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SINAMICS/SIMOTICS
SINAMICS V90, SIMOTICS S-1FL6
Getting Started
PROFINET (PN) interface
12/2018
A5E37208904
-006
Fundamental safety
instructions
1
General information
2
Mounting
3
Connecting
4
Commissioning
5
PROFINET communication
6
Parameters
7
Diagnostics
8
A5E37208904-006
Ⓟ
11/2018 Subject to change
Copyright © Siemens AG 2016 - 2018.
All rights reserved
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by
personnel qualified
for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 3
Table of contents
1 Fundamental safety instructions ................................................................................................................ 5
1.1 General safety instructions ....................................................................................................... 5
1.2 Equipment damage due to electric fields or electrostatic discharge
Error! Bookmark not defined.
1.3 Warranty and liability for application examples ...................................................................... 11
1.4 Industrial security .................................................................................................................... 12
1.5 Residual risks of power drive systems .................................................................................... 13
2 General information ................................................................................................................................. 14
2.1 Scope of delivery .................................................................................................................... 14
2.1.1 Drive components ................................................................................................................... 14
2.1.2 Motor components .................................................................................................................. 19
2.2 Device combination ................................................................................................................. 23
2.3 Accessories ............................................................................................................................. 26
2.4 Function list ............................................................................................................................. 28
2.5 Technical data ......................................................................................................................... 28
2.5.1 Technical data - servo drives .................................................................................................. 28
2.5.2 Technical data - servo motors ................................................................................................ 31
2.5.3 Address of CE-authorized manufacturer ................................................................................ 35
3 Mounting .................................................................................................................................................. 36
3.1 Mounting the drive .................................................................................................................. 36
3.2 Mounting the motor ................................................................................................................. 43
4 Connecting .............................................................................................................................................. 51
4.1 System connection .................................................................................................................. 51
4.2 Main circuit wiring ................................................................................................................... 58
4.2.1 Line supply - L1, L2, L3 .......................................................................................................... 58
4.2.2 Motor power - U, V, W ............................................................................................................ 60
4.3 Control/Status interface - X8 ................................................................................................... 62
4.3.1 Interface definition ................................................................................................................... 62
4.3.2 Standard wiring ....................................................................................................................... 63
4.4 24 V power supply/STO .......................................................................................................... 65
4.5 Encoder interface - X9 ............................................................................................................ 66
4.6 External braking resistor - DCP, R1 ........................................................................................ 70
4.7 Motor holding brake ................................................................................................................ 71
4.8 PROFINET interface - X150 ................................................................................................... 71
5 Commissioning ........................................................................................................................................ 73
Table of contents
SINAMICS V90, SIMOTICS S-1FL6
4 Getting Started, 12/2018, A5E37208904-006
5.1 Introduction to the BOP .......................................................................................................... 75
5.2 Initial commissioning in JOG mode ........................................................................................ 81
5.3 Commissioning in basic positioner control mode (EPOS) ..................................................... 83
5.4 Commissioning in speed control mode (S) ............................................................................ 84
5.5 Commissioning control functions ........................................................................................... 85
5.5.1 Speed limit ............................................................................................................................. 85
5.5.2 Torque limit ............................................................................................................................ 86
5.5.3 EJOG ..................................................................................................................................... 88
6 PROFINET communication ...................................................................................................................... 90
6.1 Supported telegrams .............................................................................................................. 90
6.2 I/O data signals ...................................................................................................................... 92
6.3 Control word definition ........................................................................................................... 94
6.3.1 STW1 control word (for telegrams 1, 2, 3, 5) ......................................................................... 94
6.3.2 STW2 control word (for telegrams 2, 3, 5) ............................................................................. 95
6.3.3 STW1 control word (for telegrams 102, 105) ......................................................................... 96
6.3.4 STW2 control word (for telegrams 102, 105) ......................................................................... 97
6.3.5 STW1 control word (for telegrams 7, 9, 110, 111) ................................................................. 97
6.3.6 STW2 control word (for telegrams 9, 110, 111) ..................................................................... 98
6.3.7 G1_STW encoder 1 control word ........................................................................................... 99
6.3.8 SATZANW control word ......................................................................................................... 99
6.3.9 MDI_MOD control word ........................................................................................................ 100
6.3.10 POS_STW control word ....................................................................................................... 101
6.3.11 POS_STW1 positioning control word ................................................................................... 101
6.3.12 POS_STW2 positioning control word ................................................................................... 102
6.4 Status word definition ........................................................................................................... 103
6.4.1 ZSW1 status word (for telegrams 1, 2, 3, 5) ........................................................................ 103
6.4.2 ZSW2 status word (for telegrams 2, 3, 5) ............................................................................ 103
6.4.3 ZSW1 status word (for telegrams 102, 105) ........................................................................ 104
6.4.4 ZSW2 status word (for telegrams 102, 105) ........................................................................ 104
6.4.5 ZSW1 status word (for telegrams 7, 9, 110, 111) ................................................................ 105
6.4.6 ZSW2 status word (for telegrams 9, 110, 111) .................................................................... 105
6.4.7 G1_ZSW encoder 1 status word .......................................................................................... 106
6.4.8 MELDW status word ............................................................................................................ 107
6.4.9 POS_ZSW1 positioning status word .................................................................................... 107
6.4.10 POS_ZSW2 positioning status word .................................................................................... 108
6.5 PROFINET communication .................................................................................................. 108
7 Parameters ............................................................................................................................................ 109
7.1 Overview .............................................................................................................................. 109
7.2 Parameter list ....................................................................................................................... 110
8 Diagnostics ............................................................................................................................................ 143
8.1 Overview .............................................................................................................................. 143
8.2 List of faults and alarms ....................................................................................................... 146
Index ...................................................................................................................................................... 150
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 5
Fundamental safety instructions
1
1.1
General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
• Only work on electrical devices when you are qualified for this job.
• Always observe the country-specific safety rules.
Generally, the following six steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any
of the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse
sequence.
WARNING
Risk of electric shock and fire from supply networks with an excessively high impedance
Excessively low short-circuit currents can lead to the protective devices not tripping or
tripping too late, and thus causing electric shock or a fire.
• In the case of a conductor-conductor or conductor-ground short-circuit, ensure that the
short-circuit current at the point where the inverter is connected to the line supply at
least meets the minimum requirements for the response of the protective device used.
• You must use an additional residual-current device (RCD) if a conductor-ground short
circuit does not reach the short-circuit current required for the protective device to
respond. The required short-circuit current can be too low, especially for TT supply
systems.
Fundamental safety instructions
1.1 General safety instructions
SINAMICS V90, SIMOTICS S-1FL6
6 Getting Started, 12/2018, A5E37208904-006
WARNING
Risk of electric shock and fire from supply networks with an excessively low impedance
Excessively high short-circuit currents can lead to the protective devices not being able to
interrupt these short-circuit currents and being destroyed, and thus causing electric shock
or a fire.
• Ensure that the prospective short-circuit current at the line terminal of the inverter does
not exceed the breaking capacity (SCCR or Icc) of the protective device used.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage that might result in serious injury or death.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.
WARNING
Electric shock due to damaged motors or devices
Improper handling of motors or devices can damage them.
Hazardous voltages can be present at the enclosure or at exposed components on
damaged motors or devices.
• Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
• Do not use any damaged motors or devices.
WARNING
Electric shock due to unconnected cable shields
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
• As a minimum, connect cable shields and the cores of cables that are not used at one
end at the grounded housing potential.
Fundamental safety instructions
1.1 General safety instructions
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 7
WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
• Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.
WARNING
Electric shock due to residual charges in power components
Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the
power supply has been switched off. Contact with live parts can result in death or serious
injury.
• Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.
NOTICE
Property damage due to loose power connections
Insufficient tightening torques or vibration can result in loose power connections. This can
result in damage due to fire, device defects or malfunctions.
• Tighten all power connections to the prescribed torque.
• Check all power connections at regular intervals, particularly after equipment has been
transported.
WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire and smoke. This can result in serious personal injury or property damage.
• Install built-in units in a suitable metal cabinet in such a way that personnel are
protected against fire and smoke, or take other appropriate measures to protect
personnel.
• Ensure that smoke can only escape via controlled and monitored paths.
WARNING
Active implant malfunctions due to electromagnetic fields
Inverters generate electromagnetic fields (EMF) in operation. People with active implants in
the immediate vicinity of this equipment are at particular risk.
• As the operator of an EMF-emitting installation, assess the individual risks of persons
with active implants. The following clearances are usually adequate:
– No clearance to closed control cabinets and shielded MOTION-CONNECT supply
cables
– Forearm length (approx. 35 cm clearance) to distributed drive systems and open
control cabinets
Fundamental safety instructions
1.1 General safety instructions
SINAMICS V90, SIMOTICS S-1FL6
8 Getting Started, 12/2018, A5E37208904-006
WARNING
Active implant malfunctions due to permanent-magnet fields
Even when switched off, electric motors with permanent magnets represent a potential risk
for persons with heart pacemakers or implants if they are close to converters/motors.
• If you have a heart pacemaker or implant, maintain a minimum distance of 2 m.
• When transporting or storing permanent-magnet motors always use the original packing
materials with the warning labels attached.
• Clearly mark the storage locations with the appropriate warning labels.
• IATA regulations must be observed when transported by air.
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
When radio devices or mobile phones with a transmission power > 1 W are used in the
immediate vicinity of components, they may cause the equipment to malfunction.
Malfunctions may impair the functional safety of machines and can therefore put people in
danger or lead to property damage.
• If you come closer than around 2 m to such components, switch off any radios or mobile
phones.
• Use the "SIEMENS Industry Online Support app" only on equipment that has already
been switched off.
NOTICE
Damage to motor insulation due to excessive voltages
When operated on systems with grounded line conductor or in the event of a ground fault in
the IT system, the motor insulation can be damaged by the higher voltage to ground. If you
use motors that have insulation that is not designed for operation with grounded line
conductors, you must perform the following measures:
• IT system: Use a ground fault monitor and eliminate the fault as quickly as possible.
• TN or TT systems with grounded line conductor: Use an isolating transformer on the line
side.
WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in
increased downtime and reduced service lives for devices/systems.
• Ensure compliance with the specified minimum clearance as ventilation clearance for
the respective component.
Fundamental safety instructions
1.1 General safety instructions
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 9
WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
• Check that the warning labels are complete based on the documentation.
• Attach any missing warning labels to the components, where necessary in the national
language.
• Replace illegible warning labels.
NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
• Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.
WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
• Observe the information in the appropriate product documentation before
commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.
Note
Important safety notices for Safety Integrated functions
If you want to use Safety
Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
• Protect the parameterization (parameter assignments) against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
Fundamental safety instructions
1.1 General safety instructions
SINAMICS V90, SIMOTICS S-1FL6
10 Getting Started, 12/2018, A5E37208904-006
WARNING
Injury caused by moving or ejected parts
Contact with moving motor parts or drive output elements and the ejection of loose motor
parts (e.g. feather keys) out of the motor enclosure can result in severe injury or death.
• Remove any loose parts or secure them so that they cannot be flung out.
• Do not touch any moving parts.
• Safeguard all moving parts using the appropriate safety guards.
WARNING
Fire due to inadequate cooling
Inadequate cooling can cause the motor to overheat, resulting in death or severe injury as a
result of smoke and fire. This can also result in increased failures and reduced service lives
of motors.
• Comply with the specified cooling requirements for the motor.
WARNING
Fire due to incorrect operation of the motor
When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire
and smoke. This can result in severe injury or death. Further, excessively high
temperatures destroy motor components and result in increased failures as well as shorter
service lives of motors.
• Operate the motor according to the relevant specifications.
• Only operate the motors in conjunction with effective temperature monitoring.
• Immediately switch off the motor if excessively high temperatures occur.
CAUTION
Burn injuries caused by hot surfaces
In operation, the motor can reach high temperatures, which can cause burns if touched.
• Mount the motor so that it is not accessible in operation.
Measures when maintenance is required:
• Allow the motor to cool down before starting any work.
• Use the appropriate personnel protection equipment, e.g. gloves.
Fundamental safety instructions
1.2 Equipment damage due to electric fields or electrostatic discharge
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 11
1.2
Equipment damage due to electric fields or electrostatic discharge
Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.
NOTICE
Equipment damage due to electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged
individual components, integrated circuits, modules or devices.
• Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of
aluminum foil.
• Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
• Only place electronic components, modules or devices on conductive surfaces (table
with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).
1.3
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.
Fundamental safety instructions
1.4 Industrial security
SINAMICS V90, SIMOTICS S-1FL6
12 Getting Started, 12/2018, A5E37208904-006
1.4
Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that supp
ort the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement
– and continuously maintain – a holistic, state-of-the-art industrial
securit
y concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be
connecte
d to an enterprise network or the Internet if and to the extent such a connection is
necessary and only when appropriate security measures (e.g. firewalls and/or network
segmentation) are in place.
For additional information on industrial security measure
s that may be implemented, please
visit:
Industrial security (
http://www.siemens.com/industrialsecurity)
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customer’s e
xposure
to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (
http://www.siemens.com/industrialsecurity)
Further information is provided on the Internet:
Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe
operating states in your system that may lead to death, serious injury, and property
damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security
concept.
• Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
• Protect the drive against unauthorized changes by activating the "know-how protection"
drive function.
Fundamental safety instructions
1.5 Residual risks of power drive systems
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 13
1.5
Residual risks of power drive systems
When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer
must take into account the following residual risks emanating from the control and drive
components of a drive system:
1. Unintentional movements of driven machine or system components during
commissioning, operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
– External influences/damage
– X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component failure
– Software errors
– Operation and/or environmental conditions outside the specification
– External influences/damage
3. Hazardous shock voltages caused by, for example:
– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a
risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too
close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters
or data communication via the network
For more information about the residual risks of the drive system components, see the
relevant sections in the technical user documentation.
SINAMICS V90, SIMOTICS S-1FL6
14 Getting Started, 12/2018, A5E37208904-006
General information
2
The SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN)
are available in two variants, 400 V variant and 200 V variant.
The 200 V variant is available in four frame sizes: FSA, FSB, FSC, and FSD. Frame sizes A,
B, and C are used on the single phase or three phase power network while frame size D is
used on the three phase power network only.
The 400 V variant is available in four frame sizes: FSAA, FSA, FSB, and FSC. All the frame
sizes are used on three phase power network only.
2.1
Scope of delivery
2.1.1
Drive components
Components in the SINAMICS V90 PN 200 V variant drive package
Component
Illustration
Rated pow-
er (kW)
Outline dimension
(Width x Height x
Depth, mm)
Frame size
Article number
SINAMICS V90 PN,
single/three-phase,
200 V
0.1/0.2 45 x 170 x 170 FSA
6SL3210-5FB10-1UF2
6SL3210-5FB10-2UF2
0.4
55 x 170 x 170
FSB
6SL3210-5FB10-4UF1
0.75
80 x 170 x 195
FSC
6SL3210-5FB10-8UF0
SINAMICS V90 PN,
three-phase, 200 V
1.0/1.5/2.0 95 x 170 x 195 FSD
6SL3210-5FB11-0UF1
6SL3210-5FB11-5UF0
6SL3210-5FB12-0UF0
Connectors For FSA and FSB
For FSC and FSD
Shielding plate
For FSA and FSB
For FSC and FSD
User documentation Information Guide English-Chinese bilingual version
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 15
Components in the SINAMICS V90 PN 400 V variant drive package
Component
Illustration
Rated pow-
er (kW)
Outline dimension
(Width x Height x
Depth, mm)
Frame size
Article number
SINAMICS V90 PN,
three-phase, 400 V
0.4
60 x 180 x 200
FSAA
6SL3210-5FE10-4UF0
0.75/1.0 80 x 180 x 200 FSA 6SL3210-5FE10-8UF0
6SL3210-5FE11-0UF0
1.5/2.0 100 x 180 x 220 FSB
6SL3210-5FE11-5UF0
6SL3210-5FE12-0UF0
3.5/5.0/7.0 140 x 260 x 240 FSC
6SL3210-5FE13-5UF0
6SL3210-5FE15-0UF0
6SL3210-5FE17-0UF0
Connectors For FSAA
For FSA
For FSB and FSC
Shielding plate
For FSAA and FSA
For FSB and FSC
User documentation
Information Guide
English-Chinese bilingual version
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
16 Getting Started, 12/2018, A5E37208904-006
Drive rating plate (example)
①
Drive name
⑦
Part number
②
Power input
⑧
Pollution degree and overvoltage crit
e-
ria
③
Power output
⑨
QR code
④
Rated motor power
⑩
Product serial number
⑤
Article number
⑪
Rated short
-circuit current
⑥
MAC address
⑫
Copper wire
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 17
Article number explanation (example)
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
18 Getting Started, 12/2018, A5E37208904-006
Serial number explanation (example)
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 19
2.1.2
Motor components
Components in the SIMOTICS S-1FL6 low inertia motor package
Component
Illustration
Rated power (kW)
Shaft height (mm)
Article number
SIMOTICS S-1FL6,
low inertia
0.05/0.1 20
1FL6022-2AF21-1❑❑1
1FL6024-2AF21-1❑❑1
0.2/0.4 30
1FL6032-2AF21-1❑❑1
1FL6034-2AF21-1❑❑1
0.75/1.0 40
1FL6042-2AF21-1❑❑1
1FL6044-2AF21-1❑❑1
1.5/2.0 50
1FL6052-2AF21-0❑❑1
1FL6054-2AF21-0❑❑1
1.5/2.0 50
1FL6052-2AF21-2❑❑1
1FL6054-2AF21-2❑❑1
User documentation
SIMOTICS S-1FL6 Servo Motors Installation Guide
Note: For the SH50 motors with a multi-turn absolute encoder, only angular connector version is available.
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
20 Getting Started, 12/2018, A5E37208904-006
Components in the SIMOTICS S-1FL6 high inertia motor package
Component
Illustration
Rated power
(kW)
Shaft height
(mm)
Article number
SIMOTICS S-
1FL6, high
inertia
0.4/0.75 45
1FL6042-1AF61-
❑
❑❑1
1FL6044-1AF61-
❑ ❑❑1
0.75/1.0/1.5/1.7
5/2.0
65
1FL6061-1AC61-
❑
❑❑1
1FL6062-1AC61-
❑ ❑❑1
1FL6064-1AC61-
❑
❑❑1
1FL6066-1AC61-
❑
❑❑1
1FL6067-1AC61-
❑
❑❑1
2.5/3.5/5.0/7.0 90
1FL6090-1AC61-
❑
❑❑1
1FL6092-1AC61-
❑
❑❑1
1FL6094-1AC61-
❑
❑❑1
1FL6096-1AC61-
❑
❑❑1
Straight connectors with a fixed outlet direction 0
Angular connectors with a flexible outlet direction 2
User docu-
mentation
SIMOTICS S-1FL6 Servo Motors Installation Guide
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 21
Motor rating plate (example)
①
Motor type
⑩
Degree of protection
②
Article number
⑪
Motor operating mode
③
Serial number
⑫
Stall current
④
Rated torque
⑬
Rated current
⑤
Stall torque
⑭
Holding brake
⑥
Rated voltage
⑮
Motor ID
⑦
Rated power
⑯
Weight
⑧
Encoder type and resolution
⑰
Maximum speed
⑨
Thermal class
⑱
Rated speed
General information
2.1 Scope of delivery
SINAMICS V90, SIMOTICS S-1FL6
22 Getting Started, 12/2018, A5E37208904-006
Article number explanation
General information
2.2 Device combination
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 23
2.2
Device combination
V90 PN 200 V servo system
SIMOTICS S-1FL6 low inertia servo motors
SINAMICS V90 PN
200 V servo drives
MOTION-CONNECT 300 pre-assembled
cables
Power cable
Brake cable
Encoder cable
Rated
torque
(Nm)
Rated
power
(kW)
Rated
speed
(rpm)
Shaft
height
(mm)
Article No. 1FL60
Article No.
6SL3210-5
Frame
size
Article No.
6FX3002-5
Article No.
6FX3002-5
Article No.
6FX3002-2
0.16
0.05
3000
20
22-2AF21-1
❑
❑1
FB10-1UF2 FSA CK01-.... BK02-.... ❑❑ 20-....
0.32
0.1
3000
24-2AF21-1
❑
❑1
0.64
0.2
3000
30
32-2AF21-1
❑
❑1
FB10-2UF2
1.27 0.4 3000 34-2AF21-1 ❑ ❑1 FB10-4UF1 FSB
2.39
0.75
3000
40
42-2AF21-1
❑
❑1
FB10-8UF0
FSC
3.18 1 3000 44-2AF21-1 ❑ ❑1 FB11-0UF1 FSD
4.78
1.5
3000
50
52-2AF21-0
1)
❑
❑1
FB11-5UF0
CK31-.... BL02-.... ❑❑ 10-....
6.37
2
3000
54-2AF21-0
1)
❑
❑1
FB12-0UF0
4.78
1.5
3000
50
52-2AF21-2
2)
❑
❑1
FB11-5UF0
CK32-.... BL03-.... ❑❑ 12-....
6.37
2
3000
54-2AF21-2
2)
❑
❑1
FB12-0UF0
Incremental encoder TTL 2500 ppr A Incremental encoder TTL
2500 ppr
CT
Absolute encoder single-turn 21-bit M Absolute encoder single-
turn 21-bit
DB
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit +
12-bit multi-turn
Cable length
3)
3 m
1AD0
5 m
1AF0
10 m
1BA0
20 m
1CA0
1) Low inertia motor with straight connectors
2) Low inertia motor with angular connectors
3) The last four numbers in the cable article number (....)
General information
2.2 Device combination
SINAMICS V90, SIMOTICS S-1FL6
24 Getting Started, 12/2018, A5E37208904-006
V90 PN 400 V servo system
SIMOTICS S-1FL6 high inertia servo motors with straight
connectors
SINAMICS V90 PN
400 V servo drives
MOTION-CONNECT 300 pre-
assembled cables
Power cable
Brake cable
Encoder
cable
Rated
torque
(Nm)
Rated
power
(kW)
Rated
speed
(rpm)
Shaft
height
(mm)
Article No. 1FL60
Article No.
6SL3210-5
Frame
size
Article No.
6FX3002-5
Article No.
6FX3002-5
Article No.
6FX3002-2
1.27
0.4
3000
45
42-1AF61-0
❑
❑1
FE10-4UF0
FSAA
CL01-.... BL02-.... ❑❑ 10-....
2.39
0.75
3000
44-1AF61-0
❑
❑1
FE10-8UF0
FSA
3.58
0.75
2000
65
61-1AC61-0
❑
❑1
FE11-0UF0
4.78 1.0 2000 62-1AC61-0 ❑ ❑1
7.16
1.5
2000
64-1AC61-0
❑
❑1
FE11-5UF0 FSB CL11-....
8.36
1.75
2000
66-1AC61-0
❑
❑1
9.55
2.0
2000
67-1AC61-0
❑
❑1
FE12-0UF0
11.9
2.5
2000
90
90-1AC61-0
❑
❑1
16.7
3.5
2000
92-1AC61-0
❑
❑1
FE13-5UF0
FSC
23.9
5.0
2000
94-1AC61-0
❑
❑1
FE15-0UF0
33.4
7.0
2000
96-1AC61-0
❑
❑1
FE17-0UF0
Incremental encoder TTL 2500 ppr A Incremental encoder TTL
2500 ppr
CT
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-
bit +
12-bit multi-turn
DB
Cable length
1)
3 m
1AD0
5 m
1AF0
7 m
1AH0
10 m
1BA0
15 m
1BF0
20 m
1CA0
1) The last four numbers in the cable article number (....)
General information
2.2 Device combination
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 25
SIMOTICS S-1FL6 high inertia servo motors with angular
connectors
SINAMICS V90 PN
400 V servo drives
MOTION-CONNECT 300 pre-assembled
cables
Power cable
Brake cable
Encoder cable
Rated
torque
(Nm)
Rated
power
(kW)
Rated
speed
(rpm)
Shaft
height
(mm)
Article No. 1FL60
Article No.
6SL3210-5
Frame
size
Article No.
6FX3002-5
Article No.
6FX3002-5
Article No.
6FX3002-2
1.27
0.4
3000
45
42-1AF61-2
❑
❑1
FE10-4UF0
FSAA
CL02-.... BL03-.... ❑❑❑
❑
-....
2.39
0.75
3000
44-1AF61-2
❑
❑1
FE10-8UF0
FSA
3.58
0.75
2000
65
61-1AC61-2
❑
❑1
FE11-0UF0
4.78 1.0 2000 62-1AC61-2 ❑ ❑1
7.16
1.5
2000
64-1AC61-2
❑
❑1
FE11-5UF0 FSB CL12-....
8.36
1.75
2000
66-1AC61-2
❑
❑1
9.55
2.0
2000
67-1AC61-2
❑
❑1
FE12-0UF0
11.9
2.5
2000
90
90-1AC61-2
❑
❑1
16.7
3.5
2000
92-1AC61-2
❑
❑1
FE13-5UF0
FSC
23.9
5.0
2000
94-1AC61-2
❑
❑1
FE15-0UF0
33.4
7.0
2000
96-1AC61-2
❑
❑1
FE17-0UF0
Incremental encoder TTL 2500 ppr A Incremental encoder TTL
2500 ppr
CT12
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit +
12-bit multi-turn
DB10
Cable length
1)
3 m
1AD0
5 m
1AF0
7 m
1AH0
10 m
1BA0
15 m
1BF0
20 m
1CA0
1) The last four numbers in the cable article number (....)
Note
You can select a SINAMICS V90 PN servo drive for all the SIMOT
ICS S-1FL6 servo motors
whose rated power values are equal to or smaller than that specified as matching with this
servo drive in the table above.
Note
Check the motor ID in the drive (p29000) and make sure that the value is that specified on
the rati
ng plate of the connected motor, especially when the drive is working with a motor
whose rated power value is lower than that of this drive.
General information
2.3 Accessories
SINAMICS V90, SIMOTICS S-1FL6
26 Getting Started, 12/2018, A5E37208904-006
2.3
Accessories
Fuse/Type-E combination motor controller
A fuse/type-E combination motor controller/circuit breaker can be used to protect the system.
