SINAMICS V90, SIMOTICS S-1FL6 ___________________

Preface

___________________
Safety instructions 1

___________________ 2
SINAMICS/SIMOTICS General information

___________________
Mounting 3
SINAMICS V90, SIMOTICS S-1FL6
___________________
Connecting 4

___________________
Commissioning 5
Operating Instructions

___________________
Basic operator panel (BOP) 6

7
___________________
Control functions

___________________
Safety Integrated function 8

9
___________________
Tuning

10
___________________
Parameters

11
___________________
Diagnostics

A
___________________
Appendix

09/2015
A5E36037884
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG A5E36037884 Copyright © Siemens AG 2015.

Division Digital Factory Ⓟ 09/2015 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

Documentation components

Document Content
Operating Instructions (this manual)
Getting Started Describes how to install, connect, operate, and perform
basic commissioning of the SINAMICS V90 servo system.
SIMOTICS S-1FL6 Servo Motors Installation Guide Describes how to install the SMOTICS S-1FL6 servo motor
and relevant safety notices.

Target group
This manual provides information about the SINAMICS V90 servo system for planners,
operators, mechanical engineers, electrical engineers, commissioning engineers, and
service engineers.

Technical support

Country Hotline
China +86 400 810 4288
Germany +49 911 895 7222
Italy +39 (02) 24362000
India +91 22 2760 0150
Turkey +90 (216) 4440747
Further service contact information:
Support contacts (http://support.automation.siemens.com/WW/view/en/16604999)

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Preface

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Table of contents

Preface ................................................................................................................................................... 3
1 Safety instructions ................................................................................................................................. 11
1.1 Fundamental safety instructions .............................................................................................11
1.1.1 General safety instructions .....................................................................................................11
1.1.2 Handling electrostatic sensitive devices (ESD) ......................................................................16
1.1.3 Industrial security ....................................................................................................................17
1.1.4 Residual risks of power drive systems....................................................................................17
1.1.5 Residual risks during the operation of electric motors ............................................................19
1.2 Additional safety instructions ..................................................................................................20
2 General information .............................................................................................................................. 27
2.1 Deliverables ............................................................................................................................27
2.1.1 Drive components ...................................................................................................................27
2.1.2 Motor components ..................................................................................................................30
2.2 Device combination.................................................................................................................33
2.3 Product overview ....................................................................................................................35
2.4 System configuration ..............................................................................................................38
2.5 Accessories .............................................................................................................................42
2.6 Function list .............................................................................................................................52
2.7 Technical data .........................................................................................................................54
2.7.1 Technical data - servo drives ..................................................................................................54
2.7.2 Technical data - servo motors ................................................................................................58
2.7.3 Technical data - cables ...........................................................................................................66
3 Mounting ............................................................................................................................................... 67
3.1 Mounting the drive ..................................................................................................................67
3.1.1 Mounting orientation and clearance........................................................................................67
3.1.2 Drill patterns and outline dimensions ......................................................................................68
3.1.3 Mounting the drive ..................................................................................................................72
3.2 Mounting the motor .................................................................................................................72
3.2.1 Mounting orientation and dimensions .....................................................................................72
3.2.2 Mounting the motor .................................................................................................................78
4 Connecting ........................................................................................................................................... 81
4.1 System connection..................................................................................................................81
4.2 Main circuit wirings ..................................................................................................................86
4.2.1 Line supply - L1, L2, L3...........................................................................................................86
4.2.2 Motor power - U, V, W ............................................................................................................87
4.3 Control/Status interface ..........................................................................................................90
4.3.1 Digital inputs/outputs (DIs/DOs) .............................................................................................91

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4.3.1.1 DIs .......................................................................................................................................... 92

4.3.1.2 DOs ........................................................................................................................................ 97
4.3.2 Pulse train inputs/encoder outputs (PTIs/PTOs) ................................................................. 100
4.3.2.1 PTIs ...................................................................................................................................... 100
4.3.2.2 PTOs .................................................................................................................................... 101
4.3.3 Analog inputs/outputs (AIs/AOs) .......................................................................................... 101
4.3.3.1 AIs ........................................................................................................................................ 101
4.3.3.2 AOs ...................................................................................................................................... 102
4.3.4 Standard application wirings (factory setting) ...................................................................... 104
4.3.4.1 Pulse train input position control (PTI) ................................................................................. 104
4.3.4.2 Internal position control (IPos) ............................................................................................. 106
4.3.4.3 Speed control (S) ................................................................................................................. 108
4.3.4.4 Torque control (T) ................................................................................................................ 110
4.3.5 Connection examples with PLCs ......................................................................................... 112
4.3.5.1 SIMATIC S7-200 SMART .................................................................................................... 112
4.3.5.2 SIMATIC S7-200 .................................................................................................................. 116
4.3.5.3 SIMATIC S7-1200 ................................................................................................................ 120
4.4 24V power supply/STO ........................................................................................................ 124
4.5 Encoder interface ................................................................................................................. 125
4.6 External braking resistor - DCP, R1 ..................................................................................... 129
4.7 Motor holding brake interface (400V variant only) ............................................................... 129
4.8 RS485 interface ................................................................................................................... 130
5 Commissioning ....................................................................................................................................131
5.1 General commissioning information..................................................................................... 131
5.2 Initial commissioning in JOG mode...................................................................................... 132
5.3 Commissioning in pulse train position control mode (PTI) .................................................. 134
5.4 Commissioning in internal position control mode (IPos) ...................................................... 136
5.5 Commissioning in speed control mode (S) .......................................................................... 138
5.6 Commissioning in torque control mode (T) .......................................................................... 140
6 Basic operator panel (BOP) .................................................................................................................143
6.1 BOP overview ...................................................................................................................... 143
6.1.1 BOP display ......................................................................................................................... 144
6.1.2 Control buttons ..................................................................................................................... 146
6.2 Parameter structure ............................................................................................................. 147
6.3 Actual status display ............................................................................................................ 148
6.4 Basic operations................................................................................................................... 149
6.4.1 Editing parameters ............................................................................................................... 149
6.4.2 Viewing parameters ............................................................................................................. 152
6.4.3 Searching parameters in "P ALL" menu .............................................................................. 152
6.5 Auxiliary functions ................................................................................................................ 153
6.5.1 Jog ....................................................................................................................................... 154
6.5.2 Saving parameters (RAM to ROM) ...................................................................................... 155
6.5.3 Setting parameters to default ............................................................................................... 155

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6.5.4 Transferring data (drive to SD) .............................................................................................156

6.5.5 Transferring data (SD to drive) .............................................................................................157
6.5.6 Updating firmware .................................................................................................................157
6.5.7 Adjusting AI offsets ...............................................................................................................158
6.5.8 Adjusting an absolute encoder .............................................................................................160
7 Control functions ................................................................................................................................. 161
7.1 Compound controls ...............................................................................................................161
7.2 General functions ..................................................................................................................162
7.2.1 Servo ON ..............................................................................................................................162
7.2.2 Direction of motor rotation ....................................................................................................163
7.2.3 Over-travel ............................................................................................................................164
7.2.4 Motor holding brake ..............................................................................................................165
7.2.5 Stopping method at servo OFF .............................................................................................169
7.3 Pulse train input position control (PTI) ..................................................................................171
7.3.1 Sequence of SON .................................................................................................................171
7.3.2 Selecting a setpoint pulse train input channel ......................................................................171
7.3.3 Selecting a setpoint pulse train input form ............................................................................172
7.3.4 In position (INP) ....................................................................................................................172
7.3.5 Smoothing function ...............................................................................................................173
7.3.6 Electronic gear ratio ..............................................................................................................173
7.3.7 Inhibiting pulse train input setpoint (P-TRG) .........................................................................177
7.3.8 Speed limit ............................................................................................................................178
7.3.9 Torque limit ...........................................................................................................................179
7.3.10 Clearing droop pulses (CLR) ................................................................................................182
7.3.11 Referencing (only for absolute encoder)...............................................................................183
7.3.12 PTO function .........................................................................................................................183
7.4 Internal position control (IPos) ..............................................................................................185
7.4.1 Setting mechanical system ...................................................................................................185
7.4.2 Setting fixed position setpoint ...............................................................................................186
7.4.3 Selecting a positioning mode - absolute/incremental ...........................................................188
7.4.4 Configuring linear/modular axis ............................................................................................189
7.4.5 Backlash compensation ........................................................................................................189
7.4.6 Referencing ...........................................................................................................................190
7.4.7 Software position limit ...........................................................................................................198
7.4.8 Speed limit ............................................................................................................................199
7.4.9 Torque limit ...........................................................................................................................199
7.4.10 Selecting a fixed position setpoint and starting positioning ..................................................199
7.5 Speed control (S) ..................................................................................................................201
7.5.1 Configuring speed setpoint ...................................................................................................201
7.5.1.1 Speed control with external analog speed setpoint ..............................................................202
7.5.1.2 Speed control with fixed speed setpoint ...............................................................................203
7.5.2 Direction and stop .................................................................................................................204
7.5.3 Speed limit ............................................................................................................................204
7.5.4 Torque limit ...........................................................................................................................204
7.5.5 Zero speed clamp .................................................................................................................204
7.5.6 Ramp-function generator ......................................................................................................205
7.6 Torque control (T) .................................................................................................................207
7.6.1 300% overload capacity ........................................................................................................207
7.6.2 Torque setpoint .....................................................................................................................208

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7.6.2.1 Torque control with external analog torque setpoint ............................................................ 208
7.6.2.2 Torque control with fixed torque setpoint ............................................................................. 209
7.6.3 Direction and stop ................................................................................................................ 209
7.6.4 Speed limit ........................................................................................................................... 209
7.7 Communicating with the PLC............................................................................................... 210
7.7.1 USS communication ............................................................................................................ 210
7.7.2 Modbus communication ....................................................................................................... 212
7.8 Absolute position system ..................................................................................................... 224
7.8.1 Transmitting sequence for the absolute position data ......................................................... 225
8 Safety Integrated function ....................................................................................................................227
8.1 Standards and regulations ................................................................................................... 227
8.1.1 General information ............................................................................................................. 227
8.1.1.1 Aims ..................................................................................................................................... 227
8.1.1.2 Functional safety .................................................................................................................. 228
8.1.2 Safety of machinery in Europe ............................................................................................. 228
8.1.2.1 Machinery Directive ............................................................................................................. 228
8.1.2.2 Harmonized European Standards........................................................................................ 229
8.1.2.3 Standards for implementing safety-related controllers ........................................................ 230
8.1.2.4 DIN EN ISO 13849-1 (replaces EN 954-1) .......................................................................... 231
8.1.2.5 EN 62061 ............................................................................................................................. 232
8.1.2.6 Series of standards EN 61508 (VDE 0803) ......................................................................... 234
8.1.2.7 Risk analysis/assessment .................................................................................................... 234
8.1.2.8 Risk reduction ...................................................................................................................... 236
8.1.2.9 Residual risk......................................................................................................................... 236
8.1.3 Machine safety in the USA ................................................................................................... 236
8.1.3.1 Minimum requirements of the OSHA ................................................................................... 236
8.1.3.2 NRTL listing.......................................................................................................................... 237
8.1.3.3 NFPA 79 ............................................................................................................................... 237
8.1.3.4 ANSI B11 ............................................................................................................................. 238
8.1.4 Machine safety in Japan ...................................................................................................... 239
8.1.5 Equipment regulations ......................................................................................................... 239
8.2 General information about SINAMICS Safety Integrated .................................................... 240
8.3 System features ................................................................................................................... 240
8.3.1 STO functional safety data ................................................................................................... 240
8.3.2 Certification .......................................................................................................................... 240
8.3.3 Safety instructions ................................................................................................................ 241
8.3.4 Probability of failure of the safety function ........................................................................... 242
8.3.5 Response time ..................................................................................................................... 243
8.3.6 Residual risk......................................................................................................................... 243
8.4 Safety Integrated basic functions ......................................................................................... 243
8.4.1 Safe Torque Off (STO) ......................................................................................................... 243
8.4.2 Forced dormant error detection ........................................................................................... 245
9 Tuning .................................................................................................................................................247
9.1 Controller overview .............................................................................................................. 247
9.2 Tuning mode ........................................................................................................................ 249
9.3 One-button auto tuning ........................................................................................................ 250

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9.4 Real-time auto tuning ............................................................................................................255

9.5 Manual tuning .......................................................................................................................259
9.6 Resonance suppression .......................................................................................................260
9.7 Low frequency vibration suppression ...................................................................................263
9.8 Gain switching .......................................................................................................................264
9.8.1 Gain switching using an external digital input signal (G-CHANGE) .....................................265
9.8.2 Gain switching using position deviation ................................................................................266
9.8.3 Gain switching using position setpoint frequency .................................................................267
9.8.4 Gain switching using actual speed .......................................................................................267
9.9 PI/P switching .......................................................................................................................268
9.9.1 PI/P switching using torque setpoint .....................................................................................270
9.9.2 PI/P switching using an external digital input signal (G-CHANGE) ......................................270
9.9.3 PI/P switching using speed setpoint .....................................................................................271
9.9.4 PI/P switching using acceleration setpoint ...........................................................................272
9.9.5 PI/P switching using pulse deviation.....................................................................................273
10 Parameters ......................................................................................................................................... 275
10.1 Overview ...............................................................................................................................275
10.2 Parameter list ........................................................................................................................277
11 Diagnostics ......................................................................................................................................... 313
11.1 Overview ...............................................................................................................................313
11.2 List of faults and alarms ........................................................................................................318
A Appendix............................................................................................................................................. 335
A.1 Assembly of cable connectors on the motor side .................................................................335
A.2 Assembly of cable terminals on the drive side .....................................................................337
A.3 Motor selection ......................................................................................................................340
A.3.1 Selection procedure ..............................................................................................................340
A.3.2 Parameter description ...........................................................................................................341
A.3.3 Selection examples ...............................................................................................................343
A.4 Replacing fans ......................................................................................................................344
Index................................................................................................................................................... 347

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10 Operating Instructions, 09/2015, A5E36037884
Safety instructions 1
1.1 Fundamental safety instructions

1.1.1 General safety instructions

DANGER
Danger to life due to live parts and other energy sources
Death or serious injury can result when live parts are touched.
• Only work on electrical devices when you are qualified for this job.
• Always observe the country-specific safety rules.
Generally, six steps apply when establishing safety:
1. Prepare for shutdown and notify all those who will be affected by the procedure.
2. Disconnect the machine from the supply.
– Switch off the machine.
– Wait until the discharge time specified on the warning labels has elapsed.
– Check that it really is in a no-voltage condition, from phase conductor to phase
conductor and phase conductor to protective conductor.
– Check whether the existing auxiliary supply circuits are de-energized.
– Ensure that the motors cannot move.
3. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water.
4. Isolate or neutralize all hazardous energy sources by closing switches, grounding or
short-circuiting or closing valves, for example.
5. Secure the energy sources against switching on again.
6. Ensure that the correct machine is completely interlocked.
After you have completed the work, restore the operational readiness in the inverse
sequence.

WARNING
Danger to life through a hazardous voltage when connecting an unsuitable power supply
Touching live components can result in death or severe injury.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.

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Safety instructions
1.1 Fundamental safety instructions

WARNING
Danger to life when live parts are touched on damaged motors/devices
Improper handling of motors/devices can damage them.
For damaged motors/devices, hazardous voltages can be present at the enclosure or at
exposed components.
• Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
• Do not use any damaged motors/devices.

WARNING
Danger to life through electric shock due to unconnected cable shields
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
• As a minimum, connect cable shields and the cores of cables that are not used at one
end at the grounded housing potential.

WARNING
Danger to life due to electric shock when not grounded
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.

WARNING
Danger to life due to electric shock when opening plug connections in operation
When opening plug connections in operation, arcs can result in severe injury or death.
• Only open plug connections when the equipment is in a no-voltage state, unless it has
been explicitly stated that they can be opened in operation.

WARNING
Danger to life due to fire spreading if housing is inadequate
Fire and smoke development can cause severe personal injury or material damage.
• Install devices without a protective housing in a metal control cabinet (or protect the
device by another equivalent measure) in such a way that contact with fire is prevented.
• Ensure that smoke can only escape via controlled and monitored paths.

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 Safety instructions
1.1 Fundamental safety instructions

WARNING
Danger to life through unexpected movement of machines when using mobile wireless
devices or mobile phones
Using mobile wireless devices or mobile phones with a transmit power > 1 W closer than
approx. 2 m to the components may cause the devices to malfunction, influence the
functional safety of machines therefore putting people at risk or causing material damage.
• Switch the wireless devices or mobile phones off in the immediate vicinity of the
components.

WARNING
Danger to life due to the motor catching fire in the event of insulation overload
There is higher stress on the motor insulation through a ground fault in an IT system. If the
insulation fails, it is possible that death or severe injury can occur as a result of smoke and
fire.
• Use a monitoring device that signals an insulation fault.
• Correct the fault as quickly as possible so the motor insulation is not overloaded.

WARNING
Danger to life due to fire if overheating occurs because of insufficient ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in
increased downtime and reduced service lives for devices/systems.
• Ensure compliance with the specified minimum clearance as ventilation clearance for
the respective component.

WARNING
Danger of an accident occurring due to missing or illegible warning labels
Missing or illegible warning labels can result in accidents involving death or serious injury.
• Check that the warning labels are complete based on the documentation.
• Attach any missing warning labels to the components, in the national language if
necessary.
• Replace illegible warning labels.

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Safety instructions
1.1 Fundamental safety instructions

NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
• Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.

WARNING
Danger to life when safety functions are inactive
Safety functions that are inactive or that have not been adjusted accordingly can cause
operational faults on machines that could lead to serious injury or death.
• Observe the information in the appropriate product documentation before
commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.

Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.

WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
• Protect the parameterization (parameter assignments) against unauthorized access.
• Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).

