be provided only for the friction characteristic, since this torque
setpoint input dynamically changes the torque limits to ensure a symmetrical control behavior (see [5650])
0...100 [%]
TfS M_red
p1542 r1543
100...0 [%]
TfS M scal
+
TfS M_red eval
0...65535 [%]
p1544 (100)
<2>
214 = 100 % 100 %
[5620.3]
[5490.7]
1 = Interpolation torque setpoint active
p1400.8
r0079[1]
M_set total
T_smooth display
from 0.00...50.00 [ms]
p0045 (1)
[8012.1]
M_suppl 3
(3841)
p1569[C]
[7010.7]
+
+
<3>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
e
r
v
o

c
o
n
t
r
o
l
2
-
1
6
5
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
8
7
5
6
2
0

M
o
t
o
r
i
n
g
/
g
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n
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r
a
t
i
n
g

t
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r
q
u
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l
i
m
i
t
- 5620 -
Function diagram
8 7 6 5 4 3 2 1
DO: SERVO
SINAMICS S120 26.08.09 V04.04.00 Servo control - Motoring/regenerating torque limit
fp_5620_01_eng.vsd
+
+
+
+
<0
0
<0
0
-1
-1
+
+
Reverse,
generating
Forward,
generating
Forward,
motoring
Reverse,
motoring
2 1
M
n
3 4
M
n
3
M
n
4
M
n
2
M
n
2 1
M
n
4 3
M
1
n
1000.00 s
0
0
0
1
1400.13[D] (0.00)
<3>
<3>
The 4 quadrants
M_offset
M_offset
M_max offset
-100 000.00...100 000.00 [Nmp]
1532[D] (0.00)
[5640.1]
[5640.1]
<1> For p1400.4 = 1, the first torque limit applies for motoring operation and the other for regenerative operation, independently of the sign of the torque
and the speed (compatible with SIMODRIVE).
"Normal case": If neither dynamic limits nor offsets are required, the torque limit when motoring is entered via p1520. The torque limit when
regenerating is entered via p1521 (as a negative value).
For the manufacturer-specific PROFIdrive telegrams 102 ... 106, r1543 is entered here [5610.4]. <2>
<3> With p1400.13 = 0, the following applies: if n_act < p1546, the motor limit is effective.
With p1400.13 = 1, the following applies: if n_set = 0, the regenerative limit is effective.
Regenerating torque limit
Motoring torque limit
r0063
n_act smooth
[4710.7]
r1438
n_ctrl n_set
[5030.8]
e.g. from MOMRED
M_max 2
M_min 2
r1526
M_max up w/o offs
r1527
M_max low w/o offs
<1>
M
n
1
3
M
n
2
4
M_max upper/mot
(1520)
p1522[C]
M_max up/mot scal
(1524)
p1528[C]
M_max lower/regen
(1521)
p1523[C]
M_max low/gen scal
(1525)
p1529[C]
p1520[D]
M_max upper/mot
-1000000.00...20000000.00 [Nm]
p1520 (100.00)
p1521[D]
M_max lower/regen
-20000000.00...1000000.00 [Nm]
p1521[D] (0.00)
<1>
e.g. from MOMRED
0
1
0
1
(1)
M_lim var/fixS_src
p1551[C]
e.g.
0 = Quick stop activated
(OFF3)
r0899.5
M_max low/gen scal
-2000.0...2000.0 [%]
p1525[D] (100.0)
p1525[D]
p1524[D]
M_max up/mot scal
-2000.0...2000.0 [%]
p1524 (100.0)
<2>
<2>
S
e
r
v
o

c
o
n
t
r
o
l
F
u
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c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
5
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
8
8
5
6
3
0

U
p
p
e
r
/
l
o
w
e
r

t
o
r
q
u
e

l
i
m
i
t
<3>
- 5630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 26.08.09 V04.04.00 Servo control - Upper/lower torque limit
<1> For p1400.4 = 0 the torque limits for the positive and negative torque direction (upwards and downwards) are compatible with MASTERDRIVES and MICROMASTER 4.
"Normal case": If neither dynamic limits nor offsets are required, the upper torque limit is entered via p1520 and the lower via p1521 (as a negative value).
p1520
{p1522}
p1532
p1521
M
{p1523}
B
<3> The limiter ensure that the limits do not mutually "overtake" one another.
A
F07090
A B , Fault F07090 is initiated, which can also be disabled. With <
1000.00 s
<4> For the manufacturer-specific PROFIdrive telegrams 102 ... 106, r1543 is switched in here [5610.4].
<2>
<2>
[5640.1]
[5640.1]
M_max offset
M_max offset
+
+
+
+
M_max offset
-100 000.00...100 000.00 [Nm]
p1532[D] (0.00)
A <2> Danger: or positive values at represent a minimum torque for the other torque direction and can cause the motor to accelerate uncontrollably. B Negative values at
!
M_max 1
M_min 1
<2>
M
n
4 3
M
n
2 1
<4>
<4>
Lower torque limit
Upper torque limit
<1>
M_max upper/mot
(1520)
p1522[C]
M_max up/mot scal
(1524)
p1528[C]
M_max lower/regen
(1521)
p1523[C]
M_max low/gen scal
(1525)
p1529[C]
p1520[D]
M_max oben/mot
-1000000.00...20000000.00 [Nm]
p1520 (100.00)
p1521[D]
M_max lower/regen
-20000000.00...1000000.00 [Nm]
p1521[D] (0.00)
<1>
e.g. from MOMRED
e.g. from MOMRED
0
1
0
1
(1)
M_lim var/fixS_src
p1551[C]
Example:
0 = Quick stop activated
(OFF3)
r0899.5
M_max low/gen scal
l-2000.0...2000.0 [%]
p1525[D] (100.0)
p1525[D]
p1524[D]
M_max upper/mot scal
-2000.0...2000.0 [%]
p1524 (100.0)
<2>
r1527
M_max low w/o offs
r1526
M_max up. w/o offs
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
e
r
v
o

c
o
n
t
r
o
l
2
-
1
6
5
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
8
9
5
6
4
0

M
o
d
e

c
h
a
n
g
e
o
v
e
r
,

p
o
w
e
r
/
c
u
r
r
e
n
t

l
i
m
i
t
i
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g
1
0
- 5640 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 26.08.09 V04.04.00 Servo control - Mode changeover, power/current limiting
Mode changeover
From "upper/lower
torque limits"
[5630.8]
From "motoring/
regenerating
torque limits"
[5620.8]
r1534
r1535
Power limiting
r0063
n_act smooth
[4710.7]
P_max mot
0.00...100 000.00 [kW]
p1530 (0,00)
P_max gen
-100 000.00...-0.01 [kW]
p1531 (0.01)
[5730.2]
Min
Min -1
P_min
P_max
Iq_max_1
Iq_min_1
M2Iq torque factor
[5730.4]
Current limiting
M
P
n
M_max_3
M_min_3
1
0
Min
Min
<1>
[Nm]
[Nm] M
P
n
P_stall
1000.00 s p0115[1] (125.00 s)
<1> M [Nm] =
<2>
[5722.8]
-1
[5490.7]
1 = Torque limiting active
in motoring/regenerating mode
p1400.4
60 1000
2
P [kW]
n [RPM]
<0
0
<0
0
M_limit Vdc_max
M_limit Vdc_min
[5650.1]
[5650.1]
0
-1
1
>0
0
<0
0
-1
1
>0
0
<0
M_max_1
M_min_1
M_max_2
M_min_2
[5060.1]
[5060.1]
r1549
Iq_max total
r1533
S
e
r
v
o

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
5
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
0
5
6
5
0

V
d
c
_
m
a
x

c
o
n
t
r
o
l
l
e
r

a
n
d

V
d
c
_
m
i
n

c
o
n
t
r
o
l
l
e
r
- 5650 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 19.08.10 V04.04.00 Servo control - Vdc_max controller and Vdc_min controller
r1538
M_max upper eff
r1539
M_max lower eff
Vdc_min controller
+
[8950.1]
[5640.8]
Adaptation
Adaptation
Vdc_ctrl Kp
p1250
r0070
Vdc_act
Vdc upper thresh
p1244
r0063
n_act smooth
Logic
M_limit Vdc_max
[5060.1]
[5610.1]
[5714.1]
[7010.4]
[8012.1]
r0070
Vdc_act
Vdc lower thresh
p1248
Vdc_ctrl Kp
p1250
r0063
n_act smooth
iDC min
iDC max MUD max
MUD min
[5640.8]
r0063
n_act smooth
M_limit Vdc_min
Vdc_max controller
1000.00 s
b = ((p1240 = 0, 1, 4, 5, 6 or 7) or
(r0063 60 1/min))
a = ((p1240 = 2, 3, 8 or 9) and
(r0063 < -60 1/min))
b = ((p1240 = 0, 1, 4, 5, 6 or 7) or (r0063 -60 1/min))
a = ((p1240 = 1 or 3) and (r0063 < 0))
b = ((p1240 = 0, 2, 4, 5, 6 or 8) or (r0063 0))
a = ((p1240 = 1, 3, 7 or 9) and (r0063 > 0))
b = ((p1240 = 0, 2, 4, 5, 6 or 8) or (r0063 0))
b
a
b
a
b
a
b
a
a = ((p1240 = 2, 3, 8 or 9) and
(r0063 > 60 1/min))
a = ((p1240 = 1, 3, 7 or 9) and
(r0063 < 0))
M_max offset
p1532
p1240 = 7 or 9 if.
Vdc_ctrl config
p1240
M_max offset
p1532
p1240 = 8 or 9 if.
<1> p1240
[0] Inhib Vdc ctrl
[1] Enables Vdc_max controller
[2] Enables Vdc_min controller (kinetic buffering)
[3] Enables Vdc_min controller and Vdc_max controller
[4] Activates Vdc_max monitoring
[5] Activates Vdc_min monitoring
[6] Activates Vdc_min monitoring and Vdc_max monitoring
[7] Enable Vdc_max controller without accelerating
[8] Enable Vdc_min controller without braking
[9] Enable Vdc_min and Vdc_max controller w/o braking/accelerating
<1>
<1>
<1>
<1>
<1>
<1>
<1>
<1>
M_suppl 3
(3841)
p1569[C]
+
+
+
+
[7010.7]
[5060.1]
[5610.1]
[5714.1]
[7010.4]
[8012.1]
[4710.7]
[4710.7]
[4710.6]
<2> Displacement of the torque limits (r1538, r1539) through p1569 is
additionally limited by the current limit (r1533).
<2>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
e
r
v
o

c
o
n
t
r
o
l
2
-
1
6
6
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
1
5
7
1
0

C
u
r
r
e
n
t

s
e
t
p
o
i
n
t

f
i
l
t
e
r
- 5710 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 20.09.10 V04.04.00 Servo control - Current setpoint filter
PT2 low pass
fn_z
p1660[D]
D_z
p1661[D]
fn_n
p1658[D]
D_n
p1659[D]
PT2 low pass
fn_z
p1665[D]
D_z
p1666[D]
fn_n
p1663[D]
D_n
p1664[D]
1
0
PT2 low pass
fn_z
p1670[D]
D_z
p1661[D]
fn_n
p1668[D]
D_n
p1669[D]
1
0
f
2nd Order Filter
|y|
PT2 low pass
fn_z
p1675[D]
D_z
p1676[D]
fn_n
p1673[D]
D_n
p1674[D]
Iq_set_2
[5714.1]
p1656[D].0
x
y
p1656[D].1
p1656[D].2
p1656[D].3 M_set_6
I before setpoint filter
+
+
x
y
fn_n
p1658[D]
f
fn
D
D_n
p1659[D]
fn_n
p1673[D]
D_n
p1674[D]
2
1
p1657[D]
fn_n
p1663[D]
D_n
p1664[D]
fn_n
p1668[D]
D_n
p1669[D]
2
1
p1662[D]
x
y
x
y
2
1
p1667[D]
x
y
x
y
2
1
p1672[D]
x y
x y
Iq_set_1
<1>
<1>
<1>
<1>
<1> General 2nd-order filter (detailed representation at [1022]).
r1650
<2> PT2 low pass (detailed representation at [1022]).
<2>
<2>
<2>
<2>
+
Filter 1 Filter 2 Filter 3 Filter 4
f
2nd Order Filter
|y|
f
2nd Order Filter
|y|
f
2nd Order Filter
|y|
1
0
1
0
M2Iq torque factor
[5730.4]
M2Iq torque factor
[5730.4]
M after setpoint filter from function generator
I_after_setpoint
filter = active
1
0
M_set FG
r1651
Monitoring
F07420
"Current setpoint filter natural frequency > Shannon frequency"
[5610.8]
p0115[0] (125.00 s)
I after setpoint filter from function generator
<3> For p1699 = 1, the parameter settings are transferred to the controller.
<3>
|y|
f
fn
D
|y|
f
fn
D
|y|
f
fn
D
|y|
S
e
r
v
o

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
6
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
2
5
7
1
4

I
q

a
n
d

I
d

c
o
n
t
r
o
l
l
e
r
- 5714 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 02.02.09 V04.04.00 Servo control - Iq and Id controller
Kp_I
Iq
Kp_I Tn_I
Kp_I Tn_I
Iq limiting
(cuts-off filter
overshoots)
r1538
M_max upper eff
r1539
M_max lower eff
[A]
+
r0078[0]
Iq_act
p0393[M]
p0392[M] p0391[M]
I_ctrl Kp
p1715[D]
Kp_I adaptation
Kp_I
Tn_I
p1717[D]
Ud pre-control
r1732
U_direct-axis_set
Uq pre-control
r1733
U_quad_set
r0075
Id_set
+
Id controller
Iq controller
Uq_set_1
I_ctrl RefMod t_dead
p1701[D]
Ud_set_1
r0077
Iq_set
[%]
Iq_set_2
[5710.8]
+
+
F07410 "Current
controller output
limited"
<1>
[5722.8]
[5730.1]
[5730.1]
[5730.1]
[5650.8]
[5650.8]
M2Iq torque factor
[5730.4]
+
+
<1> F07410 is output if I_act = 0 and Uq_set_1 is at the limit for more than 16 ms.
r1408.6
[2530.7]
1
r1408.7
[2530.7]
r1408.8
[2530.7]
p0115[0] (125.00 s)
[5730.1]
1
0
p1402.2
Current controller adaptation active
[5722.3]
r0076
Id_act
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
e
r
v
o

c
o
n
t
r
o
l
2
-
1
6
6
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
3
5
7
2
2

F
i
e
l
d

c
u
r
r
e
n
t
/
f
l
u
x

i
n
p
u
t
,

f
l
u
x

r
e
d
u
c
t
i
o
n
,

f
l
u
x

c
o
n
t
r
o
l
l
e
r
- 5722 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 26.08.09 V04.04.00 Servo control - Field current-/flux input, flux reduction, flux controller
(Only for synchronous motor with reluctance torque)
mot phi_load opt
p0327 [M]
Field current setpoint for
synchronous motor
Speed at the start
of field weakening
Short-circuit
current Isc
Speed at the
start of field
weakening
Img
magnetizing
current
Flux setpoint for
induction motor
0
>0
Mot n_field weaken
p0348[M]
Mot I_mag_rated
p0320[M]
Motor data
r0331
Mot I_mag_ratedAct
0
1
T 0
Id_set_1
Current limit
p0640[D]
Mot I_max
p0323[M]
Synchronous motor
-1
Id_set_3
Field current limiting
A07411
"Flux controller
output limited"
r0075
Id_set
[5714.3]
Induction motor
IF
n
Img
p0348
n
IF
-Isc
p0348
Min
Maximum current from Motor Module
i_max_MM
[5730.4]
0.9
imax
2
id_set_4
2
I_max
[5640.5]
I_outp max
r0067
Synchronous motor
Induction motor
p0115[1] (125.00 s)
1000.00 s
r0331
r0331
1000.00 s
1000.00 s
<1>
[2530.7]
16 [ms]
Computation
model
Limit Id_set
r1408.9
Kp Tn
r0083
Flux setpoint
[%] from n
r0084
Flux actual value
[%] from n
+
+
+
Pre-control
p0115[1] (125.00 s)
p1581
Flux reduc factor
Flux red up T_gl
p1579
Flux reduc do T_gl
p1578
r0077
Iq_act
[5714.4]
Mot L_H tr/Lhd ges
r0382
r0382
1
Id_set_2
<1> p0323 is not considerd for induction motors.
Flux controller
Motor model
Flux controller
Kp
p1590[D]
Flux controller
Tn
p1592[D]
Flux setpoint
Flux reduction
Iq_max total
r1533
S
e
r
v
o

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
6
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
4
5
7
3
0

I
n
t
e
r
f
a
c
e

t
o

t
h
e

M
o
t
o
r

M
o
d
u
l
e

(
g
a
t
i
n
g

s
i
g
n
a
l
s
,

c
u
r
r
e
n
t

a
c
t
u
a
l

v
a
l
u
e
s
)
- 5730 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 20.05.10 V04.04.00 Servo control - Interface to the Motor Module (gating signals, current actual values)
Motor model
0
P
2
3
r1733
Quad V set
Voltage angle
+
Coordinate converter
and transformation
Control Unit
DRIVE-CLiQ
PWM
Motor Module
M
~
+
U
V
W
r0078[0]
Iq_act
r1732
Direct V set
[5714.8]
[5714.8]
M2Iq torque factor
i_max_MM
DC link voltage
r0074
Modulat depth
Uq_set_3
Ud_set_3 From V/f control
[5300.8]
<1> Iq = M2Iq x M (M2Iq = "Torque-To-Iq factor").
<1>
+ BRP
- BRN
Brake control
P24
M
<3> The voltage angle is the angle of the voltage vector in a fixed stator coordinate system.
<3>
Vdc smooth
r0026
Modulat depth
smth
r0028
f_outp smooth
r0024
r0066
f_outp
U_outp smooth
r0025
Iq_act smooth
r0030
M_act smooth
r0031
p0115[0] (125.00 s)
2 2
id iq
I_act abs val smth
r0027
Id_act smooth
r0029
M2Iq
Maximum current, Motor Module
<2> i_max_MM depends on the power unit temperature.
Pulse enable via
hardware
Pulse enable via
hardware
P_stall
[5640.1]
[2701.8]
[2711.8]
<2> [5722.4]
[5640.4]
[5710.8]
[5714.2]
[5730.2]
<4> Additionally for Booksize format.
<4>
K
1
0
1
[5714.3]
[5730.4]
[5714.3]
100 ms
100 ms
100 ms
100 ms
100 ms
100 ms
100 ms
x1
x2
2
x x
2 1
x
100 ms
P_active_actual smth
r0032 100 ms
[5300.7] r0063
n_act smooth
r0082[1]
Smoothed with p0045
Coordinate
converter
and trans-
form-
ation
r0082[0]
Unsmoothed
r0072
U_output
r0068
I_act abs value
Vf diagn act
p1317
p0045
r0078[1]
Iq_act
Transformation angle
r0070
Vdc_act
p0045
[7017.6]
[8014.1]
r0080
M_act
Dir of rot
p1821[D]
-1
0
1
Dir of rot
p1821[D]
-1
0
1
+
Transformation angle
r0076
Id_act
IU, IV, IW
I_Phase act
r0069[0...2]
U_Phase act
r0089[0...2]
r0082[2]
Power drawn
Function diagrams
Vector control
2.19 Vector control
Function diagrams
6030 Speed setpoint, droop 2-1666
6031 Pre-control balancing, reference/acceleration model 2-1667
6040 Speed controller with/without encoder 2-1668
6050 Kp_n-/Tn_n adaptation 2-1669
6060 Torque setpoint 2-1670
6300 U/f characteristic and voltage boost 2-1672
6310 Resonance damping and slip compensation 2-1673
6490 Speed control configuration 2-1675
6491 Flux control configuration 2-1676
6495 Excitation (FEM, p0300 = 5) 2-1677
6630 Upper/lower torque limit 2-1678
6640 Current/power/torque limits 2-1679
6710 Current setpoint filter 2-1680
6714 Iq and Id controller 2-1681
6721 Id setpoint (PEM, p0300 = 2) 2-1682
6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) 2-1683
6723 Field weakening controller, flux controller (ASM, p0300 = 1) 2-1684
6724 Field weakening controller (PEM, p0300 = 2) 2-1685
6725 Flux setpoint, field weakening controller (FEM, p0300 = 5) 2-1686
6726 Field weakening controller, flux controller (FEM, p0300 = 5) 2-1687
6727 Current model, excitation current monitoring, control cos phi (FEM, p0300 = 5) 2-1688
6730 Interface to the Motor Module (ASM, p0300 = 1) 2-1689
6731 Interface to the Motor Module (PEM, p0300 = 2) 2-1690
6732 Interface to the Motor Module (FEM, p0300 = 5) 2-1691
Vector control
Function diagrams
6733 Motor model selection (FEM, p0300 = 5) 2-1692
6799 Display signals 2-1693
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
6
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
5
6
0
3
0

S
p
e
e
d

s
e
t
p
o
i
n
t
,

d
r
o
o
p
- 6030 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 18.10.10 V04.04.00 Vector control - Speed setpoint, droop
Droop input source
0...3
p1488 (0)
r0079
M_set total
+
-
r1170
n_ctr setp sum
r0079
M_set total
a at M_ctrl scal
0.0...400.0 [%]
p1499[D] (100.0)
n_set limited
r1407.11
Droop enabled
r1407.10
Enable droop
r1406.11
n_set limited
r1407.11
n_set_filter 1 T
0.00...5000.00 [ms]
p1416[D] (0.00)
0
1
M_ctrl active
r1407.2
Pre-control speed
0
<1>
[6060.8]
[3050.8]
[3050.8]
[3080.8]
r1482
n-ctrl I_output
[6490.7]
1 = Sensorless vector control, speed pre-control active
from speed control configuration
p1400.15
[6060.3]
r0060
n_set before filt.
[2522.3]
[2522.3]
Mot moment of inertia ratio
1.000...10000.000
p0342[M] (1.000)
Mot M_inertia
0.00000...100000.00000 [kgm]
p0341[M] (0.00000)
<3> Scaling: p1489 = 0.100 - for a rated motor torque of r0333 - results in a speed setpoint reduction of 0.1 x p0311.
<4> The value is displayed correctly only with r0899.2 = 1 (Operation enabled).
[2522.3]
[6031.1] r0062
n_set after filter
1 0
[6040.8]
[2701.1]
[2704.1]
[6799.1]
Refer to [1020.7]
Mom of inert scal
(100)
p1497[C]
3
2
1
0
0
1 0
0
<1>
[6060.8]
[2520.3]
p1492
<2>
N
M
nN
150 ms
Statik M_komp
(0)
p1486[C]
+
-
Statik M_komp Skal
-2000.0 ... 2000.0 [%]
p1487[D] (100.0)
r1490
Droop n_reduction
Droop scaling
0.000...0.500
p1489[D] (0.050)
Droop input
r1084
n_limit pos eff
r1087
n_limit neg eff
<3>
<2> Only for p1488 > 0.
<4>
[6730.1]
[6732.1]
[6733.1]
r1431
n_prectrl motormod.
[6732.1]
[6060.6]
r1508
M_set before M_suppl
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
6
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
6
6
0
3
1

P
r
e
-
c
o
n
t
r
o
l

b
a
l
a
n
c
i
n
g
,

r
e
f
e
r
e
n
c
e
/
a
c
c
e
l
e
r
a
t
i
o
n

m
o
d
e
l
- 6031 -
Function diagram
8 7 6 5 4 3 2 1
fp_6031_51_eng.vsd DO: VECTOR, VECTORGL, VECTORMV, VECTORSL
SINAMICS 21.08.09 V04.04.00 Vector control - Pre-control balancing, reference/acceleration model
Mot moment of inertia ratio
1.000...10000.000
p0342[M] (1.000)
Mot M_inertia
0.00000...100000.00000 [kgm]
p0341[M] (0.00000)
a_before scaling
0.0...10 000.0 [%]
p1496[D] (0.0)
<1> p1428 only effective for p1400[D].2 = 1 or p1428 > 2,0
<2> p1429 only effective for p1400[D].2 = 1.
For p1400[D].2 = 0 the following applies: p1442[D] or p1452[D] for sensorless operation is effective [6040.2].
Acceleration calculation
[6490.7]
Acceleration pre-control, source
p1400[D].2
a_prectrl dn/1s
(0)
p1495
0
1
Refer to [1020.7]
r1493
Mom of inert total
Mom of inert scal
(100)
p1497[C]
[6040.1]
[6030.8]
0
1
n_pre T bal
0.00...10.00 [ms]
p1429[D] (0.00)
n_pre t_dead bal n
0.0...3.0
p1428[D] (0.0)
p1400[D].2 = 1
or
(p1400[D].3 = 0 and p1496[D] > 0)
Pre-control balancing
r1438
n_ctrl n_set
0 1
0
[6490.7]
Reference model
Speed setpoint
I component
p1400[D].3
r0062
n_set after filter
n_set smooth
Sampling time, closed-loop speed control (p0115[1])
n_ctrl RefMod fn
0.00...8000.00 [Hz]
p1433[D] (0.00)
n_ctrl RefMod D
0.00...5.00
p1434[D] (1.00)
n_ctrl RefMod t_dead
0.0...3.0
p1435[D] (0.0)
(y = x for the factory setting of p1433 ... p1435)
r1436
RefMod n_set
n_ctrRefMod I_comp
(r1436)
p1437
[6040.1]
Reference model
[6490.7]
Reference model, speed setpoint I component
p1400[D].3
1
0
x y
n_set I_comp
r1439
r1119
RFG setpt at input
n_ctrl n_set 1
p1155[C]
n_ctrl n_set 2
p1160[C]
+
n_ctrl n_set stat
r1444
0
1
Steady-state setpoint calculation
+
+
n_set via PC
PcCtrl active
r0807.0
r1084
n_limit pos eff
r1087
n_limit neg eff
r1084
n_limit pos eff
r1087
n_limit neg eff
[6060.1]
Calculated accelerating torque
<1> <2>
F
u
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t
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o
n

d
i
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r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
6
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
7
6
0
4
0

S
p
e
e
d

c
o
n
t
r
o
l
l
e
r

w
i
t
h
/
w
i
t
h
o
u
t

e
n
c
o
d
e
r
<1>
- 6040 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 31.03.10 V04.04.00 Vector control - Speed controller with/without encoder
[6031.8]
+
-
r1445
n_act smooth
r0064
n_ctrl system deviation
n_ctrl Kp n lower
0.000...999999.000
p1460 [D] (0.300)
p1470 [D] (0.300)
n_ctrl Tn n lower
0.00...100000.00 [ms]
p1462 [D] (20.00)
p1472 [D] (20.00)
+
+
M_set from the speed controller
[6030.1]
Integrator control
1 = Speed controller, hold I component
r1406.4
1 = Speed controller, set I component
r1406.5
n_ctrl integ_set val
(0)
p1478[C]
Kp
1 = Speed controller, I component held
r1407.5
1 = Speed controller, I component set
r1407.6
r1407.7
p1400.5
Kp_n_basic
Tn_n_basic Tn_n_adapt
1 0 1 0
Kp_n_adapt
[6490.7]
From Kp/Tn adaptation [6050.7]
To Kp/Tn adaptation
[6050.2]
<1> <1>
Hold Set
Set
Val
[2522.7]
Enable speed controller
Speed controller
[2522.3]
[2522.3]
Kp Tn
r1482
n_ctrl I-M_output
<1>
<2>
Tn
Kp
n_ctrl Tn effective
r1469
<3>
[2520.3]
p1477
[6490.7]
n_act T_smooth
0.00...32000.00 [ms]
p1442 [D] (4.00)
p1452 [D] (10.00)
1 = Automatic Kp/Tn adaptation active
p1400.0
<1> Dynamic reduction, field weakening
-
+
Kp
[6031.8]
n_set I_comp
r1468
n_ctrl Kp effective
[6640.8]
[6640.8]
[2610.4]
n_ctrl I_value scal
(1)
p1479[C]
[2522.2]
Speed control active
r1407.3
r1538
M_max upper effective
r1539
M_max lower effective
<2> For p1462/p1472 = 0.0 s or 100.0 s, the I component is
disabled (integral action time = ).
<3> Units Kp can be changed over via p0528.
[2520.3]
p1476
[6490.7]
Refer to [1020.7]
r1438
n_ctrl n_set
r1439
r1454
n_ctrl I_sys dev
r1481
n_ctrl P-M_output
1 = Sensorless vector control, freeze I component
p1400.1
[4715.6]
n_ctrl n_act
r0063[0]
p1440[C]
[8012.6]
r1443
n_act n_ctrl Input
n_ctrl M_sv MHB
(0)
p1475[C]
<4>
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
6
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
1
9
8
6
0
5
0

K
p
_
n
-
/
T
n
_
n

a
d
a
p
t
a
t
i
o
n
- 6050 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS Vector control - Kp_n/Tn_n adaptation
Free Kp_n adaptation
Adapt_factor upper
0.0...200 000.0 %
p1459[D] (100.0)
[6040.8]
n_ctrl n upper
0.00...210 000.00 RPM
p1465[D] (0.00)
Speed-dependent Kp_n/Tn_n adaptation
Tn_n_adapt
y
x
n_ctrl Tn n upper
0.000...200 000.000 %
p1463[D] (100.000)
[6040.8]
Tn
r0063[0]
n_act unsmoothed
n_ctrl Kp n upper
p1461[D] (100.000)
0.000...200 000.000 %
Kp
n
Kp
n_ctrl n lower
0.00...210 000.00 RPM
p1464[D] (0.00)
Kp_n_adapt
n_ctrl adapt Kp lower
0.00...400.00 %
p1456[D] (0.00)
n_ctrl adapt Kp upper
0.00...400.00 %
p1456[D] (0.00)
n_ctrl Kp scal
(1)0
p1466[C]
n_ctrl Adpt_sig Kp
(0)0
p1455[C]
Adapt_factor lower
0.0...200 000.0 %
p1458[D] (100.0)
x
n
n
29.06.09 V04.04.00
Kp_n_basic (p1460, p1470)
Tn_n_basic (p1462, p1472)
1
1
0
<1> If the lower transition point exceeds the upper transition point, the Kp-adaptation also changes over.
<1>
<1>
<1> <1>
Free Tn adaptation active (p1400.6)
[6490.7]
Refer to [1020.7]
Tn
n
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-
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- 6060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 31.03.10 V04.04.00 Vector control - Torque setpoint
M_max upper scal
(1)
p1540[C]
r1539
M_set
M_soll
(0)
p1503[C]
M_max nctr lowScal
(1)
p1541[C]
r1538
M_set from speet controller
M_suppl 1
(0)
p1511[C]
[6640.8]
r1518[0]
M_accel unsmooth
[6640.8]
+
M_supply 2 scal
-2000.0 %...2000.0 %
p1514[D] (100.0 %)
M_suppl 1 scal
(0)
p1512[C]
M_suppl 2
(0)
p1513[C]
+
+
0
1
0
1
1 = Speed controller enable
[2501.7]
p0856
r0898.12
p1400.14 1 = Torque pre-control
[6490.7]
0...100.00 [ms]
p1517[D] (4.00)
r1518[1]
M_accel smooth
M_max u Skal oOffs
(1)
p1554[C]
M_max up w/o offs
(1)
p1552[C]
<1> The signal is only effective after magnetization has been completed (r0056.4 = 1).
<2> Acceleration control is inhibited for p1517 = 100 ms.
<1> <1>
[6630.8]
[6630.8]
[6031.8]
<3> M_set is also influenced by the speed limit controller.
<4> Only for DO: VECTOR and sensorless FEM with speed controller inhibited r1776[4] = 0.
r1526
M_max up. w/o offs
r1527
M_max low w/o offs
Max
Min
+
Refer to [1020.7]
<1>
0
1
(1)
M_lim var/fixed S_src
p1551[C]
0
1
r1547[0]
M_max output n_ctrl upper limit
Example:
0 = Fast stop
active (OFF3)
r0899.5
0
1
r1480
n_ctrl PI-M_output
+
[6030.1] [6710.1]
[8012.1]
Torque limiting upper active
r1407.8
r0079
M_set total
[2522.3]
Torque limiting lower active
r1407.9
[2522.3]
+
Torque limiting, upper active
r1407.8
r1508
[2522.3]
[2522.3]
Torque limiting lower active
r1407.9
Max
Min
Torque limiting
without Pre-control
r1407.15
[6030.1] [6722.1]
[6726.7]
<5>
r1617
M_setp sv SLVC
[6726.8]
[6040.8]
r1547[1]
M_max output n_ctrl lower limit
r1516
M_suppl+M_accel
0
r1539
M_max lower eff
r1538
1
0
Torque control active
r1407.2
[6030.5]
1
0 = Speed control
1 = Torque control
r1406.12
p1300 = MCtr
[2520.3]
p1501
1
Calculated accelerating torque
Vdc_max controller active
r0056.14
0
1
[2526.6]
<2>
<3>
<5>
0
M_suppl total
r1515
<5> Not for DO. VECTORGL.
Torque limiting
[2522.3]
r1407.7 1
Current/torque limit active
r0056.13
[2526.2]
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- 6220 -
Function diagram
8 7 6 5 4 3 2 1
fp_6220_51_eng.vsd DO: VECTOR, VECTORMV
SINAMICS 09.04.10 V04.04.00 Vector control - Vdc_max controller and Vdc_min controller
ZSW cl-loop ctrl
r0056.14
r0056
0
1
Vdc_ctrl Kp
p1250[D]
Vdc_ctrl Tn
p1251[D]
Vdc_ctrl t_rate
p1252[D]
Vdc_max dyn_factor
p1243[D]
Vdc_ctrl config
p1240[D]
1,3
0,2,4,5,6
Vdc_max (ctrl)
Vdc_min (ctrl)
+
ZSW cl-loop ctrl
r0056.15
r0056
0
1
Vdc_ctrl Kp
p1250[D]
Vdc_ctrl Tn
p1251[D]
Vdc_ctrl t_rate
p1252[D]
Vdc_min dyn_factor
p1247[D]
r0070
Vdc_act
Vdc_min on_level
r1246
+
0
r0070
Vdc_act
Operating point
selection
Iq_min
[6710.2]
2,3
0,1,4,5,6
Refer to [1020.7]
[2526.2]
[2526.2]
0
0
r1258
Vdc_ctrl output
Vdc_max on_level
r1242
Vdc_max SenseOnLev
p1254
Supply voltage
p0210
Vdc_min on_level
p1245[D]
Calculate on_level
Calculate on_level
0
0
[6730.1]
[6731.1]
[6730.1]
[6731.1]
<1> As standard, the controller is designed as a P controller.
<2> The Vdc controller is switched on when reaching the threshold value. The switch-off hysteresis is 5% of the switch-on level.
<2>
<2>
<1>
<1>
Iq_max
[6710.2]
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0

U
/
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- 6300 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 18.06.10 V04.04.00 Vector control - V/f characteristic and voltage boost
Freely programmable
I_outp max
r0067
0
Control type
p1300
Mot I_rated
p0305
R_stator act
r0395
V_output max r0071
Vf characteristic V4 p1327
V_output max r0071
Vf charact. f1
p1320
Vf charact. f4
p1326
Vf charact. f2
p1322
Vf charact. f3
p1324
<1>
Refer to [1020.7]
Flux current control (FCC)
Dependent on the load current
Linear
Parabolic
[1690.1]
V_output max r0071
f_set
Mot V_rated p0304
Mot f_rated
p0310
Mot f_rated
p0310
V_output max r0071
Mot V_rated p0304
Mot V_rated p0304
Mot f_rated
p0310
[1690.4]
0/5
1/6
2
3
19
Vf V_set independ.
(0)
p1330[C]
4
7
V_boost perm
p1310
V/f FCC f_Start
p1333
r1348
V/f Eco fac act v
ECO-Mode
<1> For p1320 = 0, the voltage boost via p1310 is not effective.
<2> p1312 is only effective when acceleration takes place for the first time after pulse enable.
1
0
0
+
+
1
0
0
+
+
Ramp-up active
r1199.0
V_boost starting
p1312
Acceleration voltage active
r0056.6
3
Voltage boost when starting
r0056.5
<2>
V_boost total
r1315
V_boost accel
p1311
V
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-
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- 6310 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 16.06.10 V04.04.00 Vector control - Resonance damping and slip compensation
Vf T res damp
p1339
+
Vf gain res damp
p1338
f_res damp
r0078
Iq_act
r0066
f_outp
V/f resonance damping V/f slip compensation
Slip compensation
p1335 f_slip
r0065
[6730.4]
[6731.4]
[6714.4]
Slip comp limit
p1336
-1
[1690.7]
[6730.2]
Refer to [1020.7]
6 % 10 %
1
<1>
<1> If p1349 = 0: the limit is 0,95 x f Mot N <= 45 Hz.
<2> Preset value for r1337: Activation with r0056.4 = 1 till r0066 >= p1334 and p1216 has expired.
100 % equal r0330 (Rated motor slip)
p1334 f/f Mot N
1
p1334 + 4 %
p1349
f/f Mot N 95 % x p1349
ZSW cl-loop ctrl
Slip limit active
r0056.10
r0056
0
1
250 ms
[2526.2]
0
1
<2>
-1
p1351[D]
Brake f_start
-300.00...300.00 [%]
p1351[D] (0.00)
[1690.6]
r1337
Slip comp act val
100 %
Slip comp val
f_slip
r0065
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- 6320 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 18.10.10 V04.04.00 Vector control - Vdc_max controller and Vdc_min controller
r0070
Vdc_act
Vdc_ctrl output_limit
p1293[D]
0
0
1
Vdc_ctrl Kp
p1290[D]
Vdc_ctrl Tn
p1291[D]
Vdc_ctrl t_deriv action
p1292[D]
Vdc_max dyn_factor
p1283[D]
Vdc_ctrl config.
p1280[D]
0,2,4,5,6
1,3
Vdc_max (V/f)
Vdc_min (V/f)
Vdc_max on_level
r1282
+
0
- Vdc_ctrl output_limit
p1293[D]
0
1
Vdc_ctrl Kp
p1290[D]
Vdc_ctrl Tn
p1291[D]
Vdc_ctrl t_deriv action
p1292[D]
Vdc_min dyn_factor
p1287[D]
Vdc_ctrl config
p1280[D]
[8950.1]
[6730.1] [6731.1]
r0070
Vdc_act
Vdc_min on_level
r1286
+
0
0,1,4,5,6
2,3
[2526.2]
[2526.2]
Refer to [1020.7]
p0115[y] (Motor Modules)
0
0
Vdc_max SenseOnLev
p1294
Supply voltage
p0210
Vdc_min on_level
p1285[D]
Calculate on_level
Calculate on_level
<1> p1280
[0] Inhib Vdc ctrl
[1] Enables Vdc_max controller
[2] Enables Vdc_min controller (kinetic buffering)
[3] Enables Vdc_min controller and Vdc_max controller
[4] Activates Vdc_max monitoring
[5] Activates Vdc_min monitoring
[6] Activates Vdc_min monitoring and Vdc_max monitoring
<3> The Vdc controller is switched on when reaching the threshold value. The switch-off hysteresis is 5% of the switch-on level.
<4> Only relevant if the function module "technology controller" (r0108.16 = 1) is active.
<1>
<1>
<2>
<2>
[8950.1]
[6730.1] [6731.1]
<3>
<3>
[1690]
<4>
1
0
r3517
Vdc_I_act ctrl set
[7960.8]
r1258
Vdc_ctrl output
Vdc-ctrl active
r3405.1
r0056.14
r0056
ZSW Control
Vdc_min controller active
r0056.15
V
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-
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4
6
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0

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- 6490 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 29.06.09 V04.04.00 Vector control - Speed control configuration
1
2
3
1 = Automatic Kp/Tn adaptation active
Meaning
1 = Sensorless vector control, freeze I component
1 = Acceleration pre-control, external source (p1495)
0 = Acceleration pre-control, internal source (n_set)
1 = Reference model, speed setpoint I component ON
Reserved
0
Bit No.
4
Speed control configuration
0
0
0
1
[6040.3]
[6040.3]
n_ctrl config
p1400[D]
Factory setting
[6030.5]
6
7
1 = Free Tn adaptation active
Reserved
Reserved 8
1
0
5
10
11
Reserved
Reserved
Reserved
Reserved 12
9
13
14
Reserved
1 = Torque pre-control always active
0 = Torque pre-control for n_ctrl enabled
0
15 1 = Sensorless vector control, speed pre-control active 1
Refer to [1020.7]
[6031.1][6031.7]
[6031.2]
[6050.6]
[6060.4]
[6040.3]
F
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1

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/
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(
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,

0
1
/
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0
1
1
,

6
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0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
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2
-
2
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5
6
4
9
1

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- 6491 -
Function diagram
8 7 6 5 4 3 2 1
DO: VECTOR
S120/S150/G130/G150 24.10.08 V04.04.00 Vector control - Flux control configuration
1
2
1 = Flux setpoint, soft starting active
Meaning
1 = Flux setpoint, differentiation active
1 = Flux build-up control active
0
Bit No.
Flux control, configuration
[6723.6]
[6722.3]
p1401[D]
p1401[D]
F_ctrl config
[6723.7] 1
1
0
Factory setting
3 1 = Flux characteristic, load-dependent 1
4 1 = Flux controller (ASM with encoder) 1
1 = Flux impression with model chngov (ASM with encoder)
0 = Flux impression from 30 % n_rated (ASM with encoder)
1 5
6 1
7 Reserved
3 Reserved 8
Reserved 9
10 Reserved
11 Reserved
12 Reserved
1 = Quick magnetizing
13 Reserved
14 Reserved
15 Reserved
Refer to [1020.7]
fp_6491_54_eng.vsd
[6725.2]
[6722.5]
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
7
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
0
6
6
4
9
5

E
x
c
i
t
a
t
i
o
n

(
F
E
M
,

p
0
3
0
0

=

5
)
- 6495 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 12.11.10 V04.04.00 Vector control - Excitation (FEM, p0300 = 5)
(1)
Excitation ready to be powered up
p1645[0]
[6495.7]
[6495.7]
[6495.7]
[6495.7]
[2610.2]
Excitation t_monit
2.0...1300.0 [s]
p1646 (20.0)
Excitation t_off
0.5...5.0 [s]
p1647 (0.8)
Bit No.
0 Excitation ready to be powered up, feedback signal
Meaning
Excitation status word
Bit No.
0 1 = Power-up excitation
Meaning
Excitation control word
r1648.0
r1649.1
r1648.3
r1649.2
r0863.0
<1> For VECTORGL: p1646[0] and p1646[1];
Min / Max / Factory setting: 0.1 / 60.0 / 1.0 [s].
<2> For VECTORGL:
Instead of p1647: Fixed time 0 s.
<1> <2>
1 Excitation ready, feedback signal
2 Excitation in operation, feedback signal
3 Excitation group signal fault
7 Excitation group signal alarm
11 Excitation voltage present at the power unit
15 Excitation in line operation
1 1 = Excitation no OFF2
2 1 = Excitation no OFF3
3 1 = Excitation, enable operation
7 1 = Excitation, acknowledge fault
10 1 = Master control by excitation equipment
11 1 = ccwRFE: Inverted excitation current setpoint
(1)
Excitation ready
p1645[1]
(1)
Excitation operational
p1645[2]
(1)
Excitation group signal fault
p1645[3]
(1)
Excitation group signal alarm
p1645[4]
(1)
Excitation voltage present
at the power unit
p1645[5]
(1)
Excitation in line operation
p1645[6]
<3>
<3>
r1648
Excitation STW
r1648.0
r1648.1
r1648.2
r1648.3
r1648.7
r1648.10
r1648.11
r1649
Excitation ZSW
r1649.0
r1649.1
r1649.2
r1649.3
r1649.7
r1649.11
r1649.15
<3>
<4>
<3>
<3>
Control of the
excitation equipment for
separately-excited
synchronous motors (FEM)
<5>
Refer to [1020.7]
To the excitation
To sequence control [2610]
<6> <6>
<3> Only for VECTORGL.
<4> Only for VECTORSL: Meaning "Excitation initiation of the brief line interruption sequence".
<5> Not for VECTORGL.
<6> Not for VECTORSL.
<3> <4>
F
u
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c
t
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n

d
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a
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r
a
m
s
V
e
c
t
o
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c
o
n
t
r
o
l
2
-
1
6
7
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
0
7
6
6
3
0

U
p
p
e
r
/
l
o
w
e
r

t
o
r
q
u
e

l
i
m
i
t
- 6630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 19.08.09 V04.04.00 Vector control - Upper/lower torque limit
p1520[D]
M_max upper
-1 000 000.00...20 000 000.00 [Nm]
p1520[D] (0.00)
M_max upper
(1520)
p1522[C]
Upper torque limit
p1521[D]
M_max lower
-20 000 000.00...1 000 000.00 [Nm]
p1521[D] (0.00)
M_max lower
(1521)
p1523[C]
Lower torque limit
B
M
n
4 3
M
n
2 1
A
M_max upper scal
(1524)
p1528[C]
p1524[D]
M_max up/mot scal
-2 000.0...2 000.0 [%]
p1524[D] (100.0)
M_max lower scal
(1525)
p1529[C]
p1525[D]
M_max lower scal
-2 000.0...2 000.0 [%]
p1525[D] (100.0)
Refer to [1020.7]
0
1
0
1
(1)
M_lim var/fixS_src
p1551[C]
Example:
0 = Fast stop active
(OFF3)
r0899.5
<1>
<1>
A <1> Danger: or positive values at represent a minimum torque for the other torque direction and can cause the motor to accelerate uncontrollably. B
!
Negative values at
r1526
M_max up w/o offs [Nm]
[6640.1]
r1527
M_max low w/o offs [Nm]
[6640.1]
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
7
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
0
8
6
6
4
0

C
u
r
r
e
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/
p
o
w
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/
t
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q
u
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l
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m
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t
s
- 6640 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 11.06.10 V04.04.00 Vector control - Current/power/torque limits
P_max gen
-100 000.00...-0.01 kW
p1531 (-0.01)
r0063[0]
n_act unsmoothed
r0067
I_outp max
Id_set total
Id_set total
r1624
I_max reduction
Refer to [1020.7]
Current limit
p0640[D]
r1526
M_max up. w/o Offs
r1527
M_max low w/o Offs
Speed limiting
controller
<1>
Iq
M
-1
Max
Min
Min
Max
P_max mot
0.00...100 000.00 kW
p1530[D] (0.00)
+
-
Sign
+ or -
+
+
+
[4715.6]
[6630.8]
[6721.8]
[6730.1]
<4> [6732.1]
[6710.1]
<1> Intervention by the Vdc controller.

<2> Intervention when the speed limit is exceeded + 2 % nrated.
<3> p1556 = 0 switches the evaluation of the connector input p1555 off.
<5> Ony for PEM.
[6060.1] [6040.4]
[8012.1]
+
+
<2>
P_max
(1)
p1555[C]
-1
P_max_scale
p1556[D] (0.00)
Max
Min
<1>
Max [6710.1]
<3>
Isq_min
r1537
Isq_max
r1536
[6630.8]
Pre-control
p1401.7
r1548[0]
Upper limit
r1548[1]
Lower limit
2 2
y x [8016.8]
I_max Motor Module
[6730.4]
[6731.4]
<4> [6732.4]
[6723.8]
<4> [6727.8]
[6722.1][6724.1]
[6726.6][6727.6]
x
y
Min
0
1
<5> [6721.3]
Pulsverf. I_Grenze
p1604[D]
[6722.1]
[6723.4]
[6724.4]
<4> [6725.4]
U_Ausgang max
r0071
Min
Min
Current limit var
(1)
p0641[C]
r1538
r1539
[6060.1] [6040.4]
[8012.1]
Tn from speed controller [6040.6]
Kp from speed controller [6040.5]
Speed limiting
[3050.8]
[3050.8] r1084
n_limit pos eff
r1087
n_limit neg eff
Current limiting
Mot L_leakage total
r0377[M]
Iq_max total
r1533
Iq stall
calculation
Power limiting
n
Iq
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
8
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
0
9
6
7
1
0

C
u
r
r
e
n
t

s
e
t
p
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t

f
i
l
t
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r
- 6710 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 21.04.10 V04.04.00 Vector control - Current setpoint filter
Iq
M
Iq_max
Iq_min
[6640.8]
[6220.8]
[6220.8]
[2526.6]
[6640.8]
[6721.8]
[6730.1]
[6732.1]
fn_z
p1660[D]
D_z
p1661[D]
fn_n
p1658[D]
D_n
p1659[D]
fn_z
p1665[D]
D_z
p1666[D]
fn_n
p1663[D]
D_n
p1664[D]
p1656.0[D]
x
y
p1656.1[D]
x
y
fn_n
p1658[D]
D_n
p1659[D]
2
1
p1657[D]
fn_n
p1663[D]
D_n
p1664[D]
2
1
p1662[D]
x
y
x
y
<1>
<1>
<2>
f
|y|
fn
D
f
|y|
fn
D
Filter 1
Filter 2
f
2nd Order filter
|y|
f
2nd Order filter
|y|
1
0
1
0
0
1
0
1
<3>
[2526.6]
<4>
Refer to [1020.7]
Isq_min
r1537
Isq_max
r1536
[6714.1]
[6721.1]
[6725.1]
[6727.1]
r0077
Iq_set
r0056.14
Vdc_min controller active
r0056.15
r0079
M_set total
[6060.8]
M_suppl 3
(3841)
p1569[C]
[7010.7]
+
+
Isq_s T_smooth
p1654[D]
Interpolator and
smoothing for
voltage limits
Isq_s T_smooth_min
p1653[D]
Iq_set before filter
r1650
<2>
I_set_filt fn
(1)
p1655[1]
I_set_filt fn
(1)
p1655[0]
<3>
<1> General 2nd-order filter (detailed representation at [1022]).
<2> PT2 low pass (detailed representation at [1022]).
<3> The frequency is multiplied by this factor.
<4> With p1699 = 1, the parameter settings are transferred to the controller.
<5>
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
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n

d
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r
a
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s
2
-
1
6
8
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
0
6
7
1
4

I
q

a
n
d

I
d

c
o
n
t
r
o
l
l
e
r
- 6714 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 10.03.10 V04.04.00 Vector control - Iq and Id controllers
Kp_I Tn_I
+
r0078
Iq_act
r1598
Flux setpoint total
r0077
Iq_set
<1> [6730.1]
<2> [6731.5]
<3> [6732.1]
<1>
Quad_de-couple scal
p1726[D]
<1>
Quad_de-couple UmaxScal
p1727[D]
Pre-control, de-coupling and
limiting
Symmetrizing
2 2
y x
p1717
Kp_I Tn_I
Ia
Ib
VD -
r0068[0]
I_act abs. value
U_set
U_angle
U_max 1
U_set 1
2
3
[6730.1] <1>
[6731.1] <2>
[6732.1] <3>
[6730.1] <1>
[6731.1] <2>
[6732.1] <3>
[6723.1] <1>
[6724.1] <2>
[6725.1] <3>
[6723.4] <1>
[6724.4] <2>
[6725.4] <3>
<1> [6730.5]
<2> [6731.5]
<3> [6732.5]
[6710.8]
<1> [6723.1]
<2> [6724.1]
Id control, I component limiting
r1408.1
+
Isd_ctrl I_comp
r1724
+
+
Symmetrizing
Id current controller
Iq current controller
Voltage limiting
r1408.3
Voltage limit active
r0056.9
Isd_ctrl I_limit
r1725
U_dir axis_de-couple
r1728
<1> [6730.5]
<2> [6731.5]
<3> [6732.5]
<1> [6730.5]
<2> [6731.5]
<3> [6732.5]
[6310.1]
[6727.1] <3>
[6731.5] <2>
[6799.5]
<1> For induction motors.
<2> For synchronous motors.
p
K
[6799.1]
[7017.6]
[8014.1]
[8017.1]
[8018.1]
Phase U
Phase V
Phase W
[2526.2]
r0094
Transformat_angle
<3> Only for SINAMIC S120/S150 and separately-excited synchronous motors.
<3> [6726.8]
Flux setpoint pre-ctrl
Isd_ctrl_pre-ctrl scal
p1702[D]
<2> <3>
EMF scal Isq_ctrl
p1704[D]
<3>
Flux track thresh
p1705[D]
<3>
Isq_ctrl_pre-ctrl scal
p1703
Mot L_leakage total
r0377[M]
r0066
f_output
Isq_ctrl I_comp
r1719
<2> <3>
U_quad_de-couple
r1729
Refer to [1020.7]
Kp_I adaption
Kp_I
p1717
p0392[M] p0391[M]
Kp_I
Iq
<1> [6723.5]
<2> [6721.8]
<3> [6727.8]
p0393[M]
I_ctrl Kp
p1715[D]
1
0
r0075
Id_set
p1402.2
Current
controller
adaption
active
from r1624 [6725.1] <3>
r0076
Id_act
[6731.5] <2>
[6799.5]
r1723
Isd_ctrl output
+
+
+
+
+
+
+
+
+
+
+
+
Entkopplung
p1726
<2>
<3>
p1726
Transv_decpl scal
+
+
r1718
Isq_reg Ausg
r1732
U_dir axis_set
[6731.5]
r1732
U_quad_set
[6731.5]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
8
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
1
6
7
2
1

I
d

s
e
t
p
o
i
n
t

(
P
E
M
,

p
0
3
0
0

=

2
)
- 6721 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 11.06.10 V04.04.00 Vector control - Id setpoint (PEM, p0300 = 2)
M_set steady-state
p1610[D]
Mot t_excitation
p0346
1
0
r1751.0
from the model control
I_set T_smooth
p1616
[6060.6]
<1> G130/G150 only at PEM without encoder.
<1>
To current controller
[6714]
Refer to [1020.7]
MAX
2 2
Iq Iabs
Id_setp total
r1624
Mot kt
p0316[M]
Mot kt_reluctance
p0328[M]
M
Iq
[6640.5]
[6710.1]
[6714.6]
Ld
Lq
kt
rel
kt
r1762 Mot mod dev comp 1
[6731.2]
Torque setting value, speed controller
[6040]
M_suppl_accel
p1611[D]
r1515 M_suppl total
r1797 MotMod kT corr
from model control
[6731.3]
[6060.4]
r1518 M_acceleration
0.9 x r0067
r1538
r1539
r0067
n-Ctrl = 1
Open-loop
controlled
operation
&
select n-ctrl
M adaptation
Iabspre
M
1
0
Id_set
Iabs
(r1407.2)
0 = M-ctrl
1 = n-ctrl
Id
Id_inject
Iq
M
MotMod w/o enc
p1757[D]
Mot L_leakage total
r0377[M]
Mot L_stator_d
r0378[M]
From Id_field weakening
[6724]
r0077
Iq_set
MIN
Mot load angle opt
p0327[M]
[6710.8] Optimal Current
r0063[0]
n_act unsmoothed
P1750.5
1
0
[6731]
[6640.1]
p1755 2.0 *
p1755
1
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
8
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
2
6
7
2
2

F
i
e
l
d

w
e
a
k
e
n
i
n
g

c
h
a
r
a
c
t
e
r
i
s
t
i
c
,

I
d

s
e
t
p
o
i
n
t

(
A
S
M
,

p
0
3
0
0

=

1
)
- 6722 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 24.10.08 V04.04.00 Vector control - Field weakening characteristic, Id setpoint (ASM, p0300 = 1)
r1583
Flux setpoint, smoothed
I_set T_smooth
p1616
Flux setpoint
calculation
1
0
MotMod status (r1751)
MIN
Flux setpoint T_smooth
p1582[D]
< 0.3 s
Efficiency opt
0...100 %
p1580[D](0)
f
y
Field weakening
r0056.8
Magnetization
r1405.4
r0056.4
Mot t_excitation
p0346[D]
1 = Flux setpoint soft starting active
p1401.0
p1401.2
Id current limit
r0063[0]
n_act unsmoothed
Field-weakening
characteristic
<1> Only for vector control without encoder (SLVC).
Magnetization control
[6730.3]
[6723.1]
[6723.1]
Flux setpoint T_smth Fs
p1584[D]
Mot T_rotor
r0384
p1570[D]
Flux setpoint
p1570[D]
Refer to [1020.7]
[6640.1]
U_output max
r0071
[4715.7]
[2526.2]
[2526.2]
Field weakening scal
80.0 ...120.0 [%]
p1586[D] (100.0)
Quick magnetizing active
[6723.8]
1 = Quick magnetizing
p1401.6
Flux thresh magnet
p1573[D]
[6723.3]
Id_set
calculation
M_suppl_accel
p1611[D]
M_set steady-state
p1610[D]
r1508
r0067
I_outp max
0,9
[6060.5]
Mot I_mag_rated act
r0331[M]
+
+
[6640.3]
<1>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
8
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
3
6
7
2
3

F
i
e
l
d

w
e
a
k
e
n
i
n
g

c
o
n
t
r
o
l
l
e
r
,

f
l
u
x

c
o
n
t
r
o
l
l
e
r

(
A
S
M
,

p
0
3
0
0

=

1
)
- 6723 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 24.10.08 V04.04.00 Vector control - Field weakening controller, flux controller (ASM, p0300 = 1)
r1583
U_reserve dyn
0...150 [Vrms]
p1574[D] (10)
U_set 1
2
Field_ctrl Tn
10...10 000 [ms]
p1596[D] (50)
r1598
Flux setpoint total
-1
1
0
0
[6491]
Flux differentiation
p1401.1
[6491]
Flux build-in ctrl
p1401.2
U_max 1
Field_ctrl output
r1597
Id current limit
[6722.8]
+ +
+
+
Id_set total
r1624
Saturation characteristic
p0362 ... p0369
I_set_steady-state
r1623
[6714.8]
[6730.1]
[6714.8]
+
+
[6714.1]
0
-200 %
Drv filter type
p0230
Pulse frequency
p1800
Modulator mode
p1802
Modulation depth max
p1803
Modulat_depth max
r0073
Calculation, max. modulation depth
[6722.8]
Refer to [1020.7]
r0070
Vdc_act
[6640.1]
[6722.1]
U_output max
r0071
[6714.1]
1
0
[6722.8]
Quick magnetizing active
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
8
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
4
6
7
2
4

F
i
e
l
d

w
e
a
k
e
n
i
n
g

c
o
n
t
r
o
l
l
e
r

(
P
E
M
,

p
0
3
0
0

=

2
)
- 6724 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 03.03.10 V04.04.00 Vector control - Field weakening controller (PEM, p0300 = 2)
Filter
p0230
Pulse frequency
p1800
Modulator modes
p1802
p1803
Calculation, max. modulation depth
Field_ctrl Tn
10...10 000 [ms]
p1596[D] (50)
Mot U_rated
0...20 000 [Vrms]
p0304(0)
r0067
I_outp max
U_reserve dyn
0...150 [Vrms]
p1574[D] (10)
2
r0063[0]
n_act unsmoothed
Id_field weaken. ctrl
U_max 1
Field_ctrl output
r1593
[6640.3]
+ +
+
[6640.1]
[6722.1]
[6714.8]
[6731.1]
[6714.8]
[4715.7]
0
Modulat_depth max
r0073
+
-
+
Field weakening current Vst
r1589
0.9
Min
Mot I_mag_nenn akt
r0331
-1
-nF nF
Mot I_mag_rated act
r0331
Refer to [1020.7]
r0070
Vdc_act
[6721.1]
U_output max
r0071
+
+
100 %
Nom
Ld
\
r1582
r1598
Flux setpoint total
[6714.1]
U_set 1
Field weakening scal
80.0 ...120.0 [%]
p1586[D] (100.0)
Flux setpoint smooth
r1583
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
8
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
5
6
7
2
5

F
l
u
x

s
e
t
p
o
i
n
t
,

f
i
e
l
d

w
e
a
k
e
n
i
n
g

c
o
n
t
r
o
l
l
e
r

(
F
E
M
,

p
0
3
0
0

=

5
)
- 6725 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 18.10.10 V04.04.00 Vector control - Flux setpoint, field weakening controller (FEM, p0300 = 5)
r1583
U_reserve dyn
0...150 [Vrms]
p1574[D] (10)
U_set 1
2
Field_ctrl Tn
10...10 000 [ms]
p1596[D] (50)
r1598
Flux setpoint total
U_max 1
Field_ctrl output
r1597
[6722.8]
+ +
+
+
[6640.1]
[6714.8]
[6714.8]
Vdc smooth
r0026
[6726.1]
[8017.1]
[8018.1]
0
-200 [%]
Drv filter type
p0230
Pulse frequency
p1800
Modulator mode
p1802
p1803
Modulat_depth max
r0073
Calculation, maximum modulation depth
Refer to [1020.7]
p1582[D]
r0056.4
Mot t_excitation
p0346[M]
1 = Flux setpoint soft starting active
p1401.0
p1401.2
Magnetization control
f
y
Field weakening active
r0056.8
Field-weakening characteritic
Field weakening T_smth
0...20000 [ms]
p1584[D] (0)
Flux boost
p1570[D]
n
r0063[0]
n_act unsmoothed
1 = Flux characteristic, load-dependent
p1401.3
Flux boost n lower
p1576[D]
Flux boost n upper
100...1000 [%]
p1577[D] (100)
r0077
Iq_set
r0075
Id_set
r0066
f_outp
[6799.3]
-10 [%]
[6732.5]
[6710.8]
[4715.7]
100 [%]
100 %
FEM: Separately-excited synchronous motor
[6714.2]
U_output max
r0071
[2526.2]
[2526.2]
Flux setpoint
50.0...200. 0 [%]
p1570[D] (100.0)
Addit. flux setp.
(0)
p1571[C]
+
+
50 [%]
-50 [%]
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
8
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
6
6
7
2
6

F
i
e
l
d

w
e
a
k
e
n
i
n
g

c
o
n
t
r
o
l
l
e
r
,

f
l
u
x

c
o
n
t
r
o
l
l
e
r

(
F
E
M
,

p
0
3
0
0

=

5
)
- 6726 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 04.03.10 V04.04.00 Vector control - Field weakening controller, flux controller (FEM, p0300 = 5)
Field flux_ctrl output
r1593[0]
[6727.1]
1
0
0
[6491]
Flux differentiation
p1401.1
[6491]
Flux build-up ctrl
p1401.2
[6725.8]
Saturation characteristic
p0362 ... p0369
+
+
Refer to [1020.7]
r1598
Flux setpoint total
r0084[0]
Flux actual value
Flux controller Kp
0.0...999999.0
p1590[D] (10.0)
Flux actVal T_smth
0...1000 [ms]
p1585[D] (0)
[6732.1]
I_mod_ctrl pre-ctrl
r1618
p0360
Mot Lh/Lh d sat
flux ctrl Kp
p1600[D] (10.0)
[6727.1]
[6727.1]
+ +
Suppl flux setpoint
0.0...100.0 [%]
p1572[D] (0.0)
r0084[1]
I_component
r1593[1]
[6714.1]
Isq ctrl trk thrsh
0.0...100.0 [%]
p1705[D] (100.0)
Flux tracking
+
Isq_ctrl EMF scal
0.0...200.0 [%]
p1704[D] (100.0)
Id_set stationary
r1623
I_mod flux setpoint
r1633
0
1
0
1
Chng Model FEM
r1776[5]
[3080.7]
r1199.2
dn
dt r1431
Pree control speed
[6030.8]
p1611[D]
M_set static
p1610[D]
0
[6060.4]
M_setp sv SLVC
r1508
M_set bef. M_suppl
I_set T_smooth
p1616[D]
1
0 +
+
r1199.2 = 0 for 1s
0
[6060.6]
<1>
<1> Bypassed if r1776[5] = 0.
<2> Frozen if the deviation in the excitation current is > p1599.
<3> If <2> applies, the P controller becomes a PI controller (p1592). The entire output is then limited. If there is a limitation, the I component of the controller is held.
<4> r1617 = r1508 if the speed controller is enabled (r1776[4] > 0).
<2>
<3>
[6727.6]
Id_setpoint filter
[6727.1]
[6640.3]
+
<2>
[6733.6]
<4>
<5>
r0067
I_outp max
Flux controller Tn
0...10000 [ms]
p1592[D] (30)
Flux ctrl P outp
r1602
FEM: separately excited synchronous motor
<5> Only for encoderless operation.
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
8
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
7
6
7
2
7

C
u
r
r
e
n
t

m
o
d
e
l
,

e
x
c
i
t
a
t
i
o
n

c
u
r
r
e
n
t

m
o
n
i
t
o
r
i
n
g
,

c
o
n
t
r
o
l

c
o
s

p
h
i

(
F
E
M
,

p
0
3
0
0

=

5
)
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 18.10.10 V04.04.00 Vector control - Current model, excitation current monitoring, cos phi (FEM, p0300 = 5)
- 6727 -
Excitation current
monitoring
Minimum I_exc
p1642[D] (5.0 %)
Minimum I_exc Kp
p1643[D] (0.40)
Motor parameters:
p0354[D], p0355[D]
p0358[D], p0359[D]
p0360[D], p0361[D]
Scalings:
p0655[D] (100.0 %)
...
p0660[D] (100.0 %)
+
K
p
To motor model
+
Calculation, excitation current setpoint

Field flx_ctr outp
r1593
Flux ctrl P output
r1602
I_mod_ctr pre-ctr
r1618
I_mod_ctrl output
r1636
I_mod_ctrl I component
r1635
I_mod_ctrl Tn active
r1632
I_mod_ctrl Kp active
r1631
I_mod I_mag d-Ax
R1637
I_mod I_mag q-Ax
r1638
From motor model
[6732.4]
From flux setpoint
[6725.4]
From current setpoint filter
[6710.8]
From P flux control
[6726.8]
From flux control
[6726.8]
From Iq and Id controller
[6714.8]
U_output max
r0071
From flux control
[6726.8]
r0066
f_outp
r0077
Iq_set
r0078
Iq_act
From flux control
[6726.8]
I_ctrl Tn
0...10000 [ms]
p1630[D] (50)
I_mod_ctrl Kp
0.00...6.00
p1629[D]
I_mod_ctrl dyn_fact
1...400 [%]
p1628[D] (50)
I_mod Isq track
r1639
I_mod flux act val
r1634
r1626
I_exc_setp
r0065
f_Slip
[6732.1]
I_exc_act
r1641
Cal I_exc_setp
10.0...200.0 [%]
p1625[D] (100.0)
Mot Lh/Lh d sat
p0360[M]
Exc I_no-load rat
p0389[M]
Exc I_rated
p0390[M]
I_exc monit. Output
r1644
I_mod flux setpoint
r1633
+
FEM: Separately-excited synchronous motor
[8018.1]
[8018.1]
Control cos phi
df(chngov cos phi) p1621[D]
Min. current impressed
I_set I/f operation p1609[D]
I_stator min p1620[D]
I/f operation (p1300 = 18)
Iq tracking
SetAct track thresh
p1619[D] (0.00)
Current model
To motor model
[6732.4]
r1627
I_mod load angle
I_exc_act
(0)
p1640[C]
+
To current controller
[6714.1]
Id_setp total
r1624
Id_setp T_smooth
0.1...200.0 [ms]
p1622[D] (20.0)
r0067
I_outp max
[6640.3]
0,9
r1623[1]
<1>
p1612
1
[6733.6]
r1776[5]
[6726.7]
Id_setpoint filter
+
+
<1> Only for encoderless closed-loop control.
+
+
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
8
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
8
6
7
3
0

I
n
t
e
r
f
a
c
e

t
o

t
h
e

M
o
t
o
r

M
o
d
u
l
e

(
A
S
M
,

p
0
3
0
0

=

1
)
- 6730 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 04.03.10 V04.04.00 Vector control - Interface to the Motor Module (ASM, p0300 = 1)
DC link voltage
+ BRP
- BRN
Brake control
P24
M
Pulse enable
HW
= Only for vector ctrl. with encoder.
r0063[0]
n_act unsmoothed
r0084
Flux actual value
[6714.1] r0094
Transformat_angle
r0087
Cos phi act
+
<1> Precontrol speed
[6030.8]
Control Unit
DRIVE-CLiQ
PWM
Motor Module
M
~
+
U
V
W
r0074
Modulation depth
2
U_set
U_angle
I_max Motor Module
r0066
U_output
Frequency negative
r0056.7
Frequency limit active
r0056.11
[6310.1]
[6799.1]
<3> Additionally for Booksize
[6714.8]
Refer to [1020.7]
[6799.1]
r0072
U_angle
[6799.5]
[6220.1]
[6723.1]
[6799.1]
r0070
Vdc_act
[6714.1]
I_Phase actual value
r0069[0...2]
U_Phase actual value
r0089[0...2]
p1755 p1756
+
[2526.2]
Sign
+ oder -
= Only for vector ctrl. without encoder. <1>
[6714.1]
Stall monitoring
p1744
p1745
Model control
p1750
Motor model
(observer)
r1762, r1763,
r1778, r1779
Dir of rot p0182[D]
r1762.0
r1762.1
r1751
From therm Motor model
Kp Tn
r1771
r1770
r1407.1 [2522.6]
1
0
+
r0061[0] [4715.5]
<2>
[1690.8]
[6714.8]
[1690.1]
[6640.1]
Current model
[6310.5]
+
f_slip
r0065
p1760
p1764
p1761
p1767 <1>
p1758 p1759
[6799.5]
[6722.7]
Iq
M
[6640.5]
[6710.1]
Vibration damping
p1740 <1>
+
r1408.11
r1408.12
<2>
[8012.6]
[8012.7]
[4715.7]
+
+
+
+
[4715.5]
n_act calculation
<1>
[4715.7]
I_max Motor Module
R_stator act
r0395
<3>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
9
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
1
9
6
7
3
1

I
n
t
e
r
f
a
c
e

t
o

t
h
e

M
o
t
o
r

M
o
d
u
l
e

(
P
E
M
,

p
0
3
0
0

=

2
)
- 6731 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 10.03.10 V04.04.00 Vector control - Interface to the Motor Module (PEM, p0300 = 2)
<1> Precontrol
speed [6030.8]
Control Unit
DRIVE-CLiQ
PWM
Motor Module
M
~
+
U
V
W
DC link voltage
+ BRP
- BRN
Brake control
P24
M
I_max Motor Module
Pulse enable
HW
p1795[D]
r0074
Modulation depth
2
U_set
U_angle
I_max Motor Module
r0066
f_outp
[4715.7]
[6640.1]
Frequency negative
r0056.7
r0056.11
[6310.1]
[6799.1]
<2> Additionally for Booksize.
<2>
[6714.8]
[6714.8]
Refer to [1020.7]
[6799.1]
r0072
U_output
[6799.5]
[6220.1]
[6724.1]
[6799.1]
r0070
Vdc_act
[6714.1]
I_Phase actual value
r0069[0...2]
U_Phase actual value
r0089[0...2]
p1755 p1756
r1797
MotMod kT corr
r0094
Transformat_angle
Current model Vibration damping
p1740
+
+
+
[2526.2]
Sign + or -
[6714.8]
[6714.8]
= Only for vector ctrl. without encoder. <1>
r0078
Iq_act
r0076
Id_act r0087
Cos phi act
[6799.5]
[6714.1]
kT estimator
p0328[M]
p0316[M]
p1780.3
Motor model configuration
p1750
AC correlator
p1750.5
p0398[M]
p0399[M]
r1608
Motor model
p0350[M]
p0356[M]
p0357[M]
r0334
r1763
r1762.0
r1762.1
r1751
p1760[D]
p1764[D]
p1798[D]
p1761[D]
p1767[D]
PEM: Permanent-magnet
synchronous motor
AC-Pulse generator
p1605[D] p1607[D]
[6714.6]
R_stator act
r0395
From thermal motor model
r1732
Ud_set
r1733
Uq_set
[6714.6]
Kp Tn
r1771
r1770
r0061[0]
r1407.1 [2522.6]
1
0
n_act calculation
+
I_Resp_act
r1608[0...1]
Model actual
r1606
[4715.5]
+
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
9
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
2
0
6
7
3
2

I
n
t
e
r
f
a
c
e

t
o

t
h
e

M
o
t
o
r

M
o
d
u
l
e

(
F
E
M
,

p
0
3
0
0

=

5
)
- 6732 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 10.03.10 V04.04.00 Vector control - Interface to the Motor Module (FEM, p0300 = 5)
DRIVE-CLiQ
I_max Motor Module
[6640.1]
Sign
+ or -
Frequency, negative
r0056.7
[2526.2]
[4715.7]
From thermal motor model
R_stator act
r0395
r0063[0]
n_act unsmoothed
[6714.1]
I_phase act val
r0069 [0...2]
U_phase act val
r0089[0...2]
MotMod n_um Hyst G
p1753
MotMod n_chgov hys
p1756
+
+
Motor model
(voltage model)
p1766 <1>
MotMod n_chngov enc.
p1752
Dir of rot p1821[D]
[6727.8]
Motor model error threshold stall
detection p1745
MotMod v_chgSnsorl
p1755
<1> Only encoderless.
<1>
<1>
[6030.8]
Control Unit
r0074
Modulation depth
2
U_set
U_angle
r0066
f_outp
r0056.11
[6725.1][6799.1]
[6714.8]
[6714.8]
[6799.1]
r0072
U_output
[6799.5]
[6799.1] r0070
Vdc_act
[6727.8] r0065
f_Slip
Refer to [1020.7]
[8018.1]
p0313
60
+
+
Hyst n_act>n_max
p2162
Maximum speed
p1082
n_limit pos
p1083
Min
0,1 x p0311
PWM
Motor module
M
~
+
U
V
W
DC link voltage
+ BRP
- BRN
Brake control
P24
M
I_max Motor Module
Pulse enable
HW
<2> Additionally for Booksize.
<2>
p1800
p1802
p1803
p1810
p1811
p1820
p1821
p1825
p1828
p1829
p1830
pulse logic
parameter
[6726.1]
r0087
Cos_phi_actual value
r0084
Flux actual value
[6799.5]
Orientation angle select
[6733]
Iq
M
[6640.5]
[6710.1]
Motor stalled
r1408.12 [8018.1]
U_mod speed
[6733.1]
U_mod angle
[6733.1]
r0094
Transformat_angle
[6714.1]
r1778
MotMod ang. diff.
r1776
MotMod Status Sig
[6726.7]
[6727.6]
r1431
Speed pre-cont M.M.
r1627
n_act unsmoothed
Encoder angle
[4715.8]
U_mod angle
[6733.1]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
V
e
c
t
o
r

c
o
n
t
r
o
l
2
-
1
6
9
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
2
1
6
7
3
3

M
o
t
o
r

m
o
d
e
l

s
e
l
e
c
t
i
o
n

(
F
E
M
,

p
0
3
0
0

=

5
)
- 6733 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 14.12.10 V04.04.00 Vector control - Motor model selection (p1300 = 20 and FEM, p0300 = 5)
[4715.7] r0063[0]
n_act calculated
r0094
Transformat_angle
[6714.1]
[6727.8] r1627
I_mod load angle
Refer to [1020.7]
<1>
<2> When closed-loop control mode has been reached, ramp return is reached only in open-loop control mode.
[6732.1]
p1451 p1451
[6030.8]
U_mod speed
p1748 x p1749 x p1755 p1749 x p1755
n_act calculation
Speed cut-out
Speed controller enable
Angle cut-out
p1755 x p1756
p1755
p1755
closed-loop
controlled
open-loop
controlled
open-loop controlled /closed-loop controlled
p1748 x p1749 x p1755
p1755 x p1756
p1754
Encoder angle
[4715.7]
Encoderless
r1407.1 = 1
p1740
Angle cut-out
Speed cut-out
[6732.1]
U_mod angle
0
1
r1776[4]
Speed controller enable
r1776[5]
Switch-over ramp motor model
r1776[3]
Switch-over ramp actual speed
[4715.5]
<1>
<1>
<2>
<2>
<2>
<1>
+
+
+
Damping
integration
+
+
[6726.1]
[6726.6]
[6727.6]
[6060]
[6726]
r1778
MotMod ang. diff.
+
+
Angle
integration
<1> The cut-out ramps operate in open-loop control mode. Resetting is executed when switching over from closed-loop to open-loop mode.
r1431
Pre-control speed
V
e
c
t
o
r

c
o
n
t
r
o
l
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
9
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
2
2
6
7
9
9

D
i
s
p
l
a
y

s
i
g
n
a
l
s
- 6799 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 10.03.10 V04.04.00 Vector control - Display signals
100 ms
[6714.8]
[6714.8]
[6714.8]
300 ms
100 ms
100 ms
300 ms
300 ms
300 ms
<1> [6730.5]
<2> [6731.5]
<3> [6732.5]
<1> [6730.1]
<2> [6731.1]
<3> [6732.1]
<1> [6730.1]
<2> [6731.1]
<3> [6732.1]
Iq
M
[4715.7]
<1> [6730.1]
<2> [6721.8]
<3> [6732.1]
r0082[0]
P_act unsmoothed
T_smth display
p0045
[7017.6]
[8014.1]
[8017.1]
[8018.1]
[6799.5]
3
<1> [6730.1]
<3> [6732.1]
r0087
cos phi actual val
100 ms
<1> [6730.5]
<2> [6731.5]
<3> [6732.5]
[4715.6]
100 ms
r0026
Vdc smooth
r0027
I_act abs value smooth
T_smth display
p0045
r0063[1]
n_act
Smoothed with p0045
[6799.8]
[6799.8]
100 ms
100 ms
r0032
P_active_actual smooth
r0082[1]
P_act Smoothed with p0045
T_smth display
p0045
<3> Only for SINAMIC S120/S150 and separately-excited synchronous motors.
100 ms
<1> [6730.4]
<2> [6731.4]
<3> [6732.4]
r0025
U_outp smooth
r0060
n_set before filter
[6030.1]
r0063[0]
n_act unsmoothed
r0066
f_outp
r0072
U_output
r0070
Vdc_act
r0068[0]
I_act abs. value unsmoothed
n_set smooth
r0020
f_outp smooth
r0024
Modulation depth, smooth
r0028
Id_act smooth
r0029
Iq_act smooth
r0030
M_act smooth
r0031
cos phi smooth
r0038
r0074
Modulation depth
r0078
Iq_act
r0080[0]
M_act unsmoothed
r0082[0]
P_act unsmoothed
r0076
Id_act
r0082[2]
Power drawn
r0087
Cos phi actual value
r0068[1]
I_act abs. value
smoothed with p0045
r0063[0]
n_act unsmoothed
r0080[0]
M_act
r0080[1]
M_act
[6799.5]
<1> For induction motors.
<2> For synchronous motors.
T_smth display
p0045
r0021
n_act smooth
Function diagrams
Technology functions
2.20 Technology functions
Function diagrams
7008 kT estimator 2-1695
7010 Friction characteristic 2-1696
7012 Advanced Positioning Control (APC, r0108.7 = 1) 2-1697
7014 External Armature Short-Circuit (EASC, p0300 = 2xx or 4xx) 2-1698
7016 Internal Armature Short-Circuit (IASC, p0300 = 2xx or 4xx) 2-1699
7017 DC brake (p0300 = 1xx) 2-1700
7020 Synchronization 2-1701
T
e
c
h
n
o
l
o
g
y

f
u
n
c
t
i
o
n
s
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
6
9
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
2
3
7
0
0
8

k
T

e
s
t
i
m
a
t
o
r
- 7008 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 14.04.08 V04.04.00 Technology functions - kT estimator
kT estimator
Prerequisites:
- The motor parameters are precisely determined using the motor data identification (p1909, p1910).
- The motor temperature is detected (p0600).
- The characteristic of the compensation of the voltage emulation errors is identified (p1952, p1953).
- The compensation of the voltage emulation errors is activated (p1780.8 = 1).
r0089[0...2]
U_phase act value
r0069[0...2]
I_phase act value
p0350[M]
Mot R_stator cold
p0356[M]
Mot L_stator leak
r0035
Motor temperature
r0063
n_act smooth
r0334[M]
Mot kT act
1
0
1.5 * r0334 Mot kT act
0.5 * r0334 Mot kT act
0
Actual speed < motor model changeover speed
r0063 n_act < p1752 MotMod n_chgov enc
r0063 n_act < p1755 MotMod n_chgSnsorl
MotMod kT T_smth
1...10000 [ms]
p1795[D] (100)
Is internally used to
calculate the torque
r0334
Mot kT act
p1780[D].3 = 1 Select motor model PEM kT adaptation
p1780[D].8 = 1 Compensation of voltage emulation errors in the drive converter
kT estimated
kT
adap
+
r1797[0]
MotMod kT corr
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
c
h
n
o
l
o
g
y

f
u
n
c
t
i
o
n
s
2
-
1
6
9
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
2
4
7
0
1
0

F
r
i
c
t
i
o
n

c
h
a
r
a
c
t
e
r
i
s
t
i
c
- 7010 -
Function diagram
8 7 6 5 4 3 2 1
fp_7010_51_eng.vsd DO: SERVO, VECTOR (n/M), VECTORMV
SINAMICS 18.10.10 V04.04.00 Technology functions - Friction characteristic
0
Friction rec act
0...3
p3845 (0)
Friction M0
p3830[D] (0)
Friction n0
p3820[D] (15)
Friction M9
p3839[D] (0)
Friction n9
p3829[D] (3000)
Friction characteristic positive direction
r3840.8
M_suppl 3
(3841)
p1569[C]
r3841
Frict outp
Friction characteristic OK
r3840.0
0
1
Frict act
p3842 (0)
Drive ON from the sequence control
Friction characteristic record active (p3845 > 0)
Frict rec t_RFG
0.000...999999.000 [s]
p3846[D] (10.000)
r0063
n_act smoot
Sign
+ or -
Friction rec t_warm
0.000...3600.000 [s]
p3847[D] (0.000)
A07960
"Friction characteristic incorrect"
To
setpoint channel
[3080.7]
Record friction characteristic
Play friction characteristic
<1>
<1> p3845
= 0: Friction characteristic record deactivated
= 1: Friction char record activated for all directions
= 2: Friction char record activated for positive direction
= 3: Friction char record activated for negative direction
<2> Only for SINAMICS S120 and SERVO.
n [RPM]
M [Nm]
To M_set total
e. g.
SERVO [5610.5][5650.7]
VECTOR, VECTORMV [6710.1]
Refer to [1020.7]
Friction characteristic record activated
r3840.1
Friction characteristic record completed
r3840.2
Friction characteristic record aborted
r3840.3
r3840
Friction ZSW
A07961
"Friction characteristic record activated"
F07963
"Friction characteristic record interrupted"
r1538
M_max upper eff
r1539
M_max lower eff
p1532
M_max offset +
p1532
M_max offset
+
<2>
<2>
r0063[0]
n_act unsmoothed
[4715.7]
[4710.7]
Start ramp-function generator
[5650.8]
[5650.8]
<2>
<2>
<2>
<2>
T
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1
1

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2
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,

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1
/
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1
1
,

6
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
2
2
5
7
0
1
2

A
d
v
a
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s
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n
g

C
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t
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l

(
A
P
C
,

r
0
1
0
8
.
7

=

1
)
- 7012 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 18.10.10 V04.04.00 Technology functions - Advanced Positioning Control (APC, r0108.7 = 1)
r3777[1]
Filter 1.1 output value
APC n_load ctr1 Kp
0.000...100.000 [Ns/m]
p3760[D] (10.000)
APC Filt 2.1 fn_n
0.5...16000.0 [Hz]
p3723[D] (2000.0)
p0115[1] x p3706
p0115[1] (125.00 s)
APC Filt 1.1 fn_n
0.5...16000.0 [Hz]
p3713[D] (2000.0)
APC Filt 1.1 D_n
0.000...10.000
p3714[D] (0.700)
APC Filt 1.1 fn_d
0.5...16000.0 [Hz]
p3711[D] (2000.0)
APC Filt 1.1 D_d
0.050...10.000
p3712[D] (0.700)
APC Filt 2.2 fn_n
0.5...16000.0 [Hz]
p3728[D] (2000.0)
APC Filt 2.1 fn_d
0.5...16000.0 [Hz]
p3721[D] (2000.0)
APC Filt 2.2 D_n
0.000...10.000
p3729[D] (0.700)
APC Filt 2.1 D_n
0.000...10.000
p3724[D] (0.700)
APC Filt 2.2 fn_d
0.5...16000.0 [Hz]
p3726[D] (2000.0)
APC Filt 2.1 D_d
0.050...10.000
p3722[D] (0.700)
APC Filt 2.2 D_d
0.050...10.000
p3727[D] (0.700)
[5030.1]
[5210.1]
APC n_load ctr1 Tv
0.00...500.00 [ms]
p3761[D] (0.00)
Activating APC
p3700.0
APC n_load ctr2 Kp
0.000...100.000 [Ns/m]
p3765[D] (10.000)
APC Filt 3.1 fn_n
0.5...16000.0 [Hz]
p3733[D] (2000.0)
APC Filt 3.2 fn_n
0.5...16000.0 [Hz]
p3738[D] (2000.0)
APC Filt 3.1 fn_d
0.5...16000.0 [Hz]
p3731[D] (2000.0)
APC Filt 3.2 D_n
0.000...10.000
p3739[D] (0.700)
APC Filt 3.1 D_n
0.000...10.000
p3734[D] (0.700)
APC Filt 3.2 fn_d
0.5...16000.0 [Hz]
p3736[D] (2000.0)
APC Filt 3.1 D_d
0.050...10.000
p3732[D] (0.700)
APC Filt 3.2 D_d
0.050...10.000
p3737[D] (0.700)
APC n_load ctr2 Tv
0.00...500.00 [ms]
p3766[D] (0.00)
p0115[1] x p3707
+
+
Filter 3.1
Filter 3.2
Filter 2.2 Filter 2.1
<1>
<1>
<1>
<1>
<1>
Filter 1.1
r3772[0] r3772[1]
r3777[0]
r3773[1]
r3773[0]
+
+
+
+
<1>
<2> The "Advanced Position Control (APC, r0108.7)" function module is only
available for SINUMERIK controllers with integrated SINAMICS
functions.
3.2
3.1
2.2
2.1
1.1
Filter
Active
APC filter act
p3704
Bit 0 = 1
Bit 4 = 1
Bit 5 = 1
Bit 8 = 1
Bit 9 = 1
Inactive
Bit 0 = 0
Bit 4 = 0
Bit 5 = 0
Bit 8 = 0
Bit 9 = 0
General
2nd-Order Filter
Bit 0 = 1
Bit 4 = 1
Bit 5 = 1
Bit 8 = 1
Bit 9 = 1
Low Pass (PT2)
Bit 0 = 0
Bit 4 = 0
Bit 5 = 0
Bit 8 = 0
Bit 9 = 0
APC filter type
p3705
<2>
r3770
APC n_load
[5030.5]
-
+
[5210.1]
[4711.7]
APC accel input
(0)
p3750
T 0
0
F07425
APC limit
0
1
0 ...1000000 [ms]
p3779 (0)
APC n_limit
p3778
1 0
APC acceleration
sensor
p3700.1
APC accel DT1 T
0.00...10000.00 [ms]
p3751[D] (100.00)
F
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8

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1
1

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/
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,

0
1
/
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1
1
,

6
S
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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2
-
2
2
6
7
0
1
4

E
x
t
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r
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a
l

A
r
m
a
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e

S
h
o
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t
-
C
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c
u
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(
E
A
S
C
,

p
0
3
0
0

=

2
x
x

o
r

4
x
x
)
- 7014 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 28.02.08 V04.04.00 Technology functions - External Armature Short-Circuit (EASC, p0300 = 2xx or 4xx)
Drive converter
~
M
3
Contactor feedback signal
p1236 = 200 ms
=1
T 0
+24 V
0 T
p1237 = 200 ms
&
&
Pulse enable via hardware
Pulse enable via hardware
1
Pulse inhibit
(r0046.19 = 1)
1
r0046.4
r0046.20
1
Drive status S1, S2, S3 [2610]
DI
p1231 = 1
r0002 = 19
2000 s
Control Unit
DO
p1235
Contactor
closed
r1239.0
p1231 = 2
p1231 = 1
(0)
ASC act
p1230
<1> p0300 = 4xx only with S120/S150. EASC: External Armature Short-Circuit
A07904
"Contactor feedback signal "Closed" missing"
F07905
"Contactor feedback signal "Open" missing"
<1>
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9
9

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1
1

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2
0
/
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1
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0

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,

0
1
/
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0
1
1
,

6
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0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
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2
-
2
2
7
7
0
1
6

I
n
t
e
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a
l

A
r
m
a
t
u
r
e

S
h
o
r
t
-
C
i
r
c
u
i
t

(
I
A
S
C
,

p
0
3
0
0

=

2
x
x

o
r

4
x
x
)
- 7016 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 28.02.08 V04.04.00 Technology functions - Internal Armature Short-Circuit (IASC, p0300 = 2xx or 4xx)
2000 s
DRIVE-CLiQ
Control Unit Motor Module
~
M
3
Drive converter
F07907
"Motor terminals are not at zero potential after pulse cancellation"
p1231 = 4
Fault response, Internal Armature Short-Circuit
(1)
ASC act
p1230
Armature short-circuit, enable missing
r0046.4
Control of armature short-circuiting in the power unit
Armature short-circuit, internal enable missing
r0046.20
<1> p0300 = 4xx only with S120/S150. IASC: Internal Armature Short-Circuit
<1>
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0
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1
1

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/
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1
1
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6
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9
7
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4
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P
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0
-
0
B
P
2
F
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2
-
2
2
8
7
0
1
7

D
C

b
r
a
k
e

(
p
0
3
0
0

=

1
x
x
)
- 7017 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 21.04.10 V04.04.00 Technology functions - DC brake (p0300 = 1xx)
To pulse inhibit
To sequencer
<1> The DC braking current is determined during automatic calculation (p0340 = 1).
<2> The de-magnetization time is determined during automatic calculation (p0340 = 1, 3).
<3> As soon as the standstill threshold (p1226) has been reached, the DC current injection will be aborted prematurely.
<4> Signal r1239.8 is only set while the DC brake is active.
MIN
Current actual values

[5730]
[6714]
Kp Tn
p0115
r1239.10
DC brake ready
The parameters of the I_max current controller are also used.
DCBRK I_brake
0.00...10000.00 [A]
p1232[M] (0.00)
DCBRK time
0.0...3600.0 [s]
p1233[M] (0.0)
DCBRK n_start
20.00...210000.00 [1/min]
p1234[M] (0.00)
<1>
ASC config
0...14
p1231[M] (0)
(0)
ASC act
p1230[C]
OFF
Mot t_de-excitat
0.00...20.00 [s]
p0347[M] (0.00)
<2>
0
4
DC brake fault response
DC brake active
r1239.8
<4>
I_max_U_ctrl Kp
0.000...100000.000
p1345[D] (0.000)
I_max_U_ctrl Tn
0.000...50.000 [s]
p1346D] (0.030)
From I
2
t control [8014]
|I_act|
r0068[0]
I_act abs val
To control [5730]<6>
[6730]
To V/f characteristic [6300]
r0072
U_output
I_ctrl Kp
0.000...100000.000 [V/A]
p1715[D] (0.000)
I_ctrl Tn
0.00...1000.00 [ms]
p1717[D] (2.00)
<5> <5>
n_set
BICO = 1
p0347
BICO = 0
n_set
p1234
p1233
p1232
p0347
Pulse inhibit
<3>
Braking response
p1232
|I_set|
t
t
|I_set|
n_act
n_act
t
|I_act|
|I_act|
Pulse inhibit
t
<6>
+
T
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1