Integral solid state short circuit protection does not provide branch circuit protection. Branch
circuit protection must be provided in accordance with the National Electrical Code and any
additional local codes. Refer to the following table for the selection of fuses, type-E
combination motor controllers, and circuit breakers:
SINAMICS V90 PN 200 V variant
SINAMICS V90 PN
Recommended fuse
Type-E combination motor controller 1)
Frame
size
Rated power
(kW)
CE-compliant
UL/cUL-
compliant listed
(JDDZ) fuse
Rated current
(A)
Rated voltage
(VAC)
Rated
power
(hp)
Article number
1-phase, 200 VAC to 240 VAC
FSA
0.1
3NA3 801 (6 A)
6 A
2.8 to 4
230/240
1/3
3RV 2011-1EA10
0.2 3NA3 801 (6 A) 6 A 2.8 to 4 230/240 1/3 3RV 2011-1EA10
FSB
0.4
3NA3 803 (10 A)
10 A
5.5 to 8
230/240
1
3RV 2011-1HA10
FSC 0.75 3NA3 805 (16 A) 20 A 9 to 12.5 230/240 2 3RV 2011-1KA10
3-phase, 200 VAC to 240 VAC
FSA
0.1
3NA3 801 (6 A)
6 A
2.8 to 4
230/240
3/4
3RV 2011-1EA10
0.2
3NA3 801 (6 A)
6 A
2.8 to 4
230/240
3/4
3RV 2011-1EA10
FSB
0.4
3NA3 803 (10 A)
10 A
2.8 to 4
230/240
3/4
3RV 2011-1EA10
FSC
0.75
3NA3 805 (16 A)
20 A
5.5 to 8
230/240
2
3RV 2011-1HA10
FSD
1.0
3NA3 805 (16 A)
20 A
7 to 10
230/240
3
3RV 2011-1JA10
1.5
3NA3 810 (25 A)
25 A
10 to 16
230/240
5
3RV 2011-4AA10
2.0
3NA3 810 (25 A)
25 A
10 to 16
230/240
5
3RV 2011-4AA10
1) The above types for type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards.
SINAMICS V90 PN 400 V variant
SINAMICS V90 PN
Recommended fuse type
Type-E combination motor controller 1)
Frame
size
Rated power
(kW)
CE-compliant
UL/cUL-
compliant listed
(JDDZ) fuse
Rated current
(A)
Rated voltage
(VAC)
Rated
power
(hp)
Article number
3-phase, 380 VAC to 480 VAC
FSAA
0.4
3NA3 801-6 (6 A)
10 A
2.2 to 3.2
380/480
0.5
3RV 2021-1DA10
FSA
0.75
3NA3 801-6 (6 A)
10 A
2.8 to 4
380/480
1
3RV 2021-1EA10
1.0
3NA3 803-6 (10 A)
10 A
3.5 to 5
380/480
1.34
3RV 2021-1FA10
FSB
1.5
3NA3 803-6 (10 A)
15 A
5.5 to 8
380/480
2
3RV 2021-1HA10
2.0
3NA3 805-6 (16 A)
15 A
11 to 16
380/480
2.68
3RV 2021-4AA10
FSC
3.5
3NA3 807-6 (20 A)
25 A
14 to 20
380/480
4.7
3RV 2021-4BA10
5.0
3NA3 807-6 (20 A)
25 A
14 to 20
380/480
6.7
3RV 2021-4BA10
7.0 3NA3 810-6 (25 A) 25 A 20 to 25 380/480 9.4 3RV 2021-4DA10
1) The above types for Type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards.
General information
2.3 Accessories
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 27
For more information about the accessories, refer to SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions.
WARNING
Requirements for United States/Canadian installations (UL/cUL)
Suitable for use on a circuit capable of delivering not more than 65000 rms Symmetrical
Amperes, 480 VAC maximum for 400 V variants of drives or 240 VAC maximum for 200 V
variant drives, when protected by UL/cUL listed (JDDZ) fuse or type E combination motor
controller. For each frame size AA, A, B, C and D, use 75 °C copper wire only.
This equipment is capable of providing internal motor overload protection according to
UL508C.
For Canadian (cUL) installations the drive mains supply must be fitted with any external
recommended suppressor with the following features:
• Surge-protective devices; device shall be a Listed Surge-protective device (Category
code VZCA and VZCA7)
• Rated nominal voltage 480/277 VAC, 50/60 Hz, 3-phase
• Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 VAC, SCCR = 65 kA
• Suitable for Type 2 SPD application
• Clamping shall be provided between phases and also between phase and ground
Product maintenance
The components are subject to continuous further development within the scope of product
maintenance (improvements to robustness, discontinuations of components, etc).
These further developments are "spare parts-compatible" and do not change the article
number.
In the scope of such spare parts-compatible further developments, connector positions are
sometimes changed slightly. This does not cause any problems with proper use of the
components. Please take this fact into consideration in special installation situations (e.g.
allow sufficient clearance for the cable length).
Use of third-party products
This document contains recommendations relating to third-party products. Siemens accepts
the fundamental suitability of these third-party products.
You can use equivalent products from other manufacturers.
Siemens does not accept any warranty for the properties of third-party products.
Recycling and disposal
For environmentally-friendly recycling and disposal of your old device, please contact a
company certified for the disposal of waste electrical and electronic equipment, and dispose
of the old device as prescribed in the respective country of use.
General information
2.4 Function list
SINAMICS V90, SIMOTICS S-1FL6
28 Getting Started, 12/2018, A5E37208904-006
2.4
Function list
Function
Description
Control mode
Basic positioner (EPOS)
Positions axes in absolute/relative terms with a motor encoder
EPOS
Speed control (S) Flexibly controls motor speed and direction through
PROFINET communication port
S
Safe Torque Off (STO) Safely disconnects torque-generating motor power supply to
prevent an unintentional motor restart
EPOS, S
One-button auto tuning Estimates the machine characteristic and sets the closed loop
control parameters (speed loop gain, speed integral compen-
sation, filter if necessary, etc.) without any user intervention
EPOS, S
Real-time auto tuning Estimates the machine characteristic and sets the closed loop
control parameters (speed loop gain, speed integral compen-
sation, filter if necessary, etc.) continuously in real time without
any user intervention
EPOS, S
Resonance suppression Suppresses the mechanical resonance, such as workpiece
vibration and base shake
EPOS, S
Low frequency vibration suppres-
sion
Suppresses the low frequency vibration in the machine system EPOS
Speed limit Limits motor speed through internal speed limit commands
(two groups)
EPOS, S
Torque limit Limits motor torque through internal torque limit commands
(two groups)
EPOS, S
Basic operator panel (BOP)
Displays servo status on a 6-digit 7-segment LED display
EPOS, S
External braking resistor - DCP, R1 An external braking resistor can be used when the internal
braking resistor is insufficient for regenerative energy
EPOS, S
Digital inputs/outputs (DIs/Dos) Control signals and status signals can be assigned to four
programmable digital inputs and two digital outputs
EPOS, S
PROFINET communication Supports communication between the SINAMICS V90 PN
servo drive and PLC with PROFINET communication protocol
EPOS, S
SINAMICS V-ASSISTANT You can perform parameter settings, test operation, adjust-
ment and other operations with a PC
EPOS, S
2.5
Technical data
2.5.1
Technical data - servo drives
General technical data
Parameter
Description
24 VDC power
supply
Voltage (V)
24 (-15% to +20%)
1)
Maximum current (A) When using a motor without a brake: 1.5 A
When using a motor with a brake: 1.5 A + motor holding brake rated current
(See Section "Technical data - servo motors (Page 31)".)
Ripple caused by the
rectifier
5%
Safety insulation class
PELV
General information
2.5 Technical data
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 29
Parameter
Description
Overload capability
300%
Control system Servo control
Dynamic brake
Built-in
Protective functions Earthing fault protection, output short-circuit protection 2), overvolt-
age/undervoltage protection 3), I2t inverter,I2t motor, IGBT overtemperature
protection
4)
Overvoltage criteria
Category III
Speed control
mode
Speed control range
Internal speed command 1:5000
Torque limit
Set through a parameter
Environmental
conditions
Surrounding
air tempera-
ture
Operation
0 °C to 45 °C: without power derating
45 °C to 55 °C: with power derating
Storage
-40 °C to +70 °C
Ambient
humidity
Operation
< 90% (non-condensing)
Storage
90% (non-condensing)
Operating environment Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil
gas, or dust
Altitude
≤ 1000 m (without power derating)
Degree of protection
IP 20
Degree of pollution
Class 2
Vibration Operation Shock Operational area II
Peak acceleration: 5 g, 30 ms and 15 g, 11 ms
Quantity of shocks: 3 per direction × 6 directions
Duration of shock: 1 s
Vibration Operational area II
10 Hz to 58 Hz: 0.075 mm deflection
58 Hz to 200 Hz: 1 g vibration
Product
packaging
Vibration 2 Hz to 9 Hz: 3.5 mm deflection
9 Hz to 200 Hz: 1 g vibration
Quantity of cycles: 10 per axis
Sweep seed: 1 octave/min
Certification
UL, CE, KC, C-Tick, EAC
1 )
When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10%
to +10% to meet the voltage requirement of the brake.
2)
Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be
provided in accordance with the National Electrical Code and any additional local codes.
3)
The V90 PN 200 V servo drive has an overvoltage threshold of 410 VDC and an undervoltage threshold of 150 VDC;
the V90 PN 400 V servo drive has an overvoltage threshold of 820 VDC and an undervoltage threshold of 320 VDC.
4)
SINAMICS V90 PN does not support motor overtemperature protection. Motor overtemperature is calculated by I2t and
protected by the output current from the drive.
General information
2.5 Technical data
SINAMICS V90, SIMOTICS S-1FL6
30 Getting Started, 12/2018, A5E37208904-006
Specific technical data
SINAMICS V90 PN 200V variant
Article No.
6SL3210-5FB...
10-1UF2
10-2UF2
10-4UF1
10-8UF0
11-0UF1
11-5UF0
12-0UF0
Frame size
FSA
FSA
FSB
FSC
FSD
FSD
FSD
Rated output current (A)
1.2
1.4
2.6
4.7
6.3
10.6
11.6
Max. output current (A)
3.6
4.2
7.8
14.1
18.9
31.8
34.8
Max. supported motor power (kW) 0.1 0.2 0.4 0.75 1.0 1.5 2.0
Power loss 1)
Main circuit (W)
8
15
33
48
65
105
113
Regenerative resistor
(W)
5 5 7 9 13 25 25
Control circuit (W)
16
16
16
16
16
18
18
Total (W)
29
36
56
73
94
148
156
Output frequency (Hz)
0 to 330
Power
supply
Voltage/frequency FSA, FSB and FSC: single phase/three phase 200 VAC to 240 VAC, 50/60 Hz
FSD: three phase 200 VAC to 240 VAC, 50/60 Hz
Permissible voltage
fluctuation
-15% to +10%
Permissible frequency
fluctuation
-10% to +10%
Permissible supply con-
figuration
TN, TT, IT
Short-circuit current
(SCCR)
Maximum permissible short-circuit current: 65 kA rms
Minimum required short-circuit current: 5 kA rms
Rated input
current (A)
1-phase
2.5
3.0
5.0
10.4
-
-
-
3-phase
1.5
1.8
3.0
5.0
7.0
11.0
12.0
Power supply
capacity (kVA)
1-phase
0.5
0.7
1.2
2.0
-
-
-
3-phase
0.5
0.7
1.1
1.9
2.7
4.2
4.6
Inrush current (A) 8.0
Cooling method
Self-cooled
Fan-cooled
Mechanical
design
Outline dimensions (W x
H x D, mm)
45 x 170 x 170 55 x 170 x
170
80 x 170 x
195
95 x 170 x 195
Weight (kg)
1.1
1.25
1.95
2.3
2.4
1) The values here are calculated at rated load.
SINAMICS V90 PN 400V variant
Article No.
6SL3210-5FE...
10-4UF0
10-8UF0
11-0UF0
11-5UF0
12-0UF0
13-5UF0
15-0UF0
17-0UF0
Frame size
FSAA
FSA
FSA
FSB
FSB
FSC
FSC
FSC
Rated output current (A)
1.2
2.1
3.0
5.3
7.8
11.0
12.6
13.2
Max. output current (A)
3.6
6.3
9.0
13.8
23.4
33.0
37.8
39.6
Max. supported motor power (kW)
0.4
0.75
1.0
1.75
2.5
3.5
5.0
7.0
Power loss 1)
Main circuit (W)
12
29
32
84
96
92
115
138
Regenerative resistor (W)
17
57
57
131
131
339
339
339
Control circuit (W)
32
32
35
35
35
36
36
36
Total (W)
61
118
124
250
262
467
490
513
General information
2.5 Technical data
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 31
Article No.
6SL3210-5FE...
10-4UF0
10-8UF0
11-0UF0
11-5UF0
12-0UF0
13-5UF0
15-0UF0
17-0UF0
Frame size
FSAA
FSA
FSA
FSB
FSB
FSC
FSC
FSC
Output frequency (Hz)
0 to 330
Power
supply
Voltage/frequency
Three phase 380 VAC to 480 VAC, 50/60 Hz
Permissible voltage fluc-
tuation
-15% to +10%
Permissible frequency
fluctuation
-10% to +10%
Permissible supply con-
figuration
TN, TT, IT
Short-circuit current
(SCCR)
Maximum permissible short-circuit current: 65 kA rms
Minimum required short-circuit current: 5 kA rms
Rated input current (A)
1.5
2.6
3.8
6.6
9.8
13.8
15.8
16.5
Power supply capacity
(kVA)
1.7 3.0 4.3 7.6 11.1 15.7 18.0 18.9
Inrush current (A)
8.0
8.0
8.0
4.0
4.0
2.5
2.5
2.5
Cooling method
Self-cooled
Fan-cooled
Mechanical
design
Outline dimensions (W x
H x D, mm)
60 x 180
x 200
80 x 180 x 200 100 x 180 x 220 140 x 260 x 240
Weight (kg)
1.5
1.9
1.9
2.5
2.5
5.0
5.5
5.75
1) The values here are calculated at rated load.
2.5.2
Technical data - servo motors
General technical data
Parameter
Description
Type of motor
Permanent-magnet synchronous motor
Cooling
Self-cooled
Relative humidity [RH] 90% (non-condensing at 30°C )
Installation altitude [m]
≤ 1000 (without power derating)
Thermal class B
Vibration severity grade
A (according to IEC 60034-14)
Shock resistance [m/s2] 25 (continuous in axial direction); 50 (continuous in radial direction); 250 (in a
short time of 6 ms)
Bearing lifetime [h]
>20000
1)
Paint finish
Black
Protection degree of shaft
IP 65, with shaft oil seal
Type of construction
IM B5, IM V1, and IM V3
Positive rotation
Clockwise (default setting in servo drives)
Certification
CE, EAC
1)
This lifetime is only for reference. When a motor keeps running at rated speed under rated load, replace its bearing after
20,000 to 30,000 hours of service time. Even if the time is not reached, the bearing must be replaced when unusual
noise, vibration, or faults are found.
General information
2.5 Technical data
SINAMICS V90, SIMOTICS S-1FL6
32 Getting Started, 12/2018, A5E37208904-006
Specific technical data
SIMOTICS S-1FL6, low inertia servo motor
Article No.
1FL60...
22
24
32
34
42
44
52
54
Rated power [kW]
0.05
0.1
0.2
0.4
0.75
1
1.5
2
Rated torque [Nm] 0.16 0.32 0.64 1.27 2.39 3.18 4.78 6.37
Maximum torque [Nm]
0.48
0.96
1.91
3.82
7.2
9.54
14.3
19.1
Rated speed [rpm] 3000
Maximum speed [rpm]
5000
Rated frequency [Hz]
200
Rated current [A]
1.2
1.2
1.4
2.6
4.7
6.3
10.6
11.6
Maximum current [A]
3.6
3.6
4.2
7.8
14.2
18.9
31.8
34.8
Moment of inertia [10
-4
kgm
2
]
0.031
0.052
0.214
0.351
0.897
1.15
2.04
2.62
Moment of inertia (with brake) [10-4
kgm
2
]
0.038 0.059 0.245 0.381 1.06 1.31 2.24 2.82
Recommended load to motor inertia ratio
Max. 30x
Max. 20x
Max. 15x
Operating temperature [°C] 1FL602❑, 1FL603❑ and 1FL604❑: 0 to 40 (without power derating)
1FL605❑: 0 to 30 (without power derating)
1)
Storage temperature [°C]
-20 to +65
Maximum noise level [dB]
60
Holding
brake
Rated voltage (V)
24 ± 10%
Rated current (A)
0.25
0.3
0.35
0.57
Holding brake torque [Nm]
0.32
1.27
3.18
6.37
Maximum brake opening
time [ms]
35 75 105 90
Maximum brake closing
time [ms]
10 10 15 35
Maximum number of emer-
gency stops
2000 2)
Oil seal lifetime [h]
3000 to 5000
Encoder lifetime [h]
> 20000
3)
Protection degree of motor body
IP 65
Protection degree of cable end connect-
or
IP20 -
Weight [kg]
With brake
0.7
0.9
1.5
1.9
3.7
4.2
6.8/7.0
4)
8.0/8.2
4)
Without brake
0.5
0.6
1.0
1.5
2.8
3.4
5.4/5.5
4)
6.6/6.7
4)
1)
When the surrounding temperature is between 30 °C and 40 °C, the 1FL605 motor will have a power derating of 10%.
2)
Restricted emergency stop operation is permissible. Up to 2000 braking operations for the motors of 0.05 kW to 1 kW,
and 200 braking operations for the motors of 1.5 kW to 2 kW can be executed with 300% rotor moment of inertia as ex-
ternal moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear.
3)
This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is
30 °C, the encoder lifetime can be ensured.
4)
The former value indicates the data for low inertia motors with straight connectors; the latter value indicates the data for
low inertia motors with angular connectors.
General information
2.5 Technical data
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 33
Note
The data of rated torque, rated power, maximum torque in the above table allows a tolerance
of 10%.
SIMOTICS S-1FL6, high inertia servo motor
Article No.
1FL60...
42
44
61
62
64
66
67
90
92
94
96
Rated power [kW] 0.40 0.75 0.75 1.00 1.50 1.75 2.00 2.5 3.5 5.0 7.0 1)
Rated torque [Nm] 1.27 2.39 3.58 4.78 7.16 8.36 9.55 11.9 16.7 23.9 33.4
Maximum torque [Nm] 3.8 7.2 10.7 14.3 21.5 25.1 28.7 35.7 50.0 70.0 90.0
Rated speed [rpm] 3000 2000 2000
Maximum speed [rpm] 4000 3000 3000 2500 2000
Rated frequency [Hz] 200 133 133
Rated current [A] 1.2 2.1 2.5 3.0 4.6 5.3 5.9 7.8 11.0 12.6 13.2
Maximum current [A] 3.6 6.3 7.5 9.0 13.8 15.9 17.7 23.4 33.0 36.9 35.6
Moment of inertia [10-4
kgm2]
2.7 5.2 8.0 15.3/
11.7 2)
15.3 22.6 29.9 47.4 69.1 90.8 134.3
Moment of inertia (with
brake) [10-4 kgm2]
3.2 5.7 9.1 16.4/
13.5 2)
16.4 23.7 31.0 56.3 77.9 99.7 143.2
Recommended load to
motor inertia ratio
Max. 10x Max. 5x Max. 5x
Operating temperature [°C] 0 to 40 (without power derating)
Storage temperature [°C] -20 to +65
Maximum noise level [dB] 65 70 70
Holding
brake
Rated voltage
(V)
24 ± 10%
Rated current
(A)
0.88 1.44 1.88
Holding brake
torque [Nm]
3.5 12 30
Maximum
brake opening
time [ms]
60 180 220
Maximum
brake closing
time [ms]
45 60 115
Maximum
number of
emergency
stops
2000 3)
Oil seal lifetime [h] 5000
Encoder lifetime [h] > 20000 4)
Degree of protection IP65, with shaft oil seal
General information
2.5 Technical data
SINAMICS V90, SIMOTICS S-1FL6
34 Getting Started, 12/2018, A5E37208904-006
Article No.
1FL60...
42
44
61
62
64
66
67
90
92
94
96
Weight of
incremen-
tal encoder
motor [kg]
With brake 2) 4.6/
4.8
6.4/
6.6
8.6/
8.8
11.3/
10.1
11.3/
11.5
14.0/
14.2
16.6/
16.8
21.3/
21.5
25.7/
25.9
30.3/
30.5
39.1/
39.3
Without brake
2)
3.3/
3.4
5.1/
5.2
5.6/
5.7
8.3/
7.0
8.3/
8.4
11.0/
11.1
13.6/
13.7
15.3/
15.4
19.7/
19.8
24.3/
24.4
33.2/
33.3
Weight of
absolute
encoder
motor [kg]
With brake 2) 4.4/
4.5
6.2/
6.3
8.3/
8.4
11.0/
9.7
11.0/
11.1
13.6/
13.7
16.3/
16.4
20.9/
21.0
25.3/
25.4
29.9/
30.0
38.7/
38.8
Without brake
2)
3.1/3.
2
4.9/5.
0
5.3/
5.4
8.0/
6.7
8.0/
8.1
10.7/
10.8
13.3/
13.4
14.8/
14.9
19.3/
19.4
23.9/
24.0
32.7/
32.8
1)
When the surrounding temperature is higher than 30 °C, the 1FL6096 motors with brake will have a power derating of
10%.
2)
The former value indicates the data for high inertia motors with straight connectors; the latter value indicates the data for
high inertia motors with angular connectors.
3)
Restricted emergency stop operation is permissible. Up to 2000 braking operations can be executed with 300% rotor
moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inad-
missible amount of wear.
4)
This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is
30 °C, the encoder lifetime can be ensured.
Note
The data of rated torque, rated power, and maximum torque in the above table allows a
t
olerance of 10%.
Power derating
For deviating conditions (surrounding temperature > 40 °C or installation altitude > 1000 m
above sea level) the permissible torque/power must be determined from the following table.
Surrounding temperatures and installation altitudes are rounded off to 5 °C and 500 m
respectively.
Power derating as a function of the installation altitude and ambient temperature
Installation altitude above
sea level (m)
Surrounding temperature in °C
< 30
30 to 40
45
50
55
1000
1.07
1.00
0.96
0.92
0.87
1500
1.04
0.97
0.93
0.89
0.84
2000
1.00
0.94
0.90
0.86
0.82
2500 0.96 0.90 0.86 0.83 0.78
3000
0.92
0.86
0.82
0.79
0.75
3500 0.88 0.82 0.79 0.75 0.71
4000
0.82
0.77
0.74
0.71
0.67
General information
2.5 Technical data
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 35
2.5.3
Address of CE-authorized manufacturer
The CE Declaration of Conformity is held on file available to the competent authorities at the
following address:
SINAMICS V90 drive
Siemens AG
Digital Factory
Motion Control
Frauenauracher Straße 80
DE-91056 Erlangen
Germany
SIMOTICS S-1FL6 motor
Siemens AG
Digital Factory
Motion Control
Industriestraße 1
DE-97615 Bad Neustadt a. d. Saale
Germany
SINAMICS V90, SIMOTICS S-1FL6
36 Getting Started, 12/2018, A5E37208904-006
Mounting
3
3.1
Mounting the drive
Protection against the spread of fire
The device may be operated only in closed housings or in control cabinets with protective
covers that are closed, and when all of the protective devices are used. The installation of
the device in a metal control cabinet or the protection with another equivalent measure must
prevent the spread of fire and emissions outside the control cabinet.
Protection against condensation or electrically conductive contamination
Protect the device, e.g. by installing it in a control cabinet with degree of protection IP54
according to IEC 60529 or NEMA 12. Further measures may be necessary for particularly
critical operating conditions.
If condensation or conductive pollution can be excluded at the installation site, a lower
degree of control cabinet protection may be permitted.
WARNING
Death or severe personal injury from harsh installation environment
A harsh installation environment will jeopardize personal safety and equipment. Therefore,
•Do not install the drive and the motor in an area subject to inflammables or
combustibles, water or corrosion hazards.
•Do not install the drive and the motor in an area where it is likely to be exposed to
constant vibrations or physical shocks.
•Do not keep the drive exposed to strong electro-magnetic interference.
CAUTION
Risk of injury due to touching hot surfaces
There is a risk of injury if you touch the hot surfaces, because surfaces of the drive can
reach a high temperature during operation and for a short time after switching-off.
•Avoid coming into direct contact with the drive surface.
For mounting conditions, see Technical data - servo drives (Page 28).
The SINAMICS V90 PN 200 V variant servo drives with rated power of 400 W and 750 W
support vertical mounting and horizontal mounting. Other drives support vertical mounting
only.
Mount the drive in a shielded cabinet by observing the mounting orientation and clearance
specified in the following illustrations.
Mounting
3.1 Mounting the drive
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 37
Mounting orientation
NOTICE
Overheating due to inadmissible mounting orientation
If you use an inadmissible mounting orientation, the drives can overheat and therefore be
damaged.
•Always observe the mounting orientation required in the instruction.
Mounting clearance
Note
When mounting the drive horizontally, you need to make sure the distance between the drive
front panel and the top cabinet wall is longer than 100 mm.
Mounting
3.1 Mounting the drive
SINAMICS V90, SIMOTICS S-1FL6
38 Getting Started, 12/2018, A5E37208904-006
Note
The
drive must be derated to 80% when one of the following conditions is satisfied:
•
The surrounding temperature is 0 °C to 45 °C, and the mounting clearance is less than
10 mm. In this case, the minimum mounting clearance should not be less than 5 mm.
•
The surrounding temperature is 45 °C to 55 °C. In this case, the minimum mounting
clearance should not be less than 20 mm.
Note
When mounting the drive in the cabinet, you need to consider the temperature change of the
cooling air. The rapid temperature chang
e of the cooling air is forbidden.
