SINAMICS SINAMICS S List Manual

List Manual 03/2006 Edition
sinamics

SINAMICS S

03/2006 Edition
SINAMICS
SINAMICS S List Manual
Manual
Valid for
Drive Firmware version
SINAMICS S 2.4
6SL3 097-2AP00-0BP4
s
Foreword
Parameters
1
Function diagrams
2
Faults and alarms
3
List of Abbreviations
A
References
B
Index
C
Copyright Siemens AG 2006 All Rights Reserved
The distribution and duplication of this document or the utilization and
transmission of its contents are not permitted without express written
permission. Offenders will be liable for damages. All rights, including
rights created by patent grant or registration of a utility model or
design, are reserved.
Siemens AG
Automation & Drives
Motion Control Systems
Postfach 3180, 91050 Erlangen
Germany
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.
Siemens AG 2006
Technical data subject to change
Safety Guidelines
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 to property damage only have no safety alert symbol. These
notices shown below are graded according to the degree of danger.
If more than one degree of danger is present, the warning notice representing the highest degree of
danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a
warning relating to property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning
and operation of a device/system may only be performed by qualified personnel. Within the context of
the safety notes in this documentation qualified persons are defined as persons who are authorized to
commission, ground and label devices, systems and circuits in accordance with established safety
practices and standards.
Prescribed Usage
Note the following:
Trademarks
All names identified by are registered trademarks of the 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.
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not
taken.
Caution
without a safety alert symbol, indicates that property damage can result if proper precautions are not
taken.
Notice
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
Warning
This device may only be used for the applications described in the catalog or the technical description and
only in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.
Siemens Aktiengesellschaft SINAMICS S List Manual
Foreword-5 Siemens AG 2006 All Rights Reserved
SINAMICS S List Manual, 03/2006 Edition
Foreword
SINAMICS documentation
The SINAMICS documentation is sub-divided into 2 areas:
General documentation/catalogs
Manufacturer/service documentation
A current overview of the documentation in the available languages is provided in
the Internet:
http://www.siemens.com/motioncontrol
Follow menu items "Support" -> "Technical Documentation" -> "Overview of
Publications".
The Internet edition of DOConCD, DOConWEB, are available in the Internet:
http://www.automation.siemens.com/doconweb
Information on the range of training courses and FAQs (Frequently Asked Ques-
tions) are available in the Internet:
http://www.siemens.com/motioncontrol
Follow the menu item "Support"
Phases of use and their tools/documents (example)
Table Foreword-1 Phases of use and the available tools/documents
Phases of use Tools/documents
Orientation SINAMICS S sales documentation
Planning/engineering SIZER engineering tool
Configuration Manuals, Motors
Select/order SINAMICS S Catalogs
Configuring/installation SINAMICS S120 Equipment Manual for Control Units
and Supplementary System Components
SINAMICS S120 Equipment Manual for Booksize Power
Units
SINAMICS S120 Equipment Manual for Chassis Power
Units
SINAMICS S150 Operating Instructions
Foreword
Target group
This documentation is aimed at machine manufacturers, commissioning engi-
neers, and service personnel who use SINAMICS.
Benefits
This documentation contains the comprehensive information about parameters,
function diagrams and faults and alarms required to commission and service the
system.
It must be used as a supplementary document to the other manuals and tools
available for the product.
Standard scope
This documentation only describes the functionality of the standard version.
Extensions or changes made by the machine tool manufacturer and documented
by the machine tool manufacturer.
Other functions not described in this documentation might be able to be executed
in the drive system. However, no claim can be made regarding the availability of
these functions when the equipment is first supplied or in the event of servicing.
For reasons of clarity, this documentation does not contain all of the detailed infor-
mation on all of the product types. This documentation cannot take into consider-
ation every conceivable type of installation, operation and service/maintenance.
Commissioning STARTER Parameterizing and Commissioning Tool
SINAMICS S120 Getting Started
SINAMICS S120 Commissioning Manual
SINAMICS S120 Commissioning Manual CANopen
SINAMICS S120 Function Manual
Using/operating SINAMICS S120 Commissioning Manual
Service/maintenance SINAMICS S120 Commissioning Manual
Table Foreword-1 Phases of use and the available tools/documents, continued
Phases of use Tools/documents
Foreword
Finding Your Way Around
The following guides are provided to help you locate information in this manual:
1. Table of Contents
General table of contents for complete manual (after the preface).
Table of contents for function diagrams (see Section 2.1).
2. List of Abbreviations
3. References
4. Index
Technical Support
If you have any questions, please get in touch with our Hotline:
European and African time zones
A&D Technical Support
Tel.: +49 (0) 180 5050 - 222
Fax: +49 (0) 180 5050 - 223
Internet: http://www.siemens.com/automation/support-request
E-mail: adsupport@siemens.com
Asian and Australian time zones
Tel.: +86 1064 719 990
Fax: +86 1064 747 474
American time zones
Tel.: +1 423 262 2522
Fax: +1 423 262 2289
Note:
Country telephone numbers for technical support are provided under the following
Internet address:
http://www.siemens.com/automation/service&support
Foreword
Questions on the manual
Please send any questions regarding the technical documentation (e.g., sugges-
tions for improvement, corrections) to the following fax number or email address:
Internet address for SINAMICS
http://www.siemens.com/sinamics
EC Declaration of Conformance
The EC Declaration of Conformance regarding the EMC Directives is available as
follows:
Internet
http://www.ad.siemens.de/csinfo
Product/Order No.: 15257461
Siemens regional office
From the responsible regional offices of the A&D MC business division of
Siemens AG.
Fax:
E-Mail:
Fax form:
+49 (0) 9131 / 98 - 63315
motioncontrol.docu@siemens.com
refer to the feedback sheet at the end of the documentation
Contents-9 Siemens AG 2006 All Rights Reserved
Contents
1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.1 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.1.1 Explanation of list of parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.1.2 Numerical ranges of parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
1.2 List of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27
1.3 Parameters for data sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-880
1.3.1 Parameters for command data sets (CDS) . . . . . . . . . . . . . . . . . . . . . . 1-880
1.3.2 Parameters for drive data sets (DDS) . . . . . . . . . . . . . . . . . . . . . . . . . . 1-883
1.3.3 Parameters for encoder data sets (EDS) . . . . . . . . . . . . . . . . . . . . . . . 1-894
1.3.4 Parameters for motor data sets (MDS) . . . . . . . . . . . . . . . . . . . . . . . . . 1-896
1.3.5 Parameters for Power unit Data Sets (PDS) . . . . . . . . . . . . . . . . . . . . . 1-900
2 Function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-903
2.1 Contents: function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-905
2.2 Explanations for the function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . 2-914
2.3 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-919
2.4 CU310 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-940
2.5 CU320 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-944
2.6 CU_LINK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-951
2.7 CX32 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-953
2.8 PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-957
2.9 Internal control/status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-989
2.10 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1002
2.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1005
2.12 Safety Integrated. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1010
2.13 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1016
2.14 Setpoint channel not activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1026
2.15 Basic positioner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1028
2.16 Position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1042
2.17 Encoder evaluations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1047
2.18 Servo control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1056
2.19 Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1074
2.20 Technology functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1102
2.21 Technology controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1109
2.22 Messages and monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1113
Contents
Contents-10 Siemens AG 2006 All Rights Reserved
2.23 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1120
2.24 Test sockets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1125
2.25 Data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1127
2.26 Basic Infeed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1133
2.27 Smart Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1140
2.28 Active Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1149
2.29 Terminal Board 30 (TB30). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1160
2.30 Communication Board CAN 10 (CBC10) . . . . . . . . . . . . . . . . . . . . . . . 2-1165
2.31 Terminal Module 15 for SINAMICS (TM15DI/DO) . . . . . . . . . . . . . . . . 2-1172
2.32 Terminal Module 31 (TM31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1176
2.33 Terminal Module 41 (TM41) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1187
2.34 Voltage Sensing Module (VSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1195
2.35 Basic Operator Panel 20 (BOP20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1199
3 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1201
3.1 Overview of faults and alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1202
3.1.1 General information about faults and alarms . . . . . . . . . . . . . . . . . . . . 3-1202
3.1.2 Explanation of the list of faults and alarms . . . . . . . . . . . . . . . . . . . . . . 3-1207
3.1.3 Numerical ranges of faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . 3-1210
3.2 List of faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1211
A List of Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1461
B References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1469
C Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1475
1-11 Siemens AG 2006 All Rights Reserved
Parameters 1
Contents
1.1 Overview of parameters 1-12
1.2 List of parameters 1-27
1.3 Parameters for data sets 1-880
Parameters
Overview of parameters
1.1 Overview of parameters
1.1.1 Explanation of list of parameters
Basic structure of parameter descriptions
The data in the following example has been chosen at random. The table below
shows all the information which can be included in the description of a parameter.
Some of the information is optional.
The structure of the parameter list (see Chapter 1.2) is as follows:
- - - - - - - - - - - - - - - - - - - - Start of example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Description: Text
Values: 0: Name and meaning of value 0
1: Name and meaning of value 1
2: Name and meaning of value 2
etc.
Recommenda-
tion:
Text
Index: [0] = Name and meaning of index 0
[1] = Name and meaning of index 1
[2] = Name and meaning of index 2
etc.
Depends on: Text
See also: pxxxx, rxxxx
See also: Fxxxxx, Axxxxx
Danger! Corresponds to safety notice "Danger with warning triangle".
Warning! Corresponds to safety notice "Warning with warning triangle".
Caution! Corresponds to safety notice "Caution with warning triangle".
Caution: Corresponds to safety notice "Caution without warning triangle".
Notice: Corresponds to safety notice "Notice without warning triangle".
Note: Information which might be useful.
- - - - - - - - - - - - - - - - - - - - End of example- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
pxxxx[0...n] BICO: Full parameter name / Abbreviated name
Drive object (Func-
tion Module)
Changeable in: C1(x), C2(x), U, T Access level: 2
Data type: Integer16 Dynamic index: CDS, p0170 Function diagram: 2080
P group: Cl.-lp. control Unit group: 7_1 Unit selection: p0505
Min Max Factory setting
0.00 [Nm] 10.00 [Nm] 2.00 [Nm]
Bit array: Bit Signal name 1-signal 0-signal FP
00 Name and meaning of bit 0 Yes No 8010
01 Name and meaning of bit 1 Yes No -
02 Name and meaning of bit 2 Yes No 8012
etc.
Parameters
pxxxx[0...n] Parameter number
The parameter number consists of a "p" or "r", followed by the parameter number
and the index (optional).
Examples of number representation in the parameter list:
Other examples of notation in the documentation:
The following applies to adjustable parameters:
The "shipped" parameter value is specified under "Factory setting" with the rele-
vant unit in square parenthesis. The value can be adjusted within the range
defined by "Min" and "Max".
The term "linked parameterization" is used in cases where changes to adjustable
parameters affect the settings of other parameters.
Linked parameterization can occur, for example, as a result of the following
actions or parameters:
Execute macros
p0015, p0700, p1000, p1500
Set PROFIBUS telegram (BICO interconnection)
p0922
Set component lists
p0230, p0300, p0301, p0400
Calculate and preset automatically
p0112, p0340, p0578, p3900
Restore factory settings
p0970
The following applies to visualization parameters:
The fields "Min", "Max" and "Factory setting" are specified with a dash "-" and the
relevant unit in square parenthesis.
p... Adjustable parameter (read and write parameter)
r... Visualization parameters (read-only)
p0918 Adjustable parameter 918
p0099[0...3] Adjustable parameter 99, indices 0 to 3
p1001[0...n] Adjustable parameter 1001, indices 0 to n (n = configurable)
r0944 Visualization parameter 944
p1070[1] Adjustable parameter 1070, index 1
p2098[1].3 Adjustable parameter 2098, index 1 bit 3
r0945[2](3) Visualization parameter 945, index 2 of drive object 3
p0795.4 Adjustable parameter 795, bit 4
Parameters
BICO: Full parameter name/Abbreviated name
Some parameters have the following abbreviations in front of their name:
Drive object (Function Module)
A drive object (DO) is an independent, "self-contained" functional unit which
possesses its own parameters and, in some cases, faults and warnings.
When carrying out commissioning using the commissioning software, you can
select/deselect additional functions and their parameters by activating/deactivat-
ing Function Modules accordingly.
The parameter list specifies the associated drive object and Function Module for
each individual parameter.
Examples:
p1070 CI: Main setpoint
SERVO (extended setpoint), VECTOR
The parameter is available only in association with drive object SERVO and
the "Extended setpoint channel" Function Module or with drive object
VECTOR irrespective of activated Function Modules.
p1055 BI: Jog bit 0
SERVO, VECTOR
The parameter is available in association with drive objects SERVO and
VECTOR irrespective of activated Function Modules, i.e. it is available with
every activated Function Module belonging to the drive object.
A parameter can belong to either one, several, or all drive objects.
BI: Binector input
This parameter is used for selecting the source of a digital signal.
BO: Binector output
This parameter is available as a digital signal for interconnection
with other parameters.
CI: Connector input
This parameter is used for selecting the source of an analog signal.
CO: Connector output
This parameter is available as an "analog" signal for interconnec-
tion with other parameters.
CO/BO: Connector/binector output
This parameter is available as an "analog" and digital signal for
interconnection with other parameters.
Note:
References: /IH1/ SINAMICS S120 Commissioning Manual
Parameters
The following information relating to "Drive object" and "Function Module" can be
displayed under the parameter number:
Table 1-1 Data in "Drive object (Function Module)" field
Drive object
(Function Module)
Meaning
All objects This parameter belongs to all drive objects.
A_INF Active Infeed closed-loop control
Closed-loop-controlled, self-commutated infeed/regenerative feed-
back unit for generating a constant DC-link voltage.
A_INF (parallel) Active Infeed with "Parallel connection" function module
(r0108.15).
A_INF (RKA) Active Infeed with "Cooling system" function module (r0108.28).
A_INF (CBE) Active Infeed with "CBE COMMUNICATION BOARD" function
module (r0108.31).
B_INF Basic Infeed closed-loop control
Unregulated line infeed unit (without feedback) for rectifying the
line voltage of the DC Link.
B_INF (parallel) Basic Infeed with "Parallel connection" function module
(r0108.15).
B_INF (RKA) Basic Infeed with "Cooling system" function module (r0108.28).
B_INF (CBE) Basic Infeed with "CBE COMMUNICATION BOARD" function
module (r0108.31).
S_INF Smart Infeed closed-loop control
Unregulated line infeed/feedback unit for generating the DC link
voltage.
S_INF (parallel) Smart Infeed with "Parallel connection" function module
(r0108.15).
S_INF (CBE) Smart Infeed with "CBE COMMUNICATION BOARD" function
module (r0108.31).
CU Control Unit, all versions.
CU(CAN) Control Unit with "CAN" function module
CU_S Control Unit SINAMICS S (SINAMICS S120/S150).
CU_S (CAN) Control Unit SINAMICS S with "CAN" function module.
CU_CX32 Controller Extension to boost processing performance.
CU_LINK Object for Controller Extension 32 (CX32).
CU_I Control Unit SINAMICS Integrated (SIMOTION D4xx only)
SERVO Servo drive.
SERVO (extended
setpoint)
Servo drive with "Extended setpoint channel" function module
(r0108.8).
SERVO (Lin) Servo drive with "Linear motor" function module (r0108.12).
SERVO (Safety rot) Servo drive with "Safety rotary axis" function module (r0108.13).
SERVO (ext. brake) Servo drive with "Extended brake control" function module
(r0108.14).
Parameters
SERVO (Tech_ctrl) Servo drive with "Technology controller" function module
(r0108.16).
SERVO (extended
reports)
Servo drive with "Extended reports/monitors" function module
(r0108.17).
SERVO (RKA) Servo drive with "Cooling System" function module (r0108.28).
SERVO(CAN) Servo drive with "CAN" function module (r0108.29).
SERVO (CBE) Servo drive with "CBE COMMUNICATION BOARD" function mod-
ule (r0108.31).
TB30 Terminal Board 30.
TM15 Terminal Module 15 (SIMOTION D4xx only).
TM15DI/DO Terminal Module 15 (for SINAMICS).
TM17 Terminal Module 17 (SIMOTION D4xx only).
TM31 Terminal Module 31.
TM41 Terminal Module 41.
VECTOR Vector drive.
VECTOR (n/M) Vector drive with "Closed-loop speed/torque control" function
module (r0108.2).
VECTOR (ext.
brake)
Vector drive with "Extended brake control" function module
(r0108.14).
VECTOR (parallel) Vector drive with "Parallel connection" function module (r0108.15).
VECTOR
(Tech_ctrl)
Vector drive with "Technology controller" function module
(r0108.16).
VECTOR (ext.
mess.)
Vector drive with "Extended reports/monitors" function module
(r0108.17).
VECTOR (RKA) Vector drive with "Cooling system" function module (r0108.28).
VECTOR (CBE) Vector drive with "CBE COMMUNICATION BOARD" Function
Module (r0108.31).
Note:
References: /IH1/ SINAMICS S120 Installation and Start-Up Manual
"Drive Objects" section
"Function Modules" section
Table 1-1 Data in "Drive object (Function Module)" field, continued
Drive object
(Function Module)
Meaning
Parameters
Changeable in
The "-" sign indicates that the parameter can be changed in any object state and
that the change will be effective immediately.
The letters"C1(x), C2(x), T, U" ((x): mean that the parameter can be changed only
in the specified drive object state and that the change will not take effect until the
object switches to another state. This can be one or more states.
The following states may be specified:
C1(x) Device commissioning C1: Commissioning 1
Converter commissioning is in progress (p0009>0).
Pulses cannot be enabled.
The parameter can only be changed in the following device commis-
sioning settings (p0009 > 0):
C1: Changeable for all settings p0009 > 0.
C1(x): Only changeable when p0009 = x.
A modified parameter value does not take effect until converter com-
missioning mode is exited with p0009 = 0.
C2(x) Drive object commissioning C2: Commissioning 2
Drive commissioning is in progress (p0009 = 0 and p0010 > 0).
Pulses cannot be enabled.
The parameter can only be changed in the following drive commission-
ing settings (p0010 > 0):
C2: Changeable for all settings p0010 > 0.
C2(x): Only changeable when p0010 = x.
A modified parameter value does not take effect until drive commis-
sioning mode is exited with p0010 = 0.
U Operation U: Run
Pulses are enabled.
T Ready T: Ready to run
The pulses are not enabled and status "C1(x)" or "C2(x)" is not active.
Note:
Parameter p0009 is CU-specific (belongs to Control Unit).
Parameter p0010 is drive-specific (belongs to each drive object).
The operating status of individual drive objects is displayed in r0002.
Parameters
Access level (refers only to access via Basic Operator Panel)
Specifies the access level required to be able to display and change the relevant
parameter. The required access level can be set via p0003.
The system uses the following access levels:
1. Standard
2. Extended
3. Expert
4. Service
Please contact your local Siemens office for the password for parameters with
access level 4 (service).
5. Macro (the parameter can only be changed via macro)
Data type
The possible data types of parameter values are as follows:
Note:
I8 Integer8 8-bit integer
U8 Unsigned8 8 bits without sign
Float FloatingPoint32 32-bit floating point number
Parameters
Dynamic index
For parameters with a dynamic index [0...n], the following information is specified
here:
Data set (if available).
Parameters for the number of indices (n = number - 1).
The following information can be contained in this field:
"CDS, p0170" (Command Data Set, CDS count)
Example:
p1070[0] main setpoint [command data set 0]
p1070[1] main setpoint [command data set 1], etc.
"DDS, p0180" (Drive Data Set, DDS count)
"EDS, p0140" (Encoder Data Set, EDS count)
"MDS, p0130" (Motor Data Set, MDS count)
"PDS, p0120" (Power unit Data Set, PDS count)
"p2615" (number of traversing blocks)
Function diagram
The parameter is included in this function diagram. The structure of the parameter
function and its interrelationship with other parameters is shown in the specified
function diagram.
Example:
P group (refers only to access via BOP (Basic Operator Panel))
Specifies the functional group to which the parameter belongs. The required
parameter group can be set via p0004.
Note:
Information on the data sets can be taken from the following references:
"Data sets" section
Function diagram: 3060.3 3060: Function diagram number
3: Signal path (optional)
Note:
Parameters
Unit, unit group and unit choice
The standard units of a parameter is specified in square brackets after the values
for "Min", "Max" and "Factory setting".
For parameters where the units can be changed-over, for "Unit group" and "Unit
choice" it is specified as to which group this parameter belongs and with which
parameter the units can be changed over.
Example:
Unit Group: 7_1, Unit Choice: p0505
The parameter belongs to Unit Group 7_1 and the units can be changed-over
using p0505.
We have listed all possible unit groups together with the unit choice available in
the following.
Note:
Detailed information on changing-over units can be taken from the following ref-
erences:
References: /FH1/ SINAMICS S120 Function Manual
References: /BA3/ SINAMICS S150 Operating Instructions
Table 1-2 Unit groups (p0100)
Unit group Unit choice with p0100 = Reference
with %
0 1
7_4 Nm lbf ft -
8_4 N lbf -
14_2 W HP -
14_6 kW HP -
25_1 kgm
2
lb ft
2
-
27_1 kg lb -
28_1 Nm/A lbf ft/A -
29_1 N/Aeff lbf/Aeff -
30_1 m ft -
Parameters
with %
1 2
15_1 mH %
(
16_1 Ohm %
with %
1 2 3 4
2_1 Hz % Hz % p2000
2_2 kHz % kHz % p2000
3_1 1/min % 1/min % p2000
4_1 m/min % ft/min % p2000
4_2 m/min m/min ft/min ft/min -
5_1 Veff % Veff % p2001
5_2 V % V % p2001
5_3 V % V % p2001
6_1 mAeff % mAeff % p2002
6_2 Aeff % Aeff % p2002
6_3 mA % mA % p2002
6_4 A % A % p2002
6_5 A % A % p2002
7_1 Nm % lbf ft % p2003
7_2 Nm Nm lbf ft lbf ft -
7_3 Nm % lbf ft % 1.0
8_1 N % lbf % p2003
8_2 N N lbf lbf -
8_3 N % lbf % 1.0
14_1 W % HP % r2004
14_3 W % HP % r2004
14_4 W % HP % r2004
14_5 kW % HP % r2004
14_7 kW % HP % r2004
14_8 kW % HP % r2004
1000 p0304
2 3 p0305 p0310
-----------------------------------------------------------------
p0304
3 p0305
----------------------------
Parameters
Parameter values
14_9 W W HP HP -
14_10 kW kW HP HP -
17_1 Nms/rad % lbf ft
s/rad
% p2000/p2003
18_1 V/A % V/A % p2002/p2001
19_1 A/V % A/V % p2001/p2002
21_1 C C F F -
21_2 K K F F -
22_1 m/s
2
m/s
2
ft/s
2
ft/s
2
-
23_1 Veff s/m Veff s/m Veff s/ft Veff s/ft -
24_1 Ns/m Ns/m lbf s/ft lbf s/ft -
24_2 Ns/m % lbf s/ft % p2000/p2003
26_1 m/s
3
m/s
3
ft/s
3
ft/s
3
-
Table 1-5 Unit group (p0595)
with %
Value Unit
9_1 The settable values and technological units are displayed p0595 (see
Chapter 1.2).
Table 1-4 Unit groups (p0505), continued
with %
1 2 3 4
Min Minimum value of the parameter [unit]
Max Maximum value of the parameter [unit]
Factory setting Shipped value (default) [unit]
A different value may be displayed for certain parameters
(e.g. p1800) at the initial commissioning stage.
Reason:
The setting of these parameters is determined by the
operating environment of the Control Unit (e.g. depend-
ing on converter type, macro, Power Module).
Note:
For SINAMICS G150/G130/S150, the macros and their settings are provided in
the following documentation:
References: /BAx/ x = 1, 2, 3
SINAMICS G150/G130/S150 Operating Instructions
Parameters
Description
Explanation of the function of a parameter.
Values
Lists the possible values of a parameter.
Recommendation
Information about recommended settings.
Index
The name and meaning of each individual index is specified for indexed parame-
ters.
The following applies to the values (min, max, factory setting) of indexed setting
parameters:
Min, Max:
The setting range and unit apply to all indices.
Factory setting:
When all indices have the same factory setting, index 0 is specified with unit
to represent all indices.
When the indices have different factory settings, they are all listed individually
with unit.
Bit field
For parameters with bit fields, the following information is provided about each bit:
Bit number and signal name
Meaning with signal states 0 and 1
Function diagram (optional)
The signal is shown on this function diagram.
Dependency
Conditions which need to be fulfilled in connection with this parameter. Also
includes special effects which can occur between this parameter and others.
See also: List of other relevant parameters.
Safety-related information
Important information which must be heeded to avoid the risk of physical injury or
property damage.
Information which must be observed to avoid problems.
Parameters
Information which the user or operator may find useful.
Danger! Corresponds to Danger
Warning! Corresponds to Alarm
Caution! Corresponds to Caution
Caution: Corresponds to Caution
Notice: Corresponds to Notice
Note:
A description of individual safety notices can be found in the appendix to this
manual (see Safety Guidelines).
Parameters
1.1.2 Numerical ranges of parameters
Parameters are grouped into the following numerical ranges:
Table 1-6 Numerical Ranges of Parameters
Section Description
from to
0000 0099 Operation and visualization
0100 0199 Commissioning
0200 0299 Power unit
0300 0399 Motor
0400 0499 Encoder
0500 0599 Technology and units
0600 0699 Thermal motor protection and motor model, maximum current
0700 0799 Command sources and terminals on Control Unit, measuring
sockets
0800 0839 CDS, DDS data sets (e.g. switch over, copy)
0840 0879 Sequential control (e.g. source for ON/OFF1)
0880 0899 Control and status words
0900 0999 PROFIBUS/PROFIdrive
1000 1199 Setpoint Channel
1200 1299 Functions (e.g. motor holding brake)
1300 1399 V/f control
1400 1799 Closed-loop control
1800 1899 Gating unit
1900 1999 Power Module and motor identification
2000 2099 Communication (PROFIBUS)
2100 2199 Faults and alarms, monitoring functions
2200 2399 Technology controller
2900 2930 Fixed values (e.g. per cent, torque)
3400 3699 Infeed control (Active Line Module)
3900 3999 Management parameters
4000 4199 Terminal Boards, Terminal Modules (e.g. TB30, TM31)
4200 4399 Terminal Modules (e.g. TM15, TM17)
6500 6599 External reports
7000 7499 Parallel connection of Power Modules
7800 7899 EEPROM read/write parameters
8600 8799 CAN bus
8800 8899 Communication Board
Parameters
9400 9499 Parameter consistency and storage
9500 9899 Safety Integrated
9900 9949 Topology
9950 9999 Diagnostics (internal)
Table 1-6 Numerical Ranges of Parameters, continued
Section Description
from to
List of parameters
Parameters
1.2 List of parameters
Product: SINAMICS S, Version: 2402300, Label: , Language: eng
Description: Operating display for the Control Unit (CU).
Values: 0: [00] Operation
10: [10] Ready
20: [20] Wait for run-up
31: [31] Commissioning software download active
33: [33] Remove topology error / acknowledge
34: [34] Exit the commissioning mode
35: [35] Carry-out first commissioning
70: [70] Initialization
80: [80] Reset active
99: [99] Internal software error
Description: Operating display for the infeed.
The value provides information about the actual operating state and the conditions necessary to reach the next
operating state.
The higher the numerical value, the greater the number of conditions that still have to be fulfilled in order to achieve
the "Run" operating state.
Values: 0: [00] Operation - everything enabled
21: [21] Ready - set "enable operation" = "1" (p0852)
31: [31] Rdy to power-up - pre-chrg running (p0857)
32: [32] Ready to power-up - set "ON/OFF1" = "0/1" (p0840)
41: [41] Power-on inhibit - set "ON/OFF1" = "0" (p0840)
42: [42] Power-on inhibit - set "OC/OFF2" = "1" (p0844, p0845)
44: [44] Power-on inhibit - connect 24 V to terminal EP (hardware)
45: [45] Power-on inhib - remove fault cause, acknowledge fault
46: [46] Power-on inhibit - exit comm mode (p0009, p0010)
60: [60] Infeed de-activated/not operational
250: [250] Device signals a topology error
Dependency: Refer to: r0046
Note: OC: Operating condition
EP: Enable Pulses (pulse enable)
COMM: Commissioning
r0002 Control Unit operating display / CU op_display
CU_S Can be changed: - Access level: 1
Data type: Integer16 Dynamic index: - Function diagram: -
P-Group: - Units group: - Unit selection: -
0 99 70
r0002 Infeed operating display / INF op_display
A_INF, S_INF Can be changed: - Access level: 1
0 250 44
Parameters
List of parameters
Description: Operating display for the drive.
operating state.
10: [10] Operation - set "enable setpoint" = "1" (p1142)
11: [11] Operation - set "enable speed controller" = "1" (p0856)
12: [12] Operation - RFG frozen, set "RFG start" = "1" (p1141)
13: [13] Operation - set "enable RFG" = "1" (p1140)
14: [14] Operation - MotID or excitation running and/or brake opens
15: [15] Operation - open brake (p1215)
16: [16] Oper - withdraw braking w/ OFF1 using "ON/OFF1" = "1"
17: [17] Oper - braking w/ OFF3 can only be interrupted w/ OFF2
18: [18] Operation - brake on fault, remove fault, acknowledge
19: [19] Operation - armature short-circuit active (p1230, p1231)
22: [22] Ready - de-magnetization running (p0347)
23: [23] Ready - set "infeed operation" = "1" (p0864)
RFG: Ramp-function generator
COMM: Commissioning
MotID: Motor data identification
Description: Operating display for the infeed.
operating state.
r0002 Drive operating display / Drv op_display
SERVO, VECTOR Can be changed: - Access level: 1
0 250 12
r0002 Infeed operating display / INF op_display
B_INF Can be changed: - Access level: 1
0 250 31
List of parameters
Parameters
31: [31] Rdy to power-up - pre-chrg running (p0857)
COMM: Commissioning
Description: Operating display for terminal board 30 (TB30).
the "Module in cyclic operation" operating state.
Values: 0: [00] Module in cyclic operation
40: [40] Module not in cyclic operation
60: [60] Fault
80: [80] Reset active
120: [120] Module de-activated
Description: Operating display for the DRIVE-CLiQ Hub Module Cabinet (DMC).
50: [50] Alarm
60: [60] Fault
r0002 TB30 operating display / TB30 op_display
TB30 Can be changed: - Access level: 1
0 250 70
r0002 DMC operating display / DMC op_display
DMC20 Can be changed: - Access level: 1
0 250 40
Parameters
List of parameters
Description: Operating display for Terminal Module 31 (TM31).
50: [50] Alarm
60: [60] Fault
operating state.
10: [10] Operation - set "enable setpoint" = "1" (p1142)
12: [12] Operation - RFG frozen, set "RFG start" = "1" (p1141)
13: [13] Operation - set "enable RFG" = "1" (p1140)
18: [18] Operation - brake on fault, remove fault, acknowledge
41: [41] Power-on inhibit - set "ON/OFF1" = "1/0" (p0840)
42: [42] Power-on inhibit - set "OC/OFF2" = "1" (p0844)
43: [43] Power-on inhibit - set "OC/OFF3" = "1" (p0848)
RFG: Ramp-function generator
COMM: Commissioning
r0002 TM31 operating display / TM31 op_display
TM31 Can be changed: - Access level: 1
0 250 70
0 250 31
0 250 70
List of parameters
Parameters
50: [50] Alarm
60: [60] Fault
50: [50] Alarm
60: [60] Fault
50: [50] Alarm
60: [60] Fault
Description: Sets the access level for reading and writing parameters using the Basic Operator Panel (BOP) and Advanced
Operator Panel (AOP).
Values: 0: User-defined
1: Standard
2: Extended
3: Expert
4: Service
0 250 70
r0002 TM15DI/DO operating display / TM15D op_display
TM15DI_DO Can be changed: - Access level: 1
0 250 70
p0003 BOP access level / BOP access level
CU_S Can be changed: C1, U, T Access level: 1
0 4 1
Parameters
List of parameters
Note: Access level 0 (user-defined):
Parameters from the user-defined list (p0013).
Access level 1 (standard):
Parameters for the simplest operator control possibility (e.g. p1120 = ramp-function generator, ramp-up time).
Access level 2 (extended):
Parameters to operate the basic functions of the drive unit.
Access level 3 (experts):
Expert know-how is required for these parameters (e.g. BICO parameterization).
Access level 4 (service):
For these parameters, it is necessary that authorized service personnel enter the appropriate password (p3950).
Description: Sets the display filter for parameters for Basic Operator Panel (BOP) and Advanced Operator Panel (AOP).
Values: 0: All parameters
1: Displays, signals
2: Power unit
3: Motor
4: Encoder/pos enc
5: Technology/units
7: Digital inputs/outputs, commands, sequence control
8: Analog inputs/outputs
10: Setpoint channel/ramp-fct generator
12: Functions
13: U/f control
14: Control
15: Data sets
17: Basic positioner
18: Gating unit
19: Motor identification
20: Communication
21: Faults, alarms, monitoring functions
25: Cl.-loop pos ctrl
28: Free function blocks
47: Trace and function generator
50: OA parameter
90: Topology
95: Safety Integrated
98: Command Data Sets (CDS)
99: Drive Data Sets (DDS)
Dependency: Refer to: p0003
Note: Example:
p0004 = 3: Only the parameters for the motor are displayed.
p0004 BOP display filter / BOP display filter
CU_S Can be changed: C2(1), U, T Access level: 1
0 99 0
List of parameters
Parameters
Description: Sets the parameter number for display for p0006 = 2, 4 for the Basic Operator Panel (BOP).
Examples for the SERVO drive object:
p0005 = 21: Speed actual value smoothed (r0021)
p0005 = 25: Drive output voltage smoothed (r0025)
p0005 = 26: Speed actual value smoothed (r0026)
p0005 = 27: Absolute current actual value, smoothed (r0027)
Note: Only the monitoring parameters (only read parameters) can be set, that actually exist for the actual drive object.
Description: Sets the mode of the operating display for the Basic Operator Panel (BOP) in the operating states "ready" and
"operation".
Values: 4: p0005
Note: Mode 0 ... 3 can only be selected if also r0020, r0021 are available on the drive object.
Mode 4 is available for all drive objects.
Description: Sets the mode of the operating display for the Basic Operator Panel (BOP) in the operating states "ready" and
"operation".
Values: 0: Operation --> r0021, otherwise r0020 <--> r0021
1: Operation --> r0021, otherwise r0020
2: Operation --> p0005, otherwise p0005 <--> r0020
3: Operation --> r0002, otherwise r0002 <--> r0020
4: p0005
Note: Mode 0 ... 3 can only be selected if also r0020, r0021 are available on the drive object.
Mode 4 is available for all drive objects.
p0005 BOP operating display selection / BOP op_disp sel
A_INF, B_INF,
CU_S, DMC20,
SERVO, S_INF,
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
Can be changed: U, T Access level: 2
Data type: Unsigned16 Dynamic index: - Function diagram: -
0 65535 2
p0006 BOP operating display mode / BOP op_ disp mode
CU_S, DMC20,
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41
4 4 4
p0006 BOP operating display mode / BOP op_ disp mode
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 4 4
Parameters
List of parameters
Description: Sets the delay time until the background lighting of the Basic Operator Panel (BOP) is switched-off.
If no keys are actuated, then the background lighting automatically switches itself off after this time has expired.
Note: p0007 = 0: Background lighting is always switched on (factory setting).
Description: Sets the required drive object for reading and writing via the Basic Operator Panel (BOP).
Note: The value from p0008 is displayed at the top left on the Basic Operator Panel (BOP).
The drive object Control Unit is selected using the value 1.
Description: Sets the device and basic drive commissioning.
By appropriately setting this parameter, those parameters are filtered that can be written into in the various commis-
sioning steps.
Values: 0: Ready
1: Device configuration
2: Defining the drive type / drive options
3: Drive basis configuration
4: Data set basis configuration
29: Device download
30: Parameter reset
50: OA application configuration
p0007 BOP background lighting / BOP lighting
CU_S Can be changed: U, T Access level: 3
0 [s] 2000 [s] 0 [s]
p0008 BOP drive object selection / BOP DO select
1 65535 1
p0009 Device commissioning parameter filter / Dev comm par_filt
CU_S Can be changed: C1, T Access level: 1
0 50 1
List of parameters
Parameters
Note: The drives can only be powered-up outside the device commissioning (the inverter enabled). In this case, p0009
must be 0 (Ready) and the individual drive objects must have already gone into operation (p0010).
p0009 = 1: Device configuration
At the first commissioning of the devices, after booting, the device is in the "device configuration" state. To start the
internal automatic first commissioning of the drive unit, p0009 should be set to 0 (Ready) after the ID for the actual
topology (r0098) was transferred into the ID for the target topology (p0099). To do this, it is sufficient to set a single
index value of p0099[x] the same as r0098[x]. Before the device has been completely commissioned, no other
parameter can be changed. After the first commissioning was carried-out, in this state, when required, other basic
device configuration parameters can be adapted (e.g. the basic sampling time in p0110).
p0009 = 2: Defines the drive type / function module
In this state, the drive object types and/or the function modules can be changed or selected for the individual drive
objects. To do this, the drive object type can be set using p0107[0...15] and the function can be set using
p0108[0...15] (refer to p0101[0...15]).
p0009 = 3: Drive basis configuration
In this state, after the device has been commissioned for the first time, basic changes can be made for the individ-
ual drive objects (e.g. sampling times in p0111, p0112, p0115 and the number of data sets in p0120, p0130, p0140,
p0170, p0180).
p0009 = 4: Data set basis configuration
In this state, after the device has been commissioned for the first time, for the individual drive objects changes can
be made regarding the assignment of the components (p0121, p0131, p0141, p0151, p0161) to the individual data
sets and the assignment of the power unit, motor and encoder to the drive data sets (p0185, ...).
p0009 = 29: Device download
If a download is made using the commissioning software, the device is automatically brought into this state. After
the download has been completed, p0009 is automatically set to 0 (ready). It is not possible to manually set p0009
to this value.
p0009 = 30: Parameter reset
In order to bring the complete unit into the "first commissioning" state or to load the parameters saved using p0977,
to start, p0009 must be set to this value. p0976 can then be changed to the required value.
p0009 = 50: OEM application configuration
In this state, after the device has been commissioned for the first time, changes can be made for the individual drive
objects regarding the activity (p4956) of the OEM applications.
Description: Sets the parameter filter to commission an infeed unit.
Setting this parameter filters-out the parameters that can be written into in the various commissioning steps.
Values: 0: Ready
1: Quick commissioning
2: Power unit commissioning
5: Technological application/units
29: Download
30: Parameter reset
Note: The drive can only be powered-up outside the drive commissioning (inverter enable). To realize this, this parameter
must be set to 0.
For p3900 not equal to 0, at the end of the quick commissioning, this parameter is automatically reset to 0.
Procedure for "Reset parameter": Set p0010 to 30 and p0970 to 1.
p0010 Infeed commissioning parameter filter / INF comm par_filt
A_INF, B_INF,
S_INF
Can be changed: C2(1), T Access level: 1
0 30 1
Parameters
List of parameters
Description: Sets the parameter filter to commission a drive.
Values: 0: Ready
1: Quick commissioning
2: Power unit commissioning
3: Motor commissioning
4: Encoder commissioning
15: Data sets
17: Basic positioning commissioning
25: Commissioning the position control
29: Download
30: Parameter reset
95: Safety Integrated commissioning
Note: The drive can only be powered-up outside the drive commissioning (inverter enable). To realize this, this parameter
must be set to 0.
For p3900 not equal to 0, at the end of the quick commissioning, this parameter is automatically reset to 0.
Description: Sets the parameter filter for commissioning a terminal board 30 (TB30).
For the BOP, this setting also causes the read access operations to be filtered.
Values: 0: Ready
29: Download
30: Parameter reset
Note: Procedure for "Reset parameter": Set p0010 to 30 and p0970 to 1.
Description: Sets the parameter filter for commissioning a Terminal Module 31 (TM31).
Values: 0: Ready
29: Download
30: Parameter reset
p0010 Drive, commissioning parameter filter / Drv comm. par_filt
SERVO, VECTOR Can be changed: C2(1), T Access level: 1
0 95 1
p0010 TB30 commissioning parameter filter / TB30 comm.par_filt
TB30 Can be changed: C2(1), T Access level: 1
0 30 0
p0010 TM31 commissioning parameter filter / TM31 comm par_filt
TM31 Can be changed: C2(1), T Access level: 1
0 30 0
List of parameters
Parameters
Note: Only the following values are possible: p0010 = 0, 30
Values: 0: Ready
4: Encoder commissioning
29: Download
30: Parameter reset
Note: Procedure for "Reset parameter": Set p0010 to 30 and p0970 to 1.
Values: 0: Ready
29: Download
30: Parameter reset
Values: 0: Ready
29: Download
30: Parameter reset
0 30 0
0 30 0
0 30 0
Parameters
List of parameters
Values: 0: Ready
29: Download
30: Parameter reset
Description: Sets the password for the Basic Operator Panel (BOP).
Dependency: Refer to: p0012, p0013
Description: Acknowledges the password for the Basic Operator Panel (BOP).
p0010 TM15DI/DO commissioning the parameterizing filter / TM15D com par_filt
TM15DI_DO Can be changed: C2(1), T Access level: 1
0 30 0
p0011 BOP password entry (p0013) / BOP passw ent p13
P-Group: Functions Units group: - Unit selection: -
0 65535 0
p0012 BOP password acknowledgment (p0013) / BOP passw ackn p13
0 65535 0
List of parameters
Parameters
Description: Sets the required parameters to read and write via the Basic Operator Panel (BOP).
Activation:
1. p0003 = 3 (expert).
2. p0013[0...49] = requested parameter number
3. If required, enter p0011 = password in order to prevent non-authorized de-activation.
4. p0003 = 0 --> activates the selected user-defined list.
De-activation/change:
1. p0003 = 3 (expert).
2. If required, p0012 = p0011, in order to be authorized to change or de-activate the list.
3. If required p0013[0...49] = required parameter number.
4. p0003 = 0 --> activates the modified user-defined list.
5. p0003 > 0 --> de-activates the user-defined list.
Dependency: Refer to: p0009, p0011, p0012, p0976
Note: The following parameters can be read and written on the Control Unit drive object:
- p0003 (access stage)
- p0009 (device commissioning, parameter filter)
- p0012 (BOP password acknowledgment (p0013))
The following applies for the user-defined list:
- password protection is only available on the drive object Control Unit and is valid for all of the drive objects.
- p0013 cannot be included in the user-defined list for all drive objects.
- p0003, p0009, p0011, p0012, p0976 cannot, for the drive object Control Unit, be included in the user-defined list.
- the user-defined list can be cleared and de-activated "restore factory setting".
A value of 0 means: Entry is empty.
Description: Runs the appropriate ACX file on the CompactFlash card.
The selected ACX file must be located in the following directory:
... /PMACROS/DEVICE/P15/PMxxxxxx.ACX
Example:
p0015 = 6 --> the file PM000006.ACX is run.
Dependency: The ACX file to be run must be created according to the definition for ACX macros and must be saved in the direc-
tory intended on the CompactFlash card.
Refer to: p0700, p1000, p1500, r8570
Note: The macros in the specified directory are displayed in r8570.
Macros available as standard are described in the technical documentation of the particular product.
p0013[0...49] BOP user-defined list / BOP list
A_INF, B_INF,
CU_S, DMC20,
SERVO, S_INF,
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
0 65535 0
p0015 Macro drive unit / Macro drv unit
CU_S Can be changed: C1 Access level: 1
0 999999 0
Parameters
List of parameters
... /PMACROS/<drive object>/P15/PMxxxxxx.ACX
Example:
Refer to: p0700, p1000, p1500, r8570
Notice: No errors were issued during fast commissioning (p3900 = 1) when writing to parameters of the QUICK_IBN group!
Description: Displays the firmware version of the Control Unit.
Dependency: Refer to: r0128, r0148, r0158, r0197, r0198
Note: Example:
The value 1010100 should be interpreted as V01.01.01.00.
Description: Displays the control word for the Basic Operator Panel (BOP).
p0015 Macro drive object / Macro DO
A_INF, B_INF,
SERVO, S_INF,
TM15DI_DO, TM31,
VECTOR
Can be changed: C2(1) Access level: 1
P-Group: Commands Units group: - Unit selection: -
0 999999 0
r0018 Control Unit firmware version / CU FW_version
- - -
r0019 CO/BO: Control word BOP / STW BOP
P-Group: Displays, signals Units group: - Unit selection: -
- - 0000 bin
Bit field: Bit Signal name 1 signal 0 signal FP
00 ON / OFF (OFF1) ON OFF (OFF1) -
01 No coast-down / coast-down (OFF2) No coast down Coast down (OFF2) -
02 No fast stop / fast stop (OFF3) No fast stop Fast stop (OFF3) -
07 Acknowledge fault (0 -> 1) Yes No -
13 Motorized potentiometer, raise Yes No -
14 Motorized potentiometer, lower Yes No -
List of parameters
Parameters
Description: Displays the actual, smoothed speed setpoint at the input of the speed controller or U/f characteristic (after the
interpolator).
Note: Smoothing time constant = 100 ms
The signal is not suitable as process quantity and may only be used as display quantity.
The speed setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the actual, smoothed velocity setpoint at the input of the velocity controller or U/f characteristic (after the
interpolator).
The velocity setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the smoothed actual value of the motor speed.
The value displayed in r0021 is the smoothed value of r0063.
Description: Displays the smoothed actual value of the motor velocity.
r0020 Speed setpoint, smoothed / n_set smth
Data type: Floating Point Dynamic index: - Function diagram: 5020,
6799
- [1/min] - [1/min] - [1/min]
r0020 Velocity setpoint, smoothed / v_set smth
SERVO (Lin) Can be changed: - Access level: 2
6799
- [m/min] - [m/min] - [m/min]
r0021 Actual speed, smoothed / n_act smooth
1680, 4710, 6799
- [1/min] - [1/min] - [1/min]
r0021 Actual velocity, smoothed / v_act smooth
1680, 4710, 6799
Parameters
List of parameters
The value displayed in r0021 is the smoothed value of r0063.
Description: Displays the smoothed line supply frequency.
The line frequency is available smoothed (r0024) and unsmoothed (r0066).
A positive sign of the frequency is obtained when the line supply phases U, V and W are connected with the correct
phase sequence.
A negative sign of the frequency is obtained when the 3 line phases are interchanged therefore designating a neg-
ative direction of the rotating field of the 3-phase line supply voltage.
Description: Displays the smoothed converter frequency.
The output frequency is available smoothed (r0024) and unsmoothed (r0066).
Description: Displays the smoothed actual value of the input voltage.
This voltage is present at the line supply connection of the infeed.
The input voltage is available smoothed (r0025) and unsmoothed (r0072).
r0024 Infeed line frequency smoothed / INF f_line smth
8950
- [Hz] - [Hz] - [Hz]
r0024 Drive output frequency smoothed / Drv f_outp smooth
5300, 5730, 6799
- [Hz] - [Hz] - [Hz]
r0025 Infeed input voltage, smoothed / INF U_input smooth
8950
- [Veff] - [Veff] - [Veff]
List of parameters
Parameters
Description: Displays the smoothed output voltage of the power unit.
The output voltage is available smoothed (r0025) and unsmoothed (r0072).
Description: Displays the smoothed actual value of the DC link voltage.
Note: A_INF, B_INF, S_INF: smoothing time constant = 300 ms
SERVO, VECTOR: Smoothing time constant = 100 ms
The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
Description: Displays the smoothed actual value of the DC link voltage.
Notice: For SINAMICS S120 AC Drive (AC/AC) the following applies:
When measuring a DC link voltage < 200 V, for the Power Module (e.g. PM340) a valid measured value is not sup-
plied. In this case, a value of approx. 300 V is displayed in the display parameter.
Note: A_INF, B_INF, S_INF: smoothing time constant = 300 ms
The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
r0025 Drive, output voltage smoothed / Drv U_outp smooth
5730, 6799
r0026 CO: DC link voltage, smoothed / Vdc smooth
A_INF, B_INF,
S_INF
Can be changed: - Access level: 2
6799, 8750, 8850, 8950
- [V] - [V] - [V]
r0026 CO: DC link voltage, smoothed / Vdc smooth
8750, 8850, 8950
- [V] - [V] - [V]
Parameters
List of parameters
Description: Displays the smoothed absolute actual current value.
Note: A_INF, S_INF, VECTOR: Smoothing time constant = 300 ms
SERVO: Smoothing time constant = 100 ms
The absolute current actual value is available smoothed (r0027) and unsmoothed (r0068).
Description: Displays the smoothed actual value of the modulation depth.
Note: A_INF: Smoothing time constant = 300 ms
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).
Description: Displays the smoothed actual value of the reactive current component.
The reactive current actual value is available smoothed (r0029) and unsmoothed (r0076).
Description: Displays the smoothed field-generating actual current.
r0027 Absolute actual current, smoothed / I_act abs.val.smth
A_INF, SERVO,
S_INF, VECTOR
6799, 8850, 8950
- [Aeff] - [Aeff] - [Aeff]
r0028 Modulation depth, smoothed / Modulat depth smth
A_INF, SERVO,
VECTOR
6799, 8950
- [%] - [%] - [%]
r0029 Infeed, smoothed reactive current actual value / INF I_reactiv smth
8950
r0029 Drive, smoothed field-generating current actual value / Drv Id_act smooth
6799
List of parameters
Parameters
Note: SERVO: Smoothing time constant = 100 ms
VECTOR: Smoothing time constant = 300 ms
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).
Description: Displays the smoothed actual value of the active current components.
The active current actual value is available smoothed (r0030) and unsmoothed (r0078).
Description: Displays the smoothed torque-generating actual current.
Note: SERVO: Smoothing time constant = 100 ms
VECTOR: Smoothing time constant = 300 ms
The following applies for SERVO:
The torque-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
unsmoothed (r0078[0]).
For VECTOR, the following applies:
The torque-generating current actual value is available smoothed (r0030 with 300 ms) and unsmoothed (r0078).
Description: Displays the smoothed torque actual value.
r0030 Active current actual value, smoothed / I_active smooth
8950
r0030 Current actual value, torque-generating, smoothed / Iq_act smooth
6799
r0031 Actual torque smoothed / M_act smooth
6799
P-Group: Displays, signals Units group: 7_2 Unit selection: p0505
- [Nm] - [Nm] - [Nm]
Parameters
List of parameters
Description: Displays the smoothed force setpoint.
Description: Displays the smoothed actual value of the active power.
Note: Significance for the drive: Power output at the motor shaft
Significance for the infeed: Line power drawn
For A_INF and S_INF the following applies:
The active power is available smoothed (r0032 with 300 ms) and unsmoothed (r0082).
The active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed (r0082[0]).
For VECTOR and VECTORMV, the following applies:
The active power is available smoothed (r0032 with 100 ms) and unsmoothed (r0082).
Description: Displays the smoothed torque/force utilization as a percentage.
The torque/force utilization is obtained from the required smoothed torque/force referred to the torque/force limit.
The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
For M_set total (r0079) > M_max offset (p1532), the following applies:
- demanded torque = M_set total - M_max offset
- actual torque limit = M_max upper effective (r1538) - M_max offset
For M_set total (r0079) <= M_max offset (p1532), the following applies:
- demanded torque = M_max offset - M_set total
- actual torque limit = M_max offset - M_max lower effective (r1539)
For the actual torque limit = 0, the following applies: r0033 = 100 %
For the actual torque limit < 0, the following applies: r0033 = 0 %
r0031 Force actual value, smoothed / F_act smooth
6799
- [N] - [N] - [N]
r0032 Active power actual value, smoothed / P_actv_act smth
A_INF, SERVO,
S_INF, VECTOR
6799, 8850, 8950
- [kW] - [kW] - [kW]
r0033 Torque utilization, smoothed / M_util smooth
Data type: Floating Point Dynamic index: - Function diagram: 8012
- [%] - [%] - [%]
List of parameters
Parameters
Description: Displays the actual temperature in the motor.
Note: For r0035 not equal to -200.0 C, the following applies:
- this temperature display is valid.
- a KTY sensor is connected.
- for induction motors, the thermal motor model is activated (p0600 = 0 or p0601 = 0).
For r0035 equal to -200.0 C, the following applies:
- this temperature display is not valid (temperature sensor error).
- a PTC sensor is connected.
- for synchronous motors, the thermal motor model is activated (p0600 = 0 or p0601 = 0).
Description: Displays the power unit overload determined using the I2t calculation.
A current reference value is defined for the I2t monitoring of the power unit. It represents the current that can be
conducted by the power unit without any influence of the switching losses (e.g. the continuously permissible current
of the capacitors, inductances, busbars, etc.).
If the I2t reference current of the power unit is not exceeded, then an overload (0 %) is not displayed.
In the other case, the degree of thermal overload is calculated whereby 100% corresponds to the maximum permis-
sible value and results in shutdown (trip).
Refer to: F30005
r0035 CO: Motor temperature / Motor temperature
- [C] - [C] - [C]
r0036 Power unit overload I2t / LT overload I2t
A_INF, SERVO,
S_INF, VECTOR
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the temperatures in the power unit.
Index: [0] = Maximum inverter
[1] = Maximum depletion layer
[2] = Maximum rectifier
[3] = Air intake
[4] = Electronics unit in the power unit
[5] = Inverter 1
[6] = Inverter 2
[7] = Inverter 3
[8] = Inverter 4
[9] = Inverter 5
[10] = Inverter 6
[11] = Rectifier 1
[12] = Rectifier 2
[13] = Depletion layer 1
[19] = Cooling system water intake
Note: A value of -200 indicates that there is no measuring signal.
Description: Displays the smoothed actual power factor.
Significance for the motor: Motor power factor
Significance for the infeed: Power factor at the connection point (p3470, p3471)
Description: Sets the smoothing time constant for the following display values:
SERVO: r0078[1], r0079[1], r0081 (calculated from the quantities smoothed with p0045), r0082[1].
VECTOR: r0063[1], r0068[1], r0080[1], r0082[1].
r0037[0...19] CO: Power unit temperatures / LT temperatures
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- [C] - [C] - [C]
r0038 Power factor, smoothed / Cos phi smooth
A_INF, S_INF, VEC-
TOR
8850, 8950
- - -
p0045 Smoothing time constant, display values / T_smth display
SERVO, VECTOR Can be changed: U, T Access level: 2
5610, 5730, 6714, 8012
0.00 [ms] 200.00 [ms] 1.00 [ms]
List of parameters
Parameters
Description: Displays missing enable signals that are preventing the closed-loop infeed control from being commissioned.
Note: The value r0046 = 0 indicates that all enable signals for the infeed are present.
Bit 00 = 1 (enable signal missing), if:
- the signal source in p0840 is a 0 signal.
- there is a power-on inhibit.
- the signal source in p0844 or p0845 is a 0 signal.
- the pulse enable via terminal EP is missing (booksize: X21, chassis: X41).
- there is an OFF1 fault response. The system is only enable if the fault is removed and was acknowledged and the
power-on inhibit withdrawn with OFF1 = 0.
- The commissioning mode is selected (p0009 > 0 or p0010 > 0) or there is an OFF2 fault response or the OFF1
signal source (p0840) is changed.
Bit 19 = 1 (internal pulse enable missing), if:
- synchronization is running between the basic clock cycle, DRIVE-CLiQ clock cycle and application clock cycle.
- the infeed is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
- the cooling system ready signal via BI: p0266[1] missing.
r0046 CO/BO: Infeed missing enable signals / INF miss enable
Data type: Unsigned32 Dynamic index: - Function diagram: 8934
- - 0000 bin
00 OFF1 enable missing Yes No -
03 Enable operation missing Yes No -
08 EP terminals enable missing Yes No -
16 OFF1 enable internal missing Yes No -
19 Pulse enable internal missing Yes No -
26 Infeed inactive or not operational Yes No -
29 Cooling system ready signal missing Yes No -
Parameters
List of parameters
Description: Displays missing enable signals that are preventing the closed-loop drive control from being commissioned.
Note: The value r0046 = 0 indicates that all enable signals for this drive are present.
Bit 04 =1 (armature short-circuit active), if:
- the signal source in p1230 has a 1 signal
Bit 05, Bit 06: Being prepared
- the pulse enable via terminal EP is missing (booksize: X21, chassis: X41).
r0046 CO/BO: Missing drive enable signals / Drv miss enable
- - 0000 bin
03 Enable operation missing Yes No -
04 Armature short-circuit, enable missing Yes No -
05 STOP2 enable missing Yes No -
06 STOP1 enable missing Yes No -
09 Infeed enable missing Yes No -
10 Ramp-function generator enable missing Yes No -
11 Ramp-function generator start missing Yes No -
12 Setpoint enable missing Yes No -
19 Pulse enable internal missing Yes No -
20 Armature short-circuit, internal enable miss-
ing
Yes No -
21 STOP2 enable internal missing Yes No -
22 STOP1 enable internal missing Yes No -
25 Function bypass active Yes No -
26 Drive inactive or not operational Yes No -
27 Demagnetization not completed Yes No -
28 Brake open missing Yes No -
30 Speed controller inhibited Yes No -
31 Jog setpoint active Yes No -
List of parameters
Parameters
Bit 11 = 1 (enable signal missing) if the speed setpoint is frozen, because:
or
- the speed setpoint is entered from jogging and the two signal sources for jogging, bit 0 (p1055) and bit 1 (p1056)
have a 1 signal.
- the commissioning mode is selected (p0009 > 0 or p0010 > 0) or an OFF2 fault response is present.
- OFF3 has still not be completed or an OFF3 fault response is present.
Bit 19 = 1 (internal pulse enable missing), if:
- synchronization is running between the basic clock cycle, DRIVE-CLiQ clock cycle and application clock cycle.
Bit 20 =1 (internal armature short-circuit active), if:
- the drive is not in the state "S4: Operation" or in "S5x" (refer to function chart 2610). - the
- the internal pulse enable is missing (r0046.19 = 0).
The pulses have been enabled and the speed setpoint has still not been enabled, because:
- the holding brake opening time (p1216) has still not expired.
- The motor has still not been magnetized (induction motor).
Bit 22: Being prepared
- the drive is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
- de-magnetizing has still not been completed (only for vector).
- the holding brake is closed or has still not been opened.
Bit 30 = 1 (speed controller inhibited), if one of the following reasons is present:
- A 0 signal is available via BI: p0856.
- the function generator with current input is active.
- the measuring function "current controller reference frequency characteristic" is active.
- the pole position identification is active.
- the motor data identification routine is
Parameters
List of parameters
Description: Displays missing enable signals that are preventing the closed-loop infeed control from being commissioned.
Note: The value r0046 = 0 indicates that all enable signals for the infeed are present.
- The commissioning mode is selected (p0009 > 0 or p0010 > 0) or there is an OFF2 fault response or the OFF1
signal source (p0840) is changed.
- the infeed is inactive (p0105 = 0) or is not operational (r7850[DO-Index]=0).
Description: Displays the currently executed steps or the first step after the enable for the motor identification and pole position
identification routines.
Values: 0: No measurement
1: PolID: Wait for brake closing time
2: PolID: Measurement, step 1
6: PolID: Measurement, stage 2
7: PolID: Measurement evaluation
8: PolID: Measurement end
r0046 CO/BO: Infeed missing enable signals / INF miss enable
- - 0000 bin
26 Infeed inactive or not operational Yes No -
r0047 Status, identification / Status ident
SERVO Can be changed: - Access level: 1
0 104 6
List of parameters
Parameters
11: MotID: Inductance measurement, step 1
12: MotID: Inductance measurement, step 2
13: MotID: Inductance measurement evaluation
14: MotID: Resistance measurement evaluation
20: MotID: Rotating inductance measurement, step 1
24: MotID: Rotating Inductance measurement evaluation
25: MotID: Rotating Inductance measurement end
30: MotID: Induction motor measurement, step 1
40: MotID: Commutating angle, step 1
45: MotID: Commutating angle rotating, step 1
48: MotID: Commutating angle rotating complete
50: MotID: KT determination, step 1
53: MotID: KT determination evaluation
54: MotID: KT determination end
60: MotID: Reluctance constant measurement, step 1
61: MotID: Reluctance motor measurement, step 2
62: MotID: Reluctance constant measurement, step 3
63: MotID: Reluctance constant measurement end
70: MotID: Moment of inertia measurement, step 1
73: MotID: Moment of inertia measurement end
80: MotID: Magnetizing inductance measurement, step 1
83: MotID: Magnetizing inductance measurement evaluation
84: MotID: Main inductance measurement end
90: MotID: Saturation characteristic. step 1
93: MotID: Saturation characteristic evaluation 1
94: MotID: Saturation characteristic evaluation 2
95: MotID: Saturation characteristic end
96: MotID: Converter model, step 1
100: PolID: Motion-based, step 1
Parameters
List of parameters
Description: Displays the actual status for the motor data identification (standstill measurement) and the speed/velocity control-
ler optimization (rotating measurement).
Values: 0: No measurement
120: Speed controller optimization, (vibration test)
140: Calculate speed controller setting
150: Measurement, moment of inertia
170: Measurement, magnetizing current and saturation characteristic
190: Speed encoder test
200: Rotating measurement selected
210: Pole position identification selected
220: identification, leakage inductance
230: Identification, rotor time constant
240: Identification, stator inductance
270: Identification, stator resistance
290: Identification, valve lockout time
300: Standstill measurement selected
Description: Displays the effective Motor Data Set (MDS) and the effective Encoder Data Sets (EDS).
Index: [0] = Motor Data Set MDS effective
[1] = Encoder1 Encoder Data Set EDS effective
[2] = Encoder 2 Encoder Data Set EDS effective
[3] = Encoder 3 Encoder Data Set EDS effective
Dependency: Refer to: p0186, p0187, p0188, p0189, r0838
Note: Value 99 means the following: No encoder assigned (not configured).
Description: Displays the effective Command Data Set (CDS).
Dependency: Refer to: p0810, p0811, r0836
Note: The command data set selected via binector inputs p0810, p0811, p0812 and p0813 is displayed via r0836.
r0047 Motor data ident. routine and speed controller optimization / MotID and n_opt
VECTOR Can be changed: - Access level: 1
0 300 200
r0049[0...3] Motor/encoder data set effective / MDS/EDS effective
- - -
r0050 CO/BO: Command Data Set CDS effective / CDS effective
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 0000 bin
00 CDS eff., bit 0 On Off -
List of parameters
Parameters
Description: Displays the effective Drive Data Set (DDS).
Dependency: Refer to: p0820, p0821, p0822, p0823, p0824, r0837
Note: The drive data set changeover is suppressed when selecting the motor identification, during the rotating measure-
ment, the encoder calibration and the friction characteristic plot.
Description: Displays the status word of the closed-loop control.
Note: Re bit 04:
The bit is immediately set after power-on
Exception:
For an induction motor with brake (except for p1215 = 2), the bit is only set when 60% of the reference flux is
reached.
Description: Displays the status word of the closed-loop control.
r0051 CO/BO: Drive Data Set DDS effective / DDS effective
SERVO, TM41, VEC-
TOR
- - 0000 bin
00 DDS eff., bit 0 On Off -
r0056 CO/BO: Status word, closed-loop control / ZSW cl-loop ctrl
- - 0000 bin
01 De-magnetizing completed Yes No -
04 Magnetizing completed Yes No 2701
08 Field weakening active Yes No -
14 Vdc_max controller active Yes No -
15 Vdc_min controller active Yes No -
r0056 CO/BO: Status word, closed-loop control / ZSW cl-loop ctrl
- - 0000 bin
00 Initialization completed Yes No -
01 De-magnetizing completed Yes No -
02 Pulse enable present Yes No -
03 Soft starting present Yes No -
04 Magnetizing completed Yes No -
Parameters
List of parameters
Description: Displays the actual speed setpoint at the input of the speed controller or U/f characteristic (after the interpolator).
Note: The speed setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the actual velocity setpoint at the input of the velocity controller or U/f characteristic (after the interpolator).
Note: The velocity setpoint is available smoothed (r0020) and unsmoothed (r0060).
Description: Displays the speed sensed by the motor encoder (unsmoothed).
Index: [0] = Sensor 0 actual value
[1] = Sensor 1 actual value
06 Accelerating voltage active Yes No -
07 Frequency negative Yes No 6719
08 Field weakening active Yes No -
09 Voltage limit active Yes No -
10 Slip limit active Yes No 6310
11 Frequency limit active Yes No 6719
12 Current limiting controller voltage output
active
Yes No -
13 Current/torque limiting active not active -
14 Vdc_max controller active Yes No 6220,
6320
15 Vdc_min controller active Yes No 6220,
6320
r0060 CO: Speed setpoint before the setpoint filter / n_set before filt.
2704, 5020, 6030, 6799
- [1/min] - [1/min] - [1/min]
r0060 CO: Velocity setpoint before the setpoint filter / v_set before filt.
2704, 5020, 6030, 6799
r0061[0...1] CO: Speed actual value motor encoder / n_act mot. encoder
4710, 4715
- [1/min] - [1/min] - [1/min]
List of parameters
Parameters
Description: Displays the velocity sensed by the motor encoder (unsmoothed).
Index: [0] = Sensor 0 actual value, [1] = Sensor 1 actual value
Description: Displays the actual speed setpoint after the setpoint filters.
Description: Displays the actual velocity setpoint after the setpoint filters.
Description: Displays the actual, smoothed actual speed for speed control.
Note: The value is calculated in sensorless operation.
The speed actual value is available smoothed (r0021) and unsmoothed (r0063).
Description: Displays the actual, smoothed velocity actual value for velocity control.
Note: The value is calculated in sensorless operation.
The velocity actual value is available smoothed (r0021) and unsmoothed (r0063).
r0061[0...1] CO: Velocity actual value, motor encoder / v_act mot encoder
4710, 4715
r0062 CO: Speed setpoint after the filter / n_set after filter
1750, 5020, 5030, 5210, 6030
- [1/min] - [1/min] - [1/min]
r0062 CO: Velocity setpoint after the filter / v_set after filter
1750, 5020, 5030, 5210, 6030
r0063 CO: Actual speed, smoothed / n_act smooth
1590, 4710, 5300
- [1/min] - [1/min] - [1/min]
r0063 CO: Actual velocity, smoothed / v_act smooth
1590, 4710, 5300
Parameters
List of parameters
Description: Displays the currently smoothed speed actual value.
Note: For Terminal Module 41 (TM41), this value is used to interconnect with standard telegram 3 and is always zero.
Description: Displays the actual speed of the closed-loop speed control and the U/f control.
Index: [0] = Unsmoothed
[1] = Smoothed with p0045
Note: The speed actual value is calculated in sensorless operation and for U/f control. For operation with encoder, r0063
is smoothed with p1441.
The speed actual value r0063[0] is additionally displayed - smoothed with p0045 - in r0063[1].
Description: Displays the actual system deviation of the speed controller.
Note: In the servo control mode with active reference model, the system deviation to the P component of the speed/veloc-
ity controller is displayed.
Description: Displays the actual system deviation of the velocity controller.
Note: In the servo control mode with active reference model, the system deviation to the P component of the velocity con-
troller is displayed.
Data type: Floating Point Dynamic index: - Function diagram: -
- [1/min] - [1/min] - [1/min]
r0063[0...1] CO: Actual speed value / n_act
4715
- [1/min] - [1/min] - [1/min]
r0064 CO: Speed controller system deviation / n_ctrl system dev
6040
- [1/min] - [1/min] - [1/min]
r0064 CO: Velocity controller system deviation / v_ctrl system dev
6040
List of parameters
Parameters
Description: Displays the slip frequency for induction motors (ASM).
Description: Displays the line frequency.
Note: The line frequency is available smoothed (r0024) and unsmoothed (r0066).
A positive sign of the frequency is obtained when the line supply phases U, V and W are connected with the correct
phase sequence.
A negative sign of the frequency is obtained when the 3 line phases are interchanged therefore designating a neg-
ative direction of the rotating field of the 3-phase line supply voltage.
Description: Displays the Motor Module output frequency.
Note: The output frequency is available smoothed (r0024) and unsmoothed (r0066).
Description: Displays the actual permissible absolute line-side current.
Index: [0] = Motor mode
[1] = Regenerative mode
Dependency: The permissible current is either the maximum converter current or the parameterized current limits, whichever is
lower.
Refer to: p3530, p3531
r0065 Slip frequency / f_Slip
6730
- [Hz] - [Hz] - [Hz]
r0066 CO: Infeed line frequency / INF f_line
8864, 8950, 8964
- [Hz] - [Hz] - [Hz]
r0066 CO: Drive output frequency / Drv f_output
5300, 5730, 6310, 6730, 6731,
6799
- [Hz] - [Hz] - [Hz]
r0067[0...1] Permissible absolute infeed current magnitude OK / INF I_abs.val.perm
Parameters
List of parameters
Description: Displays the maximum output current of the Motor Module.
Dependency: The maximum output current is determined by the parameterized current limit and the motor and converter thermal
protection.
Description: Displays actual absolute current.
Notice: Bei A_INF, S_INF the following applies:
The value is updated with the current controller sampling time.
The value is updated with a sampling time of 1 ms.
Note: The calculated RMS value is only applicable for alternating currents.
For DC current, a value is displayed that is too low by sqrt(2).
Absolute current value = sqrt(Iq^2 + Id^2)
The absolute current actual value is available smoothed (r0027) and unsmoothed (r0068).
Notice: The value is updated with the current controller sampling time.
Note: The calculated RMS value is only applicable for alternating currents.
For DC current, a value is displayed that is too low by sqrt(2).
Absolute current value = sqrt(Iq^2 + Id^2)
The absolute value of the current actual value is available smoothed (r0027 with 300 ms, r0068[1] with p0045) and
r0067 Maximum drive output current / Drv I_output max
6300, 6640, 6724
r0068 CO: Absolute current actual value / I_act abs.val.
A_INF, SERVO,
S_INF
8014, 8850, 8950
r0068[0...1] CO: Absolute current actual value / I_act abs.val.
6799, 8014
List of parameters
Parameters
Description: Displays the measured actual phase currents as peak value.
Index: [0] = Phase U
[1] = Phase V
[2] = Phase W
[3] = Phase U offset
[4] = Phase V offset
[5] = Phase W offset
[6] = Total U, V, W
Note: In indices 3 ... 5, the offset currents of the 3 phases, which are added to correct the phase currents, are displayed.
The sum of the 3 corrected phase currents is displayed in index 6.
Description: Displays the measured actual value of the DC link voltage.
Note: The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
Notice: For SINAMICS S120 AC Drive (AC/AC) the following applies:
When measuring a DC link voltage < 200 V, for the Power Module (e.g. PM340) a valid measured value is not sup-
plied. In this case, a value of approx. 300 V is displayed in the display parameter.
Note: The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
Description: Displays the maximum output voltage.
r0069[0...6] Phase current, actual value / I_Phase act value
A_INF, SERVO,
S_INF, VECTOR
5730, 6714, 6730, 6731, 8850,
8950
- [A] - [A] - [A]
r0070 CO: Actual DC link voltage / Vdc_act
A_INF, B_INF,
S_INF
8750, 8850, 8864, 8940, 8950,
8964
- [V] - [V] - [V]
r0070 CO: Actual DC link voltage / Vdc_act
- [V] - [V] - [V]
r0071 Maximum output voltage / U_output max
6724
Parameters
List of parameters
Dependency: The maximum output voltage depends on the actual DC link voltage (r0070) and the maximum modulation depth
(p1803).
Note: As the (driven) motor load increases, the maximum output voltage drops as a result of the reduction in DC-link volt-
age.
Description: Displays the actual power unit input voltage (Line Module).
Note: The input voltage is available smoothed (r0025) and unsmoothed (r0072).
Description: Displays the actual power unit output voltage (Motor Module).
Note: The output voltage is available smoothed (r0025) and unsmoothed (r0072).
Description: Displays the maximum modulation depth.
Description: Displays the actual modulation depth.
Note: For space vector modulation, 100% corresponds to the maximum output voltage without overcontrol.
Values above 100 % indicate an overcontrol condition - values below 100% have no overcontrol.
The phase voltage (phase-to-phase, rms) is calculated as follows:(r0074 * r0070) / (sqrt(2) * 100 %).
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).
r0072 CO: Infeed, input voltage / INF U_input
r0072 CO: Drive, output voltage / Drv U_output
5730, 6730, 6731, 6799
r0073 Maximum modulation depth / Modulat_depth max
P-Group: Modulation Units group: - Unit selection: -
- [%] - [%] - [%]
r0074 CO: Modulat_depth / Modulat_depth
A_INF, SERVO,
VECTOR
6730, 6731, 6799, 8940, 8950
- [%] - [%] - [%]
List of parameters
Parameters
Description: Displays the reactive current setoint.
Note: The reactive current requirement of a line filter can be covered by the controlled infeed/regenerative feedback. The
magnitude of the reactive current is determined by the capacitance of the line filter (p0221) that is automatically
parameterized when a line filter is selected (p0220). For p0221 = 0, the controller does not generate reactive cur-
rent for a line filter.
Setpoint r0075 includes the reactive current for a line filter that depends on the actual operating point.
Description: Displays the field-generating current setpoint (Id_set).
Note: This value is irrelevant for the U/f control mode.
Description: Displays the reactive current actual value.
Note: The reactive current actual value is available smoothed (r0029) and unsmoothed (r0076).
Description: Displays the field-generating current actual value (Id_act).
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).
r0075 CO: Reactive current setoint / Id_set
A_INF Can be changed: - Access level: 3
r0075 Current setpoint, field-generating / Id_set
5714, 5722, 6714
r0076 CO: Reactive current actual value / I_reactive_act
1775, 8850, 8946, 8950
r0076 Current actual value, field-generating / Id_act
1710, 5714, 5730, 6714, 6799
Parameters
List of parameters
Description: Displays the active current setpoint (Iq_set).
Description: Displays the torque/force generating current setpoint.
Description: Displays the actual value for the active current.
Note: The active current actual value is available smoothed (r0030) and unsmoothed (r0078).
Description: Displays the torque-generating current actual value (Iq_act).
The torque-generating current actual value is available smoothed (r0030 with 300 ms) and unsmoothed (r0078).
Description: Displays the torque-generating current actual value (Iq_act).
r0077 CO: Active current setpoint / Iq_set
8940, 8946
r0077 CO: Current setpoint, torque-generating / Iq_set
1774, 5714, 6710, 6714, 6719
r0078 CO: Active current actual value / Iq_act
1775, 8850, 8946, 8950
r0078 CO: Current actual value, torque-generating / Iq_act
6310, 6714, 6799
r0078[0...1] CO: Current actual value, torque-generating / Iq_act
5714, 5730
List of parameters
Parameters
Dependency: Refer to: r0030, p0045
Note: These values are irrelevant for the U/f control mode.
The torque-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
Description: Displays the force-generating current actual value (Iq_act).
Note: These values are irrelevant for the U/f control mode.
The force-generating current actual value is available smoothed (r0030 with 100 ms, r0078[1] with p0045) and
Description: Displays the torque setpoint at the output of the speed controller (before clock cycle interpolation).
Description: Displays the force setpoint at the output of the velocity controller (before clock cycle interpolation).
Description: Displays the torque setpoint at the output of the speed controller (before clock cycle interpolation).
r0078[0...1] CO: Current actual value, torque-generating / Iq_act
5714, 5730
r0079[0...1] CO: Torque setpoint total / M_set total
8012
- [Nm] - [Nm] - [Nm]
r0079[0...1] CO: Total force setpoint / F_set total
8012
- [N] - [N] - [N]
r0079 CO: Torque setpoint total / M_set total
1710, 6030, 6060, 6710, 8012
- [Nm] - [Nm] - [Nm]
Parameters
List of parameters
Description: Displays the actual torque value.
Note: The torque actual value is available smoothed (r0031) and unsmoothed (r0080).
Description: Displays the actual force value.
Note: The force actual value is available smoothed (r0031) and unsmoothed (r0080).
Description: Displays the actual torque value.
Note: The torque actual value is available smoothed (r0031 with 100 ms, r0080[1] with p0045) and unsmoothed
(r0080[0]).
Description: Displays the torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque referred to the torque limit.
Note: The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
For SERVO, the following applies:
The calculation of the torque utilization depends on the selected smoothing time constant (p0045).
r0080 CO: Torque actual value / M_act
- [Nm] - [Nm] - [Nm]
r0080 CO: Force actual value / F_act
- [N] - [N] - [N]
r0080[0...1] CO: Torque actual value / M_act
6799
- [Nm] - [Nm] - [Nm]
r0081 CO: Torque utilization / M_Utilization
- [%] - [%] - [%]
List of parameters
Parameters
Description: Displays the force utilization as a percentage.
The force utilization is obtained from the required smoothed force referred to the force limit.
Note: The force utilization is available smoothed (r0033) and unsmoothed (r0081).
The calculation of the force utilization depends on the selected smoothing time constant (p0045).
Description: Displays the instantaneous active power.
Note: The active power is available smoothed (r0032 with 300 ms) and unsmoothed (r0082).
[2] = Power drawn
Note: The active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed (r0082[0]).
[2] = Power drawn
Note: The active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed (r0082[0]). The
unsmoothed, electric motor active power is displayed in r0082[2] without taking into account the motor losses.
r0081 CO: Force utilization / F_utilization
- [%] - [%] - [%]
r0082 CO: Active power actual value / P_act
8950
- [kW] - [kW] - [kW]
r0082[0...2] CO: Active power actual value / P_act
- [kW] - [kW] - [kW]
r0082[0...2] CO: Active power actual value / P_act
6799
- [kW] - [kW] - [kW]
Parameters
List of parameters
Description: Displays the flux setpoint.
Description: Displays the actual flux.
Description: Displays the actual flux.
[1] = Smoothed
Note: The flux actual value Index 1 is only smoothed for separately-excited synchronous motors (p1585).
Description: Displays the actual active power factor.
Description: Displays the setpoint for the DC link voltage.
r0083 CO: Flux setpoint / Flux setpoint
- [%] - [%] - [%]
r0084 CO: Actual flux / Actual flux
- [%] - [%] - [%]
r0084[0...1] CO: Actual flux / Actual flux
6730, 6731
- [%] - [%] - [%]
r0087 CO: Actual power factor / Cos_phi_act val
6731, 6799
- - -
r0088 CO: DC-link voltage setpoint / Vdc setpoint
8964
- [V] - [V] - [V]
List of parameters
Parameters
Description: Displays the actual phase voltage.
[1] = Phase V
[2] = Phase W
Description: Setting to pre-assign/check the sampling times for the internal controller clock cycles for clock synchronous PROFI-
BUS operation.
p0092 = 1:
The controller clock cycles are set so that clock synchronous PROFIBUS operation is possible. If it is not possible
to change the controller clock cycles of the clock synchronous PROFIBUS operation, then an appropriate mes-
sage/signal is output.
The pre-setting of the controller clock cycles can result in a de-rating of the Motor Module (e.g. p0115[0] = 400 s -
-> 375 s).
p0092 = 0:
The controller clock cycles are set without any restrictions by the clock synchronous PROFIBUS operation (as for
up to version V2.3).
Refer to: A01223, A01224
Description: Displays the normalized electrical pole position angle.
Dependency: Refer to: r0094, p0431, r1778
Notice: The following applies for direction of rotation (p1821 = 1):
In order to adjust the encoder using the EMF method, the value, determined using the oscilloscope, must be
inverted and then entered in p0431.
Note: For operation with encoder and pulse cancellation, the following applies:
- the value is generated from r0094 + 180 .
- this angle can be used to adjust the encoders of synchronous motors.
For pulse enable, the following applies:
- the value indicates the transformation angle used by the control + 180 .
- this value is, contrary to r0094, also applicable (provides information) for sensorless operation and after a pole
position identification routine.
r0089[0...2] Actual phase voltage / U_phase act. val.
- [V] - [V] - [V]
p0092 Clock synchronous PROFIBUS operation pre-assignment/check / Clock sync PB
oper
CU_S Can be changed: C1(1) Access level: 1
0 1 0
r0093 CO: Pole position angle electrically normalized / Pole pos el norm
- [] - [] - []
Parameters
List of parameters
Description: Displays the transformation angle.
Note: The transformation angle corresponds to the line supply angle.
Description: Displays the transformation angle.
Note: The transformation angle corresponds to the electrical commutation angle.
If no pole position identification is carried-out (p1982), and the encoder is adjusted, the following applies:
The encoder supplies the value and indicates the electrical angle of the flux position (d axis).
Description: Executes an automatic device configuration.
In so doing, p0099, p0107 and p0108 are appropriately set.
Values: 0: No selection
1: Drive object type SERVO
2: Drive object type VECTOR
3: SINAMICS GM (DFEMV & VECTORMV)
4: SINAMICS SM (AFEMV & VECTORMV)
5: SINAMICS GL (VECTORGL)
12: Drive object type VECTOR parallel circuit
13: Drive object type VECTORMV - GM parallel circuit
14: Drive object type VECTORMV - SM parallel circuit
Refer to: A01330
Note: For p0097 = 0, p0099 is automatically set to the factor setting.
The setting p0097 = 1 is not possible for chassis-type power units as well as for SINAMICS G or SINAMICS GM.
The setting p0097 = 12 is not possible for booksize power units.
r0094 CO: Transformation angle / Transformat_angle
8950
- [] - [] - []
r0094 CO: Transformation angle / Transformat_angle
4710, 4715, 6714, 6730
- [] - [] - []
p0097 Select drive object type / Select DO type
P-Group: Topology Units group: - Unit selection: -
0 14 0
List of parameters
Parameters
Description: Displays the automatically detected actual device topology in coded form.
Index: [0] = DRIVE-CLiQ socket X100
[1] = DRIVE-CLiQ socket X101
Note: Topology coding: abcd efgh hex
a = number of Active Line Modules
b = number of Motor Modules
c = number of motors
d = number of encoders (or the line supply voltage sensing for Active Line Modules)
e = number of additional encoders (or the line supply voltage sensing for Active Line Modules)
f = number of Terminal Modules
g = number of terminal boards
h = reserved
if the value 0 is displayed in all indices, then components are not detected via DRIVE-CLiQ.
If a value F hex occurs at a position of the coding (abcd efgh hex), then an overflow has occurred.
Description: Sets the device target topology in coded form (refer to r0098). The setting is made during commissioning.
Index: [0] = DRIVE-CLiQ socket X100
Dependency: The parameter can only be written into for p0097 = 0.
To perform an automatic device configuration run, an index of the device target topology must be set to the value of
the device actual topology in r0098 for acknowledgement. An index of the device actual topology with a value other
than 0 must be selected.
Refer to: p0097, r0098
Refer to: A01330
Note: The parameter can only be set to the values 0, the value of the actual device topology, the value of the actual
device target topology and FFFFFFFF hex.
If the value 0 is displayed in all of the indices, then the system has still not be commissioned.
The value FFFFFFFF hex indicates that the topology was not generated by the automatic device configuration but
was commissioned using the commissioning software (e.g. using parameter download).
r0098[0...5] Actual device topology / Device_act topo
- - -
p0099[0...5] Device target topology / Device_target topo
0000 hex FFFF FFFF hex 0000 hex
Parameters
List of parameters
Description: Defines whether the motor and drive converter power settings (e.g. rated motor power - p0307) are expressed in
[kW] or [hp].
Depending on the selection, the rated motor frequency (p0310) is either set to 50 Hz or 60 Hz.
The following applies for IEC drives: The power factor (p0308) should be parameterized.
The following applies for NEMA drives: The efficiency (p0309) should be parameterized.
Values: 0: IEC-Motor (50Hz, SI units)
1: NEMA motor (60Hz, US units)
Dependency: If p0100 is changed, all of the rated motor parameters are reset.
Refer to: r0206, p0210, p0300, p0304, p0305, p0307, p0308, p0309, p0310, p0311, p0312, p0314, p0320, p0322,
p0323, p0335, r0336, r0337, p0338, p1800
Note: The parameter can only be changed for closed-loop vector control (p0107).
The parameter value is not reset when the factory setting is restored (p0010 = 30, p0970).
Description: The parameter contains the object number via which every drive object can be addressed.
The number of an existing drive object is entered into each index.
The numbers are automatically assigned once and cannot longer be changed as long as the object has not been
deleted.
In the commissioning software, this object number cannot be entered using the Expert list, but is automatically
assigned when inserting an object.
Index: [0] = Drive object number, Control Unit
[1] = Drive object number, object 1
Note: Value = 0: No drive object is defined.
p0100 IEC/NEMA mot stds / IEC/NEMA mot stds
SERVO, VECTOR Can be changed: C2(1) Access level: 3
P-Group: Converter Units group: - Unit selection: -
0 1 0
p0101[0...15] Drive object numbers / DO numbers
0 62 0
List of parameters
Parameters
Description: Displays the total number of available drive objects.
Note: The numbers of the drive objects are in p0101.
Description: The application-specific view of an existing drive object is entered into each index.
The parameter cannot be changed.
Dependency: Refer to: p0107, r0107
Refer to: F01051
Note: The application-specific views are defined in files on the CompactFlash card with the following structure:
PDxxxyyy.ACX
xxx: Application-specific view (p0103), yyy: Type of drive object (p0107)
Example:
PD052011.ACX
--> "011" stands for the drive object, type SERVO
--> "052" is the number of the view for this drive object
Description: Displays the application-specific view of the individual drive object.
Refer to: F01051
Description: Setting to activate/de-activate a drive object.
Values: 0: De-activate drive object
1: Activate drive object
Notice: The following applies when activating:
If components are inserted for the first time and the appropriate drive object is activated, then the drive system is
automatically booted. To do this, the pulses of all of the drive objects must be cancelled.
r0102 Number of drive objects / DO count
- - -
p0103[0...15] Application-specific view / Appl_spec view
0 999 0
r0103 Application-specific view / Appl_spec view
A_INF, B_INF,
SERVO, S_INF,
VECTOR
P-Group: Closed-loop control Units group: - Unit selection: -
- - -
p0105 Activate/de-activate drive object / DO act/de-act
0 1 1
Parameters
List of parameters
Description: Setting to activate/de-activate a drive object.
Values: 0: De-activate drive object
1: Activate drive object
Notice: The following applies when activating:
If components are inserted for the first time and the appropriate drive object is activated, then the drive system is
automatically booted. To do this, the pulses of all of the drive objects must be cancelled.
Note: Setting a drive object to de-activated principally corresponds to the "parking axis" function. however, here, all of the
DRIVE-CLiQ components, assigned to the drive object, are in involved.
Description: Displays the "active/inactive" state of a drive object.
Values: 0: Drive object inactive
1: Drive object active
Description: The type of an existing drive object is entered into each index.
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
10: ACTIVE LINE MODULE
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
20: SMART LINE MODULE
30: BASIC LINE MODULE
40: ACTIVE LINE MODULEMV
41: BASIC LINE MODULEMV
p0105 Activate/de-activate drive object / DO act/de-act
A_INF, B_INF,
CU_LINK, DMC20,
SERVO, S_INF,
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
Can be changed: T Access level: 2
0 1 1
r0106 Drive object active/inactive / DO act/inact
All objects Can be changed: - Access level: 2
0 1 1
p0107[0...15] Drive object type / DO type
0 254 0
List of parameters
Parameters
100: TB30 (Terminal Board)
150: DMC (DRIVE-CLiQ Hub Module Cabinet)
200: TM31 (Terminal Module)
202: TM17 High Feature (Terminal Module)
204: TM15 (Terminal Module for SINAMICS)
254: CU-LINK
Index: [0] = Drive object time, Control Unit
[1] = Drive object type, object 1
Refer to: F01051
Caution: If you change this parameter and exit the device commissioning mode, then the complete software will be set up
again and all of the previous drive parameter settings are deleted.
Note: The number (p0101) and the associated drive object type are in the same index.
For SINAMICS S a drive object type can only be changed between SERVO and VECTOR. If you change the
parameter and exit drive start-up (p0009 from 2 to 0) the drive parameters are set up again.
Description: Displays the type of each drive object.
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
r0107 Drive object type / DO type
0 254 10
Parameters
List of parameters
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
0 254 11
List of parameters
Parameters
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
0 254 12
S_INF Can be changed: - Access level: 2
0 254 20
Parameters
List of parameters
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
0 254 30
List of parameters
Parameters
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
0 254 100
0 254 150
Parameters
List of parameters
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
0 254 200
List of parameters
Parameters
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
0 254 201
0 254 202
Parameters
List of parameters
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
0 254 203
List of parameters
Parameters
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
254: CU-LINK
Refer to: F01051
Values: 0: -
1: SINAMICS S
2: SINAMICS G
3: SINAMICS I
4: SINAMICS CX32
5: SINAMICS GM
7: SINAMICS GL
11: SERVO
12: VECTOR
13: VECTORMV
14: VECTORGL
0 254 204
CU_LINK Can be changed: - Access level: 2
0 254 254
Parameters
List of parameters
254: CU-LINK
Refer to: F01051
Description: The function module of an existing drive object is entered into each index.
Index: [0] = Function module Control Unit
[1] = Function module object 1
Note: A "function module" is a functional expansion of a drive object that can be activated when commissioning.
Description: Displays the activated function module for the particular drive object.
p0108[0...15] Drive object, function module / DO function module
- - 0000 bin
18 Free function blocks Activated Not activated -
29 CAN Activated Not activated -
30 COMM BOARD Activated Not activated -
31 PROFINET Activated Not activated -
r0108 Drive object, function module / DO function module
A_INF, B_INF Can be changed: - Access level: 2
- - 0000 bin
15 Parallel cct. config. Activated Not activated -
26 Braking Module Activated Not activated -
28 Cooling system Activated Not activated -
List of parameters
Parameters
- - 0000 bin
01 Expanded closed-loop torque control Activated Not activated -
02 Closed-loop speed/torque control Activated Not activated -
03 Cl.-loop pos ctrl Activated Not activated -
04 Basic positioner Activated Not activated -
07 Advanced Positioning Control (APC) Activated Not activated -
08 Extended setpoint channel Activated Not activated -
12 Linear motor Activated Not activated -
13 Safety rotary axis Activated Not activated -
14 Extended brake control Activated Not activated -
16 Technology controller Activated Not activated -
17 Extended messages/monitoring Activated Not activated -
- - 0000 bin
02 Closed-loop speed/torque control Activated Not activated -
03 Cl.-loop pos ctrl Activated Not activated -
04 Basic positioner Activated Not activated -
08 Extended setpoint channel Activated Not activated -
14 Extended brake control Activated Not activated -
16 Technology controller Activated Not activated -
17 Extended messages/monitoring Activated Not activated -
Parameters
List of parameters
Description: Displays the basis sampling times.
The sampling times are set using p0112 and p0115. The values for the basis sampling times are determined as a
result of these settings.
Index: [0] = Basis sampling time 0
[1] = Basis sampling time 1
[2] = Basis sampling time 2
Description: Displays the selected basis sampling time for this drive object.
S_INF Can be changed: - Access level: 2
- - 0000 bin
26 Braking Module Activated Not activated -
TB30, TM15DI_DO,
TM31, TM41
- - 0000 bin
r0110[0...2] DRIVE-CLiQ basis sampling times / DLQ t_basis
0.00 [s] 10000.00 [s] [0] 125.00 [s]
[1] 250.00 [s]
[2] 250.00 [s]
r0111 DRIVE-CLiQ basis sampling time selection / DLQ t_basis sel
0 2 0
List of parameters
Parameters
Description: Pre-assignment of the sampling times in p0115.
The clock cycles for the current controller/speed controller/flux controller/setpoint channel / - / - / technology control-
ler are pre-assigned as follows:
SINAMICS S, servo drive:
p0112 = 1: 250 / 250 / 250 / 4000 / 2000 / 8000 / 4000 s (for chassis drive units)
p0112 = 2: 125 / 250 / 250 / 4000 / 2000 / 8000 / 4000 s
p0112 = 3: 125 / 125 / 125 / 4000 / 1000 / 4000 / 4000 s
p0112 = 4: 62.5 / 62.5 / 62.5 / 1000 / 1000 / 2000 / 1000 s
p0112 = 5: Not possible
SINAMICS S, Active Infeed (p0112 = 1 not for p0092 = 1):
p0112 = 1: 400 / - / - / 1600 s
p0112 = 2: 250 / - / - / 2000 s
p0112 = 3: 125 / - / - / 2000 s
p0112 = 4: 125 / - / - / 1000 s
p0112 = 5: 125 / - / - / 500 s
SINAMICS S, Smart Infeed (p0112 = 1 not for p0092 = 1):
p0112 = 1: 400 / - / - / 1600 s
p0112 = 2: 250 / - / - / 2000 s
p0112 = 3: 250 / - / - / 2000 s
p0112 = 4: 250 / - / - / 1000 s
p0112 = 5: Not possible
SINAMICS S, basic infeed:
p0112 = 1: 2000 / - / - / 2000 s
p0112 = 2: 2000 / - / - / 2000 s
p0112 = 3: 2000 / - / - / 2000 s
p0112 = 4: 1000 / - / - / 1000 s
p0112 = 5: 500 / - / - / 500 s
SINAMICS S/G, vector drive (p0112 = 1 not for p0092 = 1 and not for PM340):
p0112 = 1: 400 / 1600 / 1600 / 1600 / 3200 / 3200 / 3200 s (for a rated pulse frequency of 1.25 / 2.5 kHz)
p0112 = 2: 250 / 1000 / 2000 / 1000 / 2000 / 4000 / 4000 s
p0112 = 3: 250 / 1000 / 1000 / 1000 / 2000 / 4000 / 4000 s (for a rated pulse frequency of 2 / 4 kHz)
SINAMICS S, vector drive:
p0112 = 4: 250 / 500 / 1000 / 500 / 1000 / 2000 / 2000 s
p0112 = 5: 250 / 250 / 1000 / 250 / 1000 / 2000 / 1000 s
Values: 0: Expert
1: xLow
2: Low
3: Standard
4: High
5: xHigh
Dependency: It is prohibited to select a parameter value from p0112 if the associated current controller clock cycle cannot set
(e.g. p0112 = 1 is not possible for SINAMICS S and PM349 power unit).
Refer to: p0092
Note: For p0112 = 0 (expert) the individual sampling times in p0115 can be adjusted.
p0112 = 1 cannot be set for a power unit type PM340 (refer to r0203) for vector drives.
p0112 Sampling times pre-setting p0115 / t_sample for p0115
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 5 3
Parameters
List of parameters
Description: The current controller sampling time (p0115[0]) is pre-assigned by selecting the minimum pulse frequency.
Dependency: The parameter can only be changed with p0112 = 0 (expert).
The required pulse frequency can be set in p1800 after commissioning (p0009 = p0010 = 0).
Refer to: p0112, r0114, p0115, p1800
Note: The current controller sampling time (p0115[0]) is set to the inverse value of twice the minimum pulse frequency.
For p0113 = 2.0 kHz, p0115[0] = 250 s is set, for p0113 = 4.0 kHz, p0115[0] = 125 s is set. The current controller
sampling time (p0115[0]), calculated from the pulse frequency, is set in a grid of 1.25 s.
For a power unit type PM340 (refer to r0203), only the values 2.0 and 4.0 kHz can be set.
Description: The current controller sampling time (p0115[0]) is pre-assigned by selecting the minimum pulse frequency.
Dependency: The parameter can only be changed with p0112 = 0 (expert).
The required pulse frequency can be set in p1800 after commissioning (p0009 = p0010 = 0).
Refer to: p0112, r0114, p0115, p1800
Note: The current controller sampling time (p0115[0]) is set to the inverse value of twice the minimum pulse frequency.
For p0113 = 1.0 kHz, p0115[0] = 500 s is set, for p0113 = 2.0 kHz, p0115[0] = 250 s is set. The current controller
sampling time (p0115[0]), calculated from the pulse frequency, is set in a grid of 1.25 s.
For a power unit type PM340 (refer to r0203), only the values 1.0 and 2.0 kHz can be set. 1.0 kHz can be set in
order to achieve a current controller clock cycle of 500s. However, in this case, the minimum pulse frequency
p1800 is limited to 2 kHz.
Description: Displays the recommended values for the minimum pulse frequency in indices 0 and 1. These are calculated if the
system rejects a change in p0113 that does not lie within the permissible value range.
Index: [0] = Only the actual drive is changed
[1] = All drives connected to the DRIVE-CLiQ line are changed
[2] = 2. possible pulse frequency
p0113 Pulse frequency, minimum selection / F_puls min sel
SERVO Can be changed: C1(3) Access level: 3
2.000 [kHz] 4.000 [kHz] 4.000 [kHz]
p0113 Pulse frequency, minimum selection / F_puls min sel
VECTOR Can be changed: C1(3) Access level: 3
1.000 [kHz] 2.000 [kHz] 2.000 [kHz]
r0114[0...9] Pulse frequency, minimum recommended / F_puls min recom
- [kHz] - [kHz] - [kHz]
List of parameters
Parameters
Note: After existing commissioning (p0009 = p0010 = 0), the pulse frequencies calculated from the sampling time p115[0]
are displayed in indices 1 to 8. If additional restrictions do not apply (e.g. due to having selected an output filter),
these can be entered into p1800. The maximum pulse frequency of the power units was already taken into account
in r0114.
A value of 0 kHz does not define a recommended pulse frequency.
Description: Sets the basis sampling time for supplementary functions on this object.
Index: [0] = Basis sampl. time
Description: Sets the sampling times for supplementary functions on this object.
Index: [0] = Basis sampl. time
Description: Sets the sampling times for the control loops.
The default setting is made using p0112 and can only be individually changed for p0112 = 0 (expert).
Index: [0] = Current controller
[1] = Speed controller
[2] = Flux controller
[3] = Setpoint channel
[4] = Pos controller
[5] = Positioning
[6] = Technology controller
Dependency: The sampling times can only be separately set if p0112 is 0 (expert). If a sampling time is modified in the expert
mode, then all of the sampling times with higher indices are automatically changed in the same ratio as the sam-
pling time itself was changed. Slower time slices are only taken if the calculated sampling time is also permitted.
Upper limit is 8 ms.
Higher-level controls must be calculated in integral ratios to lower-level controls (e.g. p0115[1] = N * p0115[0];
where N is a whole number).
Refer to: r0110, r0111, p0112
p0115[0...0] Sampling time for supplementary functions / t_sample suppl fct
0.00 [s] 16000.00 [s] 4000.00 [s]
p0115[0...0] Sampling time for supplementary functions / t_sample suppl fct
TB30, TM15DI_DO,
TM31, TM41
0.00 [s] 16000.00 [s] 4000.00 [s]
p0115[0...6] Sampling times for internal control loops / t_sample int ctrl
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0.00 [s] 16000.00 [s] [0] 125.00 [s]
[1] 125.00 [s]
[2] 125.00 [s]
[3] 4000.00 [s]
[4] 1000.00 [s]
[5] 4000.00 [s]
[6] 4000.00 [s]
Parameters
List of parameters
Note: For function modules that can be activated (e.g. technology controller), the parameters values are pre-assigned.
For the Active Line Module (ALM), the currents and DC link voltage controllers operate with the same sampling
time.
For the Basic Line Module (BLM), the DC link voltage measurement operates in the current controller sampling
time.
For a power unit type PM340 (refer to r0203), only current controller sampling times of 62.5 s, 125 s, 250s and
500s can be set. The minimum current controller clock cycle for vector drives and the maximum current controller
clock cycle for servodrives is 250 s.
Description: Displays the recommended sampling time for the drive objects.
r00116[0] = recommended sampling time:
Recommended value which would then make the complete system operational.
r00116[1] = recommended sampling time:
Recommended value, which after changing other clock cycles on the DRIVE-CLiQ line, would result in an opera-
tional system.
Index: [0] = Change, only for the actual drive object
[1] = Changing all objects on the DRIVE-CLiQ line
Description: Sets the mode for the computation deadtime of the current controller.
0: Offset (shifted) clocking, minimum computation deadtime of each drive, automatic setting
1: Clocking at the same time, the deadtime aligns itself to the deadtime of the latest drive, automatic setting
2: Manual setting of the computation deadtime, early transfer
3: Manual setting of the computation deadtime, late transfer
4-6: As for 0-2, however, no early transfers are set for vectors
Refer to: A02100
Note: Re p0117 = 0: The times when the setpoints become effective for the individual controls is automatically and indi-
vidually determined. Another computation deadtime is set for each control (closed-loop) (p0118). Current is
impressed for the individual controls without any offset with respect to time (improved EMC compatibility).
Re p0117 = 1: The latest closed-loop control determines when the setpoints for each of the individual controls
become active. The same computation deadtime is set for each control (p0118). Current is impressed (flows) for
the individual controls without any offset with respect to time.
Re p0117 = 2: The computation deadtime is manually set. The user must optimize the value in p0118.
Re p0117 = 3:
Only for internal Siemens use.
Re p0117 = 4 - 6:
Behavior as for p0117 = 0 - 2, however for vectors, the earliest times are not determined.
The modified computation deadtime mode is not effective until the drive unit is powered-up again.
r0116[0...1] Drive object clock cycle recommended / DO_clock recom
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
- [s] - [s] - [s]
p0117 Current controller computation deadtime mode / I_ctrl t_dead mode
0 6 6
List of parameters
Parameters
Description: This parameter is preset as a function of the current controller sampling time (p0115[0]) and normally does not have
to be changed.
Refer to: A02100
Note: For p0118 <= 0.005 s, the current controller output is delayed by a complete current controller clock cycle
(p0115[0]).
After p0118 has been changed, we recommend that the current controller is adapted (p1715).
Description: Sets the number of Power unit Data Sets (PDS).
The value corresponds to the number of power units connected together for a parallel circuit configuration.
Note: This parameter is only significant for drive objects A_INFEED and VECTOR with a parallel circuit configuration.
Description: The power unit data set is assigned to a power unit using this parameter.
This unique component number is assigned when parameterizing the topology.
Only component numbers can be entered into this parameter that correspond to a power unit.
Note: For parallel circuit configurations, the parameter index is assigned to a power unit.
Description: Detects the main components of the drive object selected via the index.
p0118 Current controller computation deadtime / I_ctrl t_dead
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0.00 [s] 2000.00 [s] 0.00 [s]
p0120 Number of Power unit Data Sets (PDS) / PDS count
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
P-Group: Data sets Units group: - Unit selection: -
1 8 1
p0121[0...n] Power unit component number / LT comp_no
A_INF, B_INF,
SERVO, S_INF,
VECTOR
Data type: Unsigned8 Dynamic index: PDS, p0120 Function diagram: -
0 199 0
p0124[0...15] Detection of main components using LED / Detection LED
0 1 0
Parameters
List of parameters
Description: Detects the power unit assigned to this drive and data set.
Note: While p0124 = 1, the READY LED flashes green/orange or red/orange with 2 Hz at the appropriate power unit.
For parallel circuit configurations, the parameter index is assigned to a power unit.
Description: Setting to activate/de-activate a power unit component.
Values: 0: De-activate component
1: Activate component
Note: The activation of a component can be rejected if the component was inserted for the first time.
In this case, it is only possible to activate the component when the pulses for all of the drive objects are inhibited.
Description: Displays the "active/inactive" state of a power unit component.
Values: 0: Component inactive
1: Component active
Dependency: Refer to: p0105, p0125, p0897
Description: Displays the version of the EPROM data of the power unit.
Dependency: Refer to: r0147, r0157
p0124[0...n] Power unit detection via LED / LT detection LED
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 1 0
p0125[0...n] Activate/de-activate power unit components / LT_comp act/de-act
A_INF, B_INF,
SERVO, S_INF,
VECTOR
Data type: Integer16 Dynamic index: PDS, p0120 Function diagram: -
0 1 1
r0126[0...n] Power unit components active/inactive / LT comp act/inact
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 1 1
r0127[0...n] Power unit version EPROM data / LT EPROM version
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - -
List of parameters
Parameters
Description: Displays the power unit firmware version.
Note: Example:
Description: Sets the number of Motor Data Sets (MDS).
Description: The motor data set is assigned to a motor using this parameter.
Only component numbers can be entered into this parameter that correspond to a motor.
Description: Copying a Motor Data Set (MDS) into another.
Index: [0] = Source motor data set
[1] = Target motor data set
[2] = Start copying
Note: Procedure:
1. In Index 0, enter which motor data set should be copied.
2. In Index 1, enter the motor data set data that is to be copied into.
3. Start copying: Set index 2 from 0 to 1.
p0139[2] is automatically set to 0 when copying is completed.
When copying, p0131 is not taken into account.
r0128[0...n] Power unit firmware version / LT FW_version
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - -
p0130 Number of Motor Data Sets (MDS) / MDS count
1 16 1
p0131[0...n] Motor component number / Mot comp_no
Data type: Unsigned8 Dynamic index: MDS, p0130 Function diagram: -
0 199 0
p0139[0...2] Copy Motor Data Set MDS / Copy MDS
0 31 [0] 0
[1] 0
[2] 0
Parameters
List of parameters
Description: Sets the number of Encoder Data Sets (EDS).
Note: When parameterizing the drive with "no encoder" there must be at least one encoder data set (p0140 >= 1).
Description: This parameter is used to assign the encoder data set to an encoder evaluation (e.g. SMC).
Only component numbers can be entered into this parameter that correspond to an encoder evaluation.
Note: If the encoder evaluation and encoder are integrated (motor with DRIVE-CLiQ), then their component numbers are
identical.
For an SMC, different component numbers are assigned for the SMC (p0141) and the (actual) encoder (p0142).
Description: This parameter is used to assign the encoder data set to an encoder.
This assignment is made using the unique component number that was assigned when parameterizing the topol-
ogy.
Only component numbers can be entered into this parameter that correspond to an encoder.
Note: If the encoder evaluation and encoder are integrated (motor with DRIVE-CLiQ), then their component numbers are
identical.
For an SMC, different component numbers are assigned for the SMC (p0141) and the (actual) encoder (p0142).
Description: Detects the Voltage Sensing Module (VSM) module assigned to this infeed.
p0140 Number of Encoder Data Sets (EDS) / EDS count
1 16 1
p0141[0...n] Encoder interface (Sensor Module) component number / Enc_interf comp_no
Data type: Unsigned8 Dynamic index: EDS, p0140 Function diagram: 4704,
8570
0 199 0
p0142[0...n] Encoder component number / Encoder comp_no
Data type: Unsigned8 Dynamic index: EDS, p0140 Function diagram: 4704
0 199 0
p0144[0...n] Voltage sensing module detection via LED / VSM detection LED
A_INF, S_INF Can be changed: U, T Access level: 3
Data type: Unsigned8 Dynamic index: p0140 Function diagram: -
P-Group: Encoder Units group: - Unit selection: -
0 1 0
List of parameters
Parameters
Description: Detects the Sensor Module assigned to this drive and data set.
Note: While p0144 = 1, the READY LED flashes green/orange or red/orange with 2 Hz at the appropriate Sensor Module.
Description: Setting to activate/de-activate a Voltage Sensing Module (VSM).
Note: For chassis infeeds, it is not possible to activate/de-activate the Voltage Sensing Module (VSM) via p0145. The
VSM can only be activated/de-activated in the group with the appropriate infeed via p0125[0...n].
The activation of a component can be rejected if the component was inserted for the first time.
Description: Setting to activate/de-activate an encoder interface (Sensor Module).
Note: The de-activation of an encoder interface corresponds to the"parking encoder" function and has the same effect.
The activation of a component can be rejected if the component was inserted for the first time.
Description: Displays the "active" or "inactive" state of a Voltage Sensing Module (VSM).
1: Component active
p0144[0...n] Sensor Module detection via LED / SM detection LED
Data type: Unsigned8 Dynamic index: EDS, p0140 Function diagram: -
0 1 0
p0145[0...n] Voltage Sensing Module, activate/de-activate / VSM act/deact
A_INF, S_INF Can be changed: C1(4), T Access level: 2
Data type: Integer16 Dynamic index: p0140 Function diagram: -
0 1 1
p0145[0...n] Activate/de-activate encoder interface / Enc_intf act/deact
SERVO, VECTOR Can be changed: C1(4), U, T Access level: 2
Data type: Integer16 Dynamic index: EDS, p0140 Function diagram: -
0 1 1
r0146[0...n] Voltage Sensing Module, active/inactive / VSM act/inact
0 1 1
Parameters
List of parameters
Description: Displays the "active" or "inactive" state of an encoder interface (Sensor Module).
1: Component active
Description: Displays the version of the EPROM data of the Voltage Sensing Module (VSM).
Description: Displays the version of the EPROM data of the Sensor Module.
Description: Displays the firmware version of the Voltage Sensing Module (VSM).
Note: Example:
Description: Displays the Sensor Module firmware version.
Note: Example:
r0146[0...n] Encoder interface active/inactive / Enc_intf act/inact
0 1 1
r0147[0...n] Voltage sensing module, EPROM data version / VSM EEPROM version
- - -
r0147[0...n] Sensor Module EPROM data version / SM EEPROM version
- - -
r0148[0...n] Voltage sensing module, firmware version / VSM FW_version
- - -
r0148[0...n] Sensor Module firmware version / SM FW_version
- - -
List of parameters
Parameters
Description: Sets the number of VSM data sets
Description: The VSM data set is assigned to a VSM evaluation using this parameter.
Description: Using this parameter, the data set is assigned to a DRIVE-CLiQ Hub Module Cabinet (DMC).
Only component numbers of components that operate as hub can be entered into this parameter.
This parameter has two indices, because there are two DRIVE-CLiQ nodes in the DMC20.
[0] = 1. DRIVE-CLiQ node
[1] = 2. DRIVE-CLiQ node
Description: Sets the component number for the Terminal Module.
Only component numbers can be entered into this parameter that correspond to a Terminal Module.
Description: Detecting any assigned DRIVE-CLiQ Hub Module Cabinet (DMC).
p0150 Number of VSM data sets / VSM count
1 2 1
p0151[0...n] Voltage Sensing Module component number / VSM comp_no
0 199 0
p0151[0...1] DRIVE-CLiQ Hub component number / Hub comp_no
DMC20 Can be changed: C1(4) Access level: 4
0 199 0
p0151 Terminal Module component number / TM comp_no
TM15, TM15DI_DO,
TM17, TM31, TM41
Data type: Unsigned8 Dynamic index: - Function diagram: 9550,
9552
0 199 0
p0154 DRIVE-CLiQ Hub detection via LED / Hub detection LED
DMC20 Can be changed: U, T Access level: 2
0 1 0
Parameters
List of parameters
Description: Detects the Terminal Module assigned to this drive and data set.
Note: While p0154 = 1, the READY LED flashes green/orange or red/orange with 2 Hz at the appropriate Terminal Mod-
ule.
Description: Setting to activate/de-activate a Voltage Sensing Module (VSM).
Description: Displays the "active" or "inactive" state of a Voltage Sensing Module (VSM).
1: Component active
Description: Displays the version of the EPROM data of the Voltage Sensing Module (VSM).
Description: Displays the version of the EPROM data of the DRIVE-CLiQ Hub Module Cabinet (DMC).
p0154 Terminal Module detection via LED / TM detection LED
TM15, TM15DI_DO,
TM17, TM31, TM41
P-Group: Terminals Units group: - Unit selection: -
0 1 0
p0155[0...n] Voltage Sensing Module, activate/de-activate / VSM act/deact
VECTOR Can be changed: C1(4), T Access level: 2
0 1 1
r0156[0...n] Voltage Sensing Module, active/inactive / VSM act/inact
0 1 1
r0157[0...n] Voltage sensing module, EPROM data version / VSM EPROM version
- - -
r0157 DRIVE-CLiQ Hub EPROM data version / Hub EPROM version
- - -
List of parameters
Parameters
Description: Displays the version of the EPROM data of the Terminal Module.
Description: Displays the firmware version of the Voltage Sensing Module (VSM).
Dependency: Refer to: r0018, r0128, r0197, r0198
Note: Example:
Description: Displays the firmware version of the DRIVE-CLiQ Hub Module Cabinet (DMC).
Description: Displays the Terminal Module firmware version.
Note: Example:
Description: Sets the component number for the option board (e.g. terminal board 30).
Only component numbers can be entered into this parameter that correspond to an option board.
r0157 Terminal Module EPROM data version / TM EPROM version
TM15, TM15DI_DO,
TM17, TM31, TM41
- - -
r0158[0...n] Voltage sensing module, firmware version / VSM FW_version
- - -
r0158 DRIVE-CLiQ Hub, firmware version / Hub FW_version
- - -
r0158 Terminal Module firmware version / TM FW_version
TM15, TM15DI_DO,
TM17, TM31, TM41
- - -
p0161 Option board, component number / OptBoard comp_no
TB30 Can be changed: C1(4) Access level: 4
0 199 0
Parameters
List of parameters
Description: Sets the number of Command Data Sets (CDS).
Note: It is possible to toggle between command parameters (BICO parameters) using this data set changeover.
Description: Sets the number of Drive Data Sets (DDS).
p0162 CU link slave component number / CX32 comp_no
CU_LINK Can be changed: C1(4) Access level: 3
0 199 0
p0170 Number of Command Data Sets (CDS) / CDS count
A_INF, B_INF,
S_INF, TM41
1 1 1
1 2 1
2 4 2
p0180 Number of Drive Data Sets (DDS) / DDS count
SERVO, TM41, VEC-
TOR
1 32 1
List of parameters
Parameters
Description: Using the parameter, each Drive Data Set (= index) is assigned the associated Motor Data Set (MDS).
The parameter value therefore corresponds to the number of the assigned motor data set.
Description: Using the parameter, each Drive Data Set (= index) is assigned the associated Encoder Data Set (EDS) for
encoder 1.
The parameter value therefore corresponds to the number of the assigned encoder data set.
Example:
Encoder data set 0 should be assigned to encoder 1 in drive data set 2.
--> p0187[2] = 0
Note: A value of 99 means that no encoder has been assigned to this drive data set (not configured).
encoder 2.
encoder 3.
p0186[0...n] Motor Data Sets (MDS) number / MDS number
Data type: Unsigned8 Dynamic index: DDS, p0180 Function diagram: 8575
0 15 0
p0187[0...n] Encoder 1 encoder data set number / Enc 1 EDS number
Data type: Unsigned8 Dynamic index: DDS, p0180 Function diagram: 1580,
8570
0 99 99
8570
0 99 99
8570
0 99 99
Parameters
List of parameters
Description: Displays the properties supported by the power unit firmware.
Notice: This information represents the characteristics/features of the power unit firmware. It does not provide informa-
tion/data about the characteristics/features of the hardware (e.g. bit 06 = 1 means that although the firmware sup-
ports "water cooling", a power unit with water cooling does not have to be used).
Description: Displays the properties supported by the Voltage Sensing Module (VSM).
Description: Displays the version of loader 1 (first level loader).
Note: Example:
Description: Displays the version of loader 2 (second level loader).
Note: Example: The value 1010100 should be interpreted as V01.01.01.00.
r0192 Power unit firmware properties / LT FW property
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - 0000 bin
00 Edge modulation possible Yes No -
01 Free telegram can be selected Yes No -
02 Smart mode possible for Active Line Module Yes No -
03 Safety Integrated possible for VECTOR Yes No -
06 Water cooling Yes No -
07 SERVO pulse frequency changeover, DDS-
dependent
Yes No -
08 Simulation operation possible Yes No -
09 Internal armature short-circuit possible Yes No -
r0194[0...n] VSM properties / VSM properties
A_INF, S_INF, VEC-
TOR
- - 0000 bin
00 Reserved Yes No -
r0197 Loader 1 version / Loader 1 version
- - -
r0198 Loader 2 version / Loader 2 version
- - -
List of parameters
Parameters
Description: Freely assignable name for a drive object.
In the commissioning software, this name cannot be entered using the expert list, but is specified in the configura-
tion assistant. The object name can be subsequently modified in the Project Navigator using standard Windows
resources.
Description: Displays the unique code number of the power unit.
Note: r0200 = 0: No power unit found
Description: Sets the actual code number from r0200 to acknowledge the power unit being used.
When commissioned for the first time, the code number is automatically transferred from r0200 into p0201.
Note: The parameter is used to identify when the drive is being commissioned for the first time.
The power unit commissioning can only be exited (p0201 = r0200), if the actual and acknowledged code numbers
are identical (p0010 = 2).
Description: This parameter indicates the card name.
p0199[0...24] Drive object name / DO name
All objects Can be changed: C1 Access level: 2
0 65535 0
r0200[0...n] Power unit, actual code number / LT code no. actual
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - -
p0201[0...n] Power unit code number / LT code number
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 65535 0
r0203[0...15] Card name / Card name
- - -
Parameters
List of parameters
Description: Displays the type of power unit found.
Values: 2: MICROMASTER 440
3: MICROMASTER 411
4: MICROMASTER 410
5: MICROMASTER 436
6: MICROMASTER 440 PX
7: MICROMASTER 430
100: SINAMICS S
120: PM340 (SINAMICS S120)
150: SINAMICS G
200: SINAMICS GM
250: SINAMICS SM
300: SINAMICS GL
Description: Displays the properties supported by the power unit hardware.
r0203[0...n] Actual power unit type / LT actual type
A_INF, B_INF,
SERVO, S_INF,
VECTOR
2 300 100
r0204[0...n] Power unit hardware properties / LT HW property
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - 0000 bin
00 DC/AC device DC/AC device AC/AC device -
01 RFI filter available Yes No -
02 Active Line Module available Yes No -
03 Smart Line Module available Yes No -
04 Basic Line Module available with thyristor
bridge
Yes No -
05 Basic Line Module available with diode
bridge
Yes No -
06 Water cooling Yes No -
12 Safe Brake Control (SBC) supported No Yes -
List of parameters
Parameters
Description: Overloading the load duty cycles applies under the prerequisite that before and after the overload, the drive con-
verter is operated with its base load current - in this case, a load duty cycle of 300 s is used as basis.
For booksize drive units, the following applies:
Only the setting p0205 = 0 can be selected. In this particular case, the base load current has a load duty cycle of
150 % for 60 s and 176 % for 30 s.
For chassis drive units, the following applies:
The base load current for a slight overload condition is based on a load duty cycle 110 % for 60 s and 150 % for 10
s.
The base load current for a high overload condition is based on a load duty cycle 150 % for 60 s and 160 % for 10 s.
Values: 0: Load duty cycle with high overload for vector drives
1: Load duty cycle with low overload for vector drives
6: S1 duty cycle for servo drives (feed drive)
7: S6 duty cycle for servo drives (spindle drive)
Note: When the parameter is changed, all of the motor parameters and the control mode are pre-assigned according to
the selected application. The parameter has not influence when calculating the thermal overload.
p0205 can only be changed to the settings that are saved in the power unit EEPROM.
Its value is not reset when factory values are restored (see p0010 = 30, p0970).
Description: Displays the rated power unit power for various load duty cycles.
Index: [0] = Rating plate
[1] = Load duty cycle with low overload
[2] = Load duty cycle with high overload
[3] = S1 load duty cycle
Dependency: The value is displayed in [kW] or [hp].
Description: Displays the rated power unit power for various load duty cycles.
p0205 Power unit application / LT application
0 7 6
r0206[0...4] Rated power unit power / LT P_rated
A_INF, B_INF,
SERVO, S_INF,
VECTOR
P-Group: Converter Units group: 14_6 Unit selection: p0100
- [kW] - [kW] - [kW]
r0207[0...4] Rated power unit current / LT PI_rated
A_INF, B_INF,
SERVO, S_INF,
VECTOR
Parameters
List of parameters
Description: Displays the rated line supply voltage of the power unit.
r0208 = 400: 380 - 480 V +/-10 %
r0208 = 500: 500 - 600 V +/-10 %
r0208 = 690: 660 - 690 V +/-10 %
For the Basic Line Module (BLM) the following applies:
r0208 = 690 : 500 - 690 V +/-10 %
Description: Displays the maximum output current of the power unit.
Index: [0] = Catalog
Description: Sets the drive unit supply voltage.
The value corresponds to the rms value of the phase-to-phase rated line supply voltage.
Warning: If the infeed is continually in the controlled mode with high DC link voltages (p3510 > 660 V), depending on the par-
ticular application, this can damage the connected motors that have not been specified for these high voltages.
Before an active infeed with a line supply voltage p0210 > 415 V goes into pulsed operation it must be ensured that
all of the components connected to the DC link can be permanently operated with DC link voltages exceeding 660
V.
Controlled operation of booksize power units for p0210 > 415 V is possible if the maximum steady-state DC link
voltage (p0280) is increased as follows: p0280 >= 1.5 * p0210 and p0280 > 660 V.
In this case, the setpoint of the DC link voltage p3510 is not automatically adapted. We recommend p3510 = 1.5 *
p0210. Closed-loop voltage controlled operation is active with p3400.0 = 0 and p3400.3 = 1.
Notice: For p0210 > 415 V for booksize power units with a supply voltage of 3-ph. 380 ... 480 V, the smart mode is automat-
ically activated (p3400.0 = 1). In this case, the smart mode cannot be de-activated. This is because in the voltage
controlled mode, the maximum steady-state DC link voltage (p0280) would be exceeded.
r0208 Rated power unit line supply voltage / LT U_rated
A_INF, B_INF,
SERVO, S_INF,
VECTOR
r0209[0...4] Power unit, maximum current / LT I_max
A_INF, B_INF,
SERVO, S_INF,
VECTOR
8850, 8950
p0210 Drive unit line supply voltage / Supply voltage
A_INF, S_INF Can be changed: C2(1) Access level: 1
100 [Veff] 1000 [Veff] 400 [Veff]
List of parameters
Parameters
Note: When pre-assigning the setpoint for the DC link voltage (p3510), the following is generally valid:
p3510 = 1.5 * p0210.
For booksize power units with supply voltage of 3-ph. 380 ... 480 V AC, the following applies:
380 V <= p0210 <= 400 V --> Pre-assignment, setpoint for the DC link voltage: p3510 = 600 V
401 V <= p0210 <= 415 V --> Pre-assignment, setpoint for the DC link voltage: p3510 = 625 V
416 V <= p0210 <= 480 V --> Smart Mode with non-regulated DC link voltage: p3510 = 1.35 * p0210
The voltage range for the supply voltage depends on the type and the voltage class of the power unit.
Active Line Module, 400 V unit: 380 V <= p0210 <= 480 V
Active Line Module, 690 V unit: 660 V <= p0210 <= 690 V
Smart Line Module, 400 V unit: 380 V <= p0210 <= 480 V
Smart Line Module, 690 V unit: 500 V <= p0210 <= 690 V
AC/AC units: The rms value of the phase-to-phase line supply voltage should be entered.
DC/AC units: The rated DC voltage of the connection busbar should be entered.
Dependency: For VECTOR (p0107) the following applies:
Set p1254 to 0 (automatic detection of the Vdc switch-in levels).
The switch-in thresholds of the Vdc_max controller are then directly determined using p0210.
Cautiont: If the line supply voltage is higher than the entered value, the Vdc controller may be automatically de-activated in
some cases to prevent the motor from accelerating. In this case, an appropriate alarm is output.
Note: For VECTOR (p0107) the following applies:
If the line supply voltage is higher than the parameterized value, then the DC link voltage controller could be auto-
matically de-activated in order to prevent the drive accelerating.
Setting ranges for p0210 as a function of the rated power unit voltage:
U_rated = 400 V:
- p0210 = 380 ... 480 V (AC/AC), 510 ... 650 V (DC/AC)
U_rated = 500 V:
- p0210 = 500 ... 600 V (AC/AC), 675 ... 810 V (DC/AC)
U_rated = 690 V:
- p0210 = 660 ... 690 V (AC/AC), 890 ... 1035 V (DC/AC)
The pre-charging switch-in threshold for the DC link voltage (Vdc) is calculated from p0210:
Vdc_pre = p0210 * 0.82 * 1.35 (AC/AC)
Vdc_pre = p0210 * 0.82 (DC/AC)
The undervoltage thresholds for the DC link voltage (Vdc) are calculated from p0210 as a function of the rated
power unit voltage:
U_rated = 400 V:
- U_min = p0210 * 0.78 (AC/AC), p0210 * 0.60 (DC/AC)
U_rated = 500 V:
- U_min = p0210 * 0.76 (AC/AC)
U_rated = 690 V:
- U_min = p0210 * 0.74 (AC/AC), p0210 * 0.57 (DC/AC)
1 [V] 63000 [V] 600 [V]
Parameters
List of parameters
The value corresponds to the rms value of the phase-to-phase rated line supply voltage.
Note: The supply voltage range depends on the voltage class of the power unit.
400 V unit: 380 V <= p0210 <= 480 V
690 V unit: 500 V <= p0210 <= 690 V
Description: Sets the rated line frequency for the infeed.
Description: Sets the line filter type for the Active Line Module (ALM).
Using the line filter type, the filter capacitance (p0221) and filter resistance (p0222) are pre-assigned.
Values: 0: No line filter
1: Wideband Line Filter Booksize 400 V 16 kW (6SL3000-0BE21-6AA0)
10: Active Interface Module F 400 V 132 kW 160 kW (6SL3300-7TE32-6Ax
11: Active Interface Module G 400 V 235 kW (6SL3300-7TE33-8Ax0)
12: Active Interface Module G 400 V 300 kW (6SL3300-7TE35-0Ax0)
13: Active Interface Module H 400 V 380 kW 500 kW (6SL3300-7TE38-4Ax
14: Active Interface Module J 400 V 630 kW 900 kW (6SL3300-7TE41-4Ax
15: Active Interface Module F 690 V 150 kW (6SL3300-7TH31-4Ax0)
16: Active Interface Module G 690 V 330 kW (6SL3300-7TH33-1Ax0)
17: Active Interface Module H 690 V 560 kW (6SL3300-7TH35-8Ax0)
18: Active Interface Module J 690 V 800 kW (6SL3300-7TH37-4Ax0)
19: Active Interface Module J 690 V 1100 kW 1400 kW (6SL3300-7TH41-3
31: Basic Line Filter Booksize 400 V 16 kW (6SL3000-0BE21-6DA0)
Notice: The parameters p0223 and p0224 for the reactor are pre-assigned using the rated drive converter power.
Note: The filter capacitance (p0221) and filter resistance (p0222) are required in the closed-loop voltage controlled mode
to automatically compensate the filter reactive current.
B_INF Can be changed: C2(1) Access level: 1
100 [Veff] 1000 [Veff] 400 [Veff]
p0211 Rated line freq / Rated line freq
10 [Hz] 100 [Hz] 50 [Hz]
p0220 Infeed line filter type / INF line filt type
A_INF Can be changed: C2(1) Access level: 3
0 33 0
List of parameters
Parameters
Description: Sets the filter capacitance of the line filter (connected in a delta configuration).
Note: When a Siemens line filter is used (p0220) this parameter is automatically preset with the correct value.
For a parallel circuit, the value corresponds to the capacitance of a power unit.
Description: Sets the filter resistance in series with the filter capacitance.
Note: When a Siemens line filter is used (p0220) this parameter is automatically preset with the correct value.
For a parallel circuit, the value corresponds to the resistance of a power unit.
Description: Sets the inductance between the filter and power unit.
Note: The parameter is automatically pre-assigned depending on the power unit being used and matches the specified
Siemens commutating reactors.
For a parallel circuit, the value corresponds to the inductance of a power unit.
Description: Sets the resistance between the filter and power unit
Note: The parameter is automatically pre-assigned depending on the power unit being used and matches the specified
Siemens commutating reactors.
For a parallel circuit, the value corresponds to the resistance of a power unit.
p0221 Infeed filter capacitance / INF C_filter
0.00 [F] 100000.00 [F] 0.00 [F]
p0222 Infeed filter resistance / INF R_filter
0.00000 [Ohm] 100.00000 [Ohm] 0.00000 [Ohm]
p0223 Infeed inductance between filter and power unit / INF L filter/LT
8950
0.001 [mH] 1000.000 [mH] 2.100 [mH]
p0224 Infeed resistance between filter and power unit / INF R filter/LT
8950
0.00000 [Ohm] 100.00000 [Ohm] 0.00100 [Ohm]
Parameters
List of parameters
Description: Sets the inductance between line supply and filter.
Note: The value must be, for example, appropriately increased if an additional inductance (reactor or transformer is
installed in front of the filter).
Description: Sets the resistance between the line supply and filter.
Note: The value must be, for example, appropriately increased if an additional resistor is installed in front of the filter.
Description: Sets the total DC link capacitance.
Note: The total DC link capacitance of a DC link group comprises the sum of the sub-capacitances of all motor/infeed
modules and the additional DC link capacitors.
Description: Sets the type of the filter at the motor side.
Values: 0: No filter
1: Motor reactor
2: du/dt filter
3: Sinusoidal filter, Siemens
4: Sinusoidal filter, third-party
p0225 Infeed inductance between line supply and filter / INF L line/filter
8950
0.001 [mH] 1000.000 [mH] 0.001 [mH]
p0226 Infeed resistance between line supply and filter / INF R line/filter
8950
0.00 [Ohm] 100.00 [Ohm] 0.00 [Ohm]
p0227 Infeed, DC-link capacitance, power unit / INF C
8950
0.001 [mF] 1000.000 [mF] 0.700 [mF]
p0230 Drive filter type, motor side / Drv filt type
VECTOR Can be changed: C2(1, 2) Access level: 1
0 4 0
List of parameters
Parameters
Dependency: The following parameters are influenced using p0230:
p0230 = 1:
--> p0233 (power unit, motor reactor) = filter inductance
p0230 = 3:
--> p0234 (power unit sinusoidal filter capacitance) = filter capacitance
--> p0290 (power unit overload response) = inhibit pulse frequency reduction
--> p1082 (maximum speed) = Fmax filter / pole pair number
--> p1800 (pulse frequency) >= nominal pulse frequency of the filter
--> p1802 (modulator modes) = space vector modulation without overcontrol
p0230 = 4:
--> p0290 (power unit overload response) = inhibit pulse frequency reduction
--> p1802 (modulator modes) = space vector modulation without overcontrol
The user must set the following parameters according to the data sheet of the sinusoidal filter and also the user
must check whether they are permitted.
--> p0234 (power unit sinusoidal filter capacitance) = filter capacitance
--> p1082 (maximum speed) = Fmax filter / pole pair number
--> p1800 (pulse frequency) >= nominal pulse frequency of the filter
Refer to: p0233, p0234, p0290, p1082, p1800, p1802
Note: if a filter type cannot be selected, then this filter type is not permitted for the Motor Module.
p0230 = 2:
Chassis-type power units with du/dt filter, depending on the rated pulse frequency, may only be operated with a
maximum pulse frequency of p1800 = 2.5 kHz or 4 kHz. The output frequency is limited to 150 Hz.
p0230 = 3:
Sinusoidal filters with a rated pulse frequency of 1.25 or 2.5 kHz should only be operated with a current controller
sampling rate p0115[0] = 400 s, sinusoidal filters with a rated pulses frequency of 2 or 4 kHz with p0115[0] = 250
s.
The sinusoidal filter cannot be selected if the current controller sampling rate hasn't been appropriately set.
Description: Enter the inductance of a filter connected at the power unit output.
Dependency: The parameter is automatically pre-assigned when selecting a filter via p0230.
Refer to: p0230
Description: Enters the capacitance of a sinusoidal filter connected at the power unit output.
Dependency: The parameter is automatically pre-assigned when selecting a filter via (p0230).
Refer to: p0230
Note: The parameter value includes the sum of all of the capacitances of a phase connected in series (phase - ground).
p0233 Power unit motor reactor / LT mot reactor
VECTOR Can be changed: C2(2), U, T Access level: 2
0.000 [mH] 1000.000 [mH] 0.000 [mH]
p0234 Power unit sinusoidal filter capacitance / LT sine filter C
0.000 [F] 1000.000 [F] 0.000 [F]
Parameters
List of parameters
Description: Number of reactors connected at the power unit output.
Cautiont: If the number of motor reactors connected in series does not correspond to the parameter value, then this can
result in an unfavorable control behavior.
Note: The parameter can only be changed for chassis drive units and for p0230 = 1.
Description: Displays the power unit fan operating hours.
The number of hours operated can only be reset to 0 in this parameter (e.g. after a fan has been replaced).
Note: The value is in the unit [h] (hours).
Description: Sets the maximum operating time of the power unit fan.
The pre-alarm (warning) is output 500 hours before this set value.
The monitoring is de-activated with p0252 = 0.
For chassis units, the maximum operating duration in the power unit parameter is set as default to 50000.
Description: Sets starting time 1 to monitor the cooling system after power on command.
The following feedback signals are evaluated:
- "RKA powered-up"
- "RKA water flow OK"
Dependency: Refer to: F49152, F49153
Note: RKA: Cooling system
p0235 Number of reactors connected in series / Qty L in series
1 3 1
p0251[0...n] Operating hours counter, power unit fan / LT fan t_oper
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 4294967295 0
p0252 Maximum operating time, power unit fan / LT fan t_oper max
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 50000 40000
p0260 Cooling system, starting time 1 / RKA start time 1
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
0.0 [s] 60.0 [s] 5.0 [s]
List of parameters
Parameters
Description: Sets starting time 2 to monitor the cooling system after power on command.
The following feedback signals are evaluated:
- "RKA conductivity, no fault"
- "RKA conductivity, no alarm"
Refer to: F49151, A49171
Description: Sets the delay time for the fault "RKA: Conductive limit value exceeded".
The fault is only output if the cause is present for a time longer than is set in this parameter.
Dependency: Refer to: F49151
Description: Sets the delay time for the fault "RKA: Water flow too low".
The fault is only output if the cause is present for a time longer than is set in this parameter.
Description: Sets the run-up time of the cooling system after a power-off command.
p0261 Cooling system, starting time 2 / RKA start time 2
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
0.0 [s] 1200.0 [s] 180.0 [s]
p0262 Cooling system, fault conductivity delay time / RKA cond t_del
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
0.0 [s] 30.0 [s] 0.0 [s]
p0263 Cooling system fault water flow, delay time / RKA flow t_del
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
0.0 [s] 20.0 [s] 3.0 [s]
p0264 Cooling system, run-on time / RKA run-on time
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
0.0 [s] 180.0 [s] 30.0 [s]
Parameters
List of parameters
Description: Displays the control word for the cooling system.
Description: Sets the signal sources for the feedback signals from the cooling system.
Index: [0] = Cooling system power-up
[1] = Cooling system ready to be powered-up
[2] = Cooling system, no alarm present
[3] = Cooling system, no fault present
[4] = Cooling system, no leakage water
[5] = Cooling system water flow OK
[6] = Cooling system, conductivity < fault threshold
[7] = Cooling system, conductivity < alarm threshold
r0265 BO: Cooling system, control word / RKA ctrl word
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
- - 0000 bin
00 Power-up cooling system Power-up Power-down -
01 Message, converter off Off On -
02 Acknowledge faults Acknowledgment No acknowledgment -
03 Leakage water detection OK No leakage water Leakage water -
p0266[0...7] BI: Cooling system, signal source feedback signals / RKA S_src fdbk
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
P-Group: Communications Units group: - Unit selection: -
- - [0] 1
[1] 1
[2] 1
[3] 1
[4] 1
[5] 1
[6] 1
[7] 1
List of parameters
Parameters
Description: Displays the status word of the cooling system.
Description: Sets the maximum steady-state DC link voltage. When the DC link voltage setpoint reaches the threshold, alarm
A06800 is output.
The setpoint for the DC link voltage in p3510 is limited to the value in p0280.
The voltage can be increased (boosted) using the modulation depth reserve controller. The modulation depth
reserve (p3480) can be too low if p0210 (drive unit supply voltage) was incorrectly parameterized, a line overvolt-
age condition is present or a high reactive current is required.
Refer to: A06800
Warning: Before increasing the voltage limit for pulsed operation of a controlled booksize infeed with line supply voltages
p0210 > 415 V it should be checked whether the motors, connected to the DC link, are specified for the higher
motor voltages.
The warning information associated with p0210 must be carefully observed.
Caution: All motors connected to the DC link must be rated for the maximum DC-link voltage set in this parameter.
Notice: For chassis power modules, for the extended line supply voltage range from 500 V to 690 V, the value in p0280 is
automatically adapted if the line supply voltage in p0210 is changed. The individual parameter setting of p0280 is
then lost and if necessary must be re-entered.
Note: A brief, dynamic increase of the DC link voltage does not result in an alarm.
r0267 BO: Cooling system status word display / RKA ZSW display
A_INF (RKA), B_INF
(RKA), SERVO
(RKA), VECTOR
(RKA)
- - 0000 bin
00 RKA powered-up Yes No -
01 RKA ready to be powered-up Yes No -
02 RKA no alarm present Yes No -
03 RKA no fault present Yes No -
04 RKA no leakage water Yes No -
05 RKA water flow OK Yes No -
06 RKA conductivity, no fault Yes No 9974
07 RKA conductivity, no alarm Yes No 9974
p0280 DC link voltage maximum steady-state / Vdc_max stat
A_INF Can be changed: C2(1), T Access level: 3
8964
270 [V] 1500 [V] 660 [V]
Parameters
List of parameters
Description: Sets the alarm threshold for a line supply overvoltage condition.
The setting is made as a percentage of the drive unit supply voltage (p0210).
Dependency: Refer to: p0211, p0221, p0222, p0223, p0224, p0225, p0226
Note: If synchronizing voltages are not detected, the line supply voltage is estimated using a model. It is therefore impor-
tant to ensure that drive unit data is correctly specified.
Description: Sets the alarm threshold for a line undervoltage condition.
Dependency: Refer to: p0222, p0224, p0225, p0226, p3421, p3422
Refer to: A06105
Note: If synchronizing voltages are not detected, the line supply voltage is estimated using a model. It is therefore impor-
tant to ensure that drive unit data is correctly specified.
Description: Sets the trip threshold for the line supply undervoltage.
Refer to: F06100
Description: Sets the alarm threshold for an excessively high line frequency.
Dependency: Set as a percentage of the rated line frequency.
Refer to: p0211
p0281 Line supply overvoltage, warning threshold / U_LineAlrmThrsh up
A_INF, S_INF Can be changed: T Access level: 3
100 [%] 200 [%] 110 [%]
p0282 Line supply undervoltage, alarm threshold / U_LineAlrmThrshLow
10 [%] 100 [%] 85 [%]
p0283 Line supply undervoltage, shutdown (trip) threshold / U_line trip_thresh
10 [%] 100 [%] 75 [%]
p0284 Line supply frequency exceeded, alarm threshold / f_LineAlrmThrsh up
100.0 [%] 300.0 [%] 110.0 [%]
List of parameters
Parameters
Description: Sets the alarm threshold for an excessively low line frequency.
Dependency: Set as a percentage of the rated line frequency.
Refer to: p0211
Description: Sets the shutdown thresholds for the ground fault monitoring.
The setting is made as a percentage of the maximum power unit current (r0209).
Index: [0] = Threshold for pulse inhibit
[1] = Threshold for pulse enable
Note: De-activating the ground fault monitoring:
- Sequence: --> p0287[1] = 0 --> p0287[0] = 0
- independent of the firmware version of the power unit.
Sets the thresholds:
- the prerequisite is at least firmware version 2.2 of the power unit.
Description: Displays the actual, maximum output current of the power unit taking into account de-rating factors.
Description: Sets the response to a thermal overload condition of the power unit.
The following quantities can result in a response to thermal overload:
- heatsink temperature (r0037.0)
- chip temperature (r0037.1)
- power unit overload I2T (r0036)
Possible measures to avoid thermal overload:
- reduce the output current (closed-loop speed/velocity or torque/force control) or the output frequency (U/f control).
- reduce the pulse frequency (only for closed-loop vector control).
A reduction, if parameterized, is always realized after an appropriate alarm is output.
p0285 Line supply frequency fallen below, alarm threshold / f_LineAlrmThrshLow
0.0 [%] 100.0 [%] 90.0 [%]
p0287[0...1] Ground fault monitoring thresholds / Grnd flt thresh
A_INF, SERVO,
S_INF, VECTOR
0.0 [%] 100.0 [%] [0] 6.0 [%]
[1] 16.0 [%]
r0289 Maximum power unit output current / LT I_output max
p0290 Power unit overload response / LT overld response
SERVO, VECTOR Can be changed: T Access level: 3
Data type: Integer16 Dynamic index: - Function diagram: 8014
0 3 0
Parameters
List of parameters
Values: 0: Reduce output current or output frequency
1: No reduction, shutdown when overload threshold is reached
2: Reduce I_output or f_output and f_pulse (not using I2t)
3: Reduce the pulse frequency (not using I2t)
Dependency: If a sinusoidal filter is parameterized as output filter (p0230 = 3, 4), then only responses can be selected without
pulse frequency reduction (p0290 = 0, 1).
If a fault or alarm is present, then r2135.13 or r2135.15 is set.
Refer to: r0036, r0037, p0108, r0108, p0230, r2135
Refer to: A05000, A05001, A07805
Cautiont: If the thermal overload of the power unit is not sufficiently reduced by the actions taken, the drive is always shut
down. This means that the power unit is always protected independent of the setting of this parameter.
Note: The setting p0290 = 0, 2 is only practical if the load decreases with decreasing speed (e.g. for applications with vari-
able torque such as for pumps and fans).
Under overload conditions, the current and torque limit are reduced, and therefore the motor is braked and forbid-
den speed ranges (e.g. minimum speed p1080 and suppression [skip] speeds p1091 ... p1094) can be passed
through.
For p0290 = 2, 3, the I2t overload detection of the power unit does not influence the responses.
Description: Sets the alarm threshold for the I2t power unit overload.
Drive:
If this threshold is exceeded, an overload alarm is generated and the system responds as parameterized in p0290.
Infeed:
When the threshold value is exceeded, only an overload alarm is output.
Refer to: A07805
Note: The I2t fault threshold is 100 %. If this value is exceeded, fault F30005 is output.
Description: Sets the fan run-on time after the power unit has been powered-down. If, after the selected fan run-on time, the
heatsink temperature has not fallen below a permanently saved threshold value, then the run-on time is extended
until this temperature threshold is actually reached.
Description: If the DC link voltage falls below the threshold specified here, the drive unit is tripped due to a DC link undervoltage
condition.
p0294 Power unit alarm with I2t overload / LT I2t alrm thresh
A_INF, SERVO,
S_INF, VECTOR
10.0 [%] 100.0 [%] 95.0 [%]
p0295 Fan run-on time / Fan run-on time
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 [s] 600 [s] 0 [s]
r0296 DC link voltage undervoltage threshold / Vdc U_lower_thresh
A_INF, B_INF,
S_INF
- [V] - [V] - [V]
List of parameters
Parameters
Description: If the DC link voltage exceeds the threshold specified here, the drive unit is tripped due to DC link overvoltage.
Description: Selects the motor type or start to read-in the motor parameters for a motor with DRIVE-CLiQ (p0300 = 10000).
The following applies for p0300 < 10000: The first digit of the parameter value always defines the general motor
type and corresponds to the unlisted motor belonging to a motor list:
1 = Rotating induction motor
2 = Rotating synchronous motor
3 = Linear induction motor (reserved)
4 = Linear synchronous motor
5 = Separately-excited synchronous motor (only VECTOR)
7 = SIEMOSYN motor (only VECTOR)
8 = Reluctance motor (only VECTOR)
The type information must be entered to filter motor-specific parameters and to optimize the operating characteris-
tics and behavior. For example, for synchronous motors, power factor (p0308) is neither used nor displayed (in the
BOP/AOP).
Values: 0: No motor selected
1: Induction motor (rotating)
2: Synchronous motor (rotating, permanent-magnet)
4: Synchronous motor (linear, permanent-magnet)
102: 1PH2 induction motor
134: 1PM4 induction motor
206: 1FT6 synchronous motor
236: 1FK6 synchronous motor
237: 1FK7 synchronous motor
261: 1FE1 synchronous motor
276: 1FS6 synchronous motor
283: 1FW3 synchronous motor
291: 2SP1 synchronous motor
401: 1FN1 synchronous motor (linear)
403: 1FN3 synchronous motor (linear)
10000: Motor with DRIVE-CLiQ
Dependency: VECTOR: Motors, selection 206, 236, 237 cannot be operated (also not as motor with DRIVE-CLiQ).
p0300 = 5 cannot be selected with SINAMICS G.
When the motor type is changed, the code number in p0301 may be reset to 0.
p0300 = 12 can only be selected for p0100 = 1 (NEMA).
Refer to: p0301
Notice: A list of motor/encoder codes can be found in the following literature:
r0297 DC link voltage overvoltage threshold / Vdc U_upper_thresh
A_INF, B_INF,
S_INF
- [V] - [V] - [V]
p0300[0...n] Mot type selection / Mot type selection
SERVO Can be changed: C2(1, 3) Access level: 1
Data type: Integer16 Dynamic index: MDS, p0130 Function diagram: 6310
P-Group: Motor Units group: - Unit selection: -
0 10000 0
Parameters
List of parameters
Note: For p0300 = 10000, the motor parameters are automatically downloaded for a motor with DRIVE-CLiQ.
If a motor type has not been selected (p0300 = 0), then the drive commissioning routine cannot be exited.
A motor type with a value above p0300 >= 100 describes motors for which a motor parameter list exists.
Motor types with a value below p0300 < 100 correspond to the selection of an unlisted motor. When appropriately
selected, this means that the motor parameters are pre-assigned the settings for an unlisted motor.
If a catalog motor is selected (p0300 >= 100) and an associated motor code number (p0301), then the parameters,
that are associated if this list, cannot be changed (write protection). The write protection is canceled if the motor
type p0300 is set to a non-Siemens motor that matches p0301 (e.g. p0300 = 2 for p0301 = 2xxxx).
This also applies for parameters for a motor with DRIVE-CLiQ. In this case p0300 can only be set to p0300 = 10000
(read motor parameters) or to the corresponding non-Siemens motor (first digit of the motor code number) in order
to be able to cancel the write protection.
Description: Selects the motor type or start to read-in the motor parameters for a motor with DRIVE-CLiQ (p0300 = 10000).
The following applies for p0300 < 10000: The first digit of the parameter value always defines the general motor
type and corresponds to the unlisted motor belonging to a motor list:
1 = Rotating induction motor
2 = Rotating synchronous motor
3 = Linear induction motor (reserved)
4 = Linear synchronous motor
5 = Separately-excited synchronous motor (only VECTOR)
7 = SIEMOSYN motor (only VECTOR)
8 = Reluctance motor (only VECTOR)
The type information must be entered to filter motor-specific parameters and to optimize the operating characteris-
tics and behavior. For example, for synchronous motors, power factor (p0308) is neither used nor displayed (in the
BOP/AOP).
Values: 0: No motor selected
1: Induction motor (rotating)
2: Synchronous motor (rotating, permanent-magnet)
5: Synchronous motor (separately excited)
7: SIEMOSYN motor
8: Reluctance motor
11: 1LA1 standard induction motor
12: 1LE2 standard induction motor (NEMA)
Dependency: VECTOR: Motors, selection 206, 236, 237 cannot be operated (also not as motor with DRIVE-CLiQ).
p0300 = 5 cannot be selected with SINAMICS G.
When the motor type is changed, the code number in p0301 may be reset to 0.
p0300 = 12 can only be selected for p0100 = 1 (NEMA).
Refer to: p0301
0 10000 0
List of parameters
Parameters
Note: For p0300 = 10000, the motor parameters are automatically downloaded for a motor with DRIVE-CLiQ.
If a motor type has not been selected (p0300 = 0), then the drive commissioning routine cannot be exited.
A motor type with a value above p0300 >= 100 describes motors for which a motor parameter list exists.
Motor types with a value below p0300 < 100 correspond to the selection of an unlisted motor. When appropriately
selected, this means that the motor parameters are pre-assigned the settings for an unlisted motor.
If a catalog motor is selected (p0300 >= 100) and an associated motor code number (p0301), then the parameters,
that are associated if this list, cannot be changed (write protection). The write protection is canceled if the motor
type p0300 is set to a non-Siemens motor that matches p0301 (e.g. p0300 = 2 for p0301 = 2xxxx).
This also applies for parameters for a motor with DRIVE-CLiQ. In this case p0300 can only be set to p0300 = 10000
(read motor parameters) or to the corresponding non-Siemens motor (first digit of the motor code number) in order
to be able to cancel the write protection.
Description: The parameter is used to select a motor from a motor parameter list.
When changing the code number (with the exception to the value 0), all of the motor parameters are pre-assigned
from the internally available parameter lists.
Dependency: Only code numbers for motor types can be selected that correspond to the motor type selected in p0300. For 1PH2,
1PH4, 1PH7, 1PM4, 1PM6, 1FT6 motors, code numbers are also possible, whose fourth decimal position is greater
by a value of 1 or 2 than the matching motor type in p0300. For 1FE1 motors, the third decimal position can be
higher by a value of 1.
Refer to: p0300
Note: The motor code number can only be changed if the matching list motor was first selected in p0300.
For a motor with DRIVE-CLiQ, p0301 cannot be changed. In this case, p0301 is automatically written to the code
number of the motor parameter read-in (r0302) if p0300 is set to 10000.
When selecting a list motor (p0300 >= 100), drive commissioning can only be exited if a code number is selected.
Description: The parameter is used to select a motor from a motor parameter list.
When changing the code number (with the exception to the value 0), all of the motor parameters are pre-assigned
from the internally available parameter lists.
Dependency: Only code numbers for motor types can be selected that correspond to the motor type selected in p0300.
Refer to: p0300
Note: The motor code number can only be changed if the matching list motor was first selected in p0300.
When selecting a list motor (p0300 >= 100), drive commissioning can only be exited if a code number is selected.
p0301[0...n] Motor code number selection / Mot code No. sel
SERVO, VECTOR Can be changed: C2(1, 3), U Access level: 1
0 65535 0
SERVO (Lin) Can be changed: C2(1, 3), U Access level: 1
0 65535 0
Parameters
List of parameters
Description: Displays the motor code number from the saved motor data from a motor with DRIVE-CLiQ.
Note: Drive commissioning can only be exited if the code number that was downloaded (r0302) matches the stored code
number (p0301). If the numbers differ, then the motor data set should be re-loaded using p0300 = 10000.
The motor data are always expected from the first encoder that is assigned to the drive data sets (refer to p0187 =
encoder 1) data set number.
Description: Sets the rated motor voltage (rating plate).
Note: The parameter is automatically preset for motors from the motor list (p0301).
For synchronous motors (p0300 = 2xx), the parameter can be optionally input.
For synchronous motors, the parameter is of no significance from a control-related perspective.
if the rated voltage is entered for synchronous motors during the commissioning phase, then the stator leakage
inductance (p0356, p0357) can be more accurately calculated (refer to p0340 and p3900).
Description: Sets the rated motor current (rating plate).
Notice: For VECTOR, the following applies:
If the rated motor current exceeds twice the maximum drive converter current (r0209), then the maximum current is
reduced due to the current harmonics that increase overproportionally (r0067).
r0302[0...n] Motor code number of motor with DRIVE-CLiQ / Motor code Mot DLQ
- - -
p0304[0...n] Rated motor voltage / Mot U_rated
SERVO, VECTOR Can be changed: C2(1, 3) Access level: 1
Data type: Floating Point Dynamic index: MDS, p0130 Function diagram: 6300,
6724
0 [Veff] 20000 [Veff] 0 [Veff]
p0305[0...n] Rated motor current / Mot I_rated
Data type: Floating Point Dynamic index: MDS, p0130 Function diagram: 6300
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
List of parameters
Parameters
Description: Number of motors that can be operated in parallel using one motor data set.
Internally, an equivalent motor is calculated dependent on the number of motors entered.
The following should be carefully observed for motors connected in series:
The following rating plate data should only be entered for one motor:
- resistances and inductances: p0350, p0352, p0353, p0354, p0356, p0357, p0358, p0360
- currents: p0305, p0318, p0320, p0323, p0325, p0329, p0338, p0391, p0392
- torques/forces: p0312, p0319
- power ratings: p0307
- masses/moments of inertia: p0341, p0344
All other parameters take into account the replacement/equivalent motor (e.g. r0331, r0370, r0373, r0374).
Dependency: Refer to: r0331, r0370, r0373, r0374, r0376, r0377, r0382
Caution: The motors to be connected-up in parallel, must be of the same type.
The mounting regulations when connecting motors in parallel must be carefully maintained!
The number of motors set must correspond to the number of motors that are actually connected in parallel.
After changing p0306, it is imperative that the control parameters are adapted (e.g. using automatic calculation with
p0340 = 1).
Note: Only possible for SERVO!
Description: Sets the rated motor power (rating plate).
Dependency: IECdrives (p0100 = 0): Units kW
NEMA drives (p0100 = 1): Units hp
Refer to: p0100
Description: Sets the rated motor power (rating plate).
Dependency: IECdrives (p0100 = 0): Units kW
NEMA drives (p0100 = 1): Units hp
Refer to: p0100
For generators, a negative rated power should be entered.
p0306[0...n] Number of motors connected in parallel / Motor qty
1 100 1
p0307[0...n] Rated motor power / Mot P_rated
Data type: Floating Point Dynamic index: MDS, p0130 Function diagram: -
P-Group: Motor Units group: 14_6 Unit selection: p0100
0.00 [kW] 100000.00 [kW] 0.00 [kW]
-100000.00 [kW] 100000.00 [kW] 0.00 [kW]
Parameters
List of parameters
Description: Sets the rated motor power factor (cos phi, rating plate).
For a parameter value of 0.000, the power factor is internally calculated and displayed in r0332.
Dependency: This parameter is only available for IEC motors (p0100 = 0).
Refer to: p0100, p0309, r0332
Note: The parameter is not used for synchronous motors (p0300 = 2xx).
The parameter is automatically preset for motors from the motor list (p0301).
Description: Sets the rated motor efficiency (rating plate).
For a parameter value of 0.0, the power factor is internally calculated and displayed in r0332.
Dependency: This parameter is only available for NEMA motors (p0100 = 1).
Refer to: p0100, p0308, r0332
Description: Sets the rated motor frequency (rating plate).
Dependency: The number of pole pairs (r0313) is automatically re-calculated when the parameter is changed (together with
p0311), if p0314 = 0.
Only for vector drives (refer to p0107):
The rated frequency is restricted to values between 1.00 Hz and 650.00 Hz.
Refer to: p0311, r0313, p0314
Note: The parameter is automatically pre-assigned for induction motors from the motor list (p0301).
For synchronous motors, the parameter is not required and must therefore be pre-assigned zero. For p0310 = 0, it
is not possible to calculate the pole pair; instead, it must be entered in p0314.
p0308[0...n] Rated motor power factor / Mot cos_phi_rated
0.000 1.000 0.000
p0309[0...n] Rated motor efficiency / Mot eta_rated
0.0 [%] 99.9 [%] 0.0 [%]
p0310[0...n] Rated motor frequency / Mot f_rated
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
List of parameters
Parameters
Description: Sets the rated motor speed (rating plate).
For vector drives (refer to p0107):
For p0311 = 0, the rated motor slip of induction motors is internally calculated and displayed in r0330.
It is especially important to correctly enter the rated motor speed for closed-loop vector control and slip compensa-
tion for U/f control.
Dependency: If p0311 is changed and for p0314 = 0, the pole pair (r0313) is re-calculated automatically.
Refer to: p0310, r0313, p0314
Description: Sets the rated motor velocity (rating plate).
Dependency: The pole pair width is set in p0315.
Refer to: p0310, r0313, p0314
Description: Sets the rated motor torque (rating plate).
Description: Sets the rated motor force (rating plate).
p0311[0...n] Rated motor speed / Mot n_rated
0.0 [1/min] 210000.0 [1/min] 0.0 [1/min]
p0311[0...n] Rated motor velocity / Mot v_rated
SERVO (Lin) Can be changed: C2(1, 3) Access level: 1
0.0 [m/min] 6000.0 [m/min] 0.0 [m/min]
p0312[0...n] Rated motor torque / Mot M_rated
0.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
p0312[0...n] Rated motor force / Mot F_rated
SERVO (Lin) Can be changed: C2(3) Access level: 3
0.00 [N] 1000000.00 [N] 0.00 [N]
Parameters
List of parameters
Description: Displays the number of motor pole pairs. The value is used for internal calculations.
Values:
r0313 = 1: 2-pole motor
etc.
Dependency: For p0314 > 0, the entered value is displayed in r0313.
For p0314 = 0, the pole pair number (r0313) is automatically calculated from the rated frequency (p0310) and the
rated speed (p0311).
Refer to: p0310, p0311, p0314
Note: For the automatic calculation, the pole pair number is set to the value of 2 if the rated speed or the rated frequency
is zero.
Description: Displays the number of motor pole pairs. The value is used for internal calculations.
Values:
etc.
Dependency: For p0314 > 0, the entered value is displayed in r0313.
For p0314 = 0, the pole pair number (r0313) is automatically calculated from the rated power (p0307), rated fre-
quency (p0310) and rated speed (p0311).
Refer to: p0307, p0310, p0311, p0314
Note: For the automatic calculation, the pole pair number is set to the value of 2 if the rated speed or the rated frequency
is zero.
Description: Sets the motor pole pair number.
Values:
p0314 = 1: 2-pole motor
p0314 = 2: 4-pole motor
etc.
Dependency: For p0314 = 0, the pole pair number is automatically calculated from the rated frequency (p0310) and the rated
speed (p0311) and displayed in r0313.
Notice: For induction motors, the value need only be input if the rated data of a generator is entered therefore resulting in a
negative rated slip. In this case, the number of pole pairs in r0313 is too low by 1 and must be manually corrected.
r0313[0...n] Motor pole pair number, actual (or calculated) / Mot PolePairNo act
Data type: Unsigned8 Dynamic index: MDS, p0130 Function diagram: 5300
- - -
- - -
p0314[0...n] Motor pole pair number / Mot pole pair No.
0 127 0
List of parameters
Parameters
Description: Sets the pole pair width of the linear motor.
Description: Sets the torque constant of the synchronous motor.
p0316 = 0: The torque constant is calculated from the motor data.
p0316 > 0: The selected value is used as torque constant.
This parameter is not used for induction motors (p0300 = 1xx).
Description: Sets the force constant of the synchronous motor.
p0316 = 0: The force constant is calculated from the motor data.
p0316 > 0: The selected value is used as force constant.
Description: Sets the torque constant of the synchronous motor.
p0316 = 0: The torque constant is calculated from the motor data.
p0316 > 0: The selected value is used as torque constant.
p0315[0...n] Motor pole pair width / MotPolePair width
1.00 [mm] 1000.00 [mm] 30.00 [mm]
p0316[0...n] Motor torque constant / Mot kT
SERVO Can be changed: C2(1, 3), U, T Access level: 1
0.00 [Nm/A] 100.00 [Nm/A] 0.00 [Nm/A]
p0316[0...n] Motor force constant / Mot kT
SERVO (Lin) Can be changed: C2(1, 3), U, T Access level: 1
0.00 [N/Aeff] 1000.00 [N/Aeff] 0.00 [N/Aeff]
VECTOR Can be changed: C2(1, 3), U, T Access level: 2
0.00 [Nm/A] 100.00 [Nm/A] 0.00 [Nm/A]
Parameters
List of parameters
Description: Sets the voltage constant for synchronous motors.
Units for rotating synchronous motors: Vrms/(1000 RPM), phase-to-phase
Description: Sets the voltage constant for synchronous motors.
Units for linear synchronous motors: Vrms s/m, phase
Description: Sets the stall current for synchronous motors (p0300 = 2xx).
This parameter value is not evaluated from a control-related perspective.
Description: Sets the standstill (stall) torque for rotating synchronous motors (p0300 = 2xx).
p0317[0...n] Motor voltage constant / Mot kE
0.0 [Veff] 10000.0 [Veff] 0.0 [Veff]
0.0 [Veff s/m] 1000.0 [Veff s/m] 0.0 [Veff s/m]
p0318[0...n] Motor stall current / Mot I_standstill
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
p0319[0...n] Motor stall torque / Mot M_standstill
0.0 [Nm] 100000.0 [Nm] 0.0 [Nm]
List of parameters
Parameters
Description: Sets the standstill (stall) force for linear synchronous motors (p0300 = 4xx).
Description: Induction motors:
Sets the rated motor magnetizing current.
For p0320 = 0.000 the magnetizing current is internally calculated and displayed in r0331.
Synchronous motors:
Sets the rated motor short-circuit current.
VECTOR: If, for induction motors, the magnetizing current p0320 is changed outside the commissioning phase
(p0010 > 0), then the magnetizing inductance p0360 is changed so that the EMF r0337 remains constant.
Description: Sets the maximum motor speed.
Description: Sets the maximum motor velocity.
p0319[0...n] Motor stall force / Mot F_standstill
0.0 [N] 100000.0 [N] 0.0 [N]
p0320[0...n] Motor rated magnetization current/short-circuit current / Mot I_mag_rated
0.000 [Aeff] 5000.000 [Aeff] 0.000 [Aeff]
p0322[0...n] Maximum motor speed / Mot n_max
0.0 [1/min] 210000.0 [1/min] 0.0 [1/min]
p0322[0...n] Motor maximum velocity / Mot v_max
0.0 [m/min] 1000.0 [m/min] 0.0 [m/min]
Parameters
List of parameters
Description: Set the maximum permissible motor current (e.g. de-magnetizing current for synchronous motors).
For induction motors, the parameter has not effect if p0323 is set to 0.
For synchronous motors, a value must always be entered for the maximum motor current.
p0323 is a motor data. The user-selectable current limit is entered into p0640.
Description: Sets the current for the 1st phase of the two-stage technique for pole position identification routine.
The current of the 2nd phase is set in p0329.
A two-stage technique is selected with p1980 = 4, 5.
Dependency: Refer to: p0329, p1980, p1981, p1982, p1983, r1984, r1985, r1987, p1990, Refer to: F07995
Notice: When the motor code (p0301) is changed, it is possible that p0325 is not pre-assigned.
p0325 can be pre-assigned using p0340 = 3.
Note: The value is automatically pre-assigned for the following events:
- For p0325 = 0 and automatic calculation of the closed-loop control parameters (p0340 = 1, 2, 3).
- for quick commissioning (p3900 = 1, 2, 3).
Description: Sets the correction factor for the stall torque/force at a 600 V DC link voltage.
Description: Sets the optimum load angle for synchronous motors with reluctance torque (e.g. 1FE ... motors).
This parameter has no significance for induction motors.
SERVO: The load angle is measured at 150% rated motor current.
VECTOR: The load angle is measured at the rated motor current.
Note: For synchronous motors without reluctance torque, a angle of 90 degrees must be set.
p0323[0...n] Maximum motor current / Mot I_max
0.00 [Aeff] 20000.00 [Aeff] 0.00 [Aeff]
p0325[0...n] Motor pole position identification current, 1st phase / Mot PolID I 1st ph
0.000 [Aeff] 10000.000 [Aeff] 0.000 [Aeff]
p0326[0...n] Motor stall torque correction factor / Mot M_stallCorrFac
SERVO Can be changed: C2(3), U, T Access level: 3
5 [%] 300 [%] 60 [%]
p0327[0...n] Optimum motor load angle / Mot phi_load opt
0.0 [] 135.0 [] 90.0 []
List of parameters
Parameters
Description: Sets the reluctance torque constant for synchronous motors with reluctance torque (e.g. 1FE ... motors).
This parameter has no significance for induction motors.
Note: For synchronous motors without reluctance torque, the value 0 must be set.
Description: Sets the current for the pole position identification routine.
For a two-stage technique, the current is set for the second phase.
Dependency: Refer to: p0325, p1980, p1981, p1982, p1983, r1984, r1985, r1987, p1990
Refer to: F07995
Description: Displays the rated motor slip.
Dependency: The rated slip is calculated from the rated frequency, rated speed and number of pole pairs.
Refer to: p0310, p0311, r0313
Description: Induction motor:
Displays the rated magnetizing current from p0320.
For p0320 = 0, the internally calculated magnetizing current is displayed.
Synchronous motor:
Displays the rated shirt-circuit current from p0320.
Dependency: If p0320 was not entered, then the parameter is calculated from the rating plate parameters.
p0328[0...n] Motor reluctance torque constant / Mot kT_reluctance
0.00 [mH] 1000.00 [mH] 0.00 [mH]
p0329[0...n] Motor pole position identification current / Mot PolID current
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
r0330[0...n] Rated motor slip / Mot slip_rated
- [Hz] - [Hz] - [Hz]
r0331[0...n] Motor magnetizing current/short-circuit current actual / Mot I_mag_ratedAct
6722, 6724
Parameters
List of parameters
Description: Displays the rated power factor for induction motors.
For IEC motors, the following applies (p0100 = 0):
For p0308 = 0, the internally-calculated power factor is displayed.
For p0308 > 0, this value is displayed.
For NEMA motors, the following applies (p0100 = 1):
For p0309 = 0, the internally-calculated power factor is displayed.
For p0309 > 0, this value is converted into the power factor and displayed.
Dependency: If p0308 is not entered, the parameter is calculated from the rating plate parameters.
Description: Displays the rated motor torque.
Note: For induction and reluctance motors, r0333 is calculated from p0307 and p0311.
For synchronous motors, r0333 is calculated from p0305, p0316, p0327 and p0328. The result can deviate from the
input in p0312. If p0316 = 0, then r0333 = p0312 is displayed.
Description: Displays the rated motor force.
Note: For synchronous motors, r0333 is calculated from p0305, p0316, p0327 and p0328. The result can deviate from the
input in p0312. If p0316 = 0, then r0333 = p0312 is displayed.
Description: Displays the torque constant of the synchronous motor used.
Note: This parameter is not used for induction motors (p0300 = 1xx).
For synchronous motors, parameter r0334 = p0316 is displayed. if p0316 = 0, r0334 is calculated from p0305 and
p0312.
r0332[0...n] Rated motor power factor / Mot cos_phi_rated
- - -
r0333[0...n] Rated motor torque / Mot M_rated
- [Nm] - [Nm] - [Nm]
r0333[0...n] Rated motor force / Mot F_rated
- [N] - [N] - [N]
r0334[0...n] Motor-torque constant, actual / Mot kT act
- [Nm/A] - [Nm/A] - [Nm/A]
List of parameters
Parameters
Description: Displays the force constant of the synchronous motor used.
Note: For synchronous motors, parameter r0334 = p0316 is displayed. if p0316 = 0, r0334 is calculated from p0305 and
p0312.
Description: Sets the motor cooling system used.
Values: 0: Non-ventilated
1: Forced cooling
2: Water cooling
4: Non-ventilated and internal fan
5: Forced cooling and internal fan
6: Water cooling and internal fan
Note: The parameter influences the thermal 3-mass motor model.
1LA1 and 1LA8 motors are characterized by the fact that they have an internal rotor fan. This "internal cooling" lies
within the motor frame and is not visible. Air is not directly exchanged with the motor ambient air.
Description: Displays the rated frequency of the motor.
For p0310 > 0, this value is displayed.
Note: For p0310 = 0 or for synchronous motors, the rated motor frequency r0336 is calculated from the rated speed and
the pole pair number.
For p0310 > 0, this value is displayed (not for synchronous motors).
Description: Displays the rated EMF of the motor.
Note: EMF: Electromagnetic force
r0334[0...n] Motor force constant, actual / Mot kT act
- [N/Aeff] - [N/Aeff] - [N/Aeff]
p0335[0...n] Motor cooling type / Motor cooling type
SERVO, VECTOR Can be changed: C2(1, 3), T Access level: 1
Data type: Integer16 Dynamic index: MDS, p0130 Function diagram: -
0 6 0
r0336[0...n] Rated motor frequency actual / Mot f_rated act
- [Hz] - [Hz] - [Hz]
r0337[0...n] Rated motor EMF / Mot EMF_rated
Parameters
List of parameters
Description: Displays the rated EMF of the motor.
Note: EMF: Electromagnetic force
Description: Sets the motor limit current for synchronous motors (for a 600 V DC link voltage).
Using this current, the maximum torque is achieved at the rated speed (voltage limit characteristic).
Description: Displays the rated motor voltage
Note: For induction motors (p0300 = 1xx) the parameter is set to p0304.
For synchronous motors, parameter r0339 = p0304 is displayed. If p0304 = 0, then r0339 is calculated from p0305
and p0316.
Description: Setting to reset and automatically calculate filter and control (closed-loop) parameters.
Values: 0: No calculation
1: Complete re-calculation. of control parameters with COMM data
2: Reset control parameters
Notice: The following parameters are influenced using p0340:
p0340 = 1:
--> All of the parameters influenced for p0340 = 2
--> p3421 = p0223 + p0225
--> p3422 = p0227
p0340 = 2:
--> p3560, p3562, p3564, p3603, p3615 and p3617 are reset to the factory setting. These controller parameters are
not available for S_Infeed.
Note: When existing the quick commissioning using p3900 > 0, p0340 is automatically set to 1.
At the end of the calculations, p0340 is automatically set to 0.
- [Veff s/m] - [Veff s/m] - [Veff s/m]
p0338[0...n] Motor limit current / Mot I_limit
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
r0339[0...n] Rated motor voltage / Mot U_rated
p0340 Automatic calculation, control parameters / Calc auto par
0 2 0
List of parameters
Parameters
Description: Setting to automatically calculate motor parameters and U/f open-loop and closed-loop control parameters from the
rating plate data.
1: Complete calculation
2: Calculation of equivalent circuit diagram parameters
3: Calculation of closed-loop control parameters
4: Calculation of controller parameters
5: Calculation of technological limits and threshold values
Notice: The following parameters are influenced using p0340:
The parameters designated with (*) are, for list motors (p0300 > 100) not overwritten.
SERVO:
p0340 = 1:
--> All of the parameters influenced for p0340 = 2, 3, 4, 5
--> p0341 (*)
--> p0342, p0344, p0600, p0640, p1082, p2000, p2001, p2002, p2003
p0340 = 2:
--> p0350 (*), p0354 (*), p0356 (*), p0358 (*), p0360 (*)
--> p0625 (matching p0350)
p0340 = 3:
--> All of the parameters influenced for p0340 = 4, 5
--> p0325 (is only calculated for p0325 = 0)
--> p0348 (*) (is only calculated for p0348 = 0)
--> p0441, p0442, p0443, p0444, p0445 (only for 1FT6, 1FK6, 1FK7 motors)
--> p0492, p1082, p1980, p1319, p1326, p1327, p1612, p1752, p1755
p0340 = 4:
--> p1441, p1460, p1462, p1463, p1464, p1465, p1470, p1472, p1590, p1592, p1715, p1717
--> p1461 (for p0348 > p0322, p1461 is set to 100 %)
--> p1463 (for p0348 > p0322, p1463 is set to 400 %)
p0340 = 5:
--> p1037, p1038, p1520, p1521, p1530, p1531, p2140 ... p2142, p2148, p2150, p2155, p2161, p2162, p2163,
p2164, p2175, p2177, p2194, p3820 ... p3829
p0340[0...n] Automatic calculation of motor/control parameters / Calc auto par
Data type: Integer16 Dynamic index: DDS, p0180 Function diagram: -
0 5 0
Parameters
List of parameters
VECTOR:
p0340 = 1:
--> All of the parameters influenced for p0340 = 2, 3, 4, 5
--> p0341 (*)
--> p0342, p0344, p0600, p0640, p1082, p1349, p1576, p1577, p1609, p1619, p1620, p1621, p1654, p1726,
p1825, p1828 ... p1832, p1909, p1959, p2000, p2001, p2002, p2003, p3927, p3928
p0340 = 2:
--> p0350 (*), p0354 ... p0361 (*), p0652 ... p0660
--> p0625 (matching p0350)
p0340 = 3:
--> All of the parameters influenced for p0340 = 4, 5
--> p0346, p0347, p0492, p0622, p1262, p1320 ... p1327, p1582, p1584, p1616, p1744, p1755, p1756, p2178
p0340 = 4:
--> p1290, p1292, p1293, p1299, p1338, p1339, p1340, p1341, p1345, p1346, p1460, p1461, p1462, p1463,
p1464, p1465, p1470, p1472, p1590, p1592, p1600, p1628, p1629, p1630, p1643, p1703, p1715, p1717, p1740,
p1757, p1760, p1761, p1764, p1767, p1781, p1783, p1785, p1786, p1795, p7036, p7037, p7038
p0340 = 5:
--> p260 ... p264, p1037, p1038, p1520, p1521, p1530, p1531, p1802, p1803, p2140, p2142, p2148, p2150, p2161,
p2162, p2163, p2164, p2175, p2177, p2194, p3207, p3208, p3815, p3820 ... p3829
Note: p0340 = 1 contains the calculations of p0340 = 2, 3, 4, 5 without overwriting the motor parameters from the Sie-
mens motor lists (p0301 > 0).
p0340 = 2 calculates the motor parameters (p0350 ... p0360), but only if it does involve a Siemens catalog motor
(p0301 = 0).
p0340 = 3 contains the calculations of p0340 = 4, 5.
p0340 = 4 only calculates the controller parameters.
p0340 = 5 only calculates the controller limits.
When existing the quick commissioning using p3900 > 0, p0340 is automatically set to 1.
If the STARTER commissioning software (start-up tool) writes a 3 into p0340 when "downloading into the target
device", then this corresponds to a "complete calculation of the motor/control parameters without equivalent circuit
diagram data". The same calculations are carried-out as for p0340 = 1, however, without the equivalent circuit dia-
gram parameters of the motor (refer to p0340 = 2), the motor moment of inertia (p0341) and the motor weight
(p0344).
For third-party linear synchronous motors (p300 = 4) equivalent circuit diagram data are not calculated (refer to
p340 = 2).
Description: Sets the motor moment of inertia (without load).
Dependency: This means that together with p0342, the rated starting time of the motor is calculated.
SERVO:
p0341 * p0342 + p1498 influence the speed/torque precontrol in sensorless operation.
VECTOR:
The product p0341 * p0342 is taken into account when automatically calculating the speed controller (p0340 = 4).
p0341[0...n] Motor moment of inertia / Mot M_mom of inert
0.00000 [kgm] 100000.00000 [kgm] 0.00000 [kgm]
List of parameters
Parameters
Description: Sets the high moments of inertia (without load).
Dependency: This means that together with p0342, the rated starting time of the motor is calculated.
SERVO:
Description: Sets the ratio between the total moment of inertia/mass (load + motor) and the intrinsic motor moment of iner-
tia/mass (no load).
Dependency: This means that together with p0341, the rated starting (accelerating time) of the motor is calculated for a vector
drive.
Refer to: p0341, r0345, p1498
Note: SERVO:
VECTOR:
The product p0341 * p0342 is taken into account when automatically calculating the speed controller (p0340 = 4).
Description: Sets the motor weight.
The following applies for vector drives (refer to p0107):
The parameter influences the thermal 3 mass model of the induction motor.
Description: Displays the rated motor starting time. This time corresponds to the time from standstill up to reaching the motor
rated speed and the acceleration with motor rated torque (r0333).
Dependency: Refer to: r0313, r0333, r0336, p0341, p0342
p0341[0...n] Motor weight / Mot weight
SERVO (Lin) Can be changed: C2(3), U, T Access level: 3
0.00000 [kg] 10000.00000 [kg] 0.00000 [kg]
p0342[0...n] Ratio between the total and motor moment of inertia / Mot MomInert Ratio
1.000 10000.000 1.000
p0344[0...n] Motor weight / Motor weight
0.0 [kg] 50000.0 [kg] 0.0 [kg]
r0345[0...n] Nominal motor starting time / Mot t_start_rated
- [s] - [s] - [s]
Parameters
List of parameters
Description: Sets the excitation build-up time of the motor.
This involves the delay time between enabling the pulses and enabling the ramp-function generator. The induction
motor is magnetized during this time.
Notice: If the parameter is set to 0 s for separately-excited synchronous motors (p0300 = 5), then an excitation current set-
point is generated even if the drive is powered-down. In the base speed range, this is the no-load excitation current
(p0389). In the field-weakening range, the value is reduced with the inverse value of the actual speed. An excitation
current setpoint is not generated during de-magnetization (p0347) and if an encoder fault is detected.
Note: The parameter is calculated using p0340 = 1, 3.
For induction motors, the result depends on the rotor time constant (r0384).
If this time is excessively reduced, this can result in an inadequate magnetization of the induction motor. This
means that the parameter cannot be set less than 25% of the rotor time constant.
For permanent-magnet synchronous motors and vector control, the value depends on the stator time constant
(r0386).
Here, it defines the time to establish the current for sensorless operation immediately after the pulses have been
enabled.
Description: Sets the de-magnetizing time (for induction motors) after the inverter pulses have been cancelled.
The inverter pulses cannot be switched-in (enabled) within this delay time.
Note: The parameter is calculated using p0340 = 1, 3.
For induction motors, the result depends on the rotor time constant (r0384).
if this time is shortened too much, then this can result in an inadequate de-magnetization of the induction motor and
in an overcurrent condition when the pulses are subsequently enabled (only when the flying restart function is acti-
vated and the motor is rotating).
Description: Sets the speed at the start of field weakening for a DC link voltage of 600 V.
p0346[0...n] Motor excitation build-up time / Mot t_excitation
0.000 [s] 20.000 [s] 0.000 [s]
p0347[0...n] Motor de-excitation time / Mot t_de-excitat.
0.000 [s] 20.000 [s] 0.000 [s]
p0348[0...n] Speed at the start of field weakening Vdc = 600 V / Mot n_field weaken
0.0 [1/min] 210000.0 [1/min] 0.0 [1/min]
List of parameters
Parameters
Description: Sets the velocity at the start of field weakening for a DC link voltage of 600 V.
Description: Setting parameter of the actual system of units for motor equivalent circuit diagram data
Values: 1: System of units, physical
2: System of units, referred
Note: The reference parameter for resistances of the rated motor impedance Z = p0304 / (1.732 * p0305) is in the % units
system. Inductances are converted into a resistance using the factor 2 * Pi * p0310. If a reference parameter
(p0304, p305, p0310) is zero, then it is not possible to make a changeover to per unit (referred) values.
Description: Sets the stator resistance of the motor at ambient temperature p0625.
The motor identification routine determines the stator resistance from the total stator resistance minus the cable
resistance (p0352).
Description: Resistance of the power cable between the Motor Module and motor.
Note: The parameter influences the temperature adaptation of the stator resistance.
The motor identification routine does not change the cable resistance. This is subtracted from the total measured
stator resistance in order to calculate the stator resistance (p0350, p0352).
p0348[0...n] Velocity at the start of field weakening Vdc = 600 V / Mot v_field weaken
0.0 [m/min] 1000.0 [m/min] 0.0 [m/min]
p0349 Selects system of units, motor equivalent circuit diagram data / Sel UnitSys MotESB
1 2 1
p0350[0...n] Motor stator resistance, cold / Mot R_stator cold
0.00000 [Ohm] 2000.00000 [Ohm] 0.00000 [Ohm]
p0352[0...n] Cable resistance / Mot R_cable cold
0.00000 [Ohm] 120.00000 [Ohm] 0.00000 [Ohm]
Parameters
List of parameters
Description: Sets the series inductance.
Note: For the automatic calculation with p0340 = 1 or 3, the calculation of p0348 is influenced by p0353 if p0348 was 0.
For the automatic calculation with p0340 = 1, 3 or 4, the calculation of p1715 is influenced by p0353.
Description: Sets the rotor/secondary section resistance of the motor at the ambient temperature p0625.
For separately-excited synchronous motors: Sets the damping resistance in the rotor direction (d-axis).
This parameter value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identifica-
tion routine (p1910) (not for separately-excited synchronous motors).
Description: Sets the damping resistance of the separately-excited synchronous motor quadrature to the rotor direction (q axis).
This parameter value is automatically calculated using the motor model (p0340 = 1, 2).
Description: Induction motor, separately-excited synchronous motor: Sets the rotor leakage inductance of the motor.
Synchronous motor: Sets the stator quadrature axis inductance of the motor.
tion routine (p1910).
p0353[0...n] Motor series inductance / Mot L_series
0.000 [mH] 1000000.000 [mH] 0.000 [mH]
p0354[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
0.00000 [Ohm] 300.00000 [Ohm] 0.00000 [Ohm]
p0355[0...n] Motor damping resistance, q axis / Mot R_damping_q
0.00000 [Ohm] 300.00000 [Ohm] 0.00000 [Ohm]
p0356[0...n] Motor stator leakage inductance / Mot L_stator leak.
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
List of parameters
Parameters
Description: Induction motor, separately-excited synchronous motor: Sets the rotor leakage inductance of the motor.
Synchronous motor: Sets the stator quadrature axis inductance of the motor.
If the stator leakage inductance p0356 for induction motors is changed outside the commissioning phase (p0010 >
0), then the magnetizing inductance p0360 is automatically adapted to the new EMF r0337. After this, we recom-
mend that the saturation characteristic measurement (refer to rotating measurement p1960) should be repeated.
For permanent-magnet synchronous motors (p300=2), this is the non-saturated value and is therefore ideally appli-
cable for a low current.
Description: Sets the stator direct-axis inductance of the synchronous motor.
Note: The parameter is not used for separately-excited synchronous motors (p0300 = 5).
For permanent-magnet synchronous motors (p300 = 2), this is the non-saturated value and is therefore ideally
applicable for a low current.
Description: Sets the rotor/secondary section leakage inductance of the motor.
For separately-excited synchronous motors: Sets the damping inductance in the rotor direction (d-axis).
This value is automatically calculated using the motor model (p0340 = 1, 2) or using the motor identification routine
(p1910) (not for separately-excited synchronous motors).
VECTOR: If the rotor leakage inductance p0358 for induction motors is changed outside the commissioning phase
(p0010 > 0), then the magnetizing inductance p0360 is automatically adapted to the new EMF r0337. After this, we
recommend that the saturation characteristic measurement (refer to rotating measurement p1960) should be
repeated.
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
p0357[0...n] Motor stator inductance, d axis / Mot L_stator_d
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
p0358[0...n] Motor rotor leakage inductance / damping inductance, d axis / Mot L_r leak / LDd
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Parameters
List of parameters
Description: Sets the damping inductance of the separately-excited synchronous motor quadrature to the rotor direction (q axis).
Description: Sets the magnetizing inductance of the motor.
For separately-excited synchronous motors: Sets the saturated magnetizing inductance in the rotor direction (d-
axis).
tion routine (p1910) (not for separately-excited synchronous motors).
Description: Sets the saturated magnetizing inductance of the separately-excited synchronous motor quadrature to the rotor
direction (q axis).
Description: The saturation characteristics (flux as a function of the magnetizing current) is defined using 4 points.
This parameter specifies the y coordinate (flux) for the 1st value pair of the characteristic.
Sets the first flux value of the saturation characteristic as a [%] referred to the rated motor flux (100%).
Dependency: The following applies for the flux values:
p0362 < p0363 < p0364 < p0365
Refer to: p0366
Note: For induction motors, p0362 = 100 % corresponds to the rated motor flux.
For separately-excited synchronous motors p0362 = 100% corresponds to an induced terminal voltage with the
magnitude of the rated motor voltage (under no-load conditions at the synchronous speed).
p0359[0...n] Motor damping inductance, q axis / Mot L_damping_q
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
p0360[0...n] Motor magnetizing inductance/magn. inductance, d axis saturated / Mot Lh/Lh d sat
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
p0361[0...n] Motor magnetizing inductance, q axis, saturated / Mot Lh q_sat
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
p0362[0...n] Saturation characteristic flux 1 / Mot saturat.flux 1
10.0 [%] 300.0 [%] 60.0 [%]
List of parameters
Parameters
This parameter specifies the y coordinate (flux) for the 2nd value pair of the characteristic.
Sets the second flux value of the saturation characteristic as a [%] referred to the rated motor flux (100%).
p0362 < p0363 < p0364 < p0365
Refer to: p0367
This parameter specifies the y coordinate (flux) for the 3rd value pair of the characteristic.
Sets the third flux value of the saturation characteristic as a [%] referred to the rated motor flux (100%).
p0362 < p0363 < p0364 < p0365
Refer to: p0368
This parameter specifies the y coordinate (flux) for the 4th value pair of the characteristic.
Sets the fourth flux value of the saturation characteristic as a [%] referred to the rated motor flux (100%).
p0362 < p0363 < p0364 < p0365
Refer to: p0369
10.0 [%] 300.0 [%] 85.0 [%]
10.0 [%] 300.0 [%] 115.0 [%]
10.0 [%] 300.0 [%] 125.0 [%]
Parameters
List of parameters
This parameter specifies the x coordinate (magnetizing current) for the 1st value pair of the characteristic.
Sets the first magnetizing current of the saturation characteristic as a [%] referred to the rated magnetizing current
(r0331), for separately-excited synchronous motors referred to the no-load excitation current.
Dependency: The following applies for the magnetizing currents:
p0366 < p0367 < p0368 < p0369
Refer to: p0362
This parameter specifies the x coordinate (magnetizing current) for the 2nd value pair of the characteristic.
Sets the second magnetizing current of the saturation characteristic as a [%] referred to the rated magnetizing cur-
rent (r0331), for separately-excited synchronous motors referred to the no-load excitation current.
p0366 < p0367 < p0368 < p0369
Refer to: p0363
This parameter specifies the x coordinate (magnetizing current) for the 3rd value pair of the characteristic.
Sets the third magnetizing current of the saturation characteristic as a [%] referred to the rated magnetizing current
(r0331), for separately-excited synchronous motors referred to the no-load excitation current.
p0366 < p0367 < p0368 < p0369
Refer to: p0364
p0366[0...n] Saturation characteristic I_mag 1 / Mot sat. I_mag 1
5.0 [%] 800.0 [%] 50.0 [%]
5.0 [%] 800.0 [%] 75.0 [%]
5.0 [%] 800.0 [%] 150.0 [%]
List of parameters
Parameters
This parameter specifies the x coordinate (magnetizing current) for the 4th value pair of the characteristic.
Sets the fourth magnetizing current of the saturation characteristic as a [%] referred to the rated magnetizing cur-
rent (r0331), for separately-excited synchronous motors referred to the no-load excitation current.
p0366 < p0367 < p0368 < p0369
Refer to: p0365
Description: Displays the motor stator resistance at an ambient temperature p0625. The value does not include the cable resis-
tance.
Description: Displays the cable resistance between the Motor Module and motor.
Description: Displays the rated motor stator resistance at rated temperature (sum from p0625 and p0627).
5.0 [%] 800.0 [%] 210.0 [%]
r0370[0...n] Motor stator resistance, cold / Mot R_stator cold
- [Ohm] - [Ohm] - [Ohm]
r0372[0...n] Cable resistance / Mot R_cable
- [Ohm] - [Ohm] - [Ohm]
r0373[0...n] Motor rated stator resistance / Mot R_stator rated
- [Ohm] - [Ohm] - [Ohm]
Parameters
List of parameters
Description: Displays the rotor/secondary section resistance of the motor for the ambient temperature p0625.
For separately-excited synchronous motors: Displays the damping resistance in the rotor direction (d-axis).
Description: Displays the damping resistance of the separately-excited synchronous motor quadrature to the rotor direction (q
axis).
Description: Displays the rated (nominal) rotor/secondary section resistance of the motor at the rated temperature (sum of
p0625 and p0628).
Description: Induction motor, separately-excited synchronous motor:
Displays the stator leakage inductance of the motor including the series inductance (p0353) for servo drives and the
motor reactor (p0233) for vector drives.
Synchronous motor:
Displays the stator quadrature axis inductance including the series inductance (p0353) for servo drives and the
motor reactor (p0233) for vector drives.
r0374[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
- [Ohm] - [Ohm] - [Ohm]
r0375[0...n] Motor damping resistance, q axis / Mot R_damping_q
- [Ohm] - [Ohm] - [Ohm]
r0376[0...n] Rated motor rotor resistance / Mot R_rotor rated
- [Ohm] - [Ohm] - [Ohm]
r0377[0...n] Motor leakage inductance, total / Mot L_leak total
- [mH] - [mH] - [mH]
List of parameters
Parameters
Description: Displays the stator longitudinal inductance of the synchronous motor including the series inductance (p0353) and
the motor reactor (p0233).
Note: The parameter is not used for separately-excited synchronous motors (p0300 = 5).
Description: Displays the damping inductance of the separately-excited synchronous motor in the rotor direction (d-axis).
Description: Displays the damping inductance of a separately-excited synchronous motor quadrature to the rotor direction (q
axis).
Description: Displays the magnetizing inductance of the motor.
For separately-excited synchronous motors: Displays the saturated magnetizing inductance in the rotor direction (d-
axis).
Description: Displays the saturated magnetizing inductance of a separately-excited synchronous motor quadrature to the rotor
direction (q axis).
r0378[0...n] Motor stator inductance, d axis / Mot L_stator_d
- [mH] - [mH] - [mH]
r0380[0...n] Motor damping inductance, d axis / Mot L_damping_d
- [mH] - [mH] - [mH]
r0381[0...n] Motor damping inductance, q axis / Mot L_damping_q
- [mH] - [mH] - [mH]
r0382[0...n] Motor magnetizing inductance transformed / Lh d axis saturated / Mot Lh t. / Lh d_s
- [mH] - [mH] - [mH]
r0383[0...n] Motor magnetizing inductance q axis, saturated / Mot Lh q_sat
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Displays the rotor time constant.
For separately-excited synchronous motors: Displays the damping time constant in the rotor direction (d-axis).
Note: The parameter is not used for synchronous motors.
The value is calculated from the sum of the inductances on the rotor side (p0358, p0360) divided by the rotor/damp-
ing resistance (p0354). The temperature adaptation of the rotor resistance for induction motors is not taken into
account.
Description: Displays the damping time constant of a separately-excited synchronous motor quadrature to the rotor direction (q
axis).
Note: The value is calculated from the sum of the inductances on the damping side (p0359, p0361) divided by the damp-
ing resistance (p0355).
Description: Displays the stator leakage time constant.
Note: The value is calculated from the sum of all leakage inductances (p0233*, p0353**, p0356, p0358) divided by the
sum of all motor resistances (p0350, p0352*, p0354).
The temperature adaptation of the resistances is not taken into account.
* only applies for VECTOR (r0107).
** only applies for SERVO (r0107).
Description: Displays the stator leakage time constant quadrature to the rotor direction (q axis).
Note: The value is calculated from the sum of all leakage inductances (p0233, p0356, p0359) divided by the sum of all
motor resistances (p0350, p0352, p0355).
The temperature adaptation of the resistances is not taken into account.
r0384[0...n] Motor rotor time constant / damping time constant d axis / Mot T_rot / T_Dd
- [ms] - [ms] - [ms]
r0385[0...n] Motor damping time constant, q axis / Mot T_Dq
- [ms] - [ms] - [ms]
r0386[0...n] Motor stator leakage time constant / Mot T_stator leak
- [ms] - [ms] - [ms]
r0387[0...n] Motor stator leakage time constant, q axis / Mot T_Sleak / T_Sq
- [ms] - [ms] - [ms]
List of parameters
Parameters
Description: Sets the excitation no-load current I_F0
Description: Sets the excitation rated current I_F.
Description: Sets the lower starting point of the current-dependent current controller adaptation.
Note: For p0393 = 100 %, the current controller adaptation is disabled and p1715 is effective over the entire range.
Description: Sets the upper starting point of the current-dependent current controller adaptation.
Description: Sets the factor for the current controller P gain after the adaptation range (currents greater than p0392). The value
is referred to p1715.
p0389[0...n] Motor no-load excitation current / Mot I_exc_no-load
0.00 [A] 10000.00 [A] 0.00 [A]
p0390[0...n] Motor rated excitation current / Mot I_exc_rated
0.00 [A] 10000.00 [A] 0.00 [A]
p0391[0...n] Current controller adaptation, lower starting point / I_adapt pt. lower
0.00 [Aeff] 6000.00 [Aeff] 0.00 [Aeff]
p0392[0...n] Current controller adaptation, upper starting point / I_adapt pt. upper
0.00 [Aeff] 6000.00 [Aeff] 0.00 [Aeff]
p0393[0...n] Current controller adaptation, P gain, scaling upper / I_adapt Kp upper
0.00 [%] 1000.00 [%] 100.00 [%]
Parameters
List of parameters
Description: Displays the actual stator resistance (phase value).
The parameter is influenced by the temperature model and includes the temperature-independent cable resistance.
Description: Displays the actual rotor/secondary section resistance (phase value).
The parameter is influenced by the temperature model.
Note: This parameter is not used for synchronous motors (p0300 = 2xx).
r0395[0...n] Stator resistance, actual / R_stator active
6730, 6731
- [Ohm] - [Ohm] - [Ohm]
r0396[0...n] Rotor resistance, actual / R_rotor active
- [Ohm] - [Ohm] - [Ohm]
List of parameters
Parameters
Description: Selects the encoder from the list of encoder types supported.
Values: 0: No encoder
1001: Resolver 1 speed
2001: 2048, 1 Vpp, A/B C/D R
2002: 2048, 1 Vpp, A/B R
2003: 256, 1 Vpp, A/B R
2004: 400, 1 Vpp, A/B R
2005: 512, 1 Vpp, A/B R
2010: 18000, 1 Vpp, A/B R distance-coded
2050: Encoder with EnDat interface identified
2051: 2048, 1 Vpp, A/B, EnDat, Multiturn 4096
2055: 2048, 1 Vpp, A/B, EnDat, Singleturn
2081: 2048, 1 Vpp, A/B, SSI, Singleturn
2082: 2048, 1 Vpp, A/B, SSI, Multiturn 4096
2110: 4000 nm, 1 Vpp, A/B R distance-coded
2151: 16000 nm, 1 Vpp, A/B, EnDat, resolution 100 nm
3001: 1024 HTL A/B R
3002: 1024 TTL A/B R
3003: 2048 HTL A/B R
3005: 1024 HTL A/B
3006: 1024 TTL A/B
3007: 2048 HTL A/B
3008: 2048 TTL A/B
3009: 1024 HTL A/B unipolar
3011: 2048 HTL A/B unipolar
3020: 2048 TTL A/B R, with sense
3081: SSI, Singleturn, 24 V
3082: SSI, Multiturn 4096, 24 V
3090: 4096, HTL, A/B, SSI, Singleturn
9999: User-defined
10000: Identify encoder
Note: The connected encoder can be identified by p0400 = 10000. This means that the encoder must support this and is
possible in the following cases: Motor with DRIVE-CLiQ, encoder with EnDat interface.
If an identification is not possible, then p0400 is set to 0.
The encoder data (e.g. pulse number p0408) can only be changed when p0400 = 9999.
Using p0400 = 20000, the encoder type can be selected from the list of OEM encoders using p0401.
p0400[0...n] Enc type selection / Enc type selection
Data type: Integer16 Dynamic index: EDS, p0140 Function diagram: 1580,
4704
0 10000 0
Parameters
List of parameters
Description: Selects the encoder from the list of encoder types that the OEM supports.
Note: The connected encoder can be identified by p0400 = 10000. This means that the encoder must support this and is
possible in the following cases: Motor with DRIVE-CLiQ, encoder with EnDat interface.
The encoder data (e.g. pulse number p0408) can only be changed when p0400 = 9999.
Using p0400 = 20000, the encoder type can be selected from the list of OEM encoders using p0401.
Description: Selects the gearbox from the list of gearbox types that are actually supported.
Values: 1: 1:1 not inverted
2: 3.5:1 inverted
3: 4.25:1 inverted
9999: User-defined
10000: Identify gearbox
Note: The gearbox used can be identified by p0402 = 10000. This means that the encoder must support this and is possi-
ble in the following cases: Motor with DRIVE-CLiQ.
Description: Settings for the basic encoder properties.
p0401[0...n] Encoder type, OEM selection / Enc type OEM sel
Data type: Integer16 Dynamic index: EDS, p0140 Function diagram: 1580,
4704
0 32767 0
p0402[0...n] Gearbox type selection / Gearbox type
1 10000 1
p0404[0...n] Encoder configuration effective / Enc_config eff
- - 0000 bin
00 Linear encoder Yes No -
01 Abs value encoder Yes No -
02 Multiturn encoder Yes No -
03 Track A/B sq-wave Yes No -
04 Track A/B sinus Yes No -
05 Track C/D Yes No -
06 Hall sensor Yes No -
08 EnDat encoder Yes No -
List of parameters
Parameters
Note: ZM: Zero mark
SMC: Sensor Module Cabinet
If a technique to determine the commutation information/data has not been selected (e.g. track C/D, Hall sensor),
and the encoder pulse number is an integer multiple of the pole number, then the following applies:
The track A/B is adjusted to match the magnetic position of the motor.
Re bit 1, 2 (absolute encoder, multi-turn encoder):
These bits can only be selected for EnDat or SSI encoders.
Re bit 12 (equidistant zero mark):
The zero marks occur at regular intervals (e.g. rotary encoder with 1 zero mark per revolution). The bit activates the
monitoring of the zero mark clearance (p0425).
Re bit 13 (irregular zero mark):
The zero marks occur at irregular intervals (e.g. a linear scale with only 1 zero mark in the traversing range). The
zero mark clearance is not monitored.
Re bit 14 (clearance-coded zero mark):
The distance (clearance) between two or several consecutive zero marks allows the absolute position to be calcu-
lated.
Re bit 15 (commutation with zero mark):
For clearance-coded zero marks, the following applies:
The phase sequence of the Hall signal (if available) must be the same as the phase sequence of the encoder.
The fine synchronization is only started after two zero marks have been passed.
Description: Settings for the track A/B of a square-wave encoder. For square-wave encoders, p0404.3 must also be 1.
Description: Sets the grid division for a linear encoder.
Note: The lowest permissible value is 250 nm.
09 SSI encoder Yes No -
12 Equidistant zero mark Yes No -
13 Irregular zero mark Yes No -
14 Distance-coded zero mark Yes No -
15 Commutation with zero mark Yes No -
16 Acceleration Yes No -
20 Voltage level 5 V Yes No -
22 Remote sense (only SMC30) Yes No -
23 Resolver excit. Yes No -
p0405[0...n] Square-wave encoder track A/B / Sq-wave enc A/B
- - 1111 bin
00 Signal Bipolar Unipolar -
01 Level TTL HTL -
02 Track monitoring A/B <> -A/B None -
03 Zero pulse Same as A/B track 24 V unipolar -
p0407[0...n] Linear encoder grid division / Enc grid div
4704
0 [nm] 250000000 [nm] 16000 [nm]
Parameters
List of parameters
Description: Sets the number of pulses for a rotary encoder.
Note: The number of pole pairs for a resolver is entered here.
The smallest permissible value is 1 pulse.
Description: Sets the number of pulses for a rotary encoder.
Description: Setting to invert actual values.
Note: The inversion influences the following parameters:
Bit 00: r0061, r0063 (exception: sensorless control), r0094
Bit 01: r0482, r0483
Description: Sets the configuration for position tracking of a measuring gearbox.
Note: For the following events, the non-volatile, saved position values are automatically reset:
- when an encoder replacement has been identified.
- when changing the configuration of the Encoder Data Set (EDS).
p0408[0...n] Rotary encoder pulse No. / Rot enc pulse No.
4704
0 16777215 2048
p0408 Rotary encoder pulse No. / Rot enc pulse No.
TM41 Can be changed: C2(4) Access level: 3
9676
1000 8192 2048
p0410[0...n] Encoder inversion actual value / Enc inv act value
- - 0000 bin
00 Invert speed actual value Yes No 4710,
4715
01 Invert position actual value Yes No 4704
p0411[0...n] Measuring gearbox, configuration / Config
- - 0000 bin
00 Measuring gearbox, activate position track-
ing
Yes No -
02 Measuring gearbox, reset position Yes No -
List of parameters
Parameters
Description: Sets a tolerance window for position tracking.
After the system is powered-up, the difference between the saved position and the actual position is determined,
and depending on this, the following is initiated:
Difference within the tolerance window --> The position is reproduced as a result of the encoder actual value.
Difference outside the tolerance window --> An appropriate message is output.
Dependency: Refer to: F31501, F32501, F33501
Caution: Rotation, e.g. through a complete encoder range is not detected.
Note: For p0411.0 = 1, the value is automatically pre-assigned half the encoder range.
Example: Half the encoder range = (p0408 * p0421) / 2
Description: Sets the fine resolution in bits of the incremental position actual values.
Note: The parameter applies for the following process data:
- Gx_XIST1
- Gx_XIST2 for reference mark or flying measurement
Description: Sets the fine resolution in bits of the incremental position actual values.
Description: Sets the fine resolution in bits of the absolute position actual values.
Note: This parameter applies to process data Gx_XIST2 when reading the absolute value.
p0413[0...n] Measuring gearbox, position tracking tolerance window / Pos track window
0 4294967295 0
p0418[0...n] Fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1
4704
2 18 11
p0418 Fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1
9676
2 18 11
p0419[0...n] Fine resolution absolute value Gx_XIST2 (in bits) / Enc fine Gx_XIST2
2 18 9
Parameters
List of parameters
Description: Selecting the encoder connection.
Description: Sets the number of rotations that can be resolved for a rotary absolute encoder.
Description: Sets the resolution of the absolute position for a linear absolute encoder.
Note: The serial protocol of an absolute encoder provides the position with a certain resolution , e.g. 100 nm. This value
must be entered here.
Description: Sets the number of measuring steps per revolution for a rotary absolute encoder. The resolution refers to the abso-
lute position.
Description: Sets the distance between two zero marks for a linear encoder. This information is used for zero mark monitoring.
Note: For distance-coded zero marks, this means the basic distance.
p0420[0...n] Encoder connection / Encoder connection
- - 0000 bin
00 SUB-D Yes No -
01 Terminal Yes No -
p0421[0...n] Absolute encoder rotary multi-turn resolution / Enc abs multiturn
0 65535 4096
p0422[0...n] Absolute encoder linear measuring step resolution / Enc abs meas step
0 [nm] 4294967295 [nm] 100 [nm]
p0423[0...n] Absolute encoder rotary single-turn resolution / Enc abs singleturn
0 1073741823 8192
p0424[0...n] Encoder, linear zero mark distance / Enc lin ZM_dist
0 [mm] 65535 [mm] 20 [mm]
List of parameters
Parameters
Description: Sets the distance in pulses between two zero marks for a rotary encoder. This information is used for zero mark
monitoring.
Note: For distance-coded zero marks, this means the basic distance.
Description: Sets the baud rate for an SSI encoder.
Note: SSI: Synchronous Serial Interface
Description: Sets the minimum delay time between two data transfers of the absolute value for an SSI encoder.
Description: Sets the configuration for an SSI encoder.
Note: Re bit 06:
The quiescent signal level of the data line corresponds to the inverted, set level.
p0425[0...n] Encoder, rotary zero mark distance / Enc rot dist ZM
8570
0 16777215 2048
p0427[0...n] Encoder SSI baud rate / Enc SSI baud rate
Data type: Floating Point Dynamic index: EDS, p0140 Function diagram: -
0 [kHz] 65535 [kHz] 100 [kHz]
p0428[0...n] Encoder SSI monoflop time / Enc SSI t_monoflop
0 [s] 65535 [s] 30 [s]
p0429[0...n] Encoder SSI configuration / Enc SSI config
- - 0000 bin
00 Transfer code Binary code Gray code -
02 Transfer absolute value twice Yes No -
06 Data line during the monoflop time High level Low level -
Parameters
List of parameters
Description: Sets the configuration of the Sensor Module.
Description: Sets the angular commutation offset.
Dependency: The value is taken into account in r0094.
Refer to: r0094, r1778
Notice: The angular commutation offset cannot be generally taken from other drive systems. As a minimum - the sign of the
offset determined for SIMODRIVE 611 digital and SIMODRIVE 611 universal must be reversed for SINAMICS
(p0431 (SINAMICS) = -p1016 (SIMODRIVE)).
Note: For p0404.5 = 1 (track C/D) the following applies:
The angular offset in p0431 acts on track A/B, the zero mark on track C/D.
For p0404.6 = 1 (Hall sensor) the following applies:
The angular offset in p0431 acts on track A/B and the zero mark.
Description: Sets the encoder revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between
the encoder shaft and the load.
Note: Negative gearbox factors should be implemented with p0410.
p0430[0...n] Sensor Module configuration / SM config
- - 1110 0000 0000 1000 0000
0000 0000 0000 bin
17 Burst oversampling Yes No -
19 Safety position actual value sensing Yes No -
20 Speed calculation mode (only SMC30) Incremental diff Flank time meas -
21 Zero mark tolerance Yes No -
29 Phase correction Yes No -
30 Amplitude correction Yes No -
31 Offset correction Yes No -
p0431[0...n] Angular commutation offset / Ang_com offset
Data type: Floating Point Dynamic index: EDS, p0140 Function diagram: -
-180.00 [] 180.00 [] 0.00 []
p0432[0...n] Gearbox factor, encoder revolutions / Grbx_fact enc_rev
1 10000 1
List of parameters
Parameters
Description: Sets the motor and load revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between
the encoder shaft and the load.
Note: Negative gearbox factors should be implemented with p0410.
Description: Sets the position and level of the error bit in the SSI protocol.
Notice: The bit may only be positioned before (p0446) or after (p0448) the absolute value in the SSI protocol.
Note: Value = dcba
ba: Position of the error bit in the protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
d: State of the evaluation (0: Off, 1: On).
Example:
p0434 = 1013
--> The evaluation is switched-in and the error bit is at position 13 with a low level.
p0434 = 1113
--> The evaluation is switched-in and the error bit is at position 13 with a high level.
Description: Sets the position and level of the alarm bit in the SSI protocol.
Note: Value = dcba
ba: Position of the alarm bit in protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
Example:
p0435 = 1014
--> The evaluation is switched-in and the alarm bit is at position 14 with a low level.
p0435 = 1114
--> The evaluation is switched-in and the alarm bit is at position 14 with a high level.
p0433[0...n] Gearbox factor, motor/load revolutions / Grbx_fact mot_rev
1 10000 1
p0434[0...n] Encoder SSI error bit / Enc SSI error bit
0 65535 0
p0435[0...n] Encoder SSI alarm bit / Enc SSI alarm bit
0 65535 0
Parameters
List of parameters
Description: Sets the position and parity of the parity bit in the SSI protocol.
Note: Value = dcba
ba: Position of the parity bit in the protocol (0 ... 63).
c: Parity (0: even, 1: uneven).
Example:
p0436 = 1015
--> The evaluation is switched-in and the parity bit is at position 15 with even parity.
p0436 = 1115
--> The evaluation is switched-in and the parity bit is at position 15 with uneven parity.
Description: Copies the actual serial number of the encoder belong to this encoder data set to p0441 ... p0445.
Example:
For p0440[0] = 1, the serial number of the encoder belonging EDS0 is copied to p0441[0] ... p0445[0].
Values: 0: No action
1: Transfer serial number
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0463, r0464, p1990
Note: For encoders with serial number, encoder replacement is monitored in order to request angular commutation cali-
bration (adjustment) for motor encoders and absolute calibration for direct measuring systems with absolute value
data. The serial number, which from then onwards is used for monitoring purposes, can be transferred using p0440.
In the following cases, copying is automatically started in the following cases:
1.) When commissioning 1FT6, 1FK6, 1FK7 motors.
2.) When writing into p0431.
3.) For p1990 = 1.
p0440 is automatically set to 0 when the copying has been completed.
In order to permanently accept the copied values, it is necessary to save in a non-volatile fashion (p0977).
Description: Serial number part 1 of the encoder for the commissioning.
Dependency: Refer to: p0440, p0442, p0443, p0444, p0445, r0460, r0461, r0462, r0463, r0464
Refer to: F07414
Note: A value of zero is displayed if an encoder is not present.
p0436[0...n] Encoder SSI parity bit / Enc SSI parity bit
0 65535 0
p0440[0...n] Copy encoder serial number / Copy enc ser_no
0000 hex 0001 hex 0000 hex
p0441[0...n] Encoder commissioning serial number part 1 / Enc comm ser_no 1
List of parameters
Parameters
Refer to: F07414
Refer to: F07414
Refer to: F07414
Refer to: F07414
Parameters
List of parameters
Description: Sets the number of bits before the absolute value in the SSI protocol.
Note: For example, error bit, alarm bit or parity bit can be positioned at these bits.
Description: Sets the number of bits for the absolute value in the SSI protocol.
Description: Sets the number of bits after the absolute value in the SSI protocol.
Note: For example, error bit, alarm bit or parity bit can be positioned at these bits.
Description: Sets the number of filler bits for double absolute value transfer in the SSI protocol.
Note: This parameter is only of significance for p0429.2 = 1.
Description: Displays the relationship between the electrical and mechanical pole positions.
Index: [0] = Encoder 1
[1] = Encoder 2
[2] = Encoder 3
p0446[0...n] Encoder SSI number of bits before the absolute value / Enc SSI bit before
0 65535 0
p0447[0...n] Encoder SSI number of bits absolute value / Enc SSI bit val
0 65535 25
p0448[0...n] Encoder SSI number of bits after the absolute value / Enc SSI bit after
0 65535 0
p0449[0...n] Encoder SSI number of bits, filler bits / Enc SSI fill bits
0 65535 1
r0451[0...2] Commutation angle factor / Enc commut_factor
- - -
List of parameters
Parameters
Description: Displays the detected encoder configuration.
In this case, the encoder must automatically support the function (e.g. encoder with EnDat interface).
[1] = Encoder 2
[2] = Encoder 3
Note: ZM: Zero mark
This parameter is only used for diagnostics.
A value of zero is displayed if an encoder is not present.
Description: Contains the encoder configuration supported by the Sensor Module.
[1] = Encoder 2
[2] = Encoder 3
r0455[0...2] Encoder configuration recognized / Enc config act
- - 0000 bin
r0456[0...2] Encoder configuration supported / Enc config supp
- - 0000 bin
Parameters
List of parameters
Note: ZM: Zero mark
This parameter is only used for diagnostics.
A value of zero is displayed if an encoder is not present.
Description: Sets the Sensor Module configuration.
[1] = Encoder 2
[2] = Encoder 3
r0458[0...2] Sensor Module properties / SM properties
- - 0000 bin
00 Encoder data available Yes No -
01 Motor data available Yes No -
02 KTY84 connection available Yes No -
03 PTC connection available Yes No -
04 Module temperature available Yes No -
05 Absolute encoder p0408/p0421, no power
of 2
Yes No -
06 Encoder module permits parking/unparking Yes No -
07 Hall sensor can be combined with actual
value inversion
Yes No -
08 External temperature evaluation being used Yes No -
09 Encoder fault and its associated information
available
Yes No -
10 Speed diagnostics in the sensor module Yes No -
16 Pole position identification Yes No -
17 Burst oversampling Yes No -
19 Safety position actual value sensing Yes No -
20 Extended speed calculation being used
(only SMC30)
Yes No -
21 Zero mark tolerance Yes No -
29 Phase correction Yes No -
30 Amplitude correction Yes No -
31 Offset correction Yes No -
List of parameters
Parameters
Description: Displays the actual serial number part 1 of the appropriate encoder.
[1] = Encoder 2
[2] = Encoder 3
Dependency: Refer to: p0441, p0442, p0443, p0444, p0445, r0461, r0462, r0463, r0464
[1] = Encoder 2
[2] = Encoder 3
[1] = Encoder 2
[2] = Encoder 3
[1] = Encoder 2
[2] = Encoder 3
r0460[0...2] Encoder serial number part 1 / Enc ser_no 1
- - -
- - -
- - -
- - -
Parameters
List of parameters
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the encoder actual position value Gn_XIST1 according to PROFIdrive for diagnostics. In contrast to
p0482, the value is updated in each DRIVE-CLiQ basic clock cycle and displayed with sign.
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the encoder actual position value Gn_XIST1 according to PROFIdrive for diagnostics. In contrast to
Description: Sets the signal source for the encoder control word Gn_STW according to PROFIdrive.
[1] = Encoder 2
[2] = Encoder 3
- - -
r0479[0...2] CO: Diagnostics encoder position actual value Gn_XIST1 / Diag Gn_XIST1
- - -
r0479 CO: Diagnostics encoder position actual value Gn_XIST1 / Diag Gn_XIST1
- - -
p0480[0...2] CI: Signal source for encoder control word Gn_STW / Enc S_src Gn_STW
4720
- - 0
List of parameters
Parameters
Description: Displays the encoder status word Gn_ZSW according to PROFIdrive.
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the encoder status word Gn_ZSW according to PROFIdrive.
Note: For p4401 = 0, the following applies:
For Terminal Module 41 (TM41), this value is used to interconnect with standard telegram 3 and is always zero.
For p4401 = 1, the following applies:
r0481.0 indicates as to whether the zero mark synchronization is active.
r0481.4 indicates whether the zero mark of the incremental encoder was found.
r0481.14 indicates whether the output of track A/B is activated.
r0481[0...2] CO: Encoder status word Gn_ZSW / Enc Gn_ZSW
4704, 4730
- - 0000 bin
00 Function 1 active Yes No -
04 Value 1 Displayed in r0483 Does not exist -
08 Measuring probe 1 deflected Yes No -
11 Encoder fault acknowledge active Yes No -
13 Absolute value cyclically Displayed in r0483 No -
14 Parking encoder active Yes No -
15 Encoder fault Displayed in r0483 None -
r0481 CO: Encoder status word Gn_ZSW / Enc Gn_ZSW
- - 0000 bin
11 Encoder fault acknowledge active Yes No -
13 Absolute value cyclically Displayed in r0483 No -
14 Parking encoder active Yes No -
15 Encoder fault Displayed in r0483 None -
Parameters
List of parameters
Description: Displays the encoder actual position value Gn_XIST1 according to PROFIdrive.
[1] = Encoder 2
[2] = Encoder 3
Note: This value is reset when de-selecting the function "parking axis".
Recommenda-
tion:
Possible causes of the error codes:
Error code 4097 and 4098: Defective Control Unit hardware.
Error codes 4099 and 4100: Too many measuring pulses have occurred.
[1] = Encoder 2
[2] = Encoder 3
Note: If Gx_ZSW.14 = 0 and GxZSW.15 = 1 (r0481), then an error code with the following significance is located in
Gx_XIST2 (r0483):
1: Encoder fault
2: Reserved
3: Reserved
4: Abort, reference mark search
5: Abort, retrieve reference value
6: Abort, flying measurement
7: Abort, retrieve measured value
8: Abort, absolute value transfer
3841: Function not supported
4097: Abort, reference mark search due to an initialization error
4098: Abort, flying measurement due to an initialization error
4099: Abort, reference mark search due to a measuring error
4100: Abort, flying measurement due to a measuring error
r0482[0...2] CO: Encoder actual position value Gn_XACT1 / Enc Gn_XIST1
2450, 3090, 4010, 4704, 4740
- - -
r0482 CO: Encoder actual position value Gn_XACT1 / Enc Gn_XIST1
- - -
r0483[0...2] CO: Encoder actual position value Gn_XACT2 / Enc Gn_XIST2
2450, 4704
- - -
List of parameters
Parameters
Note: For Terminal Module 41 (TM41), this value is used to interconnect with standard telegram 3 and is always zero.
Description: Displays the redundant coarse encoder position including CRC (Cyclic Redundancy Check).
Upper 16 bits:
CRC over the redundant coarse encoder position.
Lower 16 bits:
Redundant coarse encoder position. The count direction is opposite to r0482 (encoder position actual value
Gn_XIST1). The value contains 2 bit fine resolution.
[1] = Encoder 2
[2] = Encoder 3
Dependency: The values are valid when the safety position actual value sensing is activated (p0430.19 = 1).
Refer to: p0430
Note: This absolute value does not change, contrary to r0482, when de-selecting the function "parking axis".
Description: Displays the raw value of the incremental encoder actual value before the measuring gearbox.
[1] = Encoder 2
[2] = Encoder 3
Description: Displays the raw value of the absolute encoder actual value before the measuring gearbox.
[1] = Encoder 2
[2] = Encoder 3
r0483 CO: Encoder actual position value Gn_XACT2 / Enc Gn_XIST2
- - -
r0484[0...2] CO: Redundant coarse encoder position + CRC Gn_XIST1 / Enc red pos+CRC
- - -
r0485[0...2] CO: Measuring gearbox, encoder raw value incremental / Enc raw val incr
- - -
r0486[0...2] CO: Measuring gearbox, encoder raw value absolute / Enc raw val abs
- - -
Parameters
List of parameters
Description: Displays the encoder control word Gn_STW according to PROFIdrive for diagnostics.
[1] = Encoder 2
[2] = Encoder 3
Note: The signal source for the encoder control word is set with p0480.
Description: Sets the input terminal to connect probe 1.
Values: 0: No meas probe
1: DI/DO 9 (X122.8/X121.8)
2: DI/DO 10 (X122.10/X121.10)
3: DI/DO 11 (X122.11/X121.11)
4: DI/DO 13 (X132.8)
5: DI/DO 14 (X132.10)
6: DI/DO 15 (X132.11)
[1] = Encoder 2
[2] = Encoder 3
Notice: To the terminal designation:
The first designation is valid for CU320, the second for CU310.
Note: DI/DO: Bidirectional Digital Input/Output
The terminal must be set as input (p0728).
Refer to the encoder interface for PROFIdrive.
r0487[0...2] Diagnostic encoder control word Gn_STW / Enc Gn_STW
4704, 4720, 4740
- - 0000 bin
00 Request function 1 Yes No -
04 Request command bit 0 Yes No -
07 Mode flying measurement / search for refer-
ence
Flying measurement Reference marks -
13 Request absolute value cyclic Yes No -
14 Request parking encoder Yes No -
15 Request acknowledge encoder fault Yes No -
p0488[0...2] Measuring probe 1 input terminal / Meas probe 1 input
0 6 0
List of parameters
Parameters
Description: Sets the input terminal to connect probe 2.
1: DI/DO 9 (X122.8/X121.8)
2: DI/DO 10 (X122.10/X121.10)
3: DI/DO 11 (X122.11/X121.11)
4: DI/DO 13 (X132.8)
5: DI/DO 14 (X132.10)
6: DI/DO 15 (X132.11)
[1] = Encoder 2
[2] = Encoder 3
Refer to the encoder interface for PROFIdrive.
Description: Setting to invert the digital input signals to connect a measuring probe or an equivalent zero mark.
The second designation is only applicable for CU310.
Note: The terminal must be set as input.
When the measuring probe or the equivalent zero mark is inverted, this has no effect on the status displays of the
digital inputs (r0721, r0722, r0723).
DI: Digital input, DO: Digital output
p0489[0...2] Measuring probe 2 input terminal / Meas probe 2 input
0 6 0
p0490 Invert measuring probe or equivalent zero mark / Meas. probe invert
- - 0000 bin
09 DI/DO 9 (X122.8/X121.8) Inverted Not inverted -
13 DI/DO 13 (X132.8) Inverted Not inverted -
Parameters
List of parameters
Description: Sets the behavior for the ENCODER fault response (motor encoder).
This means, for example, if an encoder fault occurs, sensorless operation can be automatically selected with a
shutdown behavior that can be selected.
Values: 0: Encoder fault results in OFF2
1: Enc fault results in sensorless oper. and oper. continues
2: Encoder fault results in sensorless operation and OFF1
Dependency: The following parameters are relevant for sensorless operation.
Refer to: p0341, p0342, p1470, p1472, p1517, p1612, p1755
Refer to: F07575
Note: For a value 1, 2, 3, the following applies:
Encoderless operation must have been commissioned.
Refer to the status display "sensorless operation due to a fault" (BO: r1407.13).
For sensorless operation (p1404 = 0 or p1300 = 20), the following applies:
- The condition must be fulfilled: p1800 >= n / (2 * p0115[0]), n = 1, 2, ...
- For motors with a small power rating (< 300 W) we recommend to set n >= 2.
Description: Sets the behavior for the ENCODER fault response (motor encoder).
This means, for example, if an encoder fault occurs, sensorless operation can be automatically selected with a
shutdown behavior that can be selected.
Values: 0: Encoder fault results in OFF2
1: Enc fault results in sensorless oper. and oper. continues
Dependency: The following parameters are relevant for sensorless operation.
Refer to: p0341, p0342, p1470, p1472, p1517, p1612, p1755
Refer to: F07575
Note: For a value 1, 2, 3, the following applies:
Encoderless operation must have been commissioned.
Refer to the status display "sensorless operation due to a fault" (BO: r1407.13).
Not possible for separately excited synchronous motors (p0300 = 5).
p0491 Motor encoder fault response ENCODER / Fault resp ENCODER
SERVO Can be changed: T Access level: 3
0 3 0
p0491 Motor encoder fault response ENCODER / Fault resp ENCODER
VECTOR Can be changed: T Access level: 3
0 3 0
List of parameters
Parameters
Description: Maximum permissible speed difference between two computation cycles when evaluating square-wave encoders.
When the value is exceeded, depending on p0491, either sensorless closed-loop speed/torque control is selected
or the drive is powered-down.
Note: For a value of 0.0, the speed change monitoring is disabled.
When half of the parameter value is exceeded, an alarm is already generated and the speed limiting is limited to
this.
The parameter is only pre-assigned for vector drives when selecting p0340 = 1, 3.
Description: Maximum permissible velocity difference between two computation cycles when evaluating square-wave encoders.
When the value is exceeded, depending on p0491, either a sensorless closed-loop velocity/force control is selected
or the drive is powered-down.
Note: For a value of 0.0, the velocity change monitoring is disabled.
When half of the parameter value is exceeded, an alarm is already generated and the velocity change is limited to
this.
Description: Selects the input terminal for connecting an equivalent zero mark (external encoder zero mark).
Values: 0: No equivalent zero mark (evaluation of the encoder zero mark)
1: DI/DO 9 (X122.8/X121.8)
2: DI/DO 10 (X122.10/X121.10)
3: DI/DO 11 (X122.11/X121.11)
4: DI/DO 13 (X132.8)
5: DI/DO 14 (X132.10)
6: DI/DO 15 (X132.11)
[1] = Encoder 2
[2] = Encoder 3
Note: Refer to the encoder interface for PROFIdrive.
The terminal must be set as input.
For p0495 = 0 (factory setting), the encoder zero mark is evaluated as zero mark.
For p0495 > 0, the following applies:
p0492 Square-wave encoder, maximum speed difference per sampling cycle / n_dif
max/samp_cyc
0.0 [1/min] 210000.0 [1/min] 0.0 [1/min]
p0492 Square-wave encoder, max. velocity difference per sampling cycle / v_dif
max/samp_cyc
SERVO (Lin) Can be changed: U, T Access level: 3
0.0 [m/min] 1000.0 [m/min] 0.0 [m/min]
p0495[0...2] Equivalent zero mark, input terminal / Zero mark input
0 6 0
Parameters
List of parameters
Depending on the direction of motion, the positive or negative edge at the appropriate input is evaluated.
- increasing position actual values (r0482) --> the 0/1 edge is evaluated.
- decreasing position actual values (r0482) --> the 1/0 edge is evaluated.
Only one zero mark is supported. If function 2, 3 or 4 is selected, this results in an error message in Gn_ZSW.
The inversion of the inputs via p0490 affects the function "referencing with equivalent zero mark". This is the reason
that the edge evaluation is interchanged as a function of the direction of motion.
An input can only be assigned to one encoder as measuring probe 1, 2 or equivalent zero mark. Exception: The
same encoder can be simultaneously used as measuring probe and equivalent zero mark as both functions cannot
be simultaneously requested.
Description: Selects the trace signal to be output in r0497, r0498 and r0499 for encoder diagnostics.
Values: 0: not active
1: r0497: Mechanical revolution
10: r0498: Raw value, track A, r0499: Raw value, track B
11: r0498: Fine position X (-A/2), r0499: Fine position Y (-B/2)
12: r0498: Fine position Phi, r0499: -
13: r0498: Offset correction X, r0499: Offset correction Y
14: r0498: Phase correction X, r0499: Amplitude correction Y
20: r0498: Raw value, track C, r0499: Raw value, track D
21: r0498: CD position X (-D/2), r0499: CD position Y (C/2)
22: r0498: CD position Phi, r0499: CD pos. Phi - mech. revolution
23: r0497: Zero mark status
30: r0497: Absolute position serial
31: r0497: Absolute position, incremental
32: r0497: Zero mark position
40: r0498: Raw temperature, r0499: Temperature in 0.1 C
41: r0498: Resistance in 0.1 Ohm, r0499: Temperature in 0.1 C
42: r0497: Resistance 2500 Ohm
[1] = Encoder 2
[2] = Encoder 3
Note: Re p0496 = 1: 360 <--> 2^32
Re p0496 = 10, 20 (resolver): 2900 mV <--> 26214 dec
Re p0496 = 10, 20 (sin/cos 1 Vpp, EnDat): 500 mV <--> 21299 dec
Re p0496 = 11, 21 (resolver): 2900 mV <--> 13107 dec, internal processor offset is corrected
Re p0496 = 13 (resolver): 2900 mV <--> 13107 dec
Re p0496 = 11, 21 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec, internal processor offset is corrected
Re p0496 = 13 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec
Re p0496 = 12: 180 fine position <--> 32768 dec
Re p0496 = 14: 100 % <--> 16384 dec
Re p0496 = 22: 180 <--> 32768 dec
Re p0496 = 23: Encoder zero mark <--> MSB set (detected during the zero mark or at least 1 current controller
clock cycle)
Re p0496 = 30: Rotary: 1 single-turn measuring step <--> 1 dec, linear: 1 measuring step <--> 1 dec
Re p0496 = 31: Absolute position, incremental in 1/4 encoder pulses
Re p0496 = 32: Zero mark position in 1/4 encoder pulses
Re p0496 = 40: r0498 <--> (R_KTY/1 kOhm - 0.9) * 32768
Re p0496 = 42: 2500 Ohm <--> 2^32
p0496[0...2] Encoder diagnostic signal selection / Enc diag selection
0 42 0
List of parameters
Parameters
Description: Trace signal for encoder diagnostics (double word representation). The output signal is selected in p0496.
[1] = Encoder 2
[2] = Encoder 3
Description: Trace signal for encoder diagnostics (low component). The output signal is selected in p0496.
[1] = Encoder 2
[2] = Encoder 3
Description: Trace signal for encoder diagnostics (high component). The output signal is selected in p0496.
[1] = Encoder 2
[2] = Encoder 3
Description: Sets the technology application.
The parameter influences the calculation of open-loop and closed-loop control parameters that is e.g. initiated using
p0578.
The calculation of the following parameters depends on p0500 (only for servo drives): p1520, p1521, p1530, p1531
Values: 100: Standard drive (SERVO)
101: Feed drive (limit current limitation)
102: Spindle drive (rated current limitation)
Note: The calculation of parameters, dependent on the technological application can be called-up as follows:
- when exiting the quick commissioning using p3900 > 0
- when writing p0340 = 1, 3, 5
- when writing p0578 = 1
r0497[0...2] Encoder diagnostic signal double word / Enc diag DW
- - -
r0498[0...2] Encoder diagnostic signal word low / Enc diag word low
- - -
r0499[0...2] Encoder diagnostic signal word high / Enc diag word high
- - -
p0500 Technology application / Techn application
SERVO Can be changed: C2(1, 5), T Access level: 2
P-Group: Applications Units group: - Unit selection: -
100 102 100
Parameters
List of parameters
Description: Sets the technology application.
The parameter influences the calculation of open-loop and closed-loop control parameters that is e.g. initiated using
p0578.
The calculation of the following parameters depends on p0500 (only for servo drives): p1520, p1521, p1530, p1531
Values: 0: Standard drive (VECTOR)
1: Pumps and fans
Note: The calculation of parameters, dependent on the technological application can be called-up as follows:
- when exiting the quick commissioning using p3900 > 0
- when writing p0340 = 1, 3, 5
- when writing p0578 = 1
Description: Setting parameter of the actual system of units.
Values: 1: System of units SI
2: System of units, referred/SI
3: US system of units
4: System of units, referred/US
Note: Reference parameter for the unit system % are, for example, p2000 ... p2004. Depending on what has been
selected, these are displayed using either SI or US units.
Description: For controller gains, changes-over the units system between physical and referred (without dimensions) represen-
tation types.
Values: 0: Physical representation
1: No dimensions (referred) representation type
Note: Controller gain factors are always saved as physical units.
For VECTOR (r0107) the following applies:
The parameter is pre-assigned a value of 1. The parameter cannot be changed.
p0500 Technology application / Techn application
VECTOR Can be changed: C2(1, 5), T Access level: 2
0 1 1
p0505 Selecting the system of units / Select unit sys
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
1 4 1
p0528 Units system for controller gains / Units for Kp
SERVO, TM41 Can be changed: C2(5) Access level: 4
0 1 0
List of parameters
Parameters
Description: For controller gains, changes-over the units system between physical and referred (without dimensions) represen-
tation types.
Values: 0: Physical representation
1: No dimensions (referred) representation type
Note: Controller gain factors are always saved as physical units.
The parameter is pre-assigned a value of 1. The parameter cannot be changed.
Description: This parameter is used to calculate all parameters that depend on the technology of the application (p0500).
All of the parameters are calculated that can also be determined using p0340 = 5.
1: Complete parameterization
Note: At the end of the calculations, p0578 is automatically set to 0.
Description: Sets the input terminal for the measuring probe for speed actual value measurement.
1: DI/DO 9 (X122.8/X121.8)
2: DI/DO 10 (X122.10/X121.10)
3: DI/DO 11 (X122.11/X121.11)
4: DI/DO 13 (X132.8)
5: DI/DO 14 (X132.10)
6: DI/DO 15 (X132.11)
Refer to: A07350
p0528 Units system for controller gains / Units for Kp
0 1 1
p0578[0...n] Calculate parameters that are dependent on the technology/units / Calc techn par
0 1 0
p0580 Measuring probe, input terminal / Meas probe term
SERVO Can be changed: U, T Access level: 3
0 6 0
Parameters
List of parameters
Description: Sets the edge to evaluate the measuring probe signal for speed actual value measurement.
0: 0/1 edge
1: 1/0 edge
Description: Sets the number of pulses per revolution (e.g. for disks with holes).
Description: Sets the maximum measuring time for the measuring probe.
If a new pulse is not received before the maximum measuring time has expired, then the speed actual value in
r0586 is set to zero. This timer stage is re-started with the next pulse.
Description: Displays the speed actual value measured using the BERO.
Note: If a measuring probe is not selected (p0580 = 0), then a value of zero is displayed.
Description: Displays the velocity actual value measured using the BERO.
p0581 Meas probe, edge / Meas probe, edge
0 1 0
p0582 Measuring probe, pulses per revolution / Meas probe pulses
1 12 1
p0583 Measuring probe, maximum measuring time / Meas probe t_max
0 [s] 10 [s] 10 [s]
r0586 CO: Measuring probe, speed actual value / Meas probe n_act
- [1/min] - [1/min] - [1/min]
r0586 CO: Measuring probe, velocity actual value / Meas probe v_act
List of parameters
Parameters
Description: Displays the time between the last two BERO pulses.
The measuring time is specified as 32-bit value with a resolution of 1/48 s.
If a new pulse is not received before the maximum measured time in p0583 expires, then r0587 is set to the maxi-
mum measuring time.
Description: Displays the number of measuring pulses that have occurred (been received) up until now.
Note: After reaching 4294967295 (2^32 - 1), the counter starts again at 0.
Description: Displays the time since the last measuring pulse was detected.
The delay time is specified as 32-bit value with a resolution of 1/48 s.
When a measuring pulse occurs (is received) the delay time is reset and is limited to the maximum measuring time
in p0583.
Description: Indicates the unit descriptors including the currently set units.
Dependency: Refer to: p0100, p0349, p0505, r0591, r0592, r0593, p0596
Note: All indices of r590, r592 and r593 designate the same conversion rule.
The unit descriptor is in r590[x], the actual factor for this in r592[x] and the actual offset for this in r593[x].
r0587 CO: Measuring probe, measuring time measured / Meas probe t_meas
- - -
r0588 CO: Measuring probe, pulse counter / Meas probe P_count
- - -
r0589 Measuring probe, delay time / Meas probe t_delay
- - -
r0590[0...69] Units descriptor display / Unit descriptor
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - -
Parameters
List of parameters
Description: Number of unit descriptors.
Dependency: Refer to: r0590, r0592, r0593
Description: Factor for the unit descriptor. The factor is part of a calculation rule that allows conversion into the currently set units
of the unit descriptor. The value -1.0 means that this calculation rule is not valid.
Description: Offset to the the unit descriptor. The offset is part of a calculation rule that allows conversion into the currently set
units of the unit descriptor.
r0591 Number of unit descriptors / Qty unitDescriptor
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - -
r0592[0...69] Unit descriptors factor / Unit descrip fac
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - -
r0593[0...69] Unit descriptor offset / UnitDescriptor off
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - -
List of parameters
Parameters
Description: Selects the units for the parameters of the technology controller.
Values: 1: %
2: 1 referred, no dimensions
3: Bar
4: C
5: Pa
6: ltr/s
7: m/s
8: ltr/min
9: m/min
10: ltr/h
11: m/h
12: kg/s
13: kg/min
14: kg/h
15: t/min
16: t/h
17: N
18: kN
19: Nm
20: psi
21: F
22: gallon/s
23: inch/s
24: gallon/min
25: inch/min
26: gallon/h
27: inch/h
28: lb/s
29: lb/min
30: lb/h
31: lbf
32: lbf ft
Description: Sets the reference quantity for the technological units. When changing-over using changeover parameter 595 to
absolute units, all of the parameters involved refer to the reference quantity.
p0595 Selecting technological units / Select tech units
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
1 32 1
p0596 Reference quantity, technological units / Ref tech units
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.01 340.28235E36 1.00
Parameters
List of parameters
Description: Sets the sensor to monitor the motor temperature.
Values: 0: No sensor
1: Temperature sensor via encoder 1
10: Temperature sensor via a BICO interconnection
11: Temperature sensor via Motor Module
Dependency: Refer to: r0458, p0601, p0603
Note: p0600 = 0: The temperature monitoring function is disabled for permanent magnet and separately excited synchro-
nous motors.
p0600 = 10, the BICO interconnection should be executed via p0603.
Description: Sets the sensor to monitor the motor temperature.
10: Temperature sensor via a BICO interconnection
11: Temperature sensor via Motor Module
Note: p0600 = 0: The temperature monitoring function is disabled for permanent magnet and separately excited synchro-
nous motors. p0600 = 10, the BICO interconnection should be executed via p0603.
Description: Sets the sensor type for the motor temperature monitoring.
When evaluating using SME120 or SME125 (p0601 = 10), 4 temperature channels are available, which are param-
eterized using p4600, p4601, p4602, p4603. The selection is only possible if an SME120 or an SME125 is being
used and bit 8 is set in r0458.
Values: 0: No sensor available
1: PTC thermistor
2: KTY84
3: KTY84 and PTC (only for temperature sensor via encoder)
10: SME120 or SME125
Note: PTC thermistor (p0601 = 1): Tripping resistance = 1650 Ohm.
The temperature sensor for the temperature evaluation is set in p0600.
For p0600 = 10 (temperature sensor via a BICO interconnection), the setting in p0601 has no significance.
p0600[0...n] Motor temperature sensor for monitoring / Mot temp_sensor
0 11 1
0 11 0
p0601[0...n] Motor temperature sensor type / Mot temp_sensortyp
0 10 2
List of parameters
Parameters
Description: Sets the power unit number to which the temperature sensor is connected. The value corresponds to the Power unit
Data Set number (PDS) of the power unit. The number of power unit data sets is defined in p0120.
Description: Sets the signal source to evaluate the motor temperature via a BICO interconnection.
Note: Temperature sensor KTY: Valid temperature range -48 C ... 248 C.
PTC temperature sensor:
For the -50 C, the following applies: Motor temperature < nominal response temperature of the PTC.
For the 250 C, the following applies: Motor temperature >= nominal response temperature of the PTC.
Note:
When using a Terminal Module 31 (TM31), the following applies:
- the sensor type used is set using p4100.
- the temperature signal is interconnected using CO: r4105.
Description: Sets the alarm threshold for monitoring the motor temperature.
Description: Sets the alarm threshold for monitoring the motor temperature.
p0602 Par_circuit power unit number, temperature sensor / LT_no. temp_sensor
VECTOR (Parallel) Can be changed: C2(3), U, T Access level: 2
0 10 0
p0603 CI: Motor temperature / Mot temperature
- - 0
p0604[0...n] Motor overtemperature alarm threshold / Mot TempAlrmThresh
0.0 [C] 200.0 [C] 120.0 [C]
0.0 [C] 200.0 [C] 130.0 [C]
Parameters
List of parameters
Description: Sets the fault threshold to monitor the motor temperature.
Description: Sets the timer stage for the alarm threshold for the motor temperature monitoring function.
This timer stage is started when the temperature alarm threshold (p0604) is exceeded.
If the timer stage expires before the temperature in the meantime falls below the alarm threshold, the fault F07011
is output.
If the temperature fault threshold (p0605) is prematurely exceeded before the timer stage has expired, then fault
F07011 is immediately output. As long as the motor temperature has still not exceeded the fault threshold, the fault
can be acknowledged.
Refer to: F07011, A07910
Note: With p0606 = 0 s, the timer stage is de-activated and only the fault threshold is effective.
KTY sensor: When setting the minimum value, the timer is disabled and a fault is not output until p0605 is
exceeded.
PTC sensor: The timer minimum value has no particular significance.
Description: Sets the timer stage for the alarm threshold for the motor temperature monitoring function.
This timer stage is started when the temperature alarm threshold (p0604) is exceeded.
If the timer stage expires before the temperature in the meantime falls below the alarm threshold, the fault F07011
is output.
If the temperature fault threshold (p0605) is prematurely exceeded before the timer stage has expired, then fault
F07011 is immediately output. As long as the motor temperature has still not exceeded the fault threshold, the fault
can be acknowledged.
Refer to: F07011, A07910
Note: With p0606 = 0 s, the timer stage is de-activated and only the fault threshold is effective.
KTY sensor: When setting the minimum value, the timer is disabled and a fault is not output until p0605 is
exceeded.
PTC sensor: The timer minimum value has no particular significance.
p0605[0...n] Motor overtemperature fault threshold / MotTempFaultThresh
0.0 [C] 200.0 [C] 145.0 [C]
p0606[0...n] Motor overtemperature timer / Mot TempTimeStage
0.000 [s] 600.000 [s] 240.000 [s]
0.000 [s] 600.000 [s] 0.000 [s]
List of parameters
Parameters
Description: Sets the timer stage between the output of alarm and fault for a temperature sensor fault.
If there is a sensor fault, this timer stage is started. If the sensor fault is still present after the timer stage has
expired, a corresponding fault message is output.
Note: If the motor is an induction motor, the timer is switched off when setting the minimum value and no alarm is output.
Temperature monitoring is then based on the thermal model.
Description: Sets the system response when the motor temperature reaches the alarm threshold.
Values: 0: No response, only alarm, no reduction of I_max
1: Alarm and reduction of I_max and fault (F07011)
2: Alarm and fault (F07011), no reduction of I_max
Note: the I_max reduction is not executed for PTC (p0601 = 1).
The I_max reduction results in a lower output frequency.
Description: Sets the thermal adaptation of the stator/primary section resistance and rotor/secondary section resistance accord-
ing to r0395 and r0396.
Values: 0: No thermal adaptation of stator and rotor resistances
1: Resistances adapted to the temperatures of the thermal model
2: Resistances adapted to the measured stator winding temperature
The stator resistance is adapted using the temperature in r0035 and the rotor resistance together with the model
temperature in r0633.
The stator resistance is adapted using the temperature in r0035. The rotor temperature to adapt the rotor resistance
is calculated as follows from the stator temperature (r0035).
theta_R = (r0628 + r0625) / (r0627 + r0625) * r0035
p0607[0...n] Temperature sensor fault timer / Sensor fault time
0.000 [s] 600.000 [s] 0.100 [s]
p0610[0...n] Response to motor overtemperature condition / Mot temp response
0 2 1
p0620[0...n] Thermal adaptation, stator and rotor resistance / Mot therm_adapt R
0 2 2
Parameters
List of parameters
Description: Sets the thermal adaptation of the stator/primary section resistance and rotor/secondary section resistance accord-
ing to r0395 and r0396.
Values: 0: No thermal adaptation of stator and rotor resistances
1: Resistances adapted to the temperatures of the thermal model
2: Resistances adapted to the measured stator winding temperature
The stator resistance is adapted using the temperature in r0035 and the rotor resistance together with the model
temperature in r0633.
The stator resistance is adapted using the temperature in r0035. The rotor temperature to adapt the rotor resistance
is calculated as follows from the stator temperature (r0035).
theta_R = (r0628 + r0625) / (r0627 + r0625) * r0035
Description: Configuration of the temperature identification after powering-up again. If the identification is selected, when power-
ing-up for the first time after the system run-up, the stator resistance is measured and from this the temperature
determined. The thermal model is then suitably initialized.
Values: 0: No temperature identification
1: Temperature identification after restart
2: Temperature identification after each power-up
Description: Sets the excitation time of the motor during the temperature identification after powering-up again (restart).
Description: Displays the identified stator resistance after the temperature identification run.
0 2 1
p0621[0...n] Temperature identification after restart / Temp_ident restart
VECTOR (n/M) Can be changed: C2(3), T Access level: 2
0 2 0
p0622[0...n] Motor excitation time for temp_ident after powering-up again / t_excit temp_id
VECTOR (n/M) Can be changed: C2(3), U, T Access level: 3
0.000 [s] 20.000 [s] 0.000 [s]
r0623 Stator resistance after temperature identification / TempId R_stator
VECTOR (n/M) Can be changed: - Access level: 4
P-Group: Motor identification Units group: - Unit selection: -
- [Ohm] - [Ohm] - [Ohm]
List of parameters
Parameters
Description: Defines the ambient temperature of the motor to calculate the temperature model.
Note: The parameters for stator and rotor resistance (p0350, p0354) refer to this temperature.
Description: Defines the rated overtemperature of the stator core referred to the ambient temperature.
Description: Defines the rated overtemperature of the stator winding referred to the ambient temperature.
Description: Defines the rated overtemperature of the squirrel cage rotor referred to ambient temperature.
Description: Displays the ambient temperature of the motor temperature model.
p0625[0...n] Motor ambient temperature / Mot T_ambient
-40 [C] 80 [C] 20 [C]
p0626[0...n] Motor overtemperature, stator core / Mot T_over core
20 [K] 200 [K] 50 [K]
p0627[0...n] Motor overtemperature, stator winding / Mot T_over stator
20 [K] 200 [K] 80 [K]
p0628[0...n] Rotor winding overtemperature / Mot T_over rotor
20 [K] 200 [K] 100 [K]
r0630[0...n] Motor temperature model ambient temperature / MotTMod T_amb.
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays the stator core temperature of the motor temperature model.
Description: Displays the stator winding temperature of the motor temperature model.
Description: Displays the rotor temperature of the motor temperature model.
Description: Sets the current limit.
Note: The parameter is part of the fast commissioning (p0010 = 1); this means that it is appropriately pre-assigned when
changing p0304 and p0323.
The current limit p0640 is limited to r0209 and p0323. The limit to p0323 is not realized if a value of zero is entered
there.
The following additionally applies for vector drives (refer to p0107): p0640 is limited to 4.0 * p0305.
The resulting current limit is displayed in r0067 and if required, r0067 is reduced by the thermal model of the Motor
Module.
The torque and power limits (p1520, p1521, p1530, p1531) matching the current limit are automatically calculated
when exiting the quick commissioning using p3900 > 0 or using the automatic parameterization with p0340 = 3, 5.
For servo drives, the following applies (refer to p0107):
p0640 is pre-assigned as follows using the automatic parameterization (p0340 = 1, p3900 > 0) taking into account
the limits r0209 and r0323:
- for induction motors: p0640 = 1.5 * p0305
- for synchronous motors: p0640 = p0338
For vector drives (refer to p0107), the following applies:
p0640 is pre-assigned for the automatic self commissioning routine (e.g.to 1.5 * p0305, with p0305 = r0207[1]).
p0640 must be entered when commissioning the system. This is the reason that p0640 is not calculated by the
automatic parameterization when exiting the fast commissioning (p3900 > 0).
r0631[0...n] Motor temperature model, stator core temperature / MotTMod T_iron
- [C] - [C] - [C]
r0632[0...n] Motor temperature model, stator winding temperature / MotTMod T_copper
- [C] - [C] - [C]
r0633[0...n] Motor temperature model, rotor temperature / MotTMod T_rotor
- [C] - [C] - [C]
p0640[0...n] Current limit / Current limit
SERVO, VECTOR Can be changed: C2(1, 3), U, T Access level: 2
Data type: Floating Point Dynamic index: DDS, p0180 Function diagram: 5722,
6640
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
List of parameters
Parameters
Description: Sets the overvoltage protection for synchronous motors in the field-weakening range.
Values: 0: No measure
1: Voltage Protection Module (VPM)
Dependency: Refer to: p0316, p1082, p1231, p9601, p9801
Refer to: F07432, F07906, F07907
Note: In the field-weakening range, synchronous motors can, when a fault condition exists, generate high DC link volt-
ages. The following possibilities exist to protect the drive system from being destroyed due to overvoltage:
- limit the maximum speed (p1082) without any additional protection.
The maximum speed without protection is calculated from p1082 = 9590/p0316.
- use a voltage protection module (VPM) in conjunction with the function "safe standstill" (p9601, p9801).
When a fault condition exists, the VPM short-circuits the motors. During the short-circuit, the pulses must be can-
celled - this means that the terminals for the safe standstill must be connected to the VPM.
- activating the internal voltage protection (IVP) with p1231 = 3.
Description: Displays the operating hours for the corresponding motor.
The motor operating time counter continues to run when the pulses are enabled. When the pulse enable is with-
drawn, the counter is held and the value saved.
Dependency: The following prerequisites must be fulfilled in order to be able to save the operating hours counter in a non-volatile
fashion:
- firmware with V2.2 or higher.
- Control Unit 320 (CU320) with hardware version C or higher (module with NVRAM).
Refer to: p0651, Refer to: A01590
The operating hours counter in p0650 can only be reset to 0. In this case, p0651 is automatically set to 0.
For p0651 = 0, the operating hours counter is disabled.
The operating hours counter only runs for MDS0 and MDS1 (Motor Data Set).
Description: Sets the service/maintenance intervals in hours for the appropriate motor.
An appropriate fault is output when the operating hourse set here are reached.
Refer to: A01590
For p0651 = 0, the operating hours counter is disabled.
The operating hours counter only runs for MDS0 and MDS1 (Motor Data Set).
p0643[0...n] Overvoltage protection for synchronous motors / Overvolt_protect
0 1 0
p0650[0...n] Actual motor operating hours / Mot t_oper act
0 [h] 4294967295 [h] 0 [h]
p0651[0...n] Motor operating hours maintenance interval / Mot t_op maint
0 [h] 99999 [h] 0 [h]
Parameters
List of parameters
Description: Factor to evaluate the stator resistance.
Description: Factor to evaluate the stator leakage inductance.
Description: Factor to evaluate the magnetizing inductance in the direction of the rotor axis (d axis).
Description: Factor to evaluate the magnetizing inductance quadrature to the rotor axis (q axis).
Description: Factor to evaluate the damping inductance in the direction of the rotor axis (d axis).
p0652[0...n] Motor stator resistance, scaling / Mot R_stator scal
10.0 [%] 300.0 [%] 100.0 [%]
p0653[0...n] Motor stator leakage inductance, scaling / Mot L_S_leak scal
10.0 [%] 300.0 [%] 100.0 [%]
p0655[0...n] Motor magnetizing inductance, d axis, saturated scaling / Mot Lhd_sat scal
10.0 [%] 300.0 [%] 100.0 [%]
p0656[0...n] Motor magnetizing inductance, q axis, saturated scaling / Mot Lhq_sat scal
10.0 [%] 300.0 [%] 100.0 [%]
p0657[0...n] Motor damping inductance, d axis scaling / Mot L_damp_d scal
10.0 [%] 300.0 [%] 100.0 [%]
List of parameters
Parameters
Description: Factor to evaluate the damping inductance quadrature to the rotor axis (q axis).
Description: Factor to evaluate the damping resistance in the direction of the rotor axis (d axis).
Description: Factor to evaluate the damping resistance quadrature to the rotor axis (q axis).
Description: Sets the digital input used for the function "central measuring probe evaluation".
p0680[0]: Digital input, measuring probe 1
1: DI/DO 9 (X122.8/X121.8)
2: DI/DO 10 (X122.10/X121.10)
3: DI/DO 11 (X122.11/X121.11)
4: DI/DO 13 (X132.8)
5: DI/DO 14 (X132.10)
6: DI/DO 15 (X132.11)
p0658[0...n] Motor damping inductance, q axis scaling / Mot L_damp_q scal
10.0 [%] 300.0 [%] 100.0 [%]
p0659[0...n] Motor damping resistance, d axis scaling / Mot R_damp_d scal
10.0 [%] 300.0 [%] 100.0 [%]
p0660[0...n] Motor damping resistance, q axis scaling / Mot R_damp_q scal
10.0 [%] 300.0 [%] 100.0 [%]
p0680[0...5] Central measuring probe, input terminal / Cen meas inpt
0 6 0
Parameters
List of parameters
Note: Prerequisite: The DI/DO must be set as input (p0728.x = 0).
DI/DO: Bidirectional Digital Input/Output
Description: Sets the signal source for the synchronizing signal (SYN) of the function "central measuring probe evaluation".
The signal is used to synchronize the common system time between the master and slave.
Description: Sets the signal source for the control word of the function "central measuring probe evaluation".
Description: Sets the evaluation technique for the function "central measuring probe evaluation".
Values: 0: Measurement with handshake
Description: Displays the control word for the function "central measuring probe evaluation".
p0681 BI: Central measuring probe, synchronizing signal, signal source / Cen meas
sync_sig
CU_S Can be changed: T Access level: 3
- - 0
p0682 CI: Central measuring probe, control word signal source / Cen meas STW S_src
- - 0
p0684 Central measuring probe evaluation technique / Cen meas eval
0 0 0
r0685 Central measuring probe, control word display / Cen meas STW disp
- - 0000 bin
00 Falling edge, measuring probe 1 Yes No -
08 Rising edge, measuring probe 1 Yes No -
List of parameters
Parameters
Description: Displays the measuring time for a rising edge at the digital input for the "central measuring probe evaluation" func-
tion.
The measuring time is specified as 16-bit value with a resolution of 0.25 s.
r0686[0]: Measuring time, rising edge measuring probe 1
Description: Displays the measuring time for a falling edge at the digital input for the "central measuring probe evaluation" func-
tion.
The measuring time is specified as 16-bit value with a resolution of 0.25 s.
r0687[0]: Measuring time, falling edge measuring probe 1
Description: Displays the status word for the function "central measuring probe evaluation".
r0686[0...5] CO: Central measuring probe, measuring time rising edge / CenMeas t_meas 0/1
- - -
r0687[0...5] CO: Central measuring probe, measuring time falling edge / CenMeas t_meas 1/0
- - -
r0688 CO: Central measuring probe, status word display / Cen meas ZSW disp
- - 0000 bin
00 Digital input, measuring probe 1 High Low -
08 Sub-sampling, measuring probe 1 High Low -
Parameters
List of parameters
The binector inputs (BI) of the appropriate Command Data Set (CDS) are appropriately interconnected.
Example:
Refer to: p0015, p1000, p1500, r8571
BI: Binector input
Description: Displays the actual value at the digital inputs.
This means that the actual input signal can be checked at terminal DI x or DI/DO x prior to switching from the simu-
lation mode (p0795.x = 1) to terminal mode (p0795.x = 0). The input signal at terminal DI x is displayed in bit x of
r0721.
Note: If a DI/DO is parameterized as output (p0728.x = 1), then r0721.x = 0 is displayed.
DI: Digital input
p0700[0...n] Macro Binector Input (BI) / Macro BI
A_INF, B_INF,
SERVO, S_INF,
VECTOR
Data type: Unsigned32 Dynamic index: CDS, p0170 Function diagram: -
0 999999 0
r0721 CU digital inputs, terminal actual value / CU DI actual value
2020, 2030, 2031, 2100, 2120,
2130, 2131, 2132, 2133
- - 0000 bin
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.7/X121.7) High Low -
09 DI/DO 9 (X122.8/X121.8) High Low -
10 DI/DO 10 (X122.10/X121.10) High Low -
11 DI/DO 11 (X122.11/X121.11) High Low -
12 DI/DO 12 (X132.7) High Low -
13 DI/DO 13 (X132.8) High Low -
14 DI/DO 14 (X132.10) High Low -
15 DI/DO 15 (X132.11) High Low -
List of parameters
Parameters
Description: Displays the status of the digital inputs.
Note: DI: Digital input
Description: Displays the inverted status of the digital inputs.
r0722 CO/BO: CU digital inputs, status / CU DI status
2020, 2030, 2031, 2100, 2120,
2130, 2131, 2132, 2133
- - 0000 bin
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.7/X121.7) High Low -
09 DI/DO 9 (X122.8/X121.8) High Low -
10 DI/DO 10 (X122.10/X121.10) High Low -
11 DI/DO 11 (X122.11/X121.11) High Low -
12 DI/DO 12 (X132.7) High Low -
13 DI/DO 13 (X132.8) High Low -
14 DI/DO 14 (X132.10) High Low -
15 DI/DO 15 (X132.11) High Low -
r0723 BO: CU digital inputs, status inverted / CU DI status inv
2020, 2030, 2031, 2100, 2120,
2130, 2131 2132, 2133
- - 0000 bin
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
Parameters
List of parameters
Description: Sets the bidirectional digital inputs/outputs as an input or output.
Description: Sets the signal source for terminal DI/DO 8 (X122.7).
Note: Prerequisite: The DI/DO must be set as an output (p0728.8 = 1).
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.7/X121.7) High Low -
09 DI/DO 9 (X122.8/X121.8) High Low -
10 DI/DO 10 (X122.10/X121.10) High Low -
11 DI/DO 11 (X122.11/X121.11) High Low -
12 DI/DO 12 (X132.7) High Low -
13 DI/DO 13 (X132.8) High Low -
14 DI/DO 14 (X132.10) High Low -
15 DI/DO 15 (X132.11) High Low -
p0728 CU, set input or output / CU DI or DO
2030, 2031, 2130, 2131, 2132,
2133
- - 0000 bin
08 DI/DO 8 (X122.7/X121.7) Output Input -
12 DI/DO 12 (X132.7) Output Input -
p0738 BI: CU, signal source for terminal DI/DO 8 / CU S_src DI/DO 8
2030, 2130
- - 0
List of parameters
Parameters
2130
- - 0
2131
- - 0
2031, 2131
- - 0
2132
- - 0
Parameters
List of parameters
Description: Displays the status of digital outputs.
Notice: To the terminal designation: The first designation is valid for CU320, the second for CU310.
Note: Inversion using p0748 has been taken into account.
The setting of the DI/DO as either input or output is of no significance (p0728).
- - 0
- - 0
2133
- - 0
r0747 CU, digital outputs status / CU DO status
2131, 2132, 2133
- - 0000 bin
08 DI/DO 8 (X122.7/X121.7) High Low -
09 DI/DO 9 (X122.8/X121.8) High Low -
10 DI/DO 10 (X122.10/X121.10) High Low -
11 DI/DO 11 (X122.11/X121.11) High Low -
12 DI/DO 12 (X132.7) High Low -
13 DI/DO 13 (X132.8) High Low -
14 DI/DO 14 (X132.10) High Low -
15 DI/DO 15 (X132.11) High Low -
List of parameters
Parameters
Description: Setting to invert the signals at the digital outputs.
Description: Sets the signal source for the signal to be output at the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Can only be set when p0776 = 99.
Refer to: r0772, r0774, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786
Description: Displays the actual value of the signal to be output.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0774, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786
p0748 CU, invert digital outputs / CU DO invert
2031, 2130, 2131, 2132, 2133
- - 0000 bin
p0771[0...2] CI: Test sockets signal source / TestSktsSigSrce
- - 0
r0772[0...2] Test sockets output signal / TestSktsSignalVal
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the actual output voltage for the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0772, p0776, p0777, p0778, p0779, p0780, p0783, p0784, r0786
Description: Sets the mode for the test sockets.
Values: 96: Physical address (32-bit integer signal, unsigned)
97: Physical address (32-bit integer signal)
98: Physical address (32-bit floating-point signal)
99: BICO signal
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0772, r0774, p0777, p0778, p0779, p0780, p0783, p0784, r0786, p0788, p0789, r0790
Description: The normalization characteristic for the test sockets is defined using two points. This parameter specifies the x
coordinate (percentage) of the first point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0778, p0779, p0780, r0786
Note: The value 0.00 % corresponds to 2.49 V.
r0774[0...2] Test sockets output voltage / TestSkts U_output
- [V] - [V] - [V]
p0776[0...2] Test socket mode / Test skt mode
96 99 99
p0777[0...2] Test socket characteristic value x1 / Test skt char x1
-100000.00 [%] 100000.00 [%] 0.00 [%]
List of parameters
Parameters
Description: The normalization characteristic for the test sockets is defined using two points. This parameter specifies the y
coordinate (output voltage) of the first point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0777, p0779, p0780, r0786
Description: The normalization characteristic for the test sockets is defined using two points. This parameter specifies the x
coordinate (percentage) of the second point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0777, p0778, p0780, r0786
Note: The value 100.00 % corresponds to 4.98 V.
Description: The normalization characteristic for the test sockets is defined using two points. This parameter specifies the y
coordinate (output voltage) of the second point on the characteristic.
Index: [0] = T0
[1] = T1
[2] = T2
Refer to: p0777, p0778, p0779, r0786
p0778[0...2] Test socket characteristic value y1 / Test skt char y1
0.00 [V] 4.98 [V] 2.49 [V]
p0779[0...2] Test socket characteristic value x2 / Test skt char x2
-100000.00 [%] 427.9E9 [%] 100.00 [%]
p0780[0...2] Test socket characteristic value y2 / Test skt char y2
0.00 [V] 4.98 [V] 4.98 [V]
Parameters
List of parameters
Description: Sets an additional offset for the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Description: Sets the limit for a signal to be output via test sockets.
Values: 0: Limiting off
1: Limiting on
Index: [0] = T0
[1] = T1
[2] = T2
Note: Limiting on:
If signals are output outside the permissible measuring range, the signal is limited to 4.98 V or to 0 V.
Limiting off:
If signals are output outside the permissible measuring range, this causes signal overflow. In the case of signal
overflow, the signal jumps from 0 V to 4.98 V or from 4.98 V to 0 V.
Description: Displays the normalization of the signal to be output. A change in the output voltage by 1 volt corresponds to the
value in this parameter. The units are determined by the interconnected test signal.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Refer to: p0771, r0772, r0774, p0777, p0778, p0779, p0780, p0783, p0784
Note: Example:
r0786[0] = 1500.0 and the measuring signal is r0063 (CO: Speed actual value smoothed [RPM]).
A change of 1 V at the output of test socket T0 corresponds to 1500.0 [RPM].
p0783[0...2] Test sockets offset / Test skt offset
-4.98 [V] 4.98 [V] 0.00 [V]
p0784[0...2] Test socket limit on/off / TestSktLim on/off
0 1 0
r0786[0...2] Test socket normalization per volt / TestSktNorm/Volt
- - -
List of parameters
Parameters
Description: Sets the physical address to output signals via the test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Changes only become effective if p0776 does not equal 99.
Description: Sets the gain of a signal output of a physical address via test sockets.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Changes only become effective if p0776 does not equal 99.
Refer to: p0788
Description: Displays the actual value of a signal determined via a physical address.
Index: [0] = T0
[1] = T1
[2] = T2
Dependency: Only effective when p0776 = 97 or p0776 = 96.
Refer to: p0788
p0788[0...2] Test sockets physical address / Test skt PhyAddr
p0789[0...2] Test sockets physical address gain / TestSktPhyAddrGain
-340.28235E36 340.28235E36 1.00000
r0790[0...2] Test sockets physical address signal value / TestSktsPhyAddrVal
- - -
Parameters
List of parameters
Description: Sets the simulation mode for digital inputs.
Dependency: The setpoint for the input signals is specified using p0796.
Notice: It is not permissible to select the simulation of a digital input using the Safety SH (p9620) and this is rejected.
To the terminal designation:
This parameter is not saved when data is backed-up (p0971, p0977).
Description: Sets the setpoint for the input signals in the digital input simulation mode.
p0795 CU digital inputs simulation mode / CU DI simulation
2020, 2030, 2031, 2100, 2120,
2130, 2131, 2132, 2133
- - 0000 bin
00 DI 0 (X122.1/X121.1) Simulation Terminal eval. -
02 DI 2 (X122.3/x121.3) Simulation Terminal eval. -
04 DI 4 (X132.1) Simulation Terminal eval. -
08 DI/DO 8 (X122.7/X121.7) Simulation Terminal eval. -
12 DI/DO 12 (X132.7) Simulation Terminal eval. -
p0796 CU digital inputs simulation mode setpoint / CU DI simul setpt
2020, 2030, 2031, 2100, 2120,
2130, 2131, 2132, 2133
- - 0000 bin
00 DI 0 (X122.1/X121.1) High Low -
01 DI 1 (X122.2/X121.2) High Low -
02 DI 2 (X122.3/X121.3) High Low -
03 DI 3 (X122.4/X121.4) High Low -
04 DI 4 (X132.1) High Low -
05 DI 5 (X132.2) High Low -
List of parameters
Parameters
Dependency: The simulation of a digital input is selected using p0795.
Refer to: p0795
This parameter is not saved when data is backed-up (p0971, p0977).
Description: Sets the sampling time for the inputs and outputs.
Dependency: The parameter can only be modified for p0009 = 3, 29.
The sampling times can only be set as an integer multiple of the basic sampling time (p0110, p0111).
Refer to: p0009, r0110, r0111
Note: The modified sampling time is not effective until the drive unit is powered-up again.
Description: Sets the signal source to block the master control.
Note: The master control is used from the commissioning software (drive control panel) and from the Advanced Operator
Panel (AOP, LOCAL mode).
06 DI 6 (X132.3) High Low -
07 DI 7 (X132.4) High Low -
08 DI/DO 8 (X122.7/X121.7) High Low -
09 DI/DO 9 (X122.8/X121.8) High Low -
10 DI/DO 10 (X122.10/X121.10) High Low -
11 DI/DO 11 (X122.11/X121.11) High Low -
12 DI/DO 12 (X132.7) High Low -
13 DI/DO 13 (X132.8) High Low -
14 DI/DO 14 (X132.10) High Low -
15 DI/DO 15 (X132.11) High Low -
p0799 CU inputs/outputs, sampling time / CU I/O t_sampl
2030, 2031, 2120, 2121, 2130,
2131, 2132, 2133
0.00 [s] 5000.00 [s] 4000.00 [s]
p0806 BI: Inhibit master control / PcCtrl inhibit
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - 0
Parameters
List of parameters
Description: Displays what has the master control.
The drive can be controlled via the BICO interconnection or from external (e.g. the commissioning software).
Notice: The master control only influences control word 1 and speed setpoint 1. Other control words/setpoints can be trans-
ferred from another automation device.
Note: Bit 0 = 0: BICO interconnection active
Bit 0 = 1: Master control for PC/AOP
The master control is used from the commissioning software (drive control panel) and from the Advanced Operator
Description: Copies one Command Data Set (CDS) into another.
Index: [0] = Source Command Data Set
[1] = Target command data set
[2] = Start copying
Note: Procedure:
1. In Index 0, enter which command data set should be copied.
2. In Index 1, enter the command data set that is to be copied into.
Description: Sets the signal source to select the Command Data Set bit 0 (CDS bit 0).
Note: Command data sets are selected using the binector inputs p0810, p0811, p0812 and p0813.
For a command data set, selected using the binector inputs, is displayed in r0836.
The currently effective command data set is displayed in r0050.
A command data set can be copied using p0809.
r0807 BO: Master control active / PcCtrl active
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - 0000 bin
00 Master control active Yes No 5030
p0809[0...2] Copy Command Data Set CDS / Copy CDS
0 15 0
p0810 BI: Command Data Set selection CDS bit 0 / CDS select., bit 0
- - 0
List of parameters
Parameters
Description: Sets the signal source to select the Command Data Set bit 1 (CDS bit 1).
Note: Command data sets are selected using the binector inputs p0810, p0811, p0812 and p0813.
For a command data set, selected using the binector inputs, is displayed in r0836.
The currently effective command data set is displayed in r0050.
A command data set can be copied using p0809.
Description: Copies a Drive Data Set (DDS) into another.
Index: [0] = Source drive data set
[1] = Target drive data set
[2] = Start copying
Note: Procedure:
1. In Index 0, enter which drive data set is to be copied.
2. In Index 1, enter the drive data set data that is to be copied into.
Description: Sets the signal source to select the Drive Data Set, bit 0 (DDS, bit 0).
p0811 BI: Command data set selection CDS bit 1 / CDS select., bit 1
- - 0
p0819[0...2] Copy Drive Data Set DDS / Copy DDS
SERVO, TM41, VEC-
TOR
0 31 [0] 0
[1] 0
[2] 0
p0820[0...n] BI: Drive data set selection DDS bit 0 / DDS select., bit 0
SERVO, TM41, VEC-
TOR
Data type: Unsigned32 Dynamic index: CDS, p0170 Function diagram: 8565
- - 0
SERVO, TM41, VEC-
TOR
- - 0
Parameters
List of parameters
Description: Sets the freely-assignable motor number for the motor changeover.
Cautiont: When changing over motor data sets with the same motor number (e.g. star/delta changeover) and for a motor with
brake, the motor brake remains open during the changeover.
Note: When the motor data sets are changed-over, the following applies:
The same motor number signifies the same thermal model.
Description: Sets the bit number for every motor data set.
Example:
p0827[0] = 0: For MDS0, r0830.0 is switched.
p0827[1] = 5: For MDS1, r0830.5 is switched.
SERVO, TM41, VEC-
TOR
- - 0
SERVO, TM41, VEC-
TOR
- - 0
SERVO, TM41, VEC-
TOR
- - 0
p0826[0...n] Motor changeover, motor number / Mot_chng mot No.
SERVO, VECTOR Can be changed: C2(3), U Access level: 2
0 15 0
p0827[0...n] Motor changeover status word bit number / Mot_chg ZSW bitNo.
SERVO, VECTOR Can be changed: C2(3), U Access level: 2
0 15 0
List of parameters
Parameters
Note: A motor is only changed over (a new motor selected) after the pulses have been cancelled.
When the motor data sets are changed-over, the following applies:
Bit numbers that are not identical, signify that the motor must be changed over.
Description: Sets the signal source for the feedback signal when changing over the motor.
For p0833.0 = 1 the following applies:
This feedback signal (0/1 edge) is required after a motor changeover to enable the pulses.
Description: Displays the status word of the motor changeover.
These signals can be connected to digital outputs to change over the motor.
p0828[0...n] BI: Motor changeover, feedback signal / Mot_chng fdbk sig
- - 0
r0830 CO/BO: Motor changeover, status word / Mot_chngov ZSW
- - 0000 bin
00 Motor selection, bit 0 High Low -
Parameters
List of parameters
Description: Sets the signal source for the feedback signal of the contactors when changing over motors.
There is a fixed inter-relationship between energizing the contactor and the feedback signal.
Example:
A changeover is to be made between MDS0 (motor 0) and MDS1 (motor 1). The contactors should be switched
using bit 4 (contactor 0) and 5 (contactor 1). The changeover should be made with an interconnection of the feed-
back signal.
Implementation:
MDS0: p0827[0] = 4, interconnect output to switch contactor 0 to r0830.4, p0831[4] = "input, feedback signal, con-
tactor 0"
MDS1: p0827[1] = 5, interconnect output to switch contactor 1 to r0830.5, p0831[5] = "input, feedback signal, con-
tactor 1"
The following sequence applies when changing over from MDS0 to MDS1:
1. The status bit p0830.4 is deleted. When the feedback signal (p0831[4]) is connected, the system waits until the
feedback signal "contactor open" is displayed. If the feedback signal is not connected, then the system waits for the
switch-off interlocking time of 320 ms.
2. The status bit p0830.5 is set. If the feedback signal (p0831[5]) is connected, the system waits until the feedback
signal "contactor closed" is displayed. If the feedback signal is not connected, then the system waits for the switch-
on interlocking time of 160 ms.
Index: [0] = Feedback signal, contactor 0
[1] = Feedback signal, contactor 1
p0831[0...15] BI: Motor changeover, contactor feedback / Mot_chg cont fdbk
- - 0
List of parameters
Parameters
Description: Displays the status word of the contactor feedback signals when changing over a motor.
Description: Sets the configuration for the motor and encoder changeover.
Note: For VECTOR, the following applies:
The "flying restart" function should be activated (p1200) when changing-over to a motor that is already running.
Re bit 00:
When the bit is set and the motor has to be changed over, then p0827 must be set differently in the appropriate
motor data sets.
Re bit 02:
The bit defines whether, for an EDS changeover, the status signal Gn_ZSW.14 is suppressed (parking encoder
active).
r0832 CO/BO: Mot. changeover, contactor feedback sig. status word / Mot_chng fdbk ZSW
- - 0000 bin
00 Feedback signal, contactor 0 Closed Opened -
p0833 Data set changeover configuration / DS_chng config
SERVO Can be changed: C2(15), U Access level: 2
- - 0000 bin
00 Contactor changeover from the applica-
tion/drive
application Drive -
01 Pulse cancellation by application/drive application Drive -
02 Suppress drive parking for EDS changeover Yes No -
Parameters
List of parameters
Description: Sets the configuration for the motor and encoder changeover.
Note: For VECTOR, the following applies:
The "flying restart" function should be activated (p1200) when changing-over to a motor that is already running.
Re bit 00:
When the bit is set and the motor has to be changed over, then p0827 must be set differently in the appropriate
motor data sets.
Re bit 02:
The bit defines whether, for an EDS changeover, the status signal Gn_ZSW.14 is suppressed (parking encoder
active).
Description: Displays the status word for the motor data set changeover.
Description: Displays the Command Data Set (CDS) selected using p0810 ... p0813.
Note: The currently effective command data set is displayed in r0050.
p0833 Data set changeover configuration / DS_chng config
VECTOR Can be changed: C2(15), U Access level: 2
- - 0010 bin
00 Contactor changeover from the applica-
tion/drive
application Drive -
01 Pulse cancellation by application/drive application Drive -
02 Suppress drive parking for EDS changeover Yes No -
r0835 CO/BO: Motor data set changeover status word / MDS_chngov ZSW
- - 0000 bin
00 Motor data set changeover active active Not active 8575
r0836 CO/BO: Command Data Set CDS selected / CDS selected
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
8560
- - 0000 bin
00 CDS select. bit 0 On Off -
List of parameters
Parameters
Description: Displays the Drive Data Set (DDS) selected using p0820 ... p0824.
Dependency: Refer to: r0051, p0820, p0821, p0822, p0823, p0824
Note: If there is only one data set, then a value of 0 is displayed in this parameter and not the selection via binector inputs.
Description: Displays the selected Motor Data Set (MDS) and the selected Encoder Data Sets (EDS).
Index: [0] = Motor Data Set MDS selected
[1] = Encoder 1 Encoder Data Set EDS selected
Dependency: Refer to: r0049, p0186, p0187, p0188, p0189
Note: Value 99 means the following: No encoder assigned (not configured).
Description: Sets the signal source for control word 1 bit 0 (ON/OFF1).
Recommenda-
tion:
When the signal source is set, this does not trigger a response - but only a signal change of the source.
Notice: For BI: p0840 = 0 signal, the motor can be moved, jogging using BI: p1055 or BI: p1056.
The command "ON/OFF1" can be issued using BI: p0840 or using BI: p1055/p1056.
Only the signal source that was used to power-up can also be used to power-down again.
r0837 CO/BO: Drive Data Set DDS selected / DDS selected
SERVO, TM41, VEC-
TOR
- - 0000 bin
00 DDS select. bit 0 On Off -
r0838[0...3] Motor/encoder data set selected / MDS/EDS selected
- - -
p0840[0...n] BI: ON/OFF1 / ON/OFF1
A_INF, B_INF,
SERVO, S_INF,
VECTOR
Data type: Unsigned32 Dynamic index: CDS, p0170 Function diagram: 2501,
2610, 8720, 8920
- - 0
Parameters
List of parameters
Note: For drives with closed-loop speed control (p1300 = 20, 21), the following applies:
Bit 0 = 0: OFF1 (braking with the ramp-function generator, then pulse cancellation and power-on inhibit)
For drives with closed-loop torque control (p1300 = 22, 23), the following applies:
Bit 0 = 0: Immediate pulse cancellation
For drives with closed-loop torque control (activated using p1501), the following applies:
Bit 0 = 0: No dedicated braking response, but pulse cancellation when standstill is detected (p1226, p1227)
For drives with closed-loop speed/torque control, the following applies:
Bit 0 = 0/1: ON (pulses can be enabled)
For active infeeds (Active Line Module and Smart Line Module) the following applies:
Bit 0 = 0: OFF1 (reduce Vdc along the ramp, then pulse cancellation and pre-charging contactor/line contactor
open)
Bit 0 = 0/1: ON (pre-charging contactor/line contactor closed, pulses can be enabled)
For passive infeeds (Basic Line Module) the following applies:
Bit 0 = 0: OFF1 (pre-charging contactor/line contactor open)
Bit 0 = 0/1: ON (pre-charging contactor/line contactor closed)
r0863.1 of a drive can also be selected as signal source.
Description: Sets the signal source for control word 1 bit 0 (ON/OFF1).
Notice: For BI: p0840 = 0 signal, the motor can be moved, jogging using BI: p1055 or BI: p1056.
Note: Bit 0 = 0: OFF1 (pulse cancellation and power-on inhibit)
Bit 0 = 0/1: ON (pulses can be enabled)
Description: Sets the signal source for the 1st OC/OFF2.
The AND logic operation of the 1st OC/OFF2 and 2nd OC/OFF2 results in control word 1, bit 1 (OC/OFF2).
Caution: When "master control from PC" is activated, this binector input is ineffective.
Note: For drives, the following applies:
Bit 1 = 0: OFF2 (immediate pulse cancellation and power-on inhibit)
Bit 1 = 1: No OFF2 (enable is possible)
For infeed units, the following applies:
Bit 1 = 0: OFF2 (immediate pulse cancellation for active infeed modules and Smart Line Modules, pre-charging con-
tactor/line contactor open and power-on inhibit)
OC: Operating condition
p0840 BI: ON/OFF1 / ON/OFF1
TM41 Can be changed: T Access level: 3
- - 0
p0844[0...n] BI: 1. OFF2 / 1. OFF2
A_INF, B_INF,
SERVO, S_INF,
VECTOR
8720, 8920
- - 1
List of parameters
Parameters
Description: Sets the signal source for control word 1, bit 1 (OC/OFF2).
Note: Bit 1 = 0: OFF2 (immediate pulse cancellation and power-on inhibit)
Description: Sets the signal source for the 2nd OC/OFF2.
Note: For drives, the following applies:
Bit 1 = 0: OFF2 (immediate pulse cancellation and power-on inhibit)
Bit 1 = 0: OFF2 (immediate pulse cancellation for active infeed modules and Smart Line Modules, pre-charging con-
tactor/line contactor open and power-on inhibit)
Description: Sets the signal source for the 1st OC/OFF3.
Note: Bit 2 = 0: OFF3 (braking along the OFF3 ramp (p1135), then pulse cancellation and power-on inhibit)
p0844 BI: OFF2 / OFF2
- - 1
p0845[0...n] BI: 2. OFF2 / 2. OFF2
A_INF, B_INF,
SERVO, S_INF,
VECTOR
8720, 8920
- - 1
p0848[0...n] BI: 1. OFF3 / 1. OFF3
- - 1
Parameters
List of parameters
Description: Sets the signal source for control word 1, bit 2 (OC/OFF3).
Note: Bit 2 = 0: OFF3 (pulse cancellation and power-on inhibit)
Description: Sets the signal source for the 2nd OC/OFF3.
Note: Bit 2 = 0: OFF3 (braking along the OFF3 ramp (p1135), then pulse cancellation and power-on inhibit)
Description: Sets the signal source for control word 1 bit 3 (enable operation)
Note: Bit 3 = 0: Inhibit operation (cancel pulses)
Bit 3 = 1: Enable operation (pulses can be enabled)
Description: Sets the signal source for control word 1 bit 3 (enable operation)
Note: Bit 3 = 0: Inhibit operation (cancel pulses)
Bit 3 = 1: Enable operation (pulses can be enabled)
p0848 BI: OFF3 / OFF3
- - 1
p0849[0...n] BI: 2. OFF3 / 2. OFF3
- - 1
p0852[0...n] BI: Enable operation / Enable operation
A_INF, SERVO,
S_INF, VECTOR
2443, 2501, 8920
- - 1
p0852 BI: Enable operation / Enable operation
- - 1
List of parameters
Parameters
Description: Sets the signal source for control word 1 bit 10 (PLC control).
Note: Bit 10 = 0: No control from PLC
Bit 10 = 1: Control from PLC
This bit is used to initiate a response for the drives when the control fails (F07220). If there is not control available,
then BI: p0854 should be set to a 1 signal.
Description: Sets the signal source for the command "unconditionally open holding brake".
Note: The signal via BI: p0858 (unconditionally close holding brake) has a higher priority than via BI: p0855 (uncondition-
ally open holding brake).
Description: Sets the signal source for the command "enable speed controller" (r0898.12).
0 signal: Set the I component and speed controller output to zero.
1 signal: Enable speed controller.
Note: If "enable speed controller" is withdrawn, then if a brake being used, then it is closed.
If "speed controller enable" is withdrawn, the pulses are not cancelled.
p0854[0...n] BI: Master ctrl by PLC / Master ctrl by PLC
A_INF, B_INF,
SERVO, S_INF,
VECTOR
2442, 2443, 8720, 8920
- - 1
p0855[0...n] BI: Unconditionally release holding brake / Uncond open brake
2701, 2707
- - 0
p0856[0...n] BI: Enable speed controller / Enable n_ctrl
2701
- - 1
Parameters
List of parameters
Description: Sets the monitoring time for the power unit.
The following applies for infeeds and drives:
The monitoring time is started after an 0/1 edge of the ON/OFF1 command. If the power unit does not return a
READY signal within the monitoring time, then fault F06000 (infeeds) or F07802 (drives) is output.
For drives, the following also applies:
After the pulse enable (operation enabled, p0852), the monitoring time is re-started. If the infeed does not signal
ready to the drive within the monitoring time (using BI: p0864 of the drive), fault F07840 is initiated.
Dependency: Refer to: F06000, F07802, F07840, F30027
Notice: The time to pre-charge the DC link is monitored in the power unit and cannot be changed. The maximum duration of
the pre-charging depends on the power class and the power unit design. The monitoring time for the pre-charging is
started after the 0/1 edge of the ON/OFF1 command. Fault F30027 is output when the maximum pre-charging
duration is exceeded.
Note: The pre-assignment (default) value for p0857 depends on the power class and the design of the power unit.
The monitoring time for the ready signal of the power unit includes the time to pre-charge the DC link and, if rele-
vant, the de-bounce time of the contactors.
If an excessively low value is entered into p0857, then after enable, this results in a fault.
Description: Sets the signal source for the command "unconditionally close holding brake".
For a 1 signal via BI: p0858, the command "unconditionally close the holding brake" is executed and internally a
zero setpoint is entered.
Description: Sets the signal source for the command "unconditionally close holding brake".
For a 1 signal via BI: p0858, the command "unconditionally close the holding brake" is executed and internally a
zero setpoint is entered.
p0857 Power unit monitoring time / LT t_monit
A_INF, B_INF,
SERVO, S_INF,
VECTOR
8932, 8964
100.0 [ms] 60000.0 [ms] 6000.0 [ms]
p0858[0...n] BI: Unconditionally close holding brake / Uncond close brake
2701, 2707
- - 9719.13
2701, 2707
- - 0
List of parameters
Parameters
Description: Sets the signal source for the feedback signal from the line contactor.
Recommenda-
tion:
When the monitoring is activated (BI: p0860 not equal to r0863.1), then to control the line contactor, signal BO:
r0863.1 of its own drive object should be used.
Refer to: F07300
Notice: The line contactor monitoring is de-activated if the control signal of the particular drive object is set as the signal
source for the feedback signal of the line contactor (BI: p0860 = r0863.1).
Note: The state of the line contactor is monitored depending on signal BO: r0863.1.
When the monitoring is activated (BI: p0860 not equal to r0863.1), fault F07300 is then also output if the contactor
is closed before it is controlled using r0863.1.
Description: Sets the monitoring time of the line contactor.
This time starts each time that the line contactor switches (r0863.1). If a feedback signal is not received from the
line contactor within the time, a message is output.
Refer to: F07300
Note: The monitoring function is disabled for the factory setting of p0860.
Description: Sets the delay time for the control command of the power unit and a line contactor, if used.
Note: This means that it is possible to realize a shifted (delayed) pre-charging or power-on using a single ON command.
When the infeed units are active, before the line contactor is closed, an offset adjustment of the current measure-
ment is carried-out for a duration of 120 ms (p3491).
p0860 BI: Line cont. fdbk sig / Line contact feedb
A_INF, B_INF,
SERVO, S_INF,
VECTOR
8934
- - 863.1
p0861 Line contactor monitoring time / LineContact. t_mon
A_INF, B_INF,
SERVO, S_INF,
VECTOR
8934
0 [ms] 5000 [ms] 100 [ms]
p0862 Power unit ON delay / LT t_on
A_INF, B_INF,
SERVO, S_INF,
VECTOR
8932
0 [ms] 65000 [ms] 0 [ms]
Parameters
List of parameters
Description: Displays the status and control words of the drive coupling.
Note: Bit 0 signals that the infeed is ready.
Bit 1 is used to control an external line contactor.
When the operating signal is transferred via BO: r0863.0 this allows several drives to start (run-up) staggered over
time when they are simultaneously powered-up.
To realize this, the following connections/interconnections are required:
Drive 1: Internconnect BI: p0864 with BO: r0863.0 of the infeed
Drive 2: Internconnect BI: p0864 with BO: r0863.0 of drive 1
Drive 3: Internconnect BI: p0864 with BO: r0863.0 of drive 2, etc.
The first drive only transfers the operating signal to the next drive after it has reached its ready condition.
Description: Sets the signal source for the operating signal of the infeed (e.g. BO: r0863.0).
Note: The sequence control of a servo/vector drive requires this signal.
The following applies for an infeed without DRIVE-CLiQ:
For these infeeds, the "ready" signal is available via an output terminal. This signal must be connected to a digital
input. The drives supplied from this infeed must use this signal as ready signal (BI: p0864 = digital input).
Description: Displays the operational readiness of the infeeds when using Smart Line Module (SLM) and Basic Line Module
(BLM) together (mixed operation).
In order that signal BO: r0873 is available at one of the infeeds, then BI: p0874 of the one infeed must be intercon-
nected to BO: r0863.0 of the other infeed.
Note: Mixed operation is not possible with the Active Line Module (ALM)!
r0863 CO/BO: Drive coupling status word/control word / CoupleZSW/STW
A_INF, B_INF,
SERVO, S_INF,
VECTOR
1774
- - 0000 bin
00 Closed-loop control operation Yes No 8732,
8932
01 Energize contactor Yes No 2610,
8734,
8934
02 Infeed line supply failure Yes No -
p0864 BI: Infeed operation / INF operation
1774, 2610
- - 0
r0873 CO/BO: Infeed, total operation / INF total oper
B_INF, S_INF Can be changed: - Access level: 2
- - -
List of parameters
Parameters
Description: Setting to interconnect the ready signal for mixed operation of Smart Line Module (SLM) and Basic Line Module
(BLM).
In order that signal BO: r0873 is available at one of the infeeds, then BI: p0874 of the one infeed must be intercon-
nected to BO: r0863.0 of the other infeed.
Note: Mixed operation is not possible with the Active Line Module (ALM)!
Description: Sets the signal source to activate/de-activate a power unit component.
Refer to: A05054
Note: The power unit is only de-activated when the pulses are cancelled.
Description: Displays the status word for the "parking axis" function.
Description: Sets the signal source to select the "parking axis" function.
Note: After it has been selected the "parking axis" function only becomes active when the pulses are cancelled.
p0874 BI: Smart/ Basic Line Module operation / SLM/BLM operation
B_INF, S_INF Can be changed: T Access level: 2
- - 0
p0895[0...n] BI: Activate/de-activate power unit components / LT_comp act/de-act
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - 1
r0896 BO: Parking axis, status word / Parking axis, ZSW
- - 0000 bin
00 Parking axis active Yes No -
p0897 BI: Parking axis selection / Parking axis sel
- - 0
Parameters
List of parameters
Description: Displays the control word of drive object 1 (Control Unit).
Description: Displays control word 1 of the infeed.
Description: Displays the control word for the sequence control.
r0898 CO/BO: Control word drive object 1 / STW DO1
- - 0000 bin
00 Synchronization signal SYN Yes No -
01 Real time synchronization PING Yes No -
07 Acknowledge fault Yes No -
12 Master sign-of-life bit 0 Yes No -
r0898 CO/BO: Control word sequence control infeed / STW seq_ctrl INF
8920
- - 0000 bin
00 ON/OFF1 Yes No -
01 OC / OFF2 Yes No -
03 Enable operation Yes No -
05 Inhibit motoring operation Yes No -
06 Inhibit regenerating Yes No -
10 Master ctrl by PLC Yes No -
r0898 CO/BO: Control word sequence control / STW seq ctrl
2501
- - 0000 bin
00 ON/OFF1 Yes No -
04 Enables the ramp-function generator Yes No -
05 Freeze ramp-function generator No Yes -
06 Enable speed setpoint Yes No -
07 Command, open brake Yes No -
08 Jog 1 Yes No -
09 Jog 2 Yes No -
12 Speed controller enable Yes No -
14 Command, close brake Yes No -
List of parameters
Parameters
Description: Displays control word 1 of the infeed.
Description: Displays the control word for the sequence control.
Description: Displays the status word from drive object 1 (Control Unit).
r0898 CO/BO: Control word sequence control infeed / STW seq_ctrl INF
- - 0000 bin
00 ON/OFF1 Yes No -
r0898 CO/BO: Control word sequence control / STW seq ctrl
- - 0000 bin
00 ON/OFF1 Yes No -
05 Start ramp-function generator Yes No -
13 Enable zero mark Yes No -
r0899 CO/BO: Status word drive object 1 / ZSW DO1
- - 0000 bin
03 Fault present Yes No -
07 Alarm present Yes No -
08 System time synchronized Yes No -
12 Slave sign-of-life bit 0 Yes No -
Parameters
List of parameters
Description: Displays the status word of the infeed sequence control.
Note: Re bit 12:
The feedback signal of a line contactor (auxiliary contact) can be interconnected via BI: p0860.
Description: Displays the status word of the sequence control.
Note: Re bit 0, 1, 2, 4, 5, 6, 9:
For PROFIdrive, these signals are used for status word 1.
Re bit 13:
When the "Safe Brake Control" (SBC) is activated and selected, the brake is no longer controlled using this signal.
Re bit 14, 15:
These signals are only of significance when the "extended brake control" function module is activated (r0108.14 =
1).
r0899 CO/BO: Status word sequence control infeed / ZSW seq_ctrl INF
8926
- - 0000 bin
00 Ready to power up Yes No -
01 Ready Yes No -
02 Operation enabled Yes No -
04 No OFF2 active OFF2 inactive OFF2 active -
06 Power-on inhibit Yes No -
09 Control requested Yes No -
11 Pre-charging compl Yes No -
12 Line contactor closed Yes No 8934
r0899 CO/BO: Status word sequence control / ZSW seq_ctrl
2503
- - 0000 bin
01 Ready Yes No -
03 Jog active Yes No -
04 No coasting active OFF2 inactive OFF2 active -
05 No fast stop active OFF3 inactive OFF3 active -
06 Power-on inhibit active Yes No -
07 Drive ready Yes No -
08 Controller enable Yes No -
11 Pulses enabled Yes No -
12 Holding brake open Yes No -
13 Command, close holding brake Yes No -
14 Pulse enable from the brake control Yes No -
15 Setpoint enable from the brake control Yes No -
List of parameters
Parameters
Description: Displays the status word of the infeed sequence control.
Note: Re bit 0, 1, 2, 4, 5, 6, 9:
Description: Displays the status word of the sequence control.
Note: Re bit 0, 1, 2, 6:
r0899 CO/BO: Status word sequence control infeed / ZSW seq_ctrl INF
- - 0000 bin
01 Ready Yes No -
04 No OFF2 active OFF2 inactive OFF2 active -
11 Pre-charging compl Yes No -
12 Line contactor closed Yes No -
r0899 CO/BO: Status word sequence control / ZSW seq_ctrl
- - 0000 bin
01 Ready Yes No -
04 Coast down active No Yes -
05 Fast stop active No Yes -
08 Actual value in tolerance Yes No -
12 Holding brake closed Yes No -
13 Zero mark enabled Yes No -
14 Tracks A/B enabled Yes No -
15 Interface encoder emulation enabled Yes No -
Parameters
List of parameters
Description: Is used to assign the process data received the PROFIBUS master (PZD, setpoints).
Values: 0: ZERO
4201: r4201 (system time for synchronization)
4204: r4204 (control digital output 0 ... 15)
4211: r4211 (edge mode digital input 0 ... 7)
4250: r4250 (set/resetting time, digital output 0)
p0915[0...35] TM17 PROFIBUS PZD setpoint assignment / TM17 PB PZD setpt
0 4265 [0] 4201
[1] 4204
[2] 4211
[3] 4212
[4] 0
[5] 0
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
[20] 0
[21] 0
[22] 0
[23] 0
[24] 0
[25] 0
[26] 0
[27] 0
[28] 0
[29] 0
[30] 0
[31] 0
[32] 0
[33] 0
[34] 0
[35] 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
[32] = PZD 33
[33] = PZD 34
[34] = PZD 35
[35] = PZD 36
Note: Example:
The telegram for the setpoints should have the following process data (PZD) and assignments:
PZD 1 (r4201), PZD 2 (r4204), PZD 3 (r4250), PZD 4 (r4250)
The setpoint assignment must be realized as follows:
p0915[0] = 4201 - 16 bit
p0915[1] = 4204 - 16 bit
p0915[2] = 4250 - 32 bit - specified twice one after the other
p0915[3] = 4250 - 32 bit
p0915[4] = 0
...
p0915[35] = 0
Parameters
List of parameters
Description: Is used to assign the process data received the PROFIBUS master (PZD, setpoints).
Values: 0: ZERO
4201: r4201 (system time for synchronization)
p0915[0...29] TM15 PROFIBUS PZD setpoint assignment / TM15 PB PZD setpt
0 4273 [0] 4201
[1] 4204
[2] 4205
[3] 4211
[4] 4212
[5] 4213
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
[20] 0
[21] 0
[22] 0
[23] 0
[24] 0
[25] 0
[26] 0
[27] 0
[28] 0
[29] 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
Note: Example:
The telegram for the setpoints should have the following process data (PZD) and assignments:
PZD 1 (r4201), PZD 2 (r4204), PZD 3 (r4250)
p0915[0] = 4201 - 16 bit
p0915[1] = 4204 - 16 bit
p0915[2] = 4250 - 16 bit
p0915[3] = 0
...
p0915[29] = 0
Parameters
List of parameters
Description: Is used to assign the process data to be set to the PROFIBUS master (PZD, actual values).
Values: 0: ZERO
4301: r4301 (module synchronization)
4304: r4304 (status digital input 0 ... 15)
4311: r4311 (edge status digital input 0 ... 7)
4350: r4350 (edge times digital input 0)
p0916[0...35] TM17 PROFIBUS PZD actual value assignment / TM17 PB PZD actVal
0 4365 [0] 4301
[1] 4304
[2] 4311
[3] 4312
[4] 0
[5] 0
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
[20] 0
[21] 0
[22] 0
[23] 0
[24] 0
[25] 0
[26] 0
[27] 0
[28] 0
[29] 0
[30] 0
[31] 0
[32] 0
[33] 0
[34] 0
[35] 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
[32] = PZD 33
[33] = PZD 34
[34] = PZD 35
[35] = PZD 36
Note: Example:
The telegram for the actual values should have the following process data (PZD) and assignments:
PZD 1 (r4301), PZD 2 (r4304), PZD 3 (r4350), PZD 4 (r4350)
p0916[0] = 4301 - 16 bit
p0916[1] = 4304 - 16 bit
p0916[2] = 4350 - 32 bit - specified twice one after the other
p0916[3] = 4350 - 32 bit
p0916[4] = 0
...
p0916[35] = 0
Parameters
List of parameters
Description: Is used to assign the process data to be set to the PROFIBUS master (PZD, actual values).
Values: 0: ZERO
4301: r4301 (module synchronization)
p0916[0...29] TM15 PROFIBUS PZD actual value assignment / TM15 PB PZD actVal
0 4373 [0] 4301
[1] 4304
[2] 4305
[3] 4311
[4] 4312
[5] 4313
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
[20] 0
[21] 0
[22] 0
[23] 0
[24] 0
[25] 0
[26] 0
[27] 0
[28] 0
[29] 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
Note: Example:
The telegram for the actual values should have the following process data (PZD) and assignments:
PZD 1 (r4301), PZD 2 (r4304), PZD 3 (r4350)
The actual value assignment must be implemented as follows:
p0916[0] = 4301 - 16 bit
p0916[1] = 4304 - 16 bit
p0916[2] = 4350 - 16 bit
p0916[3] = 0
...
p0916[29] = 0
Parameters
List of parameters
Description: Displays or sets the PROFIBUS address for PROFIBUS interface (X126) on the Control Unit. The address can be
set as follows:
1) Using the DIP switch power-up the Control Unit.
--> p0918 can then only be read and displays the selected address.
--> A change only becomes effective after a POWER ON.
2) Using p0918
--> only if all of the DIP switches - from S1 to S7 - are either set to ON or OFF.
--> The address is saved in a non-volatile fashion using the function "copy from RAM to ROM".
Note: Permissible PROFIBUS addresses: 1 ... 126
Address 126 is intended for commissioning.
Every PROFIBUS address change only becomes effective after a POWER ON.
Description: Sets the send and receive telegram for PROFIBUS.
Either standard telegrams according to PROFIdrive can be selected or a telegram can be freely configured.
Values: 390: SIEMENS telegram 390, PZD-1/1
391: SIEMENS telegram 391, PZD-3/7
999: Free telegram configuration with BICO
Either a manufacturer-specific telegram 370 can be selected or a telegram can be freely configured.
Note: If a value is not equal to 999, a telegram is set and the automatically set interconnections in the telegram are inhib-
ited.
The inhibited interconnections can only be changed again if a value of 999 was set.
p0918 PROFIBUS address / PROFIBUS address
2410
1 126 126
p0922 PROFIBUS PZD telegram selection / PB PZD telegr_eval
CU_S Can be changed: C2(1), T Access level: 1
390 999 999
A_INF, B_INF,
S_INF
2420, 2460, 2470
370 999 999
List of parameters
Parameters
Either standard telegrams according to PROFIdrive, manufacturer-specified telegrams or telegrams that can be
freely configured can be selected.
Values: 2: Standard telegram 2, PZD-4/4
3: Standard telegram 3, PZD-5/9
Refer to: F01505, F01506
Note: For p0922 = 100 ... 199, p2038 is automatically set to 1 and p2038 can no longer be changed. This means that for
these telegrams, the "SIMODRIVE 611 universal" interface mode is set and cannot be changed.
If a value is not equal to 999, a telegram is set and the automatically set interconnections in the telegram are inhib-
ited.
Values: 999: Free telegram configuration with BICO
Refer to: F01505, F01506
ited.
SERVO Can be changed: C2(1), T Access level: 1
2420, 2460, 2470
2 999 999
SERVO (Pos ctrl) Can be changed: C2(1), T Access level: 1
2420, 2460, 2470
999 999 999
Parameters
List of parameters
Refer to: F01505, F01506
ited.
Refer to: F01505, F01506
ited.
SERVO (EPOS) Can be changed: C2(1), T Access level: 1
2420, 2460, 2470
7 999 999
SERVO (Extended
setp.)
2420, 2460, 2470
1 999 999
List of parameters
Parameters
Either a standard telegram 1 according to PROFIdrive can be selected or a telegram can be freely configured.
Cautiont: Telegrams 2, 3 and 4 are not suitable for sensorless closed-loop vector control (p1300 = 20). For sensorless
closed-loop vector control, it is necessary that the setpoint speed is entered at the ramp-function generator input
(e.g. p1070) and not after the ramp-function generator (p1155).
ited.
ited.
2420, 2460, 2470
1 999 999
VECTOR (n/M) Can be changed: C2(1), T Access level: 1
2420, 2460, 2470
1 999 999
Parameters
List of parameters
ited.
ited.
ited. The inhibited interconnections can only be changed again if a value of 999 was set.
VECTOR (Pos ctrl) Can be changed: C2(1), T Access level: 1
2420, 2460, 2470
2 999 999
VECTOR (EPOS) Can be changed: C2(1), T Access level: 1
2420, 2460, 2470
7 999 999
2420, 2460, 2470
3 999 999
List of parameters
Parameters
Free telegram configuring is permanently set and cannot be changed.
Values: 0: Free telegram configuring with P915/P916
Description: Number of tolerated consecutive sign-of-life errors of the clock synchronous PROFIBUS master. The sign-of-life
signal is normally received in PZD4 (control word 2) from the master.
Refer to: F01912
Note: The sign-of-life monitoring is disabled for p0925 = 65535.
Description: Displays the operating mode.
1: Closed-loop speed controlled operation with ramp-function generator
2: Closed-loop position controlled operation
3: Closed-loop speed controlled operation without ramp-function generator
Description: Displays fault buffer changes. This counter is incremented every time the fault buffer changes.
Recommenda-
tion:
Used to check whether the fault buffer has been read out consistently.
TM15, TM17 Can be changed: C2(1), T Access level: 1
0 0 0
p0925 PROFIBUS clock synchronous sign-of-life tolerance / Master SoL_tol
CU_S, SERVO,
TM41, VECTOR
(n/M)
0 65535 1
r0930 PROFIBUS operating mode / PB operating mode
P-Group: Setpoints Units group: - Unit selection: -
- - -
r0944 Counter for fault buffer changes / Fault buff change
P-Group: Messages Units group: - Unit selection: -
- - -
Parameters
List of parameters
Description: Displays the numbers of faults that have occurred.
Note: The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
Fault buffer structure (general principle):
r0945[0], r0949[0], r0948[0], r2109[0] --> actual fault case, fault 1
.
.
.r0945[7], r0949[7], r0948[7], r2109[7] --> actual fault case, fault 8
r0945[8], r0949[8], r0948[8], r2109[8] --> 1st acknowledged fault case, fault 1
.
.
.
r0945[15], r0949[15], r0948[15], r2109[15] --> 1st acknowledged fault case, fault 8
.
.
.
r0945[56], r0949[56], r0948[56], r2109[56] --> 7th acknowledged fault case, fault 1
.
.
.
r0945[63], r0949[63], r0948[63], r2109[63] --> 7th acknowledged fault case, fault 8
Description: Lists the fault codes stored in the drive unit.
The indices can only be accessed with a valid fault code.
Dependency: The parameter assigned to the fault code is entered in r0951 under the same index.
Refer to: r0951
Description: This parameter is identical to r0945.
r0945[0...63] Fault code / Fault code
8060
- - -
r0946[0...65534] Fault code list / Fault code list
- - -
r0947[0...63] Fault number / Fault number
8060
- - -
List of parameters
Parameters
Description: Displays the system runtime in milliseconds when the fault occurred.
Dependency: Refer to: r0945, r0947, r0949, r2109, r2114, r2130, r2133, r2136
Description: Displays additional information about the fault that occurred (as integer number).
Description: Lists parameters assigned to a fault.
Description: Number of fault situations that have occurred since the last reset.
Dependency: The fault buffer is deleted (cleared) by setting p0952 to 0.
Refer to: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136
r0948[0...63] Fault time received in milliseconds / t_fault recv ms
8060
- [ms] - [ms] - [ms]
r0949[0...63] Fault value / Fault value
Data type: Integer32 Dynamic index: - Function diagram: 1750,
8060
- - -
r0951[0...65534] Fault number list / Fault number list
- - -
p0952 Fault cases, counter / Fault cases qty
All objects Can be changed: U, T Access level: 3
8060
0 65535 0
Parameters
List of parameters
Values: 0: 9.6 kbit/s
1: 19.2 kbit/s
2: 93.75 kbit/s
3: 187.5 kbit/s
4: 500 kbit/s
6: 1.5 Mbit/s
7: 3 Mbit/s
8: 6 Mbit/s
9: 12 Mbit/s
10: 31.25 kbit/s
11: 45.45 kbit/s
255: Unknown
Description: Displays the device identification.
Index: [0] = Company (Siemens = 42)
[1] = Device type
[2] = Firmware version
[3] = Firmware date (year)
[4] = Firmware date (day/month)
[5] = Number of drive objects
[6] = Firmware patch/hot fix
Note: Example:
r0964[0] = 42 --> SIEMENS
r0964[1] = 5000 --> SINAMICS S CU320
r0964[1] = 5200 --> SINAMICS G CU320
r0964[2] = 102 --> first part of the firmware version V01.02 (second part, refer under index 6)
r0964[3] = 2003 --> year 2003
r0964[4] = 1401 --> 14th of January
r0964[5] = 4 --> 4 drive objects
r0964[6] = 600 --> second part, firmware version (complete version: V01.02.06.00)
Description: Displays the PROFIBUS profile number and profile version. Constant value = 0303 hex.
Byte 1: Profile number = 03 hex = PROFIdrive profile
Byte 2: Profile version = 03 hex = Version 3
r0963 PROFIBUS baud rate / PROFIBUS baud rate
0 255 3
r0964[0...6] Device identification / Device ident.
- - -
r0965 PROFIBUS profile number / PB profile number
- - -
List of parameters
Parameters
Description: Displays the system runtime in ms since the last POWER ON.
Note: The value in p0969 can only be reset to 0.
The value overflows after approx. 49 days.
Description: The parameter is used to initiate that the parameters of an individual infeed unit are reset.
The parameters of the basic commissioning (refer to p0009) are in this case not reset (p0107, p0108, p0121,
p0170). These can only be reset using the factory setting of the complete drive unit (p0976).
The sampling times (p0111, p0112, p0115) are only not reset if this results in a conflict with the basic clock cycle
(p0110).
1: Starts a parameter reset
100: Starts a BICO interconnection reset
Note: A factory setting run can only be started if p0010 was first set to 30 (parameter reset).
Description: The parameter is used to initiate that the parameters of an individual drive unit are reset.
Parameters p0100, p0205 (only for VECTOR) and the parameters of the basic drive commissioning (p0009) are not
reset (p0107, p0108, p0111, p0112, p0115, p0121, p0130, p0131, p0140, p0141, p0142, p0170, p0186 ... p0189).
These can only be reset using the factory setting of the complete drive unit (p0976).
p0969 System runtime relative / t_System relative
8060
0 [ms] 4294967295 [ms] 0 [ms]
p0970 Reset infeed parameter / INF par reset
A_INF, B_INF,
S_INF
P-Group: Factory settings Units group: - Unit selection: -
0 100 0
p0970 Reset drive parameters / Drive par reset
0 100 0
Parameters
List of parameters
Description: The parameter is used to initiate that the parameters are reset on Terminal Board 30 (TB30).
The sampling time p4099 is not reset if in so doing a conflict occurs with the basic clock cycle.
Parameter p0161 is not reset. It is only reset if the entire drive unit is reset to the factory settings (p0976).
Description: The parameter is used to initiate that the parameters are reset on Terminal Module 31 (TM31).
p0970 TB30 reset parameters / TB30 par reset
0 100 0
p0970 TM31 reset parameters / TM31 par reset
0 100 0
p0970 TM41 reset parameters / TM41 par reset
0 100 0
List of parameters
Parameters
p0970 TM17 reset parameter / TM17 par reset
0 100 0
p0970 TM15 reset parameter / TM15 par reset
0 100 0
p0970 TM15DI/DO reset parameter / TM15D par reset
TM15DI_DO Can be changed: C2(30) Access level: 2
0 100 100
Parameters
List of parameters
Description: Saves the parameters of the particular drive object in the non-volatile memory (CompactFlash card).
1: Save drive object
Cautiont: 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).
Note: Starting from the particular drive object, the following parameters are saved:
CU3xx: Device-specific parameters and PROFIBUS device parameters.
Other objects: Parameters of the actual object and PROFIBUS device parameters.
Prerequisite:
In order that the parameter of a drive object, saved with p0971 = 1, is read the next time that the Control Unit is
booted, then all parameters must, as a minimum, have first been saved once with p0977 = 1.
Description: Displays the identification of the drive object.
Index: [0] = Company (Siemens = 42)
[1] = Drive object type
[2] = Firmware version
[3] = Firmware date (year)
[4] = Firmware date (day/month)
[5] = PROFIdrive drive object, type class
[6] = PROFIdrive drive object, sub-type Class 1
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Firmware patch/hot fix
Note: Example:
r0975[0] = 42 --> SIEMENS
r0975[1] = 11 --> SERVO drive object type
r0975[2] = 102 --> first part, firmware version V01.02 (second part, refer to index 10)
r0975[3] = 2003 --> year 2003
r0975[4] = 1401 --> 14th of January
r0975[5] = 1 --> PROFIdrive drive object, type class
r0975[6] = 9 --> PROFIdrive drive object sub-type class 1
r0975[7] = 0 (reserved)
r0975[8] = 0 (reserved)
r0975[9] = 0 (reserved)
r0975[10] = 600 --> second part, firmware version (complete version: V01.02.06.00)
p0971 Save drive object parameters / Save drv_obj
0 1 0
r0975[0...10] Drive object identification / DO identification
- - -
List of parameters
Parameters
Description: Resets or downloads all parameters of the drive system.
1: Starts to reset all parameters to factory setting
2: Starts to download param. saved in non-volatile way w/ p0977 = 1
3: Start to download the volatile parameters from RAM
10: Starts to download param. saved in non-volatile way w/ p0977=10
20: Starts to download Siemens internal setting 20
100: Starts to reset all BICO interconnections
1011: Starts to download param. saved in volatile way w/ p0977 = 1011
Note: After all of the parameters have been reset to their factory setting, the system must commissioned for the first time
again.
Resetting or loading is realized in the non-volatile memory.
Procedure:
1. Set p0009 = 30 (parameter reset).
2. Set p0976 to "required value". The system is rebooted.
p0976 is automatically set to 0 and p0009 is automatically set to 1 after this has been carried-out.
Description: Saves all parameters of the drive system to the non-volatile memory (CompactFlash card).
1: Save in non-volatile fashion - downloaded at POWER ON
10: Save as opt. in non-vol. fashion - downloaded w/ p0976=10
20: Save in a non-volatile fashion as setting 20 (reserved)
1011: Save in volatile fashion, loaded with p0976=1011
p0976 Reset and load all parameters / Reset load all par
0 1013 0
p0977 Save all parameters / Save all par
0 1013 0
Parameters
List of parameters
Cautiont: 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).
Note: Parameters saved with p0977 = 10, 11 or 12 can be downloaded again with p0976 = 10, 11 or 12.
Description: This parameter is an image of p0101 in conformance with PROFIdrive.
Parameters p0101 and p0978 contain the following information:
1) The same number of drive objects
2) The same drive objects
In this sense, they are consistent.
Difference between p0101 and p0978:
p0978 can be re-sorted and a zero inserted in order to identify those drive objects that participate in the process
data exchange and to define their sequence in the process data exchange. Drive objects that are listed after the
first zero, are excluded from the process data exchange.
For p0978, in addition, the value 255 can be inserted a multiple number of times.
p0978[n] = 255 means: The drive object is visible for the PROFIBUS master and is empty (without any actual pro-
cess data exchange). This allows cyclic communications of a PROFIBUS master with unchanged configuring to the
drive units with a lower number of drive objects.
Note: p0978 cannot be changed when the drive system is first commissioned. The reason for this is that at this time the
actual topology has still not been acknowledged (p0099 is still not equal to r0098 and p0009 is set to 0).
p0978[0...16] List of drive objects / List of the DO
0 255 [0] 1
[1] 0
[2] 0
[3] 0
[4] 0
[5] 0
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
List of parameters
Parameters
Description: Displays the actual position encoder used according to PROFIdrive.
Index: [0] = Header
[1] = Type, encoder 1
[2] = Resolution encod 1
[3] = Shift factor G1_XACT1
[5] = Distinguishable revolutions encoder 1
[6] = Reserved
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Reserved
[16] = Reserved
[17] = Reserved
[18] = Reserved
[19] = Reserved
[20] = Reserved
[26] = Reserved
[27] = Reserved
[28] = Reserved
[29] = Reserved
[30] = Reserved
Note: Information on the individual indices should be taken from the PROFIdrive Profile Drive Technology.
r0979[0...30] Encoder format PROFIdrive / Encoder format
4704
- - -
Parameters
List of parameters
Description: Displays the actual position encoder used according to PROFIdrive.
Index: [0] = Header
[6] = Reserved
[7] = Reserved
[8] = Reserved
[9] = Reserved
[10] = Reserved
Note: Information on the individual indices should be taken from the PROFIdrive Profile Drive Technology.
Description: Displays the parameters that exist for this drive.
Note: The existing parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here. In
a long list, index 99 contains the parameter number at which position the list continues.
This list completely comprises the following parameters:
r0980[0...99], r0981[0...99] ... r0989[0...99]
The parameters in this list are not displayed in the expert list of the commissioning software. However, they can be
read from a higher-level control system (e.g. PROFIBUS master).
Note: The existing parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here. In
a long list, index 99 contains the parameter number at which position the list continues.
r0980[0...99], r0981[0...99] ... r0989[0...99]
r0979[0...10] Encoder format PROFIdrive / Encoder format
4704
- - -
r0980[0...99] List of existing parameters 1 / List avail par 1
- - -
- - -
List of parameters
Parameters
Note: The existing parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here.
r0980[0...99], r0981[0...99] ... r0989[0...99]
Description: Displays those parameters with a value other than the factory setting for this drive.
Note: Modified parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here. In a
long list, index 99 contains the parameter number at which position the list continues.
r0990[0...99], r0991[0...99] ... r0999[0...99]
Note: Modified parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here. In a
long list, index 99 contains the parameter number at which position the list continues.
r0990[0...99], r0991[0...99] ... r0999[0...99]
- - -
r0990[0...99] List of modified parameters 1 / List chang. par 1
- - -
- - -
Parameters
List of parameters
Note: Modified parameters are displayed in indices 0 to 98. If an index contains the value 0, then the list ends here.
r0990[0...99], r0991[0...99] ... r0999[0...99]
The Connector Inputs (CI) for the speed setpoints of the appropriate Command Data Set (CDS) are appropriately
interconnected.
Example:
Refer to: p0015, p0700, p1500, r8572
CI: Connector Input
The Connector Inputs (CI) for the velocity setpoints of the appropriate Command Data Set (CDS) are appropriately
interconnected.
Example:
- - -
p1000[0...n] Macro Connector Inputs (CI) for speed setpoints / Macro CI n_set
0 999999 0
p1000[0...n] Macro Connector Inputs (CI) for velocity setpoints / Macro CI v_set
SERVO (Lin) Can be changed: C2(1), T Access level: 1
0 999999 0
List of parameters
Parameters
Refer to: p0015, p0700, p1500, r8572
CI: Connector Input
Description: Sets a value for the fixed speed / velocity setpoint 1.
Dependency: Refer to: p1020, p1021, p1022, p1023, r1024, r1197
Notice: A BICO interconnection to a parameter that belongs to a drive objects always acts on the effective data set.
p1001[0...n] CO: Fixed speed setpoint 1 / n_set_fixed 1
SERVO (Extended
setp.), VECTOR
Data type: Floating Point Dynamic index: DDS, p0180 Function diagram: 3010
P-Group: Setpoints Units group: 3_1 Unit selection: p0505
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
p1001[0...n] CO: Fixed velocity setpoint 1 / n_set_fixed 1
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
List of parameters
Parameters
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
List of parameters
Parameters
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
List of parameters
Parameters
Description: Sets the signal source to select the fixed speed setpoint.
Dependency: Selects the required fixed speed setpoint using p1020 ... p1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets a value for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1021, p1022, p1023, r1197
Note: If a fixed speed setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).
Description: Sets the signal source to select the fixed velocity setpoint.
Dependency: Selects the required fixed velocity setpoint using p1020 ... p1023.
Displays the number of the actual fixed velocity setpoint in r1197.
Sets a value for the fixed velocity setpoints 1 ... 15 using p1001 ... p1015.
Refer to: p1021, p1022, p1023, r1197
Note: If a fixed velocity setpoint has not been selected (p1020 ... p1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).
Refer to: p1020, p1022, p1023, r1197
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1020[0...n] BI: Fixed speed setpoint selection Bit 0 / n_set_fixed Bit 0
SERVO (Extended
setp.), VECTOR
- - 0
p1020[0...n] BI: Fixed velocity setpoint selection Bit 0 / v_set_fixed Bit 0
SERVO (Extended
setp., Lin)
- - 0
SERVO (Extended
setp.), VECTOR
- - 0
Parameters
List of parameters
Refer to: p1020, p1022, p1023, r1197
Refer to: p1020, p1021, p1023, r1197
Refer to: p1020, p1021, p1023, r1197
Sets a value for the fixed speed setpoints 1 ... 15 using p1001 ... p1015. Refer to: p1020, p1021, p1022, r1197
SERVO (Extended
setp., Lin)
- - 0
SERVO (Extended
setp.), VECTOR
- - 0
SERVO (Extended
setp., Lin)
- - 0
SERVO (Extended
setp.), VECTOR
- - 0
List of parameters
Parameters
Refer to: p1020, p1021, p1022, r1197
Description: Displays the selected and effective fixed speed setpoint.
This setpoint is the output value for the fixed speed setpoints and must be appropriately interconnected (e.g. with
the main setpoint).
Recommenda-
tion:
Interconnect the signal with main setpoint (p1070).
Description: Displays the selected and effective fixed velocity setpoint.
This setpoint is the output value for the fixed velocity setpoints and must be appropriately interconnected (e.g. with
the main setpoint).
Recommenda-
tion:
SERVO (Extended
setp., Lin)
- - 0
r1024 CO: Fixed speed setpoint effective / n_set_fixed eff
SERVO (Extended
setp.), VECTOR
3010
- [1/min] - [1/min] - [1/min]
r1024 CO: Fixed velocity setpoint effective / v_set_fixed eff
SERVO (Extended
setp., Lin)
3010
Parameters
List of parameters
Description: Sets the configuration for the motorized potentiometer.
Note: Re bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
1: The setpoint for the motorized potentiometer is saved after OFF and after ON set to the saved value. In order to
save in a non-volatile fashion, bit 03 should be set to 1.
Re bit 01:
0: Without ramp-function generator in the automatic mode (ramp-up/ramp-down time = 0).
1: With ramp-function generator in the automatic mode.
For manual operation (0 signal via BI: p1041), the ramp-function generator is always active.
Re bit 02:
0: Without initial rounding-off
1: With initial rounding-off. The selected ramp-up/down time is correspondingly exceeded. The initial rounding-off is
a sensitive way of specifying small changes (progressive reaction when keys are pressed).
The jerk for the initial rounding-off is independent of the ramp-up time and only depends on the selected maximum
speed (p1082). It is calculated as follows:
r = 0.01 % * p1082 [1/s] / 0.13^2 [s^2]
The jerk acts up until the maximum acceleration is reached (a_max = p1082 [1/s] / p1047 [s]), and then the drive
continues to run linearly with a constant rate of acceleration. The higher the maximum acceleration (the lower that
p1047 is), the longer the ramp-up time increases with respect to the set ramp-up time.
Re bit 03:
0: Non-volatile data save de-activated.
1: The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for bit 00 = 1).
The following prerequisites must be fulfilled in order to be able to save the setpoint in a non-volatile fashion:
- Firmware with V2.3 or higher.
Description: Sets the signal source to increase the setpoint for the motorized potentiometer
p1030[0...n] Motorized potentiometer, configuration / Mop configuration
SERVO (Extended
setp.), VECTOR
- - 0110 bin
00 Data save active Yes No -
01 Automatic mode, ramp-function generator
active
Yes No -
02 Initial rounding-off active Yes No -
03 Save in NVRAM active Yes No -
p1035[0...n] BI: Motorized potentiometer, setpoint, raise / Mop raise
SERVO (Extended
setp.), VECTOR
2505
- - 0
List of parameters
Parameters
Description: Sets the signal source to enable the zero marks.
Description: Sets the signal source to reduce the setpoint for the motorized potentiometer.
Description: Sets the maximum speed/velocity for the motorized potentiometer.
Note: This parameter is automatically pre-assigned in the commissioning phase.
The setpoint output from the motorized potentiometer is limited to this value.
Description: Sets the maximum speed/velocity for the motorized potentiometer.
Description: Sets the minimum speed/velocity for the motorized potentiometer.
p1035 BI: Enable zero marks / Enable ZM
- - 0
p1036[0...n] BI: Motorized potentiometer, lower setpoint / Mop lower
SERVO (Extended
setp.), VECTOR
2505
- - 0
p1037[0...n] Motorized potentiometer, maximum speed / Mop n_max
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
p1037[0...n] Motorized potentiometer, maximum velocity / Mop n_max
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1038[0...n] Motorized potentiometer, minimum speed / Mop n_min
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
Parameters
List of parameters
Description: Sets the minimum speed/velocity for the motorized potentiometer.
Description: Sets the signal source to invert the maximum or minimum speed/velocity for the motorized potentiometer.
Note: The inversion is only active during "motorized potentiometer raise" or "motorized potentiometer lower".
Description: Sets the starting value for the motorized potentiometer. This starting value becomes effective after the drive has
been powered-up.
Dependency: Only effective if p1030.0 = 0.
Refer to: p1030
Description: Sets the starting value for the motorized potentiometer. This starting value becomes effective after the drive has
been powered-up.
Dependency: Only effective if p1030.0 = 0.
Refer to: p1030
p1038[0...n] Motorized potentiometer, minimum velocity / Mop n_min
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1039[0...n] BI: Motorized potentiometer, inversion / Mop inversion
SERVO (Extended
setp.), VECTOR
- - 0
p1040[0...n] Motorized potentiometer, starting value / Mop start value
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
List of parameters
Parameters
Description: Sets the signal source to change over from manual to automatic when using a motorized potentiometer.
In the manual mode, the setpoint is changed using two signals - raise and lower. In the automatic mode, the set-
point must be interconnected via a connector input.
Note: The effectiveness of the internal ramp-function generator can be set in automatic mode.
Description: Sets the signal source for the setpoint of the motorized potentiometer in the automatic mode.
Description: Sets the signal source for the setting command to accept the setting value for the motorized potentiometer.
Description: Sets the signal source for the setting value for the motorized potentiometer.
Note: The value becomes effective for a 0/1 edge of the setting command.
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator.
p1041[0...n] BI: Motorized potentiometer, manual/automatic / Mop manual/auto
SERVO (Extended
setp.), VECTOR
- - 0
p1042[0...n] CI: Motorized potentiometer, automatic setpoint / Mop auto setpoint
SERVO (Extended
setp.), VECTOR
- - 0
p1043[0...n] BI: Motorized potentiometer, accept setpoint / Mop accept set val
SERVO (Extended
setp.), VECTOR
- - 0
p1044[0...n] CI: Motorized potentiometer, setting value / Mop setting value
SERVO (Extended
setp.), VECTOR
- - 0
r1045 CO: Mot. potentiometer, speed setp. in front of ramp-fct. gen. / Mop n_set bef. RFG
SERVO (Extended
setp.), VECTOR
- [1/min] - [1/min] - [1/min]
Parameters
List of parameters
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator.
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from the zero up to the speed/velocity limit (p1082) within this time (if no initial rounding-off
has been activated).
Note: When the initial rounding-off is activated (p1030.2) the ramp-up time is correspondingly extended.
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from the speed/velocity limit (p1082) to zero within this time (if no initial rounding-off has
been activated).
Note: The deceleration time is extended corresponding to the activated initial rounding-off (p1030.2).
Description: Sets the effective setpoint after the internal motorized potentiometer ramp-function generator.
This setpoint is the output value of the motorized potentiometer and must be appropriately interconnected onwards
(e.g. with the main setpoint).
Recommenda-
tion:
Note: For "With ramp-function generator", after an OFF1, OFF2, OFF3 or for a 0 signal via BI: p0852 (inhibit operation,
cancel pulses) the ramp-function generator output (r1050) is set to the starting value (configuration via p1030.0).
r1045 CO: Mot. potentiom.,velocity setp. in front of ramp-fct. gen. / Mop n_set bef. RFG
SERVO (Extended
setp., Lin)
p1047[0...n] Motorized potentiometer, ramp-up time / Mop ramp-up time
SERVO (Extended
setp.), VECTOR
0.000 [s] 1000.000 [s] 10.000 [s]
p1048[0...n] Motorized potentiometer, ramp-down time / Mop ramp-down time
SERVO (Extended
setp.), VECTOR
0.000 [s] 1000.000 [s] 10.000 [s]
r1050 CO: Motor. potentiometer, setpoint after the ramp-function generator / Mop setp after
RFG
SERVO (Extended
setp.), VECTOR
3020
- [1/min] - [1/min] - [1/min]
List of parameters
Parameters
Description: Sets the effective setpoint after the internal motorized potentiometer ramp-function generator.
This setpoint is the output value of the motorized potentiometer and must be appropriately interconnected onwards
(e.g. with the main setpoint).
Recommenda-
tion:
Note: For "With ramp-function generator", after an OFF1, OFF2, OFF3 or for a 0 signal via BI: p0852 (inhibit operation,
cancel pulses) the ramp-function generator output (r1050) is set to the starting value (configuration via p1030.0).
Description: Sets the signal source for jog 1.
Recommenda-
tion:
Notice: The drive is enabled for jogging using BI: p1055 or BI: p1056.
Recommenda-
tion:
Notice: The drive is enabled for jogging using BI: p1055 or BI: p1056.
r1050 CO: Motor. potentiometer, setpoint after the ramp-function generator / Mop setp after
RFG
SERVO (Extended
setp., Lin)
3020
p1055[0...n] BI: Jog bit 0 / Jog bit 0
SERVO (Extended
setp.), VECTOR
2610, 3030
- - 0
SERVO (Extended
setp.), VECTOR
2610, 3030
- - 0
Parameters
List of parameters
Description: Sets the speed/velocity for jog 1. Jogging is level-triggered and allows the motor to be incrementally moved.
Description: Sets the speed limit/velocity limit effective in the setpoint channel.
p1058[0...n] Jog 1 speed setpoint / Jog 1 n_set
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
p1058[0...n] Jog 1 velocity setpoint / Jog 1 n_set
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
-210000.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
-1000.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1063[0...n] Speed limit, setpoint channel / n_limit setp.
SERVO (Extended
setp.), VECTOR
Data type: Floating Point Dynamic index: DDS, p0180 Function diagram: -
0.000 [1/min] 210000.000 [1/min] 210000.000 [1/min]
List of parameters
Parameters
Description: Sets the speed limit/velocity limit effective in the setpoint channel.
Description: Sets the signal source for the main setpoint.
Examples:
r1024: Fixed speed setpoint effective
r1050: Motor. potentiometer, setpoint after the ramp-function generator
Dependency: Refer to: p1071, r1073, r1078
Description: Sets the signal source for scaling the main setpoint.
Description: Displays the effective main setpoint. The value shown is the main setpoint after scaling.
Description: Displays the effective main setpoint. The value shown is the main setpoint after scaling.
p1063[0...n] Velocity limit, setpoint channel / v_limit setp.
SERVO (Extended
setp., Lin)
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
p1070[0...n] CI: Main setpoint / Main setpoint
SERVO (Extended
setp.), VECTOR
3030
- - 1024[0]
p1071[0...n] CI: Main setpoint scaling / Main setpt scal
SERVO (Extended
setp.), VECTOR
- - 1
r1073 CO: Main setpoint effective / Main setpoint eff
SERVO (Extended
setp.), VECTOR
- [1/min] - [1/min] - [1/min]
r1073 CO: Main setpoint effective / Main setpoint eff
SERVO (Extended
setp., Lin)
Parameters
List of parameters
Description: Sets the signal source for the supplementary setpoint.
Description: Sets the signal source for scaling the supplementary setpoint.
Description: Displays the effective supplementary setpoint. The value shown is the additional setpoint after scaling.
Description: Displays the effective supplementary setpoint. The value shown is the additional setpoint after scaling.
Description: Displays the total effective setpoint. The value indicates the sum of the effective main setpoint and supplementary
setpoint.
p1075[0...n] CI: Suppl setpoint / Suppl setpoint
SERVO (Extended
setp.), VECTOR
3030
- - 0
p1076[0...n] CI: Supplementary setpoint scaling / Suppl setpt scal
SERVO (Extended
setp.), VECTOR
- - 1
r1077 CO: Supplementary setpoint effective / Suppl setpoint eff
SERVO (Extended
setp.), VECTOR
- [1/min] - [1/min] - [1/min]
r1077 CO: Supplementary setpoint effective / Suppl setpoint eff
SERVO (Extended
setp., Lin)
r1078 CO: Total setpoint effective / Total setpoint eff
SERVO (Extended
setp.), VECTOR
- [1/min] - [1/min] - [1/min]
List of parameters
Parameters
Description: Displays the total effective setpoint. The value indicates the sum of the effective main setpoint and supplementary
setpoint.
Description: Sets the lowest possible speed/velocity. This value is not fallen below in operation.
Note: The parameter value applies for both motor directions of rotation.
In exception cases, the motor can operate below this value (e.g. when reversing).
Description: Sets the lowest possible speed/velocity. This value is not fallen below in operation.
Note: The parameter value applies for both motor directions of rotation.
In exception cases, the motor can operate below this value (e.g. when reversing).
r1078 CO: Total setpoint effective / Total setpoint eff
SERVO (Extended
setp., Lin)
p1080[0...n] Minimum speed / Minimum speed
SERVO (Extended
setp.), VECTOR
0.000 [1/min] 19500.000 [1/min] 0.000 [1/min]
p1080[0...n] Minimum velocity / Minimum speed
SERVO (Extended
setp., Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
Parameters
List of parameters
Description: Sets the highest possible speed.
Note: The parameter applies for both motor directions. The parameter has a limiting effect and is the reference quantity
for all ramp-up and ramp-down times (e.g. down ramps, ramp-function generator, motor potentiometer).
The parameter is part of the fast commissioning (p0010 = 1); this means that it is appropriately pre-assigned when
The following limits are always effective for p1082:
p1082 <= p0322, if p0322 > 0
p1082 <= 1 / (10.5 * p0115[0] * r0313)
p1082 <= maximum power unit pulse frequency / (5.3 * r0313)
For the automatic calculation (p0340 = 1) the value of the parameter is pre-assigned the maximum motor speed
(p0322). If p0322 = 0, the rated motor speed (p0311) is used as default (pre-assignment) value. For induction
motors that are not catalog motors (p0301 = 0), the synchronous no-load speed is used as default (pre-assignment)
value (p0310 * 60 / r0313).
For synchronous motors, the following additionally applies:
In the automatic calculation (p0340 = 1), p1082 is limited to speeds for which the steady-state maximum current of
the power unit is not sufficient as field current: p1082 < p0348 / (1 - r0207 / r0331). On the other hand, an additional
limit is effective, which prevents the EMF from exceeding the maximum DC link voltage.
The effective assignment of the motor data set parameter (e.g. p0311) to the drive data set parameter p1082 when
pre-assigning should be taken from p186.
Parameter p1082 is also available in the fast commissioning (p0010=1); this means that when exiting via p3900 > 0,
the value is not changed.
Description: Sets the highest possible velocity.
p1082 <= p0322, if p0322 > 0
p1082 <= 1 / (10.5 * p0115[0] * r0313)
p1082 <= maximum power unit pulse frequency / (5.3 * r0313)
value (p0310 * 60 / r0313).
p1082[0...n] Maximum speed / Maximum speed
3050, 3060, 3070, 3095, 5300
0.000 [1/min] 210000.000 [1/min] 1500.000 [1/min]
p1082[0...n] Maximum velocity / Maximum speed
3050, 3060, 3070, 3095, 5300
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
List of parameters
Parameters
In the automatic calculation (p0340 = 1), p1082 is limited to speeds for which the steady-state maximum current of
the power unit is not sufficient as field current: p1082 < p0348 / (1 - r0207 / r0331). On the other hand, an additional
limit is effective, which prevents the EMF from exceeding the maximum DC link voltage.
Description: Sets the highest possible speed.
Dependency: Refer to: p0115, p0230, r0313, p0322, r0336
p1082 <= p0322, if p0322 > 0
p01082 <= Maximum(15 * r0336, 650 Hz) / r0313
p01082 <= maximum power unit pulse frequency / (k * r0313)
k = 12 for closed-loop vector control (r0108 bit2 = 1), k = 6.5 for U/f control (r0108 bit2 = 0)
If a sinusoidal filter (p0230 = 3) is parameterized as output filter, then the maximum speed is limited corresponding
to the maximum permissible filter output frequency (refer to the filter data sheet). For reactors and du/dt filters, it is
limited to 150 Hz / r0313 (for chassis power units) or 120Hz / r0313 (for booksize power units).
value (p0310 * 60 / r0313).
In the automatic calculation (p0340), p1082 is limited to speeds where the EMF does not exceed the DC link volt-
age.
Description: Sets the maximum speed for the positive direction.
3050, 3060, 3070, 3095, 5300
0.000 [1/min] 210000.000 [1/min] 1500.000 [1/min]
p1083[0...n] CO: Speed limit in positive direction of rotation / n_limit pos
0.000 [1/min] 210000.000 [1/min] 210000.000 [1/min]
Parameters
List of parameters
Description: Sets the maximum velocity for the positive direction.
Description: Displays the effective positive speed limit.
Description: Displays the effective positive velocity limit.
Description: Sets the signal source for the speed limit of the positive direction.
Description: Sets the signal source for the velocity limit of the positive direction.
p1083[0...n] CO: Velocity limit, positive direction / v_limit pos
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
r1084 Speed limit positive effective / n_limit pos eff
5030, 5210, 6640, 7020, 8010
- [1/min] - [1/min] - [1/min]
r1084 Velocity limit positive effective / v_limit pos eff
5030, 5210, 6640, 7020, 8010
p1085[0...n] CI: Speed limit in positive direction of rotation / n_limit pos
SERVO (Extended
setp.), VECTOR
- - 1083[0]
p1085[0...n] CI: Velocity limit, positive direction / v_limit pos
SERVO (Extended
setp., Lin)
- - 1083[0]
List of parameters
Parameters
Description: Sets the speed limit for the negative direction.
Description: Sets the velocity limit for the negative direction.
Description: Displays the effective negative speed limit.
Description: Displays the effective negative velocity limit.
Description: Sets the signal source for the speed/velocity limit of the negative direction.
p1086[0...n] CO: Speed limit negative direction of rotation / n_limit neg
-210000.000 [1/min] 0.000 [1/min] -210000.000 [1/min]
p1086[0...n] CO: Velocity limit, negative direction / v_limit neg
-1000.000 [m/min] 0.000 [m/min] -1000.000 [m/min]
r1087 Speed limit negative effective / n_limit neg eff
5030, 5210, 6640, 7020, 8010
- [1/min] - [1/min] - [1/min]
r1087 Velocity limit negative effective / v_limit neg eff
5030, 5210, 6640, 7020, 8010
p1088[0...n] CI: Speed limit negative direction of rotation / n_limit neg
SERVO (Extended
setp.), VECTOR
- - 1086[0]
Parameters
List of parameters
Description: Sets the signal source for the speed/velocity limit of the negative direction.
Description: Sets the skip speed/velocity 1.
Note: The skip (suppression) speeds can be used to prevent the effects of mechanical resonance.
Note: The skip (suppression) speeds can be used to prevent the effects of mechanical resonance.
p1088[0...n] CI: Velocity limit, negative direction / n_limit neg
SERVO (Extended
setp., Lin)
- - 1086[0]
p1091[0...n] Skip speed 1 / Skip speed 1
SERVO (Extended
setp.), VECTOR
0.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
p1091[0...n] Skip velocity 1 / Skip speed 1
SERVO (Extended
setp., Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
0.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
List of parameters
Parameters
Description: Sets the bandwidth for the skip speeds/velocities 1 to 4.
Note: The setpoint (reference) speeds are skipped (suppressed) in the range of the skip speed +/-p1101.
Steady-state operation is not possible in the skipped (suppressed) speed range. The skip (suppression) range is
skipped.
Example:
p1091 = 600 and p1101 = 20 --> setpoint speeds of between 580 and 620 [RPM] are skipped.
SERVO (Extended
setp.), VECTOR
0.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
SERVO (Extended
setp.), VECTOR
0.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
SERVO (Extended
setp., Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1101[0...n] Skip speed bandwidth / Skip_n bandwidth
SERVO (Extended
setp.), VECTOR
0.000 [1/min] 210000.000 [1/min] 0.000 [1/min]
Parameters
List of parameters
Description: Sets the bandwidth for the skip speeds/velocities 1 to 4.
Note: The setpoint (reference) speeds are skipped (suppressed) in the range of the skip speed +/-p1101.
Steady-state operation is not possible in the skipped (suppressed) speed range. The skip (suppression) range is
skipped.
Example:
p1091 = 600 and p1101 = 20 --> setpoint speeds of between 580 and 620 [RPM] are skipped.
Description: Sets the signal source to disable the negative direction.
Description: Sets the signal source to disable the positive direction.
Description: Displays the speed / velocity setpoint after the minimum limiting.
Description: Displays the speed / velocity setpoint after the minimum limiting.
p1101[0...n] Skip velocity bandwidth / Skip_n bandwidth
SERVO (Extended
setp., Lin)
0.000 [m/min] 1000.000 [m/min] 0.000 [m/min]
p1110[0...n] BI: Inhibit negative direction / Inhib neg dir rot
SERVO (Extended
setp.), VECTOR
- - 0
p1111[0...n] BI: Inhibit positive direction / Inhib pos dir rot
SERVO (Extended
setp.), VECTOR
- - 0
r1112 CO: Speed setpoint after minimum limiting / n_set n. min_lim
SERVO (Extended
setp.), VECTOR
- [1/min] - [1/min] - [1/min]
r1112 CO: Velocity setpoint after minimum limiting / n_set n. min_lim
SERVO (Extended
setp., Lin)
List of parameters
Parameters
Description: Sets the signal source to reverse the motor direction (of rotation).
Description: Displays the speed/velocity setpoint after the changeover and limiting the direction.
Description: Displays the speed/velocity setpoint after the changeover and limiting the direction.
Description: Sets the ramp-function generator type.
Values: 0: Basic ramp-function generator
1: Extended ramp-function generator
Note: Another ramp-function generator type can only be selected when the motor is at a standstill.
Description: Displays the setpoint at the input of the ramp-function generator.
Note: The setpoint is influenced by other functions, e.g. skip (suppressed) speeds, minimum and maximum limits.
p1113[0...n] BI: Direction reversal / Direction reversal
SERVO (Extended
setp.), VECTOR
2505
- - 0
r1114 CO: Setpoint after the direction of rotation limit / Setpt after limit
SERVO (Extended
setp.), VECTOR
3040, 3050
- [1/min] - [1/min] - [1/min]
r1114 CO: Setpoint after the direction limiting / Setpt after limit
SERVO (Extended
setp., Lin)
3040, 3050
p1115 Ramp-function generator selection / RFG selection
SERVO (Extended
setp.), VECTOR
3080
0 1 0
r1119 CO: Ramp-function generator setpoint at the input / RFG setpt at input
SERVO (Extended
setp.), VECTOR
1750, 3050, 3060, 3070, 8010
- [1/min] - [1/min] - [1/min]
Parameters
List of parameters
Description: Displays the setpoint at the input of the ramp-function generator.
Note: The setpoint is influenced by other functions, e.g. skip (suppressed) speeds, minimum and maximum limits.
Description: The drive is accelerated from standstill (setpoint = 0) up to the maximum speed (p1082) in this time.
Note: The parameter is adapted during the rotating measurement (p1960 > 0). This is the reason that during the rotating
measurement, the motor can accelerate faster than was originally parameterized.
Description: The drive is accelerated from standstill (setpoint = 0) up to the maximum velocity (p1082) in this time.
Note: The parameter is adapted during the rotating measurement (p1960 > 0). This is the reason that during the rotating
measurement, the motor can accelerate faster than was originally parameterized.
Description: The drive is decelerated from the maximum speed (p1082) down to standstill (setpoint = 0) in this time.
r1119 CO: Ramp-function generator setpoint at the input / RFG setpt at input
SERVO (Extended
setp., Lin)
1750, 3050, 3060, 3070, 8010
p1120[0...n] Ramp-function generator ramp-up time / RFG ramp-up time
SERVO (Extended
setp.), VECTOR
Can be changed: C2(1), U, T Access level: 1
3070
0.000 [s] 999999.000 [s] 10.000 [s]
SERVO (Extended
setp., Lin)
Can be changed: C2(1), U, T Access level: 1
3070
0.000 [s] 999999.000 [s] 10.000 [s]
p1121[0...n] Ramp-function generator ramp-down time / RFG ramp-down time
3070
0.000 [s] 999999.000 [s] 10.000 [s]
List of parameters
Parameters
Description: The drive is decelerated from the maximum velocity (p1082) down to standstill (setpoint = 0) in this time.
Description: Sets the signal source for bypassing the ramp generator (ramp-up and ramp-down times = 0).
Note: For VECTOR in sensorless operation, it is not permissible that the ramp-function generator is bypassed.
Description: Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
Description: Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
3070
0.000 [s] 999999.000 [s] 0.000 [s]
p1122[0...n] BI: Bypass ramp-function generator / Bypass RFG
SERVO (Extended
setp.), VECTOR
- - 0
p1130[0...n] Ramp-function generator initial rounding-off time / RFG t_start_round
SERVO (Extended
setp.), VECTOR
0.000 [s] 30.000 [s] 0.000 [s]
p1131[0...n] Ramp-function generator final rounding-off time / RFG t_end_delay
SERVO (Extended
setp.), VECTOR
0.000 [s] 30.000 [s] 0.000 [s]
Parameters
List of parameters
Description: Sets the smoothed response to the OFF1 command or the reduced setpoint for the extended ramp-function gener-
ator.
Values: 0: Cont. smoothing
1: Discont smoothing
Dependency: No effect up to initial rounding-off time (p1130) > 0 s.
Note: p1134 = 0 (continuous smoothing)
If the setpoint is reduced while ramping-up, initially a final rounding-off is carried-out and then the ramp-up com-
pleted. During the final rounding-off, the output of the ramp-function generator continues to go in the direction of the
previous setpoint (overshoot). After the final rounding-off has been completed, the output goes toward the new set-
point.
p1134 = 1 (discontinuous smoothing)
If the setpoint is reduced while ramping-up, then the output goes immediately in the direction of the new setpoint.
For the setpoint change there is no rounding-off.
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.
Note: This time can be exceeded if the DC-link voltage reaches its maximum value.
Description: Sets the ramp-down time from the maximum velocity down to zero speed for the OFF3 command.
Note: This time can be exceeded if the DC-link voltage reaches its maximum value.
Description: Sets the initial rounding-off time for OFF3 for the extended ramp generator.
p1134[0...n] Ramp-function generator rounding-off type / RFG round-off type
SERVO (Extended
setp.), VECTOR
Data type: Integer16 Dynamic index: DDS, p0180 Function diagram: 3070
0 1 0
p1135[0...n] OFF3 ramp-down time / RFG OFF3 t_ramp-dn
3070
0.000 [s] 600.000 [s] 0.000 [s]
3070
0.000 [s] 600.000 [s] 0.000 [s]
p1136[0...n] OFF3 initial rounding-off time / RFGOFF3 t_strt_rnd
SERVO (Extended
setp.), VECTOR
3080
0.000 [s] 30.000 [s] 0.000 [s]
List of parameters
Parameters
Description: Sets the final rounding-off time for OFF3 for the extended ramp generator.
Description: Sets the signal source for control word 1 bit 4 (operating condition/disable ramp-function generator).
Note: Bit 4 = 0: Inhibits the ramp-function generator (the ramp-function generator output is set to zero)
Bit 4 = 1: Operating condition (the ramp-function generator can be enabled)
Description: Sets the signal source for control word 1 bit 4 (operating condition/disable ramp-function generator).
Note: Bit 4 = 0: Inhibits the ramp-function generator (the ramp-function generator output is set to zero)
Bit 4 = 1: Operating condition (the ramp-function generator can be enabled)
Description: Sets the signal source for control word 1 bit 5 (enables ramp-function generator/ stops ramp-function generator)
Notice: The ramp-function generator is, independent of the status of the signal source, active in the following cases:
- OFF1/OFF3.
- ramp-function generator output within the suppression bandwidth.
- ramp-function generator output below the minimum speed.
Note: Bit 5 = 0: Stop the ramp-function generator (the ramp-function generator output is frozen)
Bit 5 = 1: Enable ramp-function generator
p1137[0...n] OFF3 final rounding-off time / RFG OFF3 t_end_del
SERVO (Extended
setp.), VECTOR
0.000 [s] 30.000 [s] 0.000 [s]
p1140[0...n] BI: Enables the ramp-function generator / Enable RFG
2443, 2501
- - 1
p1140 BI: Enables the ramp-function generator / Enable RFG
- - 1
p1141[0...n] BI: Start ramp-function generator / Start RFG
2443, 2501
- - 1
Parameters
List of parameters
Description: Sets the signal source for control word 1 bit 5 (enables ramp-function generator/ stops ramp-function generator)
Note: Bit 5 = 0: Stop the ramp-function generator (the ramp-function generator output is frozen)
Bit 5 = 1: Enable ramp-function generator
Description: Sets the signal source for control word 1 bit 6 (enables setpoint/disable setpoint).
Note: Bit 6 = 0: Inhibits the setpoint (the ramp-function generator input is set to zero)
Bit 6 = 1: Enable setpoint
p1141 BI: Start ramp-function generator / Start RFG
- - 1
p1142[0...n] BI: Enable speed setpoint / Enable n_set
2443, 2501
- - 1
p1142[0...n] BI: Enable velocity setpoint / Enable v_set
SERVO (Lin) Can be changed: T Access level: 3
2443, 2501
- - 1
p1142 BI: Enable speed setpoint / Enable n_set
- - 1
List of parameters
Parameters
Description: Sets the signal source for accepting the setting value of the ramp-function generator.
Dependency: The signal source for the ramp-function generator setting value is set using parameters.
Refer to: p1144
Note: 0/1 signal:
The ramp-function generator output is immediately (without delay) set to the setting value of the ramp-function gen-
erator.
1 signal:
The setting value of the ramp-function generator is effective.
1/0 signal:
The input value of the ramp-function generator is effective. The ramp-function generator output is adapted to the
input value using the ramp-up time or the ramp-down time.
0 signal:
The input value of the ramp-function generator is effective.
Description: Sets the signal source for the ramp-function generator setting value.
Dependency: The signal source for accepting the setting value is set using parameters.
Refer to: p1143
Description: Sets the ramp-function generator tracking.
The output value of the ramp-function generator is tracked (corrected) corresponding to the maximum possible
drive acceleration. The reference value is the deviation at the speed/velocity controller input that is necessary to
ensure that the motor accelerates at the torque/force limit.
Recommenda-
tion:
p1145 = 0.0:
This value de-activates the ramp-function generator tracking.
p1145 = 0.0 ... 1.0:
Generally, these values are not practical. They cause the motor to accelerate below its torque limit. The lower the
selected value, the greater the margin between the controller and torque limit when accelerating.
p1145 > 1.0:
The greater the value, the higher the permissible deviation between the speed setpoint and speed actual value.
Note: In the U/f mode, the ramp-function generator tracking is not active.
For SERVO with U/f operation, the following applies:
The complete ramp-function generator is not active, i.e. ramp-up and ramp-down time = 0.
p1143[0...n] BI: Ramp-function generator, accept setting value / Accept RFG set val
SERVO (Extended
setp.), VECTOR
- - 0
p1144[0...n] CI: Ramp-function generator setting value / RFG setting value
SERVO (Extended
setp.), VECTOR
- - 0
p1145[0...n] Ramp-function generator tracking intensity. / RFG track intens
SERVO (Extended
setp.), VECTOR
0.0 50.0 1.3
Parameters
List of parameters
Description: Sets the tolerance value for the status of the ramp-function generator (ramp-up active, ramp-down active).
If the input of the ramp-function generator does not change in comparison to the output by more than the entered
tolerance time, then the status bits "ramp-up active" and "ramp-down active" are not influenced.
Description: Sets the tolerance value for the status of the ramp-function generator (ramp-up active, ramp-down active).
If the input of the ramp-function generator does not change in comparison to the output by more than the entered
tolerance time, then the status bits "ramp-up active" and "ramp-down active" are not influenced.
Description: Displays the setpoint at the output of the ramp-function generator.
Description: Displays the setpoint at the output of the ramp-function generator.
p1148[0...n] Ramp-function gen., tolerance for ramp-up and ramp-down active / RFG tol HL/RL act
SERVO (Extended
setp.), VECTOR
3070
0.00 [1/min] 1000.00 [1/min] 19.80 [1/min]
SERVO (Extended
setp., Lin)
3070
0.00 [m/min] 10.00 [m/min] 0.20 [m/min]
r1150 CO: Ramp-function generator speed setpoint at the output / RFG n_set at outp
SERVO (Extended
setp.), VECTOR
3060, 3070, 3080
- [1/min] - [1/min] - [1/min]
r1150 CO: Ramp-function generator velocity setpoint at the output / RFG n_set at outp
SERVO (Extended
setp., Lin)
3060, 3070, 3080
List of parameters
Parameters
Description: Sets the configuration for the expanded ramp-function generator.
Notice: Re bit 00:
If the ramp-up time is longer than the ramp-down time (p1120 > p1121), then there is an acceleration step after the
zero crossover.
Note: Re bit 00:
When the bit is set, at the direction change there is no rounding-off before and after the zero crossover.
Description: Sets the signal source for "setpoint 2 enable".
Description: Sets the signal source for speed setpoint 1 of the speed controller.
Dependency: The effectiveness of this setpoint depends on, e.g. STW1.4 and STW1.6.
Refer to: r0898, p1140, p1142, p1160, r1170
Description: Sets the signal source for the velocity setpoint 1 of the speed controller.
Dependency: The effectiveness of this setpoint depends on, e.g. STW1.4 and STW1.6.
Refer to: r0898, p1140, p1142, p1160, r1170
p1151[0...n] Ramp-function generator configuration / RFG config
SERVO (Extended
setp.), VECTOR
- - 0000 bin
00 Disable rounding-off at the zero cross-over Yes No 3070
p1152 BI: Setpoint 2 enable / Setpt 2 enable
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 899.15
p1155[0...n] CI: Speed controller speed setpoint 1 / n_ctrl n_set 1
3080
- - 0
p1155[0...n] CI: Velocity controller, velocity setpoint 1 / v_ctrl n_set 1
3080
- - 0
Parameters
List of parameters
Description: Sets the signal source for speed setpoint 1 of the incremental encoder emulation.
Dependency: The effectiveness of this setpoint depends on control word 1 (STW1).
Refer to: r0898
Description: Sets the signal source for speed setpoint 2 of the speed controller.
Note: For OFF1/OFF3, the ramp-function generator ramp is effective.
The ramp-function generator is set (SERVO: to the actual value, VECTOR: To the setpoint (r1170)) and stops the
drive corresponding to the ramp-downtime (p1121 or p1135). While stopping via the ramp-function generator,
STW1.4 is effective (enable ramp-function generator).
Description: Sets the signal source for velocity setpoint 2 of the velocity controller.
Note: For OFF1/OFF3, the ramp-function generator ramp is effective.
The ramp-function generator is set to the actual value and stops the drive corresponding to the ramp-downtime
(p1121 or p1135). While stopping via the ramp-function generator, STW1.4 is effective (enable ramp-function gen-
erator).
Description: Displays the speed setpoint after the addition of the speed setpoint 1 (p1155) and speed setpoint 2 (p1160).
Note: The value is only correctly displayed when the drive has been enabled.
p1155 CI: Incremental encoder emulation speed setpoint 1 / Enc_emulat n_set 1
- - 0
3080
- - 0
3080
- - 0
r1169 CO: Speed controller, speed setpoints 1 and 2 / n_ctrl n_set 1/2
- [1/min] - [1/min] - [1/min]
List of parameters
Parameters
Description: Displays the velocity setpoint after the addition of the velocity setpoint 1 (p1155) and velocity setpoint 2 (p1160).
Note: The value is only correctly displayed when the drive has been enabled.
Description: Displays the speed setpoint after selecting the ramp-function generator and adding the speed setpoint 1 (p1155)
and speed setpoint 2 (p1160).
Description: Displays the velocity setpoint after selecting the ramp-function generator and adding the velocity setpoint 1 (p1155)
and velocity setpoint 2 (p1160).
Description: Sets the configuration for the speed setpoint.
Note: Re bit 01:
The interpolator is only effective for clock-cycle synchronous PROFIBUS operation and when the master receives a
sign of life (STW 2.12 ... STW 2.15).
r1169 CO: Velocity controller, velocity setpoints 1 and 2 / v_ctrl n_set 1/2
r1170 CO: Speed controller, setpoint sum / n_ctr setp sum
1590, 3080, 5020
- [1/min] - [1/min] - [1/min]
r1170 CO: Velocity controller, setpoint sum / v_ctrl setp sum
1590, 3080, 5020
p1189[0...n] Speed setpoint configuration / n_ctrl config
- - 0011 bin
00 Interpolation ramp-fct gen/speed controller
active
Yes No 3080
01 Interpol. op-loop ctrl /speed controller active Yes No 3080
Parameters
List of parameters
Description: Sets the configuration for the velocity setpoint.
Note: Re bit 01:
Description: Sets the configuration for the incremental encoder emulation.
Note: Re bit 01:
Description: Sets the signal source for the position deviation XERR for DSC (position controller output of the higher-level con-
trol).
Dependency: Clock synchronous PROFIBUS must be active.
The position controller gain factor (KPC), the position deviation (XERR) and the speed setpoint (N_SOLL_B) must
be included in the setpoint telegram.
At least the encoder interface (Gx_XIST1) must be included in the actual value telegram.
The position actual value used for the internal position controller can be selected using p1192.
Note: DSC: Dynamic Servo Control
p1189[0...n] Velocity setpoint configuration / v_ctrl config
- - 0011 bin
00 Interpolation ramp-fct gen/speed controller
active
Yes No 3080
p1189 Incremental encoder emulation configuration / Enc_emulat config
TM41 Can be changed: U, T Access level: 2
- - 0010 bin
p1190 CI: DSC position deviation XERR / DSC XERR
3090
- - 0
List of parameters
Parameters
Description: Sets the signal source for the position controller gain KPC for DSC.
Description: Sets the number of the encoder used for DSC.
Values: 1: Encoder 1 (motor encoder)
2: Encoder 2
3: Encoder 3
Value 1 corresponds to encoder 1 (motor encoder); the encoder data set is assigned via p0187.
Value 2 corresponds to encoder 2; the encoder data set is assigned via p0188.
Value 3 corresponds to encoder 3; the encoder data set is assigned via p0189.
Description: Sets the factor to adapt the encoder when using either encoder 2 or 3 for DSC.
The factor sets the ratio of the pulse difference between the motor encoder and the selected encoder for the same
distance moved through. This factor takes into account gear ratios, differences in the number of encoder pulses,
etc.
Note: Example:
Encoder 1: Motor encoder with 2048 pulses/revolution, ballscrew with 10 mm/revolution pitch
Encoder 2: Linear scale with 20 m grid division as direct measuring system
p1193 = number of pulses, encoder 1 per motor revolution / number of pulses, encoder 2 per motor revolution
p1193 = 2048 / (10 mm / 20 m) = 4.096
p1191 CI: DSC position controller gain KPC / DSC KPC
3090
- - 0
p1192[0...n] DSC enc selection / DSC enc selection
1 3 1
p1193[0...n] DSC encoder adaptation factor / DSC encodAdaptFact
0.000 1000000.000 1.000
Parameters
List of parameters
Description: Displays the number of the selected fixed speed/velocity setpoint.
Description: Displays the number of the selected fixed speed/velocity setpoint.
Description: Displays the control word for the setpoint channel.
r1197 Fixed speed setpoint, actual number / n_set_fixed No act
SERVO (Extended
setp.), VECTOR
- - -
r1197 Fixed velocity setpoint, actual number / n_set_fixed No act
SERVO (Extended
setp., Lin)
- - -
r1198 CO/BO: Control word setpoint channel / STW setpoint chan
SERVO (Extended
setp.), VECTOR
2505
- - 0000 bin
00 Fixed setp. bit 0 Yes No -
05 Inhibit negative direction Yes No -
06 Inhibit positive direction Yes No -
11 Direction reversal Yes No -
13 Motorized potentiometer, raise Yes No -
14 Motorized potentiometer, lower Yes No -
15 Bypass ramp-function generator Yes No -
List of parameters
Parameters
Description: Displays the status word for the ramp-function generator (RFG).
Note: Re bit 02:
The bit is an OR logic operation - bit 00 and bit 01.
r1199 CO/BO: Ramp-function generator status word / RFG ZSW
SERVO (Extended
setp.), VECTOR
3080, 8010
- - 0000 bin
00 Ramp-up active Yes No -
01 Ramp-down active Yes No -
02 Ramp-function generator active Yes No -
03 Ramp-function generator set Yes No -
04 Ramp-function generator held Yes No -
05 Ramp-function generator tracking active Yes No -
06 Maximum limit active Yes No -
Parameters
List of parameters
Description: Sets the operating mode for flying restart.
The flying restart allows the drive converter to be powered-up while the motor is still rotating. In so doing, the drive
converter output frequency is changed until the actual motor speed/velocity is found.. The motor then accelerates
up to the setpoint at the ramp generator setting.
Values: 0: Flying restart inactive
1: Flying restart always active (start in setpoint direction)
2: FlyRestart active after on, fault, OFF2 (start in setp. dir.)
3: FlyRestart active after fault, OFF2 (start in setp. direction)
4: Flying restart always active (start only in setpoint direction)
5: FlyRestart active after on, fault, OFF2 (start only in setp_dir)
6: FlyRestart active after fault, OFF2 (start only in setp. dir.)
Dependency: A differentiation is made between flying restart for U/f control and for vector control (p1300).
Flying restart, U/f control: p1202, p1203, r1204
Flying restart for vector control: p1202, p1203, r1205