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14 Operating Instructions, 09/2015, A5E36037884
 Safety instructions
1.1 Fundamental safety instructions

WARNING
Danger to life from permanent magnet fields
Even when switched off, electric motors with permanent magnets represent a potential risk
for persons with heart pacemakers or implants if they are close to converters/motors.
• If you are such a person (with heart pacemaker or implant) then keep a minimum
distance of 2 m.
• When transporting or storing permanent magnet motors always use the original packing
materials with the warning labels attached.
• Clearly mark the storage locations with the appropriate warning labels.
• IATA regulations must be observed when transported by air.

WARNING
Injury caused by moving parts or those that are flung out
Touching moving motor parts or drive output elements and loose motor parts that are flung
out (e.g. feather keys) in operation can result in severe injury or death.
• Remove any loose parts or secure them so that they cannot be flung out.
• Do not touch any moving parts.
• Safeguard all moving parts using the appropriate safety guards.

WARNING
Danger to life due to fire if overheating occurs because of insufficient cooling
Inadequate cooling can cause overheating resulting in death or severe injury as a result of
smoke and fire. This can also result in increased failures and reduced service lives of
motors.
• Comply with the specified coolant requirements for the motor.

WARNING
Danger to life due to fire as a result of overheating caused by incorrect operation
When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire
and smoke. This can result in severe injury or death. Further, excessively high
temperatures destroy motor components and result in increased failures as well as shorter
service lives of motors.
• Operate the motor according to the relevant specifications.
• Only operate the motors in conjunction with effective temperature monitoring.
• Immediately switch off the motor if excessively high temperatures occur.

SINAMICS V90, SIMOTICS S-1FL6

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Safety instructions
1.1 Fundamental safety instructions

CAUTION
Risk of injury due to touching hot surfaces
In operation, the motor can reach high temperatures, which can cause burns if touched.
• Mount the motor so that it is not accessible in operation.
When maintenance is required
• allow the motor to cool down before starting any work.
• Use the appropriate personnel protection equipment, e.g. gloves.

WARNING
Danger to life from electromagnetic fields
Electromagnetic fields (EMF) are generated by the operation of electrical power equipment
such as transformers, converters or motors.
People with pacemakers or implants are at a special risk in the immediate vicinity of these
devices/systems.
• Ensure that the persons involved are the necessary distance away (minimum 2 m).

1.1.2 Handling electrostatic sensitive devices (ESD)

Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.

NOTICE
Damage through electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged
individual components, integrated circuits, modules or devices.
• Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of
aluminum foil.
• Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
• Only place electronic components, modules or devices on conductive surfaces (table
with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).

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16 Operating Instructions, 09/2015, A5E36037884
 Safety instructions
1.1 Fundamental safety instructions

1.1.3 Industrial security

Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should
also be considered. For more information about industrial security, visit this address
(http://www.siemens.com/industrialsecurity).
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. For more information, visit this address (http://support.automation.siemens.com).

WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can result in death, severe injuries
and/or material damage.
• Keep the software up to date.
You will find relevant information and newsletters at this address
(http://support.automation.siemens.com).
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
You will find further information at this address
(http://www.siemens.com/industrialsecurity).
• Make sure that you include all installed products into the holistic industrial security
concept.

1.1.4 Residual risks of power drive systems

The control and drive components of a drive system are approved for industrial and
commercial use in industrial line supplies. Their use in public line supplies requires a
different configuration and/or additional measures.
These components may only be operated in closed housings or in higher-level control
cabinets with protective covers that are closed, and when all of the protective devices are
used.

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 17
Safety instructions
1.1 Fundamental safety instructions

These components may only be handled by qualified and trained technical personnel who
are knowledgeable and observe all of the safety instructions on the components and in the
associated technical user documentation.
When assessing the machine's risk in accordance with the respective local regulations (e.g.,
EC Machinery Directive), the machine manufacturer must take into account the following
residual risks emanating from the control and drive components of a drive system:
1. Unintentional movements of driven machine components during commissioning,
operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of the control system
– External influences/damage
2. In the event of a fault, exceptionally high temperatures, including an open fire, as well as
emissions of light, noise, particles, gases, etc. can occur inside and outside the inverter,
e.g.:
– Component failure
– Software errors
– Operation and/or environmental conditions outside the specification
– External influences/damage
Inverters of the Open Type/IP20 degree of protection must be installed in a metal control
cabinet (or protected by another equivalent measure) such that contact with fire inside
and outside the inverter is not possible.
3. Hazardous shock voltages caused by, for example,
– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a
risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too
close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly

SINAMICS V90, SIMOTICS S-1FL6

18 Operating Instructions, 09/2015, A5E36037884
 Safety instructions
1.1 Fundamental safety instructions

Note
The components must be protected against conductive contamination (e.g. by installing them
in a control cabinet with degree of protection IP54 according to IEC 60529 or NEMA 12).
Assuming that conductive contamination at the installation site can definitely be excluded, a
lower degree of cabinet protection may be permitted.

For more information about residual risks of the components in a drive system, see the
relevant sections in the technical user documentation.

1.1.5 Residual risks during the operation of electric motors

The motors may be operated only when all protective equipment is used.
Motors may be handled only by qualified and instructed qualified personnel that knows and
observes all safety instructions for the motors that are explained in the associated technical
user documentation.
When assessing the machine's risk in accordance with the respective local regulations (e.g.,
EC Machinery Directive), the machine manufacturer must take into account the following
residual risks emanating from the control and drive components of a drive system:
1. Unintentional movements of driven machine components during commissioning,
operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Errors during the assembly, installation, programming and parameterization
– Use of wireless devices/mobile phones in the immediate vicinity of the control system
– External influences/damage
2. In case of failure, unusually high temperatures inside and outside the motor, including
open fire as well as the emission of light, noise, particles, gases, etc. can result, for
example in
– Component failure
– Software errors in converter operation
– Operation and/or environmental conditions outside the specification
– External influences/damage

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 19
Safety instructions
1.2 Additional safety instructions

3. Hazardous shock voltages caused by, for example,

– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a
risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too
close
5. Release of noxious substances and emissions in the case of improper operation and/or
improper disposal of components

1.2 Additional safety instructions

Delivery check

Note
Intact deliverables
Deliverables received must be intact. It's not permissible to put a damaged unit into use.

Transport and storage

NOTICE
Property loss
Notify Siemens service personnel immediately of any damage discovered after delivery. If
the equipment is put into storage, keep it in a dry, dust-free, and low-vibration environment.
The storage temperature ranges from -40 °C to +70 °C.
Otherwise you will suffer property loss.

SINAMICS V90, SIMOTICS S-1FL6

20 Operating Instructions, 09/2015, A5E36037884
 Safety instructions
1.2 Additional safety instructions

Mechanical installation

WARNING
Death or severe personal injury from harsh installation environment
A harsh installation environment will jeopardize personal safety and equipment. Therefore,
• Do not install the drive and the motor in an area subject to inflammables or
combustibles, water or corrosion hazards.
• Do not install the drive and the motor in an area where it is likely to be exposed to
constant vibrations or physical shocks.
• Do not keep the drive exposed to strong electro-magnetic interference.
• Make sure that no foreign body (e.g., chips of wood or metal, dust, paper, etc.) can be
seen inside the drive or on the heat sink of the drive.
• Make sure that the drive is installed in an electrical cabinet with an adequate degree of
protection.

Note
Mounting clearance
To guarantee good heat dissipation and ease of cabling, keep sufficient clearance between
drives, one drive and another device/inner wall of the cabinet.

Note
Screw tightening
Make sure you fix the screw to the terminal door of the drive after you have completed the
installation work.

Electrical installation

DANGER
Death or severe personal injury from electrical shock
The earth leakage current for the drive can be greater than AC 3.5 mA, which may cause
death or severe personal injury due to electrical shock.
A fixed earth connection is required to eliminate the dangerous leakage current. In addition,
the minimum size of the protective earth conductor shall comply with the local safety
regulations for high leakage current equipment.

DANGER
Danger to life when PE connectors are touched
When the equipment is working, hazardous touch current can be present at the PE
connectors; if touched, this can result in death or severe personal injury.
• Do not touch the PE connector during operation or within a certain period since power
disconnection.

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 21
Safety instructions
1.2 Additional safety instructions

WARNING
Personal injury and damage to property from improper connections
Improper connections have high risks of electrical shock and short circuit, which will
jeopardize personal safety and equipment.
• The drive must be directly connected with the motor. It is not permissible to connect a
capacitor, inductor or filter between them.
• Make sure that all connections are correct and reliable, the drive and the motor are well
grounded.
• The line supply voltage must be within the allowable range (refer to the drive rating
plate). Never connect the line supply cable to the motor terminals U, V, W or connect
the motor power cable to the line input terminals L1, L2, L3.
• Never wire up the U, V, W terminals in an interchanged phase sequence.
• If the CE marking for cables is mandatory in some cases, the motor power cable, line
supply cable and brake cable used must all be shielded cables.
• For terminal box connection, make sure that the clearances in air between non-insulated
live parts are at least 5.5 mm.
• Route signal cables and power cables separately in different cable conduits. The signal
cables shall be at least 10 cm away from the power cables.
• Cables connected may not come into contact with rotating mechanical parts.

CAUTION
Personal injury and damage to property from inadequate protection
Inadequate protection may cause minor personal injury or damage to property.
• The drive must have been disconnected from the power supply for at least five minutes
before you perform any wiring to it.
• Check that the equipment is dead!
• Make sure that the drive and the motor are properly grounded.
• Route a second PE conductor with the cross section of the supply system lead in
parallel to the protective earth via separate terminals or use a copper protective earth
conductor with a cross section of 10 mm2.
• Terminals for equipotential bondings that exist in addition to terminals for PE conductors
must not be used for looping-through the PE conductors.
• To ensure protective separation, an isolating transformer must be used for the
200 VAC/380 VAC line supply system.

NOTICE
Damage to property from incorrect input voltage
Incorrect input voltage will cause severe damage to the drive.
It is recommended that the actual input voltage should not be greater than 110% of the
rated voltage or smaller than 75%.

SINAMICS V90, SIMOTICS S-1FL6

22 Operating Instructions, 09/2015, A5E36037884
 Safety instructions
1.2 Additional safety instructions

Note
STO wiring
The safe torque off (STO) function can stop a motor using safety relays without involving any
upper level control. It is disabled in the factory configuration by short-circuiting the STO
terminals. The safety function of the servo drive is SIL 2 (EN61800-5-2).
Connect the STO terminals as the actual requirements.

Commissioning/Operation

CAUTION
Burns from hot surface
The operating temperature of drive base-plate and heat sink is higher than 65 °C, and the
surface temperature of the motor may reach up to 80 °C. The hot surface may burn your
hands.
Do not touch the motor or the heat sink of the drive during operation or within a certain
period since power disconnection.

NOTICE
Shortening the service life of motor brake
The motor brake is used for holding purpose only. Frequent emergency stops with the
motor brake will shorten its service life.
Unless absolutely necessary, do not apply the motor brake as an emergency stop or
deceleration mechanism.

NOTICE
Damage to the equipment from frequent power-on/off
Frequent power-on/off will cause damage to the drive.
Do not switch on/off the power frequently.

Note
Voltage requirement
Before switching the power on, make sure that the drive system has been reliably installed
and connected, and the line supply voltage is within the allowable range.

Note
Drive functioning interfered by use of radio devices
Some environmental factors may result in power derating, e.g. altitude and surrounding
temperature. In this case, the drive cannot work normally.
Environmental factors must be taken into account during commissioning or operation.

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 23
Safety instructions
1.2 Additional safety instructions

Troubleshooting

WARNING
Drive remaining charged
The drive may remain charged in a short period after it is powered off.
Touching terminals or disassembling cables may cause minor injury due to electrical shock.
Do not touch terminals or disassemble cables until the drive system has been disconnected
for at least five minutes.

WARNING
Personal injury due to unexpected restart
The machine might unexpectedly restart after the power supply that was suddenly switched
off is switched on again. Touching the machine at this time may cause personal injury.
Do not approach the machine after the power supply is switched on again.

Disposal

Note
Equipment disposal
Disposal of the equipment must be made in accordance with the regulations of the
competent environmental protection administration on the disposal of electronic wastes.

Certification

WARNING
Requirements for United States/Canadian installations (UL/cUL)
Suitable for use on a circuit capable of delivering not more than 65000 rms Symmetrical
Amperes, 480 VAC maximum for 400 V variants of drives or 240 VAC maximum for 200 V
variant drives, when protected by UL/cUL listed (JDDZ) fuse or type E combination motor
controller. For each frame size AA, A, B, C and D, use 75 °C copper wire only.
This equipment is capable of providing internal motor overload protection according to
UL508C.
For Canadian (cUL) installations the drive mains supply must be fitted with any external
recommended suppressor with the following features:
• Surge-protective devices; device shall be a Listed Surge-protective device (Category
code VZCA and VZCA7)
• Rated nominal voltage 480/277 VAC, 50/60 Hz, 3-phase
• Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 VAC, SCCR = 65 kA
• Suitable for Type 2 SPD application
• Clamping shall be provided between phases and also between phase and ground.

SINAMICS V90, SIMOTICS S-1FL6

24 Operating Instructions, 09/2015, A5E36037884
 Safety instructions
1.2 Additional safety instructions

WARNING
Harms to human health from electromagnetic radiation
This product may cause high-frequency electromagnetic radiation, which will affect human
health. Therefore, in a residential environment, make sure that necessary suppression
measures are taken.

Note
Low Voltage Directive complied
Our products comply with EN61800-5-1: 2007 standards and Low Voltage Directive (Low
Voltage Directive 2006/95/EC).

Note
EMC instructions
• To comply with the EMC standards, all cables connected with the SINAMICS V90 system
must be shielded cables, which include cables from the line supply to the line filter and
from the line filter to the SINAMICS V90 drive.
• The SINAMICS V90 drives have been tested in accordance with the emission
requirements of the category of C2 (domestic) environment. The conductive emissions
and radiated emissions are in compliance with the standard of EN 55011 and reached
Class A.
• In a residential environment, this product can cause high-frequency interferences that
may necessitate suppression measures.
• For a radiated emission test, an external AC filter (between the mains supply and the
drive) will be used to meet the EMC requirement and the drive will be installed inside the
shielded metallic chamber, other parts of the motion control system (including the PLC,
DC power supply, spindle drive, motor) will be put inside the shielded chamber.
• For a conductive emission test, an external AC filter (between the mains supply and the
drive) will be used to meet the EMC requirement.
• For the radiated emission and conductive emission test, the length of the line supply
cable between the line filter and the drive must be shorter than 1 m.
• The harmonic current value of SINAMICS V90 exceed the class A limit of IEC 61000-3-2,
but the SINAMICS V90 system installed within the Category C2 First Environment require
supply authority acceptance for connection to the public low-voltage power supply
network. Please contact your local supply network provider.

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 25
Safety instructions
1.2 Additional safety instructions

Information regarding non-Siemens products

Note
Non-Siemens products
This document contains recommendations relating to non-Siemens products. Non-Siemens
products whose fundamental suitability is familiar to us. It goes without saying that equivalent
products from other manufacturers may be used. Our recommendations are to be seen as
helpful information, not as requirements or dictates. We cannot accept any liability for the
quality and properties/features of non-Siemens products.

Warning labels
Warning labels attached to the motor or drive have the following meanings:

Symbol Description
Risk of electric shock
Do not touch any terminals or disassemble cables until the drive has been
disconnected from power for at least five minutes.

Caution
Pay attention to the information given on the rating plate and operating
instructions.
For more information, refer to this manual.
Hot surface
Do not touch the heatsink of the drive during operation or within a certain
period since power disconnection because its surface temperature may
reach up to 65 °C.
No knocking at the shaft
Do not exert any shock at the shaft end; otherwise, the encoder may be
damaged.

Protective conductor terminal

SINAMICS V90, SIMOTICS S-1FL6

26 Operating Instructions, 09/2015, A5E36037884
General information 2
The SINAMICS V90 drives are available in two variants, 400 V variant and 200 V variant.
The V90 400 V variant has four frame sizes: FSAA, FSA, FSB, and FSC. They are used on
three phase power network only. The V90 200 V variant has four frame sizes too. They are
FSA, FSB, FSC, and FSD. The drives of frame sizes A, B, and C are used on the single
phase or three phase power network while the drive of frame size D is used on the three
phase power network only.