SINAMICS V90 PN 200V variant (unit: mm)
Mounting
3.1 Mounting the drive
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 39
Mounting
3.1 Mounting the drive
SINAMICS V90, SIMOTICS S-1FL6
40 Getting Started, 12/2018, A5E37208904-006
SINAMICS V90 PN 400V variant (unit: mm)
Mounting
3.1 Mounting the drive
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 41
Mounting the drive
For V90 PN 200 V variant, use two M5 screws to mount the FSA and FSB drives and four
M5 screws to mount the FSC, and FSD drives.
For V90 PN 400 V variant, use two M5 screws to mount the FSAA drive and four M5 screws
to mount the FSA, FSB, and FSC drives.
The recommended tightening torque is 2.0 Nm.
Mounting
3.1 Mounting the drive
SINAMICS V90, SIMOTICS S-1FL6
42 Getting Started, 12/2018, A5E37208904-006
Note
EMC instructions
•
To comply with the EMC standards, all cables connected with the SINAMICS V90 PN
drive system must be shielded cables, which include cables from the line supply to the
line filter and from the line filter to the drive.
•
Route signal cables and power cables separately in different cable conduits. The signal
cables shall be at least 10 cm away from the power cables.
•
The SINAMICS V90 PN drives have been tested in accordance with the emission
requirements of the category of C2 (domestic) environment. The conductive emissions
and radiated emissions are in compliance with the standard of EN 55011 and reached
Class A.
•
This device is designed for operation in the second environment (industrial area) and may
not be used in the first environment (residential area) unless the appropriate noise
suppression measures have been adopted.
•
For a radiated emission test, an external AC filter (between the mains supply and the
drive) will be used to meet the EMC requirement and the drive will be installed inside the
shielded metallic chamber, other parts of the motion control system (including the PLC,
DC power supply, motor) will be put inside the shielded chamber.
•
For a conductive emission test, an external AC filter (between the mains supply and the
drive) will be used to meet the EMC requirement.
•
For the radiated emission and conductive emission test, the length of the line supply
cable between the line filter and the drive must be shorter than 1 m.
•
The harmonic current value of SINAMICS V90 PN drive exceeds the class A limit of IEC
61000-3-2, but the SINAMICS V90 PN drive system i
nstalled within the Category C2 First
Environment require supply authority acceptance for connection to the public low-voltage
power supply network. Please contact your local supply network provider.
NOTICE
Malfunction caused by radio devices or mobile phones
When radio devices or mobile phones are used in the immediate vicinity of the drives (less
than 20 cm), the drives can be disturbed, which can cause the drives to malfunction. This
may impair the functional safety of drives and can therefore put people in danger or lead to
property damage.
• If you come closer than around 20 cm to the drives, switch off any radios or mobile
phones.
Note
Screw tightening
Make sure you fix the screw to the terminal door of the drive after you have completed the
in
stallation work.
Note
For the installation altitude lower than or equal to 2000
m above sea level, it is permissible to
connect the drive to any of the line supplies that are specified for it. For the installation
altitude higher than 2000
m and lower than 5000 m above see level, you must connect the
drive to any of the specified line supplies either via an isolating transformer or with a
grounded neutral point.
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 43
3.2
Mounting the motor
NOTICE
Damage to the encoder due to shocking
Shocks at the motor shaft end can cause encoder damage.
• Do not exert any shock at the shaft end.
For mounting conditions, see Technical data - servo motors (Page 31).
Mounting orientation
SIMOTICS S-1FL6 supports flange mounting only and three types of constructions, so it can
be installed in three orientations as shown in the following figure.
Note
When configuring the IM V3 type of construction, pay particular attention to the permissible
axial force (weight force of the drive e
lements) and the necessary degree of protection.
Motor dimensions (unit: mm)
Low inertia servo motor, shaft height: 20 mm, 30 mm, and 40 mm
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
44 Getting Started, 12/2018, A5E37208904-006
Low inertia servo motor, shaft height: 50 mm, with straight connectors
Low inertia servo motor, shaft height: 50 mm, with angular connectors
Type
1FL60...
22
24
32
34
42
44
52
54
Shaft height
20
30
40
50
LC
40 60 80 100
LD
42
63
82.6
103
LA
46
70
90
115
LZ
4.5
5.5
7
9
LB
30 - 0.02
50 - 0.03
70 - 0.03
95 - 0.03
LH
40
50
60
-
LE
15
35
27
52
40
60
-
LR
25
31
35
45
T
2.5 - 0.2
3 - 0.2
3 - 0.3
3 - 0.3
LG
6
8
8
12
D
8 - 0.009
14 - 0.011
19 - 0.013
19 - 0.013
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 45
Type
1FL60...
22
24
32
34
42
44
52
54
DB
M3 × 8
M4 × 15
M6 × 16
M6 × 16
E
22 26 30 40
QK
17.5
22.5
28
28
GA
9.2 16 21.5 21.5
F
3
5
6
6
Without
brake
LL
86
106
98
123
139
158.8
192
216
KB1
- - - - - - 143.5 167.5
With brake
LL
119
139
132.5
157.5
178.3
198.1
226
250
KB1
-
-
-
-
-
-
177.5
201.5
KB2
-
-
-
-
-
-
32.5
32.5
KL1
-
-
-
-
-
-
135
135
KL2
-
-
-
-
-
-
80
80
•
①
−Power cable connector,
②
−Incremental/absolute encoder cable connector,
③
−Brake cable connector. These
connectors should be ordered separately. For more information about the order information of the connectors, see the
SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
• For the low inertia motor with shaft-height of 50 mm, the boundary dimensions of encoder connector−② and brake
connector−③ are the same.
• For the low inertia motor with shaft-height of 20 mm, only two screws are needed to mount the flange.
High inertia servo motor with straight connectors, with the incremental encoder
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
46 Getting Started, 12/2018, A5E37208904-006
High inertia servo motor with angular connectors, with the incremental encoder
Type
1FL60...
42
44
61
62
64
66
67
90
92
94
96
Shaft height
45
65
90
LC
90
130
180
LA
100
145
200
LZ
7
9
13.5
LB
80 - 0.03
110 - 0.035
114.3 - 0.035
LR
35
58
80
T
4 - 0.3
6 - 0.3
3 - 0.3
LG
10
12
18
D
19 - 0.013
22 -0.013
35 - 0.016
DB
M6 x 16
M8 x 16
M12 x 25
E
30
50
75
QK
25
44
60
GA
21.5
25
38
F
6 - 0.03
8 - 0.036
10 - 0.036
Without
brake
LL
154.5 201.5 148 181/
164.5
1)
181 214 247 189.5 211.5 237.5 289.5
KB1
93.5 140.5 85.5 118.5 118.5 151.5 184.5 140 162 188 240
KB2
-
-
-
With
brake
LL
201 248 202.5 235.5/
219 1)
235.5 268.5 301.5 255 281 307 359
KB1
140
187
140
173
173
206
239
206
232
258
310
KB2
31.5
39.5
44.5
With
straight
connect-
ors
KL1
136
158
184
KL2
92
115
149
KL3
13
23
34
KL4
14
22
34
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 47
Type
1FL60...
42
44
61
62
64
66
67
90
92
94
96
With
angular
connect-
ors
KL1
96.2
117.5
143
KL2
84.6 108 141.1
KL3
13
23
34
KL4
14 22 34
•
①
−Power cable connector,
②
−Incremental encoder cable connector,
③
−Brake cable connector. These connectors
should be ordered separately. For more information about the order information of the connectors, see the SINAMICS
V90, SIMOTICS S-1FL6 Operating Instructions.
• The boundary dimensions of encoder connector−② and brake connector−③ are the same.
• The shaft height 90 mm motor has two M8 screw holes for eyebolts.
1)
The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the
dimension for high inertia motors with angular connectors.
High inertia servo motor with straight connectors, with the absolute encoder
High inertia servo motor with angular connectors, with the absolute encoder
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
48 Getting Started, 12/2018, A5E37208904-006
Type
1FL60...
42
44
61
62
64
66
67
90
92
94
96
Shaft height
45
65
90
LC
90 130 180
LA
100
145
200
LZ
7 9 13.5
LB
80 - 0.03
110 - 0.035
114.3 - 0.035
LR
35
58
80
T
4 - 0.3
6 - 0.3
3 - 0.3
LG
10
12
18
D
19 - 0.013
22 - 0.013
35 - 0.016
DB
M6 x 16
M8 x 16
M12 x 25
E
30
50
75
QK
25
44
60
GA
21.5
25
38
F
6 - 0.03
8 - 0.036
10 - 0.036
Without
brake
LL
157 204 151 184/
167.5
1)
184 217 250 197 223 249 301
KB1
100
147
92
125
125
158
191
135
161
187
239
KB2
-
-
-
With
brake
LL
203.5 250.5 205.5 238.5/
222
1)
238.5 271.5 304.5 263 289 315 367
KB1
147
194
147
180
180
213
246
201
227
253
305
KB2
31.5
39.5
44.5
With
straight
connect-
ors
KL1
136 158 184
KL2
60 60 60
With
angular
connect-
ors
KL1
96.2
117.5
143
KL2
60 60 60
•
①
-Power cable connector,
②
−Absolute encoder cable connector,
③
−Brake cable connector. These connectors
should be ordered separately. For more information about the order information of the connectors, see the SINAMICS
V90, SIMOTICS S-1FL6 Operating Instructions.
• The shaft height 90 mm motor has two M8 screw holes for eyebolts.
1)
The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the
dimension for high inertia motors with angular connectors.
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 49
Mounting the motor
WARNING
Personal injury and material damage due to motor falling down
Some motors especially the 1FL609❑ are heavy. Motor falling down can cause serious
personal injury or material damage.
• The excessive weight of the motor should be considered and any necessary assistance
required for mounting should be sought.
NOTICE
Damage to the motor due to liquid entering
If the liquid enters the motor, the motor may be damaged
• During motor installation or operation, make sure that no liquid (water, oil, etc.) can
penetrate into the motor.
• When installing the motor horizontally, make sure that the cable outlet faces downward
to protect the motor from ingress of oil or water.
NOTICE
Damage to the absolute encoder due to the magnetic interference from the magnetic field
The magnetic interference from the magnetic field can cause a damage to the absolute
encoder.
• To avoid magnetic interference to the absolute encoder, keep the servo motor with an
absolute encoder at least 15 mm away from the devices that produce a magnetic field
stronger than 10 mT.
Note
Using the eyebolts
The 1FL609❑ motor (90 mm shaft heig
ht) has two M8 screw holes for screwing in two
eyebolts. Lift the 1FL609❑ motor only at the eyebolts.
Eyebolts that have been screwed in must be either tightened or removed after mounting.
Install the motor onto a steel flange with four screws as shown in the following figure:
Mounting
3.2 Mounting the motor
SINAMICS V90, SIMOTICS S-1FL6
50 Getting Started, 12/2018, A5E37208904-006
Motor
Screw
Recommended flange size
Tightening torque
Flange material
Low inertia motors
1FL602❑ 2 x M4 120 x 100 x 40 (mm) 2.4 Nm Steel
1FL603❑
4 x M5
120 x 100 x 40 (mm)
4.7 Nm
1FL604❑ 4 x M6 120 x 100 x 40 (mm) 8 Nm
1FL605❑
4 x M8
120 x 100 x 40 (mm)
20 Nm
High inertia motors
1FL604❑
4 x M6
270 x 270 x 10 (mm)
8 Nm
Steel
1FL606❑
4 x M8
390 x 390 x 15 (mm)
20 Nm
1FL609❑
4 x M12
420 x 420 x 20 (mm)
85 Nm
Motor heating conditions
The rated motor specifications are continuous allowable values at a surrounding air
temperature of 40 °C when the motor is installed with a steel flange. When the motor is
mounted on a small surface, the motor temperature may rise considerably because of the
limited heat radiating abilities of the surface. Make sure you use a suitable flange according
to Siemens recommended flange sizes.
Note
The actual temperature rise depends on how the f
lange (motor mounting section) is fixed on
the installation surface, what material is used for the motor mounting section, and motor
speed. Always check the actual motor temperature.
SINAMICS V90, SIMOTICS S-1FL6
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Connecting
4
4.1
System connection
The following illustrations show the examples of the SINAMICS V90 PN servo system
connection.
Connection diagram for FSB on the single phase power network:
Connecting
4.1 System connection
SINAMICS V90, SIMOTICS S-1FL6
52 Getting Started, 12/2018, A5E37208904-006
Connection diagram for FSD on the three phase power network:
Connecting
4.1 System connection
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 53
WARNING
Danger to life when PE connectors are touched
When the equipment is working, hazardous touch current can be present at the PE
connectors; if touched, this can result in death or severe personal injury.
• Do not touch the PE connector during operation or within a certain period since power
disconnection.
WARNING
Personal injury and damage to property from improper connections
Improper connections have high risks of electrical shock and short circuit, which will
jeopardize personal safety and equipment.
• The drive must be directly connected with the motor. It is not permissible to connect a
capacitor, inductor or filter between them.
• The line supply voltage must be within the allowable range (refer to the drive rating
plate). Never connect the line supply cable to the motor terminals U, V, W or connect
the motor power cable to the line input terminals L1, L2, L3.
• Never wire up the U, V, W terminals in an interchanged phase sequence.
• If the CE marking for cables is mandatory in some cases, the motor power cable, line
supply cable and brake cable used must all be shielded cables.
• For terminal connection, make sure that the clearances in air between non-insulated live
parts are at least 5.5 mm.
• Cables connected may not come into contact with rotating mechanical parts.
CAUTION
Personal injury and damage to property from inadequate protection
Inadequate protection may cause minor personal injury or damage to property.
• Route a second PE conductor with the cross section of the supply system lead in
parallel to the protective earth via separate terminals or use a copper protective earth
conductor with a cross section of 10 mm2.
• Terminals for equipotential bondings that exist in addition to terminals for PE conductors
must not be used for looping-through the PE conductors.
• To ensure protective separation, an isolating transformer must be used for the
220 VAC/380 VAC line supply system.
NOTICE
Drive damage caused by short-circuiting between the shielding wire and the unused pin on
the PROFINET I/O connector
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-
assembled PROFINET I/O connector. This can cause damage to the drive.
• Exercise caution when connecting the shielding cable to the PROFINET I/O connector.
• For more information about the assembly method of the connector, see Section
"Assembly of cable terminals on the drive side" in the SINAMICS V90, SIMOTICS S-
1FL6 Operating Instructions.
Connecting
4.1 System connection
SINAMICS V90, SIMOTICS S-1FL6
54 Getting Started, 12/2018, A5E37208904-006
Note
Interruptions of the internal protective bonding of the equipment caused by cable movement
The interruptions of the internal protective bonding of the equipment may be caused by cable
movement such as dragging cables.
•
Do not drag cables when in operation.
•
Make sure that you have performed appropriate protective measures for the protective
bonding when moving cables.
Note
Failure to meet the EMC requirements resulting from failure to observe the wiring instruction
Failure to meet the EMC requirements because you do not observe the wiring instruction.
•
In order to meet
EMC
requirements, all cables must be shielded cables.
•
Make sure that you connect the cable shields of shielded twisted-pair cables to the
shielding plate or the hose clamp of the servo drive.
Note
Low Voltage Directive complied
Our products comply with EN61800
-5-1: 2007 standards and Low Voltage Directive (Low
Voltage Directive 2006/95/EC).
Note
For low inertia motors of shaft heights 20 mm, 30 mm and 40 mm, the encoder cable
connectors may only be accessible to electrically skilled personnel.
Note
The mini
-USB interface of the SINAMICS V90 PN is used for fast commissioning and
diagnostics with SINAMICS V
-ASSISTANT installed in the PC. Do not use it for long
monitoring.
Connecting
4.1 System connection
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 55
Connecting the cable shields with the shielding plate
To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped
with the drive to connect the cable shields. See the following example for steps of connecting
cable shields with the shielding plate:
Connecting
4.1 System connection
SINAMICS V90, SIMOTICS S-1FL6
56 Getting Started, 12/2018, A5E37208904-006
WARNING
Risk of electric shock and fire from a network with an excessively high impedance
Excessively low short-circuit currents can lead to the protective devices not tripping or
tripping too late, and so causing electric shock or a fire.
• In the case of a conductor-conductor or conductor-ground short-circuit, ensure that the
short-circuit current at the point where the drive is connected to the line supply at least
meets the minimum requirements for the response of the protective device used.
• You must use an additional residual-current device (RCD) if a conductor-ground short
circuit does not reach the short-circuit current required for the protective device to
respond. The required short-circuit current can be too low, especially for TT systems.
WARNING
Risk of electric shock and fire from a network with an impedance that is too low
Excessively high short-circuit currents can lead to the protective devices not being able to
interrupt these short-circuit currents and being destroyed, and so causing electric shock or
a fire.
• Ensure that the uninfluenced short-circuit current at the line terminal of the drive does
not exceed the breaking capacity (SCCR or Icc) of the protective device used.
WARNING
Death or severe personal injury from electrical shock
The earth leakage current for the drive can be greater than AC 3.5 mA, which may cause
death or severe personal injury due to electrical shock.
• A fixed earth connection is required to eliminate the dangerous leakage current. In
addition, the minimum size of the protective earth conductor shall comply with the local
safety regulations for high leakage current equipment.
Adjusting cable directions from the motor side
For some low inertia motors and all high inertia motors, you can adjust the direction of the
power cable, encoder cable, or brake cable from the motor side to facilitate cable
connection.
The following illustrations take high inertia motors with the incremental encoder for example
to show how to adjust the cable directions.
Connecting
4.1 System connection
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 57
Low inertia motors with a shaft height of 50 mm and high inertia motors with straight
connectors
Note
Rotating the connectors
After conn
ecting the cable to the motor, you can rotate the incremental encoder connector
within 270° and rotate the absolute encoder connector within 180°. For other connectors,
you can rotate them within 360°.
High inertia motors with angular connectors
Note
Rotating the connectors
For motors with angular connectors, you can rotate all the connectors within 310° except for
the absolute encoder connector which can be
rotated only within 180°.
Note
For an absolute encoder cable on a high inertia motor with angular connectors, adjust its
direction just the same as you adjust the cable directions on a high inertia motor with straight
connectors mentioned above.
Connecting
4.2 Main circuit wiring
SINAMICS V90, SIMOTICS S-1FL6
58 Getting Started, 12/2018, A5E37208904-006
4.2
Main circuit wiring
4.2.1
Line supply - L1, L2, L3
SINAMICS V90 PN 200 V variant
Recommended minimum cable cross-section:
When used on the single phase power network:
FSA: 0.75 mm2
FSB: 0.52 mm2
FSC: 1.31 mm2
When used on the three phase power network:
FSA: 0.75 mm2
FSB: 0.33 mm2
FSC: 0.52 mm2
FSD (1 kW): 0.82 mm2
FSD (1.5 kW to 2 kW): 2.08 mm2
SINAMICS V90 PN 400 V variant
Recommended minimum cable cross-section:
FSAA and FSA: 1.5 mm2
FSB and FSC: 2.5 mm2
Note
For 200 V variant, when using the FSA, FSB and F
SC on the single phase power network,
you can connect the power supply to any two connectors of L1, L2, and L3.
Assembling the line supply cable terminals
The procedure of assembling a line supply cable terminal is the same as that for a power
cable terminal on the drive side.
For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
Connecting
4.2 Main circuit wiring
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 59
Attaching the line supply cable
CAUTION
Risk of injury due to improper cable connection
When attaching the line supply cable to a line supply connector that has not been fixed on
the drive, you can injure your fingers.
• Make sure you first fix the line supply connector on the drive, and then attach the cable
to the connector.
200 V variant
● For FSA and FSB
● For FSC and FSD
400 V variant
● For FSAA and FSA
You can attach the line supply cable with the same method for 200 V variant drives of
frame sizes FSC and FSD.
● For FSB and FSC
The FSB and FSC servo drives are equipped with barrier terminals for line supply
connection. You can fix the line supply cable on the servo drives by using the M4 screws
with a tightening torque of 2.25 Nm (19.91 lbf.in).
Connecting
4.2 Main circuit wiring
SINAMICS V90, SIMOTICS S-1FL6
60 Getting Started, 12/2018, A5E37208904-006
4.2.2
Motor power - U, V, W
Motor output - drive side
SINAMICS V90 PN 200 V variant
Recommended minimum cable cross-section:
FSA and FSB: 0.75 mm2
FSC and FSD (1 kW): 0.75 mm2
FSD (1.5 kW to 2 kW): 2.5 mm2
SINAMICS V90 PN 400 V variant
Recommended minimum cable cross-section:
FSAA and FSA: 1.5 mm2
FSB and FSC: 2.5 mm2
Wiring
*
4: high inertia motors with straight connectors and all low inertia motors
: high inertia motors with angular connectors
Attaching the motor power cable
CAUTION
Risk of injury due to improper cable connection
When attaching the motor power cable to a motor power connector that has not been fixed
on the drive, you can injure your fingers.
• Make sure you first fix the motor power connector on the drive, and then attach the
cable to the connector.
Connecting
4.2 Main circuit wiring
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 61
200 V variant
● For FSA and FSB
● For FSC and FSD
400 V variant
● For FSAA and FSA
You can attach the line supply cable with the same method for 200 V variant drives of
frame sizes FSC and FSD.
● For FSB and FSC
The FSB and FSC servo drives are equipped with barrier terminals for motor power
connection. You can fix the motor power cable on the servo drives by using the M4
screws with a tightening torque of 2.25 Nm (19.91 lbf.in).
Connecting
4.3 Control/Status interface - X8
SINAMICS V90, SIMOTICS S-1FL6
62 Getting Started, 12/2018, A5E37208904-006
4.3
Control/Status interface - X8
4.3.1
Interface definition
Pin
Signal
Wire color on the
PROFINET I/O cable
exposed side
Description
Type: 20-pin MDR socket
Digital inputs/outputs
1
DI1
Green
Digital input 1
2
DI2
Yellow
Digital input 2
3
DI3
White
Digital input 3
4
DI4
Brown
Digital input 4
6
DI_COM
Red
Common terminal for digital inputs
7
DI_COM
Blue
Common terminal for digital inputs
11
DO1+
Gray-Pink
Digital output 1, positive
12
DO1-
Red-Blue
Digital output 1, negative
13
DO2+
Gray
Digital output 2, positive
14
DO2-
Pink
Digital output 2, negative
17 * BK+ Black Motor holding brake control signal, posi-
tive
18 * BK- Violet Motor holding brake control signal, nega-
tive
None
5 - - Reserved
8
-
-
Reserved
9 - - Reserved
10
-
-
Reserved
15
-
-
Reserved
16
-
-
Reserved
19
-
-
Reserved
20
-
-
Reserved
* The pins are used to connect the brake control signals for 200 V variant drive only.
Connecting
4.3 Control/Status interface - X8
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 63
4.3.2
Standard wiring
Example 1
Connecting
4.3 Control/Status interface - X8
SINAMICS V90, SIMOTICS S-1FL6
64 Getting Started, 12/2018, A5E37208904-006
Example 2
*
Digital inputs, supporting both PNP and NPN types.
**
The pins are used to connect the brake control signals for 200
V variant drive only. Re-
fer to the section "Motor holding brake"
in SINAMICS V90, SIMOTICS S-
1FL6 Operating
Instructions for the detailed connections.
Connecting
4.4 24 V power supply/STO
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 65
4.4
24 V power supply/STO
The pin assignment for the 24 V power supply/STO interface is shown as follows:
Interface
Signal name
Description
STO 1
Safe torque off channel 1
STO + Specific power supply for safe torque off
STO 2
Safe torque off channel 2
+24 V
Power supply, 24 VDC
M
Power supply, 0 VDC
Maximum conductor cross-section: 1.5 mm2
Wiring
WARNING
Material damages and personal injuries by the drop of a hanging axis
When the servo system is used as a hanging axis, the axis will drop if the positive and
negative poles of the 24 V power supply are connected inversely. Unexpected drop of the
hanging axis can cause material damages and personal injuries.
• Make sure that the 24 V power supply is correctly connected.
WARNING
Material damages and personal injuries by the drop of a hanging axis
Unexpected drop of the hanging axis can cause material damages and personal injuries.
• It is not allowed to use the STO with a hanging axis because the axis may drop.
Note
Using the STO function
The STO1, STO+ and STO2 are short connected at the factory setting.
When the STO function is to be used, you must remove the short
-circuit stick before
connecting the STO interfaces. The safety function of the servo drive is SIL 2 (EN61800
-5-
2). If you do not need to use it any more, you must reinsert the short
-circuit stick; otherwise,
the motor will not run.
For detailed information about the
STO function, refer to chapter "Safety Integrated basic
functions" of SINAMICS V90, SIMOTICS S
-1FL6 Operating Instructions.
Connecting
4.5 Encoder interface - X9
SINAMICS V90, SIMOTICS S-1FL6
66 Getting Started, 12/2018, A5E37208904-006
Assembling the 24 V power supply and STO cable terminals
The procedure of assembling a 24 V power cable terminal or an STO cable terminal is the
same as that for a power cable terminal on the drive side of the V90 PN 200 V servo drives.
For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
Plugging the 24 V power supply and STO cables
4.5
Encoder interface - X9
The SINAMICS V90 PN 200V variant servo drive supports two kinds of encoders:
● Incremental encoder TTL 2500 ppr
● Absolute encoder single-turn 21-bit
● Absolute encoder 20-bit + 12-bit multi-turn
The SINAMICS V90 PN 400V variant servo drive supports two kinds of encoders:
● Incremental encoder TTL 2500 ppr
● Absolute encoder 20-bit + 12-bit multi-turn
Connecting
4.5 Encoder interface - X9
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 67
NOTICE
Drive damage caused by short-circuiting between the shielding wire and the unused pin on
the encoder connector
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-
assembled encoder connector. This can cause damage to the drive.
• Exercise caution when connecting the shielding cable to the encoder connector.
• For more information, see Section "Assembly of cable terminals on the drive side" in the
SINAMICS V90, SIMOTICS S- 1FL6 Operating Instructions.