Notice: The "flying restart" function must be used in cases where the motor is possibly still running (e.g. after a brief line
supply interruption) or is being driven by the load. The system might otherwise shut down as a result of overcurrent.
It does not make sense to use "flying restart" together with the "motor holding brake function" (p1215 > 0) because
then the flying restart will always be realized with the motor stationary.
Note: For p1202 = 100 % and p1203 = 100 %, the following applies:
The flying restart takes, as a maximum, twice as long as the motor excitation time (p0346).
For p1200 = 1, 4, the following applies:
Flying restart is active after faults, OFF1, OFF2, OFF3.
For p1200 = 2, 5, the following applies:
The "power-on" is the first power-on operation after the drive system has been booted. This is practical for motors
with a high-inertia load.
For p1200 = 1, 2, 3, the following applies: The search is made in both directions.
For p1200 = 4, 5, 6, the following applies: The search is only made in the setpoint direction.
For operation with encoder, the following applies:
p1200 = 1, 4 as well as p1200 = 2, 5 and p1200 = 3, 6 have the same meaning.
For U/f control (p1300 > 20), the following applies:
The speed can only be sensed for values above approx. 5% of the rated motor speed. At lower speeds, it is
assumed that the motor is at a standstill (zero speed).
If p1200 is changed while commissioning (p0009, p0010 > 0), then it is possible that the old value will no longer be
able to be set. The reason for this is that the dynamic limits of p1200 have been changed by a parameter that was
set when the drive was commissioned (e.g. p0300).
p1200[0...n] FlyRest oper mode / FlyRest oper mode
VECTOR Can be changed: U, T Access level: 2
0 6 0
List of parameters
Parameters
Description: Sets the search current for the "flying restart" function. The value is referred to the motor magnetizing current.
Caution: An unfavorable parameter value can result in the motor behaving in an uncontrollable fashion.
Note: Reducing the search current can improve the flying restart performance (if the system moment of inertia is not very
high).
Description: The value influences the rate at which the output frequency is changed during a flying restart . A higher value
results in a longer search time.
Caution: An unfavorable parameter value can result in the motor behaving in an uncontrollable fashion.
Notice: For vector control, a value that is too low or too high can cause flying restart to become unstable.
Description: Displays the status for checking and monitoring flying restart states in the U/f control mode.
p1202[0...n] FlyRest srch curr / FlyRest srch curr
10 [%] 400 [%] 100 [%]
p1203[0...n] Flying restart search rate factor / FlyRst v_Srch Fact
10 [%] 400 [%] 100 [%]
r1204 CO/BO: Flying restart, U/F control status / FlyRestrt Uf stat
- - 0000 bin
00 Current impressed Yes No -
01 No current flow Yes No -
02 Voltage input Yes No -
03 Voltage reduced Yes No -
05 Wait for execution Yes No -
06 Slope filter act Yes No -
07 Positive gradient Yes No -
08 Current < thresh Yes No -
09 Current minimum Yes No -
10 Search in the positive direction Yes No -
11 Stop after positive direction Yes No -
12 Stop after negative direction Yes No -
13 No result Yes No -
Parameters
List of parameters
Description: Displays the status for checking and monitoring flying restart states in the vector control mode.
Note: Bits 0..9: Used by the control in internal sequences during the flying restart.
Depending on the machine type (p0300), the number of active bits differs.
Bits 10..15: Are used to monitor the flying restart sequence.
For PEM, only bits 10, 11 and 15 are supported.
Description: Modifies the pre-charging monitoring of the infeed.
The active automatic restart (AR) of the following drive object can be interconnected using this binector input (BI:
p1207 = r1214.2).
This means that when the automatic restart is operational, the pre-charging monitoring of the infeed is de-activated
and is only re-activated under the following conditions:
- the absolute current in the DC link is greater than 2 % of the maximum current (r0209) of the infeed to provide pro-
tection against short-circuit in the DC link.
- if a Voltage Sensing Module (VSM) is being used, the line supply voltage amplitude is greater than 3 % of the
parameterized unit supply voltage (p0210) to protect the pre-charging resistors against continuos filter current when
the line supply partially returns.
r1205 CO/BO: Flying restart, vector control status / FlyRestrtVectStat
- - 0000 bin
00 Save the angle of the speed adaptation cir-
cuit
Yes No -
01 Set speed adaptation circuit gain to 0 Yes No -
02 Enable Isd channel Yes No -
03 Speed control switched-in Yes No -
04 Quadrature arm switched-in Yes No -
05 Special transformation active Yes No -
06 Set I comp of the speed adaptation circuit to
0
Yes No -
07 Current control on Yes No -
08 Isd_set = 0 A Yes No -
09 Reserved Yes No -
10 Search in the positive direction Yes No -
11 Search Started Yes No -
12 Current impressed Yes No -
13 Search interrupted Yes No -
14 Deviation of the speed adaptation circuit = 0 Yes No -
15 Speed control activated Yes No -
p1207 BI: AR connection following drive object / AR connection DO
A_INF, B_INF,
S_INF
- - 0
List of parameters
Parameters
Description: Modifying the automatic restart.
By interconnecting the binector output of the infeed "Infeed fault" to this binector input Index 0 (p1208[0] = r2139.3),
the automatic restart function of the subsequent DOs - in mode p1210 = 6 - can respond to infeed faults.
By interconnecting the binector output of the infeed "Infeed line supply failure" to this binector input Index 1
(p1208[1] = r0863.2), the automatic restart function of the subsequent DOs, in the mode p1210 = 4, can respond to
the line supply failure of the infeed.
Index: [0] = Infeed fault
[1] = Fault
Description: Sets the automatic restart mode (AR).
Values: 0: Disables automatic restart
1: Acknowledges all faults without restarting
4: Restart after power failure without additional start attempts
6: Restart after fault with additional start attempts
Dependency: The automatic restart requires an active ON command, e.g. that is available at a digital input.
If, for p1210 = 4, 6 there is no active ON command, then the automatic restart is interrupted.
When using an Advanced Operator Panel (AOP) in the LOCAL Mode, then there is no automatic restart.
Refer to: p0840, p0857, p1267
Refer to: F30003
Cautiont: A change is only accepted and made if the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).
For p1210 > 1, the infeed is automatically started.
Note: p1210 = 4:
An automatic restart is only executed if fault F06200 has occurred. If additional faults are present, then these faults
are also acknowledged and when successful, starting continues. If the 24 V CU power supply fails, then this is inter-
preted as a line supply failure.
p1210 = 6:
An automatic restart is carried-out if any fault has occurred.
p1210 = 1:
Faults that are present are automatically acknowledged. If new faults occur after a successful fault acknowledge-
ment, then these are also automatically acknowledged again. A minimum time of p1212 + 1s must expire between
a successful fault acknowledgement and a fault re-occurring if the signal ON/OFF1 (control word 1, bit 0) is at a
HIGH signal level. If the signal ON/OFF1 is at a LOW signal level, then the time between a successful fault
acknowledgement and a new fault must be at least 1s.
For p1210 = 1, fault F07320 is not generated if the acknowledgement attempt was not successful, for example, due
to frequently occurring faults.
p1208[0...1] BI: AR infeed fault / AR infeed fault
- - 0
p1210 Automatic restart, mode / AR mode
A_INF, B_INF,
S_INF
0 6 0
Parameters
List of parameters
Description: Sets the automatic restart mode (AR).
Values: 0: Disables automatic restart
1: Acknowledges all faults without restarting
4: Restart after power failure without additional start attempts
6: Restart after fault with additional start attempts
Dependency: The automatic restart requires an active ON command, e.g. that is available at a digital input.
If, for p1210 = 4, 6 there is no active ON command, then the automatic restart is interrupted.
When using an Advanced Operator Panel (AOP) in the LOCAL Mode, then there is no automatic restart.
Refer to: p0840, p0857, p1267
Refer to: F30003
For p1210 > 1, the motor is automatically started.
Note: For brief line supply failures, the motor shaft can still be rotating when restarting. In order to restart while the motor
shaft is still rotating, the "flying restart" function should be activated using p1200.
p1210 = 4:
An automatic restart is only carried-out if Fault F30003 occurred at the Motor Module or a high signal is present at
the binector input p1208[1]. If additional faults are present, then these faults are also acknowledged and when suc-
cessful, starting continues. If the 24 V CU power supply fails, then this is interpreted as a line supply failure.
p1210 = 6:
An automatic restart is carried-out if any fault has occurred and there is a high signal at binector input p1208[0].
p1210 = 1:
Faults that are present are automatically acknowledged. If new faults occur after a successful fault acknowledge-
ment, then these are also automatically acknowledged again. A minimum time of p1212 + 1s must expire between
a successful fault acknowledgement and a fault re-occurring if the signal ON/OFF1 (control word 1, bit 0) is at a
HIGH signal level. If the signal ON/OFF1 is at a LOW signal level, then the time between a successful fault
acknowledgement and a new fault must be at least 1s.
For p1210 = 1, fault F07320 is not generated if the acknowledgement attempt was not successful, for example, due
to frequently occurring faults.
p1210 Automatic restart, mode / AR mode
0 6 0
List of parameters
Parameters
Description: Sets the absolute number of start attempts for the automatic restart function when any faults are automatically
acknowledged (p1210 = 6).
Dependency: The setting of this parameter is always effective for p1210 = 6. For p1210 = 4, the parameter only has an influence
if an additional line phase failure (F6200) occurs at the start attempt.
Refer to: F07320
Notice: After fault F07320 occurs, the power-on command must be withdrawn and all of the faults acknowledged so that the
automatic restart function is re-activated.
Note: A starting attempt starts immediately when a fault occurs. The restart attempt is considered to have been com-
pleted if the infeed was powered-up and an additional delay time of 1 s has expired.
As long as a fault is present, an acknowledge command is generated in the time intervals of p1212 / 2. When suc-
cessfully acknowledged, the start counter is decremented. If, after this, a fault re-occurs before a restart has been
completed, then acknowledgement starts again from the beginning.
Fault F07320 is output if, after several faults occur, the number of parameterized start attempts has been reached.
After a successful start attempt - i.e. a fault/error no longer occurred up to the end of the power-up operation - after
1s the start counter is again reset to the parameter value. If a fault re-occurs - the parameterized number of start
attempts is again available.
At least one start attempt is always carried-out.
After a line supply failure, acknowledgement is immediate and when the line supply returns, the system is powered-
up. If, between successfully acknowledging the line fault and the line supply returning, another fault occurs, then its
acknowledgement also causes the start counter to be decremented.
p1211 Automatic restart, start attempts / AR start attempts
A_INF Can be changed: U, T Access level: 3
0 10 3
Parameters
List of parameters
if an additional undervoltage fault occurs at the start attempt.
Refer to: F07320
Note: A starting attempt starts immediately when a fault occurs. The start attempt is considered to been completed if the
motor was magnetized (r0056.4 = 1) and an additional delay time of 1 s has expired.
After a successful start attempt, i.e. a fault/error has no longer occurred up to the end of the magnetizing phase, the
start counter is again reset to the parameter value after 1 s. If a fault re-occurs - the parameterized number of start
if an additional line phase failure (F6200) occurs at the start attempt.
Refer to: F07320
0 10 3
B_INF, S_INF Can be changed: U, T Access level: 3
0 10 3
List of parameters
Parameters
Note: A starting attempt starts immediately when a fault occurs. The restart attempt is considered to have been com-
pleted if the infeed was powered-up and an additional delay time of 1 s has expired.
After a successful start attempt, i.e. a fault/error has no longer occurred up to the end of the power-up operation, the
start counter is again reset to the parameter value after 1 s. If a fault re-occurs - the parameterized number of start
Description: Sets the delay time up to restart.
Dependency: This parameter setting is active for p1210 = 1, 4, 6.
Note: The faults are automatically acknowledged after half of the waiting time has expired and the full waiting time.
if the cause of a fault is not removed in the first halves of the delay time, then it is no longer possible to acknowledge
in this time slice.
Description: Sets the monitoring time of the automatic restart (AR).
Note: The monitoring time starts when the faults are detected. If the automatic acknowledgements are not successful, the
monitoring time runs again. After fault F07320 occurs, the power-on command must be withdrawn and all of the
faults acknowledged so that the automatic restart can be re-activated.
The monitoring is de-activated with p1213 = 0. If the time in p1213 is set lower than in p1212, then fault F07320 is
also generated at each restart.
The monitoring time must extended, if the faults that occur cannot be immediately and successfully acknowledged
(e.g. for faults that are permanently present).
p1212 Automatic restart, delay time start attempts / AR t_wait start
A_INF, B_INF,
S_INF, VECTOR
0.1 [s] 600.0 [s] 1.0 [s]
p1213 Automatic restart, monitoring time line supply return / AR t_mon line sup
A_INF, B_INF,
S_INF
0.0 [s] 1999.0 [s] 0.0 [s]
Parameters
List of parameters
Description: Sets the monitoring time of the automatic restart (AR).
Note: The monitoring time starts when the faults are detected. If the automatic acknowledgements are not successful, the
monitoring time runs again. If, after the monitoring time has expired, the drive has still not successfully started again
(flying restart and magnetization of the motor must have been completed: r0056.4 = 1), then fault F07320 is output.
The monitoring is de-activated with p1213 = 0. If p1213 is set lower than the sum of p1212, the magnetizing time
p0346 and the additional delay time due to the flying restart, then fault F07320 is generated at each restart. If, for
p1210 = 1, the time in p1213 is set lower than in p1212, then fault F07320 is also generated at each restart.
The monitoring time must extended, if the faults that occur cannot be immediately and successfully acknowledged
(e.g. for faults that are permanently present).
Description: Automatic restart (AR) status word.
Note: Re bit 00:
Status to display the single initialization after power on.
Re bit 01:
State in which the automatic restart function waits for faults (initial state).
Re bit 02:
General display that a fault has been identified and that the restart or acknowledgement has been initiated.
Re bit 03:
Displays the acknowledge command within the 'acknowledge alarms' status (bit 04 = 1). For bit 05 = bit 06 = 1, the
acknowledge command is continually displayed.
p1213 Automatic restart, monitoring time line supply return / AR t_mon line sup
0.0 [s] 1999.0 [s] 0.0 [s]
r1214 CO/BO: Automatic restart, status / AR status
A_INF, B_INF,
S_INF
- - 0000 bin
00 Initialization Yes No -
01 Wait for alarm Yes No -
02 Auto restart act. Yes No -
03 Setting the acknowledgement command Yes No -
04 Acknowledge alarms Yes No -
05 Restart Yes No -
06 Delay time running after automatic power-
up
Yes No -
07 Fault Yes No -
12 Start count. bit 0 On Off -
List of parameters
Parameters
Re bit 04:
State in which the faults that are present are acknowledged. The status is exited again after successful acknowl-
edgement. A change is only made into the next state if it is signaled that a fault is no longer present after an
acknowledgement command (bit 3 = 1).
Re bit 05:
State in which the drive is automatically powered-up (only for p1210 = 4, 6).
Re bit 06:
State in which the system waits after having been powered-up, to the end of the start attempt.
For p1210 = 1, this signal is directly set after the faults have been successfully acknowledged.
Re bit 07:
State, which is assumed after a fault occurs within the automatic restart function.
Re bits 12 ... 15:
Actual state of the start counter (binary coded).
Description: Automatic restart (AR) status word.
Note: Re bit 00:
Status to display the single initialization after power on.
Re bit 01:
State in which the automatic restart function waits for faults (initial state).
Re bit 02:
General display that a fault has been identified and that the restart or acknowledgement has been initiated.
Re bit 03:
Displays the acknowledge command within the 'acknowledge alarms' status (bit 04 = 1). For bit 05 = bit 06 = 1, the
acknowledge command is continually displayed.
Re bit 04:
State in which the faults that are present are acknowledged. The status is exited again after successful acknowl-
edgement. A change is only made into the next state if it is signaled that a fault is no longer present after an
acknowledgement command (bit 3 = 1).
Re bit 05:
State in which the drive is automatically powered-up (only for p1210 = 4, 6).
r1214 CO/BO: Automatic restart, status / AR status
- - 0000 bin
00 Initialization Yes No -
01 Wait for alarm Yes No -
02 Auto restart act. Yes No -
03 Setting the acknowledgement command Yes No -
04 Acknowledge alarms Yes No -
05 Restart Yes No -
06 Delay time running after automatic power-
up
Yes No -
07 Fault Yes No -
Parameters
List of parameters
Re bit 06:
State in which the system waits after having been powered-up, to the end of the start attempt (to the end of the
magnetization process).
For p1210 = 1, this signal is directly set after the faults have been successfully acknowledged.
Re bit 07:
State, which is assumed after a fault occurs within the automatic restart function.
Re bits 12 ... 15:
Actual state of the start counter (binary coded).
Description: Sets the holding brake configuration.
Values: 0: No motor holding brake being used
1: Motor holding brake acc. to sequence control
2: Motor holding brake always open
3: Motor holding brake like sequence control, connection via BICO
Cautiont: 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 or if p1215 was set to 3, then when the pulses are cancelled, the brake is closed even if the
motor is still rotating. Pulse cancellation can either be caused by a 0 signal at p0844, p0845 or p0852 or as a result
of a fault with OFF2 response. If this is not desirable (e.g. for a flying restart), then the brake can be kept open using
a 1 signal at p0855.
Note: If the configuration is set to "no holding brake present" when booting, then the motor holding brake will be automat-
ically identified. If a motor holding brake is detected, the configuration is set to "motor holding brake as for sequence
control".
if an external motor holding brake is being used, then p1215 should be set to 3 and r0899.12 should be intercon-
nected as control signal.
When the function module "extended brake control" is activated (r0108.14 = 1), r1229.1 should be interconnected
as control signal.
The parameter can only be set to zero when the pulses are inhibited.
The parameterization "no motor holding brake available" and "Safe Brake Control" enabled (p1215 = 0, p9602 = 1,
p9802 = 1) is not practical if there is no motor holding brake.
The parameterization "motor holding brake the same as sequence control, connection via BICO" and "Safe Brake
Control" enabled (p1215 = 3, p9602 = 1, p9802 = 1) is not practical.
Description: Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this, the
speed/velocity setpoint is enabled.
Recommenda-
tion:
This time should be set longer than the actual opening time of the brake. This ensures that the drive cannot accel-
erate when the brake is applied.
p1215 Motor holding brake configuration / Brake config
2707, 2711
0 3 0
p1216 Motor holding brake, opening time / Brake t_open
2711
0 [ms] 10000 [ms] 100 [ms]
List of parameters
Parameters
Description: Sets the time to apply the motor holding brake.
After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop con-
trolled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are cancelled when the
time expires.
Recommenda-
tion:
This time should be set longer than the actual closing time of the brake. This ensures that the pulses are only can-
celed after the brake has closed.
Notice: If the selected closing time is too short with respect to the actual closing time of the brake, then the load can sag.
If the closing time is selected to be too long with respect to the actual closing time of the brake, the control works
against the brake and therefore reduces its lifetime.
Description: Sets the signal source for a conditional opening of the motor holding brake.
Note: [0]: Signal, open brake, AND logic operation, input 1
[1]: Signal, open brake, AND logic operation, input 2
Description: Sets the signal source for an unconditional (immediate) closing of the motor holding brake.
Note: [0]: Signal, immediately close brake, inversion via p1275.0
[1]: Signal, immediately close brake, inversion via p1275.1
[2]: Signal, immediately close brake
[3]: Signal, immediately close brake - refer to the factory setting
These four signals form an OR logic operation.
p1217 Motor holding brake closing time / Brake t_close
2711
0 [ms] 10000 [ms] 100 [ms]
p1218[0...1] BI: Open motor holding brake / Open brake
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 1
p1219[0...3] BI: Immediately close motor holding brake / Close brake
SERVO (Extended
brk), VECTOR
(Extended brk)
- - [0] 0
[1] 0
[2] 0
[3] 1229.9
Parameters
List of parameters
Description: Sets the signal source for the command "open brake".
Dependency: Refer to: p1215, p1221, r1229, p1277
Description: Sets the threshold value for the command "open brake".
Dependency: Refer to: p1220, r1229, p1277
Description: Sets the signal source for the feedback signal "brake closed".
For motor holding brakes with feedback signal, the signal "brake closed" can be activated using p1275.5 = 1.
Note: 1 signal: Brake closed.
When braking with 1 feedback signal, the inverted feedback signal is connected to the BICO input for the second
feedback signal (p1223).
Description: Sets the signal source for the feedback signal "brake open".
For motor holding brakes with feedback signal, the signal "brake open" can be activated using p1275.5 = 1.
Note: 1 signal: Brake open.
When braking with 1 feedback signal, the inverted feedback signal is connected to the BICO input for the second
feedback signal (p1222).
p1220 CI: Open motor holding brake, signal source, threshold / Open brake thresh
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 1
p1221 Open motor holding brake, threshold / Open brake thresh
SERVO (Extended
brk), VECTOR
(Extended brk)
0.00 [%] 200.00 [%] 0.00 [%]
p1222 BI: Motor holding brake, feedback signal, brake closed / Brake feedb closed
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0
p1223 BI: Motor holding brake, feedback signal, brake open / Brake feedb open
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 1
List of parameters
Parameters
Description: Sets the signal source for close brake at standstill.
Note: [0]: Signal, close brake at standstill, inversion via p1275.2
[1]: Signal, close brake at standstill, inversion via p1275.3
[2]: Signal, close brake at standstill
[3]: Signal, close brake at standstill
These four signals form an OR logic operation.
Description: Sets the signal source "threshold value" for the standstill identification.
Description: Sets the speed threshold for the standstill identification.
Acts on the actual value and setpoint monitoring.
When braking with OFF1 or OFF3, when the threshold is fallen below, standstill is identified.
The following applies when the braking signal is activated:
When the threshold is fallen below, the braking signal is started and the system waits for the brake closing time in
p1217. The pulses are then canceled.
if the braking signal is not activated, the following applies:
When the threshold is fallen below, the pulses are cancelled and the drive coasts down.
Note: Standstill is detected if the actual speed drops below the speed threshold in p1226 or if the monitoring time (p1227)
- started when speed setpoint <= speed threshold (p1226) - has expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the speed
threshold is too low.
p1224[0...3] BI: Close motor holding brake at standstill / Brk close standst
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0
p1225 CI: Standstill detection, threshold value / Standstill thresh
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 63[0]
p1226 Threshold for zero speed detection / n_standst n_thresh
2704
P-Group: Functions Units group: 3_1 Unit selection: p0505
0.0 [1/min] 210000.0 [1/min] 20.0 [1/min]
Parameters
List of parameters
Description: Sets the velocity threshold for the standstill identification. Acts on the actual value and setpoint monitoring.
When braking with OFF1 or OFF3, when the threshold is fallen below, standstill is identified.
The following applies when the braking signal is activated:
When the threshold is fallen below, the braking signal is started and the system waits for the brake closing time in
p1217. The pulses are then canceled. If the braking signal is not activated, the following applies:
When the threshold is fallen below, the pulses are cancelled and the drive coasts down.
Note: Standstill is detected if the actual velocity drops below the velocity threshold in p1226 or if the monitoring time
(p1227) - started when the velocity setpoint <= velocity threshold (p1226) - has expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the velocity
threshold is too low.
Description: Sets the monitoring time for the standstill identification.
When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed has
fallen below p1226 (also refer to p1145).
After this, the braking signal is started, the system waits for the closing time in p1217 and then the pulses are can-
celled.
Note: Standstill (zero speed) is detected if, during the complete monitoring time (p1227), the speed setpoint falls below
the speed threshold (p1226).
For p1227 = 300.000 s, the following applies:
The monitoring is deactivated.
For p1227 = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately cancelled and the motor "coasts" down.
Description: Sets the delay time for pulse cancellation.
After OFF1 or OFF3 and zero speed detection, the system waits for this time to expire and the pulses are then can-
celed.
Note: Standstill (zero speed) is detected if, during the complete delay time (p1228), the speed actual value falls below the
speed threshold (p1226).
p1226 Standstill detection, velocity threshold / v_standst v_thresh
2704
0.0 [m/min] 1000.0 [m/min] 0.2 [m/min]
p1227 Zero speed detection monitoring time / n_standst t_monit
2704
0.000 [s] 300.000 [s] 4.000 [s]
p1228 Pulse cancellation delay time / Pulse canc t_del
2704
0.000 [s] 10.000 [s] 0.000 [s]
List of parameters
Parameters
Description: Displays the status word for the motor holding brake.
Description: Sets the signal source to activate the armature short-circuit.
Note: 0 signal: Armature short-circuit is de-activated.
1 signal: Armature short-circuit is activated.
Description: Setting to activate various types of armature short-circuit configurations.
Values: 0: No function
1: External armature short-circuit with contactor feedback signal
2: Ext. armature short-circuit without contactor feedback signal
3: Internal voltage protection
r1229 CO/BO: Motor holding brake status word / Brake ZSW
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0000 bin
01 Command, open brake (continuous signal) Yes No 2711
03 Pulse enable, expanded brake control Yes No 2711
04 Brake does not open Yes No 2711
05 Brake does not close Yes No 2711
06 Brake threshold exceeded Yes No 2707
07 Brake threshold fallen below Yes No 2704
08 Brake monitoring time expired Yes No 2704
09 Pulse enable request missing/n_ctrl inhib-
ited
Yes No 2707
10 Brake OR logic operation result Yes No 2707
11 Brake AND logic operation result Yes No 2707
p1230[0...n] BI: Activating armature short-circuit / ASC act
- - 0
p1231[0...n] Configuration, armature short-circuit / ASC config
0 3 0
Parameters
List of parameters
Danger: Re p1231 = 1, 2:
- only short-circuit proof motors may be used and suitable resistors must be used to short-circuit the motor.
Re p1231 = 3:
- when the internal voltage protection is active, after pulse cancellation, all of the motor terminals are at half of the
DC link voltage (without an internal voltage protection, the motor terminals are at zero potential)!
- it is only permissible to use motors that are short-circuit proof (p0320<p0323).
- the Motor Module must be able to continually conduct 180% short-circuit current (r0331) of the motor (r0289).
- the internal voltage protection cannot be interrupted due to a fault response. If an overcurrent condition occurs
during the active, internal voltage protection, then this can destroy the Motor Module and/or the motor.
- in order to ensure safe function of IVP when the power fails, an external 24 V power supply
(UPS) must be used for all of the components.
Note: Re p1231 = 1, 2:
The external armature short-circuit can only be selected for synchronous motors (p0300). In this case, control bit
BO: r1239.0 must be interconnected to control the external contactor (e.g. to a digital input).
Re p1231 = 3:
The internal voltage protection (using an internal armature short-circuit) can only be selected for synchronous
motors (p0300) and Booksize Motor Modules. Further, it is not permissible that Safety is active (i.e. p9501 = 0 and
p9601 = 0). The internal voltage protection prevents the DC link capacitance from being charged if there is no pos-
sibility of regenerating the EMF of a motor operated in the field-weakening mode.
Note:
ASC: Armature Short-Circuit
IVP: Internal Voltage Protection
UPS: Uninterruptible Power Supply
Description: Sets the signal source for the contactor feedback signal for external armature short-circuit.
Notice: In order that the pulses are not enabled when the contactor is closed, the contactor feedback signal must lag by a
sufficiently long time when opening the contactor.
Note: 1 signal: The contactor is closed.
0 signal: The contactor is open.
Description: Sets the monitoring time of the contactor feedback signal for the external armature short-circuit configuration.
If the contactor feedback signal (p1235) is parameterized, then the appropriate feedback signal (r1239.1) is
expected within this monitoring time after either opening or closing the contactor.
Refer to: A07904, F07905
p1235[0...n] BI: External armature short-circuit, contactor feedback signal / ASC ext feedback
- - 0
p1236[0...n] Ext. armature short-cct., contactor feedback signal monit. time / ASC ext t_monit
0 [ms] 1000 [ms] 200 [ms]
List of parameters
Parameters
Description: Sets the delay time when opening the contactor of the external armature short-circuit.
If no contactor feedback signal has been selected (p1235), then the system waits for this time before the pulses are
switched-in.
Notice: This delay time must be at least long enough so that the contactor contacts reliably open before the pulses are
switched-in. The delay time must be greater than the contactor response time. The Motor Module can be damaged
if the delay time is too short.
Description: Displays the state for the external armature short-circuit.
Values: 0: Powered-down
1: Ready
2: active
3: Active - feedback signal "closed" OK
4: Active - feedback signal "closed" missing
5: Prompt to remove the armature short-circuit
6: Active - feedback signal "open" missing
Refer to: A07904, F07905
Note: Activation criteria (one of the following criteria is fulfilled):
- the signal at BI: p1230 (armature short-circuit activation) is 0.
- the drive is not in the state "S4: Operation" or in S5x (refer to function chart 2610).
Re state "switched-out" (r1238 = 0):
- the external armature short-circuit can be selected with p1231 = 1.
Re state "ready" (r1238 = 1):
- as soon as the activation criteria is fulfilled, then a transition is made into the state "active" (r1238 = 2).
Regarding the state "active" (r1238 = 2), "active - feedback signal "closed" OK" (r1238 = 3)", "active - feedback sig-
nal "closed" missing" (r1238 = 4)":
- the control signal to close contactor r1239.0 is set to "1" (closed) and the pulses are cancelled.
- if a contactor feedback signal is not connected (BI: p1235 = 0), then a transition is immediately made into state 3.
- if a contactor feedback signal is connected, then a transition is made into state 3 if the feedback signal at BI:
p1235 goes to "1" (closed) within the monitoring time (p1236).
- otherwise, a transition is made into state 4.
p1237[0...n] External armature short-circuit, waiting time when opening / ASC ext t_wait
0 [ms] 1000 [ms] 200 [ms]
r1238 CO: Armature short-circuit, external state / EASC state
0 6 0
Parameters
List of parameters
Re state "prompt to remove the armature short-circuit" (r1238 = 5):
- the activation criteria is no longer fulfilled. An attempt is made to again remove the armature short circuit.
- the control signal to close the contactor r1239.0 is set to "0" (open) and the pulses remain cancelled.
- if a contactor feedback signal is not connected (BI: p1235 = 0), the system waits for the delay time (p1237) to
expire until a transition is made into state 1.
- if a contactor feedback signal is connected, the system waits until the feedback signal at BI:p1235 goes to "0"
(open) until a transition is made into state 1. If this does not occur within the monitoring time (p1236), then a transi-
tion is made into state 6.
Re state "active - feedback signal "open" missing" (r1238 = 6):
- this error state can be exited by de-selecting the external armature short-circuit (p1231 = 0).
Description: Displays the status word for armature short-circuit.
Note: External armature short-circuit, bits 0 ... 3:
Re bit 00:
Using this signal, the motor is short-circuited through an external contactor circuit. This means that this BO:
p1239.0 must be interconnected e.g. to a digital output.
Re bit 01:
This signal indicates the state of the contactor to establish the armature short-circuit. To do this, BI: p1235 must be
interconnected to a digital input.
Re bit 02:
The external armature short-circuit configuration is ready and is activated as soon as the activation criteria is ful-
filled.
Re bit 03:
1: A feedback signal from an external contactor was parameterized in BI: p1235.
Internal voltage protection, bits 4 ... 6:
Re bit 04:
The Control Unit issues the command to the Motor Module to short-circuit the motor through the power semicon-
ductors.
Re bit 05:
The Motor Module signals that the motor is short-circuited in the Motor Module through the power semiconductors.
Re bit 06:
The internal voltage protection short-circuit is ready and is activated as soon as the activation criteria is fulfilled.
Activation criteria (one of the following criteria is fulfilled):
- the signal at BI: p1230 (armature short-circuit activation) is 0.
- the drive is not in the state "S4: Operation" or in S5x (refer to function chart 2610).
r1239 CO/BO: Armature short-circuit status word / ASC ZSW
- - 0000 bin
00 External armature short-circuit active not active -
01 External armature short-circuit, contactor
feedback signal
Closed Open -
02 External armature short-circuit ready Yes No -
03 External armature short-circuit with contac-
tor feedback signal
Yes No -
04 Internal armature short-circuit active not active -
05 Int. armature short-circuit, feedback signal
from power unit
active not active -
06 Internal armature short-circuit ready Yes No -
List of parameters
Parameters
Description: Sets the configuration of the controller or monitoring for the DC link voltage (Vdc).
Values: 0: Inhib Vdc ctrl
1: Enables Vdc_max controller
2: Enables Vdc_min controller (kinetic buffering)
3: Enables Vdc_min controller and Vdc_max controller
4: Activates Vdc_max monitoring
5: Activates Vdc_min monitoring
6: Activates Vdc_min monitoring and Vdc_max monitoring
Note: p1240 = 1, 3:
When the upper DC link voltage threshold is reached (p1244), then the following applies:
- the Vdc_max controller limits the regenerative energy in order that the DC link voltage is kept below the maximum
DC link voltage when braking.
- when other drives regenerate into the DC link, then the Vdc_max controller causes the motor to accelerate.
p1240 = 2, 3:
When the lower DC link voltage threshold is reached (p1248), the following applies:
- the Vdc_min controller limits the energy taken from the DC link in order to keep the DC link voltage above the min-
imum DC link voltage when accelerating.
- the motor is braked in order to use its kinetic energy to buffer the DC link.
p1240 = 4, 5, 6:
When the threshold in p1244 or p1248 is reached, the DC link voltage monitoring initiates a fault with a response
and therefore reduces additional negative effects on the DC link voltage.
Description: Sets the controller configuration of the DC link voltage (Vdc controller) in the closed-loop control mode.
Recommenda-
tion:
If fault F07403 is output, then proceed as follows:
- increase the dynamic factor (p1247).
- if this fault is still output: Increase the switch-in level (p1245).
Refer to: F07403
Notice: An excessively high value in p1245 can possibly negatively influence the normal operation of the drive.
Note: p1240 = 1, 3: When the DC link voltage limit, specified for the Motor Module is reached, the following applies:
- the Vdc_max controller limits the regenerative energy in order that the DC link voltage is kept below the maximum
DC link voltage when braking.
- the ramp-down times are automatically increased.
p1240 = 2, 3: When the switch-in threshold of the Vdc_min controller is reached (p1245), the following applies:
- the Vdc_min controller limits the energy taken from the DC link in order to keep the DC link voltage above the min-
imum DC link voltage when accelerating.
- the motor is braked in order to use its kinetic energy to buffer the DC link.
p1240 Vdc controller or Vdc monitoring configuration / Vdc_ctrl config
0 6 0
p1240[0...n] Vdc controller configuration / Vdc_ctrl config
VECTOR (n/M) Can be changed: U, T Access level: 3
0 3 1
Parameters
List of parameters
Description: Displays the switch-in level for the Vdc_max controller.
If p1254 = 0 (automatic sensing of the switch-in level = off), then the following applies:
AC/AC devices: r1242 = 1.15 * sqrt(2) * V_line supply = 1.15 * sqrt(2) * p0210 (supply voltage)
DC/AC devices: r1242 = 1.15 * Vdc = 1.15 * p0210 (supply voltage)
If p1254 = 1 (automatic sensing of the switch-in level = on), then the following applies:
r1242 = Vdc_max - 50.0 V (Vdc_max: Overvoltage threshold of the power unit)
Description: Sets the dynamic factor for the DC link voltage controller (Vdc_max controller).
100 % means that p1250, p1251 and p1252 (gain, integral time and rate time) are used corresponding to their basic
settings and based on a theoretical controller optimization.
If subsequent optimization is required, then this can be realized using the dynamic factor. In this case p1250,
p1251, p1252 are weighted with the dynamic factor p1243.
If several modules are connected to the DC link, then the dynamic factor must be increased corresponding to the
ratio of the additional capacitances to the capacitance of the module involved.
Note: The pre-setting of the dynamic factor is based on the power units connected at DRIVE-CLiQ. It is assumed that the
power unit, connected via DRIVE-CLiQ is also electrically connected to the DC link. If this is not the case, then the
dynamic factor must be optimized manually.
Description: Sets the upper threshold for the DC link voltage.
For p1240 = 1, 3, this threshold is used as limit setpoint for the Vdc_max controller.
For p1240 = 4, 6, for DC link voltages above this threshold, an appropriate fault is output.
r1242 Vdc_min controller switch-in level / Vdc_max on_level
- [V] - [V] - [V]
p1243[0...n] Vdc_max controller dynamic factor / Vdc_max dyn_factor
1 [%] 10000 [%] 100 [%]
p1244 DC link voltage threshold, upper / Vdc upper thresh
400 [V] 800 [V] 750 [V]
List of parameters
Parameters
Description: Sets the switch-in level for the Vdc-min controller (kinetic buffering).
The value is obtained as follows:
AC/AC devices: p1245[V] = p1245[%] * sqrt(2) * p0210
DC/AC devices: p1245[V] = p1245[%] * p0210
Notice:
For SINAMICS GM/SM, the following applies:
Minimum value = 0.75
Maximum value = 0.90
Warning: An excessively large value may adversely influence normal drive operation.
Description: Displays the switch-in level for the Vdc_min controller (kinetic buffering).
Description: Sets the dynamic factor for the Vdc-min controller (kinetic buffering).
p1245[0...n] Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level
65 [%] 115 [%] 76 [%]
r1246 Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level
- [V] - [V] - [V]
p1247[0...n] Vdc_min controller dynamic factor (kinetic buffering) / Vdc_min dyn_factor
1 [%] 10000 [%] 100 [%]
Parameters
List of parameters
Description: Sets the lower threshold for the DC link voltage.
For p1240 = 2, 3, this threshold is used as limit setpoint for the Vdc_min controller.
For p1240 = 5, 6, for DC link voltages below this threshold, an appropriate fault is output.
Description: Sets the proportional gain for the Vdc controller (DC link voltage controller).
Dependency: The effective proportional gain is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note: The gain factor is proportional to the capacitance of the DC link. The parameter is preset to a value that is optimally
adapted to the capacitance of the individual Motor Module. The capacitances of the other power units, which are
connected to the DC link, can be taken into account using the dynamic factor (p1247 or p1243).
Description: Sets the integral time for the Vdc controller (DC link voltage controller).
Dependency: The effective integral time is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note: An integral time is normally not required for single axis drives. For multi-axis drives on the other hand, it may be
possible to compensate for interference from other axes using the integral time (integral component) . An integral
time of 0 (default) de-activates the controller.
p1248 DC link voltage threshold, lower / Vdc lower thresh
100 [V] 700 [V] 450 [V]
p1250 Vdc controller proportional gain / Vdc_ctrl Kp
0.00 [A/V] 10.00 [A/V] 1.00 [A/V]
p1250[0...n] Vdc controller proportional gain / Vdc_ctrl Kp
0.00 100.00 1.00
p1251[0...n] Vdc controller integral time / Vdc_ctrl Tn
0 [ms] 10000 [ms] 0 [ms]
List of parameters
Parameters
Description: Sets the rate time constant for the Vdc controller (DC link voltage controller).
Dependency: The effective rate time is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note: During controlled operation this parameter has no effect.
Description: Activates/de-activates the automatic sensing of the switch-in level for the Vdc_max controller.
Values: 0: Automatic detection disabled
1: Automatic detection enabled
Description: Sets the time threshold for the Vdc_min controller (kinetic buffering). If this value is exceeded a fault is output; the
required response can be parameterized .
Prerequisite: p1256 = 1.
Description: Sets the response for the Vdc_min controller (kinetic buffering).
Values: 0: Buffer Vdc until undervoltage, n<p1257 -> F07405
1: Buff. Vdc until undervolt., n<p1257 -> F07405, t>p1255 -> F07406
Description: Sets the speed threshold for the Vdc-min controller (kinetic buffering). If this value is exceeded a fault is output; the
p1252[0...n] Vdc controller rate time / Vdc_ctrl t_rate
0 [ms] 1000 [ms] 0 [ms]
p1254 Vdc_max controller automatic ON level detection / Vdc_max SenseOnLev
0 1 1
p1255[0...n] Vdc_min controller time threshold / Vdc_min t_thresh
0.000 [s] 10000.000 [s] 0.000 [s]
p1256[0...n] Vdc_min controller response (kinetic buffering) / Vdc_min response
0 1 0
p1257[0...n] Vdc_min controller speed threshold / Vdc_min n_thresh
0.0 [1/min] 210000.0 [1/min] 50.0 [1/min]
Parameters
List of parameters
Description: Displays the actual output of the Vdc controller (DC link voltage controller)
Note: The regenerative power limit p1531 is used for closed-loop vector control to pre-control the Vdc_max controller.
The lower the power limit is set, the lower the correction signals of the controller when the voltage limit is reached.
Description: Selecting the bypass functionality.
Values: 0: Bypass function de-activated
1: Bypass with synchronization and overlap
2: Bypass with synchronization without overlap
3: Bypass without synchronization
Dependency: The bypass functionality is enabled together with the technology controller function module (refer to p0108 bit 16).
When selecting p1260 = 2 (bypass with synchronization without overlap) and p1260 = 3 (bypass without synchroni-
zation), then the flying restart function must be activated (refer to p1200).
Note: If the bypass function is selected ((p1260 > 0), then when the power unit restarts after POWER OFF, the state of
the bypass switch is evaluated. This means that after the ramp-up, it is possible to directly change into the standby
mode. This is only possible for p1267 = 0 (bypass using the control signal) and if the control command after the sys-
tem has been motor is still available (refer to p1266). This function has a high priority than the automatic restart
function (refer to p1210).
The bypass function can only be switched-out again (p1260 = 0) if the bypass is not active or the bypass function
has a fault.
Description: Control and feedback signals of the bypass switch.
Note: Control bits 0 and 1 should be interconnected to the signal outputs via which the switches in the motor feeder
cables should be controlled. These should be selected/dimensioned for switching under load.
r1258 CO: Vdc controller output / Vdc_ctrl output
p1260 Bypass configuration / Bypass config
VECTOR (Tech_ctrl) Can be changed: U, T Access level: 2
0 3 0
r1261 CO/BO: Bypass control/status word / Bypass STW / ZSW
VECTOR (Tech_ctrl) Can be changed: - Access level: 2
- - 0000 bin
00 Command switch motor - drive Close Open -
01 Command switch motor - line supply Close Open -
02 Synchronization requested Yes No -
03 Staging status active Not active -
05 Feedback signal, switch motor - drive Closed Opened -
06 Feedback signal, switch motor - line supply Closed Opened -
07 Bypass command (from p1266) Yes No -
08 Feedback signal synchronization completed
(from p1268)
Yes No -
09 Staging requested (from p2369) Yes No -
List of parameters
Parameters
Description: Sets the deadtime for non-synchronized bypass.
Note: This parameter is used to define the changeover time of the contactors. It should not be shorter than the de-magne-
tization time of the motor (p0347).
Description: Delay time when changing back to drive converter operation with a non-synchronized bypass.
Description: Delay time when changing over to drive converter operation with a non-synchronized bypass.
Description: Sets the bypass speed threshold.
Note: When selecting p1260 = 3 and p1267.1, the bypass is automatically activated when this motor speed is reached.
Description: Input for the command to the bypass.
p1262[0...n] Bypass deadtime / Bypass t_dead
0.000 [s] 20.000 [s] 1.000 [s]
p1263 Debypass delay time / Debypass t_del
0.000 [s] 300.000 [s] 1.000 [s]
p1264 Bypass delay time / Bypass t_del
0.000 [s] 300.000 [s] 1.000 [s]
p1265 Bypass speed threshold / Bypass n_thresh
P-Group: - Units group: 3_1 Unit selection: p0505
0 [1/min] 210000 [1/min] 1480 [1/min]
p1266 BI: Bypass, control command / Bypass command
- - 0
Parameters
List of parameters
Description: Sets the cause that should initiate the bypass.
Note: The parameter only has an effect for a non-synchronized bypass.
p1267 = 0:
The bypass is initiated by setting a binary signal. When the command is reset, after the debypass delay time has
expired, operation at the Motor Module is re-selected.
p1267 = 1:
When the speed threshold entered in p1265 is reached, the bypass is switched-in. The system only switches back
when the speed setpoint again falls below the threshold value.
Description: Input for the feedback signal that synchronization was successfully completed.
Description: Sets the signal source for the feedback signal of the bypass switch.
Index: [0] = Switch motor - drive
[1] = Switch motor - line supply
Description: In the simulation mode, the closed-loop control or U/f control can be operated without motor.
The simulation mode is used to test the power unit. Even though the DC link voltage is missing, the pulses are
enabled when powering-up. The DC link pre-charging is bypassed and the undervoltage detection is disabled.
Closed-loop speed control with an encoder is possible if the torque setpoint (r0079) is used in order to operate a
second drive in the closed-loop torque controlled mode.
Values: 0: Off
1: On
p1267 Bypass changeover source configuration / Chngov_src config
- - 0000 bin
00 Bypass using control signal (from 1266) Yes No -
01 Bypass when reaching the speed threshold Yes No -
p1268 BI: Bypass, feedback synchronization completed / FdbkSig sync compl
- - 3819.2
p1269[0...1] BI: Bypass switch feedback signal / Bypass FS
- - 0
p1272 Simulation mode / Simulation mode
0 1 0
List of parameters
Parameters
Dependency: The following functions are de-activated in the simulation mode:
- motor data identification routine
- motor data identification routine, rotating without encoder
- pole position identification routine
For U/f control and sensorless vector control, flying restart is not carried-out (refer to p1200).
Refer to: r0192, p1900, p1910, p1960, p1990
Refer to: A07825, F07826
Note: Simulation operation is only possible for DC link voltages below 40 V. In order that the closed-loop control can be
calculated, the displayed DC link voltage (r0026, r0070) is set to the rated DC link voltage (refer to p0210). Closed-
loop current control and motor model are switched-out (disabled) - the same is true for the speed controller for sen-
sorless closed-loop speed control.
When fault messages occur, the parameter is not automatically reset. This function is not implemented for
SINAMICS GM.
Description: Sets the bypass switch monitoring time.
Index: [0] = Switch motor - drive
[1] = Switch motor - line supply
Note: The monitoring is de-activated with p1274 = 0 ms.
Description: Sets the control word for the motor holding brake.
Description: Sets the delay time for closing the brake at standstill.
After this time has expired, if the "close brake at standstill" or OFF1/OFF3 is present, the brake is closed and the
pulses are cancelled.
For p1276 = 300.000 s, the timer is de-activated - this means that the timer output is always zero.
p1274[0...1] Bypass switch monitoring time / Switch t_monit
0 [ms] 5000 [ms] 1000 [ms]
p1275 Motor holding brake control word / Brake STW
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0000 bin
00 Inverting BI: 1219[0] Yes No 2707
05 Brake with feedback Yes No 2711
p1276 Motor holding brake, standstill detection, bypass / Brk standst bypass
SERVO (Extended
brk), VECTOR
(Extended brk)
0.000 [s] 300.000 [s] 300.000 [s]
Parameters
List of parameters
Description: Sets the delay time for the signal "braking threshold exceeded" (BO: r1229.6).
Description: Sets the motor holding brake type.
Values: 0: Motor holding brake with feedback signals
1: Motor holding brake without feedback signals
Note: If the configuration of the motor holding brake (p1215) is set to "no holding brake present" when booting, then an
automatic identification of the motor holding brake will be carried-out. If a motor holding brake is identified without
feedback signals (e.g. Relay Brake Module), then the parameter is set to "motor holding braking without feedback
signals".
It is not permissible to parameterize "motor holding brake without feedback signals" and also enable "safe brake
control" (p1278 = 1, p9602 = 1, p9802 = 1).
Description: Sets the signal source for the OR/AND logic operation.
Note: [0]: OR logic operation, input 1 --> the result is displayed in r1229.10.
[1]: OR logic operation, input 2 --> the result is displayed in r1229.10.
[2]: AND logic operation, input 1 --> the result is displayed in r1229.11.
[3]: AND logic operation, input 2 --> the result is displayed in r1229.11.
Description: Sets the configuration of the controller for the DC link voltage (Vdc controller) in the U/f operating mode.
p1277 Motor holding brake, braking threshold delay exceeded / Del thresh exceed.
SERVO (Extended
brk), VECTOR
(Extended brk)
0.000 [s] 300.000 [s] 0.000 [s]
p1278 Motor holding brake type / Brake type
0 1 0
p1279[0...3] BI: Motor holding brake, OR/AND logic operation / Brake OR AND
SERVO (Extended
brk), VECTOR
(Extended brk)
- - 0
p1280[0...n] Vdc controller configuration (U/f) / Vdc_ctrl config
Data type: Integer16 Dynamic index: DDS, p0180 Function diagram: 1690,
6320
0 3 1
List of parameters
Parameters
Description: Displays the switch-in level for the Vdc_max controller.
If p1294 = 0 (automatic sensing of the switch-in level = off), then the following applies:
AC/AC devices: r1282 = 1.15 * sqrt(2) * V_mains = 1.15 * sqrt(2) * p0210 (supply voltage)
DC/AC devices: r1282 = 1.15 * Vdc = 1.15 * p0210 (supply voltage)
If p1294 = 1 (automatic sensing of the switch-in level = on), then the following applies:
r1282 = Vdc_max - 50.0 V (Vdc_max: Overvoltage threshold of the power unit)
Description: Sets the dynamic factor for the DC link voltage controller (Vdc_max controller).
Description: Sets the switch-in level for the Vdc-min controller (kinetic buffering).
The value is obtained as follows:
AC/AC devices: p1285[V] = p1245[%] * sqrt(2) * p0210
DC/AC devices: p1285[V] = p1245[%] * p0210
Description: Displays the switch-in level for the Vdc_min controller (kinetic buffering).
r1282 Vdc_max controller switch-in level (U/f) / Vdc_max on_level
- [V] - [V] - [V]
p1283[0...n] Vdc_max controller dynamic factor (U/f) / Vdc_max dyn_factor
1 [%] 10000 [%] 100 [%]
p1285[0...n] Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
65 [%] 115 [%] 76 [%]
r1286 Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
- [V] - [V] - [V]
Parameters
List of parameters
Description: Sets the dynamic factor for the Vdc-min controller (kinetic buffering).
Note: The gain factor is proportional to the capacitance of the DC link. The parameter is preset to a value that is optimally
adapted to the capacitance of the individual Motor Module. The capacitances of the other power units, which are
connected to the DC link, can be taken into account using the dynamic factor (p1287 or p1283).
Description: Sets the integral time for the Vdc controller (DC link voltage controller).
Description: Sets the rate time constant for the Vdc controller (DC link voltage controller).
Description: Sets the output limit for the Vdc controller (DC link voltage controller).
p1287[0...n] Vdc_min controller dynamic factor (kinetic buffering) (U/f) / Vdc_min dyn_factor
1 [%] 10000 [%] 100 [%]
p1290[0...n] Vdc controller proportional gain (U/f) / Vdc_ctrl Kp
0.00 100.00 1.00
p1291[0...n] Vdc controller integral time (U/f) / Vdc_ctrl Tn
0 [ms] 10000 [ms] 40 [ms]
p1292[0...n] Vdc controller rate time (U/f) / Vdc_ctrl t_rate
0 [ms] 1000 [ms] 10 [ms]
p1293[0...n] Vdc controller output limit (U/f) / Vdc_ctrl outp_lim
0.0 [Hz] 600.0 [Hz] 10.0 [Hz]
List of parameters
Parameters
Description: Activates/de-activates the automatic sensing of the switch-in level for the Vdc_max controller.
Values: 0: Automatic detection disabled
1: Automatic detection enabled
Description: Sets the time threshold for the Vdc_min controller (kinetic buffering). If this value is exceeded a fault is output; the
Prerequisite: p1296 = 1.
Description: Sets the response for the Vdc_min controller (kinetic buffering).
Values: 0: Buffer Vdc until undervoltage, n<p1257 -> F07405
1: Buff. Vdc until undervolt., n<p1257 -> F07405, t>p1255 -> F07406
Description: Sets the speed threshold for the Vdc-min controller (kinetic buffering). If this value is exceeded a fault is output; the
Description: Displays the actual output of the Vdc controller (DC link voltage controller)
p1294 Vdc_max controller automatic detection ON signal level (U/f) / Vdc_max SenseOnLev
0 1 1
p1295[0...n] Vdc_min controller time threshold (U/f) / Vdc_min t_thresh
0.000 [s] 10000.000 [s] 0.000 [s]
p1296[0...n] Vdc_min controller response (kinetic buffering) (U/f / Vdc_min response
0 1 0
p1297[0...n] Vdc_min controller speed threshold (U/f) / Vdc_min n_thresh
0.0 [1/min] 210000.0 [1/min] 50.0 [1/min]
r1298 CO: Vdc controller output (U/f) / Vdc_ctrl output
- [1/min] - [1/min] - [1/min]
Parameters
List of parameters
Description: Sets the open and closed loop control mode of a drive.
Values: 20: Speed control (sensorless)
21: Speed control (with encoder)
23: Torque control (with encoder)
Dependency: Closed-loop speed or torque control (with encoder) cannot be selected if the encoder type is not entered (p0400).
Refer to: p0108, r0108, p0300, p0311, p0400, p1501
Note: The closed-loop torque control can only be changed over in operation (p1300 = 20 or 21) by selecting the closed-
loop speed control (p1501). At the changeover, the setting of p1300 does not change. In this case, the actual state
is displayed in r1407, bit 2 and bit 3.
Description: Sets the open and closed loop control mode of a drive.
Values: 0: U/f control with linear characteristic
1: U/f control with linear characteristic and FCC
2: U/f control with parabolic characteristic
3: U/f control with parameterizable characteristic
5: U/f control for drives requiring a precise freq. (e.g. textiles)
6: U/f control for drives requiring a precise frequency with FCC
18: I/f control with fixed current
19: U/f control with independent voltage setpoint
20: Speed control (sensorless)
21: Speed control (with encoder)
22: Torque control (sensorless)
23: Torque control (with encoder)
Dependency: Closed-loop speed or torque control (with encoder) cannot be selected if the encoder type is not entered (p0400).
Closed-loop speed or torque control can be selected if the closed-loop speed/torque control was selected as oper-
ating mode (p0108 bit 2).
Only operation with U/f characteristic is possible if the rated motor speed is not entered (p0311).
A reluctance motor can only be operated in a U/f control mode (p1300 < 20).
Refer to: p0108, r0108, p0300, p0311, p0400, p1501
Note: The closed-loop torque control can only be changed over in operation (p1300 = 20 or 21) by selecting the closed-
loop speed control (p1501). At the changeover, the setting of p1300 does not change. In this case, the actual state
is displayed in r1407, bit 2 and bit 3. For the open-loop control modes p1300 = 5 and 6 (textile sector), the slip com-
pensation p1335 and the resonance damping p1338 are internally switched-out (disabled) in order to be able to
precisely set the output frequency. Separately-excited synchronous motors can only be operated in the modes
p1300 = 21 and 23 - or for diagnostic purposes in the modes p1300 = 0, 3 and 18. For I/f control (p1300 = 18), the
current amplitude can be set using p1609. Both for U/f as well as for I/f control only a small load may be applied to
the separately-excited synchronous motor because the excitation current is not calculated as a function of the load.
During operation (the pulses enabled) the open-loop/closed-loop control mode cannot be changed by changing-
over drive data sets.
p1300[0...n] Open-loop/closed-loop control operating mode / Control mode
1690, 5060, 6300
P-Group: V/f open-loop control Units group: - Unit selection: -
20 23 21
1690, 5060, 6300
0 23 20
List of parameters
Parameters
Description: Defines the voltage boost as a [%] referred to the rated motor current (p0305).
The magnitude of the permanent voltage boost is reduced with increasing frequency so that at the rated motor fre-
quency, the rated motor voltage is present.
The magnitude of the boost in Volt at a frequency of zero is defined as follows:
Voltage boost [V] = p0305 (rated motor current [A]) x p0350 (stator/primary section resistance [ohm]) x p1310 (per-
manent voltage boost [%]) / 100 %
At low output frequencies, there is only a low output voltage in order to maintain the motor flux. However, the output
voltage can be too low in order to achieve the following:
- magnetize the induction motor.
- hold the load.
- compensate for losses in the system.
This is the reason that the output voltage can be increased using p1310.
The voltage boost can be used for both linear as well as square-law U/f characteristics and is calculated as follows:
Voltage boost = p0305 (rated motor current x p0350 (stator/primary section resistance) x p1310 (permanent voltage
boost)
Dependency: Setting in p0640 (motor overload factor [%] limits the boost.
For closed-loop vector control, the permanent voltage boost (p1310) has no effect as the drive converter automati-
cally sets the optimum operating conditions.
Refer to: p1300, p1311, r1315
Notice: The voltage boost increases the motor temperature (particularly at zero speed).
Note: The voltage boost is only effective for U/f control (p1300).
The boost values are combined with one another if the permanent voltage boost (p1310) is used in conjunction with
other boost parameters (acceleration boost (p1311)).
However, these parameters are assigned the following priorities: p1310 > p1311
Description: p1311 only results in a voltage boost when accelerating and generates a supplementary torque/force to accelerate
the load.
The voltage boost becomes effective for a positive setpoint increase and disappears as soon as the setpoint has
been reached.
The magnitude of the boost in Volt at a frequency of zero is defined as follows:
Voltage boost [V] = p0305 (rated motor current [A]) x p0350 (stator/primary section resistance [ohm]) x p1310 (per-
manent voltage boost [%]) / 100 %
Dependency: Setting in p0640 (motor overload factor [%] limits the boost.
Refer to: p1300, p1310, r1315
Notice: The voltage boost results in a higher motor temperature increase.
Note: The voltage boost when accelerating can improve the response to small, positive setpoint changes.
Assigning priorities for the voltage boosts: refer to p1310
p1310[0...n] Voltage boost permanent / U_boost perm
6300
0.0 [%] 250.0 [%] 50.0 [%]
p1311[0...n] Voltage boost at acceleration / U_boost accelerate
6300
0.0 [%] 250.0 [%] 0.0 [%]
Parameters
List of parameters
Description: Displays the total resulting voltage boost in volt (p1310 + p1311).
Description: Activates the U/f control with linear characteristic for diagnostic purposes.
0: Operation as set in p1300.
1: Activates the U/f control.
Values: 0: Off (p1300 eff)
1: On
Description: Sets the ramp-up and ramp-down time for the U/f control.
The ramp-function generator requires this time to reach the maximum speed (p1082) from zero.
Note: This ramp is used for stall protection and operates independently of any ramp-function generator that might have
been configured.
Description: The linear characteristic for the U/f control is defined by 0 Hz / p1319 and p1326 / p1327.
This parameter specifies the voltage for a frequency of 0 Hz.
Dependency: Activates the U/f control using p1317.
Refer to: p1317, p1326, p1327
Note: Linear interpolation is carried-out between the points 0 Hz / p1319 and p1326 / p1327.
r1315 Voltage boost total / U_boost total
p1317[0...n] U/f control diagnostics activation / Uf diagn act
0 1 0
p1318[0...n] U/f control ramp-up/ramp-down time / Uf t_rmp-up_rmp-dn
0.000 [s] 999999.000 [s] 10.000 [s]
p1319[0...n] U/f control voltage at zero frequency / Uf U at f=0 Hz
0.0 [Veff] 25.0 [Veff] 0.0 [Veff]
List of parameters
Parameters
Description: The programmable characteristic for the U/f control is defined using 4 points and 0 Hz/p1310.
This parameter specifies the voltage of the first point along the characteristic.
Dependency: Selects the freely programmable characteristic using p1300 = 3.
The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard charac-
teristic is used that contains the rated motor operating point.
Refer to: p1300, p1310, p1311, p1321, p1322, p1323, p1324, p1325, p1326, p1327
Note: Linear interpolation is carried-out between the points 0 Hz / p1310, p1320 / p1321 ... p1326 / p1327.
The voltage boost when accelerating (p1311) is also applied to the freely programmable V/Hz characteristic.
This parameter specifies the voltage of the first point along the characteristic.
Dependency: Selects the freely programmable characteristic using p1300 = 3.
Refer to: p1310, p1311, p1320, p1322, p1323, p1324, p1325, p1326, p1327
Note: Linear interpolation is carried-out between the points 0 Hz / p1310, p1320 / p1321 ... p1326 / p1327.
This parameter specifies the voltage of the second point along the characteristic.
Dependency: The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard charac-
This parameter specifies the voltage of the second point along the characteristic.
Dependency: Refer to: p1310, p1311, p1320, p1321, p1322, p1324, p1325, p1326, p1327
p1320[0...n] U/f control programmable characteristic frequency 1 / Uf char f1
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
p1321[0...n] U/f control programmable characteristic voltage 1 / Uf char U1
0.0 [Veff] 10000.0 [Veff] 0.0 [Veff]
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
0.0 [Veff] 10000.0 [Veff] 0.0 [Veff]
Parameters
List of parameters
This parameter specifies the voltage of the third point along the characteristic.
Dependency: The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard charac-
This parameter specifies the voltage of the third point along the characteristic.
Description: In the servo control mode the following applies:
The linear characteristic for the U/f control is defined by 0 Hz / p1319 and p1326 / p1327.
For closed-loop vector control, the following applies:
The programmable characteristic for the U/f control is defined using 4 points and 0 Hz/p1310.
This parameter specifies the voltage of the fourth point along the characteristic.
Dependency: In the servo control mode the following applies:
Activates the U/f control using p1317.
Selects the freely programmable characteristic using p1300 = 3.
The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard charac-
Refer to: p1310, p1311, p1317, p1319, p1320, p1321, p1322, p1323, p1324, p1325, p1327
Note: In the servo control mode the following applies:
Linear interpolation is carried-out between the points 0 Hz / p1319 and p1326 / p1327.
Linear interpolation is carried-out between the points 0 Hz / p1310, p1320 / p1321 ... p1326 / p1327.
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
0.0 [Veff] 10000.0 [Veff] 0.0 [Veff]
6300
0.00 [Hz] 10000.00 [Hz] 0.00 [Hz]
List of parameters
Parameters
Description: In the servo control mode the following applies:
The linear characteristic for the U/f control is defined by 0 Hz / p1319 and p1326 / p1327.
The programmable characteristic for the U/f control is defined using 4 points and 0 Hz/p1310.
This parameter specifies the voltage of the fourth point along the characteristic.
Dependency: In the servo control mode the following applies:
Activates the U/f control using p1317.
Selects the freely programmable characteristic using p1300 = 3.
Refer to: p1310, p1311, p1317, p1319, p1320, p1321, p1322, p1323, p1324, p1325, p1326
Note: In the servo control mode the following applies:
Linear interpolation is carried-out between the points 0 Hz / p1319 and p1326 / p1327.
Linear interpolation is carried-out between the points 0 Hz / p1310, p1320 / p1321 ... p1326 / p1327.
Description: Sets the signal source for the voltage setpoint for U/f control with an independent voltage setpoint (p1300 = 19).
Dependency: Selects the U/f control with independent voltage setpoint via p1300 = 19.
Refer to: p1300
Description: Sets the setpoint for slip compensation in [%] referred to r0330 (motor rated slip).
p1335 = 0.0 %: Slip compensation de-activated.
p1335 = 100.0 %: The slip is completely compensated.
Dependency: Prerequisite for a precise slip compensation for p1335 = 100 % are the precise motor parameters (p0350 ... p0360).
If the parameters are not precisely known, a precise compensation can be achieved by varying p1335.
6300
0.0 [Veff] 10000.0 [Veff] 0.0 [Veff]
p1330[0...n] CI: V/Hz control independent voltage setpoint / Uf U_set independ.
- - 0
p1335[0...n] Slip compensation, scaling / Slip comp scal
6310
0.0 [%] 600.0 [%] 0.0 [%]
Parameters
List of parameters
Note: The purpose of slip compensation is to maintain a constant motor speed regardless of the applied load. The fact
that the motor speed decreases with increasing load is a typical characteristic of induction motors.
For synchronous motors, this effect does not occur and the parameter has no effect in this case.
For the open-loop control modes p1300 = 5 and 6 (textile sector), the slip compensation is internally disabled in
order to be able to precisely set the output frequency.
Description: Sets the limit value for slip compensation in [%] referred to r0330 (motor rated slip).
Description: Displays the actual compensated slip [%] referred to r0330 (rated motor slip).
Dependency: p1335 > 0 %: Slip compensation active.
Refer to: p1335
Description: Sets the controller gain for resonance damping for U/f control.
Note: The resonance damping function dampens active current oscillations that frequency occur under no-load condi-
tions.
The resonance damping is active in a range of approximately 5 ... 90 % of the rated motor frequency (p0310), but
up to a maximum of 45 Hz.
For the open-loop control modes p1300 = 5 and 6 (textile sectors), the resonance damping is internally disabled in
order that the output frequency can be precisely set.
Description: Sets the filter time constant of the controller for resonance damping with U/f control.
p1336[0...n] Slip compensation limit value / Slip comp lim val
0.00 [%] 600.00 [%] 250.00 [%]
r1337 Actual slip compensation / Slip comp act.val.
- [%] - [%] - [%]
p1338[0...n] U/f mode resonance damping gain / Uf Res_damp gain
6310
0.00 100.00 0.00
p1339[0...n] U/f mode resonance damping filter time constant / Uf Res_damp T
1.00 [ms] 1000.00 [ms] 20.00 [ms]
List of parameters
Parameters
Description: Proportional gain of the I_max voltage controller.
The I_max controller reduces the drive converter/inverter output current if the maximum current (r0067) is
exceeded.
In the U/f operating modes (refer to p1300) for the I_max control, one controller is used that acts on the output fre-
quency and one controller that acts on the output voltage. The frequency controller reduces the current by decreas-
ing the converter output frequency. The frequency is reduced down to a minimum value (equaling twice rated slip).
If the overcurrent condition cannot be successfully resolved using this measure, then the drive converter output
voltage is reduced using the I_max voltage controller. Once the overcurrent condition has been resolved, the drive
is accelerated along the ramp set in p1120 (ramp-up time).
Dependency: In the U/f modes (p1300) for textile applications and for external voltage setpoints, only the I_max voltage controller
is used.
Notice: When de-activating the I_max controller, the following must be carefully observed:
When the maximum current (r0067) is exceeded, the output current is no longer reduced, however, overcurrent
alarm messages are generated. The drive is shut down if the overcurrent limit (r0209) is exceeded.
Note: The I_max limiting controller becomes ineffective if the ramp-function generator is de-activated with p1122 = 1.
p1341 = 0: I_max frequency controller de-activated and I_max voltage controller activated over the complete speed
range.
Description: Sets the integral time for the I_max frequency controller.
Description: Displays the effective frequency limit.
Description: Displays the amount by which the converter output voltage is reduced.
p1340[0...n] I_max frequency controller proportional gain / I_max_ctrl Kp
0.000 0.500 0.000
p1341[0...n] I_max frequency controller integral time / I_max_ctrl Tn
0.000 [s] 50.000 [s] 0.300 [s]
r1343 I_max controller frequency output / I_max_ctrl f_outp
P-Group: V/f open-loop control Units group: 3_1 Unit selection: p0505
- [1/min] - [1/min] - [1/min]
r1344 I_max controller voltage output / I_max_ctrl U_outp
P-Group: V/f open-loop control Units group: 5_1 Unit selection: p0505
Parameters
List of parameters
Description: Sets the proportional gain for the I_max voltage controller.
Description: Sets the integral time for the I_max voltage controller.
Note: p1346 = 0: I_max voltage controller de-activated.
Description: Sets the maximum output frequency above which the resonance damping for U/f control is de-activated.
Description: Sets whether the voltage is continuously increased during the magnetizing phase (p1350 = 1, On) or whether it
jumps directly to the voltage boost (p1350 = 0, Off).
Values: 0: Off
1: On
Note: The settings for this parameter have the following advantages and disadvantages:
0 = off (jump directly to voltage boost)
Advantage: Flux is established quickly -> torque is quickly available
Disadvantage: The motor can move while it is being magnetized
1 = on (voltage is continually established)
Advantage: The motor is unlikely to rotate
Disadvantage: The flux is established slower -> torque is available later
p1345[0...n] I_max voltage controller proportional gain / I_max_U_ctrl Kp
0.000 100000.000 0.000
p1346[0...n] I_max voltage controller integral time / I_max_U_ctrl Tn
0.000 [s] 50.000 [s] 0.030 [s]
p1349[0...n] U/f mode resonance damping maximum frequency / Uf res_damp F_max
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
p1350[0...n] Soft starting / Soft starting
0 1 0
List of parameters
Parameters
Description: Sets the signal source for the differential angular generation for U/f control.
Description: Sets the deadtime for the symmetrizing of the actual angle value for the differential angular generation.
The selected multiplier refers to the current controller clock cycle (deadtime= p1358 * p0115[0]).
Description: Displays the output of the differential angular generation.
Note: The difference between the setpoint angle, read-in in p1356 and the actual value of the U/f control delayed with
p1358 is displayed.
Description: Sets the configuration for the closed-loop speed control.
Note: Re bit 07:
sign of life (STW 2.12 ... STW 2.15). Further, for active Dynamic Servo Control (DSC) an additional deadtime of one
speed controller clock cycle is obtained.
p1356[0...n] CI: U/f control, angular setpoint / Uf ang setpoint
- - 0
p1358[0...n] Angular difference, symmetrizing, actual angle / Sym act angle
0 1 0
r1359 CO: Angular difference / Angular difference
- [] - [] - []
p1400[0...n] Speed control configuration / n_ctrl config
5490
- - 0000 0011 1010 1000 bin
03 Reference model speed setpoint, I compo-
nent
On Off 5030
04 Torque limiting motoring/regenerating active Yes No -
05 Kp/Tn adaptation active Yes No -
07 Interpolation speed precontrol active Yes No -
08 Interpolation torque setpoint active Yes No -
09 Damping for sensorless open-loop con-
trolled oper.
Yes No -
10 Speed precontrol For balancing For setp_filter 2 -
11 Sensorless oper. speed actual value start-
ing value
Setpoint 0.0 -
12 Sensorless operation changeover Steady-state When accelerating -
13 Motor/generator dependent on Speed setpoint Actual speed value -
Parameters
List of parameters
Description: Sets the configuration for the closed-loop velocity control.
Note: Re bit 07:
sign of life (STW 2.12 ... STW 2.15). Further, for active Dynamic Servo Control (DSC) an additional deadtime of one
speed controller clock cycle is obtained.
Description: Sets the configuration for the closed-loop speed control.
Note: Re bit 01:
When the bit is set, the I component of the speed controller is kept when changing into the open-loop controlled
mode.
p1400[0...n] Velocity control, configuration / v_ctrl config
5490
- - 0000 0011 1010 1000 bin
nent
On Off 5030
04 Torque limiting motoring/regenerating active Yes No -
07 Interpolation speed precontrol active Yes No -
08 Interpolation torque setpoint active Yes No -
09 Damping for sensorless open-loop con-
trolled oper.
Yes No -
10 Speed precontrol For balancing For setp_filter 2 -
11 Sensorless oper. speed actual value start-
ing value
Setpoint 0.0 -
12 Sensorless operation changeover Steady-state When accelerating -
13 Motor/generator dependent on Speed setpoint Actual speed value -
- - 1000 0000 0010 0001 bin
00 Automatic Kp/Tn adaptation active Yes No -
01 Sensorless closed-loop vector ctrl freeze I
comp
Yes No -
02 Acceleration pre-control source External (p1495) Internal (n_set) 6031
nent
On Off 6031
06 Free Tn adaptation active Yes No -
14 Torque precontrol Always active For n_ctrl enab -
15 Sensorless vector control, speed precontrol Yes No -
List of parameters
Parameters
Description: Sets the configuration for flux setpoint control
Note: The load-dependent calculation of the flux characteristic is only available for separately-excited synchronous
motors.
Description: Sets the configuration for the closed-loop control and the motor model.
Note: Re bit 01:
When the bit is set, the encoder is parked as soon as the actual speed is greater than the changeover speed
(p1404). The encoder state is displayed in r0487.14.
Description: Sets the configuration for the closed-loop control and the motor model.
Note: Re bit 01:
When the bit is set, the speed following error is compensated that is obtained as a result of the smoothing time con-
stant in p1441.
Description: Sets the speed to change over between operation with and without encoder. Above this speed, the drive system is
automatically operated in the sensorless mode.
p1401[0...n] Flux control configuration / F_ctrl config
6722
- - 1110 bin
00 Flux setpoint soft starting active Yes No -
01 Flux setpoint differentiation active Yes No -
02 Flux build-up control active Yes No -
03 Flux characteristic, load-dependent Yes no -
p1402[0...n] Closed-loop current control and motor model configuration / I_ctrl config
Data type: Unsigned16 Dynamic index: DDS, p0180 Function diagram: -
- - 0000 bin
01 Park encoder for n_act > p1404 Yes No -
- - 0001 bin
00 Speed-following error correction active Yes No -
p1404[0...n] Sensorless operation changeover speed / Sensorl op n_chgov
5060
P-Group: Closed-loop control Units group: 3_1 Unit selection: p0505
0.0 [1/min] 210000.0 [1/min] 210000.0 [1/min]
Parameters
List of parameters
Note: The changeover speed applies when changing over between operation with and without encoder.
Separate speed controllers should be set when operating with and without encoder.
Operation with encoder: p1460 (Kp), p1462 (Tn), p1461, p1463, p1457, p1458 (parameters for speed controller
adaptation)
Operation without encoder: p1470 (Kp), p1472 (Tn)
Description: Sets the velocity to change over between operation with and without encoder. Above this velocity, the drive system
is automatically operated in the sensorless mode.
Note: The changeover speed applies when changing over between operation with and without encoder.
Separate speed controllers should be set when operating with and without encoder.
Operation with encoder: p1460 (Kp), p1462 (Tn), p1461, p1463, p1457, p1458 (parameters for speed controller
adaptation)
Operation without encoder: p1470 (Kp), p1472 (Tn)
Description: Displays the control word of the speed controller.
Description: Displays the control word of the velocity controller.
p1404[0...n] Sensorless operation changeover velocity / Sensorl op v_chgov
5060
0.0 [m/min] 1000.0 [m/min] 1000.0 [m/min]
r1406 CO/BO: Control word speed controller / STW n_ctrl
2520
- - 0000 bin
08 Travel to fixed stop active Yes No -
12 Torque control active Yes No -
r1406 CO/BO: Control word, velocity controller / STW v_ctrl
2520
- - 0000 bin
08 Travel to fixed stop active Yes No -
List of parameters
Parameters
Description: Displays the control word of the speed controller.
Description: Displays the status word of the speed controller.
Description: Displays the status word of the velocity controller.
r1406 CO/BO: Control word speed controller / STW n_ctrl
- - 0000 bin
04 Holds speed controller I component Yes No -
05 Sets speed controller I component Yes No -
11 Enables droop Yes No 6030
r1407 CO/BO: Status word speed controller / ZSW n_ctrl
2522
- - 0000 bin
00 U/f control active Yes No -
01 Sensorless operation active Yes No -
04 DSC active Yes No -
05 Speed controller I component held Yes No -
06 Speed controller I component set Yes No -
07 Torq limit reached Yes No 5610
08 Upper torque limit active Yes No 5610
09 Lower torque limit active Yes No 5610
11 Speed setpoint limited Yes No -
13 Sensorless operation due to a fault Yes No -
r1407 CO/BO: Status word, velocity controller / ZSW v_ctrl
2522
- - 0000 bin
04 DSC active Yes No -
05 Speed controller I component held Yes No -
06 Speed controller I component set Yes No -
08 Upper torque limit active Yes No 5610
09 Lower torque limit active Yes No 5610
11 Speed setpoint limited Yes No -
Parameters
List of parameters
Description: Displays the status word of the speed controller.
Description: Displays the status word of the closed-loop current control.
Note: The selected current limit is taken into account by the upstream torque limiting; this is the reason that bits 6, 7 and
8 are only set for overshoots due to the current setpoint filter.
r1407 CO/BO: Status word speed controller / ZSW n_ctrl
2522
- - 0000 bin
02 Torque control active Yes No 6030
03 Speed control active Yes No 6040
05 Speed controller I component held Yes No 6040
06 Speed controller I component set Yes No 6040
08 Upper torque limit active Yes No -
09 Lower torque limit active Yes No -
10 Droop enabled Yes No 6030
11 Speed setpoint limited Yes No 6030
12 Ramp-function generator set Yes No -
14 I/f control active Yes No -
r1408 CO/BO: Status word closed-loop current control / ZSW curr ctrl
5040
- - 0000 bin
00 Cl-loop curr ctrl active Not active -
04 Limit Vd active Not active -
05 Limit Vq active Not active -
06 Positive limiting Iq active Not active -
07 Negative limiting Iq active Not active -
08 Limit iq_set active Not active -
09 Limit id_set active Not active -
List of parameters
Parameters
Description: Displays the status word of the closed-loop current control.
Description: Sets the delay of the speed setpoint for the incremental encoder emulation.
Description: Activates the speed setpoint filters 1 and 2.
Recommenda-
tion:
If only one filter is required, filter 1 should be activated and filter 2 deactivated, to avoid excessive processing time.
Dependency: The speed setpoint filter is parameterized using p1415 ... p1420 and p1421 ... p1426.
Description: Activates the velocity setpoint filters 1 and 2.
Recommenda-
tion:
If only one filter is required, filter 1 should be activated and filter 2 deactivated, to avoid excessive processing time.
Dependency: The velocity setpoint filter is parameterized using p1415 ... p1420 and p1421 ... p1426.
r1408 CO/BO: Status word closed-loop current control / ZSW curr ctrl
- - 0000 bin
00 Current ctrl act active Not active -
01 Id control, I-component limiting active Not active -
03 Voltage limiting active Not active -
10 Speed adaptation, limiting active Not active -
11 Speed adaptation, speed deviation Out tolerance In tolerance 6719
12 Motor stalled Yes No 6719,
8018
p1412[0...n] Speed setpoint filter, deadtime / n_set deadtime
0.000 [ms] 1.000 [ms] 0.000 [ms]
p1414[0...n] Speed setpoint filter activation / n_set_filt active
- - 0000 bin
00 Activate filter 1 Yes No -
p1414[0...n] Velocity setpoint filter activation / v_set_filt active
- - 0000 bin
Parameters
List of parameters
Description: Activates speed setpoint filter 1 for the incremental encoder emulation.
Dependency: The speed setpoint filter can be parameterized using p1417 and p1418.
Description: Sets the type for speed setpoint filter 1.
Values: 0: Low pass: PT1
1: Low pass: PT2
2: General 2nd-order filter
Dependency: PT1 low pass: p1416
PT2 low pass: p1417, p1418
General filter: p1417 - p1420
1: Low pass: PT2
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
Note: For SERVO (p0107) the following applies:
This parameter is only effective if the speed filter is set as a PT1 low pass.
- - 0000 bin
00 Activate filter 1 Yes No 9674
p1415[0...n] Speed setpoint filter 1 type / n_set_filt 1 typ
0 2 0
p1415[0...n] Velocity setpoint filter 1 type / n_set_filt 1 typ
0 2 0
p1416[0...n] Speed setpoint filter 1 time constant / n_set_filt 1 T
SERVO, VECTOR
(n/M)
6030
0.00 [ms] 5000.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Sets the time constant for the velocity setpoint filter 1 (PT1).
Note: This parameter is only effective if the velocity filter is set as a PT1 low pass.
Description: Sets the denominator natural frequency for the speed setpoint filter 1 (PT2, general filter).
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
Description: Sets the denominator natural frequency for velocity setpoint filter 1 (PT2, general filter).
Note: This parameter is only effective if the velocity filter is parameterized as a PT2 low pass or as general filter.
Description: Sets the denominator natural frequency for the speed setpoint filter 1 (PT2) of the incremental encoder emulation.
Note: This parameter is only effective if the speed setpoint filter in p1414 is activated.
p1416[0...n] Velocity setpoint filter 1 time constant / v_set_filt 1 T
6030
0.00 [ms] 5000.00 [ms] 0.00 [ms]
p1417[0...n] Speed setpoint filter 1 denominator natural frequency / n_set_filt 1 fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1417[0...n] Velocity setpoint filter 1 denominator natural frequency / v_set_filt 1 fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
Parameters
List of parameters
Description: Sets the denominator damping for the speed setpoint filter 1 (PT2, general filter).
Description: Sets the denominator damping for the velocity setpoint filter 1 (PT2, general filter).
Description: Sets the denominator damping for the speed setpoint filter 1 (PT2) of the incremental encoder emulation.
Note: This parameter is only effective if the speed setpoint filter in p1414 is activated.
Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).
Note: This parameter is only effective if the speed filter is set as a general filter.
p1418[0...n] Speed setpoint filter 1 denominator damping / n_set_filt 1 D_d
0.050 10.000 0.700
p1418[0...n] Velocity setpoint filter 1 denominator damping / v_set_filt 1 D_d
0.050 10.000 0.700
0.050 1.000 0.700
p1419[0...n] Speed setpoint filter 1 numerator natural frequency / n_set_filt 1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
List of parameters
Parameters
Description: Sets the numerator natural frequency for velocity setpoint filter 1 (general filter).
Note: This parameter is only effective if the velocity filter is set as a general filter.
Description: Sets the numerator damping for speed setpoint filter 1 (general filter).
Description: Sets the numerator damping for velocity setpoint filter 1 (general filter).
1: Low pass: PT2
p1419[0...n] Velocity setpoint filter 1 numerator natural frequency / v_set_filt 1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p1420[0...n] Speed setpoint filter 1 numerator damping / n_set_filt 1 D_n
0.000 10.000 0.700
p1420[0...n] Velocity setpoint filter 1 numerator damping / v_set_filt 1 D_n
0.000 10.000 0.700
0 2 0
Parameters
List of parameters
1: Low pass: PT2
Description: Sets the time constant for the speed setpoint filter 2 (PT1).
Note: This parameter is only effective if the speed filter is set as a PT1 low pass.
Description: Sets the time constant for the velocity setpoint filter 2 (PT1).
Note: This parameter is only effective if the velocity filter is set as a PT1 low pass.
Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).
0 2 0
0.00 [ms] 5000.00 [ms] 0.00 [ms]
0.00 [ms] 5000.00 [ms] 0.00 [ms]
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
List of parameters
Parameters
Description: Sets the denominator natural frequency for velocity setpoint filter 2 (PT2, general filter).
Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).
Description: Sets the denominator damping for velocity setpoint filter 2 (PT2, general filter).
Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).
Description: Sets the numerator natural frequency for velocity setpoint filter 2 (general filter).
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.050 10.000 0.700
0.050 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
Parameters
List of parameters
Description: Sets the numerator damping for speed setpoint filter 2 (general filter).
Description: Sets the numerator damping for velocity setpoint filter 2 (general filter).
Description: Sets the deadtime to symmetrize the speed setpoint for active torque precontrol.
The selected multiplier refers to the speed controller clock cycle (deadtime= p1428 * p0115[1]).
Dependency: In conjunction with p1429, this parameter can simulate the characteristics of how the torque is established (dynamic
response of closed current control loop).
The parameter is only effective if the acceleration model is supplied using external acceleration signals (p1400.2 =
1). For p1400.2 = 0, a fixed deadtime is used.
Description: Sets the deadtime to symmetrize the velocity setpoint for active force precontrol.
The selected multiplier refers to the velocity controller clock cycle (deadtime= p1428 * p0115[1]).
Dependency: In conjunction with p1429, this parameter can simulate the characteristics of how the force is established (dynamic
0.000 10.000 0.700
0.000 10.000 0.700
p1428[0...n] Speed precontrol symmetrizing deadtime / n_prectrSym t_dead
SERVO, VECTOR
(n/M)
6031
0.0 2.0 0.0
p1428[0...n] Velocity precontrol symmetrizing deadtime / n_prectrSym t_dead
6031
0.0 2.0 0.0
List of parameters
Parameters
Description: Sets the time constant (PT1) for symmetrizing the speed setpoint for active torque precontrol.
Dependency: In conjunction with p1428, this parameter can simulate the characteristics of how torque is established (dynamic
response of the closed current control loop).
The parameter is only effective if the acceleration model is supplied using external acceleration signals (p1400.2 =
1). For p1400.2 = 0, time constant p1442 (or p1452 for sensorless closed-loop vector control) is used.
Description: Sets the time constant (PT1) for symmetrizing the velocity setpoint for active force precontrol.
Dependency: In conjunction with p1428, this parameter can simulate the characteristics of how the force is established (dynamic
Description: Sets the signal source for speed precontrol channel (speed precontrol or torque precontrol).
Description: Sets the signal source for the velocity precontrol channel (velocity precontrol or force precontrol).
p1429[0...n] Speed precontrol symmetrizing time constant / n_prectr sym T
SERVO, VECTOR
(n/M)
6031
0.00 [ms] 10000.00 [ms] 0.00 [ms]
p1429[0...n] Velocity precontrol symmetrizing time constant / n_prectr sym T
6031
0.00 [ms] 10000.00 [ms] 0.00 [ms]
p1430[0...n] CI: Speed precontrol / n_prectrl
1590, 5020
- - 0
p1430[0...n] CI: Velocity precontrol / v_prectrl
1590, 5020
- - 0
Parameters
List of parameters
Description: Displays the speed precontrol value after symmetrizing for the torque build-up (emulates the closed current control
loop).
Dependency: Symmetrizing can be parameterized with p1428 and/or p1429.
Description: Displays the velocity precontrol value after symmetrizing for the force build-up (emulates the closed current control
loop).
Dependency: Symmetrizing can be parameterized with p1428 and/or p1429.
Description: Sets the natural frequency of a PT2 element for the reference model of the speed controller.
Recommenda-
tion:
The reference model is correctly set when the characteristics of p1439 (reference model output) and p1445 (actual
speed value) are virtually identical when the I-component of the speed controller is disabled.
Dependency: Together with p1434 and p1435, the characteristics (in the time domain) of the closed-loop speed control (P) can be
emulated.
The reference model is activated with p1400.3 = 1.
Description: Sets the natural frequency of a PT2 element for the reference model of the velocity controller.
Recommenda-
tion:
velocity value) are virtually identical when the I-component of the velocity controller is disabled.
Dependency: Together with p1434 and p1435, the characteristics (in the time domain) of the closed-loop velocity control (P) can
be emulated.
r1432 CO: Speed precontrol after symmetrizing / n_prectr after sym
- [1/min] - [1/min] - [1/min]
r1432 CO: Velocity precontrol after symmetrizing / n_prectr after sym
p1433[0...n] Speed controller reference model natural frequency / n_ctrl RefMod fn
SERVO, VECTOR
(n/M)
6031
0.0 [Hz] 8000.0 [Hz] 0.0 [Hz]
p1433[0...n] Velocity controller reference model natural frequency / v_ctrl RefMod fn
6031
0.0 [Hz] 8000.0 [Hz] 0.0 [Hz]
List of parameters
Parameters
Description: Sets the damping of a PT2 element for the reference model of the speed controller.
Recommenda-
tion:
Dependency: In conjunction with p1433 and p1435, the characteristics (in time) of the P-controlled speed control loop can be
emulated.
Description: Sets the damping of a PT2 element for the reference model of the velocity controller.
Recommenda-
tion:
Dependency: Together with p1433 and p1435, the characteristics (in the time domain) of the P-controlled velocity control loop
can be emulated.
Description: Sets the "fractional" deadtime for the reference model of the speed controller.
This parameter emulates the computation deadtime of the proportionally controlled speed control loop.
The selected multiplier refers to the speed controller clock cycle (deadtime= p1435 * p0115[1]).
Recommenda-
tion:
Dependency: In conjunction with p1433 and p1434, the characteristics (in time) of the P-controlled speed control loop can be
emulated.
Refer to: p0115, p1433, p1434
p1434[0...n] Speed controller reference model damping / n_ctrl RefMod D
SERVO, VECTOR
(n/M)
6031
0.000 5.000 1.000
p1434[0...n] Velocity controller reference model damping / v_ctrl RefMod D
6031
0.000 5.000 1.000
p1435[0...n] Speed controller reference model deadtime / n_ctrRefMod t_dead
SERVO, VECTOR
(n/M)
6031
0.00 2.00 0.00
Parameters
List of parameters
Description: Sets the "fractional" deadtime for the reference model of the velocity controller.
This parameter emulates the computation deadtime of the proportionally controlled velocity control loop.
The selected multiplier refers to the velocity controller clock cycle (deadtime= p1435 * p0115[1]).
Recommenda-
tion:
Dependency: Together with p1433 and p1434, the characteristics (in the time domain) of the P-controlled velocity control loop
can be emulated.
Refer to: p0115, p1433, p1434
Description: Displays the speed setpoint at the output of the reference model.
Dependency: For VECTOR (r0107) the following applies:
Description: Displays the velocity setpoint at the output of the reference model.
Description: Sets the signal source for speed setpoint for the integral component of the speed controller.
Dependency: The reference model is activated with p1400.3 = 1.
Refer to: p1400
Cautiont: In should be ensured that a speed setpoint is selected as signal source that corresponds to the setpoint for the P
component of the speed controller.
p1435[0...n] Velocity controller reference model deadtime / v_ctrRefMod t_dead
6031
0.00 2.00 0.00
r1436 CO: Speed controller reference model speed setpoint output / RefMod n_set outpt
SERVO, VECTOR
(n/M)
6031
- [1/min] - [1/min] - [1/min]
r1436 CO: Velocity controller, reference model velocity_setpoint output / RefMod v_set
outpt
6031
p1437[0...n] CI: Speed controller, reference model I component input / n_ctrRefMod I_comp
VECTOR (n/M) Can be changed: T Access level: 3
- - 1436[0]
List of parameters
Parameters
Description: Displays the speed setpoint after setpoint limiting for the P component of the speed controller.
For U/f operation, the value that is displayed is of no relevance.
Note: In the standard state (the reference model is de-activated), r1438 = r1439.
Description: Displays the speed setpoint after setpoint limiting for the P component of the velocity controller.
For U/f operation, the value that is displayed is of no relevance.
Description: Displays the speed setpoint for the I component of the speed controller (output of the reference model after the set-
point limiting).
Description: Displays the velocity setpoint for the I component of the velocity controller (output of the reference model after the
setpoint limiting).
r1438 CO: Speed controller, speed setpoint / n_ctrl n_set
SERVO, VECTOR
(n/M)
1590, 3080, 5030, 5040, 5060,
5210, 5300, 6040
- [1/min] - [1/min] - [1/min]
r1438 CO: Velocity controller, velocity setpoint / v_ctrl v_set
1590, 3080, 5030, 5040, 5060,
5210, 5300, 6040
r1439 Speed setpoint, I component / n_set I_comp
SERVO, VECTOR
(n/M)
5040, 6031
- [1/min] - [1/min] - [1/min]
r1439 Velocity setpoint, I component / v_set I_comp
5040, 6031
Parameters
List of parameters
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Note: The speed actual value should be smoothed for encoders with a low pulse number or for resolvers.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed con-
troller settings checked Kp (p1460) and Tn (p1462).
Description: Sets the smoothing time constant (PT1) for the velocity actual value.
After this parameter has been changed, we recommend that the velocity controller is adapted and/or the velocity
controller settings checked Kp (p1460) and Tn (p1462).
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Notice: Smoothing times above 20 ms are only possible if the drive is accelerated or braked with the appropriately long
ramp-up/ramp-down times. Otherwise, significant torque errors can occur and there is the danger that the drive is
powered-down (tripped) with F07902 (motor stalled).
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed con-
troller settings checked Kp (p1460) and Tn (p1462).
Description: Sets the smoothing time for the actual speed value of the speed controller for closed-loop control with encoder.
Note: The smoothing must be increased if there is gear backlash. For longer smoothing times, the integral time of the
speed controller must also be increased (e.g. using p0340 = 4).
p1441[0...n] Actual speed smoothing time / n_act T_smooth
4715
0.00 [ms] 50.00 [ms] 0.00 [ms]
p1441[0...n] Actual velocity, smoothing time / v_act T_smooth
4715
0.00 [ms] 50.00 [ms] 0.00 [ms]
4715
0.00 [ms] 1000.00 [ms] 0.00 [ms]
p1442[0...n] Speed controller speed actual value smoothing time / n_ctr n_act T_smth
0.00 [ms] 32000.00 [ms] 4.00 [ms]
List of parameters
Parameters
Description: Displays the sum of all speed setpoints that are present.
The following sources are available for the displayed setpoint:
- setpoint at the ramp-function generator input (r1119).
- speed setpoint 1 (p1155).
- speed setpoint 2 (p1160).
- speed setpoint for the speed precontrol (p1430).
- setpoint from DSC (for DSC active).
- setpoint via PC (for master control active, p3983).
Dependency: Refer to: r1119, p1155, p1160, p1430
Description: Displays the sum of all velocity setpoints that are present.
The following sources are available for the displayed setpoint:
- setpoint at the ramp-function generator input (r1119).
- velocity setpoint 1 (p1155).
- velocity setpoint 2 (p1160).
- velocity setpoint for the velocity precontrol (p1430).
- setpoint from DSC (for DSC active).
- setpoint via PC (for master control active, p3983).
Dependency: Refer to: r1119, p1155, p1160, p1430
Description: Displays the smoothed actual speed for speed control.
Description: Sets the smoothing time for the actual speed of the speed controller for sensorless closed-loop speed control.
Note: The smoothing must be increased if there is gear backlash. For longer smoothing times, the integral time of the
speed controller must also be increased (e.g. using p0340 = 4).
r1444 Speed controller, speed setpoint steady-state (static) / n_ctrl n_set stat
SERVO, VECTOR
(n/M)
- [1/min] - [1/min] - [1/min]
r1444 Velocity controller, velocity setpoint, total / v_ctrl v_set stat
- [1/min] - [1/min] - [1/min]
p1452[0...n] Speed controller speed actual value smoothing time (SLVC) / n_C n_act T_s SLVC
0.00 [ms] 32000.00 [ms] 10.00 [ms]
Parameters
List of parameters
Description: Displays the system deviation of the I component of the speed controller.
When the reference model is inactive (p1433 = 0 Hz), this parameter corresponds to the system deviation of the
complete PI controller (r1454 = r0064).
Description: Displays the system deviation of the I component of the velocity controller.
When the reference model is inactive (p1433 = 0 Hz), this parameter corresponds to the system deviation of the
complete PI controller (r1454 = r0064).
Description: Sets the source for the adaptation signal to additionally adapt the P gain of the speed controller.
Description: Sets the source for the adaptation signal to additionally adapt the P gain of the velocity controller.
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
The values are in % and refer to the set source of the adaptation signal.
r1454 CO: Speed controller system deviation I component / n_ctrl sys_dev Tn
SERVO, VECTOR
(n/M)
- [1/min] - [1/min] - [1/min]
r1454 CO: Velocity controller system deviation I component / v_ctrl sys_dev Tn
p1455[0...n] CI: Speed controller P gain adaptation signal / n_ctrl Adpt_sig Kp
SERVO, VECTOR
(n/M)
- - 0
p1455[0...n] CI: Velocity controller, P gain adaptation signal / v_ctrl Adpt_sig Kp
- - 0
p1456[0...n] Speed controller P gain adaptation lower starting point / n_ctrl AdaptKpLow.
0.00 [%] 400.00 [%] 0.00 [%]
List of parameters
Parameters
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the velocity con-
troller.
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
Note: If the upper transition point p1457 of the speed controller adaptation is set to lower values than the lower transition
p1456, then the controller gain below p1457 is adapted with p1459 and above p1456, with p1458.
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the velocity con-
troller.
p1456[0...n] Velocity controller P gain adaptation, lower starting point / n_ctrl AdaptKpLow.
0.00 [%] 400.00 [%] 0.00 [%]
0.00 [%] 400.00 [%] 0.00 [%]
p1457[0...n] Speed controller P gain adaptation upper starting point / n_ctrl AdaptKp up.
0.00 [%] 400.00 [%] 0.00 [%]
p1457[0...n] Velocity controller P gain adaptation upper starting point / v_ctrl AdaptKp up.
0.00 [%] 400.00 [%] 0.00 [%]
Parameters
List of parameters
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the speed control-
ler.
Description: Sets the adaptation factor before the adaptation range (0 % ... p1456) to additionally adapt the P gain of the
speed/velocity controller.
Description: Sets the adaptation factor before the adaptation range (0 % ... p1456) to additionally adapt the P gain of the
speed/velocity controller.
Description: Sets the adaptation factor after the adaptation range (> p1457) to additionally adapt the P gain of the speed/velocity
controller.
0.00 [%] 400.00 [%] 0.00 [%]
p1458[0...n] Adaptation factor, lower / Adapt_factor lower
0.0 [%] 200000.0 [%] 100.0 [%]
0.0 [%] 200000.0 [%] 100.0 [%]
p1459[0...n] Adaptation factor, upper / Adapt_factor upper
0.0 [%] 200000.0 [%] 100.0 [%]
List of parameters
Parameters
Description: Sets the adaptation factor after the adaptation range (> p1457) to additionally adapt the P gain of the speed/velocity
controller.
Description: Sets the P gain of the speed controller before the adaptation speed range (0 ... p1464). This value corresponds to
the basic setting of the P gain of the speed controller without adaptation (p1461 = 100 %).
Note: When automatically calculating the speed controller, only the motor moment of inertia is taken into account (p0341).
For higher load moments of inertia (p0342 > 1 or p1498 > 0) we recommend that the speed controller gain is
checked.
Description: Sets the P gain of the velocity controller before the adaptation velocity range (0 ... p1464). This value corresponds
to the basic setting of the P gain of the velocity controller without adaptation (p1461 = 100 %).
Note: When automatically calculating the velocity controller, only the motor inertia is taken into account (p0341). For
higher inertias (p0342 > 1 or p1498 > 0) we recommend that the velocity controller gain is checked.
Description: Sets the P gain of the speed controller before the adaptation speed range (0 ... p1464). This value corresponds to
the basic setting of the P gain of the speed controller without adaptation (p1461 = 100 %).
Dependency: For p0528 = 1, the speed controller gain is represented without any dimensions.
Refer to: p1461, p1464, p1465
0.0 [%] 200000.0 [%] 100.0 [%]
p1460[0...n] Speed controller P gain adaptation speed, lower / n_ctrl Kp n lower
0.000 [Nms/rad] 999999.000 [Nms/rad] 0.300 [Nms/rad]
p1460[0...n] Velocity controller, P gain adaptation velocity, lower / v_ctrl Kp n lower
0.000 [Ns/m] 999999.000 [Ns/m] 10.000 [Ns/m]
0.000 999999.000 0.300
Parameters
List of parameters
Description: Sets the P gain of the speed controller for the upper adaptation speed range (> p1465). The entry is made referred
to the P gain for the lower adaptation speed range of the speed controller (% referred to p1460).
checked.
Description: Sets the P gain of the velocity controller for the upper adaptation velocity range (> p1465). The entry is made
referred to the P gain for the lower adaptation velocity range of the velocity controller (% referred to p1460).
Description: Sets the P gain of the speed controller for the upper adaptation speed range (> p1465). The entry is made referred
to the P gain for the lower adaptation speed range of the speed controller (% referred to p1460).
p1464, then the controller gain below p1465 is adapted with p1461. This means that an adaptation can be imple-
mented for low speeds without having to change the controller parameters.
Description: Sets the integration time of the speed controller before the adaptation speed range (0 ... p1464). This value corre-
sponds to the basic setting of the integral time of the speed controller without adaptation (p1461 = 100 %).
p1461[0...n] Speed controller Kp adaptation speed, upper scaling / n_ctrl Kp n upper
0.0 [%] 200000.0 [%] 100.0 [%]
p1461[0...n] Velocity controller, P gain adaptation velocity, upper / v_ctrl Kp n upper
0.0 [%] 200000.0 [%] 100.0 [%]
0.0 [%] 200000.0 [%] 100.0 [%]
p1462[0...n] Speed controller integral time adaptation speed, lower / n_ctrl Tn n lower
SERVO, VECTOR
(n/M)
5050
0.00 [ms] 100000.00 [ms] 20.00 [ms]
List of parameters
Parameters
Description: Sets the integration time of the velocity controller before the adaptation velocity range (0 ... p1464). This value cor-
responds to the basic setting of the integral time of the velocity controller without adaptation (p1461 = 100 %).
Description: Sets the integral time of the speed controller after the adaptation speed range (> p1465). The entry is made referred
to the integral time for the lower adaptation speed range of the speed controller (% referred to p1462).
Description: Sets the integral time of the velocity controller after the adaptation velocity range (> p1465). The entry is made
referred to the integral time for the lower adaptation velocity range of the velocity controller (% referred to p1462).
Description: Sets the integral time of the speed controller after the adaptation speed range (> p1465). The entry is made referred
to the integral time for the lower adaptation speed range of the speed controller (% referred to p1462).
point p1464, then the controller integral time below p1465 is adapted with p1463. This means that an adaptation
can be implemented for low speeds without having to change the controller parameters.
p1462[0...n] Velocity contr., integral act. time adaptation velocity, lower / v_ctrl Tn n lower
5050
0.00 [ms] 100000.00 [ms] 20.00 [ms]
p1463[0...n] Speed controller Tn adaptation speed, upper scaling / n_ctrl Tn n upper
0.0 [%] 200000.0 [%] 100.0 [%]
p1463[0...n] Velocity contr., integral act. time adaptation velocity, upper / v_ctrl Tn n upper
0.0 [%] 200000.0 [%] 100.0 [%]
0.0 [%] 200000.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Sets the lower adaptation speed of the speed controller. No adaptation is effective below this speed.
Description: Sets the lower adaptation velocity of the velocity controller. No adaptation is effective below this velocity.
Description: Sets the lower adaptation speed of the speed controller. No adaptation is effective below this speed.
Note: If the upper transition point p1465 of the speed controller adaptation is set to values less than the lower transition
point p1464, then the controller below p1465 is adapted with p1461 or p1463. This means that an adaptation can
be implemented for low speeds without having to change the controller parameters.
Description: Sets the upper adaptation speed of the speed controller. No adaptation is effective above this speed.
For P gain, p1460 * p1461 is effective. For the integral time, p1462 * p1463 is effective.
Description: Sets the upper adaptation velocity of the velocity controller. No adaptation is effective above this velocity.
p1464[0...n] Speed controller adaptation speed, lower / n_ctrl n lower
0.00 [1/min] 210000.00 [1/min] 0.00 [1/min]
p1464[0...n] Velocity controller adaptation velocity, lower / v_ctrl n lower
0.00 [m/min] 1000.00 [m/min] 0.00 [m/min]
0.00 [1/min] 210000.00 [1/min] 0.00 [1/min]
p1465[0...n] Speed controller adaptation speed, upper / n_ctrl n upper
0.00 [1/min] 210000.00 [1/min] 210000.00 [1/min]
p1465[0...n] Velocity controller adaptation velocity, upper / v_ctrl n upper
0.00 [m/min] 1000.00 [m/min] 1000.00 [m/min]
List of parameters
Parameters
Description: Sets the upper adaptation speed of the speed controller. No adaptation is effective above this speed.
Note: If the upper transition point p1465 of the speed controller adaptation is set to values less than the lower transition
point p1464, then the controller below p1465 is adapted with p1461 or p1463. This means that an adaptation can
be implemented for low speeds without having to change the controller parameters.
Description: Sets the signal source for the scaling of the P gain of the speed controller. This also makes the effective P gain
(including adaptations) scalable.
Description: Sets the signal source for the scaling of the P gain of the velocity controller. This also makes the effective P gain
(including adaptations) scalable.
Description: Displays the effective P gain of the speed controller.
Description: Displays the effective P gain of the velocity controller.
0.00 [1/min] 210000.00 [1/min] 210000.00 [1/min]
p1466[0...n] CI: Speed controller P-gain scaling / n_ctrl Kp Scal
SERVO, VECTOR
(n/M)
- - 1
p1466[0...n] CI: Velocity controller P gain scaling / v_ctrl Kp scal
- - 1
r1468 Speed controller P-gain effective / n_ctrl Kp eff
5040, 5210
- [Nms/rad] - [Nms/rad] - [Nms/rad]
r1468 Velocity controller, P gain effective / v_ctrl Kp eff
5040, 5210
- [Ns/m] - [Ns/m] - [Ns/m]
Parameters
List of parameters
Description: Displays the effective P gain of the speed controller.
Dependency: For p0528 = 1, the speed controller gain is represented without any dimensions. In this case, connector output sig-
nal r1468 is increased by a factor of 100 in order to improve the resolution.
Description: Displays the effective integral time of the speed controller.
Description: Displays the effective integral time of the velocity controller.
Description: Sets the P gain for sensorless operation for the speed controller.
checked.
Description: Sets the P gain for sensorless operation for the velocity controller.
r1468 CO: Speed controller P-gain effective / n_ctrl Kp eff
- - -
r1469 Speed controller integral time effective / n_ctrl Tn eff
SERVO, VECTOR
(n/M)
- [ms] - [ms] - [ms]
r1469 Velocity controller integral time effective / v_ctrl Tn eff
- [ms] - [ms] - [ms]
p1470[0...n] Speed controller sensorless operation P-gain / n_ctrl SLVC Kp
p1470[0...n] Velocity controller sensorless operation P-gain / v_ctrl SLVC Kp
0.000 [Ns/m] 999999.000 [Ns/m] 10.000 [Ns/m]
List of parameters
Parameters
Description: Sets the P gain for sensorless operation for the speed controller.
Dependency: For p0528 = 1, the speed controller gain is represented without any dimensions.
Note: The product p0341 * p0342 is taken into account when automatically calculating the speed controller (p0340 = 1, 3,
4).
Description: Set the integral time for sensorless operation for the speed controller.
Description: Set the integral time for sensorless operation for the velocity controller.
Description: Sets the signal source to hold the integrator for the speed controller.
Description: Sets the signal source to hold the integrator for the velocity controller.
6050
0.000 999999.000 0.300
p1472[0...n] Speed controller sensorless operation integral time / n_ctrl SLVC Tn
SERVO, VECTOR
(n/M)
0.0 [ms] 100000.0 [ms] 20.0 [ms]
p1472[0...n] Velocity controller sensorless operation integral time / v_ctrl SLVC Tn
0.0 [ms] 100000.0 [ms] 20.0 [ms]
p1476[0...n] BI: Speed controller hold integrator / n_ctrl integ stop
SERVO, VECTOR
(n/M)
- - 0
p1476[0...n] BI: Velocity controller, hold integrator / v_ctrl integ stop
- - 0
Parameters
List of parameters
Description: Sets the signal source to set the integrator setting value (p1478).
Note: For the interface mode "SIMODRIVE 611 universal" (p2038 = 1), p1477 and p1478 are used for the signal STW2.6
(integrator inhibit, speed controller).
Description: Sets the signal source to set the integrator setting value (p1478).
Description: Sets the signal source for the integrator setting value for the velocity controller.
The signal to set this integrator setting value is interconnected via p1477.
The setting value of the speed controller integrator is weighted with the scaling factor of the signal source in p1479.
Description: Sets the signal source for the integrator setting value for the velocity controller.
The signal to set this integrator setting value is interconnected via p1477.
The setting value of the speed controller integrator is weighted with the scaling factor of the signal source in p1479.
p1477[0...n] BI: Speed controller set integrator value / n_ctrl integ set
SERVO, VECTOR
(n/M)
5210
- - 0
p1477[0...n] BI: Set velocity controller integrator value / v_ctrl integ set
5210
- - 0
p1478[0...n] CI: Speed controller integrator setting value / n_ctr integ_setVal
SERVO, VECTOR
(n/M)
5210
- - 0
p1478[0...n] CI: Velocity controller, integrator value / v_ctr integ_setVal
5210
- - 0
List of parameters
Parameters
Description: Sets the signal source for scaling the integrator setting value (p1478) of the speed controller.
Description: Displays the torque setpoint at the output of the PI speed controller.
Description: Displays the force setpoint at the output of the PI velocity controller.
Description: Displays the torque setpoint at the output of the P speed controller.
Description: Displays the force setpoint at the output of the P velocity controller.
p1479[0...n] CI: Speed controller integrator setting value scaling / n_ctrl I_val scal
- - 1
r1480 CO: Speed controller PI torque output / n_ctrl PI-M_output
5040, 5060, 5210
- [Nm] - [Nm] - [Nm]
r1480 CO: Velocity controller PI force output / v_ctrl PI-F_output
5040, 5060, 5210
- [N] - [N] - [N]
r1481 CO: Speed controller P torque output / n_ctrl P-M_output
5210
- [Nm] - [Nm] - [Nm]
r1481 CO: Velocity controller P force output / v_ctrl P-F_output
5210
- [N] - [N] - [N]
Parameters
List of parameters
Description: Displays the torque setpoint at the output of the I speed controller.
Description: Displays the force setpoint at the output of the I velocity controller.
Description: Sets the source for droop feedback.
Values: 0: Droop feedback not connected
1: Droop from torque setpoint
2: Droop from speed controller output
3: Droop from integral output, speed controller
Description: Sets the scaling for the droop feedback
Note: Example:
A value of 0.05 means that for a torque equal to the rated motor torque, the rated motor speed is reduced by 5 %.
Description: Displays the output signal of the droop calculation. The droop feedback result is subtracted from the speed setpoint
when activated (p1492).
r1482 CO: Speed controller I torque output / n_ctrl I-M_output
SERVO, VECTOR
(n/M)
5210, 6040
- [Nm] - [Nm] - [Nm]
r1482 CO: Velocity controller I force output / v_ctrl I-F_output
5210, 6040
- [N] - [N] - [N]
p1488[0...n] Droop input source / Droop input,source
0 3 0
p1489[0...n] Droop feedback scaling / Droop scaling
0.000 0.500 0.050
r1490 CO: Droop feedback speed reduction / Droop n_reduction
- [1/min] - [1/min] - [1/min]
List of parameters
Parameters
Description: Enables the droop to be applied to the speed/velocity setpoint.
Note: Even when not enabled, the droop speed is calculated but not subtracted from the setpoint speed. This makes it
possible to subtract the result of this calculation from the speed of another drive.
Description: Sets the time constant of the PT1 filter for integrator feedback.
The integrator of the speed/velocity controller is re-parameterized to become a PT1 filter through a feedback ele-
ment (1st Order low pass filter characteristics).
The following applies:
p1494 < 0.25 (2 * p0115[1]) --> the PT1 filter is not active - the pure integrator is effective.
p1494 >= 0.25 (2 * p0115[1]) --> the PT1 filter is active and has replaced the pure integrator.
Note: Applications:
Motion at zero setpoint and dominant stiction can be suppressed but this has a negative impact on the remaining
setpoint-actual value difference. This can be used, for example, to avoid oscillation of a position-controlled axis at
standstill (stick-slip effect) or overshoot when traversing (moving) in micrometer steps.
Also prevents tension/stressing for axes that are mechanically and rigidly coupled with one another (e.g. for syn-
chronous spindles, master - slave axes).
Description: Sets the time constant of the PT1 filter for integrator feedback.
The integrator of the speed/velocity controller is re-parameterized to become a PT1 filter through a feedback ele-
ment (1st Order low pass filter characteristics).
The following applies:
p1494 < 0.25 (2 * p0115[1]) --> the PT1 filter is not active - the pure integrator is effective.
p1494 >= 0.25 (2 * p0115[1]) --> the PT1 filter is active and has replaced the pure integrator.
Note: Applications:
Motion at zero setpoint and dominant stiction can be suppressed but this has a negative impact on the remaining
setpoint-actual value difference. This can be used, for example, to avoid oscillation of a position-controlled axis at
standstill (stick-slip effect) or overshoot when traversing (moving) in micrometer steps.
Also prevents tension/stressing for axes that are mechanically and rigidly coupled with one another (e.g. for syn-
chronous spindles, master - slave axes).
p1492[0...n] BI: Droop feedback enable / Enables droop
- - 0
p1494[0...n] Speed controller integrator feedback time constant / n_ctr integ_fdbk T
5210
0.00 [ms] 1000.00 [ms] 0.00 [ms]
p1494[0...n] Velocity controller integrator feedback time constant / v_ctr integ_fdbk T
5210
0.00 [ms] 1000.00 [ms] 0.00 [ms]
Parameters
List of parameters
Description: Sets the signal source for the speed change per second for the acceleration pre-control.
Dependency: The signal source for the acceleration is activated with p1400.2 = 1.
For p1400.2 = 0, the acceleration pre-control is calculated from the speed setpoint change from r0062.
For p1400.2 = 0 and activate reference model (p1400.3 = 1) the acceleration pre-control is switched-out.
Note: If the acceleration is entered as external signal, then the accelerating torque is calculated as follows (r1518):
r1518 = acceleration (% of p2000) / 100 % * p2000 / p0311 * r0345 / 1 s * r0333
Description: Sets the scaling for the acceleration pre-control of the speed/velocity controller.
Dependency: When the reference model is activate (p1400.3 = 1) and for an internal acceleration pre-control (p1400.2 = 0), the
acceleration pre-control is switched-out (disabled). The reference model (p1400.3 = 1) and external acceleration
pre-control (p1400.2 = 1) can be operated together.
Note: The parameter is set to 100% by the rotating measurement (refer to p1960).
The acceleration pre-control may not be used if the speed setpoint manifests significant ripple (e.g. analog setpoint)
and the rounding-off in the speed ramp-function generator is disabled.
We also recommend that the pre-control mode is not used if there is gearbox backlash.
Description: Sets the load moment of inertia.
Note: (p0341 * p0342) + p1498 influence the speed/torque precontrol in sensorless operation.
Description: Sets the mass.
Note: (p0341 * p0342) + p1498 influence the velocity/force precontrol in sensorless operation.
p1495[0...n] CI: Acceleration pre-control, speed change each 1 s / a_prectrl dn/1s
- - 0
p1496[0...n] Acceleration pre-control scaling / a_before scaling
0.0 [%] 10000.0 [%] 0.0 [%]
p1498[0...n] Load moment of inertia / Load mom of inert
0.00000 [kgm] 100000.00000 [kgm] 0.00000 [kgm]
p1498[0...n] Load mass / Load mass
0.00000 [kg] 10000.00000 [kg] 0.00000 [kg]
List of parameters
Parameters
Description: Sets the scaling for the acceleration integrator at low speeds (only for sensorless torque control).
The Connector Inputs (CI) for the torque setpoints of the appropriate Command Data Set (CDS) are appropriately
interconnected.
Example:
Refer to: p0015, p0700, p1000, r8573
CI: Connector Input
The Connector Inputs (CI) for the torque setpoints of the appropriate Command Data Set (CDS) are appropriately
interconnected.
Example:
Refer to: p0015, p0700, p1000, r8573
CI: Connector Input
p1499[0...n] Accelerating for torque control, scaling / a for M_ctrl scal
0.0 [%] 400.0 [%] 100.0 [%]
p1500[0...n] Macro Connector Inputs (CI) for torque setpoints / Macro CI M_set
0 999999 0
p1500[0...n] Macro Connector Inputs (CI) for force setpoints / Macro CI F_set
0 999999 0
Parameters
List of parameters
Description: Sets the signal source for toggling between speed and torque control.
Dependency: The input connectors to enter the torque are provided using p1511, p1512 and p1513.
Refer to: p1300
Cautiont: If the closed-loop torque control is not activated (p1300) and a change is made to closed-loop torque control
(p1501), OFF1 (p0840) does not have its own braking response but pulse cancellation when standstill is detected
(p1226, p1227).
Note: 0 signal: Closed-loop speed control
1 signal: Closed-loop torque control
Description: Sets the signal source for toggling between velocity and force control.
Dependency: The input connectors to enter the force are provided using p1511, p1512 and p1513.
Refer to: p1300
Cautiont: If the closed-loop force control is not activated (p1300) and a change is made to closed-loop force control (p1501),
OFF1 (p0840) does not have its own braking response but pulse cancellation when standstill is detected (p1226,
p1227).
Note: 0 signal: Velocity control
1 signal: Force control
Description: Sets the signal source for the torque setpoint for torque control.
Note: A change is made to closed-loop torque control if, in p1300, closed-loop torque control was selected or if the selec-
tion was made using the changeover source in p1501.
it is also possible to change over in operation using p1501.
p1501[0...n] BI: Change over between closed-loop speed/torque control / Changeov n/M_ctrl
SERVO, VECTOR
(n/M)
5060, 6060
- - 0
p1501[0...n] BI: Changeover velocity/force control / Changeov n/F_ctrl
5060, 6060
- - 0
p1503[0...n] CI: Torque setpoint / M_set
- - 0
List of parameters
Parameters
Description: Displays the torque setpoint before entering the supplementary torque.
For closed-loop speed control, r1508 corresponds to the speed controller output; for closed-loop torque control,
r1508 corresponds to the torque setpoint of the signal source assigned in p1503.
Description: Displays the total torque setpoint before the torque limiting (sum from the controller output, supplementary torque
and if required, the precontrol torque, sensorless operation).
In the closed-loop speed controlled mode, p1509 = p1480 + r1515 + pre-controlled torque, sensorless operation.
p1509 and p1515 are identical for the closed-loop torque control.
Description: Displays the total torque setpoint before the force limiting (sum from the controller output, supplementary force and
if required, the precontrol force, sensorless operation).
In the closed-loop speed controlled mode, p1509 = p1480 + r1515 + precontrol force, sensorless operation.
p1509 and p1515 are identical for the closed-loop force control.
Description: Sets the signal source for supplementary torque 1.
r1508 CO: Torque setpoint before supplementary torque / M_set bef. M_suppl
6722
- [Nm] - [Nm] - [Nm]
r1509 CO: Torque setpoint before torque limiting / M_set before M_lim
5060, 5610
- [Nm] - [Nm] - [Nm]
r1509 CO: Force setpoint before force limiting / F_set before F_lim
5060, 5610
- [N] - [N] - [N]
p1511[0...n] CI: Supplementary torque 1 / M_suppl 1
SERVO, VECTOR
(n/M)
6060
- - 0
Parameters
List of parameters
Description: Sets the signal source for supplementary force 1.
Description: Sets the signal source for scaling the supplementary torque 1.
Description: Sets the signal source for scaling the supplementary force 1.
Description: Sets the signal source for supplementary force 2.
p1511[0...n] CI: Supplementary force 1 / F_suppl 1
6060
- - 0
p1512[0...n] CI: Supplementary torque 1 scaling / M_suppl 1 scal
SERVO, VECTOR
(n/M)
6060
- - 0
p1512[0...n] CI: Supplementary force 1 scaling / F_suppl 1 scal
6060
- - 0
SERVO, VECTOR
(n/M)
6060
- - 0
6060
- - 0
List of parameters
Parameters
Description: Sets the scaling for supplementary torque 2.
Description: Displays the total supplementary torque.
The displayed value is the sum of supplementary torque values 1 and 2 (refer to p1511, p1512, p1513, p1514).
Description: Displays the total supplementary force.
The displayed value is the sum of supplementary forces 1 and 2 (p1515 = p1511 * p1512 + p1513).
Description: Displays the total supplementary torque and the accelerating torque.
The displayed value is the sum of the smoothed supplementary torque and the accelerating torque (p1516 =
p1518[1] + p1515).
Description: Sets the smoothing time constant of the accelerating torque.
Note: For servo drives, the parameter is only effective in sensorless operation.
For vector drives, the acceleration pre-control is inhibited if the smoothing is set to the maximum value.
p1514[0...n] Supplementary torque 2 scaling / M_suppl 2 scal
-2000.0 [%] 2000.0 [%] 100.0 [%]
r1515 Supplementary torque total / M_suppl total
SERVO, VECTOR
(n/M)
5060
- [Nm] - [Nm] - [Nm]
r1515 Supplementary force, total / F_suppl total
5060
- [N] - [N] - [N]
r1516 Supplementary and accelerating torque / M_suppl + M_accel
- [Nm] - [Nm] - [Nm]
p1517[0...n] Accelerating torque smoothing time constant / M_accel T_smooth
SERVO, VECTOR
(n/M)
0.00 [ms] 100.00 [ms] 4.00 [ms]
Parameters
List of parameters
Description: Sets the smoothing time constant of the accelerating force.
Note: For servo drives, the parameter is only effective in sensorless operation.
Description: Displays the accelerating torque for pre-control of the speed controller.
[1] = Smoothed
Description: Sets the fixed upper torque limit or the torque limit when motoring.
Dependency: p1400 bit 4 = 0: Upper / lower
p1400 bit 4 = 1: Motoring / generating
The factory setting depends on p0500.
p0500 = 101 --> set to the maximum value
Otherwise --> set to the rated value
Refer to: p1521, p1522, p1523, p1532, r1538, r1539
Danger: For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Note: For vector drives (refer to p0107):
The torque limit is limited to 400% of the rated motor torque. When automatically calculating the motor/closed-loop
control parameters (refer to p0340), the torque limit is set so that it matches the current limit p0640.
p1517[0...n] Acceleration force smoothing time constant / F_accel T_smooth
0.00 [ms] 100.00 [ms] 4.00 [ms]
r1518[0...1] CO: Accelerating torque / M_accel
- [Nm] - [Nm] - [Nm]
p1520[0...n] CO: Torque limit, upper/motoring / M_max upper/mot
SERVO, VECTOR
(n/M)
5630, 6630
-1000000.00 [Nm] 10000000.00 [Nm] 0.00 [Nm]
List of parameters
Parameters
Description: Sets the fixed upper or force limit when motoring.
Refer to: p1521, p1522, p1523, p1532, r1538, r1539
Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Description: Sets the fixed lower torque limit or the torque limit when regenerating.
Refer to: p1520, p1522, p1523, p1532
Positive values when setting the lower torque limit (p1521 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.
p1520[0...n] CO: Force limit upper/motoring / F_max upper/mot
5630, 6630
-1000000.00 [N] 10000000.00 [N] 0.00 [N]
p1521[0...n] CO: Torque limit, lower/regenerative / M_max lower/regen
SERVO, VECTOR
(n/M)
5630, 6630
-1000000.00 [Nm] 10000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
Description: Sets the fixed lower or force limit when regenerating.
Refer to: p1520, p1522, p1523, p1532
Positive values when setting the lower torque limit (p1521 < 0) can result in the motor accelerating in an uncontrol-
lable fashion.
Description: Sets the signal source for the upper or torque/force limit when motoring.
Refer to: p1520, p1521, p1523, p1532
Negative values. that are obtained as a result of the signal source and the scaling can cause the motor to acceler-
ate in an uncontrollable fashion.
Description: Sets the signal source for the lower or torque/force limit when regenerating.
Refer to: p1520, p1521, p1522, p1532
Positive values. that are obtained as a result of the signal source and the scaling can cause the motor to accelerate
in an uncontrollable fashion.
p1521[0...n] CO: Force limit, lower/regenerative / F_max lower/regen
5630, 6630
-1000000.00 [N] 10000000.00 [N] 0.00 [N]
p1522[0...n] CI: Torque limit, upper/motoring / M_max upper/mot
SERVO, VECTOR
(n/M)
5620, 5630, 6630
- - 1520[0]
p1523[0...n] CI: Torque limit, lower/regenerative / M_max lower/regen
SERVO, VECTOR
(n/M)
5620, 5630, 6630
- - 1521[0]
List of parameters
Parameters
Description: Sets the scaling for the upper torque limit or the torque limit when motoring.
Note: This parameter can be freely interconnected.
The value has the above significance if it is interconnected from connector input p1528.
Description: Sets the scaling for the upper force limit or the force limit when motoring.
Description: Sets the scaling for the lower torque limit or the torque limit when regenerating.
p1524[0...n] CO: Torque limit, upper/motoring, scaling / M_max up/mot scal
SERVO, VECTOR
(n/M)
5630, 6630
-2000.0 [%] 2000.0 [%] 100.0 [%]
p1524[0...n] CO: Force limit upper/motoring scaling / F_max up/mot scal
5630, 6630
-2000.0 [%] 2000.0 [%] 100.0 [%]
p1525[0...n] CO: Torque limit, lower/regenerating scaling / M_max low/gen scal
SERVO, VECTOR
(n/M)
5630, 6630
-2000.0 [%] 2000.0 [%] 100.0 [%]
Parameters
List of parameters
Description: Sets the scaling for the lower for limit or the force limit when regenerating.
Description: Displays the upper torque limit of all torque limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
Description: Displays the upper force limit of all force limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
Description: Displays the lower torque limit of all torque limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
p1525[0...n] CO: Force limit, lower/regenerative scaling / F_max low/gen scal
5630, 6630
-2000.0 [%] 2000.0 [%] 100.0 [%]
r1526 Torque limit, upper/motoring without offset / M_max up. w/o offs
SERVO, VECTOR
(n/M)
5630, 6630, 6640
- [Nm] - [Nm] - [Nm]
r1526 Force limit, upper/motoring without offset / F_max up. w/o offs
5630, 6630, 6640
- [N] - [N] - [N]
r1527 Torque limit, lower/regenerative without offset / M_max low w/o offs
SERVO, VECTOR
(n/M)
5630, 6630, 6640
- [Nm] - [Nm] - [Nm]
List of parameters
Parameters
Description: Displays the lower force limit of all force limits without offset.
Refer to: p1520, p1521, p1522, p1523, p1528, p1529
Description: Sets the signal source for the scaling of the upper or motoring torque limit in p1522.
Description: Sets the signal source for the scaling of the upper or motoring force limit in p1522.
Description: Sets the signal source for the scaling of the upper torque limit in p1522.
r1527 Force limit, lower/regenerative without offset / F_max low w/o offs
5630, 6630, 6640
- [N] - [N] - [N]
p1528[0...n] CI: Torque limit, upper/motoring, scaling / M_max up/mot scal
5620, 5630
- - 1524[0]
p1528[0...n] CI: Force limit upper/motoring scaling / F_max up/mot scal
5620, 5630
- - 1524[0]
p1528[0...n] CI: Torque limit upper scaling / M_max upper scal
- - 1524[0]
Parameters
List of parameters
Description: Sets the signal source for the scaling of the lower torque limit or the regenerative torque limit in p1523.
Description: Sets the signal source for the scaling of the lower force limit or the regenerative force limit in p1523.
Description: Sets the signal source for the scaling of the lower torque limit in p1523.
p1529[0...n] CI: Torque limit, lower/regenerating scaling / M_max low/gen scal
5620, 5630
- - 1525[0]
p1529[0...n] CI: Force limit, lower/regenerative scaling / F_max low/gen scal
5620, 5630
- - 1525[0]
p1529[0...n] CI: Torque limit lower scaling / M_max lower scal
- - 1525[0]
List of parameters
Parameters
Description: Sets the power limit when motoring.
Dependency: The factory setting depends on p0500.
Refer to: p1531
The power limit is limited to 300% rated motor power.
Description: Sets the regenerative power limit.
Dependency: The factory setting depends on p0500.
Refer to: p1530
The power limit is limited to 300% rated motor power.
Description: Sets the torque offset for the torque limit.
Description: Sets the force offset for the force limit.
p1530[0...n] Power limit, motoring / P_max mot
SERVO, VECTOR
(n/M)
6640
0.00 [kW] 100000.00 [kW] 0.00 [kW]
p1531[0...n] Power limit, regenerating / P_max gen
SERVO, VECTOR
(n/M)
6640
-100000.00 [kW] -0.01 [kW] -0.01 [kW]
p1532[0...n] CO: Torque limit, offset / M_max offset
5630, 8012
-100000.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
p1532[0...n] CO: Force offset, force limit / F_max offset
5630, 8012
-100000.00 [N] 100000.00 [N] 0.00 [N]
Parameters
List of parameters
Description: Displays the maximum torque/force generating current as a result if all current limits.
Description: Displays the upper torque limit of all torque limits.
Description: Displays the upper force limit of all force limits.
Description: Displays the lower torque limit of all torque limits.
Description: Displays the lower force limit of all force limits.
r1533 Current limit, torque-generating, total / Iq_max total
SERVO, VECTOR
(n/M)
5722, 6640
r1534 CO: Torque limit, upper total / M_max upper total
5620, 5630, 5640
- [Nm] - [Nm] - [Nm]
r1534 CO: Force limit, upper, total / F_max upper total
5620, 5630, 5640
- [N] - [N] - [N]
r1535 CO: Torque limit, lower total / M_max lower total
5620, 5630, 5640
- [Nm] - [Nm] - [Nm]
r1535 CO: Force limit, lower, total / F_max lower total
5620, 5630, 5640
- [N] - [N] - [N]
List of parameters
Parameters
Description: Displays the maximum limit for the torque-generating current component.
Description: Displays the minimum limit for the torque-generating current component.
Description: Displays the actually effective upper torque limit.
Note: The effective upper torque limit is reduced with respect to the upper torque limit p1520, if the current limit p0640 is
reduced or the rated magnetizing current of the induction motor p0320 is increased.
For vector drives (refer to p0107), this is possibly the case for rotating measurements (refer to p1960).
The torque limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
Description: Displays the actually effective upper force limit.
Note: The effective, upper force limit is reduced with respect to the selected upper force limit p1520 if the current limit
p0640 is reduced.
The force limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
r1536 Torque limit, torque-generating, maximum / Isq_max
6710
r1537 Torque limit, torque-generating, minimum / Isq_min
6710
r1538 CO: Upper effective torque limit / M_max upper eff
SERVO, VECTOR
(n/M)
1610, 1750, 5610, 5650, 5714,
6040, 6060, 6640, 8012
- [Nm] - [Nm] - [Nm]
r1538 CO: Upper force limit effective / F_max upper eff
1610, 1750, 5610, 5650, 5714,
6040, 6060, 6640, 8012
- [N] - [N] - [N]
Parameters
List of parameters
Description: Displays the actually effective lower torque limit.
Note: The effective lower torque limit is reduced with respect to the selected lower torque limit p1521 if the current limit
p0640 is reduced or the rated magnetizing current of the induction motor p0320 is increased.
For vector drives (refer to p0107), this is possibly the case for rotating measurements (refer to p1960).
The torque limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
Description: Displays the actually effective lower force limit.
Note: The effective, lower force limit is reduced with respect to the selected lower force limit p1521 if the current limit
p0640 is reduced. The force limit p1520 can be re-calculated using p0340 = 1, 3 or 5.
Description: Sets the signal source for the scaling of the upper torque limiting to limit the speed controller output.
Description: Sets the signal source for the scaling of the lower torque limiting to limit the speed controller output.
Description: Sets the signal source for the torque/force reduction when traversing to a fixed endstop. This value is converted into
a factor and is interconnected to the scaling of the torque/force limits.
Dependency: Refer to: p1528, p1529, r1543, p1544, p1545
r1539 CO: Lower effective torque limit / M_max lower eff
SERVO, VECTOR
(n/M)
1610, 1750, 5610, 5650, 5714,
6040, 6060, 6640, 8012
- [Nm] - [Nm] - [Nm]
r1539 CO: Lower force limit effective / F_max lower eff
1610, 1750, 5610, 5650, 5714,
6040, 6060, 6640, 8012
- [N] - [N] - [N]
p1540[0...n] CI: Torque limit, speed controller upper scaling / M_max n-ctr upScal
- - 1
p1541[0...n] CI: Torque limit. speed controller lower scaling / M_max nctr lowScal
- - 1
p1542[0...n] CI: Travel to a fixed endstop, torque reduction / TfS M_red
- - 0
List of parameters
Parameters
Description: Displays the internally converted factor to interconnect to the scaling of the torque/force limits.
Description: Sets the evaluation for the torque/force reduction when traversing to a fixed endstop.
Dependency: Refer to: p1528, p1529, p1542, r1543, p1545
Note: 4000 hex (16384 dec) in the MOMRED control word corresponds to a reduction by the percentage specified in this
parameter.
Description: Sets the signal source to activate/de-activate the "travel to fixed stop" function
1: Travel to fixed stop is active
0: Travel to fixed stop is inactive
Description: Sets the speed threshold for the motoring/regenerating limit.
For speeds where the absolute value is less than p1546, then the following applies:
- For p1400.13 = 0: Motoring limit (speed threshold is compared to the speed actual value).
- For p1400.13 = 1: Regenerative limiting (speed threshold is compared to the speed setpoint).
r1543 CO: Travel to fixed stop, torque scaling / TfS M scal
- [%] - [%] - [%]
p1544 Travel to fixed stop evaluation, torque reduction / TfS M_red eval
0 [%] 65535 [%] 100 [%]
p1545[0...n] BI: Activates travel to a fixed endstop / TfS activation
2520
- - 0
p1546 Speed threshold, motoring/regenerating / n_thresh mot/regen
0.0 [1/min] 210000.0 [1/min] 20.0 [1/min]
Parameters
List of parameters
Description: Sets the velocity threshold for the motoring/regenerating limit.
For velocities where the absolute value is less than p1546, then the following applies:
- For p1400.13 = 0: Motoring limit (velocity threshold is compared to the velocity actual value).
- For p1400.13 = 1: Regenerative limiting (velocity threshold is compared to the velocity setpoint).
Description: Displays the torque limit to limit the speed controller output.
Index: [0] = Upper limit
[1] = Lower limit
Description: Displays the limit for the torque-generating current component using the stall calculation, the current limit of the
Motor Module as well as the parameterization in p0640.
Index: [0] = Upper limit
[1] = Lower limit
Description: For a positive edge, the actual torque (r0079[0]) at this instant in time is used instead of the torque offset from
p1532 as long as p1550 remains at 1.
p1546 Velocity threshold motoring/regenerating / v_thresh mot/regen
0.0 [m/min] 1000.0 [m/min] 0.2 [m/min]
r1547[0...1] Torque limit for speed controller output / M_max outp n_ctrl
- [Nm] - [Nm] - [Nm]
r1548[0...1] Stall current limit, torque-generating, maximum / Isq_max stall
p1550[0...n] BI: Transfer actual torque as torque offset / Accept act. torque
- - 9718.23
List of parameters
Parameters
Description: Sets the signal source to change over the torque limits between variable and fixed torque limit.
1 signal from BI: p1551:
The variable torque limit applies (fixed torque limit + scaling).
0 signal from BI: p1551:
The fixed torque limit applies.
Example:
In order that for a fast stop (OFF3) the fixed torque limit is effective, BI: p1551 must be interconnected to r0899.5.
Description: Sets the signal source for the scaling of the upper torque limiting to limit the speed controller output without taking
into account the current and power limits.
Description: Sets the signal source for the scaling of the lower torque limiting to limit the speed controller output without taking
into account the current and power limits.
Description: Sets the signal source for the motoring and negative regenerative power limit.
Note: The resulting power limit when motoring is the minimum from p1530 and the signal that is read-in, the resulting
regenerative power limit is the maximum from p1531 and the negative signal that is read-in.
p1551[0...n] BI: Torque limit, variable/fixed signal source / M_lim var/fixS_src
SERVO, VECTOR
(n/M)
5630, 6060, 6630
- - 1
p1552[0...n] CI: Torque limit, upper scaling without offset / M_max up offs scal
- - 1
p1554[0...n] CI: Torque limit, lower scaling without offset / M_max low offsScal
- - 1
p1555[0...n] CI: Power limit / P_max
- - 1
Parameters
List of parameters
Description: Sets the scaling of the signal source for the motoring and negative regenerative power limit.
0 signifies no power limiting.
Notice: The signal input is after the torque limit (refer to r1538, r1539). For vector drives, the signals that are entered are
only limited by the current and power limits.
Note: The signal input is preferably used to enter the friction characteristic. The friction compensation is also effective if
the speed controller output reaches its torque limits, but the current limits have still not been reached (this only
applies to vector drives).
Description: Sets the flux setpoint referred to rated motor flux.
Note: For p1570 > 100 %, the flux setpoint increases as a function of the load from 100 % (no-load operation) to the set-
ting in p1570 (above rated motor torque).
Description: Sets the supplementary flux setpoint for the flux controller. The value is referred to the rated motor flux.
Notice: The parameter should be set back to 0% again for normal closed-loop control operation.
Note: The parameter is used to optimize the flux controller. The current model is not influenced by the setting.
p1556[0...n] Power limit scaling / P_max_scale
0.00 340.28235E36 0.00
SERVO, VECTOR
(n/M)
- - 3841[0]
p1570[0...n] CO: Flux setpoint / Flux setpoint
50.0 [%] 200.0 [%] 100.0 [%]
p1572[0...n] Supplementary flux setpoint / Suppl flux setp
0.0 [%] 100.0 [%] 0.0 [%]
List of parameters
Parameters
Description: Sets a dynamic voltage reserve.
Note: In the field weakening range, it must be expected that the control dynamic performance is somewhat restricted due
to the limited possibilities of controlling/adjusting the voltage. This can be improved by increasing the voltage mar-
gin (reserve). Increasing the reserve reduces the steady-state maximum output voltage (r0071).
Description: Sets the lower adaptation speed of the flux boost. Below this speed, p1570 is set as reference (setpoint) flux.
Description: Sets the upper adaptation speed of the flux boost. Above this speed, the rated motor flux (100%) is set as reference
(setpoint) flux.
Dependency: The parameter value refers to the lower adaptation speed of the flux boost.
Refer to: p1576
Description: Sets the efficiency optimization. When optimizing the efficiency, the flux setpoint of the closed-loop control is
adapted as a function of the load.
For p1580 = 100 %, under no-load operating conditions, the flux setpoint is reduced to 50 % of the rated motor flux.
Note: It only makes sense to activate this function if the dynamic response requirements of the speed controller are low.
In order to avoid oscillations, if required, the speed controller parameters should be adapted (increase Zn, reduce
Kp).
Further, the smoothing time of the flux setpoint filter (p1582) should be increased.
p1574[0...n] Voltage reserve dynamic / U_reserve dyn
6724
0.0 [Veff] 150.0 [Veff] 10.0 [Veff]
p1576[0...n] Flux boost, adaptation speed, lower / Flux boost n lower
0.00 [1/min] 210000.00 [1/min] 0.00 [1/min]
p1577[0...n] Flux boost adaptation speed, upper / Flux boost n upper
100.0 [1/min] 10000.0 [1/min] 200.0 [1/min]
p1580[0...n] Efficiency optimization / Efficiency opt.
0 [%] 100 [%] 0 [%]
Parameters
List of parameters
Description: Sets the smoothing time for the flux setpoint.
Description: Displays the smoothed flux setpoint. The value is referred to the rated motor flux.
Description: Sets the smoothing time for the flux setpoint in the field-weakening range
Recommenda-
tion:
Smoothing should be especially used if there is no regenerative feedback into the line supply. This means that the
DC link voltage can quickly increase in regenerative operation
Note: Only the flux setpoint rise is smoothed
Description: Sets the smoothing time for the flux actual value.
Description: Displays the pre-control value for the field weakening current.
p1582[0...n] Flux setpoint smoothing time / Flux setp T_smth
4 [ms] 5000 [ms] 15 [ms]
r1583 Flux setpoint smoothed / Flux setp smooth
6723
- [%] - [%] - [%]
p1584[0...n] Field weakening operation, flux setpoint smoothing time / Field weak T_smth
0 [ms] 20000 [ms] 0 [ms]
p1585[0...n] Flux actual value, smoothing time / Flux actVal T_smth
0 [ms] 1000 [ms] 0 [ms]
r1589 Field-weakening current, pre-control value / FieldWkCurrPrectrl
List of parameters
Parameters
Description: Sets the proportional gain of the flux controller.
Note: For synchronous motors, this parameters has no effect.
The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
When calculating controller parameter (p0340 = 4), this value is re-calculated.
Description: Sets the proportional gain of the flux controller.
Note: The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
Description: Sets the integral time of the flux controller.
Note: For synchronous motors, this parameters has no effect.
The value is automatically pre-assigned dependent on the motor when the drive system is first commissioned.
Description: Sets the integral time of the flux controller.
p1590[0...n] Flux controller P gain / Flux controller Kp
0.0 [A/Vs] 999999.0 [A/Vs] 10.0 [A/Vs]
0.0 999999.0 10.0
p1592[0...n] Flux controller integral.action time / Flux controller Tn
0 [ms] 10000 [ms] 30 [ms]
0 [ms] 10000 [ms] 30 [ms]
Parameters
List of parameters
Description: Displays the output of the field weakening controller or the output of the flux controller for separately-excited syn-
chronous motors (FEM).
Index: [0] = PI output
[1] = I output
Description: Sets the P gain of the field-weakening controller.
Description: Sets the integral-action time of the field-weakening controller.
Description: Displays the output of the field weakening controller. The value is referred to the rated motor flux.
Description: Displays the effective flux setpoint. The value is referred to the rated motor flux.
r1593[0...1] Field weakening/flux controller output / Field flx_ctr outp
6726
p1594[0...n] Field-weakening controller, P gain / Field_ctrl Kp
0.00 1000.00 0.00
p1596[0...n] Field weakening controller integral-action time / Field_ctrl Tn
6724
10 [ms] 10000 [ms] 50 [ms]
r1597 Field weakening controller output / Field_ctrl output
- [%] - [%] - [%]
r1598 CO: Total flux setpoint / Flux setpt total
6723
- [%] - [%] - [%]
List of parameters
Parameters
Description: Sets the permissible difference between the actual excitation current and the excitation current setpoint. The excita-
tion current flux controller is active within this difference.
If the difference lies outside the specified limit value, then the I component of the excitation current flux controller is
kept. Instead of this, for the flux controller of the field-generating current, an additional I controller is switched-in
(integral time according to p1592).
If the difference again lies within the bandwidth, the I component of the excitation current flux controller is re-acti-
vated and the I component of the flux controller of the field-generating current is reduced as an exponential function
with respect to time. The reduction of the I component over time depends on the rotor time constant (r0384).
Description: Sets the proportional gain of the P flux controller for separately-excited synchronous motors.
Description: Displays the output of the P flux controller for separately-excited synchronous motors (FEM).
Description: Sets the stator current setpoint for operation of separately-excited synchronous motors (FEM) in the operating
mode I/f (p1300 = 18).
p1599[0...n] Flux controller, excitation current difference / Flux ctr I_excDiff
0.0 [%] 100.0 [%] 3.0 [%]
p1600[0...n] P flux controller, P gain / P flux ctrl Kp
0.0 999999.0 10.0
r1602 Flux controller P output / Flux ctrl P output
p1609[0...n] Current setpoint for I/f operation / I_set I/f oper
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
Parameters
List of parameters
Description: Sets the static torque setpoint for sensorless vector control (SLVC). This parameter is entered as a percentage
referred to the rated motor torque (r0333).
For sensorless closed-loop vector control, when the motor model is shut down, an absolute current is impressed.
p1610 represents the maximum load that occurs at a constant setpoint speed.
Notice: p1610 should always be set to at least 10 % higher than the maximum steady-state load that can occur.
Note: For p1610 = 0%, a current setpoint is calculated that corresponds to the no-load case (rated magnetizing current).
For p1610 = 100 %, a current setpoint is calculated that corresponds to the rated motor torque.
Description: Enters the dynamic torque setpoint for the low-speed range for sensorless vector control (SLVC). This parameter is
entered as a percentage referred to the rated motor torque (r0333).
Note: When accelerating and braking p1611 is added to p1610 and the resulting total torque is converted into an appro-
priate current setpoint and controlled.
For pure accelerating torques, it is always favorable to use the torque precontrol of the speed controller (p1496).
Description: Sets the current setpoint for controlled (open-loop) sensorless operation.
Description: Sets the smoothing time for the current setpoint.
The current setpoint is generated from p1610 and p1611.
Note: This parameter is only effective in the range where current is impressed for sensorless vector control.
Description: Displays the pre-control value of the current model controller. It involves a magnetizing current in the de-direction.
p1610[0...n] Torque setpoint static (SLVC) / M_set static
0.0 [%] 200.0 [%] 50.0 [%]
p1611[0...n] Supplementary accelerating torque (SLVC) / M_suppl_accel
0.0 [%] 200.0 [%] 0.0 [%]
p1612[0...n] Current setpoint, open-loop control, sensorless / I_setCtrSensorless
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
p1616[0...n] Current setpoint smoothing time / I_set T_smooth
4 [ms] 10000 [ms] 40 [ms]
r1618 Current model controller, pre-control / I_mod_ctr pre-ctr
List of parameters
Parameters
Description: Threshold for setpoint - actual value tracking of the stator current in the q direction of the current model.
Description: Sets the minimum stator current for separately-excited synchronous motors (FEM).
A negative value means that the field-generating stator current (d-axis) has a negative sign. The valid value is inter-
nally limited to 50% of the rated motor current (p0305).
Description: Sets the speed where a change is made from the inner to the outer cos phi = 1.
If the value that is entered exceeds the rated speed, then a change is made to the inner cos phi = 1 over the com-
plete speed range.
Description: Sets the smoothing time constant for the setpoint of the field-generating current components.
The current filtered in this way is included in the calculation of the cos phi.
Description: Displays the steady-state field generating current setpoint (Id_set).
p1619[0...n] Setpoint/actual value tracking threshold / SetAct track thrsh
0.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
p1620[0...n] Stator current, minimum / I_stator min
-10000.00 [Aeff] 10000.00 [Aeff] 0.00 [Aeff]
p1621[0...n] Changeover speed, inner cos phi = 1 / n_chngov cos phi=1
0.00 [1/min] 210000.00 [1/min] 0.00 [1/min]
p1622[0...n] Field-generating current setpoint smoothing time constant / Id_setp T_smth
0.1 [ms] 200.0 [ms] 20.0 [ms]
r1623 Field-generating current setpoint (steady-state) / Id_set stationary
Parameters
List of parameters
Description: Displays the limited field-generating current setpoint (Id_set).
This value comprises the steady-state field-generating current setpoint r1623 and a dynamic component that is only
set when changes are made to the flux setpoint.
Description: Gain factor to weight the excitation current setpoint.
Description: Displays the calculated excitation current setpoint.
Description: Displays the load angle of the current model.
Description: Dynamic factor of the model controller in the current model
r1624 Field-generating current setpoint, total / Id_setp total
6723, 6724, 6727
p1625[0...n] Excitation current setpoint calibration / I_exc_setp cal
10.0 [%] 200.0 [%] 100.0 [%]
r1626 CO: Excitation current setpoint / I_exc_set
- [%] - [%] - [%]
r1627 Current model load angle / I_mod load angle
- [] - [] - []
p1628[0...n] Current model controller, dynamic factor / I_mod_ctr dyn_fact
1 [%] 400 [%] 50 [%]
List of parameters
Parameters
Description: Sets the proportional gain of the current model controller. This value is automatically preset using p3900 or p0340
when commissioning has been completed.
Description: Sets the proportional gain of the current model controller. This value is automatically preset using p3900 or p0340
when commissioning has been completed.
Description: Displays the effective P gain of the current model controller.
Description: Displays the effective integral time of the current model controller.
Description: Displays the effective flux setpoint of the current model. The value is referred to the rated motor flux.
Description: Displays the effective flux actual value of the current model. The value is referred to the rated motor flux.
p1629[0...n] Current model controller P gain / I_mod_ctrl Kp
0.000 100000.000 0.000
p1630[0...n] Current model controller integral time / I_ctrl Tn
0.00 [ms] 10000.00 [ms] 0.00 [ms]
r1631 Current model controller, P gain effective / I_mod ctrl Kp eff
- - -
r1632 Current model controller integral time effective / I_mod_ctrl Tn eff
- [ms] - [ms] - [ms]
r1633 Current model, flux setpoint / I_mod flux setp
- [%] - [%] - [%]
r1634 Current model, flux actual value / I_mod flux act val
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the I component of the current model controller.
Description: Displays the output of the current model controller.
Description: Displays the magnetizing current of the current model in the d-axis.
Description: Displays the magnetizing current of the current model in the q-axis.
Description: Displays the stator current in the q axis after current actual value tracking.
Description: Sets the signal source for the excitation current actual value
r1635 Current model controller, I component / I_mod_ctrl I_comp
r1636 Current model controller output / I_mod_ctrl outp
r1637 Current model, magnetizing current, d axis / I_mod I_mag d-ax
r1638 Current model, magnetizing current, q axis / I_mod I_mag q-ax
r1639 Current model Isq after actual value tracking / I_mod Isq track
p1640[0...n] CI: Excitation current actual value / Excit curr act val
- - 0
List of parameters
Parameters
Description: Displays the excitation current actual value that is read-in.
Description: Sets the minimum excitation current. This means that negative excitation currents can be avoided.
Description: Sets the gain factor for the minimum excitation current, closed-loop control. This is active if the excitation current is
below 75% of p1642.
Description: Displays the output of the excitation current monitoring for separately excited synchronous motors.
Description: Sets the signal source for the individual feedback signals from the excitation.
Index: [0] = Excitation ready to be powered-up
[1] = Excitation ready
[2] = Excitation operational
[3] = Excitation group signal fault
[4] = Excitation group signal alarm
r1641 Excitation current actual value / I_exc_act
- [%] - [%] - [%]
p1642[0...n] Minimum excitation current / Min I_exc
0.1 [%] 50.0 [%] 5.0 [%]
p1643[0...n] Gain factor, minimum excitation current closed-loop control / Min I_exc Kp
0.00 5.00 0.40
r1644 Excitation current monitoring output / I_exc monit output
p1645[0...4] BI: Excitation feedback signals signal source / Exc FS S_src
- - 1
Parameters
List of parameters
Description: Sets the monitoring time of the excitation.
After an ON command, the feedback signal must be received within this monitoring time.
Note: After the on command for the excitation (r1648.0 = 1), its feedback signal must be available at r1649.1 within this
monitoring time (BI: p1645[1]). The same monitoring time is effective after the excitation is enabled for operation
(r1648.3 = 1) up to the feedback signal "excitation in operation" (r1649.2 = 1, BI: p1645[2]).
Description: Sets the switch-off delay time to shut-down the excitation equipment.
Note: The delay time starts if, when powering-down, r0863.0 = 0.
r1648.0 and r1648.3 are reset at the end of the delay time.
Description: Displays the control word for the excitation equipment.
Description: Displays the status word of the excitation equipment.
p1646 Excitation monitoring time / Excit t_monit
2.0 [s] 1300.0 [s] 20.0 [s]
p1647 Excitation switch-out delay time / Exc t_off
0.5 [s] 5.0 [s] 0.8 [s]
r1648 CO/BO: Excitation, control word / Excitation STW
- - 0000 bin
00 Power-up excitation Yes No -
01 Excitation no OFF2 Yes No -
02 Excitation no OFF3 Yes No -
03 Enable excitation operation Yes No -
07 Excitation acknowledge fault Yes No -
10 Control from excitation equipment Yes No -
r1649 CO/BO: Excitation status word / Excitation ZSW
- - 0000 bin
00 Excitation ready to be powered-up, feed-
back signal
Yes No -
01 Excitation ready feedback signal Yes No -
02 Excitation in operation feedback signal Yes No -
03 Excitation group signal fault Yes No -
07 Excitation, group signal alarm Yes No -
List of parameters
Parameters
Description: Displays the torque generating current setpoint Iqset after the torque limits and the clock cycle interpolation is front
of the current setpoint filters.
Description: Displays the force generating current setpoint Iqset after the force limits and the clock cycle interpolation is front of
the current setpoint filters.
Description: Displays the torque setpoint of the function generator.
Description: Displays the force setpoint of the function generator.
Description: Sets the minimum smoothing time constant for the setpoint of the torque-generating current components.
Description: Sets the smoothing time constant for the setpoint of the torque-generating current components.
Note: The smoothing time does not become effective until the field-weakening range is reached.
r1650 Current setpoint torque-generating before filter / Iq_set before filt
SERVO, VECTOR
(n/M)
r1650 Current setpoint force-generating before filter / Iq_set before filt
r1651 CO: Torque setpoint, function generator / M_set FG
- [Nm] - [Nm] - [Nm]
r1651 CO: Force setpoint, function generator / F_set FG
- [N] - [N] - [N]
p1653[0...n] Current setpoint torque-generating minimum smoothing time / Isq_s T_smth_min
0.1 [ms] 20.0 [ms] 0.1 [ms]
p1654[0...n] Curr. setpoint torque-gen. smoothing time field weakening range / Isq_s T_smth FW
0.1 [ms] 50.0 [ms] 4.8 [ms]
Parameters
List of parameters
Description: Sets the signal source for tuning the natural frequency of the current setpoint filter.
Index: [0] = Filter 1
[1] = Filter 2
Description: Activates current setpoint filters 1 to 4.
Dependency: The current setpoint filters are parameterized with p1656 to p1676.
Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1.
Description: Activates current setpoint filters 1 to 2.
Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1.
p1655[0...1] CI: Current setpoint filter natural frequency tuning / I_set_filt f_n
- - 1
p1656[0...n] Activates current setpoint filter / I_set_filt active
- - 0001 bin
00 Filter 1 active not active -
- - 0001 bin
List of parameters
Parameters
Description: Sets the current setpoint filter 1 as low pass (PT2) or as extended general 2nd-order filter.
Note: For an extended general 2nd order filter, by inserting the same natural frequency in both the numerator and in the
denominator, i.e. bandstop frequency, a bandstop filter is implemented. If the numerator damping of zero is
selected, the bandstop frequency is completely suppressed. The denominator damping can be determined from the
equation for the 3 dB bandwidth: f_3dB bandwidth = 2 * D_denominator * f_bandstop frequency
Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).
Description: Sets the denominator damping for current setpoint filter 1.
Description: Sets the numerator natural frequency for current setpoint filter 1 (general filter).
p1657[0...n] Current setpoint filter 1 type / I_set_filt 1 Typ
SERVO, VECTOR
(n/M)
6710
1 2 1
p1658[0...n] Current setpoint filter 1 denominator natural frequency / I_set_filt 1 fn_n
SERVO, VECTOR
(n/M)
6710
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
p1659[0...n] Current setpoint filter 1 denominator damping / I_set_filt 1 D_n
SERVO, VECTOR
(n/M)
6710
0.001 10.000 0.700
p1660[0...n] Current setpoint filter 1 numerator natural frequency / I_set_filt 1 fn_z
SERVO, VECTOR
(n/M)
6710
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Parameters
List of parameters
Description: Sets the numerator damping for current setpoint filter 1.
Note: For an extended general 2nd order filter, by inserting the same natural frequency in both the numerator and in the
denominator, i.e. bandstop frequency, a bandstop filter is implemented. If the numerator damping of zero is
selected, the bandstop frequency is completely suppressed. The denominator damping can be determined from the
equation for the 3 dB bandwidth: f_3dB bandwidth = 2 * D_denominator * f_bandstop frequency
p1661[0...n] Current setpoint filter 1 numerator damping / I_set_filt 1 D_z
SERVO, VECTOR
(n/M)
6710
0.000 10.000 0.700
SERVO, VECTOR
(n/M)
6710
1 2 1
SERVO, VECTOR
(n/M)
6710
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
SERVO, VECTOR
(n/M)
6710
0.001 10.000 0.700
List of parameters
Parameters
SERVO, VECTOR
(n/M)
6710
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
SERVO, VECTOR
(n/M)
6710
0.000 10.000 0.700
1 2 1
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.001 10.000 0.700
Parameters
List of parameters
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.000 10.000 0.700
1 2 1
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.001 10.000 0.700
List of parameters
Parameters
Description: Activates data transfer for parameter changes for the filter.
p1699 = 0:
The new filter data are immediately transferred.
p1699 = 1:
The new filter data are only transferred when this parameter is reset.
Dependency: Refer to: p1414, p1415, p1416, p1417, p1418, p1419, p1420, p1421, p1422, p1423, p1424, p1425, p1426, p1656,
p1657, p1658, p1659, p1660, p1661, p1662, p1663, p1664, p1665, p1666, p1667, p1668, p1669, p1670, p1671,
p1672, p1673, p1674, p1675, p1676
Description: Sets the fractional deadtime for the current controller reference model.
This parameter emulates the computation deadtime of the proportionally controlled current control loop.
Note: Deadtime = p1701 * p0115[0]
Description: Sets the scaling of the dynamic current controller pre-control for the flux-generating current component Isd.
p1675[0...n] Current setpoint filter 4 numerator natural frequency / I_set_filt 4 fn_n
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
0.000 10.000 0.700
p1699 Filter data transfer / Filt data transfer
SERVO, VECTOR
(n/M)
0 1 0
p1701[0...n] Current controller reference model deadtime / I_ctrRefMod t_dead
0.0 1.0 1.0
p1702[0...n] Isd current controller pre-control scaling / Isd_ctr_prectrScal
0.0 [%] 200.0 [%] 70.0 [%]
Parameters
List of parameters
Description: Sets the scaling of the dynamic current controller pre-control for the torque/force-generating current component Isq.
Description: Sets the scaling of the EMF pre-control for the Isq current controller.
Description: Threshold for the setpoint - actual value tracking of the EMF pre-control of the Isq current controller.
Description: Sets the proportional gain of the current controller for the lower adaptation current range. This value is automatically
preset using p3900 or p0340 when commissioning has been completed.
Dependency: p0391, p0392 and p0393 are only available for SERVO.
Refer to: p0391, p0392, p0393
Description: Sets the proportional gain of the current controller for the lower adaptation current range. This value is automatically
preset using p3900 or p0340 when commissioning has been completed.
Dependency: p0391, p0392 and p0393 are only available for SERVO.
Refer to: p0391, p0392, p0393
p1703[0...n] Isq current controller pre-control scaling / Isq_ctr_prectrScal
0.0 [%] 200.0 [%] 70.0 [%]
p1704[0...n] EMF scaling of the Isq current controller pre-control / EMF scal Isq_ctrl
0.0 [%] 200.0 [%] 100.0 [%]
p1705[0...n] Flux setpoint/actual value tracking threshold / Flux track thresh
0.0 [%] 100.0 [%] 100.0 [%]
p1715[0...n] Current controller P gain / I_ctrl Kp
6714
0.000 [V/A] 100000.000 [V/A] 0.000 [V/A]
6714
0.000 100000.000 0.000
List of parameters
Parameters
Description: Sets the integral-action time of the current controller.
Description: Displays the actual output of the Isq current controller (torque/force generating current, PI controller). The value
contains the proportional and integral components of the PI controller.
Description: Displays the integral component of the Isq current controller (torque/force-generating current, PI controller).
Description: Displays the actual output of the Isd current controller (flux-generating current, PI controller). The value contains the
proportional and integral components of the PI controller.
Description: Displays the integral component of the Isd current controller (flux-generating current, PI controller).
p1717[0...n] Current controller integral-action time / I_ctrl Tn
SERVO, VECTOR
(n/M)
6714
0.00 [ms] 1000.00 [ms] 2.00 [ms]
r1718 CO: Isq controller output / Isq_ctrl outp
r1719 Isq controller integral component / Isq_ctrl I_comp
r1723 CO: Isd controller output / Isd_ctrl output
r1724 Isd controller integral component / Isd_ctrl I_comp
Parameters
List of parameters
Description: Displays the limit value for the integral component of the Isd current controller.
Description: Sets the scaling of the quadrature arm decoupling
Note: This parameter is ineffective for sensorless vector control. In this case, p1727 is always used. If p1726 is set to 0,
then the quadrature de-coupling is de-activated. The integral component of the Isd current controller remains effec-
tive if the complete speed control range.
For the closed-loop control of synchronous motors p1726 is used to scale the current controller de-coupling.
Description: Sets the scaling of quadrature arm decoupling when the voltage limit is reached.
Description: Displays the actual output of the quadrature channel de-coupling for the d axis.
Description: Displays the actual output of the quadrature channel de-coupling for the q axis.
r1725 Isd controller integral component limit / Isd_ctrl I_limit
p1726[0...n] Quadrature arm decoupling, scaling / Transv_decpl scal
0.0 [%] 200.0 [%] 75.0 [%]
p1727[0...n] Quadrature arm decoupling at voltage limit, scaling / TrnsvDecplVmaxScal
0.0 [%] 200.0 [%] 50.0 [%]
r1728 De-coupling voltage, in-line axis / U_dir-axis_decoupl
r1729 De-coupling voltage, quadrature axis / U_quad_decoupl
List of parameters
Parameters
Description: Displays the direct-axis voltage setpoint Ud.
Description: Displays the quadrature-axis component of voltage setpoint Uq.
Description: Defines the gain of the controller for resonance damping for operation with sensorless vector control in the range
that current is impressed.
Description: Sets the speed threshold value to detect a stalled motor.
If the adaptation controller output exceeds the parameterized speed difference, then bit 11 in status word p1408 is
set.
Dependency: If a stalled drive is detected (p1408.11 set), fault 7902 is output after the delay time in p2178.
Refer to: p2178
Note: Speed monitoring is only effective in operation with a speed encoder (refer to p1300).
Description: Sets the fault threshold in order to detect a motor that has stalled.
If the error signal (r1746) exceeds the parameterized error threshold, then bit 12 in status word p1408 is set.
Dependency: If a stalled drive is detected (p1408.12 set), fault 7902 is output after the delay time set in p2178.
Refer to: p2178
Note: Monitoring is only effective in the low-speed range (below p1755 * p1756).
r1732 Direct-axis voltage setpoint / U_direct-axis_set
SERVO, VECTOR
(n/M)
5714, 6714, 5718
r1733 Quadrature-axis voltage setpoint / U_quad_set
SERVO, VECTOR
(n/M)
5714, 5718, 6714, 6719
p1740[0...n] Gain resonance damping for sensorless closed loop control / Gain res_damp
0.000 10.000 0.025
p1744[0...n] Motor model speed threshold stall detection / MotMod n_thr stall
0.00 [1/min] 210000.00 [1/min] 100.00 [1/min]
p1745[0...n] Motor model error threshold stall detection / MotMod ThreshStall
0.0 [%] 1000.0 [%] 5.0 [%]
Parameters
List of parameters
Description: Signal to initiate stall detection
Note: The signal is not calculated while magnetizing and only in the low speed range (below p1755 * p1756).
Description: Sets the configuration of the motor model.
Description: Displays the status of the motor model.
Description: Sets the speed to change over the motor model for operation with encoder.
r1746 Motor model error signal stall detection / MotMod sig stall
- [%] - [%] - [%]
p1750[0...n] Motor model configuration / MotMod config
- - 0000 bin
00 Controlled start Yes No -
01 Controlled through 0 Hz Yes No -
02 Set motor model Yes No -
r1751 Motor model status / MotMod status
- - 0000 bin
00 Controlled operation active not active -
01 Set ramp-function generator active not active -
02 Stop RsLh adaptation Yes No -
03 Feedback active not active -
04 Encoder operation active not active -
05 Holding angle Yes No -
06 Acceleration criteria active not active -
07 Set angular integrator PEM No Yes -
08 Stop Kt adaptation PEM No Yes -
09 PolID active PEM SLVC No Yes -
10 I injection PEM No Yes -
12 Rs adapt waits Yes No -
13 Motor operation Yes No -
14 Stator frequency sign Positive Negative -
15 Torque sign Motor mode Regenerative mode -
p1752[0...n] Motor model changeover speed operation with encoder / MotMod n_chgov enc
0.0 [1/min] 210000.0 [1/min] 210000.0 [1/min]
List of parameters
Parameters
Description: Sets the velocity to change over the motor model for operation with encoder.
Description: Sets the smoothing time constant to filter the main flux angle difference from the voltage and current models. The
filtered value is included in the calculation of the total flux angle.
Description: Sets the speed to change over the motor model to sensorless operation (without encoder).
Note: The changeover speed applies for the changeover between open-loop and closed-loop control mode.
Description: Sets the velocity to change over the motor model to sensorless operation (without encoder).
Note: The changeover velocity applies for the changeover between open-loop and closed-loop control mode.
Description: Sets the speed to change over the motor model to sensorless operation (without encoder).
Notice: The changeover speed represents the steady-state minimum speed up to which the motor model can be used
in steady-state operation without encoder (sensorless operation).
If the stability is not adequate close to the changeover speed, it may make sense to increase the parameter value.
Note: The changeover speed applies for the changeover between open-loop and closed-loop control mode.
p1752[0...n] Motor model with encoder changeover velocity / MotMod v_chgov enc
0.0 [m/min] 1000.0 [m/min] 1000.0 [m/min]
p1754[0...n] Flux angle difference smoothing time / Angle diff T_smth
0.1 [ms] 100.0 [ms] 5.0 [ms]
p1755[0...n] Motor model changeover speed sensorless operation / MotMod n_chgSnsorl
0.0 [1/min] 210000.0 [1/min] 210000.0 [1/min]
p1755[0...n] Motor model changeover velocity sensorless operation / MotMod v_chgSnsorl
0.0 [m/min] 1000.0 [m/min] 1000.0 [m/min]
0.0 [1/min] 210000.0 [1/min] 210000.0 [1/min]
Parameters
List of parameters
Description: Sets the hysteresis for the changeover speed/velocity of the motor model.
Note: The value is entered relative to p1404, p1752 or p1755.
Description: Sets the gain of the transient response controller when the motor model changes over from open-loop controlled
operation to closed-loop controlled operation.
Note: Only for ASM and PSM in sensorless operation:
The settling range starts at 0.5 * p1755 * p1756.
For ASM it ends at p1755 * p1756 or at p1755, if p1759 is at the maximum value.
For PSM it always ends at p1755 * p1756.
Description: Sets the minimum time for falling below the changeover speed when changing from closed-loop controlled opera-
tion to open-loop controlled operation.
Description: Sets the minimum time for exceeding the changeover speed when changing from open-loop controlled operation to
closed-loop controlled operation.
Description: Sets the proportional gain of the controller for speed adaptation with encoder
p1756 Motor model changeover speed hysteresis / MotMod n_chgov.Hys
0.0 [%] 90.0 [%] 5.0 [%]
p1757[0...n] Motor model w/o enc. op./cl.-loop controlled stab. controller Kp / MotMod w/o enc Kp
0.01 10.00 0.70
p1758[0...n] Motor model changeover delay time, closed/open-loop control / MotMod t cl_op
100 [ms] 2000 [ms] 1000 [ms]
p1759[0...n] Motor model changeover delay time open/closed loop control / MotMod t op_cl
0 [ms] 2000 [ms] 0 [ms]
p1760[0...n] Motor model with encoder speed adaptation Kp / MotMod wE n_ada Kp
0.000 100000.000 1000.000
List of parameters
Parameters
Description: Sets the integral-action time of the controller for speed adaptation with encoder
Description: Induction motor (ASM):
Displays the referred imaginary system deviation for the adaptation circuit of the motor model.
Permanent magnet synchronous motor (PEM):
Displays the system deviation referred to PI for the speed adaptation.
Displays the referred real system deviation for the adaptation circuit of the motor model.
Not used.
Description: Sets the proportional gain of the controller for speed adaptation without encoder.
Description: Displays the effective proportional gain of the controller for the speed adaptation.
p1761[0...n] Motor model with encoder speed adaptation Tn / MotMod wE n_ada Tn
0 [ms] 1000 [ms] 4 [ms]
r1762 Motor model deviation component 1 / MotMod dev comp 1
- - -
r1763 Motor model deviation component 2 / MotMod dev comp 2
- - -
p1764[0...n] Motor model without encoder speed adaptation Kp / MotMod woE n_adaKp
0.000 100000.000 1000.000
r1765 Motor model, speed adaptation Kp effective / MotM n_ada Kp act
- - -
Parameters
List of parameters
Description: Sets the integral time of the controller for speed adaptation without encoder
Description: Displays the effective gain of the integral component of the controller for speed adaptation.
Description: Displays the P component of the controller for speed adaptation.
Description: Displays the I component of the controller for speed adaptation.
Description: Sets the offset voltage in the alpha direction; this compensates the offset voltages of the drive converter/inverter at
low speeds. The value is valid for the rated (nominal) pulse frequency of the Motor Module.
Note: The value is pre-set during the rotating measurement.
p1767[0...n] Motor model without encoder speed adaptation Tn / MotMod woE n_adaTn
1 [ms] 200 [ms] 4 [ms]
r1768 Motor model, speed adaptation Vi effective / MotM n_ada Vi act
- - -
r1770 Motor model speed adaptation proportional component / MotMod n_adapt Kp
- [1/min] - [1/min] - [1/min]
r1771 Motor model speed adaptation I comp. / MotMod n_adapt Tn
- [1/min] - [1/min] - [1/min]
p1774[0...n] Motor model, offset voltage compensation alpha / MotMod offs comp A
-5.000 [V] 5.000 [V] 0.000 [V]
List of parameters
Parameters
Description: Sets the offset voltage in the beta direction; this compensates the offset voltages of the drive converter/inverter at
low speeds. The value is valid for the rated (nominal) pulse frequency of the Motor Module.
Note: The value is pre-set during the rotating measurement.
Displays the difference between the motor model flux angle and the transformation angle.
Displays the difference between the motor model angle and the encoder angle.
Description: Displays the absolute value of the flux of the motor model.
Description: Sets the configuration for the adaptation circuit of the motor model.
Induction motor (ASM): Rs, Rr (only for operation with encoder), Lh and offset compensation.
Permanent magnet synchronous motor (PEM): kT
Note: ASM: Induction motor
PEM: Permanent magnet synchronous motor
p1775[0...n] Motor model, offset voltage compensation beta / MotMod offs comp B
-5.000 [V] 5.000 [V] 0.000 [V]
r1778 Motor model flux angle difference / MotMod ang. diff.
SERVO, VECTOR
(n/M)
- [] - [] - []
r1779 Motor model absolute flux / MotMod abs flux
- [%] - [%] - [%]
p1780[0...n] Motor model adaptation configuration / MotMod adapt conf
- - 0010 0000 bin
03 Select motor model PEM KT adaptation Yes No -
05 Select ASM Rr adaptation (only with
encoder)
Yes No -
07 Select T(valve) with Rs adaptation Yes No -
08 Compensation of voltage emulation error in
the drive converter
Yes No -
Parameters
List of parameters
- the kT adaptation is only active at a speed greater than the changeover speed with encoder (p1752).
- beforehand, an identification of the voltage emulation error must be started (p1909.14=1).
If the electrical configuration/structure (motor module, cabling etc.) or the pulse frequency (p1800) changes,then a
new identification run must be made.
The following applies for the vector closed-loop control type:
When selecting the compensation of the valve interlocking via Rs (bit 7), the compensation in the gating unit is de-
activated and is instead taken into account in the motor model.
p1780[0...n] Motor/converter model adaptation configuration / MotMod adapt conf
SERVO (Exp M_ctrl) Can be changed: U, T Access level: 3
- - 0000 0001 0010 1000 bin
encoder)
Yes No -
08 Compensation of voltage emulation error in
the drive converter
Yes No -
- - 0111 1100 bin
01 Select motor model ASM Rs adaptation Yes No -
02 Select motor model ASM Lh adaptation Yes No -
04 Select motor model, offset adaptation Yes No -
encoder)
Yes No -
06 Select pole wheel identification PEM sen-
sorless
Yes No -
List of parameters
Parameters
Description: Sets the integral time for the Rs adaptation of the motor model for an induction motor (ASM).
Description: Displays the correction value for the Rs adaptation of the motor model for an induction motor (ASM).
Description: Sets the proportional gain for the Rs adaptation of the motor model for an induction motor (ASM).
Description: Sets the proportional gain for the Lh adaptation of the motor model for an induction motor (ASM).
Description: Sets the integral time for the Lh adaptation of the motor model for an induction motor (ASM).
Description: Displays the correction value for the Lh adaptation of the motor model for an induction motor (ASM).
p1781[0...n] Motor model ASM Rs adaptation integral time / MotMod Rs Tn
10 [ms] 10000 [ms] 100 [ms]
r1782 Motor model ASM Rs adaptation correction value / MotMod Rs corr
- [Ohm] - [Ohm] - [Ohm]
p1783[0...n] Motor model ASM Rs adaptation Kp / MotMod Rs Kp
0.000 1.000 0.100
p1785[0...n] Motor model ASM Lh adaptation Kp / MotMod Lh Kp
0.000 1.000 0.100
p1786[0...n] Motor model ASM Lh adaptation integral time / MotMod Lh Tn
10 [ms] 10000 [ms] 100 [ms]
r1787 Motor model ASM Lh adaptation correction value / MotMod Lh corr
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Displays the power-on stator frequency for the Rs adaptation for the induction motor (ASM).
Description: Displays the power-on slip frequency for the Rs adaptation for the induction motor (ASM).
Description: Displays the power-on stator frequency/ primary section frequency for the Lh adaptation for the induction motor
(ASM).
Description: Displays the power-on slip frequency for the Lh adaptation for the induction motor (ASM).
Description: Sets the smoothing time of the kT adaptation of the motor model for a permanent-magnet synchronous motor
(PEM).
Description: Sets the integral time of the kT adaptation of the motor model for a permanent-magnet synchronous motor (PEM).
r1789 Motor model ASM Rs adaptation switch-on frequency / MotMod Rs f_on
- [Hz] - [Hz] - [Hz]
r1790 Motor model ASM Rs adaptation switch-on slip / MotMod Rs fslip
- [Hz] - [Hz] - [Hz]
r1791 Motor model ASM Lh adaptation switch-on frequency / MotMod Lh f_on
- [Hz] - [Hz] - [Hz]
r1792 Motor model ASM Lh adaptation switch-on slip / MotMod Lh fslip
- [Hz] - [Hz] - [Hz]
p1795[0...n] Motor model PEM kT adaptation smoothing time / MotMod kT T_smth
SERVO (Exp M_ctrl) Can be changed: U, T Access level: 3
1 [ms] 10000 [ms] 100 [ms]
p1795[0...n] Motor model PEM kT adaptation integral time / MotMod kT Tn
10 [ms] 10000 [ms] 100 [ms]
List of parameters
Parameters
Description: Displays the correction value of the kT adaptation of the motor model for a permanent-magnet synchronous motor
(PEM).
(PEM).
(PEM).
Description: Sets the drive converter switching frequency.
This parameter is preset to the rated converter value when the drive is first commissioned.
Dependency: The pulse frequency can, depending on the current controller sampling time (p0115[0]) assume the following val-
ues.
p1800 = 1 / (p0115[0] * n) or
p1800 = n / p0115[0]
With n = 1, 2, 3, ...
The minimum and maximum pulse frequencies of the power unit must be taken into account (r0114).
Example:
p0115[0] = 125 s --> p1800 = 2, 2.6, 4, 8, 16 kHz
Refer to: r0110, r0111, p0112, p0113, r0114, p0115, p0230, p1817
r1797 Motor model PEM kT adaptation correction value / MotMod kT corr
SERVO (Exp M_ctrl) Can be changed: - Access level: 3
- [Nm/A] - [Nm/A] - [Nm/A]
SERVO (Exp M_ctrl,
Lin)
- [Nm/A] - [Nm/A] - [Nm/A]
p1800[0...n] Pulse frequency / Pulse frequency
1.000 [kHz] 16.000 [kHz] 4.000 [kHz]
Parameters
List of parameters
Note: The maximum possible pulse frequency is also determined by the power unit being used.
When the pulse frequency is increased, depending on the particular power unit, the maximum output current can be
reduced (de-rating, refer to r0067).
If a sinusoidal filter is parameterized as output filter (p0230 = 3), then the pulse frequency cannot be changed below
the minimum value required for the filter.
Description: Sets the drive converter switching frequency.
This parameter is preset to the rated converter value when the drive is first commissioned.
Dependency: The pulse frequency can, depending on the current controller sampling time (p0115[0]) assume the following val-
ues.
p1800 = 1 / (p0115[0] * n) or
p1800 = n / p0115[0]
With n = 1, 2, 3, ...
The minimum and maximum pulse frequencies of the power unit must be taken into account (r0114).
Example:
p0115[0] = 125 s --> p1800 = 2, 2.6, 4, 8, 16 kHz
Refer to: r0110, r0111, p0112, p0113, r0114, p0115, p0230, p1817
Note: The maximum possible pulse frequency is also determined by the power unit being used.
When the pulse frequency is increased, depending on the particular power unit, the maximum output current can be
reduced (de-rating, refer to r0067).
If a sinusoidal filter is parameterized as output filter (p0230 = 3), then the pulse frequency cannot be changed below
the minimum value required for the filter.
Description: Displays the actual converter switching frequency.
Note: The selected pulse frequency (p1800) may be reduced if the drive converter has overload condition (refer to
p0290).
The following applies for vector drives (refer to p0107):
The pulse frequency can also be reduced when changing-over the modulator to an optimized pulse pattern. This is
used to avoid overdriving.
1.000 [kHz] 16.000 [kHz] 4.000 [kHz]
r1801 Actual pulse frequency / Pulse freq actual
- [kHz] - [kHz] - [kHz]
List of parameters
Parameters
Description: Sets the modulator mode.
Values: 0: Automatic changeover SVM/FLB
1: Flat top modulation (FLB)
2: Space vector modulation (SVM)
3: SVM without overmodulation
4: SVM/FLB without overcontrol
5: SVM with pulse frequency reduction
6: SVM/FLB with pulse frequency reduction
7: No edge modulation up to 100 Hz
8: No edge modulation up to 60 Hz
9: Edge modulation
Dependency: If a sinusoidal filter is parameterized as output filter (p0230 = 3, 4), or if the power unit firmware is not able to calcu-
late edge modulation (r0192 bit0 = 0), then only space vector modulation without overcontrol can be set as modula-
tion type (p1802 = 3).
Refer to: r0192, p0230, p7003
Note: When modulation modes are enabled that could lead to overmodulation (p1802 = 0, 1, 2, 5, 6), the modulation
depth must be limited using p1803. The higher the overmodulation, the greater the current ripple and torque ripple.
When changing p1802[x], the values for all of the other existing indices are also changed.
p1802 = 7, 8 should be used if the drive is operated below 100 Hz or 60 Hz, and it is necessary to avoid changing
over to edge modulation. Above these output frequencies, the modulation depth remains limited so that there the
full output voltage of the edge modulation is not reached.
Description: Defines the maximum modulation depth.
Note: p1803 = 100 % is the overcontrol limit for space vector modulation (or an ideal drive converter without any switching
delay).
If an optimized pulse pattern is enabled (edge modulation), then the modulation depth is limited to below the output
frequency of 28 Hz as there is no optimized pulse pattern in this range.
Description: Filter time constant for the smoothed modulation index to change over the modulator mode.
p1802[0...n] Modulator mode / Modulator mode
0 9 0
p1803[0...n] Maximum modulation depth / Modulat depth max
20.0 [%] 150.0 [%] 100.0 [%]
p1804[0...n] Filter time constant smoothed modulation index / T_filt mod_idxSmth
0.0 [ms] 10000.0 [ms] 10.0 [ms]
Parameters
List of parameters
Description: Sets the filter time constant of the DC link voltage used to calculate the modulation depth.
Description: DC link voltage that is used to convert the setpoint voltage into an equivalent modulation depth.
Note: p1737 can be used for filtering.
Description: DC link voltage used to determine the maximum possible output voltage.
Description: Displays the effective modulator mode.
Values: 1: Flat top modulation (FLB)
2: Space vector modulation (SVM)
3: Edge modulation from 28 Hz; 23:3
Description: Sets the minimum ratio between the pulse frequency and the output frequency.
Notice: If the ratio between the pulse frequency and the output frequency is reduced, then oscillations can occur in the out-
put current that can result in significant levels of current ripple with the appropriate negative effects.
Note: When the maximum speed is changed, the pulse frequency p1800 is automatically limited to this minimum ratio. It
is not permissible to reduce the pulse frequency if this would result in this ratio being fallen below.
p1806[0...n] Filter time constant Vdc correction / T_filt Vdc_corr
0.0 [ms] 10000.0 [ms] 0.0 [ms]
r1807 Actual DC-link voltage to calculate the modulation depth / VdcActValMod_depth
- [V] - [V] - [V]
r1808 DC link voltage actual value for V_max calculation / Vdc act val U_max
- [V] - [V] - [V]
r1809 Modulator mode actual / Modulator mode act
1 8 1
p1817 Minimum ratio, pulse frequency to the output frequency / Min f_puls / f_max
8.3 15.0 12.0
List of parameters
Parameters
Description: Direction of rotation reversal of the Motor Module output phases without changing the speed setpoint.
Values: 0: Off
1: On
Note: It is not possible to reverse the phases while the pulses are enabled. When a speed encoder is being used, it may
be necessary to also invert the encoder actual value (refer to p0410).
Description: Sets the direction of reversal of the motor.
Values: 0: No direction of reversal
1: Direction reversal
Notice: For a drive data set changeover with differently set direction reversal and pulse enable, an appropriate fault is out-
put.
Note: If the parameter is changed, it reverses the direction of rotation of the motor without changing the setpoint.
For direction of rotation reversal, the rotating field direction of the current controller is reversed. The speed actual
value (e.g. r0063) is also reversed so that the control sense is kept and internally causing the direction of rotation to
be reversed with the same setpoint.
Further, the position actual values of the actual encoder are reversed (e.g. r0482[0...2]).
Description: Sets the threshold voltage drop of the valves (power semiconductor devices) to be compensated.
Note: The value is automatically calculated in the motor data identification routine.
Description: Sets the operating mode for the compensation of the valve lockout time.
Values: 0: Compensation valve lockout time de-activated
1: Compensation valve lockout time activated
Note: The compensation is always active, independent of the value of this parameter if the closed-loop control is activated
to suppress circulating currents (p7035) for power units are connected in parallel.
p1820[0...n] Output phase direction of rotation / Phase revers. outp
0 1 0
p1821[0...n] Direction reversal / Direction reversal
0 1 0
p1825 Converter valve threshold voltage / Threshold voltage
0.0 [Veff] 100.0 [Veff] 0.6 [Veff]
p1827 Infeed compensation valve lockout time operating mode / INFcomp t_lockMode
0 1 0
Parameters
List of parameters
Description: Sets the valve lockout time to compensate for phase U.
Note: The value is automatically calculated in the motor data identification routine.
Description: Sets the valve lockout time to compensate for phase V.
Description: Sets the valve lockout time to compensate for phase W.
Description: Above the current level, the deadtime - resulting from the converter switching delays - is compensated by a previ-
ously calculated, constant value . If the relevant phase current setpoint falls below the absolute value defined by
p1832, the correction value for this phase is continuously reduced.
Dependency: The factor setting of p1832 is automatically set to 0.02 * rated drive converter current (r0207).
If the actual operating frequency exceeds the value of p1831, then p1832 is not applied!
p1828 Compensation valve lockout time phase U / Comp t_lock ph U
0.00 [s] 1000000.00 [s] 0.00 [s]
p1829 Compensation valve lockout time phase V / Comp t_lock ph V
0.00 [s] 1000000.00 [s] 0.00 [s]
p1830 Compensation valve lockout time phase W / Comp t_lock ph W
0.00 [s] 1000000.00 [s] 0.00 [s]
p1832 Deadtime compensation current level / t_dead_comp I_lev
0.0 [Aeff] 10000.0 [Aeff] 0.0 [Aeff]
List of parameters
Parameters
Description: Display for the configuration of the gating unit driver.
Description: Configuration of the actual value correction
Note: During operation (the pulses enabled) the configuration cannot be changed by changing-over drive data sets.
Description: Status of the actual value correction
Description: Sets the weighting factor for the leakage inductance of the L-R element of the actual value correction.
r1837 Gating unit configuration / Gating unit config
- - 0000 bin
00 Modulation depth for a flying restart Limited Not limited -
01 Modulation depth for Vdc closed-loop con-
trol
Limited Not limited -
02 Vdc_min controller active Not active -
03 Motor data identification routine active Not active -
04 Current offset calculation active Not active -
05 Simulation mode active Not active -
06 Direction of rotation reversal, output phases active Not active -
07 Direction of rotation reversal (including
speed encoder)
active Not active -
p1840[0...n] Actual value correction, configuration / ActVal_corr config
- - 0000 bin
00 Actual value correction de-activated Yes No -
01 Compares the integrals from modulator and
setpoint
Yes No -
r1841 Actual value correction, status word / ActVal_corr status
- - 1010 bin
00 Hardware for the actual value correction
detected
Yes No -
01 Automatic shutdown (too many switching
instants)
Yes No -
15 Actual value correction active Yes No -
p1845[0...n] Actual value correction evaluation factor Lsig / ActV_corr FactLsig
0.00 10.00 1.50
Parameters
List of parameters
Description: Sets the damping factor for the actual value correction.
The factor multiplies the T0/Tsig ratio in the feedback branch of the LR element
Description: Displays phase correction currents as well as the drive converter phase currents
Index: [0] = Harmonics, phase U
[1] = Harmonics, phase V
[2] = Harmonics, phase W
[3] = Meas. val. phase U
[4] = Meas. val. phase V
[5] = Meas. val. phase W
Description: Displays the phase correction voltages and and the drive converter phase voltages
Index: [0] = Harmonics, phase U
[1] = Harmonics, phase V
[2] = Harmonics, phase W
[3] = Meas. val. phase U
[4] = Meas. val. phase V
[5] = Meas. val. phase W
p1846[0...n] Actual value correction damping factor / ActV_corr D_factor
0.00 10.00 1.00
r1848[0...5] Actual value correction, phase currents / ActVal_corr I_corr
- - -
r1849[0...5] Actual value correction, phase voltages / ActVal_corr V_corr
- - -
List of parameters
Parameters
Description: Sets the motor data identification and speed/velocity controller optimization.
p1900 = 0:
Function inhibited.
p1900 = 1:
Induction motors --> set p1910 = 1 and p1960 = 0, 1, 2 depending on p1300
Permanent-magnet or separately-excited synchronous motors --> set p1910 = 1 and p1990 = 1 and p1960 = 0, 1, 2
depending on p1300
When the drive enable signals are present, a motor data identification routine is carried-out at standstill with the
next power-on command. Current flows through the motor which means that it can align itself by up to a quarter of
a revolution.
For permanent-magnet or separately-excited synchronous motors, the encoder is adjusted with the next power-on
command. The motor must be free to rotate and rotates through 1.5 revolutions of the motor encoder.
With the following power-on command, a rotating motor data identification routine is carried-out - and for vector, in
addition, a speed/velocity controller optimization by making measurements at different motor speeds/velocities.
p1900 = 2:
Induction motors --> set p1910 = 1 and p1960 = 0
Permanent-magnet or separately-excited synchronous motors --> set p1910 = 1, p1990 = 1 and p1960 = 0
When the drive enable signals are present, a motor data identification routine is carried-out at standstill with the
next power-on command. Current flows through the motor which means that it can align itself by up to a quarter of
a revolution.
For permanent-magnet or separately-excited synchronous motors, the encoder is adjusted with the next power-on
command. The motor must be free to rotate and rotates through 1.5 revolutions of the motor encoder.
Values: 0: Inhibited
1: Motor data identification for rotating motor
2: Motor data identification at standstill
Dependency: In the simulation mode, the parameter cannot be written into. When selecting the motor data identification routine,
the drive data set changeover is suppressed.
Refer to: p1272, p1300, p1910, p1960, p1990
Refer to: A07980, A07981, F07982, F07983, F07984, F07985, F07986, A07987, F07988, F07990, A07991
Notice: In order to permanently accept the determined settings they must be saved in a non-volatile fashion (p0971,
p0977).
Note: An appropriate alarm is output when the parameter is set.
The power-on command must remain set during a measurement and after the measurement has been completed,
the drive automatically resets it.
The duration of the measurements can lie between 0.3 s and several minutes. This time is, for example, influenced
by the motor size and the mechanical conditions.
p1900 is automatically set to 0 after the motor data identification routine has been completed.
p1900 Motor data identification and rotating measurement / Mot ID rot meas
0 2 2
Parameters
List of parameters
Description: Sets the configuration of the motor data identification.
Dependency: Refer to: p1910, r1912, r1913, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951, p1952, p1953
Note: Re bit 14:
After the voltage emulation error has been successfully determined, the display of various values is significantly
more accurate (e.g. r0089[0...2] phase voltage actual value).
Note: Re bit 14:
After the voltage emulation error has been successfully determined, the display of various values is significantly
more accurate (e.g. r0089[0...2] phase voltage actual value).
p1909[0...n] Motor data identification control word / MotID STW
- - 0010 0111 0000 0000 bin
08 Measure D inductance Yes No -
09 Measure Q inductance Yes No -
10 Magnetizing field inductance and measure
rotor resistance
Yes No -
13 Measure commutation angle Yes No -
14 Determining the voltage emulation error Yes No -
SERVO (Exp M_ctrl) Can be changed: T Access level: 3
- - 0110 0111 0000 0000 bin
08 Measure D inductance Yes No -
09 Measure Q inductance Yes No -
10 Magnetizing field inductance and measure
rotor resistance
Yes No -
13 Measure commutation angle Yes No -
14 Determining the voltage emulation error Yes No -
List of parameters
Parameters
Note: Note for PEM:
Without de-selection in bit 11, in the closed-loop control mode, the direct inductance LD and the quadrature induc-
tance Lq are measured at a low current.
When de-selecting with bit 11 or in the U/f mode, the stator inductance is measured at half the rated motor current.
If the stator is inductance is not measured but is to be estimated, then bit 0 should be set and bit 11 should be de-
selected.
Description: Setting to control the motor data identification with the motor stationary.
Values: -2: Acknowledge encoder inversion actual value (F07993)
-1: Start motor data identification without acceptance
0: Inactive/inhibit
1: Start motor data identification with acceptance
Recommenda-
tion:
For motors with brakes, the brake should be opened before carrying-out the stationary motor data identification rou-
tine (p1215 = 2) as long as this can be done without incurring any danger. This means that other data are identified.
Refer to: F07990, A07991, F07993
Caution: For motors without brake or with the brake open (p1215 = 2), for the stationary (zero speed) measurement, the
motor may rotate slightly.
Note: After a started motor identification is ended, the parameter is automatically reset to 0.
A motor data identification that is presently be carried-out can be terminated with p1910 = 0.
- - 0000 bin
00 Estimates the stator inductance, no mea-
surement
Yes No -
01 Cl.-loop current control w/ dead-beat con-
troller
Yes No -
02 Estimates the rotor time constant, no mea-
surement
Yes No -
03 Estimates the leakage inductance, no mea-
surement
Yes No -
04 Activates the identification dynamic leak-
age inductance
Yes No -
05 Determine Tr. Lsig evaluation in the time
range
Yes No -
06 Activates vibration damping Yes No -
07 De-activates the vibration detection Yes No -
11 De-activate pulse measurement Lq Ld Yes No -
12 De-activate rotor resistance Rr measure-
ment
Yes No -
15 Only measure stator resistance and valve
voltage error
Yes No -
p1910 Motor data identification routine, stationary (standstill) / MotID standstill
-2 1 0
Parameters
List of parameters
Description: Sets the motor data identification routine.
The motor data identification routine is carried-out after the next power-on command.
p1910 = 1:
All motor data and the drive converter characteristics are identified and then transferred to the following parame-
ters:
p0350, p0354, p0356, p0357, p0358, p0360, p1825, p1828, p1829, p1830
1: Complete identification (ID) and acceptance of motor data
2: Complete identification (ID) of motor data without acceptance
3: ID of the saturation characteristic and acceptance
4: ID of the saturation characteristic without acceptance
5: ID of dynamic leakage inductance Lsig (r1920) without acceptance
6: ID of lockout time (r1926) without acceptance
7: ID of stator resistance Rs (r1912) without acceptance
8: ID of stator inductance Ls (r1915) without acceptance
9: ID of rotor time constant Tr (r1913) without acceptance
10: ID of static leakage inductance Lsig (r1914) without acceptance
20: Voltage vector input
Dependency: "Quick commissioning" must be carried-out (p0010 = 1) before executing the motor data identification routine!
In the simulation mode, the parameter cannot be written into. When selecting the motor data identification routine,
the drive data set changeover is suppressed.
Cautiont: After the motor data identification (p1910 > 0) has been selected, alarm A07991 is output and a motor data identifi-
cation routine is carried-out as follows at the next power-on command:
- current flows through the motor and a voltage is present at the drive converter output terminals.
- during the identification routine, the motor shaft can rotate through a maximum of half a revolution.
- however, no torque torque is generated.
p0977).
Note: When setting p1910, the following should be observed:
1. "With transfer" means:
The parameters specified in the description are overwritten with the identified values and therefore have an influ-
ence on the controller setting.
2. "Without transfer" means:
The identified parameters are only displayed in the range r1912 ... r1926. The controller settings remain
unchanged.
Description: Selects the number of phases to be identified.
The accuracy of the identification routine is higher if several phases are identified - however, the time required to
make the measurements also increases.
Values: 1: 1 phase U
2: 2 phases U, V
3: 3 phases U, V, W
p1910 Motor data identification selection / MotID selection
0 20 1
p1911 Number of phases to be identified / Phases to be ident
1 3 1
List of parameters
Parameters
Description: Displays the identified stator resistance.
Dependency: Refer to: p1909, p1910, r1913, r1915, r1925, r1927, r1932, r1933, r1934, r1935, r1936, r1950, r1951, p1952,
p1953
Description: Displays the identified stator resistance.
[1] = Phase V
[2] = Phase W
Description: Displays the identified rotor time constant.
p1953
Description: Displays the identified rotor time constant.
[1] = Phase V
[2] = Phase W
Description: Displays the identified total leakage inductance.
[1] = Phase V
[2] = Phase W
r1912 Stator resistance identified / R_stator ident
- [Ohm] - [Ohm] - [Ohm]
r1912[0...2] Identified stator resistance / R_stator ident
- [Ohm] - [Ohm] - [Ohm]
r1913 Rotor time constant identified / T_rotor ident
- [ms] - [ms] - [ms]
r1913[0...2] Identified rotor time constant / T_rotor ident
- [ms] - [ms] - [ms]
r1914[0...2] Identified total leakage inductance / L_total_leak ident
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Displays the identified stator inductance.
p1953
Description: Displays the nominal stator inductance identified.
[1] = Phase V
[2] = Phase W
Description: Displays the nominal stator inductance identified for the 1st point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
Description: Displays the nominal stator inductance identified for the 2nd point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
r1915 Stator inductance identified / L_stator ident
- [mH] - [mH] - [mH]
r1915[0...2] Identified nominal stator inductance / L_stator ident
- [mH] - [mH] - [mH]
r1916[0...2] Identified stator inductance 1 / L_stator 1 ident
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
List of parameters
Parameters
Description: Displays the nominal stator inductance identified for the 3rd point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
Description: Displays the nominal stator inductance identified for the 4th point of the saturation characteristic.
[1] = Phase V
[2] = Phase W
Description: Displays the identified dynamic total leakage inductance.
[1] = Phase V
[2] = Phase W
[1] = Phase V
[2] = Phase W
[1] = Phase V
[2] = Phase W
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
r1920[0...2] Identified dynamic leakage inductance / L_leak dyn ident
- [mH] - [mH] - [mH]
r1921[0...2] Identified dynamic leakage inductance 1 / L_leak 1 dyn id
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
Parameters
List of parameters
[1] = Phase V
[2] = Phase W
[1] = Phase V
[2] = Phase W
Description: Displays the identified threshold voltage of the power unit.
p1953
Description: Displays the identified IGBT threshold voltage.
[1] = Phase V
[2] = Phase W
Description: Displays the identified effective valve lockout time.
[1] = Phase V
[2] = Phase W
- [mH] - [mH] - [mH]
- [mH] - [mH] - [mH]
r1925 Threshold voltage identified / U_threshold ident
r1925[0...2] Identified threshold voltage / U_threshold ident
r1926[0...2] Identified active valve lockout time / t_lock_valve id
- [s] - [s] - [s]
List of parameters
Parameters
Description: Displays the identified rotor resistance.
p1953
Description: Displays the identified rotor resistance
[1] = Phase V
[2] = Phase W
Description: Displays the identified cable resistance.
[1] = Phase V
[2] = Phase W
Description: Displays the identified (differential) d-inductance.
p1953
Note: The Ld characteristic consists of the value pairs from p1932 and p1933 with the same index.
This value corresponds to the value of the total leakage inductance (r0377).
Description: Displays the identification current of the d inductance.
r1927 Rotor resistance identified / R_rotor ident
- [Ohm] - [Ohm] - [Ohm]
r1927[0...2] Identified rotor resistance / R_rotor ident
- [Ohm] - [Ohm] - [Ohm]
r1929[0...2] Identified cable resistance / R_cable ident
- [Ohm] - [Ohm] - [Ohm]
r1932[0...19] d inductance identified / Ld ident
- [mH] - [mH] - [mH]
r1933[0...19] d inductance identification current / Ld I_ident
Parameters
List of parameters
p1953
Note: The Ld characteristic consists of the value pairs from p1932 and p1933 with the same index.
Description: Displays the identified (differential) q-inductance.
Dependency: Refer to: p1909, p1910, r1932, r1933
Note: The Lq characteristic consists of the value pairs from p1934 and p1935 with the same index.
This value corresponds to the value of the total leakage inductance (r0377).
Description: Displays the identification current of the q inductance.
Dependency: Refer to: p1909, p1910, r1934, p1959, p1960
Note: The Lq characteristic consists of the value pairs from p1934 and p1935 with the same index.
Description: Displays the identified magnetizing inductance(gamma equivalent circuit diagram).
Dependency: Refer to: p1909, p1910, r1913, r1915, r1927, p1959, p1960, r1962, r1963
Note: This value corresponds to the value of the transformed magnetizing inductance (r0382).
Description: Displays the identified torque constant.
Dependency: Refer to: r1938, r1939, p1959, p1960, r1969
Note: The value in r1937[0] corresponds to the torque constant (p0316). If indices 1 to 9 are not equal to zero, they show
the identified values of the torque constant for the current in r1935 with the same index.
r1934[0...9] q inductance identified / Lq ident
- [mH] - [mH] - [mH]
r1935[0...9] q inductance identification current / Lq I_ident
r1936 Magnetizing inductance identified / L_H ident
- [mH] - [mH] - [mH]
r1937[0...9] Torque constant identified / kT ident
P-Group: Motor identification Units group: 28_1 Unit selection: p0100
- [Nm/A] - [Nm/A] - [Nm/A]
List of parameters
Parameters
Description: Displays the identified force constant.
Note: This value corresponds to the force constant (p0316).
Description: Displays the identified voltage constant.
Note: This value corresponds to the voltage constant (p0317).
Description: Displays the identified voltage constant.
Note: This value corresponds to the voltage constant (p0317).
Description: Displays the identified reluctance torque constant.
Note: This value corresponds to the reluctance torque constant (p0328).
Description: Displays the identified, optimum load angle.
Note: This value corresponds to the optimum load angle (p0327).
r1937[0...9] Forced constant identified / kT ident
r1938 Voltage constant identified / kE ident
r1938 Voltage constant identified / kE ident
- [Veff s/m] - [Veff s/m] - [Veff s/m]
r1939 Reluctance torque constant identified / kT_reluct. ident
- [mH] - [mH] - [mH]
r1947 Optimum load angle identified / phi_load ident
- [] - [] - []
Parameters
List of parameters
Description: Displays the identified magnetizing current.
Note: This value corresponds to the magnetizing current (p0320 / r0331).
Description: The identified characteristic of the voltage emulation error is displayed r1950[0...19] and r1951[0...19].
Description: The identified characteristic of the voltage emulation error is displayed r1950[0...19] and r1951[0...19].
Description: Sets the final value to compensate the voltage emulation error.
Note: The voltage emulation error is calculated and compensated for every phase according to the following formula:
u_error = u0 * i / (abs(i)-i0)
u0: This is set in p1952.
i0: This is set in p1953.
i: Phase current to which the emulation error u_error belongs.
Description: Sets the current offset to compensate the voltage emulation error.
r1948 Magnetizing current identified / I_mag ident
r1950[0...19] Voltage emulation error voltage values / U_error U_values
- [V] - [V] - [V]
r1951[0...19] Voltage emulation error current values / U_error I_error
- [A] - [A] - [A]
p1952[0...n] Voltage emulation error, final value / U_error final val
0.000 [V] 100.000 [V] 0.000 [V]
p1953[0...n] Voltage emulation error current offset / U_error I_offset
0.000 [A] 100.000 [A] 0.000 [A]
List of parameters
Parameters
Note: The voltage emulation error is calculated and compensated for every phase according to the following formula:
u_error = u0 * i / (abs(i)-i0)
u0: This is set in p1952.
i0: This is set in p1953.
i: Phase current to which the emulation error u_error belongs.
Description: Sets the ramp-up/ramp-down time for the rotating motor data identification.
The following applies for negative values:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the ramp-up/ramp-down time of
the setpoint channel becomes effective. When this function module is inactive, then no ramp-up/ramp-down time is
effective.
The following applies for positive values:
The selected ramp-up/ramp-down time becomes effective.
Recommenda-
tion:
A ramp-up/ramp-down time should not be activated for the motor data identification (p1958 = 0) as long as this can
be done without incurring any danger. This means that the identification is complete and more accurate.
When the ramp-up/ramp-down time is activated, then the rotating motor data identification can only be partially car-
ried-out.
Description: Sets the configuration of the rotating measurement.
Recommenda-
tion:
A direction inhibit should not be activated for the motor data identification (p1959.14 = 1 and p1959.15 = 1) as long
as this can be done without incurring any danger. This means that the identification is complete and more accurate.
When the direction inhibit is activated, then the rotating motor data identification can only be partially carried-out.
Note: Re bit 14 and 15:
The following applies for bit 14 and 15 = 0:
When the function module "extended setpoint channel" is activated (r0108.8 = 1), the direction inhibit of the setpoint
channel becomes effective. No direction of inhibit is effective if the function module is inactive.
The following applies for minimum bit 14 = 1 or bit 15 = 1:
The selected direction inhibit becomes effective.
p1958[0...n] Motor data identification ramp-up/ramp-down time / MotID t_up_down
-1.00 [s] 999999.00 [s] -1.00 [s]
p1959[0...n] Rotating measurement configuration / Rot meas config
- - 0000 0110 1110 0110 bin
01 Identifying the saturation characteristic Yes No -
02 Identifying the moment of inertia Yes No -
05 Identifying the q inductance Yes No -
06 Identifying the torque constant Yes No -
07 Identifying the reluctance torque constant Yes No -
08 Identifying the q inductance at the test stand Yes No -
09 Identifying the magnetizing current / magne-
tizing inductance
Yes No -
10 Identifying the commutation angle Yes No -
14 Clockwise direction of rotation permitted Yes No -
15 Counter-clockwise direction of rotation per-
mitted
Yes No -
Parameters
List of parameters
Description: Sets the configuration of the rotating measurement.
Note: The encoder is only tested if the rotating measurement with encoder is selected (p1960 = 2).
The following parameters are influenced for the individual optimization steps:
Bit 00: None
Bit 01: p0320, p0360, p0362 ... p0369
Bit 02: p0341, p0342
Bit 03: p1400.0, p1458, p1459, p1460, p1462, p1462, p1463, p1470, p1472, p1496
Bit 04: Dependent on p1960
p1960 = 1, 3: p1400.0, p1458, p1459, p1470, p1472, p1496
p1960 = 2, 4: p1458, p1459, p1460, p1461, p1462, p1463, p1496
Description: Activates the rotating measurement.
Values: -2: Acknowledge encoder inversion actual value (F07993)
-1: Start motor data identification without acceptance
0: Inactive/inhibit
1: Start motor data identification with acceptance
Dependency: Refer to: r1934, r1935, r1936, r1937, r1938, r1939, r1947, r1948, p1958, p1959, r1962, r1963, r1969
Refer to: F07990, A07991, F07993
Danger: For the rotating measurement, the motor is accelerated up to the maximum speed. Only the parameterized current
limit (p0640) and the maximum speed (p1082) are effective.
The behavior of the motor can be influenced using the direction inhibit (p1959.14, p1959.15) and the ramp-
up/ramp-down time (p1958).
Cautiont: In order to permanently accept the determined settings they must be saved in a non-volatile fashion (p0971,
p0977).
Note: When the rotating measurement is activated (p1960 = 1), the parameters should not be saved (p0971, p0977), as
this can result in inconsistent data.
- - 0001 1111 bin
00 Enc test active Yes No -
01 Saturation characteristic identification Yes No -
02 Moment of inertia identification Yes No -
03 Recalculates the speed controller parame-
ters
Yes No -
04 Speed controller optimization, (vibration
test)
Yes No -
p1960 Rotating measurement selection / Rot meas sel
-2 1 0
List of parameters
Parameters
Description: Sets the rotating measurement.
The rotating measurement is carried-out after the next power-on command.
The setting possibilities of the parameter depend on the open-loop/closed-loop control mode (p1300):
p1300 < 20 (U/f control): It is not possible to select rotating measurement or speed controller optimization.
p1300 = 20, 22 (sensorless operation): Only rotating measurement or speed controller optimization can be selected
in the sensorless mode.
p1300 = 21, 23 (operation with encoder): Both versions (sensorless and with encoder) of the rotating measurement
or speed controller optimization can be selected.
1: Rotating measurement in sensorless operation
2: Rotating measurement with encoder
3: Speed controller optimization for sensorless operation
4: Speed controller optimization with encoder
Dependency: In the simulation mode, a value of 1 cannot be written into the parameter. When selecting the rotating measure-
ment, the drive data set changeover is suppressed.
Refer to: p1272, p1300, p1900, p1959
Refer to: A07987
p0977).
Note: When the rotating measurement is activated, it is not possible to save the parameters (p0971, p0977).
Parameter changes are automatically made for the rotating measurement (e.g. p1120); this is the reason that up to
the end of the measurement, and if no faults are present, no manual changes should be made.
The ramp-up and ramp-down times (p1120, p1121) are limited, for the rotating measurement, to 900s.
Description: Sets the speed to determine the saturation characteristic and the encoder test.
The percentage value is referred to p0310 (rated motor frequency).
Refer to: F07983
Note: The saturation characteristics should be determined at an operating point with the lowest possible load.
Description: Displays the magnetizing currents of the identified saturation characteristic.
The values are referred to r0331.
Note: The saturation characteristic consists of the value pairs from p1962 and p1963 with the same index.
p1960 Rotating measurement selection / Rot meas sel
0 4 0
p1961 Saturation characteristic speed to determine / Sat_char n determ
26 [%] 75 [%] 30 [%]
r1962[0...9] Saturation characteristic magnetizing current identified / Sat_char I_mag
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the magnetizing currents of the identified saturation characteristic.
After they have been determined, the values are transferred to p0366 ... p0369.
Index: [0] = Value 1
[1] = Value 2
[2] = Value 3
[3] = Value 4
[4] = Value 5
Description: Displays the stator inductances of the identified saturation characteristic.
The values are referred to the stator inductance at the magnetizing current (r0331).
Note: The saturation characteristic consists of the value pairs from p1962 and p1963 with the same index.
Description: Displays the magnetizing inductances of the identified saturation characteristic.
[1] = Value 2
[2] = Value 3
[3] = Value 4
[4] = Value 5
r1962[0...4] Saturation characteristic, magnetizing current / Sat_char I_mag
- [%] - [%] - [%]
r1963[0...9] Saturation characteristic stator inductance identified / Sat_char L_stator
- [%] - [%] - [%]
r1963[0...4] Saturation characteristic, magnetizing inductance / Sat_char L_main
- [%] - [%] - [%]
List of parameters
Parameters
Description: Displays the rotor flux values of the identified saturation characteristic.
After they have been determined, the values are transferred to p0362 ... p0365.
[1] = Value 2
[2] = Value 3
[3] = Value 4
[4] = Value 5
Description: Sets the speed for the identification of the moment of inertia and the vibration test.
Induction motor:
The percentage value is referred to p0310 (rated motor frequency).
Synchronous motor:
The percentage value is referred to the minimum from p0310 (rated motor frequency) and p1082 (maximum
speed).
Refer to: F07984, F07985
Note: In order to calculate the inertia, sudden speed changes are carried-out - the specified value corresponds to the
lower speed setpoint. This value is increased by 10 % for the upper speed value.
Description: Sets the dynamic response factor for speed controller optimization.
Refer to: F07985
Note: For a rotating measurement, this parameter can be used to optimize the speed controller.
p1967 = 100 % --> speed controller optimization according to a symmetric optimum.
p1967 > 100 % --> optimization with a higher dynamic response (Kp higher, Tn lower).
Description: Displays the dynamic factor which is actually achieved for the vibration test
r1964[0...4] Saturation characteristic, rotor flux / Sat_char rot flux
- [%] - [%] - [%]
p1965 Speed_ctrl_opt speed / n_opt speed
10 [%] 75 [%] 50 [%]
p1967 Speed_ctrl_opt dynamic factor / n_opt dyn_factor
1 [%] 400 [%] 100 [%]
r1968 Speed_ctrl_opt dynamic factor actual / n_opt dyn_fact act
- [%] - [%] - [%]
Parameters
List of parameters
Refer to: F07985
Note: This dynamics factor only refers to the control mode of the speed controller set in p1960.
Description: Displays the identified moment of inertia.
Description: Displays the identified high load inertia.
Description: Displays the determined moment of inertia of the drive.
After it has been determined, the value is transferred to p0341, p0342.
Refer to: F07984
Description: Displays the vibration frequencies determined by the vibration test.
Index: [0] = Frequency low
[1] = Frequency high
Refer to: F07985
r1969 Moment of inertia identified / M_inertia ident
- [kgm] - [kgm] - [kgm]
r1969 High load inertia identified / High load inert id
- [kg] - [kg] - [kg]
r1969 Speed_ctrl_opt moment of inertia determined / n_opt M_inert det
- [kgm] - [kgm] - [kgm]
r1970[0...1] Speed_ctrl_opt vibration test vibration frequency determined / n_opt f_vibration
- [Hz] - [Hz] - [Hz]
List of parameters
Parameters
Description: Displays the standard deviations of the vibration frequencies determined by the vibration test
Index: [0] = Standard deviation of low frequency
[1] = Standard deviation of high frequency
Refer to: F07985
Description: Displays the number of periods determined by the vibration test.
Index: [0] = No. of periods of the low frequency
[1] = No. of periods of the high frequency
Refer to: F07985
Description: Displays the identified encoder pulse number (per revolution). For linear motors: Encoder pulse number per meter.
Grid division = 1/p1973 [meter]. Due to the measuring accuracy (approx. 5%) only the approximate value is shown
in p1973 and may not be directly transferred into p0407 or p0408. An incorrect pole pair number (r0313, p0314)
results in an incorrect value in p1973.
Note: A negative signal indicates an incorrect polarity of the encoder signal.
Description: Displays the number of pulses determined during the vibration test.
Note: A negative signal indicates an incorrect polarity of the encoder signal.
r1971[0...1] Speed_ctrl_opt vibration test standard deviation determined / n_opt std. deviat.
- [Hz] - [Hz] - [Hz]
r1972[0...1] Speed_ctrl_opt vibration test number of periods determined / n_opt period qty
- - -
r1973 Encoder, pulse number identified / Pulse No. ident
- - -
r1973 Rotating measurement, encoder test pulse number determined / n_opt pulse No.
- - -
Parameters
List of parameters
Description: Displays the status to check and monitor the states of speed controller optimization.
Description: Sets the pole position identification technique.
Values: 0: Saturation-based 1st+ 2nd harmonics
1: Saturation-based 1st harmonics
4: Saturation-based, 2-stage
10: Motion-based
99: No technique selected
Dependency: Refer to: p0325, p0329, p1981, p1982, p1983, r1984, r1985, r1987
Notice: If the incorrect technique is applied, this can cause the motor to accelerate in an uncontrolled fashion.
Note: When commissioning a list motor, the technique is automatically selected depending on the motor type being used.
The following applies for 1FN3 motors: A technique with 2nd harmonic may not be used (do not use p1980 = 1, 4).
For 1FN7 motors, the following applies:
A two-stage technique may not be used (do not use p1980 = 4).
The automatically set value in p0329 may not be changed.
Description: Sets the pole position identification technique.
Values: 1: Voltage pulsing, first harmonic
4: Voltage pulsing, 2-stage
10: DC current impression
Dependency: In the simulation mode, the parameter cannot be written into.
Refer to: p1272
Note: Voltage pulse technique (p1980 = 1 or 4) cannot be applied to separately-excited synchronous motors (p0300 = 5)
and for for operation with sinusoidal output filters (refer to p230).
r1979 BO: Speed_ctrl_opt status / n_opt status
- - 0000 bin
00 Speed controller optimization activated Yes No -
01 Speed controller optimization completed Yes No -
02 Speed controller optimization interrupted Yes No -
05 Saturation char. identification active Yes No -
06 Moment of inertia identification active Yes No -
07 Recalc. speed controller parameters active Yes No -
08 Speed controller vibration test active Yes No -
09 Magnetizing induction adapt. active Yes No -
10 Operation with encoder after sensorless
operation
Yes No -
p1980[0...n] Pole position identification technique / PolID technique
0 99 99
1 10 4
List of parameters
Parameters
Description: Sets the maximum distance (electrical angle) when carrying-out the pole position identification routine. If this dis-
tance (travel) is exceeded, an appropriate fault is output.
Refer to: F07995
Description: Activates the pole position identification routine to determine the commutation angle and to carry-out a plausibility
check.
Values: 0: Pole position identification off
1: Pole position identification for commutation
2: Pole position identification for plausibility check
Recommenda-
tion:
Re p1982 = 1:
This is used for synchronous motors with motor encoder without absolute data.
The information/data regarding the absolute commutation angle is supplied via a track C/D, Hall sensors, an abso-
lute encoder or from the pole position identification routine.
Re p1982 = 2:
This is used for synchronous motor with motor encoder with absolute data to check this data.
Description: Activates the pole position identification routine to determine the commutation angle and to carry-out a plausibility
check.
Values: 0: Pole position identification off
1: Pole position identification for commutation
2: Pole position identification for plausibility check
Recommenda-
tion:
Re p1982 = 1:
This is used for synchronous motors with motor encoder without absolute data.
The information/data regarding the absolute commutation angle is supplied via a track C/D, Hall sensors, an abso-
lute encoder or from the pole position identification routine.
Re p1982 = 2: This is used for synchronous motor with motor encoder with absolute data to check this data.
With p1982 = 2, each time the pulses are enabled it is checked as to whether the absolute position supplied from
the encoder does not exceed a deviation of 45 degrees to the identified pole wheel position.
Note: For sensorless operation, the pole position identification routine is selected with P1780.6
p1981[0...n] Pole position identification maximum distance / PolID distance max
0 [] 90 [] 10 []
p1982[0...n] Pole position identification selection / PolID selection
0 2 0
0 2 0
Parameters
List of parameters
Description: Start the pole position identification routine for test purposes.
p1983 = 1: Start - is automatically set to zero after being carried-out.
Notice: For p1983 = 1 and if the pulses are not enabled, then the function is only executed the next time that the pulses are
enabled.
Note: When this test is executed, it does not influence the commutation angle.
Description: Displays the angular difference between the actual electrical commutation angle and the angle determined by the
pole position identification.
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1985, r1987, p1990
Note: When the pole position identification routine is executed several times using p1983, then using this value, then the
spread of the measured values can be determined using this value. At the same position, the spread should be less
than 2 degrees electrical.
Description: Displays the saturation characteristic of the pole position identification routine.
The values for the characteristic of the last saturation-based pole position identification routine are output every 1
ms in order to record signals (e.g. trace).
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1984, r1987, p1990
Description: Displays the trigger characteristic of the pole position identification routine.
The values for the characteristic of the last pole position identification routine are output every 1 ms in order to
record signals (e.g. trace).
The values for the trigger characteristic and the saturation characteristic are always output in synchronism from a
time perspective.
Dependency: Refer to: p0325, p0329, p1980, p1981, p1982, p1983, r1984, r1985
Note: The following information and data can be taken from the trigger characteristic.
- the value -100% marks the angle at the start of the measurement.
- the value +100 % marks the commutation angle determined from the pole position identification routine.
p1983 Pole position identification, test / PolID test
0 1 0
r1984 Pole position identification, angular difference / PolID ang diff
SERVO, VECTOR
(n/M)
- [] - [] - []
r1985 Pole position identification, saturation characteristic / PolID sat_char
SERVO, VECTOR
(n/M)
r1987 Pole position identification trigger characteristic / PolID trig_char
SERVO, VECTOR
(n/M)
- [%] - [%] - [%]
List of parameters
Parameters
Description: Activates the commissioning help to determine the angular commutation offset for the active motor. This function
can be started when commissioning a build-in motor for the first time or after the encoder has been replaced.
p1990 = 1: Activates the routine to determine the angular commutation offset
Alarm A07971 is output while the angular commutation offset is being determined.
p1990 is automatically set to 0 after the angular commutation offset has been determined.
Dependency: Refer to: p0325, p0329, p0431, p1980, p1981, p1982, p1983, r1984, r1985, r1987, p1999
Refer to: A07971
Cautiont: In order to prevent an incorrect orientation of the electrical pole position (uncontrolled motor movement), the auto-
matically determined angular commutation offset (p0431) should, for reasons of safety, be checked using one of the
following recommendations:
Recommendation 1:
Set encoderless operation (p1300 = 20 or p1404 = 0), operate under no-load conditions with a speed > p1755, read
the angular error in r1778; the result in r1778 should be approximately 0, for |r1778| > 2 degrees, add the value to
p0431 - taking into account the sign - and enter in p0431.
Recommendation 2:
Set the current limit to 0 (p0640 = 0), activate travel to fixed stop (p1545 = 1), record r0089[0] (phase voltage) and
r0093 (electrically normalized pole position) (e.g. trace) while the motor is externally moved; in this case, the rising
zero crossover of the phase voltage must coincide with the 360 --> 0 step (jump) from r0093.
Recommendation 3:
Measure the phase voltage U (measure phase U with respect to the virtual star point using 3 resistors) and r0093
(electrically normalized pole position); the rising zero crossover of the phase voltage must coincide with the 360 --
> 0 step (jump) of r0093.
Recommendation 4:
Determine the average value from several results of a pole position identification routine executed as test (p1983)
at various electrical angles and add the value to p0431 - taking into account the sign and enter into p0431.
Notice: For p1990 = 1 and with the pulses not enabled, the function is only executed the next time that the pulses are
enabled.
Note: If fault F07414 is present, the following applies:
First set p1990 to 1, then acknowledge the fault and then issue the enable signals.
Description: Setting to active the automatic encoder adjustment.
With p1990 = 1, the angular commutation offset is saved in p0431.
With p1990 = 2, the adjustment is checked, for deviations of greater than 6 degrees electrical, fault F07413 is
issued.
Values: 0: Encoder adjustment de-activated
1: Enc adjust. active
2: Check encoder adjustment
Dependency: In the simulation mode, the parameter cannot be written into. When selecting the encoder adjustment, the drive
data set changeover is suppressed.
Refer to: p0431, p1272, p1900
p1990 Angular commutation offset, commissioning support / Ang_com offs COMM
0 1 0
p1990 Encoder adjustment selection / Encod adjust sel
0 2 0
Parameters
List of parameters
Caution: When the encoder is being adjusted, the motor must be operated without a load - and if a motor holding brake is
being used, this must be opened.
Note: p1990 is automatically set to 0 after the encoder has been adjusted.
Description: Sets the angle that is added to the commutating angle.
Caution: If the angular correction is not correctly set, when changing over and with closed-loop torque control, the motor can
accelerate to high speeds in spite of the fact that a setpoint of zero has been entered.
Notice: For vector drives (refer to r0107), the following applies:
A fast star/delta changeover while the motor is rotating is not possible, because after an intermediate pulse inhibit,
the system must first wait for the de-magnetization time (p0347) and after the "flying restart" (refer to p1200) of the
motor, the excitation time (p0346) must first expire before the closed-loop control is completely operational again.
Note: When changing-over between star and delta operation, 0 (motor data set for star operation) or 30/-30 (motor data
set for delta operation) is set.
Description: Displays diagnostics information for the pole position identification routine.
Description: Sets the current when executing the motion-based pole position identification.
p1991[0...n] Motor changeover, angular commutation correction / Ang_com corr
-180 [] 180 [] 0 []
r1992 Pole position identification diagnostics / PolID diag
- - 0000 bin
00 Critical encoder fault occurred Yes No -
02 Enc parking active Yes No -
05 Encoder fault, Class 1 Yes No -
06 Encoder fault, Class 2 Yes No -
07 Pole position identification for encoder car-
ried-out
Yes No -
08 Fine synchronization carried-out Yes No -
09 Coarse synchronization carried-out Yes No -
10 Commutation information available Yes No -
11 Speed information available Yes No -
12 Position information available Yes No -
15 Zero mark passed Yes No -
p1993[0...n] Pole position identification current, motion-based / PolID I mot_bas
0.00 [Aeff] 20000.00 [Aeff] 0.00 [Aeff]
List of parameters
Parameters
Description: Sets the rise time of the current when executing the motion-based pole position identification.
Description: Sets the gain when executing the motion-based pole position identification.
Description: Sets the gain when executing the motion-based pole position identification.
Description: Sets the integral time when executing the motion-based pole position identification.
Description: Sets the smoothing time when executing the motion-based pole position identification.
p1994[0...n] Pole position identification rise time, motion-based / PolID T mot_bas
0 [ms] 2500 [ms] 100 [ms]
p1995[0...n] Pole position identification gain, motion-based / PolID kp mot_bas
0.000 [Ns/m] 999999.000 [Ns/m] 10.000 [Ns/m]
p1996[0...n] Pole position identification, integral time, motion-based / PolID Tn mot_bas
1.0 [ms] 500.0 [ms] 2.0 [ms]
p1997[0...n] Pole position identification, smoothing time, motion-based / PolID t_sm mot_bas
0.0 [ms] 50.0 [ms] 0.0 [ms]
Parameters
List of parameters
Description: Sets the scaling for the runtime of the automatic encoder calibration and the current-impressing technique for the
pole position identification routine.
Note: For high moments of inertia, it is practical to scale the runtime of the calibration higher.
Description: Sets the reference quantity for the frequency.
All frequencies specified as relative value are referred to this reference quantity.
The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
The following applies: Reference frequency (in Hz)
Description: Sets the reference quantity for speed and frequency.
All speeds or frequencies specified as relative value are referred to this reference quantity.
The following applies: Reference frequency (in Hz) = reference speed (in (RPM) / 60)
Dependency: Refer to: p2001, p2002, p2003, r2004
Note: If a BICO interconnection is established between different physical quantities, then the particular reference quanti-
ties are used as internal conversion factor.
Example 1:
The signal of an analog input (e.g. r4055[0]) is connected to a speed setpoint (e.g. p1070[0]). The actual percent-
age input value is cyclically converted into the absolute speed setpoint using the reference speed (p2000).
Example 2:
The setpoint from PROFIBUS (r2050[1]) is connected to a speed setpoint (e.g. p1070[0]). The current input value is
cyclically converted into a percentage value via the pre-specified normalization 4000H. This percentage value is
converted to the absolute speed setpoint via reference speed (p2000).
p1999[0...n] Ang. commutation offset calibr. and pole position ID - scaling / ComOffsCalib scal
10 [%] 5000 [%] 100 [%]
p2000 Reference frequency / Ref freq
A_INF, B_INF,
S_INF
0.10 [Hz] 1000.00 [Hz] 50.00 [Hz]
p2000 Reference speed reference frequency / Ref_n Ref_f
SERVO, TM41, VEC-
TOR
6.00 [1/min] 210000.00 [1/min] 3000.00 [1/min]
List of parameters
Parameters
Description: Sets the reference quantity for velocity and frequency.
All velocities or frequencies specified as relative value are referred to this reference quantity.
The following applies: Reference frequency (in Hz) = reference velocity (in (m/min) / 60)
Example 1:
The signal of an analog input (e.g. r4055[0]) is connected to a velocity setpoint (e.g. p1070[0]). The actual percent-
age input value is cyclically converted into the absolute velocity setpoint using the reference velocity (p2000).
Example 2:
The setpoint from PROFIBUS (r2050[1]) is connected to a velocity setpoint (e.g. p1070[0]). The current input value
is cyclically converted into a percentage value via the pre-specified normalization 4000H. This percentage value is
converted to the absolute velocity setpoint via reference velocity (p2000).
Description: Sets the reference quantity for voltages.
All voltages specified as relative value are referred to this reference quantity.
For infeed units, the parameterized device supply voltage (p0210) is pre-assigned as the reference quantity.
Example: The actual value of the DC link voltage (r0070) is connected to a test socket (e.g. p0771[0]). The actual
voltage value is cyclically converted into a percentage of the reference voltage (p2001) and output according to the
parameterized scaling.
Description: Sets the reference quantity for currents. All currents specified as relative value are referred to this reference quan-
tity. The reference quantity in this parameter corresponds to 100% or 4000 hex or 4000 0000 hex.
For infeed units, the rated line current, that is obtained from the rated power and parameterized rated line supply
voltage (p2002 = r0206 / p0210 / 1.73) is pre-assigned as the reference quantity.
Example: The actual value of a phase current (r0069[0]) is connected to a test socket (e.g. p0771[0]). The actual
current value is cyclically converted into a percentage of the reference current (p2002) and output according to the
parameterized scaling.
p2000 Reference velocity, reference frequency / Ref_v Ref_f
0.60 [m/min] 600.00 [m/min] 120.00 [m/min]
p2001 Reference voltage / Reference voltage
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
10 [Veff] 100000 [Veff] 1000 [Veff]
p2002 Reference current / Reference current
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
0.10 [Aeff] 100000.00 [Aeff] 100.00 [Aeff]
Parameters
List of parameters
Description: Sets the reference quantity for torques.
All torques specified as relative value are referred to this reference quantity.
Example:
The actual value of the total torque (r0079]) is connected to a test socket (e.g. p0771[0]). The actual torque is cycli-
cally converted into a percentage of the reference torque (p2003) and output according to the parameterized scal-
ing.
Description: Sets the reference quantity for forces.
All forces specified as relative value are referred to this reference quantity.
Example:
The actual value of the total force (r0079]) is connected to a test socket (e.g. p0771[0]). The actual force is cyclically
converted into a percentage of the reference force (p2003) and output according to the parameterized scaling.
Description: Displays the reference quantity for power ratings.
All power ratings specified as relative value are referred to this reference quantity.
Dependency: This value is calculated as voltage x current for the infeed and as torque x speed for closed-loop controls.
Refer to: p2000, p2001, p2002, p2003
The reference power is calculated as follows:
- 2 * Pi * reference speed / 60 * reference torque (motor)
- reference voltage * reference current * root(3) (infeed)
p2003 Reference torque / Reference torque
SERVO, TM41, VEC-
TOR
P-Group: Communications Units group: 7_2 Unit selection: p0505
0.01 [Nm] 1000000.00 [Nm] 1.00 [Nm]
p2003 Reference force / Reference force
0.01 [N] 1000000.00 [N] 100.00 [N]
r2004 Reference power / Reference power
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- [kW] - [kW] - [kW]
List of parameters
Parameters
Description: Displays the effective control word 1 (STW1) of the drive for the master control.
Description: Displays the effective control word 1 (STW1) of the drive for the master control.
Description: Sets the processing mode for PROFIBUS STW1.10 "Control from PLC".
Generally, control world 1 is received with the first PROFIBUS receive word (PZD1) (this is in conformance to the
PROFIdrive profile). The behavior of STW1.10 = 0 corresponds to that of the PROFIdrive profile. For other applica-
tions that deviate from this, the behavior can be adapted using this particular parameter.
r2032 Master control, control word effective / PcCtrl STW eff
A_INF, B_INF,
S_INF
- - 0000 bin
00 ON/OFF1 Yes No -
r2032 Master control, control word effective / PcCtrl STW eff
- - 0000 bin
00 ON/OFF1 Yes No -
08 Jog bit 0 Yes No 3030
09 Jog bit 1 Yes No 3030
p2037 PROFIBUS STW1.10 = 0 mode / PB STW1.10=0 mode
SERVO, TM41, VEC-
TOR
0 2 0
Parameters
List of parameters
Values: 0: Freeze setpoints and continue to process sign-of-life
1: Freeze setpoints and sign-of-life
2: Setpoints are not frozen
Note: If the STW1 is not transferred according to the PROFIdrive with PZD1 (with bit 10 "control by the PLC"), then p2037
should be set to 2.
Description: Sets the interface mode of the PROFIBUS control and status words.
When selecting a telegram via p0922, this parameter influences the device-specific assignment of the bits in the
control and status words.
Values: 0: SINAMICS
1: SIMODRIVE 611 universal
2: VIK-NAMUR
Description: Sets the interface mode of the PROFIBUS control and status words.
When selecting a telegram via p0922, this parameter influences the device-specific assignment of the bits in the
control and status words.
Values: 0: SINAMICS
Description: The serial interface for the debug monitor is COM1 (X140) or COM2 (internal).
Value = 0: COM2 (internal)
Value = 1: COM1 (X140), PPI is de-activated
p2038 PROFIBUS STW/ZSW interface mode / PB STW/ZSW interf
0 2 0
p2038 PROFIBUS STW/ZSW interface mode / PB STW/ZSW interf
SERVO (EPOS),
SERVO (Pos ctrl),
VECTOR (EPOS),
VECTOR (Pos ctrl)
0 0 0
p2039 Select debug monitor interface / Sel. debug monitor
0 1 0
List of parameters
Parameters
Description: Sets the monitoring time to monitor the process data received via COMM BOARD. If no process data is received
within this time, an appropriate message is output.
Note: 0: The monitoring is deactivated.
Description: Sets the PROFIBUS Ident Number (PNO-ID).
SINAMICS can be operated with various identities on PROFIBUS. This allows the use of a PROFIBUS GSD that is
independent of the device (e.g. PROFIdrive VIK-NAMUR with Ident Number 3AA0 hex).
Values: 0: SINAMICS S/G
1: VIK-NAMUR
Note: A new setting only becomes effective after POWER ON, reset or download.
Description: Displays the PROFIBUS PZD state.
Note: When using the "setpoint failure" signal, PROFIBUS can be monitored and an application-specific response trig-
gered when the setpoint fails.
p2040 COMM INT monitoring time / C INT t_monit
CU_LINK Can be changed: U, T Access level: 3
0 [ms] 65535000 [ms] 20 [ms]
p2041[0...4] PROFIBUS detail settings / PROFIBUS detail
0 65535 0
p2042 PROFIBUS Ident Number / PB Ident No.
0 1 0
r2043 BO: PROFIBUS PZD status / PB PZD state
- - 0000 bin
00 Setpoint failure Yes No -
Parameters
List of parameters
Description: Sets the delay time to initiate fault F01910 after a PROFIBUS setpoint failure.
The time until the fault is initiated can be used by the application. This means that is is possible to respond to the
failure while the drive is still operational (e.g. emergency retraction).
Refer to: F01910
Description: Connector input for the sign-of-life of the clock synchronous PROFIBUS master.
The sign-of-life is expected at bits 12 to 15. Bits 0 to 11 are not evaluated.
The sign-of-life signal is normally received in PZD4 (control word 2) from the PROFIBUS master.
Description: Connector output to interconnect PZD (setpoints) with word format received from the PROFIBUS master.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
p2044 PROFIBUS fault delay / PB fault delay
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
0 [s] 100 [s] 0 [s]
p2045 CI: PROFIBUS clock-cycle synchr. master sign-of-life, signal source / PB mast-SoL
S_src
CU_S, SERVO,
TM41, VECTOR
(n/M)
- - 0
r2050[0...4] CO: PROFIBUS PZD receive word / PB PZD recv word
A_INF, B_INF,
CU_S, S_INF, TB30,
TM15DI_DO, TM31
- - -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
SERVO, TM41 Can be changed: - Access level: 3
2460
- - -
2460
- - -
Parameters
List of parameters
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Description: Selects the PZD (actual values) with word format to be sent to the PROFIBUS master.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
p2051[0...14] CI: PROFIBUS PZD send word / PB PZD send word
- - 0
A_INF, B_INF,
S_INF, TB30,
TM15DI_DO, TM31
- - 0
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
SERVO, TM41 Can be changed: U, T Access level: 3
- - 0
- - 0
Parameters
List of parameters
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Description: Displays the PZD (actual values) with word format sent to the PROFIBUS master.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
r2053[0...14] PROFIBUS diagnostics send PZD word / PB diag send word
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
A_INF, B_INF,
S_INF, TB30,
TM15DI_DO, TM31
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
2470
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
List of parameters
Parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
2470
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
Parameters
List of parameters
Description: Status display for the PROFIBUS interface.
Values: 0: Off
1: No connection (baud rate search)
2: Connection O. K. (baud rate found)
3: Cyclic connection with master (data exchange)
4: Cyclic data O. K.
Note: Re r2054 = 3:
In state 3 (the LED flashes green), a cyclic connection has been established to the PROFIBUS master; however,
one of the following prerequisites is missing for cyclic operation:
- No setpoints are being received as the PROFIBUS master is in the STOP condition.
Only for clock-cycle synchronous operation, the following applies:
- The drive is not in synchronism as the global control (GC) has an error.
Re r2054 = 4:
In the status 4 (LED green), the cyclic connection to the PROFIBUS master has been established and setpoints are
being received. The clock cycle synchronization is OK, the global control (GC) is error-free.
This state does not provide any statement regarding the quality of the clock cycle synchronous sign-of-life charac-
ters on the drive objects.
Description: Status display for the internal communications interface.
Values: 0: No initialization
1: Fatal Error
2: Initialization
3: Send configuration
4: Receive configuration
5: Non-cyclic communication
6: Cyclic communications but no setpoints (stop/no clock cycle)
255: Cyclic communication
Description: Diagnostics display for the PROFIBUS interface.
Index: [0] = Master bus address
[1] = Master input total length bytes
[2] = Master output total length bytes
r2054 PROFIBUS status / PB status
0 4 0
r2054 COMM INT state / C INT state
0 255 0
r2055[0...2] PROFIBUS diagnostics standard / PB diag standard
- - -
List of parameters
Parameters
Description: Displays the setting of the PROFIBUS address switch "DP ADDRESS" on the Control Unit.
Description: Displays the configuration data received via COMM BOARD.
Description: Displays the identification data of the COMM BOARD.
Note: Index 0: CB data structure version (e.g.: 100 = V1.00).
Index 1: CB driver version (e.g.: 100 = V1.00).
Index 2: Company, (e.g.: 42 = Siemens).
Index 3: Device type
Index 4: Firmware version.
Index 5: Firmware date (year).
Index 6: Firmware date (day/month).
Description: Connector output to interconnect PZD (setpoints) with double word format received from the PROFIBUS master.
r2056[0...19] PROFIBUS diagnostics expert / PB diag experts
- - -
r2057 PROFIBUS address switch, diagnostics / PB addr diagn
- - -
r2058[0...139] COMM INT receive configuration data / C INT E_config_dat
- - -
r2059[0...7] COMM INT identification data / C INT ident_dat
- - -
r2060[0...14] CO: PROFIBUS PZD receive double word / PB PZD recv DW
2460
- - -
Parameters
List of parameters
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
Description: Connector output to interconnect PZD (setpoints) with double word format received from the PROFIBUS master.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
r2060[0...30] CO: PROFIBUS PZD receive double word / PB PZD recv DW
2460
- - -
List of parameters
Parameters
Description: Selects the PZD (actual values) with double word format to be sent to the PROFIBUS master.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
Description: Selects the PZD (actual values) with double word format to be sent to the PROFIBUS master.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
p2061[0...14] CI: PROFIBUS PZD send double word / PB PZD send DW
SERVO, TM41 Can be changed: U, T Access level: 3
- - 0
p2061[0...30] CI: PROFIBUS PZD send double word / PB PZD send DW
- - 0
Parameters
List of parameters
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
Description: Displays the PZD (actual values) with double word format sent to the PROFIBUS master.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
r2063[0...14] PROFIBUS diagnostics PZD send double word / PB diag send DW
2470
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
16 Bit 16 On Off -
17 Bit 17 On Off -
18 Bit 18 On Off -
19 Bit 19 On Off -
20 Bit 20 On Off -
21 Bit 21 On Off -
List of parameters
Parameters
Description: Displays the PZD (actual values) with double word format sent to the PROFIBUS master.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
22 Bit 22 On Off -
23 Bit 23 On Off -
24 Bit 24 On Off -
25 Bit 25 On Off -
26 Bit 26 On Off -
27 Bit 27 On Off -
28 Bit 28 On Off -
29 Bit 29 On Off -
30 Bit 30 On Off -
31 Bit 31 On Off -
r2063[0...30] PROFIBUS diagnostics PZD send double word / PB diag send DW
2470
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
Parameters
List of parameters
Description: Displays the last parameter received from the PROFIBUS master for clock synchronism.
The parameters for clock synchronism are created when configuring the bus and are transferred at the start of
cyclic operation from the PROFIBUS master to the slave.
Index: [0] = Clock synchronous mode activated
[1] = Bus cycle time (Tdp) [s]
[2] = Master cycle time (Tmapc) [s]
[3] = Instant of actual value acquisition (Ti) [s]
[4] = Instant of setpoint acquisition (To) [s]
[5] = Data exchange interval (Tdx) [s]
[6] = PLL window (Tpll-w) [1/12 s]
[7] = PLL delay time (Tpll-d) [1/12 s]
Description: Displays how often the sign-of-life from the clock synchronous PROFIBUS master failed. An appropriate fault is out-
put when the tolerance, specified in p0925, is exceeded.
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
16 Bit 16 On Off -
17 Bit 17 On Off -
18 Bit 18 On Off -
19 Bit 19 On Off -
20 Bit 20 On Off -
21 Bit 21 On Off -
22 Bit 22 On Off -
23 Bit 23 On Off -
24 Bit 24 On Off -
25 Bit 25 On Off -
26 Bit 26 On Off -
27 Bit 27 On Off -
28 Bit 28 On Off -
29 Bit 29 On Off -
30 Bit 30 On Off -
31 Bit 31 On Off -
r2064[0...7] PROFIBUS diagnostics clock synchronous mode / PB diag clock sync
- - -
r2065 PROFIBUS master sign-of-life, diagnostics / PB master SoL diag
CU_S, SERVO,
TM41, VECTOR
(n/M)
- - -
List of parameters
Parameters
Description: PROFIBUS address of sender from which the PZD is received.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Note: Value range:
0 - 125: Bus address of the sender
255: Not occupied
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Note: Value range:
255: Not occupied
r2074[0...4] PROFIBUS diagnostics bus address PZD receive / PB diag addr recv
A_INF, B_INF,
CU_S, S_INF, TB30,
TM15DI_DO, TM31
- - -
- - -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Note: Value range:
255: Not occupied
- - -
List of parameters
Parameters
Description: PZD byte offset in the PROFIBUS receive telegram (master output).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Note: Value range:
0 - 242: Byte offset
255: Not occupied
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Note: Value range:
255: Not occupied
r2075[0...4] PROFIBUS diagnostics telegram offset PZD receive / PB diag offs recv
A_INF, B_INF,
CU_S, S_INF, TB30,
TM15DI_DO, TM31
- - -
- - -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Note: Value range:
255: Not occupied
Description: PZD byte offset in the PROFIBUS send telegram (master input).
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
- - -
r2076[0...6] PROFIBUS PZD diagnostics telegram offset send / PB diag offs send
- - -
List of parameters
Parameters
Note: Value range:
255: Not occupied
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
Note: Value range:
255: Not occupied
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
Note: Value range:
255: Not occupied
A_INF, B_INF,
S_INF, TB30,
TM15DI_DO, TM31
- - -
- - -
Parameters
List of parameters
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
Note: Value range:
255: Not occupied
Description: Displays the addresses of the slaves (peers) where peer-to-peer data transfer has been configured via PROFIBUS.
- - -
r2077[0...15] PROFIBUS diagnostics peer-to-peer data transfer addresses / PB diag peer addr
- - -
List of parameters
Parameters
Description: Sets the send and receive telegram for PROFIBUS. Contrary to p922, a telegram can be selected using p2079 and
subsequently expanded.
If, with p922, a value not equal to 999 is set, then p2079 has the same value and is inhibited. All of the interconnec-
tions contained in the telegram are inhibited. Also expansions are inhibited.
If p922 is set to 999, then p2079 can be freely set. If p2079 is also set to 999, then all of the interconnections can be
set.
If p922 = 999, and with p2079, a value is set that is not equal to 999, then the interconnections contained in the tele-
gram are inhibited, but the telegram can be expanded.
For p0922 < 999 the following applies:
p2079 has the same value and is inhibited. All of the interconnections and extensions contained in the telegram are
inhibited.
For p0922 = 999 the following applies:
p2079 can be freely set. If p2079 is also set to 999, then all of the interconnections can be set.
For p0922 = 999 and p2079 < 999 the following applies:
The interconnections contained in the telegram are inhibited. However, the telegram can be extended.
inhibited.
p2079 PROFIBUS PZD telegram selection extended / PB PZD tlg exten.
390 999 999
A_INF, B_INF,
S_INF
370 999 999
2 999 999
Parameters
List of parameters
inhibited.
Values: 999: Free telegram configuration with BICO
inhibited.
SERVO (Pos ctrl) Can be changed: T Access level: 3
999 999 999
SERVO (EPOS),
VECTOR (EPOS)
7 999 999
List of parameters
Parameters
inhibited.
inhibited.
SERVO (Extended
setp.)
1 999 999
1 999 999
Parameters
List of parameters
inhibited.
inhibited.
1 999 999
VECTOR (Pos ctrl) Can be changed: T Access level: 3
2 999 999
List of parameters
Parameters
inhibited.
Description: Selects bits to be sent to the PROFIBUS master. The individual bits are combined to form status word 1.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
3 999 999
p2080[0...15] BI: PROFIBUS send status word 1 / PB STW1 bit sel.
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0
Parameters
List of parameters
Description: Selects bits to be sent to the PROFIBUS master. The individual bits are combined to form status word 2.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Note: When using the clock synchronous (isosynchronous) PROFIBUS with sign-of-life in status word 2, bit 12 to 15 are
reserved to transfer the sign-of-life and may not be freely interconnected.
Description: Selects bits to be sent to the PROFIBUS master. The individual bits are combined to form free status word 3.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
p2081[0...15] BI: PROFIBUS send status word 2 / PB STW2 bit sel.
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0
p2082[0...15] BI: PROFIBUS send free status word 3 / PB ZSW3 bit sel.
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0
List of parameters
Parameters
Description: Selects bits to be sent to the PROFIBUS master. The individual bits are combined to form free status word 4.
Index: [0] = Bit 0
[1] = Bit 1
[2] = Bit 2
[3] = Bit 3
[4] = Bit 4
[5] = Bit 5
[6] = Bit 6
[7] = Bit 7
[8] = Bit 8
[9] = Bit 9
[10] = Bit 10
[11] = Bit 11
[12] = Bit 12
[13] = Bit 13
[14] = Bit 14
[15] = Bit 15
Description: Setting to invert the individual binector inputs of the binector connector converter.
Index: [0] = Status word 1
[1] = Status word 2
[2] = Free status word 3
p2083[0...15] BI: PROFIBUS send free status word 4 / PB ZSW4 bit sel.
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0
p2088[0...3] PROFIBUS invert status word / Invert PB ZSW
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0000 bin
00 Bit 0 Inverted Not inverted -
Parameters
List of parameters
Description: Connector output to interconnect the status words to a PROFIBUS PZD send word.
Index: [0] = Status word 1
[1] = Status word 2
Note: r2089 together with p2080 to p2083 forms four binector-connector converters.
Description: Binector output for bit-serial interconnection of PZD1 (normally control word 1) received from the PROFIBUS mas-
ter.
r2089[0...3] CO: PROFIBUS send status word / Send PB ZSW
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - -
r2090 BO: PROFIBUS PZD1 receive bit-serial / PB PZD1 recv bitw
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
List of parameters
Parameters
Description: Binector output for bit-serial interconnection of PZD2 received from the PROFIBUS master.
Description: Binector output for bit-serial interconnection of PZD3 received from the PROFIBUS master.
r2091 BO: PROFIBUS PZD2 received bit-serial / PB PZD2 recv bitw
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
SERVO, TM41, VEC-
TOR
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
Parameters
List of parameters
Description: Binector output for bit-serial interconnection of PZD4 (normally control word 2) received from the PROFIBUS mas-
ter.
Description: Binector output for bit-serial onward interconnection of a PZD word received from the PROFIBUS master . The PZD
is selected via p2099[0].
SERVO, TM41, VEC-
TOR
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
r2094 BO: PROFIBUS PZD received bit-serial / PB PZD recv bitw
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
List of parameters
Parameters
Description: Binector output for bit-serial interconnection of a PZD word received from the PROFIBUS master. The PZD is
selected via p2099[1].
r2095 BO: PROFIBUS PZD received bit-serial / PB PZD recv bitw
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
Parameters
List of parameters
Description: Setting to invert the individual binector outputs of the connector-binector converter.
Using p2098[0], the signals of CI: p2099[0] are influenced.
Using p2098[1], the signals of CI: p2099[1] are influenced.
Dependency: Refer to: r2094, r2095, p2099
Note: Bit x = 1: Inverts the appropriate binector output.
Bit x = 0: No inversion.
Description: Selects a PROFIBUS PZD receive word for bit-serial interconnection.
Note: p2099 together with r2094 and r2095 forms two connector-binector converters:
Connector input p2099[0] to binector outputs in r2094
Connector input p2099[1] to binector outputs in r2095
p2098[0...1] Invert connector-binector converter bit-serial / CI_BO conv inv
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0000 bin
p2099[0...1] CI: PROFIBUS PZD selection receive bit-serial / Select CO_BO conv
A_INF, B_INF,
CU_S, SERVO,
S_INF, TB30,
TM15DI_DO, TM31,
TM41, VECTOR
- - 0
List of parameters
Parameters
Description: Selects the faults for which the fault response should be changed
Dependency: The fault is selected and the required response is set under the same index.
Refer to: p2101
Notice: For the following cases, it is not possible to re-parameterize the fault response to a fault:
- if there is no existing fault number.
- the message type is not "fault" (F).
- when a fault is present.
p2100[0...19] Setting the fault number for fault response / F_no F response
8075
0 65535 [0] 0
[1] 0
[2] 0
[3] 0
[4] 0
[5] 0
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
Parameters
List of parameters
Description: Sets the fault response for the selected fault.
Values: 0: NONE
p2101[0...19] Setting the fault response / Fault response
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
8075
0 0 [0] 0
[1] 0
[2] 0
[3] 0
[4] 0
[5] 0
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
A_INF, B_INF,
S_INF
8075
0 2 [0] 0
[1] 0
[2] 0
[3] 0
[4] 0
[5] 0
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
List of parameters
Parameters
Values: 0: NONE
1: OFF1
2: OFF2
Values: 0: NONE
1: OFF1
2: OFF2
3: OFF3
4: STOP1 (being developed)
5: STOP2
6: DCBRAKE (being developed)
7: ENCODER (p0491)
Refer to: p2100
Notice: It is not possible to re-parameterize the response to a specific fault for faults that are already present (queued).
Note: OFF1:
Braking along the ramp-function generator down ramp followed by a pulse inhibit.
OFF2:
Internal/external pulse inhibit.
OFF3:
Braking along the OFF3 down ramp followed by a pulse inhibit.
STOP2:
n_set = 0
The fault response can only be changed for faults with the appropriate identification.
Example:
F12345 and fault response = NONE (OFF1, OFF2) --> The NONE fault response can be changed to either OFF1 or
OFF2.
SERVO, TM41, VEC-
TOR
8075
0 7 [0] 0
[1] 0
[2] 0
[3] 0
[4] 0
[5] 0
[6] 0
[7] 0
[8] 0
[9] 0
[10] 0
[11] 0
[12] 0
[13] 0
[14] 0
[15] 0
[16] 0
[17] 0
[18] 0
[19] 0
Parameters
List of parameters
Description: Sets the signal source to acknowledge all faults at all drive objects of the drive system.
Note: A fault acknowledgment is triggered with a 0/1 signal.
Description: Sets the first signal source to acknowledge faults.
Description: Sets the first signal source to acknowledge faults.
Description: Sets the second signal source to acknowledge faults.
Description: Sets the second signal source to acknowledge faults.
p2102 BI: Acknowledge all faults / Ackn all faults
8060
- - 0
p2103 BI: 1. Acknowledge faults / 1. Acknowledge
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 0
p2103[0...n] BI: 1. Acknowledge faults / 1. Acknowledge
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
2442, 2443, 2448, 2475, 2546,
8060, 9220
- - 0
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 0
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
8060
- - 0
List of parameters
Parameters
Description: Sets the third signal source to acknowledge faults.
Description: Sets the third signal source to acknowledge faults.
Description: Sets the signal source for external fault 1.
Note: An external fault is triggered with a 1/0 signal.
If this fault is output at the Control Unit, then it is transferred to all existing drive objects.
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 0
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
8060
- - 0
p2106 BI: External fault 1 / External fault 1
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 1
p2106[0...n] BI: External fault 1 / External fault 1
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 1
Parameters
List of parameters
External fault 3 is initiated by the following AND logic operation:
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 1
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 1
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 1
List of parameters
Parameters
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Displays the system runtime in milliseconds when the fault was removed.
Description: This parameter is identical to r2122.
Description: Number of alarms that have occurred after the last reset.
Dependency: When p2111 is set to 0, the following is initiated:
- all of the alarms of the alarm buffer that have gone [0...7] are transferred into the alarm history [8...63].
- the alarm buffer [0...7] is deleted.
Refer to: r2110, r2122, r2123, r2124, r2125
Note: The parameter is reset to 0 at POWER ON.
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 1
r2109[0...63] Fault time removed in milliseconds / t_flt resolved ms
8060
- [ms] - [ms] - [ms]
r2110[0...63] Alarm number / Alarm number
- - -
p2111 Alarm counter / Alarm counter
8065
0 65535 0
Parameters
List of parameters
Description: Sets the signal source for external alarm 1.
Dependency: Refer to: A07850
Note: An external alarm is triggered with a 1/0 signal.
Description: Displays the total system runtime for the drive unit.
Index 0 indicates the system runtime in milliseconds after reaching 86.400.000 ms (24 hours), the value is reset.
Index 1 indicates the system runtime in days.
Note: The time in r2114 is used to display the fault and alarm times.
At power-off the counter value is saved.
After the drive unit is powered-up, the counter continues to run with the value that was saved the last time that the
drive unit was powered-down.
p2112 BI: External alarm 1 / External alarm 1
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 1
p2112[0...n] BI: External alarm 1 / External alarm 1
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 1
r2114[0...1] System runtime total / t_System total
- - -
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 1
List of parameters
Parameters
Description: Selects faults or alarms for which the message type should be changed.
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
Refer to: p2119
Notice: It is not possible to re-parameterize the message type in the following cases:
- if there is no existing message number.
- if a message is present.
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 1
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 1
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 1
p2118[0...19] Sets the message number for message type. / Msg_no Msg_type
8075
0 65535 0
Parameters
List of parameters
Description: Sets the message type for the selected fault or alarm.
Values: 1: Fault (F)
2: Alarm (A)
3: No message (N)
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
Refer to: p2118
Notice: It is not possible to re-parameterize the message type for the existing faults or alarms.
Note: The message type can only be changed for messages with the appropriate identification.
Example:
F12345(A) --> Fault F12345 can be changed to alarm A12345.
In this case, the message number that may be possibly entered in p2100[0...19] and p2126[0...19] is automatically
removed.
Description: Displays the sum of all of the fault and alarm buffer changes in the drive unit.
Description: This counter is incremented every time the alarm buffer changes.
p2119[0...19] Setting the message type / Message type
8075
1 3 1
r2120 Sum of fault and alarm buffer changes / Sum buffer changed
- - -
r2121 Counter, alarm buffer changes / Alrm buff changed
- - -
List of parameters
Parameters
Description: Displays the number of alarms that have occurred.
Alarm buffer structure (general principle):
r2122[0], r2124[0], r2123[0], r2125[0] --> alarm 1 (the oldest)
.
.
.
r2122[7], r2124[7], r2123[7], r2125[7] --> Alarm 8 (the latest)
When the alarm buffer is full, the alarms that have gone are entered into the alarm history:
r2122[8], r2124[8], r2123[8], r2125[8] --> Alarm 1 (the latest)
.
.
.
r2122[63], r2124[63], r2123[63], r2125[63] --> alarm 56 (the oldest)
Description: Displays the system runtime in milliseconds when the alarm occurred.
Description: Displays additional information about the active alarm (as integer number).
r2122[0...63] Alarm code / Alarm code
8065
- - -
r2123[0...63] Alarm time received in milliseconds / t_alarm recv ms
8065
- - -
r2124[0...63] Alarm value / Alarm value
8065
- - -
Parameters
List of parameters
Description: Displays the system runtime in milliseconds when the alarm was cleared.
Description: Selects the faults for which the acknowledge mode is to be changed
Dependency: Selects the faults and sets the required acknowledge mode realized under the same index
Refer to: p2127
Notice: It is not possible to re-parameterize the acknowledge mode of a fault in the following cases:
Description: Sets the acknowledge mode for selected fault.
Values: 1: Acknowledgment only using POWER ON
2: IMMEDIATE acknowledged after the fault cause has been removed
3: Acknowledgement only for PULSE INHIBIT
Dependency: Selects the faults and sets the required acknowledge mode realized under the same index
Refer to: p2126
Notice: It is not possible to re-parameterize the acknowledge mode of a fault in the following cases:
Note: The acknowledge mode can only be changed for faults with the appropriate identification.
Example:
F12345 and acknowledge mode = POWER ON (IMMEDIATELY) --> The acknowledge mode can be changed from
POWER ON to IMMEDIATELY.
r2125[0...63] Alarm time removed in milliseconds / t_alarm res ms
8065
- - -
p2126[0...19] Setting fault number for acknowledge mode / Fault_no ackn_mode
8075
0 65535 0
p2127[0...19] Sets acknowledgment mode / Acknowledge mode
8075
1 3 1
List of parameters
Parameters
Description: Selects faults or alarms which can be used as trigger.
Description: Trigger signal for the selected faults and alarms
Dependency: If one of the faults or alarms selected in p2128[n] occurs, then the particular bit of this binector output is set.
Refer to: p2128
Note: CO: r2129 = 0 --> None of the selected messages has occurred.
CO: r2129 > 0 --> At least one of the selected messages has occurred.
Description: Displays the system runtime in days when the fault occurred.
p2128[0...15] Selecting fault/alarm code for trigger / Message trigger
8070
0 65535 0
r2129 CO/BO: Trigger word for faults and alarms / Trigger word
8070
- - 0000 bin
00 Trigger signal p2128[0] On Off -
r2130[0...63] Fault time received in days / t_fault recv days
- - -
Parameters
List of parameters
Description: Displays the code of the oldest active fault.
Note: 0: No fault present.
Description: Displays the code of the last alarm that occurred.
Note: 0: No alarm present.
Description: Displays additional information about the fault that occurred for float values.
Description: Displays additional information about the active alarm for float values.
r2131 CO: Actual fault code / Actual fault code
- - -
r2132 CO: Actual alarm code / Actual alarm code
- - -
r2133[0...63] Fault value for float values / Fault val float
- - -
r2134[0...63] Alarm value for float values / Alarm value float
- - -
List of parameters
Parameters
Description: Displays the second status word of faults and alarms.
Description: Displays the second status word of faults and alarms.
Description: Displays the system runtime in days when the fault was removed.
r2135 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2
A_INF, B_INF,
CU_LINK, CU_S,
DMC20, SERVO,
S_INF, TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41
2548
- - 0000 bin
00 Fault, encoder 1 Yes No -
10 Fault transformer overtemperature Yes No -
11 Alarm, transformer overtemperature Yes No -
12 Fault motor overtemperature Yes No -
13 Fault thermal overload power unit Yes No -
14 Alarm, motor overtemperature Yes No -
15 Alarm, power unit thermal overload Yes No -
2548
- - 0000 bin
12 Fault motor overtemperature Yes No -
13 Fault thermal overload power unit Yes No -
14 Alarm, motor overtemperature Yes No -
15 Alarm, power unit thermal overload Yes No -
r2136[0...63] Fault time removed in days / t_flt resolv. days
- - -
Parameters
List of parameters
Description: Displays the control word of the faults and alarms.
Dependency: Refer to: p2103, p2104, p2105, p2106, p2107, p2108, p2112, p2116, p2117, p3110, p3111, p3112
Description: Displays the first status word of faults and alarms.
Note: Re bit 03, 07:
These bits are set if at least one fault/alarm occurs. Data is entered into the fault/alarm buffer with delay. This is the
reason that the fault/alarm buffer should only be read if, after "fault present"/"alarm present" has occurred, a change
in the buffer was also detected (r0944, r2121).
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| < = speed threshold value 2" (BO: r2197.1)
"|n_act| > speed threshold value 2" (BO: r2197.2)
r2138 CO/BO: Control word faults/alarms / STW fault/alarm
2546
- - 0000 bin
07 Acknowledge fault Yes (0/1 edge) No -
10 External alarm 1 (A07850) No Yes (1/0 edge) -
13 External fault 1 (F07860) No Yes (1/0 edge) -
2548
- - 0000 bin
00 Ackn. running Yes No -
06 Internal message 1 present Yes No -
08 Internal message 2 present Yes No -
p2140[0...n] Hysteresis speed 2 / n_hysteresis 2
P-Group: Messages Units group: 3_1 Unit selection: p0505
0.00 [1/min] 300.00 [1/min] 90.00 [1/min]
List of parameters
Parameters
Description: Sets the hysteresis velocity (bandwidth) for the following signals:
Description: Sets the speed threshold value for the signal "f or n comparison value reached or exceeded" (BO: r2199.1).
Description: Sets the velocity threshold value for the signal "f or n comparison value reached or exceeded" (BO: r2199.1).
Description: Sets the hysteresis speed (bandwidth) for the signal "f or n / v comparison value reached or exceeded" (BO:
r2199.1).
Description: Sets the hysteresis velocity (bandwidth) for the signal "f or n / v comparison value reached or exceeded" (BO:
r2199.1).
p2140[0...n] Hysteresis velocity 2 / v_hysteresis 2
0.00 [m/min] 10.00 [m/min] 0.90 [m/min]
p2141[0...n] Speed threshold 1 / n_thresh val 1
0.00 [1/min] 210000.00 [1/min] 5.00 [1/min]
p2141[0...n] Velocity threshold value 1 / v_thresh val 1
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
0.00 [1/min] 300.00 [1/min] 2.00 [1/min]
0.00 [m/min] 10.00 [m/min] 0.02 [m/min]
Parameters
List of parameters
Description: Displays the system runtime in days when the alarm occurred.
Description: Displays the system runtime in days when the alarm was cleared.
Description: Is used to delete (clear) the fault buffer of all of the existing drive objects.
1: Start to delete the fault buffer of all drive objects
Note: p2147 is automatically set to 0 after execution.
Description: Sets the signal source for the signal "ramp-function generator active" for the following signals/messages:
"Speed setpoint - actual value deviation within tolerance t_on" (BO: r2199.4)
"Ramp-up/ramp-down completed" (BO: r2199.5)
Note: The binector input is automatically pre-assigned to r1199.2.
The pre-assignment is only made when the function module "setpoint channel" is activated (r0108.8 = 1).
r2145[0...63] Alarm time received in days / t_alarm recv days
- - -
r2146[0...63] Alarm time removed in days / t_alarm res days
- - -
p2147 Delete fault buffer of all drive objects / Del fault buffer
0 1 0
p2148[0...n] BI: Ramp-function generator active / HLG active
- - 0
List of parameters
Parameters
Description: Configuration word for messages and monitoring functions.
Refer to: A07903
Note: Re bit 00:
Alarm A07903 is output when the bit is set with p2197.7 = 0 (n_set <> n_act).
Re bit 01:
When the bit is set, the load monitoring is only carried-out in the 1st quadrant as a result of the positive characteris-
tic parameters (p2182 ... p2190).
Description: Configuration word for messages and monitoring functions.
Refer to: A07903
Note: Re bit 00:
Alarm A07903 is output when the bit is set with p2197.7 = 0 (n_set <> n_act).
Re bit 01:
When the bit is set, the load monitoring is only carried-out in the 1st quadrant as a result of the positive characteris-
tic parameters (p2182 ... p2190).
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| < speed threshold value 3" (BO: r2199.0)
"n_set >= 0" (BO: r2198.5)
"n_act >= 0" (BO: r2197.3)
p2149[0...n] Monitoring, configuration / Monit config
- - 0000 bin
00 Enable alarm A07903 Yes No 8010
01 Load monitoring only in the 1st quadrants Yes No 8010
- - 0001 bin
00 Enable alarm A07903 Yes No 8010
01 Load monitoring only in the 1st quadrants Yes No 8010
0.00 [1/min] 300.00 [1/min] 2.00 [1/min]
Parameters
List of parameters
Description: Sets the hysteresis velocity (bandwidth) for the following signals:
"|n_act| < speed threshold value 3" (BO: r2199.0)
"n_set >= 0" (BO: r2198.5)
"n_act >= 0" (BO: r2197.3)
Description: Sets the signal source for the speed setpoint for the following messages:
"Speed setpoint - actual value deviation within tolerance t_off" (BO: r2197.7)
"|n_set| < p2161" (BO: r2198.4)
"n_set > 0" (BO: r2198.5)
Description: Sets the signal source for the speed setpoint for the following messages:
"|n_set| < p2161" (BO: r2198.4)
"n_set > 0" (BO: r2198.5)
Description: Sets the time constant of the PT1 element to smooth the speed / velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and sig-
nals.
0.00 [m/min] 3.00 [m/min] 0.02 [m/min]
p2151[0...n] CI: Speed setpoint for messages/signals / n_set for msg
- - 1438[0]
- - 1170[0]
p2153[0...n] Speed actual value filter time constant / n_act_filt T
0 [ms] 1000000 [ms] 0 [ms]
List of parameters
Parameters
Description: Sets the signal source for speed setpoint 2.
The sum of CI: p2151 and CI: p2154 is used for the following messages/signals:
"Speed setpoint - actual value deviation within tolerance t_on" (BO: r2199.4)
Description: Sets the speed threshold value for the following messages:
Description: Sets the velocity threshold value for the following messages:
Description: Sets the switch-in delay time for the signal "comparison value reached" (BO: r2199.1).
p2154[0...n] CI: Speed setpoint 2 / n_set 2
- - 0
0.00 [1/min] 210000.00 [1/min] 900.00 [1/min]
0.00 [m/min] 1000.00 [m/min] 9.00 [m/min]
p2156[0...n] On delay, comparison value reached / t_on cmpr val rchd
0.0 [ms] 10000.0 [ms] 0.0 [ms]
Parameters
List of parameters
Description: Sets the speed threshold value for the signal "|n_act| < speed threshold value 3" (BO: r2199.0).
Description: Sets the velocity threshold value for the signal "|v_act| < velocity threshold value 3" (BO: r2199.0).
Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max" (BO: r2197.6).
Notice: For p0322 = 0, the following applies: p2162 <= 0.1 * p0311
For p0322 > 0, the following applies: p1082 + p2162 <= 1.02 * p0322
If one of the conditions is violated, p2162 is appropriately and automatically reduced when exiting the commission-
ing mode.
Note: For a negative speed limit (r1087) the hysteresis is effective below the limit value and for a positive speed limit
(r1084) above the limit value.
Description: Sets the hysteresis velocity (bandwidth) for the signal "v_act > v_max" (BO: r2197.6).
Notice: For p0322 = 0, the following applies: p2162 <= 0.1 * p0311
For p0322 > 0, the following applies: p1082 + p2162 <= 1.02 * p0322
If one of the conditions is violated, p2162 is appropriately and automatically reduced when exiting the commission-
ing mode.
Note: For a negative velocity limit (r1087) the hysteresis is effective below the limit value and for a positive velocity limit
(r1084) above the limit value.
0.00 [1/min] 210000.00 [1/min] 5.00 [1/min]
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
p2162[0...n] Hysteresis speed n_act > n_max / Hyst n_act>n_max
0.00 [1/min] 60000.00 [1/min] 0.00 [1/min]
p2162[0...n] Hysteresis velocity v_act > v_max / Hyst v_act>v_max
0.00 [m/min] 1000.00 [m/min] 6.00 [m/min]
List of parameters
Parameters
Description: Sets the speed threshold value for the "speed setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
Description: Sets the velocity threshold value for the "speed setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
Description: Sets the hysteresis speed (bandwidth) for the "speed setpoint - actual value deviation in tolerance t_off" signal/mes-
sage (BO: r2197.7).
Description: Sets the hysteresis velocity (bandwidth) for the "speed setpoint - actual value deviation in tolerance t_off" sig-
nal/message (BO: r2197.7).
Description: Sets the power-off delay time for the "speed setpoint - actual value deviation in tolerance t_off" signal/message
(BO: r2197.7).
0.00 [1/min] 210000.00 [1/min] 90.00 [1/min]
0.00 [m/min] 1000.00 [m/min] 0.90 [m/min]
0.00 [1/min] 200.00 [1/min] 2.00 [1/min]
0.00 [m/min] 10.00 [m/min] 0.02 [m/min]
p2166[0...n] Off delay n_act = n_set / t_del_off n_i=n_so
0.0 [ms] 10000.0 [ms] 200.0 [ms]
Parameters
List of parameters
Description: Sets the switch-in delay for the "speed setpoint - actual value deviation in tolerance t_on" signal/message (BO:
r2199.4).
Description: Displays the smoothed actual speed for messages/signals.
Description: Displays the smoothed actual velocity for messages/signals.
Description: Sets the torque threshold value for the signal "Torque setpoint < torque threshold value 1" (BO: r2198.10).
Description: Sets the force threshold value for the signal "Torque setpoint < torque threshold value 1" (BO: r2198.10).
p2167[0...n] Switch-on delay n_act = n_set / t_on n_act=n_set
0.0 [ms] 10000.0 [ms] 200.0 [ms]
r2169 CO: Speed actual value smoothed signals / n_act smth message
8010, 8012, 8013
- [1/min] - [1/min] - [1/min]
r2169 CO: Velocity actual value, smoothed signals / v_act smth message
8010, 8012, 8013
p2174[0...n] Torque threshold value 1 / M_thresh val 1
0.00 [Nm] 99999.00 [Nm] 5.13 [Nm]
p2174[0...n] Force threshold value 1 / F_thresh val 1
0.00 [N] 99999.00 [N] 1000.00 [N]
List of parameters
Parameters
Description: Sets the speed threshold for the message "Motor locked" (BO: r2198.6).
Description: Sets the velocity threshold for the message "Motor locked" (BO: r2198.6).
Description: Sets the delay time for the message "Motor locked" (BO: r2198.6).
If "Motor locked" is identified within this time, then ZSW2.6 is set and an appropriate fault is output.
Description: Sets the delay time for the message "Motor stalled" (BO: r2198.7).
If "Motor stalled" is identified within this time, then ZSW2.7 is set and an appropriate fault is output.
p2175[0...n] Motor locked speed threshold / Mot lock n_thresh
0.00 [1/min] 210000.00 [1/min] 120.00 [1/min]
p2175[0...n] Motor locked, velocity threshold / Mot lock v_thresh
0.00 [m/min] 1000.00 [m/min] 1.20 [m/min]
p2177[0...n] Motor locked delay time / Mot lock t_del
0.000 [s] 65.000 [s] 1.000 [s]
p2178[0...n] Motor stalled delay time / Mot stall t_del
0.000 [s] 10.000 [s] 0.010 [s]
Parameters
List of parameters
Description: Sets the response when evaluating the load monitoring.
Values: 0: Load monitoring disabled
1: A07920 for torque/speed too low
2: A07921 for torque/speed too high
3: A07922 for torque/speed out of tolerance
4: F07923 for torque/speed too low
5: F07924 for torque/speed too high
6: F07925 for torque/speed out of tolerance
Dependency: Refer to: p2182, p2183, p2184, p2185, p2186, p2187, p2188, p2189, p2190, r2198
Refer to: A07920, A07921, A07922, F07923, F07924, F07925
Note: The response to the faults F07923 ... F07925 can be set.
Description: Sets the speed/torque envelop curve for the load monitoring.
The envelope curve (upper and lower envelope curve) is defined as follows based on 3 speed thresholds:
p2182 (n_threshold 1) --> p2185 (M_threshold 1, upper), p2186 (M_threshold 1, lower)
Dependency: The following applies: p2182 < p2183 < p2184
Refer to: p2183, p2184, p2185, p2186
Refer to: A07926
Refer to: p2183, p2184, p2185, p2186
Refer to: A07926
p2181[0...n] Load monitoring, response / Load monit. resp.
SERVO (Extended
msg), VECTOR
(Extended msg)
0 6 0
p2182[0...n] Load monitoring, speed threshold value 1 / n_thresh 1
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [1/min] 210000.00 [1/min] 150.00 [1/min]
p2182[0...n] Load monitoring, velocity threshold 1 / n_thresh 1
SERVO (Extended
msg, Lin)
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
List of parameters
Parameters
Refer to: p2182, p2184, p2187, p2188
Refer to: A07926
Refer to: p2182, p2184, p2187, p2188
Refer to: A07926
Refer to: p2182, p2183, p2189, p2190
Refer to: A07926
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [1/min] 210000.00 [1/min] 900.00 [1/min]
SERVO (Extended
msg, Lin)
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [1/min] 210000.00 [1/min] 1500.00 [1/min]
Parameters
List of parameters
Refer to: p2182, p2183, p2189, p2190
Refer to: A07926
Description: Sets the speed/torque / velocity/force envelope curve for the load monitoring.
Dependency: The following applies: p2185 > p2186
Refer to: A07926
Note: The upper envelope curve is defined by p2185, p2187 and p2189.
Refer to: A07926
Dependency: The following applies: p2186 < p2185
Refer to: p2182, p2185, Refer to: A07926
Note: The lower envelope curve is defined by p2186, p2188 and p2190.
SERVO (Extended
msg, Lin)
0.00 [m/min] 1000.00 [m/min] 0.05 [m/min]
p2185[0...n] Load monitoring torque threshold 1, upper / M_thresh 1 upper
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [Nm] 99999.00 [Nm] 99999.00 [Nm]
p2185[0...n] Load monitoring force threshold 1, upper / M_thresh 1 upper
SERVO (Extended
msg, Lin)
0.00 [N] 100000.00 [N] 100000.00 [N]
p2186[0...n] Load monitoring torque threshold 1, lower / M_thresh 1 lower
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [Nm] 99999.00 [Nm] 0.00 [Nm]
List of parameters
Parameters
Refer to: A07926
Refer to: A07926
Refer to: A07926
Refer to: A07926
p2186[0...n] Load monitoring force threshold 1, lower / M_thresh 1 lower
SERVO (Extended
msg, Lin)
0.00 [N] 100000.00 [N] 0.00 [N]
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [Nm] 99999.00 [Nm] 99999.00 [Nm]
SERVO (Extended
msg, Lin)
0.00 [N] 100000.00 [N] 100000.00 [N]
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [Nm] 99999.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
Refer to: A07926
Refer to: A07926
Refer to: A07926
Refer to: A07926
SERVO (Extended
msg, Lin)
0.00 [N] 100000.00 [N] 0.00 [N]
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [Nm] 99999.00 [Nm] 99999.00 [Nm]
SERVO (Extended
msg, Lin)
0.00 [N] 100000.00 [N] 100000.00 [N]
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [Nm] 99999.00 [Nm] 0.00 [Nm]
List of parameters
Parameters
Refer to: A07926
Description: Sets the delay time to evaluate the load monitoring.
Description: Sets the torque/force threshold value for the signal "Torque utilization < torque threshold value 2" (BO: r2199.11).
The message "torque setpoint < p2174" (BO: r2198.10) and "torque utilization < p2194" (BO: r2199.11) are only
evaluated after the run-up and the delay time has expired.
Description: Sets the power-down delay time for the negated signal "run-up completed".
The message "torque setpoint < p2174" (BO: r2198.10) and "torque utilization < p2194" (BO: r2199.11) are only
evaluated after the run-up and the delay time has expired.
Description: Displays the first status word for monitoring functions.
SERVO (Extended
msg, Lin)
0.00 [N] 100000.00 [N] 0.00 [N]
p2192[0...n] Load monitoring, delay time / Load monit t_del
SERVO (Extended
msg), VECTOR
(Extended msg)
0.00 [s] 65.00 [s] 10.00 [s]
0.00 [%] 100.00 [%] 90.00 [%]
p2195[0...n] Torque utilization switch-off delay / M_util t_off
0.0 [ms] 1000.0 [ms] 800.0 [ms]
r2197 CO/BO: Status word monitoring 1 / ZSW monitor 1
2534
- - 0000 bin
Parameters
List of parameters
The speed threshold value 2 is set in p2155.
Description: Displays the second status word for monitoring functions.
Note: Re bit 10:
The torque threshold value 1 is set in p2174.
Re bit 07:
For servo drives, bit 07 is not used and is always inactive.
Description: Displays the third status word for monitoring functions.
Note: Re bit 00:
The speed threshold value 3 is set in p2161.
Re bit 01:
The comparison value is set in p2141.
Re bit 11:
The torque threshold value 2 is set in p2194.
01 |n_act| <= speed threshold value 2 Yes No 8010
02 |n_act| > speed threshold value 2 Yes No 8010
03 n_act >= 0 Yes No 8010
06 |n_act| > n_max Yes No 8010
07 Speed setp - act val deviation in tolerance
t_off
Yes No 8010
2536
- - 0000 bin
04 |n_set| < p2161 Yes No 8010
05 n_set > 0 Yes No 8010
06 Motor locked Yes No 8012
07 Motor stalled Yes No 8012
10 Torque setpoint < torque threshold value 1 Yes No 8012
11 Load monitoring signals an alarm Yes No 8013
12 Load monitoring signals a fault condition Yes No 8013
2536
- - 0000 bin
00 |n_act| < speed threshold value 3 Yes No 8010
01 f or n comparison value reached or
exceeded
Yes No 8010
04 Speed setp - act val deviation in tolerance
t_on
Yes No 8010
05 Ramp-up/ramp-down completed Yes No 8010
06 Current below the zero current threshold Yes No -
11 Torque utilization < torque threshold value 2 Yes No 8012
List of parameters
Parameters
Description: Sets the signal source to switch-in/switch-out the technology controller.
The technology controller is switched-in with a 1 signal.
Description: Sets the value for fixed value 1 of the technology controller.
p2200[0...n] BI: Technology controller enable / Tec_ctr enable
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
P-Group: Technology Units group: - Unit selection: -
- - 0
p2201[0...n] CO: Technology controller, fixed value 1 / Tec_ctr fix val 1
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
P-Group: Technology Units group: 9_1 Unit selection: p0595
-200.00 [%] 200.00 [%] 10.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 20.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 30.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 40.00 [%]
Parameters
List of parameters
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 50.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 60.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 70.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 80.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 90.00 [%]
List of parameters
Parameters
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 100.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 110.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 120.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 130.00 [%]
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 140.00 [%]
Parameters
List of parameters
Description: Sets the signal source to select the fixed value of the technology controller.
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 150.00 [%]
p2220[0...n] BI: Technology controller fixed value selection bit 0 / Tec_ctr sel bit 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
List of parameters
Parameters
Description: Displays the selected and effective fixed value of the technology controller.
Description: Displays the number of the selected fixed setpoint of the technology controller.
Description: Sets the configuration for the motorized potentiometer of the technology controller.
Note: Re bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p2240.
1: The setpoint for the motorized potentiometer is saved and after ON is entered using r2231. In order to save in a
non-volatile fashion, bit 03 should be set to 1.
Re bit 02:
0: Without initial rounding-off
1: With initial rounding-off. The selected ramp-up/down time is correspondingly exceeded.
Re bit 03:
0: Non-volatile data save de-activated.
1: The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1).
The following prerequisites must be fulfilled in order to be able to save the setpoint in a non-volatile fashion:
r2224 CO: Technology controller, fixed value effective / Tec_ctr FixVal eff
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
r2229 Technology controller current number / Tec_ctrl No. act
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - -
p2230[0...n] Technology controller motorized potentiometer configuration / Tec_ctr mop config
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0110 bin
00 Data save active Yes No -
02 Initial rounding-off active Yes No -
03 Non-volatile data save active for p2230.0 =
1
Yes No -
Parameters
List of parameters
Description: Displays the setpoint memory for the motorized potentiometer of the technology controller.
For p2230.0 = 1, the last setpoint that was saved is entered after ON.
Description: Sets the signal source to increase the setpoint for the motorized potentiometer of the technology controller.
Description: Sets the signal source to reduce the setpoint for the motorized potentiometer of the technology controller.
Description: Sets the maximum value for the motorized potentiometer of the technology controller.
Description: Sets the minimum value for the motorized potentiometer of the technology controller.
r2231 Technology controller motorized potentiometer setpoint memory / Tec_ctrl mop
mem
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2235[0...n] BI: Technology controller motorized potentiometer, raise setpoint / Tec_ctr mop
raise
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2236[0...n] BI: Technology controller motorized potentiometer, lower setpoint / Tec_ctr mop
lower
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2237[0...n] Technology controller motorized potentiometer maximum value / Tec_ctr mop max
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 100.00 [%]
p2238[0...n] Technology controller motorized potentiometer minimum value / Tec_ctr mop min
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] -100.00 [%]
List of parameters
Parameters
Description: Sets the starting value for the motorized potentiometer of the technology controller.
For p2230.0 = 0, this setpoint is entered after ON.
Description: Sets the effective setpoint in front of the internal motorized potentiometer ramp-function generator of the technology
controller.
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Note: The time is referred to 100 %.
When the initial rounding-off is activated (p2230.2 = 1) the ramp-up is correspondingly extended.
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Note: The time is referred to 100 %.
When the initial rounding-off is activated (p2230.2 = 1) the ramp-down is correspondingly extended.
p2240[0...n] Technology controller motorized potentiometer starting value / Tec_ctrl mop start
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 0.00 [%]
r2245 CO: Technology controller mot. potentiometer setpoint before RFG / Tec_ctr mop b.
RFG
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2247[0...n] Technology controller motorized potentiometer ramp-up time / Tec_ctr mop t_r-up
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.0 [s] 1000.0 [s] 10.0 [s]
p2248[0...n] Technology controller motorized potentiometer ramp-down time / Tec_ctrMop
t_rdown
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.0 [s] 1000.0 [s] 10.0 [s]
Parameters
List of parameters
Description: Displays the effective setpoint after the internal ramp-function generator for the motorized potentiometer of the
technology controller.
Description: Sets the signal source for the setpoint 1 of the technology controller.
Description: Sets the signal source for the setpoint 2 of the technology controller.
Description: Sets the scaling for the setpoint 1 of the technology controller.
Description: Sets the scaling for the setpoint 2 of the technology controller.
r2250 CO: Technology controller motorized potentiometer setpoint after RFG / Tec_ctr mop
a. RFG
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2253[0...n] CI: Technology controller setpoint 1 / Tec_ctr setpoint 1
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2255 Technology controller setpoint 1 scaling / Tec_ctr set1 scal.
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [%] 100.00 [%] 100.00 [%]
p2256 Technology controller setpoint 2 scaling / Tec_ctr set2 scal.
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [%] 100.00 [%] 100.00 [%]
List of parameters
Parameters
Description: Sets the ramp-up time of the technology controller.
Note: The ramp-up time is referred to 100 %.
Description: Sets the ramp-down time of the technology controller.
Note: The ramp-down time is referred to 100 %.
Description: Sets the setpoint after the ramp-function generator of the technology controller.
Description: Sets the time constant for the setpoint filter (PT1) of the technology controller.
Description: Displays the smoothed setpoint after the setpoint filter (PT1) of the technology controller.
p2257 Technology controller, ramp-up time / Tec_ctr t_ramp-up
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 650.00 [s] 1.00 [s]
p2258 Technology controller ramp-down time / Tec_ctr t_ramp-dn
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 650.00 [s] 1.00 [s]
r2260 CO: Technology controller setpoint after ramp-function generator / Tec_ctr set a.
RFG
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2261 Technology controller setpoint filter time constant / Tec_ctr set T
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 60.00 [s] 0.00 [s]
r2262 CO: Technology controller setpoint after filter / Tec_ctr set a. flt
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
Parameters
List of parameters
Description: Sets the technology controller type.
Values: 0: D component in the actual value signal; 1:D component in the fault signal
Description: Sets the signal source for the actual value of the technology controller.
Description: Sets the time constant for the actual value filter (PT1) of the technology controller.
Description: Displays the smoothed actual value after the filter (PT1) of the technology controller
Description: Displays the error (system deviation) between the setpoint and actual value of the technology controller.
Description: Sets the time constant for the differentiation (D component) of the technology controller.
Note: p2274 = 0: Differentiation is disabled.
p2263 Technology controller type / Tec_ctr type
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0 1 0
p2264[0...n] CI: Technology controller actual value / Tec_ctr act val
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2265 Technology controller actual value filter time constant / Tec_ctr act T
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 60.00 [s] 0.00 [s]
r2266 CO: Technology controller actual value after filter / Tec_ctr act a. flt
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
r2273 CO: Technology controller error / Tec_ctr error
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2274 Technology controller differentiation, time constant / Tec_ctr T diff
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 [s] 60.000 [s] 0.000 [s]
List of parameters
Parameters
Description: Sets the proportional gain (P component) of the technology controller.
Note: p2280 = 0: The proportional gain is disabled.
Description: Sets the integral time (I component, integrating time constant) of the technology controller.
Note: p2285 = 0: The integral time is disabled.
Description: Sets the signal source for the pre-control signal of the technology controller.
Description: Sets the maximum limit of the technology controller.
Caution: The maximum limit must always be greater than the minimum limit (p2291 > p2292).
Description: Sets the minimum limit of the technology controller.
Caution: The maximum limit must always be greater than the minimum limit (p2291 > p2292).
p2280 Technology controller proportional gain / Tec_ctr Kp
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 1000.000 1.000
p2285 Technology controller integral time / Tec_ctr Tn
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.000 [s] 60.000 [s] 0.000 [s]
p2289[0...n] CI: Technology controller pre-control signal / Tec_ctr prectrl
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0
p2291 CO: Technology controller maximum limiting / Tec_ctr max_limit
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 100.00 [%]
p2292 CO: Technology controller minimum limiting / Tec_ctr min_lim
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-200.00 [%] 200.00 [%] 0.00 [%]
Parameters
List of parameters
Description: Sets the ramp-up and ramp-down time for the maximum and minimum limiting (p2291 and p2292) of the technology
controller.
Note: The ramp-up/ramp-down times are referred to 100 %.
Description: Displays the output signal of the technology controller.
Description: Sets the scaling for the output signal of the technology controller.
Description: Sets the signal source for the scaling value of the technology controller.
Description: Sets the signal source for the maximum limiting of the technology controller.
p2293 Technology controller ramp-up/ramp-down time / Tec_ctr ramp up/dn
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
0.00 [s] 100.00 [s] 1.00 [s]
r2294 CO: Technology controller output signal / Tec_ctr outp_sig
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- [%] - [%] - [%]
p2295 CO: Technology controller output scaling / Tec_ctr outp scal
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
-100.00 [%] 100.00 [%] 100.00 [%]
p2296[0...n] CI: Technology controller output scaling / Tec_ctr outp scal
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 2295[0]
p2297[0...n] CI: Technology controller maximum limiting / Tec_ctr max_limit
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 2291[0]
List of parameters
Parameters
Description: Sets the signal source for the minimum limiting of the technology controller.
Description: Displays the status word of the technology controller.
Description: Sets the signal source to select the "staging" function.
Description: Sets the assigned encoder.
The actual value conditioning and the closed-loop position control are carried-out using the assigned encoder.
Values: 0: No encoder
1: Encoder 1
2: Encoder 2
3: Encoder 3
Notice: For the setting p2502 = 0 (no encoder), closed-loop position control is not possible. This setting is only practical as
supportive measure to implement sensorless closed-loop speed control (e.g. if the motor encoder is defective).
Note: The assigned encoder (p2502 = 1, 2, 3) must be allocated an encoder data set (p0187, p0188, p0189).
p2298[0...n] CI: Technology controller minimum limiting / Tec_ctr min_lim
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 2292[0]
r2349 CO/BO: Technology controller status word / Tec_ctr stat word
SERVO (Tech_ctrl),
VECTOR (Tech_ctrl)
- - 0000 bin
00 Technology controller de-activated Yes No -
01 Technology controller limited Yes No -
02 Technology controller, motorized potentiom-
eter limited max.
Yes No -
03 Technology controller, motorized potentiom-
eter limited min.
Yes No -
p2369 BI: Staging control word / Staging STW
- - 0
p2502[0...n] LR encoder assignment / Encoder assignment
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
P-Group: Closed loop position control Units group: - Unit selection: -
0 3 1
Parameters
List of parameters
Description: Sets the neutral length units LU per 10 mm.
Therefore, for a linear scale, a reference is established between the physical arrangement and the neutral length
units LU used in the drive.
Example:
Linear scale, 10 mm should be broken down to units of m (i.e. 1 LU = 1 m).
--> p2503 = 10000
Note: The assignment to the grid spacing can be achieved using this for a rotary axis with linear encoder.
Description: Sets the motor revolutions for the gearbox factor between the motor shaft and load shaft.
Gearbox factor = motor revolutions (p2504) / load revolutions (p2505)
Note: The gearbox factor between the encoder shaft and the motor shaft is set using p0432 and p0433.
Description: Sets the load revolutions for the gearbox factor between the motor shaft and load shaft.
Gearbox factor = motor revolutions (p2504) / load revolutions (p2505)
Note: The gearbox factor between the encoder shaft and the motor shaft is set using p0432 and p0433.
p2503[0...n] LR length unit LU per 10 mm / LU per 10 mm
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
1 [LU] 2147483647 [LU] 10000 [LU]
p2504[0...n] LR motor/load motor revolutions / Mot/load motor rev
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
1 1048576 1
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
-1048576 1048576 1
List of parameters
Parameters
Description: Sets the neutral length units LU per load revolution.
Therefore, for a rotary encoder, a reference is established between the physical arrangement and the neutral length
units LU used in the drive.
Example:
Rotary encoder, ballscrew with 10 mm/revolution, 10 mm should be broken down to units of m (i.e. 1 LU = 1 m).
--> One load revolution corresponds to 10000 LU
--> p2506 = 10000
Description: Activating the adjustment and display of the status of the adjustment for absolute encoders.
Values: 0: Error occurred while adjusting
1: Absolute encoder not adjusted
2: Absolute encoder not adjusted and encoder adjustment initiated
3: Absolute encoder adjusted
Caution: After the encoder has been adjusted, it must be ensure that over the complete traversing range the absolute
encoder does not overflow. For an overflow condition, there is no clear reference between the encoder actual value
and the mechanical system.
In order to permanently accept the values, the offset of the encoder adjustment (p2525) must be saved in a non-vol-
atile fashion (p0971, p0977).
Note: The encoder adjustment is initiated with p2507 = 2. The status is displayed using the other values.
This adjustment can only be initiated for absolute encoders.
Description: Sets the signal source for the function "activate reference mark search".
Refer to: A07495
Notice: When activating the function "set position actual value" while the function "reference mark search" is activated, then
the function "reference mark search" is automatically de-activated.
Note: When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2508 = r2684.0
The function can only be activated using a 0/1 signal transition if no reference function is active (refer to r2526.2).
If "reference mark search" and "measuring probe evaluation" are simultaneously activated, then no function is acti-
vated and the actual function is interrupted.
p2506[0...n] LR length unit LU per load revolution / LU per load rev
SERVO (APC, Pos
ctrl), VECTOR (Pos
ctrl)
1 [LU] 2147483647 [LU] 10000 [LU]
p2507[0...n] LR absolute encoder adjustment status / Abs_enc_adj stat
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
Data type: Integer16 Dynamic index: EDS, p0140 Function diagram: 4010
0 3 1
p2508 BI: LR activate reference mark search / Ref_mark act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
Parameters
List of parameters
Description: Sets the signal source for the function "activating the measuring probe evaluation".
0/1 signal: The function "activate measuring probe evaluation" is started.
Refer to: A07495
Notice: When the "set position actual value" is activated while the function "measuring probe evaluation" is activated, then
the function "measuring probe evaluation" is automatically de-activated.
lished: BI: p2509 = r2684.1
The function can only be activated using a 0/1 signal transition if no reference function is active (refer to r2526.2).
If "reference mark search" and "measuring probe evaluation" are simultaneously activated, then no function is acti-
vated and the actual function is interrupted.
Description: Sets the signal source to select the measuring probe.
1 signal = measuring probe 2 is activated for BI: p2509 = 0/1 edge.
0 signal = measuring probe 1 is activated for BI: p2509 = 0/1 edge.
lished: BI: p2509 = r2684.1
The measuring probe is selected at the 0/1 signal transition at r2684.1 (flying referencing active).
Description: Sets the signal source for the edge evaluation of the measuring probe.
1 signal = falling edge of the measuring probe (p2510) is activated for BI: p2509 = 0/1 edge.
0 signal = rising edge of the measuring probe (p2510) is activated for BI: p2509 = 0/1 edge.
p2509 BI: LR activating measuring probe evaluation / MP_eval act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2510 BI: LR selecting measuring probe evaluation / MP_eval select
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2511 BI: LR measuring probe evaluation edge / MP_eval edge
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
List of parameters
Parameters
Description: Sets the signal source for the function "activate position actual value conditioning, correction value (edge)".
0/1 signal: The correction value available through CI: p2513 is activated.
lished: BI: p2512 = r2684.7
Description: Sets the signal source for the correction value for position actual value conditioning.
lished: CI: p2513 = r2685
For BI: p2512 = 0/1 signal, the position actual value (CO: r2521) is corrected corresponding to the value via CI:
p2513. In so doing, the sign of the correction value present is taken into account.
Description: Sets the signal source to activate the function "set position actual value".
Refer to: A07495
Warning: As long as the position actual value is set, encoder increments that are received are not evaluated. In this state, any
position difference cannot be corrected!
Notice: When the function "set position actual value" is activated while the function "reference mark search" or "measuring
probe evaluation" is activated, then the corresponding function is de-activated.
Note: 1 signal:
The position actual value is set to the setting value in CI: p2515. Alarm F7497 "position setting value activated" is
output. Increments that are received in the meantime, are not taken into account.
1/0 signal:
The position actual value conditioning is activated and is based on the setting value.
p2512 BI: LR pos. actual value conditioning activate corr. value (edge) /
ActVal_condCorrAct
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
4015
- - 0
p2513 CI: LR Position actual value conditioning, correction value / Act val_cond corr
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
4015
- - 0
p2514 BI: LR activate position actual value setting / s_act setting act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
Parameters
List of parameters
Description: Sets the signal source for the setting value of the function "setting position actual value".
Description: Sets the signal source for the position offset.
lished: CI: p2516 = r2667
Description: Displays the encoder control word generated by the position actual value conditioning.
[1] = Encoder 2
[2] = Encoder 3
p2515 CI: LR position actual setting, setting value / s_act set setVal
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2516 CI: LR position offset / Position offset
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
r2520[0...2] CO: LR Position actual value conditioning, encoder control word / ActVal_cond STW
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0000 bin
07 Mode flying measurement / search for refer-
ence
Flying measurement Reference marks -
13 Request absolute value cyclic Yes No -
14 Request parking encoder Yes No -
15 Request acknowledge encoder fault Yes No -
List of parameters
Parameters
Description: Displays the actual position actual value determined by the position actual value conditioning.
Note: r2526.0 = 1 --> The position actual value in r2521 is valid.
Description: Displays the velocity actual value determined by the position actual value conditioning.
Note: r2526.0 = 1 --> The velocity actual value in r2522 is valid.
Description: Displays the value determined by the function "reference mark search" and "measuring probe evaluation".
Note: r2526.2 = 1 --> The measured value in r2523 is valid.
Description: Displays the internal length units LU/motor revolution.
Description: Displays the internal length units LU/mm.
r2521 CO: LR position actual value / s_act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2522 CO: LR velocity actual value / v_act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1000 LU/min] - [1000 LU/min] - [1000 LU/min]
r2523 CO: LR measured value / Measured value
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2524 CO: LR LU/revolution / LU/revolution
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2524 CO: LR LU/mm / LU/mm
SERVO (Lin, Pos
ctrl)
- [LU] - [LU] - [LU]
Parameters
List of parameters
Description: For the absolute encoder adjustment, a drive determines the position offset.
Note: The position offset is only relevant for absolute encoders. The drive determines it when making the adjustment and
the user should not change it.
Description: Displays the status word of the position controller.
Description: Sets the signal source for the position setpoint of the position controller.
lished: BI: p2530 = r2665
Description: Sets the signal source for the velocity setpoint of the position controller.
lished: BI: p2531 = r2666
p2525[0...n] CO: LR encoder adjustment, offset / Enc_adj offset
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 4294967295 [LU] 0 [LU]
r2526 CO/BO: LR status word / ZSW
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0000 bin
00 Pos act val valid Yes No 4010
01 Referencing active Yes No 4010
02 Meas val valid Yes No 4010
03 Closed-loop position control active Yes No 4015
06 Position controller output limited Yes No 4015
07 Request tracking operation Yes No -
p2530 CI: LR position setpoint / s_set
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2531 CI: LR velocity setpoint / v_set
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
List of parameters
Parameters
Description: Sets the signal source for the position actual value of the position controller.
Description: Sets the time constant for the position setpoint filter (PT1).
Note: The effective Kv factor (position loop gain) is reduced with the filter. This allows a softer control behavior with
improved tolerance with respect to noise/disturbances.
Applications:
- reduces the pre-control dynamic response.
- jerk limiting.
Description: Setting to activate and weight the speed precontrol value.
Value = 0 % --> The precontrol is de-activated.
Note: When the axis control loop is optimally set as well as a precisely determined equivalent time constant of the speed
control loop, the precontrol factor is 100%.
Description: Sets the "fractional" deadtime to emulate the timing behavior of the speed control loop.
The selected multiplier refers to the position controller clock cycle (deadtime= p2535 * p0115[4]).
Notice: When speed pre-control is active (p2534 > 0 %), the following applies:
In addition to the set deadtime (p2535), internally two position controller clock cycles are effective.
When speed pre-control is inactive (p2534 = 0 %), the following applies:
No deadtime is effective (p2535 and internal).
Note: Together with p2536, the timing behavior of the closed-loop control loop can be emulated.
p2532 CI: LR position actual value / s_act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 2521[0]
p2533[0...n] LR position setpoint filter, time constant / s_set_filt T
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 1000.00 [ms] 0.00 [ms]
p2534[0...n] LR speed precontrol factor / n_prectrl fact
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [%] 200.00 [%] 0.00 [%]
p2535[0...n] LR speed precontrol symmetrizing filter deadtime / n_ffCtr flt t_dead
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 2.00 0.00
Parameters
List of parameters
Description: Sets a PT1 filter to emulate the timing behavior of the closed-speed control loop.
Notice: When speed pre-control is inactive (p2534 = 0 %), the following applies:
If a PT1 filter has been set, it is not effective.
Note: Together with p2535, the timing behavior of the closed-loop control loop can be emulated.
Description: Sets the signal source for the adaptation of the proportional gain of the position controller.
Description: Sets the proportional gain (P gain, position loop gain, Kv factor) of the position controller.
Note: The proportional gain is used define at which traversing velocity which following error is obtained (without precon-
trol)
Low proportional gain:
Slow response to a setpoint - actual value difference, the following error becomes large.
High proportional gain:
Fast response to the setpoint - actual value difference, the following error becomes small.
Description: Setting to activate the integral time of the position controller.
Value = 0 ms --> The I component of the position controller is de-activated.
p2536[0...n] LR speed precontrol, symmetrizing filter PT1 / n_prectrl filt PT1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100.00 [ms] 0.00 [ms]
p2537 CI: LR position controller adaptation / Adaptation
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 1
p2538[0...n] LR proportional gain / Kp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.000 [1000/min] 300.000 [1000/min] 1.000 [1000/min]
p2539[0...n] LR integral time / Tn
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100000.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Sets the speed limit of the position controller output.
Description: Sets the velocity limit of the position controller output.
Description: Sets the signal source for the position controller output limit.
Description: Sets the standstill window for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked as to whether the difference between the setpoint
and actual position is located within the standstill window and if required an appropriate fault is output.
Value = 0 --> The standstill monitoring is de-activated.
Refer to: F07450
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) >= positioning window (p2544)
p2540 CO: LR position controller output, speed limit / LR_output limit
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
P-Group: Closed loop position control Units group: 3_1 Unit selection: p0505
0.000 [1/min] 210000.000 [1/min] 210000.000 [1/min]
p2540 CO: LR position controller output, velocity limit / LR_output limit
SERVO (Lin, Pos
ctrl)
0.000 [m/min] 1000.000 [m/min] 1000.000 [m/min]
p2541 CI: LR position controller output, speed limit signal source / LR_outp lim S_src
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 2540[0]
p2542 LR standstill window / Standstill window
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147483647 [LU] 200 [LU]
Parameters
List of parameters
Description: Sets the standstill monitoring time for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked as to whether the difference between the setpoint
and actual position is located within the standstill window and if required, an appropriate fault is output.
Refer to: F07450
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) <= positioning monitoring time (p2545)
Description: Sets the positioning window for the positioning monitoring function.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint
and actual position lies within the positioning window and if required an appropriate fault is output.
Value = 0 --> The positioning monitoring function is de-activated.
Refer to: F07451
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) >= positioning window (p2544)
Description: Sets the positioning monitoring time for the positioning monitoring.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint
and actual position lies within the positioning window and if required an appropriate fault is output.
Refer to: F07451
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) <= positioning monitoring time (p2545)
p2543 LR standstill monitoring time / t_standstill monit
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100000.00 [ms] 200.00 [ms]
p2544 LR positioning window / Pos_window
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147483647 [LU] 40 [LU]
p2545 LR positioning monitoring time / t_pos_monit
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0.00 [ms] 100000.00 [ms] 1000.00 [ms]
List of parameters
Parameters
Description: Sets the tolerance for the dynamic following error monitoring.
If this maximum permissible deviation between the measured and the calculated position actual value is exceeded,
an appropriate fault is output.
Value = 0 --> The dynamic following error monitoring is de-activated.
Refer to: F07452
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly responding due to
operational control sequences (e.g. during load surges).
Description: Sets the cam switching position 1.
Caution: Only after the axis has been referenced can it be guaranteed that the cam switching signals when output have a
"true" position reference.
Note: Position actual value <= cam switching position 1 --> r2683.8 = 1 signal
Position actual value > cam switching position 1 --> r2683.8 = 0 signal
Description: Sets the cam switching position 2.
Caution: Only after the axis has been referenced can it be guaranteed that the cam switching signals when output have a
"true" position reference.
Note: Position actual value <= cam switching position 2 --> r2683.9 = 1 signal
Position actual value > cam switching position 2 --> r2683.9 = 0 signal
p2546[0...n] LR dynamic following error monitoring tolerance / s_delta_monit tol
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
0 [LU] 2147483647 [LU] 1000 [LU]
p2547 LR cam switching position 1 / Cam position 1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
p2548 LR cam switching position 2 / Cam position 2
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
Parameters
List of parameters
Description: Sets the signal source for enable 1 of the position controller.
Note: The position controller is enabled by ANDing BI: p2549 and BI: p2550.
Description: Sets the signal source for the position controller enable 2.
Note: The position controller is enabled by ANDing BI: p2549 and BI: p2550.
When the function module "basic positioner" (r0108.4 = 1) is activated, the following BICO interconnection is estab-
lished: BI: p2550 = 1
Description: Sets the signal source for the "setpoint present" signal.
BI: p2551 = 1 signal:
The end of the positioning operation on the setpoint side is signaled and the positioning and standstill monitoring
activated.
BI: p2551 = 0 signal:
The start of a positioning operation or tracking operation on the setpoint side is signaled and the positioning and
standstill monitoring de-activated.
lished: BI: p2551 = r2683.2
Description: Sets the signal source for the signal "travel command active".
BI: p2554 = 1 signal: It is signaled that positioning is active and therefore the positioning monitoring is not activated
with the signal "setpoint present" (p2551).
lished: BI: p2554 = r2684.15
p2549 BI: LR enable 1 / Enable 1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 899.2
p2550 BI: LR enable 2 / Enable 2
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2551 BI: LR setpoint signal present / Sig s_set pres
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
p2554 BI: LR signal, travel command active / Sig trav_cmnd act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0
List of parameters
Parameters
Description: Sets the signal source for the reference of the internal length units LU to motor revolution for rotary encoders and to
mm for linear encoders.
Description: Displays the position setpoint after the setpoint smoothing.
Description: Displays the difference between the position setpoint and the position actual value at the position controller input.
Description: Displays the P component at the output of the position controller for the speed setpoint.
Description: Displays the P component at the output of the position controller for the velocity setpoint.
Description: Displays the I component at the output of the position controller for the speed setpoint.
p2555 CI: LR LU/revolution LU/mm / LU/rev LU/mm
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 2524[0]
r2556 CO: LR position setpoint after setpoint smoothing / s_set after interp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2557 CO: LR position controller input, system deviation / LR_input sys dev
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2558 CO: LR position controller output, P component / LR_output P comp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1/min] - [1/min] - [1/min]
r2558 CO: LR position controller output, P component / LR_output P comp
SERVO (Lin, Pos
ctrl)
r2559 CO: LR position controller output, I component / LR_output I comp
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1/min] - [1/min] - [1/min]
Parameters
List of parameters
Description: Displays the I component at the output of the position controller for the velocity setpoint.
Description: Displays the speed setpoint after limiting (CI: p2541).
Description: Displays the velocity setpoint after limiting (CI: p2541).
Description: Displays the speed setpoint due to the precontrol.
Description: Displays the velocity setpoint due to the precontrol.
Description: Displays the total speed setpoint
This value is obtained from the sum of the speed precontrol and position controller output.
r2559 CO: LR position controller output, I component / LR_output I comp
SERVO (Lin, Pos
ctrl)
r2560 CO: LR speed setpoint / n_set
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1/min] - [1/min] - [1/min]
r2560 CO: LR velocity setpoint / v_set
SERVO (Lin, Pos
ctrl)
r2561 CO: LR speed precontrol value / n_prectrl val
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1/min] - [1/min] - [1/min]
r2561 CO: LR velocity precontrol value / v_prectrl val
SERVO (Lin, Pos
ctrl)
r2562 CO: LR total speed setpoint / n_set total
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1/min] - [1/min] - [1/min]
List of parameters
Parameters
Description: Displays the total velocity setpoint.
This value is obtained from the sum of the velocity precontrol and position controller output.
Description: Displays the following error of the dynamic model.
This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and the
position actual value.
Description: Displays the torque pre-control value.
Note: The torque pre-control value is the derivation over time of the speed precontrol value and is referred to a moment of
inertia of 1 kgm^2/2 PI. When using the pre-control, then this should be evaluated corresponding to the actual
moment of inertia.
Description: Displays the force precontrol value.
Note: The force precontrol value is the derivation over time of the velocity precontrol value and is referred to a high inertia
mass of 1000.0 kg. When using the precontrol, then this should be evaluated corresponding to the actual mass.
r2562 CO: LR velocity setpoint, total / v_set total
SERVO (Lin, Pos
ctrl)
r2563 CO: LR following error, dynamic model / Follow error dyn
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2564 CO: LR torque pre-control value / M_pre-ctrl value
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [Nm] - [Nm] - [Nm]
r2564 CO: LR force precontrol value / F_prectrl val
SERVO (Lin, Pos
ctrl)
- [N] - [N] - [N]
Parameters
List of parameters
Description: Displays the actual following error.
This value is the deviation between the position setpoint - after fine interpolation - and the position actual value.
Notice: When speed pre-control is active (p2534 > 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
When speed pre-control is inactive (p2534 = 0 %), the following applies:
To calculate this value, the position setpoint is delayed by two position controller clock cycles.
Description: Displays the speed at the input of the speed pre-control channel.
Used for diagnostics even when the pre-control is inactive (p2534 = 0%).
Description: Displays the velocity at the input of the pre-control channel.
Used for diagnostics even when the pre-control is inactive (p2534 = 0%).
Description: Sets the signal source to activate the function "STOP cam".
BI: p2568 = 1 signal
--> The evaluation of the STOP cam minus (BI: p2569) and STOP cam plus (BI: p2570) is active.
Note: The traversing range can also be limited using software limit switches.
r2565 CO: LR actual following error / Following err act
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [LU] - [LU] - [LU]
r2566 LR speed input pre-control / n_pre-ctrl input
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- [1/min] - [1/min] - [1/min]
r2566 LR velocity input pre-control / v_pre-ctrl input
SERVO (Lin, Pos
ctrl)
p2568 BI: EPOS STOP cam activation / STOP cam activ.
SERVO (EPOS),
VECTOR (EPOS)
P-Group: Basic positioner Units group: - Unit selection: -
- - 0
List of parameters
Parameters
Description: Sets the signal source for the STOP cam in the negative direction of travel.
Recommenda-
tion:
Set the OFF3 ramp-down time (p1135), so that the axis, after reaching the STOP cam at the maximum velocity,
does not move through a higher braking travel than is actually available.
A07491 as alarm:
Set the maximum deceleration (p2573), so that the axis, after reaching the STOP cam at the maximum velocity,
Refer to: F07491
Caution: The STOP cams are low active.
A0791 as fault:
For a 0 signal, the axis is stopped with the OFF3 ramp-down time (p1135), status signal r2684.13 is set to 1, saved
and the appropriate fault is output. After the alarm has been acknowledged, only motion moving away from the
STOP cam is permitted.
For a 0/1 signal and valid travel direction, when the stop cam is exited, this is detected and the status signal
r2684.13 is reset.
A07491 as alarm:
For a 0 signal, the axis is stopped with the maximum deceleration (p2573), status signal r2684.13 is set to 1, saved
and an appropriate alarm is output. Only motion away from the STOP cam is permitted.
r2684.13 and the alarm are reset.
Description: Sets the signal source for the STOP cam in the positive direction of travel.
Recommenda-
tion:
Set the OFF3 ramp-down time (p1135), so that the axis, after reaching the STOP cam at the maximum velocity,
A07492 as alarm:
Set the maximum deceleration (p2573), so that the axis, after reaching the STOP cam at the maximum velocity,
Refer to: F07492
Caution: The STOP cams are low active.
A07492 as fault:
For a 0 signal, the axis is stopped with the OFF3 ramp-down time (p1135), status signal r2684.14 is set to 1, saved
and the appropriate alarm is output. After the alarm has been acknowledged, only motion moving away from the
STOP cam is permitted.
r2684.14 is reset.
A07492 as alarm:
For a 0 signal, the axis is stopped with the maximum deceleration (p2573), status signal r2684.14 is set to 1, saved
and an appropriate alarm is output. Only motion away from the STOP cam is permitted.
r2684.14 and the alarm are reset.
p2569 BI: EPOS STOP cam minus / STOP cam minus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
p2570 BI: EPOS STOP cam plus / STOP cam plus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
Parameters
List of parameters
Description: Sets the maximum velocity for the function module "basic positioner" (r0108.4).
Dependency: Refer to: r1084, r1087, p2503, p2504, p2505, p2506
Note: The maximum velocity is active in all of the operating modes of the basic positioner.
The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the
speed/velocity controller:
Rotary encoders:
p2571[1000 LU/min] = min(r1084, r1087)[RPM] x p2505/p2504 x p2506/1000
Linear encoders:
p2571[1000 LU/min] = min(r1084, r1087)[m/min] x p2503/10[m]
Description: Sets the maximum acceleration for the function module "basic positioner" (r0108.4).
Note: The maximum acceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed acceleration override (p2619) acts on the maximum acceleration.
"Direct setpoint input/MDI" mode:
The acceleration override is effective (p2644, 4000 hex = 100 %).
"Jog" and "search for reference" modes
No acceleration override is active. The axis starts with the maximum acceleration.
Description: Sets the maximum deceleration for the function module "basic positioner" (r0108.4).
Note: The maximum deceleration appears to exhibit jumps (without jerk).
The programmed deceleration override (p2620) acts on the maximum deceleration.
The deceleration override is effective (p2645, 4000 hex = 100 %).
"Jog" and "search for reference" modes
No deceleration override is effective. The axis breaks with the maximum deceleration.
p2571 EPOS maximum velocity / v_max
SERVO (EPOS),
VECTOR (EPOS)
1 [1000 LU/min] 40000000 [1000 LU/min] 30000 [1000 LU/min]
p2572 EPOS maximum acceleration / a_max
SERVO (EPOS),
VECTOR (EPOS)
1 [1000 LU/s] 2000000 [1000 LU/s] 100 [1000 LU/s]
p2573 EPOS maximum deceleration / -a_max
SERVO (EPOS),
VECTOR (EPOS)
1 [1000 LU/s] 2000000 [1000 LU/s] 100 [1000 LU/s]
List of parameters
Parameters
Description: Sets the modulo range for axes with modulo correction.
Description: Sets the signal source to activate modulo correction.
Note: When the signal state changes at the binector input, this only becomes effective in the "ready to power-up" state.
Selecting modulo correction:
The actual position actual value in the modulo range is corrected.
De-selecting modulo correction:
It is based on the actual position actual value.
Description: Sets the signal source for the software limit switch minus.
Refer to: A07469, A07477, A07479, F07481
Notice: A change to the software limit switch becomes immediately effective.
If the software limit switch is changed, then this results in the positions in the traversing blocks being checked.
Note: The following applies for the setting of the software limit switch:
Software limit switch minus < software limit switch plus
Description: Sets the signal source for the software limit switch plus.
Refer to: A07470, A07478, A07480, F07482
Notice: A change to the software limit switch becomes immediately effective.
If the software limit switch is changed, then this results in the positions in the traversing blocks being checked.
Note: The following applies for the setting of the software limit switch:
Software limit switch minus < software limit switch plus
p2576 EPOS modulo correction, modulo range / Modulo corr range
SERVO (EPOS),
VECTOR (EPOS)
1 [LU] 2147483647 [LU] 360000 [LU]
p2577 BI: EPOS modulo correction activation / Modulo corr act
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2578 CI: EPOS software limit switch minus signal source / SW limSw Min S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 2580[0]
p2579 CI: EPOS software limit switch plus signal source / SW limSwPlus S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 2581[0]
Parameters
List of parameters
Description: Sets the software limit switch in the negative direction of travel.
Description: Sets the software limit switch in the positive direction of travel.
Description: Sets the signal source to activate the "software limit switch".
Caution: Software limit switch effective:
- axis is referenced (r2684.11 = 1) and BI: p2582 = 1 signal.
Software limit switch ineffective:
- modulo correction active (BI: p2577 = 1 signal).
- search for reference is executed.
Notice: Target position for relative positioning outside software limit switch:
The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate alarm is
output and the traversing block is interrupted. Traversing blocks with valid position can be activated.
Target position for absolute positioning outside software limit switch:
In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output.
Axis outside the valid traversing range:
If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be acknowl-
edged at standstill. Traversing blocks with valid position can be activated.
Note: The traversing range can also be limited using STOP cams.
p2580 CO: EPOS software limit switch minus / SW limSwitch minus
SERVO (EPOS),
VECTOR (EPOS)
-2147483648 [LU] 2147483647 [LU] -2147483648 [LU]
p2581 CO: EPOS software limit switch plus / SW lim switch plus
SERVO (EPOS),
VECTOR (EPOS)
-2147483648 [LU] 2147483647 [LU] 2147483647 [LU]
p2582 BI: EPOS software limit switch activation / SW lim sw act
SERVO (EPOS),
VECTOR (EPOS)
- - 0
List of parameters
Parameters
Description: Sets the amount of play (backlash) for positive or negative play.
0: The backlash compensation is de-activated.
>0: Positive backlash (normal case)
When the direction is reversed, the encoder actual value leads the actual value.
<0: Negative backlash
When the direction is reversed, the actual value leads the encoder actual value.
Dependency: If a stationary axis is referenced by setting the reference point, or an adjusted with absolute encoder is powered-up,
then the setting of p2604 is relevant for entering the compensation value.
p2604 = 1:
Traveling in the positive direction -> A compensation value is immediately entered.
Traveling in the negative direction -> A compensation value is not entered
p2604 = 0:
Traveling in the positive direction -> A compensation value is not entered
Traveling in the negative direction -> A compensation value is immediately entered.
When again setting the reference point (a referenced axis) or for "flying referencing", p2604 is not relevant but
instead the history of the axis.
Description: Sets the setpoint velocity for jogging 1.
Description: Sets the setpoint velocity for jogging 2.
Description: Sets the traversing distance for incremental jogging 1.
Note: Incremental jogging 1 is started with BI: p2591 = 1 signal and BI: p2589 = 0/1 signal.
p2583 EPOS backlash compensation / Backlash comp
SERVO (EPOS),
VECTOR (EPOS)
-200000 [LU] 200000 [LU] 0 [LU]
p2585 EPOS jogging 1 setpoint velocity / Jog 1 v_set
SERVO (EPOS),
VECTOR (EPOS)
-40000000 [1000 LU/min] 40000000 [1000 LU/min] -300 [1000 LU/min]
p2586 EPOS jogging 2 setpoint velocity / Jog 2 v_set
SERVO (EPOS),
VECTOR (EPOS)
-40000000 [1000 LU/min] 40000000 [1000 LU/min] 300 [1000 LU/min]
p2587 EPOS jogging 1 traversing distance / Jog 1 distance
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 4294967295 [LU] 1000 [LU]
Parameters
List of parameters
Description: Sets the traversing distance for incremental jogging 2.
Note: Incremental jogging 2 is started with BI: p2591 = 1 signal and BI: p2590 = 0/1 signal.
Dependency: When jogging, the axis is accelerated or braked with the maximum acceleration/deceleration (p2572/p2573).
The axis endlessly moves with the setpoint velocity, jog 1 (p2585).
The axis traverses through a parameterized distance (p2585) with the setpoint velocity, jog 1 (p2587).
Refer to: p2572, p2573, p2585, p2587, p2591
Dependency: When jogging, the axis is accelerated or braked with the maximum acceleration/deceleration (p2572/p2573).
The axis endlessly moves with the setpoint velocity, jog 2 (p2586).
The axis traverses through a parameterized distance (p2586) with the setpoint velocity, jog 2 (p2588).
Refer to: p2572, p2573, p2586, p2588, p2591
Description: Sets the signal source for jogging incremental.
p2588 EPOS jogging 2 traversing distance / Jog 2 distance
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 4294967295 [LU] 1000 [LU]
p2589 BI: EPOS jogging 1 signal source / Jog 1 S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2590 BI: EPOS jogging 2 signal source / Jog 2 S_src
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2591 BI: EPOS jogging incremental / Jog incr
SERVO (EPOS),
VECTOR (EPOS)
- - 0
List of parameters
Parameters
Description: Sets the signal source to start the "search for reference" or "flying referencing".
BI: p2595 = 0/1 signal
Referencing is started.
Referencing is interrupted.
Note: Search for reference (BI: p2597 = 0 signal):
With the start, where relevant, the state signal "reference point set" (r2684.11) is reset.
Flying referencing (BI: p2597 = 1 signal):
With the start, the state signal "reference point set" (r2684.11) is not reset.
Description: Sets the signal source for the "set reference point".
Note: Set reference point is only effective in the initial state.
The position control must be enabled as the necessary prerequisite for the standard wiring.
Description: Sets the signal source to select referencing type.
1 signal: Flying referencing
0 signal: Search for reference
Note: Referencing is activated as follows:
- Select the referencing type (BI: p2597)
- Start referencing (BI: p2595 = 0/1 signal)
p2595 BI: EPOS referencing start / Ref start
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2596 BI: EPOS set reference point / Set ref_pt
SERVO (EPOS),
VECTOR (EPOS)
3625
- - 0
p2597 BI: EPOS referencing type selection / Ref_typ select
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the signal source for the reference point coordinate.
This value is used as reference for the following referencing operations:
- search for reference
- set reference point
- flying referencing
- absolute value adjustment
Note: Incremental measuring system: After the reference point is reached, the drive accepts the actual axis position from
the position received via the connector input. Absolute encoder:
When adjusting the encoder, the position received via the connector input is set as the actual axis position. The
position offset to the actual encoder value is displayed in r2525.
Description: Sets the position value for the reference point coordinate.
This value is set as the actual axis position after referencing or adjustment.
Description: Sets the reference point offset for search for reference.
Description: Sets the inner window for flying referencing.
Value = 0: The evaluation of the inner window is de-activated.
Notice: The inner window must be set so that it is smaller than the outer window.
Note: If the difference between the reference point coordinate and detected actual position is less than the inner window,
then no offset is executed for a referenced axis. If the difference between the reference point coordinate and
detected actual position is greater than the inner window and less than the outer window (p2602), then an offset is
executed for a referenced axis.
p2598 CI: EPOS reference point coordinate, signal source / Ref_pt coord S_src
SERVO (EPOS, Pos
ctrl), VECTOR
(EPOS, Pos ctrl)
- - 2599[0]
p2599 CO: EPOS reference point coordinate value / Ref_pt coord val
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
p2600 EPOS search for reference, reference point offset / Ref_pt offset
SERVO (EPOS),
VECTOR (EPOS)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
p2601 EPOS flying referencing, inner window / Inner window
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147483647 [LU] 0 [LU]
List of parameters
Parameters
Description: Sets the outer window for flying referencing.
Value = 0:
The evaluation of the outer window is de-activated.
Refer to: A07489
Notice: The inner window must be set so that it is smaller than the outer window.
Note: If the difference between the reference point coordinate and detected actual position is greater than the outer win-
dow, then no offset is executed for the referenced axis. Further, an appropriate message is output and r2684.3 is
set to 1.
Description: Sets the relative positioning mode for flying referencing.
Value = 1:
The corrected setpoint is not calculated into the traversing distance.
Value = 0:
The corrected setpoint is calculated into the traversing distance.
Cautiont: For p2603 = 0 the direction can change.
Description: Sets the signal sources for the start direction of the search for reference.
1 signal: Start in the negative direction.
0 signal: Start in the positive direction.
p2602 EPOS flying referencing, outer window / Outer window
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147483647 [LU] 0 [LU]
p2603 EPOS flying referencing, positioning mode, relative / Pos_mode relative
SERVO (EPOS),
VECTOR (EPOS)
0 1 1
p2604 BI: EPOS search for reference, start direction / Srch for ref dir
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the approach velocity to the reference cam for the search for reference.
Dependency: The search for reference only starts with the approach velocity to the reference cam when there is a reference cam
(p2607 = 1).
Refer to: p2595, p2597, p2604, p2606, p2607
Note: When traversing to the reference cam, the velocity override is effective.
If, at the start of the search for reference, the axis is already at the reference cam, then the axis immediately starts
to traverse to the zero mark.
Description: Sets the maximum distance after the start of the search for reference when traversing to the reference cam.
Refer to: F07458
Note: When using a reversing cam, the maximum distance must be set appropriately long.
Description: Sets whether or not a reference cam is present for the search for reference.
Value = 1: Reference cam present.
Value = 0: No reference cam present.
Description: Sets the approach velocity after detecting the reference cam to search for the zero mark for the the search for refer-
ence.
Dependency: If there is no reference cam (p2607 = 0), the search for reference immediately starts with the axis traversing to the
zero mark. Refer to: p2595, p2597, p2604, p2607, p2609, p2610
Caution: If the reference cam is not adjusted so that at each search for reference the same zero mark for synchronization is
detected, then an "incorrect" axis reference point is obtained. After the reference cam has been left, the search for
the zero mark is activated with a time delay due to internal 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.
p2605 EPOS search for reference, approach velocity, reference cam / v_appr ref_cam
SERVO (EPOS),
VECTOR (EPOS)
p2606 EPOS search for reference, reference cam, maximum distance / Ref_cam max s
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147483647 [LU] 2147483647 [LU]
p2607 EPOS search for reference, reference cam present / Ref_cam pres
SERVO (EPOS),
VECTOR (EPOS)
0 1 1
p2608 EPOS search for reference, approach velocity, zero mark / v_appr ref_ZM
SERVO (EPOS),
VECTOR (EPOS)
List of parameters
Parameters
Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark.
Refer to: F07459
Description: Sets the tolerance bandwidth for the distance to the zero mark
The zero mark is evaluated within the maximum distance between the reference cam and zero mark (p2609) minus
the tolerance bandwidth for the distance to the zero mark (p2610).
Description: Sets the approach velocity after detecting the zero mark to approach the reference point.
Note: When traversing to the reference point, the velocity override is not effective.
Description: Sets the signal source for the reference cam.
Description: Sets the signal source for the reversing cam in the negative direction of travel.
1 signal: Reversing cam not reached.
0 signal: Reversing cam reached.
p2609 EPOS search for reference, max. distance ref. cam and zero mark / Max s ref_cam ZM
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147483647 [LU] 10000 [LU]
p2610 EPOS search for ref., tol. bandwidth for distance to zero mark / Tol_band too ZM
SERVO (EPOS),
VECTOR (EPOS)
0 [LU] 2147483647 [LU] 2147483647 [LU]
p2611 EPOS search for reference, approach velocity, reference point / v_appr ref_pt
SERVO (EPOS),
VECTOR (EPOS)
p2612 BI: EPOS search for reference, reference cam / Ref_cam
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2613 BI: EPOS search for reference, reversing cam minus / Revers cam minus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
Parameters
List of parameters
Note: If, during the search for reference from the reversing cam minus and plus, a 0 signal is detected, then the axis
remains stationary (at standstill).
Description: Sets the signal source for the reversing cam in the negative direction of travel.
1 signal: Reversing cam not reached.
0 signal: Reversing cam reached.
Note: If, during the search for reference from the reversing cam minus and plus, a 0 signal is detected, then the axis
remains stationary (at standstill).
Description: Sets the maximum number of traversing blocks that are available.
Description: Sets a block number.
-1: Invalid block number. These blocks are not taken into account.
0 ... 63: Valid block number.
Dependency: The number of indices depends on p2615.
Description: Sets the target position for the traversing block.
Note: The target position is approached in either relative or absolute terms depending on p2623.
p2614 BI: EPOS search for reference, reversing cam plus / Reversing cam plus
SERVO (EPOS),
VECTOR (EPOS)
- - 1
p2615 EPOS maximum number of traversing blocks / Trav_block qty max
SERVO (EPOS),
VECTOR (EPOS)
1 64 64
p2616[0...n] EPOS traversing block, block number / Trav_blk, blkNo.
SERVO (EPOS),
VECTOR (EPOS)
Data type: Integer16 Dynamic index: p2615 Function diagram: 3616
-1 63 -1
p2617[0...n] EPOS traversing block position / Trav_block pos
SERVO (EPOS),
VECTOR (EPOS)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
List of parameters
Parameters
Description: Sets the velocity for the traversing block.
Note: The velocity can be influenced using the velocity override (p2646).
Description: Sets the acceleration override for the traversing block.
The override refers to the maximum acceleration (p2572).
Description: Sets the deceleration override for the traversing block.
The override refers to the maximum deceleration (p2573).
Description: Sets the required task for the traversing block.
Values: 1: POSITIONING
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAITING
6: GOTO
7: SET_O
8: RESET_O
p2618[0...n] EPOS traversing block velocity / Trav_block v
SERVO (EPOS),
VECTOR (EPOS)
p2619[0...n] EPOS traversing block acceleration override / Trav_block a_over
SERVO (EPOS),
VECTOR (EPOS)
Data type: Floating Point Dynamic index: p2615 Function diagram: 3616
1.0 [%] 100.0 [%] 100.0 [%]
p2620[0...n] EPOS traversing deceleration override / Trav_block -a_over
SERVO (EPOS),
VECTOR (EPOS)
Data type: Floating Point Dynamic index: p2615 Function diagram: 3616
1.0 [%] 100.0 [%] 100.0 [%]
p2621[0...n] EPOS traversing block task / Trav_block task
SERVO (EPOS),
VECTOR (EPOS)
1 8 1
Parameters
List of parameters
Description: Sets additional information/data of the appropriate task for the traversing block.
Note: The following should be set depending on the task:
WAIT: Waiting time in ms
GOTO: Block number
SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
RESET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
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
aaaa: IDs
aaaa = 0001 --> Skip block
Description: Sets the traversing blocks for sorting corresponding to their block number.
p2624 = 0 --> 1:
The sorting is started and the parameters are automatically reset to 0 after the sorting operation has been com-
pleted.
Note: After sorting, the traversing blocks are written at the beginning of the memory in increasing sequence without any
gaps.
p2622[0...n] EPOS traversing block task parameter / Trav_blck task_par
SERVO (EPOS),
VECTOR (EPOS)
-2147483648 2147483647 0
p2623[0...n] EPOS traversing block, task mode / Trav_block mode
SERVO (EPOS),
VECTOR (EPOS)
Data type: Unsigned16 Dynamic index: p2615 Function diagram: 3616
0 65535 0
p2624 EPOS traversing block, sorting / Trav_block sort
SERVO (EPOS),
VECTOR (EPOS)
0 1 0
List of parameters
Parameters
Description: Sets the signal source for block selection, bit 0.
Dependency: Binector inputs p2625, p2626, p2627, p2628, p2629 and p2630 are used to select one of the maximum of 64 tra-
versing blocks.
Refer to: p2626, p2627, p2628, p2629, p2630
versing blocks.
Refer to: p2625, p2627, p2628, p2629, p2630
versing blocks.
Refer to: p2625, p2626, p2628, p2629, p2630
versing blocks.
Refer to: p2625, p2626, p2627, p2629, p2630
p2625 BI: EPOS block selection, bit 0 / Block sel bit 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2626 BI: EPOS block selection, bit 1 / Block sel bit 1:
SERVO (EPOS),
VECTOR (EPOS)
- - 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
versing blocks.
Refer to: p2625, p2626, p2627, p2628, p2630
versing blocks.
Refer to: p2625, p2626, p2627, p2628, p2629
Description: Sets the signal source for "activating traversing task".
The traversing task, selected using BI: p2625 ... p2630, is started.
Dependency: Refer to: p2625, p2626, p2627, p2628, p2629, p2630, p2640, p2641
Note: To start a traversing block, the axis must be referenced (r2684.11 = 1).
The status signal r2684.12 = 0/1 signal is used for acknowledgement.
A traversing task can be influenced using the following signals:
- intermediate stop via BI: p2640.
- reject traversing task via BI: p2641.
SERVO (EPOS),
VECTOR (EPOS)
- - 0
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2631 BI: EPOS activate traversing task (0 -> 1) / Trav_task act
SERVO (EPOS),
VECTOR (EPOS)
- - 0
List of parameters
Parameters
Description: Sets the signal source for the "no intermediate stop/intermediate stop".
No intermediate stop.
Intermediate stop.
Note: This signal is only effective in the modes "traversing blocks" and "direct setpoint input/MDI".
When activating the intermediate stop, the axis brakes with the parameterized deceleration (p2620 or p2645).
BI:p2649 = 1 signal : Motion starts without it being explicitly controlled.
Description: Sets the signal source for "do not reject traversing task/reject traversing task".
Do not reject traversing task.
Reject traversing task.
Note: This signal is only effective in the modes "traversing blocks" and "direct setpoint input/MDI".
When activating reject traversing tasks, then the axis brakes with the maximum deceleration (p2573).
BI:p2649 = 1 signal : Motion starts without it being explicitly controlled.
Description: Sets the signal source for the position setpoint in the mode "direct setpoint input/MDI".
Note: Depending on p2649, the position setpoint is either transferred continuously or edge-triggered.
The position setpoint input is interpreted as length unit [LU].
Description: Sets the signal source for the velocity setpoint in the "direct setpoint input/MDI mode".
p2640 BI: EPOS intermediate stop (0 signal) / Intermediate stop
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2641 BI: EPOS reject traversing task (0 signal) / Trav_task reject
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2642 CI: EPOS direct setpoint input/MDI position setpoint / MDI s_set
SERVO (EPOS),
VECTOR (EPOS)
- - 2690[0]
p2643 CI: EPOS direct setpoint input/MDI velocity setpoint / MDI v_set
SERVO (EPOS),
VECTOR (EPOS)
- - 2691[0]
Parameters
List of parameters
Note: Depending on p2649, the velocity setpoint is either transferred continuously or edge-triggered.
The velocity setpoint input is interpreted as [1000 LU/min].
Description: Sets the signal source for the acceleration override in the operating mode "direct setpoint input/MDI".
Note: Depending on p2649, the acceleration override is either transferred continuously or edge-triggered.
The signal value 4000 hex (16384 dec) corresponds to 100 %.
Description: Sets the signal source for the deceleration override in the operating mode "direct setpoint input/MDI".
Note: Depending on p2649, the deceleration override is either transferred continuously or edge-triggered.
The signal value 4000 hex (16384 dec) corresponds to 100 %.
Description: Sets the signal source for the velocity override.
This velocity override is effective in the following operating modes "direct setpoint input/MDI", "traversing blocks",
"jogging" and "search for reference" (when approaching the reference cam).
Dependency: Refer to: p2571, p2585, p2586, p2605, p2618, p2643, r2681
Note: The effective override (r2681) can differ from the specified override due to limits (e.g. maximum velocity).
Description: Sets the signal source for selecting the operating mode "direct setpoint input/MDI".
Dependency: Refer to: p2640, p2641, p2642, p2643, p2644, p2645, p2646, p2648, p2649, p2650, p2651, p2652, p2653
Note: In this mode, using BI: p2653 it is possible to make a flying changeover between setting-up and positioning.
In this mode, even if the axis is not referenced (r2684.11 = 0) relative positioning is possible.
p2644 CI: EPOS direct setpoint input/MDI acceleration override / MDI a_over
SERVO (EPOS),
VECTOR (EPOS)
- - 2692[0]
p2645 CI: EPOS direct setpoint input/MDI deceleration override / MDI -a_over
SERVO (EPOS),
VECTOR (EPOS)
- - 2693[0]
p2646 CI: EPOS velocity override / v_over
SERVO (EPOS),
VECTOR (EPOS)
- - 1
p2647 BI: EPOS direct setpoint input/MDI selection / MDI selection
SERVO (EPOS),
VECTOR (EPOS)
- - 0
List of parameters
Parameters
Description: Sets the signal source for the positioning type in the mode "direct setpoint input/MDI".
Absolute positioning is selected.
Relative positioning is selected.
Refer to: A07461, F07488
Notice: Absolute positioning:
To traverse, the reference point must be set (r2684.11 = 1).
Relative positioning:
To traverse, it is not necessary that the reference point is set.
Note: Depending on p2649, the positioning type is either transferred continuously or edge-triggered.
Description: Sets the signal source to define how values are transferred in the operating mode "direct setpoint input/MDI".
Values are continually transferred (refer to parameter under dependency).
Motion starts without it being explicitly controlled.
The values are transferred for BI: p2650 = 0/1 signal.
Description: Sets the signal source to transfer the values for edge-triggered selection (BI: p2649 = 0 signal) in the operating
mode "direct setpoint input/MDI".
BI: p2650 = 0/1 signal and BI: p2649 = 0 signal
Values are transferred, edge-triggered (refer to parameter under dependency).
Dependency: Refer to: p2640, p2641, p2642, p2643, p2644, p2645, p2648, p2649, p2651, p2652, r2684
Note: The status signal r2684.12 = 0/1 signal is used for acknowledgement.
The operating mode "direct setpoint input/MDI" can be influenced via the following signals:
- intermediate stop via BI: p2640.
- reject traversing task via BI: p2641.
p2648 BI: EPOS direct setpoint input/MDI positioning type / MDI pos_type
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2649 BI: EPOS direct setpoint input/MDI transfer type selection / MDI trans_type sel
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2650 BI: EPOS direct setpoint input/MDI setpoint transfer edge / MDI setpt_transfer
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the signal source for the positive direction selection in the operating mode "direct setpoint input/MDI".
Note: The following applies for "setting-up":
- the traversing direction can be entered using this binector input.
- if both directions (p2651, p2652) are selected one after the other, then the last selection remains active.
- if both directions (p2561, p2652) are selected simultaneously, then the axis remains stationary (zero speed).
The following applies for "positioning":
Using binector inputs p2651 and p2652, when the modulo correction (BI: p2576 = 1 signal) is activated and for
absolute positioning (BI: p2648 = 1 signal), the traversing direction is specified as follows:
BI: p2651 / BI: p2652
0 signal / 0 signal: Absolute positioning through the shortest distance.
1 signal / 0 signal: Absolute positioning in the positive direction.
0 signal / 1 signal: Absolute positioning in the negative direction.
Description: Sets the signal source for the negative direction selection in the operating mode "direct setpoint input/MDI".
Note: The following applies for "setting-up":
- the traversing direction can be entered using this binector input.
- if both directions (p2651, p2652) are selected one after the other, then the last selection remains active.
- if both directions (p2561, p2652) are selected simultaneously, then the axis remains stationary (zero speed).
The following applies for "positioning":
Using binector inputs p2651 and p2652, when the modulo correction (BI: p2576 = 1 signal) is activated and for
absolute positioning (BI: p2648 = 1 signal), the traversing direction is specified as follows:
BI: p2651 / BI: p2652
1 signal / 0 signal: Absolute positioning in the positive direction.
0 signal / 1 signal: Absolute positioning in the negative direction.
p2651 BI: EPOS direct setpoint input/MDI direction selection, positive / MDI dir_sel pos
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2652 BI: EPOS direct setpoint input/MDI direction selection, negative / MDI dir_sel neg
SERVO (EPOS),
VECTOR (EPOS)
- - 0
List of parameters
Parameters
Description: Sets the signal source for setting-up in the operating mode "direct setpoint input/MDI".
Setting-up selected.
Positioning selected.
Note: In the operating mode "direct setpoint input/MDI", it is possible to make a flying changeover between setting-up and
positioning.
Description: Sets the signal source to interconnect the MDI mode to the operating mode "direct setpoint input MDI" via PROFI-
BUS telegram 110.
CI: p2654 = 0
The binector inputs listed below are evaluated.
CI: p2654 > 0
The following binector inputs are not evaluated:
- BI: p2648 (positioning type)
- BI: p2651 (direction selection, positive)
- BI: p2652 (direction selection, negative)
In this case, the following definitions apply:
Signal via CI: p2654 = xx0x hex -> absolute
Signal via CI: p2654 = xx1x hex -> relative
Signal via CI: p2654 = xx2x hex -> abs_pos (only for modulo correction)
Signal via CI: p2654 = xx3x hex -> abs_neg (only for modulo correction)
p2653 BI: EPOS direct setpoint input/MDI setting-up selection / MDI setting-up sel
SERVO (EPOS),
VECTOR (EPOS)
- - 0
p2654 CI: EPOS direct setpoint input/MDI mode adaptation / MDI mode adapt
SERVO (EPOS),
VECTOR (EPOS)
- - 0
Parameters
List of parameters
Description: Sets the signal source to select tracking mode.
BI: p2655[0] or BI: p2655[1] = 1 signal
Tracking operation after withdrawing the enable signal from EPOS (BI: p2656 = 0 signal).
BI: p2655 and BI: p2655[1] = 0 signal
No tracking operation after withdrawing the enable signal from EPOS (BI: p2656 = 0 signal).
Note: For the following events, independent of the signal that is present, tracking operation is selected:
- after booting.
- after a 0/1 signal at BI: p2658 (EPOS position actual value, valid feedback signal).
- while a fault is present.
Description: Sets the signal source to enable the basic positioner.
The basic positioner is enabled.