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1
1

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0
/
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1
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0

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,

0
1
/
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0
1
1
,

6
S
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3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
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2
-
2
2
9
7
0
2
0

S
y
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i
z
a
t
i
o
n
Phase measurement/
closed-loop control
- 7020 -
Function diagram
8 7 6 5 4 3 2 1
fp_7020_51_eng.vsd DO: VECTOR, VECTORMV
SINAMICS 22.04.10 V04.04.00 Technology functions - Synchronization
Frequency measurement
1
0
Sync Ph_sync thrsh
1.00...20.00 []
p3813[D] (2.00)
Sync phase setp
-180.00...179.90 []
p3809[D] (0.00)
-p3811
KP TN
To setpoint channel
r3812
Sync f_corr
r3808
Sync phase diff
1
0
1
0
Sync U_diff thresh
0.00...10.00 [%]
p3815[D] (10.00)
&
Actual voltage
sensing
(closed-loop
control gating
unit)
Synchronizing
voltage
sensing
r3814
Sync U_diff
To setpoint channel
r3804
Sync f_target
Sync f_diff thresh
0.00...1.00 [Hz]
p3806[D] (0.10)
A07941
f_target > f_max
A07941
f_target < f_min
Start closed-loop phase control
f
|U|
Sequence
control
Sync-line-drive enabled
r3819.0
Sync-line-drive frequency measurement active
r3819.5
Sync-line-drive closed-loop phase control active
r3819.6
Sync act
0...1
p3800[D] (0)
Sync DO No
1...62
p3801[D] (1)
Sync-line-drive synchronizing error
r3819.3
Sync-line-drive in synchronism
r3819.2
(measurement
via VSM10 with
PLL)
r3805
Sync f_diff
To motor control
+
[3030.8]
[3080.5]
+
+
+
+
Sync f_lim
0.00...1.00 [Hz]
p3811[D] (0.20)
fset
set
|U|set
(0)
Sync enable
p3802[C]
-1
0
1
0
1
r1084
n_limit pos eff
r1087
n_limit neg eff
Function diagrams
Technology controller
2.21 Technology controller
Function diagrams
7950 Fixed value selection binary (r0108.16 = 1 and p2216 = 2) 2-1703
7951 Fixed value selection direct (r0108.16 = 1 and p2216 = 1) 2-1704
7954 Motorized potentiometer (r0108.16 = 1) 2-1705
7958 Closed-loop control (r0108.16 = 1) 2-1706
7960 DC link voltage controller (r0108.16 = 1) 2-1707
T
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2
-
1
7
0
3

S
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s

A
G

2
0
1
1

A
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l

R
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S
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A
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I
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S
S
1
2
0
/
S
1
5
0

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a
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L
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1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
3
0
7
9
5
0

F
i
x
e
d

v
a
l
u
e

s
e
l
e
c
t
i
o
n

b
i
n
a
r
y

(
r
0
1
0
8
.
1
6

=

1

a
n
d

p
2
2
1
6

=

2
)
- 7950 -
Function diagram
8 7 6 5 4 3 2 1
fp_7950_51_eng.vsd DO: SERVO, VECTOR, VECTORMV
SINAMICS 09.04.10 V04.04.00 Technology controller - Fixed value selection binary (r0108.16 = 1 and p2216 = 2)
0 1 1 0
1 0 1 0
1 1 0 0
1 1 1 0
0 0 0 1
0 0 1 0
Tec_ctrl fix val 1
-200.00...200.00 [%]
p2201[D] (10.00)
p2201[D]
0 0 0 0
0 1 0 0
1 0 0 0
<1> p2216 in sight for SERVO and VECTOR only.
<101> The pre-assignment of the sampling time in p0115[6] is 4000.00 s.
Tec_ctrl fix val 2
-200.00...200.00 [%]
p2202[D] (20.00)
p2203[D]
Tec_ctrl fix val 3
-200.00...200.00 [%]
p2203[D] (30.00)
p2204[D]
Tec_ctrl fix val 4
-200.00...200.00 [%]
p2204[D] (40.00)
p2205[D]
Tec_ctrl fix val 5
-200.00...200.00 [%]
p2205[D] (50.00)
p2206[D]
Tec_ctrl fix val 6
-200.00...200.00 [%]
p2206[D] (60.00)
p2207[D]
Tec_ctrl fix val 7
-200.00...200.00 [%]
p2207[D] (70.00)
p2208[D]
Tec_ctrl fix val 8
-200.00...200.00 [%]
p2208[D] (80.00)
p2209[D]
p2211[D]
Tec_ctrl fix val 11
-200.00...200.00 [%]
p2211[D] (110.00)
p2210[D]
Tec_ctrl fix val 10
-200.00...200.00 [%]
p2210[D] (100.00)
p2212[D]
Tec_ctrl fix val 12
-200.00...200.00 [%]
p2212[D] (120.00)
p2215[D]
Tec_ctrl fix val 15
-200.00...200.00 [%]
p2215[D] (150.00)
p2214[D]
Tec_ctrl fix val 14
-200.00...200.00 [%]
p2214[D] (140.00)
p2213[D]
Tec_ctrl fix val 13
-200.00...200.00 [%]
p2213[D] (130.00)
Tec_ctrl fix val 9
-200.00...200.00 [%]
p2209[D] (90.00)
(0)
Tec_ctrl sel bit 0
p2220[C]
(0)
Tec_ctrl sel bit 1
p2221[C]
(0)
Tec_ctrl sel bit 3
p2223[C]
(0)
Tec_ctrl sel bit 2
p2222[C]
<101>
0.00 %
0 1 1 1
r2224
Tec_ctr FixVal eff
1 1 1 1
1 1 0 1
1 0 1 1
0 0 1 1
0 1 0 1
1 0 0 1
0 ... 15 2
0
2
3
p2202[D]
Refer to [1020.7]
Tec_ctr FixVal sel
r2225.0
<1>
Tec_ctrl No act
r2229
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-
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2
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)
- 7951 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 18.10.10 V04.04.00 Technology controller - Fixed value selection direct (r0108.16 = 1 and p2216 = 1)
(0)
Tec_ctrl sel bit 0
p2220[C]
(0)
Tec_ctrl sel bit 1
p2221[C]
(0)
Tec_ctrl sel bit 3
p2223[C]
(0)
Tec_ctrl sel bit 2
p2222[C]
<101>
Refer to [1020.7]
Tec_ctrl fix val 1
-200.00...200.00 [%]
p2201[D] (10.00)
Tec_ctrl fix val 2
-200.00...200.00 [%]
p2202[D] (20.00)
Tec_ctrl fix val 3
-200.00...200.00 [%]
p2203[D] (30.00)
Tec_ctrl fix val 4
-200.00...200.00 [%]
p2204[D] (40.00)
r2224
Tec_ctr FixVal eff
0 0 0 1
p2201[D]
p2203[D]
p2204[D]
0 1 0 0
p2202[D]
1 0 0 0
+ + +
+ + +
0 0 1 0
Tec_ctr FixVal ZSW
r2225.0
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1
1

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-
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0
-
0
B
P
2
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- 7954 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 19.10.10 V04.04.00 Technology controller - Motorized potentiometer (r0108.16 = 1)
Tec_ctr mop config
p2230[D] (00100)
<1> For p2230.0 = 0, this setpoint is entered after ON.
<2> If initial rounding-off is active (p2230.2 = 1), the selected ramp-up/down times are exceeded accordingly.
<1>
0 = Without initial rounding.
1 = With initial rounding. The ramp-up/down time set is exceeded accordingly.
<101>
Refer to [1020.7]
r2250
Tec_ctr mop aftRFG
Tec_ctr mop t_r-up
0.0...1000.0 [s]
p2247[D] (10.0)
Tec_ctr mop t_r-dn
0.0...1000.0 [s]
p2248[D] (10.0)
<2> <2>
Tec_ctrl mop start
-200.00...200.00 [%]
p2240[D] (0.00)
r2245
Tec_ctr mop befRFG
x y
0 0
0 1
1 0
1 1
Tec_ctrl mop min
-200.00...200.00 [%]
p2238[D] (-100.00)
Tec_ctrl mop max
-200.00...200.00 [%]
p2237[D] (100.00)
(0)
Tec_ctrl mop raise
p2235[C]
(0)
Tec_ctrl Mop lower
p2236[C]
Data save active
Initial rounding-off active
1 = OFF1 enable missing
r0046.0
Old value is kept
[2634.0]
Tec_ctrl mop mem
r2231
Non-volatile data save active
0 = Non-volatile data save not activated.
1 = The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1).
y
p2237
p2238
t
y = 0
The ramp-function generator is always active
0 = Ramp-up encoder inactive with pulse disable.
1 = The ramp-up encoder is calculated independently of the pulse enable.
0 = The setpoint for the motorized potentiometer is not saved and after ON is entered using p2240.
1 = The setpoint for the motorized potentiometer is saved after OFF and after ON is entered using r2231.
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- 7958 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 13.12.10 V04.04.00 Technology controller - Closed-loop control (r0108.16 = 1)
<1> P, I and D components can be disabled by entering a zero.
<2> Behavior can be changed via p2252.
<3> I component stop, only when r2273 and r2294 in same direction.
<4> Not for VECTORMV.
Tec_ctrl up/down
0.00...100.00 s
p2293 (1.00)
Technology controller de-activated
r2349.0 (0)
Tec_ctrl enable
p2200[C]
1
+
+
+
+
<1>
<1>
<101>
r2294
Tec_ctr outp_sig
Tec_ctrl setpoint 1
(0)
p2253[C]
Tec_ctrl Set1 scal
0.00...100.00 %
p2255 (100.00)
Tec_ctrl t_ramp-up
0.00...650.00 s
p2257 (1.00)
Tec_ctrl t_ramp-dn
0.00...650.00 s
p2258 (1.00)
r2260
Tec_ctr set a. RFG
Tec_ctrl set T
0.00...60.00 s
p2261 (0.00)
r2262
Tec_ctr set aft. flt
+
Tec_ctrl setpoint 2
(0)
p2254[C]
Tec_ctrl set 2 scal
0.00...100.00 %
p2256 (100.00)
Tec_ctrl act T
0.000...60.000 s
p2265 (0.000)
Tec_ctr act val
(0)
p2264[C]
r2266
Tec_ctr act a. flt
r2273
Tec_ctr error
d
dt
Tec_ctrl T diff
0.000...60.000 s
p2274 (0.000)
Tec_ctrl max_limit
-200.00...200.00 %
p2291 (100.00)
Tec_ctrl
Kp 0.000...1000.000
p2280 (1.000)
<1>
Tec_ctrl
Tn 0.000...60.000 s
p2285 (0.000)
+
+
Tec_ctrl pre-control
(0)
p2289[C]
Technology controller limited
r2349.1
+
(2295)
p2296[C] Tec_ctrl output scal
-100.00...100.00 %
p2295 (100.00)
p2295
p2291
Tec_ctr max_limit
(2291)
p2297[C]
p2292
Tec_ctr min_lim
(2292)
p2298[C]
r2273
Tec_ctr error
p2263 = 1
p2263 = 0
Tec_ctrl min_limit
-200.00...200.00 %
p2292 (0.00)
Tec_reg config
p2252.0
p2252.1
p2252.2
p2252.2
Tec_ctr ActValGain
0.00 ... 500.00
p2269 (100.00)
Tec_ctr ActVal inv
0 ...1
p2271 (0)
Tec_ctr ActVal Fct
0 ...3
p2270 (0)
r2272
Tec_reg Istw. skal
Tec_ctrl type
0 = D component in actual
value signal
1 = D component in fault signal
p2263(0)
-1
<2>
<2>
<2>
<2>
-
+
-
Tec_ctrl lim offs
(0)
p2299[C]
(r0056.13)
Tec_reg Integ Stop
p2286[C] <3>
+
<4>
<4>
<4>
<4>
0
1
Refer to [1020.7]
Tec_ctr ActVal max
-200.00 ... 200.00 [%]
p2267 (200.00)
F07426
Technology controller actual value limited
<4>
<4>
<4>
0
1 0
p2252.3
0
Tec_ctr ActVal min
-200.00 ... 200.00 [%]
p2268 (-200.00)
1 0
<4>
T
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0
-
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2
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C

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- 7960 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 05.10.10 V04.04.00 Technology controller - DC link voltage controller (r0108.16 = 1)
r3517
I_act ctrl stp
p0115[0] (250.00 s)
Vdc pre-ctrl P
(0)
p3520[0]
Prectrl P scal
p3521[0]
Power pre-control
Vdc pre-ctrl P
(0)
p3520[3]
p3521[3]
Prectrl P scal
+
+
I = P/U
Kp Tn
Vdc Z_set
300.00...1600.00 V
p3510 (600.00)
DC link voltage controller
+
+
+
C_DCL tot
p3422
Vdc_ctrl Kp
p3560
Vdc_ctrl Tn
p3562
r3554
Vdc_ctr I_comp
p3511
r5433
Vdc Z_set
r0088
Vdc setpoint
[8964.6]
r0070
Vdc_act
[8950.1]
Inhib V_ctrl mode
p3513
[7984.6]
Enabling and linearisation
1
+
+
-1
Vdc-ctrl active
r3405.1
[6320.8]
INF pre-ctrl P sm
p3523[0]
INF pre-ctrl P sm
p3523[3]
r0063[0]
n_act unsmoothed r0074
Modulat_depth
r1533
r1533
Function diagrams
Signals and monitoring functions
2.22 Signals and monitoring functions
Function diagrams
8010 Speed signals 1 2-1709
8011 Speed signals 2 2-1710
8012 Torque signals, motor locked/stalled 2-1711
8013 Load monitoring (r0108.17 = 1) 2-1712
8014 Thermal monitoring, power unit 2-1713
8016 Thermal monitoring, motor 2-1714
8017 Thermal I2t motor model (PEM, p0300 = 2xx) 2-1715
8018 Separately excited synchronous motor (FEM, p0300 = 5) 2-1716
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-
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0
0
-
0
B
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2
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3
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1
- 8010 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 20.04.10 V04.04.00 Signals and monitoring functions - Speed signals 1
r0063[0]
n_act unsmoothed
r2169
n_act smooth signal
[8011.1]
[8012.5]
[8013.1]
0.00...60 000.00 RPM
p2162[D] (0.00)
0.00...300.00 RPM
p2140[D] (90.00)
n_hysteresis 2
n_thresh val 2
0.00...210 000.00 RPM
p2155[D] (900.00)
0...1 000 000 ms
p2153 (0)
[4715.7]
[3050.8]
<5> [3095.7]
F07901
"motor overspeed"
p0115[1] (125.00 s)
0
1
0
1
n_thresh val 1
0.00...210 000.00 RPM
p2141[D] (5.00)
0.000...300.000 RPM
p214hysterresis 2[D] (2.00)
n_hysteresis 1
p0115[3] (4000.00 s)
[2534.3]
<1>
p0115[3] (<3>) p0115[1] (<2>)
r0063
n_act smooth
[4710.7]
n
n
0
Smoothing
<5>
<4>
r1087
n_limit neg eff
r1084
n_limit pos eff
0
1
T 0
T 0
0
1
Monit config
p2149
T 0
[2534.3]
0
1
1
[2537.3]
ZSW Monitor 3
r2199.1
r2199
ZSW Monitor 1
r2197,1
r2197
ZSW Monitor 1
r2197.2
r2197
ZSW Monitor 3
r2199.0
r2199
[2537.3]
[2534.3]
t_on cmpr val rchd
0.0...10 000.0 ms
p2156[D] (0.0)
t_on cmpr val rchd
0.0...10 000.0 ms
p2156[D] (0.0)
t_on cmpr val rchd
0.0...10 000.0 ms
p2156[D] (0.0)
n_thresh val 2
0.00...210 000.00 RPM
p2155[D] (900.00)
0
1
0.00...300.00 RPM
p2140[D] (90.00)
n_hysteresis 2
<1>
ZSW Monitor 1
r2197.6
r2197
|n_act| > n_max
<1>
0
1
0
1
n_thresh val 3
0.00...210 000.00 RPM
p2161[D] (5.00)
0
1
0.00...300.00 RPM
p2150[D] (2.00)
n_hysterresis 3
<1>
|n_act| < p2161
f or n-comparison value
reached/exceeded
<1> VECTOR: Calculated.
<2> VECTOR:
Depending on the drive unit (250 or 400 s).
<3> VECTOR:
|n_act| p2155
|n_act| > speed threshold value 2
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0
0
-
0
B
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2
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2
- 8011 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 03.12.10 V04.04.00 Signals and monitoring functions - Speed signals 2
Ramp-up/ramp-down completed
r2199.5 [2537.3]
+
SET
(Q=1)
RESET
(Q=0)
Q
Q
n_act 2
0
p2154[C]
p0115[3] (4000.00 s) p0115[3] (<3>)
r2169
n_act smooth signal
[8010.2] 0
1
n_hysteresis 3
0.00...300.00 RPM
p2150[D] (2.00)
<2>
n_act 0
r2197.3 [2534.3]
0
n_set for msg
r1170
p2151[C]
<5>
[3080.8]
n_thresh val 4
0.00...210.000 RPM
p2163[D] (90.00)
n_hysteresis 4
0.00...200.00 RPM
p2164[D] (2.00)
<2>
0
1
0
1
0
0
1
n_hysteresis 3
0.00...300.00 RPM
p2150[D] (2.00)
<2>
n_hysteresis 3
0.00...300.00 RPM
p2150[D] (2.00)
(0)
RFG active
p2148[C]
t_on n_act=n_set
0.0...10 000.0 ms
p2167[D] (200.0)
T 0
1 = RESET
Priority
1 RESET
2 SET
[2537.3]
Speed setpoint actual value deviation in tolerance t_on
r2199.4
0 T
t_del_off n_i=n_se
0.0...500.0 ms
p2166[D] (200.0)
Speed setpoint actual value deviation in tolerance t_off
r2197.7 [2534.3]
1
<4>
Torque control active
r1407.2
[6060.3]
Enable alarm A07903
p2149.0[D]
A07903 "Motor speed deviation"
1
0
1
A07903 is only signaled for p2149.0 = 1 and r2197.7 = 0.
n_thresh val 3
0.00...210000.00 RPM
p2161[D] (5.00)
n_set > 0
r2198.5 [2536.3]
|n_set| < p2161
r2198.4 [2536.3]
+
[5210.4]
n_set for msg
r1438
p2151[C]
<6>
<1>
<1> Applies only if the function module "extended
signals/monitoring functions" is active
(r0108.17 = 1).
<2> VECTOR: Calculated.
<3> VECTOR:
<4> Evaluation only for:
Pulse enable and operating enable (r0899.2)
or OFF1
or OFF3
or rotating measurements
or friction characteristic plot.
<7> The value is displayed correctly only with
r0899.2 = 1 (Operation enabled).
<7>
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- 8012 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 20.04.10 V04.04.00 Signals and monitoring functions - Torque signals, motor locked/stalled
Ramp-up completed
r2199.5
[6640.8]
[6640.8]
<1>
r0033
M_utilization smooth
[2537.7]
<1> The torque setpoint and the torque limits are determined by p1532
(M_max offset). As a rule, M_max offset = 0.
<2> Only for SINAMICS S120 with SERVO (r0107 = 11).
<3> Only for vector control with encoder.
<4> Only for VECTOR (r0107 = 12).
<5> VECTOR: Depending on the drive unit (1000 or 1600 s).
Torque utilization < p2194
r2199.11
<2>
[2537.3]
r0081
M_utilization
<2>
r0079
M_set total
<4>
[6060.8]
r0079[0]
M_set total
<2>
r0079
M_set total
<4>
r0079[1]
M_set total, smooth
p0115[3] (4000.00 s)
p0115[3] (<5>)
Only VECTOR
Stall detection or stall monitoring
(not for V/f control and not for p0300 = 5)
T 0
0.000...1.000 s
p2178 (0.010)
F07902
Motor stalled
r2198.7
[2536.3]
1
Speed adaptation, speed deviation
r1408.11
Motor stalled
r1408.12
<3>
[6730.2]
[6060.8]
[5610.5]
[6730.2]
r1539
r1539
r1538
r1538
M_max upper
effective
[5650.8]
[5650.8]
<2>
<2>
<4>
<4>
M_max Offset
p1532
[5620.7]
[5630.7]
T 0
0.000...65.000 s
p2177 (1.000)
F07900
Motor locked
r2198.6
[2536.3]
Motor locked detection or motor locked monitoring function
(not for closed-loop torque control)
Control type
p1300
<20
20
0
1
0
1
0.00...99 999.00 Nm
p2174 (5.13)
0 T
0.0...1 000.0 ms
p2195[D] (800.0)
+
0
1
x1
x2
y
[%]
0.00...100.00 %
p2194 (90.00)
Requested
torque
[Nm]
x1 > x2 = y = 1
(positive torque requested)
0
1
1
Actual torque limit
1
2
1
x
% 100 x x
2 % von p2194
[Nm]
[3080.4]
Torque setpoint < p2174
r2198.10
[2536.3]
100 ms
p0045
p0045
x1
x2
y
Ramp-function generator operating
[5610.5]
2 % of p2174
1
r1443
n_act n_cont. In
[6040.2]
0
1
p3237[D]
p3236[D]
p3238[D](3.0)
r2199.7
n_diff. Mod./Ext
F07937
0 T
+
r2169
n_act smooth signal
Mot block n_thresh
0.00...210 000.00 RPM
p2175 (120.00)
n_act
smooth
signal
< p2175
[8010.2]
[2522.7]
&
r1407.7
[2520.7]
I_limit U_output act
r0056.12
[2526.6]
r1406.8
p1545
1
Travel to fixed stop
<2>
I_limit/M_limit act
r0056.13
1
&
1 (0)
Mot stall enab neg
p2144[C]
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- 8013 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 30.04.10 V04.04.00 Signals and monitoring functions - Load monitoring (r0108.17 = 1)
<1> The response to these faults can be defined.
<3> Only for SERVO.
[8010.2]
M [Nm]
0 T
0.00...65.00 [s]
p2192[D] (10.00)
p0115[6] (4000.00 s)
0
1
p2149.1
A07920 ... A07922
r2198.11
F07923 ... F07925
r2198.12
[2536.3]
Load monitoring response
p2181[D](0)
Evaluation
A07920
"Torque/speed too low"
A07921
"Torque/speed too high"
A07922
"Torque/speed outside tolerance"
F07923
"Torque/speed too low"
F07924
"Torque/speed too high"
F07925
"Torque/speed outside tolerance"
<1>
(0)
(1)
Load monitoring disabled
(2)
(3)
(4)
(5)
(6)
<1>
<1>
[2536.3]
A07926 "Envelop characteristic, parameter not value"
r0080
M_act
r2169
n_act smooth signal
0
1
p2149.1
M_thresh 3 upper
0.00...20 000 000.00 [Nm]
p2189[D] (10 000 000.00)
M_thresh 3 lower
0.00...20 000 000.00 [Nm]
p2190[D] (0.00)
M_thresh 2 upper
0.00...20 000 000.00 [Nm]
p2187[D] (10 000 000.00)
M_thresh 2 lower
0.00...20 000 000.00 [Nm]
p2188[D] (0.00)
M_thresh 1 upper
0.00...20 000 000.00 [Nm]
p2185[D] (10 000 000.00)
M_thresh 1 lower
0.00...20 000 000.00 [Nm]
p2186[D] (0.00)
n_threshold 1
0.00...210 000.00 [RPM]
p2182[D](150.00)
n_threshold 2
0.00...210 000.00 [RPM]
p2183[D](900.00)
n_threshold 3
0.00...210 000.00 [RPM]
p2184[D](1500.00)
Tolerance
bandwidth
n [RPM]
[5730.1] <3>
[6714.8] <2>
F07928
"Internal voltage protection initiated"
<2>
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Control Unit
DRIVE-
CLiQ
Power unit
Temperature measurement
- 8014 -
Function diagram
8 7 6 5 4 3 2 1
fp_8014_54_eng.vsd DO: A_INF, B_INF, S_INF, SERVO, VECTOR
S120/S150/G130/G150 27.02.08 V04.04.00 Signals and monitoring functions - Thermal monitoring, power unit
Tmax heatsink
Thermal monitoring for the power unit
Max
0
1
0
1
Power unit
temperatures [C]
r0037 [0...19]
Maximum power unit temperature
5 C
Faults "power unit overtemperature"
F30004 inverter heatsink
F30024 thermal model <3>
F30025 chip F30035 air intake
F30036 electronics module
F30037 rectifier
1 = Fault thermal overload in power unit
1 = Alarm, thermal overload, power unit
+
-
0
1
Alarms "power unit overtemperature"
A05000 inverter heatsink
A05001 chip
A05002 air intake
A05003 electronics module
A05004 rectifier
A05006 chip to heatsink <4>
F30005 "Power unit overload"
Overload response
Power unit overload response
p0290
Power unit overload
(0...100 %)
r0036
[2548.2]
0
1
A07805 "Power unit overload"
Alarm threshold
it overload power unit 0...100 %
p0294 (95 %)
100 %
p0115[3] (2000.00 s)
1
1
LT I_rated
r0207
it model
power unit
r2135.13
r2135.15
[2548.2]
<1> Not for A_INF, B_INF and S_INF.
<2> Not for Basic Line Modules Chassis.
<3> Only for Power Unit Chassis
<4> Only for Power Unit Blocksize
r0068
I_act abs. value
[5730.4]
[8850.4]
[8950.4]
r0068[0]
I_act abs. value
[6714.5]
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
Pulse frequency
p1800
<1>
0
1
<3>
A05007 Power unit overtemperature chip to heatsink
<1>
<3>
PU Tmodel_A_thresh
r0293
<1>
<5>
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- 8016 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 10.11.10 V04.04.00 Signals and monitoring functions - Thermal monitoring, motor
Mot T_environment
p0625[M]
Thermal
3-mass-model
(for induction motors
only)
Rated motor temperature rise
MotTMod T_environ
r0630[M]
Calculated motor temperatures
Mot temp_sensortyp
p0601[M]
Model tracking
Mot T_on iron
p0626[M]
Mot T_on stator
p0627[M]
Mot T_on rotor
p0628[M]
MotTMod T_iron
r0631[M]
MotTMod T_copper
r0632[M]
MotTMod T_rotor
r0633[M]
Mot temp_sensor
p0600[M]
48 ms
r0035
Mot_temp
T 0
&
&
p0606[M]
A07910
"Motor overtemperature"
F07011
"Motor overtemperature"
<1>
Fault response
I_max reduction
[1690.1][6640.2]
p0610[M]
p0610 = 0: No response, only alarm, no reduction of I_max
p0610 = 1: Alarm and reduction of I_max and fault
p0610 = 2: Alarm and fault, no reduction of I_max
p0610 = 1
Suppress fault
p0610 = 0
[2548.2] r2135.14
A07820 "Temperature sensor not connected"
A07015
"Motor temperature
sensor fault alarm"
A07016
"Motor temperature
sensor fault, fault"
-140 C 250 C
Mot temp_sens time
p0607[M]
<2>
0
1
Mot_temp fault thresh
p0605[M]
&
KTY sensor type
(threshold not applicable for PTC)
<4>
1
1
[2548.2] r2135.12
T 0
<5>
KTY PTC
Sensor type
Mot_tempAlrmThresh
p0604[M]
0
1
<3>
M I N
Mot temp alarm 1
p0616[M]
<8>
1650
1
MAX
1
<1> For KTY and PTC, the value p0606 = 0 has a different meaning:
KTY: 0 The output of the timer is always switched out (logical 0)
PTC: 0 Delay time = 0 s
<2> As for the switch-in delay, refer to [1022]. p0607 = 0 suppresses fault F07016.
<3> For KTY and "No sensor", temperature as defined in the model.
<4> Applies only for VECTOR.
<5> P0606 does not work for alarms via p0616.
<6> p0601 = 5 can only be evaluated if r0192.15 = 1 and p0600 = 11; PT100 is calibrated via p0624.
<7> The assignment of temperature channels 1 4 depends on the hardware used.
<8> The relevant rated response temperature (C) depends on the temperature sensor chosen by the motor manufacturer.
e.g. r4105 from TM31
[8017.8]
1
Mot Temperatur [C]
(0)
p0603
only
for
KTY
[4704.8]
from Motor Modules
or CUA31
von Geber 3
[4704.8]
from encoder 1
[4704.8]
10 = Evaluation of
several
temperature
channels
SME12x)
[9576.7]
0
1
2
3
11
10
from encoder 2
2 = KTY84
4 = Bimetal NC
contact alarm
with time step
for MM only
5 = PT100 <6>
11 = Evaluation of
several
temperature
channels (BICO)
Mot temperatur [C]
(0)
p0608[0...3]
Mot temperatur [C]
(0)
p0609[0...3]
20
21
Mot Temp_sensortyp
20 = KTY84
Temperature channel
p4603[E]
r4620[0] r4620[1] r4620[2] r4620[3]
p4600[E] p4601[E] p4602[E]
1 2 3 4
30 = Bimetal NC contact fault
12 = PTC alarm and time step
32 = Bimetal NC contact
alarm & time step
31 = Bimetal NC contact alarm
0 = No sensor
11 = PTC alarm
Configuration
10 = PTC fault
Mot temp_sensortyp
0 = No sensor
3 = KTY84 & PTC,
for encoder only
1 = PTC alarm and
time
Mot Temp_sensortyp
Temperature channel
p4613[M]
r4620[0] r4620[1] r4620[2] r4620[3]
p4610[M] p4611[M] p4612[M]
1 2 3 4
Mot temp_sensortyp
30 = Bimetal NC contact fault
12 = PTC alarm and time step
32 = Bimetal NC contact
alarm & time step
31 = Bimetal NC contact alarm
0 = No sensor
11 = PTC alarm
Configuration
10 = PTC fault
20 = KTY84
<7>
192 ms
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x
x
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- 8017 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 15.05.08 V04.04.00 Signals and monitoring functions - Thermal I2t motor model (PEM, p0300 = 2xx)
<1> Only if there is a temperature sensor (p0600 > 0 and p0601 = 2, 3, or with p0601 = 10 and p4600 ... p4603 = 20).
MotTempFaultThresh
p0605[M]
0
1
0
1
A07012
"I2t-motor model overtemperature"
r0034
Motor utilization
Thermal
I2t motor model
(only for synchronous
machine)
r0068[0]
I_act abs val unsmoothed
[8016.5]
1.00 s
Mot I_standstill
p0318[M]
r0035
Mot temp <1>
I2t mot mod T
p0611[M]
I2t mot mod thresh
p0615[M]
MotTempFaultThresh
p0605[M]
[8016.6]
I2t motor model activate
p0612.0[M] (0)
Model - 40C
p0605 - 40C
r0034 = x 100 [%]
Model
<2> Only if <1> are not met.
Mot T_ambient
p0625[M]
<2>
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0
3
0
0

=

5
)
- 8018 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 14.10.10 V04.04.00 Signals and montoring functions - Separately excited synchronous motor (FEM, p0300 = 5)
F07913
"Excitation current outside tolerance"
<1> Only for r1649.2 = 1 (excitation in operation, feedback signal)
<2> Only for vector control (p1300 >= 21) and after magnetization has been completed for a flying restart (r0056.4 = 1).
p0115[3] (4000.00 s)
<1>
T 0
<2>
F07914
"Flux outside tolerance"
0
1
0.01...10 000.00 [Arms]
p3208[D] (1.00)
0.00...10.00 [s]
p3209[D] (0.02)
0.1...50.0 [%]
p3205[D] (10.0)
r0068[0]
I_act abs. value
[6714.5]
0.01...10 000.00 [Arms]
p3207[D] (1.00)
0.1...100.0 [%]
p3204[D] (10.0)
0.0...10.0 [s]
p3203[D] (1.0)
0.1...100.0 [%]
p3201[D] (10.0)
0.1...100.0 [%]
p3202[D] (10.0)
0.0...10.0 [s]
p3206[D] (5.0)
r0084[0]
Flux actual value
r1598
Flux setpoint total
[6732.1]
[6725.8]
r1626
I_exc_set
[6727.8]
+
+
[8010.4]
|n_act| < p2161
r2199.0
I_exc_act
[6727.6]
r1641
Zero current
r2199.6
T 0
T 0
0
1
[2526.6]
[6732.1]
r0056.11
Motor stalled
r1408.12
Motor stalled
r2198.7
Motor stalled
r2198.7 [2536.3]
0.000..10.000 [s]
p2178[D] (0.010)
F07902
motor stalled (fault value 2)
F07902
motor stalled (fault value 3)
2 x r0384[M]
[2536.3]
Tsample
[6732.5]
0
1
0
1
T 0
T 0
Diagnostics
Function diagrams
2.23 Diagnostics
Function diagrams
8060 Fault buffer 2-1718
8065 Alarm buffer 2-1719
8070 Fault/alarm trigger word (r2129) 2-1720
8075 Fault/alarm configuration 2-1721
8134 Measuring sockets 2-1722
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- 8060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 07.12.10 V04.04.00 Diagnostics - Fault buffer
Fault responses to the sequence control [2610]
<1> This fault is overwritten when "more recent" faults occur (with the exception of "safety faults").
Fault active
r2139.3 [2548.2]
<2> Refer to the list manual, index entry "Fault buffer - save upon power OFF".
<3> The buffer parameters are cyclically updated in the background (refer to the status signal in r2139).
Actual
fault case
Fault 1
Fault 2
Fault 8
RESET
Fault case
comes
Fault case
count
p0952
p0952 = 0:
Fault buffer
delated
Delete fault buffer
r0945 = 0
r0947 = 0
r0948 = 0
r0949 = 0
r2109 = 0
r2130 = 0
r2133 = 0
r2136 = 0
r3115 = 0
r3120 = 0
r3122 = 0
Automatic
7. Acknow-
ledged
fault case
[oldest]
1. Acknow-
ledged
fault case
Fault buffer change [8065.6]
16 bit counter
LED "RDY" [= red for fault]
r2131
Actual fault code
0 = "No fault present"
III
RESET
III
RESET
III
32 bit counter,
free running
1 ms
16 bit counter,
free running
POWER ON
[8065.1]
Operating time
Acknowledge faults
r2138.7
External fault 1
r2138.13
External fault 2
r2138.14
External fault 3
r2138.15
1
Background
Refer to [1020.7]
p2102 ... p2105
[2546.3]
p2106
[2546.3]
p2107
[2546.1]
p2108, p3110 ... p3112
Acknowledge faults
p3981
Fault code
Fault 1
Fault 2
Fault 8
r0949[63] [I32]
r2133[63] [Float]
Fault 1
Fault 2
Fault 8
r0945[0]
r0947[0]
0945[1]
0947[1]
r0945[56]
r0947[56]
r0945[63]
r0947[63]
r0945[8]
r0947[8]
r0945[9]
r0947[9]
r0945[15]
r0947[15]
Fault value
r0949[0] [I32]
r2133[0] [Float]
r0949[1] [I32]
r2133[1] [Float]
r0949[7] [I32]
r2133[7] [Float]
r0949[56] [I32]
r2133[56] [Float]
r0949[57] [I32]
r2133[57] [Float]
r0949[8] [I32]
r2133[8] [Float]
r0949[9] [I32]
r2133[9] [Float]
r0949[15] [I32]
r2133[15] [Float]
Fault time
"come"
r0948[0] [ms]
r2130[0] [d]
r0948[1] [ms]
r2130[1] [d]
r0948[7] [ms]
r2130[7] [d]
r0948[56] [ms]
r2130[56] [d]
r0948[57] [ms]
r2130[57] [d]
r0948[63] [ms]
r2130[63] [d]
r0948[8] [ms]
r2130[8] [d]
r0948[9] [ms]
r2130[9] [d]
r0948[15] [ms]
r2130[15] [d]
Fault time
"removed"
r2109[0] [ms]
r2136[0] [d]
r2109[1] [ms]
r2136[1] [d]
r2109[7] [ms]
r2136[7] [d]
r2109[56] [ms]
r2136[56] [d]
r2109[57] [ms]
r2136[57] [d]
r2109[63] [ms]
r2136[63] [d]
r2109[8] [ms]
r2136[8] [d]
r2109[9] [ms]
r2136[9] [d]
r2109[15] [ms]
r2136[15] [d]
1
p2147 (CU) = 1
<2>
POWER ON
Fault times
Faults Acknowledging
<3>
Control Unit
Fault Present
r3114.10
r3115[63]
r3115[57]
r3115[56]
r3115[15]
r3115[9]
r3115[8]
r3115[7]
r3115[1]
r3115[0]
Fault Drive
Object
triggernd
r3131
Actual fault value
r3120[63]
r3120[57]
r3120[56]
r3120[15]
r3120[9]
r3120[8]
r3120[7]
r3120[1]
r3120[0]
Component
number
fault
r3122[63]
r3122[57]
r3122[56]
r3122[15]
r3122[9]
r3122[8]
r3122[7]
r3122[1]
r3122[0]
Diagnostic
attribute
fault
Fault goes
Fault comes
Fault case
acknowl.
r0944
Fault buffer
change
r0945[57]
r0947[57]
r0945[7]
r0947[7]
r3132
Actual component number
System runtime
r2114 [ms]
<1>
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- 8065 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 12.11.10 V04.04.00 Diagnostics - Alarm buffer
Alarm value
Alarm time
"come"
Alarm time
"removed" Alarm code
RESET
Alarm comes Alarms
counter
p2111
p2111 = 0:
Alarm buffer is deleted
1
Delete alarm buffer
r2122 = 0
r2123 = 0
r2124 = 0
r2125 = 0
r2134 = 0
r2145 = 0
r2146 = 0
r3121 = 0
r3123 = 0
Alarm goes
Alarm comes
1
Alarm buffer change
r2121
Counter
16 bit
III
RESET
III
RESET
Fault buffer change [8060.8]
Sum, buffer changed
r2120
III
RESET
1
Fault/alarm buffer changes from
other drive objects
POWER ON
16 bit counter,
free running
16 bit counter,
free running
Alarm number
r2110
Operating time
Alarm times
Alarm buffer
change
POWER ON
r2132
Actual alarm code
0 = "No alarm present"
External alarm 1
r2138.10
External alarm 2
r2138.11
External alarm 3
r2138.12
[2548.2]
Background
Refer to [1020.7]
[2546.3]
p2112
[2546.3]
p2116
[2546.3]
p2117
r2122[0]
r2122[1]
r2122[7]
r2124[0] [I32]
r2134[0] [Float]
r2124[1] [I32]
r2134[1] [Float]
r2124[7] [I32]
r2134[7] [Float]
r2123[0] [ms]
r2145[0] [d]
r2123[1] [ms]
r2145[1] [d]
r2123[7] [ms]
r2145[7] [d]
r2125[0] [ms]
r2146[0] [d]
r2125[1] [ms]
r2146[1] [d]
r2125[7] [ms]
r2146[7] [d]
[8060.1]
Alarm 1
(oldest)
Alarm 2
Alarm 8
(most recent)
POWER ON
Alarm present
r2139.7
r2122[8]
r2122[9]
r2122[63]
r2124[8] [I32]
r2134[8] [Float]
r2124[9] [I32]
r2134[9] [Float]
r2124[63] [I32]
r2134[63] [Float]
r2123[8] [ms]
r2145[8] [d]
r2123[9] [ms]
r2145[9] [d]
r2123[63] [ms]
r2145[63] [d]
r2125[8] [ms]
r2146[8] [d]
r2125[9] [ms]
r2146[9] [d]
r2125[63] [ms]
r2146[63] [d]
Alarm 1
(most recent)
Alarm 2
Alarm 56
(oldest)
Alarm history
<1> The buffer parameters are updated cyclically in the background (see status signal in r2139).
<1>
Control Unit
Warning Present
r3114.9
r3121[63]
r3121[9]
r3121[8]
r3121[7]
r3121[1]
r3121[0]
Component
number
alarm
r3123[63]
r3123[9]
r3123[8]
r3123[7]
r3123[1]
r3123[0]
Diagnostic
attribute
alarm
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- 8070 -
Function diagram
8 7 6 5 4 3 2 1
DO: All objects
SINAMICS 18.08.08 V04.04.00 Diagnostics - Fault/alarm trigger word (r2129)
0. Fault/alarm code
1. Fault/alarm code
15. Fault/alarm code
[0]
[1]
[15]
r2129
r2129.15
r2129.1
r2129.0
Fault/alarm trigger word
(e.g. as trigger condition to record traces)
0. Message/signal present
Select fault/alarm code
for trigger
p2128
Setting, fault/alarm trigger
Background
Refer to [1020.7]
fp_8070_51_eng.vsd
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- 8075 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 07.09.09 V04.04.00 Diagnostics - Fault/alarm configuration
0. Fault code
1. Fault code
19. Fault code
[0]
[1]
[19]
Changing the fault response for maximum 20 faults <1>
Fault response
Fault response
Fault response
[0]
[1]
[19]
0 = NONE
1 = OFF1
2 = OFF2
3 = OFF3
0. Fault code
1. Fault code
19. Fault code
[0]
[1]
[19]
Changing the acknowledge mode for maximum 20 faults <1>
Acknowledge mode
Acknowledge mode
Acknowledge mode
[0]
[1]
[19]
1 = Acknowledgment is only possible using POWER ON
2 = Acknowledgment IMMEDIATELY after the cause has been removed.
<1> The fault response, acknowledge mode and message type for all faults and alarms are set to meaningful default values in the factory setting.
Changes that may be required are only possible in specific value ranges specified by SIEMENS.
When the message type is changed, the supplementary information is tranferred from fault value r0949 to alarm value r2124 and vice versa.
0. Fault/alarm code
1. Fault/alarm code
19. Fault/alarm code
[0]
[1]
[19]
Changing the message type - fault <==> alarm for maximum 20 faults/alarms <1>
Fault/alarm type
Fault/alarm type
Fault/alarm type
[0]
[1]
[19]
1 = Fault (F)
2 = Alarm (A)
p2100 p2101 p2118 p2119
p2126 p2127
4 = STOP1
5 = STOP2
6 = IASC/DCBRAKE
Background
Refer to [1020.7]
3 = Acknowledge only when the PULSES ARE INHIBITED.
7 = ENCODER (p0491)
3 = No message(N)
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- 8134 -
Function diagram
8 7 6 5 4 3 2 1
DO: CU_CX32, CU_G, CU_GL, CU_GM, CU_I, CU_S, CU_SL, CU_SM120
SINAMICS 03.11.10 V04.04.00 Diagnostics - Measuring sockets
Offset
-4.98...4.98 V
p0783[0] (0.00)
-100 000.00...427.9E9 %
p0779[0] (100.00)
-100 000.00...100 000.00 %
p0777[0] (0.00)
0.00...4.98 V
p0780[0] (4.98)
0.00...4.98 V
p0778[0] (2.49)
p0784[0]
D
A
r0774[0]
Measuring socket
T0
M
<1>
<1>
<1>
Scaling
-100 000.00...427.9E9 %
p0779[1] (100.00)
-100 000.00...100 000.00 %
p0777[1] (0.00)
0.00...4.98 V
p0780[1] (4.98)
0.00...4.98 V
p0778[1] (2.49)
p0784[1]
D
A
r0774[1]
-100 000.00...427.9E9 %
p0779[2] (100.00)
-100 000.00...100 000.00 %
p0777[2] (0.00)
0.00...4.98 V
p0780[2] (4.98)
0.00...4.98 V
p0778[2] (2.49)
p0784[2]
D
A
r0774[2]
Limit
Offset
-4.98...4.98 V
p0783[1] (0.00)
Offset
-4.98...4.98 V
p0783[2] (0.00)
Measuring socket
T1
Measuring socket
T2
<2>
<2>
Scaling <2>
Scaling
<1> Only for measuring equipment with Ri 1 M
<2> With the factory setting, input values
from -100...100 % result in output voltages from 0...4.98 V.
<3> The input signals are determined by the reference quantities p200x (100 % corresponds to
p200x). The calculated normalization is indicated via r0786.
Limit
[V]
[V]
[V]
0
1
0
1
0
1
x 10
4.98
5
[V]
[V]
-10 -5
4.98
y
Limit
5 -10 -5
4.98
4.98
y [V]
x [V]
x
x
x
x
x
x
y
y
y
y
y
y
p200x
y
x2
2
1
x
% 100 x x
x1
[%]
<3>
0
p0771[1]
0
p0771[2]
0
p0771[0]
+
+
+
+
+
+
0..0.40.98
V
0..0.40.98 V
0..0.40.98 V
[%]
r0772[0]
[%]
r0772[1]
[%]
r0772[2]
x
y
y1
y2
x2
[%] (100 %)
[V] (4.98 V)
(2.49 V)
x1
P2
P1
x
x
x
y
y
y
Dimension unit
per volt
r0786[0]
Dimension unit
per volt
r0786[1]
Dimension unit
per volt
r0786[2]
p0110[0] (125.00 s)
x
y
y1
y2
x2
[%] (100 %)
[V] (4.98 V)
(2.49 V)
x1
P2
P1
x
y
y1
y2
x2
[%] (100 %)
[V] (4.98 V)
(2.49 V)
x1
P2
P1
x 10
4.98
5
[V]
[V]
-10 -5
4.98
y
x 10
4.98
5
[V]
[V]
-10 -5
4.98
y
5 -10 -5
4.98
4.98
y [V]
x [V]
5 -10 -5
4.98
4.98
y [V]
x [V]
<4> Example: If a speed signal is entered via p0071 and r0786 indicates 100.0, a speed change of 100 RPM results in an output voltage change of 1.0 V.
<4>
<4>
<4>
fp_8134_51_eng.vsd
Data sets
Function diagrams
2.24 Data sets
Function diagrams
8560 Command Data Sets (CDS) 2-1724
8565 Drive Data Sets (DDS) 2-1725
8570 Encoder Data Sets (EDS) 2-1726
8575 Motor Data Sets (MDS) 2-1727
8580 Power unit Data Sets (PDS) 2-1728
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- 8560 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 20.10.08 V04.04.00 Data sets - Command Data Sets (CDS)
Not relevant
Refer to [1020.7]
Copy CDS, source
p0809[0] (0)
CDS selected
r0836.0
r0836
CDS effective
r0050.0
r0050
r0836.1
r0050.1
Copy CDS, target
p0809[1] (1)
Copy CDS, start
p0809[2] (0)
BI: p0810 = "0"
CDS0 selected
r0836.0 = 0
BI: p0810 = "1"
CDS1 selected
r0836.0 = 1
CDS0 effective
r0050.0 = 0
CDS1 effective
r0050.0 = 1
t
Example:
Change over Command Data Set
CDS0 --> CDS1
t
t
Drive n
Drive 2
Drive 1
<1>
CDS count
p0170 (1, 2)
<1> For SERVO, the following applies: Min / Max / Factory setting: 1 / 2 / 2.
For VECTOR, the following applies: Min / Max / Factory setting: 2 / 4 / 2.
(0)
CDS select., bit 0
p0810
(0)
CDS select., bit 1
p0811
CDS3
CDS2
CDS1
CDS0
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5

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- 8565 -
Function diagram
8 7 6 5 4 3 2 1
fp_8565_54_eng.vsd DO: SERVO, VECTOR, TM41
S120/S150/G130/G150 25.06.08 V04.04.00 Data sets - Drive Data Sets (DDS)
Not relevant
Refer to [1020.7]
Drive n
(0)
Select DDS bit 0
p0820[C]
(0)
Select DDS bit 1
p0821[C]
(0)
Select DDS bit 2
p0822[C]
(0)
Select DDS bit 3
p0823[C]
Copy DDS, source
p0819[0] (0)
Drive 2
Drive 1
Copy DDS, target
p0819[1] (1)
Copy DDS, start
p0819[2] (0)
DDS31
DDS number
p0180 (1)
DDS1
DDS0
(0)
Select DDS bit 4
p0824[C]
DDS selected
r0837.0
r0837
r0837.3
DDS effective
r0051.0
r0051
r0051.4
r0837.2
r0837.1
r0051.3
r0051.2
r0051.1
A07530 "Drive data set does not exist"
r0837.4
r0049
r0049[0] Motor data set MDS effective
r0049[1] Encoder 1 encoder data set EDS effective
r0838
r0838[0] Motor data set MDS selected
r0049[1] Encoder 1 encoder data set EDS selected
r0838[2] Encoder 2 encoder data set EDS selected
r0838[3] Encoder 3 encoder data set EDS selected MDS (Motor Data Set)
EDS (Encoder Data Set)
DDS (Drive Data Set)
p0186[0...n] (MDS number)
p0187[0...n] (enc 1 EDS number)
<1>
<1> A BICO interconnection to a parameter which is part of a drive data set always influences the currently effective data set.
<2>
<2>
<2>
<2>
<2>
<2>
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- 8570 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 27.10.09 V04.04.00 Data sets - Encoder Data Sets (EDS)
F07502 "Encoder Data Set EDS not configured"
F07510 "Identical encoder in the drive data set"
Not relevant
Refer to [1020.7]
<1> Encoder errors always refer to the currently active Encoder Data Set.
Assigned parameters
for position sensing for encoder n
[4704]
for speed actual value sensing for
encoder n:
[4710] for SERVO
[4715] for VECTOR, VECTORGL,
VECTORMV, VECTORSL
r0049[1] Encoder 1 EDS effective
r0838[1] Encoder 1 EDS selected
(0)
p0820[C]
(0)
p0824[C]
EDS for encoder 1
p0400[E] E = p0187[D]
p0425[E]
EDS for encoder 2
p0400[E] E = p0188[D]
p0425[E]
EDS for encoder 3
p0400[E] E = p0189[D]
p0425[E]
p0186[D] (MDS number)
p0187[D] (Enc 1 EDS number)
EDS count
p0140 (1)
EDS15 - Encoder Data Set 15
p0141[0] = Component number of the Sensor
Module
p0400[0]
p0425[0]
<1>
0
1
15
99
EDS0
EDS1
EDS15
Not configured
0
1
15
99
EDS0
EDS1
EDS15
Not configured
0
1
15
99
EDS0
EDS1
EDS15
Not configured
EDS15
EDS1
EDS0
...
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- 8575 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 27.10.09 V04.04.00 Data sets - Motor Data Sets (MDS)
4000.00 s
Motor selection
r0830.0
r0830
r0830.1
r0830.2
r0830.3
r0830.15
DO
DO
Feedback signal, contactor 0
p0831[0]
p0831[1]
p0831[2]
DI
DI
p0831[3]
DI
p0831[15]
DI
r0832.0
r0832
Mot_chng fdbk ZSW
r0832.1
r0832.2
r0832.3
r0832.15
Motor
Module
K2
K1
~
M1
3
K1
K1H
K2
~
M2
3
K2
K2H
K1
K1H K2H
0 V
Mot_chng fdbk sig
p0828[C]
p0833.0 (0)
0
1
0
1
Application
Pulse suppression
MDS15
MDS1
MDS0
p0826[0] Motor number
p0827[0] Bit number
MDS selected
r0838[0]
MDS effective
r0049[0]
p0833.1 (0)
Drive
Application
Drive
Request
pulse enable
Application
Motor changeover
<1> The following applies for the changeover of motor data sets:
SERVO and VECTOR: The thermal motor model of motors with the same motor number is identical.
VECTORGL and VECTORMV: The thermal monitoring of motors with the same motor number is identical.
An unequal bit number means that the motor must be changed over.
<1>
DI
1
0
Copy MDS, source
p0139[0] (0)
Copy MDS, target
p0139[1] (0)
Copy MDS, start
p0139[2] (0)
MDS_chngov ZSW
r0835.0
r0835
MDS count
p0130 (1)
(0)
p0820[C]
(0)
p0824[C]
p0186[D] (MDS number)
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-
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5
2
8
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8
0

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- 8580 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 28.07.09 V04.04.00 Data sets - Power unit Data Sets (PDS)
Not relevant
Refer to [1020.7]
PDS7
LT_compo act/de-act
p0125 [P]
PDS1
PDS0
(1)
De-activate power unit 1 (PDS0)
pxxxx[0]
(1)
De-activate power unit 8 (PDS7)
pxxxx[7]
LT_comp act/inact
r0126[0]
LT_comp act/inact
r0126[7]
PDS0
PDS7
0 = De-activate component
1 = Activate component
Word 1 1 1 1 1 1 1 1
Basic Infeed
Function diagrams
2.25 Basic Infeed
Function diagrams
8720 Control word, sequence control infeed 2-1730
8726 Status word, sequence control infeed 2-1731
8734 Missing enable signals, line contactor control 2-1733
8750 Interface to the Basic Infeed power unit (control signals, actual values) 2-1734
8760 Signals and monitoring functions (p3400.0 = 0) 2-1735
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0
-
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3
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0

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- 8720 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 21.10.10 V04.04.00 Basic Infeed - Control word, sequence control infeed
p0844[C] (1)
p0845[C] (1)
11
12
13
14
15
p0840[C] (0)
9
10
8
7
6
5
4
3
2
1
0
Bit No.
<2>
<2> PROFIBUS interconnection:
For the manufacturer-specific PROFIBUS telegram, the upper
input is connected to PROFIBUS signal A_STW1 [2447].
Only applies for CDS0.
p0115[3] (2000.00 s)
To the control unit [8732] r0898.0
p0854[C] (0)
r0898
STW seq ctrl
= CLOSE (close pre-charging/line contactor)
0 = OFF1 (open pre-charging/line contactor)
Control word sequence control infeed
1 = Operating condition no OFF2 (enable is possible)
0 = OFF2 (open pre-charging/line contactor and power-on inhibit)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Control via PLC
Reserved
Reserved
Reserved
<1>
Reserved
<3> Is pre-defined via the PC if the master control is retrieved.
<3>
<1> STW1.10 must be set to ensure that the drive object accepts
the process data (PZD).
<3>
<3>
Reserved
Reserved
Reserved
r0898.10
<4>
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P
0
0
-
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B
P
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5
4
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2
6

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- 8726 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 21.10.10 V04.04.00 Basic Infeed - Status word, sequence control infeed
[8732] From sequence control
[8750] From power unit
[8734.4] From line contactor control
p0115[3] (2000.00 s)
r0899.0
r0899.1
r0899.2
r0899.4
r0899.6
r0899.11
r0899.12
r0899.9
r0899
ZSW sequence ctrl
11
12
13
14
15
Bit
No.
10
9
8
7
6
5
4
3
0
1
2
Status word sequence control infeed
Reserved
1 = No OFF2 active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
[8760.5]
<2>
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-
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B
P
2
F
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2
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2

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- 8732 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 21.10.10 V04.04.00 Basic Infeed - Sequence control
<1> POWER ON = 24 V electronics power supply OFF --> ON or RESET button.
p0115[3] (2000.00 s)
Missing enable
signals
[8734]
Faults/alarms
F06000
F07220
F07300
A06602
<2> STWAE.xx = Control word, sequence control infeed bit xx
ZSWAE.xx = Status word, sequence control, infeed bit xx
POWER ON <1>
ZSWAE.6 = 1
ZSWAE.0/1/2 = 0
ZSWAE.0 = 1
ZSWAE.1/2/6 = 0
Line contactor is open
Wait for power-on
S3a: Close the
line contactor
(refer to [8734] )
Pre-charging
Time monitoring refer to [8760]
&
"0 = OFF1"
(STWAE.0)
"0 = OFF1" (STWAE.0)
&
p0857 ... p0862, p3490 r3402
"Commissioning completed"
(p10 = 0 and p9 = 0)
T
p0862
S3: Operation
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Line contactor is closed
"Commissioning"
(p10 = 0 and p9 = 0)
S7:
Open the line contactor
S6:
r0863.0
&
"0 = OFF1"
(STWAE.0)
T
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
0
0
&
p3490
&
[2610.1] to SERVO/VECTOR
INF total operation
r0873.0
p0874
SLM/BLM operation
&
to SERVO/VECTOR
Energize contactor
r0863.1
[8760.6]
[2634.4]
<3>
B
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P
2
F
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.

2
-
2
5
6
8
7
3
4

M
i
s
s
i
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g

e
n
a
b
l
e

s
i
g
n
a
l
s
,

l
i
n
e

c
o
n
t
a
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t
o
r

c
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n
t
r
o
l
- 8734 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 07.12.10 V04.04.00 Basic Infeed - Missing enable signals, line contactor control
+24 V
Control Unit
From sequence control [8732.4]
T
p0861
Time monitoring
&
F07300
"Line contactor
feedback signal
missing"
[2120]...[2133]
DI
DO
[2130]...[2133]
Line contactor fdbk sig
p0860
Close
line contactor
r0863.1
1
2
3
5
6
8
9
16
17
0
Bit No.
S3a close line
contactor
S6 open line
contactor
S7 open line
contactor
(this situation can be detected at the ZSW sequence control, infeed r0899.2 = 1 [8726]).
r0899.12
Line contactor
closed
[8726.3]
[8760.6]
1
p0115[3] (2000.00 s)
To Line Module
1 = OFF1, enable missing (p0840 = 0 or switching on
inhibited is present)
Meaning
1 = OFF2, enable missing (p0844 = 0 or p0845 = 0)
1 = OFF1 internal enable missing (OFF1 fault response is
present)
1 = OFF2 enable internal missing (commissioning selected
p0009 > 0 or p0010 > 0 or OFF2 fault response present)
&
1
ON/OFF monitoring
0
From line supply
26 1 = Infeed inactive or not operational
1 = EP terminals, enable missing (pulse enable EP
terminals missing)
r0046
Missing enable sig
[3020.5] r0046.0
r0046.1
r0046.8
r0046.16
r0046.17
r0046.26
<1>
r0046.29
29 1 = Cooling unit ready signal missing
F
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a
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I
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f
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2
-
1
7
3
4

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A
G

2
0
1
1

A
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l

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s
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v
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d
S
I
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A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
5
7
8
7
5
0

I
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t
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f
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o

t
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B
a
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I
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p
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n
a
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s
,

a
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t
u
a
l

v
a
l
u
e
s
)
- 8750 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 21.10.10 V04.04.00
Control unit
DRIVE-CLiQ
Basic Line Module
DCP
DC link voltage Vdc_act
Vdc smooth
r0026
DCN
p0115[3] 2000.00 s
U1 V1 W1
+
-
300 ms
r0070
Vdc_act
Basic Infeed - Interface to the Basic Infeed power unit (control signals, actual values)
DC link current Idc_act
LT I_max
r0209
LT I_max
r0209
Vdc U_lower_thresh
r0296
Vdc U_upper_thresh
r0297
Vdc U_lower_thresh
r0296
Vdc U_upper_thresh
r0297
I_act abs.val.smth
r0027 300 ms
r0068
I_act abs.val.
P_actv_act smth
r0032 300 ms
r0082
P_act
<1>
<1>
<1>
<1>
<1>
<1> Applies only for Booksize.
<2> Choice temperature input about p0601.
r0035
Temp_input
<2> r0035
Temp_input
<2> <1>
<3>
B
a
s
i
c

I
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e
e
d
F
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c
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d
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2
-
1
7
3
5

S
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m
e
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s

A
G

2
0
1
1

A
l
l

R
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s

R
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s
e
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e
d
S
I
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A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
5
8
8
7
6
0

S
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a
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s

a
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d

m
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f
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t
i
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n
s

(
p
3
4
0
0
.
0

=

0
)
- 8760 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 21.10.10 V04.04.00 Basic Infeed - Signals and monitoring functions (p3400.0 = 0)
DC link monitoring
Precharge monitoring for the DC link
85 % 110 %
A06310
"Supply voltage
(p0210) incorrectly parameterized"
Supply voltage
p0210
2
1
Line voltage monitoring when powering-up
r0070
Vdc_act
F06000
"Precharging monitoring time expired"
<1>
Temperature monitoring braking resistor
60 s
T 0
F06908
"Braking Module internal shutdown due to overtemperature"
X21.2
X21.1
F06907
"Braking Module internal overtemperature"
<1> For B_INF with Braking Module internal only.
<2> Only fr S120 and G150.
4000.00 s
p0857
[8734.5]
T 0
[8726.7]
r0863.1
Pre-charging completed
r0899.11
p0115[3] (2000.00 s)
F30002
"DC link overvoltage"
r0070
Vdc_act
Vdc V_lower_thresh
r0296
F30003
"DC link undervoltage condition"
DC link monitoring
A06810
"DC link voltage too low"
Vdc offs A thresh
p0279
+
+
[8750.1]
Vdc Vdc V_upper_thresh
r0297
<2>
Function diagrams
Smart Infeed
2.26 Smart Infeed
Function diagrams
8828 Status word, infeed 2-1739
8850 Interface to the Smart Infeed (control signals, actual values) 2-1742
8860 Signals and monitoring functions, line supply voltage monitoring 2-1743
8864 Signals and monitoring functions, line frequency and Vdc monitoring 2-1744
S
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2
-
1
7
3
7

S
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m
e
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s

A
G

2
0
1
1

A
l
l

R
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s

R
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s
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d
S
I
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A
M
I
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S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
5
9
8
8
2
0

C
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t
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l

w
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d
,

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i
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d
- 8820 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 08.07.08 V04.04.00 Smart Infeed - Control word, sequence control infeed
p0844[C] (1)
p0845[C] (1)
11
12
13
14
15
p0840[C] (0)
p0852[C] (1)
9
10
8
7
6
5
4
3
2
1
0
Bit No.
<2>
<2> PROFIdrive interconnection: For the manufacturer-specific
PROFIdrive telegram, the upper input is connected to
PROFIdrive signal A_STW1 [2447]. This only involves CDS0.
p0115[3] (2000.00 s)
r0898.10
r0898.6
p0854[C] (0)
p3533[C] (0)
r0898
STW seq_ctrl INF
0 = OFF1 (pulse suppression and open pre-charging/line contactor)
0 = OFF2 (immediate pulse suppression, open pre-charging/line contactor and switching on inhibited)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Control via PLC
1 = Inhibit regenerative operation
Reserved
Reserved
Reserved
Reserved
<1>
Reserved
<3> Is pre-defined via the PC if the master control is retrieved.
<3>
<3>
<3>
<3>
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3
8

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A
G

2
0
1
1

A
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A
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S
1
2
0
/
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1
5
0

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M
a
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
0
8
8
2
6

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w
o
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d
,

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q
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- 8826 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 15.04.08 V04.04.00 Smart Infeed - Status word, sequence control infeed
r0899.0
r0899.1
r0899.2
r0899.4
r0899.6
r0899.11
r0899.12
r0899.9
r0899
ZSW sequence ctrl
11
12
13
14
15
Bit
No.
10
9
8
7
6
5
4
3
0
1
2
Reserved
1 = No OFF2 active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
p0115[3] (2000.00 s)
[8864.5]
S
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2
-
1
7
3
9

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m
e
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s

A
G

2
0
1
1

A
l
l

R
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h
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R
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s
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d
S
I
N
A
M
I
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S
S
1
2
0
/
S
1
5
0

L
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M
a
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
1
8
8
2
8

S
t
a
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u
s

w
o
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d
,

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f
e
e
d
- 8828 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 14.04.08 V04.04.00 Smart Infeed - Status word, infeed
1
2
3
4
5
6
7
8
9
10
11
0
r3405
INF ZSW
Bit No.
12
13
14
15
r3405.3
r3405.4
r3405.0
r3405.2
r3405.6
r3405.5
r3405.1
Status word, infeed
1 = Current limit reached
1 = Infeed operates in the regenerative mode
0 = Infeed operates in the motoring mode
1 = Motoring mode inhibited
1 = Regenerative mode inhibited
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Smart Mode active
1 = Phase failure detected
Reserved
Reserved
1 = Vdc controller active
Reserved
p0115[3] (2000.00 s)
F
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2
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1
7
4
0

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m
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A
G

2
0
1
1

A
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l

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A
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S
S
1
2
0
/
S
1
5
0

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a
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(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
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.

2
-
2
6
2
8
8
3
2

S
e
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e
r
- 8832 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 14.04.08 V04.04.00 Smart Infeed - Sequence control
POWER ON <1>
ZSWAE.6 = 1
ZSWAE.0/1/2 = 0
ZSWAE.0 = 1
ZSWAE.1/2/6 = 0
Wait for power-on
S5a: Pulse inhibit
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Pulses inhibited
S4: Operation
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Pulses enabled
S3a: Close the
line contactor
(refer to [8934] )
Pre-charging
Time monitoring, refer to [8964.7]
&
"0 = OFF1"
(STWAE.0)
&
"Enable operation"
(STWAE.3)
&
&
&
"0 = OFF1"
(STWAE.0)
"0 = OFF2"
(STWAE.1)
&
p0857...p0862, p3490...p3491
Missing
enable signals
[8934]
r3402
&
24 V at EP terminals
power unit
"Commiss. completed"
(p10 = 0 and p9 = 0)
T
p0862
S3: Ready
ZSWAE.0/1 = 1
ZSWAE.2/6 = 0
"Commissioning"
(p10 0 or p9 0)
0 V at EP terminals
power unit
&
"Commissioning"
(p10 0 and p9 0)
0 V at EP terminals, power unit
S7:
S6:
"Enable operation"
(STWAE.3)
"0 = OFF1"
(STWAE.0)
T
r0863.0 [2610.1] to SERVO/VECTOR
&
"0 = OFF1"
(STWAE.0)
"0= OFF1"
(STWAE.0)
"Enable operation" (STWAE.3)
0 V at EP terminals
power unit
1
p3490
1
1
T
p3490
&
Faults/alarms
F06000
F07220
F07300
A06602
<2> STWAE.xx = Control word, sequence control, infeed bit xx
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
0
0
0
p0115[3] (2000.00 s)
INF total operation
r0873.0
p0874
SLM/BLM operation
&
to SERVO/VECTOR
Energize contactor
r0863.1
[8864.6]
S
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t

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2
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1
7
4
1

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A
G

2
0
1
1

A
l
l

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A
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I
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S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
3
8
8
3
4

M
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e
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e

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- 8834 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 07.12.10 V04.04.00 Smart Infeed - Missing enable signals, line contactor control
+24 V
Control Unit
T
p0861
Time monitoring
&
F07300
"Line contactor
feedback signal
missing"
[2120]...[2133]
DI
DO
[2130]...[2133]
p0860
Close
line contactor
r0863.1
1
2
3
5
6
8
9
16
17
0
Bit No.
S3a close line
contactor
S6 open line
contactor
S7 open line
contactor
r0899.12
Line contactor
closed
[8826.3]
[8864.6]
1
p0115[3] (2000.00 s)
To Line Module
1 = OFF1, enable missing (p0898.0 = 0 [8820] or switching
on inhibited is present)
Meaning
1 = OFF2, enable missing (p0898.1 = 0 [8820])
present)
&
1
ON/OFF monitoring
0
From line supply
terminals missing)
r0046
Missing enable sig
[3020.5] r0046.0
r0046.1
r0046.8
r0046.16
r0046.17
1 = Enable operation missing (p0898.3 = 0 [8820]) r0046.3
r0046.19
19 1 = Pulse enable internal missing
r0046.26
r0046.29
29 1 = Cooling unit ready signal missing
F
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d
2
-
1
7
4
2

S
i
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m
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s

A
G

2
0
1
1

A
l
l

R
i
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s

R
e
s
e
r
v
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d
S
I
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A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
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M
a
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l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
4
8
8
5
0

I
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f
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e

t
o

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e

S
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a
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d

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l

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a
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s
,

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t
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v
a
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s
)
- 8850 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 15.06.10 V04.04.00 Smart Infeed - Interface to the Smart Infeed (control signals, actual values)
Line supply and
filter model
2
3
and transformation
Phase current actual values
IW
IV
IU
Control Unit
DRIVE-CLiQ
50/60 Hz
DCP
r0078
I_act_act
LT I_max
r0209
Vdc smooth
r0026
f_line smooth
r0024
U_input smooth
r0025
x2
1.35
I_active smooth
r0030
2 2
id iq
r0027
I_react smooth
r0029
r0032
cos phi smooth
r0038
DCN
<1> Angle of the voltage vector in the fixed stator coordinate system.
<2> Voltage management is optional (otherwise from the filter module).
<3> Choice temperature input about p0601.
<2>
[8864.5]
p0223...p0227
U_line supply calculated [8860.1]
LT I_max
r0209
iR
iS
iT
R
S
T
f_line supply
U_line supply
Voltage/
frequency sensing
+
+
+
<2>
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
r0070
Vdc_act
PE
Smart Line Module
+
p0115[1] (250.00 s)
U1 V1 W1
T3
T1
T5
T2
T4
T6
180
120 60
0
240 300
Transistor states
Switching times
Line angle
Switching logic
r0068
I_act abs. value
Phase W
r0069[2]
Phase V
r0069[1]
Phase U
r0069[0]
Sum U, V, W
r0069[6]
r0072
U_input
[9880.8]
[9880.8]
r0066
f_line
[8864.1]
r0082
P_act
r0094
Transformat_angle
r3661
r3662
[8014.1]
Vdc U_lower_thresh
r0296
Vdc U_upper_thresh
r0297
Vdc U_lower_thresh
r0296
Vdc U_upper_thresh
r0297
r0076
I_reactive_act
r0035
Temp_input
<3> r0035
Temp_input
<3>
S
m
a
r
t

I
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f
e
e
d
F
u
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c
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i
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d
i
a
g
r
a
m
s
2
-
1
7
4
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
5
8
8
6
0

S
i
g
n
a
l
s

a
n
d

m
o
n
i
t
o
r
i
n
g

f
u
n
c
t
i
o
n
s
,

l
i
n
e

s
u
p
p
l
y

v
o
l
t
a
g
e

m
o
n
i
t
o
r
i
n
g

- 8860 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 29.07.10 V04.04.00 Smart Infeed - Signals and monitoring functions, line supply voltage monitoring
85 % 110 %
F06100 "Shutdown due to line supply undervoltage"
A06310 "Supply voltage (p0210) incorrectly parameterized"
p0283 (75 [%])
p0282 (85 [%])
p0281 (110 [%])
A06105 "Line supply undervoltage"
A06301 "Line supply overvoltage"
Supply voltage
p0210
&
Nominal line
supply voltage
Calculated
actual line
supply voltage
[8850.4]
p0115[3] (2000.00 s)
U_line supply calculated
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
S
m
a
r
t

I
n
f
e
e
d
2
-
1
7
4
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
6
8
8
6
4

S
i
g
n
a
l
s

a
n
d

m
o
n
i
t
o
r
i
n
g

f
u
n
c
t
i
o
n
s
,

l
i
n
e

f
r
e
q
u
e
n
c
y

a
n
d

V
d
c

m
o
n
i
t
o
r
i
n
g
- 8864 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 14.07.08 V04.04.00 Smart Infeed - Signals and monitoring functions, line frequency and Vdc monitoring
(90 %)
p0285
(110 %)
p0284
A06351
"Measured line supply frequency too low"
A06350
"Measured line supply frequency too high"
Line frequency monitoring
p0211 (50 Hz)
Precharging monitoring for the DC link
1
Repeat the line supply
synchronization when
switching-in the pulses
III
> 20
F06500
"Line supply synchronization not possible within the monitoring time"
Fault for more
than 20 attempts
Change from
"ready" to "operation"
[8832.4]
[8850.4] r0066
f_line
F06000
p0857
[8834.5]
T 0
[8826.7]
r0863.1
r0899.11
DC link monitoring
p0115[3] (2000.00 s)
F30002
r0070
Vdc_act
Vdc V_lower_thresh
r0296
F30003
DC link monitoring
A06810
Vdc offs A thresh
p0279
+
+
[8850.1]
r0297
Active Infeed
Function diagrams
2.27 Active Infeed
Function diagrams
8928 Status word, infeed 2-1748
8940 Controller modulation depth reserve / controller DC link voltage (p3400.0 = 0) 2-1751
8946 Current pre-control / current controller / gating unit (p3400.0 = 0) 2-1752
8948 Master/slave (r0108.19 = 1) 2-1753
8950 Interface to the Active Infeed, control signals, actual values (p3400.0 = 0) 2-1754
8960 Signals and monitoring functions, line supply voltage monitoring (p3400.0 = 0) 2-1755
8964 Signals and monitoring functions, line frequency/Vdc monit. (p3400.0 = 0) 2-1756
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
A
c
t
i
v
e

I
n
f
e
e
d
2
-
1
7
4
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
7
8
9
2
0

C
o
n
t
r
o
l

w
o
r
d
,

s
e
q
u
e
n
c
e

c
o
n
t
r
o
l

i
n
f
e
e
d
- 8920 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 08.07.08 V04.04.00 Active Infeed - Control word, sequence control infeed
p0844[C] (1)
p0845[C] (1)
11
12
13
14
15
p0840[C] (0)
p0852[C] (1)
9
10
8
7
6
5
4
3
2
1
0
Bit No.
<2>
<2> PROFIdrive interconnection: For the manufacturer-specific
PROFIdrive telegram, the upper input is connected to
PROFIdrive signal A_STW1 [2447]. This only involves CDS0.
To the Control Unit [8932] r0898.0
r0898.10
r0898.5
r0898.6
p0854[C] (0)
p3532[C] (0)
p3533[C] (0)
r0898
STW seq_ctrl INF
0 = OFF1 (reduce Vdc along a ramp, pulse suppression and open pre-charging/line contactor)
0 = OFF2 (immediate pulse suppression, open pre-charging/line contactor and switching on
inhibited)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Control via PLC
1 = Inhibit regenerative operation
Reserved
1 = Inhibit motoring operation
Reserved
Reserved
<1>
Reserved
<3> Is predefined via the PC if the master control is retrieved.
<3>
<3>
<3>
<3>
p0115[3] (2000.00 s)
A
c
t
i
v
e

I
n
f
e
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
4
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
8
8
9
2
6

S
t
a
t
u
s

w
o
r
d
,

s
e
q
u
e
n
c
e

c
o
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t
r
o
l

i
n
f
e
e
d
- 8926 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 Active Infeed - Status word, sequence control infeed
r0899.0
r0899.1
r0899.2
r0899.4
r0899.6
r0899.11
r0899.12
r0899.9
r0899
ZSW sequence ctrl
11
12
13
14
15
Bit
No.
10
9
8
7
6
5
4
3
0
1
2
Reserved
1 = No OFF2 active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
p0115[3] (2000.00 s)
[8964.5]
F
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t
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o
n

d
i
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g
r
a
m
s
A
c
t
i
v
e

I
n
f
e
e
d
2
-
1
7
4
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
6
9
8
9
2
8

S
t
a
t
u
s

w
o
r
d
,

i
n
f
e
e
d
- 8928 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 12.12.08 V04.04.00 Active Infeed - Status word, infeed
1
2
3
4
5
6
7
8
9
10
11
0
r3405
INF ZSW
Bit No.
12
13
14
15
r3405.3
r3405.4
r3405.0
r3405.2
r3405.6
r3405.5
r3405.1
Status word, infeed
1 = Current limit reached
1 = Infeed operates in the regenerative mode
0 = Infeed operates in the motoring mode
1 = Motoring mode inhibited
1 = Regenerative mode inhibited
1 = DC link undervoltage alarm threshold undershot
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Smart Mode active
1 = Phase failure detected
Reserved
Reserved
1 = Vdc controller active
Reserved
p0115[3] (2000.00 s)
r3405.7
A
c
t
i
v
e

I
n
f
e
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
4
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
0
8
9
3
2

S
e
q
u
e
n
c
e
r
- 8932 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.04.08 V04.04.00 Active Infeed - Sequence control
POWER ON <1>
ZSWAE.6 = 1
ZSWAE.0/1/2 = 0
ZSWAE.0 = 1
ZSWAE.1/2/6 = 0
Wait for power-on
S5a: Discharge ramp
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Ramp-down Vdc via ramp
p3566, then suppress the
pulses
S4: Operation
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Pulses and controller are enabled
Ramp-up Vdc via the ramp
S3a: Close the
line contactor
(refer to [8934] )
Pre-charging
Time monitoring, refer to [8964.7]
&
"0 = OFF1"
(STWAE.0)
&
"Enable operation"
(STWAE.3)
&
&
&
"0 = OFF1"
(STWAE.0)
"0 = OFF2"
(STWAE.1)
&
p0857...p0862, p3490...p3491
Missing
enable signals
[8934]
r3402
&
24 V at EP terminals
power unit
"Commiss. completed"
(p10 = 0 and p9 = 0)
T
p0862
S3: Ready
ZSWAE.0/1 = 1
ZSWAE.2/6 = 0
"Commissioning" (p10 0 or p9 0)
0 V at EP terminals power unit
&
"Commissioning" (p10 0 and p9 0)
0 V at EP terminals, power unit
S7:
S6:
T
r0863.0 [2610.1]
to SERVO/VECTOR
&
"0 = OFF1"
(STWAE.0)
"0= OFF1"
(STWAE.0)
0 V at EP terminals
power unit
1
p3490
1
1
T
p3490
&
Faults/alarms
F06000
F07220
F07300
A06602
<2> STWAE.xx = Control word, sequence control, infeed bit xx
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
0
0
0
p0115[3] (2000.00 s)
Energize contactor
r0863.1
[8964.6]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
A
c
t
i
v
e

I
n
f
e
e
d
2
-
1
7
5
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
1
8
9
3
4

M
i
s
s
i
n
g

e
n
a
b
l
e

s
i
g
n
a
l
s
,

l
i
n
e

c
o
n
t
a
c
t
o
r

c
o
n
t
r
o
l
- 8934 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.12.10 V04.04.00 Active Infeed - Missing enable signals, line contactor control
+24 V
DI
DO
To the Line Module
From the line
supply
Control Unit
T
p0861
Time monitoring
&
F07300
"Line contactor
feedback signal
missing"
[2120]...[2133]
[2130]...[2133]
p0860
Close
line contactor
r0863.1
1
2
3
5
6
8
9
16
17
0
Bit No.
S3a close line
contactor
S6 open line
contactor
S7 open line
contactor
r0899.12
Line contactor
closed
[8926.3]
[8964.6]
1
p0115[3] (2000.00 s)
1 = OFF1, enable missing (p0898.0 = 0 [8920] or switching
on inhibited is present)
Meaning
1 = OFF2, enable missing (p0898.1 = 0 [8920])
present)
&
1
ON/OFF monitoring
0
terminals missing)
r0046
Missing enable sig
[3020.5] r0046.0
r0046.1
r0046.8
r0046.16
r0046.17
1 = Enable operation missing (p0898.3 = 0 [8920]) r0046.3
r0046.19
19 1 = Pulse enable internal missing
r0046.26
r0046.29
29 1 = Cooling system ready signal missing
A
c
t
i
v
e

I
n
f
e
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
5
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
2
8
9
4
0

C
o
n
t
r
o
l
l
e
r

m
o
d
u
l
a
t
i
o
n

d
e
p
t
h

r
e
s
e
r
v
e

/

c
o
n
t
r
o
l
l
e
r

D
C

l
i
n
k

v
o
l
t
a
g
e

(
p
3
4
0
0
.
0

=

0
)
- 8940 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.12.10 V04.04.00 Active Infeed - Controller modulation depth reserve / controller DC link voltage (p3400.0 = 0)
mod_depth limit
p3480
Controller, modulation depth reserve
r3517
I_active ctrl set
+
+
+
[8946.1]
I_distr_factor
p3516
I_limit mot
p3530
P3531
I_limit regen
I_suppl_active stat
p3514
+
+
r0074
Modulation depth
[8950.4]
r0077
I_act_set
<1>
<1> This controller increases (boosts) the DC link voltage when the modulation depth limit has been reached (p3480).
p0115[0] (250.00 s)
P3481
Res_ctrl dyn
pre-control P
(0)
p3520[0]
pre-control P scal
p3521[0]
Power pre-control
pre-control P
(0)
p3520[3]
p3521[3]
pre-control P scal
+
+
P I = P/U
+
[8950.4]
1,5
<2> When the pulses are enabled, the DC link voltage is ramped (p3566) from the actual value to the setpoint p3510.
Kp Tn
Vdc setpoint
300.00...1600.00 V
p3510 (600.00)
Controller DC link voltage
+ +
+
+
+
0
p3400.3
Kp
p3560
Tn
p3562
p0280
r3554
Vdc_ctrl I_comp
p3511
Vdc Z_set
r0088
Vdc setpoint
Vdc_max stat
[8960.7]
[8964.6]
r0070
Vdc_act
[8950.1]
<2>
0
1
Res_ctrl outpt
r3485
<3> Applies only if the " Master/slave function module is activated (r0108.19 = 1).
&
1
0
r0108.19
Close U_contr oper
p3513
1
0
I_suppl active
p3515
I_distr_factor
r3578
p3579
[8948.8]
[8948.8] <3>
I_act_setp
r3573
p3570
[8948.4]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
A
c
t
i
v
e

I
n
f
e
e
d
2
-
1
7
5
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
3
8
9
4
6

C
u
r
r
e
n
t

p
r
e
-
c
o
n
t
r
o
l

/

c
u
r
r
e
n
t

c
o
n
t
r
o
l
l
e
r

/

g
a
t
i
n
g

u
n
i
t

(
p
3
4
0
0
.
0

=

0
)
- 8946 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 21.10.09 V04.04.00 Active Infeed - Current pre-control / current controller / gating unit (p3400.0 = 0)
d
dt
d
dt
p3603
INF I_ctr D-comp
INF I_ctr D-comp
p3603
INF I_ctrl Kp
p3615
INF I_ctrl Tn
p3617
INF I_act_ctrl Tn
r3618
r3619
INF I_reactv_ctrTn
r3606
INF I_act ctrl dev
INF I_reactvCtrDev
r3608
Current pre-control Closed-loop current control
+
+
+
+
+
+
INF I _reactv F_set

p3610
+
+
p3611
INF I_reactv Z_set
[8940.8]
Differentiator
Kp Tn
Reactive curr. contr.
r0075
I_reactive_set
Differentiator
r0077
I_act_set
[8950.1]
r3633
INF V_inp Vsq
r3632
INF V_inp Vsd
[8950.1]
[8950.1]
[8950.1]
r0078
I_act_act
Kp Tn
Active curr. controller
<2>
<2>
p0115[0] (250.00 s)
+
Filter compensation
INF C_filter
p0221
<1>
<1> The filter compensation covers the reactive current requirement of a line filter.
This means that the required reactive power is then not taken from the line supply.
<2> For p3603 = 0, the D component is disabled.
r0076
I_reactive_act
A
c
t
i
v
e

I
n
f
e
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
5
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
4
8
9
4
8

M
a
s
t
e
r
/
s
l
a
v
e

(
r
0
1
0
8
.
1
9

=

1
)
- 8948 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 07.12.10 V04.04.00 Active Infeed - Master / slave (r0108.19 = 1)
I_act multi inp
p3571[0]
I_act multi sel
p3572
p3571[3]
p3571[2]
p3571[1]
r3573
I_act multi outp
Y
X0
X1
X2
X3
[8940.5]
r3517
From master
PROFIdrive
Analogous
p0115[0] (250.00 s)
1
[8950.1]
1
[8940.4]
r0070
Vdc_ist
Limit Uzk tension ribbon about-/ fallen
r3575.2
Vdc controller
0
1
0
1 An upper limit Uzk tension ribbon exceeded
r3575.0
A lower limit Uzk tension ribbon fallen.
r3575.1
Hysteresis lower tension limit
p3574[3]
Upper limit Uzk tension ribbon
p3574[0]
Lower limit Uzk tension ribbon
p3574[1]
p3574[2]
Hysteresis upper tension limit.
Multiplexer
Current setpoint
r3578
I_dist_factor outp
Y
X0
X1
X2
X3
[8940.7]
Multiplexer
current distribution factor
I_dist_factor STW
p3577
X4
X5
I_dist_faktor Inp
p3576[0]
p3576[1]
p3576[2]
p3576[3]
p3576[4]
p3576[5]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
A
c
t
i
v
e

I
n
f
e
e
d
2
-
1
7
5
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
5
8
9
5
0

I
n
t
e
r
f
a
c
e

t
o

t
h
e

A
c
t
i
v
e

I
n
f
e
e
d
,

c
o
n
t
r
o
l

s
i
g
n
a
l
s
,

a
c
t
u
a
l

v
a
l
u
e
s

(
p
3
4
0
0
.
0

=

0
)
- 8950 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 15.06.10 V04.04.00 Active Infeed - Interface to the Active Infeed (control signals, actual values) (p3400.0 = 0)
Line supply and
filter model
K
P
2
3
and transformation
+Transformation angle
and transformation
Phase current actual values
IW
IV
IU
Control Unit
DRIVE-CLiQ
PWM
DCP
r0078
I_act_act
[8946.8]
[8946.8]
r0074
Modulation depth [%]
LT I_max
r0209
<1> Angle of the voltage vector in the
fixed stator coordinate system.
<1>
Vdc smooth
r0026
Modulation depth, smooth
r0028
f_line smooth
r0024
U_input smooth
r0025
x1
x2
2
x x
2 1
x
I_active smooth
r0030
2 2
id iq
r0027
I_react smooth
r0029
r3635
INF U_output angle
r0032
cos phi smooth
r0038
DCN
<4> Voltage management is optional (otherwise from the filter module).
<2>
[8964.5]
[8940.1]
p0220...p0227
U_line supply calculated [8940.6][8960.1]
U1 V1 W1
LT I_max
r0209
iR
iS
iT
R
S
T
f_line supply
U_line supply
Voltage/
frequency sensing
+
+
+
[8940.1]
[8946.4]
[9880.8]
[9880.8]
<4>
r3632
r3633
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
r0070
Vdc_act
Line reactor
Voltage Sensing Module (VSM)
PE
Active Interface Module
Active Line Module
Only chassis
+
p0115[1] (250.00 s)
<5> For p3400.0 = 1, [8850] applies.
<5>
r0068
I_act abs. value
Phase W
r0069[2]
Phase V
r0069[1]
Phase U
r0069[0]
Sum U, V, W
r0069[6]
r0072
U_input
[8964.1]
r0082
P_act
r0094
Transformat_angle
r0066
f_line
r3661
r3662
Vdc U_upper_thresh
r0297
Vdc U_upper_thresh
r0297
Vdc U_lower_thresh
r0296
Vdc U_lower_thresh
r0296
[8946.4]
p3614
X21.1
X21.2 -Temp
+Temp
+Temp
-Temp
X121.1
X121.2
<3>
<2>
<2>
<2> Only for chassis.
<3> Only for booksize.
r0076
I_reactive_act
< 6 > Choice temperature input about p0601.
r0035
Temp_input
<6> r0035
Temp_input
<6>
A
c
t
i
v
e

I
n
f
e
e
d
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
5
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
6
8
9
6
0

S
i
g
n
a
l
s

a
n
d

m
o
n
i
t
o
r
i
n
g

f
u
n
c
t
i
o
n
s
,

l
i
n
e

s
u
p
p
l
y

v
o
l
t
a
g
e

m
o
n
i
t
o
r
i
n
g

(
p
3
4
0
0
.
0

=

0
)
- 8960 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 29.07.10 V04.04.00 Active Infeed - Signals and monitoring functions, line supply voltage monitoring (p3400.0 = 0)
85 % 110 %
F06100
"Shutdown due to line supply undervoltage"
A06310
"Supply voltage (p0210) incorrectly parameterized"
p0283 (75 [%])
p0282 (85 [%])
p0281 (110 [%])
A06105
"Line supply undervoltage"
A06301
"Line supply overvoltage"
Supply voltage
p0210
A06300
"Line supply voltage too high when powering-up"
--> voltage cannot be controlled
Monitoring when switching-in the pulses
(regarding the frequency, refer to [8964])
&
Nominal line
supply voltage
Calculated
actual line
supply voltage
[8950.4]
U_line supply after filter
[8960.6]
Vdc_max stat
[8940.4]
U_line supply after filter
[8960.2]
p0115[3] (2000.00 s)
<1>
<1> For p3400.0 = 1, [8864] applies.
300 ms
Temperature monitor active interface module.
60 s
T 0
F06261
"Temperature in the line filter permanently too high"
X21.2
X21.1
A06260
"Temperature in the line filter too high"
Background
<2>
<2> Only when selecting an AIM (Active Interface Module) in p0220. Only for booksize.
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
A
c
t
i
v
e

I
n
f
e
e
d
2
-
1
7
5
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
7
8
9
6
4

S
i
g
n
a
l
s

a
n
d

m
o
n
i
t
o
r
i
n
g

f
u
n
c
t
i
o
n
s
,

l
i
n
e

f
r
e
q
u
e
n
c
y
/
V
d
c

m
o
n
i
t
.