Note
Failure to meet the EMC requirements because the cable is not shielded
If a cable is not shielded, it can not meet the EMC requirements.
•
The encoder cable
must
be shielded to meet the EMC requirements.
Encoder interface - drive side
Illustration
Pin
No.
Signal name
Description
1
Biss_DataP
Absolute encoder data signal, positive
2
Biss_DataN
Absolute encoder data signal, negative
3
Biss_ClockN
Absolute encoder clock signal, negative
4
Biss_ClockP
Absolute encoder clock signal, positive
5
P5V
Encoder power supply, 5 V
6
P5V
Encoder power supply, 5 V
7
M
Encoder power supply, grounding
8
M
Encoder power supply, grounding
9
Rp
Encoder R phase positive signal
10
Rn
Encoder R phase negative signal
11
Bn
Encoder B phase negative signal
12
Bp
Encoder B phase positive signal
13 An Encoder A phase negative signal
14
Ap
Encoder A phase positive signal
Screw type: UNC 4-40 (plug-in terminal block)
Tightening torque: 0.4 Nm
Connecting
4.5 Encoder interface - X9
SINAMICS V90, SIMOTICS S-1FL6
68 Getting Started, 12/2018, A5E37208904-006
Encoder connector - motor side
Illustration
Pin
No.
Incremental encoder TTL 2500
ppr
Illustration
Absolute encoder single-turn
21-bit
Absolute encoder 20-bit + 12-
bit multi-turn
Signal
Description
Signal
Description
Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm
1
P_Supply
Power supply 5 V
P_Supply
Power supply 5 V
2 M Power supply 0 V M Power supply 0 V
3
A+
Phase A+
Clock_P
Clock
4
B+
Phase B+
Data_P
Data
5
R+
Phase R+
n. c.
Not connected
6
n. c.
Not connected
P_Supply
Power supply 5 V
7
P_Supply
Power supply 5 V
M
Power supply 0 V
8
M
Power supply 0 V
Clock_N
Inverted clock
9
A-
Phase A-
Data_N
Inverted data
10
B-
Phase B-
Shielding
Grounding
11
R-
Phase R-
Note
The pin11 to pin15 of the abso-
lute encoder connector are not
connected.
12 Shielding Grounding
Illustration
Pin
No.
Incremental encoder TTL 2500 ppr
Absolute encoder single-turn 21-bit
Absolute encoder 20-bit + 12-bit
multi-turn
Signal
Description
Signal
Description
Low inertia motor, shaft height: 50 mm
High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm
Straight connectors:
Angular connectors:
1 P_Supply Power supply 5
V
P_Supply Power supply 5 V
2 M Power supply 0
V
M Power supply 0 V
3
A+
Phase A+
n. c.
Not connected
4 A- Phase A- Clock_N Inverted clock
5
B+
Phase B+
Data_P
Data
6 B- Phase B- Clock_P Clock
7
R+
Phase R+
n. c.
Not connected
8 R- Phase R- Data_N Inverted data
Connecting
4.5 Encoder interface - X9
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 69
Wiring
Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm
Low inertia motor, shaft height: 50 mm
High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm
Connecting
4.6 External braking resistor - DCP, R1
SINAMICS V90, SIMOTICS S-1FL6
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Grounding
To ensure better EMC effects, you are recommended to strip the encoder cable and connect
the cable shield to earth, as shown in the following figure:
4.6
External braking resistor - DCP, R1
The SINAMICS V90 PN has been designed with an internal braking resistor to absorb
regenerative energy from the motor. When the internal braking resistor cannot meet the
braking requirements (e.g. the alarm A52901 is generated), you can connect an external
braking resistor. For more information about how to select a braking resistor, see Section
"Accessories" in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
Note
The 200 V variant servo drive with rated power of 0.1 kW does not have a built
-in resistor.
Connecting an external braking resistor
NOTICE
Damage to the drive due to not moving the short-circuit stick between terminals DCP and
R2
There is a damage to the drive if you do not move the short-circuit stick between terminals
DCP and R2 when using an external resistor.
• Before connecting an external resistor to DCP and R1, remove the connection between
terminals DCP and R2.
For more information about how to connect the external braking resistor, see Section
"System connection (Page 51)".
Connecting
4.7 Motor holding brake
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 71
4.7
Motor holding brake
You can connect the SINAMICS V90 PN servo drive to a servo motor with brake to use the
function of motor holding brake.
NOTICE
Motor brake service life shortened due to the improper use
The motor brake is used for holding purpose only. Frequent emergency stops with the
motor brake will shorten its service life.
• Unless absolutely necessary, do not apply the motor brake as an emergency stop or
deceleration mechanism.
4.8
PROFINET interface - X150
PROFINET interface
PROFINET devices from the SINAMICS family have a PROFINET interface (Ethernet-
controller/interface) with two ports (physical connection possibilities).
Every PROFINET device on the network is uniquely identified via its PROFINET interface.
For this purpose, each PROFINET interface has:
● A MAC address (factory default)
● An IP address
● A device name (name of the station)
Illustration
Pin
PROFINET communication port 1 -
P1
PROFINET communication port 2 -
P2
Signal
Description
Signal
Description
1
P1RXP
Port 1 receive data +
P2RXP
Port 2 receive data +
2
P1RXN
Port 1 receive data -
P2RXN
Port 2 receive data -
3
P1TXP
Port 1 transmit data +
P2TXP
Port 2 transmit data +
4
PE terminal
Protective earthing
PE terminal
Protective earthing
5
PE terminal
Protective earthing
PE terminal
Protective earthing
6
P1TXN
Port 1 transmit data -
P2TXN
Port 2 transmit data -
7
PE terminal
Protective earthing
PE terminal
Protective earthing
8
PE terminal
Protective earthing
PE terminal
Protective earthing
Connecting
4.8 PROFINET interface - X150
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LED displays
For diagnostic purposes, the RJ45 sockets are each equipped with a green and an orange
LED. This allows the following status information about the respective PROFINET port to be
displayed:
Name
Color
Status
Meaning
Link Green
lit
Transfer rate 100 Mbit/s
off No or faulty connection
Activity Orange
lit
Data exchange
off
No data exchange
Wiring
The maximum length of cables between stations (L1 to Ln) is 100 m. For a long cable, you
are recommended to fix it on the cabinet to prevent the connector damage caused by
dragging.
Note
When connecting the ports P1 and P2, you need to make sure that the physical input and
output connections are the same with the connections in the topology.
SINAMICS V90, SIMOTICS S-1FL6
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Commissioning
5
Prior to commissioning, read "Introduction to the BOP (Page 75)" for more information about
the BOP operations. In case of any faults or alarms during commissioning, refer to Chapter
"Diagnostics (Page 143)" for detailed description.
CAUTION
Danger to injury resulting from failure to observe the safety instructions
Failure to observe the instructions can result in serious injuries.
• Before your commissioning or operation, read the safety instructions in Chapter
"Fundamental safety instructions (Page 5)" carefully.
WARNING
Material damages and personal injuries by the drop of a hanging axis
When the servo system is used as a hanging axis, the axis will drop if the positive and
negative poles of the 24 V power supply are connected inversely. Unexpected drop of the
hanging axis may cause material damages and personal injuries.
• Before commissioning, you need to make sure that a crosstie is used to hold the
hanging axis in prevention of an unexpected drop. In addition, make sure that the 24 V
power supply is correctly connected.
NOTICE
Firmware damage due to drive power-off during data transfer
Switching off the 24 V power supply for the drive during data transfer from the micro SD
card/SD card to the drive can cause damage to the drive firmware.
• Do not switch off the drive power supply when the data transfer from the micro SD
card/SD card to the drive is in process.
Commissioning
SINAMICS V90, SIMOTICS S-1FL6
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NOTICE
Existing setting data is overwritten by the setting data on the micro SD card/SD card during
the drive startup
Existing setting data is overwritten by the setting data on the micro SD card/SD card during
the drive startup. This situation occurs when a drive is switched on with a micro SD card/SD
card containing user setting data, the existing setting data on the drive will be overwritten,
or when a drive is switched on with a micro SD card/SD card containing no user setting
data, the drive will automatically save the existing user setting data onto the micro SD
card/SD card.
• Before starting up the drive with a micro SD card/SD card, check whether the micro SD
card/SD card contains user setting data. Otherwise, the existing data on the drive may
be overwritten.
Note
Plugging or unplugging the micro SD card/SD card will cause startup failure.
Do not plug or unplug the micro SD card/SD card durin
g startup; otherwise, the drive will fail
to start up.
Note
In S control mode, if the motor shaft is blocked, the blocked torque is the current effective
torque. Long time shaft blocking can cause damage to the motor.
Engineering tool - SINAMICS V-ASSISTANT
You can use the engineering tool SINAMICS V-ASSISTANT to perform the trial operation.
SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the
Windows operating system. It communicates with the SINAMICS V90 PN servo drive with a
USB cable (To ensure the stability of online commissioning, Siemens recommends you to
use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.). With
SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive working
states in online mode.
For more information, refer to SINAMICS V-ASSISTANT Online Help. You can search and
download SINAMICS V-ASSISTANT from Technical support website
(https://support.industry.siemens.com/cs/ww/en/).
Commissioning
5.1 Introduction to the BOP
SINAMICS V90, SIMOTICS S-1FL6
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5.1
Introduction to the BOP
Overview
The SINAMICS V90 PN servo drive is designed with a Basic Operator Panel (BOP) on the
front panel of the servo drive:
You can use the BOP for the following operations:
● Standalone commissioning
● Diagnosis
● Parameter access
● Parameter settings
● Micro SD card/SD card operations
● Drive restart
Commissioning
5.1 Introduction to the BOP
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LED status indicators
Two LED status indicators (RDY and COM) are available to indicate drive status. Both LEDs
are tricolor (green/red/yellow).
You can find detailed information about the status indications in the table below:
Status indicator
Color
Status
Description
RDY
- Off 24 V control board power supply is missing
Green
Continuously lit
The drive is in "servo on" state
Red
Continuously lit
The drive is in "servo off" state or in the startup state
Flash at 1 Hz
Alarms or faults occurs
Green and
yellow
Flash alternatively at
2 Hz
Drive identification
COM
Green
Continuously lit
PROFINET communication is working with IRT
Flash at 0.5 Hz
PROFINET communication is working with RT
Flash at 2 Hz
Micro SD card/SD card operating (read or write)
Red Continuously lit Communication error (always put the PROFINET communica-
tion error as the first consideration)
Commissioning
5.1 Introduction to the BOP
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Control buttons
Button
Description
Functions
M button • Exits from the current menu
• Switches between operating modes in the top level
menu
OK button Short-pressing:
• Confirms selection or input
• Enters sub menu
• Acknowledges faults
Long-pressing:
Activates auxiliary functions
• JOG
• Saves parameter set in drive (RAM to ROM)
• Sets parameter set to default
• Transfers data (drive to micro SD card/SD card)
• Transfers data (micro SD card/SD card to drive)
• Updates firmware
UP button • Navigates to the next item
• Increases a value
• JOG in CW (clockwise)
DOWN button • Navigates to the previous item
• Decreases a value
• JOG in CCW (counter-clockwise)
SHIFT button Moves the cursor from digit to digit for single digit editing,
including the digit of positive/negative sign
Note:
When the sign is edited, "_" indicates positive and "-" indi-
cates negative.
Press the key combination for four seconds to restart the drive
Moves current display to the left page when is displayed at the upper right corner, for
example .
Moves current display to the right page when is displayed at the lower right corner, for
example .
Commissioning
5.1 Introduction to the BOP
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Menu structure
The overall parameter structure of SINAMICS V90 PN BOP is designed as follows:
Commissioning
5.1 Introduction to the BOP
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BOP displays
Display
Example
Description
8.8.8.8.8.8.
Drive is in startup state
------
Drive is busy
Fxxxxx
Fault code, in the case of a single fault
F.xxxxx.
Fault code of the first fault, in the case of multiple faults
Fxxxxx.
Fault code, in the case of multiple faults
Axxxxx
Alarm code, in the case of a single alarm
A.xxxxx.
Alarm code of the first alarm, in the case of multiple alarms
Axxxxx.
Alarm code, in the case of multiple alarms
Rxxxxx
Parameter number, read-only parameter
Pxxxxx
Parameter number, editable parameter
P.xxxxx
Parameter number, editable parameter; the dot means that at
least one parameter has been changed
In xxx
Indexed parameter
Figure after "
In
" indicates the number of indices.
For example, "
In 001
" means that this indexed parameter is 1.
xxx.xxx
Negative parameter value
xxx.xx<>
Current display can be moved to left or right
xxxx.xx>
Current display can be moved to right
xxxx.xx<
Current display can be moved to left
S Off
Operating display: servo off
Para
Editable parameter group
Commissioning
5.1 Introduction to the BOP
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Display
Example
Description
P xxxx
Parameter group
Five groups are available:
1.
P APP
: application
2.
P BASE
: basic
3.
P CON
: communication
4.
P EPOS
: basic positioner
5.
P ALL
: all parameters
Data
Read-only parameter group
Func
Function group
JOG
JOG function
Save
Save data in drive
defu
Restore drive to default settings
dr--sd
Save data from drive to micro SD card/SD card
sd--dr
Upload data from micro SD card/SD card to drive
Update
Update firmware
ABS
The zero position has not been set
A.B.S.
The zero position has been set
r xxx
Actual speed (positive direction)
r -xxx
Actual speed (negative direction)
T x.x
Actual torque (positive direction)
T -x.x
Actual torque (negative direction)
xxxxxx
Actual position (positive direction)
xxxxxx.
Actual position (negative direction)
DCxxx.x
Actual DC link voltage
Commissioning
5.2 Initial commissioning in JOG mode
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Display
Example
Description
Exxxxx
Position following error
run
The motor is running
Con
The communication between the commissioning tool
SINAMICS V-ASSISTANT and the servo drive is established.
In this case, the BOP is protected from any operations except
clearing alarms and acknowledging faults.
5.2
Initial commissioning in JOG mode
Prerequisites
● The servo drive is connected to the servo motor without load
● The servo drive is not in servo on status
Operating sequence
Note
Set bit 0 of parameter p29108 to 1, and then
save the parameter setting and restart the
drive, to enable the JOG function; otherwise, you cannot access the function related
parameter p1058.
If you have assigned digital signal EMGS, keep it at a high level (1) to ensure normal
operation.
Step
Description
Remarks
1 Connect necessary units and check wiring. It is necessary to connect the following cables:
• Power cable
• Encoder cable
• Brake cable
• Line supply cable
• 24 VDC cable
2
Switch on the 24 VDC power supply.
3 Check the servo motor type.
• If the servo motor has an incremental encoder, input
motor ID (p29000).
• If the servo motor has an absolute encoder, the servo
drive can identify the servo motor automatically.
Fault
F52984
occurs when the servo motor is not
identified.
You can find the motor ID from the motor rating
plate. Go to "Motor components (Page 19)" for
detailed descriptions about motor rating plate.
Commissioning
5.2 Initial commissioning in JOG mode
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Step
Description
Remarks
4 Check the direction of motor rotation.
The default direction of rotation is CW (clockwise). You can
change it by setting the parameter p29001 if necessary.
p29001=0: CW
p29001=1: CCW
Setting a parameter without index (example)
Setting a parameter with index (example)
5 Check the JOG speed.
The default JOG speed is 100 rpm. You can change it by
setting the parameter p1058.
Set bit 0 of parameter p29108 to 1, and then save
the parameter setting and restart the drive, to ena-
ble the JOG function; otherwise, you cannot access
p1058.
6
Save parameters with the BOP.
Commissioning
5.3 Commissioning in basic positioner control mode (EPOS)
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Step
Description
Remarks
7
Switch on the main line supply.
8 Clear faults and alarms. Refer to "Diagnostics (Page 143)".
9 For the BOP, enter the JOG menu function and press the
UP
or
DOWN
button to run the servo motor.
For the engineering tool, use the JOG function to run the
servo motor.
For more information about JOG with SINAMICS V-
ASSISTANT, see SINAMICS V-ASSISTANT Online
Help.
JOG in speed (example)
JOG in torque (example)
5.3
Commissioning in basic positioner control mode (EPOS)
The following takes the EJOG function for example to describe the commissioning in EPOS
mode.
Step
Description
Remarks
1
Switch off the main line supply.
2 Power off the servo drive and connect it to the controller (for
example, SIMATIC S7-1500) with the PROFINET cable and
signal cable.
If any one of digital signals EMGS, CWL, and CCWL
is not assigned to a DI, it will be set to a high level
(1) automatically.
If you have assigned any one of digital signals
EMGS, CWL, and CCWL to a DI, keep it at a high
level (1).
3
Switch on the 24 VDC power supply.
Commissioning
5.4 Commissioning in speed control mode (S)
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Step
Description
Remarks
4 Check the servo motor type.
• If the servo motor has an incremental encoder, input the
motor ID (p29000).
• If the servo motor has an absolute encoder, the servo
drive can identify the servo motor automatically.
Fault
F52984
occurs when the servo motor is not
identified.
You can find the motor ID from the motor rating
plate. For the detailed information of the motor rating
plate, see Section "Motor components (Page 19)".
5 Switch to the basic positioner control mode by setting pa-
rameter p29003 = 1.
• p29003 = 1: basic positioner control (EPOS)
• p29003 = 2: speed control (S)
6 Save the parameter and restart the servo drive to apply the
setting of the basic positioner control mode.
7 Set the mechanical gear ratio with parameters p29247,
p29248 and p29249.
• p29247: LU per load revolution
• p29248: load revolutions
• p29249: motor revolutions
8 Select the axis type by setting parameter p29245. If you use
the modular axis, you need to define the modular range by
setting parameter p29246.
• p29245 = 0: linear axis
• p29245 = 1: modular axis
9 Setting jogging setpoints with the appropriate parameters.
• Velocity (p2585, p2586)
• Incremental (p2587, p2588)
Refer to "EJOG (Page 88)".
10
Switch on the main line supply.
11
Set up the PROFINET configuration with TIA Portal.
12 Select the telegram for PROFINET communication with
parameter p0922.
5.4
Commissioning in speed control mode (S)
Step
Description
Remarks
1
Switch off the main line supply.
2 Power off the servo drive and connect it to the controller (for
example, SIMATIC S7-1500) with the PROFINET cable and
signal cable.
If any one of digital signals EMGS, CWL, and CCWL
is not assigned to a DI, it will be set to a high level
(1) automatically.
If you have assigned any one of digital signals
EMGS, CWL, and CCWL to a DI, keep it at a high
level (1).
3
Switch on the 24 VDC power supply.
4 Check the servo motor type.
• If the servo motor has an incremental encoder, input
motor ID (p29000).
• If the servo motor has an absolute encoder, the servo
drive can identify the servo motor automatically.
Fault
F52984
occurs when the servo motor is not
identified.
You can find the motor ID from the motor rating
plate. Go to "Motor components (Page 19)" for de-
tailed descriptions about motor rating plate.
5
Set up the PROFINET configuration with TIA Portal.
6 Select the telegram for PROFINET communication with
parameter p0922.
Commissioning
5.5 Commissioning control functions
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Step
Description
Remarks
7 Set the IP address for the station with parameters p8921,
p8923.
8 Set the device name for the station with parameter p8920. The device name must be unique within the
PROFINET network.
9 Active the IP configuration and device name with parameter
p8925.
10 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 86)" and "Speed limit
(Page 85)".
11 Configure necessary digital input signals by setting the fol-
lowing parameters:
• p29301: DI1
• p29302: DI2
• p29303: DI3
• p29304: DI4
The factory settings are:
• p29301: 2 (RESET)
• p29302: 11 (TLIM)
• p29303: 0
• p29304: 0
12
Save parameters with the BOP and restart the drive.
13
Switch on the main line supply.
14
Clear faults and alarms.
Refer to "Diagnostics (Page 143)".
15 Send and receive the process data (PZD) with TIA Portal. The actual speed of the servo motor can be viewed
from the BOP operating display.
The default display is the actual speed.
5.5
Commissioning control functions
5.5.1
Speed limit
Two sources in total are available for the speed limit. You can select one of them via the
digital input signal SLIM:
Digital signal (SLIM)
Speed limit
0
Internal speed limit 1
1
Internal speed limit 2
Note
The bit 0 of parameter p29108 must
be set to 1 to enable the speed limit function.
Note
You can switch between the two sources and modify their values when the servo drive is
running.
Note
Fault F7901 occurs when the
actual speed exceeds the positive speed limit + hysteresis
speed (p2162) or the negative speed limit
- hysteresis speed (p2162).
Commissioning
5.5 Commissioning control functions
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Overall speed limit
Besides the above two channels, an overall speed limit is also available.
You can configure the overall speed limit by setting the following parameters:
Parameter
Value range
Default
Unit
Description
p1083
0 to 210000
210000
rpm
Overall speed limit (positive)
p1086 -210000 to 0 -210000 rpm Overall speed limit (negative)
Internal speed limit
Select an internal speed limit by setting the following parameters:
Parameter
Value range
Default
Unit
Description
Digital input
(SLIM)
p29070[0]
0 to 210000
210000
rpm
Internal speed limit 1 (positive)
0
p29070[1] 0 to 210000 210000 rpm Internal speed limit 2 (positive) 1
p29071[0]
-210000 to 0
-210000
rpm
Internal speed limit 1 (negative)
0
p29071[1]
-210000 to 0
-210000
rpm
Internal speed limit 2 (negative)
1
Note
After th
e motor is commissioned, p1082, p1083, p1086, p29070 and p29071 are set to the
maximum speed of the motor automatically.
5.5.2
Torque limit
Two sources in total are available for the torque limit. You can select one of them via the
digital input signal TLIM:
Digital input (TLIM)
Torque limit
0
Internal torque limit 1
1
Internal torque limit 2
When the torque setpoint reaches torque limit, the torque is limited to the value selected by
TLIM.
Note
You can switch between the two sources an
d modify their values when the servo drive is
running.
Commissioning
5.5 Commissioning control functions
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Overall torque limit
Besides the above two sources, an overall torque limit is also available. The overall torque
limit takes effect when an quick stop (OFF3) happens. In this case, the servo drive brakes
with a maximum torque.
You can configure the overall torque limit by setting the following parameters:
Parameter
Value range
Default
Unit
Description
p1520 -1000000.00 to
20000000.00
0 Nm Overall torque limit (positive)
p1521 -20000000.00 to
1000000.00
0 Nm Overall torque limit (negative)
Internal torque limit
Select an internal torque limit by setting the following parameters:
Parameter
Value range
Default
Unit
Description
Digital input
(TLIM)
p29050[0]
-150 to 300
300
%
Internal torque limit 1 (positive)
0
p29050[1]
-150 to 300
300
%
Internal torque limit 2 (positive)
1
p29051[0]
-300 to 150
-300
%
Internal torque limit 1 (negative)
0
p29051[1]
-300 to 150
-300
%
Internal torque limit 2 (negative)
1
The following diagram shows how the internal torque limit functions:
Torque limit reached (TLR)
When the generated torque has nearly (internal hysteresis) reached the value of the positive
torque limit or negative torque limit, the signal TLR is output.
Commissioning
5.5 Commissioning control functions
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5.5.3
EJOG
When telegrams 7, 9, 110, and 111 are used, select a jogging channel with the PROFINET
control words STW1.8 and STW1.9:
Control word
Setting
Description
STW1.8
STW1.9
0
No jogging channel activated.
1 Jog 1 signal source rising edge activated.
2
Jog 2 signal source rising edge activated.
3
Reserved.
Features
Selecting a jogging mode
When telegram 110 is used, select a jogging mode with the PROFINET control word
POS_STW.5:
Control word
Setting
Description
POS_STW.5
1
Jogging, incremental active.
0
Jogging, velocity active.
When telegram 111 is used, select a jogging mode with the PROFINET control word
POS_STW2.5:
Control word
Setting
Description
POS_STW2.5
1
Jogging, incremental active.
0
Jogging, velocity active.
Note
When telegrams 7 and 9 are used, endless jogging is fixed.
Setting jogging setpoints
When telegrams 7 and 9 are used, set the following jogging setpoint with the appropriate
parameters:
● Velocity (p2585, p2586)
When telegrams 110, and 111 are used, set the following jogging setpoints with the
appropriate parameters:
● Velocity (p2585, p2586)
● Incremental (p2587, p2588)
Commissioning
5.5 Commissioning control functions
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Overview of important parameters
•
p2585
EPOS jog 1 setpoint velocity
•
p2586
EPOS jog 2 setpoint velocity
•
p2587
EPOS jog 1 travel distance
•
p2588
EPOS jog 2 travel distance
For more information about the parameters above, see Section "Parameter list (Page 110)".
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PROFINET communication
6
PROFINET IO is a real time protocol based on Ethernet. It is used as high level network for
industrial automation applications. PROFINET IO focuses on the data exchange for a
programmable controller. A PROFINET IO network consists of the following devices:
● IO controller: typically, it is the PLC, which controls the whole application
● IO device: a decentralized IO device (for example, encoder, sensor), which is controlled
by the IO controller
● IO supervisor: HMI (human machine interface) or PC for diagnostic purposes or
commissioning
PROFINET supplies two kinds of real time communication, that is, PROFINET IO RT (Real
Time) and PROFINET IO IRT (Isochronous Real Time). The real time channel is used for IO
data and alarm mechanism.
In PROFINET IO RT, the RT data is transferred via a prioritized Ethernet frame. No special
hardware is required. Due to this prioritization a cycle time of 4 ms can be achieved.
PROFINET IO IRT is used for more precise timing requirements. Cycle time of 2 ms is
possible, but also special hardware for IO devices and switches are required.
All diagnostic and configuration data is transferred via the non-real time channel (NRT). For
this purpose the common TCP/IP protocol is used. Anyhow, no timing can be guaranteed
and typically the cycle times can be more than 100 ms.
6.1
Supported telegrams
SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control
mode and basic positioner control mode.
From the perspective of the drive unit, the received process data represents the receive
words and the process data to be sent represents the send words.
