Sinamics Drivesim Basic Doc v105 en

SINAMICS DriveSim
Basic
User Documentation
Siemens
SINAMICS DriveSim Basic / V1.0.5 / FMU Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109798225 Support
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SINAMICS DriveSim Basic

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Legal information
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This manual contains notices you have to observe in order to ensure your personal safety, as well
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Table of contents
Table of contents
Legal information ......................................................................................................... 2
1 Fundamental safety instructions ..................................................................... 9
1.1 General safety instructions ................................................................... 9
1.2 Warranty and liability for application examples .................................... 9
1.3 Security information .............................................................................. 9
2 Introduction ...................................................................................................... 10
3 Functionality .................................................................................................... 12
3.1 Overview............................................................................................. 12
3.2 Feature set ......................................................................................... 14
3.2.1 PROFIdrive ......................................................................................... 14
3.2.2 Sequence control ............................................................................... 14
3.2.3 Setpoint channel ................................................................................. 15
3.2.4 Dynamic servo control (DSC) ............................................................. 16
3.2.5 Encoder Evaluation ............................................................................ 17
3.2.6 Speed control ..................................................................................... 18
3.2.7 Current setpoint filter .......................................................................... 19
3.2.8 Closed current control loop ................................................................ 19
3.2.9 Internal load ........................................................................................ 20
4 Parameterization .............................................................................................. 22
4.1 Config parameters .............................................................................. 22

4.2 SINAMICS parameters ....................................................................... 24
4.2.1 Range of validity - SERVO ................................................................. 28
4.2.2 Range of validity - VECTOR............................................................... 29
4.2.3 Encoder types .................................................................................... 32
4.2.4 Sampling times pre-setting p0115 ...................................................... 33
4.3 Variables............................................................................................. 34
4.3.1 Internal Load ...................................................................................... 34
4.3.2 Parameters for general order filter ..................................................... 35
5 Interfaces .......................................................................................................... 36
5.1 PROFIdrive standard signals receive ................................................. 39
5.1.1 STW1 (control word 1) ....................................................................... 40
5.1.2 STW2 (control word 2) ....................................................................... 41
5.1.3 NSOLL_A (rotation speed setpoint A) ................................................ 41
5.1.4 NSOLL_B (rotation speed setpoint B) ................................................ 41
5.1.5 Gn_STW (encoder control word) ....................................................... 42
5.1.6 XERR (position derivation) ................................................................. 42
5.1.7 KPC (position controller gain factor) .................................................. 42
5.1.8 MOMRED (Torque reduction) ............................................................ 43
5.2 PROFIdrive manufactory-specific supplementary signals
receive ................................................................................................ 43
5.2.1 M_ADD1 ............................................................................................. 43
5.2.2 M_LIMIT_POS .................................................................................... 43
5.2.3 M_LIMIT_NEG ................................................................................... 44
5.3 Additional inputs ................................................................................. 44
5.3.1 n_act_1 ............................................................................................... 44
5.3.2 x_act_1 ............................................................................................... 44
5.3.3 x_act_2 ............................................................................................... 44
5.3.4 n_set_ext ............................................................................................ 44
5.4 PROFIdrive standard signals send .................................................... 44
5.4.1 ZSW1 (state word 1) .......................................................................... 45
5.4.2 ZSW2 (state word 2) .......................................................................... 46

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5.4.3 NIST_A (rotation speed act A) ........................................................... 46

5.4.4 NIST_B (rotation speed act B) ........................................................... 46
5.4.5 Gn_ZSW (encoder state word) .......................................................... 46
5.4.6 Gn_XIST1 (encoder n actual position 1) ............................................ 47
5.4.7 Gn_XIST2 (encoder n actual position 2) ............................................ 47
5.4.8 MIST_GLATT (actual torque smoothed) ............................................ 47
5.4.9 PIST_GLATT (power factor, smoothed) ............................................. 48
5.4.10 NIST_A_GLATT (actual speed, smoothed) ....................................... 48
5.4.11 MELDW (message word) ................................................................... 48
5.5 PROFIdrive manufactory-specific supplementary signals send ......... 48
5.5.1 M_ACT ............................................................................................... 49
5.6 Additional outputs ............................................................................... 49
5.6.1 n_ctrl_n_set ........................................................................................ 49
5.6.2 n_set_before_filter .............................................................................. 49
5.6.3 n_set_after_filter ................................................................................. 49
5.6.4 M_air_gap .......................................................................................... 49
5.6.5 n_int_load ........................................................................................... 49
5.6.6 mismatch ............................................................................................ 49
6 Application ....................................................................................................... 50
6.1 FMI ..................................................................................................... 50
6.2 Licenses ............................................................................................. 50
6.3 Sample rates ...................................................................................... 50
6.3.1 Overview............................................................................................. 50
6.3.2 Setting guidance ................................................................................. 51
6.3.3 Examples ............................................................................................ 52

6.4 Application examples ......................................................................... 53
6.4.1 Superior PLC control .......................................................................... 53
6.4.2 External Speed Controller .................................................................. 54
6.4.3 Without superior PLC control ............................................................. 54
6.4.4 Internal load ........................................................................................ 55
6.4.5 External load ...................................................................................... 55
6.5 Tools ................................................................................................... 56
6.5.1 Variants .............................................................................................. 56
6.5.2 Application scenarios ......................................................................... 56
6.5.3 SIMIT .................................................................................................. 57
6.5.4 Simcenter Amesim ............................................................................. 59
6.5.5 Matlab Simulink .................................................................................. 60
6.5.6 ANSYS Twin Builder .......................................................................... 62
7 Appendix .......................................................................................................... 66
7.1 Service and support ........................................................................... 66
7.2 Industry Mall ....................................................................................... 67
7.3 FMU support ....................................................................................... 67
7.4 Links and literature ............................................................................. 67
7.5 Change documentation ...................................................................... 68
7.6 List of abbreviations ........................................................................... 71
7.7 Implemented function plans G110, G115, G120* .............................. 71
7.7.1 FP 2401: PROFIdrive - Overview ....................................................... 73
7.7.2 FP 2420: PROFIdrive - Telegrams and process data (PZD) ............. 73
7.7.3 FP 2421: PROFIdrive - Standard telegrams and Process Data
(PZD) .................................................................................................. 74
7.7.4 FP 2440: PROFIdrive - PZD receive signals interconnection ............ 74
7.7.5 FP 2442: PROFIdrive - STW1 control word interconnection
(p2038 = 0) ......................................................................................... 74
(p2038 = 0) ......................................................................................... 74
7.7.7 FP 2450: PROFIdrive - PZD send signals interconnection ................ 74

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7.7.8 FP 2452: PROFIdrive - ZSW1 status word interconnection

(p2038 = 0) ......................................................................................... 74
(p2038 = 0) ......................................................................................... 74
7.7.10 FP 2472: PROFIdrive - Status words, free interconnection ............... 74
7.7.11 FP 2501: Control word - sequence control (r0898) ............................ 74
7.7.12 FP 2503: Status word - sequence control (r0899) ............................. 74
7.7.13 FP 2505: Control word - setpoint channel (r1198) ............................. 74
7.7.14 FP 2534: Status word - monitoring functions 1 (r2197) ..................... 74
7.7.15 FP 2610: Sequence control – Sequencer .......................................... 74
7.7.16 FP 2634: Sequence control - Missing enable signals, line
contactor control ................................................................................. 75
7.7.17 FP 3001: Setpoint channel - Overview............................................... 75
7.7.18 FP 3060: Setpoint channel - Basic ramp-function generator ............. 75
7.7.19 FP 3080 Ramp-function generator selection, status word,
tracking ............................................................................................... 75
7.7.20 FP 4704: Position and temperature sensing, encoders 1 … 2 .......... 76
7.7.21 FP 4715: Speed actual value and pole pos. sensing, motor
encoder ASM/PMSM (encoder 1) ...................................................... 77
7.7.22 FP 4720: Encoder interface, receive signals, encoders 1 . ..2........... 77
7.7.23 FP4730: Encoder interface, send signals, encoders 1 . ..2 ............... 77
7.7.24 FP 6020: Vector control - Speed control and generation of the
torque limits, overview ........................................................................ 77
7.7.25 FP 6030: Vector control - Speed setpoint, acceleration model
(G120C) .............................................................................................. 77
7.7.26 FP 6031: Vector control - Pre-control balancing,

reference/acceleration model ............................................................. 77
7.7.27 FP 6040: Vector control - Speed controller with/without encoder ...... 77
7.7.28 FP 6060: Vector control – Torque setpoint ........................................ 77
7.7.29 FP 6630: Vector control - Upper/lower torque limit ............................ 77
7.7.30 FP 6710: Cector control – Current setpoint filter ................................ 77
7.7.31 FP 6799: Vector control – display signals .......................................... 77
7.7.32 FP 8005: Signals and monitoring functions – Overview .................... 77
7.7.33 FP 8010: Signals and monitoring functions - Speed signals 1........... 77
7.7.34 FP 8011: Signals and monitoring functions - Speed signals 2........... 78
7.7.35 FP 8012: Signals and monitoring functions - Torque signals,
motor blocked/stalled ......................................................................... 78
7.8 Implemented function plans for S110/S120/S150/S210/
G130/G150 ......................................................................................... 79
7.8.1 FP 2401: PROFIdrive - Overview ....................................................... 82
7.8.2 FP 2415: PROFIdrive - Standard telegrams and process data 1 ...... 83
7.8.3 FP 2419: PROFIdrive - Manufacturer-specific telegrams and
process data 1 .................................................................................... 84
7.8.4 FP 2420: PROFIdrive - Standard telegrams and Process Data
(S110) ................................................................................................. 85
7.8.5 FP 2421: PROFIdrive - Herstellerspezifische Telegramme und
Prozessdaten 3 .................................................................................. 86
7.8.6 FP 2422: PROFIdrive - Manufacturer-specific telegrams and
Process Data (S110) .......................................................................... 87
7.8.7 FP 2423: RPOFIdrive – Supplementary/free telegrams and
process data ....................................................................................... 88
7.8.8 FP 2439: PROFIdrive - PZD receive signals, interconnection,
profile-specific .................................................................................... 89
7.8.9 FP 2440: PROFIdrive - PZD receive signals, interconnection,
manufacturer specific ......................................................................... 90
(p2038 = 0) ......................................................................................... 91

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Table of contents

(p2038 = 0) ......................................................................................... 92
7.8.12 FP 2449: PROFIdrive - PZD send signals interconnection,
profile-specific .................................................................................... 93
7.8.13 FP 2450: PROFIdrive - PZD send signals interconnection,
manufacture specific .......................................................................... 94
(p2038 = 0) ......................................................................................... 95
(p2038 = 0) ......................................................................................... 96
7.8.16 FP 2456: PROFIdrive - MELDW status word interconnection ........... 97
7.8.17 FP 2472: PROFIdrive - IF1 status words, free interconnection ......... 98
7.8.18 FP 2501: Internal control/status words - Control word, sequence
control ................................................................................................. 99
7.8.19 FP 2503: Internal control/status words - Status word, sequence
control ............................................................................................... 100
7.8.20 FP 2505: Internal control/status words - Control word, setpoint
channel ............................................................................................. 101
7.8.21 FP 2522: Internal control/status words - Status word, speed
contoller ............................................................................................ 102
7.8.22 FP 2534: Internal control/status words - Status word, monitoring
functions 1 ........................................................................................ 103
7.8.23 FP 2610: Sequence control - Sequencer ......................................... 104
7.8.24 FP 2634: Sequence control - Missing enable signals, line
contactor control, logic operation ..................................................... 105
7.8.25 FP 3001: Setpoint channel - Overview............................................. 106

7.8.26 FP 3060: Setpoint channel - Basic ramp-function generator ........... 107
7.8.27 FP 3080: Setpoint channel - Ramp-function generator selection,
status word, tracking ........................................................................ 108
7.8.28 FP 3090: Setpoint channel - Dynamic Servo Control (DSC)
linear and DSC spline....................................................................... 109
7.8.29 FP 4704: Encoder evaluation - Position and temperature
sensing, encoders 1 … 3.................................................................. 110
7.8.30 FP 4710: Encoder evaluation - Speed actual value and pole
position sensing, encoder 1 ............................................................. 111
7.8.31 FP 4715: Encoder evaluation - Speed actual value and pole
position sensing, encoder 1, n_act_filt 5 .......................................... 112
7.8.32 FP 4720: Encoder evaluation - Encoder interface, receive
signals, encoders 1 … 3 ................................................................... 113
7.8.33 FP 4730: Encoder evaluation - Encoder interface, send signals,
encoders 1 … 3 ................................................................................ 114
7.8.34 FP 5019: Servo control - Speed control and U/f control,
overview ........................................................................................... 115
7.8.35 FP 5020: Servo control - Speed setpoint filter and speed pre-
control ............................................................................................... 116
7.8.36 FP 5030: Servo control - Reference model/pre-control
balancing/speed limitation ................................................................ 117
7.8.37 FP 5040: Servo control - Speed controller with encoder ................. 118
7.8.38 FP 5042: SERVO control – Speed controller, M/n pre-control
with encoder ..................................................................................... 119
7.8.39 FP 5060: Servo control - Torque setpoint, control type
changeover ....................................................................................... 120
7.8.40 FP 5610: Servo control - Torque limiting/reduction, interpolator...... 121
7.8.41 FP 5630: Servo control - Upper/lower limit ...................................... 122
7.8.42 FP 5640: Servo control - Mode changeover, power/current
limiting .............................................................................................. 123
7.8.43 FP 5700: Servo control - Current control, overview ......................... 124
7.8.44 FP 5710: Servo control - Current setpoint filter 1 … 4 ..................... 125

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7.8.45 FP 6020: VECTOR control – Speed control and generation of

the torque limits, overview ................................................................ 126
reference/acceleration model ........................................................... 127
7.8.47 FP 6040: Vector control - Speed controller with/without encoder .... 128
7.8.48 FP 6060: Vector control – Torque setpoint ...................................... 129
7.8.49 FP 6630: Vector control - Upper/lower torque limit .......................... 130
7.8.50 FP 6710: Vector control – Current setpoint filter .............................. 131
7.8.51 FP 6799: Vector control – display signals ........................................ 132
7.8.52 FP 8005: Signals and monitoring functions - Overview ................... 133
7.8.53 FP 8010: Signals and monitoring functions - Speed signals 1......... 134
7.8.54 FP 8011: Signals and monitoring functions - Speed signals 2......... 135
7.8.55 FP 8012: Signals and monitoring functions - Torque signals,
motor blocked/stalled ....................................................................... 136

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1 Fundamental safety instructions
1 Fundamental safety instructions

1.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off
1.2 Warranty and liability for application examples

Application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. Application examples do not
represent specific customer solutions, but are only intended to provide support for typical
tasks.
As the user you yourself are responsible for ensuring that the products described are
operated correctly. Application examples do not relieve you of your responsibility for safe
handling when using, installing, operating and maintaining the equipment.
1.3 Security information

See legal information
Further information is provided on the Internet: Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in
your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security
concept.
• Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
• On completion of commissioning, check all security-related settings.

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2 Introduction
2 Introduction
SINAMICS DriveSim Basic is a model of the SINAMICS Drive. The motor axis control types
for Drive Objects SERVO and VECTOR are integrated. It implements a specific feature
subset of the drive. It is valid for the following devices and firmware versions:
• VECTOR
• G110M (CU240M), G115D, G120 - (CU230P-2, CU240B-2, CU240E-2,
CU250S-2), G120C >= V4.7 SP13
• G120X >= V1.03.00
• G130/G150 >= V5.2 SP3,
• SERVO
• S210 >= V5.2 SP3
• S110 >= V4.4 SP3
• V90 >= V1.04.03
• SERVO / VECTOR
• S120/S150 >= V5.2 SP3
The model is available as a standardized FMU model (Functional Mockup Unit) and is
compatible with many standard time-based simulation programs (such as SIMIT, Simcenter
Amesim, NX Motion or Matlab Simulink). Together with other virtual SIEMENS solutions (e.g.
SIMATIC S7-PLCSIM Advanced or NX Mechatronics Concept Designer), a consistent
model-based development process can be implemented.
With SINAMICS DriveSim Basic, drive constellations in machines and systems can be
specifically simulated, adjusted, and optimized even before a specific product selection has
been made. The application focus of the model lies on the drive environment, supporting the
customer application. It provides a reliable representation of the drive system in the
necessary level of detail for virtually commissioning a PLC with known PROFIdrive telegrams
or complex mechanics on the virtual drive shaft. It supports the dimensioning process of the
drive before defining a specific Control Unit by providing load profiles for import into SIZER
for Siemens Drives or TIA Selection Tool.
The following function groups of the SINAMICS drives are implemented:
• PROFIdrive communication,
• sequence controller,
• ramp function generator,
• encoder evaluation,
• speed control including reference model and torque limiting,
• position control via dynamic servo control (DSC) and
• two current setpoint Band-stop filter with defined reduction.
Additionally, it includes a simplified motor model and an optional internal mechanical
feedback loop.
The communication interface to the PLC is implemented via the cyclic telegram content of
process data words. It is suitable for basic drive functions; those correspond to the
application classes AC1 (Standard Drive) and AC4 (Motion Control with central interpolation
and speed setpoint interface) \1\.
With SINAMICS DriveSim Basic together with, for example, the PLC technology object
„Speed Axis”, it is possible to realize a drive system quickly and easily in a FMU supporting
simulation tool. For example, it is easy to switch between telegrams and stub drive

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2 Introduction
functionalities via a parameter or to activate internal feedback without a dedicated user

defined application.
All these properties and the seamless link to the existing drive documentation, i.e. the
function plans, accelerate the development phase significantly due to its clear focus on
compatibility, validity, user-friendliness, and simulation speed.

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3 Functionality
3 Functionality
3.1 Overview
SINAMICS DriveSim Basic is a model of a SINAMICS drive, which represents a specific
functional scope of its control core. The implemented function charts based on the
SINAMICS List Manual \2\. The below figure shows the structure of the model, where:
• n_act represents the inputs n_act_1, x_act_1, x_act_2 and n_set_ext
• n_set represents n_ctrl_n_set, n_set_before_filter and n_set_after_filter.
connect. r-BUS I/O FUP G(z)
SINAMICS DriveSim Basic PD-Signals

PD-Signals
Encoder 4700 PROFIdrive Sequence Setpoint Speed Current Set- Closed Current
2401 Control 2610 Channel 3001 Controller point Filter Control Loop n_set
5019 5700
n_act M_air_gap
n_int_load
mismatch
Internal Load
Figure 3-1 model structure

The following functional groups are implemented. A more detailed overview of the
implemented functionality gives 3.2. A detailed presentation of the implemented function
plans is given in 0 and 7.8. These functional groups may be activated or deactivated
according to the use case via corresponding config parameters, as available.
• The PROFIdrive communication
• to the superior control with PROFIdrive telegram content 1, 2, 3, 4, 5, 6, 20, 102
103, 105, 106 and 352 is available
• the assignment to the PROFIdrive signals corresponds to the function plan 2401
(7.8.1)
• the supplementary telegram 750 is available
• The sequence control
• implements the drive states according in the function plan 2610 (3.2.2)
• The setpoint channel
• implements the ramp-function generator
• generates the up- and down-ramp based on the rotation speed setpoint
• maps the general functionality of the function plan 3060 (refer 3.2.3)
• implements the dynamic servo control (DSC)
• The encoder evaluation
• implements the encoder sequence controller and reference mark search
• maps the general functionality of the function plan 4704 (refer 3.2.4)
• The speed controller
• implements the speed controller (SERVO: FP 5019 refer 7.8.34; VECTOR: FP
6020 refer 7.8.45)
• limits the torque and the rotation speed

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3 Functionality
• implements the reference model (SERVO: FP5030 refer 7.8.36; VECTOR: FP

6031 refer 7.8.46)
• implements the acceleration model (VECTOR: FP 6031 refer 7.8.46)
• The current setpoint filter
• Implements the current setpoint filter 1 … 2
• The closed current control loop
• implements the current controller combined with the inverter and motor model as
an optimal configured closed loop system
• equals a PT2 behavior dependent of the current controller sample time
(p0115[0])
• device-specific hardware limits (of mechanical, electrical, thermal or magnetical
nature) are neglected
• The internal load
• represents an optional internal feedback loop
• content is dependent on the configured model (direct feedthrough or two-mass-
oscillator)
• linear and square-law base load characteristic
The following interfaces are available to the user:
• SINAMICS parameters
• subselection of SINAMICS parameters which match parameters of the real drive
(in name and effect)
• configuration parameters
• simulation mode can be selected with the config parameters
• variables
• definition of non SINAMICS parameters, e.g. internal load characteristics
• PROFIdrive Signals (Cyclic Input/Outputs)
• PROFIdrive send and receive signals (e.g. STW1, ZSW1, NSOLL_A etc.)
• Additional cyclic Inputs/Outputs
• n_act_1 current rotation speed of the application (e.g. motor model) and input of
encoder 1
• x_act_1 and x_act_2 interface for external encoder
• n_set_ext interface for an operation without PROFIdrive telegrams (speed
setpoint as double)
• n_ctrl_n_set set rotation speed of the application
• n_set_before_filter depends on DSC
▪ inactive:n_ctrl_n_set without limits
▪ active: n_set of DSC
• n_set_after_filter n_set_before_filter with n_prectrl
• M_air_gap set torque of the application
• n_int_load current rotation speed of the internal load
• mismatch provides the number of an incorrectly set SINAMICS-parameter

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3.2 Feature set

This chapter gives an overview on the implemented features. The below table shows the
implemented functionalities depending on the Drive Object (DO SERVO or VECTOR).
Table 3-1 Feature set of drive objects
Feature SERVO VECTOR
PROFIdrive ✓ ✓
Sequence control ✓ ✓
Setpoint Channel ✓ ✓
Dynamic Servo Control (DSC) ✓
Encoder Evaluation ✓ ✓
Speed control ✓ ✓
Current setpoint filter ✓ ✓
Closed current control loop ✓ ✓
Internal load ✓ ✓
3.2.1 PROFIdrive
The communication of a SERVO axis to the superior control with PROFIdrive telegram
content 1, 2, 3, 4, 5, 6, 102, 103, 105 and 106 is available. The communication of a
VECTOR axis to the superior control with PROFIdrive telegram content 1, 2, 3, 4, 20, and
352 is available. For both DOs the supplementary telegram 750 is available.
The assignment to the PROFIdrive signals corresponds to the function plan 2415 ff. (refer
7.8.2).
3.2.2 Sequence control
The sequence control implements the states corresponding to the function plan 2610 of the
drive.
The box marked green shows an additional condition to get in state “S4: Operation”, which is
only active with configured encoder one, but missing in the original SINAMICS
documentation. “Encoder ready” contains the condition that encoder 1 is not parking or is in
error. It is also assumed that the DC link is always loaded and that the infeed ready bit
p0864 is statically set to one.

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p0857 p0862 POWER ON <1> Fault 2000.00 µs

<2>
with OFF1 – or
<5> & OFF3 ...
S1: Switching on inhibited Motor at standstill response
ZSWA.06 = 1, ZSWA.11 = 0 From all states
ZSWA.00/01/02 = 0
Motor at standstill
"0 = OFF" (STWA.00) Pulses inhibited "0 = Coast down" (STWA.01)
<4> <5>
<4> <5> Pulse enable
"0 = Coast down" (STWA.01)
r0046.8 EP terminals,
1 HW [2701.8], [2711.8] &
& <4> <5> enable missing
r0046.8 EP terminals, enable missing <6>
<6> 1
"Commissioning completed" (p0010 = 0 & p0009 = 0)
<6> <5>
"0 = Coast down" (STWA.01) <5> S5b: Quick stop

<4> <5> "0 = Quick stop" ZSWA.00/01 = 1, ZSWA.11 = 1
S2: Ready for switching on & <7>
"0 = Quick stop" (STWA.02) ZSWA.00 = 1, ZSWA.11 = 0 (STWA.02) ZSWA.02/06 = 0
<4> <5> 1 <4> <5>
Main contactor is OPEN Bring the motor to n <= 0 along
r0046.8 EP terminals, the quick stopping ramp or torque
<6> Wait for power up or jog
enable missing Pulse enable HW limit, then inhibit the pulses
Close main con
"0 = OFF" [2701.8], [2711.8] &
p0870
Jog 1 1 "0 = OFF"
Jog 2 Motor at
(0) Jog 1 & standstill
Infeed ready Jog 2 Motor at
p0862 <5> standstill
p0864
& S5c: Jogging -
Energize contactor S3: Ready down ramp
T 0 1 r0863.1 ZSWA.00/01 = 1, ZSWA.11 = 0 ZSWA.00/01 = 1
<7>
ZSWA.02/06 = 0 ZSWA.11 = 1
No PU fault ZSWA.02/06 = 0
Closed-loop control operation Wait for Enable operation <5> Bring the motor to n <= 0 along
Line contactor is CLOSED
Wait for precharging & r0863.0
<5> S5a: Ramp stop
the Ramp-function generator,
then inhibit the pulses
Vdc uploaded
<3> ZSWA.00/01 = 1
Debounce time expired (p0868) ZSWA.11 = 1 <7>
ZSWA.02/06 = 0
& & Bring the motor to n <= 0 along
"0 = Coast down" the Ramp-function generator,
<4> <5> then inhibit the pulses
(STWA.01) Controller enable
1 Encoder ready*
<5>
Jog 1
1 r0899.8
S4: Operation Jog 1
<6> OFF2 (has priority over jogging) ZSWA.00/01/02 = 1 & Jog 2
1 Jog 2 &
Jog mode
ZSWA.11 = 1
<1> POWER ON = 24 V electronics supply OFF --> ON or RESET button. ZSWA.06 = 0
<2> The sequencer is implemented according to the PROFIdrive profile.
<3> Only for SINAMICS S120 and G150: Pulses enabled
If a DO Infeed (A_INF, B_INF and S_INF) is used, it closes the line contactor Controller enabled
(refer to [8732], [8832], [8932]) and not the DO SERVO/VECTOR. No jog operation: Setpoints enabled
OFF3 (has priority over jogging)
<4> These control commands can also be triggered by a fault response. Faults
<5> STWA.xx = control word, sequence control, bit xx (r0898) [2501]; ZSWA.xx = status word, sequence control bit xx (r0899) [2503]. Missing enable
F07300 F07802
<6> Only if "Safety Integrated" is active. signals
F6000
<7> The parameters p1226, p1227 and p1228 influence this status.
1 2 3 4 5 6 7 8
DO: SERVO, VECTOR fp_2610_54_eng.vsd Function diagram
- 2610 -
Sequence control - Sequencer 20.02.18 V05.02.03 S120/S150/G130/G150
Figure 3-2 Sequence control, function plan 2610
3.2.3 Setpoint channel
The is implemented according to the function diagram FP3090.

p0115[3]
Jog 1
r0898.8
r1024 Jog 2
r0898.9
Main setp scal
p1070 0 0
Main setp scal +
[3010] Fixed speed setpoints p1071 +
Suppl setpoint 0 1
p1075 n_set_1
Suppl setp scal
p1076 1 0
+/- r1114
Jog setpoint 1
p1058
pos
r1050
1 1 neg
Jog setpoint 2
p1059 (-1)
[3030] Main/supplementary setpoint, setpoint [3040] Direction limitation [3050] Skip (suppression) bandwidth
[3020] Motorized scaling, jogging and direction reversal and speed limiting
potentiometer r1119
DSC_STW RFG selection RFG n_set at outp p0115[1]

p1194 p1115
[5060.1] r1150
n_set_4 p1155
DSC T_SYMM Balancing [5030.1] 0 + n_ctrl setp sum
p1195
r1170
+
1 + [1590.1]
p1160 [1700.1]
[3060] Basic ramp-function
NSOLL_B Spline-Interpolation n_pre_control generator r1438
p1430 [5020.1]
+
p1191 Dynamic –
setpoint limit ZSW r1199 n_act
x,y x Kp 2a  x
y + n_set from DSC
DSC_XERR [5020.1] Ramp-function
p1190 generator M_limit
+ + [5030.1]
+ – tracking
t
– 2a  x
Interpolator [3070] Expanded
DSC position
controller ramp-function generator
[3080] Ramp-function generator selection,
Deadtime element
from status word, tracking
PROFIdrive
x_act Simulate ramp-function generator
<1>
[3090] Dynamic Servo Control (DSC) linear and DSC spline (r0108.6 = 1)
<1> Only for SERVO.
1 2 3 4 5 6 7 8
DO: SERVO, VECTOR, VECTOR3P, VECTORGL, VECTORM2C, VECTORSL fp_3001_51_eng.vsd Function diagram
- 3001 -
Setpoint channel - Overview 14.05.20 V05.02.03 SINAMICS
Figure 3-3 Setpoint channel – Overview, function plan 3001

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3.2.4 Dynamic servo control (DSC)
Dynamic servo control is implemented according to the function diagram FP3090. The
“Higher-level motion controller” must be realized in the simulation tool or a virtual PLC model.
Higher-level motion control SINAMICS PROFIdrive sampling time p0115[1] (Drive Object)
(e.g. SINUMERIK, SIMOTION) Control Unit <101>
[2522.1]
DSC_STW p1191 > 0 (connected)
Motion Control p1194
[2522.1]
n_set from DSC
& r1407.4
DSC T_SYMM
Path p1195
DSC T_SYMM_ADD
p1427(DDS) 1
Interpolation 1
n_cmd Speed pre-control <8>
Balancing 0
p1430 1 0
Spline torque
0 pre-control on
Offset and + DSC KPC
Compensation x_cmd r1407.22
p1191 Spline-Interpolation 1
1 n_prectrl
+ + <4>
spline
x XERR
S&H DSC XERR 0
– 0
Position actual value T_MAPC SET {1} p1190 DSC x_set
generation r1196 Spline speed
Master Application Cycle-Time <6> pre-control
r1407.21 Speed pre-control
Encoder signals acc. telegram Application clock-cycle
[2415], [2416] and [2419] synchronous (at PROFIdrive) Dynamic setpoint limit
+ 1 x,y x 2a  x
Enc G1_XIST1 <5> Kp <7>
y +
r0482[0] x n_set from DSC
<4>
Enc G2_XIST1 + 0 + + [5020.1]
r0482[1] Dir of rot –
DSC enc selection t [5030.3]
Enc G3_XIST1 p1192
p1821[D]
Spline- – 2a  x
Interpolator DSC position
r0482[2] Invert position act value DSC encod PROFIdrive Interpolation
From motor p0410.1[E] Transmission Speed controller sampling time controller
AdaptFact DSC on
Diag G1_XIST1 encoder <2> <10> p1193 (1) Delay r1407.20 T_SAPC
1 <3>
r0479[0]
Diag G2_XIST1 <9> 0 0 SET
x y Slave Application cycle-time <8>
With active symmetrization
2
r0479[1] S&H (T_SYMM > 0), the speed
-1 1 -1 1 {2} feedforward value is balanced
Diag G3_XIST1
3 SET using the sum of the following time
r0479[2] <4> {3} x y Fast position
Position actual value from
S &H constants:
<1> actual value channel T_SYMM (refer to p1195) +
encoder 1, 2, 3 [4704.8]
T_SYMM_ADD (p1427) + 0.5 *
<1> Principle of operation of Dynamic Servo Control (DSC): The feedback branch {2} completely <3> The deadtime for the PROFIdrive data transfer is set automatically. T_Speed controller (p0115[1]).
compensates the feedback coupling branch {1} in respect of the position actual value sent from the <4> The position deviation must be referred to the increments of the motor <9> It is actualised with every DRIVE-
drive. The fast actual value channel {3} allows for a high dynamic performance and high Kv factors. including the fine resolution. CLiQ base tact.
<2> For the motor encoder (p1192 = 1) p1193 = 1 is effective. <5> Normalization of KPC: If signal x = 1 motor revolution and <10> Not for drive object ENC.
When using encoder 2 or 3 (p1192 = 2, 3), p1193 corresponds to the "Increments per motor encoder KPC = 1, then "n_set from DSC" = 0.001 motor revolutions/s. <101> To view the pre-assignment of the
revolution/increments of the encoder selected (2, 3) during one motor rotation" (considering gear <6> Clock-synchronous operation must be active for DSC. sampling times in p0115, refer to
ratios and also different encoder lines and fine resolutions). <7> Only for p1400.17 = 1 and at limitation becomes p1407.19 = 1. p0112.
1 2 3 4 5 6 7 8
DO: SERVO fp_3090_01_eng.vsd Function diagram
- 3090 -
Setpoint channel - Dynamic Servo Control (DSC) linear and DSC spline (r0108.6 = 1) 11.02.16 V05.02.03 SINAMICS S120
Figure 3-4 Dynamic Servo Control (DSC), function plan FP 3090