The basic positioner is not enabled.
Description: Sets the signal source for the position actual value/position setting value.
Note: In the tracking mode, the position setpoint is taken from this connector input.
p2655[0...1] BI: EPOS select tracking mode / Sel tracking mode
SERVO (EPOS),
VECTOR (EPOS)
- - [0] 1
[1] 2526.7
p2656 BI: EPOS enable basic positioner / EPOS enable
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.3
p2657 CI: EPOS position actual value/position setting value / Pos act/set value
SERVO (EPOS),
VECTOR (EPOS)
3635
- - 2521[0]
List of parameters
Parameters
Description: Sets the signal source for the feedback signal "position actual value is valid".
The position actual value received via CI: p2657 is valid.
The position actual value received via CI: p2657 is invalid.
Note: While a 0 signal is present, the position setpoint (p2665) is held at the value of 0.
Description: Sets the signal source for the feedback signal "referencing active".
Referencing is active.
Referencing is not active.
Description: Sets the signal source for the measured value for the function "referencing".
Description: Sets the signal source for the feedback signal "measured value valid".
The measured value received via CI: p2660 is valid.
The measured value received via CI: p2660 is invalid.
p2658 BI: EPOS pos. actual value valid, feedback signal / Pos valid feedback
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.0
p2659 BI: EPOS referencing active feedback signal / Ref act fdbk
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.1
p2660 CI: EPOS measured value referencing / Meas val ref
SERVO (EPOS),
VECTOR (EPOS)
- - 2523[0]
p2661 BI: EPOS measured value valid, feedback signal / MeasVal valid fdbk
SERVO (EPOS),
VECTOR (EPOS)
- - 2526.2
Parameters
List of parameters
Description: Displays the actual absolute position setpoint.
Note: As standard, the following BICO interconnection is established: CI: p2530 = r2665
Description: Displays the actual velocity setpoint.
Description: Displays the currently effective value for backlash compensation.
Description: Displays the actual, active operating mode.
Value = 00 hex -> no operating mode active
Value = 01 hex -> jogging active
Value = 02 hex -> search for reference active
Value = 04 hex -> traversing blocks active
Value = 08 hex -> Positioning for direct setpoint input/MDI active
Value = 10 hex -> Setting-up for direct setpoint input/MDI active
Value = 20 hex -> flying referencing active
r2665 CO: EPOS position setpoint / s_set
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
r2666 CO: EPOS velocity setpoint / v_set
SERVO (EPOS),
VECTOR (EPOS)
r2667 CO: EPOS backlash compensation value / Backlash value
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
r2669 CO: EPOS actual operating mode / Op mode act
SERVO (EPOS),
VECTOR (EPOS)
- - -
List of parameters
Parameters
Description: Displays the status word for the active traversing block.
r2670.0: Active traversing block, bit 0
...
r2670.5: Active traversing block, bit 5
r2670.15: MDI active
Note: Re bit 00 ... 05: Displays the active traversing block in the traversing blocks operating mode.
Re bit 15: For a 1 signal, the operating mode - direct setpoint input/MDI - is active
Description: Displays the position setpoint presently being processed.
Note: A position of zero is displayed for non position-related tasks (e.g. ENDLESS_POS, ENDLESS_NEG).
Description: Displays the velocity setpoint presently being processed.
Description: Displays the acceleration override presently being processed.
Note: An override of 100% is effective in the "jogging" and "search for reference" operating modes.
r2670 CO/BO: EPOS status word, active traversing block / ZSW act trav_block
SERVO (EPOS),
VECTOR (EPOS)
- - 0000 bin
00 Active traversing block, bit 0 active Not active -
15 MDI active active Not active -
r2671 CO: EPOS actual position setpoint / s_set act
SERVO (EPOS),
VECTOR (EPOS)
3616, 3620
- [LU] - [LU] - [LU]
r2672 CO: EPOS actual velocity setpoint / v_set act
SERVO (EPOS),
VECTOR (EPOS)
3612, 3616, 3620
r2673 CO: EPOS actual acceleration override / a_over act
SERVO (EPOS),
VECTOR (EPOS)
3612, 3616, 3620
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the deceleration override presently being processed.
Note: An override of 100% is effective in the "jogging" and "search for reference" operating modes.
Description: Displays the task presently being processed in the "traversing blocks" operating mode.
Values: 0: inactive
1: POSITIONING
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAITING
6: GOTO
7: SET_O
8: RESET_O
Description: Displays the task parameter presently being processed in the "traversing blocks" operating mode.
Note: The following is displayed depending on the task:
WAIT: Waiting time in ms
GOTO: Block number
SET_O: 1, 2 or 3 - direct output 1, 2 or 3 (both) is set
RESET_O: 1, 2 or 3 - direct output 1, 2 or 3 (both) is set
Description: Displays the task mode presently being processed.
r2674 CO: EPOS actual deceleration override / -a_over act
SERVO (EPOS),
VECTOR (EPOS)
3612, 3616, 3620
- [%] - [%] - [%]
r2675 CO: EPOS actual task / Task act
SERVO (EPOS),
VECTOR (EPOS)
0 8 0
r2676 CO: EPOS actual task parameter / Task para act
SERVO (EPOS),
VECTOR (EPOS)
- - -
r2677 CO: EPOS actual task mode / Task mode act
SERVO (EPOS),
VECTOR (EPOS)
- - -
List of parameters
Parameters
Description: Displays the actual position for an external block change.
"Jog" operating mode:
Displays the actual position that is present at the external block change (BI: p2589 = 0/1 signal or BI: p2590 = 0/1
signal).
"Referencing" operating mode:
Displays the actual position that is present at the external block change (BI: p2595 = 0/1 signal).
Description: Displays the clearance determined between the reference cam and zero mark in the search for reference.
Description: Displays the currently effective velocity override.
Note: The effective override can differ from the specified override due to limits (e.g. p2571, maximum velocity).
Description: Displays the actual residual distance.
The remaining distance is the distance to still to be moved through up to the end of the current positioning task.
r2678 CO: EPOS external block change / Ext BlckChg s_act
SERVO (EPOS),
VECTOR (EPOS)
3620
- [LU] - [LU] - [LU]
r2680 CO: EPOS clearance, reference cam and zero mark / Clearance cam/ZM
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
r2681 CO: EPOS velocity override effective / v_over effective
SERVO (EPOS),
VECTOR (EPOS)
- [%] - [%] - [%]
r2682 CO: EPOS residual distance to go / Residual distance
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
Parameters
List of parameters
Description: Displays status word 1 for the basic positioner (EPOS).
These signals are generated in the "closed-loop position control" function module.
Description: Displays status word 2 for the basic positioner (EPOS).
Note: Re bit 02:
The "referencing active" signal is an OR logic operation of "search for reference active" and "flying referencing
active".
Re bit 00 ... 07 and 11 ... 14:
These signals are generated in the function module "basic positioner".
Re bit 08:
The signal is generated in the "closed-loop position control" function module.
r2683 CO/BO: EPOS status word 1 / PosZSW1
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0000 bin
00 Tracking operation active Yes No 3635
01 Velocity limiting active Yes No 3630
02 Setpoint available Yes No 3635
04 Axis moves forwards Yes No 3635
05 Axis moves backwards Yes No 3635
06 Software limit switch minus reached Yes No 3635
07 Software limit switch plus reached Yes No 3635
08 Position actual value <= cam switching posi-
tion 1
Yes No 4025
09 Position actual value <= cam switching posi-
tion 2
Yes No 4025
10 Direct output 1 via traversing block Yes No 3616
11 Direct output 2 via traversing block Yes No 3616
r2684 CO/BO: EPOS status word 2 / PosZSW2
SERVO (Pos ctrl),
VECTOR (Pos ctrl)
- - 0000 bin
00 Search for reference active active Not active 3612,
3614
01 Flying referencing active active Not active 3614
02 Referencing active active Not active 3614
03 Printing mark outside outer window Yes No 3614
04 Axis accelerating Yes No 3635
05 Axis decelerating Yes No 3635
07 Activate correction Yes No 3635
08 Follow err in tol Yes No -
10 Target position reached Yes No 4020
11 Reference point set Yes No 3612,
3614
12 Acknowledgment, traversing block activated Yes No 3616
13 STOP cam minus active Yes No 3630
14 STOP cam plus active Yes No 3630
15 Travel command active Yes No 3635
List of parameters
Parameters
Description: Displays the correction value for the position actual value.
Using this value, e.g. modulo corrections are carried-out.
Description: Sets a fixed setpoint for the position.
Description: Sets a fixed setpoint for the velocity.
Description: Sets a fixed setpoint for the acceleration override.
The percentage value refers to the maximum acceleration (p2572).
r2685 CO: EPOS correction value / Correction value
SERVO (EPOS),
VECTOR (EPOS)
- [LU] - [LU] - [LU]
p2690 CO: EPOS position fixed setpoint / Pos fixed value
SERVO (EPOS),
VECTOR (EPOS)
-2147483648 [LU] 2147483647 [LU] 0 [LU]
p2691 CO: EPOS velocity fixed setpoint / v fixed value
SERVO (EPOS),
VECTOR (EPOS)
p2692 CO: EPOS acceleration override, fixed setpoint / a_over fixed val
SERVO (EPOS),
VECTOR (EPOS)
0 [%] 100 [%] 100 [%]
Parameters
List of parameters
Description: Sets a fixed setpoint for the deceleration override.
The percentage value refers to the maximum deceleration (p2573).
Description: Sets a fixed percentage.
Note: The value can be used to interconnect a scaling function (e.g. scaling of the main setpoint)
Description: Sets a fixed percentage.
Note: The value can be used to interconnect a scaling function (e.g. scaling of the supplementary setpoint)
Description: Sets a fixed value for torque.
Note: The value can, for example, be used to interconnect a supplementary torque.
p2693 CO: EPOS deceleration override, fixed setpoint / -a_over fixed val
SERVO (EPOS),
VECTOR (EPOS)
0 [%] 100 [%] 100 [%]
p2900[0...n] CO: Fixed value 1 [%] / Fixed value 1 [%]
P-Group: Free function blocks Units group: - Unit selection: -
-10000.00 [%] 10000.00 [%] 0.00 [%]
P-Group: Free function blocks Units group: - Unit selection: -
-10000.00 [%] 10000.00 [%] 0.00 [%]
p2930[0...n] CO: Fixed value M [Nm] / Fixed value M [Nm]
P-Group: Free function blocks Units group: 7_1 Unit selection: p0505
-100000.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
List of parameters
Parameters
Description: Sets a fixed value for force.
Note: The value can, for example, be used to interconnect a supplementary force.
Description: Sets the mode for the time stamp
p3100 = 0: Time stamp, operating hours
p3100 = 1: Time stamp, UTC format
Note: RTC: Real Time Clock
UTC: Universal Time Coordinates
The UTC time started, according to the definition on 01.01.1970 at 00:00:00 and is output in days and milliseconds.
Description: Setting the UTC time.
This means that the drive system is synchronized to the time specified by the time master. To start p3101[1] must
be written to followed by p3101[0]. After writing to p3101[0], the UTC time is accepted.
p3101[0]: Milliseconds
p3101[1]: Days
Description: Displays the actual UTC time in the drive system.
p3102[0]: Milliseconds
p3102[1]: Days
p2930[0...n] CO: Fixed value F [N] / Fixed value F [N]
P-Group: Free function blocks Units group: 8_1 Unit selection: p0505
-100000.00 [N] 100000.00 [N] 0.00 [N]
p3100 RTC time stamp mode / RTC t_stamp mode
0 1 0
p3101[0...1] RTC set UTC time / RTC set UTC
0 4294967295 0
r3102[0...1] RTC read UTC time / RTC read UTC
- - -
Parameters
List of parameters
Description: Sets the synchronization source/technique.
Values: 0: PROFIBUS
1: PROFINET
2: PPI
3: PROFINET PTP
Description: Sets the signal source for the PING event to set the UTC time.
Description: Displays the last synchronization deviation that was determined.
r3108[0]: Milliseconds
r3108[1]: Days
Description: Sets the tolerance window for time synchronization.
When this tolerance window is exceeded, an appropriate alarm is output.
Description: Sets the delay time for external fault 3.
Refer to: F07862
p3103 RTC synchronization source / RTC sync_source
0 3 0
p3104 BI: RTC real time synchronization PING / RTC PING
- - 0
r3108[0...1] RTC last synchronization deviation / RTC sync_dev
- - -
p3109 RTC real time synchronization, tolerance window / RTC sync tol
0 [ms] 1000 [ms] 100 [ms]
p3110 External fault 3, power-up delay / Ext fault 3 t_on
0 [ms] 1000 [ms] 0 [ms]
List of parameters
Parameters
Description: Sets the signal source for the enable signal of external fault 3.
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Sets the signal source for the enable signal of external fault 3.
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Sets the signal source for the negated enable signal of external fault 3.
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
p3111 BI: External fault 3, enable / Ext fault 3 enab
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 1
p3111[0...n] BI: External fault 3, enable / Ext fault 3 enab
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 1
p3112 BI: External fault 3 enable negated / Ext flt 3 enab neg
CU_LINK, CU_S,
DMC20, TB30,
TM15, TM15DI_DO,
TM17, TM31
- - 0
Parameters
List of parameters
Description: Sets the signal source for the negated enable signal of external fault 3.
- BI: p2108 negated
- BI: p3111
- BI: p3112 negated
Refer to: F07862
Description: Displays the status of NAMUR signal bit bar.
The faults or alarms are assigned to the appropriate signaling/message classes and influence a specific message
bit.
Description: Sets the threshold value for the "excitation current outside tolerance" message for the excitation current monitoring.
If the absolute value of the difference between the excitation current setpoint and actual value (r1641 - r1626)
exceeds the threshold value and the hysteresis is longer than the selected delay time, then fault F07913 is output.
This fault is withdrawn when the threshold voltage is fallen below.
Dependency: Refer to: r1626, r1641, p3202, p3203
Refer to: F07913
Note: The monitoring function is only carried-out for separately-excited synchronized motors (p0300 = 5).
p3112[0...n] BI: External fault 3 enable negated / Ext flt 3 enab neg
A_INF, B_INF,
SERVO, S_INF,
TM41, VECTOR
- - 0
r3113 CO/BO: NAMUR message bit bar / NAMUR bit bar
- - 0000 bin
00 Fault, drive converter data electronics / soft-
ware error
Yes No -
01 Line supply fault Yes No -
02 DC link overvoltage Yes No -
03 Fault, drive converter power electronics Yes No -
04 Drive converter overtemperature Yes No -
05 Ground fault Yes No -
06 Motor overload Yes No -
07 Bus error Yes No -
08 External safety-relevant shutdown Yes No -
09 Mot encoder fault Yes No -
10 Error, internal communications Yes No -
11 Infeed fault Yes No -
15 Other faults Yes No -
p3201[0...n] Excitation current outside the tolerance threshold value / I_exc n.Tol thresh
0.1 [%] 100.0 [%] 10.0 [%]
List of parameters
Parameters
Description: Sets the hysteresis for the "excitation current outside tolerance" message for the excitation current monitoring.
Refer to: F07913
Description: Sets the delay time for the "excitation current outside tolerance" message for the excitation current monitoring.
Refer to: F07913
Description: Sets the threshold value for the "flux outside the tolerance" message for the flux monitoring.
If the absolute value of the difference between the flux setpoint and actual value (r0083 - r0084) falls below the
threshold value with hysteresis longer than the selected delay time, then fault F07914 is output.
This fault is withdrawn when the threshold voltage is fallen below.
Dependency: Refer to: r0083, r0084, p3205, p3206
Refer to: F07914
The flux monitoring is only active after magnetization (r0056.4 = 1).
Description: Sets the hysteresis for the "flux outside tolerance" message for the flux monitoring.
Refer to: F07914
p3202[0...n] Excitation current outside the tolerance hysteresis / I_exc n.Tol hyst
0.1 [%] 100.0 [%] 10.0 [%]
p3203[0...n] Excitation current outside the tolerance delay time / I_exc n.Tol t_del
0.0 [s] 10.0 [s] 1.0 [s]
p3204[0...n] Flux outside the tolerance threshold value / Flux n. tol thresh
0.1 [%] 100.0 [%] 10.0 [%]
p3205[0...n] Flux outside the tolerance hysteresis / Flux n. tol hyst
0.1 [%] 50.0 [%] 10.0 [%]
Parameters
List of parameters
Description: Sets the delay time for the "flux outside tolerance" message for the flux monitoring.
Refer to: F07914
Description: Sets the threshold value for the zero current signal for the zero current monitoring.
If the absolute current falls below the threshold value then r2199.6 is set to 1 after the delay time has expired. The
bit is reset if the threshold value and the hysteresis are exceeded again.
The monitoring is only carried-out for speeds less than the speed threshold value in p2161 (r2199.0 = 1).
Description: Sets the hysteresis for the zero current signal for the zero current monitoring.
The monitoring is only carried-out for speeds less than the speed threshold value in p2161 (r2199.0 = 1).
Description: Sets the delay time for the zero current signal for the zero current monitoring.
The monitoring is only carried-out for speeds less than the speed threshold in p2161 (r2199.0 = 1).
p3206[0...n] Flux outside tolerance delay time / Flux n. tol t_del
0.0 [s] 10.0 [s] 5.0 [s]
p3207[0...n] Zero current signal, threshold value / I_0_sig thresh
0.01 [Aeff] 10000.00 [Aeff] 1.00 [Aeff]
p3208[0...n] Zero current signal, hysteresis / I_0_sig hyst
0.01 [Aeff] 10000.00 [Aeff] 1.00 [Aeff]
p3209[0...n] Zero current signal, delay time / I_0_sig t_del
0.00 [s] 10.00 [s] 0.02 [s]
List of parameters
Parameters
Description: Sets the configuration word of the infeed.
Note: Re bit 00:
In the smart mode, the DC link voltage is not controlled - however, infeed can still regenerate. The magnitude of the
DC link voltage depends on the actual line supply voltage and the DC link load.
For drive units belonging to the 400 V voltage class, for a drive unit supply voltage (p0210) greater than 415 V, the
infeed is always operated in the smart mode. This means that the 660 V limit can be maintained for the steady-state
DC link voltage (p0280) up to a line supply voltage of 480 V.
Re bit 01:
If the flat top mode is deactivated, switching losses are higher. This means that the full power is no longer continu-
ously available.
For p3400.0 = 1, this bit is not effective.
Re bit 03:
If the Vdc controller is switched-out, overvoltage or undervoltage conditions occur in the DC link if no other voltage-
regulating component is located in the DC link.
For p3400.0 = 1, this bit is not effective.
Re bit 05:
VSM: Voltage Sensing Module
If a VSM is detected when commissioning the system, this bit is automatically set.
When the bit is set, the line supply voltage input of the VSM must be connected (connected at the line side of the
commutating reactor).
Description: Displays the internal status of the infeed module.
Values: 0: Initialization
1: Fault
2: No ON command
3: Offset measurement running
4: ON delay active
5: Precharg. running
6: No pulse enable
7: Synchronization running
8: Voltage ramp-up active
9: Operation
10: Shutdown running
11: Identification running
p3400 Infeed configuration word / INF config word
- - 1010 bin
00 Smart Mode On Off -
01 Flat-top mode On Off -
03 Vdc controller On Off -
05 Line supply voltage sensing with VSM On Off -
r3402 Infeed internal status / INF status int
8932
0 11 0
Parameters
List of parameters
Description: Displays the internal status of the infeed module.
0: Initialization
1: Fault
2: No ON command
4: ON delay active
6: Operation
Values: 0: Initialization
1: Fault
2: No ON command
3: Offset measurement running
4: ON delay active
6: No pulse enable
7: Synchronization running
8: Voltage ramp-up active
9: Operation
10: Shutdown running
Description: Status word of the infeed.
Note: Re bit 02:
The bit indicates the alarm A6205 that is present.
The bit is set when a phase failure has been detected. The signal is reset, if
- the infeed has reached the normal operating state again (p3402 = 9) after a phase failure has been bypassed/buff-
ered
- the pulse enable is withdrawn due to a fault or powering-down with OFF1/OFF2.
r3402 Infeed status internal BIC / INF status int
0 11 0
r3405 CO/BO: Status word infeed / INF ZSW
- - 0000 bin
00 Smart mode active Yes No -
01 Vdc-ctrl active Yes No -
02 Phase failure detected Yes No -
03 Current limit reached Yes No -
04 Infeed operates regenerating/motoring Regenerative mode Motor mode -
05 Motor operation inhibited Yes No -
06 Regenerative operation inhibited Yes No -
List of parameters
Parameters
Description: Sets the line and DC link parameter identification routine for the infeed module.
Values: 0: Identification (Id) off
1: Activate identification (Id)
2: Set controller settings
3: Save identification and controller settings
4: Save identification and controller settings with L adaptation
5: Reset, save Id and controller setting with L adaptation
Dependency: Refer to: r3411, r3412, p3415, p3416, p3417, p3421, p3422
Refer to: A06400
Notice: For p3410 = 1, 3, 4, 5, alarm A06400 is output and designates that the selected identification will take place the next
time that the pulses are enabled.
Note: When p3410 = 1 an identification run for the total inductance and DC link capacitance is initiated when the pulses
are next enabled. The results are displayed in r3411, r3412. The infeed then goes into the power-on state.
For p3410 = 2, the data (r3411 and r3412) determined during the identification run (p3410 = 1) is transferred into
p3421 and p3422. Calculations for the controller are then repeated. The user must save the new parameters in a
non-volatile fashion in order to permanently select the new controller setting.
When p3410 = 3 an identification run for the total inductance and DC link capacitance is initiated when the pulses
are next enabled. The data determined during identification (r3411 and r3412) are transferred into p3421 and
p3422 and the controller parameters recalculated. All of the parameters for the infeed module are then automati-
cally stored in a non-volatile memory. The infeed continues to operate without any interruption with the new control-
ler parameters.
When p3410 = 4 an identification run for the total inductance and DC link capacitance is initiated when the pulses
are next enabled. The data determined during identification (r3411 and r3412) are transferred into p3421 and
p3422 and the controller parameters recalculated. The identification is then repeated at an increased current level
(p3415[1]). If the inductance measured the second time is lower, the parameters are written to the current controller
adaptation (p3620, p3622).. All of the parameters for the infeed module are then automatically stored in a non-vola-
tile memory. The infeed continues to operate without any interruption with the new controller parameters.
For p3410 = 5, the same measurements and write operations are always carried-out as for p3410 = 4. However, for
the first identification run, initially the controller setting is reset by setting p3421 to p0223 and p3422 to p0227. Fur-
ther, before the measurements are carried-out, a brief identification run is executed to coarsely set the controller.
p3410 is automatically set to 0 after an identification run has been successfully completed.
Description: Displays the identified total inductance. The value corresponds to the total inductance between the rigid line supply
and the infeed input terminals.
Index: [0] = Result run 1
[1] = Result run 2
Note: The value measured in the first identification run is displayed in r3411[0] (if p3410 = 1, 3, 4, 5). This value is trans-
ferred to p3421.
The value measured in the second identification run (if p3410 = 4, 5) is displayed in r3411[1] - this value is used to
set the current controller adaptation (p3622).
p3410 Infeed identification method / INF Ident_type
0 5 5
r3411[0...1] Infeed identified inductance / INF L ident
- [mH] - [mH] - [mH]
Parameters
List of parameters
Description: Displays the identified total DC link capacitance.
[1] = Result run 2
Note: The value measured in the first identification run (if p3410 = 1, 3, 4, 5) is displayed in r3412[0]. For p3410 = 1, 3, this
value is transferred to p3422.
The DC link capacitance is not measured at the second identification run.
Description: Sets the magnitude of the excitation frequency for the L identification.
The setting is made as a percentage of the maximum power unit current (r0209).
[1] = Result run 2
Dependency: Refer to: p3410, r3411, p3421, p3620, p3622
Notice: In order to correctly identify the current level (p3410 = 4, 5) depending on the reactor inductance, the following must
apply:
p3415[0] < p3415[1]
Note: The reactive current for identification run 1 is set in p3415[0] (basic controller setting).
The reactive current for identification run 2 is set in p3415[1] (adaptation of the current controller when reducing the
reactor inductance with increasing current magnitude).
Description: Sets the level of the excitation frequency for identification of the total DC link capacitance. The amplitude is indi-
cated as a percentage of the DC voltage setpoint (Vdc = p0210 * p3510).
Description: Sets the level of the excitation frequency for identification of the total DC link capacitance.
r3412[0...1] Infeed DC-link capacitance identified / INF C_DClink ident
- [mF] - [mF] - [mF]
p3415[0...1] Infeed excitation current L identification / INF I_exc L_Ident
0.00 [%] 100.00 [%] [0] 30.00 [%]
[1] 48.00 [%]
p3416 Infeed excitation amplitude C identification / INF exc_amp C_Id
0.10 [%] 20.00 [%] 2.00 [%]
p3417 Infeed excitation frequency C identification / INF f_exc C_ID
10.00 [Hz] 200.00 [Hz] 50.00 [Hz]
List of parameters
Parameters
Description: Sets the total line supply inductance. This value is preset to the sum of the values in p0223 and p0225.
Note: The controller setting is derived from this value.
The value can be automatically determined using the identification run (p3410).
For a parallel circuit, the value corresponds to the inductance of a power unit.
Description: Sets the DC link capacitance. This value is preset to p0227.
Note: The controller setting is derived from this value. The value can be automatically determined using the identification
run (p3410).The total DC link capacitance of a DC link group comprises the sum of the sub-capacitances of all
motor/infeed modules and the additional DC link capacitors.
Description: Sets the configuration of the smart mode.
Note: Re bit 00:
When the pulsed mode for the smart mode is de-activated, when regenerating, higher phase current gradients
occur.
Description: Displays the status of the line supply PLL.
Values: 0: Initialization running
1: Error when synchronizing
2: Anal. line supply
3: Calculation line data
4: No pulse enable
5: PLL calculation
6: Final status controlled / smart mode
7: Reserved
p3421 Infeed inductance / INF Inductance
0.00 [mH] 1000.00 [mH] 2.00 [mH]
p3422 Infeed DC link capacitance / INF C_DCL
0.20 [mF] 1000.00 [mF] 2.00 [mF]
p3440 Smart mode configuration / SLM configuration
- - 0001 bin
00 Soft pulse mode On Off -
r3452 Infeed PLL status / INF PLL status
0000 bin 0111 bin 0001 bin
Parameters
List of parameters
Description: Sets the smoothing time for the line supply PLL.
Note: It may be necessary to reduce the smoothing time for weak line supplies with high frequency fluctuations. There is
otherwise a risk of brief orientation errors and the infeed could fail.
Description: Displays the PLL system deviation.
Description: Displays the PLL system deviation after filtering.
Description: If the line supply angle (angle between the line supply phases) suddenly changes by this value, then a phase failure
is assumed. The pulses are then inhibited for 10 ms.
Description: Calibration value for the RC filter of the zero crossover detection of the line supply voltage in the power unit.
For p3469 = 0, a new calibration is carried-out at the next identification run with p3410 = 4 or p3410 = 5.
Note: The calibration value is saved in the EEPROM of the power unit (not on the CompactFlash card), as it involves a
characteristic/feature of the power unit.
p3458 Infeed PLL smoothing time / INF PLL t_smooth
2.0 [ms] 1000.0 [ms] 50.0 [ms]
r3460 Infeed PLL system deviation / INF PLL ctrl_dev
- [] - [] - []
r3461 Infeed PLL system deviation after filtering / INF PLL ctrl_devSm
- [] - [] - []
p3463 Infeed, line angle change, phase failure detection / INF Phi phase fail
-180.0 [] 180.0 [] 15.0 []
p3469[0...n] Latch delay time correction, zero crossover detection / t_latch corr PLL
Data type: Floating Point Dynamic index: PDS, p0120 Function diagram: -
-10000.0 [s] 10000.0 [s] 0.0 [s]
List of parameters
Parameters
Description: Displays the active current requirement due to the line filter.
Note: With respect to the line supply, the sum of the active currents of the power unit (p0078) and line filter (p3470) are
effective.
The active current demand of the line filter is taken into account when calculating the power factor (r0038).
The magnitude of the line filter active current depends on the capacitance (p0221) and the resistance (p0222) of the
line filter.
Description: Displays the reactive current requirement as a result of the line filter.
Note: With respect to the line supply, the sum of the reactive currents of the power unit (p0076) and line filter (p3471) are
effective.
The reactive current requirement of the line filter is taken into account when calculating the power factor (r0038).
The magnitude of the line filter reactive current depends on the capacitance (p0221) and the resistance (p0222) of
the line filter.
Description: Sets the maximum steady-state modulation depth. When this limit is reached, the DC link voltage is boosted to
maintain the control margin. This means that the control reserve is maintained.
Description: Sets the dynamic response of the reserve controller for the modulation depth. As the smoothing time increases, the
response of the DC link voltage tracking becomes slower.
r3470 Infeed active current filter / INF I_act filter
r3471 Infeed reactive current filter / INF I_reactiveFilt
p3480 Infeed modulation depth limit / INF mod_depth lim
50.0 [%] 110.0 [%] 97.0 [%]
p3481 Infeed standby controller dynamic response / INF res_ctrl dyn
0.0 [ms] 1000.0 [ms] 7.5 [ms]
Parameters
List of parameters
Description: Displays the reserve controller output for the modulation depth.
The DC link voltage is increased by this voltage value - the summed setpoint for the DC link voltage is output in
r0088.
The summed setpoint is limited to the maximum steady-stage DC link voltage (p0280).
Description: Sets the delay time for the ON/OFF1 command of the infeed. After ON/OFF1 = 0 the infeed remains in operation for
the specified time
Notice: The ON/OFF1 command of the infeed can be interrupted.
Note: This parameter is only relevant if a Motor Module and the infeed are controlled by the same OFF command. In this
case, the delay time and the stop ramp time of the motor can be coordinated with one another.
Description: Sets the monitoring time for the current-offset measurement of the power unit.
The time is started with the normal end of the measurement. If the measurement is invalid and if no valid measure-
ment can be taken within the monitoring period (phase currents too high), an appropriate message is generated.
Note: Set this parameter to 0 to allow variations in the delay when running-up.
Description: Sets the delay time for shutdown due to a line supply undervoltage condition (A06100).
After the fault occurs, the power unit is only tripped (shut down) after this delay has expired. If the fault is removed
during this design time, then the power unit is not tripped (shut down).
Dependency: Refer to: p0283, Refer to: F06100
Note: The degree of ruggedness of the infeed with respect to fluctuations in the line supply voltage can be increased by
parameterizing this delay value.
However, the following should be noted:
- the infeed power decreases proportionally (linearly) with the line supply voltage.
- when other components are connected, for low line supply voltage, operating faults or damage can occur. In this
case, the specifications of the connected electrical components should always be carefully observed.
r3485 Infeed standby controller output / INF res_ctrl outpt
- [V] - [V] - [V]
p3490 Infeed OFF command delay time / INF t_del OFF
A_INF, B_INF,
S_INF
0.0 [ms] 1000000.0 [ms] 0.0 [ms]
p3491 Infeed I-offset measurement monitoring time / INF I_offs t_monit
0 [ms] 65000 [ms] 2000 [ms]
p3492 Infeed, line supply undervoltage delay time / INF V_line t_del
0 [s] 300 [s] 0 [s]
List of parameters
Parameters
Description: Sets the setpoint for the DC link voltage.
Warning: Before increasing the voltage limit for pulsed operation of a controlled booksize infeed with line supply voltages
p0210 > 415 V it should be checked whether the motors, connected to the DC link, are specified for the higher
motor voltages.
The warning information associated with p0210 must be carefully observed.
Note: The permissible range of the DC link voltage depends on the parameterized unit supply voltage (p0210).
The following applies for booksize units: 1.42 * p0210 < p3510 < 1.6 * p0210.
The following applies for chassis units: 1.42 * p0210 < p3510 < 2.0 * p0210.
Description: Sets the signal source for the supplementary setpoint for the DC link voltage.
Description: Sets the signal source for inhibiting the voltage-controlled mode of the infeed.
Notice: The DC link voltage must be controlled by a different component at the DC link; otherwise this results in an overvolt-
age or undervoltage condition.
Note: The current controller remains active and can be controlled by means of its setpoint inputs (p3515, p3610).
Description: Sets a steady-state supplementary setpoint for the active line supply current.
p3510 Infeed DC link voltage setpoint / INF Vdc setp
8940
300.00 [V] 1600.00 [V] 600.00 [V]
p3511 CI: Infeed DC link voltage supplementary setpoint / INF Vdc Z_set
A_INF Can be changed: T Access level: 3
- - 0
p3513 BI: Inhibit voltage-controlled operation / Inhib U_ctrl mode
- - 0
p3514 Infeed supplementary active current steady-state / INF I_sup_eff stat
-1000.00 [Aeff] 1000.00 [Aeff] 0.00 [Aeff]
Parameters
List of parameters
Description: Sets the signal source for the supplementary setpoint of the active current.
Note: For a master-slave infeed, the master can enter the current setpoint via this connector input.
Description: Sets the factor to be multiplied by the active current setpoint for the current controller.
For a master slave infeed configuration, the value reduced in this way can be distributed to the slave axes. The
overall gain from the perspective of the voltage controller remains the same.
Description: Displays the unlimited setpoint of the active current controller.
For a master-slave infeed configuration, the master retrieves this setpoint and distributes it to all of the slaves. The
slaves operate in the current-controlled mode.
Description: Sets the signal source for power pre-control.
Note: Closed-loop control of the DC link voltage is improved by pre-controlling the power required for the other modules.
A non-normalized quantity is expected so that the various power reference values (r2004) of the drive objects do
not have to be taken into account. The scaling factors are used to adapt the scaling (p3521).
Description: Sets the scaling factor for the power pre-control.
p3515 CI: Infeed supplementary active current / INF I_suppl eff
- - 0
p3516 Infeed current distribution factor (parallel connection) / INF I_distr_factor
0.00 [%] 100.00 [%] 100.00 [%]
r3517 Infeed active current controller unlimited setpoint / INF I_act ctrl set
p3520[0...3] CI: Infeed power pre-control / INF pre-control P
- - 0
p3521[0...3] Infeed pre-control power scaling / INF pre-ctr P scal
-100000.00000 [%] 100000.00000 [%] 100.00000 [%]
List of parameters
Parameters
Description: Sets the motoring limit for the active line current.
The currently effective current limit is displayed in r0067[0].
Cautiont: If this limit is selected lower than the maximum current permissible for the power unit (r0067), the infeed can no
longer provide its full controlled power.
Operating faults of the infeed can occur due to the resulting DC link undervoltage.
Notice: For self-commutated infeeds, the DC link voltage decreases if more power is drawn from the DC link by the con-
nected load than can be supplied by the line because of the power unit maximum current or a limit in p3530.
If the DC link voltage decreases down to the rectified value, then the complete current - necessary to cover the
required active power - flows, uncontrolled into the rectifier circuit via the diodes.
This is the reason that, for physical reasons, the value in p3530 cannot act as current limit that is always main-
tained.
The value forms a current threshold from which point onwards the DC link energy is used as buffer for brief power
fluctuations.
Description: Sets the limit for the active line supply current when regenerating.
The currently effective current limit is displayed in r0067[1].
Cautiont: If this limit is selected lower than the maximum current permissible for the power unit (r0067), the infeed can no
longer provide its full controlled power.
This can result in an overvoltage condition in the DC link.
Notice: For self-commutated infeeds, the DC link voltage increases if more power is input to the DC link through the con-
nected source than can be fed to the line because of the maximum power unit current or a limit in p3531
If the DC link voltage exceeds the permissible threshold (p0297), defined by the hardware, then the unit is tripped
due to overvoltage.
The value in p3531 represents a current limit that is always maintained - however, this can result in overvoltage
conditions in the DC link.
The value in p3531 represents a current limit from which point onwards the capacitance of the DC link can be used
as buffer for brief power fluctuations.
p3530 Infeed current limit, motoring / INF I_limit mot
1.00 [Aeff] 100000.00 [Aeff] 10000.00 [Aeff]
p3531 Infeed current limit, regenerating / INF I_limit regen
-100000.00 [Aeff] -1.00 [Aeff] -10000.00 [Aeff]
Parameters
List of parameters
Description: Sets the signal source for inhibiting the motoring mode of the infeed.
Notice: If the motor mode is inhibited although power is withdrawn from the DC link, then the DC link voltage drops to the
rectified value. In this state, the DC link is post-charged through the diodes and motoring power is fed to the power
unit in spite of the motoring inhibit.
Note: The inhibit only becomes active after operation has been enabled and the Vdc has been ramped-up (r0863.0 = 1).
Description: Sets the signal source to inhibit the regenerating mode of the infeed.
Notice: The DC link voltage will increase if regenerative operation is inhibited even though power is being regenerated into
the DC link.
Note: The inhibit only becomes active after operation has been enabled and the Vdc has been ramped-up (r0863.0 = 1).
Description: Displays the integral action component of the DC link voltage controller (Vdc controller).
Description: Sets the normalized proportional gain for the DC link voltage controller (Vdc controller).
Note: A value of 100 % corresponds to the basic setting derived from loop control parameters (p3421, p3422).
Description: Sets the normalized integral time for the DC-link voltage controller (Vdc).
p3532 BI: Infeed, inhibit motoring / INF mot op inhibit
- - 0
p3533 BI: Infeed, inhibit regenerative operation / INF regen op inhib
- - 0
r3554 Infeed Vdc controller integral component / INF Vdc_ctr I_comp
p3560 Infeed Vdc controller proportional gain / INF Vdc_ctrl Kp
0.01 [%] 1000.00 [%] 100.00 [%]
p3562 Infeed,Vdc controller integral time / INF Vdc_ctrl Tn
0.10 [%] 100000.00 [%] 100.00 [%]
List of parameters
Parameters
Description: Sets the filter time constant for the DC link voltage monitor (Vdc).
Description: Sets the ramp time for the DC link voltage (Vdc) when powering-up and powering-down.
Powering-up (pulses enabled, r0898.3 = 1):
During this time, the DC link voltage is increased from the rectifier value after pre-charging to the voltage setpoint
(p3510, p3511). The voltage setpoint is increased, when necessary, so that the modulation depth reserve (p3481)
is maintained. The reactive current is set to the value 0 while ramping.
Powering-down (inhibit pulses, r0898.3 = 0):
During this time, the DC link voltage is reduced to the rectified value (sqrt(2) * line supply voltage). The reactive cur-
rent value is set to the value 0 when the ramp starts.
Description: Displays the status of the closed-loop infeed control.
Values: 0: Initialization running
1: No pulse enable
2: Ramp-up, DC-link voltage
3: Ramp-up reactive current
4: Shutdown running
5: Reset identification
6: Operation
8: Smart mode running
Description: The D component of the current pre-control is determined from the device data of the filter. p3603 can be used to
weigh the pre-calculated D component. If no dynamic pre-control is to be used, set the factor to zero.
p3564 Infeed Vdc monitor, time constant / INF Vdc_observe T
0.0 [ms] 100.0 [ms] 0.2 [ms]
p3566 Infeed Vdc ramp duration / INF Vdc t_ramp
40 [ms] 1000 [ms] 100 [ms]
r3602 Infeed control status / INF ctrl state
0000 bin 1000 bin 0000 bin
p3603 Infeed current pre-control factor D-action / INF I_ctrl Dfactor
0.00 [%] 500.00 [%] 100.00 [%]
Parameters
List of parameters
Description: Displays the system deviation of the active current controller.
Description: Displays the system deviation of the reactive current controller.
Description: Sets the fixed setpoint for the reactive current.
Description: Sets the signal source for the supplementary setpoint of the reactive current.
Description: Sets the normalized P gain for closed-loop current control of the infeed.
Description: Sets the normalized integral time for the infeed current controller.
r3606 Infeed active current controller system deviation / INF I_act ctrl dev
r3608 Infeed reactive current controller system deviation / INF I_reactvCtrDev
p3610 Infeed reactive current fixed setpoint / INF I_reactv F_set
8946
-10000.0 [Aeff] 10000.0 [Aeff] 0.0 [Aeff]
p3611 CI: Infeed reactive current supplementary setpoint / INF I_reactv Z_set
- - 0
p3615 Infeed current controller P gain / INF I_ctrl Kp
0.00 [%] 1000.00 [%] 100.00 [%]
p3617 Infeed current controller integral time / INF I_ctrl Tn
0.10 [%] 100000.00 [%] 100.00 [%]
List of parameters
Parameters
Description: Displays the integral component of the active current controller.
Description: Displays the integral action component of the reactive current controller.
Description: Sets the switch-in threshold for the current controller adaptation.
The value refers to the maximum power modular current (r0209). From the starting threshold onwards, the induc-
tance value (p3421) used for current control is reduced linearly as a function of the current value. The inductance
value for the maximum power unit current is therefore p3421 * p3622.
Note: For the identification with p3410 = 4, 5, the parameter is automatically set to 80% of the current magnitude for run 1
(p3415[0]).
Description: Sets the inductance of the commutating reactor at the maximum power unit current (r0209) as a percentage of the
inductance (p3421) at the application threshold (p3620).
Note: This parameter can be set automatically using the identification function (p3410 = 4, 5).
r3618 Infeed active current controller, integral component / INF I_act_ctrl Tn
r3619 Infeed reactive current controller integral component / INF I_reactv_ctrTn
p3620 Infeed current controller adaptation lower application threshold / INF
I_adptLowThrsh
0.00 [%] 100.00 [%] 0.00 [%]
p3622 Infeed current controller adaptation reduction factor / INF I_adapt factor
0.01 [%] 100.00 [%] 100.00 [%]
Parameters
List of parameters
Description: Sets the Order of the line harmonics for the current harmonics controller.
p3624[0]: Order of the line harmonics for the first harmonics controller.
p3624[1]: Order of the line harmonics for the second harmonics controller.
Note: Harmonics in the line supply voltage can cause harmonics in the converter current. These types of current harmon-
ics can be reduced by activating additional controller modules.
Example:
For a 50 Hz line supply harmonics at 250 Hz in the phase currents can be reduced by activating a harmonic control-
ler with Order 5 (p3624[0] = 5).
Description: Sets the gain of the harmonics controller.
p3625[0]: Gain of the first harmonics controller
p3625[1]: Gain of the second harmonics controller
0 %: Controller is de-activated
100 %: Controller is activated with default gain setting
Note: The harmonics controller corrects the power unit voltages so that the line-side current harmonics are reduced.
The order of a current harmonic, that is to be dampened using a harmonics controller, is defined using p3624.
Description: Displays the output voltages of the harmonics controller.
r3626[0]: RMS value of the 5th harmonic of the controller output voltage
r3626[1]: RMS value of the 7th harmonic of the controller output voltage
The harmonics controller corrects the power unit voltages so that the line-side current harmonics are reduced.
p3624[0...1] Infeed harmonics controller order / INF harm_ctr order
5 13 [0] 5
[1] 7
p3625[0...1] Infeed harmonics controller scaling / INF harm_ctrl scal
0.0 [%] 300.0 [%] 100.0 [%]
r3626[0...1] Infeed harmonics control output / INF harm_ctrl outp
List of parameters
Parameters
Description: Displays the voltage Vsd (active component) at the 3-phase line supply input of the power unit.
Description: Displays the voltage Vsq (reactive component) at the 3-phase line supply input of the power unit.
Description: Displays the output voltage angle (relative to the line angle).
Description: Sets the voltage scaler for the Voltage Sensing Module (VSM).
Note: When the 690 V input is used (X522) without voltage scaler,, 0 % should be entered.
When the 100 V input (X521) is used with voltage scaler to measure medium voltages, the dividing (scaling) factor
multiplied by 100% should be entered.
Example:
1000 V line supply voltage, voltage scaling, 10:1
--> voltage at the VSM input is 100 V
--> p3660 = 10 * 100 % = 1000 %
r3632 Infeed input voltage Vsd (active component) / INF U_input Usd
8946, 8950
r3633 Infeed input voltage Vsq (reactive component) / INF U_input Usq
8946, 8950
r3635 Infeed output voltage angle / INF U_output angle
- [] - [] - []
p3660 VSM input line supply voltage, voltage scaler / VSM input U_scaler
0.00 [%] 100000.00 [%] 0.00 [%]
Parameters
List of parameters
Description: Sets the voltage scaler for the Voltage Sensing Module (VSM).
Note: When the 690 V input is used (X522) without voltage scaler,, 0 % should be entered.
When the 100 V input (X521) is used with voltage scaler to measure medium voltages, the dividing (scaling) factor
multiplied by 100% should be entered.
Example:
1000 V line supply voltage, voltage scaling, 10:1
--> voltage at the VSM input is 100 V
--> p3660 = 10 * 100 % = 1000 %
Description: Displays the voltage between L1 and L2.
Note: X521.1 or X522.1: Connection of L1
X521.2 or X522.2: Connection of L2
p3660[0...n] VSM input line supply voltage, voltage scaler / VSM input U_scaler
Data type: Floating Point Dynamic index: p0150 Function diagram: -
0.00 [%] 100000.00 [%] 0.00 [%]
r3661 CO: VSM input line supply voltage u1 - u2 / VSM input u1-u2
8950, 9880
- [V] - [V] - [V]
r3661[0...n] CO: VSM input line supply voltage u1 - u2 / VSM input u1-u2
- [V] - [V] - [V]
r3662 CO: VSM input line supply voltage u2 - u3 / VSM input u2-u3
8950, 9880
- [V] - [V] - [V]
List of parameters
Parameters
Description: Displays the status of the temperature evaluation of the Voltage Sensing Module (VSM).
This displays as to whether the temperature actual value has exceeded the fault/alarm threshold.
Dependency: Refer to: p3665, r3666, p3667, p3668
Description: Displays the status of the temperature evaluation of the Voltage Sensing Module (VSM).
Description: Setting of the temperature sensor for the Voltage Sensing Module (VSM).
The temperature sensor is connected to terminals X520.5 and X520.6 of the VSM.
1: PTC
2: KTY84
r3662[0...n] CO: VSM input line supply voltage u2 - u3 / VSM input u2-u3
- [V] - [V] - [V]
r3664 BO: VSM temperature evaluation, status / VSM temp status
- - 0000 bin
00 Temperature alarm threshold exceeded Yes No -
01 Temperature fault threshold exceeded Yes No -
r3664[0...n] CO: VSM temperature evaluation, status / VSM temp status
- - 0000 bin
p3665[0...n] VSM temperature evaluation, sensor type / VSM TempSensorType
A_INF, S_INF, VEC-
TOR
0 2 0
Parameters
List of parameters
Description: Displays the temperature actual value of a KTY84 temperature sensor connected to the Voltage Sensing Module
(VSM).
Prerequisite:
A KTY84 sensor is connected and p3665 is set to 2.
Note: For sensor type PTC (p3665 = 1), the following applies:
- below the nominal response temperature, r3666 = -50C.
- above the nominal response temperature, r3666 = 199.9 C.
Description: Displays the temperature actual value of a KTY84 temperature sensor connected to the Voltage Sensing Module
(VSM).
Prerequisite:
Note: For sensor type PTC (p3665 = 1), the following applies:
Description: Sets the alarm threshold for the KTY temperature sensor of the Voltage Sensing Module (VSM) to monitor the line
filter temperature.
Prerequisite:
Refer to: F34207
r3666 CO: VSM temperature KTY / VSM temp KTY
- [C] - [C] - [C]
r3666[0...n] CO: VSM temperature KTY / VSM temp KTY
- [C] - [C] - [C]
p3667 VSM line filter overtemperature alarm threshold / VSMfilt_T A_thresh
0.00 [C] 301.00 [C] 150.00 [C]
List of parameters
Parameters
Description: Sets the alarm threshold for the KTY temperature sensor of the Voltage Sensing Module (VSM) to monitor the line
filter temperature.
Prerequisite:
Refer to: F34207
Description: Sets the shutdown threshold for the KTY temperature sensor of the VSM to monitor the line filter temperature.
Refer to: A34211
Description: Sets the shutdown threshold for the KTY temperature sensor of the VSM to monitor the line filter temperature.
Refer to: A34211
Description: Sets the hysteresis for the alarm threshold of the VSM to monitor the line filter temperature.
Description: Sets the hysteresis for the alarm threshold of the VSM to monitor the line filter temperature.
p3667[0...n] VSM line filter overtemperature alarm threshold / VSMfilt_T A_thresh
0.00 [C] 301.00 [C] 150.00 [C]
p3668 VSM line filter overtemperature shutdown threshold / VSM filt_T F_thres
0.00 [C] 301.00 [C] 180.00 [C]
p3668[0...n] VSM line filter overtemperature shutdown threshold / VSM filt_T F_thres
0.00 [C] 301.00 [C] 180.00 [C]
p3669 VSM line filter overtemperature hysteresis / VSM filt_T hyst
1.00 [K] 50.00 [K] 3.00 [K]
p3669[0...n] VSM line filter overtemperature hysteresis / VSM filt_T hyst
1.00 [K] 50.00 [K] 3.00 [K]
Parameters
List of parameters
Description: Sets CT gain of the CT connected at the 10 V input of the Voltage Sensing Module (VSM).
The parameter specifies the current magnitude in [A] referred to the input voltage at the VSM in [V].
Example:
CT with 1 V per 200 A.
--> p3670 = 200
Note: The CT for phase 1 is connected at terminals X520.1 and X520.2 of the VSM.
The CT for phase 2 is connected at terminals X520.3 and X520.4 of the VSM.
Description: Sets CT gain of the CT connected at the 10 V input of the Voltage Sensing Module (VSM).
The parameter specifies the current magnitude in [A] referred to the input voltage at the VSM in [V].
Example:
CT with 1 V per 200 A.
--> p3670 = 200
The CT for phase 2 is connected at terminals X520.3 and X520.4 of the VSM.
Description: Displays the current actual value from current transducer (CT) 1 at the 10 V input of the Voltage Sensing Module
(VSM).
(VSM).
p3670 VSM 10 V input CT gain / VSM CT_gain
0.000 [A] 1000.000 [A] 1.000 [A]
p3670[0...n] VSM 10 V input CT gain / VSM CT_gain
0.000 [A] 1000.000 [A] 1.000 [A]
r3671 CO: VSM 10 V input CT 1 actual value / VSM CT 1 I_act
- [A] - [A] - [A]
r3671[0...n] CO: VSM 10 V input CT 1 actual value / VSM CT 1 I_act
- [A] - [A] - [A]
List of parameters
Parameters
(VSM).
(VSM).
Description: Displays the actual value of the voltage measured at the 10 V input 1 of the Voltage Sensing Modules (VSM).
Note: 10 V input 1: Terminals X520.1 and X520.2
r3672 CO: VSM 10 V input CT 2 actual value / VSM CT 2 I_act
- [A] - [A] - [A]
r3672[0...n] CO: VSM 10 V input CT 2 actual value / VSM CT 2 I_act
- [A] - [A] - [A]
r3673 CO: VSM 10 V input 1 actual value / VSM input 1 U_act
- [V] - [V] - [V]
r3673[0...n] CO: VSM 10 V input 1 actual value / VSM input 1 U_act
- [V] - [V] - [V]
r3674 CO: VSM 10 V input 2 actual value / VSM input 2 U_act
- [V] - [V] - [V]
Parameters
List of parameters
Description: Sets the alarm threshold for the change of the capacitance of the line filter.
The filter capacitance monitoring function is de-activated with p3676 = 0.00 %.
Refer to: A06250
Note: Prerequisite for monitoring the filter capacitance:
The phase currents must be measured at two capacitors of the line filter. To do this, CTs should be connected at
the 10 V inputs of the VSM.
Description: Displays the capacitance of the line filter (for a star circuit configuration).
[1] = Phase V
[2] = Phase W
Note: Prerequisite:
The filter capacitance monitoring is activated.
Description: Sets the configuration for APC (Advanced Positioning Control).
r3674[0...n] CO: VSM 10 V input 2 actual value / VSM input 2 U_act
- [V] - [V] - [V]
p3676 VSM line filter capacitance alarm threshold / VSMfilt C A_thresh
0.00 [%] 100.00 [%] 0.00 [%]
r3677[0...2] VSM line filter capacitance / VSM filt C
- [F] - [F] - [F]
p3700 APC configuration / APC config
SERVO (APC) Can be changed: U, T Access level: 2
- - 0000 bin
00 Activating APC Yes No -
08 Activating pulse de-coupling Yes No -
List of parameters
Parameters
Note: Re bit 0:
For a 1 signal, the acceleration filter output is added to the speed setpoint.
For a 0 signal, the value 0 is added. This must be used to evaluate the filter frequency characteristics.
Re bit 8:
For bit 0 = 1 and activated pulse de-coupling (bit 8 = 1), the speed of the direct measuring system (p3701) selected
for APC is used as the actual value for the closed-loop speed control.
Description: Sets the number of the encoder used for for APC (Advanced Positioning Control).
Values: 2: Encoder 2
3: Encoder 3
Note: Encoder 1 is the motor encoder and cannot be used for APC as APC requires a load measuring system.
An encoder used for APC is, regarding its fault messages, treated just like a motor encoder - this means that its
fault messages are assigned to the drive.
Description: Setting to activate the filter for APC (Advanced Positioning Control).
Description: Sets the filter type for the filter for APC (Advanced Positioning Control).
p3701 APC enc sel / APC enc sel
SERVO (APC) Can be changed: C1(4), U Access level: 3
2 3 2
p3704[0...n] APC filter activation / APC filter activ.
- - 0000 bin
00 Activating filter 1.1 Yes No -
p3705[0...n] APC filter type / APC filter type
- - 0000 bin
00 Filter 1.1 type A. Filter 2nd ord. Low pass (PT2) -
Parameters
List of parameters
Description: Sets the factor for the sub-sampling in the branch of filter 2.1 and 2.2 for APC (Advanced Positioning Control).
Note: The values are integer multiples of the speed controller clock cycle (p0115[1]).
Description: Sets the factor for the sub-sampling in the branch of filter 3.1 and 3.2 for APC (Advanced Positioning Control).
Note: The values are integer multiples of the speed controller clock cycle (p0115[1]).
Description: Sets the denominator natural frequency for filter 1.1 (PT2, general 2nd Order filter) for APC (Advanced Positioning
Control).
Description: Sets the denominator damping for filter 1.1 (PT2, general 2nd Order filter) for APC (Advanced Positioning Control).
Description: Sets the numerator natural frequency for filter 1.1 (PT2, general 2nd Order filter) for APC (Advanced Positioning
Control).
p3706[0...n] APC sub-sampling, filter 2.x / APC sub-samp. 2.x
1 64 1
1 64 1
p3711[0...n] APC filter 1.1 denominator natural frequency / APC Filt 1.1 fn_d
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
p3712[0...n] APC filter 1.1 denominator damping / APC Filt 1.1 D_d
0.050 10.000 0.700
p3713[0...n] APC filter 1.1 numerator natural frequency / APC Filt 1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
List of parameters
Parameters
Description: Sets the numerator damping for filter 1.1 (PT2, general 2nd Order filter) for APC (Advanced Positioning Control).
Control).
Control).
p3714[0...n] APC filter 1.1 numerator damping / APC Filt 1.1 D_n
0.000 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.050 10.000 0.700
p3723[0...n] APC filter 2.1 numerator natural frequency / APC Filt 2.1 fn_n
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.000 10.000 0.700
Parameters
List of parameters
Control).
Control).
Control).
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.050 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.000 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
List of parameters
Parameters
Control).
Control).
0.050 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.000 10.000 0.700
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.050 10.000 0.700
Parameters
List of parameters
Control).
Description: Sets the proportional gain of the load speed controller 1 for APC (Advanced Positioning Control).
The gain acts on the difference between the speed setpoint and load speed in the branch for filter 2.1 and 2.2.
Description: Sets the proportional gain of the load velocity controller 1 for APC (Advanced Positioning Control).
The gain acts on the difference between the velocity setpoint and load velocity in the branch for filter 2.1 and 2.2.
Description: Sets the rate time of the load speed controller 1 for APC (Advanced Positioning Control).
The rate time acts on the load acceleration in the branch for filter 2.1 and 2.2.
0.5 [Hz] 16000.0 [Hz] 2000.0 [Hz]
0.000 10.000 0.700
p3760[0...n] APC load speed controller 1 P gain / APC n_load ctr1 Kp
-100.000 100.000 0.000
p3760[0...n] APC load velocity controller 1 P gain / APC v_load ctr1 Kp
SERVO (APC, Lin) Can be changed: U, T Access level: 2
-100.000 100.000 0.000
p3761[0...n] APC load speed controller 1 rate time / APC n_load ctr1 Tv
-500.00 [ms] 500.00 [ms] 0.00 [ms]
List of parameters
Parameters
Description: Sets the rate time of the load velocity controller 1 for APC (Advanced Positioning Control).
Description: Sets the proportional gain of the load speed controller 2 for APC (Advanced Positioning Control).
The gain acts on the difference between the speed setpoint and load speed in the branch for filter 3.1 and 3.2.
Description: Sets the proportional gain of the load velocity controller 2 for APC (Advanced Positioning Control).
The gain acts on the difference between the velocity setpoint and load velocity in the branch for filter 3.1 and 3.2.
Description: Sets the rate time of the load speed controller 2 for APC (Advanced Positioning Control).
Description: Sets the rate time of the load velocity controller 2 for APC (Advanced Positioning Control).
p3761[0...n] APC load velocity controller 1 rate time / APC v_load ctr1 Tv
-500.00 [ms] 500.00 [ms] 0.00 [ms]
-100.000 100.000 0.000
-100.000 100.000 0.000
-500.00 [ms] 500.00 [ms] 0.00 [ms]
-500.00 [ms] 500.00 [ms] 0.00 [ms]
Parameters
List of parameters
Description: Displays the load speed for APC (Advanced Positioning Control).
Description: Displays the load velocity for APC (Advanced Positioning Control).
Description: Displays the smoothed load speed for APC (Advanced Positioning Control).
Description: Displays the smoothed load velocity for APC (Advanced Positioning Control).
Description: Displays the speeds in filter branch 2.
Index: [0] = Filter 2.1 input value
[1] = Filter 2.2 output value
r3770 CO: APC load speed / APC n_load
SERVO (APC) Can be changed: - Access level: 3
- [1/min] - [1/min] - [1/min]
r3770 CO: APC load velocity / APC v_load
SERVO (APC, Lin) Can be changed: - Access level: 3
r3771 CO: APC load speed smoothed / APC n_load smth
- [1/min] - [1/min] - [1/min]
r3771 CO: APC load velocity smoothed / APC v_load smth
r3772[0...1] APC filter branch 2 display values / APC branch 2 val
- [1/min] - [1/min] - [1/min]
List of parameters
Parameters
Description: Displays the velocities in filter branch 2.
- [1/min] - [1/min] - [1/min]
r3777[0...1] CO: APC filter branch 1 display values / APC branch 1 val
- [1/min] - [1/min] - [1/min]
r3777[0...1] CO: APC filter branch 1 display values / APC branch 1 val
Parameters
List of parameters
Description: Sets the signal source to increase the voltage for external line-drive synchronization.
The voltage is increased for a 1 signal.
Note: Only SINAMICS GL150/GM150.
Description: Sets the signal source to decrease the voltage for external line-drive synchronization.
The voltage is decreased for a 1 signal.
Note: Only SINAMICS GL150/GM150.
Description: Sets the activation for the line-drive synchronization.
Values: 0: Sync line-drive de-activated
1: Sync line-drive activated VSM-INT
Note: VSM: Voltage Sensing Module.
When the ground fault monitoring initiates a fault for overlapping synchronizing the threshold value p0287[1] for the
motor module and the associated infeed must be appropriately increased, e.g. p0287[1] = 100 %.
For p3800 = 1, the INTERNAL voltage actual values are used for synchronization. The effects that a (sinusoidal) fil-
ter - that is connected between the Motor Module and motor - has on the voltage actual values are taken into
account (theoretically) by appropriately selecting p0230.
Description: Sets the drive object number of the Voltage Sensing Module (VSM) used for the line-drive synchronization.
Note: VSM: Voltage Sensing Module
p3784[0...n] BI: Sync line-drive external increase voltage / Sync ext U incr
- - 0
p3785[0...n] BI: Sync line-drive external decrease voltage / Sync ext U decr
- - 0
p3800[0...n] Sync line-drive activation / Sync activ.
0 1 0
p3801[0...n] Sync line-drive, drive object number / Sync DO_No.
1 62 1
List of parameters
Parameters
Description: Sets the signal source to switch-in/switch-out for the line-drive synchronization.
Line-drive synchronization is switched-in with a 1 signal.
Description: Displays the control word for the line-drive synchronization.
Note: Re bit 00:
For a 1 signal, p3800 > 0 is set.
Description: Displays the target frequency for the line-drive synchronization.
Description: Displays the frequency difference between the measured target frequency and output frequency of the gating unit
of the closed-loop control for line-drive synchronization.
Description: Sets the threshold value of the frequency difference to activate the closed-loop phase control for line-drive synchro-
nization. The closed-loop phase control is activated (r3819.6 = 1), if the frequency difference is less that the thresh-
old value.
p3802[0...n] BI: Sync line-drive enable / Sync enable
- - 0
r3803 CO/BO: Sync line-drive control word / Sync STW
- - 0000 bin
00 Sync line-drive selected Yes No -
r3804 CO: Sync line-drive target frequency / Sync f_target
- [Hz] - [Hz] - [Hz]
r3805 CO: Sync line-drive frequency difference / Sync f_diff
- [Hz] - [Hz] - [Hz]
p3806[0...n] Sync line-drive frequency difference threshold value / Sync f_diff thresh
0.00 [Hz] 1.00 [Hz] 0.10 [Hz]
Parameters
List of parameters
Description: Displays the phase difference between the measured target phase and phase of the gating unit of the closed-loop
control for line-drive synchronization.
Description: Sets the phase setpoint for the line-drive synchronization.
Description: Sets the frequency limiting of the phase controller output for the line-drive synchronization.
Description: Displays the correction frequency for the line-drive synchronization.
Description: Sets the threshold value of the phase synchronism for the line-drive synchronization. A prerequisite for synchro-
nism is achieved if the phase difference is lower than the threshold value.
Note: Synchronism is reached (r3819.2 = 1), if the AND logic operation of the results from the phase measurement
(p3813) and voltage measurement (p3815) is fulfilled.
r3808 CO: Sync line-drive phase difference / Sync phase diff
- [] - [] - []
p3809[0...n] Sync line-drive phase setpoint / Sync phase setp
-180.00 [] 179.90 [] 0.00 []
p3811[0...n] Sync line-drive frequency limiting / Sync f_lim
0.00 [Hz] 1.00 [Hz] 0.50 [Hz]
r3812 CO: Sync line-drive correction frequency / Sync f_corr
- [Hz] - [Hz] - [Hz]
p3813[0...n] Sync line-drive phase synchronism threshold value / Sync Ph_sync thrsh
1.00 [] 20.00 [] 2.00 []
List of parameters
Parameters
Description: Displays the voltage difference between the measured target voltage and output voltage of the gating unit of the
closed-loop control for line-drive synchronization.
Description: Sets the threshold value of the voltage difference for the line-drive synchronization. A prerequisite for synchronism
is reached if the voltage difference is less than the threshold value.
Note: Synchronism is reached (r3819.2 = 1), if the AND logic operation of the results from the phase measurement
(p3813) and voltage measurement (p3815) is fulfilled.
For voltage manipulated quantity margin (reserve) of the drive converter, the amplitude difference (r3814) between
the setpoint and actual value is controlled (corrected) to zero.
Description: Displays the status word for the line-drive synchronization.
Description: The friction characteristic is defined by 10 value pairs.
This parameter specifies the n coordinate of the 1st value pair of the friction characteristic.
r3814 CO: Sync line-drive voltage difference / Sync U_diff
p3815[0...n] Sync line-drive voltage difference threshold value / Sync U_diff thresh
0.00 [%] 10.00 [%] 10.00 [%]
r3819 CO/BO: Sync line-drive status word / Sync ZSW
- - 0000 bin
00 Sync line-drive enabled Yes No -
02 Sync line-drive synchronism reached Yes No -
03 Sync line-drive synchronizing error Yes No -
05 Sync line-drive frequency measurement
active
Yes No -
06 Sync line-drive phase control active Yes No -
07 Sync line-drive without drive Yes No -
p3820[0...n] Friction characteristic, value n0 / Friction n0
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 15.00 [1/min]
Parameters
List of parameters
This parameter specifies the v coordinate of the 1st value pair of the friction characteristic.
This parameter specifies the n coordinate of the 2nd value pair of the friction characteristic.
This parameter specifies the v coordinate of the 2nd value pair of the friction characteristic.
This parameter specifies the n coordinate of the 3rd value pair of the friction characteristic.
This parameter specifies the v coordinate of the 3rd value pair of the friction characteristic.
p3820[0...n] Friction characteristic, value v0 / Friction v0
0.00 [m/min] 21000.00 [m/min] 1.50 [m/min]
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 30.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 3.00 [m/min]
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 60.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 6.00 [m/min]
List of parameters
Parameters
This parameter specifies the n coordinate of the 4th value pair of the friction characteristic.
This parameter specifies the v coordinate of the 4th value pair of the friction characteristic.
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 120.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 12.00 [m/min]
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 150.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 15.00 [m/min]
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 300.00 [1/min]
Parameters
List of parameters
0.00 [m/min] 21000.00 [m/min] 30.00 [m/min]
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 600.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 60.00 [m/min]
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 1200.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 120.00 [m/min]
List of parameters
Parameters
This parameter specifies the M coordinate of the 1st value pair of the friction characteristic.
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 1500.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 150.00 [m/min]
SERVO, VECTOR
(n/M)
0.00 [1/min] 210000.00 [1/min] 3000.00 [1/min]
0.00 [m/min] 21000.00 [m/min] 300.00 [m/min]
p3830[0...n] Friction characteristic, value M0 / Friction M0
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
This parameter specifies the F coordinate of the 1st value pair of the friction characteristic.
This parameter specifies the M coordinate of the 2nd value pair of the friction characteristic.
This parameter specifies the F coordinate of the 2nd value pair of the friction characteristic.
This parameter specifies the M coordinate of the 3rd value pair of the friction characteristic.
This parameter specifies the F coordinate of the 3rd value pair of the friction characteristic.
p3830[0...n] Friction characteristic, value F0 / Friction F0
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
List of parameters
Parameters
This parameter specifies the M coordinate of the 4th value pair of the friction characteristic.
This parameter specifies the F coordinate of the 4th value pair of the friction characteristic.
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Parameters
List of parameters
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
List of parameters
Parameters
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
SERVO, VECTOR
(n/M)
-1000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
-1000000.00 [N] 1000000.00 [N] 0.00 [N]
Parameters
List of parameters
Description: Displays the state of the friction characteristic.
Description: Displays the torque of the friction characteristic dependent on the speed.
Description: Displays the force of the friction characteristic dependent on the velocity.
Description: Setting to activate and de-activate the friction characteristic.
Values: 0: Friction characteristic de-activated
1: Friction characteristic activated
r3840 CO/BO: Friction characteristic, status word / Friction ZSW
SERVO, VECTOR
(n/M)
- - 0000 bin
00 Friction characteristic OK Yes No -
01 Friction characteristic plot activated Yes No -
02 Friction characteristic plot completed Yes No -
03 Friction characteristic plot aborted Yes No -
08 Fiction characteristic direction of rotation,
positive
Yes No -
r3841 CO: Friction characteristic output / Friction output
SERVO, VECTOR
(n/M)
- [Nm] - [Nm] - [Nm]
r3841 CO: Friction characteristic output / Friction output
- [N] - [N] - [N]
p3842 Friction characteristic activation / Activate friction
SERVO, VECTOR
(n/M)
0 1 0
List of parameters
Parameters
Description: Setting for the friction characteristic plot.
After the next power-on command, the friction characteristic is automatically plotted.
Values: 0: Friction characteristic plot de-activated
1: Friction char. plot activated for all directions of rotation
2: Friction char. plot activated for a pos. direction of rotation
3: Friction char. plot activated for a neg. direction of rotation
Dependency: When selecting the friction characteristic measurement, the drive data set changeover is suppressed.
p0977).
Note: When the friction characteristic plot is active, it is not possible to save the parameters (p0971, p0977).
When the friction characteristic plot is active (p3845 > 0), it is not possible to change p3820 ... p3829, p3830 ...
p3839, p3842, p3846 and p3847.
When plotting the friction characteristic, in addition to the friction, the motor losses are also determined (e.g. iron
losses, eddy current losses and re-magnetization losses). A differentiation is not made between these individual
loss components. We recommend that a motor temperature sensor is used because torque deviations can also be
emulated/mapped on the characteristic due to the thermal influence.
Description: Sets the ramp-up/ramp-down time of the ramp-up/ramp-down function generator to automatically plot the friction
characteristic. The drive is accelerated from standstill (setpoint = 0) up to the maximum speed/velocity (p1082) in
this time.
Description: Sets the warm-up time.
For an automatic trace (plot) to start, the highest selected speed (p3829) is approached and this time is held. After
this, the measurement is started with the highest speed.
p3845 Friction characteristic plot activation / Friction plot act
0 3 0
p3846[0...n] Friction characteristic plot ramp-up/ramp-down time / Fric plot t_RFG
SERVO, VECTOR
(n/M)
0.000 [s] 999999.000 [s] 10.000 [s]
p3847[0...n] Friction characteristic plot warm-up time / Frict plot t_warm
SERVO, VECTOR
(n/M)
0.000 [s] 3600.000 [s] 0.000 [s]
Parameters
List of parameters
Description: Sets the number of Braking Modules connected in parallel in a DC link. The parameter can only be written to if the
infeed is in the commissioning phase (p0010 = 2).
Description: Signal to energize terminal X21.1 "inhibit/acknowledgement" on the Braking Module.
This binector output is used as signal source to interconnect to a digital output. For "booksize" drive units the digital
output must be connected to terminal X21.1 and for "chassis" drive units the digital output must be connected to ter-
minal X21.5 of the particular Braking Module.
Warning: It must be carefully ensured that the binector outputs BO: p3861.n are correctly connected and also that the appro-
priate digital outputs are correctly connected-up.
If the interconnections/connections are incorrect and if the Braking Module develops a fault condition, then the soft-
ware could execute a different (incorrect) function via the binector outputs BO: p3861.n.
Description: Sets the delay time for switching-in the DC link fast discharge.
Note: DC link fast discharge is only possible for "booksize" Braking Modules; "chassis" units do not support this function.
p3860 Number of Braking Modules connected in parallel / BM count
A_INF (Brk_Mod),
B_INF (Brk_Mod),
S_INF (Brk_Mod)
1 8 1
r3861 BO: Inhibit Braking Module/fault acknowledgement / BM fault ackn
A_INF (Brk_Mod),
B_INF (Brk_Mod),
S_INF (Brk_Mod)
- - 0000 bin
00 Inhibit/acknowledge Braking Module 1 High Low -
p3862 Braking Module DC link fast discharge delay time / BM DC-dischg t_del
A_INF (Brk_Mod),
B_INF (Brk_Mod),
S_INF (Brk_Mod)
500 [ms] 4294967295 [ms] 1000 [ms]
List of parameters
Parameters
Description: Sets the signal source to activate the DC link fast discharge.
The DC link fast discharge is started later with delay time (p3862) when the following conditions apply:
- BI: p3863 = 1 signal.
- an external line contactor is opened via r0863.1 "energize contactor".
The DC link fast discharge is interrupted when the following conditions apply:
- BI: p3863 = 0 signal.
- ON command for the infeed.
Recommenda-
tion:
The DC link fast discharge should be activated if there is an external line contactor and is correctly interconnected
(r0863.1, p0860). If the DC link fast discharge is not activated together with an external line contactor, then faults
could occur when pre-charging (e.g. F300027).
Refer to: F30027
Description: Signal to control (energize) terminal X21.2 "DC link fast discharge" on the Braking Module.
This binector output is used as signal source to interconnect to a digital output. The digital output must be con-
nected to terminal X21.2 of the particular Braking Module.
Refer to: F30027
Warning: It must be carefully ensured that the binector outputs BO: p3864.n are correctly interconnected and also that the
appropriate digital outputs are correctly connected-up.
If the interconnection/connection is incorrect, in the case of an active DC link fast discharge, the software could exe-
cute another function (incorrect function) via binector outputs BO: p3864.n or could also permanently control the DC
link fast discharge even if the line contactor is closed.
p3863 BI: Activating Braking Module DC link fast discharge / BM DC-dischg act
A_INF (Brk_Mod),
B_INF (Brk_Mod),
S_INF (Brk_Mod)
- - 0
r3864 BO: Braking Module DC link fast discharge / BM DC link dischg
A_INF (Brk_Mod),
B_INF (Brk_Mod),
S_INF (Brk_Mod)
- - 0000 bin
00 Fast discharge Braking Module 1 High Low -
Parameters
List of parameters
Description: Sets the signal source for the signal "pre-alarm I*t shutdown (X21.3) of the Braking Module.
BI: p3865[0...7] = 0 signal --> no pre-alarm, I*t shutdown
BI: p3865[0...7] = 1 signal --> pre-alarm I*t shutdown (A06901)
Note: The I*t shutdown pre-alarm is only possible for "booksize" Braking Modules; "chassis" units do not support this
function.
Description: Sets the signal source for the "fault" signal of the Braking Module (X21.4 for "booksize" units and X21.3 for "chas-
sis" units).
BI: p3866[0...7] = 0 signal --> no fault
BI: p3866[0...7] = 1 signal --> fault (A06900)
For a 1 signal, an acknowledgement via BO: r3861 is automatically carried-out at certain time intervals.
Description: Sets the configuration when operating a long stator motor.
Dependency: Refer to: p3871, p3872, p3873, p3874, r3875, p3876, p3878, p3879
Notice: The following restrictions apply to this function:
- it is not permissible to change over the drive data set.
- the encoder/drive may not be parked using a PROFIBUS telegram.
- a maximum of 4 drives may be connected to the Control Unit.
- it is not permissible to commutate with the zero mark (p0404).
Note: Re bit 00:
All of the help functions for long stator motors can be enabled/disabled using this bit.
Re bit 01:
Bit 14 (parking encoder active) is always set to 0 in the encoder status word GX_ZSW independent of whether the
encoder is parked or not.
p3865[0...7] BI: Braking Module pre-warning I*t shutdown / BM I*t shutdown
A_INF (Brk_Mod),
B_INF (Brk_Mod),
S_INF (Brk_Mod)
- - 0
p3866[0...7] BI: Braking Module fault / BM fault
A_INF (Brk_Mod),
B_INF (Brk_Mod),
S_INF (Brk_Mod)
- - 0
p3870 Long stator configuration / Long stator config
- - 0000 bin
00 Activate long stator help functions active not active -
01 Suppress Gx_ZSW.14 active not active -
List of parameters
Parameters
Description: Sets the signal source to set the commutation angle from CI: p3872.
Danger: If an incorrect commutation angle is set, this can result in instability in the closed-loop control and in turn injure per-
sonnel or cause damage to the machine !
Note: Setting takes place for a 0/1 signal edge.
Description: Sets the signal source for the commutation angle. This angle is set for a 0/1 signal edge via BI: p3871.
Dependency: Refer to: p3870, p3871, p3873, r3875, p3876, p3878, p3879
Description: Sets the signal source to change over to closed-loop control with encoder.
Note: = 1 --> closed-loop control with encoder
= 0 --> sensorless closed-loop control
For a 0/1 edge, the commutation angle is set from CI: p3874.
Description: Sets the signal source for the commutation angle for operation with encoder.
Note: This angle is set for a 0/1 signal edge via BI: p3873.
p3871 BI: Set long stator signal source commutation angle (p3872) / Set S_src com_ang
- - 0
p3872 CI: Long stator signal source commutation angle / S_src com_angle
- - 3878[0]
p3873 BI: Long stator sig. source to change over to cl.-loop ctrl w/ enc. / S_src ctrl w/ enc
- - 0
p3874 CI: Long stator signal source comm. angle oper. with encoder / S_src com_ang enc
- - 3879[0]
Parameters
List of parameters
Description: Displays the status word for long stator motors.
Note: The display is updated with a sampling time of 1 ms.
Re bit 00 = 1:
The encoder is parked. Contrary to r0481.14, parking is also displayed here if the suppression of the parking bit is
active in r481.14 (p3870.1 = 1).
Re bit 01 = 1:
The long-stator functions requested closed-loop speed control with encoder. Read r1407.2 to identify whether an
encoder is actually being used for closed-loop control.
Description: Sets the signal source 1 to unpark the encoder.
Dependency: Refer to: p3870, p3871, p3872, p3873, p3874, r3875, p3878, p3879
Note: = 1 --> Encoder is unparked
= 0 --> Encoder is parked
Description: Enters the commutation angle 1 for long stator motors.
Description: Enters the commutation angle 2 for long stator motors.
r3875 CO/BO: Long stator status word / ZSW
- - 0000 bin
00 Encoder module is unparked Yes No -
01 Closed-loop speed control with encoder
requested
active not active -
p3876 BI: Unpark long stator signal source 1 encoder / S_src enc_unpark 1
- - 0
p3878 CO: Long stator commutation angle 1 / Commut_ang 1
-180 [] 180 [] 0 []
p3879 CO: Long stator commutation angle 2 / Commut_ang 2
-180 [] 180 [] 0 []
List of parameters
Parameters
Description: Exits the quick commissioning (p0010 = 1) with automatic calculation of all of the parameters that depend on the
entries made during the quick commissioning.
p3900 = 1 initially includes a parameter reset (factory setting, the same as p0970 = 1) for all parameters of the drive
object; however, without overwriting the entries made during the quick commissioning. The interconnections of
PROFIBUS PZD telegram selection (p0922) and the interconnections via p0700 are re-established and all of the
dependent filter and closed-loop control parameters are calculated (corresponding to p0340 = 1).
p3900 = 2 includes the restoration of the interconnections of PROFIBUS PZD telegram selection (p0922) and the
interconnections via p0700 and the calculations corresponding to p0340 = 1.
p3900 = 3 only includes the end of the fast commissioning.
Values: 0: No quick parameterization
1: Quick parameterization after parameter reset
2: Quick param. (only) for controller parameters and reset for BIC
3: Completion of quick commissioning
Note: When the calculations have been completed, p3900 and p0010 are automatically reset to a value of 0.
Description: Exits the quick commissioning (p0010 = 1) with automatic calculation of all of the parameters that depend on the
entries made during the quick commissioning.
p3900 = 1 initially includes a parameter reset (factory setting, the same as p0970 = 1) for all parameters of the drive
object; however, without overwriting the entries made during the quick commissioning.
The interconnections of PROFIBUS PZD telegram selection (p0922) and the interconnections via p0700, p1000
and p1500 are re-established and all of the dependent motor, open-loop and control-loop control parameters are
calculated (corresponding to p0340 = 1).
p3900 = 2 includes the restoration of the interconnections of PROFIBUS PZD telegram selection (p0922) and the
interconnections via p0700, p1000 and p1500 and the calculations corresponding to p0340 = 1.
p3900 = 3 only includes the calculations associated with the motor, open-loop and closed-loop control parameters
corresponding to p0340 = 1.
Values: 0: No quick parameterization
1: Quick parameterization after parameter reset
2: Quick parameterization (only) for BICO and motor parameters
3: Quick parameterization for motor parameters (only)
Note: When the calculations have been completed, p3900 and p0010 are automatically reset to a value of 0.
When calculating motor, open-loop and closed-loop control parameters (such as for p0340 = 1) parameters associ-
ated with a selected Siemens list motor are not overwritten.
p3900 Completion of quick commissioning / End quick_comm
A_INF, B_INF,
S_INF
0 3 0
p3900 Completion of quick commissioning / End quick_comm
0 3 0
Parameters
List of parameters
Description: Calibration factor for the DC link voltage measurement.
Caution: Incorrect use of the calibration can have a negative impact on the closed-loop control. The parameter influences the
upper and lower voltage detection.
Note: Parameter entries are directly saved in the DRIVE-CLiQ component involved. Only values from 100 ... 10000 are
accepted. All other entries are not saved and are therefore also not displayed.
The parameter only has an effect for chassis-type power units.
Calculation rule: p3902_new = p3902_old * r0026 / Vdc_measured value
Description: Displays the commissioning steps that have been carried-out.
Note: When motor rating plate parameters are changed, the final display is reset. When setting the individual bits, all of
the most significant bits are reset.
Bit 00 = Automatic parameterization (p0340 = 1, p3900 > 0).
Bit 02 = Motor data identification (p1910 = 1) successfully completed.
Bit 03 = Rotating measurement (p1960 = 1, 2) successfully completed.
Bit 04 = Motor encoder adjustment (p1990 = 1) successfully completed.
Bit 15 = Equivalent circuit diagram parametes of the motor were subsequently manually changed.
p3902[0...n] Power unit EEPROM Vdc calibration / LT EEPROM Vdc_cal
A_INF, B_INF,
SERVO, S_INF,
VECTOR
Can be changed: C1, C2(1), T Access level: 3
0 4294967295 0
r3925[0...n] Identification final display / Ident final_disp
- - 0000 bin
00 Automatic parameterization carried-out
(p0340 = 1, p3900 > 0)
Yes No -
02 Motor data identification carried-out at
standstill (p1910 = 1)
Yes No -
03 Rotating measurement carried-out (p1960 =
1 or 2)
Yes No -
04 Motor encoder adjustment carried-out
(p1990 = 1)
Yes No -
15 Motor equivalent circuit diagram parameters
changed
Changed Not changed -
List of parameters
Parameters
Description: Successfully completed component of the last motor data identification carried-out.
Note: The parameter is a copy of p1909.
Description: Successfully completed component of the last rotating measurement carried-out.
Note: The parameter is a copy of p1959.
Description: For service personnel only.
r3927[0...n] Motor data identification control word / MotID STW
- - 0000 bin
00 Estimates the stator inductance, no mea-
surement
Yes No -
01 Cl.-loop current control w/ dead-beat con-
troller
Yes No -
02 Estimates the rotor time constant, no mea-
surement
Yes No -
03 Estimates the leakage inductance, no mea-
surement
Yes No -
04 Activates the identification dynamic leak-
age inductance
Yes No -
05 Determine Tr. Lsig evaluation in the time
range
Yes No -
06 Activates vibration damping Yes No -
07 De-activates the vibration detection Yes No -
11 De-activate pulse measurement Lq Ld Yes No -
12 De-activate rotor resistance Rr measure-
ment
Yes No -
15 Only measure stator resistance and valve
voltage error
Yes No -
r3928[0...n] Rotating measurement configuration / Rot meas config
- - 0001 1111 bin
01 Saturation characteristic identification Yes No -
02 Moment of inertia identification Yes No -
03 Recalculates the speed controller parame-
ters
Yes No -
04 Speed controller optimization, (vibration
test)
Yes No -
p3950 Service parameter / Service parameter
CU_S Can be changed: C1, U, T Access level: 4
- - -
Parameters
List of parameters
Description: Displays the BICO interconnections that have been parameterized in the complete (overall) topology.
The counter is incremented by one for each modified BICO interconnection.
Description: For each modified BICO interconnection of this device, the counter is incremented by one. Displays this counter.
Description: For each modified BICO interconnection of this drive object, the counter is incremented by one. Displays this
counter.
Description: Acknowledges all active faults of a drive object.
Note: Parameter should be set from 0 to 1 to acknowledge.
After acknowledgement, the parameter is automatically reset to 0.
Description: Sets the mode to change over the master control / LOCAL mode.
Values: 0: Change master control for STW1.0 = 0
1: Change master control in operation
r3977 BICO counter, topology / BICO counter topo
- - -
r3978 BICO CounterDevice / BICO CounterDevice
- - -
r3979 BICO counter, drive object / BICO counter DO
A_INF, B_INF,
CU_LINK, DMC20,
SERVO, S_INF,
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41, VEC-
TOR
- - -
p3981 Faults, acknowledge drive object / Faults ackn DO
0 1 0
p3985 Master control mode selection / PcCtrl mode select
A_INF, B_INF,
SERVO, S_INF,
VECTOR
0 1 0
List of parameters
Parameters
Danger: When changing the master control in operation, the drive can manifest undesirable behavior - e.g. it can accelerate
up to another setpoint.
Description: Displays the number of parameters for this drive unit.
The number comprises the device-specific and the drive-specific parameters.
Description: Displays the ramp-up state.
Values: 0: Not active
1: Fatal fault
10: Fault
20: Reset all parameters
30: Drive object modified
40: Download using commissioning software
90: Reset Control Unit and delete drive objects
100: Start initialization
110: Instantiate Control Unit basis
150: Wait until actual topology determined
160: Evaluate topology
170: Instantiate Control Unit rest
180: Initialization YDB configuration information
200: First commissioning
210: Create drive packages
250: Wait for topology acknowledge
325: Wait for input of drive type
350: Determine drive type
360: Write into topology-dependent parameters
370: Wait until p0009 = 0 is set
380: Check topology
550: Call conversion functions for parameter
625: Wait non-cyclic starting DRIVE CLiQ
650: Start cyclic operation
660: Evaluate drive commissioning status
680: Wait for CU link slaves
700: Save parameters
725: Wait until DRIVE-CLiQ cyclic
740: Check the ability to operate
750: Interrupt enable
800: Initialization finished
r3986 Parameter count / Parameter count
- - -
r3988 Ramp-up state / Ramp-up state
0 800 0
Parameters
List of parameters
Description: Displays whether writing to parameters is inhibited.
r3996 = 0: Write to parameter is not inhibited.
0 < r3996 < 100: Write to parameter is inhibited. The value shows how the calculations are progressing.
This means that the actual input signal can be checked at terminal DI x prior to switching from the simulation mode
(p4095.x = 1) to the terminal mode (p4095.x = 0). The input signal of terminal DI x is displayed in bit x of r4021.
lation mode (p4095.x = 1) to terminal mode (p4095.x = 0). The input signal at terminal DI x or DI/DO x is displayed
in bit x of r4021.
DI: Digital input
r3996 Parameter write inhibit status / Par_write inhib st
- - -
r4021 TB30 digital inputs terminal actual value / TB30 DI act value
- - 0000 bin
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
r4021 TM31 digital inputs terminal actual value / TM31 DI act value
9550, 9552, 9560, 9562
- - 0000 bin
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
08 DI/DO 8 (X541.2) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
List of parameters
Parameters
in bit x of r4021.
DI: Digital input
in bit x of r4021.
r4021 TM41 digital inputs terminal actual value / TM41 DI act val
- - 0000 bin
00 DI 0 (X522.1) High Low -
01 DI 1 (X522.2) High Low -
02 DI 2 (X522.3) High Low -
03 DI 3 (X522.4) High Low -
r4021 TM15DI/DO digital inputs, terminal actual value / TM15D DI act val
9401, 9402
- - 0000 bin
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
Parameters
List of parameters
Description: Displays the status of the digital inputs of the Terminal Board 30 (TB30).
Description: Displays the status of the digital inputs of terminal module 31 (TM31).
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
r4022 CO/BO: TB30 digital inputs, status / TB30 DI status
9100
- - 0000 bin
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
r4022 CO/BO: TM31 digital inputs, status / TM31 DI status
9550, 9552, 9560, 9562
- - 0000 bin
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
List of parameters
Parameters
Note: DI: Digital input, DI/DO: Bidirectional Digital Input/Output
Notice: For the BICO interconnection of the connector output (CO) only bit 00 ... bit 15 are transferred.
r4022 CO/BO: TM41 digital inputs, status / TM41 DI status
9550, 9552, 9560, 9562
- - 0000 bin
00 DI 0 (X522.1) High Low -
01 DI 1 (X522.2) High Low -
02 DI 2 (X522.3) High Low -
03 DI 3 (X522.4) High Low -
r4022 CO/BO: TM15DI/DO digital inputs, status / TM15D DI status
9401, 9402
- - 0000 bin
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
Parameters
List of parameters
Description: Displays the inverted status of the digital inputs of the Terminal Board 30 (TB30).
Description: Displays the inverted status of the digital inputs of terminal module 31 (TM31).
r4023 BO: TB30 digital inputs, status inverted / TB30 DI status inv
9100
- - 0000 bin
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
r4023 CO/BO: TM31 digital inputs, status inverted / TM31 DI status inv
9550, 9552, 9560, 9562
- - 0000 bin
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
List of parameters
Parameters
Note: DI: Digital input, DI/DO: Bidirectional Digital Input/Output
Notice: For the BICO interconnection of the connector output (CO) only bit 00 ... bit 15 are transferred.
r4023 BO: TM41 digital inputs, status inverted / TM41 DI status inv
9550, 9552, 9560, 9562
- - 0000 bin
00 DI 0 (X522.1) High Low -
01 DI 1 (X522.2) High Low -
02 DI 2 (X522.3) High Low -
03 DI 3 (X522.4) High Low -
r4023 CO/BO: TM15DI/DO digital inputs, status inverted / TM15D DI stat inv
9401, 9402
- - 0000 bin
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
Parameters
List of parameters
Description: Displays the status of digital inputs 16 ... 23 of terminal module 15 (TM15).
Description: Displays the inverted status of digital inputs 16 ... 23 of terminal module 15 (TM15).
Description: Sets the bidirectional digital inputs/outputs as input or output on the terminal module 31 (TM31).
r4024 CO: TM15DI/DO digital inputs 16 ... 23 status / TM15D DI 16-23 St
- - 0000 bin
00 DI/DO 16 (X522.2) On Off -
01 DI/DO 17 (X522.3) On Off -
02 DI/DO 18 (X522.4) On Off -
03 DI/DO 19 (X522.5) On Off -
04 DI/DO 20 (X522.6) On Off -
05 DI/DO 21 (X522.7) On Off -
06 DI/DO 22 (X522.8) On Off -
07 DI/DO 23 (X522.9) On Off -
r4025 CO: TM15DI/DO digital inputs 16 ... 23 status inverted / TM15D DI 16-23 inv
- - 0000 bin
00 DI/DO 16 (X522.2) On Off -
01 DI/DO 17 (X522.3) On Off -
02 DI/DO 18 (X522.4) On Off -
03 DI/DO 19 (X522.5) On Off -
04 DI/DO 20 (X522.6) On Off -
05 DI/DO 21 (X522.7) On Off -
06 DI/DO 22 (X522.8) On Off -
07 DI/DO 23 (X522.9) On Off -
p4028 TM31 set input or output / TM31 DI or DO
9560, 9562
- - 0000 bin
List of parameters
Parameters
Description: Sets the bidirectional digital inputs/outputs on the terminal module 41 (TM41) as input or output.
9560, 9562
- - 0000 bin
- - 0000 bin
Parameters
List of parameters
- - 0000 bin
p4028 TM15DI/DO set input or output / TM15D DI or DO
TM15DI_DO Can be changed: T Access level: 1
9401, 9402
- - 0000 bin
List of parameters
Parameters
Description: Sets the signal source for digital output DO 0 (X481.5) of the Terminal Board 30 (TB30).
Note: DO: Digital Output
Description: Sets the signal source for the digital output DO 0 (X542.1, X542.2, X542.3) of terminal module 31 (TM31).
Digital output 0 of TM31 is a relay output.
If the signal at the binector input p4030 is low, then terminal COM 0 (X542.2) is connected to NC 0 (X542.1). This
connection also matches the mechanical quiescent setting of the relay.
If the signal at the binector input p4030 is high, then terminal COM 0 (X542.2) is connected to NO 0 (X542.3).
NC: Normally Closed contact
NO: Normally Open contact
Description: Sets the signal source for terminal DI/DO 0 (X520.2) of terminal module 15 (TM15).
p4030 BI: TB30 signal source for terminal DO 0 / TB30 S_src DO 0
TB30 Can be changed: U, T Access level: 1
9102
- - 0
p4030 BI: TM31 signal source for terminal DO 0 / TM31 S_src DO 0
9556
- - 0
p4030 BI: TM15DI/DO signal source for terminal DI/DO 0 / TM15D S_srcDI/DO 0
TM15DI_DO Can be changed: U, T Access level: 1
- - 0
Parameters
List of parameters
Description: Sets the signal source for terminal DO 1 (X481.6) of the Terminal Board 30 (TB30).
Description: Sets the signal source for the digital output DO 1 (X542.4, X542.5, X542.6) of terminal module 31 (TM31).
Digital output 1 of TM31 is a relay output.
If the signal at the binector input p4031 is low, then terminal COM 1 (X542.5) is connected to NC 1 (X542.4). This
connection also matches the mechanical quiescent setting of the relay.
If the signal at the binector input p4031 is high, then terminal COM 1 (X542.5) is connected to NO 1 (X542.6).
NC: Normally Closed contact
NO: Normally Open contact
- - 0
p4031 BI: TM31 signal source for terminal DO 1 / TM31 S_src DO 1
9556
- - 0
- - 0
- - 0
List of parameters
Parameters
- - 0
9102
- - 0
- - 0
- - 0
- - 0
Parameters
List of parameters
- - 0
- - 0
p4038 BI: TM31 signal source for terminal DI/DO 8 / TM31 S_src DI/DO 8
9560
- - 0
- - 0
- - 0
List of parameters
Parameters
- - 0
- - 0
- - 0
p4040 BI: TM31 signal source for terminal DI/DO 10 / TM31 S_src DI/DO10
- - 0
- - 0
Parameters
List of parameters
p4040 BI: TM15DI/DO signal source for terminal DI/DO 10 / TM15D S_srcDI/DO10
- - 0
p4041 BI: TM31 signal source for terminal DI/DO 11 / TM31 S_src DI/DO11
9562
- - 0
- - 0
- - 0
- - 0
List of parameters
Parameters
Description: Sets the limit for the total output voltage of terminals X541.1, X541.2, X541.3 and X541.4 (DI/DO 8 ... 11) of termi-
nal module 31 (TM31).
Values: 0: 0.1 A total current limit DI/DO 8 ... 11
1: 1.0 A total current limit DI/DO 8 ... 11
Warning: Since the sum of the output currents at terminals X541.1, X541.2, X541.3 and X541.4 is limited, an overcurrent or
short circuit at one output terminal can cause a dip in the signal at the other terminals.
- - 0
- - 0
- - 0
p4046 TM31 digital outputs, limit current / TM31 DO limit curr
0 1 0
Parameters
List of parameters
Description: Displays the status of the digital outputs of the Terminal Board 30 (TB30).
DO: Digital Output
Description: Displays the status of the digital outputs of terminal module 31 (TM31).
DO: Digital Output
DO: Digital Output
r4047 TB30 digital outputs status / TB30 DO status
- - 0000 bin
00 DO 0 (X481.5) High Low -
01 DO 1 (X481.6) High Low -
02 DO 2 (X481.7) High Low -
03 DO 3 (X481.8) High Low -
r4047 TM31 digital outputs status / TM31 DO status
9560, 9562
- - 0000 bin
00 DO 0 (X542.1 - 3) High Low -
01 DO 1 (X542.4 - 6) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
r4047 TM41 digital outputs status / TM41 DO status
9560, 9562
- - 0000 bin
List of parameters
Parameters
Description: Setting to invert the signals at the digital outputs of the Terminal Board 30 (TB30).
r4047 TM15DI/DO digital outputs, status / TM15D DO status
9401, 9402
- - 0000 bin
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
p4048 TB30 invert digital outputs / TB30 DO invert
- - 0000 bin
00 DO 0 (X481.5) Inverted Not inverted -
Parameters
List of parameters
Description: Setting to invert the signals at the digital outputs of terminal module 31 (TM31).
Description: Setting to invert the signals at the digital inputs/outputs of terminal module 17 (TM17).
p4048 TM31 invert digital outputs / TM31 DO invert
9560, 9562
- - 0000 bin
00 DO 0 (X542.1 - 3) Inverted Not inverted -
01 DO 1 (X542.4 - 6) Inverted Not inverted -
p4048 TM41 invert digital outputs / TM41 DO invert
9560, 9562
- - 0000 bin
p4048 TM17 invert digital inputs/outputs / TM17 DI/DO invert
- - 0000 bin
List of parameters
Parameters
Description: Setting to invert the signals at the digital inputs/outputs of terminal module 15 (TM15).
p4048 TM15 invert digital inputs/outputs / TM15 DI/DO invert
- - 0000 bin
Parameters
List of parameters
Description: Sets the mode of the DI/DO of terminal module 17 (TM17).
p4048 TM15DI/DO invert digital outputs / TM15D DO invert
9401, 9402
- - 0000 bin
p4049 TM17 digital inputs/outputs, set the mode / TM17 DI/DO mode
- - 0000 bin
00 DI/DO 0 (X520.2) I/O with time I/O -
List of parameters
Parameters
Description: Sets the mode of the DI/DOs of terminal module 15 (TM15).
Description: Displays the actual input voltage at the analog inputs of the Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Note: AI: Analog Input
p4049 TM15 digital inputs/outputs, set the mode / TM15 DI/DO mode
- - 0000 bin
r4052[0...1] TB30 analog inputs, actual input voltage / TB30 AI input_U
- [V] - [V] - [V]
Parameters
List of parameters
Description: Displays the actual input voltage in V when set as voltage input.
Displays the actual input current in mA when set as current input and with the load resistor switched-in.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Dependency: The type of analog input AI x (voltage or current input) is set using p4056.
Refer to: r4056, p4056
Description: Displays the actual input voltage in V.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog inputs of the Terminal Board 30
(TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
r4052[0...1] TM31 analog inputs, actual input voltage/current / TM31 AI input_U/I
9568
- - -
r4052[0...0] TB41 analog inputs, actual input voltage / TM41 AI input_U
9568
- - -
p4053[0...1] TB30 analog inputs, smoothing time constant / TB30 AI T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
p4053[0...1] TM31 analog inputs, smoothing time constant / TM31 AI T_smooth
9568
0.0 [ms] 1000.0 [ms] 0.0 [ms]
List of parameters
Parameters
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog inputs of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Description: Displays the currently referred input value of the analog inputs of Terminal Board 30 (TB30).
When interconnected, the signals are referred to the reference quantities p200x and p205x.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Displays the currently referred input value of the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Displays the currently referred input value of the analog inputs of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
p4053[0...0] TM41 analog inputs, smoothing time constant / TM41 AI T_smooth
9568
0.0 [ms] 1000.0 [ms] 0.0 [ms]
r4055[0...1] CO: TB30 analog inputs, actual value in percent / TB30 AI value in %
9104
- [%] - [%] - [%]
r4055[0...1] CO: TB31 analog inputs, actual value in percent / TM31 AI value in %
9566, 9568
- [%] - [%] - [%]
r4055[0...0] CO: TB41 analog inputs, actual value in percent / TM41 AI value in %
9566, 9568
- [%] - [%] - [%]
Parameters
List of parameters
Description: Displays the type of analog inputs.
Values: 4: Bipolar voltage input (-10 V ... +10 V)
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the type of analog inputs of terminal module 31 (TM31).
p4056[x] = 0, 4 correspond to a voltage input (r4052, p4057, p4059 are displayed in V).
p4056[x] = 2, 3, 5 correspond to a current input (r4052, p4057, p4059 are displayed in mA).
In addition, the associated switch S5 must be switched.
For a voltage input, S5.1 or S5.2 must be switched to setting V.
For a current input, S5.1 and S5.2 must be switched into setting I (load resistor = 250 Ohm is switched-in).
Values: 0: Unipolar voltage input (0 V ... +10 V)
2: Unipolar current input (0 mA ... +20 mA)
3: Unipolar current input monitored (4 mA ... +20 mA)
4: Bipolar voltage input (-10 V ... +10 V)
5: Bipolar current input (-20 mA ... +20 mA)
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Warning: The maximum voltage difference between the analog input terminals AI+, AI- and the ground of the TM31 (X520.6,
X530.3) may not exceed 35 V.
For operation with the load resistor switched-in, the voltage between the differential inputs AI+ and AI- may not
exceed 15 V or the impressed current of 60 mA; if this is not carefully observed, the input will be damaged.
Notice: For use as voltage input, switch S500 must be set to 0 for the input involved.
Switch S500 is located on the front panel of the TM31 above terminal block X521.
Note: When changing p4056, the parameters of the normalization characteristic (p4057, p4058, p4059, p4060) are over-
written with the following default values:
For p4056 = 0, 4, p4057 is set to 0.0 V, p4058 to 0.0 %, p4059 to 10.0 V and p4060 to 100.0 %.
For p4056 = 2, 5, p4057 is set to 0.0 mA, p4058 to 0.0 %, p4059 to 20.0 mA and p4060 to 100.0 %.
For p4056 = 3, p4057 is set to 4.0 mA, p4058 to 0.0 %, p4059 to 20.0 mA and p4060 to 100.0 %.
Description: Displays the type of the analog input.
Values: 4: Bipolar voltage input (-10 V ... +10 V)
r4056[0...1] TB30 analog inputs, type / TB30 AI type
4 4 4
p4056[0...1] TM31 analog inputs, type / TM31 AI type
9568
0 5 4
r4056 TM41 analog input, type / TM41 AI type
4 4 4
List of parameters
Parameters
Description: Sets the normalization characteristic for the analog inputs of Terminal Board 30 (TB30).
The normalization characteristic for the analog inputs is defined using two points.
This parameter specifies the x coordinate (input voltage in V) of the 1st value pair of the characteristic.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Note: The parameters for the characteristic do not limit.
Description: Sets the normalization characteristic for the analog inputs of terminal module 31 (TM31).
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 1st value pair of the char-
acteristic.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Dependency: The units of this parameter (V or mA) depend on the analog input type.
Notice: This parameter is automatically overwritten when the analog input type (p4056) is modified.
The normalization characteristic for the analog input is defined using 2 points.
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 1st value pair of the char-
acteristic.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
p4057[0...1] TB30 analog inputs, characteristic value x1 / TB30 AI char x1
-11.000 [V] 11.000 [V] 0.000 [V]
p4057[0...1] TM31 analog inputs, characteristic value x1 / TM31 AI char x1
9568
-20.000 20.000 0.000
p4057[0...0] TM41 analog input, characteristic value x1 / TM41 AI char x1
-20.000 20.000 0.000
Parameters
List of parameters
This parameter specifies the y coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the normalization characteristic for the analog input of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
p4058[0...1] TB30 analog inputs, characteristic value y1 / TB30 AI char y1
-1000.00 [%] 1000.00 [%] 0.00 [%]
p4058[0...1] TM31 analog inputs, characteristic value y1 / TM31 AI char y1
9568
-1000.00 [%] 1000.00 [%] 0.00 [%]
p4058[0...0] TM41 analog input, characteristic value y1 / TM41 AI char y1
9568
-1000.00 [%] 1000.00 [%] 0.00 [%]
List of parameters
Parameters
This parameter specifies the x coordinate (input voltage in V) of the 2nd value pair of the characteristic.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 2nd value pair of the
characteristic.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
This parameter specifies the x coordinate (input voltage in V or input current in mA) of the 2nd value pair of the
characteristic.
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
p4059[0...1] TB30 analog inputs, characteristic value x2 / TB30 AI char x2
-11.000 [V] 11.000 [V] 10.000 [V]
p4059[0...1] TM31 analog inputs, characteristic value x2 / TM31 AI char x2
9568
-20.000 20.000 10.000
p4059[0...0] TM41 analog input, characteristic value x2 / TM41 AI char x2
9568
-20.000 20.000 10.000
Parameters
List of parameters
This parameter specifies the y coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Description: Sets the response threshold for wire-breakage monitoring of the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
p4060[0...1] TB30 analog inputs, characteristic value y2 / TB30 AI char y2
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4060[0...1] TM31 analog inputs, characteristic value y2 / TM31 AI char y2
9568
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4060[0...0] TM41 analog input, characteristic value y2 / TM41 AI char y2
9568
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4061[0...1] TM31 analog inputs, wire breakage monit. response threshold / TM31 WireBrkThresh
9568
0.00 [mA] 20.00 [mA] 2.00 [mA]
List of parameters
Parameters
Dependency: The wire breakage monitoring is active for the following type of analog input: p4056[x] = 3 (current input unipolar,
monitored 4 mA ... 20 mA).
Description: Sets the delay time for wire-breakage monitoring of the analog inputs on terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the offset for the analog inputs of Terminal Board 30 (TB30).
The offset is added to the input signal before the normalization characteristic.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the offset for the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the offset for the analog input of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
p4062[0...1] TM31 analog inputs, wire breakage monitoring, delay time / TM31 wirebrk t_del
9568
0 [ms] 1000 [ms] 100 [ms]
p4063[0...1] TB30 analog inputs offset / TB30 AI offset
-20.000 [V] 20.000 [V] 0.000 [V]
p4063[0...1] TM31 analog inputs offset / TM31 AI offset
9568
-20.000 20.000 0.000
p4063[0...0] TM41 analog input, offset / TM41 AI offset
9568
-20.000 20.000 0.000
Parameters
List of parameters
Description: Activates the absolute value generation for the analog input signals of the Terminal Board 30 (TB30).
Values: 0: No absolute value generation
1: Absolute value generation switched-in
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Activates the absolute value generation for the analog input signals of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Activates the absolute value generation of the analog input signal of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Description: Sets the signal source to invert the analog input signals of the Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
p4066[0...1] TB30 analog inputs, activate absolute value generation / TB30 AI absVal act
0 1 0
p4066[0...1] TM31 analog inputs, activate absolute value generation / TM31 AI absVal act
9568
0 1 0
p4066[0...0] TM41 analog input, activate absolute value generation / TM41 AI absVal act
9568
0 1 0
p4067[0...1] BI: TB30 analog inputs, signal source for inversion / TB30 AI invert
- - 0
List of parameters
Parameters
Description: Sets the signal source to invert the analog inputs signals of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0), [1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the signal source to invert the analog input signal of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Description: Sets the noise suppression window for the analog inputs of Terminal Board 30 (TB30).
Changes less than the window are suppressed.
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the window for noise suppression for the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the noise suppression window for the analog input of terminal module 41 (TM41).
p4067[0...1] BI: TM31 analog inputs, signal source for inversion / TM31 AI invert
9568
- - 0
p4067[0...0] BI: TM41 analog input, signal source for inversion / TM41 AI invert
9568
- - 0
p4068[0...1] TB30 analog inputs, window to suppress noise / TB30 AI window
0.00 [%] 20.00 [%] 0.00 [%]
p4068[0...1] TM31 analog inputs, window to suppress noise / TM31 AI window
9568
0.00 [%] 20.00 [%] 0.00 [%]
p4068[0...0] TM41 analog input, window to suppress noise / TM41 AI window
9568
0.00 [%] 20.00 [%] 0.00 [%]
Parameters
List of parameters
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Description: Sets the signal source for enabling the analog inputs of the Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Description: Sets the signal source for the enable signal of the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Description: Sets the signal source for the enable signal of the analog input of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Description: Sets the signal source for the analog outputs of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6), [1] = AO 1 (X482.7/X482.8)
Note: AO: Analog Output
Description: Sets the signal source for the analog outputs of terminal module 31 (TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3), [1] = AO 1 (X522.4, X522.5, X522.6)
p4069[0...1] BI: TB30 analog inputs, signal source for enable / TB30 AI enable
- - 1
p4069[0...1] BI: TM31 analog inputs, signal source for enable / TM31 AI enable
9568
- - 1
p4069[0...0] BI: TM41 analog input, signal source for enable / TM41 AI enable
9568
- - 1
p4071[0...1] CI: TB30 analog outputs, signal source / TB30 AO sig_source
9106
- - 0
p4071[0...1] CI: TM31 analog outputs, signal source / TM31 AO sig_source
9572
- - 0
List of parameters
Parameters
Description: Displays the actual referred output value of the analog outputs of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Displays the actual referred output value of the analog outputs of terminal module 31 (TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Sets the smoothing time constant of the 1st order low pass filter for the analog outputs of the Terminal Board 30
(TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the smoothing time constant of the 1st-order low pass filter for the analog outputs of terminal module 31
(TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Displays the actual output voltage at the analog outputs of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
r4072[0...1] TB30 analog outputs, output value actually referred / TB30 AO output_val
- [%] - [%] - [%]
r4072[0...1] TM31 analog outputs, output value actually referred / TM31 AO output_val
- [%] - [%] - [%]
p4073[0...1] TB30 analog outputs, smoothing time constant / TB30 AO T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
p4073[0...1] TM31 analog outputs, smoothing time constant / TM31 AO T_smooth
0.0 [ms] 1000.0 [ms] 0.0 [ms]
r4074[0...1] TB30 analog outputs, actual output voltage / TB30 AO U_smooth
- [V] - [V] - [V]
Parameters
List of parameters
Description: Displays the actual output voltage in V when set as voltage output.
Displays the actual output voltage in mA when set as current output.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Dependency: The type of the analog output AO x (voltage or current output) is set using p4076.
Description: Activates the absolute value generation for the analog outputs of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Activates the absolute value generation for the analog outputs of terminal module 31 (TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Displays the type of analog outputs of the Terminal Board 30 (TB30).
Values: 4: Voltage output (-10 V ... +10 V)
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
r4074[0...1] TM31 analog outputs, actual output voltage/current / TM31 AO U/I_output
- - -
p4075[0...1] TB30 analog outputs, activate absolute value generation / TB30 AO absVal act
TB30 Can be changed: T Access level: 3
0 1 0
p4075[0...1] TM31 analog outputs, activate absolute value generation / TM31 AO absVal act
0 1 0
r4076[0...1] TB30 analog outputs, type / TB30 AO type
4 4 4
List of parameters
Parameters
Description: Sets the type of analog outputs of terminal module 31 (TM31).
p4076[x] = 1, 4 correspond to a voltage output (p4074, p4078, p4080, p4083 are displayed in V).
p4076[x] = 0, 2, 3 correspond to a current output (p4074, p4078, p4080, p4083 are displayed in mA).
Values: 0: Current output (0 mA ... +20 mA)
1: Voltage output (0 V ... +10 V)
2: Current output (4 mA ... +20 mA)
3: Current output (-20 mA ... +20 mA)
4: Voltage output (-10 V ... +10 V)
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: When changing p4076, the parameters of the normalization characteristic (p4077, p4078, p4079, p4080) are over-
written with the following default values:
For p4076 = 0, 3, p4077 is set to 0.0 %, p4078 to 0.0 mA, p4079 to 100.0 % and p4080 to 20.0 mA.
For p4076 = 1, 4, p4077 is set to 0.0 %, p4078 to 0.0 V, p4079 to 100.0 % and p4080 to 10.0 V.
For p4076 = 2, p4077 is set to 0.0 %, p4078 to 4.0 mA, p4079 to 100.0 % and p4080 to 20.0 mA.
Description: Sets the normalization characteristic for the analog outputs of Terminal Board 30 (TB30).
The normalization characteristic for the analog outputs is defined using 2 points.
This parameter specifies the x coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the normalization characteristic for the analog outputs of terminal module 31 (TM31).
This parameter specifies the x coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Notice: This parameter is automatically overwritten when the analog output type is changed (p4076).
Note: This parameter is automatically overwritten if p4076 (type of analog output) is changed.
The parameters for the characteristic do not limit.
p4076[0...1] TM31 analog outputs, type / TM31 AO type
0 4 4
p4077[0...1] TB30 analog outputs, characteristic value x1 / TB30 AO char x1
-1000.00 [%] 1000.00 [%] 0.00 [%]
p4077[0...1] TM31 analog outputs, characteristic value x1 / TM31 AO char x1
-1000.00 [%] 1000.00 [%] 0.00 [%]
Parameters
List of parameters
This parameter specifies the y coordinate (output voltage in V) of the 1st value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
This parameter specifies the y coordinate (output voltage in V or output current in mA) of the 1st value pair of the
characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This parameter is automatically overwritten if p4076 (type of analog output) is changed.
This parameter specifies the x coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
p4078[0...1] TB30 analog outputs, characteristic value y1 / TB30 AO char y1
-11.000 [V] 11.000 [V] 0.000 [V]
p4078[0...1] TM31 analog outputs, characteristic value y1 / TM31 AO char y1
-20.000 [V] 20.000 [V] 0.000 [V]
p4079[0...1] TB30 analog outputs, characteristic value x2 / TB30 AO char x2
-1000.00 [%] 1000.00 [%] 100.00 [%]
List of parameters
Parameters
This parameter specifies the x coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This parameter is overwritten if p4076 (type of analog output) is changed.
This parameter specifies the y coordinate (output voltage in V) of the 2nd value pair of the characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
This parameter specifies the y coordinate (output voltage in V or output current in mA) of the 2nd value pair of the
characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This parameter is overwritten if p4076 (type of analog output) is changed.
p4079[0...1] TM31 analog outputs, characteristic value x2 / TM31 AO char x2
-1000.00 [%] 1000.00 [%] 100.00 [%]
p4080[0...1] TB30 analog outputs, characteristic value y2 / TB30 AO char y2
-11.000 [V] 11.000 [V] 10.000 [V]
p4080[0...1] TM31 analog outputs, characteristic value y2 / TM31 AO char y2
-20.000 [V] 20.000 [V] 10.000 [V]
Parameters
List of parameters
Description: Sets the signal source for inverting the analog output signals of the Terminal Board 30 (TB30).
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the signal source to invert the analog output signals of terminal module 31 (TM31).
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Description: Sets the offset for the analog outputs of Terminal Board 30 (TB30).
The offset is added to the output signal after the normalization characteristic.
Index: [0] = AO 0 (X482.5/X482.6)
[1] = AO 1 (X482.7/X482.8)
Description: Sets the offset for the analog outputs of terminal module 31 (TM31).
The offset is added to the output signal after the normalization characteristic.
Index: [0] = AO 0 (X522.1, X522.2, X522.3)
[1] = AO 1 (X522.4, X522.5, X522.6)
Note: This means, for example, the offset of a downstream isolating amplifier can be compensated.
p4082[0...1] BI: TB30 analog outputs, signal source for inversion / TB30 AO invert
- - 0
p4082[0...1] BI: TM31 analog outputs, signal source for inversion / TM31 AO invert
- - 0
p4083[0...1] TB30 analog outputs, offset / TB30 AO offset
-10.000 10.000 0.000
p4083[0...1] TM31 analog outputs, offset / TM31 AO offset
-20.000 20.000 0.000
List of parameters
Parameters
- - 0
- - 0
- - 0
- - 0
- - 0
Parameters
List of parameters
Description: Sets the simulation mode for the digital inputs of the Terminal Board 30 (TB30).
Refer to: p4096
Note: This parameter is not saved when data is backed-up (p0971, p0977).
DI: Digital input
- - 0
- - 0
- - 0
p4095 TB30 digital inputs, simulation mode / TB30 DI sim_mode
9100
- - 0000 bin
List of parameters
Parameters
Description: Sets the simulation mode for the digital inputs of terminal module 31 (TM31).
Refer to: p4096
DI: Digital input
Refer to: p4096
DI: Digital input
p4095 TM31 digital inputs, simulation mode / TM31 DI sim_mode
9550, 9552, 9560, 9562
- - 0000 bin
p4095 TM41 digital inputs, simulation mode / TM41 DI sim_mode
- - 0000 bin
Parameters
List of parameters
Refer to: p4096
Description: Sets the setpoint for the input signals in the simulation mode of the digital inputs of the Terminal Board 30 (TB30).
Refer to: p4095
DI: Digital input
p4095 TM15DI/DO digital inputs, simulation mode / TM15D DI sim_mode
9401, 9402
- - 0000 bin
p4096 TB30 digital inputs, simulation mode setpoint / TB30 DI sim setpt
9100
- - 0000 bin
00 DI 0 (X481.1) High Low -
01 DI 1 (X481.2) High Low -
02 DI 2 (X481.3) High Low -
03 DI 3 (X481.4) High Low -
List of parameters
Parameters
Description: Sets the setpoint for the input signals in the simulation mode of the digital inputs of terminal module 31 (TM31).
Refer to: p4095
DI: Digital input
Refer to: p4095
DI: Digital input
p4096 TM31 digital inputs, simulation mode setpoint / TM31 DI sim setpt
9550, 9552, 9560, 9562
- - 0000 bin
00 DI 0 (X520.1) High Low -
01 DI 1 (X520.2) High Low -
02 DI 2 (X520.3) High Low -
03 DI 3 (X520.4) High Low -
04 DI 4 (X530.1) High Low -
05 DI 5 (X530.2) High Low -
06 DI 6 (X530.3) High Low -
07 DI 7 (X530.4) High Low -
10 DI/DO 10 (X541.4) High Low -
11 DI/DO 11 (X541.5) High Low -
p4096 TM41 digital inputs, simulation mode setpoint / TM41 DI sim setpt
- - 0000 bin
00 DI 0 (X522.1) High Low -
01 DI 1 (X522.2) High Low -
02 DI 2 (X522.3) High Low -
03 DI 3 (X522.4) High Low -
Parameters
List of parameters
Refer to: p4095
Description: Sets the simulation mode for the analog inputs of the Terminal Board 30 (TB30).
Values: 0: No simulation mode for analog input x
1: Simulation mode for analog input x
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Dependency: The setpoint for the input voltage is specified via p4098.
Refer to: p4098
AI: Analog Input
p4096 TM15DI/DO digital inputs, simulation mode, setpoint / TM15D DI sim setpt
9401, 9402
- - 0000 bin
10 DI/DO 10 (X521.4) High Low -
11 DI/DO 11 (X521.5) High Low -
12 DI/DO 12 (X521.6) High Low -
13 DI/DO 13 (X521.7) High Low -
14 DI/DO 14 (X521.8) High Low -
15 DI/DO 15 (X521.9) High Low -
16 DI/DO 16 (X522.2) High Low -
17 DI/DO 17 (X522.3) High Low -
18 DI/DO 18 (X522.4) High Low -
19 DI/DO 19 (X522.5) High Low -
20 DI/DO 20 (X522.6) High Low -
21 DI/DO 21 (X522.7) High Low -
22 DI/DO 22 (X522.8) High Low -
23 DI/DO 23 (X522.9) High Low -
p4097[0...1] TB30 analog inputs simulation mode / TB30 AI sim_mode
0 1 0
List of parameters
Parameters
Description: Sets the simulation mode for the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Refer to: p4098
AI: Analog Input
Description: Sets the simulation mode for the analog input of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Refer to: p4098
AI: Analog Input
Description: Sets the setpoint for the input voltage in the simulation mode of the analog inputs of Terminal Board 30 (TB30).
Index: [0] = AI 0 (X482.1/X482.2)
[1] = AI 1 (X482.3/X482.4)
Dependency: The simulation of an analog input is selected using p4097.
Refer to: p4097
AI: Analog Input
p4097[0...1] TM31 analog inputs simulation mode / TM31 AI sim_mode
9568
0 1 0
p4097[0...0] TM41 analog input, simulation mode / TM41 AI sim_mode
9568
0 1 0
p4098[0...1] TB30 analog inputs simulation mode setpoint / TB30 AI sim setpt
-11.000 [V] 11.000 [V] 0.000 [V]
Parameters
List of parameters
Description: Sets the setpoint for the input value in simulation mode of the analog inputs of terminal module 31 (TM31).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
[1] = AI 1 (X521.3/X521.4, S5.1)
Dependency: The simulation of an analog input is selected using p4097.
If AI x is parameterized as voltage input (p4056), then the setpoint is a voltage in V.
If AI x is parameterized as current input (p4056), then the setpoint is current in mA.
Refer to: r4056, p4056, p4097
AI: Analog Input
Description: Sets the setpoint for the input value in simulation mode of the analog input of terminal module 41 (TM41).
Index: [0] = AI 0 (X521.1/X521.2, S5.0)
Dependency: The simulation of the analog input is selected using p4097.
If AI x is parameterized as voltage input (p4056), then the setpoint is a voltage in V.
If AI x is parameterized as current input (p4056), then the setpoint is current in mA.
Refer to: p4097
AI: Analog Input
Description: Sets the sampling time for the inputs and outputs of the Terminal Board 30 (TB30).
Index: [0] = Digital inputs/outputs (DI/DO)
[1] = Analog inputs (AI)
[2] = Analog outputs (AO)
Refer to: p0009, r0110, r0111
p4098[0...1] TM31 analog inputs simulation mode setpoint / TM31 AI sim setpt
9568
-20.000 20.000 0.000
p4098[0...0] TM41 analog input, simulation mode setpoint / TM41 AI sim setpt
9568
-20.000 20.000 0.000
p4099[0...2] TB30 inputs/outputs, sampling time / TB30 I/O t_sample
9102, 9104, 9106
0.00 [s] 5000.00 [s] [0] 4000.00 [s]
[1] 4000.00 [s]
[2] 4000.00 [s]
List of parameters
Parameters
For clock cycle synchronous PROFIBUS operation, the TB30 hardware (e.g. A/D converter ) is operated with the
PROFIBUS clock cycle (r2064[1]). This clock cycle is also kept after the PROFIBUS connection has been exited up
to the next time that the Control Unit is powered-down. In this case, a faster sampling time than the PROFIBUS
clock cycle is not practical in p4099[0...2].
Description: Sets the sampling time for the inputs and outputs of terminal module 31 (TM31).
[2] = Analog outputs (AO)
Refer to: p0009, r0110, r0111
Notice: The sampling times entered in index 0 (digital inputs/outputs) and index 2 (analog outputs) must always be greater
than or equal to the sampling time in index 1 (analog inputs).
[2] = Does not exist
[3] = Encoder emulation
The sampling times for the digital inputs/outputs and analog inputs can only be set as a multiple of the basic sam-
pling time (p0110, p0111).
The sampling time of the encoder emulation must be set the same as the basic sampling time p0110[0] (p0111).
Refer to: p0009, r0110, r0111
Description: Sets the sampling time for the inputs and outputs of the terminal module 17 (TM17).
The sampling time must be set the same as the basic sampling time p0110[0].
Refer to: r0110
p4099[0...2] TM31 inputs/outputs, sampling time / TM31 I/O t_sample
0.00 [s] 5000.00 [s] 4000.00 [s]
p4099[0...3] TM41 inputs/outputs, sampling time / TM41 I/O t_sample
0.00 [s] 5000.00 [s] [0] 4000.00 [s]
[1] 4000.00 [s]
[2] 0.00 [s]
[3] 125.00 [s]
p4099 TM17 inputs/outputs, sampling time / TM17 I/O t_sample
31.25 [s] 400.00 [s] 125.00 [s]
Parameters
List of parameters
The sampling time must be set the same as the basic sampling time p0110[0].
Refer to: r0110
Refer to: p0009, r0110, r0111
Description: Sets the temperature evaluation of terminal module 31 (TM31).
This means that the temperature sensor type is selected and the evaluation is switched-in.
Values: 0: Evaluation disabled
1: PTC thermistor
2: KTY84
Note: The temperature sensor is connected at terminals X522.7(+) and X522.8(-).
Description: Displays the actual resistance value of the temperature sensor connected at terminal module 31 (TM31).
The maximum measurable resistance value is approx. 1700 Ohm.
p4099 TM15 inputs/outputs, sampling time / TM15 I/O t_sample
31.25 [s] 400.00 [s] 125.00 [s]
p4099 TM15DI/DO inputs/outputs, sampling time / TM15D I/O t_sampl
TM15DI_DO Can be changed: C1(3) Access level: 3
9401, 9402
0.00 [s] 5000.00 [s] 4000.00 [s]
p4100 TM31 temperature evaluation, sensor type / TM31 temp sens_typ
9577
0 2 0
r4101 TM31 temperature evaluation, sensor resistance / TM31 temp R_sensor
9577
- [Ohm] - [Ohm] - [Ohm]
List of parameters
Parameters
Description: Sets the fault/alarm threshold for the temperature evaluation of terminal module 31 (TM31).
Temperature actual value > p4102[0] --> alarm A35211 is output.
Temperature actual value > p4102[1] --> fault F35207 is output.
Index: [0] = Alarm threshold
[1] = Fault threshold
Warning: Fault F35207 only causes the drive to be shut down if there is at least one BICO interconnection between the drive
and TM31.
A value > 250 C deactivates the alarm or fault.
Description: Displays the status for the temperature evaluation of terminal module 31 (TM31).
Description: Displays the actual temperature value of the temperature evaluation of terminal module 31 (TM31).
Dependency: For sensor type PTC (p4100 = 1), the following applies:
For sensor type KTY84-130 (p4100 = 2), the following applies:
- the displayed value corresponds to the temperature actual value.
Refer to: p4100
For an invalid temperature actual value, (e.g. a short-circuit at the sensor input), r4105 = -300 C is displayed.
p4102[0...1] TM31 temperature evaluation fault/alarm threshold / TM31 temp thresh
-48 [C] 251 [C] [0] 100 [C]
[1] 120 [C]
r4104 BO: TM31 temperature evaluation, status / TM31 temp status
9576
- - 0000 bin
r4105 CO: TM31 temperature evaluation, actual value / TM31 temp actValue
9576
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays the unfiltered speed setpoint N_SETPT in revolutions per minute for diagnostic purposes. In contrast to
Description: Displays the filtered speed setpoint N_SETPT in revolutions per minute for diagnostic purposes. In contrast to
Description: Is used to synchronize the timer of terminal module 17 (TM17) with the system time of the DP master.
To do this, the sign-of-life of the DP master is transferred in the form of a counter in bits 12 to 15.
At each cycle of the system of the DP master, bit 0 (SYN signal) is set for the duration of a DP master clock cycle.
To do this, the sign-of-life of the DP master is transferred in the form of a counter in bits 12 to 15.
At each cycle of the system of the DP master, bit 0 (SYN signal) is set for the duration of a DP master clock cycle.
Description: Used to control digital output 0 ... 15 of terminal module 17 (TM17).
r4154 TM41 diagnostics speed setpoint non-filtered / n_set non-filt
- [1/min] - [1/min] - [1/min]
r4155 TM41 diagnostics speed setpoint / TM41 DIAG n_set
- [1/min] - [1/min] - [1/min]
r4201 TM17 system time for synchronization / TM17 t_system sync
- - -
r4201 TM15 system time for synchronization / TM15 t_system sync
- - -
r4204 TM17 control digital output 0 ... 15 / TM17 ctrl DO 0-15
- - 0000 bin
List of parameters
Parameters
00 DI/DO 0 (X520.2) On Off -
01 DI/DO 1 (X520.3) On Off -
02 DI/DO 2 (X520.5) On Off -
03 DI/DO 3 (X520.6) On Off -
04 DI/DO 4 (X520.8) On Off -
05 DI/DO 5 (X520.9) On Off -
06 DI/DO 6 (X521.2) On Off -
07 DI/DO 7 (X521.3) On Off -
08 DI/DO 8 (X521.8) On Off -
09 DI/DO 9 (X521.9) On Off -
10 DI/DO 10 (X522.2) On Off -
11 DI/DO 11 (X522.3) On Off -
12 DI/DO 12 (X522.5) On Off -
13 DI/DO 13 (X522.6) On Off -
14 DI/DO 14 (X522.8) On Off -
15 DI/DO 15 (X522.9) On Off -
- - 0000 bin
00 DI/DO 0 (X520.2) On Off -
01 DI/DO 1 (X520.3) On Off -
02 DI/DO 2 (X520.4) On Off -
03 DI/DO 3 (X520.5) On Off -
04 DI/DO 4 (X520.6) On Off -
05 DI/DO 5 (X520.7) On Off -
06 DI/DO 6 (X520.8) On Off -
07 DI/DO 7 (X520.9) On Off -
08 DI/DO 8 (X521.2) On Off -
09 DI/DO 9 (X521.3) On Off -
10 DI/DO 10 (X522.4) On Off -
11 DI/DO 11 (X521.5) On Off -
12 DI/DO 12 (X521.6) On Off -
13 DI/DO 13 (X521.7) On Off -
14 DI/DO 14 (X521.8) On Off -
15 DI/DO 15 (X521.9) On Off -
- - 0000 bin
Parameters
List of parameters
Description: Displays the edge mode for digital input 0 ... 7 of terminal module 17 (TM17).
Assignment of the digital inputs to the bits:
DI 0: r4211.1 ... 0
DI 1: r4211.3 ... 2
DI 2: r4211.5 ... 4
DI 3: r4211.7 ... 6
DI 4: r4211.9 ... 8
DI 5: r4211.11 ... 10
DI 6: r4211.13 ... 12
DI 7: r4211.15 ... 14
Possible edge modes:
Bit x, y = 0, 0 --> no edge detection
Bit x, y = 0, 1 --> rising - rising edge
Bit x, y = 1, 0 --> falling - falling edge
Bit x, y = 1, 1 --> rising - falling edge or falling - rising edge
00 DI/DO 16 (X522.2) On Off -
01 DI/DO 17 (X522.3) On Off -
02 DI/DO 18 (X522.4) On Off -
03 DI/DO 19 (X522.5) On Off -
04 DI/DO 20 (X522.6) On Off -
05 DI/DO 21 (X522.7) On Off -
06 DI/DO 22 (X522.8) On Off -
07 DI/DO 23 (X522.9) On Off -
r4211 TM17 edge mode digital input 0 ... 7 / TM17 EdgMd DI 0-7
- - -
List of parameters
Parameters
DI 0: r4211.1 ... 0
DI 1: r4211.3 ... 2
DI 2: r4211.5 ... 4
DI 3: r4211.7 ... 6
DI 4: r4211.9 ... 8
DI 5: r4211.11 ... 10
DI 6: r4211.13 ... 12
DI 7: r4211.15 ... 14
DI 8: r4212.1 ... 0
DI 9: r4212.3 ... 2
DI 10: r4212.5 ... 4
DI 11: r4212.7 ... 6
DI 12: r4212.9 ... 8
DI 13: r4212.11 ... 10
DI 14: r4212.13 ... 12
DI 15: r4212.15 ... 14
r4211 TM15 edge mode digital input 0 ... 7 / TM15 EdgMd DI0-7
- - -
r4212 TM17 edge mode digital input 8 ... 15 / TM17 EdgMd DI 8-15
- - -
Parameters
List of parameters
DI 8: r4212.1 ... 0
DI 9: r4212.3 ... 2
DI 10: r4212.5 ... 4
DI 11: r4212.7 ... 6
DI 12: r4212.9 ... 8
DI 13: r4212.11 ... 10
DI 14: r4212.13 ... 12
DI 15: r4212.15 ... 14
DI 16: r4213.1 ... 0
DI 17: r4213.3 ... 2
DI 18: r4213.5 ... 4
DI 19: r4213.7 ... 6
DI 20: r4213.9 ... 8
DI 21: r4213.11 ... 10
DI 22: r4213.13 ... 12
DI 23: r4213.15 ... 14
- - -
- - -
List of parameters
Parameters
Description: Sets the enable signal with bits 0 ... 5 for DI/DO 0 ... 5 of terminal module 17 (TM17).
Sets the triggering of the enable signal with bits 8 ... 13.
The following assignment applies:
Enable signal for DI/DO 0, 1, 2, 3, 4 or 5 via DI/DO 10, 11, 12, 13, 14 or 15.
Description: Sets the smoothing time constant for digital input 0 ... 15 of terminal module 17 (TM17).
DI: Digital input
p4220 TM17 enable DI/DO 0 ... 5 / TM17 enable 0-5
- - 0000 bin
00 DI/DO 0 (X520.2) With enable Without enable -
08 DI/DO 10 (X522.2) Level-triggered Edge-triggered -
p4221 TM17 smoothing time constant, digital input 0 ... 15 / TM17 smooth DI
- - 0000 bin
00 DI/DO 0 (X520.2) Smoothing 1 s Smoothing 125 s -
Parameters
List of parameters
Description: Sets as absolute or relative timing with bit 0 ... 15 for digital output 0 ... 15 of terminal module 17 (TM17).
DO: Digital Output
Description: Displays the time to set and reset for digital output 0 of terminal module 17 (TM17).
The two times are specified as 16 bit values with a resolution of 0.25 s.
The two times are specified as 8 bit values with a resolution of 64 s.
p4222 TM17 time, absolute/relative for digital output 0 ... 15 / TM17 abs/rel 0-15
- - 0000 bin
00 DI/DO 0 (X520.2) Relative time Absolute time -
r4250 TM17 set/reset time, digital output 0 / TM17 t_set DO 0
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
Bit 12 ... 15:
After synchronization with the DP master, the module sends its sign-of-life in the form of a counter.
Bit 0:
This SYNC signal is set if the module has aligned its time to the system time of the DP master.
Bit 9:
This bit is set if a fault has occurred on the module (r0945).
- - -
- - -
- - -
r4301 TM17 module synchronization / TM17 Module sync
- - -
List of parameters
Parameters
Bit 12 ... 15:
After synchronization with the DP master, the module sends its sign-of-life in the form of a counter.
Bit 0:
This SYNC signal is set if the module has aligned its time to the system time of the DP master.
Bit 9:
This bit is set if a fault has occurred on the module (r0945).
Description: Displays status for digital input 0 ... 15 of terminal module 17 (TM17).
r4301 TM15 module synchronization / TM15 module sync
- - -
r4304 TM17 status, digital input 0 ... 15 / TM17 St DI 0-15
- - 0000 bin
00 DI/DO 0 (X520.2) On Off -
01 DI/DO 1 (X520.3) On Off -
02 DI/DO 2 (X520.5) On Off -
03 DI/DO 3 (X520.6) On Off -
04 DI/DO 4 (X520.8) On Off -
05 DI/DO 5 (X520.9) On Off -
06 DI/DO 6 (X521.2) On Off -
07 DI/DO 7 (X521.3) On Off -
08 DI/DO 8 (X521.8) On Off -
09 DI/DO 9 (X521.9) On Off -
10 DI/DO 10 (X522.2) On Off -
11 DI/DO 11 (X522.3) On Off -
12 DI/DO 12 (X522.5) On Off -
13 DI/DO 13 (X522.6) On Off -
14 DI/DO 14 (X522.8) On Off -
15 DI/DO 15 (X522.9) On Off -
- - 0000 bin
Parameters
List of parameters
00 DI/DO 0 (X520.2) On Off -
01 DI/DO 1 (X520.3) On Off -
02 DI/DO 2 (X520.4) On Off -
03 DI/DO 3 (X520.5) On Off -
04 DI/DO 4 (X520.6) On Off -
05 DI/DO 5 (X520.7) On Off -
06 DI/DO 6 (X520.8) On Off -
07 DI/DO 7 (X520.9) On Off -
08 DI/DO 8 (X521.2) On Off -
09 DI/DO 9 (X521.3) On Off -
10 DI/DO 10 (X522.4) On Off -
11 DI/DO 11 (X521.5) On Off -
12 DI/DO 12 (X521.6) On Off -
13 DI/DO 13 (X521.7) On Off -
14 DI/DO 14 (X521.8) On Off -
15 DI/DO 15 (X521.9) On Off -
- - 0000 bin
00 DI/DO 16 (X522.2) On Off -
01 DI/DO 17 (X522.3) On Off -
02 DI/DO 18 (X522.4) On Off -
03 DI/DO 19 (X522.5) On Off -
04 DI/DO 20 (X522.6) On Off -
05 DI/DO 21 (X522.7) On Off -
06 DI/DO 22 (X522.8) On Off -
07 DI/DO 23 (X522.9) On Off -
List of parameters
Parameters
Description: Displays the edge status for digital input 0 ... 7 of terminal module 17 (TM17).
DI 0: r4311.1 ... 0
DI 1: r4311.3 ... 2
DI 2: r4311.5 ... 4
DI 3: r4311.7 ... 6
DI 4: r4311.9 ... 8
DI 5: r4311.11 ... 10
DI 6: r4311.13 ... 12
DI 7: r4311.15 ... 14
Possible edge states:
Bit x, y = 0, 1 --> 1st edge detected
Bit x, y = 1, 0 --> 2nd edge detected
Bit x, y = 1, 1 --> both edges detected
DI 0: r4311.1 ... 0
DI 1: r4311.3 ... 2
DI 2: r4311.5 ... 4
DI 3: r4311.7 ... 6
DI 4: r4311.9 ... 8
DI 5: r4311.11 ... 10
DI 6: r4311.13 ... 12
DI 7: r4311.15 ... 14
r4311 TM17 edge status digital input 0 ... 7 / TM17 EdgSt DI 0-7
- - -
- - -
Parameters
List of parameters
DI 8: r4312.1 ... 0
DI 9: r4312.3 ... 2
DI 10: r4312.5 ... 4
DI 11: r4312.7 ... 6
DI 12: r4312.9 ... 8
DI 13: r4312.11 ... 10
DI 14: r4312.13 ... 12
DI 15: r4312.15 ... 14
DI 8: r4312.1 ... 0
DI 9: r4312.3 ... 2
DI 10: r4312.5 ... 4
DI 11: r4312.7 ... 6
DI 12: r4312.9 ... 8
DI 13: r4312.11 ... 10
DI 14: r4312.13 ... 12
DI 15: r4312.15 ... 14
- - -
- - -
List of parameters
Parameters
DI 16: r4313.1 ... 0
DI 17: r4313.3 ... 2
DI 18: r4313.5 ... 4
DI 19: r4313.7 ... 6
DI 20: r4313.9 ... 8
DI 21: r4313.11 ... 10
DI 22: r4313.13 ... 12
DI 23: r4313.15 ... 14
Description: Displays the time when detecting the 1st and 2nd edge for digital input 0 of terminal module 17 (TM17).
r4313 TM15 edge status digital input 16 ... 23 / TM15 EdgSt DI16-23
- - -
r4350 TM17 edge times digital input 0 / TM17 edge_t DI 0
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
- - -
- - -
- - -
- - -
- - -
List of parameters
Parameters
Description: Sets the operating mode for the incremental encoder emulation.
0 -> Encoder emulation using the speed setpoint (p1155)
1 -> Encoder emulation using the encoder position actual value (p4420)
Values: 0: Speed setpoint input
1: Position setpoint input
Note: A change only becomes effective after the next boot.
- - -
- - -
- - -
p4400 TM41 incremental encoder emulation operating mode / Enc_emulat mode
9676
0 1 0
Parameters
List of parameters
Description: Sets the mode for the incremental encoder emulation.
Description: Displays the status of the incremental encoder emulation on terminal module 41 (TM41).
Description: Displays the actual operating mode of Terminal Module 41 (TM41).
Description: Sets the signal source for the position actual value.
Note: Prerequisites for the signal source:
For the incremental encoder emulation, an encoder is required that supplies precisely one zero mark per revolution.
The following BICO interconnection should be preferably set: CI: p4420 = r0479.
An encoder actual value (r0479) can only be interconnected once on a TM41.
The zero mark of the incremental encoder is output at the encoder interface after successful internal, automatic
synchronization.
If an absolute encoder is connected to the TM41, then a zero mark is always output at the zero revolution at the
encoder interface of the TM41. The same behavior applies even if no encoder parameter is interconnected.
p4401 TM41 incremental encoder emulation mode / Enc_emulat mode
9676
- - 0001 bin
00 Enable zero mark Yes No 9674
r4402 TM41 incremental encoder emulation, status / Enc_emulat status
9676
- - 0000 bin
00 Zero mark enabled Yes No -
01 Tracks A/B enabled Yes No -
02 Interface encoder emulation enabled Yes No -
r4403 Incremental encoder emulation mode active / Enc_emul mode act
9676
- - -
p4420 CI: TM41 incremental encoder emulation position actual value / Enc_emul s_act
- - 0
List of parameters
Parameters
Description: This factor defines the multiplier in which the encoder position setpoint of the incremental encoder emulation is
shifted depending on the velocity.
Description: Setting to invert the position actual value for Terminal Module 41 (TM41).
0 -> Position actual value (CI: p4420) is evaluated as normal.
1 -> Position actual value (CI: p4420) is processed inverted.
Description: Sets pulse number to output the zero mark for the incremental encoder simulation/emulation.
Example:
p0408 = 2048 (encoder pulses)
p4426 = 512 (pulses for the zero mark)
--> Position direction: The zero mark is output after 512 pulses.
--> Negative direction: The zero mark is output after 1536 pulses.
Note: The pulses for the zero mark (p4426) must be less than the encoder pulse number (p0408).
For p4400 = 1, this parameter has not effect.
p4421 TM41 incremental encoder emulation deadtime compensation / Enc_emul t_dead
-10.00 10.00 0.00
p4422 TM41 position actual value inversion / TM41 s_act inv
0 1 0
p4426 Incremental encoder emulation, pulses for zero mark / Enc_emul pulses ZM
0 8192 0
Parameters
List of parameters
Description: Sets the sensor type of the first temperature sensor for the motor temperature monitoring.
The parameter can only be changed for SME120 or SME125.
10: PTC fault
11: PTC alarm
12: PTC alarm and timer stage
20: KTY84
30: Bimetallic NC contact fault
31: Bimetallic NC contact alarm
32: Bimetallic NC contact alarm and timer stage
Note: PTC thermistor: Tripping resistance = 1650 Ohm.
Description: Sets the sensor type of the second temperature sensor for the motor temperature monitoring.
10: PTC fault
11: PTC alarm
20: KTY84
p4600[0...n] SME motor temperature sensor 1 sensor type / MotTemp_sens typ 1
0 32 0
0 32 0
List of parameters
Parameters
Description: Sets the sensor type of the third temperature sensor for the motor temperature monitoring.
10: PTC fault
11: PTC alarm
20: KTY84
Description: Sets the sensor type of the fourth temperature sensor for the motor temperature monitoring.
10: PTC fault
11: PTC alarm
20: KTY84
Description: Displays the actual temperatures in the motor, measured via an SME 120 or SME 125.
Index: [0] = SME temperature channel 1
[1] = SME temperature channel 2
Note: An invalid temperature is displayed using the value -200C.
0 32 0
0 32 0
r4620[0...3] Motor temperatures SME / Mot Temp SME
- [C] - [C] - [C]
Parameters
List of parameters
Values: 0: Stop trace
1: Start trace
Index: [0] = Trace 0
[1] = Trace 1
Values: 0: Stop measuring function
1: Start measuring function
2: Measuring function, check parameterization
Description: Displays the current status of the trace.
Values: 0: Trace not active
1: Trace is recording presamples
2: Trace is waiting for trigger event
3: Trace is recording
4: Recording (trace) ended
[1] = Trace 1
Values: 0: Measurement function inactive
1: Measuring function, parameterization checked
2: Measuring function waits for stabilizing time
3: Measuring function recording (tracing)
4: Measuring function, trace ended with error
5: Measuring function, trace successfully completed
p4700[0...1] Trace control / Trace control
P-Group: Trace and function generator Units group: - Unit selection: -
0 1 0
p4701 Measuring function, control / Meas fct ctrl
0 2 0
r4705[0...1] Trace status / Trace status
0 4 0
r4706 Measuring function, status / Meas fct status
0 5 1
List of parameters
Parameters
Description: Displays the required memory in bytes for the actual parameterization.
[1] = Trace 1
Description: Sets the trigger condition for the trace.
Values: 1: Immediate start
2: Positive edge
3: Negative edge
4: Entry to hysteresis band
5: Leaving hysteresis band
6: Trigger at bit mask
7: Start with function generator
[1] = Trace 1
Description: Selects the trigger signal for the trace.
OR: Defines the data type of signal to be traced when selected using the physical address (p4789).
[1] = Trace 1
Dependency: Only effective when p4710 does not equal 1.
Description: Sets the trigger threshold for the trace.
[1] = Trace 1
Dependency: Only effective when p4710 = 2, 3.
r4708[0...1] Trace memory space required / Trace mem required
- - -
p4710[0...1] Trace trigger condition / Trace Trig_cond
1 7 2
p4711[0...1] Trace trigger signal / Trace trig_signal
- - 0
p4712[0...1] Trace trigger threshold / Trace trig_thresh
-340.28235E36 340.28235E36 0.00
Parameters
List of parameters
Description: Sets the first trigger threshold for trigger via tolerance band.
[1] = Trace 1
Description: Sets the second trigger threshold for trigger via tolerance band
[1] = Trace 1
Description: Sets the bit mask for the bit mask trigger.
[1] = Trace 1
Dependency: Only effective when p4710 = 6.
Description: Sets the trigger condition for bit mask trigger.
[1] = Trace 1
p4713[0...1] Trace tolerance band trigger threshold / Trace trig thresh
-340.28235E36 340.28235E36 0.00
p4714[0...1] Trace tolerance band trigger threshold / Trace trig thresh
-340.28235E36 340.28235E36 0.00
p4715[0...1] Trace bit mask trigger, bit mask / Trace trig mask
0 4294967295 0
p4716[0...1] Trace, bit mask trigger, trigger condition / Trace Trig_cond
0 4294967295 0
List of parameters
Parameters
Description: Displays the trigger index in the trace buffer. The trigger event occurred at this point.
[1] = Trace 1
Dependency: Only valid when p4705 = 4.
Description: Sets the recording cycle for the trace.
[1] = Trace 1
Description: Sets the recording time for the trace.
[1] = Trace 1
p4717 Measuring function, number of averaging operations / Meas fct avg qty
0 255 0
p4718 Measuring function, number of stabilizing periods / MeasFct StabPerQty
0 255 0
r4719[0...1] Trace trigger index / Trace Trig_index
- - -
p4720[0...1] Trace recording cycle / Trace record_cyc
0.000 [ms] 60000.000 [ms] 1.000 [ms]
p4721[0...1] Trace recording time / Trace record_time
0.000 [ms] 3600000.000 [ms] 1000.000 [ms]
Parameters
List of parameters
Description: Sets the trigger delay for the trace.
Trigger delay < 0:
Pretrigger: Tracing (recording) starts the selected time before the trigger event actually occurs.
Trigger delay > 0:
Post trigger: Tracing does not start until the set time after the trigger event.
[1] = Trace 1
Description: Sets the time slice cycle in which the trace is called.
[1] = Trace 1
[1] = Trace 1
[1] = Trace 1
[1] = Trace 1
p4722[0...1] Trace trigger delay / Trace trig_delay
-3600000.000 [ms] 3600000.000 [ms] 0.000 [ms]
p4723[0...1] Time slice cycle for trace / Trace cycle
0.03125 [ms] 4.00000 [ms] 0.12500 [ms]
p4724[0...1] Trace average in the time range / Trace average
0000 bin 0001 bin 0001 bin
r4725[0...1] Trace, data type 1 traced / Trace rec type 1
- - -
- - -
List of parameters
Parameters
[1] = Trace 1
[1] = Trace 1
Description: Displays the number of traced values for each signal.
[1] = Trace 1
Dependency: Only valid when p4705 = 4.
Description: Selects the first signal to be traced.
For trace with a physical address (p4780), the data type of the signal to be traced (recorded) is set here.
[1] = Trace 1
Description: Selects the second signal to be traced.
[1] = Trace 1
- - -
- - -
r4729[0...1] Trace number of recorded values / Trace rec values
- - -
p4730[0...1] Trace record signal 0 / Trace record sig 0
- - 0
- - 0
Parameters
List of parameters
Description: Selects the third signal to be traced.
[1] = Trace 1
Description: Selects the fourth signal to be traced.
[1] = Trace 1
Description: Displays the trace buffer (record buffer) for trace 0 and signal 0.
The trace (record) buffer is sub-divided into memory banks, each containing 500 values. Parameter p4795 can be
used to toggle between the individual banks.
Example A:
The first 500 values of signal 0, trace 0 are to be read-out.
In this case, memory bank 0 is set with p4795 = 0. The first 500 values can only be read-out using r4740[0] to
r4740[499].
Example B:
The values 750 to 800 from signal 0, trace 0 are to be read-out.
In this case, memory bank 1 is set with p4795 = 1. The values can now be read out in r4740[250] to r4740[299].
- - 0
- - 0
r4740[0...16383] Trace 0 trace buffer signal 0 floating point / Trace 0 trace sig0
- - -
- - -
List of parameters
Parameters
- - -
- - -
- - -
- - -
- - -
Parameters
List of parameters
Description: Sets the physical address for the first signal to be traced.
The data type is defined using p4730.
[1] = Trace 1
- - -
r4760[0...16383] Trace 0 trace buffer signal 0 / Trace 0 trace sig0
- - -
- - -
- - -
- - -
p4780[0...1] Trace physical address signal 0 / Trace PhyAddr Sig0
List of parameters
Parameters
Description: Sets the physical address for the second signal to be traced. The data type is defined using p4731.
[1] = Trace 1
Description: Sets the physical address for the third signal to be traced.
[1] = Trace 1
Description: Sets the physical address for the fourth signal to be traced.
[1] = Trace 1
Description: Sets the physical address for the trigger signal.
The data type is defined by making the appropriate selection in p4711.
[1] = Trace 1
Description: Changes over the memory bank to read-out the contents of the trace buffer.
p4789[0...1] Trace physical address trigger signal / Trace PhyAddr Trig
p4795 Trace memory bank changeover / Trace mem changeov
0 500 0
Parameters
List of parameters
Description: Displays the free memory for the trace in bytes.
Description: The function generator is started with p4800 = 1.
The signal is only generated for a 1 signal of BI: p4819.
Values: 0: Stop function generator
1: Start function generator
2: Check function generator parameterization
Description: Displays the actual status of the function generator.
1: Generate accelerating ramp to offset
2: Generate parameterized signal shape
3: Generate braking ramp
4: Function generator stopped due to missing enable signals
5: Function generator waits for BI: p4819
6: Function generator parameterization has been checked
Description: Displays the status of the function generator.
0 signal: Function generator inactive
1 signal: Function generator running
r4799 Trace memory location free / Trace mem free
- - -
p4800 Function generator control / FG control
0 2 0
r4805 Function generator status / FG status
0 6 0
r4806 BO: Function generator status signal / FG status signal
- - -
List of parameters
Parameters
Description: Sets the operating mode of the function generator.
Values: 0: Connection at connector output r4818
1: Connection at current setpoint after filter and r4818
2: Connection as disturbing torque and r4818
3: Connection at speed setpoint after filter and r4818
4: Connection at current setpoint before filter and r4818
5: Connection at speed setpoint before filter and r4818
99: Connection at physical address and r4818
Description: Sets the physical address where the function generator is to be connected.
Description: Sets the reference value for 100 % for referred inputs.
Description: Selects the required drive where the function generator is to be connected.
Index: [0] = First drive for connection
[1] = Second drive for connection
[2] = Third drive for connection
Dependency: Only effective when p4810 = 1, 2, 3, 4 or 5.
Note: For the function generator, only type SERVO drives can be used.
p4810 Function generator mode / FG operating mode
0 99 0
p4812 Function generator physical address / FG phys address
0 4294967295 0
p4813 Function generator physical address reference value / FG phys addr ref
1.00 1000000.00 1.00
p4815[0...2] Function generator drive number / FG drive number
0 65535 0
Parameters
List of parameters
Description: Displays the output signal for the function generator.
Note: The value is displayed independently of the function generator mode.
The signal is available as connector output for an ongoing interconnection.
Description: Sets the signal source to control the function generator.
When the function generator is running, signal generation is stopped with a 0 signal from BI: p4819 and p4800 is
set to 0.
Description: Sets the signal to be generated for the function generator.
Values: 1: Square-wave
2: Staircase
3: Triangular
4: Binary noise - PRBS (Pseudo Random Binary Signal)
5: Sinusoidal
Description: Sets the period of the signal to be generated for the function generator.
Dependency: Ineffective when p4820 = 4 (PRBS).
Description: Sets the pulse width for the signal to be generated for the function generator.
r4818 CO: Function generator output signal / FG output signal
- [%] - [%] - [%]
p4819 BI: Function generator control / FG control
- - 1
p4820 Function generator signal shape / FG signal shape
1 5 1
p4821 Function generator period / FG period duration
0.00 [ms] 60000.00 [ms] 1000.00 [ms]
p4822 Function generator pulse width / FG pulse width
0.00 [ms] 60000.00 [ms] 500.00 [ms]
List of parameters
Parameters
Dependency: Only effective when p4820 = 1 (square-wave).
Description: Sets the bandwidth for the signal to be generated for the function generator.
Dependency: Only effective when p4820 = 4 (PRBS).
Refer to: p4830
Refer to: A02041
Description: Sets the amplitude for the signal to be generated for the function generator.
Dependency: Units are dependent on p4810.
If p4810 = 1, 2, 4: The amplitude is referred to p2002 (rated motor current).
If p4810 = 3, 5: The amplitude is referred to p2000 (rated motor speed).
Description: Sets the second amplitude for the signal to be generated for the function generator.
Dependency: Only effective for p4820 = 2 (staircase).
Units are dependent on p4810.
If p4810 = 1, 2, 4: The amplitude is referred to p2002 (rated motor current).
If p4810 = 3, 5: The amplitude is referred to p2000 (rated motor speed).
Description: Sets the offset (DC component) of the signal to be generated for the function generator.
Dependency: Units are dependent on p4810.
If p4810 = 1, 2, 4: The offset is referred to p2002 (rated motor current).
If p4810 = 3, 5: The offset is referred to p2000 (rated motor speed).
If p4810 = 2: In order to avoid effects of play (backlash), the offset does not act on the current setpoint, but instead
on the speed setpoint.
p4823 Function generator bandwidth / FG bandwith
0.00 [Hz] 16000.00 [Hz] 4000.00 [Hz]
p4824 Function generator amplitude / FG amplitude
-1600.00 [%] 1600.00 [%] 5.00 [%]
p4825 Function generator 2nd amplitude / FG 2nd amplitude
-1600.00 [%] 1600.00 [%] 7.00 [%]
p4826 Function generator offset / FG offset
-1600.00 [%] 1600.00 [%] 0.00 [%]
Parameters
List of parameters
Description: Sets the ramp-up time to the offset for the function generator.
Description: Sets the lower limit for the function generator.
Dependency: For p4810 = 2 the limit only applies to the current setpoint, but not the speed setpoint (offset).
Description: Sets the upper limit for the function generator.
Dependency: For p4810 = 2 the limit only applies to the current setpoint, but not the speed setpoint (offset).
Description: Sets the time slice cycle in which the function generator is called.
Description: Sets the scaling for the amplitude of the signal waveforms for all output channels.
The value can be changed while the function generator is running.
p4827 Function generator ramp-up time to offset / FG ramp-up offset
0.00 [ms] 100000.00 [ms] 32.00 [ms]
p4828 Function generator lower limit / FG lower limit
-10000.00 [%] 0.00 [%] -100.00 [%]
p4829 Function generator upper limit / FG upper limit
0.00 [%] 10000.00 [%] 100.00 [%]
p4830 Function generator time slice cycle / FG time slice
0.03125 [ms] 2.00000 [ms] 0.12500 [ms]
p4831 Function generator amplitude scaling / FG amplitude scal
0.00000 [%] 200.00000 [%] 100.00000 [%]
List of parameters
Parameters
Description: Sets the scaling for the amplitude of the signal waveforms separately for each output channel.
The value cannot be changed while the function generator is running.
Description: Sets the scaling for the offset of the signal waveforms separately for each output channel.
The value cannot be changed while the function generator is running.
Description: Displays the status word of the sequence control from terminal module 41 (TM41).
Description: Displays the number of OA applications installed on the CompactFlash card.
Dependency: Refer to: r4951, r4952, r4955, p4956, r4957, r4958, r4959, r4960
Note: OA: Open Architecture
p4832[0...2] Function generator amplitude scaling / FG amplitude scal
-340.28235E36 [%] 340.28235E36 [%] 100.00000 [%]
p4833[0...2] Function generator offset scaling / FG offset scal
-340.28235E36 [%] 340.28235E36 [%] 100.00000 [%]
r4899 Status word sequence control / ZSW seq ctrl
- - 0000 bin
01 Ready Yes No -
04 Coast down active No Yes -
05 Fast stop active No Yes -
14 Motor rotates forwards Yes No -
r4950 OA application count / OA appl qty
P-Group: OEM range Units group: - Unit selection: -
0 10 0
Parameters
List of parameters
Description: Displays the total length of the identifiers of all of the OA applications installed on the CompactFlash card.
The identifier of an OA application comprises a maximum of 8 characters plus separator.
Description: Displays the total length of the GUIDs of all of the OA applications installed on the CompactFlash card.
The GUID of an OA application comprises 16 characters plus 1 character major information plus 1 character, minor
information.
Note: GUID: Globally Unique IDentifier
Description: Displays the identifiers of all of the OA applications installed on the CompactFlash card.
r4955[0...8]: Identifier of OA application 1
r4955[9...17]: Identifier of OA application 2
etc.
Description: Setting to activate the OA applications installed on the CompactFlash card.
r4956[0]: Activates OA application 1
r4956[1]: Activates OA application 2
etc.
Values: 0: OA application inactive
1: OA application active
r4951 OA application identifier, total length / OA appl ID length
0 90 0
r4952 OA application GUID, total length / OA applGUID length
0 180 0
r4955[0...n] OA application identifier / OA appl identifier
Data type: Unsigned8 Dynamic index: r4951 Function diagram: -
- - -
p4956[0...n] OA application activation / OA appl act
All objects Can be changed: C1, T Access level: 4
Data type: Integer16 Dynamic index: r4950 Function diagram: -
0 1 0
List of parameters
Parameters
Description: Displays the version of OA applications installed on the CompactFlash card.
r4957[0]: Version of OA application 1
r4957[1]: Version of OA application 2
etc.
Dependency: Refer to: r4950, r4951, r4952, r4955, p4956, r4958, r4959, r4960
Note: Example:
Description: Displays the interface version of the OA applications installed on the CompactFlash card.
r4958[0]: Interface version of OA application 1
r4958[1]: Interface version of OA application 2
etc.
Note: Example:
Description: Displays the GUIDs of OA applications installed on the CompactFlash card.
r4959[0...15]: GUID of OA application 1
r4960[16]: Major information of OA application 1
r4960[16]: Minor information of OA application 1
r4959[18...33]: GUID of OA application 2
r4960[34]: Major information of OA application 2
r4960[35]: Minor information of OA application 2
etc.
r4957[0...n] OA application version / OA appl version
- - -
r4958[0...n] OA application interface version / OA appl intfc_vers
- - -
r4959[0...n] OA application GUID / OA appl GUID
- - -
Parameters
List of parameters
Description: Displays the GUIDs of this drive object of the OA applications installed on the CompactFlash card.
r4960[0...15]: GUID of this drive object of OA application 1
r4960[16]: Major information of this drive object of OA application 1
r4960[17]: Minor information of this drive object of OA application 1
r4960[18...33]: GUID of this drive object of OA application 2
r4960[34]: Major information of this drive object of OA application 2
r4960[35]: Minor information of this drive object of OA application 2
etc.
Description: Sets the signal source to switch-in/switch-out the test.
The test mode is set using p6650.
Description: Displays the active power units for a parallel circuit configuration.
Description: Enables the power units in the parallel circuit configuration.
Values: 0: Deactivated
1: Activated
r4960[0...n] OA application GUID drive object / OA appl GUID DO
- - -
p6651 BI: Test mode, signal source ON/OFF / Test s_src ON/OFF
- - 0
r7000 Par_circuit No. of active power units / Qty active LT
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
p7001[0...n] Par_circuit enable power units / Enable LT
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
0 1 1
List of parameters
Parameters
Description: Displays the status of the power units in the parallel circuit configuration.
Values: 0: Pulses inhibited
1: Pulses enabled
Description: Specifies the winding system for a parallel circuit configuration.
The following limitations/restrictions are obtained depending on the setting:
One winding system (p7003 = 0):
- the motor data identification routine (p1910) determines the stator resistance and the cable resistance.
- the current symmetrizing is activated as standard after the motor data identification routine (p7035 = 1).
- individual Motor Modules can be activated and de-activated (p7001).
- the edge modulation is not possible (p1802).
Several separate winding systems or motors (p7003 = 1):
- the motor data identification routine (p1910) determines the total (overall) resistance.
- the current symmetrizing is de-activated as standard (p7035 = 0).
- all Motor Modules are activated. It is not possible to de-activate a motor model.
- the edge modulation can be activated (p1802).
Values: 0: One winding system
1: Several separate winding systems or motors
Description: Sets the alarm threshold to detect current dissymmetry in the parallel circuit configuration.
The deviation between the measured values and average value is evaluated. The specified value is referred to the
rated power unit current (p7251[0]).
Refer to: A05052
r7002[0...n] Par_circuit status power units / Status LT
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
0 1 0
p7003 Par_circuit winding system / Winding system
VECTOR (Parallel) Can be changed: C2(2) Access level: 3
0 1 0
p7010 Par_circuit current dissymmetry alarm threshold / i_dissym A thresh
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
2 [%] 100 [%] 20 [%]
Parameters
List of parameters
Description: Sets the alarm threshold to detect dissymmetry of the DC link voltages in the parallel circuit configuration.
The deviation between the measured values and average value is evaluated. The specified value is referred to the
rated link voltage.
Description: Displays the deviation between the measured current actual value of phase U and the average value as peak value.
The maximum deviation from the average value is displayed in r7025.
Description: Displays the deviation between the measured current actual value of phase V and the average value as peak value.
Description: Displays the deviation between the measured current actual value of phase W and the average value as peak
value.
p7011 Par_circuit DC link voltage dissymmetry, alarm threshold / Vdc_dissym A thrsh
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
2 [%] 100 [%] 10 [%]
r7020[0...n] CO: Par_circuit deviation current in phase U / Phase U curr dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7021[0...n] CO: Par_circuit deviation current in phase V / Phase V curr dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7022[0...n] CO: Par_circuit deviation current in phase W / Phase W curr dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
List of parameters
Parameters
Description: Displays the maximum absolute deviation of the measured current actual values of phase U from the average value
as peak value.
The deviation of the individual currents from the average value is displayed in r7020.
Refer to: A05052
Description: Displays the maximum absolute deviation of the measured current actual values of phase V from the average value
as peak value.
Refer to: A05052
Description: Displays the maximum absolute deviation of the measured current actual values of phase W from the average
value as peak value.
Refer to: A05052
Description: Displays the deviation of the measured DC link voltage from the average value.
r7025 CO: Par_circuit max. deviation currents phase U / Phase U Max i_dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7026 CO: Par_circuit max. deviation currents phase V / Phase V Max i_dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7027 CO: Par_circuit max. deviation currents phase W / Phase W Max i_dev
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7030[0...n] CO: Par_circuit DC link voltage deviation / Vdc deviation
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
Parameters
List of parameters
Description: Displays the maximum absolute deviation of the measured DC link voltage from the average value.
The deviation of the individual voltages from the average value is displayed in r7030.
Refer to: A05053
Description: Sets the operating mode of the circulating current control.
The circulating current control ensures symmetrical distribution of the total currents to the individual converters.
Values: 0: Circulating current control de-activated
1: Circulating control control activated
Description: Sets the operating mode of the circulating current control.
The circulating current control ensures symmetrical distribution of the total currents to the individual converters.
Values: 0: Circulating current control de-activated
1: Circulating control control activated
Description: Sets the normalized proportional gain for the circulating current controller.
r7031 CO: Par_circuit DC link voltage, maximum deviation / Vdc deviation max.
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
p7035 Infeed par_circuit circulating current control, operating mode / Circ_I mode
A_INF (Parallel),
S_INF (Parallel)
0 1 1
p7035[0...n] Par_circuit circulating current control, operating mode / Circ_I mode
VECTOR (Parallel) Can be changed: U, T Access level: 3
0 1 1
p7036 Infeed par_cct circulating current controller, proportional gain / Circ_I Kp
A_INF (Parallel),
S_INF (Parallel)
0.00000 [%] 1000.00000 [%] 100.00000 [%]
List of parameters
Parameters
Description: Sets the proportional gain for the circulating current controller.
The parameter is pre-set to the cable resistance.
Description: Sets the normalized integral time of the circulating current controller.
Note: A value of 100 % corresponds to the basic setting derived from the controller sampling time p0115[0].
The integral component of the controller is de-activated with p7037 = 0.
Description: Sets the integral time of the circulating current controller.
The parameter is referred to the current controller sampling time p0115[0].
Description: Sets the limit of the circulating current controller output values.
The parameter is, depending on the phase, referred to the valve lockout times p1828, p1829 or p1830.
Description: Sets the limit of the circulating current controller output values.
The parameter is, depending on the phase, referred to the valve lockout times p1828, p1829 or p1830.
p7036[0...n] Par_circuit circulating current control, proportional gain / Circ_I Kp
0.00000 [Ohm] 20.00000 [Ohm] 0.00000 [Ohm]
p7037 Infeed par_cct circulating current control, integral time / Circ_I TN
A_INF (Parallel),
S_INF (Parallel)
0.0 [%] 100000.0 [%] 100.0 [%]
p7037[0...n] Par_circuit circulating current control, integral time / Circ_I TN
2.0 1000.0 4.0
p7038 Infeed par_circuit circulating current control, limit / Circ_I limit
A_INF (Parallel),
S_INF (Parallel)
1 [%] 100 [%] 100 [%]
p7038[0...n] Par_circuit circulating current control, limit / Circ_I limit
1 [%] 100 [%] 50 [%]
Parameters
List of parameters
Description: For the particular Motor Module, the correction time must be added to the valve lockout time to be compensated for
phase U (p1828).
The correction value is used to compensate variations/spread in the valve lockout times of Motor Modules for a par-
allel circuit configuration.
phase V (p1829).
phase W (p1830).
Description: Displays the circulating current of phase U as peak value.
p7040[0...n] Par_circuit correction, valve lockout time phase U / Comp t_lockout U
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
0.00 [s] 1000000.00 [s] 0.00 [s]
p7042[0...n] Par_circuit correction, valve lockout time phase V / Comp t_lockout V
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
0.00 [s] 1000000.00 [s] 0.00 [s]
p7044[0...n] Par_circuit correction, valve lockout time phase W / Comp t_lockout W
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
0.00 [s] 1000000.00 [s] 0.00 [s]
r7050[0...n] Par_circuit circulating current phase U / Circ_I_phase U
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
List of parameters
Parameters
Description: Displays the circulating current of phase V as peak value.
Description: Displays the circulating current of phase W as peak value.
Description: Ring buffer for faults and alarms that have occurred from power units connected in parallel (Motor Module, Active
Line Infeed, Voltage Sensing Module).
Displays the fault/alarm code.
Note: The last fault case that occurred is documented in index 0.
The parameter is reset to 0 at POWER ON.
p7101 < 100:
Displays the Power unit Data Set number (PDS).
p7101 >= 100:
Displays the Voltage Sensing Module Data Set number (VSMDS)
r7051[0...n] Par_circuit circulating current phase V / Circ_I_phase V
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7052[0...n] Par_circuit circulating current phase W / Circ_I_phase W
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7100[0...99] Par_circuit ring buffer fault/alarm code / Fault/alarm code
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
r7101[0...99] Par_circuit ring buffer data set number / Ring buffer Ds_No.
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
Parameters
List of parameters
Displays the relative system runtime when the fault or alarm occurred.
Displays the relative system runtime when the fault or alarm was withdrawn.
Description: Displays the overload of the particular power unit in a parallel circuit configuration calculated using the I2t function.
The maximum value of all power units is displayed in r0036.
Description: Displays the maximum inverter temperature in the power unit for a parallel circuit configuration.
The maximum value of all power units is displayed in r0037[0].
r7102[0...99] Par_circuit ring buffer fault/alarm received / F/A received
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
r7103[0...99] Par_circuit ring buffer fault/alarm gone / F/A gone
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- - -
r7200[0...n] Par_circuit power unit overload I2T / LT overload I2T
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [%] - [%] - [%]
r7201[0...n] Par_circuit power unit temperatures max. inverter / LT temp max inv
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
List of parameters
Parameters
Description: Displays the maximum depletion layer temperature in the power unit for a parallel circuit configuration.
Description: Displays the maximum rectifier temperature in the power unit for a parallel circuit configuration.
Description: Displays the air intake temperature in the power unit for a parallel circuit configuration.
Description: Displays the temperature of the electronics module in the power unit for a parallel circuit configuration.
r7202[0...n] Par_circuit power unit temperatures max. depletion layer / LT TempMaxDepLayer
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7203[0...n] Par_circuit power unit temperatures max. rectifier / LT temp max rect
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7204[0...n] Par_circuit power unit temperatures air intake / LT temp air intake
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7205[0...n] Par_circuit power unit temperatures electronics / LT temp electr
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays the inverter temperature 1 in the power unit for a parallel circuit configuration.
r7206[0...n] Par_circuit power unit temperatures inverter 1 / LT temp inv 1
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
List of parameters
Parameters
Description: Displays rectifier temperature 1 in the power unit for a parallel circuit configuration.
Description: Displays rectifier temperature 2 in the power unit for a parallel circuit configuration.
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7212[0...n] Par_circuit power unit temperatures inverter 1 / LT temp rect 1
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
Parameters
List of parameters
Description: Displays depletion layer temperature 1 in the power unit for a parallel circuit configuration.
r7214[0...n] Par_circuit power unit temperatures depletion layer 1 / LT temp DepLayer 1
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
List of parameters
Parameters
Description: Displays the currently permissible line-side absolute current when motoring.
The minimum value of all power units multiplied by the number of Motor Modules is displayed in r0067[0].
Description: Displays the maximum output current of the power unit.
The minimum value of all power units multiplied by the number of Motor Modules is displayed in r0067.
Description: Displays the currently permissible line-side absolute regenerative current.
The minimum value of all power units multiplied by the number of Motor Modules is displayed in r0067[1].
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [C] - [C] - [C]
r7220[0...n] Infeed par_circuit absolute current value, motoring permissible / INF I_abs mot perm
A_INF (Parallel),
S_INF (Parallel)
r7220[0...n] CO: Par_circuit drive output current, maximum / Drv I_output max
VECTOR (Parallel) Can be changed: - Access level: 3
r7221[0...n] Infeed par_circuit absolute current regenerating, permissible / INF I_absRegenPerm
A_INF (Parallel),
S_INF (Parallel)
Parameters
List of parameters
The summed value of all power units is displayed in r0068.
Description: Displays the measured actual value of phase U as peak value.
The summed value of all power units is displayed in r0069[0].
Description: Displays the measured actual value of phase V as peak value.
Description: Displays the measured actual value of phase W as peak value.
Description: Displays the measured offset of phase U as peak value.
r7222[0...n] CO: Par_circuit absolute current actual value / I_act abs.val.
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
r7223[0...n] CO: Par_circuit phase current, actual value phase U / I_phase U act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7224[0...n] CO: Par_circuit phase current, actual value phase V / I_phase V act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7225[0...n] CO: Par_circuit phase current, actual value phase W / I_phase W act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7226[0...n] CO: Par_circuit phase current actual value, phase U offset / I_phase U offset
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
List of parameters
Parameters
Description: Displays the measured offset of phase V as peak value.
Description: Displays the measured offset of phase W as peak value.
Description: Displays the measured sum of the currents in phases U, V and W as peak value.
The average value of all power units is displayed in r0070.
Description: Displays the actual voltage, phase U.
The average value of all power units is displayed in r0089[0].
r7227[0...n] CO: Par_circuit phase current, actual value, phase V offset / I_phase V offset
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7228[0...n] CO: Par_circuit phase current, actual value, phase W offset / I_phase W offset
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7229[0...n] CO: Par_circuit phase current actual value sum U, V, W / I_phase sum UVW
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [A] - [A] - [A]
r7230[0...n] CO: Par_circuit DC link voltage actual value / Vdc_act
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
r7231[0...n] CO: Par_circuit phase voltage, actual value phase U / U_phase U act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
Parameters
List of parameters
Description: Displays the actual voltage, phase V.
Description: Displays the actual voltage, phase W.
Description: Displays the rated power of the individual power units connected in parallel for various load duty cycles.
The sum of the rated powers of all power units connected in parallel is displayed in r0206.
Dependency: The value is displayed in [kW] or [hp].
Description: Displays the rated current of the individual power units connected in parallel for various load duty cycles.
The sum of the rated currents of all power units connected in parallel is displayed in r0207.
r7232[0...n] CO: Par_circuit phase voltage, actual value phase V / U_phase V act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
r7233[0...n] CO: Par_circuit phase voltage, actual value phase W / U_phase W act val
A_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
- [V] - [V] - [V]
r7250[0...4] Par_circuit power unit rated power / LT P_rated
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
P-Group: Converter Units group: 14_6 Unit selection: p0100
- [kW] - [kW] - [kW]
r7251[0...4] Par_circuit power unit rated current / LT PI_rated
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
List of parameters
Parameters
Description: Displays the maximum output current of the individual power units connected in parallel.
The sum of the maximum currents of all power units connected in parallel is displayed in r0209.
Description: Displays the voltage between phases L1 and L2 of the particular Voltage Sensing Module (VSM) for a parallel cir-
cuit configuration.
The average value of all VSM is displayed in r3661.
Description: Displays the voltage between phases L2 and L3 of the particular Voltage Sensing Module (VSM) for a parallel cir-
cuit configuration.
r7252[0...4] Par_circuit maximum power unit current / LT I_max
A_INF (Parallel),
B_INF (Parallel),
S_INF (Parallel),
VECTOR (Parallel)
r7300[0...n] CO: Par_circuit VSM input line voltage u1 - u2 / VSM input u1-u2
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
r7301[0...n] CO: Par_circuit VSM input line voltage u2 - u3 / VSM input u2-u3
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
Parameters
List of parameters
Description: Displays the status of the temperature evaluation of the particular Voltage Sensing Module (VSM) for a parallel cir-
cuit configuration.
The overall status of the temperature evaluation of all VSM is displayed in r3664.
Description: Displays the temperature actual value of the KTY84 temperature sensor connected to the Voltage Sensing Module
(VSM) for a parallel circuit configuration.
The maximum value of all VSM is displayed in r3666.
Prerequisite:
Description: Displays the current actual value from current transducer (CT) 1 at the 10 V input of the particular Voltage Sensing
Module (VSM) for a parallel circuit configuration.
Description: Displays the current actual value from current transducer (CT) 2 at the 10 V input of the particular Voltage Sensing
Module (VSM) for a parallel circuit configuration.
r7305[0...n] Par_circuit VSM temperature evaluation, status / VSM temp status
A_INF (Parallel),
S_INF (Parallel)
- - 0000 bin
r7306[0...n] CO: Par_circuit VSM temperature KTY / VSM temp KTY
A_INF (Parallel),
S_INF (Parallel)
- [C] - [C] - [C]
r7310[0...n] CO: Par_circuit VSM 10 V input CT1 actual value / VSM CT 1 I_act
A_INF (Parallel),
S_INF (Parallel)
- [A] - [A] - [A]
r7311[0...n] CO: Par_circuit VSM 10 V input CT2 actual value / VSM CT 2 I_act
A_INF (Parallel),
S_INF (Parallel)
- [A] - [A] - [A]
List of parameters
Parameters
Description: Displays the capacitance of the line filter, phase U of the particular Voltage Sensing Module (VSM).
The average value of all VSM is displayed in r3677[0].
Note: Prerequisites:
Description: Displays the capacitance of the line filter, phase V of the particular Voltage Sensing Module (VSM).
r7315[0...n] CO: Par_circuit VSM 10 V input 1 actual value / VSM input 1 U_act
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
r7316[0...n] CO: Par_circuit VSM 10 V input 2 actual value / VSM input 2 U_act
A_INF (Parallel),
S_INF (Parallel)
- [V] - [V] - [V]
r7320[0...n] Par_circuit VSM line filter capacitance phase U / VSM filt C phase U
A_INF (Parallel),
S_INF (Parallel)
- [F] - [F] - [F]
r7321[0...n] Par_circuit VSM line filter capacitance phase V / VSM filt C phase V
A_INF (Parallel),
S_INF (Parallel)
- [F] - [F] - [F]
Parameters
List of parameters
Description: Displays the capacitance of the line filter, phase W of the particular Voltage Sensing Module (VSM).
Description: Sets the component number of the DRIVE-CLiQ component whose parameters are to be accessed.
Description: Sets the parameter number to access a parameter of a DRIVE-CLiQ component.
Description: Sets the parameter index to access a parameter of a DRIVE-CLiQ component.
Description: Displays the parameter value read from the DRIVE-CLiQ component.
r7322[0...n] Par_circuit VSM line filter capacitance phase W / VSM filt C phase W
A_INF (Parallel),
S_INF (Parallel)
- [F] - [F] - [F]
p7820 DRIVE-CLiQ component, component number / DLQ comp_no
0 65535 0
p7821 DRIVE-CLiQ component, parameter number / DLQ para_no
0 65535 0
p7822 DRIVE-CLiQ component, parameter index / DLQ para_index
0 65535 0
r7823 DRIVE-CLiQ component, read parameter value / Read DLQ value
- - -
List of parameters
Parameters
Description: Component number of the DRIVE-CLiQ component for which a firmware download is to be made.
Note: For p7828 = 399, the firmware for all of the known components is downloaded.
The firmware download is started with p7829 = 1.
Description: Activating the firmware download for the DRIVE-CLiQ components specified in p7828.
1: Activate download
0: Download successfully completed
1: Fault code
011: DRIVE-CLiQ component has detected a checksum error.
015: The selected DRIVE-CLiQ components did not accept the contents of the firmware file.
101: After several communication attempts, not response from the DRIVE-CLiQ component.
140: Firmware file for the DRIVE-CLiQ component not available on the CompactFlash card.
143: Component is not changed in the firmware download mode.
156: Component with the specified component number is not available.
Additional values:
Only for internal Siemens troubleshooting.
Note: p7829 is automatically set to 0 after the firmware has been successfully downloaded.
The new firmware only becomes active at the next system run-up.
Description: Selects a telegram whose contents should be shown in p7831 ... p7836.
Values: 0: Reserved
1: First cyclic receive telegram, sensor 1
Dependency: Refer to: r7831, r7832, r7833, r7834, r7835, r7836
p7828 Firmware download component number / FW_download number
0 399 0
p7829 Activate firmware download / Act. FW_download
0 999 0
p7830 Diagnostics telegram selection / Diag telegram
0 3 0
Parameters
List of parameters
Description: Displays the signals contained in the selected telegram (p7830).
Values: 0: UNUSED
1: UNKNOWN
102: SAPAR_ID_DSA_ALARM
110: SAPAR_ALARMBITS_FLOAT_0
10500: ENC_ID_TIME_PRETRIGGER
10501: ENC_ID_TIME_SEND_TELEG_1
10502: ENC_ID_TIME_CYCLE_FINISHED
10503: ENC_ID_TIME_DELTA_FUNMAN
10504: ENC_ID_SUBTRACE_CALCTIMES
10505: ENC_ID_SYNO_PERIOD
10516: ENC_ID_ADC_TRACK_A
10517: ENC_ID_ADC_TRACK_B
10518: ENC_ID_ADC_TRACK_C
10519: ENC_ID_ADC_TRACK_D
10520: ENC_ID_ADC_TRACK_A_SAFETY
10521: ENC_ID_ADC_TRACK_B_SAFETY
10523: ENC_ID_ADC_TEMP_1
10532: ENC_ID_TRACK_AB_X
10533: ENC_ID_TRACK_AB_Y
10534: ENC_ID_OFFSET_CORR_AB_X
10535: ENC_ID_OFFSET_CORR_AB_Y
10536: ENC_ID_AB_ABS_VALUE
10537: ENC_ID_TRACK_CD_X
10538: ENC_ID_TRACK_CD_Y
10539: ENC_ID_TRACK_CD_ABS
10542: ENC_ID_AB_RAND_X
10543: ENC_ID_AB_RAND_Y
10544: ENC_ID_AB_RAND_ABS_VALUE
10545: ENC_ID_SUBTRACE_ABS_ARRAY
10546: ENC_ID_PROC_OFFSET_0
10547: ENC_ID_PROC_OFFSET_4
10564: ENC_SELFTEMP_ACT
10565: ENC_ID_MOTOR_TEMP_TOP
10566: ENC_ID_MOTOR_TEMP_1
10580: ENC_ID_RESISTANCE_1
10596: ENC_ID_AB_ANGLE
10597: ENC_ID_CD_ANGLE
10598: ENC_ID_MECH_ANGLE_HI
10599: ENC_ID_RM_POS_PHI_COMMU
10600: ENC_ID_PHI_COMMU
10612: ENC_ID_DIFF_CD_INC
10613: ENC_ID_RM_POS_PHI_COMMU_RFG
10628: ENC_ID_MECH_ANGLE
10629: ENC_ID_MECH_RM_POS
10644: ENC_ID_INIT_VECTOR
10645: FEAT_INIT_VEKTOR
r7831[0...15] Telegram diagnostics signals / Tel diag signals
0 10789 111
List of parameters
Parameters
10660: ENC_ID_SENSOR_STATE
10661: ENC_ID_BASIC_SYSTEM
10662: ENC_ID_REFMARK_STATUS
10663: ENC_ID_DSA_STATUS1_SENSOR
10664: ENC_ID_DSA_RMSTAT_HANDSHAKE
10665: ENC_ID_DSA_CONTROL1_SENSOR
10676: ENC_ID_COUNTCORR_SAW_VALUE
10677: ENC_ID_COUNTCORR_ABS_VALUE
10678: ENC_ID_SAWTOOTH_CORR
10692: ENC_ID_RESISTANCE_CALIB_INSTANT
10693: ENC_ID_SERPROT_POS
10724: ENC_ID_ACT_FUNMAN_FUNCTION
10725: ENC_ID_SAFETY_COUNTER_CRC
10740: ENC_ID_POS_ABSOLUTE
10741: ENC_ID_POS_REFMARK
10742: ENC_ID_SAWTOOTH
10743: ENC_ID_SAFETY_PULSE_COUNTER
10756: ENC_ID_DSA_ACTUAL_SPEED
10772: ENC_ID_DSA_POS_XIST1
10788: ENC_ID_AB_CROSS_CORR
10789: ENC_ID_AB_GAIN_Y_CORR
Index: [0] =
[1] =
[2] =
[3] =
[4] =
[5] =
[6] =
[7] =
[8] =
[9] =
[10] =
[11] =
[12] =
[13] =
[14] =
[15] =
Description: Indicates the original numerical format of the signals contained in the telegram.
The associated signal number is represented at the appropriate index in r7831.
Values: -1: Unknown
0: Boolean
1: Signed 1 byte
2: Signed 2 byte
3: Signed 4 byte
4: Signed 8 byte
5: Unsigned 1 byte
6: Unsigned 2 byte
7: Unsigned 4 byte
8: Unsigned 8 byte
9: Float 4 byte
r7832[0...15] Telegram diagnostics numerical format / tel diag format
-1 14 11
Parameters
List of parameters
10: Double 8 byte
11: mm dd yy HH MM SS MS DOW
12: ASCII string
13: SIMUMERIK frame type
14: SIMUMERIK axis type
Index: [0] =
[1] =
[2] =
[3] =
[4] =
[5] =
[6] =
[7] =
[8] =
[9] =
[10] =
[11] =
[12] =
[13] =
[14] =
[15] =
Description: Parameter to display a DSA signal in the unsigned-integer format.
Index: [0] =
[1] =
[2] =
[3] =
[4] =
[5] =
[6] =
[7] =
[8] =
[9] =
[10] =
[11] =
[12] =
[13] =
[14] =
[15] =
r7833[0...15] Telegram diagnostics unsigned / Tel diag unsigned
- - -
List of parameters
Parameters
Description: Parameter to display a DSA signal in the signed-integer format.
Index: [0] =
[1] =
[2] =
[3] =
[4] =
[5] =
[6] =
[7] =
[8] =
[9] =
[10] =
[11] =
[12] =
[13] =
[14] =
[15] =
Description: Parameter to display a DSA signal in the float format.
Index: [0] =
[1] =
[2] =
[3] =
[4] =
[5] =
[6] =
[7] =
[8] =
[9] =
[10] =
[11] =
[12] =
[13] =
[14] =
[15] =
r7834[0...15] Telegram diagnostics signed / Tel diag signed
- - -
r7835[0...15] Telegram diagnostics real / Tel diag real
- - -
Parameters
List of parameters
Description: Parameter to display the units of a DSA signal.
Values: -1: Unknown
0: None
1: Millimeter or degrees
2: Millimeter
3: Degrees
4: mm/min or RPM
5: Millimeter / min
6: Revolutions / min
7: m/sec^2 or V/sec^2
8: m/sec^2
9: V/sec^2
10: m/sec^3 or V/sec^3
11: m/sec^3
12: V/sec^3
13: Sec
14: 16.667 / sec
15: mm / rev
16: ACX_UNIT_COMPENSATION_CORR
18: Newton
19: Kilogram
20: Kilogram meter ^2
21: Percent
22: Hertz
23: Volt peak-to-peak
24: Amps, peak-to-peak
25: Degrees Celsius
26: Degrees
28: Millimeter or degrees
29: Meters / minute
30: Meters / second
31: Ohm
32: Millihenry
33: Newton meter
34: Newton meter / Amps
35: Volt / Amp
36: Newton meter second / rad
38: 31.25 microseconds
39: Microseconds
40: Milliseconds
42: Kilowatt
43: Micro amps peak-to-peak
44: Volt seconds
45: Microvolt seconds
46: Micro Newton meter
47: Amps / Volt seconds
48: Per mille
49: Hertz / second
r7836[0...15] Telegram diagnostics unit / Tel diag unit
-1 147 131
List of parameters
Parameters
53: Micrometer or millidegrees
54: Micrometer
55: Millidegrees
59: Nanometer
61: Newton/Amps
62: Volt seconds / meter
63: Newton seconds / meter
64: Micronewton
65: Liters / minute
66: Bar
67: Cubic centimeters
68: Millimeters / Volt minute
69: Newton/Volt
80: Millivolts, peak-to-peak
81: Volt rms
82: Millivolts, rms
83: Amps rms
84: Micro amps, rms
85: Micrometers / revolution
90: Tenths of a second
91: Hundredths of a second
92: 10 microseconds
93: Pulses
94: 256 pulses
95: Tenth of a pulse
96: Revolutions
97: 100 revolutions / minute
98: 10 revolutions / minute
99: 0.1 revolutions / minute
100: Thousandth revolution / minute
101: Pulses / second
102: 100 pulses / second
103: 10 revolutions / (minute * second)
104: 10000 pulses/second^2
105: 0.1 Hertz
106: 0.01 Hertz
107: 0.1 / seconds
108: Factor 0.1
109: Factor 0.01
110: Factor 0.001
111: Factor 0.0001
112: 0.1 Volt peak-to-peak
113: 0.1 Volt peak-to-peak
114: 0.1 amps, peak-to-peak
115: Watt
116: 100 Watt
117: 10 Watt
118: 0.01 percent
119: 1 / second ^3
120: 0.01 percent/millisecond
121: Pulses / revolution
122: Microfarads
123: Milliohm
124: 0.01 Newton meter
125: Kilogram millimeter ^2
126: Rad / (seconds newton meter)
127: Henry
128: Kelvin
129: Hours
130: Kilohertz
131: Milliamperes, peak-to-peak
132: Millifarads
133: Meter
135: Kilowatt hours
Parameters
List of parameters
136: Percent
137: Amps / Volt
138: Volt
139: Millivolts
140: Microvolts
141: Amps
142: Milliamperes
143: Micro amps
144: Milliamperes, rms
145: Millimeter
146: Nanometer
147: Joules
Index: [0] =
[1] =
[2] =
[3] =
[4] =
[5] =
[6] =
[7] =
[8] =
[9] =
[10] =
[11] =
[12] =
[13] =
[14] =
[15] =
Description: Displays the actual serial number of the CompactFlash card.
The individual characters of the serial number are displayed in the ASCII code in the indices.
Notice: An ASCII table can be found, for example, in the following reference:
Note: Example for displaying a CompactFlash card serial number:
r7843[0] = 49 dec --> ASCII characters = "1" --> serial number, character 1
r7843[6] = 69 dec --> ASCII characters = "E" --> serial number, character 7
r7843[7] = 0 dec --> ASCII characters = " " --> serial number, character 8
...
r7843[19] = 0 dec --> ASCII characters = " " --> serial number, character 20
CompactFlash card serial number = 111923E
r7843[0...20] CompactFlash card serial number / CF serial number
- - -
List of parameters
Parameters
Description: Displays whether, for an activated drive object, all activated topology components are available or not (or whether
these can be addressed).
0: Drive object not ready for operation
1: Drive object ready for operation
Description: Displays the number of indices for r7853[0...n].
This corresponds to the number of DRIVE-CLiQ components that are in the target topology.
Description: Displays the component and whether this component is currently present.
High byte: Component number
Low byte: 0/1 (not available/available)
Description: Displays status and configuration changes of all of the drive objects in the complete unit.
Index 0: When changing one of the following indices, then the value in this index is incremented.
Index 1:
Drive object configuration. When changing r7871[0] on a drive object, the value in this index is incremented.
Index 2:
Drive object, configuration unit. When changing either p0101 or r0102, the value in this index is incremented.
Index 3:
PROFIBUS configuration unit. When changing p0978, the value in this index is incremented.
Index 4:
DRIVE-CLiQ actual topology. When changing either r9900 or r9901, the value in this index is incremented.
Index 5:
DRIVE-CLiQ target topology. When changing either p9902 or p9903, the value in this index is incremented.
r7850[0...15] Drive object operational/not operational / DO ready for oper
-32786 32767 -32768
p7852 Number of indices for r7853 / Qty indices r7853
1 200 1
r7853[0...n] Component available/not available / Comp present
0000 hex FFFF hex 0000 hex
r7870[0...5] Status/configuration changes, global / Config_chng global
- - -
Parameters
List of parameters
Description: Displays the status and configuration changes on the drive object.
Index 0:
When changing one of the following indices, then the value in this index is incremented.
Index 1:
Drive object configuration. When changing p0107, the value in this index is incremented.
Index 2:
Drive object name. When changing p0199, the value in this index is incremented.
Index 3:
Drive object structure. When changing a parameter that is relevant for the structure (e.g. number of data sets), the
value in this index is incremented.
Index 4:
Drive objects, BICO interconnections. When changing r3977, the value in this index is incremented.
Index 5:
Drive objects, faults/alarms. When changing r0944 or r2121, the value in this index is incremented.
Index 6:
Drive object, data save.
0: There are not parameter changes to save.
1: There are parameter changes to save.
Index 7:
Drive object Safety. When changing r9744, the value in this index is incremented.
Index 8:
Drive object, changeover of units. When changing reference or changeover parameters (e.g. p2000, p0304...), the
r7871[0...8] Status/configuration changes, drive object / Config_chng DO
A_INF, B_INF,
CU_LINK, CU_S,
DMC20, S_INF,
TB30, TM15,
TM15DI_DO, TM17,
TM31, TM41
- - -
List of parameters
Parameters
Description: Displays the status and configuration changes on the drive object.
Index 0:
When changing one of the following indices, then the value in this index is incremented.
Index 1:
Drive object configuration. When changing p0107, the value in this index is incremented.
Index 2:
Drive object name. When changing p0199, the value in this index is incremented.
Index 3:
Drive object structure. When changing a parameter that is relevant for the structure (e.g. number of data sets), the
Index 4:
Drive objects, BICO interconnections. When changing r3977, the value in this index is incremented.
Index 5:
Drive objects, faults/alarms. When changing r0944 or r2121, the value in this index is incremented.
Index 6:
Drive object, data save.
0: There are not parameter changes to save.
1: There are parameter changes to save.
Index 7:
Drive object Safety. When changing r9744, the value in this index is incremented.
Index 8:
Drive object, changeover of units. When changing reference or changeover parameters (e.g. p2000, p0304...), the
Index 9...14:
Reserved.
Index 15:
SERVO/VECTOR configuration. When changing p0300, p0301 or p0400, the value in this index is incremented.
Description: Displays the actual cycle times for all existing time slices.
For r7901[x] = 0, the following applies: The time slice is not active.
r7871[0...15] Status/configuration changes, drive object / Config_chng DO
- - -
r7901[0...33] Time slice cycle times / Time slices t_cyc
- [s] - [s] - [s]
Parameters
List of parameters
Description: Sets the signal source for the operating signal of the infeed (e.g. BO: r0863.0).
These signals are transferred to another Control Unit and are located at BO: p8510 for further interconnection.
Index: [0] = Infeed operation 0 signal source
[1] = Infeed operation 1 signal source
Note: SM150: The parameter is used to transfer the INF_RDY signal (863.0) from the ALM_MV (Cx32) via the CU-Link
and p8510 to the feedback signal input (864.0) on the VECTOR_MV (D445).
p8500[0...7] BI: CULINK infeed operation / INF operation
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
0000 bin
List of parameters
Parameters
Description: Sets the signal source for the signal of a digital input.
These signals are transferred to another Control Unit and are located at BO: p8511 for further interconnection.
Index: [0] = Digital input 0 signal source
[1] = Digital input 1 signal source
Note: SM150: The signal is used, among other things, to transfer the command INF_ON (r863.1) from VECTOR_MV
(D445) via the CU-Link and p8511 to ON (p840) of the ALM_MV (Cx32).
p8501[0...15] BI: CULINK digital input / DI
0000 bin 1111 1111 1111 1111 1111 1111
1111 1111 bin
[0] 0000 0010 1101 0010 0000
0100 0000 0000 bin
[1] 0000 0010 1101 0010 0000
0100 0000 0001 bin
[2] 0000 0010 1101 0010 0000
0100 0000 0010 bin
[3] 0000 0010 1101 0010 0000
0100 0000 0011 bin
[4] 0000 0010 1101 0010 0000
0100 0000 0100 bin
[5] 0000 0010 1101 0010 0000
0100 0000 0101 bin
[6] 0000 0010 1101 0010 0000
0100 0000 0110 bin
[7] 0000 0010 1101 0010 0000
0100 0000 0111 bin
[8] 0000 0010 1101 0010 0000
0100 0000 1000 bin
[9] 0000 0010 1101 0010 0000
0100 0000 1001 bin
[10] 0000 0010 1101 0010
0000 0100 0000 1010 bin
[11] 0000 0010 1101 0010
0000 0100 0000 1011 bin
[12] 0000 0010 1101 0010
0000 0100 0000 1100 bin
[13] 0000 0010 1101 0010
0000 0100 0000 1101 bin
[14] 0000 0010 1101 0010
0000 0100 0000 1110 bin
[15] 0000 0010 1101 0010
0000 0100 0000 1111 bin
Parameters
List of parameters
Description: BiCo signal drain with a process signal that is transferred from other Control Unit.
p8502 CI: CULINK signal value 0 / Signal value 0
- - 0
- - 0
- - 0
p8505 CI: Signal value 3 / Signal value 3
- - 0
List of parameters
Parameters
Description: Displays the operating signal of the infeeds.
These signals were transferred from another Control Unit.
Note: SM150: Here, the INF_RDY signal of ALM_MV (Cx32) transferred via the CU-Link is received and connected to
p864.0 of the VECTOR_MV (D445).
Description: Binector sources with the digital input terminal signals that are transferred from other Control Units.
[0] = Binector source with the signal of the first digital input terminal
...
[15] = Binector source with the signal of the 16th digital input terminal
Note: SM150: The INF_ON command transferred from VECTOR_MV (D445) using the CU-Link to ALM_MV (Cx32) is
received here and connected to p840.
r8510 BO: CULINK infeed operation / INF operation
- - 0000 bin
00 Infeed operation 0 On Off -
r8511 BO: CULINK digital input / DI
- - 0000 bin
00 Digital input 0 On Off -
Parameters
List of parameters
Description: BiCo source with a process signal that is transferred to another Control Unit.
r8512 CO: CULINK signal value 0 / Signal value 0
- - -
- - -
- - -
r8515 CO: Signal value 3 / Signal value 3
- - -
List of parameters
Parameters
Description: Is used to save the current configuration of the Advanced Operator Panels (AOP).
Description: Displays the ACX file saved in the appropriate directory of the CompactFlash card.
p8550 AOP LOCAL/REMOTE / AOP LOCAL/REMOTE
- - 1001 bin
00 LOCAL save Yes No -
01 Start in LOCAL Yes No -
02 Change in oper. Yes No -
03 OFF acts like OFF1 Yes No -
07 CW/CCW active Yes No -
08 Jog active Yes No -
09 Save speed setpoint Yes No -
14 Inhibit operation Yes No -
15 Inhibit parameters Yes No -
r8570[0...9] Macro drive unit / Macro drv unit
- - -
r8570[0...9] Macro drive object / Macro DO
A_INF, B_INF,
SERVO, S_INF,
TM15DI_DO, TM31,
VECTOR
- - -
r8571[0...9] Macro Binector Input (BI) / Macro BI
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - -
Parameters
List of parameters
Description: Indicates which macro is presently being run in the drive object.
Dependency: Refer to: p0015, p0700, p1000, p1500, r8570, r8571, r8572, r8573
Description: Displays all of the devices connected to the CAN bus after run-up.
r8600
= 00000000 hex: No drive recognized.
= FFFF0192 hex: Several drives - drive 1 is an Active Line Module, servo drive or vector drive
= FFFF0191 hex: Several drives - 1st drive us a Terminal Module
= 00010192 hex: 1 Vector drive
= 00020192 hex: 1 Servo drive
= 01000192 hex: 1 Active Line Module
= 00080191 hex: 1 Terminal Module
Note: Corresponds to the CANopen object 1000 hex.
For each detected drive, the device type is displayed in object 67FF hex + 800 hex * x (x: Drive number 0 ... 7).
r8572[0...9] Macro Connector Inputs (CI) for speed setpoints / Macro CI n_set
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - -
r8573[0...9] Macro Connector Inputs (CI) for torque setpoints / Macro CI M_set
A_INF, B_INF,
SERVO, S_INF,
VECTOR
- - -
r8585 Actual macro actual / Actual macro
A_INF, B_INF,
CU_S, SERVO,
S_INF, TM15DI_DO,
TM31, VECTOR
- - -
r8600 CBC device type / Device type
CU_S (CAN) Can be changed: - Access level: 3
- - -
List of parameters
Parameters
Description: Displays the error register for CANopen.
Bit 0: Generic error
0 signal: No error present
1 signal: Generic error present
Bit 1 ... 3: Not supported (always a 0 signal)
Bit 4: Communications error
0 signal: There is no message in the range 8700 ... 8799
1 signal: There is at least one message (fault or alarm) in the range 8700 ... 8799
Bit 5 ... 6: Not supported (always a 0 signal)
Bit 7:; Fault outside the range 8700 ... 8799
0 signal: There is no fault outside the range 8700 ... 8799
1 signal: There is at least one fault outside the range 8700 ... 8799
Description: Sets the SYNC object parameter for the following CANopen objects:
- 1005 hex: COB-ID
Note: SINAMICS operates as SYNC load.
COB-ID: CAN object identification
Description: Sets the COB ID of the emergency message (error telegram). It corresponds to the CANopen objects:
- 1014 hex: COB-ID
Note: If, when downloading, the pre-set value 0 is downloaded, then the CANopen pre-set value 80 hex + Node-ID is
automatically set.
Online, the value 0 is rejected as, according to the CANopen Standard, COB ID 0 is not permitted here.
The changeover of the node ID using the hardware switch at the CU or per software has no effect on the COB-ID
EMCY. The saved value remains effective.
r8601 CBC error register / Error register
- - -
p8602 CBC SYNC object / SYNC object
CU_S (CAN) Can be changed: C1(1), T Access level: 3
p8603 CBC COB ID Emergency Message / COB ID EMCY Msg
CU_S (CAN) Can be changed: C1(1), T Access level: 3
Parameters
List of parameters
Description: Sets the node guarding parameter for the following CANopen objects:
- 100C hex: Guard Time
- 100D hex: Life Time Factor
The life time is derived by multiplying guard time by the life time factor.
Index: [0] = Time interval [ms] for new node guarding telegram
[1] = Factor for failure of the node guarding telegram
Dependency: Only adjustable if heartbeat time = 0 (heartbeat is disabled). Refer to: p8606
Note: For p8604[0] = 0 and/or p8604[1] = 0, the node guarding protocol is not used.
Either node guarding or heartbeat can be used.
Description: Sets the time [ms] to cyclically send heartbeat telegrams.
The smallest cycle time is 100 ms.
When a 0 is written, then heartbeat telegrams are not sent.
Dependency: Only adjustable if guard time = 0 (node guarding disabled). Refer to: p8604
Note: Corresponds to the CANopen object 1017 hex. Either node guarding or heartbeat can be used.
Description: General device information display.
Index: [0] = Vendor ID
[1] = Product code
[2] = Revision number
[3] = Serial number
Description: For a bus off error, the CAN bus is restarted with p8608 = 1 after the cause of the error has been removed.
1: Start CAN controller
Note: This parameter is automatically reset to 0 after start.
p8604[0...1] CBC node guarding / Node guarding
CU_S (CAN) Can be changed: T Access level: 3
0 65535 0
p8606 CBC producer heartbeat time / Prod Heartb Time
0 [ms] 65535 [ms] 0 [ms]
r8607[0...3] CBC identity object / Identity object
- - -
p8608 CBC clear bus off error / Clear bus off err
CU_S (CAN) Can be changed: U, T Access level: 3
0 1 0
List of parameters
Parameters
Description: Sets the behavior of the CAN node referred to the communications error or equipment fault.
Values: 0: Pre-operational
1: No change
2: Stopped
Index: [0] = Behavior for communication errors
[1] = Behavior for device faults
Description: Displays the identifier (client/server and server/client) of the SDO channel.
Index: [0] = Displays the COB ID from client to server
[1] = Displays the COB ID from server to client
SDO: Service Data Object
Description: Displays the Pre-defined Error Field of the CAN node.
It includes the number of all errors that have occurred, the number of errors that have occurred for each drive and
the errors according to their history.
The first 16 bits represent the CANopen error code and the second 16 bits the SINAMICS error code.
Index 1 has the same structure - however, the CAN offset is in the second 16 bits instead of the SINAMICS error
code.
CANopen error code:
0000 hex: No error present
8110 hex: Alarm A08751 present
8120 hex: Alarm A08752 present
8130 hex: Alarm A08700(F) with alarm value = 2 present
1000 hex: Generic error 1 present (there is at least one fault outside the range 8700 ... 8799)
1001 hex: Generic error 2 present (there is at least one alarm in the range 8700 ... 8799 with the exception of
A08751, A08752, A08700)
Index: [0] = Number of all faults in the drive unit
[1] = Most recent drive number / fault number
p8609[0...1] CBC error behavior / Error behavior
0 2 1
r8610[0...1] CBC first server SDO / First server SDO
- - -
p8611[0...82] CBC pre-defined error field / Pre_def err field
0000 hex FFFF 1000 hex 0000 hex
Parameters
List of parameters
[2] = Number of faults drive 1
[3] = Fault 1/ drive 1
List of parameters
Parameters
[74] = Number of faults Control Unit
[75] = Fault 1/Control Unit
Description: Display or setting of the CANopen Node ID.
The Node ID can be set as follows:
1) Using the DIP switch power-up the Control Unit.
--> p8620 can then only be read and displays the selected Node ID.
--> CANopen Node ID and PROFIBUS address are identical.
2) Using p8620
--> only if all of the DIP switches - from S1 to S7 - are either set to ON or OFF.
--> the Node ID is set as standard to 126.
--> A change only becomes effective after save and POWER ON.
Note: Every node ID change only becomes effective after a POWER ON.
It is only possible to independently set CANopen node ID and the PROFIBUS address using p0918 and p8620 (pre-
requisite: For DIP switches, all of the switches from S1 to S7 are either set to ON or OFF).
Description: Setting the baud rate for the CAN bus.
The appropriate bit timings are selected that are defined in p8623 in the associated sub-index.
Values: 0: 1 Mbit/s
1: 800 kbit/s
2: 500 kbit/s
3: 250 kbit/s
4: 125 kbit/s
5: 50 kbit/s
6: 20 kbit/s
7: 10 kbit/s
Recommenda-
tion:
Use the factory setting when setting the baud rate.
Example:
Baud rate = 20 kbit/s --> p8622 = 6 --> associated bit timing is in p8623[6].
p8620 CBC node ID / Node ID
1 126 126
p8622 CBC baud rate / Baud rate
0 7 6
Parameters
List of parameters
Description: Sets the bit timing for the C_CAN controller to the associated and selected baud rate (p8622).
Bits are distributed to the following parameters of the C_CAN controller in p8623[0...7]:
Bit 0 ... 5: BRP (Baud Rate Prescaler)
Bit 6 ... 7: SJW (Synchronization Jump Width)
Bit 8 ... 11: TSEG1 (Time Segment 1, before the sampling point)
Bit 12 ... 14: TSEG2 (Time Segment 2, after the sampling point)
Bit 15: Reserved
Bit 16 ... 19: BRPE (Baud Rate Prescaler Extension)
Bit 20 ... 31: Reserved
Index: [0] = 1 Mbit/s
[1] = 800 kbit/s
[2] = 500 kbit/s
[3] = 250 kbit/s
[4] = 125 kbit/s
[5] = 50 kbit/s
[6] = 20 kbit/s
[7] = 10 kbit/s
Note: Recommendation:
You use the factory setting (refer to p8622) when setting the bit timing.
Example:
Baud rate = 20 kbit/s --> p8622 = 6 --> associated bit timing is in p8623[6] --> 0001 2FB6
p8623[0...7] CBC bit timing selection / Bit timing select
0000 hex 000F 7FFF hex [0] 1405 hex
[1] 1605 hex
[2] 1C05 hex
[3] 1C0B hex
[4] 1C17 hex
[5] 1C3B hex
[6] 0002 1C15 hex
[7] 0004 1C2B hex
List of parameters
Parameters
Description: Sets the drive object selection (index 0), the sub-index area (index 1) and the parameter area (index 2) when using
virtual objects.
This means that it is possible to access all SINAMICS parameters via CAN.
Index 0 (drive object selection):
0: Not possible to access virtual CANopen objects
1: Device
2 ... 65535: Drive 1 ... 8
Index 1 (sub-index area):
0: 0 ... 255
1: 256 ... 511
2: 512 ... 767
3: 768 ... 1023
Index 2 (parameter area):
0: 1 ... 9999
1: 10000 ... 19999
2: 20000 ... 29999
3: 30000 ... 39999
Index: [0] = Drive object selection
[1] = Sub-index range
[2] = Parameter range
Description: Sets the drive behavior if a CAN communication error occurs.
Values: 0: No response
1: OFF1
2: OFF2
3: OFF3
Description: Displays the register of the CAN controller C_CAN:
Register, Message Interface Register and Message Handler Register - referred to the CAN protocol.
p8630[0...2] CBC virtual objects / Virtual objects
0 65535 0
p8641 CBC abort connection option code / Abort con opt code
SERVO (CAN), VEC-
TOR (CAN)
0 3 3
r8680[0...36] CBC diagnostics hardware / Diagnostics HW
- - -
Parameters
List of parameters
Index: [0] = Control register
[1] = Status register
[2] = Error counter
[3] = Bit timing register
[4] = Interrupt register
[5] = Test register
[6] = Baud rate prescaler extension register
[7] = Interface 1 command request register
[8] = Interface 1 command mask register
[9] = Interface 1 mask 1 register
[11] = Interface 1 arbitration 1 register
[13] = Interface 1 message control register
[14] = Interface 1 data A1 register
[16] = Interface 1 data B1 register
[18] = Interface 2 command request register
[19] = Interface 2 command mask register
[24] = Interface 2 message control register
[29] = Transmission request 1 register
[30] = Transmission request 2 register
[31] = New data 1 register
[32] = New data 2 register
[33] = Interrupt pending 1 register
[34] = Interrupt pending 2 register
[35] = Message valid 1 register
[36] = Message valid 2 register
Note: A description of the individual registers of the C_CAN controller can be taken from "C_CAN User's Manual".
Description: Sets and displays the CANopen NMT state.
Values: 0: Initializing
4: Stopped
5: Operational
127: Pre-operational
128: Reset node
129: Reset Communication
Note: The value 0 (initialization) is only displayed and cannot be set.
p8685 CBC NMT states / NMT states
CU_S (CAN) Can be changed: C1(1), U, T Access level: 3
0 129 127
List of parameters
Parameters
Description: Sets the communication parameters for CANopen receive process data object 1 (RPDO 1).
Index: [0] = PDO COB-ID
[1] = PDO transmission type
Dependency: A valid COB-ID can only be set for the available (existing) channel.
Note: Corresponds to the CANopen object 1400 hex + 40 hex * x (x: Drive number 0 ... 7).
Transmission types 0, 1, FE and FF can be set.
PDO: Process Data Object
p8700[0...1] CBC receive PDO 1 / Receive PDO 1
SERVO (CAN), VEC-
TOR (CAN)
9206
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
9206
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
9206
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
Parameters
List of parameters
SERVO (CAN), VEC-
TOR (CAN)
9206
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
List of parameters
Parameters
Description: Sets the mapping parameters for CANopen receive process data object 1 (RPDO 1).
Index: [0] = Mapped object 1
[1] = Mapped object 2
Dummy mapping not supported.
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
SERVO (CAN), VEC-
TOR (CAN)
0000 hex 8000 06DF hex [0] 8000 06DF hex
[1] 00FE hex
p8710[0...3] CBC receive mapping for RPDO 1 / Mapping RPDO 1
SERVO (CAN), VEC-
TOR (CAN)
9206
Parameters
List of parameters
SERVO (CAN), VEC-
TOR (CAN)
9206
SERVO (CAN), VEC-
TOR (CAN)
9206
SERVO (CAN), VEC-
TOR (CAN)
9206
List of parameters
Parameters
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
Parameters
List of parameters
Description: Sets the communication parameters for CANopen transmit process data object 1 (TPDO 1).
[2] = Inhibit time (in 100 s)
[3] = Reserved
[4] = Event timer (in ms)
Notice: For inhibit time and even timer, the following apply:
A value that is not a multiple integer of CANopen (4 ms) is rounded-off.
Transmission types 0, 1 ... F0, FE and FF can be set.
SERVO (CAN), VEC-
TOR (CAN)
p8720[0...4] CBC transmit PDO 1 / Transmit PDO 1
SERVO (CAN), VEC-
TOR (CAN)
9210
0000 hex C000 06DF hex [0] C000 06DF hex
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
List of parameters
Parameters
[3] = Reserved
[3] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
9210
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
SERVO (CAN), VEC-
TOR (CAN)
9210
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Parameters
List of parameters
[3] = Reserved
[3] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
9210
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
List of parameters
Parameters
[3] = Reserved
[3] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
Parameters
List of parameters
[3] = Reserved
Description: Sets the mapping parameters for CANopen transmit process data object 1 (TPDO 1).
Note: Corresponds to the CANopen object 1A00 hex + 40 hex * x (x: Drive number 0 ... 7).
SERVO (CAN), VEC-
TOR (CAN)
[1] 00FE hex
[2] 0000 hex
[3] 0000 hex
[4] 0000 hex
p8730[0...3] CBC send mapping for TPDO 1 / Mapping TPDO 1
SERVO (CAN), VEC-
TOR (CAN)
9210
SERVO (CAN), VEC-
TOR (CAN)
9210
List of parameters
Parameters
SERVO (CAN), VEC-
TOR (CAN)
9210
SERVO (CAN), VEC-
TOR (CAN)
9210
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
Parameters
List of parameters
Description: Sets the number of channels for receive PDOs and Transmit PDOs.
To define the number of channels of a drive, there are 3 indices (3 * n indices, n = 8).
Index 0: Number of channels for receive PDOs (1st drive)
Index 1: Number of channels for transmit PDOs (1st drive)
Index 2: Reserved
Correspondingly, indices 3 to 5 are valid for the 2nd drive, etc.
Index: [0] = Number of channels for receive PDOs (drive 1)
[1] = Number of channels for transmit PDOs (drive 1)
[2] = Reserved
[3] = Number of channels for receive PDOs (drive 2)
[5] = Reserved
[8] = Reserved
[11] = Reserved
[14] = Reserved
SERVO (CAN), VEC-
TOR (CAN)
SERVO (CAN), VEC-
TOR (CAN)
p8740[0...23] CBC channel assignment / Chann assign.
0 8 0
List of parameters
Parameters
[17] = Reserved
[20] = Reserved
[23] = Reserved
Note: Channel assignment not yet in effect. To acknowledge set p8741 = 1.
Description: Acknowledges the channel distribution selection made (p8740) and the setting of the predefined connection sets
(p8744).
1: Acknowledge configuration
Description: Displays the RPDO channels that are still available.
Note: The display is updated after acknowledging the configuration (p8741 = 1).
RPDO: Receive Process Data Object
Description: Displays the drive ID associated with each drive.
Index: [0] = Drive ID for 1st drive
[1] = Drive ID for 2nd drive
[2] = Drive ID for 3rd drive
[3] = Drive ID for 4th drive
p8741 CBC PDO configuration acknowledgement / PDO config ackn
0 1 0
r8742 CBC number of free RPDO channels / Qty free RPDO
- - -
r8743[0...7] CBC assignment, drive ID / Drive ID
- - -
Parameters
List of parameters
Description: Selector switch for the PDO mapping.
Sets the mapping for download or in the online mode after acknowledging with p8741.
Values: 1: Predefined Connection Set
2: Free PDO Mapping
Description: Displays 16-bit receive CANopen objects mapped to process data buffer.
Example:
The control word is mapped in p8720[0] and p8721[0]; this means that r8750[0] indicates that it is located at the first
position (p8850[0]) in the process data buffer.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
p8744 CBC PDO mapping configuration / PDO Mapping conf.
SERVO (CAN), VEC-
TOR (CAN)
Can be changed: C2, T Access level: 2
9206, 9208, 9210
1 2 2
r8750[0...15] CBC mapped 16-bit receive objects / RPDO 16 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
List of parameters
Parameters
Description: Displays mapped 16-bit transmit CANopen objects in the process data buffer.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Description: Displays 32-bit receive CANopen objects mapped to process data buffer.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
r8751[0...15] CBC mapped 16-bit transmit objects / TPDO 16 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
r8760[0...14] CBC mapped 32-bit receive objects / RPDO 32 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
Parameters
List of parameters
Description: Displays mapped 32-bit transmit CANopen objects in the process data buffer.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
Description: Displays the CANopen status word.
Re bit 10:
When the ramp-function generator is activated, the interconnection from CI: p2151 = r1119 can be changed, so that
to evaluate bit 10, the setpoint can be retrieved (taken) from in front of the ramp-function generator.
Re bit 10, 12:
When braking, the two bits must indicate the same state. This is the reason that the following parameters must be
set the same:
p2161 (speed threshold value 3, for r2199.0) = p2163 (speed threshold value 4, for r2197.7)
p2150 (hysteresis speed 3, for r2199.0) = p2164 (hysteresis speed 4, for r2197.7)
r8761[0...14] CBC mapped 32-bit transmit objects / TPDO 32 mapped
SERVO (CAN), VEC-
TOR (CAN)
- - -
r8784 CO: CBC status word / Status word
SERVO (CAN), VEC-
TOR (CAN)
- - 0000 bin
01 Ready Yes No -
04 No coasting active Yes No -
05 No fast stop active Yes No -
06 Power-on inhibit active Yes No -
08 Can be freely interconnected (BI: p8785) High Low -
10 Target reached Yes No -
11 Torq limit reached Yes No -
12 Velocity equal to zero Yes No -
List of parameters
Parameters
Description: Binector input for CANopen status word bit 8.
Description: Sets the automatic BICO interconnection of the CANopen control word.
Values: 0: No interconn
1: Interconnection
Note: The following BICO interconnections are automatically established if the CANopen control word is mapped at one
of the locations x = 0 ... 3 in the receive process data buffer.
BI: p0840.0 = r889x.0
BI: p0844.0 = r889x.1
BI: p0848.0 = r889x.2
BI: p0852.0 = r889x.3
BI: p2103.0 = r889x.7
The write access is rejected if a CANopen control word is not mapped at one of these locations.
This means that the STARTER project download is interrupted.
p8785 BI: CBC status word bit 8 / Status word bit 8
SERVO (CAN), VEC-
TOR (CAN)
- - 0
SERVO (CAN), VEC-
TOR (CAN)
- - 0
SERVO (CAN), VEC-
TOR (CAN)
- - 0
p8790 CBC control word - auto interconnection / STW_interconn.auto
SERVO (CAN), VEC-
TOR (CAN)
0 1 0
Parameters
List of parameters
Description: Access to the CANopen control word using SDO transfer.
Description: Access to the CANopen object target velocity using the SDO transfer.
The value is displayed in increments/second as standard.
Note: Corresponds to the CANopen object 60FF hex + 800 hex * x (x: Drive number 0 ... 7).
The displayed value is calculated as follows:
r8796 = n_set [RPM] / 60 s * p0408 * 2^p0418 * p8798[1] / p8798[0]
Description: Access to the CANopen object target torque using SDO transfer.
The value is displayed as per mille (1/1000) as standard.
The displayed value is calculated as follows:
r8797 [per mille] = M_set [Nm] / p0333 [Nm] * 1000
r8795 CBC control word / Control word
SERVO (CAN), VEC-
TOR (CAN)
- - 0000 bin
00 ON/OFF1 Yes No -
01 Do not activate coast down Yes No -
02 Do not activate a fast stop Yes No -
11 Freely interconn High Low -
r8796 CBC target velocity / Target velocity
SERVO (CAN), VEC-
TOR (CAN)
- - -
r8797 CBC target torque / Target torque
SERVO (CAN), VEC-
TOR (CAN)
- - -
List of parameters
Parameters
Description: The factor converts the required velocity units into the internal velocity units (U/s).
With the factor setting, for CANopen, the velocity units are increments/second.
The parameter corresponds to the CANopen object 6094 hex.
The internal velocity is calculated as follows:
n_set_internal = object 6094.1 / object 6094.2 * 1/(p0408 * 2^p0418) * n_set_bus
Index: [0] = Counter
[1] = Denominator
p8798[0...1] CBC speed conversion factor / n_conv_factor
SERVO (CAN), VEC-
TOR (CAN)
1 4294967295 1
p8840 COMM BOARD monitoring time / CB t_monitoring
CU_S (CB, CBE) Can be changed: U, T Access level: 3
0 [ms] 65535000 [ms] 20 [ms]
p8841[0...39] COMM BOARD send configuration data / CB S_config_data
0 65535 0
p8842 COMM BOARD start configuration / CB config start
0 1 0
r8849[0...139] COMM BOARD receive configuration data / CB E_config_data
CU_S (CB, CBE) Can be changed: - Access level: 3
- - -
Parameters
List of parameters
Description: Connector output for interconnecting the PZD (setpoints) received from the COMM BOARD in the word format.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
Note: PZD1 to PZD4 are displayed bit-serially in r8890 to r8893.
Description: Selects PZD (actual values) to be sent to COMM BOARD in the word format.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
r8850[0...15] CO: COMM BOARD PZD receive word / CB PZD recv word
9206
- - -
p8851[0...15] CI: COMM BOARD PZD send word / CB PZD send word
- - 0
List of parameters
Parameters
Description: Displays PZD (actual values) sent to COMM BOARD.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
r8853[0...15] COMM BOARD PZD send diagnostics / CB diag PZD send
9210
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
Parameters
List of parameters
Description: Status display for COMM BOARD.
Values: 0: No initialization
1: Fatal Error
2: Initialization
3: Send configuration
4: Receive configuration
5: Non-cyclic communication
6: Cyclic communications but no setpoints (stop/no clock cycle)
255: Cyclic communication
Description: Connector output for interconnecting the PZD (setpoints) received from the COMM BOARD with double word fomat
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
r8854 COMM BOARD state / CB state
0 255 0
r8858[0...39] COMM BOARD read diagnostics channel / CB diagn. read
- - -
r8859[0...7] COMM BOARD identification Data / CB Ident_data
- - -
r8860[0...14] CO: COMM BOARD PZD receive double word / CB PZD recv DW
9206
- - -
List of parameters
Parameters
Description: Selects PZD (actual values) to be sent to COMM BOARD in the double word format.
Index: [0] = PZD 1 + 2
[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 +10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
Description: Binector output for bit-serial interconnection of a PZD1 (normally control word 1) word received from the COMM
BOARD.
p8861[0...14] CI: COMM BOARD PZD send doubleword / CB PZD send DW
9210
- - 0
r8890 BO: COMM BOARD PZD1 receive bit-serial / CB PZD1 recv bitw
9206
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
Parameters
List of parameters
Description: Binector output for bit-serial interconnection of a PZD2 word received from the COMM BOARD.
Description: Binector output for bit-serial interconnection of a PZD3 word received from the COMM BOARD..
9206
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
9206
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
List of parameters
Parameters
Description: Binector output for bit-serial interconnection of a PZD4 (normally control word 2) word received from the COMM
BOARD.
Description: Sets the monitoring clock cycle for safe motion monitoring.
Refer to: F01652
Cautiont: The parameter has not been released in firmware version 2.4 and may not be changed.
Notice: This parameter is overwritten by the copy function of the drive-based safety functions.
Note: The monitoring clock cycle must be a multiple of the position controller clock cycle.
Description: Sets the enable signals for the safe motion monitoring.
Refer to: F01682, F01683
9206
- - 0000 bin
00 Bit 0 On Off -
01 Bit 1 On Off -
02 Bit 2 On Off -
03 Bit 3 On Off -
04 Bit 4 On Off -
05 Bit 5 On Off -
06 Bit 6 On Off -
07 Bit 7 On Off -
08 Bit 8 On Off -
09 Bit 9 On Off -
10 Bit 10 On Off -
11 Bit 11 On Off -
12 Bit 12 On Off -
13 Bit 13 On Off -
14 Bit 14 On Off -
15 Bit 15 On Off -
p9300 SI motion monitoring clock cycle (Motor Module) / SI Mtn clock MM
P-Group: Safety Integrated Units group: - Unit selection: -
500.00 [s] 25000.00 [s] 12000.00 [s]
p9301 SI motion enable safety functions (Motor Module) / SI Mtn enable MM
- - 0000 bin
00 -
03 Enable actual value synchronization Enable Inhibit -
06 -
Parameters
List of parameters
Note: A change only becomes effective after a POWER ON.
SOS: Safe operating stop
SLS: Safely-reduced speed
Description: Sets the axis type (linear axis or rotary axis/spindle).
Values: 0: Linear axis
1: Rot axis/spindle
Description: Sets the configuration for the encoder and position actual value.
The encoder that is used for the safe motion monitoring functions on the Motor Module must be parameterized in
this parameter.
Description: Sets the grid division for a linear encoder.
this parameter.
p9302 SI motion axis type (Motor Module) / SI Mtn AxisType MM
0 1 0
p9316 SI motion enc. configuration, safety functions (Motor Module) / SI Mtn enc cfg MM
- - 0000 bin
00 Encoder, rotating/linear Linear Rotating: -
01 Position actual value, sign change Yes No -
p9317 SI motion linear scale, grid division (Motor Module) / SI Mtn grid MM
0.00 [nm] 250000000.00 [nm] 10000.00 [nm]
List of parameters
Parameters
Description: Sets the number of encoder pulses per revolution for rotary encoders.
this parameter.
Description: Sets the fine resolution for G1_XIST1 in bits.
For safe functions that are not enabled (p9301 = 0), the following applies:
p9319 is automatically set the same as p0418 at run-up.
For safety functions that are enabled (p9301 > 0), the following applies:
p9319 is checked to see that it matches p0418.
this parameter.
Refer to: F01670, F01671
G1_XIST1: Position actual value of the encoder according to PROFIdrive
Description: Sets the gear ratio between the encoder and load in mm/rev for a linear axis with rotary encoder.
this parameter.
p9318 SI motion encoder pulses per revolution (Motor Module) / SI Mtn p/rev MM
0 100000 2048
p9319 SI motion fine resolution G1_XIST1 (Motor Module) / SI Mtn fine resolu
2 18 11
p9320 SI motion spindle pitch (Motor Module) / SI Mtn sp_pitch MM
0.10 [mm] 8388.00 [mm] 10.00 [mm]
Parameters
List of parameters
Description: Sets the denominator for the gearbox between the encoder and load.
The actual gearbox stage is selected via safety-relevant inputs (SGE).
this parameter.
Index: [0] = Gearbox 1
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Description: Sets the numerator for the gearbox between the encoder and load.
this parameter.
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Description: Sets the number of the encoder that the Motor Module uses for safe motion monitoring functions.
Dependency: For the safe motion monitoring functions, the redundant safety position actual value sensing must be activated in
the appropriate encoder data set (p0430.19 = 1).
Refer to: p0187, p0188, p0189, p0430, p9526
p9321[0...7] SI motion gearbox encoder/load denominator (Motor Module) / SI Mtn gearDenomMM
1 2147000000 1
p9322[0...7] SI motion gearbox encoder/load numerator / SI Mtn gear num MM
1 2147000000 1
p9326 SI motion encoder assignment (Motor Module) / SI Mtn encoder MM
1 3 1
List of parameters
Parameters
Note: If a 1 is parameterized (the Motor Module uses an encoder for closed-loop speed control), then a single-encoder
system is being used.
A change only becomes effective after a POWER ON.
Description: Node Identifier of the Sensor Module that is used by the Motor Module for the motion monitoring functions.
Description: Sets the tolerance in mm or degrees for the function "safe operating stop" (SBH/SOS).
Refer to: C01707
Description: Sets the tolerance in mm or degrees for the function "safe operating stop" (SBH/SOS).
Refer to: C01707
p9328[0...11] SI Motion Sensor Module Node Identifier (Motor Module) / SI Mtn SM NodId MM
0000 hex 00FF hex 0000 hex
p9330 SI motion standstill tolerance (Motor Module) / SI Mtn SOS Tol MM
0.00 [mm] 100.00 [mm] 1.00 [mm]
p9330 SI motion standstill tolerance (Motor Module) / SI Mtn SOS Tol MM
SERVO (Safety rot) Can be changed: U, T Access level: 4
0.00 [] 100.00 [] 1.00 []
Parameters
List of parameters
Description: Sets the limit values for the function "safely reduced speed" (SLS).
Index: [0] = Limit value SG1
[1] = Limit value SG2
Refer to: C01714
Description: Sets the limit values for the function "safely reduced speed" (SLS).
Refer to: C01714
Description: Sets the tolerance for the crosswise data comparison of the actual position between the two monitoring channels.
Refer to: C01711
p9331[0...3] SI motion SG limit values / SI Mtn SG lim MM
0.00 [mm/min] 1000000.00 [mm/min] 2000.00 [mm/min]
p9331[0...3] SI motion SG limit values / SI Mtn SG lim MM
0.00 [1/min] 1000000.00 [1/min] 2000.00 [1/min]
p9342 SI motion act val comparison tol (crosswise) (Motor Module) / SI Mtn act tol MM
0.0010 [mm] 360.0000 [mm] 0.1000 [mm]
List of parameters
Parameters
Refer to: C01711
Description: Sets the velocity limit n_x to detect standstill (zero speed).
When this limit value is fallen below, SGA "n < n_x" is set.
SGA: Safety-related output
p9342 SI motion act val comparison tol (crosswise) (Motor Module) / SI Mtn act tol MM
0.0010 [] 360.0000 [] 0.1000 []
p9346 SI motion velocity limit n_x (Motor Module) / SI Mtn lim n_x MM
p9346 SI motion velocity limit n_x (Motor Module) / SI Mtn lim n_x MM
0.00 [1/min] 6000.00 [1/min] 20.00 [1/min]
Parameters
List of parameters
Description: Sets the velocity tolerance for the "Safe Braking Ramp" (SBR).
Refer to: C01706
SBR: Safe braking ramp
Refer to: C01706
Description: Sets the velocity tolerance that is used for a two encoder system in crosswise comparison between the Control Unit
and the Motor Module.
Note: If the "actual value synchronization" is not enabled (p9301.3 = 0), then the value parameterized in p9342 is used as
tolerance in the crosswise data comparison.
p9348 SI motion SBR actual velocity tolerance (Motor Module) / SI Mtn SBR Tol MM
p9348 SI motion SBR actual velocity tolerance (Motor Module) / SI Mtn SBR Tol MM
0.00 [1/min] 120000.00 [1/min] 300.00 [1/min]
p9349 SI motion slip velocity tolerance (Motor Module) / SI Mtn slip MM
List of parameters
Parameters
Description: Sets the velocity tolerance that is used for a two encoder system in crosswise comparison between the Control Unit
and the Motor Module.
Description: Sets the delay time for the SG changeover for the function "safely reduced speed" (SLS).
When transitioning from a higher to a lower safely-reduced velocity/speed stage or to the safe operating stop
(SOS), within this delay time, the "old" velocity stage remains active.
Even if SLS or SOS is activated from non safety-related operation, then this delay is still applied.
Description: Sets the transition time from STOP C to "safe operating stop" (SBH).
p9349 SI motion slip velocity tolerance (Motor Module) / SI Mtn slip MM
0.00 [1/min] 6000.00 [1/min] 6.00 [1/min]
p9351 SI motion SG changeover delay time (Motor Module) / SI Mtn SG t_del MM
0.00 [s] 60000000.00 [s] 100000.00 [s]
p9352 SI motion transition time STOP C to SBH (Motor Module) / SI Mtn t C->SBH MM
0.00 [s] 10000000.00 [s] 100000.00 [s]
Parameters
List of parameters
Description: Sets the transition time from STOP D to "safe operating stop" (SBH).
Description: Sets the delay time for the safe pulse cancellation after STOP B / SS1.
Refer to: C01701
Description: Sets the time after which the pulses must have been cancelled when initiating the test stop.
Refer to: C01798
Description: Sets the maximum time for the acceptance test mode.
If the acceptance test mode takes longer than the selected time limit, then the mode is automatically terminated.
Dependency: Refer to: p9558, Refer to: C01799
p9353 SI motion transition time STOP D to SBH (Motor Module) / SI Mtn t D->SBH MM
0.00 [s] 60000000.00 [s] 100000.00 [s]
p9356 SI motion pulse cancellation delay time (Motor Module) / SI Mtn IL t_del MM
0.00 [s] 10000000.00 [s] 100000.00 [s]
p9357 SI motion pulse cancellation test time (Motor Module) / SI Mtn IL tTest MM
0.00 [s] 10000000.00 [s] 100000.00 [s]
p9358 SI motion acceptance test mode time limit (Motor Module) / SI Mtn t accept MM
5000000.00 [s] 100000000.00 [s] 40000000.00 [s]
List of parameters
Parameters
Description: Sets the velocity, under which the axis is considered to be "stationary" and for a STOP B, the pulses are cancelled
(by changing to STOP A).
Description: Sets the stop response for the function "safely reduced speed" (SLS).
This setting applies to the individual SG limit values.
Values: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
10: STOP A with delayed pulse cancellation when the bus fails
11: STOP B with delayed pulse cancellation when the bus fails
12: STOP C with delayed pulse cancellation when the bus fails
13: STOP D with delayed pulse cancellation when the bus fails
p9360 SI motion pulse cancellation shutdown speed (Motor Module) / SI Mtn IL n_shd MM
p9360 SI motion pulse cancellation shutdown speed (Motor Module) / SI Mtn IL n_shd MM
0.00 [1/min] 6000.00 [1/min] 0.00 [1/min]
p9363[0...3] SI motion stop response SLS (Motor Module) / SI Mtn Stop SLS MM
0 13 2
Parameters
List of parameters
Description: Setting to select and de-select the acceptance test mode.
Values: 0: [00 hex] De-select the acceptance test mode
172: [AC hex] Select the acceptance test mode
Dependency: Refer to: p9358, r9371, Refer to: C01799
Description: Displays the status of the acceptance test mode.
Values: 0: [00 hex] Acc_mode inactive
12: [0C hex] Acc_mode not possible due to POWER ON fault
13: [0D hex] Acc_mode not possible due to incorrect ID in p9370
15: [0F hex] Acc_mode not possible due to expired Acc_timer
172: [AC hex] Acc_mode active
Refer to: C01799
Description: Sets the delay time after which the pulses are safely cancelled after a bus failure.
Description: Displays the checksum for the checked Safety Integrated parameters of the motion monitoring function (actual
checksum) on the Motor Module.
Index: [0] = Check sum over SI parameters for motion monitoring
[1] = Check sum over SI parameters for actual values
p9370 SI motion acceptance test mode (Motor Module) / SI Mtn acc mode MM
0000 hex 00AC hex 0000 hex
r9371 SI motion acceptance test status (Motor Module) / SI Mtn acc stat MM
p9380 SI motion pulse cancellation delay bus failure (Motor Module) / SI Mtn t to IL MM
0.00 [s] 800000.00 [s] 0.00 [s]
r9398[0...1] SI motion actual checksum SI parameters (Motor Module) / SI Mtn act CRC MM
- - -
List of parameters
Parameters
Description: Sets the checksum for the checked Safety Integrated parameters of the motion monitoring function (actual check-
sum) on the Motor Module.
Description: Displays the parameters that were not able to be transferred when reading the parameter back-up files (PS files)
from the CompactFlash card.
r9406[0] = 0
--> All of the parameter values were able to be transferred error-free.
r9406[0...x] > 0
--> Displays the parameter number whose value was not able to be completely transferred or for an indexed param-
eter, for at least 1 index, was not able to be transferred. The first index that is not transferred is displayed in r9407.
Note: All indices from r9406 to r9408 designate the same parameter.
The parameter number is in r9406[x], the parameter index is in r9407[x], and the associated fault code is in
r94088[x].
Description: Displays the first index of the parameter that was not able to be transferred when reading the parameter back-up
files (PS files) from the CompactFlash card.
If, from an indexed parameter, at least one index was not able to be transferred, then the parameter number is dis-
played in r9406[n] and the first index that was not transferred is displayed in r9407[n].
r9406[0] = 0
--> All of the parameter values were able to be transferred error-free.
r9406[n] > 0
--> Displays r9407[n] the first index of the parameter number r9406[n] that was not transferred.
r94088[x].
p9399[0...1] SI motion reference checksum SI parameters (Motor Module) / SI Mtn ref CRC MM
r9406[0...19] PS file parameter number, parameter not transferred / PS par n. transf
- - -
r9407[0...19] PS file parameter index, parameter not transferred / PS parIdx n.transf
- - -
Parameters
List of parameters
Description: Only for internal Siemens service.
r94088[x].
Description: Displays the number of modified parameters and those that have still not be saved for this drive object.
Note: The modified parameters that still need to be saved are internally listed in r9410 ... r9419.
Description: Displays the number of BICO interconnections (signal drains) to other drive objects.
The selected BICO interconnections should be entered into r9482[0...59] and r9483[0...59].
Description: Displays the signal drains (Binector/Connector Inputs, BI/CI parameters) to other drive objects.
The number of BICO interconnections to other drive objects is displayed in r9481.
Note: The list is sorted according to signal sources and is structured as follows:
r9842[0]: Interconnection 1 (signal drain, BICO coded), r9843[0]: Interconnection 1 (signal source, BICO coded)
...
r9408[0...19] PS file fault code parameter not transferred / PS fault code
- - -
r9409 Number of parameters to be saved / Qty par to save
- - -
r9481 Number of BICO interconnections / BICO count
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
- - -
r9482[0...59] BICO interconnections, BI/CI parameters / BICO BI/CI par
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
- - -
List of parameters
Parameters
Description: Displays the signal sources (Binector/Connector Outputs, BO/CO parameters) to other drive objects.
The number of BICO interconnections to other drive objects is displayed in r9481.
Note: The list is sorted according to signal sources and is structured as follows:
...
Description: Sets the signal source (BO/CO parameter, BICO coded) to search in the signal drains.
The question is answered:
How often is a connection made to a signal source in the drive object and from which index are these interconnec-
tions saved (r9482[0...59], r9483[0...59])?
Description: Displays the number of BICO interconnections to the signal drain being searched for.
The signal source to be searched is set in p9484 (BICO-coded).
The search result is contained in r9482[0...59] and r9483[0...59] and is specified by the count (r9485) and the first
index (r9486).
Dependency: Refer to: r9481, r9482, r9483, p9484, r9486
r9483[0...59] BICO interconnections, BO/CO parameters / BICO BO/CO par
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
- - -
p9484 BICO interconnections, search signal source / BICO S_src srch
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
0 4294967295 0
r9485 BICO interconnections, signal source search count / BICO S_src srchQty
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
- - -
Parameters
List of parameters
Description: Displays the first index of the signal source being searched for.
The signal source to be searched is set in p9484 (BICO-coded).
The search result is contained in r9482[0...59] and r9483[0...59] and is specified by the count (r9485) and the first
index (r9486).
Dependency: Refer to: r9481, r9482, r9483, p9484, r9485
Description: Displays the number of signal sources from this drive to other drives/drive objects (Binector Output/Connector Out-
put, BO/CO).
Description: Displays the signal receiver list (Binector Input/Connector Input, BI/CI) for the first interconnections between this
drive and other drives/drive objects.
Notice: A drive cannot be deleted if this list is not empty! Otherwise, another drive would continue to attempt to read a sig-
nal from a drive that no longer existed.
Note: All indices of r9491 to p9493 designate the same interconnection.
r9491[x] contains the signal receiver and r9492[x] the matching signal source; p9493[x] can be set to modify the
interconnection.
r9486 BICO interconnections, signal source search first index / BICO S_src srchIdx
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
- - -
r9490 Number of BICO interconnections to other drives / Qty BICO to drive
- - -
r9491[0...9] BI/CI of BICO interconnections to other drives / BI/CI to drive
- - -
List of parameters
Parameters
Description: Displays the signal source list (Binector Output/Connector Output, BO/CO) for the first interconnections between
this drive and other drives/drive objects.
Notice: A drive cannot be deleted if this list is not empty! Otherwise, another drive would continue to attempt to read a sig-
nal from a drive that no longer existed.
interconnection.
Description: Setting to reset the BICO interconnections to other drives. Each interconnection can be individually reset.
Values: 0: Set connection to 0
1: Set connection to 1 (100 %)
2: Set connection to factory setting
15: Finished
interconnection.
Description: Setting for the behavior for BICO interconnections to other non-operational/de-activated drive objects.
If this drive object has BICO interconnections to other non-operational or de-activated drive objects as drain, then
using these parameters, all of the associated BI/CI parameters of this drive object can be set to the re-set value and
marked, or only marked.
Values: 0: Do not do anything
1: Mark connection
2: Set the connection to default and mark
Refer to: A01318, F01507
Note: The BI/CI parameters involved are listed in r9498[0...29] (drain).
The associated BO/CO parameters are listed in r9499[0...29] (source).
However, r9498 and r9499 are only then filled if p9495 is not equal to 0, otherwise they remain empty.
r9492[0...9] BO/CO of BICO interconnections to other drives / BO/CO to drive
- - -
p9493[0...9] Reset BICO interconnections to other drives / Reset BICO to drv
All objects Can be changed: T Access level: 3
0 15 15
p9495 BICO behavior to de-activated drive objects / Behav to deact obj
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
0 2 0
Parameters
List of parameters
Description: If this drive object has BICO interconnections to other drive objects that are either not operational or have been de-
activated, then using this parameter, all of the BI/CI parameters involved with this drive object can be re-estab-
lished.
Values: 0: Do not do anything
1: Restore the connections from the list
2: Delete the connection from the list
Refer to: A01318, F01507
Note: The BI/CI parameters involved are listed in r9498[0...29] (drain).
The associated BO/CO parameters are listed in r9499[0...29] (source).
After setting p9496 to 1 or 2, r9498 and r9499 are reset, r9497 is set to 0 and p9496 itself is set to 0.
Description: Displays the number of signal drains of this drive object to other drives/drive objects that are no longer opera-
tional/de-activated (Binector Input/Connector Input, BI/CI).
Refer to: A01318, F01507
Note: The parameter is only used for display purposes and cannot be written into.
Description: List of the BI/CI parameters that represent a connection to non-operational/de-activated drive objects.
Refer to: A01318, F01507
Note: All indices from r9498 to r9499 designate the same BICO interconnection.
This signal drain is in r9498[x] and the associated signal source in r9499[x].
p9496 Restore BICO to the drive objects that are now activated / Rest BICO act obj
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
0 2 0
p9497 BICO number of interconnections to de-activated drive objects / Qty to deact obj
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
0 65535 0
r9498[0...29] BICO BI/CI parameters to de-activated drive objects / BI/CI to deact obj
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
- - 0
List of parameters
Parameters
Description: List of the BO/CO parameters that represent a connection to non-operational/de-activated drive objects.
Refer to: A01318, F01507
Note: All indices from r9498 to r9499 designate the same BICO interconnection.
This signal drain is in r9498[x] and the associated signal source in r9499[x].
Description: Sets the monitoring clock cycle for safe motion monitoring.
Refer to: F01652
Note: The monitoring clock cycle must be a multiple of the position controller clock cycle.
Description: Sets the enable signals for the safe motion monitoring.
r9499[0...29] BICO BO/CO parameters to de-activated drive objects / BO/CO to deact obj
A_INF, B_INF,
CU_LINK, CU_S,
SERVO, TB30,
TM15, TM15DI_DO,
TM17, TM31, TM41,
VECTOR
- - 0
p9500 SI motion monitoring clock cycle / SI Mtn clock
0.50 [ms] 25.00 [ms] 12.00 [ms]
p9501 SI motion enable safety-relevant functions / SI Mtn enable
- - 0000 bin
00 Enable SBH/SG Enable Inhibit -
01 Enable SE Enable Inhibit -
03 Enable actual value synchronization Enable Inhibit -
04 Enable external ESR activation Enable Inhibit -
05 Enable override SG Enable Inhibit -
06 Enable external STOPs Enable Inhibit -
07 Enable cam synchronization Enable Inhibit -
08 Enable SN1+ Enable Inhibit -
09 Enable SN1 - Enable Inhibit -
10 Enable SN2 + Enable Inhibit -
Parameters
List of parameters
ESR: Extended Stopping and Retraction
SBH: Safe operating stop
SE: Safe software limit switch
SG: Safely-reduced speed
SN: Safe software cam
Description: Sets the axis type (linear axis or rotary axis/spindle).
Values: 0: Linear axis
1: Rot axis/spindle
Description: Sets the modulo range of the safe position actual value in degrees for the function "safe software cam" (SN) for
rotary axes.
Description: Sets the configuration for the motor encoder and position actual value.
Description: Sets the grid division for a linear motor encoder.
p9502 SI motion axis type / SI Mtn axis type
0 1 0
p9505 SI motion SN modulo value / SI Mtn Sn modulo
0 [] 737280 [] 0 []
p9516 SI motion motor encoder configuration, safety-relevant functions / SI Mtn enc config
- - 0000 bin
00 Motor encoder, rotating/linear Linear Rotating: -
01 Position actual value, sign change Yes No -
p9517 SI motion linear scale, grid division / SI Mtn grid
0.00 [nm] 250000000.00 [nm] 10000.00 [nm]
List of parameters
Parameters
Description: Sets the number of encoder pulses per revolution for rotary motor encoders.
Description: Sets the fine resolution for G1_XIST1 in bits.
For safe functions that are not enabled (p9501 = 0), the following applies:
p9519 is automatically set the same as p0418 at run-up.
For safety functions that are enabled (p9501 > 0), the following applies:
p9519 is checked to see that it matches p0418.
Dependency: Refer to: p0418, Refer to: F01670, F01671
G1_XIST1: Position actual value of the motor encoder according to PROFIdrive
Description: Sets the gear ratio between the encoder and load in mm/rev for a linear axis with rotary encoder.
Description: Sets the denominator for the gearbox between the encoder and load.
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
p9518 SI motion encoder pulses per revolution / SI Mtn pulses/rev
0 100000 2048
p9519 SI motion fine resolution G1_XIST1 / SI Mtn fine resolu
2 18 11
p9520 SI motion spindle pitch / SI Mtn Sp_pitch
0.10 [mm] 8388.00 [mm] 10.00 [mm]
p9521[0...7] SI motion gearbox encoder/load denominator / SI Mtn gear denom
1 2147000000 1
Parameters
List of parameters
Description: Sets the numerator for the gearbox between the encoder and load.
[1] = Gearbox 2
[2] = Gearbox 3
[3] = Gearbox 4
[4] = Gearbox 5
[5] = Gearbox 6
[6] = Gearbox 7
[7] = Gearbox 8
Description: Sets the number of the encoder that the 2nd channel (control, Motor Module) uses for safe motion monitoring func-
tions.
Dependency: For the safe motion monitoring functions, the redundant safety position actual value sensing must be activated in
the appropriate encoder data set (p0430.19 = 1).
Refer to: p0187, p0188, p0189, p0430
Note: If a 1 is parameterized (the 2nd channel of the motion monitoring functions uses encoders for closed-loop speed
control), then a single-encoder system is being used.
Description: Sets the tolerance for the function "safe operating stop" (SBH).
Dependency: Refer to: C01707
p9522[0...7] SI motion gearbox encoder/load numerator / SI Mtn gear numer
1 2147000000 1
p9526 SI motion encoder assignment 2nd channel / SI Mtn enc 2ndChan
1 3 1
p9530 SI motion standstill tolerance / SI Mtn standst_tol
0.00 [mm] 100.00 [mm] 1.00 [mm]
List of parameters
Parameters
Description: Sets the tolerance for the function "safe operating stop" (SBH).
Description: Sets the limit values for the function "safely reduced speed" (SG).
Refer to: C01714
Description: Sets the limit values for the function "safely reduced speed" (SG).
Refer to: C01714
Description: Sets the override factor for the limit value for SG2 and SG4 for the function "safely reduced speed" (SG).
Index: [0] = SG override factor 0
[1] = SG override factor 1
p9530 SI motion standstill tolerance / SI Mtn standst_tol
0.00 [] 100.00 [] 1.00 []
p9531[0...3] SI motion SG limit values / SI Mtn SG lim val
p9531[0...3] SI motion SG limit values / SI Mtn SG lim val
0.00 [1/min] 1000000.00 [1/min] 2000.00 [1/min]
p9532[0...15] SI motion SG override factor / SI Mtn SG override
0.000 [%] 100.000 [%] 100.000 [%]
Parameters
List of parameters
Note: The actual override factor for SG2 and SG4 is selected using the safety-relevant inputs (SGE).
Description: Sets the upper limit value for the function "safe software limit switch" (SE).
Index: [0] = Limit value SE1
[1] = Limit value SE 2
Note: For the setting of the SE limit values, the following applies: p9534 > p9535
Description: Sets the upper limit value for the function "safe software limit switch" (SE).
Description: Sets the lower limit value for the function "safe software limit switch" (SE).
p9534[0...1] SI motion SE upper limit values / SI Mtn SE up_lim
-2147000.00 [mm] 2147000.00 [mm] 100000.00 [mm]
p9534[0...1] SI motion SE upper limit values / SI Mtn SE up_lim
-2147000.00 [] 2147000.00 [] 100000.00 []
p9535[0...1] SI motion SE lower limit values / SI Mtn SE low_lim
-2147000.00 [mm] 2147000.00 [mm] -100000.00 [mm]
List of parameters
Parameters
Description: Sets the lower limit value for the function "safe software limit switch" (SE).
Description: Sets the plus cam position for the function "safe software cam" (SN).
Index: [0] = Cam position SN1
[1] = Cam position SN2
p9535[0...1] SI motion SE lower limit values / SI Mtn SE low_lim
-2147000.00 [] 2147000.00 [] -100000.00 []
p9536[0...29] SI motion SN plus cam position / SI Mtn SN+
-2147000.00 [mm] 2147000.00 [mm] 10.00 [mm]
Parameters
List of parameters
Description: Sets the plus cam position for the function "safe software cam" (SN).
Description: Sets the minus cam position for the function "safe software cam" (SN).
p9536[0...29] SI motion SN plus cam position / SI Mtn SN+
-2147000.00 [] 2147000.00 [] 10.00 []
p9537[0...29] SI motion SN minus cam position / SI Mtn SN-
-2147000.00 [mm] 2147000.00 [mm] -10.00 [mm]
List of parameters
Parameters
Description: Sets the minus cam position for the function "safe software cam" (SN).
p9537[0...29] SI motion SN minus cam position / SI Mtn SN-
-2147000.00 [] 2147000.00 [] -10.00 []
Parameters
List of parameters
Description: Sets the tolerance for the function "safe software cam" (SN).
Within this tolerance, both monitoring channels may signal different signal states of the same safe software cam.
Description: Sets the tolerance for the function "safe software cam" (SN).
Within this tolerance, both monitoring channels may signal different signal states of the same safe software cam.
Description: Sets the tolerance to check the actual values after referencing (incremental encoder) or when powering-up (abso-
lute encoder).
p9540 SI motion SN tolerance / SI Mtn SN tol
0.0010 [mm] 10.0000 [mm] 0.1000 [mm]
p9540 SI motion SN tolerance / SI Mtn SN tol
0.0010 [] 10.0000 [] 0.1000 []
p9542 SI motion actual value comparison tolerance (crosswise) / SI Mtn act val tol
0.0010 [mm] 360.0000 [mm] 0.1000 [mm]
p9542 SI motion actual value comparison tolerance (crosswise) / SI Mtn act val tol
0.0010 [] 360.0000 [] 0.1000 []
p9544 SI motion actual value comparison tolerance (referencing) / SI Mtn ref tol
0.0000 [mm] 36.0000 [mm] 0.0100 [mm]
List of parameters
Parameters
Description: Sets the tolerance to check the actual values after referencing (incremental encoder) or when powering-up (abso-
lute encoder).
p9544 SI motion actual value comparison tolerance (referencing) / SI Mtn ref tol
0.0000 [] 36.0000 [] 0.0100 []
p9546 SI motion velocity limit n_x / SI Mtn lim val n_x
p9546 SI motion velocity limit n_x / SI Mtn lim val n_x
0.00 [1/min] 6000.00 [1/min] 20.00 [1/min]
p9548 SI motion SBR actual speed tolerance / SI Mtn SBR tol
Parameters
List of parameters
Description: Sets the velocity tolerance that is used for a two encoder system in crosswise comparison between the drive and
the control.
Description: Sets the velocity tolerance that is used for a two encoder system in crosswise comparison between the drive and
the control.
Description: Sets the tolerance time for the changeover of the safety-related inputs (SGE).
p9548 SI motion SBR actual speed tolerance / SI Mtn SBR tol
0.00 [1/min] 120000.00 [1/min] 300.00 [1/min]
p9549 SI motion slip speed tolerance / SI Mtn slip tol
p9549 SI motion slip speed tolerance / SI Mtn slip tol
0.00 [1/min] 6000.00 [1/min] 6.00 [1/min]
p9550 SI motion SGE changeover tolerance time / SI Mtn SGE tol
0.00 [ms] 10000.00 [ms] 500.00 [ms]
List of parameters
Parameters
Description: Sets the delay time for the SG changeover for the function "safely reduced speed" (SG).
When transitioning from a higher to a lower safely-reduced velocity/speed stage or to the safe operating stop, within
this delay time, the "old" velocity stage remains active.
Description: Sets the transition time from STOP C to "safe operating stop" (SBH).
Description: Sets the transition time from STOP D to "safe operating stop" (SBH).
Description: Sets the transition time from STOP E to "safe operating stop" (SBH).
Description: Sets the transition time from STOP F to STOP B.
p9551 SI motion SG changeover delay time / SI Mtn SG t_del
0.00 [ms] 60000.00 [ms] 100.00 [ms]
p9552 SI motion transition time STOP C to SBH / SI Mtn time C->SBH
0.00 [ms] 10000.00 [ms] 100.00 [ms]
p9553 SI motion transition time STOP D to SBH / SI Mtn time D->SBH
0.00 [ms] 60000.00 [ms] 100.00 [ms]
p9554 SI motion transition time STOP E to SBH / SI Mtn time E->SBH
0.00 [ms] 60000.00 [ms] 100.00 [ms]
p9555 SI motion transition time STOP F to STOP B / SI Mtn time F->B
0.00 [ms] 60000.00 [ms] 0.00 [ms]
Parameters
List of parameters
Description: Sets the delay time for the safe pulse cancellation after STOP B.
Refer to: C01701
Description: Sets the time after which the pulses must have been cancelled when initiating the test stop.
Description: Sets the maximum time for the acceptance test mode.
If the acceptance test mode takes longer than the selected time limit, then the mode is automatically terminated.
p9556 SI motion pulse cancellation delay time / SI Mtn IL t_del
0.00 [ms] 10000.00 [ms] 100.00 [ms]
p9557 SI motion pulse cancelation test time / SI Mtn IL t_test
0.00 [ms] 10000.00 [ms] 100.00 [ms]
p9558 SI motion acceptance test mode, time limit / SI Mtn t accept
5000.00 [ms] 100000.00 [ms] 40000.00 [ms]
p9560 SI motion pulse cancellation shutdown speed / SI Mtn IL n_shutd
List of parameters
Parameters
Description: Sets the stop response for the function "safely reduced speed" (SG).
This setting applies for all SG limit values.
An input value of less than 5 signifies personnel protection, from 10 and upwards, machine protection.
Values: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
5: Sets the stop response via p9563 (SG-specific)
14: STOP E with delayed pulse cancellation when the bus fails
Description: Sets the stop response for the function "safe software limit switch" (SE).
Values: 2: STOP C
3: STOP D
4: STOP E
p9560 SI motion pulse cancellation shutdown speed / SI Mtn IL n_shutd
0.00 [1/min] 6000.00 [1/min] 0.00 [1/min]
p9561 SI motion SG stop response / SI Mtn SG stop res
0 14 5
p9562 SI motion SE stop response / SI Mtn SE stop res
2 4 2
Parameters
List of parameters
Description: Sets the stop response for the function "safely reduced speed" (SG, SG-specific).
This setting applies to the individual SG limit values.
Values: 0: STOP A
1: STOP B
2: STOP C
3: STOP D
4: STOP E
14: STOP E with delayed pulse cancellation when the bus fails
Description: Setting to select and de-select the acceptance test mode.
Values: 0: [00 hex] De-select the acceptance test mode
172: [AC hex] Select the acceptance test mode
Refer to: C01799
Description: Displays the status of the acceptance test mode.
Values: 0: [00 hex] Acc_mode inactive
12: [0C hex] Acc_mode not possible due to POWER ON fault
13: [0D hex] Acc_mode not possible due to incorrect ID in p9570
15: [0F hex] Acc_mode not possible due to expired Acc_timer
172: [AC hex] Acc_mode active
Refer to: C01799
p9563[0...3] SI motion SG-specific stop response / SI Mtn SGspec stop
0 14 2
p9570 SI motion acceptance test mode / SI Mtn Acc_mode
r9571 SI motion acceptance test status / SI Mtn acc_status
0000 hex 00AC hex 00AC hex
List of parameters
Parameters
Description: Sets the delay time after which the pulses are safely cancelled after a bus failure.
Description: Displays the Safety Integrated version for the safe monitoring functions.
Index: [0] = Safety Version (major release)
[1] = Safety Version (minor release)
[2] = Safety Version (baselevel or patch)
Note: Example:
r9590[0] = 2, r9590[1] = 3, r9590[2] = 1 --> SI motion version V02.03.01
Description: Sets the enable signals for safety functions on the Control Unit that are integrated in the drive.
Note: CU: Control Unit
SH: Safe standstill
SI: Safety Integrated
SMM: Safe Motion Monitoring
Description: Sets the enable signal for the function "Safe Brake Control" (SBC) on the Control Unit.
Values: 0: Inhibit SBC
1: Enable SBC
p9580 SI motion pulse cancellation delay time after bus failure / SI Mtn t to IL
0.00 [ms] 800.00 [ms] 0.00 [ms]
r9590[0...2] SI motion version, safe motion monitoring functions / SI Mtn version
- - -
p9601 SI enable, functions integrated in the drive (Control Unit) / SI enable fct CU
SERVO, VECTOR Can be changed: C2 Access level: 3
- - 0000 bin
00 Enable SH via terminal (Control Unit) Enable Inhibit 2810
02 Motion monitoring functions integr. in the
drive (Control Unit)
Enable Inhibit -
03 Enable PROFIsafe (Control Unit) Enable Inhibit -
p9602 SI enable Safe Brake Control (Control Unit) / SI enable SBC CU
0 1 0
Parameters
List of parameters
Note: The "Safe Brake Control" function is not activated until at least one safety monitoring function has been enabled
(i.e. p9501 not equal to 0 and/or p9601 not equal to 0).
The parameterization "no motor holding brake available" and "Safe Brake Control" enabled (p1215 = 0, p9602 =
control" (p1278 = 1, p9602 = 1, p9802 = 1).
CU: Control Unit
SBC: Safe Brake Control
Description: Sets the PROFIsafe address of the Control Unit.
Description: Sets the signal source for the functions "Safe standstill" (SH), "Safe Brake Control" (SBC) and "Safe Stop 1" (SS1)
on the Control Unit.
Note: The following signal sources are permitted:
- fixed zero (standard setting).
- digital inputs DI 0 to DI 7 on the Control Unit 320 (CU320).
- digital inputs DI 0 to DI 3 on the Controller Extensions (CX32, NX10, NX15).
- digital inputs DI 0 to DI 3 on the Control Unit 310 (CU310).
It is not permitted to establish an interconnection to a digital input in the simulation mode.
Description: Sets the tolerance time to change over the safety-related inputs (SGE) on the Control Unit.
An SGE changeover is not simultaneously effective due to the different runtimes in the two monitoring channels.
After an SGE changeover, dynamic data is not subject to a crosswise data comparison during this tolerance time.
Note: For a crosswise data comparison between p9650 and p9850, a difference of one Safety monitoring clock cycle is
tolerated.
The parameterized time is internally rounded-off to an integer multiple of the monitoring clock cycle.
SGE: Safety-related input (e.g. SH terminals)
p9610 SI PROFIsafe address (Control Unit) / SI PROFIsafe CU
0000 hex FFFE hex 0000 hex
p9620 BI: SI signal source for SH/SBC/SS1 (Control Unit) / SI sel SH/SS1 CU
- - 0
p9650 SI SGE changeover tolerance time (Control Unit) / SI SGE_chg tol CU
0.00 [ms] 2000.00 [ms] 500.00 [ms]
List of parameters
Parameters
Description: Sets the delay time of the pulse cancellation for the function "Safe Stop 1" (SS1) on the Control Unit to brake along
the OFF3 down ramp (p1135).
tolerated.
SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN60204)
Description: Sets the transition period from STOP F to STOP A on the Control Unit.
Refer to: F01611
tolerated.
STOP F: Defect in a monitoring channel (error in the crosswise data comparison)
STOP A: Pulse cancellation via the safety shutdown path
Description: Sets the time to carry-out the dynamic update and testing the safety shutdown paths (forced checking procedure).
Within the parameterized time, safe standstill must have been de-selected at least once. The monitoring time is
reset each time that SH is de-selected.
Description: Starts the copy function of the drive-based motion monitoring function parameters from the Control Unit to the
Motor Module with the value 57 (hex)
After the write access operations have been completed, the parameter is again reset to 0.
Values: 0: [00 hex] Copy function ended
87: [00 hex] Start copy function
p9652 SI Safe Stop delay time (Control Unit) / SI Stop 1 t_del CU
0.00 [s] 300.00 [s] 0.00 [s]
p9658 SI transition time STOP F to STOP A (Control Unit) / SI STOP F->A CU
0.00 [ms] 30000.00 [ms] 0.00 [ms]
p9659 SI forced checking procedure timer / SI FrcdCkProcTimer
0.00 [h] 9000.00 [h] 8.00 [h]
p9700 SI Motion, start copy function / SI Mtn copy
0000 hex 0057 hex 0000 hex
Parameters
List of parameters
Description: Accepts the reference checksums of all drive-based monitoring parameters from the associated actual checksums
when writing the value AC (hex).
After the write access operations have been completed, the parameter is again reset to 0.
Values: 0: [00 hex] Data unchanged
172: [AC hex] Data change, acknowledge
Dependency: Refer to: r9398, p9399, r9728, p9729, r9798, p9799, r9898, p9899
Description: Displays result list 1, that for the crosswise data comparison with the control, led to the fault.
Index: [0] = Result list, control
[1] = Result list, drive
p9701 SI Motion data acknowledge / SI Mtn dat ackn
r9710[0...1] SI motion diagnostics result list 1 / SI Mtn res_list 1
- - 0000 bin
00 Actual value > upper limit, SBH Yes No -
01 Actual value > lower limit, SBH Yes No -
02 Actual value > upper limit, SE1 Yes No -
03 Actual value > lower limit, SE1 Yes No -
04 Actual value > upper limit, SE2 Yes No -
05 Actual value > lower limit, SE2 Yes No -
06 Actual value > upper limit, SG1 Yes No -
07 Actual value > lower limit, SG1 Yes No -
16 Actual value > upper limit, SBR Yes No -
17 Actual value > lower limit, SBR Yes No -
List of parameters
Parameters
Description: Displays result list 2, that for the crosswise data comparison with the control, led to the fault.
Index: [0] = Result list, control
[1] = Result list, drive
Description: Control signal 1 for safety-relevant motion monitoring functions.
Note: TfS: Traverse to fixed stop
r9711[0...1] SI motion diagnostics result list 2 / SI Mtn res_list 2
- - 0000 bin
00 Actual value > upper limit, SN1+ Yes No -
01 Actual value > lower limit, SN1+ Yes No -
02 Actual value > upper limit, SN1- Yes No -
03 Actual value > lower limit, SN1- Yes No -
16 Actual value > upper limit, n_x+ Yes No -
17 Actual value > lower limit, n_x+ Yes No -
18 Actual value > upper limit, n_x- Yes No -
19 Actual value > lower limit, n_x- Yes No -
20 Actual value > upper limit, modulo Yes No -
21 Actual value > lower limit, modulo Yes No -
r9718 CO/BO: SI motion control signals 1 / SI Mtn ctrl_sig 1
- - 0000 bin
23 Set offset for TfS to the actual torque Set Reset -
Parameters
List of parameters
Description: Control signal 2 for safety-relevant motion monitoring functions.
Description: Status signal for safety-relevant motion monitoring functions.
r9719 CO/BO: SI motion control signals 2 / SI Mtn ctrl_sig 2
- - 0000 bin
00 Control signal de-select SBH/SG Yes No -
01 Control signal de-select SBH Yes No -
03 Control signal select SG bit 0 set not set -
04 Control signal select SG bit 1 set not set -
08 Control signal gearbox selection, bit 0 set not set -
12 Control signal, select SE 2 1 -
13 Control signal, close brake from control Yes No -
15 Control signal, select test stop Yes No -
16 Control signal SGE valid Yes No -
18 Control signal de-select ext. Stop A Yes No -
19 Control signal de-select ext. Stop C Yes No -
20 Control signal de-select ext. Stop D Yes No -
21 Control signal de-select ext. Stop E Yes No -
28 Control signal select SG override, bit 0 set not set -
30 Control signal SG override, bit 2 set not set -
r9721 SI motion status signals / SI Mtn stat_sig
- - 0000 bin
00 Status signal SBH or SG active Yes No -
01 Status signal SBH active Yes No -
02 Status signal, pulses cleared enabled -
03 Status signal active SG stage, bit 0 set not set -
04 Status signal active SG stage, bit 1 set not set -
05 Status signal velocity below limit value nx Yes No -
06 Status signals valid Yes No -
07 Status signal safely referenced Yes No -
12 Status signal Stop A or B active Yes No -
13 Status signal Stop C active Yes No -
14 Status signal Stop D active Yes No -
15 Status signal Stop E active Yes No -
List of parameters
Parameters
Description: Displays the message value that resulted in the STOP F on the drive.
Value = 0 means:
The controlled signaled a STOP F.
Value = 1 ... 999 means:
Number of the incorrect crosswise compared data between the drive and control.
Value >= 1000 means:
Additional diagnostic values of the drive.
Note: The significance of the individual values is described in message 27001 of the higher-level control.
Description: Setting to select and de-select the user agreement.
Values: 0: [00 hex] De-select user agreement
172: [AC hex] Select user agreement
Description: Displays the internal state of the user agreement.
Value = 0: User agreement is not set.
Value = AC hex: User agreement is set.
Description: Displays the checksum over the checked Safety Integrated parameters of the motion monitoring functions (actual
checksum).
Refer to: F01680
r9725 SI motion, diagnostics STOP F / SI Mtn Diag STOP F
- - -
p9726 SI motion, user agreement selection/de-selection / SI Mtn UserAgr sel
r9727 SI motion user agreement, inside the drive / SI Mtn UserAgr int
- - -
r9728[0...1] SI motion actual checksum, SI parameters / SI Mtn act CRC
- - -
Parameters
List of parameters
Description: Sets the checksum using the checksum-tested Safety Integrated parameters for motion monitoring functions (refer-
ence checksum).
Dependency: Refer to: r9728, Refer to: F01680
Description: Displays the changes of the safety message buffer. This counter is incremented every time that the safety message
buffer changes.
Recommenda-
tion:
This is used to check whether the safety message buffer has been read-out consistently.
Dependency: Refer to: r9747, r9748, r9749, p9752, r9753, r9754, r9755, r9756, p9759
Description: Displays the numbers of safety messages that have occurred.
Note: The messages type "safety message" (Cxxxxx) are entered in the message fault buffer.
Description: Displays the relative system runtime in milliseconds when the safety message occurred.
Description: Displays the additional information about the safety message that occurred (as integer number).
p9729[0...1] SI motion reference checksum, SI parameters / SI Mtn ref CRC
r9744 SI message buffer changes, counter / SI msg_buffer chng
- - -
r9747[0...63] SI message code / SI msg_code
- - -
r9748[0...63] SI message time received in milliseconds / SI t_msg recv ms
- [ms] - [ms] - [ms]
r9749[0...63] SI message value / SI msg_value
- - -
List of parameters
Parameters
Description: Number of safety messages that have occurred since the last reset.
Dependency: The safety message buffer is cleared by resetting the parameter to 0.
Refer to: r9744, r9747, r9748, r9749, r9753, r9754, r9755, r9756, p9759
Note: The parameter is reset to 0 at POWER ON.
Description: Displays additional information about the safety message that has occurred for float values.
Dependency: Refer to: r9744, r9747, r9748, r9749, p9752, r9754, r9755, r9756, p9759
Description: Displays the relative system runtime in days when the safety message occurred.
Description: Displays the relative system runtime in milliseconds when the safety message was removed.
Description: Displays the relative system runtime in days when the safety message was removed.
p9752 SI message cases, counter / SI msg_cases count
0 65535 0
r9753[0...63] SI message value for float values / SI msg_val float
- - -
r9754[0...63] SI message time received in days / SI t_msg recv days
- - -
r9755[0...63] SI message time removed in milliseconds / SI t_msg rem ms
- [ms] - [ms] - [ms]
r9756[0...63] SI message time removed in days / SI t_msg rem days
- - -
Parameters
List of parameters
Description: Acknowledges all safety messages present for a drive object.
Dependency: Refer to: r9744, r9747, r9748, r9749, p9752, r9753, r9754, r9755, r9756
Note: Parameter should be set from 0 to 1 to acknowledge.
After acknowledgement, the parameter is automatically reset to 0.
Description: Enters the Safety Integrated password.
Note: It is not permissible to change Safety Integrated parameter settings until the Safety Integrated password has been
entered.
Description: Enters a new Safety Integrated password.
Dependency: A change made to the Safety Integrated password must be acknowledged in the following parameter:
Refer to: p9763
Description: Acknowledges the new Safety Integrated password.
Note: The new password entered into p9762 must be re-entered in order to acknowledge.
p9762 = p9763 = 0 is automatically set after the new Safety Integrated password has been successfully acknowl-
edged.
p9759 SI, acknowledge messages, drive object / SI msg ackn DO
0 1 0
p9761 SI password input / SI password input
SERVO, VECTOR Can be changed: C1, T Access level: 3
p9762 SI password new / SI password new
p9763 SI password acknowledgment / SI ackn password
List of parameters
Parameters
Description: Displays the Safety Integrated version for the safety functions that run independently in the drive on the Control
Unit.
Note: Example:
r9770[0] = 2, r9770[1] = 3, r9770[2] = 1 --> Safety-Version V02.03.01
Description: Displays the safety integrated monitoring functions supported on the Control Unit and Motor Module.
The Control Unit determines this display.
SH: Safe standstill
SS1: Safe Stop 1
Description: Displays the Safety Integrated status on the Control Unit.
r9770[0...2] SI vers. safety fcts that run indep. in the drive (Control Unit) / SI version Drv CU
- - -
r9771 SI common functions (Control Unit) / SI common fct CU
- - 0000 bin
00 SH supported via terminal Yes No 2804
01 SBC supported Yes No 2804
02 SI Motion supported Yes No 2804
03 SS1 supported Yes No 2804
04 PROFIsafe supported Yes No -
05 Drive-based motion monitoring functions
supported
Yes No -
r9772 CO/BO: SI status (Control Unit) / SI stat CU
- - 0000 bin
00 SH selected on Control Unit Yes No 2810
01 SH active on the Control Unit Yes No 2810
02 SS1 active on Control Unit Yes No -
04 SBC requested Yes No 2814
09 STOP A cannot be acknowledged, active Yes No 2802
10 STOP A active Yes No 2802
15 STOP F active Yes No 2802
Parameters
List of parameters
Description: Displays the Safety Integrated status on the drive (Control Unit + Motor Module).
Note: This status is formed from the AND operation of the relevant status of the two monitoring channels.
Description: Displays the status for Safety Integrated of the group to which this drive belongs.
These signals are an AND logic operation of the individual status signals of the drives included in this group.
Note: A group is formed by appropriately grouping the terminals for "safe standstill".
The status of a group of n drives is, for drives 1 to n - 1 displayed with a delay of one monitoring clock cycle; this is
a system-related effect.
Description: Displays the clock cycle time for the safety functions on the Control Unit.
r9773 CO/BO: SI status (Control Unit + Motor Module) / SI stat CU+MM
- - 0000 bin
00 SH in the drive selected Yes No 2804
01 SH in the drive active Yes No 2804
02 SS1 in drive active Yes No 2804
31 Shutdown paths must be tested Yes No 2810
r9774 CO/BO: SI status (safe standstill group) / SI stat group SH
- - 0000 bin
00 SH selected in group Yes No 2804
01 SH active in group Yes No 2804
02 SS1 in group active Yes No -
04 SBC in group requested Yes No 2804
31 Shutdown paths of the group must be tested Yes No 2804
r9780 SI monitoring clock cycle (Control Unit) / SI monitor_clck CU
- [ms] - [ms] - [ms]
List of parameters
Parameters
Description: Displays the number of the data that are being presently compared crosswise on the Control Unit.
Example:
r9794[0] = 1 (monitoring clock cycle)
r9794[1] = 2 (enable safety-related functions)
r9794[2] = 3 (SGE changeover, tolerance time)
r9794[3] = 4 (transition time, STOP F to STOP A)
...
The list of crosswise compared data is obtained dependent on the particular application.
Note: The complete list of numbers for crosswise data comparison is listed in Fault F01611.
Description: Displays the number of the cross-checked data which has caused STOP F on the Control Unit.
Refer to: F01611
Description: Displays the checksum over the checked Safety Integrated parameters on the Control Unit (actual checksum).
Description: Sets the checksum for the checked Safety Integrated parameters on the Control Unit (reference checksum).
r9794[0...19] SI crosswise comparison list (Control Unit) / SI KDV_list CU
- - -
r9795 SI diagnostics STOP F (Control Unit) / SI diag STOP F CU
- - -
r9798 SI actual checksum SI parameters (Control Unit) / SI act_checksum CU
- - -
p9799 SI reference checksum SI parameters (Control Unit) / SI set_checksum CU
Parameters
List of parameters
Description: Sets the enable signals for safety functions on the Motor Module that are integrated in the drive.
Note: MM: Motor Module
SH: Safe standstill
Description: Sets the enable signal for the "Safe Brake Control" function (SBC) on the Motor Module.
0: Inhibit SBC
1: Enable SBC
Note: The "Safe Brake Control" function is not activated until at least one safety monitoring function has been enabled
(i.e. p9501 not equal to 0 and/or p9801 not equal to 0).
The parameterization "no motor holding brake available" and "Safe Brake Control" enabled (p1215 = 0, p9602 =
control" (p1278 = 1, p9602 = 1, p9802 = 1).
MM: Motor Module
Description: Sets the PROFIsafe address of the Motor Module.
p9801 SI enable, functions integrated in the drive (Motor Module) / SI enable fct MM
- - 0000 bin
00 Enable SH via terminal (Motor Module) Enable Inhibit 2810
02 Motion monitoring functions integr. in the
drive (Motor Module)
Enable Inhibit -
03 Enable PROFIsafe (Motor Module) Enable Inhibit -
p9802 SI enable Safe Brake Control (Motor Module) / SI enable SBC MM
0 1 0
p9810 SI PROFIsafe address (Motor Module) / SI PROFIsafe MM
0000 hex FFFE hex 0000 hex
List of parameters
Parameters
Description: Sets the tolerance time to change over the safety-related inputs (SGE) on the Motor Module.
An SGE changeover is not simultaneously effective due to the different runtimes in the two monitoring channels.
After an SGE changeover, dynamic data is not subject to a crosswise data comparison during this tolerance time.
tolerated.
SGE: Safety-related input (e.g. SH terminals)
Description: Sets the delay time of the pulse cancellation for the function "Safe Stop 1" (SS1) on the Motor Module to brake
along the OFF3 down ramp (p1135).
tolerated.
Description: Sets the transition period from STOP F to STOP A on the Motor Module.
Refer to: F30611
tolerated.
STOP F: Defect in a monitoring channel (error in the crosswise data comparison)
STOP A: Pulse cancellation via the safety shutdown path
p9850 SI SGE changeover tolerance time (Motor Module) / SI SGE_chg tol MM
0.00 [s] 2000000.00 [s] 500000.00 [s]
p9852 SI Safe Stop 1 delay time (Motor Module) / SI Stop 1 t_del MM
0.00 [ms] 300000.00 [ms] 0.00 [ms]
p9858 SI transition time STOP F to STOP A (Control Unit) / SI STOP F->A MM
0.00 [s] 30000000.00 [s] 0.00 [s]
Parameters
List of parameters
Description: Displays the Safety Integrated version on the Motor Module.
Note: Example:
Description: Displays the safety integrated monitoring functions supported on the Control Unit and Motor Module.
The Motor Module determines this display.
Note: MM: Motor Module
SH: Safe standstill
SS1: Safe Stop 1
Description: Displays the Safety Integrated status on the Motor Module.
r9870[0...2] SI version (Motor Module) / SI version MM
- - -
r9871 SI common functions (Motor Module / SI general fct MM
- - 0000 bin
00 SH supported via terminal Yes No 2804
01 SBC supported Yes No 2804
02 SI Motion supported Yes No 2804
03 SS1 supported Yes No 2804
04 PROFIsafe supported Yes No -
05 Drive-based motion monitoring functions
supported
Yes No -
r9872 CO/BO: SI status list (Motor Module) / SI status MM
- - 0000 bin
00 SH on selected on Motor Module Yes No 2810
01 SH on Motor Module active Yes No 2810
02 SS1 on Motor Module active Yes No 2804
09 STOP A cannot be acknowledged, active Yes No 2802
10 STOP A active Yes No 2802
15 STOP F active Yes No 2802
List of parameters
Parameters
Description: Displays the cycle time for the safety functions on the Motor Module.
Description: Displays the Node Identifier of the Sensor Module that the 2nd channel uses for the motion monitoring functions.
Description: Displays the Safety Integrated version on the Sensor Module.
Note: Example:
Description: Displays the number of the data that are being presently compared crosswise on the Motor Module.
Example:
r9894[0] = 1 (monitoring clock cycle)
r9894[1] = 2 (enable safety-related functions)
r9894[2] = 3 (SGE changeover, tolerance time)
r9894[3] = 4 (transition time, STOP F to STOP A)
...
The list of crosswise compared data is obtained dependent on the particular application.
r9880 SI monitoring clock cycle (Motor Module) / SI monitor_clck MM
- [ms] - [ms] - [ms]
r9881[0...11] SI Motion Sensor Module Node Identifier 2nd Channel / SI Mtn SM node Id
- - -
r9890[0...2] SI version (Sensor Module) / SI version SM
- - -
r9894[0...19] SI crosswise comparison list (Motor Module) / SI KDV_list MM
- - -
Parameters
List of parameters
Description: Displays the number of the cross-checked data which has caused STOP F on the Motor Module.
Refer to: F30611
Description: Displays the checksum for the checked Safety Integrated parameters on the Motor Module (actual checksum).
Description: Sets the checksum for the checked Safety Integrated parameters on the Motor Module (reference checksum).
r9895 SI diagnostics STOP F (Motor Module) / SI diag STOP F MM
- - -
r9898 SI actual checksum SI parameters (Motor Module) / SI act_checksum MM
- - -
p9899 SI reference checksum SI parameters (Motor Module) / SI set_checksum MM
List of parameters
Parameters
Description: If, when comparing the actual topology and target topology, only error has occurred, that can be acknowledged,
then using this parameter, a new comparison can be started - acknowledging the error in the target topology.
Differences that can be acknowledged:
- topology comparison, component shifted
- topology comparison, serial number of a component has been detected to be different (byte 3 = 1)
- topology comparison shows one component that is connected differently
The following parameter values are available:
p9904 = 1 --> the procedure is started.
p9904 = 0 after starting --> the procedure has been successfully completed.
p9904 = 1 after starting --> the procedure has not been successfully completed.
The possible causes for an unsuccessful procedure are located in bytes 4, 3, 2.
Byte 2:
Number of structural differences.
Byte 3:
Number of differences that can be acknowledged (p9904).
Byte 4:
Number of differences. These differences can be resolved as follows:
- sets the topology comparison (p9906 or p9907/p9908).
- change over the actual topology.
The appropriate action should be selected corresponding to the message that is displayed/output.
Note: In order to permanently accept the acknowledgement of the fault that can be resolved, then it must be saved in a
non-volatile fashion (p0977).
Description: With p9905 = 1, the serial numbers and the hardware versions of all of the components are transferred from the
actual topology into the target topology and a new comparison is started..
For the device specialization, the components of the target topology may only differ from those of the actual topol-
ogy by the serial numbers.
Note: p9905 is automatically set to 0 at the end of the operation.
In order to permanently accept the data, it is necessary to save in a non-volatile fashion (p0977).
p9904 Topology comparison, acknowledge differences / Topo_compare ackn
p9905 Device specialization / Device specializ.
0 1 0
Parameters
List of parameters
Description: Sets the type of comparison between the actual topology and target topology.
The comparison is started by setting the required value.
Values: 0: High: Compares the complete electronic rating plate
1: Average: Compares the component type and the Order number
2: Low: Compares the component type
3: Minimum: Compares the component class
99: Topology has different comparison stages
Note: The electronic rating plate comprises the following data:
- component type (e.g. "SMC20")
- Order No. (e.g. "6SL3055-0AA0-5BA0")
- manufacturer (e.g. SIEMENS)
- hardware version (e.g. "A")
- Serial No. (e.g. "T-P30050495")
When comparing the topology, the following data is compared in the target and actual topologies:
p9906 = 0: Component type, Order No., Hardware version, Manufacturer, Serial No.
p9906 = 1: Component type, Order No.
p9906 = 2: Component type
p9906 = 3: Component class (e.g. Sensor Module or Motor Module)
Description: Enters the number of the component where the setting of how the actual topology should be compared to the target
topology should be changed.
p9906 Topology comparison, comparison stage of all components / Topo_cmpr tot comp
0 99 0
p9907 Topology comparison, comparison stage of the component number / Topo_cmpr
comp_no
0 199 0
List of parameters
Parameters
Description: Sets the type of comparison of a component in the target topology with the actual topology.
The comparison is started by setting the required value.
Values: 0: High: Compares the complete electronic rating plate
1: Average: Compares the component type and the Order number
2: Low: Compares the component type
3: Minimum: Compares the component class
99: Topology has different comparison stages
Note: The electronic rating plate comprises the following data:
- manufacturer (e.g. SIEMENS)
- hardware version (e.g. "A")
- Serial No. (e.g. "T-P30050495")
When comparing the topology, the following data is compared in the target and actual topologies:
p9908 = 0: Component type, Order No., Hardware version, Manufacturer, Serial No.
p9908 = 1: Component type, Order No.
p9908 = 2: Component type
p9908 = 3: Component class (e.g. Sensor Module or Motor Module)
Description: For p9909 = 1, the serial number and the hardware version of the new replaced component is automatically trans-
ferred from the actual topology into the target topology and then saved in a non-volatile fashion.
For the components that have been replaced, the electronic type plate must match as far as the following data is
concerned:
For p9909 = 0, serial numbers and hardware versions are not automatically transferred. In this case, the transfer
must be made using p9904.
Note: The modified target topology is automatically saved in a non-volatile fashion when the drive object runs-up (e.g.
after a POWER ON).
Special case for Control Unit and option slot modules:
When replacing these components, independent of p9909, the serial number and hardware version are automati-
cally transferred and saved in a non-volatile fashion.
p9908 Topology comparison, comparison stage of a component / Topo_cmpr 1 comp
0 99 0
p9909 Topology comparison, component replacement / Topo_cmpr replace
0 1 1
Parameters
List of parameters
Description: Transfer additional inserted DRIVE-CLiQ components into the target topology and add the appropriate drive objects
to the project.
Values: 0: No selection
1: Drive object type SERVO
2: Drive object type VECTOR
3: SINAMICS GM (DFEMV & VECTORMV)
4: SINAMICS SM (AFEMV & VECTORMV)
5: SINAMICS GL (VECTORGL)
Description: Enters the license key for this drive unit.
Example of the license key:
EACZ-QBCA = 69 65 67 90 45 81 66 67 65 dec (ASCII characters)
Index 0 = license key character 1 (e.g. 69 dec)
...
Refer to: A13000, A13001
Notice: An ASCII table can be found, for example, in the following reference:
p9910 Transfer additional components into the target topology / Transfer comp
0 5 0
p9915 DRIVE-CLiQ data transfer error, shutdown threshold, master / DLQ fault master
0000 hex 0007 07FF hex 0007 02FF hex
p9916 DRIVE-CLiQ data transfer error, shutdown threshold, slave / DLQ fault slave
0000 hex 0007 07FF hex 0007 02FF hex
p9920[0...19] Licensing, enter license key / Enter license key
0 255 0
List of parameters
Parameters
Note: When changing p9920[x] to the value 0, all of the following indices are also set to 0.
After entering the license key, the license key must be activated (p9921).
If the licensing is not adequate, then the following alarm is displayed together with LED:
- A13000 --> licensing not sufficient
- LED READY --> flashes green/red with 0.5 Hz
Description: Activates the entered license key.
The following is executed when activating the license key.
- the checksum of the entered license key is checked.
- the entered license key is saved in the a non-volatile fashion on the CompactFlash card.
- re-enter the license key.
1: Activate start license key
Refer to: A13000, A13001
Note: Before activation, the license key entered using parameter p9920 is checked. If this check identifies an error, acti-
vation is rejected. In this case, writing a 1 to p9921 is rejected.
When the license key has been activated, p9921 is automatically set to 0.
Description: Displays the directory and the name of the file that was identified as illegal with respect to the state when supplied
from the factory when checking the CompactFlash card.
Refer to: A01016
Note: The directory and name of the file is displayed in the ASCII code.
Description: Displays the status when checking the CompactFlash card after powering-up.
0: CompactFlash Card still not checked.
1: Check running.
2: Check successfully completed.
3: Check indicates an error.
Refer to: A01016
p9921 Licensing, activate license key / Act. license key
0 1 0
r9925[0...99] CompactFlash card file error / CF file error
- - -
r9926 CompactFlash card check status / CF check status
- - -
Parameters
List of parameters
Description: Only for service purposes.
Index: [0] = System logbook stage (0: Not active)
[1] = COM2/COM1 (0: COM2, 1: COM1)
[2] = Activate file write (0: Not active)
[3] = Display time stamp (0: Not displayed)
[4] = Display system logbook stage (0: Not displayed)
[5] = Display drive object number (0: Not displayed)
[6] = Display software module name (0: Not displayed)
[7] = Output buffer size (stages, each 1 kB)
[8] = System logbook file size (stages, each 10 kB)
Notice: Before powering-down the Control Unit, ensure that the system logbook is switched-out (p9930[0] = 0).
Description: Setting to control the runtime measurement.
Values: 0: Stop runtime measurement
1: Start runtime meas (internal)
2: Clear trace buffer (internal)
3: Activate calculation of remaining computing time
p9930[0...8] System logbook activation / SYSLOG activation
0 255 0
p9931[0...99] System logbook module selection / SYSLOG mod select.
p9932 Save system logbook EEPROM / SYSLOG EEPROM save
0 255 0
p9950 Runtime measurement, control / Runtime_meas ctrl
0 3 0
List of parameters
Parameters
Description: Displays the system load.
The system load measurement is automatically started after run-up.
The individual values (computation load and cyclic load) are measured over short time slices and from the mea-
surements, the maximum, the minimum and the average value are formed and displayed in the appropriate indices.
Further, the degree of memory utilization of the data and program memory is displayed.
Index: [0] = comp. time load (min)
[1] = Computation time load (averaged)
[2] = Computation time load (max)
[3] = Computation time load cyclic (min)
[4] = Computation time load cyclic (avg)
[5] = Computation time load cyclic (max)
[6] = Data memory locked
[7] = Program memory locked
Refer to: A01053
Description: Displays PROFINET Name of Station.
Description: Displays PROFINET IP of Station.
r9976[0...7] System load / System load
- [%] - [%] - [%]
r11000[0...239] PROFINET Name of Station / PN Name of Station
CU_S (CBE) Can be changed: - Access level: 3
- - -
r11001[0...3] PROFINET IP of Station / PN IP of Station
CU_S (CBE) Can be changed: - Access level: 3
- - -
Parameters
Parameters for data sets
1.3 Parameters for data sets
1.3.1 Parameters for command data sets (CDS)
The following list contains the command-data-set-dependent parameters.
Product: SINAMICS S, Version: 2402300, Label: ., Language: eng
p0700[0...n] Macro Binector Input (BI) / Macro BI
p0828[0...n] BI: Motor changeover, feedback signal / Mot_chng fdbk sig
p0840[0...n] BI: ON/OFF1 / ON/OFF1
p0844[0...n] BI: 1. OFF2 / 1. OFF2
p0845[0...n] BI: 2. OFF2 / 2. OFF2
p0848[0...n] BI: 1. OFF3 / 1. OFF3
p0849[0...n] BI: 2. OFF3 / 2. OFF3
p0852[0...n] BI: Enable operation / Enable operation
p0854[0...n] BI: Master ctrl by PLC / Master ctrl by PLC
p0855[0...n] BI: Unconditionally release holding brake / Uncond open brake
p0856[0...n] BI: Enable speed controller / Enable n_ctrl
p1000[0...n] Macro Connector Inputs (CI) for speed setpoints / Macro CI n_set
p1000[0...n] Macro Connector Inputs (CI) for velocity setpoints / Macro CI v_set
p1035[0...n] BI: Motorized potentiometer, setpoint, raise / Mop raise
p1036[0...n] BI: Motorized potentiometer, lower setpoint / Mop lower
p1039[0...n] BI: Motorized potentiometer, inversion / Mop inversion
p1041[0...n] BI: Motorized potentiometer, manual/automatic / Mop manual/auto
p1042[0...n] CI: Motorized potentiometer, automatic setpoint / Mop auto setpoint
p1043[0...n] BI: Motorized potentiometer, accept setpoint / Mop accept set val
p1044[0...n] CI: Motorized potentiometer, setting value / Mop setting value
p1070[0...n] CI: Main setpoint / Main setpoint
Note:
"Data sets" section
Parameters
p1071[0...n] CI: Main setpoint scaling / Main setpt scal
p1075[0...n] CI: Suppl setpoint / Suppl setpoint
p1076[0...n] CI: Supplementary setpoint scaling / Suppl setpt scal
p1085[0...n] CI: Speed limit in positive direction of rotation / n_limit pos
p1085[0...n] CI: Velocity limit, positive direction / v_limit pos
p1088[0...n] CI: Speed limit negative direction of rotation / n_limit neg
p1088[0...n] CI: Velocity limit, negative direction / n_limit neg
p1110[0...n] BI: Inhibit negative direction / Inhib neg dir rot
p1111[0...n] BI: Inhibit positive direction / Inhib pos dir rot
p1113[0...n] BI: Direction reversal / Direction reversal
p1122[0...n] BI: Bypass ramp-function generator / Bypass RFG
p1140[0...n] BI: Enables the ramp-function generator / Enable RFG
p1141[0...n] BI: Start ramp-function generator / Start RFG
p1142[0...n] BI: Enable speed setpoint / Enable n_set
p1142[0...n] BI: Enable velocity setpoint / Enable v_set
p1143[0...n] BI: Ramp-function generator, accept setting value / Accept RFG set val
p1144[0...n] CI: Ramp-function generator setting value / RFG setting value
p1230[0...n] BI: Activating armature short-circuit / ASC act
p1235[0...n] BI: External armature short-circuit, contactor feedback signal / ASC ext feedback
p1330[0...n] CI: V/Hz control independent voltage setpoint / Uf U_set independ.
p1356[0...n] CI: U/f control, angular setpoint / Uf ang setpoint
p1430[0...n] CI: Speed precontrol / n_prectrl
p1430[0...n] CI: Velocity precontrol / v_prectrl
p1437[0...n] CI: Speed controller, reference model I component input / n_ctrRefMod I_comp
p1455[0...n] CI: Speed controller P gain adaptation signal / n_ctrl Adpt_sig Kp
p1455[0...n] CI: Velocity controller, P gain adaptation signal / v_ctrl Adpt_sig Kp
p1466[0...n] CI: Speed controller P-gain scaling / n_ctrl Kp Scal
p1466[0...n] CI: Velocity controller P gain scaling / v_ctrl Kp scal
p1476[0...n] BI: Speed controller hold integrator / n_ctrl integ stop
p1476[0...n] BI: Velocity controller, hold integrator / v_ctrl integ stop
p1477[0...n] BI: Speed controller set integrator value / n_ctrl integ set
p1477[0...n] BI: Set velocity controller integrator value / v_ctrl integ set
p1478[0...n] CI: Speed controller integrator setting value / n_ctr integ_setVal
p1478[0...n] CI: Velocity controller, integrator value / v_ctr integ_setVal
p1479[0...n] CI: Speed controller integrator setting value scaling / n_ctrl I_val scal
p1492[0...n] BI: Droop feedback enable / Enables droop
p1495[0...n] CI: Acceleration pre-control, speed change each 1 s / a_prectrl dn/1s
p1500[0...n] Macro Connector Inputs (CI) for torque setpoints / Macro CI M_set
p1500[0...n] Macro Connector Inputs (CI) for force setpoints / Macro CI F_set
p1501[0...n] BI: Change over between closed-loop speed/torque control / Changeov n/M_ctrl
p1501[0...n] BI: Changeover velocity/force control / Changeov n/F_ctrl
p1503[0...n] CI: Torque setpoint / M_set
p1512[0...n] CI: Supplementary torque 1 scaling / M_suppl 1 scal
p1512[0...n] CI: Supplementary force 1 scaling / F_suppl 1 scal
p1522[0...n] CI: Torque limit, upper/motoring / M_max upper/mot
Parameters
p1523[0...n] CI: Torque limit, lower/regenerative / M_max lower/regen
p1528[0...n] CI: Torque limit, upper/motoring, scaling / M_max up/mot scal
p1528[0...n] CI: Force limit upper/motoring scaling / F_max up/mot scal
p1528[0...n] CI: Torque limit upper scaling / M_max upper scal
p1529[0...n] CI: Torque limit, lower/regenerating scaling / M_max low/gen scal
p1529[0...n] CI: Force limit, lower/regenerative scaling / F_max low/gen scal
p1529[0...n] CI: Torque limit lower scaling / M_max lower scal
p1540[0...n] CI: Torque limit, speed controller upper scaling / M_max n-ctr upScal
p1541[0...n] CI: Torque limit. speed controller lower scaling / M_max nctr lowScal
p1542[0...n] CI: Travel to a fixed endstop, torque reduction / TfS M_red
p1545[0...n] BI: Activates travel to a fixed endstop / TfS activation
p1550[0...n] BI: Transfer actual torque as torque offset / Accept act. torque
p1551[0...n] BI: Torque limit, variable/fixed signal source / M_lim var/fixS_src
p1552[0...n] CI: Torque limit, upper scaling without offset / M_max up offs scal
p1554[0...n] CI: Torque limit, lower scaling without offset / M_max low offsScal
p1555[0...n] CI: Power limit / P_max
p1640[0...n] CI: Excitation current actual value / Excit curr act val
p2148[0...n] BI: Ramp-function generator active / HLG active
p2154[0...n] CI: Speed setpoint 2 / n_set 2
p2200[0...n] BI: Technology controller enable / Tec_ctr enable
p2235[0...n] BI: Technology controller motorized potentiometer, raise setpoint / Tec_ctr mop raise
p2236[0...n] BI: Technology controller motorized potentiometer, lower setpoint / Tec_ctr mop lower
p2264[0...n] CI: Technology controller actual value / Tec_ctr act val
p2289[0...n] CI: Technology controller pre-control signal / Tec_ctr prectrl
p2296[0...n] CI: Technology controller output scaling / Tec_ctr outp scal
p2297[0...n] CI: Technology controller maximum limiting / Tec_ctr max_limit
p2298[0...n] CI: Technology controller minimum limiting / Tec_ctr min_lim
p3111[0...n] BI: External fault 3, enable / Ext fault 3 enab
p3112[0...n] BI: External fault 3 enable negated / Ext flt 3 enab neg
p3784[0...n] BI: Sync line-drive external increase voltage / Sync ext U incr
p3785[0...n] BI: Sync line-drive external decrease voltage / Sync ext U decr
p3802[0...n] BI: Sync line-drive enable / Sync enable
Parameters
1.3.2 Parameters for drive data sets (DDS)
The following list contains the drive-data-set-dependent parameters.
p0186[0...n] Motor Data Sets (MDS) number / MDS number
p0340[0...n] Automatic calculation of motor/control parameters / Calc auto par
p0578[0...n] Calculate parameters that are dependent on the technology/units / Calc techn par
p0640[0...n] Current limit / Current limit
p1030[0...n] Motorized potentiometer, configuration / Mop configuration
p1037[0...n] Motorized potentiometer, maximum speed / Mop n_max
p1037[0...n] Motorized potentiometer, maximum velocity / Mop n_max
p1038[0...n] Motorized potentiometer, minimum speed / Mop n_min
p1038[0...n] Motorized potentiometer, minimum velocity / Mop n_min
Note:
"Data sets" section
Parameters
p1047[0...n] Motorized potentiometer, ramp-up time / Mop ramp-up time
p1048[0...n] Motorized potentiometer, ramp-down time / Mop ramp-down time
p1063[0...n] Speed limit, setpoint channel / n_limit setp.
p1063[0...n] Velocity limit, setpoint channel / v_limit setp.
p1080[0...n] Minimum speed / Minimum speed
p1080[0...n] Minimum velocity / Minimum speed
p1082[0...n] Maximum velocity / Maximum speed
p1083[0...n] CO: Speed limit in positive direction of rotation / n_limit pos
p1083[0...n] CO: Velocity limit, positive direction / v_limit pos
p1086[0...n] CO: Speed limit negative direction of rotation / n_limit neg
p1086[0...n] CO: Velocity limit, negative direction / v_limit neg
p1101[0...n] Skip speed bandwidth / Skip_n bandwidth
p1101[0...n] Skip velocity bandwidth / Skip_n bandwidth
p1130[0...n] Ramp-function generator initial rounding-off time / RFG t_start_round
p1131[0...n] Ramp-function generator final rounding-off time / RFG t_end_delay
p1134[0...n] Ramp-function generator rounding-off type / RFG round-off type
p1136[0...n] OFF3 initial rounding-off time / RFGOFF3 t_strt_rnd
p1137[0...n] OFF3 final rounding-off time / RFG OFF3 t_end_del
p1145[0...n] Ramp-function generator tracking intensity. / RFG track intens
p1151[0...n] Ramp-function generator configuration / RFG config
p1189[0...n] Speed setpoint configuration / n_ctrl config
p1189[0...n] Velocity setpoint configuration / v_ctrl config
p1192[0...n] DSC enc selection / DSC enc selection
p1193[0...n] DSC encoder adaptation factor / DSC encodAdaptFact
p1200[0...n] FlyRest oper mode / FlyRest oper mode
p1202[0...n] FlyRest srch curr / FlyRest srch curr
p1203[0...n] Flying restart search rate factor / FlyRst v_Srch Fact
p1240[0...n] Vdc controller configuration / Vdc_ctrl config
p1243[0...n] Vdc_max controller dynamic factor / Vdc_max dyn_factor
Parameters
p1245[0...n] Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level
p1247[0...n] Vdc_min controller dynamic factor (kinetic buffering) / Vdc_min dyn_factor
p1250[0...n] Vdc controller proportional gain / Vdc_ctrl Kp
p1251[0...n] Vdc controller integral time / Vdc_ctrl Tn
p1252[0...n] Vdc controller rate time / Vdc_ctrl t_rate
p1255[0...n] Vdc_min controller time threshold / Vdc_min t_thresh
p1256[0...n] Vdc_min controller response (kinetic buffering) / Vdc_min response
p1257[0...n] Vdc_min controller speed threshold / Vdc_min n_thresh
p1262[0...n] Bypass deadtime / Bypass t_dead
p1280[0...n] Vdc controller configuration (U/f) / Vdc_ctrl config
p1283[0...n] Vdc_max controller dynamic factor (U/f) / Vdc_max dyn_factor
p1285[0...n] Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
p1287[0...n] Vdc_min controller dynamic factor (kinetic buffering) (U/f) / Vdc_min dyn_factor
p1290[0...n] Vdc controller proportional gain (U/f) / Vdc_ctrl Kp
p1291[0...n] Vdc controller integral time (U/f) / Vdc_ctrl Tn
p1292[0...n] Vdc controller rate time (U/f) / Vdc_ctrl t_rate
p1293[0...n] Vdc controller output limit (U/f) / Vdc_ctrl outp_lim
p1295[0...n] Vdc_min controller time threshold (U/f) / Vdc_min t_thresh
p1296[0...n] Vdc_min controller response (kinetic buffering) (U/f / Vdc_min response
p1297[0...n] Vdc_min controller speed threshold (U/f) / Vdc_min n_thresh
p1310[0...n] Voltage boost permanent / U_boost perm
p1311[0...n] Voltage boost at acceleration / U_boost accelerate
p1317[0...n] U/f control diagnostics activation / Uf diagn act
p1318[0...n] U/f control ramp-up/ramp-down time / Uf t_rmp-up_rmp-dn
p1319[0...n] U/f control voltage at zero frequency / Uf U at f=0 Hz
p1335[0...n] Slip compensation, scaling / Slip comp scal
p1336[0...n] Slip compensation limit value / Slip comp lim val
p1338[0...n] U/f mode resonance damping gain / Uf Res_damp gain
p1339[0...n] U/f mode resonance damping filter time constant / Uf Res_damp T
p1340[0...n] I_max frequency controller proportional gain / I_max_ctrl Kp
p1341[0...n] I_max frequency controller integral time / I_max_ctrl Tn
p1345[0...n] I_max voltage controller proportional gain / I_max_U_ctrl Kp
p1346[0...n] I_max voltage controller integral time / I_max_U_ctrl Tn
p1349[0...n] U/f mode resonance damping maximum frequency / Uf res_damp F_max
p1350[0...n] Soft starting / Soft starting
p1358[0...n] Angular difference, symmetrizing, actual angle / Sym act angle
p1400[0...n] Velocity control, configuration / v_ctrl config
p1401[0...n] Flux control configuration / F_ctrl config
p1404[0...n] Sensorless operation changeover speed / Sensorl op n_chgov
Parameters
p1404[0...n] Sensorless operation changeover velocity / Sensorl op v_chgov
p1412[0...n] Speed setpoint filter, deadtime / n_set deadtime
p1414[0...n] Velocity setpoint filter activation / v_set_filt active
p1428[0...n] Speed precontrol symmetrizing deadtime / n_prectrSym t_dead
p1428[0...n] Velocity precontrol symmetrizing deadtime / n_prectrSym t_dead
p1429[0...n] Speed precontrol symmetrizing time constant / n_prectr sym T
p1429[0...n] Velocity precontrol symmetrizing time constant / n_prectr sym T
p1433[0...n] Speed controller reference model natural frequency / n_ctrl RefMod fn
p1433[0...n] Velocity controller reference model natural frequency / v_ctrl RefMod fn
p1434[0...n] Speed controller reference model damping / n_ctrl RefMod D
p1434[0...n] Velocity controller reference model damping / v_ctrl RefMod D
p1435[0...n] Speed controller reference model deadtime / n_ctrRefMod t_dead
p1435[0...n] Velocity controller reference model deadtime / v_ctrRefMod t_dead
p1441[0...n] Actual velocity, smoothing time / v_act T_smooth
p1442[0...n] Speed controller speed actual value smoothing time / n_ctr n_act T_smth
p1452[0...n] Speed controller speed actual value smoothing time (SLVC) / n_C n_act T_s SLVC
p1456[0...n] Velocity controller P gain adaptation, lower starting point / n_ctrl AdaptKpLow.
p1457[0...n] Velocity controller P gain adaptation upper starting point / v_ctrl AdaptKp up.
Parameters
p1460[0...n] Velocity controller, P gain adaptation velocity, lower / v_ctrl Kp n lower
p1461[0...n] Velocity controller, P gain adaptation velocity, upper / v_ctrl Kp n upper
p1462[0...n] Speed controller integral time adaptation speed, lower / n_ctrl Tn n lower
p1462[0...n] Velocity contr., integral act. time adaptation velocity, lower / v_ctrl Tn n lower
p1463[0...n] Velocity contr., integral act. time adaptation velocity, upper / v_ctrl Tn n upper
p1464[0...n] Velocity controller adaptation velocity, lower / v_ctrl n lower
p1465[0...n] Velocity controller adaptation velocity, upper / v_ctrl n upper
p1470[0...n] Velocity controller sensorless operation P-gain / v_ctrl SLVC Kp
p1472[0...n] Speed controller sensorless operation integral time / n_ctrl SLVC Tn
p1472[0...n] Velocity controller sensorless operation integral time / v_ctrl SLVC Tn
p1488[0...n] Droop input source / Droop input,source
p1489[0...n] Droop feedback scaling / Droop scaling
p1494[0...n] Speed controller integrator feedback time constant / n_ctr integ_fdbk T
p1494[0...n] Velocity controller integrator feedback time constant / v_ctr integ_fdbk T
p1496[0...n] Acceleration pre-control scaling / a_before scaling
p1498[0...n] Load moment of inertia / Load mom of inert
p1498[0...n] Load mass / Load mass
p1499[0...n] Accelerating for torque control, scaling / a for M_ctrl scal
p1514[0...n] Supplementary torque 2 scaling / M_suppl 2 scal
p1517[0...n] Accelerating torque smoothing time constant / M_accel T_smooth
p1517[0...n] Acceleration force smoothing time constant / F_accel T_smooth
p1520[0...n] CO: Torque limit, upper/motoring / M_max upper/mot
p1520[0...n] CO: Force limit upper/motoring / F_max upper/mot
p1521[0...n] CO: Torque limit, lower/regenerative / M_max lower/regen
p1521[0...n] CO: Force limit, lower/regenerative / F_max lower/regen
p1524[0...n] CO: Torque limit, upper/motoring, scaling / M_max up/mot scal
p1524[0...n] CO: Force limit upper/motoring scaling / F_max up/mot scal
p1525[0...n] CO: Torque limit, lower/regenerating scaling / M_max low/gen scal
p1525[0...n] CO: Force limit, lower/regenerative scaling / F_max low/gen scal
p1530[0...n] Power limit, motoring / P_max mot
p1531[0...n] Power limit, regenerating / P_max gen
p1532[0...n] CO: Torque limit, offset / M_max offset
p1532[0...n] CO: Force offset, force limit / F_max offset
p1556[0...n] Power limit scaling / P_max_scale
p1570[0...n] CO: Flux setpoint / Flux setpoint
p1572[0...n] Supplementary flux setpoint / Suppl flux setp
p1574[0...n] Voltage reserve dynamic / U_reserve dyn
p1576[0...n] Flux boost, adaptation speed, lower / Flux boost n lower
Parameters
p1577[0...n] Flux boost adaptation speed, upper / Flux boost n upper
p1580[0...n] Efficiency optimization / Efficiency opt.
p1582[0...n] Flux setpoint smoothing time / Flux setp T_smth
p1584[0...n] Field weakening operation, flux setpoint smoothing time / Field weak T_smth
p1585[0...n] Flux actual value, smoothing time / Flux actVal T_smth
p1594[0...n] Field-weakening controller, P gain / Field_ctrl Kp
p1596[0...n] Field weakening controller integral-action time / Field_ctrl Tn
p1599[0...n] Flux controller, excitation current difference / Flux ctr I_excDiff
p1600[0...n] P flux controller, P gain / P flux ctrl Kp
p1609[0...n] Current setpoint for I/f operation / I_set I/f oper
p1610[0...n] Torque setpoint static (SLVC) / M_set static
p1611[0...n] Supplementary accelerating torque (SLVC) / M_suppl_accel
p1612[0...n] Current setpoint, open-loop control, sensorless / I_setCtrSensorless
p1616[0...n] Current setpoint smoothing time / I_set T_smooth
p1619[0...n] Setpoint/actual value tracking threshold / SetAct track thrsh
p1620[0...n] Stator current, minimum / I_stator min
p1621[0...n] Changeover speed, inner cos phi = 1 / n_chngov cos phi=1
p1622[0...n] Field-generating current setpoint smoothing time constant / Id_setp T_smth
p1625[0...n] Excitation current setpoint calibration / I_exc_setp cal
p1628[0...n] Current model controller, dynamic factor / I_mod_ctr dyn_fact
p1629[0...n] Current model controller P gain / I_mod_ctrl Kp
p1630[0...n] Current model controller integral time / I_ctrl Tn
p1642[0...n] Minimum excitation current / Min I_exc
p1643[0...n] Gain factor, minimum excitation current closed-loop control / Min I_exc Kp
p1653[0...n] Current setpoint torque-generating minimum smoothing time / Isq_s T_smth_min
p1654[0...n] Curr. setpoint torque-gen. smoothing time field weakening range / Isq_s T_smth FW
p1675[0...n] Current setpoint filter 4 numerator natural frequency / I_set_filt 4 fn_n
p1701[0...n] Current controller reference model deadtime / I_ctrRefMod t_dead
Parameters
p1702[0...n] Isd current controller pre-control scaling / Isd_ctr_prectrScal
p1703[0...n] Isq current controller pre-control scaling / Isq_ctr_prectrScal
p1704[0...n] EMF scaling of the Isq current controller pre-control / EMF scal Isq_ctrl
p1705[0...n] Flux setpoint/actual value tracking threshold / Flux track thresh
p1717[0...n] Current controller integral-action time / I_ctrl Tn
p1726[0...n] Quadrature arm decoupling, scaling / Transv_decpl scal
p1727[0...n] Quadrature arm decoupling at voltage limit, scaling / TrnsvDecplVmaxScal
p1740[0...n] Gain resonance damping for sensorless closed loop control / Gain res_damp
p1744[0...n] Motor model speed threshold stall detection / MotMod n_thr stall
p1745[0...n] Motor model error threshold stall detection / MotMod ThreshStall
p1750[0...n] Motor model configuration / MotMod config
p1752[0...n] Motor model changeover speed operation with encoder / MotMod n_chgov enc
p1752[0...n] Motor model with encoder changeover velocity / MotMod v_chgov enc
p1754[0...n] Flux angle difference smoothing time / Angle diff T_smth
p1755[0...n] Motor model changeover velocity sensorless operation / MotMod v_chgSnsorl
p1757[0...n] Motor model w/o enc. op./cl.-loop controlled stab. controller Kp / MotMod w/o enc Kp
p1758[0...n] Motor model changeover delay time, closed/open-loop control / MotMod t cl_op
p1759[0...n] Motor model changeover delay time open/closed loop control / MotMod t op_cl
p1760[0...n] Motor model with encoder speed adaptation Kp / MotMod wE n_ada Kp
p1761[0...n] Motor model with encoder speed adaptation Tn / MotMod wE n_ada Tn
p1764[0...n] Motor model without encoder speed adaptation Kp / MotMod woE n_adaKp
p1767[0...n] Motor model without encoder speed adaptation Tn / MotMod woE n_adaTn
p1774[0...n] Motor model, offset voltage compensation alpha / MotMod offs comp A
p1775[0...n] Motor model, offset voltage compensation beta / MotMod offs comp B
p1780[0...n] Motor/converter model adaptation configuration / MotMod adapt conf
p1781[0...n] Motor model ASM Rs adaptation integral time / MotMod Rs Tn
p1783[0...n] Motor model ASM Rs adaptation Kp / MotMod Rs Kp
p1785[0...n] Motor model ASM Lh adaptation Kp / MotMod Lh Kp
p1786[0...n] Motor model ASM Lh adaptation integral time / MotMod Lh Tn
p1795[0...n] Motor model PEM kT adaptation smoothing time / MotMod kT T_smth
p1795[0...n] Motor model PEM kT adaptation integral time / MotMod kT Tn
p1802[0...n] Modulator mode / Modulator mode
p1803[0...n] Maximum modulation depth / Modulat depth max
p1804[0...n] Filter time constant smoothed modulation index / T_filt mod_idxSmth
p1806[0...n] Filter time constant Vdc correction / T_filt Vdc_corr
p1820[0...n] Output phase direction of rotation / Phase revers. outp
p1821[0...n] Direction reversal / Direction reversal
p1840[0...n] Actual value correction, configuration / ActVal_corr config
p1845[0...n] Actual value correction evaluation factor Lsig / ActV_corr FactLsig
p1846[0...n] Actual value correction damping factor / ActV_corr D_factor
p1952[0...n] Voltage emulation error, final value / U_error final val
p1953[0...n] Voltage emulation error current offset / U_error I_offset
Parameters
p2153[0...n] Speed actual value filter time constant / n_act_filt T
p2156[0...n] On delay, comparison value reached / t_on cmpr val rchd
p2162[0...n] Hysteresis speed n_act > n_max / Hyst n_act>n_max
p2162[0...n] Hysteresis velocity v_act > v_max / Hyst v_act>v_max
p2166[0...n] Off delay n_act = n_set / t_del_off n_i=n_so
p2167[0...n] Switch-on delay n_act = n_set / t_on n_act=n_set
p2174[0...n] Force threshold value 1 / F_thresh val 1
p2175[0...n] Motor locked speed threshold / Mot lock n_thresh
p2175[0...n] Motor locked, velocity threshold / Mot lock v_thresh
p2177[0...n] Motor locked delay time / Mot lock t_del
p2178[0...n] Motor stalled delay time / Mot stall t_del
p2181[0...n] Load monitoring, response / Load monit. resp.
p2192[0...n] Load monitoring, delay time / Load monit t_del
p2195[0...n] Torque utilization switch-off delay / M_util t_off
Parameters
p2230[0...n] Technology controller motorized potentiometer configuration / Tec_ctr mop config
p2237[0...n] Technology controller motorized potentiometer maximum value / Tec_ctr mop max
p2238[0...n] Technology controller motorized potentiometer minimum value / Tec_ctr mop min
p2240[0...n] Technology controller motorized potentiometer starting value / Tec_ctrl mop start
p2247[0...n] Technology controller motorized potentiometer ramp-up time / Tec_ctr mop t_r-up
p2248[0...n] Technology controller motorized potentiometer ramp-down time / Tec_ctrMop t_rdown
p2502[0...n] LR encoder assignment / Encoder assignment
p2503[0...n] LR length unit LU per 10 mm / LU per 10 mm
p2506[0...n] LR length unit LU per load revolution / LU per load rev
p2533[0...n] LR position setpoint filter, time constant / s_set_filt T
p2534[0...n] LR speed precontrol factor / n_prectrl fact
p2535[0...n] LR speed precontrol symmetrizing filter deadtime / n_ffCtr flt t_dead
p2536[0...n] LR speed precontrol, symmetrizing filter PT1 / n_prectrl filt PT1
p2538[0...n] LR proportional gain / Kp
p2539[0...n] LR integral time / Tn
p2546[0...n] LR dynamic following error monitoring tolerance / s_delta_monit tol
p2930[0...n] CO: Fixed value M [Nm] / Fixed value M [Nm]
p2930[0...n] CO: Fixed value F [N] / Fixed value F [N]
p3201[0...n] Excitation current outside the tolerance threshold value / I_exc n.Tol thresh
p3202[0...n] Excitation current outside the tolerance hysteresis / I_exc n.Tol hyst
p3203[0...n] Excitation current outside the tolerance delay time / I_exc n.Tol t_del
p3204[0...n] Flux outside the tolerance threshold value / Flux n. tol thresh
p3205[0...n] Flux outside the tolerance hysteresis / Flux n. tol hyst
p3206[0...n] Flux outside tolerance delay time / Flux n. tol t_del
p3207[0...n] Zero current signal, threshold value / I_0_sig thresh
p3208[0...n] Zero current signal, hysteresis / I_0_sig hyst
p3209[0...n] Zero current signal, delay time / I_0_sig t_del
p3704[0...n] APC filter activation / APC filter activ.
p3705[0...n] APC filter type / APC filter type
p3713[0...n] APC filter 1.1 numerator natural frequency / APC Filt 1 fn_n
Parameters
p3800[0...n] Sync line-drive activation / Sync activ.
p3801[0...n] Sync line-drive, drive object number / Sync DO_No.
p3806[0...n] Sync line-drive frequency difference threshold value / Sync f_diff thresh
p3809[0...n] Sync line-drive phase setpoint / Sync phase setp
p3811[0...n] Sync line-drive frequency limiting / Sync f_lim
p3813[0...n] Sync line-drive phase synchronism threshold value / Sync Ph_sync thrsh
p3815[0...n] Sync line-drive voltage difference threshold value / Sync U_diff thresh
Parameters
p3846[0...n] Friction characteristic plot ramp-up/ramp-down time / Fric plot t_RFG
p3847[0...n] Friction characteristic plot warm-up time / Frict plot t_warm
r3925[0...n] Identification final display / Ident final_disp
r3927[0...n] Motor data identification control word / MotID STW
r3928[0...n] Rotating measurement configuration / Rot meas config
p7035[0...n] Par_circuit circulating current control, operating mode / Circ_I mode
p7036[0...n] Par_circuit circulating current control, proportional gain / Circ_I Kp
p7037[0...n] Par_circuit circulating current control, integral time / Circ_I TN
p7038[0...n] Par_circuit circulating current control, limit / Circ_I limit
Parameters
1.3.3 Parameters for encoder data sets (EDS)
The following list contains the encoder-data-set-dependent parameters.
p0141[0...n] Encoder interface (Sensor Module) component number / Enc_interf comp_no
p0142[0...n] Encoder component number / Encoder comp_no
p0144[0...n] Sensor Module detection via LED / SM detection LED
p0145[0...n] Activate/de-activate encoder interface / Enc_intf act/deact
r0146[0...n] Encoder interface active/inactive / Enc_intf act/inact
r0147[0...n] Sensor Module EPROM data version / SM EEPROM version
r0148[0...n] Sensor Module firmware version / SM FW_version
p0400[0...n] Enc type selection / Enc type selection
p0401[0...n] Encoder type, OEM selection / Enc type OEM sel
p0402[0...n] Gearbox type selection / Gearbox type
p0404[0...n] Encoder configuration effective / Enc_config eff
p0405[0...n] Square-wave encoder track A/B / Sq-wave enc A/B
p0407[0...n] Linear encoder grid division / Enc grid div
p0408[0...n] Rotary encoder pulse No. / Rot enc pulse No.
p0410[0...n] Encoder inversion actual value / Enc inv act value
p0411[0...n] Measuring gearbox, configuration / Config
p0413[0...n] Measuring gearbox, position tracking tolerance window / Pos track window
p0418[0...n] Fine resolution Gx_XIST1 (in bits) / Enc fine Gx_XIST1
p0419[0...n] Fine resolution absolute value Gx_XIST2 (in bits) / Enc fine Gx_XIST2
p0420[0...n] Encoder connection / Encoder connection
p0421[0...n] Absolute encoder rotary multi-turn resolution / Enc abs multiturn
p0422[0...n] Absolute encoder linear measuring step resolution / Enc abs meas step
p0423[0...n] Absolute encoder rotary single-turn resolution / Enc abs singleturn
p0424[0...n] Encoder, linear zero mark distance / Enc lin ZM_dist
p0425[0...n] Encoder, rotary zero mark distance / Enc rot dist ZM
p0427[0...n] Encoder SSI baud rate / Enc SSI baud rate
p0428[0...n] Encoder SSI monoflop time / Enc SSI t_monoflop
p0429[0...n] Encoder SSI configuration / Enc SSI config
p0430[0...n] Sensor Module configuration / SM config
p0431[0...n] Angular commutation offset / Ang_com offset
p0432[0...n] Gearbox factor, encoder revolutions / Grbx_fact enc_rev
p0433[0...n] Gearbox factor, motor/load revolutions / Grbx_fact mot_rev
p0434[0...n] Encoder SSI error bit / Enc SSI error bit
p0435[0...n] Encoder SSI alarm bit / Enc SSI alarm bit
p0436[0...n] Encoder SSI parity bit / Enc SSI parity bit
p0440[0...n] Copy encoder serial number / Copy enc ser_no
p0446[0...n] Encoder SSI number of bits before the absolute value / Enc SSI bit before
Note:
"Data sets" section
Parameters
p0447[0...n] Encoder SSI number of bits absolute value / Enc SSI bit val
p0448[0...n] Encoder SSI number of bits after the absolute value / Enc SSI bit after
p0449[0...n] Encoder SSI number of bits, filler bits / Enc SSI fill bits
p2507[0...n] LR absolute encoder adjustment status / Abs_enc_adj stat
p2525[0...n] CO: LR encoder adjustment, offset / Enc_adj offset
Parameters
1.3.4 Parameters for motor data sets (MDS)
The following list contains the motor-data-set-dependent parameters.
p0131[0...n] Motor component number / Mot comp_no
r0302[0...n] Motor code number of motor with DRIVE-CLiQ / Motor code Mot DLQ
p0304[0...n] Rated motor voltage / Mot U_rated
p0305[0...n] Rated motor current / Mot I_rated
p0306[0...n] Number of motors connected in parallel / Motor qty
p0308[0...n] Rated motor power factor / Mot cos_phi_rated
p0309[0...n] Rated motor efficiency / Mot eta_rated
p0310[0...n] Rated motor frequency / Mot f_rated
p0311[0...n] Rated motor speed / Mot n_rated
p0311[0...n] Rated motor velocity / Mot v_rated
p0312[0...n] Rated motor torque / Mot M_rated
p0312[0...n] Rated motor force / Mot F_rated
p0314[0...n] Motor pole pair number / Mot pole pair No.
p0315[0...n] Motor pole pair width / MotPolePair width
p0316[0...n] Motor force constant / Mot kT
p0318[0...n] Motor stall current / Mot I_standstill
p0319[0...n] Motor stall torque / Mot M_standstill
p0319[0...n] Motor stall force / Mot F_standstill
p0320[0...n] Motor rated magnetization current/short-circuit current / Mot I_mag_rated
p0322[0...n] Maximum motor speed / Mot n_max
p0322[0...n] Motor maximum velocity / Mot v_max
p0323[0...n] Maximum motor current / Mot I_max
p0325[0...n] Motor pole position identification current, 1st phase / Mot PolID I 1st ph
p0326[0...n] Motor stall torque correction factor / Mot M_stallCorrFac
p0327[0...n] Optimum motor load angle / Mot phi_load opt
p0328[0...n] Motor reluctance torque constant / Mot kT_reluctance
p0329[0...n] Motor pole position identification current / Mot PolID current
r0330[0...n] Rated motor slip / Mot slip_rated
r0331[0...n] Motor magnetizing current/short-circuit current actual / Mot I_mag_ratedAct
r0332[0...n] Rated motor power factor / Mot cos_phi_rated
Note:
"Data sets" section
Parameters
r0333[0...n] Rated motor torque / Mot M_rated
r0333[0...n] Rated motor force / Mot F_rated
r0334[0...n] Motor-torque constant, actual / Mot kT act
r0334[0...n] Motor force constant, actual / Mot kT act
p0335[0...n] Motor cooling type / Motor cooling type
r0336[0...n] Rated motor frequency actual / Mot f_rated act
p0338[0...n] Motor limit current / Mot I_limit
r0339[0...n] Rated motor voltage / Mot U_rated
p0341[0...n] Motor moment of inertia / Mot M_mom of inert
p0341[0...n] Motor weight / Mot weight
p0342[0...n] Ratio between the total and motor moment of inertia / Mot MomInert Ratio
p0344[0...n] Motor weight / Motor weight
r0345[0...n] Nominal motor starting time / Mot t_start_rated
p0346[0...n] Motor excitation build-up time / Mot t_excitation
p0347[0...n] Motor de-excitation time / Mot t_de-excitat.
p0348[0...n] Speed at the start of field weakening Vdc = 600 V / Mot n_field weaken
p0348[0...n] Velocity at the start of field weakening Vdc = 600 V / Mot v_field weaken
p0350[0...n] Motor stator resistance, cold / Mot R_stator cold
p0352[0...n] Cable resistance / Mot R_cable cold
p0353[0...n] Motor series inductance / Mot L_series
p0354[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
p0355[0...n] Motor damping resistance, q axis / Mot R_damping_q
p0357[0...n] Motor stator inductance, d axis / Mot L_stator_d
p0358[0...n] Motor rotor leakage inductance / damping inductance, d axis / Mot L_r leak / LDd
p0359[0...n] Motor damping inductance, q axis / Mot L_damping_q
p0360[0...n] Motor magnetizing inductance/magn. inductance, d axis saturated / Mot Lh/Lh d sat
p0361[0...n] Motor magnetizing inductance, q axis, saturated / Mot Lh q_sat
r0370[0...n] Motor stator resistance, cold / Mot R_stator cold
r0372[0...n] Cable resistance / Mot R_cable
r0373[0...n] Motor rated stator resistance / Mot R_stator rated
r0374[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold / RDd
r0375[0...n] Motor damping resistance, q axis / Mot R_damping_q
r0376[0...n] Rated motor rotor resistance / Mot R_rotor rated
r0377[0...n] Motor leakage inductance, total / Mot L_leak total
r0378[0...n] Motor stator inductance, d axis / Mot L_stator_d
r0380[0...n] Motor damping inductance, d axis / Mot L_damping_d
r0381[0...n] Motor damping inductance, q axis / Mot L_damping_q
r0382[0...n] Motor magnetizing inductance transformed / Lh d axis saturated / Mot Lh t. / Lh d_s
r0383[0...n] Motor magnetizing inductance q axis, saturated / Mot Lh q_sat
r0384[0...n] Motor rotor time constant / damping time constant d axis / Mot T_rot / T_Dd
r0385[0...n] Motor damping time constant, q axis / Mot T_Dq
Parameters
r0386[0...n] Motor stator leakage time constant / Mot T_stator leak
r0387[0...n] Motor stator leakage time constant, q axis / Mot T_Sleak / T_Sq
p0389[0...n] Motor no-load excitation current / Mot I_exc_no-load
p0390[0...n] Motor rated excitation current / Mot I_exc_rated
p0391[0...n] Current controller adaptation, lower starting point / I_adapt pt. lower
p0392[0...n] Current controller adaptation, upper starting point / I_adapt pt. upper
p0393[0...n] Current controller adaptation, P gain, scaling upper / I_adapt Kp upper
r0395[0...n] Stator resistance, actual / R_stator active
r0396[0...n] Rotor resistance, actual / R_rotor active
p0601[0...n] Motor temperature sensor type / Mot temp_sensortyp
p0605[0...n] Motor overtemperature fault threshold / MotTempFaultThresh
p0607[0...n] Temperature sensor fault timer / Sensor fault time
p0610[0...n] Response to motor overtemperature condition / Mot temp response
p0621[0...n] Temperature identification after restart / Temp_ident restart
p0622[0...n] Motor excitation time for temp_ident after powering-up again / t_excit temp_id
p0625[0...n] Motor ambient temperature / Mot T_ambient
p0626[0...n] Motor overtemperature, stator core / Mot T_over core
p0627[0...n] Motor overtemperature, stator winding / Mot T_over stator
p0628[0...n] Rotor winding overtemperature / Mot T_over rotor
r0630[0...n] Motor temperature model ambient temperature / MotTMod T_amb.
r0631[0...n] Motor temperature model, stator core temperature / MotTMod T_iron
r0632[0...n] Motor temperature model, stator winding temperature / MotTMod T_copper
r0633[0...n] Motor temperature model, rotor temperature / MotTMod T_rotor
p0643[0...n] Overvoltage protection for synchronous motors / Overvolt_protect
p0650[0...n] Actual motor operating hours / Mot t_oper act
p0651[0...n] Motor operating hours maintenance interval / Mot t_op maint
p0652[0...n] Motor stator resistance, scaling / Mot R_stator scal
p0653[0...n] Motor stator leakage inductance, scaling / Mot L_S_leak scal
p0655[0...n] Motor magnetizing inductance, d axis, saturated scaling / Mot Lhd_sat scal
p0656[0...n] Motor magnetizing inductance, q axis, saturated scaling / Mot Lhq_sat scal
p0657[0...n] Motor damping inductance, d axis scaling / Mot L_damp_d scal
p0658[0...n] Motor damping inductance, q axis scaling / Mot L_damp_q scal
p0659[0...n] Motor damping resistance, d axis scaling / Mot R_damp_d scal
p0660[0...n] Motor damping resistance, q axis scaling / Mot R_damp_q scal
p0826[0...n] Motor changeover, motor number / Mot_chng mot No.
p0827[0...n] Motor changeover status word bit number / Mot_chg ZSW bitNo.
p1231[0...n] Configuration, armature short-circuit / ASC config
p1236[0...n] Ext. armature short-cct., contactor feedback signal monit. time / ASC ext t_monit
p1237[0...n] External armature short-circuit, waiting time when opening / ASC ext t_wait
p1958[0...n] Motor data identification ramp-up/ramp-down time / MotID t_up_down
Parameters
p1981[0...n] Pole position identification maximum distance / PolID distance max
p1991[0...n] Motor changeover, angular commutation correction / Ang_com corr
p1993[0...n] Pole position identification current, motion-based / PolID I mot_bas
p1994[0...n] Pole position identification rise time, motion-based / PolID T mot_bas
p1996[0...n] Pole position identification, integral time, motion-based / PolID Tn mot_bas
p1997[0...n] Pole position identification, smoothing time, motion-based / PolID t_sm mot_bas
p1999[0...n] Ang. commutation offset calibr. and pole position ID - scaling / ComOffsCalib scal
Parameters
1.3.5 Parameters for Power unit Data Sets (PDS)
The following list contains the parameters that are dependent on the Power unit Data Sets.
p0121[0...n] Power unit component number / LT comp_no
p0124[0...n] Power unit detection via LED / LT detection LED
p0125[0...n] Activate/de-activate power unit components / LT_comp act/de-act
r0126[0...n] Power unit components active/inactive / LT comp act/inact
r0127[0...n] Power unit version EPROM data / LT EPROM version
r0128[0...n] Power unit firmware version / LT FW_version
r0200[0...n] Power unit, actual code number / LT code no. actual
p0201[0...n] Power unit code number / LT code number
r0203[0...n] Actual power unit type / LT actual type
r0204[0...n] Power unit hardware properties / LT HW property
p0251[0...n] Operating hours counter, power unit fan / LT fan t_oper
p0895[0...n] BI: Activate/de-activate power unit components / LT_comp act/de-act
p3469[0...n] Latch delay time correction, zero crossover detection / t_latch corr PLL
p3902[0...n] Power unit EEPROM Vdc calibration / LT EEPROM Vdc_cal
p7001[0...n] Par_circuit enable power units / Enable LT
r7002[0...n] Par_circuit status power units / Status LT
r7020[0...n] CO: Par_circuit deviation current in phase U / Phase U curr dev
r7021[0...n] CO: Par_circuit deviation current in phase V / Phase V curr dev
r7022[0...n] CO: Par_circuit deviation current in phase W / Phase W curr dev
r7030[0...n] CO: Par_circuit DC link voltage deviation / Vdc deviation
p7040[0...n] Par_circuit correction, valve lockout time phase U / Comp t_lockout U
p7042[0...n] Par_circuit correction, valve lockout time phase V / Comp t_lockout V
p7044[0...n] Par_circuit correction, valve lockout time phase W / Comp t_lockout W
r7050[0...n] Par_circuit circulating current phase U / Circ_I_phase U
r7051[0...n] Par_circuit circulating current phase V / Circ_I_phase V
r7052[0...n] Par_circuit circulating current phase W / Circ_I_phase W
r7200[0...n] Par_circuit power unit overload I2T / LT overload I2T
r7201[0...n] Par_circuit power unit temperatures max. inverter / LT temp max inv
r7202[0...n] Par_circuit power unit temperatures max. depletion layer / LT TempMaxDepLayer
r7203[0...n] Par_circuit power unit temperatures max. rectifier / LT temp max rect
r7204[0...n] Par_circuit power unit temperatures air intake / LT temp air intake
r7205[0...n] Par_circuit power unit temperatures electronics / LT temp electr
Note:
"Data sets" section
Parameters
r7220[0...n] Infeed par_circuit absolute current value, motoring permissible / INF I_abs mot perm
r7220[0...n] CO: Par_circuit drive output current, maximum / Drv I_output max
r7221[0...n] Infeed par_circuit absolute current regenerating, permissible / INF I_absRegenPerm
r7222[0...n] CO: Par_circuit absolute current actual value / I_act abs.val.
r7223[0...n] CO: Par_circuit phase current, actual value phase U / I_phase U act val
r7224[0...n] CO: Par_circuit phase current, actual value phase V / I_phase V act val
r7225[0...n] CO: Par_circuit phase current, actual value phase W / I_phase W act val
r7226[0...n] CO: Par_circuit phase current actual value, phase U offset / I_phase U offset
r7227[0...n] CO: Par_circuit phase current, actual value, phase V offset / I_phase V offset
r7228[0...n] CO: Par_circuit phase current, actual value, phase W offset / I_phase W offset
r7229[0...n] CO: Par_circuit phase current actual value sum U, V, W / I_phase sum UVW
r7230[0...n] CO: Par_circuit DC link voltage actual value / Vdc_act
r7231[0...n] CO: Par_circuit phase voltage, actual value phase U / U_phase U act val
r7232[0...n] CO: Par_circuit phase voltage, actual value phase V / U_phase V act val
r7233[0...n] CO: Par_circuit phase voltage, actual value phase W / U_phase W act val
Parameters
Function diagrams 2
Contents
2.1 Contents: function diagrams 2-905
2.2 Explanations for the function diagrams 2-914
2.3 Overview 2-919
2.4 CU310 input/output terminals 2-940
2.5 CU320 input/output terminals 2-944
2.6 CU_LINK 2-951
2.7 CX32 input/output terminals 2-953
2.8 PROFIBUS 2-957
2.9 Internal control/status words 2-989
2.10 Sequence control 2-1002
2.11 Brake control 2-1005
2.12 Safety Integrated 2-1010
2.13 Setpoint channel 2-1016
2.14 Setpoint channel not activated 2-1026
2.15 Basic positioner 2-1028
2.16 Position controller 2-1042
2.17 Encoder evaluations 2-1047
2.18 Servo control 2-1056
2.19 Vector control 2-1074
2.20 Technology functions 2-1102
2.21 Technology controller 2-1109
2.22 Messages and monitoring functions 2-1113
2.23 Faults and alarms 2-1120
Function diagrams
2.24 Test sockets 2-1125
2.25 Data sets 2-1127
2.26 Basic Infeed 2-1133
2.27 Smart Infeed 2-1140
2.28 Active Infeed 2-1149
2.29 Terminal Board 30 (TB30) 2-1160
2.30 Communication Board CAN 10 (CBC10) 2-1165
2.31 Terminal Module 15 for SINAMICS (TM15DI/DO) 2-1172
2.32 Terminal Module 31 (TM31) 2-1176
2.33 Terminal Module 41 (TM41) 2-1187
2.34 Voltage Sensing Module (VSM) 2-1195
2.35 Basic Operator Panel 20 (BOP20) 2-1199
Contents: function diagrams
Function diagrams
2.1 Contents: function diagrams
2.2 Explanations for the function diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-914
1020 Explanation of the symbols (part 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-915
1025 Handling BICO technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-918
2.3 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-919
1508 CU310 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-920
1510 CU320 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-921
1512 CX32 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-922
1520 PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-923
1530 Internal control/status words, data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-924
1550 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-925
1580 Servo encoder evaluations (position, speed, temperature) . . . . . . . . . . . . . . . . 2-926
1590 Servo closed-loop speed control and V/f open-loop control . . . . . . . . . . . . . . . 2-927
1610 Servo generation of the torque limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-928
1630 Servo current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-929
1680 Vector encoder evaluation functions (position, speed, temperature) . . . . . . . . . 2-930
1690 Vector V/f control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-931
1700 Vector closed-loop speed control and formation of the torque limits . . . . . . . . . 2-932
1710 Vector closed-loop current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-933
1750 Monitoring functions, faults, alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-934
1773 Basic Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-935
1774 Active Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-936
1775 Smart Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-937
1790 Terminal Board 30 (TB30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-938
1840 Terminal Module 31 (TM31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-939
2.4 CU310 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-940
2020 Digital inputs, electrically isolated (DI 0 ... DI 3) . . . . . . . . . . . . . . . . . . . . . . . . . 2-941
2030 Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9) . . . . . . . . . . . . . . . . . 2-942
2031 Digital inputs/outputs, bidirectional (DI/DO 10 ... DI/DO 11) . . . . . . . . . . . . . . . 2-943
Function diagrams
2.5 CU320 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-944
2.6 CU_LINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-951
2211 Data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-952
2.7 CX32 input/output terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-953
2.8 PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-957
2410 PROFIBUS address, diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-959
2420 Telegrams and process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-960
2440 PZD receive signals interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-961
2441 STW1 control word interconnection (p2038 = 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-962
2447 E_STW1 control word infeed interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . 2-967
2448 CU_STW control word Control Unit interconnection . . . . . . . . . . . . . . . . . . . . . 2-968
2449 A_DIGITAL interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-969
2450 PZD send signals interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-970
2451 ZSW1 status word interconnection (p2038 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . 2-971
2456 MELDW status word interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-976
2457 E_ZSW1 status word infeed interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-977
2458 CU_ZSW status word Control Unit interconnection . . . . . . . . . . . . . . . . . . . . . . 2-978
Function diagrams
2459 E_DIGITAL interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-979
2460 Receive telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . . . 2-980
2470 Send telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . . . . . . 2-981
2472 Status words, free interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-982
2475 STW1 control word 1 interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . 2-983
2476 SATZANW pos block select interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . 2-984
2477 PosSTW pos control word interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . 2-985
2479 ZSW1 status word 1 interconnection (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . 2-986
2481 Receive telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . . . 2-987
2483 Send telegram, free interconnection via BICO (p0922 = 999) . . . . . . . . . . . . . . 2-988
2.9 Internal control/status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-989
2501 Control word sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-990
2503 Status word sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-991
2505 Control word setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-992
2520 Control word speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-993
2522 Status word speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-994
2526 Status word closed-loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-995
2530 Status word closed-loop current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-996
2534 Status word monitoring 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-997
2546 Control word faults/alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1000
2548 Status word, faults/warnings 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1001
2.10 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1002
2610 Control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1003
2634 Missing enable signals, line contactor control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1004
2.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1005
2701 Basic brake control (r0108.14 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1006
2704 Extended brake control/zero speed detection (r0108.14 = 1) . . . . . . . . . . . . . . 2-1007
2707 Extended brake control/open and close brake (r0108.14 = 1) . . . . . . . . . . . . . . 2-1008
2711 Extended brake control/signal outputs (r0108.14 = 1) . . . . . . . . . . . . . . . . . . . . 2-1009
Function diagrams
2.12 Safety Integrated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1010
2800 Parameter manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1011
2802 Monitoring functions and faults/alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1012
2804 Status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1013
2810 Safe standstill (SH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1014
2814 Safe brake control (SBC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1015
2.13 Setpoint channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1016
3010 Fixed speed setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1017
3020 Motorized potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1018
3030 Main/supplementary setpoint, setpoint scaling, jogging . . . . . . . . . . . . . . . . . . . 2-1019
3040 Direction of rotation limitation and direction of rotation reversal . . . . . . . . . . . . 2-1020
3050 Suppression bandwidth and speed limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1021
3060 Simple ramp-function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1022
3070 Expanded ramp-function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1023
3080 Ramp-function generator selection, status word, tracking . . . . . . . . . . . . . . . . . 2-1024
3090 Dynamic Servo Control (DSC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1025
2.14 Setpoint channel not activated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1026
3095 Generation of the speed limits (r0108.8 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1027
2.15 Basic positioner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1028
3610 Jog mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1029
3612 Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal) 2-1030
3614 Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) . . . . . . . . . . . . . . . 2-1031
3616 Traversing blocks mode (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1032
3618 Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1) . . . . . . . . . . . . 2-1033
3620 Direct setpoint input mode/MDI (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1034
3625 Mode control (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1035
3630 Traversing range limitations (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1036
3635 Interpolator (r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1037
3640 Control word block selection/MDI selection (r0108.4 = 1) . . . . . . . . . . . . . . . . . 2-1038
3645 Status word 1 (r0108.3 = 1, r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1039
3646 Status word 2 (r0108.3 = 1, r0108.4 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1040
3650 Status word, active traversing block/MDI active (r0108.4 = 1) . . . . . . . . . . . . . . 2-1041
Function diagrams
2.16 Position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1042
4010 Position actual value conditioning (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . . 2-1043
4015 Position controller (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1044
4020 Standstill/positioning monitoring (r0108.3 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1045
4025 Dynamic following error monitoring, cam switching values (r0108.3 = 1) . . . . . 2-1046
2.17 Encoder evaluations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1047
4704 Position and temperature sensing, encoder 1 ... 3 . . . . . . . . . . . . . . . . . . . . . . 2-1048
4710 Speed actual value and pole position sensing for motor (encoder 1) . . . . . . . . 2-1049
4711 Speed actual value sensing, encoders 2, 3 (r0108.7 = 1) . . . . . . . . . . . . . . . . . 2-1050
4715 Speed actual value and pole position sensing for motor ASM/SM (encoder 1) . 2-1051
4720 Encoder interface, receive signals, encoders 1 ... 3 . . . . . . . . . . . . . . . . . . . . . 2-1052
4730 Encoder interface, send signals, encoders 1 ... 3 . . . . . . . . . . . . . . . . . . . . . . . 2-1053
4735 Reference mark search with equivalent zero mark, encoders 1 ... 3 . . . . . . . . . 2-1054
4740 Measuring input evaluation, measured value memory, encoders 1 ... 3 . . . . . . 2-1055
2.18 Servo control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1056
5020 Speed setpoint filter and speed pre-control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1057
5030 Reference model/pre-control symmetrization/setpoint n-controller . . . . . . . . . . 2-1058
5040 Speed controller with encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1059
5050 Kp_n/Tn_n adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1060
5060 Torque setpoint, changeover control type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1061
5210 Speed controller without encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1062
5300 V/f control for diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1063
5490 Speed control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1064
5610 Torque limiting/reduction/interpolator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1065
5620 Motor/generator torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1066
5630 Upper/lower torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1067
5640 Mode changeover, power/current limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1068
5650 Vdc_max controller and Vdc_min controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1069
5710 Current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1070
5714 Iq and Id controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1071
5722 Field current setpoint, flux controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1072
5730 Interface to the motor module (gating/control signals, current actual values) . . 2-1073
Function diagrams
2.19 Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1074
6030 Speed setpoint, droop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1075
6031 Pre-control balancing for reference/acceleration model . . . . . . . . . . . . . . . . . . 2-1076
6040 Speed controller with/without encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1077
6050 Kp_n/Tn_n adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1078
6060 Torque setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1079
6300 V/f characteristic and voltage boost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1081
6310 Resonance damping and slip compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1082
6490 Speed control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1084
6491 Flux control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1085
6495 Excitation (FEM, p0300 = 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1086
6630 Upper/lower torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1087
6640 Current/power/torque limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1088
6710 Current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1089
6714 Iq and Id controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1090
6721 Id setpoint (PEM, p0300 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1091
6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) . . . . . . . . . . . . . . 2-1092
6723 Field weakening characteristic, flux controller (ASM, p0300 = 1) . . . . . . . . . . . 2-1093
6724 Field weakening controller (PEM, p0300 = 2) . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1094
6725 Flux setpoint, field weakening controller (FEM, p0300 = 5) . . . . . . . . . . . . . . . . 2-1095
6726 Field weakening controller, flux controller (FEM, p0300 = 5) . . . . . . . . . . . . . . . 2-1096
6727 Current model, excitation current monitoring, cos phi (FEM, p0300 = 5) . . . . . 2-1097
6730 Interface to the motor module (ASM, p0300 = 1) . . . . . . . . . . . . . . . . . . . . . . . . 2-1098
6731 Interface to the motor module (PEM, p0300 = 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-1099
6732 Interface to the motor module (FEM, p0300 = 5) . . . . . . . . . . . . . . . . . . . . . . . . 2-1100
6799 Display signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1101
2.20 Technology functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1102
7008 kT estimator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1103
7010 Friction characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1104
7012 Advanced Positioning Control (APC, r0108.7 = 1)) . . . . . . . . . . . . . . . . . . . . . . 2-1105
7014 External armature short circuit (EASC, p0300 = 2xx or 4xx) . . . . . . . . . . . . . . . 2-1106
7015 Internal voltage protection (IVP, p0300 = 2xx or 4xx) . . . . . . . . . . . . . . . . . . . . 2-1107
7020 Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1108
Function diagrams
2.21 Technology controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1109
7950 Fixed values (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1110
7954 Motorized potentiometer (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1111
7958 Closed-loop control (r0108.16 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1112
2.22 Messages and monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1113
8010 Speed messages/signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1114
8012 Torque messages/signals, motor locked/stalled . . . . . . . . . . . . . . . . . . . . . . . . 2-1115
8013 Load monitoring (r0108.17 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1116
8014 Thermal monitoring, power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1117
8016 Thermal monitoring, motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1118
8018 Separately excited synchronous motor (FEM, p0300 = 5) . . . . . . . . . . . . . . . . . 2-1119
2.23 Faults and alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1120
8060 Fault buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1121
8065 Alarm buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1122
8070 Fault/warning trigger word (r2129) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1123
8075 Fault/alarm configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1124
2.24 Test sockets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1125
8134 Measuring sockets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1126
2.25 Data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1127
8560 Command data set (CDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1128
8565 Drive data set (DDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1129
8570 Encoder data set (EDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1130
8575 Motor data set (MDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1131
8580 Power unit data set (PDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1132
2.26 Basic Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1133
8720 Control word sequence control infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1134
8726 Status word sequence control infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1135
8732 Sequence control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1136
8750 Interface to the basic infeed power unit (control signals, actual values) . . . . . . 2-1138
8760 Messages and monitoring functions (p3400.0 = 0) . . . . . . . . . . . . . . . . . . . . . . 2-1139
Function diagrams
2.27 Smart Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1140
8828 Status word infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1143
8850 Interface to the smart infeed (gating signals, actual values) . . . . . . . . . . . . . . . 2-1146
8860 Messages/signals and monitoring functions, line supply voltage monitoring . . . 2-1147
8864 Messages/signals and monit. fcts., line supply frequency and Vdc monitoring . 2-1148
2.28 Active Infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1149
8928 Status word infeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1152
8940 Controller control factor reserve/controller DC link voltage (p3400.0 = 0) . . . . . 2-1155
8946 Current pre-control/current controller/gating unit (p3400.0 = 0) . . . . . . . . . . . . . 2-1156
8950 Interface to the active infeed (gating signals, actual values) (p3400.0 = 0) . . . . 2-1157
8960 Messages/signals and monit. fcts., line supply voltage monit. (p3400.0 = 0) . . 2-1158
8964 Messages/signals and monit. fcts., line frequency and Vdc monit. (p3400.0 = 0) 2-1159
2.29 Terminal Board 30 (TB30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1160
9102 Digital outputs, electrically isolated (DO 0 ... DO 3) . . . . . . . . . . . . . . . . . . . . . . 2-1162
9104 Analog inputs (AI 0 ... AI 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1163
9106 Analog outputs (AO 0 ... AO 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1164
2.30 Communication Board CAN 10 (CBC10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1165
9204 Receive telegram, free PDO mapping (p8744 = 2) . . . . . . . . . . . . . . . . . . . . . . 2-1166
9206 Receive telegram, predefined connection set (p8744 = 1) . . . . . . . . . . . . . . . . 2-1167
9208 Send telegram, free PDO mapping (p8744 = 2) . . . . . . . . . . . . . . . . . . . . . . . . 2-1168
9210 Send telegram, predefined connection set (p8744 = 1) . . . . . . . . . . . . . . . . . . . 2-1169
9220 Control word CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1170
9226 Status word CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1171
Function diagrams
2.31 Terminal Module 15 for SINAMICS (TM15DI/DO) . . . . . . . . . . . . . . . . . . . . . . 2-1172
9401 Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 15) . . . . . . . . . . . . . . . . 2-1174
2.32 Terminal Module 31 (TM31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1176
9556 Digital relay outputs, electrically isolated (DO 0 ... DO 1) . . . . . . . . . . . . . . . . . 2-1179
9566 Analog input 0 (AI 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1182
9568 Analog input 1 (AI 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1183
9572 Analog outputs (AO 0 ... AO 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1184
9576 Temperature evaluation KTY/PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1185
9577 Sensor monitoring KTY/PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1186
2.33 Terminal Module 41 (TM41) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1187
9663 Analog input (AI 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1191
9674 Incremental encoder emulation (p4400 = 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1192
9676 Incremental encoder emulation (p4400 = 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1193
2.34 Voltage Sensing Module (VSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1195
9880 Analog inputs (AI 0 ... AI 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1196
9886 Temperature evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1197
9887 Sensor monitoring KTY/PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1198
2.35 Basic Operator Panel 20 (BOP20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1199
9912 Control word BOP20 interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1200
Function diagrams
Explanations for the function diagrams
2.2 Explanations for the function diagrams
Function diagrams
1020 Explanation of the symbols (part 1) 2-915
1025 Handling BICO technology 2-918
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- 1020 -
Function diagram
8 7 6 5 4 3 2 1
fp_1020_01_eng.vsd DO: All objects
SINAMICS S 20.09.05 V02.04.00 General - explanation of the symbols (part 1)
Data sets
Connectors Binectors Connectors/binectors
Parameter name
(xxxx [y])
pxxxx[y...z]
Parameter name
Index name
(xxxx[x])
pxxxx[y]
rxxxx[y...z]
Parameter name [Units]
rxxxx[y]
Index name
(Def.x)
Parameter name
pxxxx[y...z]
(Def.x)
Parameter name
Bit name
pxxxx[y]
Parameter name
rxxxx
Parameter name
Bit name
rxxxx.yy
Parameter name
rxxxx
rxxxx Connector input CI with index
range [y...z]
Connector input CI with index [y]
Connector output CO with
[dimension units] and index range
[y...z]
(the parameter may appear
multiple times).
Connector output CO
[dimension units] and with index [y]
(the parameter may appear
multiple times).
Binector input BI with
index range [y...z] and
factory setting (Def.x) with
bit x.
Binector input BI with
index [y] and factory
setting (Def.x) with bit x.
Binector output BO
(the parameter may
appear multiple times).
Binector output BO with
bit yy
(the parameter may
appear multiple times).
Connector/binector output CO/BO
Meaning Symbol Meaning Symbol Symbol Meaning
Parameter belongs to the
Command Data Set (CDS).
Drive Data Set (DDS).
Encoder Data Set (EDS).
Motor Data Set (MDS).
Power unit Data Set (PDS).
Parameter name
[Units]
rxxxx[y] or
rxxxx[y...z]
rxxxx.ww[y]
rxxxx.ww
pxxxx[y] or
pxxxx[y...z]
pxxxx.ww[y]
pxxxx.ww
from ... to
(xxxx[y])
(Def)
(Def.w)
Information on parameters, binectors, connectors
Parameter name (max. 18 characters)
[dimension units]
"r" = monitoring parameter. These parameters are read-only
"xxxx" stands for a four-digit parameter number
"[y]" specifies the valid index, "[y...z]" specifies the applicable index range
".ww" specifies the bit number (e.g. 0...15).
"p" = setting parameter. These parameters can be changed.
"xxxx" stands for a four-digit parameter number,
"[y]" specifies the applicable index, "[y...z]" specifies the applicable index range
".ww" specifies the bit number (e.g. 0...15).
Value range
Parameter number (xxxx) and Index number [y].
Factory setting.
Factory setting with bit number as prefix.
Diagram references for setting parameters that occur a multiple number of times.
[Function diagram number, signal path]
Cross references between diagrams
[aaaa.b]
Text = Unique signal designation
aaaa = Signal goes to the target diagram aaa
b = Signal goes to signal path b
[cccc.d]
Text
Text
Text = Unique signal designation
cccc = Comes from source diagram cccc
d = Signal comes from signal path d
Meaning Symbol
Symbol
Meaning
Sampling times
Setting parameter with factory setting to
select the time slice.
Symbol
Meaning
Meaning Symbol
Parameter
Monitoring parameter
(parameter may appear
multiple times).
Monitoring parameter
with index
(parameter may appear
multiple times).
Setting parameter
(if the parameter appears
a multiple number of times,
then diagram references
are specified).
Setting parameter with
index (if the parameter
appears a multiple number
of times, then diagram
references are specified).
Meaning Symbol
a) If clock-cycle synchronous, then bus
cycle time alias DP cycle (Tdp).
b) Otherwise 4000.00 s.
A static state is displayed here. The
sampling time data is not relevant.
There is no fixed sampling time for this
function. The processing is made in the
background. The cycle time depends on
the computational load of the control unit.
Time slide depending on the rated pulse
frequency of the motor module.
Time slice depending on the pre-setting
p0112 of the drive object.
Signal path
The function diagrams are sub-divided into signal
paths 1...8 for faster orientation.
Cross references for control bits
Symbol
[aaaa.b]
pxxxx
pxxxx= Original parameter of signal
aaaa = Signal comes from the source diagram aaaa
b = Signal comes from signal path b
Meaning
[aaaa.b]
To "function diagram name" [aaaa.b] = for binectors.
rxxxx [x..y]
Index name
rxxxx[x]
[aaaa.b]
Parameter name
from ... to [Units]
pxxxx[y...z] (Def)
[aaaa.b]
Parameter name
Index name
from ... to [Units]
pxxxx[y] (Def)
pxxxx[P]
pxxxx[M]
pxxxx[E]
pxxxx[D]
pxxxx[C]
p0115[y] (Drive Object)
p0115[y] (Motor Modules)
PROFIBUS sampling time
Refer to [1020.7]
Background
Not relevant
Refer to [1020.7]
pxxxx[Y] (ZZZ.ZZ s)
CAN bus sampling time
Time slice 4000.00 s.
Important: No cross-reference to the main diagrams or that go to or
from overview diagrams.
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- 1021 -
Function diagram
8 7 6 5 4 3 2 1
Symbols for logic functions Pre-assigned binectors and connectors
Logical inversion
AND element
with logical inversion
of an input signal
Symbols for computational and closed-loop
control functions
Sign reversal
y = -x
Absolute value generator
y = |x|
Divider
y =
2
1
x
x
Comparator
Output y = a logical "1", if the analog
signal x > 0, i.e. is positive.
Threshold value switch 1 / 0
Outputs at y a logical "1" if x < S.
Simple changeover switch
The switch position is shown acc. to
the factory setting. (In this case, switch
position 1 in the state when supplied.)
Limiter
x is limited to the upper limit LU and the lower
limit LL and output at y.
The digital signals MLU and MLL have the
value "1", if the upper or lower limit is active.
1
&
R/S flip-flop
S = setting input
R = reset input
Q = non-inverted output
= inverted output
Q
x y
x y
>0
-1
x y
x2
x1
y
S Q
R Q
p2900[D]
Fixed value 1 [%]
p2901[D]
Fixed value 2 [%]
-10 000.00...10 000.00 %
p2900[D] (0.00)
-10 000.00...10 000.00 %
p2901[D] (0.00)
Fixed percentage values
S
y
x
1
0
Threshold value switch 0 / 1
Outputs at y a logical "1" if x > S.
0
1
y
x
S
Symbols for computational and
closed-loop control functions
Differentiator
y =
dt
dx
Sample & Hold element
Sample and hold element.
y = x if SET = 1
(this is not retentively saved at POWER OFF) 1
0
pxxxx
LU
LL MLL
MLU
x y
SET
S & H
x y
Fixed speed values
-210 000.000...210 000.000 RPM
pxx20[D] (0.000)
pxxxx[D]
Fixed value 1 [n]
-210 000.000...210 000.000 RPM
pxx21[D] (0.000)
pxxxx[D]
Fixed value 2 [n]
Fixed torque values
-100 000.00...100 000.00 Nm
p2930[D] (0.00)
p2930[D]
Fixed value M [Nm]
dx
dt
x
y
Monitoring
Axxxxx
or
Fxxxxx
Symbol for monitoring
Monitoring
Located at the lower right in the sheet.
Pre-assigned binectors and connectors
Pre-assigned binectors and connectors
Switch symbol
Threshold value 1 / 0 with
hysteresis
Outputs a logical "1" at y if x < S.
If x >= S + H then y returns to 0.
0
1
S
H
y
x
Threshold value 0 / 1 with
hysteresis
Outputs a logical "1" at y if x > S.
If x >= S + H then y returns to 0.
0
1
H
S
y
x
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- 1024 -
Function diagram
8 7 6 5 4 3 2 1
Switch-on delay
T 0
x y
pxxxx
The digital signal x must have the value "1" without any interruption
during time T before output y changes to "1".
2nd Order filter (bandstop/general filter)
Transfer function when used as general filter
Used as bandstop filter
- center frequency fs: fn_z = fs
fn_n = fs
y x
Natural frequency, numerator
fn_z
pxxxx
Damping, numerator
D_z
pxxxx
Natural frequency, denominator
fn_n
pxxxx
Damping, denominator
D_n
pxxxx
H(s) =
s
2 fn_z 2 fn_z
s +
+
s
2 fn_n
.
.
2 fn_n
D_n
s
+
+
1
1
2
.
D_z 2
.
2
2
f
2nd Order filter
|y| fs
f_B
- bandwidth f_B: D_z = 0
D_n =
fs 2
B _ f
x
PT1 element
t
y
Delay element, first Order.
pxxxx = time constant
pxxxx
PT2 lowpass
Transfer function
H(s) =
+
s
2 fn_n
.
2 fn_n
D_n
s + 1
2
.
2
1
Natural frequency, denominator
fn_n
pxxxx
Damping, denominator
D_n
pxxxx
y x
f
|y|
fn
D
0 T
Switch-out delay
x y
pxxxx
The digital signal x must have the value "0" without interruption during
time T before output y changes to "1".
Delay (switch-in and switch-out)
T1 T2
T 0
pxxxx
0 T
pxxxx
x y
x y
The digital signal x must have the value "1" without interruption during
time T1 or must have the value "0" during time T2 before output y
changes its signal state.
x y
T1 T2
x y
pxxxx pxxxx
pxxxx pxxxx
x
T T T T
y
T T
x
y
x
T T
y
T1 T1 T2 T2
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- 1025 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.12.05 V02.04.00 General - Handling BICO technology
Handling BICO technology
r0723.15
r0723 Connector:
Binector:
Binectors are binary signals that can be freely interconnected (BO = Binector Output).
The represent a bit of a "BO:" display parameter (e.g. bit 15 from r0723).
Connectors are "analog signals" that can be freely interconnected (e.g. percentage quantities, speeds or torques).
Connectors are simultaneously "CO:" Display parameters (CO = Connector Output).
At the signal destination (target), the required binector or connector is selected using the appropriate parameter:
"BI:" parameter for binectors (BI = Binector Input)
or
"CI:" parameter for connectors (CI = Connector Input)
Parameterization:
Example:
r0722.0
1
2
722.0
p1055 [C]
X122.1
r0967.8
[2120] [2501]
[3020]
Motorized potentiometer
Raise
Lower
r1050
Parameterizing steps:
Main setpoint
1050
p1070[C]
[3030]
Jog setpoint 1
2
1 p1055[0] = 722.0
p1070[0] = 1050
Terminal X122.1 acts as "Jog bit 0".
The output of the motorized potentiometer acts as main setpoint for the speed controller.
Setpoint Channel Control bit 8
Digital input
DI 0
Speed controller
The main setpoint for the speed controller (CI: p1070) should be received from the output of the motorized potentiometer
(CO: r1050) and the command "jog" (BI: p1055) from digital input DI 0 (BO: r0722.0, terminal X122.1) on the CU320.
Overview
Function diagrams
2.3 Overview
Function diagrams
1508 CU310 input/output terminals 2-920
1510 CU320 input/output terminals 2-921
1512 CX32 input/output terminals 2-922
1520 PROFIBUS 2-923
1530 Internal control/status words, data sets 2-924
1550 Setpoint channel 2-925
1580 Servo encoder evaluations (position, speed, temperature) 2-926
1590 Servo closed-loop speed control and V/f open-loop control 2-927
1610 Servo generation of the torque limits 2-928
1630 Servo current control 2-929
1680 Vector encoder evaluation functions (position, speed, temperature) 2-930
1690 Vector V/f control 2-931
1700 Vector closed-loop speed control and formation of the torque limits 2-932
1710 Vector closed-loop current control 2-933
1750 Monitoring functions, faults, alarms 2-934
1773 Basic Infeed 2-935
1774 Active Infeed 2-936
1775 Smart Infeed 2-937
1790 Terminal Board 30 (TB30) 2-938
1840 Terminal Module 31 (TM31) 2-939
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- 1508 -
Function diagram
8 7 6 5 4 3 2 1
fp_1508_01_eng.vsd DO: CU310
SINAMICS S 23.03.06 V02.04.00 Overviews CU310 input/output terminals
=
~
+ 24 V
+
M
M
M
DI 0
X121
DI 1
DI 3
DI 2
M 1
M
DI/DO 8
DI/DO 9
DI/DO 10
DI/DO 11
M
M
4
3
2
1
5
6
7
8
9
10
11
12
1 r0722.0 r0723.0
1 r0722.3 r0723.3
1
0
1
0
p0738
1 r0722.8 r0723.8
p0728.8
p0728.11
p0741
1 r0722.11 r0723.11
4 digital inputs, electrically isolated
4 digital inputs/outputs, bidirectional
[2231]
...
...
...
...
...
...
+24 V DC to
the next device
X124
M
M
+
+
...
<1>
<1>
<1>
<2>
CU310
<1> Fast measuring probe inputs.
<2> Jumper open, electrical isolation for DI 0...3.
Simulation for DI 0...DI 11
1
0
1 = Simulation on
p0795.0...11
Simulation signals
p0796.0...11
r0722.0...11
r0721.0...11
1 r0723.0...11
[2230]
[2220]
O
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- 1510 -
Function diagram
8 7 6 5 4 3 2 1
fp_1510_01_eng.vsd DO: CU_S
SINAMICS S 14.12.05 V02.04.00 Overviews - CU320 inputs/output terminals
=
~
+ 24 V
+
M
M
M
DI 0
X122
DI 1
DI 3
DI 2
M 1
M
DI/DO 8
DI/DO 9
DI/DO 10
DI/DO 11
M
M
4
3
2
1
5
6
7
8
9
10
11
12
1 r0722.0 r0723.0
1 r0722.3 r0723.3
1
0
1
0
p0738
1 r0722.8 r0723.8
p0728.8
p0728.11
p0741
1 r0722.11 r0723.11
[2131]
DI 4
X132
DI 5
DI 7
DI 6
M 2
M
DI/DO 12
DI/DO 13
DI/DO 14
DI/DO 15
M
M
4
3
2
1
5
6
7
8
9
10
11
12
...
...
...
...
...
...
1 r0722.4 r0723.4
1 r0722.7 r0723.7
1
0
1
0
p0742
1 r0722.12 r0723.12
p0728.12
p0728.15
p0745
1 r0722.15 r0723.15
[2132]
[2133]
...
...
...
...
...
...
+24 V DC to the
next device
X124
M
M
+
+
...
...
<1>
<1>
<1>
<1>
<1>
<1>
<2>
<2>
CU320
<2> Jumper open, electrical isolation for DI 0...3 and DI 4...7
1
0
1 = Simulation on
p0795.0...15
Simulation signals
p0796.0...15
r0722.0...15
r0721.0...15
1 r0723.0...15
[2121]
[2130]
[2120]
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3
2