Telegram
Maximum number of PZD
Description
Receive word
Send word
Standard telegram 1
2
2
p0922 = 1
Standard telegram 2
4
4
p0922 = 2
Standard telegram 3
5
9
p0922 = 3
Standard telegram 5
9
9
p0922 = 5
Standard telegram 7
2
2
p0922 = 7
Standard telegram 9
10
5
p0922 = 9
Siemens telegram 102
6
10
p0922 = 102
Siemens telegram 105
10
10
p0922 = 105
Siemens telegram 110 12 7 p0922 = 110
PROFINET communication
6.1 Supported telegrams
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Telegram
Maximum number of PZD
Description
Receive word
Send word
Siemens telegram 111
12
12
p0922 = 111
Siemens telegram 750 (sup-
plementary telegram)
3 1 p8864 = 750
One PZD = one word
Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the
SIMATICS S7-1500 and the TIA Portal version is V14 or higher.
The supplementary telegram can only be used together with a main telegram
. It cannot be used sepa-
rately.
Telegrams used for speed control mode
Telegrams used for basic positioner control mode
Note
When you use the telegram 110 and 111 in EPOS functions JOG, MDI, traversing block, and
referencing, the value of the PZD5 OVERRIDE affects the speed.
PROFINET communication
6.2 I/O data signals
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Supplementary telegram
Note
Before se
tting the supplementary telegram via p8864, you must select a main telegram via
p0922 firstly. If you change the main telegram, the supplementary telegram will be disabled
automatically, so after changing p0922, you must set p8864 again.
Note
When you
use the telegram 750 in the application of rewinding and unwinding, the built-in
braking resistor of the drives is not sufficient to absorb the excess regenerative energy.
Note
When you use the telegram 750, if either of the following settings is done,
the motor will be
accelerated in an uncontrollable manner:
•
Setting a negative value for the positive torque limit via the PZD M_LIMIT_POS
•
Setting a positive value for the negative torque limit via the PZD M_LIMIT_NEG
6.2
I/O data signals
Parameters p200x apply as reference variables (telegram contents = 4000 hex or
40000000 hex in the case of double words if the input variable has the value p200x).
PROFINET communication
6.2 I/O data signals
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The following table provides an overview of the I/O data used in the telegram.
Signal
Description
Receive word/send word
Data type
Scaling
STW1
Control word 1
Receive word
U16
-
STW2 Control word 2 Receive word U16 -
ZSW1
Status word 1
Send word
U16
-
ZSW2
Status word 2
Send word
U16
-
NSOLL_A
Speed setpoint A (16 bit)
Receive word
I16
4000 hex ≙ p2000
NSOLL_B
Speed setpoint B (32 bit)
Receive word
I32
40000000 hex ≙ p2000
NIST_A
Speed actual value A (16 bit)
Send word
I16
4000 hex ≙ p2000
NIST_B
Speed actual value B (32 bit)
Send word
I32
40000000 hex ≙ p2000
G1_STW
Encoder 1 control word
Receive word
U16
-
G1_ZSW
Encoder 1 status word
Send word
U16
-
G1_XIST1
Encoder 1 actual position 1
Send word
U32
-
G1_XIST2
Encoder 1 actual position 2
Send word
U32
-
MOMRED
Torque reduction
Receive word
I16
4000 hex ≙ p2003
MELDW
Message word
Send word
U16
-
KPC
Position controller gain factor
Receive word
I32
-
XERR
Position deviation
Receive word
I32
-
SATZANW
Position block selection
Receive word
U16
-
AKTSATZ
Selected position block
Send word
U16
-
MDI_TAR POS
MDI position
Receive word
I32
1 hex ≙ 1 LU
MDI_VELOCITY
MDI velocity
Receive word
I32
1 hex ≙ 1000 LU/min
MDI_ACC
MDI acceleration override
Receive word
I16
4000 hex ≙ 100%
MDI_DEC
MDI deceleration override
Receive word
I16
4000 hex ≙ 100%
XIST_A Position actual value A Send word I32 1 hex ≙ 1 LU
OVERRIDE
1)
Position velocity override
Receive word
I16
4000 hex ≙ 100%
MDI_MODE Position MDI mode Receive word U16 -
FAULT_CODE
Fault code
Send word
U16
-
WARN_CODE
Alarm code
Send word
U16
-
POS_ZSW
Position status word
Send word
U16
-
M_ADD1
Additional torque
Receive word
U32
4000 hex ≙ p2003
M_LIMIT_POS
Positive torque limit
Receive word
U32
4000 hex ≙ p2003
M_LIMIT_NEG
Negative torque limit
Receive word
U32
4000 hex ≙ p2003
M_ACT
Actual torque
Send word
Float
4000 hex ≙ p2003
user 2) User-defined receive word
(depends on the value of
p29150):
• p29150 = 0: No function
• p29150 = 1: Torque feed-
forward
• p29150 = 2: Speed feedfor-
ward
Receive word I16 • Torque feedforward
(4000 hex ≙ p2003)
• Speed feedforward
(4000 hex ≙ p2003)
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
94 Getting Started, 12/2018, A5E37208904-006
Signal
Description
Receive word/send word
Data type
Scaling
user User-defined send word (de-
pends on the value of p29151):
• p29151 = 0: No function
• p29151 = 1: Actual torque
• p29151 = 2: Actual absolute
current
• p29151 = 3: DI status
Send word I16 • Actual torque (4000
hex ≙ p2003)
• Actual absolute cur-
rent (4000 hex ≙
p2003)
1)
Make sure that signal OVERRIDE is set to a value from 0 to 32767.
2)
When you use the auto-tuning function, values of the torque feedforward and speed feedforward can be overwrote after
the tuning function is enabled. If you want to use functions of the torque feedforward and speed feedforward, you need
to set their values to the required values again.
6.3
Control word definition
6.3.1
STW1 control word (for telegrams 1, 2, 3, 5)
Note
When p29108.0 = 0, STW1.11 is disabled.
Note
When telegram 5 is used, STW1.4, STW1.5, and STW1.6 are disabled.
Note
STW1.10 must be set to 1 to allow
the PLC to control the drive.
Signal
Description
STW1.0 = ON (pulses can be enabled)
0 = OFF1 (braking with ramp-function generator, then pulse suppression and
ready for switching on)
STW1.1 1 = No OFF2 (enable is possible)
0 = OFF2 (immediate pulse suppression and switching on inhibited)
STW1.2 1 = No OFF3 (enable is possible)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and
switching on inhibited)
STW1.3 1 = Enable operation (pulses can be enabled)
0 = Inhibit operation (suppress pulses)
STW1.4 1 = Operating condition (the ramp-function generator can be enabled)
0 = Inhibit ramp-function generator (set the ramp-function generator output to
zero)
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 95
Signal
Description
STW1.5 1 = Continue ramp-function generator
0 = Freeze ramp-function generator (freeze the ramp-function generator output)
STW1.6 1 = Enable setpoint
0 = Inhibit setpoint (set the ramp-function generator input to zero)
STW1.7 = 1. Acknowledge faults
STW1.8
Reserved
STW1.9
Reserved
STW1.10
1 = Control via PLC
STW1.11
1 = Setpoint inversion
STW1.12
Reserved
STW1.13
Reserved
STW1.14
Reserved
STW1.15
Reserved
6.3.2
STW2 control word (for telegrams 2, 3, 5)
Signal
Description
STW2.0
Reserved
STW2.1 Reserved
STW2.2
Reserved
STW2.3 Reserved
STW2.4
Reserved
STW2.5
Reserved
STW2.6
Reserved
STW2.7
Reserved
STW2.8
1 = Traverse to fixed endstop
STW2.9
Reserved
STW2.10
Reserved
STW2.11
Reserved
STW2.12
Master sign-of-life, bit 0
STW2.13
Master sign-of-life, bit 1
STW2.14
Master sign-of-life, bit 2
STW2.15
Master sign-of-life, bit 3
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
96 Getting Started, 12/2018, A5E37208904-006
6.3.3
STW1 control word (for telegrams 102, 105)
Note
When telegra
m 105 is used, STW1.4, STW1.5, and STW1.6 are disabled.
Note
STW1.10 must be set to 1 to allow PLC to control the drive.
Signal
Description
STW1.0 = ON (pulses can be enabled)
0 = OFF1 (braking with ramp-function generator, then pulse suppression and
ready for switching on)
STW1.1 1 = No OFF2 (enable is possible)
0 = OFF2 (immediate pulse suppression and switching on inhibited)
STW1.2 1 = No OFF3 (enable is possible)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and
switching on inhibited)
STW1.3 1 = Enable operation (pulses can be enabled)
0 = Inhibit operation (suppress pulses)
STW1.4 1 = Operating condition (the ramp-function generator can be enabled)
0 = Inhibit ramp-function generator (set the ramp-function generator output to
zero)
STW1.5 1 = Continue ramp-function generator
0 = Freeze ramp-function generator (freeze the ramp-function generator output)
STW1.6 1 = Enable setpoint
0 = Inhibit setpoint (set the ramp-function generator input to zero)
STW1.7 = 1. Acknowledge faults
STW1.8
Reserved
STW1.9
Reserved
STW1.10
1 = Control via PLC
STW1.11
1 = Ramp-function generator active
STW1.12
1 = Unconditionally open the holding brake
STW1.13
Reserved
STW1.14 1 = Closed-loop torque control active
0 = Closed-loop speed control active
STW1.15
Reserved
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 97
6.3.4
STW2 control word (for telegrams 102, 105)
Note
When p29108.0 = 0, STW2.4 is disabled.
Signal
Description
STW2.0
Reserved
STW2.1
Reserved
STW2.2
Reserved
STW2.3
Reserved
STW2.4
1 = Bypass ramp-function generator
STW2.5
Reserved
STW2.6
1 = Integrator inhibit, speed controller
STW2.7
Reserved
STW2.8
1 = Traverse to fixed endstop
STW2.9
Reserved
STW2.10
Reserved
STW2.11
Reserved
STW2.12
Master sign-of-life, bit 0
STW2.13
Master sign-of-life, bit 1
STW2.14
Master sign-of-life, bit 2
STW2.15
Master sign-of-life, bit 3
6.3.5
STW1 control word (for telegrams 7, 9, 110, 111)
Note
STW1.10 must be set to 1 to allow the PLC to control the drive.
Signal
Description
STW1.0 = ON (pulses can be enabled)
0 = OFF1 (braking with ramp-function generator, then pulse suppression and
ready for switching on)
STW1.1 1 = No OFF2 (enable is possible)
0 = OFF2 (immediate pulse suppression and switching on inhibited)
STW1.2 1 = No OFF3 (enable is possible)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and
switching on inhibited)
STW1.3 1 = Enable operation (pulses can be enabled)
0 = Inhibit operation (suppress pulses)
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
98 Getting Started, 12/2018, A5E37208904-006
Signal
Description
STW1.4 1 = Do not reject traversing task
0 = Reject traversing task (ramp-down with the maximum deceleration)
STW1.5 1 = No intermediate stop
0 = Intermediate stop
STW1.6 = Activate traversing task
STW1.7 = Acknowledge faults
STW1.8
1 = Jog 1 signal source
STW1.9
1 = Jog 2 signal source
STW1.10 1 = Control via PLC
STW1.11 1 = Start referencing
0 = Stop referencing
STW1.12
Reserved
STW1.13 = External block change
STW1.14
Reserved
STW1.15
Reserved
6.3.6
STW2 control word (for telegrams 9, 110, 111)
Signal
Description
STW2.0
Reserved
STW2.1
Reserved
STW2.2
Reserved
STW2.3
Reserved
STW2.4
Reserved
STW2.5
Reserved
STW2.6
Reserved
STW2.7 Reserved
STW2.8
1 = Traverse to fixed endstop
STW2.9
Reserved
STW2.10
Reserved
STW2.11
Reserved
STW2.12
Master sign-of-life, bit 0
STW2.13
Master sign-of-life, bit 1
STW2.14
Master sign-of-life, bit 2
STW2.15
Master sign-of-life, bit 3
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 99
6.3.7
G1_STW encoder 1 control word
Signal
Description
G1_STW.0
Selects the function to be activate (with bit value = 1)
G1_STW.1
G1_STW.2
G1_STW.3
G1_STW.4
Start/stop/read selected function
G1_STW.5
G1_STW.6
G1_STW.7 Mode of the function to be activated
1 = Flying measurement
0 = Search for reference mark
G1_STW.8
Reserved
G1_STW.9
Reserved
G1_STW.10
Reserved
G1_STW.11
Reserved
G1_STW.12
Reserved
G1_STW.13
1 = Request value cyclic transfer of the absolute position value in Gn_XIST2
G1_STW.14
1 = Request parking encoder
G1_STW.15 = Acknowledge encoder fault
6.3.8
SATZANW control word
Signal
Description
SATZANW.0
1 = Traversing block selection, bit 0
SATZANW.1
1 = Traversing block selection, bit 1
SATZANW.2
1 = Traversing block selection, bit 2
SATZANW.3
1 = Traversing block selection, bit 3
SATZANW.4
1 = Traversing block selection, bit 4
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
100 Getting Started, 12/2018, A5E37208904-006
Signal
Description
SATZANW.5
1 = Traversing block selection, bit 5
SATZANW.6 Reserved
SATZANW.7
Reserved
SATZANW.8 Reserved
SATZANW.9
Reserved
SATZANW.10
Reserved
SATZANW.11
Reserved
SATZANW.12
Reserved
SATZANW.13
Reserved
SATZANW.14
Reserved
SATZANW.15 1 = Activate MDI
0 = Deactivate MDI
6.3.9
MDI_MOD control word
Signal
Description
MDI_MOD.0 1 = Absolute positioning is selected
0 = Relative positioning is selected
MDI_MOD.1
0 = Absolute positioning through the shortest distance
1 = Absolute positioning in the positive direction
2 = Absolute positioning in the negative direction
3 = Absolute positioning through the shortest distance
MDI_MOD.2
MDI_MOD.3
Reserved
MDI_MOD.4
Reserved
MDI_MOD.5
Reserved
MDI_MOD.6 Reserved
MDI_MOD.7
Reserved
MDI_MOD.8 Reserved
MDI_MOD.9
Reserved
MDI_MOD.10
Reserved
MDI_MOD.11
Reserved
MDI_MOD.12
Reserved
MDI_MOD.13
Reserved
MDI_MOD.14
Reserved
MDI_MOD.15
Reserved
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 101
6.3.10
POS_STW control word
Signal
Description
POS_STW.0 1 = Tracking mode active
0 = No tracking mode active
POS_STW.1 1 = Set reference point
0 = Do not set reference point
POS_STW.2
1 = Reference cam active
POS_STW.3
Reserved
POS_STW.4
Reserved
POS_STW.5 1 = Jogging, incremental active
0 = Jogging, velocity active
POS_STW.6
Reserved
POS_STW.7
Reserved
POS_STW.8
Reserved
POS_STW.9
Reserved
POS_STW.10
Reserved
POS_STW.11
Reserved
POS_STW.12
Reserved
POS_STW.13
Reserved
POS_STW.14
Reserved
POS_STW.15
Reserved
Note
If the tracking mode is activated, the position setpoint follows the actual position value, i.e.
position setpoin
t = actual position value.
6.3.11
POS_STW1 positioning control word
Signal
Description
POS_STW1.0 Traversing block selection, bit 0
POS_STW1.1
Traversing block selection, bit 1
POS_STW1.2
Traversing block selection, bit 2
POS_STW1.3
Traversing block selection, bit 3
POS_STW1.4
Traversing block selection, bit 4
POS_STW1.5
Traversing block selection, bit 5
POS_STW1.6
Reserved
POS_STW1.7
Reserved
POS_STW1.8 1 = Absolute positioning is selected
0 = Relative positioning is selected
PROFINET communication
6.3 Control word definition
SINAMICS V90, SIMOTICS S-1FL6
102 Getting Started, 12/2018, A5E37208904-006
Signal
Description
POS_STW1.9
0 = Absolute positioning through the shortest distance
1 = Absolute positioning/MDI direction selection, positive
2 = Absolute positioning/MDI direction selection, negative
3 = Absolute positioning through the shortest distance
POS_STW1.10
POS_STW1.11 Reserved
POS_STW1.12 1 = Continuous transfer
0 = Activate MDI block change with of a traversing task (STW1.6)
POS_STW1.13
Reserved
POS_STW1.14 1 = Signal setting-up selected
0 = Signal positioning selected
POS_STW1.15
1 = MDI selection
6.3.12
POS_STW2 positioning control word
Signal
Description
POS_STW2.0
1 = Tracking mode active
POS_STW2.1
1 = Set reference point
POS_STW2.2
1 = Reference cam active
POS_STW2.3
Reserved
POS_STW2.4 Reserved
POS_STW2.5 1 = Jogging, incremental active
0 = Jogging, velocity active
POS_STW2.6 Reserved
POS_STW2.7
Reserved
POS_STW2.8
Reserved
POS_STW2.9 1 = Start the search for reference in the negative direction
0 = Start the search for reference in the positive direction
POS_STW2.10
Reserved
POS_STW2.11
Reserved
POS_STW2.12
Reserved
POS_STW2.13
Reserved
POS_STW2.14
1 = Software limit switch activation
POS_STW2.15
1 = STOP cam active
Note
If the tracking mode is activated, the po
sition setpoint follows the actual position value, i.e.
position setpoint = actual position value.
PROFINET communication
6.4 Status word definition
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 103
6.4
Status word definition
6.4.1
ZSW1 status word (for telegrams 1, 2, 3, 5)
Signal
Description
ZSW1.0
1 = Ready for servo on
ZSW1.1 1 = Ready for operation
ZSW1.2
1 = Operation enabled
ZSW1.3 1 = Fault present
ZSW1.4
1 = No coast down active (OFF2 inactive)
ZSW1.5
1 = No fast stop active (OFF3 inactive)
ZSW1.6
1 = Switching on inhibited active
ZSW1.7
1 = Alarm present
ZSW1.8
1 = Speed setpoint - actual value deviation within tolerance t_off
ZSW1.9
1 = Control requested
ZSW1.10
1 = f or n comparison value reached/exceeded
ZSW1.11
0 = I, M, or P limit reached
ZSW1.12
1 = Open the holding brake
ZSW1.13
1 = No motor overtemperature alarm
ZSW1.14 1 = Motor rotates forwards (n_act ≥ 0)
0 = Motor rotates backwards (n_act < 0)
ZSW1.15
1 = No alarm, thermal overload, power unit
6.4.2
ZSW2 status word (for telegrams 2, 3, 5)
Signal
Description
ZSW2.0
Reserved
ZSW2.1
Reserved
ZSW2.2
Reserved
ZSW2.3
Reserved
ZSW2.4
Reserved
ZSW2.5
1 = Alarm class bit 0
ZSW2.6 1 = Alarm class bit 1
ZSW2.7
Reserved
ZSW2.8 1 = Traverse to fixed endstop
ZSW2.9
Reserved
ZSW2.10
1 = Pulses enabled
ZSW2.11
Reserved
ZSW2.12
Slave sign-of-life, bit 0
ZSW2.13
Slave sign-of-life, bit 1
PROFINET communication
6.4 Status word definition
SINAMICS V90, SIMOTICS S-1FL6
104 Getting Started, 12/2018, A5E37208904-006
Signal
Description
ZSW2.14
Slave sign-of-life, bit 2
ZSW2.15 Slave sign-of-life, bit 3
6.4.3
ZSW1 status word (for telegrams 102, 105)
Signal
Description
ZSW1.0
1 = Ready for servo on
ZSW1.1 1 = Ready for operation
ZSW1.2
1 = Operation enabled
ZSW1.3
1 = Fault present
ZSW1.4
1 = No coast down active (OFF2 inactive)
ZSW1.5
1 = No fast stop active (OFF3 inactive)
ZSW1.6
1 = Switching on inhibited active
ZSW1.7
1 = Alarm present
ZSW1.8
1 = Speed setpoint - actual value deviation within tolerance t_off
ZSW1.9
1 = Control requested
ZSW1.10
1 = f or n comparison value reached/exceeded
ZSW1.11
1 = Alarm class bit 0
ZSW1.12
1 = Alarm class bit 1
ZSW1.13
Reserved
ZSW1.14
1 = Closed-loop torque control active
ZSW1.15
Reserved
6.4.4
ZSW2 status word (for telegrams 102, 105)
Signal
Description
ZSW2.0
Reserved
ZSW2.1
Reserved
ZSW2.2
Reserved
ZSW2.3
Reserved
ZSW2.4 1 = Ramp-function generator inactive
ZSW2.5
1 = Open the holding brake
ZSW2.6
1 = Integrator inhibit, speed controller
ZSW2.7
Reserved
ZSW2.8
1 = Traverse to fixed endstop
ZSW2.9
Reserved
ZSW2.10
Reserved
ZSW2.11
Reserved
PROFINET communication
6.4 Status word definition
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 105
Signal
Description
ZSW2.12
Slave sign-of-life, bit 0
ZSW2.13 Slave sign-of-life, bit 1
ZSW2.14
Slave sign-of-life, bit 2
ZSW2.15 Slave sign-of-life, bit 3
6.4.5
ZSW1 status word (for telegrams 7, 9, 110, 111)
Signal
Description
ZSW1.0
1 = Ready for switching on
ZSW1.1
1 = Ready for operation (DC link loaded, pulses blocked)
ZSW1.2
1 = Operation enabled (drive follows n_set)
ZSW1.3
1 = Fault present
ZSW1.4
1 = No coast down active (OFF2 inactive)
ZSW1.5
1 = No fast stop active (OFF3 inactive)
ZSW1.6
1 = Switching on inhibited active
ZSW1.7
1 = Alarm present
ZSW1.8
1 = Following error within tolerance
ZSW1.9
1 = Control requested
ZSW1.10
1 = Target position reached
ZSW1.11
1 = Reference point set
ZSW1.12 = Acknowledgement traversing block activated
ZSW1.13
1 = Setpoint fixed
ZSW1.14 1 = Axis accelerated
ZSW1.15
1 = Axis decelerated
6.4.6
ZSW2 status word (for telegrams 9, 110, 111)
Signal
Description
ZSW2.0
Reserved
ZSW2.1
Reserved
ZSW2.2
Reserved
ZSW2.3
Reserved
ZSW2.4
Reserved
ZSW2.5
1 = Alarm class bit 0
ZSW2.6
1 = Alarm class bit 1
ZSW2.7
Reserved
ZSW2.8
1 = Traverse to fixed endstop
ZSW2.9
Reserved
PROFINET communication
6.4 Status word definition
SINAMICS V90, SIMOTICS S-1FL6
106 Getting Started, 12/2018, A5E37208904-006
Signal
Description
ZSW2.10
1 = Pulses enabled
ZSW2.11 Reserved
ZSW2.12
Slave sign-of-life, bit 0
ZSW2.13 Slave sign-of-life, bit 1
ZSW2.14
Slave sign-of-life, bit 2
ZSW2.15
Slave sign-of-life, bit 3
6.4.7
G1_ZSW encoder 1 status word
Signal
Description
G1_ZSW.0
Feedback signal of the active function (1 = function active)
G1_ZSW.1
G1_ZSW.2
G1_ZSW.3
G1_ZSW.4 1 = Position actual value from function
1
Generated value in Gn_XIST2 (and
can be read)
G1_ZSW.5 1 = Position actual value from function
2
G1_ZSW.6 1 = Position actual value from function
3
G1_ZSW.7 1 = Position actual value from function
4
G1_ZSW.8
Reserved
G1_ZSW.9
Reserved
G1_ZSW.10
Reserved
G1_ZSW.11
1 = Acknowledge encoder fault active
G1_ZSW.12
Reserved (for reference point offset)
G1_ZSW.13
Absolute value is cyclically transferred
G1_ZSW.14
Parking encoder active
G1_ZSW.15
Encoder fault, the fault is in Gn_XIST2
PROFINET communication
6.4 Status word definition
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 107
6.4.8
MELDW status word
Signal
Description
MELDW.0 1 = Ramp-up/ramp-down complete
0 = Ramp-function generator active
MELDW.1 1 = Torque utilization [%] < torque threshold value 2
MELDW.2
1 = |n_act| < speed threshold value 3 (p2161)
MELDW.3
1 = |n_act| ≤ speed threshold value 2
MELDW.4
1 = Vdc_min controller active
MELDW.5
Reserved
MELDW.6
1 = No motor overtemperature alarm
MELDW.7
1 = No alarm, thermal overload, power unit
MELDW.8
1 = Speed setpoint - actual value deviation within tolerance t_on
MELDW.9
Reserved
MELDW.10
Reserved
MELDW.11
1 = Controller enable
MELDW.12
1 = Drive ready
MELDW.13
1 = Pulses enabled
MELDW.14
Reserved
MELDW.15
Reserved
6.4.9
POS_ZSW1 positioning status word
Signal
Description
POS_ZSW1.0
Active Traversing Block Bit 0 (2
0
)
POS_ZSW1.1
Active Traversing Block Bit 0 (2
1
)
POS_ZSW1.2
Active Traversing Block Bit 0 (2
2
)
POS_ZSW1.3
Active Traversing Block Bit 0 (2
3
)
POS_ZSW1.4
Active Traversing Block Bit 0 (2
4
)
POS_ZSW1.5
Active Traversing Block Bit 0 (2
5
)
POS_ZSW1.6 Reserved
POS_ZSW1.7
Reserved
POS_ZSW1.8 1 = STOP cam minus active
POS_ZSW1.9
1 = STOP cam plus active
POS_ZSW1.10
1 = Jogging active
POS_ZSW1.11
1 = Reference point approach active
POS_ZSW1.12
Reserved
POS_ZSW1.13
1 = Traversing Block active
POS_ZSW1.14
1 = Set-up active
POS_ZSW1.15 1 = MDI active
0 = MDI inactive
PROFINET communication
6.5 PROFINET communication
SINAMICS V90, SIMOTICS S-1FL6
108 Getting Started, 12/2018, A5E37208904-006
6.4.10
POS_ZSW2 positioning status word
Signal
Description
POS_ZSW2.0
1 = Tracking mode active
POS_ZSW2.1 1 = Velocity limiting active
POS_ZSW2.2
1 = Setpoint available
POS_ZSW2.3
Reserved
POS_ZSW2.4
1 = Axis moves forward
POS_ZSW2.5
1 = Axis moves backwards
POS_ZSW2.6
1 = Software limit switch minus reached
POS_ZSW2.7
1 = Software limit switch plus reached
POS_ZSW2.8
1 = Position actual value ≤ cam switching position 1
POS_ZSW2.9
1 = Position actual value ≤ cam switching position 2
POS_ZSW2.10
1 = Direct output 1 via traversing block
POS_ZSW2.11
1 = Direct output 2 via traversing block
POS_ZSW2.12
1 = Fixed stop reached
POS_ZSW2.13
1 = Fixed stop clamping torque reached
POS_ZSW2.14
1 = Travel to fixed stop active
POS_ZSW2.15
1 = Traversing command active
6.5
PROFINET communication
For more information about the PROFINET communication, refer to SINAMICS V90,
SIMOTICS S-1FL6 Operating Instructions.