(
p
3
4
0
0
.
0

=

0
)
- 8964 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120/S150 22.07.08 V04.04.00 Active Infeed - Signals and monitoring functions, line frequency and Vdc monit. (p3400.0 = 0)
(90 %)
p0285
(110 %)
p0284
A06351
"Measured line supply frequency too low"
A06350
"Measured line supply frequency too high"
Line frequency monitoring
p0211 (50 Hz)
1
Repeat the line supply
synchronization when
switching-in the pulses
III
> 20
F06500 "Line supply synchronization not possible within the monitoring time"
Fault for more than 20
attempts
Change from "ready" to
"operation"
[8932.4]
[8950.4]
<1> For p3400.0 = 1, [8864] applies.
r0066
f_line
DC link monitoring
Precharging monitoring for the DC link
r0088
Vdc setpoint
p0280
[8940.4]
p0115[3] (2000.00 s)
<1>
A06800
"Maximum steady-stage DC link voltage reached"
F06000
p0857
[8934.5]
T 0
[8926.7]
r0863.1
r0899.11
F30002
r0070
Vdc_act
Vdc V_lower_thresh
r0296
F30003
A06810
Vdc offs A thresh
p0279
+
+
[8950.1]
r0297
Terminal Board 30 (TB30)
Function diagrams
2.28 Terminal Board 30 (TB30)
Function diagrams
9102 Digital outputs, electrically isolated (DO 0 to DO 3) 2-1759
9104 Analog inputs (AI 0 to AI 1) 2-1760
9106 Analog outputs (AO 0 to AO 1) 2-1761
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
2
-
1
7
5
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
8
9
1
0
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

0

t
o

D
I

3
)
- 9100 -
Function diagram
8 7 6 5 4 3 2 1
fp_9100_51_eng.vsd DO: TB30
SINAMICS 24.11.09 V04.04.00 Terminal Board 30 (TB30) - Digital inputs, electrically isolated (DI 0 ... DI 3)
X481.1
X481.2
X481.3
X481.4
1 = Simulation on
p4095.0
r4023.0
r4022.0
p4095.1
r4023.1
r4022.1
p4095.2
r4023.2
r4022.2
p4095.3
r4023.3
r4022.3
r4022 r4023
M
<1> M electrically isolated to the internal CU reference potential M.
1
0
1
0
1
0
1
0
1
1
1
1
DI 3
DI 2
DI 1
DI 0
DI 0 DI 3
inverted
DI 0 DI 3
r4021.0
r4021.1
r4021.2
r4021.3
p4096.3
p4096.2
p4096.1
p4096.0
<1>
p4099[0] (4000.00 s)
24 V
5 V
<1>
+24 V
X424.M
X424.+
M X424.M
X424.+
+
M
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
5
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
7
9
9
1
0
2

D
i
g
i
t
a
l

o
u
t
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
O

0

t
o

D
O

3
)
- 9102 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 24.11.09 V04.04.00 Terminal Board 30 (TB30) - Digital outputs, electrically isolated (DO 0 ... DO 3)
DO 3 X481.8
DO 0
DO 1
DO 2 X481.7
p4048.0
p4048.1
p4048.2
p4048.3
X481.5
X481.6
M
<1>
X424.M
X424.+
X424.M
X424.+
+24 V
M
M
+
p4099[0] (4000.00 s)
1
0
1
1
0
1
1
0
1
1
0
1
<1> M electrically isolated to the internal CU reference potential M.
(0)
TB30 S_src DO 3
p4033
(0)
TB30 S_src DO 2
p4032
(0)
TB30 S_src DO 1
p4031
(0)
TB30 S_src DO 0
p4030
DO 0 (X481.5)
r4047.0
DO 1 (X481.6)
r4047.1
DO 2 (X481.7)
r4047.2
DO 3 (X481.8)
r4047.3
24 V
5 V
<1>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
2
-
1
7
6
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
0
9
1
0
4

A
n
a
l
o
g

i
n
p
u
t
s

(
A
I

0

t
o

A
I

1
)
x
- 9104 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 21.06.05 V04.04.00 Terminal Board 30 (TB30) - Analog inputs (AI 0 ... AI 1)
AI 1
Scaling
r4055[1]
p4069[1]
(1)
Enable
Hardware
smoothing 100 s
p4066 [1]
(0)
p4067[1]
y = x if
|y - x| > p4068
y
x
A
D
Offset
-20.000...20.000 V
p4063[1] (0.000)
-11.000...11.000 V
p4057[1] (0.000)
-11.000...11.000 V
p4059[1] (10.000)
[V]
r4052[1]
p4097.1
-1000.00...1000.00 %
p4060[1] (100.00)
-1000.00...1000.00 %
p4058[1] (0.00)
X482.3
X482.4
+
-
AI 0
Scaling
r4055[0]
p4069[0]
(1)
Enable
Hardware
smoothing 100 s
p4066 [0]
(0)
p4067[0]
y = x if |y - x| > p4068
y x
A
D
Offset
-20.000...20.000 V
p4063[0] (0.000)
-11.000...11.000 V
p4057[0] (0.000)
-11.000...11.000 V
p4059[0] (10.000)
[V]
r4052[0]
p4097.0
Simulation mode
-11.000...11.000 V
p4098[0] (0.000)
-1000.00...1000.00 %
p4060[0] (100.00)
-1000.00...1000.00 %
p4058[0] (0.00)
X482.1
X482.2
+
-
0 %
Smoothing
0.0...1 000.0 ms
p4053[0] (0.0)
0.00...20.00 %
p4068[0] (0.00)
Smoothing
0.0...1 000.0 ms
p4053[0] (0.0)
0.00...20.00 %
p4068[1] (0.00)
[%]
[%]
0 %
1
0
1
0
<1> When interconnected
further, the output
signals are referred to
the reference
quantities
p2000 ... r2004
(100 % p200x).
<1>
+
+
+
+
-11...+11 V
-11...+11 V
x y
x y
p2000...r2004
y
x2
x1
p200x
y
x2
x1
<2>
<2>
<3>
p4099[1] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
[V]
x1
y2
x2
y1
y
x
[%]
[V]
<1>
Simulation mode
-11.000...11.000 V
p4098[1] (0.000)
-1
0
1
-1
0
1
0
1
0
1
<3> Caution: The voltage
between an input and
the grounding point
must not exceed 35V.
The voltage between
the inputs must not
exceed 35V.
1
0
1
0
<3>
x
% 100
x x
2 1
x
For input signals
referred to ground,
terminal 2
and/or terminal 4
must be connected to
the reference
potential M.
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
6
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
1
9
1
0
6

A
n
a
l
o
g

o
u
t
p
u
t
s

(
A
O

0

t
o

A
O

1
)
- 9106 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 25.10.05 V04.04.00 Terminal Board 30 (TB30) - Analog outputs (AO 0 ... AO 1)
AO 0
Scaling
p4082 [0]
(0)
Smoothing
Offset
-10.000...10.000 V
p4083[0] (0.000)
-1000.00...1000.00 %
p4079[0] (100.00 %)
-1000.00...1000.00 %
p4077[0] (0.00 %)
p4075 [0] (0)
-11.000...11.000
V p4080[0] (10.000 V)
-11.000...11.000 V
p4078[0] (0.000 V)
X482.5
X482.6
D
A
[V]
r4074 [0]
r4072 [0]
[%]
0.0...1000.0 ms
p4073[0] (0.0)
AO 1
Scaling
p4082 [1]
(0)
Smoothing
Offset
-10.000...10.000 V
p4083[1] (0.000)
-1000.00...1000.00 %
p4079[1] (100.00 %)
-1000.00...1000.00 %
p4077[1] (0.00 %)
p4075 [1] (0)
-11.000...11.000 V
p4080[1] (10.000 V)
-11.000...11.000 V
p4078[1] (0.000 V)
X482.7
X482.8
D
A
[V]
r4074 [1]
r4072 [1]
[%]
0.0...1000.0 ms
p4073[1] (0.0)
p2000... r2004
y
x2
x1
[%]
<1>
<1> The input signals are referred to the reference quantities p2004 ... r2004 (100 % p200x).
y
x
x y
+
+
+ +
-11...+11 V
-11...+11 V
p4071 [1] (0)
p4071 [0] (0)
y
y
<1>
<1>
x1
y2
x2
y1
y
x
[%]
[V]
x1
y2
x2
y1
y
x
[%]
[V]
p4099[2] (4000.00 s)
-1
0
1
-1
0
1
0
1
0
1
2
1
x
% 100 x x
Function diagrams
Communication Board CAN10 (CBC10)
2.29 Communication Board CAN10 (CBC10)
Function diagrams
9204 Receive telegram, free PDO mapping (p8744 = 2) 2-1763
9206 Receive telegram, Predefined Connection Set (p8744 = 1) 2-1764
9208 Send telegram, free PDO mapping (p8744 = 2) 2-1765
9210 Send telegram, Predefined Connection Set (p8744 = 1) 2-1766
9220 Control word, CANopen 2-1767
9226 Status word, CANopen 2-1768
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N
1
0

(
C
B
C
1
0
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
6
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
2
9
2
0
4

R
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

P
D
O

m
a
p
p
i
n
g

(
p
8
7
4
4

=

2
)
- 9204 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 27.05.10 V04.04.00 Communication Board CAN10 (CBC10) - Receive telegram, free PDO mapping (p8744 = 2)
X451
CAN bus
X452
CAN bus
r8860[4] DWORD
Bit 0 r8891.0
r8850[1]
Bit 15 r8891.15
Bit 0 r8890.0
r8850[0]
Bit 15 r8890.15
...
r8860[2] DWORD
Bit 0 r8893.0
r8850[3]
Bit 15 r8893.15
Bit 0 r8892.0
r8850[2]
Bit 15 r8892.15
...
...
r8860[1] DWORD
...
r8850[5]
r8850[4]
r8860[5] DWORD
r8850[6]
r8860[3] DWORD
r8860[6] DWORD
r8850[7]
r8860[7] DWORD
r8850[8]
r8860[8] DWORD
r8850[9]
r8860[9] DWORD
r8850[10]
r8860[10] DWORD
r8850[11]
r8860[11] DWORD
r8850[12]
r8860[12] DWORD
r8850[13]
r8860[13] DWORD
r8850[14]
r8860[14] DWORD
r8850[15]
CANopen
receive telegram
Object 4
COB-ID
Object 1
<1>
r8860[0] DWORD
PZD receive word 1
PZD receive word 2
PZD receive word 5
PZD receive word 3
PZD receive word 4
PZD receive word 6
PZD receive word 7
PZD receive word 8
PZD receive word 9
PZD receive word 10
PZD receive word 11
PZD receive word 12
PZD receive word 13
PZD receive word 14
PZD receive word 15
PZD receive word 16
Evaluation
of the COB-
ID
COB-ID for RPDO 1
p8700[0]
PDO mapping for RPDO 1
p8710[0...3]
Object 1
Object 2
Object 3
<1> To use automatic BICO interconnection (p8790 = 1), one of the receive words 1-4 must be used as control word 1 (STW1).
<2> Telegram: up to 4 words or 64 bits.
The sum of the various objects must not exceed 16 words.
<2>
Object 4
Object 1
Object 2
Object 3
Object 4
The assignment is made from
RPDO 1, RPDO 2 ... RPDO 8
and from receiver buffer word
Objects available a multiple
number of times are
marshalled to the same
position in the receive buffer.
Automatic assignment of the
RPDOs to the receive buffer Receive buffer
Object 1
Object 2
Object 3
Object 4
RPDO 1
p8701[0] p8711[0...3]
RPDO 2
p8707[0]
p8717[0...3]
RPDO 8
COB-ID: CAN Communication Object Identifier
Refer to [1020.7]
<3>
<3>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N
1
0

(
C
B
C
1
0
)
2
-
1
7
6
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
3
9
2
0
6

R
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

P
r
e
d
e
f
i
n
e
d

C
o
n
n
e
c
t
i
o
n

S
e
t

(
p
8
7
4
4

=

1
)
- 9206 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 27.05.10 V04.04.00 Communication Board CAN10 (CBC10) - Receive telegram, Predef. Conn. Set (p8744 = 1)
X451
CAN bus
X452
CAN bus r8860[4] DWORD
Bit 0 r8891.0
r8850[1]
Bit 15 r8891.15
Bit 0 r8890.0
r8850[0]
Bit 15 r8890.15
...
r8860[2] DWORD
Bit 0 r8893.0
r8850[3]
Bit 15 r8893.15
Bit 0 r8892.0
r8850[2]
Bit 15 r8892.15
...
...
r8860[1] DWORD
...
r8850[5]
r8850[4]
r8860[5] DWORD
r8850[6]
r8860[3] DWORD
r8860[6] DWORD
r8850[7]
r8860[7] DWORD
r8850[8]
r8860[8] DWORD
r8850[9]
r8860[9] DWORD
r8850[10]
r8860[10] DWORD
r8850[11]
r8860[11] DWORD
r8850[12]
r8860[12] DWORD
r8850[13]
r8860[13] DWORD
r8850[14]
r8860[14] DWORD
r8850[15]
CANopen
receive telegram
Object 4
COB-ID
Object 1
r8860[0] DWORD
PZD receive word 1
PZD receive word 2
PZD receive word 5
PZD receive word 3
PZD receive word 4
PZD receive word 6
PZD receive word 7
PZD receive word 8
PZD receive word 9
PZD receive word 10
PZD receive word 11
PZD receive word 12
PZD receive word 13
PZD receive word 14
PZD receive word 15
PZD receive word 16
Evaluation
of the
COB-ID
COB-ID for RPDO 1
p8700[0]
PDO mapping for RPDO 1
p8710[0...3]
60400010
60400010
60FF0020
p8703[0]
60400010
60FF0020
60710010
The assignment is
made from RPDO
1, RPDO 2 ...
RPDO 4 and from
receiver word 1.
Objects available a
multiple number of
times are
marshalled to the
same position in the
receive buffer.
RPDOs to the receive buffer Receive buffer
p8713[0...3]
p8702[0]
60400010
60710010
p8712[0...3]
p8701[0] p8711[0...3]
RPDO 1
RPDO 2
RPDO 3
RPDO 4
<1>
Refer to [1020.7]
<2>
<2>
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N
1
0

(
C
B
C
1
0
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
6
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
4
9
2
0
8

S
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

P
D
O

m
a
p
p
i
n
g

(
p
8
7
4
4

=

2
)
- 9208 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 23.10.09 V04.04.00 Communication Board CAN10 (CBC10) - Send telegram, free PDO mapping (p8744 = 2)
DWORD
(0)
p8861[1]
DWORD
(0)
p8861[2]
DWORD
(0)
p8861[3]
DWORD
(0)
p8861[4]
DWORD
(0)
p8861[0]
CANopen send telegram
X451
CAN bus
X452
CAN bus
DWORD
(0)
p8861[5]
DWORD
(0)
p8861[14]
DWORD
(0)
p8861[7]
DWORD
(0)
p8861[8]
DWORD
(0)
p8861[9]
DWORD
(0)
p8861[10]
DWORD
(0)
p8861[6]
DWORD
(0)
p8861[11]
DWORD
(0)
p8861[12]
DWORD
(0)
p8861[13]
(0)
p8851[1]
(0)
p8851[2]
(0)
p8851[3]
(0)
p8851[4]
(0)
p8851[0]
(0)
p8851[5]
(0)
p8851[14]
(0)
p8851[7]
(0)
p8851[8]
(0)
p8851[9]
(0)
p8851[10]
(0)
p8851[6]
(0)
p8851[11]
(0)
p8851[12]
(0)
p8851[13]
(0)
p8851[15]
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PZD send word 7
PZD send word 8
PZD send word 9
PZD send word 10
PZD send word 11
PZD send word 12
PZD send word 13
PZD send word 14
PZD send word 15
IF2 Diag PZD send
r8853[0...15]
...
PZD send word 16
.
.
.
Object 4
COB-ID
Object 1
Evaluation of
the COB-ID
and data
transfer type
COB-ID for TPDO 1
p8720[0]
PDO mapping for TPDO 1
p8730[0...3]
Object 1
Object 2
Object 3
<1>
Object 4
The assignment is made
from send buffer 1 and
from TPDO 1.
Objects that occur a
multiple number of times
are updated from the
same send buffer.
Send buffer
send buffer to the TPDOs
Object 1
Object 2
Object 3
Object 4
Object 1
Object 2
Object 3
Object 4
p8721[0] p8731[0...3]
p8727[0] p8737[0...3]
TPDO 1
TPDO 2
TPDO 8
TPDO: Transmit Process Data Object
Refer to [1020.7]
CANopen send words 1 ... 16
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N
1
0

(
C
B
C
1
0
)
2
-
1
7
6
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
5
9
2
1
0

S
e
n
d

t
e
l
e
g
r
a
m
,

P
r
e
d
e
f
i
n
e
d

C
o
n
n
e
c
t
i
o
n

S
e
t

(
p
8
7
4
4

=

1
)
- 9210 -
Function diagram
8 7 6 5 4 3 2 1
fp_9210_51_eng.vsd DO: SERVO, VECTOR, VECTORGL, VECTORMV. VECTORSL
SINAMICS 23.10.09 V04.04.00 Communication Board CAN10 (CBC10) - Send telegram, Predef. Connection Set (p8744 = 1)
DWORD
63
p8861[1]
DWORD
(0)
p8861[2]
DWORD
(0)
p8861[3]
DWORD
492.0
p8861[4]
DWORD
(0)
p8861[0]
CANopen send telegram
X451
CAN bus
X452
CAN bus
DWORD
(0)
p8861[5]
DWORD
(0)
p8861[14]
DWORD
(0)
p8861[7]
DWORD
(0)
p8861[8]
DWORD
(0)
p8861[9]
DWORD
(0)
p8861[10]
DWORD
(0)
p8861[6]
DWORD
(0)
p8861[11]
DWORD
(0)
p8861[12]
DWORD
(0)
p8861[13]
(0)
p8851[1]
(0)
p8851[2]
79
p8851[3]
(0)
p8851[4]
8784
p8851[0]
(0)
p8851[5]
(0)
p8851[14]
(0)
p8851[7]
(0)
p8851[8]
(0)
p8851[9]
(0)
p8851[10]
(0)
p8851[6]
(0)
p8851[11]
(0)
p8851[12]
(0)
p8851[13]
(0)
p8851[15]
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PZD send word 7
PZD send word 8
PZD send word 9
PZD send word 10
PZD send word 11
PZD send word 12
PZD send word 13
PZD send word 14
PZD send word 15
IF2 Diag PZD send
r8853[0...15]
...
PZD send word 16
Object 4
COB-ID
Object 1
Evaluation of
the COB-ID
and data
transfer type.
COB-ID for TPDO 1
p8720[0]
PDO mapping for TPDO 1
p8730[0...3]
<1>
Send buffer
Automatic assignment of
send buffer to the TPDOs
60410010
60410010
606C0020
p8723[0]
60410010
60630020
p8733[0...3]
p8722[0]
60410010
60740010
p8732[0...3]
p8721[0] p8731[0...3]
The assignment
is made from
the send buffer
1 and from
TPDO 1.
Objects that occur
a multiple number
of times are
updated from the
same send buffer.
TPDO 1
TPDO 2
TPDO 3
TPDO 4
TPDO: Transmit Process Data Object
Refer to [1020.7]
CANopen send words 1...16
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N
1
0

(
C
B
C
1
0
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
6
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
6
9
2
2
0

C
o
n
t
r
o
l

w
o
r
d
,

C
A
N
o
p
e
n
- 9220 -
Function diagram
8 7 6 5 4 3 2 1
fp_9220_51_eng.vsd DO: SERVO, VECTOR, VECTORGL, VECTORMV,VECTORSL
SINAMICS 04.11.09 V04.04.00 Communication Board CAN10 (CBC10) - Control word, CANopen
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r8890.2
p0852[0] = r8890.3
-
-
-
p2103[0] = r8890.7
-
-
-
pxxxx[y] = r8890.11
pxxxx[y] = r8890.12
pxxxx[y] = r8890.13
pxxxx[y] = r8890.14
pxxxx[y] = r8890.15
p0840[0] = r8890.0
p0844[0] = r8890.1
0 = OFF1 (braking with ramp-function generator, then pulse cancellation and ready-to-power-up)
1 = No coast-down activated (enable possible)
0 = Activate coast-down (immediate pulse cancellation and power-on inhibit)
1 = No fast stop activated (enable possible)
0 = Activate fast stop (braking along an OFF3 ramp p1135, then pulse cancellation and power-on inhibit)
Reserved
Reserved
Reserved
= Acknowledge fault
Reserved
Reserved
Reserved
Can be freely connected
[2501.3]
[2501.3]
-
-
-
[2546.1]
-
-
-
-
-
-
[2501.3]
[2501.3]
Signal targets for control word CANopen
[2610]
[2610]
-
-
-
[8060]
-
-
-
-
-
-
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
<1> Depending on the position of the CANopen control word in p8750, the number of the binector to be connected changes.
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N
1
0

(
C
B
C
1
0
)
2
-
1
7
6
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
7
9
2
2
6

S
t
a
t
u
s

w
o
r
d
,

C
A
N
o
p
e
n
- 9226 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 04.11.09 V04.04.00 Communication Board CAN10 (CBC10) - Status word, CANopen
11
12
13
14
15
r8784
Status word CANopen
<1> With setpoint channel: connect p2151 with r1119 [8010.5].
Bit No.
10
9
8
7
6
5
4
3
0
1
2
From sequence control [2610]
From status word speed controller [2522]
1 = Ready to operate (DC link loaded, pulses blocked)
1 = Ready to power-up
Status word CANopen
1 = Fault present
1 = No fast stop active
1 = Alarm present
Freely interconnectable (BI: p8785)
1 = Target reached <1>
1 = Velocity equal to zero
Reserved
From speed signals [8011.8] (r2197.7)
(0)
p8787
(0)
p8786
From fault buffer [8060]
From alarm buffer [8065]
(0)
p8785
From status word monitoring 3 [8010.8] (r2199.0)
Refer to [1020.7]
Terminal Module 15 for SINAMICS (TM15DI/DO)
Function diagrams
2.30 Terminal Module 15 for SINAMICS (TM15DI/DO)
Function diagrams
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

f
o
r

S
I
N
A
M
I
C
S

(
T
M
1
5
D
I
/
D
O
)
2
-
1
7
7
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
8
9
4
0
0

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

0

t
o

D
I
/
D
O

7
)
- 9400 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 24.03.09 V04.04.00 Terminal Module 15 (TM15) - Digital inputs/outputs, bidirectional (DI/DO 0 ... DI/DO 7)
p4095.0 (0)
X520.10 M1
p4096.0 (0)
p4048.0 (0)
DI
DO
p4095.7 (0) p4096.7 (0)
p4048.7 (0)
DI
DO
X520.9 DI/DO 7
p4028.7 (0)
DI/DO 0 X520.2
p4028.0 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
X520.1
In this case, the terminal block must be supplied
(L1+/M1).
<1>
DI
DI
1
1
r4022
r4023.7
r4023.0
r4021.0
r4021.7
r4022.7
r4022.0
p4099 (4000.00 s)
r4047.7
DO
DI/DO 0 7
inverted
DI/DO 0 7
DO
(0)
TM15D S_src DI/DO 7
p4037
(0)
TM15D S_src DI/DO 0
p4030
0
1
0
r4047.0
0
1
0
24 V
5 V
<1>
+24 V
+24 V
<1>
L1+
r4023
+24 V
X524.M
X524.+
M
X524.M
M
X524.+
+24 V
0 V
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

f
o
r

S
I
N
A
M
I
C
S

(
T
M
1
5
D
I
/
D
O
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
7
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
8
9
9
4
0
1

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

8

t
o

D
I
/
D
O

1
5
)
- 9401 -
Function diagram
8 7 6 5 4 3 2 1
p4095.8 (0)
X521.10 M2
p4096.8 (0)
p4048.8 (0)
DI
DO
p4095.15 (0) p4096.15 (0)
p4048.15 (0)
DI
DO
X521.9 DI/DO 15
p4028.15 (0)
DI/DO 8 X521.2
p4028.8 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
X521.1
(L2+/M2).
<1>
DI
DI
1
1
r4022
r4023.15
r4023.8
r4021.8
r4021.15
r4022.15
r4022.8
p4099 (4000.00 s)
r4047.15
DO
DI/DO 8 15
inverted
DI/DO 8 15
DO
(0)
TM15D S_src DI/DO 15
p4045
(0)
TM15D S_src DI/DO 8
p4038
0
1
0
r4047.8
0
1
0
24 V
5 V
<1>
+24 V
+24 V
<1>
L2+
r4023
+24 V
X524.M
X524.+
M
X524.M
M
X524.+
+24 V
0 V
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

f
o
r

S
I
N
A
M
I
C
S

(
T
M
1
5
D
I
/
D
O
)
2
-
1
7
7
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
0
9
4
0
2

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
6

t
o

D
I
/
D
O

2
3
)
- 9402 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 25.03.09 V04.04.00 Terminal Module 15 (TM15) - Digital input/output, bidirectional (DI/DO 16 ... DI/DO 23)
p4095.16 (0)
X522.10 M3
p4096.16 (0)
p4048.16 (0)
DI
DO
p4095.23 (0) p4096.23 (0)
p4048.23 (0)
DI
DO
X522.9 DI/DO 23
p4028.23 (0)
DI/DO 16 X522.2
p4028.16 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
X522.1
(L3+/M3).
<1>
DI
DI
1
1
r4022
r4023.23
r4023.16
r4021.16
r4021.23
r4022.23
r4022.16
p4099 (4000.00 s)
r4047.23
DO
DI/DO 16 23
inverted
DI/DO 16 23
DO
(0)
p4093
(0)
p4086
0
1
0
r4047.16
0
1
0
24 V
5 V
<1>
+24 V
+24 V
<1>
L3+
r4023
+24 V
X524.M
X524.+
M
X524.M
M
X524.+
+24 V
0 V
Terminal Module 31 (TM31)
Function diagrams
2.31 Terminal Module 31 (TM31)
Function diagrams
9556 Digital relay outputs, electrically isolated (DO 0 to DO 1) 2-1776
9566 Analog input 0 (AI 0) 2-1779
9568 Analog input 1 (AI 1) 2-1780
9572 Analog outputs (AO 0 to AO 1) 2-1781
9576 Temperature evaluation (KTY/PTC) 2-1782
9577 Sensor monitoring (KTY/PTC) 2-1783
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
2
-
1
7
7
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
1
9
5
5
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

0

t
o

D
I

3
)
- 9550 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 25.03.09 V04.04.00 Terminal Module 31 (TM31) - Digital inputs, electrically isolated (DI 0 ... DI 3)
X520.1
X520.2
X520.3
X520.4
1 = Simulation on
p4095.0
r4023.0
r4022.0
p4095.1
r4023.1
r4022.1
p4095.2
r4023.2
r4022.2
p4095.3
r4023.3
r4022.3
r4022 r4023
X520.5 M1
M <1> When using the electrical isolation, omit the
<1>
X520.6
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 3
DI 2
DI 1
DI 0
DI 0 DI 3
inverted
DI 0 DI 3
r4021.0
r4021.1
r4021.2
r4021.3
<1>
p4096.3
p4096.2
p4096.1
p4096.0
<1>
p4099[0] (4000.00 s)
+
24 V
5 V
<1>
+24 V
X524.M
X524.+
M
X524.M
M
X524.+
+
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
7
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
2
9
5
5
2

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

4

t
o

D
I

7
)
- 9552 -
Function diagram
8 7 6 5 4 3 2 1
X530.1
X530.2
X530.3
X530.4
1 = Simulation on
p4095.4
r4023.4
r4022.4
p4095.5
r4023.5
r4022.5
p4095.6
r4023.6
r4022.6
p4095.7
r4023.7
r4022.7
r4022 r4023
X530.5 M2
<1>
X530.6
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 7
DI 6
DI 5
DI 4
DI 4 DI 7
inverted
DI 4 DI 7
r4021.4
r4021.5
r4021.6
r4021.7
<1>
p4096.7
p4096.6
p4096.5
p4096.4
<1>
p4099[0] (4000.00 s)
+
24 V
5 V
<1>
+24 V
X524.M
X524.+
M
X524.M
M
X524.+
+
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
2
-
1
7
7
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
3
9
5
5
6

D
i
g
i
t
a
l

r
e
l
a
y

o
u
t
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
O

0

t
o

D
O

1
)
- 9556 -
Function diagram
8 7 6 5 4 3 2 1
fp_9556_51_eng.vsd
SINAMICS 30.07.07 V04.04.00 Terminal Module 31 (TM31) - Digital relay outputs, electrically isolated (DO 0 ... DO 1)
p4048.0
<1>
<1> NO: Normally Open contact ("open" in the quiescent state = NO contact)
NC: Normally Closed contact ("closed" in the quiescent state = NC contact)
The relay contacts have the following ratings - up to 100 V DC 240 W or 250 V AC 2000 VA.
NC 0
NO 0
COM
<1>
NC 1
NO 1
COM
X542
1
2
3
p4099[0] (4000.00 s)
5
6
4
DO: TM31
p4048.1
1
0
1
1
0
1
WARNING
Hazardous voltage!
These terminal can have
voltages up to 250 V AC!
(0)
TM31 S_src DO 1
p4031
(0)
TM31 S_src DO 0
p4030
r4047.1
r4047.1
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
7
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
4
9
5
6
0

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

8

t
o

D
I
/
D
O

9
)
- 9560 -
Function diagram
8 7 6 5 4 3 2 1
p4095.8 (0)
X541.6 M
p4096.8 (0)
p4048.8 (0)
DI
DO
p4095.9 (0) p4096.9 (0)
p4048.9 (0)
DI
DO
X541.3 DI/DO 9
p4028.9 (0)
DI/DO 8 X541.2
p4028.8 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
+24 V X541.1
<1>
DI
DI
1
1
r4022
r4023.9
r4023.8
r4021.8
r4021.9
r4022.9
r4022.8
p4099[0] (4000.00 s)
<2> Limits the total output current of the terminals X541.2, X541.3, X541.4 and X541.5 to 0.1 A (p4046 = 0) or 1 A (p4046 = 1).
<3> The total (summed) output current of the 24 V auxiliary power supply on terminals X540.1 to X540.8 and X541.1 is limited to 150 mA.
Incandescent lamps must not be connected to the 24 V auxiliary power supply!
r4047.9
DO
DI/DO 8 9
inverted
DI/DO 8 9
DO
(0)
TM31 S_src DI/DO 9
p4039
(0)
TM31 S_src DI/DO 8
p4038
0
1
0
r4047.8
0
1
0
24 V
5 V
<1>
X540.1
X540.8
+24 V
+
Current
limiting
150 mA
Current
limiting
p4046 (0)
<3> <2>
[9562.4]
[9562.2]
r4023
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
2
-
1
7
7
8

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
5
9
5
6
2

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

1
0

t
o

D
I
/
D
O

1
1
)
- 9562 -
Function diagram
8 7 6 5 4 3 2 1
p4095.10 (0)
X541.6 M
p4096.10 (0)
p4048.10 (0)
DI
DO
p4095.11 (0) p4096.11 (0)
p4048.11 (0)
DI
DO
X541.5 DI/DO 11
p4028.11 (0)
DI/DO 10 X541.4
p4028.10 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
<1> The connection shown in a dashed line applies
<1>
DI
DI
1
1
r4022
r4023.11
r4023.10
r4021.10
r4021.11
r4022.11
r4022.10
p4099[0] (4000.00 s)
r4047.11
DO
DI/DO 10 11
inverted
DI/DO 10 11
DO
(0)
TM31 S_src DI/DO 11
p4041
(0)
TM31 S_src DI/DO 10
p4040
0
1
0
r4047.10
0
1
0
24 V
5 V
<1>
r4023
[9560.4]
<2>
<2> Limits the total output current of the terminals X541.2, X541.3, X541.4 and
X541.5 to 0.1 A (p4046 = 0) or 1 A (p4046 = 1).
+24 V X541.1
[9560.6]
+24 V
X524.M
X524.+
M
X524.M
M
24 V DC to next device
X524.+
+24 V
0 V
+24 V
+24 V
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
7
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
6
9
5
6
6

A
n
a
l
o
g

i
n
p
u
t

0

(
A
I

0
)
- 9566 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 21.03.06 V04.04.00 Terminal Module 31 (TM31) - Analog input 0 (AI 0)
3
3
20 mA
T 0
0...1000 ms
p4062[0] (100)
Threshold for
wire breakage detection
0.00...20.00 mA
p4061[0] (2.00)
r4055[0]
p4069 [0]
(1)
Enable
p4066[0] (0)
(0)
p4067 [0]
y = x
if |y - x| > p4068
y x
0 %
Smoothing
0.0...1000.0 ms
p4053[0] (0.0)
0.0...20.0 %
p4068[0] (0.0)
1
0
<2> For p4056 = 2, 3, 5 the units are mA.
For p4056 = 0, 4 the units are V.
S5.0
+/-20 mA
+/-10 V
X521.1
Scaling
-20.000...20.000
p4057[0] (0.000)
-20.000...20.000
p4059[0] (10.000)
r4052[0]
-1000.00...1000.00 %
p4060[0] (100.00)
-1000.00...1000.00 %
p4058[0] (0.00)
[%]
x y
<2>
<2> <2>
Hardware
smoothing
100 s
A
D
+
-
AI 0
<1> Differential input!
For an input signal referred to ground, terminal X521.2 must be connected to reference potential M.
Caution:
The voltage between an input (X521.1 or X521.2) and the ground point must not exceed 35 V.
When the load resistor is switched in (S5.0 closed), the voltage between the input terminals must not exceed 15 V.
<1>
p4099[1] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
p2000...r2004
y
x2
x1
-1
0
1
0
1
Offset
-20.000...20.000
p4063[0] (0.000)
+
<2>
+
Analog inputs, type
p4056[0] (4)
<3>
F03505
"Wire
breakage"
% 100
x x
2 1
x
<3> p4056
= 0: 0 V ... +10 V
= 2: 0 mA ... +20 mA
= 3: 4 mA ... +20 mA with monitoring
= 4: -10 V ... +10 V
= 5: -20 mA ... +20 mA
Voltage
V
V
Current
I S5.0
I S5.1 [9568]
X521.2
4, 5
3
0, 2
4 mA
<2>
0
p4097[0] (0)
Simulation mode
-20.000...20.000
p4098[0] (0.000)
1
0
20 mA
p4097[0] (0)
1
0
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
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a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
2
-
1
7
8
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
7
9
5
6
8

A
n
a
l
o
g

i
n
p
u
t

1

(
A
I

1
)
- 9568 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 19.06.08 V04.04.00 Terminal Module 31 (TM31) - Analog input 1 (AI 1)
T 0
0...1000 ms
p4062[1] (100)
Threshold for
wire breakage detection
0.00...201 mA
p4061[0] (2.00)
r4055[1]
p4069 [1]
(1)
Enable
p4066[1] (0)
(0)
p4067 [1]
y = x if
|y - x| > p4068
otherwise y = y(alt)
y x
Smoothing
0.0..1000.0 ms
p4053[1] (0.0)
0.00...20.00 %
p4068[1] (0.00)
0 %
1
0
p2000...r2004
y
x2
x1
% 100
x x
2 1
x
AI 1
+/-20 mA
+/-10 V
X521.3
X521.4
Scaling
-20.000...20.000
p4057[1] (0.000)
-20.000...20.000
p4059[1] (10.000)
-1000.00...1000.00 %
p4060[1] (100.00)
-1000.00...1000.00 %
p4058[1] (0.00)
[%] x y
<2> <2>
Hardware
smoothing
100 s
A
D
+
-
<1> Differential input!
For an input signal referred to ground, terminal X521.4 must be connected to reference potential M.
Caution:
The voltage between an input (X521.3 or X521.4) and the ground point must not exceed 35 V.
When the load resistor is switched in (S5.1 closed), the voltage between the input terminals must not exceed 15 V.
<1>
p4099[1] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
Voltage
V
V
-1
0
1
0
1
S5.1
F03505
"Wire break"
Current
I S5.0 [9566]
I S5.1
<3> p4056
= 0: 0 V ... +10 V
= 2: 0 mA ... +20 mA
= 3: 4 mA ... +20 mA with monitoring
= 4: -10 V ... +10 V
= 5: -20 mA ... +20 mA
3
3
20 mA
r4052[1]
<2>
Offset
-20.000...20.000
p4063[1] (0.000)
+
<2>
+
Analog inputs, type
p4056[1] (4)
<3>
4, 5
3
0, 2
4 mA
<2>
0
p4097[1] (0)
Simulation mode
-20.000...20.000
p4098[1] (0.000)
1
0
20 mA
p4097[1] (0)
1
0
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
8
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
8
9
5
7
2

A
n
a
l
o
g

o
u
t
p
u
t
s

(
A
O

0

t
o

A
O

1
)
X522.5
X522.6
X522.4
X522.2
X522.3
X522.1
- 9572 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 17.03.09 V04.04.00 Terminal Module 31 (TM31) - Analog outputs (AO 0 ... AO 1)
scaling
p4082 [0]
(0)
Smoothing
Offset
-20.000...20.000
p4083[0] (0.000)
-1000.00...1000.00 %
p4079[0] (100.00 %)
-1000.00...1000.00 %
p4077[0] (0.00)
p4075 [0] (0)
-20.000...20.000
p4080[0] (10.000)
-20.000...20.000
p4078[0] (0.000)
D
A
r4074[0]
r4072 [0]
[%]
0.0...1000.0 ms
p4073[0] (0.0)
scaling
p4082 [1]
(0)
Smoothing
Offset
-20.000...20.000
p4083[1] (0.000)
-1000.00...1000.00 %
p4079[1] (100.00 %)
-1000.00...1000.00 %
p4077[1] (0.00)
p4075 [1] (0)
-20.000...20.000
p4080[1] (10.000)
-20.000...20.000
p4078[1] (0.000)
D
A
r4074[1]
r4072 [1]
[%]
0.0...1000.0 ms
p4073[1] (0.0)
<1>
y x
x y
+
+
+ +
p4071 [1] (0)
p4071 [0] (0)
y
y
<1>
<1>
<1>
<1>
<1>
AO 0 des
AO 1 des
<1>
<3>
<4>
<4>
Voltage
output
Current output
<2>
<2>
+/-10 V
+/-20 mA
Voltage
output
Current output
<2>
<2>
+/-10 V
+/-20 mA
p4099[2] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
x1
y2
x2
y1
y
x
[%]
<2> For a voltage output, the output voltage can be taken between the following terminals:
AO 0 between X522.2 (reference potential) and X522.1, AO 1 between X522.5 (reference potential) and X522.4.
For a current output, the output current can be taken from between the following terminals:
AO 0 between X522.2 and X522.3, AO 1 between X522.5 and X522.6.
<3> The input signals are referred to the reference quantities p2004 ... r2004 (100 % = p200x).
<4> p4076
= 0: 0 mA ... +20 mA
= 1: 0 V ... +10 V
= 2: 4 mA ... +20 mA
= 3: -20 mA ... +20 mA
= 4: -10 V ... +10 V
p2000...r2004
y
x2
x1
[%]
2
1
x
% 100 x x
%
0
1
0
1
-1
0
1
-1
0
1
AO 0 V+
AO 0 A+
Analog outputs type
p4076[0] (4)
AO 1 V+
AO 1 A+
Analog outputs type
p4076[1] (4)
<1>
3, 4
2
0, 1
4 mA
3, 4
2
0, 1
4 mA
0
0
F
u
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3
1

(
T
M
3
1
)
2
-
1
7
8
2

S
i
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s

A
G

2
0
1
1

A
l
l

R
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R
e
s
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S
I
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A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
2
9
9
9
5
7
6

T
e
m
p
e
r
a
t
u
r
e

e
v
a
l
u
a
t
i
o
n

(
K
T
Y
/
P
T
C
)
- 9576 -
Function diagram
8 7 6 5 4 3 2 1
fp_9576_51_eng.vsd
SINAMICS 07.05.10 V04.04.00
X522.7
X522.8
Sensor
resistance
r4101
Hardware
smoothing 1 s
Temp. alarm threshold
-48...251 C
p4102[0] (100)
Software
smoothing 0.5 s 2 mA
KTY/PTC
Temperature sensor
-50 C
0
1
PTC resistor
threshold 1650 Ohm
T
R
250 C
KTY
PTC
188.6 C
-140 C
+
-
+ temp
- temp
Temp. fault threshold
-48...251 C
p4102[1] (120)
Sensor type
p4100
<1>
<1> p4100
= 0: Evaluation disabled
= 1: PTC
= 2: KTY
Terminal Module 31 (TM31) - Temperature evaluation (KTY/PTC)
DO: TM31
<2> An alarm A35920 in
the temperature
evaluation of the
TM31 is signaled to
the next
(downstream) vector
control via the special
temperature value -
300 C (refer to
[9577]).
Sensor resistance [9577.1]
p4099[0] (4000.00 s)
<3> As a result of the wire
breakage monitoring
[9577.3] the
maximum
temperature that can
be measured is
limited to approx.
188.6 C.
A
D
Resistance
calculation
<3>
<4> A value > 250 C de-
activates the alarm or
fault.
<5> For KTY p4103 = 0
Output from
TempTimer (0).
For PTC p4103 = 0
delay time = 0s.
0
1
0
1
r4104.1
r4104.0
A35211
"Overtemperature sensor TM31"
F35207
"Overtemperature sensor TM31"
r4105
TM31 Temperature actual value
<2>
Alarm is not present
Measured temperature
Alarm is present
-300 C
<4>
<4>
1
T 0
TempTimer
p4103
<5>
Alarm A35920
temperature sensor evaluation
1
2
Sensortype
p4100
1
0
<1>
only for KTY
T
e
r
m
i
n
a
l

M
o
d
u
l
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3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
8
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
0
9
5
7
7

S
e
n
s
o
r

m
o
n
i
t
o
r
i
n
g

(
K
T
Y
/
P
T
C
)
- 9577 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 28.01.10 V04.04.00 Terminal Module 31 (TM31) - Sensor monitoring (KTY/PTC)
<1> For KTY84-130 the threshold value of 50 Ohm corresponds to a temperature of -140 C.
<2> For KTY84-130 the threshold value of 1630 Ohm corresponds to a temperature of +180 C.
Sensor resistance
[9576.6]
1
0
x
y
0
1
x
y
50 Ohm
<1>
<2>
1
0
x
y
A35920 "fault temperature sensor"
alarm value = 2
alarm value = 1
x y
1630 Ohm
20 Ohm
&
&
alarm value = 2
p4099[0] (4000.00 s)
x y
x y
&
&&
p4100 = 2
sensor type KTY
[9576.8]
p4100 = 1
sensor type PTC
[9576.8]
Function diagrams
Function diagrams
9605 Temperature evaluation channel 1 and 2 (KTY/PTC) 2-1785
9606 Temperature evaluation channel 3 and 4 (KTY/PTC) 2-1786
9607 Sensor monitoring (KTY/PTC) 2-1787
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
2
0

(
T
M
1
2
0
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
8
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
1
9
6
0
5

T
e
m
p
e
r
a
t
u
r
e

e
v
a
l
u
a
t
i
o
n

c
h
a
n
n
e
l

1

a
n
d

2

(
K
T
Y
/
P
T
C
)
- 9605 -
Function diagram
8 7 6 5 4 3 2 1
fp_9605_51_eng.vsd
SINAMICS 02.07.10 V04.04.00
X521.1
X521.2
Temperature sensor channel 1
r4101[0]
r4104.1
r4104.0
T = 64 ms
2 mA
KTY/PTC/Bimetal
Channel 1
-
+
+ temp
- temp
Sensor type
p4100[0]
<1>
<1> p4100[0...3] = 0: Evaluation disabled
= 1: PTC
= 2: KTY
= 4: Bimetal break contact.
<2> An alarm A35920 or A35921 in the temperature evaluation channel 1 or 2 of the TM120 is
signaled to the next (downstream) drive control via the special temperature value -300 C (refer to
[9607]).
<3> As a result of the wire breakage monitoring [9607.3] the maximum temperature that can be
measured is limited to approx. 188.6 C.
Terminal Module 120 (TM120) - Temperature evaluation channel 1 and 2 (KTY/PTC/Bimetal)
DO: TM120
A35211
"Temperature alarm
threshold channel 1
exceeded"
A35920
Error temperature
sensor channel 1
r4105[0]
Temperature
sensor channel 1
Temperature sensor channel 1 [9607.1]
(4000.00 s)
<2>
Alarm is present
-300 C
A
D
Resistance
calculation
1
T 0
p4103[0]
<5>
Sensor 1 alarm threshold
-48...251 [C]
p4102[0] (251)
Sensor 1 fault threshold
-48...251 [C]
p4102[1] (251)
<4>
0
1
0
1
<4>
X521.3
X521.4
KTY/PTC/Bimetal
Channel 2
1
0
r4101[1]
r4104.3
r4104.2
T = 64 ms 2 mA
-
+
+ temp
- temp
Sensor type
p4100[1]
<1>
A35212
"Temperature alarm
threshold channel 2
exceeded"
A35921
Error temperature
sensor channel 2
F35208
"Temperature
fault/alarm
threshold channel 2
exceeded"
r4105[1]
Temperature
sensor channel 2
<2>
Alarm is present
-300 C
A
D
Resistance
calculation
1
T 0
p4103[1]
<5>
-48...251 [C]
p4102[2] (251)
-48...251 [C]
p4102[3] (251)
<4>
0
1
0
1
<4>
<3>
1
0
<4> A value > 250 C de-activates the alarm or fault.
<5> For KTY p4103[0...3] = 0 Output from TempTimer (0).
For PTC p4103[0...3] = 0 delay time = 0s.
For bimetal p4103[0...3] = 0 delay time = 0s.
<6> For Monitoring: KTY = wire breakage and short-circuit
PTC = short-circuit
Bimetall = no monitoring.
F35207
"Temperature
fault/alarm
threshold channel 1
exceeded"
1650 Ohm
0
1
R
T
188.6 C
-140 C
-50 C
250 C
1 0
4
2
1
0
KTY
PTC
Bimetal
-300 C
KTY
PTC/
Bimetal
1650 Ohm
0
1
R
T
<3>
188.6 C
-140 C
-50 C
250 C
1 0
4
2
1
0
KTY
PTC
Bimetal
-300 C
KTY
PTC/
Bimetal
<6>
<6>
only for KTY
only for KTY
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
2
0

(
T
M
1
2
0
)
2
-
1
7
8
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
2
9
6
0
6

T
e
m
p
e
r
a
t
u
r
e

e
v
a
l
u
a
t
i
o
n

c
h
a
n
n
e
l

3

a
n
d

4

(
K
T
Y
/
P
T
C
)
- 9606 -
Function diagram
8 7 6 5 4 3 2 1
fp_9606_51_eng.vsd
SINAMICS 02.07.10 V04.04.00 Terminal Module 120 (TM120) - Temperature evaluation channel 3 and 4 (KTY/PTC/Bimetal)
DO: TM120
A35213
"Temperature alarm
threshold channel 3
exceeded"
F35209
"Temperature
fault/alarm
threshold channel 3
exceeded"
r4105[2]
Temperature
sensor channel 3
A35214
"Temperature alarm
threshold channel 4
exceeded"
F35210
"Temperature
fault/alarm
threshold channel 4
exceeded"
r4105[3]
Temperature
sensor channel 4
X521.5
X521.6
r4101[2]
r4104.5
r4104.4
T = 64 ms
2 mA
Channel 3
-
+
+ temp
- temp
Sensor type
p4100[2]
<1>
(4000.00 s)
<2>
-300 C
A
D
Resistance
calculation
1
T 0
p4103[2]
<5>
<4>
0
1
0
1
<4>
X521.7
X521.8
Channel 4
1
0
r4101[3]
r4104.7
r4104.6
T = 64 ms
2 mA
-
+
+ temp
- temp
Sensor type
p4100[3]
<1>
<2>
-300 C
A
D
Resistance
calculation
1
T 0
p4103[3]
<5>
<4>
0
1
0
1
<4>
<3>
1
0
A35923
Error temperature
sensor channel 4
A35922
Error temperature
sensor channel 3
Alarm is present
Alarm is present
-48...251 [C]
p4102[4] (251)
-48...251 [C]
p4102[6] (251)
-48...251 [C]
p4102[5] (251)
-48...251 [C]
p4102[7] (251)
<1> p4100[0...3] = 0: Evaluation disabled
= 1: PTC
= 2: KTY
= 4: Bimetal break contact
<2> An alarm A35922 or A35923 in the temperature channel 3 or 4 evaluation of the TM120 is signaled to
the next (downstream) drive control via the special temperature value -300 C (refer to [9607]).
<3> As a result of the wire breakage monitoring [9607.3] the maximum temperature that can be measured
is limited to approx. 188.6 C.
KTY/PTC/Bimetal
KTY/PTC/Bimetal
1650 Ohm
0
1
R
T
<3>
188.6 C
-140 C
-50 C
250 C
1 0
4
2
1
0
KTY
PTC
Bimetal
-300 C
KTY
PTC/
Bimetal
1650 Ohm
KTY
0
1
R
T
188.6 C
-140 C
250 C
1 0
4
2
1
0
KTY
PTC
Bimetal
-300 C
PTC/
Bimetal
-50 C
<5> For KTY p4103[0...3] = 0 Output from TempTimer (0).
For PTC p4103[0...3] = 0 delay time = 0s.
For bimetal p4103[0...3] = 0 delay time = 0s.
<6> For Monitoring: KTY = wire breakage and short-circuit
PTC = short-circuit
Bimetall = no monitoring.
<6>
<6>
only for KTY
only for KTY
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
2
0

(
T
M
1
2
0
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
8
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
3
9
6
0
7

S
e
n
s
o
r

m
o
n
i
t
o
r
i
n
g

(
K
T
Y
/
P
T
C
)
- 9607 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 28.01.10 V04.04.00 Terminal Module 120 (TM120) - Sensor monitoring (KTY/PTC)
<1> For KTY84-130 the threshold value of 50 Ohm corresponds to a temperature of -140 C. <2> For KTY84-130 the threshold value of 1630 Ohm corresponds to a temperature of +180 C.
A35923 "fault temperature sensor canel 4"
alarm value = 1
(4000.00 s)
[9606.5]
1
0
x
y
0
1
x
y
50 Ohm
<1>
<2>
1
0
x
y
x y
1630 Ohm
20 Ohm
&
&
x y
x y
&
p4100[3] = 2 sensor type KTY
[9576.8]
p4100[3] = 1 sensor type PTC
[9576.8]
[9606.5]
1
0
x
y
0
1
x
y
50 Ohm
<1>
<2>
1
0
x
y
x y
1630 Ohm
20 Ohm
&
&
x y
x y
&
[9576.8]
[9576.8]
[9605.5]
1
0
x
y
0
1
x
y
50 Ohm
<1>
<2>
1
0
x
y
x y
1630 Ohm
20 Ohm
&
&
x y
x y
&
[9576.8]
[9576.8]
Temperatursensor Kanal 1
[9605.5]
1
0
x
y
0
1
x
y
50 Ohm
<1>
<2>
1
0
x
y
alarm value = 2
x y
1630 Ohm
20 Ohm
&
&
x y
x y
&
[9576.8]
[9576.8]
alarm value = 2
alarm value = 2
alarm value = 1
alarm value = 2
alarm value = 2
alarm value = 2
alarm value = 1
alarm value = 1
alarm value = 2
alarm value = 2
Function diagrams
Function diagrams
9663 Analog input (AI 0) 2-1792
9674 Incremental encoder emulation (p4400 = 0) 2-1793
9676 Incremental encoder emulation (p4400 = 1) 2-1794
9678 Control word, sequence control 2-1796
9680 Status word, sequence control 2-1798
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
8
9

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
4
9
6
6
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
c
a
l
l
y

i
s
o
l
a
t
e
d

(
D
I

0

t
o

D
I

3
)
- 9660 -
Function diagram
8 7 6 5 4 3 2 1
X522.1
X522.2
X522.3
X522.4
1 = Simulation on
p4095.0
r4023.0
r4022.0
p4095.1
r4023.1
r4022.1
p4095.2
r4023.2
r4022.2
p4095.3
r4023.3
r4022.3
r4022 r4023
X522.5 M1
<1>
X522.6
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 3
DI 2
DI 1
DI 0
DI 0 DI 3
inverted
DI 0 DI 3
r4021.0
r4021.1
r4021.2
r4021.3
<1>
p4096.3
p4096.2
p4096.1
p4096.0
<1>
p4099[0] (4000.00 s)
+
24 V
5 V
<1>
+24 V
X524.M
X524.+
M
X524.M
M
X524.+
+
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
2
-
1
7
9
0

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
5
9
6
6
1

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

0

t
o

D
I
/
D
O

1
)
- 9661 -
Function diagram
8 7 6 5 4 3 2 1
p4095.8 (0) p4096.8 (0)
p4048.8 (0)
DI
DO
p4095.9 (0) p4096.9 (0)
p4048.9 (0)
DI
DO
X521.2 DI/DO 1
p4028.9 (0)
DI/DO 0 X521.1
p4028.8 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
<1>
DI
DI
1
1
r4022
r4023.9
r4023.8
r4021.8
r4021.9
r4022.9
r4022.8
p4099[0] (4000.00 s)
r4047.9
DO
DI/DO 0 1
inverted
DI/DO 0 1
DO
(0)
TM41 S_src DI/DO 1
p4039
(0)
TM41 S_src DI/DO 0
p4038
0
1
0
r4047.8
0
1
0
24 V
5 V
<1>
r4023
(+25V_1/M1).
X522.6
M
X522.5
<1>
M1
+24 V
X524.M
X524.+
M X524.M
M
X524.+
+24 V
0 V
X521.6
+24 V _1
X514.M
X514.+
M
X514.M
M
X514.+
+24 V _1
X521.5 +24 V _1
+24 V _1
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
9
1

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
6
9
6
6
2

D
i
g
i
t
a
l

i
n
p
u
t
s
/
o
u
t
p
u
t
s
,

b
i
d
i
r
e
c
t
i
o
n
a
l

(
D
I
/
D
O

2

t
o

D
I
/
D
O

3
)
- 9662 -
Function diagram
8 7 6 5 4 3 2 1
p4095.10 (0)
X522.6
M
p4096.10 (0)
p4048.10 (0)
DI
DO
p4095.11 (0) p4096.11 (0)
p4048.11 (0)
DI
DO
X521.4 DI/DO 3
p4028.11 (0)
DI/DO 2 X521.3
p4028.10 (0)
1
0
1
1
0
1
1
0
1
0
0
1
0
1
<1>
DI
DI
1
1
r4022
r4023.11
r4023.10
r4021.10
r4022.11
r4022.10
p4099[0] (4000.00 s)
r4047.11
DO
DI/DO 2 3
inverted
DI/DO 2 3
DO
(0)
TM41 S_src DI/DO 3
p4041
(0)
TM41 S_src DI/DO 2
p4040
0
1
0
r4047.10
0
1
0
24 V
5 V
<1>
r4023
+24 V
X524.M
X524.+
M X524.M
M
X524.+
+24 V
0 V
r4021.11
(+24V_1/M1).
X521.8
+24 V _1
X514.M
X514.+
M
X514.M
M
X514.+
+24 V _1
X521.7 +24 V _1
+24 V _1
X522.5
M1
<1>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
2
-
1
7
9
2

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
7
9
6
6
3

A
n
a
l
o
g

i
n
p
u
t

(
A
I

0
)
- 9663 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 11.06.08 V04.04.00 Terminal Module 41 (TM41) - Analog input (AI 0)
AI 0
scaling
r4055[0]
p4069 [0]
(1)
Enable
Hardware smoothing
100 s
p4066 [0]
(0)
p4067 [0]
y = x if
|y - x| > p4068
y x
A
D
Offset
-20.000...20.000
p4063[0] (0.000)
-11.000...11.000
p4057[0] (0.000)
-11.000...11.000
p4059[0] (10.000)
[V]
r4052[0]
p4097[0]
-1000.00...1000.00 %
p4060[0] (100.00)
-1000.00...1000.00 %
p4058[0] (0.00)
X523.1
X523.2 +
-
0 %
Smoothing
0.0...1 000.0 ms
p4053[0] (0.0)
0.00...20.00 %
p4068[0] (0.00)
[%]
1
0
<1>
+
+
-10...+10 V
x y
p200x
y
x2
x1
x
100%
x x
2 1
x
<2>
x1
y2
x2
y1
y
x
[%]
[V]
-1
0
1
0
1
<4> If the PROFIdrive communication is operated with clock cycle synchronism (r2064[0] = 1), the time slice automatically adjusts to the PROFIdrive
clock cycle (r2064[1]). When the PROFIdrive interface is in this mode, p4099 does not influence the time slice for TM41.
<3> Caution:
The voltage between an input and ground must not exceed 35 V.
The voltage between the inputs must not exceed 35 V.
1
0
<3>
p4099[1] (4000.00 s)
<4>
<1> When interconnected, the output signals are referred to the reference quantities p200x or p205x (100% p20xx).
For input signals referred to ground, terminal X523.1 must be connected to reference potential M.
Simulation mode
-20.000...20.000
p4098[0] (0.000)
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
9
3

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
8
9
6
7
4

I
n
c
r
e
m
e
n
t
a
l

e
n
c
o
d
e
r

e
m
u
l
a
t
i
o
n

(
p
4
4
0
0

=

0
)
f
D
- 9674 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 24.07.06 V04.04.00 Terminal Module 41 (TM41) - Incremental encoder emulation (p4400 = 0)
Dead time PT2 lowpass
n_set_filt 1 fn_n
p1417
n_set_filt 1 D_n
p1418
p1189.1
0
1
0
1
t
x,y
Clock cycle adaptation
<1>
p1414.0
r0482
Pos act val DP_clock cycle
<1> Clock-cycle adaptation is only effective for the clock-cycle synchronous PROFIdrive.
n_set
r4155
Format
adaptation
n_set deadtime
p1412
p4099[3] (125.00 s)
Control Unit
DRIVE-CLiQ
Terminal Module 41
Pos act val Q_clock cycle
r0479
Fine
resolution
p0418
Enc_emulat pulse ZM
p4426
Encoder
pulse number
p0408
31
n
0
X520
1
2
3
4
5
6
7
8
9
Not Connected
Not Connected
M
B
N
B
N
A
A
p4099[3] (125.00 s)
Enable n_set
p1142[0]
p0840[0]
p0844[0]
p0848[0]
p0852[0]
Zero mark enabled
r4402.0
Interface
encoder emulation
enabled
r4402.2
1
0
Tracks A/B
enabled
r4402.1
1
0
Enable zero mark
p4401.0
Comparator
1
0
|y|
n_ctrl n_set 1
(2060[1])
p1155
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
2
-
1
7
9
4

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
0
9
9
6
7
6

I
n
c
r
e
m
e
n
t
a
l

e
n
c
o
d
e
r

e
m
u
l
a
t
i
o
n

(
p
4
4
0
0

=

1
)
- 9676 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 06.12.10 V04.04.00 Terminal Module 41 (TM41) - Incremental encoder emulation (p4400 = 1)
p4099[3] (125.00 s)
Control Unit
DRIVE-CLiQ
Terminal Module 41
Fine
resolution
p0418
Rot enc pulse No.
p0408
31
n
0
X520
1
2
3
4
5
6
7
8
9
Not Connected
Not Connected
M
B
R
B
R
A
A
p4099[3] (125.00 s)
p0010[0]
Zero mark enabled
r4402.0
1
0
Tracks A/B
enabled
r4402.1
Enable zero mark
p4401.0
Comparator
1
0
F35220
Limit frequency for signal output reached
F35221
Setpoint-actual value deviation outside
tolerance
A35226
Tracks A/B are de-activated
A35227
Zero mark synchronization interrupted
- EDS changeover not supported
<1>
<1>
Format-
adaption
0
1
Enc_emul t_dead
p4421
Filter for
precalculation
+
Enc_emul s_set
(0479)
p4420
-1
0
1
TM41 s_act inv
p4422
<1> When ratio pulse number per revolution is activated, perform setting p4408 and p4418 analogously to the source of p4420
When ratio pulse number per revolution is deactivated (p4408 = 0), perform setting p0408 and p0418 analogously to the source of p4420.
Parking encoder active
r0481.14
Prectr w adapt TTL
p4404.1
p4423
+
+
Pre-control
p4404.0
Pre-control
1
0
Adaption
1 0
0
>0
Pos act val
Q_clock cycle
r0479
Ratio pulse
number per
revolution
4418
0418
2 4408
2 0408
p
p
p
p
TM41 diag pos set

r4419
<1>
1 = Encoder ready
0 = Encoder not ready
Automatic
internal
parameterization
Enc_emul pulses ZM
p4426
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
9
5

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
1
0
9
6
7
7

S
T
W
1

c
o
n
t
r
o
l

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
p
0
9
2
2

=

3
)
- 9677 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 16.06.10 V04.04.00 Terminal Module 41 (TM41) - STW1 control word interconnection (p0922 = 3)
Signal targets for STW1 Standard telegram 3 (p0922 = 3)
STW1.12
STW1.13
STW1.14
STW1.15
0 = OFF1 (braking with ramp-function generator, then pulse cancellation, ready-to-power-up)
0 = OFF2 (immediate pulse cancellation and power-on inhibit)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse cancellation and power-on inhibit)
Reserved
Reserved
1 = Enable zero marks
Reserved
Meaning Signal
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.7
STW1.10
- -
p1035 = p2090.13
- -
- -
p2103[0] = r2090.7 [2546.1]
p1142 = r2090.6 [9678.3]
p1141 = r2090.5
p1140 = r2090.4
p0852 = r2090.3
p0848 = r2090.2
p0844 = r2090.1
p0840 = r2090.0
Interconnection
parameters
[Function diagram]
-
-
-
-
[8060]
[9682]
[Function diagram]
signal target
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
1 = Enable setpoint
2000.00 s
Reserved - - - -
Reserved - - - -
1 = Control via PLC p0854[0] = r2090.10 - -
- - - - Reserved
<1> The drive object is ready for transfer.
<2> Without function on the TM41. The zero mark can only be switched via p4401.
<1>
[9682]
[9682]
[9682]
[9682]
[9682]
[9682]
[9678.3]
[9678.3]
[9678.3]
[9678.3]
[9678.3]
[9678.3]
[9678.3]
[9678.3]
<2>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
2
-
1
7
9
6

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
1
1
9
6
7
8

C
o
n
t
r
o
l

w
o
r
d
,

s
e
q
u
e
n
c
e

c
o
n
t
r
o
l
- 9678 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 10.09.09 V04.04.00 Terminal Module 41 (TM41) - Control word, sequence control (p4400 = 0)
p0844[C]
(1)
OFF2 (electrical)
p0848[C]
(1)
OFF3 (Fstop)
11
12
13
14
15
p0840[C]
(0)
OFF1
p0852[C]
(1)
p1140[C]
(1)
p1141[C]
(1)
p1142[C]
(1)
PROFIdrive-Bit
10
7
6
5
4
3
2
1
0
Bit Nr.
2000.00 s
r0898.0
r0898.1
r0898.2
r0898.3
r0898.4
r0898.5
r0898.6
r0898
STW seq_ctrl
r0898.7
9
8
Control word sequence control
1 = Operating condition no coast down active (OFF2 inactive)
0 = OFF2 active
1 = Operating condition no fast stop active (OFF3 inactive)
0 = OFF3 active
1 = Acknowledge fault
1 = Control via PLC
1 = Enable zero mark
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
= ON
0 = OFF1 active
1 = Start ramp-up generator
0 = Freeze ramp-up generator
1 = Enable operation
r0898.13
p2103[C]
(0)
<1> When the master control is retrieved, predefined by STARTER or AOP30.
p0854[C]
(1) <1> r0898.10
&
Enable zero mark
p4401.0
p4402.0
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
1
7
9
7

S
i
e
m
e
n
s

A
G

2
0
1
1

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S
1
2
0
/
S
1
5
0

L
i
s
t
M
a
n
u
a
l

(
L
H
1
)
,

0
1
/
2
0
1
1
,

6
S
L
3
0
9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
1
2
9
6
7
9

S
T
W
2

c
o
n
t
r
o
l

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n

(
p
0
9
2
2

=

3
)
- 9679 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 05.10.07 V04.04.00 Terminal Module 41 (TM41) - STW2 control word interconnection (p0922 = 3)
Signal targets for STW2 Standard telegram 3 (p0922 = 3)
- [2410] - p2045 = r2050[3]
STW2.1
STW2.2
STW2.3
STW2.4
STW2.5
STW2.6
STW2.8
STW2.9
STW2.11
STW2.12
STW2.13
STW2.14
STW2.15
STW2.7
STW2.10
STW2.0
Inverted
[Function diagram]
signal target
[Function diagram]
Interconnection
parameters
Meaning Signal
<1>
2000.00 s
- - - - Reserved
- - -
- - -
- - -
- - -
- - -
- - - - Reserved
- - - - Reserved
- - - - Reserved
- -- - Reserved
- - - - Reserved
- - - - Reserved
-
p0822[0] = r2093.2
p0823[0] = r2093.3
p0824[0] = r2093.4
p0820[0] = r2093.0
p0821[0] = r2093.1
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9
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0
-
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B
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2
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3
9
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- 9680 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 26.03.08 V04.04.00 Terminal Module 41 (TM41) - Status word, sequence control
11
12
13
14
15
r0899
ZSW seq_ctrl
PROFIdrive-Bit
Bit Nr.
10
9
8
6
5
4
0
1
2
From the sequence control [9682]
From the sequence control [9678.7]
From the sequence control [9678.7]
2000.00 s
r0899.0
r0899.1
r0899.4
r0899.5
r0899.2
r0899.6
r0899.9
1 = Ready to run
1 = Ready to power-up
Status word sequence control
Reserved
Reserved
Reserved
Reserved
1 = Zero mark enabled
1 = Interface encoder simulation enabled
1 = Tracks A/B enabled
Bit 9 = 1 --> ready to exchange process data
r0899.13
r0899.14
r0899.15 From TM41 Impulse encoder simulation (HW)
From TM41 Impulse encoder simulation (HW)
From TM41 Impulse encoder simulation (HW)
3 1 = Fault present From fault buffer [8060.6] r2139.3
7 1 = Alarm present From alarm buffer [8065.4] r2139.7
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,

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-
0
B
P
2
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2
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4
9
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1

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S
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1

s
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(
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2
2

=

3
)
- 9681 -
Function diagram
8 6 5 4 3 2 1
SINAMICS 26.03.08 V04.04.00 Terminal Module 41 (TM41) - ZSW1 status word interconnection (p0922 = 3)
Signal sources for ZSW1 Standard telegram 3 (p0922 = 3)
<1> The drive object is ready accept data.
7
-
Inverted
-
-
-
-
-
-
-
-
-
-
[9682]
[8060]
[9682]
[9682]
[9682]
[8065]
[9680]
-
-
[9682]
[9682]
[Function diagram]
Signal source
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[9] = r0899.9
-
-
p2080[0] = r0899.0
p2080[1] = r0899.1
Interconnection
parameters
[9680.7]
[2548.7]
[9680.7]
[9680.7]
[9680.7]
[2548.7]
[9680.7]
-
-
[9680.7]
[9680.7]
[Function diagram]
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
Signal
1 = Ready
1 = Ready to power up
1 = Fault present
1 = No quick stop active
1 = Alarm present
Reserved
Reserved
Meaning
2000.00 s
- - - - Reserved
- - - - Reserved
- - - - Reserved
- - - - Reserved
- - - - Reserved
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S4: Operation
ZSWA.00/01/02 = 1
ZSWA.11 = 1
ZSWA.06 = 0
Enable pulses
Enable controller
No jog mode: Setpoints enabled
- 9682 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 15.01.09 V04.04.00 Terminal Module 41 (TM41) sequence control (p4400 = 0)
POWER ON
S1: Power-on inhibited
ZSWA.06 = 1, ZSWA.11 = 0
ZSWA.00/01/02 = 0
Pulses inhibited
S2: Ready to power-up
ZSWA.00 = 1, ZSWA.11 = 0
<2>
S5a: Ramp start
ZSWA.00/01 = 1
ZSWA.11 = 1
ZSWA.02/06 = 0
Bring the drive to n = 0,
then inhibt pulses
S5b: Fast start
ZSWA.00/01 = 1, ZSWA.11 = 1
ZSWA.02/06 = 0
Torque limit, decelerate to n = 0,
then inhibit pulses
S3: Ready to run
ZSWA.00/01 = 1, ZSWA.11 = 0
ZSWA.02/06 = 0
&
"Enable operation"
(STWA.03)
"Enable operation" (STWA.03)
"0 = Coast down"
(STWA.01)
"0 = fast stop"
(STWA.02)
&
"0 = OFF"
&
"0 = Fast stop"
(STWA.02)
"0 = Coast down"
(STWA.01)
&
Pulse enable
HW [2701.8] [2711.8]
"0 = Coast down"
(STWA.01)
<1> POWER ON = 24 V electronics power supply OFF --> ON or RESET key
<2> The sequence control is implemented according to the PROFIdrive profile.
2000.00 s
Missing enable
signals
r0002
Faults
F35220...F35225
Drive stationary
(zero speed)
Fault
With
OFF1 or OFF3
response
Drive stationary
(zero speed)
1
Drive stationary
(zero speed)
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3> These control commands can also be triggered by a fault response.
&
"Commissioning completed" (p0010 0 und p0009 0)
From all states
. . .
"0 = OFF" (STWA.00)
<4> STWA.xx = Control word sequence control bit xx (r0898) [2501]; ZSWA.xx = Status word sequence control bit xx (r0899) [2503].
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<1>
<4>
<4>
<4>
<4>
<4>
<4>
<3> <4>
"0 = OFF"
OFF3
&
1
1
&
1
"0 = OFF"
&
<5> The terms coast down, fast stop, ramp start emulate a real axis. In this state, the actual value is frozen.
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
Drive stationary
(zero speed)
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3

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- 9683 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 04.09.09 V04.04.00 Terminal Module 41 (TM41) - ZSW2 status word interconnection (p0922 = 3)
Signal sources for ZSW2 Standard telegram 3 (p0922 = 3)
<1>
Interconnection
parameters
Meaning
-
Inverted
-
[Function diagram]
Signal source
-
[Function diagram]
ZSW2.0
ZSW2.1
ZSW2.2
ZSW2.3
ZSW2.4
ZSW2.5
ZSW2.6
ZSW2.8
ZSW2.9
ZSW2.11
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
ZSW2.7
ZSW2.10
Signal
2000.00 s
p2081[0] - r0051.0 1 = DDS present Bit 0 - - -
- Reserved - - -
- - -
- - -
- Reserved - - -
- Reserved - - -
- Reserved - - -
- - -
1 = DDS present Bit 1
p2081[1] - r0051.1
p2081[2] - r0051.2
p2081[3] - r0051.3
p2081[4] - r0051.4
- - -
- - -
- - -
- - -
- Reserved
1 = Alarm class bit 0 p2081[5] = r2139.11
p2081[6] = r2139.12
Function diagrams
Auxiliaries
2.34 Auxiliaries
Function diagrams
9794 Cooling unit, control and feedback signals (r0108.28 = 1) 2-1803
9795 Cooling unit, sequence control (r0108.28 = 1) 2-1804
A
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3

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9
7
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4
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0
0
-
0
B
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2
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7
9
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9
4

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(
r
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1
0
8
.
2
8

=

1
)
- 9794 -
Function diagram
8 7 6 5 4 3 2 1
fp_9794_01_eng.vsd
SINAMICS S120 27.10.09 V04.04.00 Auxiliaries - Cooling unit, control and feedback signals (r0108.28 = 1)
DO: A_INF, B_INF, SERVO, VECTOR
Control of cooling unit
Bit No.
0 1 = Power-up cooling system
Meaning
r0265.0
Cooling unit, control word
3 1 = Leakage water detection OK r0265.3
To cooling system
1 1 = Message, converter off r0265.1
2 1 = Acknowledge faults r0265.2
1
2
3
4
Bit No.
0
RKA ready to be powered-up
RKA powered-up
Meaning
RKA no alarm present
RKA no fault present
RKA no leakage water
r0267.0
r0267.3
r0267.5
r0267.7
r0267.1
Cooling unit status word display
5 RKA water flow OK
6 RKA conductivity, no fault
7 RKA conductivity, no alarm
r0267.6
r0267.4
r0267.2
r0265.0
r0267.0
r0267.5
r0267.6
r0863.0
(1)
Cooling unit ready to be powered-up
p0266[1]
(1)
Cooling unit, no alarm present
p0266[2]
(1)
Cooling unit, no fault present
p0266[3]
(1)
Cooling unit, no leakage water
p0266[4]
(1)
Cooling unit water flow OK
p0266[5]
(1)
Cooling unit, conductivity < fault threshold
p0266[6]
(1)
Cooling unit, conductivity < alarm threshold
p0266[7]
(1)
Cooling unit power-up
p0266[0]
RKA start time 1
0.0...60.0 [s]
p0260 (5.0)
RKA start time 2
0.0...1200.0 [s]
p0261 (180.0)
RKA cond t_del
0.0...30.0 [s]
p0262 (0.0)
RKA flow t_del
0.0...20.0 [s]
p0263 (3.0)
RKA run-on time
0.0...180.0 [s]
p0264 (30.0)
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4

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1
1

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1
1
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9
7
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4
A
P
0
0
-
0
B
P
2
F
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2
-
3
1
8
9
7
9
5

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r
0
1
0
8
.
2
8

=

1
)
- 9795 -
Function diagram
8 7 6 5 4 3 2 1
fp_9795_01_eng.vsd DO: A_INF, B_INF, SERVO, VECTOR
SINAMICS S120 27.10.09 V04.04.00 Auxiliaries - Cooling unit, sequence control (r0108.28 = 1)
RKA on r0265.0
T 0
T 0
p0261
p0260
11
1
1
T 0
T 0
RKA water flow OK r0267.5
RKA no leakage water r0267.4
RKA conductivity, no alarm r0267.7
RKA no fault present r0267.3
RKA powered-up r0267.0
RKA on r0265.0
&
RKA Acknowledge faults r0265.2
p0263
p0262
1
1
&
&
RKA on r0265.0
&
T 0
p0264
S1: One switching ready
r0267.0 = 0, r0267.4 = 1
S2: Waiting on one
switching re-registrations
r0267.0 = 1, r0267.4 = 1
S3: Operating
r0267.0 = 1, r0267.4 = 1
S4: Fault
r0267.0 = 0
S5: Waiting on acknowledgment
r0267.0 = 0, r0267.4 = 1
&
1
&
Voltage Sensing Module (VSM)
Function diagrams
2.35 Voltage Sensing Module (VSM)
Function diagrams
9880 Analog inputs (AI 0 to AI 3) 2-1806
9886 Temperature evaluation 2-1807
9887 Sensor monitoring KTY/PTC 2-1808
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S
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2
-
1
8
0
6

S
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A
G

2
0
1
1

A
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1
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/
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,

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1
/
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1
1
,

6
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9
7
-
4
A
P
0
0
-
0
B
P
2
F
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2
-
3
1
9
9
8
8
0

A
n
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(
A
I

0

t
o

A
I

3
)
- 9880 -
8 7 6 5 4 3 2 1
fp_9880_54_eng.vsd DO: A_INF, S_INF, VECTOR
S120/S150/G130/G150 26.06.08 V04.04.00 Voltage Sensing Module (VSM) - Analog inputs (AI 0 ... AI 3)
X520.2
X520.1
Rated line freq
p0211
X520.4
X520.3
X521.1
X521.2
A
D
Rated line freq
p0211
Limit value
comparison
INF C_filter
p0221
A06250
Defective
capacitor(s)
in at least
one phase
of line filter
r3671
r3673
VSM input U_scaler
p3660
x2
x1 y
+/-10 V
r3672
r3674
VSM CT_gain
p3670
x2
x1 y
A
D
X522.1
X522.2
r3662
I1
I2
I3
VSM CT_gain
p3670
x2
x1 y
r3661
U3
U2
U1
A
D
U3 f 2
3 I3
C3
U2 f 2
3 I2
C2
U1 f 2
3 I1
C1
+
-
AI 2
+
-
AI 3
X521.3
X522.3
f
VSMfilt C A_thresh
r3676
C1
C2
C3
100 V
690 V
r3677[0]
r3677[1]
r3677[2]
PT1 smoothing
[8850.1]
[8950.1]
p0115[3] (2000.00 s)
p0115[1] (250.00 s)
+/-10 V 0.5 s
A
D
0.5 s
0.5 s
Rated line freq
p0211
PT1 smoothing
0.5 s
0.5 s
0.5 s
PT1 smoothing
PT1 smoothing
VSM input U_scaler
p3660
x2
x1 y
Function diagram
[8850.1]
[8950.1]
+
-
AI 0
+
-
AI 1
<1> The VECTOR drive object is assigned a dynamic index (p0150).
<1>
<1>
<1>
<1>
V
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7

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G

2
0
1
1

A
l
l

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t
s

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A
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1
2
0
/
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5
0

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,

0
1
/
2
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1
1
,

6
S
L
3
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9
7
-
4
A
P
0
0
-
0
B
P
2
F
i
g
.

2
-
3
2
0
9
8
8
6

T
e
m
p
e
r
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t
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e
v
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- 9886 -
Function diagram
8 7 6 5 4 3 2 1
fp_9886_54_eng.vsd
S120/S150/G130/G150 08.06.07 V04.04.00
X520.5
X520.6
Hardware
smoothing 1 s
Overtemperature alarm threshold
0...301 [C]
p3667[0] (150)
r3664.1
r3664.0
Software smoothing 0.5 s
2 mA
KTY/PTC
Temperature sensor
-50 C
0
1 1
2
Sensor type
p3665 (0)
PTC resistor
threshold 1650 Ohm
T
R
1
0
250 C
KTY
PTC
248 C
-140 C
A
D
Resistance
calculation
+
-
+ temp
- temp
Overtemperature fault threshold
0...301 [C]
p3668[1] (180)
Sensor type
p3665 (0)
<1>
<1> p3665
= 0: No sensor
= 1: PTC
= 2: KTY
Voltage Sensing Module (VSM) - Temperature evaluation
DO: A_INF, S_INF, VECTOR
<1>
A34211
"Temperature alarm threshold exceeded"
F34207
"Temperature fault threshold exceeded"
r3666
Temperature KTY
<2> A fault or alarm in the temperature evaluation of the VSM is communicated to the downstream evaluation using special temperature values.
4000.00 s
<3> As a result of the wire breakage monitoring the maximum temperature that can be measured is limited to approx. 175 C.
0
1
0
1
Overtemperature hysteresis
p3669
Alarm A35920
temperature sensor evaluation
<2>
Alarm is present
-300 C
<3>
<4>
<4>
Sensor resistance
[9887.1]
<5> Can only be used with chassis infeeds.
<5>
<6>
<6>
<6>
<6>
<6>
F
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S
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2
-
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8
0
8

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1
1

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1
2
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/
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5
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,

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1
/
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1
1
,

6
S
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3
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9
7
-
4
A
P
0
0
-
0
B
P
2
F
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g
.

2
-
3
2
1
9
8
8
7

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m
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K
T
Y
/
P
T
C
- 9887 -
Function diagram
8 7 6 5 4 3 2 1
DO: A_INF, S_INF, VECTOR
S120/S150/G130/G150 10.08.07 V04.04.00 Voltage Sensing Module (VSM) - Sensor monitoring KTY/PTC
<1> For KTY84-130 temperature sensor, the following applies: A threshold value 50 Ohm corresponds to -140 C.
<2> For KTY84-130 temperature sensor, the following applies: A threshold value 1630 Ohm corresponds to +180 C.
Sensor resistance
[9886.6]
1
0
x
y
0
1
x
y
50 Ohm
<1>
<2>
1
0
x
y
p3665 = 2
Sensor type KTY
[9886.8]
A34920 "Temperature sensor fault"
Alarm value = 2 "Measured resistance too low"
Alarm value = 1 "Wire breakage or sensor not connected"
x y
1630 Ohm
20 Ohm
&
&
Alarm value = 2 "Measured resistance too low"
p4099[0] (4000.00 s)
x y
x y
p3665 = 1
Sensor type PTC
[9886.8]
&
<3> Can only be used with the Chasis Active Line Modules.
<3>
fp_9887_54_eng.vsd
<4>
<4>
Basic Operator Panel 20 (BOP20)
Function diagrams
2.36 Basic Operator Panel 20 (BOP20)
Function diagrams
9912 Control word interconnection 2-1810
F
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a
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2
0

(
B
O
P
2
0
)
2
-
1
8
1
0

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A
G

2
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1
1

A
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/
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5
0

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,

0
1
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1
1
,

6
S
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9
7
-
4
A
P
0
0
-
0
B
P
2
F
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2
-
3
2
2
9
9
1
2

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- 9912 -
Function diagram
8 7 6 5 4 3 2 1
S120/S150/G130/G150 16.01.07 V04.04.00 Basic Operator Panel 20 (BOP20) - Control word interconnection
STW BOP.0
STW BOP.1
STW BOP.2
STW BOP.3
STW BOP.4
STW BOP.5
STW BOP.6
STW BOP.8
STW BOP.9
STW BOP.11
STW BOP.12
STW BOP.13
STW BOP.14
STW BOP.15
STW BOP.7
STW BOP.10
p0848[0] = r0019.2
-
-
-
-
p2102[0] = r0019.7
-
-
-
-
-
p1035[0] = r0019.13
p1036[0] = r0019.14
-
p0840[0] = r0019.0
p0844[0] = r0019.1
1 = On
0 = OFF (OFF1)
1 = No coast down
0 = Coast down (OFF2)
1 = No fast stop
0 = Fast stop (OFF3)
= Acknowledge fault
Reserved
Reserved
Reserved
1 = Motorized potentiometer, raise
Reserved
1 = Motorized potentiometer, lower
Interconnection STW BOP (r0019)
Signal
Interconnection
parameters
Meaning
Refer to [1020.7]
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
<1> The BICO interconnection represents an example that can be be changed by the user.
Braking Module External
Function diagrams
2.37 Braking Module External
Function diagrams
9951 Sequencer (r0108.26 = 1) 2-1812
F
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1
2

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1

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0
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0

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1
1
,

6
S
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3
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9
7
-
4
A
P
0
0
-
0
B
P
2
F
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2
-
3
2
3
9
9
5
1