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- 1512 -
Function diagram
8 7 6 5 4 3 2 1
DO: CX32
SINAMICS S 09.06.05 V02.04.00 Overviews - CX32 inputs/output terminals
=
~
+ 24 V
+
M
M
M
DI 0
X122
DI 1
DI 3
DI 2
M 1
M
DI/DO 8
DI/DO 9
DI/DO 10
DI/DO 11
M
M
4
3
2
1
5
6
7
8
9
10
11
12
1 r0722.0 r0723.0
1 r0722.3 r0723.3
1
0
1
0
p0738
1 r0722.8 r0723.8
p0728.8
p0728.11
p0741
1 r0722.11 r0723.11
4 electrically isolated digital inputs
4 bidirectional digital inputs/outputs
[2231]
...
...
...
...
...
...
+24 V DC to the
next unit
X124
M
M
+
+
...
<1>
<1>
<1>
<2>
CX32
<2> Jumper open, electrical isolation for DI 0...3.
<3> Can only be used in conjunction with the SIMOTION D
control or SINUMERIK NCU710.
1
0
1 = simulation on
p0795.0...11
Simulation signals
p0796.0...11
r0722.0...11
r0721.0...11
1 r0723.0...11
[2230]
[2220]
<3>
fp_1512_01_eng.vsd
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F
I
B
U
S
- 1520 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.01.06 V02.04.00 Overviews - PROFIBUS
p0922
Selects the telegram type
contents of standard/manufacturer-specific telegrams
...
2
3
4
...
...
102
103
...
Signal assignment
Signal x
Signal y
[2420]
999 Free telegram BICO
Monitoring
Diagnostics
[2410]
Slave address, diagnostics
Slave address
p0918
Axxxxx
Fxxxxx
rxxxx
LED
Interconnecting the free receive telegram
. .
.
[2460] [2481]
[2470] [2472] [2483]
Interconnecting the free send telegram
Interconnecting the permanently assigned receive telegrams.
Signal Description Interconnection
[2440] ... [2449]
Interconnecting the permanently assigned send telegrams
Signal Description Interconnection
[2450] ... [2459]
Drive
n
Receive telegram
X126
PROFIBUS
Send telegram
Drive
n
Permanently
assigned telegrams
... ... ...
... ... ...
... ... ...
... ... ...
...
PZD 3
PZD 2
PZD 1
...
PZD 3
PZD 1
PZD 2
Free
telegram
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s
,