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 109
Parameters
7
7.1
Overview
The section below lists all the parameters of the SINAMICS V90 PN servo drive.
Parameter number
Numbers prefixed with an "r" indicate that parameter is a read-only parameter.
Numbers prefixed with a "p" indicate that the parameter is an editable parameter.
Effective
Indicates the conditions for making parameterization effective. Two conditions are possible:
● IM (
Im
mediately): Parameter value becomes effective immediately after changing.
● RE (
Re
set): Parameter value becomes effective after repower-on.
Can be changed
This indicates when the parameter can be changed. Two states are possible:
●
U
(Run): Can be changed in the "
Running
" state when the drive is in "servo on" state. The
"RDY" LED lights up green.
●
T
(Ready to run): Can be changed in the "
Ready
" state when the drive is in "servo off"
state. The "RDY" LED lights up red.
Note
When judging the state of the drive according to the "RDY" LED, ensure that no faults or
alarms exist.
Data type
Date type
Abbreviation
Description
Integer16
I16
16-bit integer
Integer32
I32
32-bit integer
Unsigned8
U8
8-bit unsigned integer
Unsigned16
U16
16-bit unsigned integer
Unsigned32
U32
32-bit unsigned integer
FloatingPoint32
Float
32-bit floating point number
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
110 Getting Started, 12/2018, A5E37208904-006
Parameter groups
The SINAMICS V90 PN parameters are divided into the following groups:
Parameter group
Available parameters
Parameter group display on the
BOP
Basic parameters p07xx, p10xx to p16xx, p21xx
Application parameters p29xxx
Communication parameters p09xx, p89xx
Basic positioner parameters p25xx, p26xx
Status monitoring parameters All read-only parameters
7.2
Parameter list
Editable parameters
The values of the parameters marked with an asterisk (*) may be changed after
commissioning. Make sure you back up the parameters first as required if you desire to
replace the motor. The default values of the parameters marked with two asterisks (**) are
motor dependent. They may have different default values when the drive connects to
different motors.
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p0748
CU invert digital outputs
-
-
0
-
U32
IM
T, U
Description: Inverts the signals at the digital outputs.
Bit 0: inverts signal DO 1
Bit 0 = 0: not inverted
Bit 0 = 1: inverted
Bit 1: inverts signal DO 2
Bit 1 = 0: not inverted
Bit 1 = 1: inverted
p0922 PROFIdrive: PZD telegram
selection
1 111 105 - U16 IM T
Description:
Sets the send and receive telegram.
For speed control mode:
1: Standard telegram 1, PZD-2/2
2: Standard telegram 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
5: Standard telegram 5, PZD-9/9
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 111
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
102: SIEMENS telegram 102, PZD-6/10
105: SIEMENS telegram 105, PZD-10/10
For basic positioner control mode:
7: Standard telegram 7, PZD-2/2
9: Standard telegram 9, PZD-10/5
110: SIEMENS telegram 110, PZD-12/7
111: SIEMENS telegram 111, PZD-12/12
p0925 PROFIdrive: Synchronous sign-
of-life tolerance
0 65535 1 - U16 IM T, U
Description:
Sets the number of tolerated consecutive sign-of-life errors of the clock-cycle synchronous master.
The sign-of-life signal is normally received in PZD4 (control word 2) from the master.
p0927
Parameter authority
0000 bin
0011 bin
0011 bin
-
U16
IM
T
Description:
Sets the interface via which parameters can be changed.
Bit definition:
Bit 0: PROFINET or V-ASSISTANT
Bit 1: BOP
Value definition for a bit:
0: Read only
1: Read and write
Note: If p927.0 = 0, the V-ASSISTANT can only be used to read parameters, all other functions won't work.
p0972
Drive unit reset
0
2
0
-
U16
IM
T, U
Description:
Sets the required procedure to execute a hardware reset for the drive unit.
0: Inactive
1: Hardware reset immediate
2: Hardware reset preparation
Danger:
It must be absolutely ensured that the system is in a safe condition.
The memory card/device memory of the Control Unit must not be accessed.
Note:
If value = 1:
Reset is immediately executed and communications interrupted.
If value = 2:
Help to check the reset operation.
Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is possibly no
longer acknowledged). The communication is then interrupted.
After the drive unit has been restarted and communications have been established, read p0972 and check the
following:
p0972 = 0? → The reset was successfully executed.
p0972 > 0? → The reset was not executed.
p0977 Save all parameters 0 1 0 - U16 IM T, U
Description:
Saves all parameters of the drive system to the non-volatile memory.
When saving, only the adjustable parameters intended to be saved are taken into account.
Value = 0: Inactive
Value = 1: Save in non-volatile memory - downloaded at POWER ON
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
112 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
Notice:
The Control Unit power supply may only be powered down after data has been saved (i.e. after data
save has been started, wait until the parameter again has the value 0).
Writing to parameters is inhibited while saving.
p1058
JOG 1 speed setpoint 0.00 210000.000 100.00 rpm Float IM T
Description:
Sets the speed/velocity for JOG 1. Jogging is level-triggered and allows the motor to be incremen-
tally moved.
Note: The parameter values displayed on the BOP are integers.
p1082 *
Maximum speed
0.000
210000.000
1500.000
rpm
Float
IM
T
Description: Sets the highest possible speed.
Notice: After the value has been modified, no further parameter modifications can be made.
Note:
The parameter values displayed on the BOP are integers.
The parameter applies for both motor directions.
The parameter has a limiting effect and is the reference quantity for all ramp-up and ramp-down times (e.g.
down ramps, ramp-function generator and motor potentiometer).
The range of the parameter is different when connect with different motors.
p1083 * Speed limit in positive direction
of rotation
0.000 210000.000 210000.000 rpm Float IM T, U
Description: Sets the maximum speed for the positive direction.
Note: The parameter values displayed on the BOP are integers.
p1086 * Speed limit in negative direc
tion
of rotation
-210000.000 0.000 -210000.000 rpm Float IM T, U
Description:
Sets the speed limit for the negative direction.
Note: The parameter values displayed on the BOP are integers.
p1115 Ramp-function generator selec-
tion
0 1 0 - I16 IM T
Description: Sets the ramp-function generator type.
Note: Another ramp-function generator type can only be selected when the motor is at a standstill.
p1120 Ramp-function generator ramp-
up time
0.000 999999.000 1 s Float IM T, U
Description:
The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the
maximum speed (p1082) in this time.
Dependency: Refer to p1082
p1121 Ramp-function generator ramp-
down time
0.000 999999.000 1 s Float IM T, U
Description:
Sets the ramp-down time for the ramp-function generator.
The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to stand-
still (setpoint = 0) in this time.
Further, the ramp-down time is always effective for OFF1.
Dependency: Refer to p1082
p1130 Ramp-function generator initial
rounding-off time
0.000 30.000 0.000 s Float IM T, U
Description:
Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up
and ramp-down.
Note:
Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 113
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p1131 Ramp-function generator final
rounding-off time
0.000 30.000 0.000 s Float IM T, U
Description:
Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up and
ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
p1135
OFF3 ramp-down time
0
600
0
s
Float
IM
T, U
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.
Note: This time can be exceeded if the DC link voltage reaches its maximum value.
p1215 * Motor holding brake configura-
tion
0 2 0 - I16 IM T
Description: Sets the holding brake configuration.
Dependency: Refer to p1216, p1217, p1226, p1227, p1228
Caution:
For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy the
brake.
Notice:
If p1215 was set to 1, then when the pulses are suppressed, the brake is closed even if the motor is still
rotating.
Note: The parameter can only be set to zero when the pulses are inhibited.
p1216 * Motor holding brake opening
time
0 10000 100 ms Float IM T, U
Description:
Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this,
the speed/velocity setpoint is enabled.
Dependency:
Refer to p1215, p1217
Note:
For a motor with integrated brake, this time is pre-assigned the value saved in the motor.
For p1216 = 0 ms, the monitoring and the message A7931 "Brake does not open" are deactivated.
p1217 * Motor holding brake closing
time
0 10000 100 ms Float IM T, U
Description:
Sets the time to apply the motor holding brake.
After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop
controlled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are suppressed
when the time expires.
Dependency: Refer to p1215, p1216
Note:
For a motor with integrated brake, this time is pre-assigned the value saved in the motor.
For p1217 = 0 ms, the monitoring and the message A07932 "Brake does not close" are deactivated.
p1226 Threshold for zero speed de-
tection
0.00 210000.00 20.00 rpm Float IM T, U
Description:
Sets the speed threshold for the standstill identification.
Acts on the actual value and setpoint monitoring. When braking with OFF1 or OFF3, when the threshold is
undershot, standstill is identified.
The following applies when the brake control is activated:
When the threshold is undershot, the brake control is started and the system waits for the brake closing time in
p1217. The pulses are then suppressed.
If the brake control is not activated, the following applies:
When the threshold is undershot, the pulses are suppressed and the drive coasts down.
Dependency: Refer to p1215, p1216, p1217, p1227
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
114 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
Notice:
For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indi
ces
1 to 31 is overwritten with the parameter value in index 0 when the drive boots.
Note:
Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has ex-
pired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the
speed threshold is too low.
p1227 Zero speed detection monitor-
ing time
0.000 300.000 300.000 s Float IM T, U
Description:
Sets the monitoring time for the standstill identification.
When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed has
fallen below p1226.
After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are
suppressed.
Dependency: Refer to p1215, p1216, p1217, p1226
Notice:
The setpoint is not equal to zero dependent on the selected value. This can therefore cause the monitor-
ing time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not suppressed..
Note:
Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has ex-
pired.
For p1227 = 300.000 s, the following applies:
Monitoring is de-activated.
For p1227 = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor "coasts"
down.
p1228
Pulse suppression delay time
0.000
299.000
0.000
s
Float
IM
T, U
Description:
Sets the delay time for pulse suppression. After OFF1 or OFF3, the pulses are canceled, if at least
one of the following conditions is fulfilled:
- The speed actual value falls below the threshold in p1226 and the time started after this in p1228 has expired.
- The speed setpoint falls below the threshold in p1226 and the time started after this in p1227 has expired.
Dependency: Refer to p1226, p1227
Notice:
When the motor holding brake is activated, pulse cancellation is additionally delayed by the brake clos-
ing time (p1217).
p1414
Speed setpoint filter activation
-
-
0000 bin
-
U16
IM
T, U
Description:
Setting for activating/de-activating the speed setpoint filter.
Bit 0: Activate filter 1
Bit 0 = 0: Deactivated
Bit 0 = 1: Activated
Bit 1: Activate filter 2
Bit 1 = 0: Deactivated
Bit 1 = 1: Activated
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 115
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
Dependency: The individual speed setpoint filters are parameterized as of p1415.
Note:
The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you
must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
p1415
Speed setpoint filter 1 type
0
2
0
-
I16
IM
T, U
Description: Sets the type for speed setpoint filter 1.
Dependency:
PT1 low pass: p1416
PT2 low pass: p1417, p1418
General filter: p1417 ... p1420
p1416 Speed setpoint filter 1 time
constant
0.00 5000.00 0.00 ms Float IM T, U
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the filter is set as a PT1 low pass.
p1417 Speed setpoint filter 1 denomi-
nator natural frequency
0.5 16000.0 1999.0 Hz Float IM T, U
Description: Sets the denominator natural frequency for speed setpoint filter 1(PT2, general filter).
Dependency: Refer to p1414, p1415
Note:
This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
p1418 Speed setpoint filter 1 denomi-
nator damping
0.001 10.000 0.700 - Float IM T, U
Description:
Sets the denominator damping for speed setpoint filter 1 (PT2, general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
p1419 Speed setpoint filter 1 numera-
tor natural frequency
0.5 16000.0 1999.0 Hz Float IM T, U
Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).
Dependency: Refer to p1414, p1415
Note:
This parameter is only effective if the speed filter is set as a general filter. The filter is only effective if the
natural frequency is less than half of the sampling frequency.
p1420 Speed setpoint filter 1 numera-
tor damping
0.001 10.000 0.700 - Float IM T, U
Description: Sets the numerator damping for speed setpoint filter 1 (general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is set as a general filter.
p1421
Speed setpoint filter 2 type
0
2
0
-
I16
IM
T, U
Description: Sets the type for speed setpoint filter 2.
Dependency:
PT1 low pass: p1422
PT2 low pass: p1423, p1424
General filter: p1423 ... p1426
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
116 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p1422 Speed setpoint filter 2 time
constant
0.00 5000.00 0.00 ms Float IM T, U
Description:
Sets the time constant for the speed setpoint filter 2 (PT1).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is set as a PT1 low pass.
p1423 Speed setpoint filter 2 denomi-
nator natural frequency
0.5 16000.0 1999.0 Hz Float IM T, U
Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).
Dependency: Refer to p1414, p1421
Note:
This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
p1424 Speed setpoint filter 2 denomi-
nator damping
0.001 10.000 0.700 - Float IM T, U
Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
p1425 Speed setpoint filter 2 numera-
tor natural frequency
0.5 16000.0 1999.0 Hz Float IM T, U
Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).
Dependency: Refer to p1414, p1421
Note:
This parameter is only effective if the speed filter is set as a general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
p1426 Speed setpoint filter 2 numera-
tor damping
0.000 10.000 0.700 - Float IM T, U
Description:
Sets the numerator damping for speed setpoint filter 2 (general filter).
Dependency:
Refer to p1414, p1421
Note:
This parameter is only effective if the speed filter is set as a general filter.
p1441 Actual speed smoothing time 0.00 50.00 0.00 ms Float IM T, U
Description:
Sets the smoothing time constant (PT1) for the speed actual value.
Note:
The speed actual value should be smoothed for increment encoders with a low pulse number.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed
controller settings checked Kp (p29120) and Tn (p29121).
p1520 * Torque limit upper -1000000.00 20000000.00
0.00 Nm Float IM T, U
Description:
Sets the fixed upper torque limit.
Danger:
Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in
an uncontrollable fashion.
Notice:
The maximum value depends on the maximum torque of the connected motor.
p1521 * Torque limit lower -20000000.00
1000000.00 0.00 Nm Float IM T, U
Description:
Sets the fixed lower torque limit.
Danger:
Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in
an uncontrollable fashion.
Notice:
The maximum value depends on the maximum torque of the connected motor.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 117
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p1656 *
Activates current setpoint filter
-
-
0001 bin
-
U16
IM
T, U
Description:
Setting for activating/de-activating the current setpoint filter.
Bit 0: Activate filter 1
Bit 0 = 0: Deactivated
Bit 0 = 1: Activated
Bit 1: Activate filter 2
Bit 1 = 0: Deactivated
Bit 1 = 1: Activated
Bit 2: Activate filter 3
Bit 2 = 0: Deactivated
Bit 2 = 1: Activated
Bit 3: Activate filter 4
Bit 3 = 0: Deactivated
Bit 3 = 1: Activated
Dependency: The individual current setpoint filters are parameterized as of p1658.
Note:
If not all of the filters are required, then the filters should be used consecutively starting from filter 1. The
drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must con-
vert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
p1658 *
Current setpoint filter 1 denom-
inator natural frequency
0.5
16000.0
1999.0
Hz
Float
IM
T, U
Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).
Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.
p1659 * Current setpoint filter 1 denom-
inator damping
0.001 10.000 0.700 - Float IM T, U
Description: Sets the denominator damping for current setpoint filter 1.
Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.
p1663
Current setpoint filter 2 denom-
inator natural frequency
0.5
16000.0
1000.0
Hz
Float
IM
T, U
Description: Sets the denominator natural frequency for current setpoint filter 2 (PT2, general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
p1664
Current setpoint filter 2 denom-
inator damping
0.001
10.000
0.300
-
Float
IM
T, U
Description: Sets the denominator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
p1665
Current setpoint filter 2 numera-
tor natural frequency
0.5
16000.0
1000.0
Hz
Float
IM
T, U
Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.
p1666
Current setpoint filter 2 numera-
tor damping
0.000
10.000
0.010
-
Float
IM
T, U
Description: Sets the numerator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
p1668 Current setpoint filter 3 denom-
inator natural frequency
0.5 16000.0 1000.0 Hz Float IM T, U
Description: Sets the denominator natural frequency for current setpoint filter 3 (PT2, general filter).
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
118 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p1669 Current setpoint filter 3 denom-
inator damping
0.001 10.000 0.300 - Float IM T, U
Description:
Sets the denominator damping for current setpoint filter 3.
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
p1670 Current setpoint filter 3 numera-
tor natural frequency
0.5 16000.0 1000.0 Hz Float IM T, U
Description: Sets the numerator natural frequency for current setpoint filter 3 (general filter).
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
p1671 Current setpoint filter 3 numera-
tor damping
0.000 10.000 0.010 - Float IM T, U
Description: Sets the numerator damping for current setpoint filter 3.
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
p1673 Current setpoint filter 4 denom-
inator natural frequency
0.5 16000.0 1000.0 Hz Float IM T, U
Description: Sets the denominator natural frequency for current setpoint filter 4 (PT2, general filter).
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p1674 Current setpoint filter 4 denom-
inator damping
0.001 10.000 0.300 - Float IM T, U
Description: Sets the denominator damping for current setpoint filter 4.
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p1675 Current setpoint filter 4 numera-
tor natural frequency
0.5 16000.0 1000.0 Hz Float IM T, U
Description:
Sets the numerator natural frequency for current setpoint filter 4 (general filter).
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p1676 Current setpoint filter 4 numera-
tor damping
0.000 10.000 0.010 - Float IM T, U
Description: Sets the numerator damping for current setpoint filter 4.
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p2000
Reference speed
6.00
210000.00
3000.00
rpm
Float
IM
T
Description:
Sets the reference quantity for speed and frequency.
All speeds or frequencies specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).
Dependency: Refer to: p2003
p2002
Reference current
0.10
100000.00
100.00
Arms
Float
IM
T
Description
: Sets the reference quantity for currents.
All currents specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 4000 0000 hex (double word).
Notice:
If various DDS are used with different motor data, then the reference quantities remain the same as
these are not changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for
trace records).
Example:
p2002 = 100 A
Reference quantity 100 A corresponds to 100 %
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 119
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p2003
Reference torque
0.01
20000000.00
1.00
Nm
Float
IM
T
Description: Sets the referene quantity for torque.
All torques specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).
p2118[0...1
9]
Message number selection of a
type-to-be-changed message
0
65535
[0] 6310
[1] 7594
[2] 7566
[3] 32905
[4...19] 0
-
U16
IM
T, U
Description: Selects faults or alarms of whose message type should be changed.
Dependency: Selects the fault or alarm and sets the required type of message relized under the same index.
Refer to: p2119
Note:
Re-parameterization is also possible if a message is present. The change only becomes effective after
the message has gone.
p2119[0...1
9]
Change the type for a message
1
3
[0] 2
[1...3] 3
[4...19] 1
-
I16
IM
T, U
Description: Sets the message type for the selected fault or alarm.
Value = 1: Fault (F)
Value = 2: Alarm (A)
Value = 3: No message (N)
Dependency: Selects the fault or alarm and sets the required type of message relized under the same index.
Refer to: p2118
Note: Re-parameterization is also possible if a message is present. The change only becomes effective after
the message has gone.
The message type can only be changed for messages with the appropriate identification (exception, value = 0).
Example:
F12345(A): Fault F12345 can be changed to alarm A12345.
p2153
Speed actual value filter time
constant
0
1000000
0
ms
Float
IM
T, U
Description: Sets the time constant of the PT1 element to smooth the speed/velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and
signals.
p2161 *
Speed threshold 3
0.00
210000.00
10.00
rpm
Float
IM
T, U
Description: Sets the speed threshold value for the signal that indicates the axis is stationary.
p2162 * Hysteresis speed n_act >
n_max
0.00 60000.00 0.00 rpm Float IM T, U
Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max".
Note:
For a negative speed limit, the hysteresis is effective below the limit value and for a positive speed limit above
the limit value.
If significant overshoot occurs in the maximum speed range (for example, due to load shedding), you are ad-
vised to increase the dynamic response of the speed controller (if possible). If this is insufficient, the hysteresis
p2162 can be increased, but its value must not be greater than the value calculated by the formula below when
the motor maximum speed is sufficiently greater than the maximum speed p1082.
p2162 ≤ 1.05 × motor maximum speed - maximum speed (p1082)
The range of the parameter is different when connect with different motors.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
120 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p2175 *
Motor blocked speed threshold
0.00
210000.00
210000.00
rpm
Float
IM
T, U
Description:
Sets the speed threshold for the message "Motor blocked".
Dependency: Refer to p2177.
p2177 *
Motor blocked delay time
0.000
65.000
0.500
s
Float
IM
T, U
Description: Sets the delay time for the message "Motor blocked".
Dependency: Refer to p2175.
p2525
LR encoder adjustment offset
0
4294967295
0
LU
U32
IM
T
Description: Position offset when adjusting the absolute encoder.
Note:
The position offset is only relevant for absolute encoders. The drive determines the value when adjusting
the absolute encoder and the user should not change it.
p2533 LR position setpoint filter time
constant
0.00 1000.00 0.00 ms Float IM T, U
Description: Sets the time constant for the position setpoint filter (PT1).
Note:
The effective Kv factor (position loop gain) is reduced with the filter.
This allows a softer control behavior with improved tolerance with respect to noise/disturbances.
Applications:
- Reduces the pre-control dynamic response.
- Jerk limiting.
p2542 *
LR standstill window
0
2147483647
1000
LU
U32
IM
T, U
Description:
Sets the standstill window for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint
and actual position is located within the standstill window and, if required, an appropriate fault is output.
Value = 0: The standstill monitoring is deactivated.
Dependency:
Refer to: p2543, p2544, and F07450
Note:
The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) ≥ positioning window (p2544)
p2543 *
LR standstill monitoring time
0.00
100000.00
200.00
ms
Float
IM
T, U
Description:
Sets the standstill monitoring time for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint
and actual position is located within the standstill window and, if required, an appropriate fault is output.
Dependency: Refer to: p2542, p2545, and F07450
Note:
The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)
p2544 *
LR positioning window
0
2147483647
40
LU
U32
IM
T, U
Description:
Sets the positioning window for the positioning monitoring function.
After the positioning monitoring time expires, it is checked once as to whether the difference between the set-
point and actual position lies within the positioning window and if required an appropriate fault is output.
Value = 0: The positioning monitoring function is de-activated.
Dependency: Refer to: p2542, p2545, and F07451
Note:
The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) ≥ positioning window (p2544)
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 121
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p2545 *
LR positioning monitoring time
0.00
100000.00
1000.00
ms
Float
IM
T, U
Description: Sets the positioning monitoring time for the positioning monitoring.
After the positioning monitoring time expires, it is checked once as to whether the difference between the set-
point and actual position lies within the positioning window and if required an appropriate fault is output.
Dependency: The range of p2545 depends on p2543.
Refer to: p2543, p2544, and F07451
Note:
The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)
p2546 *
LR dynamic following error
monitoring tolerance
0
2147483647
3000
LU
U32
IM
T, U
Description:
Sets the tolerance for the dynamic following error monitoring.
If the dynamic following error (r2563) exceeds the selected tolerance, then an appropriate fault is output.
Value = 0: The dynamic following error monitoring is deactivated.
Dependency: Refer to: r2563, F07452
Note:
The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly re-
sponding due to operational control sequences (e.g. during load surges).
p2571
IPos maximum velocity
1
40000000
30000
1000
LU/min
U32
IM
T, U
Description: Sets the maximum velocity for the "basic positioner" function (EPOS).
Note:
The maximum velocity is active in all of the operating modes of the basic positioner.
The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the
speed/velocity controller:
p2571[1000 LU/min] = max_speed[rpm] x p29248/p29249 x p29247/1000
p2572 **
EPOS maximum acceleration
1
2000000
100
1000
LU/s²
U32
IM
T
Description:
Sets the maximum acceleration for the "basic positioner" function (EPOS).
Dependency: Refer to: p2619
Note:
The maximum acceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed acceleration override (p2619) acts on the maximum acceleration.
"Direct setpoint input/MDI" mode:
The acceleration override is effective (p2644, 4000 hex = 100%).
"Jog" and "search for reference" modes:
No acceleration override is active. The axis starts with the maximum acceleration.
p2573 **
EPOS maximum deceleration
1
2000000
100
1000
LU/s²
U32
IM
T
Description: Sets the maximum deceleration for the "basic positioner" function (EPOS).
Dependency: Refer to: p2620
Note: The maximum deceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override (p2620) acts on the maximum deceleration.
"Direct setpoint input/MDI" mode:
The deceleration override is effective (p2645, 4000 hex = 100%).
"Jog" and "search for reference" modes:
No deceleration override is effective. The axis brakes with the maximum deceleration.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
122 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p2574 ** EPOS jerk limiting 1 100000000 2000000 1000
LU/s
3
U32 IM T, U
Description:
Sets the jerk limiting.
Dependency: Refer to p2572, p2573, and p2575
Note:
The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573)/p2574
p2575
EPOS jerk limiting activation
0
1
0
-
U32
IM
T
Description:
Activates the jerk limiting.
0: The jerk limiting is deactivated.