2.1 Deliverables

2.1.1 Drive components

Components in SINAMICS V90 200 V variant drive package

Component Illustration Rated power Outline dimension Frame size Order number
(kW) (Width x Height x
Depth, mm)
SINAMICS V90, 0.1/0.2 45 x 170 x 170 FSA 6SL3210-5FB10-1UA0
single/three-phase, 6SL3210-5FB10-2UA0
200 V
0.4 55 x 170 x 170 FSB 6SL3210-5FB10-4UA1
0.75 80 x 170 x 195 FSC 6SL3210-5FB10-8UA0
1.0/1.5/2.0 95 x 170 x 195 FSD 6SL3210-5FB11-0UA1
6SL3210-5FB11-5UA0
6SL3210-5FB12-0UA0
Connectors for FSA and FSB

for FSC and FSD

Shielding plate for FSA and FSB

for FSC and FSD

User documenta- Getting Started English-Chinese bilingual version

tion

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 27
General information
2.1 Deliverables

Components in SINAMICS V90 400 V variant drive package

Component Illustration Rated power Outline dimension Frame Order number

(kW) (Width x Height x size
Depth, mm)
SINAMICS V90, 0.4 60 x 180 x 200 FSAA 6SL3210-5FE10-4UA0
three phase, 400 V 0.75/1.0 80 x 180 x 200 FSA 6SL3210-5FE10-8UA0
6SL3210-5FE11-0UA0
1.5/2.0 100 x 180 x 220 FSB 6SL3210-5FE11-5UA0
6SL3210-5FE12-0UA0
3.5/5.0/7.0 140 x 260 x 240 FSC 6SL3210-5FE13-5UA0
6SL3210-5FE15-0UA0
6SL3210-5FE17-0UA0

Connectors for FSAA and FSA

for FSB and FSC

Shielding plate for FSAA and FSA

for FSB and FSC

User documenta- Getting Started English-Chinese bilingual version

tion

SINAMICS V90, SIMOTICS S-1FL6

28 Operating Instructions, 09/2015, A5E36037884
 General information
2.1 Deliverables

Drive rating plate (example)

① Drive name ⑤ Order number

② Power input ⑥ Product serial number

③ Power output ⑦ Part number

④ Rated motor power

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 29
General information
2.1 Deliverables

2.1.2 Motor components

Components in SIMOTICS S-1FL6 low inertia motor package

Component Illustration Rated torque (Nm) Shaft height (mm) Order number
SIMOTICS S-1FL6, low • 0.16 20 1FL6022-2AF21-
inertia 1❑❑1
• 0.32
1FL6024-2AF21-
1❑❑1
• 0.64 30 1FL6032-2AF21-
1❑❑1
• 1.27
1FL6034-2AF21-
1❑❑1
• 2.39 40 1FL6042-2AF21-
1❑❑1
• 3.18
1FL6044-2AF21-
1❑❑1
• 4.78 50 1FL6052-2AF21-
0❑❑1
• 6.37
1FL6054-2AF21-
0❑❑1

User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide

SINAMICS V90, SIMOTICS S-1FL6

30 Operating Instructions, 09/2015, A5E36037884
 General information
2.1 Deliverables

Components in SIMOTICS S-1FL6 high inertia motor package

Component Illustration Rated torque (Nm) Shaft height (mm) Order number
SIMOTICS S-1FL6, high • 1.27 45 1FL6042-1AF61-
inertia 0❑❑1
• 2.39
1FL6044-1AF61-
0❑❑1
• 3.58 65 1FL6061-1AC61-
0❑❑1
• 4.78
1FL6062-1AC61-
• 7.16
0❑❑1
• 8.36 1FL6064-1AC61-
• 9.55 0❑❑1
1FL6066-1AC61-
0❑❑1
1FL6067-1AC61-
0❑❑1
• 11.90 90 1FL6090-1AC61-
0❑❑1
• 16.70
1FL6092-1AC61-
• 23.90
0❑❑1
• 33.40 1FL6094-1AC61-
0❑❑1
1FL6096-1AC61-
0❑❑1
User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 31
General information
2.1 Deliverables

Motor rating plate (example)

① Motor type ⑦ Rated power ⑬ Rated current

② Order number ⑧ Encoder type and resolution ⑭ Holding brake

③ Serial number ⑨ Thermal class ⑮ Motor ID

④ Rated torque ⑩ Degree of protection ⑯ Weight

⑤ Stall torque ⑪ Motor operating mode ⑰ Maximum speed

⑥ Rated voltage ⑫ Stall current ⑱ Rated speed

SINAMICS V90, SIMOTICS S-1FL6

32 Operating Instructions, 09/2015, A5E36037884
 General information
2.2 Device combination

2.2 Device combination

The tables below show the combination of SINAMICS V90 servo drives and SIMOTICS S-
1FL6 servo motors.

Combination between V90 200 V variant drives and low inertia motors
SIMOTICS S-1FL6 servo motor SINAMICS V90 servo drive
Type Rated Rated Rated Shaft Motor ID Order number1) Order number Frame Power
torque power speed height Without With size supply
(Nm) (kW) (rpm) (mm) brake brake
Low 0.16 0.05 3000 20 42 * 43 1FL6022-2AF21- 6SL3210-5FB10- FSA 1/3-
inertia 1A❑1 1UA0 phase
0.32 0.1 3000 20 46 47 1FL6024-2AF21- 200 VA
1A❑1 C to
240 VA
0.64 0.2 3000 30 50 * 51 1FL6032-2AF21- 6SL3210-5FB10-
C
1A❑1 2UA0
1.27 0.4 3000 30 54 * 55 1FL6034-2AF21- 6SL3210-5FB10- FSB
1A❑1 4UA1
2.39 0.75 3000 40 58 * 59 1FL6042-2AF21- 6SL3210-5FB10- FSC
1A❑1 8UA0
3.18 1 3000 40 62 * 63 1FL6044-2AF21- 6SL3210-5FB11- FSD 3-phase
1A❑1 0UA1 200 VA
4.78 1.5 3000 50 66 * 67 1FL6052-2AF21- 6SL3210-5FB11- C to
0A❑1 5UA0 240 VA
C
6.37 2 3000 50 70 * 71 1FL6054-2AF21- 6SL3210-5FB12-
0A❑1 0UA0

Combination between V90 400 V variant drives and high inertia motors
SIMOTICS S-1FL6 servo motor SINAMICS V90 servo drive
Type Rated Rated Rated Shaft Motor ID Order number1) Order number Frame Power
torque power speed height Without With size supply
(Nm) (kW) (rpm) (mm) brake brake
High 1.27 0.4 3000 45 18 * 19 1FL6042-1AF61- 6SL3210-5FE10- FSAA 3-phase
inertia 0A❑1 4UA0 380 VA
10009 10038 1FL6042-1AF61- C to
0L❑1 480 VA
C
2.39 0.75 3000 45 20 * 21 1FL6044-1AF61- 6SL3210-5FE10- FSA
0A❑1 8UA0
10010 10039 1FL6044-1AF61-
0L❑1
3.58 0.75 2000 65 22 23 1FL6061-1AC61- 6SL3210-5FE11-
0A❑1 0UA0
10011 10040 1FL6061-1AC61-
0L❑1
4.78 1.0 2000 65 24 * 25 1FL6062-1AC61-
0A❑1
10012 10041 1FL6062-1AC61-
0L❑1

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Operating Instructions, 09/2015, A5E36037884 33
General information
2.2 Device combination

SIMOTICS S-1FL6 servo motor SINAMICS V90 servo drive

Type Rated Rated Rated Shaft Motor ID Order number1) Order number Frame Power
torque power speed height Without With size supply
(Nm) (kW) (rpm) (mm) brake brake
7.16 1.5 2000 65 26 * 27 1FL6064-1AC61- 6SL3210-5FE11- FSB
0A❑1 5UA0
10013 10042 1FL6064-1AC61-
0L❑1
8.36 1.75 2000 65 28 29 1FL6066-1AC61-
0A❑1
10014 10043 1FL6066-1AC61-
0L❑1
9.55 2.0 2000 65 30 * 31 1FL6067-1AC61- 6SL3210-5FE12-
0A❑1 0UA0
10015 10044 1FL6067-1AC61-
0L❑1
11.9 2.5 2000 90 32 33 1FL6090-1AC61-
0A❑1
10016 10045 1FL6090-1AC61-
0L❑1
16.7 3.5 2000 90 34 * 35 1FL6092-1AC61- 6SL3210-5FE13- FSC
0A❑1 5UA0
10017 10046 1FL6092-1AC61-
0L❑1
23.9 5.0 2000 90 36 * 37 1FL6094-1AC61- 6SL3210-5FE15-
0A❑1 0UA0
10018 10047 1FL6094-1AC61-
0L❑1
33.4 7.0 2000 90 38 * 39 1FL6096-1AC61- 6SL3210-5FE17-
0A❑1 0UA0
10019 10048 1FL6096-1AC61-
0L❑1
1)The symbol ❑ in the motor order numbers is for optional configurations (mechanics). Refer
to the motor rating plate explanation in Motor components (Page 30) for detailed information.
The Motor ID values marked with an asterisk (*) are the default incremental motor IDs for
2)

V90 drives. If you have connected a different motor to the drive, you need to configure the
motor ID manually.

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34 Operating Instructions, 09/2015, A5E36037884
 General information
2.3 Product overview

2.3 Product overview

SINAMICS V90 servo drives

● SINAMICS V90 200 V variant
FSA and FSB

FSC and FSD

SINAMICS V90, SIMOTICS S-1FL6

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General information
2.3 Product overview

● SINAMICS V90 400V variant

FSAA and FSA

FSB and FSC

SINAMICS V90, SIMOTICS S-1FL6

36 Operating Instructions, 09/2015, A5E36037884
 General information
2.3 Product overview

SIMOTICS S-1FL6 servo motors

● Low inertia motors
Shaft-height: 20 mm, 30 mm, and 40 mm

Shaft-height: 50 mm

SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 09/2015, A5E36037884 37
General information
2.4 System configuration

● High inertia motors

Shaft-height: 45 mm, 65 mm, and 90 mm

2.4 System configuration

The SINAMICS V90 servo drive is integrated with digital input/output interface, pulse train
interface and analog interface. It can be connected either to a Siemens controller like S7-200,
S7-1200 or S7-200 SMART, or to a third-party controller. Absolute position information can
be read from the servo drive by the PLC via RS485 port.
A configuration software tool, SINAMICS V-ASSISTANT, can be installed on a PC. The PC
can communicate with SINAMICS V90 servo drive with a USB cable for performing
parameter settings, trial run, status display monitoring, gain adjustments, and so on.
The following illustration shows an example of the SINAMICS V90 servo system
configuration:

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2.4 System configuration

SINAMICS V90 200 V variant

The configuration for FSB when used on the single phase power network:

SINAMICS V90, SIMOTICS S-1FL6

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2.4 System configuration

The illustration below takes the connection between FSD and low inertia servo motor of
50 mm shaft-height when used on the three phase power network for an example.

SINAMICS V90, SIMOTICS S-1FL6

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2.4 System configuration

SINAMICS V90 400 V variant

SINAMICS V90, SIMOTICS S-1FL6

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2.5 Accessories

2.5 Accessories

Cables and connectors

The illustration below shows cables between the drive and the motor and configurable cable
connectors:

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You can select cables and connectors according to the table below:

MOTION-CONNECT 300 cable Cable connector Cable connector

(motor side) (drive side)
Type Length Order No. Type Order No. Type Order No.
6FX3002-... 6FX2003-... 6FX2003-...
Brake cable (A1) 3m 5BK02-1AD0 Brake connector 0LL52 - -
5m 5BK02-1AF0 (A2)

10 m 5BK02-1BA0
20 m 5BK02-1CA0
Brake cable (a1) 3m 5BL02-1AD0 Brake connector 0LL51
5m 5BL02-1AF0 (a2)

7m* 5BL02-1AH0
10 m 5BL02-1BA0
15 m * 5BL02-1BF0
20 m 5BL02-1CA0
Power cable (B1) 3m 5CK01-1AD0 Power connector 0LL12 - -
5m 5CK01-1AF0 (B2)
10 m 5CK01-1BA0
20 m 5CK01-1CA0
Power cable (b1) 3m 5CL01-1AD0 Power connector 0LL11
5m 5CL01-1AF0 (b2)

7m* 5CL01-1AH0
10 m 5CL01-1BA0
15 m * 5CL01-1BF0
20 m 5CL01-1CA0
Power cable (C1) 3m 5CK31-1AD0
5m 5CK31-1AF0
10 m 5CK31-1BA0
20 m 5CK31-1CA0
Power cable (c1) 3m 5CL11-1AD0
5m 5CL11-1AF0
7m 5CL11-1AH0
10 m 5CL11-1BA0
15 m 5CL11-1BF0
20 m 5CL11-1CA0

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2.5 Accessories

MOTION-CONNECT 300 cable Cable connector Cable connector

(motor side) (drive side)
Type Length Order No. Type Order No. Type Order No.
6FX3002-... 6FX2003-... 6FX2003-...
Incremental encoder 3m 2CT20-1AD0 Incremental en- 0SL12 Encoder 0SB14
cable (D1) 5m 2CT20-1AF0 coder connector connector
(D2) (d3)
10 m 2CT20-1BA0
20 m 2CT20-1CA0
Incremental encoder 3m 2CT10-1AD0 Incremental en- 0SL11
cable (d1) 5m 2CT10-1AF0 coder connector
(d2)
7m* 2CT10-1AH0
10 m 2CT10-1BA0
15 m * 2CT10-1BF0
20 m 2CT10-1CA0
Absolute encoder cable 3 m 2DB20-1AD0 Absolute encoder 0DB12
(E1) 5m 2DB20-1AF0 connector (E2)
10 m 2DB20-1BA0
20 m 2DB20-1CA0
Absolute encoder cable 3 m 2DB10-1AD0 Absolute encoder 0DB11
(e1) 5m 2DB10-1AF0 connector (e2)

7m* 2DB10-1AH0
10 m 2DB10-1BA0
15 m * 2DB10-1BF0
20 m 2DB10-1CA0

* The cables with length of 7 m and 15 m are only supplied for high inertia motor.

Cable and connector (between V90 drive and controller)

Name Order number Length (m)

Option 1
Setpoint connector (50 pins) 6SL3260-2NA00-0VA0 -
Setpoint cable (50 pins) 6SL3260-4NA00-1VB0 1
Option 2
Setpoint cable with terminal block (50 pins) 6SL3260-4NA00-1VA5 0.5

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External 24 VDC power supply

A 24 VDC power supply is needed to supply the V90 servo drive. Refer to the table below to
select the power supply:

Without a holding brake With a holding brake

Rated voltage (V) Maximum current (A) Rated voltage (V) Maximum current (A)
24 (-15% to +20%) 1.6 24 (-10% to +10%) 1) 3.6
1) The minimum voltage of 24 VDC -10% must be available at the connector on the motor side in
order to guarantee that the brake reliably opens. If the maximum voltage of 24 VDC +10% is ex-
ceeded, then the brake could re-close. The voltage drop along the brake feeder cable must be
taken into consideration. The voltage drop ΔU for copper cables can be approximately calculated
as follows:
ΔU [V] = 0.042 Ω·mm2/m ∙ (l/q) ∙ IBrake
Where: l = Cable length [m], q = Brake cable cross section [mm2], IBrake = DC current of brake [A]

Fuse/circuit breaker
A fuse/circuit breaker can be used to protect the system. Integral solid state short circuit
protection does not provide branch circuit protection. Branch circuit protection must be
provided in accordance with the National Electrical Code and any additional local codes.
Refer to the table below for the selection of fuses and circuit breakers:

SINAMICS V90 200 V variant

SINAMICS V90 Standard fuse Type E combination motor controller
Power Frame Order number Rated Class Rated cur- Rated cur- Rated Order number
supply size current rent rent/voltage power
(HP)
1-phase, FSA 6SL3210-5FB10- 6A J 2.8 A to 4 A 230 VAC/240 1/3 3RV 2011-1EA10
200 VAC to 1UA0 VAC
240 VAC 6SL3210-5FB10- 6A J 2.8 A to 4 A 230 VAC/240 1/3 3RV 2011-1EA10
2UA0 VAC
FSB 6SL3210-5FB10- 10 A J 5.5 A to 8 A 230 VAC/240 1 3RV 2011-1HA10
4UA1 VAC
FSC 6SL3210-5FB10- 20 A J 9 A to 12.5 230 VAC/240 2 3RV 2011-1KA10
8UA0 A VAC
3-phase, FSA 6SL3210-5FB10- 6A J 2.8 A to 4 A 230 VAC/240 3/4 3RV 2011-1EA10
200 VAC to 1UA0 VAC
240 VAC 6SL3210-5FB10- 6A J 2.8 A to 4 A 230 VAC/240 3/4 3RV 2011-1EA10
2UA0 VAC
FSB 6SL3210-5FB10- 10 A J 2.8 A to 4 A 230 VAC/240 3/4 3RV 2011-1EA10
4UA1 VAC
FSC 6SL3210-5FB10- 20 A J 5.5 A to 8 A 230 VAC/240 2 3RV 2011-1HA10
8UA0 VAC
FSD 6SL3210-5FB11- 20 A J 7 A to 10 A 230 VAC/240 3 3RV 2011-1JA10
0UA1 VAC
6SL3210-5FB11- 25 A J 10 A to 16 A 230 VAC/240 5 3RV 2011-4AA1
5UA0 VAC
6SL3210-5FB12- 25 A J 10 A to 16 A 230 VAC/240 5 3RV 2011-4AA1
0UA0 VAC

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2.5 Accessories

SINAMICS V90 400 V variant

SINAMICS V90 CE-compliant UL-compliant

Power Frame Order Standard fuse Circuit breaker Standard fuse Circuit breaker
supply size number Rated Order Rated cur- Order Rated cur- Class Rated cur- Order
current number rent/voltage number rent/voltage rent/voltage number
3- FSAA 6SL3210- 6A 3NA3 3.2 A, 690 3RV 10 A, 600 J 3.2 A, 690 3RV
phase, 5FE10- 801-6 VAC 1021- VAC VAC 1021-
380 V 4UA0 1DA10 1DA10
AC to FSA 6SL3210- 6A 3NA3 4 A, 690 3RV 10 A, 600 J 4 A, 690 3RV
480 V 5FE10- 801-6 VAC 1021- VAC VAC 1021-
AC 8UA0 1EA10 1EA10
6SL3210- 10 A 3NA3 5 A, 690 3RV 10 A, 600 J 5 A, 690 3RV
5FE11- 803-6 VAC 1021- VAC VAC 1021-
0UA0 1FA10 1FA10
FSB 6SL3210- 10 A 3NA3 10 A, 690 3RV 15 A, 600 J 10 A, 690 3RV
5FE11- 803-6 VAC 1021- VAC VAC 1021-
5UA0 1HA10 1HA10
6SL3210- 16 A 3NA3 16 A, 690 3RV 15 A, 600 J 16 A, 690 3RV
5FE12- 805-6 VAC 1021- VAC VAC 1021-
0UA0 4AA10 4AA10
FSC 6SL3210- 20 A 3NA3 20 A, 690 3RV 25 A, 600 J 20 A, 690 3RV
5FE13- 807-6 VAC 1021- VAC VAC 1021-
5UA0 4BA10 4BA10
6SL3210- 20 A 3NA3 20 A, 690 3RV 25 A, 600 J 20 A, 690 3RV
5FE15- 807-6 VAC 1021- VAC VAC 1021-
0UA0 4BA10 4BA10
6SL3210- 25 A 3NA3 25 A, 690 3RV 25 A, 600 J 25 A, 690 3RV
5FE17- 810-6 VAC 1021- VAC VAC 1021-
0UA0 4DA10 4DA10