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s
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s
- 1530 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.01.06 V02.04.00 Overviews - Internal control/status words, data sets
0
15
[2502]
STW3
Sequence control
0
15
[2501]
STW
sequence control
ZSW
sequence control
Setpoint Channel
0
15
[2505]
STW
setpoint channel
0
15
[2522]
Speed controller
0
15
[2520]
STW
n-controller
ZSW
n-controller
0
15
[2536]
Monitoring functions
0
15
[2534]
ZSW monitoring
functions 1
ZSW monitoring
functions 2
0
15
[2537]
ZSW monitoring
functions 3
0
15
[2548]
ZSW faults/alarms 1
Faults/alarms
0
15
[2546]
STW faults/alarms
0
15
[2548]
ZSW faults/alarms 2
r1407
r1406
r1198
r0899
r0898 r2197
r2198
r2199
r2138
r2135
r2139
CDS - command data sets
0
31
[8560]
STW
CDS selection
r0836
DDS - command data sets
0
31
[8565]
STW
DDS selection
r0837
MDS - command data sets
0
15
[8575]
STW
MDS selection
r0838[0]
EDS - command data sets
0
2
[8570]
STW
EDS selection
r0838[1...3]
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- 1550 -
Function diagram
8 7 6 5 4 3 2 1
fp_1550_01_eng.vsd DO: SERVO, VECTOR
SINAMICS S 14.04.05 V02.04.00 Overviews - setpoint channel
[3010] Fixed speed setpoints
r1050
r1024
Supplementary setpoint
Main setpoint
p1075
+
+
[3030] Main/supplementary setpoint, setpoint scaling,
jogging
[3040] Direction of rotating limiting/changeover [3050] Skip (suppression) bandwidth and speed
limiting
RFG setpoint
at the input
+ / -
Setpt after limit
n_set_5
n_set_4
[3070] Expanded ramp-function generator
[3060] Basic ramp-function
generator
Simulate ramp-function generator
n_act
Ramp-function
generator
tracking
+
[3080] Ramp-function generator selection, status word, tracking

M_limit
ZSW
r1119
p1070
p1160
r1170
n_ctr setp sum
r1114
pos
neg
(-1)
1
0
r1199
[3020] Motorized potentiometer
raise
lower
n_set_1
+
+
RFG selection
p1115
r1438
p1155
+
[3090] Dynamic Servo Control (DSC)
p1190
p1191
+ +
x_exc
x_act
+
Kp
p1430
n_cmd speed pre-control signal
KPC
n_set DSC
[5020.4]
[5020.1]
n_pre_control
DSC position
controller
Interpolator
Deadtime element
from
PROFIBUS
[1590.1]
[1700.1]
r1150
RFG n_set at outp
0 0
0 1
1 0
1 1
Jog 2
r0898.9
Jog 1
r0898.8
Jog setpoint 1
p1058
Jog setpoint 2
p1059
t
x,y x
y
p0115[3] (250.00 s)
All other functions
p0115[1] (125.00 s)
Basic ramp-function generator
F
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(
p
o
s
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,

s
p
e
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d
,

t
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m
p
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r
a
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u
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)
- 1580 -
Function diagram
8 7 6 5 4 3 2 1
fp_1580_01_eng.vsd DO: SERVO
SINAMICS S 18.03.05 V02.04.00 Overviews - servo encoder evaluations (position, speed, temperature)
[4720]
[4730]
[4704]
[4710]
[8570]
[4740]
r0483[n-1]
Position actual
value 1
r0483[n-1]
Position actual
value 2
Position sensing for encoders (1 ... 3)
Speed actual value and rotor position sensing for motor encoder (encoder 1)
Measuring probe evaluation for encoders
(1 ... 3)
Status word Gn_ZSW for encoders (1 ... 3)
Control word Gn_STW for encoders (1 ... 3)
EDS Encoder Data Sets
Measuring probe
signals
from the "fast"
digital inputs
[2130...2133]
p0480[n-1] r0487[n-1] r0487[n-1]
0
1
15
0
1
15
DI 9
DI 10
DI 11
DI 13
DI 14
DI 15
4 measured value
memory for XIST2
X_IST
Control
SET
SET
SET
SET
Measuring probe position
from the measured
value memory
Sequence
control
for Gn_XIST2
EDS[0]
EDS[1]
EDS[2]
3 encoder
data sets
No encoder
Parameters,
encoder 1
Parameters,
encoder 2
Parameters,
encoder 3
p0400...p4025
p0187...p0189
SMx
~
x2n
x2n
III
III
p0418 p0410.1
31 0 n
Fine resolution
x absolute
Error
Reference mark position
Gn_XIST2
Gn_XIST1
Temp.
Fault/
alarm messages
F31100-A33904
r0094
Transformat_angle
r0061
n_act mot. encoder
r0063
n_act smooth
r0021
Encoderless (sensorless) closed-loop control
n_act calculation
x2n
Rotor
position
sensing
p1441
0
1
2
99
2 from 6 selection
Encoders (1 ... 3)
p0400...
n_act_measurement
Fine resolution
-
+
Position counter
Fine
resolution
p0419
from sensor n
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- 1590 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 02.03.06 V02.04.00 Overview servo closed-loop speed control and V/f open-loop control
Closed-loop speed control, servo with encoder
[5020] Speed setpoint filter
and speed pre-control
[5030] Speed limiting
[5040] Speed controller
Reference
model
Pre-control
symmetriz-
ation
Kp
Tn
Integrator
Control
Kp adaptation Tn adaptation
r1480
n_ctrl
PI-M_output r1170
n_ctrl n_set
sum
[5300] V/f open-loop control for diagnostics
[5210] Closed-loop speed control, servo with encoder
Speed actual value sensing r1480
n_ctrl
PI-M_output
[4710]
n_pre-ctrl_1
(0)
p1430
r0063
n_act smooth
Actual speed
value
n_act measured
n_act calculated
[5060] Setpoint input, changeover of the closed-loop control type
[5050] Kp_n and Tp_n adaptation
Forming the
torque limits
[5620]...[5650]
1538
1539
1
0
Sampling times:
p1300
Ramp-function generator
n_act > p1404
r1438
r0062
n_set after
filter
n_pre-ctrl_2
n
f
U
f
p1400
. . .
r1407
. . .
Acceleration
model
Torque
setpoint
Torque
pre-control
r1509
M_set before
M_limit
[5610] Torque limiting
M_set_6
[1630.1]
[5730.1]
Uq
Adaptation
Closed-loop
speed control
Closed-loop
current control
p0115[0] (125.00 s)
p0115[1] (125.00 s)
1000.00 s
[1550.8]
[5040.8]
[5210.7]
r0062
n_set after filter
r1438
n_ctrl n_set
[2522] Status word,
speed controller
r0056
. . .
[2526] Status word,
closed-loop control
[5490] Closed-loop speed
control, configuration
0
[5714.8]
[5714.8] Ud_set_3
1
0
1
p1317
r1733
U_quadrature
axis_set
r1732
U_direct axis_set
Ud
20
21
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- 1610 -
8 7 6 5 4 3 2 1
DO: SERVO
SINAMICS S 22.07.05 V02.04.00 Overview - servo forming the torque limits
The 4 quadrants
Torque limit input
p1522
p1528
p1523
p1529
M_max_upper/mot
Torque limits
upper/lower
M_max_lower/gen
p1522
p1528
p1523
p1529
Torque limits
motoring/
regenerating
r1534
r1535
r1534
r1535
r1538
M_max
upper effective
r1539
M_max
lower effective
[5620] Motoring/generating
torque limit
[5630] Upper/lower torque
limit
1
0
1
0
Power limits
motoring
Power limits generating
[Nm]
[Nm]
[Nm]
[Nm] Iq_min_1 [A]
Iq_max_1 [A]
[5640] Mode changeover,
power/current limiting
[5650] Vdc_max controller
and Vdc_min
controller
Mode torque limiting
p1400.4 [5490.7]
Effective
torque
limits
[5610]
[5714]
[8012]
To the
closed-
loop speed
control
From the
closed-
loop
current
control
M
n
3 4
M
n
2 1
M
n
1
3
M
n
2
4
M
n
3 4
M
n
2 1
+
+
Reverse,
generating
Forwards,
generating
Forwards,
motoring
reverse,
motoring
2 1
M
n
3 4
Compatible to
MASTERDRIVES and
MICROMASTER
Compatible to
SIMODRIVE
Stall power P_stall
Torque factor M2Iq
Maximum torque-generating current Iq_max total
[5730]
[5730]
[5722]
1000.00 s
p0115[1] (125.00 s)
For synchronous motor
For induction motor
M_max_upper/mot scal
M_max_lower/gen scal
M_max_upper/mot
M_max_upper/mot scal
M_max_lower/gen
M_max_lower/gen scal
M_max_upper/mot tot
M_max_lower/gen tot
M_max_upper/mot tot
M_max_lower/gen tot
Function diagram fp_1610_01_eng.vsd
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2
9

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0
6

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1
6
3
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- 1630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.07.05 V02.04.00 Overview - servo closed-loop current control
Field current input
synchronous motor
Flux controller
[5722] Field current input, flux controller
[5710] Current setpoint filter
Iq controller
Adaptation
r0075
Id_set
r1733
U_quad_set
[5714] Current controller
Motor model
r0072
Drv U_Output
|U|
U
[5730] Control signals, current actual values
r0076
Id_act
r0078[0]
Iq_act
Trans-
formation
Trans-
Id controller
Motor type
SM
ASM
Limit
+
+
formation
Motor module
Flux setpoint (input)
Induction motor
M2Iq
Iq
~
M
r1732
U_direct-axis_set
r0077
Iq_set
Kp
Kp
M_set_6
[1590.8]
I_act U
r0069[0]
I_act V
r0069[1]
I_act W
r0069[2]
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-
1
5
1
6
8
0

V
e
c
t
o
r

e
n
c
o
d
e
r

e
v
a
l
u
a
t
i
o
n

f
u
n
c
t
i
o
n
s

(
p
o
s
i
t
i
o
n
,

s
p
e
e
d
,

t
e
m
p
e
r
a
t
u
r
e
)
- 1680 -
Function diagram
8 7 6 5 4 3 2 1
fp_1680_01_eng.vsd DO: VECTOR
SINAMICS S 16.03.06 V02.04.00 Overviews - vector encoder evaluation functions (position, speed, temperature)
[4704]
[4715]
[8570]
Raw signal and temperature sensing
Speed actual value and rotor position sensing for motor encoder (encoder 1)
Encoder Data Sets (EDS)
EDS[0]
EDS[1]
EDS[2]
3 encoder data sets
No encoder
Parameters,
encoder 1
Parameters,
encoder 2
Parameters,
encoder 3
p0400...p0425
p0187...p0189
SMx
~
x2
n
III
from sensor n Temperature
Faults/
alarms
F31100...A33904
r0061
n_act motor enc.
r0063[0]
n_act unsmoothed
Sensorless operation
n_act calculation
x2
n
p1441
0
1
2
99
Encoders 1, 2, 3
n_act_measurement
Fine resolution
Fine re-
solution
Raw position signals
(only from encoder 1)
[8016.1]
p0432
p0433
p0045
r0063[1]
n_act smoothed
O
v
e
r
v
i
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w
F
u
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c
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i
o
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d
i
a
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2
-
9
3
1

S
i
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m
e
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
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s
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M
a
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a
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,

0
3
/
2
0
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6

E
d
i
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i
o
n
F
i
g
u
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2
-
1
6
1
6
9
0

V
e
c
t
o
r

V
/
f

c
o
n
t
r
o
l
- 1690 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00
+
+
+
+
+
Flying restart mode
p1200
Vdc_ctrl config
p1280
Slip compensation
p1335
Uf Res_damp gain
p1338
+
Soft starting
p1350
Imax closed-loop
frequency control
p1340 ... p1341
Imax closed-loop
voltage control
p1345 ... p1346
Control mode
p1300
U_boost perm
p1310
U_boost accelerate
p1311
I_max reduction
[6310]
[6320] [6310] [6310]
[3050.8]
[8016.8]
[6730.4]
[6714.5]
r0066
Drv f_output
Drv U_outp smooth
r0025
Drv I_output max
r0067
I_max_ctrl f_outp
r1343
I_max_ctrl U_outp
r1344
Drv U_output
r0072
[6730.4]
r0068
I_act abs.val.
r1170
n_ctr setp sum
Speed actual value
calculation
[4715]
+
Mot PolePairNo act
r0313
60
[6300.8]
[6300]
f_set
100 ms
r1119
RFG setpt at input
Ramp-function
generator
[6030.1]
[3060]
I_max motor module
MIN
p0640
r0056
.
.
.
[2526]
Refer to [1020.7]
Overviews - vector U/f open-loop control
Drv outp_f smth
r0024 100 ms
r0094
Transformat_angle
r1359
Angle difference
Uf angle setpt
(0)
p1356
Sym act angle
p1358
+
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
O
v
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v
i
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2
-
9
3
2

S
i
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m
e
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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M
a
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a
l
,

0
3
/
2
0
0
6

E
d
i
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i
o
n
F
i
g
u
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e

2
-
1
7
1
7
0
0

V
e
c
t
o
r

c
l
o
s
e
d
-
l
o
o
p

s
p
e
e
d

c
o
n
t
r
o
l

a
n
d

f
o
r
m
a
t
i
o
n

o
f

t
h
e

t
o
r
q
u
e

l
i
m
i
t
s
- 1700 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Overview - vector closed-loop speed control and formation of the torque limits
r1170
n_ctrl n_set sum
[6030] Speed setpoint filter
Droop input
p1488
Reference model
p1400.3
Symmetrizing
Forming the
torque limits
[6031] Acceleration model
[6060] Torque setpoint
[6630] Torque limit
[6640] current-power limit
[6490] Closed-loop speed control configuration
[6491] Closed-loop flux control configuration
[2526] Status word closed-loop control
[2530] Status word closed-loop current control
p1400 p1401 r0056 r1408
p1530 p1531
p0640
r0067
r1538
M_max upper eff.
r1539
M_max lower eff.
p1522
p1523 p1521
M-max lower/gen
p1520
M-max upper/mot
Kp
Integrator control
[6040] Speed controller
[4715] Speed actual value and pole position sensing motor encoder ASM/SM (encoder 1)
p1416
r0062
n_set after filter
For Kp
adaptation
p1496
p0342 p0341
Kp adaptation Tn adaptation
p1460 p1470 p1462 p1472
[6050] Kp_n-/Tn_n adaptation
Tn
r0063
n_act smooth
r0061
n_act motor encoder
p1300
(r1407.1)
n_model
p1541
p1503
r0079
M_set total
p1514
r1518
p1508
p1300
(r1407.1)
p1511
p1512
p1513
p1540
p1442 p1452
<1>
<1> Only for closed-loop vector control without encoder.
<1>
p1300
(r1407.1)
n_pre-control [1710.1]
<1>
<1> <1>
p1501
r1439
n_set I_comp
r1438
n_ctrl n_set
r1515
[1710.1]
p0115[1] (Motor Modules)
Refer to [1020.7]
[1550.8]
[1710.1]
O
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2
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3
3

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A
G

2
0
0
6

A
l
l

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s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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M
a
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a
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,

0
3
/
2
0
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6

E
d
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F
i
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u
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2
-
1
8
1
7
1
0

V
e
c
t
o
r

c
l
o
s
e
d
-
l
o
o
p

c
u
r
r
e
n
t

c
o
n
t
r
o
l
f
|y|
- 1710 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Overviews - vector closed-loop current control
p1655
Transformation
r0079
M_set total
r0077
Iq_set
[6722] Field-weakening characteristic, Id setpoint
[6723] Field weakening control, flux controller for induction motors (p0300 = 1)
[6724] Field weakening controller for synchronous motors (p0300 = 2)
p1715
[6714] Current controller
Current model
Motor model
(Observer)
[6730] Interface to the motor module for an induction motor (p0300 = 1)
[6731] Interface to the motor module for a synchronous motor (p0300 = 2)
p1717
p1715 p1717
Iq
M
f
|y|
r0078
Iq_act
p1611
p1570
p1580
p1610
[6710] Current setpoint filter
+
+
<1>
+
+
r0076
Id_act
iq controller
id controller
Iq
M
K
P
r0070
Vdc_act
r0066
Drv f_output
p1764 p1767
+
+
+
+
V_set
r0072
Drv V_output
r0074
Modulation depth
<1>
+
<1> Only for closed-loop vector control without encoder.
n_pre-control
n_model
[1700.5]
Field-weakening
controller
Field-weakening
characteristic
Current calculation
r0065
V_angle
V_set
[1700.1]
Refer to [1020.7]
[1700.8]
[6722.1]
[6723.4]
[6724.4]
[6725.4]
V_phase actual value
I_phase actual value
Id_set r0075
V_output max
r0071
F
u
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n

d
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a
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2
-
9
3
4

S
i
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m
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
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s

R
e
s
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v
e
d
S
I
N
A
M
I
C
S
S

L
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M
a
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l
,

0
3
/
2
0
0
6

E
d
i
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F
i
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u
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2
-
1
9
1
7
5
0

M
o
n
i
t
o
r
i
n
g

f
u
n
c
t
i
o
n
s
,

f
a
u
l
t
s
,

a
l
a
r
m
s
- 1750 -
Function diagram
8 7 6 5 4 3 2 1
fp_1750_01_eng.vsd DO: Alle Objekte
SINAMICS S 04.08.05 V02.04.00 Overview - Monitoring functions, faults, alarms
r2109 r0948 r0949 r0945
System runtime
r0969
III
III
III
going coming Value Code
r2125 r2123 r2124 r2122
III
III
[8060] Fault buffer
[8065] Alarm buffer
Fxxxxx
Fyyyyy
Fzzzzz
faults
Axxxxx
Ayyyyy
Azzzzz
alarms
[0]
[15]
p2128
r2929
[8070] Fault/alarm trigger word
going coming Value Code
[8075] Fault/alarm configuration
p2100 [0]
[19]
Changes the fault response
[1]
p2101
p2126 [0]
[19]
[1]
p2127
Changing the acknowledge mode
p2118 [0]
[19]
[1]
p2119
Changes the message type
r2169
r0063
n_act
n_max
r1170
n_ctrl n_set sum
[3080]
[4710]
[6010]
[8010] speed monitoring
r0079
M_set total
r1538
M_max upper effective
r1539
M_max lower effective
r2169
n_act smooth signal
Motor locked
[8012] torque monitoring
Fault case count
r0952
Alarms counter
r2111
<1> <1>
<1> Only for SERVO, VECTOR.
[8013] load monitoring
<2> Only for p0108.17 = 1.
<1> <2>
r0080
M_act
Limit value monitor
[5650]
[6640]
[5650]
[6640]
[8010]
[5610]
[6060]
[5730]
[6714]
r2169
n_act smooth signal
[8010]
O
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d
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s
2
-
9
3
5

S
i
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m
e
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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M
a
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a
l
,

0
3
/
2
0
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6

E
d
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F
i
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e

2
-
2
0
1
7
7
3

B
a
s
i
c

I
n
f
e
e
d
- 1773 -
Function diagram
8 7 6 5 4 3 2 1
fp_1773_01_eng.vsd DO: B_INF
SINAMICS S 23.03.06 V02.04.00 Overviews - Basic infeed
Line supply voltage
monitoring
[2447], [2457] [2410], [2460], [2470]
[8750]
PROFIBUS
receive/send
telegram
Control words Status words
STW2
ZSW1
ZSW2
STW1
[8720], [8726]
r0070
Vdc_act
Sequence control
Control unit Basic infeed
Thermal power module
monitoring
max
Faults and alarms
Fxxxxx
Axxxxx
[8732], [8734]
[8060] ... [8075] [8760] [8014]
Infeed ready
r0863.0 p0864
to
SERVO/VECTOR
r0863.1
Energize line
contactor
[2610]
Telegram
370
E_STW1
E_ZSW1
Gating signals, actual values
Vdc measurement
DCP DCN
+
To the motor modules
Pre-charging
U1 V1 W1
L3
L2
L1
PE
PROFIBUS
Slave address
Diagnostics
Interconnection of the
free receive and send
telegrams
F
u
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c
t
i
o
n

d
i
a
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r
a
m
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O
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i
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2
-
9
3
6

S
i
e
m
e
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
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u
a
l
,

0
3
/
2
0
0
6

E
d
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i
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F
i
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u
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2
-
2
1
1
7
7
4

A
c
t
i
v
e

I
n
f
e
e
d
- 1774 -
Function diagram
8 7 6 5 4 3 2 1
fp_1774_01_eng.vsd DO: A_INF
SINAMICS S 23.03.06 V02.04.00 Overviews - active infeed
Line supply voltage
monitoring
[8940]
[2447], [2457] [2410], [2460], [2470]
Line supply
model
[8950]
Vdc measurement
r0078
Iq_act
r0076
Id_act
PROFIBUS
receive/send
telegram
r3632
Usd
STW2
ZSW1
ZSW2
STW1
[8920] ... [8928]
Trans-
formation
U
r0070
Vdc_act
r3633
Usq
Trans-
formation
Current controller Gating signals, actual values
Sequence control
Control unit
r0077
Iq_set
Active current
setpoint
Active infeed
monitoring
max
Line supply frequency
and Vdc monitoring
Faults and alarms
Fxxxxx
Axxxxx
[8932], [8934]
[8060] ... [8075] [8960] [8964] [8014]
[8946]
DC link voltage controller
Reactive current setpoint
Id_set
p3610
DCP DCN
+
Pre-charging
U1 V1 W1
Vdc_set
p3510
|U|
PWM
Infeed ready
r0863.0 p0864
to
SERVO/VECTOR
p3511
p3611
r0863.1
Energize line
contactor
[2610]
L3
L2
L1
PE
Telegram
370
E_STW1
E_ZSW1
PROFIBUS
Slave address
Diagnostics
telegrams
O
v
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r
v
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F
u
n
c
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d
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2
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9
3
7

S
i
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m
e
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

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i
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a
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,

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3
/
2
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6

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d
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F
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2
-
2
2
1
7
7
5

S
m
a
r
t

I
n
f
e
e
d
- 1775 -
Function diagram
8 7 6 5 4 3 2 1
fp_1775_01_eng.vsd DO: S_INF
SINAMICS S 23.03.06 V02.04.00 Overviews - Smart infeed
Line supply voltage
monitoring
[2447], [2457] [2410], [2460], [2470]
Line supply
model
[8850]
Vdc measurement
r0078
Iq_act
r0076
Id_act
PROFIBUS
receive/send
telegram
STW2
ZSW1
ZSW2
STW1
[8820] ... [8828]
Trans-
formation
U
r0070
Vdc_act
Trans-
formation
Gating signals, actual values
Sequence control
Control unit Smart Infeed
monitoring
max
and Vdc monitoring
Faults and alarms
Fxxxxx
Axxxxx
[8832], [8834]
[8060] ... [8075] [8860] [8864] [8014]
DCP DCN
+
Pre-charging
U1 V1 W1
t
50Hz / 60Hz
Infeed ready
r0863.0 p0864
to
SERVO/VECTOR
r0863.1
Energize line contactor
[2610]
L3
L2
L1
PE
Telegram
370
E_STW1
E_ZSW1
I, U
PROFIBUS
Slave address
Diagnostics
telegrams
F
u
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o
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d
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a
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2
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9
3
8

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i
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m
e
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
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M
a
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u
a
l
,

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3
/
2
0
0
6

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d
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F
i
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2
-
2
3
1
7
9
0

T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
Function diagram
- 1790 -
8 7 6 5 4 3 2 1
DO: TB30
SINAMICS S 15.12.03 V02.04.00 Overview - terminal board 30 (TB30)
+24 V
M
X424
M
+
M
+
M
=
~
+ M
+24 V DC to the
next device
DI 0
X481
1
DI 1
DI 3
DI 2
DO 0
8
DO 1
DO 2
DO 3
4
3
2
1
5
6
7
8
r4022.0 1 r4023.0
r4022.3 1 r4023.3
p4030
p4033
V
V
AI 0+
AI 0-
AI 1-
AI 1+
AO 0+
AO 0-
AO 1+
AO 1-
X482
1
8
4
3
2
1
5
6
7
8
10 V
...
...
...
A
D
r4055[0] [%]
A
D
0
p4071[0]
A
D
r4055[1] [%]
A
D
0
p4071[1]
[9100]
4 digital outputs, electrically isolated
[9102]
2 analog inputs +/-11 V
[9104]
2 analog outputs +/-11 V
[9106]
1
0
1 = Simulation on p4095.0...3
Simulation signals p4096.0..3
r4022.0...3 1 r4023.0...3
...
Reference quantities for 10 V or 100 %
p200x 10 V 100 %
p205x 10 V 100 %
fp_1790_01_eng.vsd
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9

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A
G

2
0
0
6

A
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l

R
i
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R
e
s
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d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
4
1
8
4
0

T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
Function diagram
- 1840 -
8 7 6 5 4 3 2 1
DO: TM31
SINAMICS S 12.03.04 V02.04.00 Overviews - terminal module 31 (TM31)
X520
1
2
3
4
5
6
DI 0
DI 1
DI 2
DI 3
M
M 1
X530
1
2
3
4
5
6
DI4
DI5
DI 6
DI 7
M
M 2
+24 V
M
M
=
~
+ M
+24 V DC to the
next device
X524
M
+
M
+
1
0
1 = Simulation on p4095.0...11
Simulation signals p4096.0...11
r4022.0...11
r4022.0 1 r4023.0
r4022.3 1 r4023.3
... ...
r4022.4 1 r4023.4
r4022.7 1 r4023.7
... ...
1
0
1
0
p4038
1 r4022.8 r4023.8
p4028.8
p4028.11
p4041
1 r4022.11 r4023.11
...
...
...
...
...
A
D
r4055[0] [%]
A
D
r4055[1] [%]
X521
1
2
3
4
5
6
7
8
AI 0+
AI 0-
AI 1+
AI 1-
P 10
M
N 10
M
X522
1
AO 0V+
2
3
4
5
6
7
8
AO 0-
AO 0A+
AO 1V+
AO 1-
AO 1A+
+Temp
-Temp
A
D
0
p4071[1]
A
D
0
p4071[0]
DO 0
DO 1
X542
1
2
3
4
5
6
X541
1
2
3
4
5
6
DI/D0 8
DI/D0 9
DI/D0 10
DI/D0 11
M
+
NC 0
COM
NO 0
NC 1
COM
NO 1
p4030
p4031
[9566], [9568] 2 analog inputs
[9572] 2 analog outputs
[9556] 2 digital outputs (relay)
[9560], [9562] 4 digital inputs/outputs
[9552] 4 digital inputs, electrically isolated
[9550] 4 digital inputs, electrically isolated
r4021.0...11
r4104.1
r4104.0
Alarm:
Overtemperature
sensor TM31
Fault:
Overtemperature
sensor TM31
A
D
[9576] Input for temperature sensor
A35211
F35207
r4105
Temp. KTY/PTC
1 r4023.0..11
p4048.0
1
0
1
1
0
1
p4048.1
X540
1
+24 V
2
3
4
5
6
7
8
+24 V
+24 V
+24 V
+24 V
+24 V
+24 V
+24 V
Auxiliary voltage for
the digital inputs
fp_1840_01_eng.vsd
Function diagrams
CU310 input/output terminals
2.4 CU310 input/output terminals
Function diagrams
2020 Digital inputs, electrically isolated (DI 0 ... DI 3) 2-941
2030 Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9) 2-942
C
U
3
1
0

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

t
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m
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a
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s
F
u
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c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
5
2
0
2
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
I
0
.
.
.
D
I
3
)
- 2020 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 25.11.04 V02.04.00 CU310 input/output terminals - digital inputs are electrically isolated (DI 0 ... DI 3)
+24 V
X124.M
X124.+
+
X121.1
X121.2
X121.3
X121.4
1 = Simulation on
p0795.0
r0723.0
r0722.0
p0795.1
r0723.1
r0722.1
p0795.2
r0723.2
r0722.2
p0795.3
r0723.3
r0722.3
r0722 r0723
X121.5 M1
M
M
X124.M
M
+
24 V
5 V
<2>
<1> When using the electrical isolation eliminate the
terminal jumper and connect the load power
supply shown as a dotted line
<1>
X121.6
24 V DC to the next device
X124.+ +24 V
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 3
DI 2
DI 1
DI 0
<1>
DI 0...DI 3
inverted
DI 0...DI 3
r0721.0
r0721.1
r0721.2
r0721.3
<1>
p0796.3
p0796.2
p0796.1
p0796.0
<1>
<2> Can only be used in conjunction with SIMOTION D or
SINUMERIK NCU710 controls.
p0799 (4000.00 s)
F
u
n
c
t
i
o
n

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

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
6
2
0
3
0

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
8
.
.
.
D
I
/
D
O
9
)
- 2030 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 25.11.04 V02.04.00 CU310 input/output terminals - digital inputs/outputs bidirectional (DI/DO 8 ... DI/DO 9)
p0795.8 (0)
X121.9 M
Simulation
p0796.8
p0748.8 (0)
DI
DO
p0795.9 (0)
Simulation
p0796.9
p0748.9 (0)
DI
DO
X121.8 DI/DO 9
p0728.9 (0)
DI/DO 8 X121.7
p0728.8 (0)
1
0
1
1
0
1
1
0
1
0
24 V
5 V
0
1
0
1
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
<1>
The connection shown as dotted line
is applicable when used as digital
output (p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
<2> Can be used as fast measuring probe inputs (refer to [4735] [4740]).
1
1
r0723
CU DI status inv
r0722
CU DI status
r0723.9
r0723.8
r0721.8
r0721.9
CU S_Src DI/DO 9
p0739 (0)
CU S_Src DI/DO 8
p0738 (0)
DI/DO 8 (X121.7)
r0747.8
DI/DO 9 (X121.8)
r0747.9
DI/DO 9 (X121.8)
r0722.9
DI/DO 8 (X121.7)
r0722.8
r0747
CU DO status
<3> Can only be used in conjunction with SIMOTION D or SINUMERIK NCU710 controls.
<3>
DI 9_probe
[4735.1]
[4740.1] <2>
p0799 (4000.00 s)
C
U
3
1
0

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

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
7
2
0
3
1

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
1
0
.
.
.
D
I
/
D
O
1
1
)
- 2031 -
Function diagram
8 7 6 5 4 3 2 1
p0795.10 (0)
24 V
5 V
Simulation
p0796.10
p0748.10 (0)
DI
DO
p0795.11 (0)
Simulation
p0796.11
p0748.11 (0)
DI
DO
0
1
0
1
1
0
1
1
0
1
X121.12
M
X121.11
DI/DO 11
p0728.11 (0)
DI/DO 10 X121.10
p0728.10 (0)
1
0
1
0
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
<1> The connection shown as dotted line
output (p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
1
1 r0723.11
r0723.10
r0721.10
r0721.11
CU S_Src DI/DO 11
p0741 (0)
CU S_Src DI/DO 11
p0740 (0)
r0747
CU DO status
r0723
CU DI status inv
r0722
CU DI status
DI/DO 10 (X121.10)
r0747.10
DI/DO 11 (X121.11)
r0747.11
DI/DO 11 (X121.11)
r0722.11
DI/DO 10 (X121.10)
r0722.10
<3> Can only be used in conjunction with SIMOTION D or SINUMERIK NCU710 controls.
<3>
DI 11_probe
[4735.1]
[4740.1] <2>
DI 10_probe
[4735.1]
[4740.1] <2>
p0799 (4000.00 s)
Function diagrams
CU320 input/output terminals
2.5 CU320 input/output terminals
Function diagrams
C
U
3
2
0

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

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
8
2
1
2
0

D
i
g
i
t
a
l

i
n
p
u
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s
,

e
l
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c
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r
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a
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l
y

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o
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a
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d

(
D
I
0
.
.
.
D
I
3
)
- 2120 -
Function diagram
8 7 6 5 4 3 2 1
+24 V
X124.M
X124.+
+
X122.1
X122.2
X122.3
X122.4
1 = Simulation on
p0795.0
r0723.0
r0722.0
p0795.1
r0723.1
r0722.1
p0795.2
r0723.2
r0722.2
p0795.3
r0723.3
r0722.3
r0722 r0723
X122.5 M1
M
M
X124.M
M
+
24 V
5 V
<1> When using the electrical isolation eliminate
the terminal jumper and connect the load
power supply shown as a dotted line.
<1>
X122.6
X124.+ +24 V
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 3
DI 2
DI 1
DI 0
<1>
DI 0...DI 15
inverted
DI 0...DI 15
r0721.0
r0721.1
r0721.2
r0721.3
<1>
p0796.3
p0796.2
p0796.1
p0796.0
<1>
p0799 (4000.00 s)
F
u
n
c
t
i
o
n

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

i
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p
u
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/
o
u
t
p
u
t

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
9
2
1
2
1

D
i
g
i
t
a
l

i
n
p
u
t
s
,

e
l
e
c
t
r
i
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a
l
l
y

i
s
o
l
a
t
e
d

(
D
I
4
.
.
.
D
I
7
)
- 2121 -
Function diagram
8 7 6 5 4 3 2 1
+24 V
X124.M
X124.+
+
X132.1
X132.2
X132.3
X132.4
1= Simulation on
p0795.4
p0795.5
r0723.5
r0722.5
p0795.6
r0723.6
r0722.6
p0795.7
r0723.7
r0722.7
X132.5 M2
M
M
X124.M
M
+
24 V
5 V
<1> When using the electrical isolation eliminate
the terminal jumper and connect the load
power supply shown as a dotted line.
<1>
X132.6
X124.+ +24 V
1
0
1
0
1
0
1
0
1
1
1
24 V
<1>
DI 4
DI 5
DI 6
DI 7
r0723.4
r0722.4
r0722 r0723
1
DI 0...DI 15
inverted DI 0...DI 15
r0721.4
r0721.5
r0721.6
r0721.7
<1>
<1>
p0796.5
p0796.4
p0796.6
p0796.7
p0799 (4000.00 s)
C
U
3
2
0

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

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
0
2
1
3
0

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
8
.
.
.
D
I
/
D
O
9
)
- 2130 -
Function diagram
8 7 6 5 4 3 2 1
p0795.8 (0)
X122.9 M
Simulation
p0796.8
p0748.8 (0)
DI
DO
p0795.9 (0)
Simulation
p0796.9
p0748.9 (0)
DI
DO
X122.8 DI/DO 9
p0728.9 (0)
DI/DO 8 X122.7
p0728.8 (0)
1
0
1
1
0
1
1
0
1
0
24 V
5 V
0
1
0
1
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
<1> The connection shown as dotted line is
applicable when used as digital output
(p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
1
1
r0723
CU DI status inv
r0722
CU DI status
r0723.9
r0723.8
DI 9_probe
<2>
[4735.1]
[4740.1]
r0721.8
r0721.9
CU S_Src DI/DO 9
p0739 (0)
CU S_Src DI/DO 8
p0738 (0)
DI/DO 8 (X122.7)
r0747.8
DI/DO 9 (X122.8)
r0747.9
DI/DO 9 (X122.8)
r0722.9
DI/DO 8 (X122.7)
r0722.8
r0747
CU DO status
p0799 (4000.00 s)
F
u
n
c
t
i
o
n

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

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
1
2
1
3
1

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
1
0
.
.
.
D
I
/
D
O
1
1
)
- 2131 -
Function diagram
8 7 6 5 4 3 2 1
p0795.10 (0)
24 V
5 V
Simulation
p0796.10
p0748.10 (0)
DI
DO
p0795.11 (0)
Simulation
p0796.11
p0748.11 (0)
DI
DO
0
1
0
1
1
0
1
1
0
1
X122.1
2
M
X122.1
1
DI/DO 11
p0728.11 (0)
DI/DO 10 X122.1
0
p0728.10 (0)
1
0
1
0
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
(p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
DI 11_probe
<2>
[4735.1]
[4740.1]
DI 10_probe
<2>
[4735.1]
[4740.1]
1
1 r0723.11
r0723.10
r0721.10
r0721.11
CU S_Src DI/DO 11
p0741 (0)
CU S_Src DI/DO 11
p0740 (0)
r0747
CU DO status
r0723
CU DI status inv
r0722
CU DI status
DI/DO 10 (X122.10)
r0747.10
DI/DO 11 (X122.11)
r0747.11
DI/DO 11 (X122.11)
r0722.11
DI/DO 10 (X122.10)
r0722.10
p0799 (4000.00 s)
C
U
3
2
0

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

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
2
2
1
3
2

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
1
2
.
.
.
D
I
/
D
O
1
3
)
- 2132 -
Function diagram
8 7 6 5 4 3 2 1
p0795.12 (0)
24 V
5 V
Simulation
p0796.12
p0748.12 (0)
DI
DO
p0795.13 (0)
Simulation
p0796.13
p0748.13 (0)
DI
DO
0
1
0
1
1
0
1
1
0
1
X132.9 M
X132.8 DI/DO 13
p0728.13 (0)
DI/DO 12 X132.7
p0728.12 (0)
1
0
1
0
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
(p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
DI 13_probe
<2>
[4735.1]
[4740.1]
1
1
r0723
CU DI status inv
r0722
CU DI status
r0723.13
r0723.12
r0721.12
r0721.13
DI/DO 12 (X132.7)
r0722.12
DI/DO 13 (X132.8)
r0722.13
CU S_Src DI/DO 13
p0743 (0)
CU S_Src DI/DO 12
p0742 (0)
r0742
CU DO status
DI/DO 12 (X132.7)
r0747.12
DI/DO 13 (X132.7)
r0747.13
p0799 (4000.00 s)
F
u
n
c
t
i
o
n

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

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

t
e
r
m
i
n
a
l
s
2
-
9
5
0

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
3
2
1
3
3

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
1
4
.
.
.
D
I
/
D
O
1
5
)
- 2133 -
Function diagram
8 7 6 5 4 3 2 1
p0795.14 (0)
1
24 V
5 V
Simulation
p0796.14
p0748.14 (0)
DI
DO
p0795.15 (0)
1
Simulation
p0796.15
p0748.15 (0)
DI
DO
0
1
0
1
1
0
1
1
0
1
X132.1
2
M
X132.1
1
DI/DO 15
p0728.15 (0)
DI/DO 14
X132.1
0
p0728.14 (0)
1
0
1
0
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
(p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
DI 14_probe
<2>
[4735.1]
[4740.1]
DI 15_probe
<2>
[4735.1]
[4740.1]
r0723
CU DI status inv
r0722
CU DI status
r0723.14
r0721.14
r0721.15
DI/DO 14 (X132.10)
r0747.14
DI/DO 15 (X132.11)
r0747.15
DI/DO 15 (X132.11)
r0722.15
DI/DO 14 (X132.10)
r0722.14
r0723.15
r0747
CU DO status
CU S_Src DI/DO 14
p0744 (0)
CU S_Src DI/DO 15
p0745 (0)
p0799 (4000.00 s)
CU_LINK
Function diagrams
2.6 CU_LINK
Function diagrams
2211 Data transfer 2-952
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
U
_
L
I
N
K
2
-
9
5
2

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
4
2
2
1
1

D
a
t
a

t
r
a
n
s
f
e
r
- 2211 -
Function diagram
8 7 6 5 4 3 2 1
fp_2211_01_eng.vsd DO: CU_LINK
SINAMICS S 14.02.06 V02.04.00 CU_LINK - data transfer
CU_LINK Master CU_LINK Slave
Digital digitals 0...15
Digital digitals 0...7
DRIVE CLiQ
<1> The drive object CU_LINK only exists for automation systems with integrated
SINAMICS functionality (e.g. SIMOTION D, SINUMERIK NCU) and the corresponding
expansion components (e.g. CX32, NX10).
The CU_LINK master functionality is available on the automation system, the CU_LINK
slave functionality is available on the expansion components.
p8500[0]
p8500[7]
p8510.7
p8510.0
<1>
p8501[0]
p8501[15]
p8511.15
p8511.0
p8510.0
p8510.7
p8500[0]
p8500[7]
p8511.0
p8511.15
p8501[0]
p8501[15]
p8512
p8515
p8514
p8513
p8505
p8504
Signal value 3
Signal value 2
Signal value 1
Signal value 0
p8503
p8502
p8502
p8504
p8505
p8515
p8514
p8512
p8503
p8513
CX32 input/output terminals
Function diagrams
2.7 CX32 input/output terminals
Function diagrams
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
X
3
2

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

t
e
r
m
i
n
a
l
s
2
-
9
5
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
5
2
2
2
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
I
0
.
.
.
D
I
3
)
- 2220 -
Function diagram
8 7 6 5 4 3 2 1
fp_2220_01_eng.vsd DO: CX32
SINAMICS S 14.02.06 V02.04.00 CX32 input/output terminals digital inputs are electrically isolated (DI 0 ... DI 3)
+24 V
X124.M
X124.+
+
X122.1
X122.2
X122.3
X122.4
1 = Simulation on
p0795.0
r0723.0
r0722.0
p0795.1
r0723.1
r0722.1
p0795.2
r0723.2
r0722.2
p0795.3
r0723.3
r0722.3
r0722 r0723
X122.5 M1
M
M
X124.M
M
+
24 V
5 V
<2>
terminal jumper and connect the load power supply
shown as a dotted line.
<1>
X122.6
X124.+ +24 V
1
0
1
0
1
0
1
0
1
1
1
1
24 V
DI 3
DI 2
DI 1
DI 0
<1>
DI 0...DI 3
inverted
DI 0...DI 3
r0721.0
r0721.1
r0721.2
r0721.3
<1>
p0796.3
p0796.2
p0796.1
p0796.0
<1>
<2> Can only be used in conjunction with SIMOTION D.
p0799 (4000.00 s)
C
X
3
2

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

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
6
2
2
3
0

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
8
.
.
.
D
I
/
D
O
9
)
- 2230 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.02.06 V02.04.00 CX32 input/output terminals - digital inputs/outputs bidirectional (DI/DO 8 ... DI/DO 9)
p0795.8 (0)
X122.9 M
Simulation
p0796.8
p0748.8 (0)
DI
DO
p0795.9 (0)
Simulation
p0796.9
p0748.9 (0)
DI
DO
X122.8 DI/DO 9
p0728.9 (0)
DI/DO 8 X122.7
p0728.8 (0)
1
0
1
1
0
1
1
0
1
0
24 V
5 V
0
1
0
1
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
output (p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
1
1
r0723
CU DI status inv
r0722
CU DI status
r0723.9
r0723.8
r0721.8
r0721.9
CU S_Src DI/DO 9
p0739 (0)
CU S_Src DI/DO 8
p0738 (0)
DI/DO 8 (X122.7)
r0747.8
DI/DO 9 (X122.8)
r0747.9
DI/DO 9 (X122.8)
r0722.9
DI/DO 8 (X122.7)
r0722.8
r0747
CU DO status
<3>
DI 9_probe
[4735.1]
[4740.1] <2>
p0799 (4000.00 s)
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
X
3
2

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

t
e
r
m
i
n
a
l
s
2
-
9
5
6

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
7
2
2
3
1

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
1
0
.
.
.
D
I
/
D
O
1
1
)
- 2231 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.02.06 V02.04.00 CX32 input/output terminals - digital inputs/outputs bidirectional (DI/DO 10 ... DI/DO 11)
p0795.10 (0)
24 V
5 V
Simulation
p0796.10
p0748.10 (0)
DI
DO
p0795.11 (0)
Simulation
p0796.11
p0748.11 (0)
DI
DO
0
1
0
1
1
0
1
1
0
1
X122.12 M
X122.11
DI/DO 11
p0728.11 (0)
DI/DO 10 X122.10
p0728.10 (0)
1
0
1
0
+24 V
X124.M
X124.+
+
M
X124.M
M
X124.+ +24 V
output (p0728.x = 1).
<1>
<1>
DI
DO
DI
DO
1
1 r0723.11
r0723.10
r0721.10
r0721.11
CU S_Src DI/DO 11
p0741 (0)
CU S_Src DI/DO 11
p0740 (0)
r0747
CU DO status
r0723
CU DI status inv
r0722
CU DI status
DI/DO 10 (X122.10)
r0747.10
DI/DO 11 (X122.11)
r0747.11
DI/DO 11 (X122.11)
r0722.11
DI/DO 10 (X122.10)
r0722.10
<3>
DI 11_probe
[4735.1]
[4740.1] <2>
DI 10_probe
[4735.1]
[4740.1] <2>
p0799 (4000.00 s)
PROFIBUS
Function diagrams
2.8 PROFIBUS
Function diagrams
2410 PROFIBUS address, diagnostics 2-959
2420 Telegrams and process data 2-960
2440 PZD receive signals interconnection 2-961
2441 STW1 control word interconnection (p2038 = 2) 2-962
2447 E_STW1 control word infeed interconnection 2-967
2448 CU_STW control word Control Unit interconnection 2-968
2449 A_DIGITAL interconnection 2-969
2450 PZD send signals interconnection 2-970
2451 ZSW1 status word interconnection (p2038 = 2) 2-971
2456 MELDW status word interconnection 2-976
2457 E_ZSW1 status word infeed interconnection 2-977
2458 CU_ZSW status word Control Unit interconnection 2-978
2459 E_DIGITAL interconnection 2-979
2460 Receive telegram, free interconnection via BICO (p0922 = 999) 2-980
2470 Send telegram, free interconnection via BICO (p0922 = 999) 2-981
2472 Status words, free interconnection 2-982
2475 STW1 control word 1 interconnection (r0108.4 = 1) 2-983
2476 SATZANW pos block select interconnection (r0108.4 = 1) 2-984
2477 PosSTW pos control word interconnection (r0108.4 = 1) 2-985
Function diagrams
PROFIBUS
2479 ZSW1 status word 1 interconnection (r0108.4 = 1) 2-986
2481 Receive telegram, free interconnection via BICO (p0922 = 999) 2-987
2483 Send telegram, free interconnection via BICO (p0922 = 999) 2-988
P
R
O
F
I
B
U
S
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
3
8
2
4
1
0

P
R
O
F
I
B
U
S

a
d
d
r
e
s
s
,

d
i
a
g
n
o
s
t
i
c
s
- 2410 -
Function diagram
8 7 6 5 4 3 2 1
fp_2410_01_eng.vsd DO: A_INF, B_INF, S_INF, CU_S, SERVO, TB30, TM31, VECTOR
SINAMICS S 05.08.05 V02.04.00 PROFIBUS - PROFIBUS address, diagnostics
CU-specific functions
Setting the PROFIBUS address
PROFIBUS address
1...126
p0918 (126)
DIP switch on the control unit
DP ADDRESS
ON
1 2 4 8 16 32 64
Drive-specific functions (available once for each drive object)
POWER ON
Memory
SET
p0918
Actual
PROFIBUS
address
Monitoring functions
Sign-of-life from the
clock cycle
synchronous master
Diagnostic parameters
>
Significance
Cyclic telegrams
from the master
Detecting
missing
signs-of-life
in a series
n
Master sign-of-life_tol
0...65535
p0925 (1)
t > t_response
No cyclic telegrams from the master
= 65535
<2>
<1>
&
No telegrams from the master
F01910 "setpoint timeout"
Alarms Faults
n > p0925
A01921 "Clock cycle synchronization"
A01930 "Current controller clock cycle, clock cycle synchronous not equal"
A01931 "Speed controller clock cycle, clock cycle synchronous not equal"
A01940 "Clock cycle synchronism not reached"
A01941 "Clock signal missing when establishing bus"
A01943 "Clock signal when establishing bus faulted"
A01944 "Sign-of-life synchronism not reached"
A01950 "Clock cycle synchronous operation, synchronization unsuccessful"
A01900 "Configuration telegram incorrect"
A01901 "Parameterizing telegram incorrect"
A01902 "Parameterizing telegram not
permissible"
1..126
<4> The response monitoring time t_response is automatically
defined, when configuring PROFIBUS, by the configuration
configuration tool (e.g. HW Config from SIEMENS).
<5>
All DIP switches to ON or OFF
==> set the address using p0918
<3>
<2> Monitoring is only carried-out when a sign-of-life was
received for the first time.
<3> Sign-of-life monitoring not effective for p0925 = 65535.
PB diag clock cyc sync
r2064[0...7]
PB diag standard
r2055[0...2]
PB state
r2054
r2075
r2076
Telegram diagnostics
<1> Monitoring is only carried-out if for the first time at least a
"valid" cyclic telegram was received "valid" equals master is
operational ("valid" = master is operational and net [useful]
data is transferred).
F01911 "Clock cycle synchronous operation, clock failure"
F01912 "Clock cycle synchronous operation, sign-of-life failure"
A01920 "Cyclic connection interrupted"
t
<5> The parameters, alarms and faults for clock cycle
synchronous operation are only available for the SERVO
drive object.
<5>
r2050[3]
PB master SoL S_Src
(0)
p2045
PB master SoL diag
r2065
<6>
<6> The interconnection from p2045 is automatically carried-out
when the telegram is selected.
<5>
<5>
Refer to [1020.7]
S Q
R Q
T 0
PB fault delay
0...100 s
p2044 (0)
PB address diag
r2057
r2043.0
<4>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
B
U
S
2
-
9
6
0

S
i
e
m
e
n
s

A
G

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2
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2
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- 2420 -
Function diagram
8 7 6 5 4 3 2 1
fp_2420_01_eng.vsd
SINAMICS S 27.03.06 V02.04.00 PROFIBUS - telegrams and process data
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<2>
<2> When p0922 = 999 is changed to another value, the telegram is automatically assigned according to [2420].
If p0922 is not equal to 999 and is changed to p0922 = 999, the "old" telegram assignment is kept according to [2420]!
<3> In order to be in compliance with the PROFIdrive profile, PZD1 must be used as control word 1 (STW1) or status word 1 (ZSW1).
p2037 should be set to 2 if STW1, with PZD1, is not transferred according to the PROFIdrive profile.
Telegram selection
p0922 (999)
Tele-
gram
Appl.
class
Function in the drive
1
2
3
4
5
6
102
103
105
106
PZD 06
PZD
08
PZD
09
PZD 10 PZD 11
PZD
13
PZD
14
PZD
15
PZD
16
PZD 12 PZD 07
Speed control, 2 words
Speed control, 4 words 1
1
Speed control with torque
reduction, 2 position encoders
1, 4
Speed control with torque
reduction, 1 position encoder
4 DSC
1, 4
1, 4
4 DSC
1, 4
Speed control,
1 position encoder
Speed control,
2 position encoder
DSC, 1 position encoder
DSC, 2 position encoder
DSC with torque reduction,
1 position encoder
2 position encoder
Receive telegram from PROFIBUS
Send telegram to PROFIBUS
= Position encoder signal
G1_STW
G1_ZSW
G1_STW
G1_ZSW
G1_STW
G1_ZSW
G1_STW
G1_ZSW
G2_STW
G2_STW
G2_STW
G1_XIST1
G1_XIST1
G1_XIST1
G1_XIST1
G1_XIST2
G1_XIST2
G1_XIST2
G1_XIST2
G2_ZSW G2_XIST1 G2_XIST2
G2_XIST1 G2_ZSW G2_XIST2
XERR
XERR
KPC
G1_XIST1
G1_XIST1
G1_XIST1
G1_XIST1
G2_STW KPC XERR
G1_XIST2 G2_ZSW G2_XIST1 G2_XIST2
G1_XIST2
XERR
G1_XIST2
G1_XIST2
G2_ZSW G2_XIST1 G2_XIST2
Free interconnection via BICO 999 -
Receive telegram length can be freely selected via the central PROFIBUS configuring in the master
Send telegram length can be freely selected via the central PROFIBUS configuring in the master
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DO: A_INF, B_INF, CU_S, S_INF, SERVO, VECTOR
Infeed, 1 word 370 -
<1>
<1> Depending on the drive object, only specific telegrams can be used.
Refer to [1020.7]
20 1
Closed-loop control,
VIK-NAMUR MIST_GLATT PIST_GLATT <4>
352 1
Closed-loop speed control,
PCS7 MIST_GLATT
<5>
<4> Freely interconnectable (pre-setting: MELD_NAMUR).
<5> Can be freely connected.
<5>
WARN_CODE FAULT_CODE
MOMRED
MELDW
MOMRED
MELDW
MOMRED
MELDW
MOMRED
MELDW
PZD 05 PZD 04
STW2
ZSW2
STW2
ZSW2
STW2
ZSW2
STW2
ZSW2
STW2
ZSW2
STW2
ZSW2
STW2
ZSW2
STW2
ZSW2
STW2
ZSW2
<5>
STW1<3>
ZSW1<3>
E_STW1
E_ZSW1
STW1
ZSW1
NSOLL_A
NIST_A_GLATT
<5>
IAIST_GLATT
116
CU (DO1), digital inputs/outputs 390 -
391 -
STW1
PZD 01
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
STW1
ZSW1
PZD 02 PZD 03
NSOLL_A
NIST_A
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_B
NIST_B
NSOLL_A
NIST_A_GLATT IAIST_GLATT
CU_STW
CU_ZSW
Interconnec-
tion is made
according to
[2440]
[2450]
auto-
matic-
ally
[2440]
[2450]
auto-
matic-
ally
[2460]
[2470]
2 position encoder
STW1
ZSW1
G1_STW
G1_ZSW G1_XIST1
G2_STW KPC XERR
G1_XIST2 G2_ZSW G2_XIST1 G2_XIST2
MOMRED
MELDW
STW2
ZSW2
NSOLL_B
NIST_B
PZD 17
PZD
18
PZD
19
AACT_GL ITACT_GL PACT_GL MSET_GL
CU (DO1), digital inputs/outputs
and measuring probe
CU_STW
CU_ZSW
MT_STW
E_DIGITAL
A_DIGITAL
A_DIGITAL
E_DIGITAL MT_ZSW MT1_ZS_F MT1_ZS_S MT2_ZS_F
KPC
GL = SMOOTH
KPC
MT2_ZS_S
G1_STW
G1_ZSW
G1_STW
G1_ZSW
G1_STW
G1_ZSW
G1_STW
G1_ZSW
7 3 Basic positioner
ZSW1
STW1
AKTSATZ
110 3 Basic positioner
MDIPos
XistP
Over
MELDW
PosSTW
PosZSW
STW1
ZSW1
SATZANW
AKTSATZ
SATZANW
ZSW2
STW2 MDIVel MDIAcc MDIDec MDIMode
4 DSC
4 DSC
4 DSC
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- 2440 -
Function diagram
8 7 6 5 4 3 2 1
fp_2440_01_eng.vsd DO: A_INF, B_INF, S_INF, SERVO, VECTOR
SINAMICS S 16.03.06 V02.04.00 PROFIBUS PZD receive signals interconnection
PROFIBUS
receive telegram
r2090...r2095 bit
r2050[0...15] WORD
r2060[0...14] DWORD
Telegram assignment
according to p0922
[2420]
...
X126
PROFIBUS
Signal receivers for PZD receive signals
Signal
STW1
STW2
NSOLL_A
NSOLL_B
G1_STW
G2_STW
G3_STW
A_DIGITAL
<2>
<3>
PROFIdrive
Signal No.
1
3
5
7
9
13
17
22
Meaning
Control word 1 for telegram 1 ... 106, 110, 116
Control word 2 for telegram 2 ... 6, 8 ... 19, 21 ... 106, 110, 116
Speed setpoint A (16-bit)
Speed setpoint B (32-bit)
Encoder 1 control word
Digital outputs
Interconnection
parameter
(bit serial)
(bit serial)
p1070
p1155
p1430 (DSC)
p0480[0]
p0480[1]
p0480[2]
<1>
Function
diagram
[2442][2443]
[2475]
[2444]
[2445]
[3030.2]
[3080.4]
[3090.8]
[4720]
[4720]
[4720]
[2449]
Data type
U16
U16
I16
I32
U16
U16
U16
U16
Normalization
-
4000 hex p2000
-
4000 0000 hex p2000
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
<1> When selecting a standard telegram or a manufacturer-specific telegram using p0922, these
interconnection parameters of the command data set CDS are automatically set to 0.
<2> Data type according to to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16, U32 = Unsigned32.
<3> Display parameters for receive data according to [2460].
Refer to [1020.7]
XERR
KPC
MOMRED
MDIDec
25
26
101
227
Position deviation
Position controller gain factor
Torque reduction
Pos MDI deceleration override
p1190
p1191
p1542
p2645
[3090.5]
[3090.5]
[5610.2]
[3618]
I32
I32
I16
I16
4000 hex p2003
4000 hex 100%
(bit serial)
MT_STW 130 Measuring probe control word p0682 - U16
MDIMode 229 Pos MDI mode p2654 [3620] U16
SATZANW 201 Pos block selection (bit serial) [2476] U16
PosSTW 203 Pos control word (bit serial) [2477] U16
MDIPos 221 Pos MDI position p2642 [3618] I32 1 hex 1 LU
MDIVel 223 Pos MDI velocity p2643 [3618] I32 1 hex 1000 LU/min
MDIAcc 225 Pos MDI acceleration override p2644 [3618] I16 4000 hex 100%
E_STW1 320 INFEED control word (bit serial) [2447] U16
CU_STW 500 Control Unit control word (bit serial) [2448] U16
Over 205 Pos velocity override p2646 [3630] I16 4000 hex 100%
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(
p
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0
3
8
=
2
)
- 2441 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 10.03.05 V02.04.00 PROFIBUS - STW1 control word interconnection (p2038 = 2)
<1> Used in telegram 20.
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r2090.2
p0852[0] = r2090.3
p1140[0] = r2090.4
p1141[0] = r2090.5
p1142[0] = r2090.6
p2103[0] = r2090.7
-
-
p0854[0] = r2090.10
p1113[0] = r2090.11
-
-
-
p0810[0] = 2090.15
p0840[0] = r2090.0
p0844[0] = r2090.1
= ON (pulses can be enabled)
0 = OFF1 (braking with ramp-function generator, then pulse cancllation & ready-to-power-up)
1 = No OFF2 (enable is possible)
0 = OFF2 (immediate pulse cancellation and power-on inhibit)
1 = No OFF3 (enable possible)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse cancellation and power-on inhibit)
1 = Enable operation (pulses can be enabled)
0 = Inhibit operation (cancel pulses)
1 = Operating condition (the ramp-function generator can be enabled)
0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)
1 = Enable the ramp-function generator
0 = Stop the ramp-function generator (freeze the ramp-function generator output)
1 = Enable setpoint
0 = Inhibit setpoint (set the ramp-function generator input to zero)
= Acknowledge faults
Reserved
Reserved
1 = Control via PLC
1 = Dir of rot reversal
Reserved
Reserved
1 = CDS selection
Reserved
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2546.1]
-
-
[2501.3]
[2505.3]
-
-
-
-
[2501.3]
[2501.3]
Signal targets for STW1 (Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2)
[2610]
[2610]
[3060] [3070] [3080]
[3060] [3070]
[3060] [3070] [3080]
[8060]
-
-
[2501]
[3040]
-
-
-
[8565]
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
internal control word
[Function diagram]
signal target
Inverted
<2> Bit 10 must be set in the first PZD word of the telegram received from PROFIBUS in order that the drive accepts the process data.
<2>
<1>
Refer to [1020.7]
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2
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4
4
2

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(
p
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0
3
8
=
0
)
- 2442 -
Function diagram
8 7 6 5 4 3 2 1
<1> Used in telegram 1, 2, 3, 4, 5, 6, 7, 110, 352.
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r2090.2
p0852[0] = r2090.3
p1140[0] = r2090.4
p1141[0] = r2090.5
p1142[0] = r2090.6
p2103[0] = r2090.7
-
-
p0854[0] = r2090.10
p1113[0] = r2090.11
-
p1035[0] = r2090.13
p1036[0] = r2090.14
-
p0840[0] = r2090.0
p0844[0] = r2090.1
0 = OFF1 (braking with ramp-function generator, then pulse cancellation and
ready-to-power-up)
0 = inhibit ramp-function generator (set the ramp-function generator output to zero)
0 = stop the ramp-function generator (freeze the ramp-function generator output)
1 = Enable setpoint
0 = inhibit setpoint (set the ramp-function generator input to zero)
Reserved
Reserved
1 = Control via PLC
Reserved
1 = Motorized potentiometer, setpoint, raise
Reserved
1 = Motorized potentiometer, setpoint, lower
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2501.3]
[2546.1]
-
-
[2501.3]
[2505.3]
-
[2505.3]
[2505.3]
-
[2501.3]
[2501.3]
Signal targets for STW1 (Interface Mode SINAMICS/MICROMASTER, p2038 = 0)
[2610]
[2610]
[3060] [3070] [3080]
[3060] [3070]
[3060] [3070] [3080]
[8060]
-
-
[2501]
[3040]
-
[3020]
[3020]
-
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<2>
<1>
Refer to [1020.7]
<3> Only for "expanded setpoint channel" and "expanded ramp-function generator"
<3>
<3>
<3>
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(
p
2
0
3
8
=
1
)
- 2443 -
Function diagram
8 7 6 5 4 3 2 1
Signal targets for STW1 (Interface Mode SIMODRIVE 611 universal, p2038 = 1)
<1> Used in telegram 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 352.
STW1.12
STW1.13
STW1.14
STW1.15
0 = OFF1 (braking with ramp-function generator, then pulse cancellation, ready-to-power-up)
Reserved
Reserved
1 = Control via PLC
1 = Ramp-function generator active
1 = Unconditionally open the holding brake
Reserved
Reserved
1 = Closed-loop torque control active
0 = Closed-loop speed control active
Meaning Signal
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.7
STW1.10
- -
- p1501[0] = r2090.14 [2520.3]
- -
- p0855[0] = r2090.12 [2501.3]
p2148[0] = r2090.11 -
p0854[0] = r2090.10 [2501.3]
- -
- -
p2103[0] = r2090.7 [2546.1]
p1142[0] = r2090.6 [2501.3]
p1141[0] = r2090.5 [2501.3]
p1140[0] = r2090.4 [2501.3]
p0852[0] = r2090.3 [2501.3]
p0848[0] = r2090.2 [2501.3]
p0844[0] = r2090.1 [2501.3]
p0840[0] = r2090.0 [2501.3]
Interconnection
parameters
[Function diagram]
-
[5060] [6060]
-
[2701]
[8010]
[2501]
-
-
[8060]
[3060] [3070] [3080]
[3060] [3070]
[3060] [3070] [3080]
[2610]
[2610]
[2610]
[2610]
[Function diagram]
signal target
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)
0 = Stop the ramp-function generator (freeze the ramp-function generator output)
1 = Enable setpoint
0 = Inhibit setpoint (set the ramp-function generator input to zero)
<2>
<1>
Refer to [1020.7]
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u
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l
,

0
3
/
2
0
0
6

E
d
i
t
i
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n
F
i
g
u
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e

2
-
4
4
2
4
4
4

S
T
W
2

c
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t
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l

w
o
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d

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

(
p
2
0
3
8
=
0
)
- 2444 -
Function diagram
8 7 6 5 4 3 2 1
Signal targets for STW2 (Interface Mode SINAMICS/MICROMASTER, p2038 = 0)
<1> Used in telegram 2, 3, 4, 5, 6, 110.
STW2.0
STW2.1
STW2.2
STW2.3
STW2.4
STW2.5
STW2.6
STW2.8
STW2.9
STW2.11
STW2.12
STW2.13
STW2.14
STW2.15
STW2.7
STW2.10
Drive data set selection DDS, bit 4
1 = Parking axis
1 = Traverse to fixed endstop
Reserved
Master sign-of-life, bit 0
Reserved
Reserved
Reserved
1 = Motor changeover, feedback Signal
p0822[0] = r2093.2
p0823[0] = r2093.3
p0824[0] = r2093.4
-
-
p0897 = r2093.7
p1545[0] = r2093.8
-
-
p0828 = r2093.11
p2045 = r2050[3]
p2045 = r2050[3]
p2045 = r2050[3]
p2045 = r2050[3]
p0820[0] = r2093.0
p0821[0] = r2093.1
-
-
-
-
-
-
[2520.2]
-
-
-
-
-
-
-
-
-
[8565]
[8565]
[8565]
-
-
-
[8012]
-
-
-
[2410]
[2410]
[2410]
[2410]
[8565]
[8565]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal Meaning
Interconnection
parameters
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
F
u
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c
t
i
o
n

d
i
a
g
r
a
m
s
P
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F
I
B
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S
2
-
9
6
6

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
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v
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d
S
I
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A
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S
S

L
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M
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,

0
3
/
2
0
0
6

E
d
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n
F
i
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u
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2
-
4
5
2
4
4
5

S
T
W
2

c
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t
r
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l

w
o
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d

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

(
p
2
0
3
8
=
1
)
- 2445 -
Function diagram
8 7 6 5 4 3 2 1
<1> Used in telegram 2, 3, 4, 5, 6, 102, 103, 105, 106, 116.
Signal targets for STW2 (Interface Mode SIMODRIVE 611 universal, p2038 = 1)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[8565]
-
[3060] [3070]
-
[5040] [5210]
-
[8012]
[8565]
[8565]
-
[2410]
[2410]
[2410]
[2410]
[8565]
-
-
-
-
-
-
[2520.2]
-
-
-
-
-
-
-
-
p0822[0] = r2093.2
-
p1122[0] = r2093.4
-
p1477[0] = r2093.6
p0897 = r2093.7
p1545[0] = r2093.8
p0823[0] = r2093.9
p0824[0] = r2093.10
p0828 = r2093.11
p2045 = r2050[3]
p2045 = r2050[3]
p2045 = r2050[3]
p2045 = r2050[3]
p0821[0] = r2093.1
1 = Bypass ramp-function generator
1 = Parking axis selection
1 = Integrator inhibit, speed controller
Reserved
Reserved
= Motor changeover, feedback signal
STW2.1
STW2.2
STW2.3
STW2.4
STW2.5
STW2.6
STW2.8
STW2.9
STW2.11
STW2.12
STW2.13
STW2.14
STW2.15
STW2.7
STW2.10
- [8565] - p0820[0] = r2093.0 Drive data set selection DDS, bit 0 STW2.0
Inverted
[Function diagram]
signal target
[Function diagram]
Interconnection
parameters
Meaning Signal
<1>
<2> For a 1 signal, the integral component of the speed controller is deleted/cleared and the integrator is inhibited.
<2>
Refer to [1020.7]
<3> Only when the function module "expanded setpoint channel" is activated (r0108.8 = 1).
<3>
P
R
O
F
I
B
U
S
F
u
n
c
t
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o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
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d
S
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A
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S
S

L
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M
a
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,

0
3
/
2
0
0
6

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n
F
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2
-
4
6
2
4
4
7

E
_
S
T
W
1

c
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w
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d

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n
- 2447 -
Function diagram
8 7 6 5 4 3 2 1
fp_2447_01_eng.vsd DO: A_INF, B_INF, S_INF
SINAMICS S 17.05.05 V02.04.00 PROFIBUS - E_STW1 control word infeed interconnection
Signal targets for E_STW1
<2> Bit 10 must be set in the first PZD word of the telegram received from PROFIBUS in order that the drive object accepts the process data.
<3> Only for A_INF, S_INF
<4> Only for A_INF
<1>
Refer to [1020.7]
STW1.0 p0840[0] = r2090.0
Signal
[Function diagram] signal target [Function diagram] internal control word
Interconnection
parameters
STW1.1 p0844[0] = r2090.1
STW1.2
STW1.3 p0852[0] = r2090.3
STW1.4 -
STW1.5 p3532= r2090.5
STW1.6 p3533= r2090.6
STW1.7 p2103[0] = r2090.7
STW1.8 -
STW1.9 -
STW1.10 p0854[0] = r2090.10
STW1.11 -
STW1.12 -
STW1.13 -
STW1.14 -
STW1.15 -
[2546.3]
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[8060]
[8920.3]
[8920.3]
-
[8920.3]
-
[8920.3]
[8920.3]
-
-
[8920.3]
-
-
-
-
-
A_INF
[8720.3]
[8720.3]
-
-
-
-
-
[8720.3]
-
-
-
-
-
-
-
B_INF
[8820.3]
[8820.3]
-
[8820.3]
-
[8820.3]
-
-
[8820.3]
-
-
-
-
-
-
S_INF
[8932]
-
[8932]
-
-
-
-
-
-
-
-
[8932]
[8920]
[8920]
[8920]
A_INF
[8732]
-
-
-
-
[8720]
-
-
-
-
-
[8732]
-
-
-
B_INF
[8832]
[8832]
-
[8832]
-
[8820]
-
-
[8820]
-
-
-
-
-
-
S_INF
= ON (close pre-charging/line contactor, pulses can be enabled)
0 = OFF1 (reduce Vdc along a ramp, pulse cancellation & open pre-charging/line contactor)
Meaning
Reserved
Reserved
1 = Inhibit motoring operation
1 = Inhibit regenerative operation
Reserved
Reserved
1 = Control via PLC
Reserved
Reserved
Reserved
Reserved
Reserved
<3>
<3>
<2>
<4>
F
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2
-
9
6
8

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m
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A
G

2
0
0
6

A
l
l

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s

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s
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v
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S
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3
/
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0
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6

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F
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2
-
4
7
2
4
4
8

C
U
_
S
T
W

c
o
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t
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l

w
o
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d

C
o
n
t
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l

U
n
i
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n
- 2448 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 PROFIBUS - CU_STW control word Control Unit interconnection
Signal targets for CU_STW
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
p2103[0] = r2090.7
-
Reserved
Acknowledge faults
Reserved
Master sign-of-life, Bit 0
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
CU_STW.1
CU_STW.2
CU_STW.3
CU_STW.4
CU_STW.5
CU_STW.6
CU_STW.8
CU_STW.9
CU_STW.11
CU_STW.12
CU_STW.13
CU_STW.14
CU_STW.15
CU_STW.7
CU_STW.10
- - - Synchronisation CU_STW.0
Inverted
[Function diagram]
signal target
[Function diagram]
Interconnection
parameters
Meaning Signal
-
-
-
-
-
-
-
-
-
- -
p0681[0] = r2090.0
-
Reserved
p2045[0] =r2050[0]
p2045[0] =r2050[0]
p2045[0] =r2050[0]
p2045[0] =r2050[0]
-
Refer to [1020.7]
<1> Used in telegram 390 and 391.
<1>
P
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O
F
I
B
U
S
F
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c
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n

d
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a
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r
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s
2
-
9
6
9

S
i
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m
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
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S
S

L
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M
a
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,

0
3
/
2
0
0
6

E
d
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F
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e

2
-
4
8
2
4
4
9

A
_
D
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I
T
A
L

i
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n
- 2449 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 PROFIBUS - A_DIGITAL interconnection
Signal targets for A_DIGITAL
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
p0740[0] = r2091[2]
p0742[0] = r2091[4]
p0743[0] = r2091[5]
p0744[0] = r2091[6]
p0745[0] = r2091[7]
p0739[0] = r2091[1]
- - -
Inverted
[Function diagram]
signal target
[Function diagram]
internal status word
Interconnection
parameters
Refer to [1020.7]
-
-
-
-
-
-
-
-
-
- -
p0738[0] = r2091[0]
-
p0741[0] = r2091[3]
A_DIGITAL.1
A_DIGITAL.2
A_DIGITAL.3
A_DIGITAL.4
A_DIGITAL.5
A_DIGITAL.6
A_DIGITAL.8
A_DIGITAL.9
A_DIGITAL.11
A_DIGITAL.12
A_DIGITAL.13
A_DIGITAL.14
A_DIGITAL.15
A_DIGITAL.7
A_DIGITAL.10
A_DIGITAL.0
Signal
Digital output 12 (DI/DO 12)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Meaning
Reserved
-
-
-
-
<3> Pre-assignment, can be freely changed.
<3>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2> Can be set via p0728 as input (DI) or output (DO). <1> Used in telegram 390 and 391.
<1>
F
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n

d
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7
0

S
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s

A
G

2
0
0
6

A
l
l

R
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s

R
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S
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A
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S

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,

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3
/
2
0
0
6

E
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F
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2
-
4
9
2
4
5
0

P
Z
D

s
e
n
d

s
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n
a
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s

i
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c
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n
- 2450 -
Function diagram
8 7 6 5 4 3 2 1
fp_2450_01_eng.vsd DO: A_INF, B_INF, S_INF, SERVO, VECTOR
SINAMICS S 23.03.06 V02.04.00 PROFIBUS PZD send signals interconnection
<1> Data type according to the PROFIdrive profile: I16 =
Integer16, I32 = Integer32, U16 = Unsigned16, U32 =
Unsigned32
Signal sources for PZD send signals
Data type Normalization
PROFIBUS
Send words 1...16
r2053[0...15] WORD
r2063[0...14] DWORD
PROFIBUS send
telegram
Telegram
assignment
according to p0922
[2420]
...
X126
PROFIBUS
<1>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
Refer to [1020.7]
Description
Interconnection
parameter
PROFIdrive
Signal No.
Function diagram Signal
U16 - Status word 1 r2089[0] 2 [2452][2453] ZSW1
U16 - Status word 2 r2089[1] 4 [2454][2455] ZSW2
I16 4000 hex p2000 Speed setpoint A (16 bit) r0063[0] 6 NIST_A
I32 4000 0000 hex p2000 Speed setpoint B (32 bit) r0063 8 [4710] NIST_B
U16 Encoder 1 status word r0481[0] 10 [4730] G1_ZSW
U32 Encoder 1 actual position 1 r0482[0] 11 [4704] G1_XIST1
U16 Digital inputs r2089[2] 21 [2459] E_DIGITAL
I16 Current actual value, torque-generating r0078[1] 52 [5730] ITACT_SMOOTH 4000 hex p2002
U16 Message word r2089[2] 102 [2456] MELDW
U16 INFEED status word (infeed) r0899, r2139 321 [2457]
FAULT_CODE
U16
Fault code r2131 301 [8060]
E_ZSW1
U16
Alarm code r2132 303 [8065] WARN_CODE
U16 VIK-NAMUR message bit bar r3113 58 MELD_NAMUR -
4000 hex p2004 I16 Power factor, smoothed r0082[1] 54 [6714] PIST_GLATT
4000 hex p2003 I16 Actual torque smoothed r0080[1] 53 [6714] MIST_GLATT
4000 hex p2002 I16 Absolute actual current, smoothed r0068[1] 51 [6714] IAIST_GLATT
Measuring probe 1 measuring time, rising edge r0686[0] 133 MT1_ZS_S
4000 hex p2003 I16 Total speed setpoint r0079[1] 120 [5610] MSET_SMOOTH
4000 hex 100% I16 Torque utilization r0081 121 [8012] AACT_SMOOTH
Measuring probe status word r0688 131 MT_ZSW
Measuring probe 1 measuring time, falling edge r0687[0] 132 MT1_ZS_F
Measuring probe 2 measuring time, falling edge r0687[1] 134 MT2_ZS_F
Measuring probe 2 measuring time, rising edge r0686[1] 135 MT2_ZS_S
U16
U16
U16
U16
U16
U16 Control Unit status word r2089[1] 501 [2458] CU_ZSW
4000 hex p2000 I16 Actual speed, smoothed r0063[1] 57 [4715] NIST_A_GLATT
U16 Pos selected block r2670 202 [3650] AKTSATZ
U16 Pos status word r2683 204 [3645] PosZSW
1 hex 1 LU I32 Pos position actual value r2521 206 [4010] XistP
[4715]
P
R
O
F
I
B
U
S
F
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n

d
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2
-
9
7
1

S
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s

A
G

2
0
0
6

A
l
l

R
i
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t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
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M
a
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,

0
3
/
2
0
0
6

E
d
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F
i
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e

2
-
5
0
2
4
5
1

Z
S
W
1

s
t
a
t
u
s

w
o
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d

i
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c
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n
e
c
t
i
o
n

(
p
2
0
3
8
=
2
)
- 2451 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 10.03.06 V02.04.00 PROFIBUS - ZSW1 status word interconnection (p2038 = 2)
Signal sources for ZSW1 (Interface Mode PROFIdrive VIK-NAMUR, p2038 = 2)
<2> The status word is generated using the binector-connector converter p2088[0].
<3> The master system requests the process data.
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Ready to operate (DC link loaded, pulses blocked)
1 = Ready to power-up
1 = Operation enabled (drive follows n_set)
1 = Fault present
1 = No coast down active (OFF2 inactive)
1 = No fast stop active (OFF3 inactive)
1 = Power-on inhibit active
1 = Alarm present
1 = Speed setpoint - actual value deviation within tolerance t_off
1 = Control requested
1 = f or n comparison value reached/exceeded
1 = I, M, or P limit not reached
Reserved
1 = No motor overtemperature alarm
1 = Display CDS
1 = Motor rotates forwards (n_act 0)
0 = Motor rotates backwards (n_act < 0)
<3>
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2197.7
p2080[9] = r0899.9
p2080[10] = r2199.1
p2080[11] = r0056.13
-
p2080[13] = r2135.14
p2080[0] = r0899.0
p2080[1] = r0899.1
p2080[14] = r2197.3
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[2534.7]
[2503.7]
[2536.7]
[2522.7]
-
[2548.7]
-
[2503.7]
[2503.7]
[2534.7]
[Function diagram]
Internal status word
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[8010]
[2503]
[8010]
[5610] [6060]
-
[8016]
-
[2610]
[2610]
[8010]
[Function diagram]
Signal source
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
<2>
Inverted
Refer to [1020.7]
p2080[15] = r0836.0
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
B
U
S
2
-
9
7
2

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
5
1
2
4
5
2

Z
S
W
1

s
t
a
t
u
s

w
o
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d

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

(
p
2
0
3
8
=
0
)
- 2452 -
Function diagram
8 7 6 5 4 3 2 1
Signal sources for ZSW1 (Interface Mode SINAMICS/MICROMASTER, p2038 = 0)
<1> Used in telegram 1, 2, 3, 4, 5, 6, 7, 110, 352.
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Fault present
1 = Alarm present
1 = I, M, or P limit not reached
1 = Open holding brake
1 = No alarm, thermal overload, power unit
1 = Motor rotates forwards (n_act 0)
0 = Motor rotates backwards (n_act < 0)
<3>
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2197.7
p2080[9] = r0899.9
p2080[10] = r2199.1
p2080[11] = r1407.7
p2080[12] = r0899.12
p2080[13] = r2135.14
p2080[15] = r2135.15
p2080[0] = r0899.0
p2080[1] = r0899.1
p2080[14] = r2197.3
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[2534.7]
[2503.7]
[2536.7]
[2522.7]
[2503.7]
[2548.7]
[2548.7]
[2503.7]
[2503.7]
[2534.7]
[Function diagram]
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[8010]
[2503]
[8010]
[5610] [6060]
[2701]
[8016]
[8014]
[2610]
[2610]
[8010]
[Function diagram]
signal source
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
<2>
Inverted
Refer to [1020.7]
<4> Not for Vector V/f.
<4>
P
R
O
F
I
B
U
S
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
9
7
3

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
5
2
2
4
5
3

Z
S
W
1

s
t
a
t
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s

w
o
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d

i
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c
o
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n
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c
t
i
o
n

(
p
2
0
3
8
=
1
)
- 2453 -
Function diagram
8 6 5 4 3 2 1
Signal sources for ZSW1 (Interface Mode SIMODRIVE 611 universal, p2038 = 1)
<1> Used in telegrams 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 352.
7
<1>
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[8010]
[2503]
[8010]
-
-
-
[2522]
-
[2610]
[2610]
[Function diagram]
Signal source
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2197.7
p2080[9] = r0899.9
p2080[10] = r2199.1
-
-
-
p2080[14] = r1407.2
-
p2080[0] = r0899.0
p2080[1] = r0899.1
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[2534.7]
[2503.7]
[2536.7]
-
-
-
[2522.7]
-
[2503.7]
[2503.7]
[Function diagram]
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
Signal
1 = Fault present
1 = No coast down active
1 = No fast stop active
1 = Alarm present
1 = Control requested <2>
Reserved
Reserved
Reserved
Reserved
Meaning
Refer to [1020.7]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
B
U
S
2
-
9
7
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
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t
i
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n
F
i
g
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e

2
-
5
3
2
4
5
4

Z
S
W
2

s
t
a
t
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s

w
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d

i
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c
o
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n
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c
t
i
o
n

(
p
2
0
3
8
=
0
)
- 2454 -
Function diagram
8 7 6 5 4 3 2 1
<2>
<1> Used in telegrams 2, 3, 4, 5, 6, 7, 110.
<2> These signals are automatically interconnected for clock-cycle synchronous operation.
[Function diagram]
signal source
Interconnection
parameters
Signal Meaning
p2081[2] = r0051.2
p2081[3] = r0051.3
p2081[4] = r0051.4
-
-
p2081[7] = r0896.0
p2081[8] = r1406.8
-
-
p2081[11] = r0835.0
Implicitly interconnected
p2081[0] = r0051.0
p2081[1] = r0051.1
ZSW2.0
ZSW2.1
ZSW2.2
ZSW2.3
ZSW2.4
ZSW2.5
ZSW2.6
ZSW2.8
ZSW2.9
ZSW2.11
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
ZSW2.7
ZSW2.10
1 = Drive data set DDS effective, bit 0
Reserved
Reserved
1 = Parking axis active
Reserved
Reserved
1 = Data set changeover active
Slave sign-of-life bit 0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[Function diagram]
internal status word
[8565]
[8565]
[8565]
-
-
-
[2520]
-
-
-
-
-
-
-
[8565]
[8565]
Signal sources for ZSW2 (Interface Mode SINAMICS/MICROMASTER, p2038 = 0)
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
Refer to [1020.7]
P
R
O
F
I
B
U
S
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
2
-
9
7
5

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
5
4
2
4
5
5

Z
S
W
2

s
t
a
t
u
s

w
o
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d

i
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c
o
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n
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c
t
i
o
n

(
p
2
0
3
8
=
1
)
- 2455 -
Function diagram
8 7 6 5 4 3 2 1
Signal sources for ZSW2 (Interface Mode SIMODRIVE 611 universal, p2038 = 1)
<2>
<1> Used in telegrams 2, 3, 4, 5, 6, 102, 103, 105, 106, 116.
<2> These signals are automatically interconnected for clock-cycle synchronous operation.
<1>
p2081[2] = r0051.2
-
p2081[4] = r1199.2
p2081[5] = r0899.12
p2081[6] = r2093.6
p2081[7] = r0896.0
p2081[8] = r1406.8
p2081[9] = r0051.3
p2081[10] = r0051.4
p2081 [11] = r0835.0
p2081[0] = r0051.0
p2081[1] = r0051.1
Interconnection
parameters
Reserved
1 = Ramp-function generator inactive
1 = Open the holding brake
1 = Integrator inhibit, speed controller
1 = Parking axis active
1 = Data set changeover active
Meaning
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
[8565]
-
[3060] [3080]
[2701]
[5040] [5210]
-
[2520]
[8565]
[8565]
-
-
-
-
-
[8565]
[8565]
[Function diagram]
Signal source
-
-
-
[2503.7]
-
-
-
-
-
-
-
-
-
-
-
-
[Function diagram]
ZSW2.0
ZSW2.1
ZSW2.2
ZSW2.3
ZSW2.4
ZSW2.5
ZSW2.6
ZSW2.8
ZSW2.9
ZSW2.11
ZSW2.12
ZSW2.13
ZSW2.14
ZSW2.15
ZSW2.7
ZSW2.10
Signal
Refer to [1020.7]
<3> Only when the function module "expanded setpoint channel" is activated (r0108.8 = 1).
<3>
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
B
U
S
2
-
9
7
6

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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t

M
a
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l
,

0
3
/
2
0
0
6

E
d
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n
F
i
g
u
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e

2
-
5
5
2
4
5
6

M
E
L
D
W

s
t
a
t
u
s

w
o
r
d

i
n
t
e
r
c
o
n
n
e
c
t
i
o
n
- 2456 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 PROFIBUS - MELDW status word interconnection
<1> Used in telegrams 102, 103, 105, 106, 110, 116.
Signal sources for MELDW <1>
Interconnection
parameters
[Function diagram]
[Function diagram]
signal source
Meaning Signal
MELDW.0
MELDW.1
MELDW.2
MELDW.3
MELDW.4
MELDW.5
MELDW.6
MELDW.8
MELDW.9
MELDW.11
MELDW.12
MELDW.13
MELDW.14
MELDW.15
MELDW.7
MELDW.10
1 = Torque utilization [%] < torque threshold value 2 (p2194)
1 = Ramp-up/ramp-down completed
1 = |n_act| < speed threshold value 3 (p2161)
1 = |n_act| speed threshold value 2 (p2155)
Reserved
Reserved
1 = No alarm, thermal overload, power unit
1 = Speed setpoint - actual value deviation within tolerance t_on
Reserved
Reserved
1 = Controller enable
1 = Drive ready
Reserved
Reserved
1 = Pulses enabled
p2082[2] = r2199.0
p2082[3] = r2197.1
-
-
p2082[6] = r2135.14
p2082[7] = r2135.15
p2082[8] = r2199.4
-
-
p2082[11] = r0899.8
p2082[12] = r0899.7
p2082[13] = r0899.11
-
-
p2082[0] = r2199.5
p2082[1] = r2199.11
[2537.7]
[2534.7]
-
-
[2548.7]
[2548.7]
[2537.7]
-
-
[2503.7]
[2503.7]
[2503.7]
-
-
[2537.7]
[2537.7]
[8010]
[8010]
-
-
[8016]
[8014]
[8010]
-
-
[2610]
[2610]
[2610]
-
-
[8010]
[8012]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Inverted
<2>
Refer to [1020.7]
P
R
O
F
I
B
U
S
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
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i
o
n
F
i
g
u
r
e

2
-
5
6
2
4
5
7

E
_
Z
S
W
1

s
t
a
t
u
s

w
o
r
d

i
n
f
e
e
d

i
n
t
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r
c
o
n
n
e
c
t
i
o
n
- 2457 -
Function diagram
8 7 6 5 4 3 2 1
fp_2457_01_eng.vsd DO: A_INF, B_INF, S_INF
SINAMICS S 17.05.05 V02.04.00 PROFIBUS - E_ZSW1 status word infeed interconnection
<2> Master system requests process data.
Refer to [1020.7]
Signal sources for E_ZSW1 <1>
ZSW1.0
Signal
[Function diagram] signal source [Function diagram] internal status word
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.7
ZSW1.8
ZSW1.9
ZSW1.10
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
[2548.7]
-
Inverted
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[8065]
[8060]
p2080[0] = r0899.0
Interconnection parameters
-
-
-
-
-
p2080[1] = r0899.1
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
-
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[9] = r0899.9
-
p2080[11] = r0899.11
p2080[12] = r0899.12
Meaning
1 = Ready to operate
1 = Fault present
1 = No OFF2 effective
1 = Power-on inhibit
1 = Alarm present
Reserved
1 = PLC requests control
<2>
1 = Pre-charging completed
1 = Line contactor closed
Reserved
Reserved
Reserved
1 = Operation enabled
Reserved
Reserved
[8926.7]
[8926.7]
[8926.7]
-
-
-
-
A_INF
[8926.7]
[8926.7]
-
[8926.7]
-
[8926.7]
[8926.7]
[8726.7]
-
-
-
-
-
-
B_INF
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[8726.7]
[2548.7]
[8826.7]
[8826.7]
-
-
-
-
-
S_INF
[8932]
[8932]
-
-
-
-
[8932]
[8932]
A_INF
[8934]
[8950]
-
[8926]
-
[8932]
[8732]
-
-
-
-
[8732]
-
B_INF
[8732]
[8732]
[8732]
[8726]
-
[8750]
[8734]
-
-
-
-
-
S_INF
[8834]
[8850]
-
[8826]
[8832]
[8832]
[8832]
[8832]
[8832] [8826.7]
[8826.7]
[8826.7]
[8826.7]
-
[8826.7]
[8826.7]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
B
U
S
2
-
9
7
8

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
5
7
2
4
5
8

C
U
_
Z
S
W

s
t
a
t
u
s

w
o
r
d

C
o
n
t
r
o
l

U
n
i
t

i
n
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c
o
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n
e
c
t
i
o
n
- 2458 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 PROFIBUS - CU_ZSW status word Control Unit interconnection
Signal sources for CU_ZSW
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
p2081[7] = r2139.7
p2081[8] = r0899.8
Implicitly
interconnected
Implicitly
interconnected
Implicitly
interconnected
Implicitly
interconnected
-
Reserved
Alarm present
Synchronisation (SYNC)
Reserved
Slave-Sign-of-life Bit 0
Reserved
Reserved
Fault present
Reserved
Reserved
Reserved
Reserved
CU_ZSW.1
CU_ZSW.2
CU_ZSW.3
CU_ZSW.4
CU_ZSW.5
CU_ZSW.6
CU_ZSW.8
CU_ZSW.9
CU_ZSW.11
CU_ZSW.12
CU_ZSW.13
CU_ZSW.14
CU_ZSW.15
CU_ZSW.7
CU_ZSW.10
- - - Reserved CU_ZSW.0
Inverted
[Function diagram]
signal source
[Function diagram]
Interconnection
parameters
Meaning Signal
-
-
-
-
-
-
-
-
-
- -
-
p2081[3] = r2139.3
Refer to [1020.7]
<1> Used in telegram 390 and 391.
<1>
P
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O
F
I
B
U
S
F
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c
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n

d
i
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r
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s
2
-
9
7
9

S
i
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m
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s

A
G

2
0
0
6

A
l
l

R
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g
h
t
s

R
e
s
e
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v
e
d
S
I
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A
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S
S

L
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,

0
3
/
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0
0
6

E
d
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F
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2
-
5
8
2
4
5
9

E
_
D
I
G
I
T
A
L

i
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n
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n
- 2459 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 PROFIBUS - E_DIGITAL interconnection
Signal targets for E_DIGITAL
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- -
Inverted
[Function diagram]
signal target
Refer to [1020.7]
-
-
-
-
-
-
-
E_DIGITAL.1
E_DIGITAL.2
E_DIGITAL.3
E_DIGITAL.4
E_DIGITAL.5
E_DIGITAL.6
E_DIGITAL.8
E_DIGITAL.9
E_DIGITAL.11
E_DIGITAL.12
E_DIGITAL.13
E_DIGITAL.14
E_DIGITAL.15
E_DIGITAL.7
E_DIGITAL.10
E_DIGITAL.0
Signal
<3> Pre-assignment, can be freely changed.
Digital input 12 (DI/DO 12)
Digital input 2 (DI 2)
Meaning
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
[Function diagram]
-
<3>
Interconnection
parameters
p2082[0] = r0722[8]
p2082[3] = r0722[11]
p2082[5] = r0722[13]
p2082[6] = r0722[14]
p2082[7] = r0722[15]
p2082[8] = r0722[0]
p2082[2] = r0722[10]
p2082[4] = r0722[12]
p2082[1] = r0722[9]
p2082[9] = r0722[1]
p2082[11] = r0722[3]
p2082[13] = r0722[5]
p2082[14] = r0722[6]
p2082[15] = r0722[7]
p2082[10] = r0722[2]
p2082[12] = r0722[4]
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2> Can be set via p0728 as input (DI) or output (DO). <1> Used in telegram 390 and 391.
<1>
F
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d
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a
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r
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s
P
R
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F
I
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S
2
-
9
8
0

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
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S
S

L
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M
a
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a
l
,

0
3
/
2
0
0
6

E
d
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n
F
i
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u
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e

2
-
5
9
2
4
6
0

R
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

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

v
i
a

B
I
C
O

(
p
0
9
2
2
=
9
9
9
)
- 2460 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 20.03.06 V02.04.00 PROFIBUS - Receive telegram, free interconnection via BICO (p0922 = 999)
X126
PROFIBUS
PZD receive word 1
PZD receive word 2
r2060[0] DWORD
r2060[4] DWORD
Bit 0 r2091.0
r2050[1]
Bit 15 r2091.15
Bit 0 r2090.0
r2050[0]
Bit 15 r2090.15
...
PZD receive word 3
PZD receive word 4
r2060[2] DWORD
Bit 0 r2093.0
r2050[3]
Bit 15 r2093.15
Bit 0 r2092.0
r2050[2]
Bit 15 r2092.15
...
...
r2060[1] DWORD
...
r2050[4]
r2060[3] DWORD
PZD receive word 32
r2050[30]
r2060[30] DWORD
r2050[31]
(0)
p2099[0]
Bit 0 r2095.0
Bit 15 r2095.15
(0)
p2099[1]
Reference quantities for further interconnection
p200x
<3> <3>
2 connector-binector converter
<2>
Bit 0 r2094.0
Bit 15 r2094.15
<1> In order to maintain the PROFIdrive profile, receive word 1 must be used as control word (STW1) (due to bit 10 "control requested").
<2> Using the connector-binector converters, the bits can be extracted from two of the PZD receive words 5 to 16 and used as binectors.
<3> For words and double words, the representation 4000 hex = 100 % or 4000 0000 hex = 100 % for double words.
Reference quantities p200x are decisive for the ongoing interconnection (100 % corresponds to p200x).
For temperatures, the following applies: 100 degrees Celsius corresponds to 100 % = 4000 hex or 4000 000 hex, and 0 degrees Celsius corresponds to 0 %.
The following applies to the electrical angle: 90 degrees corresponds to 100 % = 4000 hex or 4000 0000 hex, and 0 degrees corresponds to 0 %.
p2098[1].0
p2098[1].15
p2098[0].15
p2098[0].0
<1>
PROFIBUS
receive telegram
1
0
1
1
0
1
1
0
1
1
0
1
Refer to [1020.7]
<2>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
4000,00 s
PZD receive word 5
PZD receive word 31
r2050[29]
r2060[29] DWORD
PZD receive word 30
PZD receive word 29 r2050[28]
r2060[28] DWORD
r2060[5] DWORD
r2050[5]
PZD receive word 6
P
R
O
F
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F
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n

d
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s
2
-
9
8
1

S
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m
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s

A
G

2
0
0
6

A
l
l

R
i
g
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t
s

R
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s
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v
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d
S
I
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A
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S
S

L
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,

0
3
/
2
0
0
6

E
d
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F
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2
-
6
0
2
4
7
0

S
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

i
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t
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c
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n
n
e
c
t
i
o
n

v
i
a

B
I
C
O

(
p
0
9
2
2
=
9
9
9
)
- 2470 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 26.04.05 V02.04.00 PROFIBUS - send telegram, free interconnection via BICO (p0922 = 999)
PROFIBUS send words 1...19
Diagnostics display
r2053[0...18]
...
PZD send word 1
PZD send word 2
DWORD
p2061[0]
DWORD
p2061[1]
DWORD
p2061[2]
DWORD
p2061[3]
DWORD
p2061[4]
DWORD
p2061[5]
DWORD
p2061[6]
DWORD
p2061[7]
DWORD
p2061[8]
DWORD
p2061[9]
DWORD
p2061[10]
DWORD
p2061[11]
DWORD
p2061[12]
DWORD
p2061[13]
DWORD
p2061[14]
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PZD send word 7
PZD send word 8
PZD send word 9
PZD send word 10
PZD send word 11
PZD send word 12
PZD send word 13
PZD send word 14
PZD send word 15
PZD send word 16
<2>
(0)0
p2051[1]
(0)0
p2051[2]
(0)0
p2051[3]
(0)0
p2051[4]
(0)0
p2051[5]
(0)0
p2051[6]
(0)0
p2051[7]
(0)0
p2051[8]
(0)0
p2051[9]
(0)0
p2051[10]
(0)0
p2051[11]
(0)0
p2051[12]
(0)0
p2051[13]
(0)0
p2051[14]
(0)0
p2051[15]
(0)0
p2051[0]
<2>
Reference quantities for
further interconnection
p200x
<3>
<3>
<1>
<1>
r2063[0...14]
Refer to [1020.7]
PROFIBUS send
telegram
X126
PROFIBUS
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
<1> In order to maintain the PROFIdrive profile, send word 1 must be used as status
word 1 (ZSW1), not as DWORD.
<2> Every PZD word can be assigned with a word or a double word. Only one of the
2 interconnection parameters p2051 or p2061 may have a value 0 for a PZD
word.
<3> Physical word and double word values are inserted in the telegram as
referenced variables. p200x apply as reference variables (telegram contents =
4000 hex or 4000 0000 hex in the case of double words if the input variable has
the value p200x). For temperatures, the following applies: 100 degrees Celsius
corresponds to 100 % = 4000 hex or 4000 0000 hex, and 0 degrees Celsius
corresponds to 0%. For the electrical angle, the following applies: 90 degrees
corresponds to 100 % = 4000 hex or 4000 0000 hex, and 0 degrees
corresponds to 0 %.
PZD send word 17
PZD send word 18
PZD send word 19
(0)0
p2051[16]
(0)0
p2051[17]
(0)0
p2051[18]
F
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t
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o
n

d
i
a
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r
a
m
s
P
R
O
F
I
B
U
S
2
-
9
8
2

S
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
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S
S

L
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M
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,

0
3
/
2
0
0
6

E
d
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F
i
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u
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e

2
-
6
1
2
4
7
2

S
t
a
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s

w
o
r
d
s
,

f
r
e
e

i
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n
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t
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n
- 2472 -
Function diagram
8 7 6 5 4 3 2 1
fp_2472_01_eng.vsd DO: A_INF, CU_S, SERVO, TB30, TM31, VECTOR
SINAMICS S 31.03.05 V02.04.00 PROFIBUS status words free interconnection
4 binector-connector converter
4000.00 s
(0.0)
p2081[0...15]
r2089[1]
Status word 2
(0.0)
(0.0)
[0]
[1]
[11]
p2088[1].0
p2088[1].11
1
0
1
1
0
1
(0.0)
p2080[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p2088[0].15
p2088[0].0
1
0
1
1
0
1
(0.0)
p2082[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p2088[2].15
p2088[2].0
1
0
1
1
0
1
(0.0)
p2083[0...15]
(0.0)
(0.0)
[0]
[1]
[15]
p2088[3].0
p2088[3].15
1
0
1
1
0
1
<1>
<1> For clock-cycle synchronous SERVO, these signals may not be interconnected (slave sign-of-life).
(0.0)
(0.0)
[12]
[15]
r2089[0]
Status word 1
r2089[2]
Free status word 3
r2089[3]
Free status word 4
P
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F
I
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U
S
F
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c
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n

d
i
a
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r
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s
2
-
9
8
3

S
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m
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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t

M
a
n
u
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l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
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e

2
-
6
2
2
4
7
5

S
T
W
1

c
o
n
t
r
o
l

w
o
r
d

1

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

(
r
0
1
0
8
.
4
=
1
)
- 2475 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.01.06 V02.04.00 PROFIBUS - STW1 control word 1 interconnection (r0108.4 = 1)
<1> Used in telegram 7, 110, 999.
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r2090.2
p0852[0] = r2090.3
p2641 = r2090.4
p2640 = r2090.5
p2631 = r2090.6
p2650 = r2090.6
p2103[0] = r2090.7
p2589 = r2090.8
p2590 = r2090.9
p0854[0] = r2090.10
p2595 = r2090.11
-
-
-
-
p0840[0] = r2090.0
p0844[0] = r2090.1
0 = OFF1 (braking with ramp-funct. generator, then pulse cancellation and ready-to-power-up)
1 = Do not reject traversing task
0 = Reject traversing task (ramp-down with the maximum deceleration)
1 = No intermediate stop
0 = Intermediate stop
= Activate traversing task
1 = Jog 1 ON
0 = Jog 1 OFF
1 = Jog 2 ON
0 = Jog 2 OFF
1 = Control via PLC
1 = Start homing
0 = Stop homing
Reserved
Reserved
Reserved
Reserved
[2501.3]
[2501.3]
-
-
-
[2546.1]
-
-
[2501.3]
-
-
-
-
-
[2501.3]
[2501.3]
Signal targets for STW1 (positioning mode, r0108.4 = 1)
[2610]
[2610]
[3616.5]
[3625]
[3616.5]
[3625]
[3620.1]
[3625] [3640.1]
[8060]
[3610.1]
[3625]
[3610.1]
[3625]
[2501]
[3612.1]
[3625]
-
-
-
-
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<2>
<1>
Refer to [1020.7]
<3>
<3> In addition, the interconnection p2649 = 0 is made
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
P
R
O
F
I
B
U
S
2
-
9
8
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
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t

M
a
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,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
6
3
2
4
7
6

S
A
T
Z
A
N
W

p
o
s

b
l
o
c
k

s
e
l
e
c
t

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

(
r
0
1
0
8
.
4
=
1
)
- 2476 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.01.06 V02.04.00 PROFIBUS SATZANW pos block select interconnection (r0108.4 = 1)
SATZANW1.0
SATZANW1.1
SATZANW1.2
SATZANW1.3
SATZANW1.4
SATZANW1.5
SATZANW1.6
SATZANW1.8
SATZANW1.9
SATZANW1.11
SATZANW1.12
SATZANW1.13
SATZANW1.14
SATZANW1.15
SATZANW1.7
SATZANW1.10
p2627 = r2091.2
p2628 = r2091.3
p2629 = r2091.4
p2630 = r2091.5
-
-
-
-
-
-
-
-
-
p2647 = r2091.15
p2625 = r2091.0
p2626 = r2091.1
1 = Block selection, bit 0
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Activate MDI
0 = De-activate MDI
Reserved
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal targets for SATZANW (positioning mode, r0108.4 = 1)
[3640]
[3640]
[3640]
[3640]
-
-
-
-
-
-
-
-
-
[3625]
[3640]
[3640]
[3640]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
P
R
O
F
I
B
U
S
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
6
4
2
4
7
7

P
o
s
S
T
W

p
o
s

c
o
n
t
r
o
l

w
o
r
d

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

(
r
0
1
0
8
.
4
=
1
)
- 2477 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 20.01.06 V02.04.00 PROFIBUS PosSTW pos control word interconnection (r0108.4 = 1)
<1> Used in telegram 110, 999.
PosSTW1.0
PosSTW1.1
PosSTW1.2
PosSTW1.3
PosSTW1.4
PosSTW1.5
PosSTW1.6
PosSTW1.8
PosSTW1.9
PosSTW1.11
PosSTW1.12
PosSTW1.13
PosSTW1.14
PosSTW1.15
PosSTW1.7
PosSTW1.10
p2612 = r2092.2
-
-
p2591 = r2092.5
-
-
-
-
-
-
-
-
-
p2655 = r2092.0
p2596 = r2092.1
1 = Tracking mode
0 = No tracking mode
1 = Set home position
0 = Do not set home position
1 = Reference cam active
Reserved
Reserved
1 = Jogging, incremental active
0 = Jogging, velocity active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal targets for PosSTW (positioning mode, r0108.4 = 1)
[3612]
-
-
[3610]
-
-
-
-
-
-
-
-
-
[3635]
[3612]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
- -
F
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d
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P
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F
I
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2
-
9
8
6

S
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m
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
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s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
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S
S

L
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M
a
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a
l
,

0
3
/
2
0
0
6

E
d
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F
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2
-
6
5
2
4
7
9

Z
S
W
1

s
t
a
t
u
s

w
o
r
d

1

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

(
r
0
1
0
8
.
4
=
1
)
- 2479 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.01.06 V02.04.00 PROFIBUS - ZSW1 status word 1 interconnection (r0108.4 = 1)
Signal sources for ZSW1 (positioning mode, r0108.4 = 1)
Signal Meaning
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6
ZSW1.8
ZSW1.9
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14
ZSW1.15
ZSW1.7
ZSW1.10
1 = Fault present
1 = Alarm present
1 = Following error within tolerance
1 = Target position reached
1 = Home position set
= Acknowledgement traversing block activated
1 = Drive at standstill
Reserved
Reserved
<3>
p2080[2] = r0899.2
p2080[3] = r2139.3
p2080[4] = r0899.4
p2080[5] = r0899.5
p2080[6] = r0899.6
p2080[7] = r2139.7
p2080[8] = r2684.8
p2080[9] = r0899.9
p2080[10] = r2684.10
p2080[11] = r2684.11
p2080[12] = r2684.12
p2080[13] = r2199.0
-
p2080[0] = r0899.0
p2080[1] = r0899.1
-
Interconnection
parameters
[2503.7]
[2548.7]
[2503.7]
[2503.7]
[2503.7]
[2548.7]
[3646.7]
[2503.7]
[3646.7]
[3646.7]
[3646.7]
[2537.7]
-
[2503.7]
[2503.7]
-
[Function diagram]
[2610]
[8060]
[2610]
[2610]
[2610]
[8065]
[4025]
[2503]
[4020] [3625]
[3612] [3614]
[3616] [3620]
[8010] [3625]
-
[2610]
[2610]
-
[Function diagram]
signal source
<1>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
<2>
Inverted
Refer to [1020.7]
P
R
O
F
I
B
U
S
F
u
n
c
t
i
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n

d
i
a
g
r
a
m
s
2
-
9
8
7

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
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i
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n
F
i
g
u
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e

2
-
6
6
2
4
8
1

R
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

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

v
i
a

B
I
C
O

(
p
0
9
2
2
=
9
9
9
)
- 2481 -
Function diagram
8 7 6 5 4 3 2 1
fp_2481_01_eng.vsd DO: A_INF, B_INF, S_INF, CU_S, TB30, TM31
SINAMICS S 12.08.05 V02.04.00 PROFIBUS - Receive telegram, free interconnection via BICO (p0922 = 999)
X126
PROFIBUS
PZD receive word 1
PZD receive word 2
PZD receive word 5
Bit 0 r2091.0
r2050[1]
Bit 15 r2091.15
Bit 0 r2090.0
r2050[0]
Bit 15 r2090.15
...
PZD receive word 3
PZD receive word 4 r2050[3]
r2050[2]
...
r2050[4]
(0)
p2099[0]
Bit 0 r2095.0
Bit 15 r2095.15
(0)
p2099[1]
p200x
<3>
2 connector-binector converter
<2>
Bit 0 r2094.0
Bit 15 r2094.15
<1> In order to maintain the PROFIdrive profile, for A_INFEED, the receive word 1 must be used as control word (STW1) (due to bit 10 "control
requested").
<2> Using the two connector-binector converters, two of the PZD receive words 3 to 5 can be converted into binectors for continued interconnection.
<3> For words, the following representation applies, 4000 hex = 100 %. Reference quantities p200x are decisive for the ongoing interconnection
(100 % corresponds to p200x).
For temperatures, the following applies: 100 degrees Celsius corresponds to 100 % = 4000 hex, and 0 degrees Celsius corresponds to 0 %.
For the electrical angle, the following applies: 90 degrees corresponds to 100 % = 4000 hex and 0 degrees corresponds to 0 %.
p2098[1].0
p2098[1].15
p2098[0].15
p2098[0].0
<1>
PROFIBUS
receive telegram
1
0
1
1
0
1
1
0
1
1
0
1
Refer to [1020.7]
<2>
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
4000,00 s
F
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c
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n

d
i
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r
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m
s
P
R
O
F
I
B
U
S
2
-
9
8
8

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
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t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
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i
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n
F
i
g
u
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e

2
-
6
7
2
4
8
3

S
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

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

v
i
a

B
I
C
O

(
p
0
9
2
2
=
9
9
9
)
- 2483 -
Function diagram
8 7 6 5 4 3 2 1
fp_2483_01_eng.vsd DO: A_INF, B_INF, CU_S, S_INF, TB30, TM15DI/DO, TM31
SINAMICS S 12.08.05 V02.04.00 PROFIBUS - send telegram, free interconnection via BICO (p0922 = 999)
PROFIBUS send words 1...7
Diagnostic display
r2053[0...6]
...
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
<2>
(0)
p2051[1]
(0)
p2051[2]
(0)
p2051[3]
(0)
p2051[4]
(0)
p2051[0]
p200x
<3>
<1>
Refer to [1020.7]
<1> In order to maintain the PROFIdrive profile, send word 1 must be used as status word 1 (ZSW1) for A_INFEED.
<2> Using the binector/connector converters at [2472], bits of 4 send words can be interconnected with any binectors.
<3> Physical word quantities are inserted in the telegram as referenced quantities. In this case, p200x is decisive as reference quantity (telegram contents = 4000 hex
if the input quantity has the value p200x).
For temperatures, the following applies: 100 degrees Celsius corresponds to 100 % = 4000 hex and 0 degrees Celsius corresponds to 0 %.
For the electrical angle, the following applies: 90 degrees corresponds to 100 % = 4000 hex and 0 degrees corresponds to 0 %.
<4> Valid for CU_S.
PROFIBUS send telegram
X126
PROFIBUS
Drive object n
Header
Drive object 1
Drive object 2
.
.
.
.
.
.
Drive object m
Trailer
PZD send word 6
PZD send word 7
(0)
p2051[5]
(0)
p2051[6]
<4>
<4>
Internal control/status words
Function diagrams
2.9 Internal control/status words
Function diagrams
2501 Control word sequence control 2-990
2503 Status word sequence control 2-991
2505 Control word setpoint channel 2-992
2520 Control word speed controller 2-993
2522 Status word speed controller 2-994
2526 Status word closed-loop control 2-995
2530 Status word closed-loop current control 2-996
2534 Status word monitoring 1 2-997
2546 Control word faults/alarms 2-1000
2548 Status word, faults/warnings 1 and 2 2-1001
F
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n

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c
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t
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s
t
a
t
u
s

w
o
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s
2
-
9
9
0

S
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m
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n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
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s

R
e
s
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v
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d
S
I
N
A
M
I
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S
S

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,

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3
/
2
0
0
6

E
d
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F
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2
-
6
8
2
5
0
1

C
o
n
t
r
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l

w
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s
e
q
u
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n
c
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c
o
n
t
r
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l
- 2501 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.12.05 V02.04.00 Internal control/status words, control word sequence control
p0844[C]
(1)
1 OFF2 (electrical)
p0845[C]
(1)
2 OFF2 (electrical)
p0848[C]
(1)
1 OFF3 (fast stop)
p0849[C]
(1)
2 OFF3 (fast stop)
11
12
13
14
15
p0840[C]
(0)
OFF1
p0852[C]
(1)
p1140[C]
(1)
p1141[C]
(1)
p1142[C]
(1)
PROFIdrive bit
<1> Bit 10 must be set in the first PZD word of
the telegram received from the serial
interface in order that the drive accepts the
process data.
10
7
6
5
4
3
2
1
0
Bit No.
<2>
<2>
<4>
<2> PROFIBUS interconnection: For
PROFIBUS standard telegrams, the
upper inputs are connected with
PROFIBUS-STW1 [2420].
Only involves CDS0.
2000.00 s
p0854[C]
(1)
r0898.0
r0898.1
r0898.2
r0898.3
r0898.4
r0898.5
r0898.6
r0898.10
r0898
STW sequence ctrl
p0855[C]
(0) r0898.7
9
8
p1055 [C]
(0)
p1056 [C]
(0)
r0898.8
r0898.9
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3> When the master control is retrieved,
entered from STARTER or AOP30.
<3>
<3>
To jog [3030.6]
To jog [3030.6]
To the brake control [2701.4]
To the expanded brake control [2707.1]
To the setpoint channel
[3060.1] [3070.1] [3080.4]
To the setpoint channel [3060.1] [3070.1]
To the setpoint channel
[3060.6] [3070.7] [3080.5]
To the control unit [2610]
r0898.12
To the torque setpoint [6060.4]
p0856[C]
(1)
Control word sequence control
1 = Operating condition, no coast down active (OFF2 inactive)
0 = OFF2 active
1 = Operating condition, no fast stop active (OFF3 inactive)
0 = OFF3 active
1 = Command, open brake
1 = Control via PLC
Reserved
Reserved
1 = Command, close brake
<1>
Reserved
1 = Jog 1
1 = Jog 2
1 = Speed controller enable
= ON
0 = OFF1 active
1 = Start the ramp-function generator
0 = freeze the ramp-function generator
1 = Enable ramp-function generator
1 = Enable speed setpoint
1 = Enable operation
<4> The path from [2711.6] is only valid for the function module "expanded brake control (r0108.14 = 1)".
<4>
p0858[C]
(0) <3> r0898.14
I
n
t
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r
n
a
l

c
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s
F
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n

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

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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t

M
a
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u
a
l
,

0
3
/
2
0
0
6

E
d
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t
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o
n
F
i
g
u
r
e

2
-
6
9
2
5
0
3

S
t
a
t
u
s

w
o
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d

s
e
q
u
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n
c
e

c
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t
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l
- 2503 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 01.02.06 V02.04.00 Internal control/status words - status word sequence control
11
12
13
14
15
r0899
ZSW sequence ctrl
<1> The master system requests process data.
PROFIdrive bit
Bit No.
10
9
8
7
6
5
4
3
0
1
2
From the control unit [2610]
From the control unit [2610.4]
From the basic brake control (p0108.14 = 0) [2701.8]
2000.00 s
r0899.0
r0899.1
r0899.4
r0899.5
r0899.11
r0899.12
r0899.2
r0899.6
r0899.9
Status word sequence control
1 = Jog active
1 = Drive ready
1 = Controller enable
1 = Control requested <1>
Reserved
1 = Pulses enabled
1 = Open holding brake (only for booksize units when the brake is
connected to the power unit)
1 = Command, close holding brake
1 = Enable setpoint from the brake control
1 = Pulse enable from the brake control
Bit 9 = 1 --> Ready to exchange process data
r0899.13
From the basic brake control (p0108.14 = 0) [2701.8]
From the expanded brake control/standstill detection (p0108.14 = 1) [2711.8]
r0899.14
r0899.15
From the control unit [2610] r0899.3
<2>
<2> When the "safe brake control" (SBC) is activated and selected, the brake is no longer controlled using this signal.
<3>
<3>
<3> These signals are only of significance when the "extended brake control" function module is activated (r0108.14 = 1).
r0899.7
r0899.8
F
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t
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o
n

d
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a
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I
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s

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o
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s
2
-
9
9
2

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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t

M
a
n
u
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l
,

0
3
/
2
0
0
6

E
d
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n
F
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e

2
-
7
0
2
5
0
5

C
o
n
t
r
o
l

w
o
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d

s
e
t
p
o
i
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t

c
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a
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l
- 2505 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.05 V02.04.00 Internal control/status words - control word setpoint channel
11
12
13
14
15
1 = Fixed setpoint, bit 0
Control word, setpoint channel
Reserved
1 = Inhibit negative direction of rotation
1 = Inhibit positive direction of rotation
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Motorized potentiometer, raise
1 = Motorized potentiometer, lower
p1020[C]
(0)
Fixed setpoint selection, bit 0
p1023[C]
(0)
p1111[C]
(0)
p1036[C]
(0)
Motorized potentiometer, lower
p1035[C]
(0)
Motorized potentiometer, raise
PROFIdrive bit
9
10
8
7
6
5
4
3
2
1
0
Bit No.
p0115[3] (4000.00 s)
r1198.3
r1198.5
r1198.6
r1198.11
r1198.13
r1198.14
p1022[C]
(0)
p1021[C]
(0)
r1198
STW setpoint channel
r1198.2
r1198.1
r1198.0
p1113[C]
(0)
Direction of rotation reversal
To the setpoint channel [3060.1] [3070.3] r1198.15
p1122[C]
(0)
Bypass RFG
To fixed speed setpoints [3010.2]
To direction of rotation limiting and
direction of rotation reversal [3040.3]
To the motorized potentiometer [3020.1]
To the motorized potentiometer [3020.1]
p1110[C]
(0)
I
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l

c
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F
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a
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s
2
-
9
9
3

S
i
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m
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s

A
G

2
0
0
6

A
l
l

R
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s

R
e
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v
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d
S
I
N
A
M
I
C
S
S

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,

0
3
/
2
0
0
6

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F
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u
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e

2
-
7
1
2
5
2
0

C
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t
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l

w
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s
p
e
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d

c
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e
r
- 2520 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 19.04.05 V02.04.00 Internal control/status words - control word speed controller
1
2
3
4
5
6
7
8
9
10
11
0
Bit No.
12
13
14
15
Vector
-
-
Servo
-
- -
-
r1406
STW n_ctrl
Reserved
Control word, speed controller
Reserved
Reserved
Reserved
1 = speed controller, hold I component
1 = speed controller, set I component
Reserved
Reserved
1 = Traverse to fixed endstop active
Reserved
Reserved
1 = Droop enable
Reserved
Reserved
Reserved
r1406.11
r1406.5
r1406.8
r1406.4
r1406.12
-
To the speed controller [6040.4]
To the closed-loop speed control
[5060.1 and 6060.1]
p1492[C]
(0)
Enables droop
p1545[C]
(0)
TfS activation
p1501[C]
(0)
Changeov n/M_ctrl
-
- -
- -
- -
- -
-
-
-
-
-
- -
-
-
-
To the speed setpoint, droop [6030.1]
To torque signals,
Motor locked/stalled [8012.5]
p1476[C]
(0)
n_ctrl integ stop
p1477[C]
(0)
n_ctrl integ set
<1> 1000.00 s
<1>Only for Servo.
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- 2522 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Internal control/status words - status word speed controller
1
2
3
4
5
6
7
8
9
10
11
0
Bit No.
12
13
14
15
Vector
-
Servo
-
From torque limiting [5610.4]
From the torque setpoint [6060.4][6060.7]
From the setpoint, n-ctrl [5030.8]
<1> From the speed controller [5210.3]
From the speed setpoint, droop [6030.4][6030.5]
From the torque setpoint [6060.7]
From the torque setpoint [6060.7]
Sensorless operation &
[2520.7]
-
-
-
-
r1407
ZSW n_ctrl
r1407.8
r1407.9
r1407.11
r1407.1
1 = Torque control r1406.12
r1407.7
From the changeover, closed-loop control types [5060.5]
From the speed controller [5040.7][6040.7]
From the speed controller [5040.7][6040.7]
1 = V/f control active
Status word, speed controller
1 = Sensorless operation active
1 = Closed-loop speed control active
1 = DSC active
1 = Speed controller, I component held
1 = Speed controller, I component set
1 = Torque limit reached
1 = Torque limiting, upper, active
1 = Torque limiting, lower, active
1 = Droop enabled
1 = Speed setpoint limited
1 = Ramp-function generator set
1 = Sensorless operation due to a fault
Reserved
Reserved
-
r1407.10
r1407.11
r1407.5
r1407.6
r1407.2
<1> Only for closed-loop servo control without encoder.
From the control unit [2610.4]
From the speed setpoint, droop [6030.3]
r1407.3
r1407.12
-
r1407.4
To the speed actual value and pole position
sensing, motor encoder (encoder 1)
[4710.4][4715.4]
To speed setpoint, droop [6030.5]
To torque setpoint [6060.3]
Ramp-function generator tracking [3080.1]
Speed controller [5040.7] [6040.4]
Motor locked/stalled [8012.5]
<2>
r1407.13
<2> Only for Servo.
<2> 1000.00 s
r1407.0
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- 2526 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 02.03.06 V02.04.00 Internal control/status words - status word closed-loop control
1
2
4
1 = Initialization completed
Meaning
1 = De-magnetization completed
1 = Pulses enabled
1 = Magnetization completed
1 = Frequency, negative
0
Bit No.
7
Status word closed-loop control
8
9
11
1 = Field weakening active
1 = Voltage limit active
1 = Frequency limit active
1 = Vdc_max controller active 14
1 = Vdc_min controller active 15
[6722.6]
[6730.5][6731.5]
[6722.3]
[6714.8]
[6730.5][6731.5]
[6320.8][6710.2]
[6320.8][6710.2]
r0056
ZSW closed-loop control
r0056.11
r0056.14
r0056.15
r0056.0
r0056.1
r0056.2
r0056.4
r0056.7
r0056.8
r0056.9
3 1 = Soft starting available r0056.3
5 Reserved r0056.5
6 1 = Acceleration voltage active r0056.6
12 1 = Current limiting controller, voltage output active r0056.12
13 1 = Current/torque limiting active r0056.13
10 1 = Slip limiting active r0056.10 [6310.8]
Refer to [1020.7]
<1>
<1>
<1>
<1>
<1>
<1> Only for U/f control.
[6060.7]
<2> Not for SERVO.
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
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- 2530 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 02.03.06 V02.04.00 Internal control/status words - status word closed-loop current control
r1408
ZSW closed-loop
current control
1
2
1 = Closed-loop current control active
Meaning
1 = Lim. I comp. Id-R active
Reserved
0
Bit No.
Status word closed-loop current control
[6714.5]
[6714.7] 3
4
1 = Limiting U active
5
6
7
8
9
1 = Lim. EMF/Obs-ctrl. active 10
11 1 = Error EMF/Obs-N active
12 1 = Motor stalled active
13 Reserved
14 Reserved
15 Reserved
[6730.3]
Refer to [1020.7]
1 = Limiting Ud active
1 = Limiting Uq active
1 = Pos. limit. Iq active
1 = Neg. limit. Iq active
1 = Iq setpoint limit. active
1 = Id setpoint limit. active
[5040.7]
[5714.5]
[5714.4]
[5714.4]
[5722.7]
<2> Only for VECTOR.
<1> Only for SERVO.
<1>
<2>
<1>
<1>
<1>
<1>
<1>
<2>
<2>
<2>
<2>
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1
Function diagram
Reserved
Status word, monitoring functions 1
|n_act| <= speed threshold value 2 (p2155)
|n_act| > speed threshold value 2 (p2155)
1 = n_act >= 0
Reserved
Reserved
n_act > n_max
Reserved
Reserved
Reserved
9
10
8
7
6
5
4
3
2
1
0
Bit No. r2197
ZSW monitoring functions 1
r2197.7
r2197.6
r2197.2
r2197.1
r2197.3
<1> nact = smoothed speed actual value r2169 [8010.2].
<1>
<1>
From speed signals [8010.8]
1
p0115[3] (4000.00 s)
- 2534 -
8 7 6 5 4 3 2 1
SINAMICS S 08.10.04 V02.04.00 Internal control/status words - status word, monitoring functions 1
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- 2536 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.12.04 V02.04.00 Internal control/status words status word monitoring 2
p0115[3] (4000.00 s)
r2198
r2198.10
r2198.6
r2198.7
11
12
13
14
15
Reserved
Status word monitoring 2
Reserved
Reserved
Reserved
1 = |n_set| < p2161
1 = n_set >0
1 = Motor blocked
1 = Motor stalled
Reserved
Reserved
1 = Torque setpoint < torque threshold value 1 (p2174)
1 = Load monitoring signals an alarm
1 = Load monitoring signals a fault
Reserved
Reserved
Reserved
9
10
8
6
5
4
3
2
1
0
Bit No.
r2198.5
7
From torque messages, motor locked/stalled [8012.8]
From load monitoring [8013.8]
From load monitoring [8013.8]
r2198.11
r2198.12
r2198.4
<1> Only for activated function module "expanded
messages/monitoring functions" (r0108.17 = 1).
<1>
<1>
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Function diagram
- 2537 -
8 7 6 5 4 3 2 1
SINAMICS S 08.10.04 V02.04.00 Internal control/status words - status word, monitoring functions 3
11
12
13
14
15
1 = |n_act| < speed threshold value 3 (p2161)
Status word, monitoring functions 3
1 = f or n comparison value reached or exceeded (p2141)
Reserved
Reserved
1 = Speed setpoint - actual value deviation within tolerance t_on
1 = Ramp-up/ramp-down completed
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Torque utilization < torque threshold value 2 (p2194)
Reserved
Reserved
Reserved
Reserved
PROFIdrive bit
9
10
8
7
6
5
4
3
2
1
0
Bit No.
4000.00 s
From torque signals [8012.5]
r2199
r2199.11
r2199.5
r2199.1
r2199.0 <1>
<1>n_act = smoothed speed actual value r2169 [8010.2].
[8012.1]
From speed signals [8010.8] r2199.4
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- 2546 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.02.06 V02.04.00 Internal control/status words status word faults/alarms
p2103[C] 1. Acknowledge
p2102[C] Ackn all faults
Pulse generator
11
12
13
14
15
Reserved
Control word, faults/alarms
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
= External alarm 1 (A07850)
= External fault 1 (F07860)
PROFIdrive bit
9
10
8
7
6
5
4
3
2
1
0
Bit No.
To alarm buffer [8065.1] r2138.11
To fault buffer [8060.1] r2138.13
r2138
STW faults/alarms
p2112[C] (1)
p2116[C] (1)
p2117[C] (1)
p2106[C] (1)
p2107[C] (1)
4000.00 s
To fault buffer [8060.1]
r2138.7
p2108[C] (1)
p3111[C] (1)
p3112[C] (0)
T 0
p3110 [ms]
This parameter belongs to the Control Unit and
is used as source to simultaneously
acknowledge all of the faults at all drive objects.
<2>
<1>
These parameters belong, depending on the particular drive object
(DO), to the command data sets (CDS).
<2>
<1>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
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- 2548 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 11.03.05 V02.04.00 Internal control and status words - status word faults/alarms
3
...
11
r2135
ZSW faults/alarms 2
Source sampling time
0
r2139
ZSW faults/alarms 1
r2139.3
r2139.7
r2135.14
r2135.15
Refer to [1020.7]
r2135.13
r2135.12
1
2
r2139.0
r2139.6
r2135.0
r2135.1
r2135.2
From the thermal monitoring, power module [8014.8]
From the thermal monitoring, power module [8014.8]
From the thermal monitoring, motor [8016.8]
From the thermal monitoring, motor [8016.8]
r2139.8
From the alarm buffer [8065.4]
From the fault buffer [8060.6]
1 = Fault, encoder 1
Status word, faults/alarms 2
Reserved
1 = Fault motor overtemperature
1 = Fault, thermal overload, power module
1 = Acknowledgement running
Status word, faults/alarms 1
1 = Fault present
Reserved
1 = Internal signal 2 present
1 = Alarm motor overtemperature
1 = Alarm, thermal overload, power module
Reserved
1 = Internal signal 1 present
Reserved
1 = Alarm present
1 = Safety signal present
2
1
Bit No.
r2139.5
9
...
15
4
6
7
8
12
13
14
15
0
Bit No.
5
3
Function diagrams
Sequence control
2.10 Sequence control
Function diagrams
2610 Control unit 2-1003
2634 Missing enable signals, line contactor control 2-1004
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S4: Operation
ZSWA.00/01/02 = 1
ZSWA.11 = 1
ZSWA.06 = 0
Pulses enabled
Controller enabled
No jog operation: Setpoints enabled
- 2610 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 07.02.06 V02.04.00 Sequence control
POWER ON
S1: Power-on inhibit
ZSWA.06 = 1, ZSWA.11 = 0
ZSWA.00/01/02 = 0
Pulses inhibited
S2: Ready to power up
ZSWA.00 = 1, ZSWA.11 = 0
Main contactor is OPEN
Wait for power-up or jog
<2>
S5a: Ramp stop
ZSWA.00/01 = 1
ZSWA.11 = 1
ZSWA.02/06 = 0
S5b: Fast stop
ZSWA.00/01 = 1, ZSWA.11 = 1
ZSWA.02/06 = 0
Bring the drive to n = 0 along the
fast stopping ramp or torque limit,
then inhibit the pulses
S3: Ready
ZSWA.00/01 = 1, ZSWA.11 = 0
ZSWA.02/06 = 0
Line contactor is CLOSED
Wait for pre-charging
"0 = OFF"
&
"Enable operation"
(STWA.03)
From Line Module or A_INFEED
(r0863.0) [8932]
"Enable operation" (STWA.03)
"0 = Cost down"
(STWA.01)
"0 = Fast stop"
(STWA.02)
&
"0 = OFF"
Jog 1
Jog 1
&
&
&
Pulse enable HW[
2701.8][2711.8]
"0 = Fast stop"
(STWA.02)
"0 = Cost down"
(STWA.01)
&
Pulse enable
HW [2701.8] [2711.8]
Close
line contactor
r0863.1
<3>
"0 = Cost down"
(STWA.01)
<1> POWER ON = 24 V electronics power supply OFF --> ON or RESET button.
<2> The sequence control is implemented according to the PROFIdrive profile.
<3> If an Active Infeed is being used, this closes the line contactor (refer to [8932]) and not the DO SERVO/VECTOR.
p0857... p0862
2000.00 s
Missing enable
signals
[2634]
Faults
F07802...F07300
F6000
&
Pulse enable
HW[2701.8]
Drive at standstill
Fault
with OFF1 or
OFF3
response
Drive at standstill
1
0 V at EP terminals
Motor Module
1
Drive at
standstill
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4> These control commands can also be triggered by a fault response.
&
&
"Ready" from Motor Module
De-magnetization completed
(r0046.27 = 0)
0 V at EP terminals
Motor Module
Infeed ready
p0864
&
"Commissioning completed" (p0010 = 0 & p0009 = 0)
From all states
. . .
1
0 V at EP terminals
Motor Module
1
"0 = OFF" (STWA.00)
"0 = Coast down" (STWA.01)
"0 = Fast stop" (STWA.02)
r0046.8 EP terminals, enable missing
0 V at EP terminals, Motor Module
<5> STWA.xx = control word, sequence control, bit xx (r0898) [2501]; ZSWA.xx = status word, sequence control bit xx (r0899) [2503].
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<1>
<5>
<5>
<5>
<5>
S5c: Jogging -
down ramp
Drive is ramped-down using
the ramp-function generator
Jog 2
Jog mode
n_min_jog
Shutdown speed
for jog
1
Jog 2
No jog operation
t_delay_jog
Delay time
for power-down
after jogging
Jog 1
Jog 2
1
"0 = OFF"
Jog 1
Jog 2
OFF3
(has priority over jogging)
Drive at
standstill
OFF2 (has priority over jogging)
&
T 0
p0862
Infeed operation
r0863.0
No LT_fault
UDC uploaded
&
Close line contactor
r0863.1
Controller enable
r0899.8
1
(1)
2. OFF2
p0845
(1)
2. OFF3
p0849
(0)
INF operation
p0864
&
Drive ready
r0899.7
OFF1
OFF2
OFF3
[2634]
1
Internal
enable
missing
or fault
with this
response
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- 2634 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.12.05 V02.04.00 Sequence control - missing enable signals, line contactor control
+24 V
Control unit
Line contactor control
T
p0861
Time monitoring
&
F07300
"Line contactor
feedback signal
missing"
[2120]...[2133]
DI
DO
[2130]...[2133]
r0863.1
Line contactor feedback signal
p0860
Energize
line contactor
r0863.1
Missing enable signals that prevent the drive going into operation
(this situation can be detected at the ZSW sequence control, infeed r0899.2 = 1 [8926]).
Missing enable signals
r0046
[8964.6]
1
To the line module
&
1
Operating monitoring
ON/OFF monitoring
0
From the line
supply
p0115[3] (2000.00 s)
1
2
3
5
6
8
9
16
17
18
21
22
28
Bit No.
0
10
11
12
27
19
30
31
From the control unit
[8932.4]
S3a close
line contactor
S6 open
line contactor
S7 open
line contactor
0 = Internal
fast stop
[3060.2]
[3060.4]
[3070.2]
[3070.4]
1 Fault with
OFF3 response
1
1 = Internal RFG missing
[3060.2]
[3070.2]
<2> For AC/AC devices, diode infeed
<2>
[3020.5]
[2701.8]
1 = OFF2, enable missing
Meaning
1 = Enable operation missing
1 = STOP2, enable missing
1 = STOP1, enable missing
1 = EP terminals, enable missing
1 = Infeed, enable missing
1 = OFF1, enable, internal missing
1 = STOP2, enable internal missing
1 = STOP1, enable internal missing
1 = Open brake missing
1 = Ramp-function generator enable
missing
1 = Ramp-function generator start missing
1 = Setpoint, enable missing
1 = De-magnetization not completed
1 = Pulse enable, internal missing
1 = Speed controller inhibited
1 = Jog setpoint active
<1>
Brake control
Function diagrams
2.11 Brake control
Function diagrams
2701 Basic brake control (r0108.14 = 0) 2-1006
2704 Extended brake control/zero speed detection (r0108.14 = 1) 2-1007
2707 Extended brake control/open and close brake (r0108.14 = 1) 2-1008
2711 Extended brake control/signal outputs (r0108.14 = 1) 2-1009
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=
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)
- 2701 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 29.03.06 V02.04.00 Brake control - basic brake control (r0108.14 = 0)
Open brake
0...10 000 ms
p1217 (100)
1
T 0
n_stop n_thresh
0.0...210 000.0 RPM
p1226 (20.0)
r0063
n_act smooth
r0060
n_set before filter
[5020.4] for SERVO
[6030.2] for VECTOR
[4710.6]
0.000...300.000 s
p1227 (4.000)
0...10 000 ms
p1216 (100)
Pulse enable, HW
T 0
p1215 = 2
<1>
1
0
1
0
T 0
1
&
1
OFF 1 present
OFF 3 present
Pulse enable X21
1
1
<3> If p1215 = 0, 2 --> t = 0 ms.
<3>
Background
Refer to [1020.7]
<1> Motor holding brake configuration
0 = No motor holding brake used.
1 = Motor holding brake the same as sequential control.
2 = Motor holding brake always open.
3 = Motor holding brake the same as sequence control, brake connection can be parameterized using BICO.
Close brake
Open brake
<4> Only when Safety Integrated is activated (Double Motor Module: X22, Chassis: X41).
<4>
T 0
0.000...10.000 s
p1228 (0.000)
[2814.2]
[2503.3]
[2503.3]
[2610.5]
[2610.8]
[5730.4]
&
Magnetizing completed
r0056.4
&
<5> For p1227 = 300 s, the monitoring is de-activated.
<5>
Stop 2 enable internal missing
r0046.21 [2634.1]
p1215 = 0
<1>
<2> Priority assignment (high -> low): p1215, p0858, p0855, p0856, sequence control.
<2>
<2>
[2501.7]
p0855 1 = Unconditionally open the holding brake
r0898.7
r0899.12
<6>
<6> If an external motor holding brake is used, then p1215 should be set to 3 and r0899.12 should be interconnected as control signal.
[2503.3]
<3>
<7>
<8> Internal signal includes signals that lead to OFF1 or OFF3 such as e.g. BICO or fault response.
<8>
[2501.7]
p0856 1 = Enable speed controller
r0898.12
[2501.7]
p0852 1 = Operation enabled
r0898.3
[2503.7]
r0899.4
[2503.7]
r0899.6
1 = Open the holding brake
Close "normal" brake
r0899.13
r0063[0]
n_act
[4715.6]
<7> r0046.21 = 0, as long as r0046.0 = 1 (OFF1 enable missing or power-on inhibit).
r0046.21 = 1, if p0858 = 1 or p0856 = 0.
The signal generation is shown simplified.
[2501.7]
p0858
1 = Unconditionally close
the holding brake
r0898.14
Q
Q
RESET
(Q=0)
SET
(Q=1)
Q
Q
RESET
(Q=0)
SET
(Q=1)
Q
Q
RESET
(Q=0)
SET
(Q=1)
Q
Q
RESET
(Q=0)
SET
(Q=1)
Q
Q
RESET
(Q=0)
SET
(Q=1)
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- 2704 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Brake control - expanded brake control/standstill detection (r0108.14 = 1)
T 0
<2>
0.000...300.000 s
p1227 (4.000)
0.000...10.000 s
p1228 (0.000)
&
T 0
(0)
p1224[1]
Standstill threshold
(r0063)0
p1225
<2>
0.000...300.000 s
p1276 (300.000)
1
0
1
0
p1275.02 (0) p1275.03 (0)
Brake, threshold value
fallen below
r1229.7
Brake,
monitoring
time expired
r1229.8
(0)
p1224[2]
(0)
p1224[3]
r0063
n_act smooth
r0060
n_set before filt.
[4710.6]
[5020.4] for SERVO
[6030.2] for VECTOR
n_stop n_thresh
0.0...210 000.0 RPM
p1226 (20.0)
OFF1 present
OFF3 present
Close brake from standstill detection
<2> For p1276 = 300.000 s, the timer is de-activated, i.e. the timer output is always 0. Note: When operating a
motor with a brake, which may not be closed while the motor is rotating, then the monitoring time of both timers
must be set to 300 s.
<1> Shutdown threshold of the standstill detection. Here (e.g. when using a brake), another criterion to cancel the
pulses can be selected other than the speed actual value. Otherwise, we recommend that the factory setting is
kept.
<1>
1
0
1
-1
0
1
<3>
<3> For operation without brake, p1224[0...3] must be = 0 (factory setting) in order to avoid undesirable interaction
with the sequence control.
[2707.1]
[2711.1]
Background
Refer to [1020.7]
T 0
SET
(Q=1)
Q
RESET
(Q=0)
Q
1
(0)
Brk close standstill
p1224[0]
<4> Internal signal contains signals that lead to OFF1 or OFF3 such as e.g. BICO or fault response.
<4>
r0063[0]
n_act
[4715.6]
Standstill threshold
(r0063[0])0
p1225
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- 2707 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 29.03.06 V02.04.00 Brake control - Extended brake control / open/close brake (r0108.14 = 1)
<1> Motor holding brake configuration
0 = No brake or brake or brake always closed (brake connected to the power unit)
1 = Brake control active (brake connected to the power unit)
2 = Brake always open (brake connected to the power unit)
3 = Brake control active (brake connection can be interconnected using BICO)
Note:
A motor brake cannot be connected to all of the power units. In this case p1215 is set to 3 and the brake is controlled through a digital output (e.g. TM31).
<3> These blocks/modules are evaluated with the same sampling rate as the brake control and therefore may only be used to
individually adapt the brake control.
Brake OR
logic operation
result
1229.10
(0)
p1279[3]
Brake AND
logic operation
result
1229.11
<3>
Background
Refer to [1020.7]
<2> Priority assignment (high -> low): p1215, p0858, p0855, p0856/p1219, close brake from the standstill detection, p1218.
r0056.4
T 0
0.000...300.000 s
p1277(0.000)
Brake open threshold
(1)
p1220
(1)
Open brake
p1218[0]
0
1
Brake open threshold
0.00...200.00%
p1221(0.00)
Open brake (internal)
Brake threshold
exceeded
r1229.6
(1)
p1218[1]
[2711.1]
<2>
p1215 = 2
<1>
[2501.7]
p0855 1 = Unconditionally open the holding brake
r0898.7
[2501.7]
p0856
1 = Enable speed controller
r0898.12
(0)
p1219[2]
(r1229.9)
p1219[3]
Close brake (internal)
(0)
p1219[1]
(0)
Immediately close brake
p1219[0]
1
0
1
p1275.00 (0)
1
0
1
p1275.01 (0)
Request, pulse enable missing/n_ctrl inhibited
r1229.9 1 &
Request pulse enable
[2711.1]
[2711.8]
[2704.8]
<1>
p1215 = 0
<2>
(0)
OR logic operation
p1279[0]
(0)
p1279[1]
(0)
AND logic operation
p1279[2]
[2501.7]
p0858
1 = Unconditionally close the holding brake
r0898.14
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4
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- 2711 -
Function diagram
8 7 6 5 4 3 2 1
DO: SERVO, VECTOR
SINAMICS S 07.04.05 V02.04.00 Brake control - extended brake control/signal outputs (r0108.14 = 1)
1 = Command, open brake
r1229.1
Pulse enable from the brake control
r0899.14
Setpoint enable from
the brake control
r0899.15
&
&
&
Brake does not close
&
&
0...10 000 ms
p1217 (100)
T 0
0...10 000 ms
p1216 (100)
[2704.8]
Brake does not open
r1229.4
r1229.5
Close brake (internal)
[2707.8]
Close "normal" brake
1
Open brake (internal)
[2707.8]
T 0
<1> This pulse enable path only works for operation with brake (p1215 > 0).
<1>
No OFF1
No OFF3
Pulse enable from the expanded brake control
r1229.3
Enable speed setpoint
r0898.6
&
1
&
<2>
<2>
<2> When braking with a feedback signal, the inverted signal is interconnected to the BICO input for the second feedback signal. The brake switching times are set in p1216 and p1217.
1
0
1
0
1
0
1
1
0
1
Brake is being used
p1215 > 0
Brake with
feedback signal
p1275.5
[2814.2]
A07932
[2503.3]
A07931
[2503.3]
fp_2711_01_eng.vsd
Background
Refer to [1020.7]
Pulse enable, HW
1
0
Brake is being used
p1215 > 0
1
&
[2610.5]
[2610.8]
[5730.4]
&
Coast down not active (r0899.4)
Pulse enable X21
Enable operation (r0898.3)
Power-on inhibit (r0899.6)
[2704.8]
Request pulse enable
[2707.1]
Close brake
From the standstill detection
[2503.7]
[2503.7]
[2501.7]
SET
(Q=1)
Q
RESET
(Q=0)
Q
<4> When the master control is retrieved, entered from STARTER or AOP.
<4>
[2501.3]
<5> If an external motor holding brake is used, then p1215 should be set to 3 and r1229.1 should be used as control signal.
<5>
<3> Only when Safety Integrated is activated (Double Motor Module: X22, Chassis: X41).
<3>
(1)
Brake feedb open
p1223
(1)
Enable n_set
p1142[C]
(r0899.15)
Setpoint 2 enable
p1152
<6> Internal signal contains signals that result in OFF1 or OFF3 such as e.g. BICO or fault response.
<6>
r0899.12
r0899.13
<7>
<7> When the function module "extended brake control" is activated (r0108.14 = 1), r1229.1 should be interconnected as control signal.
(0)
Brake feedb closed
p1222
Function diagrams
Safety Integrated
2.12 Safety Integrated
Function diagrams
2800 Parameter manager 2-1011
2802 Monitoring functions and faults/alarms 2-1012
2804 Status words 2-1013
2810 Safe standstill (SH) 2-1014
2814 Safe brake control (SBC) 2-1015
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6
2
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- 2800 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S Safety Integrated - parameter manager
Change safety parameter
p9601 = 0
[2810.3]
SI password input
p9761
Reset safety parameter
Inhibit safety functions
x
r9780 CU/r9880 MM
25.01.06 V02.04.00
p9801 = 0
[2810.3]
Safety parameters
p9601 ... p9899
can be reset to the
factory setting via
p0970, p3900
Safety parameters
p9601 ... p9899
can be changed
SI password new
p9762
SI password, acknowledge
p9763
Safety commissioning mode
[2802.1][2810.3]
--> select SH
Safety parameterizing enable
y
<1>
<1>
Effective password
=
Enter password
=
SET
y = x
Safety parameters
p9601 ... p9899
are valid
=
<1>
<1>
<1> Comparator, refer to [1021]
<2> Analog signal memory, refer to [1021]
<3> Target checksum must be equal to the actual checksum.
p9899
SI targ_checksum MM
p9898
SI act_checksum MM
SI targ_checksum CU
p9799
SI act_checksum CU
p9798
<3>
p0010 95
Exit safety
commissioning mode
=
Checksum
Check for safety
parameters
&
& &
<2>
Safety Integrated commissioning
p0010 = 95
<3>
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- 2802 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.03.06 V02.04.00 Safety Integrated Monitoring functions and faults/alarms
[2810.3] SH terminal CU (r0722.x)
[2810.1] SH terminal MM (X21/22)
Additional diagnostics
Information
[2800.3] Safety commissioning mode
[2810.6] DIAG_U
[2810.6] DIAG_L
[2814.7] BR_DIAG
CU
r9794
MM
r9894
STOP F->A CU
p9658
STOP F->A MM
p9858
CU
r9795
MM
r9895
CU
r9770
MM
r9870
CU
r9780
MM
r9880
Cross monitoring list Diagnostics for STOP F
Faults/alarms
CU: F/A01600 ... 01699
MM: F/A30600 ... 30699
Safety monitoring functions
Safety Integrated version Monitoring clock cycle
F01611
F30611
1 = Faults with response "NONE"
STOP F
r9772.15 (CU)
[2804.2]
r9872.15 (MM)
[2804.5]
T 0
Timer for emergency retraction
1 = Faults with response - "immediate pulse cancellation"
1 = STOP A
To safe standstill
[2810.3]
F01600/F30600
"STOP A initiated"
r9780 CU/r9880 MM
To safe brake
control [2814.1]
1
r9872.9 (MM)
[2804.5]
r9772.9 (CU)
[2804.2]
r9872.10 (MM)
[2804.5]
r9772.10 (CU)
[2804.2]
1 = Faults with response - "immediate pulse cancellation"
- that cannot be acknowledged
1
[2810.3] Status SS1 CU
[2810.3] Status SS1 MM
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- 2804 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 20.03.06 V02.04.00 Safety Integrated - status words
1
9
10
15
1 = SH selected on the Control Unit
Status (Control Unit)
1 = SH active on the Control Unit
Reserved
1 = STOP A cannot be acknowledged,
active
1 = STOP A active
Reserved
1 = STOP F active
0
Bit No.
r9772
Status word Safety Integrated
Control Unit
Motor Module
Control Unit and Motor Module
Functions available on the CU and MM
from the CU perspective
Functions available on the CU and MM
from the MM perspective
[2810.3]
[2810.7]
[2802.5]
[2802.8]
r9780 CU/r9880 MM
1
9
10
15
1 = SH selected on the Motor Module
Status (Motor Module)
1 = SH active on the Motor Module
Reserved
1 = STOP A cannot be acknowledged,
active
1 = STOP A active
Reserved
1 = STOP F active
0
Bit No.
r9872
[2810.3]
[2802.5]
[2802.8]
1
1 = SH selected in the drive
Status (Control Unit + Motor Module)
1 = SH active in the drive
0
Bit No. r9773
1
2
1 = SH supported through terminals
Common functions (Control Unit)
1 = SBC supported
1 = SI motion supported
0
Bit No.
r9771
1
2
1 = SH supported through terminals
Common functions (motor module)
1 = SBC supported
1 = SI motion supported
0
Bit No.
r9871
&
& [2810.6]
4 [2814.3] [2814.3] 1 = SBC requested
31 1 = The shutdown paths must be tested [2810.5] [2802.7] [2802.7]
Reserved
Status word Safety Integrated Safe
standstill group
1
1 = SH selected in a group
Status (safe standstill group)
1 = SH active in a group
0
Bit No.
r9774
31
1 = The shutdown paths of the group
have to be tested
1 = SS1 active in the group
&
&
r9773.0
r9773.1
r9773.31
Group n
Group n
Group n
Reserved
1 = SS1 active on the Motor Module
4 1 = SBC requested in the group &
r9773.4
Group n
Reserved
1 = SBC requested 4
Reserved
4 1 = SBC requested
Reserved Reserved
1 = SS1 active in the drive 2
Reserved
2 2 1 = SS1 active on the Control Unit
3 Reserved
2
&
Reserved 5
&
3
3 1 = SS1 supported
4 1 = PROFIsafe supported
5
1 = Drive-based motion monitoring
functions supported
3
4 1 = PROFIsafe supported
5
1 = Drive-based motion monitoring
functions supported
1 = SS1 supported
<1> This functionality is still not supported in V02.04.
<1>
<1>
<1>
<1>
[2810.3] [2810.3] &
&
r9773.2
Group n
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- 2810 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 20.03.06 V02.04.00 Safety Integrated - safe standstill (SH)
Control unit Motor module
Motor
module
Redundant functions
r0722.0
r0722.3
r0722.4
r0722.7
CU terminals that can
be used for SH
<1>
T 0
Monitoring for simultaneous occurrence
SGE_chngov tol CU p9650
SGE_chngov tol MM p9850
0...2000 ms (500 ms)
F01611 (CU)
F30611 (MM)
1
[2804.2]
1 = SH selected on CU
r9772.0
(0)
0 = Safe
standstill CU
p9620
1 = STOP A [2802.8]
1 = Enable SH_CU
p9601.0
1 = Safety
commissioning mode
[2800.3]
&
1
<4>
1
[2804.5]
1 = SH selected on MM
r9872.0
1 = STOP A [2802.8]
1 = Enable SH_MM
p9801.0
1 = Safety commissioning mode [2800.3]
&
1
"Enable
pulses
terminals"
EP M
+24 V
X21/22
M
EP +
A01699
"Shutdown
paths have
to be tested"
Timer forced
checking procedure
0...9000 h
p9659(8)
0 = Request Pulse
cancellation CU
0 = Request pulse
cancellation MM
D
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C
L
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M
~
U
V
W
r9780 Control Unit
+ Vdc
- Vdc
Gating unit
Gating unit
1
&
1 = SH on MM active
r9872.1
[2804.5]
1 = "SH active" for
sequence control
1 = SH on CU active
r9772.1
[2804.2]
+5 V
to SBC
[2814.2]
Safe pulse cancellation
to SBC
[2814.2]
+5 V
<1> One terminal can be used for several drives to form a group.
<2> Switch-on delay according to [1024], starts when the "request pulse cancelation CU" is withdrawn.
<3> Value range: p9620 = 0 or r0722.0 ... r0722.7 (for CU310 and CX32 only r0722.0 ...r0722.3).
<4> Redundant functions in the control unit (CU) and motor module (MM).
M
Upper IGBT
bridge halves
Shutdown path
from CU
0 = SH_CU
Shutdown path
from MM
0 = SH_MM
+24 V
<3>
Timer for forced
checking procedure
<2>
[2802.1][2814.2] DIAG_L
[2802.1][2814.2] DIAG_U
Lower IGBT
bridge halves
1 = Shutdown
paths have
to be tested
r9773.31
[2804.7]
<5> Transistors inhibited for a "0" signal.
T
<5>
<5>
1
[2802.2]
[2802.2]
[2802.2]
r9880 (Motor Modules)
T 0
SI stop 1 t_del CU
0,00...300000,00 [s]
p9852 (0.00)
T 0
SI stop 1 t_del CU
0,00...300,00 [s]
p9652 (0.00)
[2802.2]
[2804.1]
SS1 timer CU running r9772.2
SS1 timer MM running r9872.2
[2802.2]
[2804.1]
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- 2814 -
Function diagram
8 7 6 5 4 3 2 1
fp_S01_2814_en.vsd DO: SERVO, VECTOR
SINAMICS S 14.09.04 V02.04.00 Safety Integrated - safe brake control (SBC)
r9880 MM
Control unit
Motor module
DRIVE CLiQ
M
~
BR1* BR2
BR_DIAG BR1
DRIVE-CLiQ controller
BR2*
+24 V
BR1
BR2
1 = Transistor
conductive
Upper gating control channel
Lower gating control channel
BR+
<1>
<1>
M
~
Safety Logic MM
Safety Logic CU
BR1
1
&
> 0
Safety enable p9801
SBC enable p9802
Enable signals for SBC MM
Causes for "close brake"
From the SH
shutdown paths
[2810.6]
0 = SH_CU
0 = SH_MM
DIAG_U
DIAG_L
Safety fault
[2802.8]
1 = STOP A
&
&
Enable signals for SBC CU
> 0
Safety enable p9601
SBC enable p9602
0 = "SBC selected"
F30630
"Incorrect safety brake control, MM"
1 = Fault, brake control
0 = "SBC requested"
0 = "SBC requested"
1 = "SBC enabled"
1
F07930 "Incorrect brake control"
F01630 "Incorrect safety brake control, CU"
1 = "Fault, brake control"
<1> Both transistors
conductive --> 24 V at
the brake--> Brake
opened Outputs BR+
and BR- are only
available for compact
drive untis.
1 = "SBC enabled"
0 = "SBC selected"
Diagnostics
signal
BR2*
1
1 = SBC
requested
r9872.4
[2804.5]
1
1 = SBC
requested
r9772.4
2804.2]
BR1* BR_DIAG
Causes for "safely close brake"
From the SH
shutdown paths
[2810.6]
0 = SH_CU
0 = SH_MM
DIAG_U
DIAG_L
Safety fault
[2802.8]
1 = STOP A
&
0 = Pulses
cancelled
[2810.7]
BR_DIAG [2802.1]
M
BR-
&
1
0
r9780 CU
= 1
= 1
Close "normal" brake from the basic brake control [2701.8]
Close "normal" brake from the expanded brake control [2711.8]
0 = Pulses
cancelled [2810.7]
Function diagrams
Setpoint channel
2.13 Setpoint channel
Function diagrams
3010 Fixed speed setpoints 2-1017
3020 Motorized potentiometer 2-1018
3030 Main/supplementary setpoint, setpoint scaling, jogging 2-1019
3040 Direction of rotation limitation and direction of rotation reversal 2-1020
3050 Suppression bandwidth and speed limiting 2-1021
3060 Simple ramp-function generator 2-1022
3070 Expanded ramp-function generator 2-1023
3080 Ramp-function generator selection, status word, tracking 2-1024
3090 Dynamic Servo Control (DSC) 2-1025
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- 3010 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.02.05 V02.04.00 Setpoint channel - fixed speed setpoints
r1024
Fixed speed setpoint, actual
0 0 1 1
0 1 0 1
0 1 1 0
0 1 1 1
1 0 0 1
1 0 1 0
1 0 1 1
1 1 0 0
1 1 0 1
1 1 1 0
1 1 1 1
0 0 0 1
0 0 1 0
Fixed speed setpoint 1
-210 000.000...210 000.000 RPM
p1001[D] (0.000)
-210 000.000...210 000.000 RPM
p1002[D] (0.000)
-210 000.000...210 000.000 RPM
p1003[D] (0.000)
-210 000.000...210 000.000 RPM
p1004[D] (0.000)
Fixed speed setopoint 5
-210 000.000...210 000.000 RPM
p1005[D] (0.000)
-210 000.000...210 000.000 RPM
p1006[D] (0.000)
-210 000.000...210 000.000 RPM
p1007[D] (0.000)
-210 000.000...210 000.000 RPM
p1008[D] (0.000)
-210 000.000...210 000.000 RPM
p1009[D] (0.000)
-210 000.000...210 000.000 RPM
p1010[D] (0.000)
-210 000.000...210 000.000 RPM
p1011[D] (0.000)
-210 000.000...210 000.000 RPM
p1012[D] (0.000)
-210 000.000...210 000.000 RPM
p1013[D] (0.000)
-210 000.000...210 000.000 RPM
p1014[D] (0.000)
-210 000.000...210 000.000 RPM
p1015[D] (0.000)
p1001[D]
p1003[D]
p1002[D]
p1004[D]
p1005[D]
p1006[D]
p1007[D]
p1008[D]
p1009[D]
p1010[D]
p1011[D]
p1012[D]
p1013[D]
p1014[D]
p1015[D]
0.000
Fixed speed setpoint number actual
0...15
r1197
<100>
Fixed speed setpoint selection bit 0
1198.0
1198.1
1198.2
1198.3
from control
word setpoint
channel
0 0 0 0
0 1 0 0
1 0 0 0
[2505.7]
p1020
[2505.7]
p1021
[2505.7]
p1022
[2505.7]
p1023
<101>
<101> Pre-assignment of the sampling times in p0115, refer to p0112.
<100> For SERVO, the following applies:
Only when the function module "expanded
setpoint channel" is activated (r0108.8 = 1).
Refer to [1020.7]
p0115[3] (Drive Object)
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0
1
- 3020 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.07.05 V02.04.00 Setpoint channel - motorized potentiometer
p1042[C] (0)
Mop auto setpoint
p1039[C] (0)
Mop inversion
p1041[C] (0)
Mop manual/auto
1: OFF1 enable missing (r0046.0)
Mop configuration
0000...0111
p1030[D] (0110)
Data save active
Automatic mode
Ramp-function generator active
Initial rounding-off active
p1044[C]
Mop setting value
p1043[C]
Mop accept set val
Mop n_max
-210 000.000...210 000.000 RPM
p1037[D] (n_max_Mot)
Mop starting value
-210 000.000...210 000.000 RPM
p1040[D] (0.000)
Mop ramp-up time
0.0...1 000.0 s
p1047[D] (10.0)
Mop ramp-down time
0.0...1 000.0 s
p1048[D] (10.0)
<1>
Mop n_min
-210 000.000...210 000.000 RPM
p1038[D] (-n_max_Mot)
<1>
Old value is kept
1
0
0 0
0 1
1 0
1 1
r1198.14
r1198.13
e.g. to [3030.1]
<1> For the automatic commissioning, p1037 and p1038 are set to
the maximum motor speed or to the rated motor speed if
n_max_mot has not been specified.
<3> Only effective if p1030.0 = 0.
<3>
0 The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
1 The setpoint for the motorized potentiometer is saved in a ashion after OFF and after ON set to the saved value.
0 Without ramp generator in automatic mode (ramp-up/ramp-down time = 0).
1 With ramp generator in automatic mode.
0 Without initial rounding.
1 With initial rounding. The ramp-up/down time set is exceeded accordingly.
-1
0
1
n_max (reference value for
ramp-function generator p1082)
<100> For SERVO, the following applies: Only when the function module "expanded setpoint channel" is activated (r0108.8 = 1).
[2505.7]
[3050.5]
<100>
<101>
x y
<2> If the initial rounding-off is active (p1030.2 = 1), the selected ramp-up and ramp-down times are appropriately exceeded.
<2> <2>
(0)
Mop raise
p1035
(0)
Mop lower
p1036
[2505.7]
r1050
Mop setp after RFG
<4>
<4> The following prerequisites must be fulfilled in order to be able to save the setpoint in a non-volatile fashion:
- control unit 320 (CU320) with hardware version C or higher (module with NVRAM).
[2634.3]
Refer to [1020.7]
Save in NVRAM active
0 Not saved in the NVRAM.
1 Save in NVRAM active.
r1045
Mop n_set bef. RFG
&
p1030.10
0
1
y
p1082
-p1082
x
y = 0
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9