1: The jerk limiting is activated.
Dependency: Refer to p2574
p2580 EPOS software limit switch
minus
-2147482648 2147482647 -2147482648
LU I32 IM T, U
Description: Sets the software limit switch in the negative direction of travel.
Dependency: Refer to p2581, p2582
p2581
EPOS software limit switch plus
-2147482648
2147482647
2147482647
LU
I32
IM
T, U
Description: Sets the software limit switch in the positive direction of travel.
Dependency: Refer to p2580, p2582
p2582 EPOS software limit switch
activation
- - 0 - U32/
Binary
IM T
Description: Sets the signal source to activate the "software limit switch".
Dependency: Refer to p2580, p2581
Caution:
Software limit switch effective:
- Axis is referenced.
Software limit switch ineffective:
- Modulo correction active.
- Search for reference is executed.
Notice:
Target position for relative positioning outside software limit switch:
The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate
alarm is output and the traversing block is interrupted. Traversing blocks with valid position can be activated.
Target position for absolute positioning outside software limit switch:
In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output.
Axis outside the valid traversing range:
If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be
acknowledged at standstill. Traversing blocks with valid position can be activated.
Note: The traversing range can also be limited using STOP cams.
p2583
EPOS backlash compensation
-200000
200000
0
LU
I32
IM
T, U
Description:
Sets the amount of play (backlash) for positive or negative play.
= 0: The backlash compensation is deactivated.
> 0: Positive backlash (normal case)
When the direction is reversed, the encoder actual value leads the actual value.
< 0: Negative backlash
When the direction is reversed, the actual value leads the encoder actual value.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 123
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
Dependency:
If a stationary axis is referenced by setting the reference point, or an adjusted with absolute en-
coder is powered up, then the setting of p2604 is relevant for entering the compensation value.
p2604 = 1:
Traveling in the positive direction -> A compensation value is immediately entered.
Traveling in the negative direction -> A compensation value is not entered
p2604 = 0:
Traveling in the positive direction -> A compensation value is not entered
Traveling in the negative direction -> A compensation value is immediately entered.
When again setting the reference point (a referenced axis) or for "flying referencing", p2604 is not relevant but
instead the history of the axis.
Refer to: p2604
p2585 EPOS jog 1 setpoint velocity -40000000 40000000 -300 1000 LU
/min
I32 IM T, U
Description:
Sets the setpoint speed for jog 1.
Dependency:
Refer to: p2587
p2586 EPOS jog 2 setpoint velocity -40000000 40000000 300 1000 LU
/min
I32 IM T, U
Description: Sets the setpoint speed for jog 2.
Dependency: Refer to: p2588
p2587
EPOS jog 1 traversing distance
0
2147482647
1000
LU
U32
IM
T, U
Description: Sets the traversing distance for incremental jog 1.
Dependency: Refer to: p2585
p2588 EPOS jog 2 traversing distance 0 2147482647 1000 LU U32 IM T, U
Description: Sets the traversing distance for incremental jog 2.
Dependency:
Refer to: p2586
p2599 EPOS reference point coordi-
nate value
-2147482648 2147482647 0 LU I32 IM T, U
Description:
Sets the position value for the reference point coordinate. This value is set as the actual axis posi-
tion after referencing or adjustment.
Dependency:
Refer to: p2525
p2600 EPOS search for reference
point offset
-2147482648 2147482647 0 LU I32 IM T, U
Description:
Sets the reference point offset for search for reference.
p2604 EPOS search for reference
start direction
- - 0 - U32/
Binary
IM T
Description:
Sets the signal sources for the start direction of the search for reference.
1 signal: Start in the negative direction.
0 signal: Start in the positive direction.
Dependency:
Refer to p2583
p2605 EPOS search for reference
approach velocity reference
cam
1 40000000 5000 1000 LU
/min
U32 IM T, U
Description:
Sets the approach velocity to the reference cam for the search for reference.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
124 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
Dependency:
The search for reference only starts with the approach velocity to the reference cam when there is
a reference cam.
Refer to: p2604, p2606
Note:
When traversing to the reference cam, the velocity override is effective. If, at the start of the search for
reference, the axis is already at the reference cam, then the axis immediately starts to traverse to the zero
mark.
p2606 EPOS search for reference
reference cam maximum dis-
tance
0 2147482647 2147482647 LU U32 IM T, U
Description:
Sets the maximum distance after the start of the search for reference when traversing to the refer-
ence cam.
Dependency: Refer to: p2604, p2605, and F07458
Note: When using a reversing cam, the maximum distance must be set appropriately long.
p2608 EPOS search for reference
approach velocity zero mark
1 40000000 300 1000 LU
/min
U32 IM T, U
Description:
Sets the approach velocity after detecting the reference cam to search for the zero mark for the
search for reference.
Dependency:
If there is no reference cam, the search for reference immediately starts with the axis traversing to
the zero mark.
Refer to: p2604, p2609
Caution:
If the reference cam is not adjusted so that at each search for reference the same zero mark for syn-
chronization is detected, then an "incorrect" axis reference point is obtained.
After the reference cam has been left, the search for the zero mark is activated with a time delay due to internal
factors. This is the reason that the reference cam should be adjusted in this center between two zero marks and
the approach velocity should be adapted to the distance between two zero marks.
Note:
The velocity override is not effective when traversing to the zero mark.
p2609
EPOS search for reference
max. distance ref. cam and
zero mark
0
2147482647
20000
LU
U32
IM
T, U
Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark.
Dependency: Refer to: p2604, p2608, and F07459
p2611 EPOS search for reference
approach velocity reference
point
1 40000000 300 1000 LU
/min
U32 IM T, U
Description: Sets the approach velocity after detecting the zero mark to approach the reference point.
Dependency: Refer to: p2604, p2609
Note: When traversing to the reference point, the velocity override is not effective.
p2617[0...1
5]
EPOS traversing block position
-2147482648
2147482647
0
LU
I32
IM
T, U
Description: Sets the target position for the traversing block.
Dependency: Refer to: p2618, p2619, p2620, p2621, p2622, p2623
Note: The target position is approached in either relative or absolute terms depending on p2623.
p2618[0...1
5]
EPOS traversing block velocity
1
40000000
600
1000 LU
/min
I32
IM
T, U
Description:
Sets the velocity for the traversing block.
Dependency: Refer to: p2617, p2619, p2620, p2621, p2622, p2623
Note: The velocity can be influenced using the velocity override.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 125
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p2619[0...1
5]
EPOS traversing block acceler-
ation override
1.0
100.0
100.0
%
Float
IM
T, U
Description: Sets the acceleration override for the traversing block.
The override refers to the maximum acceleration (p2572).
Dependency: Refer to: p2572, p2617, p2618, p2620, p2621, p2622, p2623
p2620[0...1
5]
EPOS traversing deceleration
override
1.0
100.0
100.0
%
Float
IM
T, U
Description: Sets the deceleration override for the traversing block.
The override refers to the maximum deceleration (p2573).
Dependency: Refer to: p2573, p2617, p2618, p2619, p2621, p2622, p2623
p2621[0...1
5]
EPOS traversing block task
1
9
1
%
-
IM
T, U
Description:
Sets the required task for the traversing block.
1: POSITIONING
2: FIXED STOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
Dependency: Refer to: p2617, p2618, p2619, p2620, p2622, p2623
p2622[0...1
5]
EPOS traversing block task
parameter
-2147483648 2147483647 0 - I32 IM T, U
Description: Sets additional information/data of the appropriate task for the traversing block.
Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2623
Note: The following should be set depending on the task:
FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear 0...65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
RESET_O: 1, 2 or 3 - reset direct output 1, 2 or 3 (both)
JERK: 0 - deactivate, 1 - activate
p2623[0...1
5]
EPOS traversing block task
mode
0
65535
0
-
U16
IM
T, U
Description: Sets the influence of the task for the traversing block.
Value = 0000 cccc bbbb aaaa
cccc: Positioning mode
cccc = 0000: ABSOLUTE
cccc = 0001: RELATIVE
cccc = 0010: ABS_POS (only for a rotary axis with modulo correction)
cccc = 0011: ABS_NEG (only for a rotary axis with modulo correction)
bbbb: Progression condition
bbbb = 0000: END
bbbb = 0001: CONTINUE WITH STOP
bbbb = 0010: CONTINUE FLYING
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
126 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
bbbb = 0011: CONTINUE EXTERNAL
bbbb = 0100: CONTINUE EXTERNAL WAIT
bbbb = 0101: CONTINUE EXTERNAL ALARM
aaaa: IDs
aaaa = 000x: show/hide block (x = 0: show; x = 1: hide)
Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2622
p2634 EPOS fixed stop maximum
following error
0 2147482647 1000 LU U32 IM T, U
Description: Sets the following error to detect the "fixed stop reached" state.
Dependency: Refer to: p2621
Note:
The state "fixed stop reached" is detected if the following error exceeds the theoretically calculated follow-
ing error value by p2634.
p2635
EPOS fixed stop monitoring
window
0
2147482647
100
LU
U32
IM
T, U
Description: Sets the monitoring window of the actual position after the fixed stop is reached.
Dependency: Refer to: F07484
Note:
If, after the fixed stop is reached, the end stop shifts in either the positive or negative direction by more
than the value set here, an appropriate message is output.
p2690
MDI position fixed setpoint
-2147482648
2147482647
0
-
I32
IM
T, U
Description: Sets a fixed setpoint for the position.
p2691
MDI velocity fixed setpoint
1
40000000
600
1000 LU
/min
U32
IM
T, U
Description: Sets a fixed setpoint for the speed.
p2692
MDI acceleration override, fixed
setpoint
0.100
100.000
100.000
%
Float
IM
T, U
Description: Sets a fixed setpoint for the acceleration override.
Dependency: Refer to: p2572
Note: The percentage value refers to the maximum acceleration (p2572).
p2693 MDI deceleration over
ride, fixed
setpoint
0.100 100.000 100.000 % Float IM T, U
Description: Sets a fixed setpoint for the deceleration override.
Dependency: Refer to: p2572
Note: The percentage value refers to the maximum deceleration (p2573).
p8864 PROFIdrive supplementary
telegram selection
750 999 999 - U16 IM T
Description:
Sets the supplementary telegram.
p8864 = 750: Supplementary telegram 750, PZD-3/1
p8864 = 999: No telegram
Note: After changing p0922, you must set p8864 again.
p8920[0...2
39]
PROFIdrive: Name of station
-
-
-
-
U8
IM
T, U
Description:
Sets the station name for the onboard PROFINET interface on the Control Unit.
The active station name is displayed in r8930.
Note:
The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 127
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p8921[0...3]
PROFIdrive: IP address of
station
0
255
0
-
U8
IM
T, U
Description: Sets the IP address for the onboard PROFINET interface on the Control Unit.
The active IP address is displyed in r8931.
Note: The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
p8922[0...3] PROFIdrive: Default gate
way of
station
0 255 0 - U8 IM T, U
Description: Sets the default gateway for the onboard PROFINET interface on the Control Unit.
The active default gateway is displayed in r8932.
Note:
The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
p8923[0...3]
PROFIdrive: Subnet mask of
station
0
255
0
-
U8
IM
T, U
Description:
Sets the subnet mask for the onboard PROFINET interface on the Control Unit.
The active subnet mask is displayed in r8933.
Note: The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
p8925
PROFIdrive: Interface configu-
ration
0
3
0
-
U8
IM
T, U
Description: Setting to activate the interface configuration for the onboard PROFINET interface on the Control
Unit.
p8925 is automatically set to 0 at the end of the operation.
p8925 = 0: No function
p8925 = 2: Save and activate configuration
The interface configuration (p8920 and following) is saved and activated after the next POWER ON.
p29000 *
Motor ID
0
65535
0
-
U16
IM
T
Description: Motor type number is printed on the motor rating plate as motor ID.
For a motor with an incremental encoder, users need to manually input the parameter value.
For a motor with an absolute encoder, the drive automatically reads the parameter value.
p29001
Reversal of motor direction
0
1
0
-
I16
IM
T
Description:
Reversal of motor running direction. By default, CW is the positive direction while CCW the nega-
tive direction. After changing of p29001, reference point will lost, A7461 will remind user to referencing again.
0: No reversal
1: Reverse
p29002
BOP display selection
0
4
0
-
I16
IM
T, U
Description: Selection of BOP operating display.
0: Actual speed (default)
1: DC voltage
2: Actual torque
3: Actual position
4: Position following error
p29003
Control mode
1
2
2
-
I16
IM
T
Description: Selection of control mode.
1: Basic positioner control mode (EPOS)
2: Speed control mode (S)
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
128 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p29005
Braking resistor capacity per-
centage alarm threshold
1 100 100 % Float IM T
Description:
Alarm triggering threshold for the capacity of the internal braking resistor.
Alarm number: A52901
p29006
Line supply voltage
200
480
400/230
V
U16
IM
T
Description:
Nominal Line supply voltage, effective value of line to line voltage. Drive can operate within -15% to
+10% error.
For 400 V variant servo drive, the value range is 380 V to 480 V, default value is 400 V.
For 200 V variant servo drive, the value range is 200 V to 240 V, default value is 230 V.
p29020[0...
1]
Tuning: Dynamic factor
1
35
18
-
U16
IM
T, U
Description: The dynamic factor of auto tuning. 35 dynamic factors in total are available.
Index:
[0]: Dynamic factor for one-button auto tuning
[1]: Dynamic factor for real-time auto tuning
p29021
Tuning: Mode selection
0
5
0
-
I16
IM
T
Description: Selection of a tuning mode.
0: Disabled
1: One-button auto tuning
3: Real-time auto tuning
5: Disable with default controller parameters
p29022 Tuning: Ratio of total inertia
moment to motor inertia mo-
ment
1.00 10000.00 1.00 - Float IM T, U
Description: Ratio of total inertia moment to servo motor inertia moment.
p29023
Tuning: One-button auto tuning
configuration
- - 0x0007 - U16 IM T
Description:
One-button auto tuning configuration.
Bit 0: The speed controller gain is determined and set using a noise signal.
Bit 1: Possible required current setpoint filters are determined and set using a noise signal. As a consequence,
a higher dynamic performance can be achieved in the speed control loop.
Bit 2: The inertia moment ratio (p29022) can be measured after this function is running. If not set, the inertia
moment ratio must be set manually with p29022.
Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary for
interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic response.
p29024
Tuning: Real-time auto tuning
configuration
-
-
0x004c
-
U16
IM
T
Description:
Real-time auto tuning configuration.
Bit 2: The inertia moment ratio (p29022) is estimated while the motor is running, if not set, the inertia moment
ratio must be set manually with p29022.
Bit 3: If not set, the inertia moment ratio (p29022) is estimated only once and the inertia estimator is deactivated
automatically after the estimation is completed. If the bit is set to 1, the inertia moment ratio is estimated in real
time and the controller adapts the parameters continuously. You are recommended to save the parameters
when the estimation result is satisfied. After that, when you power on the drive next time, the controller will be
started with the optimized parameters.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 129
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
Bit 6: The adaption of current setpoint filter. This adaption may be necessary if a mechanical resonance
frequency changes in operation. It can also be used to dampen a fixed resonance frequency. Once the control
loop has stabilized, this bit should be deactivated and to save parameters in a non-volatile memory.
Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary for
interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic response.
p29025 Tuning: Configuration overall - - 0x0004 - U16 IM T
Description:
Overall configuration of auto tuning, apply for both one-button and real-time auto tuning.
Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic performance
of the controller, then the P controller becomes a PD controller in the position control loop. As a consequence,
the dynamic performance of the position controller is increased. This function should only be set when the
speed pre-control (bit 3 = 1) or the torque pre-control (bit 4 = 1) is active.
Bit 1: At low speeds, the controller gain factors are automatically reduced in order to avoid noise and oscillation
at standstill. This setting is recommended for incremental encoders.
Bit 2: The estimated load moment of inertia is taken into account for the speed controller gain.
Bit 3: Activates the speed pre-control for the position controller.
Bit 4: Activates the torque pre-control for the position controller.
Bit 5: Adapts acceleration limit.
Note:
Speed pre-control
The bit 3 of the p29025 will be set to 1 automatically after the factory default.
You can set the bit 3 of p29025 manually in all control modes.
Torque pre-control
The bit 4 of p29025 will be set to 1 automatically if the following conditions are fulfilled simultaneously:
Working with the 200 V drives
Working in S control mode (p29003 = 2).
The bit 4 of p29025 will not be set to 1 automatically if either of the following conditions is fulfilled:
Working with the 400 V drives
Working in all control modes except for the S controm mode (p29003 ≠ 2).
You can set the bit 4 of p29025 manually in all control modes.
p29026 Tuning: Test signal duration 0 5000 2000 ms U32 IM T
Description:
The duration time of the one-button auto tuning test signal.
p29027 Tuning: Limit rotation of motor 0 30000 0 ° U32 IM T
Description:
The limit position with motor rotations during one-button auto tuning. The traversing range is limited
within +/- p29027 degrees (motor run one revolution is 360 degree).
p29028 Tuning: Pre-control time con-
stant
0.0 60.0 7.5 ms Float IM T, U
Description:
Sets the time constant for the pre-control symmetrization for auto tuning.
As a consequence, the drive is allocated a defined, dynamic response via its pre-control.
For drives, which must interpolate with one another, the same value must be entered.
The higher this time constant is, the smoother the drive will follow the position set point.
Note: This time constant is only effective when multi-axis interpolation is selected (bit 7 of p29023 and p29024).
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
130 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p29035
VIBSUP activation
0
1
0
-
I16
IM
T
Description:
Select the VIBSUP ON/OFF.
Position setpoint filter can be activated (p29035) for EPOS control mode.
0: Disable
Filter is not activated.
1: Enable
Filter is activated.
p29050[0...
1]
Torque limit upper
-150
300
300
%
Float
IM
T, U
Description:
Positive torque limit.
Two internal torque limits in total are available.
You can select the internal parameters as the source of the torque limit with the digital input signals TLIM.
p29051[0...
1]
Torque limit lower
-300
150
-300
%
Float
IM
T, U
Description:
Negative torque limit.
Two internal torque limits in total are available.
You can select the internal parameters as the source of the torque limit with the digital input signals TLIM.
p29070[0...
1] *
Speed limit positive
0
210000
210000
rpm
Float
IM
T, U
Description:
Positive speed limit.
Two internal speed limits in total are available.
You can select the internal parameters as the source of the speed limit with the digital input signals SLIM.
p29071[0...
1] *
Speed limit negative
-210000
0
-210000
rpm
Float
IM
T, U
Description:
Negative speed limit.
Two internal speed limits in total are available.
You can select the internal parameters as the source of the speed limit with the digital input signals SLIM.
p29080 Overload threshold for output
signal triggering
10 300 100 % Float IM T
Description: Overload threshold for the output power.
p29108 Function module activate 0 0xffffffff 0 - U32 RE T
Description:
Bit 0: activate extended setpoint channel including ramp-function generator (RFG), speed limit
(SLIM), and JOG.
Bit 0 = 0: Deactivate
Bit 0 = 1: Activate
Note:
Changes only become effective after save and repower-on.
Currently, you can set bit 0 only.
p29110 ** Position loop gain 0.000 300.000 1.800 1000/mi
n
Float IM T, U
Description:
Position loop gain.
Two position loop gains in total are available. You can switch between these two gains by configuring the digital
input signal G-CHANGE or setting relevant condition parameters.
The first position loop gain is the default setting.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
p29111 Speed pre-control factor (feed
forward)
0.00 200.00 0.00 % Float IM T, U
Description: Setting to activate and weight the speed pre-control value.
Value = 0%: The pre-control is deactivated.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 131
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p29120** Speed loop gain 0.00 999999.00 Motor de-
pendent
Nms/rad
Float IM T, U
Description:
Speed loop gain.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
p29121*
Speed loop integral time
0.00
100000.00
15
ms
Float
IM
T, U
Description: Speed loop integral time.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
p29150
User defined PZD receive
0
2
0
-
I16
IM
T
Description: Select the function of control PZD12 when using telegram 111.
0: No function
1: Additional torque setpoint
2: Additional speed setpoint
p29151
User defined PZD send
0
3
0
-
I16
IM
T
Description: Select the function of status PZD12 when using telegram 111.
0: No function
1: Actual torque
2: Actual absolute current
3: DI status
p29230
MDI direction selection
0
2
0
-
I16
IM
T
Description:
MDI direction selection:
0: Absolute positioning through the shortest distance
1: Absolute positioning in the positive direction
2: Absolute positioning in the negative direction
Dependency: This parameter is only valid for modulo axis (p29245 = 1).
p29231
MDI positioning type
0
1
0
-
I16
IM
T
Description: MDI positioning type:
0: Relative positioning
1: Absolute positioning
p29240
Select referencing mode
0
2
1
-
I16
IM
T
Description: Selects referencing mode.
0: Referencing with external signal REF
1: Referencing with external reference cam (signal REF) and encoder zero mark
2: Referencing with zero mark only
p29243
Positioning tracking activate
0
1
0
-
I16
IM
T
Description: Activation of position tracking.
0: Deactivated
1: Activated
p29244 Absolute encoder virtual rotary
revolutions
0 4096 0 - U32 IM T
Description:
Sets the number of rotations that can be resolved for an encoder with activated position tracking
function (p29243 = 1).
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
132 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p29245
Axis mode state
0
1
0
-
U32
IM
T
Description:
Linear/modulo mode:
0: Linear axis
1: Modulo axis
p29246 *
Modulo correction range
1
2147482647
360000
-
U32
IM
T
Description:
Modulo number, effective on modulo mode (P29245=1)
p29247 * Mechanical gear: LU per revo-
lution
1 2147483647 10000 - U32 IM T
Description: LU per load revolution.
p29248 * Mechanical gear: Numerator 1 1048576 1 - U32 IM T
Description:
(Load/Motor) Load revolutions.
p29249 * Mechanical gear: Denominator 1 1048576 1 - U32 IM T
Description:
(Load/Motor) Motor revolutions.
p29301 Digital input 1 assignment 0 29 2 - I16 IM T
Description:
Defines the function of digital input signal DI1
0: NA
2: RESET
3: CWL
4: CCWL
11: TLIM
20: SLIM
24: REF
29: EMGS
p29302 Digital input 2 assignment 0 29 11 - I16 IM T
Description:
Defines the function of digital input signal DI2
p29303 Digital input 3 assignment 0 29 0 - I16 IM T
Description:
Defines the function of digital input signal DI3
p29304 Digital input 4 assignment 0 29 0 - I16 IM T
Description:
Defines the function of digital input signal DI4
p29330 Digital output 1 assignment 1 15 2 - I16 IM T
Description: Defines the function of digital output signal DO1
1: RDY
2: FAULT
3: INP
4: ZSP
6: TLR
8: MBR
9: OLL
12: REFOK
14: RDY_ON
15: STO_EP
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 133
Par. No.
Name
Min
Max
Factory
Setting
Unit
Data
type
Effec-
tive
Can be
changed
p29331
Digital output 2 assignment
1
15
9
-
I16
IM
T
Description:
Defines the function of digital output signal DO2
p29360
Brake resistor alarm active
0
1
1
-
I16
IM
T, U
Description:
Configure the deactivation of the brake resistor alarm.
0: A52901 monitor is activated.
1: A52901 monitor is deactivated.
p29418 Fine resolution G1_XIST1 (in
bits)
2 18 11 - U8 IM T
Description: Sets the fine resolution in bits of the incremental position actual values G1_XIST1.
Note:
The fine resolution specifies the fraction between two encoder pluses. The number of pulses for one
encoder revolution is 2048, so the effective resolution is 2048 × 2p29418.
The deafult value is automatically adjusted with the encoder type.
p29419 Fine resolution G1_XIST2 (in
bits)
2 18 9 - U8 IM T
Description: Sets the fine resolution in bits of the absolute position actual values G1_XIST2.
Note:
The fine resolution specifies the fraction between two encoder pluses. The number of pulses for one
encoder revolution is 2048, so the effective resolution is 2048 × 2p29419.
The deafult value is automatically adjusted with the encoder type.
p31581
VIBSUP filter type
0
1
0
-
I16
IM
T
Description:
Sets the filter type for VIBSUP. Depending on the selected filter type, the VIBSUP filter results in
motion sequences that take somewhat longer.
0: The rugged VIBSUP filter has a lower sensitivity to frequency offsets compared with the sensitive filter type,
but results in a higher delay of the motion sequence. The total motion sequence is extended by the time period
Td (Td = 1/fd).
1: The sensitive VIBSUP filter has a higher sensitivity to frequency offsets compared with the rugged filter type,
but results in a lower delay of the motion sequence. The total motion sequence is extended by half the time
period Td/2 (Td = 1/fd).
p31585
VIBSUP filter frequency
0.5
62.5
1
Hz
Float
IM
T
Description:
Sets the frequency of the damped natural vibration of the mechanical system. This frequency can
be determined by making the appropriate measurements.
Note:
The maximum frequency that can be set depends on the filter sampling time.
p31586
VIBSUP filter damping
0
0.99
0.03
-
Float
IM
T
Description:
Sets the value for the damping of the natural mechanical vibration to be filtered. Typically, the
damping value is about 0.03, and can be optimized by performing the appropriate positioning tests.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
134 Getting Started, 12/2018, A5E37208904-006
Read-only parameters
Par. No.
Name
Unit
Data type
r0020
Speed setpoint smoothed
rpm
Float
Description:
Displays the currently smoothed speed setpoint at the input of the speed controller or U/f charac-
teristic (after the interpolator).
Note:
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed setpoint is available smoothed (r0020) and unsmoothed.
r0021
Actual speed smoothed
rpm
Float
Description: Displays the smoothed actual value of the motor speed.
Note:
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed actual value is available smoothed (r0021) and unsmoothed.
r0026
DC link voltage smoothed
V
Float
Description: Displays the smoothed actual value of the DC link voltage.
Note:
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The DC link voltage is available smoothed.
r0027
Absolute actual current smoothed
Arms
Float
Description: Displays the smoothed absolute actual current value.