Braking resistor
The SINAMICS V90 has a built-in braking resistor, the table below shows the information of
the built-in resistor:

SINAMICS V90 Resistance (Ω) Max. power Rated power (W) Max. energy (kJ)
Power sup- Frame size (kW)
ply
1/3-phase, FSA 150 1.09 13.5 0.55
200 VAC to FSB 100 1.64 20.5 0.82
240 VAC
FSC 50 3.28 41 1.64
3-phase, FSD 50 3.28 41 1.64
200 VAC to (1 kW)
240 VAC FSD 25 6.56 82 3.28
(1.5 kW to
2 kW)

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SINAMICS V90 Resistance (Ω) Max. power Rated power (W) Max. energy (kJ)
Power sup- Frame size (kW)
ply
3-phase, FSAA 533 1.2 17 1.8
380 VAC to FSA 160 4 57 6
480 VAC
FSB 70 9.1 131 13.7
FSC 27 23.7 339 35.6

When the motor works in a fast round-trip process, the voltage of the line supply increases.
The braking resistor starts to work if the voltage reaches to the set threshold. The
temperature of the heat sink increases (>100 °C) when the braking resistor is working. If
alarm A52901 and A5000 appear at the same time, you need to switch the internal braking
resistor to the external braking resistor. You can select a standard braking resistor according
to the table below:

SINAMICS V90 Resistance (Ω) Max. power Rated power (W) Max. energy (kJ)
Power sup- Frame size (kW)
ply
1/3-phase, FSA 150 1.09 20 0.8
200 VAC to FSB 100 1.64 21 1.23
240 VAC
FSC 50 3.28 62 2.46
3-phase, FSD 50 3.28 62 2.46
200VAC to (1 kW)
240 VAC FSD 25 6.56 123 4.92
(1.5 kW to
2 kW)
3-phase, FSAA 533 1.2 30 2.4
380 VAC to FSA 160 4 100 8
480 VAC
FSB 70 9.1 229 18.3
FSC 27 23.7 1185 189.6

Filter
Siemens recommends you to use a line filter to protect the system from high frequency noise.
The line filter restricts the conductive interference emitted from the SINAMICS V90 to the
permissible values. The SINAMICS V90 drives with these external line filters have been
tested in accordance with the emission requirements of the Category C2 environment. The
conductive emissions and radiated emissions are in compliance with the Class A
requirements of the EN 55011 standard.

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2.5 Accessories

The table below lists all filters recommended by Siemens:

SINAMICS V90 Rated current (A) Degree of protection Order number

Power sup- Frame size
ply
1-phase, FSA
200 VAC to FSB 18 6SL3203-0BB21-8VA0
240 VAC
FSC
3-phase, FSA
200 VAC to FSB 5 6SL3203-0BE15-0VA0
240 VAC
FSC
FSD 12 6SL3203-0BE21-2VA0
3-phase, FSAA 6SL3203-0BE15-0VA0
380 VAC to FSA 5 IP20
480 VAC
FSB 12 6SL3203-0BE21-2VA0
FSC 20 6SL3203-0BE22-0VA0

Outline dimensions (mm)

Filter used on the single phase power network

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Filter used on the three phase power network

Rated current (A) W W1 W2 H H1 H2 D ø1

5 55 8.5 38 170 158 145 130 5
12 75 8.5 58 170 158 145 140 5
20 60 10 40 250 240 220 130 5.5

Basic technical data

The table below shows the basic technical data of the line filters.

Filter used on the single phase power network

Rated current (A) 18
Rated voltage Single phase 200 VAC to 240 VAC (-15% to +10%)
Line frequency 50/60 Hz (-10% to +10%)
Product standard IEC 61800-5-1
Filter used on the three phase power network
Rated current (A) 5 12 20
Rated voltage Three phase 380 VAC to 480 VAC (-15% to +15%)
Line frequency 50/60 Hz (-10% to +10%)
Product standard IEC 61800-5-1

Insertion loss
The table below shows the insertion loss of the line filters.

Parameter Description
Rated current 5A
Noise frequency (MHz) 0.15 0.5 1.0 5.0 10 30
CM (dB) 60 65 55 45 35 20
DM (dB) 50 60 55 50 50 40

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Parameter Description
Rated current 12 A
Noise frequency (MHz) 0.15 0.5 1.0 5.0 10 30
CM (dB) 60 70 70 55 45 15
DM (dB) 60 65 60 50 45 30
Rated current 18 A
Noise frequency (MHz) 0.15 0.5 1.0 5.0 10 30
CM (dB) 32 70 82 88 81 90
DM (dB) 40 67 68 72 69 59
Rated current 20 A
Noise frequency (MHz) 0.15 0.5 1.0 5.0 10 30
CM (dB) 60 60 60 55 35 15
DM (dB) 40 55 55 50 45 30

Connecting (example)
The figure below provides a connection example. It shows how to connect a line filter to a
SINAMCIS V90 drive.
Filter used on the single phase power network

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Filter used on the three phase power network

Micro SD card/SD card

Optionally a micro SD card/SD card can be used to copy drive parameters or perform a
firmware update. For the servo drives with firmware version 1.04 or higher, you can select
high quality micro SD cards/SD cards with a maximum capacity of 32 GB from
manufacturers such as Kingston or SanDisk. For the servo drives with earlier firmware
version, you can select high quality micro SD cards/SD cards with a maximum capacity of 2
GB from manufacturers such as KINGMAX, Kingston or SanDisk.

Replacement fans
For SINAMICS V90 400 V variant:
● Fan kits for frame size B: 6SL3200-0WF00-0AA0
● Fan kits for frame size C: 6SL3200-0WF01-0AA0

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2.6 Function list

2.6 Function list

Function Description Control mode

Pulse train input position control Implements accurate positioning through two pulse train PTI
(PTI) (Page 171) input channels: 5 V differential or 24 V single end signal. In
addition, it supports S-curve position smoothing function
Internal position control (IPos) Implements accurate positioning through internal position IPos
(Page 185) commands (up to eight groups) and allows to specify the
acceleration/speed for positioning
Speed control (S) (Page 201) Flexibly controls motor speed and direction through external S
analog speed commands (0 - ±10 VDC) or internal speed
commands (up to seven groups)
Torque control (T) (Page 207) Flexibly controls motor output torque through external ana- T
log torque commands (0 - ±10 VDC) or internal torque
commands. In addition, it supports speed limit function to
prevent overspeed when a motor has no loads
Compound controls (Page 161) Supports flexible switches among position control mode, PTI/S, IPos/S, PTI/T,
speed control mode, and torque control mode IPos/T, S/T
Absolute position system Allows to implement motion control tasks immediately after PTI
(Page 224) the servo system with an absolute encoder is powered on,
needless of carrying out referencing or zero position opera-
tion beforehand
Gain switching (Page 264) Switches between gains during motor rotation or stop with PTI, IPos, S
an external signal or internal parameters to reduce noise
and positioning time, or improve the operation stability of a
servo system
PI/P switching (Page 268) Switches from PI control to P control with an external signal PTI, IPos, S
or internal parameters to suppress overshooting during
acceleration or deceleration (for speed control mode) or to
suppress undershooting during positioning and reduce the
settling time (for position control mode)
Safe Torque Off (STO) (Page 243) Safely disconnects torque-generating motor power supply PTI, IPos, S, T
to prevent an unintentional motor restart
Zero speed clamp (Page 204) Stops motor and clamps the motor shaft when motor speed S
setpoint is below a parameterized threshold level
Modbus communication (Page 212) Supports the communication between the SINAMICS V90 PTI, IPos, S, T
servo drive and PLC with the standard Modbus communica-
tion protocol
One-button auto tuning (Page 250) Estimates the machine characteristic and sets the closed PTI, IPos, S, T
loop control parameters (position loop gain, speed loop
gain, speed integral compensation, filter if necessary, etc.)
without any user intervention
Real-time auto tuning (Page 255) Estimates the machine characteristic and sets the closed PTI, IPos, S, T
loop control parameters (position loop gain, speed loop
gain, speed integral compensation, filter if necessary, etc.)
continuously in real time without any user intervention
Resonance suppression (Page 260) Suppresses the mechanical resonance, such as workpiece PTI, IPos, S, T
vibration and base shake
Low frequency vibration suppres- Suppresses the low frequency vibration in the machine IPos
sion (Page 263) system

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2.6 Function list

Function Description Control mode

Speed limit (Page 178) Limits motor speed through external analog speed limit PTI, IPos, S, T
commands (0 - ±10 VDC) or internal speed limit commands
(up to three groups)
Torque limit (Page 179) Limits motor torque through external analog torque limit PTI, IPos, S
commands (0 - ±10 VDC) or internal torque limit commands
(up to three groups)
Electronic gear ratio (Page 173) Defines a multiplier factor for input pulses PTI, IPos
Basic operator panel (BOP) Displays servo status on a 6-digit 7-segment LED display PTI, IPos, S, T
(Page 143)
External braking resistor - DCP, R1 An external braking resistor can be used when the internal PTI, IPos, S, T
(Page 129) braking resistor is insufficient for regenerative energy
Digital inputs/outputs (DIs/DOs) Control signals and status signals can be assigned to eight PTI, IPos, S, T
(Page 91) programmable digital inputs and six digital outputs
Smoothing function (Page 173) Transforms position characteristics from the pulse train PTI
input setpoint into an S-curve profile with a parameterized
time constant
SINAMICS V-ASSISTANT You can perform parameter settings, test operation, ad- PTI, IPos, S, T
justment and other operations with a PC

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2.7 Technical data

2.7 Technical data

2.7.1 Technical data - servo drives

General technical data

Parameter Description
24 VDC Voltage (V) 24 (-15% to +20%) 1)
power Maximum current (A) 1.6 A (when using a motor without a brake)
supply
3.6 A (when using a motor with a brake)
Overload capability 300%

Control system Servo control

Dynamic brake Built-in
Protective functions Earthing fault protection, output short-circuit protection 2), overvolt-
age/undervoltage protection, I2t inverter,I2t motor, IGBT overtemperature protec-
tion 3)
Speed Speed control range Analog speed command 1:2000, internal speed command 1:5000
control Analog speed command -10 VDC to +10 VDC/rated speed
mode input
Torque limit Set through a parameter or the analog input command (0 VDC to +10 VDC/max.
torque)
Position Max. input pulse frequency 1 M (differential input), 200 kpps (open collector input)
control Command pulse multiplying Electronic gear ratio (A/B)
mode factor A: 1 - 10000, B: 1 - 10000
1/50 <A/B < 200
In-position range setting 0 to ±10000 pulse (command pulse unit)
Error excessive ±1/10 revolutions
Torque limit Set through a parameter or the analog input command (0 VDC to +10 VDC/max.
torque)
Torque Analog torque command -10 VDC to +10VDC/max. torque (input impedance 10 kΩ to 12 kΩ)
control input
mode Speed limit Set through a parameter or the analog input command (0 VDC to +10 VDC/max.
rated speed)

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2.7 Technical data

Parameter Description
Environ- Surrounding air Opera- 0 °C to 45 °C: without power derating
mental temperature tion 45 °C to 55 °C: with power derating
condi-
tions

Storage -40 °C to +70 °C

Ambient humidi- Opera- < 90% (non-condensing)
ty tion
Storage 90% (non-condensing)
Operating environment Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil
gas, or dust
Altitude ≤ 1000 m (without power derating)

Degree of protection IP 20
Degree of pollution Class 2
Certifica-
tions

1) When SINAMICS V90 works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to
+10% to meet the voltage requirement of the brake.
2) Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be
provided in accordance with the National Electrical Code and any additional local codes.
3) SINAMICS V90 does not support motor overtemperature protection. Motor overtemperature is calculated by I2t and
protected by the output current from the drive.

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Specific technical data

SINAMICS V90 200 V variant

Order No. 6SL3210-5FB... 10-1UA0 10-2UA0 10-4UA1 10-8UA0 11-0UA1 11-5UA0 12-0UA0
Frame size FSA FSA FSB FSC FSD FSD FSD
Rated output current (A) 1.2 1.4 2.6 4.7 6.3 10.6 11.6
Max. output current (A) 3.6 4.2 7.8 14.1 18.9 31.8 34.8
Max. supported motor power (kW) 0.1 0.2 0.4 0.75 1.0 1.5 2
Output frequency (Hz) 0 to 330
Power sup- Voltage/frequency FSA, FSB and FSC: single phase/three phase 200 VAC to 240 VAC, 50/60 Hz
ply FSD: three phase 200 VAC to 240 VAC, 50/60 Hz
Permissible voltage -15% to +10%
fluctuation
Permissible frequency -10% to +10%
fluctuation
Rated input 1-phase 2.5 3.0 5.0 10.4 - - -
current (A) 3-phase 1.5 1.8 3.0 5.0 7.0 11.0 12.0
Power supply 1-phase 0.5 0.7 1.2 2.0 - - -
capacity 3-phase 0.5 0.7 1.1 1.9 2.7 4.2 4.6
(kVA)
Inrush current (A) 8.0
Cooling method Self-cooled Fan-cooled
Vibration Operation Shock: Operational area II
Peak acceleration: 5 g, 30 ms and 15 g, 11 ms
Quantity of shocks: 3 per direction × 6 direction
Duration of shock: 1 s
Vibra- Operational area II
tion: 10 Hz to 58 Hz: 0.075 mm deflection
58 Hz to 200 Hz: 1g vibration
Transport Vibra- 2 Hz to 9 Hz: 7.5 mm deflection
tion: 9 Hz to 200 Hz: 2 g vibration
Quantity of cycles: 10 per axis
Sweep seed: 1 octave/min
Storage Vibra- 2 Hz to 9 Hz: 3.5 mm deflection
tion: 9 Hz to 200 Hz: 1 g vibration
Quantity of cycles: 10 per axis
Sweep seed: 1 octave/min
Mechanical Outline dimensions (W x 45 x 170 x 170 55 x 170 80 x 170 95 x 170 x 195
design H x D, mm) x 170 x 195
Weight (kg) 1.1 1.3 2.0 2.3 2.4

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SINAMICS V90 400 V variant

Order No. 6SL3210-5FE... 10- 10- 11- 11- 12- 13- 15- 17-
4UA0 8UA0 0UA0 5UA0 0UA0 5UA0 0UA0 0UA0
Frame size FSAA FSA FSA FSB FSB FSC FSC FSC
Rated output current (A) 1.2 2.1 3.0 5.3 7.8 11.0 12.6 13.2
Max. output current (A) 3.6 6.3 9.0 13.8 23.4 33.0 37.8 39.6
Max. supported motor power (kW) 0.4 0.75 1.0 1.75 2.5 3.5 5.0 7.0
Output frequency (Hz) 0 to 330
Power sup- Voltage/frequency 3-phase 380 VAC to 480 VAC, 50/60 Hz
ply Permissible voltage fluc- -15% to +10%
tuation
Permissible frequency -10% to +10%
fluctuation
Rated input current (A) 1.5 2.6 3.8 5.8 9.8 13.8 15.8 16.5
Power supply capacity 1.7 3.0 4.3 6.6 11.1 15.7 18.0 18.9
(kVA)
Inrush current (A) 8.0 8.0 8.0 4.0 4.0 2.5 2.5 2.5
Cooling method Self-cooled Fan-cooled
Vibration Operation Shock: Operational area II
Peak acceleration: 5 g
Duration of shock: 30 ms
Vibra- Operational area II
tion: 10 Hz to 58 Hz: 0.075 mm deflection
58 Hz to 200 Hz: 1g vibration
Transport & Vibra- 5 Hz to 9 Hz: 7.5 mm deflection
storage tion: 9 Hz to 200 Hz: 2 g vibration
Vibration class: 2M3 transportation
Mechanical Outline dimensions (W x 60 x 80 x 180 x 200 100 x 180 x 220 140 x 260 x 240
design H x D, mm) 180 x
200
Weight (kg) 1.800 2.500 2.510 3.055 3.130 6.515 6.615 6.615

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2.7 Technical data

2.7.2 Technical data - servo motors

General technical data

Parameter Description
Type of motor Permanent-magnet synchronous motor
Cooling Self-cooled
Relative humidity [RH] 90% (non-condensing at 30°C )
Installation altitude [m] ≤ 1000 (without power derating)
Thermal class B
Vibration severity grade A (according to IEC 60034-14)
Shock resistance [m/s2] 25 (continuous in axial direction); 50 (continuous in radial direction); 250
(in a short time of 6 ms)
Bearing lifetime [h] > 20000 1)
Paint finish Black
Protection degree of shaft IP 65, with shaft oil seal
Type of construction IM B5, IM V1, and IM V3
Positive rotation Clockwise (default setting in SINAMICS V90 servo drives)

Certification

1) This lifetime is only for reference. When a motor keeps running at rated speed under rated load, replace its bearing after
20,000 to 30,000 hours of service time. Even if the time is not reached, the bearing must be replaced when unusual
noise, vibration, or faults are found.