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r
0
1
0
8
.
2
6

=

1
)
- 9951 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S120 20.10.10 V04.04.00 Braking Module External - Sequence Control (r0108.26 = 1)
r0108.26 (4000.00 s)
[2130]...[2133]
[2130]...[2133]
1
Inhibit/acknowledgement Braking Module 1
r3861.0
Fast discharge Braking Module 1
r3864.0
BM I
2
t shutdown
p3865[0]
BM fault
p3866[0]
[2120]...[2133]
&
&
&
[2120]...[2133]
X21.1 <1>
X21.2 <1>
X21.3 <1>
X21.4 <1>
DO
DI
DI
X1 R1
X1 R2
DO
X21.5 <1> Ground
Ground
<1> Only for booksize.
Shield
+24 V
X21.6 <1>
r0899.11 "Pre-charging compl"
r0863.1 "Engergize contactor"
&
BM DC-dischg act
p3863
Braking Module External
BM qty par_cct
1...8
p3860 (1)
S1: Ready
S2: Fault
A06900
Fault (1 -> 0)
S4: Alarm
A06901
"Pre-alarm I
2
t shutdown
S3: DC link fast discharge
T
p3862
0
& &
&
&
Faults and alarms 3
Contents
3.1 Overview of faults and alarms 3-1814
3.2 List of faults and alarms 3-1824
Faults and alarms
Overview of faults and alarms
3.1 Overview of faults and alarms
3.1.1 General information on faults and alarms
Fault and alarm displays
If a fault occurs, the drive indicates this by issuing corresponding fault(s) and/or
alarm(s).
The following methods for displaying faults and alarms are available:
Display via the fault and alarm buffer with PROFIBUS
Display online via the commissioning software
Differences between faults and alarms
The differences between faults and alarms are as follows:
Table 3-1 Differences between faults and alarms
Type Description
Faults What happens when a fault occurs?
The appropriate fault reaction is triggered.
Status signal ZSW1.3 is set.
The fault is entered in the fault buffer.
How are faults eliminated?
Remove the original cause of the fault.
Acknowledge the fault.
Alarms What happens when an alarm occurs?
Status signal ZSW1.7 is set.
The alarm is entered in the alarm buffer.
How are alarms eliminated?
Alarms acknowledge themselves. If the cause of the alarm is no lon-
ger present, they automatically reset themselves.
Faults and alarms
Fault reactions
The following fault reactions are defined:
Table 3-2 Fault reactions
List PROFId-
rive
Reaction Description
NONE - None No reaction when a fault occurs
Note:
When the "Basic positioner" function module is activated
(r0108.4 = 1), the following applies:
When a fault occurs with fault reaction "NONE", an active
traversing task is interrupted and the system switches to
the tracking mode until the fault has been rectified and
acknowledged.
OFF1 ON/
OFF
Brake along the
ramp-function
generator down
ramp followed by
pulse inhibit
Closed-loop speed control (p1300 = 20, 21)
n_set = 0 is input immediately to brake the drive along
the ramp-function generator down ramp (p1121).
When zero speed is detected, the motor holding brake (if
parameters have been assigned for it) is closed (p1215).
The pulses are suppressed when the brake closing time
(p1217) expires.
Zero speed is detected if the actual speed drops below
the threshold (p1226) or if the monitoring time (p1227)
started when the speed setpoint <= speed threshold
(p1226) has expired.
Closed-loop torque control (p1300 = 23)
The following applies to closed-loop torque control
mode:
Reaction as for OFF2
When the system switches to closed-loop control with
p1501, the following applies:
No separate braking reaction.
If the actual speed value drops below the speed thresh-
old (p1226) or the timer stage (p1227) has expired, the
motor holding brake (if one is being used) is closed. The
pulses are suppressed when the brake closing time
(p1217) expires.
OFF1_
DELAYED
- As for OFF1, but
delayed
Faults with this fault reaction do not become effective until
after the delay time set in p3136.
The remaining time up to OFF1 is displayed in r3137.
OFF2 COAST
STOP
Internal/external
pulse inhibit
Closed-loop speed and torque control
Instantaneous pulse suppression, the drive coasts to a
standstill.
The motor holding brake (if one is being used) is closed
immediately.
"Switching on inhibited" is activated.
Faults and alarms
OFF3 QUICK
STOP
Braking along the
OFF3 down ramp
followed by pulse
inhibit
Closed-loop speed control (p1300 = 20, 21)
n_set = 0 is input immediately to brake the drive along
When zero speed is detected, the motor holding brake (if
parameters have been assigned for it) is closed. The
pulses are suppressed when the closing time of the
holding brake (p1217) expires.
Zero speed is detected if the actual speed drops below
the threshold (p1226) or if the monitoring time (p1227)
started when the speed setpoint <= speed threshold
(p1226) has expired.
"Switching on inhibited" is activated.
Closed-loop torque control (p1300 = 23)
Changeover to speed-controlled operation and other
reactions as described for speed-controlled operation.
STOP1 - - Under development
STOP2 - n_set = 0 n_set = 0 is input immediately to brake the drive along
The drive remains in closed-loop speed control mode.
IASC/
DCBRAKE
- - For synchronous motors, the following applies:
If a fault occurs with this fault reaction, an internal arma-
ture short-circuit is triggered.
The conditions for p1231 = 4 must be observed.
For induction motors, the following applies:
If a fault occurs with this fault reaction, DC braking is
triggered.
DC braking must have been commissioned (p1232,
p1233, p1234).
ENCODER - Internal/external
pulse inhibit
(p0491)
The fault reaction ENCODER is applied as a function of
the setting in p0491.
Factory setting:
p0491 = 0 --> Encoder fault causes OFF2
Notice:
When changing p0491, it is imperative that the information
in the description of this parameter is carefully observed.
Table 3-2 Fault reactions, continued
List PROFId-
rive
Reaction Description
Faults and alarms
Acknowledging faults
The list of faults and alarms specifies how to acknowledge each fault after the
cause has been remedied.
Table 3-3 Acknowledging faults
Acknowledg-
ment
Description
POWER ON The fault is acknowledged by a POWER ON process (switch drive unit off and on again).
Note:
If this action has not eliminated the fault cause, the fault is displayed again immediately
after power up.
IMMEDIATELY Faults can be acknowledged on one drive object (Points 1 to 3) or on all drive objects
(Point 4) as follows:
1 Acknowledging by setting parameter:
p3981 = 0 --> 1
2 Acknowledging via binector inputs:
p2103
p2104
p2105
BI: 1. Acknowledge faults
3 Acknowledging via a PROFIBUS control signal:
STW1.7 = 0 --> 1 (edge)
4 Acknowledge all faults
p2102 BI: Acknowledge all faults
All of the faults on all of the drive objects of the drive system can be acknowledged
using this binector input.
Note:
These faults can also be acknowledged by a POWER ON operation.
If this action has not eliminated the fault cause, the fault will continue to be displayed
after acknowledgment.
Safety Integrated faults
The "Safe standstill" (SH) function must be deselected before these faults are
acknowledged.
PULSE INHIBIT The fault can only be acknowledged with a pulse inhibit (r0899.11 = 0).
The same options are available for acknowledging as described under acknowledge-
ment with IMMEDIATE.
Faults and alarms
Saving the fault buffer when switching power off
The contents of the fault buffer are saved to the non-volatile memory when the
Control Unit is switched off, i.e. the fault buffer history is still available when the
unit is switched on again.
The fault buffer of a drive object comprises the following parameters:
r0945[0...63], r0947[0...63], r0948[0...63], r0949[0...63]
r2109[0...63], r2130[0...63], r2133[0...63], r2136[0...63]
The fault buffer contents can be deleted manually as follows:
Delete fault buffer for all drive objects:
p2147 = 1 --> p2147 = 0 is automatically set after execution.
Delete fault buffer for a specific drive object:
p0952 = 0 --> The parameter belongs to the specified drive object.
The fault buffer contents are automatically deleted when the following occurs:
Restore factory setting (p0009 = 30 and p0976 = 1).
Download with modified structure (e.g. number of drive objects changed)
Power-up after other parameter values have been loaded (e.g. p0976 = 10)
Upgrade firmware to later version.
Faults and alarms
3.1.2 Explanation of the list of faults and alarms
The data in the following example has been chosen at random. The information
listed below is the maximum amount of information that a description can contain.
Some of the information is optional.
The list of faults and alarms (See Chapter 3.2) is structured as follows:
Axxxxx Alarm xxxxx
Axxxxx (F, N) Alarm xxxxx (message type can be changed to F or N)
Fxxxxx Fault xxxxx
Fxxxxx (A, N) Fault xxxxx (report type can be changed to F or N)
Nxxxxx No message
Nxxxxx (A) No message (message type can be changed to A)
Cxxxxx Safety message (separate message buffer)
A message comprises a letter followed by the relevant number.
The meaning of the letters is as follows:
A means "Alarm".
F means "Fault".
N means "No message" or "Internal message".
C means "Safety message"
The optional parentheses indicate whether the type specified for this message
can be changed and which message types can be adjusted via parameters
(p2118, p2119).
Information on reaction and acknowledgment is specified independently for a
message with an adjustable message type (e.g. reaction to F, acknowledgment
for F).
- - - - - - - - - - - - - - - - - - - - - - - - - Start of example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Axxxxx (F, N) Fault location (optional): Name
Message value: Component number: %1, fault cause: %2
Drive object: List of objects.
Reaction: NONE
Acknowledg-
ment:
NONE
Cause: Description of possible causes.
Fault value (r0949, interpret format): or alarm value (r2124, interpret format): (optional)
Information about fault or alarm values (optional).
Remedy: Description of possible remedies.
Reaction to F: A_INFEED: OFF2 (OFF1, NONE)
SERVO: NONE (OFF1, OFF2, OFF3)
VECTOR: NONE (OFF1, OFF2, OFF3)
Acknowledge-
ment for F:
IMMEDIATELY (POWER ON)
Reaction to N: NONE
Acknowledge-
ment for N:
NONE
- - - - - - - - - - - - - - - - - - - - - - - - - End of example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Faults and alarms
Fault location (optional): Name
The fault location (optional), the name of the fault or alarm, and the message
number are all used to identify the message (e.g. with the commissioning soft-
ware).
Message value:
The information provided under the message value tells you about the composi-
tion of the fault/alarm value.
Example:
This message value contains information about the component number and fault
cause. The entries %1 and %2 are placeholders, which are filled appropriately in
online operation (e.g. with the commissioning software).
Drive object:
Each message (fault/alarm) specifies the drive object in which it can be found.
A message can belong to either one, several, or all drive objects.
Reaction: Default fault reaction (adjustable fault reaction)
Specifies the default reaction in the event of a fault.
The optional parentheses indicate whether the default fault reactions can be
changed and which fault reactions can be adjusted via parameters (p2100,
p2101).
Note:
See Chapter 3.1.1.
Note:
You can change the default properties of a fault or alarm by setting parameters.
References: /IH1/ SINAMICS S120 Commissioning Manual
Chapter "Diagnostics"
The list of faults and alarms (see Chapter 3.2) provides information in relation to
the properties of a message that have been set as standard. If the properties of a
specific message are changed, the corresponding information may have to be
modified in this list.
Faults and alarms
Acknowledgment: Default acknowledgment (adjustable acknowledgment)
Specifies the default method of acknowledging faults after the cause has been
eliminated.
The optional parentheses indicate whether the default acknowledgement can be
changed and which acknowledgement can be adjusted via parameters (p2126,
p2127).
Note:
See Chapter 3.1.1.
Cause:
Description of the possible causes of the fault/alarm. A fault or alarm value can
also be specified (optional).
Fault value (r0949, format):
The fault value is entered in the fault buffer in r0949[0...63] and specifies addi-
tional, more precise information about a fault.
Alarm value (r2124, format):
The alarm value specifies additional, more precise information about an alarm.
The alarm value is entered in the alarm buffer in r2124[0...7] and specifies addi-
tional, more precise information about an alarm.
Remedy:
Description of the methods available for eliminating the cause of the active fault
or alarm.
Warning
In certain cases, servicing and maintenance personnel are responsible for choos-
ing a suitable method to eliminate the fault cause.
Faults and alarms
3.1.3 Number ranges of faults and alarms
Faults and alarms are organized into the following number ranges:
Note:
The following number ranges represent an overview of all faults and alarms used
in the SINAMICS drive family.
The faults and alarms for the product described in this List Manual are described
in detail in Chapter 3.2.
Table 3-4 Number ranges of faults and alarms
From To Range
1000 3999 Control Unit
4000 4999 Reserved
5000 5999 Power unit
6000 6899 Infeed
6900 6999 Braking Module
7000 7999 Drive
8000 8999 Option Board
9000 12999 Reserved
13000 13010 Licensing
13002 19999 Reserved
20000 29999 OEM
30000 30999 DRIVE-CLiQ component power unit
31000 31999 DRIVE-CLiQ component encoder 1
Note:
Faults that occur are automatically output as an alarm if the
encoder is parameterized as a direct measuring system and
does not intervene in the motor control.
Note:
Faults that occur are automatically output as an alarm if the
encoder is parameterized as a direct measuring system and
does not intervene in the motor control.
34000 34999 Voltage Sensing Module (VSM)
35000 35199 Terminal Module 54F (TM54F)
35200 35999 Terminal Module 31 (TM31)
36000 36999 DRIVE-CLiQ Hub Module
Faults and alarms
40000 40999 Controller Extension 32 (CX32)
41000 48999 Reserved
49000 49999 SINAMICS GM/SM/GL
50000 50499 Communication Board (COMM BOARD)
50500 59999 OEM Siemens
60000 65535 SINAMICS DC MASTER (closed-loop DC current control)
Table 3-4 Number ranges of faults and alarms, continued
From To Range
Faults and alarms
List of faults and alarms
3.2 List of faults and alarms
Product: SINAMICS S120/S150, Version: 4402100, Language: eng,
Objects: A_INF, B_INF, CU_CX32, CU_I, CU_LINK, CU_S_CU310DP, CU_S_CU310PN, CU_S_CU320_DP, CU_S_CU320_PN, CU_S_S150DP,
CU_S_S150PN, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15, TM15DI_DO, TM17, TM31, TM41, TM54F_MA, TM54F_SL, VECTOR
F01000 Internal software error
Message value: %1
Drive object: All objects
Reaction: OFF2
Acknowledge: POWER ON
Cause: An internal software error has occurred.
Fault value (r0949, interpret hexadecimal):
Remedy: - evaluate fault buffer (r0945).
- carry out a POWER ON (power off/on) for all components.
- upgrade firmware to later version.
- contact the Hotline.
- replace the Control Unit.
F01001 FloatingPoint exception
Message value: %1
Reaction: OFF2
Cause: An exception occurred during an operation with the FloatingPoint data type.
The error may be caused by the base system or an OA application (e.g., FBLOCKS, DCC).
Note:
Refer to r9999 for further information about this fault.
r9999[0]: Fault number.
r9999[1]: Program counter at the time when the exception occurred.
r9999[2]: Cause of the FloatingPoint exception.
Bit 0 = 1: Operation invalid
Bit 1 = 1: Division by zero
Bit 2 = 1: Overflow
Bit 3 = 1: Underflow
Bit 4 = 1: Imprecise result
Remedy: - carry out a POWER ON (power off/on) for all components.
- check configuration and signals of the blocks in FBLOCKS.
- check configuration and signals of DCC charts.
Message value: %1
Reaction: OFF2
Acknowledge: IMMEDIATELY
Faults and alarms
F01003 Acknowledgement delay when accessing the memory
Message value: %1
Reaction: OFF2
Cause: A memory area was accessed that does not return a "READY".
N01004 (F, A) Internal software error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Fault value (r0949, hexadecimal):
Remedy: - read out diagnostics parameter (r9999).
See also: r9999 (Software error internal supplementary diagnostics)
Reaction upon F: OFF2
Acknowl. upon F: POWER ON
Reaction upon A: NONE
Acknowl. upon A: NONE
F01005 Firmware download for DRIVE-CLiQ component unsuccessful
Reaction: NONE
Cause: It was not possible to download the firmware to a DRIVE-CLiQ component.
yyxxxx hex: yy = component number, xxxx = fault cause
xxxx = 000B hex = 11 dec:
DRIVE-CLiQ component has detected a checksum error.
xxxx = 000F hex = 15 dec:
The selected DRIVE-CLiQ component did not accept the contents of the firmware file.
xxxx = 0012 hex = 18 dec:
Firmware version is too old and is not accepted by the component.
xxxx = 0013 hex = 19 dec:
Firmware version is not suitable for the hardware release of the component.
xxxx = 0065 hex = 101 dec:
After several communication attempts, no response from the DRIVE-CLiQ component.
xxxx = 008B hex = 139 dec:
Initially, a new boot loader is loaded (must be repeated after POWER ON).
xxxx = 008C hex = 140 dec:
Firmware file for the DRIVE-CLiQ component not available on the memory card.
xxxx = 008D hex = 141 dec:
An inconsistent length of the firmware file was signaled. The firmware download may have been caused by a loss of
connection to the firmware file. This can occur during a project download/reset in the case of a SINAMICS Integrated
Control Unit, for example.
xxxx = 008F hex = 143 dec:
Component has not changed to the mode for firmware download. It was not possible to delete the existing firmware.
xxxx = 0090 hex = 144 dec:
When checking the firmware that was downloaded (checksum), the component detected a fault. It is possible that
the file on the memory card is defective.
Faults and alarms
xxxx = 0091 hex = 145 dec:
Checking the loaded firmware (checksum) was not completed by the component in the appropriate time.
xxxx = 009C hex = 156 dec:
Component with the specified component number is not available (p7828).
xxxx = Additional values:
Remedy: - check the selected component number (p7828).
- save suitable firmware file for download in the directory "/siemens/sinamics/code/sac/".
- use a component with a suitable hardware version
- after POWER ON has been carried out again for the DRIVE-CLiQ component, download the firmware again.
Depending on p7826, the firmware will be automatically downloaded.
A01006 Firmware update for DRIVE-CLiQ component required
Message value: Component number: %1
Reaction: NONE
Acknowledge: NONE
Cause: The firmware of a DRIVE-CLiQ component must be updated as there is no suitable firmware or firmware version in
the component for operation with the Control Unit.
Alarm value (r2124, interpret decimal):
Component number of the DRIVE-CLiQ component.
Remedy: Firmware update using the commissioning software:
The firmware version of all of the components on the "Version overview" page can be read in the Project Navigator
under "Configuration" of the associated drive unit and an appropriate firmware update can be carried out.
Firmware update via parameter:
- take the component number from the alarm value and enter into p7828.
- start the firmware download with p7829 = 1.
A01007 POWER ON for DRIVE-CLiQ component required
Reaction: NONE
Acknowledge: NONE
Cause: A DRIVE-CLiQ component must be powered up again (POWER ON) (e.g. due to a firmware update).
Note:
For a component number = 1, a POWER ON of the Control Unit is required.
Remedy: Switch off the power supply of the specified DRIVE-CLiQ component and switch it on again.
A01009 (N) CU: Control module overtemperature
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The temperature (r0037[0]) of the control module (Control Unit) has exceeded the specified limit value.
Remedy: - check the air intake for the Control Unit.
- check the Control Unit fan.
Note:
The alarm automatically disappears after the limit value has been undershot.
Reaction upon N: NONE
Acknowl. upon N: NONE
Faults and alarms
F01010 Drive type unknown
Message value: %1
Reaction: NONE
Cause: An unknown drive type was found.
Fault value (r0949, decimal interpretation):
Drive object number (refer to p0101, p0107).
Remedy: - replace Power Module.
F01011 (N) Download interrupted
Message value: %1
Reaction: NONE
Cause: The project download was interrupted.
1: The user prematurely interrupted the project download.
2: The communication cable was interrupted (e.g. cable breakage, cable withdrawn).
3: The project download was prematurely ended by the commissioning software (e.g. STARTER, SCOUT).
100: Different versions between the firmware version and project files "Download from card".
Note:
The response to an interrupted download is the state "first commissioning".
Remedy: - check the communication cable.
- download the project again.
- boot from previously saved files (power-down/power-up or p0976).
- when downloading from the card, use the matching version.
F01012 (N) Project conversion error
Message value: %1
Drive object: SERVO, VECTOR
Reaction: OFF2 (NONE)
Cause: When converting the project of an older firmware version, an error occurred.
Parameter number of the parameter causing the error.
For fault value = 600, the following applies:
The temperature evaluation is no longer assigned to the power unit but to the encoder evaluation.
Notice:
Monitoring of the motor temperature is no longer ensured.
Remedy: Check the parameter indicated in the fault value and correctly adjust it accordingly.
For fault value = 600:
Parameter p0600 must be set to the values 1, 2 or 3 in accordance with the assignment of the internal encoder eval-
uation to the encoder interface.
Value 1 means: The internal encoder evaluation is assigned to the encoder interface 1 via p0187.
- If necessary, the internal encoder evaluation must be assigned to an encoder interface via parameters p0187,
p0188 or p0189 accordingly.
- If necessary, upgrade the firmware to a later version.
Faults and alarms
A01013 CU: Fan operating time reached or exceeded
Message value: %1
Drive object: A_INF, B_INF, CU_LINK, CU_S_CU310DP, CU_S_CU310PN, CU_S_CU320_DP, CU_S_CU320_PN,
CU_S_S150DP, CU_S_S150PN, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15, TM15DI_DO, TM17,
TM31, TM41, TM54F_MA, TM54F_SL, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: The maximum operating time of the fan in the Control Unit has either been reached or exceeded.
0: The maximum fan operating time is 500 hours.
1: The maximum fan operating time has been exceeded (50,000 hours).
Remedy: Replace the fan in the Control Unit and reset the operating hours counter to 0 (p3961 = 0).
Message value: %1
Reaction: OFF2
A01016 (F) Firmware changed
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: At least one firmware file in the directory /SIEMENS/SINAMICS/ has been changed without authorization with
respect to the version shipped from the factory. No changes are permitted in this directory.
0: Checksum of one file is incorrect.
1: File missing.
2: Too many files.
3: Incorrect firmware version.
4: Incorrect checksum of the back-up file.
See also: r9925 (Firmware file incorrect)
Remedy: For the non-volatile memory for the firmware (memory card/device memory), restore the delivery condition.
Note:
The file involved can be read out using parameter r9925.
See also: r9926 (Firmware check status)
A01017 Component lists changed
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: On the memory card, one file in the directory /SIEMENS/SINAMICS/DATA or /ADDON/SINAMICS/DATA has been
illegally changed with respect to that supplied from the factory. No changes are permitted in this directory.
zyx dec: x = Problem, y = Directory, z = File name
x = 1: File does not exist.
x = 2: Firmware version of the file does not match the software version.
Faults and alarms
x = 3: File checksum is incorrect.
y = 0: Directory /SIEMENS/SINAMICS/DATA/
y = 1: Directory /ADDON/SINAMICS/DATA/
z = 0: File MOTARM.ACX
z = 1: File MOTSRM.ACX
z = 2: File MOTSLM.ACX
z = 3: File ENCDATA.ACX
z = 4: File FILTDATA.ACX
z = 5: File BRKDATA.ACX
z = 6: File DAT_BEAR.ACX
z = 7: File CFG_BEAR.ACX
z = 8: File ENC_GEAR.ACX
Remedy: For the file on the memory card involved, restore the status originally supplied from the factory.
A01020 Write to RAM disk unsuccessful
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The write access to the internal RAM disk was unsuccessful.
Remedy: Adapt the size of the system logbook (p9930) to the internal RAM disk.
F01023 Software timeout (internal)
Message value: %1
Reaction: NONE
Cause: An internal software timeout has occurred.
F01030 Sign-of-life failure for master control
Message value: -
Drive object: A_INF, B_INF, ENCODER, S_INF, SERVO, TM41, VECTOR
Reaction: Infeed: OFF1 (NONE, OFF2)
Servo: OFF3 (ENCODER, IASC/DCBRAKE, NONE, OFF1, OFF2, STOP1, STOP2)
Vector: OFF3 (ENCODER, IASC/DCBRAKE, NONE, OFF1, OFF2, STOP1, STOP2)
Cause: For active PC master control, no sign-of-life was received within the monitoring time.
The master control was returned to the active BICO interconnection.
Remedy: Set the monitoring time higher at the PC or, if required, completely disable the monitoring function.
For the commissioning software, the monitoring time is set as follows:
<Drive> -> Commissioning -> Control panel -> Button "Fetch master control" -> A window is displayed to set the mon-
itoring time in milliseconds.
Notice:
The monitoring time should be set as short as possible. A long monitoring time means a late response when the
communication fails!
Faults and alarms
F01031 Sign-of-life failure for OFF in REMOTE
Message value: -
Drive object: A_INF, B_INF, S_INF, SERVO, VECTOR
Cause: With the "OFF in REMOTE" mode active, no sign-of-life was received within 3 seconds.
Remedy: - Check the data cable connection at the serial interface for the Control Unit (CU) and operator panel.
- Check the data cable between the Control Unit and operator panel.
F01033 Units changeover: Reference parameter value invalid
Message value: Parameter: %1
Reaction: NONE
Cause: When changing over the units to the referred representation type, it is not permissible for any of the required refer-
ence parameters to be equal to 0.0
Fault value (r0949, parameter):
Reference parameter whose value is 0.0.
See also: p0349 (System of units, motor equivalent circuit diagram data), p0505 (Selecting the system of units),
p0595 (Selecting technological units)
Remedy: Set the value of the reference parameter to a number different than 0.0.
See also: p0304, p0305, p0310, p0596, p2000, p2001, p2002, p2003, r2004
F01034 Units changeover: Calculation parameter values after reference value change unsuc-
cessful
Reaction: NONE
Cause: The change of a reference parameter meant that for an involved parameter the selected value was not able to be re-
calculated in the per unit representation. The change was rejected and the original parameter value restored.
Parameter whose value was not able to be re-calculated.
Remedy: Select the value of the reference parameter such that the parameter involved can be calculated in the per unit rep-
resentation.
A01035 (F) ACX: Boot from the back-up parameter back-up files
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: When the Control Unit is booted, no complete data set was found from the parameter back-up files. The last time
that the parameterization was saved, it was not completely carried out. Instead, a back-up data set or a back-up
parameter back-up file is downloaded.
Alarm value (r2124, interpret hexadecimal):
Remedy: If you have saved the project using the commissioning software, carry out a new download for your project. Save
using the function "Copy RAM to ROM" or with p0977 = 1 so that all of the parameter files are again completely writ-
ten to the non-volatile memory.
Reaction upon F: Infeed: NONE (OFF2)
Servo: NONE (OFF1, OFF2, OFF3)
Vector: NONE (OFF1, OFF2, OFF3)
Acknowl. upon F: IMMEDIATELY
Faults and alarms
F01036 (A) ACX: Parameter back-up file missing
Message value: %1
Reaction: Infeed: NONE (OFF2)
Cause: When downloading the device parameterization, a parameter back-up file associated with a drive object cannot be
found. Neither a PSxxxyyy.ACX, a PSxxxyyy.NEW nor a PSxxxyyy.BAK parameter back-up file exists in the non-
volatile memory for this drive object.
Byte 1: yyy in the file name PSxxxyyy.ACX
yyy = 000 --> consistency back-up file
yyy = 001 ... 062 --> drive object number
yyy = 099 --> PROFIBUS parameter back-up file
Byte 2, 3, 4:
Remedy: If you have saved the project data using the commissioning software, carry out a new download for your project.
Save using the function "Copy RAM to ROM" or with p0977 = 1 so that all of the parameter files are again completely
written to the non-volatile memory.
If you have not saved the project data, then first commissioning of the system has to be carried out again.
F01037 (A) ACX: Re-naming the parameter back-up file unsuccessful
Message value: %1
Cause: Re-naming after saving a parameter back-up file in the non-volatile memory was unsuccessful.
One of the parameter back-up files to be re-named had the "read only" attribute. The parameter back-up files are
saved in the directory \USER\SINAMICS\DATA.
It is possible that the non-volatile memory is defective.
Byte 1: yyy in the file names PSxxxyyy.* or CAxxxyyy.* or CCxxxyyy.*
yyy = 099 --> PROFIBUS parameter back-up file PSxxx099.*
Byte 2: xxx in the file name PSxxxyyy.*
xxx = 000 --> data save started with p0977 = 1
Byte 4, 3:
Remedy: - check whether one of the files to be overwritten has the attribute "read only" and change this file attribute to "writ-
able". Check all of the files (PSxxxyyy.*, CCxxxyyy.*, CAxxxyyy.*) that belong to drive yyy designated in the fault
value.
- replace the memory card or Control Unit.
Faults and alarms
F01038 (A) ACX: Loading the parameter back-up file unsuccessful
Message value: %1
Cause: An error has occurred when downloading PSxxxyyy.ACX or PTxxxyyy.ACX files from the non-volatile memory.
Byte 1: yyy in the file name PSxxxyyy.ACX
yyy = 001 ... 062 --> drive object number
yyy = 099 --> PROFIBUS parameter back-up file
Byte 2:
255 = incorrect drive object type
254 = topology comparison unsuccessful -> drive object type was not able to be identified
Reasons could be:
- incorrect component type in the actual topology
- component does not exist in the actual topology
- component not active
Otherwise for internal Siemens troubleshooting.
Byte 4, 3:
Remedy: - If you have saved the project data using the commissioning software, carry out a new download for your project.
Save using the function "Copy RAM to ROM" or with p0977 = 1 so that all of the parameter files are again completely
written to the non-volatile memory.
- for byte 1 = 255:
Correct the drive object type (see p0107).
F01039 (A) ACX: Writing to the parameter back-up file was unsuccessful
Message value: %1
Cause: Writing to at least one parameter back-up file PSxxxyyy.*** in the non-volatile memory was unsuccessful.
- In the directory /USER/SINAMICS/DATA/ at least one parameter back-up file PSxxxyyy.*** has the "read only" file
attribute and cannot be overwritten.
- There is not sufficient free memory space available.
- The non-volatile memory is defective and cannot be written to.
dcba hex
a = yyy in the file names PSxxxyyy.***
a = 000 --> consistency back-up file
a = 001 ... 062 --> drive object number
a = 070 --> FEPROM.BIN
a = 080 --> DEL4BOOT.TXT
a = 099 --> PROFIBUS parameter back-up file
b = xxx in the file names PSxxxyyy.***
b = 000 --> data save started with p0977 = 1
d, c:
Faults and alarms
Remedy: - check the file attribute of the files (PSxxxyyy.***, CAxxxyyy.***, CCxxxyyy.***) and, if required, change from "read
only" to "writeable".
- check the free memory space in the non-volatile memory. Approx. 80 kbyte of free memory space is required for
every drive object in the system.
F01040 Save parameter settings and carry out a POWER ON
Message value: -
Reaction: OFF2
Cause: A parameter was changed in the drive system which means that it is necessary to save the parameters and re-boot
(e.g. p0110).
Remedy: - save the parameters (p0971/p0977).
F01041 Parameter save necessary
Message value: %1
Reaction: NONE
Cause: Defective or missing files were detected on the memory card when booting.
1: Source file cannot be opened.
2: Source file cannot be read.
3: Target directory cannot be set up.
4. Target file cannot be set up/opened.
5. Target file cannot be written to.
Additional values:
Remedy: - save the parameters.
- download the project again to the drive unit.
- update the firmware
- if required, replace the Control Unit and/or memory card card.
F01042 Parameter error during project download
Message value: Parameter: %1, Index: %2, fault cause: %3
Servo: OFF2 (NONE, OFF1, OFF3)
Vector: OFF2 (NONE, OFF1, OFF3)
Cause: An error was detected when downloading a project using the commissioning software (e.g. incorrect parameter
value).
For the specified parameter, it was detected that dynamic limits were exceeded that may possibly depend on other
parameters.
ccbbaaaa hex
aaaa = Parameter
bb = Index
cc = fault cause
0: Parameter number illegal.
1: Parameter value cannot be changed.
2: Lower or upper value limit exceeded.
3: Sub-index incorrect.
4: No array, no sub-index.
5: Data type incorrect.
Faults and alarms
6: Setting not permitted (only resetting).
7: Descriptive element cannot be changed.
9: Descriptive data not available.
11: No master control.
15: No text array available.
17: Task cannot be executed due to operating state.
20: Illegal value.
21: Response too long.
22: Parameter address illegal.
23: Format illegal.
24: Number of values not consistent.
25: Drive object does not exist.
101: Presently de-activated.
104: Illegal value.
107: Write access not permitted when controller enabled.
108: Unit unknown.
109: Write access only in the commissioning state, encoder (p0010 = 4).
110: Write access only in the commissioning state, motor (p0010 = 3).
111: Write access only in the commissioning state, power unit (p0010 = 2).
112: Write access only in the quick commissioning mode (p0010 = 1).
113: Write access only in the ready mode (p0010 = 0).
114: Write access only in the commissioning state, parameter reset (p0010 = 30).
115: Write access only in the Safety Integrated commissioning state (p0010 = 95).
116: Write access only in the commissioning state, technological application/units (p0010 = 5).
117: Write access only in the commissioning state (p0010 not equal to 0).
118: Write access only in the commissioning state, download (p0010 = 29).
119: Parameter may not be written in download.
120: Write access only in the commissioning state, drive basis configuration (device: p0009 = 3).
121: Write access only in the commissioning state, define drive type (device: p0009 = 2).
122: Write access only in the commissioning state, data set basis configuration (device: p0009 = 4).
123: Write access only in the commissioning state, device configuration (device: p0009 = 1).
124: Write access only in the commissioning state, device download (device: p0009 = 29).
125: Write access only in the commissioning state, device parameter reset (device: p0009 = 30).
126: Write access only in the commissioning state, device ready (device: p0009 = 0).
127: Write access only in the commissioning state, device (device: p0009 not equal to 0).
129: Parameter may not be written in download.
130: Transfer of the master control is inhibited via binector input p0806.
131: Required BICO interconnection not possible because BICO output does not supply floating value
132: Free BICO interconnection inhibited via p0922.
133: Access method not defined.
200: Below the valid values.
201: Above the valid values.
202: Cannot be accessed from the Basic Operator Panel (BOP).
203: Cannot be read from the Basic Operator Panel (BOP).
204: Write access not permitted.
Remedy: - enter the correct value in the specified parameter.
- identify the parameter that restricts the limits of the specified parameter.
F01043 Fatal error at project download
Message value: Fault cause: %1
Reaction: Infeed: OFF2 (OFF1)
Servo: OFF2 (OFF1, OFF3)
Vector: OFF2 (OFF1, OFF3)
Cause: A fatal error was detected when downloading a project using the commissioning software.
1: Device status cannot be changed to Device Download (drive object ON?).
2: Incorrect drive object number.
3: A drive object that has already been deleted is deleted again.
4: Deleting of a drive object that has already been registered for generation.
5: Deleting a drive object that does not exist.
Faults and alarms
6: Generating an undeleted drive object that already existed.
7: Regenerating a drive object already registered for generation.
8: Maximum number of drive objects that can be generated exceeded.
9: Error while generating a device drive object.
10: Error while generating target topology parameters (p9902 and p9903).
11: Error while generating a drive object (global component).
12: Error while generating a drive object (drive component).
13: Unknown drive object type.
14: Drive status cannot be changed to "ready for operation" (p0947 and p0949).
15: Drive status cannot be changed to drive download.
16: Device status cannot be changed to "ready for operation".
17: It is not possible to download the topology. The component wiring should be checked, taking into account the
various messages/signals.
18: A new download is only possible if the factory settings are restored for the drive unit.
19: The slot for the option module has been configured several times (e.g. CAN and COMM BOARD)
20: The configuration is inconsistent (e.g. CAN for Control Unit, however no CAN configured for drive objects A_INF,
SERVO or VECTOR ).
Additional values: only for internal Siemens troubleshooting.
Remedy: - use the current version of the commissioning software.
- modify the offline project and carry out a new download (e.g. compare the number of drive objects, motor, encoder,
power unit in the offline project and at the drive).
- change the drive state (is a drive rotating or is there a message/signal?).
- carefully note any other messages/signals and remove their cause.
F01044 CU: Descriptive data error
Message value: %1
Reaction: OFF2
Cause: An error was detected when loading the descriptive data saved in the non-volatile memory.
Remedy: Replace the memory card or Control Unit.
A01045 CU: Configuring data invalid
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: An error was detected when evaluating the parameter files PSxxxyyy.ACX, PTxxxyyy.ACX, CAxxxyyy.ACX, or
CCxxxyyy.ACX saved in the non-volatile memory.
Remedy: Restore the factory setting using (p0976 = 1) and re-load the project to the drive unit. Operation without any restric-
tions is then possible.
After downloading the project, save the parameters in STARTER using "Copy RAM to ROM" or with p0977 = 1. This
overwrites the incorrect parameter files in the non-volatile memory.
A01049 CU: It is not possible to write to file
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: It is not possible to write into a write-protected file (PSxxxxxx.acx). The write request was interrupted.
Drive object number.
Remedy: Check whether the "write protected" attribute has been set for the files in the non-volatile memory under
.../USER/SINAMICS/DATA/...
When required, remove write protection and save again (e.g. set p0977 to 1).
Faults and alarms
F01050 Memory card and device incompatible
Message value: -
Cause: The memory card and the device type do not match (e.g. a memory card for SINAMICS S is inserted in SINAMICS
G).
Remedy: - insert the matching memory card.
- use the matching Control Unit or power unit.
F01054 CU: System limit exceeded
Message value: %1
Reaction: OFF2
Cause: At least one system overload has been identified.
1: Computing time load too high (r9976[1]).
5: Peak load too high (r9976[5]).
See also: r9976 (System utilization)
Remedy: Re fault value = 1, 5:
- reduce the computing time load of the drive unit (r9976[1] and r9976[5]) to under 100 %.
- check the sampling times and adjust if necessary (p0115, p0799, p4099).
- de-activate function modules.
- de-activate drive objects.
- remove drive objects from the target topology.
- note the DRIVE-CLiQ topology rules and if required, change the DRIVE-CLiQ topology.
When using the Drive Control Chart (DCC) or free function blocks (FBLOCKS), the following applies
- the computing time load of the individual run-time groups on a drive object can be read out in r21005 (DCC) or
20005 (FBLOCKS).
- if necessary, the assignment of the run-time group (p21000, p20000) can be changed in order to increase the sam-
pling time (r21001, r20001).
- if necessary, reduce the number of cyclically calculated blocks (DCC) and/or function blocks (FBLOCKS).
A01064 (F) CU: Internal error (CRC)
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: CRC error in the Control Unit program memory
Reaction upon F: Infeed: NONE (OFF1, OFF2)
Servo: NONE (OFF1, OFF2, OFF3, STOP2)
Vector: NONE (OFF1, OFF2, OFF3, STOP2)
Acknowl. upon F: IMMEDIATELY (POWER ON)
F01068 CU: Data memory, memory overflow
Message value: %1
Reaction: OFF2
Cause: A data memory area has been overloaded.
Faults and alarms
Fault value (r0949, interpret binary):
Bit 0 = 1: High-speed data memory 1 overloaded
Remedy: - de-activate the function module.
- de-activate the drive object.
- remove the drive object from the target topology.
A01069 Parameter backup and device incompatible
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The parameter backup on the memory card and the device type do not match (e.g. a memory card with the parameter
backup of a SINAMICS S120 is inserted in SINAMICS G150).
The module boots with the factory settings.
Remedy: - insert a memory card with compatible parameter backup and carry out a POWER ON.
- insert a memory card without parameter backup and carry out a POWER ON.
- save the parameters (p0977 = 1).
A01099 Tolerance window of time synchronization exited
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The time master exited the selected tolerance window for time synchronization.
See also: p3109 (RTC real time synchronization, tolerance window)
Remedy: Select the re-synchronization interval so that the synchronization deviation between the time master and drive sys-
tem lies within the tolerance window.
See also: r3108 (RTC last synchronization deviation)
A01100 CU: Memory card withdrawn
Message value: -
Drive object: A_INF, B_INF, S_INF, SERVO, TM41, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: The memory card (non-volatile memory) was withdrawn during operation.
Notice:
It is not permissible for the memory card to be withdrawn or inserted under voltage.
Remedy: - power down the drive system.
- re-insert the memory card that was withdrawn - this card must match the drive system.
- power up the drive system again.
F01105 (A) CU: Insufficient memory
Message value: %1
Reaction: OFF1
Cause: Too many functions have been configured on this Control Unit (e.g. too many drives, function modules, data sets,
OA applications, blocks, etc).
Remedy: - change the configuration on this Control Unit (e.g. fewer drives, function modules, data sets, OA applications,
blocks, etc).
- use an additional Control Unit.
Faults and alarms
F01107 CU: Data save in the non-volatile memory unsuccessful
Message value: %1
Reaction: NONE
Cause: A data save in the non-volatile memory was not able to be successfully carried out.
- non-volatile memory is defective.
- insufficient space in the non-volatile memory.
Remedy: - try to save again.
F01110 CU: More than one SINAMICS G on one Control Unit
Message value: %1
Reaction: NONE
Cause: More than one SINAMICS G type power unit is being operated from the Control Unit.
Number of the second drive with a SINAMICS G type power unit.
Remedy: Only one SINAMICS G drive type is permitted.
F01111 CU: Mixed operation of drive units illegal
Message value: %1
Reaction: NONE
Cause: Illegal operation of various drive units on one Control Unit:
- SINAMICS S together with SINAMICS G
- SINAMICS S together with SINAMICS S Value or Combi
Number of the first drive object with a different power unit type.
Remedy: Only power units of one particular drive type may be operated with one Control Unit.
F01112 CU: Power unit not permissible
Message value: %1
Reaction: NONE
Cause: The connected power unit cannot be used together with this Control Unit.
1: Power unit is not supported (e.g. PM240).
2: DC/AC power unit connected to CU310 not permissible.
Remedy: Replace the power unit that is not permissible by a component that is permissible.
F01120 (A) Terminal initialization has failed
Message value: %1
Reaction: OFF1 (OFF2)
Acknowledge: IMMEDIATELY (POWER ON)
Cause: An internal software error occurred while the terminal functions were being initialized.
Faults and alarms
F01122 (A) Frequency at the measuring probe input too high
Message value: %1
Cause: The frequency of the pulses at the measuring probe input is too high.
1: DI/DO 9 (X122.8)
2: DI/DO 10 (X122.10)
4: DI/DO 11 (X122.11)
8: DI/DO 13 (X132.8)
16: DI/DO 14 (X132.10)
32: DI/DO 15 (X132.11)
64: DI/DO 8 (X122.7)
128: DI/DO 12 (X132.7)
Remedy: Reduce the frequency of the pulses at the measuring probe input.
F01150 CU: Number of instances of a drive object type exceeded
Message value: Drive object type: %1, number permitted: %2, actual number: %3
Reaction: NONE
Cause: The maximum permissible number of instances of a drive object type was exceeded.
ddccbbaa hex:
aa: Drive object type (p0107), for which the maximum permissible number of instances was exceeded.
bb: Max. permissible number of instances for this drive object type.
cc: Actual number of instances for this drive object type.
dd: No significance.
Remedy: - power down the unit.
- suitably restrict the number of instances of a drive object type by reducing the number of inserted components.
- re-commission the unit.
F01151 CU: Number of drive objects of a category exceeded
Message value: Drive object category: %1, number permitted: %2, actual number: %3
Reaction: NONE
Cause: The maximum permissible number of drive objects of a category was exceeded.
ddccbbaa hex:
aa: drive object category.
bb: Max. permissible number for this drive object category.
cc: Actual number for this drive object category.
dd: No significance.
Remedy: - power down the unit.
- suitably restrict the number of drive objects of the specified category by reducing the number of inserted compo-
nents.
- re-commission the unit.
Faults and alarms
F01200 CU: Time slice management internal software error
Message value: %1
Reaction: OFF2
Cause: A time slice management error has occurred.
It is possible that the sampling times have been inadmissibly set.
998:
Too many time slices occupied by OA (e.g. DCC).
999:
Too many time slices occupied by the basic system. Too many different sampling times may have been set.
Additional values:
Remedy: - check the sampling time setting (p0112, p0115, p4099).
F01205 CU: Time slice overflow
Message value: %1
Reaction: OFF2
Cause: Insufficient processing time is available for the existing topology.
Remedy: - reduce the number of drives.
- increase the sampling times.
F01221 CU: Bas clk cyc too low
Message value: %1
Reaction: NONE
Cause: The closed-loop control / monitoring cannot maintain the envisaged clock cycle.
The runtime of the closed-loop control/monitoring is too long for the particular clock cycle or the computing time
remaining in the system is not sufficient for the closed-loop control/monitoring.
Remedy: Increase the basic clock cycle of DRIVE-CLiQ communication.
See also: p0112 (Sampling times pre-setting p0115)
A01223 CU: Sampling time inconsistent
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: When changing a sampling time (p0115[0], p0799 or p4099), inconsistency between the clock cycles has been iden-
tified.
1: Value, low minimum value.
2: Value, high maximum value.
3: Value not a multiple of 1.25 s.
4: Value does not match clock-cycle synchronous PROFIBUS operation.
5: Value not a multiple of 125 s.
10: Special restriction of the drive object violated.
Faults and alarms
20: On a SERVO with a sampling time of 62.5 s, more than two drive objects or one drive object of a type other
than SERVO have been detected on the same DRIVE-CLiQ line (a maximum of two SERVO type drive objects are
permitted).
21: Value can be a multiple of the current controller sampling time of a servo or vector drive in the system (e.g. for
TB30, the values of all of the indices should be taken into account).
30: Value less than 31.25 s.
31: Value less than 62.5 s.
32: Value less than 125 s.
40: Nodes have been identified on the DRIVE-CLiQ line whose highest common denominator of the sampling times
is less than 125 s. Further, none of the nodes has a sampling tine of less than 125 s.
41: A chassis unit was identified on the DRIVE-CLiQ line as a node. Further, the highest common denominator of
the sampling times of all of the nodes connected to the line is less than 250 s.
42: An Active Line Module was identified on the DRIVE-CLiQ line as a node. Further, the highest common denomi-
nator of the sampling times of all of the nodes connected to the line is less than 125 s.
43: A Voltage Sensing Module (VSM) was identified on the DRIVE-CLiQ line as a node. Further, the highest common
denominator of the sampling times of all of the nodes connected to the line is not equal to the current controller sam-
pling time of the drive object of the VSM.
44: The highest common denominator of the sampling times of all of the components connected to the DRIVE-CLiQ
line is not the same for all components of this drive object (e.g. there are components on different DRIVE-CLiQ lines
on which different highest common denominators are generated).
45: A chassis parallel unit was identified on the DRIVE-CLiQ line as a node. Further, the highest common denomi-
nator of the sampling times of all of the nodes connected to the line is less than:
162.5 s or 187.5 s (for 2 or 3x parallel connection).
46: A node has been identified on the DRIVE-CLiQ line whose sampling time is not a multiple of the lowest sampling
time on this line.
is less than 31.25 s.
is less than 62.5 s.
is less than 125 s.
is less than 250 s.
99: Inconsistency of cross drive objects detected.
116: Recommended clock cycle in r0116[0...1].
General note:
The topology rules should be noted when connecting up DRIVE-CLiQ (refer to the appropriate product documenta-
tion).
The parameters of the sampling times can also be changed with automatic calculations.
Example for highest common denominator: 125 s, 125 s, 62.5 s --> 62.5 s
Remedy: - check the DRIVE-CLiQ cables.
- set a valid sampling time.
See also: p0115, p0799, p4099
A01224 CU: Pulse frequency inconsistent
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: When changing the minimum pulse frequency (p0113) inconsistency between the pulse frequencies was identified.
1: Value, low minimum value.
2: Value, high maximum value.
3: Resulting sampling time is not a multiple of 1.25 s.
4: Value does not match clock-cycle synchronous PROFIBUS operation.
10: Special restriction of the drive object violated.
99: Inconsistency of cross drive objects detected.
116: Recommended clock cycle in r0116[0...1].
Remedy: Set a valid pulse frequency.
See also: p0113 (Minimum pulse frequency, selection)
Faults and alarms
F01250 CU: CU-EEPROM incorrect read-only data
Message value: %1
Reaction: NONE (OFF2)
Cause: Error when reading the read-only data of the EEPROM in the Control Unit.
Remedy: - carry out a POWER ON.
A01251 CU: CU-EEPROM incorrect read-write data
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Error when reading the read-write data of the EEPROM in the Control Unit.
Remedy: For alarm value r2124 < 256, the following applies:
- carry out a POWER ON.
For alarm value r2124 >= 256, the following applies:
- for the drive object with this alarm, clear the fault memory (p0952 = 0).
- as an alternative, clear the fault memory of all drive objects (p2147 = 1).
F01255 CU: Option Board EEPROM read-only data error
Message value: %1
Cause: Error when reading the read-only data of the EEPROM in the Option Board.
A01256 CU: Option Board EEPROM read-write data error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Error when reading the read-write data of the EEPROM in the Option Board.
F01303 DRIVE-CLiQ component does not support the required function
Message value: %1
Reaction: OFF2
Cause: A function requested by the Control Unit is not supported by a DRIVE-CLiQ component.
Faults and alarms
1: The component does not support the de-activation.
101: The Motor Module does not support an internal armature short-circuit.
102: The Motor Module does not support the de-activation.
201: The Sensor Module does not support actual value inversion (p0410.0 = 1) when using a Hall sensor (p0404.6
= 1) for the commutation.
202: The Sensor Module does not support parking/unparking.
203: The Sensor Module does not support the de-activation.
204: The firmware of this Terminal Module 15 (TM15) does not support the application TM15DI/DO.
205: The Sensor Module does not support the selected temperature evaluation (r0458).
206: The firmware of this Terminal Modules TM41/TM31/TM15 refers to an old firmware version. It is urgently nec-
essary to upgrade the firmware to ensure disturbance-free operation.
207: The power unit with this hardware version does not support operation with device supply voltages of less than
380 V.
208: The Sensor Module does not support de-selection of commutation with zero mark (via p0430.23).
211: The Sensor Module does not support single-track encoders (r0459.10).
212: The Sensor Module does not support LVDT sensors (p4677.0).
213: The Sensor Module does not support the characteristic type (p4662).
Remedy: Upgrade the firmware of the DRIVE-CLiQ component involved.
Check parameter p0600 and p0601 and if required, adapt interpretation.
Replace the power unit or if required set the device supply voltage higher (p0210).
Check parameter p0430.23 and reset if necessary.
A01304 (F) Firmware version of DRIVE-CLiQ component is not up-to-date
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The non-volatile memory has a more recent firmware version than the one in the connected DRIVE-CLiQ compo-
nent.
Component number of the DRIVE-CLiQ component involved.
Remedy: Update the firmware (p7828, p7829 and commissioning software).
Reaction upon F: NONE
F01305 Topology: Component number missing
Message value: %1
Reaction: NONE
Cause: The component number from the topology was not parameterized (p0121 (for power unit, refer to p0107), p0131 (for
servo/vector drives, refer to p0107), p0141, p0151, p0161).
Data set number.
Note:
The fault also occurs if speed encoders have been configured (p0187 to p0189) but no component numbers exist for
them.
In this case, the fault value includes the drive data set number plus 100 * encoder number (e.g. 3xx, if a component
number was not entered in p0141 for the third encoder (p0189)).
See also: p0121, p0131, p0141, p0142, p0151, p0161, p0186, p0187, p0188, p0189
Remedy: Enter the missing component number or remove the component and restart commissioning.
See also: p0121, p0131, p0141, p0142, p0151, p0161, p0186, p0187, p0188, p0189
Faults and alarms
A01306 Firmware of the DRIVE-CLiQ component being updated
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Firmware update is active for at least one DRIVE-CLiQ component.
Remedy: Not necessary.
This alarm automatically disappears after the firmware has been updated.
A01314 Topology: Component must not be present
Message value: Component number: %1, Component class: %2, Connection number: %3
Reaction: NONE
Acknowledge: NONE
Cause: For a component, "de-activate and not present" is set but this component is still in the topology.
ddccbbaa hex:
aa = component number
bb = component class of the component
cc = connection number
Note:
Component class and connection number are described in F01375.
Remedy: - remove the corresponding component.
- change the setting "de-activate and not present".
Note:
Under "Topology --> Topology view" the commissioning software where relevant offers improved diagnostics capa-
bility (e.g. setpoint/actual value comparison).
See also: p0105, p0125, p0145, p0155, p0165
A01315 Drive object not ready for operation
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: For the active drive object involved, at least one activated component is missing.
Note:
All other active and operational drive objects can be in the "RUN" state.
Remedy: The alarm automatically disappears again with the following actions:
- de-activate the drive object involved (p0105 = 0).
- de-activate the components involved (p0125 = 0, p0145 = 0, p0155 = 0, p0165 = 0).
- re-insert the components involved.
See also: p0105, p0125, p0145, p0155, p0165
A01316 Drive object inactive and again ready for operation
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: If, when inserting a component of the target topology, an inactive, non-operational drive object becomes operational
again. The associated parameter of the component is, in this case, set to "activate" (p0125, p0145, p0155, p0165).
Note:
This is the only message that is displayed for a de-activated drive object.
- activate the drive object involved (p0105 = 1).
- again withdraw the components involved.
See also: p0105 (Activate/de-activate drive object)
Faults and alarms
A01317 (N) De-activated component again present
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: If a component of the target topology for an active drive object is inserted and the associated parameter of the com-
ponent is set to "de-activate" (p0125, p0145, p0155, p0165).
Note:
This is the only message that is displayed for a de-activated component.
- activate the components involved (p0125 = 1, p0145 = 1, p0155 = 1, p0165 = 1).
- again withdraw the components involved.
See also: p0125 (Activate/de-activate power unit components), p0145, p0155, p0165 (Activate/de-activate filter
module)
A01318 BICO: De-activated interconnections present
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: This alarm is used in the following cases:
- If an inactive/non-operational drive object is active again/ready for operation
- If there are items in the list of BI/CI parameters (r9498[0...29], r9499[0...29])
- If the BICO interconnections saved in the list of BI/CI parameters (r9498[0...29], r9499[0...29]) have actually been
changed
Remedy: Reset alarm:
- Set p9496 to 1 or 2
or
- de-activate the drive object again.
A01319 Inserted component not initialized
Message value: -
Drive object: A_INF, B_INF, CU_LINK, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15, TM15DI_DO, TM17, TM31,
TM41, TM54F_MA, TM54F_SL, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: Initialization is required for at least one inserted component.
This is only possible if the pulses are inhibited for all the drive objects.
Remedy: Activate pulse inhibit for all drive objects.
A01320 Topology: Drive object number does not exist in configuration
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A drive object number is missing in p0978
Index of p0101 under which the missing drive object number can be determined.
Remedy: Set p0009 to 1 and change p0978:
Rules:
- p0978 must include all of the drive object numbers (p0101).
- it is not permissible for a drive object number to be repeated.
- by entering a 0, the drive objects with PZD are separated from those without PZD.
- only 2 partial lists are permitted. After the second 0, all values must be 0.
- dummy drive object numbers (255) are only permitted in the first partial list.
Faults and alarms
A01321 Topology: Drive object number does not exist in configuration
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: p0978 contains a drive object number that does not exist.
Index of p0978 under which the drive object number can be determined.
Rules:
A01322 Topology: Drive object number present twice in configuration
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A drive object number is present more than once in p0978.
Index of p0978 under which the involved drive object number is located.
Remedy: Set parameter p0009 = 1 and change p0978:
Rules:
A01323 Topology: More than two partial lists created
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Partial lists are available more than twice in p0978. After the second 0, all must be 0.
Index of p0978 under which the illegal value is located.
Rules:
A01324 Topology: Dummy drive object number incorrectly created
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: In p0978, dummy drive object numbers (255) are only permitted in the first partial list.
Index of p0978 under which the illegal value is located.
Faults and alarms
Rules:
F01325 Topology: Component Number not present in target topology
Reaction: NONE
Cause: The component configured in a parameter (e.g. p0121, p0131, etc.) is not present in the target topology.
Configured Component Number that is not present in target topology.
Remedy: Establish topology and DO configuration consistency.
A01330 Topology: Quick commissioning not possible
Message value: Fault cause: %1, supplementary information: %2, preliminary component number: %3
Reaction: NONE
Acknowledge: NONE
Cause: Unable to carry out a quick commissioning. The existing actual topology does not fulfill the requirements.
ccccbbaa hex: cccc = preliminary component number, bb = supplementary information, aa = fault cause
aa = 01 hex = 1 dec:
On one component illegal connections were detected.
- bb = 01 hex = 1 dec: For a Motor Module, more than one motor with DRIVE-CLiQ was detected.
- bb = 02 hex = 2 dec: For a motor with DRIVE-CLiQ, the DRIVE-CLiQ cable is not connected to a Motor Module.
The topology contains too many components of a particular type.
- bb = 01 hex = 1 dec: There is more than one master Control Unit.
- bb = 02 hex = 2 dec: There is more than 1 infeed (8 for a parallel circuit configuration).
- bb = 03 hex = 3 dec: There are more than 10 Motor Modules (8 for a parallel circuit configuration).
- bb = 04 hex = 4 dec: There are more than 9 encoders.
- bb = 05 hex = 5 dec: There are more than 8 Terminal Modules.
- bb = 07 hex = 7 dec: Unknown component type
- bb = 08 hex = 8 dec: There are more than 6 drive slaves.
- bb = 09 hex = 9 dec: Connection of a drive slave not permitted.
- bb = 0a hex = 10 dec: There is no drive master.
- bb = 0b hex = 11 dec: There is more than one motor with DRIVE-CLiQ for a parallel circuit.
- bb = 0c hex = 12 dec: Different power units are being used in a parallel connection.
- cccc: Not used.
More than 16 components are connected at a DRIVE-CLiQ socket of the Control Unit.
- bb = 0, 1, 2, 3 means e.g. detected at the DRIVE-CLiQ socket X100, X101, X102, X103.
- cccc: Not used.
The number of components connected one after the other is greater than 125.
- bb: Not used.
- cccc = preliminary component number of the first component and component that resulted in the fault.
The component is not permissible for SERVO.
- bb = 01 hex = 1 dec: SINAMICS G available.
- bb = 02 hex = 2 dec: Chassis available.
- cccc = preliminary component number of the first component and component that resulted in the fault.
Faults and alarms
On one component illegal EEPROM data was detected. These must be corrected before the system continues to
boot.
- bb = 01 hex = 1 dec: The Order No. [MLFB] of the power unit that was replaced includes a space retainer. The
space retainer (*) must be replaced by a correct character.
- cccc = preliminary component number of the component with illegal EEPROM data.
The actual topology contains an illegal combination of components.
- bb = 01 hex = 1 dec: Active Line Module (ALM) and Basic Line Module (BLM).
- bb = 02 hex = 2 dec: Active Line Module (ALM) and Smart Line Module (SLM).
- bb = 03 hex = 3 dec: SIMOTION control (e.g. SIMOTION D445) and SINUMERIK component (e.g. NX15).
- bb = 04 hex = 4 dec: SINUMERIK control (e.g. SINUMERIK 730.net) and SIMOTION component (e.g. CX32).
- cccc: Not used.
Note:
Connection type and connection number are described in F01375.
See also: p0097 (Select drive object type), r0098 (Actual device topology), p0099 (Device target topology)
Remedy: - adapt the output topology to the permissible requirements.
- carry out commissioning using the commissioning software.
- for motors with DRIVE-CLiQ, connect the power and DRIVE-CLiQ cable to the same Motor Module (Single Motor
Module: DRIVE-CLiQ at X202, Double Motor Module: DRIVE-CLiQ from motor 1 (X1) to X202, from motor 2 (X2) to
X203).
Re aa = 06 hex = 6 dec and bb = 01 hex = 1 dec:
Correct the order number when commissioning using the commissioning software.
See also: p0097 (Select drive object type), r0098 (Actual device topology), p0099 (Device target topology)
A01331 Topology: At least one component not assigned to a drive object
Reaction: NONE
Acknowledge: NONE
Cause: At least one component is not assigned to a drive object.
- when commissioning, a component was not able to be automatically assigned to a drive object.
- the parameters for the data sets are not correctly set.
Component number of the unassigned component.
Remedy: This component is assigned to a drive object.
Check the parameters for the data sets.
Examples:
- power unit (p0121).
- motor (p0131, p0186).
- encoder interface (p0140, p0141, p0187 ... p0189).
- encoder (p0140, p0142, p0187 ... p0189).
- Terminal Module (p0151).
- option board (p0161).
F01340 Topology: Too many components on one line
Message value: Component number or connection number: %1, fault cause: %2
Reaction: NONE
Cause: For the selected communications clock cycle, too many DRIVE-CLiQ components are connected to one line of the
Control Unit.
xyy hex: x = fault cause, yy = component number or connection number.
1yy:
The communications clock cycle of the DRIVE-CLiQ connection on the CU is not sufficient for all read transfers.
2yy:
The communications clock cycle of the DRIVE-CLiQ connection on the CU is not sufficient for all write transfers.
3yy:
Cyclic communication is fully utilized.
Faults and alarms
4yy:
The DRIVE-CLiQ cycle starts before the earliest end of the application. An additional dead time must be added to
the control. Sign-of-life errors can be expected.
5yy:
Internal buffer overflow for net data of a DRIVE-CLiQ connection.
6yy:
Internal buffer overflow for receive data of a DRIVE-CLiQ connection.
7yy:
Internal buffer overflow for send data of a DRIVE-CLiQ connection.
8yy:
The component clock cycles cannot be combined with one another
900:
The lowest common multiple of the clock cycles in the system is too high to be determined.
901:
The lowest common multiple of the clock cycles in the system cannot be generated with the hardware.
Remedy: Check the DRIVE-CLiQ connection.
Reduce the number of components on the DRIVE-CLiQ line involved and distribute these to other DRIVE-CLiQ sock-
ets of the Control Unit. This means that communication is uniformly distributed over several lines.
When using DCC, the scope of the DCC logic can also become a problem.
Re fault value = 1yy - 4yy in addition:
- increase the sampling times (p0112, p0115, p4099).
- reduce the DCC logic
Re fault value = 8yy in addition:
- check the clock cycles settings (p0112, p0115, p4099). Clock cycles on a DRIVE-CLiQ line must be perfect integer
multiples of one another. As clock cycle on a line, all clock cycles of all drive objects in the previously mentioned
parameters apply, which have components on the line involved.
Re fault value = 9yy in addition:
- check the clock cycles settings (p0112, p0115, p4099). The lower the numerical value difference between two clock
cycles, the higher the lowest common multiple. This behavior has a significantly stronger influence, the higher the
numerical values of the clock cycles.
F01354 Topology: Actual topology indicates an illegal component
Message value: Fault cause: %1, component number: %2
Reaction: OFF2
Cause: The actual topology indicates at least one illegal component.
yyxx hex: yy = component number, xx = cause.
xx = 1: Component at this Control Unit not permissible.
xx = 2: Component in combination with another component not permissible.
Note:
Pulse enable is prevented.
Remedy: Remove the illegal components and restart the system.
F01355 Topology: Actual topology changed
Message value: %1
Reaction: NONE
Cause: The device target topology (p0099) does not correspond to the device actual topology (r0098).
The fault only occurs if the topology was commissioned using the automatic internal device mechanism and not using
the commissioning software.
See also: r0098 (Actual device topology), p0099 (Device target topology)
Remedy: One of the following counter-measures can be selected if no faults have occurred in the topology detection itself:
If commissioning is still not completed:
- carry out a self-commissioning routine (starting from p0009 = 1).
Faults and alarms
In general:
Set p0099 = r0098, set p0009 = 0; for existing Motor Modules, this results in servo drives being automatically gen-
erated (p0107).
Generating servo drives: Set p0097 to 1, set p0009 to 0.
Generating vector drives: Set p0097 to 2, set p0009 to 0.
Generating vector drives with parallel circuit: Set p0097 to 12, set p0009 to 0.
In order to set configurations in p0108, before setting p0009 to 0, it is possible to first set p0009 to 2 and modify
p0108. The index corresponds to the drive object (p0107).
If commissioning has already been completed:
- re-establish the original connections and re-connect power to the Control Unit.
- restore the factory setting for the complete equipment (all of the drives) and allow automatic self-commissioning
again.
- change the device parameterization to match the connections (this is only possible using the commissioning soft-
ware).
Notice:
Topology changes that result in this fault being generated cannot be accepted by the automatic function in the
device, but must be transferred using the commissioning software and parameter download. The automatic function
in the device only allows constant topology to be used. Otherwise, when the topology is changed, all of the previous
parameter settings are lost and replaced by the factory setting.
See also: r0098 (Actual device topology)
F01356 Topology: Defective components in actual topology
Message value: Fault cause: %1, Component number: %2, Connection number: %3
Reaction: OFF2
Cause: The actual topology indicates at least one defective DRIVE-CLiQ component.
zzyyxx hex:
zz = connection number of component before the defective component
yy = component number of component before the defective component
xx = fault cause
xx = 1: Component at this Control Unit not permissible.
Note:
Pulse enable is withdrawn and prevented.
Remedy: Remove the defective components and restart the system.
F01360 Topology: Actual topology not permissible
Message value: Fault cause: %1, preliminary component number: %2
Reaction: NONE
Cause: The detected actual topology is not permissible.
ccccbbaa hex: cccc = preliminary component number, aa = fault cause
Too many components were detected at the Control Unit. A maximum of 199 components is permissible.
The component type of a component is not known.
It is illegal to combine ALM and BLM.
It is illegal to combine ALM and SLM.
It is illegal to combine BLM and SLM.
A CX32 was not directly connected to a permitted Control Unit.
An NX10 or NX15 was not directly connected to a permitted Control Unit.
A component was connected to a Control Unit that is not permitted for this purpose.
Faults and alarms
A component was connected to a Control Unit with out-of-date firmware.
aa = 0A hex = 10 dec:
Too many components of a particular type detected.
aa = 0B hex = 11 dec:
Too many components of a particular type detected on a single line.
Note:
The drive system is no longer booted. In this state, the drive control (closed-loop) cannot be enabled.
Remedy: Re fault cause = 1:
Change the configuration. Connect less than 199 components to the Control Unit.
Re fault cause = 2:
Remove the component with unknown component type.
Re fault cause = 3, 4, 5:
Establish a valid combination.
Re fault cause = 6, 7:
Connect the expansion module directly to a permitted Control Unit.
Re fault cause = 8:
Remove component or use a permissible component.
Re fault cause = 9:
Upgrade the firmware of the Control Unit to a later version.
Reduce the number of components.
A01361 Topology: Actual topology contains SINUMERIK and SIMOTION components
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The detected actual topology contains SINUMERIK and SIMOTION components.
ddccbbaa hex: cc = fault cause, bb = component class of the actual topology, aa = component number of the com-
ponent
cc = 01 hex = 1 dec:
An NX10 or NX15 was connected to a SIMOTION control.
A CX32 was connected to a SINUMERIK control.
Remedy: Re alarm value = 1:
Replace all NX10 or NX15 by a CX32.
Re alarm value = 2:
Replace all CX32 by an NX10 or NX15.
A01362 Topology: Topology rule(s) broken
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: At least one topology rule for the SINAMICS S120 Combi has been broken.
In the event of a fault, the ramping up of the drive system is aborted and closed-loop drive control is not enabled.
The alarm value indicates which rule has been violated.
1: The S120 Combi may only be wired via DRIVE-CLiQ socket X200 to X100 on the NCU.
2: Only one Single Motor Module (SMM) or one Double Motor Module (DMM) may be connected via X200 to the
DRIVE-CLiQ socket X101 on the NCU.
3: Only one Terminal Module 54F (TM54F) or one DRIVE-CLiQ Hub Module (hub) may be connected via X500 to
the DRIVE-CLiQ socket X102 on the NCU.
4: Only Sensor Modules may be connected to DRIVE-CLiQ sockets X201 up to X203 (3-axis) or X204 (4-axis) on
the S120 Combi.
5: Only one Sensor Module, type SMC20 or SME20 may be connected to DRIVE-CLiQ socket X205 (X204 is not
available for 3-axis).
Faults and alarms
6: If a Single Motor Module is being used as the first expansion axis, only one more Single Motor Module may be
connected (via X200 to X201 on the first Single Motor Module).
7: Only Sensor Modules may be connected to the corresponding DRIVE-CLiQ socket X202 on any Single Motor
Modules which may be present.
8: For a second Single Motor Module or for a Double Motor Module, it is not permissible to connect anything at X201.
9: If a Double Motor Module is used as an expansion axis, only Sensor Modules may be connected to X202 and
X203.
10: If a Terminal Module 54F (TM54F) is configured, only one DRIVE-CLiQ Hub Module (DMC20, DME20) may be
connected to X501 of the TM54F module via DRIVE-CLiQ socket X500.
11: On the DRIVE-CLiQ Hub Module, only Sensor Modules Cabinet (SMC) and Sensor Modules External (SME) may
be connected to X501 through X505.
12: Only certain Motor Modules may be used for expansion axes.
13: For an S120 Combi with 3 axes, nothing must be connected at the DRIVE-CLiQ Hub Module at X503.
Remedy: Evaluate the fault value and ensure compliance with the corresponding topology rule(s).
F01375 Topology: Actual topology, duplicate connection between two components
Message value: Preliminary component number: %1, component class: %2, connection number: %3
Reaction: NONE
Cause: When detecting the actual topology, a ring-type connection was detected.
ccbbaaaa hex:
bb = component class
aaaa = preliminary component number of a component included in the ring
Component class:
1: Control Unit.
2: Motor Module.
3: Line Module.
4: Sensor Module (SM).
5: Voltage Sensing Module (VSM).
6: Terminal Module (TM).
7: DRIVE-CLiQ Hub Module.
8: Controller Extension 32 (CX32, NX10, NX15).
9: Filter Module
49: DRIVE-CLiQ components (non-listed components).
50: Option Slot (e.g. Terminal Board 30).
60: Encoder (e.g. EnDat).
70: Motor with DRIVE-CLiQ.
Component type:
Precise designation within a component class (e.g. "SMC20").
Connection number:
Consecutive numbers, starting from zero, of the appropriate connection or slot (e.g. DRIVE-CLiQ connection X100
on the Control Unit has the connection number 0).
Remedy: Output the fault value and remove the specified connection.
Note:
F01380 Topology: Actual topology, defective EEPROM
Message value: Preliminary component number: %1
Reaction: NONE
Cause: When detecting the actual topology, a component with a defective EEPROM was detected.
bbbbaaaa hex:
aaaa = preliminary component number of the defective components
Remedy: Output the fault value and remove the defected component.
Faults and alarms
A01381 Topology: Comparison power unit shifted
Message value: Component number: %1, Component class: %2, Component (target): %3, Connection number: %4
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a power unit in the actual topology that has been shifted with respect to the
target topology.
ddccbbaa hex:
dd = connection number
cc = component number
aa = component number of the component shifted in the target topology
Note:
The connection in the actual topology where the shifted component was detected is described in dd, cc and bb.
Remedy: Adapting the topologies:
- undo the change to the actual topology by changing over the DRIVE-CLiQ cables.
- commissioning software: Go online, upload the drive unit, adapt the topology offline and download the modified
project.
- automatically remove the topology error (p9904).
Note:
A01382 Topology: Comparison Sensor Module shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Sensor Module in the actual topology that has been shifted with respect to
the target topology.
ddccbbaa hex:
Note:
project.
Note:
A01383 Topology: Comparison Terminal Module shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Terminal Module in the actual topology that has been shifted with respect
to the target topology.
Faults and alarms
ddccbbaa hex:
Note:
project.
Note:
A01384 Topology: Comparison DRIVE-CLiQ Hub Module shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ Hub Module in the actual topology that has been shifted with
respect to the target topology.
ddccbbaa hex:
Note:
project.
Note:
A01385 Topology: Comparison CX32 shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a controller extension 32 (CX32) in the actual topology that has been shifted
with respect to the target topology.
ddccbbaa hex:
Faults and alarms
Note:
project.
Note:
A01386 Topology: Comparison DRIVE-CLiQ component shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ component in the actual topology that has been shifted with
ddccbbaa hex:
Note:
project.
Note:
A01387 Topology: Comparison option slot component shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a option slot component in the actual topology that has been shifted with
ddccbbaa hex:
Note:
project.
Faults and alarms
Note:
A01388 Topology: Comparison EnDat encoder shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected an EnDat encoder in the actual topology that has been shifted with respect
to the target topology.
ddccbbaa hex:
Note:
project.
Note:
A01389 Topology: Comparison motor with DRIVE-CLiQ shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a motor with DRIVE-CLiQ in the actual topology that has been shifted with
ddccbbaa hex:
Note:
project.
Note:
Faults and alarms
A01416 Topology: Comparison additional component in actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has found a component in the actual topology which is not specified in the target topology.
The alarm value includes the component number and connection number of the component with which the additional
component is connected.
ddccbbaa hex:
bb = component class of the additional component
Note:
- component class and connection number are described in F01375.
- components that are connected to this additional component are not operational.
- remove the additional component in the actual topology.
- download the target topology that matches the actual topology (commissioning software).
Note:
A01420 Topology: Comparison a component is different
Message value: Component number: %1, component class target: %2, component class actual: %3, fault cause: %4
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected differences in the actual and target topologies in relation to one component.
There are differences in the electronic rating plate.
ddccbbaa hex: aa = component number of the component, bb = component class of the target topology, cc = com-
ponent class of the actual topology, dd = fault cause
dd = 01 hex = 1 dec:
Different component type.
Different Order No.
Different manufacturer.
Connection changed over for a multi-component slave (e.g. Double Motor Module), defective EEPROM data in the
electronic rating plate, or only part of a multi-component slave set to "de-activate and not present".
A CX32 was replaced by an NX10 or NX15.
An NX10 or NX15 was replaced by a CX32.
Note:
Component class and component type are described in F01375.
- check the component soft-wired connections against the hardware configuration of the drive unit in the commis-
sioning software and correct differences.
- parameterize the topology comparison of all components (p9906).
- parameterize the topology comparison of one components (p9907, p9908).
Note:
Faults and alarms
A01425 Topology: Comparison serial number of a component is different
Message value: Component number: %1, Component class: %2, Differences: %3
Reaction: NONE
Acknowledge: NONE
The serial number is different.
ddccbbaa hex:
cc = number of differences
aa = component number of the component
Note:
The component class is described in F01375.
- change over the actual topology to match the target topology.
Re byte cc:
cc = 1 --> can be acknowledged using p9904 or p9905.
cc > 1 --> can be acknowledged using p9905 and can be de-activated using p9906 or p9907/p9908.
Note:
See also: p9904 (Topology comparison, acknowledge differences), p9905 (Device specialization), p9906 (Topology
comparison, comparison stage of all components), p9907 (Topology comparison, comparison stage of the compo-
nent number), p9908 (Topology comparison, comparison stage of a component)
A01428 Topo: Comparison connection of a component is different
Message value: Component number: %1, Component class: %2, Connection number1: %3, Connection number2: %4
Reaction: NONE
Acknowledge: NONE
A component was connected to another connection.
The different connections of a component are described in the alarm value:
ddccbbaa hex:
dd = connection number of the target topology
cc = connection number of the actual topology
Note:
Note:
See also: p9904 (Topology comparison, acknowledge differences)
Faults and alarms
A01429 Topology: Comparison connection is different for more than one component
Reaction: NONE
Acknowledge: NONE
Cause: A topology comparison has found differences between the actual and target topology for several components. A
component was connected to another connection.
The different connections of a component are described in the alarm value:
ddccbbaa hex:
dd = connection number of the target topology
cc = connection number of the actual topology
Note:
Note:
In the software, a Double Motor Module behaves just like two separate DRIVE-CLiQ nodes. If a Double Motor Module
is re-inserted, this can result in several differences in the actual topology.
F01451 Topology: Target topology is invalid
Message value: %1
Reaction: NONE
Cause: An error was detected in the target topology.
The target topology is invalid.
ccccbbaa hex: cccc = index error, bb = component number, aa = fault cause
aa = 1B hex = 27 dec: Error not specified.
aa = 1C hex = 28 dec: Value illegal.
aa = 1D hex = 29 dec: Incorrect ID.
aa = 1E hex = 30 dec: Incorrect ID length.
aa = 1F hex = 31 dec: Too few indices left.
aa = 20 hex = 32 dec: component not connected to Control Unit.
Remedy: Reload the target topology using the commissioning software.
F01470 Topology:Target topology ring-type connection detected
Reaction: NONE
Cause: A ring-type connection was detected when writing to the target topology.
ddccbbaa hex:
aa = component number of a component included in the ring
Note:
Remedy: Read out the fault value and remove one of the specified connections.
Then download the target topology again using the commissioning software.
Faults and alarms
Note:
F01475 Topology: Target topology duplicate connection between two components
Reaction: NONE
Cause: When writing the target topology, a duplicate connection between two components was detected.
ddccbbaa hex:
dd = connection number 2 of the duplicate connection
cc = connection number 1 of the duplicate connection
aa = component number of one of the components connected twice
Note:
Remedy: Read out the fault value and remove one of the two specified connections.
Then download the target topology again using the commissioning software.
Note:
A01481 Topology: Comparison power unit missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a power unit in the target topology that is not available in the actual topology.
Component number of the additional target components.
Remedy: - delete the drive belonging to the power unit in the commissioning software project and download the new configu-
ration to the drive unit.
- check that the actual topology matches the target topology and if required, change over.
- check DRIVE-CLiQ cables for interruption and contact problems.
- check the 24 V supply voltage.
- check that the power unit is working properly.
Note:
A01482 Topology: Comparison Sensor Module missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Sensor Module in the target topology that is not available in the actual topol-
ogy.
Remedy: - re-configure the drive belonging to the Sensor Module in the commissioning software project (encoder configura-
tion) and download the new configuration to the drive unit.
- delete the drive belonging to the Sensor Module in the commissioning software project and download the new con-
figuration to the drive unit.
- check that the Sensor Module is working properly.
Faults and alarms
Note:
A01483 Topology: Comparison Terminal Module missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Terminal Module in the target topology that is not available in the actual
topology.
Remedy: - delete the Terminal Module in the commissioning software project and download the new configuration to the drive
unit.
- check that the Terminal Module is working properly.
Note:
A01484 Topology: Comparison DRIVE-CLiQ Hub Module missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ Hub Module in the target topology that does not exist in the
actual topology.
Remedy: - delete the DRIVE-CLiQ Hub Module in the commissioning software project and download the new configuration to
the drive unit.
- test the DRIVE-CLiQ Hub Module to ensure that it functions properly.
Note:
A01485 Topology: Comparison CX32 missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a controller extension 32 (CX32) in the target topology that is not available
in the actual topology.
Remedy: - delete the CX32 / NX in the commissioning software project and download the new configuration to the drive unit.
- check that CX32/NX functions correctly.
Note:
Faults and alarms
A01486 Topology: Comparison DRIVE-CLiQ components missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ component in the target topology that is not available in the
actual topology.
Remedy: - delete the drive belonging to this component in the commissioning software project and download the new config-
uration to the drive unit.
- re-configure the drive belonging to this component in the commissioning software project and download the new
configuration to the drive unit.
- check that the component is working properly.
Note:
A01487 Topology: Comparison option slot components missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected an option slot module in the target topology that is not available in the actual
topology.
Remedy: - delete the option board in the commissioning software project and download the new configuration to the drive unit.
- re-configure the drive unit in the commissioning software project and download the new configuration to the drive
unit.
- check that the option board is functioning correctly
Note:
A01488 Topology: Comparison EnDat encoder missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected an EnDat encoder in the target topology that is not available in the actual
topology.
Remedy: - re-configure the drive belonging to the encoder in the commissioning software project (encoder configuration) and
download the new configuration to the drive unit.
- delete the drive belonging to the encoder in the commissioning software project and download the new configura-
tion to the drive unit.
Note:
Faults and alarms
A01489 Topology: Comparison motor with DRIVE-CLiQ missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a motor with DRIVE-CLiQ in the target topology that is not available in the
actual topology.
Remedy: - re-configure the drive belonging to this motor in the commissioning software project and download the new config-
- re-configure the drive belonging to this motor in the commissioning software project and download the new config-
- check that the motor is working properly.
Note:
F01505 (A) BICO: Interconnection cannot be established
Reaction: NONE
Cause: A PROFIdrive telegram has been set (p0922).
An interconnection contained in the telegram was not able to be established.
Parameter receiver that should be changed.
Remedy: Establish another interconnection.
F01506 (A) BICO: No standard telegram
Drive object: A_INF, B_INF, S_INF, SERVO, TM120, TM31, TM41, VECTOR
Reaction: NONE
Cause: The standard telegram in p0922 is not maintained and therefore p0922 is set to 999.
BICO parameter for which the write attempt was unsuccessful.
Remedy: Again set the required standard telegram (p0922).
A01507 (F, N) BICO: Interconnections to inactive objects present
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: There are BICO interconnections as signal sink from a drive object that is either inactive/not operational.
The BI/CI parameters involved are listed in r9498.
The associated BO/CO parameters are listed in r9499.
The list of the BICO interconnections to other drive objects is displayed in r9491 and r9492 of the de-activated drive
object.
Faults and alarms
Note:
r9498 and r9499 are only written to, if p9495 is not set to 0.
Number of BICO interconnections found to inactive drive objects.
Remedy: - set all open BICO interconnections centrally to the factory setting with p9495 = 2.
- make the non-operational drive object active/operational again (re-insert or activate components).
Reaction upon F: Infeed: OFF2 (NONE, OFF1)
A01508 BICO: Interconnections to inactive objects exceeded
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The maximum number of BICO interconnections (signal sinks) when de-activating a drive object was exceeded.
When de-activating a drive object, all BICO interconnections (signal sinks) are listed in the following parameters:
- r9498[0...29]: List of the BI/CI parameters involved.
- r9499[0...29]: List of the associated BO/CO parameters.
Remedy: The alarm automatically disappears as soon as no BICO interconnection (value = 0) is entered in r9498[29] and
r9499[29].
Notice:
When re-activating the drive object, all BICO interconnections should be checked and if required, re-established.
F01510 BICO: Signal source is not float type
Reaction: NONE
Cause: The requested connector output does not have the correct data type. This interconnection is not established.
Parameter number to which an interconnection should be made (connector output).
Remedy: Interconnect this connector input with a connector output having a float data type.
F01511 (A) BICO: Interconnection with different scalings
Reaction: NONE
Cause: The requested BICO interconnection was established. However, a conversion is made between the BICO output and
BICO input using the reference values.
- the BICO output has different normalized units than the BICO input.
- message only for interconnections within a drive object.
Example:
The BICO output has, as normalized unit, voltage and the BICO input has current.
This means that the factor p2002/p2001 is calculated between the BICO output and the BICO input.
p2002: contains the reference value for current
p2001: contains the reference value for voltage
Parameter number of the BICO input (signal sink).
Faults and alarms
F01512 BICO: No scaling available
Message value: %1
Servo: OFF2
Vector: OFF2
Cause: An attempt was made to determine a conversion factor for a scaling that does not exist.
Unit (e.g. corresponding to SPEED) for which an attempt was made to determine a factor.
Remedy: Apply scaling or check the transfer value.
F01513 (A) BICO: Interconnection cross DO with different scalings
Reaction: NONE
Cause: The requested BICO interconnection was established. However, a conversion is made between the BICO output and
BICO input using the reference values.
An interconnection is made between different drive objects and the BICO output has different normalized units than
the BICO input or the normalized units are the same but the reference values are different.
Example 1:
BICO output with voltage normalized unit, BICO input with current normalized unit, BICO output and BICO input lie
in different drive objects. This means that the factor p2002/p2001 is calculated between the BICO output and the
BICO input.
p2002: contains the reference value for current
p2001: contains the reference value for voltage
Example 2:
BICO output with voltage normalized unit in drive object 1 (DO1), BICO input with voltage normalized unit in drive
object 2 (DO2). The reference values for voltage (p2001) of the two drive objects have different values. This means
that the factor p2001(DO1)/p2001(DO2) is calculated between the BICO output and the BICO input.
p2001: contains the reference value for voltage, drive objects 1, 2
A01514 (F) BICO: Error when writing during a reconnect
Reaction: NONE
Acknowledge: NONE
Cause: During a reconnect operation (e.g. while booting or downloading - but can also occur in normal operation) a param-
eter was not able to be written to.
Example:
When writing to a double word BICO input in the second index, the memory areas overlap (e.g. p8861). The param-
eter is then reset to the factory setting.
Faults and alarms
F01515 (A) BICO: Writing to parameter not permitted as the master control is active
Message value: -
Reaction: NONE
Cause: When changing the number of CDS or when copying from CDS, the master control is active.
Remedy: If required, return the master control and repeat the operation.
A01590 (F) Drive: Motor maintenance interval expired
Message value: Fault cause: %1 bin
Drive object: A_INF, B_INF, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15, TM15DI_DO, TM17, TM31, TM41,
TM54F_MA, TM54F_SL, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: The selected service/maintenance interval for this motor was reached.
Motor data set number.
See also: p0650 (Actual motor operating hours), p0651 (Motor operating hours maintenance interval)
Remedy: carry out service/maintenance and reset the service/maintenance interval (p0651).
F01600 SI CU: STOP A initiated
Message value: %1
Reaction: OFF2
Cause: The drive-integrated "Safety Integrated" function on the Control Unit (CU) has detected a fault and initiated a STOP
A (pulse suppression via the safety shutdown path of the Control Unit).
- forced checking procedure of the safety shutdown path of the Control Unit unsuccessful.
- subsequent response to fault F01611 (defect in a monitoring channel).
0: Stop request from the Motor Module.
1005: Pulses suppressed although STO not selected and there is no internal STOP A present.
1010: Pulses enabled although STO is selected or an internal STOP A is present.
1015: Feedback of the safe pulse suppression for Motor Modules connected in parallel are different.
9999: Subsequent response to fault F01611.
Remedy: - select Safe Torque Off and de-select again.
- replace the Motor Module involved.
- carry out diagnostics for fault F01611.
Note:
CU: Control Unit
MM: Motor Module
F01611 SI CU: Defect in a monitoring channel
Message value: %1
Reaction: NONE (OFF1, OFF2, OFF3)
Cause: The drive-integrated "Safety Integrated" function on the Control Unit (CU) has detected a fault in the crosswise data
comparison between the CU and Motor Module (MM) and initiated a STOP F.
Faults and alarms
As a result of this fault, after the parameterized transition has expired (p9658), fault F01600 (SI CU: STOP A initiated)
is output.
0: Stop request from the Motor Module.
1 ... 999:
Number of the cross-checked data that resulted in this fault. This number is also displayed in r9795.
1: SI monitoring clock cycle (r9780, r9880).
2: SI enable safety functions (p9601, p9801). Crosswise data comparison is only carried out for the supported bits.
3: SI SGE changeover tolerance time (p9650, p9850).
4: SI transition period STOP F to STOP A (p9658, p9858).
5: SI enable Safe Brake Control (p9602, p9802).
6: SI Motion enable, safety-relevant functions (p9501, internal value).
7: SI pulse suppression delay time for Safe Stop 1 (p9652, p9852).
8: SI PROFIsafe address (p9610, p9810).
9: SI debounce time for STO/SBC/SS1 (MM) (p9651, p9851).
10: SI delay time for pulse suppression for ESR (p9697, p9897).
11: SI Safe Brake Adapter mode, BICO interconnection (p9621, p9821).
12: SI Safe Brake Adapter relay ON time (p9622[0], p9822[0]).
13: SI Safe Brake Adapter relay OFF time (p9622[1], p9822[1]).
1000: Watchdog timer has expired. Within the time of approx. 5 x p9650 too many switching operations have
occurred at terminal EP of the Motor Module, or STO (also as subsequent response) was initiated too frequently via
PROFIsafe/TM54F.
1001, 1002: Initialization error, change timer / check timer.
1900: CRC error in the SAFETY sector.
1901: CRC error in the ITCM sector.
1902: Overloading in the ITCM sector has occurred in operation.
1950: Module temperature outside the permissible temperature range.
1951: Module temperature not plausible.
2000: Status of the STO selection on the Control Unit and Motor Module are different.
2001: Feedback signal for safe pulse suppression on the Control Unit and Motor Module are different.
2002: Status of the delay timer SS1 on the Control Unit and Motor Module are different.
2004: Status of the STO selection for modules connected in parallel are different.
2005: Feedback signal of the safe pulse suppression on the Control Unit and Motor Modules connected in parallel
are different.
6000 ... 6999:
Error in the PROFIsafe control.
For these fault values, the failsafe control signals (failsafe values) are transferred to the safety functions.
The significance of the individual message values is described in safety message C01711 of the Control Unit.
Remedy: Re fault value = 1 ... 5 and 7 ... 999:
- check the cross-checked data that resulted in a STOP F.
- upgrade the Motor Module software.
- upgrade the Control Unit software.
- check the EP terminal at the Motor Module (contact problems).
- PROFIsafe: Remove contact problems/faults at the PROFIBUS master/PROFINET controller.
- check the wiring of the failsafe inputs at the TM54F (contact problems).
Re fault value = 1001, 1002:
Re fault value = 1900, 1901, 1902:
- replace Control Unit.
Faults and alarms
Re fault value = 2000, 2001, 2002, 2004, 2005:
- check the tolerance time SGE changeover and if required, increase the value (p9650/p9850, p9652/p9852).
- check the wiring of the safety-relevant inputs (SGE) (contact problems).
- check the causes of the STO selection in r9772. When the SMM functions are active (p9501 = 1), STO can also be
selected using these functions.
Re fault value = 6000 ... 6999:
Refer to the description of the message values in safety message C01711.
Note:
CU: Control Unit
MM: Motor Module
SGE: Safety-relevant input
F01612 SI CU: STO inputs for power units connected in parallel different
Cause: The drive-integrated "Safety Integrated" function on the Control Unit (CU) has identified different states of the
AND'ed STO inputs for power units connected in parallel and has initiated a STOP F.
As a result of this fault, after the parameterized transition has expired (p9658), fault F01600 (SI CU: STOP A initiated)
is output.
Binary image of the digital inputs of the Control Unit that are used as signal source for the function "Safe Torque Off".
Remedy: - check the tolerance time SGE changeover and if required, increase the value (p9650).
Note:
CU: Control Unit
N01620 (F, A) SI CU: Safe Torque Off active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The "Safe Torque Off" (STO) function has been selected on the Control Unit (CU) using the input terminal and is
active.
Note:
This message does not result in a safety stop response.
Note:
CU: Control Unit
Faults and alarms
N01621 (F, A) SI CU: Safe Stop 1 active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The "Safe Stop 1" (SS1) function has been selected on the Control Unit (CU) and is active.
Note:
Note:
CU: Control Unit
F01625 SI CU: Sign-of-life error in safety data
Message value: %1
Reaction: OFF2
Cause: The drive-integrated "Safety Integrated" function on the Control Unit (CU) has detected an error in the sign-of-life of
the safety data between the CU and Motor Module (MM) and initiated a STOP A.
- there is either a DRIVE-CLiQ communication error or communication has failed.
- a time slice overflow of the safety software has occurred.
- check whether there is a DRIVE-CLiQ communication error between the Control Unit and the Motor Module
involved and, if required, carry out a diagnostics routine for the faults identified.
- de-select all drive functions that are not absolutely necessary.
- reduce the number of drives.
- check the electrical cabinet design and cable routing for EMC compliance
Note:
CU: Control Unit
MM: Motor Module
F01630 SI CU: Brake control error
Message value: %1
Reaction: OFF2
Cause: The drive-integrated "Safety Integrated" function on the Control Unit (CU) has detected a brake control fault and ini-
tiated a STOP A.
Fault in "open holding brake" operation.
- Parameter p1278 incorrectly set.
- No brake connected or wire breakage (check whether brake releases for p1278 = 1 and p9602/p9802 = 0 (SBC de-
activated)).
- Ground fault in brake cable.
Fault in "brake open" state.
- Short-circuit in brake winding.
Faults and alarms
Fault in "close holding brake" operation.
activated)).
Fault in "brake closed" state.
Fault in the brake control circuit of the Control Unit or communication fault between the Control Unit and Motor Mod-
ule (brake control).
SafeBrakeAdapter: Fault in the brake control circuit of the Control Unit or communication fault between Control Unit
and Motor Module (brake control diagnostics).
Note:
The following causes may apply to fault values:
- motor cable is not shielded correctly.
- defect in control circuit of the Motor Module.
Remedy: - check parameter p1278 (for SBC, only p1278 = 0 is permissible).
- select Safe Torque Off and de-select again.
- check the motor holding brake connection.
- check the function of the motor holding brake.
- check that the electrical cabinet design and cable routing are in compliance with EMC regulations (e.g. shield of the
motor cable and brake conductors are connected with the shield connecting plate and the motor connectors are
tightly screwed to the housing).
Operation with Safe Brake Module or Safe Brake Adapter:
- check the Safe Brake Module or Safe Brake Adapter connection.
- replace the Safe Brake Module or Safe Brake Adapter.
Note:
CU: Control Unit
F01649 SI CU: Internal software error
Message value: %1
Reaction: OFF2
Cause: An internal error in the Safety Integrated software on the Control Unit has occurred.
Note:
This fault results in a STOP A that cannot be acknowledged.
- re-commission the "Safety Integrated" function and carry out a POWER ON.
- Upgrade the firmware of the Control Unit to a later version.
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01650 SI CU: Acceptance test required
Message value: %1
Reaction: OFF2
Cause: The drive-integrated "Safety Integrated" function on the Control Unit requires an acceptance test.
Note:
This fault results in a STOP A that can be acknowledged.
130: Safety parameters for the Motor Module not available.
Note:
This fault value is always output when Safety Integrated is commissioned for the first time.