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3.2.5 Encoder Evaluation
The encoder evaluation implements the encoder sequence controller and the reference mark
search according to the function plan 4704 shown below.
<1> Configuration, absolute value encoder
Enco- Sensor Control Unit Encoder pulse number PROFIdrive sampling time
ders Modules Encoder type selection Enc Enc Enc (number of signals periods per Abs enc. Abs enc. Abs enc.
<11>
0 = No encoder configuration squarewave A/B grid division track and encoder revolution) Multiturn Meas. Step Singleturn Enc rot clearance NM
p0400[E] p0404[E] p0405[E] p0407[E] p0408[E] p0421[E] p0422[E] p0423[E] p0425[E] The encoder data set
[E] changeover is shown
Enc_interface <3> <3> <3> <3> <3> <3> at [8570].
Comp_No. To speed
p0141[E] sensing
Measuring gearbox, [4710.1]
Encoder <4> Enc fine
activate position tracking 1 2
Comp_No. Gx_XIST1
p0411.0[E] 1 2
p0142[E] Incr A p0418[E] 2n
No. of signal
DRIVE-CLiQ periods
B A
0 u Diag Gn_XIST1
<10>
SMx x2n p 31 n n-1 0 r0479[n-1]
dn III
1 Invert position act value Dir of rot
2n [3090.1]
<8> A Multiplication p0410.1[E] p1821[D] [4710.1]
B 32 bits Fine resolution
by hardware [4711.1]
SM characteristics p0412[E] sin/cos (multiplication by
Free-running position <11>
r0458 and hardware) <2> <6> <12>
B 1 signal period counter 0 0 Enc Gn_XIST1
p0432[E]/ 232 -1
p0433[E] r0482[n-1]
-1 1 -1 1
[3090.1], [4010.1],
1 signal period Load gear, activate position tracking 0 <5> [4735.6], [4740.6]
p2720.0[D]
For SSI encoders: Absolute position information
<9> <11>
<9> <11> <2> <7> <9> <12>
Sequence control 0 Load gear abs_val
0
r2723[n-1]
& -1 1
[4010.1]
1
Enc fine
Gx_XIST2
p0419[E] Dir of rot
p2721[D] p1821[D]
and [4735.7]
p2504[D]/p2505[D] <11> <2> <7> <12>
x2n 0 Enc Gn_XIST2
(only for absolute value encoders,
r0483[n-1]
e.g. EQN) Encoder error -1 1
[4010.1]
processing
ϑ from encoder n [8016.1] <11>

Function selection
Encoder n Bit 14-15 Encoder status bits <12>
[4730.1]
Bit 0-13
to Gn_ZSW
[4720.4] F31100...A33905 <12>
<1> For rotary encoders = pulse number setting. encoder faults/alarms
For resolvers = pole pair number setting. <2> <12> <12> Enc Gn_ZSW
Encoder status word p0979[0...25]
<2> Assignment of the indices: Index [n-1] Encoder n Enc Gn_STW Measuring probe positions r0481[n-1] Encoder format acc. to PROFIdrive
Index [0] Encoder 1 r0487[n-1]
Index [1] Encoder 2 <6> Gn_XIST1 is a free-running position value. <9> Only of significance when the "Position control" function
Index [2] Encoder 3 The external control must process the overflows. module is activated (r0108.3 = 1) and with encoder 1.
<3> For "EnDat encoders", these parameters are read out automatically. <7> The contents of r0483/r2723 are determined by the encoder status word/ <10> Updated in each DRIVE-CLiQ basic cycle.
<4> For SIMODRIVE-compatible functions: Set p0418 = 11. control word. Refer to [4720] and [4730]. <11> Not for DO ENC.
<5> Generating the two's complement. <8> Interface EnDat or SSI. <12> DO ENC only encoder 1 acc. Index = 0.
1 2 3 4 5 6 7 8
DO: ENC, SERVO, VECTOR fp_4704_55_eng.vsd Function diagram
- 4704 -
Encoder evaluation - Position and temperature sensing, encoders 1 22.08.18 V05.02.03 SINAMICS S120/S150
Figure 3-5 Position and temperature sensing, function plan 4704

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3.2.6 Speed control
The speed controller is implemented according to the SERVO FP 5040, additionally the
limitation of the torque (FP 5630: 7.8.41) and the rotation speed (FP 5030: 7.8.35) is
implemented.
The implementation of the VECTOR speed controller (FP 6040: 7.8.47) is basically identical,
except that the VECTOR control loop works with normalized values. E.g. Kp is in p.u. and it
is calculated as follows (for the description of the parameters see 4.2):
𝑟0333 ∙ 60 2 ∙ 𝑝2003 ∙ 60
𝐾𝑝𝑉𝑒𝑐𝑡𝑜𝑟 = 𝑝1460 ∙ = 𝑝1460 ∙
𝑝0311 ∙ 2 ∙ 𝜋 𝑝2000 ∙ 2 ∙ 𝜋
Additionally, the controller sample times (p0112/ p0115) are differing.
n_ctrl n_set n_ctrl Kp n lower n_ctrl Tn n lower p0115[1] (125.00 µs)
r1438 0.000...999 999.000 [Nms/rad] 0.00...100 000.00 [ms]
p3700.0 p1460[D] (0.300) p1462[D] (20.00)
APC s_Dif M_set
r3769 <1>
n_act smooth 1 Kp_n_basic
r0063 [5040.7] To Kp/Tn adaptation
0 [5050.2]
+ 0 From Kp/Tn adaptation
1 [5050.7]
–
p3702 1 = Kp/Tn adaptation active 1 0 1 0
p1400.5
APC n_load smth + [5490.7]
r3771[0] n_ctrl Kp eff
+ r1468
r0108.7 = 1 0 1 n_ctrl Kp adapt %
p3700.8 = 1 & r1484
Kp
r3771[1] + n_ctrl P-M_output
fn_d D_d
p1447[D] p1448[D] r1481
n_ctrl sys dev <3>
p1413.1 –
p1446[D] r0064 n_ctrl Tn eff
|y| r1469
0 <4> n_ctrl PI-M_output
D n_act smooth To torque
x y 1 n_ctrl integ_fdbk T + (M_set_1)
r1445 setpoint input
p1494 r1480 [5060.2]
fn 1
f 2 TF Tn + <3>
n_set I_comp Kp
Speed active filter <2> PT2 low pass r1439
– n_ctrl I-M_output
fn_n D_n
p1449[D] p1450[D] r1482
+ Set +
n_ctrl sys dev Tn + <2> <3>
Hold Set Val
r1454
|y|
Enable speed controller from
x y Speed
sequence control S4: Operation
n_ctrl integ stop controller
f
2nd Order Filter p1476[C]
(0)
n_ctrl integ set Uq at the limit of the ZSW current control
fn_d D_d p1477[C] r1408.5 [2530.7]
1447[D] p1448[D] (0) Integrator
n_ctrl integ_setVal control Torque limit reached
p1478[C] r1407.7 [2522.7]
(0)
Speed controller, I component held
<1> For p1462 = 0.0, the I component is disabled (integral time ).
r1407.5 [2522.3]
<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. Speed controller, I component set
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494). r1407.6 [2522.3]
1 2 3 4 5 6 7 8
- 5040 -
Servo control - Speed controller with encoder 26.07.13 V05.02.03 SINAMICS S120
Figure 3-6 Speed controller with encoder, function plan 5040

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3.2.7 Current setpoint filter
Current setpoint filter 1 and filer 2 are implemented according to SERVO FP 5710 refer
7.8.44 (in this identical with VECTOR FP 6710).
M_set FG
r1651 p0115[0] (125.00 µs)
<2> <1>
I before setpoint filter M2Iq torque factor

from function generator
I after setpoint filter from function generator I_after_setpoint filter = active
Iq_set before filt
r1650 0 +
1
+
1
0
p1656[D].0 p1656[D].1 p1656[D].2 p1656[D].3

0 1 0 1 0 1 0 1 r0108.21
+
M_set_6 Iq_set_1 Iq_set_after Filter 4
+ [5711.1]
p1657[D] p1662[D] p1667[D] p1672[D]

M2Iq torque factor
fn_d 1 2 fn_d 1 2 fn_d 1 2 fn_d 1 2
p1658[D] p1663[D] p1668[D] p1673[D]
D_d D_d D_d D_d
p1659[D] p1664[D] p1669[D] p1674[D]
|y| |y| |y| |y|

x D y x D y x D y x D y
PT2 low pass
fn fn fn fn
f f f f
fn_n D_n fn_n D_n fn_n D_n fn_n D_n

p1660[D] p1661[D] p1665[D] p1666[D] p1670[D] p1671[D] p1675[D] p1676[D]
|y| |y| |y| |y|

x y x y x y x y General
2nd-order filter
f f f f
fn_d D_d fn_d D_d fn_d D_d fn_d D_d

Filter 1 Filter 2 Filter 3 Filter 4
<1> The data transfer time with parameter change can be set (p1699).
Monitoring
<2> or input SBT test torque [2836.8] (only if r10231.0 = 1).
1 2 3 4 5 6 7 8
- 5710 -
Servo control - Current setpoint filter 1 04.11.19 V05.02.03 SINAMICS S120
Figure 3-7 Current setpoint filter 1 ..4, function plan 5710
3.2.8 Closed current control loop
The optimal setup current controller and the motor model are combined to a PT2 transfer
function. The bandwidth is fixed to the current controller sample rate p0115[0].
The calculation is done automatically, as shown in the following picture:
Figure 3-8 current control loop transfer function

The additional delay at the output of the transfer function simulates the calculation delay of
the control unit and allows the system to react like in the real world.

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Figure 3-9 Bode plot closed current control loop with example p0115[0] = 125µs,
bandwidth about 1000 Hz
3.2.9 Internal load
This optional internal load offers the user the possibility to close the loop within the model.
That allows use cases, where the simulation tool doesn’t offer minimum step times which
would be needed to simulate an external loop properly (see 6.3).
Depending on the activation of the speed controller the internal load model is a direct feed
through speed setpoint, a total inertia or a two-mass-oscillator.
φ1 φ2
c
Mair gap
+
-
-
klin ksqr
d
2
u
. Jmotor
φ1 Jload
Figure 3-10 Principal chart internal two-mass-oscillator
The equilibrium conditions for the inertias are:

𝑀𝑎𝑖𝑟 𝑔𝑎𝑝 − 𝑘𝑙𝑖𝑛 𝜑̇ 1 − 𝑘𝑠𝑞𝑟 𝜑̇ 1 2 = 𝐽𝑚𝑜𝑡𝑜𝑟 ⋅ 𝜑̈ 1 + 𝑑 ⋅ (𝜑̇ 1 − 𝜑̇ 2 ) + 𝑐 ⋅ (𝜑1 − 𝜑2 )
0 = −𝐽𝑙𝑜𝑎𝑑 ⋅ 𝜑̈ 2 + 𝑑 ⋅ (𝜑̇ 1 − 𝜑̇ 2 ) + 𝑐 ⋅ (𝜑1 − 𝜑2 )

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The damping is assumed in the modal form D:

𝑁𝑚𝑠
𝑑[ ] = 2 ⋅ 𝐷 ⋅ √𝑐 ⋅ 𝑚𝑖𝑛(𝐽𝑚𝑜𝑡𝑜𝑟 , 𝐽𝑙𝑜𝑎𝑑 )
𝑟𝑎𝑑
Typical values for the modal damping D are in the range from 0.01 to 0.3 and depends on
the total inertia.
Figure 3-11 Two-mass-oscillator with different damping

black dashed D=0.1, grey D=0.01, grey-white D=0.3
To satisfy the Nyquist-Shannon theorem the internal load is sampled at a fixed rate of
31.25 µs, i.e., at least twice the fastest current controller sample rate of 62.5 µs.
Torque base load behaviour:

The calculation for klin and ksqr for the base load is identically to Sizer/TIA Selection Tool.
Set a torque in BaseLoad_linear and/or BaseLoad_square at maxLoadSpeed under the
parameters of InternalLoad
• 2
Linear torque klin (for friction or rolls (paper machines etc.)): 𝑀 ~ 𝑛𝑚𝑎𝑥 , 𝑃 ~ 𝑛𝑚𝑎𝑥
• 2
Square-law torque ksqr (for fans and pumps): 𝑀 ~ 𝑛𝑚𝑎𝑥 3
, 𝑃 ~ 𝑛𝑚𝑎𝑥
Switch from two-mass-oscillator behavior to total inertia:

Set c, D or Jload to zero to have a single drive system with no mechanical coupling and there
for a total inertia. Sum all inertias and assign them to J motor, or set the moment of inertia of
the selected Simotics. For more details refer to 4.3.1.

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4 Parameterization
The SINAMICS DriveSim Basic model is setup via the user parameters. These parameters
are split into three groups: config parameters, SINAMICS parameters and variables.
Changes in these parameters are only considered during initialization. The available user
parameter settings are pre-assigned with default factory settings according to the List
Manual, SINAMICS S120/S150, Siemens AG,06/2020 \2\ with minor exceptions (e.g.
p0922 = 1).
4.1 Config parameters

The simulation scope is set up with the config parameters, which influence the model as
shown in the below figure. A stubbed feature set is disabled and has no impact on following
feature sets. The current setpoint filter can be calculated from two different parameter sets.
Config.CurrentSetpointFilterPar switches between these parameter sets. These config
parameters correlate with parameter groups of the number ranges as given 4.2.
FUP G(z) config parameter

Encoder 4700 PROFIdrive Sequence Setpoint Speed Current Set- Closed Current
2401 Control 2610 Channel 3001 Controller point Filter Control Loop
5019 5070
Parameter set
Internal Load
Config.SequenceContol Config.SetpointChannel Config.ExternalLoad Config.SpeedController Config.CurrentSetpointFilterPar
Figure 4-1 Config-Parameters effects on control core and load model

Table 4-1 Config-Parameter
Parameter name Description Default value
Config.ExternalLoad An internal feedback between n_ctrl_n_set and 1
n_act is implemented. It allows a test without an
external application (e.g. motor model or transfer
function)
1 = external application
0 = internal feedback loop
Config.SequenceContro This parameter enables the sequence controller. If 1
l the bridging is set, there will be no calculation of the
sequence controller. All PD-Signals are inactive and
DSC can’t be activated.
1 = sequence controller is active
0 = sequence controller is stubbed
Config.SetpointChannel This parameter enables the setpoint channel, 1
including the ramp function generator. If the bridging
is set, there will be no calculation of the ramp
function generator and another interpolator is used
(refer 7.8.27).
1 = ramp function generator is active
0 = ramp function generator is stubbed

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4 Parameterization
Parameter name Description Default value

Config.SpeedController This parameter enables the speed controller. If the 0
bridging is set, there will be no calculation of the
speed controller and the output M_air_gap is set to
zero. It is only valid for S and V90 devices.
0 = speed controller is stubbed
1 = speed controller is active
Config.CurrentSetpoint- The current setpoint filters can be calculated from 1
FilterPar two different parameter sets. This parameter
switches between these parameter sets.
1 = SINAMICS parameters (Param)
0 = parameters for general order filter (Var)

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4 Parameterization
4.2 SINAMICS parameters

The supported SINAMICS parameters as given in the below table correspond to the real system regarding functionality, data types,
and units, as documented in the List Manual (\2\). The grouping of parameters corresponds to the number ranges of parameters in
the List Manual (\2\). If the parameter is supported by the drive object it is indicated in a separate column (SERVO: S; VECTOR: V).
Parameter changes are only possible during the initialization phase, which corresponds to the SINAMICS commissioning mode C1
and C2. Additionally, most parameters do not need to be set up by the user if the corresponding Config.* parameters are set to 4.1.
To ensure that the model is ready for use without parameter changes in controllerless operation, some parameters deviate from the
factory settings. These parameters are marked with a “*”.
Table 4-2 SINAMICS Parameters
Group Par. DO Par. name Default Unit Range Not respected if
numbe Config.* = 0
r
Commission- p0112 S, V t_samp for p0115 Sampling times pre-setting p0115 S: 3 - S: 1..4 -
ing V: 0 V: 0..5
Motor p0307 V Mot P_rated Rated motor power 37 kW -100000.. Speed Controller
100000
p0311 V Mot n_rated Rated motor speed 1500 rpm 0..210000 Speed Controller
p0341 S, V Mot m inert Motor moment of inertia 0 kgm² 0..1e11 Speed Controller
Encoder p0400 S, V Enc type sel Encoder type selection [0,0] - See 4.2.3 -
[0..1]
p0418 S, V Enc fine Fine resolution Gx_XIST1 [11,11] bits 0..18 -

[0..1] Gx_XIST1
p0419 S, V Enc fine Fine resolution Gx_XIST2 [9, 9] bits 0..18 -

[0..1] Gx_XIST2
PROFIdrive p0922 S, V IF1 PZD Telegr Set up the send and receive 1 - S, V: 1..6 Sequence Control
telegram S: 102,
103, 105,
106
V: 20, 352
p8864 S, V IF1 Pd 1. sup_tel IF1 PROFIdrive first supplementary 0 - 0, 750 Sequence Control
telegram selection

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4 Parameterization
Setpoint p1082 S, V n_max Set up the maximum speed 1500 rpm 0..210000 Setpoint Channel
Channel
p1120 S, V RFG ramp-up Set up the ramp-up time of the ramp 1 s 0..999999 Setpoint Channel
time function generator
p1121 S, V RFG ramp-down Set up the ramp-down time of the 1 s 0..999999 Setpoint Channel
time ramp function generator
p1148 S, V RFG tol HL/RL Set up the tolerance of the state of 19,8 rpm 0..1000 Setpoint Channel
act the ramp function generator
(speedup positive, speedup
negative)
Closed-loop p1433 S, V n_ctrl RefMod fn Speed controller reference model 0 Hz 0..8000 Speed Controller
control natural frequency
p1434 S, V n_ctrl RefMod D Speed controller reference model 1 - 0..5 Speed Controller
damping
p1435 S, V n_ctrRefMod Speed controller reference model 0 - 0..2 Speed Controller

t_dead dead time
p1460 S, V n_ctrl Kp n lower Sets the P gain of the speed 0.3 Nms/rad 0 ..500000 Speed Controller
controller before the adaptation 000
speed range.
p1462 S, V n_ctrl Tn n lower Sets the integration time of the 20 ms 0 ..100000 Speed Controller
speed controller before the
adaptation speed range
p1496 V a_prectrl scal Acceleration precontrol scaling 0 0..10000 Speed Controller
p1498 S Load m_inert Load moment of inertia 0 kgm² - Speed Controller
p1520 S, V M_max upper/mot Sets the fixed upper torque limit or 20000000* Nm - Speed Controller
the torque limit when motoring 1000000 ..
20000000
p1521 S, V M_max lower/reg Sets the fixed lower torque limit or -20000000* Nm - Speed Controller
the torque limit when regenerating. 20000000 .
.1000000
p1530 S P_max mot Power limit motoring 100000* kW 0..100000 Speed Controller

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4 Parameterization
p1531 S P_max reg Power limit regenerative -100000* kW -0,1..- Speed Controller
100000
Closed-loop p1656 S, V I_soll_filt Akt Activates current setpoint filter 0 0..3 Speed Controller
control Filter
p1658 S, V Filt 1 v_reg fn_n Current setpoint filter 1 denominator 1999 Hz 0.5..16000 Speed Controller
natural frequency
p1659 S, V I_soll_filt 1 D_n Current setpoint filter 1 denominator 0.7 0.001..10 Speed Controller
damping
p1660 S, V I_soll_filt 1 fn_z Current setpoint filter 1 numerator 1999 Hz 0.5..16000 Speed Controller
natural frequency
p1661 S, V I_soll_filt 1 D_z Current setpoint filter 1 numerator 0.7 0..10 Speed Controller
damping
p1663 S, V Filt 2 v_reg fn_n Current setpoint filter 2 denominator 1999 Hz 0.5..16000 Speed Controller
natural frequency
p1664 S, V I_soll_filt 2 D_n Current setpoint filter 2 denominator 0.7 0.001..10 Speed Controller
damping
p1665 S, V I_soll_filt 2 fn_z Current setpoint filter 2 numerator 1999 Hz 0.5..16000 Speed Controller
natural frequency
p1666 S, V I_soll_filt 2 D_z Current setpoint filter 2 numerator 0.7 0..10 Speed Controller
damping
Reference p2000 S, V n_ref Set up the reference speed 3000 rpm 6..210000 -
Values
p2003 S, V M_ref Reference torque 3141 Nm 0.01..2e5 -
1 p2003: M_ref = 2 ∙ 𝜋 ∙ 𝑝2000⁄60

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4 Parameterization
Commu- p2048 S, V IF1 PZD t_sample Set up the PROFIdrive Signal 4* ms 1..16 -
nication sampling time for the cyclic
interface.
The min. sampling time is limited by
double the step time of the model
When connecting to a higher-level
controller, it must be set equal to the
PROFIdrive cycle time (Tdp).
The following table shows the parameters that have additional / derived functionalities to those described in the List Manual.
Table 4-3 Parameters with additional / derived functionalities
Group Par. Number DO Par. name Additional functionality / deviation
Commissioning p0112 V t_samp for p0115 Sampling times pre-setting 0 … activates default sample times for G120 (see 4.2.4)
p0115
Motor r0333 V Mot_M_rated Rated motor torque Calculated from 𝑟0333 = 9549,3 ∙ 𝑝0307⁄𝑝0311
p0341 S, Mot m inert Motor moment of inertia 0 … deactivates acceleration model
V
Encoder p0400_x S, Enc type sel Encoder type selection 0 … deactivates encoder evaluation
V
Closed-loop control p1433 S, n_ctrl RefMod fn Speed controller reference 0 … deactivates reference model
V model natural frequency
p1498 S Load m_inert Load moment of inertia 0 … activates acceleration model
Reference Values r2004 V P_ref Reference power Calculated from r0333 * p2000 * 2*pi/60 (conversion to W) /
1000 (conversion to kW)

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4 Parameterization
4.2.1 Range of validity - SERVO
Table 4-4 below, shows the devices which can be represented with SINAMICS DriveSim Basic as well as the allowed parameters. In
general, S120/S150 reflects the full feature set of SINAMICS DriveSim Basic, which is represented by a "✓", while a number marks
that only that number is valid to represent the behavior of a different device.
For example, the S210 can only have a communication sample time (p2048) of 4ms. Another parametrization for p2048 would not
represent the S210 but a S110 or S120 depending on the other parameters.
Consider S210 has fixed encoders, p0400 and p0418 depend on the MLFB of the motor (p0418 = encoder bit resolution -11).
Table 4-4 Range of validity of SINAMICS parameters (✓ … limit is given in the manual of the device)
Par. number
Par. name
Group
units
S110
S120
S210
V90
Commissioning p0112 t_samp for p0115 12 ✓ 4 1
Motor p0341 Mot m inert kgm² ✓ ✓ ✓3 
Encoder p0400 Enc type sel ✓ ✓ ✓ 0
p0418 Enc fine Gx_XIST1 bits 2-18 ✓ 9-154 0
p0419 Enc fine Gx_XIST2 bits 2-18 ✓ 0 0
PROFIdrive p0922 IF1 PZD Telegr 1-4, 1-6, 3, 5, 1,2,3,5,
102, 102, 102, 102,
103 103, 105 105
105,
106
p8864 IF1 Pd 1. sup_tel  ✓  ✓
Setpoint-Channel p1082 n_max rpm ✓ ✓ ✓ ✓
p1120 RFG ramp-up time s ✓ ✓ 0 ✓
p1121 RFG ramp-down time s ✓ ✓ ✓ ✓
p1148 RFG tol HL/RL act rpm ✓ ✓ 19.8 19.8
2 p0115[4] ..2000µs; p0115[5] ..8000µs

3 in real device defined as r0341
4 according to encoder selection

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4 Parameterization
Closed-Loop p14335 n_ctrl RefMod fn Hz ✓ ✓ 0 ✓

Control p1434 n_ctrl RefMod D ✓ ✓ 0 1
p1435 n_ctrRefMod t_dead ✓ ✓ 0 0
p1460 n_ctrl Kp n lower Nms/rad ✓ ✓ ✓ ✓
p1462 n_ctrl Tn n lower ms ✓ ✓ ✓ ✓
p1498 Load m_inert kgm² ✓ ✓ ✓ ✓
p1520 M_max upper/mot Nm ✓ ✓ ✓ ✓
p1521 M_max lower/reg Nm ✓ ✓ ✓ ✓
p1530 P_max mot kW ✓ ✓ ✓ ✓
p1531 P_max reg kW ✓ ✓ ✓ ✓
Closed-Loop p1656 I_soll_filt Akt 0-3 0-3 0-3 0, 2
Control Filter6 p1658 Filt 1 v_reg fn_n Hz ✓ ✓ ✓ 0
p1659 I_soll_filt 1 D_n ✓ ✓ ✓ 0
p1660 I_soll_filt 1 fn_z Hz ✓ ✓ ✓ 0
p1661 I_soll_filt 1 D_z ✓ ✓ ✓ 0
p1663 Filt 2 v_reg fn_n Hz ✓ ✓ ✓ ✓
p1664 I_soll_filt 2 D_n ✓ ✓ ✓ ✓
p1665 I_soll_filt 2 fn_z Hz ✓ ✓ ✓ ✓
p1666 I_soll_filt 2 D_z ✓ ✓ ✓ ✓
Reference Values p2000 n_ref rpm ✓ ✓ ✓ ✓
p2003 M_ref Nm ✓ ✓ ✓ ✓
Communication p2048 IF1 PZD t_sample ms ✓ ✓ 4 4
4.2.2 Range of validity - VECTOR
Table 4-5 below, shows the devices which can be represented with SINAMICS DriveSim Basic as well as the allowed parameters. In
general, S120/S150 reflects the full feature set of SINAMICS DriveSim Basic, which is represented by a "✓", while a number marks
that only that number is valid to represent the behavior of a different device.
For example, the G120 CU240E-2 can only have telegram 1. Another parametrization for p0922 would not represent the G120
CU240E-2 but a S110, S120/S150, G120 CU250S-2 or G130/G150 depending on the other parameters.
5 0 deactivates reference model

6 Parameter group is only active if CurrentSetpointFilterPar = 1
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4 Parameterization
The SINAMICS parameters of the group Closed-Loop Control Filter are currently only supported by DriveSim Basic for the
SINAMICS S series.
Table 4-5 Range of validity of SINAMICS parameters (✓ … limit is given in the manual of the device)
CU240E-2), G120C,
G110M (CU240M),
G120 (CU250S-2)
G120D (CU240D)
G115D, G120
Par. Number
G130 / G150
S120 / S150
(CU230P-2,
CU240B-2,
Par. Name
G120X
Group
units
Commissioning p0112 t_samp for p0115 ✓ 0 0 0 ✓
Motor p0307 Mot P_rated kW ✓ 0..100000 0..100000 0..100000 ✓
p0311 Mot n_rated rpm ✓ ✓ ✓ ✓ ✓
p0341 Mot m_inert kgm² ✓ ✓ ✓ ✓ ✓
Encoder p0400 Enc type sel ✓ 0 ✓ ✓ ✓
p0418 Enc fine bits ✓ 0 2-18 2-18 0-187
Gx_XIST1
p0419 Enc fine bits ✓ 0 2-18 2-18 0-18
Gx_XIST2
PROFIdrive p0922 IF1 PZD Telegr 1-4, 20, 352 1, 20, 352 1-4, 20, 1, 20, 352 1-4, 20, 352
352
p8864 IF1 Pd 1. sup_tel ✓    ✓
Setpoint- p1082 n_max rpm ✓ ✓ ✓ ✓ ✓
Channel p1120 RFG ramp-up s ✓ ✓ ✓ ✓ ✓
time
p1121 RFG ramp-down s ✓ ✓ ✓ ✓ ✓
time
p1148 RFG tol HL/RL rpm ✓ ✓ ✓ ✓ ✓
act
Closed-Loop p14338 n_ctrl RefMod fn Hz ✓ 0 0 0 0
Control p1434 n_ctrl RefMod D ✓ 0 0 0 0
p1435 n_ctrRefMod ✓ 0 0 0 0
t_dead
p1460 n_ctrl Kp n lower Nms/ra ✓ 0 0 0 0
7 according to encoder selection

8 0 deactivates reference model
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4 Parameterization
d
p1462 n_ctrl Tn n lower ms ✓ 0 0 0 0
p1496 a_prectrl scal ✓ ✓ ✓ ✓ ✓
p1520 M_max upper/mot Nm ✓ 0 0 0 0
p1521 M_max lower/reg Nm ✓ 0 0 0 0
p1530 P_max mot kW ✓ 0 0 0 0
p1531 P_max reg kW ✓ 0 0 0 0
Closed-Loop p1656 I_soll_filt Akt 0-3 0 0 0 0
Control Filter9 p1658 Filt 1 v_reg fn_n Hz ✓ 0 0 0 0
p1659 I_soll_filt 1 D_n ✓ 0 0 0 0
p1660 I_soll_filt 1 fn_z Hz ✓ 0 0 0 0
p1661 I_soll_filt 1 D_z ✓ 0 0 0 0
p1663 Filt 2 v_reg fn_n Hz ✓ 0 0 0 0
p1664 I_soll_filt 2 D_n ✓ 0 0 0 0
p1665 I_soll_filt 2 fn_z Hz ✓ 0 0 0 0
p1666 I_soll_filt 2 D_z ✓ 0 0 0 0
Reference p2000 n_ref rpm ✓ ✓ ✓ ✓ ✓
Values p20033 Reference_torque Nm ✓ ✓ ✓ ✓ ✓
Communication p2048 IF1 PZD t_sample ms ✓ 4 4 4 ✓
9 Parameter group is only active if CurrentSetpointFilterPar = 1

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4.2.3 Encoder types
The table below shows the range for the SINAMICS parameter p0400 and thus
gives an overview of all selectable encoder types. Drives that do not support
encoders are not listed in the below table. Consider S210 has fixed encoders,
p0400 and p0418 depend on the MLFB of the motor (p0400 = the 14th character of
the motor MLFB).
Table 4-6 Range of validity for Encoder type selection (* … according to 14 th character of motor MLFB)
G120D (CU240D)
Encoder type
Encoder type
(Vector only)
(CU250S-2)
G130/G150
S120/S150
selection
S210*
G120
S110
0 No encoder ✓ ✓ ✓ ✓ ✓
202 DRIVE-CLiQ encoder AS20, singleturn ✓ ✓ ✓
204 DRIVE-CLiQ encoder AM20, multiturn 4096 ✓ ✓ ✓
222 DRIVE-CLiQ encoder AS22, singleturn ✓ S
224 DRIVE-CLiQ encoder AM22, multiturn 4096 ✓ M
242 DRIVE-CLiQ encoder AS24, singleturn ✓ ✓ ✓
244 DRIVE-CLiQ encoder AM24, multiturn 4096 ✓ ✓ ✓
© Siemens 2022 All rights reserved
262 DRIVE-CLiQ encoder AS26, singleturn ✓ B

264 DRIVE-CLiQ encoder AM26, multiturn 4096 ✓ C
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 ✓ ✓ ✓
2012 420, 1 Vpp, A/B R ✓ ✓
2013 675, 1 Vpp, A/B R ✓ ✓
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 ✓ ✓

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4 Parameterization

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 ✓ ✓ ✓
3088 1024, HTL, A/B, SSI, singleturn ✓
3090 4096, HTL, A/B, SSI, singleturn ✓ ✓ ✓
3109 2000 nm, TTL, A/B R distance-coded ✓ ✓
4.2.4 Sampling times pre-setting p0115
The sampling times pre-setting parameter p0115 is implemented as described in

the list manual of the drives. It specifies the clock cycles of the feature sets which
are specified in the right upper corner of the function plans. The behavior of the
model is significantly influence by this parameter, especially the speed control and
the current setpoint filter. The sampling times pre-setting is selected via parameter
p0112 are dependent on the device. The selectable times are shown in the
following table. A setting guidance and examples are given in the sections 6.3.2
and 6.3.3. The IOs are sampled in the corresponding time frame.
Table 4-7 pre-assigned clock cycles

DO p0112 p0115[0] p0115[1] p0115[3]
current controller speed controller setpoint channel
[µs] [µs] [µs]
SERVO 1 250 250 4000
2 125 250 4000
3 125 125 4000
4 62,5 62,5 1000
VECTOR 0 250 2000 2000
1 400 1600 1600
2 250 1000 1000
3 250 1000 1000
4 250 500 500
5 250 250 500

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4.3 Variables
4.3.1 Internal Load
4.3.1.1 Two-mass oscillator system
The variables are used to parametrize the internal two-mass oscillator system. A
description of these variables is given in the below table. See also 3.2.9
Activate internal load:
• set Config.SpeedController = 1 and Config.ExternalLoad = 0
• set c, D or Jload to zero to have a single drive or total inertia
• or define your system with variables as exemplified in the following table
Table 4-8 Variables - Two-mass oscillator system

Parameter name Description Symbol Default Unit
Var.InternalLoad. Moment of inertia Jmotor 0.005 kgm²
InertiaMotorAndBrake of motor and brake
Var.InternalLoad. Moment of inertia Jload 0.008 kgm²
InertiaLoad of the load
Var.InternalLoad. Damping D 0.03 -
Damping
Var.InternalLoad. Torsional Stiffness c 2000 Nm/rad
TorsionalStiffness
The two-mass oscillator is defined with the following formula (for the calculation the
default values are used):
1 𝑐
Absorber frequency: 𝑓𝑎𝑏𝑠𝑜𝑟𝑏𝑒𝑟 = ⋅√ = 79,6 Hz
2⋅𝜋 𝐽𝑙𝑜𝑎𝑑
1 1 1
Resonance frequency: 𝑓𝑟𝑒𝑠𝑜𝑛𝑎𝑛𝑐𝑒 = ⋅ √𝑐 ⋅ ( + ) = 128 Hz
2⋅𝜋 𝐽𝑙𝑜𝑎𝑑 𝐽𝑚𝑜𝑡𝑜𝑟
𝑛 [min−1 ]
The transfer function is: 𝐺(𝑧) =
𝑀 [Nm]
Figure 4-2 Transfer function of default value two-mass-oscillator

black nmotor/Mairgap, black dashed nload/Mairgap

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4 Parameterization
The PT2 transfer behaver of the closed current control loop is included. The dashed
transfer function represents the frequency response to the internal load.
4.3.1.2 Load Characteristics
The variables are used to adjust a friction which is activated if one of the variables
Var.InternalLoad. BaseLoad_linear or Var.InternalLoad.BaseLoad_square is
unequal zero. A description of the behaviors and the calculation of friction is given
in 3.2.8.
Table 4-9 Variables - Two-mass oscillator system
Var.InternalLoad. Base load for lineare Mlin 0 Nm
BaseLoad_linear characteristic
Var.InternalLoad. Base load for square Msqr 0 Nm
BaseLoad_square characteristic
Var.InternalLoad. Max. load speed nmax 3000 1/min
maxLoadSpeed
4.3.2 Parameters for general order filter
A variant to parameterize the filter is to use the parameters in the following table.
They are active if the config bit CurrentSetpointFilterPar is set to 0. The current
setpoint filters are only considered if the speed controller (Config.SpeedController

= 1) is active.
Table 4-10 Parameters for general order filter
Var.CurrentSetPointFilter1. Blocking frequency of f_sp 500 Hz
BlockingFrequency filter 1
Var.CurrentSetPointFilter1. Bandwidth of filter 1 f_bb 500 Hz
Bandwidth
Var.CurrentSetPointFilter1. Notch depth of filter 1 K -20 dB
NotchDepth
Var.CurrentSetPointFilter1. Reduction of filter 1 Abs 0 dB
ReductionAbs
Var.CurrentSetPointFilter2. Blocking frequency of f_sp 500 Hz
BlockingFrequency filter 2
Var.CurrentSetPointFilter2. Bandwidth of filter 2 f_bb 500 Hz
Bandwidth
Var.CurrentSetPointFilter2. Notch depth of filter 2 K -20 dB
NotchDepth
Var.CurrentSetPointFilter2. Reduction of filter 2 Abs -20 dB
ReductionAbs
The connection between the parameters for general order filters and those of the
SINAMICS parameters is documented in Drive function – SINAMICS S120
Siemens AG, 06/2020 \17\.