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6

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9
3
3
0
3
0

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a
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y

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,

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,

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- 3030 -
Function diagram
8 7 6 5 4 3 2 1
DO: SERVO, VECTOR
SINAMICS S 23.03.06 V02.04.00 Setpoint channel - main/supplementary setpoint, setpoint scaling, jogging
r1077
r1073 r1078
0 0
0 1
1 0
1 1
+
+
n_set_1
Jog setpoint 1
-210 000.000...210 000.000 RPM
p1058[D] (100.000)
Jog setpoint 2
-210 000.000...210 000.000 RPM
p1059[D] (100.000)
[3040.1]
Keep old setpoint
Jog 1
r0898.8
Jog 2
r0898.9
fp_3030_01_eng.vsd
<1> Jogging is only possible in the mode "ready to power-up (S2)". For the sequence control, refer to [2610].
[2501.7]
p1055
[2501.7]
p1056
<1>
<100>
<101>
Suppl setp scal
(1)
p1076[C]
Main setp scal
(1)
p1071[C]
Main setpoint
(0)
p1070[C]
(0)
p1075[C]
Refer to [1020.7]
p0115[3 (Drive Object)
p2901
Fixed value 2 [%]
p2900
Fixed value 1 [%]
1
0
&
Synchronization
No OFF1
No OFF2
No OFF3
+
f _slip
[6730.2]
r3804
Sync f_targ
[7020.8]
F
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0

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3
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4
0

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l
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a
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d

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s
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l
- 3040 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.06.05 V02.04.00 Setpoint channel - Direction of rotation limitating and direction of rotation reversal
r1114
Setp after lim
n_set_1
[3030.8] [3050.1]
1 = Direction reversal
r1198.11
-1
0
1
1 = Inhibit negative direction of rotation
r1198.5
1 = Inhibit positive direction of rotation
r1198.6
[2505.5]
p1110
[2505.7]
p1111
[2505.7]
p1113
<100>
<101>
0
1
0
0
1
0
Refer to [1020.7]
n_limit setp
p1063[D]
S
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2
1

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2
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6

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6

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2
-
9
5
3
0
5
0

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n

b
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d
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h

a
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d

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l
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- 3050 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.06.05 V02.04.00 Setpoint channel - suppression bandwidth and speed limiting
Suppression speed 2
0.000...210 000.000 RPM
p1092[D] (0.000)
Suppression speed 3
0.000...210 000.000 RPM
p1093[D] (0.000)
Suppression speed 1
0.000...210 000.000 RPM
p1091[D] (0.000)
Suppression speed 4
0.000...210 000.000 RPM
p1094[D] (0.000)
Suppression speed bandwidth
0.000...210 000.000 RPM
p1101[D] (0.000)
Speed limiting
min
[3020.6]
[3060.4]
[3070.4]
Minimum speed
0.00...19 500.00 RPM
p1080[D] (0.00)
-1
x
[3040.8]
Speed limiting max
x
0(1083)
p1085[C]
p1083
n_limit pos
0.000...210 000.000 RPM
p1083[D] (210 000.000)
r1119
RFG setpt at input
<1> A suppression speed of "0" de-activates the suppression speed bandwidth.
<2> The setting range of p1082 is limited to n_max_mot.
<3> If the drive is not stopped using the input setpoint, but using a controlled intervention, then after a subsequent run-up, the lower hysteresis branch is decisive.
<100> For SERVO, the following applies: Only when the function module "expanded setpoint channel" is activated (r0108.8 = 1). For r0108.8 = 0, [3095] is valid for generating the speed limits.
y y
Maximum speed
0...210 000.000 RPM
p1082[D] (n_max_Mot)
0(1086)
p1088[C]
p1086
n_limit neg
-210 000.000...0.000 RPM
p1086[D] (-210 000.000)
r1114
Setpt after limit
[3060.1]
[3070.1]
Reference value for the
ramp-function generator
<1>
<1>
<1>
<1>
|x|
|y|
w
w
w
w
x
y
Max
1000.00 s
1000.00 s
-1
Min
<2>
Limiting to
negative values
1
Maximum
limiting
active
[3080.4]
<3>
<3>
r1112
<100> Package 2, version I
n_limit pos effective
r1084
[5030.5]
[5210.1]
[8010.2]
n_limit neg effective
r1087
[5030.5]
[5210.1]
[8010.2]
<100>
<101>
0
0
Refer to [1020.7]
F
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2

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6

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6
3
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6
0

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t
o
r
- 3060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 28.07.05 V02.04.00 Setpoint channel - basic ramp-function generator
Ramp-down time
0.000...999 999.000 s
p1121[D] (10.000)
OFF3 ramp-down time
0.000...600.000 s
p1135[D] (0.000)
Ramp-up time
0.000...999 999.000 s
p1120[D] (10.000)
x
t
y
t
p1082
-p1082
x
p1082
-p1082
Tup Tdn
Tup Tdn
[3050.8]
y
0
0
0
0
[2634.4]
Tup Tdn
r1119
RFG setpt at input
Threshold for
"Ramp-up/ramp-down active"
0.00...1000.00 RPM
p1148[D] (19.80)
0
1
x
y
[3050.5]
[3095.7]
n_max
p1082
From the setpoint limiting
Freeze ramp-function generator
[3080.1]
1 0
0 1
0
1
1
0
0
1
1 0
0 = Freeze ramp-function generator
r0898.5
r0898.6
+
[2634.4]
1 = Enable ramp-function generator
r0898.4
Ramp-function generator, status bits
[3080.5]
0 = Internal fast stop
Other status bits
Ramp-up active
Ramp-down active
n_set_4
[2501.7]
p1140
[2501.7]
p1141
[2501.7]
p1142
[3080.8]
Ramp flattening-off
<101>
Refer to [1020.7]
1 = Internal RFG enable
[2634.4]
r1198.15 [2505.7]
p1122
RFG
setting value
(0)0
p1144[C]
(0)
Accept RFG set val
p1143[C]
0
1
0
1
<1> Inhibited when jogging.
<1>
<100> For SERVO, the following applies: Only when the function module
"expanded setpoint channel" is activated (r0108.8 = 1).
For r0108.8 = 0, [3095] is valid for generating the speed limits.
<100>
S
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3

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6

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6

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2
-
9
7
3
0
7
0

E
x
p
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e
d

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- 3070 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.02.06 V02.04.00 Setpoint channel - expanded ramp-function generator
0
Initial rounding-off
0.000...30.000 s
p1130[D] (0.000)
OFF3
Initial rounding-off
0.000...30.000 s
p1136[D] (0.000)
Final rounding-off
0.000...30.000 s
p1131[D] (0.000)
OFF3
Final rounding-off
0.000...30.000 s
p1137[D] (0.000)
OFF3
Ramp-down time
0.000...600.000 s
p1135[D] (0.000)
Ramp-down time
0.000...999 999.000 s
p1121[D] (10.000)
Ramp-up time
0.000...999 999.000 s
p1120[D] (10.000)
Tup
FR IR FR IR FR IR FR IR
Tdn
p1082
Tup_eff <1> Tdn_eff <1>
-p1082
Expanded ramp-function
generator
IR FR
[3050.8]
RFG rounding-off type
0...1
p1134[D] (0)
Ramp-function generator setting value
(0)
p1144[C]
Ramp-function generator, status bits
[2634.4]
[3080.5]
0
p1082
x
y
<2>
<3>
[3050.5]
[3095.7]
n_max
r1119
RFG setpoint at the input
x
t
y
dy/dt
y
0 1 0 1 0 1
1
0
1
0
0
1
0
1
x
y
+
0 = Freeze ramp generator
r0898.5
1 = Ramp-function
generator enabled
r0898.4
(0)
Set ramp-function generator
p1143[C]
1 0 1 0
[3080.1]
n_set_5
[2501.7]
p1140
[2501.7]
p1141
Ramp flattening-off
[3080.8]
<1> Effective ramp-up time: Tup_eff = Tup + (IR/2 + FR/2)
Effective ramp-down time: Tdn_eff = Tdn + (IR/2 + FR/2)
<2> p1151.00 = 0: Rounding-off at zero crossover enabled.
p1151.00 = 1: Rounding-off at zero crossover disabled.
0
Threshold for
"Ramp-up/ramp-down active"
0.00...1000.00 RPM
p1148[D] (19.80)
Other status bits
Ramp-up active
Ramp-down active
<3>
<101>
Refer to [1020.7]
r0898.6
[2634.4]
p1142
1 = Internal RFG enable
[2634.4]
r1198.15 [2505.7]
p1122
[2501.7]
Freeze ramp-function generator
1
0
1
0 0
<4> Inhibited when jogging.
<4>
<100> For SERVO, the following applies: Only when the function module "expanded setpoint channel" is activated (r0108.8 = 1). For r0108.8 = 0, is valid to generated the speed limits [3095].
<100>
t
p1134 = 0
p1134 = 1
nset
t
t
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4

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6

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6

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2
-
9
8
3
0
8
0

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g
e
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s
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t
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,

s
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,

t
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i
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g
- 3080 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 22.03.06 V02.04.00 Setpoint channel - ramp-function generator selection, status word, tracking
[5020.1]
[6030.1]
[8010.5]
[3060.8]
[3070.8]
RFG selection
p1115
Ramp-function generator selection
Ramp-function generator status word
1
Ramp-function generator status word
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Bit
[3060.8]
[3070.8]
Ramp-up active
Ramp-function generator held
Ramp-function generator set
Ramp-function generator active
Ramp-down active
Ramp-function generator tracking active
Maximum limiting active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
r1199
RFG ZSW
Ramp-function generator tracking
0
1
r1170
n_ctrl n_set sum
1
0
0
1
0
0
1
0
Enable speed setpoint (from the STW sequence control)
r0898.6
Enable ramp-function generator (from the STW sequence control)
r0898.4
n_ctrl n_set 1
(0)
p1155[C]
<2>
n_ctrl n_set 2
(0)
p1160[C]
+
+
[2501.7]
[2501.7]
Interpolator
x y
+
+
<3> The interpolator is only effective for clock-cycle synchronous PROFIBUS operation and sign-
of-life received from the master (STW2.12 ... STW2.15).
<1> For p1145 > 0, the ramp-function generator tracking is activated when the torque limiting
responds. This means that the speed controller output only exceeds the torque limit by a
deviation that can be set using p1145.
<2> For OFF1/OFF3 the ramp-function generator ramp is active. The ramp-function generator is
set (SERVO: to the actual value, VECTOR to the setpoint (r1170)) and stops the drive with
the ramp-downtime (p1121 or p1135). STW1.4 (enable ramp-function generator) is effective
while the drive is being stopped via the ramp-function generator. Depending on the p1115, the
basic ramp-function generator [3060] or the extended ramp-function generator [3070] is
effective. When the function module "extended setpoint channel" (r0108.8 = 0) is not active for
OFF1/OFF3, the down ramp of the basic ramp-function generator is effective (refer to n_set_4
on [3060.8]).
Interpolator
x y
[3080.8]
[3050.8]
p1189.0
p1189.1
r1150
RFG n_set at the output
Torque limit reached
r1407.7 [2522.7]
Ramp flattening-off
[3060.1]
[3070.3]
Ramp-function generator tracking active
r1199.5
RFG tracking intensity
0.0...50.0
p1145[D] (1.3)
0
<4>
<2>
<4> Behavior of the response ramp of the torque limiting:
p1145 = 0.0: No ramp-function generator tracking. The ramp-function generator ramp distances itself from the speed actual
value.
p1145 = 1.0: The ramp-function generator ramp remains as close as possible to the speed actual value.
p1145 > 1.0: The ramp-function generator ramp is steeper than for p1145 = 1.0 (higher "speed following error").
<1>
Expanded setpoint channel
r0108.8
1
0
<101>
<5>
r1199.2 [8010.5]
r1169
n_ctrl n_set 1/2
<3>
0
1
0
1
n_set_4
From the expanded ramp-function generator
From the basic ramp-function generator
n_set_5
Refer to [1020.7]
1
0
From the ramp-function
generator friction characteristic
[7010.6]
&
No OFF2
Plot friction characteristic
No OFF3
Refer to [1020.7]
t
x,y x
y
t
x,y x
y
T1
T1
[3060.8]
[3070.8]
<6>
<6> The value is only correctly displayed if the drive is enabled.
&
Synchronization
No OFF1
No OFF2
No OFF3
r3812
1
0
+
S
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2
-
1
0
2
5

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2
0
0
6

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S

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0
3
/
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0
0
6

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2
-
9
9
3
0
9
0

D
y
n
a
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i
c

S
e
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C
o
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t
r
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(
D
S
C
)
t
x,y x
y
- 3090 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.10.04 V02.04.00 Setpoint channel - Dynamic Servo Control (DSC)
S & H
SET
Higher-level motion control (e.g. SINUMERIK, SIMOTION)
SINAMICS Control Unit
S & H
SET
S & H
SET
Kp
Motion Control
&
Path
Interpolation
n_cmd
x_cmd
NSOLL_B
KPC
XERR
+
+
x
+
Position actual value
generation
r0482[0]
From the motor encoder
G1_XIST1
r0482[1]
G2_XIST1
r0482[2]
G3_XIST1
Position actual values from encoder 1, 2, 3
[4704.8]
<1> Principle of operation of Dynamic Servo Control (DSC): The feedback branch {2} completely compensates the feedback coupling branch {1} regarding the position actual value sent from the drive. The fast actual value channel
{3} allows a high dynamic performance and high Kv factors to be achieved.
<2> For the motor encoder (p1192 = 1) p1193 = 1 is effective.
When using encoder 2 or 3 (p1192 = 2, 3), p1193 should be set to "Increments per revolution motor encoder/increments per revolution position encoder (including fine resolution)".
<3> The deadtime for the PROFIBUS data transfer is automatically set.
<4> Sample & Hold element; refer to [1021].
<5> The position deviation must be referred to the increments of the motor including the fine resolution.
<6> Normalization of KPC: If signal {4} = 1 motor revolution and KPC = 1, then "n_set from DSC" = 0.001 motor revolutions/s.
y
Isochronous (clock-cycle
synchronous) PROFIBUS
Encoder signals acc.
telegram type [2420]
Selecting the
position encoder
p1192
1
2
3
Position deviation
p1190
n_set from DSC
[5020.1]
[5030.3]
<5>
<6>
<4>
Speed pre-control
y
<2>
<4>
<4>
+
+
<5> +
<6>
DSC position
controller
Interpolator
p1191 > 0 (interconnected)
p1191 > 0 (interconnected)
1 = DSC active
To the speed
pre-control input
(p1430)
[5020.1]
[5020.2]
[5030.3]
P gain
x
DSC encoder
adaptation
factor
p1193 (1)
Fast position
actual value
channel
PROFIBUS
Transmission
Delay
<3>
T_MAPC
Master application cycle time
x
e.g. p0922 = 5, 6, 105 [2420]
Speed controller clock cycle
0
p1191
Offset and
compensation
{2}
{3}
<1>
{4}
{1}
Refer to [1020.7]
y
T_SAPC
Slave application cycle
time
<101>
Refer to [1020.7]
Speed controller clock
cycle
Function diagrams
Setpoint channel not activated
2.14 Setpoint channel not activated
Function diagrams
3095 Generation of the speed limits (r0108.8 = 0) 2-1027
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(
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0
8
.
8
=
0
)
- 3095 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.02.05 V02.04.00 Setpoint channel not activated - generating the speed limits (r0108.8 = 0)
[3020.6]
[3060.4]
[3070.4]
[5300.1]
<100> Only for non-activated function module "expanded setpoint channel" (r0108.8 = 0). For r0108.8 = 1, [3050] applies and not [3095].
n_limit neg
-210 000.000...0.000 RPM
p1086[D] (-210 000.000)
Reference value for the ramp-function generator
Max
-1
Min
<100>
r1084
[5030.5]
[5210.1]
[8010.2]
[6030.2]
r1087
[5030.5]
[5210.1]
[8010.2]
[6030.2]
n_limit pos
0.000...210 000.000 RPM
p1083[D] (210 000.000)
Maximum speed
0.000...210 000.000 RPM
p1082[D] (1500.000)
Speed limits if a setpoint channel
has not been activated
(r0108.8 = 0).
0
0
p1083[D]
n_limit pos
p1086[D]
n_limit neg
p0115[3] (4000.00 s)
Function diagrams
Basic positioner
2.15 Basic positioner
Function diagrams
3610 Jog mode (r0108.4 = 1) 2-1029
3612 Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal) 2-1030
3614 Flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) 2-1031
3616 Traversing blocks mode (r0108.4 = 1) 2-1032
3618 Direct setpoint input/MDI mode, dynamic values (r0108.4 = 1) 2-1033
3620 Direct setpoint input mode/MDI (r0108.4 = 1) 2-1034
3625 Mode control (r0108.4 = 1) 2-1035
3630 Traversing range limitations (r0108.4 = 1) 2-1036
3635 Interpolator (r0108.4 = 1) 2-1037
3640 Control word block selection/MDI selection (r0108.4 = 1) 2-1038
3645 Status word 1 (r0108.3 = 1, r0108.4 = 1) 2-1039
3646 Status word 2 (r0108.3 = 1, r0108.4 = 1) 2-1040
3650 Status word, active traversing block/MDI active (r0108.4 = 1) 2-1041
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.
4
=
1
)
- 3610 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 21.02.06 V02.04.00 EPOS "Jog" mode (r0108.4 = 1)
0 0
0 1
1 0
1 1
Jog 1 distance
0...4294967295 [LU]
p2587 (1000)
Jog 2 distance
0...4294967295 [LU]
p2588 (1000)
0 [LU]
0 0
0 1
1 0
1 1
v_set act
Jog 1 v_set
-40000000...40000000 [1000 LU/min]
p2585 (-300)
Jog 2 v_set
-40000000...40000000 [1000 LU/min]
p2586 (300)
0 [1000 LU/min]
p2591
(0)
Jog, incr
0
1
0
Start of traversing range
End of traversing range
Motion quantities
of the jog mode
[3630.1]
a_over act
-a_over act
Position
100 %
100 %
p0115[5]
r2674 <1>
r2673 <1>
r2672 <1>
<1> The connector outputs are only supplied from here when the jog mode is active.
[3635.4]
p2657
Pos act val/pos set val
+
-1
0
1
1
0
D Q
Q
p2589
(0)
Jog 1
p2590
(0)
Jog 2
r2671
s_set act
<1>
+
0
1
Keep old setpoint
Keep old setpoint x y
Store
x y
Store
<2>
1 = Travel parameterized distance (incremental)
0 = Travel endlessly
<2>
<2>
<2> Jog incremental: The edge is only effective for setpoint = 0 (exception: Override = 0 %, CI: p2646).
Renewed jogging can only be activated after the jog motion has been completed (0/1 edge).
<3> The second "jogging" is not evaluated while an "incremental jogging" is running.
<3>
<3>
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- 3612 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.03.06 V02.04.00 EPOS - Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal)
[3630.1]
p2612
(0)
Ref_cam
p2604
(0)
Ref_pt appr direction
Motion quantities in the mode
referencing/reference point approach
a_over act
-a_over act
Position
Approach direction
A B
Reversing cam
Reversing cam
v_approach
1...40000000 [1000 LU/min]
p2605 (5000)
v_approach ref_ZM
1...40000000 [1000 LU/min]
p2608 (300)
v_approach ref_pt
1...40000000 [1000 LU/min]
p2611 (300)
|v|
s
Ref_pt coord val
-2147483648...2147483647 [LU]
p2599 (0)
r2599
Ref_pt coord S_src
(2599)
p2598
p2613
(1)
Reversing cam, minus
p2614
(1)
Reversing cam, plus
Ref_pt offset
-2147483648...2147483647 [LU]
p2600 (0)
p2659
(2526.1)
Ref active fdbk sig
p2661
(2526.2)
Meas val valid fdbk sig
100 %
100 %
p2595
(0)
Ref start
p2596
(0)
Set ref_pt
p2597
(0)
Ref_typ select
Feedback
signals
Meas val ref
(2523)
p2660
Ref_cam avail
p2607 (1)
<1>
<1>
<1>
p0115[5]
r2680
Clearance cam/ZM
<2>
<2>
[3614.2]
[3614.2]
[3614.2]
Reference point set
r2684.11
Reference point approach active
r2684.0
F07458
"Reference cam not found"
F07459
"No zero mark" <1>
F07460
"End of reference cam not found"
<3>
<3>
<3>
[3614.1]
[3614.1]
Zero marks (ZM)
<1> If there is no reference cam then the axis starts to directly move to the zero mark (in the defined start direction). If there is no reference cam, the tolerance bandwidth is not evaluated.
<2> When "flying referencing" is selected (passive referencing, p2597 = 1 signal), this function diagram is of no significance => refer to [3614].
<3> The connector outputs are only supplied from here when the referencing mode is active.
<4> The reversing cams are low active. When a cam is actuated, motion (reference cam search) is continued in the opposite direction.
<5> Set reference point is only effective in the initial state [3625].
[3646.3]
[3614.7]
[4010.8]
[4010.8]
[4010.8]
<4>
<4>
I
II
III
Zero mark evaluation
activated
r2674
r2673
r2672
v_set_act
Velocity
<5>
1 = Negative
0 = Positive
Max s ref_cam ZM
0...2147483647 [LU]
p2609 (10000)
Tol_band for ZM
0...2147483647 [LU]
p2610 (2147483647)
Ref_cam max s
0...2147483647 [LU]
p2606 (2147483647)
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- 3614 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 09.02.06 V02.04.00 EPOS - "Flying referencing" mode (r0108.4 = 1) (p2597 = 1 signal)
s_set
s_act
t
With referencing
s_corr)
s_Corr
F( s_corr)
F1
F2
F1 = Inner window
F2 = Outer window
0...2147483647
p2601 (0) F1
p2602 (0) F2
0
Without referencing
[3612.1]
p2661 Meas val valid fdbk sig
-
+
[3612.4]
p2598 Ref_pt coord S_src
[3612.1]
p2660 Meas val ref
[3612.1]
p2595
Ref start
[3612.1]
p2597
Ref_typ select
<1> When "reference point approach" is selected (active referencing p2597 = 0 signal), this function diagram is of no significance => refer to [3612].
Active traversing is not directly associated with the mode "flying referencing" (passive referencing, p2597 = 1 signal).
The mode can be superimposed on modes jog [3610], traversing blocks [3614] and direct setpoint input/MDI [3618]!
<1>
<1>
Reference point set
r2684.11
Flying referencing
r2684.1
Print mark outside the outer window (F2) [3646.3]
r2684.3
1
Referencing active
r2684.2
A07489
Reference point correction outside the window
F(
Reference point set
r2684.11
0
1
[3646.7]
[3646.3]
[3646.3]
[3635.6]
s_corr) F(
F1
F2
V
t
[3646.3]
[3612.8]
Ref. point approach active
r2684.0
F1 = Inner window
F2 = Outer window
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8
.
4
=
1
)
- 3616 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 09.02.06 V02.04.00 EPOS "Traversing blocks" mode (r0108.4 = 1)
0
1
0
&
100 %
100 %
Velocity
Motion quantities
of the mode
"traversing blocks"
Acceleration override
Deceleration override
Position
+
Task
Task parameter
Block number
Trav_block Block No.
-1...63
p2616 [p2615-1] (-1)
Trav_block task
1...8
p2621 [p2615-1] (1)
Trav_block task_par
-2147483648...2147483647
p2622 [p2615-1] (0)
Trav_block position
-2147483648...2147483647 [LU]
p2617 [p2615-1] (0)
Trav_block v
1...40000000 [1000 LU/min]
p2618 [p2615-1] (600)
Trav_block a_over
1.0...100.0 [%]
p2619 [p2615-1] (100.0)
Trav_block mode
0...65535
p2623 [p2615-1] (0)
Position
Velocity
Acceleration
override
Deceleration
override
Task mode
Trav_block -a_over
1.0...100.0 [%]
p2620 [p2615-1] (100.0)
Parameter index 0 1
P2615
-1
...
0
1
Actual block
[3640.7]
p2625-p2630
Block selection
[3640.7]
p2631
Activate traversing task
<1> The tasks are sorted corresponding to their task number in the parameter index (the task with the lowest number in index 0).
<2> The connector outputs are only supplied from here when the traversing blocks mode is active.
<3> p2615 specifies the maximum number of blocks.
x
y
Store
0
1
0
[3635.6]
p2657
P
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Task ENDLESS_POS or ENDLESS_NEG
Task ENDLESS_NEG
Trav_block, sort
p2624 (0)
<1>
r2674
r2673
r2672
r2671
r2677
r2675
r2676
<2>
<2>
<2>
<2>
<2>
<2>
<2>
r2678
<2>
p0115[5]
Direct output 1 via the traversing block [3645.3] r2683.10
Direct output 2 via the traversing block [3645.3] r2683.11
Status signals
Acknowledgem. traversing block activated [3646.3] r2684.12
A07461-A7472
A07486-A7487
p2640
(0)
0 = Intermediate stop
p2641
(0)
1 = Do not reject traversing task
0 = Reject traversing task
[3620.5]
[3620.2][3620.4]
+
0
1
0
1
0
1
<3>
[3630.1]
[3650.2]
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(
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.
4
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1
)
- 3618 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.03.06 V02.04.00 EPOS Direct setpoint input MDI mode, dynamic values (r0108.4 = 1)
[3620.1]
p0115[5]
Position fixed value
-2147483648...2147483647 [LU]
p2690 (0)
p2690
v_fixed value
1...2147483647 [1000 LU/min]
p2691 (600)
p2691
a_over fixed value
0 ...100 [%]
p2692 (100)
p2692
- a_over fixed value
0 ...100 [%]
p2693 (100)
p2693
[3620.1]
[3620.1]
[3620.1]
MDI s_set
(2690)
p2642
MDI -a_over
(2693)
p2645
MDI a_over
(2692)
p2644
MDI v_set
(2691)
p2643
100 %
0.1 %
100 %
0.1 %
1
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0
0
6

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3
6
2
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(
r
0
1
0
8
.
4
=
1
)
- 3620 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 06.03.06 V02.04.00 EPOS Direct setpoint input mode/MDI (r0108.4 = 1)
p2649
(0)
MDI Accept_type sel
p2650
(0)
MDI setp_accept
p2653
(0)
MDI setting-up sel
V
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v
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a
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s
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v
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l
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s
RESET
(y = 0) SET
x y
Set setpoint accept
1
0
1
0
1
x
y
Store
0
p2648
(0)
MDI pos_typ
&
1
p2652
(0)
MDI direct_sel neg
p2651
(0)
MDI direct_sel pos
0
1
0
&
100 %
100 %
1
[3630.1]
Velocity
Motion quantities
in the mode
"direct setpoint input/MDI"
Position
MDI mode adaptation
(0)
p2654
+
POWER ON
[3640.6] p2647
[3635.6] p2657
p0115[5]
r2674 <3>
r2673 <3>
r2672 <3>
r2671 <3>
[3616.5] p2640
<1>
r2678 <3>
<2>
Acknowledgement, traversing block activated
r2684.12
1
<2>
1
&
F07488
"Relative positioning for continuous transfer not possible".
<4>
<4>
[3618.5]
[3618.5]
[3618.5]
[3618.5]
Position setpoint
Velocity setpoint
A07486
"Intermediate stop missing".
A07487
"Reject traversing
task missing".
+
&
[3616.5] p2641
1
0
1
0
0
1
0
1
[3640.6] p2647
&
[3616.5] p2641
<1> If connector input p2654 is assigned a connector input <> 0, then the control signals "select positioning type", "direction selection positive" and "direction
input negative" are internally supplied from these. From the value of the connector input, the following IDs are evaluated xxXx:
xx0x = Absolute => p2648 xx1x = relative => p2648 xx2x = ABS_POS => p2648, p2651 xx3x = ABS_NEG => p2648, p2652
<2> Only evaluated if the transfer type "edge evaluation" (BI: p2649 = 0 signal).
<3> The connector outputs are only supplied from here when the "direct setpoint input MDI" mode is active.
<4> For the transfer type "continuous transfer" (BI: p2649 = 1 signal), relative positioning is not permissible.
1 = Setting-up
0 = Positioning
1 = Absolute
0 = Relative
1 = Continuous
0 = Edge
[3630.1]
1 = MDI selection
1 = Do not reject traversing block
1 = Do not reject traversing block
1 = MDI selection
B
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(
r
0
1
0
8
.
4
=
1
)
Mode, direct setpoint input [3620]
- 3625 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 29.03.06 V02.04.00 EPOS Mode control (r0108.4 = 1)
POWER ON
Initial status
Target position reached r2684.10 = 1
Axis stationary r2199.0 = 1
Mode, jog
[3610]
r2684.10 = 0
r2199.0 = 0
Mode, ref. point approach
[3612]
Mode, traversing
blocks
[3616]
Intermediate
stop r2199.0 = 1
Traversing blocks
active
r2684.10 = 0 / r2199.0 = 0
and 0/1 at r2684.12
Ramp stop
r2684.10 = 0 / r2199.0 = 0
The drive is ramped-down
using the deceleration rate
in the traversing block
&
"Intermediate
stop" p2640 = 0
"No intermediate stop"
p2640 = 1
"Jog 1" p2589 = 1
"Jog 2" p2590 = 1
"Jog 1" p2589 = 0
"Jog 2" p2590 = 0
Ramp stop
r2684.10 = 0 / r2199.0 = 0
r2669: no change
The drive is ramped-down with the
maximum deceleration rate p2573
"Reject traversing task"
p2641 = 0
Drive at standstill
p0115[5]
&
"Start referencing" p2595 = 0/1
"Select reference type" p2597 = 0
"Stop referencing"
p2595 = 0
Reference point approach active:
r2684.10/11 = 1, r2199.0 = 1
r2684.10/11 = 0, r2199.0 = 0
Referenced
Reference point point approach completed:
"Do not reject traversing task" p2641 = 1
"No intermediate stop" p2640 = 1
"Activate traversing task" p2631 = 0/1
"Activate traversing task"
p2631 = 0/1
"Direct setpoint input" p2647 = 0
Direct setpoint input/MDI active
r2670.15
1
1
&
"MDI selection" p2647 = 1
Intermediate stop
r2199.0 = 1
Traversing blocks active
r2684.10 = 0 / r2199.0 = 0
Flying changeover between
positioning p2653 = 0 and setting-up
p2653 = 1 possible
Ramp stop
r2684.10 = 0 / r2199.0 = 0
Drive is ramped-down using the
deceler.rate in the trav. block
"Intermediate
stop" p2640 = 0
Drive at standstill
MDI/initial state
no task for MDI active
r2684.10 = 1 / r2199.0 =1
Ramp stop
r2684.10 = 0 / r2199.0 = 0
Drive is ramped-down
using the maximum
deceleration p2573
"Reject traversing task"
p2641 = 0
Drive at standstill
"Activate traversing task"
(p2649 = 0 and p2650 = 0/1) or
continuous transfer (p2649 = 1 and
signal off CI: p2642 (old <> new ))
Continuous transfer p2649 = 1 and
r2665 <> Signal off CI: p2642
"Activate traversing task" p2649 = 0 and p2650 = 0/1
Traversing task
completed
"Traversing task
completed
<1> The more points that exist at a transition, the higher the priority.
S4: Operation (run) ZSWA.00/01/02/11 = 1, ZSWA.06 = 0 [2610]
1
&
&
&
1
Drive at standstill
<1>
r2669 = 0 hex
r2669 = 1 hex
r2669 = 4 hex
r2669 = 2 hex
Positioning/setting-up, r2669 = 8 hex/10 hex
r2684.15 = 1
r2684.15 = 1
F
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8
3
6
3
0

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s

(
r
0
1
0
8
.
4
=
1
)
- 3630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 29.03.06 V02.04.00 EPOS Traversing range limits (r0108.4 = 1)
Motion quantities
Mode
manager
[3625]
-a_Max
1...2000000 [1000 LU/s2]
p2573 (100)
a_Max
1...2000000 [1000 LU/s2]
p2572 (100)
Velocity
r2669
Mode, act
p0115[5]
v_Max
1...40000000 [1000 LU/min]
p2571 (30000)
0
r2681
Position
SW limit switch PLUS
-2147483648...2147483647 [LU]
p2581 (2147483647)
r2581
SW lim switch plus S_src
(2581)
p2579
SW limit switch minus
-2147483648...2147483647 [LU]
p2580 (-2147483647)
r2580
SW lim switch minus S_src
(2580)
p2578
1 = Reference point set
r2684.11
[3635.6] 1
v_over
(1)
p2646
-a [3635.1]
<1>
<1> When the reference point approach mode is active, the velocity override influences the approach velocity reference cams (p2605). On the other hand, the approach velocity reference zero mark (p2608)
and the approach velocity reference point (p2611) are not influenced.
<2> The STOP cams are low active.
When a cam responds, then the drive brakes with the maximum deceleration along the ramp. Only motion that allows the axis to move away from the STOP cam is permitted.
&
&
1
1
A07477
"Target position < software limit switch minus"
F07475
"Target position < start of traversing range"
A07478
"Target position > software limit switch plus"
F07476
"Target position > end of traversing range"
<2>
<2>
<2>
STOP cam minus active
r2684.13
STOP cam plus active
r2684.14
A07457
A07486
A07487
A07491
A07492
F07490
1
0
"Jog" mode
"Reference point approach" mode
"Traversing blocks" mode
"Direct setpoint input/MDI" mode
Initial state
v = 0, a = 100 %, -a = 100 %
[3610.8]
[3612.8]
[3616.8]
[3620.8]
v [3635.1]
a [3635.1]
[3646.7]
1
0
s [3635.1]
p2568
(0)
STOP cam act
p2569
(1)
STOP cam minus
p2570
(1)
STOP cam plus
p2582
(0)
SW lim switch act
[3646.3]
[3646.3]
A07456 Setpoint velocity limited
Velocity limiting active
r2683.1 [3645.3]
0-200 %
[3625]
Modulo corr act
p2577
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5

I
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o
r

(
r
0
1
0
8
.
4
=
1
)
- 3635 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 EPOS Interpolator (r0108.4 = 1)
p0115[5]
r2665
s_set
r2666
v_set
RD RU
v_set V
A
Up
Down
S
V
Interpolator
S
a
[3630.8]
-a
[3630.8]
v
[3630.8]
s
[3630.8]
SET
SET
VALUE
v
s
Modulo corr range
1...2147483647 [LU]
p2576 (360000)
De-activated
1 0
(2521)
p2657
Setpoint static r2683.2
Axis moves forwards r2683.4
Axis moves backwards r2683.5
SW limit switch plus reached
r2683.6 SW limit switch minus reached
r2683.7
Tracking mode active r2683.0
Axis is accelerating r2684.4
Axis is decelerating r2684.5
Activate correction (offset) r2684.7
r2682
Remaining distance
r2667
Backlash value
r2685
Correction (offset) value
Backlash compensation
-200000...200000 [LU]
p2583 (0)
A07455 Maximum velocity limited
A07473 Start of the traversing range reached
A07474 End of the traversing range reached
A07479 Software limit switch minus reached
A07480 Software limit switch plus reached
F07481 Axis position < software limit switch minus
F07482 Axis position > software limit switch plus
Calculation,
backlash compensation
Traversing command active r2684.15
s_corr) F(
[3614.8]
1
CORR.
VALUE
[3645.3]
[3646.3]
[3646.3]
[3646.3]
[3646.3]
[3645.3]
[3645.3]
[3645.3]
[3645.3]
[3645.3]
[4010.2] / p2513
[4010.5]/p2516
[4015.1]/p2530
[4015.1]/p2531
Pos_mode relative
0...1
p2603 (1)
&
p2655
(1)
Track oper select
p2656
(2526.3)
EPOS enable
p2658
(2526.0)
Pos valid fdbk sig
p2577
(0)
Modulo corr act
[3610.4]
[3616.1]
[3620.1]
[3630.1]
[4010.8]
[4010.8]
[4015.8]
F
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8

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1
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3
6
4
0

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(
r
0
1
0
8
.
4
=
1
)
- 3640 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 06.03.06 V02.04.00 EPOS Control word block selection/MDI selection (r0108.4 = 1)
11
12
13
14
15
p2625
(0)
p2628
(0)
p2629
(0)
p2630
(0)
10
7
6
5
4
3
2
1
0
Bit No.
9
8
To mode traversing blocks [3616.2]
p2647
(0)
Control word, block selection
Reserved
Reserved
1 = MDI selection
Reserved
Reserved
Reserved
p2626
(0)
p2627
(0)
Reserved
Reserved
p0115[5]
0
0
1
1
0
1
0
1
0
0
1
1
To mode direct setpoint input/MDI [3620.2][3620.4]
To mode control [3625.6]
Reserved
Reserved
B
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9

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2
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0
6

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S

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2
-
1
1
1
3
6
4
5

S
t
a
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s

w
o
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d

1

(
r
0
1
0
8
.
3
=
1
,

r
0
1
0
8
.
4
=
1
)
- 3645 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 EPOS Status word 1 (r0108.3 = 1, r0108.4 = 1)
11
12
13
14
15
r2683
PosZSW1
Bit No.
10
9
8
7
6
5
4
3
0
1
2
From interpolator [3635.8]
From traversing range limits [3630.3]
From mode traversing blocks [3616.7]
p0115[4]
r2683.0
r2683.1
r2683.4
r2683.5
r2683.11
r2683.12
r2683.2
r2683.6
r2683.9
1 = Velocity limiting active
1 = Tracking mode active
Status word, positioning operation 1
1 = Setpoint static
Reserved
1 = Axis moves forwards
1 = Axis moves backwards
1 = Software limit switch minus actuated
1 = Software limit switch plus actuated
1 = Position actual value <= cam switching position 1
1 = Direct output 1 via the traversing block
1 = Direct output 2 via the traversing block
Reserved
Reserved
Reserved
Reserved
r2683.13
r2683.14
r2683.15
r2683.3
r2683.7
r2683.8
r2683.10
From dynamic following error monitoring, cam switching unit [4025.8]
From mode traversing blocks [3616.7]
[4020.1]/p2551
From dynamic following error monitoring, cam switching unit [4025.8]
F
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2
-
1
0
4
0

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0
0
6

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I
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S
S

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6

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-
1
1
2
3
6
4
6

S
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w
o
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d

2

(
r
0
1
0
8
.
3
=
1
,

r
0
1
0
8
.
4
=
1
)
- 3646 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 EPOS Status word 2 (r0108.3 = 1, r0108.4 = 1)
11
12
13
14
15
r2684
PosZSW2
Bit No.
10
9
8
7
6
5
4
3
0
1
2
From mode, "referencing/reference point approach" [3612.8]
From mode, "referencing/flying referencing" [3614.7]
From mode "referencing" [3612.7]
From mode "referencing/flying referencing" [3614.8]
From mode "traversing blocks" [3616.7]
From mode "direct setpoint input/MDI" [3620.8]
p0115[4]
r2684.0
r2684.1
r2684.4
r2684.5
r2684.11
r2684.12
r2684.2
r2684.6
r2684.9
1 = Flying referencing active
1 = Reference point approach active
Status word, positioning operation 2
1 = Referencing active
1 = Print mark outside the outer window
1 = Axis is accelerating
1 = Axis is decelerating
Reserved
= Activate correction (offset)
Reserved
1 = Reference point set
= Acknowledgement traversing block activated
1 = STOP cam minus active
1 = Traversing command active
1 = STOP cam plus active
r2684.13 From traversing range limits [3630.3]
r2684.14
r2684.15
From traversing range limits [3630.3]
r2684.3
r2684.7
r2684.8
r2684.10
From dynamic following error monitoring, cam controller
[4025.8]
From standstill/positioning monitoring [4020.8]
<1> The status bit is, as standard, supplied from the mode traversing blocks.
However, when the direct setpoint input/MDI mode is active, it is supplied from there.
<1>
[3614.3] [3630.1]
[4010.3]/p2512
[4020.1]/p2554
[4010.1]/p2508
[4010.1]/p2509
B
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p
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I

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(
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1
0
8
.
4
=
1
)
Function diagram
- 3650 -
8 7 6 5 4 3 2 1
SINAMICS S 10.02.06 V02.04.00 EPOS Status word, active traversing block/MDI active (r0108.4 = 1)
11
12
13
14
15
r2670
ZSW act trav_block
Bit No.
10
9
8
7
6
5
4
3
0
1
2
p0115[5]
r2670.0
r2670.1
r2670.4
r2670.5
r2670.11
r2670.12
r2670.2
r2670.6
r2670.9
Active traversing block, bit 1
Status word, active traversing block
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = MDI active
Reserved
r2670.13
r2670.14
r2670.15
r2670.3
r2670.7
r2670.8
r2670.10
Mode control [3625.7]
Actual block from mode traversing blocks
[3616.3]
0
0
1
1
0
1
0
1
0
0
1
1
Function diagrams
Position controller
2.16 Position controller
Function diagrams
4010 Position actual value conditioning (r0108.3 = 1) 2-1043
4015 Position controller (r0108.3 = 1) 2-1044
4020 Standstill/positioning monitoring (r0108.3 = 1) 2-1045
4025 Dynamic following error monitoring, cam switching values (r0108.3 = 1) 2-1046
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(
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0
8
.
3
=
1
)
- 4010 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 21.03.06 V02.04.00 Position control Position actual value conditioning (r0108.3 = 1)
p0115[4]
p2514
(0)
s_act setting act
Position offset
(0/2667)
p2516
+
+
s_act setting Setting value
(0)
p2515
+
Act val_cond corr
(0/2685)
p2513
p2512
(0/2684.7)
Act val_cond corr act
Mot/load load rev
-1048576...1048576
p2505[D] (1)
Mot/load motor rev
1...1048576
p2504[D] (1)
Encoder 1
Encoder 2
Encoder 3
1
2
3
LU
Incr.
p2508
(0/2684.0)
Ref_mark act
p2509
(0/2684.1)
MT_select act
p2510
(0)
MT_sel selection
p2511
(0)
MT_sel edge
LU per load rev
1...2147483647
p2506[D] (10000)
p0404.0
r0483[n-1]
Enc Gn_XIST2
r0483[n-1]
Enc Gn_XIST1
Encoder assignment
0...3
p2502[D] (1)
LU per 10 mm
1...2147483647
p2503[D] (10000)
r2521
s_act
r2522
v_act
r2523
Measured value
r2524
LU/revolution
p2525[E]
Enc_adjust offset
Position actual value valid
r2526.0
Referencing active
r2526.1
Measured value valid
r2526.2
0 = Rotary encoder
1 = Linear encoder
Abs_enc_adjust stat
0...3
p2507[E] (1)
<1>
<2> <2>
<2>
<3>
<3>
<3>
<3>
<3>
s_act
r2520[0]
ActVal_prep STW encoder 1
r2520[1]
r2520[2]
r0481[n-1]
Enc Gn_ZSW
[4704.8]
[4704.8]
<4>
<4>
<4>
<4>
<4>
<1> The parameter is only of significance for absolute encoders. p2598/p2599 is used to make the adjustment. The position is entered via p2598/p2599 [3612].
<2> If the selected encoder (p2502) is a direct linear measuring system, then this parameter is used to configure the reference between selected encoder/motor encoder.
<3> When the function module "basic positioner" (r0108.4 =1) is active, these binector/connector inputs are supplied as standard from these. The second value specifies this assignment.
<4> Only data Gn_XIST1 of the selected encoder is evaluated (p2502) or only the encoder control word supplied.
<5> p2502 = 0: The position actual value conditioning is not assigned to any encoder.
[3612.1]
[3612.1]
[3635.1]
[4015.1]
[3612.1]
[3635.4]
[4015.1]
[4730.5]
[4704.7]
[4720]
[4720]
[4720]
<5>
0 = measuring probe 1
1 = measuring probe 2
0 = Rising edge
1 = Falling edge
A07454 "Position actual value conditioning does not have a valid enc."
A07495 "Reference function interrupted"
F07453 "Position actual value conditioning error"
F07493 "Value range overflow for the position actual value"
F07494 "DDS changeover in operation"
Enc grid division
0...250000000 [nm]
p0407[E] (16000)
Rot enc pulse number
0...16777215
p0408[E] (2048)
1 0 1 0
Enc fine Gx_XIST1
2...18
p0418[0...n] (11)
[-/3646.7]
[-/3646.7]
[-/3635.7]
[-/3646.7]
[-/3635.7]
Position difference Betw.
2 sampling times
+
+
1 0
0
Xn
Yn
Yn = Yn - 1 + Xn
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(
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8
.
3
=
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)
- 4015 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 20.02.06 V02.04.00 Position control Position controller (r0108.3 = 1)
p0115[4]
t
x,y x
y
x
t
y
Position setpoint filter T
0.00...1000.00 [ms]
p2533[D] (0.00)
d
dt
Pre-control
symmetrization
Simulation of the build-up of the pre-
control speed
+
n_pre-ctrl factor
0.00...200.00 [%]
p2534[D] (100.00)
n_pre-ctrl filter PT1
0.00...100.00 [ms]
p2536[D] (0.00)
Tn
0.00...100000.00 [ms]
p2539[D] (0.00)
r2559
LR_output I-comp
r2558
LR_output P-comp
Kp
0.000...300.000 [1000/min]
p2538[D] (1.000)
+
r2562
n_set total
+
r2556
s_set after interp
r2557
LR_input sys dev
d
dt r2564
M_pre-ctrl value
-1
LR_output limit
0.000...210000.000 [RPM]
p2540[D] (210000.000)
p2540
LR_output limit S_src
(2540)
p2541
s_act
(2521)
p2532
v_set
(0/2666)
p2531
s_set
(0/2665)
p2530
Adaptation
(1)
p2537
p2549
(0899.2)
Enable 1
p2550
(0/1)
Enable 2
&
1 = Position controller output limited
r2526.6
r2560
n_setp
r2561
n_pre-ctrl value
Tn
P
[4025.1]
n_pre-ctrl filt t_dead
0.00...2.00
p2535[D] (0.00)
Sampling time
position controller
p0115[4]
[4010.8]
[4010.8]
LU/rev LU/mm
(2524)
p2555
1 = Position control active
r2526.3 [3635.1]
p2513 p2512
[4020.1]
<1>
<1> When the function module "basic positioner" (r0108.4 =1) is active, these binector/connector inputs are supplied as standard from these. The second value specifies this assignment.
<1>
<1>
[4020.1]
[4025.1]
[-/3635.7]
[-/3635.7]
<2> For p2534 > 0 % the following applies: In addition, a deadtime of two position controller clock cycles is effective.
<3> For p2534 = 0 % the following applies: The pre-control symmetrization is not effective.
+
<2>
<3>
r2565
Following error act
<2>
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(
r
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8
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3
=
1
)
- 4020 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 02.03.06 V02.04.00 Position control - Standstill/Positioning monitoring (r0108.3 = 1)
p0115[4]
<1> When the function module "basic positioner" (r0108.4 =1) is active, these binector inputs are supplied as standard from these. The second value specifies the assignment.
Standstill window
0...2147483647 [LU]
p2542 (200)
p2551
(0/2683.2)
Sig s_set pres
t_pos_monit
0.00...100000.00 [ms]
p2545 (1000.00)
T 0
t_standstill monit
0.00...100000.00 [ms]
p2543 (200.00)
0
1
F07450
"Standstill monitoring has responded"
1
T 0
Pos_window
0...2147483647 [LU]
p2544 (40)
p2554
(0/2684.15)
Signal trav_cmd act
-
+
r2684.10
Standstill (zero-speed) monitoring
p2532
s_act
F07451
"Positioning monitoring has responded"
Positioning monitoring
[4015.2]
[4015.1]
1
1
0
R Q
S
RESET
(Q=0)
Q
Q
SET
(Q=1)
p2530
s_set
Single evaluation
for the positioning monitoring function
From here, the standstill
monitoring is cyclically evaluated
p2543
p2545
Position
value
Target
position
p2542
p2544
Position
setpoint
Position
actual value
t
<1>
<1>
1 = Tracking mode active
r2683.0
[-/3645.7]
[-/3645.7]
[-/3645.7]
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(
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1
)
- 4025 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 20.03.06 V02.04.00 Position control - Dynamic following error monitoring, cam switching values (r0108.3 = 1)
r2683.8
Cam position
1 -2147483648...214748364 [LU]
p2547 (0)
r2683.9
p2532
s_act
1
0
Cam position 2
-2147483648...214748364
[LU] p2548 (0)
p0115[4]
[4015.1]
PT1
model
-
+
0
1
s_delta_monit tol
0...2147483647 [LU]
p2546 (1000)
r2684.8
r2563
Following error dyn
Dynamic
following error monitoring
F07452 "Following error too high"
p2532
s_act
[4015.1]
Cam controllers
1
0
1
0
1
[4015.4]
p2534 >= 100 [%]
Position setpoint after the pre-control
symmetrizing filter
[4015.5]
<1> The PT1 model forms, for a pre-control factor of less 100 % (p2534 < 100 %) an additional time constant of the control loop subordinate to the position controller.
<1>
Encoder evaluations
Function diagrams
2.17 Encoder evaluations
Function diagrams
4704 Position and temperature sensing, encoder 1 ... 3 2-1048
4710 Speed actual value and pole position sensing for motor (encoder 1) 2-1049
4711 Speed actual value sensing, encoders 2, 3 (r0108.7 = 1) 2-1050
4715 Speed actual value and pole position sensing for motor ASM/SM (encoder 1) 2-1051
4720 Encoder interface, receive signals, encoders 1 ... 3 2-1052
4730 Encoder interface, send signals, encoders 1 ... 3 2-1053
4735 Reference mark search with equivalent zero mark, encoders 1 ... 3 2-1054
4740 Measuring input evaluation, measured value memory, encoders 1 ... 3 2-1055
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3
- 4704 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Encoder evaluation Position and speed sensing Encoders 1... 3
A
B
1 signal period
A
B
1 2
1 2
III
u
p
dn
32 bits
Enco-
ders
Sensor
modules
Control unit
Encoder
Comp_No.
p0142[E]
SMx
(only from encoder 1)
To speed
sensing
[4710.1]
Enc
grid division
p0407[E]
Abs enc.
Multiturn
p0421[E]
Enc fine
Gx_XIST2
p0419[E]
Encoder pulse number
(number of signals periods per
track and encoder revolution)
p0408[E]
<1>
Abs enc.
Singleturn
p0423[E]
<3> <3> <3> <3>
A
B
The encoder data set
changeover is shown
at [8570].
Encoder type selection
0 = No encoder
p0400[E]
2
n
2
n
x2n
Free-running position
counter
-1
1
0
31 n-1 n 0
No. of signal
periods
Fine resolution
(multiplication by
hardware)
r0483[n-1]
Enc Gn_XIST1
[4710.1]
[4735.6]
[4740.6]
Enc
configuration
p0404[E]
<3>
Configuration, absolute value encoder
x2
n
Cyclic
absolute position value Absolute value
Reference mark position
r0483[n-1]
Enc Gn_XIST2
<2>
<7>
<2>
<6>
from sensor n
Encoder status bits
to Gn_ZSW
[4730.1]
[8016.1]
To thermal motor
monitoring
Error code
Measuring probe position
Measuring probe positions
&
Sequence control for Gn_XIST2
Encoder error
processing
SM characteristics
r0458
Multiplication
by hardware
Enc fine
Gx_XIST1
p0418[E]
Invert position actual value
p0410.1[E]
r0487[n-1]
Enc Gn_STW
<4> For SIMODRIVE-compatible functions: Set p0418 = 11.
<5> Generating the two's complement.
<6> Gn_XIST1 is a free-running position value.
The external control must process the overflows.
<7> The contents of Gn_XIST2 depends on the encoder status word/control word.
Refer to [4720] and [4730].
Function selection
Bit 0-13 Bit 14-15
[4720.4]
[4740.7]
[E]
Encoder control word
<2>
(only for absolute value encoders,
e.g. EQN)
p0979[0...25]
Encoder format acc. To
PROFIdrive
F31100...A33905
encoder faults/alarms
Enc rot clearance NM
p0425[E]
1 signal period
sin/cos
Incr
DRIVE CLiQ
For SSI encoders: Absolute
position information
Enc
squarewave A/B
p0405[E]
0
232 -
1
Refer to [1020.7]
Enc_interface
Comp_No.
p0141[E]
[4735.7]
r0481[n-1]
Enc Gn_ZSW
[4730.5]
Encoder status word
Abs enc.
Meas. Step
p0422[E]
<3>
<5>
<4>
<1> For rotary encoders = pulse number setting.For resolvers = pole pair number
setting.
<2> Assignment of the indices: Index [n-1] --> Encoder n
Index [0] --> Encoder 1
<3> For "EnDat encoders", these parameters are automatically read-out.
Direction reversal
p1821[D]
-1
0
1
Direction reversal
p1821[D]
-1
0
1
0
1
Meas enc config
p0411.0[E]
p0432[E]/
p0433[E]
[4710.1]
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- 4710 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 02.03.06 V02.04.00 Encoder evaluation - speed act. value and pole pos. sensing for motor encoder (encoder 1)
r0063
n_act smooth
r1407.1
n_act calculation
r0061
n_act motor
encoder
Smoothing
[2522.6]
To speed controller [5040.2]
To torque limits [5620.6] To power limiting [5640.1]
To speed messages/signals [8010.1]
Pole position sensing
Incl. measuring gearbox
p432[E],p433[E]
r0093
Pole pos el norm
r0094
Transformat_angle
n_act T_smooth
0.00...20.00 ms
p1441[D] (0.00)
Raw position
signals from
encoder 1
(refer to p1300 [5060])
Inv enc. act. val.
p0410.0[E]
n_act smooth
r0021
0
1
p0115[0] (125.00 s)
<2> Ratio between the electrical and mechanical pole position (= motor pole pair number).
<1> The [E]ncoder data set changeover is represented at [8570].
<1>
<2>
Enc commut_factor
r0451
III
u
p
dn
y x A,B
[4704.8]
Fine resolution
for the speed
actual value
Zero mark
1 encoder revolution
C
D
n_act measurement
-1
0
1
dx
dt
C,D
To change over the control type [5060.2]
To brake control [2701.1]
To Kp_n and Tn_n_adaptation [5050.1]
100 ms
Inv encoder actual value
p0410.0[E]
<1>
-1
0
1
p0410.0[E]
<1>
-1
0
1
To extended brake control/standstill identification. [2704.1]
Direction reversal
p1821[D]
-1
0
1
Gearbox enc
p0432[E]
Gearbox mot
p0433[E]
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0
8
.
7
=
1
)
- 4711 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.03.06 V02.04.00 Encoder evaluation speed actual value sensing, encoders 2, 3 (r0108.7 = 1)
r3771
r3770
Smoothing
n_act T_smooth
0.00...20.00 [ms]
p1441[D] (0.00)
Raw position signals,
encoder 2
p0410.0[E]
2
3
p0115[0] (125.00 s)
<1> The [E]ncoder data set changeover is represented at [8570].
<1>
III
up
dn
y
x
A, B
[4704.8]
Fine resolution
for n_act
Zero mark
C
D
n_act measurement
-1
0
1
dx
dt
To Advanced Positioning Control (APC)
[7012.1]
C, D
A, B
[4704.8]
C, D
Raw position signals,
encoder 3
p3701
To servo speed control with encoder
[5040.1]
<2> For
motor encoders rotary/direct measuring systems linear Motor encoders linear/direct measuring system rotary the following
applies:
Parameters p2503 (LU per 10 mm) and p2506 (LU per load revolution) also apply.
Direction reversal
p1821[D]
-1
0
1
Gearbox enc
p0432[E]
Gearbox mot
p0433[E]
Mot/load motor revolution
p2504
<2>
<2>
Mot/load load revolution
p2505
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-1
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1
- 4715 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 03.03.06 V02.04.00 Encoder evaluation - speed act. value and pole pos. sensing motor enc. ASM/SM (encoder 1)
r0063[0]
n_act
r1407.1
r0061
n_act motor encoder
Smoothing
[2522.6]
n_act T_smooth
0.00...20.00 [ms]
p1441[D] (0.00)
Raw position
signals from
encoder 1
p0410.0[E]
<2>
III
up
dn
x A,B
Fine resolution
for the speed
actual value
Zero mark
C
D
n_act measurement
-1
0
1
dx
dt
C,D
n_act calculation
[6730.1] <1>
<2> [E]: The encoder data set changeover is represented on [8570].
1
0
r0063[0]
n_act
r0061
n_act motor encoder
Smoothing
n_act T_smooth
0.00...20.00 [ms]
p1441[D] (0.00)
Zero mark
C
D
<1> = Only for vector control without encoder.
<2> [E]: The encoder data set changeover is represented on [8570].
Induction motor
Synchronous motor
-1
0
1
[6731.1]
[6732.1] <1> Only for p0300 = 2, 5
<1>
Refer to [1020.7]
Refer to [1020.7]
p0045
r0063[1]
n_act
To Kp_n-/Tn_n adaptation [6050.1]
To torque limiting [6640.1]
To Iq and Id controller [6714.7]
To field weakening characteristic [6724.1]
To interface to the Motor Module for induction motors [6730.1]
To display signals [6799.1]
To speed signals [8010.1]
p0045
r0063[1]
n_act
To Kp_n-/Tn_n adaptation [6050.1]
To torque limiting [6640.1]
To Iq and Id controller [6714.7]
To field-weakening characteristic [6722.1]
To interface to the Motor Module for induction motors [6730.1]
To display signals [6799.1]
To speed signals [8010.1]
[4710.8]
Direction reversal
p1821[D]
-1
0
1
Raw position sign.
from encoder 1
p0410.0[E]
<2>
III
up
dn
y x A,B
Fine resolution
for the speed
actual value
dx
dt
C,D
[4710.8]
Direction
Reversal
p1821[D]
-1
0
1
n_act measurement
y
Gearbox enc
p0432[E]
Gearbox mot
p0433[E]
y
Gearbox enc
p0432[E]
Gearbox mot
p0433[E]
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- 4720 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Encoder evaluation function - encoder interface, receive signals, encoders 1 ... 3
Bits 0...13 control what is transferred
in Gn_XIST 2.
There are 3 alternatives:
- Bit 7 = 0: Position actual value at
the reference mark <2>
- Bit 7 = 1: Position actual value when
the measuring probe
edge is received <2>
- Bit 13 = 1: Cyclic absolute position
value from absolute
encoder
(0)0
p0480[n-1]
Selects the function to be activated (with bit value = 1)
Start/stop/read selected function
0
r0487[n-1]
Enc Gn_STW
Index [n-1] --> encoder n
Index [0] --> encoder 1
The position actual values are read-out of Gn.XIST2 using a
handshaking technique. The following pulse diagram shows,
as example, reading-in the position at the reference mark 1
(Mode: Bit 7 = 0)
Select function 1 [Bit 3...0]
("search for reference mark 1")
Start function [Bit 6...4]
Function active [Gn_ZSW Bit 0]
Actual value save at the
reference mark
Read generated value [Bit 6...4]
Value from function 1 available
[Gn_ZSW Bit 4]
Position actual value at reference
mark 1 in Gn_XIST2
000 000 001
000 010
0001
1 0 1
0 0
0 0
1
0 0
0
1
2
3 4
3
2
1
Function No.
Bit No.
Function for bit 7 = 0
(search for reference mark)
Function for bit 7 = 1
(flying measurement)
Reference mark 1 Measuring probe 1
<1>
<2>
Control word for encoder n (n = 1, 2 or 3)
5
7
8...12
13
14
15
Mode of the function to be activated
1 = flying measurement
0 = Search for reference mark (zero mark or BERO)
Reserved part
1 = Request cyclic transfer of the absolute position value in
Gn_XIST2
(e.g. EQN absolute track; acknowledgment in Gn_ZSW bit 13)
1 = Request parking encoder (handshake with Gn_ZSW bit 14)
= acknowledge encoder fault (located in Gn_ZSW, bit 15;
Handshake with Gn_ZSW bit 11)
1
<3> The bits are processed with the following priority sequence (highest priority -->
lowest priority bit): Bit 14 --> Bit 15 --> Bit 4-7 --> Bit 12 --> Bit 13.
<3>
To the position sensing, encoder n
[4704.3]
6
<4> Feedback signal is provided in Gn_ZSW bit 14 - however the encoder is not
actually parked.
<4>
<1>
<1>
PROFIdrive bit
Interrupt function
Read generated value
Activate selected function
No function
4
Refer to [1020.7]
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- 4730 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Encoder evaluation function - encoder interface, send signals, encoders 1 ... 3
From the measuring probe
evaluation
[4740.4]
Feedback signal of the active function (1 = function active)
r0481[n-1]
Enc Gn_ZSW
<1>
<1> Index [n-1] --> encoder n
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Status word from encoder n (n = 1, 2 or 3)
1 = Position actual value from function 1
1 = Measuring probe 1 deflected (high signal)
1 = Measuring probe 2 deflected (high signal)
Reserved
1 = Acknowledge encoder fault active
Reserved (for reference point offset)
Absolute value is cyclically transferred
Encoder fault, the fault is in Gn_XIST2 (r0483)
Parking encoder active (i.e. the encoder is not operational)
Bit 0
Bit No.
Bit 12
Bit 13
Bit 14
Bit 15
Generated value
in Gn_XIST2
(and can be
read)
Encoder status bits
from the position sensing, encoder n
[4704.8]
to the sequence control for Gn_XIST2
[4704.5]
Position value 2 from encoder n
The contents of position actual value 2 (Gn_XIST2) at [4704] depends on Gn_STW and Gn_ZSW.
This can be done as follows:
- Undefined for a parking encoder (Gn_ZSW.14 = 1).
- For Gn_ZSW.15 = 1 the fault code for encoder faults is located here.
- Position actual value at the reference mark (for Gn_STW.7 = 0 and Gn_ZSW.4-7 > 0; with handshake).
- Position actual value due to flying measurement (for Gn_STW.7 = 1 and Gn_ZSW.4.7 > 0; with handshake).
- Cyclic absolute position value (free-running value, e.g. from the EQN absolute track (for Gn_ZSW.13 = 1).
4
3
2
1
Function
No.
For reference number and flying
measurement
reference mark 1 or measuring probe 1
PROFIdrive bit
Refer to [1020.7]
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- 4735 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Encoder evaluation - reference mark search with equivalent zero mark, encoders 1 ... 3
p0490.15
p0490.14
p0490.13
p0490.11
p0490.10
p0490.9
DI15_probe
(X132.11)
[2133.4]
DI14_probe
(X132.10)
[2133.4]
DI13_probe
(X132.8)
[2132.4]
DI11_probe
(X122.11)
[2131.4]
DI10_probe
(X122.10)
[2131.4]
DI9_probe
(X122.8)
[2130.4]
"Fast inputs"
Zero mark input
0...6
p0495[n-1] (0)
Reference mark search
This function is provided once for each of
the maximum 3 encoders.
STW for encoder n
Gn_STW [4720]
r0487[n-1].0
Gn_XIST2
for function No. = 1
x y
Store
<1>
<2>
Measured-value memory
The measured value memory is read-out using a handshaking technique according to [4720], [4730]. <1>
Index [n-1] --> encoder n (n = 1, 2, 3)
&
r0487[n-1].4
r0487[n-1].7
Q
D
D memory
element (flip-flop)
No equivalent zero mark
(evaluate the encoder zero mark for encoder n)
1
0
2
3
4
5
6
From the
digital
inputs/
outputs
Reference mark
position to the
encoder interface
[4704.4]
<3>
<3> All other bits in the encoder control word must be 0.
r0483[n-1]
Position actual value 1
from encoder n
[4704.8]
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
1
&
0
1
2
3
4
5
6
<4>
Increasing position actual values (r0482) --> The 0/1 edge is evaluated.
Decreasing position actual values (r0482) --> The 1/0 edge is evaluated.
This means when traversing to an equivalent zero mark, the same reference point is always used.
<4>
Store
Select the function to be activated
<5>
These measuring probe inputs only exist on the CU320. <5>
<5>
<5>
Refer to [1020.7]
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- 4740 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Encoder evaluation - measuring probe evaluation, meas. value memory, encoders 1 ... 3
p0490.15
p0490.14
p0490.13
p0490.11
p0490.10
p0490.9
DI15_probe
(X132.11)
[2133.4]
DI14_probe
(X132.10)
[2133.4]
DI13_probe
(X132.8)
[2132.4]
DI11_probe
(X122.11)
[2131.4]
DI10_probe
(X122.10)
[2131.4]
DI9_probe
(X122.8)
[2130.4]
"Fast inputs"
Measuring probe 2 input
0...6
p0489[n-1] (0)
Measuring probe 2 deflected
to Gn_ZSW9 [4730.2]
Measuring probe evaluation
This function is provided once for each of
the maximum 3 encoders.
STW for encoder n
Gn_STW [4720]
r0487[n-1].0
Gn_XIST2
Gn_XIST2
Gn_XIST2
Gn_XIST2
x y
Store
x y
Store
x y
Store
x y
Store
<1>
<2>
4 measured value memory
Up to 4 measuring functions can be simultneously active; the measured value
memory is read-out using a handshaking technique according to [4720], [4730].
<1>
Index [n-1] --> encoder n (n = 1, 2, 3)
&
&
&
&
r0487[n-1].1
r0487[n-1].3
r0487[n-1].2
r0487[n-1].4
r0487[n-1].7
&
Q
D
Q
D
Q
D
Q
D
Selecting the function to be activated
Store
D memory
element (flip-flop)
(no measuring probe for encoder n)
0
1
0
2
3
4
5
6
0
1
2
3
4
5
6
x=
Measuring probe 1 deflected
to Gn_ZSW8 [4730.2]
From the
digital
inputs/
outputs
Measuring
probes
positions to
the encoder
interface
[4704.3]
<3>
<4>
<3> All other bits in the encoder control word must be 0.
r0483[n-1]
Position actual value 1
from encoder n
[4704.8]
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
1
0
1
Measuring probe 1 input
0...6
p0488[n-1] (0)
0
1
2
3
4
5
6
<4> These measuring probe inputs only exist on the CU320.
<4>
<4>
Refer to [1020.7]
Function diagrams
Servo control
2.18 Servo control
Function diagrams
5020 Speed setpoint filter and speed pre-control 2-1057
5030 Reference model/pre-control symmetrization/setpoint n-controller 2-1058
5040 Speed controller with encoder 2-1059
5050 Kp_n/Tn_n adaptation 2-1060
5060 Torque setpoint, changeover control type 2-1061
5210 Speed controller without encoder 2-1062
5300 V/f control for diagnostics 2-1063
5490 Speed control configuration 2-1064
5610 Torque limiting/reduction/interpolator 2-1065
5620 Motor/generator torque limit 2-1066
5630 Upper/lower torque limit 2-1067
5640 Mode changeover, power/current limiting 2-1068
5650 Vdc_max controller and Vdc_min controller 2-1069
5710 Current setpoint filter 2-1070
5714 Iq and Id controller 2-1071
5722 Field current setpoint, flux controller 2-1072
5730 Interface to the motor module (gating/control signals, current actual values) 2-1073
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<5> The interpolator is only effective for clock-cycle synchronous PROFIBUS
operation and sign-of-life received from the master (STW2.12 ... STW2.15). In
addition, when the Dynamic Servo Control (DSC) is active, an additional deadtime
of one speed controller clock cycle is effective.
- 5020 -
Fuction diagram
8 7 6 5 4 3 2 1
SINAMICS S 07.02.06 V02.04.00 Servo speed control with encoder - speed setpoint filter and speed pre-control
PT1 low pass
PT2 lowpass
r1170
n_ctrl n_set sum
[3080.8]
p1416[D]
x
y
p1415[D]
fn_n
p1417[D]
D_n
p1418[D]
fn_z
p1419[D]
D_z
p1420[D]
fn_n
p1417[D]
D_n
p1418[D]
+
+
p1414.0[D]
Setpoint filter 1
PT1 low pass
PT2 lowpass
p1422[D]
x
y
p1421[D]
fn_n
p1423[D]
D_n
p1424[D]
fn_z
p1425[D]
D_z
p1426[D]
fn_n
p1423[D]
D_n
p1424[D]
p1414.1[D]
Setpoint filter 2
To the
speed controller
[5210.1]
and to the
reference model
[5030.1]
Speed setpoint
Speed pre-control signal
Interpolator
n_pre-control
(0)
p1430[C]
x y
x
x
x
x
1
0
1
0
1
0
y
y
<2>
f
2nd Order filter
y
f
2nd Order filter
y
y
y
<2>
r0060
n_set before filter
<1> Low-pass 2nd order. Detailed representation at [1024].
t
y
t
y
r0062
n_set after filter
<2> General 2nd Order filter. Detailed representation at [1024].
<3>
<1>
<1>
f
|y|
fn
D
f
|y|
fn
D
0
1
2
0
1
2
p0115[1] (125.00 s)
<3> Speed pre-control only available for speed control with encoder. Pre-control
signal permanently connected to "0" for close-loop control without encoder
and for V/f control.
<4> p1400.10 = 1 is recommended, if in addition to the speed pre-control signal, a
torque pre-control signal is also connected at [5060].
<4>
<5>
<6>
<6>
0
1
n_set from DSC
[3090.8]
<6> For a 1/0 edge from control command STW2.8 "traverse to fixed endstop" [2444]
the output of all filters is set to the input value for an instantaneous response to a
change of the speed setpoint sign.
[3090.8]
1 = DSC active
[3090.8]
F07421 "Speed setpoint filter natural frequency > Shannon frequency"
[5490.7]
1 = Interpolation
Speed controller pre-control active
From speed control configuration
p1400.7
[5490.7]
1 = Speed pre-control
for symmetrizing
From the speed control
configuration
p1400.10
n_set smooth
r0020
Monitoring
n_pre-ctrl_2
[5030.1]
n_before_setpoint filter
from the function generator
+
+
+
+
n_after_setpoint filter
from the function generator
100 ms
0
1
t
x,y x
y
[2701.1] [2704.1]
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- 5030 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.03.06 V02.04.00 Servo speed control with encoder - reference model/pre-control symmetrization/setpoint n_ctrl.
n_ctrl RefMod fn
0.0...8000.0 [Hz]
p1433[D] (0.0)
n_ctrl RefMod D
0.000...5.000
p1434[D] (1.000)
n_ctrl RefMod t_dead
0.00...2.00
p1435[D] (0.00)
y = x for the factory setting
x
+
y
n_pre T Sym
0.00...10 000.00 [ms]
p1429[D] (0.00)
n_pre t_dead sym n
0.0...2.0
p1428[D] (0.0)
y = x for the factory setting
x
[5020.8]
y
Emulating the pre-controlled speed control loop
Reference model
Pre-control symmetrization
Simulation of the build-up of the pre-control torque
r1432
n_pre after sym
r0062
n_set after filter
Sampling time, speed control (p0115[1])
Sampling time, current control (p0115[0])
r1436
n_set RefMod output
p0115[1] (125.00 s)
+
+
+
Speed
limiting
Speed setpoint limited
p1407.11
r1438
n_ctrl n_set
To status word, speed
controller [2522.3]
To U/f control [5300.1]
r1087
From setpoint limiting [3050.8]
r1084
From setpoint limiting [3050.8]
[3095.7]
[3095.7]
r1119
RFG setpoint at the input
n_ctrl n_set 1
p1155[C]
n_ctrl n_set 2
p1160[C]
+
n_ctrl n_set stat
r1444
0
1 n_set via PC
p3983
PcCtrl active
p0807.0
n_set I_comp
r1439
To speed controller
[5040.1]
Steady-state setpoint calculation
+
+
0
1
n_pre-control
p1430[C]
+
[3090.8]
n_set from DSC
+
1 = DSC active
[3090.8]
r1084
r1087
r1084
r1087
n_pre-ctrl_2
+
From Advanced Positioning Control (APC)

[7012.1]
[7012.8]
0
1
Reference model
Speed setpoint
I component
p1400.3
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- 5040 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 02.03.06 V02.04.00 Servo speed control with encoder - speed controller
[5060.1]
n_ctrl Kp n lower
0.000...999 999.000 Nms/rad
p1460[D] (0.300)
r1480
n_ctrl PI-M_output
(M_set_1)
(0)
n_ctrl integ set
p1477[C]
n_ctrl integ_set val
(0)
p1478[C]
Kp_n_basic
n_ctrl Tn n lower
0.00...100 000.00 ms
p1462[D] (20.00)
Integrator
control
r1482
n_ctrl I-M_output
Tn_n_basic Tn_n_adapt
Speed
controller
[4710.6]
+
+
1 0 1 0
Kp_n_adapt
Speed controller, I component set
r1407.6
Speed controller, I component held
r1407.5 [2522.3]
[2522.3]
Tn
Kp
Hold Set
Set
Val
Uq at the limit of the ZSW current control
r1408.5
r1407.7 [2522.7]
[2530.7]
To Kp/Tn adaptation [5050.2]
From Kp/Tn adaptation
[5050.7]
r0063
n_act smooth
r1454
n_ctrl Ctrl_diff Tn
r0064
n_diff
n_ctrl Kp eff
r1468
n_ctrl Tn effective
r1469
<1>
<1> For p1462 = 0.0, the I component is disabled (integral action time = ).
Kp
p0115[1] (125.00 s)
r1481
n_ctrl P-M_output
<2> For torque control, the I component is set to the value of r1515 (supplementary torque).
<3> This parameter is set to 0 when the pulses are cancelled.
<2> <3>
<3>
<3>
+
r1438
n_ctrl n_set
+
1 = Kp/Tn adaptation
from the speed control configuration
p1400.5
[5490.7]
TF
<4>
<4> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
n_ctrl integr_fdbk
p1494
n_set for I component
[5030.8]
[5030.8]
(0)
n_ctrl integ stop
p1476[C]
[2610.4]
Enable speed controller from sequence control S4: Operation
0
1
r3771 [4711.7]
&
r0108.7 =1
p3700.8 =1
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- 5050 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S Servo speed control without encoder - Kp_n/Tn_n adaptation
Free Kp_n
adaptation
Upper adaptation factor
0.0...200 000.0 %
p1459[D] (100.0)
[5040.8]
0.00...210 000.00 RPM
p1465[D] (0.00)
Speed-dependent Kp_n/Tn_n adaptation
Tn_n_adapt
Kp_n_basic (p1460)
y
x
Tn
r0063
n_act smooth
[4710.6]
p1461[D] (100%)
Kp
n
Kp
0.00...210 000.00 RPM
p1464[D] (0.00)
Kp_n_adapt
To the speed controller with encoder
[5040.4]
To the speed controller without encoder
[5210.3]
1.00 in the factory setting
0.00...400.00 %
p1456[D] (0.00)
0.00...400.00 %
p1457[D] (0.00)
Adaptation signal 2
(1)0
p1466[C]
Adaptation signal 1
(0)0
p1455[C]
Lower adaptation factor
0.0...200 000.0 %
p1458[D] (100.0)
referred to p200x
x
n
1000.00 s
Tn
n
09.11.04 V02.04.00
p1463[D] (100%)
[5040.8]
n
Tn_n_basic (p1462)
Kp_n_ adaptation factor
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- 5060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 18.05.05 V02.04.00 Servo speed control with encoder - torque setpoint, changeover control type
+
+
M_suppl 2
(0)
p1513[C]
M_suppl 1 scal
(0)
p1512[C]
M_suppl 1
(0)
p1511[C]
r1480
n_ctrl PI-M_output
1
0
r1509
M_set before M_lim
+
e.g. p2900
[1021]
[5610.3]
To torque limiting
21
21
20
M_pre-control_1
0
+
+
r1480
n_ctrl PI-M_output
From speed
controller without
encoder [5210.8]
1
0
From speed
controller with
encoder [5040.8]
0
<1>
"Speed control without encoder"
Control type
p1300
r0063
n_act smooth
[4710.6]
Threshold, encoder --> sensorless
0.0...210000.0 RPM
p1404[D] (210000.0)
1 = Sensorless speed control active
r1407.1
[2522.3]
20
<2>
"Speed control with/
without encoder"
p0115[1] (125.00 s)
<3>
<1> The torque control can only be activated for operation with encoder.
An appropriate fault message is output, if:
1) Sensorless operation is active and closed-loop torque control is requested (r1406.12 = 0 --> 1).
2) Torque control is active and n_act smooth > p1404.
<2> Automatic changeover to sensorless operation, e.g. for extremely high-speed spindle drives.
<3> When the pulses are cancelled, r1509 is set to 0.
0 = Speed control
1 = Torque control
r1406.12
[2520.7]
p1501
1
p1300 = MCtrl
M_suppl total
r1515
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- 5210 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 22.11.05 V02.04.00 Servo speed control without encoder - speed controller
r1480
n_ctrl PI-M_output
(M_set_4)
0
1
r0062
n_after filter
[7012.1]
Speed setpoint
limiting active
r1407.11
[2522.3]
Acceleration
model
Total moment of
inertia
Mot M_inertia
0.000 00...100 000.000 00 kgm
p0341[M] (0.000 00)
Mot mom of inertia ratio
1.000...10 000.000
p0342[M] (1.000)
<2>
Symmetrized speed setpoint
+
r0063
n_act smooth
[4710.6]
M_accel T_smooth
0.00...100.00 ms
p1517[D] (4.00)
(0)
n_ctrl integ_set
p1477[C]
n_ctrl integ_set value
(0)
p1478[C]
r1482
I_ctrl I-M_output
To torque
setpoint input
[5060.1]
M_pre-control_1
Integrator
control
n_ctrl Kp eff
r1468
n_ctrl SLVC Tn
0.0...100 000.0 ms
p1472[D](20.0)
<1>
n_ctrl SLVC Kp
0.000...999 999.000 Nms/rad
p1470[D](0.300)
1 = Kp-/Tn adaptation active
From speed control configuration
p1400.5
Kp_n-Adaptation factor [5050.6]
(= 1.00 for the factory setting)
Smoothing
Speed
controller
[5490.4]
r1438
n_ctrl n_set
<1> For p1472 = 0 the I component is disabled (Tn_n =
<2> Setting rule: p0341, p0342 and p1498 are correctly set if, when accelerating in sensorless operation, the
speed output r1480 displays values around/in the vicinity of 0.
x
r1481
n_ctrl P-M_output
I component set
r1407.6
I-component held
r1407.5 [2522.3]
[2522.3]
1 = Sensorless operation speed
actual value, starting value
From speed control, configuration p1400.11
[5490.7]
n_limit pos eff
r1084
n_limit neg eff
r1087
TF
n_ctrl integr_feedback
p1494
Tn Kp
<3> The integrator of the speed controller is re-parameterized to become a PT1 filter through a feedback element (p1494).
<3>
From setpoint limiting
[3050.8]
[3095.7]
[3050.8]
[3095.7]
(0)
n_ctrl integ stop
p1476[C]
Load moment of inertia
p1498
+
+
p0115[1] (125.00 s)
+
From Advanced Positioning Control

[7012.8]
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Servo V/f control - V/f control for diagnostics
- 5300 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 05.04.05 V02.04.00
0
fmax
f_set_1
f_max
[5030.8]
[3050.6]
[3095.7]
60
n p
f
60
n p
f
To the current control

V/f characteristic U4
0.0...10 000.0 V
p1327[D] (0.0)
V/f U at f zero
0.0...25.0 V
p1319[D] (0.0)
V_set Ud_set_3
Uq_set_3
f_set_2
V/f characteristic f4
0.00...10 000.00 Hz
p1326[D] (0.00)
f
U
f
430V
Safety ramp-function generator for
V/f control (as stall protection)
V/f t_up_down
0.000...999 999.000 s
p1318[D] (10.000)
Mot PolePairNo act
r0313[M]
V/f characteristic
(synchronous
frequencies)
r1438
n_set for P component <1>
p0115[0] (125.00 s)
r0066
Drv f_output
Drv f_outp smth
r0024
r0063
n_act smooth [RPM]
Pole pair number /60
<2>
<1>
For synchronous motors only speed setpoints up to approx. 25 % of the rateed speed are practical. Beyond this, there is a danger of resonant
oscillations.
<2> The changeover to V/f control (closed-loop control type) is represented at [5730.2].
Monitoring
F07801
"Motor overcurrent"
(not automatic
current limiting for
V/f control)
100 ms
[5730.1]
n_max (p1082)
Reference variable for the
ramp-up time
F
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- 5490 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.03.05 V02.04.00 Servo closed-loop - open-loop status words - speed control configuration
1
2
3
4
5
6
Reserved
Meaning
Reserved
Reserved
Reserved
1 = Torque limiting, motoring/regenerating active
0
Bit No.
Speed control configuration
1
[5020.3]
[5640.3]
[5040.2]
[5210.5]
p1400[D]
p1400[D]
n_ctrl config
Factory setting
1000.00 s
1 = Kp/Tn adaptation active
Reserved
7
8
10
11
12
1 = Interpolation, speed pre-control active
1 = Interpolation, torque setpoint active
Speed pre-control
0 = To setpoint filter 2; 1 = To balancing
Sensorless operation, speed actual value starting value
0 = 0.0; 1 = setpoint
1
1
[5210.2]
[5020.5]
[5610.6]
Sensorless operation, changeover
0 = When accelerating, 1 = Stationary
13
14
Motoring/regenerating depending on
0 = Speed actual value, 1 = Speed setpoint
Reserved
Reserved 15
9 1 = Damping for sensorless open-loop controlled mode 1
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5
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r
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x,y x
y
- 5610 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.07.05 V02.04.00 Servo torque limits - torque limiting/reduction/interpolator
[5060.6]
r1509
M_set before M_lim
From the torque setpoint input
r1538
M_max upper eff
r1539
M_max lower eff
From generation of
the
torque limits
[5650.8]
5490.8
[2522.3]
[3080.1)
r1407.7
Torque limiting, upper active
r1407.8
Torque limiting lower active
r1407.9
Torque limiting
1
r0079[0]
M_set total
Interpolator
0
1
y x M_set_6
To the current setpoint filter
[5710.1]
p0115[1] (125.00 s) p0115[0] (125.00 s)
<1>
<1> For p0115[1] = p0115[0] the interpolator is automatically jumpered (bypassed) independent of the control.
[2522.3]
[2522.3]
<2> Torque reduction (e.g. for "Traversing to fixed endstop (TfS)" with process data MOMRED, refer to PROFIBUS
telegram 102 ... 106 [2420]).
0...100 %
TfS M_red
p1542 r1543
100...0 %
TfS M scal
+
TfS M_red eval
0...65535 %
p1544 (100)
<2>
214 = 100 % 100 %
[5620.3]
1 = Interpolation torque setpoint active
p1400.8
[5490.7]
r0079[1]
M_set total smooth
T_smooth display
from 0.00...50.00 [ms]
p0045(1)
[8012.1]
Frict input ctrl
(3841)
p1569[C]
[7010.7]
+
+
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- 5620 -
Function diagram
8 7 6 5 4 3 2 1
DO: SERVO
SINAMICS S 05.10.04 V02.04.00 Servo torque limitis - motoring/regenerating torque limit
The 4 quadrants
Motoring torque limit
M_offset
M_offset
r1534
M_max upper total
r1535
M_max lower total
+
+
M_max offset
-100 000.00...100 000.00 Nmp
1532[D] (0.00)
+
+
<0
<0
-1
-1
r0063
n_act smooth
Max
Min
Max
Min
Regenerative torque limit
0
(1)0
p1528
(1520)0
p1522
p1520
M_max upper/mot
-100 000.00...100 000.00 Nm
p1520 (100.00)
<1>
0
(1)0
p1529
(1521)0
p1523
p1521
M_max lower/regen
-100 000.00...100 000.00 Nm
p1521[D] (-100.00)
<1>
<1> For p1400.4 = 1, one torque limit applies for the motoring operation and the other for the regenerative operation, independent of the sign of the torque
and the speed (compatible with Simodrive).
"Normal case": If neither dynamic limits nor offsets are required, then the torque limit when motoring is entered using p1520 and the torque limit when
regenerating (as negative value) using p1521.
+
+
Reverse,
generating
Forwards,
generating
Forwards,
motoring
Reverse,
motoring
2 1
M
n
3 4
[4710.6]
M
n
1
3
M
n
2
4
M
n
3
M
n
4
M
n
2
M
n
2 1
M
n
4 3
M
1
n
1000.00 s
For the manufacturer-specific PROFIBUS telegrams 102 ... 106, r1543 is entered here [5610.4]. <2>
<2>
e.g. from MOMRED
<1>
<1>
p2900
p2900
<2>
e.g. from MOMRED
M_max upper without Offs
r1526
M_max lower without Offs
r1527
[5640.1]
[5640.1]
fp_5620_01_eng.vsd
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<3>
- 5630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 21.12.05 V02.04.00 Servo torque limits - upper/lower torque limit
p1520[D]
M_max upper/mot
-100 000.00...100 000.00 Nm
p1520[D] (100.00)
M_ upper/mot
(1520)
p1522[C]
<1>
<1> For p1400.4 = 0 the torque limits for the positive and negative torque direction (upwards and downwards) are compatible to MASTERDRIVES and MICROMASTER 4.
"Normal case": If neither dynamic limits nor offset are required, the upper torque limit is entered via p1520 and the lower (as negative value) via p1521.
Upper torque limit
M_max up/mot scal
(1524)
p1528[C]
r1534
M_max upper total
p1521[D]
M_max lower/regen
-100 000.00...100 000.00 Nm
p1521[D] (-100.00)
M_max lower/regen
(1521)
p1523[C]
<1>
Lower torque limit
M_max low/regen scal
(1525)
p1529[C]
r1535
M_max lower total
p1520
{p1522}
p1532
p1521
M
{p1523}
B
A
<2> Danger!
Negative values at
<2>
<2>
or positive values at represent a minimum torque for the other torque direction and can cause the motor to accelerate uncontrollably. B
<3> The limiters ensure that the limits do not mutually "overtake" one another.
M
n
4 3
M
n
2 1
A
F07090
A B Fault F07090 is initiated, which can also be disabled. With <
1000.00 s
<4> For the manufacturer-specific PROFIBUS telegrams 102 ... 106 r1543 is switched-in here [5610.4].
<4>
e.g. from MOMRED
<2>
<2>
<4>
e.g. from MOMRED
M_max upper without offs
r1526
M_max lower without offs
r1527
[5640.1]
[5640.1]
M_max Offset
M_max offset
+
+
+
+
M_max offset
-100 000.00...100 000.00 Nm
p1532[D] (0.00)
0
1
0
1
(1)
M_lim var/fixed S_src
p1551[C]
Example:
0 = Fast stop active
(OFF3)
r0899.5
p1524[D]
M_max upper/mot scal
-2000.0...2000.0 %
p1524 (100.0)
p1525[D]
M_max upper/regen scal
-2000.0...2000.0 %
p1525 (100.0)
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- 5640 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 24.01.06 V02.04.00 Servo torque limits - mode changeover, power/current limiting
r1534
M_max_1
Mode changeover
r1535
M_min_1
From "upper/lower
torque limits"
[5630.8]
r1534
M_max_1
r1535
M_min_1
From "motoring/
regenerating
torque limits"
[5620.8]
r1534
r1535
Power limiting
r0063
n_act smooth
[4710.6]
P_max mot
0.00...10 000.00 kW
p1530 (100.00)
P_max regen
-10 000.00...0.00 kW
p1531 (100.00)
[5730.2]
Min
Min -1
P_min
P_max
Iq_max_1
Iq_min_1
Torque factor from the current control M2Iq
[5730.4]
Current limiting
M
P
n
M_max_3
M_min_3
Maximum torque-generating current
from the current control
1
0
Min
Min
~
<1>
[Nm]
[Nm] M
P
n
~
P_stall from the current control
1000.00 s p0115[1] (125.00 s)
<1> M [Nm] =
<2>
r1533
Iq_max total
[5722.8]
-1
[5490.7]
1 = Mode torque limiting from
the speed control configuration
p1400.4
60 1000
2
P [kW]
n [RPM]
<0
0
<0
0
M_limit Vdc_max
M_limit Vdc_min
[5650.1]
[5650.1]
0
-1
1
>0
0
<0
0
-1
1
>0
0
<0
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8
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- 5650 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.07.05 V02.04.00 Servo torque limits - Vdc_max controller and Vdc_min controller
r1538
M_max upper eff
r1539
M_max lower eff
Vdc_min controller
+
Vdc_ctrl config
p1240
+
[8950.1]
[5640.8]
Adaptation
Adaptation
Vdc_ctrl Kp
p1250
r0070
Vdc_act
Vdc threshold, upper
p1244
r0063
n_act smooth
Logic
M_limit Vdc_max
Torque limiting
[5610.1]
Iq/Id controller
[5714.1]
Torque
messages
[8012.1]
r0070
Vdc_act
Vdc threshold, lower
p1248
Vdc_ctrl Kp
p1250
r0063
n_act smooth
iDC min
iDC max MUD max
MUD min
[5640.8]
r0063
n_act smooth
M_limit Vdc_min
Vdc_max controller
1000.00 s
a = ((p1240 = 2 or 3) and (r0063 > 0))
b = ((p1240 = 0, 1, 4, 5 or 6) or (r0063 0))
a = ((p1240 = 2 or 3) and (r0063 < 0))
b = ((p1240 = 0, 1, 4, 5 or 6) or (r0063 0))
a = ((p1240 = 1 or 3) and (r0063 < 0))
b = ((p1240 = 0, 2, 4, 5 or 6) or (r0063 0))
a = ((p1240 = 1 or 3) and (r0063 > 0))
b = ((p1240 = 0, 2, 4, 5 or 6) or (r0063 0))
b
a
b
a
b
a
b
a
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- 5710 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 09.09.05 V02.04.00 Servo current control - current setpoint filter
PT2 lowpass
fn_z
p1660[D]
D_z
p1661[D]
fn_n
p1658[D]
D_n
p1659[D]
PT2 lowpass
fn_z
p1665[D]
D_z
p1666[D]
fn_n
p1663[D]
D_n
p1664[D]
1
0
PT2 lowpass
fn_z
p1670[D]
D_z
p1661[D]
fn_n
p1668[D]
D_n
p1669[D]
1
0
f
2nd Order filter
|y|
PT2 lowpass
fn_z
p1675[D]
D_z
p1676[D]
fn_n
p1673[D]
D_n
p1674[D]
Iq_set_2
[5714.1]
p1656[D]0.0
x
y
p1656[D].1
p1656[D].2
p1656[D].3
M_set_6
from torque limit
I_pre_setpoint filter from
the function generator
+
+
x
y
fn_n
p1658[D]
D_n
p1659[D]
fn_n
p1673[D]
D_n
p1674[D]
1
0
p1657[D]
fn_n
p1663[D]
D_n
p1664[D]
fn_n
p1668[D]
D_n
p1669[D]
1
0
p1662[D]
x
y
x
y
1
0
p1667[D]
x
y
x
y
1
0
p1672[D]
x y
x y
Iq_set_1
<1>
<1>
<1>
<1>
<1> General 2nd order filter (detailed representation at [1024]).
r1650
<2> PT2 lowpass (detailed representation at [1024]).
<2>
<2>
<2>
<2>
+
f
|y|
fn
D
f
|y|
fn
D
f
|y|
fn
D
f
|y|
fn
D
Filter 1 Filter 2 Filter 3 Filter 4
f
2nd Order filter
|y|
f
2nd Order filter
|y|
f
2nd Order filter
|y|
1
0
1
0
Torque factor M2Iq
[5730.4]
Torque factor M2Iq
[5730.4]
M_after_setpoint filter from the function generator
I_after_setpoint
filter = active
1
0
M_set FG
r1651
Monitoring
F07420
"Current setpoint filter natural frequency > Shannon frequency"
[5610.8]
p0115[0] (125.00 s)
I_after_setpoint filter from the function generator
<3> For p1699 = 1, the parameter settings are accepted in the control.
<3>
S
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-
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0
7
1

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A
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2
0
0
6

A
l
l

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h
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s

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s
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v
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S

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6

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-
1
4
0
5
7
1
4

I
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a
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d

I
d

c
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r
- 5714 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Servo current control - Iq and Id controller
Kp_I
Iq
Kp_I Tn_I
Kp_I Tn_I
Iq limiting
(cuts-off filter
overshoots)
r1538
M_max upper eff
r1539
M_max lower eff
[A]
+
r0078[0]
Iq_act
p0393[M]
p0392[M] p0391[M]
I_ctrl Kp
p1715[D]
Kp_I adaptation
Kp_I
Tn_I
p1717[D]
Ud pre-control
r1732
U_direct-axis_set
Uq pre-control
r1733
U_quad_set
r0075
Id_set
+
Id controller
Iq controller
Uq_set_1
I_ctrl RefMod t_dead
p1701[D]
Ud_set_1
r0077
Iq_set
[%]
Iq_set_2
[5710.8]
+ +
F07410 "Current
controller output
limited"
<1>
[5722.8]
[5730.1]
[5730.1]
[5730.1]
[5650.8]
[5650.8]
Torque factor M2Iq
[5730.4]
+
+
<1> F07410 is output, if I_act = 0 and Uq_set_1 is at the limit for longer than 16 ms.
r1408.6
[2530.7]
1
r1408.7
[2530.7]
r1408.8
[2530.7]
p0115[0] (125.00 s)
[5730.1]
r0076 Id_act
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1
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s
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- 5722 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Servo current control - field current setpoint, flux controller
(only for synchronous motor with reluctance torque)
mot phi_load opt
p0327[M]
Field current setpoint for
synchronous motor
Speed at the start
of field weakening
Short-circuit
current Isc
Speed at the
start of field
weakening
Img
magnetizing
current
Flux setpoint for induction motor
0
>0
Mot n_field weaken
p0348[M]
Mot I_mag_rated
p0320[M]
Motor data
r0331
Mot I_mag_rated act
0
1
T 0
Id_set_1
Current limit
p0640[D]
Mot I_max
p0323[M]
Synchronous motor
-1
Id_set_3
Field current limiting
A07411
"Flux controller
output limited"
r0075
Id_set
[5714.4]
Induction motor
Kp Tn
Flux controller
r0083
[%] from n
Flux setpoint
Motor model
r0084
Flux actual value
[%] from n
+
+
+ Id_set_2
Pre-control
Flux controller
Kp
p1590[D]
Flux controller
Tn
p1592[D]
IF
n
Img
p0348
n
IF
-Isc
p0348
Min
Max. current from the Motor Module i_max_MM
[5730.4]
0.9
imax
2
id_set_4
2
I_max
[5640.6]
Drv I_outp max
r0067
r1533
Iq_max total
Synchronous motor
Induction motor
p0115[1] (125.00 s)
p0115[1] (125.00 s)
1000.00 s
r0331
r0331
<1> p0323 is not taken into account for induction motors.
1000.00 s
1000.00 s
<1>
[2530.7]
16 [ms]
Computation
model
Limit Id_set
r1408.9
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2
5
7
3
0

I
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t
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r
f
a
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t
o

t
h
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m
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m
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g
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c
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a
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l

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s
)
- 5730 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 21.11.05 V02.04.00 Servo current control - interface to the Motor Module (gating/control signals, current actual val.)
Motor model
0
P
2
3
r1733
U_quadrature axis_set
Voltage angle
+
Coordinate converter
and transformation
Phase current actual
value
IW
IV
IU
Control Unit
DRIVE-CLiQ
PWM
Motor Module
M
~
+
U
V
W
r0078[0]
Iq_act
r1732
U_direct axis_set
[5714.8]
[5714.8]
Torque factor M2Iq
i_max_MM
DC link voltage
r0074
Modulation depth
Uq_set_3
Ud_set_3
From U/f control
[5300.8]
<1> Iq = M2Iq x M (M2Iq = "Torque-To-Iq factor")
<1>
+ BRP
- BRN
Brake control
P24
M
<3> The voltage angle is the angle of the voltage vector in a fixed stator coordinate system.
<3>
Vdc smooth
r0026
Modulation depth,
smooth
r0028
Drv f_outp smth
r0024
r0066
Drv f_output
Drv U_outp smth
r0025
Drv Iq_act
smooth
r0030
M_act
smooth
r0031
p0115[0] (125.00 s)
2 2
id iq +
I_act abs value smooth
r0027
Drv Id_act
smooth
r0029
M2Iq
Max. current, Motor Module
<2> i_max_MM depends on the power unit temperature.
<2>
Pulse enable HW
Pulse enable
HW
P_stall
[5640.1]
[2701.8]
[2711.8]
[5722.4]
[5640.4]
[5714.2]
[5730.2]
<4> In addition for booksize.
<4>
K
1
0
1
[5714.4]
[5730.4]
[5714.4]
100 ms
100 ms
100 ms
100 ms
100 ms
100 ms
100 ms
x1
x2
2
x x
2 1
100 ms
P_active_actual smooth
r0032 100 ms
[5300.7] r0063
n_act smooth
1.5 x cos phi
r0082[1]
Smoothed with p0045
Coordinate
converter
and trans-
form-
ation
r0082[0]
Unsmoothed
r0072
Drv U_output
r0068
I_act abs. value
r0082[2]
Power drawn
Uf diagnostics act.
p1317
p0045
r0078[1]
Iq_act
Transformation angle
r0070
Vdc_act
p0045
[8014.1]
r0080
M_act
Id_act
r0076
Phase W
r0069[2]
Phase V
r0069[1]
Phase U
r0069[0]
Direction reversal
p1821[D]
-1
0
1
Direction
reversal
p1821[D]
-1
0
1
+
Transformation angle
Function diagrams
Vector control
2.19 Vector control
Function diagrams
6030 Speed setpoint, droop 2-1075
6031 Pre-control balancing for reference/acceleration model 2-1076
6040 Speed controller with/without encoder 2-1077
6050 Kp_n/Tn_n adaptation 2-1078
6060 Torque setpoint 2-1079
6300 V/f characteristic and voltage boost 2-1081
6310 Resonance damping and slip compensation 2-1082
6490 Speed control configuration 2-1084
6491 Flux control configuration 2-1085
6495 Excitation (FEM, p0300 = 5) 2-1086
6630 Upper/lower torque limit 2-1087
6640 Current/power/torque limits 2-1088
6710 Current setpoint filter 2-1089
6714 Iq and Id controllers 2-1090
6721 Id setpoint (PEM, p0300 = 2) 2-1091
6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) 2-1092
6723 Field weakening characteristic, flux controller (ASM, p0300 = 1) 2-1093
6724 Field weakening controller (PEM, p0300 = 2) 2-1094
6725 Flux setpoint, field weakening controller (FEM, p0300 = 5) 2-1095
6726 Field weakening controller, flux controller (FEM, p0300 = 5) 2-1096
6727 Current model, excitation current monitoring, cos phi (FEM, p0300 = 5) 2-1097
6730 Interface to the motor module (ASM, p0300 = 1) 2-1098
6731 Interface to the motor module (PEM, p0300 = 2) 2-1099
6732 Interface to the motor module (FEM, p0300 = 5) 2-1100
6799 Display signals 2-1101
V
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6

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3
6
0
3
0

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d

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p
o
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,

d
r
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p
- 6030 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 06.07.05 V02.04.00 Vector speed control with/without encoder - speed setpoint, droop
Droop input source
0...3
p1488 (0)
3
2
1
0
r0079
M_set total
M_set before M_suppl
r1508
0
Droop scaling
0.000...0.500
p1489 [D] (0.050)
1 0
0
+
-
r1170
n_ctr setp sum
r1084
n_limit negative effective
r1087
r0079
M_set total
a at M_ctrl scal
0.0...400.0 [%]
p1499 [D] (100.0)
n_set limited
r1407.11
Droop enabled
r1407.10
Enable droop
r1406.11
n_set limited
r1407.11
n_set_filter 1 T
0.00...5000.00 [ms]
p1416 [D] (0.00)
0
1
M_ctrl active
r1407.2
Pre-control speed
r1490
Droop n_reduction
0
<1>
<1>
<1> = Only for vector control without encoder.
[6060.8]
[3050.8] [3095.8]
[3050.8] [3095.8]
[3080.8]
[6040.8]
[6060.5]
r1482
n-ctrl I_output
[6060.8]
[6730.1]
[6490.7]
1 = Sensorless vector control, speed pre-control active
from speed control configuration
p1400.15
Droop input
[6060.3]
r0060
n_set before filt.
<2> Refer to speed actual value smoothing [6040.2]
[2520.7]
p1492
[2522.3]
[2522.3]
Mot moment of inertia ratio
1.000...10000.000
p0342 [M] (1.000)
Mot M_inertia
0.00000...100000.00000 [kgm]
p0341 [M] (0.00000)
<3> Scaling: p1489 = 0.100 - for a rated motor torque of r0333 - results in a speed setpoint reduction of 0.1 x p0311.
<3>
N
M
nN
[2522.3]
[6031.1] r0062
n_set after filter
150 ms
1 0
[6040.1]
[2701.1]
[2704.1]
[6799.1]
Refer to [1020.7]
F
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6

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6

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-
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4
4
6
0
3
1

P
r
e
-
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b
a
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a
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c
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g

f
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r
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- 6031 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector closed-loop speed control with/without encoder - pre-control balancing ref./accel. model
Mot moment of inertia ratio
1.000...10000.000
p0342 [M] (1.000)
Mot M_inertia
0.00000...100000.00000 [kgm]
p0341 [M] (0.00000)
a_before scaling
0.0...10 000.0 [%]
p1496 [D] (0.0)
n_set smooth
[6040.1]
<1>
Sampling time, closed-loop speed control (p0115[1])
[6030.8]
<1> p1428, p1429 only effective for p1400.2 = 1; for p1400.2 = 0 instead of p1429: p1442 or for SLVC p1452 [6040.2].
n_ctrl RefMod fn
0.00...8000.00 [Hz]
p1433[D] (0.00)
n_ctrl RefMod D
0.00...5.00
p1434[D] (1.00)
n_ctrl RefMod t_dead
0.0...2.0
p1435[D] (0.0)
(y = x for the factory setting of p1433 ... p1435)
r1436
RefMod n_set
n_ctrRefMod I_comp
(r1436)
p1437
[6040.1]
0
n_pre T bal
0.00...10.00 [ms]
p1429[D] (0.00)
n_pre t_dead bal n
0.0...2.0
p1428[D] (0.0)
Reference model
p1400.2 = 1
or
Acceleration calculation
Pre-control balancing
[6490.7]
Reference model, speed setpoint I component
p1400.3
r1438
n_ctrl n_set
[6490.7]
Acceleration pre-control, source
p1400.2
Calculated accelerating torque
[6060.1]
a_prectrl dn/1s
(0)
p1495
0 p1496
and
0 p1400.3
1
0
0
1 0
0
[6490.7]
Reference model
Speed setpoint
I component
p1400.3
r1119
RFG setpt at input
n_ctrl n_set 1
p1155[C]
n_ctrl n_set 2
p1160[C]
+
n_ctrl n_set stat r1444
0
1
Master control
p0807.0
Steady-state setpoint calculation
+
+
n_set via PC
Refer to [1020.7]
x y
r1084
r1087
r1084
r1087
r0062
n_set after filter
n_set I_comp
r1439
Vdc_max contr act
r0056.14
0
0
1
[2526.6]
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-
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7

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2
0
0
6

A
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l

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s
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S
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I
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S
S

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/
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6

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-
1
4
5
6
0
4
0

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<1>
- 6040 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector speed control with/without encoder - speed controller
r0063[0]
n_act
[6031.8]
+
-
r1445
n_act smooth
r0064
n_ctrl system deviation
n_ctrl Kp n lower
0.000...999999.000
p1460 [D] (0.300)
p1470 [D] (0.300)
n_ctrl Tn n lower
0.00...100000.00 [ms]
p1462 [D] (20.00)
p1472 [D] (20.00)
+
+
M_set from the speed controller
[6060.1]
[6030.1]
Integrator control
1 = Speed controller, hold I component
r1406.4
1 = Speed controller, set I component
r1406.5
n_ctrl integ_set val
(0)
p1478[C]
Kp
1 = Speed controller, I component held
r1407.5
1 = Speed controller, I component set
r1407.6
r1407.7
1 = Sensorless vector control, freeze I component
p1400.1
p1400.5
Kp_n_basic
Tn_n_basic Tn_n_adapt
1 0 1 0
Kp_n_adapt
[6490.7]
From Kp/Tn adaptation [6050.7]
To Kp/Tn adaptation
[6050.2]
<1> <1>
= Only for vector control without encoder.
Hold Set
Set
Val
[4715.6]
[2522.7]
Enable speed controller
from sequence control S4: Operation
<3> For p1462/p1472 = 0.0 s or 100.0 s the I component is
disabled (integral action time = ).
Speed controller
[2522.3]
[2522.3]
Kp Tn
r1482
n_ctrl I-M_output
<1>
<3>
Tn
Kp
n_ctrl Tn effective
r1469
<4> Units Kp can be changed over using p0528.
<4>
[2520.7]
p1477
6490.7]
n_act T_smooth
0.00...32000.00 [ms]
p1442 [D] (4.00)
p1452 [D] (10.00)
1 = Automatic Kp/Tn adaptation active
p1400.0
<1>
Dynamic reduction, field weakening
<1>
-
+
Kp
[6031.8]
n_set I_comp
r1468
n_ctrl Kp effective
[6640.8]
[6640.8]
[2610.4]
n_ctrl I_value scal
(1)
p1479[C]
[2522.2]
Speed control active
r1407.3
r1538
r1539
<2>
<2> Only for speed control with encoder.
[2520.7]
p1476
[6490.7]
Refer to [1020.7]
r1438
n_ctrl n_set
r1439
r1454
n_ctrl I_sys dev
F
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8

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I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
4
6
6
0
5
0

K
p
_
n
/
T
n
_
n

a
d
a
p
t
a
t
i
o
n
- 6050 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S Vector, speed control with/without encoder - Kp_n/Tn_n adaptation
Free Kp_n adaptation
Adapt_factor upper
0.0...200 000.0 %
p1459[D] (100.0)
[6040.8]
n_ctrl n upper
0.00...210 000.00 RPM
p1465[D] (0.00)
Speed-dependent Kp_n/Tn_n adaptation
Tn_n_adapt
y
x
n_ctrl Tn n upper
0.000...200 000.000 %
p1463[D] (100.000)
[6040.8]
Tn
r0063[0]
n_act
[4715.6]
n_ctrl Kp n upper
p1461[D] (100.000)
0.000...200 000.000 %
Kp
n
Kp
n_ctrl n lower
0.00...210 000.00 RPM
p1464[D] (0.00)
Kp_n_adapt
n_ctrl adapt Kp lower
0.00...400.00 %
p1456[D] (0.00)
n_ctrl adapt Kp upper
0.00...400.00 %
p1456[D] (0.00)
n_ctrl Kp scal
(1)0
p1466[C]
n_ctrl Adpt_sig Kp
(0)0
p1455[C]
Adapt_factor lower
0.0...200 000.0 %
p1458[D] (100.0)
x
n
n
23.03.06 V02.04.00
Kp_n_basic (p1460)
Tn_n_basic (p1462)
1
1
0
<1> If the lower transition point lies above the upper, then the Kp-adaptation also changes over.
<1>
<1>
<1> <1>
Free Tn adaptation active (p1400.6)
[6490.7]
Refer to [1020.7]
Tn
n
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
7
9

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
4
7
6
0
6
0

T
o
r
q
u
e

s
e
t
p
o
i
n
t
- 6060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 09.03.06 V02.04.00 Vector speed control with encoder - torque setpoint
M_max upper scal
(100)
p1540[C]
r1539
1
M_set
(0)
p1503[C]
M_max lower scal
(100)
p1541[C]
r1538
0 = Speed control
1 = Torque control
r1406.12
p1300 = MCtrl
0
1
M_set from the speed controller
[6040]
Torque control active
r1407.2
0
Calculated accelerating torque
M_suppl 1
(0)
p1511[C]
0
1
M_suppl total
r1515
[6640.8]
r1407.8
[6030.1]
[6710.1]
[8012.1]
[2522.3]
1 = Speed controller limited
r1407.7
r1407.8
Torque limiting
r0079
M_set total
[2522.3]
1 = M_max output n_ctrl lower limit
r1547[1]
1 = M_max output n_ctrl upper limit
r1547[0]
r1508
r1518[0]
M_accel
[6030.5]
[6640.8]
r1407.9
[2522.3] [2522.3]
[2522.3]
+
+
+
+
[2520.7]
p1501
M_supply 2 scal
-10 000%...10 000%
p1514[D] (100.0%)
M_suppl 1 scal
(0)
p1512[C]
M_suppl 2
(0)
p1513[C]
+
+
[6030.1]
[6722.1]
0
1
0
1
1 = Speed controller enable
[2501.7]
p0856
r1407.9
r0898.12
p1400.14 1 = Torque pre-control
[6490.7]
Refer to [1020.7]
0...100 [ms]
p1517[D] (4)
r1518[1]
M_accel smooth
Scaling, lower
(100)
p1554[C]
r1527
M_max lower w/o offset
MAX
MIN
Scaling, upper
(100)
p1552[C]
r1526
M_max upper w/o offset
0
1
1 0
<1> Signal is only effective after magnetization has been completed (r0056.4 = 1)
<2> No pre-control if Vdc controller is active [6220.8]
<3> Acceleration control is inhibited for p1517 = 100 ms.
<1>
<1> <1> <2> <2>
[6630.8]
[6630.8]
(1)
p1551[C]
Example:
(OFF3)
r0899.5
[6031.8]
1
1 = Current/torque limit active
r0056.13
[2526.2]
<3>
<1>
M_suppl+M_accel
r1516
r1539
r1538
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
4
8
6
2
2
0

V
d
c
_
m
a
x

c
o
n
t
r
o
l
l
e
r

a
n
d

V
d
c
_
m
i
n

c
o
n
t
r
o
l
l
e
r
- 6220 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector control - Vdc_max controller and Vdc_min controller
Control ZSW 1
r0056.14
r0056
0
1
Vdc_ctrl Kp
p1250
Vdc_ctrl Tn
p1251
Vdc_ctrl t_deriv
action p1252
Vdc_max dyn_factor
p1243
Vdc_ctrl config
p1240
1,3
0,2
Vdc_max (ctrl)
Vdc_min (ctrl)
Vdc_max on_level
r1242
+
Control ZSW 1
r0056.15
r0056
0
1
Vdc_ctrl output
r1258
Vdc_ctrl Kp
p1250
Vdc_ctrl Tn
p1251
Vdc_ctrl t_deriv
action
p1252
Vdc_min dyn_factor
p1247
Vdc_ctrl config
p1240
[8950.1]
r0070
Vdc_act
Vdc_min on_level r1246
+
0
Iq_max
[8950.1]
r0070
Vdc_act
[6710.2]
Operating point
selection Iq_min
[6710.2]
[6710.2]
Vdc controller active
1
0
0
2,3
0,1
Refer to [1020.7]
[2526.2]
[2526.2]
0
0
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
8
1

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
4
9
6
3
0
0

V
/
f

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

a
n
d

v
o
l
t
a
g
e

b
o
o
s
t
- 6300 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.01.06 V02.04.00 Vector U/f control - U/f characteristic and voltage boost
Freely programmable
[1690.4]
U_boost total
r1315
Drv output I_max
r0067
0
1
0
0
U_boost accel
p1311
U_boost perm
p1310
Ramp-up active
p1199.0
Control type
p1300
Mot U_rated p0304
Mot I_rated
p0305
+
+
R_stator act
r0395
U_output max r0071
Flux current control (FCC)
Dependent on the load current
Linear
Parabolic
[1690.1]
Mot U_rated p0304
U_output max r0071
U_output max r0071
f_set
0/5
1/6
2
3
19
Uf characteristic U4 p1327
U_output max r0071
Uf charact. f1
p1320
Uf charact.
f4 p1326
Uf charact. f2
p1322
Uf charact. f3
p1324
Mot f_rated
p0310
Mot f_rated
p0310
Mot f_rated
p0310
Mot U_rated p0304
Uf U_set independent
(0)
p1330[C]
<1>
<1> For p1320 = 0, the voltage boost via p1310 is not effective.
Refer to [1020.7]
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
0
6
3
1
0

R
e
s
o
n
a
n
c
e

d
a
m
p
i
n
g

a
n
d

s
l
i
p

c
o
m
p
e
n
s
a
t
i
o
n
- 6310 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector U/f control - resonance damping and slip compensation
Uf T res damp
p1339
+
Uf gain res damp
p1338
f_res damp
r0078
Iq_act
r0066
Drv f_output
U/f resonance damping
U/f slip compensation
Slip compensation
actual value
r1337
[1690.6]
Slip compensation
p1335 f_slip
r0065
Control ZSW1
slip limiting
r0056.10
r0056
[6730.4]
[6731.4]
[6714.4]
Slip comp limit
p1336
-1
0
1
[1690.7]
[6730.2]
250 ms
6 10 80 95 %
f/fMot,Nom
1
Refer to [1020.7]
[2526.2]
<1>
<1> Max. 45 Hz.
0
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
8
3

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
1
6
3
2
0

V
d
c
_
m
a
x

c
o
n
t
r
o
l
l
e
r

a
n
d

V
d
c
_
m
i
n

c
o
n
t
r
o
l
l
e
r
- 6320 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector U/f control - Vdc_max controller and Vdc_min controller
[8950.1]
r0070
Vdc_act
Vdc_ctrl output_limit
p1293
0
Control ZSW 1
r0056.14
r0056
0
1
Vdc_ctrl Kp
p1290
Vdc_ctrl Tn
p1291
Vdc_ctrl t_deriv action
p1292
Vdc_max dyn_factor
p1283
Vdc_ctrl config.
p1280
0,2
1,3
Vdc_max (U/f)
Vdc_min (U/f)
Vdc_max on_level
r1282
+
0
- Vdc_ctrl output_limit
p1293
Control ZSW 1
r0056.15
r0056
0
1
Vdc_ctrl output
r1298
Vdc_ctrl Kp
p1290
Vdc_ctrl Tn
p1291
Vdc_ctrl t_deriv action
p1292
Vdc_min dyn_factor
p1287
Vdc_ctrl config
p1280
[8950.1]
r0070
Vdc_act
Vdc_min on_level
r1286
+
0 [1690]
0
0
0,1
2,3
[2526.2]
[2526.2]
Refer to [1020.7]
0
0
F
u
n
c
t
i
o
n

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

c
o
n
t
r
o
l
2
-
1
0
8
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
2
6
4
9
0

S
p
e
e
d

c
o
n
t
r
o
l

c
o
n
f
i
g
u
r
a
t
i
o
n
- 6490 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 29.07.05 V02.04.00 Vector open-loop - closed-loop control status words - speed control configuration
1
2
3
1 = Automatic Kp/Tn adaptation active
Meaning
1 = Sensorless vector control, freeze I component
1 = Acceleration pre-control, external source (p1495)
0 = Internal acceleration pre-control (n_set)
1 = Reference model, speed setpoint I component ON
Reserved
0
Bit No.
4
Speed control configuration
0
0
0
0
[6040.3]
[6040.3]
p1400[D]
Factory setting
[6030.5]
6
7
1 = Free Tn adaptation active
Reserved
Reserved 8
1
0
5
10
11
Reserved
Reserved
Reserved
Reserved 12
9
13
14
Reserved
1 = Torque pre-control always active
0 = Torque pre-control for n_ctrl enable
0
15 1 = Sensorless vector control, speed pre-control active 1
p1400[D]
n_ctrl config
Refer to [1020.7]
[6031.1][6031.7]
[6031.2]
[6050.6]
[6060.4]
[6040.3]
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
8
5

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
3
6
4
9
1

F
l
u
x

c
o
n
t
r
o
l

c
o
n
f
i
g
u
r
a
t
i
o
n
- 6491 -
Function diagram
8 7 6 5 4 3 2 1
DO: VECTOR
SINAMICS S 22.07.05 V02.04.00 Vector open-loop - closed-loop control status words - flux control configuration
1
2
1 = Flux setpoint, soft starting active
Meaning
1 = Flux setpoint, differentiation active
1 = Flux build-up control active
0
Bit No.
Flux control, configuration
[6723.6]
[6722.3]
p1401[D]
p1401[D]
F_ctrl config
[6723.7] 1
1
0
Factory setting
3 Reserved
4 Reserved
Reserved 5
6
7 Reserved
3 Reserved 8
Reserved 9
10 Reserved
11 Reserved
12 Reserved
Reserved
13 Reserved
14 Reserved
15 Reserved
Refer to [1020.7]
fp_6491_01_eng.vsd
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
4
6
4
9
5

E
x
c
i
t
a
t
i
o
n

(
F
E
M
,

p
0
3
0
0
=
5
)
- 6495 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.02.06 V02.04.00 Vector closed-loop control/status words - excitation (FEM, p0300 = 5)
(1)
Voltage present at the power unit
p1645[5]
(1)
Group alarm, excitation present
p1645[4]
(1)
Group fault, excitation present
p1645[3]
(1)
Excitation operational
p1645[2]
(1)
Excitation ready
p1645[1]
(1)
Ready to powered-up
p1645[0]
Control of the
excitation equipment for
separately-excited
synchronous motors (FEM)
1
2
3
7
11
Bit No.
0
Feedback signal, excitation ready
Feedback signal, excitation ready to be
powered-up
Meaning
Feedback signal, excitation operational
Group fault, excitation
Group alarm, excitation
Excitation voltage present at the power unit
r1649.0
r1649
ZSW excitation
r1649.2
r1649.3
r1649.7
r1649.11
3
7
Bit No.
0
1 = Excitation operation enable
1 = Power-up excitation
Meaning
1 = Acknowledge excitation
r1648.0
r1648
STW excitation
r1648.3
r1648.7
Control word excitation
r1649.1
r1648.0
[6495.6]
r1649.1
[6495.6]
r1648.3
[6495.6]
r1649.2
r0863.0
[6495.6]
[2610.2]
Excitation t_monit
2.0 ...1300.0 s
p1646 (20.0)
Excitation t_off
0.5 ...5.0 s
p1647 (0.8)
To the excitation
To sequence control [2610]
Status word excitation
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
8
7

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
5
6
6
3
0

U
p
p
e
r
/
l
o
w
e
r

t
o
r
q
u
e

l
i
m
i
t
- 6630 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 09.09.05 V02.04.00 Generating torque limits - upper/lower torque limit
p1520[D]
M_max upper/mot
-100 000.00...100 000.00 Nm
p1520[D] (0.00)
M_max upper/mot
(1520)
p1522[C]
Upper torque limit
r1526
p1521[D]
M_max lower/regen
-100 000.00...100 000.00 Nm
p1521[D] (0.00)
M_max lower/regen
(1521)
p1523[C]
Lower torque limit
r1527
B
A
<1> Danger!
Negative values at or positive values at represent a minimum torque for the other torque direction and can cause the motor to accelerate uncontrollably.
B
M
n
4 3
M
n
2 1
A
<1>
<1>
[6640.1]
[6640.1]
M_max upper scal
(1524)
p1528[C]
p1524[D]
M_max upper/mot scal
-2 000.0...2 000.0 [%]
p1524[D] (100.0)
M_max lower scal
(1525)
p1529[C]
p1525[D]
M_max lower/regen scal
-2 000.0...2 000.0 [%]
p1525[D] (100.0)
Refer to [1020.7]
0
1
0
1
(1)
p1551[C]
<2> The limiters ensure that the limits do not mutually overtake one another.
<2>
Example:
(OFF3)
r0899.5
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
6
6
6
4
0

C
u
r
r
e
n
t
/
p
o
w
e
r
/
t
o
r
q
u
e

l
i
m
i
t
s
- 6640 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Generating torque limits - current/power/torque limits
Power limiting
P_max regen
-10 000.00...-0.01 kW
p1531 (-0.01)
Current limiting
r1538
r1539
r1536
Isq_max
r1537
Isq_min
r1527
Speed limiting
controller
r1526
r0063[0]
n_act
<1>
<1>
Iq
M
Iq
M
Tn from speed controller [6040.6]
Kp from speed controller [6040.5]
r1087
r1084
2 2
y x
r0067
Drv I_output max
Iq stall
calculation
-1
Min
Max Min
Min
Min
Max
Max
P_max mot
0.00...10 000.00 kW
p1530 (0.00)
Mot L_leakage total
r0377[M]
+
-
Sign
+ or -
+
+
+
[4715.6]
[6722.1]
[6723.4]
[6724.4]
[6725.4]
Current limit
p0640[D]
Id_set total
Id_set total
r1624
[6630.8]
[6630.8]
[6730.1]
[6730.1]
[6060.1] [6040.4]
[8012.1]
[6710.1]
[6710.1]
[3050.8]
[3050.8]
Speed limiting
<1> Intervention Vdc controller.
I_max reduction
[8016.8]
I_max Motor Module
[6730.4]
[6731.4]
[6732.4]
[6723.8]
[6727.8]
Iq_max total
r1533
[6722.1]
x
y
[6060.1] [6040.4]
[8012.1]
Refer to [1020.7]
+
+
<2>
<2> Intervention when the speed limit is exceeded + 2 % nrated.
Iq
n
P_max
(1)
p1555
MAX
MIN
-1
U_output max
r0071
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
8
9

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
7
6
7
1
0

C
u
r
r
e
n
t

s
e
t
p
o
i
n
t

f
i
l
t
e
r
- 6710 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.03.06 V02.04.00 Vector current control - current setpoint filter
r0079
M_set total
Isq_s T_smooth
p1654[D]
Interpolator and
smoothing for
voltage limits
Iq
M
r1536
Isq_max
r1537
Isq_min
Iq_max
Iq_min
[6060.8]
[6640.8]
[6220.8]
[6220.8]
[6220.8]
[6640.8]
[6721.1]
[6730.1]
[6732.1]
fn_z
p1660[D]
D_z
p1661[D]
fn_n
p1658[D]
D_n
p1659[D]
fn_z
p1665[D]
D_z
p1666[D]
fn_n
p1663[D]
D_n
p1664[D]
p1656[D]0.0
x
y
p1656[D].1
x
y
fn_n
p1658[D]
D_n
p1659[D]
1
0
p1657[D]
fn_n
p1663[D]
D_n
p1664[D]
1
0
p1662[D]
x
y
x
y
<1>
<1>
<2>
<2>
f
|y|
fn
D
f
|y|
fn
D
Filter 1
Filter 2
f
2nd Order filter
|y|
f
2nd Order filter
|y|
1
0
1
0
I_set_filt fn
(1)
p1655[1]
I_set_filt fn
(1)
p1655[0]
[6714.1]
r0077
Iq_set
0
1
0
1
<1> General 2nd order filter (detailed representation at [1024]).
<2> PT2 lowpass (detailed representation at [1024]).
<3> The frequency is multiplied by this factor.
<3> <3>
Frict input ctrl
(3841)
p1569[C]
[7010.7]
+
+
Vdc_max controller active
r0056.14
Vdc_min controller active
r0056.15 [6220.8]
<4> For p1699 = 1, the parameter settings are accepted in the control.
<4>
PEM: Permanent-magnet synchronous motor
Isq_s T_smooth_min
p1653[D]
Iq_set before filter
r1650
Refer to [1020.7]
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
8
6
7
1
4

I
q

a
n
d

I
d

c
o
n
t
r
o
l
l
e
r
s
- 6714 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Vector current control - Iq and Id controllers
Kp_I Tn_I
+
r0078
Iq_act
r1598
Flux setpoint total
Id_set total
r0077
Iq_set
<1> [6730.1]
<2> [4715.6]
<3> [6732.4]
Quad_de-couple scal
p1726[D]
<1>
Quad_de-couple UmaxScal
p1727[D]
Pre-control, de-coupling and
limiting
Symmetrizing
2 2
y x
r1723
Isd_ctrl output
p1715 p1717
Kp_I Tn_I
Ia
Ib
VD -
r0068[0]
I_act abs. value
U_set
r0063[0]
n_act
Iq
M
U_angle
U_max 1
U_set 1
[6010.6]
2
3
<1> [6730.1]
<2> [6731.1]
<3> [6732.1]
[6730.1] <1>
[6731.1] <2>
[6732.1] <3>
[6730.1] <1>
[6731.1] <2>
[6732.1] <3>
[6723.1] <1>
[6724.1] <2>
[6725.1] <3>
[6723.4] <1>
[6724.4] <2>
[6725.4] <3>
<1> [6730.4]
<2> [6731.4]
<3> [6732.4]
<1> [6710.8]
<2> [6721.8]
<1> [6723.1]
<2> [6724.1]
Id control, I component limiting
r1408.1
+
+
+
+ +
Isd_ctrl I_comp
r1724
+
+
+
+
+
+ +
+
<1> [6723.5]
<2> [6721.8]
<3> [6727.8]
Symmetrizing
Id current controller
Iq current controller
Voltage limiting
r1408.3
Voltage limit active
r0056.9
Isd_ctrl I_limit
r1725
U_dir axis_de-couple
r1728
U_quad_set
r1733
U_dir axis_set
r1732
Id_set
r0075
<1> [6730.4]
<2> [6731.4]
<3> [6732.4]
<1> [6730.4]
<2> [6731.4]
<3> [6732.4]
[6310.1]
[6799.1]
<1> For induction motors.
<2> For synchronous motors.
r0080[0]
M_act
p
K
r0082[0]
P_act
p0045
p0045
p0045
r0082[1]
P_act
r0080[1]
M_act
r0068[1]
I_act abs. value
[6799.1]
[8014.1]
[8017.1]
[8018.1]
[6799.1]
[6799.1]
Id_act
r0076
[6799.1]
Phase U
Phase V
Phase W
[2526.2]
r0094
Transformat_angle
r0082[2]
Power drawn
3 r0072
<1> [6730.4]
<3> [6732.4]
r0087
<1> [6730.1]
<3> [6732.1]
<3> For separately-excited synchronous motors.
<3> [6726.8]
Flux setpoint pre-ctrl
Isd_ctrl_pre-ctrl scal
p1702[D]
<2> <3>
EMF scal Isq_ctrl
p1704[D]
<3>
Flux track thresh
p1705[D]
<3>
Isq_ctrl_pre-ctrl scal
p1703
Mot L_leakage total
r0377[M]
r1718
Isq_ctrl output
Isq_ctrl I_comp
r1719
+
+
<2> <3>
U_quad_de-couple
r1729
Refer to [1020.7]
V
e
c
t
o
r

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
5
9
6
7
2
1

I
d

s
e
t
p
o
i
n
t

(
P
E
M
,

p
0
3
0
0
=
2
)
- 6721 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.03.06 V02.04.00 Vector closed-loop current control - Id setpoint (PEM, p0300 = 2)
M_set steady-state
p1610[D]
Mot t_excitation
p0346
1
0
r1751.0
from the model control
I_set T_smooth
p1616
r0077
Iq_set
[6060.6]
<1> Only for vector control without encoder (SLVC).
<1>
To current controller
[6714]
Refer to [1020.7]
MAX
MIN
2 2
Iq Iabs
Mot load angle opt
p0327[M]
From Id_field weakening
[6724]
Id_setp total
r1624
Mot kt
p0316[M]
Mot kt_reluctance
p0328[M]
Mot L_stator_d
p0378[M]
Mot L_leakage total
p0377[M]
M
Iq
[6710]
[6714] Load angle correction
Ld
Lq
kt
rel
kt
r1762 Mot mod dev comp 1
[6731.2]
[6731]
Torque setting value, speed controller
[6040]
[xxxx]
M_suppl_accel
p1611[D]
r1515 M_suppl total
r1797 MotMod kT corr
from model control
[6731.3]
[6060.4]
r1518 M_acceleration
0.9 x r0067
r1538
r1539
r0067
n-Ctrl = 1
Open-loop
controlled
operation
&
select n-ctrl
M adaptation
Iabspre
M
1
0
Id_set
Iabs
(r1407.2)
0 = M-ctrl
1 = n-ctrl
Id
Id_inject
Iq
M
MotMod w/o enc
p1757[D]
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
0
6
7
2
2

F
i
e
l
d

w
e
a
k
e
n
i
n
g

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

I
d

s
e
t
p
o
i
n
t

(
A
S
M
,

p
0
3
0
0
=
1
)
- 6722 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Vector closed-loop current control - field weakening charact., Id setpoint (ASM, p0300 = 1)
r1583
Flux setpoint, smoothed
I_set T_smooth
p1616
Id_set
calculation
M_set steady-state
p1610[D]
M_suppl_accel
p1611[D]
r1508
Flux setpoint
calculation
r0067
Drv I_output max
0,9
1
0
MotMod status (r1751)
MIN
Flux setpoint T_smooth
p1582[D]
< 0.3 s
Efficiency opt
0...100 %
p1580[D](0)
f
y
Field weakening
r0056.8
Magnetization
r1405.4
r0056.4
Mot t_excitation
p0346[D]
1 = Flux setpoint soft starting active
p1401.0
p1401.2
Id current limit
r0063[0]
n_act
Field-weakening
characteristic
Efficiency optimization
[6060.5]
<1> Only for vector control without encoder (SLVC).
<1>
Magnetization control
[6730.3]
[6723.1]
[6640.3]
[6723.1]
Flux setpoint T_smth Fs
p1584[D]
[4715.6]
Mot T_rotor
r0384
p1570[D]
Flux setpoint
p1570[D]
Refer to [1020.7]
ASM: Induction motor
[6640.1]
U_output max
r0071
Mot I_mag_rated act
r0331[M]
+
+
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
9
3

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
1
6
7
2
3

F
i
e
l
d

w
e
a
k
e
n
i
n
g

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

f
l
u
x

c
o
n
t
r
o
l
l
e
r

(
A
S
M
,

p
0
3
0
0
=
1
)
- 6723 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 07.02.06 V02.04.00 Vector closed-loop current control - field weakening charact., flux controller (ASM, p0300 = 1)
r1583
U_reserve dyn
0...150 [Vrms]
p1574[D] (10)
U_set 1
2
Field_ctrl Tn
10...10 000 [ms]
p1596[D] (50)
r1598
Flux setpoint total
-1
[6714.1]
1
0
0
[6491]
Flux differentiation
p1401.1
[6491]
Flux build-in ctrl
p1401.2
U_max 1
Field_ctrl output
r1597
Id current limit
[6722.8]
+ +
+
+
Id_set total
r1624
Saturation characteristic
p0362 ... p0369
I_set_steady-state
r1623
[6714.8]
[6730.1]
[6714.8]
+
+
[6714.1]
0
-200 %
Drv filter type
p0230
Pulse frequency
p1800
Modulator mode
p1802
Modulation depth max
p1803
Modulat_depth max
r0073
Calculation, max. modulation depth
[6722.8]
Refer to [1020.7]
r0070
Vdc_act
ASM: Induction motor
[6640.1]
U_output max
r0071
F
u
n
c
t
i
o
n

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

c
o
n
t
r
o
l
2
-
1
0
9
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
2
6
7
2
4

F
i
e
l
d

w
e
a
k
e
n
i
n
g

c
o
n
t
r
o
l
l
e
r

(
P
E
M
,

p
0
3
0
0
=
2
)
- 6724 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Vector closed-loop current control - field weakening controller (PEM, p0300 = 2)
r0067
Drv I_output max
U_reserve dyn
0...150 [Vrms]
p1574[D] (10)
U_set 1
2
r0063[0]
n_act
Id_field weaken. ctrl
U_max 1
Field_ctrl output
r1593
[6640.3]
+ +
+
[6640.1]
[6714.8]
[6731.1]
[6714.8]
[4715.6]
0
Filter
p0230
Pulse frequency
p1800
Modulator modes
p1802
p1803
Modulat_depth max
r0073
Calculation, max. modulation depth
+
-
+
Field weakening current Vst
r1589
0.9
Min
Mot I_mag_rated act
r0331
-1
-nF nF
Field_ctrl Tn
10...10 000 [ms]
p1596[D] (50)
Mot U_rated
0...20 000 [Vrms]
p0304(0)
Mot I_mag_rated act
r0331
[5722.3]
Refer to [1020.7]
r0070
Vdc_act
[6721.1]
U_output max
r0071
+
+
100 %
Nom
Ld
Flux setpoint smooth

r1583
p1582
r1598
Flux setpoint total
V
e
c
t
o
r

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
3
6
7
2
5

F
l
u
x

s
e
t
p
o
i
n
t
,

f
i
e
l
d

w
e
a
k
e
n
i
n
g

c
o
n
t
r
o
l
l
e
r

(
F
E
M
,

p
0
3
0
0
=
5
)
- 6725 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Vector closed-loop current control - flux setpoint, field weakening controller (FEM, p0300 = 5)
r1583
U_reserve dyn
0...150 [Vrms]
p1574[D] (10)
U_set 1
2
Field_ctrl Tn
10...10 000 [ms]
p1596[D] (50)
r1598
Flux setpoint total
U_max 1
Field_ctrl output
r1597
[6722.8]
+ +
+
+
[6640.1]
[6714.8]
[6714.8]
Vdc smooth
r0026
[6726.1]
[8017.1]
[8018.1]
0
-200 [%]
Drv filter type
p0230
Pulse frequency
p1800
Modulator mode
p1802
p1803
Modulat_depth max
r0073
Calculation, maximum modulation depth
Refer to [1020.7]
p1582[D]
r0056.4
Mot t_excitation
p0346[M]
1 = Flux setpoint soft starting active
p1401.0
p1401.2
Magnetization control
f
y
Field weakening active
r0056.8
Field-weakening
characteristic
Field weakening T_smth
0...20000 [ms]
p1584[D] (0)
Flux boost
p1570[D]
Flux setpoint
50.0...200. 0 [%]
p1570[D] (100)
n
r0063[0]
n_act
1 = Flux characteristic, load-dependent
p1401.3
Flux boost n lower
p1576[D]
Flux boost n upper
100...1000 [%]
p1577[D] (100)
r0077
Iq_set
r0075
Id_set
r0066
Drv f_output
[6799.3]
-10 [%]
[6732.4]
[6714.2]
[4715.6]
100 [%]
100 %
FEM: Separately-excited synchronous motor
[6714.2]
U_output max
r0071
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
4
6
7
2
6

F
i
e
l
d

w
e
a
k
e
n
i
n
g

c
o
n
t
r
o
l
l
e
r
,

f
l
u
x

c
o
n
t
r
o
l
l
e
r

(
F
E
M
,

p
0
3
0
0
=
5
)
- 6726 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 25.01.06 V02.04.00 Vector closed-loop current control - field weakening controller, flux controller (FEM, p0300 = 5)
[6727.2]
1
0
0
[6491]
Flux differentiation
p1401.1
[6491]
Flux build-up ctrl
p1401.2
[6725.8]
Saturation characteristic
p0362 ... p0369
+
+
Refer to [1020.7]
r1598
Flux setpoint total
r0084[0]
Flux actual value
Flux controller Kp
0.0...999999.0
p1590[D] (10.0)
Flux controller Tn
0...10000 [ms]
p1592[D] (30)
Flux actual value T_smth
0...1000 [ms]
p1585[D] (0)
[6732.1]
[6727.1]
I_mod_ctrl pre-ctrl
r1618
P0360
Mot Lh/Lhd sat
P flux controller Kp
p1600[D] (10.0)
Field flux_ctrl output
r1593[0]
[6727.2]
Flux controller P output
r1602
[6727.2]
+ +
Suppl flux setpoint
0.0...100.0 [%]
p1572[D] (0.0)
r0084[1]
I_component
r1593[1]
[6714.1]
Flux tracking thresh
0.0...100.0 [%]
p1705[D] (100.0)
Flux tracking
+
EMF scal Isq_ctrl
0.0...200.0 [%]
p1704[D] (100.0)
Id_set steady-state
r1623
I_mod flux setpoint
r1633
V
e
c
t
o
r

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

d
i
a
g
r
a
m
s
2
-
1
0
9
7

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
5
6
7
2
7

C
u
r
r
e
n
t

m
o
d
e
l
,

e
x
c
i
t
a
t
i
o
n

c
u
r
r
e
n
t

m
o
n
i
t
o
r
i
n
g
,

c
o
s

p
h
i

(
F
E
M
,

p
0
3
0
0
=
5
)
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 07.02.06 V02.04.00 Vect. closed-loop current control - current model, excit. Curr. monit., cos phi (FEM, p0300 = 5)
- 6727 -
+
Excitation current
monitoring
Minimum I_exc
p1642[D] (5.0 %)
Minimum I_exc Kp
p1643[D] (0.40)
p1640[C]
(0)
I_exc_act
Motor parameters:
p0354[D], p0355[D]
p0358[D], p0359[D]
p0360[D], p0361[D]
Scalings:
p0652[D] (100.0 %)
...
p0660[D] (100.0 %)
+
K
p
To motor model
To motor model
+
Calculation, excitation current setpoint

Flux ctrl output
r1593
P-flux ctrl output
r1602
Id_set pre-ctrl
r1618
I_mod_ctrl output
r1636
I_mod_ctrl I component
r1635
I_mod_ctrl Tn active
r1632
I_mod_ctrl Kp active
r1631
I_mod I_mag d-Ax
R1637
I_mod I_mag q-Ax
r1638
To current controller
[6714.1]
Id_setp total
r1624
Id_setp T_smooth
0.1 ... 200.0ms
p1622[D] (20)
From motor model
[6732.4]
From flux setpoint
[6725.4]
From current setpoint filter
[6710.8]
From P flux control
[6726.8]
From flux control
[6726.8]
From Iq and Id controller
[6714.3]
U_output max
r0071
From flux control
[6726.8]
r0066
Drv f_output
r0077
Isq_set
r0078
Isq_act
From flux control
[6726.8]
I_ctrl Tn
0 ... 10000 [ms]
p1630[D] (50)
I_mod_ctrl Kp
0.00...6.00
p1629[D]
I_mod_ctrl dyn_fact
1...400 [%]
p1628[D] (50)
I_mod Isq track
r1639
I_mod flux act val
r1634
r1626
I_exc_setp
r0065
f_Slip
[6732.1]
[6732.1]
I_mod load angle
r1627
I_exc_act
r1641
Cal I_exc_setp
10.0 ... 200.0%
p1625[D] (100)
Mot Lh/Lh d sat
p0360[M]
Mot I_exc_no load
p0389[M]
Mot I_exc_rated
p0390[M]
I_exc monit. Output
r1644
I_mod flux setpoint
r1633
+
[8018.1]
[8018.1]
r0067
Drv I_output max
[6640.3]
0.9
Header
Control cos phi
df(chngov cos phi) p1621[D]
Min. current impressed
I_set I/f operation p1609[D]
I_stator min p1620[D]
I/f operation (p1300 = 18)
Iq tracking
SetAct track thresh
p1619[D] (0.00)
Current model
F
u
n
c
t
i
o
n

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

c
o
n
t
r
o
l
2
-
1
0
9
8

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
6
6
7
3
0

I
n
t
e
r
f
a
c
e

t
o

t
h
e

m
o
t
o
r

m
o
d
u
l
e

(
A
S
M
,

p
0
3
0
0
=
1
)
[6723.1]
[6799.1]
<1>
Precontrol
speed
[6030.8]
- 6730 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector closed-loop current control - interface to the Motor Module (ASM, p0300 = 1)
Model control
p1750 ... p1759
Motor model
(observer)
r1762, r1763,
r1778, r1779
Control Unit
DRIVE
CLiQ
PWM
Motor Module
M
~
+
U
V
W
r0084
Flux actual value
DC link voltage
+ BRP
- BRN
Brake control
P24
M
I_max Motor Module
Pulse enable
HW
p1750 p1755 p1756 p1758
Kp Tn
p1764 p1767
r0070
Vdc_act
r0074
Modulation depth
Adaptation controller
n_act calculation
2
U_set
U_angle
Current model
I_max Motor Module
Vibration damping
p1740
r0066
Drv f_output
[4715.6]
p1759
[1690.1]
[6640.1] [4715.4]
Iq
M
= Only for vector ctrl. without encoder.
= Only for vector ctrl. with encoder.
<1>
Sign +
or -
Frequency, negative
r0056.7
Frequency limit active
r0056.11
R1751
MotMod status
MotMod
n_adapt Kp
r1770
MotMod
n_adapt Tn
r1771
R_stator act
r0395
[6722.7]
Stall monitoring
p1744, p1745
r1408.11
r1408.12
<2>
[6714.1]
<2>
<1>
<1>
[6310.1]
[6799.1]
[6310.5]
[6640.5]
[6710.2]
[6714.6]
[6714.1]
+
+
+
+
+
+
+
f_slip
r0065
r0063[0]
n_act
<3> [8012.3]
[8012.3]
[1690.8]
[6714.8]
[6714.8]
Refer to [1020.7]
[6799.1]
[6714.5]
r0072
Drv U_output
[6799.1]
[6799.1]
[6714.4]
cos phi actual value
r0087
I_Phase actual value
r0069[0...2]
U_Phase actual value
r0089[0...2]
r0094
Transformat_angle
Direction reversal p1821[D] [4715.7]
V
e
c
t
o
r

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
7
6
7
3
1

I
n
t
e
r
f
a
c
e

t
o

t
h
e

m
o
t
o
r

m
o
d
u
l
e

(
P
E
M
,

p
0
3
0
0
=
2
)
<1>
Precontrol
speed
[6030.8]
- 6731 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector closed-loop current control - interface to the Motor Module (PEM, p0300 = 2)
KT estimator
p0328,
p0316,
p0357,
p1780.3
Control Unit
DRIVE-CLiQ
PWM
Motor Module
M
~
+
U
V
W
DC link voltage
+ BRP
- BRN
Brake control
P24
M
I_max Motor Module
Pulse enable
HW
p1795
r0074
Modulation depth
2
U_set
U_angle
I_max Motor Module
r0066
Drv f_output
[4715.6]
[6640.1]
From thermal motor model
Sign +
or -
Frequency,
negative
r0056.7
r0056.11
R_stator act
r0395
[6310.1]
[6799.1]
r0063[0]
n_act
MotMod KT corr
r1797
Model control
Uq_set
r1733
<3>
[6714.8]
[6714.8]
Refer to [1020.7]
[6799.1]
r0072
Drv U_output
[6799.1]
[6724.1]
[6799.1]
r0070
Vdc_act
[6714.1]
I_Phase actual value
r0069[0...2]
U_Phase actual value
r0089[0...2]
p1755 p1756
r1751
r0094
Transformat_angle
p1764 p1767
Current model Vibration damping
p1740
+ +
r1771
+ +
Iq_set
r0077
Motor model
r1762, r1763, r1778
r1770
r0076
r1732
Ud_set
Id_act
Direction of rotation
reversal
p1821[D]
[4715.7]
F
u
n
c
t
i
o
n

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
8
6
7
3
2

I
n
t
e
r
f
a
c
e

t
o

t
h
e

m
o
t
o
r

m
o
d
u
l
e

(
F
E
M
,

p
0
3
0
0
=
5
)
- 6732 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.03.06 V02.04.00 Vector closed-loop current control - interface to the Motor Module (FEM, p0300 = 5)
Control unit
DRIVE CLiQ
PWM
Motor module
M
~
+
U
V
W
DC link voltage
+ BRP
- BRN
Brake control
P24
M
I_max Motor Module
Pulse enable
HW
r0074
Modulation depth
2
U_set
U_angle
I_max Motor Module
r0066
Drv f_output
[4715.6]
[6640.1]
From thermal motor model
Sign
+ or -
Frequency, negative
r0056.7
r0056.11
R_stator act
r0395
[6725.1]
[6799.1]
r0063[0]
n_act
<3>
[6714.8]
[6714.8]
[6799.1]
r0072
Drv U_output
[6799.1]
[6799.1] r0070
Vdc_act
[6726.1]
[6714.1]
I_phase act val
r0069[0...2]
U_phase act val
r0089[0...2]
Angle diff T_smooth
p1754
MotMod n_chngov hyst
p1756
r0087
Cos_phi_actual value
+
+
Motor model
(voltage model)
r0084
Flux actual value
[6799.1]
[6727.8] r0065
f_Slip
MotMod n_chngov enc.
p1752
Orientation angle
select
I_mod load angle
r1627
Iq
M
[6640.5]
[6710.2]
[6714.6]
r0094
Transformat_angle
[6714.1]
p1821[D]
Actual angle
[4715.7]
+
+
[6727.8]
U_mod angle
Refer to [1020.7]
V
e
c
t
o
r

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
6
9
6
7
9
9

D
i
s
p
l
a
y

s
i
g
n
a
l
s
- 6799 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Vector current control display signals
100 ms
r0060
n_set before filter
[6030.1]
r0063[0]
n_act
[4715.6]
r0066
Drv f_output
r0072
Drv U_output
r0070
Vdc_act
r0068[0]
I_act abs. value unsmoothed
[6714.5]
[6714.4]
r0074
Modulation depth
r0078
Iq_act
[6714.4]
r0080[0]
M_act unsmoothed
[6714.8]
r0082[0]
P_act unsmoothed
[6714.8]
n_set smooth
r0020
n_act smooth
r0021
Drv f_outp smth
r0024
Drv U_outp smth
r0025
Vdc smooth
r0026
r0027
Modulation depth, smooth
r0028
Drv Id_act smooth
r0029
Iq_act smooth
r0030
M_act smooth
r0031
r0032
300 ms
100 ms
100 ms
100 ms
100 ms
300 ms
100 ms
300 ms
100 ms
100 ms
300 ms
cos phi smooth
r0038
[6730.4][6732.4]
[6730.4][6732.4]
[6730.1][6732.1]
[6730.4][6732.4]
r0076 Id_act
r0087 cos phi actual val
[6730.1][6731.1][6732.1]
Function diagrams
Technology functions
2.20 Technology functions
Function diagrams
7008 kT estimator 2-1103
7010 Friction characteristic 2-1104
7012 Advanced Positioning Control (APC, r0108.7 = 1)) 2-1105
7014 External armature short circuit (EASC, p0300 = 2xx or 4xx) 2-1106
7015 Internal voltage protection (IVP, p0300 = 2xx or 4xx) 2-1107
7020 Synchronization 2-1108
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0
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8

k
T

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- 7008 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.02.06 V02.04.00 Technology functions kT estimator
kT estimator
Prerequisites:
- The motor parameters are precisely determined using the motor data identification (p1909, p1910).
- The motor temperature is detected (p0600).
- The characteristic of the compensation of the voltage emulation error is identified (p1952, p1953).
- The compensation of the voltage emulation error is activated (p1780.8 = 1).
r0089[0-2]
U_phase actual value
r0069[0-2]
I_phase actual value
p0350[M]
Mot R_stator cold
p0356[M]
Mot L_stator leakage
r0035
Motor temperature
r0063
n_act
r0334[M]
Mot kT act
1
0
1.5 * r0334 Mot kT act
0.5 * r0334 Mot kT act
0
Actual speed < changeover speed motor model
r0063 n_act < p1752 MotMod n_chngov enc
r0063 n_act < p1755 MotMod n_chngov sensorless
MotMod kT T_smooth
1 ... 10000 [ms]
P1795.D (100)
Is internally used to
calculate the torque
r0334
Mot kT act
r1797 [0]
MotMod kT corr
-
p1780[D].3 = 1 Select motor model PEM KT adaptation
p1780[D].8 = 1 Compensation of the voltage emulation error in the drive converter
kT estimated
kT
adap
+
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- 7010 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Technology functions - friction characteristic
0
Friction plot act
0...3
p3845 (0)
Friction M0
p3830[D] (0)
Friction n0
p3820[D] (15)
Friction M10
p3839[D] (0)
Friction n10
p3829[D] (3000)
Fiction characteristic direction of rotation, positive
r3840.8
Frict input ctrl
(3841)
p1569[C]
r3841
Friction output
Friction characteristic OK
r3840.0
0
1
Friction activation
p3842 (0)
Drive ON from the sequence control
Friction characteristic plot active (p3845 > 0)
Start ramp-funct. generator
Frict plot t_RFG
0.000...999999.000 s
p3846[D] (10 s)
r0063
n_act
Sign
+ or -
Friction plot t_warm
0.000...3600.000 s
p3847[D] (0)
A07960
"Friction characteristic incorrect"
To
setpoint channel
[3080.7]
Plot friction characteristic
Play friction characteristic
<1>
<1> p3845
= 0: Plot de-activated
= 1: Plot activated direction of rotation all
= 2: Plot activated direction of rotation positive
= 3: Plot activated, direction of rotation, negative
The following applies for Vector:
The function module "speed/torque control" (r0108.2 = 1) is required for the friction characteristic.
n [RPM]
M [Nm]
To M_set total
SERVO [5610.5]
VECTOR [6710.1]
Refer to [1020.7]
Friction characteristic plot activated
r3840.1
Friction characteristic plot completed
r3840.2
Friction characteristic plot aborted
r3840.3
r3840
Friction ZSW
A07961
"Friction characteristic plot activated".
A07963
"Friction characteristic plot interrupted".
r1538
r1539
p1532
M_max offset
+
p1532
M_max offset
+
<2>
<2>
<2> Only for SERVO. For VECTOR = p1532 = 0.
r0063[0]
n_act
[4715.6]
[4710.6]
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(
A
P
C
,

r
0
1
0
8
.
7
=
1
)
)
- 7012 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS 03.01.06 V02.04.00 Technology functions - Advanced Positioning Control (APC, r0108.7 = 1)
r3777[1]
Filter 1.1 output value
APC n_load ctrl 1 Kp
0.000...100.000 [Ns/m]
p3760[D] (10.000)
APC filt 2.1 fn_z
0.5...16000.0 [Hz]
p3723[D] (2000.0)
p0115[1] x p3706
p0115[1] (125.00 s)
APC filt 1.1 fn_z
0.5...16000.0 [Hz]
p3713[D] (2000.0)
APC filt 1.1 D_z
0.000...10.000
p3714[D] (0.700)
APC filt 1.1 fn_n
0.5...16000.0 [Hz]
p3711[D] (2000.0)
APC filt 1.1 D_n
0.050...10.000
p3712[D] (0.700)
APC filt 2.2 fn_z
0.5...16000.0 [Hz]
p3728[D] (2000.0)
APC filt 2.1 fn_n
0.5...16000.0 [Hz]
p3721[D] (2000.0)
APC filt 2.2 D_z
0.000...10.000
p3729[D] (0.700)
APC filt 2.1 D_z
0.000...10.000
p3724[D] (0.700)
APC filt 2.2 fn_n
0.5...16000.0 [Hz]
p3726[D] (2000.0)
APC filt 2.1 D_n
0.050...10.000
p3722[D] (0.700)
APC filt 2.2 D_n
0.050...10.000
p3727[D] (0.700)
[5030.1]
[5210.1]
0
1
APC n_load ctrl 1 Tv
0.00...500.00 [ms]
p3761[D] (0.00)
Activate APC
p3700.0
APC n_load ctrl 2 Kp
0.000...100.000 [Ns/m]
p3765[D] (10.000)
APC filt 3.1 fn_z
0.5...16000.0 [Hz]
p3733[D] (2000.0)
APC filt 3.2 fn_z
0.5...16000.0 [Hz]
p3738[D] (2000.0)
APC filt 3.1 fn_n
0.5...16000.0
[Hz] p3731[D] (2000.0)
APC filt 3.2 D_z
0.000...10.000
p3739[D] (0.700)
APC filt 3.1 D_z
0.000...10.000
p3734[D] (0.700)
APC filt 3.2 fn_n
0.5...16000.0 [Hz]
p3736[D] (2000.0)
APC filt 3.1
D_n 0.050...10.000
p3732[D] (0.700)
APC filt 3.2 D_n
0.050...10.000
p3737[D] (0.700)
APC n_load ctrl 2 Tv
0.00...500.00 [ms]
p3766[D] (0.00)
p0115[1] x p3707
[5030.5]
-
+
+
+
Filter 3.1
Filter 3.2
Filter 2.2 Filter 2.1
<1>
<1>
<1>
<1>
<1>
0
<1>
Filter
APC filter act
p3704
APC filter type
p3705
Filter 1.1
active Inactive
General 2nd
order filter
Lowpass
(PT2)
3.2
3.1
2.2
2.1
1.1 Bit 0 = 1 Bit 0 = 0
Bit 4 = 1
Bit 5 = 1
Bit 8 = 1
Bit 9 = 1
Bit 4 = 0
Bit 5 = 0
Bit 8 = 0
Bit 9 = 0
Bit 0 = 1
Bit 4 = 1
Bit 5 = 1
Bit 8 = 1
Bit 9 = 1
Bit 0 = 0
Bit 4 = 0
Bit 5 = 0
Bit 8 = 0
Bit 9 = 0
[5210.1]
[4711.7]
r3772[0] r3772[1]
r3777[0]
r3773[1]
r3773[0]
+
+
+
+
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p
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3
0
0
=
2
x
x
o
r
4
x
x
)
- 7014 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.12.05 V02.04.00 Technology functions External armature short circuit (EASC, p0300 = 2xx or 4xx)
Drive converter
~
M
3
Contactor feedback
signal
p1236 = 200 ms
=1
F7905
"Contactor feedback signal closed missing"
T 0
+24 V
0 T
p1237 = 200 ms
&
&
Pulse enable HW
Pulse enable HW
1
Pulse inhibit
(r0046.19 = 1)
(1)
p1230
1
r0046.4
r0046.20
A7904
"Contactor feedback signal open missing"
1
Drive status S1, S2, S3 [2610]
DI
p1231 = 1
r0002 =19
2000 s
Control Unit
DO
p1235
Contactor
closed
r1239.0
p1231 = 2
[7015.2]
p1231 = 1
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V
P
,

p
0
3
0
0
=
2
x
x
o
r
4
x
x
)
- 7015 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.12.05 V02.04.00 Technology functions Internal Voltage Protection (IVP, p0300 = 2xx oder 4xx)
2000 s
DRIVE-CLiQ
Control Unit Motor Module
~
M
3
Drive converter
F07907
"Motor terminals are not potential-free after pulses have been cancelled".
p1231 = 3
[7014.4]
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5
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0

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Phase measurement/
closed-loop control
- 7020 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 27.02.06 V02.04.00 Technology functions - Synchronisation
Frequency measurement
1
0
Sync ph_sync thresh
1.00 ... 20.00
p3813[D] (2.00)
Sync phase setpoint
-180.00 ... 179.90
p3809[D] (0.00)
-p3811
KP TN
To setpoint channel
r3812
Sync f_corr
r3808
Sync phase diff
1
0
1
0
Sync U_diff thresh
0.00 ... 10.00 %
p3815[D] (10.00)
&
Actual voltage
sensing
(closed-loop
control gating
unit)
Synchronizing
voltage
sensing
r3814
Sync U_diff
To setpoint channel
r3804
Sync f_targ
Sync f_diff thresh
0.00 ... 1.00 Hz
p3806[D] (0.10)
r1084
Alarm
target frequency > fmax
-1
r1087
Alarm
target frequency < fmin
Start closed-loop phase control
f
|U|
Sequence
control
Sync line-drive enabled
r3819.0
Sync line-drive frequency measurement active
r3819.5
Sync line-drive closed-loop phase control active
r3819.6
0
1
0
1
Sync act
0 ... 2
p3800[D] (0)
Sync DO_no
1 ... 62
p3801[D] (1)
Sync line-drive synchronizing error
r3819.3
Sync line-drive in synchronism
r3819.2
(measurement
via VSM10 with
PLL)
r3805
Sync f_diff
To motor control
+
[3030.8]
[3080.5]
+
+
+
+
Sync f_limit
0.00 ... 1.00 Hz
p3811[D] (0.20)
fset
set
|U|set
(0)
Sync enable
p3802[C]
Technology controller
Function diagrams
2.21 Technology controller
Function diagrams
7950 Fixed values (r0108.16 = 1) 2-1110
7954 Motorized potentiometer (r0108.16 = 1) 2-1111
7958 Closed-loop control (r0108.16 = 1) 2-1112
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(
r
0
1
0
8
.
1
6
=
1
)
- 7950 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 03.05.05 V02.04.00
0 1 1 0
1 0 1 0
1 1 0 0
1 1 1 0
0 0 0 1
0 0 1 0
Tec_ctr fix val 1
-200.00...200.00 %
p2201[D] (10.00)
r2201[D]
Tec_ctr No act
0...15
r2229
0 0 0 0
0 1 0 0
1 0 0 0
<101> Pre-assignment of the sampling times in p0115[6], refer to p0112.
r2202[D]
Tec_ctr fix val 2
-200.00...200.00 %
p2202[D] (20.00)
r2203[D]
Tec_ctr fix val 3
-200.00...200.00 %
p2203[D] (30.00)
r2204[D]
Tec_ctr fix val 4
-200.00...200.00 %
p2204[D] (40.00)
r2205[D]
Tec_ctr fix val 5
-200.00...200.00 %
p2205[D] (50.00)
r2206[D]
Tec_ctr fix val 6
-200.00...200.00 %
p2206[D] (60.00)
r2207[D]
Tec_ctr fix val 7
-200.00...200.00 %
p2207[D] (70.00)
r2208[D]
Tec_ctr fix val 8
-200.00...200.00 %
p2208[D] (80.00)
r2209[D]
r2211[D]
Tec_ctr fix val 11
-200.00...200.00 %
p2211[D] (110.00)
r2210[D]
Tec_ctr fix val 10
-200.00...200.00 %
p2210[D] (100.00)
r2212[D]
Tec_ctr fix val 12
-200.00...200.00 %
p2212[D] (120.00)
r2215[D]
Tec_ctr fix val 15
-200.00...200.00 %
p2215[D] (150.00)
r2214[D]
Tec_ctr fix val 14
-200.00...200.00 %
p2214[D] (140.00)
r2213[D]
Tec_ctr fix val 13
-200.00...200.00 %
p2213[D] (140.00)
Tec_ctr fix val 9
-200.00...200.00 %
p2209[D] (90.00)
(0)
Tec_ctr sel bit 0
p2220[D]
(0)
Tec_ctr sel bit 1
p2221[D]
(0)
Tec_ctr sel bit 3
p2223[D]
(0)
Tec_ctr sel bit 2
p2222[D]
4000.00 s
<101>
Refer to [1020.7]
0.00 %
0 1 1 1
r2224
Tec_ctr FixVal eff
1 1 1 1
1 1 0 1
1 0 1 1
0 0 1 1
0 1 0 1
1 0 0 1
0 ... 15
2
0
2
3
Technology controller - fixed values (r0108.16 = 1)
T
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(
r
0
1
0
8
.
1
6
=
1
)
- 7954 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 04.08.05 V02.04.00 Technology controller motorized potentiometer (r0108.16 = 1)
Tec_ctrl mop config
0000...0111
p2230[D] (0110)
<1> For p2230.0 = 0, this setpoint is entered after ON.
<2> If the initial rounding-off is active (p2230.2 = 1), the selected ramp-up and ramp-down times are appropriately exceeded.
<3> The following prerequisites must be fulfilled in order to be able to save the setpoint in a non-volatile fashion:
<1>
0 The setpoint for the motorized potentiometer is not saved and after ON is entered using p2240.
0 Without initial rounding.
1 With initial rounding. The ramp-up/down time set is exceeded accordingly.
1 The setpoint for the motorized potentiometer is saved after OFF and after ON is entered using r2231.
4000.00 s
<101>
Refer to [1020.7]
r2250
Tec_ctrl mop after RFG
Tec_ctrl mop t_up
0.0...1000.0 s
p2247[D] (10.0)
Tec_ctrl mop t_down
0.0...1000.0 s
p2248[D] (10.0)
<2> <2>
Tec_ctrl mop start
-200.00...200.00 %
p2240[D] (0.00)
r2245
Tec_ctrl mop before RFG
x y
0 0
0 1
1 0
1 1
Tec_ctrl mop min
-200.00...200.00 [%]
p2238[D] (-100.00)
Tec_ctrl mop max
-200.00...200.00 [%]
p2237[D] (100.00)
(0)
Tec_ctrl mop raise
p2235[C]
(0)
Tec_ctrl mop lower
p2236[C]
Data save active
Initial rounding-off active
r0046.0
Old value is kept
[2634.0]
<3>
Tec_ctrl mop SP
r2231
Non-volatile data save active 0 Non-volatile data save not activated
1 The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1)
y
p2237
-p2238
x
y = 0
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(
r
0
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0
8
.
1
6
=
1
)
- 7958 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 03.05.05 V02.04.00 Technology controller - control (r0108.16 = 1)
+
+
+
+
<1> P, I and D components can be disabled by entering a zero.
<1>
<1>
<101>
Refer to [1020.7]
r2294
Tec_ctr outp_sig
Tec_ctrl setpoint 1
(0)
p2253[C]
Tec_ctrl Set1 scal
0.00...100.00 %
p2255 (100.00)
Tec_ctrl t_ramp-up
0.00...650.00 s
p2257 (1.00)
Tec_ctrl t _ramp-down
0.00...650.00 s
p2258 (1.00)
r2260
Tec_ctr set a. RFG
Tec_ctrl set T
0.00...60.00 s
p2261 (0.00)
r2262
Tec_ctr set aft. flt
+
Tec_ctrl type
0 = D component in the actual value signal
1 = D component in the fault signal
p2263(0)
Tec_ctrl setpoint 2
(0)
p2254[C]
Tec_ctrl set 2 scal
0.00...100.00 %
p2256 (100.00)
4000.00 s
Tec_ctrl act T
0.00...60.00 s
p2265 (0.00)
Tec_ctr act val
(0)
p2264[C]
r2266
Tec_ctr act a. flt
r2273
Tec_ctr error
d
dt
Tec_ctrl T diff
0.000...60.000 s
p2274 (0.000)
(Def.x)
Tec_ctrl enable
p2200[C]
Tec_ctrl max_limit
-200.00...200.00 %
p2291 (100.00)
Tec_ctrl up/down
0.00...100.00 s
p2293 (1.00)
Tec_ctrl
Kp 0.000...1000.000
p2280 (1.000)
<1>
Tec_ctrl
Tn 0.000...60.000 s
p2285 (0.000)
+
+
Tec_ctrl pre-control
(0)
p2289[C]
Technology controller limited
r2349.1
Technology controller de-activated
r2349.0 1
+
-1
(2295)0
p2296[C]
Tec_ctrl output scal
-100.00...100.00 %
p2295 (100.00)
p2295
p2291
Tec_ctr max_limit
(2291)0
p2297[C]
p2292
Tec_ctr min_lim
(2292)0
p2298[C]
r2273
Tec_ctr error
1 0
p2263 = 1
p2263 = 0
Tec_ctrl min_limit
-200.00...200.00 %
p2292 (0.00)
Messages and monitoring functions
Function diagrams
2.22 Messages and monitoring functions
Function diagrams
8010 Speed messages/signals 2-1114
8012 Torque messages/signals, motor locked/stalled 2-1115
8013 Load monitoring (r0108.17 = 1) 2-1116
8014 Thermal monitoring, power unit 2-1117
8016 Thermal monitoring, motor 2-1118
8018 Separately excited synchronous motor (FEM, p0300 = 5) 2-1119
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- 8010 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 17.03.06 V02.04.00 Signals and monitoring functions - speed signals
r0063[0]
n_act
r2169
n_act smooth signal
[8010.5]
[8012.5]
[8013.1]
0.00...60 000.00 RPM
p2162[D] (600.00)
0.00...300.00 RPM
p2140[D] (90.00)
0.00...210 000.00 RPM
p2155[D] (900.00)
0.00...210 000.00 RPM
p2161[D] (5.00)
r2169
n_act smooth signal
0...1 000 000 ms
p2153 (0)
+
Priority 1
RESET 2
SET
0 T
0.0...500.0 ms
p2166[D] (200.0)
0.00...600.00 RPM
p2163[D] (90.00)
0.00...200.00 RPM
p2164[D] (1.50)
Smoothing
[4715.6]
[8010.2]
[3050.8]
[3095.7]
F07901 "motor overspeed"
n
p0115[1] (125.00 s)
0
1
0
1
0
1
0
1
0
1
0.00...210 000.00 RPM
p2141[D] (5.00)
0
1
0.000...300.000 RPM
p2142[D] (2.00)
n_act > n_max
r2197.6
Speed setpoint actual
value deviation within
tolerance t_off
r2197.7 [2534.3]
Ramp-up/ramp-down completed
r2199.5
[2537.3]
n_set > 0
r2198.5
[2536.3]
|n_act| < p2161
r2199.0
|n_act| p2155
r2197.1
[2534.3]
f or n-comparison value
reached/exceeded
r2199.1
[2537.3]
[2537.3]
p0115[3] (4000.00 s)
+
r1084
r1087
T 0
0...10 000 ms
p2156[D] (0)
SET
(Q=1)
RESET
(Q=0)
Q
Q
n_setp
r1170
p2151[C]
0
[3080.8]
[2534.3]
0
1
0.00...300.00 RPM
p2150[D] (2.00)
n_act 0
r2197.3
[2534.3]
0
|n_act| > p2155
r2197.2 1
0
1
<1> Only for activated function module
"expanded messages/monitoring functions"
(r0108.17 = 1).
<2> VECTOR: Calculated.
<3> VECTOR:
Dependent on the drive unit (250 or 400 s).
<4> VECTOR:
Dependent on the drive unit (1000 or 1600 s).
<5> Evaluation, only for:
Pulse enable and operating enable (r0899.2)
or OFF1
or OFF3
or rotating measurements
or friction characteristic plot
|n_set| p2161
r2198.4
[2536.3]
n_set 2
0
p2154[C]
p2149.0[D]
A07903
"Motor
speed
deviation"
1
<1>
<2>
<2>
<2>
<2>
<2>
p0115[3] (<4>) p0115[1] (<3>)
(0)
RFG active
p2148[C] 0
1
[2537.3]
0.0...10000.0 ms
p2167[D] (200.0)
T 0
Speed setpoint actual
value deviation within
tolerance t_on
r2199.4
1 = RESET
A07903 is only signals for p2149.0 = 1
and r2197.7 = 0.
r0063
n_act smooth
[4710.6]
1
r1407.2 M_closed-loop control
<5>
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- 8012 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Messages and monitoring functions - torque messages/signals, motor locked/stalled
0
1
0
1
0.00...99 999.00 Nm
p2174 (5.13)
1
0 T
Ramp-up completed
r2199.5
0.0...1 000.0 ms p2195[D] (800.0)
+
[6640.8]
[6640.8]
+
+
<1>
0
1
x1 x2 y
[%]
r0033
M_utilization smooth
0.00...100.00 %
p2194 (90.00)
Requested
torque
[Nm]
M_set_3 > M_max offset
(positives torque requested)
Ramp-function generator operating
0
1
[2537.7]
1
Actual torque limit
1
2
1
x
% 100 x
2 % of p2194
2 % of p2174
[Nm]
[3080.4]
<1> The torque setpoint and the torque limits are referred to p1532 (M_max
offset). "Normally" M_max offset = 0.
<2> Only for SERVO (r0107 = 11).
<3> Only for vector control with encoder.
<4> Only for VECTOR (r0107 = 12).
<5> VECTOR: Dependent on the drive unit (1000 or 1600 s).
Torque utilization
< p2194
r2199.11
Torque setpoint < p2174
r2198.10
<2>
[2537.3]
[2536.3]
100 ms
r0081
M_utilization
<2>
r0079
M_set total
<4>
[6060.8]
r0079[0]
M_set total
[5610.5]
<2>
r0079
M_set total
<4>
r0079[1]
M_set total, smooth
p0115[3] (4000.00 s)
p0115[3] (<5>)
Only VECTOR Stall detection or stall monitoring
(not for U/f control and not for p0300 = 5)
T 0
0.000...1.000 s
p2178 (0.010)
F07902
Motor stalled
r2198.7
[2536.3]
1
Speed adaptation, speed deviation
r1408.11
Motor stalled
r1408.12
<3>
[6730.3]
r2169
n_act smooth signal
Travel to fixed stop
r1406.8
Mot block n_thresh
0.00...210 000.00 RPM
p2175 (120.00)
n_act smooth signal < p2175
T 0
0.000...65.000 s
p2177 (1.000)
[8010.2]
&
F07900
r1407.7
[2522.7]
Motor locked
r2198.6
[2536.3]
[2520.7]
p1545
Motor locked detection or motor locked monitoring
function (not for closed-loop torque control)
Control type
p1300
&
<2>
I_limit U_output act
r0056.12
<20
[2526.6]
1
[6060.8]
[5610.5]
[6730.3]
r1539
r1539
r1538
r1538
M_max upper
effective
[5650.8]
[5650.8]
p0045
p0045
<2>
<2>
<4>
<4>
M_max Offset
p1532
[5620.7]
[5630.7]
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(
r
0
1
0
8
.
1
7
=
1
)
- 8013 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 06.09.05 V02.04.00 Messages and monitoring functions - load monitoring (r0108.17 = 1)
r0080
M_act
r2169
n_act smooth signal
[8010.2]
[5730.1]
[6714.8]
A07920 ... A07922
r2198.11
[2536.3]
M_threshold 3 upper
0.00...99 999.00 Nm
p2189[D](99999.00)
M_threshold 3 lower
0.00...99 999.00 Nm
p2189[D](99999.00)
M_threshold 2 upper
0.00...99 999.00 Nm
p2187[D](99999.00)
M_threshold 2 lower
0.00...99 999.00 Nm
p2188[D](0.00)
M_threshold 1 upper
0.00...99 999.00 Nm
p2185[D](99999.00)
M_threshold 1 lower
0.00...99 999.00 Nm
p2186[D](0.00)
n_threshold 1
0.00...210 000.00 RPM
p2182[D](150.00)
n_threshold 2
0.00...210 000.00 RPM
p2183[D](900.00)
n_threshold 3
0.00...210 000.00 RPM
p2184[D](1500.00)
n [RPM]
M [Nm]
F07923 ... F07925
r2198.12
[2536.3]
0 T
0.00...65.00 s
p2192[D] (10.00)
Load monitoring response
p2181[D](0)
Evaluation
A07920 "Torque too low"
A07921 "Torque too high"
A07922 "Torque outside tolerance"
A07923 "Torque too low"
A07924 "Torque too high"
A07925 "Torque outside tolerance"
A07926 "Envelop characteristic, parameter not value"
Tolerance
bandwidth
<1>
<1> The response of these faults can be set.
(0)
(1)
Load transfer disabled
(2)
(3)
(4)
(5)
(6)
<1>
<1>
p0115[3] (4000.00 s)
0
1
p2149.1
0
1
p2149.1
M
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Control Unit
DRIVE-
CLiQ
Power unit
Temperature measurement
- 8014 -
Function diagram
8 7 6 5 4 3 2 1
fp_8014_01_eng.vsd DO: A_INF, S_INF, SERVO, VECTOR
SINAMICS S 12.01.06 V02.04.00 Messages and monitoring functions - thermal monitoring, power unit
Tmax heatsink
Thermal monitoring for the power unit
Max
0
1
0
1
Power unit
temperatures [C]
r0037 [0...19]
Maximum power unit temperature
5 C
Faults "power unit overtemperature"
F30004 inverter heatsink
F30025 chip F30035 air intake
F30036 electronics module
F30037 rectifier
1 = Fault thermal overload in power unit
1 = Alarm, thermal overload, power unit
+
-
0
1
Alarms "power unit overtemperature"
A05000 inverter heatsink
A05001 chip
A05002 air intake
A05003 electronics module
A05004 rectifier
F30005 "Power unit overload"
Overload response
Power unit overload response
p0290
<1>
Power unit overload
(0...100 %)
r0036
[2548.2]
0
1
A07805 "Power unit overload"
Alarm threshold
it overload power unit 0...100 %
p0294 (95 %)
100 %
p0115[3] (2000.00 s)
1
1
LT I_rated
r0207
it model
power unit
r2135.13
r2135.15
[2548.2]
<1> Not for A_INF (r0107 = 10).
<2> Not for the following drive objects:
A_INF (r0107 = 10)
SERVO (r0107 = 11)
S_INF (r0107 = 20)
<3> Only for VECTOR (r0107 = 12).
r0068
I_act abs. value
[5730.4]
[8850.4]
[8950.4]
r0068[0]
I_act abs. value
[6714.5]
<3>
<2>
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- 8016 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Messages and monitoring functions - thermal monitoring, motor
T 0
&
&
1
MotTMod T_rotor
r0633
MotTMod T_iron
r0631
MotTMod T_copper
r0632
Mot T_environment
p0625[M]
Mot T_over iron
p0626[M]
Mot T_over stator
p0627[M]
Mot T_over rotor
p0628[M]
Thermal 3-mass model
(only for induction motors)
Rated motor temperature rise
MotTMod T_environment
r0630
Calculated motor temperatures
Mot temperature [C]
(0)
p0603[C]
from sensor 2
Mot temp_sensor
p0600[M]
0
1
11
3
2
10
p0606[M]
A07910
"Motor overtemperature"
F07011
"Motor overtemperature"
<1>
<1> The value p0606 = 0 has, for KTY and PTC, a different meaning:
KTY: 0 The output of the timer is always switched-out (logical 0)
PTC: 0 Delay time = 0 s
<2> Switch-in delay, refer to [1024]. p0607 = 0 suppresses fault F07016.
<3> For KTY and "No sensor", temperature from the model.
Fault response
I_max reduction
[1690.1][6640.2]
p0610[M]
p0610 = 0: No response, only alarm, no reduction of I_max
p0610 = 1: Alarm and reduction of I_max and fault (F07011)
p0610 = 2: Alarm and fault (F07011), no reduction of I_max
Model tracking
e.g. r4105 from TM31 [9576.3]
p0610 = 1
Suppress fault
p0610 = 0
1.00 s
[2548.2] r2135.14
A07820
"Temperature sensor
not connected"
A07015
"Motor temperature
sensor fault alarm"
F07016
"Motor temperature
sensor fault, fault"
-140 C 250 C
Sensor fault, time
p0607[M]
<2>
KTY PTC
Sensor type
Mot temp_alarm thresh
p0604[M]
250 C
Only for KTY
0
1
0
1
Mot temp fault thresh
p0605[M]
&
KTY sensor type
(threshold not applicable for PTC)
r0035
T_mot measured
<3>
<4>
1
1
[2548.2] r2135.12
T 0
[4704.8]
[4704.8]
[4704.8]
from sensor 1
from sensor 3
from Motor Module
Mot temp_sensor typ
0 = No sensor available
1 = PTC termistor
2 = KTY84
3 = KTY84 and PTC (only for temperature sensor via encoder)
4 = SME120/125
p0601[M]
M
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4
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8

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m
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(
F
E
M
,

p
0
3
0
0
=
5
)
- 8018 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 21.02.06 V02.04.00 Signals and montoring functions separately-excited synchronous motor (FEM, p0300 = 5)
F07913
"Excitation current outside tolerance"
<1> Only when the pulses are enabled.
<2> Only for vector control (p1300 >= 21) and after magnetization has been completed for a flying restart (r0056.4 = 1).
p0115[3] (4000.00 s)
<1>
T 0
<2>
F07914
"Flux outside tolerance"
0 T
0 T
0
1
0
1
0
1
0.01...10 000.00 [Arms]
p3208[D] (1.00)
0.00...10.00 [s]
p3209[D] (0.02)
0.1...50.0 [%]
p3205[D] (10.0)
r0068[0]
I_act abs. value
[6714.5]
0.01...10 000.00 [Arms]
p3207[D] (1.00)
0.1...100.0 [%]
p3204[D] (10.0)
0.0...10.0 [s]
p3203[D] (1.0)
0.1...100.0 [%]
p3201[D] (10.0)
0.1...100.0 [%]
p3202[D] (10.0)
0.0...10.0 [s]
p3206[D] (5.0)
r0084[0]
Flux actual value
r1598
Flux setpoint total
[6732.1]
[6725.8]
r1626
I_exc_set
[6727.8]
+
+
[8010.4]
|n_act| < p2161
r2199.0
I_exc_act
[6727.6]
r1641
Zero current
r2199.6
T 0
T 0
0
1
[6732.4]
[6732.3]
r0056.11
Motor stalled
r1408.12
Motor stalled
r2198.7
Motor stalled
r2198.7 [2536.3]
0.000..10.000 [s]
p2178[D] (0.010)
F07902
motor stalled (fault value 2)
F07902
motor stalled (fault value 3)
2 x r0384[M]
[2536.3]
Tsample
Function diagrams
Faults and alarms
2.23 Faults and alarms
Function diagrams
8060 Fault buffer 2-1121
8065 Alarm buffer 2-1122
8070 Fault/warning trigger word (r2129) 2-1123
8075 Fault/alarm configuration 2-1124
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- 8060 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 25.01.06 V02.04.00 Faults and alarms - fault buffer
<1>
Actual
fault case
Fault 1
Fault 2
Fault 8
RESET
Fault case comes
Fault case count
p0952
p0952 = 0:
Fault buffer is deleted/cleared
Delete fault buffer
r0945 = 0
r0948 = 0
r0949 = 0
r2109 = 0
r2130 = 0
r2133 = 0
r2136 = 0
Automatic
7. Acknow-
ledged
fault case
[oldest]
1. Acknow-
ledged
fault case
Fault goes
Fault comes
Fault buffer
change
r0944
Fault buffer change [8065.6]
Counter
16 bit
LED "RDY" [= red for fault]
r2131
Actual fault code
0 = "No fault present"
III
RESET
III
RESET
III
32 bit counter,
free running
1 ms
System time
r0969 [ms]
16 bit counter,
free running
POWER ON
Fault responses to the sequence control [2610]
<1> This fault is overwritten when "more recent" faults occur (with the exception of "safety faults").
[8065.1]
Operating time
Acknowledging faults
r2138.7
External fault 1
r2138.13
External fault 2
r2138.14
External fault 3
r2138.15
1
Fault case acknowl.
Background
Refer to [1020.7]
[2546.7]
p2102 ... p2105
[2546.7]
p2106
[2546.7]
p2107
[2546.7]
p2108, p3110 ... p3112
Fault active
r2139.3 [2548.2]
Acknowledge faults
p3981
Fault code
Fault 1
Fault 2
Fault 8
r0949[63] [I32]
r2133[63] [Float]
Fault 1
Fault 2
Fault 8
r0945[0]
r0945[1]
r0945[7]
r0945[56]
r0945[57]
r0945[63]
r0945[8]
r0945[9]
r0945[15]
Fault value
r0949[0] [I32]
r2133[0] [Float]
r0949[1] [I32]
r2133[1] [Float]
r0949[7] [I32]
r2133[7] [Float]
r0949[56] [I32]
r2133[56] [Float]
r0949[57] [I32]
r2133[57] [Float]
r0949[8] [I32]
r2133[8] [Float]
r0949[9] [I32]
r2133[9] [Float]
r0949[15] [I32]
r2133[15] [Float]
Fault time
"come"
r0948[0] [ms]
r2130[0] [d]
r0948[1] [ms]
r2130[1] [d]
r0948[7] [ms]
r2130[7] [d]
r0948[56] [ms]
r2130[56] [d]
r0948[57] [ms]
r2130[57] [d]
r0948[63] [ms]
r2130[63] [d]
r0948[8] [ms]
r2130[8] [d]
r0948[9] [ms]
r2130[9] [d]
r0948[15] [ms]
r2130[15] [d]
Fault time
"removed"
r2109[0] [ms]
r2136[0] [d]
r2109[1] [ms]
r2136[1] [d]
r2109[7] [ms]
r2136[7] [d]
r2109[56] [ms]
r2136[56] [d]
r2109[57] [ms]
r2136[57] [d]
r2109[63] [ms]
r2136[63] [d]
r2109[8] [ms]
r2136[8] [d]
r2109[9] [ms]
r2136[9] [d]
r2109[15] [ms]
r2136[15] [d]
1
p2147 (CU) = 1
<2> Refer to the list Manual under the index entry "Fault buffer - save when powering-down".
<2>
POWER ON
Fault times
Faults
Acknowledging
<3> The buffer parameters are cyclically updated in the background (refer to the status signal in r2139).
<3>
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6
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5

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b
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f
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r
- 8065 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 28.06.05 V02.04.00 Faults and alarms - alarm buffer
Alarm value
Alarm time
"come"
Alarm time
"removed"
Alarm code
RESET
Alarm comes Alarms
counter
p2111
p2111 = 0:
Alarm buffer is deleted
1
Delete alarm buffer
r2122 = 0
r2123 = 0
r2124 = 0
r2125 = 0
r2134 = 0
r2145 = 0
r2146 = 0
Alarm goes
Alarm comes
1
Alarm buffer change
r2121
Counter
16 bit
III
RESET
III
RESET
Fault buffer change [8060.8]
Sum, buffer changed
r2120
III
RESET
1
Fault/alarm buffer changes from
other drive objects
POWER ON
16 bit counter,
free running
16 bit counter,
free running
Alarm number
r2110
Operating time
Alarm times
Alarm buffer
change
POWER ON
r2132
Actual alarm code
0 = "No alarm present"
External alarm 1
r2138.10
External alarm 2
r2138.11
External alarm 3
r2138.12
[2548.2]
Background
Refer to [1020.7]
[2546.7]
p2112
[2546.7]
p2116
[2546.7]
p2117
r2122[0]
r2122[1]
r2122[7]
r2124[0] [I32]
r2134[0] [Float]
r2124[1] [I32]
r2134[1] [Float]
r2124[7] [I32]
r2134[7] [Float]
r2123[0] [ms]
r2145[0] [d]
r2123[1] [ms]
r2145[1] [d]
r2123[7] [ms]
r2145[7] [d]
r2125[0] [ms]
r2146[0] [d]
r2125[1] [ms]
r2146[1] [d]
r2125[7] [ms]
r2146[7] [d]
[8060.1]
Alarm 1
(oldest)
Alarm 2
Alarm 8
(most recent)
POWER ON
Alarm present
r2139.7
r2122[8]
r2122[9]
r2122[63]
r2124[8] [I32]
r2134[8] [Float]
r2124[9] [I32]
r2134[9] [Float]
r2124[63] [I32]
r2134[63] [Float]
r2123[8] [ms]
r2145[8] [d]
r2123[9] [ms]
r2145[9] [d]
r2123[63] [ms]
r2145[63] [d]
r2125[8] [ms]
r2146[8] [d]
r2125[9] [ms]
r2146[9] [d]
r2125[63] [ms]
r2146[63] [d]
Alarm 1
(most recent)
Alarm 2
Alarm 56
(oldest)
Alarm history
<1> The buffer parameters are updated cyclically in the background (see status signal in r2139).
<1>
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7
8
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7
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t
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d

(
r
2
1
2
9
)
- 8070 -
Function diagram
8 7 6 5 4 3 2 1
DO: All objects
SINAMICS S 18.05.05 V02.04.00 Faults and alarms - Fault/alarm trigger word (r2129)
0. Fault/alarm code
1. Fault/alarm code
15. Fault/alarm code
[0]
[1]
[15]
r2129
r2129.15
r2129.1
r2129.0
Fault/alarm trigger word
(e.g. as trigger condition to record traces)
0. Message/signal present
SAelect fault/alarm code
for trigger
p2128
Setting, fault/alarm trigger
Background
Refer to [1020.7]
fp_8070_01_eng.vsd
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5

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- 8075 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 06.03.06 V02.04.00 Faults and alarms - fault/alarm configuration
0. Fault code
1. Fault code
19. Fault code
[0]
[1]
[19]
Changing the fault response for maximum 20 faults <1>
Fault response
Fault response
Fault response
[0]
[1]
[19]
0 = NONE
1 = OFF1
2 = OFF2
3 = OFF3
0. Fault code
1. Fault code
19. Fault code
[0]
[1]
[19]
Changing the acknowledge mode for maximum 20 faults <1>
Acknowledge mode
Acknowledge mode
Acknowledge mode
[0]
[1]
[19]
1 = Acknowledgment is only possible using POWER ON
2 = Acknowledgment IMMEDIATELY after the cause has been removed.
<1> Fault response, acknowledge mode and message type for all faults and alarms are practically pre-set as default in the factory setting.
Changes that may be required are only possible in specific value ranges that SIEMENS has specified.
When the message type is changed, the supplementary information "wanders" from fault value r0949 to the alarm value r2124 and vice versa.
0. Fault/alarm code
1. Fault/alarm code
19. Fault/alarm code
[0]
[1]
[19]
Changing the message type - fault <==> alarm for maximum 20 faults/alarms <1>
Fault/alarm type
Fault/alarm type
Fault/alarm type
[0]
[1]
[19]
1 = Fault
2 = Alarm
p2100 p2101 p2118 p2119
p2126 p2127
4 = STOP1
5 = STOP2
6 = DCBRK
Background
Refer to [1020.7]
3 = Acknowledge only when the PULSES ARE INHIBITED.
7 = Encoder
3 = No message
Test sockets
Function diagrams
2.24 Test sockets
Function diagrams
8134 Measuring sockets 2-1126
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- 8134 -
Function diagram
8 7 6 5 4 3 2 1
DO: CU320
SINAMICS S 31.08.04 V02.04.00 Measuring sockets
Offset
-4.98...4.98 V
p0783[0] (0.00)
-100 000.00...100 000.00 %
p0779[0] (100.00)
-100 000.00...100 000.00 %
p0777[0] (0.00)
0.00...4.98 V
p0780[0] (4.98)
0.00...4.98 V
p0778[0] (2.49)
p0784[0]
D
A
r0774[0]
Measuring socket
T0
M
<1>
<1>
<1>
Scaling
-100 000.00...100 000.00 %
p0779[1] (100.00)
-100 000.00...100 000.00 %
p0777[1] (0.00)
0.00...4.98 V
p0780[1] (4.98)
0.00...4.98 V
p0778[1] (2.49)
p0784[1]
D
A
r0774[1]
-100 000.00...100 000.00 %
p0779[2] (100.00)
-100 000.00...100 000.00 %
p0777[2] (0.00)
0.00...4.98 V
p0780[2] (4.98)
0.00...4.98 V
p0778[2] (2.49)
p0784[2]
D
A
r0774[2]
Limit
Offset
-4.98...4.98 V
p0783[1] (0.00)
Offset
-4.98...4.98 V
p0783[2] (0.00)
Measuring socket
T1
Measuring socket
T2
<2>
<2>
Scaling <2>
Scaling
<1> Only for measuring equipment with Ri 1 M
<2> With the factory setting, input values
from -100...100 % result in output voltages from 0...4.98 V.
<3> The input signals are referred to the reference quantities p200x (100 % corresponds to
p200x) and the calculated normalization is displayed using r0786.
Limit
[V]
[V]
[V]
0
1
0
1
0
1
x 10
4.98
5
[V]
[V]
-10 -5
4.98
y
Limit
5 -10 -5
4.98
4.98
y [V]
x [V]
x
x
x
x
x
x
y
y
y
y
y
y
Reference quantities
p200x
y
x2
2
1
x
% 100 x x
x1
[%]
<3>
0
p0771[1]
0
p0771[2]
0
p0771[0]
+
+
+
+
+
+
0..0.40.98
V
0..0.40.98 V
0..0.40.98 V
[%]
r0772[0]
[%]
r0772[1]
[%]
r0772[2]
x
y
y1
y2
x2
[%] (100 %)
[V] (4.98 V)
(2.49 V)
x1
P2
P1
x
x
x
y
y
y
Dimension unit
per volt
r0786[0]
Dimension unit
per volt
r0786[1]
Dimension unit
per volt
r0786[2]
p0110[0] (125.00 s)
x
y
y1
y2
x2
[%] (100 %)
[V] (4.98 V)
(2.49 V)
x1
P2
P1
x
y
y1
y2
x2
[%] (100 %)
[V] (4.98 V)
(2.49 V)
x1
P2
P1
x 10
4.98
5
[V]
[V]
-10 -5
4.98
y
x 10
4.98
5
[V]
[V]
-10 -5
4.98
y
5 -10 -5
4.98
4.98
y [V]
x [V]
5 -10 -5
4.98
4.98
y [V]
x [V]
<4> Example: If a speed signal is entered via p0071 and r0786 indicates 100.0, then a speed change of 100 RPM results in an output voltage change of 1.0 V.
<4>
<4>
<4>
fp_8134_01_eng.vsd
Data sets
Function diagrams
2.25 Data sets
Function diagrams
8560 Command data set (CDS) 2-1128
8565 Drive data set (DDS) 2-1129
8570 Encoder data set (EDS) 2-1130
8575 Motor data set (MDS) 2-1131
8580 Power unit data set (PDS) 2-1132
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- 8560 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 01.02.06 V02.04.00 Data set - command data set (CDS)
Not relevant
Refer to [1020.7]
(0)
CDS select., bit 0
p0810[C]
(0)
CDS select., bit 1
p0811[C]
(0)
CDS select., bit 2
p0812[C]
(0)
CDS select., bit 3
p0813[C]
Copy CDS, source
p0809[0] (0)
CDS selected
r0836.0
r0836
r0836.3
CDS effective
r0050.0
r0050
r0836.2
r0836.1
r0050.3
r0050.2
r0050.1
Copy CDS, target
p0809[1] (1)
Copy CDS, start
p0809[2] (0)
BI: p0810 = "0"
CDS0 selected
r0836.0 = 0
BI: p0810 = "1"
CDS1 selected
r0836.0 = 1
CDS0 effective
r0050.0 = 0
CDS1 effective
r0050.0 = 1
t
Example:
Change over command data set
CDS0 --> CDS1
t
t
Drive n
Drive 2
Drive 1
CDS3
<1>
CDS count
p0170 (1, 2)
CDS2
CDS1
CDS0
<1>
For SERVO, the following applies: Factory setting = 1 and maximum value = 2
For VECTOR, the following applies: Factory setting = 2 and maximum value = 4
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- 8565 -
Function diagram
8 7 6 5 4 3 2 1
fp_8565_01_eng.vsd DO: SERVO, VECTOR, TM41
SINAMICS S 03.02.06 V02.04.00 Data sets Drive Data Set, DDS
Not relevant
Refer to [1020.7]
Drive n
(0)
Select DDS bit 0
p0820[C]
(0)
Select DDS bit 1
p0821[C]
(0)
Select DDS bit 2
p0822[C]
(0)
Select DDS bit 3
p0823[C]
Copy DDS, source
p0819[0] (0)
Drive 2
Drive 1
Copy DDS, target
p0819[1] (1)
Copy DDS, start
p0819[2] (0)
DDS31
DDS number
p0180 (1)
DDS1
DDS0
(0)
Select DDS bit 4
p0824[C]
DDS selected
r0837.0
r0837
r0837.3
DDS effective
r0051.0
r0051
r0051.4
r0837.2
r0837.1
r0051.3
r0051.2
r0051.1
A07530 "Drive data set does not exist"
r0837.4
r0049
r0049[0] Motor data set MDS effective
r0049[1] Encoder 1 encoder data set EDS effective
r0838
r0838[0] Motor data set MDS selected
r0049[1] Encoder 1 encoder data set EDS selected
r0838[2] Encoder 2 encoder data set EDS selected
r0838[3] Encoder 3 encoder data set EDS selected MDS (Motor Data Set)
EDS (Encoder Data Set)
DDS (Drive Data Set)
p0186[0...n] (MDS number)
p0187[0...n] (enc 1 EDS number)
<1>
<1> A BICO interconnection to a parameter, that belongs to a drive data set, always effects the data set that is currently effective.
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- 8570 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.03.06 V02.04.00 Data sets Encoder Data Set, EDS
EDS encoder data set 0
p0141[0] = component number of the
Sensor Module
p0400[0]
p0425[0]
Sensor Module
p0400[1]
p0425[1]
Sensor Module
p0400[2]
p0425[2]
Encoder data set for
encoder 1
p0400[E]
...
p0425[E]
(E = p0187)
Assigned parameters
for position sensing for encoder n
[4704]
for speed actual value sensing for
encoder n
[4710]
F07502 "EDS encoder data set not configured"
F07510 "encoder identical" (a component No. (p0141) is interconnected to more than one of the encoders 1, 2, 3).
0
1
2
99
0
1
2
99
0
1
2
99
p0187[D]
p0188[D]
p0189[D]
99
2
1
0
No encoder configured
To encoders 1, 2 and 3
Assignment of these encoder data sets
encoder 2
p0400[E]
...
p0425[E]
(E = p0188)
encoder 3
p0400[E]
...
p0425[E]
(E = p0189)
Not relevant
Refer to [1020.7]
<1>
<1> Encoder errors always refer to the encoder data set that is presently active.
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- 8575 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.08.05 V02.04.00 Data set motor data set (MDS)
4000.00 s
Motor selection
r0830.0
r0830
r0830.1
r0830.2
r0830.3
r0830.15
DO
DO
Feedback signal, contactor 0
p0831[0]
p0831[1]
p0831[2]
DI
DI
p0831[3]
DI
p0831[15]
DI
r0832.0
r0832
Mot_chng fdbk ZSW
r0832.1
r0832.2
r0832.3
r0832.15
Motor
Module
K2
K1
~
M1
3
K1
K1H
K2
~
M2
3
K2
K2H
K1
K1H K2H
0 V
Mot_chng fdbk sig
p0828[C]
p0833.0 (0)
0
1
0
1
Application
Pulse cancellation
MDS15
MDS1
MDS0
p0826[0] Motor number
p0827[0] Bit number
MDS selected
r0838[0]
MDS effective
r0049[0]
p0833.1 (0)
Drive
Application
Drive
Request
pulse enable
Application
Motor changeover
<1> When changing over the motor data sets, the following applies:
The same motor number signifies the same thermal motor model.
An unequal bit number means that the motor must be changed over.
<1>
DI
1
0
Copy MDS, source
p0139[0] (0)
Copy MDS, target
p0139[1] (0)
Copy MDS, start
p0139[2] (0)
DDS (Drive Data Set)
p0186[0...n] (MDS number)
MDS_chngov ZSW
r0835.0
r0835
(0)
p0820[C]
(0)
p0824[C]
MDS count
p0130 (1)
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- 8580 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.02.06 V02.04.00 Data sets Power unit Data Set, PDS
Not relevant
Refer to [1020.7]
(0)
CDS select., bit 2
p0812[C]
(0)
CDS select., bit 3
p0813[C]
PDS7
LT_compo act/de-act
p0125 [P]
PDS1
PDS0
(1)
De-activate power unit 1 (PDS0)
pxxxx[0]
(1)
De-activate power unit 8 (PDS7)
pxxxx[7]
LT_comp act/inact
r0126[0]
LT_comp act/inact
r0126[7]
PDS0
PDS7
0 = De-activate component
1 = Activate component
Word 1 1 1 1 1 1 1 1
Basic Infeed
Function diagrams
2.26 Basic Infeed
Function diagrams
8720 Control word sequence control infeed 2-1134
8726 Status word sequence control infeed 2-1135
8732 Sequence control 2-1136
8750 Interface to the basic infeed power unit (control signals, actual values) 2-1138
8760 Messages and monitoring functions (p3400.0 = 0) 2-1139
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- 8720 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.04.05 V02.04.00 Basic Infeed - control word, sequence control infeed
p0844[C] (1)
1 OFF2 (electrical)
p0845[C] (1)
2 OFF2 (electrical)
11
12
13
14
15
p0840[C] (0)
9
10
8
7
6
5
4
3
2
1
0
Bit No.
<2>
<2> PROFIBUS interconnection:
For the manufacturer-specific PROFIBUS telegram, the
upper input is connected to PROFIBUS signal A_STW1
[2447].
This only involves CDS0.
p0115[3] (2000.00 s)
To the control unit [8732] r0898.0
p0854[C] (0)
r0898
STW seq ctrl
= CLOSE (close pre-charging/line contactor)
0 = OFF1 (open pre-charging/line contactor)
Control word sequence control infeed
1 = Operating condition no OFF2 (enable is possible)
0 = OFF2 (open pre-charging/line contactor and power-on inhibit)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Control via PLC
Reserved
Reserved
Reserved
<1>
Reserved
<3> Is entered from the PC when the master control is retrieved.
<3>
<1> Bit 10 must be set in the first PZD word of the telegram
received from the serial interface in order that the drive object
accepts the process data.
<3>
<3>
Reserved
Reserved
Reserved
r0898.10
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- 8726 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 04.08.05 V02.04.00 Basic Infeed status word sequence control infeed
[8732] From sequence control
[8750] From power unit
[8734.3] From line contactor control
p0115[3] (2000.00 s)
r0899.0
r0899.1
r0899.2
r0899.4
r0899.6
r0899.11
r0899.12
r0899.9
r0899
ZSW sequence ctrl
11
12
13
14
15
Bit
No.
10
9
8
7
6
5
4
3
0
1
2
Status word sequence control infeed
Reserved
1 = No OFF2 active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
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- 8732 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.09.05 V02.04.00 Basic Infeed sequence control
p0115[3] (2000.00 s)
Missing enable
signals
[8734]
Faults/alarms
F06000
F07220
F07300
A06602
<2> STWAE.xx = Control word, sequence control infeed bit xx
ZSWAE.xx = Status word, sequence control, infeed bit xx
POWER ON <1>
ZSWAE.6 = 1
ZSWAE.0/1/2 = 0
S2: Ready to power-up
ZSWAE.0 = 1
ZSWAE.1/2/6 = 0
Line contactor is open
Wait for power-on
S3a: Close the
line contactor
(refer to [8734] )
Pre-charging
Time monitoring refer to [8760]
&
"0 = OFF1"
(STWAE.0)
"0 = OFF1" (STWAE.0)
&
p0857 ... p0862, p3490 r3402
"Commissioning completed"
(p10 = 0 and p9 = 0)
T
p0862
S3: Operation
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Line contactor is closed
"Commissioning"
(p10 0 and p9 0)
S7:
Open the line contactor
S6:
Infeed operation
r0863.0
&
"0 = OFF1"
(STWAE.0)
T
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
0
0
&
p3490
&
[2610.1] to SERVO/VECTOR
INF total operation
r0873.0
r0874
SLM/BLM operation
&
to SERVO/VECTOR
Close contactor
r0863.1
[8964.1]
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n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
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v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
9
8
8
7
3
4

M
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e
n
a
b
l
e

s
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n
a
l
s
,

l
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e

c
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n
t
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c
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n
t
r
o
l
- 8734 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.12.05 V02.04.00 Basic Infeed missing enable signals, line contactor control
+24 V
Control Unit
From sequence control [8732.4]
T
p0861
Time monitoring
&
F07300
"Line contactor feedback
signal missing"
[2120]...[2133]
DI
DO
[2130]...[2133]
Line contactor fdbk sig
p0860
Close
line contactor
r0863.1
1
2
3
5
6
8
9
16
17
0
Bit No.
S3a close line
contactor
S6 open line
contactor
S7 open line
contactor
r0046
r0899.12
Line contactor
closed
[8726.3]
[8964.6]
1
p0115[3] (2000.00 s)
To Line module
1 = OFF1, enable missing (p0840 = 0 or power-on inhibit
is present)
Meaning
1 = OFF2, enable missing (p0844 = 0 or p0845 = 0)
1 = OFF1 internal enable missing (OFF1 fault response is
present)
1 = OFF2 enable internal missing (commissioning selected
p0009 > 0 or p0010 > 0 or OFF2 fault response present)
&
1
ON/OFF monitoring
0
From line supply
26 1 = Infeed inactive or not operational
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
B
a
s
i
c

I
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f
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e
d
2
-
1
1
3
8

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
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s
e
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v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
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u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
1
9
9
8
7
5
0

I
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t
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r
f
a
c
e

t
o

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e

b
a
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d

p
o
w
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r

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c
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t
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o
l

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n
a
l
s
,

a
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t
u
a
l

v
a
l
u
e
s
)
- 8750 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 08.04.05 V02.04.00
Control unit
DRIVE CLiQ
Basic Line Module
DCP
DC link voltage Vdc_act
PM I_max
r0209
Vdc smooth
r0026
DCN
p0115[3] 2000.00 s
U1 V1 W1
PM I_max
r0209
+
-
300 ms
r0070
Vdc_act
Basic Infeed - interface to Basic Infeed power module (triggering signals, actual values)
B
a
s
i
c

I
n
f
e
e
d
F
u
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c
t
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n

d
i
a
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a
m
s
2
-
1
1
3
9

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
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s
e
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v
e
d
S
I
N
A
M
I
C
S
S

L
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t

M
a
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a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
0
0
8
7
6
0

M
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s
s
a
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e
s

a
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d

m
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n
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g

f
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c
t
i
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n
s

(
p
3
4
0
0
.
0
=
0
)
- 8760 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.04.05 V02.04.00 Basic infeed - messages/signals and monitoring functions (p3400.0 = 0)
p0115[3] (2000.00 s)
F30002
"DC link overvoltage"
r0070
Vdc_act
Vdc undervoltage
hardware-related shutdown threshold
F30003
"DC link undervoltage condition"
Vdc overvoltage
DC link monitoring
Precharge monitoring for the DC link
p0857
Energize line contactor
[8734.5]
Pre-charging completed
F30027
"Precharging DC link time monitoring"
85 % 110 %
A06310
"Supply voltage
(p0210) incorrectly parameterized"
Connection voltage
p0210
2
1
Line voltage monitoring when powering-up
T 0
r0070
Vdc_act
Function diagrams
Smart Infeed
2.27 Smart Infeed
Function diagrams
8828 Status word infeed 2-1143
8850 Interface to the smart infeed (gating signals, actual values) 2-1146
8860 Messages/signals and monitoring functions, line supply voltage monitoring 2-1147
8864 Messages/signals and monit. fcts., line supply frequency and Vdc monitoring 2-1148
S
m
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t

I
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F
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s
2
-
1
1
4
1

S
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m
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n
s

A
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2
0
0
6

A
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l

R
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A
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M
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,

0
3
/
2
0
0
6

E
d
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n
F
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2
-
2
0
1
8
8
2
0

C
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l

w
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d

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d
- 8820 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 25.02.05 V02.04.00 Smart Infeed - control word, sequence control infeed
p0844[C] (1)
1 OFF2 (electrical)
p0845[C] (1)
2 OFF2 (electrical)
11
12
13
14
15
p0840[C] (0)
p0852[C] (1)
9
10
8
7
6
5
4
3
2
1
0
Bit No.
<2>
<2> PROFIBUS interconnection: For the manufacturer-specific
PROFIBUS telegram, the upper input is connected to
PROFIBUS signal A_STW1 [2447]. This only involves CDS0.
p0115[3] (2000.00 s)
r0898.10
r0898.6
p0854[C] (0)
p3533[C] (0)
r0898
STW seq_ctrl INF
0 = OFF1 (pulse cancellation and open pre-charging/line contactor)
0 = OFF2 (immediate pulse cancellation, open pre-charging/line contactor and power-on inhibit)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Control via PLC
Reserved
Reserved
Reserved
Reserved
<1>
Reserved
<3>
<3>
<3>
<3>
<1> In order that the drive objects accepts the process data
(PZD), bit 10 must be set in the first PZD word.
F
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c
t
i
o
n

d
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g
r
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m
s
S
m
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t

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2
-
1
1
4
2

S
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m
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s

A
G

2
0
0
6

A
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l

R
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s

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A
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S

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0
3
/
2
0
0
6

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d
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F
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2
-
2
0
2
8
8
2
6

S
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d
- 8826 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 04.08.05 V02.04.00 Smart Infeed - status word, sequence control infeed
r0899.0
r0899.1
r0899.2
r0899.4
r0899.6
r0899.11
r0899.12
r0899.9
r0899
ZSW sequence ctrl
11
12
13
14
15
Bit
No.
10
9
8
7
6
5
4
3
0
1
2
Reserved
1 = No OFF2 active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
p0115[3] (2000.00 s)
S
m
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t

I
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d
F
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n

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2
-
1
1
4
3

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s

A
G

2
0
0
6

A
l
l

R
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h
t
s

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d
S
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A
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C
S
S

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M
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l
,

0
3
/
2
0
0
6

E
d
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n
F
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e

2
-
2
0
3
8
8
2
8

S
t
a
t
u
s

w
o
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d

i
n
f
e
e
d
- 8828 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.02.05 V02.04.00 Smart Infeed - status word, infeed
1
2
3
4
5
6
7
8
9
10
11
0
r3405
INF ZSW
Bit No.
12
13
14
15
r3405.3
r3405.4
r3405.0
r3405.2
r3405.6
r3405.5
r3405.1
Status word, infeed
1 = Current limit reached
1 = Infeed operates in the regenerative mode
0 = Infeed operates in the motoring mode
1 = Motoring mode inhibited
1 = Regenerative mode inhibited
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Smart Mode active
1 = Phase failure detected
Reserved
Reserved
1 = Vdc controller active
Reserved
p0115[3] (2000.00 s)
F
u
n
c
t
i
o
n

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

I
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f
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e
d
2
-
1
1
4
4

S
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
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h
t
s

R
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d
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I
N
A
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S
S

L
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M
a
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l
,

0
3
/
2
0
0
6

E
d
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n
F
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2
-
2
0
4
8
8
3
2

S
e
q
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c
e

c
o
n
t
r
o
l
- 8832 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.09.05 V02.04.00 Smart infeed - sequence control
POWER ON <1>
ZSWAE.6 = 1
ZSWAE.0/1/2 = 0
ZSWAE.0 = 1
ZSWAE.1/2/6 = 0
Wait for power-on
S5a: Pulse inhibit
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Pulses inhibited
S4: Operation
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Pulses enabled
S3a: Close the
line contactor
(refer to [8934] )
Pre-charging
Time monitoring, refer to [8964.7]
&
"0 = OFF1"
(STWAE.0)
&
"Enable operation"
(STWAE.3)
&
&
&
"0 = OFF1"
(STWAE.0)
"0 = OFF2"
(STWAE.1)
&
p0857...p0862, p3490...p3491
Missing
enable signals
[8934]
r3402
&
24 V at EP terminals
power unit
"Commiss. completed"
(p10 = 0 and p9 = 0)
T
p0862
S3: Ready
ZSWAE.0/1 = 1
ZSWAE.2/6 = 0
"Commissioning"
(p10 0 or p9 0)
0 V at EP terminals
power unit
&
"Commissioning"
(p10 0 and p9 0)
0 V at EP terminals, power unit
S7:
S6:
"Enable operation"
(STWAE.3)
"0 = OFF1"
(STWAE.0)
T
Infeed operation
r0863.0 [2610.1] to SERVO/VECTOR
&
"0 = OFF1"
(STWAE.0)
"0= OFF1"
(STWAE.0)
"Enable operation" (STWAE.3)
0 V at EP terminals
power unit
1
p3490
1
1
T
p3490
&
Faults/alarms
F06000
F07220
F07300
A06602
<2> STWAE.xx = Control word, sequence control, infeed bit xx
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
0
0
0
p0115[3] (2000.00 s)
INF total operation
r0873.0
r0874
SLM/BLM operation
&
to SERVO/VECTOR
Close contactor
r0863.1
[8964.1]
S
m
a
r
t

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

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

S
i
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m
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n
s

A
G

2
0
0
6

A
l
l

R
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h
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s

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d
S
I
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A
M
I
C
S
S

L
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M
a
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l
,

0
3
/
2
0
0
6

E
d
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n
F
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2
-
2
0
5
8
8
3
4

M
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g

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a
b
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e

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t
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t
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o
l
- 8834 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.12.05 V02.04.00 Smart Infeed - missing enable signals, line contactor control
+24 V
Control Unit
T
p0861
Time monitoring
&
F07300
signal missing"
[2120]...[2133]
DI
DO
[2130]...[2133]
p0860
Close
line contactor
r0863.1
1
2
3
5
6
8
9
16
17
0
Bit No.
S3a close line
contactor
S6 open line
contactor
S7 open line
contactor
r0046
r0899.12
Line contactor
closed
[8826.3]
[8864.6]
1
To Line module
1 = OFF1, enable missing (r0898.0 = 0 [8820] or
power-on inhibit is present)
Meaning
1 = OFF2, enable missing (r0898.1 = 0 [8820])
1 = Enable operation missing (r0898.3 = 0 [8820])
1 = EP terminals, enable missing (pulse enable EP
terminals missing)
present)
&
1
ON/OFF monitoring
0
From line
supply
p0115[3] (2000.00 s)
F
u
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c
t
i
o
n

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

I
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f
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d
2
-
1
1
4
6

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n
s

A
G

2
0
0
6

A
l
l

R
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s

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d
S
I
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A
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S
S

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,

0
3
/
2
0
0
6

E
d
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F
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2
-
2
0
6
8
8
5
0

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t
o

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t

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d

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g
a
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s
)
- 8850 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.11.05 V02.04.00 Smart infeed - interface to the smart infeed (gating signals, actual values)
Line supply and
filter model
2
3
and transformation
Phase current actual values
IW
IV
IU
Control Unit
DRIVE-CLiQ
50/60 Hz
DCP
r0078
Iq_act
LT I_max
r0209
<1> Angle of the voltage vector in the fixed stator coordinate system.
Vdc smooth
r0026
INF f_line smooth
r0024
INF U_input smooth
r0025
x2
1.35
INF I_active smooth
r0030
2 2
id iq +
r0027
INF I_reactive smooth
r0029
r0032
cos phi smooth
r0038
DCN
<2> Voltage management is optional (otherwise from the filter module).
<2>
[8864.5]
p0223...p0227
U_line supply calculated [8860.1]
LT I_max
r0209
iR
iS
iT
R
S
T
f_line supply
U_line supply
Voltage/
frequency sensing
+
+
+
<2>
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
r0070
Vdc_act
PE
Smart Line Module
+
p0115[1] (250.00 s)
U1 V1 W1
T3
T1
T5
T2
T4
T6
180
120 60
0
240 300
Transistor states
Switching times
Line angle
Switching logic
r0068
I_act abs. value
Phase W
r0069[2]
Phase V
r0069[1]
Phase U
r0069[0]
Sum U, V, W
r0069[6]
r0072
INF U_input
[9880.8]
[9880.8]
r0066
INF f_line
[8864.1]
r0082
P_act
Reactive current,
actual value
r0076
r0094
Transformat_angle
r3661
r3662
[8014.1]
S
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a
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t

I
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F
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2
-
1
1
4
7

S
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s

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G

2
0
0
6

A
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l

R
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S

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3
/
2
0
0
6

E
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2
-
2
0
7
8
8
6
0

M
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d

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n
s
,

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e

s
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y

v
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m
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o
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g
- 8860 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.05.05 V02.04.00 Smart infeed - messages/signals and monitoring functions, line supply voltage monitoring
85 % 110 %
F06100 "Shutdown due to line supply undervoltage"
A06310 "Supply voltage (p0210) incorrectly parameterized"
p0283 (75 %)
p0282 (85 %)
p0281 (110 %)
A06105 "Line supply undervoltage"
A06301 "Line supply overvoltage"
Supply voltage
p0210
&
Nominal line
supply voltage
Calculated
actual line
supply voltage
[8850.4]
p0115[3] (2000.00 s)
U_line supply calculated
F
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c
t
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n

d
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g
r
a
m
s
S
m
a
r
t

I
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f
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d
2
-
1
1
4
8

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
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t
s

R
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s
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e
d
S
I
N
A
M
I
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S
S

L
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t

M
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l
,

0
3
/
2
0
0
6

E
d
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t
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o
n
F
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e

2
-
2
0
8
8
8
6
4

M
e
s
s
a
g
e
s
/
s
i
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n
a
l
s

a
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d

m
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i
t
.

f
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s
.
,

l
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f
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q
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c
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a
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d

V
d
c

m
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i
t
o
r
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g
- 8864 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.05.05 V02.04.00 Smart infeed - messages/signals and monit. functions, line supply frequency & Vdc monitoring
(90 %)
p0285
(110 %)
p0284
A06351
"Measured line supply frequency too low"
A06350
"Measured line supply frequency to high"
Line frequency monitoring
p0211 (50 Hz)
F30002
DC link monitoring
Precharging monitoring for the DC link
r0070
Vdc_act
[8850.1]
Vdc undervoltage
T
p0857
Energize (close) line contactor
[8834.5]
1
Repeat the line supply
synchronization when
switching-in the pulses
III
> 20
F06500
"Line supply synchronization not possible within the monitoring time"
Fault for more than
20 attempts
F30027
F30003
"DC link undervoltage"
Change from "ready"
to "operation"
[8832.4]
Vdc overvoltage
[8850.4]
0
p0115[3] (2000.00 s)
r0066
INF f_line
Active Infeed
Function diagrams
2.28 Active Infeed
Function diagrams
8928 Status word infeed 2-1152
8940 Controller control factor reserve/controller DC link voltage (p3400.0 = 0) 2-1155
8946 Current pre-control/current controller/gating unit (p3400.0 = 0) 2-1156
8950 Interface to the active infeed (gating signals, actual values) (p3400.0 = 0) 2-1157
8960 Messages/signals and monit. fcts., line supply voltage monit. (p3400.0 = 0) 2-1158
8964 Messages/signals and monit. fcts., line frequency and Vdc monit. (p3400.0 = 0) 2-1159
F
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A
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I
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d
2
-
1
1
5
0

S
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m
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n
s

A
G

2
0
0
6

A
l
l

R
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s

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d
S
I
N
A
M
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C
S
S

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M
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l
,

0
3
/
2
0
0
6

E
d
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n
F
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e

2
-
2
0
9
8
9
2
0

C
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t
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l

w
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d

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q
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l

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d
- 8920 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.02.05 V02.04.00 Active Infeed - control word, sequence control infeed
p0844[C] (1)
1 OFF2 (electrical)
p0845[C] (1)
2 OFF2 (electrical)
11
12
13
14
15
p0840[C] (0)
p0852[C] (1)
9
10
8
7
6
5
4
3
2
1
0
Bit No.
<2>
<2> PROFIBUS interconnection: For the manufacturer-specific
PROFIBUS telegram, the upper input is connected to
PROFIBUS signal A_STW1 [2447]. This only involves CDS0.
r0898.10
r0898.5
r0898.6
p0854[C] (0)
p3532[C] (0)
p3533[C] (0)
r0898
STW seq_ctrl INF
0 = OFF1 (reduce Vdc along a ramp, pulse cancellation and open pre-charging/line contactor)
0 = OFF2 (immediate pulse cancellation, open pre-charging/line contactor and power-on inhibit)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Control via PLC
Reserved
1 = Inhibit motoring operation
Reserved
Reserved
<1>
Reserved
<3>
<3>
<3>
<3>
<1> In order that the drive objects accepts the process data
(PZD), bit 10 must be set in the first PZD word.
p0115[3] (2000.00 s)
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2
-
1
1
5
1

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m
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s

A
G

2
0
0
6

A
l
l

R
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s

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d
S
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A
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S
S

L
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M
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,

0
3
/
2
0
0
6

E
d
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n
F
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e

2
-
2
1
0
8
9
2
6

S
t
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s

w
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d

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q
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c
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d
- 8926 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 04.08.05 V02.04.00 Active Infeed - status word, sequence control infeed
r0899.0
r0899.1
r0899.2
r0899.4
r0899.6
r0899.11
r0899.12
r0899.9
r0899
ZSW sequence ctrl
11
12
13
14
15
Bit
No.
10
9
8
7
6
5
4
3
0
1
2
Reserved
1 = No OFF2 active
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
p0115[3] (2000.00 s)
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A
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d
2
-
1
1
5
2

S
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s

A
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2
0
0
6

A
l
l

R
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R
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d
S
I
N
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S
S

L
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M
a
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l
,

0
3
/
2
0
0
6

E
d
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F
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e

2
-
2
1
1
8
9
2
8

S
t
a
t
u
s

w
o
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d

i
n
f
e
e
d
- 8928 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 25.10.04 V02.04.00 Active Infeed - status word, infeed
1
2
3
4
5
6
7
8
9
10
11
0
r3405
INF ZSW
Bit No.
12
13
14
15
r3405.3
r3405.4
r3405.0
r3405.2
r3405.6
r3405.5
r3405.1
Status word, infeed
1 = Current limit reached
1 = Infeed operates in the regenerative mode
0 = Infeed operates in the motoring mode
1 = Motoring mode inhibited
1 = Regenerative mode inhibited
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
1 = Smart Mode active
1 = Phase failure detected
Reserved
Reserved
1 = Vdc controller active
Reserved
p0115[3] (2000.00 s)
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e

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d
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s
2
-
1
1
5
3

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s

A
G

2
0
0
6

A
l
l

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d
S
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N
A
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S
S

L
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0
3
/
2
0
0
6

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e

2
-
2
1
2
8
9
3
2

S
e
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e

c
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t
r
o
l
- 8932 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 12.09.05 V02.04.00 Active infeed - sequence control
POWER ON <1>
ZSWAE.6 = 1
ZSWAE.0/1/2 = 0
ZSWAE.0 = 1
ZSWAE.1/2/6 = 0
Wait for power-on
S5a: Discharge ramp
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Ramp-down Vdc via ramp
p3566, then cancel the pulses
S4: Operation
ZSWAE.0/1/2 = 1
ZSWAE.6 = 0
Pulses and controller are enabled
Ramp-up Vdc via the ramp
S3a: Close the
line contactor
(refer to [8934] )
Pre-charging
Time monitoring, refer to [8964.7]
&
"0 = OFF1"
(STWAE.0)
&
"Enable operation"
(STWAE.3)
&
&
&
"0 = OFF1"
(STWAE.0)
"0 = OFF2"
(STWAE.1)
&
p0857...p0862, p3490...p3491
Missing
enable signals
[8934]
r3402
&
24 V at EP terminals
power unit
"Commiss. completed"
(p10 = 0 and p9 = 0)
T
p0862
S3: Ready
ZSWAE.0/1 = 1
ZSWAE.2/6 = 0
"Commissioning"
(p10 0 or p9 0)
0 V at EP terminals
power unit
&
"Commissioning"
(p10 0 and p9 0)
0 V at EP terminals, power unit
S7:
S6:
"Enable operation"
(STWAE.3)
"0 = OFF1"
(STWAE.0)
T
Infeed operation
r0863.0 [2610.1]
to SERVO/VECTOR
&
"0 = OFF1"
(STWAE.0)
"0= OFF1"
(STWAE.0)
"Enable operation" (STWAE.3)
0 V at EP terminals
power unit
1
p3490
1
1
T
p3490
&
Faults/alarms
F06000
F07220
F07300
A06602
<2> STWAE.xx = Control word, sequence control, infeed bit xx
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
<2>
0
0
0
p0115[3] (2000.00 s)
Close contactor
r0863.1
[8964.1]
F
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n

d
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r
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s
A
c
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I
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d
2
-
1
1
5
4

S
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A
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2
0
0
6

A
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l

R
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R
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d
S
I
N
A
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S
S

L
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t

M
a
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l
,

0
3
/
2
0
0
6

E
d
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i
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n
F
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e

2
-
2
1
3
8
9
3
4

M
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g

e
n
a
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l
e

s
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n
a
l
s
,

l
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e

c
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t
a
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t
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r

c
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t
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l
- 8934 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 14.12.05 V02.04.00 Active Infeed - missing enable signals, line contactor control
+24 V
Control Unit
T
p0861
Time monitoring
&
F07300
signal missing"
[2120]...[2133]
DI
DO
[2130]...[2133]
p0860
Close
line contactor
r0863.1
1
2
3
5
6
8
9
16
17
0
Bit No.
S3a close line
contactor
S6 open line
contactor
S7 open line
contactor
r0046
r0899.12
Line contactor
closed
[8926.3]
[8964.6]
1
To Line module
1 = OFF1, enable missing (r0898.0 = 0 [8920] or
power-on inhibit is present)
Meaning
1 = OFF2, enable missing (r0898.1 = 0 [8920])
1 = Enable operation missing (r0898.3 = 0 [8920])
1 = EP terminals, enable missing (pulse enable EP
terminals missing)
present)
&
1
ON/OFF monitoring
0
From line
supply
p0115[3] (2000.00 s)
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e

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d
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s
2
-
1
1
5
5

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m
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s

A
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2
0
0
6

A
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l

R
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s

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d
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S
S

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M
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,

0
3
/
2
0
0
6

E
d
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n
F
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e

2
-
2
1
4
8
9
4
0

C
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t
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l
e
r

c
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t
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l

f
a
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r

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e
/
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t
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r

D
C

l
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n
k

v
o
l
t
a
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e

(
p
3
4
0
0
.
0
=
0
)
- 8940 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 03.02.06 V02.04.00 Active infeed - controller modulation depth reserve/controller DC link voltage (p3400.0 = 0)
Kp Tn
INF
mod_depth limit
p3480
INF Vdc setpoint
300.00...1600.00 V
p3510 (600.00)
Controller, modulation depth reserve
Controller DC link voltage
r3517
INF I_active ctrl set
+
+
+ +
+
+
+
+
0
1
0
[8946.1]
INF I_distr_factor
p3516
INF I_limit mot
p3530
p3400.3
Kp
p3560
Tn
p3562
p0280
P3531
INF I_limit regen
R3554
INF Vdc_ctrl I_comp
INF I_suppl_active stat
p3514
+
+
p3515
INF I_suppl active
p3511
INF Vdc Z_set
r0074
Modulation depth
[8950.4]
INF Res_ctrl output
r3485
r0077
Iq_set
r0088
<1>
<1> This controller increases (boosts) the DC link voltage if the modulation depth limit has been reached (p3480).
p0115[0] (250.00 s)
Vdc setpoint
Vdc_max stat
[8960.7]
[8964.6]
P3481
INF Res_ctrl dyn
INF pre-control P
(0)
p3520[0]
INF pre-control P scal
p3521[0]
Power pre-control
INF pre-control P
(0)
p3520[3]
p3521[3]
INF pre-control P scal
+
+
P I = P/U
+
r0070
Vdc_actual value
[8950.1]
[8950.4]
1,5
<2>: When the pulses are enabled, the DC link voltage is ramped (p3566) from the actual value to the setpoint p3510.
<2>
F
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d
2
-
1
1
5
6

S
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m
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s

A
G

2
0
0
6

A
l
l

R
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s

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d
S
I
N
A
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S
S

L
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M
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l
,

0
3
/
2
0
0
6

E
d
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n
F
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e

2
-
2
1
5
8
9
4
6

C
u
r
r
e
n
t

p
r
e
-
c
o
n
t
r
o
l
/
c
u
r
r
e
n
t

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

u
n
i
t

(
p
3
4
0
0
.
0
=
0
)
- 8946 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.04.05 V02.04.00 Active infeed - power pre-control/current controller/gating unit (p3400.0 = 0)
d
dt
d
dt
p3603
Factor D component
Factor D component
p3603
Kp
p3615
Tn
p3617
Integral component
r3618
r3619
Integral component
r3606
System deviation
System deviation
r3608
Current pre-control Closed-loop current control
+
+
+
+
+
+
Reactive current
fixed setpoint
p3610
+
+
p3611
Reactive current
[8940.8]
Differentiator
Kp Tn
Reactive curr. contr.
r0075
Reactive current setpoint
Differentiator
r0077
Active current setpoint
[8950.1]
r3633
Reactive component Usq
r3632
Active component Usd
[8950.1]
[8950.1]
[8950.1]
r0078
Active current, actual value
Kp Tn
Active curr. controller
<2>
<2>
p0115[0] (250.00 s)
+
Filter compensation
Filter capacitance
p0221
<1>
<1> Using the filter compensation, the reactive current requirement of a line filter is covered that is obtained dependent on the operating point as a result of its capacitance.
This means that the required reactive power is then not taken from the line supply.
<2> For p3603 = 0 the D component is disabled
r0076
Reactive current actual value
A
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t
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e

I
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d
F
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n

d
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a
m
s
2
-
1
1
5
7

S
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n
s

A
G

2
0
0
6

A
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l

R
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s

R
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d
S
I
N
A
M
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S
S

L
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t

M
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l
,

0
3
/
2
0
0
6

E
d
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F
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2
-
2
1
6
8
9
5
0

I
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t
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r
f
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e

t
o

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e

a
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e

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n
f
e
e
d

(
g
a
t
i
n
g

s
i
g
n
a
l
s
,

a
c
t
u
a
l

v
a
l
u
e
s
)

(
p
3
4
0
0
.
0
=
0
)
- 8950 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Active infeed - interface to the active infeed (gating signals, actual values) (p3400.0 = 0)
Line supply and
filter model
K
P
2
3
and transformation
+Transformation angle
and transformation
Phase current actual values
IW
IV
IU
Control Unit
DRIVE-CLiQ
PWM
DCP
r0078
Iq_act
[8946.8]
[8946.8]
[8946.4]
r0074
Modulation depth [%]
LT I_max
r0209
<1> Angle of the voltage vector in the
fixed stator coordinate system.
<1>
Vdc smooth
r0026
Modulation depth, smooth
r0028
INF f_line smooth
r0024
INF U_input smooth
r0025
x1
x2
2
x x
2 1
INF I_active smooth

r0030
2 2
id iq +
r0027
INF I_reactive smooth
r0029
INF U_output angle
r3635
r0032
cos phi smooth
r0038
DCN
<2> Voltage management is optional (otherwise from the filter module).
<2>
[8964.5]
[8940.1]
p0221...p0227
U_line supply calculated [8940.6][8960.1]
U1 V1 W1
LT I_max
r0209
iR
iS
iT
R
S
T
f_line supply
U_line supply
Voltage/
frequency sensing
+
+
+
[8940.1]
[8946.4]
[9880.8]
[9880.8]
<2>
r3632
r3633
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
300 ms
r0070
Vdc_act
Line reactor
Voltage Sensing Module (VSM)
PE
Active Interface Module
Active Line Module
Only chassis
+
p0115[1] (250.00 s)
<3> For p3400.0 = 1 the following applies [8850].
<3>
r0068
I_act abs. value
Id_act
r0076
Phase W
r0069[2]
Phase V
r0069[1]
Phase U
r0069[0]
Sum U, V, W
r0069[6]
r0072
INF U_input
[8964.1]
r0082
P_act r0094
Transformat_angle
r0066
INF f_line
r3661
r3662
[8014.1]
F
u
n
c
t
i
o
n

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

I
n
f
e
e
d
2
-
1
1
5
8

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
1
7
8
9
6
0

M
e
s
s
a
g
e
s
/
s
i
g
n
a
l
s

a
n
d

m
o
n
i
t
.

f
c
t
s
.
,

l
i
n
e

s
u
p
p
l
y

v
o
l
t
a
g
e

m
o
n
i
t
.