1000: Reference and actual checksum on the Control Unit are not identical (booting).
- at least one checksum-checked piece of data is defective.
2000: Reference and actual checksum on the Control Unit are not identical (commissioning mode).
- reference checksum incorrectly entered into the Control Unit (p9799 not equal to r9798).
- when de-activating the safety functions, p9501 or p9503 were not deleted.
2001: Reference and actual checksum on the Motor Module are not identical (commissioning mode).
- reference checksum incorrectly entered into the Motor Module (p9899 not equal to r9898).
- when de-activating the safety functions, p9501 or p9503 are not deleted.
2002: Enable of safety-related functions between the Control Unit and Motor Module differ (p9601 not equal to
p9801).
2003: Acceptance test is required as a safety parameter has been changed.
2004: An acceptance test is required because a project with enabled safety-functions has been downloaded.
2005: The Safety logbook has identified that a functional safety checksum has changed. An acceptance test is
required.
2010: Safe Brake Control is enabled differently between the Control Unit and Motor Module (p9602 not equal to
p9802).
2020: Error when saving the safety parameters for the Motor Module.
3003: Acceptance test is required as a hardware-related safety parameter has been changed.
3005: The Safety logbook has identified that a hardware-related safety checksum has changed. An acceptance test
is required.
9999: Subsequent response of another safety-related fault that occurred when booting that requires an acceptance
test.
Remedy: For fault value = 130:
- carry out safety commissioning routine.
- again carry out safety commissioning routine.
- check the safety parameters in the Control Unit and adapt the reference checksum (p9799).
- check the safety parameters in the Motor Module and adapt the reference checksum (p9899).
- enable the safety-related functions in the Control Unit and check in the Motor Module (p9601 = p9801).
Re fault value = 2003, 2004, 2005:
- Carry out an acceptance test and generate an acceptance report.
The procedure when carrying out an acceptance test as well as an example of the acceptance report are provided
in the following literature:
SINAMICS S120 Function Manual Safety Integrated
The fault with fault value 2005 can only be acknowledged when the "STO" function is de-selected.
- check enable of the safety-related brake control in the Control Unit and Motor Module (p9602 = p9802).
- carry out the function checks for the modified hardware and generate an acceptance report.
Faults and alarms
The fault with fault value 3005 can only be acknowledged when the "STO" function is de-selected.
- carry out diagnostics for the other safety-related fault that is present.
Note:
CU: Control Unit
MM: Motor Module
See also: p9799 (SI reference checksum SI parameters (Control Unit)), p9899 (SI reference checksum SI parame-
ters (Motor Module))
F01651 SI CU: Synchronization safety time slices unsuccessful
Message value: %1
Drive object: A_INF, B_INF, CU_LINK, S_INF, SERVO, TM41, TM54F_MA, TM54F_SL, VECTOR
Reaction: OFF2
Cause: The "Safety Integrated" function requires a synchronization of the safety time slices between the Control Unit (CU)
and Motor Module (MM) and between the Control Unit and the higher-level control. This synchronization routine was
unsuccessful.
Note:
121:
- with SINUMERIK Safety Integrated enabled, a drive-side warm restart was performed on the CU/NX.
- with SINUMERIK Safety Integrated enabled, the function "restore factory setting" was selected on a drive object of
the CU and a drive-side warm restart was initiated.
150:
- fault in the synchronization to the PROFIBUS master.
All other values:
- only for internal Siemens troubleshooting.
See also: p9510 (SI Motion clock-cycle synchronous PROFIBUS master)
- carry out a common POWER ON/warm restart for the higher-level control and SINAMICS.
- check the setting of p9510 (SI Motion clock-cycle synchronous PROFIBUS master) and if required, correct.
General:
- upgrade the software of the higher-level control.
Note:
CU: Control Unit
MM: Motor Module
F01652 SI CU: Illegal monitoring clock cycle
Message value: %1
Reaction: OFF2
Cause: One of the Safety Integrated monitoring clock cycles is not permissible:
- the monitoring clock cycle integrated in the drive cannot be maintained due to the communication conditions
required in the system.
- the monitoring clock cycle for safe motion monitoring functions with the higher-level control is not permissible
(p9500).
- The sampling time for the current controller (p0112, p0115) cannot be supported.
Note:
Faults and alarms
- for enabled SI monitoring integrated in the drive (p9601/p9801 > 0):
Minimum setting for the monitoring clock cycle (in s).
- with the motion monitoring function enabled (p9501 > 0):
100: No matching monitoring clock cycle was able to be found.
101: The monitoring clock cycle is not an integer multiple of the actual value sensing clock cycle.
102: An error has occurred when transferring the DP clock cycle to the Motor Module (MM).
103: An error has occurred when transferring the DP clock cycle to the Sensor Module.
104,105:
- four times the current controller sampling time is greater than 1 ms when operating with a non-isochronous PRO-
FIBUS.
- four times the current controller sampling time is greater than the DP clock cycle when operating with an isochro-
nous PROFIBUS.
- The DP clock cycle is not an integer multiple of the sampling time of the current controller.
106: The monitoring clock cycle does not match the monitoring clock cycle of the TM54F.
107: Four times the current controller sampling time is greater than the actual value sensing clock cycle (p9511) or
the actual value sensing clock cycle is not an integer multiple of the current controller sampling time.
108: The parameterized actual value sensing clock cycle cannot be set on this component.
109: If the motion monitoring functions have been parameterized as encoderless (p9506), the actual value sensing
clock cycle (p9511) and the current controller clock cycle must be identical.
110: The actual value sensing clock cycle (p9511) for safety with encoder (p9506 = 0) is less than 2 ms for this Con-
trol Unit (e.g. CU305).
Remedy: For enabled SI monitoring integrated in the drive (p9601/p9801 > 0):
For enabled motion monitoring function (p9501 > 0):
- correct the monitoring clock cycle (p9500) and carry out POWER ON.
- actual value sensing clock cycle corresponds to position control clock cycle/DP clock cycle (factory setting).
- for motion monitoring functions integrated in the drive (p9601/p9801bit 2 = 1) the actual value sensing clock cycle
can be directly parameterized in P9511/p9311.
- set a separate actual value sensing clock cycle in p9511.
- restrict operation to a maximum of two vector drives. For the standard setting in p0112, p0115, the current controller
sampling time is automatically reduced to 250 s. If the standard values were changed, then the current controller
sampling time (p0112, p0115) should be appropriately set.
- increase the DP clock cycle for operation with a clock-cycle synchronous PROFIBUS so that there is a multiple
clock cycle ratio of at least 4:1 between the DP clock cycle and the current controller sampling time. A clock cycle
ratio of at least 8:1 is recommended.
- With firmware version 2.5, please ensure that parameter p9510 is set to 1 in the drive (clock cycle synchronous
operation).
- set the parameters for the monitoring clock cycles the same (p10000 and p9500 / p9300).
- set an actual value sensing clock cycle in p9511 that matches the current controller clock cycle. A clock cycle ratio
of at least 8:1 is recommended.
- set a suitable actual value sensing clock cycle in p9511.
- if the DP clock cycle is used as the actual value sensing clock cycle for operation with isochronous PROFIBUS
(p9511 = 0), then a suitable DP clock cycle must be configured.
A suitable multiple of the DP clock cycle (e.g. 1, 2, 3, 4, 5, 6, 8, 10) must be parameterized on the D410. Otherwise,
the clock cycle must be set to less than 8 ms.
- set the actual value sensing clock cycle in p9511 to the same value as the current controller clock cycle (p115).
- set the actual value sensing clock cycle in p9511 to 2 ms or higher.
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01653 SI CU: PROFIBUS configuration error
Message value: %1
Cause: There is a PROFIBUS configuration error for using Safety Integrated monitoring functions with a higher-level control
(SINUMERIK or F-PLC).
Note:
For safety functions that have been enabled, this fault results in a STOP A that cannot be acknowledged.
200: A safety slot for receive data from the control has not been configured.
210, 220: The configured safety slot for the receive data from the control has an unknown format.
230: The configured safety slot for the receive data from the F-PLC has the incorrect length.
231: The configured safety slot for the receive data from the F-PLC has the incorrect length.
240: The configured safety slot for the receive data from the SINUMERIK has the incorrect length.
250: A PROFIsafe slot is configured in the higher-level F control, however PROFIsafe is not enabled in the drive.
300: A safety slot for the send data to the control has not been configured.
310, 320: The configured safety slot for the send data to the control has an unknown format.
330: The configured safety slot for the send data to the F-PLC has the incorrect length.
331: The configured safety slot for the send data to the F-PLC has the incorrect length.
340: The configured safety slot for the send data to the SINUMERIK has the incorrect length.
Remedy: The following generally applies:
- check and, if necessary, correct the PROFIBUS configuration of the safety slot on the master side.
- remove the PROFIsafe configuring in the higher-level F control or enable PROFIsafe in the drive.
- configure the PROFIsafe telegram matching the parameterization in the F-PLC.
The following applies for p9501.30 = 1 (F-DI via PROFIsafe is enabled): PROFIsafe telegram 900 must be config-
ured.
The following applies for p9501.30 = 0 (F-DI via PROFIsafe is not enabled): PROFIsafe telegram 30 must be con-
figured.
F01655 SI CU: Align monitoring functions
Message value: %1
Reaction: OFF2
Cause: An error has occurred when aligning the Safety Integrated monitoring functions on the Control Unit (CU) and Motor
Module (MM). Control Unit and Motor Module were not able to determine a common set of supported SI monitoring
functions.
- Safety Integrated software releases on the Control Unit and Motor Module are not compatible with one another.
Note:
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01656 SI CU: Motor Module parameter error
Message value: %1
Reaction: OFF2
Cause: When accessing the Safety Integrated parameters for the Motor Module (MM) in the non-volatile memory, an error
has occurred.
Note:
129:
- safety parameters for the Motor Module corrupted.
- drive with enabled safety functions was possibly copied offline using the commissioning software and the project
downloaded.
131: Internal Motor Module software error.
132: Communication errors when uploading or downloading the safety parameters for the Motor Module.
255: Internal software error on the Control Unit.
Remedy: - re-commission the safety functions.
- activate the safety commissioning mode (p0010 = 95).
- adapt the PROFIsafe address (p9610).
- start the copy function for SI parameters (p9700 = D0 hex).
- acknowledge data change (p9701 = DC hex).
- exit the safety commissioning mode (p0010 = 0).
- save all parameters (p0977 = 1 or "copy RAM to ROM").
Note:
CU: Control Unit
MM: Motor Module
F01659 SI CU: Write request for parameter rejected
Message value: %1
Drive object: A_INF, B_INF, S_INF, SERVO, TM41, VECTOR
Reaction: OFF2
Cause: The write request for one or several Safety Integrated parameters on the Control Unit (CU) was rejected.
Note:
This fault does not result in a safety stop response.
1: The Safety Integrated password is not set.
2: A reset of the drive parameters was selected. However, the Safety Integrated parameters were not reset, as Safety
Integrated is presently enabled.
3: The interconnected STO input is in the simulation mode.
10: An attempt was made to enable the STO function although this cannot be supported.
11: An attempt was made to enable the SBC function although this cannot be supported.
12: An attempt was made to enable the SBC function although this cannot be supported for a parallel circuit config-
uration.
13: An attempt was made to enable the SS1 function although this cannot be supported.
14: An attempt was made to enable the PROFIsafe communication - although this cannot be supported or the version
of the PROFIsafe driver used on the CU and MM is different.
15: An attempt was made to enable the motion monitoring functions integrated in the drive although these cannot be
supported.
16: An attempt was made to enable the STO function although this cannot be supported when the internal voltage
protection (p1231) is enabled.
Faults and alarms
17: An attempt was made to enable the PROFIsafe function although this cannot be supported for a parallel circuit
configuration.
18: An attempt was made to enable the PROFIsafe function for Basic Functions although this cannot be supported.
19: An attempt was made to enable the SBA (Safe Brake Adapter), although this cannot be supported.
20: An attempt was made to enable the motion monitoring functions integrated in the drive and the STO function,
both controlled via F-DI.
21: An attempt was made to enable the motion monitoring functions integrated in the drive for a parallel connection,
although these cannot be supported.
22: An attempt was made to enable the Safety Integrated functions although these cannot be supported by the con-
nected Power Module.
23: For ESR, an attempt was made to enable the delay for pulse suppression, although this cannot be supported.
See also: p0970, p3900, r9771, r9871
- set the Safety Integrated password (p9761).
- Inhibit Safety Integrated (p9501, p9601) or reset safety parameters (p0970 = 5), then reset the drive parameters
again.
- end the simulation mode for the digital input (p0795).
Re fault value = 10, 11, 12, 13, 14, 15, 17, 18, 19, 21, 22 , 23:
- check whether there are faults in the safety function alignment between the Control Unit and the Motor Module
involved (F01655, F30655) and if required, carry out diagnostics for the faults involved.
- use a Motor Module that supports the required function.
- inhibit the internal voltage protection (p1231).
- correct setting in p9601.
- use a Power Module that supports the Safety Integrated functions.
Note:
CU: Control Unit
MM: Motor Module
See also: p9501 (SI Motion enable safety functions (Control Unit)), p9601 (SI enable, functions integrated in the drive
(Control Unit)), p9620 (SI signal source for STO (SH)/SBC/SS1 (Control Unit)), p9761 (SI password input), p9801
(SI enable, functions integrated in the drive (Motor Module))
F01659 SI CU: Write request for parameter rejected
Message value: %1
Drive object: TM54F_MA, TM54F_SL
Reaction: OFF2
Cause: The write request for one or several Safety Integrated parameters on the Control Unit (CU) was rejected.
Note:
1: The Safety Integrated password is not set.
2: A reset of the drive parameters was selected. However, the Safety Integrated parameters were not reset, as Safety
Integrated is presently enabled.
3: The interconnected STO input is in the simulation mode.
12: An attempt was made to enable the SBC function although this cannot be supported for a parallel circuit config-
uration.
Faults and alarms
supported.
16: An attempt was made to enable the STO function although this cannot be supported when the internal voltage
protection (p1231) is enabled.
17: An attempt was made to enable the PROFIsafe function although this cannot be supported for a parallel circuit
configuration.
19: An attempt was made to enable the SBA (Safe Brake Adapter), although this cannot be supported.
20: An attempt was made to enable the motion monitoring functions integrated in the drive and the STO function,
both controlled via F-DI.
21: An attempt was made to enable the motion monitoring functions integrated in the drive for a parallel connection,
although these cannot be supported.
22: An attempt was made to enable the Safety Integrated functions although these cannot be supported by the con-
nected Power Module.
See also: p0970, p3900, r9771, r9871
- set the Safety Integrated password (p10061).
- Inhibit Safety Integrated (p9501, p9601) or reset safety parameters (p0970 = 5), then reset the drive parameters
again.
- end the simulation mode for the digital input (p0795).
Re fault value = 10, 11, 12, 13, 14, 15, 17, 18, 19, 21, 22 , 23:
- inhibit the internal voltage protection (p1231).
- correct setting in p9601.
- use a Power Module that supports the Safety Integrated functions.
Note:
CU: Control Unit
MM: Motor Module
See also: p9501 (SI Motion enable safety functions (Control Unit)), p9601 (SI enable, functions integrated in the drive
(Control Unit)), p9620 (SI signal source for STO (SH)/SBC/SS1 (Control Unit)), p9761 (SI password input), p9801
(SI enable, functions integrated in the drive (Motor Module))
F01660 SI CU: Safety-related functions not supported
Message value: -
Reaction: OFF2
Cause: The Motor Module (MM) does not support the safety-related functions (e.g. the Motor Module version is not the cor-
rect one). Safety Integrated cannot be commissioned.
Note:
Remedy: - use a Motor Module that supports the safety-related functions.
Faults and alarms
Note:
CU: Control Unit
MM: Motor Module
F01663 SI CU: Copying the SI parameters rejected
Message value: -
Reaction: OFF2
Cause: One of the following values is saved in p9700 or was entered offline: 87 or 208.
This is the reason that when booting, an attempt is made to copy SI parameters from the Control Unit to the Motor
Module. However, no safety-relevant function has been selected on the Control Unit (p9501 = 0, p9601 = 0). This is
the reason that copying is not possible.
Note:
See also: p9700 (SI Motion copy function)
Remedy: - Set p9700 to 0.
- Check p9501 and p9601 and if required, correct.
- Restart the copying function by entering the corresponding value into p9700.
F01664 SI CU: No automatic firmware update
Message value: %1
Reaction: OFF2
Cause: During booting, the system detected that the "Firmware update automatic" function (p7826 = 1) was not activated.
This function must be activated for automatic firmware updates/downgrades to prevent impermissible version com-
binations when safety functions are enabled.
Note:
See also: p7826 (Firmware update automatic)
Remedy: When safety functions are enabled (p9501 <> 0 and/or p9601 <> 0):
1. Activate the "Firmware update automatic" function (p7826 = 1).
2. Save the parameters (p0977 = 1) and carry out a POWER ON.
When de-activating the safety functions (p9501 = 0, p9601 = 0), the fault can be acknowledged after exiting the
safety commissioning mode.
F01665 SI CU: System is defective
Message value: %1
Reaction: OFF2
Cause: A system defect was detected before the last boot or in the actual one. The system might have been rebooted (reset).
200000 hex, 400000 hex, 8000yy hex (yy any):
- Fault in the actual booting/operation.
800004 hex:
- Parameters p9500/p9300 are, under certain circumstances, not the same. In addition, Safety message
C01711/C30711 is displayed.
Additional values:
- defect before the last time that the system booted.
Remedy: - carry out a POWER ON (power off/on).
Re fault value = 200000 hex, 400000 hex, 8000yy hex (yy any):
- ensure that the Control Unit is connected to the Power Module.
Re fault value = 800004 hex:
- Check that parameters p9500/p9300 are the same.
Faults and alarms
A01666 (F) SI Motion CU: Steady-state (static) 1 signal at the F-DI for safety-relevant acknowl-
edgement
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: A logical 1 signal is present at the F-DI configured in p10006 for more than 10 seconds.
If, at the F-DI no acknowledgment was performed for safe acknowledgment, then a steady-state logical and 0 signal
must be present. This avoids unintentional safety-relevant acknowledgement (or the "Internal Event Acknowledge"
signal) if a wire breaks or one of the two digital inputs bounces.
Remedy: Set the fail-safe digital input (F-DI) to a logical 0 signal (10006).
Note:
A01669 (F, N) SI Motion: Unfavorable combination of motor and power unit
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The combination of motor and power unit used is not suitable for using safe motion monitoring functions without an
encoder.
Number of the motor data set, which caused the fault.
Remedy: Use a suitable power unit with a lower power rating or a motor with a higher power rating.
Reaction upon F: NONE (OFF1, OFF2, OFF3)
F01670 SI Motion: Invalid parameterization Sensor Module
Message value: %1
Reaction: OFF2
Cause: The parameterization of a Sensor Module used for Safety Integrated is not permissible.
Note:
1: No encoder was parameterized for Safety Integrated.
2: An encoder was parameterized for Safety Integrated that does not have an A/B track (sine/cosine).
3: The encoder data set selected for Safety Integrated is still not valid.
4: A communication error with the encoder has occurred.
5: Number of relevant bits in the encoder coarse position invalid.
6: DRIVE-CLiQ encoder configuration invalid.
10: For an encoder used for Safety Integrated, not all of the Drive Data Sets (DDS) are assigned to the same Encoder
Data Set (EDS) (p0187 ... p0189).
- use and parameterize an encoder that Safety Integrated supports (encoder with track A/B sine-wave, p0404.4 = 1).
- check whether the drive or drive commissioning function is active and if required, exit this (p0009 = p00010 = 0),
save the parameters (p0971 = 1) and carry out a POWER ON
- check whether there is a DRIVE-CLiQ communication error between the Control Unit and the Sensor Module
involved and if required, carry out a diagnostics routine for the faults identified.
- align the EDS assignment of all of the encoders used for Safety Integrated (p0187 ... p0189).
Faults and alarms
Note:
F01671 SI Motion: Parameterization encoder error
Message value: %1
Reaction: OFF2
Cause: The parameterization of the encoder used by Safety Integrated is different to the parameterization of the standard
encoder.
Note:
Parameter number of the non-corresponding safety parameter.
Remedy: Align the encoder parameterization between the safety encoder and the standard encoder.
Note:
F01672 SI CU: Motor Module software/hardware incompatible
Message value: %1
Reaction: OFF2
Cause: The existing Motor Module software does not support safe motion monitoring or is not compatible to the software on
the Control Unit or there is a communications error between the Control Unit and Motor Module.
Note:
1: The existing Motor Module software does not support the safe motion monitoring function.
2, 3, 6, 8: There is a communications error between the Control Unit and Motor Module.
4, 5, 7: The existing Motor Module software is not compatible to the software on the Control Unit.
9,10,11,12: The actual Motor Module software does not support safe encoderless motion monitoring.
13: At least one Motor Module in parallel operation does not support the safe motion monitoring function.
Remedy: - check whether there are faults in the safety function alignment between the Control Unit and the Motor Module
- use a Motor Module that supports safe motion monitoring.
Re fault value = 2, 3, 6, 8:
Re fault value = 4, 5, 7, 9, 13:
Note:
F01673 SI Motion: Sensor Module software/hardware incompatible
Message value: %1
Reaction: OFF2
Cause: The existing Sensor Module software and/or hardware does not support the safe motion monitoring function with the
higher-level control.
Note:
Remedy: - upgrade the Sensor Module software.
- use a Sensor Module that supports the safe motion monitoring function.
Faults and alarms
Note:
F01680 SI Motion CU: Checksum error safety monitoring functions
Message value: %1
Reaction: OFF2
Cause: The actual checksum calculated by the drive and entered in r9728 via the safety-relevant parameters does not match
the reference checksum saved in p9729 at the last machine acceptance.
Safety-relevant parameters have been changed or a fault is present.
Note:
0: Checksum error for SI parameters for motion monitoring.
1: Checksum error for SI parameters for actual values.
2: Checksum error for SI parameters for component assignment.
Remedy: - check the safety-relevant parameters and if required, correct.
- perform a POWER ON if safety parameters requiring a POWER ON have been modified.
- carry out an acceptance test.
F01681 SI Motion CU: Incorrect parameter value
Reaction: OFF2
Cause: The parameter cannot be parameterized with this value.
Note:
Parameter number with the incorrect value.
9522: The gear stage was set too high.
9500: p9500 not equal to p9300
9511: p9511 not equal to p9311
Remedy: Correct the parameter value.
Align parameters 9300 and 9500, backup parameters (p0971 = 1) and carry out a POWER ON.
With hysteresis/filtering enabled (p9501.16 = 1), the following applies:
- Set parameters p9546/p9346 and p9547/p9347 acc. to the following rule: p9546 >= 2 x p9547; p9346 >= 2 x p9347.
- The following rule must also be adhered to when actual value synchronization (p9501.3 = 1) is enabled: p9549 <=
p9547; p9349 <= p9347.
- Set synchronous or induction motor according to p0300.
Re fault value = p9511:
Align parameters 9311 and 9511, backup parameters (p0971 = 1) and carry out a POWER ON.
- Also check p9516.0.
- Correct parameters.
F01682 SI Motion CU: Monitoring function not supported
Message value: %1
Reaction: OFF2
Cause: The monitoring function enabled in p9501, p9601 or p9801 is not supported in this firmware version.
Note:
1: Monitoring function SLP not supported (p9501.1).
Faults and alarms
2: Monitoring function SCA not supported (p9501.7 and p9501.8 ... 15 and p9503).
3: Monitoring function SLS override not supported (p9501.5).
4: Monitoring function external ESR activation not supported (p9501.4).
5: Monitoring function F-DI in PROFIsafe not supported (p9501.30).
6: Enable actual value synchronization not supported (p9501.3).
9: Monitoring function not supported, enable bit reserved (p9501.2, p9501.17 ... 29, p9501.31, if required p9501.6).
10: Monitoring functions only supported for a SERVO drive object.
11: Only encoderless monitoring functions integrated in the drive are supported.
12: Monitoring functions for ncSI are not supported on a CU305.
20: Motion monitoring functions integrated in the drive are only supported in conjunction with PROFIsafe (p9501,
p9601.1 ... 2 and p9801.1 ... 2).
21: PROFIsafe only supported in conjunction with motion monitoring functions integrated in the drive (p9501,
p9601.1 ... 2 and p9801.1 ... 2).
22: Encoderless monitoring functions in chassis format not supported.
23: CU240 does not support monitoring functions requiring an encoder.
24: Monitoring function SDI not supported (p9501.17).
25: Drive-integrated motion monitoring functions not supported (p9501, p9601.2).
26: hysteresis and filtering for SSM monitoring function without an encoder not supported (p9501.16).
Remedy: De-select the monitoring function involved (p9501, p9503, p9506, p9601, p9801).
Note:
See also: p9501 (SI Motion enable safety functions (Control Unit)), p9503 (SI Motion SCA (SN) enable (Control
Unit)), r9771 (SI common functions (Control Unit))
F01683 SI Motion CU: SOS/SLS enable missing
Message value: -
Reaction: OFF2
Cause: The safety-relevant basic function "SOS/SLS" is not enabled in p9501 although other safety-relevant monitoring
functions are enabled.
Note:
Remedy: Enable the function "SOS/SLS" (p9501.0) and carry out a POWER ON.
Note:
See also: p9501 (SI Motion enable safety functions (Control Unit))
F01684 SI Motion: Safely limited position limit values interchanged
Message value: %1
Reaction: OFF2
Cause: For the function "Safely-Limited Position" (SE), a lower value is in p9534 than in p9535.
Note:
1: Limit values SLP1 interchanged.
2: Limit values SLP2 interchanged.
Remedy: Correct the limit values in p9534 and p9535 and carry out a POWER ON.
Note:
Faults and alarms
F01685 SI Motion CU: Safely-limited speed limit value too high
Message value: %1
Reaction: OFF2
Cause: The limit value for the function "Safely-Limited Speed" (SLS) is greater than the speed that corresponds to an
encoder limit frequency of 500 kHz.
Note:
Maximum permissible speed.
Remedy: Correct the limit values for SLS and carry out a POWER ON.
Note:
See also: p9531 (SI Motion SLS (SG) limit values (Control Unit))
F01686 SI Motion: Illegal parameterization cam position
Message value: %1
Reaction: OFF2
Cause: At least one enabled "Safety Cam" (SCA) is parameterized in p9536 or p9537 too close to the tolerance range around
the modulo position.
The following conditions must be complied with to assign cams to a cam track:
- the cam length of cam x = p9536[x]-p9537[x] must be greater or equal to the cam tolerance + the position tolerance
(= p9540 + p9542). This also means that for cams on a cam track, the minus position value must be less than the
plus position value.
- the distance between 2 cams x and y (minus position value[y] - plus position value[x] = p9537[y] - p9536[x]) on a
cam track must be greater than or equal to the cam tolerance + position tolerance (= p9540 + p9542).
Note:
Number of the "Safe Cam" with an illegal position.
Remedy: Correct the cam position and carry out a POWER ON.
Note:
See also: p9536 (SI Motion SCA (SN) plus cam position (Control Unit)), p9537 (SI Motion SCA (SN) plus cam posi-
tion (Control Unit))
F01687 SI Motion: Illegal parameterization modulo value SCA (SN)
Message value: -
Reaction: OFF2
Cause: The parameterized modulo value for the "Safe Cam" (SCA) function is not a multiple of 360 000 mDegrees.
Note:
Remedy: Correct the modulo value for SCA and carry out a POWER ON.
Note:
See also: p9505 (SI Motion SCA (SN) modulo value (Control Unit))
Faults and alarms
F01688 SI Motion CU: Actual value synchronization not permissible
Message value: -
Reaction: OFF2
Cause: - It is not permissible to enable actual value synchronization for a 1-encoder system.
- It is not permissible to simultaneously enable actual value synchronization and a monitoring function with absolute
reference (SCA/SLP).
Note:
Remedy: - Either select the "actual value synchronization" function or parameterize a 2-encoder system.
- Either de-select the function "actual value synchronization" or the monitoring functions with absolute reference
(SCA/SLP) and carry out a POWER ON.
Note:
See also: p9501 (SI Motion enable safety functions (Control Unit)), p9526 (SI Motion encoder assignment second
channel)
C01689 SI Motion: Axis re-configured
Reaction: OFF2
Cause: The axis configuration was changed (e.g. changeover between linear axis and rotary axis).
Parameter p0108.13 is internally set to the correct value.
Note:
Parameter number of parameter that initiated the change.
See also: p9502 (SI Motion axis type (Control Unit))
Remedy: The following should be carried out after the changeover:
- exit the safety commissioning mode (p0010).
Once the Control Unit has been switched on, safety message F01680 or F30680 indicates that the checksums in
r9398[0] and r9728[0] have changed in the drive. The following must, therefore, be carried out:
- activate safety commissioning mode again.
- complete safety commissioning of the drive.
- exit the safety commissioning mode (p0010).
Note:
For the commissioning software, the units are only consistently displayed after a project upload.
F01690 SI Motion: Data save problem for the NVRAM
Message value: %1
Reaction: Infeed: NONE (OFF1, OFF2)
Cause: There is not sufficient memory space in the NVRAM on the drive to save parameters r9781 and r9782 (safety log-
book).
Note:
Faults and alarms
0: There is no physical NVRAM available in the drive.
1: There is no longer any free memory space in the NVRAM.
- use a Control Unit NVRAM.
- de-select functions that are not required and that take up memory space in the NVRAM.
Note:
NVRAM: Non-Volatile Random Access Memory (non-volatile read and write memory)
A01691 (F) SI Motion: Ti and To unsuitable for DP cycle
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The configured times for PROFIBUS communication are not permitted and the DP cycle is used as the actual value
acquisition cycle for the safe movement monitoring functions:
Isochronous PROFIBUS: the total of Ti and To is too high for the set DP cycle. The DP cycle should be at least 1
current controller cycle greater than the sum of Ti and To.
Non-isochronous PROFIBUS: the DP cycle must be at least 4 x current controller cycle.
Remedy: Configure Ti and To low so that they are suitable for the DP cycle or increase the DP cycle time.
Alternative when SI monitoring integrated in the drive is enabled (p9601/p9801 > 0):
Use the actual value acquisition cycle p9511/p9311 and, in turn, set independently from DP cycle. The actual value
sensing clock cycle must be at least four times the current controller clock cycle. A clock cycle ratio of at least 8:1 is
recommended.
See also: p9511 (SI Motion actual value sensing cycle clock (Control Unit))
F01692 SI Motion CU: Parameter value not permitted for encoderless
Reaction: OFF2
Cause: The parameter cannot be set to this value if encoderless motion monitoring functions have been selected in p9506.
Note:
Remedy: - Correct the parameter specified in the fault value.
- If necessary, de-select encoderless motion monitoring functions (p9506).
A01693 (F) SI CU: Safety parameter settings changed, warm restart/POWER ON required
Message value: %1
Drive object: A_INF, B_INF, S_INF, SERVO, TM41, TM54F_MA, TM54F_SL, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: Safety parameters have been changed; these will only take effect following a warm restart or POWER ON.
Parameter number of the safety parameter which has changed, necessitating a warm restart or POWER ON.
Remedy: - carry out a warm restart (p0009 = 30, p0976 = 2, 3).
Note:
Before performing an acceptance test, a POWER ON must be carried out for all components.
Faults and alarms
F01694 (A) SI Motion CU: Firmware version Motor Module older Control Unit
Message value: -
Reaction: OFF2
Cause: The firmware version of the Motor Module is older than the version of the Control Unit.
It is possible that safety functions are not available (r9771/r9871).
Note:
This message can also occur, if after an automatic firmware update, a POWER ON was not carried out (Alarm
A01007).
Remedy: Upgrade the firmware of the Motor Module to a later version.
See also: r9390 (SI Motion version safety motion monitoring (Motor Module)), r9590 (SI Motion version safety motion
monitoring (Control Unit))
A01695 (F) SI Motion: Sensor Module was replaced
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A Sensor Module, which is used for safe motion monitoring functions, was replaced. The hardware replacement must
be acknowledged. An acceptance test must be subsequently performed.
Note:
Remedy: Carry out the following steps using the STARTER commissioning software:
- press the "Acknowledge hardware replacement" button in the safety screen form.
- execute the function "Copy RAM to ROM".
As an alternative, carry out the following steps in the expert list of the commissioning software:
- start the copy function for the node identifier on the drive (p9700 = 1D hex).
- acknowledge the hardware CRC on the drive (p9701 = EC hex).
- save all parameters (p0977 = 1).
Then carry out an acceptance test (refer to the Safety Integrated Function Manual).
See also: p9700 (SI Motion copy function), p9701 (Acknowledge SI motion data change)
A01696 (F) SI Motion: Testing of the motion monitoring functions selected when booting
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The test of the motion monitoring functions was already illegally active when booting.
This is the reason that the test is only carried out again after selecting the forced checking procedure parameterized
in p9705.
Note:
See also: p9705 (SI Motion: Test stop signal source)
Remedy: De-select the forced checking procedure of the safety motion monitoring functions and then select again.
The signal source for initiation is parameterized in binector input p9705.
Faults and alarms
Notice:
It is not permissible to use TM54F inputs to start the test stop.
Note:
A01697 (F) SI Motion: Motion monitoring functions must be tested
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The time set in p9559 for the forced checking procedure of the safety motion monitoring functions has been
exceeded. A new test is required.
After next selecting the forced checking procedure parameterized in p9705, the message is withdrawn and the mon-
itoring time is reset.
Note:
As the shutdown paths are not automatically checked during booting, an alarm is always issued once booting is com-
plete.
See also: p9559 (SI Motion forced checking procedure timer (Control Unit)), p9705 (SI Motion: Test stop signal
source)
Remedy: Carry out the forced checking procedure of the safety motion monitoring functions.
The signal source for initiation is parameterized in binector input p9705.
Notice:
It is not permissible to use TM54F inputs to start the test stop.
Note:
A01698 (F) SI CU: Commissioning mode active
Message value: -
Drive object: A_INF, B_INF, S_INF, SERVO, TM41, TM54F_MA, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: The commissioning of the "Safety Integrated" function is selected.
This message is withdrawn after the safety functions have been commissioned.
Note:
See also: p0010
Note:
CU: Control Unit
Faults and alarms
A01699 (F) SI CU: Shutdown path must be tested
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The time set in p9659 for the forced checking procedure of the safety shutdown paths has been exceeded. The
safety shutdown paths must be re-tested.
After the next time the "STO" function is de-selected, the message is withdrawn and the monitoring time is reset.
Note:
See also: p9659 (SI forced checking procedure timer)
Remedy: Select STO and then de-select again.
Note:
CU: Control Unit
C01700 SI Motion CU: STOP A initiated
Message value: -
Reaction: OFF2
Cause: The drive is stopped via a STOP A (pulses are suppressed via the safety shutdown path of the Control Unit).
Possible causes:
- stop request from the 2nd monitoring channel.
- pulses not suppressed after a parameterized time (p9557) after test stop selection.
- subsequent response to the message C01706 "SI Motion CU: SAM/SBR limit exceeded".
- subsequent response to the message C01714 "SI Motion CU: Safely-Limited Speed exceeded".
- subsequent response to the message C01701 "SI Motion CU: STOP B initiated".
Remedy: - remove the cause of the fault on the 2nd monitoring channel.
- carry out a diagnostics routine for message C01706.
- check the value in p9557 (where available), increase the value if necessary, and carry out a POWER ON
- check the shutdown path of the Control Unit (check DRIVE-CLiQ communication if it has been implemented)
- replace the Motor Module/Power Module
This message can be acknowledged without a POWER ON as follows:
- motion monitoring functions integrated in the drive: via Terminal Module 54F (TM54F) or PROFIsafe
- motion monitoring functions with SINUMERIK: via the machine control panel in acceptance test mode only
Note:
C01701 SI Motion CU: STOP B initiated
Message value: -
Reaction: OFF3
Cause: The drive is stopped via a STOP B (braking along the OFF3 deceleration ramp).
As a result of this fault, after the time parameterized in p9556 has expired, or the speed threshold parameterized in
p9560 has been undershot, message C01700 "STOP A initiated" is output.
Possible causes:
- stop request from the second monitoring channel.
- subsequent response to the message C01714 "SI Motion CU: Safely-Limited Speed exceeded".
Faults and alarms
- subsequent response to the message C01711 "SI Motion CU: Defect in a monitoring channel".
- subsequent response to the message C01707 "SI Motion CU: tolerance for safe operating stop exceeded".
Remedy: - remove the cause of the fault on the second monitoring channel.
Note:
C01706 SI Motion CU: SAM/SBR limit exceeded
Message value: -
Reaction: NONE
Cause: Motion monitoring functions with encoder (p9506 = 0) or encoderless with set acceleration monitoring (p9506 = 3):
SAM - safe acceleration monitoring. After initiating STOP B (SS1) or STOP C (SS2), the speed has exceeded the
selected tolerance.
Motion monitoring functions encoderless with set brake ramp monitoring (p9506 = 1):
SBR - Safe brake ramp monitoring. After initiating STOP B (SS1) or SLS changeover to the lower speed stage, the
speed has exceeded the selected tolerance.
The drive is shut down by the message C01700 "SI Motion: STOP A initiated".
Remedy: Check the braking behavior and, if necessary, adapt the tolerance for the "SAM" function or modify the parameter
settings for the "SBR" function.
Note:
SBR: Safe Brake Ramp (safe ramp monitoring)
See also: p9548 (SI Motion SAM actual velocity tolerance (Control Unit)), p9581 (SI Motion brake ramp reference
value (Control Unit)), p9582 (SI Motion brake ramp delay time (Control Unit)), p9583 (SI Motion brake ramp moni-
toring time (Control Unit))
C01707 SI Motion CU: Tolerance for safe operating stop exceeded
Message value: -
Reaction: NONE
Cause: The actual position has distanced itself further from the target position than the standstill tolerance.
The drive is shut down by the message C01701 "SI Motion: STOP B initiated".
Remedy: - check whether safety faults are present and if required carry out the appropriate diagnostic routines for the partic-
ular faults.
- check whether the standstill tolerance matches the accuracy and control dynamic performance of the axis.
Note:
See also: p9530 (SI Motion standstill tolerance (Control Unit))
Faults and alarms
C01708 SI Motion CU: STOP C initiated
Message value: -
Reaction: STOP2
Cause: The drive is stopped via a STOP C (braking along the OFF3 deceleration ramp).
"Safe Operating Stop" (SOS) is activated after the parameterized timer has expired.
Possible causes:
- stop request from the higher-level control.
- subsequent response to the message C01714 "SI Motion: Safely limited speed exceeded".
- subsequent response to the message C01715 "SI Motion: Safe end stop exceeded".
See also: p9552 (SI Motion transition time STOP C to SOS (SBH) (Control Unit))
Remedy: - remove the cause of the fault at the control.
This message can be acknowledged as follows:
- motion monitoring functions integrated in the drive: Via Terminal Module 54F (TM54F) or PROFIsafe
- motion monitoring functions with SINUMERIK: Via the machine control panel
Note:
C01709 SI Motion CU: STOP D initiated
Message value: -
Reaction: NONE
Cause: The drive is stopped via a STOP D (braking along the path).
Possible causes:
See also: p9553 (SI Motion transition time STOP D to SOS (SBH) (Control Unit))
Note:
C01710 SI Motion CU: STOP E initiated
Message value: -
Reaction: NONE
Cause: The drive is stopped via a STOP E (retraction motion).
Possible causes:
See also: p9554 (SI Motion transition time STOP E to SOS (SBH) (Control Unit))
Faults and alarms
Note:
C01711 SI Motion CU: Defect in a monitoring channel
Message value: %1
Reaction: NONE
Cause: When cross-checking and comparing the two monitoring channels, the drive detected a difference between the input
data or results of the monitoring functions and initiated a STOP F. One of the monitoring functions no longer reliably
functions - i.e. safe operation is no longer possible.
If at least one monitoring function is active, then after the parameterized timer has expired, the message C01701 "SI
Motion: STOP B initiated" is output.
The message value that resulted in a STOP F is displayed in r9725. The described message values involve the
crosswise data comparison between the Control Unit and Motor Module. If the drive is operated together with a
SINUMERIK, the message values are described in message 27001 of SINUMERIK.
The following message values may also occur in the following cases if the cause that is explicitly mentioned does
not apply:
- cycle times not set uniformly (p9500/p9300 and p9511/p9311)
- differently parameterized axis types (p9502/p9302).
- excessively fast cycle times (p9500/p9300, p9511/p9311).
- for message values 3, 44 ... 57, 232 and 1-encoder systems, differently parameterized encoder values
(p9516/p9316, p9517/p9317, p9518/p9318, p9520/p9320, p9521/p9321, p9522/p9322, p9526/p9326).
- incorrect synchronization.
Message value (r9749, interpret decimal):
0 to 999: Number of the cross-checked data that resulted in this fault.
Message values that are not subsequently listed are only for internal Siemens troubleshooting.
0: Stop request from the other monitoring channel.
1: Status image of monitoring functions SOS, SLS or SLP (result list 1) (r9710[0], r9710[1]).
2: Status image of monitoring function SCA or n < nx (result list 2) (r9711[0], r9711[1]).
3: The position actual value differential (r9713) between the two monitoring channels is greater than the tolerance in
p9542/p9342. When actual value synchronization is enabled (p9501.3/p9301.3), the velocity differential (based on
the position actual value) is greater than the tolerance in p9549/p9349.
4: Error when synchronizing the crosswise data comparison between the two channels.
5: Function enable signals (p9501/p9301)
6: Limit value for SLS1 (p9531[0]/p9331[0])
10: Standstill tol. (p9530/p9330)
31: Position tolerance (p9542/p9342) or (p9549/p9349) when actual value synchronization is enabled
(p9501.3/p9301.3)
33: Time, velocity changeover (p9551/p9351)
35: Delay time, pulse canc. (p9556/p9356)
36: Checking time, pulse canc. (p9557/p9357)
37: Trans. time, STOP C to SOS (p9552/p9352)
38: Trans. time STOP D to SOS (p9553/p9353)
40: Stop response for SLS (p9561/p9361)
42: Shutdown speed, pulse canc. (p9560/p9360)
43: Memory test, stop response (STOP A).
44 ... 57: General
Possible cause 1 (during commissioning or parameter modification)
The tolerance value for the monitoring function is not the same on the two monitoring channels.
Possible cause 2 (during active operation)
The limit values are based on the current actual value (r9713). If the safe actual values on the two monitoring chan-
nels do not match, the limit values, which have been set at a defined interval, will also be different (i.e. corresponding
to fault value 3). This can be ascertained by checking the safe actual positions.
44: Position actual value (r9713) + limit value for SLS1 (p9531[0]/p9331[0]) * Safety monitoring clock cycle
45: Position actual value (r9713) - limit value for SLS1 (p9531[0]/p9331[0]) * Safety monitoring clock cycle
Faults and alarms
52: Standstill position + tolerance (p9530/9330)
53: Standstill position - tolerance (p9530/9330)
54: Position actual value (r9713) + limit value nx (p9546/p9346) + tolerance (p9542/p9342)
55: Position actual value (r9713) + limit value nx (p9546/p9346)
56: Position actual value (r9713) - limit value nx (p9546/p9346)
57: Position actual value (r9713) - limit value nx (p9546/p9346) - tolerance (p9542/p9342)
58: Actual stop request.
75: Velocity limit nx (p9546, p9346).
76: Stop response for SLS1 (p9563[0]/p9363[0])
81: Velocity tolerance for SAM (p9548/p9348)
82: SGEs for SLS correction factor.
83: Acceptance test timer (p9558/p9358)
84: Trans. time STOP F (p9555/p9355)
85: Trans. time bus failure (p9580/p9380)
86: ID 1-encoder system (p9526/p9326).
87: Encoder assignment, second channel (p9526/p9326)
89: Encoder limit freq.
230: Filter time constant for n < nx.
231: Hysteresis tolerance for n < nx.
232: Smoothed velocity actual value.
233: Limit value nx / safety monitoring clock cycle + hysteresis tolerance.
234: Limit value nx / Safety monitoring clock cycle.
235: -Limit value nx / Safety monitoring clock cycle.
236: -Limit value nx / safety monitoring clock cycle - hysteresis tolerance.
237: SGA n < nx.
238: Speed limit value for SAM (p9568/p9368).
239: Acceleration for SBR (p9581/p9381 and p9583/p9383).
240: Inverse value of acceleration for SBR (p9581/p9381 and p9583/p9383).
241: Deceleration time for SBR (p9582/p9382).
242: Encoderless safety (p9506/p9306).
243: Extended alarm acknowledgment (p9507/p9307).
244: Encoderless actual value sensing filter time (p9587/p9387).
245: Encoderless actual value sensing minimum current (p9588/p9388).
246: Voltage tolerance acceleration (p9589/p9389).
247: SDI tolerance (p9564/p9364).
248: SDI positive upper limit (0x7fffffff).
249: Position actual value (r9713) - SDI tolerance.
250: Position actual value (r9713) + SDI tolerance.
251: SDI negative lower limit (0x80000001).
252: SDI stop response (p9566/p9366).
253: SDI delay time (p9565/p9365).
254: Setting the evaluation delay for actual value sensing after pulse enable (p9586/p9386).
255: Setting, behavior during pulse suppression (p9509/p9309).
256: Status image of monitoring functions SOS, SLS, SLP, test stop, SBR, SDI (result list 1 ext) (r9710).
1000: Watchdog timer has expired. Too many signal changes have occurred at safety-relevant inputs.
1001: Initialization error of watchdog timer.
1005: Pulses already suppressed for test stop selection.
1011: Acceptance test status between the monitoring channels differ.
1012: Plausibility violation of the actual value from the encoder.
1020: Cyc. communication failure between the monit. cycles.
1021: Cyc. communication failure between the monit. channel and Sensor Module.
1022: Sign-of-life error for DRIVE-CLiQ encoder CU
1023: Error in the effectiveness test in the DRIVE-CLiQ encoder
1032: Sign-of-life error for DRIVE-CLiQ encoder MM
1033: Error checking offset between POS1 and POS2 for DRIVE-CLiQ encoder CU
1034: Error checking offset between POS1 and POS2 for DRIVE-CLiQ encoder MM
1041: Current absolute value too low (encoderless)
Faults and alarms
1042: Current/voltage plausibility error
1043: Too many acceleration phases
1044: Actual current values plausibility error.
5000 ... 5140:
PROFIsafe message values.
5000, 5014, 5023, 5024, 5030 ... 5032, 5042, 5043, 5052, 5053, 5068, 5072, 5073, 5082 ... 5087, 5090, 5091, 5122
... 5125, 5132 ... 5135, 5140: An internal software error has occurred (only for internal Siemens troubleshooting).
5012: Error when initializing the PROFIsafe driver.
5013: The result of the initialization is different for the two controllers.
5022: Error when evaluating the F parameters. The values of the transferred F parameters do not match the
expected values in the PROFIsafe driver.
5025: The result of the F parameterization is different for the two controllers.
5026: CRC error for the F parameters. The transferred CRC value of the F parameters does not match the value
calculated in the PST.
5065: A communications error was identified when receiving the PROFIsafe telegram.
5066: A time monitoring error (timeout) was identified when receiving the PROFIsafe telegram.
6000 ... 6166:
PROFIsafe message values (PROFIsafe driver for PROFIBUS DP V1/V2 and PROFINET).
6000: A fatal PROFIsafe communication error has occurred.
6064 ... 6071: Error when evaluating the F parameters. The values of the transferred F parameters do not match the
expected values in the PROFIsafe driver.
6064: Destination address and PROFIsafe address are different (F_Dest_Add).
6065: Destination address not valid (F_Dest_Add).
6066: Source address not valid (F_Source_Add).
6067: Watchdog time not valid (F_WD_Time).
6068: Incorrect SIL level (F_SIL).
6069: Incorrect F-CRC length (F_CRC_Length).
6070: Incorrect F parameter version (F_Par_Version).
6071: CRC error for the F parameters (CRC1). The transferred CRC value of the F parameters does not match the
value calculated in the PROFIsafe driver.
6072: F parameterization is inconsistent.
6165: A communications error was identified when receiving the PROFIsafe telegram. The fault may also occur if an
inconsistent or out-of-date PROFIsafe telegram has been received after switching the Control Unit off and on or after
plugging in the PROFIBUS/PROFINET cable.
6166: A time monitoring error (timeout) was identified when receiving the PROFIsafe telegram.
See also: p9555 (SI Motion transition time STOP F to STOP B (Control Unit)), r9725 (SI Motion, diagnostics STOP F)
Remedy: The following generally applies:
The monitoring clock cycles in both channels and the axis types should be checked for equality and the same setting
applied if necessary. If the error continues to be identified, increasing the monitoring clock cycles may resolve it.
Re message value = 0:
- no error was identified in this monitoring channel. Note the error message of the other monitoring channel (for MM:
C30711).
Commissioning phase:
Encoder evaluation for own or second channel has been set incorrectly --> Correct the encoder evaluation.
In operation:
Check the mechanical design and the encoder signals.
The monitoring clock cycles in both channels should be checked for equality and if required, set the same. In com-
bination with fault value 5 from the other monitoring channel (with MM: C30711), the monitoring clock cycle settings
must be increased.
-increase the hysteresis tolerance (p9547/p9347). Possibly set the filtering higher (p9545/p9345).
Re message value = 1 ... 999:
- if the message value is listed under cause: Check the crosswise-compared parameters to which the message value
refers.
- copy the safety parameters.
Faults and alarms
- correction of the encoder evaluation. The actual values differ as a result of mechanical faults (V belts, travel to a
mechanical endstop, wear and window setting that is too narrow, encoder fault, ...).
- investigate the signal associated with the safety-relevant input (contact problems).
- check the conditions for pulse enable.
- for diagnostics, refer to parameter (r9571).
- upgrade the Sensor Module software.
- for 1-encoder systems, check the encoder parameters for equality (p9515/p9315, p9519/p9319, p9523/p9323,
p9524/p9324, p9525/p9325, p9529/p9329).
- For DQI encoders the following applies: If required, upgrade the firmware version of the Control Unit to a more
recent version, which is released for DQI encoders.
Re message value = 1020, 1021:
- check the communication link.
- increase the monitoring cycle clock settings (p9500, p9511).
- replace the hardware.
- If required, upgrade the firmware version of the Control Unit to a more recent version, which is released for DQI
encoders.
- reduce the minimum current (p9588).
- for synchronous motors increase the absolute value of p9783.
- Check whether the function "Closed-loop controlled operation with HF signal injection" is activated (p1750.5 = 1)
and if required, deactivate.
- increase the ramp-function generator ramp-up/down time (p1120/p1121).
- check that the current/speed control is set correctly (torque-generating/field-generating current and actual speed
value may not fluctuate).
- reduce the dynamic response of the setpoint value.
- increase the minimum current (p9588).
- increase the voltage tolerance (p9589).
- increase the ramp-function generator ramp-up/down time (p1120/p1121).
- check that the current/speed control is set correctly (torque-generating/field-generating current and actual speed
value may not fluctuate).
- reduce the dynamic response of the setpoint value.
Re message value = 5000, 5014, 5023, 5024, 5030, 5031, 5032, 5042, 5043, 5052, 5053, 5068, 5072, 5073, 5082
... 5087, 5090, 5091, 5122 ... 5125, 5132 ... 5135, 5140:
- check the setting of the PROFIsafe address of the Control Unit (p9610) and that of the Motor Module (p9810). It is
not permissible for the PROFIsafe address to be 0 or FFFF!
Re message value = 5013, 5025:
- check the setting of the PROFIsafe address of the Control Unit (p9610) and that of the Motor Module (p9810).
- check the setting of the values of the F parameters at the PROFIsafe slave (F_SIL, F_CRC_Length,
F_Par_Version, F_Source_Add, F_Dest_add, F_WD_Time).
Faults and alarms
- check the settings of the values of the F parameters and the F parameter CRC (CRC1) calculated from these at
the PROFIsafe slave and update.
- check the configuration and communication at the PROFIsafe slave (cons. No. / CRC).
- check the setting of the value for F parameter F_WD_Time on the PROFIsafe slave and increase if necessary.
- evaluate diagnostic information in the F host.
- check PROFIsafe connection.
- increase the monitoring cycle clock settings (p9500, p9511).
- check the setting of the value in the F parameter F_Dest_Add at the PROFIsafe slave.
- check the setting of the PROFIsafe address of the Control Unit (p9610) and that of the Motor Module (p9810).
- check the setting of the value in the F parameter F_Dest_Add at the PROFIsafe slave. It is not permissible for the
destination address to be either 0 or FFFF!
- check the setting of the value in the F parameter F_Source_Add at the PROFIsafe slave. It is not permissible for
the source address to be either 0 or FFFF!
- check the setting of the value in the F parameter F_WD_Time at the PROFIsafe slave. It is not permissible for the
watch time to be 0!
- check the setting of the value in the F parameter F_SIL at the PROFIsafe slave. The SIL level must correspond to
SIL2!
- check the setting of the value in the F parameter F_CRC_Length at the PROFIsafe slave. The setting of the CRC2
length is 2-byte CRC in the V1 mode and 3-byte CRC in the V2 mode!
- check the setting of the value in the F parameter F_Par_Version at the PROFIsafe slave. The value for the F param-
eter version is 0 in the V1 mode and 1 in the V2 mode!
- check the settings of the values of the F parameters and the F parameter CRC (CRC1) calculated from these at
the PROFIsafe slave and, if required, update.
- check the settings of the values for the F parameters and, if required, correct.
The following combinations are permissible for F parameters F_CRC_Length and F_Par_Version:
F_CRC_Length = 2-byte CRC and F_Par_Version = 0
F_CRC_Length = 3-byte CRC and F_Par_Version = 1
- if the fault occurs after powering up the Control Unit or after plugging in the PROFIBUS/PROFINET cable, acknowl-
edge the fault.
- check the configuration and communication at the PROFIsafe slave.
- check the configuration and communication at the PROFIsafe slave.
- evaluate diagnostic information in the F host.
- check PROFIsafe connection.
Faults and alarms
See also: p9300 (SI Motion monitoring clock cycle (Motor Module)), p9500 (SI Motion monitoring clock cycle (Control
Unit))
C01712 SI Motion CU: Defect in F-IO processing
Message value: %1
Reaction: NONE
Cause: When cross checking and comparing the two monitoring channels, the drive detected a difference between param-
eters or results of the F-IO processing and initiated a STOP F. One of the monitoring functions no longer reliably
functions - i.e. safe operation is no longer possible.
The safety message C01711 with message value 0 is also displayed due to initiation of STOP F.
If at least one monitoring function is active, the safety message C01701 "SI Motion: STOP B initiated" is output after
the parameterized timer has expired.
Number of the cross-checked data that resulted in this message.
1: SI discrepancy monitoring time inputs (p10002, p10102).
2: SI acknowledgement internal event input terminal (p10006, p10106).
3: SI STO input terminal (p10022, p10122).
4: SI SS1 input terminal (p10023, p10123).
5: SI SS2 input terminal (p10024, p10124).
6: SI SOS input terminal (p10025, p10125).
7: SI SLS input terminal (p10026, p10126).
8: SI SLS_Limit(1) input terminal (p10027, p10127).
9: SI SLS_Limit(2) input terminal (p10028, p10128).
10: SI Safe State signal selection (p10039, p10139).
11 SI F-DI input mode (p10040, p10140).
12: SI F-DO 0 signal sources (p10042, p10142).
13: Different states for static inactive signal sources (p10006, p10022 ... p10028).
14: SI discrepancy monitoring time outputs (p10002, p10102).
15: SI acknowledgment internal event (p10006, p10106).
16: SI test sensor feedback signal test mode selected for test stop (p10046, p10146, p10047, p10147).
17: SI delay time for test stop at DOs (p10001).
18 ... 25: SI test sensor feedback signal (p10046, p10146, p10047, p10147). Expected state of internal readback
signal, generated from the selected test stop mode.
26 ... 33: SI test sensor feedback signal (p10046, p10146, p10047, p10147). Expected state of external readback
signal, generated from the selected test stop mode.
34 ... 41: SI test sensor feedback signal (p10046, p10146, p10047, p10147). Expected state of second internal read-
back signal, generated from the selected test stop mode.
42: Internal data for processing the second internal readback signal, generated from the selected test stop mode
(p10047, p10147).
43: Internal data for processing the internal readback signal, generated from the selected test stop mode (p10047,
p10147).
44: Internal data for processing the external readback signal, generated from the selected test stop mode (p10047,
p10147).
45: Internal data for initialization state of test stop mode, dependent upon test stop parameters.
46: SI digital inputs debounce time (p10017, p10117)
47: Selection F-DI for PROFIsafe (p10050, p10150)
48: Selection F-DI for PROFIsafe (p10050, p10150)
49: SI SDI positive input terminal (p10030, p10130).
50: SI SDI negative input terminal (p10031, p10131).
Remedy: - check parameterization in the parameters involved and correct if required.
- ensure equality by copying the SI data to the second channel and then carry out an acceptance test.
- check monitoring clock cycle in p9500 and p9300 for equality.
Note:
This message can be acknowledged via F-DI or PROFIsafe.
See also: p9300 (SI Motion monitoring clock cycle (Motor Module)), p9500 (SI Motion monitoring clock cycle (Control
Unit))
Faults and alarms
C01714 SI Motion CU: Safely-Limited Speed exceeded
Message value: %1
Reaction: NONE
Cause: The drive has moved faster than that specified by the velocity limit value (p9531). The drive is stopped as a result of
the configured stop response (p9563).
100: SLS1 exceeded.
200: SLS2 exceeded.
300: SLS3 exceeded.
400: SLS4 exceeded.
1000: Encoder limit frequency exceeded.
Remedy: - check the traversing/motion program in the control.
- check the limits for "Safely-Limited Speed (SLS) and if required, adapt (p9531).
Note:
See also: p9531 (SI Motion SLS (SG) limit values (Control Unit)), p9563 (SI Motion SLS (SG)-specific stop response
(Control Unit))
C01716 SI Motion CU: Tolerance for safe motion direction exceeded
Message value: %1
Reaction: NONE
Cause: The tolerance for the "safe motion direction" function was exceeded. The drive is stopped as a result of the config-
ured stop response (p9566).
0: Tolerance for the "safe motion direction positive" function exceeded.
1: Tolerance for the "safe motion direction positive negative" function exceeded.
Remedy: - check the traversing/motion program in the control.
- check the tolerance for "SDI" function and if required, adapt (p9564).
Via F-DI or PROFIsafe
Note:
See also: p9564 (SI Motion SDI tolerance (Control Unit)), p9565 (SI Motion SDI delay time (Control Unit)), p9566 (SI
Motion SDI stop response (Control Unit))
C01745 SI Motion CU: Checking braking torque for the brake test
Message value: -
Reaction: NONE
Acknowledge: POWER ON (IMMEDIATELY)
Cause: The scaling of the brake torque for the brake test can be changed using parameter p2003.
An acceptance test must be carried out again for the braking test. This determines whether the braking test is still
carried out with the correct braking torque.
- repeat the acceptance test for the safe brake test if the brake test is used.
See also: p2003
Faults and alarms
C01750 SI Motion CU: Hardware fault safety-relevant encoder
Message value: %1
Reaction: NONE
Cause: The encoder that is used for the safety-relevant motion monitoring functions signals a hardware fault.
Encoder status word 1, encoder status word 2 that resulted in the message.
Remedy: - check the encoder connection.
- replace the encoder.
- motion monitoring functions with SINUMERIK: Via the machine control panel.
C01751 SI Motion CU: Effectivity test error safety-relevant encoder
Message value: %1
Reaction: NONE
Cause: The DRIVE-CLiQ encoder for safe motion monitoring signals an error for the effectivity tests.
Remedy: - check the encoder connection.
- replace the encoder.
C01770 SI Motion CU: Discrepancy error of the failsafe inputs or outputs
Message value: %1
Drive object: SERVO
Reaction: NONE
Cause: The fail-safe digital inputs/digital outputs (F-DI/F-DO) show a different state longer than that parameterized in
p10002 / p10102.
Fault value (r0949, interpret bitwise binary):
yyyyxxxx bin
xxxx: Discrepancy error for fail-safe digital inputs (F-DI).
Bit 0: Discrepancy error for F-DI 0
Bit 1: Discrepancy error for F-DI 1
...
yyyy: Discrepancy error for fail-safe digital outputs (F-DO).
Bit 0: Discrepancy error for F-DO 0
...
Note:
If several discrepancy errors occur consecutively, then this fault is only signaled for the first error that occurs.
Remedy: - check the wiring of the F-DI (contact problems).
Note:
This message can be acknowledged via F-DI or PROFIsafe.
Discrepancy errors of an F-DI can only be completely acknowledged if safe acknowledgement was carried out once
the cause of the error was resolved (p10006 or acknowledgment via PROFIsafe). As long as safety acknowledge-
ment was not carried out, the corresponding F-DI stays in the safe state internally.
For cyclic switching operations at the F-DI, it may be necessary to adapt the discrepancy time to the switching fre-
quency.
If the period of a cyclic switching pulse has the order of magnitude of double the value of p10002, then the following
formulas must be checked.
p10002 < (tp / 2) - td (discrepancy time must be less than half the period minus the actual discrepancy time)
p10002 >= p9500 (discrepancy time must be no less than P9500)
p10002 > td (discrepancy time must be greater than the switch discrepancy time which may actually apply)
Faults and alarms
td = possible actual discrepancy time (in ms) that can occur with a switching operation. This must correspond to at
least 1 SI sampling cycle (see p9500).
tp = period for a switching operation in ms.
When debounce p10017 is active, the discrepancy time is directly specified by the debounce time.
If the period of a cyclic switching pulse has the order of magnitude of twice the debounce time, then the following
formulas should be checked.
p10002 < p10017 + 1 ms - td
p10002 > td
p10002 >= p9500
Example:
For a 12 ms SI sampling cycle and a switching frequency of 110 ms (p10017 = 0), the maximum discrepancy time
which can be set is as follows:
p10002 <= (110/2 ms) - 12 ms = 43 ms
Rounded-off, p10002 <= 36 ms is obtained (since the discrepancy time can only be accepted as a whole SI sampling
cycle, the value will need to be rounded up or down to a whole SI sampling time value if the result is not an exact
multiple of an SI sampling cycle).
Note:
A01772 SI Motion CU: Test stop failsafe inputs/outputs active
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The test stop for the fail-safe digital inputs (F-DI) and/or fail-safe digital outputs (F-DO) is presently being performed.
Note:
Remedy: The alarm disappears automatically after successfully ending or canceling (when a fault condition occurs) the test
stop.
F01773 SI Motion CU: Test stop error
Message value: %1
Drive object: SERVO
Reaction: NONE
Cause: A fault has occurred on the CU side during the test stop for the fail-safe outputs.
RRRVWXYZ hex:
R: Reserved.
V: Actual state of the DO channel concerned (see X) on the CU (corresponds to the states read back from the hard-
ware, bit 0 = DO 0, bit 1 = DO 1, etc.).
W: Required state of the DO channel concerned (see X, bit 0 = DO 0, bit 1 = DO 1, etc.).
X: DO channels involved, which indicate an error (bit 0 = DO 0, bit 1 = DO 1, etc.).
Y: Reason for the test stop fault.
Z: State of the test stop in which the fault has occurred.
Y: Reason for the test stop fault
Y = 1: MM side in incorrect test stop state (internal fault).
Y = 2: Expected states of the DOs were not fulfilled (CU305: readback via DI 22 / CU240 readback DI 2).
Y = 3: Incorrect timer state on CU side (internal fault)
Y = 4: Expected states of the diag DOs were not fulfilled (CU305: internal readback on MM channel).
Y = 5: Expected states of the second diag DOs were not fulfilled (CU305: internal readback on CU channel).
X and V indicate the DI or Diag-DO state dependent upon the reason for the fault (2, 4 or 5).
In the event of multiple test stop faults, the first one that occurred is shown.
Z: Test stop state and associated test actions
Z = 0 ... 3: Synchronization phase of test stop between CU and Motor Module no switching operations
Z = 4: DO + OFF and DO - OFF
Z = 5: Check to see if states are as expected
Z = 6: DO + ON and DO - ON
Faults and alarms
Z = 8: DO + OFF and DO - ON
Z = 10: DO + ON and DO - OFF
Z = 12: DO + OFF and DO - OFF
Z = 14: End of test stop
Diag expected states in table format:
Test stop state: Expectation Mode 1 / Mode 2 / Mode 3 / Mode 4
5: 0/-/-/1
7: 0/-/-/0
9: 0/-/-/0
11: 1/-/-/1
13: 0/-/-/1
Second diag expected states in table format:
5: -/-/-/1
7: -/-/-/0
9: -/-/-/1
11: -/-/-/0
13: -/-/-/1
DI expected states in table format:
5: -/1/1/-
7: -/0/0/-
9: -/0/1/-
11: -/0/1/-
13: -/1/1/-
Example:
Fault F01773 (CU) is signaled with fault value = 0001_0127 and fault F30773 (MM) is signaled with fault value
0000_0127.
This means that in state 7 (Z = 7) the state of the external readback signal was not set correctly (Y = 2) after DO-0
(X = 1) was switched to ON/ON.
Fault value 0001_0127 indicates that 0 was expected (W = 0) and 1 (V = 1) was read back from the hardware.
Fault value 0000_0127 on the MM indicates that the states were as expected.
In the case of fault F30773, W and V are always identical; a value of 0 always means that 0 was expected at the
readback input but was not present on the other channel (CU).
Remedy: Check the wiring of the F-DOs and restart the test stop.
Note:
The fault is withdrawn if the test stop is successfully completed.
In the event of multiple test stop faults, the first one that occurred is shown.
Once the test stop has been restarted the next queued test stop fault will be signaled (if there is one).
A01774 SI Motion CU: Test stop necessary
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: - after powering up the drive, a test stop has still not been carried out.
- a new test stop is required after commissioning.
- the time to carry out the forced checking procedure (test stop) has expired (p10003).
Remedy: Initiate test stop (BI: p10007).
A01796 (F, N) SI Motion CU: Wait for communication
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The drive waits for communication to be established with SINUMERIK or TM54F to execute the safety-relevant
motion monitoring functions.
Faults and alarms
Note:
In this state, the pulses are safely suppressed.
Remedy: If, after a longer period of time, the message is not automatically withdrawn, the following checks have to be made
as appropriate:
For communication with SINUMERIK, the following applies:
- check any other PROFIBUS messages/signals present and remove their cause.
- check that assignment of the axes on the higher-level control to the drives in the drive unit is correct.
- check enable signal of the safety-relevant motion monitoring functions for the corresponding axis on the higher-
level control and if required, set it.
For communication with TM54F, the following applies:
- check any other messages/signals present for DRIVE-CLiQ communication with the TM54F and remove their
cause.
- check the setting of p10010. All the drive objects controlled by the TM54F must be listed.
See also: p9601 (SI enable, functions integrated in the drive (Control Unit)), p9801 (SI enable, functions integrated
in the drive (Motor Module)), p10010 (SI drive object assignment)
C01798 SI Motion CU: Test stop running
Message value: -
Reaction: NONE
Cause: The test stop is active.
The message is withdrawn when the test stop is finished.
Note:
C01799 SI Motion CU: Acceptance test mode active
Message value: -
Reaction: NONE
Cause: The acceptance test mode is active. The POWER ON signals of the safety-relevant motion monitoring functions can
be acknowledged during the acceptance test using the RESET button of the higher-level control.
The message is withdrawn when exiting the acceptance test mode.
Note:
F01800 DRIVE-CLiQ: Hardware/configuration error
Message value: %1
Servo: NONE (ENCODER, IASC/DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Vector: NONE (ENCODER, IASC/DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Cause: A DRIVE-CLiQ connection fault has occurred.
100 ... 107:
Communication via DRIVE-CLiQ socket X100 ... X107 has not been switched to cyclic operation. The cause may be
an incorrect structure or a configuration that results in an impossible bus timing.
10:
Loss of the DRIVE-CLiQ connection. The cause may be, for example, that the DRIVE-CLiQ cable was withdrawn
from the Control Unit or as a result of a short-circuit for motors with DRIVE-CLiQ. This fault can only be acknowl-
edged in cyclic communication.
Faults and alarms
11:
Repeated faults when detecting the connection. This fault can only be acknowledged in cyclic communication.
12:
A connection was detected but the node ID exchange mechanism does not function. The reason is probably that the
component is defective. This fault can only be acknowledged in cyclic communication.
Remedy: Re fault value = 100 ... 107:
- ensure that the DRIVE-CLiQ components have the same firmware versions.
- avoid longer topologies for short current controller clock cycles.
- check the DRIVE-CLiQ cables at the Control Unit.
- remove any short-circuit for motors with DRIVE-CLiQ.
- replace the component involved.
A01840 SMI: Component found without motor data
Reaction: NONE
Acknowledge: NONE
Cause: An SMI/DQI without motor data has been found (e.g. SMI installed as replacement part).
Component number from target topology.
Remedy: 1. Download the SMI/DQI data (motor/encoder data) from the data backup again (p4690, p4691).
2. Carry out a POWER ON (power off/on) for this component.
Note:
DQI: DRIVE-CLiQ Sensor Integrated
See also: p4690 (SMI spare part component number), p4691 (SMI spare part save/download data)
A01900 (F) PB/PN: Configuration telegram error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A controller attempts to establish a connection using an incorrect configuring telegram.
1: Connection established to more drive objects than configured in the device. The drive objects for process data
exchange and their sequence are defined in p0978.
2: Too many PZD data words for output or input to a drive object. The number of possible PZD items in a drive object
is specified by the number of indices in r2050/p2051.
3: Uneven number of bytes for input or output.
4: Setting data for synchronization not accepted. For more information, see A01902.
223: Illegal clock synchronization for the PZD interface set in p8815[0].
253: PN Shared Device: illegal mixed configuration of PROFIsafe and PZD.
254: PN Shared Device: Illegal double assignment of a slot/subslot.
255: PN: Configured drive object and existing drive object do not match.
501: PROFIsafe parameter error (e.g. F_dest).
Remedy: Check the bus configuration on the master and slave sides.
Re alarm value = 1:
Check the list of the drive objects with process data exchange (p0978).
With p0978[x] = 0, all of the following drive objects in the list are excluded from the process data exchange.
Re alarm value = 2:
Check the number of data words for output and input to a drive object.
Re alarm value = 255:
Check the drive objects to be configured.
Faults and alarms
Check the set PROFIsafe address (p9610).
Reaction upon F: NONE (OFF1)
A01902 IF1: PB/PN clock cycle synchronous operation parameterization not permissible
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Parameterization for isochronous operation is not permissible.
0: Bus cycle time Tdp < 0.5 ms.
1: Bus cycle time Tdp > 32 ms.
2: Bus cycle time Tdp is not an integer multiple of the current controller clock cycle.
3: Instant of the actual value sensing Ti > Bus cycle time Tdp or Ti = 0.
4: Instant of the actual value sensing Ti is not an integer multiple of the current controller clock cycle.
5: Instant of the setpoint acceptance To >= Bus cycle time Tdp or To = 0.
6: Instant of the setpoint acceptance To is not an integer multiple of the current controller clock cycle.
7: Master application cycle time Tmapc is not an integer multiple of the speed controller clock cycle.
8: Bus reserve bus cycle time Tdp - data exchange time Tdx less than two current controller clock cycles.
10: Instant of the setpoint acceptance not To <= data exchange time Tdx + To_min.
11: Master application cycle time Tmapc > 14 x Tdp or Tmapc = 0.
12: PLL tolerance window Tpll_w > Tpll_w_max.
13: Bus cycle time Tdp is not a multiple of all basic clock cycles p0110[x].
14: For COMM BOARD with the setting To - 1 x Tbase_io = Tdp - Ti, the instant of the setpoint acceptance is not To
<= Data exchange time Tdx + 2 * To_min.
15: This configuration is not permitted for Tdp < 1 ms.
16: Instant of the actual value sensing Ti is less than the permitted value (COMM BOARD: Ti >= 2 x Tbase_io).
17: The setting (To + Ti = Tdp + 2 x Tbase_io) is not permitted for COMM BOARD.
Remedy: - adapt the parameterizing telegram.
- adapt the current and speed controller clock cycle.
- check the number of specific drive object types in the configuration.
Note:
IF1: Interface 1
PB: PROFIBUS
PN: PROFINET
Tbase_io: Time basis for Ti, To (= 125us)
A01903 (F) COMM INT: Receive configuration data invalid
Message value: %1
Drive object: A_INF, B_INF, CU_CX32, CU_I, CU_LINK, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15, TM15DI_DO,
TM17, TM31, TM41, TM54F_MA, TM54F_SL, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: The drive unit did not accept the receive configuration data.
Return value of the receive configuration data check.
is determined by the number of indices in r2050/p2051.
5: Cyclic operation not active.
Faults and alarms
Remedy: Check the receive configuration data.
Re alarm value = 1:
Check the list of the drive objects with process data exchange (p0978). With p0978[x] = 0, all of the following drive
objects in the list are excluded from the process data exchange.
Re alarm value = 2:
F01910 (N, A) Fieldbus: setpoint timeout
Message value: -
Servo: OFF3 (IASC/DCBRAKE, NONE, OFF1, OFF2, STOP1, STOP2)
Vector: OFF3 (IASC/DCBRAKE, NONE, OFF1, OFF2, STOP1, STOP2)
Cause: The reception of setpoints from the fieldbus interface (onboard, PROFIBUS/PROFINET/USS) has been interrupted.
- bus connection interrupted.
- controller switched off.
- controller set into the STOP state.
See also: p2047 (PROFIBUS additional monitoring time)
Remedy: Restore the bus connection and set the controller to RUN.
PROFIBUS slave redundancy:
For operation on a Y link, it must be ensured that "DP alarm mode = DPV1" is set in the slave parameterization.
See also: p2047 (PROFIBUS additional monitoring time)
F01911 (N, A) PB/PN clock cycle synchronous operation clock cycle failure
Message value: -
Reaction: Infeed: OFF1
Servo: OFF1 (OFF3)
Vector: OFF1 (OFF3)
Cause: The global control telegram to synchronize the clock cycles has failed - in cyclic operation - for several DP clock
cycles or has violated the time grid specified in the parameterizing telegram over several consecutive DP clock
cycles (refer to the bus cycle time, Tdp and Tpllw).
Remedy: - check the physical bus configuration (cable,connector, terminating resistor, shielding, etc.).
- check whether communication was briefly or permanently interrupted.
- check the bus and controller for utilization level (e.g. bus cycle time Tdp was set too short).
Note:
PB: PROFIBUS
PN: PROFINET
Faults and alarms
F01912 (N, A) PB/PN clock cycle synchronous operation sign-of-life failure
Message value: -
Servo: OFF1 (OFF3)
Vector: OFF1 (OFF3)
Cause: The maximum permissible number of errors in the controller sign-of-life (clock synchronous operation) has been
exceeded in cyclic operation.
Remedy: - physically check the bus (cables, connectors, terminating resistor, shielding, etc.).
- correct the interconnection of the controller sign-of-life (p2045).
- check whether the controller correctly sends the sign-of-life (e.g. create a trace with STW2.12 ... STW2.15 and trig-
ger signal ZSW1.3).
- check the permissible telegram failure rate (p0925).
- check the bus and controller for utilization level (e.g. bus cycle time Tdp was set too short).
Note:
PB: PROFIBUS
PN: PROFINET
F01913 (N, A) COMM INT: Monitoring time sign-of-life expired
Message value: -
Cause: The monitoring time for the sign-of-life counter has expired.
The connection between the drive and the higher-level control (SIMOTION, SINUMERIK) has been interrupted for
the following reasons:
- the control was reset.
- the data transfer to the control was interrupted.
Remedy: - wait until the control has re-booted.
- restore data transfer to the control.
F01914 (N, A) COMM INT: Monitoring time configuration expired
Message value: %1
Cause: The monitoring time for the configuration has expired.
0: The transfer time of the send configuration data has been exceeded.
1: The transfer time of the receive configuration data has been exceeded.
Faults and alarms
Remedy: - acknowledge faults that are present.
F01915 (N, A) PB/PN clock cycle synchronous operation sign-of-life failure drive object 1
Message value: -
Reaction: NONE
Cause: Group display for problems with the sign-of-life of the master (clock-cycle synchronous operation) on the drive object
1 (Control Unit).
For central measurements, synchronism with the central master is lost.
Remedy: Note:
PB: PROFIBUS
PN: PROFINET
A01920 (F) PROFIBUS: Interruption cyclic connection
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The cyclic connection to the PROFIBUS master is interrupted.
Remedy: Establish the PROFIBUS connection and activate the PROFIBUS master in the cyclic mode.
A01921 (F) PROFIBUS: Receive setpoints after To
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Output data of PROFIBUS master (setpoints) received at the incorrect instant in time within the PROFIBUS clock
cycle.
Remedy: - check bus configuration.
- check parameters for clock cycle synchronization (ensure To > Tdx).
Note:
To: Time of setpoint acceptance
Tdx: Data exchange time
Faults and alarms
A01930 PB/PN current controller clock cycle clock cycle synch. not equal
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The current controller clock cycle of all drives must be set the same for the clock cycle synchronous operation.
Number of the drive object with different current controller clock cycle.
Remedy: Set current controller clock cycles to identical values (p0115[0]).
Note:
PB: PROFIBUS
PN: PROFINET
See also: p0115
A01931 PB/PN speed controller clock cycle clock cycle synch. not equal
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The speed controller clock cycle of all drives must be set the same for the clock cycle synchronous operation.
Number of the drive object with the different speed controller clock cycle.
Remedy: Set the speed controller clock cycles the same (p0115[1]).
Note:
PB: PROFIBUS
PN: PROFINET
See also: p0115
A01932 PB/PN clock cycle synchronization missing for DSC
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: There is no clock synchronization or clock synchronous sign of life and DSC is selected.
Note:
DSC: Dynamic Servo Control
See also: p0922, p1190, p1191
Remedy: Set clock synchronization across the bus configuration and transfer clock synchronous sign-of-life.
See also: r2064 (PROFIdrive diagnostics clock synchronous mode)
A01940 PB/PN clock cycle synchronism not reached
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The bus is in the data exchange state and clock synchronous operation has been selected using the parameterizing
telegram. It was not possible to synchronize to the clock cycle specified by the master.
- the master does not send a clock synchronous global control telegram although clock synchronous operation was
selected when configuring the bus.
- the master is using another clock synchronous DP clock cycle than was transferred to the slave in the parameter-
izing telegram.
- at least one drive object has a pulse enable (not controlled from PROFIBUS/PROFINET either).
Remedy: - check the master application and bus configuration.
- check the consistency between the clock cycle input when configuring the slave and clock cycle setting at the mas-
ter.
- check that no drive object has a pulse enable. Only enable the pulses after synchronizing the PROFIBUS/PROFI-
NET drives.
Faults and alarms
Note:
PB: PROFIBUS
PN: PROFINET
A01941 PB/PN clock cycle signal missing when establishing bus communication
Message value: -
Reaction: NONE
Acknowledge: NONE
telegram. The global control telegram for synchronization is not being received.
Remedy: Check the master application and bus configuration.
Note:
PB: PROFIBUS
PN: PROFINET
A01943 PB/PN clock cycle signal error when establishing bus communication
Message value: -
Reaction: NONE
Acknowledge: NONE
telegram. The global control telegram for synchronization is being irregularly received.
-.the master is sending an irregular global control telegram.
- the master is using another clock synchronous DP clock cycle than was transferred to the slave in the parameter-
izing telegram.
Remedy: - check the master application and bus configuration.
- check the consistency between the clock cycle input when configuring the slave and clock cycle setting at the mas-
ter.
Note:
PB: PROFIBUS
PN: PROFINET
A01944 PB/PN sign-of-life synchronism not reached
Message value: -
Reaction: NONE
Acknowledge: NONE
telegram. Synchronization with the master sign-of-life (STW2.12 ... STW2.15) could not be completed because the
sign-of-life is changing differently to how it was configured in the Tmapc time grid.
Remedy: - ensure that the master correctly increments the sign-of-life in the master application clock cycle Tmapc.
- correct the interconnection of the master sign-of-life (p2045).
Note:
PB: PROFIBUS
PN: PROFINET
A01945 PROFIBUS: Connection to the Publisher failed
Reaction: NONE
Acknowledge: NONE
Cause: For PROFIBUS peer-to-peer data transfer, the connection to at least one Publisher has failed.
Faults and alarms
Alarm value (r2124, binary interpretation):
Bit 0 = 1: Publisher with address in r2077[0], connection failed.
...
Bit 15 = 1: Publisher with address in r2077[15], connection failed.
Remedy: - check the PROFIBUS cables.
- carry out a first commissioning of the Publisher that has the failed connection.
See also: r2077 (PROFIBUS diagnostics peer-to-peer data transfer addresses)
F01946 (A) PROFIBUS: Connection to the Publisher aborted
Cause: At this drive object, the connection to at least one Publisher for PROFIBUS peer-to-peer data transfer in cyclic oper-
ation has been aborted.
Bit 0 = 1: Publisher with address in r2077[0], connection aborted.
...
Bit 15 = 1: Publisher with address in r2077[15], connection aborted.
Remedy: - check the PROFIBUS cables.
- check the state of the Publisher that has the aborted connection.
See also: r2077 (PROFIBUS diagnostics peer-to-peer data transfer addresses)
F01950 (N, A) PB/PN clock cycle synchronous operation synchronization unsuccessful
Message value: -
Cause: Synchronization of the internal clock cycle to the global control telegram has failed. The internal clock cycle exhibits
an unexpected shift.
Remedy: Only for internal Siemens troubleshooting.
Note:
PB: PROFIBUS
PN: PROFINET
F01951 CU DRIVE-CLiQ: Synchronization application clock cycle missing
Message value: %1
Cause: If DRIVE-CLiQ components with different application clock cycle are operated on a DRIVE-CLiQ port, this requires
synchronization with the Control Unit. This synchronization routine was unsuccessful.
- upgrade the software of the DRIVE-CLiQ components.
Faults and alarms
F01952 CU DRIVE-CLiQ: Synchronization of component not supported
Message value: %1
Cause: The existing system configuration requires that the connected DRIVE-CLiQ components support the synchronization
between the basic clock cycle, DRIVE-CLiQ clock cycle and the application clock cycle.
However, not all DRIVE-CLiQ components have this functionality.
Component number of the first faulty DRIVE-CLiQ component.
Remedy: Upgrade the firmware of the component specified in the fault value.
Note:
If required, also upgrade additional components in the DRIVE-CLiQ line.
A01953 CU DRIVE-CLiQ: Synchronization not completed
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: After the drive system is powered up, the synchronization between the basic clock cycle, DRIVE-CLiQ clock cycle
and application clock cycle was started but was not completed within the selected time tolerance.
Remedy: POWER ON all components (switch the power off and then back on again).
If the error occurs after the drive sampling times were changed, and if a Terminal Module 31 (TM31) is being used,
the sampling times (p0115, p4099) should be set as integer multiples to the drive clock cycles (p0115).
F01954 CU DRIVE-CLiQ: Synchronization unsuccessful
Message value: %1
Reaction: OFF2
Cause: Synchronization between the basic clock cycle, DRIVE-CLiQ clock cycle and application clock cycle was started and
was not able to be successfully completed (e.g. after switch-on).
Remedy: 1. Remove the cause of a possible DRIVE-CLiQ fault.
2. Initiate a new synchronization, e.g. as follows:
- remove the PROFIBUS master and re-insert again.
- restart the PROFIBUS master.
- switch-off the Control Unit and switch-on again.
- carry out a Control Unit hardware reset (RESET button, p0972).
- carry out a parameter reset and download the saved parameters (p0009 = 30, p0976 = 2, 3).
A01955 CU DRIVE-CLiQ: Synchronization DO not completed
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: After the drive system is powered up, the synchronization between the basic clock cycle, DRIVE-CLiQ clock cycle
and application clock cycle was started but was not completed within the selected time tolerance.
Remedy: Carry out a POWER ON (power off/on) for all components of the DO.
Faults and alarms
A01980 PN: Interruption cyclic connection
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The cyclic connection to a PROFINET controller is interrupted.
Number of the interrupted connection.
Remedy: Establish the PROFINET connection and activate the PROFINET controller in the cyclic mode.
A01981 PN: Maximum number of controllers exceeded
Message value: Info. 1: %1, info. 2: %2
Reaction: NONE
Acknowledge: NONE
Cause: A controller attempts to establish a connection to the drive, and as a consequence exceeds the permitted number of
PROFINET connections.
The alarm disappears automatically after approx. 30 seconds.
yyyyxxxx hex: yyyy = info. 1, xxxx = info. 2
Info 1 = 0: number of RT connections exceeded
Info 1 > 0: number of IRT connections exceeded
Info 2: permitted number of connections
Remedy: Check the configuration of the PROFINET controllers as well as the p8929 setting.
See also: p8929 (PN remote controller number)
A01982 PROFINET: Second controller missing
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The PROFINET function "Shared Device" has been activated (p8929 = 2). However, only the connection to a PRO-
FINET controller is present.
Remedy: Check the configuration of the PROFINET controllers as well as the p8929 setting.
See also: p8929 (PN remote controller number)
A01989 PROFINET: Internal cyclic data transfer error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The cyclic actual values and/or setpoints were not transferred within the specified times.
Remedy: Correctly set T_io_input or T_io_output.
Faults and alarms
A01990 (F) USS: PZD configuration error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The configuration of the process data (PZD) for the USS protocol is incorrect.
2: PZD amount (p2022) too great for the first drive object (p978[0]).
The number of possible PZD items in a drive object is determined by the number of indices in r2050/p2051.
Check the amount of USS PZD (p2022) and the maximum PZD amount (r2050/p2051) for the first drive object
(p0978[0]).
A02000 Function generator: Start not possible
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The function generator has already been started.
Remedy: Stop the function generator and restart again if necessary.
Note:
The alarm is reset as follows:
- remove the cause of this alarm.
- restart the function generator.
See also: p4800 (Function generator control)
A02005 Function generator: Drive does not exist
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The drive object specified for connection does not exist.
See also: p4815 (Function generator drive number)
Remedy: Use the existing drive object with the corresponding number.
Note:
A02006 Function generator: No drive specified for connection
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: No drive specified for connection in p4815.
Remedy: At least one drive to be connected must be specified in p4815.
Note:
Faults and alarms
A02007 Function generator: Drive not SERVO / VECTOR / DC_CTRL
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The drive object specified for connection is not a SERVO / VECTOR or DC_CTRL.
Remedy: Use a SERVO / VECTOR / DC_CTRL drive object with the corresponding number.
Note:
A02008 Function generator: Drive specified a multiple number of times
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The drive object specified for connection is already specified.
Drive object number of the drive object that is specified a multiple number of times.
Remedy: Specify a different drive object.
Note:
A02009 Function generator: Illegal mode
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The set operating mode (p1300) of the drive object is not permissible when using the function generator.
Number of the drive object involved.
Remedy: Change the operating mode for this drive object to p1300 = 20 (encoderless speed control) or p1300 = 21 (speed
control with encoder).
Note:
A02010 Function generator: Speed setpoint from the drive is not zero
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The speed setpoint of a drive selected for connection is greater than the value for the standstill detection set using
p1226.
Remedy: For all of the drives specified for connection, set the speed setpoints to zero.
Note:
Faults and alarms
A02011 Function generator: The actual drive speed is not zero
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The speed actual value of a drive selected for connection is greater than the value for the standstill detection set
using p1226.
Remedy: Set the relevant drives to zero speed before starting the function generator.
Note:
A02015 Function generator: Drive enable signals missing
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The master control and/or enable signals are missing to connect to the specified drive.
Remedy: Fetch the master control to the specified drive object and set all enable signals.
Note:
A02016 Function generator: Magnetizing running
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Magnetizing has not yet been completed on a drive object specified for connection.
Number of the drive object involved.
Remedy: Wait for magnetizing of the motor (r0056.4).
Note:
See also: r0056 (Status word, closed-loop control)
A02020 Function generator: Parameter cannot be changed
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: This parameter setting cannot be changed when the function generator is active (p4800 = 1).
See also: p4810, p4812, p4813, p4815, p4820, p4821, p4822, p4823, p4824, p4825, p4826, p4827, p4828, p4829
Remedy: - stop the function generator before parameterizing (p4800 = 0).
- if required, start the function generator (p4800 = 1).
Note:
See also: p4800 (Function generator control)
Faults and alarms
A02025 Function generator: Period too short
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The value for the period is too short.
See also: p4821 (Function generator period)
Remedy: Check and adapt the value for the period.
Note:
See also: p4821 (Function generator period)
A02026 Function generator: Pulse width too high
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected pulse width is too high.
The pulse width must be less than the period duration.
See also: p4822 (Function generator pulse width)
Remedy: Reduce pulse width.
Note:
See also: p4821 (Function generator period), p4822 (Function generator pulse width)
A02030 Function generator: Physical address equals zero
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The specified physical address is zero.
See also: p4812 (Function generator physical address)
Remedy: Set a physical address with a value other than zero.
Note:
See also: p4812 (Function generator physical address)
A02040 Function generator: Illegal value for offset
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The value for the offset is higher than the value for the upper limit or lower than the value for the lower limit.
See also: p4826 (Function generator offset)
Remedy: Adjust the offset value accordingly.
Note:
See also: p4826 (Function generator offset), p4828 (Function generator lower limit), p4829 (Function generator
upper limit)
Faults and alarms
A02041 Function generator: Illegal value for bandwidth
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The bandwidth referred to the time slice clock cycle of the function generator has either been set too low or too high.
Depending on the time slice clock cycle, the bandwidth is defined as follows:
Bandwidth_max = 1 / (2 x time slice clock cycle)
Bandwidth_min = Bandwidth_max / 100000
Example:
Assumption: p4830 = 125 s
--> Bandwidth_max = 1 / (2 x 125 s) = 4000 Hz
--> Bandwidth_min = 4000 Hz / 100000 = 0.04 Hz
Note:
p4823: Function generator bandwidth
p4830: Function generator time slice clock cycle
See also: p4823 (Function generator bandwidth), p4830 (Function generator time slice cycle)
Remedy: Check the value for the bandwidth and adapt accordingly.
Note:
A02047 Function generator: Time slice clock cycle invalid
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The time slice clock cycle selected does not match any of the existing time slices.
See also: p4830 (Function generator time slice cycle)
Remedy: Enter an existing time slice clock cycle. The existing time slices can be read out via p7901.
Note:
See also: r7901 (Sampling times)
A02050 Trace: Start not possible
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The trace has already been started.
See also: p4700 (Trace control)
Remedy: Stop the trace and, if necessary, start again.
A02055 Trace: Recording time too short
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The trace duration is too short.
The minimum is twice the value of the trace clock cycle.
See also: p4721 (Trace recording time)
Remedy: Check the selected recording time and, if necessary, adjust.
Faults and alarms
A02056 Trace: Recording cycle too short
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected recording cycle is shorter than the selected basic clock cycle 0 (p0110[0]).
See also: p4720 (Trace recording cycle)
Remedy: Increase the value for the trace cycle.
A02057 Trace: Time slice clock cycle invalid
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The time slice clock cycle selected does not match any of the existing time slices.
See also: p4723 (Time slice cycle for trace)
Remedy: Enter an existing time slice clock cycle. The existing time slices can be read out via p7901.
A02058 Trace: Time slice clock cycle for endless trace not valid
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected time slice clock cycle cannot be used for the endless trace
Remedy: Enter the clock cycle of an existing time slice with a cycle time >= 2 ms for up to 4 recording channels or >= 4 ms
from 5 recording channels per trace.
The existing time slices can be read out via p7901.
A02059 Trace: Time slice clock cycle for 2 x 8 recording channels not valid
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected time slice clock cycle cannot be used for more than 4 recording channels.
Remedy: Enter the clock cycle of an existing time slice with a cycle time >= 4 ms or reduce the number of recording channels
to 4 per trace.
The existing time slices can be read out via p7901.
A02060 Trace: Signal to be traced missing
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: - a signal to be traced was not specified.
- the specified signals are not valid.
See also: p4730 (Trace record signal 0), p4731 (Trace record signal 1), p4732 (Trace record signal 2), p4733 (Trace
record signal 3)
Remedy: - specify the signal to be traced.
- check whether the relevant signal can be traced.
Faults and alarms
A02061 Trace: Invalid signal
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: - the specified signal does not exist.
- the specified signal can no longer be traced (recorded).
See also: p4730 (Trace record signal 0), p4731 (Trace record signal 1), p4732 (Trace record signal 2), p4733 (Trace
record signal 3)
Remedy: - specify the signal to be traced.
- check whether the relevant signal can be traced.
A02062 Trace: Invalid trigger signal
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: - a trigger signal was not specified.
- the specified signal does not exist.
- the specified signal is not a fixed-point signal.
- the specified signal cannot be used as a trigger signal for the trace.
See also: p4711 (Trace trigger signal)
Remedy: Specify a valid trigger signal.
A02063 Trace: Invalid data type
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The specified data type to select a signal using a physical address is invalid.
See also: p4711 (Trace trigger signal), p4730 (Trace record signal 0), p4731 (Trace record signal 1), p4732 (Trace
record signal 2), p4733 (Trace record signal 3)
Remedy: Use a valid data type.
A02070 Trace: Parameter cannot be changed
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The trace parameter settings cannot be changed when the trace is active.
See also: p4700, p4710, p4711, p4712, p4713, p4714, p4715, p4716, p4720, p4721, p4722, p4730, p4731, p4732,
p4733, p4780, p4781, p4782, p4783, p4789, p4795
Remedy: - stop the trace before parameterization.
- if required, start the trace.
A02075 Trace: Pretrigger time too long
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected pretrigger time must be shorter than the trace time.
See also: p4721 (Trace recording time), p4722 (Trace trigger delay)
Remedy: Check the pretrigger time setting and change if necessary.
Faults and alarms
F02080 Trace: Parameterization deleted due to unit changeover
Message value: -
Reaction: NONE
Cause: The trace parameterization in the drive unit was deleted due to a unit changeover or a change in the reference
parameters.
Remedy: Restart trace.
A02099 Trace: Insufficient Control Unit memory
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The memory space still available on the Control Unit is no longer sufficient for the trace function.
Remedy: Reduce the memory required, e.g. as follows:
- reduce the trace time.
- increase the trace clock cycle.
- reduce the number of signals to be traced.
See also: r4708 (Trace memory space required), r4799 (Trace memory location free)
A02100 Drive: Computing dead time current controller too short
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The value in p0118 produces a dead time of one clock cycle because it is prior to setpoint availability.
Possible causes:
- A parameter backup with a version higher than 4.3 was loaded to a version less than or equal to 4.3.
- The system properties after replacing a component no longer match the parameter assignment.
Alarm value (r2134, floating point):
The minimum value for p0118 where a dead time no longer occurs.
Remedy: - set p0118 to zero.
- set p0118 to a value greater than or equal to the alarm value (for p1810.11 = 1)
- set p0117 to an automatic setting (p0117 = 1).
- check the firmware versions of the components involved.