Specific technical data

SIMOTICS S-1FL6, low inertia servo motor

Order No. 1FL60... 22 24 32 34 42 44 52 54

Rated power [kW] 0.05 0.1 0.2 0.4 0.75 1 1.5 2
Rated torque [Nm] 0.16 0.32 0.64 1.27 2.39 3.18 4.78 6.37
Maximum torque [Nm] 0.48 0.96 1.91 3.82 7.2 9.54 14.3 19.1
Rated speed [rpm] 3000
Maximum speed [rpm] 5000
Rated frequency [Hz] 200
Rated current [A] 1.2 1.2 1.4 2.6 4.7 6.3 10.6 11.6
Maximum current [A] 3.6 3.6 4.2 7.8 14.2 18.9 31.8 34.8
Moment of inertia [10-4 0.031 0.052 0.214 0.351 0.897 1.15 2.04 2.62
kgm2]

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Order No. 1FL60... 22 24 32 34 42 44 52 54

Moment of inertia (with 0.038 0.059 0.245 0.381 1.06 1.31 2.24 2.82
brake) [10-4 kgm2]
Recommended load to mo- Max. 30x Max. 20x Max. 15x
tor inertia ratio
Operating temperature [°C] 1FL602❑, 1FL603❑ and 1FL604❑: 0 to 40 (without power derating)
1FL605❑: 0 to 30 (without power derating)
Storage temperature [°C] -20 to +65
Maximum noise level [dB] 60
Rated voltage 24 ± 10%
(V)
Rated current 0.25 0.3 0.35 0.57
(A)
Holding brake 0.32 1.27 3.18 6.37
Holding
torque [Nm]
brake
Maximum 35 75 105 90
brake opening
time [ms]
Maximum 10 10 15 35
brake closing
time [ms]
Maximum 2000 1)
number of
emergency
stops
Oil seal lifetime [h] 3000 to 5000
Encoder lifetime [h] > 20000 2)
Protection degree of motor IP 65
body
Protection degree of cable IP20 -
end connecor
Weight [kg] With brake 0.70 0.86 1.48 1.92 3.68 4.20 6.76 8.00
Without brake 0.47 0.63 1.02 1.46 2.80 3.39 5.35 6.56
1) Restricted emergency stop operation is permissible. Up to 2000 braking operations can be executed with 300% rotor
moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inad-
missible amount of wear.
2) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is
30 °C, the encoder lifetime can be ensured.
Note:
When the surrounding temperature is between 30 °C and 40 °C, the 1FL605 motor will have a power derating of 10%.

Note
The data of rated torque, rated power, maximum torque, and armature resistance in the
above table allow a tolerance of 10%.

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2.7 Technical data

Torque-Speed characteristics

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2.7 Technical data

Note
• Continuous operating area is a series of states when a motor can operate continuously
and safely. The effective torque must be located in this area.
• Short-term operating area is a series of states when a motor can operate for a short
duration if its effective torque is larger than the rated torque.
• For the motors with different rated and maximum speeds, the output torque will decline at
a faster rate after the speed exceeds the rated speed.
• The feature in short-term operating area varies with power supply voltages.
• The continuous operating area becomes smaller and the voltage consumptions on the
cables grow larger when the cables in the major loop exceed 20 m.

Permissible radial and axial forces

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2.7 Technical data

SIMOTICS S-1FL6, high inertia servo motor

Order No. 1FL60... 42 44 61 62 64 66 67 90 92 94 96

Rated power [kW] 0.40 0.75 0.75 1.00 1.50 1.75 2.00 2.5 3.5 5.0 7.0 1)
Rated torque [Nm] 1.27 2.39 3.58 4.78 7.16 8.36 9.55 11.9 16.7 23.9 33.4
Maximum torque [Nm] 3.8 7.2 10.7 14.3 21.5 25.1 28.7 35.7 50.0 70.0 90.0
Rated speed [rpm] 3000 2000 2000
Maximum speed [rpm] 4000 3000 3000 2500 2000
Rated frequency [Hz] 200 133 133
Rated current [A] 1.2 2.1 2.5 3.0 4.6 5.3 5.9 7.8 11.0 12.6 13.2
Maximum current [A] 3.6 6.3 7.5 9.0 13.8 15.9 17.7 23.4 33.0 36.9 35.6
Moment of inertia [10-4 2.7 5.2 8.0 15.3 15.3 22.6 29.9 47.4 69.1 90.8 134.3
kgm2]
Moment of inertia (with 3.2 5.7 9.1 16.4 16.4 23.7 31.0 56.3 77.9 99.7 143.2
brake) [10-4 kgm2]
Recommended load to Max. 10× Max. 5× Max. 5×
motor inertia ratio
Operating temperature [°C] 0 to 40 (without power derating)
Storage temperature [°C] -15 to +65
Maximum noise level [dB] 65 70 70
Rated voltage 24 ± 10%
(V)
Rated current 0.88 1.44 1.88
(A)
Holding brake 3.5 12 30
Holding
torque [Nm]
brake
Maximum 60 180 220
brake opening
time [ms]
Maximum 45 60 115
brake closing
time [ms]
Maximum 2000 2)
number of
emergency
stops
Oil seal lifetime [h] 5000
Encoder lifetime [h] 20000 - 30000 3)
Degree of protection IP65, with shaft oil seal

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2.7 Technical data

Order No. 1FL60... 42 44 61 62 64 66 67 90 92 94 96

Weight of With brake 4.6 6.4 8.6 11.3 11.3 14.0 16.6 21.3 25.7 30.3 39.1
incremen- Without brake 3.3 5.1 5.6 8.3 8.3 11.0 13.6 15.3 19.7 24.3 33.2
tal encoder
motor [kg]
Weight of With brake 4.4 6.2 8.3 11.0 11.0 13.6 16.3 20.9 25.3 29.9 38.7
absolute Without brake 3.1 4.9 5.3 8.0 8.0 10.7 13.3 14.8 19.3 23.9 32.7
encoder
motor [kg]
1) When the surrounding temperature is higher than 30 °C, the 1FL6096 motors with brake will have a power derating of
10%.
2) Restricted emergency stop operation is permissible. Up to 2000 braking operations can be executed with 300% rotor
moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inad-
missible amount of wear.
3) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is
30 °C, the encoder lifetime can be ensured.

Note
The data of rated torque, rated power, and maximum torque in the above table allow a
tolerance of 10%.

Power derating
For deviating conditions (surrounding temperature > 40 °C or installation altitude > 1000 m
above sea level) the permissible torque/power must be determined from the following table.
Surrounding temperatures and installation altitudes are rounded off to 5 °C and 500 m
respectively.

Power derating as a function of the installation altitude and ambient temperature

Installation altitude above Surrounding temperature in °C

sea level (m) < 30 30 to 40 45 50 55
1000 1.07 1.00 0.96 0.92 0.87
1500 1.04 0.97 0.93 0.89 0.84
2000 1.00 0.94 0.90 0.86 0.82
2500 0.96 0.90 0.86 0.83 0.78
3000 0.92 0.86 0.82 0.79 0.75
3500 0.88 0.82 0.79 0.75 0.71
4000 0.82 0.77 0.74 0.71 0.67

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2.7 Technical data

Torque-Speed characteristics

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2.7 Technical data

Note
• Continuous operating area is a series of states when a motor can operate continuously
and safely. The effective torque must be located in this area.
• Short-term operating area is a series of states when a motor can operate for a short
duration if its effective torque is larger than the rated torque.
• For the motors with different rated and maximum speeds, the output torque will decline at
a faster rate after the speed exceeds the rated speed.
• The feature in short-term operating area varies with power supply voltages.
• The continuous operating area becomes smaller and the voltage consumptions grows
larger when the cables in the major loop exceed 20 meters.
• For 1FL6096 motors, the maximum speed can be ensured when the line supply voltage is
higher than 380V.

Permissible radial and axial forces

Note
1FL604❑ and 1FL609❑ have a 5 mm of shaft sheltered in sleeves, and 1FL606❑ has an 8
mm of shaft in sleeves. Therefore, the distances to flange in the above three figures begin
respectively from 5 mm, 8mm, and 5 mm.

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2.7 Technical data

2.7.3 Technical data - cables

Cables used in V90 200 V variant servo system

Parameter MOTION-CONNECT 300 MOTION-CONNECT 300 MOTION-CONNECT 300
Power Cable Encoder Cable Brake Cable
Jacket material PVC PVC PVC
Number of cores 4 10 2
Cross-section of cores (mm2) 4 x 0.75 (for motors of 0.05 3 x 2 x 0.20 + 4 x 0.25 2 x 0.75
kW to 1 kW)
4 x 2.5 (for motors of 1.5
kW to 2 kW)
Rated voltage (V) 300/500 30 30
Degree of protection (motor-side IP20 (for motors of 0.05 kW to 1 kW)
only) IP65 (for motors of 1.5 kW to 2 kW)
Operation temperature (°C) -25 to 80
Shielding Yes
Minimum bending radius, static 6 x outer diameter
(mm)
Minimum bending radius, dynamic 155
(mm)
Bending cycles Maximum acceleration 3 m/s2, maximum speed 40 m/min:
100000 (for motors of 0.05 kW to 1 kW)
1000000 (for motors of 1.5 kW to 2 kW)
Oil resistance EN60811-2-1 fulfilled
Flame-retardant EN60332-1-1 to 1-3 fulfilled
Certifications RoHS, CE RoHS RoHS

Cables used in V90 400 V variant servo system

Parameter MOTION-CONNECT 300 MOTION-CONNECT 300 MOTION-CONNECT 300
Power Cable Encoder Cable Brake Cable
Material PVC PVC PVC
Degree of protection (motor-side IP65 IP65 IP65
only)
Number of cores 4 10 2
Cross-section of cores (mm2) 4 x 1.5 (for FSAA/FSA) 6 x 0.22 + 4 x 0.25 2 x 0.75
4 x 2.5 (for FSB/FSC)
Rated voltage (V) 600/1000 30 30
Operation temperature (°C) -25 to 80
Shielding Yes
Minimum bending radius, static 6 x outer diameter
(mm)
Bending cycles 1000000
Oil resistance EN60811-2-1 fulfilled
Flame-retardant EN60332-1-1to 1-3 fulfilled
Certifications RoHS, UL, CE

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3.1 Mounting the drive
For mounting conditions, see Technical data - servo drives (Page 54).

3.1.1 Mounting orientation and clearance

Mount the drive vertically in a shielded cabinet and observe the mounting clearances
specified in the illustration below:

Note
The drive must be derated to 80% when the following conditions are satisfied:
• The surrounding temperature is 0 °C to 45 °C, and the mounting clearance is less than
10 mm. In this case, the minimum mounting clearance should not be less than 5 mm.
• The surrounding temperature is 45 °C to 55 °C. In this case, the minimum mounting
clearance should not be less than 20 mm.

SINAMICS V90, SIMOTICS S-1FL6

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3.1 Mounting the drive

3.1.2 Drill patterns and outline dimensions

SINAMICS V90 200 V variant (unit: mm)

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3.1 Mounting the drive

SINAMICS V90, SIMOTICS S-1FL6

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3.1 Mounting the drive

SINAMICS V90 400 V variant (unit: mm)

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3.1 Mounting the drive

SINAMICS V90, SIMOTICS S-1FL6

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3.2 Mounting the motor

3.1.3 Mounting the drive

Note
Taking EMC factors into account, you are recommended to mount the drive in a shielded
cabinet.

3.2 Mounting the motor

For mounting conditions, see Technical data - servo motors (Page 58).

3.2.1 Mounting orientation and dimensions

Mounting orientation
SIMOTICS S-1FL6 supports flange mounting only and three types of constructions, so it can
be installed in three orientations as shown in the following figure.

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3.2 Mounting the motor

Note
When configuring the IM V3 type of construction, pay particular attention to the permissible
axial force (weight force of the drive elements) and the necessary degree of protection.

SIMOTICS S-1FL6 Low inertia servo motors

Shaft-height 20 mm (unit: mm)

Rated power Rated torque a L L1

0.05 kW 0.16 Nm 38.5 86 119
0.1 kW 0.32 Nm 38.5 106 139

Shaft-height 30 mm (unit: mm)

Rated power Rated torque a L L1

0.2 kW 0.64 Nm 39.5 98 132.5
0.4 kW 1.27 Nm 39.5 123 157.5

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3.2 Mounting the motor

Shaft-height 40 mm (unit: mm)

Rated power Rated torque a L L1

0.75 kW 2.39 Nm 48 139 178.3
1.0 kW 3.18 Nm 48 158.8 198.1

Shaft-height 50 mm (unit: mm)

Rated power Rated torque a b b1 L L1

1.5 kW 4.78 Nm 195 143.5 177.5 192 226
2.0 kW 6.37 Nm 219 167.5 201.5 216 250

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SIMOTICS S-1FL6 high inertia servo motors

Shaft-height 45 mm, with incremental encoder (unit: mm)

Rated power Rated torque k k1 a b b1

0.4 kW 1.27 Nm 154.5 201 169.5 15 61.5
0.75 kW 2.39 Nm 201.5 248 216.5

Shaft-height 45 mm, with absolute encoder (unit: mm)

Rated power Rated torque k k1 a b b1

0.4 kW 1.27 Nm 157 203.5 172 15 61.5
0.75 kW 2.39 Nm 204 250.5 219

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3.2 Mounting the motor

Shaft-height 65 mm, with incremental encoder (unit: mm)

Rated power Rated torque k k1 a b b1

0.75 kW 3.58 Nm 148 202.5 163 15 69.5
1.0 kW 4.78 Nm 181 235.5 196
1.5 kW 7.16 Nm 181 235.5 196
1.75 kW 8.36 Nm 214 268.5 229
2.0 kW 9.55 Nm 247 301.5 262

Shaft-height 65 mm, with absolute encoder (unit: mm)

Rated power Rated torque k k1 a b b1

0.75 kW 3.58 Nm 151 205.5 166 15 69.5
1.0 kW 4.78 Nm 184 238.5 199
1.5 kW 7.16 Nm 184 238.5 199
1.75 kW 8.36 Nm 217 271.5 232
2.0 kW 9.55 Nm 250 304.5 265

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3.2 Mounting the motor

Shaft-height 90 mm, with incremental encoder (unit: mm)

Rated power Rated torque k k1 a b b1

2.5 kW 11.9 Nm 189.5 255 210.5 33 98.5
3.5 kW 16.7 Nm 211.5 281 236.5
5.0 kW 23.9 Nm 237.5 307 262.5
7.0 kW 33.4 Nm 289.5 359 314.5

Shaft-height 90 mm, with absolute encoder (unit: mm)

Rated power Rated torque k k1 a b b1

2.5 kW 11.9 Nm 197 263 218 33 98.5
3.5 kW 16.7 Nm 223 289 244
5.0 kW 23.9 Nm 249 315 270
7.0 kW 33.4 Nm 301 367 322

SINAMICS V90, SIMOTICS S-1FL6

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3.2 Mounting the motor

3.2.2 Mounting the motor

WARNING
Personal injury and material damage
Some motors, especially the 1FL609❑ are heavy. The excessive weight of the motor
should be considered and any necessary assistance required for mounting should be
sought.
Otherwise, the motor can fall down during mounting. This can result in serious personal
injury or material damage.

NOTICE
Damage to the motor
If the liquid enters the motor, the motor may be damaged
During motor installation or operation, make sure that no liquid (water, oil, etc.) can
penetrate into the motor. Besides, when installing the motor horizontally, make sure that the
cable outlet faces downward to protect the motor from ingress of oil or water.

Note
Using the eyebolts
The 1FL609❑ motor (90 mm shaft height) has two M8 screw holes for screwing in two
eyebolts. Lift the 1FL609❑ motor only at the eyebolts.
Eyebolts that have been screwed in must be either tightened or removed after mounting.

To ensure better heat dissipation, install a flange between the machine and the motor. You
can install the motor onto the flange with four screws as shown in the following figure.

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3.2 Mounting the motor

The information about the screws and the flange is as follows:

SIMOTICS S-1FL6 low inertia servo motors

Motor Screw Recommended flange size Tightening torque Flange material

1FL602❑ 2 x M4 120 x 100 x 40 (mm) 2.4 Nm Aluminum alloy
1FL603❑ 4 x M5 120 x 100 x 40 (mm) 4.7 Nm
1FL604❑ 4 x M6 120 x 100 x 40 (mm) 8 Nm
1FL605❑ 4 x M8 120 x 100 x 40 (mm) 20 Nm

SIMOTICS S-1FL6 high inertia servo motors

Motor Screw Recommended flange size Tightening torque Flange material

1FL604❑ 4 x M6 270 x 270 x 10 (mm) 8 Nm Aluminum alloy
1FL606❑ 4 x M8 390 x 390 x 15 (mm) 20 Nm
1FL609❑ 4 x M12 420 x 420 x 20 (mm) 85 Nm

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3.2 Mounting the motor

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4.1 System connection
The SINAMICS V90 servo system is connected as follows:

SINAMICS V90 200 V variant

The connection for FSB when used on the single phase power network:

SINAMICS V90, SIMOTICS S-1FL6

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4.1 System connection

The connection for FSD when used on the three phase power network:

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4.1 System connection

SINAMICS V90 400 V variant

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Connecting
4.1 System connection

NOTICE
Important wiring information
In order to meet EMC requirements, all cables must be shielded cables.
The cable shields of shielded twisted-pair cables should be connected to the shielding plate
or the cable clamp of the servo drive.

NOTICE
Drive damage caused by short-circuiting between the shielding wire and the unused pin on
the setpoint connector
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-
assembled setpoint connector. This can cause damage to the drive.
Exercise caution when connecting the shielding cable to the setpoint connector.
You can see the assembly method of encoder connector in chapter "Assembly of cable
terminals on the drive side (Page 337)" for reference.

Note
For low inertia motors with shaft-heights of 20 mm, 30 mm and 40 mm, the encoder cable
connectors may only be accessible to electrically skilled personnel.

Note
The mini-USB interface of the SINAMICS V90 is used for fast commissioning and
diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long
monitoring.

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4.1 System connection

Connecting the cable shields with the shielding plate

To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped
with the drive to connect the cable shields. See the following example for steps to connect
cable shields with the shielding plate:

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4.2 Main circuit wirings

Adjusting cable orientations from the motor side

For the low inertia motors with shaft-height of 50 mm and high inertia motors, you can adjust
the orientation of the power cable, encoder cable, and brake cable from motor side to
facilitate cable connection.