(
p
3
4
0
0
.
0
=
0
)
- 8960 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.05.05 V02.04.00 Active infeed - signals and monitoring functions, line supply voltage monitoring (p3400.0 = 0)
85 % 110 %
F06100 "Shutdown due to line supply undervoltage"
A06310 "Supply voltage (p0210) incorrectly parameterized"
p0283 (75 %)
p0282 (85 %)
p0281 (110 %)
A06105 "Line supply undervoltage"
A06301 "Line supply overvoltage"
Supply voltage
p0210
A06300
"Line supply voltage too high when powering-up"
--> voltage cannot be controlled
Monitoring when switching-in the pulses
(regarding the frequency, refer to [8964])
&
Nominal line
supply voltage
Calculated
actual line
supply voltage
[8950.4]
U_line supply after filter
[8960.6]
Vdc_max stat
[8940.4]
U_line supply after filter
[8960.2]
p0115[3] (2000.00 s)
<1>
300 ms
A
c
t
i
v
e

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

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
1
8
8
9
6
4

M
e
s
s
a
g
e
s
/
s
i
g
n
a
l
s

a
n
d

m
o
n
i
t
.

f
c
t
s
.
,

l
i
n
e

f
r
e
q
u
e
n
c
y

a
n
d

V
d
c

m
o
n
i
t
.

(
p
3
4
0
0
.
0
=
0
)
- 8964 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 13.05.05 V02.04.00 Active infeed mess./sign. and monit. functions, line supply freq. and Vdc monit. (p3400.0 = 0)
(90 %)
p0285
(110 %)
p0284
A06351
"Measured line supply frequency too low"
A06350
"Measured line supply frequency to high"
Line frequency monitoring
p0211 (50 Hz)
A06800
"Maximum steady-stage DC link voltage reached"
F30002
DC link monitoring
Precharging monitoring for the DC link
p0280
r0088
Vdc setpoint
[8940.4]
r0070
Vdc_act
[8950.1]
Vdc undervoltage
T
p0857
Energize (close) line contactor
[8934.5]
1
Repeat the line supply
synchronization when
switching-in the pulses
III
> 20
F06500
"Line supply synchronization not possible within the monitoring time"
Fault for more than 20
attempts
F30027
F30003
"DC link undervoltage"
Change from "ready" to
"operation"
[8932.4]
Vdc overvoltage
[8950.4]
0
p0115[3] (2000.00 s)
<1>
r0066
INF f_line
Function diagrams
Terminal Board 30 (TB30)
2.29 Terminal Board 30 (TB30)
Function diagrams
9102 Digital outputs, electrically isolated (DO 0 ... DO 3) 2-1162
9104 Analog inputs (AI 0 ... AI 1) 2-1163
9106 Analog outputs (AO 0 ... AO 1) 2-1164
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
1
9
9
1
0
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
I
0
.
.
.
D
I
3
)
- 9100 -
Function diagram
8 7 6 5 4 3 2 1
fp_9100_01_eng.vsd DO: TB30
SINAMICS S 21.06.05 V02.04.00 Terminal board 30 (TB30) - electrically isolated digital inputs (DI 0 ... DI 3)
DI 0
1
1 = Simulation on
p4095.0
r4023.0
r4023.1
r4023.2
r4023.3
DI 1
1
p4095.1
DI 2
1
p4095.2
DI 3
1
p4095.3
p4096.3
p4096.2
p4096.1
p4096.0
24 V
5 V
Mext
1
0
1
0
1
0
1
0
X424.M
X424.+
+
X481.1
X481.2
X481.3
X481.4
X424.M
X424.+
<1>
+24Vext
+24Vext
Mext
Mext
<1>
OptBoard Comp_No.
p0161
<1> Mext electrically isolated to the internal CU reference potential M.
p4099[0] (4000.00 s)
r4021.0
r4021.1
r4021.2
r4021.3
DI 0 (X481.1)
r4022.0
r4023
TB30 DI status inv
r4022
TB30 DI status
DI 1 (X481.2)
r4022.1
DI 2 (X481.3)
r4022.2
DI 3 (X481.4)
r4022.3
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
2
-
1
1
6
2

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
0
9
1
0
2

D
i
g
i
t
a
l

o
u
t
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
O
0
.
.
.
D
O
3
)
- 9102 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 19.01.06 V02.04.00 Terminal Board 30 (TB30) - digital outputs, electrically isolated (DO 0 ... DO 3)
DO 3 X481.8
DO 0
DO 1
DO 2 X481.7
p4048.0
p4048.1
p4048.2
p4048.3
X481.5
X481.6
24 V
5 V
Mext
<1>
<1>
X424.M
X424.+
X424.M
X424.
+
+24 Vext
+24 Vext
Mext
Mext
+
p4099[0] (4000.00 s)
1
0
1
1
0
1
1
0
1
1
0
1
r4047
TB30 DO status
DO 0 (X481.5)
r4047.0
DO 1 (X481.6)
r4047.1
DO 2 (X481.7)
r4047.2
DO 3 (X481.8)
r4047.3
(0)
TB30 S_src DO 3
p4033
(0)
TB30 S_src DO 2
p4032
(0)
TB30 S_src DO 1
p4031
(0)
TB30 S_src DO 0
p4030
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
1
9
1
0
4

A
n
a
l
o
g

i
n
p
u
t
s

(
A
I
0
.
.
.
A
I
1
)
x
- 9104 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 21.06.05 V02.04.00 Terminal board 30 (TB30) - analog inputs (AI 0 and AI 1)
AI 1
Scaling
r4055[1]
p4069[1]
(1)
Enable
Hardware
smoothing 100 s
p4066 [1]
(0)
p4067[1]
y = x if
|y - x| > p4068
otherwise y = y(old)
y
x
A
D
Offset
-20.000...20.000 V
p4063[1] (0.000)
-11.000...11.000 V
p4057[1] (0.000)
-11.000...11.000 V
p4059[1] (10.000)
[V]
r4052[1]
p4097.1
-1000.00...1000.00 %
p4060[1] (100.00)
-1000.00...1000.00 %
p4058[1] (0.00)
X482.3
X482.4
+
-
AI 0
Scaling
r4055[0]
p4069[0]
(1)
Enable
Hardware
smoothing 100 s
p4066 [0]
(0)
p4067[0]
y = x if |y - x| > p4068
y x
A
D
Offset
-20.000...20.000 V
p4063[0] (0.000)
-11.000...11.000 V
p4057[0] (0.000)
-11.000...11.000 V
p4059[0] (10.000)
[V]
r4052[0]
p4097.0
Simulation mode
-11.000...11.000 V
p4098[0] (0.000)
-1000.00...1000.00 %
p4060[0] (100.00)
-1000.00...1000.00 %
p4058[0] (0.00)
X482.1
X482.2
+
-
0 %
Smoothing
0.0...1 000.0 ms
p4053[0] (0.0)
Window to suppress noise
0.00...20.00 %
p4068[0] (0.00)
Smoothing
0.0...1 000.0 ms
p4053[0] (0.0)
0.00...20.00 %
p4068[1] (0.00)
[%]
[%]
0 %
1
0
1
0
<1> When interconnected
further, the output
signals are referred to
the reference
quantities
p2000 ... r2004
(100 % p200x).
<1>
+
+
+
+
-11...+11 V
-11...+11 V
x y
x y
p2000...r2004
y
x2
x1
p200x
y
x2
x1
% 100
x x
2 1
x
<2>
<2>
<3>
p4099[1] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
[V]
x1
y2
x2
y1
y
x
[%]
[V]
<1>
Simulation mode
-11.000...11.000 V
p4098[1] (0.000)
-1
0
1
-1
0
1
0
1
0
1
<3> Caution: The voltage
between an input and
ground may not
exceed 35 V. The
voltage between the
inputs may not
exceed 35 V.
1
0
1
0
<3>
x
% 100
x x
2 1
x
<2> Differential inputs!
For input signals that
are referred to
ground, terminal 2
and/or terminal 4
must be connected to
the reference
potential M.
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

B
o
a
r
d

3
0

(
T
B
3
0
)
2
-
1
1
6
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
2
9
1
0
6

A
n
a
l
o
g

o
u
t
p
u
t
s

(
A
O
0
.
.
.
A
O
1
)
- 9106 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 25.10.05 V02.04.00 Terminal Board 30 (TB30) - analog outputs (AO 0 ... AO 1)
AO 0
Scaling
p4082 [0]
(0)
Smoothing
Offset
-10.000...10.000 V
p4083[0] (0.000)
-1000.00...1000.00 %
p4079[0] (100.00 %)
-1000.00...1000.00 %
p4077[0] (0.00 %)
p4075 [0] (0)
-11.000...11.000
V p4080[0] (10.000 V)
-11.000...11.000 V
p4078[0] (0.000 V)
X482.5
X482.6
D
A
[V]
r4074 [0]
r4072 [0]
[%]
0.0...1000.0 ms
p4073[0] (0.0)
AO 1
Scaling
p4082 [1]
(0)
Smoothing
Offset
-10.000...10.000 V
p4083[1] (0.000)
-1000.00...1000.00 %
p4079[1] (100.00 %)
-1000.00...1000.00 %
p4077[1] (0.00 %)
p4075 [1] (0)
-11.000...11.000 V
p4080[1] (10.000 V)
-11.000...11.000 V
p4078[1] (0.000 V)
X482.7
X482.8
D
A
[V]
r4074 [1]
r4072 [1]
[%]
0.0...1000.0 ms
p4073[1] (0.0)
p2000... r2004
y
x2
x1
[%]
<1>
<1> The input signals are referred to the reference quantities p2004 ... r2004 (100 % p200x).
y
x
x y
+
+
+ +
-11...+11 V
-11...+11 V
p4071 [1] (0)
p4071 [0] (0)
y
y
<1>
<1>
x1
y2
x2
y1
y
x
[%]
[V]
x1
y2
x2
y1
y
x
[%]
[V]
p4099[2] (4000.00 s)
-1
0
1
-1
0
1
0
1
0
1
2
1
x
% 100 x
Communication Board CAN 10 (CBC10)
Function diagrams
2.30 Communication Board CAN 10 (CBC10)
Function diagrams
9204 Receive telegram, free PDO mapping (p8744 = 2) 2-1166
9206 Receive telegram, predefined connection set (p8744 = 1) 2-1167
9208 Send telegram, free PDO mapping (p8744 = 2) 2-1168
9210 Send telegram, predefined connection set (p8744 = 1) 2-1169
9220 Control word CANopen 2-1170
9226 Status word CANopen 2-1171
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N

1
0

(
C
B
C
1
0
)
2
-
1
1
6
6

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
3
9
2
0
4

R
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

f
r
e
e

P
D
O

m
a
p
p
i
n
g

(
p
8
7
4
4
=
2
)
- 9204 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.12.04 V02.04.00 Communication Board CAN 10 (CBC10) - receive telegram for free PDO mapping (p8744 = 2)
X451
CAN bus
X452
CAN bus
r8860[4] DWORD
Bit 0 r8891.0
r8850[1]
Bit 15 r8891.15
Bit 0 r8890.0
r8850[0]
Bit 15 r8890.15
...
r8860[2] DWORD
Bit 0 r8893.0
r8850[3]
Bit 15 r8893.15
Bit 0 r8892.0
r8850[2]
Bit 15 r8892.15
...
...
r8860[1] DWORD
...
r8850[5]
r8850[4]
r8860[5] DWORD
r8850[6]
r8860[3] DWORD
r8860[6] DWORD
r8850[7]
r8860[7] DWORD
r8850[8]
r8860[8] DWORD
r8850[9]
r8860[9] DWORD
r8850[10]
r8860[10] DWORD
r8850[11]
r8860[11] DWORD
r8850[12]
r8860[12] DWORD
r8850[13]
r8860[13] DWORD
r8850[14]
r8860[14] DWORD
r8850[15]
CANopen
receive telegram
Object 4
COB-ID
Object 1
<1>
<1> To use automatic BICO interconnection (p8790 = 1), receive words 1-4 must be used as control word 1 (STW1).
r8860[0] DWORD
PZD receive word 1
PZD receive word 2
PZD receive word 5
PZD receive word 3
PZD receive word 4
PZD receive word 6
PZD receive word 7
PZD receive word 8
PZD receive word 9
PZD receive word 10
PZD receive word 11
PZD receive word 12
PZD receive word 13
PZD receive word 14
PZD receive word 15
PZD receive word 16
Evaluation
of the COB-
ID
COB-ID for RPDO 1
p8700[0]
PDO mapping for RPDO 1
p8710[0...3]
Object 1
Object 2
Object 3
<2> Telegram maximum 4 words or 64 bit.
<2>
Object 4
Object 1
Object 2
Object 3
Object 4
The assignment is made from
RPDO 1, RPDO 2 ... RPDO 8
and from receiver buffer word
Objects available a multiple
number of times are
marshalled to the same
position in the receive buffer.
Automatic assignment of the
RPDOs to the receive buffer Receive buffer
Object 1
Object 2
Object 3
Object 4
RPDO 1
p8701[0] p8711[0...3]
RPDO 2
p8707[0]
p8717[0...3]
RPDO 8
Refer to [1020.7]
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N

1
0

(
C
B
C
1
0
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
4
9
2
0
6

R
e
c
e
i
v
e

t
e
l
e
g
r
a
m
,

p
r
e
d
e
f
i
n
e
d

c
o
n
n
e
c
t
i
o
n

s
e
t

(
p
8
7
4
4
=
1
)
- 9206 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 16.12.04 V02.04.00 Communication Board CAN 10 (CBC10) - receive telegram predef. conn. set (p8744 = 1)
X451
CAN bus
X452
CAN bus r8860[4] DWORD
Bit 0 r8891.0
r8850[1]
Bit 15 r8891.15
Bit 0 r8890.0
r8850[0]
Bit 15 r8890.15
...
r8860[2] DWORD
Bit 0 r8893.0
r8850[3]
Bit 15 r8893.15
Bit 0 r8892.0
r8850[2]
Bit 15 r8892.15
...
...
r8860[1] DWORD
...
r8850[5]
r8850[4]
r8860[5] DWORD
r8850[6]
r8860[3] DWORD
r8860[6] DWORD
r8850[7]
r8860[7] DWORD
r8850[8]
r8860[8] DWORD
r8850[9]
r8860[9] DWORD
r8850[10]
r8860[10] DWORD
r8850[11]
r8860[11] DWORD
r8850[12]
r8860[12] DWORD
r8850[13]
r8860[13] DWORD
r8850[14]
r8860[14] DWORD
r8850[15]
CANopen
receive telegram
Object 4
COB-ID
Object 1
r8860[0] DWORD
PZD receive word 1
PZD receive word 2
PZD receive word 5
PZD receive word 3
PZD receive word 4
PZD receive word 6
PZD receive word 7
PZD receive word 8
PZD receive word 9
PZD receive word 10
PZD receive word 11
PZD receive word 12
PZD receive word 13
PZD receive word 14
PZD receive word 15
PZD receive word 16
Evaluation
of the
COB-ID
COB-ID for RPDO 1
p8700[0]
PDO mapping for RPDO 1
p8710[0...3]
60400010
<1> Telegram maximum 4 words or 64 bits.
60400010
60FF0020
p8703[0]
60400010
60FF0020
60710010
The assignment is
made from RPDO
1, RPDO 2 ...
RPDO 4 and from
receiver word 1.
Objects available a
multiple number of
times are
marshalled to the
same position in the
receive buffer.
RPDOs to the receive buffer Receive buffer
p8713[0...3]
p8702[0]
60400010
60710010
p8712[0...3]
p8701[0] p8711[0...3]
RPDO 1
RPDO 2
RPDO 3
RPDO 4
<1>
Refer to [1020.7]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N

1
0

(
C
B
C
1
0
)
2
-
1
1
6
8

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
5
9
2
0
8

S
e
n
d

t
e
l
e
g
r
a
m
,

f
r
e
e

P
D
O

m
a
p
p
i
n
g

(
p
8
7
4
4
=
2
)
- 9208 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.12.04 V02.04.00 Communication Board CAN10 (CBC10) - send telegram free PDO mapping (p8744 = 2)
DWORD
(0)
p8861[1]
DWORD
(0)
p8861[2]
DWORD
(0)
p8861[3]
DWORD
(0)
p8861[4]
DWORD
(0)
p8861[0]
CANopen send telegram
X451
CAN bus
X452
CAN bus
DWORD
(0)
p8861[5]
DWORD
(0)
p8861[14]
DWORD
(0)
p8861[7]
DWORD
(0)
p8861[8]
DWORD
(0)
p8861[9]
DWORD
(0)
p8861[10]
DWORD
(0)
p8861[6]
DWORD
(0)
p8861[11]
DWORD
(0)
p8861[12]
DWORD
(0)
p8861[13]
(0)
p8851[1]
(0)
p8851[2]
(0)
p8851[3]
(0)
p8851[4]
(0)
p8851[0]
(0)
p8851[5]
(0)
p8851[14]
(0)
p8851[7]
(0)
p8851[8]
(0)
p8851[9]
(0)
p8851[10]
(0)
p8851[6]
(0)
p8851[11]
(0)
p8851[12]
(0)
p8851[13]
(0)
p8851[15]
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PZD send word 7
PZD send word 8
PZD send word 9
PZD send word 10
PZD send word 11
PZD send word 12
PZD send word 13
PZD send word 14
PZD send word 15
CANopen send words 1...16
Diagnostic display
r8853[0...15]
...
PZD send word 16
<1> The sum of the various objects must not exceed 16 words.
.
.
.
Object 4
COB-ID
Object 1
Evaluation of
the COB-ID
and data
transfer type
COB-ID for TPDO 1
p8720[0]
PDO mapping for TPDO 1
p8730[0...3]
Object 1
Object 2
Object 3
<1>
Object 4
The assignment is made
from send buffer 1 and
from TPDO 1.
Objects that occur a
multiple number of times
are updated from the
same send buffer.
Send buffer
send buffer to the TPDOs
Object 1
Object 2
Object 3
Object 4
Object 1
Object 2
Object 3
Object 4
p8721[0] p8731[0...3]
p8727[0] p8737[0...3]
TPDO 1
TPDO 2
TPDO 8
TPDO: Transmit Process Data Object
Refer to [1020.7]
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N

1
0

(
C
B
C
1
0
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
6
9
2
1
0

S
e
n
d

t
e
l
e
g
r
a
m
,

p
r
e
d
e
f
i
n
e
d

c
o
n
n
e
c
t
i
o
n

s
e
t

(
p
8
7
4
4
=
1
)
- 9210 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.12.04 V02.04.00 Communication Board CAN10 (CBC10) - send telegram predef. conn. set (p8744 = 1)
DWORD
63
p8861[1]
DWORD
(0)
p8861[2]
DWORD
(0)
p8861[3]
DWORD
492.0
p8861[4]
DWORD
(0)
p8861[0]
CANopen send telegram
X451
CAN bus
X452
CAN bus
DWORD
(0)
p8861[5]
DWORD
(0)
p8861[14]
DWORD
(0)
p8861[7]
DWORD
(0)
p8861[8]
DWORD
(0)
p8861[9]
DWORD
(0)
p8861[10]
DWORD
(0)
p8861[6]
DWORD
(0)
p8861[11]
DWORD
(0)
p8861[12]
DWORD
(0)
p8861[13]
(0)
p8851[1]
(0)
p8851[2]
79
p8851[3]
(0)
p8851[4]
8784
p8851[0]
(0)
p8851[5]
(0)
p8851[14]
(0)
p8851[7]
(0)
p8851[8]
(0)
p8851[9]
(0)
p8851[10]
(0)
p8851[6]
(0)
p8851[11]
(0)
p8851[12]
(0)
p8851[13]
(0)
p8851[15]
PZD send word 1
PZD send word 2
PZD send word 3
PZD send word 4
PZD send word 5
PZD send word 6
PZD send word 7
PZD send word 8
PZD send word 9
PZD send word 10
PZD send word 11
PZD send word 12
PZD send word 13
PZD send word 14
PZD send word 15
CANopen send words 1...16
Diagnostic display
r8853[0...15]
...
PZD send word 16
<1> The sum of the various objects must not exceed 16 words.
Object 4
COB-ID
Object 1
Evaluation of
the COB-ID
and data
transfer type.
COB-ID for TPDO 1
p8720[0]
PDO mapping for TPDO 1
p8730[0...3]
<1>
Send buffer
Automatic assignment of
send buffer to the TPDOs
60410010
60410010
606C0020
p8723[0]
60410010
60630020
p8733[0...3]
p8722[0]
60410010
60740010
p8732[0...3]
p8721[0] p8731[0...3]
The assignment
is made from
the send buffer
1 and from
TPDO 1.
Objects that occur
a multiple number
of times are
updated from the
same send buffer.
TPDO 1
TPDO 2
TPDO 3
TPDO 4
TPDO: Transmit Process Data Object
Refer to [1020.7]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N

1
0

(
C
B
C
1
0
)
2
-
1
1
7
0

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
7
9
2
2
0

C
o
n
t
r
o
l

w
o
r
d

C
A
N
o
p
e
n
- 9220 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.12.05 V02.04.00 Communication board CAN 10 (CBC10) - control word CANopen
STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.8
STW1.9
STW1.11
STW1.12
STW1.13
STW1.14
STW1.15
STW1.7
STW1.10
p0848[0] = r8890.2
p0852[0] = r8890.3
-
-
-
p2103[0] = r8890.7
-
-
-
pxxxx[y] = r8890.11
pxxxx[y] = r8890.12
pxxxx[y] = r8890.13
pxxxx[y] = r8890.14
pxxxx[y] = r8890.15
p0840[0] = r8890.0
p0844[0] = r8890.1
0 = OFF1 (braking with ramp-function generator, then pulse cancellation and ready-to-
power-up)
1 = No coast-down activated (enable possible)
0 = Activate coast-down (immediate pulse cancellation and power-on inhibit)
1 = No fast stop activated (enable possible)
0 = Activate fast stop (braking along an OFF3 ramp p1135, then pulse cancellation and
power-on inhibit)
Reserved
Reserved
Reserved
= Acknowledge fault
Reserved
Reserved
Reserved
Can be freely connected
[2501.3]
[2501.3]
-
-
-
[2546.1]
-
-
-
-
-
-
[2501.3]
[2501.3]
Signal targets for control word CANopen
[2610]
[2610]
-
-
-
[8060]
-
-
-
-
-
-
[2610]
[2610]
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Signal
Interconnection
parameters
Meaning
[Function diagram]
[Function diagram]
signal target
Inverted
<1>
Refer to [1020.7]
CANopen sampling time
<1> Depending on the position of the CANopen control word in p8750, the number of the binector to be connected changes.
C
o
m
m
u
n
i
c
a
t
i
o
n

B
o
a
r
d

C
A
N

1
0

(
C
B
C
1
0
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
8
9
2
2
6

S
t
a
t
u
s

w
o
r
d

C
A
N
o
p
e
n
- 9226 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 15.12.05 V02.04.00 Communication Board CAN10 (CBC10) - status word CANopen
11
12
13
14
15
r8784
Status word CANopen
<1> With setpoint channel: connect p2151 with r1119 [8010.5].
Bit No.
10
9
8
7
6
5
4
3
0
1
2
From sequence control [2610]
From status word speed controller [2522]
Status word CANopen
1 = Fault present
1 = No fast stop active
1 = Alarm present
Freely interconnectable (BI: p8785)
1 = Target reached <1>
1 = Velocity equal to zero
Reserved
From speed signals [8010.8] (r2197.7)
(0)
p8787
(0)
p8786
From fault buffer [8060]
From alarm buffer [8065]
(0)
p8785
From status word monitoring 2 [8010.4] (r2199.0)
Refer to [1020.7]
CANopen sampling time
Function diagrams
Terminal Module 15 for SINAMICS (TM15DI/DO)
2.31 Terminal Module 15 for SINAMICS (TM15DI/DO)
Function diagrams
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

f
o
r

S
I
N
A
M
I
C
S

(
T
M
1
5
D
I
/
D
O
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
2
9
9
4
0
0

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
0
.
.
.
D
I
/
D
O
7
)
- 9400 -
Function diagram
8 7 6 5 4 3 2 1
fp_9400_01_eng.vsd DO: TM15DI/DO
SINAMICS S 18.03.05 V02.04.00 Terminal Module 15 (TM15) - bidirectional digital inputs/outputs (DI/DO 0 ... DI/DO 7)
DI/DO 0
X520.2
p4028.0 (0)
1
0
<1>
DI
DO
L1+
X520.1
p4099 (4000.00 s)
24 V
<1> The connection shown as dotted line applies when set as digital output (p4028.x = 1).
In this case, the terminal block must be supplied (L1+/M1).
M1
X520.10
DI/DO 7
X520.9
p4028.7 (0)
1
0
<1>
DI
DO
5 V
p4095.0 (0)
r4023.0
Simulation
p4096.0
DI
DO
0
1 r4021.0
p4048.0 (0)
1
-1
0
1
TM15D S_srcDI/DO 0
p4030 (0)
r4023
TM15D DI status inv
r4047
TM15D DO status
r4022
TM15D DI status
p4095.7 (0)
r4023.7
Simulation
p4096.7
DI
DO
0
1 r4021.7
p4048.7 (0)
1
-1
0
1
TM15D S_srcDI/DO 7
p4037 (0)
DI/DO 7 (X520.9)
r4047.7
X524
+
M
+24 V
0 V
+24 V
+24 V
<1>
DI/DO 7 (X520.9)
r4022.7
DI/DO 0 (X520.2)
r4022.0
DI/DO 0 (X520.2)
r4047.0
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

f
o
r

S
I
N
A
M
I
C
S

(
T
M
1
5
D
I
/
D
O
)
2
-
1
1
7
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
0
9
4
0
1

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
8
.
.
.
D
I
/
D
O
1
5
)
- 9401 -
Function diagram
8 7 6 5 4 3 2 1
DI/DO 8
X521.1
p4028.8 (0)
1
0
<1>
DI
DO
L2+
X521.1
p4099 (4000.00 s)
24 V
<1> The connection shown as dotted line is applicable when set as digital output (p4028.x = 1).In this
case, the terminal block must be supplied (L2+/M2).
M2
X521.10
DI/DO 15
X521.9
p4028.15 (0)
1
0
<1>
DI
DO
5 V
p4095.8 (0)
r4023.8
Simulation
p4096.8
DI
DO
0
1 r4021.8
p4048.8 (0)
1
-1
0
1
r4023
TM15D DI status inv
r4047
TM15D DO status
r4022
TM15D DI status
p4095.15 (0)
r4023.15
Simulation
p4096.15
DI
DO
0
1 r4021.15
p4048.15 (0)
1
-1
0
1
TM15D S_src DI/DO 15
p4045 (0)
X524
+
M
+24 V
0 V
+24 V
+24 V
<1>
DI/DO 15 (X521.9)
r4022.15
DI/DO 8 (X521.2)
r4022.8
TM15D S_src DI/DO 8
p4038 (0)
DI/DO 8 (X521.2)
r4047.8
DI/DO 15 (X521.9)
r4047.15
T
e
r
m
i
n
a
l

M
o
d
u
l
e

1
5

f
o
r

S
I
N
A
M
I
C
S

(
T
M
1
5
D
I
/
D
O
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
1
9
4
0
2

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
1
6
.
.
.
D
I
/
D
O
2
3
)
- 9402 -
Function diagram
8 7 6 5 4 3 2 1
DI/DO 16
X522.2
p4028.16 (0)
1
0
<1>
DI
DO
L3+
X522.1
p4099 (4000.00 s)
24 V
<1> The connection shown as dotted line is applicable when set as digital output (p4028.x = 1).
In this case, the terminal block must be supplied (L3+/M3).
M3
X522.10
DI/DO 23
X522.9
p4028.23 (0)
1
0
<1>
DI
DO
5 V
p4095.16 (0)
r4023.16
Simulation
p4096.16
DI
DO
0
1 r4021.16
p4048.16 (0)
1
-1
0
1
p4086 (0)
r4025
TM15D DI 16-23 inv
r4047
TM15D DO status
DI/DO 16 (X522.2)
r4047.16
r4024
TM15D DI 16-23
p4095.23 (0)
r4023.23
Simulation
p4096.23
DI
DO
0
1 r4021.23
p4048.23 (0)
1
-1
0
1
p4093 (0)
DI/DO 23 (X522.9)
r4047.23
X524
+
M
+24 V
0 V
+24 V
+24 V
<1>
DI/DO 16 (X522.2)
r4022.16
DI/DO 23 (X522.9)
r4022.23
Function diagrams
Terminal Module 31 (TM31)
2.32 Terminal Module 31 (TM31)
Function diagrams
9556 Digital relay outputs, electrically isolated (DO 0 ... DO 1) 2-1179
9566 Analog input 0 (AI 0) 2-1182
9568 Analog input 1 (AI 1) 2-1183
9572 Analog outputs (AO 0 ... AO 1) 2-1184
9576 Temperature evaluation KTY/PTC 2-1185
9577 Sensor monitoring KTY/PTC 2-1186
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
2
9
5
5
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
I
0
.
.
.
D
I
3
)
- 9550 -
Function diagram
8 7 6 5 4 3 2 1
DO: TM31
DI 0
1
1 = Simulation on
p4095.0
r4023.0
r4023.1
r4023.2
r4023.3
DI 1
1
p4095.1
DI 2
1
p4095.2
DI 3
1
p4095.3
p4096.3
p4096.2
p4096.1
p4096.0
24 V
5 V
1
0
1
0
1
0
1
0
+
X520.1
X520.2
X520.3
X520.4
r4021.0
TM Comp_No.
p0151
r4021.1
r4021.2
r4021.3
p4099[0] (4000.00 s)
X524.M
X524.+ +24 V
M
X524.M
X520.5 M1
M X520.6
X524.+
+
<1>
24 V
M
+24 V
<1>
DI 0 (X520.1)
r4022.0
r4023
TM31 DI status inv
r4022
TM31 DI status
DI 1 (X520.2)
r4022.1
DI 2 (X520.3)
r4022.2
DI 3 (X520.4)
r4022.3
fp_9550_01_eng.vsd
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
2
-
1
1
7
8

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
3
9
5
5
2

D
i
g
i
t
a
l

i
n
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
I
4
.
.
.
D
I
7
)
- 9552 -
Function diagram
8 7 6 5 4 3 2 1
fp_9552_01_eng.vsd
DI4
1
1 = Simulation on
p4095.4
r4023.4
r4023.5
r4023.6
r4023.7
DI5
1
p4095.5
DI 6
1
p4095.6
DI 7
1
p4095.7
p4096.7
p4096.6
p4096.5
p4096.4
24 V
5 V
1
0
1
0
1
0
1
0
X524.M
X524.+
+
X530.1
X530.2
X530.3
X530.4
+24 V
M
r4021.4
r4021.5
r4021.6
r4021.7
p4099[0] (4000.00 s)
DO: TM31
X524.M
X530.5 M2
M X530.6
X524.+
M
<1>
+
<1>
24 V
+24 V
r4022
TM31 DI status
r4023
TM31 DI status inv
DI 4 (X530.1)
r4022.4
DI 5 (X530.2)
r4022.5
DI 6 (X530.3)
r4022.6
DI 7 (X530.4)
r4022.7
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
4
9
5
5
6

D
i
g
i
t
a
l

r
e
l
a
y

o
u
t
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
O
0
.
.
.
D
O
1
)
- 9556 -
Function diagram
8 7 6 5 4 3 2 1
fp_9556_01_eng.vsd
SINAMICS S 19.01.06 V02.04.00 Terminal Module 31 (TM31) - digital-relay outputs, electrically isolated (DO 0 ... DO 1)
p4048.0
<1>
<1> NO: Normally Open contact ("open" in the quiescent state = NO contact)
NC: Normally Closed contact ("closed" in the quiescent state = NC contact)
The relay contacts have the following ratings - up to max. 100 V DC 240 W or 250 V AC 2000 VA.
r4047.0
r4047
r4047.1
NC 0
NO 0
COM
<1>
NC 1
NO 1
COM
X542
1
2
3
p4099[0] (4000.00 s)
5
6
4
DO: TM31
p4048.1
1
0
1
1
0
1
WARNING
Hazardous voltage!
These terminal can have
voltages up to 250 V AC!
(0)
TM31 S_src DO 1
p4031
(0)
TM31 S_src DO 0
p4030
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
2
-
1
1
8
0

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
5
9
5
6
0

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
8
.
.
.
D
I
/
D
O
9
)
- 9560 -
Function diagram
8 7 6 5 4 3 2 1
fp_9560_01_eng.vsd DO: TM31
SINAMICS S 08.12.04 V02.04.00 Terminal Module 31 (TM31) - bidirectional digital inputs/outputs (DI/DO 8 and DI/DO 9)
p4095.8 (0)
r4023.8
X541.6 M
Simulation
p4096.8
DI
DO
p4095.9 (0)
r4023.9
Simulation
p4096.9
DI
DO
X541.3 DI/DO 9
p4028.9 (0)
DI/DO 8 X541.2
p4028.8 (0)
1
0
1
0
0
1
0
1
+24 V
<1>
<1>
DI
DO
DI
DO
r4021.8
r4021.9
X541.1
p4048.8 (0)
p4048.9 (0)
5 V
24 V
1
1
p4099[0] (4000.00 s)
+
Current limiting
p4046 (1)
[9562.4]
<2>
<2> Limits the summed (total output current of terminals X541.2, X541.3, X541.4 and X541.5 to 0.1 A (p4046 = 0) or 1 A (p4046 = 1).
-1
0
1
-1
0
1
TM31 S_Src DI/DO 9
p4039 (0)
TM31 S_Src DI/DO 8
p4038 (0)
DI/DO 8 (X541.2)
r4022.8
DI/DO 9 (X541.3)
r4022.9
r4023
TM31 DI status inv
r4047
TM31 DO status
DI/DO 8 (X541.2)
r4047.8
DI/DO 9 (X541.3)
r4047.9
r4022
TM31 DI status
X540.1
X540.8
Current limiting
150 mA
+24 V
[9562.2]
<3> The total (summed) output current of the 24 V auxiliary power supply at terminals X540.1 to X540.8 and X541.1 is limited to 150 mA. No incandescent lamps may be connected
to the 24 V auxiliary power supply!
<3>
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
F
u
n
c
t
i
o
n

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

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
6
9
5
6
2

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
1
0
.
.
.
D
I
/
D
O
1
1
)
- 9562 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 07.12.04 V02.04.00 Terminal Module 31 (TM31) - bidirectional digital inputs/outputs (DI/DO 10 and DI/DO 11)
p4095.10 (0)
r4023.10
X541.6 M
Simulation
p4096.10
DI
DO
p4095.11 (0)
r4023.11
Simulation
p4096.11
DI
DO
X541.5 DI/DO 11
DI/DO 10 X541.4
0
1
0
1
+24 V
<1>
<1>
DI
DO
DI
DO
r4021.10
r4021.11
X541.1
p4048.10 (0)
p4048.11 (0)
p4028.10 (0)
1
0
p4028.11 (0)
1
0
1
1
p4099[0] (4000.00 s)
[9560.4]
<2> Limits the summed (total output current of terminals X541.2, X541.3, X541.4 and X541.5 to 0.1 A (p4046 = 0) or 1 A (p4046 = 1).
<2>
-1
0
1
-1
0
1
(0)
TM31 S_src DI/DO 11
p4041
(0)
TM31 S_src DI/DO10
p4040
DI/DO 10 (X541.4)
r4022.10
r4022
TM31 DI status
r4047
TM31 DO status
r4023
TM31 DI status inv
DI/DO 11 (X541.5)
r4022.11
DI/DO10 (X541.4)
r4047.10
DI/DO11 (X541.5)
r4047.11
5 V
24 V
[9560.6]
F
u
n
c
t
i
o
n

d
i
a
g
r
a
m
s
T
e
r
m
i
n
a
l

M
o
d
u
l
e

3
1

(
T
M
3
1
)
2
-
1
1
8
2

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
t

M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
r
e

2
-
2
3
7
9
5
6
6

A
n
a
l
o
g

i
n
p
u
t
0

(
A
I
0
)
- 9566 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 21.03.06 V02.04.00 Terminal Module 31 (TM31) analog input 0 (AI 0)
3
3
20 mA
T 0
0...1000 ms
p4062[0] (100)
Threshold for
wire breakage detection
0.00...20.00 mA
p4061[0] (2.00)
r4055[0]
p4069 [0]
(1)
Enable
p4066[0] (0)
(0)
p4067 [0]
y = x
if |y - x| > p4068
y x
0 %
Smoothing
0.0...1000.0 ms
p4053[0] (0.0)
0.0...20.0 %
p4068[0] (0.0)
1
0
<2> For p4056 = 2, 3, 5 the units are mA.
For p4056 = 0, 4 the units are V.
S5.0
+/-20 mA
+/-10 V
X521.1
Scaling
-20.000...20.000
p4057[0] (0.000)
-20.000...20.000
p4059[0] (10.000)
r4052[0]
-1000.00...1000.00 %
p4060[0] (100.00)
-1000.00...1000.00 %
p4058[0] (0.00)
[%]
x y
<2>
<2> <2>
Hardware
smoothing
100 s
A
D
+
-
AI 0
<1> Differential input!
For an input signal referred to ground, terminal X521.2 must be connected to reference potential.
Caution:
The voltage between an input (X521.1 or X521.2) and ground may not exceed 35 V.
When the load resistor is switched-in (S5.0 closed), it is not permissible that the voltage between the input terminals exceeds 15 V.
<1>
p4099[1] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
p2000...r2004
y
x2
x1
-1
0
1
0
1
Offset
-20.000...20.000
p4063[0] (0.000)
+
<2>
+
Analog inputs, type
p4056[0] (4)
<3>
F03505
"Wire
breakage"
x
% 100
x x
2 1
x
<3> p4056
= 0: 0 V ... +10 V
= 2: 0 mA ... +20 mA
= 3: 4 mA ... +20 mA with monitoring
= 4: -10 V ... +10 V
= 5: -20 mA ... +20 mA
Voltage
V
V
Current
I S5.0
I S5.1 [9568]
X521.2
4, 5
3
0, 2
4 mA
<2>
0
p4097[0] (0)
Simulation mode
-20.000...20.000
p4098[0] (0.000)
1
0
20 mA
p4097[0] (0)
1
0
T
e
r
m
i
n
a
l

M
o
d
u
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3
1

(
T
M
3
1
)
F
u
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c
t
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n

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

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
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M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
t
i
o
n
F
i
g
u
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e

2
-
2
3
8
9
5
6
8

A
n
a
l
o
g

i
n
p
u
t
1

(
A
I
1
)
- 9568 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 20.02.06 V02.04.00 Terminal Module 31 (TM31) analog input 1 (AI 1)
T 0
0...1000 ms
p4062[1] (100)
Threshold for
wire breakage detection
0.00...201 mA
p4061[0] (2.00)
r4055[1]
p4069 [0]
(1)
Enable
p4066[1] (0)
(0)
p4067 [1]
y = x if
|y - x| > p4068
otherwise y = y(alt)
y x
Smoothing
0.0..1000.0 ms
p4053[1] (0.0)
0.00...20.00 %
p4068[1] (0.00)
0 %
1
0
p2000...r2004
y
x2
x1
x
% 100
x x
2 1
x
AI 1
+/-20 mA
+/-10 V
X521.3
X521.4
Scaling
-20.000...20.000
p4057[1] (0.000)
-20.000...20.000
p4059[1] (10.000)
-1000.00...1000.00 %
p4060[1] (100.00)
-1000.00...1000.00 %
p4058[1] (0.00)
[%] x y
<2> <2>
Hardware
smoothing
100 s
A
D
+
-
<2> For p4056 = 2, 3, 5 the units are mA.
For p4056 = 0, 4 the units are V.
<1> Differential input!
For an input signal referred to ground, terminal X521.4 must be connected to reference potential M.
Caution:
The voltage between an input (X521.3 or X521.4) and ground may not exceed 35 V.
When the load resistor is switched-in (S5.1 closed), it is not permissible that the voltage between the input terminals exceeds 15 V.
<1>
p4099[1] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
Voltage
V
V
-1
0
1
0
1
S5.1
F03505
"Wire break"
Current
I S5.0 [9566]
I S5.1
<3> p4056
= 0: 0 V ... +10 V
= 2: 0 mA ... +20 mA
= 3: 4 mA ... +20 mA with monitoring
= 4: -10 V ... +10 V
= 5: -20 mA ... +20 mA
3
3
20 mA
r4052[1]
<2>
Offset
-20.000...20.000
p4063[1] (0.000)
+
<2>
+
Analog inputs, type
p4056[1] (4)
<3>
4, 5
3
0, 2
4 mA
<2>
0
p4097[1] (0)
Simulation mode
-20.000...20.000
p4098[1] (0.000)
1
0
20 mA
p4097[1] (0)
1
0
F
u
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c
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n

d
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a
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T
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r
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3
1

(
T
M
3
1
)
2
-
1
1
8
4

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
i
s
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M
a
n
u
a
l
,

0
3
/
2
0
0
6

E
d
i
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i
o
n
F
i
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u
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e

2
-
2
3
9
9
5
7
2

A
n
a
l
o
g

o
u
t
p
u
t
s

(
A
O
0
.
.
.
A
O
1
)
X522.5
X522.6
X522.4
X522.2
X522.3
X522.1
- 9572 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Terminal Module 31 (TM31) analog outputs (AO 0 ... AO 1)
scaling
p4082 [0]
(0)
Smoothing
Offset
-20.000...20.000
p4083[0] (0.000)
-1000.00...1000.00 %
p4079[0] (100.00 %)
-1000.00...1000.00 %
p4077[0] (0.00)
p4075 [0] (0)
-20.000...20.000
p4080[0] (10.000)
-20.000...20.000
p4078[0] (0.000)
D
A
r4074[0]
r4072 [0]
[%]
0.0...1000.0 ms
p4073[0] (0.0)
scaling
p4082 [1]
(0)
Smoothing
Offset
-20.000...20.000
p4083[1] (0.000)
-1000.00...1000.00 %
p4079[1] (100.00 %)
-1000.00...1000.00 %
p4077[1] (0.00)
p4075 [1] (0)
-20.000...20.000
p4080[1] (10.000)
-20.000...20.000
p4078[1] (0.000)
D
A
r4074[1]
r4072 [1]
[%]
0.0...1000.0 ms
p4073[1] (0.0)
<1>
y x
x y
+
+
+ +
p4071 [1] (0)
p4071 [0] (0)
y
y
<1>
<1>
<1>
<1>
<1>
AO 0 des
AO 1 des
<1>
<3>
<4>
<4>
Voltage
output
Current output
<2>
<2>
+/-10 V
+/-20 mA
Voltage
output
Current output
<2>
<2>
+/-10 V
+/-20 mA
p4099[2] (4000.00 s)
x1
y2
x2
y1
y
x
[%]
x1
y2
x2
y1
y
x
[%]
<1> For p4076 = 0, 2, 3 the units are mA. For p4076 = 1, 4
the units are V.
<2> For a voltage output, the output voltage can be taken from between the following terminals.AO 0 between X522.2
(reference potential) and X522.1, AO 1 between X522.5 (reference potential) and X522.4. For a current output, the
output current can be taken from between the following terminals:AO 0 between X522.2 and X522.3, AO 1 between
X522.5 and X522.6.
<3> The input signals are referred to the reference quantities p2004 ... r2004 (100 % = p200x).
<4> p4076
= 0: 0 mA ... +20 mA
= 1: 0 V ... +10 V
= 2: 4 mA ... +20 mA
= 3: -20 mA ... +20 mA
= 4: -10 V ... +10 V
p2000...r2004
y
x2
x1
[%]
2
1
x
% 100 x
%
0
1
0
1
-1
0
1
-1
0
1
AO 0 V+
AO 0 A+
Analog outputs type
p4076[0] (4)
AO 1 V+
AO 1 A+
Analog outputs type
p4076[1] (4)
<1>
3, 4
2
0, 1
4 mA
3, 4
2
0, 1
4 mA
0
0
T
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a
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3
1
)
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r
a
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s
2
-
1
1
8
5

S
i
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m
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n
s

A
G

2
0
0
6

A
l
l

R
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g
h
t
s

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s
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r
v
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d
S
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N
A
M
I
C
S
S

L
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M
a
n
u
a
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,

0
3
/
2
0
0
6

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d
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F
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e

2
-
2
4
0
9
5
7
6

T
e
m
p
e
r
a
t
u
r
e

e
v
a
l
u
a
t
i
o
n

K
T
Y
/
P
T
C
- 9576 -
Function diagram
8 7 6 5 4 3 2 1
fp_9576_01_eng.vsd
SINAMICS S 25.11.04 V02.04.00
X522.7
X522.8
Sensor
resistance
r4101
Hardware
smoothing 1 s
0
1
0
1
Temp. alarm threshold
-48...251 C
p4102[0] (100)
r4104.1
r4104.0
Software
smoothing 0.5 s 2 mA
KTY/PTC
Temperature sensor
-50 C
0
1
1
2
Sensor type
p4100
PTC resistor
threshold 1650 Ohm
T
R
1
0
250 C
KTY
PTC
248 C
-140 C
+
-
+ temp
- temp
Temp. fault threshold
-48...251 C
p4102[1] (120)
Sensor type
p4100
<1>
<1> p4100
= 0: Evaluation disabled
= 1: PTC
= 2: KTY
Terminal module 31 (TM31) - temperature evaluation KTY/PTC
DO: TM31
<1>
A35211
"Overtemperature sensor TM31"
Alarm A35920
temperature sensor evaluation
F35207
"Overtemperature sensor TM31"
r4105
TM31 Temperature actual value
<2> An alarm A35920 in
the temperature
evaluation of the
TM31 is signaled to
the next
(downstream) vector
control via the special
temperature value -
300 C (refer to
[9577]).
Sensor resistance [9577.1]
p4099[0] (4000.00 s)
<2>
<3> As a result of the wire
breakage monitoring
[9577.3] the
maximum
temperature that can
be measured is
limited to approx.
175 C.
Alarm is not present
Measured temperature
Alarm is present
-300 C
A
D
Resistance
calculation
<3>
<4>
<4> A value > 250 C de-
activates the alarm or
fault.
<4>
F
u
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c
t
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n

d
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r
a
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s
T
e
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o
d
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3
1

(
T
M
3
1
)
2
-
1
1
8
6

S
i
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m
e
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s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
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r
v
e
d
S
I
N
A
M
I
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S
S

L
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M
a
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a
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,

0
3
/
2
0
0
6

E
d
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n
F
i
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e

2
-
2
4
1
9
5
7
7

S
e
n
s
o
r

m
o
n
i
t
o
r
i
n
g

K
T
Y
/
P
T
C
- 9577 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 03.11.04 V02.04.00 Terminal module 31 (TM31) - sensor monitoring KTY/PTC
<1> For KTY 84-130 the threshold value of 50 Ohm corresponds to a temperature of -140C
<2> For KTY 84-130 the threshold value of 1630 Ohm corresponds to a temperature of +180C
Sensor resistance
[9576.6]
1
0
x
y
0
1
x
y
50 Ohm
<1>
<2>
1
0
x
y
A35920 "fault temperature sensor"
alarm value 2
alarm value 1
x y
1630 Ohm
20 Ohm
&
&
alarm value 2
p4099[0] (4000.00 s)
x y
x y
&
&&
p4100 = 2
sensor type KTY
[9576.8]
p4100 = 1
sensor type PTC
[9576.8]
Terminal Module 41 (TM41)
Function diagrams
2.33 Terminal Module 41 (TM41)
Function diagrams
9663 Analog input (AI 0) 2-1191
9674 Incremental encoder emulation (p4400 = 0) 2-1192
9676 Incremental encoder emulation (p4400 = 1) 2-1193
F
u
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n

d
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a
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r
a
m
s
T
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r
m
i
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a
l

M
o
d
u
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4
1

(
T
M
4
1
)
2
-
1
1
8
8

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
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h
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s

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e
s
e
r
v
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d
S
I
N
A
M
I
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S
S

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a
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u
a
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,

0
3
/
2
0
0
6

E
d
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F
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2
-
2
4
2
9
6
6
0

D
i
g
i
t
a
l

i
n
p
u
t
s
,

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

i
s
o
l
a
t
e
d

(
D
I
0
.
.
.
D
I
3
)
- 9660 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 05.12.05 V02.04.00 Terminal Module 41 (TM41) - digital inputs, electrically isolated (DI 0 ... DI 3)
DI 0
1
1 = Simulation on
p4095.0
r4023.0
r4023.1
r4023.2
r4023.3
DI 1
1
p4095.1
DI 2
1
p4095.2
DI 3
1
p4095.3
p4096.3
p4096.2
p4096.1
p4096.0
24 V
5 V
1
0
1
0
1
0
1
0
+
X522.1
X522.2
X522.3
X522.4
r4021.0
r4021.1
r4021.2
r4021.3
X522.5
X524.+ +24 Vext
Mext
X524.M
Mext
X524.+
<1>
Mext
+24 Vext
DI 0 (X522.1)
r4022.0
r4023
TM41 DI status inv
r4022
TM41 DI status
DI 1 (X522.2)
r4022.1
DI 2 (X522.3)
r4022.2
DI 3 (X522.4)
r4022.3
<2> If PROFIBUS communications is operated with clock cycle synchronism
(r2064[0] = 1), then the time slice is automatically the same as the
PROFIBUS clock cycle (r2064[1]).
<1>
p4099[0] (4000.00 s)
T
e
r
m
i
n
a
l

M
o
d
u
l
e

4
1

(
T
M
4
1
)
F
u
n
c
t
i
o
n

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

S
i
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m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

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a
n
u
a
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,

0
3
/
2
0
0
6

E
d
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i
o
n
F
i
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u
r
e

2
-
2
4
3
9
6
6
1

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
0
.
.
.
D
I
/
D
O
1
)
- 9661 -
Function diagram
8 7 6 5 4 3 2 1
p4095.8 (0)
r4023.8
X522.M1 M
Simulation
p4096.8
r4047.8
DI
DO
p4095.9 (0)
r4023.9
Simulation
p4096.9
r4047.9
DI
DO
X521.2 DI/DO 1
p4028.9 (0)
DI/DO 0 X521.1
p4028.8 (0)
1
0
1
0
0
1
0
1
+24 V
<1>
<1>
DI
DO
DI
DO
r4021.8
r4021.9
X521.9
p4048.8 (0)
p4048.9 (0)
5 V
24 V
5 V
24 V
1
1
+
[9562.3]
-1
0
1
-1
0
1
DI/DO 0 (X521.1)
r4022.8
r4022
TM41 DI status
r4023
TM41 DI status inv
DI/DO 1 (X521.2)
r4022.9
r4047
TM41 DO status
p4099[0] (4000.00 s)
TM41 S_src DI/DO 0
p4038 (0)
TM41 S_src DI/DO 1
p4039 (0)
F
u
n
c
t
i
o
n

d
i
a
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r
a
m
s
T
e
r
m
i
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a
l

M
o
d
u
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e

4
1

(
T
M
4
1
)
2
-
1
1
9
0

S
i
e
m
e
n
s

A
G

2
0
0
6

A
l
l

R
i
g
h
t
s

R
e
s
e
r
v
e
d
S
I
N
A
M
I
C
S
S

L
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a
n
u
a
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,

0
3
/
2
0
0
6

E
d
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o
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F
i
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e

2
-
2
4
4
9
6
6
2

D
i
g
i
t
a
l

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

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

(
D
I
/
D
O
2
.
.
.
D
I
/
D
O
3
)
- 9662 -
Function diagram
8 7 6 5 4 3 2 1
p4095.10 (0)
r4023.10
X522.M1 M
Simulation
p4096.10
r4047.10
DI
DO
p4095.11 (0)
r4023.11
Simulation
p4096.11
r4047.11
DI
DO
X521.4 DI/DO 3
p4028.11 (0)
DI/DO 2 X521.3
p4028.10 (0)
1
0
1
0
0
1
0
1
+24 V
<1>
<1>
DI
DO
DI
DO
r4021.10
r4021.11
X521.5
p4048.10 (0)
p4048.11 (0)
5 V
24 V
5 V
24 V
1
1
+
[9562.3]
-1
0
1
-1
0
1
DI/DO 2 (X521.3)
r4022.10
r4022
TM41 DI status
r4023
TM41 DI status inv
DI/DO 3 (X521.4)
r4022.11
r4047
TM41 DO status
p4099[0] (4000.00 s)
TM41 S_src DI/DO 3
p4041(0)
TM41 S_src DI/DO 2
p4040(0)
T
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6

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5
9
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6
3

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(
A
I
0
)
- 9663 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 23.03.06 V02.04.00 Terminal Module 41 (TM41) - analog input (AI 0)
AI 0
scaling
r4055[0]
p4069 [0]
(1)
Enable
Hardware smoothing
100 s
p4066 [0]
(0)
p4067 [0]
y = x if
|y - x| > p4068
y x
A
D
Offset
-20.000...20.000
p4063[0] (0.000)
-11.000...11.000
p4057[0] (0.000)
-11.000...11.000
p4059[0] (10.000)
[V]
r4052 [0]
p4097.0
Simulation mode
-20.000...20.000
p4098[0] (0.000)
-1000.00...1000.00 %
p4060[0] (100.00)
-1000.00...1000.00 %
p4058[0] (0.00)
X523.1
X523.2 +
-
0 %
Smoothing
0.0...1 000.0 ms
p4053[0] (0.0)
0.00...20.00 %
p4068[0] (0.00)
[%]
1
0
<1>
+
+
-11...+11 V
x y
p200x
y
x2
x1
x
100%
x x
2 1

<2>
x1
y2
x2
y1
y
x
[%]
[V]
-1
0
1
0
1
<4> If PROFIBUS communications is operated with clock cycle synchronism (r2064[0] = 1), then the time slice is automatically the same as
the PROFIBUS clock cycle (r2064[1]). When the PROFIBUS interface is in this mode, p4099 has no effect on the time slice for TB41.
<3> Caution:
The voltage between an input and ground may not exceed 35 V.
The voltage between the inputs may not exceed 35 V.
1
0
<3>
p4099[1] (4000.00 s)
<4>
<1> When interconnected, the output signals are referred to the reference quantities p200x or p205x (100% p20xx).
<2> Differential inputs!
For input signals referred to ground, terminal 2 or 4 must be connected to reference potential M.
F
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6

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4
6
9
6
7
4

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(
p
4
4
0
0
=
0
)
f
D
- 9674 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 09.03.06 V02.04.00 Terminal Module 41 (TM41) incremental encoder emulation (p4400 = 0)
Dead time PT2 lowpass
n_set_filt 1 fn_n
p1417
n_set_filt 1 D_n
p1418
p1189.1
0
1
0
1
t
x,y
Clock cycle adaptation
<1>
p1414.0
r0482
Pos act val DP_clock cycle
<1> The clock-cycle adaptation is only effective for the clock cycle synchronous PROFIBUS.
n_set
r4155
Format
adaptation
n_set deadtime
p1412
p4099[3] (125.00 s)
Control unit
DRIVE CLiQ
Terminal Module 41
Pos act val Q_clock cycle
r0479
Fine
resolution
p0418
Enc_emulat pulse ZM
p4426
Encoder
pulse number
p0408
31
n
0
X520
1
2
3
4
5
6
7
8
9
Not Connected
Not Connected
M
B
N
B
N
A
A
p4099[3] (125.00 s)
Enable n_set
p1142[0]
p0840[0]
p0844[0]
p0848[0]
p0852[0]
Zero mark enabled
r4402.0
Interface
encoder emulation
enabled
r4402.2
1
0
Tracks A/B
enabled
r4402.1
1
0
Enable zero mark
p4401.0
Comparator
1
0
|y|
n_ctrl n_set 1
(2060[1])
p1155
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1
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3

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6

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2
4
7
9
6
7
6

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(
p
4
4
0
0
=
1
)
- 9676 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 17.03.06 V02.04.00 Terminal Module 41 (TM41) incremental encoder emulation (p4400 = 1)
p4421
0
>0
1 = Encoder ready
0 = Encoder not ready
Format
adaptation
p4099[3] (125.00 s)
Control unit
DRIVE CLiQ
Terminal Module 41
Pos act val
Q_clock cycle
r0479
Fine
resolution
p0418
Encoder
pulse number
p0408
31
n
0
X520
1
2
3
4
5
6
7
8
9
Not Connected
Not Connected
M
B
N
B
N
A
A
p4099[3] (125.00 s)
p0010[0]
Zero mark enabled
r4402.0
1
0
Tracks A/B
enabled
r4402.1
Enable zero mark
p4401.0
Comparator
1
0
Filter for
precalculation
F35220
Limit frequency for signal output reached.
F35221
Setpoint-actual value deviation outside
tolerance.
A35226
Tracks A/B are de-activated.
A35227
Zero mark synchronization interrupted
- EDS changeover not supported.
+
Enc_emul s_act
(0479)
p4420
r0481.14
Parking encoder active
0
1
Automatic internal
parameterization
-1
0
1
TM41 s_act inv
p4422
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S4: Operation
ZSWA.00/01/02 = 1
ZSWA.11 = 1
ZSWA.06 = 0
Pulses enabled
Controller enabled
No jog operation: Setpoints enabled
- 9682 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 06.03.06 V02.04.00 Terminal Module 41 (TM41) sequence control (p4400 = 0)
POWER ON
ZSWA.06 = 1, ZSWA.11 = 0
ZSWA.00/01/02 = 0
Pulses inhibited
ZSWA.00 = 1, ZSWA.11 = 0
<2>
S5a: Ramp stop
ZSWA.00/01 = 1
ZSWA.11 = 1
ZSWA.02/06 = 0
Ramp-down to n = 0,
then inhibit pulses
S5b: Fast stop
ZSWA.00/01 = 1, ZSWA.11 = 1
ZSWA.02/06 = 0
Ramp-down torque limit to n = 0,
then inhibit pulses
S3: Ready
ZSWA.00/01 = 1, ZSWA.11 = 0
ZSWA.02/06 = 0
&
"Enable operation"
(STWA.03)
"Enable operation" (STWA.03)
"0 = Cost down"
(STWA.01)
"0 = Fast stop"
(STWA.02)
&
"0 = OFF"
&
"0 = Fast stop"
(STWA.02)
"0 = Cost down"
(STWA.01)
&
Pulse enable
HW [2701.8] [2711.8]
"0 = Cost down"
(STWA.01)
p0857... p0862
2000.00 s
Missing
enable signals
[2634]
Faults
F07802...F07300
F6000
Drive at standstill
Fault
with OFF1 or
OFF3
response
Drive at
standstill
1
Drive at standstill
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
<3>
&
"Commissioning completed" (p0010 =0 and p0009 =0)
From all states
. . .
"0 = OFF" (STWA.00)
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<4>
<1>
<4>
<4>
<4>
<4>
<4>
<4>
<3> <4>
"0 = OFF"
OFF3
Drive at standstill
&
1
1
&
1
"0 = OFF"
&
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<5>
<2> The sequence control is implemented according to the PROFIdrive profile.
<3> These control commands can also be triggered by a fault response.
<4> STWA.xx = control word, sequence control, bit xx (r0898) [2501]; ZSWA.xx = status word, sequence control bit xx (r0899) [2503].
<5> The terms coast down, fast stop, ramp stop are based on a real axis. The actual value is frozen in this state.
Function diagrams
2.34 Voltage Sensing Module (VSM)
Function diagrams
9880 Analog inputs (AI 0 ... AI 3) 2-1196
9886 Temperature evaluation 2-1197
9887 Sensor monitoring KTY/PTC 2-1198
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6

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0
6

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4
9
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8
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0

A
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i
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(
A
I
0
.
.
.
A
I
3
)
- 9880 -
8 7 6 5 4 3 2 1
fp_9880_01_eng.vsd DO: A_INF, S_INF
SINAMICS S 13.07.05 V02.04.00 Voltage Sensing Module (VSM) - analog inputs (AI 0 ... AI 3)
X520.2
X520.1
+
-
AI 0
Rated line
supply frequency
p0211
X520.4
X520.3
X521.1
X521.2
A
D
Rated line supply frequency
p0211
Limit value
comparison
Filter capacitance
p0221
A06251
r3671
r3673
Voltage divider
p3660
x2
x1 y
+/-10 V
r3672
r3674
Current transformer gain
p3670
x2
x1 y
A
D
X522.1
X522.2
r3662
I1
I2
I3
Current transformer gain
p3670
x2
x1 y
r3661
U3
U2
U1
A
D
+
-
AI 1
U3 f 2
3 I3
C3
U2 f 2
3 I2
C2
U1 f 2
3 I1
C1
+
-
AI 2
+
-
AI 3
X521.3
X522.3
f
Threshold
p3677
C1
C2
C3
100 V
690 V
r36xx[0]
r36xx[1]
r36xx[2]
PT1 smoothing
[8850.1]
[8950.1]
p0115[3] (2000.00
s)
p0115[1] (250.00 s)
+/-10 V 0.5 s
A
D
0.5 s
0.5 s
Rated line
supply frequency
p0211
PT1 smoothing
0.5 s
0.5 s
0.5 s
PT1 smoothing
PT1 smoothing
Voltage divider
p3660
x2
x1 y
Function diagram
<1> Can only be used in conjunction with the Chassis Active Line Modules.
<1>
[8850.1]
[8950.1]
V
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1
9
7

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G

2
0
0
6

A
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I
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S
S

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/
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6

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-
2
5
0
9
8
8
6

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- 9886 -
Function diagram
8 7 6 5 4 3 2 1
fp_9886_01_eng.vsd
SINAMICS S 07.12.04 V02.04.00
X520.5
X520.6
Hardware
smoothing 1 s
Overtemperature alarm threshold
0...301 C
p3667[0] (150)
r3664.1
r3664.0
Software smoothing 0.5 s
2 mA
KTY/PTC
Temperature sensor
-50 C
0
1 1
2
Sensor type
p3665 (0)
PTC resistor
threshold 1650 Ohm
T
R
1
0
250 C
KTY
PTC
248 C
-140 C
A
D
Resistance
calculation
+
-
+ temp
- temp
Overtemperature fault threshold
0...301 C
p3668[1] (180)
Sensor type
p3665 (0)
<1>
<1> p3665
= 0: No sensor
= 1: PTC
= 2: KTY
Voltage Sensing Module (VSM) - temperature evaluation
DO: A_INF
<1>
A34211
"Temperature alarm threshold exceeded"
F34207
"Temperature fault threshold exceeded"
r3666
Temperature KTY
<2> A fault or alarm in the temperature evaluation of the VSM is communicated to the downstream evaluation using special temperature values.
4000.00 s
<3> As a result of the wire breakage monitoring the maximum temperature that can be measured is limited to approx. 175 C.
0
1
0
1
Overtemperature hysteresis
p3669
Alarm A35920
temperature sensor evaluation
<2>
Alarm is not present
Alarm is present
-300 C
<4> A value > 250 C de-activates the alarm or fault.
<3>
<4>
<4>
Sensor resistance
[9887.1]
<5> Can only be used in conjunction with chassis infeeds.
<5>
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V
S
M
)
2
-
1
1
9
8

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G

2
0
0
6

A
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l

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S

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/
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6

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-
2
5
1
9
8
8
7

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g

K
T
Y
/
P
T
C
- 9887 -
Function diagram
8 7 6 5 4 3 2 1
fp_S01_9887_en.vsd DO: A_INF
SINAMICS S 29.11.04 V02.04.00 Voltage Sensing Module (VSM) - sensor monitoring KTY/PTC
<1> For KTY 84-130 temperature sensor, the following applies: A threshold value 340 Ohm corresponds to -40 C.
<2> For KTY 84-130 temperature sensor, the following applies: A threshold value 1630 Ohm corresponds to +180 C.
Sensor resistance
[9886.6]
1
0
x
y
0
1
x
y
340 Ohm
<1>
<2>
1
0
x
y
p3665 = 2
Sensor type KTY
[9886.8]
A34920 fault, temperature sensor
alarm value 2
alarm value 1
x y
1630 Ohm
30 Ohm
&
&
alarm value 2
p4099[0] (4000.00 s)
x y
x y
p3665 = 1
sensor type PTC
[9886.8]
&
<3> Can only be used in conjunction with the Chasis Active Line Modules.
<3>
Basic Operator Panel 20 (BOP20)
Function diagrams
2.35 Basic Operator Panel 20 (BOP20)
Function diagrams
9912 Control word BOP20 interconnection 2-1200
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2
0

(
B
O
P
2
0
)
2
-
1
2
0
0

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G

2
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6

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6

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-
2
5
2
9
9
1
2

C
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t
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w
o
r
d