See also: p0117 (Current controller computing dead time mode), p0118 (Current controller computing dead time)
A02150 OA: Application cannot be loaded
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The system was not able to load an OA application.
Note:
OA: Open Architecture
See also: r4950, r4955, p4956, r4957
Faults and alarms
F02151 (A) OA: Internal software error
Message value: %1
Cause: An internal software error has occurred within an OA application.
Note:
See also: r4950, r4955, p4956, r4957
F02152 (A) OA: Insufficient memory
Message value: %1
Reaction: OFF1
Cause: Too many functions have been configured on this Control Unit (e.g. too many drives, function modules, data sets,
OA applications, blocks, etc).
Remedy: - change the configuration on this Control Unit (e.g. fewer drives, function modules, data sets, OA applications,
blocks, etc).
- use an additional Control Unit.
Note:
F03000 NVRAM fault on action
Message value: %1
Reaction: NONE
Cause: A fault occurred during execution of action p7770 = 1, 2 for the NVRAM data.
yyxx hex: yy = fault cause, xx = application ID
yy = 1:
The action p7770 = 1 is not supported by this version if Drive Control Chart (DCC) is activated for the drive object
concerned.
yy = 2:
The data length of the specified application is not the same in the NVRAM and the backup.
yy = 3:
The data checksum in p7774 is not correct.
yy = 4:
No data available to load.
See also: p7770 (NVRAM action)
Remedy: Perform the remedy according to the results of the troubleshooting.
If necessary, start the action again.
Faults and alarms
F03001 NVRAM checksum incorrect
Message value: %1
Reaction: NONE
Cause: A checksum error occurred when evaluating the non-volatile data (NVRAM) on the Control Unit.
The NVRAM data affected was deleted.
Remedy: POWER ON all components (switch the power off and then back on again).
F03500 (A) TM: Initialization
Message value: %1
Cause: When initializing the Terminal Modules, the terminals of the Control Unit or the Terminal Board 30, an internal soft-
ware error has occurred.
yxxx dex
y = Only for internal Siemens troubleshooting
xxx = component number (p0151)
Remedy: - power down/power up the power supply for the Control Unit.
- if required, replace the Terminal Module.
The Terminal Module should be directly connected to a DRIVE-CLiQ socket of the Control Unit.
If the fault occurs again, replace the Terminal Module.
A03501 TM: Sampling time change
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The sampling times of the inputs/outputs were changed.
This change only becomes valid after the next boot.
Remedy: Carry out a POWER ON.
F03505 (N, A) TM: Analog input wire breakage
Message value: %1
Drive object: A_INF, B_INF, CU_CX32, CU_I, CU_LINK, CU_S_CU310DP, CU_S_CU310PN, CU_S_CU320_DP,
CU_S_CU320_PN, CU_S_S150DP, CU_S_S150PN, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15,
TM15DI_DO, TM17, TM31, TM41, TM54F_MA, TM54F_SL
Reaction: OFF1 (NONE, OFF2)
Cause: The wire-break monitoring for an analog input has responded.
The input current of the analog input has exceeded the threshold value parameterized in p4061[x].
Index x = 0: Analog input 0 (X522.1 to .3)
yxxx dec
y = analog input (0 = analog input 0 (AI 0), 1 = analog input 1 (AI 1))
Note:
For the following analog input type, the wire breakage monitoring is active:
p4056[x] = 3 (unipolar current input monitored (+4 ... +20 mA)
Faults and alarms
Remedy: - check the wiring for interruptions.
- Check the magnitude of the injected current - it is possible that the infed signal is too low.
- Check the load resistor (250 Ohm).
Note:
The input current measured by the Terminal Module can be read out from r4052[x].
F03505 (N, A) CU: Analog input wire breakage
Message value: %1
Drive object: VECTOR
Cause: The wire-break monitoring for an analog input has responded.
The input current of the analog input has exceeded the threshold value parameterized in p4061[x].
yxxx dec
y = analog input (0 = analog input 0 (AI 0), 1 = analog input 1 (AI 1))
Note:
For the following analog input type, the wire breakage monitoring is active:
p4056[x] = 3 (unipolar current input monitored (+4 ... +20 mA)
Remedy: - check the wiring for interruptions.
- Check the magnitude of the injected current - it is possible that the infed signal is too low.
- Check the load resistor (250 Ohm).
Note:
The input current measured by the Terminal Module can be read out from r4052[x].
A03506 (F, N) 24 V power supply missing
Message value: %1
Drive object: A_INF, B_INF, CU_I, CU_LINK, CU_S_CU310DP, CU_S_CU310PN, CU_S_CU320_DP, CU_S_CU320_PN,
Reaction: NONE
Acknowledge: NONE
Cause: The 24 V power supply for the digital outputs (X124) is missing.
Remedy: Check the terminals for the power supply voltage (X124, L1+, M).
Faults and alarms
A03510 (F, N) TM: Calibration data not plausible
Message value: %1
Drive object: A_INF, B_INF, CU_CX32, CU_I, CU_LINK, CU_S_CU310DP, CU_S_CU310PN, CU_S_CU320_DP,
CU_S_CU320_PN, CU_S_S150DP, CU_S_S150PN, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15,
TM15DI_DO, TM17, TM31, TM41, TM54F_MA, TM54F_SL
Reaction: NONE
Acknowledge: NONE
Cause: During ramp-up, the Terminal Module 31 (TM31) calibration data is read in and checked for plausibility.
At least one calibration data point was determined to be invalid.
Alarm value (r2124, binary interpretation):
Bit 1: 10 V value, analog input 0 invalid.
Bit 4: Offset, analog output 0 invalid.
Bit 5: 10 V value, analog output 0 invalid.
Bit 6: Offset, analog output 1 invalid.
If it reoccurs, replace the module.
In principle, operation could continue.
The analog channel involved possibly does not achieve the specified accuracy.
Servo: NONE (OFF1, OFF2)
Vector: NONE
A03510 (F, N) CU: Calibration data not plausible
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: During booting, the calibration data for the analog inputs is read and checked with respect to plausibility.
At least one calibration data point was determined to be invalid.
If it reoccurs, replace the module.
In principle, operation could continue.
The analog channel involved possibly does not achieve the specified accuracy.
Servo: NONE (OFF1, OFF2)
Vector: NONE
A03550 TM: Speed setpoint filter natural frequency > Shannon frequency
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The natural filter frequency of the speed setpoint filter (p1417) is greater than the Shannon frequency.
The Shannon frequency is calculated according to the following formula: 0.5 / p0115[0]
See also: p1417
Remedy: Reduce the natural frequency of the speed setpoint filter (PT2 low pass) (p1417).
Faults and alarms
F03590 (N, A) TM: Module not ready
Message value: %1
Reaction: Infeed: OFF2 (NONE)
Servo: NONE (ENCODER, IASC/DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Cause: The Terminal Module involved does not send a ready signal and no valid cyclic data.
Drive object number of the Terminal Module involved.
Remedy: - check the 24 V power supply.
- check whether the sampling time of the drive object involved is not equal to zero (p4099[0]).
A05000 (N) Power unit: Overtemperature heat sink AC inverter
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for overtemperature at the inverter heat sink has been reached. The response is set using
p0290.
If the temperature of the heat sink increases by an additional 5 K, then fault F30004 is initiated.
Remedy: Check the following:
- is the ambient temperature within the defined limit values?
- have the load conditions and the load duty cycle been appropriately dimensioned?
- has the cooling failed?
A05001 (N) Power unit: Overtemperature depletion layer chip
Message value: -
Drive object: A_INF, B_INF, S_INF, SERVO
Reaction: NONE
Acknowledge: NONE
Cause: Alarm threshold for overtemperature of the power semiconductor in the AC converter has been reached.
Note:
- The response is set using p0290.
- If the depletion layer temperature increases by an additional 15 K, then fault F30025 is triggered.
- pulse frequency too high?
See also: r0037, p0290 (Power unit overload response)
Faults and alarms
A05001 (N) Power unit: Overtemperature depletion layer chip
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Alarm threshold for overtemperature of the power semiconductor in the AC converter has been reached.
Note:
- The response is set using p0290.
- If the depletion layer temperature increases by an additional 15 K, then fault F30025 is triggered.
- pulse frequency too high?
Note:
If the alarm occurs after reducing the current controller sampling time (p0115[0]) during the motor data identification
(standstill measurement), then it is recommended that this is initially performed using the standard sampling time
and then the sampling time should be subsequently changed over.
See also: r0037, p0290 (Power unit overload response)
A05002 (N) Power unit: Air intake overtemperature
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for the air intake overtemperature has been reached. For air-cooled power units, the threshold
is 42 C (hysteresis 2 K). The response is set using p0290.
If the air intake temperature increases by an additional 13 K, then fault F30035 is output.
- has the fan failed? Check the direction of rotation.
A05003 (N) Power unit: Internal overtemperature
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for internal overtemperature has been reached.
If the temperature inside the power unit increases by an additional 5 K, then fault F30036 is triggered.
A05004 (N) Power unit: Rectifier overtemperature
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for the overtemperature of the rectifier has been reached. The response is set using p0290.
If the temperature of the rectifier increases by an additional 5 K, then fault F30037 is triggered.
Faults and alarms
- has a phase of the line supply failed?
- is an arm of the supply (incoming) rectifier defective?
A05005 Cooling system: Cooling medium flow rate too low
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Cooling system: Alarm - flow rate has fallen below the alarm value
Remedy: Check the feedback signals and parameter assignment (p0260 ... p0267).
Check the coolant feed.
A05006 (N) Power unit: Overtemperature thermal model
Message value: -
Drive object: A_INF, S_INF, SERVO, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: The temperature difference between the chip and heat sink has exceeded the permissible limit value (blocksize
power units only).
Depending on p0290, an appropriate overload response is initiated.
See also: r0037
The alarm disappears automatically once the limit value is undershot.
Note:
If the alarm does not disappear automatically and the temperature continues to rise, this can result in fault F30024.
See also: p0290 (Power unit overload response)
N05007 (A) Power unit: Overtemperature thermal model (chassis PU)
Message value: -
Drive object: A_INF, S_INF, SERVO, VECTOR
Reaction: NONE
Acknowledge: NONE
Cause: The temperature difference between the chip and heat sink has exceeded the permissible limit value (r0293) (chassis
power units only).
Depending on p0290, an appropriate overload response is initiated.
See also: r0037, r0293 (Power unit alarm threshold model temperature)
The alarm disappears automatically once the limit value is undershot.
F05050 Parallel circuit: Pulse enable in spite of pulse inhibit
Message value: %1
Drive object: A_INF, B_INF, S_INF, VECTOR
Vector: OFF2 (NONE, OFF1, OFF3, STOP1, STOP2)
Cause: A power unit signals that the pulses are enabled although the pulses are inhibited.
Faults and alarms
Number of the power unit involved.
Remedy: The power unit is defective and must be replaced.
F05051 Parallel circuit: Power unit pulse enable missing
Message value: %1
Cause: For one or several power units, the pulses were not able to be enabled.
Number of the power unit involved.
Remedy: - acknowledge power unit faults that are still present.
- inhibit the pulses of the power unit involved (p7001).
A05052 (F) Parallel circuit: Illegal current dissymmetry
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The deviation of the individual currents of the power units exceeds the alarm threshold specified in p7010.
1: Phase U.
2: Phase V.
3: Phase W.
Remedy: - inhibit the pulses of the faulted power unit (p7001).
- check the connecting cables. Loose contacts can cause current spikes.
- the motor reactors are non-symmetrical or faulty and must be replaced.
- the CTs must be calibrated or replaced.
Vector: NONE (OFF1, OFF2, OFF3, STOP1, STOP2)
A05053 (F) Parallel circuit: Inadmissible DC link voltage dissymmetry
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The deviation of the DC link voltage measured values exceeds the alarm threshold specified in p7011.
Remedy: - inhibit the pulses of the faulted power unit (p7001).
- check the DC link connecting cables.
- the DC link voltage measurement is incorrect and must be calibrated or renewed.
Vector: NONE (OFF1, OFF2, OFF3, STOP1, STOP2)
A05054 Parallel circuit: Power unit de-activated
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: For the drive object involved, fewer power units connected in parallel are active than exist in the target topology.
Operation is only possible at reduced power (power derating).
Remedy: Re-activate the de-activated power units if required.
See also: p0125 (Activate/de-activate power unit components), p0895 (Activate/de-activate power unit components),
p0897 (Parking axis selection)
Faults and alarms
F05055 Parallel connection: Power units with illegal code numbers
Drive object: A_INF, B_INF, S_INF
Cause: The code numbers of the power units are not permissible.
For parallel circuit configurations, only power units with identical power unit data may be used.
Possible causes:
- The code numbers of the power units do not match.
For booksize drive units, the following additionally applies:
- a parallel connection is not possible for the power units being used.
- there are too many power units being used in the parallel connection.
Parameter in which the inadmissible power unit code number was detected.
Remedy: - Use power units with the same code number.
For booksize drive units, the following additionally applies:
- use power units which are permitted for a parallel connection.
- reduce the number of power units being used in the parallel connection.
F05055 Parallel connection: Power units with illegal code numbers
Cause: The code numbers of the power units do not match.
Fault value (r0949, interpret decimal): parameter in which the first different power unit code number was detected.
Remedy: Use power units with the same code number.
For parallel circuit configurations, only power units with identical power unit data may be used.
F05056 Parallel circuit: Power unit EPROM versions differ
Cause: The EEPROM versions of the power units do not match.
Parameter in which the first different version number was detected.
Remedy: Use power units with the same EPROM version.
For parallel circuit configurations, only power units with identical EEPROM versions may be used.
F05057 Parallel circuit: Power unit firmware versions differ
Cause: The firmware versions of the power units connected in parallel do not match.
Remedy: Use power units with the same firmware version.
For parallel circuit configurations, only power units with identical firmware versions may be used.
Faults and alarms
F05058 Parallel circuit: VSM EEPROM versions differ
Reaction: NONE
Cause: The EEPROM versions of the Voltage Sensing Modules (VSM) do not match.
Remedy: For parallel circuit configurations, only Voltage Sensing Modules (VSM) with identical EEPROM versions may be
used.
F05059 Parallel circuit: VSM firmware versions differ
Reaction: NONE
Cause: The firmware versions of the Voltage Sensing Module (VSM) do not match.
Remedy: For parallel circuit configurations, only Voltage Sensing Modules (VSM) with identical firmware versions may be
used.
F05060 Parallel circuit: Power unit firmware version does not match
Reaction: OFF2
Cause: Firmware from version V02.30.01.00 is required when connecting the power units in parallel.
Remedy: Update the firmware of the power units (at least V02.30.01.00).
F05061 Infeed, number of VSM
Message value: %1
Reaction: NONE
Cause: The number of active Voltage Sensing Modules (VSM) for the drive object infeed with chassis power units is not cor-
rect.
For A_Infeed, each active power unit must be assigned an active VSM also for a parallel circuit configuration.
For S_Infeed, the active drive object, must be assigned at least one active VSM.
Number of VSMs that are currently assigned to the drive object.
Remedy: Adapts the number of active Voltage Sensing Modules (VSM).
F06000 Infeed: Precharging monitoring time expired
Message value: -
Cause: After the line contactor closes the power unit does not signal the READY state within the monitoring time (p0857).
The end of the DC link pre-charging was not able to be completed for one of the following reasons:
1) There is no line supply voltage connected.
2) The line contactor/line side switch has not been closed.
3) The line supply voltage is too low.
4) Line supply voltage incorrectly set (p0210).
5) The pre-charging resistors are overheated as there were too many pre-charging operations per time unit.
6) The pre-charging resistors are overheated as the DC link capacitance is too high.
Faults and alarms
7) The pre-charging resistors are overheated because when there is no "ready for operation" (r0863.0) of the infeed
unit, power is taken from the DC link.
8) The pre-charging resistors are overheated as the line contactor was closed during the DC link fast discharge
through the Braking Module.
9) The DC link has either a ground fault or a short-circuit.
10) The pre-charging circuit is possibly defective (only for chassis units).
See also: p0210 (Drive unit line supply voltage), p0857 (Power unit monitoring time)
Remedy: In general:
- check the line supply voltage at the connecting terminals.
- check the line supply voltage setting (p0210).
- check the monitoring time and, if required, increase (p0857).
- where relevant, observe additional power unit messages/signals (e.g. F30027).
- the following applies to booksize units: Wait (approx. 8 min.) until the pre-charging resistors have cooled down. For
this purpose, preferably disconnect the infeed unit from the line supply.
Re 5):
- carefully observe the permissible pre-charging frequency (refer to the appropriate Equipment Manual).
Re 6):
- check the total capacitance of the DC link and reduce in accordance with the maximum permissible DC-link capac-
itance if necessary (refer to the appropriate Equipment Manual)
Re 7):
- interconnect the ready-for-operation signal from the infeed unit (r0863.0) in the enable logic of the drives connected
to this DC link
Re 8):
- check the connections of the external line contactor. The line contactor must be open during DC-link fast discharge.
Re 9):
- check the DC link for ground faults or short circuits.
F06010 Infeed: Power unit EP 24 V missing in operation
Message value: -
Cause: In operation, the pulse enable via terminal EP at the Line Module (X21.3, X21.4) was withdrawn.
Note:
Remedy: - do not open the line side switch in operation - only when the pulses are inhibited.
- check the wiring of terminal EP (X21.3, X21.4) at the Line Module to exclude any poor contacts.
F06050 Infeed: Smart Mode not supported
Message value: -
Drive object: A_INF, S_INF
Reaction: OFF2
Cause: The power unit does not support the Smart Mode.
Remedy: - set the suitable sampling time 250 s <= p0115[0] <= 400 s (e.g. by setting p0112 and p0115 to the factory set-
ting).
- upgrade the power unit software and/or hardware for the Smart Mode. The availability of the Smart Mode function
is displayed in r0192.
- for A_INF the following applies: De-activate the Smart Mode with p3400.0 = 0 and activate the voltage control with
p3400.3 = 1. For booksize power units, it must be noted that for a supply voltage p0210 > 415 V only the Smart Mode
is possible in the pre-setting. If DC link voltages above 660 V are permissible in the application, then voltage-con-
trolled operation can be activated with p0280, p0210, p3400 and p3510. The information regarding p0210 should be
carefully noted.
See also: r0192 (Power unit firmware properties)
Faults and alarms
F06052 Infeed: Filter temperature evaluation not supported
Message value: -
Cause: The power unit does not support filter temperature evaluation.
This feature (r0192.11) is required when an Active Interface Module is used as a line filter (p0220 = 41 ... 45).
Remedy: Upgrade the firmware for the power unit to a later version.
See also: r0192 (Power unit firmware properties), p0220 (Infeed line filter type)
F06100 Infeed: Shutdown due to line supply undervoltage condition
Message value: %1
Cause: The filtered (steady-state) value of the line supply voltage is less than the fault threshold (p0283).
Fault condition: Vrms < p0283 * p0210
Fault value (r0949, floating point):
Actual steady-state line supply voltage.
See also: p0283 (Line supply undervoltage, shutdown (trip) threshold)
Remedy: - check the line supply.
- check the line supply voltage (p0210).
- check the threshold value (p0283).
A06105 (F) Infeed: Line supply undervoltage
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The filtered (steady-state) value of line supply voltage is lower than the alarm threshold (p0282).
Alarm condition: Vrms < p0282 * p0210
See also: p0282 (Line supply undervoltage, alarm threshold)
- check the alarm threshold (p0282).
Reaction upon F: NONE (OFF1, OFF2)
F06200 Infeed: Failure of one or several line phases
Message value: -
Cause: Failure overvoltage in one or several line supply phases.
The fault can be output in two operating states:
1. During the power-on phase of the infeed unit.
The measured line supply angle deviates from the regular characteristic for a 3-phase system - the PLL cannot be
synchronized.
The fault occurs immediately after power-up if, when operating with a VSM, the phase assignment L1, L2, L3 at the
VSM differs from the phase assignment at the power unit.
2. While the infeed is operational.
After a voltage dip has been detected or an overvoltage (note A06205) in one or several line phases a fault occurred
within 100 ms (also refer to other relevant messages). Generally, before fault message F06200 is output, Alarm
A06205 occurs at least once, whose warning value can provide information regarding the cause of the line supply
fault.
Faults and alarms
Probable causes of the fault:
- voltage dip on the line side or phase failure or overvoltage lasting longer than 10 ms.
- overload condition on the load side with peak current.
- line reactor missing.
Remedy: - check the line supply and fuses.
- check the connection and size (rating) of the line reactor.
- check and correct the phase assignment at the VSM (X521 or X522) and at the power unit.
- check the load.
- if failed in operation, carefully note the previous alarm messages A6205 with alarm values.
See also: p3463 (Infeed, line angle change, phase failure detection)
A06205 (F) Infeed: Voltage dip in at least one line supply phase
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Voltage dip or overvoltage in one or several line supply phases has been detected in operation.
The pulses are then inhibited for a time of at least 8 ms. The operating signal of the infeed unit in r0863.0 remains
and the pulse inhibit due to the phase failure is displayed in r3405.2.
Alarm value (r2124, bitwise coded cause of the alarm):
Bit 0: Line angle deviation (limit value p3463) due to a line supply fault
Bit 2: Active current deviation
Bit 3: Line frequency deviation (limit values: 115 % * p0284, 85 % * p0285)
Bit 4: Line overvoltage (limit value 120 % * p0281 * p0210)
Bit 5: Line undervoltage (limit value 20 % * p0210)
Bit 7: Peak current fault
Bit 8: Smart Mode without VSM (p3400.5 = 0): Line angle deviation
Bit 9: Smart Mode: DC link voltage dip
Bit 10: Smart Mode: Line currents not symmetrical
Remedy: Generally, the following applies when an alarm message is output:
- check the line supply and fuses.
- check the line supply quality and system fault level.
- check the load.
Dependent on the alarm value in r2124, the following applies:
Bit 0 = 1: Line fault occurred or poor/incorrect controller setting. For poor line quality or frequent line supply change-
over operations, when required, limit value p3463 can be increased until the alarm value no longer occurs.
Bit 2 = 1: Line fault occurred or poor/incorrect controller setting. - check the controller setting and load.
Bit 3 = 1: Line fault occurred. For poor line quality or frequent line changeover operations, when required, limit values
p0284 and p0285 can be increased until the alarm value no longer occurs.
Bit 4 = 1: Line interrupted or line overvoltage has occurred.
Bit 5 = 1: Line interrupted or line undervoltage has occurred.
Bit 7 = 1: Peak current trip due to line fault or overload. Check the load.
Bit 8 = 1: Line fault occurred.
Bit 9 = 1: Line undervoltage or overload. Check the load.
Bit 10 = 1: Line supply interrupted in at least one line phase. Check the fuses.
See also: r3405, p3463 (Infeed, line angle change, phase failure detection)
F06207 (N, A) Infeed: Line currents not symmetrical
Message value: -
Cause: Asymmetry of the currents in the line phase too high.
The most probable cause is failure of a line phase.
Remedy: - check the line supply and fuses.
- check the connection and size (rating) of the line reactor.
- check the previous alarm A06205 and the alarm value.
Faults and alarms
F06210 Infeed: Summation current too high
Message value: %1
Cause: The smoothed total of the phase currents (i1 + i2 + i3) is greater than 4 % of the maximum power unit current (r0209).
Possible causes:
- the DC link has a ground fault that results in a high summation current (r0069.6). The DC component in the line
currents can damage/destroy the power unit, line reactor or line filter!
- the zero point calibration of the current measurement was not carried out (p3491, A06602).
- defective current measurement in the power unit.
Smoothed total of the phase currents.
Remedy: - check the DC link for a low-ohmic or high-ohmic ground fault and if present, remove.
- increase the monitoring time of the current offset measurement (p3491).
- replace the power unit if necessary.
F06211 Infeed: Summation current impermissibly high
Message value: %1
Drive object: A_INF, S_INF, VECTOR
Reaction: OFF2
Cause: The smoothed sum of the phase currents (i1 + i2 + i3) is impermissibly high. The summed current has exceeded the
parameterized threshold for the ground fault monitoring (p0287).
Possible causes:
- there is a ground fault that results in a high summation current (r0069.6). The DC component in the line currents
can damage/destroy the power unit, line reactor or line filter!
- the current measurement in the power unit is defective.
Remedy: - check the line supply for ground faults and remove any that are present.
- check the set threshold for the ground fault monitoringone (p0287).
- if required, replace the power unit.
A06215 (F) Infeed: Summation current too high
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The smoothed total of the phase currents (i1 + i2 + i3) is greater than 3 % of the maximum power unit current (r0209).
Possible causes:
- the DC link has a ground fault that results in a high summation current (r0069.6). The DC component in the line
currents can damage/destroy the power unit, line reactor or line filter!
- defective current measurement in the power unit.
Remedy: - check the DC link for a low-ohmic or high-ohmic ground fault and if present, remove.
- increase the monitoring time of the current offset measurement (p3491).
- replace the power unit if necessary.
Faults and alarms
A06250 (F, N) Infeed: Defective capacitor(s) in at least one phase of line filter
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A change in the line filter capacitance was detected in at least one line phase.
The voltages and phase currents of the line filter, measured using a Voltage Sensing Module (VSM), indicate a devi-
ation of the filter capacitances from the value parameterized in p0221.
A change or a defect of the line filter capacitors results in a shift of the resonant frequencies and can result in severe
damage to the drive system.
The calculated present capacitance in F (rounded-off to an integer number).
The 1st decimal point specifies the number of the phase (1, 2, 3) where the capacitance deviates from the specified
value.
Remedy: - check the parameterized value of the filter capacitance (p0221).
- check the correct wiring of the Voltage Sensing Module (VSM):
Differential voltages u12 and u23 must be present at the 100 V/690 V inputs of the VSM; the phase currents of the
line filter must be connected to the 10 V inputs through a current - voltage converter.
- check the alarm limits for the permissible filter capacitance deviation (p3676).
- check the scaling of the line supply voltage measurement using the VSM (p3660).
- check the scaling of the filter current measurement using the VSM (p3670).
- check the line filter capacitors and if required, replace the line filter.
See also: p0221 (Infeed filter capacitance), p3660 (VSM input line supply voltage, voltage scaler), p3670 (VSM 10
V input CT gain), p3676 (VSM line filter capacitance alarm threshold)
A06260 Infeed: Temperature in the line filter too high
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The temperature monitoring in the line filter has responded.
If the temperature remains too high during the complete monitoring time, this results in fault F06261.
Note:
The temperature monitoring is only available for an Active Interface Module.
Remedy: - check whether the line filter type set in p0220[0] matches the line filter that is actually connected. Ensure that the
line filter specified for the infeed being used is connected or correct the setting of the line filter type in P0220[0].
- temperature monitoring is mandatory for AIM line filters (refer to P0220). Ensure that the line filter temperature
switch is correctly and reliably connected to input X21 of the infeed.
- reduce the ambient temperature of the line filter.
- reduce the load on the infeed and the filter module.
- check the magnitude of the line supply voltage.
- the internal fan of the filter module is defective. Replace the fan if necessary.
- defective temperature switch of the filter module. Replace the filter module if necessary.
F06261 Infeed: Temperature in the line filter permanently too high
Message value: -
Cause: After the temperature monitoring responded, the temperature in the line filter was permanently exceeded.
Note:
The temperature monitoring is only available for an Active Interface Module (AIM).
Faults and alarms
- temperature monitoring is mandatory for AIM line filters (refer to P0220). Ensure that the temperature switch in the
line filter is correctly and reliably connected to input X21 of the infeed.
- reduce the ambient temperature of the line filter.
- reduce the load on the infeed and the line filter.
- check the magnitude of the line supply voltage.
- the internal fan of the line filter is defective. Replace the fan if necessary.
- defective temperature switch of the line filter. Replace the line filter if necessary.
F06262 Infeed: Temperature switch in the line filter open when powering up
Message value: -
Cause: When powering up the infeed, the temperature in the line filter is too high. Powering up is prevented.
- temperature monitoring is mandatory for AIM line filters (refer to P0220). Ensure that the temperature switch in the
line filter is correctly and reliably connected to input X21 of the infeed.
- the filter temperature is too high. Allow the system to cool down.
- the internal fan of the line filter is defective. Replace the fan if necessary.
- defective temperature switch of the line filter. Replace the line filter if necessary.
F06300 Infeed: Line voltage too high at power on
Message value: %1
Cause: The RMS line supply voltage Vrms was so high when powering up that controlled operation is not possible without
exceeding the permissible maximum voltage in the DC link (p0280).
Fault condition: Vrms * 1.5 > p0280.
Lowest possible controlled DC link voltage for the line supply voltage presently connected.
See also: p0280 (DC link voltage maximum steady-state)
Remedy: - check the line supply voltage
- check the maximum DC link voltage and if required, increase (p0280).
- check the line supply voltage and compare with the actual line supply voltage (p0210).
- check whether the power unit is dimensioned for the line supply voltage actually being used.
See also: p0210 (Drive unit line supply voltage), p0280 (DC link voltage maximum steady-state)
A06301 (F) Infeed: Line supply overvoltage
Message value: Line supply voltage: %1
Reaction: NONE
Acknowledge: NONE
Cause: The filtered (steady-state) value of the rms line supply voltage Vrms is higher than the alarm threshold (p0281).
Alarm condition: Vrms > p0281 * p0210.
See also: p0281 (Line supply overvoltage, alarm threshold)
See also: p0210 (Drive unit line supply voltage), p0281 (Line supply overvoltage, alarm threshold)
Faults and alarms
F06310 (A) Infeed: Supply voltage (p0210) incorrectly parameterized
Reaction: NONE (OFF1, OFF2)
Cause: After pre-charging was completed, the line supply voltage Vrms was calculated using the measured DC link voltage.
This voltage Vrms is not within the tolerance range of the supply voltage.
The following applies for the tolerance range: 85 % * p0210 < Vrms < 110 % * p0210.
Line supply voltage Vrms present.
See also: p0210 (Drive unit line supply voltage)
Remedy: - check the parameterized supply voltage and if required change (p0210).
- check the line supply voltage.
F06310 (A) Supply voltage (p0210) incorrectly parameterized
Message value: -
Drive object: SERVO
Cause: For AC/AC drive units, the measured DC voltage lies outside the tolerance range after pre-charging has been com-
pleted. The following applies for the tolerance range: 1.16 * p0210 < r0070 < 1.6 * p0210.
The fault can only be acknowledged when the drive is powered down.
F06310 (A) Supply voltage (p0210) incorrectly parameterized
Message value: -
Cause: For AC/AC drive units, the measured DC voltage lies outside the tolerance range after pre-charging has been com-
pleted: 1.16 * p0210 < r0070 < 1.6 * p0210.
The fault can only be acknowledged when the drive is powered down.
F06311 Infeed: Supply voltage (p0210) incorrect
Cause: The line voltage nominal value indicated in p0210 is outside the nominal voltage range of the power unit.
After pre-charging was completed, the current line supply voltage Vrms was calculated using the measured DC link
voltage. This voltage Vrms does not lie within the extended tolerance range of the supply voltage set in p0210.
The following applies for the extended tolerance range: 75 % * p0210 < Vrms < 120 % * p0210
Faults and alarms
Line supply voltage Vrms present.
F06320 Master/slave: 4-channel multiplexer control not valid
Message value: %1
Drive object: A_INF
Reaction: NONE
Cause: Values 0, 1, 2, and 3 are valid to control the 4-channel multiplexer via connector input 3572.
In this case, an invalid value was identified. The control remains effective with the previous value.
Invalid value to control the multiplexer.
See also: p3572 (Master/slave active current setpoint, multiplexer selection)
Remedy: - check the interconnection to control the multiplexer (CI: p3572).
- check the signal source signal value of the BICO interconnection.
See also: p3572 (Master/slave active current setpoint, multiplexer selection)
F06321 Master/slave: 6-channel multiplexer control not valid
Message value: %1
Drive object: A_INF
Reaction: NONE
Cause: For the 6-channel multiplexer control via connector input p3577 an invalid value was identified. Values of 0, 1, 2, 3,
4 and 5 are valid. The control remains effective with the previous value.
Invalid value used to control the multiplexer.
See also: p3577 (Master/slave current distribution factor, multiplexer selection)
Remedy: - check the interconnection to control the multiplexer (CI: p3577).
- check the signal source signal value of the BICO interconnection.
A06350 (F) Infeed: Measured line frequency too high
Message value: Line frequency: %1
Reaction: NONE
Acknowledge: NONE
Cause: The actual line frequency f_line is higher than the parameterized alarm threshold (f_line > p0211 * p0284).
The alarm can be output in two operating states:
Consequence:
Synchronization of the infeed to the line supply is interrupted and is restarted.
Consequence:
The infeed remains in the operating (run) state and alarm A6350 is output. This signifies a critical operational fault.
Actual line frequency determined.
See also: p0284 (Line supply frequency exceeded, alarm threshold)
Remedy: - check the parameterized line frequency and if required change (p0211).
- check the line supply.
- check the line supply quality.
See also: p0211 (Rated line freq), p0284 (Line supply frequency exceeded, alarm threshold)
Faults and alarms
A06351 (F) Infeed: Measured line frequency too low
Message value: Line frequency: %1
Reaction: NONE
Acknowledge: NONE
Cause: The actual line frequency f_line is lower than the parameterized alarm threshold (f_line < p0211 * p0285).
The alarm can be output in two operating states:
Consequence:
Synchronization of the infeed to the line supply is interrupted and is restarted.
Consequence:
The infeed remains in the operating (run) state and alarm A06351 is output. This signifies a critical operational fault.
Actual line frequency determined.
See also: p0285 (Line supply frequency undershot, alarm threshold)
See also: p0211 (Rated line freq), p0285 (Line supply frequency undershot, alarm threshold)
A06400 Infeed: Line supply data identification selected/active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The line supply data identification is selected and active.
The line inductance and the DC link capacitance are measured at the next pulse enable.
See also: p3410 (Infeed identification method)
The alarm automatically disappears after the measurement has been completed.
A06401 Infeed: Transformer data identification/test mode selected/active
Message value: %1
Drive object: A_INF
Reaction: NONE
Acknowledge: NONE
Cause: A transformer data identification type or a transformer test operation has been selected or is active.
11: Identification type 1 selected for transformer data (automatic determination of the magnetizing inductance).
12: Identification type 2 selected for transformer data (automatic determination of transformer phase shift and gain
correction).
13: Identification type 3 selected for transformer data (determination of total leakage inductance of transformer dur-
ing line data identification).
101: Test mode 1 selected.
102: Test mode 2 selected.
See also: p5480 (Transformer magnetization mode)
The alarm automatically disappears after the identification has been completed.
Faults and alarms
F06500 Infeed: Line synchronization not possible
Message value: -
Cause: The line synchronization is not possible within the monitoring time.
The infeed was re-synchronized to the line supply because it was interrupted due to a line frequency that was deter-
mined to be either too low or too high.
After 20 attempts, synchronization - and therefore also the power-on operation - were interrupted.
- check the setting of the threshold values (p0284, p0285).
When using a voltage sensing module (VSM):
- check the line supply connection at the terminals (X521, X522).
- check VSM activation (p0145, p3400).
Note:
In the case of chassis power units, the availability of correct VSM voltage measured values is imperative for line syn-
chronization.
See also: p0211 (Rated line freq), p0284 (Line supply frequency exceeded, alarm threshold), p0285 (Line supply
frequency undershot, alarm threshold)
A06502 (F, N) Infeed: Unable to achieve line synchronization in transformer magnetization
Message value: -
Drive object: A_INF
Reaction: NONE
Acknowledge: NONE
Cause: Line synchronization is not possible within the monitoring time (p5481[2]).
Remedy: - check the setting of the threshold value (p5485).
- check the setting of the maximum time (p5481[2])
See also: p5481 (Transformer magnetization ramp-up time/bounce time/timeout), p5485 (Transf magnetization volt-
age threshold)
A06601 (F) Infeed: Current offset measurement interrupted
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Defective current measurement or a DC current is present during the offset measurement.
1: Excessively high phase current has occurred during the current offset calibration.
2: The measured current offset is greater than the 3% of the maximum permissible converter current (e.g. due to a
ground fault in the DC link).
- possible counter-measure if there is no line contactor: Power up an adequately long time before OFF1 = 1.
Re alarm value = 2:
- defective current measurement or a DC current is present during the offset measurement.
- check the DC link for a ground fault.
Faults and alarms
A06602 (F) Infeed: Current offset measurement not possible
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: After an OFF1 = 1 no valid current offset measurement was able to be made within the monitoring time (p3491)
before closing the line contactor. The current offset is set to 0.
See also: p3491 (Infeed I-offset measurement monitoring time)
Remedy: - check the DC link for a ground fault. A ground fault can destroy parts and components!
- Check the monitoring time setting and if required increase (p3491). At least 100 ms is required for a valid measure-
ment (p3491 > 100 ms).
Notice:
If there is no valid measurement, then under certain circumstances the quality of the DC link control will be reduced.
See also: p3491 (Infeed I-offset measurement monitoring time)
F06700 (A) Infeed: Switch line contactor for load condition
Message value: -
Cause: For an ON command, the infeed line contactor should be switched under load.
Remedy: - do not load the DC link if the infeed has not issued an operating signal (r0863.0 = 1).
- after the infeed has been powered down, all power units connected to the DC link should be powered down. To
realize this, the operating signal of the infeed (r0863.0) must be suitably interconnected.
A06800 (F) Infeed: Maximum steady-state DC link voltage reached
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage setpoint has reached the maximum steady-state voltage parameterized in p0280.
The DC link voltage is increased by the modulation depth reserve controller for the following reasons:
- modulation depth reserve is too low (p3480).
- line supply voltage is too high.
- supply voltage (p0210) parameterized to be too low.
- excessively high setpoint for the reactive line current.
Remedy: - check the line supply voltage setting (p0210).
- check the line supply for an overvoltage condition.
- reduce the modulation depth reserve (p3480).
- reduce the reactive current setpoint.
See also: p0210 (Drive unit line supply voltage), p0280 (DC link voltage maximum steady-state), p3480 (Infeed mod-
ulation depth limit)
A06810 (F) Infeed: DC link voltage alarm threshold
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: In operation, the DC link voltage has dropped to below the alarm threshold. The alarm threshold is obtained from the
sum of p0279 and r0296.
Faults and alarms
Possible causes include:
- line supply voltage dip or another line supply fault.
- overload of the infeed.
- for active line module: Controller incorrectly parameterized.
See also: p0279 (DC link voltage offset alarm threshold), r0296 (DC link voltage undervoltage threshold)
Remedy: - check the line voltage and line supply quality.
- reduce the power drawn, avoid step-like load changes
- for Active Line Module: Adapt the controller parameterization (e.g. automatic line supply identification (p3410 = 4,
5)).
A06849 Infeed: Short-circuit operation active
Message value: -
Drive object: A_INF
Reaction: NONE
Acknowledge: NONE
Cause: The current hysteresis controller sequence control has detected a short circuit (r5452, r5522). The absolute line sup-
ply voltage (r5444[0], r5512[0]) is below the short-circuit voltage limit (p5459[2], p5529[2]), and the current limitation
is active (r5402.3=1, r5502.3=1).
Note:
The effective current limit is obtained from the parameterized overcurrent (p5453) and the hysteresis width (p5454).
Remedy: - check the parameterization of the current hysteresis controller (p5453).
- check the line supply cables for a short-circuit.
See also: r5452 (Current hysteresis controller sequence control status word), p5453 (Current hysteresis controller
overcurrent limit)
F06850 Infeed: Short-circuit prevailing for too long
Message value: -
Drive object: A_INF
Reaction: OFF2
Cause: The maximum permissible duration (p5458[1], p5528[1]) for the short-circuit has been exceeded. The short-circuit
could not be cleared within this time.
Remedy: - check the minimum time parameter setting (p5458[1], p5528[1]).
- check the line supply and fuses.
See also: p5458 (Current hysteresis controller minimum time operating state), p5528 (Dynamic grid support mini-
mum time operating state)
F06851 Infeed: Islanding detection threshold exceeded
Message value: %1
Drive object: A_INF
Cause: At least one threshold of the frequency/voltage monitoring for islanding detection was exceeded.
The threshold is exceeded for longer than the minimum break-time (p5545[0]).
Status word (r5542).
- check the parameterization of islanding detection (p5543, p5544).
See also: r5542 (Line monitoring status word), p5543 (Line monitoring voltage threshold), p5544 (Line monitoring
frequency threshold), p5545 (Line monitoring times)
Faults and alarms
F06855 Infeed: Line filter monitor responded
Message value: %1
Drive object: A_INF
Reaction: OFF2
Cause: A threshold value parameterized in p3678 has been exceeded or undershot in the line filter.
0: Voltage threshold, alpha/beta voltage monitoring fallen below (p3678[0]).
1: Current threshold value exceeded (p3678[1]).
2: Voltage threshold value of the phase voltage monitoring fallen below (p3678[0]).
See also: p3678 (Filter monitoring threshold values), p3679 (Transformer filter monitoring times)
Remedy: - check the parameterization of the threshold values for filter monitoring (p3678]).
- check filter.
Re fault value = 0:
- check parameterization of the smoothing time for voltage monitoring (3679[0]).
Re fault value = 1:
- check parameterization of the minimum time for voltage monitoring (3679[1]).
A06860 Infeed: Function module activation not possible
Message value: -
Drive object: A_INF
Reaction: NONE
Acknowledge: NONE
Cause: Function module activation is not possible. The power unit used does not have the "gating unit with current limitation
control" feature (p0192.19).
The affected function module is identified in fault code r0949 (the value of r0949 corresponds to the bit of parameter
p0108).
r0949=7 "Fault ride-through" function module
r0949=12 "Line droop control" function module
See also: r0192 (Power unit firmware properties), p5401 (Line droop control activation)
Remedy: - check whether the power unit used has the "gating unit with current limitation control" feature (p0192.19).
- If required, replace the power unit being used by a power unit that has the "gating unit with current limitation control"
feature.
A06900 (F) Braking Module: Fault (1 -> 0)
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The Braking Module signals a fault (1 -> 0) via X21.4 ("booksize" format) or terminal X21.5 ("chassis" format).
This signal is interconnected via binector input p3866[0...7].
See also: p3866 (Braking Module fault)
Remedy: - reduce the number of braking operations.
- check binector input p3866[0...7] and the wiring from terminal X21.4 ("booksize" format) or terminal X21.5 ("chas-
sis" format).
A06901 Braking Module: Pre-alarm I2t shutdown
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The Braking Module signals "Pre-alarm I2t shutdown" via terminal X21.3.
This signal is interconnected via binector input p3865[0...7].
Faults and alarms
Note:
The pre-alarm I2t shutdown is only possible for "booksize" formats. This function is not supported for "chassis" for-
mats.
Remedy: - reduce the number of braking operations.
- check binector input p3865[0...7] and the wiring from terminal X21.3 of the particular Braking Module.
A06904 (N) Braking Module internal is inhibited
Message value: %1
Drive object: B_INF
Reaction: NONE
Acknowledge: NONE
Cause: The internal Braking Module was inhibited via binector input p3680 = 1 signal.
In the inhibited state, energy cannot be dissipated using the braking resistor.
See also: p3680 (Braking Module internal inhibit)
Remedy: Release the internal Braking Module (BI: p3680 = 0 signal).
A06905 Braking Module internal I2t shutdown alarm
Message value: %1
Drive object: B_INF
Reaction: NONE
Acknowledge: NONE
Cause: The internal Braking Module outputs an alarm due to the high I2t value.
80% of the maximum switch-on duration of the braking resistor has been reached.
Note:
This message is also displayed via BO: p3685.
See also: r3685 (Digital Braking Module: Pre-alarm I2t shutdown)
Remedy: Reduce the number of braking operations.
F06906 (A) Braking Module internal fault
Message value: %1
Drive object: B_INF
Reaction: NONE
Cause: The internal Braking Module outputs a fault due to overcurrent or an excessively high I2t value and is therefore inhib-
ited.
Note:
This message is also displayed via BO: p3686.
Bit 0 = 1: I2t exceeded
Bit 1 = 1: overcurrent
See also: r3686 (Digital Braking Module Fault)
Remedy: Reduce the number of braking operations.
F06907 Braking Module internal overtemperature
Message value: -
Drive object: B_INF
Cause: The temperature sensor connected to the braking resistor signals an overtemperature.
The Braking Module is still active. If the overtemperature persists for more than 60 s, fault F06908 is output, and the
braking module is switched off.
See also: r3687 (Digital Braking Module pre-alarm overtemperature)
Faults and alarms
Remedy: - reduce the temperature at the sensor.
- check the temperature sensor connection.
F06908 Braking Module internal overtemperature shutdown
Message value: -
Drive object: B_INF
Cause: Braking module shut down due to overtemperature at the temperature sensor of the braking resistor.
The overtemperature is detected by the sensor for longer than 60 s.
See also: r3688 (Braking Module internal overtemperature shutdown)
Remedy: - reduce the temperature at the sensor.
- check the temperature sensor connection.
F06909 Braking Module internal Vce fault
Message value: %1
Drive object: B_INF
Reaction: OFF2
Cause: The dip in the collector-emitter voltage (Vce) results in a Vce fault and shutdown.
See also: r3689 (Digital Braking Module Uce fault)
- replace the unit.
A06921 (N) Braking resistor phase unsymmetry
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The three resistors of the braking chopper are not symmetrical.
Remedy: - check the feeder cables to the braking resistors.
- increase p1364.
See also: p1360 (Braking chopper braking resistor cold), p1362 (Braking chopper activation threshold), r1363 (Brak-
ing chopper output voltage), p1364 (Braking chopper resistor asymmetry)
F06922 Braking resistor phase failure
Message value: %1
Reaction: NONE
Cause: Phase failure of a braking resistor detected.
Fault values:
11 = phase U
12 = phase V
13 = phase W
See also: p3235 (Phase failure signal motor monitoring time)
Remedy: Check the feeder cables to the braking resistors.
See also: p1360 (Braking chopper braking resistor cold), p1362 (Braking chopper activation threshold), r1363 (Brak-
ing chopper output voltage), p1364 (Braking chopper resistor asymmetry)
Faults and alarms
F07011 Drive: Motor overtemperature
Message value: %1
Drive object: SERVO
Reaction: OFF2 (NONE, OFF1, OFF3, STOP1, STOP2)
Cause: KTY:
The motor temperature has exceeded the fault threshold (p0605) or the timer (p0606) after the alarm threshold was
exceeded (p0604) has expired.
PTC, bimetallic NC contact:
The response threshold of 1650 ohms was exceeded (in SME p4600..p4603 or in TM120 p4610..p4613 = 10 or 30),
or the timer (p0606) has expired after 1650 ohms was exceeded (in SME p4600..p4603 or in TM120 p4610..p4613
= 12 or 32).
Possible causes:
- Motor is overloaded
- motor ambient temperature too high.
- PTC / bimetallic NC contact: Wire breakage or sensor not connected.
200: The I2t motor model signals an overtemperature (p0612.0 = 1, p0611 > 0).
Number of the temperature channel leading to the message (for SME/TM120 (p0601 = 10, 11)).
See also: p0604 (Motor temperature alarm threshold), p0605 (Motor temperature fault threshold), p0606 (Motor tem-
perature timer)
Remedy: - Reduce the motor load.
- check the ambient temperature and the motor ventilation.
- check the wiring and the connection of the PTC or bimetallic NC contact.
perature timer)
F07011 Drive: Motor overtemperature
Message value: %1
Cause: KTY or no sensor:
The measured motor temperature or model temperature has exceeded the fault threshold (p0605) or the timer
(p0606) has elapsed following the alarm threshold (p0604) being exceeded.
The response parameterized in p0610 becomes active.
PTC or bimetallic NC contact:
The response threshold of 1650 Ohm was exceeded or the NC contact opened and the timer (p0606) has expired.
Possible causes:
- Motor is overloaded
- motor ambient temperature too high.
- PTC / bimetallic NC contact: Wire breakage or sensor not connected.
200: The I2t motor model signals an overtemperature (p0612.0 = 1, p0611 > 0).
Number of the temperature channel leading to the message (for SME/TM120 (p0601 = 10, 11)).
perature timer), p0610 (Motor overtemperature response)
Remedy: - Reduce the motor load.
- check the ambient temperature and the motor ventilation.
- check the wiring and the connection of the PTC or bimetallic NC contact.
perature timer)
Faults and alarms
A07012 (N) Drive: I2t motor model overtemperature
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The thermal I2t motor model (for synchronous motors) identified that the temperature alarm threshold was exceeded.
See also: r0034 (Motor utilization), p0605 (Motor temperature fault threshold), p0611 (I2t motor model thermal time
constant)
Remedy: - check the motor load and if required, reduce.
- check the motor ambient temperature.
- check the thermal time constant p0611.
- check the overtemperature fault threshold p0605 (= alarm threshold for the I2t motor model, see p0612)
A07015 Drive: Motor temperature sensor alarm
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: An error was detected when evaluating the temperature sensor set in p0600 and p0601.
With the fault, the time in p0607 is started. If the fault is still present after this time has expired, then fault F07016 is
output; however, at the earliest, 50 ms after alarm A07015.
Possible causes:
- wire breakage or sensor not connected (KTY: R > 1630 Ohm).
- measured resistance too low (PTC: R < 20 Ohm, KTY: R < 50 Ohm).
- if SME/TM120 is selected (p0601 = 10, 11),
this is the number of the temperature channel leading to the message.
Remedy: - make sure that the sensor is connected correctly.
- check the parameterization (p0600, p0601).
See also: r0035, p0600, p0601, p0607
F07016 Drive: Motor temperature sensor fault
Message value: %1
Cause: An error was detected when evaluating the temperature sensor set in p0600 and p0601.
Possible causes:
- wire breakage or sensor not connected (KTY: R > 1630 Ohm).
- measured resistance too low (PTC: R < 20 Ohm, KTY: R < 50 Ohm).
Note:
If alarm A07015 is present, the time in p0607 is started. If the fault is still present after this time has expired, then
fault F07016 is output; however, at the earliest, 50 ms after alarm A07015.
- if SME/TM120 is selected (p0601 = 10, 11),
See also: p0607 (Temperature sensor fault timer)
Remedy: - make sure that the sensor is connected correctly.
- check the parameterization (p0600, p0601).
- induction motors: De-activate temperature sensor fault (p0607 = 0).
See also: r0035, p0600, p0601, p0607
Faults and alarms
F07080 Drive: Incorrect control parameter
Reaction: NONE
Cause: The closed-loop control parameters have been parameterized incorrectly (e.g. p0356 = L_spread = 0).
The fault value includes the parameter number involved.
The following parameter numbers only occur as fault values for vector drives:
p0310, for synchronous motors: p0341, p0344, p0350, p0357
The following parameter numbers do not occur as fault values for synchronous motors:
p0354, p0358, p0360
p1082, r1082, p1300
Remedy: Modify the parameter indicated in the fault value (r0949) (e.g. p0640 = current limit > 0).
See also: p0311, p0341, p0344, p0350, p0354, p0356, p0358, p0360, p0400, p0404, p0408, p0640, p1082, r1082
F07082 Macro: Execution not possible
Message value: Fault cause: %1, supplementary information: %2, preliminary parameter number: %3
Reaction: NONE
Cause: The macro cannot be executed.
ccccbbaa hex:
cccc = preliminary parameter number, bb = supplementary information, aa = fault cause
Fault causes for the trigger parameter itself:
19: Called file is not valid for the trigger parameter.
20: Called file is not valid for parameter 15.
24: Data type of a TAG is incorrect (e.g. Index, number or bit is not U16).
Fault causes for the parameters to be set:
25: Error level has an undefined value.
26: Mode has an undefined value.
27: A value was entered as string in the tag value that is not "DEFAULT".
31: Entered drive object type unknown.
32: A device was not able to be found for the determined drive object number.
34: A trigger parameter was recursively called.
35: It is not permissible to write to the parameter via macro.
36: Check, writing to a parameter unsuccessful, parameter can only be read, not available, incorrect data type, value
range or assignment incorrect.
37: Source parameter for a BICO interconnection was not able to be determined.
38: An index was set for a non-indexed (or CDS-dependent) parameter.
39: No index was set for an indexed parameter.
41: A bit operation is only permissible for parameters with the parameter format DISPLAY_BIN.
42: A value not equal to 0 or 1 was set for a BitOperation.
43: Reading the parameter to be changed by the BitOperation was unsuccessful.
51: Factory setting for DEVICE may only be executed on the DEVICE.
61: The setting of a value was unsuccessful.
Remedy: - check the parameter involved.
- check the macro file and BICO interconnection.
See also: p0015, p0700, p1000, p1500
Faults and alarms
F07083 Macro: ACX file not found
Reaction: NONE
Cause: The ACX file (macro) to be executed was not able to be found in the appropriate directory.
Parameter number with which the execution was started.
See also: p0015, p0700, p1000, p1500
Remedy: - check whether the file is saved in the appropriate directory on the memory card.
Example:
If p0015 is set to 1501, then the selected ACX file must be located in the following directory:
... /PMACROS/DEVICE/P15/PM001501.ACX
F07084 Macro: Condition for WaitUntil not fulfilled
Reaction: NONE
Cause: The WaitUntil condition set in the macro was not fulfilled in a certain number of attempts.
Parameter number for which the condition was set.
Remedy: Check and correct the conditions for the WaitUntil loop.
F07085 Drive: Open-loop/closed-loop control parameters changed
Reaction: NONE
Cause: Open-loop/closed-loop control parameters have had to be changed for the following reasons:
1. As a result of other parameters, they have exceeded the dynamic limits.
2. They cannot be used due to the fact that the hardware detected not having certain features.
Changed parameter number.
340:
The motor and control parameters were automatically calculated (p0340 = 1), because the vector control was sub-
sequently activated as configuration (r0108.2).
See also: p0640, p1082, r1082, p1300, p1800
It is not necessary to change the parameters as they have already been correctly limited.
F07086 Units changeover: Parameter limit violation due to reference value change
Reaction: NONE
Cause: A reference parameter was changed in the system. This resulted in the fact that for the parameters involved, the
selected value was not able to be written in the per unit representation (cause: e.g. the steady-state minimum/max-
imum limit or that defined in the application was violated). The values of the parameters were set to the correspond-
ing violated minimum/maximum limit or to the factory setting.
Diagnostics parameter r9450 to display the parameters that were not able to be re-calculated.
Remedy: Check the adapted parameter value and if required correct.
See also: r9450 (Reference value change parameter with unsuccessful calculation)
Faults and alarms
F07087 Drive: Encoderless operation not possible for the selected pulse frequency
Drive object: SERVO
Reaction: NONE
Cause: Encoderless operation is not possible for the selected pulse frequency (p1800).
Encoderless operation is activated under the following conditions:
- the changeover speed for encoderless operation (p1404) is less than the maximum speed (p0322).
- a control type with encoderless operation has been selected (p1300).
- encoder faults of the motor encoder result in a fault response with encoderless operation (p0491).
See also: p0491, p1300, p1404, p1800
Remedy: Increase the pulse frequency (p1800).
Note:
In encoderless operation, the pulse frequency must be at least as high as half the current controller clock cycle
(1/p0115[0]).
F07088 Units changeover: Parameter limit violation due to units changeover
Reaction: NONE
Cause: A changeover of units was initiated.
Possible causes for the violation of a parameter limit are:
- when rounding off a parameter corresponding to its decimal places, the steady-state minimum or maximum limit
was violated.
- inaccuracies for the data type "FloatingPoint".
In these cases, when the minimum limit is violated then the parameter value is rounded up and when the maximum
limited is violated the parameter value is rounded down.
Diagnostics parameter r9451 to display all parameters whose value had to be adapted.
See also: p0100 (IEC/NEMA mot stds), p0349 (System of units, motor equivalent circuit diagram data), p0505
(Selecting the system of units), p0595 (Selecting technological units)
Remedy: Check the adapted parameter values and if required correct.
See also: r9451 (Units changeover adapted parameters)
A07089 Changing over units: Function module activation is blocked because the units have
been changed over
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: An attempt was made to activate a function module. This is not permissible if the units have already been changed
over.
See also: p0100 (IEC/NEMA mot stds), p0349 (System of units, motor equivalent circuit diagram data), p0505
(Selecting the system of units)
Remedy: Restore units that have been changed over to the factory setting.
F07090 Drive: Upper torque limit less than the lower torque limit
Message value: -
Drive object: SERVO
Reaction: OFF2 (NONE, OFF1, OFF3)
Cause: The upper torque limit is lower than the lower torque limit.
Remedy: P1 must be >= P2 if parameter P1 is connected to p1522 and parameter P2 to p1523.
Faults and alarms
F07100 Drive: Sampling times cannot be reset
Reaction: NONE
Cause: When resetting drive parameter (p0976) sampling times cannot be reset using p0111, p0112, p0115.
Parameter whose setting prevents the sampling times being reset.
See also: r0110 (Basic sampling times)
Remedy: - continue to work with the set sampling times.
- before resetting the drive parameters, set the basic clock cycle p0110[0] to the original value.
See also: r0110 (Basic sampling times)
F07110 Drive: Sampling times and basic clock cycle do not match
Reaction: NONE
Cause: The parameterized sampling times do not match the basic clock cycle.
The fault value specifies the parameter involved.
See also: r0110, r0111, p0115
Remedy: Enter the current controller sampling times so that they are identical to the basic clock cycle, e.g. by selecting p0112.
Note which basic clock cycle is selected in p0111.
The sampling times in p0115 can only be changed manually in the sampling times pre-setting "Expert" (p0112).
See also: r0110, r0111, p0112, p0115
A07140 Drive: Current controller sampling time for spindle does not match
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The parameterized current controller sampling time for the spindle has been set too high.
Remedy: Set the sampling time equal to or less than the value in r5034 (p0112, p0115).
See also: p0112, p0115, r5034
A07200 Drive: Master control ON command present
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The ON/1 command is present (no 0 signal).
The command is either influenced via binector input p0840 (current CDS) or control word bit 0 via the master control.
Remedy: Switch the signal via binector input p0840 (aktueller CDS) or control word bit 0 via the master control to 0.
F07220 (N, A) Drive: Master control by PLC missing
Message value: -
Drive object: A_INF, B_INF, ENCODER, S_INF, SERVO, VECTOR
Servo: OFF1 (NONE, OFF2, OFF3, STOP1, STOP2)
Cause: The "master control by PLC" signal was missing in operation.
- interconnection of the binector input for "master control by PLC" is incorrect (p0854).
- the higher-level control has withdrawn the "master control by PLC" signal.
- data transfer via the fieldbus (master/drive) was interrupted.
Faults and alarms
Remedy: - check the interconnection of the binector input for "master control by PLC" (p0854).
- check the "master control by PLC" signal and, if required, switch in.
- check the data transfer via the fieldbus (master/drive).
Note:
If the drive should continue to operate after withdrawing "master control by PLC" then fault response must be param-
eterized to NONE or the message type should be parameterized as alarm.
F07300 (A) Drive: Line contactor feedback signal missing
Message value: -
Cause: - the line contactor was not able to be closed within the time in p0861.
- the line contactor was not able to be opened within the time in p0861.
- the line contactor dropped out during operation
- the line contactor has closed although the drive converter is powered down.
Remedy: - check the setting of p0860.
- check the feedback circuit from the line contactor.
- increase the monitoring time in p0861.
See also: p0860 (Line cont. fdbk sig), p0861 (Line contactor monitoring time)
F07311 Bypass motor switch
Reaction: OFF2
Cause: Fault value (r0949, interpret bitwise binary):
Bit 1: Switch "Closed" feedback signal missing.
Bit 2: Switch "Open" feedback signal missing.
Bit 3: Switch feedback signal too slow.
After switching, the system waits for the positive feedback signal. If the feedback signal is received later than the
specified time, then a fault trip (shutdown) is issued.
Bit 6: Drive switch feedback signal not consistent with the bypass state.
When powering up or for staging, the drive switch is closed.
See also: p1260 (Bypass configuration), r1261 (Bypass control/status word), p1266 (Bypass, control command),
p1267 (Bypass changeover source configuration), p1269 (Bypass switch feedback signal), p1274 (Bypass switch
monitoring time)
Remedy: - check the transfer of the feedback signals.
- check the switch.
F07312 Bypass LSS:
Reaction: OFF2
Cause: Fault value (r0949, interpret bitwise binary):
Bit 1: Switch "Closed" feedback signal missing.
Bit 2: Switch "Open" feedback signal missing.
Bit 3: Switch feedback signal too slow.
After switching, the system waits for the positive feedback signal. If the feedback signal is received later than the
specified time, then a fault trip (shutdown) is issued.
Faults and alarms
Bit 6: Line Side Switch feedback signal not consistent with the bypass state.
When powering up or for staging, the Line Side Switch is closed without this having been requested from the bypass.
See also: p1260 (Bypass configuration), r1261 (Bypass control/status word), p1266 (Bypass, control command),
p1267 (Bypass changeover source configuration), p1269 (Bypass switch feedback signal), p1274 (Bypass switch
monitoring time)
Remedy: - check the transfer of the feedback signals.
- check the switch.
F07320 Drive: Automatic restart interrupted
Message value: %1
Reaction: OFF2
Cause: - The specified number of restart attempts (p1211) has been completely used up because within the monitoring time
(p1213) the faults were not able to be acknowledged. The number of restart attempts (p1211) is decremented at each
new start attempt.
- there is no active ON command.
- the monitoring time for the power unit has expired (p0857).
- when exiting commissioning or at the end of the motor identification routine or the speed controller optimization, the
drive unit is not automatically powered up again.
Remedy: - increase the number of restart attempts (p1211). The actual number of starting attempts is displayed in r1214.
- increase the delay time in p1212 and/or the monitoring time in p1213.
- issue an ON command (p0840).
- either increase or disable the monitoring time of the power unit (p0857).
F07320 Drive: Automatic restart interrupted
Message value: %1
Reaction: OFF2
Cause: - The specified number of restart attempts (p1211) has been completely used up because within the monitoring time
(p1213) the faults were not able to be acknowledged. The number of restart attempts (p1211) is decremented at each
new start attempt.
- there is no active ON command.
- the monitoring time for the power unit has expired (p0857).
- when exiting commissioning or at the end of the motor identification routine or the speed controller optimization, the
drive unit is not automatically powered up again.
Remedy: - increase the number of restart attempts (p1211). The actual number of starting attempts is displayed in r1214.
- increase the delay time in p1212 and/or the monitoring time in p1213.
- issue an ON command (p0840).
- either increase or disable the monitoring time of the power unit (p0857).
- Reduce the delay time for resetting the start counter p1213[1] so that fewer faults are registered in the time interval.
A07321 Drive: Automatic restart active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The automatic restart (AR) is active. When the line supply returns and/or the causes of the existing faults are
removed the drive is automatically restarted. The pulses are enabled and the motor starts to rotate.
Remedy: - the automatic restart (AR) should, if required, be inhibited (p1210 = 0).
- an automatic restart can be directly interrupted by withdrawing the power-on command (BI: p0840).
Faults and alarms
A07329 (N) Drive: kT estimator, kT(iq) characteristic or voltage compensation does not function
Message value: %1
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: A function of the function module "extended torque control" (r0108.1) was activated - however the (complete) func-
tion is not available.
1 ... 3: The kT estimator is active (p1780.3 = 1) without a functioning compensation of the voltage emulation error in
the drive converter. This means that the accuracy is severely restricted.
1: The drive converter voltage emulation error "final value" is 0 (p1952).
2: The drive converter voltage emulation error "current offset" is 0 (p1953).
3: The compensation of the voltage emulation error is disabled (p1780.8 = 0).
4: The kT estimator (p1780.3 = 1), the kT(iq) characteristic (p1780.9 = 1) or the compensation of the voltage emula-
tion error (p1780.8 = 1) was activated without activating the function module "extended torque control" (when the
function module is activated, the following must apply: r0108.1 = 1).
- carry out an identification of the voltage emulation error in the drive converter (p1909.14 = 1, p1910 = 1).
- set the parameter to compensate the voltage emulation error in the drive converter (p1952, p1953).
- enable the compensation of the voltage emulation error in the drive converter (p1780.8 = 1).
- activate the function module "extended torque control" (r0108.1 = 1) or de-activate the corresponding functions
(p1780.3 = 0, p1780.8 = 0, p1780.9 = 0).
F07330 Flying restart: Measured search current too low
Message value: -
Cause: During a flying restart, it was identified that the search current reached is too low.
It is possible that the motor is not connected.
Remedy: Check the motor feeder cables.
F07331 Flying restart: Function not supported
Message value: -
Cause: It is not possible to power up with the motor rotating (no flying restart). In the following cases, the "flying restart" func-
tion is not supported:
Permanent-magnet and separately-excited synchronous motors (PEM, FEM): Operation with U/f characteristic.
Permanent-magnet synchronous motor (PEM): Encoderless operation without a Voltage Sensing Module (VSM)
being connected.
Remedy: - de-activate the "flying restart" function (p1200 = 0).
- change the open-loop/closed-loop control mode (p1300).
- connect a Voltage Sensing Module (VSM) (voltage measurement).
A07350 (F) Drive: Measuring probe parameterized to a digital output
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The measuring probe is connected to a bi-directional digital input/output and the terminal is set as output.
Faults and alarms
8: DI/DO 8 (X122.9/X132.1)
9: DI/DO 9 (X122.10/X132.2)
10: DI/DO 10 (X122.12/X132.3)
11: DI/DO 11 (X122.13/X132.4)
12: DI/DO 12 (X132.9)
13: DI/DO 13 (X132.10)
14: DI/DO 14 (X132.12)
15: DI/DO 15 (X132.13)
Remedy: - set the terminal as input (p0728).
- de-select the measuring probe (p0488, p0489, p0580).
A07400 (N) Drive: DC link voltage maximum controller active
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage controller has been activated because of the upper switch-in threshold (r1244).
A system deviation can occur between the setpoint and actual speed.
See also: r0056 (Status word, closed-loop control), p1240 (Vdc controller or Vdc monitoring configuration)
This alarm automatically disappears after the upper threshold has been distinctly undershot.
Otherwise, apply the following measures:
- use a Braking Module or regenerative feedback unit.
- increase the ramp-down times (p1121, p1135).
- shut down the Vdc_max controller (p1240 = 0).
A07400 (N) Drive: DC link voltage maximum controller active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage controller has been activated because the upper switch-in threshold has been exceeded (r1242,
r1282).
The ramp-down times are automatically increased in order to maintain the DC link voltage (r0070) within the permis-
sible limits. There is a system deviation between the setpoint and actual speeds.
When the DC link voltage controller is switched out (disabled), this is the reason that the ramp-function generator
output is set to the speed actual value.
See also: r0056 (Status word, closed-loop control), p1240 (Vdc controller or Vdc monitoring configuration), p1280
(Vdc controller or Vdc monitoring configuration (U/f))
Remedy: If the controller is not to intervene:
- increase the ramp-down times.
- switch-off the Vdc_max controller (p1240 = 0 for vector control, p1280 = 0 for U/f control).
If the ramp-down times are not to be changed:
- use a chopper or regenerative feedback unit.
Faults and alarms
A07401 (N) Drive: DC link voltage maximum controller de-activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The Vdc_max controller can no longer maintain the DC link voltage (r0070) below the limit value (r1242, r1282) and
was therefore switched out (disabled).
- the line supply voltage is permanently higher than specified for the power unit.
- the motor is permanently in the regenerative mode as a result of a load that is driving the motor.
Remedy: - check whether the input voltage is within the permissible range.
- check whether the load duty cycle and load limits are within the permissible limits.
A07402 (N) Drive: DC link voltage minimum controller active
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage controller has been activated due to the lower switch-in threshold (r1248).
A system deviation can occur between the setpoint and actual speed.
A possible cause can be e.g. that the line supply has failed.
(DC link voltage threshold lower)
This alarm automatically disappears after the lower threshold has been distinctly exceeded.
Otherwise, apply the following measures:
- check the line supply and infeed.
- increase the ramp-up times (p1120).
- shut down the Vdc_min controller (p1240 = 0).
A07402 (N) Drive: DC link voltage minimum controller active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage controller has been activated as the lower switch-in threshold has been undershot (r1246,
r1286).
The kinetic energy of the motor is used to buffer the DC link. The drive is therefore braked.
(Vdc controller or Vdc monitoring configuration (U/f))
Remedy: The alarm disappears when power supply returns.
F07403 (N, A) Drive: Lower DC link voltage threshold reached
Message value: -
Drive object: SERVO
Cause: The DC link voltage monitoring is active (p1240 = 5, 6) and the lower DC link voltage threshold (p1248) was reached
in the "Operation" state.
Faults and alarms
Remedy: - check the line supply voltage.
- check the infeed.
- reduce the lower DC link threshold (p1248).
- switch out (disable) the DC link voltage monitoring (p1240 = 0).
F07403 (N, A) Drive: Lower DC link voltage threshold reached
Message value: -
Cause: The DC link voltage monitoring is active (p1240 , p1280 = 5, 6) and the lower DC link voltage threshold (r1246, r1286)
was reached in the "Operation" state.
- check the infeed.
- adapt the device supply voltage (p0210) or the switch-on level (p1245, p1285).
- disable the DC link voltage monitoring (p1240, p1280 = 0).
F07404 Drive: Upper DC link voltage threshold reached
Message value: -
Drive object: SERVO
Cause: The DC link voltage monitoring is active (p1240 = 4, 6) and the upper DC link voltage threshold (p1244) was reached
in the "Operation" state.
- check the infeed module or the Braking Module.
- increase the upper DC link voltage threshold (p1244).
- switch out (disable) the DC link voltage monitoring (p1240 = 0).
F07404 Drive: Upper DC link voltage threshold reached
Message value: -
Cause: The DC link voltage monitoring is active (p1240 , p1280 = 4, 6) and the upper DC link voltage threshold (r1242,
r1282) was reached in the "Operation" state.
- check the infeed module
- adapt the device supply voltage (p0210).
- disable the DC link voltage monitoring (p1240, p1280 = 0).
F07405 (N, A) Drive: Kinetic buffering minimum speed not reached
Message value: -
Reaction: OFF2 (IASC/DCBRAKE, NONE, OFF1, OFF3, STOP1, STOP2)
Cause: During kinetic buffering the speed fell below minimum speed (p1257 or p1297 for vector drives with U/f control) and
the line supply did not return.
Faults and alarms
Remedy: Check the speed threshold for the Vdc_min controller (kinetic buffering) (p1257, p1297).
See also: p1257 (Vdc_min controller speed threshold), p1297 (Vdc_min controller speed threshold (U/f))
F07406 (N, A) Drive: Kinetic buffering maximum time exceeded
Message value: -
Cause: The maximum buffer time (p1255 and p1295 for vector drives with U/f control) has been exceeded without the line
supply having returned.
Remedy: Check the time threshold for Vdc-min controller (kinetic buffering) (p1255, p1295).
See also: p1255 (Vdc_min controller time threshold), p1295 (Vdc_min controller time threshold (U/f))
A07409 Drive: U/f control, current limiting controller active
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The current limiting controller of the U/f control was activated because the current limit was exceeded.
Remedy: The alarm automatically disappears after one of the following measures:
- increase current limit (p0640).
- reduce the load.
- slow down the ramp up to the setpoint speed.
F07410 Drive: Current controller output limited
Message value: -
Drive object: SERVO
Cause: The condition "I_act = 0 and Uq_set_1 longer than 16 ms at its limit" is present and can be caused by the following:
- motor not connected or motor contactor open.
- no DC link voltage present.
- Motor Module defective.
Remedy: - connect the motor or check the motor contactor.
- check the DC link voltage (r0070).
- check the Motor Module.
F07410 Drive: Current controller output limited
Message value: -
Cause: The condition "I_act = 0 and Uq_set_1 longer than 16 ms at its limit" is present and can be caused by the following:
- motor not connected or motor contactor open.
- motor data and motor configuration (star-delta) do not match.
- no DC link voltage present.
- power unit defective.
- the "flying restart" function is not activated.
Faults and alarms
Remedy: - connect the motor or check the motor contactor.
- check the motor parameterization and the connection type (star-delta).
- check the DC link voltage (r0070).
- check the power unit.
- activate the "flying restart" function (p1200).
F07411 Drive: Flux controller output limited
Message value: -
Drive object: SERVO
Cause: The specified flux setpoint cannot be reached although 90% of the maximum current has been specified.
- incorrect motor data.
- motor data and motor configuration (star-delta) do not match.
- the current limit has been set too low for the motor.
- induction motor (encoderless, open-loop controlled) in I2t limiting.
- the Motor Module is too small.
Remedy: - correct the motor data.
- check the motor configuration.
- correct the current limits (p0640, p0323).
- reduce the induction motor load.
- if required, use a larger Motor Module.
F07412 Drive: Commutation angle incorrect (motor model)
Message value: -
Reaction: ENCODER (NONE, OFF2)
Cause: An incorrect commutation angle was detected that can result in a positive coupling in the speed controller.
Possible causes:
- the motor encoder is incorrectly adjusted with respect to the magnet position.
- the motor encoder is damaged.
- the angular commutation offset is incorrectly set (p0431).
- data to calculate the motor model has been incorrectly set (p0356 (motor-stator leakage inductance) and/or p0350
(motor-stator resistance) and/or p0352 (cable resistance).
- the changeover speed for the motor model is too low (p1752). The monitoring function only becomes effective
above the changeover speed.
- pole position identification might have calculated an incorrect value when activated (p1982 = 1).
- the motor encoder speed signal is faulted.
- the control loop is instable due to incorrect parameterization.
SERVO:
0: The comparison of the pole position angle from the encoder and motor model resulted in an excessively high value
(> 80 electrical).
1: -
VECTOR:
0: The comparison of the pole position angle from the encoder and motor model resulted in an excessively high value
(> 45 electrical).
1: The change in the speed signal from the motor encoder has changed by > p0492 within a current controller clock
cycle.
Remedy: - if the encoder mounting was changed - re-adjust the encoder.
- replace the defective motor encoder.
- correctly set the angular commutation offset (p0431). If required, determine using p1990.
- correctly set the motor stator resistance, cable resistance and motor-stator leakage inductance (p0350, p0352,
p0356).
Calculate the cable resistance from the cross-section and length, check the inductance and stator resistance using
the motor data sheet, measure the stator resistance, e.g. using a multimeter - and if required, again identify the val-
ues using the stationary motor data identification (p1910).
- increase the changeover speed for the motor model (p1752). The monitoring is completely de-activated for p1752
> p1082 (maximum speed).
Faults and alarms
- with pole position identification activated (p1982 = 1) check the procedure for pole position identification (p1980)
and force a new pole position identification procedure by means of de-selection followed by selection (p1982 = 0 ->
1).
Note:
For High Dynamic Motors (1FK7xxx-7xxx), for applications with a higher current, if necessary, the monitoring should
be disabled.
F07413 Drive: Commutation angle incorrect (pole position identification)
Message value: -
Cause: An incorrect commutation angle was detected that can result in a positive coupling in the speed controller.
Within the pole position identification routine (p1982 = 2):
- a difference of > 45 electrical to the encoder angle was determined.
For VECTOR, within the encoder adjustment (p1990 = 2):
- a difference of > 6 electrical to the encoder angle was determined.
Remedy: - correctly set the angular commutation offset (p0431).
- re-adjust the motor encoder after the encoder has been replaced.
- replace the defective motor encoder.
- check the pole position identification routine. If the pole position identification routine is not suitable for this motor
type, then disable the plausibility check (p1982 = 0).
F07414 (N, A) Drive: Encoder serial number changed
Message value: -
Drive object: SERVO
Cause: The serial number of the motor encoder of a synchronous motor has changed. The change was only checked for
encoders with serial number (e.g. EnDat encoders) and build-in motors (e.g. p0300 = 401) or third-party motors
(p0300 = 2).
Cause 1:
The encoder was replaced.
Cause 2:
A third-party, build-in or linear motor was re-commissioned.
Cause 3:
The motor with integrated and adjusted encoder was replaced.
Cause 4:
The firmware was updated to a version that checks the encoder serial number.
Remedy: Re causes 1, 2:
Carry out an automatic adjustment using the pole position identification routine. Acknowledge the fault. Initiate the
pole position identification routine with p1990 = 1. Then check that the pole position identification routine is correctly
executed.
SERVO:
If a pole position identification technique is selected in p1980, and if p0301 does not contain a motor type with an
encoder adjusted in the factory, then p1990 is automatically activated.
or
Set the adjustment via p0431. In this case, the new serial number is automatically accepted.
or
Mechanically adjust the encoder. Accept the new serial number with p0440 = 1.
Re causes 3, 4:
Accept the new serial number with p0440 = 1.
Faults and alarms
N07415 (F) Drive: Angular commutation offset transfer running
Message value: -
Drive object: SERVO
Reaction: OFF2
Acknowledge: NONE
Cause: The angular commutation offset was automatically determined using p1990 = 1.
This fault causes the pulses to be suppressed - this is necessary to transfer the angular commutation offset to p0431.
See also: p1990 (Encoder adjustment, determine angular commutation offset)
Remedy: The fault can be acknowledged without any additional measures.
A07416 Drive: Flux controller configuration
Message value: Parameter: %1, Index: %2, fault cause: %3
Reaction: NONE
Acknowledge: NONE
Cause: The configuration of the flux control (p1401) is contradictory.
ccbbaaaa hex
aaaa = Parameter
bb = Index
cc = fault cause
Quick magnetizing (p1401.6) for soft start (p1401.0).
Quick magnetizing (p1401.6) for flux build-up control (p1401.2).
Quick magnetizing (p1401.6) for Rs identification after restart (p0621 = 2).
- Shut down soft start (p1401.0 = 0).
- Shut down quick magnetizing (p1401.6 = 0).
Re fault cause = 2:
- De-energize flux build-up control (p1401.2 = 0).
Re fault cause = 3:
- Re-parameterize Rs identification (p0621 = 0, 1)
F07417 Drive: Pulse technique not plausible (motor model)
Message value: %1
Cause: The evaluation of the test pulse response indicated incorrect values.
0:
An impermissible pulse technique configuration was detected during ramp-up.
Possible causes:
- The pulse technique was initially selected when the system powered up (p1750.5 = 1) but the power unit component
does not support the current oversampling required (see r0192.23). As a consequence, p1750.0 was de-selected
automatically.
10:
The pulse response is repeatedly implausible.
Possible causes:
- Incorrect configuration of the power unit component
- The power unit component is faulty.
Faults and alarms
20:
For the specified pulse amplitude, the measured pulse response is much higher than the expected value.
Possible causes:
- The orientation loop has been affected by major vibration phenomena.
- The motor is short-circuited for high frequencies (output filter).
- The motor is damaged.
Once the pulse technique has been de-selected automatically (p1750.5=0), there are two possible options:
- acknowledge the fault and save parameter p1750.5 = 0 -> field-oriented control mode to standstill is not used and
replaced by transition to open-loop control at low speeds.
- upgrade the power unit firmware (at least V04.30) -> field-oriented control mode to standstill is available.
With active selection of the pulse technique (p1750.5 = 1):
- POWER ON (switch-off/switch-on) the Control Unit and the power unit together again.
or
- carry out a manual warm restart (p0009 = 30, p0976 = 2, 3).
If this does not solve the problem: Replace the power unit component.
- control parameters might have been adjusted (factory setting, commissioning).
- filters must not be connected between motor and converter/inverter.
- check the motor.
A07418 Drive: Higher current controller dynamic performance possible
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause:
Remedy:
F07420 Drive: Current setpoint filter natural frequency > Shannon frequency
Message value: %1
Drive object: SERVO
Cause: One of the filter natural frequencies is greater than the Shannon frequency.
Bit 0: Filter 1 (p1658, p1660)
Bit 1: Filter 2 (p1663, p1665)
Bit 2: Filter 3 (p1668, p1670)
Bit 3: Filter 4 (p1673, p1675)
Bit 8 ... 15: Data set number (starting from zero)
Remedy: - reduce the numerator or denominator natural frequency of the current setpoint filter involved.
- reduce the current controller sampling time (p0115[0]).
- switch out the filter involved (p1656).
F07421 Drive: Speed filter natural frequency > Shannon frequency
Message value: %1
Drive object: SERVO
Bit 0: Filter 1 (p1417, p1419)
Bit 1: Filter 2 (p1423, p1425)
Bit 4: Actual value filter (p1447, p1449)
Faults and alarms
Remedy: - reduce the numerator or denominator natural frequency of the speed setpoint filter involved.
- reduce the speed controller sampling time (p0115[1]).
- switch off the filter involved (p1413, p1414).
F07422 Drive: Reference model natural frequency > Shannon frequency
Message value: -
Cause: The natural filter frequency of the PT2 element for the reference model (p1433) is greater than the Shannon fre-
quency.
Remedy: - reduce the natural frequency of PT2 element for reference model (p1433).
- reduce the speed controller sampling time (p0115[1]).
F07423 Drive: APC filter natural frequency > Shannon frequency
Message value: %1
Drive object: SERVO
The Shannon frequency is calculated according to the following formula: 0.5 / (p0115[1] * x)
Bit 0: Filter 1.1 (p3711, p3713), x = 1
Bit 4: Filter 2.1 (p3721, p3723), x = p3706
Bit 5: Filter 2.2 (p3726, p3728), x = p3706
Bit 8: Filter 3.1 (p3731, p3733), x = p3707
Bit 9: Filter 3.2 (p3736, p3738), x = p3707
Remedy: - reduce the numerator or denominator natural frequency of the filter involved.
- reduce the speed controller sampling time (p0115[1]) or the sub-sampling (p3706, p3707).
- switch out the filter involved (p3704).
A07424 Drive: Operating condition for APC not valid
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The APC function (Advanced Positioning Control) has identified an invalid operating condition.
Bit 0 = 1:
APC is operating without encoder
Bit 1 = 1:
The load measuring system for APC, selected using p3701, has a fault. The APC function is disabled.
Bit 2 = 1:
The load measuring system for APC, selected using p3701, has a fault. The pulse de-coupling is disabled, i.e. the
speed of the motor measuring system is used as speed for the closed-loop motor speed control.
Remedy: Re bit 0:
Only use the APC function in operation with an encoder.
Re bit 1, 2:
Check the load measuring system.
Faults and alarms
F07425 Drive: APC monitoring time for speed limit expired
Message value: -
Drive object: SERVO
Reaction: OFF1
Cause: The limit value (p3778) for the speed/velocity was exceeded for a time longer than that set in the monitoring time
(p3779).
Note:
APC: Advanced Positioning Control
Remedy: - check the measured value.
- check the limit value and monitoring time (p3778, p3779).
F07426 (A) Technology controller actual value limited
Message value: %1
Reaction: OFF1 (IASC/DCBRAKE, NONE, OFF2, OFF3)
Cause: The actual value for the technology controller, interconnected via connector input p2264, has reached a limit.
1: upper limit reached.
2: lower limit reached.
Remedy: - adapt the limits to the signal level (p2267, p2268).
- check the scaling of the actual value (p2264).
See also: p2264 (Technology controller actual value), p2267 (Technology controller upper limit actual value), p2268
(Technology controller lower limit actual value)
F07429 Drive: DSC without encoder not possible
Message value: -
Drive object: SERVO
Reaction: OFF2
Cause: The function DSC (Dynamic Servo Control) was activated although there is no encoder.
See also: p1191 (DSC position controller gain KPC)
Remedy: If there is no encoder and connector input p1191 (DSC position controller gain) is interconnected, then connector
input p1191 must have a 0 signal.
F07430 Drive: Changeover to open-loop torque controlled operation not possible
Message value: -
Drive object: SERVO
Cause: For encoderless operation, the converter cannot change over to closed-loop torque-controlled operation (BI: p1501).
Remedy: Do not attempt to cover over to closed-loop torque-controlled operation.
F07431 Drive: Changeover to encoderless operation not possible
Message value: -
Drive object: SERVO
Cause: For closed-loop torque control, the converter cannot change over to encoderless operation (p1404).
Remedy: Do not attempt to change over to encoderless operation.
Faults and alarms
F07432 Drive: Motor without overvoltage protection
Message value: %1
Drive object: SERVO
Cause: In the case of a fault at maximum speed, the motor can generate an overvoltage that can destroy the drive system.
Associated Drive Data Set (DDS).
Remedy: Overvoltage protection can be implemented in the following ways:
Rotary synchronous motors: p1082 [rpm] <= 11.695 * p0297/p0316 [Nm/A]
Linear motors: p1082 [m/min] <= 73.484 * p0297/p0316 [N/A]
Rotary synchronous motors connected to a high-frequency converter: p1082 [rpm] <= 4.33165 * (-p0316 + square
root(p0316^2 + 4.86E-9 * (p0297 * r0313)^2 * (r0377 - r0233) [mH] * r0234 [F]) / (p0297 * r0313^2 * (r0377 - r0233)
[mH] * r0234 [F])
Linear motor connected to a high-frequency converter: p1082 [m/min] <= 0.6894 * (-p0316 + square root( p0316^2
+ 1.91865E-7 * (p0297 * r0313 * 3.1415)^2 * (r0377 - r0233) [mH] * r0234 [F]) / (p0297 * r0313^2 * (r0377 - r0233)
[mH] * r0234 [F])
Rotary induction motor connected to a high-frequency converter: p1082 [rpm] <= Maximum (2.11383E5 / (r313 *
square root((r0377 [mH] + r0382 [mH]) * r0234 [F])) ; 0.6364*p0297*p0311[rpm] / p0304)
- use a voltage protection module (VPM) in conjunction with the function "Safe Torque Off" (p9601, p9801) (only for
synchronous motors).
When using a synchronous motor with VPM connected to a high-frequency converter, the following must apply:
p1082 [rpm] <= p0348 * (r0377 + p0233) / p0233
pressed - this means that the terminals for the function "Safe Torque Off" (STO) must be connected to the VPM.
When using a VPM, p0643 must be set to 1.
- activating the internal voltage protection (IVP) with p1231 = 3 (only for synchronous motors).
See also: p0643 (Overvoltage protection for synchronous motors), p1231 (Armature short-circuit / DC braking con-
figuration)
F07433 Drive: Closed-loop control with encoder is not possible as the encoder has not been
unparked
Message value: %1
Drive object: SERVO
Cause: The changeover to closed-loop control with encoder is not possible as the encoder has not been unparked.
Remedy: - check whether the encoder firmware supports the "parking" function (r0481.6 = 1).
- upgrade the firmware.
Note:
For long-stator motors (p3870.0 = 1), the following applies:
The encoder must have completed the unparking procedure (r3875.0 = 1) before a changeover can be made to
closed-loop control with encoder. The encoder is unparked using binector input p3876 = 0/1 signal and remains until
a 0 signal in this state.
F07434 Drive: It is not possible to change the direction of rotation with the pulses enabled
Message value: -
Reaction: OFF2
Cause: A drive data set was selected - with the pulses enabled - which has a different parameterized direction of rotation
(p1821).
It is only possible to change the motor direction of rotation using p1821 when the pulses are inhibited.
Remedy: - change over the drive data set with the pulses inhibited.
- ensure that the changeover to a drive data set does not result in the motor direction of rotation being changed (i.e.
for these drive data sets, the same value must be in p1821).
See also: p1821
Faults and alarms
F07435 (N) Drive: Setting the ramp-function generator for sensorless vector control
Reaction: OFF2 (IASC/DCBRAKE, NONE, OFF1, OFF3)
Cause: During operation with sensorless vector control (r1407.1) the ramp-function generator was stopped (p1141) or
bypassed (p1122). An internal setting command of the ramp-function generator output caused the set setpoint speed
to be frozen or was not able to be realized.
Remedy: - de-activate the holding command for the ramp-function generator (p1141).
- do not bypass the ramp-function generator (p1122).
- suppress the fault (p2101, p2119). This is necessary if the ramp-function generator is held using jogging and the
speed setpoint is simultaneously inhibited (r0898.6).
Note:
For sensorless vector control it is not practical to read in the main setpoint of the speed control via p1155 or p1160
(p0922). In this case, the main setpoint should be injected before the ramp-function generator (p1070). The reason
for this is that the ramp-function generator output is automatically set when transitioning from closed-loop speed con-
trolled into open-loop speed controlled operation.
F07439 Drive: Higher current controller dynamic performance not possible
Message value: %1
Cause: The function "Current controller dynamics higher" (p1810.11 = 1) is selected, however is not supported by the power
unit (r0192.27 = 0) or by the safety technology without encoder (9506 = 1).
1:
- firmware of the booksize power unit is not up-to-date.
- blocksize or S120 combi power unit was used.
2:
- a sine-cosine encoder with encoderless safety technology is used.
Remedy: In general:
- Deselect the function "Current controller dynamics higher" (p1810.11 = 0) and if required, set the current, speed
and position controller again or calculate (p0340 = 4).
- If necessary, upgrade the firmware of the booksize power unit to a later version (version >= 4.4).
- Use a booksize power unit (version >= 4.4).
- Re-parameterize encoderless safety technology (9506 = 1) to safety technology with an encoder (p9506 = 0).
See also: r0192 (Power unit firmware properties), p1810 (Modulator configuration), p9506 (SI Motion function spec-
ification (Control Unit))
A07440 EPOS: Jerk time is limited
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The calculation of the jerk time Tr = max(p2572, p2573) / p2574 resulted in an excessively high value so that the jerk
time is internally limited to 1000 ms.
Note:
The alarm is also output if jerk limiting is not active.
Remedy: - increase the jerk limiting (p2574).
- reduce maximum acceleration or maximum deceleration (p2572, p2573).
See also: p2572 (EPOS maximum acceleration), p2573 (EPOS maximum deceleration), p2574 (EPOS jerk limiting)
Faults and alarms
A07441 LR: Save the position offset of the absolute encoder adjustment
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The status of the absolute encoder adjustment has changed.
In order to permanently save the determined position offset (p2525) it must be saved in a non-volatile fashion (p0971,
p0977).
This alarm automatically disappears after the offset has been saved.
See also: p2507 (LR absolute encoder adjustment status), p2525 (LR encoder adjustment, offset)
F07442 (A) LR: Multiturn does not match the modulo range
Message value: -
Reaction: OFF1 (OFF2, OFF3)
Cause: The ratio between the multiturn resolution and the modulo range (p2576) is not an integer number.
This results in the adjustment being set back, as the position actual value cannot be reproduced after power-
off/power-on.
Remedy: Make the ration between the multiturn resolution and the modulo range an integer number.
The ratio v is calculated as follows:
1. Motor encoder without position tracking:
v = (p0421 * p2506 * p0433 * p2505) / (p0432 * p2504 * p2576)
2. Motor encoder with position tracking for the measuring gear:
v = (p0412 * p2506 * p2505) / (p2504 * p2576)
3. Motor encoder with position tracking for the load gear:
v = (p2721 * p2506 * p0433) / (p0432 * p2576)
4. Motor encoder with position tracking for the load and measuring gear:
v = (p2721 * p2506) / p2576
5. Direct encoder without position tracking:
v = (p0421 * p2506 * p0433) / (p0432 * p2576)
6. Direct encoder with position tracking for the measuring gear:
v = (p0412 * p2506) / p2576
Note:
With position tracking, it is recommended that p0412 and p2721 are changed
See also: p0412, p0432, p0433, p2504, p2505, p2506, p2576, p2721
F07443 (A) LR: Reference point coordinate not in the permissible range
Message value: %1
Cause: The reference point coordinate received when adjusting the encoder via connector input p2599 lies outside the half
of the encoder range and cannot be set as actual axis position.
Maximum permissible value for the reference point coordinate.
Remedy: Set the reference point coordinate to a lower value than specified in the fault value.
See also: p2598 (EPOS reference point coordinate, signal source), p2599 (EPOS reference point coordinate value)
Faults and alarms
F07446 (A) Load gear: Position tracking cannot be reset
Message value: %1
Cause: The position tracking cannot be reset.
Remedy: Reset the position tracking as follows:
- select encoder commissioning (p0010 = 4).
- reset position tracking, position (p2720.2 = 1).
- de-select encoder commissioning (p0010 = 0).
The fault should then be acknowledged and, if necessary, the absolute encoder adjusted (p2507).
F07447 Load gear: Position tracking, maximum actual value exceeded
Message value: Component number: %1, encoder data set: %2, drive data set: %3
Reaction: NONE
Cause: When the position tracking of the load gear is configured, the drive/encoder (motor encoder) identifies a maximum
possible absolute position actual value (r2723) that can no longer be represented within 32 bits.
Maximum value: p0408 * p2721 * 2^p0419
ccbbaa hex
aa = encoder data set
bb = component number
cc = drive data set
See also: p0408, p0419 (Fine resolution absolute value Gx_XIST2 (in bits)), p2721 (Load gear, rotary absolute gear-
box, revolutions, virtual)
Remedy: - reduce the fine resolution (p0419).
- reduce the multiturn resolution (p2721).
See also: p0419 (Fine resolution absolute value Gx_XIST2 (in bits)), p2721 (Load gear, rotary absolute gearbox,
revolutions, virtual)
F07448 (A) Load gear: Position tracking, linear axis has exceeded the maximum range
Message value: -
Drive object: ENCODER, SERVO, VECTOR
Cause: For a configured linear axis/no modulo axis, the currently effective motor encoder (encoder 1) has exceeded the
maximum possible traversing range.
For the configured linear axis, the maximum traversing range is defined to be 64x (+/- 32x) of p0421. It should be
read in p2721 and interpreted as the number of load revolutions.
Note:
Only the motor encoder in the currently effective drive data set is monitored here. The actual effective drive data set
is displayed in x = r0051 and the corresponding motor encoder is specified in in p0187[x].
Remedy: The fault should be resolved as follows:
The fault should then be acknowledged and the absolute encoder adjusted.
Faults and alarms
F07449 (A) Load gear: Position tracking, actual position outside tolerance window
Message value: %1
Cause: When powered down, the currently effective motor encoder was moved through a distance greater than was param-
eterized in the tolerance window. It is possible that there is no longer any reference between the mechanical system