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5 Interfaces
5 Interfaces
This chapter describes the interface definitions. They are shown in the table below. SINAMICS DriveSim Basic offers cyclic inputs and outputs. The
supported drive object (SERVO: S; VECTOR: V) are given below.
Table 5-1 Overview interfaces
Direction Group Signal Description DO Unit Range Datatype Sample time
Input PROFIdrive – STW1 Control word 1 S, V - - Uint16 PROFIdrive
standard sample time,
STW2 Control word 2 S, V - - Uint16
signals p2048
NSOLL_A Speed setpoint A S, V - - Int16
(16-bit)
NSOLL_B Speed setpoint B S, V - - Int32
(32-bit)
G1_STW Encoder 1 control S, V - - Uint16

word
G2_STW Encoder 2 control S, V - - Uint16
word
XERR Position deviation S Inc. - Int32
KPC Position controller S rps 0..2147480 Int32
gain factor
MOMRED Reduces the S - 0..16384 Int16
limitation of the
torque, it is specified
in percentage
PROFIdrive - M_ADD1 Supplementary S, V Nm - Int16
Manufactory- torque
specific
M_LIMIT_POS Torque limit upper S, V Nm - Int16
supplementary
signals M_LIMIT_NEG Torque limit lower S, V Nm - Int16
Additional n_act_1 Connection to an S, V rpm - Double See 6.3
external closed loop-
controlled
x_act_1 Connection to the S, V Inc. - Double
external encoder 1
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5 Interfaces

x_act_2 Connection to an S, V Inc. - Double
external encoder 2
n_set_ext Connection for an S, V rpm - Double
operation without
PROFIdrive
telegrams
Output PROFIdrive – ZSW1 Control word 1 S, V - - Uint16 PROFIdrive
standard sample time,
ZSW2 Control word 2 S, V - - Uint16
signals p2048
NIST_A Speed setpoint A S, V - - Int16
(16-bit)
NIST_B Speed setpoint B S, V - - Int32
(32-bit)
G1_ZSW Encoder 1 status S, V - - Uint16

word
G1_XIST1 Encoder 1 actual S, V Inc. Depending on Uint32
position 1 encoder type
G2_ZSW Encoder 2 status S, V - - Uint16
word
PIST_GLATT Power factor, V kW - Int16
smoothed
NIST_A_GLATT Actual speed, V rpm - Int16
smoothed
MIST_GLATT Actual torque V Nm - Int16
smoothed
MELDW MELDW status word S - - Uint16

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PROFIdrive - M_ACT Torque actual value S, V Nm - Int16
Manufactory-
specific
supplementary
telegram
Additional n_ctrl_n_set speed setpoint for an S, V rpm - Double See 6.3
external closed loop-
controlled system
n_set_before_filter DSC output S rpm - Double
n_set_after_filter DSC output with S rpm - Double
speed controller pre-
control
M_air_gap connection point for S, V Nm - Double
the external motor

inertia
n_act_load current speed of the S, V rpm - Double
internal load
mismatch number of an S, V - SINAMICS Int32
incorrectly set Parameter of
SINAMICS the DSB
parameter

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The signals the table Table 6-3 must be transferred in normalized form for a stand-
alone operation. A denormalization is required for NIST_A and NIST_B. In the
following table are given the formulas for calculation.
Table 5-2 formulas normalization
PD-Signal Normalization
NSOLL_A 𝑛𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑁𝑆𝑂𝐿𝐿_𝐴 =
𝑝2000
4000ℎ = 214
NSOLL_B 𝑛𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000 0000ℎ
𝑁𝑆𝑂𝐿𝐿_𝐵 =
𝑝2000
4000 0000ℎ = 230
MOMRED 𝑀𝑂𝑀𝑅𝐸𝐷𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑀𝑂𝑀𝑅𝐸𝐷 =
𝑝1544
𝑝1544 = 100%
4000ℎ = 214
M_ADD1 𝑀_𝐴𝐷𝐷1𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑀_𝐴𝐷𝐷1 =
𝑝2003
4000ℎ = 214
M_LIMIT_NEG 𝑀_𝐿𝐼𝑀𝐼𝑇_𝑁𝐸𝐺𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑀_𝐿𝐼𝑀𝐼𝑇_𝑁𝐸𝐺 =
𝑝2003
4000ℎ = 214
M_LIMIT_POS 𝑀_𝐿𝐼𝑀𝐼𝑇_𝑃𝑂𝑆𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑀_𝐿𝐼𝑀𝐼𝑇_𝑃𝑂𝑆 =
𝑝2003
4000ℎ = 214
Table 5-3 formulas denormalization
PD-Signal Denormalization
NIST_A / NIST_A ∙ 𝑝2000
𝑛𝑡𝑎𝑟𝑔𝑒𝑡 =
NIST_A_GLATT 4000ℎ
4000ℎ = 214
NIST_B NIST_B ∙ 𝑝2000
4000 0000ℎ
4000 0000ℎ = 230
MIST_GLATT MIST_GLATT ∙ 𝑝2003
M𝑡𝑎𝑟𝑔𝑒𝑡 =
4000ℎ
4000ℎ = 214
PIST_GLATT PIST_GLATT ∙ 𝑝2003
P𝑡𝑎𝑟𝑔𝑒𝑡 =
4000ℎ
4000ℎ = 214
M_ACT M_ACT ∙ 𝑝2003
M_ACT𝑡𝑎𝑟𝑔𝑒𝑡 =
4000ℎ
4000ℎ = 214
5.1 PROFIdrive standard signals receive

This chapter shows the implemented PROFIdrive standard signals of the receive
part of the telegram content. For more information about the structure of the
telegrams, refer section 3.2.1. For more information about the send PROFIdrive
signals, refer FP 2439 (7.8.8) and FP 2440 (7.8.9).

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Table 5-4 Implemented Telegrams - SERVO

Nr. Signal Description 1 2 3 4 5 6 102 103 105 106
1 STW1 Control word 1 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
3 STW2 Control word 2 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
5 NSOLL_A Speed setpoint A (16-bit) ✓
7 NSOLL_B Speed setpoint B (32-bit) ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
9 G1_STW Encoder 1 control word ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
13 G2_STW Encoder 2 control word ✓ ✓ ✓ ✓
25 XERR Position deviation ✓ ✓ ✓ ✓
26 KPC Position controller gain ✓ ✓ ✓ ✓
factor
101 MOMRED Reduces the limitation of ✓ ✓ ✓ ✓
the torque, it is specified
in percentage
Table 5-5 Implemented Telegrams - VECTOR
Nr. Signal Description 1 2 3 4 20 352
1 STW1 Control word 1 ✓ ✓ ✓ ✓ ✓ ✓
3 STW2 Control word 2 ✓ ✓ ✓
5 NSOLL_A Speed setpoint A (16-bit) ✓ ✓ ✓
7 NSOLL_B Speed setpoint B (32-bit) ✓ ✓ ✓
✓ ✓
9 G1_STW Encoder 1 control word

13 G2_STW Encoder 2 control word ✓
5.1.1 STW1 (control word 1)
The PLC controls the control unit’s states via control commands and control bits as
shown in the below table.
Table 5-6 Bits of control word 1 (Function plan 2442 7.8.10)
Signal Description Usage
STW1.0 0→1 = No OFF1 (enable pulses possible) Sequence control
0 = OFF1 (braking with ramp-function generator, then pulse
suppression & ready for switching on
STW1.1 1 = No OFF2 (enable is possible) Sequence control
0 = OFF 2 (immediate pulse suppression and switching on inhibited)
STW1.2 1 = No OFF3 (enable is possible) Sequence control
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression
and switching on inhibited)
STW1.3 1 = Enable operation (pulses can be enabled) Ramp function
0 = Inhibit operation (suppress pulses) generator
STW1.4 1 = Operating condition (the ramp-function generator can be enabled) Ramp function
0 = Inhibit ramp-function generator (set the ramp-function generator generator
output to zero)
STW1.5 1 = Continue ramp-function generator Ramp function
0 = Freeze ramp-function generator (freeze the ramp-function generator
generator output)
STW1.6 1 = Enable setpoint Sequence control
0 = Inhibit setpoint (set the ramp-function generator input to zero)
STW1.7 0→1 = Acknowledge faults Not supported
STW1.8 Reserved Not supported
STW1.10 1 = Control via PLC Sequence control
STW1.11 1 = Setpoint inversion Not supported
STW1.12 1 = Unconditionally open the holding brake Not supported
STW1.13 1 = Motorized potentiometer setpoint raise Not supported

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STW1.14 1 = Motorized potentiometer setpoint lower Not supported

5.1.2 STW2 (control word 2)
The PLC controls the control unit’s states via control commands and control bits as
shown in the below table.
Table 5-7 Bits of control word 2 Function plan 2444 7.8.11
STW2.0 Drive data set selection DDS, bit 0 Not supported
STW2.7 1 = Parking axis Not supported
STW2.8 1 = Traverse to fixed end stop Not supported
STW2.11 0→1 = Motor changeover, feedback Signal Not supported
STW2.12 Master sign-of-life, bit 0 Not supported
5.1.3 NSOLL_A (rotation speed setpoint A)
The rotation speed values NSOLL_A are integer raw values in the range from 0 to
65535 (216-1). They are interpreted as two’s complement. The model interprets the
behavior identical to the real controller. The calculation of the raw values to the
rotation speed values is given in the below table.
Table 5-8 Rotation speed value NSOLL_A normed
Raw values Raw values To referents rotation
hexadecimal decimal speed normed value
0 0 0%
4000 16384 100 %
7FFF 32767 (200 - 9,3132*10-8) %
8000 32768 -200 %
C000 49152 -100 %
FFFF 65535 -9,3132*10-8 %
The PLC generates the normed rotation speed value NSOLL_A and sends it to the
drive. The drive converts the real speed value from the normed value NIST_A and
sends it to the PLC. The calculation is implemented in the communication function
block of the SINAMICS DriveSim Basic.
5.1.4 NSOLL_B (rotation speed setpoint B)
The rotation speed values NSOLL_B are integer raw values in the range from 0 to
4294967295 (232-1), they are interpreted as two’s complement. This behavior
corresponds to the real controller. The calculation of the raw values to the rotation
speed values is given in the below table.
Table 5-9 Rotation speed value NSOLL_B normed
Raw values Raw values To reference rotation
hexadecimal decimal speed normed value
0 0 0%
4000 0000 1073741824 100 %

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7FFF FFFF 2147483647 (200 - 9,3132*10-8) %

8000 0000 2147483648 -200 %
C000 0000 3221225472 -100 %
FFFF FFFF 4294967295 -9,3132*10-8 %
The PLC generates the normed rotation speed value NSOLL_B and sends it to the
drive. The calculation is implemented in the communication function block of the
SINAMICS DriveSim Basic.
5.1.5 Gn_STW (encoder control word)
The Gn_STW is only supported if encoder available for this converter. For more
information, refer to Table 4-6.
The PLC controls the states of the encoder state machine via control commands
and control bits as shown in the below table. The "n" marks for the number of the
encoder.
Table 5-10 Bits of the encoder control word
Function No. Function for bit 7 = 0 Function for bit 7 = 1 Encoder evaluation
Gn_STW.0 1 Reference mark 1 Measuring probe 1
Gn_STW.1 2 Reference mark 2 Measuring probe 1 Encoder evaluation
Gn_STW.4 Encoder evaluation
Gn_STW.7 Mode of the function to be activated Not supported

1 = Flying measurement
0 = Search for reference mark (zero mark or BERO)
Gn_STW.8 Reserved Not supported
Gn_STW.13 1 = Request cyclic transfer of the absolute position value in Encoder evaluation
Gn_XIST2
Gn_STW.14 1 = Request parking encoder (handshake with Gn_ZSW bit 14) Encoder evaluation
Gn_STW.15 = Acknowledge encoder fault (located in Gn_ZSW, bit 15; Encoder evaluation
Handshake with Gn_ZSW bit 11)
5.1.6 XERR (position derivation)
XERR is the position derivation of the position control. It is only supported if

dynamic servo control is active. XERR is only available for SERVO.
5.1.7 KPC (position controller gain factor)
KPC is the gain factor of the position controller (DSC). It is only supported if
dynamic servo control is active. KPC is only available for SERVO.

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5.1.8 MOMRED (Torque reduction)
The MOMRED control word corresponds to a reduction of the torque limitation.

MOMRED is an integer raw value in the range from 0 to 65535 (216-1). They are
interpreted as two’s complement. The model interprets the behavior identical to the
real controller. MOMRED is only available for SERVO.
If the value of MOMRED is 16384 the reduction of torque is 100% and the output
M_air_gap is zero.
The scaling is the same as mentioned in 5.1.3.
5.2 PROFIdrive manufactory-specific supplementary

signals receive
This chapter shows the implemented PROFIdrive manufactory-specific
supplementary signals of the receive part of the telegram content. For more
information about the structure of the telegrams, refer section 3.2.1. For more
information about the receive PROFIdrive manufactory-specific supplementary
signals, refer FP 2423 (7.8.7).
Table 5-11 Implemented Telegrams

Signal Description 750
M_ADD1 Supplementary ✓
torque
M_LIMIT_POS Torque limit ✓

upper
M_LIMIT_NEG Torque limit ✓
lower
5.2.1 M_ADD1
The supplementary torque values M_ADD1 are integer raw values in the range
from 0 to 65535 (216-1) and it is received from the PLC. They are interpreted as
two’s complement. The model interprets the behavior identical to the real controller.
The calculation of the raw values to the supplementary torque value is given in the
below table. It is normed to the parameter p2003.
Table 5-12 Supplementary torque value M_ADD1 normed
Raw values Raw values To referents supplementary
hexadecimal decimal torque normed value
0 0 0%
4000 16384 100 %
7FFF 32767 (200 - 9,3132*10-8) %
8000 32768 -200 %
C000 49152 -100 %
FFFF 65535 -9,3132*10-8 %
The PLC generates the normed rotation speed value NSOLL_A and sends it to the
drive. The drive converts the real speed value from the normed value NIST_A and
sends it to the PLC. The calculation is implemented in the communication function
block of the SINAMICS DriveSim Basic.
5.2.2 M_LIMIT_POS
The torque limit upper values M_LIMIT_POS are integer raw values in the range
from 0 to 65535 (216-1) and it is received from the PLC. It is normed and treated like
M_ADD1 (5.2.1).

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5.2.3 M_LIMIT_NEG
The torque limit lower values M_LIMIT_NEG are integer raw values in the range
from 0 to 65535 (216-1) and it is received from the PLC. It is normed and treated like
M_ADD1 (5.2.1).
5.3 Additional inputs

5.3.1 n_act_1
The n_act_1 input expects the output value of an external closed loop-controlled
system. It is directly connected to the telegram send values NIST_A or NIST_B, but
it has a delay from a time step. n_act_1 has the data type double and is limited by
the range of double.
n_act is only respected if Config.ExternalLoad = 1.
5.3.2 x_act_1
The x_act_1 input expects the output value as increments of the external encoder
1. From this signal G1_XIST1 is calculated but it has a delay from a time step.
x_act_1 has the data type double and is limited by the range of double.
x_act_1 is only respected if:
• Config.ExternalLoad = 1
•
p0400_0 is not zero
5.3.3 x_act_2
The x_act_2 input expects the output value as increments of the external encoder
2. From this signal G2_XIST1 is calculated but it has a delay from a time step.
x_act_2 has the data type double and is limited by the range of double.
x_act_2 is only respected if:
• Config.ExternalLoad = 1
• p0400_1 is not zero
5.3.4 n_set_ext
n_set_ext is only relevant if a user wants to use the control loops without
considering telegram communication at all.
The n_set_ext input expect a non-normalized rotation speed set point value with
the unit rpm. This signal is directly connected to p1070 if the
Config.SequenceControl is switched off. n_set_ext has the data type double and is
limited by the range of double.
n_set_ext is only respected if:
• Config. SequenceControl = 0
5.4 PROFIdrive standard signals send

This chapter shows the implemented PROFIdrive standard signals of the send part
of the telegram content. For more information about the send PROFIdrive standard
signals, refer FP 2449 (7.8.12) and FP 2450 (7.8.13).

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Table 5-13 Implemented PROFIdrive signals depending on Telegrams - SERVO

Nr. Signal Description 1 2 3 4 5 6 102 103 105 106
2 ZSW1 Control word 1 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
4 ZSW2 Control word 2 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
6 NIST_A Speed setpoint A (16-bit) ✓
8 NIST_B Speed setpoint B (32-bit) ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
10 G1_ZSW Encoder 1 status word ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
11 G1_XIST1 Encoder 1 actual position 1 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
12 G1_XIST2 Encoder 1 actual position 2 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
14 G2_ZSW Encoder 2 status word ✓ ✓ ✓ ✓
15 G2_XIST1 Encoder 2 actual position 1 ✓ ✓ ✓ ✓
16 G2_XIST2 Encoder 2 actual position 2 ✓ ✓ ✓ ✓
102 MELDW MELDW status word ✓ ✓ ✓ ✓
Table 5-14 Implemented PROFIdrive signals depending on Telegrams - VECTOR
Nr. Signal Description 1 2 3 4 20 352
2 ZSW1 Control word 1 ✓ ✓ ✓ ✓ ✓ ✓
4 ZSW2 Control word 2 ✓ ✓ ✓
6 NIST_A Speed setpoint A (16-bit) ✓
8 NIST_B Speed setpoint B (32-bit) ✓ ✓ ✓
10 G1_ZSW Encoder 1 status word ✓ ✓
11 G1_XIST1 Encoder 1 actual position 1 ✓ ✓

12 G1_XIST2 Encoder 1 actual position 2 ✓ ✓
14 G2_ZSW Encoder 2 status word ✓
15 G2_XIST1 Encoder 2 actual position 1 ✓
16 G2_XIST2 Encoder 2 actual position 2 ✓
51 IAIST_GLATT Absolute actual current,  
smoothed
53 MIST_GLATT Actual torque smoothed ✓ ✓
54 PIST_GLATT Power factor, smoothed ✓
57 NIST_A_GLATT Actual speed, smoothed ✓ ✓
301 FAULT_CODE Fault code 
303 WARN_CODE Alarm code 
5.4.1 ZSW1 (state word 1)
The PLC receives the control unit’s state via the state commands and state bits.
The state bits, which are not implemented are zero.
Table 5-15 Bits of state word 1 (FP 2452, refer 7.8.13)
Signal Description Source
ZSW1.0 1 = Ready for switching on Sequence control
ZSW1.1 1 = Ready for operation Sequence control
ZSW1.2 1 = Operation enabled Sequence control
ZSW1.3 1 = Fault present Constant: 0
ZSW1.4 1 = No coast down active (OFF2 inactive) Sequence control
ZSW1.5 1 = No fast stop active (OFF3 inactive) Sequence control
ZSW1.6 1 = Switching on inhibited active Sequence control
ZSW1.7 1 = Alarm present Constant: 0
ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance Signal and monitoring functions

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t_off
ZSW1.9 1 = Control requested Transmission of STW1.10
ZSW1.10 1 = f or n comparison value reached/exceeded Constant: 0
ZSW1.11 1 = I, M, or P limit reached Signal and monitoring functions
ZSW1.12 1 = Open the holding brake Constant: 0
ZSW1.13 1 = No motor overtemperature alarm Constant: 0
ZSW1.14 1 = Motor rotates forwards (n_act 0) Constant: 0
0 = Motor rotates backwards (n_act < 0)
ZSW1.15 1 = No alarm, thermal overload, power unit Constant: 0
5.4.2 ZSW2 (state word 2)
The PLC receives the control unit’s state via the state commands and state bits.
The state bits, which are not implemented are zero.
Table 5-16 Bits of state word 2 (FP 2454, refer 7.8.15)
ZSW2.0 1 = Drive data set DDS effective, bit 0 Constant: 0
ZSW2.5 1 = Alarm class bit 0 Constant: 0
ZSW2.6 1 = Alarm class bit 1 Constant: 0
ZSW2.7 1 = Parking axis active Constant: 0
ZSW2.8 1 = Traverse to fixed endstop Constant: 0
ZSW2.9 Reserved Constant: 0
ZSW2.10 1 = Pulses enabled Sequence control

ZSW2.11 1 = Motor data set changeover active Constant: 0
ZSW2.12 Slave sign-of-life bit 0 Signal and monitoring functions
5.4.3 NIST_A (rotation speed act A)
The drive converts the real rotation speed value from the normed value NIST_A
and sends it to the PLC. The calculation is implemented in the communication
function block of SINAMICS DriveSim Basic.
5.4.4 NIST_B (rotation speed act B)
The drive converts the real rotation speed value from the normed value NIST_B
and sends it to the PLC. The calculation is implemented in the communication
function block of SINAMICS DriveSim Basic.
5.4.5 Gn_ZSW (encoder state word)
The Gn_ZSW is only supported if encoder available for this converter. For more
The PLC can get the state of the encoder via the state commands and state bits.
The "n" stands for the number of the encoder. The state bits, which are not
implemented are zero.

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Table 5-17 Gn_ZSW (encoder state word) (FP 4730, refer 7.8.33)
Function No. For ref. number and flying measurement Encoder evaluation
Gn_ZSW.0 1 Reference mark 1 or measuring probe 1
Gn_ZSW.1 2 Reference mark 2 or measuring probe 1 Encoder evaluation
Gn_ZSW.4 1 = Position actual value from function 1 Generated Encoder evaluation
Gn_ZSW.5 1 = Position actual value from function 2 value in Encoder evaluation
Gn_ZSW.6 1 = Position actual value from function 3 Gn_XIST2 (and Encoder evaluation
Gn_ZSW.7 1 = Position actual value from function 4 can be read) Encoder evaluation
Gn_ZSW.8 1 = Measuring probe 1 deflected (high signal) Constant: 0
Gn_ZSW.9 1 = Measuring probe 2 deflected (high signal) Constant: 0
Gn_ZSW.10 Reserved Constant: 0
Gn_ZSW.11 1 = Acknowledge encoder fault active Encoder evaluation
Gn_ZSW.12 Reserved (for reference point offset) Constant: 0
Gn_ZSW.13 Absolute value is cyclically transferred Encoder evaluation
Gn_ZSW.14 Parking encoder active (i.e. the encoder is not operational) Encoder evaluation
Gn_ZSW.15 Encoder fault, the fault is in Gn_XIST2 (r0483) Encoder evaluation
5.4.6 Gn_XIST1 (encoder n actual position 1)
The Gn_XIST1 is only supported if encoder available for this converter. For more
The Gn_XIST1 PROFIdrive signal carries the encoder actual position value. The
"n" represents the number of the encoder.
5.4.7 Gn_XIST2 (encoder n actual position 2)
The Gn_XIST2 is only supported if encoder available for this converter. For more
The Gn_XIST2 PROFIdrive signal carries the encoder actual position value. This
value must be requested by the encoder control word Gn_STW.13. If Gn_ZSW.15
= 1, Gn_XIST2 carries the error code of the encoder (refer the below table). The
"n" stands for the number of the encoder.
Table 5-18 Gn_XIST2 error codes
Error code Error text
(Gn_XIST2)
1 Encoder fault (not supported)
2 Possible position shift in Gn_XIST1(not supported)
3 Encoder parking not possible
4 Cancellation, reference block search (not supported)
5 Cancellation, fetch reference value (not supported)
6 cancellation, flying measurement (not supported)
7 Cancellation, fetch measured value (not supported)
8 Abort, absolute value transfer (not supported)
3841 Function not supported
5.4.8 MIST_GLATT (actual torque smoothed)
The MIST_GLATT is the smoothed M_air_gap (FP 6799, refer 7.8.51). The smoothing
time is specified via p0045 and is fixed to 1 ms. MIST_GLATT is only available for
VECTOR.

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5.4.9 PIST_GLATT (power factor, smoothed)
The PIST_GLATT is the power factor smoothed. It is calculated from the actual
speed and M_air_gap with the following formula (FP 6799, refer 7.8.51):
𝑀_𝑎𝑖𝑟_𝑔𝑎𝑝 ∙ 𝑁_𝐼𝑆𝑇_𝐴 ∙ 2𝜋
𝑃𝐼𝑆𝑇_𝐺𝐿𝐴𝑇𝑇 =
60 ∙ 1000
PIST_GLATT is only available for VECTOR.
5.4.10 NIST_A_GLATT (actual speed, smoothed)
The NIST_A_GLATT is the smoothed NIST_A (FP 6799, refer 7.8.51). The
smoothing time is specified via p0045 and is fixed to 1 ms.NIST_A_GLATT is only
available for VECTOR.
5.4.11 MELDW (message word)
Another PROFIdrive send signal is the MELDW. The state bits, which are not
implemented are zero.MELDW is only available for SERVO.
Table Table 5-19 Bits of state word 1 (FP 2456, refer 7.8.13)
MELDW.0 1 = Ramp-up/ramp-down completed Signal and monitoring functions
0 = Ramp-function generator active
MELDW.1 1 = Torque utilization [%] < torque threshold value 2 Signal and monitoring functions
(p2194)
MELDW.2 1 = |n_act| < speed threshold value 3 (p2161) Constant: 0

MELDW.3 1 = |n_act| speed threshold value 2 (p2155) Constant: 0
MELDW.4 1 = Vdc_min controller active (Vdc < p1248) Constant: 0
MELDW.5 Variable signaling function 1 output signal Constant: 0
MELDW.6 1 = No motor overtemperature alarm Constant: 0
MELDW.7 1 = No alarm, thermal overload, power unit Constant: 0
MELDW.8 1 = Speed setpoint - actual value deviation within Signal and monitoring functions
tolerance t_on
MELDW.9 1 = ESR reaction initiated / Generator mode active Constant: 0
MELDW.10 Reserved Constant: 0
MELDW.11 1 = Controller enable Sequence control
MELDW.12 1 = Drive ready Sequence control
MELDW.13 1 = Pulses enabled Sequence control
5.5 PROFIdrive manufactory-specific supplementary

signals send
This chapter shows the implemented PROFIdrive manufactory-specific
supplementary signals of the send part of the telegram content. For more
information about the send PROFIdrive signals, refer FP 2423 (7.8.7).
Table 5-20 Implemented Telegrams
Signal Description 750
M_ACT Supplementary ✓
torque

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5.5.1 M_ACT
M_ACT provides the supplementary torque value and corresponds to parameter

r0080. It is normed to the reference parameter p2003 and sends it to the PLC.
5.6 Additional outputs

5.6.1 n_ctrl_n_set
The n_ctrl_n_set output provides the speed setpoint for an external closed loop-
controlled system. n_ctrl_n_set is generated by the ramp generator, if the ramp
generator is bridged, NSOLL_A or NSOLL_B of the telegram transfers the setpoint
value directly to the n_ctrl_n_set output. The range of value of n_ctrl_n_set is
limited by SINAMICS parameter p2000 (n_max) and has the data type double.
It is also possible to operate the model without an external load model. For this
purpose, a direct connection between n_ctrl_n_set and n_act_1 must be
established. n_ctrl_n_set is always provided regardless of the config parameters.
An application example is given in "External load" in 6.4.5.
5.6.2 n_set_before_filter
This output serves as a diagnostic interface for setting the dynamic servo control. It
is directly mapped from r0060. It provides the DSC output. n_set_before_filter is
only available for SERVO (only relevant if droop or speed limiter is implemented in
VECTOR). For more information, refer FP 5020 7.8.35.
5.6.3 n_set_after_filter
This output serves as a diagnostic interface for setting the dynamic servo control. It
is directly mapped from r0062 and provides the DSC output with the speed
controller pre-control. n_set_after_filter is only available for SERVO (only relevant if
acceleration model is implemented in VECTOR). For more information, refer FP
5020 7.8.35
5.6.4 M_air_gap
The M_air_gap output represents the torque of the air gap of the motor. It is the
output of the speed controller with a simplified closed current control loop model.
This is the connection point for the external motor inertia and the model of the
attached application. If the speed controller is deactivated M_air_gap output is
zero. If the external load is deselected it represents the value of the internal model
for displaying the internal load behavior.
5.6.5 n_int_load
The n_int_load output provides the current speed of the internal two mass oscillator
or internal feedback. There will be always values displayed regardless of whether
the bit Config.ExternalLoad is active or not.
5.6.6 mismatch
The mismatch output provides the number of an incorrectly set SINAMICS

parameter. If several SINAMICS parameters are out of range, the larger one is
displayed first. If all are in range, the output is zero.