Note
Rotating the connectors
All the three motor-side connectors can be rotated only within 360°.

4.2 Main circuit wirings

4.2.1 Line supply - L1, L2, L3

Signal Description
SINAMICS V90 200 V variant
L1 Line phase L1
L2 Line phase L2
L3 Line phase L3
Required wire range and tightening torque:
FSA and FSB: 26 AWG to 12 AWG
FSC and FSD: 20 AWG to 12 AWG, 0.4 Nm to 0.5 Nm

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Signal Description
SINAMICS V90 400 V variant
L1 Line phase L1
L2 Line phase L2
L3 Line phase L3
Maximum conductor cross-section:
FSAA and FSA: 1.5 mm2 (M2.5 screws, 4.43 lb.in/0.5 Nm)
FSB and FSC: 2.5 mm2 (M4 screws, 19.91 lb.in/2.25 Nm)

Note
For 200 V variant, when using the FSA, FSB and FSC on the single phase power network,
you can connect the power supply to any two connectors of L1, L2, and L3.

4.2.2 Motor power - U, V, W

Motor output - drive side

Signal Description
SINAMICS V90 200 V variant
U Motor phase U
V Motor phase V
W Motor phase W
Required wire range and tightening torque:
FSA and FSB: 26 AWG to 12 AWG
FSC and FSD: 20 AWG to 12 AWG, 0.4 Nm to 0.5 Nm

Signal Description
SINAMICS V90 400 V variant
U Motor phase U
V Motor phase V
W Motor phase W
Maximum conductor cross-section:
FSAA and FSA: 1.5 mm2 (M2.5 screws, 4.43 lb.in/0.5 Nm)
FSB and FSC: 2.5 mm2 (M4 screws, 19.91 lb.in/2.25 Nm)

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4.2 Main circuit wirings

Power connector - motor side

Illustration Pin No. Signal Color Description

Low inertia motor, shaft-height: 20 mm, 30 mm, and 40 mm
1 U Black Phase U
2 V Black Phase V
3 W Black Phase W
4 PE Yellow-green Protective earthing
Low inertia motor, shaft-height: 50 mm
High inertia motor, shaft-height: 45 mm, 60 mm, and 90 mm
1 U Black Phase U
2 V Black Phase V
3 W Black Phase W
4 PE Yellow-green Protective earthing

Wiring

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4.2 Main circuit wirings

Plugging the motor power cable

SINAMICS V90 200 V variant
● For FSA and FSB

● For FSC and FSD

SINAMICS V90 400 V variant

● For FSAA and FSA
You can plug the motor power cable with the same plugging method for V90 200 V
variant drives of frame size FSA and FSB.
● For FSB and FSC
The FSB and FSC servo drives are equipped with barrier terminals for motor power
connection. You can fix the motor power cable using the M4 screws with the tightening
torque of 2.25 Nm on the servo drives.

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4.3 Control/Status interface

4.3 Control/Status interface

Signal type Pin Signal Description Pin Signal Description

No. No.

Type: 50-pin MDR socket

Pulse train 1, 2, Position setpoint with pulse train input. 36, Position setpoint with pulse train input.
inputs 26, High-speed 5 V differential pulse train input 37, 24 V single end pulse train input
(PTI)/Pulse 27 (RS485) 38,
Maximum frequency: 200 kHz
train encoder 39
Maximum frequency: 1MHz
outputs
(PTO) Signal transmission of this channel has better
noise immunity.
15, Encoder emulation pulse output with high-speed 42, Encoder Zero phase pulse output with
16, 5 V differential signals (A+/A-, B+/B-) 43 high-speed 5 V differential signals
40,
41
17 Encoder Zero phase pulse output with open
collector
1 PTIA_D+ High-speed 5 V differential 15 PTOA+ High-speed 5 V differential
pulse train input A (+) pulse train encoder output
A (+)
2 PTIA_D- High-speed 5 V differential 16 PTOA- High-speed 5 V differential
pulse train input A (-) pulse train encoder output
A (-)
26 PTIB_D+ High-speed 5 V differential 40 PTOB+ High-speed 5 V differential
pulse train input B (+) pulse train encoder output
B (+)
27 PTIB_D- High-speed 5 V differential 41 PTOB- High-speed 5 V differential
pulse train input B (-) pulse train encoder output
B (-)
36 PTIA_24P 24 V pulse train input A, posi- 42 PTOZ+ High-speed 5 V differential
tive pulse train encoder output
Z (+)
37 PTIA_24M 24 V pulse train input A, 43 PTOZ- High-speed 5 V differential
ground pulse train encoder output
Z (-)
38 PTIB_24P 24 V pulse train input B, posi- 17 PTOZ (OC) Pulse train encoder output
tive Z signal (open collector
output)
39 PTIB_24M 24 V pulse train input B,
ground

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Signal type Pin Signal Description Pin Signal Description

No. No.
Digital in- 3 DI_COM Common terminal for digital 23 Brake Motor holding brake control
puts/outputs inputs signal (for SINAMICS V90
200 V variant only)
4 DI_COM Common terminal for digital 28 P24V_DO External 24 V supply for
inputs digital outputs
5 DI1 Digital input 1 29 P24V_DO External 24 V supply for
digital outputs
6 DI2 Digital input 2 30 DO1 Digital output 1
7 DI3 Digital input 3 31 DO2 Digital output 2
8 DI4 Digital input 4 32 DO3 Digital output 3
9 DI5 Digital input 5 33 DO4 Digital output 4
10 DI6 Digital input 6 34 DO5 Digital output 5
11 DI7 Digital input 7 35 DO6 Digital output 6
12 DI8 Digital input 8 49 MEXT_DO External 24 V ground for
digital outputs
13 DI9 Digital input 9 50 MEXT_DO External 24 V ground for
digital outputs
14 DI10 Digital input 10
Analog in- 18 P12AI 12 V power output for analog 45 AO_M Analog output ground
puts/outputs input
19 AI1+ Analog input channel 1, posi- 46 AO1 Analog output channel 1
tive
20 AI1- Analog input channel 1, nega- 47 AO_M Analog output ground
tive
21 AI2+ Analog input channel 2, posi- 48 AO2 Analog output channel 2
tive
22 AI2- Analog input channel 2, nega-
tive
None 24 - Reserved 44 - Reserved
25 - Reserved

4.3.1 Digital inputs/outputs (DIs/DOs)

SINAMICS V90 supports free assignment of signals to the following digital input and output
terminals depending on the control mode selected:
DI1 to DI8 -- Assignable with parameters p29301 to p29308
DO1 to DO6 -- Assignable with parameters p29330 to p29335
Exception: DI9 and DI10
DI9 is permanently assigned with the signal EMGS (emergency stop) and DI10 is
permanently assigned with the signal C-MODE (change mode).

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For detailed information about default DI/DO signal assignments, see the table below:

Pin No. Digital in- Parameters Default signals/values

puts/outputs Index 0 (PTI) Index 1 (IPos) Index 2 (S) Index 3 (T)
5 DI1 p29301 1 (SON) 1 (SON) 1 (SON) 1 (SON)
6 DI2 p29302 2 (RESET) 2 (RESET) 2 (RESET) 2 (RESET)
7 DI3 p29303 3 (CWL) 3 (CWL) 3 (CWL) 3 (CWL)
8 DI4 p29304 4 (CCWL) 4 (CCWL) 4 (CCWL) 4 (CCWL)
9 DI5 p29305 5 (G-CHANGE) 5 (G-CHANGE) 12 (CWE) 12 (CWE)
10 DI6 p29306 6 (P-TRG) 6 (P-TRG) 13 (CCWE) 13 (CCWE)
11 DI7 p29307 7 (CLR) 21 (POS1) 15 (SPD1) 18 (TSET)
12 DI8 p29308 10 (TLIM1) 22 (POS2) 16 (SPD2) 19 (SLIM1)
30 DO1 p29330 1 (RDY)
31 DO2 p29331 2 (FAULT)
32 DO3 p29332 3 (INP)
33 DO4 p29333 5 (SPDR)
34 DO5 p29334 6 (TLR)
35 DO6 p29335 8 (MBR)

Note
The selected DI signal will respond with a delay time of 8 to 16 ms.

Note
DO signal inverse
The logics of digital output signals DO1 to DO6 can be inversed. You can inverse the logics
of DO1 to DO6 by setting the bit 0 to bit 5 of parameter p0748.

4.3.1.1 DIs
You can assign a maximum of 28 internal digital input signals to the SINAMICS V90 servo
drive. For detailed information about these signals, see the table below:

No. Name Type Description Control mode

PTI IPos S T
1 SON Edge Servo-on ✓ ✓ ✓ ✓
0→1 • 0→1: powers on power circuit and makes servo
1→0 drive ready to operate.
• 1→0: motor ramps down (OFF1) in PTI, IPos, and
S modes; motor coasts down (OFF2) in T mode.
2 RESET Edge Reset alarms ✓ ✓ ✓ ✓
0→1 • 0→1: Reset alarms

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No. Name Type Description Control mode

PTI IPos S T
3 CWL Edge Clockwise over-travel limit (positive limit) ✓ ✓ ✓ ✓
1→0 • 1 = condition for operation
• 1→0: emergency stop (OFF3)
4 CCWL Edge Counter-clockwise over-travel limit (negative limit) ✓ ✓ ✓ ✓
1→0 • 1 = condition for operation
• 1→0: emergency stop (OFF3)
5 G- Level Gain change between the first and the second gain ✓ ✓ ✓ X
CHANGE parameter set.
• 0: the first gain parameter set
• 1: the second gain parameter set
6 P-TRG Level In PTI mode: pulse allowable/inhibit. ✓ ✓ X X
(P_TRG in Edge • 0: operation with pulse train setpoint is possible
PTI mode is 0→1 • 1: inhibit the pulse train setpoint
reserved for
future use) In IPos mode: position trigger
• 0→1: starts positioning of selected fixed position
setpoint
7 CLR Level Clear position control droop pulses. ✓ X X X
• 0: not clear
• 1: clear the droop pulses based on the selected
clear mode by p29242
8 EGEAR1 Level Electronic gear. ✓ X X X
9 EGEAR2 Level A combination of the signals EGEAR1 and EGEAR2 ✓ X X X
can select four electronic gear ratios.
EGEAR2 : EGEAR1
• 0 : 0: electronic gear ratios 1
• 0 : 1: electronic gear ratios 2
• 1 : 0: electronic gear ratios 3
• 1 : 1: electronic gear ratios 4
10 TLIM1 Level Torque limit selection. ✓ ✓ ✓ X
11 TLIM2 Level A combination of TLIM1 and TLIM2 can select four
torque limit sources (one external torque limit, three
internal torque limits).
TLIM2 : TLIM1
• 0 : 0: internal torque limit 1
• 0 : 1: external torque limit (analog input 2)
• 1 : 0: internal torque limit 2
• 1 : 1: internal torque limit 3
12 CWE Level Enable clockwise rotations. X X ✓ ✓
• 1: Enable clockwise rotation, ramp up
• 0: Disable clockwise rotation, ramp down

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No. Name Type Description Control mode

PTI IPos S T
13 CCWE Level Enable counter-clockwise rotations. X X ✓ ✓
• 1: Enable counter-clockwise rotation, ramp down
• 0: Disable counter-clockwise rotation, ramp up
14 ZSCLAMP Level Zero speed clamps. X X ✓ X
• 1 = when the motor speed setpoint is an analog
signal and lower than the threshold level (p29075),
the motor is clamped.
• 0 = no action
15 SPD1 Level Select speed mode: fixed speed setpoint. X X ✓ X
16 SPD2 Level A combination of the signals SPD1, SPD2 and SPD3
17 SPD3 Level can select eight speed setpoint sources (one external
speed setpoint, seven fixed speed setpoints).
SPD3 : SPD2 : SPD1
• 0 : 0 : 0: external analog speed setpoint
• 0 : 0 : 1: fixed speed setpoint 1
• 0 : 1 : 0: fixed speed setpoint 2
• 0 : 1 : 1: fixed speed setpoint 3
• 1 : 0 : 0: fixed speed setpoint 4
• 1 : 0 : 1: fixed speed setpoint 5
• 1 : 1 : 0: fixed speed setpoint 6
• 1 : 1 : 1: fixed speed setpoint 7
18 TSET Level Torque setpoint selection. X X X ✓
This signal can select two torque setpoint sources
(one external torque setpoint, one fixed torque set-
point).
• 0: external torque setpoint (analog input 2)
• 1: fixed torque setpoint
19 SLIM1 Level Speed limit selection. ✓ ✓ ✓ ✓
20 SLIM2 Level A combination of SLIM1 to SLIM2 can select four
speed limit sources (one external speed limit, three
internal speed limits).
SLIM2 : SLIM1
• 0 : 0: internal speed limit 1
• 0 : 1: external speed limit (analog input 1)
• 1 : 0: internal speed limit 2
• 1 : 1: internal speed limit 2

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No. Name Type Description Control mode

PTI IPos S T
21 POS1 Level Select position setpoint. X ✓ X X
22 POS2 Level A combination of the signals POS1 to POS3 can se-
23 POS3 Level lect eight fixed position setpoint sources.
POS3 : POS2 : POS1
• 0 : 0 : 0: fixed position setpoint 1
• 0 : 0 : 1: fixed position setpoint 2
• 0 : 1 : 0: fixed position setpoint 3
• 0 : 1 : 1: fixed position setpoint 4
• 1 : 0 : 0: fixed position setpoint 5
• 1 : 0 : 1: fixed position setpoint 6
• 1 : 1 : 0: fixed position setpoint 7
• 1 : 1 : 1: fixed position setpoint 8
24 REF Edge Set reference point with digital input or reference cam X ✓ X X
0→1 input for reference approaching mode.
• 0→1: reference input
25 SREF Edge The reference approach will be started with the signal X ✓ X X
0→1 SREF.
• 0→1 start reference approach
26 STEPF Edge Step forward to the next fixed position setpoint. X ✓ X X
0→1 • 0→1 start step action
27 STEPB Edge Step backward to the previous fixed position setpoint. X ✓ X X
0→1 • 0→1 start step action
28 STEPH Edge Step to the fixed position setpoint 1. X ✓ X X
0→1 • 0→1 start step action

Note
When working in the torque control mode, the torque setpoint equals to 0 if CWE and CCWE
are at the same status. For more information, please refer to section Direction and stop
(Page 209).

Note
Invalid circumstances for DI signals
• When SINAMICS V-ASSISTANT is communicating with the drive or you are operating the
drive on SINAMICS V-ASSISTANT, some DI signals are invalid:
– When referencing by SINAMICS V-ASSISTANT, the DI signal SREF is invalid.
– During trial run test, the DI signal SON is invalid; meanwhile, DI7 and DI8 are
occupied by SINAMICS V-ASSISTANT.

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Direct signal map

Force the following six signals to logical "1" with parameter p29300 (P_DI_Mat):
● SON
● CWL
● CCWL
● TLIM1
● SPD1
● TSET
● EMGS
The definition for p29300 is as follows:

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

EMGS TSET SPD1 TLIM1 CCWL CWL SON

For example, if you set p29300 = 1 to force the signal SON to a logical high signal, DI1 can
then be assigned to other desired signals.

Note
The parameter p29300 has higher priority than the DIs.
The bit 6 of p29300 is used for emergency stop. You are not allowed to modify it when the
drive is in the servo on state.

Wiring
The digital inputs support both PNP and NPN types of wirings. You can find detailed
information from the following diagrams:

NPN wiring PNP wiring

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4.3.1.2 DOs
You can assign a maximum of 14 internal digital output signals to the SINAMICS V90 servo
drive. For detailed information about these signals, see the table below:

No. Name Descriptions Control mode

PTI IPos S T
1 RDY Servo ready ✓ ✓ ✓ ✓
• 1: ready to operate
• 0: drive not ready (alarm occurs or enable signal is
missing)
2 FAULT Fault ✓ ✓ ✓ ✓
• 1: in fault status
• 0: no fault
3 INP In-position signal ✓ ✓ X X
• 1: number of droop pulses is in the preset in-position
range (parameter p2544)
• 0: droop pulses are beyond the in-position range
4 ZSP Zero speed detection ✓ ✓ ✓ ✓
• 1: motor speed is equal with or lower than the zero
speed (can be set with parameter p2161).
• 0: motor speed is higher than zero speed + hysteresis
(10 rpm).
5 SPDR Speed reached X X ✓ X
• 1: motor actual speed has nearly (internal hysteresis
10 rpm) reached the speed of the internal speed com-
mand or analog speed command. The speed ap-
proaching range can be set via parameter (p29078)
• 0: speed difference between speed setpoint and actual
is larger than internal hysteresis.
6 TLR Torque limit reached ✓ ✓ ✓ X
• 1: the generated torque has nearly (internal hysteresis)
reached the value of the positive torque limit, negative
torque limit or analog torque limit
• 0: the generated torque has not reached the limit
7 SPLR Speed limit reached ✓ ✓ ✓ X
• 1: the speed has nearly (internal hysteresis, 10 rpm)
reached the speed limit.
• 0: the speed has not reached the speed limit.
8 MBR Motor holding brake ✓ ✓ ✓ ✓
• 1: motor holding brake is closed
• 0: motor holding brake is released
Note: MBR is only status signal because the control and
the power supply of the motor holding brake is realized
with separate terminals.