and encoder.
Note:
Only the motor encoder in the currently effective drive data set is monitored here. The actual effective drive data set
is displayed in x = r0051 and the corresponding motor encoder is specified in in p0187[x].
Deviation (difference) to the last encoder position in increments of the absolute value after the measuring gear - if
one is being used. The sign designates the traversing direction.
Note:
The deviation (difference) found is also displayed in r2724.
See also: p2722 (Load gear, position tracking tolerance window), r2724 (Load gear position difference)
Remedy: Reset the position tracking as follows:
The fault should then be acknowledged and, if necessary, the absolute encoder adjusted (p2507).
See also: p0010, p2507
F07450 (A) LR: Standstill monitoring has responded
Message value: -
Cause: After the standstill monitoring time (p2543) expired, the drive left the standstill window (p2542).
- position actual value inversion incorrectly set (p0410).
- standstill window set too small (p2542).
- standstill monitoring time set too low (p2543).
- position loop gain too low (p2538).
- position loop gain too high (instability/oscillation, p2538).
- mechanical overload.
- check the connecting cable, motor/drive converter (phase missing, interchange).
- when selecting motor identification, select tracking mode (BI: p2655[0] = 1 signal).
- when selecting function generator, select tracking mode (BI: p2655[0] = 1 signal) and de-activate position control
(BI:p2550 = 0 signal).
Remedy: Check the causes and resolve.
F07451 (A) LR: Position monitoring has responded
Message value: -
Cause: When the position monitoring time (p2545) expired, the drive had still not reached the positioning window (p2544).
- positioning window parameterized too small (p2544).
- position monitoring time parameterized too short (p2545).
- position loop gain too low (p2538).
- position loop gain too high (instability/oscillation, p2538).
- drive mechanically locked.
Faults and alarms
F07452 (A) LR: Following error too high
Message value: -
Cause: The difference between the position setpoint position actual value (following error dynamic model, r2563) is greater
than the tolerance (p2546).
- the drive torque or accelerating capacity exceeded.
- position measuring system fault.
- position control sense incorrect.
- mechanical system locked.
- excessively high traversing velocity or excessively high position reference value (setpoint) differences
F07453 LR: Position actual value preprocessing error
Message value: -
Cause: An error has occurred during the position actual value preprocessing.
Remedy: Check the encoder for the position actual value preprocessing.
See also: p2502 (LR encoder assignment)
A07454 LR: Position actual value preprocessing does not have a valid encoder
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: One of the following problems has occurred with the position actual value preprocessing:
- an encoder is not assigned for the position actual value preprocessing (p2502 = 0).
- an encoder is assigned, but no encoder data set (p0187 = 99 or p0188 = 99 or p0189 = 99).
- an encoder an an encoder data set have been assigned, however, the encoder data set does not contain any
encoder data (p0400 = 0) or invalid data (e.g. p0408 = 0).
Remedy: Check the drive data sets, encoder data sets and encoder assignment.
See also: p0187 (Encoder 1 encoder data set number), p0188 (Encoder 2 encoder data set number), p0189
(Encoder 3 encoder data set number), p0400 (Encoder type selection), p2502 (LR encoder assignment)
A07455 EPOS: Maximum velocity limited
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The maximum velocity (p2571) is too high to correctly calculate the modulo correction.
Within the sampling time for positioning (p0115[5]), with the maximum velocity, a maximum of the half modulo length
must be moved through. p2571 was limited to this value.
Remedy: - reduce the maximum velocity (p2571).
- increase the sampling time for positioning (p0115[5]).
Faults and alarms
A07456 EPOS: Setpoint velocity limited
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The actual setpoint velocity is greater than the parameterized maximum velocity (p2571) and is therefore limited.
Remedy: - check the entered setpoint velocity.
- reduce the velocity override (CI: p2646).
- increase the maximum velocity (p2571).
- check the signal source for the externally limited velocity (CI: p2594).
A07457 EPOS: Combination of input signals illegal
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: An illegal combination of input signals that are simultaneously set was identified.
0: Jog 1 and jog 2 (p2589, p2590).
1: Jog 1 or jog 2 and direct setpoint input/MDI (p2589, p2590, p2647).
2: Jog 1 or jog 2 and start referencing (p2589, p2590, p2595).
3: Jog 1 or jog 2 and activate traversing task (p2589, p2590, p2631).
4: Direct setpoint input/MDI and starting referencing (p2647, p2595).
5: Direct setpoint input/MDI and activate traversing task (p2647, p2631).
6: Start referencing and activate traversing task (p2595, p2631).
Remedy: Check the appropriate input signals and correct.
F07458 EPOS: Reference cam not found
Message value: -
Cause: After starting the search for reference, the axis moved through the maximum permissible distance to search for the
reference cam without actually finding the reference cam.
Remedy: - check the "reference cam" binector input (BI: p2612).
- check the maximum permissible distance to the reference cam (p2606).
- if axis does not have any reference cam, then set p2607 to 0.
See also: p2606 (EPOS search for reference, reference cam, maximum distance), p2607 (EPOS search for refer-
ence, reference cam present), p2612 (EPOS search for reference, reference cam)
F07459 EPOS: No zero mark
Message value: -
Cause: After leaving the reference cam, the axis has traversed the maximum permissible distance between the reference
cam and zero mark without finding the zero mark.
Remedy: - check the encoder regarding the zero mark
- check the maximum permissible distance between the reference cam and zero mark (p2609).
- use an external encoder zero mark (equivalent zero mark) (p0495).
See also: p0495 (Equivalent zero mark, input terminal), p2609 (EPOS search for reference, max. distance ref. cam
and zero mark)
Faults and alarms
F07460 EPOS: End of reference cam not found
Message value: -
Cause: During the search for reference, when the axis reached the zero mark it also reached the end of the traversing range
without detecting an edge at the binector input "reference cam" (BI: p2612).
Maximum traversing range: -2147483648 [LU] ... -2147483647 [LU]
Remedy: - check the "reference cam" binector input (BI: p2612).
- repeat the search for reference.
See also: p2612 (EPOS search for reference, reference cam)
A07461 EPOS: Reference point not set
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: When starting a traversing block/direct setpoint input, a reference point is not set (r2684.11 = 0).
Remedy: Reference the system (search for reference, flying referencing, set reference point).
A07462 EPOS: Selected traversing block number does not exist
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A traversing block selected via BI: p2625 to BI: p2630 was started via BI: p2631 = 0/1 edge "Activate traversing task".
- the number of the started traversing block is not contained in p2616[0...n].
- the started traversing block is suppressed.
Number of the selected traversing block that is also not available.
Remedy: - correct the traversing program.
- select an available traversing block number.
A07463 (F) EPOS: External block change not requested in the traversing block
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: For a traversing block with the block change enable CONTINUE_EXTERNAL_ALARM, the external block change
was not requested.
Number of the traversing block.
Remedy: Resolve the reason as to why the edge is missing at binector input (BI: p2632).
F07464 EPOS: Traversing block is inconsistent
Message value: %1
Cause: The traversing block does not contain valid information.
Number of the traversing block with invalid information.
Remedy: Check the traversing block and where relevant, take into consideration alarms that are present.
Faults and alarms
A07465 EPOS: Traversing block does not have a subsequent block
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: There is no subsequent block in the traversing block.
Number of the traversing block with the missing subsequent block.
Remedy: - parameterize this traversing block with the block change enable END.
- parameterize additional traversing blocks with a higher block number and for the last block, using the block change
enable END.
A07466 EPOS: Traversing block number assigned a multiple number of times
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The same traversing block number was assigned a multiple number of times.
Number of the traversing block that was assigned a multiple number of times.
Remedy: Correct the traversing blocks.
A07467 EPOS: Traversing block has illegal task parameters
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The task parameter in the traversing block contains an illegal value.
Number of the traversing block with an illegal task parameter.
Remedy: Correct the task parameter in the traversing block.
A07468 EPOS: Traversing block jump destination does not exist
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: In a traversing block, a jump was programmed to a non-existent block.
Number of the traversing block with a jump destination that does not exist.
Remedy: - correct the traversing block.
- add the missing traversing block.
A07469 EPOS: Traversing block < target position < software limit switch minus
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the specified absolute target position lies outside the range limited by the software limit switch
minus.
Number of the traversing block with illegal target position.
- change software limit switch minus (CI: p2578, p2580).
Faults and alarms
A07470 EPOS: Traversing block> target position > software limit switch plus
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the specified absolute target position lies outside the range limited by the software limit switch
plus.
- change software limit switch plus (CI: p2579, p2581).
A07471 EPOS: Traversing block target position outside the modulo range
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the target position lies outside the modulo range.
Remedy: - in the traversing block, correct the target position.
- change the modulo range (p2576).
A07472 EPOS: Traversing block ABS_POS/ABS_NEG not possible
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the positioning mode ABS_POS or ABS_NEG were parameterized with the modulo correction
not activated.
Number of the traversing block with the illegal positioning mode.
Remedy: Correct the traversing block.
A07473 (F) EPOS: Beginning of traversing range reached
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: When traversing, the axis has moved to the traversing range limit.
Remedy: Move away in the positive direction.
Reaction upon F: OFF1 (OFF2, OFF3)
A07474 (F) EPOS: End of traversing range reached
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: When traversing, the axis has moved to the traversing range limit.
Remedy: Move away in the negative direction.
Faults and alarms
F07475 (A) EPOS: Target position < start of traversing range
Message value: -
Cause: The target position for relative traversing lies outside the traversing range.
Remedy: Correct the target position.
F07476 (A) EPOS: Target position > end of the traversing range
Message value: -
Cause: The target position for relative traversing lies outside the traversing range.
Remedy: Correct the target position.
A07477 (F) EPOS: Target position < software limit switch minus
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: In the actual traversing operation, the target position is less than the software limit switch minus.
Remedy: - correct the target position.
See also: p2578 (EPOS software limit switch minus signal source), p2580 (EPOS software limit switch minus), p2582
(EPOS software limit switch activation)
A07478 (F) EPOS: Target position > software limit switch plus
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: In the actual traversing operation, the target position is greater than the software limit switch plus.
See also: p2579 (EPOS software limit switch plus signal source), p2581 (EPOS software limit switch plus), p2582
A07479 EPOS: Software limit switch minus reached
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The axis is at the position of the software limit switch minus. An active traversing block was interrupted.
Faults and alarms
A07480 EPOS: Software limit switch plus reached
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The axis is at the position of the software limit switch plus. An active traversing block was interrupted.
F07481 (A) EPOS: Axis position < software limit switch minus
Message value: -
Cause: The actual position of the axis is less than the position of the software limit switch minus.
F07482 (A) EPOS: Axis position > software limit switch plus
Message value: -
Cause: The actual position of the axis is greater than the position of the software limit switch plus.
A07483 EPOS: Travel to fixed stop clamping torque not reached
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The fixed stop in the traversing block was reached without the clamping torque/clamping force having been achieved.
Remedy: - Check the maximum torque-generating current (r1533).
- check the torque limits (p1520, p1521).
- check the power limits (p1530, p1531).
- check the BICO interconnections of the torque limits (p1522, p1523, p1528, p1529).
Faults and alarms
F07484 EPOS: Fixed stop outside the monitoring window
Message value: -
Cause: In the "fixed stop reached" state, the axis has moved outside the defined monitoring window (p2635).
Remedy: - check the monitoring window (p2635).
- check the mechanical system.
F07485 (A) EPOS: Fixed stop not reached
Message value: -
Cause: In a traversing block with the task FIXED STOP, the end position was reached without detecting a fixed stop.
Remedy: - check the traversing block and locate the target position further into the workpiece.
- check the "fixed stop reached" control signal (p2637).
- if required, reduce the maximum following error window to detect the fixed stop (p2634).
A07486 EPOS: Intermediate stop missing
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: In the modes "traversing blocks" or "direct setpoint input/MDI" at the start of motion, the binector input "no interme-
diate stop/intermediate stop" (BI: p2640) did not have a 1 signal.
Remedy: Connect a 1 signal to the binector input "no intermediate stop/intermediate stop" (BI: p2640) and re-start motion.
See also: p2640 (EPOS intermediate stop (0 signal))
A07487 EPOS: Reject traversing task missing
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: In the modes "traversing blocks" or "direct setpoint input/MDI" at the start of motion, the binector input "do not reject
traversing task/reject traversing task" (BI: p2641) does not have a 1 signal.
Remedy: Connect a 1 signal to the binector input "do not reject traversing task/reject traversing task" (BI: p2641) and restart
motion.
See also: p2641 (EPOS reject traversing task (0 signal))
F07488 EPOS: Relative positioning not possible
Message value: -
Cause: In the mode "direct setpoint input/MDI", for continuous transfer (p2649 = 1) relative positioning was selected (BI:
p2648 = 0 signal).
Remedy: Check the control.
Faults and alarms
A07489 EPOS: Reference point correction outside the window
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: For the function "flying referencing" the difference between the measured position at the measuring probe and the
reference point coordinate lies outside the parameterized window.
Remedy: - check the mechanical system.
- check the parameterization of the window (p2602).
F07490 EPOS: Enable signal withdrawn while traversing
Message value: -
Cause: - for a standard assignment, another fault may have occurred as a result of withdrawing the enable signals.
- the drive is in the "switching on inhibited" state (for a standard assignment).
Remedy: - set the enable signals or check the cause of the fault that first occurred and then result (for a standard assignment).
- check the assignment to enable the basic positioning function.
F07491 (A) EPOS: STOP cam minus reached
Message value: -
Reaction: OFF3
Cause: A 0 signal was detected at binector input BI: p2569, i.e. the STOP cam minus was reached.
For a positive traversing direction, the STOP cam minus was reached - i.e. the wiring of the STOP cam is incorrect.
See also: p2569 (EPOS STOP cam minus)
Remedy: - leave the STOP cam minus in the positive traversing direction and return the axis to the valid traversing range.
- check the wiring of the STOP cam.
F07492 (A) EPOS: STOP cam plus reached
Message value: -
Reaction: OFF3
Cause: A 0 signal was detected at binector input BI: p2570, i.e. the STOP cam plus was reached.
For a negative traversing direction, the STOP cam plus was reached - i.e. the wiring of the STOP cam is incorrect.
See also: p2570 (EPOS STOP cam plus)
Remedy: - leave the STOP cam plus in the negative traversing direction and return the axis to the valid traversing range.
- check the wiring of the STOP cam.
F07493 LR: Overflow of the value range for position actual value
Message value: %1
Cause: The value range (-2147483648 ... 2147483647) for the position actual value representation was exceeded.
When the overflow occurs, the "referenced" or "adjustment absolute measuring system" status is reset.
Faults and alarms
1: The position actual value (r2521) has exceeded the value range.
2: The encoder position actual value Gn_XIST2 (r0483) or the absolute value after the load gear (r2723) has
exceeded the value range.
3: The maximum encoder value times the factor to convert the absolute position (r0483 and/or r2723) from incre-
ments to length units (LU) has exceeded the value range for displaying the position actual value.
Remedy: If required, reduce the traversing range or position resolution (p2506).
Increase the fine resolution of absolute position actual value (p0419).
Note for fault value = 3:
If the value for the maximum possible absolute position (LU) is greater than 4294967296, then it is not possible to
make an adjustment due to an overflow.
For rotary encoders, the maximum possible absolute position (LU) is calculated as follows:
1. Motor encoder without position tracking
p2506 * p0433 * p2505 / (p0432 * p2504)
p2506 * p0433 * p2505 * p0421 / (p0432 * p2504) for multiturn encoders
2. Motor encoder with position tracking for measuring gear:
p2506 * p0412 * p2505 / p2504
3. Motor encoder with position tracking for load gear
p2506 * p2721 * p0433 / p0432
4. Motor encoder with position tracking for load and measuring gear
p2506 * p2721
5. Direct encoder without position tracking
p2506 * p0433 / p0432
p2506 * p0433 * p0421 / p0432 for multiturn encoders
6. Direct encoder with position tracking for measuring gear
p2506 * p0412
F07494 LR: Drive Data Set changeover in operation
Message value: -
Cause: A Drive Data Set changeover (DDS) with a change of the mechanical relationships (p2503 ... 2506), direction of rota-
tion (p1821) or the encoder assignment (p2502) was requested in operation.
Note:
DDS: Drive Data Set
Remedy: To changeover the drive data set, initially, exit the "operation" mode.
A07495 (F) LR: Reference function interrupted
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: An activated reference function (reference mark search or measuring probe evaluation) was interrupted.
- an encoder fault has occurred (Gn_ZSW.15 = 1).
- position actual value was set during an activated reference function.
- simultaneously activate reference mark search and measuring probe evaluation (BI: p2508 and BI: p2509 = 1 sig-
nal).
- activated reference function (reference mark search or measuring probe evaluation) was de-activated (BI: p2508
and BI: p2509 = 0 signal).
Remedy: - check the causes and resolve.
- reset the control (BI: p2508 and BI: p2509 = 0 signal) and activate the requested function.
Faults and alarms
A07496 EPOS: Enable not possible
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: It is not possible to enable the basic positioner because at least one signal is missing.
1: EPOS enable missing (BI: p2656).
2: Position actual value, valid feedback signal missing (BI: p2658).
See also: p2656 (EPOS enable basic positioner), p2658 (EPOS pos. actual value valid, feedback signal)
Remedy: Check the appropriate binector inputs and signals.
A07497 LR: Position setting value activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The position actual value is set to the value received via CI: p2515while BI: p2514 = 1 signal. A possible system
deviation cannot be corrected.
The alarm automatically disappears with BI: p2514 = 0 signal.
A07498 (F) LR: Measuring probe evaluation not possible
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: When evaluating the measuring probe, an error occurred.
6: The input terminal for the measuring probe is not set.
4098: Error when initializing the measuring probe.
4100: The measuring pulse frequency is too high.
> 50000: The measuring clock cycle is not a multiple integer of the position controller clock cycle.
Remedy: De-activate the measuring probe evaluation (BI: p2509 = 0 signal).
Re alarm value = 6:
Set the input terminal for the measuring probe (p0488, p0489 or p2517, p2518).
Check the Control Unit hardware.
Reduce the frequency of the measuring pulses at the measuring probe.
Re alarm value > 50000:
Set the clock cycle ratio of the measuring clock cycle to the position controller clock cycle to an integer multiple.
To do this, the currently effective measuring clock cycle can be determined from the alarm value as follows:
Tmeas [125 s] = alarm value - 50000
With PROFIBUS, the measuring clock cycle corresponds to the PROFIBUS clock cycle (r2064[1]).
Without PROFIBUS, the measuring clock cycle is an internal cycle time that cannot be influenced.
Faults and alarms
F07499 (A) EPOS: Reversing cam approached with the incorrect traversing direction
Message value: -
Reaction: OFF3
Cause: The reversing cam MINUS was approached in the positive traversing direction or the reversing cam PLUS was
approached in the negative traversing direction.
See also: p2613 (EPOS search for reference reversing cam minus), p2614 (EPOS search for reference reversing
cam plus)
Remedy: - check the wiring of the reversing cam (BI: p2613, BI: p2614).
- check the traversing direction to approach the reversing cam.
F07500 Drive: Power unit data set PDS not configured
Message value: Drive data set: %1
Reaction: NONE
Cause: Only for controlled line supply infeed/regenerative feedback units:
The power unit data set was not configured - this means that a data set number was not entered into the drive data
set.
Drive data set number of p0185.
Remedy: The index of the power unit data set associated with the drive data set should be entered into p0185.
F07501 Drive: Motor Data Set MDS not configured
Reaction: OFF2
Cause: Only for power units:
The motor data set was not configured - this means that a data set number was not entered into the associated drive
data set.
The fault value includes the drive data set number of p0186.
Remedy: The index of the motor data set associated with the drive data set should be entered into p0186.
See also: p0186 (Motor Data Sets (MDS) number)
F07502 Drive: Encoder Data Set EDS not configured
Reaction: OFF2
Cause: Only for power units:
The encoder data set was not configured - this means that a data set number was not entered into the associated
drive data set.
The fault value includes the drive data set number of p0187, p0188 and p0189.
The fault value is increased by 100 * encoder number (e.g. for p0189: Fault value 3xx with xx = data set number).
Remedy: The index of the encoder data set associated with the drive data set should be entered into p0187 (1st encoder),
p0188 (2nd encoder) and p0189 (3rd encoder).
Faults and alarms
F07503 EPOS: STOP cam approached with the incorrect traversing direction
Message value: %1
Reaction: Servo: NONE (OFF1, OFF2, OFF3)
Vector: NONE
Cause:
Remedy:
A07504 Drive: Motor data set is not assigned to a drive data set
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A motor data set is not assigned to a drive object.
All of the existing motor data sets in the drive data sets must be assigned using the MDS number (p0186[0...n]).
There must be at least as many drive data sets as motor data sets.
Number of the motor data set that has not been assigned.
Remedy: In the drive data sets, assign the non-assigned motor data set using the MDS number (p0186[0...n]).
- check whether all of the motor data sets are assigned to drive data sets.
- if required, delete superfluous motor data sets.
- if required, set up new drive data sets and assign to the corresponding motor data sets.
See also: p0186 (Motor Data Sets (MDS) number)
A07505 EPOS: Travel to fixed stop not possible in the V/f control mode
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The traversing task "travel to fixed stop" is not possible in the V/f control mode.
Number of the traversing block with an illegal task parameter.
See also: p1300 (Open-loop/closed-loop control operating mode), p2621 (EPOS traversing block task)
Remedy: Change the EPOS traversing block task type or change the open-loop/closed-loop control mode.
See also: p1300 (Open-loop/closed-loop control operating mode), p2621 (EPOS traversing block task)
F07509 Drive: Component number missing
Message value: %1
Reaction: OFF2
Cause: A Drive Data Set (DDS) is assigned to a Motor Data Set (MDS) or Encoder Data Set (EDS) that does not have a
component number.
nnmmmxxyyy
nn: Number of the MDS/EDS.
mmm: Parameter number of the missing component number.
xx: Number of the DDS that is assigned to the MDS/EDS.
yyy: Parameter number that references the MDS/EDS.
Example:
p0186[7] = 5: DDS 7 is assigned MDS 5.
p0131[5] = 0: There is no component number set in MDS 5.
Alarm value = 0513107186
Remedy: In the drive data sets, no longer assign MDS/EDS using p0186, p0187, p0188, p0189 or set a valid component num-
ber.
See also: p0131, p0141, p0142, p0186, p0187, p0188, p0189
Faults and alarms
F07510 Drive: Identical encoder in the drive data set
Message value: %1
Reaction: OFF2
Cause: More than one encoder with identical component number is assigned to a single drive data set. In one drive data set,
it is not permissible that identical encoders are operated together.
1000 * first identical encoder + 100 * second identical encoder + drive data set.
Example:
Fault value = 1203 means:
In drive data set 3, the first (p0187[3]) and second encoder (p0188[3]) are identical.
Remedy: Assign the drive data set to different encoders.
See also: p0141, p0187 (Encoder 1 encoder data set number), p0188 (Encoder 2 encoder data set number), p0189
(Encoder 3 encoder data set number)
F07511 Drive: Encoder used a multiple number of times
Message value: %1
Reaction: NONE
Cause: Each encoder may only be assigned to one drive and within a drive must - in each drive data set - either always be
encoder 1, always encoder 2 or always encoder 3. This unique assignment has been violated.
The two parameters in coded form, that refer to the same component number.
First parameter:
Index: First and second decimal place (99 for EDS, not assigned DDS)
Parameter number: Third decimal place (1 for p0187, 2 for p0188, 3 for p0189, 4 for EDS not assigned DDS)
Drive number: Fourth and fifth decimal place
Second parameter:
Index: Sixth and seventh decimal place (99 for EDS, not assigned DDS)
Parameter number: Eighth decimal place (1 for p0187, 2 for p0188, 3 for p0189, 4 for EDS, not assigned DDS)
Drive number: Ninth and tenth decimal place
See also: p0141
Remedy: Correct the double use of a component number using the two parameters coded in the fault value.
F07512 Drive: Encoder data set changeover cannot be parameterized
Message value: %1
Reaction: OFF2
Cause: Using p0141, a changeover of the encoder data set is prepared that is illegal. In this firmware release, an encoder
data set changeover is only permitted for the components in the actual topology.
Incorrect EDS data set number.
(Encoder 3 encoder data set number)
Remedy: Every encoder data set must be assigned its own dedicated DRIVE-CLiQ socket. The component numbers of the
encoder interfaces (p0141) must have different values within a drive object.
The following must apply:
p0141[0] not equal to p0141[1] not equal to ... not equal to p0141[n]
Faults and alarms
A07514 (N) Drive: Data structure does not correspond to the interface module
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The interface mode "SIMODRIVE 611 universal" was set (p2038 = 1) and the data structure does not correspond to
this mode.
For the data structure, the following rule must be complied with.
Within the group of 8 drive data sets, the assignment to the motor data set must be set the same:
p0186[0] = p0186[1] = ... = p0186[7]
p0186[8] = p0186[9] = ... = p0186[15]
p0186[16] = p0186[17] = ... = p0186[23]
p0186[24] = p0186[25] = ... = p0186[31]
See also: p0180 (Number of Drive Data Sets (DDS)), p0186 (Motor Data Sets (MDS) number), p2038 (IF1 PROFId-
rive STW/ZSW interface mode)
Remedy: - structure the data according to the rules of the "SIMODRIVE 611 universal" interface mode.
- check the interface mode (p2038).
F07515 Drive: Power unit and motor incorrectly connected
Message value: %1
Reaction: OFF2
Cause: A power unit (via PDS) was assigned to a motor (via MDS) in a drive data set that is not connected in the target
topology.
Number of the incorrectly parameterized drive data set.
Remedy: - assign the drive data set to a combination of motor and power unit permitted by the target topology.
- adapt the target topology.
See also: p0121 (Power unit component number), p0131 (Motor component number), p0186 (Motor Data Sets
(MDS) number)
F07516 Drive: Re-commission the data set
Message value: %1
Reaction: NONE
Cause: The assignment between the drive data set and motor data set (p0186) or between the drive data set and the
encoder data set was modified (p0187). This is the reason that the drive data set must re-commissioned.
Drive data set to be re-commissioned.
Remedy: Commission the drive data set specified in the fault value (r0949).
F07517 Drive: Encoder data set changeover incorrectly parameterized
Message value: %1
Reaction: OFF2
Cause: An MDS cannot have different motor encoders in two different DDS.
The following parameterization therefore results results in an error:
p0186[0] = 0, p0187[0] = 0
p0186[0] = 0, p0187[0] = 1
The lower 16 bits indicate the first DDS and the upper 16 bits indicate the second DDS.
Faults and alarms
Remedy: If you wish to operate a motor once with one motor encoder and then another time with the other motor encoder,
then you must set up two different MDSs, in which the motor data are the same.
Example:
p0186[0] = 0, p0187[0] = 0
p0186[0] = 1, p0187[0] = 1
F07518 Drive: Motor data set changeover incorrectly parameterized
Message value: %1
Reaction: NONE
Cause: The system has identified that two motor data sets were incorrectly parameterized.
Parameter r0313 (calculated from p0314, p0310, p0311), r0315 and p1982 may only have different values if the
motor data sets are assigned different motors. p0827 is used to assign the motors and/contactors.
It is not possible to toggle between motor data sets.
xxxxyyyy:
xxxx: First DDS with assigned MDS, yyyy: Second DDS with assigned MDS
Remedy: Correct the parameterization of the motor data sets.
A07519 Drive: Motor changeover incorrectly parameterized
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: With the setting p0833.0 = 1, a motor changeover via the application is selected. This is the reason that p0827 must
have different values in the appropriate motor data set.
xxxxyyyy:
xxxx: First MDS, yyyy: Second MDS
Remedy: - parameterize the appropriate motor data sets differently (p0827).
- select the setting p0833.0 = 0 (motor changeover via the drive).
A07520 Drive: Motor cannot be changed over
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The motor cannot be changed over.
1:
The contactor for the motor that is presently active cannot be opened, because for a synchronous motor, the speed
(r0063) is greater than the speed at the start of field weakening (p3048). As long as r0063 > p0348, the current in
the motor does not decay in spite of the pulses being suppressed.
2:
The "contactor opened" feedback signal was not detected within 1 s.
3:
The "contactor closed" feedback signal was not detected within 1 s.
Set the speed lower than the speed at the start of field weakening (r0063 < p0348).
Re alarm value = 2, 3:
Check the feedback signals of the contactor involved.
Faults and alarms
A07530 Drive: Drive Data Set DDS not present
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected drive data set is not available (p0837 > p0180). The drive data set was not changed over.
See also: p0180, p0820, p0821, p0822, p0823, p0824, r0837
Remedy: - select the existing drive data set.
- set up additional drive data sets.
A07531 Drive: Command Data Set CDS not present
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected command data set is not available (p0836 > p0170). The command data set was not changed over.
See also: p0810 (Command data set selection CDS bit 0), p0811 (Command data set selection CDS bit 1), r0836
(Command Data Set CDS selected)
Remedy: - select the existing command data set.
- set up additional command data sets.
A07541 Drive: Data set changeover not possible
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The selected drive data set changeover and the assigned motor changeover are not possible and are not carried out.
For synchronous motors, the motor contactor may only be switched for actual speeds less than the speed at the start
of field weakening (r0063 < p0348).
See also: r0063, p0348
Remedy: Reduce the speed below the speed at the start of field weakening.
A07550 (F, N) Drive: Not possible to reset encoder parameters
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: When carrying out a factory setting (e.g. using p0970 = 1), it was not possible to reset the encoder parameters. The
encoder parameters are directly read out of the encoder via DRIVE-CLiQ.
Component number of the encoder involved.
Remedy: - repeat the operation.
Reaction upon F: NONE (IASC/DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
F07551 Drive encoder: No commutation angle information
Message value: Fault cause: %1, drive data set: %2
Reaction: OFF2 (IASC/DCBRAKE)
Cause: The commutation angle information is missing. This means that synchronous motors cannot be controlled (closed-
loop control)
Faults and alarms
yyyyxxxx dec: yyyy = fault cause, xxxx = drive data set
yyyy = 1 dec:
The motor encoder used does not supply an absolute commutation angle.
yyyy = 2 dec:
The selected ratio of the measuring gear does not match the motor pole pair number.
- check the encoder parameterization (p0404).
- use an encoder with track C/D, EnDat interface of Hall sensors.
- use an encoder with sinusoidal A/B track for which the motor pole pair number (r0313) is an integer multiple of the
encoder pulse number (p0408).
- activate the pole position identification routine (p1982 = 1).
Re fault cause = 2:
- the quotient of the pole pair number divided by the ratio of the measuring gear must be an integer number: (p0314
* p0433) / p0432.
Note:
For operation with track C/D, this quotient must be less than 8.
See also: p0402 (Gearbox type selection), p0404 (Encoder configuration effective), p0432 (Gearbox factor, encoder
revolutions), p0433 (Gearbox factor, motor/load revolutions)
F07552 (A) Drive encoder: Encoder configuration not supported
Message value: Fault cause: %1, component number: %2, encoder data set: %3
Cause: The requested encoder configuration is not supported. Only bits may be requested in p0404 that are signaled as
being supported by the encoder evaluation in r0456.
ccccbbaa hex: cccc = fault cause, bb = component number, aa = encoder data set
cccc = 1: encoder sin/cos with absolute track (is supported by SME25).
cccc = 3: Squarewave encoder (this is supported by SMC30).
cccc = 4: sin/cos encoder (this is supported by SMC20, SMI20, SME20, SME25).
cccc = 10: DRIVE-CLiQ encoder (is supported by DQI).
cccc = 12: sin/cos encoder with reference mark (this is supported by SME20).
cccc = 15: Commutation with zero mark for separately-excited synchronous motors with VECTORMV.
cccc = 23: Resolver (this is supported by SMC10, SMI10).
cccc = 65535: Other function (compare r0456 and p0404).
See also: p0404 (Encoder configuration effective), r0456 (Encoder configuration supported)
Remedy: - check the encoder parameterization (p0400, p0404).
- use the matching encoder evaluation (r0456).
F07553 (A) Drive encoder: Sensor Module configuration not supported
Message value: Encoder data set: %1, first incorrect bit: %2, incorrect parameter: %3
Cause: The Sensor Module does not support the requested configuration.
For incorrect p0430 (cc = 0), the following applies:
- In p0430 (requested functions), at least 1 bit was set that is not set in r0458 (supported functions) (exception: Bit
19, 28, 29, 30, 31).
- p1982 > 0 (pole position identification requested), but r0458.16 = 0 (pole position identification not supported).
For incorrect p0437 (cc = 1), the following applies:
- In p0437 (requested functions), at least 1 bit was set that is not set in r0459 (supported functions).
ddccbbaa hex
aa: encoder data set number
bb: first incorrect bit
Faults and alarms
cc: incorrect parameter
cc = 0: incorrect parameter is p0430
cc = 1: incorrect parameter is p0437
cc = 2: incorrect parameter is r0459
dd: reserved (always 0)
- check the pole position identification routine (p1982).
- use the matching encoder evaluation (r0458, r0459).
See also: p0430, p0437, r0458, r0459, p1982
F07555 (A) Drive encoder: Configuration position tracking
Message value: Component number: %1, encoder data set: %2, drive data set: %3, fault cause: %4
Cause: For position tracking, the configuration is not supported.
Position tracking can only be activated for absolute encoders.
For linear axes, it is not possible to simultaneously activate the position tracking for load and measuring gears.
ddccbbaa hex
cc = drive data set
dd = fault cause
dd = 00 hex = 0 dec
An absolute encoder is not being used.
dd = 01 hex = 1 dec
Position tracking cannot be activated because the memory of the internal NVRAM is not sufficient or a Control Unit
does not have an NVRAM.
dd = 02 hex = 2 dec
For a linear axis, the position tracking was activated for the load and measuring gear.
dd = 03 hex = 3 dec
Position tracking cannot be activated because position tracking with another gear ratio, axis type or tolerance window
has already been detected for this encoder data set.
dd = 04 hex = 4 dec
A linear encoder is being used.
See also: p0404 (Encoder configuration effective), p0411 (Measuring gear, configuration)
Remedy: - use an absolute encoder.
- if necessary, de-select the position tracking (p0411 for the measuring gear, p2720 for the load gear).
- use a Control Unit with sufficient NVRAM.
- Only activate position tracking of the load gear in the same encoder data set if the gear ratio (p2504, p2505), axis
type (p2720.1) and tolerance window (p2722) are also the same.
F07556 Measuring gear: Position tracking, maximum actual value exceeded
Message value: Component number: %1, encoder data set: %2
Reaction: NONE
Cause: When the position tracking of the measuring gear is configured, the drive/encoder identifies a maximum possible
absolute position actual value (r0483) that cannot be represented within 32 bits.
Maximum value: p0408 * p0412 * 2^p0419
aaaayyxx hex: yy = component number, xx = encoder data set
See also: p0408, p0412 (Measuring gear, absolute encoder, rotary, revolutions, virtual), p0419 (Fine resolution
absolute value Gx_XIST2 (in bits))
Faults and alarms
Remedy: - reduce the fine resolution (p0419).
- reduce the multiturn resolution (p0412).
See also: p0412 (Measuring gear, absolute encoder, rotary, revolutions, virtual), p0419 (Fine resolution absolute
value Gx_XIST2 (in bits))
A07557 (F) Encoder 1: Reference point coordinate not in the permissible range
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The reference point coordinate received when adjusting the encoder via connector input CI:p2599 lies outside the
half of the encoder range and cannot be set as actual axis position. The maximum permissible value is displayed in
the supplementary information.
Remedy: Set the reference point coordinate less than the value from the supplementary information.
See also: p2598 (EPOS reference point coordinate, signal source)
Message value: %1
Reaction: NONE
Acknowledge: NONE
Message value: %1
Reaction: NONE
Acknowledge: NONE
F07560 Drive encoder: Number of pulses is not to the power of two
Message value: Encoder data set: %1
Cause: For rotary absolute encoders, the pulse number in p0408 must be to the power of two.
The fault value includes the encoder data set number involved.
Remedy: - check the parameterization (p0408, p0404.1, r0458.5).
- upgrade the Sensor Module firmware if necessary
Faults and alarms
F07561 Drive encoder: Number of multiturn pulses is not to the power of two
Cause: The multiturn resolution in p0421 must be to the power of two.
The fault value includes the encoder data set number involved.
Remedy: - check the parameterization (p0421, p0404.1, r0458.5).
- upgrade the Sensor Module firmware if necessary
F07562 (A) Drive, encoder: Position tracking, incremental encoder not possible
Message value: Fault cause: %1, component number: %2, encoder data set: %3
Cause: The requested position tracking for incremental encoders is not supported.
ccccbbaa hex
cccc = fault cause
cccc = 00 hex = 0 dec
The encoder type does not support the "Position tracking incremental encoder" function.
Position tracking cannot be activated because the memory of the internal NVRAM is not sufficient or a Control Unit
does not have an NVRAM.
A linear encoder is used that does not support the "position tracking" function.
See also: p0404 (Encoder configuration effective), p0411 (Measuring gear, configuration), r0456 (Encoder configu-
ration supported)
- use a Control Unit with sufficient NVRAM.
- if required, de-select position tracking for the incremental encoder (p0411.3 = 0).
A07565 (F, N) Drive: Encoder error in PROFIdrive encoder interface 1
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: An encoder error was signaled for encoder 1 via the PROFIdrive encoder interface (G1_ZSW.15).
Error code from G1_XIST2, refer to the description regarding r0483.
Note:
This alarm is only output if p0480[0] is not equal to zero.
Remedy: Acknowledge the encoder error using the encoder control word (G1_STW.15 = 1).
Faults and alarms
Message value: %1
Reaction: NONE
Acknowledge: NONE
Note:
Message value: %1
Reaction: NONE
Acknowledge: NONE
Note:
A07569 (F) Encoder could not be identified
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: During encoder identification (waiting) with p0400 = 10100, the encoder could not be identified.
Either the wrong encoder has been installed or no encoder has been installed, the wrong encoder cable has been
connected or no encoder cable has been connected to the Sensor Module, or the DRIVE-CLiQ component has not
been connected to DRIVE-CLiQ.
Note:
Encoder identification must be supported by the encoder and is possible in the following cases:
- Encoder with EnDat interface
- Motor with DRIVE-CLiQ
Remedy: - check and, if necessary, connect the encoder and/or encoder cable.
- check and, if necessary, establish the DRIVE-CLiQ connection.
- in the case of encoders that cannot be identified (e.g. encoders without EnDat interface), the correct encoder type
must be entered in p0400.
Faults and alarms
F07575 Drive: Motor encoder not ready
Message value: -
Servo: OFF2 (ENCODER)
Vector: OFF2 (ENCODER)
Cause: The motor encoder signals that it is not ready.
- initialization of encoder 1 (motor encoder) was unsuccessful.
- the function "parking encoder" is active (encoder control word G1_STW.14 = 1).
- the encoder interface (Sensor Module) is de-activated (p0145).
- the Sensor Module is defective.
Remedy: Evaluate other queued faults via encoder 1.
A07576 Drive: Encoderless operation due to a fault active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Encoderless operation is active due to a fault (r1407.13 = 1).
Note:
The behavior for faults has been set to ENCODER fault response in p0491.
See also: p0491 (Motor encoder fault response ENCODER)
Remedy: - remove the cause of a possible encoder fault.
A07577 (F) Encoder 1: Measuring probe evaluation not possible
Message value: %1
Reaction: NONE
Acknowledge: NONE
4200: The PROFIBUS clock cycle is not a multiple of integer of the position controller clock cycle.
Re alarm value = 6:
Set the clock cycle ratio between the PROFIBUS clock cycle and the position controller clock cycle to an integer mul-
tiple.
Message value: %1
Reaction: NONE
Acknowledge: NONE
Faults and alarms
Re alarm value = 6:
tiple.
Message value: %1
Reaction: NONE
Acknowledge: NONE
Re alarm value = 6:
tiple.
A07580 (F, N) Drive: No Sensor Module with matching component number
Reaction: NONE
Acknowledge: NONE
Cause: A Sensor Module with the component number specified in p0141 was not found.
Encoder data set involved (index of p0141).
Remedy: Correct parameter p0141.
Reaction upon F: OFF1 (IASC/DCBRAKE, NONE, OFF2, OFF3, STOP1, STOP2)
Faults and alarms
A07581 (F) Encoder 1: Position actual value preprocessing error
Message value: -
Reaction: NONE
Acknowledge: NONE
Message value: -
Reaction: NONE
Acknowledge: NONE
Message value: -
Reaction: NONE
Acknowledge: NONE
A07584 Encoder 1: Position setting value activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Message value: -
Reaction: NONE
Acknowledge: NONE
Faults and alarms
Message value: -
Reaction: NONE
Acknowledge: NONE
A07587 Encoder 1: Position actual value preprocessing does not have a valid encoder
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The following problem has occurred during the position actual value preprocessing.
- an encoder data set has been assigned, however, the encoder data set does not contain any encoder data (p0400
= 0) or invalid data (e.g. p0408 = 0).
Remedy: Check the drive data sets, encoder data sets.
Message value: -
Reaction: NONE
Acknowledge: NONE
Message value: -
Reaction: NONE
Acknowledge: NONE
A07590 (F) Encoder 1: Drive Data Set changeover in operation
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A Drive Data Set changeover (DDS) with a change of the mechanical relationships and the encoder assignment
(p2502) was requested in operation.
Faults and alarms
Message value: -
Reaction: NONE
Acknowledge: NONE
Message value: -
Reaction: NONE
Acknowledge: NONE
A07593 (F, N) Encoder 1: Value range for position actual value exceeded
Message value: %1
Reaction: NONE
Acknowledge: NONE
Remedy: If required, reduce the traversing range or position resolution.
Re alarm value = 3:
Reducing the position resolution and conversion factor:
- reduce the length unit (LU) per load revolution for rotary encoders (p2506).
- increase the fine resolution of absolute position actual values (p0419).
Message value: %1
Reaction: NONE
Acknowledge: NONE
Faults and alarms
Re alarm value = 3:
Message value: %1
Reaction: NONE
Acknowledge: NONE
Re alarm value = 3:
A07596 (F) Encoder 1: Reference function interrupted
Message value: -
Reaction: NONE
Acknowledge: NONE
nal).
Faults and alarms
Message value: -
Reaction: NONE
Acknowledge: NONE
nal).
Message value: -
Reaction: NONE
Acknowledge: NONE
nal).
F07599 (A) Encoder 1: Adjustment not possible
Cause: The maximum encoder value times the factor to convert the absolute position (r0483 and/or r2723) from increments
to length units (LU) has exceeded the value range (-2147483648 ... 2147483647) for displaying the position actual
value.
Remedy: If the value for the maximum possible absolute position (LU) is greater than 4294967296, then it is not possible to
p2506 * p0433 * p2505 / (p0432 * p2504)
p2506 * p0412 * p2505 / p2504
3. Motor encoder with position tracking for load gear:
p2506 * p2721 * p0433 / p0432
4. Motor encoder with position tracking for load and measuring gear:
p2506 * p2721
p2506 * p0433 / p0432
Faults and alarms
6. Direct encoder with position tracking for measuring gear:
p2506 * p0412
value.
p2506 * p0433 * p2505 / (p0432 * p2504)
p2506 * p0412 * p2505 / p2504
p2506 * p2721 * p0433 / p0432
p2506 * p2721
p2506 * p0433 / p0432
p2506 * p0412
value.
p2506 * p0433 * p2505 / (p0432 * p2504)
p2506 * p0412 * p2505 / p2504
p2506 * p2721 * p0433 / p0432
p2506 * p2721
p2506 * p0433 / p0432
p2506 * p0412
Faults and alarms
F07800 Drive: No power unit present
Message value: -
Reaction: NONE
Cause: The power unit parameters cannot be read or no parameters are stored in the power unit.
Connection between Control Unit and power unit was interrupted or is defective.
Note:
This fault also occurs if an incorrect topology was selected in the commissioning software and this parameterization
is then downloaded to the Control Unit.
See also: r0200 (Power unit code number actual)
Remedy: - connect the data line to power unit and restart the CU (POWER ON).
- check or replace the CU.
- Check the cable between the CU and power unit.
- after correcting the topology, the parameters must be again downloaded using the commissioning software.
F07801 Drive: Motor overcurrent
Message value: -
Drive object: SERVO
Cause: The permissible motor limit current was exceeded.
- effective current limit set too low.
- current controller not correctly set.
- motor was braked with an excessively high stall torque correction factor.
- U/f operation: Up ramp was set too short or the load is too high.
- U/f operation: Short-circuit in the motor cable or ground fault.
- U/f operation: Motor current does not match the current of Motor Module.
Note:
Synchronous motor: Limit current= 1.3 x p0323
Induction motor: Limit current= 1.3 x r0209
Remedy: - check the current limits (p0323, p0640).
- check the current controller (p1715, p1717).
- reduce the stall torque correction factor (p0326).
- increase the up ramp (p1318) or reduce the load.
- check the motor and motor cables for short-circuit and ground fault.
- check the Motor Module and motor combination.
F07801 Drive: Motor overcurrent
Message value: -
Cause: The permissible motor limit current was exceeded.
- effective current limit set too low.
- current controller not correctly set.
- U/f operation: Up ramp was set too short or the load is too high.
- U/f operation: Short-circuit in the motor cable or ground fault.
- U/f operation: Motor current does not match current of power unit.
- Switch to rotating motor without flying restart function (p1200).
Note:
Limit current = 2 x minimum (p0640, 4 x p0305 x p0306) >= 2 x p0305 x p0306
Remedy: - check the current limits (p0640).
- vector control: Check the current controller (p1715, p1717).
- U/f control: Check the current limiting controller (p1340 ... p1346).
- increase the up ramp (p1120) or reduce the load.
- check the motor and motor cables for short-circuit and ground fault.
- check the motor for the star-delta configuration and rating plate parameterization.
Faults and alarms
- check the power unit and motor combination.
- Choose "flying restart" function (p1200) if switched to rotating motor.
F07802 Drive: Infeed or power unit not ready
Message value: -
Cause: After an internal power-on command, the infeed or drive does not signal ready.
- monitoring time is too short.
- DC link voltage is not present.
- associated infeed or drive of the signaling component is defective.
- supply voltage incorrectly set.
Remedy: - increase the monitoring time (p0857).
- ensure that there is a DC link voltage. Check the DC link busbar. Enable the infeed.
- replace the associated infeed or drive of the signaling component.
See also: p0857 (Power unit monitoring time)
A07805 (N) Infeed: Power unit overload I2t
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Alarm threshold for I2t overload (p0294) of the power unit exceeded.
Remedy: - reduce the continuous load.
- adapt the load duty cycle.
A07805 (N) Drive: Power unit overload I2t
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Alarm threshold for I2t overload (p0294) of the power unit exceeded.
- check the assignment of the rated currents of the motor and Motor Module.
F07807 Drive: Short-circuit detected
Message value: -
Cause: A phase-phase short-circuit was detected at the motor-side output terminals of the converter.
Note:
Also when interchanging the line and motor cables is identified as a motor-side short circuit.
Remedy: - check the motor-side converter connection for a phase-phase short-circuit.
- rule-out interchanged line and motor cables.
Faults and alarms
F07808 (A) HF damping module: damping not ready
Message value: New message: %1
Cause:
Remedy:
F07810 Drive: Power unit EEPROM without rated data
Message value: -
Reaction: NONE
Cause: No rated data are stored in the power unit EEPROM.
See also: p0205 (Power unit application), r0206 (Rated power unit power), r0207 (Rated power unit current), r0208
(Rated power unit line supply voltage), r0209 (Power unit, maximum current)
Remedy: Replace the power unit or inform Siemens Customer Service.
F07815 Drive: Power unit has been changed
Reaction: NONE
Cause: The code number of the actual power unit does not match the saved number. This only occurs if the comparator in
p9906 or p9908 is not at 2 (low) or 3 (minimum).
Number of the incorrect parameter.
See also: r0200 (Power unit code number actual), p0201 (Power unit code number)
Remedy: Connect the original power unit and power up the Control Unit again (POWER ON) or set p0201 to r0200 and exit
commissioning with p0010 = 0.
For infeeds, the following applies:
Line reactors or line filters must be used that are specified for the new power unit. A line supply and DC link identifi-
cation routine (p3410 = 5) must then be carried out. It is not possible to change the power unit without re-commis-
sioning the system if the type of infeed (A_Infeed, B_Infeed, S_Infeed), the type of construction/design (booksize,
chassis) or the voltage class differ between the old and new power units.
For inverters, the following applies:
If the new power unit is accepted, then if required, the current limit (p0640) can be reduced by a lower maximum
current of the power unit (r0209) (torque limits stay the same).
If not only the power unit is changed, but also the motor, then the motor must be re-commissioned (e.g. using p0010
= 1). This is also necessary if motor data is still to be downloaded via DRIVE-CLiQ.
Drive object: SERVO
Reaction: NONE
Faults and alarms
For infeeds, the following applies:
Line reactors or line filters must be used that are specified for the new power unit. A line supply and DC link identifi-
cation routine (p3410 = 5) must then be carried out. It is not possible to change the power unit without re-commis-
sioning the system if the type of infeed (A_Infeed, B_Infeed, S_Infeed), the type of construction/design (booksize,
chassis) or the voltage class differ between the old and new power units.
For inverters, the following applies:
If the new power unit is accepted, then if required, the current limit (p0640) can be reduced by a lower maximum
current of the power unit (r0209) (torque limits stay the same).
If the comparison stage in p9906 is set to 2, 3, then commissioning can be exited (p0010 = 0) and the fault acknowl-
edged.
Reaction: NONE
If the new power unit is accepted, then if required, the current limit p0640 can be reduced by a lower maximum cur-
rent of the power unit (r0209) (torque limits stay the same).
If the comparison stage in p9906 is set to 2, 3, then commissioning can be exited (p0010 = 0) and the fault acknowl-
edged.
A07820 Drive: Temperature sensor not connected
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The temperature sensor for monitoring the motor temperature, specified in p0600, is not available.
1: p0601 = 10 (SME), but in p0600 - not evaluated via encoder is selected.
2: p0600 = 10 (BICO), but the signal source (p0603) is not interconnected.
3: p0601 = 11 (BICO), but in p0600 - not evaluated via BICO interconnection is selected (20 or 21).
4: p0601 = 11 (BICO) and p4610-p4613 > 0, but the associated signal source (p0608, p0609) is not interconnected.
5: Component with sensor evaluation not present or has been removed in the meantime.
6: Evaluation via Motor Module not possible (r0192.21).
- In p0600 set an encoder with temperature sensor.
Re alarm value = 2:
- interconnect p0603 with the temperature signal.
Re alarm value = 3, 4:
- set the available temperature sensor (p0600, p0601).
- set p4610 ... p4613 = 0 (no sensor), or interconnect p0608 or p0609 with an external temperature signal.
Re alarm value = 5:
- connect the component with the temperature sensor. Check the DRIVE-CLiQ connection.
Re alarm value = 6:
- update the Motor Module firmware. Connect temperature sensor via encoder.
See also: p0600 (Motor temperature sensor for monitoring), p0601
Faults and alarms
A07825 (N) Drive: Simulation mode activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The simulation mode is activated.
The drive can only be powered up if the DC link voltage is less than 40 V.
The alarm automatically disappears if simulation mode is de-activated with p1272 = 0.
F07826 Drive: DC link voltage for simulation operation too high
Message value: -
Reaction: OFF2
Cause: The simulation mode is activated and the DC link voltage is greater than the permissible value of 40 V.
Remedy: - switch out (disable) simulation mode (p1272 = 0) and acknowledge the fault.
- reduce the input voltage in order to reach a DC link voltage below 40 V.
F07840 Drive: Infeed operation missing
Message value: -
Cause: The signal "infeed operation" is not present although the enable signals for the drive have been present for longer
than the parameterized monitoring time (p0857).
- infeed not operational.
- interconnection of the binector input for the ready signal is either incorrect or missing (p0864).
- infeed is presently carrying out a line supply identification routine.
Remedy: - bring the infeed into an operational state.
- check the interconnection of the binector input for the signal "infeed operation" (p0864).
- increase the monitoring time (p0857).
- wait until the infeed has completed the line supply identification routine.
See also: p0857 (Power unit monitoring time), p0864 (Infeed operation)
F07841 (A) Drive: Infeed operation withdrawn
Message value: -
Cause: The signal "infeed operation" was withdrawn in operation.
- interconnection of the binector input for the signal "infeed operation" is either incorrect or missing (p0864).
- the enable signals of the infeed were disabled.
- due to a fault, the infeed withdraws the signal "infeed operation".
Remedy: - check the interconnection of the binector input for the "infeed operation" signal (p0864).
- check the enable signals of the infeed and if required, enable.
- remove and acknowledge an infeed fault.
Note:
If this drive is intended to back up the DC link regeneratively, then the fault response must be parameterized for
NONE, OFF1 or OFF3. so that the drive can continue to operate even after the infeed fails.
Faults and alarms
A07850 (F) External alarm 1
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The BICO signal for "external alarm 1" was triggered.
The condition for this external alarm is fulfilled.
See also: p2112 (External alarm 1)
Remedy: Eliminate the causes of this alarm.
Servo: NONE (IASC/DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Vector: NONE (IASC/DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Message value: -
Reaction: NONE
Acknowledge: NONE
Message value: -
Reaction: NONE
Acknowledge: NONE
F07860 (A) External fault 1
Message value: -
Cause: The BICO signal "external fault 1" was triggered.
See also: p2106 (External fault 1)
Remedy: Eliminate the causes of this fault.
Faults and alarms
Message value: -
See also: p2107 (External fault 2)
Message value: -
See also: p2108, p3111, p3112
F07890 Internal voltage protection / internal armature short-circuit with STO active
Message value: -
Reaction: OFF2
Cause: The internal armature short-circuit (p1231 = 4) is not possible as Safe Torque Off (STO) is enabled. The pulses can-
not be enabled.
Remedy: Switch out the internal armature short-circuit (p1231=0) or de-activate Safe Torque Off (p9501 = p9561 = 0).
Note:
F07900 (N, A) Drive: Motor locked/speed controller at its limit
Message value: -
Drive object: SERVO
Cause: Motor has been operating at the torque limit longer than the time specified in p2177 and below the speed threshold
in p2175.
This signal can also be initiated if the speed actual value is oscillating and the speed controller output repeatedly
goes to its limit.
See also: p2175, p2177 (Motor locked delay time)
Remedy: - check that the motor can rotate freely.
- check the torque limit: For a positive direction of rotation r1538, for a negative direction of rotation r1539.
- check the parameter, message "Motor locked" and if required, correct (p2175, p2177).
- check the inversion of the actual value (p0410).
- check the motor encoder connection.
- check the encoder pulse number (p0408).
- for SERVO with encoderless operation and motors with low power ratings (< 300 W), increase the pulse frequency
(p1800).
- after de-selecting the "Basic positioner" (EPOS) function mode, check the motoring (p1528) and regenerative
(p1529) torque limit and modify again.
Faults and alarms
F07900 (N, A) Drive: Motor blocked
Message value: -
Cause: Motor has been operating at the torque limit longer than the time specified in p2177 and below the speed threshold
in p2175.
This signal can also be initiated if the speed actual value is oscillating and the speed controller output repeatedly
goes to its limit.
If the simulation mode is enabled (p1272 = 1) and the closed-loop control with speed encoder activated (p1300 =
21), then the inhibit signal is generated if the encoder signal is not received from a motor that is driven with the torque
setpoint of the closed-loop control.
See also: p2175, p2177 (Motor locked delay time)
Remedy: - check that the motor can rotate freely.
- check the torque limit: For a positive direction of rotation r1538, for a negative direction of rotation r1539.
- check the parameter, message "Motor locked" and if required, correct (p2175, p2177).
- check the inversion of the actual value (p0410).
- check the motor encoder connection.
- check the encoder pulse number (p0408).
- for SERVO with encoderless operation and motors with low power ratings (< 300 W), increase the pulse frequency
(p1800).
- after de-selecting the "Basic positioner" (EPOS) function mode, check the motoring (p1528) and regenerative
(p1529) torque limit and modify again.
- in the simulation mode and operation with speed encoder, the power unit to which the motor is connected must be
powered up and must be supplied with the torque setpoint of the simulated closed-loop control. Otherwise, change
over to encoderless control (see p1300).
F07901 Drive: Motor overspeed
Message value: -
Drive object: SERVO
Cause: The maximum permissible speed was either positively or negatively exceeded.
The maximum permissible positive speed is formed as follows: Minimum (p1082, CI: p1085) + p2162
The maximum permissible negative speed is formed as follows: Maximum (-p1082, CI: 1088) - p2162
Remedy: The following applies for a positive direction of rotation:
- check r1084 and if required, correct p1082, CI:p1085 and p2162.
The following applies for a negative direction of rotation:
F07901 Drive: Motor overspeed
Message value: -
Cause: The maximum permissible speed was either positively or negatively exceeded.
The maximum permissible positive speed is formed as follows: Minimum (p1082, CI: p1085) + p2162
The maximum permissible negative speed is formed as follows: Maximum (-p1082, CI: 1088) - p2162
Faults and alarms
Remedy: The following applies for a positive direction of rotation:
The following applies for a negative direction of rotation:
Activate pre-control of the speed limiting controller (p1401.7 = 1).
Increase the hysteresis for the overspeed signal p2162. This upper limit is dependent upon the maximum motor
speed p0322 and the maximum speed p1082 of the setpoint channel.
F07902 (N, A) Drive: Motor stalled
Message value: %1
Drive object: SERVO
Cause: For a vector drive the system has identified that the motor has stall for a time longer than is set in p2178.
1: Stall detection using r1408.11 (p1744 or p0492).
2: Stall detection using r1408.12 (p1745).
3: Stall detection using r0056.11 (only for separately excited synchronous motors).
See also: p1744 (Motor model speed threshold stall detection), p2178 (Motor stalled delay time)
Remedy: For closed-loop speed and torque control with speed encoder, the following applies:
- check the speed signal (interrupted cable, polarity, pulse number, broken encoder shaft).
- check the speed encoder, if another speed encoder was selected using the data set changeover. This must be con-
nected to the same motor that is controlled for the data set changeover.
If there is no fault, then the fault tolerance (p1744 and p0492) can be increased.
For closed-loop speed and torque control without speed encoder, the following applies:
- check whether the drive in the open-loop controlled mode (r1750.0) stalls under load. If yes, then increase the cur-
rent setpoint using p1610.
- check whether the drive stalls due to the load if the speed setpoint is still zero. If yes, then increase the current
setpoint using p1610.
- if the motor excitation (magnetizing) time (r0346) was significantly reduced, then it should be increased again.
- check the current limits (p0640, r0067). If the current limits are too low, then the drive cannot be magnetized.
- check the current controller (p1715, p1717) and the speed adaptation controller (p1764, p1767). If the dynamic
response was significantly reduced, then this should be increased again.
nected to the motor that is controlled for the data set changeover.
If there is no fault, then the fault tolerance (p1745) or the delay time (p2178) can be increased.
For separately-excited synchronous motors (closed-loop control with speed encoder), the following applies:
- check the speed signal (interrupted cable, polarity, pulse number).
- ensure the correct motor parameterization (rating plate and equivalent circuit diagram parameters).
- check the excitation equipment and the interface to the closed-loop control.
- encoder the highest possible dynamic response of the closed-loop excitation current control.
- check the speed control for any tendency to oscillate and if resonance effects occur, use a bandstop filter.
- do not exceed the maximum speed (p2162).
If there is no fault, then the delay time can be increased (p2178).
F07902 (N, A) Drive: Motor stalled
Message value: %1
Cause: For a vector drive the system has identified that the motor has stall for a time longer than is set in p2178.
1: Stall detection using r1408.11 (p1744 or p0492).
2: Stall detection using r1408.12 (p1745).
3: Stall detection using r0056.11 (only for separately excited synchronous motors).
See also: p1744 (Motor model speed threshold stall detection), p2178 (Motor stalled delay time)
Faults and alarms
Remedy: It should always be carefully ensured that the motor data identification (p1910) as well as the rotating measurement
(p1960) were carried out (also refer to r3925). For synchronous motors with encoder, the encoder must have been
adjusted (p1990).
For closed-loop speed and torque control with speed encoder, the following applies:
- check the speed signal (interrupted cable, polarity, pulse number, broken encoder shaft).
nected to the same motor that is controlled for the data set changeover.
If there is no fault, then the fault tolerance (p1744 and p0492) can be increased. For resolvers with a high signal
ripple, e.g. p0492 should be increased and the speed signal smoothed (p1441, p1442).
If the stalled motor should take place in the range of the monitor model and for speeds of less than 30 % of the rated
motor speed, then a change can be made directly from the current model into the flux impression (p1401.5 = 1). We
therefore recommend that the time-controlled model change is switched in (p1750.4 = 1) or the model changeover
limits are significantly increased (p1752 > 0.35 x p0311; p1753 = 5 %).
For closed-loop speed and torque control without speed encoder, the following applies:
- Check whether the drive stalls solely due to the load in controlled mode (r1750.0) or when the speed setpoint is still
zero. If so, increase the current setpoint via p1610 or set p1750.2 = 1 (sensorless vector control to standstill for pas-
sive loads).
- If the motor excitation time (p0346) was significantly reduced and the drive stalls when it is switched on and run
immediately, p0346 should be increased again or quick magnetizing selected (p1401).
- check the current limits (p0640, r0067, r0289). If the current limits are too low, then the drive cannot be magnetized.
- check the current controller (p1715, p1717) and the speed adaptation controller (p1764, p1767). If the dynamic
response was significantly reduced, then this should be increased again.
nected to the motor that is controlled for the data set changeover.
If there is no fault, then the fault tolerance (p1745) or the delay time (p2178) can be increased.
The following generally apply for closed-loop and torque control:
- Check whether the motor cables are disconnected.
- If the fault occurs with fault value 2 when the motor accelerates very quickly to the field weakening range, the devi-
ation between the flux setpoint and flux actual value can be reduced and, in turn, the message prevented, by reduc-
ing p1596.
For separately-excited synchronous motors (closed-loop control with speed encoder), the following applies:
- check the speed signal (interrupted cable, polarity, pulse number).
- ensure the correct motor parameterization (rating plate and equivalent circuit diagram parameters).
- check the excitation equipment and the interface to the closed-loop control.
- encoder the highest possible dynamic response of the closed-loop excitation current control.
- check the speed control for any tendency to oscillate and if resonance effects occur, use a bandstop filter.
- do not exceed the maximum speed (p2162).
If there is no fault, then the delay time can be increased (p2178).
A07903 Drive: Motor speed deviation
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The absolute value of the speed difference from the two setpoints (p2151, p2154) and the speed actual value (r2169)
exceeds the tolerance threshold (p2163) longer than tolerated (p2164, p2166).
The alarm is only enabled for p2149.0 = 1.
Possible causes could be:
- the load torque is greater than the torque setpoint.
- when accelerating, the torque/current/power limit is reached. If the limits are not sufficient, then it is possible that
the drive has been dimensioned too small.
- for closed-loop torque control, the speed setpoint does not track the speed actual value.
- for active Vdc controller.
For U/f control, the overload condition is detected as the Imax controller is active.
See also: p2149 (Monitoring configuration)
Faults and alarms
Remedy: - increase p2163 and/or p2166.
- increase the torque/current/power limits.
- for closed-loop torque control: The speed setpoint should track the speed actual value.
- de-activate alarm with p2149.0 = 0.
A07904 (N) External armature short-circuit: Contactor feedback signal "Closed" missing
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: When closing, the contactor feedback signal (p1235) did not issue the signal "Closed" (r1239.1 = 1) within the mon-
itoring time (p1236).
Remedy: - check that the contactor feedback signal is correctly connected (p1235).
- check the logic of the contactor feedback signal (r1239.1 = 1: "Closed", r1239.1 = 0: "Open").
- if required, set the external armature short-circuit without contactor feedback signal (p1231 = 2).
F07905 (N, A) External armature short-circuit: Contactor feedback signal "Open" missing
Message value: -
Cause: When opening, the contactor feedback signal (p1235) did not issue the signal "Open" (r1239.1 = 0) within the mon-
itoring time (p1236).
Remedy: - check that the contactor feedback signal is correctly connected (p1235).
- check the logic of the contactor feedback signal (r1239.1 = 1: "Closed", r1239.1 = 0: "Open").
- if required, set the external armature short-circuit without contactor feedback signal (p1231 = 2).
F07906 Armature short-circuit / internal voltage protection: Parameterization error
Message value: Fault cause: %1, motor data set: %2
Reaction: OFF2
Cause: The armature short-circuit is incorrectly parameterized.
zzzzyyxx: zzzz = fault cause, xx = motor data set
zzzz = 1: A permanent-magnet synchronous motor has not been selected.
zzzz = 2: An induction motor has not been selected.
zzzz = 101: External armature short-circuit: Output (r1239.0) not connected up.
zzzz = 102: External armature short-circuit with contactor feedback signal: No feedback signal connected (BI:p1235).
zzzz = 103: External armature short-circuit without contactor feedback signal: Delay time when opening (p1237) is 0.
zzzz = 201: Internal voltage protection: The maximum output current of the Motor Module (r0209) is less than 1.8 x
motor short-circuit current (r0331).
zzzz = 202: Internal voltage protection: A Motor Module in booksize or chassis format is not being used.
zzzz = 203: Internal voltage protection: The motor short-circuit current (p0320) is greater than the maximum motor
current (p0323).
zzzz = 204: Internal voltage protection: The activation (p1231 = 4) is not given for all motor data sets with synchro-
nous motors (p0300 = 2xx, 4xx).
Faults and alarms
- an armature short-circuit / voltage protection is only permissible for permanent-magnetic synchronous motors. The
highest position of the motor type in p0300 must either be 2 or 4.
- the contactor for the external armature short-circuit configuration should be controlled using output signal r1239.0.
The signal can, e.g. be connected to an output terminal via binector input p0738. Before this fault can be acknowl-
edged, p1231 must be set again.
- if the external armature short-circuit with contactor feedback signal (p1231 = 1) is selected, this feedback signal
must be connected to an input terminal (e.g. r722.x) and then connected to BI: p1235.
- alternatively, the external armature short-circuit without contactor feedback signal (p1231 = 2) can be selected.
- if the external armature short-circuit without contactor feedback signal (p1231 = 2) is selected, then a delay time
must be parameterized in p1237. This time must always be greater than the actual contactor opening time, as oth-
erwise the Motor Module would be short-circuited!
- a Motor Module with a higher maximum current or a motor with a lower short-circuit current must be used. The max-
imum Motor Module current must be higher than 1.8 x short-circuit current of the motor.
- for internal voltage protection, use a Motor Module in booksize or chassis format.
- for internal voltage protection, only use short-circuit proof motors.
- The internal voltage protection must either be activated for all motor data sets with synchronous motors (p0300 =
2xx, 4xx) (p1231 = 3) or it must be de-activated for all motor data sets (p1231 not equal to 3). This therefore ensures
that the protection cannot be accidentally withdrawn as a result of a data set changeover. The fault can only be
acknowledged if this condition is fulfilled.
F07907 Internal armature short-circuit: Motor terminals are not at zero potential after pulse
suppression
Message value: -
Reaction: NONE
Cause: The function "Internal voltage protection" (p1231 = 3) was activated.
The following must be observed:
- when the internal voltage protection is active, after pulse suppression, all of the motor terminals are at half of the
DC link voltage (without an internal voltage protection, the motor terminals are at zero potential)!
- the Motor Module must be able to continually conduct 180% short-circuit current (r0331) of the motor (r0289).
- the internal voltage protection cannot be interrupted due to a fault response. If an overcurrent condition occurs dur-
ing the active, internal voltage protection, then this can destroy the Motor Module and/or the motor.
- if the Motor Module does not support the autonomous, internal voltage protection (r0192.10 = 0), in order to ensure
safe, reliable functioning when the line supply fails, an external 24 V power supply (UPS) must be used for the com-
ponents.
- if the Motor Module does support the autonomous, internal voltage protection (r0192.10 = 1), in order to ensure
safe, reliable functioning when the line supply fails, the 24 V power supply for the components must be provided
through a Control Supply Module.
- if the internal voltage protection is active, it is not permissible that the motor is driven by the load for a longer period
of time (e.g. as a result of loads that move the motor or another coupled motor).
This a note for the user.
A07908 Internal armature short-circuit active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The Motor Module signals that the motor is short-circuited through the power semiconductors (r1239.5 = 1). The
pulses cannot be enabled. The internal armature short-circuit is selected (p1231 = 4):
Faults and alarms
Remedy: For synchronous motors, the armature short-circuit braking is activated with binector input p1230 = 1 signal.
See also: p1230 (Armature short-circuit / DC braking activation), p1231 (Armature short-circuit / DC braking config-
uration)
F07909 Internal voltage protection: De-activation only effective after POWER ON
Message value: -
Reaction: NONE
Cause: The de-activation of the internal voltage protection (p1231 not equal to 3) only becomes effective after POWER ON.
The status signal r1239.6 = 1 indicates that the internal voltage protection is ready.
This a note for the user.
A07910 (N) Drive: Motor overtemperature
Message value: %1
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: KTY:
The motor temperature has exceeded the fault threshold (p0604 or p0616).
PTC:
The response threshold of 1650 Ohm was exceeded.
See also: p0604 (Motor temperature alarm threshold)
Remedy: - check the motor load.
- check the motor ambient temperature and cooling.
- check PTC or bimetallic NC contact.
A07910 (N) Drive: Motor overtemperature
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: KTY or no sensor:
The measured motor temperature or temperature of the thermal model has exceeded the alarm threshold (p0604 or
p0616). The response parameterized in p0610 becomes active.
PTC or bimetallic NC contact:
The response threshold of 1650 Ohm was exceeded or the NC contact opened.
SME not selected in p0601:
11: No output current reduction.
12: Output current reduction active.
SME or TM120 selected in p0601 (p0601 = 10, 11):
The number specifies the sensor channel that resulted in the alarm being output.
See also: p0604 (Motor temperature alarm threshold), p0610 (Motor overtemperature response)
Remedy: - check the motor load.
- check the motor ambient temperature and cooling.
- check PTC or bimetallic NC contact.
Faults and alarms
F07913 Excitation current outside the tolerance range
Message value: -
Reaction: OFF2
Cause: The difference between the excitation current actual value and setpoint has exceeded the tolerance:
abs(r1641 - r1626) > p3201 + p3202
The cause of this fault is again reset for abs(r1641 - r1626) < p3201.
Remedy: - check the parameterization (p1640, p3201, p3202).
- check the interfaces to the excitation equipment (r1626, p1640).
- check the excitation equipment.
F07914 Flux out of tolerance
Message value: -
Reaction: OFF2
Cause: The difference between the flux actual value and setpoint has exceeded the tolerance:
abs(r0084 - r1598) > p3204 + p3205
The cause of this fault is again reset for abs(r0084 - r1598) < p3204.
The fault is only issued after the delay time in p3206 has expired.
Remedy: - check the parameterization (p3204, p3205).
- check the interfaces to the excitation equipment (r1626, p1640).
- check the excitation equipment.
- check the flux control (p1590, p1592, p1597).
- check the control for oscillation and take the appropriate counter measures (e.g. optimize the speed control loop,
parameterize a bandstop filter).
A07918 (N) Three-phase setpoint generator operation selected/active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Only for separately excited synchronous motors (p0300 = 5):
The actual open-loop/closed-loop control mode is I/f control (open-loop) with a fixed current (p1300 = 18).
The speed is entered via the setpoint channel and the current setpoint is given by the minimum current (p1620).
It must be ensured that in this mode, the control dynamic performance is very limited. This is the reason that longer
ramp-up times should be set for the setpoint speed than for normal operation.
See also: p1620 (Stator current, minimum)
Remedy: Select another open-loop/closed-loop control mode
See also: p1300 (Open-loop/closed-loop control operating mode)
A07920 Drive: Torque/speed too low
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The torque deviates from the torque/speed envelope characteristic (too low).
See also: p2181 (Load monitoring response)
Remedy: - check the connection between the motor and load.
- adapt the parameterization corresponding to the load.
Faults and alarms
A07921 Drive: Torque/speed too high
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The torque deviates from the torque/speed envelope characteristic (too high).
A07922 Drive: Torque/speed out of tolerance
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The torque deviates from the torque/speed envelope characteristic.
F07923 Drive: Torque/speed too low
Message value: -
Cause: The torque deviates from the torque/speed envelope characteristic (too low).
F07924 Drive: Torque/speed too high
Message value: -
Cause: The torque deviates from the torque/speed envelope characteristic (too high).
F07925 Drive: Torque/speed out of tolerance
Message value: -
Cause: The torque deviates from the torque/speed envelope characteristic.
A07926 Drive: Envelope curve, parameter invalid
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: Invalid parameter values were entered for the envelope characteristic of the load monitoring.
The following rules apply for the speed thresholds:
p2182 < p2183 < p2184
Faults and alarms
The following rules apply for the torque thresholds:
p2185 > p2186
p2187 > p2188
p2189 > p2190
Number of the parameter with the invalid value.
Remedy: Set the parameters for the load monitoring according to the applicable rules or de-activate load monitoring (p2181 =
0, p2193 = 0).
A07927 DC braking active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The motor is braked with DC current. DC braking is active.
1)
A message with response DCBRK is active. The motor is braked with the braking current set in p1232 for the duration
set in in p1233. If the standstill threshold p1226 is undershot, then braking is prematurely canceled.
2)
DC braking has been activated at binector input p1230 with the DC braking set (p1230 = 4). Braking current p1232
is injected until this binector input becomes inactive.
The alarm automatically disappears once DC braking has been executed.
F07928 Internal voltage protection initiated
Message value: -
Reaction: OFF2
Cause: The Motor Module signals that the motor is short-circuited through the power semiconductors (r1239.5 = 1). The
pulses cannot be enabled. The internal voltage protection is selected (p1231 = 3).
Remedy: If the Motor Module supports the autonomous internal voltage protection (r0192.10 = 1), then the Motor Module auto-
matically decides - using the DC link voltage - as to whether the armature short-circuit should be activated.
The armature short-circuit is activated and response OFF2 is initiated if the DC link voltage exceeds 800 V. If the DC
link voltage falls below 450 V, then the armature short-circuit is withdrawn.
If the motor is still in a critical speed range, the armature short-circuit is re-activated once the DC link voltage exceeds
the threshold of 800 V.
If the autonomous (independent) internal voltage protection is active (r1239.5 = 1) and the line supply returns (450
V < DC link voltage < 800 V), the armature short-circuit is withdrawn after 3 minutes.
F07930 Drive: Brake control error
Message value: %1
Cause: The Control Unit has detected a brake control error.
10, 11: Fault in "open holding brake" operation.
- No brake connected or wire breakage (check whether brake releases for p1278 = 1).
20: Fault in "brake open" state.
30, 31: Fault in "close holding brake" operation.
- No brake connected or wire breakage (check whether brake releases for p1278 = 1).
40: Fault in "brake closed" state.
50: Fault in the brake control circuit of the Control Unit or communication fault between Control Unit and Motor Mod-
ule (brake control diagnostics).
80: When using the Safe Brake Adaptor (SBA), a fault has occurred in the brake control of the Control Unit.
Faults and alarms
Note:
See also: p1278 (Brake control, diagnostics evaluation)
Remedy: - check the motor holding brake connection.
Operation with Safe Brake Module:
- check the Safe Brake Modules connection.
- replace the Safe Brake Module.
Operation with Safe Brake Module (SBA):
- check the SBA connection and if required, replace the SBA.
See also: p1215 (Motor holding brake configuration), p1278 (Brake control, diagnostics evaluation)
A07931 (F, N) Brake does not open
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: This alarm is output for r1229.4 = 1.
See also: p1216 (Motor holding brake, opening time), r1229 (Motor holding brake status word)
Remedy: - check the functionality of the motor holding brake.
- check the feedback signal (p1223).
A07932 Brake does not close
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: This alarm is output for r1229.5 = 1.
For r1229.5 = 1, OFF1/OFF3 are suppressed to prevent the drive accelerating by a load that drives the motor -
whereby OFF2 remains effective.
See also: p1217 (Motor holding brake closing time), r1229 (Motor holding brake status word)
Remedy: - check the functionality of the motor holding brake.
- check the feedback signal (p1222).
F07934 (N) Drive: S120 Combi motor holding brake configuration
Message value: %1
Cause: A connected motor holding brake has been detected with an S120 Combi. However, this brake has not been
assigned to just one Combi feed drive and, therefore, brake control is not configured (correctly). It is also not permit-
ted to assign the brake to the spindle.
0: No motor holding brake is assigned (p1215 = 0 or 3 on all S120 Combi feed drives).
1: More than one motor holding brake has been assigned (p1215 = 1 or 2 on more than one S120 Combi feed drive)
- or there is more than one DRIVE-CLiQ motor with motor holding brake.
2: Brake was accidentally assigned to the spindle (p1215 = 1); this is not permitted.
Faults and alarms
3: An attempt was made to enable the function "Safe brake control" (SBC, p9602 = p9802 = 1) for the spindle. This
is not permitted.
Remedy: Check whether the motor holding brake has been assigned to one S120 Combi feed drive exclusively (p1215 = 1 or
2) and not the spindle.
The fault will only be withdrawn once the motor holding brake has been assigned to just one of the S120 Combi feed
drives and not the spindle (p1215 = 1 or 2 for this one drive). From this point, the motor holding brake will be con-
trolled by this drive.
See also: p1215 (Motor holding brake configuration)
F07935 (N) Drv: Motor holding brake detected
Message value: %1
Cause: A motor holding brake was detected where the brake control has not been configured (p1215 = 0).
0:
The brake control configuration was set to "motor holding brake the same as sequence control" (p1215 = 1) (only
when commissioning for the first time).
1:
The brake control configuration was left at "No motor holding brake available" (p1215 = 0).
- No remedy required.
- If required change the motor holding brake configuration (p1215 = 1, 2).
- If this fault value unexpectedly occurs, then the motor connections should be checked in order to rule out that they
have been interchanged.
See also: p1215 (Motor holding brake configuration)
F07937 (N) Drive: Speed deviation between motor model and external speed
Message value: -
Cause: The absolute value of the speed difference from the two actual values (r2169, r1443) exceeds the tolerance threshold
(p3236) for longer than permitted (p3238).
Possible causes:
- the interconnection or scaling of the external encoder signal is incorrect (p1440, p2000).
- speed encoder for external encoder signal faulty.
- encoder signal's polarity or gain incorrect.
- smoothing time constant for model speed for monitoring too high (p2157).
- smoothing time constant or threshold values for monitoring too low (p3236, p3238).
See also: p2149 (Monitoring configuration)
Remedy: - check that the external speed matches the motor speed (p1440, r1443).
- check the polarity of the external speed (r1443).
- check the interconnection of the connector input and the scaling of the signal (p1440, p2000).
Faults and alarms
F07940 Sync-line-drive: Synchronization error
Message value: -
Reaction: OFF2
Cause: After synchronization has been completed, the phase difference (r3808) is greater than the threshold value, phase
synchronism (p3813).
OFF1 or OFF3 response, while the closed-loop phase control is active (r3819.6 = 1) or synchronism reached
(r3819.2 = 1).
Enable signal withdrawn (p3802 = 0), while the closed-loop phase control was active (r3819.6 = 1).
Remedy: If required increase the threshold value phase synchronism (p3813) for synchronizing the line supply to the drive.
Before OFF1 or OFF3, complete synchronizing (r03819.0 = 0).
Before withdrawing the enable signal (p3802 = 0), reach synchronism (r3819.2 = 1).
See also: p3813 (Sync-line-drive phase synchronism threshold value)
A07941 Sync-line-drive: Target frequency not permissible
Reaction: NONE
Acknowledge: NONE
Cause: The target frequency is outside the permissible value range.
1084: Target frequency greater than the positive speed limit, f_sync > f_max (r1084).
1087: Target frequency less than the negative speed limit, f_sync < f_min (r1087).
Remedy: Fulfill the conditions for the target frequency for line-drive synchronization.
See also: r1084, r1087
A07942 Sync-line-drive: Setpoint frequency is completely different than the target frequency
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: There is a considerable difference between the setpoint frequency and the target frequency (f_set <> f_target). The
deviation that can be tolerated is set in p3806.
Remedy: The alarm automatically disappears after the difference that can be tolerated between the setpoint and target fre-
quencies (p3806) is reached.
See also: p3806 (Sync-line-drive frequency difference threshold value)
A07943 Sync-line-drive: Synchronization not permitted
Reaction: NONE
Acknowledge: NONE
Cause: Synchronization is not permitted.
1300: The control mode (p1300) has not been set to encoderless closed-loop speed control or U/f characteristic.
1910: Motor data identification activated.
1960: Speed controller optimization activated.
1990: Encoder adjustment activated.
3801: Voltage Sensing Module (VSM) not found.
3845: Friction characteristic record activated.
Remedy: Fulfill the conditions for the line-drive synchronization.
Set the control mode (p1300) to encoderless closed-loop speed control (p1300 = 20) or U/f characteristic (p1300 =
0 ... 19).
Exit the motor data identification routine (p1910).
Faults and alarms
Exist the speed controller optimization routine (p1960).
Exit the encoder adjustment (p1990).
Connect the Voltage Sensing Module (VSM), assign it to the synchronizing drive (see p9910, p0151) and enter the
drive object number of the synchronizing drive in p3801. When connecting the VSM to a neighboring drive object,
ensure that the same current controller clock cycle p0115[0] exists as the one in the synchronizing drive.
Exit the friction characteristic record (p3845).
F07950 (A) Drive: Incorrect motor parameter
Reaction: NONE
Cause: - the motor parameters were incorrectly entered while commissioning (e.g. p0300 = 0, no motor)
- The braking resistor (p6811) has still not been parameterized - commissioning cannot be completed.
Parameter number involved.
The following motor parameters can be incorrect for fault value 307:
p0304, p0305, p0307, p0308, p0309
See also: p0300, p0301, p0304, p0305, p0307, p0310, p0311, p0314, p0315, p0316, p0320, p0322, p0323
Remedy: Compare the motor data with the rating plate data and if required, correct.
See also: p0300, p0301, p0304, p0305, p0307, p0310, p0311, p0314, p0316, p0320, p0322, p0323
F07955 Drive: Motor has been changed
Reaction: NONE
Cause: The code number of the actual motor with DRIVE-CLiQ does not match the saved number.
See also: p0301 (Motor code number selection), r0302 (Motor code number of motor with DRIVE-CLiQ)
Remedy: Connect the original motor, power up the Control Unit again (POWER ON) and exit quick commissioning with p0010
= 0.
Or set p0300 = 10000 (load the parameters from the motor with DRIVE-CLiQ) and re-commission.
Quick commissioning (p0010 = 1) is automatically exited with p3900 > 0.
If quick commissioning was exited with p0010 = 0, then an automatic controller calculation (p0340 = 1) is not carried
out.
F07956 (A) Drive: Motor code does not match the list (catalog) motor
Message value: %1
Reaction: NONE
Cause: The motor code of the connected motor with DRIVE-CLiQ does not match the possible list motor types (see selection
in p0300).
The connected motor with DRIVE-CLiQ might not be supported by this firmware version.
Motor code of the connected motor with DRIVE-CLiQ.
Note:
The first three digits of the motor code generally correspond to the list motor type.
Remedy: Use a motor with DRIVE-CLiQ and the matching motor code.
Faults and alarms
A07960 Drive: Incorrect friction characteristic
Reaction: NONE
Acknowledge: NONE
Cause: The friction characteristic is incorrect.
1538:
The friction torque is greater than the maximum from the upper effective torque limit (p1538) and zero. This is the
reason that the output of the friction characteristic (r3841) is limited to this value.
1539:
The friction torque is less than the minimum from the lower effective torque limit (p1539) and zero. This is the reason
that the output of the friction characteristic (r3841) is limited to this value.
3820 ... 3829:
Incorrect parameter number. The speeds entered in the parameters for the friction characteristic do not correspond
to the following condition:
0.0 < p3820 < p3821 < ... < p3829 <= p0322 or p1082, if p0322 = 0
Therefore the output of the friction characteristic (r3841) is set to zero.
3830 ... 3839:
Incorrect parameter number. The torques entered in the parameters for the friction characteristic do not correspond
to the following condition:
0 <= p3830, p3831 ... p3839 <= p0333
Therefore the output of the friction characteristic (r3841) is set to zero.
See also: r3840 (Friction characteristic, status word)
Remedy: Fulfill the conditions for the friction characteristic.
Check the upper effective torque limit (e.g. in the field weakening range).
Check the lower effective torque limit (e.g. in the field weakening range).
Re alarm value = 3820 ... 3839:
Fulfill the conditions to set the parameters of the friction characteristic.
If the motor data (e.g. the maximum speed p0322) are changed during commissioning (p0010 = 1, 3), then the tech-
nological limits and threshold values, dependent on this, must be re-calculated by selecting p0340= 5).
A07961 Drive: Friction characteristic record activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The automatic friction characteristic record is activated.
The friction characteristic is recorded at the next power-on command.
The alarm disappears automatically after the friction characteristic record has been successfully completed or the
record is de-activated (p3845 = 0).
F07963 Drive: Friction characteristic record interrupted
Reaction: OFF1
Cause: The conditions to record the friction characteristic are not fulfilled.
0046: Missing enable signals (r0046).
1082: The highest speed value to be approached (p3829) is greater than the maximum speed (p1082).
1084: The highest speed value to be approached (p3829) is greater than the maximum speed (r1084, p1083, p1085).
1087: The highest speed value to be approached (p3829) is greater than the maximum speed (r1087, p1086, p1088).
1110: Friction characteristic record, negative direction selected (p3845) and negative direction inhibited (p1110).
1111: Friction characteristic record, positive direction selected (p3845) and positive direction inhibited (p1111).
Faults and alarms
1198: Friction characteristic record selected (p3845 > 0) and negative (p1110) and positive directions (p1111) inhib-
ited (r1198).
1300: The control mode (p1300) has not been set to closed-loop speed control.
1755: For encoderless closed-loop control (p1300 = 20), the lowest speed value to be approached (p3820) is less
than or equal to the changeover speed, open-loop controlled operation (p1755).
1910: Motor data identification activated.
1960: Speed controller optimization activated.
3820 ... 3829: Speed (p382x) cannot be approached.
3840: Friction characteristic incorrect.
3845: Friction characteristic record de-selected.
Remedy: Fulfill the conditions to record the friction characteristic.
Re fault value = 0046:
- establish missing enable signals.
Re fault value = 1082, 1084, 1087:
- Select the highest speed value to be approached (p3829) less than or equal to the maximum speed (p1082, r1084,
r1087).
- Re-calculate the speed points along the friction characteristic (p0340 = 5).
- Select the friction characteristic record, positive direction (p3845).
- Select the friction characteristic record, negative direction (p3845).
- Enable the permitted direction (p1110, p1111, r1198).
- Set the control mode (p1300) on the closed-loop speed control (p1300 = 20, 21).
- For encoderless closed-loop speed control (p1300 = 20) select the lowest speed value to be approached (p3820)
greater than the changeover speed of open-loop controlled operation (p1755).
- Re-calculate the speed points along the friction characteristic (p0340 = 5).
- Exit the motor data identification routine (p1910).
- Exit the speed controller optimization routine (p1960).
Re fault value 3820 ... 3829:
- check the load at speed p382x.
- check the speed signal (r0063) for oscillation at speed p382x. Check the settings of the speed controller if applica-
ble.
- Make the friction characteristic error-free (p3820 ... p3829, p3830 ... p3839, p3840).
- Activate the friction characteristic record (p3845).
A07965 (N) Drive: Save required
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The angular commutation offset (p0431) was re-defined and has still not been saved.
In order to permanently accept the new value, it must be saved in a non-volatile fashion (p0971, p0977).
See also: p0431 (Angular commutation offset), p1990 (Encoder adjustment, determine angular commutation offset)
This alarm automatically disappears after the data has been saved.
See also: p0971 (Save drive object parameters), p0977 (Save all parameters)
Faults and alarms
F07966 Drive: Check the commutation angle
Message value: -
Drive object: SERVO
Cause: The speed actual value was inverted and the associated angular commutation offset is not equal to zero and is there-
fore possibly incorrect.
Remedy: Angular commutation offset after the actual value inversion or determine it again (p1990=1).
F07967 Drive: Automatic encoder adjustment incorrect
Message value: %1
Cause: A fault has occurred during the automatic encoder adjustment or the pole position identification.
Remedy: Carry out a POWER ON.
F07968 Drive: Lq-Ld measurement incorrect
Message value: %1
Reaction: OFF2
Cause: A fault has occurred during the Lq-Ld measurement.
10: Stage 1: The ratio between the measured current and zero current is too low.
12: Stage 1: The maximum current was exceeded.
15: Second harmonic too low.
16: Drive converter too small for the measuring technique.
17: Abort due to pulse inhibit.
Check whether the motor is correctly connected.
Replace the power unit involved.
De-activate technique (p1909).
Check whether motor data have been correctly entered.
Repeat technique.
F07969 Drive: Incorrect pole position identification
Message value: %1
Reaction: OFF2
Cause: A fault has occurred during the pole position identification routine.
1: Current controller limited
2: Motor shaft locked.
4: Encoder speed signal not plausible.
14: Current difference to determine the +d axis too low.
Faults and alarms
18: First harmonic too low.
20: Pole position identification requested with the motor shaft rotating and activated flying restart function.
Replace the Motor Module involved.
Open the motor holding brake (p1215 = 2) and bring the motor into a no-load condition.
Check whether the encoder pulse number (p0408) and gearbox factor (p0432, p0433) are correct.
Check whether the motor pole pair number is correct (p0314).
When selecting p1980 = 4: Increase the value for p0325.
When selecting p1980 = 1: Increase the value for p0329.
Increase the value for p0329.
When selecting p1980 = 4: Reduce the value for p0325.
When selecting p1980 = 1: Reduce the value for p0329.
Reduce the value for p0329.
Motor not sufficiently anisotropic, change the technique (p1980 = 1 or 10).
Repeat technique.
Saturation not sufficient, change the technique (p1980 = 10).
Before carrying out a pole position identification routine ensure that the motor shaft is absolutely stationary (zero
speed).
F07970 Drive: Automatic encoder adjustment incorrect
Message value: %1
Cause: A fault has occurred during the automatic encoder adjustment.
Fault value (r0949, decimal):
1: Current controller limited
2: Motor shaft locked.
4: Encoder speed signal not plausible.
14: Current difference to determine the +d axis too low.
Faults and alarms
Open the motor holding brake (p1215 = 2) and bring the motor into a no-load condition.
Check whether the speed actual value inversion is correct (p0410.0).
Check whether the encoder pulse number (p0408) and gearbox factor (p0432, p0433) are correct.
Check whether the motor pole pair number is correct (p0314).
Repeat technique.
A07971 (N) Drive: Angular commutation offset determination activated
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The automatic determination of the angular commutation offset (encoder adjustment) is activated (p1990 = 1).
The automatic determination is carried out at the next power-on command.
For SERVO and fault F07414 present, the following applies:
The determination of the angular commutation offset is automatically activated (p1990 = 1), if a pole position identi-
fication technique is set in p1980.
The alarm automatically disappears after determination or for the setting p1990 = 0.
A07971 (N) Drive: Angular commutation offset determination activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The automatic determination of the angular commutation offset (encoder adjustment) is activated (p1990 = 1).
The automatic determination is carried out at the next power-on command.
Faults and alarms
The alarm automatically disappears after determination or for the setting p1990 = 0.
A07980 Drive: Rotating measurement activated
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The rotating measurement is activated. For the rotating measurement, the motor can accelerate up to the maximum