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6 Application
6.1 FMI
SINAMICS DriveSim Basic interacts with multiple simulation tools via the FMU
interface. "The Functional Mock-up Interface (FMI) is a free standard that defines a
container and an interface to exchange dynamic models. For more information,
refer, fmi Functional Mock-up Interface, https://fmi-standard.org/, 2020 \3\. The
SINAMICS DriveSim Basic FMU corresponds to the FMI Standard 2.0.
The FMU parameters are pre-set with default values as mentioned in 4. To
configure the step time and the use case specific Parameters, the model can be
modified by the mask of the block as given by the importing tool. Additionally, the
user may adapt the block’s standard values by modifying the "DriveSim Basic.xml"
contained in the FMU repository (opened as a zip archive).
6.2 Licenses
The license key for SINAMICS DriveSim Basic is managed by the Automation
License Manager (ALM). This ensures that the FMU can only be used with a valid
license key according to the user agreements. For more information, refer,
"Programming and Operating Manual - SIMATIC Automation License Manager",
Siemens AG, 06/2017 \4\.
The ALM runs in the background. During the start-up process of the simulation the
ALM receives a request for a license key from the SINAMICS DriveSim Basic and
makes a comparison between the existing and required license. Only if a valid
license is available, the simulation is executed. There is one license necessary to
run the FMU regardless of the number of instances.
6.3 Sample rates

6.3.1 Overview
The user needs to setup his simulation tool minimum step time according to the
interaction of the model with the connected components. There are several use
cases especially with external load and speed controller enabled, where it has a
tremendous impact that the setup is done well.
As to satisfy the Nyquist-Shannon theorem the internal sample rate (Tmin) of the
SINAMICS DriveSim Basic is half of the smallest SINAMICS speed controller cycle
time (defined by p0112):
• SERVO
• Tmin = 31,25 μs
• p0115[1] = 62,5 μs
• VECTOR
• Tmin = 50 µs
• greatest common divisor of p0115[1] = [250, 1600] µs = 50 µs
The sample rate in which SINAMICS DriveSim Basic is called by the simulation tool
and the IOs are sampled (Ts) on the other hand may be specified by the user.
Depending on the simulation tool, the sample time may be defined for each block
or globally. Depending on the dedicated scenario and control loop, the simulation
tool’s sample rate Ts may be
1. a positive integer multiple of Tmin
2. equal or smaller than a positive integer division of Tmin or

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3. variable if the tool solver can guarantee, that SINAMICS DriveSim Basic is
called every Tmin
Otherwise, the output of the SINAMICS DriveSim Basic may be different than
expected. Possible schematic sampling behaviors between SINAMICS DriveSim
Basic and the simulation tool are shown in the figure below. Undersampling should
be avoided if the use case demands any kind of control loop with an external
model.
synchronous undersampling
simulation tool simulation tool
tn Ts tn+1 tn Ts tn+1
Tmin t Tmin t
DriveSim Basic DriveSim Basic
oversampling fixes step oversampling variable step
simulation tool simulation tool
tn Ts tn+9 tn Ts tn+5
Tmin t Tmin t
DriveSim Basic DriveSim Basic
Figure 6-1 Sample rate of the model compared to the simulation tool
6.3.2 Setting guidance
There are basically two control loops, defining the sample time of SINAMICS
DriveSim Basic:
1. The PROFIdrive signal sample rate p2048 (4 ms is the factory setting), if a
SINAMICS DriveSim Basic should interact with a superior control.
2. The speed controller cycle time p0115[1], if the speed controller is
activated and external model should be driven
The below figure shows a decision diagram which supports you in choosing the
minimal step time of the simulation tool for different scenarios (A, B & C).
Min. Simulation
Sample Time (Ts)
Configuration
External Load
required? no
yes
Speed Controller
yes required?
no
Ts = 62.5 µs / n Config.Speed-
possible? Controller = 0
nϵN
no
Ts = p2048 / n PLC interaction

Change Tool no yes
possible? required?
yes nϵN
yes no
Ts = 62.5 µs / n Ts = p2048 / n Ts = n * 62.5 µs
Start Simulation
Figure 6-2 Decision diagram – Select minimum time step

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Depending on the selection of the Config bits the following control loops can be
realized.
p0115[1] / (2n) p2048 / n p0115[1] * n/2
PLCSIM PLCSIM
Advanced NSOLL_A/B Advanced NSOLL_A/B
p2048 p2048
NIST_A/B SINAMICS NIST_A/B SINAMICS SINAMICS

DriveSim Basic M_air_gap DriveSim Basic n_ctrl_n_set DriveSim Basic
p0115[1] / 2 p2048
n_act_1 external load n_act_1 external load

model model
A B C
(discretized)
discrete optional
continous
Figure 6-3 Scenarios for minimum time step for different control loops
6.3.3 Examples
The following table gives configuration examples of devices depending on the

sample rates. The figure gives an overview of a selection of functions that are
affected by the time-dependent parameters.
Table 6-1 Configuration examples sample rates
Parameter Example 1 Example 2 Example 3 Example 4 Example 5 Example 6
Device S120 G120 G120 S120 S120 S120
Drive Object SERVO VECTOR VECTOR SERVO SERVO VECTOR
ExternalLoad 1 1 1 1 0 1
SpeedController 1 0 1 1 1 1
p0112 3 3 0 4 3 2
p0115[1] 125 µs 125 µs 2000 µs 62,5 µs 125 µs 1000 µs
p2048 1 ms 1 ms 1 ms 2 ms 1 ms 2 ms
Tmin 31,25 µs 31,25 µs 50 µs 31,25 µs 31,25 µs 50 µs
TS 1 ms 1 ms 1 ms 62,5 µs 2 ms 750 µs
Scenario10 A B A A C A
Problem 𝑇𝑠 ≠ - - 𝑇𝑠 ≠ 𝑇𝑠 ≠ 𝑇𝑠 ≠
𝑝0115[1] 𝑝0115[1] 𝑝2048 𝑝2048
; ; ; ;
𝑛 𝑛 𝑛 𝑛
𝑛∈𝑁 𝑛∈𝑁 𝑛∈𝑁 𝑇𝑠 ≠
𝑝0115[1]
;
𝑛
𝑛∈𝑁
10 Refer to Figure 6-3

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config active inactive I/O

TS
SINAMICS DriveSim Basic Tmin
p2048 p2048
PD-Signal PD-Signal
control core
TS TS
p0115[1]
n_act_1 Speed Controller M_air_gap
internal load
TS
external load
Figure 6-4 Overview sample rates
6.4 Application examples

Application examples show various applications with different configuration
parameters. All other configuration parameters not mentioned in these examples
are set to 1 but are possible to be modified by the user at the initialization of the
simulation. In the following examples the second encoder is disabled.
6.4.1 Superior PLC control
The figure below shows the SINAMICS DriveSim Basic model with PLCSIM
Advanced as superior controller. Thus, the sequence control needs to be switched
on (Config.SequenceControl = 1).
PLCSIM Advanced
PD-Signals PD-Signals
control core
n_act_1 M_air_gap
Config.SequenceControl = 1
Figure 6-5 Sequence Control switched on – Config.SequenceControl = 1

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6.4.2 External Speed Controller
The figure below shows the SINAMICS DriveSim Basic model with external load
(Config.ExternalLoad = 1) and deactivated speed controller
(Config.SpeedController = 0). Consequently, the internal feedback loop is not
closed and n_ctrl_n_set and n_act may be linked directly or via an external transfer
function to a closed loop system (see below figure). Thus, a user may connect his
own speed control algorithm and load model.
control core
n_act_1 M_air_gap
internal load
Config.SpeedController = 0 Config.ExternalLoad = 1
external load
Figure 6-6 Simplified connection diagram – Config.SpeedController = 0
6.4.3 Without superior PLC control
The figure below shows the SINAMICS DriveSim Basic model without (PLCSIM
Advanced as) superior controller. Thus, the sequence control needs to be switched
off (Config.SequenceControl = 0). The interface for the set point needs to be
connected to n_set_ext.
n_set_ext
control core
n_act_1 M_air_gap
Config.SequenceControl = 0

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Figure 6-7 Sequence Control switched off – Config.SequenceControl = 0
6.4.4 Internal load
The figure below shows the SINAMICS DriveSim Basic model with an internal load
(Config.ExternalLoad = 0). Consequently, the internal feedback loop is closed and
n_ctrl_n_set and n_act are be linked via the internal model. The external outputs
are supported for debugging reasons, but the input n_act_1 is not respected within
the model.
control core
n_act_1 M_air_gap
internal load
Config.ExternalLoad = 0
Figure 6-8 Simplified connection diagram – Config.ExternalLoad = 0
6.4.5 External load
The figure below shows the SINAMICS DriveSim Basic model with external load
(Config.ExternalLoad = 1). Consequently, the internal feedback loop is not closed
and n_ctrl_n_set and n_act may be linked directly or via an external transfer
function to a closed loop system (see below figure). Thus, a user may connect a
self-defined load model.

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control core
n_act_1 M_air_gap
internal load
Config.ExternalLoad = 1
external load
Figure 6-9 Simplified connection diagram – Config.ExternalLoad = 1
6.5 Tools
The SINAMICS DriveSim Basic FMU is compatible with every tool that supports the
FMU 2.0 standard. This chapter shows tested FMU compatible tools. A selection of
additional FMU compatible tools are listed here (https://fmi-standard.org/tools/).
6.5.1 Variants
The below table gives an overview of the different variants.

Table 6-2 FMU variants
Name Version Tested Tool
DriveSimBasic_SERVO 32/64Bit Matlab Simulink >= 2019a,
Simit, ANSYS TwinBuilder,
Hopsan
DriveSimBasic_SERVO_double 32/64Bit Simcenter Amesim
DriveSimBasic_SERVO_unstruct 32/64Bit Matlab Simulink < 2019a
DriveSimBasic_VECTOR 32/64Bit Matlab Simulink >= 2019a,
Simit, ANSYS TwinBuilder,
Hopsan
DriveSimBasic_VECTOR_double 32/64Bit Simcenter Amesim
DriveSimBasic_VECTOR_unstruct 32/64Bit Matlab Simulink < 2019a
6.5.2 Application scenarios
There are basically three scenarios utilizing SINAMICS DriveSim Basic:

• interaction drive with a PLC (via fieldbus)
• interaction drive with an application (via motor shaft / sensor)
• feedback loop incl. PLC, drive, and application (as above + sensors / actors)
The interaction with PLC is ideally realized via PLCSim Advanced, which is
recommended for use in SIMIT.

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There are two options to simulate the SINAMICS DriveSim Basic FMU, as a stand-
alone device or in interaction with PLCSim Advanced. The second one being
recommended only for SIMIT.
The signals the table Table 6-3 must be transferred in normalized form for a stand-
alone operation. A denormalization is required for NIST_A and NIST_B. In the
following table are given the formulas for calculation.
Table 6-3 formulas normalization
PD-Signal Normalization
NSOLL_A 𝑛𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑁𝑆𝑂𝐿𝐿_𝐴 =
𝑝2000
4000ℎ = 214
NSOLL_B 𝑛𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000 0000ℎ
𝑁𝑆𝑂𝐿𝐿_𝐵 =
𝑝2000
4000 0000ℎ = 230
MOMRED 𝑛𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑀𝑂𝑀𝑅𝐸𝐷 =
𝑝1544
𝑝1544 = 100%
4000ℎ = 214
M_ADD1 𝑀_𝐴𝐷𝐷1𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑀_𝐴𝐷𝐷1 =
𝑝2003
4000ℎ = 214
M_LIMIT_NEG 𝑀_𝐿𝐼𝑀𝐼𝑇_𝑁𝐸𝐺𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ

𝑀_𝐿𝐼𝑀𝐼𝑇_𝑁𝐸𝐺 =
𝑝2003
4000ℎ = 214
M_LIMIT_POS 𝑀_𝐿𝐼𝑀𝐼𝑇_𝑃𝑂𝑆𝑡𝑎𝑟𝑔𝑒𝑡 ∙ 4000ℎ
𝑀_𝐿𝐼𝑀𝐼𝑇_𝑃𝑂𝑆 =
𝑝2003
4000ℎ = 214
Table 6-4 formulas denormalization

PD-Signal Denormalization
NIST_A / NIST_A ∙ 𝑝2000
NIST_A_GLATT 4000ℎ
4000ℎ = 214
NIST_B NIST_B ∙ 𝑝2000
4000 0000ℎ
4000 0000ℎ = 230
MIST_GLATT MIST_GLATT ∙ 𝑝2003
M𝑡𝑎𝑟𝑔𝑒𝑡 =
4000ℎ
4000ℎ = 214
PIST_GLATT PIST_GLATT ∙ 𝑝2003
P𝑡𝑎𝑟𝑔𝑒𝑡 =
4000ℎ
4000ℎ = 214
M_ACT M_ACT ∙ 𝑝2003
M_ACT𝑡𝑎𝑟𝑔𝑒𝑡 =
4000ℎ
4000ℎ = 214
6.5.3 SIMIT
To integrate the SINAMICS DriveSim Basic FMU in SIMIT, it is necessary to

convert it into a Simit Block using the tool Simit Component Type Editor (CTE).

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Figure 6-10 SIMIT - DriveSim Basic FMU Block

Figure 6-11 SIMIT parameters excerpt

The following limitations to SIMIT in combination with SINAMICS DriveSim Basic
are known:
• external load models with speed controller is only for DO VECTOR with
p0112 = 0 possible, as the minimum sample time of SIMIT is 1 ms (refer
6.3.3 Example 3).

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• Component Type Editor (CTE) is required to import an FMU into SIMIT.

Please be aware that the CTE component version needs to be compatible
with the SIMIT version.
• SIMIT signals can only be recorded and thus exported in minimum 100ms
steps
6.5.4 Simcenter Amesim
As in Simit the FMU can be used in Simcenter Amesim. The interfaces of the
SINAMICS DriveSim Basic FMU for Amesim have the data type double.
Figure 6-12 Amesim - DriveSim Basic FMU Block
Figure 6-13 Amesim - parameters excerpt

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6.5.5 Matlab Simulink
The SINAMICS DriveSim Basic FMU can be imported with the FMU Import block in
Matlab Simulink.
Figure 6-14 Matlab Simulink - DriveSim Basic FMU Block

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Figure 6-15 Matlab Simulink FMU Block Configuration

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6.5.6 ANSYS Twin Builder
The SINAMICS DriveSim Basic FMU can be imported with the FMU component
block in ANSYS Twin Builder. During the import process, the mask can be
customized regarding inputs, outputs, and parameters.
Figure 6-16 ANSYS Twin Builder block

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Figure 6-17 ANSYS Twin Builder parameter dialogue
Like in other tools adoption blocks are needed if the user runs the model without
direct PLC interaction for conversion of the double setpoint points or actual values,
which are transferred in integer 16 tespective 32 via the interfaces of the FMU.
Figure 6-18 ANSYS Twin Builder double <--> int16

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Figure 6-19 ANSYS Twin Builder double <--> int32
Known Issues
It is strongly recommended to set the following settings in ANSYS <= R2021.2

when you are running your model in a productive workflow for a significant increase
in simulation performance:
• Deselect “Enable Symbol Animation and Output Property Display Update”
in “Design Settings…” to deactivate the State Graph animations

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• Deselect “Update reports during simulation” in “Tools > Options > General
Options > Twin Builder > General”

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7 Appendix
7 Appendix
7.1 Service and support
Industry Online Support
Do you have any questions or need assistance?
Siemens Industry Online Support offers round the clock access to our entire
service and support know-how and portfolio.
The Industry Online Support is the central address for information about our
products, solutions and services.
Product information, manuals, downloads, FAQs, application examples and videos
– all information is accessible with just a few mouse clicks:
support.industry.siemens.com
Technical Support
The Technical Support of Siemens Industry provides you fast and competent
support regarding all technical queries with numerous tailor-made offers
– ranging from basic support to individual support contracts.
Please send queries to Technical Support via Web form:
siemens.com/SupportRequest
SITRAIN – Digital Industry Academy

We support you with our globally available training courses for industry with
practical experience, innovative learning methods and a concept that’s tailored to
the customer’s specific needs.
For more information on our offered trainings and courses, as well as their
locations and dates, refer to our web page:
siemens.com/sitrain
Service offer
Our range of services includes the following:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrofitting and modernization services
• Service programs and contracts
You can find detailed information on our range of services in the service catalog
web page:
support.industry.siemens.com/cs/sc
Industry Online Support app

You will receive optimum support wherever you are with the "Siemens Industry
Online Support" APP. The app is available for iOS and Android:
support.industry.siemens.com/cs/ww/en/sc/2067

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7 Appendix
7.2 Industry Mall
The Siemens Industry Mall is the platform on which the entire siemens Industry
product portfolio is accessible. From the selection of products to the order and the
delivery tracking, the Industry Mall enables the complete purchasing processing –
directly and independently of time and location:
mall.industry.siemens.com
7.3 FMU support

For further questions regarding installation and usage of SINAMICS DriveSim
Basic approach https://www.siemens.com/SupportRequest. Enter in the search
field „DriveSim Basic“ and place your request to the Customer Support
7.4 Links and literature

Table 7-1
No. Topic
\1\ Profile Drive Technology - Profile Drive Technology
PROFIBUS Nutzerorganisation e.V., 10/2015
\2\ List Manual - SINAMICS S120/S150
Siemens AG, 06/2020
https://support.industry.siemens.com/cs/ww/en/view/109781807
\3\ fmi Functional Mock-Up Interface
https://fmi-standard.org/
\4\ Programming and Operating Manual - SIMATIC Automation License Manager
Siemens AG, 06/2017
\5\ List Manual - SINAMICS G110M
Siemens AG, 09/2020
\6\ List Manual - SINAMICS G115D
Siemens AG, 09/2020
\7\ List Manual - SINAMICS G120 - CU230P-2 Control Units
Siemens AG, 09/2020
\8\ List Manual - SINAMICS G120 - Control Units CU240B-2/CU240E-2
Siemens AG, 09/2020

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7 Appendix
No. Topic
\9\ List Manual - SINAMICS G120 - CU250S-2 Control Units
Siemens AG, 09/2020
\10\ List Manual - SINAMICS G120C
Siemens AG, 09/2020
\11\ List Manual - SINAMICS G120D - Control Units CU240D-2/CU250D-2
Siemens AG, 09/2020
\12\ Operating instructions - SINAMICS G120X
Siemens AG, 07/2020
\13\ List Manual - SINAMICS S110
Siemens AG, 04/2015
\14\ List Manual - SINAMICS G130/G150
Siemens AG, 06/2020
\15\ Operating Instructions - SINAMICS S210
Siemens AG, 06/2020.
\16\ Link to this entry page of this application example

\17\ Drive function – SINAMICS S120
Siemens AG, 06/2020
\18\ Function Manual
S7-1500/S7-1500T Motion Control Overview V6.0 as of STEP 7 V17
Siemens AG, 05/2021
7.5 Change documentation

Table 7-2
Version Date Modifications
V1.0.0 06/2021 Initial Release
V1.0.1 07/2021 Added
• SERVO Speed Controller
• Simplified closed current control loop
• Telegram 102 and 103
• Enhanced chapter “feature set “
• Enhanced chapter “sample rate”

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7 Appendix

V1.0.2 08/2021 Added parameters
• Fine resolution absolute value Gx_XIST2 – p0419
• Torque limit upper/motoring – p1520
• Torque limit lower/regenerative – p1521
• Power limit motoring – p1530
• Power limit regenerative – p1531
Added output bits
• I, M, or P limit not reached - ZSW1.11
• ramp-function generator status – MELDW.0
• torque utilization – MELDW.1
• speed setpoint - actual value deviation within tolerance –
MELDW.8
General
• the out-of-the-box model behavior with speed controller
is improved (changed factory setting of inertias, damping
and torsional stiffness)
V1.0.3 10/2021 Added features
• DSC support (telegrams 5, 6, 105, 106)
• current setpoint filters
• reference model
Changed interfaces
• Renamed generic PZDs to specific ProfiDrive words
Added parameters
• Config interface for definition format of the setpoint filters
• Speed controller reference model - p1433. ..p1435
• Activates current setpoint filter - p1656
• Current setpoint filter 1&2 - p1658. ..p1666
• Variable: Current Set Point Filter 1&2
V1.0.4 01/22 Added features:
• Telegrams 20 & 352
• VECTOR: speed control with encoder
• VECTOR: current setpoint filters
• VECTOR: reference model
Added PROFIdrive signals:
• N_ISTA_GLATT
• PIST_GLATT
• MIST_GLATT
Added additional inputs
• x_act_1
• x_act_2
• n_set_ext
Added parameter:
• Speedcontroller Vector: p1470, p1472
• Reference values:p2003
Bug fix:
• Internal Load model can now be configured well as an
one-mass osciallator

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7 Appendix

V1.0.05 04/22 Added Features:
• time slice definition for different devices possible
• acceleration model
• telegram 750
• linear and squared load characteristics
Added Parameters:
• p0112 - Sampling times pre-setting p0115
• p0341 - Motor moment of inertia
• p1496 (VECTOR) - Acceleration precontrol scaling
• p1498 (SERVO) - Load moment of inertia
• p2003 - Reference torque
• p8864 - IF1 PROFIdrive first supplementary telegram
selection
• BaseLoad_linear – linear base load torque
• BaseLoad_square – square base load torque
• MaxLoadSpeed – maximum load speed
Added Interfaces:
• M_ADD1
• M_LIMIT_POS
• M_LIMIT_NEG
• M_ACT
Bugfixes and Improvements:

• clear separation of the FMU ModelIdentifier in SERVO
and VECTOR
• adjustment of the default configuration p2003 for
VECTOR to have a similar speed transient behavior as
SERVO
• correction of SERVO scaling for DSC in interaction with
PLCSIM Advanced
• Support of MC_Move Velocity via telegram 105 ensured
• correction of oscillation behavior of internal load model
of VECTOR
• remove Var.HigherLevelController.ApplicationCycle

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7.6 List of abbreviations

Table 7-3 List of abbreviations
Abbreviation
AC Application class
ALM Automation License Manager
DO Drive Object
DSC Dynamic servo control
FMU Functional Mock-Up Unit
FS Factory Settings
FP Function Plan
Inc Increments
PLC Programmable Logic Controller
PZD Process data word
RFG Ramp Function Generator
STW Control word
ZSW State word
7.7 Implemented function plans G110, G115, G120*

A summary of the implemented function plans of the following list manuals is given
in the below table:
•
List Manual - SINAMICS G110M, Siemens AG, 09/2020. \5\

• List Manual - SINAMICS G115D, Siemens AG, 09/2020. \6\
• List Manual - SINAMICS G120 - CU230P-2 Control Units, Siemens AG,
09/2020. \7\
• List Manual - SINAMICS G120 - Control Units CU240B-2/CU240E-2, Siemens
AG, 09/2020. \8\
• List Manual - SINAMICS G120 - CU250S-2 Control Units, Siemens AG,
09/2020. \9\
• List Manual - SINAMICS G120C, Siemens AG, 09/2020. \10\
• List Manual - SINAMICS G120D - Control Units CU240D-2/CU250D-2,
Siemens AG, 09/2020. \11\
• Operating instructions - SINAMICS G120X, Siemens AG, 07/2020. \12\
The name of the function plans, the file names and the versions are derived from
the List Manual - SINAMICS G120 - CU250S-2 Control Units, Siemens AG,
09/2020 \9\. The SINAMICS G series only supports the drive object VECTOR. The
implemented functionalities are basically the same as those of the device S120 in
7.8, until function plan 4704 of G115D is shown in 7.7.20 and function plan 6030 of
G120C is shown in . Not implemented functionalities are marked in red color.

Entry-ID: 109798225, V1.0.5, 06/2022 71
7 Appendix
Table 7-4 Summary function plan of G110, G115, G120* ("1" indicates, CU250S-2.)
G110M (CU240M)
G120 (CU240E-2)
G120 (CU230P-2)
G120 (CU250S-2)
G120D (CU240D)
Description1
File name1
Version1
G115D
G120C
G120X
FP
2401 PROFIdrive - fp_2401_97_65.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020

Overview V4.7_13
2420 PROFIdrive - fp_2420_97_06.vsd ✓ ✓ ✓ ✓  ✓  ✓ 13.05.2020
Telegrams and V4.7_13
process data (PZD)
2421 PROFIdrive - fp_2422_97_03.vsd     ✓  ✓  13.05.2020
Standard telegrams V4.7_13
and Process Data
(PZD)
2440 PROFIdrive - PZD fp_2440_97_03.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
receive signals V4.7_13
interconnection
2442 PROFIdrive - STW1 fp_2442_97_61.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
control word V4.7_13
interconnection
(p2038 = 0)
2444 PROFIdrive - STW2 fp_2444_97_03.vsd  ✓   ✓  ✓  13.05.2020
control word V4.7_13

interconnection
(p2038 = 0)
2450 PROFIdrive - PZD fp_2450_97_03.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
send signals V4.7_13
interconnection
2452 PROFIdrive - ZSW1 fp_2452_97_61.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
status word V4.7_13
interconnection
(p2038 = 0)
2454 PROFIdrive - ZSW2 fp_2454_97_55.vsd  ✓   ✓  ✓  13.05.2020
status word V4.7_13
interconnection
(p2038 = 0)
2460 PROFIdrive - fp_2460_97_03.vsd     ✓  ✓  13.05.2020
MELDW status word V4.7_13
interconnection
2472 PROFIdrive - Status fp_2472_97_51.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
words, free V4.7_13
interconnection
2501 Control word, fp_2501_97_53.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓  13.05.2020
sequence control V4.7_13
(r0898)
2503 Status word, fp_2503_97_03.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓  13.05.2020
sequence control V4.7_13
(r0899)
2505 Control word, fp_2505_97_51.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓  13.05.2020
setpoint channel V4.7_13
(r1198)
2534 Status word, fp_2534_97_53.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓  13.05.2020
monitoring functions V4.7_13
1 (r2197)
2610 Sequence control - fp_2610_97_03.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
Sequencer V4.7_13

Entry-ID: 109798225, V1.0.5, 06/2022 72
7 Appendix
2634 Sequence control - fp_2634_97_03.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓  13.05.2020

Missing enable V4.7_13
signals, line
contactor control
3001 Setpoint channel - fp_3001_97_53.vsd ✓ ✓ ✓  ✓  ✓  13.05.2020
Overview V4.7_13
3060 Setpoint channel - fp_3060_97_53.vsd ✓ ✓ ✓  ✓  ✓  13.05.2020
Basic ramp-function V4.7_13
generator
3080 Ramp-function fp_3080_97_53.vsd ✓ ✓ ✓  ✓  ✓  13.05.2020
generator selection, V4.7_13
status word, tracking
4704 Position and fp_4704_97_03.vsd  ✓   ✓  ✓  13.05.2020
temperature sensing, V4.7_13
encoders 1 … 2
4715 Speed actual value fp_4715_97_55.vsd     ✓  ✓  13.05.2020
and pole pos. V4.7_13
sensing, motor
encoder ASM/PMSM
(encoder 1)
4720 Encoder interface, fp_4720_97_55.vsd     ✓  ✓  13.05.2020
receive signals, V4.7_13
encoders 1 . ..2
4730 Encoder interface, fp_4730_97_55.vsd     ✓  ✓  13.05.2020
send signals, V4.7_13
encoders 1 . ..2
6030 Speed setpoint, fp_6030_97_05.vsd      ✓   13.05.2020
acceleration model V4.7_13
(G120C only)
6031 Pre-control fp_6031_97_53.vsd ✓ ✓ ✓ ✓ ✓  ✓ ✓ 13.05.2020
balancing, V4.7_13
acceleration model
6040 Speed controller fp_6040_97_55.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
V4.7_13
6060 Torque setpoint fp_6060_97_53.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
V4.7_13
6630 Upper/lower torque fp_6630_97_51.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
limit V4.7_13
6710 Current setpoint filter fp_6710_97_56.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
V4.7_13
6799 Display signals fp_6799_97_66.vsd ✓ ✓ ✓ ✓ ✓ ✓  ✓ 13.05.2020
V4.7_13
8005 Signals and fp_8005_97_53.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
- Overview
- Speed signals 1
- Speed signals 2
8012 Torque signals, fp_8012_97_55.vsd ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ 13.05.2020
motor blocked/stalled V4.7_13
7.7.1 FP 2401: PROFIdrive - Overview
Has the same implemented functionality as 7.8.1.
7.7.2 FP 2420: PROFIdrive - Telegrams and process data (PZD)
Has the same implemented functionality as the FP 2415 of S120 (7.8.2) and it
depends on the functionality of the device.

Entry-ID: 109798225, V1.0.5, 06/2022 73
7 Appendix
7.7.3 FP 2421: PROFIdrive - Standard telegrams and Process Data (PZD)
7.7.4 FP 2440: PROFIdrive - PZD receive signals interconnection
7.7.5 FP 2442: PROFIdrive - STW1 control word interconnection (p2038 = 0)
Has the same implemented functionality as 7.8.11 and it depends on the

functionality of the device.
7.7.7 FP 2450: PROFIdrive - PZD send signals interconnection
Has the same implemented functionality as S120 FP2449 (7.7.7) and it depends
on the functionality of the device.
7.7.8 FP 2452: PROFIdrive - ZSW1 status word interconnection (p2038 = 0)

Please consider that your PLC must interpret the PZDs as given in the list manual
of the used control unit.
7.7.10 FP 2472: PROFIdrive - Status words, free interconnection
7.7.11 FP 2501: Control word - sequence control (r0898)
7.7.12 FP 2503: Status word - sequence control (r0899)
7.7.13 FP 2505: Control word - setpoint channel (r1198)
7.7.14 FP 2534: Status word - monitoring functions 1 (r2197)
7.7.15 FP 2610: Sequence control – Sequencer

Entry-ID: 109798225, V1.0.5, 06/2022 74
7 Appendix
7.7.16 FP 2634: Sequence control - Missing enable signals, line contactor

control
7.7.17 FP 3001: Setpoint channel - Overview
7.7.18 FP 3060: Setpoint channel - Basic ramp-function generator
7.7.19 FP 3080 Ramp-function generator selection, status word, tracking


Entry-ID: 109798225, V1.0.5, 06/2022 75
7 Appendix
7.7.20 FP 4704: Position and temperature sensing, encoders 1 … 2
Has the same implemented functionality as 7.8.28 and it depends on the functionality of the device.
Encoder Control Unit
Enc_typ sel Rot enc pulse No.

0 ... 9999 Sq-wave enc A/B 0 ... 16777215
CU detection LED p0400 [D] (0) p0408 [D]
0 ... 1 p0405 [D]
p0124 (0)
Invert position
actual value
1 2 A 1 2 No. of signal p0410.1
inkr n
2 periods
CU DI status
2 B A <2>
r0722 up Enc Gn_XIST1
0
1 5 3 <3> r0722.0/1 31 n n-1 0
Raw position signals dn III r0482 [n-1]
4 2n -1
B 32 Bit Fine resolution 1 To speed sensing

X07 Multiplication
A Free-running <1> by hardware
1 signal period position
sin/cos counter 232 -1
B
0
1 signal period
p0979[0...25]
Encoder format acc. to PROFIdrive
Encoder error Encoder status bits

Encoder 1 processing to Gn_ZSW
Enc Gn_STW s_s

p0480
(0)
Measuring probe position
<1> Generating the two's complement.

<2> Gn_XIST1 is a free-running position value. The external control must process the overflows.
<3> For connecting the encoder the digital inputs DI0 (X07.4) and DI1 (X07.2) can be used.
1 2 3 4 5 6 7 8
Encoder evaluation fp_4704_97_08.vsd Function diagram
- 4704 -
Position sensing, encoder 1 30.09.2019 V4.7_13 G115D

Entry-ID: 109798225, V1.0.5, 06/2022 76
7 Appendix
7.7.21 FP 4715: Speed actual value and pole pos. sensing, motor encoder
ASM/PMSM (encoder 1)
7.7.22 FP 4720: Encoder interface, receive signals, encoders 1 . ..2
7.7.23 FP4730: Encoder interface, send signals, encoders 1 . ..2
7.7.24 FP 6020: Vector control - Speed control and generation of the torque
limits, overview
7.7.25 FP 6030: Vector control - Speed setpoint, acceleration model (G120C)
Has the same implemented functionality as 7.7.26 and it depends on the

functionality of the device.

reference/acceleration model
7.7.27 FP 6040: Vector control - Speed controller with/without encoder
7.7.28 FP 6060: Vector control – Torque setpoint
7.7.29 FP 6630: Vector control - Upper/lower torque limit
7.7.30 FP 6710: Cector control – Current setpoint filter
7.7.31 FP 6799: Vector control – display signals
7.7.32 FP 8005: Signals and monitoring functions – Overview
7.7.33 FP 8010: Signals and monitoring functions - Speed signals 1

Entry-ID: 109798225, V1.0.5, 06/2022 77
7 Appendix
7.7.35 FP 8012: Signals and monitoring functions - Torque signals, motor

blocked/stalled


Entry-ID: 109798225, V1.0.5, 06/2022 78
7 Appendix
7.8 Implemented function plans for S110/S120/S150/S210/

G130/G150
A summary of the implemented function plans of the List Manual (\2\) is given in
the below table. The function plans mentioned in the table are shown in the
following abstracts. Not implemented functionalities are marked in red color. The
function plans 2420* and 2422 refer to the list manual (List Manual - SINAMICS
S110, Siemens AG, 04/2015 \13\) of the SINAMICS S110. In general, the function
plans apply to the drive objects SERVO, represented by "S" and VECTOR,
represented by "V". The documentation of the functions of the S210 is not based
on the function plans of the S120, which is why it is not listed in the following table.
Table 7-5 Summary function plan of S120 ("*" indicates, refer to the list manual (List Manual - SINAMICS
S110, Siemens AG, 04/2015 \13\).
S120/S150/
G130/G150
Version
S110
FP
2401 PROFIdrive - Overview fp_2401_54_eng.vsd  S, V S, V 12.03.13

V05.02.00
2415 PROFIdrive - Standard fp_2415_54_eng.vsd  S, V S, V 10.09.18
telegrams and process data 1 V05.02.00
2419 PROFIdrive - Manufacturer- fp_2419_55_eng.vsd  S, V  12.09.18

specific telegrams and process V05.02.03
data 1
2420* PROFIdrive - Standard fp_2420_98_eng.vsd S   16.11.10
telegrams and Process Data V04.04.03
(S110)
2421 PROFIdrive - Manufacturer- fp_2421_54_deu.vsd  S, V S, V 28.08.18
specific telegrams and process V05.02.03
data 3
2422* PROFIdrive - Manufacturer- fp_2422_98_eng.vsd S   20.07.10
specific telegrams and Process V04.04.03
Data
2423 RPOFIdrive – fp_2423_54_eng.vsd  S, V S, V 28.09.2017
Supplementary/free telegrams V05.02.03
and process data
2439 PROFIdrive - PZD receive fp_2439_54_eng.vsd S S, V S, V 27.06.13
signals, interconnection, V05.02.00
profile-specific
2440 PROFIdrive - PZD receive fp_2440_54_eng.vsd S S, V S, V 16.05.17
signals, interconnection, V05.02.03
manufacturer specific
2442 PROFIdrive - STW1 control fp_2442_54_eng.vsd S S, V S, V 03.12.15
word interconnection (p2038 = V05.02.00
0)
2444 PROFIdrive - STW2 control fp_2444_54_eng.vsd S S, V S, V 27.06.13
0)
2449 PROFIdrive - PZD send fp_2449_54_eng.vsd S S, V S, V 27.06.13
signals interconnection, profile- V05.02.00
specific
2452 PROFIdrive - ZSW1 status fp_2452_54_eng.vsd S S, V S, V 27.06.13
0)
2450 PROFIdrive - PZD send fp_2450_54_eng.vsd S S, V S, V 27.06.13
signals interconnection, V05.02.03
manufacture specific

Entry-ID: 109798225, V1.0.5, 06/2022 79
7 Appendix
2454 PROFIdrive - ZSW2 status fp_2454_54_eng.vsd S S, V S, V 27.06.13