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No. Name Descriptions Control mode

PTI IPos S T
9 OLL Overload level reached ✓ ✓ ✓ ✓
• 1: motor has reached the parameterizable output over-
load level (p29080 in % of rated torque, default: 100%,
max: 300%)
• 0: motor has not reached the overload level
10 WARNING1 Warning 1 condition reached ✓ ✓ ✓ ✓
• 1: parameterizable warning 1 condition has been
reached.
• 0: warning 1 condition has not been reached.
See note below.
11 WARNING2 Warning 2 condition reached ✓ ✓ ✓ ✓
• 1: parameterizable warning 2 condition has been
reached
• 0: warning 2 condition has not been reached.
See note below
12 REFOK Referenced X ✓ X X
• 1 = Referenced
• 0 = Not referenced
13 CM_STA Current control mode ✓ ✓ ✓ ✓
• 1 = The second mode in five compound control modes
(PTI/S, IPos/S, PTI/T, IPos/T, S/T)
• 0 = The first mode in five compound control modes or
four basic modes (PTI, IPos, S, T)
14 RDY_ON Ready for servo on ✓ ✓ ✓ ✓
• 1: ready to servo on
• 0: drive is not ready for servo on (fault occurs or main
power supply is missing)
Note: After the drive is servo on, the signal remains in 1
status unless the above abnormal cases happen.

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Assigning warning signals to digital outputs

You can assign two groups of warning signals to digital outputs with parameters p29340 (first
group of warning signals active) and p29341 (second group of warning signals active).

Setting (p29340/p29341) Warning conditions

1 Overload protection: load factor is 85% of or above the motor utiliza-
tion.
2 Braking resistor: capacity of the braking resistor is 85% of or above
the resistor power rating.
3 Fan alarm: fan has stopped for 1 second or longer.
4 Encoder alarm
5 Motor overheat: motor has reached 85% of the maximum allowed
motor temperature.
6 Lifetime detection: the life expectancy of the capacity or the fan is
shorter than the specified time.

If warning condition assigned to p29340 occurs, WARNING1 becomes ON.

If warning condition assigned to p29341 occurs, WARNING2 becomes ON.

Wiring
The digital outputs only support NPN type of wiring as illustrated below:

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4.3.2 Pulse train inputs/encoder outputs (PTIs/PTOs)

4.3.2.1 PTIs
Two channels of pulse train input are available for the SINAMICS V90 servo drive:
● 24 V single end pulse train input
● High-speed 5 V differential pulse train input (RS485)

When using the 24 V single end PTI: When using the 5 V differential PTI:

Note
Only one channel can be used. The 24 V single end PTI is the factory setting of the
SINAMICS V90 servo drives.
When you choose to use the high-speed 5 V differential PTI (RS485), you must change the
value of parameter p29014 from 1 to 0. Refer to "Selecting a setpoint pulse train input
channel (Page 171)".

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4.3.2.2 PTOs
High-speed 5 V differential signals (A+/A-, B+/B-, Z+/Z-) and open collector (zero pulse) are
supported.

Wirings

When not using the open collector: When using the open collector:

4.3.3 Analog inputs/outputs (AIs/AOs)

4.3.3.1 AIs
SINAMICS V90 has two analog input terminals. The input voltage at each analog input
varies with control modes.

Pin No. Analog input Input voltage Control mode Function

19, 20 Analog input 1 0 V to 10 V PTI Not used
0 V to 10 V IPos Not used
-10 V to +10 V S Speed setpoint (reference
p29060) *
0 V to 10 V T Speed limit (reference p29060) *
21, 22 Analog input 2 0 V to 10 V PTI Torque limit (reference r0333)
0 V to 10 V IPos Torque limit (reference r0333)
0 V to 10 V S Torque limit (reference r0333)
-10 V to +10 V T Torque setpoint (reference r0333)

* If the AI input voltage is higher than 10 V, the speed is not limited to the value at 10 V (p29060), but
scaled according to p29060. For example, if p29060 = 3000 rpm, the speed is 3300 rpm at 11 V and
3600 rpm at 12 V.

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Command voltage
The command voltage of the analog inputs always follows the formula below:
Vinput = (AI+) - (AI-)

4.3.3.2 AOs
The SINAMICS V90 has two analog outputs. You can find detailed information about these
two analog outputs from the table below:

Pin No. Analog output Output voltage Function

46 Analog output 1 -10 V to +10 V Analog output 1 for monitoring
48 Analog output 2 -10 V to +10 V Analog output 2 for monitoring

Parameterization
Two parameters, p29350 (selects signal sources for AO1) and p29351 (selects signal
sources for AO2), are used to select the source of analog output:

Parameter Value Source Value Source

p29350 0 (default) Actual speed (reference p29060) 7 Pulse input frequency (reference 100 k)
1 Actual torque (reference 3 × r0333) 8 Pulse input frequency (reference 1000 k)
2 Speed setpoint (reference p29060) 9 Remaining number of pulses (reference 1 k)
3 Torque setpoint (reference 3 × r0333) 10 Remaining number of pulses (reference 10
k)
4 DC bus voltage (reference 1000 V) 11 Remaining number of pulses (reference 100
k)
5 Pulse input frequency (reference 1 k) 12 Remaining number of pulses (reference
1000 k)
6 Pulse input frequency (reference 10 k)
p29351 0 Actual speed (reference p29060) 7 Pulse input frequency (reference 100 k)
1 (default) Actual torque (reference 3 × r0333) 8 Pulse input frequency (reference 1000 k)
2 Speed setpoint (reference p29060) 9 Remaining number of pulses (reference 1 k)
3 Torque setpoint (reference 3 × r0333) 10 Remaining number of pulses (reference 10
k)
4 DC bus voltage (reference 1000 V) 11 Remaining number of pulses (reference 100
k)
5 Pulse input frequency (reference 1 k) 12 Remaining number of pulses (reference
1000 k)
6 Pulse input frequency (reference 10 k)

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Wiring
Do wiring of analog outputs as follows:

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4.3.4 Standard application wirings (factory setting)

4.3.4.1 Pulse train input position control (PTI)

Standard wiring for pulse train input position control mode:

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* Digital inputs, supporting both PNP and NPN types.

The 24 V power supplies in the connection diagram are as follows:

1) 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the
controller with the same 24 V power supply as SINAMICS V90.
2) Isolated digital input power supply. It can be the controller power supply.
3) Isolated digital output power supply. It can be the controller power supply.

Note
Only one of the pulse train input channels can be used.

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4.3.4.2 Internal position control (IPos)

Standard wiring for internal position control mode:

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* Digital inputs, supporting both PNP and NPN types.

The 24 V power supplies in the connection diagram are as follows:

1) 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the
controller with the same 24 V power supply as SINAMICS V90.
2) Isolated digital input power supply. It can be the controller power supply.
3) Isolated digital output power supply. It can be the controller power supply.

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4.3.4.3 Speed control (S)

Standard wiring for speed control mode:

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* Digital inputs, supporting both PNP and NPN types.

The 24 V power supplies in the connection diagram are as follows:

1) 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the
controller with the same 24 V power supply as SINAMICS V90.
2) Isolated digital input power supply. It can be the controller power supply.
3) Isolated digital output power supply. It can be the controller power supply.

Note
The analog outputs to analog inputs on the servo unit and the 24V input for the servo unit
must use a common ground (M).

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4.3.4.4 Torque control (T)

Standard wiring for torque control mode:

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* Digital inputs, supporting both PNP and NPN types.

The 24 V power supplies in the connection diagram are as follows:

1) 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the
controller with the same 24 V power supply as SINAMICS V90.
2) Isolated digital input power supply. It can be the controller power supply.
3) Isolated digital output power supply. It can be the controller power supply.

Note
The analog outputs to analog inputs on the servo unit and the 24V input for the servo unit
must use a common ground (M).

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4.3.5 Connection examples with PLCs

This section gives examples of connections between the drive and the PLC. All of the
connection examples shown in this section are made based on factory default settings for
digital inputs/outputs. You can assign different digital inputs/outputs based on your actual
requirement.

4.3.5.1 SIMATIC S7-200 SMART

Pulse train input position control (PTI)

When connect to different axes, the outputs are different. The diagram below take the
connection with axis 0 as example.

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1) When connect to axis 1, the outputs are DO a.1 and DO a.7;

When connect to axis 2, the outputs are DO a.3 and DO b.0.
* The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the
zero position exceeds 300 rpm.
** The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if
the PTI input frequency exceeds 100 KHz.

Internal position control (IPos)

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Speed control (S)

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Torque control (T)

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4.3.5.2 SIMATIC S7-200

Pulse train input position control (PTI)

* The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the
zero position exceeds 300 rpm.
** The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if
the PTI input frequency exceeds 100 KHz.

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Internal position control (IPos)

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Speed control (S)

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Torque control (T)

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4.3.5.3 SIMATIC S7-1200

Pulse train input position control (PTI)

* The resistor R3 (200 Ohm to 500 Ohm) is required only if the speed for searching the
zero position exceeds 300 rpm.
** The resistor R (200 Ohm to 500 Ohm, recommended power ≥ 5 W ) is required only if
the PTI input frequency exceeds 100 KHz.

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Internal position control (IPos)

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Connecting
4.3 Control/Status interface

Speed control (S)

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 Connecting
4.3 Control/Status interface

Torque control (T)

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Connecting
4.4 24V power supply/STO

4.4 24V power supply/STO

Pin assignment

Interface Signal name Description Remarks

STO 1 Safe torque off channel 1 -
STO + Power supply for safe torque off -
STO 2 Safe torque off channel 2 -
+24 V Power supply, 24 VDC Voltage tolerance:
M Power supply, 0 VDC • Without brake: -15% to +20%
• With brake: -10% to +10%
Maximum current consumption:
• 1.6 A without brake power supply
• 3.6 A with brake power supply
Maximum conductor cross-section: 1.5 mm2

Wiring

WARNING
Material damages and personal injuries by the drop of a hanging axis
When the servo system is used as a hanging axis, the axis will drop if the positive and
negative poles of the 24 V power supply are connected inversely. Unexpected drop of the
hanging axis may cause material damages and personal injuries.
Make sure that the 24 V power supply is correctly connected.

WARNING
Material damages and personal injuries by the drop of a hanging axis
It is not allowed to use the STO with a hanging axis because the axis may drop.
Unexpected drop of the hanging axis may cause material damages and personal injuries.

Note
Using the STO function
The STO1, STO+ and STO2 are short connected at the factory setting.
When the STO function is to be used, you must remove the short-circuit stick before
connecting the STO interfaces. If you do not need to use it any more, you must reinsert the
short-circuit stick; otherwise, the motor will not run.
For detailed information about the STO function, refer to "Safety Integrated basic functions
(Page 243)".

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 Connecting
4.5 Encoder interface

Plugging the 24 V power supply and STO cables

4.5 Encoder interface

The SINAMICS V90 200 V variant servo drive supports incremental encoder only, while the
SINAMICS V90 400 V variant servo drive supports incremental encoder and absolute
encoder.

NOTICE
Cable shielding
The encoder cable must be shielded to meet the EMC requirements.

NOTICE
Drive damage caused by short-circuiting between the shielding wire and the unused pin on
the encoder connector
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-
assembled encoder connector. This can cause damage to the drive.
Exercise caution when connecting the shielding cable to the encoder connector.
For more information, see section "Assembly of cable terminals on the drive side
(Page 337)".

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Connecting
4.5 Encoder interface

Encoder interface - drive side

Illustration Pin Signal name Description

1 Biss_DataP Absolute encoder data signal, positive
2 Biss_DataN Absolute encoder data signal, negative
3 Biss_ClockN Absolute encoder clock signal, negative
4 Biss_ClockP Absolute encoder clock signal, positive
5 P5V Encoder power supply, +5V
6 P5V Encoder power supply, +5V
7 M Encoder power supply, grounding
8 M Encoder power supply, grounding
9 Rp Encoder R phase positive signal
10 Rn Encoder R phase negative signal
11 Bn Encoder B phase negative signal
12 Bp Encoder B phase positive signal
13 An Encoder A phase negative signal
14 Ap Encoder A phase positive signal
Screw type: UNC 4-40 (plug-in terminal block)
Tightening torque: 0.5 - 0.6 Nm

Encoder connector - motor side

Illustration Pin Incremental encoder

No. Signal Description
Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm
1 P_Supply Power supply 5 V
2 M Power supply 0 V
3 A+ Phase A+
4 B+ Phase B+
5 R+ Phase R+
6 n. c. Not connected
7 P_Supply Power supply 5 V
8 M Power supply 0 V
9 A- Phase A-
10 B- Phase B-
11 R- Phase R-
12 Shielding Grounding

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4.5 Encoder interface

Illustration Pin Incremental encoder Absolute encoder (for high

No. inertia motor only)
Signal Description Signal Description
Low inertia motor, shaft-height: 50 mm
High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm
1 P_Supply Power supply 5 V P_Supply Power supply 5
V
2 M Power supply 0 V M Power supply 0
V
3 A+ Phase A+ n. c. Not connected
4 A- Phase A- Clock_N Inverted clock
5 B+ Phase B+ Data_P Data
6 B- Phase B- Clock_P Clock
7 R+ Phase R+ n. c. Not connected
8 R- Phase R- Data_N Inverted data

Wiring

Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm

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Connecting
4.5 Encoder interface

Low inertia motor, shaft-height: 50 mm

High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm

Grounding
To ensure better EMC effects, you are recommended to strip the encoder cable and connect
the cable shield to earth, as shown in the following figure:

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 Connecting
4.6 External braking resistor - DCP, R1

4.6 External braking resistor - DCP, R1

The SINAMICS V90 has been designed with an internal braking resistor to absorb
regenerative energy from the motor. When the internal braking resistor cannot meet the
braking requirements (e.g. the alarm A52901 is generated), you can connect an external
braking resistor. For the selection of braking resistors, refer to Accessories (Page 42).

Connecting an external braking resistor

WARNING
Damage to the drive
Before connecting an external resistor to DCP and R1, remove the short-circuit stick on the
connectors. Otherwise, the drive may be damaged.

For the connection of the external braking resistor, refer to System connection (Page 81).

4.7 Motor holding brake interface (400V variant only)

You can connect the SINAMICS V90 servo drive to a servo motor with brake to use the
function of motor holding brake.
The relevant information about the interface and wiring is described as follows.

Note
Motor holding brake
For detailed information about the function of motor holding brake, refer to the section "Motor
holding brake (Page 165)".

Motor holding brake - drive side

Illustration Signal Description

B+ + 24 V, motor brake voltage positive
B- 0 V, motor brake voltage negative

Maximum conductor cross-section: 1.5 mm2

Input voltage tolerance: 24 V ± 10%

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Connecting
4.8 RS485 interface

Motor holding brake - motor side

Illustration Pin No. Signal Description

1 Brake+ Phase Brake+
2 Brake- Phase Brake-

Wiring

4.8 RS485 interface

The SINAMICS V90 servo drives support communication with the PLCs through the RS485
interface over the USS or Modbus protocol.

Pin assignment

Illustration Pin Signal name Description

1 Reserved Do not use
2 Reserved Do not use
3 RS485+ RS485 differential signal
4 Reserved Do not use
5 M Ground to internal 3.3 V
6 3.3 V 3.3 V power supply for internal signal
7 Reserved Do not use
8 RS485- RS485 differential signal
9 Reserved Do not use
Type: 9-pin, Sub-D, female

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Commissioning 5
5.1 General commissioning information
Prior to commissioning, read "Basic operator panel (BOP) (Page 143)" for more information
about the BOP operations. In case of any faults or alarms during commissioning, refer to
Chapter "Diagnostics (Page 313)" for detailed description.

CAUTION
Carefully read the safety instructions
Before your commissioning or operation, read the safety instructions in Section "Safety
instructions (Page 11)" carefully. Failure to observe the instructions may cause serious
effects.

WARNING
Material damages and personal injuries by the drop of a hanging axis
When the servo system is used as a hanging axis, the axis will drop if the positive and
negative poles of the 24 V power supply are connected inversely. Unexpected drop of the
hanging axis may cause material damages and personal injuries.
Before commissioning, a crosstie must be used to hold the hanging axis in prevention of an
unexpected drop. In addition, make sure that the 24 V power supply is correctly connected.

NOTICE
Plugging or unplugging the micro SD card/SD card will cause startup failure.
Do not plug or unplug the micro SD card/SD card during startup; otherwise, the drive will
fail to start up.

NOTICE
Firmware damage due to drive power-off during data transfer
Switching off the 24 VDC power supply for the drive during data transfer from the micro SD
card/SD card to the drive can cause damage to the drive firmware.
• Do not switch off the drive power supply when the data transfer from the micro SD
card/SD card to the drive is in process.

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Commissioning
5.2 Initial commissioning in JOG mode

NOTICE
Existing setting data may be overwritten by the setting data on the micro SD card/SD card
during startup.
• When a drive is switched on with a micro SD card/SD card containing user setting data,
the existing setting data on the drive will be overwritten.
• When a drive is switched on with a micro SD card/SD card containing no user setting
data, the drive will automatically save the existing user setting data onto the micro SD
card/SD card.
Before starting up the drive with a micro SD card/SD card, check whether the micro SD
card/SD card contains user setting data. Otherwise, the existing data on the drive may be
overwritten.

Note
In S control mode, if the motor shaft is blocked, the blocked torque is the current effective
torque. Long time shaft blocking can cause damage to the motor.

Engineering tool - SINAMICS V-ASSISTANT

You can use the engineering tool SINAMICS V-ASSISTANT to perform the trial operation.
SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the
Windows operating system. It communicates with the SINAMICS V90 servo drive with a USB
cable. With SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive
working states in online mode.
For more information, refer to SINAMICS V-ASSISTANT Online Help. You can search and
download SINAMICS V-ASSISTANT from Technical support website.

5.2 Initial commissioning in JOG mode

Commissioning purpose
When the servo drive is powered on for the first time, you can perform a test run with the
BOP or the engineering tool SINAMICS V-ASSISTANT to check:
● Whether the line supply has been connected correctly
● Whether the 24 VDC power supply has been connected correctly
● Whether the cables (power cable, encoder cable, and brake cable) between the servo
drive and the servo motor have been connected correctly
● Whether the motor speed and direction of rotation are correct.

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 Commissioning
5.2 Initial commissioning in JOG mode

Prerequisites
● The servo drive is connected to the servo motor without load.
● No PLC is connected to the drive system.