speed and with maximum torque. Only the parameterized current limit (p0640) and the maximum speed (p1082) are
effective. The behavior of the motor can be influenced using the direction inhibit (p1959.14, p1959.15) and the ramp-
The rotating measurement is carried out at the next power-on command.
See also: p1960
The alarm automatically disappears after the rotating measurement has been successfully completed or for the set-
ting p1960 = 0.
Note:
If a POWER ON or a warm restart is performed with motor data identification selected, the motor data identification
request will be lost. If motor data identification is required, it will need to be selected again manually following ramp-
up.
A07980 Drive: Rotating measurement activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The rotating measurement (automatic speed controller optimization) is activated.
The rotating measurement is carried out at the next power-on command.
See also: p1960
The alarm disappears automatically after the speed controller optimization has been successfully completed or for
the setting p1900 = 0.
A07981 Drive: Enable signals for the rotating measurement missing
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The rotating measurement cannot be started due to missing enable signals.
Remedy: - acknowledge faults that are present.
- establish missing enable signals.
See also: r0002, r0046
F07982 Drive: Rotating measurement encoder test
Message value: %1
Cause: A fault has occurred during the encoder test.
1: The speed did not reach a steady-state condition.
2: The speed setpoint was not able to be approached as the minimum limiting is active.
3: The speed setpoint was not able to be approached as the suppression (skip) bandwidth is active.
4: The speed setpoint was not able to be approached as the maximum limiting is active.
5: The encoder does not supply a signal.
Faults and alarms
6: Incorrect polarity.
7: Incorrect pulse number.
8: Noise in the encoder signal or speed controller unstable.
9: Voltage Sensing Module (VSM) incorrectly connected.
- check the motor parameters.
- carry out a motor data identification routine (p1910).
- if required, reduce the dynamic factor (p1967 < 25 %).
- adapt the speed setpoint (p1965) or adapt the minimum limit (p1080).
- adapt the speed setpoint (p1965) or suppression (skip) bandwidths (p1091 ... p1094, p1101).
- adapt the speed setpoint (p1965) or maximum limit (p1082, p1083 and p1086).
- check the encoder connection. If required, replace the encoder.
- check the connection assignment of the encoder cable. Adapt the polarity (p0410).
- adapt the pulse number (p0408).
- check the encoder connection and encoder cable. It is possible that there is a problem associated with the ground
connection.
- reduce the dynamic response of the speed controller (p1460, p1462 and p1470, p1472).
- check the connections of the Voltage Sensing Module (VSM).
Note:
The encoder test can be switched out (disabled) using p1959.0.
See also: p1959
F07983 Drive: Rotating measurement saturation characteristic
Message value: %1
Cause: A fault has occurred while determining the saturation characteristic.
2: The rotor flux did not reach a steady-state condition.
3: The adaptation circuit did not reach a steady-state condition.
4: The adaptation circuit was not enabled.
5: Field weakening active.
9: Several values of the determined saturation characteristic are not plausible.
10: Saturation characteristic could not be sensibly determined because load torque too high.
- the total drive moment of inertia is far higher than that of the motor (p0341, p0342).
De-select rotating measurement (p1960), enter the moment of inertia p0342, re-calculate the speed controller p0340
= 4 and repeat the measurement.
Re fault value = 1 ... 2:
- increase the measuring speed (p1961) and repeat the measurement.
- check the motor parameters (rating plate data). After the change: Calculate p0340 = 3.
- check the moment of inertia (p0341, p0342). After the change: Calculate p0340 = 3.
- the speed setpoint (p1961) is too high. Reduce the speed.
- adapt the speed setpoint (p1961) or minimum limiting (p1080).
Faults and alarms
- the measurement was carried out at an operating point where the load torque is too high. Select a more suitable
operating point, either by changing the speed setpoint (p1961) or by reducing the load torque. The load torque may
not be varied while making measurements.
Note:
The saturation characteristic identification routine can be disabled using p1959.1.
See also: p1959
F07984 Drive: Speed controller optimization, moment of inertia
Message value: %1
Cause: A fault has occurred while identifying the moment of inertia.
3. The speed setpoint was not able to be approached as the suppression (skip) bandwidth is active.
4. The speed setpoint was not able to be approached as the maximum limiting is active.
5: It is not possible to increase the speed by 10% as the minimum limiting is active.
6: It is not possible to increase the speed by 10% as the suppression (skip) bandwidth is active.
7: It is not possible to increase the speed by 10% as the maximum limiting is active.
8: The torque difference after the speed setpoint step is too low in order to be able to still reliably identify the moment
of inertia.
9: Too few data to be able to reliably identify the moment of inertia.
10: After the setpoint step, the speed either changed too little or in the incorrect direction.
11: The identified moment of inertia is not plausible.
- the total drive moment of inertia is far higher than that of the motor (refer to p0341, p0342). De-select rotating mea-
surement (p1960), enter the moment of inertia p0342, re-calculate the speed controller p0340 = 4 and repeat the
measurement.
- check the moment of inertia (p0341, p0342). After the change, re-calculate (p0340 = 3 or 4).
Note:
The moment of inertia identification routine can be disabled using p1959.2.
See also: p1959
F07985 Drive: Speed controller optimization (oscillation test)
Message value: %1
Cause: A fault has occurred during the vibration test.
Faults and alarms
5: Torque limits too low for a torque step.
6: No suitable speed controller setting was found.
- increase the torque limits (e.g. p1520, p1521).
- reduce the dynamic factor (p1967).
- disable the vibration test (p1959.4 = 0) and repeat the rotating measurement.
See also: p1959
F07986 Drive: Rotating measurement ramp-function generator
Message value: %1
Cause: During the rotating measurements, problems with the ramp-function generator occurred.
1: The positive and negative directions are inhibited.
Enable the direction (p1110 or p1111).
A07987 Drive: Rotating measurement, no encoder available
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: No encoder available. The rotating measurement was carried out without encoder.
Remedy: Connect encoder or select p1960 = 1, 3.
F07988 Drive: Rotating measurement, no configuration selected
Message value: -
Cause: When configuring the rotating measurement (p1959), no function was selected.
Remedy: Select at least one function for automatic optimization of the speed controller (p1959).
See also: p1959
Faults and alarms
F07989 Drive: Rotating measurement leakage inductance (q-axis)
Message value: %1
Cause: An error has occurred while measuring the dynamic leakage inductance.
5: The 100% flux setpoint was not reached.
6: No Lq measurement possible because field weakening is active.
7: Speed actual value exceeds the maximum speed p1082 or 75% of the rated motor speed.
8: Speed actual value is below 2 % of the rated motor speed.
- check the motor parameters.
- flux setpoint p1570 = 100 % and current setpoint p1610 = 0 % kept during the Lq measurement.
- reduce the regenerative load so that the drive does not reach field weakening when accelerating.
- reduce p1965 so that the q leakage inductance is recorded at lower speeds.
- increase p1082 if this is technically permissible.
- reduce p1965 so that the q leakage inductance is recorded at lower speeds.
- reduce the load when motoring so that the drive is not braked.
- increase p1965 so that the measurement may be taken at higher speeds.
Note:
The measurement of the q leakage inductance can be disabled using p1959.5. If only p1959.5 is set, then only this
measurement is carried out if p1960 is set to 1, 2 and the drive is powered up.
See also: p1959
F07990 Drive: Incorrect motor data identification
Message value: %1
Drive object: SERVO
Cause: A fault has occurred during the identification routine.
1: Current limit value reached.
2: Identified stator resistance lies outside the expected range 0.1 ... 100% of Zn.
3: Identified rotor resistance lies outside the expected range 0.1 ... 100% of Zn.
4: Identified stator reactance lies outside the expected range 50 ... 500% of Zn.
5: Identified magnetizing reactance lies outside the expected range 50 ... 500% of Zn.
6: Identified rotor time constant lies outside the expected range 10 ms ... 5 s.
7: Identified total leakage reactance lies outside the expected range 4 ... 50% of Zn.
8: Identified stator leakage reactance lies outside the expected range 2 ... 50% of Zn.
9: Identified rotor leakage reactance lies outside the expected range 2 ... 50% of Zn.
10: Data set changeover during motor data identification.
11: Motor shaft rotates.
20: Identified threshold voltage of the semiconductor devices lies outside the expected range 0 ... 10 V.
30: Current controller in voltage limiting.
Faults and alarms
40: At least one identification contains errors. The identified parameters are not saved to prevent inconsistencies.
50: With the selected current controller sampling rate, the pulse frequency cannot be implemented.
Note:
Percentage values are referred to the rated motor impedance:
Zn = Vmot.nom / sqrt(3) / Imot,nom
101: Voltage amplitude even at 30% maximum current amplitude is too low to measure the inductance.
102, 104: Voltage limiting while measuring the inductance.
103: Maximum frequency exceeded during the rotating inductance measurement.
110: Motor not finely synchronized before the rotating measurement.
111: The zero mark is not received within 2 revolutions.
112:Fine synchronization is not realized within 8 seconds after the zero mark has been passed.
113: The power, torque or current limit is zero.
115: U/f control is active.
120: Error when evaluating the magnetizing inductance.
125: Cable resistance greater than the total resistance.
126: Series inductance greater than the total leakage inductance.
127: Identified leakage inductance negative.
128: Identified stator resistance negative.
129: Identified rotor resistance negative.
130: Drive data set changeover during the motor data identification routine.
140: The setpoint channel inhibits both directions.
160: Accelerating when determining kT, moment of inertia or reluctance torque too short or the accelerating time is
too long.
173: Internal problem.
180: Identification speed (maximum speed, rated speed, 0.9 x p0348) less than p1755.
190: Speed setpoint not equal to zero.
191: An actual speed of zero is not reached.
192: Speed setpoint not reached.
193: Inadmissible motion of the motor when identifying the voltage emulation error.
194: Supplementary torque (r1515) not equal to zero.
195: Closed-loop torque control active.
200, 201: Not possible to identify the voltage emulation error characteristic of the drive converter (p1952, p1953).
- check whether the motor is correctly connected. Observe configuration (star-delta).
- check whether motor data have been correctly entered in p0300, p0304 ... p0311.
- is there an appropriate relationship between the motor power rating and that of the Motor Module? The ratio of the
Motor Module to the rated motor current should not be less than 0.5 and not be greater than 4.
- check configuration (star-delta).
- for parallel circuits, check the motor winding system in p7003. If, for power units connected in parallel, a motor is
specified with a single-winding system (p7003 = 0), although a multi-winding system is being used, then a large pro-
portion of the stator resistance is interpreted as feeder cable resistance and entered in p0352.
- check whether inductances are correctly entered in p0233 and p0353.
- check whether motor has been correctly connected (star-delta).
- reduce the current controller sampling rate.
- increase current limit (p0640) or torque limit (p1520, p1521).
- check current controller gain (p1715).
- reduce current controller sampling time (p0115).
It may be impossible to completely identify the L characteristic, as required current amplitude is too high.
- suppress meas. (p1909, p1959).
- reduce current limit (p0640).
- check current controller P gain.
- increase external moment of inertia (if possible).
- reduce current controller sampling time (p0115).
Faults and alarms
- before rotating measurement, traverse motor over zero mark.
- it is possible that encoder does not have zero mark. Correct setting in p0404.15.
- encoder pulse number was incorrectly entered. Correct setting in p0408.
- if zero mark signal is defective, replace encoder.
- upgrade encoder software.
- check the limits (p0640, p1520, p1521, p1530, p1531), correct the zero values.
- de-select U/f control (p1317 = 0).
- check current controller P gain (p1715) and if required, reduce.
- increase the pulse frequency (p1800).
- reduce cable resistance (p0352).
- reduce series inductance (p0353).
Re fault = 127, 128, 129:
- it is possible that current controller is oscillating. Reduce p1715 before next measurement.
- do not initiate a drive data set changeover during motor ident. routine.
- before the measurement, enable at least one direction (p1110 = 0 or p1111 = 0 or p1959.14 = 1 or p1959.15 = 1).
- extend accelerating time when determining kT, moment of inertia and reluctance torque, e.g. by increasing max.
speed (p1082), increasing moment of inertia or reducing max. current (p0640).
- in encoderless operation with load moment of inertia, parameterize the load moment of inertia (p1498).
- reduce the ramp-up time (p1958).
- increase speed controller P-gain (p1460).
- suppress meas. (p1959).
-
- increase max. speed (p1082).
- reduce p1755.
- set speed setpoint to zero.
- do not start motor data ident. routine while motor is still rotating.
- check closed-loop speed control (motor rotor may be locked or closed-loop speed control is not functioning).
- for p1215 = 1, 3 (brake the same as the sequence control) check the control sense (p0410.0).
- ensure that enable signals are present during measurement.
- remove any pulling loads from motor.
- increase max. current (p0640).
- reduce max. speed (p1082).
- suppress meas. (p1959).
- the motor has moved through more than 5 electrical (r0093). Lock motor rotor at one of these pole position angles
(r0093): 90 , 210 or 330 (+/-5 ) and then start identification.
- switch out all supplementary torques (e.g. CI: p1511).
- for hanging/suspended axes: Lock motor rotor at one of these pole position angles (r0093): 90 , 210 or 330 (+/-
1 ) and then start identification.
- de-select closed-loop torque control (p1300 = 21 or 20, or set the signal source in p1501 to a 0 signal).
- set pulse frequency to 0.5 x current controller frequency (e.g. 4 kHz for a current controller clock cycle of 125 us).
- reduce cable length between Motor Module and motor.
- read-out measured values (r1950, r1951) and therefore determine suitable values for p1952, p1953 according to
your own estimation.
Faults and alarms
F07990 Drive: Incorrect motor data identification
Message value: %1
Cause: A fault has occurred during the identification routine.
1: Current limit value reached.
2: Identified stator resistance lies outside the expected range 0.1 ... 100% of Zn.
3: Identified rotor resistance lies outside the expected range 0.1 ... 100% of Zn.
Separately excited synchronous motors: damping resistance outside 1.0 ...15 % of Zn.
4: Identified stator reactance lies outside the expected range 50 ... 900 % of Zn.
Separately excited synchronous motors: stator reactance outside 20 ...500 % of Zn.
5: Identified magnetizing reactance lies outside the expected range 50 ... 900 % of Zn.
Separately excited synchronous motors: magnetizing reactance outside 20 ...500 % of Zn.
6: Identified rotor time constant lies outside the expected range 10 ms ... 5 s.
Separately excited synchronous motors: damping time constant outside 5 ms ... 1 s.
7: Identified total leakage reactance lies outside the expected range 4 ... 100 % of Zn.
8: Identified stator leakage reactance lies outside the expected range 2 ... 50% of Zn.
Separately excited synchronous motors: stator leakage reactance outside 2 ...40 % of Zn.
9: Identified rotor leakage reactance lies outside the expected range 2 ... 50% of Zn.
Separately excited synchronous motors: damping leakage reactance outside 1.5 ...20 % of Zn.
10: Motor has been incorrectly connected.
11: Motor shaft rotates.
20: Identified threshold voltage of the semiconductor devices lies outside the expected range 0 ... 10 V.
30: Current controller in voltage limiting.
40: At least one identification contains errors. The identified parameters are not saved to prevent inconsistencies.
Note:
Percentage values are referred to the rated motor impedance:
Zn = Vmot.nom / sqrt(3) / Imot,nom
- check whether the motor is correctly connected. Observe configuration (star-delta).
- check whether motor data have been correctly entered in p0300, p0304 ... p0311.
- is there an appropriate relationship between the motor power rating and that of the Motor Module? The ratio of the
Motor Module to the rated motor current should not be less than 0.5 and not be greater than 4.
- check configuration (star-delta).
Also for fault value = 11:
- de-activate vibration monitoring (p1909 bit 7 = 1).
- for parallel circuits, check the motor winding system in p7003. If, for power units connected in parallel, a motor is
specified with a single-winding system (p7003 = 0), although a multi-winding system is being used, then a large pro-
portion of the stator resistance is interpreted as feeder cable resistance and entered in p0352.
- check whether inductances are correctly entered in p0233 and p0353.
- check whether motor has been correctly connected (star-delta).
A07991 (N) Drive: Motor data identification activated
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The motor data ident. routine is activated.
The motor data identification routine is carried out at the next power-on command.
The alarm automatically disappears after the motor data identification routine has been successfully completed or
for the setting p1910 = 0 or p1960 = 0.
Faults and alarms
If a POWER ON or a warm restart is performed with motor data identification selected, the motor data identification
request will be lost. If motor data identification is required, it will need to be selected again manually following ramp-
up.
A07991 (N) Drive: Motor data identification activated
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The motor data ident. routine is activated.
The motor data identification routine is carried out at the next power-on command.
If rotating measurement is selected (see p1900, p1960), it will not be possible to save the parameter assignment.
Once motor data identification has been completed or de-activated, the option to save the parameter assignment will
be made available again.
See also: p1910
The alarm automatically disappears after the motor data identification routine has been successfully completed or
for the setting p1900 = 0.
F07993 Drive: Incorrect direction of rotation of the field or encoder actual value inversion
Message value: -
Drive object: SERVO
Cause: Either the direction of the rotating field or the encoder actual value has an incorrect sign. The motor data identification
automatically changed the actual value inversion (p0410) in order to correct the control sense. This can result in a
direction of rotation change.
Note:
To acknowledge this fault, the correctness of the direction of rotation must first be acknowledged with p1910 = -2.
Remedy: Check the direction of rotation (also for the position controller, if one is being used).
If the direction of rotation is correct, the following applies:
No additional measures are required (except set p1910 = -2 and acknowledge fault).
If the direction of rotation is incorrect, the following applies:
To change the direction of rotation, two phases must be interchanged and the motor identification routine must be
repeated.
A07994 (N) Drive: motor data identification not performed
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Motor data identification has not yet been performed with the actual data set.
The alarm is only initiated when changing the data set (see r0051) in the following cases:
- vector control is parameterized in the data set that has been newly selected (p1300 >= 20).
- a motor data identification run has still not been performed in the newly selected data set (see r3925).
Remedy: - Perform motor data identification (see p1900).
- Return data set.
- Parameterize U/f control (p1300 < 20).
Faults and alarms
F07995 Drive: Pole position identification not successful
Message value: %1
Drive object: SERVO
Reaction: OFF2
Cause: The pole position identification routine was unsuccessful.
1: No current is established.
2: The starting current is not zero.
3: The selected max. distance was exceeded (p1981).
4x: The measuring signal does not permit a clear evaluation.
5: The max. current was exceeded during the measurement.
6: The current measurement must be re-calibrated.
7x: The Sensor Module does not support the pole position identification routine.
8: The pole position identification routine current required is greater than the max. current.
9: The set pole position identification routine current is zero.
10: Data set changeover during the pole position identification.
11: The encoder adjustment to determine the commutation angle (p1990 = 1) and the encoder without zero mark is
not finely synchronized or does not have any valid data.
100: Motion-based pole position identification, 1st and 2nd measurement different. Motor locked or current (p1993)
too low.
101: Motion-based position position identification, insufficient motion, motor locked or current (p1993) too low.
102: Motion-based pole position identification, brake is being used and is closed. The motion-based position position
identification in conjunction with the brake is not permitted.
103: Motion-based pole position identification without encoder.
104: Motion-based pole position identification, speed actual value not zero after stabilizing time.
200: Elasticity-based pole position identification, internal error in the arctan calculation ( 0/0 ).
201: Elasticity-based pole position identification, too few measuring points that can be evaluated.
202: Elasticity-based pole position identification, outliers in the measurement series.
203: Elasticity-based pole position identification, maximum rotation without current.
204: Elasticity-based pole position identification, no positive edge found.
205: Elasticity-based pole position identification, the result of the Fourier transformation differs by more than 480
electrical / p3093 from the rough estimate.
206: Elasticity-based pole position identification, plausibility test unsuccessful.
207: Elasticity-based pole position identification, no negative measured value found.
It is possible that all measured values are identical. The expected deflection was not able to be reached, either
because the expectation is too high or not enough current was able to be established.
208: Elasticity-based pole position identification, measuring current is 0.
209: Elasticity-based pole position identification, the selected max. distance was exceeded (p3095).
210: Elasticity-based pole position identification without encoder.
250 ... 260:
Elasticity-based pole position identification, more than 3 attempts have been made and fault value 200 ... 210 output.
Example:
Fault value= 253 --> more than 3 attempts have been made and fault value 203 output.
- check the motor connection and DC link voltage.
- for the following parameters, set practical values that are not zero (p0325, p0329).
- in the case of a large computing time load (e.g., 6 drives with Safety Integrated), set the computing dead time of
the current controller to late transfers (p0117 = 3).
- increase the max. distance (p1981).
- reduce the currents for the pole position identification routine (p0325, p0329).
- stop the motor in order to carry out the pole position identification routine.
- reduce the currents for the pole position identification routine (p0325, p0329).
- re-calibrate the Motor Module.
- reduce the currents for the pole position identification routine (p0329, p0325, p1993).
- the power unit cannot provide the necessary pole position identification routine current (p0209 < p0329, p0325,
p1993), replace the power unit with a power unit with a higher max. current.
Faults and alarms
- enter a value not equal to zero in the pole position identification routine current (p0329, p0325, p1993).
- do not initiate a data set changeover during the pole position identification.
- for incremental encoders without commutation with zero mark (p0404.15 = 0), it does not make sense to adjust the
encoder to determine the commutation angle (p1990 = 1). In this case, the function should be de-selected (p1990 =
0) or, for an encoder with suitable zero mark, commutation with zero mark should be selected (p0404.15 = 1).
- for absolute encoders, only adjust the encoder to determine the commutation angle (p1990 = 1) if the encoder sup-
plies commutation information and is finely synchronized (p1992.8 = 1 and p1992.10 = 1). The encoder is possibly
parked, de-activated (p0145), not ready for operation or signals a fault condition.
- de-select the encoder adjustment to determine the commutation angle (set p1990 to 0).
- increase the currents for the pole position identification routine (p0325, p0329).
- stop the motor in order to carry out the pole position identification routine.
- select another technique for pole position identification routine (p1980).
- use another motor, absolute encoder or Hall sensors.
- upgrade the software in the Sensor Module.
- check and ensure that the motor is free to move.
- increase the current for motion-based pole position identification (p1993).
- if the motor is to be operated with a brake: Select a different technique to identify the pole position (p1980).
- if the motor can be operated without a brake: Open the brake (p1215 = 2).
- the motion-based pole position identification can only be carried out using an encoder. Connect an encoder or
select another technique for pole position identification routine (p1980).
- pole position identification, increase the smoothing time, motion-based (p1997).
- pole position identification, increase the rise time, motion-based (p1994).
- pole position identification, check the gain, motion-based (p1995).
- pole position identification, check the integral time, motion-based (p1996).
- for motor encoders with track A/B sq-wave (p0404.3 = 1) and flank time measurement (p0430.20 = 0), disable the
integral time (p1996 = 0).
- check parameter setting (p3090 ... p3096).
- reduce p3094.
- fault has occurred during the identification. Repeat the measurement.
- check the brake or brake control.
- check the measuring current (p3096).
- increase p3094.
- fault has occurred during the identification. Repeat the measurement.
- reduce the expected deflection (p3094).
- increase the measuring current (p3096).
- set the measuring current (p3096).
- check parameter setting p3095.
Faults and alarms
- the elasticity-based pole position identification can only be carried out using an encoder. Connect an encoder or
select another technique for pole position identification routine (p1980).
- check parameter setting (p3090 ... p3096, p1980).
F07996 Drive: Pole position identification routine not carried out
Message value: -
Drive object: SERVO
Reaction: ENCODER (OFF2)
Cause: In operation, the operating mode that requires a pole position identification was changed over, which is not possible
in this state.
- the drive was changed over, flying, from encoderless operation to operation with encoder without having previously
carried out a pole position identification for the encoder. p1404 is then at a value between zero and the max. speed
and the pulses in the speed range above p1404 were enabled without a pole position ident. routine having been pre-
viously carried out in operation with encoder.
- in operation, an EDS changeover was made to an encoder where it is necessary to carry out a pole position iden-
tification. However, this has still not been carried out (p1982 = 1 or 2 and p1992.7 = 0).
Remedy: - for a flying changeover between operation with and without encoder with pole position identification after POWER
ON or commissioning (p0010 not equal to zero) enable the pulses once at zero speed. This means that the pole
position identification routine is carried out and the result is available for operation.
- carry out the EDS changeover with the pulses inhibited, or, before the changeover, carry out a pole position iden-
tification using this data set.
A07998 Drive: Motor data identification active on another drive
Message value: %1
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The motor data identification is activated on the drive object specified in the fault value and interlocks the other drive
objects so they cannot be powered up.
Drive object with the active motor data identification.
Remedy: - wait for the complete execution of the motor data identification of the drive object designated in the fault value.
- de-select the motor data identification for the drive object designated in the fault value (p1910 = 0 or p1960 = 0).
A07999 Drive: Motor data identification cannot be activated
Message value: %1
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: Closed-loop control is enabled on a SERVO drive object type. To select motor data identification, pulses must be
suppressed for all SERVO drive objects.
Drive object with enabled closed-loop control.
Remedy: Withdraw the pulse enable on all drives and re-activate the motor data identification.
F08000 (N, A) TB: +/-15 V power supply faulted
Message value: %1
Cause: Terminal Board 30 detects an incorrect internal power supply voltage.
Faults and alarms
0: Error when testing the monitoring circuit.
1: Fault in normal operation.
Remedy: - replace Terminal Board 30.
F08010 (N, A) TB: Analog-digital converter
Message value: -
Cause: The analog/digital converter on Terminal Board 30 has not supplied any converted data.
Remedy: - check the power supply.
- replace Terminal Board 30.
F08500 (A) COMM BOARD: Monitoring time configuration expired
Message value: %1
Cause: The monitoring time for the configuration has expired.
0: The transfer time of the send configuration data has been exceeded.
1: The transfer time of the receive configuration data has been exceeded.
Remedy: Check communication line.
F08501 (N, A) COMM BOARD: Setpoint timeout
Message value: -
Cause: The reception of setpoints from the COMM BOARD has been interrupted.
- bus connection interrupted.
- controller switched off.
- controller set into the STOP state.
- COMM BOARD defective.
See also: p8840 (COMM BOARD monitoring time)
Faults and alarms
Remedy: - Restore the bus connection and set the controller to RUN.
- check the set monitoring time if the error persists.
See also: p8840 (COMM BOARD monitoring time)
F08502 (A) COMM BOARD: Monitoring time sign-of-life expired
Message value: -
Cause: The monitoring time for the sign-of-life counter has expired.
The connection to the COMM BOARD was interrupted.
Remedy: - check communications link.
- check COMM BOARD.
A08504 (F) COMM BOARD: Internal cyclic data transfer error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The cyclic actual and/or setpoint values were not transferred within the specified times.
Remedy: Check the parameterizing telegram (Ti, To, Tdp, etc.).
F08510 (A) COMM BOARD: Send configuration data invalid
Message value: %1
Cause: COMM BOARD did not accept the send-configuration data.
Return value of the send-configuration data check.
Remedy: Check the send configuration data.
Faults and alarms
A08511 (F) COMM BOARD: Receive configuration data invalid
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The drive unit did not accept the receive configuration data.
Return value of the receive configuration data check.
is determined by the number of indices in r2050/p2051 for PZD IF1, and in r8850/p8851 for PZD IF2.
5: Cyclic operation not active.
17: CBE20 Shared Device: Configuration of the F-CPU has been changed.
223: Illegal clock synchronization for the PZD interface set in p8815[0].
Remedy: Check the receive configuration data.
Re alarm value = 1:
Check the list of the drive objects with process data exchange (p0978). With p0978[x] = 0, all of the following drive
objects in the list are excluded from the process data exchange.
Re alarm value = 2:
CBE20 Shared Device: Unplug/plug A-CPU.
A08520 (F) COMM BOARD: Non-cyclic channel error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The memory or the buffer status of the non-cyclic channel has an error.
0: Error in the buffer status.
1: Error in the memory.
Faults and alarms
A08526 (F) COMM BOARD: No cyclic connection
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: There is no cyclic connection to the control.
Remedy: Establish the cyclic connection and activate the control with cyclic operation.
For PROFINET, check the parameters "Name of Station" and "IP of Station" (r61000, r61001).
If a CBE20 is inserted and PROFIBUS is to communicate via PZD Interface1, then this must be parameterized using
the STARTER commissioning tool or directly with p8839.
A08530 (F) COMM BOARD: Message channel error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The memory or the buffer status of the message channel has an error.
0: Error in the buffer status.
1: Error in the memory.
A08550 PZD Interface Hardware assignment error
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The assignment of the hardware to the PZD interface has been incorrectly parameterized.
1: Only one of the two indices is not equal to 99 (automatic).
2: Both PZD interfaces are assigned to the same hardware.
3: Assigned COMM BOARD missing.
4: CBC10 is assigned to interface 1.
See also: p8839 (PZD interface hardware assignment)
Remedy: Check the parameterization and if required, correct (p8839).
A08560 IE: Syntax error in configuration file
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A syntax error has been detected in the ASCII configuration file for the Industrial Ethernet interface (X127). The
saved configuration file has not been loaded.
Faults and alarms
Note:
Remedy: - Check the interface configuration (p8900 and following), correct if necessary, and activate (p8905 = 1).
- Save the parameters for interface configuration (e.g. p8905 = 2)
or
- Reconfigure the station via the "Edit Ethernet node" screen form (e.g. with STARTER commissioning software).
See also: p8905 (IE Interface configuration)
A08561 IE: Consistency error affecting adjustable parameters
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A consistency error was detected when activating the configuration (p8905 = 1) for the Industrial Ethernet interface
(X127). The currently set configuration has not been activated.
Possible causes:
- IP address, subnet mask or default gateway is not correct
- IP address or station name used twice in the network
- station name contains invalid characters, etc.
Note:
See also: p8900 (IE Name of Station), p8901 (IE IP Address of Station), p8902 (IE Default Gateway of Station),
p8903 (IE Subnet Mask of Station)
Remedy: - Check the required interface configuration (p8900 and following), correct if necessary, and activate (p8905 = 1).
or
See also: p8905 (IE Interface configuration)
A08562 PN: Syntax error in configuration file
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A syntax error has been detected in the ASCII configuration file for the onboard PROFINET interface. The saved
configuration file has not been loaded.
Remedy: - Check the interface configuration (p8920 and following), correct if necessary, and activate (p8925 = 1).
- Save the parameters for interface configuration (e.g. p8925 = 2).
or
See also: p8925 (PN interface configuration)
A08563 PN: Consistency error affecting adjustable parameters
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A consistency error was detected when activating the configuration (p8925 = 1) for the onboard PROFINET interface.
The currently set configuration has not been activated.
Possible causes:
Faults and alarms
See also: p8920 (PN Name of Station), p8921 (PN IP address of station), p8922 (PN Default Gateway of Station),
p8923 (PN Subnet Mask of Station)
Remedy: - Check the required interface configuration (p8940 and following), correct if necessary, and activate (p8945 = 1).
or
See also: p8925 (PN interface configuration)
A08564 CBE20: Syntax error in configuration file
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A syntax error has been detected in the ASCII configuration file for the Communication Board Ethernet 20 (CBE20).
The saved configuration file has not been loaded.
Remedy: - Check the CBE20 configuration (p8940 and following), correct if necessary, and activate (p8945 = 1).
Note:
The configuration is not applied until the next POWER ON!
- reconfigure the CBE20 (e.g. using the STARTER commissioning software)
See also: p8945 (CBE20 interface configuration)
A08565 CBE20: Consistency error affecting adjustable parameters
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A consistency error was detected when activating the configuration (p8945 = 1) for the Communication Board Ether-
net 20 (CBE20).
The currently set configuration has not been activated.
Possible causes:
See also: p8940 (CBE20 Name of Station), p8941 (CBE20 IP Address of Station), p8942 (CBE20 Default Gateway
of Station), p8943 (CBE20 Subnet Mask of Station), p8944 (CBE20 DHCP Mode)
Remedy: Check the required interface configuration (p8940 and following), correct if necessary, and activate (p8945 = 1).
See also: p8945 (CBE20 interface configuration)
F08700 (A) CAN: Communications error
Message value: %1
Cause: A CAN communications error has occurred.
1: The error counter for the send telegrams has exceeded the BUS OFF value 255. The bus disables the CAN con-
troller.
- bus cable short circuit.
- incorrect baud rate.
- incorrect bit timing.
Faults and alarms
2: The master no longer interrogated the CAN node status longer than for its "life time". The "life time" is obtained
from the "guard time" (p8604[0]) multiplied by the "life time factor" (p8604[1]).
- bus cable interrupted.
- bus cable not connected.
- incorrect baud rate.
- incorrect bit timing.
- master fault.
Note:
The fault response can be set as required using p8641.
See also: p8604 (CAN node guarding), p8641 (CAN Abort Connection Option Code)
Remedy: - check the bus cable
- check the baud rate (p8622).
- check the bit timing (p8623).
- check the master.
The CAN controller must be manually restarted with p8608 = 1 after the cause of the fault has been resolved!
See also: p8608 (CAN Clear Bus Off Error), p8622 (CAN bit rate), p8623 (CAN Bit Timing selection)
F08701 CAN: NMT state change
Message value: %1
Servo: OFF3
Vector: OFF3
Cause: A CANopen NMT state transition from "operational" to "pre-operational" or after "stopped".
1: CANopen NMT state transition from "operational" to "pre-operational".
2: CANopen NMT state transition from "operational" to "stopped".
Note:
In the NMT state "pre-operational", process data cannot be transferred and in the NMT state "stopped", no process
data and no service data can be transferred.
Acknowledge the fault and continue operation.
F08702 (A) CAN: RPDO Timeout
Message value: -
Cause: The monitoring time of the CANopen RPDO telegram has expired because the bus connection was either interrupted
or the CANopen Master was switched-off.
See also: p8699 (CAN: RPDO monitoring time)
- check the master.
- If required, increase the monitoring time (p8699).
Faults and alarms
F08703 (A) CAN: Maximum number of drive objects exceeded
Message value: -
Cause: The maximum number of 8 drive objects with the "CAN" function module was exceeded.
Note:
In the CANopen standard only a maximum of 8 drive objects are defined for each CANopen slave.
Remedy: - New commissioning of maximum 8 drive objects with the "CAN" function module in the topology.
- For the drive objects, if required, deselect the "CAN" function module (r0108.29).
A08751 CAN: Telegram loss
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The CAN controller has lost a receive message (telegram).
Remedy: Reduce the cycle times of the receive messages.
A08752 CAN: Error counter for error passive exceeded
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The error counter for the send or receive telegrams has exceeded the value 127.
- set a higher baud rate (p8622).
- check the bit timing and if required optimize (p8623).
See also: p8622 (CAN bit rate), p8623 (CAN Bit Timing selection)
A08753 CAN: Message buffer overflow
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: A message buffer overflow.
1: Non-cyclic send buffer (SDO response buffer) overflow.
2: Non-cyclic receive buffer (SDO receive buffer) overflow.
3: Cyclic send buffer (PDO send buffer) overflow.
Remedy: - check the bus cable.
- set a higher baud rate (p8622).
- check the bit timing and if required optimize (p8623).
Faults and alarms
Re alarm value = 2:
- reduce the cycle times of the SDO receive messages.
- SDO request from master only after SDO feedback for previous SDO request.
See also: p8622 (CAN bit rate), p8623 (CAN Bit Timing selection)
A08754 CAN: Incorrect communications mode
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: In the "operational" mode, an attempt was made to change parameters p8700 ... p8737.
Remedy: Change to the "pre-operational" or "stopped" mode.
A08755 CAN: Obj cannot be mapped
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The CANopen object is not provided for the Process Data Object (PDO) Mapping.
Remedy: Use a CANopen object intended for the PDO mapping or enter 0.
The following objects can be mapped in the Receive Process Data Object (RPDO) or Transmit Process Data Object
(TPDO):
- RPDO: 6040 hex, 6060 hex, 60FF hex, 6071 hex; 5800 hex - 580F hex; 5820 hex - 5827 hex
- TPDO: 6041 hex, 6061 hex, 6063 hex, 6069 hex, 606B hex, 606C hex, 6074 hex; 5810 hex - 581F hex; 5830 hex
- 5837 hex
Only sub-index 0 of the specified objects can be mapped.
Note:
As long as A08755 is present, the COB-ID cannot be set to valid.
A08756 CAN: Number of mapped bytes exceeded
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The number of bytes of the mapped objects exceeds the telegram size for net data. A max. of 8 bytes is permissible.
Remedy: Map fewer objects or objects with a smaller data type.
p8736, p8737
A08757 CAN: Set COB-ID invalid
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: For online operation, the appropriate COB-ID must be set invalid before mapping.
Example:
Mapping for RPDO 1 should be changed (p8710[0]).
--> set p8700[0] = C00006E0 hex (invalid COB-ID)
--> set p8710[0] as required.
--> p8700[0] enter a valid COB-ID
Faults and alarms
Remedy: Set the COB-ID to invalid.
A08758 CAN: Number of PDO channels too low
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The number of PDO channels in p8740 has either been set to 0 or too low.
See also: p8740 (CAN channel distribution)
Remedy: The number of channels set in p8740 must be greater than or equal to the number of PDOs.
There are 2 possibilities:
Increase the number of channels in p8740 and confirm the selection using p8741.
Reduce the number of PDOs by setting the COB-ID to invalid.
See also: p8740 (CAN channel distribution), p8741 (CAN PDO configuration acknowledgement)
A08759 CAN: PDO COB-ID already available
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: An existing PDO COB-ID was allocated.
Remedy: Select another PDO COB-ID.
A13000 License not adequate
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: - for the drive unit, the options that require a license are being used but the licenses are not sufficient.
- an error occurred when checking the existing licenses.
0:
The existing license is not sufficient.
1:
An adequate license was not able to be determined as the memory card with the required licensing data was with-
drawn in operation.
2:
An adequate license was not able to be determined as there is no licensing data available on the memory card.
3:
An adequate license was not able to be determined as there is a checksum error in the license key.
4:
An internal error occurred when checking the license.
Additional licenses are required and these must be activated (p9920, p9921).
Re alarm value = 1:
With the system powered down, re-insert the memory card that matches the system.
Re alarm value = 2:
Enter and activate the license key (p9920, p9921).
Re alarm value = 3:
Compare the license key (p9920) entered with the license key on the certificate of license.
Re-enter the license key and activate (p9920, p9921).
Faults and alarms
Re alarm value = 4:
A13001 Error in license checksum
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: When checking the checksum of the license key, an error was detected.
Remedy: Compare the license key (p9920) entered with the license key on the certificate of license.
Re-enter the license key and activate (p9920, p9921).
F13009 Licensing OA application not licensed
Message value: %1
Reaction: OFF1
Cause: At least one OA application which is under license does not have a license.
Note:
Refer to r4955 and p4955 for information about the installed OA applications.
Remedy: - enter and activate the license key for OA applications under license (p9920, p9921).
- if necessary, de-activate unlicensed OA applications (p4956).
See also: p9920 (Licensing, enter license key), p9921 (Licensing, activate license key)
F13010 Licensing function module not licensed
Message value: %1
Reaction: OFF1
Cause: At least one function module which is under license does not have a license.
Bit x = 1: The corresponding function module does not have a license.
Note:
Refer to p0108 or r0108 for the assignment between the bit number and function module.
Remedy: - enter and activate the license key for function modules under license (p9920, p9921).
- if necessary, de-activate unlicensed function modules (p0108, r0108).
See also: p9920 (Licensing, enter license key), p9921 (Licensing, activate license key)
F13020 Licensing not sufficient in the control
Message value: -
Drive object: A_INF, B_INF, CU_I, CU_LINK, ENCODER, HUB, S_INF, SERVO, TB30, TM120, TM15, TM15DI_DO, TM17,
Reaction: OFF1
Cause: For the drive unit, the options that require a license are being used but the licenses are not sufficient.
Remedy: - enter and activate the license key for options that require a license.
- if necessary, de-activate unlicensed options.
Faults and alarms
F30001 Power unit: Overcurrent
Reaction: OFF2
Cause: The power unit has detected an overcurrent condition.
- closed-loop control is incorrectly parameterized.
- motor has a short-circuit or fault to ground (frame).
- U/f operation: Up ramp set too low.
- U/f operation: Rated motor current is significantly greater than that of the Motor Module.
- infeed: High discharge and post-charging currents for voltage dip.
- infeed: High post-charging currents for overload when motoring and DC link voltage dip.
- infeed: Short-circuit currents at power-up due to the missing line reactor.
- power cables are not correctly connected.
- power cables exceed the maximum permissible length.
- line phase interrupted.
Additional causes for a parallel switching device (r0108.15 = 1):
- a power unit has tripped (powered down) due to a ground fault.
- the closed-loop circulating current control is either too slow or has been set too fast.
Bit 0: Phase U.
Bit 1: Phase V.
Bit 2: Phase W.
Bit 3: Overcurrent in the DC link.
Note:
Fault value = 0 means that the phase with overcurrent is not recognized (e.g. for blocksize device).
Remedy: - check the motor data - if required, carry out commissioning.
- check the motor circuit configuration (star-delta)
- U/f operation: Increase up ramp.
- U/f operation: Check the assignment of the rated currents of the motor and Motor Module.
- infeed: Check the line supply quality.
- infeed: Reduce the motor load.
- infeed: Correct connection of the line reactor.
- check the power cable connections.
- check the power cables for short-circuit or ground fault.
- check the length of the power cables.
- replace power unit.
- check the line supply phases.
For a parallel switching device (r0108.15 = 1) the following additionally applies:
- check the ground fault monitoring thresholds (p0287).
- check the setting of the closed-loop circulating current control (p7036, p7037).
F30002 Power unit: DC link voltage, overvoltage
Message value: %1
Reaction: OFF2
Cause: The power unit has detected overvoltage in the DC link.
- motor regenerates too much energy.
- device connection voltage too high.
- when operating with a Voltage Sensing Module (VSM), the phase assignment L1, L2, L3 at the VSM differs from
the phase assignment at the power unit.
DC link voltage at the time of trip [0.1 V].
Remedy: - increase the ramp-down time
- activate the DC link voltage controller
- use a brake resistor or Active Line Module
- increase the current limit of the infeed or use a larger module (for the Active Line Module)
Faults and alarms
- check the device supply voltage
- check and correct the phase assignment at the VSM and at the power unit
See also: p0210 (Drive unit line supply voltage), p1240 (Vdc controller or Vdc monitoring configuration)
F30002 Power unit: DC link voltage, overvoltage
Message value: %1
Reaction: OFF2
Cause: The power unit has detected overvoltage in the DC link.
- motor regenerates too much energy.
- when operating with a Voltage Sensing Module (VSM), the phase assignment L1, L2, L3 at the VSM differs from
the phase assignment at the power unit.
Remedy: - increase the ramp-down time
- activate the DC link voltage controller
- use a brake resistor or Active Line Module
- increase the current limit of the infeed or use a larger module (for the Active Line Module)
- check the device supply voltage
- check and correct the phase assignment at the VSM and at the power unit
- set the rounding times (p1130, p1136). This is particularly recommended in U/f operation to relieve the DC link volt-
age controller with rapid ramp-down times of the ramp-function generator.
See also: p0210 (Drive unit line supply voltage), p1240 (Vdc controller or Vdc monitoring configuration)
F30003 Power unit: DC link voltage, undervoltage
Message value: -
Reaction: OFF2
Cause: The power unit has detected an undervoltage condition in the DC link.
- line supply failure
- line supply voltage below the permissible value.
- line supply infeed failed or interrupted.
Note:
The monitoring threshold for undervoltage in the DC link is indicated in r0296.
Remedy: - check the line supply voltage
- check the line supply infeed and observe the fault messages relating to it (if there are any)
- booksize units: check the setting of p0278.
Note:
The ready signal for the infeed (r0863) must be interconnected to the associated drive inputs (p0864).
F30004 Power unit: Overtemperature heat sink AC inverter
Message value: %1
Reaction: OFF2
Cause: The temperature of the power unit heat sink has exceeded the permissible limit value.
- insufficient cooling, fan failure.
- overload.
- ambient temperature too high.
- pulse frequency too high.
Faults and alarms
Fault value (r0949):
Temperature [1 bit = 0.01 C].
Remedy: - check whether the fan is running.
- check the fan elements.
- check whether the ambient temperature is in the permissible range.
- check the motor load.
- reduce the pulse frequency if this is higher than the rated pulse frequency.
Notice:
This fault can only be acknowledged after this alarm threshold for alarm A05000 has been undershot.
See also: p1800 (Pulse frequency setpoint)
F30005 Power unit: Overload I2t
Message value: %1
Reaction: OFF2
Cause: The power unit was overloaded (r0036 = 100 %).
- the permissible rated power unit current was exceeded for an inadmissibly long time.
- the permissible load duty cycle was not maintained.
I2t [100 % = 16384].
- check the motor and power unit rated currents.
See also: r0036 (Power unit overload I2t), r0206 (Rated power unit power), p0307 (Rated motor power)
F30005 Power unit: Overload I2t
Message value: %1
Reaction: OFF2
Cause: The power unit was overloaded (r0036 = 100 %).
- the permissible rated power unit current was exceeded for an inadmissibly long time.
I2t [100 % = 16384].
- check the motor and power unit rated currents.
- increase p0294
See also: r0036 (Power unit overload I2t), r0206 (Rated power unit power), p0307 (Rated motor power)
F30006 Power unit: Thyristor Control Board
Message value: -
Reaction: OFF2
Cause: The Thyristor Control Board (TCB) of the Basic Line Module signals a fault.
- there is no line supply voltage.
- the line contactor is not closed.
- the line supply voltage is too low.
- line supply frequency outside the permissible range (45 ... 66 Hz).
- there is a DC link short-circuit.
- there is a DC link short-circuit (during the pre-charging phase).
- voltage supply for the Thyristor Control Board outside the nominal range (5 ... 18 V) and line voltage >30 V.
- there is an internal fault in the Thyristor Control Board.
Faults and alarms
Remedy: The faults must be saved in the Thyristor Control Board and must be acknowledged. To do this, the supply voltage
of the Thyristor Control Board must be switched out for at least 10 s!
- check the line supply voltage
- check or energize the line contactor.
- check the monitoring time and, if required, increase (p0857).
- if required, observe additional power unit messages/signals.
- check the DC link regarding short-circuit or ground fault.
- evaluate diagnostic LEDs for the Thyristor Control Board.
F30008 Power unit: Sign-of-life error cyclic data
Message value: -
Cause: The power unit has detected that the cyclic setpoint telegrams of the Control Unit have not been updated on time.
The number of consecutive sign-of-life errors has exceeded the fault threshold (p7789).
Remedy: - check the electrical cabinet design and cable routing for EMC compliance
- for projects with the VECTOR drive object, check whether p0117 = 6 has been set on the Control Unit.
- increase the fault threshold (p7789).
See also: p0117 (Current controller computing dead time mode)
A30010 (F) Power unit: Sign-of-life error cyclic data
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: A DRIVE-CLiQ communication error has occurred between the Control Unit and the power unit involved.
The cyclic setpoint telegrams of the Control Unit were not received on time by the power unit for at least one clock
cycle.
Remedy: Check the electrical cabinet design and cable routing for EMC compliance.
F30011 Power unit: Line phase failure in main circuit
Message value: -
Cause: A line phase failure was detected at the power unit.
- the fuse of a phase of a main circuit has ruptured.
- the DC link voltage ripple has exceeded the permissible limit value.
Note:
The cause may also be a phase failure in the motor feeder cable.
Remedy: - check the main circuit fuses.
- check the motor feeder cables.
F30012 Power unit: Temperature sensor heat sink wire breakage
Message value: %1
Cause: The connection to a heat sink temperature sensor in the power unit is interrupted.
Faults and alarms
Bit 0: Module slot (electronics slot)
Bit 1: Air intake
Bit 2: Inverter 1
Bit 3: Inverter 2
Bit 4: Inverter 3
Bit 5: Inverter 4
Bit 6: Inverter 5
Bit 7: Inverter 6
Bit 8: Rectifier 1
Bit 9: Rectifier 2
Remedy: Contact the manufacturer.
F30013 Power unit: Temperature sensor heat sink short-circuit
Message value: %1
Cause: The heat sink temperature sensor in the power unit is short-circuited.
Bit 0: Module slot (electronics slot)
Bit 1: Air intake
Bit 2: Inverter 1
Bit 3: Inverter 2
Bit 4: Inverter 3
Bit 5: Inverter 4
Bit 6: Inverter 5
Bit 7: Inverter 6
Bit 8: Rectifier 1
Bit 9: Rectifier 2
Remedy: Contact the manufacturer.
F30015 (N, A) Power unit: Phase failure motor cable
Message value: -
Drive object: SERVO
Cause: A phase failure in the motor feeder cable was detected.
The signal can also be output in the following case:
- the motor is correctly connected, however the closed-speed control is instable and therefore an oscillating torque
is generated.
Note:
Chassis power units do not feature phase failure monitoring.
Remedy: - check the motor feeder cables.
- check the speed controller settings.
F30015 (N, A) Power unit: Phase failure motor cable
Message value: -
Cause: A phase failure in the motor feeder cable was detected.
The signal can also be output in the following cases:
- The motor is correctly connected, but the drive has stalled in V/f control. In this case, a current of 0 A is possibly
measured in one phase due to asymmetry of the currents.
Faults and alarms
- the motor is correctly connected, however the closed-speed control is instable and therefore an oscillating torque
is generated.
Note:
Chassis power units do not feature phase failure monitoring.
Remedy: - check the motor feeder cables.
- increase the ramp-up or ramp-down time (p1120) if the drive has stalled in V/f control.
- check the speed controller settings.
A30016 (N) Power unit: Load supply switched out
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage is too low.
Remedy: - switch on load supply.
- check the line supply if necessary.
F30017 Power unit: Hardware current limit has responded too often
Reaction: OFF2
Cause: The hardware current limitation in the relevant phase (see A30031, A30032, A30033) has responded too often. The
number of times the limit has been exceeded depends on the design and type of power unit.
For infeed units, the following applies:
- load on the infeed is too high.
- Voltage Sensing Module incorrectly connected.
- line reactor missing or the incorrect type.
The following applies to Motor Modules:
- fault in the motor or in the power cables.
- the power cables exceed the maximum permissible length.
- motor load too high
Bit 0: Phase U
Bit 1: Phase V
Bit 2: Phase W
Remedy: For infeed units, the following applies:
- check the controller settings and reset and identify the controller if necessary (p0340 = 2, p3410 = 5)
- reduce the load and increase the DC-link capacitance or use a higher-rating infeed if necessary
- check the connection of the optional Voltage Sensing Module
- check the connection and technical data of the line reactor
The following applies to Motor Modules:
- check the motor data and if required, recalculate the controller parameters (p0340 = 3). As an alternative, run a
motor data identification (p1910 = 1, p1960 = 1).
- check the motor circuit configuration (star-delta).
Faults and alarms
F30020 Power unit: Configuration not supported
Message value: fault cause: %1, additional information: %2
Reaction: OFF2
Cause: A configuration is requested that is not supported by the power unit.
yyyyxxxx hex: xxxx = fault cause, yyyy = additional information (siemensintern)
xxxx = 0: Autonomous operation is requested but is not supported.
xxxx = 1: The requested DRIVE-CLiQ timing is not permissible.
xxxx = 2: A PM260 has been detected with PS-ASIC version 2. This combination is not supported.
xxxx = 3: Initialization was not able to be successfully completed. It is possible that the Control Unit was withdrawn
from the power module before or during power-up.
xxxx = 4: The combination of power unit and Control Unit or Control Unit Adapter is not supported.
xxxx = 5: The higher current controller dynamic performance is not supported.
If required, deactivate an active internal voltage protection (p1231).
Re fault cause = 1:
Update the Control Unit firmware or change the DRIVE-CLiQ topology.
Re fault cause = 2:
Replace the power unit with a PM260 with PS-ASIC version 3 (or higher).
Insert a Control Unit or Control Unit Adapter (CUAxx) on an appropriate Power Module and perform a POWER ON
for the Control Unit or the Control Units Adapter.
Re fault cause = 5:
- use a booksize format power unit.
- for a Double Motor Module operate the two drive controls with the same current controller sampling time (p0115[0]).
Otherwise, the higher current controller dynamics can only be activated on the drive with the longer sampling time.
- If required, de-select the higher current controller dynamic performance (p1810.11 = 0). After deselecting the com-
puting dead time, recalculate the controller gains (p0340 = 4). If required, optimize the speed controller.
See also: p0115, p1231, p1810
F30021 Power unit: Ground fault
Message value: %1
Reaction: OFF2
Cause: Power unit has detected a ground fault.
- ground fault in the power cables.
- winding fault or ground fault at the motor.
- CT defective.
Additional cause for CU310/CUA31:
- when the brake is applied, this causes the hardware DC current monitoring to respond.
Additional cause for parallel switching devices (r0108.15 = 1):
Absolute value, total current amplitude [20479 = r0209 x 1.4142].
Note:
For power units, a ground fault is also emulated in r3113.5.
Remedy: - check the power cable connections.
- check the motor.
- check the CT.
The following applies additionally for CU310/CUA31:
- check the cables and contacts of the brake connection (a wire is possibly broken).
Faults and alarms
For parallel switching devices (r0108.15 = 1) the following additionally applies:
See also: p0287 (Ground fault monitoring thresholds)
F30022 Power unit: Monitoring U_ce
Reaction: OFF2
Cause: In the power unit, the monitoring of the collector-emitter voltage (U_ce) of the semiconductor has responded.
Possible causes:
- fiber-optic cable interrupted.
- power supply of the IGBT gating module missing.
- short-circuit at the power unit output.
- defective semiconductor in the power unit.
Bit 0: Short-circuit in phase U
Bit 1: Short circuit in phase V
Bit 2: Short-circuit in phase W
Bit 3: Light transmitter enable defective
Bit 4: U_ce group fault signal interrupted
See also: r0949 (Fault value)
Remedy: - check the fiber-optic cable and if required, replace.
- check the power supply of the IGBT gating module (24 V).
- select the defective semiconductor and replace.
F30024 Power unit: Overtemperature thermal model
Message value: -
Reaction: OFF2
Cause: The temperature difference between the heat sink and chip has exceeded the permissible limit value.
- overload.
See also: r0037
Remedy: - adapt the load duty cycle.
- check whether the fan is running.
F30024 Power unit: Overtemperature thermal model
Message value: -
Reaction: OFF2
Cause: The temperature difference between the heat sink and chip has exceeded the permissible limit value.
- overload.
See also: r0037
Faults and alarms
- if DC braking is active: reduce braking current (p1232).
F30025 Power unit: Chip overtemperature
Message value: %1
Reaction: OFF2
Cause: Chip temperature of the semiconductor has exceeded the permissible limit value.
- overload.
Temperature difference between the heat sink and chip [1 Bit = 0.01 C].
Notice:
See also: r0037
F30027 Power unit: Precharging DC link time monitoring
Message value: Enable signals: %1, Status: %2
Reaction: OFF2
Cause: The power unit DC link was not able to be pre-charged within the expected time.
1) There is no line supply voltage connected.
2) The line contactor/line side switch has not been closed.
3) The line supply voltage is too low.
4) Line supply voltage incorrectly set (p0210).
5) The pre-charging resistors are overheated as there were too many pre-charging operations per time unit.
6) The pre-charging resistors are overheated as the DC link capacitance is too high.
7) The pre-charging resistors are overheated because when there is no "ready for operation" (r0863.0) of the infeed
unit, power is taken from the DC link.
8) The pre-charging resistors are overheated as the line contactor was closed during the DC link fast discharge
through the Braking Module.
9) The DC link has either a ground fault or a short-circuit.
10) The pre-charging circuit is possibly defective (only for chassis units).
11) Infeed is defective and/or fuse has ruptured in the Motor Module (only Booksize units).
yyyyxxxx hex:
yyyy = power unit state
0: Fault status (wait for OFF and fault acknowledgement).
1: Restart inhibit (wait for OFF).
2: Overvoltage condition detected -> change into the fault state.
3: Undervoltage condition detected -> change into the fault state.
4: Wait for bypass contactor to open -> change into the fault state.
5: Wait for bypass contactor to open -> change into restart inhibit.
6: Commissioning.
7: Ready for pre-charging.
Faults and alarms
8: Pre-charging started, DC link voltage less than the minimum switch-on voltage.
9: Pre-charging, DC link voltage end of pre-charging still not detected.
10: Wait for the end of the de-bounce time of the main contactor after pre-charging has been completed.
11: Pre-charging completed, ready for pulse enable.
12: It was detected that the STO terminal was energized at the power unit.
xxxx = Missing internal enable signals, power unit (inverted bit-coded, FFFF hex -> all internal enable signals avail-
able)
Bit 0: Power supply of the IGBT gating shut down.
Bit 1: Ground fault detected.
Bit 2: Peak current intervention.
Bit 3: I2t exceeded.
Bit 4. Thermal model overtemperature calculated.
Bit 5: (heat sink, gating module, power unit) overtemperature measured.
Bit 6: Reserved.
Bit 7: Overvoltage detected.
Bit 8: Power unit has completed pre-charging, ready for pulse enable.
Bit 9: STO terminal missing.
Bit 10: Overcurrent detected.
Bit 11: Armature short-circuit active.
Bit 12: DRIVE-CLiQ fault active.
Bit 13: Vce fault detected, transistor de-saturated due to overcurrent/short-circuit.
Bit 14: Undervoltage detected.
Remedy: In general:
- check the line supply voltage at the input terminals.
- wait (approx. 8 minutes) until the pre-charging resistors have cooled down. For this purpose, preferably disconnect
the infeed unit from the line supply.
Re 5):
- carefully observe the permissible pre-charging frequency (refer to the appropriate Equipment Manual).
Re 6):
- check the total capacitance of the DC link and reduce in accordance with the maximum permissible DC-link capac-
itance if necessary (refer to the appropriate Equipment Manual)
Re 7):
- interconnect the ready-for-operation signal from the infeed unit (r0863.0) in the enable logic of the drives connected
to this DC link
Re 8):
- check the connections of the external line contactor. The line contactor must be open during DC-link fast discharge.
Re 9):
- check the DC link for ground faults or short circuits.
Re 11):
- Check the DC link voltage of the infeed (r0070) and Motor Modules (r0070).
If the DC link voltage generated by the infeed (or external) is not displayed for the Motor Modules (r0070), then a
fuse has ruptured in the Motor Module.
A30031 Power unit: Hardware current limiting, phase U
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Hardware current limit for phase U responded. The pulsing in this phase is inhibited for one pulse period.
Note:
Alarm A30031 is always output if, for a Power Module, the hardware current limiting of phase U, V or W responds.
Faults and alarms
Remedy: - check the motor data and if required, recalculate the controller parameters (p0340 = 3). As an alternative, run a
A30032 Power unit: Hardware current limiting, phase V
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Hardware current limit for phase V responded. The pulsing in this phase is inhibited for one pulse period.
Note:
Remedy: Check the motor data and if required, recalculate the controller parameters (p0340 = 3). As an alternative, run a
A30033 Power unit: Hardware current limiting, phase W
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Hardware current limit for phase W responded. The pulsing in this phase is inhibited for one pulse period.
Note:
Remedy: - check the motor data and if required, recalculate the controller parameters (p0340 = 3). As an alternative, run a
A30034 Power unit: Internal overtemperature
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for internal overtemperature has been reached.
If the temperature inside the unit continues to increase, fault F30036 may be triggered.
- ambient temperature might be too high.
Faults and alarms
Bit 0 = 1: Control electronics range.
Bit 1 = 1: Power electronics range.
Remedy: - check the ambient temperature.
- check the fan for the inside of the unit.
F30035 Power unit: Air intake overtemperature
Message value: %1
Cause: The air intake in the power unit has exceeded the permissible temperature limit.
For air-cooled power units, the temperature limit is at 55 C.
Temperature [0.01 C].
Notice:
F30036 Power unit: Internal overtemperature
Message value: %1
Reaction: OFF2
Cause: For chassis power units, the following applies:
The temperature inside the drive converter has exceeded the permissible temperature limit.
- overload.
Bit 0 = 1: Overtemperature in the control electronics range.
Bit 1 = 1: Overtemperature in the power electronics range.
Notice:
This fault can only be acknowledged once the permissible temperature limit minus 5 K has been fallen below.
F30037 Power unit: Rectifier overtemperature
Message value: %1
Reaction: OFF2
Cause: The temperature in the rectifier of the power unit has exceeded the permissible temperature limit.
- overload.
- line supply phase failure.
Temperature [0.01 C].
Faults and alarms
Notice:
A30038 Power unit: Capacitor fan monitoring
Message value: %1
Drive object: B_INF
Reaction: NONE
Acknowledge: NONE
Cause: The capacitor fan signals a fault.
Remedy: Replace the capacitor fan in the power unit.
F30039 Power unit: Failure capacitor fan
Message value: %1
Drive object: B_INF
Reaction: OFF1
Cause: The capacitor fan has failed.
Remedy: Replace the capacitor fan in the power unit.
F30040 Power unit: Undervolt 24 V
Message value: %1
Reaction: OFF2
Cause: Failure of the 24 V power supply for the power unit.
- The undervoltage threshold was undershot for longer than 3 ms.
24 V voltage [0.1 V].
Remedy: - check the 24 V DC power supply of the power unit.
- carry out a POWER ON (power off/on) for the component.
A30041 (F) Power unit: Undervoltage 24 V alarm
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: 24 V power supply fault for the power unit.
- the 16 V threshold was undershot..
Remedy: - check the 24 V DC power supply of the power unit.
A30042 Power unit: Fan operating time reached or exceeded
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The maximum operating time of the fan in the power unit is set in p0252.
This message indicates the following:
Faults and alarms
0: The maximum fan operating time is 500 hours.
1: The maximum fan operating time has been exceeded.
Remedy: Replace the fan in the power unit and reset the operating hours counter to 0 (p0251 = 0).
See also: p0251 (Operating hours counter power unit fan), p0252 (Maximum operating time power unit fan)
F30043 Power unit: Overvolt 24 V
Message value: -
Reaction: OFF2
Cause: The following applies for CU31x:
Overvoltage of the 24 V power supply for the power unit.
- the 31.5 V threshold was exceeded for more than 3 ms.
Remedy: Check the 24 V DC power supply of the power unit.
A30044 (F) Power unit: Overvoltage 24 V alarm
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The following applies for CU31x:
24 V power supply fault for the power unit.
- the 32.0 V threshold was exceeded.
Remedy: Check the 24 V DC power supply of the power unit.
F30045 Power unit: Supply undervoltage
Message value: %1
Reaction: OFF2
Cause: Power supply fault in the power unit.
- The voltage monitor signals an undervoltage fault on the module.
The following applies for CU31x:
- the voltage monitoring on the DAC board signals an undervoltage fault on the module.
Remedy: - check the 24 V DC voltage supply to power unit.
- replace the module if necessary.
A30046 (F) Power unit: Undervoltage, alarm
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Before the last restart, a problem occurred at the power unit power supply.
- the voltage monitor in the internal FPGA of the PSA signals an undervoltage fault on the module.
Register value of the voltage fault register.
Faults and alarms
Remedy: - check the 24 V DC voltage supply to power unit.
F30047 Cooling system: Cooling medium flow rate too low
Message value: %1
Reaction: OFF2
Cause: The flowrate of the cooling system has fallen below the fault threshold.
Remedy: - Check the feedback signals and parameter assignment (p0260 ... p0267).
- Check the coolant feed.
A30048 Power unit: External fan faulty
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The feedback signal from the external fan indicates a fault.
- fan faulty, blocked.
- feedback signal inaccurate.
Remedy: - check the external fan and replace if necessary.
- if you are using an external fan with feedback, check its wiring (X12.2 or X13.2).
Note:
If you are using an external fan without feedback, check that the feedback terminal wiring on the power unit is con-
nected to ground and make this connection if necessary (X12.1/2 or X13.1/2).
A30049 Power unit: Internal fan faulty
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The internal fan has failed.
Remedy: Check the internal fan and replace if necessary.
F30050 Power unit: 24 V supply overvoltage
Message value: -
Reaction: OFF2
Cause: The voltage monitor signals an overvoltage fault on the module.
Remedy: - check the 24 V power supply.
F30052 EEPROM data error
Message value: %1
Reaction: NONE
Cause: EEPROM data error of the power unit module.
Faults and alarms
0: The EEPROM data read in from the power unit module is inconsistent.
1: EEPROM data is not compatible to the firmware of the power unit application.
Additional values:
Replace the power unit module or update the EEPROM data.
The following applies for CU31x and CUA31:
Update the firmware \SIEMENS\SINAMICS\CODE\SAC\cu31xi.ufw (cua31.ufw)
F30053 FPGA data faulty
Message value: %1
Reaction: NONE
Cause: The FPGA data of the power unit are faulty.
Remedy: Replace the power unit or update the FPGA data.
A30054 (F) Power unit: Undervoltage when opening the brake
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: When the brake is being opened, it is detected that the power supply voltage is less than 24 V - 10% = 21.6V.
Supply voltage fault [0.1 V].
Example:
Alarm value = 212 --> voltage = 21.2 V
Remedy: Check the 24V power supply for stability and value.
F30055 Power unit: Braking chopper overcurrent
Message value: -
Reaction: OFF2
Cause: An overcurrent condition has occurred in the braking chopper.
Remedy: - check whether the braking resistor has a short circuit.
- for an external braking resistor, check whether the resistor may have been dimensioned too small.
Note:
The braking chopper is only enabled again at pulse enable after the fault has been acknowledged.
A30057 Power unit: Line asymmetry
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Frequencies have been detected on the DC link voltage that would suggest line asymmetry or failure of a line phase.
It is also possible that a motor phase has failed.
Fault F30011 is output if the alarm is present and at the latest after 5 minutes.
Faults and alarms
Remedy: - check the line phase connection.
- check the motor feeder cable connections.
If there is no phase failure of the line or motor, then line asymmetry is involved.
- reduce the power in order to avoid fault F30011.
F30059 Power unit: Internal fan faulty
Message value: -
Reaction: OFF2
Cause: The internal power unit fan has failed and is possibly defective.
Remedy: Check the internal fan and replace if necessary.
F30060 (A) Pre-charge contactor state monitoring
Cause: At the end of the monitoring time (p0255[0]), the actual state of the pre-charge contactor does not match the desired
state.
Bit 0: Monitoring time exceeded.
Bit 1: Contactor opened during operation.
Bit 2: Contactor closed in OFF state.
Remedy: - check the monitoring time setting (p0255[0]).
- check the contactor wiring and activation.
- replace the contactor.
F30061 (A) Bypass contactor monitoring
Cause: At the end of the monitoring time (p0255[1]), the actual state of the bypass contactor does not match the desired
state.
Bit 0: Monitoring time exceeded.
Bit 1: Contactor opened during operation.
Bit 2: Contactor closed in OFF state.
Remedy: - check the monitoring time setting (p0255[1]).
- check the contactor wiring and activation.
- replace the contactor.
F30070 Cycle requested by the power unit module not supported
Message value: %1
Reaction: OFF2
Cause: A cycle is requested that is not supported by the power unit.
0: The current control cycle is not supported.
1: The DRIVE-CLiQ cycle is not supported.
2: Internal timing problem (clearance between RX and TX instants too low).
3: Internal timing problem (TX instant too early).
Faults and alarms
Remedy: The power unit only supports the following cycles:
62.5 s, 125 s, 250 s and 500 s
Set a permitted current control cycle.
Set a permitted DRIVE-CLiQ cycle.
Contact the manufacturer (you may have an incompatible firmware version).
F30071 No new actual values received from the power unit module
Message value: -
Reaction: OFF2
Cause: The number of actual value telegrams from the power unit module that have failed has exceeded the permissible
number.
Remedy: Check the interface (adjustment and locking) to the power unit module.
F30072 Setpoints are no longer being transferred to the power unit
Message value: -
Reaction: OFF2
Cause: The following applies for CU31x and CUA31:
More than one setpoint telegram was not able to be transferred to the power unit module.
Remedy: The following applies for CU31x and CUA31:
Check the interface (adjustment and locking) to the power unit module.
A30073 (N) Actual value/setpoint preprocessing no longer synchronous
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: Communication with the power unit module is no longer in synchronism with the current control cycle.
Remedy: Wait until synchronization is re-established.
F30074 (A) Communication error between the Control Unit and Power Module
Message value: %1
Reaction: NONE
Cause: Communications between the Control Unit (CU) and Power Module (PM) via the interface no longer possible. The
CU may have been withdrawn or is incorrectly inserted.
0 hex:
The Control Unit was withdrawn from the Power Module during operation.
1 hex:
The Control Unit was withdrawn from the Power Module during operation, although the encoderless safe motion
monitoring functions are enabled. This is not supported. After re-inserting the Control Unit in operation, communica-
tions to the Power Module no longer possible.
20A hex:
The Control Unit was inserted on a Power Module, which has another code number.
20B hex:
The Control Unit was inserted on a Power Module, which although it has the same code number, has a different serial
number.
Faults and alarms
601 hex:
The Control Unit was inserted on a Power Module, whose power/performance class (chassis unit) is not supported.
Remedy: Reinsert the Control Unit (CU) or the Control Unit adapter (CUAxx) onto the original Power Module and continue
operation. If required, carry out a POWER ON for the CU and/or the CUA.
F30080 Power unit: Current increasing too quickly
Reaction: OFF2
Cause: The power unit has detected an excessive rate of rise in the overvoltage range.
- U/f operation: rated current of motor much greater than that of power unit.
Bit 0: Phase U.
Bit 1: Phase V.
Bit 2: Phase W.
- U/f operation: Check assignment of rated currents of motor and power unit.
F30081 Power unit: Switching operations too frequent
Reaction: OFF2
Cause: The power unit has executed too many switching operations for current limitation.
- U/f operation: rated current of motor much greater than that of power unit.
Faults and alarms
Bit 0: Phase U.
Bit 1: Phase V.
Bit 2: Phase W.
- U/f operation: Check assignment of rated currents of motor and power unit.
F30105 PU: Actual value sensing fault
Message value: -
Reaction: OFF2
Cause: At least one incorrect actual value channel was detected on the Power Stack Adapter (PSA).
The incorrect actual value channels are displayed in the following diagnostic parameters.
Remedy: Evaluate the diagnostic parameters.
If the actual value channel is incorrect, check the components and if required, replace.
F30314 Power unit: 24 V power supply overloaded by PM
Message value: -
Reaction: OFF2
Cause: The 24 V power supply through the Power Module (PM) is overloaded.
An external 24 V power supply via X124 on the Control Unit is not connected.
Remedy: Connect an external 24 V power supply via X124 at the Control Unit.
A30315 (F) Power unit: 24 V power supply overloaded by PM
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The 24 V power supply through the Power Module (PM) is overloaded.
An external 24 V power supply via X124 on the Control Unit is not connected.
Remedy: Connect an external 24 V power supply via X124 at the Control Unit.
Faults and alarms
A30502 Power unit: DC link overvoltage
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The power unit has detected overvoltage in the DC link on a pulse inhibit.
- line reactor incorrectly dimensioned.
DC link voltage [1 bit = 100 mV].
See also: r0070 (Actual DC link voltage)
Remedy: - check the device supply voltage (p0210).
- check the dimensioning of the line reactor.
F30600 SI MM: STOP A initiated
Message value: %1
Reaction: OFF2
Cause: The "Safety Integrated" function integrated in the drive in the Motor Module (MM) has detected a fault and initiated
STOP A (pulse suppression via the safety shutdown path of the Motor Module).
- forced checking procedure of the safety shutdown path of the Motor Module unsuccessful.
- subsequent response to fault F30611 (defect in a monitoring channel).
0: Stop request from the Control Unit.
1005: Pulses suppressed although STO not selected and there is no internal STOP A present.
1010: Pulses enabled although STO is selected or an internal STOP A is present.
1020: Internal software error in the "Internal voltage protection" function. The "internal voltage protection" function is
withdrawn. A STOP A that cannot be acknowledged is initiated.
9999: Subsequent response to fault F30611.
- replace the Motor Module.
- carry out diagnostics for fault F30611.
Note:
CU: Control Unit
MM: Motor Module
F30611 SI MM: Defect in a monitoring channel
Message value: %1
Cause: The "Safety Integrated" function integrated in the drive in the Motor Module (MM) has detected a fault in the cross-
wise data comparison between the Control Unit (CU) and MM and initiated a STOP F.
As a result of this fault, after the parameterized transition has expired (p9858), fault F30600 is output (SI MM: STOP
A initiated).
Faults and alarms
0: Stop request from the Control Unit.
1 ... 999:
Number of the cross-checked data that resulted in this fault. This number is also displayed in r9895.
1: SI monitoring clock cycle (r9780, r9880).
2: SI enable safety functions (p9601, p9801). Crosswise data comparison is only carried out for the supported bits.
3: SI SGE changeover tolerance time (p9650, p9850).
4: SI transition period STOP F to STOP A (p9658, p9858).
5: SI enable Safe Brake Control (p9602, p9802).
6: SI Motion enable, safety-relevant functions (p9501, internal value).
7: SI pulse suppression delay time for Safe Stop 1 (p9652, p9852).
8: SI PROFIsafe address (p9610, p9810).
9: SI debounce time for STO/SBC/SS1 (MM) (p9651, p9851).
10: SI delay time for pulse suppression for ESR (p9697, p9897).
11: SI Safe Brake Adapter mode, BICO interconnection (p9621, p9821).
12: SI Safe Brake Adapter relay ON time (p9622[0], p9822[0]).
13: SI Safe Brake Adapter relay OFF time (p9622[1], p9822[1]).
1000: Watchdog timer has expired. Within the time of approx. 5 x p9850 too many switching operations have
occurred at the safety-related inputs of the Control Unit, or STO (also as subsequent response) was initiated too fre-
quently via PROFIsafe/TM54F.
1001, 1002: Initialization error, change timer / check timer.
1950: Module temperature outside the permissible temperature range.
1951: Module temperature not plausible.
2000: Status of the STO selection on the Control Unit and Motor Module are different.
2001: Feedback signal for safe pulse suppression on the Control Unit and Motor Module are different.
2002: Status of the delay timer SS1 on the Control Unit and Motor Module are different.
6000 ... 6999:
Error in the PROFIsafe control.
The significance of the individual message values is described in safety message C01711 of the Control Unit.
Remedy: Re fault value = 1 ... 5 and 7 ... 999:
- check the cross-checked data that resulted in a STOP F.
- check the wiring of the safety-relevant inputs (SGE) on the Control Unit (contact problems).
- PROFIsafe: Remove contact problems/faults at the PROFIBUS master/PROFINET controller. - check the wiring of
the failsafe inputs at the TM54F (contact problems).
Re fault value = 2000, 2001, 2002:
- check the tolerance time SGE changeover and if required, increase the value (p9650/p9850, p9652/p9852).
- check the cause of the STO selection in r9772. When the SMM functions are active (p9501 = 1), STO can also be
selected using these functions.
Re fault value = 6000 ... 6999:
Refer to the description of the message values in safety message C01711.
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
N30620 (F, A) SI MM: Safe Torque Off active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The "Safe Torque Off" function was selected on the Motor Module (MM) via the input terminal and is active.
Note:
Note:
MM: Motor Module
N30621 (F, A) SI MM: Safe Stop 1 active
Message value: -
Reaction: NONE
Acknowledge: NONE
Cause: The "Safe Stop 1" function (SS1) was selected on the Motor Module (MM) and is active.
Note:
Note:
MM: Motor Module
Reaction upon F: Infeed: OFF2
Servo: OFF3
Vector: OFF3
F30625 SI MM: Sign-of-life error in safety data
Message value: %1
Reaction: OFF2
Cause: The "Safety Integrated" function integrated in the drive on the Motor Module (MM) has detected an error in the sign-
of-life of the safety data between the Control Unit (CU) and MM and initiated a STOP A.
- a time slice overflow of the safety software has occurred.
- de-select all drive functions that are not absolutely necessary.
Faults and alarms
- reduce the number of drives.
Note:
CU: Control Unit
MM: Motor Module
F30630 SI MM: Brake control error
Message value: %1
Reaction: OFF2
Cause: The "Safety Integrated" function integrated in the drive on the Motor Module (MM) has detected a brake control error
and initiated a STOP A.
10:
Fault in "open holding brake" operation.
- Parameter p1278 incorrectly set.
activated)).
30:
Fault in "close holding brake" operation.
activated)).
40:
Fault in "brake closed" state.
60, 70:
Fault in the brake control circuit of the Control Unit or communication fault between the Control Unit and Motor Mod-
ule (brake control).
81: SafeBrakeAdapter: Fault in "brake closed" state.
82: SafeBrakeAdapter: Fault in "open brake" state.
83: SafeBrakeAdapter: Fault in "close brake" state.
84,85:
SafeBrakeAdapter: Fault in the brake control circuit of the Control Unit or communication fault between Control Unit
and Motor Module (brake control).
Note:
Remedy: - check parameter p1278 (for SBC, only p1278 = 0 is permissible).
- select Safe Torque Off and de-select again.
- check the motor holding brake connection.
Operation with Safe Brake Module or Safe Brake Adapter:
- check the Safe Brake Module or Safe Brake Adapter connection.
- Replace the Safe Brake Module or Safe Brake Adapter.
Note:
MM: Motor Module
Faults and alarms
A30640 (F) SI MM: Fault in the shutdown path of the second channel
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: The Motor Module has detected a communication error with the higher-level control or the TM54F to transfer the
safety-relevant information or there is a communication error between motor modules connected in parallel.
Note:
Remedy: For the higher-level control, the following applies:
- check the PROFIsafe address in the higher-level control and Motor Modules and if required, align.
For TM54F, carry out the following steps:
- start the copy function for the node identifier (p9700 = 1D hex).
- acknowledge hardware CRC (p9701 = EC hex).
For a parallel connection:
- check the PROFIsafe address in the Control Unit and Motor Module and if required, align.
The following generally applies:
Note:
MM: Motor Module
See also: p9810 (SI PROFIsafe address (Motor Module))
F30649 SI MM: Internal software error
Message value: %1
Reaction: OFF2
Cause: An internal error in the Safety Integrated software on the Motor Module has occurred.
Note:
- re-commission the Safety Integrated function and carry out a POWER ON.
- replace the Motor Module.
Note:
MM: Motor Module
F30650 SI MM: Acceptance test required
Message value: %1
Reaction: OFF2
Cause: The "Safety Integrated" function on the Motor Module requires an acceptance test.
Faults and alarms
Note:
130: Safety parameters for the Motor Module not available.
Note:
This fault value is always output when Safety Integrated is commissioned for the first time.
1000: Reference and actual checksum in the Motor Module are not identical (booting).
- at least one checksum-checked piece of data is defective.
2000: Reference and actual checksum on the Motor Module are not identical (commissioning mode).
- reference checksum incorrectly entered into the Motor Module (p9899 not equal to r9898).
2003: Acceptance test is required as a safety parameter has been changed.
2005: The safety logbook has identified that the safety checksums have changed. An acceptance test is required.
3003: Acceptance test is required as a hardware-related safety parameter has been changed.
9999: Subsequent response of another safety-related fault that occurred when booting that requires an acceptance
test.
- carry out safety commissioning routine.
- check the safety parameters in the Motor Module and adapt the reference checksum (p9899).
- Carry out an acceptance test and generate an acceptance report.
- carry out diagnostics for the other safety-related fault that is present.
Note:
MM: Motor Module
See also: p9799 (SI reference checksum SI parameters (Control Unit)), p9899 (SI reference checksum SI parame-
ters (Motor Module))
F30651 SI MM: Synchronization with Control Unit unsuccessful
Message value: %1
Reaction: OFF2
Cause: The "Safety Integrated" function integrated in the drive is requesting synchronization of the safety time slices on the
Control Unit and Motor Module. This synchronization routine was unsuccessful.
Note:
Note:
MM: Motor Module
Faults and alarms
F30652 SI MM: Illegal monitoring clock cycle
Message value: %1
Reaction: OFF2
Cause: The Safety Integrated monitoring clock cycle cannot be maintained due to the communication conditions requested
in the system.
Note:
Remedy: - if fault 1652 simultaneously occurs, apply the remedy/countermeasure described there.
Note:
MM: Motor Module
F30655 SI MM: Align monitoring functions
Message value: %1
Reaction: OFF2
Cause: An error has occurred when aligning the Safety Integrated monitoring functions on the Control Unit (CU) and Motor
Module (MM). Control Unit and Motor Module were not able to determine a common set of supported SI monitoring
functions.
- Safety Integrated software releases on the Control Unit and Motor Module are not compatible with one another.
Note:
Note:
CU: Control Unit
MM: Motor Module
F30656 SI MM: Motor Module parameter error
Message value: %1
Reaction: OFF2
Cause: When accessing the Safety Integrated parameters for the Motor Module (MM) in the non-volatile memory, an error
has occurred.
Note:
129:
- safety parameters for the Motor Module corrupted.
- drive with enabled safety functions was possibly copied offline using the commissioning software and the project
downloaded.
131: Internal software error on the Control Unit.
255: Internal Motor Module software error.
Faults and alarms
Remedy: - re-commission the safety functions.
- activate the safety commissioning mode (p0010 = 95).
- adapt the PROFIsafe address (p9610).
- start the copy function for SI parameters (p9700 = D0 hex).
- acknowledge data change (p9701 = DC hex).
- exit the safety commissioning mode (p0010 = 0).
Note:
MM: Motor Module
F30659 SI MM: Write request for parameter rejected
Message value: %1
Reaction: OFF2
Cause: The write request for one or several Safety Integrated parameters on the Motor Module (MM) was rejected.
Note:
14: An attempt was made to enable the safe motion monitoring function with the higher-level control, although this
cannot be supported.
supported.
See also: r9771 (SI common functions (Control Unit)), r9871 (SI common functions (Motor Module)
Remedy: Re fault value = 10, 11, 13, 14, 15, 16, 18, 19:
Note:
CU: Control Unit
MM: Motor Module
F30662 Error in internal communications
Message value: %1
Reaction: OFF2
Cause: A module-internal communication error has occurred.
Faults and alarms
F30664 Error while booting
Message value: %1
Reaction: OFF2
Cause: An error has occurred during booting.
F30665 SI MM: System is defective
Message value: %1
Reaction: OFF2
Cause: A system defect was detected before the last boot or in the actual one. The system might have been rebooted (reset).
200000 hex, 400000 hex:
- Fault in the actual booting/operation.
2 hex:
- parameters p9500 and p9300 are not the same (if Safety message C30711 is displayed at the same time).
Additional values:
- defect before the last time that the system booted.
- check parameters p9500 and p9300 to see if they are the same (if Safety message C30711 is displayed at the same
time).
Re fault value = 400000 hex:
- ensure that the Control Unit is connected to the Power Module.
A30666 (F) SI Motion MM: Steady-state (static) 1 signal at the F-DI for safety-relevant acknowl-
edgement
Message value: -
Drive object: SERVO
Reaction: NONE
Acknowledge: NONE
Cause: A logical 1 signal is present at the F-DI configured in p10106 for more than 10 seconds.
If, at the F-DI no acknowledgment was performed for safe acknowledgment, then a steady-state logical and 0 signal
must be present. This avoids unintentional safety-relevant acknowledgement (or the "Internal Event Acknowledge"
signal) if a wire breaks or one of the two digital inputs bounces.
Remedy: Set the fail-safe digital input (F-DI) to a logical 0 signal (p10106).
Note:
Faults and alarms
F30672 SI CU: Control Unit software incompatible
Message value: %1
Reaction: OFF2
Cause: The existing Control Unit software does not support the safe drive-based motion monitoring function.
Note:
Remedy: - check whether there are faults in the safety function alignment between the Control Unit and the Motor Module
(F01655, F30655) and if required, carry out diagnostics for the faults involved.
- use a Control Unit that supports the safe motion monitoring function.
Note:
F30680 SI Motion MM: Checksum error safety monitoring functions
Message value: %1
Reaction: OFF2
Cause: The actual checksum calculated by the Motor Module and entered in r9398 over the safety-relevant parameters does
not match the reference checksum saved in p9399 at the last machine acceptance.
Safety-relevant parameters have been changed or a fault is present.
Note:
0: Checksum error for SI parameters for motion monitoring.
1: Checksum error for SI parameters for component assignment.
Remedy: - check the safety-relevant parameters and if required, correct.
- set the reference checksum to the actual checksum.
- perform a POWER ON if safety parameters requiring a POWER ON have been modified.
- carry out an acceptance test.
F30681 SI Motion MM: Incorrect parameter value
Reaction: OFF2
Cause: The parameter cannot be parameterized with this value.
Note:
Remedy: Correct the parameter value.
If the encoder parameters (p9526/p9326) have different values, start the copy function for SI parameters on the drive
(p9700 = 57 hex).
Also check p9316.0 for fault value 9317.
F30682 SI Motion MM: Monitoring function not supported
Message value: %1
Reaction: OFF2
Cause: The monitoring function enabled in p9301, p9501, p9601 or p9801 is not supported in this firmware version.
Note:
Faults and alarms
1: Monitoring function SLP not supported (p9301.1).
2: Monitoring function SCA not supported (p9301.7 and p9301.8 ... 15).
3: Monitoring function SLS override not supported (p9301.5).
4: Monitoring function external ESR activation not supported (p9301.4).
5: Monitoring function F-DI in PROFIsafe not supported (p9301.30).
6: Enable actual value synchronization not supported (p9301.3).
9: Monitoring function not supported, enable bit reserved (p9301.2, p9301.17 ... 29, p9301.31, if required p9301.6).
12: This Control Unit does not support NcSI.
24: Monitoring function SDI not supported.
26: hysteresis and filtering for SSM monitoring function without an encoder not supported (p9301.16).
30: The firmware version of the Motor Module is older than the version of the Control Unit.
Remedy: - de-select the monitoring function involved (p9301, p9301, p9303, p9601, p9801).
- Upgrade the Motor Module firmware.
Note:
See also: p9301 (SI Motion enable safety functions (Motor Module)), p9501 (SI Motion enable safety functions (Con-
trol Unit)), p9503 (SI Motion SCA (SN) enable (Control Unit)), p9601 (SI enable, functions integrated in the drive
(Control Unit)), p9801 (SI enable, functions integrated in the drive (Motor Module)), r9871 (SI common functions
(Motor Module)
F30683 SI Motion MM: SOS/SLS enable missing
Message value: -
Reaction: OFF2
Cause: The safety-relevant basic function "SOS/SLS" is not enabled in p9301 although other safety-relevant monitoring
functions are enabled.
Note:
Remedy: Enable the function "SOS/SLS" (p9301.0).
Note:
See also: p9301 (SI Motion enable safety functions (Motor Module))
F30685 SI Motion MM: Safely-Limited Speed limit value too high
Message value: %1
Reaction: OFF2
Cause: The limit value for the function "Safely-Limited Speed" (SLS) is greater than the speed that corresponds to an
encoder limit frequency of 500 kHz.
Note:
Maximum permissible speed.
Remedy: Correct the limit values for SLS and carry out a POWER ON.
Note:
See also: p9331 (SI Motion SLS limit values (Motor Module))
Faults and alarms
F30688 SI Motion MM: Actual value synchronization not permissible
Message value: -
Reaction: OFF2
Cause: - It is not permissible to enable actual value synchronization for a 1-encoder system.
- It is not permissible to simultaneously enable actual value synchronization and a monitoring function with absolute
reference (SCA/SLP).
Note:
Remedy: - Either select the "actual value synchronization" function or parameterize a 2-encoder system.
- Either de-select the function "actual value synchronization" or the monitoring functions with absolute reference
(SCA/SLP) and carry out a POWER ON.
Note:
See also: p9501 (SI Motion enable safety functions (Control Unit)), p9526 (SI Motion encoder assignment second
channel)
F30692 SI Motion MM: Incorrect parameter value encoderless
Reaction: OFF2
Cause: The parameter cannot be parameterized with this value if encoderless motion monitoring functions have been
parameterized in p9306.
Note:
See also: p9301 (SI Motion enable safety functions (Motor Module))
Remedy: Correct the parameter value or de-select encoderless motion monitoring functions.
See also: p9301 (SI Motion enable safety functions (Motor Module)), p9501 (SI Motion enable safety functions (Con-
trol Unit))
A30693 (F) SI MM: Safety parameter settings changed, warm restart/POWER ON required
Message value: %1
Reaction: NONE
Acknowledge: NONE
Cause: Safety parameters have been changed; these will only take effect following a warm restart or POWER ON.
Parameter number of the safety parameter which has changed, necessitating a warm restart or POWER ON.
Remedy: - carry out a warm restart (p0009 = 30, p0976 = 2, 3).
Note:
Before performing an acceptance test, a POWER ON must be carried out for all components.
C30700 SI Motion MM: STOP A initiated
Message value: -
Reaction: OFF2
Cause: The drive is stopped via a STOP A (pulses are suppressed via the safety shutdown path of the Control Unit).
Faults and alarms
Possible causes:
- stop request from the Control Unit.
- pulses not suppressed after a parameterized time (p9357) after test stop selection.
- subsequent response to the message C30706 "SI Motion MM: SAM/SBR limit exceeded".
- subsequent response to the message C30714 "SI Motion MM: Safely-Limited Speed exceeded".
- subsequent response to the message C30701 "SI Motion MM: STOP B initiated".
Remedy: - remove the cause to the fault on the Control Unit.
- check the value in p9357, if required, increase the value.
- check the shutdown path of the Control Unit (check DRIVE-CLiQ communication).
- replace the Motor Module/Power Module
This message can only be acknowledged via the Terminal Module 54F (TM54F) or PROFIsafe.
Note:
C30701 SI Motion MM: STOP B initiated
Message value: -
Reaction: OFF3
Cause: The drive is stopped via a STOP B (braking along the OFF3 ramp).
As a result of this fault, after the time parameterized in p9356 has expired or after the speed threshold parameterized
in p9360 has been fallen below, message C30700 "SI Motion MM: STOP A initiated" is output.
Possible causes:
- subsequent response to the message C30711 "SI Motion MM: Defect in a monitoring channel".
- subsequent response to the message C30707 "SI Motion MM: tolerance for safe operating stop exceeded".
Remedy: - remove the cause to the fault on the Control Unit.
Note:
C30706 SI Motion MM: SAM/SBR limit exceeded
Message value: -
Reaction: NONE
Cause: Motion monitoring functions with encoder (p9306 = 0) or encoderless with set acceleration monitoring (p9306 = 3):
SAM - safe acceleration monitoring. After initiating STOP B (SS1) or STOP C (SS2), the speed has exceeded the
selected tolerance.
Motion monitoring functions encoderless with set brake ramp monitoring (p9306 = 1):
SBR - Safe brake ramp monitoring. After initiating STOP B (SS1) or SLS changeover to the lower speed stage, the
speed has exceeded the selected tolerance.
- via F-DI or PROFIsafe.
The drive is shut down by the message C30700 "SI Motion MM: STOP A initiated".
Remedy: Check the braking behavior and, if necessary, adapt the tolerance for the "SAM" function or modify the parameter
settings for the "SBR" function.
Faults and alarms
Note:
SBR: Safe Brake Ramp (safe ramp monitoring)
See also: p9348, p9381, p9382, p9383, p9548
C30707 SI Motion MM: Tolerance for safe operating stop exceeded
Message value: -
Reaction: NONE
Cause: The actual position has distanced itself further from the target position than the standstill tolerance.
The drive is shut down by the message C30701 "SI Motion MM: STOP B initiated".
Remedy: - check whether safety faults are present and if required carry out the appropriate diagnostic routines for the partic-
ular faults.
- check whether the standstill tolerance matches the accuracy and control dynamic performance of the axis.
Note:
See also: p9530 (SI Motion standstill tolerance (Control Unit))
C30708 SI Motion MM: STOP C initiated
Message value: -
Reaction: STOP2
Cause: The drive is stopped via a STOP C (braking along the OFF3 ramp).
Possible causes:
See also: p9552 (SI Motion transition time STOP C to SOS (SBH) (Control Unit))
Note:
C30709 SI Motion MM: STOP D initiated
Message value: -
Reaction: NONE
Cause: The drive is stopped via a STOP D (braking along the path).
Possible causes:
See also: p9353 (SI Motion transition time STOP D to SOS (Motor Module)), p9553 (SI Motion transition time STOP
D to SOS (SBH) (Control Unit))
Note:
List of faults

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From Advanced Positioning Control (APC)

Pole pair number p

<1> Intervention by the Vdc controller.

Calculation, excitation current setpoint

Current actual values

INF I _reactv F_set

TM41 diag pos set

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