0)
2456 6.8.10 FP 2456: PROFIdrive fp_2456_01_eng.vsd S S S 23.07.2018
- MELDW status word V05.02.03
interconnection
2472 PROFIdrive - IF1 status words, fp_2472_54_eng.vsd S S, V S, V 23.08.18
free interconnection V05.02.00
2501 Internal control/status words - fp_2501_54_eng.vsd S S, V S, V 22.12.11
Control word, sequence control V05.02.00
Status word, sequence control V05.02.00
Control word, setpoint channel V05.02.00
2522 Internal control/status words - fp_2522_54_eng.vsd S S S 21.10.2014
Status word, speed contoller V05.02.03
Status word, monitoring V05.02.00
functions 1
2610 Sequence control - Sequencer fp_2610_54_eng.vsd S S, V S, V 20.02.18
V05.02.00
2634 Sequence control - Missing fp_2634_54_eng.vsd S S, V S, V 20.02.18
enable signals, line contactor V05.02.00
control, logic operation
3001 Setpoint channel - Overview fp_3001_51_eng.vsd  S, V S, V 16.10.13
V05.02.00
3060 Setpoint channel - Basic ramp- fp_3060_51_eng.vsd S S, V S, V 28.08.14
function generator V05.02.00
3080 Setpoint channel - Ramp- fp_3080_51_eng.vsd S S, V S, V 06.10.17

function generator selection, V05.02.00
status word, tracking
3090 Setpoint channel - Dynamic fp_3090_01_eng.vsd S S  11.02.16
Servo Control (DSC) linear and V05.02.03
DSC spline
4704 Encoder evaluation - Position fp_4704_55_eng.vsd S S, V S, V 22.08.18
and temperature sensing, V05.02.03
encoders 1 … 3
4710 Encoder evaluation - Speed fp_4710_01_eng.vsd S S S 21.06.16
actual value and pole position V05.02.00
sensing, encoder 1
4715 Encoder evaluation - Speed fp_4715_54_eng.vsd  V V 12.03.14
actual value and pole position V05.02.03
sensing, encoder 1, n_act_filt 5
4720 Encoder evaluation - Encoder fp_4720_55_eng.vsd S S, V S, V 22.08.18
interface, receive signals, V05.02.03
encoders 1 … 3
4730 Encoder evaluation - Encoder fp_4730_55_eng.vsd S S, V S, V 21.08.18
interface, send signals, V05.02.03
encoders 1 … 3
5019 Servo control - Speed control fp_5019_01_eng.vsd S S  26.04.13
and U/f control, overview V05.02.03
5020 Servo control - Speed setpoint fp_5020_01_eng.vsd S S  14.07.14
filter and speed pre-control V05.02.03
5030 Servo control - Reference fp_5030_01_eng.vsd S S  14.07.14
model/pre-control V05.02.03
balancing/speed limitation
5040 Servo control - Speed fp_5040_01_eng.vsd S S  26.07.13
controller with encoder V05.02.03
5042 Servo control – Speed fp_5042_01_eng.vsd 11.02.16
controller, M/npre-control with V05.02.03
encoder
5060 Servo control - Torque fp_5060_01_eng.vsd S S  11.07.17
setpoint, control type V05.02.03
changeover

Entry-ID: 109798225, V1.0.5, 06/2022 80
7 Appendix
5610 Servo control - Torque fp_5610_01_eng.vsd S S  23.11.11

limiting/reduction, interpolator V05.02.03
5630 Servo control - Upper/lower fp_5630_01_eng.vsd S S  06.02.20
torque limit V05.02.03
5640 Servo control - Mode fp_5640_01_eng.vsd S S  10.04.12
changeover, power/current V05.02.03
limiting
6031 Vector control - Pre-control fp_6031_51_eng.vsd  V V 14.05.20
balancing, V05.02.03
reference/acceleration model
6040 Vector control - Speed fp_6040_51_eng.vsd  V V 14.05.20
controller with/without encoder V05.02.03
6060 Vector control - Torque fp_6060_51_eng.vsd  V V 14.05.20
setpoint V05.02.03
6630 Vector control - Upper/lower fp_6630_51_eng.vsd  V V 14.05.20
torque limit V05.02.03
6710 Vector control - Current fp_6710_54_eng.vsd  V V 27.09.13
setpoint filter V05.02.03
6799 Vector control – Display fp_6799_54_eng_vsd  V V 11.06.13
signals V05.02.03
8005 Signals and monitoring fp_8005_54_eng.vsd  S, V S, V 02.07.18
functions - Overview V05.02.00
8010 Signals and monitoring fp_8010_54_eng.vsd S S, V S, V 01.06.16
functions - Speed signals 1 V05.02.00
functions - Speed signals 2 V05.02.00
functions - Torque signals, V05.02.03
motor blocked/stalled

Entry-ID: 109798225, V1.0.5, 06/2022 81
7 Appendix
7.8.1 FP 2401: PROFIdrive - Overview
PD Telegr_sel
p0922 Interconnecting the permanently assigned receive telegrams Receive telegram
Telegram 1 ... 19 LED
PB address Monitoring Axxxxx
Signal assignment PZD1 Fxxxxx
Signal x p0918 Diagnostics rxxxx Signal Description Interconnection
PZD32 [2410]
[2415] Standard telegrams and process data 1 PROFIBUS (PB)/PROFINET (PN) address and diagnostics ... ... ...
PD Telegr_sel
p0922 Telegram 20 ... 99 ... ... ...
Signal assignment PZD1
Signal x
[2439] ... [2447], [2495], [2497] Drive
PZD32 Permanently assigned telegrams n
Interconnecting the permanently assigned send telegrams
[2416] Standard telegrams and process data 2
PD Telegr_sel Signal Description Interconnection

p0922 Telegram 100 ... 117
Signal x ... ... ...
PZD32
[2419] Manufacturer-specific telegrams and process data 1 ... ... ...
PD Telegr_sel
p0922 Telegram 118 ... 219 [2449] ... [2457], [2496], [2498]
Signal assignment PZD1 Interconnecting the free receive telegram
Signal x PROFIdrive
PZD1
PZD32
PZD2
[2420] Manufacturer-specific telegrams and process data 2 Send telegram
PZD3
PD Telegr_sel ..
p0922 Telegram 220 ... 389 .
Signal assignment PZD1 ...
Signal x
PZD32
[2421] Manufacturer-specific telegrams and process data 3
[2468], [2481]
PD Telegr_sel
p0922 Interconnecting the free send telegram
Telegram 390 ... 396
PZD1 Drive
Signal x n
PZD2
PZD32 PZD3
[2422] Manufacturer-specific telegrams and process data 4
PD Telegr_sel
p0922 ...
Telegram 901 ... 999
Signal x Free telegram
PZD32 [2470], [2472], [2483]
[2423] Manufacturer-specific/free telegrams and process data
1 2 3 4 5 6 7 8
DO: All objects fp_2401_54_eng.vsd Function diagram
- 2401 -
PROFIdrive - Overview 12.03.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 82
7 Appendix
7.8.2 FP 2415: PROFIdrive - Standard telegrams and process data 1
<1> <2> <3> PROFIdrive sampling time

PD Telegram select
p0922 (999)
Interconnection is Not suitable for sensorless vector control [2440] [2450] automatically
made according to <4> <4> <5>
Telegram 1 2 3 4 5 6 7 9 20
Application class 1 1 1, 4 1, 4 4 DSC 4 DSC 3 3 1
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL_A NIST_A SATZANW AKTSATZ SATZANW AKTSATZ NSOLL_A NIST_A_GLATT
NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
PZD3 STW2 ZSW2 IAIST_GLATT
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 MDI_ MIST_GLATT
XIST_A
PZD5 G1_STW G1_ZSW G1_STW G1_ZSW G1_STW G1_ZSW G1_STW G1_ZSW TARPOS PIST_GLATT
PZD6 G2_STW G2_STW MDI_ user <6>
G1_XIST1 G1_XIST1 XERR G1_XIST1 G1_XIST1
PZD7 VELOCITY
XERR
PZD8 MDI_ACC
G1_XIST2 G1_XIST2 KPC G1_XIST2 G1_XIST2
PZD9 MDI_DEC
KPC
PZD10 G2_ZSW G2_ZSW MDI_MOD
PZD11
G2_XIST1 G2_XIST1
PZD12
PZD13
G2_XIST2 G2_XIST2
PZD14
PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
Receive telegram from

PZD25
PZD26
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
<1> Depending on the drive object, only specific telegrams can be used. Not suitable for sensorless vector control.
<2> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2415] to [2423].
If p0922  999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2415] to [2423].
<3> The maximum number of PZD words depends on the drive object type.
<4> Only for SERVO (SINAMICS S120).
<5> Only for VECTOR.
<6> Freely interconnectable (pre-setting: MELD_NAMUR). = Position encoder signal
1 2 3 4 5 6 7 8
- 2415 -
PROFIdrive - Standard telegrams and process data 1 10.09.18 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 83
7 Appendix
7.8.3 FP 2419: PROFIdrive - Manufacturer-specific telegrams and process data 1

PD Telegr_select
p0922 (999)
Interconnection is [2440] [2450] automatically

<5> <5>
made according to <6> <6>
Telegram 102 103 105 106 110 111 116 118 125
Application class 1, 4 1, 4 4 DSC 4 DSC 3 3 4 DSC 4 DSC 4 DSC
PZD1 STW1 ZSW1 STW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 SATZANW AKTSATZ POS_STW1 POS_ZSW1
NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
PZD3 POS_STW POS_ZSW POS_STW2 POS_ZSW2
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2
PZD5 MOMRED MELDW MOMRED MELDW MOMRED MELDW MOMRED MELDW OVERRIDE MELDW OVERRIDE MELDW MOMRED MELDW MOMRED MELDW MOMRED MELDW
PZD6 G1_STW G1_ZSW G1_STW G1_ZSW G1_STW G1_ZSW G1_STW G1_ZSW MDI_TAR MDI_TAR G1_STW G1_ZSW G2_STW G2_ZSW G1_STW G1_ZSW
XIST_A XIST_A
PZD7 G2_STW G2_STW POS POS G2_STW G3_STW
G1_XIST1 G1_XIST1 XERR G1_XIST1 G1_XIST1 G1_XIST1 G2_XIST1 XERR G1_XIST1
PZD8 MDI_VELO MDI_VELO
XERR NIST_B XERR XERR
PZD9 CITY CITY
G1_XIST2 G1_XIST2 KPC G1_XIST2 G1_XIST2 G1_XIST2 G2_XIST2 KPC G1_XIST2

PZD10 MDI_ACC MDI_ACC FAULT_CODE
KPC KPC KPC
PZD11 G2_ZSW G2_ZSW MDI_DEC MDI_DEC WARN_CODE G2_ZSW G3_ZSW M_VST
PZD12 MDI_MODE user <3> user <3> DSC_STW <7>
G2_XIST1 G2_XIST1 G2_XIST1 G3_XIST1
PZD13 res
PZD14 T_SYMM <7>
G2_XIST2 G2_XIST2 G2_XIST2 G3_XIST2
PZD15
PZD16 AIST_GLATT AIST_GLATT
PZD17 MSOLL_GLATT MSOLL_GLATT
PZD18 PIST_GLATT PIST_GLATT
PZD19 ITIST_GLATT ITIST_GLATT
PZD20
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET


PZD25
PZD26
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
<1> Depending on the drive object, only specific telegrams can be used.
<2> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2415] - [2423].
If p0922  999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2415] - [2423]!
<3> Can be freely connected.
<5> Only for SERVO (SINAMICS S120).
<6> Only if the "Basic positioner" function module is active (r0108.4 = 1).
<7> Only if the "DSC with Spline" function module is active (r0108.6 = 1). = Position encoder signal
1 2 3 4 5 6 7 8
- 2419 -
PROFIdrive - Manufacturer-specific telegrams and process data 1 12.09.18 V05.02.03 SINAMICS S120/S150

Entry-ID: 109798225, V1.0.5, 06/2022 84
7 Appendix
7.8.4 FP 2420: PROFIdrive - Standard telegrams and Process Data (S110)
The FP 2420 is only relevant for the device S110 and has the same implemented functionality as the FP 2415 (7.8.2).

Entry-ID: 109798225, V1.0.5, 06/2022 85
7 Appendix
7.8.5 FP 2421: PROFIdrive - Herstellerspezifische Telegramme und Prozessdaten 3

PD Telegram select
p0922 (999)
Interconnection is [2440] [2450] automatically

made according to
<8> <9> <10> <11> <11>
Telegram 166 220 352 370 371
Application class 4 DSC 1 1 - -
PZD1 <5> STW1 ZSW1 STW1_BM ZSW1_BM STW1 ZSW1 E_STW1 E_ZSW1 E_STW1_BM E_ZSW1_BM
PZD2 NIST_A /NIST_A_GLATT user <3> <12> NSOLL_A NIST_A_GLATT user <3> IAIST
NSOLL_B NIST_B NSOLL_B
PZD3 IAIST/IAIST_GLATT user <3> <12> <3> IAIST_GLATT user <3> WARN_CODE
PZD4 STW2 ZSW2 STW2_BM MIST/MIST_GLATT user <3> <12> <3> MIST_GLATT user <3> FAULT_CODE
PZD5 MOMRED MELDW M_ADD <7><10> WARN_CODE <3> WARN_CODE user <3> user <3>
PZD6 G1_STW G1_ZSW M_LIM <6> <7> FAULT_CODE <3> FAULT_CODE user <3>
PZD7 G2_STW user <3> ZSW2_BM user <3>
G1_XIST1
PZD8 user <3> r1482 user <3> user <3>
XERR
PZD9 user <3> user <3>
G1_XIST2
PZD10 user <3> user <3>
KPC
PZD11 G2_ZSW
PZD12
G1_MP G2_XIST1
PZD13
PZD14 G1_MP_ZSW
G2_XIST2
PZD15
PZD16 VA_VALVELIFT
PZD17 VA_TORQUE
PZD18 VA_POWER
PZD19 VA_PRESSURE_A
PZD20 VA_PRESSURE_B
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET


PZD25
PZD26
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
<1> Depending on the drive object, only specific telegrams can be used. <7> Pre-assignment, not disabled.
<2> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2415] - [2423]. <8> Only for HLA.
If p0922  999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2415] - [2423]! <9> Only for SERVO and VECTOR.
<3> Freely interconnectable. <10> Only for VECTOR.
<4> The maximum number of PZD words depends on the drive object type. <11> Only for Infeed.
<5> In order to comply with the PROFIdrive profile, PZD1 must be used as control word 1 (STW1) or status word 1 (ZSW1). <12> Values smoothed at VECTOR, Values unsmoothed at SERVO.
p2037 = 2 should be set if STW1 is not transferred with PZD1 as specified in the PROFIdrive profile.
<6> Not for U/f control. = Position encoder signal
1 2 3 4 5 6 7 8
DO: A_INF, B_INF, HLA, R_INF, S_INF, SERVO, VECTOR fp_2421_54_eng.vsd Function diagram
- 2421 -
PROFIdrive - Manufacturer-specific telegrams and process data 3 28.08.18 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 86
7 Appendix
7.8.6 FP 2422: PROFIdrive - Manufacturer-specific telegrams and Process Data (S110)
The FP 2422 is only relevant for the device S110 and has the same implemented functionality as the FP 2419 (7.8.2).

Entry-ID: 109798225, V1.0.5, 06/2022 87
7 Appendix
7.8.7 FP 2423: RPOFIdrive – Supplementary/free telegrams and process data
<3> <3> <3> <1> <2> <3> PROFIdrive sampling time

IF1 Pd 1. sup_tel IF1 Pd 2. sup_tel Telegr SIC/SCC PD Telegram select
p8864 p8865 p60122 p0922 (999)
Interconnection is Interconnection is
Manufactory-spezific supplementary telegram [2481] [2483]
made according to made according to
Telegram 700 701 750 Telegram 999

Application class - - - Application class <2> - <2>
PZD n+1 S_ZSW1B (r9734) S_STW1B (p10250) S_ZSW1B (r9734) M_ADD1 (p1511) M_ACT (r0080) PZD1 STW1 ZSW1
PZD n+2 S_V_LIMIT_B S_STW3B (p10235) S_ZSW2B (r9743) M_LIMIT_POS (p1522) PZD2
Receive telegram length freely selectable via central

PZD n+3 (r9733[2]) S_V_LIMIT_B M_LIMIT_NEG (p1523) PZD3
Send telegram length freely selectable via central

PZD n+4 (r9733[2]) PZD4
PZD n+5 S_ZSW3B (r10234) PZD5
PROFIdrive configuration in the master <3>
PROFIdrive configuration in the master <3>

PZD n+6 PZD6
PZD7
PZD8
PZD9
PZD10
PZD11
The arrangement of process data (PZD) for the supplementary telegram 700/701/750 depends on the telegram PZD12
selection (p0922, p2079) and the receive and send words reserved (p2070, p2071). PZD13
The first supplementary telegram (p60122, p8864) is appended to the telegram selected resp. the words reserved. PZD14
The second supplementary telegram (p8865) is appended to the first supplementary telegram. PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PZD24

PZD25
PZD26
Send telegram to
Send telegram to
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD n+x PZD32
<1> If p0922 = 999 is changed to another value, the telegram is automatically assigned as specified in [2415] - [2423].
If p0922  999 is changed to p0922 = 999, the "old" telegram assignment is maintained as specified in [2415] - [2423].
<2> 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.
1 2 3 4 5 6 7 8
DO: HLA, SERVO, VECTOR fp_2423_54_eng.vsd Function diagram
- 2423 -
PROFIdrive - Supplementary/free telegrams and process data 28.09.17 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 88
7 Appendix
7.8.8 FP 2439: PROFIdrive - PZD receive signals, interconnection, profile-specific
PROFIdrive sampling time
Signal receivers for PZD receive signals <1> <2>

PROFIBUS
PROFINET PROFIdrive Interconnection
Signal Meaning Function diagram Scaling
Signal No. parameter
[2442], [2443] <3>
STW1 Control word 1 1 (bitwise) U16 -
[2475] <3>
[2444]
STW2 Control word 2 3 (bitwise) U16 -
[2445]
PROFIdrive
receive telegram p1070 [3030.2]
NSOLL_A Speed setpoint A (16-bit) 5 I16 4000 hex p2000
p1155 [3080.4] <3>
Header p1070 [3030.2]
NSOLL_B Speed setpoint B (32-bit) 7 p1155 [3080.4] I32 4000 0000 hex p2000
Drive object 1 p1430 <3> [3090.8] <3>
Drive object 2 <3> G1_STW Encoder 1 control word 9 p0480[0] [4720] U16 -
[2468], [2481] <3> G2_STW Encoder 2 control word 13 p0480[1] [4720] U16 -
. r2090 r2095 bit
. r2050[0...n] WORD <3> G3_STW Encoder 3 control word 17 p0480[2] [4720] U16 -
. r2060[0...30] DWORD
A_DIGITAL Digital output (16-bit) 22 (bitwise) [2497] U16 -
...
<3> XERR Position deviation 25 p1190 [3090.5] I32 -
Drive object n
<3> KPC Position controller gain factor 26 p1191 [3090.5] I32 -
Telegram assignment
. according to p0922 SATZANW Pos block selection 32 (bitwise) [2476] U16 -
. [2415]
. MDI_TARPOS MDI position 34 p2642 [3618] I32 1 hex 1 LU
MDI_VELOCITY MDI velocity 35 p2643 [3618] I32 1 hex 1000 LU/min
Drive object m MDI_ACC MDI acceleration override 36 p2644 [3618] I16 4000 hex 100 %
Trailer MDI_DEC MDI deceleration override 37 p2645 [3618] I16 4000 hex 100 %
MDI_MOD MDI mode 38 (bitwise) [2480] U16 -
<4> STW2_ENC Control word 2 ENCODER 80 (bitwise) [2433] U16 -
<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.
<3> Only for SINAMICS S120.
<4> Only for ENCODER.
1 2 3 4 5 6 7 8
DO: A_INF, B_INF, CU_G, CU_S, ENC, HLA, S_INF, SERVO, VECTOR Zeichnung15 Function diagram
- 2439 -
PROFIdrive - PZD receive signals, interconnection, profile-specific 27.06.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 89
7 Appendix
7.8.9 FP 2440: PROFIdrive - PZD receive signals, interconnection, manufacturer specific
PROFIBUS Signal receivers for PZD receive signals <1> <2>

PROFINET
PROFIdrive Interconnection Function
Signal Meaning Data type Scaling
Signal No. parameter diagram
MOMRED Torque reduction 101 p1542 [5610.2] I16 4000 hex p1544
M_VST Torque pre-control value 112 p1513[0] [5060] I16 4000 hex p2003
<3>
DSC_STW DSC control word 114 p1194 [3090] U16
PROFIdrive
T_SYMM DSC Symmetrizing time constant 115 p1195 [3090] U16
receive telegram
MT_STW Measuring probe control word 130 p0682 - U16
Header NOCKEN1_ZS_F Cam_0 switching instant for a falling edge 169 p0715[0] - U16
Drive object 1 NOCKEN1_ZS_S Cam_0 switching instant for a rising edge 170 p0714[0] - U16
NOCKEN2_ZS_F Cam_1 switching instant for a falling edge 171 p0715[1] - U16
Drive object 2
NOCKEN2_ZS_S Cam_1 switching instant for a rising edge 172 p0714[1] - U16
[2468], [2481] NOCKEN3_ZS_F Cam_2 switching instant for a falling edge 173 p0715[2] - U16
. r2090...r2095 bit NOCKEN3_ZS_S Cam_2 switching instant for a rising edge 174 p0714[2] - U16
. r2050[0...n] WORD NOCKEN4_ZS_F Cam_3 switching instant for a falling edge 175 p0715[3] - U16
. r2060[0...30] DWORD
... NOCKEN5_ZS_F Cam_4 switching instant for a falling edge 177 p0715[4] - U16
Drive object n NOCKEN5_ZS_S Cam_4 switching instant for a rising edge 178 p0714[4] - U16
<4> NOCKEN6_ZS_F Cam_5 switching instant for a falling edge 179 p0715[5] - U16
Telegram assignment
. according to p0922 NOCKEN6_ZS_S Cam_5 switching instant for a rising edge 180 p0714[5] - U16
. [2415] NOCKEN7_ZS_F Cam_6 switching instant for a falling edge 181 p0715[6] - U16
. NOCKEN7_ZS_S Cam_6 switching instant for a rising edge 182 p0714[6] - U16
NOCKEN8_ZS_F Cam_7 switching instant for a falling edge 183 p0715[7] - U16
Drive object m
POS_STW Pos control word 203 (bitwise) [2462] U16
Trailer OVERRIDE Pos velocity override 205 p2646 [3630] I16 4000 hex 100 %
POS_STW1 Pos control word 1 220 (bitwise) [2463] U16
POS_STW2 Pos control word 2 222 (bitwise) [2464] U16
MDI_MODE Pos MDI mode 229 p2654 [3620] U16
A_DIGITAL_1 Digital output (16 bit) 307 (bitwise) [2499] U16
<1> When selecting a standard telegram or a <4> M_LIM Torque limit 310 p1503/p1552/p1554 - U16
manufacturer-specific telegram via p0922, <4> M_ADD Additional torque 311 p1495 - U16
these interconnection parameters of the E_STW1 Control word 1 for Active Infeed (ALM, SMART) 320 (bitwise) [2447] U16
command data set CDS0 are automatically
set. STW1_BM Control word 1, variant for BM 322 (bitwise) [2425] U16
<2> Data type according to to the PROFIdrive STW2_BM Control word 2, variant for BM 324 (bitwise) [2426] U16
profile: E_STW1_BM Control word 1 for Active Infeed 326 (bitwise) [2427] U16
I16 = Integer16, I32 = Integer32, U16 =
CU_STW1 Control word 1 for Control Unit 500 (bitwise) [2495] U16
Unsigned16, U32 = Unsigned32.
<3> Only for S120.
<4> Only for S120/S150.
1 2 3 4 5 6 7 8
DO: A_INF, B_INF, CU_CX32, CU_G, CU_S, S_INF, SERVO, VECTOR fp_2440_54_eng.vsd Function diagram
- 2440 -
PROFIdrive - PZD receive signals, interconnection, manufacturer specific 16.05.17 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 90
7 Appendix
Signal targets for STW1 in Interface Mode SINAMICS (p2038 = 0) <1> PROFIdrive sampling time
Interconnection [Function diagram] [Function diagram]

Signal Meaning Inverted
parameters internal control word signal target
= ON (pulses can be enabled)

STW1.0 p0844[0] = r2090.0 [2501.3] [2610] -
0 = OFF1 (braking with ramp-function generator, then pulse suppression & ready for switching on)
1 = No OFF2 (enable is possible)

STW1.1 p0844[0] = r2090.1 [2501.3] [2610] -
0 = OFF2 (immediate pulse suppression and switching on inhibited)
1 = No OFF3 (enable possible)

STW1.2 p0848[0] = r2090.2 [2501.3] [2610] -
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited)
1 = Enable operation (pulses can be enabled)

STW1.3 p0852[0] = r2090.3 [2501.3] [2610] -
0 = Inhibit operation (suppress pulses)
1 = Operating condition (the ramp-function generator can be enabled)

STW1.4 p1140[0] = r2090.4 [2501.3] [3060] [3070] [3080] -
0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)
1 = Continue ramp-function generator

STW1.5 p1141[0] = r2090.5 [2501.3] [3060] [3070] -
0 = Freeze ramp-function generator (freeze the ramp-function generator output)
1 = Enable setpoint
STW1.6 p1142[0] = r2090.6 [2501.3] [3060] [3070] [3080] -
0 = Inhibit setpoint (set the ramp-function generator input to zero)
STW1.7 = 1. Acknowledge faults p2103[0] = r2090.7 [2546.1] [8060] -
STW1.8 Reserved - - - -
STW1.10 1 = Control by PLC <2> p0854[0] = r2090.10 [2501.3] [2501] -
STW1.11 1 = Setpoint inversion <3> p1113[0] = r2090.11 [2505.3] [3040] -
STW1.13 1 = Motorized potentiometer setpoint raise <3> p1035[0] = r2090.13 [2505.3] [3020] -
STW1.14 1 = Motorized potentiometer setpoint lower <3> p1036[0] = r2090.14 [2505.3] [3020] -
STW1.15 1 = Enable propagation of fault reactions <4> p33006 = r2090.15 - - -
<1> Used in telegrams 1, 2, 3, 4, 5, 6, 352 (telegram 5 and 6 only for S120). <3> Only for "expanded setpoint channel" and "extended ramp-function generator".
<2> STW1.10 must be set to ensure that the drive object accepts the process data (PZD). <4> Only for activated Technology Extension "FASTBRK". FASTBRK: FAST BRAKE
1 2 3 4 5 6 7 8
- 2442 -
PROFIdrive - STW1 control word interconnection (p2038 = 0) 07.04.20 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 91
7 Appendix

Signal targets for STW2 in Interface Mode SINAMICS (p2038 = 0) <1>

parameters internal control word signal target
p0820[0] = r2093.0
STW2.0 Drive data set selection DDS, bit 0 - [8565] -
<4> r2092.0
p0821[0] = r2093.1
<4> r2092.1
p0822[0] = r2093.2
<4> r2092.2
p0823[0] = r2093.3
<4> r2092.3
p0824[0] = r2093.4
<4> r2092.4
p0897 = r2093.7
STW2.7 1 = Parking axis - - -
<4> r2092.7
STW2.8 1 = Traverse to fixed endstop <2> <5> p1545[0] = r2093.8 [2520.2] [8012] -
p0828[0] = r2093.11
STW2.11 = Motor changeover, feedback Signal - - -
<4> r2092.11
STW2.12 Master sign-of-life, bit 0 <5>

p2045 = r2050[3]
- [2410] -
<4> r2050[2]
<3>
<2> Not for telegrams 9, 110 and 111. <4> Only for telegram 9.
<1> Used in telegrams 2, 3, 4, 5, 6, 9, 110 and 111. <3> Only for SERVO (SINAMICS S120). <5> Not for Vector U/f.
1 2 3 4 5 6 7 8
- 2444 -
PROFIdrive - STW2 control word interconnection (p2038 = 0) 27.06.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 92
7 Appendix
7.8.12 FP 2449: PROFIdrive - PZD send signals interconnection, profile-specific
Signal sources for PZD send signals <1>

PROFIdrive Interconnection
Signal Description Function diagram Data type Scaling
Signal No. parameter
ZSW1 Status word 1 2 r2089[0] [2452], [2453], [2479] <2> U16 -
PROFIdrive send
ZSW2 Status word 2 4 r2089[1] [2454], [2455] <2> U16 - telegram
r0063 SERVO [4710] <2>
Header
NIST_A Speed setpoint A (16 bit) 6 r0063[0] VECTOR [4715] I16 4000 hex p2000
r0061 ENCODER [4710] Drive object 1
r0063 SERVO [4710] <2>
NIST_B Speed setpoint B (32 bit) 8 r0063[0] VECTOR [4715] I32 4000 0000 hex p2000 Drive object 2
Send words 1...16
r0061 ENCODER [4710]
p2051[0...15] WORD
G1_ZSW Encoder 1 status word 10 r0481[0] [4730] U16 - r2053[0...15] WORD .
G1_XIST1 Encoder 1 actual position 1 11 r0482[0] [4704] U32 - p2061[0...14] DWORD .
G1_XIST2 Encoder 1 actual position 2 12 r0483[0] [4704] U32 -
r2063[0...14] DWORD .
...
G2_ZSW Encoder 2 status word 14 r0481[1] [4730] U16 -

<2> G2_XIST1 Encoder 2 actual position 1 15 r0482[1] [4704] U32 - Drive object n
G2_XIST2 Encoder 2 actual position 2 16 r0483[1] [4704] U32 - Telegram
assignment .
G3_ZSW Encoder 3 status word 18 r0481[2] [4730] U16 -
according to p0922 .
G3_XIST1 Encoder 3 actual position 1 19 r0482[2] [4704] U32 - [2415] .
G3_XIST2 Encoder 3 actual position 2 20 r0483[2] [4704] U32 -
E_DIGITAL Digital inputs 21 r2089[2] [2459] U16 -
Drive object m
E_ANALOG Analog inputs 23 p2051[20] - U16 -
XIST_A Position actual value A 28 r2521[0] [4010] I32 1 hex 1 LU Trailer
<2>
<2> AKTSATZ Pos selected block 33 r2670 [3650] U16 -
IAIST_GLATT Absolute actual current, smoothed 51 r0068[1] [6714] I16 4000 hex p2002
ITIST_GLATT Current actual value, torque-generating 52 r0078[1] [6714] I16 4000 hex p2002
MIST_GLATT Actual torque smoothed 53 r0080[1] [6714] I16 4000 hex p2003
PROFIBUS
PIST_GLATT Power factor, smoothed 54 r0082[1] [6714] I16 4000 hex p2004 PROFINET
NIST_A_GLATT Actual speed, smoothed 57 r0063[1] [4715] I16 4000 hex p2000
MELD_NAMUR VIK-NAMUR message bit bar 58 r3113 - U16 -
IAIST Absolute actual current 59 r0068[0] [6714] I16 4000 hex p2002
MIST Actual torque 60 r0080[0] [6714] I16 4000 hex p2003
<3> ZSW2_ENC Status word 2 ENCODER 81 (bitwise) [2434] U16 -
<1> Data type according to the PROFIdrive profile:

I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
<3> Only for ENCODER.
1 2 3 4 5 6 7 8
DO: A_INF, B_INF, ENC, HLA, S_INF, SERVO, VECTOR fp_2449_54_eng.vsd Function diagram
- 2449 -
PROFIdrive - PZD send signals interconnection, profile-specific 27.06.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 93
7 Appendix
7.8.13 FP 2450: PROFIdrive - PZD send signals interconnection, manufacture specific
Signal sources for PZD send signals <1> PROFIdrive sampling time
PROFIdrive Interconnection Function
Signal Description Data type Scaling
Signal No. parameter diagram
MELDW Message word 102 r2089[2] [2456] U16 -
MSOLL_GLATT Total speed setpoint smoothed 120 r0079[1] [5610] <2> I16 4000 hex p2003
AIST_GLATT Torque utilization smoothed 121 r0081 [8012] I16 4000 hex 100 % PROFIdrive send
MT_ZSW Measuring probe status word 131 r0688 - U16 - telegram
MT1_ZS_F Measuring probe 1 measuring time falling edge 132 r0687[0] - U16 -
Header
MT1_ZS_S Measuring probe 1 measuring time rising edge 133 r0686[0] - U16 -
MT2_ZS_F Measuring probe 2 measuring time falling edge 134 r0687[1] - U16 - Drive object 1
MT3_ZS_F Measuring probe 3 measuring time falling edge 136 r0687[2] - U16 - Drive object 2
Send words 1...16
p2051[0...15] WORD
MT4_ZS_F Measuring probe 4 measuring time falling edge 138 r0687[3] - U16 - r2053[0...15] WORD .
MT4_ZS_S Measuring probe 4 measuring time rising edge 139 r0686[3] - U16 - p2061[0...14] DWORD .
MT5_ZS_F
MT5_ZS_S
Measuring probe 5 measuring time falling edge
Measuring probe 5 measuring time rising edge
140
141
r0687[4]
r0686[4]
-
-
U16
U16
-
-
r2063[0...14] DWORD .
MT6_ZS_F Measuring probe 6 measuring time falling edge 142 r0687[5] - U16 - ...
MT6_ZS_S Measuring probe 6 measuring time rising edge 143 r0686[5] - U16 - Drive object n
MT7_ZS_F Measuring probe 7 measuring time falling edge 144 r0687[6] - U16 -
MT7_ZS_S Measuring probe 7 measuring time rising edge 145 r0686[6] - U16 - Telegram
<2> MT8_ZS_F Measuring probe 8 measuring time falling edge 146 r0687[7] - U16 - assignment .
MT8_ZS_S Measuring probe 8 measuring time rising edge 147 r0686[7] - U16 - according to p0922 .
MT_DIAG Measuring probe (stage 3) diagnostics word 148 r0567 - U16 - [2415] .
MT_ZS1 Measuring probe (stage 3) measuring time 1 149 r0565[0] - U16 -
Drive object m
Trailer
MT_ZS16 Measuring probe (stage 3) measuring time 16 164 r0565[15] - U16 -
MT_ZSB1 Measuring probe (stage 3) measuring time reference 1 165 r0566[0] - U16 -
POS_ZSW Pos status word 204 r2683 [3645] U16 - PROFIBUS
POS_ZSW1 Pos status word 1 221 r2089[3] [2466] U16 - PROFINET
POS_ZSW2 Pos status word 2 223 r2089[4] [2467] U16 -
FAULT_CODE Fault code 301 r2131 [8060] U16 -
WARN_CODE Alarm code 303 r2132 [8065] U16 -
E_DIGITAL_1 Digital input (16 Bit) 307 r2089[3] [2500] U16 -
<2> E_ZSW1 Status word 1 for Active Infeed 321 r2089[1] [2457] U16 -
ZSW1_BM Status word 1, variant for BM 323 r2089[0] [2428] U16 -
ZSW2_BM Status word 2, variant for BM 325 r2089[1] [2429] U16 -
E_ZSW1_BM Status word 1 for Infeed, variant for BM (ALM, BLM, SLM) 327 r2080 [2430] U16 -
CU_ZSW1 Status word 1 for Control Unit 501 r2089[1] [2496] U16 -
<1> Data type according to the PROFIdrive profile:

I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32
1 2 3 4 5 6 7 8
DO: A_INF, B_INF, S_INF, SERVO, TM41, VECTOR fp_2450_54_eng.vsd Function diagram
- 2450 -
PROFIdrive - PZD send signals interconnection, manufacture specific 27.06.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 94
7 Appendix

Signal sources for ZSW1 im Interface Mode SINAMICS (p2038 = 0) <1>
Interconnection [Function diagram] [Function diagram] Inverted

Signal Meaning
parameters Internal status word signal source <2>
ZSW1.0 1 = Ready for switching on p2080[0] = r0899.0 [2503.7] [2610] -
ZSW1.1 1 = Ready for operation p2080[1] = r0899.1 [2503.7] [2610] -
ZSW1.2 1 = Operation enabled p2080[2] = r0899.2 [2503.7] [2610] -
ZSW1.3 1 = Fault present p2080[3] = r2139.3 [2548.7] [8060] -
ZSW1.4 1 = No coast down active (OFF2 inactive) p2080[4] = r0899.4 [2503.7] [2610] -
ZSW1.5 1 = No quick stop active (OFF3 inactive) p2080[5] = r0899.5 [2503.7] [2610] -
ZSW1.6 1 = Switching on inhibited active p2080[6] = r0899.6 [2503.7] [2610] -
ZSW1.7 1 = Alarm present p2080[7] = r2139.7 [2548.7] [8065] -
ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off p2080[8] = r2197.7 [2534.7] [8010] -
ZSW1.9 1 = Control requested <3> p2080[9] = r0899.9 [2503.7] [2503] -
ZSW1.10 1 = f or n comparison value reached/exceeded p2080[10] = r2199.1 [2536.7] [8010] -
[5610] <5>
ZSW1.11 1 = I, M, or P limit not reached <4> p2080[11] = r1407.7 [2522.7]
[6060] 
ZSW1.12 1 = Open the holding brake p2080[12] = r0899.12 [2503.7] [2701] -
ZSW1.13 1 = No motor overtemperature alarm p2080[13] = r2135.14 [2548.7] [8016] 

1 = Motor rotates forwards (n_act  0)
ZSW1.14 p2080[14] = r2197.3 [2534.7] [8010] -
0 = Motor rotates backwards (n_act < 0)
ZSW1.15 1 = No alarm, thermal overload, power unit p2080[15] = r2135.15 [2548.7] [8021] 
<5> <3> The drive object is ready to accept data.
<1> Used in telegrams 1, 2, 3, 4, 5, 6, 352. <4> Not for VECTOR U/f.
<2> The ZSW1 is generated using the binector-connector converter (BI: p2080[0...15], inversion: p2088[0].0...p2088[0].15). <5> Only for SINAMICS S120.
1 2 3 4 5 6 7 8
- 2452 -
PROFIdrive - ZSW1 status word interconnection (p2038 = 0) 23.04.20 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 95
7 Appendix

Signal sources for ZSW2 in Interface Mode SINAMICS (p2038 = 0) <1>

parameters internal status word signal source
ZSW2.0 1 = Drive data set DDS effective, bit 0 p2081[0] = r0051.0 - [8565] -
ZSW2.5 1 = Alarm class bit 0 p2081[5] = r2139.11 - [2548]

- -
ZSW2.6 1 = Alarm class bit 1 p2081[6] = r2139.12 - [2548] -
ZSW2.7 1 = Parking axis active p2081[7] = r0896.0 - - -
ZSW2.8 1 = Traverse to fixed endstop <3> <4> p2081[8] = r1406.8 - [2520] -
ZSW2.9 Reserved - - - -
ZSW2.10 1 = Pulses enabled p2082[13] = r0899.11 [2503.7] [2610] -
ZSW2.11 1 = Motor data set changeover active p2081[11] = r0835.0 - - -
ZSW2.12 Slave sign-of-life bit 0 <2> <4>

Implicitly interconnected - - -
<3>
<1> Used in telegrams 2, 3, 4, 5, 6, 9, 110, 111. <4> Not for Vector U/f.
<2> These signals are automatically interconnected for clock-cycle synchronous operation.
1 2 3 4 5 6 7 8
- 2454 -
PROFIdrive - ZSW2 status word interconnection (p2038 = 0) 27.06.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 96
7 Appendix
7.8.16 FP 2456: PROFIdrive - MELDW status word interconnection

Signal sources for MELDW <1>
Interconnection [Function diagram] [Function diagram] Inverted

Signal Meaning
parameters Internal status word signal source <2>
1 = Ramp-up/ramp-down completed
MELDW.0 p2082[0] = r2199.5 [2537.7] [8010] -
0 = Ramp-function generator active
MELDW.1 1 = Torque utilization [%] < torque threshold value 2 (p2194) p2082[1] = r2199.11 [2537.7] [8012] -
MELDW.2 1 = |n_act| < speed threshold value 3 (p2161) p2082[2] = r2199.0 [2537.7] [8010] -
MELDW.3 1 = |n_act|  speed threshold value 2 (p2155) p2082[3] = r2197.1 [2534.7] [8010] -
MELDW.4 1 = Vdc_min controller active (Vdc < p1248) p2082[4] = r0056.15 - - -

MELDW.5 Variable signaling function 1 output signal p2082[5] = r3294.0 - [5301] -
MELDW.6 1 = No motor overtemperature alarm p2082[6] = r2135.14 [2548.7] [8016] 
MELDW.7 1 = No alarm, thermal overload, power unit p2082[7] = r2135.15 [2548.7] [8021] 
MELDW.8 1 = Speed setpoint - actual value deviation within tolerance t_on p2082[8] = r2199.4 [2537.7] [8010] -
MELDW.9 1 = ESR reaction initiated / Generator mode active <3> p2082[9] = r0887.12 - - -
MELDW.10 Reserved - - - -
MELDW.11 1 = Controller enable p2082[11] = r0899.8 [2503.7] [2610] -
MELDW.12 1 = Drive ready p2082[12] = r0899.7 [2503.7] [2610] -
MELDW.13 1 = Pulses enabled p2082[13] = r0899.11 [2503.7] [2610] -
<1> Used in telegrams 102, 103, 105, 106, 110/111 (only for EPOS), <2> The status word is generated using the binector-connector converter p2088[2].
116, 118, 125, 126, 136, 138, 139, 146, 148, 149. <3> Only available when the function module "Extended setpoint channel" is active (r0108.9 = 1).
1 2 3 4 5 6 7 8
- 2456 -
PROFIdrive - MELDW status word interconnection 23.07.18 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 97
7 Appendix
7.8.17 FP 2472: PROFIdrive - IF1 status words, free interconnection
p2088[2].0 p2048
5 binector-connector converter p2082[0...15] 0 Free status word 3

[0]
(0) r2089[2]
(0)
[1] 1 1
p2088[0].0
p2088[2].15
p2080[0...15] 0 Status word 1

[0]
(0) r2089[0] 0
[1] 1 [15]
(0) 1 (0)
1 1
p2088[0].15
p2088[3].0
0
[15]
(0)
1 1 p2083[0...15] 0 Free status word 4
[0]
(0) r2089[3]
(0) [1]
1 1
p2088[3].15
p2088[1].0
0
p2081[0...15] 0 Status word 2 [15]
[0] (0)
(0) r2089[1] 1 1
(0) [1]
1 1
p2088[1].11
p2088[4].0
0
[11] p2084[0...15] 0 Free status word 4
(0) [0]
(0)
[12] 1 1 (0) r2089[4]
(0) [1]
1 1
<2> <1>
[15] p2088[4].15
(0)
0
<1> For clock-cycle synchronous all drive objects, these signals must not be [15]
interconnected (slave sign-of-life). (0)
1 1
1 2 3 4 5 6 7 8
DO: All objects fp_2472_54_eng.vsd Function diagram
- 2472 -
PROFIdrive - IF1 status words, free interconnection 23.08.18 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 98
7 Appendix
7.8.18 FP 2501: Internal control/status words - Control word, sequence control
OFF2 S_src 1 (electr) 2000.00 µs

<6> p0844[C] PROFIdrive-Bit
(1) <5>
<3>
p0845[C]
(1)
& Bit No. Control word sequence control
STW seq ctrl
r0898
OFF2 S_src 2 (electr) p0840[C]
= ON
1. OFF3 (fast stop) (0) 0 <3> r0898.0 To the sequencer [2610]
0 = OFF1
<6> p0848[C]
<3> (1) 1 = Operating condition, no coast stop (no OFF2)
1 r0898.1 To the sequencer [2610]
p0849[C]
(1)
& 0 = OFF2
1 = Operating condition, no quick stop (no OFF3)

2 r0898.2 To sequencer [2610]
2. OFF3 (fast stop) 0 = OFF3
p0852[C]
p2816[0] (1) 3 1 = Enable operation <3> r0898.3 To sequencer [2610]
r2090.3
p1140[C]
p2816[1] 1 r2817.0 (1) 4 1 = Enable ramp-function generator r0898.4
To setpoint channel [3060.6] [3070.7] [3080.5]
To servo control [5020.1] (only S120/S150)
(0)
p1141[C]
[2425] <2> (1) 5 1 = Unfreeze ramp-function generator <3> r0898.5 To setpoint channel [3060.1] [3070.1]
Enable n_set
To setpoint channel [3060.1] [3070.1] [3080.4]
<3> p1142[C] 6 1 = Enable speed setpoint r0898.6
To servo control [5020.1] (only S120/S150)
(1)
p0855[C]
<4> p1152
(r0899.15)
& (0) 7 1 = Command, open brake <3> r0898.7
To brake control [2701.5]
To expanded brake control [2707.1]
p1055[C]
Setpoint 2 To jog [3030.6]
(0) 8 1 = Jog 1 <3> r0898.8
enable To ramp-function generator tracking [3080.3]
[2711.8] p1056[C]
To jog [3030.6]
(0) 9 1 = Jog 2 <3> r0898.9
To ramp-function generator tracking [3080.4]
p0854[C]
(1) 10 1 = Control by PLC <1> <3> <5> r0898.10
<1> STW1.10 must be set to ensure that the

drive object accepts the process data 11 Reserved
(PZD).
<2> Only for telegram 220. p0856[C] To brake control [2701.4]
<3> When the master control is retrieved, (1) 12 1 = Speed controller enable r0898.12 To expanded brake control [2707.1]
predefined by commissioning tool or To torque setpoint [6060.4]
AOP30.
<4> Only applies if the function module 13 Reserved
"Extended brake control" (r0108.14 = 1) is
active. p0858[C]
To brake control [2701.4]
<5> For drive object ENC only bit 10. (0) 14 1 = Command, close brake <3> r0898.14
To expanded brake control [2707.1]
<6> PROFIdrive interconnection:
For PROFIdrive standard telegrams, the
upper inputs are connected with 15 Reserved
PROFIdrive-STW1 ([2415], [2416]). Only
relevant for CDS0.
1 2 3 4 5 6 7 8
- 2501 -
Internal control/status words - Control word, sequence control 22.12.11 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 99
7 Appendix
7.8.19 FP 2503: Internal control/status words - Status word, sequence control
PROFIdrive bit
2000.00 µs
ZSW sequence ctrl <6>
Bit No. Status word sequence control r0899
From the sequencer [2610] 0 1 = Ready for switching on r0899.0
From the sequencer [2610] 1 1 = Ready for operation (DC link loaded, pulses inhibited) r0899.1
p2810[0]
2 1 = Operation enabled (drive follows n_set) r0899.2 (0)
2. OFF2
p0845[C] 3 1 = Jog active
[4015.1]
r0899.3
p2810[1]
(0)
& r2811.0
[2428]
(1)
<5>
2. OFF3 <2>
From the sequencer [2610] 4 1 = No coast down active (OFF2 inactive) r0899.4
p0849[C]
[2701.1], [2711.1]
(1)
INF operation From the sequencer [2610] 5 1 = No quick stop active (OFF3 inactive) r0899.5
p0864
(0) 6 1 = Switching on inhibited active r0899.6
[2701.1], [2711.1]
OFF1
& 7 1 = Drive ready r0899.7
OFF2
1 8 1 = Controller enable r0899.8
OFF3
Bit 9 = 1 --> Ready to exchange process data 9 1 = Control requested <1> <6> r0899.9
Enable
internal
missing 10 Reserved
or
fault with
From the sequencer [2610.4] 11 1 = Pulses enabled r0899.11
this reaction
From the basic brake control (r0108.14 = 0) [2701.8] 1 = Open the holding brake (only for booksize units when the brake is
12 r0899.12
From the expanded brake control/standstill detection (r0108.14 = 1) [2711.8] connected to the power unit)
From the basic brake control (r0108.14 = 0) [2701.8]

13 1 = Command, close holding brake <4> r0899.13
From the expanded brake control/standstill detection (r0108.14 = 1) [2711.8]
From the expanded brake control/standstill detection (r0108.14 = 1) [2711.8] 14 1 = Pulse enable from the brake control <3> r0899.14
From the expanded brake control/standstill detection (r0108.14 = 1) [2711.8] 15 1 = Setpoint enable from the brake control <3> r0899.15
<1> The drive object is ready to accept data. [4015.1]
<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.
<6> For DO ENC only bit 9.
<5> Only with message frame 220 and activated function module "Extended brake control" (r0108.14 = 1), otherwise hard wiring set to 1.
1 2 3 4 5 6 7 8
- 2503 -
Internal control/status words - Status word, sequence control 24.11.11 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 100
7 Appendix
7.8.20 FP 2505: Internal control/status words - Control word, setpoint channel
p0115[3]
STW setpoint channel

Bit No. Control word, setpoint channel r1198
Fixed setpoint selection, bit 0 p1020[C]

(0) 0 1 = Fixed setpoint, bit 0 r1198.0



4 Reserved
Inhib neg dir p1110[C]

(0) 5 1 = Inhibit negative direction r1198.5
Inhib pos dir p1111[C]

(0) 6 1 = Inhibit positive direction r1198.6
7 Reserved
8 Reserved
9 Reserved
10 Reserved
Setpoint inversion p1113[C]

(0) 11 1 = Setpoint inversion r1198.11
12 Reserved
Motorized potentiometer, raise p1035[C]

(0) 13 1 = Motorized potentiometer, raise r1198.13
Motorized potentiometer, lower p1036[C]

(0) 14 1 = Motorized potentiometer, lower r1198.14
Bypass RFG p1122[C]

(0) 15 1 = Bypass ramp-function generator r1198.15
1 2 3 4 5 6 7 8
- 2505 -
Internal control/status words - Control word, setpoint channel 14.05.20 V05.02.03 SINAMICS
.

Entry-ID: 109798225, V1.0.5, 06/2022 101
7 Appendix
7.8.21 FP 2522: Internal control/status words - Status word, speed contoller
<2> <3>
ZSW n_ctrl p0115[1] (Motor Modules)
Bit No. Status word, speed controller Servo Vector r1407
1000.00 µs
0 1 = U/f control active   r1407.0 <2> <3>
To the speed actual value and pole position
<3> 1 1 = Sensorless operation active   r1407.1 sensing, motor encoder (encoder 1)
[4710.4] <3>, [4715.4]
1 = Torque control
r1406.12 To speed setpoint, droop [6030.5]
<2>
Sensorless operation & 2 1 = Closed-loop torque control active   r1407.2
To torque setpoint [6060.3]
PcCtrl active 3 1 = Closed-loop speed control active -  r1407.3

<3> To speed setpoint filter [5020.1]
& 4 1 = Speed setpoint from DSC <3>  - r1407.4
To reference mode [5030.3] <3>
ESR active
5 1 = Speed controller, I component held   r1407.5
Motion-based
PolID 6 1 = Speed controller, I component set   r1407.6 Ramp-function generator tracking [3080.1]
OFF1 "Traveling blocks" mode [3616.1]<3>
7 1 = Torque limit reached   r1407.7 Speed controller [5040.7] <3>, [5042.5],
OFF3
1 [6040.4]
8 1 = Torque limiting, upper, active   r1407.8 Motor locked/stalled [8012.5]
<3>
9 1 = Torque limiting, lower, active   r1407.9
10 1 = Droop enabled -  r1407.10
11 1 = Speed setpoint limited   r1407.11
12 1 = Ramp-function generator set -  r1407.12

13 1 = Sensorless operation due to a fault   r1407.13
14 1 = I/f control active -  r1407.14
15 1 = Torque limit reached (without pre-control) -  r1407.15
16 Reserved - -
17 1 = Speed limiting active -  r1407.17
18 Reserved - -
19 1 = DSC position controller limited  - r1407.19
20 1 = DSC with spline on  - r1407.20
21 1 = Speed pre-control for DSC with spline on  - r1407.21
22 1 = Torque pre-control for DSC with spline on  - r1407.22
23 1 = Acceleration model activated   r1407.23
24 1 = Moment of inertia estimator active   r1407.24
25 1 = Load estimate active   r1407.25
<1> Only for servo control without encoder.

26 1 = Moment of inertia estimator stabilized   r1407.26
<2> Only for SERVO. 27 1 = Moment of inertia estimator fast estimation active -  r1407.27
<3> Only for SINAMICS S120. 28...32 Reserved - -
1 2 3 4 5 6 7 8
DO: SERVO, VECTOR Zeichnung1 Function diagram
- 2522 -
Internal control/status words - Status word, speed controller 21.10.14 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 102
7 Appendix
7.8.22 FP 2534: Internal control/status words - Status word, monitoring functions 1
p0115[3]
ZSW monitoring functions 1

Bit No. Status word, monitoring functions 1 r2197
0 Reserved
1 1 = |n_act| <= speed threshold value 2 (p2155) <1> r2197.1
2 1 = |n_act| > speed threshold value 2 (p2155) <1> r2197.2
3 1 = n_act >= 0 r2197.3
4 Reserved
5 Reserved
6 1 = n_act > n_max r2197.6
7 1 = Speed setpoint - actual value deviation within tolerance t_off r2197.7
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 1 = |n_act| > n_max (F07901) r2197.13
14 Reserved
15 Reserved
<1> nact = Smoothed speed actual value r2169 [8010.2].
1 2 3 4 5 6 7 8
- 2534 -
Internal control/status words - Status word, monitoring functions 1 09.11.16 V05.02.03 S120/S150/G150/G150

Entry-ID: 109798225, V1.0.5, 06/2022 103
7 Appendix
7.8.23 FP 2610: Sequence control - Sequencer
p0857 p0862 POWER ON <1> Fault 2000.00 µs

<2>
with OFF1 – or
<5> & OFF3 ...
S1: Switching on inhibited Motor at standstill response
ZSWA.06 = 1, ZSWA.11 = 0 From all states
ZSWA.00/01/02 = 0
Motor at standstill
"0 = OFF" (STWA.00) Pulses inhibited "0 = Coast down" (STWA.01)
<4> <5>
<4> <5> Pulse enable
"0 = Coast down" (STWA.01)
r0046.8 EP terminals,
1 HW [2701.8], [2711.8] &
& <4> <5> enable missing
r0046.8 EP terminals, enable missing <6>
<6> 1
"Commissioning completed" (p0010 = 0 & p0009 = 0)
<6> <5>
"0 = Coast down" (STWA.01) <5> S5b: Quick stop

<4> <5> "0 = Quick stop" ZSWA.00/01 = 1, ZSWA.11 = 1
S2: Ready for switching on & <7>
"0 = Quick stop" (STWA.02) ZSWA.00 = 1, ZSWA.11 = 0 (STWA.02) ZSWA.02/06 = 0
<4> <5> 1 <4> <5>
Bring the motor to n <= 0 along
Main contactor is OPEN

r0046.8 EP terminals, the quick stopping ramp or torque
<6> Wait for power up or jog
enable missing Pulse enable HW limit, then inhibit the pulses
Close main con
"0 = OFF" [2701.8], [2711.8] &
p0870
Jog 1 1 "0 = OFF"
Jog 2 Motor at
(0) Jog 1 & standstill
Infeed ready Jog 2 Motor at
p0862 <5> standstill
p0864
& S5c: Jogging -
Energize contactor S3: Ready down ramp
T 0 1 r0863.1 ZSWA.00/01 = 1, ZSWA.11 = 0 ZSWA.00/01 = 1
<7>
ZSWA.02/06 = 0 ZSWA.11 = 1
No PU fault ZSWA.02/06 = 0
Closed-loop control operation Wait for Enable operation <5> Bring the motor to n <= 0 along
Line contactor is CLOSED
Wait for precharging & r0863.0
<5> S5a: Ramp stop
the Ramp-function generator,
then inhibit the pulses
Vdc uploaded
<3> ZSWA.00/01 = 1
Debounce time expired (p0868) ZSWA.11 = 1 <7>
ZSWA.02/06 = 0
& & Bring the motor to n <= 0 along
"0 = Coast down" the Ramp-function generator,
<4> <5> then inhibit the pulses
(STWA.01) Controller enable
1 Encoder ready*
<5>
Jog 1
1 r0899.8
S4: Operation Jog 1
<6> OFF2 (has priority over jogging) ZSWA.00/01/02 = 1 & Jog 2
1 Jog 2 &
Jog mode
ZSWA.11 = 1
<1> POWER ON = 24 V electronics supply OFF --> ON or RESET button. ZSWA.06 = 0
<2> The sequencer is implemented according to the PROFIdrive profile.
<3> Only for SINAMICS S120 and G150: Pulses enabled
If a DO Infeed (A_INF, B_INF and S_INF) is used, it closes the line contactor Controller enabled
(refer to [8732], [8832], [8932]) and not the DO SERVO/VECTOR. No jog operation: Setpoints enabled
OFF3 (has priority over jogging)
<4> These control commands can also be triggered by a fault response. Faults
<5> STWA.xx = control word, sequence control, bit xx (r0898) [2501]; ZSWA.xx = status word, sequence control bit xx (r0899) [2503]. Missing enable
F07300 F07802
<6> Only if "Safety Integrated" is active. signals
F6000
<7> The parameters p1226, p1227 and p1228 influence this status.
1 2 3 4 5 6 7 8
- 2610 -
Sequence control - Sequencer 20.02.18 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 104
7 Appendix
7.8.24 FP 2634: Sequence control - Missing enable signals, line contactor control, logic operation
Missing enable signals p0115[3] (2000.00 µs)

Missing enable signals prevent the drive going into the state "operation" <1>
(Operation enabled: r0899.2 = 1 [2503]).
Missing enable sig Control Unit
Bit No. Meaning r0046
0 1 = OFF1 enable missing r0046.0 [3020.5]
1 1 = OFF2 enable missing r0046.1
2 1 = OFF3 enable missing r0046.2 [3060.2]
0 = Internal quick stop [3060.4]
3 1 = Operation enable missing r0046.3 1 [3070.2]
4 1 = Armature short-circuit / DC braking, enable missing r0046.4 [3070.4] From the
5 1 = STOP2 enable missing r0046.5 line supply
8 1 = Safety enable missing r0046.8
1 = Internal RFG missing [3060.2]
9 1 = Infeed enable missing r0046.9
1 [3070.2]
10 1 = Ramp-function generator enable missing r0046.10
11 1 = Ramp-function generator start missing r0046.11
12 1 = Setpoint enable missing r0046.12

15 1 = Quick stop enable missing <2> r0046.12
r0046.15 Line contactor control
Close main con
16 1 = OFF1 enable internal missing r0046.16 p0870 Energize
17 1 = OFF2 enable internal missing r0046.17 (0) contactor
DO
18 1 = OFF3 enable internal missing r0046.18 From sequencer 1 r0863.1 +24 V
[2610] [2130]...[2133]
19 1 = Pulse enable internal missing r0046.19
20 1 = Armature short circuit / DC braking internal enable missing r0046.20 Line contact feedb
[2701.8] 21 1 = STOP2 enable internal missing r0046.21 p0860 DI
(r0863.1)
25 1 = Function bypass active r0046.25
[2120]...[2133]
26 1 = Drive inactive or not operational r0046.26
27 1 = De-magnetization not completed <2> r0046.27
ON/OFF monitoring
28 1 = Brake open missing r0046.28
0...5000 [ms]
29 1 = Cooling unit ready signal missing r0046.29 p0861 (100)
30 1 = Speed controller inhibited r0046.30
31 1 = Jog setpoint active r0046.31
T 0 F07300 "Line
p2810[0] NOT operation
=1 contactor feedback
Logic operation signal missing"
(0) p2822[0] r2823 To the infeed
p2810[1]
(0)
& r2811.0
AND operation p2822[1]
(0) 1 r2823.0
1
Operation monitoring
(0) 1 r2823.1
p2816[0] <3>
(0) p2822[2]
(0) 1 r2823.2
p2816[1]
(0)
1 r2817.0
OR operation
p2822[3]
<1> For VECTOR is valid: Factory setting 1000.00 µs.
(0) 1 r2823.3 <2> Only for AC/AC devices, diode infeed.
1 2 3 4 5 6 7 8
- 2634 -
Sequence control - Missing enable signals, line contactor control, logic operation 20.02.18 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 105
7 Appendix
7.8.25 FP 3001: Setpoint channel - Overview
p0115[3]
Jog 1
r0898.8
r1024 Jog 2
r0898.9
Main setp scal
p1070 0 0
Main setp scal +
[3010] Fixed speed setpoints p1071 +
Suppl setpoint 0 1
p1075 n_set_1
Suppl setp scal
p1076 1 0
+/- r1114
Jog setpoint 1
p1058
pos
r1050
1 1 neg
Jog setpoint 2
p1059 (-1)
[3030] Main/supplementary setpoint, setpoint [3040] Direction limitation [3050] Skip (suppression) bandwidth
[3020] Motorized scaling, jogging and direction reversal and speed limiting
potentiometer r1119
DSC_STW RFG selection RFG n_set at outp p0115[1]

p1194 p1115
[5060.1] r1150
n_set_4 p1155
DSC T_SYMM Balancing [5030.1] 0 + n_ctrl setp sum
p1195
r1170
+
1 + [1590.1]
p1160 [1700.1]
[3060] Basic ramp-function
NSOLL_B Spline-Interpolation n_pre_control generator r1438
p1430 [5020.1]
+
p1191 Dynamic –
setpoint limit ZSW r1199 n_act
x,y x Kp 2a  x
y + n_set from DSC
DSC_XERR [5020.1] Ramp-function
p1190 generator M_limit
+ + [5030.1]
+ – tracking
t
– 2a  x
Interpolator [3070] Expanded
DSC position
controller ramp-function generator
[3080] Ramp-function generator selection,
Deadtime element
from status word, tracking
PROFIdrive
x_act Simulate ramp-function generator
<1>
[3090] Dynamic Servo Control (DSC) linear and DSC spline (r0108.6 = 1)
<1> Only for SERVO.
1 2 3 4 5 6 7 8
- 3001 -
Setpoint channel - Overview 14.05.20 V05.02.03 SINAMICS

Entry-ID: 109798225, V1.0.5, 06/2022 106
7 Appendix
7.8.26 FP 3060: Setpoint channel - Basic ramp-function generator
RFG ramp-up time RFG ramp-down time OFF3 t_RD p0115[3]

0.000...999 999.000 [s] 0.000...999 999.000 [s] 0.000...600.000 [s]
p1120[D] (10.000) p1121[D] (10.000) p1135[D](0.000) <100>
RFG t_RD scal <101>
p1139[C]
(1)
RFG t_RU scl 1 0

p1138[C]
(1)
0 0
p1122 1 = Bypass ramp-function generator 0 1 0 1

[2505.3] r1198.15
Ramp flattening-off
Tup Tdn
p1142 1 = Speed setpoint enable

Freeze ramp-function generator
[2501.3] r0898.6
x Tup Tdn
RFG setpt at inp 0 0
1 1 p1082
r1119 x y [3080.1]
[3050.8] 1 1
t
0 0 -p1082
p1140 1 = Ramp-function generator enable <3>
0 = Freeze ramp-function generator
<1> p1141 1 = Continue ramp-function generator 1 y [2501.3] r0898.4
[2501.3] r0898.5 p1082
& -p1082
Tup Tdn
RFG acceleration
r1149
<4>
RFG accept set v
Other status bits
p1143[C]
(0) 1
RFG setting value Ramp-up active
x
p1144[C] + – 0
(0) y Ramp-down active
<1> For SERVO and VECTOR, the following applies: Inhibited during jogging.
<2> Only for SINAMICS S120. p1082
<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 n_max
<2> Ramp-function generator, status bits
remains effective (Freeze ramp-function generator). [3080.5]
RFG tol HL/RL act
<100> For SERVO, the following applies: Only if the function module
0.000...1000.000 [rpm]
"Extended setpoint channel" is activated (r0108.8 = 1).
p1148[D] (19.800)
<101> To view the pre-assignment of the sampling times in p0115, refer to p0112.
1 2 3 4 5 6 7 8
- 3060 -
Setpoint channel - Basic ramp-function generator 14.05.20 V05.02.03 SINAMICS

Entry-ID: 109798225, V1.0.5, 06/2022 107
7 Appendix
7.8.27 FP 3080: Setpoint channel - Ramp-function generator selection, status word, tracking
p0115[3] (Drive Object) Enable ramp-function generator Config.SetpointChannel p0115[1] (Drive Object)
r0898.4
Enable speed setpoint <101>
Jog 1 r0898.6
r0898.8
&
Jog 2 n_ctrl n_set 1/2
r0898.9 r1169
n_ctrl n_set 1 <5>
Ramp-function generator selection p1155[C] <3>
p1189.1 Friction characteristic record
1
<2> <2> (0) x,y x
n_ctrl n_set 2 T1 y No OFF2
p1160[C] 0 + 1 x y &
(0) No OFF3
f_set +
<8> 0 + 0 t
Sync f_corr [Hz] Interpolator
<7> [7020.8] r3812 1 +
Not SERVO or
RFG selection r0108.8 = 1 (Extend setp) p1189.0 0 n_ctrl setp sum
p1115 Synchronization
x,y T1 x r1170 [3050.1]
No OFF1 +
y
No OFF2 & 0 1 x y 1 <5> [5020.1] <6>
0 [6030.1]
0 No OFF3
[6301.1] <9>
From the ramp-function
1 0 t [8011.2]
RFG n_set at outp RFG track intens generator friction characteristic
1 Interpolator [7010.6]
r1150 0.0...50.0
p1151.1 p1151.2 p1145[D] (1.3)
<4>
Ramp-function generator tracking [3060.1]
Torque limit reached
[3070.3]
r1407.7 Ramp-function generator tracking active
<1> For p1145 > 0, ramp-function generator tracking is activated when the r1199.5
torque limiting responds. This means that the speed controller output only exceeds the torque limit by a deviation that
can be set via p1145. Ramp-function generator status word RFG ZSW
<2> For OFF1/OFF3, the ramp-function generator ramp is active. The ramp-function generator is set (SERVO: to the actual Bit Meaning r1199
value, VECTOR, VECTOR3P, VECTORGL, VECTORSL: to the setpoint (r1170)) and stops the drive with the 0 Ramp-up active r1199.0 [6301.1]
ramp-downtime (p1121 or p1135). STW1.4 (enable ramp-function generator) is effective while the drive is stopped via
1 Ramp-down active
the ramp-function generator. Depending on the p1115, the basic ramp-function generator [3060] or the extended
ramp-function generator [3070] is effective. 2 Ramp-function generator active r1199.2 [6726.4]
1 3 Ramp-function generator set r1199.3 [6031.1]
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]). 4 Ramp-function generator held <1>
<3> The interpolator is only active with activated "basic positioner" Function Module or with isochronous PROFIdrive mode 5 Ramp-function generator tracking active r1199.5 [6031.1]
and sign of life received by the master (STW2.12 ... STW2.15). 6 Maximum limiting active
<4> Behavior of the response ramp of the torque limiting: 7 Ramp-function generator speedup positive
p1145 = 0.0: No ramp-function generator tracking. The ramp-function generator ramp is no longer in the range of the 8 Ramp-function generator speedup negative
speed actual value. 9 Reserved
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"). 15 Reserved
<5> The value is displayed correctly only with r0899.2 = 1 (Operation enabled).
<6> For SERVO only.
<7> For VECTOR, VECTOR3P only.
<8> For VECTORGL only.
<9> For VECTOR3P, VECTORM2C, VECTORSL only. <101> To view the pre-assignment of the sampling times in p0115, refer to p0112.
1 2 3 4 5 6 7 8
- 3080 -
Setpoint channel - Ramp-function generator selection, status word, tracking 14.05.20 V05.02.03 SINAMICS