B
O
P
2
0

i
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- 9912 -
Function diagram
8 7 6 5 4 3 2 1
SINAMICS S 09.03.06 V02.04.00 Basic Operator Panel 20 (BOP20) control word BOP20 interconnection
STW BOP.0
STW BOP.1
STW BOP.2
STW BOP.3
STW BOP.4
STW BOP.5
STW BOP.6
STW BOP.8
STW BOP.9
STW BOP.11
STW BOP.12
STW BOP.13
STW BOP.14
STW BOP.15
STW BOP.7
STW BOP.10
p0848[0] = r0019.2
-
-
-
-
p2102[0] = r0019.7
-
-
-
-
-
p1035[0] = r0019.13
p1036[0] = r0019.14
-
p0840[0] = r0019.0
p0844[0] = r0019.1
1 = On
0 = OFF (OFF1)
1 = No coast down
0 = Coast down (OFF2)
1 = No fast stop
0 = Fast stop (OFF3)
= Acknowledge fault
Reserved
Reserved
Reserved
1 = Motorized potentiometer, raise
Reserved
1 = Motorized potentiometer, lower
Interconnection STW BOP (r0019)
Signal
Interconnection
parameters
Meaning
Refer to [1020.7]
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
<1>
<1> The BICO interconnection represents an example that can be be changed by customers.
Faults and alarms 3
Contents
3.1 Overview of faults and alarms 3-1202
3.2 List of faults and alarms 3-1211
Faults and alarms
Overview of faults and alarms
3.1 Overview of faults and alarms
3.1.1 General information about faults and alarms
Displaying faults/alarms
If a fault occurs, the drive indicates the fault and/or alarm.
The following methods for displaying faults and alarms are available:
Display via the fault and alarm buffer with PROFIBUS.
Display online via the commissioning software.
Differences between faults and alarms
The differences between faults and alarms are as follows:
Table 3-1 Differences between faults and alarms
Type Description
Faults What happens when a fault occurs?
The appropriate fault reaction is triggered.
Status signal ZSW1.3 is set.
The fault is entered in the fault buffer.
How are faults eliminated?
Remove the original cause of the fault.
Acknowledge the fault.
Alarms What happens when an alarm occurs?
Status signal ZSW1.7 is set.
The alarm is entered in the alarm buffer.
How are alarms eliminated?
Alarms acknowledge themselves. If the cause of the alarm is no
longer present, then they automatically reset themselves.
Faults and alarms
Fault responses
The following fault responses are defined:
Table 3-2 Fault responses
List PROFI-
drive
Reaction Description
NONE - None No response when a fault occurs.
OFF1 ON/
OFF
Brake along the
ramp generator
deceleration
ramp followed by
pulse disable
Closed-loop speed control (p1300 = 20, 21)
n_set = 0 is input immediately to brake the drive along
the deceleration ramp (p1121).
When zero speed is detected, the motor holding brake
(if parameterized) is closed (p1215). The pulses are
suppressed when the brake application time (p1217)
expires.
Zero speed is detected if the actual speed drops below
the threshold in p1226 or if the monitoring time (p1227)
started when speed setpoint <= speed threshold (p1226)
has expired.
Closed-loop torque control (p1300 = 23)
The following applies to closed-loop torque control
mode:
Reaction as for OFF2.
When changing over to closed-loop control using p1501,
the following applies:
There is no dedicated braking response.
If the actual speed drops below the speed threshold
(p1226), or the timer stage (p1277) has expired, the
motor holding brake (if parameterized) is closed. The
pulses are suppressed when the brake application time
(p1217) expires.
OFF2 COAST
STOP
Internal/external
pulse disable
Closed-loop speed and torque control
Instantaneous pulse suppression, the drive "coasts" to a
standstill.
The motor holding brake (if one is being used) is closed
immediately.
Power-on disable is activated.
Faults and alarms
OFF3 QUICK
STOP
Brake along the
OFF3 decelera-
tion ramp fol-
lowed by pulse
disable
Closed-loop speed control (p1300 = 20, 21)
n_set=0 is input immediately to brake the drive along the
OFF3 deceleration ramp (p1135).
When zero speed is detected, the motor holding brake
(if parameterized) is closed. The pulses are suppressed
when the brake application time (p1217) expires.
Zero speed is detected if the actual speed drops below
the threshold in p1226 or if the monitoring time (p1227)
started when speed setpoint <= speed threshold (p1226)
has expired.
Power-on disable is activated.
Closed-loop torque control (p1300 = 23)
Switchover to speed-controlled operation and other
reactions as described for speed-controlled operation.
STOP1 - - In preparation
STOP2 - n_set = 0 n_set=0 is input immediately to brake the drive along the
OFF3 deceleration ramp (p1135).
The drive remains in closed-loop speed control mode.
DCBRAKE - - In preparation
ENCODER - Internal/external
pulse disable
(p0491)
The fault reaction ENCODER is applied as a function of
the setting in p0491.
Factory setting:
p0491 = 0 --> Encoder fault causes OFF2
Table 3-2 Fault responses, continued
List PROFI-
drive
Reaction Description
Faults and alarms
Acknowledgement of faults
The list of faults and alarms specifies how to acknowledge each fault after the
cause has been remedied.
Table 3-3 Acknowledgement of faults
Acknowledge-
ment
Description
POWER ON The fault is acknowledged by a POWER ON process (switch drive unit off and on again).
Note:
If this action has not eliminated the fault cause, the fault is displayed again immediately
after power up.
IMMEDIATELY Faults can be acknowledged at an individual drive object (Points 1 to 3) or at all drive
objects (point 4) as follows:
1 Acknowledge by setting parameter:
p3981 = 0 --> 1
2 Acknowledge via binector inputs:
p2103
p2104
p2105
BI: 1. Acknowledge faults
3 Acknowledge using PROFIBUS control signal:
STW1.7 = 0 --> 1 (edge)
4 Acknowledging all faults
p2102 BI: Acknowledging all faults
All of the faults at all of the drive objects of the drive system can be acknowledged
using this binector input.
Note:
These faults can also be acknowledged by a POWER ON operation.
If this action has not eliminated the fault cause, the fault is displayed again immedi-
ately after power up.
Safety Integrated faults
The "Safe Stop" (SH) function must be deselected before these faults are acknowl-
edged.
PULSE INHIBIT The fault can only be acknowledged when the pulses are inhibited (r0899.11 = 0).
To acknowledge, the same possibilities exist as described under IMMEDIATE
acknowledgement.
Faults and alarms
Save fault buffer on POWER OFF
The contents of the fault buffer are saved to non-volatile storage when the Control
Unit 320 (CU320) is powered down, i.e. the fault buffer history is still available
when the unit is powered up again.
The fault buffer of a drive object comprises the following parameters:
r0945[0...63], r0947[0...63], r0948[0...63], r0949[0...63]
r2109[0...63], r2130[0...63], r2133[0...63], r2136[0...63]
The fault buffer contents can be deleted manually as follows:
Delete fault buffer for all drive objects:
p2147 = 1 --> p2147 = 0 is automatically set after execution.
Delete fault buffer for a specific drive object:
p0952 = 0 --> The parameter belongs to the specified drive object.
The fault buffer contents are automatically deleted in response to the following
events:
Restore factory setting (p0009 = 30 and p0976 = 1).
Download with modified structure (e.g. number of drive objects changed).
Power-up after other parameter values have been loaded (e.g. p0976 = 10).
Firmware release upgrade.
Note:
Prerequisites:
Firmware with version V2.2 or later.
Control Unit 320 (CU320) with hardware version C or higher.
The hardware version is shown on the rating plate or can be displayed online
with the commissioning software (in Project Navigator under "Drive Unit" -->
Configuration --> Version Overview).
If these conditions are not fulfilled, the contents of the fault buffer are deleted on
every POWER ON.
Faults and alarms
3.1.2 Explanation of the list of faults and alarms
The data in the following example has been chosen at random. A description can
contain the information listed below. Some of the information is optional.
The list of faults and alarms (see Section 3.2) has the following layout:
Axxxxx Alarm xxxxx
Axxxxx (F, N) Alarm xxxxx (message type can be changed to F or N)
Fxxxxx Fault xxxxx
Fxxxxx (A, N) Fault xxxxx (report type can be changed to A or N)
Nxxxxx No message
Nxxxxx (A) No message (message type can be changed to A)
Cxxxxx Safety message (separate message buffer)
A report comprises a letter followed by the relevant number.
The meaning of the letters is as follows:
A means "Alarm"
F means "Fault"
N means "No Report" or "Internal Report"
C means "Safety message"
The optional brackets indicate whether the type specified for this report can be
changed and which report types can be adjusted via parameter (p2118, p2119).
Information about reaction and acknowledgement are specified independently for
a report with adjustable report type (e.g. reaction to F, acknowledgement for F).
- - - - - - - - - - - - - - - - - - - - - - - - - Start of example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Axxxxx (F, N) Fault location (optional): Name
Reaction: NONE
Acknowledge-
ment:
NONE
Cause: Description of possible causes.
Fault value (r0949, interpret format): or alarm value (r2124, interpret format): (optional)
Information about fault or alarm values (optional).
Remedy: Description of possible remedies.
Reaction to F: A_INFEED: OFF2 (OFF1, NONE)
SERVO: NONE (OFF1, OFF2, OFF3)
VECTOR: NONE (OFF1, OFF2, OFF3)
Acknowledge-
ment for F:
IMMEDIATELY (POWER ON)
Reaction to N: NONE
Acknowledge-
ment for N:
NONE
Faults and alarms
Fault location (optional): Name
The fault location (optional), the name of the fault or alarm and the report number
all serve to identify the report (e.g. with the commissioning software).
Reaction: Default fault reaction (adjustable fault reaction)
Specifies the default reaction in the event of a fault.
The optional brackets indicate whether the default fault reaction can be changed
and which fault reactions can be adjusted via parameter (p2100, p2101).
Note:
See Subsection 3.1.1
Acknowledgement: Default acknowledgement (adjustable acknowledgement)
Specifies the default method of fault acknowledgement after the cause has been
eliminated.
The optional brackets indicate whether the default acknowledgement can be
changed and which acknowledgement can be adjusted via parameter (p2126,
p2127).
Note:
See Subsection 3.1.1
Cause:
Description of the possible causes of the fault/alarm A fault or alarm value is also
specified as an option.
Fault value (r0949, format):
The fault value is entered in the fault buffer in r0949[0...63] and specifies addi-
tional, precise information about a fault.
Alarm value (r2124, format):
The alarm value specifies additional, precise information about an alarm.
Note:
You can change the default properties of a fault or alarm by setting parameters.
"Diagnosis" section
The list of faults and alarms (see Section 3.2) provide information referred to the
properties of a message/report that have been set as standard. If the properties
of a specific message/report are changed, then the appropriate information may
have to be modified in this list.
Faults and alarms
The alarm value is entered in the alarm buffer in r2124[0...7] and specifies addi-
tional, precise information about an alarm.
Remedy:
Description of the potential methods for eliminating the cause of the active fault
or alarm.
Warning
In individual cases, the servicing and maintenance personnel are responsible for
choosing a suitable method for eliminating the cause of faults.
Faults and alarms
3.1.3 Numerical ranges of faults and alarms
Faults and alarms are organized into the following numerical ranges:
Table 3-4 Numerical ranges of faults and alarms
from to Section
1000 2999 Control Unit
3000 4999 Reserved
5000 5999 Power unit
6000 6999 Infeed
7000 7999 Drives
8000 8999 Option Board
9000 29999 Reserved
30000 30999 DRIVE-CLiQ component power section
31000 31999 DRIVE-CLiQ component encoder 1
34000 34999 Reserved
35000 35999 Terminal Module 31 (TM31)
50000 50399 Communication Board (COMM BOARD)
List of faults and alarms
Faults and alarms
3.2 List of faults and alarms
Product: SINAMICS S, Version: 2402300, Language: eng
F01000 Internal software error
Reaction: OFF2
Acknowledge: POWER ON
Cause: An internal software error has occurred.
Fault value (r0949, interpret hexadecimal):
Remedy: - carry-out a POWER ON (power off/on) for all components.
- upgrade the firmware release.
- contact the Hotline.
- replace the Control Unit.
Reaction: OFF2
Reaction: OFF2
F01003 Acknowledgment delay when accessing the memory
Reaction: OFF2
Cause: A memory area was accessed that does not return a "READY".
Faults and alarms
F01005 Firmware download DRIVE-CLiQ component unsuccessful
Reaction: NONE
Acknowledge: IMMEDIATELY
Cause: Firmware was not able to be downloaded into a DRIVE-CLiQ component.
Fault value (r0949):
xxyyyy hex: xx = component number, yyyy = cause of the fault.
Cause of the fault (decimal):
011: DRIVE-CLiQ component has detected a checksum error.
015: The selected DRIVE-CLiQ component did not accept the contents of the firmware file.
101: After several communication attempts, not response from the DRIVE-CLiQ component.
140: Firmware file for the DRIVE-CLiQ component not available on the CompactFlash card.
143: Component is not changed in the firmware download mode.
156: Component with the specified component number is not available (p7828).
Additional values:
Remedy: - check the selected component number (p7828).
- check the DRIVE-CLiQ connection.
- save suitable firmware file for download in the directory /siemens/sinamics/code/sac/.
- after POWER ON has been carried-out again for the DRIVE-CLiQ component, download the firmware again.
A01006 Firmware update DRIVE-CLiQ component required
Reaction: NONE
Acknowledge: NONE
Cause: The firmware of a DRIVE CLiQ component must be updated as there is no suitable firmware or firmware version in
the component for operation with the Control Unit.
Alarm value (r2124, decimal):
Component number of the DRIVE-CLiQ component.
Remedy: Firmware update using the commissioning software:
The firmware version of all of the components on the "version overview" page can be read in the Project Navigator
under "Configuration" of the associated drive unit and an appropriate firmware update can be carried-out.
Firmware update via parameter:
- take the component number from the alarm value and enter into p7828.
- start the firmware download with p7829 = 1.
A01007 POWER ON DRIVE-CLiQ component required
Reaction: NONE
Acknowledge: NONE
Cause: A DRIVE-CLiQ component must be powered-up again (POWER ON) as, for example, the firmware was updated.
Component number of the DRIVE-CLiQ component.
Remedy: Switch-out the power supply of the specified DRIVE-CLiQ component and switch-in again.
F01010 Drive type unknown
Reaction: NONE
Cause: An unknown drive type was found.
Fault value (r0949, decimal):
Drive object type (refer to p0101, p0107).
Faults and alarms
Reaction: OFF2
A01016 (F) CompactFlash card changed
Reaction: NONE
Acknowledge: NONE
Cause: On the CompactFlash card, at least one file in the directory /SIEMENS/SINAMICS/ has been illegally changed with
respect to that supplied from the factory. No changes are permitted in this directory.
0: Checksum of one file is incorrect.
1: File missing.
2: Too many files.
3: Incorrect firmware version.
4: Incorrect checksum of the back-up file.
See also: r9925 (CompactFlash card file error)
Remedy: For the CompactFlash card, restore the status when originally supplied from the factory.
Note:
The file involved can be read-out using parameter r9925.
See also: r9926 (CompactFlash card check status)
Reaction upon F: OFF2
Acknowledge
upon F:
POWER ON
A01017 Component lists changed
Reaction: NONE
Acknowledge: NONE
Cause: On the CompactFlash card, one file in the directory /SIEMENS/SINAMICS/DATA or /ADDON/SINAMICS/DATA has
been illegally changed with respect to that supplied from the factory. No changes are permitted in this directory.
The problem is indicated in the first digit of the alarm value:
1: File does not exist.
2: Firmware version of the file does not match-up with the software version.
3: The file checksum is incorrect.
The second digit of the alarm value indicates in which directory the file is located:
0: Directory /SIEMENS/SINAMICS/DATA/
1: Directory /ADDON/SINAMICS/DATA/
The third digit of the alarm value indicates the file:
0: File MOTARM.ACX
1: File MOTSRM.ACX
2: File MOTSLM.ACX
3: File ENCDATA.ACX
4: File FILTDATA.ACX
5: File BRKDATA.ACX
Remedy: For the CompactFlash card file involved, restore the status when originally supplied from the factory.
Faults and alarms
F01030 Monitoring, master control: Sign of life failure PC
Reaction: OFF1
Cause: For active PC master control, no sign-of-life was received within the monitoring time.
The master control was returned to the active BICO interconnection.
Remedy: Set the monitoring time higher at the PC/AOP or disable completely.
Notice:
The monitoring time should be set as short as possible. A long monitoring time means a late response when the
communications fail!
The monitoring time is set in milliseconds.
- in the AOP using the Main menu -> Settings -> Control settings -> Timeout monitoring
- In STARTER using <Drive> -> Commissioning -> Control panel -> Button "Fetch master control" -> a window is
displayed in which the monitoring time can be set.
F01033 Units changeover: Reference parameter value invalid
Reaction: NONE
Cause: When changing over the units into the referred representation type, it is not permissible that any of the reference
parameters required are equal to 0.0
Fault value (r0949, parameter):
Reference parameter, whose value is 0.0.
See also: p0349 (Selects system of units, motor equivalent circuit diagram data), p0505 (Selecting the system of
units), p0595 (Selecting technological units)
Remedy: Set the value of the reference parameter to a number different than 0.0.
See also: p0304 (Rated motor voltage), p0305 (Rated motor current), p0310 (Rated motor frequency), p0596 (Ref-
erence quantity, technological units), p2000 (Reference frequency), p2001 (Reference voltage), p2002 (Reference
current), p2003 (Reference torque), r2004 (Reference power)
F01034 Units changeover: Calculation parameter values after reference value change unsuc-
cessful
Reaction: NONE
Cause: The change of a reference parameter meant that for a parameter involved, the selected value was not able to be
recalculated in the per unit notation. The change was rejected, the original parameter values were restored.
Parameter, whose value was not able to be re-calculated.
Remedy: Select the value of the reference parameters so that the parameter involved can be calculated in the per unit notation.
A01035 (F) ACX: Boot from the back-up parameter back-up files
Reaction: NONE
Acknowledge: NONE
Cause: When the Control Unit booted, no complete data set was found from the parameter back-up files. The last time that
the parameterization was saved, it was not completely carried-out. Instead, a back-up data set or a back-up param-
eter back-up file is downloaded.
Alarm value (r2124, interpret hexadecimal):
Remedy: If you saved the project in the commissioning software, download your project again and save using the function
"Copy RAM to ROM" or with p0977 = 1. This means that all of the parameter files are again completely written into
the CompactFlash card.
Faults and alarms
Reaction upon F: A_INFEED: NONE (OFF2)
Acknowledge
upon F:
IMMEDIATELY
F01036 (A) ACX: Parameter back-up file missing
Reaction: A_INFEED: NONE (OFF2)
Cause: When downloading the device parameterization, a parameter back-up file associated with a drive object cannot be
found. Neither a PSxxxyyy.ACX, a PSxxxyyy.NEW nor a PSxxxyyy.BAK parameter back-up file exists on the Com-
pactFlash card for this drive object.
Byte 1: yyy in the file name PSxxxyyy.ACX
yyy = 000 --> consistency back-up file
yyy = 001 ... 062 --> drive object number
yyy = 099 --> PROFIBUS parameter back-up file
Byte 2, 3, 4:
Remedy: If you have saved your project data using the commissioning software, carry-out a new download for your project.
Save using the function "Copy RAM to ROM" or with p0977 = 1 so that all of the parameter files are again completely
written into the CompactFlash card.
If you have not saved the project data, then the system must be again commissioned for the first time.
Reaction upon A: NONE
Acknowledge
upon A:
NONE
F01037 (A) ACX: Re-naming the parameter back-up file not successful
Cause: The re-naming after saving a parameter back-up file on the CompactFlash card or in the volatile memory was unsuc-
cessful.
One of the parameter back-up files to be re-named had the "read only" attribute. The parameter back-up files are
saved on the CompactFlash card in the directory \USER\SINAMICS\DATA.
It is possible that the CompactFlash card is defective.
Byte1: yyy in file names PSxxxyyy.* or CAxxxyyy.* or CCxxxyyy.*
yyy = 099 --> PROFIBUS parameter back-up file PSxxx099.*
Byte 2: xxx in the file name PSxxxyyy.*
xxx = 000 --> data save started with p0977 = 1
Byte 4, 3:
Remedy: - check whether one of the files to be overwritten has the attribute "read only" and change this file attribute into "writ-
able". Check all of the files (PSxxxyyy.*, CCxxxyyy.*, CAxxxyyy.*) that belong to drive yyy designated in the fault
value.
- replace the CompactFlash card.
Acknowledge
upon A:
NONE
Faults and alarms
F01038 (A) ACX: Loading the parameter back-up file not successful
Cause: An error occurred when loading PSxxxyyy.ACX or PTxxxyyy.ACX files from the CompactFlash card or from the vol-
atile memory of the Control Unit.
Byte 1: yyy in the file name PSxxxyyy.ACX
Byte 4, 3, 2:
Remedy: - if you have saved your project data using the commissioning software, carry-out a new download for your project.
Save using the function "Copy RAM to ROM" or with p0977 = 1 so that all of the parameter files are again completely
written into the CompactFlash card.
Acknowledge
upon A:
NONE
F01039 (A) ACX: Writing to the parameter back-up file was unsuccessful
Cause: Writing to at least one parameter-back-up file PSxxxyyy.NEW on the CompactFlash card was unsuccessful.
- on the CompactFlash card in the directory /USER/SINAMICS/DATA/ at least one parameter back-up file has the
"read only" file attribute and cannot be overwritten.
- there is not sufficient free memory space on the CompactFlash card.
- the CompactFlash card is defective and cannot be written to.
Byte 1: yyy in the file name PSxxxyyy.NEW
Byte 2: xxx in the file name PSxxxyyy.NEW
Byte 4, 3:
Remedy: - check the file attribute of the files (PSxxxyyy.*, CAxxxyyy.*, CCxxxyyy.*) and, if required, change from "read only"
to "writeable".
- check the free memory space on the CompactFlash card. Approx. 40 kbyte of free memory space is required for
every drive object in the system.
Acknowledge
upon A:
NONE
Faults and alarms
F01040 Save parameter settings and carry-out a POWER ON
Reaction: OFF2
Cause: A parameter was changed in the drive system that means that it is necessary to save the parameters and re-boot
(e.g. p0110).
Remedy: - save the parameters (p0971/p0977).
- carry-out a POWER ON (power off/on) for all components.
F01041 Parameter save necessary
Reaction: NONE
Cause: Defective or missing files were detected on the CompactFlash card when booting.
-1: Source file cannot be opened.
-2: Source file cannot be read.
-3: Target directory cannot be set-up.
-4: Target file cannot be set-up/opened.
-5: Target file cannot be written into.
Additional values:
Remedy: - save the parameters (p0977).
- download the project again into the drive unit.
F01042 Parameter error during project download
Reaction: A_INFEED: OFF2 (NONE, OFF1)
SERVO: OFF2 (NONE, OFF1, OFF3)
VECTOR: OFF2 (NONE, OFF1, OFF3)
Cause: An error was detected when downloading a project using the commissioning (start-up) software (e.g. incorrect
parameter value).
For the specified parameter, it was detected that dynamic limits were exceeded that could possibly depend on other
parameters.
Low word: Parameter number (16 bits without sign)
Byte 3: Parameter index
Byte 4: Error ID
0: Parameter number illegal.
1: Parameter value cannot be changed.
2: Lower or upper value limit exceeded.
3: Sub-index incorrect.
4: No array, no sub-index.
5: Data type incorrect.
6: Setting not permitted (only resetting).
7: Descriptive element cannot be changed.
9: Descriptive data not available.
11: No master control.
15: No text array present.
17: Task cannot be executed due to operating status.
20: Illegal value.
21: Response too long.
22: Parameter address illegal.
23: Format illegal.
24: Number of values not consistent.
25: Drive object does not exist.
101: Presently de-activated.
104: Illegal value.
107: Write access not permitted when controller enabled.
108: Units unknown.
109: Write access only in the commissioning state, encoder (p0010 = 4).
Faults and alarms
110: Write access only in the commissioning state, motor (p0010 = 3).
111: Write access only in the commissioning state, power unit (p0010 = 2).
112: Write access only in the quick commissioning mode (p0010 = 1).
113: Write access only in the ready mode (p0010 = 0).
114: Write access only in the commissioning state, parameter reset (p0010 = 30).
115: Write access only in the Safety Integrated commissioning state (p0010 = 95).
116: Write access only in the commissioning state, technological application/units (p0010 = 5).
117: Write access only in the commissioning state (p0010 not equal to 0).
118: Write access only in the commissioning state, download (p0010 = 29).
119: Parameter may not be written into in download.
120: Write access only in the commissioning state drive basis configuration (device: p0009 = 3).
121: Write access only in the commissioning state define drive type (device: p0009 = 2).
122: Write access only in the commissioning state data set basis configuration (device: p0009 = 4).
123: Write access only in the commissioning state device configuration (device: p0009 = 1).
124: Write access only in the commissioning state device download (device: p0009 = 29).
125: Write access only in the commissioning state device parameter reset (device: p0009 = 30).
126: Write access only in the commissioning state device ready (device: p0009 = 0).
127: Write access only in the commissioning state device (device: p0009 not equal to 0).
129: Parameter may not be written into in download.
130: Transfer of the master control is inhibited via BI: p0806.
131: Required BICO interconnection not possible, because BICO output does not supply floating value
132: Free BICO interconnection inhibited via p0922.
133: Access method not defined.
200: Below the valid values.
201: Above the valid values.
202: Cannot be accessed from the Basic Operator Panel (BOP).
203: Cannot be read from the Basic Operator Panel (BOP).
204: Write access not permitted.
Remedy: - enter the correct value into the specified parameter.
- identify the parameter that narrows (restricts) the limits of the specified parameter.
F01043 Fatal error when downloading a project
Reaction: A_INFEED: OFF2 (OFF1)
SERVO: OFF2 (OFF1, OFF3)
VECTOR: OFF2 (OFF1, OFF3)
Cause: A fatal error was detected when downloading a project using the commissioning (start-up) software.
1: Device status cannot be changed to Device Download (drive object ON?).
2: Drive object ID incorrect
3: A drive object that has already been deleted is deleted again.
4: Deletes drive object that has already been registered for generation.
5: Deletes a drive object that no longer exists.
6: Generating an undeleted drive object that already existed.
7: Regeneration of a drive object already registered for generation.
8: Maximum number of drive objects that can be generated exceeded.
9: Error while generating a device drive object.
10: Error while generating target topology parameters (p9902 and p9903).
11: Error when generating a drive object (global component).
12: Error when generating a drive object (drive component).
13: Unknown drive object type.
14: Drive status cannot be changed to Ready (p0947 and p0949).
15: Drive status cannot be changed to Drive Download.
16: Device status cannot be changed to Ready.
17: It is not possible to download the topology. The component wiring should be checked, taking into account the
various messages/signals.
18: A new download is only possible if the factory settings are re-established for the drive unit.
19: The slot for the option module has been configured several times (e.g. CAN and COMM BOARD)
20: The configuration is inconsistent (e.g. CAN for Control Unit, however no CAN configured for drive objects - Active
Line Module, servo or vector).
Faults and alarms
Remedy: - use the actual version of the commissioning software.
- modify the offline project and carry-out a new download (e.g. compare the number of drive objects, motor, encoder,
power unit in the offline project and at the drive).
- change the drive system (is a drive rotating or is there a message/signal?).
- carefully note any other messages/signals and remove their cause.
F01044 CU CompactFlash: Message incorrectly written
Reaction: OFF2
Cause: An error was detected when loading the message descriptions (FDxxxyyy.ACX) saved on the CompactFlash card.
Remedy: Replace the CompactFlash card.
A01045 CU CompactFlash: Configuring data invalid
Reaction: NONE
Acknowledge: NONE
Cause: An invalid data type was detected when evaluating parameter files PSxxxyyy.ACX, PTxxxyyy.ACX, CAxxxyyy.ACX
or CCxxxyyy.ACX, saved on the CompactFlash card.
Remedy: Restore the factory setting using (p0976 = 1) and re-load the project into the drive unit. Operation without any restric-
tions is then possible.
After downloading the project, save the parameterization in STARTER using the function "Copy RAM to ROM" or
with p0977 = 1. This means that the incorrect parameter files are overwritten on the CompactFlash card.
A01046 (F) CU CompactFlash: Configuring data invalid
Reaction: NONE
Acknowledge: NONE
Cause: An invalid data type was detected when evaluating the parameter files PSxxxyyy.ACX, PTxxxyyy.ACX, CAxxx-
yyy.ACX or CCxxxyyy.ACX saved on the CompactFlash card.
with p0977 = 1 so that the incorrect parameter files are overwritten on the CompactFlash card.
Acknowledge
upon F:
IMMEDIATELY
A01047 (F) ACX: Write to parameter error
Reaction: NONE
Acknowledge: NONE
Cause: When evaluating the parameters files PSxxxyyy.ACX, PTxxxyyy.ACX, CAxxxyyy.ACX or CCxxxyyy.ACX, saved on
the CompactFlash card, a parameter value was not able to be transferred into the Control Unit memory.
with p0977 = 1. This means that the incorrect parameter files are overwritten on the CompactFlash card.
Acknowledge
upon F:
IMMEDIATELY
Faults and alarms
A01049 CU CompactFlash: It is not possible write to file
Reaction: NONE
Acknowledge: NONE
Cause: It is not possible to write into a write-protective file (PSxxxxxx.acx). The write request was interrupted.
Drive object number.
Remedy: Check whether the write-protected attribute has been set for the files on the CompactFlash card under
.../USER/SINAMICS/DATA/... When required, remove write protection and save again (e.g. set p0971 to 1).
F01050 CompactFlash card and device not compatible
Cause: The CompactFlash card and the device type do not match (e.g. a CompactFlash card for SINAMICS S is inserted in
SINAMICS G).
Remedy: - insert the matching CompactFlash card
- use the matching Control Unit or power unit.
F01051 Drive object type is not available
Reaction: NONE
Cause: The drive object type in conjunction with the selected application-specific perspective is not available. The required
descriptive file (PDxxxyyy.ACX) does not exist on the CompactFlash card.
Index of p0103 and p0107.
See also: p0103 (Application-specific view), r0103 (Application-specific view), p0107 (Drive object type), r0107
(Drive object type)
Remedy: - for this drive object type (p0107), select a valid application-specific perspective (p0103).
- save the required descriptive file (PDxxxyyy.ACX) on the CompactFlash card.
See also: p0103 (Application-specific view), r0103 (Application-specific view), p0107 (Drive object type), r0107
(Drive object type)
A01052 CU: System overload calculated for the complete target topology
Reaction: NONE
Acknowledge: NONE
Cause: A system overload was calculated based on a complete active target topology.
2: Computation time load too high.
6: Cyclic computation time load too high.
Remedy: - reduce the sampling time.
- only use one data set (CDS, DDS).
- de-activate the function module.
- de-activate the drive object.
- remove the drive object from the target topology.
Note:
After executing the appropriate counter-measure, a new calculation must be initiated with p9974 = 1.
A01053 CU: System overload measured
Reaction: NONE
Acknowledge: NONE
Cause: A system overload was determined based on measured values.
2: Computation time load too high.
6: Cyclic computation time load too high.
See also: r9976 (System load)
Faults and alarms
Remedy: - reduce the sampling time.
- only use one data set (CDS, DDS).
- de-activate the function module.
- de-activate the drive object.
- remove the drive object from the target topology.
A01054 Parameter save necessary
Reaction: NONE
Acknowledge: NONE
Cause:
Remedy:
A01064 Parameter save necessary
Reaction: NONE
Acknowledge: NONE
Cause:
Remedy:
A01065 Drive: Error, inactive encoder
Reaction: NONE
Acknowledge: NONE
Cause: On or several inactive encoders indicate an error.
Remedy: Remove the error for the inactive encoder.
A01099 Tolerance window of the timer synchronization exited
Reaction: NONE
Acknowledge: NONE
Cause: The clock (time) master exited the selected tolerance window for clock synchronization.
See also: p3109 (RTC real time synchronization, tolerance window)
Remedy: Select the re-synchronization interval so that the synchronization deviation between the clock master and drive sys-
tem lies within the tolerance window.
See also: r3108 (RTC last synchronization deviation)
A01100 CU: CompactFlash card withdrawn
Reaction: NONE
Acknowledge: NONE
Cause: The CompactFlash card (non-volatile memory) was withdrawn in operation.
Notice:
It is not permissible that the CompactFlash card is withdrawn or inserted under voltage.
Remedy: - power-down the drive system.
- re-insert the CompactFlash card that was withdrawn - this card must match the drive system.
- power-up the drive system again.
F01105 (A) CU: Insufficient memory
Reaction: OFF1
Acknowledge: IMMEDIATELY (POWER ON)
Cause: Two many functions, data sets or drives configured on this Control Unit.
Remedy: - change the configuration on this Control Unit.
- use an additional Control Unit.
Acknowledge
upon A:
NONE
Faults and alarms
F01107 CU: Save to CompactFlash card unsuccessful
Reaction: NONE
Cause: A data save on the CompactFlash card was not able to be successfully carried-out.
- CompactFlash card is defective.
- CompactFlash card does not have sufficient memory space.
-1: The file on the RAM was not able to be opened.
-2: The file on the RAM was not able to be read.
-3. A new directory was not able to be set-up on the CompactFlash card.
-4: A new file was not able to be set-up on the CompactFlash card.
-5: A new file was not able to be written onto the CompactFlash card.
Remedy: - try to save again.
- use another CompactFlash card.
F01110 CU: More than one SINAMICS G on one Control Unit
Reaction: NONE
Cause: More than one SINAMICS G power unit type is being operated from the Control Unit.
Number of the second drive with a SINAMICS G power unit type.
Remedy: Only one SINAMICS G drive type is permitted.
F01111 CU: SINAMICS S and G together on one Control Unit
Reaction: NONE
Cause: SINAMICS S and G drive units are being operated together on one Control Unit.
Number of the first drive object with a different power unit type.
Remedy: Only power units of one particular drive type may be operated with one CU.
F01112 CU: Power unit not permissible
Reaction: NONE
Cause: The connected power unit cannot be used together with this Control Unit.
1: Power unit is not supported (e.g. PM240).
2: DC/AC power unit connected to CU310 not permissible.
Remedy: Replace the power unit that is not permissible by a component that is permissible.
F01120 (A) Terminal initialization has failed
Reaction: OFF1 (OFF2)
Cause: An internal software error has occurred when initializing the terminal functions on the CU3xx, the TB30 or the TM31.
Acknowledge
upon A:
NONE
Faults and alarms
F01122 (A) Frequency at the measuring probe input too high
Cause: The frequency of the pulses at the measuring probe input is too high.
1: DI/DO 9 (X122.8)
2: DI/DO 10 (X122.10)
4: DI/DO 11 (X122.11)
8: DI/DO 13 (X132.8)
16: DI/DO 14 (X132.10)
32: DI/DO 15 (X132.11)
1001: DI/DO 9 (X122.8) initialization error
Remedy: Reduce the frequency of the pulses at the measuring probe input.
Acknowledge
upon A:
NONE
F01150 CU: Number of instances of a drive object type exceeded
Reaction: NONE
Cause: The maximum permissible number of instances of a drive object type was exceeded.
Byte 1: Drive object type (p0107).
Byte 2: Max. permissible number of instances for this drive object type.
Byte 3: Actual number of instances for this drive object type.
Remedy: - power-down the unit.
- suitably restrict the number of instances of a drive object type by reducing the number of inserted components.
- re-commission the unit.
F01205 CU: Time slice overflow
Reaction: OFF2
Cause: Insufficient processing time is available for the existing topology.
Remedy: - reduce the number of drives.
- increase the sampling times.
F01210 CU: Basic clock cycle selection and DRIVE-CLiQ clock cycles do not match
Reaction: NONE
Cause: The parameter to select the basic clock cycle does not match the drive topology. Drives connected to the same
DRIVE-CLiQ port of the Control Unit have been assigned different basic clock cycles.
The fault value specifies the parameter involved.
See also: r0111 (DRIVE-CLiQ basis sampling time selection)
Remedy: Only those drive objects may be connected to the same DRIVE-CLiQ socket of the Control Unit that should run with
the same basic clock cycle. For example, Active Line Modules and Motor Modules should be inserted at different
DRIVE-CLiQ ports as their basic clock cycles and current controller clock cycles are generally different.
See also: r0111 (DRIVE-CLiQ basis sampling time selection)
Faults and alarms
F01220 CU: Bas clk cyc too low
Reaction: NONE
Cause: The parameter for the basic clock cycle is set too short for the number of connected drives.
See also: r0110 (DRIVE-CLiQ basis sampling times)
Remedy: - increase the basic clock cycle.
- reduce the number of connected drives and start to re-commission the unit.
F01221 CU: Bas clk cyc too low
Reaction: NONE
Cause: The closed-loop control / monitoring cannot maintain the intended clock cycle.
The runtime of the closed-loop control/monitoring is too longer for the particular clock cycle or the computation time
remaining in the system is not sufficient for the closed-loop control/monitoring.
Remedy: Increase the basic clock cycle of DRIVE-CLiQ communications.
See also: p0112 (Sampling times pre-setting p0115)
A01223 CU: Sampling time inconsistent
Reaction: NONE
Acknowledge: NONE
Cause: When changing a sampling time (p0115[0], p0799 or p4099), inconsistency between the clock cycles has been iden-
tified.
1: Value, low minimal value.
2: Value, high maximum value.
3: Value not a multiple of 1.25 s.
4: Value does not match clock cycle synchronous PROFIBUS operation.
5: Value not a multiple of 125 s.
10: Special restriction of the drive object violated.
20: For a SERVO with a 62.5 s sampling time, more than a maximum of two SERVO-type drive objects were
detected on the DRIVE-CLiQ line.
21: Value is not a multiple of the current controller sampling time of a servo or vector drive that is in the system.
30: Value less than 31.25 s.
31: Value less than 62.5 s.
32: Value less than 125 s.
40: Nodes (devices) have been identified on the DRIVE-CLiQ line whose highest common denominator of the sam-
pling times is less than 125 s. Further, none of the nodes (devices) has a sampling tine of less than 125 s.
41: A chassis unit was identified on the DRIVE-CLiQ line. Further, the highest common denominator of the sampling
times of the all of the nodes (devices) connected to the line is less than 250 s.
42: An Active Line Module was identified on the DRIVE-CLiQ line as device. Further, the highest common denomi-
nator of the sampling times of the all of the nodes (devices) connected to the line is less than 125 s.
43: A Voltage Sensing Module (VSM) was identified on the DRIVE-CLiQ line as device. Further, the highest common
denominator of the sampling times of the all of the nodes (devices) connected to the line is not equal to the current
controller sampling time of the drive object of the VSM.
pling times is less than 31.25 s.
pling times is less than 62.5 s.
Faults and alarms
pling times is less than 125 s.
pling times is less than 250 s.
99: Inconsistency identified cross drive objects.
116: Recommended clock cycle in r0116[0...1].
Remedy: - check the DRIVE-CLiQ cables.
- set a valid sampling time.
See also: p0115 (Sampling time for supplementary functions), p0799 (CU inputs/outputs, sampling time), p4099
(TB30 inputs/outputs, sampling time)
A01224 CU: Pulse frequency inconsistent
Reaction: NONE
Acknowledge: NONE
Cause: When changing the minimum pulse frequency (p0113) inconsistency between the pulse frequencies was identified.
1: Value, low minimal value.
2: Value, high maximum value.
3: Resulting sampling time is not a multiple of 1.25 s.
4: Value does not match clock cycle synchronous PROFIBUS operation.
10: Special restriction of the drive object violated.
99: Inconsistency identified cross drive objects.
116: Recommended clock cycle in r0116[0...1].
Remedy: Set a valid pulse frequency.
See also: p0113 (Pulse frequency, minimum selection)
F01250 CU: CU-EEPROM incorrect read-only data
Reaction: NONE (OFF2)
Cause: Error when reading the read-only data of the EEPROM in the Control Unit.
Remedy: - carry-out a POWER ON.
- replace the Control Unit
A01251 CU: CU-EEPROM incorrect read-write data
Reaction: NONE
Acknowledge: NONE
Cause: Error when reading the read-write data of the EEPROM in the Control Unit.
Remedy: For alarm value r2124 < 256, the following applies:
- carry-out a POWER ON.
For alarm value r2124 >= 256, the following applies:
- for the drive object with this alarm, clear the fault memory (p0952 = 0).
- as an alternative, clear the fault memory of all drive objects (p2147 = 1).
F01255 CU: Opt.module EEPROM incorrect read-only data
Cause: Error when reading the read-only data of the EEPROM in the option module.
Faults and alarms
A01256 CU: Opt.module EEPROM incorrect read-write data
Reaction: NONE
Acknowledge: NONE
Cause: Error when reading the read-write data of the EEPROM in the option module.
F01303 DRIVE-CLiQ component does not support the required function
Reaction: OFF2
Cause: A function requested by the Control Unit is not supported by a DRIVE-CLiQ component.
1: The component does not support the de-activation.
101: The Motor Module does not support an internal armature short-circuit.
102: The Motor Module does not support the de-activation.
201: The Encoder Module does not support actual value inversion (p0410.0 = 1) when using a Hall sensor (p0404.6
= 1) for the commutation.
202: The Encoder Module does not support parking/unparking.
203: The Encoder Module does not support the de-activation.
204: The firmware of this Terminal Module 15 (TM15) does not support the application TM15DI/DO.
205: The encoder module does not support the selected temperature evaluation (refer to r0458).
206: The firmware of this Terminal Module 41 refers to an old firmware version.
In order to ensure error-free operation is absolutely necessary that the firmware is upgraded.
Remedy: Upgrade the firmware of the DRIVE-CLiQ component involved.
Re 205:
Adapts parameter p0600 or p0601.
F01305 Topology: Component number missing
Reaction: NONE
Cause: The component number from the topology was not parameterized (p0121 (for power unit, refer to p0107), p0131 (for
servo/vector drives, refer to p0107), p0141, p0151, p0161).
The fault value includes the particular data set number.
The fault also occurs if speed encoders were configured (p0187 ... p0189), however, no component numbers exist
for them.
In this case, the fault value includes the drive data set number plus 100 * encoder number (e.g. 3xx, if a component
number was not entered into p0141 for the third encoder (p0189)).
See also: p0121 (Power unit component number), p0131 (Motor component number), p0141 (Encoder interface
(Sensor Module) component number), p0142 (Encoder component number), p0151 (Voltage Sensing Module com-
ponent number), p0161 (Option board, component number), p0186 (Motor Data Sets (MDS) number), p0187
(Encoder 1 encoder data set number), p0188 (Encoder 2 encoder data set number), p0189 (Encoder 3 encoder data
set number)
Remedy: Enter the missing component number or remove the component and restart commissioning.
See also: p0121 (Power unit component number), p0131 (Motor component number), p0141 (Encoder interface
(Sensor Module) component number), p0142 (Encoder component number), p0151 (Voltage Sensing Module com-
ponent number), p0161 (Option board, component number), p0186 (Motor Data Sets (MDS) number), p0187
(Encoder 1 encoder data set number), p0188 (Encoder 2 encoder data set number), p0189 (Encoder 3 encoder data
set number)
Faults and alarms
A01315 Drive object not ready for operation
Reaction: NONE
Acknowledge: NONE
Cause: For the active drive object involved, at least one activated component is missing.
Note:
All other active and operational drive objects can be in the "RUN" state.
Remedy: The alarm automatically disappears again with the following actions:
- de-activate the drive object involved (p0105 = 0).
- de-activate the components involved (p0125 = 0, p0145 = 0, p0155 = 0, p0165 = 0).
- re-insert the components involved.
See also: p0105 (Activate/de-activate drive object), p0125 (Activate/de-activate power unit components), p0145
(Voltage Sensing Module, activate/de-activate), p0155 (Voltage Sensing Module, activate/de-activate)
A01316 Drive object inactive and again ready for operation
Reaction: NONE
Acknowledge: NONE
Cause: If, when inserting a component of the target topology, an inactive, non-operational drive object becomes operational
again. The associated parameter of the component is, in this case, set to "activate" (p0125, p0145, p0155, p0165).
Note:
This is the only message, that is displayed for a de-activated drive object.
- activate the drive object involved (p0105 = 1).
- again withdraw the components involved.
See also: p0105 (Activate/de-activate drive object)
A01317 De-activated component again present
Reaction: NONE
Acknowledge: NONE
Cause: If a component of the target topology for an active drive object is inserted and the associated parameter of the com-
ponent is set to "de-activate" (p0125, p0145, p0155, p0165).
Note:
This is the only message, that is displayed for a de-activated component.
- activate the components involved (p0125 = 1, p0145 = 1, p0155 = 1, p0165 = 1).
- again withdraw the components involved.
See also: p0125 (Activate/de-activate power unit components), p0145 (Voltage Sensing Module, activate/de-acti-
vate), p0155 (Voltage Sensing Module, activate/de-activate)
A01318 BICO: De-activated interconnections present
Reaction: NONE
Acknowledge: NONE
Cause: This alarm is output:
If an inactive/non-operational drive object is again active/ready for operation
and
r9498[] or r9499[] are not empty
and
the connections listed in r9498[] and r9499 have actually been changed
Remedy: Clear alarm:
Set p9496 to 1 or 2
or
de-activate DO
A01319 Inserted component not initialized
Reaction: NONE
Acknowledge: NONE
Cause: The inserted component has still not been initiated, as the pulses are enabled.
Remedy: Pulse inhibit
Faults and alarms
A01320 Topology: Drive object number does not exist in configuration
Reaction: NONE
Acknowledge: NONE
Cause: A drive object number is missing in p0978
Index of p0101 under which the missing drive object number can be determined.
Remedy: Set p0009 to 1 and change p0978:
Rules:
- p0978 must include all of the drive object numbers (p0101).
- it is not permissible that a drive object number is repeated.
- by entering a 0, the drive objects with PZD are separated from those without PZD.
- only 2 partial lists are permitted. After the second 0, all values must be 0.
- dummy drive object numbers (255) are only permitted in the first partial list.
A01321 Topology: Drive object number does not exist in configuration
Reaction: NONE
Acknowledge: NONE
Cause: p0978 contains a drive object number that does not exist.
Index of p0978 under which the drive object number can be determined.
Rules:
A01322 Topology: Drive object number present twice in configuration
Reaction: NONE
Acknowledge: NONE
Cause: A drive object number is present more than once in p0978.
Index of p0978 under which the involved drive object number is located.
Rules:
A01323 Topology: More than two part lists set-up
Reaction: NONE
Acknowledge: NONE
Cause: Partial lists are available more than twice in p0978. After the second 0, all must be 0.
Index of p0978, under which the illegal value is located.
Rules:
Faults and alarms
A01324 Topology: Dummy drive object number incorrectly set-up
Reaction: NONE
Acknowledge: NONE
Cause: In p0978, dummy drive object numbers (255) are only permitted in the first partial list.
Index of p0978, under which the illegal value is located.
Rules:
A01330 Topology: Quick commissioning not possible
Reaction: NONE
Acknowledge: NONE
Cause: Unable to carry-out a quick commissioning. The existing actual topology does not fulfill the requirements.
The cause is in byte 1 supplementary information is included in byte 2 and the high word.
Byte 1 = 1:
For a component, illegal connections were detected.
- Byte 2 = 1: For a Motor Module, more than one motor with DRIVE-CLIQ was detected.
- Byte 2 = 2: For a motor with DRIVE-CLiQ, the DRIVE-CLiQ cable is not connected to a Motor Module.
- high word = preliminary component number of the component with illegal connection.
Byte 1 = 2:
The topology contains too many components of a particular type.
- Byte 2 = 1: There is more than one Master Control Unit.
- Byte 2 = 2: There is more than 1 infeed (8 for a parallel circuit configuration).
- Byte 2 = 3: There are more than 10 Motor Modules (8 for a parallel circuit configuration).
- Byte 2 = 4: There are more than 9 encoders.
- Byte 2 = 5: There are more than 8 Terminal Modules.
- Byte 2 = 7: Unknown component type.
- Byte 2 = 8: There are more than 6 drive slaves.
- Byte 2 = 9: Connection of a drive slave not permitted.
- Byte 2 = 10: There is no Drive Master.
- Byte 2 = 11: There is more than one motor with DRIVE-CLiQ for a parallel circuit.
- high word = not used.
Byte 1 = 3:
More than 16 components are connected at a DRIVE-CLiQ socket of the Control Unit.
- byte 2 = 0, 1, 2, 3 means e.g. detected at the DRIVE-CLiQ socket X100, X101, X102, X103.
Byte 1 = 4:
The number of components connected one after the other is greater than 125.
- byte 2 = not used.
- high word = preliminary component number of the first component and component that resulted in the fault.
Byte 1 = 5:
The component is not permissible for SERVO.
- Byte 2 = 1: SINAMICS G is being used.
- Byte 2 = 2: Chassis is being used.
- high word = preliminary component number of the first component and component that resulted in the fault.
Byte 1 = 6:
For a component, illegal EEPROM data was detected. These must be corrected before the system continues to boot.
- Byte 2 = 1: The Order No. [MLFB] of the power unit that was replaced includes a space retainer. The space retainer
(*) must be replaced by a correct character.
- high word = preliminary component number of the component with illegal EEPROM data.
Byte 1 = 7:
Faults and alarms
The actual topology contains an illegal combination of components.
- Byte 2 = 1: Active Line Module (ALM) and Basic Line Module (BLM).
- Byte 2 = 2: Active Line Module (ALM) and Smart Line Module (SLM).
- Byte 2 = 3: SIMOTION control (e.g. SIMOTION D445) and SINUMERIK component (e.g. NX15).
- Byte 2 = 4: SINUMERIK control (e.g. SINUMERIK 730.net) and SIMOTION component (e.g. CX32).
Note:
Connection type and connection number are described in F01375.
See also: p0097 (Select drive object type), r0098 (Actual device topology), p0099 (Device target topology)
Remedy: - adapt the output topology to the permissible requirements.
- carry-out commissioning using the commissioning software.
- for motors with DRIVE-CLiQ, connect the power and DRIVE-CLiQ cable to the same Motor Module (Single Motor
Module: DRIVE-CLiQ at X202, Double Motor Module: DRIVE-CLiQ from motor 1 (X1) to X202, from motor 2 (X2) to
X203).
Re byte 1 = 6 and byte 2 = 1:
Correct the order number when commissioning using the commissioning software.
See also: p0097 (Select drive object type), r0098 (Actual device topology), p0099 (Device target topology)
A01331 Topology: At least one component not assigned to a drive object
Reaction: NONE
Acknowledge: NONE
Cause: At least one component is not assigned to a drive object.
- when commissioning, a component was not able to be automatically assigned to a drive object.
- the parameters for the data sets are not correctly set.
Component number of the unassigned component.
Remedy: This component is assigned to a drive object.
Check the parameters for the data sets.
Examples:
- power unit (p0121).
- motor (p0131, p0186).
- encoder interface (p0140, p0141, p0187 ... p0189).
- encoder (p0140, p0142, p0187 ... p0189).
- Terminal Module (p0151).
- option board (p0161).
F01340 Topology: Too many components on one line
Reaction: NONE
Cause: For the selected communications clock cycle, too many DRIVE-CLiQ components are connected to one line of the
Control Unit.
xyy hex: x = fault cause, yy = component number or connection number.
1yy: The communications clock cycle of the DRIVE-CLiQ connection on the CU is not sufficient for all read transfers.
2yy: The communications clock cycle of the DRIVE-CLiQ connection on the CU is not sufficient for all write transfers.
3yy: Cyclic communications is fully utilized.
4yy:
The DRIVE-CLiQ cycle starts before the earliest end of the application. An additional deadtime must be added to the
control. Sign-of-life errors can be expected.
5yy: Internal buffer overflow for net data of a DRIVE-CLiQ connection.
6yy: Internal buffer overflow for receive data of a DRIVE-CLiQ connection.
7yy: Internal buffer overflow for send data of a DRIVE-CLiQ connection.
Remedy: Check the DRIVE-CLiQ connection:
Reduce the number of components on the DRIVE-CLiQ line involved and distribute these to other DRIVE-CLiQ con-
nections of the Control Unit. This means that communication is uniformly distributed over several communication
lines.
Re fault value = 1yy - 4yy in addition:
- increase the sampling times (p0112, p0115).
Faults and alarms
F01355 Topology: Actual topology changed
Reaction: NONE
Cause: The unit target topology p0099 does not correspond to the unit actual topology r0098.
The fault only occurs if the topology was commissioned using the automatic internal device mechanism and not using
the commissioning software.
See also: r0098 (Actual device topology), p0099 (Device target topology)
Remedy: One of the following counter-measures can be selected if no faults have occurred in the topology detection itself:
If commissioning was still not completed:
- carry-out a self-commissioning routine (starting from p0009 = 1).
General: Set p0099 to r0098, set p0009 to 0; for existing Motor Modules, this results in servo drives being automat-
ically generated (refer to p0107).
or, to generate servo drives: Set p0097 to 1, set p0009 to 0;
or, to generate vector drives: Set p0097 to 2, set p0009 to 0.
or, to generate vector drives with parallel circuit: Set p0097 to 12, set p0009 to 0.
In order to set configurations in p0108, before setting p0009 to 0, it is possible to first set p0009 to 2 and p0108 mod-
ified (the index corresponds to the drive object,also refer to p0107).
If commissioning was already completed:
- re-establish the original connections and re-connect power to the Control Unit.
- restore the factory setting for the complete equipment (all of the drives) and allow automatic self-commissioning
again.
- change the device parameterization to match the connections (this is only possible using the commissioning soft-
ware).
Notice:
Topology changes, that result in this fault being generated, cannot be accepted by the automatic function in the
device, but must be transferred using the commissioning software and parameter download. The automatic function
in the device only allows constant topology to be used. Otherwise, when the topology is changed, all of the previous
parameter settings are lost and replaced by the factory setting.
See also: r0098 (Actual device topology)
F01360 Topology: Actual topology is illegal
Reaction: NONE
Cause: The detected actual topology is not permissible.
Byte 1 (cause):
1: Too many components were detected at the Control Unit. The maximum permissible number of components is
199.
2: The component type of a component is not known. The preliminary component number is in the high word.
Note: The drive system is no longer booted. In this state, the drive control (closed-loop) cannot be enabled.
Remedy: Re fault value = 1:
Change the configuration. Connect less than 199 components to the Control Unit.
Re fault value = 2:
Remove the component with unknown component type.
A01361 Topology: Actual topology contains SINUMERIK and SIMOTION components
Reaction: NONE
Acknowledge: NONE
Cause: The detected actual topology contains SINUMERIK and SIMOTION components.
Byte 1: Component number of the component.
Byte 2: Component class of the actual topology.
Byte 3 (cause):
1: An NX10 or NX15 was connected to a SIMOTION control.
2: A CX32 was connected to a SINUMERIK control.
The drive system is no longer booted. In this state, the drive control (closed-loop) cannot be enabled.
Remedy: Re fault value = 1: Replace all NX10 or NX15 by a CX32.
Re fault value = 2: Replace all CX32 by an NX10 or NX15.
Faults and alarms
F01375 Topology: Actual topology, duplicate connection between two components
Reaction: NONE
Cause: When detecting the actual topology, a ring-type connection was detected.
Low word: Preliminary component number of a component included in the ring
Byte 3: Component class
Byte 4: Connection number
Example:
Fault value = 33751339 dec = 203012B hex
Byte 4 = 02 hex = 2 dec, byte 3 = 03 hex = 3 dec, low word = 012B hex = 299 dec
Component class:
1: Control unit
2: Motor Module
3: Line Module
4: Sensor Module (SM)
5: Voltage Sensing Module (VSM)
6: Terminal Module (TM)
7: DRIVE-CLiQ Module Cabinet (DMC)
8: Controller Extension 32 (CX32)
49: DRIVE-CLiQ components (non-listed components)
50: Option slot (e.g. Terminal Board 30)
60: Encoder (e.g. EnDat)
Component type:
Precise designation within a component class (e.g. "SMC20").
Connection number:
Consecutive numbers, starting from zero, of the appropriate connection or slot (e.g. DRIVE-CLiQ connection X100
on the Control Unit has the connection number 0).
Remedy: Output the fault value and remove the specified connection.
Note:
Under "Topology --> Topology view" the commissioning software offers improved diagnostics capability (e.g. set-
point/actual value comparison).
F01380 Topology: Actual topology, defective EEPROM
Reaction: NONE
Cause: When detecting the actual topology, a component with a defective EEPROM was detected.
Low word:
Preliminary component number of the defective components.
Remedy: Output the fault value and remove the defected component.
A01381 Topology: Comparison, power unit shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a power unit in the actual topology that has been shifted with respect to the
target topology.
Byte 1: Component number of the component shifted in the target topology.
The connection in the actual topology where the shifted component was detected, is described in bytes 2, 3 and 4.
Byte 3: Component number
Note:
Component class and connection number are described in F01375.
Faults and alarms
Remedy: Adapting the topologies:
- undo the change to the actual topology by changing-over the DRIVE-CLiQ cables.
- commissioning software: Go online, upload the drive unit, adapt the topology offline and download the modified
project.
- automatically remove the topology error (p9904).
Note:
A01382 Topology: Comparison, Sensor Module shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Sensor Module in the actual topology that has been shifted with respect to
the target topology.
Byte 1: Component number of the component shifted in the target topology
Note:
project.
Note:
A01383 Topology: Comparison, Terminal Module shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Terminal Module in the actual topology that has been shifted with respect
to the target topology.
Note:
project.
Note:
Faults and alarms
A01384 Topology: Comparison, DMC shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ Hub Module Cabinet (DMC) in the actual topology that has
been shifted with respect to the target topology.
Note:
project.
Note:
A01385 Topology: Comparison, CX32 shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a controller extension 32 (CX32) in the actual topology that has been shifted
with respect to the target topology.
Note:
project.
Note:
A01386 Topology: Comparison, DRIVE-CLiQ component shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ component in the actual topology that has been shifted with
respect to the target topology.
Note:
Faults and alarms
project.
Note:
A01387 Topology: Comparison, option slot component shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a option slot component in the actual topology that has been shifted with
Note:
project.
Note:
A01388 Topology: Comparison, EnDat encoder shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected an EnDat encoder in the actual topology that has been shifted with respect
to the target topology.
Note:
project.
Note:
Faults and alarms
A01389 Topology: Comparison, motor with DRIVE-CLiQ shifted
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a motor with DRIVE-CLiQ in the actual topology that has been shifted with
Note:
project.
Note:
A01416 Topology: Comparison, additional component in actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has found a component in the actual topology which is not specified in the target topology.
The alarm value includes the component number and connection number of the component with which the additional
component is connected.
Byte 2: Component class of the additional component
Note:
- remove the additional component in the actual topology.
- download the target topology that matches the actual topology (commissioning software).
Note:
Faults and alarms
A01420 Topology: Comparison, a component is different
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected differences in the actual and target topologies in relation to one component.
There are differences in the electronic rating plate.
Byte 1: Component number of the component
Byte 2: Component class of the target topology
Byte 3: Component class of the actual topology
Byte 4 (cause):
1: Different component type
2: Different order number
3: Different manufacturer
4: Connection changed-over for a multi-component slave (e.g. double Motor Module) or defective EEPROM data in
the electronic rating plate
5: A CX32 was replaced by an NX10 or NX15.
6: An NX10 or NX15 was replaced by a CX32.
Note:
Component class and component type are described in F01375.
- check the component soft-wired connections against the hardware configuration of the drive unit in the commis-
sioning software and correct differences.
- parameterize the topology comparison of all components (p9906).
- parameterize the topology comparison of one components (p9907, p9908).
Note:
A01421 Topology: Comparison, different components
Reaction: NONE
Acknowledge: NONE
The component class, the component type or the number of connections differ.
Byte 2: Component class of the target topology
Byte 3: Component class of the actual topology
Byte 4 (cause):
1: Different component class
2: Different component type
3: Different order number
4: Different number of connections
Note:
Component class, component type and connection number are described in F01375.
Remedy: Check the component soft-wired connections against the hardware configuration of the drive unit in the commission-
ing software and correct differences.
Note:
Faults and alarms
A01425 Topology: Comparison, serial number of a component is different
Reaction: NONE
Acknowledge: NONE
The serial number is different.
Byte 3: Number of differences
Note:
The component class is described in F01375.
- change over the actual topology to match the target topology.
Re byte 3:
Byte 3 = 1 --> can be acknowledged using p9904 or p9905.
Byte 3 > 1 --> can be acknowledged using p9905 and can be de-activated using p9906 or p9907/p9908.
Note:
See also: p9904 (Topology comparison, acknowledge differences), p9905 (Device specialization), p9906 (Topology
comparison, comparison stage of all components), p9907 (Topology comparison, comparison stage of the compo-
nent number), p9908 (Topology comparison, comparison stage of a component)
A01428 Topo: Comparison, connection of a component is different
Reaction: NONE
Acknowledge: NONE
A component was connected to another connection.
The different connections of a component are described in the alarm value:
Byte 3: Connection number of the actual topology
Byte 4: Connection number of the target topology
Note:
Note:
See also: p9904 (Topology comparison, acknowledge differences)
Faults and alarms
A01429 Topology: Comparison, connection is different for more than component
Reaction: NONE
Acknowledge: NONE
Cause: A topology comparison has found differences between the actual and target topology for several components. A
component was connected to another connection.
The different connections of a component are described in the alarm value:
Byte 3: Connection number of the actual topology
Byte 4: Connection number of the target topology
Note:
Note:
In the software, a double Motor Module behaves just like two separate DRIVE-CLiQ nodes. If a double Motor Module
is re-inserted, this can result in several differences in the actual topology.
Note:
F01451 Topology: Target topology is invalid
Reaction: NONE
Cause: An error has occurred when writing into the target topology.
The write operation was interrupted due to an invalid target topology.
Remedy: Reload the target topology using the commissioning software.
F01470 Topology: Target topology ring-type connection
Reaction: NONE
Cause: A ring-type connection was detected when writing into the target topology.
Byte 1: Component number of a component included in the ring
Note:
Remedy: Read-out the fault value and remove one of the specified connections.
Then, download the target topology again using the commissioning software.
Note:
Faults and alarms
F01475 Topology: Target topology, duplicate connection between two components
Reaction: NONE
Cause: When writing the target topology, a duplicate connection between two components was detected.
Byte 1: Component number of one of the components connected twice
Byte 3: Connection number 1 of the duplicate connection
Byte 4: Connection number 2 of the duplicate connection
Note:
Remedy: Read-out the fault value and remove one of the two specified connections.
Then, download the target topology again using the commissioning software.
Note:
A01481 Topology: Comparison, power unit missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a power unit in the target topology that is not available in the actual topology.
Component number of the additional target components.
Note:
Remedy: - delete the drive belonging to the power unit in the commissioning software project and download the new configu-
ration into the drive unit.
- check that the actual topology matches the target topology and if required, change over.
- check DRIVE-CLiQ cables for interruption and contact problems.
Note:
A01482 Topology: Comparison, Sensor Module missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Sensor Module in the target topology that is not available in the actual topol-
ogy.
Note:
Remedy: - re-configure the drive belonging to the Sensor Module in the commissioning software project (encoder configura-
tion) and download the new configuration into the drive unit.
- delete the drive belonging to the Sensor Module in the commissioning software project and download the new con-
figuration into the drive unit.
Note:
Faults and alarms
A01483 Topology: Comparison, Terminal Module missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a Terminal Module in the target topology that is not available in the actual
topology.
Note:
Remedy: - delete the Terminal Module in the commissioning software project and download the new configuration into the
drive unit.
Note:
A01484 Topology: Comparison, DMC missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ Hub Module Cabinet (DMC) in the target topology that is not
available in the actual topology.
Note:
Remedy: - delete the DRIVE-CLiQ Hub Module Cabinet (DMC) in the commissioning software project and download the new
configuration into the drive unit.
Note:
A01485 Topology: Comparison, CX32 missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a controller extension 32 (CX32) in the target topology that is not available
in the actual topology.
Note:
Remedy: - delete the CX32 in the commissioning software project and download the new configuration into the drive unit.
Note:
Faults and alarms
A01486 Topology: Comparison, DRIVE-CLiQ components missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a DRIVE-CLiQ component in the target topology that is not available in the
actual topology.
Note:
Remedy: - delete the drive belonging to this component in the commissioning software project and download the new config-
uration into the drive unit.
- re-configure the drive belonging to this component in the commissioning software project and download the new
configuration into the drive unit.
Note:
A01487 Topology: Comparison, option slot components missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected an option slot module in the target topology that is not available in the actual
topology.
Note:
Remedy: - delete the option board in the commissioning software project and download the new configuration into the drive
unit.
- re-configure the drive unit in the commissioning software project and download the new configuration into the drive
unit.
Note:
A01488 Topology: Comparison, EnDat encoder missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected an EnDat encoder in the target topology that is not available in the actual
topology.
Note:
Remedy: - re-configure the drive belonging to the encoder in the commissioning software project (encoder configuration) and
download the new configuration into the drive unit.
- delete the drive belonging to the encoder in the commissioning software project and download the new configura-
tion into the drive unit.
Note:
Faults and alarms
A01489 Topology: Comparison, motor with DRIVE-CLiQ missing in the actual topology
Reaction: NONE
Acknowledge: NONE
Cause: The topology comparison has detected a motor with DRIVE-CLiQ in the target topology that is not available in the
actual topology.
Note:
Remedy: - re-configure the drive belonging to this motor in the commissioning software project and download the new config-
uration into the drive unit.
- delete the drive belonging to this motor in the commissioning software project and download the new configuration
into the drive unit.
Note:
F01505 (A) BICO: Interconnection cannot be established
Reaction: NONE
Cause: A PROFIBUS telegram has been set (p0922).
An interconnection contained in the telegram, was not able to be established.
Parameter receiver that should be changed.
Remedy: Establish another interconnection.
Acknowledge
upon A:
NONE
F01506 (A) BICO: No standard telegram
Reaction: NONE
Cause: The standard telegram in p0922 is not maintained and therefore p0922 is set to 999.
BICO parameter for which the write attempt was unsuccessful.
Remedy: Again set the required standard telegram (p0922).
Acknowledge
upon A:
NONE
F01507 (N, A) BICO: Interconnections to inactive objects present
SERVO: OFF2 (DCBRAKE, ENCODER, NONE, OFF1, OFF3, STOP1, STOP2)
VECTOR: OFF2 (DCBRAKE, ENCODER, NONE, OFF1, OFF3, STOP1, STOP2)
Cause: There are BICO interconnections as signal drain from a drive object that is either inactive/not operational.
The BI/CI parameters involved are listed in r9498.
The associated BO/CO parameters are listed in r9499.
The list of the BICO interconnections to other drive objects is displayed in r9491 and r9492 of the de-activated drive
object.
Note:
r9498 and r9499 are only written into, if p9495 is not set to 0.
Number of BICO interconnections found to inactive drive objects.
Remedy: - set all open BICO interconnections centrally to the factory setting with p9495 = 2.
- make the non-operational drive object active/operational again (re-insert or activate components).
Faults and alarms
Reaction upon N: NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F01510 BICO: Signal source is not float type
Reaction: NONE
Cause: The selected connector output does not have the correct data type. This interconnection is not established.
Parameter number to which an interconnection should be made (connector output).
Remedy: Interconnect this connector input with a connector output having a float data type.
F01511 (A) BICO: Interconnection between various normalizations
Reaction: NONE
Cause: The requested interconnection was set up. However, a conversion is made between the BICO output and BICO input
using the reference values.
- the BICO output has different normalized units than the BICO input.
- message only for interconnections within a drive object.
Message during commissioning and download inactive.
Example:
The BICO output has, as normalized unit, voltage and the BICO input has current.
This means that the factor p2002 (contains the reference value for current) / p2001 (contains the reference value for
voltage) is calculated between the BICO output and BICO input.
Parameter number of the BICO input (signal receiver).
Remedy: No correction needed.
Acknowledge
upon A:
NONE
F01512 BICO: No normalization available
SERVO: OFF2
VECTOR: OFF2
Cause: An attempt was made to determine a conversion factor for a normalization that does not exist.
Unit (e.g. corresponding to SPEED) for which an attempt was made to determine a factor.
Remedy: Apply normalization or check the transfer value.
F01513 (A) BICO: Spanning DO between different normalizations
Reaction: NONE
Cause: The requested interconnection was set up. However, a conversion is made between the BICO output and BICO input
using the reference values.
An interconnection is made between different drive objects and the BICO output has different normalized units than
the BICO input or the normalized units are the same but the reference values are different.
Example:
The BICO output has, as standard unit, voltage and the BICO input has current; both lie in different drive objects.
This means that the factor p2002 (contains the reference value for current) / p2001 (contains the reference value for
voltage) is calculated between the BICO output and BICO input.
Parameter number of the BICO input (signal receiver).
Remedy: No correction needed.
Faults and alarms
Acknowledge
upon A:
NONE
A01514 (F) BICO: Error when writing during a reconnect
Reaction: NONE
Acknowledge: NONE
Cause: During a reconnect operation (e.g. while booting or downloading - but cannot occur in normal operation) a parameter
was not able to be written into.
Example: When writing to a double word BICO input in the second index, the memory areas overlap (e.g. p8861).
The parameter is then reset to the factory setting.
Alarm value (r2124, decimal): Parameter number of the BICO input (signal receiver).
Remedy: None necessary.
Reaction upon F: NONE
Acknowledge
upon F:
IMMEDIATELY
F01515 (A) BICO: Writing to parameter not permitted as the master control is active
Reaction: NONE
Cause: While changing the number of CDS or when copying from CDS, the master control was active.
Acknowledge
upon A:
NONE
A01590 (F) Drive: Motor maintenance interval expired
Reaction: NONE
Acknowledge: NONE
Cause: The selected service/maintenance interval for this motor was reached.
Motor data set number.
See also: p0650 (Actual motor operating hours), p0651 (Motor operating hours maintenance interval)
Remedy: Carry-out service/maintenance and reset the service/maintenance interval (p0651).
Acknowledge
upon F:
IMMEDIATELY
F01600 SI CU: STOP A initiated
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function in the Control Unit (CU) has detected a fault and initiated a STOP A
(pulse cancellation via the safety shutdown path of the Control Unit).
- forced checking procedure of the safety shutdown path of the Control Unit unsuccessful.
- subsequent response to fault F01611 (defect in a monitoring channel).
0: Stop request from the Motor Module.
1005: Pulses cancelled although SH not selected and there is not internal STOP A present.
1010:Pulses enabled although SH is selected or an internal STOP A is present.
1015: Feedback of the safe pulse cancellation for Motor Modules connected in parallel are different.
9999: Subsequent response to fault F01611.
Remedy: - select safe standstill and then de-select again.
- replace the Motor Module involved.
Re fault value = 9999:
- carry-out diagnostics for fault F01611.
MM: Motor Module
SH: Safe standstill, SI: Safety Integrated
Faults and alarms
F01611 SI CU: Defect in a monitoring channel".
Reaction: NONE (OFF1, OFF2, OFF3)
Cause: The drive-based "Safety Integrated" function in the Control Unit (CU) has detected a fault in the crosswise data com-
parison between the CU and Motor Module (MM) and initiated a STOP F.
As a result of this fault, after the parameterized transition has expired (p9658), fault F01600 (SI CU: STOP A initiated)
is output.
0: Stop request from the Motor Module.
1 to 999:
Number of the crosswise compared data that resulted in this fault.
1: SI monitoring clock cycle (r9780, r9880).
2: SI enable safety functions (p9601, p9801).
3: SI SGE changeover tolerance time (p9650, p9850).
4: SI transition period STOP F to STOP A (p9658, p9858).
5: SI enable Safe Brake Control (p9602, p9802).
6: SI motion enable, safety-relevant functions (p9501, internal value). This number is also displayed in r9795.
7: SI pulse cancellation delay time for Safe Stop 1 (p9652, p9852).
8: SI PROFIsafe address (p9610, p9810).
1000: Watchdog timer has expired. Within the time of approx. 5 * p9650 too many switching operations have
occurred at terminal EP of the Motor Module.
1001: Initialization error, change timer / check timer.
2000: Status of the SH terminals on the Control Unit and Motor Module are different.
2001: Feedback signal for safe pulse cancellation on the Control Unit and Motor Module are different.
2002: Status of the delay timer SS1 on the Control Unit and Motor Module are different.
2004: Status of the SH selection for modules connected in parallel are different.
2005: Feedback signal of the safe pulse cancellation on the Control Unit and Motor Modules connected in parallel
are different.
Remedy: Re fault value = 1 to 999:
- check the crosswise compared data that resulted in a STOP F.
- upgrade the Motor Module software.
- upgrade the Control Unit software.
- check the EP terminal at the Motor Module (contact problems).
Re fault value = 1001, 1002:
Re fault value = 2000, 2001, 2002, 2004, 2005:
- check the tolerance time SGE changeover and if required, increase the value (p9650/p9850, p9652/p9852).
- check the wiring of the safety-relevant inputs (SGE) (contact problems).
Note:
CU: Control Unit
MM: Motor Module
SGE: Safety-relevant input
SH: Safe standstill
Faults and alarms
N01620 (F, A) SI CU: Safe standstill active
Reaction: NONE
Acknowledge: NONE
Cause: The "safe standstill" function has been selected on the Control Unit (CU) and is active.
Note:
This message does not result in a safety stop response.
Note:
CU: Control Unit
Acknowledge
upon F:
Acknowledge
upon A:
NONE
N01621 (F, A) SI CU: Safe Stop 1 active
Reaction: NONE
Acknowledge: NONE
Cause: The "Safe Stop 1" (SS1) function has been selected on the Control Unit (CU) and is active.
Note:
Note:
CU: Control Unit
Acknowledge
upon F:
Acknowledge
upon A:
NONE
F01625 SI CU: Sign-of-life error in safety data
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function in the Control Unit (CU) has detected an error in the sign-of-life of the
safety data between the CU and Motor Module (MM) and initiated a STOP A.
- there is either a DRIVE-CLIQ communications error or communications have failed.
- a time slice overflow of the safety software has occurred.
- check whether there is a DRIVE-CLiQ communications error between the Control Unit and the Motor Module
involved and if required, carry-out a diagnostics routine for the faults identified.
- de-select all drive functions that are not absolutely necessary.
- reduce the number of drives.
- check the electrical cabinet design and cable routing for EMC compliance
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01630 SI CU: Braking signal error
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function in the Control Unit (CU) has detected a braking signal error and initiated
a STOP A.
- no motor holding brake connected.
- the motor holding brake control on the Motor Module is faulty.
- a DRIVE-CLiQ communications error has occurred between the Control Unit and the Motor Module involved.
10: No brake connected or fault in the Motor Module brake control circuit ("open brake" operation).
11: Defect in the brake control circuit of the Motor Module ("brake open" operation).
20: Short-circuit in the brake winding or fault in the brake control circuit of the Motor Module ("brake open" state).
30: No brake connected, short-circuit in the brake winding or fault in the Motor Module brake control circuit ("close
brake" operation).
31: Defect in the brake control circuit of the Motor Module ("close brake" operation).
40: Defect in the brake control circuit of the Motor Module ("brake closed" state).
50: Defect in the brake control circuit of the Motor Module or communications fault between the Control Unit and the
Motor Module (braking signal diagnostics).
- check the motor holding brake connection.
- check the function of the motor holding brake.
Operation with Safe Brake Module:
- check the Safe Brake Modules connection.
- replace the Safe Brake Module.
Note:
CU: Control Unit
MM: Motor Module
F01649 SI CU: Internal software error
Reaction: OFF2
Cause: An internal error in the Safety Integrated software on the Control Unit has occurred.
Note:
This fault results in a STOP A that cannot be acknowledged.
- re-commission the "Safety Integrated" function and carry-out a POWER ON.
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01650 SI CU: Acceptance test required
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function in the Control Unit requires an acceptance test.
Note:
This fault results in a STOP A that can be acknowledged.
130: No safety parameters available for the Motor Module.
1000: Reference and actual checksum on the Control Unit are not identical (booting).
- at least one checksum-checked piece of data is defective.
2000: Reference and actual checksum on the Control Unit are not identical (commissioning mode).
- reference checksum incorrectly entered into the Control Unit (p9799 not equal to r9798).
2001: Reference and actual checksum on the Motor Module are not identical (commissioning mode).
- reference checksum incorrectly entered into the Motor Module (p9899 not equal to r9898).
2002: Enable of safety-related functions between the Control Unit and Motor Module differ (p9601 not equal to
p9801).
2003: Acceptance test is required as a safety parameter has been changed.
2004: An acceptance test is required because a project with enabled safety-functions has been downloaded.
2010: Safe Brake Control is enabled differently between the Control Unit and Motor Module (p9602 not equal to
p9802).
2020: Error when saving the safety parameters for the Motor Module.
9999: Subsequent response of another safety-related fault that occurred when booting that requires an acceptance
test.
- carry-out safety commissioning routine.
- again carry-out safety commissioning routine.
- check the safety parameters in the Control Unit and adapt the reference checksum (p9799).
- check the safety parameters in the Motor Module and adapt the reference checksum (p9899).
- enable the safety-related functions on the Control Unit and check on the Motor Module (p9601 = p9801).
- Carry-out an acceptance test and generate an acceptance report. The procedure when carrying-out an acceptance
test as well as an example of the acceptance report are provided in the documentation for SINAMICS Safety Inte-
grated.
- enable the Safe Brake Control in the Control Unit and check on the Motor Module (p9602 = p9802).
- carry-out diagnostics for the other safety-related fault that is present.
Note:
CU: Control Unit
MM: Motor Module
See also: p9799 (SI reference checksum SI parameters (Control Unit)), p9899 (SI reference checksum SI parame-
ters (Motor Module))
Faults and alarms
F01651 SI CU: Synchronization safety time slices unsuccessful
Reaction: OFF2
Cause: The "Safety Integrated" function requires a synchronization of the safety time slices between the Control Unit (CU)
and Motor Module (MM) and between the Control Unit and the higher-level control. This synchronization routine was
not successful.
Note:
- upgrade the software of the higher-level control.
Note:
CU: Control Unit
MM: Motor Module
F01652 SI CU: Illegal monitoring clock cycle
Reaction: OFF2
Cause: One of the Safety Integrated monitoring clock cycles is not permissible:
- the drive-based monitoring clock cycle cannot be maintained due to the communication conditions required in the
system.
- the monitoring clock cycle for safe motion monitoring functions with the higher-level control is not permissible
(p9500).
Note:
- for enabled drive-based SI monitoring (p9601/p9801 > 0):
Minimum setting for the monitoring clock cycle (in s).
- with the motion monitoring function enabled (p9501 > 0):
100: No matching monitoring clock cycle was able to be found.
101: The monitoring clock cycle is not an integer multiple of the position controller clock cycle.
102: An error has occurred when transferring the DP clock cycle to the Motor Module (MM).
103: An error has occurred when transferring the DP clock cycle to the Sensor Module.
Remedy: For enabled drive-based SI monitoring (p9601/p9801 > 0):
For enabled motion monitoring function (p9501 > 0):
- correct the monitoring clock cycle (p9500) and carry-out POWER ON.
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01655 SI CU: Align monitoring functions
Reaction: OFF2
Cause: An error has occurred when aligning the Safety Integrated monitoring functions on the Control Unit (CU) and Motor
Module (MM). Control unit and Motor Module were not able to determine a common set of supported SI monitoring
functions.
- Safety Integrated software releases on the Control Unit and Motor Module are not compatible with one another.
Note:
Note:
CU: Control Unit
MM: Motor Module
F01656 SI CU: Motor Module parameter error
Reaction: OFF2
Cause: When accessing the Safety Integrated parameters for the Motor Module (MM) on the CompactFlash card, an error
has occurred.
Note:
129: Safety parameters for the Motor Module corrupted.
131: Internal Motor Module software error.
132: Communication errors when uploading or downloading the safety parameters for the Motor Module.
255: Internal software error on the Control Unit.
Remedy: - re-commission the safety functions.
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01659 SI CU: Write request for parameter rejected
Reaction: OFF2
Cause: The write request for one or several Safety Integrated parameters on the Control Unit (CU) was rejected.
Note:
This fault does not result in a safety stop response.
1: The Safety Integrated password is not set.
2: It was selected that the drive parameters are reset. However, the Safety Integrated parameters cannot be reset,
as Safety Integrated is presently enabled.
3: The interlocked SH input is in the simulation mode.
10: An attempt was made to enable the SH function although this cannot be supported.
11: An attempt was made to enable the SBC function although this cannot be supported.
12: An attempt was made to enable the SBC function although this cannot be supported for a parallel circuit config-
uration.
13: An attempt was made to enable the SS1 function although this cannot be supported.
14: An attempt was made to enable the PROFIsafe communications although this cannot be supported.
15: An attempt was made to enable the motion monitoring functions integrated in the drive although these cannot be
supported.
16: An attempt was made to enable the SH function although this cannot be supported when the internal voltage
protection (p1231) is enabled.
See also: p0970 (Reset infeed parameter), p3900 (Completion of quick commissioning), r9771 (SI common functions
(Control Unit)), r9871 (SI common functions (Motor Module)
- set the Safety Integrated password (p9761).
Re fault value = 2:
- inhibit Safety Integrated and again reset the drive parameters.
Re fault value = 3:
- simulation mode for the digital input has ended (p0795).
Re fault value = 10, 11, 12, 13, 14, 15:
- check whether there are faults in the safety function alignment between the Control Unit and the Motor Module
involved (F01655, F30655) and if required, carry-out diagnostics for the faults involved.
- use a Motor Module that supports the required function ("safe standstill", "Safe Brake Control", "PROFIsafe",
"motion monitoring functions integrated in the drive").
- inhibit the internal voltage protection (p1231).
Note:
CU: Control Unit
SH: Safe standstill
See also: p9501 (SI motion enable safety-relevant functions), p9601 (SI enable, functions integrated in the drive
(Control Unit)), p9620 (SI signal source for SH/SBC/SS1 (Control Unit)), p9761 (SI password input), p9801 (SI
enable, functions integrated in the drive (Motor Module))
F01660 SI CU: Safety-related functions not supported
Reaction: OFF2
Cause: The Motor Module (MM) does not support the safety-related functions (e.g. the Motor Module version is not the cor-
rect one). Safety Integrated cannot be commissioned.
Note:
Remedy: - use a Motor Module that supports the safety-related functions.
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F01670 SI Motion: Invalid parameterization, Sensor Module
Reaction: OFF2
Cause: The parameterization of a Sensor Module used for Safety Integrated is not permissible.
Note:
1: No encoder was parameterized for Safety Integrated.
2: An encoder was parameterized for Safety Integrated that does not have an A/B track (sinusoidal/cosinusoidal).
3: The encoder data set selected for Safety Integrated is still not valid.
4: A communications error to the encoder has occurred.
10: For an encoder used for Safety Integrated, not all of the Drive Data Sets (DDS) are assigned to the same Encoder
Data Set (EDS) (p0187 ... p0189).
Remedy: Re fault value = 1, 2:
- use and parameterize an encoder that Safety Integrated supports (encoder with track A/B sinusoidal, p0404.4 = 1).
Re fault value = 3:
- check whether the drive or drive commissioning function is active and if required, exit this (p0009 = p00010 = 0),
save the parameters (p0971 = 1) and carry-out a POWER ON
Re fault value = 4:
- check whether there is a DRIVE-CLiQ communications error between the Control Unit and the Sensor Module
- align the EDS assignment of all of the encoders used for safety integrated (p0187 ... p0189).
Note:
F01671 SI Motion: Parameterization error, encoder
Reaction: OFF2
Cause: The parameterization of the encoder used by Safety Integrated is different than the parameterization of the standard
encoder.
Parameter number of the non-corresponding safety parameter.
Remedy: Align the encoder parameterization between the safety encoder and the standard encoder.
Note:
F01672 SI Motion: Motor Module software incompatible
Reaction: OFF2
Cause: The existing Motor Module software does not support the safe motion monitoring function with the higher-level con-
trol.
Note:
Remedy: - check whether there are faults in the safety function alignment between the Control Unit and the Motor Module
involved
(F01655, F30655) and if required, carry-out the appropriate diagnostics routine for the particular faults.
- use a Motor Module that supports safe motion monitoring
Note:
Faults and alarms
F01673 SI Motion: Sensor Module software incompatible
Reaction: OFF2
Cause: The existing Sensor Module software does not support the safe motion monitoring function with the higher-level con-
trol.
Note:
Remedy: - use a Sensor Module that supports safe motion monitoring function.
- upgrade the Sensor Module software.
Note:
F01680 SI Motion: Checksum error, safety monitoring functions
Reaction: OFF2
Cause: The actual checksum calculated by the drive and entered in r9728 over the safety-relevant parameters does not
match the target checksum saved in p9729 at the last machine acceptance.
Safety-relevant parameters have been changed or a fault is present.
Note:
0: Checksum error for SI parameters for motion monitoring.
1: Checksum error for SI parameters for actual values.
Remedy: - Check the safety-relevant parameters and if required, correct.
- carry-out an acceptance test.
Note:
C01681 SI Motion: Incorrect parameter value
Reaction: NONE
Cause: The parameter value cannot be parameterized with this value.
Parameter number with the incorrect value
Remedy: Correct parameter value
F01682 SI Motion: Monitoring function not supported
Reaction: OFF2
Cause: The monitoring function enabled in p9501, p9601 or p9801 is not supported in this firmware version.
Note:
1: Monitoring function SE not supported (p9501.1).
2: Monitoring function SN not supported (p9501.7 and p9501.8 - 15 and p9503).
3: Monitoring function SG override not supported (p9501.5).
10: Monitoring functions only supported in the servo mode.
20: Drive-based motion monitoring functions are only supported in conjunction with PROFIsafe (p9501 and p9601.1
- 2 and p9801.1 - 2).
21: PROFIsafe only supported in conjunction with motion monitoring functions in the drive (p9501 and p9601.1 - 2
and p9801.1 - 2).
Remedy: De-select the monitoring function involved (p9501, p9503, p9601, p9801).
Note: SE: Safe software limit switch, SG: Safely-reduced speed
See also: p9501 (SI motion enable safety-relevant functions)
Faults and alarms
F01683 SI Motion: SBH/SG enable missing
Reaction: OFF2
Cause: The safety-relevant basic function "SBH/SG" is not enabled in p9501 although other safety-relevant monitoring func-
tions are enabled.
Note:
Remedy: Enable the function "SBH/SG" (p9501.0) and carry-out a POWER ON.
Note:
F01684 SI Motion: Safe software limit switch limit values interchanged
Reaction: OFF2
Cause: For the function "safe software limit switch" (SE), a lower value is in p9534 as in p9535.
Note:
1: Limit values SE1 interchanged.
2: Limit values SE2 interchanged.
Remedy: Correct the limit values in p9534 and p9535 and carry-out a POWER ON.
Note:
F01685 SI Motion: Safe velocity limit value too high
Reaction: OFF2
Cause: The limit value for the function "safely reduced speed" (SG) is greater than the speed that corresponds to an encoder
limit frequency of 500 kHz.
Maximum permissible speed.
Remedy: Correct the limit values for SG and carry-out a POWER ON.
Note:
See also: p9531 (SI motion SG limit values)
F01686 SI Motion: Illegal parameterization, cam position
Reaction: OFF2
Cause: At least one enabled "safety software cam" (SN) is parameterized in p9536 or p9537 too close at the tolerance range
around the modulo position.
Number of the "safe software cam" with an illegal position.
Remedy: Correct the cam position and carry-out a POWER ON.
Note:
See also: p9536 (SI motion SN plus cam position), p9537 (SI motion SN minus cam position)
Faults and alarms
F01687 SI Motion: Illegal parameterization, modulo value SN
Reaction: OFF2
Cause: The parameterized modulo value for the "safe software cam" (SN) function is not a multiple of 360 000 mDegrees.
Remedy: Correct the modulo value for SN and carry-out a POWER ON.
Note:
See also: p9505 (SI motion SN modulo value)
F01688 SI Motion: Actual value synchronization not permissible
Reaction: OFF2
Cause: It is not permissible to simultaneously enable the actual value synchronization and a monitoring function with abso-
lute reference (SE/SN).
Remedy: Either carry-out the monitoring functions with absolute reference (SE/SN) or de-select the "actual value synchroni-
zation" function and carry-out a POWER ON.
Note:
C01689 SI Motion: Axis re-configured
Reaction: OFF2
Cause: The axis configuration was changed.
Parameter p0108.13 is internally set to the correct value.
Parameter number that initiated the change.
See also: p9502 (SI motion axis type)
Remedy: Initiate data back-up on the complete Control Unit and carry-out a POWER ON.
A01698 (F) SI CU: Commissioning mode active
Reaction: NONE
Acknowledge: NONE
Cause: The commissioning of the "Safety Integrated" function is selected.
This message is withdrawn after the safety functions have been commissioned.
Note:
See also: p0010 (Infeed commissioning parameter filter)
Note:
CU: Control Unit
Reaction upon F: NONE (OFF1, OFF2, OFF3)
Acknowledge
upon F:
Faults and alarms
A01699 (F) SI CU: Shutdown path must be tested
Reaction: NONE
Acknowledge: NONE
Cause: The time set in p9659 for the forced checking procedure of the safety shutdown paths has been exceeded. The
safety shutdown paths must be re-tested.
After the next time that the "safe standstill" function (SH) is de-selected, the message is withdrawn and the monitor-
ing time is reset.
Note:
See also: p9659 (SI forced checking procedure timer)
Remedy: Select safe standstill and then deselect again.
Note:
CU: Control Unit
SH: Safe standstill
Acknowledge
upon F:
C01700 SI Motion: STOP A initiated
Reaction: OFF2
Cause: The drive is stopped via a STOP A (pulses are cancelled via the safety shutdown path of the Control Unit).
Possible causes:
- stop request from the higher-level control.
- pulses not cancelled after a parameterized time (p9557) after test stop selection.
- subsequent response to the message C01706 "SI Motion: Safe braking ramp exceeded".
- subsequent response to the message C01714 "SI Motion: Safely reduced speed exceeded".
- subsequent response to the message C01701 "SI Motion: STOP B initiated".
Remedy: - remove the fault cause in the control and carry-out a POWER ON.
- check the value in p9557, if necessary, increase the value, and carry-out POWER ON.
- check the shutdown path of Control Unit (check DRIVE-CLiQ communications).
- carry-out a diagnostics routine for message C01706.
- replace Motor Module.
- replace Control Unit.
Note:
C01701 SI Motion: STOP B initiated
Reaction: OFF3
Cause: The drive is stopped via a STOP B (braked along the current limit).
As a result of this fault, after the time, parameterized in p9556 has expired, or the speed threshold, parameterized
in p9560 has been fallen below, message C01700 "STOP A initiated" is output.
Possible causes:
- subsequent response to the message C01711 "SI Motion: Defect in a monitoring channel".
Note:
Faults and alarms
C01706 SI Motion: Safe braking ramp exceeded
Reaction: NONE
Cause: After initiating STOP B or STOP C, the velocity has exceeded the selected tolerance.
The drive is shut down by the message C01700 "SI Motion: STOP A initiated".
Remedy: Check the braking behavior, if required, adapt the tolerance for "safe braking ramp" (SBR).
Note:
See also: p9548 (SI motion SBR actual speed tolerance)
C01707 SI Motion: Tolerance for safe operating stop exceeded
Reaction: NONE
Cause: The actual position has distanced itself further from the target position than the standstill tolerance.
The drive is shut down by the message C01701 "SI Motion: STOP B initiated".
Remedy: - check whether safety faults are present and if required carry-out the appropriate diagnostic routines for the partic-
ular faults.
- check whether the standstill tolerance matches the accuracy and control dynamic performance of the axis.
Note:
See also: p9530 (SI motion standstill tolerance)
C01708 SI Motion: STOP C initiated
Reaction: STOP2
Cause: The drive is stopped via a STOP C (braked along the current limit).
"Safe operating stop" (SBH) is activated after the parameterized timer stage has expired.
Possible causes:
- subsequent response to the message C01715 "SI Motion: Safe end stop exceeded".
See also: p9552 (SI motion transition time STOP C to SBH)
Note:
C01709 SI Motion: STOP D initiated
Reaction: NONE
Cause: The drive is stopped via a STOP D (braking along the path).
Possible causes:
See also: p9553 (SI motion transition time STOP D to SBH)
Note:
Faults and alarms
C01710 SI Motion: STOP E initiated
Reaction: NONE
Cause: The drive is stopped via a STOP E (retraction motion).
Possible causes:
See also: p9554 (SI motion transition time STOP E to SBH)
Note:
C01711 SI Motion: Defect in a monitoring channel"
Reaction: NONE
Cause: When cross-checking and comparing the two monitoring channels, the drive detected a difference between the input
data or results of the monitoring functions and initiated a STOP F. One of the monitoring function functions no longer
reliably functions - i.e. safe operation is no longer possible.
If at least one monitoring function is active, then after the parameterized timer stage has expired, the message
C01701 "SI Motion: STOP B initiated" is output.
The message value that resulted in a STOP F is displayed in r9725.
Message value (r9749, decimal):
Value, that resulted in a STOP F.
See also: p9555 (SI motion transition time STOP F to STOP B), r9725 (SI motion, diagnostics STOP F)
Remedy: The message value contained in r9725 is described in message 27001 of the higher-level control.
Note:
C01714 SI Motion: Safely reduced speed exceeded
Reaction: NONE
Cause: The drive had moved faster than that specified by the velocity limit value (p9531). The drive is stopped as a result of
the configured stop response (p9563).
Message value (r9749, decimal):
100: SG1 exceeded.
200: SG2 exceeded..
300: SG3 exceeded.
400: SG4 exceeded.
1000: Encoder limit frequency exceeded.
Remedy: - check the traversing/motion program in the control.
- check the limits for "safely reduced speed (SG) and if required, adapt (p9531).
Note:
See also: p9531 (SI motion SG limit values), p9563 (SI motion SG-specific stop response)
Faults and alarms
A01796 (F, N) SI Motion: Wait for communications to the control
Reaction: NONE
Acknowledge: NONE
Cause: The drive waits for communications to be established with the higher-level control to execute the safety-relevant
motion monitoring functions.
Note:
In this state, the pulses are safely deleted.
Remedy: If, after a longer period of time, the message is not automatically withdrawn, then the following checks are made:
- correct assignment of the axes on the higher-level control to the drives in the drive unit.
- enable signal of the safety-relevant motion monitoring functions for the corresponding axis on the higher-level con-
trol.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
C01798 SI Motion: Test stop running
Reaction: NONE
Cause: The test stop is active.
The message is withdrawn when the test stop is ended.
Note:
C01799 SI Motion: Acceptance test mode active
Reaction: NONE
Cause: The acceptance test mode is active. The POWER ON signals of the safety-relevant motion monitoring functions can
be acknowledged during the acceptance test using the RESET button of the higher-level control.
The message is withdrawn when exiting the acceptance test mode.
Note:
Faults and alarms
F01800 DRIVE-CLiQ: Hardware/configuration error
Reaction: A_INFEED: NONE (OFF1, OFF2)
SERVO: NONE (DCBRAKE, ENCODER, OFF1, OFF2, OFF3, STOP1, STOP2)
VECTOR: NONE (DCBRAKE, ENCODER, OFF1, OFF2, OFF3, STOP1, STOP2)
Cause: A DRIVE-CLiQ connection fault has occurred.
0 ... 7:
Communications via DRIVE-CLiQ socket 0 ... 7 has not been switched to cyclic operation. The cause can be an
incorrect structure or a configuration that results in an impossible bus timing.
10: Loss of the DRIVE-CLiQ connection. The cause can be, for example, that the DRIVE-CLiQ cable was withdrawn
from the Control Unit or as a result of a short-circuit for motors with DRIVE-CLiQ. This fault can only be acknowl-
edged in cyclic communication.
11: Repeated fault when detecting the connection. This fault can only be acknowledged in cyclic communication.
12: A connection was detected but the node ID exchange mechanism does not function. The reason is probably that
the component is defective. This fault can only be acknowledged in cyclic communication.
Remedy: Re fault value = 0 ... 7:
- ensure that the DRIVE-CLiQ components have the same firmware releases.
- avoid longer topologies for short current controller clock cycles.
- check the DRIVE-CLiQ cables at the Control Unit.
- remove any short-circuit for motors with DRIVE-CLiQ.
- replace the component involved.
F01802 (A) CU DRIVE-CLiQ: POWER ON due to basis sampling times
SERVO: OFF2 (DCBRAKE, OFF1)
VECTOR: OFF2 (DCBRAKE, OFF1)
Cause: It is not possible to change the DRIVE-CLiQ basic sampling times p0110 in operation. POWER ON is required.
Index of p0110.
Remedy: - save (p0971 = 1).
Acknowledge
upon A:
NONE
A01900 (F) PROFIBUS: Configuration telegram error
Reaction: NONE
Acknowledge: NONE
Cause: A PROFIBUS master attempts to establish a connection using an incorrect configuring telegram.
50: Syntax error.
51: Connection established to more drive objects than configured in the device. The drive objects for process data
exchange and their sequence was defined using p0978.
52: Too many data words for input or output to a drive object. A max. of 16 words is permitted for SERVO and VEC-
TOR; max. 5 words, for A_INFEED, TB30, TM31 and CU320.
53: Uneven number of bytes for input or output.
Remedy: Check the bus configuring on the master and slave sides.
Re alarm value = 51:
Check the list of the drive objects with process data exchange (p0978). With p0978[x] = 0, all of the following drive
objects in the list are excluded from the process data exchange.
Faults and alarms
Reaction upon F: NONE (OFF1)
Acknowledge
upon F:
IMMEDIATELY
A01901 (F) PROFIBUS: Parameterizing telegram error
Reaction: NONE
Acknowledge: NONE
Cause: A PROFIBUS master attempts to establish a connection using an incorrect parameterizing telegram.
1: Incorrect parameterizing bits
10: Illegal length of an optional parameterizing block
11: Illegal ID of an optional parameterizing block
20: Double parameterizing block for clock synchronization
21: Incorrect parameterizing block for clock synchronization
22: Incorrect parameterizing bits for clock synchronization
Remedy: Check the bus configuration:
- bus addresses
- slave configuring
Acknowledge
upon F:
IMMEDIATELY
A01902 PROFIBUS: Illegal parameterizing telegram
Reaction: NONE
Acknowledge: NONE
Cause: Alarm value (r2124, decimal):
0: Bus cycle time Tdp < 0.5 ms.
1: Bus cycle time Tdp > 32 ms.
2: Bus cycle time Tdp is not a integer multiple of the current controller clock cycle.
3: Instant of the actual value sensing Ti > Bus cycle time Tdp.
4: Instant of the actual value sensing Ti is not an integer multiple of the current controller clock cycle.
5: Instant of the setpoint transfer To >= Bus cycle time Tdp.
6: Instant of the setpoint transfer To is not an integer multiple of the current controller clock cycle.
7: Master application cycle time Tmapc is not an integer multiple of the speed controller clock cycle.
8: Bus reserve bus cycle time Tdp - data exchange time Tdx less than two current controller clock cycles.
9: Bus cycle time Tdp has been modified with respect to the first time that the connection was established.
10: Instant of the setpoint transfer not To <= data exchange time Tdx + To_min.
11: Master application cycle time Tmapc > 14.
12: PLL tolerance window Tpll_w > Tpll_w_max.
13: Bus cycle time Tdp is not a multiple of all basic clock cycles p0110[x].
14: For COMM BOARD with the setting To - 1 = Tdp - Ti, the instant of the setpoint transfer is not To <= Data
Exchange time Tdx + 2 * To_min.
15: This configuration is not permitted for Tdp < 1 ms.
16: Instant of the actual value sensing Ti is less than the permitted value (COMM BOARD: Ti >= 2).
17: The setting (To + Ti = Tdp + 2) is not permitted for COMM BOARD.
Remedy: - adapt the parameterizing telegram.
- adapt the current and speed controller clock cycle.
Re alarm value = 9:
- check the number of specific drive object types in the configuration.
Faults and alarms
A01903 (F) COMM INT: Receive configuration data invalid
Reaction: NONE
Acknowledge: NONE
Cause: The drive unit did not accept the receive-configuration data.
Return value of the receive-configuration data check.
0: Configuration accepted.
4: Setting data for synchronization not accepted.
5: Drive still not in cyclic operation.
6: Buffer system not accepted.
7: Cyclic channel length too short for this setting.
8: Cyclic channel address not initialized.
9: 3-buffer system not permitted.
10: DRIVE-CLiQ fault.
11: CU link fault.
12: CX32 not in cyclic operation.
Remedy: Check the receive configuration data.
Re alarm value = 1:
Reaction upon F: A_INFEED: NONE (OFF1, OFF2)
Acknowledge
upon F:
IMMEDIATELY
F01910 (N, A) PROFIBUS: Setpoint timeout
SERVO: OFF3 (DCBRAKE, NONE, OFF1, OFF2, STOP1, STOP2)
VECTOR: OFF3 (DCBRAKE, NONE, OFF1, OFF2, STOP1, STOP2)
Cause: The receipt of setpoints from the PROFIBUS interface is interrupted because the bus connection is interrupted or the
PROFIBUS master is switched off or was set into the STOP state.
Remedy: Restore the bus connection and set the PROFIBUS master to RUN.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F01911 PROFIBUS: Clock synchronous operation, clock cycle failure
Reaction: OFF1
Cause: The global control telegram to synchronize the clock cycles has failed - in cyclic operation - for several DP clock
cycles or has violated the time grid specified in the parameterizing telegram over several consecutive DP clock
cycles (refer to the bus cycle time, Tdp and Tdpllw).
Remedy: - check the PROFIBUS cables and connectors.
- check whether communications were briefly or permanently interrupted.
- check the bus and master for utilization level (e.g. bus cycle time Tdp was set too short).
Faults and alarms
F01912 PROFIBUS: Clock synchronous operation sign-of-life missing
Reaction: OFF1
Cause: The maximum permissible number of errors in the master sign-of-life (clock synchronous PROFIBUS) has been
exceeded in cyclic operation.
Remedy: - check the physical bus configuration (terminating resistor, shielding, etc.).
- check the interconnection of the master sign-of-life (p2045).
- check whether the master correctly sends the sign-of-life (e.g. set-up a trace with STW2.12 ... STW2.15 and trigger
signal ZSW1.3).
- check the permissible telegram failure rate (p0925).
F01913 (N, A) COMM INT: Monitoring time, sign-of-life expired
Cause: The monitoring time for the sign-of-life counter has expired.
Remedy: - acknowledge faults that are present.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F01914 (N, A) COMM INT: Monitoring time, configuration expired
Cause: The monitoring time for the configuration has expired.
0: The transfer of the send-configuration data has been exceeded (time).
1: The transfer of the receive-configuration data has been exceeded (time).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A01920 (F) PROFIBUS: Interruption, cyclic connection
Reaction: NONE
Acknowledge: NONE
Cause: The cyclic connection to the PROFIBUS master is interrupted.
Remedy: Set up the PROFIBUS connection and activate the PROFIBUS master in the cyclic mode.
Acknowledge
upon F:
IMMEDIATELY
Faults and alarms
A01921 (F) PROFIBUS: Clock cycle synchronization
Reaction: NONE
Acknowledge: NONE
Cause: Output data of PROFIBUS master (setpoints) received at the incorrect instant in time within the PROFIBUS clock
cycle.
Remedy: Check the bus configuration:
- parameter for clock cycle synchronization: Ensure the instant in time for setpoint acceptance To > data exchange
time Tdx
Acknowledge
upon F:
IMMEDIATELY
A01930 PROFIBUS: Current controller clock cycle for clock synchronous operation not the
same
Reaction: NONE
Acknowledge: NONE
Cause: The current controller clock cycle of all drives must be set the same for the clock synchronous PROFIBUS.
Number of the drive object with the different current controller clock cycle.
Remedy: - set current controller clock cycles to identical values (p0115[0]).
See also: p0115 (Sampling time for supplementary functions)
A01931 PROFIBUS: Speed controller clock cycle for clock synchronous operation not the
same
Reaction: NONE
Acknowledge: NONE
Cause: The speed controller clock cycle of all drives must be set the same for the clock synchronous PROFIBUS.
Number of the drive object with the different speed controller clock cycle.
Remedy: - set the speed controller clock cycles the same (p0115[1]).
See also: p0115 (Sampling time for supplementary functions)
A01940 PROFIBUS: Clock cycle synchronism not reached
Reaction: NONE
Acknowledge: NONE
Cause: PROFIBUS is in the data exchange state and clock synchronous operation has been selected using the parameter-
izing telegram. It was not possible to synchronize to the clock cycle specified by the master.
- the master doesn't send a clock synchronous global control telegram although the clock synchronous operation
was selected when configuring the bus.
- the master is using another clock synchronous DP clock cycle than was transferred to the slave in the parameter-
izing telegram.
- at least one drive object (that is not controlled from PROFIBUS) has a pulse enable.
Remedy: - check the master application and bus configuration.
- check the consistency between the clock cycle input when configuring the slave and clock cycle setting at the mas-
ter.
- ensure that the pulses of drive objects, not controlled from PROFIBUS, are not enabled. Only enable the pulses
after synchronizing the PROFIBUS drives.
A01941 PROFIBUS: Clock cycle signal missing when the bus is being established
Reaction: NONE
Acknowledge: NONE
izing telegram. The global control telegram for synchronization is not being received.
Remedy: Check the master application and bus configuration.
Faults and alarms
A01943 PROFIBUS: Clock cycle signal error when the bus is being established
Reaction: NONE
Acknowledge: NONE
izing telegram. The global control telegram for synchronization is being irregularly received.
-.the master is sending an irregular global control telegram.
- the master is using another clock synchronous DP clock cycle than was transferred to the slave in the parameter-
izing telegram.
Remedy: - check the master application and bus configuration.
- check the consistency between the clock cycle input when configuring the slave and clock cycle setting at the mas-
ter.
A01944 PROFIBUS: Sign-of-life synchronism not reached
Reaction: NONE
Acknowledge: NONE
izing telegram. Synchronization with the master sign-of-life (STW2.12 ... STW2.15) could not be completed because
the sign-of-life is changing differently than configured in the Tmapc time grid.
Remedy: - ensure that the master correctly increments the sign-of-life in the master application clock cycle.
- check the interconnection of the master sign-of-life (p2045).
A01945 PROFIBUS: Connection to the Publisher faulted
Reaction: NONE
Acknowledge: NONE
Cause: For PROFIBUS peer-to-peer data transfer, the connection to at least one Publisher is faulted.
Alarm value (r2124, interpret binary):
Bit 0 = 1: Publisher with address in r2077[0], connection faulted.
...
Bit 15 = 1: Publisher with address in r2077[15], connection faulted.
Remedy: - check the PROFIBUS cables.
- carry-out a first commissioning of the Publisher that has the faulted connection.
See also: r2077 (PROFIBUS diagnostics peer-to-peer data transfer addresses)
F01946 (A) PROFIBUS: Connection to the Publisher interrupted
Cause: At this drive object, the connection to at least one Publisher for PROFIBUS peer-to-peer data transfer in cyclic oper-
ation was interrupted.
Bit 0 = 1: Publisher with address in r2077[0], connection interrupted.
...
Bit 15 = 1: Publisher with address in r2077[15], connection interrupted.
Remedy: - check the PROFIBUS cables.
- check the state of the Publisher that has the interrupted connection.
See also: r2077 (PROFIBUS diagnostics peer-to-peer data transfer addresses)
Acknowledge
upon A:
NONE
Faults and alarms
F01950 (N, A) PROFIBUS: Clock synchronous operation, synchronization unsuccessful
Reaction: OFF1 (NONE)
Cause: Synchronization of the internal clock cycle to the global control telegram has failed. The internal clock cycle exhibits
an unexpected shift.
Remedy: Siemens-internal
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F01951 CU DRIVE-CLiQ: Synchronization application clock cycle missing
Cause: If DRIVE-CLiQ components with different application clock cycle are operated at a DRIVE-CLiQ port, then this
requires synchronization with the Control Unit.
This synchronization routine was not successful.
F01952 CU DRIVE-CLiQ: Synchronization of component not supported
Cause: The existing system configuration requires at the connected DRIVE-CLiQ components support the synchronization
between the basic clock cycle, DRIVE-CLiQ clock cycle and the application clock cycle.
However, not all DRIVE-CLiQ components have this functionality.
Component number of the first faulted DRIVE-CLiQ component.
Remedy: Upgrade the firmware of the component specified in the fault value.
Note:
If required, also upgrade additional components in the DRIVE-CLiQ line.
A01953 CU DRIVE-CLiQ: Synchronization not completed
Reaction: NONE
Acknowledge: NONE
Cause: After the drive system is powered-up, the synchronization between the basic clock cycle, DRIVE-CLiQ clock cycle
and application clock cycle was started but was not completed within the selected time (tolerance).
Remedy: Carry-out a POWER ON (power off/on) for all components.
F01954 CU DRIVE-CLiQ: Synchronization unsuccessful
Reaction: OFF2
and application clock cycle was started and was not able to be successfully completed.
Faults and alarms
Remedy: 1. Ensure perfect functioning of the DRIVE-CLiQ.
2. Initiate a new synchronization, e.g. by:
- remove the PROFIBUS master and re-insert again.
- restart the PROFIBUS master.
- power-down the Control Unit and power-up again.
- press the Control Unit reset button.
- reset the parameter and download the saved parameters (p0009 = 30, p0976 = 2).
A01955 CU DRIVE-CLiQ: Synchronization DO not completed
Reaction: NONE
Acknowledge: NONE
and application clock cycle was started but was not completed within the selected time (tolerance).
Remedy: Carry-out a POWER ON (power off/on) for all components of the DO.
A02000 Function generator: Start not possible
Reaction: NONE
Acknowledge: NONE
Cause: The function generator has already been started.
Remedy: Stop the function generator and restart again if necessary.
See also: p4800 (Function generator control)
A02005 Function generator: Drive does not exist
Reaction: NONE
Acknowledge: NONE
Cause: The drive object specified for connection does not exist.
See also: p4815 (Function generator drive number)
Remedy: Use the existing drive object with the corresponding number.
A02006 Function generator: No drive specified for connection
Reaction: NONE
Acknowledge: NONE
Cause: No drive specified for connection in p4815.
Remedy: At least one drive to be connected must be specified in p4815.
A02007 Function generator: Drive not SERVO
Reaction: NONE
Acknowledge: NONE
Cause: The drive object specified for connection is not a SERVO.
Remedy: Use a SERVO drive object with the corresponding number.
A02008 Function generator: Drive specified a multiple number of times
Reaction: NONE
Acknowledge: NONE
Cause: The drive object specified for connection is already specified.
Drive object number of the drive object that is specified a multiple number of times.
Remedy: Specify a different drive object.
Faults and alarms
A02010 Function generator: Speed setpoint from the drive is not zero
Reaction: NONE
Acknowledge: NONE
Cause: The speed setpoint of a drive - selected to be connected to - is greater than the value for the standstill detection set
using p1226.
Number of the drive object involved.
Remedy: For all of the drives specified for connection, set the speed setpoints to 0.
A02011 Function generator: The actual drive speed is not zero
Reaction: NONE
Acknowledge: NONE
Cause: The speed actual value of a drive - selected to be connected to - is greater than the value for the standstill detection
set using p1226.
Remedy: Set the relevant drives to zero speed before starting the function generator.
A02015 Function generator: Drive enable signals missing
Reaction: NONE
Acknowledge: NONE
Cause: The master control and/or enable signals are missing to connect to the specified drive.
Remedy: Fetch the master control to the specified drive object and set all enable signals.
A02020 Function generator: Parameter cannot be changed
Reaction: NONE
Acknowledge: NONE
Cause: This parameter setting cannot be changed when the function generator is active (p4800 = 1).
See also: p4810 (Function generator mode), p4812 (Function generator physical address), p4813 (Function gener-
ator physical address reference value), p4815 (Function generator drive number), p4820 (Function generator signal
shape), p4821 (Function generator period), p4822 (Function generator pulse width), p4823 (Function generator
bandwidth), p4824 (Function generator amplitude), p4825 (Function generator 2nd amplitude), p4826 (Function gen-
erator offset), p4827 (Function generator ramp-up time to offset), p4828 (Function generator lower limit), p4829
(Function generator upper limit)
Remedy: - stop before parameterizing the function generator (p4800 = 0).
- if required, start the function generator (p4800 = 1).
See also: p4800 (Function generator control)
A02025 Function generator: Period too short
Reaction: NONE
Acknowledge: NONE
Cause: The value for the period is too short.
See also: p4821 (Function generator period)
Remedy: Check and adapt the value for the period.
See also: p4821 (Function generator period)
A02026 Function generator: Pulse width too wide
Reaction: NONE
Acknowledge: NONE
Cause: The selected pulse width is too high.
The pulse width must be less than the period duration.
See also: p4822 (Function generator pulse width)
Remedy: Reduce pulse width.
See also: p4821 (Function generator period), p4822 (Function generator pulse width)
Faults and alarms
A02030 Function generator: Physical address equals zero
Reaction: NONE
Acknowledge: NONE
Cause: The specified physical address is zero.
See also: p4812 (Function generator physical address)
Remedy: Set a physical address with a value other than zero.
See also: p4812 (Function generator physical address)
A02040 Function generator: Impermissible value for offset
Reaction: NONE
Acknowledge: NONE
Cause: The value for the offset is higher than the value for the upper limit or lower than the value for the lower limit.
See also: p4826 (Function generator offset)
Remedy: Adjust the offset value accordingly.
See also: p4826 (Function generator offset), p4828 (Function generator lower limit), p4829 (Function generator
upper limit)
A02041 Function generator: Impermissible value for bandwidth
Reaction: NONE
Acknowledge: NONE
Cause: The bandwidth, referred to the time slice clock cycle of the function generator has either been set too low or too high.
Depending on the time slice clock cycle, the bandwidth is defined as follows:
Bandwidth_max = 1 / (2 * time slice clock cycle)
Bandwidth_min = Bandwidth_max / 100000
Example:
Assumption: p4830 = 125 s
--> Bandwidth_max = 1 / (2 * 125 s) = 4000 Hz
--> Bandwidth_min = 4000 Hz / 100000 = 0.04 Hz
Note:
p4823: Function generator bandwidth
p4830: Function generator time slice clock cycle
See also: p4823 (Function generator bandwidth), p4830 (Function generator time slice cycle)
Remedy: Check the value for the bandwidth and appropriately adapt.
A02047 Function generator: Time slice clock cycle invalid
Reaction: NONE
Acknowledge: NONE
Cause: The time slice cycle selected does not match any of the existing time slices.
See also: p4830 (Function generator time slice cycle)
Remedy: Input an existing time slice cycle. The existing time slices can be read out via p7901.
See also: r7901 (Time slice cycle times)
A02050 Trace: Start not possible
Reaction: NONE
Acknowledge: NONE
Cause: The trace has already been started.
See also: p4700 (Trace control)
Remedy: Stop the trace and, if necessary, start again.
A02055 Trace: Recording time too short
Reaction: NONE
Acknowledge: NONE
Cause: The trace duration is too short.
The minimum is twice the value of the trace clock cycle.
See also: p4721 (Trace recording time)
Remedy: Check the selected recording time and, if necessary, adjust.
Faults and alarms
A02056 Trace: Recording cycle too short
Reaction: NONE
Acknowledge: NONE
Cause: The selected recording cycle is shorter than the selected basis clock cycle 0 (p0110[0]).
See also: p4720 (Trace recording cycle)
Remedy: Increase the value for the trace cycle.
A02057 Trace: Time slice clock cycle invalid
Reaction: NONE
Acknowledge: NONE
Cause: The time slice cycle selected does not match any of the existing time slices.
See also: p4723 (Time slice cycle for trace)
Remedy: Input an existing time slice cycle. The existing time slices can be read out via p7901.
See also: r7901 (Time slice cycle times)
A02060 Trace: Signal to be traced missing
Reaction: NONE
Acknowledge: NONE
Cause: - a signal to be traced was not specified.
- the specified signals are not valid.
See also: p4730 (Trace record signal 0), p4731 (Trace record signal 1), p4732 (Trace record signal 2), p4733 (Trace
record signal 3)
Remedy: - specify the signal to be traced.
- check whether the relevant signal can be traced.
A02061 Trace: Invalid signal
Reaction: NONE
Acknowledge: NONE
Cause: - the specified signal does not exist.
- the specified signal can no longer be traced (recorded).
See also: p4730 (Trace record signal 0), p4731 (Trace record signal 1), p4732 (Trace record signal 2), p4733 (Trace
record signal 3)
Remedy: - specify the signal to be traced.
- check whether the relevant signal can be traced.
A02062 Trace: Invalid trigger signal
Reaction: NONE
Acknowledge: NONE
Cause: - a trigger signal was not specified.
- the specified signal does not exist.
- the specified signal is not a fixed-point signal.
- the specified signal cannot be used as trigger signal for the trace.
See also: p4711 (Trace trigger signal)
Remedy: Specify a valid trigger signal.
A02063 Trace: Invalid data type
Reaction: NONE
Acknowledge: NONE
Cause: The specified data type to select a signal using a physical address is invalid.
See also: p4711 (Trace trigger signal), p4730 (Trace record signal 0), p4731 (Trace record signal 1), p4732 (Trace
record signal 2), p4733 (Trace record signal 3)
Remedy: Use a valid data type.
Faults and alarms
A02070 Trace: Parameter cannot be changed
Reaction: NONE
Acknowledge: NONE
Cause: The trace parameter settings cannot be changed when the trace is active.
See also: p4700 (Trace control), p4710 (Trace trigger condition), p4711 (Trace trigger signal), p4712 (Trace trigger
threshold), p4713 (Trace tolerance band trigger threshold), p4714 (Trace tolerance band trigger threshold), p4715
(Trace bit mask trigger, bit mask), p4716 (Trace, bit mask trigger, trigger condition), p4720 (Trace recording cycle),
p4721 (Trace recording time), p4722 (Trace trigger delay), p4730 (Trace record signal 0), p4731 (Trace record signal
1), p4732 (Trace record signal 2), p4733 (Trace record signal 3), p4780 (Trace physical address signal 0), p4781
(Trace physical address signal 1), p4782 (Trace physical address signal 2), p4783 (Trace physical address signal
3), p4789 (Trace physical address trigger signal), p4795 (Trace memory bank changeover)
Remedy: - stop the trace before parameterization.
- if required, start the trace.
A02075 Trace: Pretrigger time too long
Reaction: NONE
Acknowledge: NONE
Cause: The selected pretrigger time must be shorter than the recording time.
See also: p4721 (Trace recording time), p4722 (Trace trigger delay)
Remedy: Check the pretrigger time setting and change if necessary.
A02099 Trace: Insufficient Control Unit memory
Reaction: NONE
Acknowledge: NONE
Cause: The memory space still available on the Control Unit is no longer sufficient for the trace function.
Remedy: Reduce the memory required, e.g. as follows:
- reduce the trace (record) time.
- increase the trace clock cycle.
- reduce the number of signals to be traced (recorded).
See also: r4708 (Trace memory space required), r4799 (Trace memory location free)
A02100 CU: Computation deadtime current controller too short
Reaction: NONE
Acknowledge: NONE
Cause: The value in p0118 produces a dead time of one clock cycle because it lies before the setpoint becomes available.
A possible cause could be, for example, that the system characteristics no longer match those parameterized after
a component has been replaced.
Alarm value (r2134, floating point):
The minimum value for p0118 where a deadtime no longer occurs.
Remedy: - set p0118 to a value greater than or equal to the alarm value.
- set p0117 to an automatic setting.
- check the firmware releases of the components involved.
See also: p0117 (Current controller computation deadtime mode), p0118 (Current controller computation deadtime)
A02150 OA application cannot be loaded
Reaction: NONE
Acknowledge: NONE
Cause: The system was not able to load an OA application.
See also: r4950 (OA application count), r4955 (OA application identifier), p4956 (OA application activation), r4957
(OA application version)
Faults and alarms
F02151 (A) OA application, internal software error
Cause: An internal software error has occurred within an OA application.
Acknowledge
upon A:
NONE
F02152 (A) OA application, insufficient memory
Reaction: OFF1
Cause: Two many functions, data sets or drives configured on this Control Unit.
Remedy: - change the configuration on this Control Unit.
- use an additional Control Unit.
Acknowledge
upon A:
NONE
F03500 (A) TM: Initialization
Cause: When initializing the Terminal Modules, the terminals of the Control Unit or the Terminal Board 30, an internal soft-
ware error has occurred.
The thousands location = 1 ... 3:
The component number (p0151) of the module involved is specified at the ones, tens and hundreds position.
Remedy: - power-down the power supply for the Control Unit and power-up again.
- if required, replace the Terminal Module.
The Terminal Module should be directly connected to a DRIVE-CLiQ socket of the Control Unit.
If the fault occurs again, replace the Terminal Module.
Acknowledge
upon A:
NONE
A03501 TM: Sampling time change
Reaction: NONE
Acknowledge: NONE
Cause: The sampling times of the inputs/outputs were changed.
This change only becomes valid after the next boot.
Remedy: Carry-out a POWER ON.
Faults and alarms
F03505 (N, A) TM: Analog input, wire breakage
Cause: The input current of the TM analog input has exceeded the threshold value parameterized in p4061[x].
This fault can only occur, if p4056[x] = 3 (4 ... 20 mA with monitoring) is set.
Index x = 0: Analog input 0 (X522.1 to .3)
Index x = 1: Analog input 1 (X522.4 to .5)
The component number (p0151) of the module involved is specified at the ones, tens and hundreds position.
The thousands position specifies the analog input involved: 0: Analog input 0 (AI 0), 1: Analog input 1 (AI 1)
Remedy: Check the connection to the signal source for interruptions.
Check the magnitude of the impressed current - it is possible that the impressed signal is too low.
Please note that the input has a load resistor of 250 Ohm.
The input current measured by the TM can be read-out of r4052[x].
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A03550 TM: Speed setpoint filter natural frequency > Shannon frequency
Reaction: NONE
Acknowledge: NONE
Cause: The natural filter frequency of the speed setpoint filter (p1417) is greater than the Shannon frequency.
The Shannon frequency is calculated according to the following formula: 0.5 / p0115[0]
See also: p1417 (Speed setpoint filter 1 denominator natural frequency)
Remedy: Reduce the natural frequency of the speed setpoint filter (PT2 low pass) (p1417).
F03590 (N, A) TM: Module not ready
Reaction: A_INFEED: OFF2 (NONE)
Cause: The Terminal Module involved does not send a ready signal and no valid cyclic data.
Drive object number.
Remedy: - check the 24 V power supply.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A05000 (N) Power unit: Heatsink overtemperature
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for overtemperature at the inverter heatsink has been reached. The response is set using
p0290.
If the temperature of the heatsink increases by an additional 5 K, then fault F30004 is initiated.
Remedy: Check the following:
- is the ambient temperature within the defined limit values?
- have the load conditions and the load duty cycle been appropriately dimensioned?
- has the cooling failed?
Faults and alarms
Acknowledge
upon N:
NONE
A05001 (N) Power unit: Chip overtemperature
Reaction: NONE
Acknowledge: NONE
Cause: Alarm threshold for overtemperature of the power semiconductor in the AC converter has been reached. The
response is set using p0290.
If the chip temperature increases by an additional 15 K, then fault F30025 is initiated.
- has the cooling failed?
- pulse frequency too high?
See also: r0037 (Power unit temperatures), p0290 (Power unit overload response)
Acknowledge
upon N:
NONE
A05002 (N) Power unit: Air intake overtemperature
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for the air intake overtemperature has been reached. For air-cooled power units, the threshold
is 42 degrees Celcius (hysteresis 2 K). The response is set using p0290.
If the air intake temperature increases by an additional 13 K, then fault F30035 is output.
- has the fan failed? Check the direction of rotation.
Acknowledge
upon N:
NONE
A05003 (N) Power unit: Electronics board overtemperature
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for the overtemperature of the electronics module has been reached. The response is set using
p0290.
If the temperature of the electronics module increases by an additional 5 K, then fault F30036 is initiated.
Acknowledge
upon N:
NONE
A05004 (N) Power unit: Rectifier overtemperature
Reaction: NONE
Acknowledge: NONE
Cause: The alarm threshold for the overtemperature of the rectifier has been reached. The response is set using p0290.
If the temperature of the rectifier increases by an additional 5 K, then fault F30037 is initiated.
- has a phase of the line supply failed?
- is an arm of the supply (incoming) rectifier defective?
Faults and alarms
Acknowledge
upon N:
NONE
A05005 Cooling system: Cooling medium flow rate too low
Reaction: NONE
Acknowledge: NONE
Cause: Cooling system: Alarm - flow rate has fallen below the alarm value
Remedy:
F05050 Parallel circuit: Pulse enable in spite of pulse inhibit
VECTOR: OFF2 (NONE, OFF1, OFF3, STOP1, STOP2)
Cause: A power unit signals that the pulses are enabled although the pulses are inhibited.
Number of the power unit involved.
Remedy: The power unit is defective and must be replaced.
F05051 Parallel circuit: Power unit pulse enable missing
Cause: For one or several power units, the pulses were not able to be enabled.
Number of the power unit involved.
Remedy: - acknowledge power unit faults that are still present.
- inhibit the pulses of the power unit involved (p7001).
A05052 (F) Parallel circuit: Impermissible current dissymmetry
Reaction: NONE
Acknowledge: NONE
Cause: The deviation of the individual currents of the power units exceeds the alarm threshold specified in p7010.
1: Phase U.
2: Phase V.
3: Phase W.
Remedy: - inhibit the pulses of the faulted power unit (p7001).
- check the connecting cables. Loose contacts can cause current spikes.
- the motor reactors are non-symmetrical or faulty and must be replaced.
- the CTs must be calibrated or replaced.
VECTOR: NONE (OFF1, OFF2, OFF3, STOP1, STOP2)
Acknowledge
upon F:
IMMEDIATELY
A05053 (F) Parallel circuit: Inadmissible DC link voltage dissymmetry
Reaction: NONE
Acknowledge: NONE
Cause: The deviation of the DC link voltage measured values exceeds the alarm threshold specified in p7011.
Remedy: - inhibit the pulses of the faulted power unit (p7001).
- check the DC link connecting cables.
- the DC link voltage measurement is incorrect and must be calibrated or renewed.
VECTOR: NONE (OFF1, OFF2, OFF3, STOP1, STOP2)
Acknowledge
upon F:
IMMEDIATELY
Faults and alarms
A05054 Parallel circuit: Power unit de-activated
Reaction: NONE
Acknowledge: NONE
Cause: For the drive object involved, fewer power unit components connected in parallel are active than exist in the target
topology. Operation is only possible at reduced power (power de-rating).
Remedy: Re-activate the de-activated power unit components.
See also: p0125 (Activate/de-activate power unit components), p0895 (Activate/de-activate power unit components),
p0897 (Parking axis selection)
F05055 Power circuit: Power units with different code numbers
Reaction: NONE
Cause: The code numbers of the power units do not match.
Parameter in which the first different power unit code number was detected.
Remedy: For parallel circuit configurations, only power units with identical power unit data may be used.
F05056 Parallel circuit: Power unit EPROM versions differ
Reaction: NONE
Cause: The EEPROM versions of the power units do not match.
Parameter in which the first different version number was detected.
Remedy: For parallel circuit configurations, only power units with identical EEPROM versions may be used.
F05057 Parallel circuit: Power unit firmware versions differ
Reaction: NONE
Cause: The firmware versions of the power units connected in parallel do not match.
Remedy: For parallel circuit configurations, only power units with identical firmware versions may be used.
F05058 Parallel circuit: VSM EEPROM versions differ
Reaction: NONE
Cause: The EEPROM versions of the Voltage Sensing Modules (VSM) do not match.
Remedy: For parallel circuit configurations, only Voltage Sensing Modules (VSM) with identical EEPROM versions may be
used.
F05059 Parallel circuit: VSM firmware versions differ
Reaction: NONE
Cause: The firmware versions of the Voltage Sensing Modules (VSM) do not match.
Remedy: For parallel circuit configurations, only Voltage Sensing Modules (VSM) with identical firmware versions may be
used.
F05060 Parallel circuit: Power unit firmware version does not match
Reaction: NONE
Cause: Firmware from version V02.30.01.00 is required when connecting the power units in parallel.
Remedy: Update the firmware of the power units (at least V02.30.01.00).
Faults and alarms
F05061 Infeed, number of VSM
Reaction: NONE
Cause: The number of active Voltage Sensing Modules (VSM) for the drive object infeed with chassis power units is not cor-
rect.
For A_Infeed, each active power unit must be assigned an active VSM also for a parallel circuit configuration.
For S_Infeed, the active drive object, must be assigned at least one active VSM.
Number of VSMs that are currently assigned to the drive object.
Remedy: Adapts the number of active Voltage Sensing Modules (VSM).
F06000 Infeed: Precharging monitoring time expired
Cause: After the line contactor closes the power unit does not signal the READY state within the monitoring time (p0857).
The end of the DC link pre-charging was not detected due to one of the following reasons:
- there is not line supply voltage.
- the line contactor is not closed.
- the line supply voltage is too low.
- the power unit has detected an internal fault.
- there is a DC link short-circuit.
- the DC link has a ground fault.
- the pre-charging resistors are overheated as there were too many pre-charging operations per time unit.
- the pre-charging resistors are overheated as the DC link capacitance is too high (max. 20 mF).
- line supply voltage incorrectly set.
See also: p0857 (Power unit monitoring time)
Remedy: - check the line supply voltage
- check or energize the line contactor.
- check and if required increase the monitoring time p0857.
- if relevant, carefully note additional power unit fault messages.
- check the DC link regarding short-circuit or ground fault.
- wait until the pre-charging resistors have cooled down.
- reduce the DC link capacitance by removing the power units or supplementary modules.
- check the line supply voltage setting (p0210).
F06010 Infeed: Power unit EP 24 V missing in operation
Cause: In operation, withdraw the pulse enable at terminal EP at the Line Module (X21.3, X21.4).
Remedy: - do not open the line breaker in operation - only when the pulses are inhibited.
- check the wiring of the DP input (X21.3, X21.4) at the Line Module to exclude any poor contacts.
F06050 Infeed: Smart Mode not supported
Reaction: OFF2
Cause: The power unit does not support the Smart Mode.
Remedy: - set the sampling time p0115[0] >= 250 s by setting the pre-setting (default) of the sampling time (p0112) to the
factory setting.
- de-activate the Smart Mode with p3400 and supply voltage p0210 <= 415 V.
- upgrade the power unit software and/or hardware for the smart mode (r0192).
See also: r0192 (Power unit firmware properties)
Faults and alarms
F06100 Infeed: Shutdown due to line supply undervoltage condition
Cause: The filtered (steady-state) value of the line supply voltage is less than the fault threshold (p0283).
Alarm condition: Vrms < p0283 * p0210.
Fault value (r0949, floating point):
Actual steady-state line supply voltage.
See also: p0283 (Line supply undervoltage, shutdown (trip) threshold)
Remedy: - check the line supply.
- check the line supply voltage (p0210).
- check the fault threshold (p0283).
A06105 (F) Infeed: Line supply undervoltage
Reaction: NONE
Acknowledge: NONE
Cause: The filtered (steady-state) value of line supply voltage is lower than the alarm threshold (p0282).
Alarm condition: Vrms < p0282 * p0210.
See also: p0282 (Line supply undervoltage, alarm threshold)
- check the alarm threshold (p0282).
Reaction upon F: NONE (OFF1, OFF2)
Acknowledge
upon F:
F06200 Infeed: Failure of one or several line phases
Cause: Failure of one or several line phases.
The fault can be output in two operating states:
1. During the power-on phase of the infeed unit.
The measured line supply angle deviates from the regular characteristic for a 3-phase system - the PLL cannot be
synchronized.
The fault occurs immediately after power-up if, when operating with a VSM, the phase assignment L1, L2, L3 at the
VSM differs from the phase assignment at the power unit.
2. While the infeed is operational.
After a voltage dip has been detected (A06205) in one or several line phases a fault occurred within 100 ms (also
refer to other relevant messages).
Probable causes of the fault:
- voltage dip on the line side or phase phase failure lasting longer than 10 ms.
- overload condition on the load side with peak current.
- commutating reactor missing.
Remedy: - check the line supply and fuses.
- check the connection and size (rating) of the line commutating reactor.
- check and correct the phase assignment at the VSM and at the power unit.
- check the load.
See also: p3463 (Infeed, line angle change, phase failure detection)
Faults and alarms
A06205 (F) Infeed: Voltage dip in at least one line supply phase
Reaction: NONE
Acknowledge: NONE
Cause: Voltage dip or overvoltage in one or several line supply phases has been detected in operation.
The pulses are then cancelled for 10 ms. The operating signal of the infeed unit in r0863.0 remains and the pulse
inhibit due to the phase failure is displayed in r3405.2.
Internal fault type of the line angle characteristic.
Remedy: - check the line supply and fuses.
- check the line supply quality and system fault level.
- check the load.
See also: r3405 (Status word infeed), p3463 (Infeed, line angle change, phase failure detection)
Acknowledge
upon F:
F06210 Infeed: Summed current too high
Cause: Smoothed sum of the phase currents (i1 + i2 + i3) greater than 4 % of the maximum power unit current (r0209).
Possible causes:
- the DC link has a ground fault that results in a high summed current (r0069.6). The DC component in the line cur-
rents can damage/destroy the power unit, commutating reactor or line filter!
- the zero point calibration of the current measurement was not carried-out (p3491, A06602).
- defective current measurement in the power unit.
Smoothed sum of the phase currents.
Remedy: - check the DC link for a low-ohmic or high-ohmic ground fault and if one is present, remove.
- increase the monitoring time of the current-offset measurement (p3491).
- if required, replace the power unit.
A06215 (F) Infeed: Summed current high
Reaction: NONE
Acknowledge: NONE
Cause: Smoothed sum of the phase currents (i1 + i2 + i3) greater than 3 % of the maximum power unit current (r0209).
Possible causes:
- the DC link has a ground fault that results in a high summed current (r0069.6). The DC component in the line cur-
rents can damage/destroy the power unit, commutating reactor or line filter!
- the zero point calibration of the current measurement was not carried-out (p3491, A06602).
- defective current measurement in the power unit.
Smoothed sum of the phase currents.
Remedy: - check the DC link for a low-ohmic or high-ohmic ground fault and if one is present, remove.
- increase the monitoring time of the current-offset measurement (p3491).
- if required, replace the power unit.
Acknowledge
upon F:
Faults and alarms
A06250 (F) Infeed: Defective capacitor(s) in at least one phase of line filter
Reaction: NONE
Acknowledge: NONE
Cause: A change in the line filter capacitance was detected in at least line phase.
The voltages and phase currents of the line filter, measured using a Voltage Sensing Module (VSM), indicated a devi-
ation of the filter capacitances from the value parameterized in p0221.
A change or a defect of the line filter capacitors results in a shift of the resonant frequencies and can result in severe
damage to the drive system.
The calculated actual capacitance in F (rounded-off to an integer number).
The 1st decimal point specifies the number of the phase (1, 2, 3) where the capacitance deviates from the specified
value.
Remedy: - check the parameterized value of the filter capacitance (p0221).
- check the correct wiring of the Voltage Sensing Module (VSM):
Differential voltages u12 and u23 must be present at the 100 V/690 V inputs of the VSM; the phase currents of the
line filter must be connected to the 10 V inputs through a current - voltage converter.
- check the alarm limits for the permissible filter capacitance deviation (p3676).
- check the normalization of the line supply voltage measurement using the VSM (p3660).
- check the normalization of the filter current measurement using the VSM (p3670).
- check the line filter capacitors and if required, replace the line filter.
See also: p0221 (Infeed filter capacitance), p3660 (VSM input line supply voltage, voltage scaler), p3670 (VSM 10
V input CT gain), p3676 (VSM line filter capacitance alarm threshold)
Acknowledge
upon F:
F06300 Infeed: Line voltage too high at power on
Reaction: OFF2 (NONE, OFF1)
Cause: The RMS line supply voltage Vrms was so high when powering-up that controlled operation is not possible without
exceeding the permissible maximum voltage in the DC link (p0280).
Fault condition: Vrms * 1.5 > p0280.
Lowest possible controlled DC link voltage for the line supply voltage presently connected.
See also: p0280 (DC link voltage maximum steady-state)
- check the maximum DC link voltage and if required, increase (p0280).
- check the line supply voltage and compare with the actual line supply voltage (p0210).
- check whether the power unit is dimensioned for the line supply voltage actually being used.
See also: p0210 (Drive unit line supply voltage), p0280 (DC link voltage maximum steady-state)
A06301 (F) Infeed: Line supply overvoltage
Reaction: NONE
Acknowledge: NONE
Cause: The filtered (steady-state) value of the rms line supply voltage Vrms is higher than the alarm threshold (p0281).
Alarm condition: Vrms > p0281 * p0210.
See also: p0281 (Line supply overvoltage, warning threshold)
See also: p0210 (Drive unit line supply voltage), p0281 (Line supply overvoltage, warning threshold)
Acknowledge
upon F:
Faults and alarms
F06310 (A) Infeed: Supply voltage (p0210) incorrectly parameterized
Reaction: NONE (OFF1, OFF2)
Cause: After pre-charging was completed, the line supply voltage Vrms was calculated using the measured DC link voltage.
This voltage Vrms is not within the tolerance range of the supply voltage.
The following applies for the tolerance range: 85 % * p0210 < Vrms < 110 % * p0210.
Line supply voltage Vrms present.
See also: p0210 (Drive unit line supply voltage)
Remedy: - check the parameterized supply voltage and if required change (p0210).
- check the line supply voltage.
Acknowledge
upon A:
NONE
A06350 (F) Infeed: Measured line frequency too high
Reaction: NONE
Acknowledge: NONE
Cause: The actual line frequency f_line is higher than the parameterized alarm threshold (f_line > p0211 * p0284).
The alarm can be output in two operating states:
Consequence:
Synchronization of the infeed to the line supply is interrupted and is restarted.
Consequence:
The infeed remains in the operating (run) state and alarm A6350 is output. This signifies a critical operational fault.
Actual line frequency determined.
See also: p0284 (Line supply frequency exceeded, alarm threshold)
Remedy: - check the parameterized line frequency and if required change (p0211).
- check the line supply.
- check the line supply quality.
See also: p0211 (Rated line freq), p0284 (Line supply frequency exceeded, alarm threshold)
Acknowledge
upon F:
A06351 (F) Infeed: Measured line frequency too low
Reaction: NONE
Acknowledge: NONE
Cause: The actual line frequency f_line is lower than the parameterized alarm threshold (f_line < p0211 * p0285).
The alarm can be output in two operating states:
Consequence:
Synchronization of the infeed to the line supply is interrupted and is restarted.
Consequence:
The infeed remains in the operating (run) state and alarm A06351 is output. This signifies a critical operational fault.
Actual line frequency determined.
See also: p0285 (Line supply frequency fallen below, alarm threshold)
See also: p0211 (Rated line freq), p0285 (Line supply frequency fallen below, alarm threshold)
Faults and alarms
Acknowledge
upon F:
A06400 Infeed: Line supply data identification selected/active
Reaction: NONE
Acknowledge: NONE
Cause: The line supply data identification is selected and active.
The line inductance and the DC link capacitance are measured at the next pulse enable.
SM150: The Active Line Module is synchronized the next time that the pulses are enabled and the identification
mode, selected in p3410 is carried-out or the identification mode, displayed in r6442 is presently active. The
INFEED_READY signal is not generated.
See also: p3410 (Infeed identification method)
Remedy: No remedial action required.
F06500 Infeed: Line synchronization not possible
Cause: The line synchronization is not possible within the monitoring time.
The infeed was re-synchronized to the line supply because it was interrupted due to a line frequency that was deter-
mined to be either too low or too high.
After 20 attempts, synchronization - and therefore also the power-on operation - were interrupted.
- check the fault thresholds (p0284, p0285).
See also: p0211 (Rated line freq), p0284 (Line supply frequency exceeded, alarm threshold), p0285 (Line supply
frequency fallen below, alarm threshold)
A06601 (F) Infeed: Current offset measurement interrupted
Reaction: NONE
Acknowledge: NONE
Cause: Defective current measurement or a DC current is present during the offset measurement.
1: Excessively high phase current has occurred during the current-offset calibration.
2: The measured current - offset is greater than the 3% of the maximum permissible converter current (e.g. due to a
ground fault in the DC link).
Remedy: Re alarm value = 1:
- possible counter-measure if there is no line contactor: Power-up an adequately long time before OFF1 = 1.
Re alarm value = 2:
- defective current measurement or a DC current is present during the offset measurement.
- check the DC link for a ground fault.
Acknowledge
upon F:
A06602 (F) Infeed: Current offset measurement not possible
Reaction: NONE
Acknowledge: NONE
Cause: After an OFF1 = 1 no valid current offset measurement was able to be made within the monitoring time (p3491)
before closing the line contactor. The current offset is set to 0.
See also: p3491 (Infeed I-offset measurement monitoring time)
Remedy: - check the DC link for a ground fault. A ground fault can destroy parts and components!
- Check the monitoring time setting and if required increase (p3491). At least 100 ms is required for a valid measure-
ment (p3491 > 100 ms).
Notice:
If there is no valid measurement, then under certain circumstances the quality of the DC link control will be reduced.
See also: p3491 (Infeed I-offset measurement monitoring time)
Faults and alarms
Acknowledge
upon F:
F06700 (A) Infeed: Switch line contactor for load condition
Cause: For an on command, the infeed line contactor should be switched under load.
Remedy: - do not load the DC link if the infeed has not issued an operating signal (r0863.0 = 1).
- after the infeed has been powered-down, all power units connected to the DC link should be powered-down. To
realize this, the operating signal of the infeed (r0863.0) must be suitable interconnected.
Acknowledge
upon A:
NONE
A06800 (F) Infeed: Maximum steady-state DC link voltage reached
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage setpoint has reached the maximum steady-state voltage parameterized in p0280.
The DC link voltage is increased by the modulation depth reserve controller for the following reasons:
- modulation depth reserve is too low (p3480).
- line supply voltage is too high.
- supply voltage (p0210) parameterized to be too low.
- excessively high setpoint for the reactive line current.
Remedy: - check the line supply voltage setting (p0210).
- check the line supply for an overvoltage condition.
- reduce the modulation depth reserve (p3480).
- reduce the reactive current setpoint.
See also: p0210 (Drive unit line supply voltage), p0280 (DC link voltage maximum steady-state), p3480 (Infeed mod-
ulation depth limit)
Acknowledge
upon F:
A06900 (F) Braking Module: Fault (1 -> 0)
Reaction: NONE
Acknowledge: NONE
Cause: The Braking Module signals "Fault (1 -> 0)" via terminal X21.4.
This signal is interconnected via binector input BI: p3866[0...7].
See also: p3866 (Braking Module fault)
Remedy: - reduce the number of braking operations.
- check binector input BI: p3866[0...7] and the wiring to terminal X21.4 of the particular braking module.
Acknowledge
upon F:
IMMEDIATELY
A06901 Braking Module: Pre-alarm I*t shutdown
Reaction: NONE
Acknowledge: NONE
Cause: The Braking Module signals "Pre-alarm I*t shutdown" via terminal X21.3.
This signal is interconnected via binector input p3865[0...7].
The pre-alarm I*t shutdown is only possible for Braking Modules, "booksize" type, "chassis" devices do not support
this function.
Remedy: - reduce the number of braking operations.
- check binector input BI: p3865[0...7] and the wiring to terminal X21.3 of the particular Braking Module.
Faults and alarms
F07011 Drive: Motor overtemperature
Reaction: OFF2 (NONE, OFF1, OFF3, STOP1, STOP2)
Cause: KTY:
The motor temperature has exceeded the fault threshold (p0605) or the timer stage (p0606) after the alarm threshold
was exceeded (p0604) has expired.
VECTOR: The response parameterized in p0610 becomes active.
PTC:
The response threshold of 1650 Ohm was exceeded and the timer stage (p0606) has expired.
Possible causes:
- motor is overloaded.
- motor ambient temperature too high.
- wire breakage or sensor not connected
Fault value (r0949, decimal), if SME is selected in p0601 (p0601=10):
The number specifies the sensor channel that resulted in the alarm being output.
See also: p0604 (Motor overtemperature alarm threshold), p0605 (Motor overtemperature fault threshold), p0606
(Motor overtemperature timer), p0610 (Response to motor overtemperature condition)
Remedy: - reduce the motor load.
- check the ambient temperature.
- check the wiring and sensor connector.
See also: p0604 (Motor overtemperature alarm threshold), p0605 (Motor overtemperature fault threshold), p0606
(Motor overtemperature timer)
A07015 Drive: Motor temperature sensor alarm
Reaction: NONE
Acknowledge: NONE
Cause: An error was detected when evaluating the temperature sensor set in p0600 and p0601.
With the fault, the time in p0607 is started. If the fault is still present after this time has expired, then fault F07016 is
output; however, at the earliest, 1 s after alarm A07015.
Possible causes:
- wire breakage or sensor not connected (KTY: R > 1630 Ohm).
- measured resistance too low (PTC: R < 20 Ohm, KTY: R < 50 Ohm).
Alarm value (r2124, decimal), if SME is selected in p0601 (p0601=10):
Remedy: - check that the sensor is connected correctly.
- check the parameterization (p0600, p0601).
See also: r0035 (Motor temperature), p0600 (Motor temperature sensor for monitoring), p0601 (Motor temperature
sensor type), p0607 (Temperature sensor fault timer)
F07016 Drive: Motor temperature sensor fault
Cause: An error was detected when evaluating the temperature sensor set in p0600 and p0601.
Possible causes:
- wire breakage or sensor not connected (KTY: R > 1630 Ohm).
- measured resistance too low (PTC: R < 20 Ohm, KTY: R < 50 Ohm).
Note:
If alarm A07015 is present, the time in p0607 is started. If the fault is still present after this time has expired, then
fault F07016 is output; however, at the earliest, 1 s after alarm A07015.
Fault value (r0949, decimal), if SME is selected in p0601 (p0601=10):
See also: p0607 (Temperature sensor fault timer)
- check the parameterization (p0600, p0601).
- induction motors: De-activate temperature sensor fault (p0607 = 0).
See also: r0035 (Motor temperature), p0600 (Motor temperature sensor for monitoring), p0601 (Motor temperature
sensor type), p0607 (Temperature sensor fault timer)
Faults and alarms
F07080 Drive: Incorrect control parameter
Reaction: NONE
Cause: The closed-loop control parameters have been parameterized incorrectly (e.g. p0356 = L_spread = 0).
The fault value includes the parameter number involved.
The following parameter numbers only occur as fault values for vector drives:
p0310, for synchronous motors: p0341, p0344, p0350, p0357
The following parameter numbers do not occur as fault values for synchronous motors:
p0354, p0358, p0360
See also: p0310 (Rated motor frequency), p0311 (Rated motor speed), p0341 (Motor moment of inertia), p0344
(Motor weight), p0350 (Motor stator resistance, cold), p0354 (Motor rotor resistance cold / damping resistance d
axis), p0356 (Motor stator leakage inductance), p0357 (Motor stator inductance, d axis), p0358 (Motor rotor leakage
inductance / damping inductance, d axis), p0360 (Motor magnetizing inductance/magn. inductance, d axis satu-
rated), p0400 (Enc type selection), p0640 (Current limit), p1082 (Maximum speed), p1300 (Open-loop/closed-loop
control operating mode)
Remedy: Modify the parameter indicated in the fault value (r0949) (e.g. p0640 = current limit > 0).
See also: p0311 (Rated motor speed), p0341 (Motor moment of inertia), p0344 (Motor weight), p0350 (Motor stator
resistance, cold), p0354 (Motor rotor resistance cold / damping resistance d axis), p0356 (Motor stator leakage
inductance), p0358 (Motor rotor leakage inductance / damping inductance, d axis), p0360 (Motor magnetizing induc-
tance/magn. inductance, d axis saturated), p0400 (Enc type selection), p0640 (Current limit), p1082 (Maximum
speed)
F07082 Macro: Execution not possible
Reaction: NONE
Cause: The macro cannot be executed.
The fault code is in byte 1, possibly supplementary information is in byte 2 and the high word contains the parameter
number involved if this is available.
Fault codes:
Fault for the trigger parameter itself:
-20: Called file is not valid for parameter 15.
-24: Data type of a TAG is incorrect (e.g.: Index, number or bit is not U16).
Faults for the parameters to be set:
-25: Error level has an undefined value.
-26: Mode has an undefined value.
-27: A value was entered as string in the tag value that is not "DEFAULT".
-31: Entered drive object type unknown.
-32: A device was not able to be found for the determined drive object number.
-34: A trigger parameter was recursively called.
-35: It is not permissible to write to the parameter via macro.
-36: Check, writing to a parameter unsuccessful, parameter can only be read, not available, incorrect data type, value
range or assignment incorrect.
-37: Source parameter for a BICO interconnection was not able to be determined.
-38: An index was set for a non-indexed parameter.
-39: No index was set for an indexed parameter.
-41: A bit operation is only permissible for parameters with the parameter format DISPLAY_BIN.
-42: A value not equal to 0 or 1 was set for a BitOperation.
-43: Reading the parameter to be changed by the BitOperation was unsuccessful.
-51: Factory setting for DEVICE may only be executed on the DEVICE.
-61: The setting of a value was unsuccessful.
Remedy: - check the parameter involved.
- check the macro file and BICO interconnection.
See also: p0015 (Macro drive unit), p0700 (Macro Binector Input (BI)), p1000 (Macro Connector Inputs (CI) for speed
setpoints), p1500 (Macro Connector Inputs (CI) for torque setpoints)
Faults and alarms
F07083 Macro: ACX file not found
Reaction: NONE
Cause: The ACX file (macro) to be executed was not able to be found in the appropriate directory.
Parameter number with which the execution was started.
See also: p0015 (Macro drive unit), p0700 (Macro Binector Input (BI)), p1000 (Macro Connector Inputs (CI) for speed
setpoints), p1500 (Macro Connector Inputs (CI) for torque setpoints)
Remedy: - check whether the file is saved in the appropriate directory on the CompactFlash card.
Example:
If p0015 is set to 1501, then the selected ACX file must be located in the following directory:
... /PMACROS/DEVICE/P15/PM001501.ACX
F07084 Macro: Condition for WaitUntil not fulfilled
Reaction: NONE
Cause: The wait condition set in the macro was not fulfilled in a certain number of attempts.
Parameter number for which the condition was set.
Remedy: Check and correct the conditions for the WaitUntil loop.
F07085 Drive: Open-loop/closed-loop control parameters changed
Reaction: NONE
Cause: Parameters of the open-loop/closed-loop control had to be changed as they exceeded dynamic limits as a result of
other parameters.
The fault value includes the modified parameter number.
See also: p0640 (Current limit), p1082 (Maximum speed), p1300 (Open-loop/closed-loop control operating mode),
p1800 (Pulse frequency)
Remedy: It is not necessary to change the parameters as they have already been correctly limited.
F07086 Units changeover: Calculating parameter values after an int. system ref. value change
unsuccessful
Reaction: NONE
Cause: A reference parameter was changed in the system. This resulted in the fact that for the parameter involved, the
selected value was not able to be written in the per unit notation (cause, e.g. the minimum or maximum limit was
violated). The value of this parameter was set to default.
Parameter involved that was not able to be recalculated.
Remedy: Check, and if required, correct the adapted parameter value.
F07090 Drive: Upper torque limit less than the lower torque limit
Reaction: OFF2 (NONE, OFF1, OFF3)
Cause: The upper torque limit is lower than the lower torque limit.
Remedy: P1 must be >= P2 if parameter P1 is connected to p1522 and parameter P2 to p1523.
Faults and alarms
F07100 Drive: Sampling times cannot be reset
Reaction: NONE
Cause: When resetting drive parameter (p0976) sampling times cannot be reset using p0111, p0112, p0115.
Parameter whose setting prevents the sampling times being reset.
Remedy: - continue to work with the set sampling times.
- before resetting the drive parameters, set the basic clock cycle p0110[0] to the original value.
F07110 Drive: Sampling times and basic clock cycle do not match
Reaction: NONE
Cause: The parameterized sampling times do not match the basic clock cycle.
See also: r0110 (DRIVE-CLiQ basis sampling times), r0111 (DRIVE-CLiQ basis sampling time selection), p0115
(Sampling time for supplementary functions)
Remedy: Enter the current controller sampling times so that they are identical to the basic clock cycle, e.g. by selecting p0112.
Note which basic clock cycle is selected in p0111.
The sampling times in p0115 can only be changed manually in the sampling times preset "Expert" (p0112).
See also: r0110 (DRIVE-CLiQ basis sampling times), r0111 (DRIVE-CLiQ basis sampling time selection), p0112
(Sampling times pre-setting p0115), p0115 (Sampling time for supplementary functions)
A07200 Drive: Master control ON/OFF1 command present
Reaction: NONE
Acknowledge: NONE
Cause: The ON/OFF1 command is not 0, either via binector input p0840 (current CDS) or in control word p3982 bit 0.
Remedy: The signal at binector input p0840 (actual CDS) as well as p3982 bit 0 must be 0.
F07210 Master control PC/AOP inhibited
Reaction: NONE
Cause: The transfer of master control is disabled via binector input p3985.
Remedy: Change the signal via binector input p3985.
F07220 (N, A) Drive: Control by PLC missing
SERVO: OFF1 (NONE, OFF2, OFF3, STOP1, STOP2)
Cause: The "control by PLC" signal was missing in operation.
- interconnection of the binector input for "control by PLC" is incorrect (p0854).
- the higher-level control has withdrawn the "control by PLC" signal.
- data transfer via the fieldbus (master - drive) was interrupted.
Remedy: - check the interconnection of the binector input for "control by PLC" (p0854).
- check the "control by PLC" signal and, if required, switch-in.
- check the data transfer via the fieldbus (master - drive).
Note: If the drive should continue to operate after withdrawing "control by PLC" then fault response must be param-
eterized to NONE or the message type should be parameterized as alarm.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F07300 (A) Drive: Line contactor feedback signal missing
Cause: - the line contactor was not able to be closed within the time in p0861.
- the line contactor was not able to be opened within the time in p0861.
- the line contactor has dropped-out in operation.
- the line contactor has closed although the drive converter is powered-down.
Remedy: - check the setting of p0860.
- check the feedback circuit from the line contactor.
- increase the monitoring time in p0861.
See also: p0860 (Line cont. fdbk sig), p0861 (Line contactor monitoring time)
Acknowledge
upon A:
NONE
F07311 Bypass motor switch
Reaction: OFF2
Cause: Fault value: Bit field BYPASS_CONTACTOR_ERROR_STATE
Bit 1
BYPASS_CONTACTOR_ERR_FBK_ON_MISSING
Switch "closed" feedback signal missing
Bit 2
BYPASS_CONTACTOR_ERR_FBK_OFF_MISSING
Switch "opened" feedback signal missing
Bit 3
BYPASS_CONTACTOR_ERR_TOO_SLOW
Switch feedback signal too slow:
After switching, the system waits for the positive feedback signal. If the feedback signal is received later than the
specified time, then a fault trip (shutdown) is issued.
Bit 6
BYPASS_CONTACTOR_ERR_BYPASS_INCONSISTENCY
Drive switch feedback signal is not consistent with the bypass state:
When powering-up or for STAGING, the drive switch is closed.
See also: p1260 (Bypass configuration), r1261 (Bypass control/status word), p1266 (Bypass, control command),
p1267 (Bypass changeover source configuration), p1269 (Bypass switch feedback signal), p1274 (Bypass switch
monitoring time)
Remedy: - check the transfer of the feedback signal.
- check the switch
F07312 Bypass line supply switch
Reaction: OFF2
Cause: Fault value: Bit field BYPASS_CONTACTOR_ERROR_STATE
Bit 1
BYPASS_CONTACTOR_ERR_FBK_ON_MISSING
Switch "closed" feedback signal missing
Bit 2
BYPASS_CONTACTOR_ERR_FBK_OFF_MISSING
Switch "opened" feedback signal missing
Bit 3
BYPASS_CONTACTOR_ERR_TOO_SLOW
Switch feedback signal too slow:
After switching, the system waits for the positive feedback signal. If the feedback signal is received later than the
specified time, then a fault trip (shutdown) is issued.
Bit 6
BYPASS_CONTACTOR_ERR_BYPASS_INCONSISTENCY
Faults and alarms
Line switch feedback signal is not consistent with the bypass state:
When powering-up or for STAGING, the line switch is closed without this having been requested from the bypass.
See also: p1260 (Bypass configuration), r1261 (Bypass control/status word), p1266 (Bypass, control command),
p1267 (Bypass changeover source configuration), p1269 (Bypass switch feedback signal), p1274 (Bypass switch
monitoring time)
Remedy: - check the transfer of the feedback signal.
- check the switch
F07320 Drive: Automatic restart interrupted
Reaction: OFF2
Cause: - The specified number of restart attempts (p1211) has been completely used up because within the monitoring time
p1213 the alarms were not able to be acknowledged. The number of restart attempts (p1211) is decremented at each
new start attempt.
- there is no active ON command.
- the monitoring time for the power unit (p0857) has expired.
- when exiting commissioning or at the end of the motor identification routine or the speed controller optimization, the
drive unit is not automatically powered-up again.
Remedy: - increase the number of restart attempts (p1211). The actual number of starting attempts is displayed in r1214.
- increase the delay time in p1212 and/or the monitoring time in p1213.
- issue an ON command (p0840).
- either increase or disable the monitoring time of the power unit (p0857).
A07321 Drive: Automatic restart active
Reaction: NONE
Acknowledge: NONE
Cause: The automatic restart (AR) is active. When the line supply returns and/or the causes of the existing faults are
removed the drive is automatically restarted. The pulses are enabled and the motor starts to rotate.
Remedy: - the automatic restart (AR) should, if required, be inhibited (p1210 = 0).
- an automatic restart can be directly interrupted by withdrawing the power-on command (BI: p0840).
A07329 (N) Drive: kT estimator active without functioning compensation of the voltage emulation
error
Reaction: NONE
Acknowledge: NONE
Cause: The kT estimator is active (p1780.3 = 1) without a functioning compensation of the voltage emulation error in the
drive converter. This means that the accuracy is severely restricted.
1: The drive converter voltage emulation error, final value is 0 (p1952).
2: The drive converter voltage emulation error, current offset is 0 (p1953).
3: The compensation of the voltage emulation error is disabled (p1780.8 = 0).
Remedy: Re fault value 1, 2:
- carry-out an identification of the voltage emulation error in the drive converter (p1909.14 = 1, p1910 = 1).
- set the parameter to compensation the voltage emulation error in the drive converter (p1952, p1953).
Re fault value 3:
- enable the compensation of the voltage emulation error in the drive converter (p1780.8 = 1).
Acknowledge
upon N:
NONE
F07330 Flying restart: Measured search current too low
Cause: During a flying restart, it was identified that the search current reached is too low.
It is possible that the motor is not connected.
Remedy: Check the motor feeder cables.
Faults and alarms
F07331 FlyRestart: Not supported
Cause: It is not possible to power-up with the motor rotating (no flying restart). In the following cases, the "flying restart" func-
tion is not supported:
Permanent-magnet and separately-excited synchronous motors (PEM, FEM): Operation with U/f characteristic.
Permanent-magnet synchronous motor (PEM): Sensorless operation without a Voltage Sensing Module (VSM)
being connected.
Remedy: - de-activate the "flying restart" function (p1200 = 0).
- change the open-loop/closed-loop control mode (p1300).
- connect a Voltage Sensing Module (VSM) (voltage measurement).
A07350 (F) Drive: Measuring probe parameterized to a digital output
Reaction: NONE
Acknowledge: NONE
Cause: The measuring probe is connected to a bi-directional digital input/output and the terminal is set as output.
9: DI/DO 9 (X122.8)
10: DI/DO 10 (X122.10)
11: DI/DO 11 (X122.11)
13: DI/DO 13 (X132.8)
14: DI/DO 14 (X132.10)
15: DI/DO 15 (X132.11)
Remedy: - set the terminal as input (p0728).
- de-select the measuring probe (p0488, p0489, p0580).
Acknowledge
upon F:
IMMEDIATELY
A07400 (N) Drive: DC link voltage maximum controller active
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage controller has been activated because the upper switch-in threshold has been exceeded (r1242).
The ramp-down times are automatically increased in order to maintain the DC link voltage (r0026) within the permis-
sible limits. There is a system deviation between the setpoint and actual speeds.
When the DC link voltage controller is switched-out (disabled), this is the reason that the ramp-function generator
output is set to the speed actual value.
See also: p1240 (Vdc controller or Vdc monitoring configuration)
Remedy: If the controller is not to intervene:
- increase the ramp-down times.
- disable the Vdc max controller
If the ramp-down times are not to be changed:
- use a chopper or regenerative feedback unit
Acknowledge
upon N:
NONE
A07401 (N) Drive: DC link voltage maximum controller de-activated
Reaction: NONE
Acknowledge: NONE
Cause: The Vdc_max controller can no longer maintain the DC link voltage (r0026) below the limit value (r1242) and was
therefore switched-out (disabled).
- the line supply voltage is permanently higher than specified for the power unit.
- the motor is permanently in the regenerative mode as a result of a load that is driving the motor.
Remedy: - check whether the input voltage is within the permissible range.
- check whether the load duty cycle and load limits are within the permissible limits.
Faults and alarms
Acknowledge
upon N:
NONE
A07402 (N) Drive: DC link voltage minimum controller active
Reaction: NONE
Acknowledge: NONE
Cause: The DC link voltage controller has been activated as the lower switch-in threshold has been fallen below (r1246).
The kinetic energy of the motor is used in order to buffer the DC link. This brakes the drive.
See also: p1240 (Vdc controller or Vdc monitoring configuration)
Remedy: The alarm disappears when power supply returns.
Acknowledge
upon N:
NONE
F07403 Drive: Lower DC link voltage threshold reached
Cause: The DC link voltage monitoring is active (p1240 = 2, 3) and the lower DC link voltage threshold (p1248) was reached
in the "Operation" state.
Remedy: - check the line supply voltage.
- check the infeed module
- reduce the lower DC link threshold (p1248).
- switch-out (disable) the DC link voltage monitoring (p1240 = 0).
F07404 Drive: Upper DC link voltage threshold reached
Cause: The DC link voltage monitoring is active (p1240 = 1, 3) and the upper DC link voltage threshold (p1244) was reached
in the "Operation" state.
Remedy: - check the line supply voltage.
- check the infeed module or the Braking Module.
- increase the upper DC link voltage threshold (p1244).
- switch-out (disable) the DC link voltage monitoring (p1240 = 0).
F07405 (N, A) Drive: Kinetic buffering minimum speed not reached
Reaction: OFF2 (DCBRAKE, OFF1, OFF3, STOP1, STOP2)
Cause: During kinetic buffering the speed fell below minimum speed (p1257) and the line supply did not return.
Remedy: Check the speed threshold for the Vdc_min controller (kinetic buffering) (p1257).
See also: p1257 (Vdc_min controller speed threshold)
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F07406 (N, A) Drive: Kinetic buffering maximum time exceeded
Reaction: OFF3 (DCBRAKE, OFF1, OFF2, STOP1, STOP2)
Cause: The maximum buffer time (p1255) has been exceeded but the line supply has not returned.
Remedy: Check the time threshold for Vdc-min controller (kinetic buffering) (p1255).
See also: p1255 (Vdc_min controller time threshold)
Acknowledge
upon N:
NONE
Faults and alarms
Acknowledge
upon A:
NONE
A07409 Drive: U/f control, current limiting controller active
Reaction: NONE
Acknowledge: NONE
Cause: The current limiting controller of the U/f control was activated because the current limit was exceeded.
Remedy: The alarm is automatically withdrawn when increasing the current limit (p0640), reducing the load or using a slower
up ramp for the setpoint (reference) speed.
F07410 Drive: Current controller output limited
Cause: The condition "I_act = 0 and Uq_set_1 longer than 16 ms at its limit" is present and can be caused by the following:
- motor not connected or motor contactor open.
- no DC link voltage present.
- Motor Module defective.
- the "flying restart" function is not activated.
Remedy: - connect the motor or check the motor contactor.
- check the DC link voltage (r0070).
- check the Motor Module.
- activate the "flying restart" function (p1200).
F07411 Drive: Flux controller output limited
Cause: The specified flux setpoint cannot be reached although 90% of the maximum current has been specified.
- incorrect motor data.
- motor data and motor configuration (star/delta) do not match.
- the current limit has been set too low for the motor.
- induction motor (sensorless, open-loop controlled) in I2t limiting.
- the Motor Module is too small.
Remedy: - correct the motor data.
- check the motor configuration.
- correct the current limits (p0640, p0323).
- reduce the induction motor load.
- if required, use a larger Motor Module.
F07412 Drive: Commutation angle incorrect (motor model)
Reaction: ENCODER (NONE, OFF2)
Cause: An incorrect commutation angle was detected, that can result in a positive coupling in the speed controller.
Servo:
Supplementary value 0: The comparison of the pole position angle from the encoder and the motor model resulted
in an excessively high value (> 80 electrical).
Supplementary value 1: -
Vector:
Supplementary value 0: The comparison of the pole position angle from the encoder and the motor model resulted
in an excessively high value (> 45 electrical).
Supplementary value 1: The change in the speed signal from the motor encoder has changed by > P0492 within a
current controller clock cycle.
Faults and alarms
Possible causes:
- the motor encoder is incorrectly adjusted with respect to the magnet position.
- the motor encoder is damaged.
- the angular commutation offset is incorrectly set (p0431).
- data to calculate the motor model has been incorrectly set (p0356 (motor-stator leakage inductance) and/or p0350
(motor-stator resistance) and/or p0352 (cable resistance).
- the changeover speed for the motor model is too low (p1752). The monitoring function only becomes effective
above the changeover speed.
- the motor encoder speed signal is faulted.
- the control loop is instable due to incorrect parameterization.
Remedy: - if the encoder mounting was changed - re-adjust the encoder.
- replace the defective motor encoder.
- correctly set the angular commutation offset (p0431).
- correctly set the motor stator leakage inductance, motor-stator resistance and cable resistance (p0356, p0350,
p0352).
- increase the changeover speed for the motor model (p1752).
F07413 Drive: Commutation angle incorrect (pole position identification)
Cause: An incorrect commutation angle was detected, that can result in a positive coupling in the speed controller.
- within the pole position identification routine (p1982 = 2):
A difference of > 45 electrical to the encoder angle was determined.
- for VECTOR, within the encoder adjustment (p1990 = 2):
A difference of > 6 electrical to the encoder angle was determined.
Remedy: - correctly set the angular commutation offset (p0431).
- re-adjust the motor encoder after the encoder has been replaced.
- replace the defective motor encoder.
- check the pole position identification routine. If the pole position identification routine is not suitable for this motor
type, then disable the plausibility check (p1982 = 0).
F07414 Drive: Encoder serial number changed
Cause: The serial number of the motor encoder of a synchronous motor has changed. The change was only checked for
encoders with serial number (e.g. EnDat encoders) and build-in motors (e.g. p300 = 401) or third-party motors
(p0300 = 2).
Cause 1:
The motor with integrated and adjusted encoder was replaced.
Cause 2:
The encoder was replaced.
Cause 3:
A third-party, build-in or linear motor was re-commissioned.
Cause 4:
The firmware was updated to a version that checks the encoder serial number.
Remedy: Re causes 1, 4:
Accept the new serial number with p0440 = 1.
Re causes 2, 3:
Carry-out an automatic adjustment using the pole position identification routine. First, accept the serial number with
p0440 = 1. Acknowledge the fault. Initiate the pole position identification routine with p1990 = 1. Then check that the
pole position identification routine is correctly executed.
SERVO: If a pole position identification technique is selected in p1980, and if p0301 does not contain a motor type
with an encoder adjusted in the factory, then p1990 is automatically activated.
or
Set the adjustment using parameter p0431. In this case, the new serial number is automatically accepted.
or
Mechanically adjust the encoder. Accept the new serial number with p0440 = 1.
Faults and alarms
N07415 (F) Drive: Angular commutation offset transfer running
Reaction: OFF2
Acknowledge: NONE
Cause: The angular commutation offset was automatically determined using p1990 = 1.
This fault causes the pulses to be cancelled - this is necessary to transfer the angular commutation offset to p0431.
See also: p1990 (Angular commutation offset, commissioning support)
Remedy: The fault can be acknowledged without any additional measures.
Acknowledge
upon F:
IMMEDIATELY
F07420 Drive: Current setpoint filter natural frequency > Shannon frequency
Cause: One of the filter natural frequencies is greater than the Shannon frequency.
Bit 0: Filter 1 (p1658, p1660)
Bit 1: Filter 2 (p1663, p1665)
Bit 2: Filter 3 (p1668, p1670)
Bit 3: Filter 4 (p1673, p1675)
Bit 8 ... 15: Data set number (starting from zero).
Remedy: - reduce the numerator or denominator natural frequency of the current setpoint filter involved.
- reduce the current controller sampling time (p0115[0]).
- switch-out the filter involved (p1656).
F07421 Drive: Speed setpoint filter natural frequency > Shannon frequency
Bit 0: Filter 1 (p1417, p1419)
Bit 1: Filter 2 (p1423, p1425)
Bit 8 ... 15: Data set number (starting from zero).
Remedy: - reduce the numerator or denominator natural frequency of the speed setpoint filter involved.
- reduce the speed controller sampling time (p0115[1]).
F07422 Drive: Reference model natural frequency > Shannon frequency
Cause: The natural filter frequency of the PT2 element for the reference model (p1433) is greater than the Shannon fre-
quency.
Remedy: - reduce the natural frequency of PT2 element for reference model (p1433).
- reduce the speed controller sampling time (p0115[1]).
Faults and alarms
F07423 Drive: APC filter natural frequency > Shannon frequency
The Shannon frequency is calculated according to the following formula: 0.5 / (p0115[1] * x)
Bit 0: Filter 1.1 (p3711, p3713), x = 1
Bit 4: Filter 2.1 (p3721, p3723), x = p3706
Bit 5: Filter 2.2 (p3726, p3728), x = p3706
Bit 8: Filter 3.1 (p3731, p3733), x = p3707
Bit 9: Filter 3.2 (p3736, p3738), x = p3707
Bit 16 ... 32: Data set number (starting from zero)
Remedy: - reduce the numerator or denominator natural frequency of the filter involved.
- reduce the speed controller sampling time (p0115[1]) or the sub-sampling (p3706, p3707).
A07424 Drive: Operating condition for APC not valid
Reaction: NONE
Acknowledge: NONE
Cause: The APC function (Advanced Positioning Control) has identified an invalid operating condition.
Bit 0 = 1:
APC is operating without encoder (sensorless).
Bit 1 = 1:
The load measuring system for APC, selected using p3701, has a fault. The APC function is disabled.
Bit 2 = 1:
The load measuring system for APC, selected using p3701, has a fault. The pulse de-coupling is disabled, i.e. the
speed of the motor measuring system is used as speed for the closed-loop motor speed control.
Remedy: Re bit 0:
Only use the APC function in operation with an encoder.
Re Bit 1, 2:
Check the load measuring system.
F07429 Drive: DSC without encoder not possible
Reaction: OFF2
Cause: The function DSC (Dynamic Servo Control) was activated although there is no encoder.
See also: p1191 (DSC position controller gain KPC)
Remedy: If there is no encoder and CI: p1191 (DSC position controller gain) is interconnected, then connector input CI: p1191
must have a 0 signal.
F07430 Drive: Changeover to open-loop torque controlled operation not possible
Cause: For sensorless operation, the converter cannot change over to closed-loop torque-controlled operation (BI: p1501).
Remedy: Do not attempt to cover over to closed-loop torque-controlled operation.
F07431 Drive: Changeover to sensorless operation not possible
Cause: For closed-loop torque control, the converter cannot change over to sensorless operation (p1404).
Remedy: Do not attempt to change over to sensorless operation.
Faults and alarms
F07432 Drive: Synchronous motor without overvoltage protection
Cause: Under voltage conditions, a synchronous motor can generate an overvoltage condition that can destroy the drive sys-
tem.
Associated Drive Data Set (DDS).
Remedy: Overvoltage protection can be implemented in the following ways:
- limit the maximum speed (p1082) without any additional protection.
The maximum speed without protection is calculated as follows:
Rotary motors: p1082[RPM] <= 9590/p0316[Nm/A]
Linear motors: p1082 [m/min] <= 60257.45/p0316 [N/A]
- use a voltage protection module (VPM) in conjunction with the function "safe standstill" (p9601, p9801).
When a fault condition exists, the VPM short-circuits the motors. During the short-circuit, the pulses must be can-
celled - this means that the terminals for the safe standstill must be connected to the VPM.
When using a VPM, p0643 must be set to 1.
- activating the internal voltage protection (IVP) with p1231 = 3.
See also: p0643 (Overvoltage protection for synchronous motors), p1231 (Configuration, armature short-circuit)
F07433 Drive: Closed-loop control with encoder is not possible as the encoder has not been
unparked
Cause: The changeover to closed-loop control with encoder is not possible as the encoder has not been unparked.
Remedy: - check whether the encoder firmware supports the "parking" function (r0481.6 = 1).
- upgrade the firmware.
Note:For long-stator motors (p3870.0 = 1), the following applies:
The encoder must have completed the unparking procedure (r3875.0 = 1) before a changeover can be made to
closed-loop control with encoder. The encoder is unparked with a 0/1 edge at BI: p3876 and remains unparked until
a 0 signal is again present.
F07434 Drive: It is not possible to change the direction using p1821 with the pulses enabled
Reaction: OFF2
Cause: A drive data set was selected - with the pulses enabled - that has a different parameterized direction (p1821). It is
only possible to change the motor direction using p1821 when the pulses are inhibited.
Remedy: - change over the drive data set with the pulses inhibited.
- ensure that the changeover to a drive data set does not result in the motor direction of rotation being reversed (i.e.
for these drive data sets, the same value must be in p1821).
See also: p1821 (Direction reversal)
F07435 (N) Drive: Setting the ramp-function generator for sensorless vector control
Reaction: OFF2 (DCBRAKE, NONE, OFF1, OFF3)
Cause: Only for vector drives (refer to r0107):
During operation with sensorless vector control (r1407 bit1), the ramp-function generator was held (p1141) or
bypassed (p1122) so that an internal setting command of the ramp-function generator output caused the speed set-
point to be frozen or was not able to be implemented.
Remedy: - de-activate the holding command for the ramp-function generator (p1141).
- do not bypass the ramp-function generator (p1122).
- suppress the fault message (p2101, p2119). This is necessary if the ramp-function generator is held using jogging
and the speed setpoint is simultaneously inhibited (0898 bit 6).
Note: For sensorless vector control it is not practical to read-in the main setpoint of the speed control via p1155 or
p1160 (also refer to p0922). In this case, the main setpoint should be injected before the ramp-function generator
(refer to p1070). The reason for this is that the ramp-function generator output is automatically set when transitioning
from closed-loop speed controlled into open-loop speed controlled operation.
Acknowledge
upon N:
NONE
Faults and alarms
F07450 LR: Standstill monitoring has responded
Reaction: OFF1 (OFF2, OFF3)
Cause: After the standstill monitoring time (p2543) expired, the drive left the standstill window (p2542).
- position actual value inversion incorrectly set (p0410).
- standstill window set too small (p2542).
- standstill monitoring time set too low (p2543).
- position loop gain too low (p2538).
- position loop gain too high (instability/oscillation, p2538).
- mechanical overload.
- check the connecting cable, motor/drive converter (phase missing, interchange).
- when selecting motor identification, select tracking operation (BI: p2655[0] = 1 signal).
- when selecting function generator, select tracking operation (BI: p2655[0] = 1 signal) and de-activate position con-
trol (BI:p2550 = 0 signal).
Remedy: Check the causes and resolve.
F07451 LR: Position monitoring has responded
Cause: When the position monitoring time (p2545) expired, the drive had still not reached the positioning window (p2544).
- positioning window parameterized too small (p2544).
- position monitoring time parameterized too short (p2545).
- position loop gain too low (p2538).
- position loop gain too high (instability/oscillation, p2538).
- drive mechanically locked.
F07452 (A) LR: Following error too high
Cause: The difference between the position setpoint position actual value (following error dynamic model, r2563) is greater
than the tolerance (p2546).
- the drive torque or accelerating capacity exceeded.
- position measuring system fault.
- position control sense incorrect.
- mechanical system locked.
- excessively high traversing velocity or excessively high position reference value (setpoint) differences
Acknowledge
upon A:
NONE
F07453 LR: Position actual value conditioning error
Cause: An error has occurred during the position actual value conditioning.
Remedy: Check the encoder for the position actual value conditioning.
See also: p2502 (LR encoder assignment)
A07454 EPOS: Position actual value conditioning does not have a valid encoder
Reaction: NONE
Acknowledge: NONE
Cause: One of the following problems has occurred with the position actual value conditioning:
- an encoder is not assigned for the position actual value conditioning (p2502 = 0).
- an encoder is assigned, but no encoder data set (p0187 = 99 or p0188 = 99 or p0189 = 99).
- an encoder an an encoder data set have been assigned, however, the encoder data set does not contain any
encoder data (p0400 = 0) or invalid data (e.g. p0408 = 0).
Faults and alarms
Remedy: Check the drive data sets, encoder data sets and encoder assignment.
See also: p0187 (Encoder 1 encoder data set number), p0188 (Encoder 2 encoder data set number), p0189
(Encoder 3 encoder data set number), p0400 (Enc type selection), p2502 (LR encoder assignment)
A07455 EPOS: Maximum velocity limited
Reaction: NONE
Acknowledge: NONE
Cause: The maximum velocity (p2571) is too high to correctly calculate the modulo correction.
Within the sampling time for positioning (p0115[5]), with the maximum velocity, a maximum of the half modulo length
must be moved through. p2571 was limited to this value.
Remedy: - reduce the maximum velocity (p2571).
- increase the sampling time for positioning (p0115[5]).
A07456 EPOS: Setpoint velocity limited
Reaction: NONE
Acknowledge: NONE
Cause: The actual setpoint velocity is greater than the parameterized maximum velocity (p2571) and is therefore limited.
Remedy: - check the entered setpoint velocity.
- reduce the velocity override (CI: p2646).
- increase the maximum velocity (p2571).
A07457 EPOS: Combination of input signals illegal
Reaction: NONE
Acknowledge: NONE
Cause: An illegal combination of input signals that are simultaneously set was identified.
0: Jogging 1 and jogging 2 (p2589, p2590).
1: Jogging 1 or jogging 2 and direct setpoint input/MDI (p2589, p2590, p2647).
2: Jogging 1 or jogging 2 and start referencing (p2589, p2590, p2595).
3: Jogging 1 or jogging 2 and activate traversing task (p2589, p2590, p2631).
4: Direct setpoint input/MDI and starting referencing (p2647, p2595).
5: Direct setpoint input/MDI and activate traversing task (p2647, p2631).
6: Start referencing and activate traversing task (p2595, p2631).
Remedy: Check the appropriate input signals and correct.
F07458 EPOS: Reference cam not found
Cause: After starting the search for reference, the axis moved through the maximum permissible distance to search for the
reference cam without actually finding the reference cam.
Remedy: - check the "reference cam" binector input (BI: p2612).
- check the maximum permissible distance to the reference cam (p2606).
- if axis does not have any reference cam, then set p2607 to 0.
See also: p2606 (EPOS search for reference, reference cam, maximum distance), p2607 (EPOS search for refer-
ence, reference cam present), p2612 (EPOS search for reference, reference cam)
F07459 EPOS: No zero mark
Cause: After leaving the reference cam, the axis has traversed the maximum permissible distance between the reference
cam and zero mark without finding the zero mark.
Remedy: - check the encoder regarding the zero mark
- check the maximum permissible distance between the reference cam and zero mark (p2609).
- use an external encoder zero mark (equivalent zero mark) (p0495).
See also: p0495 (Equivalent zero mark, input terminal), p2609 (EPOS search for reference, max. distance ref. cam
and zero mark)
Faults and alarms
F07460 EPOS: End of reference cam not found
Cause: During the search for reference, when the axis reached the zero mark it also reached the end of the traversing range
without detecting an edge at the binector input "reference cam" (BI: p2612).
Maximum traversing range: -2147483648 [LU] ... -2147483647 [LU]
Remedy: - check the "reference cam" binector input (BI: p2612).
- repeat the search for reference.
See also: p2612 (EPOS search for reference, reference cam)
A07461 EPOS: Reference point not set
Reaction: NONE
Acknowledge: NONE
Cause: When starting a traversing block, a reference point is not set (r2684.11 = 0).
Remedy: Reference the system (search for reference, flying referencing, set reference point).
A07462 EPOS: Selected traversing block number does not exist
Reaction: NONE
Acknowledge: NONE
Cause: A traversing block was selected using an edge of the binector input "activate traversing block (0 -> 1)" (BI: p2631)
and is not available.
Number of the selected traversing block that is also not available.
Remedy: - correct the traversing program.
- select an available traversing block number.
F07464 EPOS: Traversing block is inconsistent
Cause: The traversing block does not contain valid information.
Number of the traversing block with invalid information.
Remedy: Check the traversing block and where relevant, take into consideration alarms that are present.
A07465 EPOS: Traversing block does not have a subsequent block
Reaction: NONE
Acknowledge: NONE
Cause: There is no subsequent block in the traversing block.
Number of the traversing block with the missing subsequent block.
Remedy: - parameterize this traversing block with the block change enable END.
- parameterize additional traversing blocks with a higher block number and for the last block, using the block change
enable END.
A07466 EPOS: Traversing block number assigned a multiple number of times
Reaction: NONE
Acknowledge: NONE
Cause: The same traversing block number was assigned a multiple number of times.
Number of the traversing block that was assigned a multiple number of times.
Remedy: Correct the traversing blocks.
Faults and alarms
A07467 EPOS: Traversing block has illegal task parameters
Reaction: NONE
Acknowledge: NONE
Cause: The task parameter in the traversing block contains an illegal value.
Number of the traversing block with an illegal task parameter.
Remedy: Correct the task parameter in the traversing block.
A07468 EPOS: Traversing block jump destination does not exist
Reaction: NONE
Acknowledge: NONE
Cause: In a traversing block, a jump was programmed to a non-existent block.
Number of the traversing block with a jump destination that does not exist.
Remedy: - correct the traversing block.
- add the missing traversing block.
A07469 EPOS: Traversing block < target position < software limit switch minus
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the specified absolute target position lies outside the range limited by the software limit switch
minus.
Number of the traversing block with illegal target position.
- change software limit switch minus (CI: p2578, p2580).
A07470 EPOS: Traversing block> target position > software limit switch plus
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the specified absolute target position lies outside the range limited by the software limit switch
plus.
- change software limit switch plus (CI: p2579, p2581).
A07471 EPOS: Traversing block target position outside the modulo range
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the target position lies outside the modulo range.
Remedy: - in the traversing block, correct the target position.
- change the modulo range (p2576).
A07472 EPOS: Traversing block ABS_POS/ABS_NEG not possible
Reaction: NONE
Acknowledge: NONE
Cause: In the traversing block the positioning mode ABS_POS or ABS_NEG were parameterized with the modulo correction
not activated.
Number of the traversing block with the illegal positioning mode.
Remedy: Correct the traversing block.
Faults and alarms
A07473 (F) EPOS: Beginning of traversing range reached
Reaction: NONE
Acknowledge: NONE
Cause: When traversing, the axis has moved to the traversing range limit.
Remedy: Move away in the positive direction.
Reaction upon F: OFF1 (OFF2, OFF3)
Acknowledge
upon F:
IMMEDIATELY
A07474 (F) EPOS: End of traversing range reached
Reaction: NONE
Acknowledge: NONE
Cause: When traversing, the axis has moved to the traversing range limit.
Remedy: Move away in the negative direction.
Acknowledge
upon F:
IMMEDIATELY
F07475 (A) EPOS: Target position < start of traversing range
Cause: The target position for relative traversing lies outside the traversing range.
Remedy: Correct the target position.
Acknowledge
upon A:
NONE
F07476 (A) EPOS: Target position > end of the traversing range
Cause: The target position for relative traversing lies outside the traversing range.
Remedy: Correct the target position.
Acknowledge
upon A:
NONE
A07477 (F) EPOS: Target position < software limit switch minus
Reaction: NONE
Acknowledge: NONE
Cause: In the actual traversing operation, the target position is less than the software limit switch minus.
Remedy: - correct the target position.
See also: p2578 (EPOS software limit switch minus signal source), p2580 (EPOS software limit switch minus), p2582
(EPOS software limit switch activation)
Acknowledge
upon F:
IMMEDIATELY
Faults and alarms
A07478 (F) EPOS: Target position > software limit switch plus
Reaction: NONE
Acknowledge: NONE
Cause: In the actual traversing operation, the target position is greater than the software limit switch plus.
See also: p2579 (EPOS software limit switch plus signal source), p2581 (EPOS software limit switch plus), p2582
Acknowledge
upon F:
IMMEDIATELY
A07479 EPOS: Software limit switch minus reached
Reaction: NONE
Acknowledge: NONE
Cause: The axis is at the position of the software limit switch minus. An active traversing block was interrupted.
A07480 EPOS: Software limit switch plus reached
Reaction: NONE
Acknowledge: NONE
Cause: The axis is at the position of the software limit switch plus. An active traversing block was interrupted.
F07481 (A) EPOS: Axis position < software limit switch minus
Cause: The actual position of the axis is less than the position of the software limit switch minus.
Acknowledge
upon A:
NONE
F07482 (A) EPOS: Axis position > software limit switch plus
Cause: The actual position of the axis is greater than the position of the software limit switch plus.
Acknowledge
upon A:
NONE
Faults and alarms
A07486 EPOS: Intermediate stop missing
Reaction: NONE
Acknowledge: NONE
Cause: In the modes "traversing blocks" or "direct setpoint input/MDI" at the start of motion, the binector input "no interme-
diate stop/intermediate stop" (BI: p2640) did not have a 1 signal.
Remedy: Connect a 1 signal to the binector input "no intermediate stop/intermediate stop" (BI: p2640) and re-start motion.
A07487 EPOS: Reject traversing task missing
Reaction: NONE
Acknowledge: NONE
Cause: In the modes "traversing blocks" or "direct setpoint input/MDI" at the start of motion, the binector input "do not reject
traversing task/reject traversing task" (BI: p2641) does not have a 1 signal.
Remedy: Connect a 1 signal to the binector input "do not reject traversing task/reject traversing task" (BI: p2641) and re-start
motion.
F07488 EPOS: Relative positioning not possible
Cause: In the mode "direct setpoint input/MDI", for continuous transfer (p2649 = 1) relative positioning was selected (BI:
p2648 = 0 signal).
Remedy: Check the control.
A07489 EPOS: Reference point correction (offset) outside the window
Reaction: NONE
Acknowledge: NONE
Cause: For the function "flying referencing" the difference between the measured position at the measuring probe and the
reference point coordinate lies outside the parameterized window.
Remedy: - check the mechanical system.
- check the parameterization of the window (p2602).
F07490 EPOS: Enable signal withdrawn while traversing
Cause: - for a standard assignment, another fault may have occurred as a result of withdrawing the enable signals.
- the drive is in the "power-on inhibit" state (for a standard assignment).
Remedy: - set the enable signals or check the cause of the fault that first occurred and then result (for a standard assignment).
- check the assignment to enable the basic positioning function.
F07491 (A) EPOS: STOP cam minus reached
Reaction: NONE
Cause: A zero signal was detected at binector input BI: p2569, i.e. the STOP cam minus was reached.
Remedy: Leave the STOP cam minus in the positive traversing direction and return the axis to the valid traversing range.
Acknowledge
upon A:
NONE
F07492 (A) EPOS: STOP cam plus reached
Reaction: NONE
Cause: A zero signal was detected at binector input BI: p2570, i.e. the STOP cam plus was reached.
Remedy: Leave the STOP cam plus in the negative traversing direction and return the axis to the valid traversing range.
Acknowledge
upon A:
NONE
Faults and alarms
F07493 LR: Overflow of the value range for the position actual value
Cause: The value range (-2147483648 ... 2147483647) for the position actual value representation was exceeded.
When the overflow occurs, the status "referenced" or the status "adjustment absolute measuring system" is reset.
1: r2521 has exceeded the value range for the position actual value display.
2: r483 has exceeded the value range for the position actual value display.
Remedy: If required, reduce the traversing range or position resolution.
F07494 LR: DDS changeover in operation
Cause: A drive data set changeover (DDS) with a change of the mechanical relationships and the encoder assignment
(p2502) was requested in operation.
Remedy: To changeover the drive data set, initially, exit the "operation" mode.
A07495 (F) LR: Reference function interrupted
Reaction: NONE
Acknowledge: NONE
Cause: An activated reference function (reference mark search or measuring probe evaluation) was interrupted.
- an encoder fault has occurred (Gn_ZSW.15 = 1).
- position actual value was set during an activated reference function.
- simultaneously activate reference mark search and measuring probe evaluation (BI: p2508 and BI: p2509 = 1 sig-
nal).
- activated reference function (reference mark search or measuring probe evaluation) was de-activated (BI: p2508
and BI: p2509 = 0 signal).
Remedy: - check the causes and resolve.
- reset the control (BI: p2508 and BI: p2509 = 0 signal) and activate the requested function.
Acknowledge
upon F:
IMMEDIATELY
A07496 EPOS: Enable not possible
Reaction: NONE
Acknowledge: NONE
Cause: It is not possible to enable the basic positioner for the following reasons.
1: EPOS enable missing (BI: p2656).
2: Position actual value, valid feedback signal missing (BI: p2658).
See also: p2656 (EPOS enable basic positioner), p2658 (EPOS pos. actual value valid, feedback signal)
Remedy: Check the appropriate binector inputs and signals.
A07497 LR: Position setting value activated
Reaction: NONE
Acknowledge: NONE
Cause: The position actual value is set to the value received via CI: p2515while BI: p2514 = 1 signal. A possible system
deviation cannot be corrected.
The alarm automatically disappears with BI: p2514 = 0 signal.
Faults and alarms
F07500 Drive: Power unit data set PDS not configured
Reaction: NONE
Cause: Only for controlled line supply infeed/regenerative feedback units:
The power unit data set was not configured - this means that a data set number was not entered into the drive data
set.
Drive data set number of p0185.
Remedy: The index of the power unit data set associated with the drive data set should be entered into p0185.
F07501 Drive: Motor Data Set MDS not configured
Reaction: NONE
Cause: Only for power units:
The motor data set was not configured - this means that a data set number was not entered into the associated drive
data set.
The fault value includes the drive data set number of p0186.
Remedy: The index of the motor data set associated with the drive data set should be entered into p0186.
See also: p0186 (Motor Data Sets (MDS) number)
F07502 Drive: Encoder Data Set EDS not configured
Reaction: NONE
Cause: Only for power units:
The encoder data set was not configured - this means that a data set number was not entered into the associated
drive data set.
The fault value includes the drive data set number of p0187, p0188 and p0189.
The fault value is increased by 100 * encoder number (e.g. for p0189: Fault value 3xx with xx = data set number).
Remedy: The index of the encoder data set associated with the drive data set should be entered into p0187 (1st encoder),
p0188 (2nd encoder) and p0189 (3rd encoder).
A07504 Drive: Motor data set is not assigned to a drive data set
Reaction: NONE
Acknowledge: NONE
Cause: A motor data set is not assigned to a drive object.
All of the existing motor data sets in the drive data sets must be assigned using the MDS number (p0186[0...n]).
Number of the motor data set that has not been assigned.
Remedy: In the drive data sets, assign the non-assigned motor data set using the MDS number (p0186[0...n]).
See also: p0186 (Motor Data Sets (MDS) number)
F07510 Drive: Identical encoder in the drive data set
Reaction: NONE
Cause: More than one encoder with identical component number is assigned to a single drive data set. In one drive data set,
it is not permissible that identical encoders are operated together.
1000 * first identical encoder + 100 * second identical encoder + drive data set.
Example:
Fault value = 1203 means:
In drive data set 3, the first (p0187[3]) and second encoder (p0188[3]) are identical.
Remedy: Assign the drive data set to different encoders.
See also: p0141 (Encoder interface (Sensor Module) component number), p0187 (Encoder 1 encoder data set num-
ber), p0188 (Encoder 2 encoder data set number), p0189 (Encoder 3 encoder data set number)
Faults and alarms
F07511 Drive: Encoder used a multiple number of times
Reaction: NONE
Cause: Each encoder may only be assigned to one drive and within a drive must - in each drive data set - either always be
encoder 1, always encoder 2 or always encoder 3. This unique assignment has been violated.
The two parameters in coded form, that refer to the same component number.
First parameter:
Index: First and second decimal place (99 for EDS, not assigned DDS)
Parameter number: Third decimal place (1 for p0187, 2 for p0188, 3 for p0189, 4 for EDS not assigned DDS)
Drive number: Fourth and fifth decimal place
Second parameter:
Index: Sixth and seventh decimal place (99 for EDS, not assigned DDS)
Parameter number: Eighth decimal place (1 for p0187, 2 for p0188, 3 for p0189, 4 for EDS, not assigned DDS)
Drive number: Ninth and tenth decimal place
See also: p0141 (Encoder interface (Sensor Module) component number)
Remedy: Correct the double use of a component number using the two parameters coded in the fault value.
A07512 Drive: Encoder data set changeover cannot be parameterized
Reaction: NONE
Acknowledge: NONE
Cause: Using p0141, a changeover of the encoder data set is prepared that is illegal. In this firmware release, an encoder
data set changeover is only permitted for the components in the actual topology. Commissioning can only be exited
with the correct parameterization.
Incorrect EDS data set number.
See also: p0187 (Encoder 1 encoder data set number), p0188 (Encoder 2 encoder data set number), p0189
(Encoder 3 encoder data set number)
Remedy: Every encoder data set must be assigned its own dedicated DRIVE-CLiQ socket. The component numbers of the
encoder interfaces (p0141) must have different values within a drive object.
The following must apply:
p0141[0] not equal to p0141[1] not equal to ... not equal to p0141[n]
A07514 Drive: Data structure does not correspond to the interface module
Reaction: NONE
Acknowledge: NONE
Cause: The interface mode "SIMODRIVE 611 universal" was set (p2038 = 1) and the data structure does not correspond to
this mode.
For the data structure, the following rule must be complied with.
Within the group of 8 drive data sets, the assignment to the motor data set must be set the same:
p0186[0] = p0186[1] = ... = p0186[7]
p0186[8] = p0186[9] = ... = p0186[15]
p0186[16] = p0186[17] = ... = p0186[23]
p0186[24] = p0186[25] = ... = p0186[31]
See also: p0180 (Number of Drive Data Sets (DDS)), p0186 (Motor Data Sets (MDS) number), p2038 (PROFIBUS
STW/ZSW interface mode)
Remedy: - structure the data according to the rules of the "SIMODRIVE 611 universal" interface mode.
- check the interface mode (p2038).
A07515 Drive: Power unit and motor incorrectly connected
Reaction: NONE
Acknowledge: NONE
Cause: A power unit (via PDS) was assigned to a motor (via MDS) in a drive data set that is not connected in the target
topology.
Number of the incorrectly parameterized drive data set.
Remedy: - assign the drive data set to a combination of motor and power unit permitted by the target topology.
- adapt the target topology. See also: p0121 (Power unit component number), p0131 (Motor component number),
p0186 (Motor Data Sets (MDS) number)
Faults and alarms
F07516 Drive: Re-commission the data set
Reaction: NONE
Cause: The assignment between the drive data set and motor data set (p0186) or between the drive data set and the
encoder data set was modified (p0187). This is the reason that the drive data set must re-commissioned.
Drive data set to be re-commissioned.
Remedy: Commission the drive data set specified in the fault value (r0949).
A07517 Drive: Encoder data set changeover incorrectly parameterized
Reaction: NONE
Acknowledge: NONE
Cause: An MDS cannot have different motor encoders in two different DDS. The following parameterization therefore results
results in an error:
p0186[0] = 0 p0187[0] = 0
p0186[0] = 0 p0187[0] = 1
The lower 16 bits indicate the first DDS and the upper 16 bits indicate the second DDS.
Remedy: If you wish to operate a motor once with one motor encoder and then another time with the other motor encoder,
then you must set-up two different MDSs, in which the motor data are the same.
Example:
p0186[0] = 0 p0187[0] = 0
p0186[0] = 1 p0187[0] = 1
F07518 Drive: Motor data set changeover incorrectly parameterized
Reaction: NONE
Cause: The system has identified that two motor data sets were incorrectly parameterized.
Parameter r0313 (calculated from p0314, p0310, p0311), r0315 and p1982 may only have different values if the
motor data sets are assigned different motors. p0827 is used to assign the motors and/contactors.
It is not possible to toggle between motor data sets.
xxxxyyyy:
xxxx: First DDS with assigned MDS, yyyy: Second DDS with assigned MDS
Remedy: Correct the parameterization of the motor data sets.
A07519 Drive: Motor cannot be changed over
Reaction: NONE
Acknowledge: NONE
Cause: With the setting p0833.1, a motor changeover via the application is selected. This is the reason that p0827 must have
different values in the appropriate motor data set.
xxxxyyyy:
xxxx: First MDS, yyyy: Second MDS
Remedy: - parameterize the appropriate motor data sets differently (p0827).
- select the setting p0833.0 = 0 (motor changeover via the drive).
A07530 Drive: Drive Data Set DDS not present
Reaction: NONE
Acknowledge: NONE
Cause: The selected drive data set is not available (p0837 > p0180). The drive data set was not changed-over.
See also: p0180 (Number of Drive Data Sets (DDS)), p0820 (Drive data set selection DDS bit 0), p0821 (Drive data
set selection DDS bit 1), p0822 (Drive data set selection DDS bit 2), p0823 (Drive data set selection DDS bit 3),
p0824 (Drive data set selection DDS bit 4), r0837 (Drive Data Set DDS selected)
Remedy: - select the existing drive data set.
- set-up additional drive data sets.
Faults and alarms
A07541 Drive: Data set changeover not possible
Reaction: NONE
Acknowledge: NONE
Cause: The selected drive data set changeover and the assigned motor changeover are not possible and are not carried-out.
For synchronous motors, the motor contactor may only be switched for actual speeds less than the speed at the start
of field weakening (r0063 < p0348).
See also: r0063 (Actual speed, smoothed), p0348 (Speed at the start of field weakening Vdc = 600 V)
Remedy: Reduce the speed below the speed at the start of field weakening.
A07550 (F, N) Drive: Not possible to reset encoder parameters
Reaction: NONE
Acknowledge: NONE
Cause: When carrying-out a factory setting (e.g. using p0970 = 1), it was not possible to reset the encoder parameters. The
encoder parameters are directly read out of the encoder via DRIVE-CLiQ.
Component number of the encoder involved.
Remedy: - repeat the operation.
Reaction upon F: NONE (DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Acknowledge
upon F:
Acknowledge
upon N:
NONE
F07551 Drive encoder: No commutation angle information
Reaction: OFF2 (DCBRAKE)
Cause: The angular commutation information is missing. This means that synchronous motors cannot be controlled (closed-
loop control)
Low word: Drive data set number
High word: Cause:
1: The motor encoder used does not supply an absolute commutation angle.
2: The selected ratio of the measuring gearbox does not match the motor pole pair number
Remedy: Re cause 1:
- check the encoder parameterization (p0404).
- use an encoder with track C/D, EnDat interface of Hall sensors.
- use an encoder with sinusoidal A/B track for which the motor pole pair number (p0313) is an integer multiple of the
encoder pulse number (p0408).
- activate the pole position identification routine (p1982 = 1).
Re cause 2:
- the quotient of the pole pair number deviced by the measuring gearbox ratio must be an integer number:
(p0314*p0433) / p0432.
See also: p0402 (Gearbox type selection), p0404 (Encoder configuration effective), p0432 (Gearbox factor, encoder
revolutions), p0433 (Gearbox factor, motor/load revolutions)
Faults and alarms
F07552 (A) Drive encoder: Encoder configuration not supported
Reaction: OFF2 (DCBRAKE, NONE, OFF1, OFF3, STOP1, STOP2)
Cause: The requested encoder configuration is not supported. Only bits may be requested in p0404 that are signaled as
being supported by the encoder evaluation in r0456.
Low word low byte: Encoder data set number
Low word high byte: Component number
High word:
The encoder evaluation does not support a function selected in p0404.
1: sin/cos encoder with absolute track (this is supported by SME25).
3: Squarewave encoder (this is supported by SMC30).
4: sin/cos encoder (this is supported by SMC20, SMI20, SME20, SME25).
12: sin/cos encoder with reference mark (this is supported by SME20).
15: Commutation with zero mark for separately-excited synchronous motors with VECTORMV.
23: Resolver (this is supported by SMC10, SMI10).
65535: Other function (compare r0456 and p0404).
See also: p0404 (Encoder configuration effective), r0456 (Encoder configuration supported)
Remedy: - check the encoder parameterization (p0400, p0404).
- use the matching encoder evaluation (r0456).
Acknowledge
upon A:
NONE
F07553 (A) Drive encoder: Sensor Module configuration not supported
Cause: The Sensor Module does not support the requested configuration.
Possible causes:
- bits are set in p0430 (requested functions) that are not set in r0458 (supported functions). This does not apply for
bit 19 (safety position actual value sensing), bit 29 (phase correction), bit 30 (amplitude correction) and bit 31 (offset
correction).
- p1982 > 0 (pole position identification requested), but r0458 bit 16 = 0 (pole position identification not supported).
Encoder data set number.
Remedy: - check the encoder parameterization (p0430).
- check the pole position identification routine (p1982).
- use the matching encoder evaluation (r0458).
Acknowledge
upon A:
NONE
F07555 (A) Drive encoder: Configuration position tracking
Cause: The configuration of the position tracking is not supported.
Position tracking can only be activated for absolute encoders.
Low word low byte: Encoder data set number
Low word high byte: Component number
See also: p0404 (Encoder configuration effective), p0411 (Measuring gearbox, configuration)
Remedy: - use an absolute encoder.
- de-select position tracking (p0411).
Acknowledge
upon A:
NONE
Faults and alarms
F07560 Drive encoder: Number of pulses is not to the power of two
Cause: For rotary absolute encoders, the pulse number in p0408 must be to the power of two.
The fault value includes the encoder data set number involved.
Remedy: - check the parameterization (p0408, p0404.1, r0458.5).
- if required, upgrade the Sensor Module firmware.
F07561 Drive encoder: Number of multiturn pulses is not to the power of two
Cause: The multi-turn resolution in p0421 must be to the power of two.
The fault value includes the encoder data set number involved.
Remedy: - check the parameterization (p0421, p0404.1, r0458.5).
- if required, upgrade the Sensor Module firmware.
A07565 (F, N) Drive: Encoder error in PROFIdrive encoder interface 1
Reaction: NONE
Acknowledge: NONE
Cause: An encoder error was signaled for encoder 1 via the PROFIdrive encoder interface (G1_ZSW.15).
Error code from G1_XIST2, refer to the description regarding r0483.
Remedy: Acknowledge the encoder error using the encoder control word (G1_STW.15 = 1).
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
F07575 Drive: Motor encoder not ready
Reaction: OFF2
Cause: The motor encoder signals that it is not ready.
- initialization of encoder 1 (motor encoder) was unsuccessful.
- the function "parking encoder" is active (selected using the encoder control word G1_STW.14 = 1).
- the Sensor Module is defective.
Remedy: Evaluate other queued faults via encoder 1.
A07576 Drive: Sensorless operation active due to a fault
Reaction: NONE
Acknowledge: NONE
Cause: Sensorless control is active due to a fault (refer to r1407.13). The required response when an encoder fault occurs
is parameterized in p0491.
See also: p0491 (Motor encoder fault response ENCODER)
Remedy:
A07580 (F, N) Drive: No Sensor Module with matching component number
Reaction: NONE
Acknowledge: NONE
Cause: A Sensor Module with the component number specified in p0141 was not found.
Encoder data set involved (index of p0141).
Remedy: Correct p0141.
Reaction upon F: OFF1 (DCBRAKE, NONE, OFF2, OFF3, STOP1, STOP2)
Acknowledge
upon F:
Acknowledge
upon N:
NONE
F07800 Drive: No power unit present
Reaction: NONE
Cause: The power unit parameters cannot be read or no parameters are stored in the power unit.
This fault also occurs if an incorrect topology was selected in the commissioning software and this parameterization
is then downloaded into the CU.
See also: r0200 (Power unit, actual code number)
Remedy: Connect the data line to power unit and restart the Control Unit (POWER ON).
Drive:
Faults and alarms
F07801 Drive: Motor overcurrent
Cause: The permissible motor limit current was exceeded.
- effective current limit set too low.
- current controller not correctly set.
- motor was braked with an excessively high stall torque correction factor.
- U/f operation: Up ramp was set too short or the load is too high.
- U/f operation: Short-circuit in the motor cable or ground fault.
- U/f operation: Motor current does not match the current of Motor Module.
Note:
Synchronous motor: Limit current= 1.3 * p0323
Induction motor: Limit current= 1.3 * r0209
Remedy: - check the current limits (p0323, p0640).
- check the current controller (p1715, p1717).
- reduce the stall torque correction factor (p0326).
- increase the up ramp (p1318) or reduce the load.
- check the motor and motor cables for short-circuit and ground fault.
- check the Motor Module and motor combination.
F07802 Drive: Infeed or power unit not ready
Cause: After an internal power-on command, the infeed or drive does not signal ready.
- monitoring time is too short.
- DC link voltage is not present.
- associated infeed or drive of the signaling component is defective.
- supply voltage incorrectly set.
Remedy: - increase the monitoring time (p0857).
- ensure that there is a DC link voltage. Check the DC-link busbar. Enable the infeed.
- replace the associated infeed or drive of the signaling component.
- check the line supply voltage setting (p0210).
See also: p0857 (Power unit monitoring time)
A07805 (N) Drive: Power unit I2T overload
Reaction: NONE
Acknowledge: NONE
Cause: Alarm threshold for I2t overload (p0294) of the power unit exceeded.
The response parameterized in p0290 becomes active.
See also: p0290 (Power unit overload response)
Remedy: - reduce the continuous load.
- adapt the load duty cycle.
- check the assignment of the rated currents of the motor and Motor Module.
Acknowledge
upon N:
NONE
F07810 Drive: Power unit EEPROM without rated data
Reaction: NONE
Cause: No rated data are stored in the power unit EEPROM.
See also: p0205 (Power unit application), r0206 (Rated power unit power), r0207 (Rated power unit current), r0208
(Rated power unit line supply voltage), r0209 (Power unit, maximum current)
Remedy: Replace the power unit or inform Siemens Customer Service.
Faults and alarms
F07815 Drive: Power unit has been changed
Reaction: NONE
Cause: The code number of the actual power unit does not match the saved number.
Number of the incorrect parameter.
See also: r0200 (Power unit, actual code number), p0201 (Power unit code number)
Remedy: Connect the original power unit and power-up the Control Unit again (POWER ON) or set p0201 to r0200 and exit
commissioning with p0010 = 0.
For infeeds, the following applies: Commutating reactors or line filters must be used that are clearly specified for the
new power unit. A line supply and DC link identification routine (p3410 = 5) must then be carried-out. It is not possible
to change the power unit without re-commissioning the system if the type of infeed (A_Infeed, B_Infeed, S_Infeed),
the type of construction/design (Booksize, Chassis) or the voltage class differ between the old and new power units.
For inverters, the following applies: If the new power unit is accepted, then if required, the current limit p0640 can be
reduced by a lower maximum current of the power unit (r0209) (torque limits stay the same).
If not only the power unit is changed, but also the motor, then the motor must be re-commissioning (e.g. using p0010
= 1). This is also necessary if motor data is still to be downloaded via DRIVE-CLiQ.
See also: r0200 (Power unit, actual code number)
A07820 Drive: Temperature sensor not connected
Reaction: NONE
Acknowledge: NONE
Cause: The temperature sensor for motor temperature monitoring, specified in p0600, is not available.
- parameter download with "incorrect" setting.
- module with sensor evaluation has been, in the meantime, been removed.
Remedy: - connect the module with temperature sensor.
- set the available temperature sensor (p0600, p0601).
See also: p0600 (Motor temperature sensor for monitoring), p0601 (Motor temperature sensor type)
A07825 (N) Drive: Simulation operation activated
Reaction: NONE
Acknowledge: NONE
Cause: The simulation mode is activated.
The drive can only be powered-up if the DC link voltage is less than 40 V.
Remedy: The alarm automatically disappears if simulation operation is de-activated with p1272 = 0.
Acknowledge
upon N:
NONE
F07826 Drive: Simulation operation with DC link voltage too high
Reaction: OFF2
Cause: The simulation mode is activated and the DC link voltage is greater than the permissible value of 40 V.
Remedy: - switch-out (disable) simulation operation (p1272 = 0) and acknowledge the fault.
- reduce the input voltage in order to reach a DC link voltage below 40 V.
F07840 Drive: Infeed operation missing
Cause: The signal "infeed operation" is not present although the enable signals for the drive have been present for longer
than the parameterized monitoring time (p0857).
- infeed not operational.
- interconnection of the binector input for the ready signal is either incorrect or missing (p0864).
- infeed is presently carrying-out a line supply identification routine.
Faults and alarms
Remedy: - bring the infeed into an operational state.
- check the interconnection of the binector input for the signal "infeed operation" (p0864).
- increase the monitoring time (p0857).
- wait until the infeed has completed the line supply identification routine.
See also: p0857 (Power unit monitoring time), p0864 (Infeed operation)
F07841 Drive: Infeed operation withdrawn
Cause: The signal "infeed operation" was withdrawn in operation.
- interconnection of the binector input for the signal "infeed operation" is either incorrect or missing (p0864).
- the enable signals of the infeed were disabled.
- due to a fault, the infeed withdraws the signal "infeed operation".
Remedy: - check the interconnection of the binector input for the signal "infeed operation" (p0864).
- check the enable signals of the infeed and if required, enable.
- remove and acknowledge an infeed fault.
Note:
If this drive is intended to back-up the DC link regeneratively, then the fault response must be parameterized for
NONE so that the drive can continue to operate even after the infeed fails.
A07850 (F) External alarm 1
Reaction: NONE
Acknowledge: NONE
Cause: The BICO signal for "external alarm 1" was triggered.
The condition for this external alarm is fulfilled.
See also: p2112 (External alarm 1)
Remedy: Eliminate the causes of this alarm.
SERVO: NONE (DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
VECTOR: NONE (DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Acknowledge
upon F:
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
Faults and alarms
F07860 (A) External fault 1
Cause: The BICO signal "external fault 1" was triggered.
See also: p2106 (External fault 1)
Remedy: Eliminate the causes of this fault.
Acknowledge
upon A:
NONE
See also: p2107 (External fault 2)
Acknowledge
upon A:
NONE
See also: p2108 (External fault 3), p3111 (External fault 3, enable), p3112 (External fault 3 enable negated)
Acknowledge
upon A:
NONE
F07900 (N, A) Drive: Motor locked/speed controller at its limit
Cause: Motor has been operating at the torque limit longer than the time specified in p2177 and below the speed threshold
set in p2175.
This signal can also be initiated if the speed actual value is oscillating and the speed controller output repeatedly
goes to its limit.
See also: p2175 (Motor locked speed threshold), p2177 (Motor locked delay time)
Remedy: - check that the motor can freely rotate.
- check the torque limit: For a positive direction of rotation r1538, for a negative direction of rotation r1539.
- check the parameter, message "Motor locked" and if required, correct (p2175, p2177).
- check the inversion of the actual value (p0410).
- check the motor encoder connection.
- check the encoder pulse number (p0408).
- for SERVO with sensorless operation and motors with low power ratings (< 300 W), increase the pulse frequency
(p1800).
Acknowledge
upon N:
NONE
Faults and alarms
Acknowledge
upon A:
NONE
F07901 Drive: Motor overspeed
Cause: The maximum permissible speed was either positively or negatively exceeded.
The maximum permissible positive speed is formed as follows: Minimum(p1082, CI: p1085) + p2162. The maximum
permissible negative speed is formed as follows: Maximum(-p1082, CI: 1088) - p2162.
Remedy: For a positive direction of rotation:
- check r1084 and if required, correct p1082, CI:p1085 and p2162.
For a negative direction of rotation:
- check r1087 and if required, correct p1082, CI:p1088 and p2162.
F07902 (N, A) Drive: Motor stalled
Cause: For a vector drive the system has identified that the motor has stall for a time longer than is set in p2178.
1: Stall detection using r1408.11 (p1744).
2: Stall detection using r1408.12 (p1745).
3: Stall detection using r0056.11 (only for separately excited synchronous motors).
See also: p1744 (Motor model speed threshold stall detection), p2178 (Motor stalled delay time)
Remedy: For closed-loop speed and torque control with speed encoder, the following applies:
- check the speed signal (interrupted cable, polarity, pulse number).
If there is no fault, then the fault tolerance can be increased (p1744).
For closed-loop speed and torque control without speed encoder, the following applies:
- check whether the drive stalls due to the load if the speed setpoint is still zero. If yes, then increase the current
setpoint using p1610.
- if the motor excitation (magnetizing) time (r0346) was significantly reduced, then it should be increased again.
- check the current limits (p0640, r0067). If these are too low, then the drive cannot be magnetized.
- check the current controller (p1715, p1717) and the speed adaptation controller (p1764, p1767). If the dynamic
response was significantly reduced, then this should be increased again.
If there is no fault, then the fault tolerance (p1745) or the delay time (p2178) can be increased.
For separately-excited synchronous motors (closed-loop control with speed encoder), the following applies:
- check the speed signal (interrupted cable, polarity, pulse number).
- ensure the correct motor parameterization (rating plate and equivalent circuit diagram parameters).
- check the excitation equipment and the interface to the closed-loop control.
- encoder the highest possible dynamic response of the closed-loop excitation current control.
- check the speed control for any tendency to oscillate and if resonance effects occur, use a bandstop filter.
- do not exceed the maximum speed (p2162).
If there is no fault, then the delay time can be increased (p2178).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
A07903 Drive: Motor speed deviation
Reaction: NONE
Acknowledge: NONE
Cause: The absolute value of the speed difference from the two setpoints (p2151, p2154) and the speed actual value (r2169)
exceeds the tolerance threshold (p2163) longer than tolerated (p2164, p2166).
The alarm is only enabled for p2149.0 = 1.
Possible causes could be:
- the load torque is greater than the torque setpoint.
- when accelerating, the torque/current/power limit is reached. If the limits are not sufficient, then it is possible that
the drive has been dimensioned too small.
- the speed controller is inhibited (refer to p0856; refer to Kp/Tn adaptation of the speed controller).
- for closed-loop torque control, the speed setpoint does not track the speed actual value.
- for active Vdc controller.
- the encoder pulse number was incorrectly parameterized (p0408).
The signal is not generated if the ramp-function generator tracking prevents the setpoint and actual speed from drift-
ing (moving) apart.
Only for vector drives:
For U/f control, the overload condition is detected as the Imax controller is active.
See also: p2149 (Monitoring, configuration)
Remedy: - increase p2163 and/or p2166.
- increase the torque/current/power limits.
- enable the speed controller.
- for closed-loop torque control: The speed setpoint should track the speed actual value.
- correct the encoder pulse number in p0408 or mount the correct tachometer.
A07904 (N) External armature short-circuit: Contactor feedback signal "closed" missing
Reaction: NONE
Acknowledge: NONE
Cause: When closing, the contactor feedback signal (p1235) did not issue the signal "closed" (r1239.1 = 1) within the mon-
itoring time (p1236).
Remedy: - check that the contactor feedback signal is correctly connected (p1235).
- check the logic of the contactor feedback signal (r1239.1 = 1: "closed", r1239.1 = 0: "open").
- if required, set the external armature short-circuit without contactor feedback signal (p1231=2).
Acknowledge
upon N:
NONE
F07905 (N, A) External armature short-circuit: Contactor feedback signal "open" missing
Cause: When opening, the contactor feedback signal (p1235) did not issue the signal "open" (r1239.1 = 0) within the moni-
toring time (p1236).
Remedy: - check that the contactor feedback signal is correctly connected (p1235).
- check the logic of the contactor feedback signal (r1239.1 = 1: "closed", r1239.1 = 0: "open").
- if required, set the external armature short-circuit without contactor feedback signal (p1231=2).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F07906 Armature short-circuit: Parameterization error
Reaction: OFF2
Cause: The armature short-circuit is incorrectly parameterized.
Low word: Motor data set number
High word: Cause:
1: A permanent-magnet synchronous motor has not been selected.
101: External armature short-circuit: Output (r1239.0) not connected-up.
102: External armature short-circuit with contactor feedback signal: no feedback signal connected (BI:p1235)
103: External armature short-circuit without contactor feedback signal: Delay time when opening (p1237) is 0.
201: Internal voltage protection: The maximum output current of the motor module (r0289) is less than 1.8* of the
motor short-circuit current (r0331).
202: Internal voltage protection: A booksize motor module is not being used.
203: Internal voltage protection: The motor short-circuit current (p0320) is greater than the maximum motor current
(p0323).
Remedy: Re cause 1:
- an armature short-circuit is only permissible for permanent-magnetic synchronous motors. The highest position of
the motor type in p0300 must either be 2 or 4.
Re cause 101:
- the contactor for the external armature short-circuit configuration should be controlled using output signal r1239.0.
The signal can, e.g. be connected to an output terminal BI: p0738. Before this fault can be acknowledged, parameter
p1231 must be set again.
Re cause 102:
- if the external armature short-circuit with contactor feedback signal (p1231=1) is selected, this feedback signal must
be connected to an input terminal (e.g. r722.x) and then connected to BI:p1235.
- alternatively, the external armature short-circuit without contactor feedback signal (p1231=2) can be selected.
Re cause 103:
- if the external armature short-circuit without contactor feedback signal (p1231=2) is selected, then a delay time
must be parameterized in p1237. This time must always be greater than the actual contactor opening time, as oth-
erwise the motor module would be short-circuited!
Re cause 201:
- a Motor Module with a higher maximum current or a motor with a lower short-circuit current must be used. The max-
imum Motor Module current must be 1.8 * higher than the short-circuit current of the motor.
Re cause 202:
- a Booksize Motor Module must be used for the internal voltage protection.
Re cause 203:
- for internal voltage protection, only short-circuit proof motors may be used.
F07907 Internal voltage protection: Motor terminals are not at zero potential after pulse can-
cellation
Reaction: NONE
Cause: - when the internal voltage protection is active (p1231 = 3), after pulse cancellation, all of the motor terminals are at
half of the DC link voltage (without an internal voltage protection, the motor terminals are at zero potential)!
- in order to ensure safe function of IVP when the power fails, an external 24 V power supply
(UPS) must be used for all of the components.
This a note for the user.
Faults and alarms
A07910 (N) Drive: Motor overtemperature
Reaction: NONE
Acknowledge: NONE
Cause: KTY:
The motor temperature has exceeded the alarm threshold (p0604).
PTC:
The response threshold of 1650 Ohm was exceeded.
SME not selected in p0601:
1: No output current reduction.
1: Output current reduction active.
SME selected in p0601 (p0601=10)
See also: p0604 (Motor overtemperature alarm threshold), p0610 (Response to motor overtemperature condition)
Remedy: - check the motor load.
- check the motor ambient temperature.
Acknowledge
upon N:
NONE
F07913 Excitation current outside the tolerance range
Reaction: OFF2
Cause: The difference between the excitation current actual value and setpoint has exceeded the tolerance:
abs(r1641 - r1626) > p3201 + p3202
The cause of this fault is again reset for abs(r1641 - r1626) < p3201.
Remedy: - check the parameterization (p1640, p3201, p3202).
- check the interfaces to the excitation equipment (r1626, p1640).
- check the excitation equipment.
F07914 Flux out of tolerance
Reaction: OFF2
Cause: The difference between the flux actual value and setpoint has exceeded the tolerance:
abs(r0084 - r1598) > p3204 + p3205
The cause of this fault is again reset for abs(r0084 - r1598) < p3204.
Remedy: - check the parameterization (p3204, p3205).
- check the interfaces to the excitation equipment (r1626, p1640).
- check the excitation equipment.
- check the flux control (p1592, p1592, p1597).
- check the control for oscillation and take the appropriate counter measures (e.g. optimize the speed control loop,
parameterize a bandstop filter).
A07918 (N) Three-phase setpoint generator operation selected/active
Reaction: NONE
Acknowledge: NONE
Cause: Only for separately excited synchronous motors (p0300 = 5):
The actual open-loop/closed-loop control mode is I/f control (open-loop) with a fixed current (p1300 = 18).
The speed is entered via the setpoint channel and the current setpoint is given by the minimum current (p1620).
It must be ensured that in this mode, the control dynamic performance is very limited. This is the reason that longer
ramp-up times should be set for the setpoint speed than for normal operation.
See also: p1620 (Stator current, minimum)
Remedy: Select another open-loop/closed-loop control mode
See also: p1300 (Open-loop/closed-loop control operating mode)
Acknowledge
upon N:
NONE
Faults and alarms
A07920 Drive: Torque too low
Reaction: NONE
Acknowledge: NONE
Cause: The torque deviates from the torque/speed envelope characteristic in the negative direction (too low).
See also: p2181 (Load monitoring, response)
Remedy: Adapt the load.
A07921 Drive: Torque too high
Reaction: NONE
Acknowledge: NONE
Cause: The torque deviates from the torque/speed envelope characteristic in the positive direction (too high).
A07922 Drive: Torque outside the tolerance
Reaction: NONE
Acknowledge: NONE
Cause: The torque deviates from the torque/speed envelope characteristic.
F07923 Drive: Torque too low
Cause: The torque deviates from the torque/speed envelope characteristic in the negative direction (too low).
F07924 Drive: Torque too high
Cause: The torque deviates from the torque/speed envelope characteristic in the positive direction (too high).
F07925 Drive: Torque outside the tolerance
Cause: The torque deviates from the torque/speed envelope characteristic.
A07926 Drive: Envelope curve, parameter invalid
Reaction: NONE
Acknowledge: NONE
Cause: Invalid parameter values were entered for the envelope characteristic of the load monitoring.
The following rules apply for the speed thresholds:
p2182 < p2183 < p2184
The following rules apply for the torque thresholds:
p2185 > p2186
p2187 > p2188
p2189 > p2190
Number of the parameter with the invalid value.
Remedy: Set the parameters for the load monitoring according to the applicable rules.
Faults and alarms
F07930 Drive: Braking signal error
Cause: The Control Unit has detected a braking signal error.
- motor holding brake type incorrectly parameterized.
- the motor holding brake control on the Motor Module is faulty.
- a DRIVE-CLiQ communications error has occurred between the Control Unit and the Motor Module involved.
11: Defect in the brake control circuit of the Motor Module ("brake open" operation).
20: Short-circuit in the brake winding or fault in the brake control circuit of the Motor Module ("brake open" state).
30: No brake connected, short-circuit in the brake winding or fault in the Motor Module brake control circuit ("close
brake" operation).
31: Defect in the brake control circuit of the Motor Module ("close brake" operation).
50: Defect in the brake control circuit of the Motor Module or communications fault between the Control Unit and the
Motor Module (braking signal diagnostics).
See also: p1278 (Motor holding brake type)
Remedy: - check the motor holding brake connection.
- check the motor holding brake type.
- if a motor holding brake has still not been connected, then the brake control can be disabled with p1215 = 0 in order
to suppress the fault (e.g. for a rotating measurement (p1960)).
- replace the Safe Brake Module.
A07931 Brake does not open
Reaction: NONE
Acknowledge: NONE
Cause: This alarm is output for r1229.4 = 1.
See also: p1216 (Motor holding brake, opening time), r1229 (Motor holding brake status word)
Remedy: - check the functionality of the motor holding brake.
- check the feedback signal (p1223).
A07932 Brake does not close
Reaction: NONE
Acknowledge: NONE
Cause: This alarm is output for r1229.5 = 1.
See also: p1217 (Motor holding brake closing time), r1229 (Motor holding brake status word)
Remedy: - check the functionality of the motor holding brake.
- check the feedback signal (p1222).
F07935 (N) Drv: Motor holding brake detected
Cause: A motor with integrated motor holding brake was detected where the braking signal has not been configured (p1215
= 0). The braking signal configuration was then set to "motor holding brake the same as sequence control" (p1215
= 1).
See also: p1215 (Motor holding brake configuration)
Acknowledge
upon N:
NONE
Faults and alarms
F07940 Sync-line supply - drive: Synchronization error
Reaction: OFF2
Cause: After synchronization has been completed, the phase difference (r3808) is greater than the threshold value, phase
synchronism (p3813).
OFF1 or OFF3 response, while the closed-loop phase control is active (r3819.6 = 1) or synchronism reached
(r3819.2 = 1).
Enable signal withdrawn (p3802 = 0), while the closed-loop phase control was active (r3819.6 = 1).
Remedy: If required increase the threshold value phase synchronism (p3813) for synchronizing the line supply to the drive.
Before OFF1 or OFF3, complete synchronizing (r03819.0 = 0).
Before withdrawing the enable signal (p3802 = 0), reach synchronism (r3819.2 = 1).
See also: p3813 (Sync line-drive phase synchronism threshold value)
A07941 Sync-line supply - drive: Target frequency not permissible
Reaction: NONE
Acknowledge: NONE
Cause: The target frequency is outside the permissible value range.
1084: Target frequency greater than the positive speed limit, f_sync > f_max (r1084).
1087: Target frequency less than the negative speed limit, f_sync < f_min (r1087).
Remedy: Fulfill the target frequency conditions for the synchronization line supply - drive.
See also: r1084 (Speed limit positive effective), r1087 (Speed limit negative effective)
A07942 Sync-line supply - drive: Setpoint frequency is completely different than the target
frequency
Reaction: NONE
Acknowledge: NONE
Cause: There is a considerable difference between the setpoint frequency and the target frequency (f_set <> f_target). The
deviation that can be tolerated is set in p3806.
Remedy: The alarm automatically disappears after the difference that can be tolerated (p3806) between the setpoint and target
frequencies is reached.
See also: p3806 (Sync line-drive frequency difference threshold value)
A07943 Sync-line supply - drive: Synchronization not permitted
Reaction: NONE
Acknowledge: NONE
Cause: Synchronization not permitted.
1300: The control mode (p1300) has not been set to sensorless closed-loop speed control or U/f characteristic.
1910: Motor data identification activated.
1960: Speed controller optimization activated.
1990: Encoder adjustment activated.
3801: Voltage Sensing Module (VSM) not found.
3845: Friction characteristic plot activated.
Remedy: Fulfill the conditions for the synchronization line supply - drive.
Set the control mode (p1300) to sensorless closed-loop speed control (p1300 = 20) or U/f characteristic (p1300 = 0
... 19).
Exit the motor data identification routine (p1910).
Exist the speed controller optimization routine (p1960).
Exit the encoder adjustment (p1990).
Connect-up a Voltage Sensing Module (VSM) and when connecting to an adjacent drive object ensure that the drive
objects have the same basis clock cycle.
Exit the friction characteristic plot (p3845).
Faults and alarms
F07950 (A) Drive: Incorrect motor parameter
Reaction: NONE
Cause: The motor parameters were incorrectly entered while commissioning (e.g. p0300 = 0, no motor selected)
The fault value includes the parameter number involved.
The following parameter numbers only occur as fault values for induction motors:
p0304, p0310, p0320
The following parameter numbers only occur as fault values for synchronous motors:
p0314; only for vector drives: p0305, p0307; only for servo drives: p0316, p0322, p0323; only for linear drives: p0315
See also: p0300 (Mot type selection), p0301 (Motor code number selection), p0304 (Rated motor voltage), p0305
(Rated motor current), p0307 (Rated motor power), p0310 (Rated motor frequency), p0311 (Rated motor speed),
p0314 (Motor pole pair number), p0315 (Motor pole pair width), p0316 (Motor torque constant), p0320 (Motor rated
magnetization current/short-circuit current), p0322 (Maximum motor speed), p0323 (Maximum motor current)
Remedy: Compare the motor data with the rating plate data and if required, correct.
See also: p0300 (Mot type selection), p0301 (Motor code number selection), p0304 (Rated motor voltage), p0305
(Rated motor current), p0307 (Rated motor power), p0310 (Rated motor frequency), p0311 (Rated motor speed),
p0314 (Motor pole pair number), p0316 (Motor torque constant), p0320 (Motor rated magnetization current/short-
circuit current), p0322 (Maximum motor speed), p0323 (Maximum motor current)
Acknowledge
upon A:
NONE
F07955 Drive: Motor has been changed
Reaction: NONE
Cause: The code number of the actual motor with DRIVE-CLiQ does not match the saved number.
Number of the incorrect parameter.
See also: p0301 (Motor code number selection), r0302 (Motor code number of motor with DRIVE-CLiQ)
Remedy: Connect the original motor, power-up the Control Unit again (POWER ON) and exit the quick commissioning by set-
ting p0010 to 0.
Or set p0300 = 10000 (load the motor parameter with DRIVE-CLiQ) and re-commission.
Quick commissioning (p0010 = 1) is automatically exited with p3900 > 0.
If quick commissioning was exited by setting p0010 to 0, then an automatic controller calculation (p0340 = 1) is not
carried-out.
F07956 Drive: Motor code does not match the list (catalog) motor
Reaction: NONE
Cause: The motor code of the actual motor with DRIVE-CLiQ does not match the possible list motor types (refer to the selec-
tion, p0300).
Motor code of the motor with DRIVE-CLiQ
Remedy: Use a motor with DRIVE-CLiQ and the matching motor code.
The first three digits of the motor code generally correspond to the matching list motor type.
Faults and alarms
A07960 Drive: Incorrect friction characteristic
Reaction: NONE
Acknowledge: NONE
Cause: The friction characteristic is incorrect.
1538:
The friction torque is greater than the maximum from the upper effective torque limit (p1538) and zero. This is the
reason that the output of the friction characteristic (r3841) is limited to this value.
1539:
The friction torque is less than the minimum from the lower effective torque limit (p1539) and zero. This is the reason
that the output of the friction characteristic (r3841) is limited to this value.
3820 ... 3829:
Incorrect parameter number. The speeds entered in the parameters for the friction characteristic do not correspond
to the following condition:
0.0 < p3820 < p3821 < ... < p3829 <= p0322 or p1082, if p0322 = 0
Therefore the output of the friction characteristic (r3841) is set to zero.
3830 ... 3839:
Incorrect parameter number. The torques entered in the parameters for the friction characteristic do not correspond
to the following condition:
0 <= p3830, p3831 ... p3839 <= p0333
Therefore the output of the friction characteristic (r3841) is set to zero.
See also: r3840 (Friction characteristic, status word)
Remedy: Fulfill the conditions for the friction characteristic.
Check the upper effective torque limit (e.g. in the field weakening range).
Check the lower effective torque limit (e.g. in the field weakening range).
Re alarm value = 3820 ... 3839:
Fulfill the conditions to set the parameters of the friction characteristic.
If the motor data (e.g. the maximum speed p0322) are changed during commissioning (p0010 = 1, 3), then the tech-
nological limits and threshold values, dependent on this, must be re-calculated by selecting p0340= 5).
A07961 Drive: Friction characteristic plot activated
Reaction: NONE
Acknowledge: NONE
Cause: The automatic friction characteristic plot is activated.
The friction characteristic is plotted at the next power-on command.
The alarm disappears automatically after the friction characteristic plot has been successfully completed or the plot
is de-activated (p3845 = 0).
Faults and alarms
F07963 Drive: Friction characteristic plot interrupted
Reaction: OFF1
Cause: The condition to plot the friction characteristic are not fulfilled.
0046: Missing enable signals (r0046).
0840: OFF1 (p0840) is selected before the friction characteristic has been completely plotted.
1082: The highest speed value to be approached (p3829) is greater than the maximum speed (p1082).
1110: Friction characteristic plot, negative direction of rotation has be selected (p3845) and the negative direction of
rotation is inhibited (p1110).
1111: Friction characteristic plot, positive direction of rotation has be selected (p3845) and the positive direction of
rotation is inhibited (p1111).
1198: Friction characteristic plot selected (p3845 > 0) and the negative direction of rotation (p1110) and positive
(p1111) are inhibited (r1198).
1300: The control mode (p1300) has not been set to closed-loop speed control.
1755: For sensorless closed-loop control (p1300 = 20), the lowest speed value to be approached (p3820) is less than
or equal to the changeover speed, open-loop controlled operation (p1755).
1910: Motor data identification activated.
1960: Speed controller optimization activated.
3820 - 3829: Speed (p382x) cannot be approached.
3840: Friction characteristic incorrect.
3845: Friction characteristic plot de-selected.
Remedy: Fulfill the conditions to plot the friction characteristic.
Establish missing enable signals.
Select OFF1 (p0840) only after the friction characteristic plot has been completed.
Select the highest speed value to be approached (p3829) less than or equal to the maximum speed (p1082).
Select the frequency characteristic plot, positive direction of rotation (p3845).
Select the frequency characteristic plot, negative direction of rotation (p3845).
Enable the permitted direction of rotation (p1110, p1111, r1198).
Set the control mode (p1300) on the closed-loop speed control (p1300 = 20, 21).
For sensorless closed-loop speed control (p1300 = 20) select the lowest speed value to be approached (p3820)
greater than the changeover speed of open-loop controlled operation (p1755).
Exit the motor data identification routine (p1910).
Exist the speed controller optimization routine (p1960).
Re fault value 3820 - 3829:
- check the load at speed p382x.
- check the speed signal (r0063) for oscillation at speed p382x. If required, check the speed controller settings.
Make the friction characteristic error-free (p3820 - p3829, p3830 - p3839, p3840).
Activate the friction characteristic plot (p3845).
F07966 Drive: Check the commutation angle
Cause: The speed actual value was inverted and the associated angular commutation offset is not equal to zero and is there-
fore possibly incorrect.
Remedy: Angular commutation offset after the actual value inversion or determine it again (p1990=1).
Faults and alarms
F07967 Drive: Automatic encoder adjustment incorrect
Cause: A fault has occurred during the automatic encoder adjustment or the pole position identification.
F07968 Drive: Lq-Ld measurement incorrect
Reaction: OFF2
Cause: A fault has occurred during the Lq-Ld measurement.
10: Stage 1: The ratio between the measured current and zero current is too low.
12: Stage 1: The maximum current was exceeded.
15: Second harmonic too low.
16: Drive converter too small for the measuring technique.
17: Abort due to pulse inhibit.
Check whether the motor is correctly connected.
Replace the Motor Module involved.
De-activate traversing (p1909).
Check whether motor data have been correctly entered.
Repeat traversing.
F07969 Drive: Incorrect pole position identification
Reaction: OFF2
Cause: A fault has occurred during the pole position identification routine.
1: Current controller limited
2: Motor shaft locked.
4: Encoder speed signal not plausible.
14: Current difference to determine the +d axis too low.
18: First harmonic too low.
20: Pole position identification requested with the motor shaft rotating and activated flying restart function.
Re fault value = 2:
Open the motor holding brake (p1215) and bring the motor into a no-load condition.
Re fault value = 4:
Check whether the encoder pulse number (p0408) and gearbox factor (p0432, p0433) are correct.
Check whether the motor pole pair number is correct (p0314).
When selecting p1980 = 4: Increase the value for p0325.
When selecting p1980 = 1: Increase the value for p0329.
Faults and alarms
Increase the value for p0329.
When selecting p1980 = 4: Reduce the value for p0325.
When selecting p1980 = 1: Reduce the value for p0329.
Reduce the value for p0329.
Motor not sufficiently anisotropic, change the technique (p1980==1 or 10).
De-activate traversing/moving (p1982).
Repeat traversing.
Re fault value 18:
Saturation not sufficient, change the technique (p1980==10).
Before carrying-out a pole position identification routine ensure that the motor shaft is absolutely stationary (zero
speed).
F07970 Drive: Automatic encoder adjustment incorrect
Reaction: OFF2
Cause: A fault has occurred during the automatic encoder adjustment.
1: Current controller limited
2: Motor shaft locked.
4: Encoder speed signal not plausible.
14: Current difference to determine the +d axis too low.
Re fault value = 2:
Open the motor holding brake (p1215) and bring the motor into a no-load condition.
Re fault value = 4:
Check whether the speed actual value inversion is correct (p0410.0).
Check whether the encoder pulse number (p0408) and gearbox factor (p0432, p0433) are correct.
Check whether the motor pole pair number is correct (p0314).
Faults and alarms
De-activate traversing/moving (p1982).
Repeat traversing.
A07971 (N) Drive: Automatic encoder adjustment activated
Reaction: NONE
Acknowledge: NONE
Cause: The automatic encoder adjustment is activated (p1990 = 1).
The automatic encoder adjustment is carried-out with the next power-on command.
SERVO:
If a pole position identification technique is selected in p1980, and if p0301 does not contain a motor type with an
encoder adjusted in the factory, p1990 is automatically activated if fault F07414 is output.
See also: p1990 (Angular commutation offset, commissioning support)
The alarm automatically disappears after the encoder has been successfully adjusted or for the setting p1990 = 0.
Acknowledge
upon N:
NONE
A07980 Drive: Rotating measurement activated
Reaction: NONE
Acknowledge: NONE
Cause: The rotating measurement (automatic speed controller optimization) is activated.
The rotating measurement is carried-out at the next power-on command.
See also: p1960 (Rotating measurement selection)
The alarm disappears automatically after the speed controller optimization has been successfully completed or for
the setting p1900 = 0.
A07981 Drive: Enable signals for the rotating measurement missing
Reaction: NONE
Acknowledge: NONE
Cause: The rotating measurement cannot be started due to missing enable signals.
- establish missing enable signals.
See also: r0002 (Control Unit operating display), r0046 (Infeed missing enable signals)
Faults and alarms
F07982 Drive: Rotating measurement encoder test
Cause: A fault has occurred during the encoder test.
1: The speed did not reach a steady-state condition.
2: The speed setpoint was not able to be approached as the minimum limiting is active.
3: The speed setpoint was not able to be approached as the suppression (skip) bandwidth is active.
4: The speed setpoint was not able to be approached as the maximum limiting is active.
5: The encoder does not supply a signal.
6: Incorrect polarity.
7: Incorrect pulse number.
8: Encoder signal faults.
9: Voltage Sensing Module (VSM) incorrectly connected.
- check the motor parameters.
- carry-out a motor data identification routine (p1910).
- if required, reduce the dynamic factor (p1967 < 25 %).
Re fault value = 2:
Adapt the speed setpoint (p1965) or minimum limiting (p1080).
Re fault value = 3:
Adapt the speed setpoint (p1965) or suppression (skip) bandwidths (p1091 ... p1094, p1101).
Re fault value = 4:
Adapt the speed setpoint (p1965) or maximum limiting (p1082, p1083 and p1086).
Re fault value = 5:
Check the encoder connection. If required, replace the encoder.
Re fault value = 6:
Check the connection assignment of the encoder cable. Adapt the polarity (p0410).
Re fault value = 7:
Adapt the pulse number (p0408).
Re fault value = 8:
Check the encoder connection and encoder cable. It is possible that there is a problem associated with the ground
connection.
Re fault value = 9:
Check the connections of the Voltage Sensing Module (VSM).
Note:
The encoder test can be switched-out (disabled) using p1959.0.
See also: p1959 (Rotating measurement configuration)
F07983 Drive: Rotating measurement saturation characteristic
Cause: A fault has occurred while determining the saturation characteristic.
2: The rotor flux did not reach a steady-state condition.
3: The adaptation circuit did not reach a steady-state condition.
4: The adaptation circuit was not enabled.
5: Field weakening active.
7: The speed setpoint was not able to be approached as the suppression (skip) bandwidth is active.
8: The speed setpoint was not able to be approached as the maximum limiting is active.
9: Several values of the determined saturation characteristic are not plausible.
10: Saturation characteristic could not be sensibly determined because load torque too large.
Faults and alarms
- the total drive moment of inertia is far higher than that of the motor (refer to p0341, p0342).
De-select rotating measurement (p1960), enter the moment of inertia p342, re-calculate the speed controller p0340
= 4 and repeat the measurement.
Re fault value = 1 ... 4:
- check the motor parameters (rating plate data).
Re fault value = 5:
The speed setpoint (p1961) is too high. Reduce the speed.
Re fault value = 6:
Re fault value = 7:
Re fault value = 8:
The measurement was carried-out at an operating point where the load torque is too high. Select a more suitable
operating point, either by changing the speed setpoint (p1961) or by reducing the load torque. The load torque may
not be varied while making measurements.
Note:
The saturation characteristic identification routine can be disabled using p1959.1.
F07984 Drive: Speed controller optimization, moment of inertia
Cause: A fault has occurred while identifying the moment of inertia.
3. The speed setpoint was not able to be approached as the suppression (skip) bandwidth is active.
4. The speed setpoint was not able to be approached as the maximum limiting is active.
5: It is not possible to increase the speed by 10% as the minimum limiting is active.
6: It is not possible to increase the speed by 10% as the suppression (skip) bandwidth is active.
7: It is not possible to increase the speed by 10% as the maximum limiting is active.
8: The torque difference after the speed setpoint step is too low in order to be able to still reliably identify the moment
of inertia.
9: Too few data to be able to reliably identify the moment of inertia.
10: After the setpoint step, the speed either changed too little or in the incorrect direction.
11: The identified moment of inertia is not plausible.
- check the motor parameters (rating plate data).
Re fault value = 8:
Adapt the moment of inertia (p0341, p0342).
Note:
The moment of inertia identification routine can be disabled using p1959.2.
Faults and alarms
F07985 Drive: Speed controller optimization (oscillation test)
Cause: A fault has occurred during the vibration test.
3. The speed setpoint was not able to be approached as the suppression (skip) bandwidth is active.
4. The speed setpoint was not able to be approached as the maximum limiting is active.
5: Torque limits too low for a torque step.
6: No suitable speed controller setting was found.
- check the motor parameters.
Re fault value = 2:
Re fault value = 3:
Re fault value = 4:
Re fault value = 5:
Increase the torque limits (e.g. p1520, p1521).
Re fault value = 6:
Reduce the dynamic factor (p1967).
Note:
The speed controller vibration test can be disabled using p1959.4.
F07986 Drive: Rotating measurement ramp-function generator
Cause: During the rotating measurements, problems with the ramp-function generator occurred.
1: The positive and negative direction of rotation is inhibited.
Enable the direction of rotation (p1110 or p1111).
A07987 Drive: Rotating measurement, no encoder available
Reaction: NONE
Acknowledge: NONE
Cause: No encoder available. The rotating measurement was carried-out without encoder (sensorless).
1: An encoder is not connected.
2: It involves a SINAMICS G drive unit that only supports sensorless closed-loop control.
Remedy: Re alarm value = 1:
Connect-up the encoder.
Re alarm value = 2:
None necessary.
F07988 Drive: Rotating measurement, no configuration selected
Cause: When configuring the rotating measurement (p1959), no function was selected.
Remedy: Select at least one function for automatic optimization of the speed controller (p1959).
Faults and alarms
F07990 Drive: Incorrect motor data identification
Cause: A fault has occurred during the identification routine.
1: Current limit value reached.
2: Identified stator resistance lies outside the expected range 0.1 ... 100 % of Zn.
3: Identified rotor resistance lies outside the expected range 0.1 ... 100 % of Zn.
4: Identified stator reactance lies outside the expected range 50 ... 500 % of Zn.
5: Identified magnetizing reactance lies outside the expected range 50 ... 500 % of Zn.
6: Identified rotor time constant lies outside the expected range 10 ms ... 5 s.
7: Identified total leakage reactance lies outside the expected range 4 ... 50 % of Zn.
8: Identified stator leakage reactance lies outside the expected range 2 ... 50 % of Zn.
9: Identified rotor leakage reactance lies outside the expected range 2 ... 50 % of Zn.
10: Motor has been incorrectly connected.
11: Motor shaft rotates.
20: Identified threshold voltage of the semiconductor devices lies outside the expected range 0 ... 10 V.
30: Current controller in voltage limiting.
40: At least one identification contains errors. The identified parameters are not saved to prevent inconsistencies.
50: With the selected current controller sampling rate, the pulse frequency cannot be implemented.
Note:
Percentage values are referred to the rated motor impedance:
Zn = Vmot.nom / sqrt(3) / Imot,nom
101: Voltage amplitude even at 30% maximum current amplitude is too low to measure the inductance.
102, 104: Voltage limiting while measuring the inductance.
103: Maximum frequency exceeded during the rotating inductance measurement.
110: Motor not finely synchronized before the rotating measurement.
120: Error when evaluating the magnetizing inductance.
125: Cable resistance greater than the total resistance.
126: Series inductance greater than the total leakage inductance.
127: Identified leakage inductance negative.
128: Identified stator resistance negative.
129: Identified rotor resistance negative.
130: Drive data set changeover during the motor data identification routine.
140: The setpoint channel inhibits both directions of rotation.
160: Accelerating time when determining the moment of inertia or reluctance torque too short.
173: Internal problem.
180: Identification speed (maximum speed, rated speed, 0.9 * p0348) less than p1755.
190: Speed setpoint not equal to zero.
191: An actual speed of zero is not reached.
192: Speed setpoint not reached.
200, 201: Not possible to identify the voltage emulation error characteristic of the drive converter (p1952, p1953).
Check whether the motor is correctly connected. Observe the configuration (star-delta).
- check whether the motor data have been correctly entered into p0300, p0304 - p0311.
- is there an appropriate relationship between the motor power rating and that of the Motor Module? The ratio of the
Motor Module to the rated motor current should not be less than 0.5 and should not be greater than 4.
- check the motor configuration (star-delta).
Check whether inductances are correctly entered in p0233 and p0353.
Reduce the current controller sampling rate.
Increase current limit (p0640).
Check the current controller gain (p1715).
Reduce the current controller sampling time (p0115).
It may be impossible to completely identify the L characteristic, as the required current amplitude is too high.
Suppress measurement (p1909, p1959).
Reduce the current limit (p0640).
Check the current controller P gain.
Faults and alarms
Increase the external moment of inertia (if possible).
Reduce the current controller sampling time (p0115).
Re fault value 110:
Before the rotating measurement, traverse the motor over the zero mark.
Re fault value 120:
Check the current controller P gain (p1715) and if required, reduce.
Increase the pulse frequency (p1800).
Re fault 125:
Reduce the cable resistance (p0352).
Re fault 126:
Reduce the series inductance (p0353).
Re fault 127, 128, 129:
It is possible that the current controller is oscillating. Reduce p1715 before the next measurement.
Re fault 130:
Do not initiate a drive data set changeover during the motor identification routine.
Re fault value 140:
Before the measurement, enable at least one direction of rotation (value of p1110 = 0 or value of p1111 = 0 or
p1959.14 = 1 or p1959.15 = 1).
Extend the accelerating time when determining the moment of inertia and reluctance torque, e.g. by increasing the
maximum speed (p1082), increasing the moment of inertia or reducing the maximum current (p0640).
Increase the speed controller P-gain (p1460).
Suppress measurement (p1959).
Re fault value 173:
-
Re fault value 180:
Increase the maximum speed (p1082).
Reduce p1755.
Re fault value 190:
Set the speed setpoint to zero.
Re fault value 191:
Do not start the motor data identification routine while the motor is still rotating.
Check the closed-loop speed control (the motor rotor may be locked or the closed-loop speed control is not function-
ing).
Ensure that the enable signals are present during the measurement.
Remove any pulling loads from the motor.
Increase the maximum current (p0640).
Reduce the maximum speed (p1082).
Suppress measurement (p1959).
- set the pulse frequency to 0.5 * current controller frequency (e.g. 4 kHz for a current controller clock cycle of 125 us).
- reduce the cable length between the Motor Module and the motor.
- read-out measured values (r1950, r1951) and therefore determine suitable values for p1952, p1953 according to
your own estimation.
A07991 (N) Drive: Motor data identification activated
Reaction: NONE
Acknowledge: NONE
Cause: The motor data identification routine is activated.
The motor data identification routine is carried-out at the next power-on command.
See also: p1910 (Motor data identification routine, stationary (standstill))
The alarm automatically disappears after the motor data identification routine has been successfully completed or
for the setting p1910 = 0 or p1960 = 0.
Acknowledge
upon N:
NONE
Faults and alarms
F07993 Drive: Incorrect direction of rotation of the field or encoder actual value inversion
Cause: Either the direction of the rotating field or the encoder actual value has an incorrect sign. The motor data identification
automatically changed the actual value inversion (p0410) in order to correct the control sense. This can result in a
direction of rotation change. To acknowledge this fault, the correctness of the direction of rotation must first be
acknowledged with p1910 = -2.
Remedy: Check the direction of rotation, also for the position controller, if one is being used.
If the direction of rotation is correct, the following applies:
No additional measures are required (except p1910 = -2 and acknowledge fault).
If the direction of rotation is incorrect, the following applies:
To change the direction of rotation, two phases must be interchanged and the motor identification routine must be
repeated.
F07995 Drive: Pole position identification not successful
Reaction: OFF2
Cause: The pole position identification routine was unsuccessful.
1: No current is established.
2: The starting current is not zero.
3: The selected maximum distance was exceeded (p1981).
4x: The measuring signal does not permit a clear evaluation.
5: The maximum current was exceeded during the measurement.
6: The current measurement must be re-calibrated.
7x: The Sensor Module does not support the pole position identification routine.
70 ... 79: Only for internal Siemens troubleshooting.
8: The pole position identification routine current required is greater than the maximum current.
9: The set pole position identification routine current is zero.
10: Data set changeover during the pole position identification
100: Motion-based pole position identification, 1st and 2nd measurement different. Motor locked or current (p1993)
too low.
101: Motion-based position position identification, insufficient motion, motor locked or current (p1993) too low.
102: Motion-based pole position identification, brake is being used and is closed. The motion-based position position
identification in conjunction with the brake is not permitted.
103: Motion-based pole position identification without encoder.
104: Motion-based pole position identification, speed actual value not zero after stabilizing time.
Note: x = 0 ... 9
Check the motor connection and DC link voltage.
For the following parameters, set practical values that are not zero (p0325, p0329).
Re fault value = 3:
Increase the maximum distance (p1981).
Reduce the currents for the pole position identification routine (p0325, p0329).
Stop the motor in order to carry-out the pole position identification routine.
Increase the currents for the pole position identification routine (p0325, p0329).
Stop the motor in order to carry-out the pole position identification routine.
Select another technique for pole position identification routine (p1980).
Use another motor, absolute encoder or Hall sensors.
Re fault value = 5:
Reduce the currents for the pole position identification routine (p0325, p0329).
Re fault value = 6:
Re-calibrate the Motor Module.
Re fault value = 7x:
Upgrade the software in the Sensor Module.
Re fault value = 8:
Reduce the currents for the pole position identification routine (p0329, p0325, p1993).
The power unit cannot provide the necessary pole position identification routine current (p0209 < p0329, p0325,
p1993), replace the power unit by a power unit with a higher maximum current.
Faults and alarms
Re fault value = 9:
Enter a value not equal to zero in the pole position identification routine current (p0329, p0325, p1993).
Do not initiate a data set changeover during the pole position identification.
Check and ensure that the motor is free to move.
Increase the current for motion-based pole position identification (p1993).
If the motor is to be operated with a brake: Select a different technique to identify the pole position (p1980).
If the motor can be operated without a brake: Open the brake (p1215 = 2).
The motion-based pole position identification can only be carried-out using an encoder. Connect an encoder or select
another technique for pole position identification routine (p1980).
Pole position identification, increase the smoothing time, motion-based (p1997).
Pole position identification, increase the rise time, motion-based (p1994).
Pole position identification, check the gain, motion-based (p1995).
Pole position identification, check the integral time, motion-based (p1996).
F07996 Drive: Pole position identification routine not carried-out
Reaction: ENCODER (OFF2)
Cause: The drive was changed over, flying, from sensorless operation to operation with encoder without having previously
carried-out a pole position identification for the encoder. p1404 is then at a value between zero and the maximum
speed and the pulses in the speed range above p1404 were enabled without a pole position identification routine
having been previously carried-out in operation with encoder.
Remedy: For a flying changeover between operation with and without encoder with pole position identification after POWER
ON or commissioning (p0010 not equal to zero) enable the pulses once at zero speed. This means that the pole
position identification routine is carried-out and the result is available for operation.
F08000 (N, A) TB: +/-15 V power supply faulted
Cause: Terminal Board 30 detects an incorrect internal power supply voltage.
0: Error when testing the monitoring circuit.
1: Fault in normal operation.
Remedy: - replace Terminal Board 30.
- replace Control Unit.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F08010 (N, A) TB: Analog-digital converter
Cause: The analog/digital converter on Terminal Board 30 has not supplied any converted data.
Remedy: - check the power supply.
- replace Terminal Board 30.
Acknowledge
upon N:
NONE
Faults and alarms
Acknowledge
upon A:
NONE
F08500 (A) COMM BOARD: Monitoring time, configuration expired
Cause: The monitoring time for the configuration has expired.
0: The transfer of the send-configuration data has been exceeded (time).
1: The transfer of the receive-configuration data has been exceeded (time).
Remedy: Check communication line.
Acknowledge
upon A:
NONE
F08501 (A) COMM BOARD: Monitoring time, process data expired
Cause: The set monitoring time expired while transferring process data via COMM BOARD.
See also: p2040 (COMM INT monitoring time)
Remedy: - check communications link.
- check the set monitoring time if the error persists.
See also: p2040 (COMM INT monitoring time)
Acknowledge
upon A:
NONE
F08502 (A) COMM BOARD: Monitoring time, sign-of-life expired
Cause: The monitoring time for the sign-of-life counter has expired.
Acknowledge
upon A:
NONE
A08504 (F) COMM BOARD: Internal cyclic data transfer error
Reaction: NONE
Acknowledge: NONE
Cause: The cyclic actual and/or setpoint values were not transferred within the specified times.
Remedy: Check the parameterizing telegram (Ti, To, Tdp, etc.).
Acknowledge
upon F:
IMMEDIATELY
Faults and alarms
F08510 (A) COMM BOARD: Send configuration data invalid
Cause: COMM BOARD did not accept the send-configuration data.
Return value of the send-configuration data check.
Remedy: Check the send configuration data.
Acknowledge
upon A:
NONE
A08511 (F) COMM BOARD: Receive configuration data invalid
Reaction: NONE
Acknowledge: NONE
Cause: The drive unit did not accept the receive-configuration data.
Return value of the receive-configuration data check.
0: Configuration accepted.
4: Setting data for synchronization not accepted.
5: Drive still not in cyclic operation.
6: Buffer system not accepted.
7: Cyclic channel length too short for this setting.
8: Cyclic channel address not initialized.
9: 3-buffer system not permitted.
10: DRIVE-CLiQ fault.
11: CU link fault.
12: CX32 not in cyclic operation.
Remedy: Check the receive configuration data.
Re alarm value = 1:
Acknowledge
upon F:
IMMEDIATELY
A08520 (F) COMM BOARD: Non-cyclic channel error
Reaction: NONE
Acknowledge: NONE
Cause: The memory or the buffer status of the non-cyclic channel has an error.
0: Error in the buffer status.
1: Error in the memory.
Acknowledge
upon F:
IMMEDIATELY
Faults and alarms
A08530 (F) COMM BOARD: Message channel error
Reaction: NONE
Acknowledge: NONE
Cause: The memory or the buffer status of the message channel has an error.
0: Error in the buffer status., 1: Error in the memory.
Acknowledge
upon F:
IMMEDIATELY
F08700 (A) CBC: Communications error
Reaction: A_INFEED: NONE
Cause: A CAN communications error has occurred.
1: The error counter for the send telegrams has exceeded the BUS OFF value 255. The bus disables the CAN con-
troller.
- bus cable interrupted.
- bus cable not connected.
- incorrect baud rate.
- incorrect bit timing.
2: The master no longer interrogated the CAN node status longer than for its "life time". The "life time" is obtained
from the "guard time" (p8604[0]) multiplied by the "life time factor" (p8604[1]).
- bus cable interrupted.
- bus cable not connected.
- incorrect baud rate.
- incorrect bit timing.
- master fault.
Note:
The fault response can be set as required using p8641.
See also: p8604 (CBC node guarding), p8641 (CBC abort connection option code)
Remedy: - check the bus cable
- check the baud rate (p8622).
- check the bit timing (p8623).
- check the master.
See also: p8622 (CBC baud rate), p8623 (CBC bit timing selection)
Acknowledge
upon A:
NONE
F08701 CBC: NMT state change
Reaction: A_INFEED: OFF2
SERVO: OFF3
VECTOR: OFF3
Cause: A CANopen NMT state transition from "operational" to "pre-operational" or after "stopped".
1: CANopen NMT state transition from "operational" to "pre-operational".
2: CANopen NMT state transition from "operational" to "stopped".
Note:
In the NMT state "pre-operational", process data cannot be transferred and in the NMT state "stopped", no process
data and no service data can be transferred.
Acknowledge the fault and continue operation.
Faults and alarms
A08751 CBC: Telegram loss
Reaction: NONE
Acknowledge: NONE
Cause: The CAN controller has lost a receive message (telegram).
Remedy: Reduce the cycle times of the receive messages.
A08752 CBC: Error counter for error passive exceeded
Reaction: NONE
Acknowledge: NONE
Cause: The error counter for the send or receive telegrams has exceeded the value 127.
Remedy: - check the bus cable
- set a higher baud rate (p8622).
- check the bit timing and if required optimize (p8623).
A08753 CBC: Message buffer overflow
Reaction: NONE
Acknowledge: NONE
Cause: A message buffer overflow.
1: Non-cyclic send buffer (SDO response buffer) overflow.
2: Non-cyclic receive buffer (SDO receive buffer) overflow.
3: Cyclic send buffer (PDO send buffer) overflow.
Remedy: Check the bus cable.
Set a higher baud rate (p8622).
Check the bit timing and if required optimize (p8623).
Re alarm value = 2:
- reduce the cycle times of the SDO receive messages.
A08754 CBC: Incorrect communications mode
Reaction: NONE
Acknowledge: NONE
Cause: In the "operational" mode, an attempt was made to change parameters p8700 ... p8737.
Remedy: Change into the "pre-operational" or "stopped" mode.
A08755 CBC: Obj cannot be mapped
Reaction: NONE
Acknowledge: NONE
Cause: The CANopen object is not provided for the Process Data Object (PDO) Mapping.
Remedy: Use a CANopen object intended for the PDO mapping or enter 0.
The following objects can be mapped in the Receive Process Data Object (RPDO) or Transmit Process Data Object
(TPDO):
- RPDO: 6040 hex, 6060 hex, 60FF hex, 6071 hex.
- TPDO: 6041 hex, 6061 hex, 6063 hex, 6069 hex, 606B hex, 606C hex, 6074 hex.
Note:
As long as A08755 is present, the COB-ID cannot be set to valid.
A08756 CBC: Number of mapped bytes exceeded
Reaction: NONE
Acknowledge: NONE
Cause: The number of bytes of the mapped objects exceeds the telegram size for net data. A maximum of 8 bytes is per-
missible.
Faults and alarms
Remedy: Map fewer objects or objects with a smaller data type.
See also: p8710 (CBC receive mapping for RPDO 1), p8711 (CBC receive mapping for RPDO 2), p8712 (CBC
receive mapping for RPDO 3), p8713 (CBC receive mapping for RPDO 4), p8714 (CBC receive mapping for RPDO
5), p8715 (CBC receive mapping for RPDO 6), p8716 (CBC receive mapping for RPDO 7), p8717 (CBC receive map-
ping for RPDO 8), p8730 (CBC send mapping for TPDO 1), p8731 (CBC send mapping for TPDO 2), p8732 (CBC
send mapping for TPDO 3), p8733 (CBC send mapping for TPDO 4), p8734 (CBC send mapping for TPDO 5), p8735
(CBC send mapping for TPDO 6), p8736 (CBC send mapping for TPDO 7), p8737 (CBC send mapping for TPDO 8)
A08757 CBC: Set COB-ID invalid
Reaction: NONE
Acknowledge: NONE
Cause: For online operation, the appropriate COB-ID must be set invalid before mapping.
Example:
Mapping for RPDO 1 should be changed (p8710[0]).
--> set p8700[0] = C00006E0 hex (invalid COB-ID)
--> set p8710[0] as required.
--> p8700[0] enter a valid COB-ID
Remedy: Set the COB-ID to invalid.
A08758 CBC: Number of PDO channels too low
Reaction: NONE
Acknowledge: NONE
Cause: The number of PDO channels in p8740 has either been set to 0 or too low.
See also: p8740 (CBC channel assignment)
Remedy: The number of channels set in p8740 must be greater than or equal to the number of PDOs.
There are 2 possibilities:
Increase the number of channels in p8740 and confirm the selection using p8741.
Reduce the number of PDOs by setting the COB-ID to invalid.
See also: p8740 (CBC channel assignment), p8741 (CBC PDO configuration acknowledgement)
A08759 CBC: PDO COB-ID already available
Reaction: NONE
Acknowledge: NONE
Cause: An existing PDO COB-ID was allocated.
Remedy: Select another PDO COB-ID.
A13000 License not adequate
Reaction: NONE
Acknowledge: NONE
Cause: - for the drive unit, the options that require a license are being used but the licenses are not sufficient.
- an error occurred when checking the existing licenses.
0:
The existing license is not sufficient.
1:
An adequate license was not able to be determined as the CompactFlash card with the required licensing data was
withdrawn in operation.
2:
An adequate license was not able to be determined, as an error occurred when reading-out the required licensing
data from the CompactFlash card.
3:
An adequate license was not able to be determined as there is a checksum error in the license key.
4:
An internal error occurred when checking the license.
Faults and alarms
Remedy: Alarm value 0:
Additional licenses are required and these must be activated (p9920, p9921).
Alarm value 1:
With the system powered-down, re-insert the CompactFlash card that matches the system.
Alarm value 2:
Enter and activate the license key (p9920, p9921).
Alarm value 3:
Compare the license key (p9920) entered with the license key on the certificate of license.
Re-enter the license key and activate (p9920, p9921).
Alarm value 4:
A13001 Error in license checksum
Reaction: NONE
Acknowledge: NONE
Cause: When checking the checksum of the license key, an error was detected.
Remedy: Compare the license key (p9920) entered with the license key on the certificate of license.
Re-enter the license key and activate (p9920, p9921).
F30001 Power unit: Overcurrent
Reaction: OFF2
Cause: The power unit has detected an overcurrent condition.
- closed-loop control is incorrectly parameterized.
- motor has a short-circuit or fault to ground (frame).
- U/f operation: Up ramp set too low.
- U/f operation: Rated motor current is significantly greater than that of the Motor Module.
- infeed: High discharge and post-charging current for line supply voltage interruptions.
- infeed: High post-charging currents for overload when motoring and DC link voltage dip.
- infeed: Short-circuit currents at power-on due to the missing commutating reactor.
- power cables are not correctly connected.
- power cables exceed the maximum permissible length.
- power unit defective.
Bit 0: Phase U.
Bit 1: Phase V.
Bit 2: Phase W.
Remedy: - check the motor data - if required, carry-out commissioning.
- check the motor circuit configuration (star-delta).
- U/f operation: Increase up ramp.
- U/f operation: Check the assignment of the rated currents of the motor and Motor Module.
- infeed: Check the line supply quality.
- infeed: Reduce the load when motoring.
- infeed: Correct connection of the line commutating reactor.
- check the power cable connections.
- check the power cables for short-circuit or ground fault.
- check the length of the power cables.
- replace power unit.
Faults and alarms
F30002 Power unit: DC link overvoltage
Reaction: OFF2
Cause: The power unit has detected an overvoltage condition in the DC link.
- motor regenerates too much energy.
- line supply voltage too high.
- when operating with a VSM, the phase assignment L1, L2, L3 at the VSM differs from the phase assignment at the
power unit.
DC link voltage [1 bit = 100 mV].
For SINAMICS GM/SM, the following applies:
32: Overvoltage in the negative partial DC link (VdcP)
64: Overvoltage in the positive partial DC link (VdcN)
96: Overvoltage in both partial -DC links
Remedy: - increase the ramp-down time.
- activate the DC link voltage controller.
- use a brake resistor or Active Line Module.
- increase the current limit of the infeed or use a larger module (for the Active Line Module).
- check the line supply voltage.
- check and correct the phase assignment at the VSM and at the power unit.
See also: p0210 (Drive unit line supply voltage), p1240 (Vdc controller or Vdc monitoring configuration)
F30003 Power unit: DC link undervoltage
Reaction: OFF2
Cause: The power unit has detected an undervoltage condition in the DC link.
- line supply failure
- line supply voltage below the permissible value.
- line supply infeed failed or faulted.
Note:
The monitoring threshold for the DC link undervoltage is the minimum of the following values:
- 85% of the unit supply voltage (p0210).
- lowest permissible lower DC link voltage of the power units (descriptive data).
- check the line supply infeed and if necessary observe the fault messages of the line supply infeed.
Note:
The ready signal of the infeed r0863 must be connected to the associated inputs p0864 of the drives.
F30004 Power unit: Overtemperature heatsink AC inverter
Reaction: OFF2
Cause: The temperature of the power unit heatsink has exceeded the permissible limit value.
- insufficient cooling, fan failure.
- overload
- ambient temperature too high.
- pulse frequency too high.
Temperature [1 bit = 0.01 C].
Remedy: - check whether the fan is running.
- check the fan elements
- check whether the ambient temperature is in the permissible range.
- check the motor load.
- reduce the pulse frequency if this is higher than the rated pulse frequency.
Notice:
This fault can only be acknowledged after this alarm threshold for alarm A05000 has been fallen below.
See also: p1800 (Pulse frequency)
Faults and alarms
F30005 Power unit: I2T overload
Reaction: OFF2
Cause: The power unit was overloaded (r0036 = 100 %).
- the permissible rated power unit current was exceeded for an inadmissibly long time.
- the permissible load duty cycle was not maintained.
I2t [100 % = 16384].
Remedy: - reduce the continuous load.
- adapt the load duty cycle.
- check the motor and power unit rated currents.
See also: r0036 (Power unit overload I2t), r0206 (Rated power unit power), p0307 (Rated motor power)
F30006 Power unit: Thyristor Control Board
Reaction: OFF2
Cause: The thyristor control board of the Basic Line Module signals a fault.
- there is not line supply voltage.
- the line contactor is not closed.
- the line supply voltage is too low.
- line supply frequency outside the permissible range (45 ... 66 Hz).
- there is a DC link short-circuit.
- there is a DC link short-circuit (during the pre-charging phase).
- power supply thyristor control board outside the nominal range (5 ... 18 V) and supply voltage >30 V.
- there is an internal fault in the thyristor control board.
Remedy: The faults are saved in the TCB and are acknowledged by switching-out the TCB supply voltage for at least 10 s!
- check the line supply voltage
- check or energize the line contactor.
- check the monitoring time and, if required, increase (p0857).
- if required, observe additional power unit messages/signals.
- check the DC link regarding short-circuit or ground fault.
- observe the LED fault display of the thyristor control board.
F30008 Power unit: Sign-of-life error, cyclic data
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the power unit involved.
The cyclic setpoint telegrams of the Control Unit were not received on time by the power unit for at least two clock
cycles within a time interval of 20 ms.
Remedy: - check the electrical cabinet design and cable routing for EMC compliance.
A30010 (F) Power unit: Sign-of-life error, cyclic data
Reaction: NONE
Acknowledge: NONE
The cyclic setpoint telegrams of the Control Unit were not received on time by the power unit for at least one clock
cycle.
Acknowledge
upon F:
Faults and alarms
F30011 Power unit: Line phase failure in main circuit
Cause: A line phase failure was detected at the power unit.
- the fuse of a phase of a main circuit has ruptured.
- the DC link voltage ripple has exceeded the permissible limit value.
Remedy: Check the fuses in the main circuit.
F30012 Power unit: Temperature sensor heatsink wire breakage
Cause: The connection to one of the heatsink temperature sensors in the power unit is interrupted.
Bit 0: Module slot (electronics slot)
Bit 1: Air intake
Bit 2: Inverter 1
Bit 3: Inverter 2
Bit 4: Inverter 3
Bit 5: Inverter 4
Bit 6: Inverter 5
Bit 7: Inverter 6
Bit 8: Rectifier 1
Bit 9: Rectifier 2
See also: r0949 (Fault value)
Remedy: Contact the manufacturer.
F30013 Power unit: Temperature sensor heatsink short-circuit
Cause: The heatsink temperature sensor in the Motor Module is short-circuited.
Bit 0: Module slot (electronics slot)
Bit 1: Air intake
Bit 2: Inverter 1
Bit 3: Inverter 2
Bit 4: Inverter 3
Bit 5: Inverter 4
Bit 6: Inverter 5
Bit 7: Inverter 6
Bit 8: Rectifier 1
Bit 9: Rectifier 2
Remedy: Contact the manufacturer.
A30016 Power unit: Load supply switched-out
Reaction: NONE
Acknowledge: NONE
Cause: The following applies for CU31x and CUA31:
The DC link voltage is too low.
DC link voltage in [V].
Remedy: The following applies for CU31x and CUA31:
Under certain circumstances, the AC line supply is not switched-in.
Faults and alarms
F30017 Power unit: Hardware current limit has responded too often
Reaction: OFF2
Cause: The hardware current limitation in the relevant phase (see A30031, A30032, A30033) has responded too often. The
number of times the limit has been exceeded depends on the design and type of power unit.
- load on the infeed is too high.
- Voltage Sensing Module incorrectly connected.
- commutating reactor missing or the incorrect type.
The following applies to Motor Modules:
- fault in the motor or in the power cables.
- the power cables exceed the maximum permissible length.
- motor load too high
Fault value (r0949, interpret binary):
Bit 0: Phase U
Bit 1: Phase V
Bit 2: Phase W
Remedy: For infeed units, the following applies:
- check the controller settings, if required, reset and identify the controller (p0340 = 2, p3410 = 5).
- reduce the load, if required, increase the DC link capacitance or use a higher-rating infeed.
- check the connection of the optional Voltage Sensing Module.
- check the connection and technical data of the commutating reactor.
The following applies to Motor Modules:
- check the motor data.
F30021 Power unit: Ground fault
Reaction: OFF2
Cause: Power unit has detected a ground fault.
- ground fault in the power cables
- winding fault or ground fault at the motor.
- CT defective.
Additional cause for CU310/CUA31:
- when the brake is applied, this causes the hardware DC current monitoring to respond.
Absolute value, summed current [32767 = 271 % rated current].
Remedy: - check the power cable connections.
- check the motor.
- check the CT.
The following applies additionally for CU31x and CUA31:
- check the cables and contacts of the brake connection (a wire is possibly broken).
See also: p0287 (Ground fault monitoring thresholds)
Faults and alarms
F30022 Power unit: Monitoring U_ce
Reaction: OFF2
Cause: In the power unit, the monitoring of the collector-emitter voltage (U_ce) of the semiconductor has responded.
Possible causes:
- short-circuit at the Motor Module output.
- defective semiconductor in the power unit.
Bit 0: Short-circuit in phase U
Bit 1: Short circuit in phase V
Bit 2: Short-circuit in phase W
Bit 3: Light transmitter enable defective
Bit 4: U_ce group fault signal interrupted
See also: r0949 (Fault value)
Remedy: - check the power cable connections.
- select the defective semiconductor and replace.
F30025 Power unit: Chip overtemperature
Reaction: OFF2
Cause: Chip temperature of the semiconductor has exceeded the permissible limit value.
- the permissible load duty cycle was not maintained.
- overload
- pulse frequency too high.
Temperature difference between the heatsink and chip [1 Bit = 0.01 C].
Remedy: - adapt the load duty cycle.
- check whether the fan is running.
- reduce the pulse frequency if this is higher than the rated pulse frequency.
Notice:
See also: r0037 (Power unit temperatures)
F30027 Power unit: Precharging DC link time monitoring
Reaction: OFF2
Cause: The power unit DC link was not able to be pre-charged within the expected time.
- line supply voltage too low.
- line supply phase fault.
- short-circuit or ground fault in the DC link.
- pre-charging circuit defective.
Missing internal enable signals, power unit (lower 16 bit):
(Inverted bit-coded notation FFFF hex -> all internal enable signals available)
Bit 0: Power supply of the IGBT gating shut down
Bit 1: Reserved
Bit 2: Reserved
Bit 3: Ground fault detected
Bit 4: Peak current intervention
Bit 5: I2t exceeded
Bit 6. Thermal model overtemperature calculated
Bit 7: (heatsink, gating module, power unit) overtemperature measured
Bit 8: Reserved
Bit 9: Overvoltage detected
Faults and alarms
Bit 10: Power unit has completed pre-charging, ready for pulse enable
Bit 11: SH terminal missing
Bit 12: Overcurrent detected
Bit 13: Armature short-circuit active
Bit 14: DRIVE-CLiQ fault active
Bit 15: Uce fault detected, transistor de-saturated due to overcurrent/circuit-circuit
Status, power unit (upper 16 bit, hexadecimal number):
0: Fault status (wait for OFF and fault acknowledgment)
1: Restart inhibit (wait for OFF)
2: Overvoltage condition detected -> change into the fault state
3: Undervoltage condition detected -> change into the fault state
4: Wait for bypass contactor to open -> change into the fault state
5: Wait for bypass contactor to open -> change into restart inhibit
6: Commissioning
7: Ready for pre-charging
8: Pre-charging started, DC link voltage lower than the minimum switch-on voltage
9: Pre-charging, DC link voltage end of pre-charging still not detected
10: Wait for the end of the de-bounce time of the main contactor after pre-charging has been completed
11: Pre-charging completed, ready for pulse enable
12: It was detected that the SH terminal was energized at the power unit
Power unit:
A30031 Power unit: Hardware current limiting, phase U
Reaction: NONE
Acknowledge: NONE
Cause: Hardware current limit for phase U responded. The pulsing in this phase is inhibited for one pulse period.
Remedy: - check the motor data.
A30032 Power unit: Hardware current limiting, phase V
Reaction: NONE
Acknowledge: NONE
Cause: Hardware current limit for phase V responded. The pulsing in this phase is inhibited for one pulse period.
Faults and alarms
A30033 Power unit: Hardware current limiting, phase W
Reaction: NONE
Acknowledge: NONE
Cause: Hardware current limit for phase W responded. The pulsing in this phase is inhibited for one pulse period.
F30035 Power unit: Air intake overtemperature
Cause: Power unit air intake temperature has exceeded the permissible limit value. For air-cooled power units, the limit is at
55 degrees Celsius.
- insufficient cooling, fan failure
Notice:
F30036 Power unit: Electronics board overtemperature
Cause: Power unit temperature in the module slot of the drive converter has exceeded the permissible limit value.
- overload
Notice:
F30037 Power unit: Rectifier overtemperature
Reaction: OFF2
Cause: Power unit rectifier temperature has exceeded the permissible limit value.
- overload
- line supply phase failure.
Faults and alarms
- check the line supply phases.
Notice:
F30040 Power unit: Undervolt 24 V
Reaction: OFF2
Cause: Failure of the 24 V power supply for the power unit.
- the 16 V threshold was fallen below for longer than 3 ms.
24 V voltage [1 bit = 0.1 V].
Remedy: Check the 24 V DC voltage supply to power unit.
A30041 (F) Power unit: Undervoltage 24 V alarm
Reaction: NONE
Acknowledge: NONE
Cause: 24 V power supply fault for the power unit.
- the 16 V threshold was fallen below.
Acknowledge
upon F:
A30042 Power unit: Fan operating time reached or exceeded
Reaction: NONE
Acknowledge: NONE
Cause: The maximum operating time of the fan in the power unit is set in p0252.
This message indicates the following:
0: The maximum fan operating time is 500 hours.
1: The maximum fan operating time has been exceeded.
Remedy: Replace the fan in the power unit and reset the operating hours counter to 0 (p0251 = 0).
See also: p0251 (Operating hours counter, power unit fan), p0252 (Maximum operating time, power unit fan)
F30043 Power unit: Overvolt 24 V
Reaction: OFF2
Cause: The following applies for CU31x:
Overvoltage of the 24 V power supply for the power unit.
- the 31.5 V threshold was exceeded for more than 3 ms.
Faults and alarms
A30044 (F) Power unit: Overvoltage 24 V alarm
Reaction: NONE
Acknowledge: NONE
24 V power supply fault for the power unit.
- the 32.0 V threshold was exceeded.
Acknowledge
upon F:
F30045 Power unit: Supply undervoltage
Reaction: OFF2
Power supply fault in the power unit.
- the voltage monitoring on the DAC board signals an undervoltage fault on the module.
Remedy: Check the 24 V DC power supply for the power unit and if required replace the module.
A30046 (F) Power unit: Undervoltage, alarm
Reaction: NONE
Acknowledge: NONE
Cause: Before the last new start, a problem occurred at the power unit power supply.
- the voltage monitoring in the internal FPGA of the PSA signals an undervoltage fault on the module.
Register value of the voltage fault register.
Remedy: Check the 24 V DC power supply for the power unit and if required replace the module.
Acknowledge
upon F:
F30047 Cooling system: Cooling medium flow rate too low
Reaction: OFF2
Cause: Cooling system: Fault - flow rate has fallen below the fault value
Remedy:
F30050 Power unit: Supply overvoltage
Reaction: OFF2
- the voltage monitoring on the DAC board signals an overvoltage fault on the module.
Remedy: Check the 24 V DC power supply of the CU and if required replace the module.
Faults and alarms
F30052 EEPROM data error
Reaction: NONE
Cause: EEPROM data error of the power unit module.
0: The EEPROM data read-in from the power unit module is inconsistent.
1: EEPROM data is not compatible to the firmware of the power unit application.
Remedy: Fault value (r0949):
0: Replace the power unit module or update the EEPROM data.
1: The following applies for CU31x and CUA31:
Update the firmware \SIEMENS\SINAMICS\CODE\SAC\cu31xi.ufw (cua31.ufw)
F30070 The power unit does not support the requested cycle.
Reaction: OFF2
A cycle is requested that is not supported by the power unit.
The following applies for CU31x and CUA31:
0: The current control cycle is not supported.
1: The DriveCliQ cycle is not supported.
2: Internal timing problem (clearance between RX and TX instants too low)
3: Internal timing problem (TX instant too early)
The power unit only supports the following cycles:
62.5us , 125us, 250us and 500us
The following applies for CU31x and CUA31:
0: Set a permitted current control cycle.
1: Set a permitted DriveCliQ cycle.
2/3: Contact the manufacturer (there is possibly an incompatible firmware release)
F30071 The power unit is no longer receiving new actual values.
Reaction: OFF2
More than one actual value telegram from the power unit has failed.
Check the interface (adjustment and locking) to the power unit.
F30072 Setpoints are no longer being transferred to the power unit.
Reaction: OFF2
More than one setpoint telegram was not able to be transferred to the power unit.
Check the interface (adjustment and locking) to the power unit.
A30073 (N) The actual value/setpoint conditioning is no longer in synchronism with DriveCliQ.
Reaction: NONE
Acknowledge: NONE
Communications to the power unit is no longer in synchronism with DriveCliQ.
Wait until synchronization is re-established.
Acknowledge
upon N:
NONE
Faults and alarms
F30074 Communications error to the power unit
Reaction: NONE
Cause: Communications is not possible to the power unit via the plug contact.
Either replace the CU board or the power unit. You must check which of the two components must be replaced by
replacing one and then the other component; if neither are available then both components must be returned.
F30105 LT: Actual value sensing fault
Reaction: OFF2
Cause: At least one incorrect actual value channel was detected on the Power Stack Adapter (PSA).
The incorrect actual value channels are displayed in the following diagnostic parameters.
Remedy: Evaluate the diagnostic parameters.
If the actual value channel is incorrect, check the components and if required, replace.
F30600 SI MM: STOP A initiated
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function in the Motor Module (MM) has detected a fault and initiated STOP A
(pulse cancellation via the safety shutdown path of the Motor Module).
- forced checking procedure of the safety shutdown path of the Motor Module unsuccessful.
- subsequent response to fault F30611 (defect in a monitoring channel).
0: Stop request from the Control Unit.
1005: Pulses cancelled although SH not selected and there is not internal STOP A present.
1010: Pulses enabled although SH is selected or an internal STOP A is present.
9999: Subsequent response to fault F30611.
- carry-out diagnostics for fault F30611.
Note:
CU: Control Unit
MM: Motor Module
SH: Safe standstill
F30611 SI MM: Defect in a monitoring channel".
Cause: The drive-based "Safety Integrated" function in the Motor Module (MM) has detected a fault in the crosswise data
comparison between the Control Unit (CU) and MM and initiated a STOP F.
As a result of this fault, after the parameterized transition has expired (p9858), fault F30600 is output (SI MM: STOP
A initiated).
0: Stop request from the Control Unit.
1 to 999:
Number of the crosswise compared data that resulted in this fault.
1: SI monitoring clock cycle (r9780, r9880).
2: SI enable safety functions (p9601, p9801).
3: SI SGE changeover tolerance time (p9650, p9850).
4: SI transition period STOP F to STOP A (p9658, p9858).
5: SI enable Safe Brake Control (p9602, p9802).
6: SI motion enable, safety-relevant functions (p9501, internal value). This number is also displayed in r9895.
7: SI pulse cancellation delay time for Safe Stop 1 (p9652, p9852).
Faults and alarms
1000: Watchdog timer has expired. Within the time of approx. 5 * p9850 too many switching operations have
occurred at the safety-related inputs of the Control Unit.
1001, 1002: Initialization error, change timer / check timer.
2000: Status of the SH terminals on the Control Unit and Motor Module are different.
2001: Feedback signal for safe pulse cancellation on the Control Unit and Motor Module are different.
2002: Status of the delay timer SS1 on the Control Unit and Motor Module are different.
Remedy: Re fault value = 1 to 999:
- check the crosswise compared data that resulted in a STOP F.
- check the wiring of the safety-relevant inputs (SGE) on the Control Unit (contact problems).
Re fault value = 2000, 2001, 2002:
- check the tolerance time SGE changeover and if required, increase the value (p9650/p9850, p9652/p9852).
- check the wiring of the safety-relevant inputs (SGE) (contact problems).
Note:
CU: Control Unit
MM: Motor Module
SGE: Safety-relevant input
SH: Safe standstill
N30620 (F, A) SI MM: Safe standstill active
Reaction: NONE
Acknowledge: NONE
Cause: The "safe standstill" function was selected on the Motor Module (MM) and is active.
Note:
Note:
MM: Motor Module
Acknowledge
upon F:
Acknowledge
upon A:
NONE
N30621 (F, A) SI MM: Safe Stop 1 active
Reaction: NONE
Acknowledge: NONE
Cause: The "Safe Stop 1" function (SS1) was selected on the Motor Module (MM) and is active.
Note:
Note:
MM: Motor Module
Faults and alarms
Reaction upon F: A_INFEED: OFF2
SERVO: OFF3
VECTOR: OFF3
Acknowledge
upon F:
Acknowledge
upon A:
NONE
F30625 SI MM: Sign-of-life error in safety data
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function on the Motor Module (MM) has detected an error in the sign-of-life of
the safety data between the Control Unit (CU) and MM and initiated a STOP A.
- a time slice overflow of the safety software has occurred.
- de-select all drive functions that are not absolutely necessary.
- reduce the number of drives.
Note:
CU: Control Unit
MM: Motor Module
F30630 SI MM: Braking signal error
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function on the Motor Module (MM) has detected a braking signal error and ini-
tiated a STOP A.
- the motor holding brake control on the Motor Module or the Control Unit is faulty.
- a DRIVE-CLiQ communications error has occurred between the Control Unit and the Motor Module.
30: Short-circuit in the brake winding or fault in the Motor Module brake control circuit ("close brake" operation).
60, 70: Fault in the braking signal of the Control Unit or communications fault between the Control Unit and Motor
Module (braking signal).
- check the motor holding brake connection.
- replace the Safe Brake Module. Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F30640 SI MM: Fault in the control shutdown path
Reaction: OFF2
Cause: The Motor Module has detected a communications error with the higher-level control to transfer the shutdown infor-
mation.
Note:
Remedy: - check the PROFIsafe address in the higher-level control and Motor Modules.
- carry-out a POWER ON for all components.
Note:
MM: Motor Module
See also: p9810 (SI PROFIsafe address (Motor Module))
F30649 SI MM: Internal software error
Reaction: OFF2
Cause: An internal error in the Safety Integrated software on the Motor Module has occurred.
Note:
- re-commission the Safety Integrated function and carry-out a POWER ON.
- replace the Motor Module.
Note:
MM: Motor Module
F30650 SI MM: Acceptance test required
Reaction: OFF2
Cause: The "Safety Integrated" function on the Motor Module requires an acceptance test.
Note:
130: No safety parameters available for the Motor Module.
1000: Reference and actual checksum in the Motor Module are not identical (booting).
- at least one checksum-checked piece of data is defective.
2000: Reference and actual checksum on the Motor Module are not identical (commissioning mode).
- reference checksum incorrectly entered into the Motor Module (p9899 not equal to r9898).
2003: Acceptance test is required as a safety parameter has been changed.
9999: Subsequent response of another safety-related fault, which occurred when booting and requires an accep-
tance test.
- carry-out safety commissioning routine.
- check the safety parameters in the Motor Module and adapt the reference checksum (p9899).
Faults and alarms
- carry-out an acceptance test.
- carry-out diagnostics for the other safety-related fault that is present.
Note:
MM: Motor Module
See also: p9799 (SI reference checksum SI parameters (Control Unit)), p9899 (SI reference checksum SI parame-
ters (Motor Module))
F30651 SI MM: Synchronization with Control Unit unsuccessful
Reaction: OFF2
Cause: The drive-based "Safety Integrated" function is requesting synchronization of the safety time slices on the Control
Unit and Motor Module. This synchronization routine was not successful.
Note:
Note:
MM: Motor Module
F30652 SI MM: Illegal monitoring clock cycle
Reaction: OFF2
Cause: The Safety Integrated monitoring clock cycle cannot be maintained due to the communication conditions requested
in the system.
Note:
Remedy: Upgrade the Motor Module software.
Note:
MM: Motor Module
F30655 SI MM: Align monitoring functions
Reaction: OFF2
Cause: An error has occurred when aligning the Safety Integrated monitoring functions on the Control Unit (CU) and Motor
Module (MM). Control unit and Motor Module were not able to determine a common set of supported SI monitoring
functions.
- Safety Integrated software releases on the Control Unit and Motor Module are not compatible with one another.
Note:
Note:
CU: Control Unit
MM: Motor Module
Faults and alarms
F30656 SI MM: Motor Module parameter error
Reaction: OFF2
Cause: When accessing the Safety Integrated parameters for the Motor Module (MM) on the CompactFlash card, an error
has occurred.
Note:
129: Safety parameters for the Motor Module corrupted.
131: Internal software error on the Control Unit.
255: Internal Motor Module software error.
Remedy: - re-commission the safety functions.
Note:
MM: Motor Module
F30659 SI MM: Write request for parameter rejected
Reaction: OFF2
Cause: The write request for one or several Safety Integrated parameters on the Motor Module (MM) was rejected.
Note:
This fault does not result in a safety stop response.
10: An attempt was made to enable the SH function although this cannot be supported.
11: An attempt was made to enable the SBC function although this cannot be supported.
13: An attempt was made to enable the SS1 function although this cannot be supported.
14: An attempt was made to enable the safe motion monitoring function with the higher-level control, although this
cannot be supported.
See also: r9771 (SI common functions (Control Unit)), r9871 (SI common functions (Motor Module)
Remedy: Re fault value = 10, 11:
- check whether there are faults in the safety function alignment between the Control Unit and the Motor Module
involved (F01655, F30655) and if required, carry-out diagnostics for the faults involved.
- use a Motor Module that supports the function safe standstill or Safe Brake Control.
Note:
MM: Motor Module
SH: Safe standstill
SI: Safety Integrated, SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN60204)
F30801 Power unit DRIVE-CLiQ: Sign-of-life missing
Reaction: OFF2
0A: The sign-of-life bit in the receive telegram is not set.
See also: p9916 (DRIVE-CLiQ data transfer error, shutdown threshold, slave)
F30802 Power unit: Time slice overflow
Reaction: OFF2
Cause: Time slide overflow.
Remedy:
Faults and alarms
A30804 (F) Power unit: CRC
Reaction: NONE
Acknowledge: NONE
Cause: CRC error actuator
Remedy:
Reaction upon F: A_INFEED: OFF2 (OFF1)
Acknowledge
upon F:
IMMEDIATELY
F30805 Power unit: EPROM checksum error
Reaction: OFF2
Cause: Internal parameter data is corrupted.
01: EEPROM access error.
02: Too many blocks in the EEPROM.
Remedy: Replace the module.
F30809 Power unit: Switching information not valid
Reaction: OFF2
Cause: For 3P gating unit:
The last switching status word in the setpoint telegram is identified by the end ID. Such an end ID was not found.
Remedy:
A30810 (F) Power unit: Watchdog timer
Reaction: NONE
Acknowledge: NONE
Cause: When booting it was detected that the cause of the previous reset was an SAC watchdog timer overflow.
Remedy:
Acknowledge
upon F:
IMMEDIATELY
F30820 Power unit DRIVE-CLiQ: Telegram error
Reaction: OFF2
01: CRC error.
02: Telegram is shorter than specified in the length byte or in the receive list.
03: Telegram is longer than specified in the length byte or in the receive list.
04: The length of the receive telegram does not match the receive list.
05: The type of the receive telegram does not match the receive list.
06: The address of the power unit in the telegram and in the receive list do not match.
07: Power unit expects a SYNC telegram, but the receive telegram is not a SYNC telegram.
08: Power unit does not expect a SYNC telegram, but the receive telegram is a SYNC telegram.
09: The error bit in the receive telegram is set.
10: The receive telegram is too early.
- check the electrical cabinet design and cable routing for EMC compliance.
- check the DRIVE-CLiQ wiring (interrupted cable, contacts, ...).
Faults and alarms
F30835 Power unit DRIVE-CLiQ: Cyclic data transfer error
Reaction: OFF2
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the power unit involved. The nodes
do not send and receive in synchronism.
21: The cyclic telegram has not been received.
22: Timeout in the telegram receive list.
40: Timeout in the telegram send list.
F30836 Power unit DRIVE-CLiQ: Send error for DRIVE-CLiQ data
Reaction: OFF2
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the power unit involved. Data were
not able to be sent.
41: Telegram type does not match send list.
F30837 Power unit DRIVE-CLiQ: Component fault
Reaction: OFF2
Cause: Fault detected on the DRIVE-CLiQ component involved. Faulty hardware cannot be excluded.
20: Error in the telegram header.
23: Receive error: The telegram buffer memory contains an error.
42: Send error: The telegram buffer memory contains an error.
Remedy: - check the DRIVE-CLiQ wiring (interrupted cable, contacts, ...).
- if required, use another DRIVE-CLiQ socket (p9904).
F30845 Power unit DRIVE-CLiQ: Cyclic data transfer error
Reaction: OFF2
0B: Synchronization error during alternating cyclic data transfer.
F30850 Power unit: Internal software error
Cause: An internal software error in the power unit has occurred.
Remedy: - replace power unit.
- if required, upgrade the firmware in the power unit.
Faults and alarms
F30851 CU DRIVE-CLiQ: Sign-of-life missing
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the power unit involved. The
DRIVE-CLiQ component did not set the sign of life to the Control Unit.
Remedy: Upgrade the firmware of the component involved.
F30860 CU DRIVE-CLiQ: Telegram error
Reaction: OFF2
11: CRC error and the receive telegram is too early.
01: CRC error.
12: The telegram is shorter than that specified in the length byte or in the receive list and the receive telegram is too
early.
13: The telegram is longer than that specified in the length byte or in the receive list and the receive telegram is too
early.
14: The length of the receive telegram does not match the receive list and the receive telegram is too early.
15: The type of the receive telegram does not match the receive list and the receive telegram is too early.
16: The address of the power unit in the telegram and in the receive list does not match and the receive telegram is
too early.
06: The address of the power unit in the telegram and in the receive list do not match.
19: The error bit in the receive telegram is set and the receive telegram is too early.
See also: p9915 (DRIVE-CLiQ data transfer error, shutdown threshold, master)
F30885 CU DRIVE-CLiQ: Cyclic data transfer error
Reaction: OFF2
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the power unit involved. The nodes
do not send and receive in synchronism.
1A: Sign-of-life bit in the receive telegram not set and the receive telegram is too early.
62: Error at the transition to cyclic operation.
Remedy: - check the power supply voltage of the component involved.
F30886 CU DRIVE-CLiQ: Error when sending DRIVE-CLiQ data
Reaction: OFF2
Faults and alarms
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the power unit involved. Data were
not able to be sent.
F30887 CU DRIVE-CLiQ: Component fault
Reaction: OFF2
60: Response received too late during runtime measurement.
61: Time taken to exchange characteristic data too long.
F30896 CU DRIVE-CLiQ: Inconsistent component characteristics
Cause: The properties of the DRIVE-CLiQ component, specified by the fault value, have changed in an incompatible fashion
with respect to the properties when booted. One cause can be, e.g. that a DRIVE-CLiQ cable or DRIVE-CLiQ com-
ponent has been replaced.
Component ID.
Remedy: - when replacing cables, only use cables with the same length as the original cables.
- when replacing components, use the same components and firmware releases.
F30897 DRIVE-CLiQ: No communication to component
Cause: Communications with the DRIVE-CLiQ component specified by the fault value is not possible.
One cause can be, e.g. that a DRIVE-CLiQ cable has been withdrawn.
Component ID.
Remedy: - check the DRIVE-CLiQ connections.
Faults and alarms
F30899 (N, A) Power unit: Unknown fault
Cause: A fault occurred on the power unit that cannot be interpreted by the Control Unit firmware. This can occur if the firm-
ware on the power unit is more recent than the firmware on the Control Unit.
Fault number.
If required, the significance of this new fault can be read about in a more recent description of the Control Unit.
Remedy: - replace the firmware on the power unit by an older firmware version (r0128).
- upgrade the firmware on the Control Unit (r0018).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A30903 Power unit: I2C bus
Reaction: NONE
Acknowledge: NONE
Cause: Communications with EPROM not possible.
F30907 Power unit: FPGA configuration unsuccessful
Cause: For the initialization within the power unit, an internal software error has occurred.
Remedy: - replace power unit.
- if required, upgrade the firmware in the power unit.
A30920 (F) Power unit: Temperature sensor fault
Reaction: NONE
Acknowledge: NONE
Cause: When evaluating the temperature sensor, an error occurred.
1: Wire breakage or sensor not connected (KTY: R > 1630 Ohm).
2: Measured resistance too low (PTC: R < 20 Ohm, KTY: R < 50 Ohm).
- replace sensor.
Acknowledge
upon F:
IMMEDIATELY
Faults and alarms
A30999 (F, N) Power unit: Unknown alarm
Reaction: NONE
Acknowledge: NONE
Cause: An alarm occurred on the power unit that cannot be interpreted by the Control Unit firmware. This can occur if the
firmware on the power unit is more recent than the firmware on the Control Unit.
Alarm number.
If required, the significance of this new alarm can be read about in a more recent description of the Control Unit.
Remedy: - replace the firmware on the power unit by an older firmware version (r0128).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
F31100 (N, A) Encoder 1: Zero mark distance error
SERVO: ENCODER (DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
VECTOR: ENCODER (DCBRAKE, OFF1, OFF2, OFF3, STOP1, STOP2)
Acknowledge: PULSE INHIBIT
Cause: The measured zero mark distance does not correspond to the parameterized zero mark distance.
For distance-coded encoders, the zero mark distance is determined from zero marks detected pairs. This means that
if a zero mark is missing, depending on the pair generation, this cannot result in a fault and also has no effect in the
system.
The zero mark distance for the zero mark monitoring is set in p0425 (rotary encoder) or p0424 (linear encoder).
Last measured zero mark distance in increments (4 increments = 1 encoder pulse).
The sign designates the direction of motion when detecting the zero mark distance.
Remedy: - check that the encoder cables are routed in compliance with EMC.
- check the plug connections.
. check the encoder type (encoder with equidistant zero marks).
- adapt the parameter for the distance between zero marks (p0424, p0425).
- replace the encoder or encoder cable.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31101 (N, A) Encoder 1: Zero marked failed
SERVO: ENCODER (DCBRAKE, NONE, OFF1, OFF2, OFF3, STOP1, STOP2)
VECTOR: ENCODER (DCBRAKE, NONE, OFF1, OFF2, OFF3, STOP1, STOP2)
Cause: The 1.5 x parameterized zero mark distance was exceeded.
Number of increments after POWER ON or since the last zero mark that was detected (4 increments = 1 encoder
pulse).
Faults and alarms
- adapt the parameter for the clearance between zero marks (p0425).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31110 (N, A) Encoder 1: Serial communications error
SERVO: ENCODER (DCBRAKE, NONE)
VECTOR: ENCODER (DCBRAKE, NONE)
Cause: Serial communication protocol transfer error between the encoder and evaluation module.
Bit 0: Alarm bit in the position protocol.
Bit 1: Incorrect quiescent level on the data line.
Bit 2: Encoder does not respond (does not supply a start bit within 50 ms).
Bit 3: CRC error: The checksum in the protocol from the encoder does not match the data.
Bit 4: Encoder acknowledgement error: The encoder incorrectly understood the task (request) or cannot execute it.
Bit 5: Internal error in the serial driver: An illegal mode command was requested.
Bit 6: Timeout with cyclically reading.
Bit 8: Protocol is too long (e.g. > 64 bits).
Bit 9: Receive buffer overflow
Bit 10: Frame error when reading twice.
Bit 11: Parity error.
Bit 12: Data line signal level error during the monoflop time.
Remedy: Re fault value:
Bit 0 = 1: Encoder defective. F31111 may provide additional details.
Bit 1 = 1: Incorrect encoder type / replace the encoder or encoder cable.
Bit 3 = 1: EMC / connect the cable shield, replace the encoder or encoder cable.
Bit 4 = 1: EMC / connect the cable shield, replace the encoder or encoder cable, replace the Sensor Module.
Bit 6 = 1: Update the Sensor Module firmware.
Bit 8 = 1: Check the parameterization (p0429.2).
Bit 10 = 1: Check the parameterization (p0429.2, p0449).
Bit 11 = 1: Check the parameterization (p0436).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31111 (N, A) Encoder 1: Absolute encoder EnDat, internal fault/error
Cause: The EnDat encoder fault word contains fault bits that have been set.
Bit 0: Lighting system failed.
Bit 1: Signal amplitude too low.
Bit 2: Position value incorrect.
Bit 3: Encoder power supply overvoltage condition.
Bit 4: Encoder power supply undervoltage condition.
Bit 5: Encoder power supply overcurrent condition.
Bit 6: The battery must be changed.
Remedy: Re fault value, bit 0 = 1:
Encoder is defective. Replace the encoder, where the motor encoder has a direct DRIVE-CLiQ socket: Replace the
motor.
Re fault value, bit 1 = 1:
motor.
motor.
5 V power supply voltage fault.
When using an SMC: Check the plug-in cable between the encoder and SMC or replace the SMC.
When a motor encoder with a direct DRIVE-CLiQ connection is used: Replace the motor.
When using a motor with DRIVE-CLiQ: Replace the motor.
motor.
The battery must be changed - only for encoders with battery back-up.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31112 (N, A) Encoder 1: The error bit is set in the serial protocol
Cause: Serial communication protocol transfer error between the encoder and evaluation module SMCxx.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31115 (N, A) Encoder 1: Amplitude error track A or B (A^2 + B^2)
Cause: The amplitude (A^2 + B^2) does not lie within the tolerance bandwidth (software monitoring function).
SMC20:
The nominal signal level of the encoder must lie in the range 375 mV to 600 mV (500 mV -25 % / +20 %).
On the other hand, the response threshold is < 230 mV (frequency characteristic).
SMC10:
The nominal signal level is at 2900 mV (2.0 Vrms). The response threshold is < 1070 mV.
Low word:
Signal level, track A (16 bits with sign).
High word:
Signal level, track B (16 bits with sign).
SMC20:
A signal level of 500 mV peak value corresponds to the numerical value 5333 hex = 21299 dec.
SMC10:
- check the encoder module (e.g. contacts).
- with measuring systems without their own bearing system: Adjust the scanning head and check the bearing system
of the measuring wheel.
- for measuring systems with their own bearing system: Ensure that the encoder housing is not subject to any axial
force.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31116 (N, A) Encoder 1: Amplitude error, monitoring track A + B
Cause: The amplitude of the rectified encoder signals A and B is not within the tolerance bandwidth (hardware monitoring).
On the other hand, the hardware response thresholds are at < 176 mV and > 1.35 V.
Low word: Signal level, track A (16 bits with sign).
High word: Signal level, track B (16 bits with sign).
A signal level of 500 mV corresponds to the numerical value 5333 hex = 21299 dec.
These analog values are not measured at the same time with the hardware fault output.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31117 (N, A) Encoder 1: Inversion error, signals A and B and R
Cause: For a square-wave signal encoder (TTL. bipolar. double ended) the A* and B* and R* signals are not inverted with
respect to signals A and B and R.
Remedy: Check the setting of p0405: p0405.2 = 1 is only possible if the encoder is connected at X520.
Check the encoder/cable: Does the encoder supply TTL signals and the associated inverted signals?
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31118 (N, A) Encoder 1: Speed difference outside the tolerance range
Cause: For an HTL/TTL encoder, the speed difference has exceeded the value in p0492 over several sampling cycles.
Encoder 1 is used as motor encoder and can be effective has fault response to change over to sensorless operation.
Remedy: - check the tachometer feeder cable for interruptions.
- check the grounding of the tachometer shielding.
- if required, increase the maximum speed difference per sampling cycle (p0492).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31120 (N, A) Encoder 1: Power supply voltage
Cause: Encoder power supply voltage fault.
Note:
If the encoder cables 6FX2002-2EQ00-.... and 6FX2002-2CH00-.... are interchanged, this can result in the encoder
being destroyed because the pins of the operating voltage are reversed.
Bit 0: Undervoltage condition on the sense line (threshold 4.75 V).
Bit 1: Encoder power supply voltage overcurrent condition (threshold 450 mA).
Remedy: For fault value, bit 0 = 1:
- correct encoder cable connected?
- check the plug connections of the encoder cable.
- SMC30: Check the parameterization (p0404.22).
For fault value, bit 1 = 1:
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31121 (N, A) Encoder 1: Coarse position error
SERVO: ENCODER (NONE)
VECTOR: ENCODER (NONE)
Cause: For the actual value sensing, an error was detected on the module. As a result of this error, it must be assumed that
the actual value sensing supplies an incorrect coarse position.
Remedy: Replace the motor with DRIVE-CLiQ or the appropriate Sensor Module.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31125 (N, A) Encoder 1: Amplitude error track A or B overcontrolled
Cause: The amplitude (track A or B) does not lie within the tolerance bandwidth (software monitoring function).
SMC20:
On the other hand, the response threshold is > 760 mV (frequency characteristic).
SMC10:
The nominal signal level is at 2900 mV (2.0 Vrms). The response threshold is > 3582 mV.
Low word:
High word:
SMC20:
SMC10:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31129 (N, A) Encoder 1: Position difference, hall sensor/track C/D and A/B too large
Cause: The error of track C/D is greater than +/-15 mechanical or +/-60 electrical.
One period of track C/D corresponds to 360 mechanical.
One period of the Hall signal corresponds to 360 electrical.
The monitoring responds if, for example, Hall sensors are connected as equivalent for the C/D tracks with the incor-
rect rotational sense or supply values that are not accurate enough.
After the fine synchronization using one reference mark or 2 reference marks for distance-coded encoders, this fault
is no longer initiated, but instead, Alarm A31429.
Measured deviation as mechanical angle (16 bits with sign, 182 dec corresponds to 1 ).
Remedy: - track C or D not connected.
- correct the direction of rotation of the Hall sensor possibly connected as equivalent for track C/D.
- check that the encoder cables are routed in compliance with EMC.
- check the adjustment of the Hall sensor.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31130 (N, A) Encoder 1: Zero mark and position error from the coarse synchronization
Cause: After initializing the pole position using track C/D, Hall signals or pole position identification routine, the zero mark
was detected outside the permissible range. For distance-coded encoders, the test is carried-out after passing 2 zero
marks. Fine synchronization was not carried-out.
The deviation may be up to 18 mechanical or up to 60 electrical.
Normalization: 32768 = 180
High word:
Mechanical zero mark position determined.
If the initialization via a track C/D is selected in p0404, then it is checked whether the zero mark occurs in an angular
range of +/-18 mechanical.
Low word:
Deviation of the zero mark from the expected position as electrical angle.
If the correction of the commutation position with the zero mark is selected in p0404, then a difference of a maximum
of +/- 60 electrical is permitted.
Remedy: - check p0431 and if required, correct
- if the Hall sensor is used as an equivalent for track C/D, check the connection.
- check the connection of track C or D.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31131 (N, A) Encoder 1: Deviation, position incremental/absolute too large
Cause: Absolute encoder: When cyclically reading the absolute position, an excessively high difference to the incremental
position was detected. The absolute position that was read is rejected.
Limit value for the deviation:
- EnDat encoder: Is supplied from the encoder and is a minimum of 2 quadrants (e.g. EQI 1325 > 2 quadrants, EQN
1325 > 50 quadrants).
- other encoders: 15 pulses = 60 quadrants.
Deviation in quadrants (1 pulse = 4 quadrants).
Incremental encoder: When the zero pulse is passed, a deviation in the incremental position was detected.
- check whether the coding disk is dirty or there are strong ambient magnetic fields.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31150 (N, A) Encoder 1: Initialization error
Cause: Encoder functionality selected in p0404 is not operating correctly.
The fault value is a bit field. Every set bit indicates functionality that is faulted.
The bit assignment corresponds to that of p0404 (e.g. bit 5 set: Error track C/D).
See also: p0404 (Encoder configuration effective), p0491 (Motor encoder fault response ENCODER)
Remedy: - Check that p0404 is correctly set.
- check the encoder type used (incremental/absolute value) and for SMCxx, the encoder cable.
- if relevant, note additional fault/error messages that describe the fault in detail.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A31400 (F, N) Encoder 1: Alarm threshold, zero mark distance error
Reaction: NONE
Acknowledge: NONE
system.
Faults and alarms
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
A31401 (F, N) Encoder 1: Alarm threshold, zero marked failed
Reaction: NONE
Acknowledge: NONE
pulse).
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
F31405 (N, A) Encoder 1: Encoder evaluation temperature too high
Cause: The encoder evaluation for a motor with DRIVE-CLiQ has detected an excessively high temperature.
The fault threshold is 125 C.
Measured board/module temperature in 0.1 C.
Remedy: Reduce the ambient temperature for the DRIVE-CLiQ connection of the motor.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
A31410 (F, N) Encoder 1: Serial communications
Reaction: NONE
Acknowledge: NONE
Bit 9: Receive buffer overflow.
- replace the encoder.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
A31411 (F, N) Encoder 1: EnDat encoder signals alarms
Reaction: NONE
Acknowledge: NONE
Cause: The error word of the EnDat encoder has alarm bits that have been set.
Bit 0: Frequency exceeded (speed too high).
Bit 1: Temperature exceeded.
Bit 2: Control reserve, lighting system exceeded.
Bit 3: Battery discharged.
Bit 4: Reference point passed.
Remedy: Replace encoder.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Faults and alarms
A31414 (F, N) Encoder 1: Amplitude error track C or D (C^2 + D^2)
Reaction: NONE
Acknowledge: NONE
Cause: The amplitude (C^2 + D^2) of track C or D of the encoder or from the Hall signals, is not within the tolerance band-
width.
The nominal signal must be in the range 375 mV to 600 mV (500 mV -25 % / +20 %).
On the other hand, the response thresholds are < 230 mV and > 750 mV (frequency characteristic).
This fault also occurs if the A/D converter is overcontrolled.
If the amplitude is not within the tolerance bandwidth, then it cannot be used to initialize the start position.
Low word: Signal level, track C (16 bits with sign).
High word: Signal level, track D (16 bits with sign).
- check the Hall sensor box
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
N31415 (F, A) Encoder 1: Amplitude alarm track A or B (A^2 + B^2)
Reaction: NONE
Acknowledge: NONE
Cause: The amplitude (A^2 + B^2) of track A or B is not within the tolerance bandwidth.
SMC20: The nominal signal level is at 500 mV (500 mV -25 % / +20 %). The response threshold is < 300 mV.
SMC10: The nominal signal level is at 2900 mV (2.0 Vrms). The response threshold is < 1414 mV (1.0 Vrms).
Low word: Amplitude square root(A*A + B*B).
SMC20:
A signal level of 500 mV peak value corresponds to the numerical value 299A hex = 10650 dec.
SMC10:
High word:
Angle 0 to 65535 corresponds to 0 to 360 degrees of the fine position. Zero degrees is at the negative zero crossover
of track B.
Remedy: - check the speed range, frequency characteristic (amplitude characteristic) of the measuring equipment is not suf-
ficient for the speed range.
- dirty code disk
- aged lighting system.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon A:
NONE
Faults and alarms
A31418 (F, N) Encoder 1: Speed difference per sampling rate exceeded
Reaction: NONE
Acknowledge: NONE
Cause: For an HTL/TTL encoder, the speed difference between two sampling cycles has exceeded the value in p0492.
- if required, increase the setting of p0492.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
A31419 (F, N) Encoder 1: Track A or B outside the tolerance range
Reaction: NONE
Acknowledge: NONE
Cause: The amplitude, phase or offset correction for track A or B is at the limit.
Amplitude error correction: Amplitude B / Amplitude A = 0.78 ... 1.27
Phase: <84 degrees or >96 degrees
SMC20: Offset correction: +/-140 mV
xxx1: Minimum of the offset correction, track B
xxx2: Maximum of the offset correction, track B
xx1x: Minimum of the offset correction, track A
xx2x: Maximum of the offset correction, track A
x1xx: Minimum of the amplitude correction, track B/A
x2xx: Maximum of the amplitude correction, track B/A
1xxx: Minimum of the phase error correction
2xxx: Maximum of the phase error correction
Remedy: - check mechanical mounting tolerances for encoders without their own bearings (e.g. toothed-wheel encoders).
- check the plug connections (also the transition resistance).
- check the encoder signals.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Faults and alarms
A31429 (F, N) Encoder 1: Position difference, hall sensor/track C/D and A/B too large
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
A31431 (F, N) Encoder 1: Deviation, position incremental/absolute too large
Reaction: NONE
Acknowledge: NONE
position was detected.
- coding disk dirty or strong magnetic fields.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
F31501 (N, A) Encoder 1: Position tracking encoder position outside tolerance window
Cause: When powered-down, the drive/encoder was moved through a distance greater than what was set in the tolerance
window.
See also: p0413 (Measuring gearbox, position tracking tolerance window)
Remedy: Re-adjust the drive.
Acknowledge
upon N:
NONE
Faults and alarms
Acknowledge
upon A:
NONE
F31502 (N, A) Encoder 1: Encoder with measuring gear, without valid signals
Cause: The encoder with measuring gear no longer provides any valid signals.
Remedy: It must be ensured that all of the encoders, with mounted measuring gear, provide valid actual values in operation.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31801 (N, A) Encoder 1 DRIVE-CLiQ: Sign-of-life missing
Cause: DRIVE-CLiQ communications error between the Control Unit and the encoder involved.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31802 (N, A) Encoder 1: Time slice overflow
Cause: Time slice overflow, encoder 1.
9: Time slice overflow of the fast (current controller clock cycle) time slice.
10: Time slice overflow of the average time slice.
12: Time slice overflow of the slow time slice.
999: Timeout when waiting for SYNO, e.g. unexpected return to non-cyclic operation.
Remedy: Reduce the current controller frequency.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31804 (N, A) Encoder 1: CRC CODE RAM
Cause: The checksum via the CODE-RAM of the Sensor Module has changed in operation.
Difference between the checksum at POWER ON and the actual checksum.
Remedy: Hardware defect: Replace the Sensor Module.
Firmware error: If required, upgrade the firmware.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31805 (N, A) Encoder 1: EPROM checksum error
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Cause: The encoder was not successfully initialized.
1, 2, 3: Encoder initialization with the motor rotating.
Remedy: Acknowledge the fault.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31811 (N, A) Encoder 1: Encoder serial number changed
SERVO: NONE (ENCODER, OFF2)
VECTOR: NONE (ENCODER, OFF2)
Cause: The serial number of the motor encoder of a synchronous motor has changed. The change was only checked for
encoders with serial number (e.g. EnDat encoders) and build-in motors (e.g. p300 = 401) or third-party motors
(p0300 = 2).
Cause 1:
The motor with integrated and adjusted encoder was replaced.
Cause 2:
The encoder was replaced.
Cause 3:
A third-party, build-in or linear motor was re-commissioned.
Cause 4:
The firmware was updated to a version that checks the encoder serial number.
If the position control is active, the serial numbers of the adjusted encoders (p2507 = 3) are checked.
If the serial number has changed, the adjustment is reset (p2507 = 1).
Remedy: Re causes 1, 4:
Accept the new serial number with p0440 = 1.
Re causes 2, 3:
Carry-out an automatic adjustment using the pole position identification routine. First, accept the serial number with
p0440 = 1. Acknowledge the fault. Initiate the pole position identification routine with p1990 = 1. Then check that the
pole position identification routine is correctly executed.
SERVO:
If a pole position identification technique is selected in p1980, and if p0301 does not contain a motor type with an
encoder adjusted in the factory, then p1990 is automatically activated.
or
Set the adjustment using parameter p0431. In this case, the new serial number is automatically accepted.
or
Mechanically adjust the encoder. Accept the new serial number with p0440 = 1.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31812 (N, A) Encoder 1: A cycle requested from the CU or RX/TX timing is not supported
Reaction: OFF2
Cause: A cycle requested from the CU or RX/TX timing is not supported
0: Application cycle is not supported.
1: DQ cycle is not supported.
2: Clearance between RX and TX instants in time too low.
3: TX instant in time too early.
Remedy:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31820 (N, A) Encoder 1 DRIVE-CLiQ: Telegram error
01: CRC error.
06: The address of the encoder in the telegram and in the receive list do not match.
07: The encoder expects a SYNC telegram, but the receive telegram is not a SYNC telegram.
08: The encoder does not expect a SYNC telegram, but the receive telegram is a SYNC telegram.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31835 (N, A) Encoder 1 DRIVE-CLiQ: Cyclic data transfer error
Cause: DRIVE-CLiQ communications error between the Control Unit and the encoder involved. The nodes do not send and
receive in synchronism.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31836 (N, A) Encoder 1 DRIVE-CLiQ: Send error for DRIVE-CLiQ data
Cause: DRIVE-CLiQ communications error between the Control Unit and the encoder involved. Data were not able to be
sent.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31837 (N, A) Encoder 1 DRIVE-CLiQ: Component fault
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31850 (N, A) Encoder 1: Sensor Module, internal software error
Cause: Internal software error in the Sensor Module of encoder 1.
1: Background time slice is blocked.
2: Checksum over the code memory is not OK.
10000: OEM memory of the EnDat encoder contains data that cannot be interpreted.
Remedy: - replace the Sensor Module.
- if required, upgrade the firmware in the Sensor Module.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31851 (N, A) CU DRIVE-CLiQ: Sign-of-life missing
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Sensor Module (encoder 1)
involved. The DRIVE-CLiQ component did not set the sign of life to the Control Unit.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31860 (N, A) CU DRIVE-CLiQ: Telegram error
01: CRC error.
early.
early.
16: The address of the encoder in the telegram and in the receive list does not match and the receive telegram is too
early.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31885 (N, A) CU DRIVE-CLiQ: Cyclic data transfer error
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31886 (N, A) CU DRIVE-CLiQ: Error when sending DRIVE-CLiQ data
sent.
- check whether the firmware version of the encoder (r0148) matches the firmware version of Control Unit (r0018).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31887 (N, A) CU DRIVE-CLiQ: Component fault
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31896 (N, A) CU DRIVE-CLiQ: Inconsistent component characteristics
Component ID.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31897 (N, A) DRIVE-CLiQ: No communication to component
Component ID.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
F31899 (N, A) Encoder 1: Unknown fault
Cause: A fault occurred on the Sensor Module for encoder 1 that cannot be interpreted by the Control Unit firmware.
This can occur if the firmware on the Sensor Module for encoder 1 is more recent than the firmware on the Control
Unit.
Fault number.
Remedy: - replace the firmware on the Sensor Module by an older firmware version (r0148).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F31905 (N, A) Encoder 1: Parameterization error
Cause: A parameter of encoder 1 was detected as being incorrect.
It is possible that the parameterized encoder type does not match the connected encoder.
The parameter involved can be determined as follows:
- determine the parameter number using the fault value (r0949).
- determine the parameter index (p0187).
Parameter number.
Remedy: - check whether the connected encoder type matches the encoder that has been parameterized.
- correct the parameter specified by the fault value (r0949) and p0187.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A31920 (F, N) Encoder 1: Temperature sensor fault
Reaction: NONE
Acknowledge: NONE
Remedy: - check that the encoder cable is the correct type and is correctly connected.
- check the temperature sensor selection in p0600 to p0603.
- replace the Sensor Module (hardware defect or incorrect calibration data).
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
A31999 (F, N) Encoder 1: Unknown alarm
Reaction: NONE
Acknowledge: NONE
Cause: A alarm has occurred on the Sensor Module for encoder 1 that cannot be interpreted by the Control Unit firmware.
Unit.
Alarm number.
Faults and alarms
Acknowledge
upon F:
Acknowledge
upon N:
NONE
F32100 (N, A) Encoder 2: Zero mark clearance error
system.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
pulse).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
SERVO: OFF1 (DCBRAKE, NONE, OFF2, OFF3)
VECTOR: OFF1 (DCBRAKE, NONE, OFF2, OFF3)
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
motor.
motor.
motor.
motor.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
SMC20:
SMC10:
Low word:
High word:
SMC20:
SMC10:
force.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Note:
Acknowledge
upon N:
NONE
Faults and alarms
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
SMC20:
SMC10:
Low word:
High word:
SMC20:
SMC10:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
High word:
Low word:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Reaction: NONE
Acknowledge: NONE
system.
Faults and alarms
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
pulse).
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
width.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
SMC20: The nominal signal level is at 500 mV (500 mV -25 % / +20 %). The response threshold is < 300 mV.
SMC10:
The nominal signal level is at 2900 mV (2.0 Vrms). The response threshold is < 1414 mV (1.0 Vrms).
Low word:
Amplitude square root(A*A + B*B).
SMC20:
A signal level of 500 mV peak value corresponds to the numerical value 299A hex = 10650 dec.
SMC10:
High word:
of track B.
- dirty code disk
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon A:
NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Faults and alarms
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
window.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Reaction: OFF2
Remedy:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
01: CRC error.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
sent.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
01: CRC error.
early.
early.
early.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
sent.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Component ID.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Component ID.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Unit.
Fault number.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Parameter number.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Reaction: NONE
Acknowledge: NONE
Cause: When evaluating the temperature sensor, an error occurred. Alarm value (r2124, decimal):
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Unit.
Alarm number.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
F33100 (N, A) Encoder 3: Zero mark clearance error
system.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
pulse).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
motor.
motor.
motor.
motor.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
SMC20:
SMC10:
Low word:
High word:
SMC20:
SMC10:
force.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
SERVO: OFF1 (DCBRAKE, NONE, OFF2, OFF3), VECTOR: OFF1 (DCBRAKE, NONE, OFF2, OFF3)
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Note:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
SMC20:
SMC10:
Low word:
High word:
SMC20:
SMC10:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
High word:
Low word:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Reaction: NONE
Acknowledge: NONE
system.
Faults and alarms
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
pulse).
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
width.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
SMC20:
The nominal signal level is at 500 mV (500 mV -25 % / +20 %). The response threshold is < 300 mV.
SMC10:
The nominal signal level is at 2900 mV (2.0 Vrms). The response threshold is < 1414 mV (1.0 Vrms).
Low word: Amplitude square root(A*A + B*B).
SMC20: A signal level of 500 mV peak value corresponds to the numerical value 299A hex = 10650 dec.
SMC10:
High word:
of track B.
- dirty code disk
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon A:
NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Faults and alarms
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
window.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Reaction: OFF2
Remedy:
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
01: CRC error.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
sent.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
01: CRC error.
early.
early.
early.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
sent.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Component ID.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Component ID.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Unit.
Fault number.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
Parameter number.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Reaction: NONE
Acknowledge: NONE
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
Reaction: NONE
Acknowledge: NONE
Unit.
Alarm number.
Acknowledge
upon F:
Faults and alarms
Acknowledge
upon N:
NONE
F34207 (N, A) VSM: Temperature fault threshold exceeded
SERVO: NONE
VECTOR: NONE
Cause: The temperature (r3666) measured using the Voltage Sensing Module (VSM) has exceeded the threshold value
(p3668).
This fault can only be initiated if the temperature evaluation was activated (p3665 = 2 for a KTY sensor or p3665 =
1 for a PTC sensor).
The hundred thousands and ten thousands position specifies the component number of the VSM where the fault
occurred.
Remedy: - check the fan.
- reduce the power.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A34211 (F, N) VSM: Temperature alarm threshold exceeded
Reaction: NONE
Acknowledge: NONE
Cause: The temperature (r3666) measured using the Voltage Sensing Module (VSM) has exceeded the threshold value
(p3667).
The hundred thousands and ten thousands position specifies the component number of the VSM where the fault
occurred.
Remedy: - check the fan.
- reduce the power.
SERVO: NONE
VECTOR: NONE
Acknowledge
upon F:
Acknowledge
upon N:
NONE
F34801 VSM DRIVE-CLiQ: Sign-of-life missing
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Voltage Sensing Module
(VSM).
Remedy: - check the DRIVE-CLiQ connection.
- replace the Terminal Module.
Faults and alarms
F34802 VSM: Time slice overflow
Cause: Time slice overflow on the Voltage Sensing Module.
Remedy: Replace the Voltage Sensing Module.
F34803 VSM: Memory test
Cause: An error has occurred during the memory test on the Voltage Sensing Module.
Remedy: - check whether the permissible ambient temperature for the Voltage Sensing Module is being maintained.
- replace the Voltage Sensing Module.
F34804 VSM: CRC
Cause: A checksum error has occurred when reading-out the program memory on the Voltage Sensing Module (VSM).
Remedy: - check whether the permissible ambient temperature for the component is maintained.
- replace the Voltage Sensing Module.
F34805 VSM: EPROM checksum error
- replace the Voltage Sensing Module (VSM).
F34806 VSM: Initialization
Cause: For the Voltage Sensing Module (VSM), a fault has occurred while initializing.
A34807 (F, N) VSM: Sequence control, time monitoring
Reaction: NONE
Acknowledge: NONE
Cause: Error, timeout in the sequence control on the Voltage Sensing Module (VSM).
Acknowledge
upon F:
Faults and alarms
Acknowledge
upon N:
NONE
F34820 VSM DRIVE-CLiQ: Telegram error
SERVO: NONE (OFF1, OFF2)
VECTOR: NONE (OFF1, OFF2)
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Voltage Sensing Module.
01: CRC error.
F34835 VSM DRIVE-CLiQ: Cyclic data transfer error
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Voltage Sensing Module. The
nodes do not send and receive in synchronism.
F34836 VSM DRIVE-CLiQ: Send error for DRIVE-CLiQ data
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Voltage Sensing Module. Data
were not able to be sent.
F34837 VSM DRIVE-CLiQ: Component fault
Faults and alarms
F34845 VSM DRIVE-CLiQ: Cyclic data transfer error
(VSM).
F34850 VSM: Internal software error
Cause: An internal software error in the Voltage Sensing Module (VSM) has occurred.
Remedy: - replace the Voltage Sensing Module (VSM).
- if required, upgrade the firmware in the Voltage Sensing Module.
(VSM). The DRIVE-CLiQ component did not set the sign of life to the Control Unit.
01: CRC error.
early.
Faults and alarms
early.
16: The address of the Voltage Sensing Module in the telegram and in the receive list does not match and the receive
telegram is too early.
06: The address of the Voltage Sensing Module in the telegram and in the receive list do not match.
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Voltage Sensing Module. The
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the VSM involved. Data were not
able to be sent.
Faults and alarms
SERVO: NONE (OFF1, OFF2), VECTOR: NONE (OFF1, OFF2)
Component ID.
Component ID.
F34899 (N, A) VSM: Unknown fault
Cause: A fault occurred on the Voltage Sensing Module that cannot be interpreted by the Control Unit firmware. This can
occur if the firmware on the Voltage Sensing Module is more recent than the firmware on the Control Unit.
Fault number.
Remedy: - replace the firmware on the Voltage Sensing Module by an older firmware version (r0xyz).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
A34903 (F, N) VSM: Error I2C bus
Reaction: NONE
Acknowledge: NONE
Cause: An error has occurred in while accessing via the internal TM I2C bus.
Remedy: Replace the Terminal Module.
SERVO: NONE
VECTOR: NONE
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A34904 (F, N) VSM: EEPROM
Reaction: NONE
Acknowledge: NONE
Cause: An error has occurred accessing the non-volatile memory on the Terminal Module.
SERVO: NONE
VECTOR: NONE
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A34905 (F, N) VSM: Parameter access
Reaction: NONE
Acknowledge: NONE
Cause: The Control Unit attempted to write an illegal parameter value into the Voltage Sensing Module (VSM).
Remedy: - check whether the firmware version of the VSM (r0158) matches the firmware version of Control Unit (r0018).
- if required, replace the Voltage Sensing Module.
Note:
The firmware versions that match each other are in the readme.txt file on the CompactFlash card.
SERVO: NONE
VECTOR: NONE
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A34920 (F, N) VSM: Temperature sensor fault
Reaction: NONE
Acknowledge: NONE
- replace sensor.
Faults and alarms
SERVO: NONE
VECTOR: NONE
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A34999 (F, N) VSM: Unknown alarm
Reaction: NONE
Acknowledge: NONE
Cause: A fault occurred on the Voltage Sensing Module (VSM) an alarm has occurred that cannot be interpreted by the Con-
trol Unit firmware.
This can occur if the firmware on the module is more recent than the firmware on the Control Unit.
Alarm number.
Remedy: - replace the firmware on the Voltage Sensing Module by an older firmware version (r0148).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35200 (F, N) TM: Calibration data
Reaction: NONE
Acknowledge: NONE
Cause: An error was detected in the calibration data of the Terminal Module.
The hundred thousands and ten thousands location specifies the component Id of the Terminal Module where the
fault occurred.
The thousands location specifies whether the analog input 0 (=0) or analog output 1 (= 1) is involved.
The hundreds location specifies the fault type:
0: No calibration data available.
1: Offset too high (> 100 mV).
The tens and ones location specifies the number of the input involved.
Remedy: Power-down the unit and power-up again.
If the fault is still present, replace the module/board.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
F35207 (N, A) TM: Temperature fault threshold exceeded
Cause: The temperature measured using the temperature sensing of the Terminal Module (TM) (r4105) has exceeded the
threshold value to initiate this fault (p4102[1]).
Please note that this fault can only be initiated if the temperature evaluation was activated (p4100 = 2 for KTY sensor
or p4100 = 1 for PTC sensor).
The hundred thousands and ten thousands location specifies the component number of the TMxx where the fault
occurred.
Alarm:
Please note that Fault F35207 only causes the drive to be shut down if there is at least one BICO interconnection
between the drive and TM31.
Remedy: - allow the temperature sensor to cool down.
- if required, set the fault response to NONE (p2100, p2101).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A35211 (F, N) TM: Temperature alarm threshold exceeded
Reaction: NONE
Acknowledge: NONE
Cause: The temperature measured using the temperature sensing of the Terminal Module (TM) (r4105) has exceeded the
threshold value to initiate this alarm (p4102[0]).
The hundred thousands and ten thousands location specifies the component number of the TMxx where the fault
occurred.
Remedy: Allow the temperature sensor to cool down.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
F35220 (N, A) TM: Frequency limit reached for signal output
Cause: The signals output from the Terminal Module 41 (TM41) for tracks A/B have reached the limit frequency. The output
signals are no longer in synchronism with the specified setpoint.
Remedy: - enter a lower speed setpoint (p1155).
- reduce the encoder pulse number (p0408).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
Faults and alarms
F35221 (N, A) TM: Setpoint - actual value deviation, outside the tolerance range
Cause: The deviation between the setpoint and the output signals (track A/B) exceeds the tolerance of +/-3 %.
Remedy: - reduce the basic clock cycle (p0110, p0111).
- replace the module.
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A35222 (F, N) TM: Encoder pulse number not permissible
Reaction: NONE
Acknowledge: NONE
Cause: The encoder pulse number entered does not match the permissible pulse number from a hardware perspective.
1: Encoder pulse number is too high.
2: Encoder pulse number is too low.
4: Encoder pulse number is less than the zero mark offset (p4426)
Remedy: Enter the encoder pulse number in the permissible range (p0408).
Reaction upon F: A_INFEED: OFF1 (NONE, OFF2)
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35223 (F, N) TM: ZM offset not permissible
Reaction: NONE
Acknowledge: NONE
Cause: The entered zero mark offset is not permissible.
1: Zero mark offset is too high.
See also: p4426 (Incremental encoder emulation, pulses for zero mark)
Remedy: Enter the zero mark offset in the permissible range (p4426).
Reaction upon F: A_INFEED: OFF1 (NONE, OFF2)
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
A35224 (N) TM: Zero mark synchronization interrupted
Reaction: NONE
Acknowledge: NONE
Cause: The zero mark synchronization with the encoder to be emulated was interrupted.
0: The encoder is not in the ready state (e.g. encoder parked)
1: An absolute encoder was connected.
2: The encoder r0479[0...2] interconnected with CI: p4420 is already communicating with another TM41 (precisely
one TM41 can be interconnected with a specific r0479[0...2]).
3: The BICO interconnection to TM41 was removed (CI: p4420 = 0 signal).
4: The encoder connected with CI: p4420 has carried-out an EDS changeover (this operation is not supported, set
p4420 to 0 and interconnect again).
5: The maximum number of revolutions of the encoder was exceeded.
6: Encoder in an invalid state.
7: Encoder in an invalid state.
- if the encoder changes into the ready state, then a synchronization operation that was previously interrupted is car-
ried-out again.
- if the synchronization was interrupted due to the maximum permissible synchronization duration, then a new syn-
chronization is not carried-out.
- for an absolute encoder, no synchronization is carried-out, the zero mark is always output at the zero revolution of
the TM41.
Acknowledge
upon N:
NONE
A35225 TM: Zero mark synchronization held - encoder not in the ready state
Reaction: NONE
Acknowledge: NONE
Cause: The zero mark synchronization with the encoder to be emulated was held.
The encoder is not in the "ready" state.
Remedy: Bring the encoder into the "ready" state.
A35226 TM: Tracks A/B are de-activated
Reaction: NONE
Acknowledge: NONE
Cause: The output of tracks A/B of the TM41 has been held (frozen).
- there was no interconnection established from CI: p4420.
- the encoder is not in the "ready" state.
- TM41 has a fault condition.
Remedy: - establish an interconnection from CI: p4420.
- bring the encoder into the "ready" state.
- remove any TM41 faults.
A35227 TM: Zero mark synchronization interrupted - EDS changeover not supported
Reaction: NONE
Acknowledge: NONE
Cause: The interconnected encoder has carried-out an EDS changeover.
TM41 does not support this particular application case.
Remedy: The BICO interconnection must be re-established (CI: p4420).
Faults and alarms
A35801 (F, N) TM DRIVE-CLiQ: Sign-of-life missing
Reaction: NONE
Acknowledge: NONE
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Terminal Module involved.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
A35802 (F, N) TM: Time slice overflow
Reaction: NONE
Acknowledge: NONE
Cause: Time slice overflow on Terminal Module.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35803 (F, N) TM: Memory test
Reaction: NONE
Acknowledge: NONE
Cause: An error has occurred during the memory test on the Terminal Module.
Remedy: - check whether the permissible ambient temperature for the Terminal Module is being maintained.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35804 (F, N) TM: CRC
Reaction: NONE
Acknowledge: NONE
Cause: A checksum error has occurred when reading-out the program memory on the Terminal Module.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
A35805 (F, N) TM: EPROM checksum error
Reaction: NONE
Acknowledge: NONE
- replace the Terminal Module 31 (TM31).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35807 (F, N) TM: Sequence control, time monitoring
Reaction: NONE
Acknowledge: NONE
Cause: Error, timeout, sequence control on the Terminal Module.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
F35820 TM DRIVE-CLiQ: Telegram error
01: CRC error.
06: The address of the Terminal Module in the telegram and in the receive list do not match.
07: Terminal Module expects a SYNC telegram, but the receive telegram is not a SYNC telegram.
08: Terminal Module does not expect a SYNC telegram, but the receive telegram is a SYNC telegram.
F35835 TM DRIVE-CLiQ: Cyclic data transfer error
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Terminal Module involved. The
Faults and alarms
F35836 TM DRIVE-CLiQ: Send error for DRIVE-CLiQ data
Data were not able to be sent.
F35837 PTM DRIVE-CLiQ: Component fault
F35845 TM DRIVE-CLiQ: Cyclic data transfer error
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Terminal Module (TM)
involved.
F35850 TM: Internal software error
Cause: An internal software error in the Terminal Module (TM) has occurred.
Remedy: - replace the Terminal Module (TM).
- if required, upgrade the firmware in the Terminal Module.
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Terminal Module (TM)
Faults and alarms
01: CRC error.
early.
early.
16: The address of the Terminal Module in the telegram and in the receive list does not match and the receive tele-
gram is too early.
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the Terminal Module involved. The
Faults and alarms
Component ID.
Component ID.
F35899 (N, A) TM: Unknown fault
Faults and alarms
Cause: A fault has occurred on the Terminal Module that cannot be interpreted by the Control Unit firmware.
This can occur if the firmware on the Terminal Module is more recent than the firmware on the Control Unit.
Fault number.
Remedy: - replace the firmware on the Terminal Module by an older firmware version (r0158).
Acknowledge
upon N:
NONE
Acknowledge
upon A:
NONE
A35903 (F, N) TM: Error I2C bus
Reaction: NONE
Acknowledge: NONE
Cause: An error has occurred while accessing the internal I2C bus of the Terminal Module.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35904 (F, N) TM: EEPROM
Reaction: NONE
Acknowledge: NONE
Cause: An error has occurred accessing the non-volatile memory on the Terminal Module.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35905 (F, N) TM: Parameter access
Reaction: NONE
Acknowledge: NONE
Cause: The Control Unit attempted to write an illegal parameter value into the Terminal Module.
Remedy: - check whether the firmware version of the TM (r0158) matches the firmware version of Control Unit (r0018).
- if required, replace the Terminal Module.
Note:
The firmware versions that match each other are in the readme.txt file on the CompactFlash card.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
A35906 (F, N) TM: 24 V power supply missing
Reaction: NONE
Acknowledge: NONE
Cause: The 24 V power supply for the digital outputs is missing.
01: TM17 24 V power supply for DI/DO 0 ... 7 missing.
04: TM15 24 V power supply for DI/DO 0 ... 7 (X520) missing.
Remedy: Check the terminals for the power supply voltage (L1+, L2+, L3+, M).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35907 (F, N) TM: Hardware initialization error
Reaction: NONE
Acknowledge: NONE
Cause: The Terminal Module was not successfully initialized.
01: TM17 or TM41 - incorrect configuration request.
02: TM17 or TM41 - programming not successful.
04: TM17 or TM41 - invalid time stamp
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35910 (F, N) TM: Module overtemperature
Reaction: NONE
Acknowledge: NONE
Cause: The temperature in the module has exceeded the highest permissible limit.
Remedy: - reduce the ambient temperature.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
A35911 (F, N) TM: PROFIBUS clock synchronous operation sign-of-life missing
Reaction: NONE
Acknowledge: NONE
Cause: The maximum permissible number of errors in the master sign-of-life (clock synchronous PROFIBUS) has been
exceeded in cyclic operation.
When the alarm is output, the module outputs are reset up to the next synchronization.
Remedy: - check the physical bus configuration (terminating resistor, shielding, etc.).
- check the interconnection of the master sign-of-life (r4201 via p0915).
- check whether the master correctly sends the sign-of-life (e.g. set-up a trace with r4201.12 ... r4201.15 and trigger
signal r4301.9).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35920 (F, N) TM: Temperature sensor fault
Reaction: NONE
Acknowledge: NONE
- replace sensor.
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A35999 (F, N) TM: Unknown alarm
Reaction: NONE
Acknowledge: NONE
Cause: An alarm has occurred on the Terminal Module that cannot be interpreted by the Control Unit firmware.
This can occur if the firmware on the Terminal Module is more recent than the firmware on the Control Unit.
Alarm number.
Remedy: - replace the firmware on the Terminal Module by an older firmware version (r0158).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
A36801 (F, N) DMC DRIVE-CLiQ: Sign-of-life missing
Reaction: NONE
Acknowledge: NONE
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the DRIVE-CLiQ Hub Module Cab-
inet (DMC) involved.
Acknowledge
upon F:
IMMEDIATELY
Acknowledge
upon N:
NONE
A36804 (F, N) DMC: CRC
Reaction: NONE
Acknowledge: NONE
Cause: A checksum error has occurred when reading-out the program memory on the DRIVE-CLiQ Hub Module Cabinet
(DMC).
- replace the DRIVE-CLiQ Hub Module Cabinet (DMC).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
A36805 (F, N) DMC: EPROM checksum error
Reaction: NONE
Acknowledge: NONE
- replace the DRIVE-CLiQ Hub Module Cabinet (DMC).
Acknowledge
upon F:
Acknowledge
upon N:
NONE
Faults and alarms
F36820 DMC DRIVE-CLiQ: Telegram error
Reaction: NONE
01. CRC error.
07: Terminal Module expects a SYNC telegram, but the receive telegram is not a SYNC telegram.
08: Terminal Module does not expect a SYNC telegram, but the receive telegram is a SYNC telegram.
F36835 DMC DRIVE-CLiQ: Cyclic data transfer error
Reaction: NONE
inet (DMC) involved. The nodes do not send and receive in synchronism.
F36836 DMC DRIVE-CLiQ: Send error for DRIVE-CLiQ data
Reaction: NONE
inet (DMC) involved. Data were not able to be sent.
F36837 DMC DRIVE-CLiQ: Component fault
Reaction: NONE
Faults and alarms
F36845 DMC DRIVE-CLiQ: Cyclic data transfer error
Reaction: NONE
Reaction: NONE
inet (DMC) involved. The DRIVE-CLiQ component did not set the sign of life to the Control Unit.
Reaction: NONE
01: CRC error.
early.
early.
16: The address of the Terminal Module in the telegram and in the receive list does not match and the receive tele-
gram is too early.
Reaction: NONE
inet (DMC) involved. The nodes do not send and receive in synchronism.
Faults and alarms
Reaction: NONE
inet (DMC) involved. Data were not able to be sent.
Reaction: NONE
Reaction: NONE
Reaction: NONE
Component ID.
F40000 Fault on the drive object at the DRIVE-CLiQ socket X100
Reaction: NONE
Cause: A fault has occurred at the drive object at the DRIVE-CLiQ socket X100.
First fault that has occurred for this drive object.
Remedy: Evaluate the fault buffer of the specified object.
Faults and alarms
Reaction: NONE
Reaction: NONE
Reaction: NONE
Reaction: NONE
Reaction: NONE
A40100 Alarm on the drive object at the DRIVE-CLiQ socket X100
Reaction: NONE
Acknowledge: NONE
Cause: An alarm has occurred at the drive object at the DRIVE-CLiQ socket X100.
First alarm that has occurred for this drive object.
Remedy: Evaluate the alarm buffer of the specified object.
Reaction: NONE
Acknowledge: NONE
Faults and alarms
Reaction: NONE
Acknowledge: NONE
Reaction: NONE
Acknowledge: NONE
Reaction: NONE
Acknowledge: NONE
Reaction: NONE
Acknowledge: NONE
F40799 CU-Link: Configured transfer end time exceeded
Reaction: NONE
Cause: The configured transfer end time when transferring the cyclic actual values was exceeded.
F40801 CX32 DRIVE-CLiQ: Sign-of-life missing
Reaction: OFF2
Cause: A DRIVE-CLiQ communications error has occurred between the Control Unit and the controller extension involved.
The nodes do not send and receive in synchronism.
Faults and alarms
F40820 CX32 DRIVE-CLiQ: Telegram error
Reaction: OFF2
01: CRC error.
06: The address of the controller extension in the telegram and in the receive list do not match.
07: Controller extension expects a SYNC telegram, but the receive telegram is not a SYNC telegram.
08: Controller extension does not expect a SYNC telegram, but the receive telegram is a SYNC telegram.
F40835 CX32 DRIVE-CLiQ: Cyclic data transfer error
Reaction: OFF2
F40836 CX32 DRIVE-CLiQ: Send error for DRIVE-CLiQ data
Reaction: OFF2
F40837 CX32 DRIVE-CLiQ: Component fault
Reaction: OFF2
Faults and alarms
F40845 CX32 DRIVE-CLiQ: Cyclic data transfer error
Reaction: OFF2
Reaction: OFF2
The DRIVE-CLiQ component did not set the sign of life to the Control Unit.
Reaction: OFF2
01: CRC error.
early.
early.
16: The address of the controller extension in the telegram and in the receive list does not match and the receive
telegram is too early.
06: The address of the controller extension in the telegram and in the receive list do not match.
Reaction: OFF2
Faults and alarms
Reaction: OFF2
Reaction: OFF2
Reaction: OFF2
F49150 Cooling system: Fault occurred
Reaction: OFF2
Cause: The cooling system signals a general fault.
Remedy: - check the wiring between the cooling system and the input terminal (Terminal Module).
- check the external Control Unit for the cooling system.
See also: p0266 (Cooling system, signal source feedback signals)
F49151 Cooling system: Conductivity has exceeded the fault threshold
Reaction: OFF2
Cause: The conductivity of the cooling water has exceeded the selected fault threshold (p0269[2]).
See also: p0261 (Cooling system, starting time 2), p0262 (Cooling system, fault conductivity delay time), p0266
(Cooling system, signal source feedback signals)
Remedy: Check the device to de-ionize the cooling water.
Faults and alarms
F49152 Cooling system: ON command, feedback signal missing
Reaction: OFF2
Cause: The feedback signal of the ON command of the cooling system is missing.
- after the ON command, the feedback signal has not been received within the selected starting time (p0260).
- the feedback signal has failed in operation.
See also: p0260 (Cooling system, starting time 1), r0267 (Cooling system status word display)
F49153 Cooling system: Water flow too low
Reaction: OFF2
Cause: The drive converter cooling system signals that the water flow is too low.
- after the ON command, the feedback signal has not been received within the selected starting time (p0260).
- in operation, the feedback signal has failed for longer than the permitted failure time (p0263).
See also: p0260 (Cooling system, starting time 1), p0263 (Cooling system fault water flow, delay time), r0267 (Cool-
ing system status word display)
F49154 Cooling system: Water has leaked
Reaction: OFF2
Cause: The leakage water monitoring function has responded.
See also: r0267 (Cooling system status word display)
Remedy: - check the cooling system for leaks in the cooling circuit.
- check the wiring of the input terminal (Terminal Module) used to monitor the leakage water.
F49155 Cooling system: Power Stack Adapter, firmware version too old
Reaction: OFF2
Cause: The firmware version in the Power Stack Adapter (PSA) is too old and does not support the water cooling.
Remedy: Upgrade the firmware version.
F49156 Cooling system: Cooling water temperature has exceeded the fault threshold
Reaction: OFF2
Cause: The cooling water intake temperature has exceeded the permanently set fault threshold.
Remedy: Check the cooling system and the ambient conditions.
A49170 Cooling system: Alarm has occurred
Reaction: NONE
Acknowledge: NONE
Cause: The cooling system signals a general alarm.
A49171 Cooling system: Conductivity has exceeded the alarm threshold
Reaction: NONE
Acknowledge: NONE
Cause: The conductivity of the cooling water has exceeded the selected alarm threshold (p0269[1]).
See also: p0261 (Cooling system, starting time 2), p0262 (Cooling system, fault conductivity delay time), p0266
(Cooling system, signal source feedback signals)
Remedy: Check the device to de-ionize the cooling water.
Faults and alarms
A49172 Cooling system: Conductivity actual value is not valid
Reaction: NONE
Acknowledge: NONE
Cause: When monitoring the conductivity of the cooling water, there is a fault in the wiring or in the sensor.
Remedy: - check the wiring between the cooling system and the Power Stack Adapter (PSA).
- check the function of the sensor to measure the conductivity.
A49173 Cooling system: Cooling water temperature has exceeded the alarm threshold
Reaction: NONE
Acknowledge: NONE
Cause: The cooling water intake temperature has exceeded the permanently set alarm threshold.
Remedy: Check the cooling system and the ambient conditions.
F49200 Excitation group signal fault
Reaction: OFF2
Cause: The excitation sequence control signals a fault.
Fault value (r0949, hexadecimal):
Bit 0:
When powered-down or when powering-down the excitation, the signal "excitation ready to power-up feedback sig-
nal" was not received within the monitoring time.
Bit 1:
After an ON command, the signal "excitation ready feedback signal" was not received within the monitoring time.
Bit 2:
After the pulses were enabled, the signal "excitation operational feedback signal" was not received within the moni-
toring time.
Bit 3:
The "excitation group signal fault" signal is present.
Remedy: - check the excitation.
- check commands, feedback signals and BICO interconnections.
A49201 (F) Excitation, group signal alarm
Reaction: NONE
Acknowledge: NONE
Cause: The "excitation group signal alarm" signal is present.
Remedy: Check the excitation equipment.
Acknowledge
upon F:
IMMEDIATELY
A-1461 Siemens AG 2006 All Rights Reserved
List of Abbreviations A
Abbreviation German English
A
A... Warnung Alarm
AC Wechselstrom Alternating Current
ADC Analog-Digital-Konverter Analog Digital Converter
AI Analogeingang Analog Input
ALM Active Line Module Active Line Module
AO Analogausgang Analog Output
AOP Advanced Operator Panel Advanced Operator Panel
APC Advanced Positioning Control Advanced Positioning Control
ASC Ankerkurzschluss Armature Short-Circuit
ASCII Amerikanische Code-Norm fr den
Informationsaustausch
American Standard Code for Information
Interchange
ASM Asynchronmotor Induction motor
B
BB Betriebsbedingung Operating condition
BERO Firmenname fr einen Nherungsschalter Tradename for a type of proximity switch
BI Binektoreingang Binector Input
BIA Berufsgenossenschaftliches Institut fr
Arbeitssicherheit
Berufsgenossenschaftliches Institut fr
Arbeitssicherheit (German Institute for
Occupational Safety)
BICO Binektor-Konnektor-Technologie Binector Connector Technology
BLM Basic Line Module Basic Line Module
BOP Basic Operator Panel Basic Operator Panel
C
C Kapazitt Capacitance
C... Safety-Meldung Safety message
CAN Serielles Bussystem Controller Area Network
CBC Kommunikationsbaugruppe CAN Communication Board CAN
CD Compact Disc Compact Disc
CDS Befehlsdatensatz Command Data Set
CI Konnektoreingang Connector Input
CNC Computeruntersttzte numerische
Steuerung
Computer Numerical Control
CO Konnektorausgang Connector Output
CO/BO Konnektor-/Binektorausgang Connector Output/Binector Output
COB-ID CAN Object-Identification CAN Object-Identification
COM Mittelkontakt eines Wechselkontaktes Common contact of a change-over relay
CP Kommunikationsprozessor Communications Processor
CPU Zentralbaugruppe Central Processing Unit
CRC Checksummenprfung Cyclic Redundancy Check
CSM Control Supply Module Control Supply Module
CU Control Unit Control Unit
D
DAC Digital-Analog-Konverter Digital Analog Converter
DC Gleichstrom Direct Current
DCN Gleichstrom negativ Direct current negative
DCP Gleichstrom positiv Direct current positive
DDS Antriebsdatensatz Drive Data Set
DI Digitaleingang Digital Input
DI/DO Digitaleingang/-ausgang bidirektional Bidirectional Digital Input/Output
DMC DRIVE-CLiQ Module Cabinet (Hub) DRIVE-CLiQ Module Cabinet (Hub)
DO Digitalausgang Digital Output
DO Antriebsobjekt Drive Object
DPRAM Speicher mit beidseitigem Zugriff Dual Ported Random Access Memory
DRAM Dynamischer Speicher Dynamic Random Access Memory
DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ
DSC Dynamic Servo Control Dynamic Servo Control
E
EDS Geberdatensatz Encoder Data Set
EGB Elektrostatisch gefhrdete Baugruppen Electrostatic Sensitive Devices (ESD)
ELP Erdschlussberwachung Earth Leakage Protection
EMK Elektromagnetische Kraft Electromagnetic Force (EMF)
EMV Elektromagnetische Vertrglichkeit Electromagnetic Compatibility (EMC)
EN Europische Norm European Standard
EnDat Geber-Schnittstelle Encoder-Data-Interface
EP Impulsfreigabe Enable Pulses
EPOS Einfachpositionierer Basic positioner
ES Engineering System Engineering System
ESB Ersatzschaltbild Equivalent circuit diagram
ESR Erweitertes Stillsetzen und Rckziehen Extended Stop and Retract
F
F... Strung Fault
FAQ Hufig gestellte Fragen Frequently Asked Questions
FCC Function Control Chart Function Control Chart
FCC Flussstromregelung Flux Current Control
FEM Fremderregter Synchronmotor Separately excited synchronous motor
FEPROM Schreib- und Lesespeicher nichtflchtig Flash-EPROM
FG Funktionsgenerator Function Generator
FI Fehlerstrom-Schutzschalter Earth Leakage Circuit-Breaker (ELCB)
FP Funktionsplan Function diagram
FW Firmware Firmware
G
GB Gigabyte Gigabyte
GC Global-Control-Telegramm (Broadcast-
Telegramm)
Global Control Telegram (Broadcast
Telegram)
GSD Gertestammdatei: beschreibt die Merkmale
eines PROFIBUS-Slaves
Device master file: describes the features of
a PROFIBUS slave
GSV Gate Supply Voltage Gate Supply Voltage
H
HF Hochfrequenz High frequency
HFD Hochfrequenzdrossel High frequency reactor
HLG Hochlaufgeber Ramp-function generator
HMI Mensch-Maschine-Schnittstelle Human Machine Interface
HTL Logik mit hoher Strschwelle High-Threshold Logic
HW Hardware Hardware
I
i. V. In Vorbereitung: diese Eigenschaft steht zur
Zeit nicht zur Verfgung
In preparation: this feature is currently not
available
IBN Inbetriebnahme Commissioning
I/O Eingang/Ausgang Input/Output
ID Identifizierung Identifier
IEC Internationale Norm in der Elektrotechnik International Electrotechnical Commission
IGBT Bipolartransistor mit isolierter
Steuerelektrode
Insulated Gate Bipolar Transistor
IL Impulslschung Pulse suppression
IT Drehstromversorgungsnetz ungeerdet Insulated three-phase supply network
IVP Interner Spannungsschutz Internal Voltage Protection
J
JOG Tippen Jogging
K
KDV Kreuzweiser Datenvergleich Data cross-checking
KIP Kinetische Pufferung Kinetic buffering
Kp Proportionalverstrkung Proportional gain
KTY Spezieller Temperatursensor Special temperature sensor
L
L Induktivitt Inductance
LED Leuchtdiode Light Emitting Diode
LIN Linearmotor Linear motor
LR Lageregler Position controller
LSB Niederstwertiges Bit Least Significant Bit
LSS Netzschalter Line Side Switch
LU Lngeneinheit Lenght Unit
M
M Masse Reference potential, zero potential
MB Megabyte Megabyte
MCC Motion Control Chart Motion Control Chart
MDS Motordatensatz Motor Data Set
MLFB Maschinenlesbare Fabrikatebezeichnung Machine-readable product designation
MMC Mensch Maschine Kommunikation Man-Machine Communication
MSB Hchstwertiges Bit Most Significant Bit
MSCY_C1 Zyklische Kommunikation zwischen Master
(Klasse 1) und Slave
Master Slave Cycle Class 1
MT Messtaster Measuring probe
N
N. C. Nicht angeschlossen Not Connected
N... Keine Meldung oder Interne Meldung No Report
NAMUR Normenarbeitsgemeinschaft fr Mess- und
Regeltechnik in der chemischen Industrie
Standardization association for
measurement and control in chemical
industries
NC ffner Normally Closed (contact)
NC Numerische Steuerung Numerical Control
NEMA Normengremium in USA (United States of
America)
National Electrical Manufacturers
Association
NM Nullmarke Zero Mark
NO Schlieer Normally Open (contact)
O
OA Open Architecture Open Architecture
OEM Original Equipment Manufacturer Original Equipment Manufacturer
OLP Busstecker fr Lichtleiter Optical Link Plug
OMI Option Module Interface Option Module Interface
P
p... Einstellparameter Adjustable parameter
PcCtrl Steuerungshoheit Master Control
PDS Leistungsteildatensatz Power unit Data Set
PE Schutzerde Protective Earth
PELV Schutzkleinspannung Protective Extra Low Voltage
PEM Permanenterregter Synchronmotor Permanent-magnet synchronous motor
PG Programmiergert Programming terminal
PI Proportional Integral Proportional Integral
PID Proportional Integral Differential Proportional Integral Differential
PLC Speicherprogrammierbare Steuerung (SPS) Programmable Logical Controller
PLL Baustein zur Synchronisierung Phase Locked Loop
PNO PROFIBUS Nutzerorganisation PROFIBUS user organisation
PPI Punkt zu Punkt Schnittstelle Point to Point Interface
PRBS Weies Rauschen Pseudo Random Binary Signal
PROFIBUS Serieller Datenbus Process Field Bus
PS Stromversorgung Power Supply
PSA Power Stack Adapter Power Stack Adapter
PTC Positiver Temperaturkoeffizient Positive Temperature Coefficient
PTP Punkt zu Punkt Point To Point
PWM Pulsweitenmodulation Pulse Width Modulation
PZD PROFIBUS Prozessdaten PROFIBUS Process data
Q
R
r... Beobachtungsparameter (nur lesbar) Display parameter (read only)
RAM Speicher zum Lesen und Schreiben Random Access Memory
RCCB Fehlerstrom-Schutzschalter Residual Current Circuit Breaker
RCD Fehlerstrom-Schutzschalter Residual Current Device
RJ45 Norm. Beschreibt eine 8-polige
Steckverbindung mit Twisted-Pair Ethernet.
Standard. Describes an 8-pole plug
connector with twisted pair Ethernet.
RKA Rckkhlanlage Recooling system
RO Nur lesbar Read Only
RPDO Receive Process Data Object Receive Process Data Object
RS232 Serielle Schnittstelle Serial Interface
RS485 Norm. Beschreibt die Physik einer digitalen
seriellen Schnittstelle.
Standard. Describes the physical
characteristics of a digital serial interface.
RTC Echtzeituhr Real Time Clock
S
S1 Dauerbetrieb Continuous operation
S3 Aussetzbetrieb Periodic duty
SBC Sichere Bremsenansteuerung Safe Brake Control
SBH Sicherer Betriebshalt Safe operating stop
SBR Sichere Bremsrampe Safe braking ramp
SBT Sicherer Bremsentest Safe Brake Test
SCA Sichere Nocke Safe Cam
SDI Sichere Richtung Safe Direction
SE Sicherer Software-Endschalter Safe software limit switch
SG Sicher reduzierte Geschwindigkeit Safely reduced speed
SGA Sicherheitsgerichteter Ausgang Safety-related output
SGE Sicherheitsgerichteter Eingang Safety-related input
SH Sicherer Halt Safe standstill
SI Safety Integrated Safety Integrated
SIL Sicherheitsintegrittsgrad Safety Integrity Level
SLI Sicheres Schrittma Safely Limited Increment
SLM Smart Line Module Smart Line Module
SLP Sichere Endlage Safely Limited Position
SLS Sicher reduzierte Geschwindigkeit Safely Limited Speed
SLVC Geberlose Vektorregelung Sensorless Vector Control
SM Sensor Module Sensor Module
SMC Sensor Module Cabinet Sensor Module Cabinet
SME Sensor Module External Sensor Module External
SN Sicherer Software-Nocken Safe software cam
SOS Sicherer Betriebshalt Safe Operational Stop
SPC Sollwertkanal Setpoint Channel
SPS Speicherprogrammierbare Steuerung Programmable Logic Controller (PLC)
SS1 Safe Stop 1 Safe Stop 1
SS2 Safe Stop 2 Safe Stop 2
SSI Synchron Serielle Schnittstelle Synchronous Serial Interface
SSM Sichere Geschwindigkeitsanzeige n < nx Safe Speed Monitoring n < nx
SSR Sichere Bremsrampe Safe Stop Ramp
STO Sicherer Halt Safe Torque Off
STW PROFIBUS Steuerwort PROFIBUS control word
T
TB Terminal Board Terminal Board
TIA Totally Integrated Automation Totally Integrated Automation
TM Terminal Module Terminal Module
TN Drehstromversorgungsnetz geerdet Grounded three-phase supply network
Tn Nachstellzeit Integral time
TPDO Transmit Process Data Object Transmit Process Data Object
TT Drehstromversorgungsnetz geerdet Grounded three-phase supply network
TTL Transistor-Transistor-Logik Transistor-Transistor-Logic
U
UL Underwriters Laboratories Inc. Underwriters Laboratories Inc.
USV Unterbrechungsfreie Stromversorgung Uninteruptible power supply
V
VC Vektorregelung Vector Control
Vdc Zwischenkreisspannung DC link voltage
VdcN Teilzwischenkreisspannung negativ Partial DC link voltage negative
VdcP Teilzwischenkreisspannung positiv Partial DC link voltage positive
VDE Verband Deutscher Elektrotechniker Association of German Electrical Engineers
VDI Verein Deutscher Ingenieure Association of German Engineers
Vpp Volt Spitze zu Spitze Volt peak to peak
VSM Voltage Sensing Module Voltage Sensing Module
W
WEA Wiedereinschaltautomatik Automatic restart
WZM Werkzeugmaschine Machine tool
X
XML Erweiterbare Auszeichnungssprache
(Standardsprache fr Web-Publishing und
Dokumentenmanagement)
Extensible Markup Language
Y
Z
ZK Zwischenkreis DC link
ZSW PROFIBUS Zustandswort PROFIBUS status word
B-1469 Siemens AG 2006 All Rights Reserved
SINAMICS S List Manual, Edition 03/2006
References B
SINAMICS Documentation
Catalogs
/D11.1/ SINAMICS G110 Converter Chassis Units 0.12 kW to 3 kW
Order No.: E86060-K5511-A111-A2 Edition: 10.2005
/D11/ SINAMICS G130 Drive Converter Chassis Units
SINAMICS G150 Drive Converter Cabinet Units
/D21.1/ SINAMICS S120 Chassis Units
/D21.3/ SINAMICS S150 Converter Cabinet Units
75 kW to 1200 kW
Related catalogs
/ST70/ SIMATIC Components for Totally Integrated Automation
Ordering documentation
/PM10/ SIMOTION Motion Control System
/NC61/ SINUMERIK & SINAMICS,
Automation Systems for Machine Tools
References
Interactive catalogs
/CA01/ Automation and Drives' Offline Mall
CD-ROM
Order No.: E86060-D4001-A100-C4 Edition: 10.2005
/Mall/ A&D Mall, Catalog and Online Ordering System
http://www.siemens.com/automation/mall
Electronic documentation
/CD2/ SINAMICS
The SINAMICS System
Order No.: 6SL3097-2CA00-0YG3 Edition: 05.2006
User documentation
/BA1/ SINAMICS G150
Operating Instructions
Order No.: On request Edition: 03.2006
/BA2/ SINAMICS G130
/BA3/ SINAMICS S150
/GH1/ SINAMICS S120
Equipment Manual for Control Units and Additional System Components
Order No.: 6SL3097-2AH00-0BP3 Edition: 03.2006
/GH2/ SINAMICS S120
Equipment Manual for Booksize Power Units
Order No.: 6SL3097-2AC00-0BP3 Edition: 03.2006
/GH3/ SINAMICS S120
Equipment Manual for Chassis Power Modules
Order No.: 6SL3097-2AE00-0BP1 Edition: 03.2006
/GH4/ SINAMICS S120
Equipment Manual Power Modules Booksize Cold-Plate
Order No.: 6SL3097-2AJ00-0BP3 Edition: 03.2006
References
/GH5/ SINAMICS S120
Equipment Manual Cabinet Modules
/GH6/ SINAMICS S120
Equipment Manual AC DRIVE
Order No.: 6SL3097-2AL00-0BP0 Edition: 03.2006
/GS1/ SINAMICS S120
Getting Started
Order no.: 6SL3097-2AG00-0BP2 Edition: 03.2006
/IH1/ SINAMICS S120
Installation and Startup Manual
Order No.: 6SL3097-2AF00-0BP4 Edition: 03.2006
/IH2/ SINAMICS S120
Commissioning Manual for CANopen
Order No.: 6SL3097-2AA00-0BP2 Edition: 03.2006
/FH1/ SINAMICS S120
Function Manual
Order No.: 6SL3097-2AB00-0BP2 Edition: 03.2006
/LH1/ SINAMICS S
List Manual
Order No.: 6SL3097-2AP00-0BP4 Edition: 03.2006
/PFK7S/ SINAMICS 1FK7 Synchronous Motors
Configuration Manual
Order No.: 6SN1197-0AD16-0BP0 Edition: 12.2004
/PFT6S/ SINAMICS 1FT6 Synchronous Motors
Order No.: 6SN1197-0AD12-0BP0 Edition: 12.2004
References
PROFIBUS documentation
/P1/ PROFIBUS-DP/DPV1 IEC 61158
Basic Information, Tips and Tricks for Users
Hthig; Manfred Popp, 2nd Edition
ISBN 3-7785-2781-9
/P2/ PROFIBUS-DP, Getting Started
PROFIBUS Nutzerorganisation e.V.; Manfred Popp
Order no.: 4.071
/P3/ Distributed Layouts using PROFIBUS-DP
Architecture and Fundamentals, Configuration and Use of PROFIBUS-DP with
SIMATIC S7
SIEMENS; Publicis MCD Verlag; Josef Weigmann, Gerhard Kilian
Order no.: A19100-L531-B714
ISBN 3-89578-074-X
/P4/ Manual for PROFIBUS Networks, SIEMENS
Order No.: 6GK1970-5CA20-0BA0
/P5/ PROFIBUS Profile PROFIdrive Profile Drive Technology
PROFIBUS Nutzerorganisation e. V.
Haid-und-Neu-Strae 7, D-76131 Karlsruhe
Order No.: 3.172 Version 3.1 November 2002
/IKPI/ Industrial Communication for Automation and Drives
Catalog
Order No.: E86060-K6710-A101-B4 Edition: 2005
/PDP/ PROFIBUS Installation Guidelines
Installation Guideline for PROFIBUS-FMS/DP
Installation and wiring recommendation for RS 485 Transmission
Order No. 2.111 (German)
2.112 (English) Version 1.0
References
Documentation for Safety Equipment
/LV1/ Low-Voltage Switchgear SIRIUS-SENTRON-SIVACON
Catalog
Order No.: E86060-K1002-A101-A5 Edition: 2006
/MRL/ Directive 98/37/EC of the European Parliament and Council
Machinery Directive
Bundesanzeiger-Verlags GmbH Edition: 22.06.1998
/SISH/ Safety Integrated
System Manual
Order no.: 6ZB5000-0AA01-0BA1 5th edition
/SICD/ Safety Integrated
CD-ROM
Order No.: E20001-D10-M103-X-7400 Edition: 09.2004
Note
For more information about technical documentation for Safety Integrated, visit
the following address:
http://www.siemens.com/safety
The following list contains some of the safety-related documentation available.
References
C-1475 Siemens AG 2006 All Rights Reserved
SINAMICS S List Manual, 03/2006
Index C
Zahlen
1020
Explanation of the symbols (part 1), 2-915
1021
1024
1025
Handling BICO technology, 2-918
1508
CU310 input/output terminals, 2-920
1510
1512
CX32 input/output terminals, 2-922
1520
PROFIBUS, 2-923
1530
Internal control/status words, data sets,
2-924
1550
Setpoint channel, 2-925
1580
Servo encoder evaluations (position,
speed, temperature), 2-926
1590
Servo closed-loop speed control and V/f
open-loop control, 2-927
1610
Servo generation of the torque limits,
2-928
1630
Servo current control, 2-929
1680
Vector encoder evaluation functions (posi-
tion, speed, temperature), 2-930
1690
Vector V/f control, 2-931
1700
Vector closed-loop speed control and for-
mation of the torque limits, 2-932
1710
Vector closed-loop current control, 2-933
1750
Monitoring functions, faults, alarms, 2-934
1773
Basic Infeed, 2-935
1774
Active Infeed, 2-936
1775
Smart Infeed, 2-937
1790
Terminal Board 30 (TB30), 2-938
1840
Terminal Module 31 (TM31), 2-939
2020
CU310 Digital inputs
electrically isolated (DI 0 ... DI 3),
2-941
2030
CU310 Digital inputs/outputs
bidirectional (DI/DO 8 ... DI/DO 9),
2-942
2031
2-943
2120
2-945
2121
2-946
2130
2-947
2131
2-948
2132
2-949
Index
2133
2-950
2211
CU_LINK Data transfer, 2-952
2220
CX32 Digital inputs electrically isolated
(DI 0 ... DI 3), 2-954
2230
CX32 Digital inputs/outputs
2-955
2231
CX32 Digital inputs/outputs
2-956
2410
PROFIBUS address, diagnostics, 2-959
2420
Telegrams and process data, 2-960
2440
PZD receive signals interconnection,
2-961
2441
STW1 control word interconnection
(p2038 = 2), 2-962
2442
(p2038 = 0), 2-963
2443
(p2038 = 1), 2-964
2444
(p2038 = 0), 2-965
2445
(p2038 = 1), 2-966
2447
E_STW1 control word Infeed
interconnection, 2-967
2448
CU_STW control word Control Unit
2449
A_DIGITAL interconnection, 2-969
2450
PZD send signals interconnection, 2-970
2451
ZSW1 status word interconnection
(p2038 = 2), 2-971
2452
(p2038 = 0), 2-972
2453
(p2038 = 1), 2-973
2454
(p2038 = 0), 2-974
2455
(p2038 = 1), 2-975
2456
MELDW status word interconnection,
2-976
2457
E_ZSW1 status word Infeed
2458
CU_ZSW status word Control Unit
2459
E_DIGITAL interconnection, 2-979
2460
Receive telegram, free interconnection via
BICO (p0922 = 999), 2-980
2470
Send telegram, free interconnection via
BICO (p0922 = 999), 2-981
2472
Status words, free interconnection, 2-982
2475
STW1 control word 1 interconnection
(r0108.4 = 1), 2-983
2476
PosSTW pos control word interconnection
(r0108.4 = 1), 2-985
SATZANW pos block select interconnec-
tion (r0108.4 = 1), 2-984
2479
ZSW1 status word 1 interconnection
(r0108.4 = 1), 2-986
2481
Receive telegram free interconnection via
BICO (p0922 = 999), 2-987
2483
Send telegram free interconnection via
BICO (p0922 = 999), 2-988
2501
Control word sequence control, 2-990
2503
Status word sequence control, 2-991
Index
2505
Control word setpoint channel, 2-992
2520
Control word speed controller, 2-993
2522
Status word speed controller, 2-994
2526
Status word closed-loop control, 2-995
2530
Status word closed-loop current control,
2-996
2534
Status word monitoring 1, 2-997
2536
2537
2546
Control word faults/alarms, 2-1000
2548
Status word faults/alarms 1 and 2, 2-1001
2610
Control unit, 2-1003
2634
Missing enable signals, line contactor
control, 2-1004
2701
Basic brake control (r0108.14 = 0),
2-1006
2704
Extended brake control/
zero speed detection (r0108.14 = 1),
2-1007
2707
Extended brake control/open and close
brake (r0108.14 = 1), 2-1008
2711
Extended brake control/signal outputs
(r0108.14 = 1), 2-1009
2800
Parameter manager, 2-1011
2802
Monitoring functions and
faults/alarms, 2-1012
2804
Status words, 2-1013
2810
Safe standstill (SH), 2-1014
2814
Safe brake control (SBC), 2-1015
3010
Fixed speed setpoints, 2-1017
3020
Motorized potentiometer, 2-1018
3030
Main/supplementary setpoint, setpoint
scaling, jogging, 2-1019
3040
Direction of rotation limitation and direc-
tion of rotation reversal, 2-1020
3050
Suppression bandwidth and speed limi-
ting, 2-1021
3060
Simple ramp-function generator, 2-1022
3070
Expanded ramp-function generator,
2-1023
3080
Ramp-function generator selection, status
word, tracking, 2-1024
3090
Dynamic Servo Control (DSC), 2-1025
3095
Generation of the speed limits
(r0108.8 = 0), 2-1027
3610
"Jog" mode (r0108.4 = 1), 2-1029
3612
"Referencing/reference point approach"
mode (r0108.4 = 1) (p2597 = 0 signal),
2-1030
3614
"Flying referencing" mode (r0108.4 = 1)
(p2597 = 1 signal), 2-1031
3616
"Traversing blocks" mode (r0108.4 = 1),
2-1032
3618
"Direct setpoint input/MDI" mode, dyna-
mic values (r0108.4 = 1), 2-1033
3620
Direct setpoint input mode/MDI
(r0108.4 = 1), 2-1034
3625
Mode control (r0108.4 = 1), 2-1035
3630
Traversing range limitations (r0108.4 = 1),
2-1036
3635
Interpolator (r0108.4 = 1), 2-1037
3640
Control word block selection/MDI selec-
tion (r0108.4 = 1), 2-1038
Index
3645
Status word 1 (r0108.3 = 1, r0108.4 = 1),
2-1039
3646
Status word 2 (r0108.3 = 1, r0108.4 = 1),
2-1040
3650
Status word, active traversing block/MDI
active (r0108.4 = 1), 2-1041
4010
Position actual value conditioning
(r0108.3 = 1), 2-1043
4015
Position controller (r0108.3 = 1), 2-1044
4020
Standstill/positioning monitoring
(r0108.3 = 1), 2-1045
4025
Dynamic following error monitoring, cam
switching values (r0108.3 = 1), 2-1046
4704
Position and temperature sensing,
encoder 1 ... 3, 2-1048
4710
Speed actual value and pole position sen-
sing for motor encoder (1), 2-1049
4711
Speed actual value sensing,
encoders 2, 3 (r0108.7 = 1), 2-1050
4715
sing for motor encoder ASM/SM (1),
2-1051
4720
Encoder interface, receive signals,
encoder 1 ... 3, 2-1052
4730
Encoder interface, send signals,
encoder 1 ... 3, 2-1053
4735
Reference mark search with
equivalent zero mark, encoder 1 ... 3,
2-1054
4740
Measuring input evaluation, measured va-
lue memory, encoder 1 ... 3, 2-1055
5020
Speed setpoint filter and
speed pre-control, 2-1057
5030
Reference model/pre-control symmetriza-
tion/setpoint speed n-controller,
2-1058
5040
Speed controller with encoder, 2-1059
5050
Kp_n/Tn_n adaptation, 2-1060
5060
Torque setpoint,
changeover control type, 2-1061
5210
Speed controller without encoder, 2-1062
5300
V/f control for diagnostics, 2-1063
5490
Speed control configuration, 2-1064
5610
Torque limiting/reduction/
interpolator, 2-1065
5620
Motor/generator torque limit, 2-1066
5630
Upper/lower torque limit, 2-1067
5640
Mode changeover,
power/current limiting, 2-1068
5650
Vdc_max controller and Vdc_min control-
ler, 2-1069
5710
Current setpoint filter, 2-1070
5714
Iq and Id controller, 2-1071
5722
Field current setpoint, flux controller,
2-1072
5730
Interface to the motor module
(gating/control signals, current actual
values), 2-1073
6030
Speed setpoint, droop, 2-1075
6031
Pre-control balancing for reference/
acceleration model, 2-1076
6040
Speed controller with/without encoder,
2-1077
6050
6060
Torque setpoint, 2-1079
6220
ler, 2-1080
Index
6300
V/f characteristic and voltage boost,
2-1081
6310
Resonance damping and slip compensati-
on, 2-1082
6320
ler, 2-1083
6490
6491
Flux control configuration, 2-1085
6495
Excitation (FEM, p0300 = 5), 2-1086
6630
6640
Current/power/
torque limit, 2-1088
6710
6714
Iq and Id controllers, 2-1090
6721
Id setpoint (PEM, p0300 = 2), 2-1091
6722
Field weakening characteristic, Id setpoint
(ASM, p0300 = 1), 2-1092
6723
Field weakening characteristic, flux cont-
roller (ASM, p0300 = 1), 2-1093
6724
Field weakening controller (PEM,
p0300 = 2), 2-1094
6725
Flux setpoint, field weakening controller
(FEM, p0300 = 5), 2-1095
6726
Field weakening controller, flux controller
(FEM, p0300 = 5), 2-1096
6727
Current model, excitation current monito-
ring, cos phi (FEM, p0300 = 5), 2-1097
6730
Interface to the motor module (ASM,
p0300 = 1), 2-1098
6731
Interface to the motor module (PEM,
p0300 = 2), 2-1099
6732
Interface to the motor module (FEM,
p0300 = 5), 2-1100
6799
Anzeigesignale, 2-1101
7008
kT estimator, 2-1103
7010
Friction characteristic, 2-1104
7012
Advanced Positioning Control (APC,
r0108 = 1), 2-1105
7014
External armature short circuit (EASC,
p0300 = 2xx or 4xx), 2-1106
7015
Internal voltage protection (IVP,
p0300 = 2xx or 4xx), 2-1107
7020
Synchronization, 2-1108
7950
Fixed values (r0108.16 = 1), 2-1110
7954
Motorized potentiometer (r0108.16 = 1),
2-1111
7958
Control (r0108.16 = 1), 2-1112
8010
Speed messages/signals, 2-1114
8012
Torque messages/signals,
motor locked/stalled, 2-1115
8013
Load monitoring (r0108.17 = 1), 2-1116
8014
Thermal monitoring, power unit, 2-1117
8016
Thermal monitoring, motor, 2-1118
8018
Separately excited synchronous motor
(FEM, p0300 = 5), 2-1119
8060
Fault buffer, 2-1121
8065
Alarm buffer, 2-1122
8070
Fault/warning trigger word (r2129),
2-1123
8075
Fault/alarm configuration, 2-1124
8134
Test sockets, 2-1126
8560
Command Data Set, CDS, 2-1128
8565
Drive Data Set, DDS, 2-1129
Index
8570
Encoder Data Set, EDS, 2-1130
8575
Motor Data Set, MDS, 2-1131
8580
Power unit Data Set, PDS, 2-1132
8720
Control word
sequence control infeed, 2-1134
8726
Status word
8732
Sequence control, 2-1136
8734
control, 2-1137
8750
Interface to the basic infeed power unit
(control signals, actual values), 2-1138
8760
(p3400 = 0), 2-1139
8820
Control word
8826
Status word
8828
Status word infeed, 2-1143
8832
8834
control, 2-1145
8850
Interface to the smart infeed (gating sig-
nals, actual values), 2-1146
8860
Messages/signals and monitoring func-
tions, line supply voltage monitoring,
2-1147
8864
tions, line supply frequency and Vdc
monitoring, 2-1148
8920
Control word
8926
Status word
8928
8932
8934
control, 2-1154
8940
Controller control factor reserve/controller
DC link voltage (p3400.0 = 0), 2-1155
8946
Current pre-control/current control-
ler/gating unit (p3400.0 = 0), 2-1156
8950
Interface to the active infeed, gating sig-
nals, actual values (p3400.0 = 0),
2-1157
8960
tions, line supply voltage monitoring
(p3400.0 = 0), 2-1158
8964
tions, line frequency and Vdc monito-
ring (p3400.0 = 0), 2-1159
9100
TB30 Digital inputs, electrically isolated
(DI 0 ... DI 3), 2-1161
9102
TB30 Digital outputs, electrically isolated
(DO 0 ... DO 3), 2-1162
9104
TB30 Analog inputs (AI 0 ... AI 1), 2-1163
9106
TB30 Analog outputs (AO 0 ... AO 1),
2-1164
9204
Receive telegram, free PDO mapping
(p8744 = 2), 2-1166
9206
Receive telegram, predefined connection
set (p8744 = 1), 2-1167
9208
Send telegram, free PDO mapping
(p8744 = 2), 2-1168
9210
Send telegram, predefined connection set
(p8744 = 1), 2-1169
9220
Control word CANopen, 2-1170
9226
Status word CANopen, 2-1171
Index
9400
TM15DI/DO Digital inputs/outputs, bidi-
rectional (DI/DO 0 ... DI/DO 7), 2-1173
9401
rectional (DI/DO 8 ... DI/DO 15),
2-1174
9402
rectional (DI/DO 16 ... DI/DO 23),
2-1175
9550
TM31 Digital inputs, electrically isolated
(DI 0 ... DI 3), 2-1177
9552
TM31 Digital inputs, electrically isolated
(DI 4 ... DI 7), 2-1178
9556
TM31 Digital relay outputs, electrically iso-
lated (DO 0 ... DO 1), 2-1179
9560
TM31 Digital inputs/outputs,
2-1180
9562
TM31 Digital inputs/outputs,
2-1181
9566
TM31 Analog input 0 (AI 0), 2-1182
9568
TM31 Analog input 1 (AI 1), 2-1183
9572
TM31 Analog output (AO 0 ... AO 1),
2-1184
9576
TM31 Temperature evaluation KTY/PTC,
2-1185
9577
TM31 Sensor monitoring KTY/PTC,
2-1186
9660
TM41 Digital inputs (DI 0 ... DI 3), 2-1188
9661
Digital inputs/outputs, bidirectional
(DI/DO 0 ... DI/DO 1), 2-1189
9662
(DI/DO 2 ... DI/DO 3), 2-1190
9663
Analog input (AI 0), 2-1191
9674
TM41 Incremental encoder emulation
(p4400 = 0), 2-1192
9676
TM41 Incremental encoder emulation
(p4400 = 1), 2-1193
9682
9880
VSM Analog inputs (AI 0 ... AI 3), 2-1196
9886
VSM Temperature evaluation, 2-1197
9887
VSM Sensor monitoring KTY/PTC,
2-1198
9912
Control word BOP20 interconnection,
2-1200
A
Abkrzungsverzeichnis, A-1461
Access Level (Parameter), 1-18
Acknowledgement
Adjustable, 3-1208
Default, 3-1208
IMMEDIATELY, 3-1205
POWER ON, 3-1205
PULSE INHIBIT, 3-1205
Active (parameter, C1(x), C2(x), U, T), 1-17
Contents, 2-1149
Control word
sequence control, 2-1150
Line contactor control, 2-1154
Messages and monitors, 2-1149
Status word
Address
PROFIBUS, 2-959
Technical Support, Foreword-7
Adjustable parameter, 1-13
Advanced Positioning Control (APC,
r0108 = 1), 2-1105
Index
Alarm
Cause, 3-1208
Display, 3-1202
Explanation of list, 3-1207
Fault location, 3-1208
General information, 3-1202
How to distinguish from a fault, 3-1202
List of all alarms, 3-1211
Name, 3-1208
Number, 3-1207
Numerical range, 3-1211
Remedy, 3-1209
Alarm value, 3-1208
Analog inputs
Analog outputs
Ausgangsklemmen
Axxxx, 3-1207
B
Basic Infeed, 2-1133
Contents, 2-1133
Control word
Interface (control signals, actual values),
2-1138
Messages and monitoring functions,
2-1139
control, 2-1137
Status word
Basic Operator Panel (BOP), 2-1199
BI, Binector Input, 1-14
BICO technology, 2-918
Binector
Input (BI), 1-14
Output (BO), 1-14
Bit field (parameter), 1-23
BO, Binector Output, 1-14
Brake control
Extended, 2-1005
Simple, 2-1005
C
C1(x) - Status commissioning unit, 1-17
C2(x) - Status commissioning drive, 1-17
Catalogs, B-1469
CDS (Command Data Set), 1-19
CDS, Command Data Set, 2-1127, 2-1128
Changeable (parameter, C1(x), C2(x), U, T),
1-17
CI, Connector Input, 1-14
CO, Connector Output, 1-14
CO/BO, Connector/Binector Output, 1-14
Command data sets, 2-1127
Communication
CANopen, 2-1165
PROFIBUS, 2-957
Communication Board CAN 10 (CBC10),
2-1165
Connector
Input (CI), 1-14
Output (CO), 1-14
Control
Servo, 2-1056
Smart Infeed, 2-1140
Technology controller, 2-1112
Vector, 2-1074
Control type, 2-1061
Control Unit 310 (CU310)
Digital inputs, 2-940
Digital inputs/outputs, 2-940
Control words, 2-957
Internal, 2-989
Standard message frames, 2-957
Controller Extension 32 (CX32)
CU_LINK, 2-951
Cxxxxx, 3-1207
D
Data record, 1-19
Data Set
Data set, 1-19
Index
Data Sets
Command Data Set, 1-19
Drive Data Set, 1-19
Encoder Data Set, 1-19
Motor Data Set, 1-19
Power unit Data Set, 1-19
Data sets, 2-1127
Data Type (parameter), 1-18
DCBRAKE, 3-1204
DDS, Drive Data Set, 1-19, 2-1127, 2-1129
Dependency (parameter), 1-23
Description (parameter), 1-23
Digital inputs
Control Unit 310 (CU310), 2-940
Terminal Module 15 for SINAMICS
(TM15DI/DO), 2-1172
Digital inputs/outputs
Digital outputs
Controller Extension 32 (CX32), 2-953
(TM15DI/DO), 2-1172
Direction limitation, 2-1016
Direction reversal, 2-1016
Display
Alarms, 3-1202
Faults, 3-1202
DO, Drive object, 1-14
Drive data sets, 2-1127
Drive object, 1-14
DSC (Dynamic Servo Control), 2-1016,
2-1025
E
EDS, (Encoder Data Set, 2-1130
EDS, Encoder Data Set, 2-1127
EDS, encoder data set, 1-19
Einfachpositionierer, 2-1028
Eingangsklemmen
ENCODER, 3-1204
Encoder data sets, 2-1127
Encoder evaluation, 2-1047
F
Factory setting, 1-22
Fault
Acknowledgement, 3-1205, 3-1208
Cause, 3-1208
Display, 3-1202
Explanation of list, 3-1207
Fault location, 3-1208
Fault reaction, 3-1208
Fault response, 3-1203
General information, 3-1202
How to distinguish from an alarm, 3-1202
List of all faults, 3-1211
Name, 3-1208
Number, 3-1207
Remedy, 3-1209
Save on POWER OFF, 3-1206
Aufbau, 2-1121
Save on POWER OFF, 3-1206
Fault value, 3-1208
Fixed values, 2-916, 2-1110
Folder
References, B-1469
Free interconnection status words, 2-982
Free interconnection via BICO, 2-957
Function (parameter), 1-23
Function diagrams Active Infeed
Control word
Controller control factor reserve/controller
DC link voltage (p3400.0 = 0), 2-1155
Current pre-control/current control-
ler/gating unit (p3400.0 = 0), 2-1156
Interface to the active infeed, gating sig-
nals, actual values (p3400.0 = 0),
2-1157
tions, line frequency and Vdc monito-
ring (p3400.0 = 0), 2-1159
tions, line supply voltage monitoring
(p3400.0 = 0), 2-1158
control, 2-1154
Status word
Index
Function diagrams Basic Infeed
Control word
Interface to the basic infeed power unit
(control signals, actual values), 2-1138
(p3400 = 0), 2-1139
control, 2-1137
Status word
Function diagrams Basic Operator Panel 20
(BOP20)
Control word BOP20 interconnection,
2-1200
Function diagrams Basic positioner
"Flying referencing" mode (r0108.4 = 1)
(p2597 = 1 signal), 2-1031
"Referencing/reference point approach"
mode (r0108.4 = 1) (p2597 = 0 signal),
2-1030
"Traversing blocks" mode (r0108.4 = 1),
2-1032
Betriebsart "Direct setpoint input/MDI"
mode, dynamic values (r0108.4 = 1),
2-1033
Control word block selection/MDI selec-
tion (r0108.4 = 1), 2-1038
Direct setpoint input mode/MDI
(r0108.4 = 1), 2-1034
Interpolator (r0108.4 = 1), 2-1037
Mode control (r0108.4 = 1), 2-1035
Status word 1 (r0108.3 = 1, r0108.4 = 1),
2-1039
Status word 2 (r0108.3 = 1, r0108.4 = 1),
2-1040
Status word, active traversing block/MDI
active (r0108.4 = 1), 2-1041
Traversing range limitations (r0108.4 = 1),
2-1036
Function diagrams Brake control
Basic brake control (r0108.14 = 0),
2-1006
Extended brake control/open and close
brake (r0108.14 = 1), 2-1008
Extended brake control/signal outputs
(r0108.14 = 1), 2-1009
Extended brake control/
zero speed detection (r0108.14 = 1),
2-1007
Function diagrams Communication Board
CAN
Control word CANopen, 2-1170
Receive telegram, free PDO mapping
(p8744 = 2), 2-1166
Receive telegram, predefined connection
set (p8744 = 1), 2-1167
Send telegram, free PDO mapping
(p8744 = 2), 2-1168
Send telegram, predefined connection set
(p8744 = 1), 2-1169
Status word CANopen, 2-1171
Function diagrams CU_LINK
CU_LINK Data transfer, 2-952
Function diagrams CU310 input/output termi-
nals
Digital inputs electrically isolated
(DI 0 ... DI 3), 2-941
2-943
2-942
Function diagrams CU320 input/output termi-
nals
(DI 0 ... DI 3), 2-945
(DI 4 ... DI 7), 2-946
Digital inputs/outputs bidirectional
(DI/DO 10 ... DI/DO 11), 2-948
(DI/DO 12 ... DI/DO 13), 2-949
(DI/DO 14 ... DI/DO 15), 2-950
(DI/DO 8 ... DI/DO 9), 2-947
Function diagrams CX32 input/output termi-
nals
(DI 0 ... DI 3), 2-954
(DI/DO 8 ... DI/DO 9), 2-955
Function diagrams CX32 input/outputs
(DI/DO 10 ... DI/DO 11), 2-956
Function diagrams Data records
Index
Function diagrams Einfachpositionierer
"Jog" mode (r0108.4 = 1), 2-1029
Function diagrams Encoder evaluations
Encoder interface, receive signals,
encoder 1 ... 3, 2-1052
Encoder interface, send signals,
encoder 1 ... 3, 2-1053
Measuring input evaluation, measured va-
lue memory, encoder 1 ... 3, 2-1055
Position and temperature sensing,
encoder 1 ... 3, 2-1048
Reference mark search with
equivalent zero mark, encoder 1 ... 3,
2-1054
sing for motor encoder (1), 2-1049
sing for motor encoder ASM/SM (1),
2-1051
Speed actual value sensing,
encoders 2, 3 (r0108.7 = 1), 2-1050
Function diagrams Faults and alarms
Fault/alarm configuration, 2-1124
Fault/warning trigger word (r2129),
2-1123
Function diagrams General
Handling BICO technology, 2-918
Function diagrams Internal control/status
words
Control word faults/alarms, 2-1000
Control word sequence control, 2-990
Control word setpoint channel, 2-992
Control word speed controller, 2-993
Status word closed-loop control, 2-995
Status word closed-loop current control,
2-996
Status word faults/alarms 1 and 2, 2-1001
Status word sequence control, 2-991
Status word speed controller, 2-994
Function diagrams Messages and monitoring
functions
Separately excited synchronous motor
(FEM, p0300 = 5), 2-1119
Speed messages/signals, 2-1114
Thermal monitoring, motor, 2-1118
Thermal monitoring, power unit, 2-1117
Torque messages/signals,
motor locked/stalled, 2-1115
Function diagrams Overview
Function diagrams Overviews
Basic Infeed, 2-935
CX32 input/output terminals, 2-922
Internal control/status words, Data sets,
2-924
Monitoring functions, faults, alarms, 2-934
PROFIBUS, 2-923
Servo closed-loop speed control and V/f
open-loop control, 2-927
Servo current control, 2-929
Servo encoder evaluations (position,
speed, temperature), 2-926
Servo generation of the torque limits,
2-928
Smart Infeed, 2-937
Vector closed-loop current control, 2-933
Vector closed-loop speed control and for-
mation of the torque limits, 2-932
Vector encoder evaluation functions (posi-
tion, speed, temperature), 2-930
Vector V/f control, 2-931
Function diagrams Position controller
Dynamic following error monitoring, cam
switching values (r0108.3 = 1), 2-1046
Position actual value conditioning
(r0108.3 = 1), 2-1043
Position controller (r0108.3 = 1), 2-1044
Standstill/positioning monitoring
(r0108.3 = 1), 2-1045
Index
Function diagrams PROFIBUS
A_DIGITAL interconnection, 2-969
CU_STW control word Control Unit
CU_ZSW status word Control Unit
E_DIGITAL interconnection, 2-979
E_STW1 control word Infeed
E_ZSW1 status word Infeed
MELDW status word interconnection,
2-976
PosSTW pos control word interconnection
(r0108.4 = 1), 2-985
PROFIBUS address, diagnostics, 2-959
PZD receive signals interconnection,
2-961
PZD send signals interconnection, 2-970
Receive telegram free interconnection via
BICO (p0922 = 999), 2-987
Receive telegram, free interconnection via
BICO (p0922 = 999), 2-980
SATZANW pos block select interconnec-
tion (r0108.4 = 1), 2-984
Send telegram free interconnection via
BICO (p0922 = 999), 2-988
Send telegram, free interconnection via
BICO (p0922 = 999), 2-981
Status words, free interconnection, 2-982
STW1 control word 1 interconnection
(r0108.4 = 1), 2-983
(p2038 = 0), 2-963
(p2038 = 1), 2-964
(p2038 = 2), 2-962
(p2038 = 0), 2-965
(p2038 = 1), 2-966
Telegrams and process data, 2-960
ZSW1 status word 1 interconnection
(r0108.4 = 1), 2-986
(p2038 = 0), 2-972
(p2038 = 1), 2-973
(p2038 = 2), 2-971
(p2038 = 0), 2-974
(p2038 = 1), 2-975
Function diagrams Safety Integrated
Monitoring functions and
faults/alarms, 2-1012
Parameter manager, 2-1011
Status words, 2-1013
Function diagrams Sequence control
Control unit, 2-1003
control, 2-1004
Function diagrams Servo control
Field current setpoint, flux controller,
2-1072
Interface to the motor module
(gating/control signals, current actual
values), 2-1073
Mode changeover,
power/current limiting, 2-1068
Motor/generator torque limit, 2-1066
Reference model/pre-control symmetriza-
tion/setpoint speed n-controller,
2-1058
Speed controller with encoder, 2-1059
Speed setpoint filter and
speed pre-control, 2-1057
Torque limiting/reduction/
interpolator, 2-1065
Torque setpoint,
changeover control type, 2-1061
ler, 2-1069
Index
Function diagrams Setpoint channel
Direction of rotation limitation and direc-
tion of rotation reversal, 2-1020
Dynamic Servo Control (DSC), 2-1025
Main/supplementary setpoint, setpoint
scaling, jogging, 2-1019
Motorized potentiometer, 2-1018
Ramp-function generator (expanded),
2-1023
Ramp-function generator (simple), 2-1022
Ramp-function generator selection, status
word, tracking, 2-1024
Suppression bandwidth and speed limi-
ting, 2-1021
Function diagrams Setpoint channel not acti-
vated
Generation of the speed limits
(r0108.8 = 0), 2-1027
Function diagrams Smart Infeed
Control word
tions, line supply frequency and Vdc
monitoring, 2-1148
tions, line supply voltage monitoring,
2-1147
control, 2-1145
Status word
Function diagrams smart infeed
Interface to the smart infeed (gating sig-
nals, actual values), 2-1146
Function diagrams Technology controller
Control (r0108.16 = 1), 2-1112
Fixed values (r0108.16 = 1), 2-1110
Motorized potentiometer (r0108.16 = 1),
2-1111
Function diagrams Technology functions
Advanced Positioning Control (APC),
2-1105
External armature short circuit (EASC,
p0300 = 2xx or 4xx), 2-1106
Internal voltage protection (IVP,
p0300 = 2xx or 4xx), 2-1107
Function diagrams Terminal Board 30 (TB30)
Analog inputs (AI 0 ... AI 1), 2-1163
Analog outputs (AO 0 ... AO 1), 2-1164
Digital inputs, electrically isolated
(DI 0 ... DI 3), 2-1161
Digital outputs, electrically isolated
(DO 0 ... DO 3), 2-1162
Function diagrams Terminal Module 15 for
SINAMICS (TM15DI/DO)
(DI/DO 0 ... DI/DO 7), 2-1173
(DI/DO 16 ... DI/DO 23), 2-1175
(DI/DO 8 ... DI/DO 15), 2-1174
Function diagrams Terminal Module 31
(TM31)
Analog input 0 (AI 0), 2-1182
Analog input 1 (AI 1), 2-1183
Analog output (AO 0 ... AO 1), 2-1184
(DI 0 ... DI 3), 2-1177
(DI 4 ... DI 7), 2-1178
Digital inputs/outputs,
2-1181
(DI/DO 8 ... DI/DO 9), 2-1180
Digital relay outputs, electrically isolated
(DO 0 ... DO 1), 2-1179
Sensor monitoring KTY/PTC, 2-1186
Temperature evaluation KTY/PTC,
2-1185
Function diagrams Terminal Module 41
(TM41)
Analog input (AI 0), 2-1191
Digital inputs (DI 0 ... DI 3), 2-1188
(DI/DO 0 ... DI/DO 1), 2-1189
(DI/DO 2 ... DI/DO 3), 2-1190
Incremental encoder emulation
(p4400 = 0), 2-1192
Incremental encoder emulation
(p4400 = 1), 2-1193
Function diagrams Test sockets
Index
Function diagrams Vector control
Anzeigesignale, 2-1101
Current model, excitation current monito-
ring, cos phi (FEM, p0300 = 5), 2-1097
Current/power/
torque limit, 2-1088
Excitation (FEM, p0300 = 5), 2-1086
Field weakening characteristic, flux cont-
roller (ASM, p0300 = 1), 2-1093
Field weakening characteristic, Id setpoint
(ASM, p0300 = 1), 2-1092
Field weakening controller (PEM,
p0300 = 2), 2-1094
Field weakening controller, flux controller
(FEM, p0300 = 2), 2-1096
Flux control configuration, 2-1085
Flux setpoint, field weakening controller
(FEM, p0300 = 5), 2-1095
Id setpoint (PEM, p0300 = 2), 2-1091
Interface to the motor module (ASM,
p0300 = 1), 2-1098
Interface to the motor module (FEM,
p0300 = 5), 2-1100
Interface to the motor module (PEM,
p0300 = 2), 2-1099
Pre-control balancing for reference/
acceleration model, 2-1076
Resonance damping and
slip compensation, 2-1082
2-1077
Speed setpoint, droop, 2-1075
V/f characteristic and voltage boost,
2-1081
ler, 2-1080, 2-1083
Function diagrams Voltage Sensing Module
(VSM)
Analog inputs (AI 0 ... AI 3), 2-1196
Temperature evaluation, 2-1197
Function Module, 1-14
Functiondiagrams Overview
Fxxxx, 3-1207
G
General
Function diagrams, 2-914
General information
about faults and alarms, 3-1202
Information about parameters, 1-12
H
Haltebremse, 2-1005
Hotline, Foreword-7
I
Incremental encoder emulation, 2-1187
Index
Factory setting, 1-23
Parameters, 1-13, 1-23
Information
Hotline, Foreword-7
Input terminals
Internal control/status words, 2-989
J
Jogging, 2-1016
K
Klemmen
L
Lageregler, 2-1042
Line contactor control, 2-1004, 2-1133,
2-1140, 2-1145, 2-1149, 2-1154
Linked parameter, 1-13
List
All parameters, 1-27
Faults and alarms, 3-1211
Message ranges, 3-1211
Parameter ranges, 1-25
Parameters for command data sets, 1-880
Parameters for drive data sets, 1-883
Parameters for encoder data sets, 1-894
Parameters for motor data sets, 1-896
Parameters for Power unit Data Sets,
1-900
References, B-1469
Liste
Abkrzungen, A-1461
Index
Listing
Contents Function diagrams, 2-905
M
Main/added setpoint, 2-1016
Manufacturer-specific message frames,
2-957
MDS, Motor Data Set, 1-19, 2-1127, 2-1131
Meldungen
n_ist < p2161, 2-1114
Message buffer, 2-1120
Message configuration, 2-1120
Message frames, 2-957
Messages, 2-1113
Drehzahl-Soll-Ist-Abweichung im
Toleranzband, 2-1114
f- oder n-Vergleichswert erreicht oder
berschritten, 2-1114
Hoch-/Rcklauf beendet, 2-1114
Momentenausnutzung < p2194, 2-1115
Momentensollwert < p2174, 2-1115
Motor blocked, 2-1115
Motor dreht vorwrts (n_ist >= 0), 2-1114
Motor stalled, 2-1115
n_ist <= p2155, 2-1114
n_ist > n_max, 2-1114
Antrieb, 2-1004
Monitoring functions, 2-1113
Motor data sets, 2-1127
Motorhaltebremse, 2-1005
Motorized potentiometer, 2-1016, 2-1111
N
Name
Alarm, 3-1208
Fault, 3-1208
Parameters, 1-14
Number
Alarm, 3-1207
Fault, 3-1207
Parameters, 1-13
Numerical range
Alarms, 3-1211
Faults, 3-1211
Parameters, 1-25
O
Object, 1-14
OFF1, 3-1203
OFF2, 3-1203
OFF3, 3-1204
Output terminals
P
P group (parameter), 1-19
Parameters
Access Level, 1-18
Changeable in, 1-17
Data type, 1-18
Description, 1-23
Dynamic index, 1-19
Full name, 1-14
Function, 1-23
Index, 1-13, 1-23
Linked parameter, 1-13
List of parameters, 1-27
List of parameters for
command data sets, 1-880
drive data sets, 1-883
encoder data sets, 1-894
motor data sets, 1-896
Power unit Data Sets, 1-900
Name, 1-14
Number, 1-13
P group, 1-19
Safety-related information, 1-23
Short name, 1-14
Unit choice, 1-20
Unit group, 1-20
Units, 1-20
Values, 1-23
Password for access level 4, 1-18
PDS, Power unit Data Set, 1-19, 2-1132
Phases of use, Foreword-5
PID controller (p0108.16 = 1), 2-1109
Process data, 2-957
PROFIBUS, 2-957
pxxxx, 1-13
Q
Questions on the manual, Foreword-8
Index
R
Ramp-function generator, 2-1016
Reaction to faults, 3-1203
References, B-1469
Relay outputs, 2-1176
Resetting faults, 3-1208
rxxxx, 1-13
S
Safety Integrated, 2-1010
Safety-related information (parameters), 1-23
Search tools for manual, Foreword-7
Servo control
Changeover control type, 2-1061
Contents, 2-1056
Speed controller, 2-1059
Speed setpoint filter and speed pre-cont-
rol, 2-1057
Setpoint channel not activated, 2-1026
Signalpfad bei Funktionsplnen, 2-915
Simple/extended brake control, 2-1005
SINAMICS Safety Integrated, 2-1010
Contents, 2-1140
Control word
Interface (gating signals, actual values),
2-1146
Line contactor control, 2-1145
Line supply voltage monitoring, 2-1147
Status word
Speed control
Servo, 2-1056
Vector, 2-1074
Speed messages, 2-1113
Status words
Internal, 2-989
Standard message frames, 2-957
STOP1, 3-1204
STOP2, 3-1204
Support, Foreword-7
Support Request, Foreword-7
Suppression bandwidth, 2-1016
T
T - status Ready to run, 1-17
Target group, Foreword-6
Technology controller (p0108.16 = 1), 2-1109
Technology functions, 2-1102
Terminal Board 30 (TB30)
Analog inputs/outputs, 2-1160
(TM15DI/DO), 2-1172
Analog inputs/outputs, 2-1176
Relay outputs, 2-1176
Terminals
Thermal monitoring, 2-1113
Torque messages, 2-1113
Triggern auf Meldungen (r2129), 2-1120
U
U - status Run, 1-17
Unit (parameter), 1-20
V
V/f characteristic
Vector, 2-1081
V/f control
Servo, 2-1063
Values (parameter), 1-23
Index
Vector control
Contents, 2-1074
Droop, 2-1075
Field weakening characteristic, Id set-
point, 2-1092
Flux control, 2-1085
Resonance damping and slip compensati-
on, 2-1082
2-1077
V/f characteristic, 2-1081
ler, 2-1083
Version
List of faults and alarms, 3-1211
List of parameters, 1-27
command data sets, 1-880
drive data sets, 1-883
encoder data sets, 1-894
motor data sets, 1-896
Power unit Data Sets, 1-900
Verzeichnis
Abkrzungsverzeichnis, A-1461
Inhaltsverzeichnis gesamt, Contents-9
Visualization parameters, 1-13
Analog inputs, 2-1195
Temperature evaluation, 2-1195
W
Wandler
Binektor-Konnektor, 2-982
Konnektor-Binektor, 2-980, 2-987
Z
Zwischenkreisspannungsregler, 2-1149
Index
1493 Siemens AG 2006 All Rights Reserved
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General Documentation/Catalogs
Manufacturer/Service Documentation
Overview of SINAMICS Documentation (03/2006)
D11.1
Converter Chassis Units
0.12 3 kW
SINAMICS
G110
G120
SINAMICS
G130
G150
D11
Converter Chassis Units
Converter Cabinet Units
SINAMICS
S120
D21.3
Vector Control Cabinet Units
75 1200 kW
D21.1
Chassis Units
Getting Started
Equipment Manual for Control Units and Additional System Components
Equipment Manual for Booksize Power Modules
Equipment Manual Booksize Cold-Plate Power Sections
Chassis Power Sections
Equipment Manual AC DRIVE
Commissioning Manual Commissioning Manual CANopen
Function Manual Function Manual Free Function Blocks
List Manual
SINAMICS
S150
DOCONCD
List Manual
SINAMICS
G130
List Manual
SINAMICS
G150
Getting Started
List Manual
SINAMICS
G110
Motors
EMC
Installation Guideline
SINAMICS
S120
G...
S...
Motors
SINAMICS
List Manual
SINAMICS
S150
List Manual
SINAMICS
GM150
SM150
SINAMICS
G120
Operating Instructions (Compact)
List Manual
Siemens AG
Automation & Drives
Motion Control Systems
P.O. Box 3180, D-91050 Erlangen
Germany
www.siemens.com/motioncontrol
Siemens AG, 2006
Subject to change without prior notice
Order No.: 6SL3097-2AP00-0BP4
Printed in Germany

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List Manual 03/2006 Edition

[3080] Ramp-function generator selection, status word, tracking

From Advanced Positioning Control (APC)

From Advanced Positioning Control

To the current control

Flux setpoint smooth

Calculation, excitation current setpoint

INF I_active smooth

1494 Siemens AG 2006 All Rights Reserved

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