Notice:
This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case,
the unsmoothed value should be used.
Note:
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The absolute current actual value is available smoothed (r0027) and unsmoothed.
r0029
Current actual value field-generating smoothed
Arms
Float
Description:
Displays the smoothed field-generating actual current.
Note:
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The field-generating current actual value is available smoothed (r0029) and unsmoothed.
r0030
Current actual value torque-generating smoothed
Arms
Float
Description: Displays the smoothed torque-generating actual current.
Note:
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque-generating current actual value is available smoothed.
r0031
Actual torque smoothed
Nm
Float
Description: Displays the smoothed torque actual value.
Note:
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque actual value is available smoothed (r0031) and unsmoothed.
r0034
Motor utilization thermal
%
Float
Description: Displays the motor utilization from motor temperature model 1 (I
2
t) or 3.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 135
Par. No.
Name
Unit
Data type
r0037[0...1
9]
Power unit temperatures
°C
Float
Description: Displays the temperatures in the power unit.
Index:
• [0]: Inverter maximum value
• [1]: Depletion layer maximum value
• [2]: Rectifier maximum value
• [3]: Air intake
• [4]: Interior of power unit
• [5]: Inverter 1
• [6]: Inverter 2
• [7]: Inverter 3
• [8]: Inverter 4
• [9]: Inverter 5
• [10]: Inverter 6
• [11]: Rectifier 1
• [12]: Rectifier 2
• [13]: Depletion layer 1
• [14]: Depletion layer 2
• [15]: Depletion layer 3
• [16]: Depletion layer 4
• [17]: Depletion layer 5
• [18]: Depletion layer 6
•
[19]: Cooling unit liquid intake
Dependency: Refer to A01009
Notice: Only for internal Siemens troubleshooting.
Note: The value of -200 indicates that there is no measuring signal.
• r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]).
• r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
• r0037[2]: Maximum value of the rectifier temperatures (r0037[11...12]).
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.
r0079[0...1
]
Torque setpoint total
Nm
Float
Description:
Displays and connector output for the torque setpoint at the output of the speed controller (before
clock cycle interpolation).
Index:
• [0]: Unsmoothed
• [1]: Smoothed
r0296
DC link voltage undervoltage threshold
V
U16
Description: Threshold to detect a DC link undervoltage.
If the DC link voltage falls below this threshold, the drive unit is tripped due to a DC link undervoltage condi-
tion.
Note: The value depends on the device type and the selected device rated voltage.
r0297
DC link voltage overvoltage threshold
V
U16
Description: If the DC link voltage exceeds the threshold specified here, the drive unit is tripped due to DC link
overvoltage.
Dependency: Refer to F30002.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
136 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Unit
Data type
r0311
Rated motor speed
rpm
Float
Description:
Displays the rated motor speed (rating plate).
r0333
Rated motor torque
Nm
Float
Description:
Displays the rated motor torque.
IEC drive: unit Nm
NEMA drive: unit lbf ft
r0482[0...2
]
Encoder actual position value Gn_XIST1
-
U32
Description: Displays the encoder actual position value Gn_XIST1.
Index:
• [0]: Encoder 1
• [1]: Encoder 2
• [2]: Reserved
Note:
• In this value, the measuring gear is only taken into account when the position tracking is activated.
• The update time for the position control (EPOS) corresponds to the position controller clock cycle.
• The update time in isochronous operation corresponds to the bus cycle time.
• The update time in isochronous operation and with position control (EPOS) corresponds to the position
controller clock cycle.
• The update time in non-isochronous operation or without position control (EPOS) comprises the following:
– Update time = 4 * least common multiple (LCM) of all current controller clock cycles in the drive group
(infeed + drives). The minimum update time is 1 ms.
– Example 1: infeed, servo
Update time = 4 * LCM(250 μs, 125 μs) = 4 * 250 μs = 1 ms
– Example 2: infeed, servo, vector
Update time = 4 * LCM(250 μs, 125 μs, 500 μs) = 4 * 500 μs = 2 ms
r0632
Motor temperature model, stator winding temperature
°C
Float
Description: Displays the stator winding temperature of the motor temperature model.
r0722
CU digital inputs status
-
U32
Description: Displays the status of the digital inputs.
Note:
DI: Digital Input
DI/DO: Bidirectional Digital Input/Output
The drive unit displays the value in hex format. You can convert the hex number to the binary number, for
example, FF (hex) = 11111111 (bin).
r0747
CU digital outputs status
-
U32
Description: Displays the status of digital outputs.
Note:
DI/DO: Bidirectional Digital Input/Output
The drive unit displays the value in hex format. You can convert the hex number to the binary number, for
example, FF (hex) = 11111111 (bin).
r0930
PROFIdrive operating mode
-
U16
Description:
Displays the operating mode.
• 1: Closed-loop speed controlled operation with ramp-function generator
• 2: Closed-loop position controlled operation
• 3: Closed-loop speed controlled operation without ramp-function generator
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
Getting Started, 12/2018, A5E37208904-006 137
Par. No.
Name
Unit
Data type
r0945[0...6
3]
Fault code
-
U16
Description: Displays the number of faults that have occurred.
Dependency: Refer to r0949
Note: The buffer parameters are cyclically updated in the background.
Fault buffer structure (general principle):
r0945[0], r0949[0] → actual fault case, fault 1
...
r0945[7], r0949[7] → actual fault case, fault 8
r0945[8], r0949[8] → 1st acknowledged fault case, fault 1
...
r0945[15], r0949[15] → 1st acknowledged fault case, fault 8
...
r0945[56], r0949[56] → 7th acknowledged fault case, fault 1
...
r0945[63], r0949[63] → 7th acknowledged fault case, fault 8
r0949[0...6
3]
Fault value
-
I32
Description: Displays additional information about the fault that occurred (as integer number).
Dependency: Refer to r0945
Note: The buffer parameters are cyclically updated in the background.
The structure of the fault buffer and the assignment of the indices is shown in r0945.
r0964[0...6
]
Device identification
-
U16
Description: Displays the device identification.
Index:
• [0]: Company (Siemens = 42)
• [1]: Device type
• [2]: Firmware version
• [3]: Firmware data (year)
• [4]: Firmware data (day/month)
• [5]: Number of drive objects
• [6]: Firmware patch/hot fix
Note:
Example:
r0964[0] = 42 → SIEMENS
r0964[1] = Device type
r0964[2] = 403 → First part of the firmware version V04.03 (for second part, refer to index 6)
r0964[3] = 2010 → Year 2010
r0964[4] = 1705 → 17th of May
r0964[5] = 2 → 2 drive objects
r0964[6] = 200 → Secnod part, firmware version (complete version: V04.03.02.00)
r0965
PROFIdrive profile number
-
U16
Description: Displays the PROFIdrive profile and profile version.
Constant value = 0329 hex
Byte 1: Profile number = 03 hex = PROFIdrive profile
Byte 2: Profile version = 29 hex = Version 4.1
Note: When the parameter is read via PROFIdrive, the Octet String 2 data type applies.
Parameters
7.2 Parameter list
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138 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Unit
Data type
r0975[0...1
0]
Drive object identification - U16
Description: Displays the identification of the drive object.
Index:
• [0]: Company (Siemens = 42)
• [1]: Drive object type
• [2]: Firmware version
• [3]: Firmware data (year)
• [4]: Firmware data (day/month)
• [5]: PROFIdrive drive object type class
• [6]: PROFIdrive drive object sub-type class 1
• [7]: Drive object number
• [8]: Reserved
• [9]: Reserved
• [10]: Firmware patch/hot fix
Note:
Example:
r0975[0] = 42 → SIEMENS
r0975[1] = SERVO drive object type
r0975[2] = 102 → First part of the firmware version V01.02 (for second part, refer to index 10)
r0975[3] = 2003 → Year 2003
r0975[4] = 1401 → 14th of January
r0975[5] = 1 → PROFIdrive drive object, type clase
r0975[6] = 9 → PROFIdrive drive object sub-type class 1
r0975[7] = 2 → Drive object number = 2
r0975[8] = 0 (Reserved)
r0975[9] = 0 (Reserved)
r0975[10] = 600 → Sencod part, firmware version (complete version: V01.02.06.00)
r0979[0...3
0]
PROFIdrive encoder format - U32
Description:
Displays the actual position encoder used according to PROFIdrive.
Index:
• [0]: Header
• [1]: Type encoder 1
• [2]: Resolution encoder 1
• [3]: Shift factor G1_XIST1
• [4]: Shift factor G1_XIST2
• [5]: Distinguishable revolutions encoder 1
• [6]...[30]: Reserved
Note:
Information about the individual indices can be taken from the following literature:
PROFIdrive Profile Drive Technology
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
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Par. No.
Name
Unit
Data type
r2043.0...2 PROFIdrive: PZD state - U8
Description:
Displays the PROFIdrive PZD state.
Bit 0: Setpoint failure
• Value = 1: Yes
• Vaule = 0: No
Bit 1: Clock cycle synchronous operation active
• Vaule = 1: Yes
• Vaule = 0: No
Bit 2: Fieldbus operation
• Value = 1: Yes
• Vaule = 0: No
Note:
When using the "setpoint failure" signal, the bus can be monitored and an application-specific response
triggered when the setpoint fails.
r2050[0...1
9]
PROFIdrive: PZD receive word - I16
Description:
Displays the PZD (setpoints) with word format received from the fieldbus controller.
Dependency:
Refer to r2060.
Index:
Index 0 to index 19 stand for PZD1 to PZD20 correspondingly.
r2053[0...2
7]
PROFIdrive: Diagnostics PZD send word - U16
Description:
Displays the PZD (actual values) with word format send to the fieldbus controller.
Index:
Index 0 to index 27 stand for PZD1 to PZD28 correspondingly.
Bit field:
For each PZD, it has 16 bits from bit 0 to bit 15. For the control words, if the bit value equals to 0, the function
of the bit is OFF; if the bit vaule equals to 1, the function of the bit is ON.
r2060[0...1
8]
PROFIdrive: PZD receive double word - I32
Description:
Displays the PZD (setpoints) with double word format received from the fieldbus controller.
Dependency:
Refer to r2050.
Index:
Index [n] = PZD[n +1] + n + 2
In the formula, n = 0...18.
Notice:
A maximum of 4 indices of the "trace" function can be used.
r2063[0...2
6]
PROFIdrive: Diagnostics PZD send double word - U32
Description:
Displays the PZD (actual values) with double word format send to the fieldbus controller.
Index:
Index [n] = PZD[n +1] + n + 2
In the formula, n = 0...26.
Bit field:
For each PZD, it has 32 bits from bit 0 to bit 31. For the control words, if the bit value equals to 0, the function
of the bit is OFF; if the bit vaule equals to 1, the function of the bit is ON.
Notice:
A maximum of 4 indices of the "trace" function can be used.
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
140 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Unit
Data type
r2090.0...1
5
PROFIdrive: PZD1 receive bit-serial - U16
Description:
Bit-serial description of PZD1 (normally control word 1) received from the PROFIdrive controller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to
1, it means the function of this bit is activated.
r2091 PROFIdrive: PZD2 receive bit-serial - U16
Description:
Binector output for bit-serial interconnection of PZD2 received from the PROFIdrive controller.
r2092 PROFIdrive: PZD3 receive bit-serial - U16
Description:
Binector output for bit-serial interconnection of PZD3 received from the PROFIdrive controller.
r2093.0...1
5
PROFIdrive: PZD4 receive bit-serial - U16
Description:
Bit-serial description of PZD4 (normally control word 2) received from the PROFIdrive controller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to
1, it means the function of this bit is activated.
r2094 PROFIdrive: MDI_MOD receive bit-serial for telegram 9 - U16
Description:
Binector output for bit-serial onward interconnection of a PZD word received from the PROFIdrive
controller.
r2122[0...6
3]
Alarm code - U16
Description:
Displays the number of faults that have occurred.
Dependency:
Refer to r2124
Note:
The buffer parameters are cyclically updated in the background.
Alarm buffer structure (general principle):
r2122[0], r2124[0] → alarm 1 (the oldest)
...
r2122[7], r2124[7] → alarm 8 (the latest)
When the alarm buffer is full, the alarms that have gone are entered into the alarm history:
r2122[8], r2124[8] → alarm 1 (the latest)
...
r2122[63], r2124[63] → alarm 1 (the oldest)
r2124[0...6
3]
Alarm value - I32
Description:
Displays additional information about the active alarm (as integer number).
Dependency:
Refer to r2122
Note:
The buffer parameters are cyclically updated in the background.
The structure of the alarm buffer and the assignment of the indices is shown in r2122.
r2521[0...3
]
LR position actual value LU I32
Description:
Display and connector output for the actual position actual value determined by the position actu-
al value preprocessing.
Index:
• [0]: Cl-loop position control
• [1]: Encoder 1
• [2]: Encoder 2
• [3]: Reserved
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
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Par. No.
Name
Unit
Data type
r2556 LR position setpoint after setpoint smoothing LU I32
Description:
Display and connector output for the position setpoint after setpoint smoothing.
r2563
LR following error dynamic model LU I32
Description:
Display and connector output for the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and
the position actual value.
r2665 EPOS position setpoint LU I32
Description:
Displays the actual absolute position setpoint.
r8909 PROFIdrive: Device ID - U16
Description:
Displays the PROFINET device ID.
Every SINAMICS device type has its own PROFINET device ID and its own PROFINET GSD.
r8930[0...2
39]
PROFIdrive: Active name of station - U8
Description:
Displays the active station name for the onboard PROFINET interface on the Control Unit.
r8931[0...3
]
PROFIdrive: Active IP address of station - U8
Description:
Displays the active IP address for the onboard PROFINET interface on the Control Unit.
r8932[0...3
]
PROFIdrive: Active default gateway of station - U8
Description:
Displays the active default gateway for the onboard PROFINET interface on the Control Unit.
r8933[0...3
]
PROFIdrive: Active subnet mask of station - U8
Description:
Displays the active subnet mask for the onboard PROFINET interface on the Control Unit.
r8935 PROFIdrive: MAC address of station - U8
Description:
Displays the MAC address for the onboard PROFINET interface on the Control Unit.
r8939 PROFIdrive: Device access point (DAP) ID - U32
Description:
Displays the PROFINET device access point ID for the onboard PROFINET interface.
The combination of device ID (r8909) and DAP ID uniquely identifies a PROFINET access point.
r29018[0...
1]
OA version - Float
Description:
Displays the OA version.
Index:
• [0]: Firmware version
• [1]: Build increment number
r29400
Internal control signal status indicating - U32
Description:
Control signal status identifiers
The bits of the parameter are reseved except the following ones:
• Bit 1: RESET
• Bit 2: CWL
• Bit 3: CCWL
• Bit 10: TLIM
• Bit 19: SLIM
• Bit 23: REF
• Bit 28: EMGS
Parameters
7.2 Parameter list
SINAMICS V90, SIMOTICS S-1FL6
142 Getting Started, 12/2018, A5E37208904-006
Par. No.
Name
Unit
Data type
r29942
DO signals status indicating
-
U32
Description:
Indicates the status of DO signals.
• Bit 0: RDY
• Bit 1: FAULT
• Bit 2: Reserved
• Bit 3: ZSP
• Bit 4: Reserved
• Bit 5: TLR
• Bit 6: Reserved
• Bit 7: MBR
• Bit 8: OLL
• Bit 9: Reserved
• Bit 10: Reserved
• Bit 11: Reserved
• Bit 12: Reserved
• Bit 13: RDY_ON
• Bit 14: STO_EP
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Diagnostics
8
8.1
Overview
General information about faults and alarms
The errors and states detected by the individual components of the drive system are
indicated by messages.
The messages are categorized into faults and alarms.
Properties of faults and alarms
● Faults
– Are identified by Fxxxxx.
– Can lead to a fault reaction.
– Must be acknowledged once the cause has been remedied.
– Status via control unit and LED RDY.
– Status via PROFINET status word ZSW1.3.
– Entry in the fault buffer.
● Alarms
– Are identified by Axxxxx.
– Have no further effect on the drive.
– The alarms are automatically reset once the cause has been remedied. No
acknowledgement is required.
– Status via Control Unit and LED RDY.
– Status via PROFINET status word ZSW1.7.
– Entry in the alarm buffer.
● General properties of faults and alarms
– Triggering on selected messages possible.
– Contain the component number for identifying the affected SINAMICS component.
– Contain diagnostic information on the relevant message.
Diagnostics
8.1 Overview
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Differences between faults and alarms
Type
BOP display (example)
Status indicator
Reaction
Acknowledgement
RDY
COM
Fault
Single fault Slow
flashing
in red
- •
NONE
: no reaction
•
OFF1
: servo motor
ramps down
•
OFF2
: servo motor
coasts down
•
OFF3
: servo motor
stops quickly
•
ENOCDER
: Encod-
er fault causes
OFF2.
•
POWER ON
: re-power on
the servo drive to clear a
fault after eliminating its
cause.
•
IMMEDIATELY
: the fault
disappears immediately
after eliminating its cause.
•
PULSE INHIBIT
: The fault
can only be acknowl-
edged with a pulse inhibit.
The same options are
available for acknowledg-
ing as described under
acknowledgment with
IMMEDIATELY.
The first fault in the
case of multiple
faults
Non-first fault in the
case of multiple
faults
Alarm
Single alarm Slow
flashing
in red
-
NONE
: no reaction Self-acknowledgement
The first alarm in the
case of multiple
alarms
Non-first alarm in
the case of multiple
alarms
NOTICE
Faults are displayed in prior to alarms
If both faults and alarms occur, faults are displayed in prior to alarms. Alarms are displayed
only after all faults have been acknowledged.
Diagnostics
8.1 Overview
SINAMICS V90, SIMOTICS S-1FL6
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BOP operations for faults and alarms
To view faults or alarms, proceed as follows:
● Faults
● Alarms
To exit from fault or alarm display, proceed as follows:
● Faults
● Alarms
Diagnostics
8.2 List of faults and alarms
SINAMICS V90, SIMOTICS S-1FL6
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To acknowledge faults, proceed as follows:
Note
•
If you do not eliminate the cause(s) of the fault, it can appear again after no button
operation for five seconds. Make sure that you have eliminated the cause(s) of the fault.
•
You can acknowledge faults using RESET signal. For details of the signal, refer to
SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
8.2
List of faults and alarms
This section lists only common faults and alarms. To view the detailed information of all
faults and alarms, call the online help for an active fault/alarm in the SINAMICS V-
ASSISTANT engineering tool.
Fault list
Fault
Description
Fault
Description
F1000
Internal software error
F7491
STOP cam minus reached
F1001
Floating Point exception
F7492
STOP cam plus reached
F1002
Internal software error
F7493
LR: Overflow of the value range for position
actual value
F1003
Acknowledgment delay when accessing the
memory
F7575
Drive: Motor encoder not ready
F1015
Internal software error
F7599
Encoder 1: Adjustment not possible
F1018
Booting has been interrupted several times
F7800
Drive: No power unit present
F1030
Sign-of-life failure for master control
F7801
Motor overcurrent
F1611
SI CU: Defect detected
F7802
Infeed or power unit not ready
F1910
Fieldbus: Setpoint timeout
F7815
Power unit has been changed
F1911
PROFIdrive: Clock cycle synchronous op-
eration clock cycle failure
F7900
Motor blocked/speed controller at its limit
F1912
PROFIdrive: Clock cycle synchronous op-
eration sign-of-life failture
F7901
Motor overspeed
F7011
Motor overtemperature
F7995
Motor identification failure
Diagnostics
8.2 List of faults and alarms
SINAMICS V90, SIMOTICS S-1FL6
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Fault
Description
Fault
Description
F7085
Open-loop/closed-loop control parameters
changed
F8501
PROFIdrive: Setpoint timeout
F7090
Drive: Upper torque limit less than the low-
er torque limit
F30001
Power unit: Overcurrent
F7093
Test signal error
F30002
DC link voltage, overvoltage
F7220
Drive: Master control by the PLC missing
F30003
DC link voltage, undervoltage
F7403
Lower DC link voltage threshold reached
F30004
Drive heat sink overtemperature
F7404
Upper DC link voltage threshold reached
F30005
Power unit: Overload I
2
t
F7410
Current controller output limited
F30011
Line phase failure in main circuit
F7412
Commutation angle incorrect (motor model)
F30015
Phase failure motor cable
F7442
LR: Multiturn does not match the modulo
range
F30021
Ground fault
F7443
Reference point coordinate not in the per-
mission range
F30027
Precharging DC link time monitoring
F7447
Load gear: Position tracking, maximum
actual value exceeded
F30036
Internal overtemperature
F7449
Load gear: Position tracking actual position
outside the tolerance window
F30050
24 V supply overvoltage
F7450
Standstill monitoring has responded
F31100
Zero mark distance error
F7451
Position monitoring has responded
F31101
Zero mark failed
F7452
Following error too high
F31110
Serial communications error
F7453
Position actual value preprocessing error
F31111
Encoder 1: Absolute encoder internal error
F7458
EPOS: Reference cam not found
F31112
Error bit set in the serial protocol
F7459
Zero mark not detected
F31117
Inversion error signals A/B/R
F7460
EPOS: End of reference cam not found
F31130
Zero mark and position error from the coarse
synchronization
F7464
EPOS: Traversing block is inconsistent
F31131
Encoder 1: Deviation position incremen-
tal/absolute too large
F7475
EPOS: Target position < start of traversing
range
F31150
Initialization error
F7476
EPOS: Target position > end of the travers-
ing range
F52904
Control mode change
F7481
EPOS: Axis position < software limit switch
minus
F52980
Absolute encoder motor changed
F7482
EPOS: Axis position > software limit switch
plus
F52981
Absolute encoder motor mismatched
F7484
EPOS: Fixed stop outside the monitoring
window
F52983
No encoder detected
F7485
EPOS: Fixed stop not reached
F52984
Incremental encoder motor not configured
F7488
EPOS: Relative positioning not possible
F52985
Absolute encoder motor wrong
F7490
Enable signal withdrawn while traversing
F52987
Absolute encoder replaced
Diagnostics
8.2 List of faults and alarms
SINAMICS V90, SIMOTICS S-1FL6
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Alarm list
Alarm
Description
Alarm
Description
A1009
Control module overtemperature
A7472
EPOS: Traversing block
ABS_POS/ABS_NEG not possible
A1019
Writing to the removable data medium
unsuccessful
A7473
EPOS: Beginning of traversing range
reached
A1032
All parameters must be saved
A7474
EPOS: End of traversing range reached
A1045
Configuring data invalid
A7477
EPOS: Target position < software limit
switch minus
A1774
Test stop for fail-safe digital outputs re-
quired
A7478
EPOS: Target position > software limit
switch plus
A1902
PROFIdrive: Clock cycle synchronous
operation parameterization not permissible
A7479
EPOS: Software limit switch minus reached
A1920
Drive Bus: Receive setpoints after To
A7480
EPOS: Software limit switch plus reached
A1932
Drive Bus clock cycle synchronization miss-
ing for DSC
A7483
EPOS: Travel to fixed stop clamping torque
not reached
A1940
PROFIdrive: Clock cycle synchronism not
reached
A7486
EPOS: Intermediate stop missing
A1944
PROFIdrive: Sign-of-life synchronism not
reached
A7487
EPOS: Reject traversing task missing
A5000
Drive heat sink overtemperature
A7496
EPOS: Enable not possible
A6310
Supply voltage (p29006) incorrectly pa-
rameterized
A7530
Drive: Drive Data Set DDS not present
A7012
Motor temperature model 1/3 overtempera-
ture
A7565
Drive: Encoder error in PROFIdrive encoder
interface 1
A7092
Drive: Moment of inertia estimator still not
ready
A7576
Encoderless operation due to a fault active
A7440
EPOS: Jerk time is limited
A7582
Position actual value preprocessing error
A7441
LR: Save the position offset of the absolute
encoder adjustment
A7805
Power unit overload I2t
A7454
LR: Position value preprocessing does not
have a valid encoder
A7965
Save required
A7455
EPOS: Maximum velocity limited
A7971
Angular commutation offset determination
activated
A7456
EPOS: Setpoint velocity limited
A7991
Motor data identification activated
A7457
EPOS: Combination of input signals illegal
A8511
PROFIdrive: Receive configuration data
invalid
A7461
EPOS: Reference point not set
A8565
PROFIdrive: Consistency error affecting
adjustable parameters
A7462
EPOS: Selected traversing block number
does not exist
A30016
Load supply switched off
A7463
EPOS: External block change not request-
ed in the traversing block
A30031
Hardware current limiting in phase U
A7467
EPOS: Traversing block has illegal task
parameters
A31411
Absolute encoder signals internal alarms
A7468
EPOS: Traversing block jump destination
does not exist
A31412
Error bit set in the serial protocol
Diagnostics
8.2 List of faults and alarms
SINAMICS V90, SIMOTICS S-1FL6
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Alarm
Description
Alarm
Description
A7469
EPOS: Traversing block < target position <
software limit switch minus
A52900
Failure during data copying
A7470
EPOS: Traversing block> target position >
software limit switch plus
A52901
Braking resistor reaches alarm threshold
A7471
EPOS: Traversing block target position
outside the modulo range
A52902
Quick stop (EMGS) missing
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Index
A
Accessories
Fuse/type E combination motor controller, 26
B
BOP operations
Button functions, 77
BOP operations for faults and alarms, 145
Acknowledging faults, 146
Exiting from alarm display, 145
Exiting from fault display, 145
Viewing alarms, 145
Viewing faults, 145
BOP overview, 75
C
Connecting 24 V power supply/STO, 65
Connecting an external braking resistor, 70
D
Differences between faults and alarms, 144
F
Function list, 28
G
General information about faults and alarms, 143
L
LED status indicators, 76
M
Motor rating plate, 21
S
Speed limit, 85
Overall speed limit, 86
T
Torque control mode
Internal speed limit, 86
Torque limit, 86
Internal torque limit, 87
Overall torque limit, 87
Torque limit reached (TLR), 87
U
Usage of shielding plate, 55
W
Wiring and connecting
Adjusting cable orientations, 56
Index
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