Entry-ID: 109798225, V1.0.5, 06/2022 108
7 Appendix
7.8.28 FP 3090: Setpoint channel - Dynamic Servo Control (DSC) linear and DSC spline
Higher-level motion control SINAMICS PROFIdrive sampling time p0115[1] (Drive Object)
(e.g. SINUMERIK, SIMOTION) Control Unit <101>
[2522.1]
DSC_STW p1191 > 0 (connected)
Motion Control p1194
[2522.1]
n_set from DSC
& r1407.4
DSC T_SYMM
Path p1195
DSC T_SYMM_ADD
p1427(DDS) 1
Interpolation 1
n_cmd Speed pre-control <8>
Balancing 0
p1430 1 0
Spline torque
0 pre-control on
Offset and + DSC KPC
Compensation x_cmd r1407.22
p1191 Spline-Interpolation 1
1 n_prectrl
+ + <4>
spline
x XERR
S&H DSC XERR 0
– 0
Position actual value T_MAPC SET {1} p1190 DSC x_set
generation r1196 Spline speed
Master Application Cycle-Time <6> pre-control
r1407.21 Speed pre-control
Encoder signals acc. telegram Application clock-cycle
[2415], [2416] and [2419] synchronous (at PROFIdrive) Dynamic setpoint limit
+ 1 x,y x 2a  x
Enc G1_XIST1 <5> Kp <7>
y +
r0482[0] x n_set from DSC
<4>
Enc G2_XIST1 + 0 + + [5020.1]
r0482[1] Dir of rot –
DSC enc selection t [5030.3]
Enc G3_XIST1 p1192
p1821[D]
Spline- – 2a  x
Interpolator DSC position
r0482[2] Invert position act value DSC encod PROFIdrive Interpolation
From motor p0410.1[E] Transmission Speed controller sampling time controller
AdaptFact DSC on
Diag G1_XIST1 encoder <2> <10> p1193 (1) Delay r1407.20 T_SAPC
1 <3>
r0479[0]
Diag G2_XIST1 <9> 0 0 SET
x y Slave Application cycle-time <8>
With active symmetrization
2
r0479[1] S&H (T_SYMM > 0), the speed
-1 1 -1 1 {2} feedforward value is balanced
Diag G3_XIST1
3 SET using the sum of the following time
r0479[2] <4> {3} x y Fast position
Position actual value from
S &H constants:
<1> actual value channel T_SYMM (refer to p1195) +
encoder 1, 2, 3 [4704.8]
T_SYMM_ADD (p1427) + 0.5 *
<1> Principle of operation of Dynamic Servo Control (DSC): The feedback branch {2} completely <3> The deadtime for the PROFIdrive data transfer is set automatically. T_Speed controller (p0115[1]).
compensates the feedback coupling branch {1} in respect of the position actual value sent from the <4> The position deviation must be referred to the increments of the motor <9> It is actualised with every DRIVE-
drive. The fast actual value channel {3} allows for a high dynamic performance and high Kv factors. including the fine resolution. CLiQ base tact.
<2> For the motor encoder (p1192 = 1) p1193 = 1 is effective. <5> Normalization of KPC: If signal x = 1 motor revolution and <10> Not for drive object ENC.
When using encoder 2 or 3 (p1192 = 2, 3), p1193 corresponds to the "Increments per motor encoder KPC = 1, then "n_set from DSC" = 0.001 motor revolutions/s. <101> To view the pre-assignment of the
revolution/increments of the encoder selected (2, 3) during one motor rotation" (considering gear <6> Clock-synchronous operation must be active for DSC. sampling times in p0115, refer to
ratios and also different encoder lines and fine resolutions). <7> Only for p1400.17 = 1 and at limitation becomes p1407.19 = 1. p0112.
1 2 3 4 5 6 7 8
- 3090 -
Setpoint channel - Dynamic Servo Control (DSC) linear and DSC spline (r0108.6 = 1) 11.02.16 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 109
7 Appendix
7.8.29 FP 4704: Encoder evaluation - Position and temperature sensing, encoders 1 … 3
<1> Configuration, absolute value encoder

Enco- Sensor Control Unit Encoder pulse number PROFIdrive sampling time
ders Modules Encoder type selection Enc Enc Enc (number of signals periods per Abs enc. Abs enc. Abs enc.
<11>
0 = No encoder configuration squarewave A/B grid division track and encoder revolution) Multiturn Meas. Step Singleturn Enc rot clearance NM
p0400[E] p0404[E] p0405[E] p0407[E] p0408[E] p0421[E] p0422[E] p0423[E] p0425[E] The encoder data set
[E] changeover is shown
Enc_interface <3> <3> <3> <3> <3> <3> at [8570].
Comp_No. To speed
p0141[E] sensing
Measuring gearbox, [4710.1]
Encoder <4> Enc fine
activate position tracking 1 2
Comp_No. Gx_XIST1
p0411.0[E] 1 2
p0142[E] Incr A p0418[E] 2n
No. of signal
DRIVE-CLiQ periods
B A
0 u Diag Gn_XIST1
<10>
SMx x2n p 31 n n-1 0 r0479[n-1]
dn III
1 Invert position act value Dir of rot
2n [3090.1]
<8> A Multiplication p0410.1[E] p1821[D] [4710.1]
B 32 bits Fine resolution
by hardware [4711.1]
SM characteristics p0412[E] sin/cos (multiplication by
Free-running position <11>
r0458 and hardware) <2> <6> <12>
B 1 signal period counter 0 0 Enc Gn_XIST1
p0432[E]/ 232 -1
p0433[E] r0482[n-1]
-1 1 -1 1
[3090.1], [4010.1],
1 signal period Load gear, activate position tracking 0 <5> [4735.6], [4740.6]
p2720.0[D]
For SSI encoders: Absolute position information
<9> <11>
<9> <11> <2> <7> <9> <12>
Sequence control 0 Load gear abs_val
0
r2723[n-1]
& -1 1
[4010.1]
1
Enc fine
Gx_XIST2
p0419[E] Dir of rot
p2721[D] p1821[D]
and [4735.7]
p2504[D]/p2505[D] <11> <2> <7> <12>
x2n 0 Enc Gn_XIST2
(only for absolute value encoders,
r0483[n-1]
e.g. EQN) Encoder error -1 1
[4010.1]
processing
ϑ from encoder n [8016.1] <11>

Function selection
Encoder n Bit 14-15 Encoder status bits <12>
Bit 0-13 [4730.1]
to Gn_ZSW
[4720.4] F31100...A33905 <12>
<1> For rotary encoders = pulse number setting. encoder faults/alarms
For resolvers = pole pair number setting. <2> <12> <12> Enc Gn_ZSW
Encoder status word p0979[0...25]
<2> Assignment of the indices: Index [n-1] Encoder n Enc Gn_STW Measuring probe positions r0481[n-1] Encoder format acc. to PROFIdrive
Index [0] Encoder 1 r0487[n-1]
Index [1] Encoder 2 <6> Gn_XIST1 is a free-running position value. <9> Only of significance when the "Position control" function
Index [2] Encoder 3 The external control must process the overflows. module is activated (r0108.3 = 1) and with encoder 1.
<3> For "EnDat encoders", these parameters are read out automatically. <7> The contents of r0483/r2723 are determined by the encoder status word/ <10> Updated in each DRIVE-CLiQ basic cycle.
<4> For SIMODRIVE-compatible functions: Set p0418 = 11. control word. Refer to [4720] and [4730]. <11> Not for DO ENC.
<5> Generating the two's complement. <8> Interface EnDat or SSI. <12> DO ENC only encoder 1 acc. Index = 0.
1 2 3 4 5 6 7 8
- 4704 -
Encoder evaluation - Position and temperature sensing, encoders 1 22.08.18 V05.02.03 SINAMICS S120/S150

Entry-ID: 109798225, V1.0.5, 06/2022 110
7 Appendix
7.8.30 FP 4710: Encoder evaluation - Speed actual value and pole position sensing, encoder 1
p0115[0] (125.00 µs)
<1> <3>
Inv enc act val
<2>
p0410.0[E]
Enc commut_factor
r0451
0 Pole pos el norm
Pole position sensing r0093
-1 1 <1>
including measuring gearbox Inv enc act val
p0432[E], p0433[E] p0410.0[E]
0 Transformat_angle
r0094
-1 1
1 encoder revolution
C
r1407.1
(refer to p1300 [5060])
D
n_act calculation
Zero mark
n_act smooth
C, D <1> r0021
n_act T_smooth
Gearbox enc Inv enc act val 0.00...50.00 [ms] 100 ms
p1441[D] (0.00) n_act rpm smooth
p0432[E] p0410.0[E]
r0022
1 n_act smooth
Diag G1_XIST1 Fine resolution up dx 0 0 r0063
x y
r0479[0] for the speed n_act
dt is used as the-1input, instead of
-1
r0479 0 To Basic brake control (r0108.14 = 0) [2701.1]
actual value dn 1 1
Raw position III To Extended brake control, zero-speed
signals from Smoothing detection (r0108.14 = 1) [2704.1]
encoder 1 To Speed signals [8010.1]
Gearbox mot Dir of rot
p0433[E] p1821[D]
n_act measurement
n_act encoder 1
r0061[0]
<4>
<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 drive object ENC.
<4> Drive object ENC smoothed with 1 ms.
1 2 3 4 5 6 7 8
DO: ENC, SERVO fp_4710_01_eng.vsd Function diagram
- 4710 -
Encoder evaluation - Speed actual value and pole position sensing, encoder 1 21.06.16 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 111
7 Appendix
7.8.31 FP 4715: Encoder evaluation - Speed actual value and pole position sensing, encoder 1, n_act_filt 5
Induction motor and synchronous motor Only for synchronous motor p0115[0]
Enc commut_factor Inv encoder actual value

r0451 p0410.0[E]
<2> <5>
Pole position sensing 0 Transformat_angle

<4> <5> including measuring gearbox r0094 <3>
p0432[E], p0433[E] -1 1
C, D
n_act T_smooth
n_act measurement Gearbox enc Inv encoder actual value 0.00...1000.00 [ms]
p0432[E] p0410.0[E] p1441[D] (0.00)
<2>
Fine resolution up 0 0 n_act encoder 1

A, B x dx y
for the speed n_act is used as the input
dt r0061[0]
actual value -1 1 -1 1
dn III [6731.1]
Raw position
signals from Smoothing
encoder 1
1 encoder revolution Gearbox mot Dir of rot
<4> <5> p0433[E] 0 p1821[D]
C Encoder angle [6731.1]
-1 1 [6732.1]
D n_act_filt 5 fn_n
Zero mark p1678[D] 1 = Sensorless operation active
n_act filt 5 D_n r1407.1
p1679[D]
p1656[D].4 To basic braking control [2701.1]
p1677[D] To extended braking control [2704.1] <7>
|y| To speed controller with/without encoder [6040.1]
Speed actual value filter 5 D y
0 n_act To Kp_n-/Tn_n adaptation [6050.1]
<11> x 1 0 unsmoothed To current/power/torque limits [6640.1]
r0063[0] To Iq and Id controllers [6714.7]
I/n_setp_filt5 f_n fn 1
f 2 1 To field-weakening characteristic [6722.1] <7> [6724.1]
p1655[4] To motor model select [6733.1] <6>
<10> (1) <9> To display signals [6799.1]
n_act filt 5 fn_n n_act_ filt 5 D_n To speed signals 1[8010.1]
p1680[D] p1681[D] To interface to the Motor Module [6730.1] <7>
n_act calculation T_smth display

<1> = Only for vector control without encoder. |y|
0.00...200.00 [ms]
<2> [E]: The encoder data set changeover is represented on [8570]. p0045 (1.00)
<3> Only for operation with encoder and PMSM. x y
<1>
<4> Only for S120/S150.
<5> Only for S120/S150 and PMSM or SESM. f n_act smoothed with p0045
<6> Only for SESM. 2nd Order Filter r0063[1]
<7> Only for ASM. <8>
<10> The frequency is multiplied by this factor. ASM: Induction motor
<11> p1699 = 1 allows to import the filter parameter settings on the n_act_filt 5 fn_d n_act_filt 5 D_d PMSM: Permanent-magnet synchronous motor
controller. p1678[D] p1679[D] SESM: Separately-excited synchronous motor
1 2 3 4 5 6 7 8
DO: VECTOR fp_4715_54_eng.vsd Function diagram
- 4715 -
Encoder evaluation - Speed actual value and pole position sensing, encoder 1, n_act_filt 5 12.03.14 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 112
7 Appendix
7.8.32 FP 4720: Encoder evaluation - Encoder interface, receive signals, encoders 1 … 3

<1> <5> <6>
<1> <6>
p0480[n-1]
Enc Gn_STW To the position sensing, encoder n
(0) Bit No. Control word for encoder n (n = 1, 2 or 3) <6>
r0487[n-1] [4704.3]
Selects the function to be activated (with bit value = 1)
Function Function for bit 7 = 0 Function for bit 7 = 1

No. (search for reference mark) (flying measurement) <1> Index [n-1] encoder n
Index [0] encoder 1
0 1 Reference mark 1 Measuring probe 1 Index [1] encoder 2
Index [2] encoder 3
<2> Actual position values are read out from Gn.XIST2 using a handshake procedure.
1 2 Reference mark 2 Measuring probe 1 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).
2 3 Reference mark 3 Measuring probe 2 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.
3 4 Reference mark 4 Measuring probe 2 Bits 0…13 control what is 6. Select r0487.0 3 individually and activate with r0487.5 until r0481.4 is equal to 1
transferred in Gn_XIST 2. and read out the position values in r0483.

Start/stop/read selected function There are 3 alternatives: 7. Reset all bits, starting with r0487.5 followed by r0487.0 3.
4 – Bit 7 = 0: Position actual value The following pulse diagram shows exemplary the reading of the position at reference
0 1 0 1 at the reference mark 1 (mode: bit 7 = 0).
mark <2>
– Bit 7 = 1: Position actual value Select function 1 [Bit 3 0
5 0 0 1 1 ("search for reference mark 1") 0001
when the measuring
probe edge is
6 0 0 0 0 received <2> Start function [Bit …4 000 001 000
– Bit 13 = 1: Cyclic absolute
position value from Function active [Gn_ZSW Bit 0]
Interrupt function
Read generated value absolute encoder
Activate selected function Actual value save at the reference
No function mark
Mode of the function to be activated Read generated value [Bit …4 000 010
7 1 = Flying measurement
0 = Search for reference mark (zero mark or BERO) Value from function 1 available
[Gn_ZSW Bit 4]
…12 Reserved
Position actual value at reference
1 = Request cyclic transfer of the absolute position value in mark 1 in Gn_XIST2
13 Gn_XIST2
(e.g. EQN absolute track; acknowledgment in Gn_ZSW bit 13) Further reference marks can be read according to the PROFIdrive profile.
<3> The bits are processed with the following priority sequence (highest priority lowest
14 1 = Request parking encoder (handshake with Gn_ZSW bit 14) <4> priority bit): Bit 14 Bit 15 Bit 4… Bit 12 Bit 13.
<4> The checkback signal is provided in Gn_ZSW bit 14, but the encoder is not actually
= Acknowledge encoder fault (located in Gn_ZSW, bit 15; parked.
15 <5> If the "position module" function module (r0108.3 = 1) is activated, the interconnection
Handshake with Gn_ZSW bit 11)
is established via r2520[0 from [4010.8].
<3> If a standard telegram (PROFIdrive) is selected, the interconnection is performed
according to the specifications of the standard telegrams [2415] and [2416].
<6> DO ENC only encoder 1 acc. index = 0.
1 2 3 4 5 6 7 8
- 4720 -
Encoder evaluation - Encoder interface, receive signals, encoders 1 3 22.08.18 V05.02.03 SINAMICS S120/S150

Entry-ID: 109798225, V1.0.5, 06/2022 113
7 Appendix
7.8.33 FP 4730: Encoder evaluation - Encoder interface, send signals, encoders 1 … 3
Enc Gn_ZSW
to the sequence control for Gn_XIST2
Bit No. Status word from encoder n (n = 1, 2 or 3) <2> r0481[n-1]
[4704.5]
<1> <2>
Feedback signal of the active function (1 = function active)
Bit 0
Function For reference number and flying
No. measurement
Bit 1
1 reference mark 1 or measuring probe 1

Bit 2
Bit 3 4 reference mark 4 or measuring probe 2

Bit 4 1 = Position actual value from function 1
Bit 5 1 = Position actual value from function 2 Generated value Position value 2 from encoder n <2>
in Gn_XIST2
(and can be The contents of position actual value 2 (Gn_XIST2) at [4704] depends on Gn_STW and Gn_ZSW.
Bit 6 1 = Position actual value from function 3 read) This can be done as follows:
– Undefined for a parking encoder (Gn_ZSW.14 = 1).

Bit 7 1 = Position actual value from function 4 – 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 with handshake).
– Position actual value due to flying measurement (for Gn_STW.7 = 1 and Gn_ZSW.4.7 > 0; with handshake).
From the measuring probe
Bit 8 1 = Measuring probe 1 deflected (high signal) – Cyclic absolute position value (free-running value, e.g. from the EQN absolute track (for Gn_ZSW.13 = 1).
evaluation
[4740.4]
Bit 9 1 = Measuring probe 2 deflected (high signal)
Bit 10 Reserved
Bit 11 1 = Acknowledge encoder fault active
Bit 12 Reserved (for reference point offset)
Bit 13 Absolute value is cyclically transferred
<1> Index [n-1] encoder n Bit 14 Parking encoder active (i.e. the encoder is not operational)
Index [0] encoder 1
Index [1] encoder 2
Index [2] encoder 3 Bit 15 Encoder fault, the fault is in Gn_XIST2 (r0483)
<2> DO ENC only encoder 1 acc. index = 0.
1 2 3 4 5 6 7 8
- 4730 -
Encoder evaluation - Encoder interface, send signals, encoders 1 21.08.18 V05.02.03 SINAMICS S120/S150

Entry-ID: 109798225, V1.0.5, 06/2022 114
7 Appendix
7.8.34 FP 5019: Servo control - Speed control and U/f control, overview
[5050] Kp_n and Tp_n adaptation

Closed-loop speed control, servo with encoder Kp adaptation Tn adaptation
Generating the r1538
torque limits r1539
20 … 0
Torque
n_set after n_act > p1404 setpoint
n_ctrl setp sum Kp n_ctrl p1300 Torque
filter
r1170 r0062 PI-M_output pre-control
0 M_set before
[3001.8] r1480
21 M_limit
[5040.8]
n_pre-ctrl_1 Reference r1509
1 [5700.1]
p1430 Tn
model 20
(0)
Pre-control
symmetriz-
[5020] Speed setpoint filter ation Integrator [5610] Torque limiting
and speed pre-control Control
Sampling times:
[5030] Speed limiting [5040] Speed controller
r1438 n_ctrl 1000.00 µs Adaptation
n_act smooth PI-M_output Closed-loop speed
n_act measured p0115[1] (125.00 µs)
Speed actual value sensing r0063 r1480 control
n_act calculated Closed-loop current
[5210.7] p0115[0] (125.00 µs)
[4710] control
p1317
n_ctrl n_set U_quadrature
r1438 axis_set
n_set after filter 0
r1733
Acceleration Uq
r0062 1
model
U_direct axis_set [5730.1]
0
r1732
[5210] Closed-loop speed control, servo with encoder 1 Ud
[5060] Setpoint input, changeover of the closed-loop control type
n U
p1400 r1407 r0056
f f ... ... ...
Ramp-function generator
[5300] U/f open-loop control for diagnostics
[5490] Closed-loop speed [2522] Status word, [2526] Status word,

control, configuration speed controller closed-loop control
1 2 3 4 5 6 7 8
- 5019 -
Servo control - Speed control and U/f control, overview 26.04.13 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 115
7 Appendix
7.8.35 FP 5020: Servo control - Speed setpoint filter and speed pre-control
Speed pre-control signal [5490.7]

x,y x
r1432[1] p0115[1] (125.00 µs)
1 = Interpolation y 0
Speed controller pre-control active x y
From speed control configuration n_prectrl_2 [5030.1]
p1400.7 1 [5042.5]
t <1>
Interpolator
1 [5490.7]
n_prectrl <2>
1 = Speed pre-control
for balancing
0 + F07421
n_prectrl spline From the speed control Monitoring
+ n_set smth configuration
"Speed setpoint filter natural frequency > Shannon frequency"
100 ms r0020 p1400.10
Speed setpoint n_set before filt p1414.1[D]
r0060
Enable ramp-function generator <3>
0 +
r0898.4 <3> 0 n_set after filt
p1416[D]
Enable velocity setpoint & + r0062
Setpoint filter 1 1 p1422[D]
+
r0898.6 Setpoint filter 2 1 + To
y speed controller
p1414.0[D] y [5210.1]
x y
x y and to
n_set from DSC 1 reference model
t
[5030.1]
0 t
0 PT1 low pass
<4> 1 PT1 low pass
n_ctrl setp sum fn_d fn_d
p1417[D]
r1170 + D_d p1423[D]
0 + D_d
p1418[D] p1415[D] p1424[D] p1421[D]
Speed setpoint from DSC n before setpoint filter n after setpoint filter
from function generator from function generator
r1407.4 |y| 0 |y| 0
x D y D
1 x y 1
2 2
fn fn
f f
PT2 low pass PT2 low pass
fn_n D_n
p1419[D] p1420[D] fn_n D_n
<1> Only for encoder:
p1425[D] p1426[D]
p1400.10 = 1 is recommended if a torque pre-control signal is also
connected at [5060] in addition to the speed pre-control signal.
<2> The interpolator is only effective for clock-cycle synchronous y
y
PROFIdrive operation and sign-of-life received from the master x y
(STW2.12 ... STW2.15). If the Dynamic Servo Control (DSC) is x y
active, an additional deadtime of one speed controller sampling f
time is effective. 2nd Order filter f
<3> For a 1/0 edge from control command STW2.8 "travel to fixed 2nd Order filter
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. fn_d D_d
<4> The value is displayed correctly only with r0899.2 = 1 (Operation p1417[D] p1418[D] fn_d D_d
enabled). p1423[D] p1424[D]
1 2 3 4 5 6 7 8
- 5020 -
Servo control - Speed setpoint filter and speed pre-control 14.07.14 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 116
7 Appendix
7.8.36 FP 5030: Servo control - Reference model/pre-control balancing/speed limitation
n_limit pos eff

p0115[1] (125.00 µs)
r1084
From Advanced Positioning Control (APC)
n_set after filter – n_ctrl n_set

r0062 r1438
n_prectrlSym t_dead
+ +
+ To basic braking control [2701.1]
Extended braking control 0.0...2.0 To Extended braking control [2704.1]
p1428[D] (0.0) [7012.1] To speed controller [5040.1]
n_prectrl sym T To U/f control [5300.1]
0.00...10000.00 [ms]
p1429[D] (0.00)
Speed setpoint limited
x Pre-control balancing y
Speed 1 r1407.11
To status word,
Simulation of the build-up of the pre-control torque
limiting speed controller [2522.3]
n_prectrl after sym
y = x for the factory setting
r1432[0]
n_ctrlRefMod t_dead
0.00...2.00
p1435[D] (0.00)
Reference model n_ctrl RefMod fn n_ctrl RefMod D
speed setpoint 0.0...8000.0 [Hz] 0.000...5.000
I component Sampling time, speed control (p0115[1])
p1433[D] (0.0) p1434[D] (1.000)
p1400.3
n_set I_comp
r1439
+
1 x Reference model y To speed controller
[5040.1]
Emulating the P-controlled speed control loop +
From setpoint limiting n_limit neg eff
0 y = x for the factory setting r1436
[3050.8] r1087
RefMod v_set outp
[3095.7]
n_precrtl Steady-state setpoint calculation

p1430[C]
n_limit pos eff

r1084 PcCtrl active
Speed setpoint from DSC r0807.0 <1> n_limit pos eff
RFG setpoint on input
[2522.7] r1407.4 r1084
r1119
1
n_limit neg eff n_set from DSC n_set via PC
n_ctrl n_set 1 1 + n_ctrl n_set stat
p1155[C] r1087 + r1444
+ 0 n_limit neg eff
+ 0 +
n_ctrl n_set 2 r1087
p1160[C]
<1> Only if control priority is with control panel with speed setpoint input.
1 2 3 4 5 6 7 8
DO: SERVO Zeichnung2 Function diagram
- 5030 -
Servo control - Reference model/pre-control balancing/speed limitation 14.07.14 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 117
7 Appendix
7.8.37 FP 5040: Servo control - Speed controller with encoder
n_ctrl n_set n_ctrl Kp n lower n_ctrl Tn n lower p0115[1] (125.00 µs)

r1438 0.000...999 999.000 [Nms/rad] 0.00...100 000.00 [ms]
p3700.0 p1460[D] (0.300) p1462[D] (20.00)
APC s_Dif M_set
r3769 <1>
n_act smooth 1 Kp_n_basic
r0063 [5040.7] To Kp/Tn adaptation
0 [5050.2]
+ 0 From Kp/Tn adaptation
1 [5050.7]
–
p3702 1 = Kp/Tn adaptation active 1 0 1 0
p1400.5
APC n_load smth + [5490.7]
r3771[0] n_ctrl Kp eff
+ r1468
r0108.7 = 1 0 1 n_ctrl Kp adapt %
p3700.8 = 1 & r1484
Kp
r3771[1] + n_ctrl P-M_output

fn_d D_d
p1447[D] p1448[D] r1481
n_ctrl sys dev <3>
p1413.1 –
p1446[D] r0064 n_ctrl Tn eff
|y| r1469
0 <4> n_ctrl PI-M_output
D n_act smooth To torque
x y 1 n_ctrl integ_fdbk T + (M_set_1)
r1445 setpoint input
p1494 r1480 [5060.2]
fn 1
f 2 TF Tn + <3>
n_set I_comp Kp
Speed active filter <2> PT2 low pass r1439
– n_ctrl I-M_output
fn_n D_n
p1449[D] p1450[D] r1482
+ Set +
n_ctrl sys dev Tn + <2> <3>
Hold Set Val
r1454
|y|
Enable speed controller from
x y Speed
sequence control S4: Operation
n_ctrl integ stop controller
f
2nd Order Filter p1476[C]
(0)
n_ctrl integ set Uq at the limit of the ZSW current control
fn_d D_d p1477[C] r1408.5 [2530.7]
1447[D] p1448[D] (0) Integrator
n_ctrl integ_setVal control Torque limit reached
p1478[C] r1407.7 [2522.7]
(0)
Speed controller, I component held
<1> For p1462 = 0.0, the I component is disabled (integral time ).
r1407.5 [2522.3]
<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. Speed controller, I component set
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494). r1407.6 [2522.3]
1 2 3 4 5 6 7 8
- 5040 -
Servo control - Speed controller with encoder 26.07.13 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 118
7 Appendix
7.8.38 FP 5042: SERVO control – Speed controller, M/n pre-control with encoder
1 = Encoderless oper. speed actual value starting value n_act smooth

n_ctrl Kp n lower n_ctrl Tn n lower p0115[1] (125.00 µs)
From speed control config r0063
p1460[D] (0.300) p1462[D] (20.00)
p1400.11
[5490.7] + <1>
1
Tn_n_adapt To the Kp-/Tn
– From Kp-/Tn-adaption adaption
Tn_n_basic
n_prectrSym t_dead p3702 [5050.7] Kp_n_adapt [5050.2]
p1428[D] n_ctrl n_set
APC n_load smth + r1438 n_ctrl sys dev 1 0 1 0
t_sample int ctrl Pre-control r3771.0 r0064 Kp/Tn adapt act
p0115[1] + p1400.5
balancing
n_ctrl sys dev Tn
r0108.7 =1 n_ctrl Kp eff
n_prectr sym T 0 1 r1454 r1468
p1429[D] p3700.8 =1 & n_prectrl_2
[5020.8] n_ctr integ_fdbk T n_ctrl Kp adapt %
+ p1494 r1484
Balanced speed setpoint + <4> n_ctrl Tn eff
n_limit pos eff r1469
r3771.1
r1084
Speed active filter n_ctrl P-M_output
p1413.1 TF Kp Tn
fn_d D_d r1481
From Advanced Speed setpoint limited
p1447[D] p1448[D] <2>
Positioning Control r1407.11
0 +
[2522.3] n_ctrl PI-M_output
– |y| (M_set_4) To torque
n_set after filter x –
1 r1480 setpoint input
r0062 x D y
+ Acceleration n_act smooth [5060.2]
<2>
model r1445 n_ctrl I-M_output
fn
f r1482
n_limit neg eff <3> PT2 low pass n_ctrl integ stop
<2> <3>
r1087 fn_n D_n p1476[C]
p1449[D] p1450[D] p1446[D] (0)
Mot M_inertia n_ctrl integ set
0.000 00...100 000.000 00 [kgm²] p1477[C] Integrator control
|y| 1
p0341[M] (0.000 00) (0)
Total moment x y n_ctr integ_setVal
Load mom of inertia of inertia 2 p1478[C]
p1498 Mom of inert total f
2nd Order Filter
(0)
+ r1493 <5>
I component frozen
+ Speed controller r1407.5 [2522.3]
fn_d D_d M_accel T_smooth
0.00...100.00 [ms] Torque limit reached Servo control enable
1447[D] p1448[D] I component set
Mom of inert scal p1517[D] (4.00) from sequence control S4: Operation
Mot MomInert Ratio r1407.7 r1407.6 [2522.3]
p1497[C]
1.000...10 000.000 M_accel unsmoothed Limit Vq
(1)
p0342[M] (1.000)
r1518[0] r1408.5
<1> For p1462 = 0 the I component is disabled (Integral time = ). [5060.2]
<2> This parameter is set to 0 when pulses are canceled. M_accel smoothed
<3> For torque control, the I component is set to the value of r1515 (total supplementary torque). r1518[1]
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494). Smoothing
<5> Adjustment instructions: Correctly set p0341, p0342 and p1498 and set p1517 to 0.00 ms to achieve dynamic pre-control.
1 2 3 4 5 6 7 8
- 5042 -
Servo control - Speed controller, M/n pre-control with encoder (p1402.4 = 1) 11.02.16 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 119
7 Appendix
7.8.39 FP 5060: Servo control - Torque setpoint, control type changeover
Spline torque pre-control p0115[1] (125.00 µs)

M_supply 1 scal M_supply 2 PcCtrl active
Interp M_suppl act
p1512[C] p1513[C] x,y x r0807.0 <4>
M_supply 1 y p1409.0 (0)
e.g. p2900 (0) (0)
p1511[C]
1
(0) 0
M_max upper eff + 1 +
t
r1538 0
+ Interpolator +
M_max Scaling, upper 0
p1552
(1)
<1>
M_max upper total M_suppl
r1534 total
Sensorl op n_chgov r1515
0.0...210 000.0 [rpm] <1> <1>
p1404[D] (210 000.0)
n_act smooth <2> 1 = Sensorless operation active

r0063 r1407.1
[2522.3] e.g. M_lim var/fix S_src
p1501 1 = Torque control active Control mode
0 = OFF3 active p1551 1 0
p1300[D] = 20
[2520.3] r1406.12 r0899.5 (1)
1 APC
1
<1> p1300 = 23 (M_ctrl)
r0108.7
n_ctrl PI-M_output <3>
From speed controller 0 + M_set before M_lim
with encoder r1480 <1>
0 0
[5040.8] r1509
0 +
1 + [5610.3]
From speed controller n_ctrl PI-M_output 1 1
<1>
without encoder
r1480
[5210.8]
or 0
0
Speed controller,
M/n pre-control
1
[5042] M_max low w/o offs Filter 1
p3704[D].12 Filter 2
p1554
p3705[D].12 p3704[D].13
(1)
<1> <1> p3740[D] p3705[D].13
M_max lower total p3741[D] p3744[D]
r1535 1 <5> p3742[D] p3745[D]
M_max lower eff p3743[D] p3746[D]
<1> p3753[D] p3747[D]
r1539 0 p3754[D]
<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). <4> Only if control priority is with control panel with speed setpoint input.
2) Torque control is active and n_act smooth > p1404. <5> The torque setpoint filters 1 and 2 are used to compensate setup oscillations and
<2> Automatic changeover to sensorless operation (e.g. for extremely high-speed spindle drives). are functionally identical to the current setpoint filters. Filter 1 can be pre-assigned APC: Advanced
<3> When the pulses are canceled, r1509 is set to 0. via p3753 (natural frequency) and p3754 (gain). Positioning Control
1 2 3 4 5 6 7 8
- 5060 -
Servo control - Torque setpoint, control type changeover 11.07.17 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 120
7 Appendix
7.8.40 FP 5610: Servo control - Torque limiting/reduction, interpolator
p0115[1] (125.00 µs) p0115[0] (125.00 µs)
Upper torque limit active

r1407.8 [2522.3]
T_smooth display
from 0.00...50.00 [ms]
p0045 (1)
[5490.7]
M_set total 1 = Interpolation torque setpoint active
Torque limiting p1400.8
r0079[1] [8012.1]
x,y x
M_set before M_lim y
x y
1
r1509
+ [5710.1]
+
r0079[0] t 0
M_suppl 3
Interpolator <1>
p1569[C]
<3> (3841)
M_max upper eff

r1538
Lower torque limit active

M_max lower eff
r1407.9 [2522.3]
r1539

1 r1407.7
5490.8 [2522.3]
[5650.8] [3080.1)
214 = 100 % 100 %
TfS M_red eval

0...65535 [%]
0...100 [%] p1544 (100)
Torque reduction
TfS M_red 100...0 [%]
p1542 + TfS M scal
<2> r1543 [5620.3]
–
<1> For p0115[1] = p0115[0], the interpolator is automatically jumpered (bypassed) independently of the control.
<2> As for torque reduction (e.g. for "Travel to fixed stop (TfS)" with process data MOMRED), see PROFIdrive
telegrams 102 ... 106 [2419].
<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]).
1 2 3 4 5 6 7 8
- 5610 -
Servo control - Torque limiting/reduction, interpolator 23.11.11 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 121
7 Appendix
7.8.41 FP 5630: Servo control - Upper/lower limit
1000.00 µs
<2> M_max up w/o offs

