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