Upper torque limit A r1526
<1> <5> M_max upper/mot 0

 M_max offset M_max 1
M_max upper/mot p1522[C] [5640.1]
-1000000.00...20000000.00 [Nm] p1520[D] (1520) +
p1520 (100.00)
1 +
M_max up/mot scal <2>
M_max upper/mot scal p1528[C]
-2000.0...2000.0 [%] p1524[D] (1524)
M p1524 (100.0) e.g. from MOMRED
2 1 <4>
Example:
n
0 = Quick stop activated M_lim var/fixS_src
(OFF3) p1551[C] M_max offset
r0899.5 (1) -100 000.00...100 000.00 [Nm]

p1532[D] (0.00)
<3> F07090
Lower torque limit
<1> <6> M_max lower/regen

M_max lower/regen p1523[C] <2>
-20000000.00...1000000.00 [Nm] 1 +
p1521[D] (1521)  M_max offset M_min 1
p1521[D] (0.00) [5640.1]
M_max low/gen scal +
M_max low/gen scal p1529[C] 0
M
-2000.0...2000.0 [%] p1525[D] (1525) M_max low w/o offs
p1525[D] (100.0) e.g. from MOMRED B p1520
M r1527
<4> <2>
n {p1522}
3 4
p1532
{p1523}
p1521
<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).
<2> Danger: Negative values at A or positive values at B represent a minimum torque for the other torque direction and can cause the motor to accelerate uncontrollably.
!
<3> The limiter ensure that the limits do not mutually "overtake" one another. With A < B , fault F07090 is initiated.
<4> For manufacturer-specific PROFIdrive telegrams withPZD5 = MOMRED (e.g. telegrams 102 ... 106), r1543 is interconnected here [5610.4].
<5> The following applies to p0543 : The minimum value from p1520 and p0543 is used for further calculation.
<6> The following applies to p0543 : The minimum value from p1521 and negated p0543 is used for further calculation.
1 2 3 4 5 6 7 8
- 5630 -
Servo control - Upper/lower torque limit 06.02.20 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 122
7 Appendix
7.8.42 FP 5640: Servo control - Mode changeover, power/current limiting
p0115[1] (125.00 µs) 1000.00 µs

Mode changeover
Current limiting
[5490.7]
1 = Torque limiting active
in motoring/regenerating mode
p1400.4
M_max_1 0
Iq_max_1
M_limit Vdc_max
From "upper/lower 1 Min
torque limits" [5650.1]
r1534
[5630.8]
M_min_1 0 Iq_min_1 >0
1
0
1
0
r1535 <0
-1
M_max_2
From "motoring/
regenerating
torque limits" >0
1
[5620.8] 0
M_min_2 0
<0
-1
Power limiting Iq_max total

n_act smooth r1533 M_limit Vdc_min
r0063
Min [5650.1]
P_max mot
0
0.00...100 000.00 [kW]
p1530 (0,00)
<0
Min M_max_3
P
M~ [Nm]
n
P_max gen <1>

-100 000.00...-0.01 [kW] 0
-1
p1531 (0.01)
<0
Min -1
P_stall P
M~ [Nm]
n
60 1000 P [kW]
M [Nm] = r1549
2π n [rpm]
1 2 3 4 5 6 7 8
- 5640 -
Servo control - Mode changeover, power/current limiting 10.04.12 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 123
7 Appendix
7.8.43 FP 5700: Servo control - Current control, overview
Motor Module
Iq controller
M_set_6 Iq
Iq_set U_quad_set |U|
[5019.8] r0077 r1733
+
– Trans-
M2Iq r0072
Adaptation Kp U_output
[5710]
M
Current setpoint filter 1 ... 4
~
Kp U
Id_set U_direct-axis_set formation

r0075 r1732
+
–
Id controller
[5711]
Current setpoint filter 5 ... 10 (r0108.21 = 1) [5714] Iq and Id controller Motor model
I_act U
r0069[0]
Id_act
r0076 Trans-
I_act V
r0069[1]
Synchronous motor
Field current input Iq_act
synchronous motor r0078[0] I_act W
r0069[2]
Limit
Induction motor
formation
Flux setpoint (input)
Induction motor
Flux controller [5730]

Interface to the Motor Module (gating
[5722] Field current/flux input, flux reduction, flux controller signals, current actual values)
1 2 3 4 5 6 7 8
- 5700 -
Servo control - Current control, overview 11.04.14 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 124
7 Appendix
7.8.44 FP 5710: Servo control - Current setpoint filter 1 … 4
M_set FG
r1651 p0115[0] (125.00 µs)
<2> <1>
I before setpoint filter M2Iq torque factor

from function generator
I after setpoint filter from function generator I_after_setpoint filter = active
Iq_set before filt
r1650 0 +
1
+
1
0
p1656[D].0 p1656[D].1 p1656[D].2 p1656[D].3

0 1 0 1 0 1 0 1 r0108.21
+
M_set_6 Iq_set_1 Iq_set_after Filter 4
+ [5711.1]
p1657[D] p1662[D] p1667[D] p1672[D]

M2Iq torque factor

fn_d 1 2 fn_d 1 2 fn_d 1 2 fn_d 1 2
p1658[D] p1663[D] p1668[D] p1673[D]
D_d D_d D_d D_d
p1659[D] p1664[D] p1669[D] p1674[D]
|y| |y| |y| |y|

x D y x D y x D y x D y
PT2 low pass
fn fn fn fn
f f f f
fn_n D_n fn_n D_n fn_n D_n fn_n D_n

|y| |y| |y| |y|

x y x y x y x y General
2nd-order filter
f f f f
fn_d D_d fn_d D_d fn_d D_d fn_d D_d

Filter 1 Filter 2 Filter 3 Filter 4
<1> The data transfer time with parameter change can be set (p1699).
Monitoring
<2> or input SBT test torque [2836.8] (only if r10231.0 = 1).
1 2 3 4 5 6 7 8
- 5710 -
Servo control - Current setpoint filter 1 04.11.19 V05.02.03 SINAMICS S120

Entry-ID: 109798225, V1.0.5, 06/2022 125
7 Appendix
7.8.45 FP 6020: VECTOR control – Speed control and generation of the torque limits, overview
[6050] Kp_n-/Tn_n adaptation p0115[1] (Motor Modules)

p1511
Kp adaptation Tn adaptation For Kp
p1460 p1470 p1462 p1472 p0115[2] (Motor Modules)
<1> <1> p1512 adaptation
p1514
p0341 p0342
p1496
p1513
r1515
Droop input
p1488 r1518
p1540
p1416 p1300
(r1407.1)
n_set p1501
n_ctrl setp sum – after filter n_ctrl n_set Kp
Symmetrizing M_set
r1170 r0062 r1438
1 p1508 r0079
[3001.8] – p1503 [6700.1]
n_prectrl
p1430[C]
Symmetrizing
(0) n_set I_comp p1541
2
t r1439
Reference model
p1400.3 [6060] Torque setpoint
–
I_outp max
p0640
Integrator control r0067
[6030] Speed setpoint filter M_max upper M_max upper eff

p1520 p1522 r1538
<1>
p1442 p1452 Generating the
M_max lower torque limits M_max lower eff
n_act encoder 1
r0061[0] p1521 p1523 r1539
[6040] Speed controller
p1300
p1300 (r1407.1)
(r1407.1) p1530 p1531
<1> [6630] Torque limit

[6640] Current-power limit
n_act smooth
r0063 p1400 p1401 r0056 r1408
n_model
[6700.1] <1>
[6490] Closed-loop speed control configuration

[4715] Speed actual value and pole position sensing motor encoder ASM/SM (encoder 1) [6491] Closed-loop flux control configuration
[2526] Status word closed-loop control
<1> Only for sensorless vector control. [2530] Status word closed-loop current control
1 2 3 4 5 6 7 8
- 6020 -
Vector control - Speed control and generation of the torque limits, overview 25.04.19 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 126
7 Appendix
7.8.46 FP 6031: Vector control - Pre-control balancing, reference/acceleration model
RFG set Mot M_mom of inert Mot MomInert Ratio a_prectrl scal p0115[1] (Motor Modules)
[3080.8] r1199.3 0.00000...100000.00000 [kgm²] 1.000...10000.000 0.0...10000.0 [%]
ZSW cl-loop ctrl
p0341[M] (0.00000) p0342[M] (1.000) p1496[D] (0.0)
RFG track act [2526.6] r0056
[3080.8] r1199.5 r0056.14
[6490.7]
Acceleration pre-control source r0056.15
M_inert scal s_src
p1400[D].2 M_mom inert tot_sc p1497[C]
a_prectrl r1493 (1)
p1495 <3> 1
0 Calculated accelerating torque
1
(0) [6060.1]
Acceleration calculation 0
0
p1400[D].10
1 p1400[D].20 p1400[D].2
n_prectrBal t_dead n_prectr bal T 1
1 0 r0056.14 1 0.0...3.0 0.00...10.00 [ms] p1400[D].3
r0056.15 p1428[D] (0.0) p1429[D] (0.00) p1496[D] >0 &
Reference model speed 0
p1400[D].10
setpoint I component <1> <2>

p1400[D].3 0
Acceleration model 1 n_ctrl n_set
[6490.7] Pre-control balancing 1
r1438 [6040.1]
n_set after filter 1 +
[6030.7] r0062
0 +
n_ctrl RefMod t_dead

0.0...3.0 n_precontrol 2 1
Pre-control balancing 2 [6490.7]
p1435[D] (0.0) [6030.8] c Reference model
n_ctrl RefMod fn n_ctrl RefMod D 0 speed setpoint I component
0
0.00...8000.00 [Hz] 0.00...5.00 p1400[D].3
p1433[D] (0.00) p1434[D] (1.00) Sampling time, closed-loop speed control n_precontrol n_set I_comp
n_set
p0115[1] r1432[0] r1439
n_ctrRefMod I_comp smooth 0
RefMod n_set outp p1437 + [6040.1]
x y
Reference model r1436 (r1436)
+ 1
(y = x for the factory setting of p1433 ... p1435)

n_limit pos eff
r1084 Steady-state setpoint calculation
RFG setp at input n_prectrl PcCtrl active n_limit pos eff
r1119 p1430[C] r0807.0 r1084
n_limit neg eff (0)
n_ctrl n_set 1 1
r1087 n_set via PC
p1155[C] + + n_ctrl n_set stat
r1444
+ + 0 n_limit neg eff
n_ctrl n_set 2 + <1> p1428 only effective for p1400[D].2 = 1 or p1428 > 2.0 r1087
<2> p1429 only effective for p1400[D].2 = 1.
p1160[C]
For p1400[D].2 = 0 the following applies: p1442[D] or p1452[D] for sensorless operation is effective [6040.2].
<3> For VECTOR: For r0108.10 = 1 and p1400[D].18 = 1 the following applies: calculation of r1493 as shown in function diagram [6035].
1 2 3 4 5 6 7 8
DO: VECTOR, VECTOR3P, VECTORGL, VECTORM2C, VECTORSL fp_6031_51_eng.vsd Function diagram
- 6031 -
Vector control - Pre-control balancing, reference/acceleration model 14.05.20 V05.02.03 SINAMICS

Entry-ID: 109798225, V1.0.5, 06/2022 127
7 Appendix
7.8.47 FP 6040: Vector control - Speed controller with/without encoder
n_ctrl Kp n lower n_ctrl Tn n lower

<3> p0115[1] (Motor Modules)
0.000...999999.000 0.00...100000.00 [ms] <2>
p1460[D] (0.300) p1462[D] (20.00)
p1470[D] (0.300) p1472[D] (20.00)
<1> <1>
To Kp/Tn adaptation
Tn_n_adapt Tn_n_basic [6050.2]
From Kp/Tn adaptation [6050.7]
1 0 1 0
1 = Kp/Tn adaptation active
p1400.5
n_ctrl Tn eff
1 = Automatic Kp/Tn adaptation active r1469
<1> Dynamic reduction, field weakening
p1400.0
n_ctrl Kp eff
r1468
n_ctrl system dev n_ctrl P-M_outp
Kp Tn
r0064 Kp r1481
n_ctrl n_set Kp
r1438
n_ctr n_act T_smth + + <5>
0.00...32000.00 [ms] – +
M_max upper eff
p1442[D] (4.00)
r1538
p1452[D] (10.00)
<1> M_max lower eff Speed controller
n_ctrl n_act
r1539
p1440[C] n_act smooth Tn
r0063[0] r1445 n_ctrl I_sys dev Tn
– r1454 n_ctrl I-M_outp
r1482
+ Set [6030.1]
n_ctrl n_act inp Enable speed controller Hold Set Val
[2610.4]
from sequence control S4: Operation Speed control active
r1443
r1407.3 [2522.2]
[8012.6]
p1476 1 = Hold speed controller I component
[2520.3] r1406.4 1 = Speed controller I component frozen
n_set I_comp 1 = Set speed controller I component r1407.5
p1477
r1406.5 [2522.3]
[2520.3] n_ctrl I_val scal
Integrator control
r1439 p1479[C] 1 = Speed controller I component set
n_ctr integ_setVal
(1) r1407.6
<1> = Only for vector control without encoder. n_ctrl M_sv MHB p1478[C]
(0) [2522.3]
<2> For p1462/p1472 = 0.0 s or 100.0 s, the <4> p1475[C]
I component is disabled (integral action time = ). (0)
<3> Units Kp can be changed over via p0528. 1 = Torque limit reached
r1407.7
<5> Or input SBT test torque [2836.8] <1> 1 = Sensorless vector control freeze I component
(only if r10231.0 = 1). p1400.1
1 2 3 4 5 6 7 8
- 6040 -
Vector control - Speed controller with/without encoder 14.05.20 V05.02.03 SINAMICS

Entry-ID: 109798225, V1.0.5, 06/2022 128
7 Appendix
7.8.48 FP 6060: Vector control – Torque setpoint
M_suppl 1 0
0 p0115[1] (Motor Modules)
p1511[C]
(0)
+ 1
+ p1400.14 1 = Torque pre-control
M_suppl 1 scal [6490.7]
p1512[C]
M_suppl 2 scal
p0856 1 = Speed controller enable 1
-2000.0...2000.0 [%] r0898.12
(0) [2501.7]
p1514[D] (100.0)
M_suppl 2 Vdc_max controller active <1>
0...100.00 [ms]
p1513[C] r0056.14 <5> <2> M_suppl total
<1> p1517[D] (4.00) <1>
(0) [2526.6] r1515
M_accel unsmooth M_accel smooth
1
r1518[0] r1518[1]
0 +
Calculated accelerating torque
0 M_suppl + M_accel
M_max upper eff +
1 r1516
r1538
M_max n-ctr upScal M_n_lim
p1540[C] [6640.8]
(1) 0 M_max outp n_ctrl upper limit
+
r1547[0]
Min 1 Torque limit reached
M_max up. w/o offs + Example: (without pre-control)
r1526 0 = Quick stop
M_max up w/o offs active (OFF3) 1 r1407.15
p1552[C] M_max lower eff r0899.5
(1) r1539
Upper torque limit active
0 = Speed control active Torque control active M_lim var/fixS_src
r1407.8
p1501 1 = Torque control active r1407.2 p1551[C]
[2520.3] r1406.12 [6030.5] (1) Upper torque limit active
p1300 = M Ctr 1 M_set bef. M_suppl r1407.8
Min
n_ctrl PI-M_outp r1508 [2522.3]
M_set from speet controller r1480 [6030.1] [6722.1]
0
[6726.7] + <3> M_set
M_set r0079
+
M_max low w/o offs p1503[C] 1 [6030.1] [6710.1]
(0) M_setp setVal SLVC Torque limiting [8012.1]
p1554[C]
(1) r1617 Lower torque limit active Lower torque limit active
M_max upper eff
[6726.8] <4> Max r1407.9 r1407.9
r1538
M_max low w/o offs [2522.3]
r1527
Current/torque limiting active
M_max nctr lowScal 1 M_max outp n_ctrl lower limit r0056.13
Max
p1541[C] + r1547[1]
+ [2526.2]
(1) 0 Torque limit reached
M_max lower eff
M_n_lim 1 r1407.7
[6640.8]
r1539 [2522.3]
<1> The signal is only effective after magnetization has been completed (r0056.4 = 1). <3> M_set is also influenced by the speed limit controller.
<2> Acceleration control is inhibited for p1517 = 100 ms. <4> Only for DO: VECTOR and sensorless SESM with speed controller inhibited r1776[4] = 0. <5> Not for DO: VECTORGL.
1 2 3 4 5 6 7 8
- 6060 -
Vector control - Torque setpoint 14.05.20 V05.02.03 SINAMICS

Entry-ID: 109798225, V1.0.5, 06/2022 129
7 Appendix
7.8.49 FP 6630: Vector control - Upper/lower torque limit
p0115[1] (Motor Modules)

Upper torque limit
A <1>
<2> M_max upper 0 M_max up w/o offs [Nm]

M_max upper p1522[C] r1526 [6640.1]
-1 000 000.00...20 000 000.00 [Nm] p1520[D] (1520)
1
M p1520[D] (0.00)
M_max upper scal
2 1
n M_max up/mot scal p1528[C]
-2 000.0...2 000.0 [%] p1524[D] (1524)
p1524[D] (100.0)
Example:
0 = Quick stop active M_lim var/fixS_src

(OFF3) p1551[C]
r0899.5 (1)
Lower torque limit

<3> M_max lower
M_max lower p1523[C]
-20 000 000.00...1 000 000.00 [Nm] 1 M_max low w/o offs [Nm]
p1521[D] (1521)
M p1521[D] (0.00) r1527 [6640.1]
M_max lower scal
0
n M_max lower scal p1529[C]
3 4 -2 000.0...2 000.0 [%] p1525[D] (1525) B <1>
p1525[D] (100.0)
<1> Danger: Negative values at A or positive values at B represent a minimum torque for the other torque direction and can cause the motor to accelerate uncontrollably.
!
<2> Only for SINAMICS S120/S150:
The following applies to p0543 The minimum value from p1520 and p0543 is used for further calculation.
<3> Only for SINAMICS S120/S150:
The following applies to p0543 The minimum value from p1521 and negated p0543 is used for further calculation.
1 2 3 4 5 6 7 8
- 6630 -
Vector control - Upper/lower torque limit 14.05.20 V05.02.03 SINAMICS

Entry-ID: 109798225, V1.0.5, 06/2022 130
7 Appendix
7.8.50 FP 6710: Vector control – Current setpoint filter

Vdc_max controller active Frequency negative
r0056.14 r0056.7 p0115[0] (Motor Modules)
Iq_max <2>
Isq_max
r1536 1
1
0
Vdc_min controller active 0
r0056.15
Iq_min
Isq_min 0
r1537 1
1
p1656.0[D]
0
p1656.1[D]
0
Isq_s T_smth FW 0 Iq_set <4>
p1654[D] r0077
1
Iq_set before filt I_set_filt 1 fn_d I_set_filt 2 fn_d 1 [6714.1]
r1650 p1658[D] p1663[D] [6721.1]
M_set Interpolator and [6725.1]
I_set_filt 1D_d [6727.1]
r0079 smoothing for I_set_filt 2 D_d
+ p1659[D]
voltage limits p1664[D]
+
p1657[D]
M_suppl 3 |y| p1662[D]
p1569[C] Isq_s T_smth_min y |y|
x D
p1653[D] 1
(3841) x D y 1
fn
f 2 fn
<2> f 2
M
I/n_setp_filt f_n I/n_setp_filt f-n <2>
Iq
p1655[0] p1655[1]
<3> (1) (1)
<1> I_set_filt 1 fn_n I_set_filt 1D_n <1>
p1660[D] p1661[D] I_set_filt 2 fn_n I_set_filt 2 D_n
p1665[D] p1666[D]
|y|
|y|
x y
x y
f <1>
2nd Order filter f <1>
2nd Order filter
I_set_filt 1 fn_d I_set_filt 1 D_d

<1> The frequency is multiplied by this factor. p1658[D] p1659[D] I_set_filt 2 fn_d I_set_filt 2 D_d
<2> With p1699 = 1, the parameter settings are transferred to the controller. p1663[D] p1664[D]
<3> Only for SINAMICS S120/S150.
<4> With activated Vdc controller, r0077 shows the signal before the limitation. Filter 1 Filter 2
1 2 3 4 5 6 7 8
- 6710 -
Vector control - Current setpoint filter 27.09.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 131
7 Appendix
7.8.51 FP 6799: Vector control – display signals
n_set before filt Modulat_depth

n_set smth Mod_depth smth
r0060 r0074
100 ms r0020 100 ms r0028
n_act smooth
n_act unsmoothed r0021 Id_act
Id_act smooth
r0063[0] [6714.8] r0076
100 ms n_act rpm smooth 300 ms r0029
r0022
T_smth display Iq_act
p0045 Iq_act smooth
r0078
300 ms r0030
n_act
smoothed with p0045
r0063[1]
M
Iq M_act unsmoothed
f_outp r0080[0] [6799.5]
f_outp smooth T_smth display
r0066
100 ms r0024 p0045
Vdc_act val Vdc smooth M_act smoothed with p0045

r0070 r0026 r0080[1]
100 ms M_air_gap
n_act unsmoothed
I_act abs val unsmoothed I_act abs val smth
r0063[0]
r0068[0] r0027 P_act unsmoothed
300 ms
r0082[0] [6799.5]
T_smth display
T_smth display p0045
p0045
I_act abs val P_act smoothed with p0045

smoothed with p0045 r0082[1]
r0068[1]
Cos phi act M_act unsmoothed

r0087 M_act smooth
3 r0080[0]
100 ms r0031
P_act electric power

P_act unsmoothed P_actv_act smth
r0082[2]
r0082[0] r0032
100 ms
U_output U_outp smooth Cos phi act

Cos phi smooth
r0072 r0025 r0087
100 ms 300 ms r0038
<1> For induction motors.

<2> For synchronous motors.
<3> Only for SINAMICS S120/S150 and separately-excited synchronous motors.
1 2 3 4 5 6 7 8
- 6799 -
Vector control - Display signals 11.06.13 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 132
7 Appendix
7.8.52 FP 8005: Signals and monitoring functions - Overview
n_act smooth
r0063 <1> <2> <1> <2>
[4710] <1>
n_act unsmoothed n_act smth message
r0063 r2169
[4715] <2> [8012]
[8013]
n_max n_ctrl setp sum

r1170
[3080] <2>
n_ctrl setp sum

r1438
[5210] <1>
[8010] Speed signals 1 [8011] Speed signals 2
<1> <2>
M_set total
r0079
[5610] <1>
[6060] <2>
M_max upper eff <1> <2> <3>
Limit value monitor
r1538
[5650] <1> M_act
[6640] <2> r0080
M_max lower eff [5730] <1>
r1539 [6714] <2>
[5650] <1>
[6640] <2>
n_act smth message
n_act smth message
Motor locked r2169
r2169
[8010]
[8010] [8012] Torque signals [8013] Load monitoring
<1> Only for SERVO.

<3> Only for function module "Extended messages/monitoring" (r0108.17 = 1).
1 2 3 4 5 6 7 8
- 8005 -
Signals and monitoring functions - Overview 02.07.18 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 133
7 Appendix
p0115[1] (125.00 µs) p0115[3] (4000.00 µs)

n_limit pos eff
r1084 p0115[1] (<2>) p0115[3] (<3>)
n_limit neg eff
r1087
0 ZSW Monitor 1
n_act smooth
n r2197
r0063
r2197.6
<5> n_act smooth signal
|n_act| > n_max
0...1 000 000 [ms] r2169 ZSW Monitor 3
0
p2153 (0) F07901 r2199
"Motor overspeed" r2199.0
0.00...60 000.00 [rpm] 1
n_act unsmoothed |n_act| < p2161
p2162[D] (0.00)
r0063[0] 1 = Magnetizing
<4> completed 0
0
r0056.4 F07822
& 1 "Monitoring underspeed

threshold fallen below
n_thresh val 3 fault"
0.00...210 000.00 [rpm] Enable underspeed monitoring
p2161[D] (5.00) p0300 = 5
p2149.6 = 1
p1300 = 20 1
p1501 = 1
&
1
r0107 = 2 1 = Magnetizing completed
A07821
n_thresh val 2 r0056.4 0 "Monitoring underspeed
0
0
0.00...210 000.00 [rpm] ZSW seq_ctrl 1 threshold fallen below
p2155[D] (900.00) alarm"
<1> r0899 1 = Ready
r0899.1
0.00...300.00 [rpm]
Encoderless operation active
& 1
ZSW Monitor 1
p2150[D] (2.00)
r1407.1 & r2197
n_hysteresis 3
r2197.1
0
0 n_thresh val 1 |n_act| <= speed threshold value 2
0.00...210 000.00 [rpm]
<1> p2141[D] (5.00) ZSW Monitor 1
r2197
0.00...300.00 [rpm] 1 r2197.2
p2140[D] (90.00)
n_hysteresis 2 1 |n_act| > speed threshold value 2
T 0
ZSW Monitor 3
<1> VECTOR: Calculated. <1>
t_on cmpr val rchd r2199
<2> VECTOR: Depending on the drive unit (250 or 400 µs).
<3> VECTOR: Depending on the drive unit (1000 or 1600 µs). 0.000...300.000 [rpm] 0.0...10 000.0 [ms] r2199.1
<4> Only for VECTOR. p2142[D] (2.00) p2156[D] (0.0) f or n-comparison value reached/exceeded
<5> Only for SINAMICS S120 and SERVO. n_hysteresis 1
1 2 3 4 5 6 7 8
- 8010 -
Signals and monitoring functions - Speed signals 1 01.06.16 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 134
7 Appendix
0 p0115[3] (4000.00 µs)
p0115[3] (<3>)
n_act smooth signal n_act  0
r2169 r2197.3
<2> <1> 0
n_hysteresis 3
n_set for msg 0.00...300.00 [rpm]
p2150[D] (2.00) n_set > 0
<5> p2151[C]
<7> r1170 r2198.5
0
n_thresh val 3
0.00...210000.00 [rpm]
n_hysteresis 3 p2161[D] (5.00)
0.00...300.00 [rpm]
p2150[D] (2.00)
n_set for msg <2>
p2151[C] |n_set| < p2161
<6> r1438 r2198.4
0
n_thresh val 4
0.00...210.000 [rpm]
p2163[D] (90.00) t_del_off n_i=n_se
0.0...500.0 [ms] n_hysteresis 3
p2166[D] (200.0) 0.00...300.00 [rpm]
p2150[D] (2.00)
+
Speed setpoint actual value deviation in tolerance t_off
– 0 T
n_act 2 + 0 Torque control active 1 r2197.7
p2154[C] r1407.2 <5> <4>
1
0 <2> 1 A07903 "Motor speed deviation"
n_hysteresis 4 0 A07903 is only signaled for p2149.0 = 1 and r2197.7 = 0.
0
0.00...200.00 [rpm] t_on n_act=n_set
<1> Applies only if the function module "extended p2164[D] (2.00) 0.0...10 000.0 [ms]
signals/monitoring functions" is active (r0108.17 = 1). p2167[D] (200.0) Enable alarm A07903
<2> VECTOR: Calculated.
p2149.0[D]
<4> Evaluation only for: Speed setpoint actual value deviation in tolerance t_on
T 0
Pulse enable and operating enable (r0899.2) r2199.4
or OFF1
or OFF3 Ramp-up/ramp-down completed
RFG active SET
or rotating measurements 1 = RESET (Q=1) Q r2199.5
or friction characteristic plot. p2148[C] Priority
RESET 1 RESET
<5> Only for VECTOR. (0)
(Q=0) Q 2 SET
<6> Only for SINAMICS S120 and SERVO.
<7> The value is displayed correctly only with r0899.2 = 1
(Operation enabled).
1 2 3 4 5 6 7 8
- 8011 -
Signals and monitoring functions - Speed signals 2 11.04.12 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 135
7 Appendix
7.8.55 FP 8012: Signals and monitoring functions - Torque signals, motor blocked/stalled
0.0...1000.0 [ms] p0115[3] (4000.00 µs)

Only VECTOR
Not for U/f p2195[D] (800.0)
p0115[3] (<5>)
Ramp-up completed
0 T p1545 <2> Travel to fixed stop Motor blocked detection or motor blocked
r2199.5 1
0.00...20000000.00 [Nm] monitoring function
[2520.7] r1406.8 1
p2174 (5.13) (not for closed-loop torque control)
0.000...65.000 [s]
r1407.7
p2177 (1.000)
M_set total
Control type
r0079[0] Mot stall enab neg p1300
<2>
p2144[C]
[5610.5] Torque setpoint < p2174
(0) 1
&
M_set total
0 1 r2198.10 20
T 0
Motor blocked
r0079 [2536.3] Mot block n_thresh
r2198.6
<4> 0.00...210 000.00 [rpm]
p2175 (120.00) <20 [2536.3]
2 % of p2174 F07900
M_set total, smooth
r0079[1] x1 n_act smooth signal

[5610.5]
<2>
 y r2169
x2
M_set total
r0079 I_limit U_output act
<4> + – 1
[6060.8] 1 r0056.12 &
+ I_limit/M_limit act
M_max Offset
p1532 r0056.13
<2> [5620.7]
– 0
[2526.6]
<1> [5630.7] 0.00...100.00 [%]
M_max upper p2194 (90.00) Stall detection or stall monitoring
Only VECTOR
effective (not for U/f control and not for p0300 = 5)
r1538 0.000...10.000 [s]
<2> p0045 <3>
[Nm] Torque utilization < p2194 Speed adaptation, p2178 (0.010)
M_max upper effective
1
x1
y
[%] 1 r2199.11 speed deviation
r1538 [Nm] [2537.3] [6730.2] r1408.11 Motor stalled
<4> + x2 T 0
– 0
Motor stalled 1 r2198.7
0
M_max lower x1• 100 % r1408.12 [2536.3]
effective x2
r1539 2 % of p2194 p3237[D] F07902
p0045 M_utilization smooth
<2>
p3238[D](3.0)
M_max lower effective + 100 ms r0033
M_utilization n_diff. Mod./
r1539
<4> – r0081 n_ctrl n_act inp – Ext in tolerance
0 T
r1443 r2199.7
+
<1> The torque setpoint and the torque limits are determined by p1532 (M_max offset). As a rule, M_max offset = 0. [6040.2]
<2> Only for SINAMICS S120 with SERVO (r0107 = 11).
<3> Only for vector control with encoder. 1 F07937
<4> Only for VECTOR (r0107 = 12). p3236[D]
1 2 3 4 5 6 7 8
- 8012 -
Signals and monitoring functions - Torque signals, motor blocked/stalled 16.05.14 V05.02.03 S120/S150/G130/G150

Entry-ID: 109798225, V1.0.5, 06/2022 136

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SINAMICS DriveSim

SINAMICS DriveSim Basic

Warning notice system

Proper use of Siemens products

SINAMICS DriveSim Basic

4.1 Config parameters .............................................................................. 22

SINAMICS DriveSim Basic

5.4.3 NIST_A (rotation speed act A) ........................................................... 46

6.3.3 Examples ............................................................................................ 52

SINAMICS DriveSim Basic

7.7.8 FP 2452: PROFIdrive - ZSW1 status word interconnection

7.7.26 FP 6031: Vector control - Pre-control balancing,

SINAMICS DriveSim Basic

7.8.11 FP 2444: PROFIdrive - STW2 control word interconnection

7.8.25 FP 3001: Setpoint channel - Overview............................................. 106

SINAMICS DriveSim Basic

7.8.45 FP 6020: VECTOR control – Speed control and generation of

SINAMICS DriveSim Basic

1 Fundamental safety instructions

1.2 Warranty and liability for application examples

1.3 Security information

SINAMICS DriveSim Basic

SINAMICS DriveSim Basic

functionalities via a parameter or to activate internal feedback without a dedicated user

SINAMICS DriveSim Basic

SINAMICS DriveSim Basic PD-Signals

Figure 3-1 model structure

SINAMICS DriveSim Basic

• implements the reference model (SERVO: FP5030 refer 7.8.36; VECTOR: FP

SINAMICS DriveSim Basic

3.2 Feature set

3.2.2 Sequence control

SINAMICS DriveSim Basic

p0857 p0862 POWER ON <1> Fault 2000.00 µs

"0 = Coast down" (STWA.01) <5> S5b: Quick stop

Figure 3-2 Sequence control, function plan 2610

3.2.3 Setpoint channel

The is implemented according to the function diagram FP3090.

DSC_STW RFG selection RFG n_set at outp p0115[1]

<1> Only for SERVO.

Figure 3-3 Setpoint channel – Overview, function plan 3001

SINAMICS DriveSim Basic

3.2.4 Dynamic servo control (DSC)

(e.g. SINUMERIK, SIMOTION) Control Unit <101>

Figure 3-4 Dynamic Servo Control (DSC), function plan FP 3090

SINAMICS DriveSim Basic

3.2.5 Encoder Evaluation

ϑ from encoder n [8016.1] <11>

SINAMICS DriveSim Basic

3.2.6 Speed control

Figure 3-6 Speed controller with encoder, function plan 5040

SINAMICS DriveSim Basic

3.2.7 Current setpoint filter

I before setpoint filter M2Iq torque factor

p1656[D].0 p1656[D].1 p1656[D].2 p1656[D].3

p1657[D] p1662[D] p1667[D] p1672[D]

|y| |y| |y| |y|

fn_n D_n fn_n D_n fn_n D_n fn_n D_n

|y| |y| |y| |y|

fn_d D_d fn_d D_d fn_d D_d fn_d D_d

Filter 1 Filter 2 Filter 3 Filter 4

Figure 3-7 Current setpoint filter 1 ..4, function plan 5710

3.2.8 Closed current control loop