Operating sequence

Note
The digital signal EMGS must be kept at high level (1) to ensure normal operation.

Step Description Remarks

1 Connect necessary units and check wiring. It is necessary to connect the following cables:
• Power cable
• Encoder cable
• Brake cable
• Line supply cable
• 24 VDC cable
Check:
• Is the device or cable damaged?
• Do the connected cables have excessive pressure,
load or tension?
• Are the connected cables put on sharp edges?
• Is the line supply within the permissible range?
• Are all the terminals firmly and correctly connected?
• Are all the connected system components well
grounded?
Refer to "Connecting (Page 81)".
2 Switch on the 24 VDC power supply.
3 Check the servo motor type. Fault F52984 occurs when the servo motor is not identi-
fied.
• If the servo motor has an incremental encoder,
input motor ID (p29000). You can find the motor ID from the motor rating plate. Go
to "Motor components (Page 30)" for detailed descriptions
• If the servo motor has an absolute encoder, the about motor rating plate.
servo drive can identify the servo motor automati-
Refer to "Basic operations (Page 149)" for information
cally.
about how to change a parameter with the BOP.
4 Check the direction of motor rotation. p29001=0: CW
The default direction of rotation is CW (clockwise). p29001=1: CCW
You can change it by setting the parameter p29001 if
necessary.
5 Check the Jog speed.
The default Jog speed is 100 rpm. You can change it
by setting the parameter p1058.

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Commissioning
5.3 Commissioning in pulse train position control mode (PTI)

Step Description Remarks

6 Save parameters with the BOP. For detailed information about the parameter setting /
saving with the BOP, refer to the sections "Basic opera-
tions (Page 149)" or "Saving parameters (RAM to ROM)
(Page 155)".
7 Switch on the line supply.
8 Clear faults and alarms. Refer to "Diagnostics (Page 313)".
9 For the BOP, enter the Jog menu function and press For more information about Jog with the BOP, see Section
the UP or DOWN button to run the servo motor. "Jog (Page 154)".
For the engineering tool, use the Jog function to run For more information about Jog with SINAMICS V-
the servo motor. ASSISTANT, see SINAMICS V-ASSISTANT Online Help.

Note
When you run the servo motor with an incremental encoder in JOG mode, the servo motor
makes a short buzzing sound indicating that it is identifying the magnetic pole position of the
rotor.

5.3 Commissioning in pulse train position control mode (PTI)

Step Description Comment

1 Switch off the line supply.
2 Power off the servo drive and connect it to the control- The digital signals CWL, CCWL and EMGS must be kept
ler (for example, SIMATIC S7-200 SMART) with the at high level (1) to ensure normal operation.
signal cable. Refer to "Standard application wirings (factory setting)
(Page 104)" and "Connection examples with PLCs
(Page 112)".
3 Switch on the 24 VDC power supply.
4 Check the servo motor type. Fault F52984 occurs when the servo motor is not identi-
fied.
• If the servo motor has an incremental encoder,
input motor ID (p29000). You can find the motor ID from the motor rating plate. Go
to "Motor components (Page 30)" for detailed descriptions
• If the servo motor has an absolute encoder, the about motor rating plate.
servo drive can identify the servo motor automati-
Refer to "Basic operations (Page 149)" for information
cally.
about how to change a parameter with the BOP.
5 Check current control mode by viewing value of the Refer to "Compound controls (Page 161)".
parameter p29003. Pulse train input position control
mode (p29003=0) is the factory setting of SINAMICS
V90 servo drives.
6 Save the parameter and restart the servo drive to
apply the setting of the pulse train input position con-
trol mode.

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5.3 Commissioning in pulse train position control mode (PTI)

Step Description Comment

7 Select a setpoint pulse train input form by setting pa- • p29010=0: pulse + direction, positive logic
rameter p29010.
• p29010=1: AB track, positive logic
• p29010=2: pulse + direction, negative logic
• p29010=3: AB track, negative logic
The factory setting is p29010=0 (pulse + direction, positive
logic).
Refer to "Selecting a setpoint pulse train input form
(Page 172)".
8 Select a pulse input channel by setting parameter • p29014=0: high-speed 5 V differential pulse train input
p29014. (RS485)
• p29014=1: 24 V single end pulse train input
24 V single end pulse train input is the factory setting.
Refer to "Selecting a setpoint pulse train input channel
(Page 171)".
9 Set the electronic gear ratio. You can use one of the following three methods to set the
electronic gear ratio:
• Set the electronic gear ratio with parameters p29012
and p29013.
– p29012: numerator of the electronic gear. Four
numerators in total (p29012[0] to p29012[3]) are
available.
– p29013: denominator of the electronic gear.
• Set the setpoint pluses per revolution.
– p29011: number of setpoint pulses per revolution.
• Calculate the electronic gear ratio by selecting me-
chanical structure.
– For more information, see SINAMICS V90 V-
ASSISTANT Online Help.
Refer to "Electronic gear ratio (Page 173)".
10 Set the torque limitation and speed limitation. Refer to "Torque control (T) (Page 207)" and "Speed con-
trol (S) (Page 201)".
11 Configure necessary digital input signals by setting the The factory settings are:
following parameters:
• p29301[0]: 1 (SON)
• p29301[0]: DI1 • p29302[0]: 2 (RESET)
• p29302[0]: DI2 • p29303[0]: 3 (CWL)
• p29303[0]: DI3 • p29304[0]: 4 (CCWL)
• p29304[0]: DI4 • p29305[0]: 5 (G-CHANGE)
• p29305[0]: DI5 • p29306[0]: 6 (P-TRG)
• p29306[0]: DI6 • p29307[0]: 7 (CLR)
• p29307[0]: DI7 • p99308[0]: 10 (TLIM1)
• p29308[0]: DI8 Refer to "Digital inputs/outputs (DIs/DOs) (Page 91)".
12 Check the encoder type. Refer to "Adjusting an absolute encoder (Page 160)".
If it is an absolute encoder, adjust the absolute encod-
er with the BOP menu function "ABS".

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Commissioning
5.4 Commissioning in internal position control mode (IPos)

Step Description Comment

13 Set the pulse train encoder output. Refer to "PTO function (Page 183)".
14 Save parameters with the BOP.
15 Switch on the line supply.
16 Clear faults and alarms. Refer to "Diagnostics (Page 313)".
17 Trigger SON to the high level, input the setpoint pulse Use a low pulse frequency at first to check the direction
train from the command device, and then the servo and speed of rotation.
motor starts running.
18 The system commissioning in pulse train input position You can check the system performance. If it is not satis-
control mode ends. fied, you can adjust it. Refer to "Tuning (Page 247)".

5.4 Commissioning in internal position control mode (IPos)

Step Description Remarks

1 Switch off the line supply.
2 Power off the servo drive and connect it to the control- The digital signals CWL, CCWL and EMGS must be kept
ler (for example, SIMATIC S7-200 SMART) with the at high level (1) to ensure normal operation.
signal cable. Refer to "Standard application wirings (factory setting)
(Page 104)" and "Connection examples with PLCs
(Page 112)".
3 Switch on the 24 VDC power supply.
4 Check the servo motor type. Fault F52984 occurs when the servo motor is not identi-
fied.
• If the servo motor has an incremental encoder,
input motor ID (p29000). You can find the motor ID from the motor rating plate. Go
to "Motor components (Page 30)" for detailed descriptions
• If the servo motor has an absolute encoder, the about motor rating plate.
servo drive can identify the servo motor automati-
Refer to "Basic operations (Page 149)" for information
cally.
about how to change a parameter with the BOP.
5 Switch to the internal position control mode by setting Refer to "Compound controls (Page 161)".
parameter p29003=1.
6 Save the parameter and restart the servo drive to
apply the setting of the internal position control mode.
7 Set the mechanical gear ratio with parameters • p29247: LU per load revolution
p29247, p29248 and p29249.
• p29248: load revolutions
• p29249: motor revolutions
Refer to "Setting mechanical system (Page 185)".
8 Select the axis type by setting parameter p29245. If • p29245 = 0: linear axis
you use the modular axis, you need to define the
• p29245 = 1: modular axis
modular range by setting parameter p29246.
Refer to "Configuring linear/modular axis (Page 189)".

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5.4 Commissioning in internal position control mode (IPos)

Step Description Remarks

9 Check and select a positioning mode by setting pa- For linear axis, there are two positioning modes:
rameter p29241.
• p29241=0: incremental
• p29241=1: absolute
For modular axis, there are four positioning modes:
• p29241=0: incremental
• p29241=1: absolute
• p29241=2: absolute, positive (only for a rotary axis
with modulo correction)
• p29241=3: absolute, negative (only for a rotary axis
with modulo correction)
Refer to "Selecting a positioning mode - abso-
lute/incremental (Page 188)".
10 Configure the fixed position setpoint (p2617[0] to Refer to "Setting fixed position setpoint (Page 186)".
p2617[7] and p2618[0] to p2618[7]) according to
mechanism.
11 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 199)" and "Speed limit
(Page 199)".
12 Configure necessary digital input signals by setting the The factory settings are:
following parameters:
• p29301[1]: 1 (SON)
• p29301[1]: DI1 • p29302[1]: 2 (RESET)
• p29302[1]: DI2 • p29303[1]: 3 (CWL)
• p29303[1]: DI3 • p29304[1]: 4 (CCWL)
• p29304[1]: DI4 • p29305[1]: 5 (G-CHANGE)
• p29305[1]: DI5 • p29306[1]: 6 (P-TRG)
• p29306[1]: DI6 • p29307[1]: 21 (POS1)
• p29307[1]: DI7 • p29308[1]: 22 (POS2)
• p29308[1]: DI8 Refer to "Digital inputs/outputs (DIs/DOs) (Page 91)".

NOTE: You must configure the digital input signal REF or

SREF according to your selection of referencing mode.
Refer to "Referencing (Page 190)".
13 Check the encoder type and perform referencing: Five referencing modes are available:
• For an incremental encoder, choose a referencing • p29240=0: with digital input signal REF
mode by setting parameter p29240 and perform • p29240=1 (default): external referencing cam (REF)
referencing. and encoder zero mark
• For an absolute encoder, choose a referencing • p29240=2: only encoder zero mark
mode and adjust the encoder with the BOP menu
• p29240=3: external referencing cam (CCWL) and
function "ABS". Refer to "Adjusting an absolute
encoder zero mark
encoder (Page 160)".
• p29240=4: external referencing cam (CWL) and en-
coder zero mark.
Refer to "Referencing (Page 190)".
14 Set the pulse train encoder output. Refer to "PTO function (Page 183)".
15 Save parameters with the BOP.
16 Switch on the line supply.

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Commissioning
5.5 Commissioning in speed control mode (S)

Step Description Remarks

17 Clear faults and alarms. Refer to "Diagnostics (Page 313)".
18 Trigger the digital signal SON to be high level.
19 Select a fixed position setpoint by configuring the POS3 : POS2 : POS1
digital inputs POS1, POS2 and POS3, then start posi- 0 : 0 : 0: fixed position setpoint 1 (p2617[0])
tioning with the triggering signal P-TRG.
0 : 0 : 1: fixed position setpoint 2 (p2617[1])
0 : 1 : 0: fixed position setpoint 3 (p2617[2])
0 : 1 : 1: fixed position setpoint 4 (p2617[3])
1 : 0 : 0: fixed position setpoint 5 (p2617[4])
1 : 0 : 1: fixed position setpoint 6 (p2617[5])
1 : 1 : 0: fixed position setpoint 7 (p2617[6])
1 : 1 : 1: fixed position setpoint 8 (p2617[7])
Refer to "Selecting a fixed position setpoint and starting
positioning (Page 199)".
20 The system commissioning in internal position control You can check the system performance. If it is not satis-
mode ends. fied, you can adjust it. Refer to "Tuning (Page 247)".

5.5 Commissioning in speed control mode (S)

Step Description Remarks

1 Switch off the line supply.
2 Power off the servo drive and connect it to the control- The digital signals CWL, CCWL and EMGS must be kept
ler (for example, SIMATIC S7-200 SMART) with the at high level (1) to ensure normal operation.
signal cable. Refer to "Standard application wirings (factory setting)
(Page 104)" and "Connection examples with PLCs
(Page 112)".
3 Switch on the 24 VDC power supply.
4 Check the servo motor type. Fault F52984 occurs when the servo motor is not identi-
fied.
• If the servo motor has an incremental encoder,
input motor ID (p29000). You can find the motor ID from the motor rating plate. Go
to "Motor components (Page 30)" for detailed descriptions
• If the servo motor has an absolute encoder, the about motor rating plate.
servo drive can identify the servo motor automati-
Refer to "Basic operations (Page 149)" for information
cally.
about how to change a parameter with the BOP.
5 Switch to the speed control mode by setting Refer to "Compound controls (Page 161)".
p29003=2.
6 Save the parameter and restart the servo drive to
apply the setting of the speed control mode.

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5.5 Commissioning in speed control mode (S)

Step Description Remarks

7 Configure speed setpoint. You can select the external analog speed setpoint or one
of seven fixed speed setpoints by configuring the digital
signals SPD3, SPD2 and SPD1.
SPD3 : SPD2 : SPD1
0 : 0 : 0: external analog speed setpoint (analog input 1)
0 : 0 : 1: fixed speed setpoint 1 (p1001)
0 : 1 : 0: fixed speed setpoint 2 (p1002)
0 : 1 : 1: fixed speed setpoint 3 (p1003)
1 : 0 : 0: fixed speed setpoint 4 (p1004)
1 : 0 : 1: fixed speed setpoint 5 (p1005)
1 : 1 : 0: fixed speed setpoint 6 (p1006)
1 : 1 : 1: fixed speed setpoint 7 (p1007)
Refer to "Configuring speed setpoint (Page 201)".
8 If the external analog speed setpoint is used, configure
the maximum analog speed setpoint corresponding to
10 V by setting parameter p29060.
9 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 204)" and "Speed limit
(Page 204)".
10 Configure necessary digital input signals by setting the The factory settings are:
following parameters:
• p29301[2]: 1 (SON)
• p29301[2]: DI1 • p29302[2]: 2 (RESET)
• p29302[2]: DI2 • p29303[2]: 3 (CWL)
• p29303[2]: DI3 • p29304[2]: 4 (CCWL)
• p29304[2]: DI4 • p29305[2]: 12 (CWE)
• p29305[2]: DI5 • p29306[2]: 13 (CCWE)
• p29306[2]: DI6 • p29307[2]: 15 (SPD1)
• p29307[2]: DI7 • p29308[2]: 16 (SPD2)
• p29308[2]: DI8 Refer to "Digital inputs/outputs (DIs/DOs) (Page 91)".
11 Save parameters with the BOP.
12 Switch on the line supply.
13 Clear faults and alarms. Refer to "Diagnostics (Page 313)".
14 Enable the CWE or CCWE and change SON status to The actual speed of the servo motor can be viewed from
be high level (1) then the servo motor starts running the BOP operating display.
according to configured speed setpoint. The default display is the actual speed.
Refer to "Actual status display (Page 148)".
15 The system commissioning in speed control mode You can check the system performance. If it is not satis-
ends. fied, you can adjust it. Refer to "Tuning (Page 247)".

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Commissioning
5.6 Commissioning in torque control mode (T)

5.6 Commissioning in torque control mode (T)

Step Description Remarks

1 Switch off the line supply.
2 Power off the servo drive and connect it to the control- The digital signals CWL, CCWL and EMGS must be kept
ler (for example, SIMATIC S7-200 SMART) with the at high level (1) to ensure normal operation.
signal cable. Refer to "Standard application wirings (factory setting)
(Page 104)" and "Connection examples with PLCs
(Page 112)".
3 Switch on the 24 VDC power supply.
4 Check the servo motor type. Fault F52984 occurs when the servo motor is not identi-
fied.
• If the servo motor has an incremental encoder,
input motor ID (p29000). You can find the motor ID from the motor rating plate. Go
to "Motor components (Page 30)" for detailed descriptions
• If the servo motor has an absolute encoder, the about motor rating plate.
servo drive can identify the servo motor automati-
Refer to "Basic operations (Page 149)" for information
cally.
about how to change a parameter with the BOP.
5 Switch to the torque control mode by setting Refer to "Compound controls (Page 161)".
p29003=3.
6 Save the parameter and restart the servo drive to
apply the setting of the torque control mode.
7 Select torque setpoint by configuring the digital input • TSET = low level (0): external analog torque setpoint
signal TSET. (analog input 2)
• TSET = high level (1): fixed torque setpoint
8 If the fixed torque setpoint is used, input your desired Refer to "Torque control with fixed torque setpoint
torque setpoint value and offset value into parameter (Page 209)".
p29043 and p29042.
9 If the external analog torque setpoint is used, config- Refer to "Torque control with external analog torque set-
ure the scaling (percentage of the rated torque) for point (Page 208)".
analog torque setpoint corresponding to 10 V by set-
ting parameter p29041[0].
10 Set the speed limitation. Refer to "Speed limit (Page 209)".
11 Configure necessary digital input signals by setting the The factory settings are:
following parameters:
• p29301[3]: 1 (SON)
• p29301[3]: DI1 • p29302[3]: 2 (RESET)
• p29302[3]: DI2 • p29303[3]: 3 (CWL)
• p29303[3]: DI3 • p29304[3]: 4 (CCWL)
• p29304[3]: DI4 • p29305[3]: 12 (CWE)
• p29305[3]: DI5 • p29306[3]: 13 (CCWE)
• p29306[3]: DI6 • p29307[3]: 18 (TSET)
• p29307[3]: DI7 • p29308[3]: 19 (SLIM1)
• p29308[3]: DI8 Refer to "Digital inputs/outputs (DIs/DOs) (Page 91)".
12 Save parameters with the BOP.
13 Switch on the line supply.
14 Clear faults and alarms. Refer to "Diagnostics (Page 313)".

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5.6 Commissioning in torque control mode (T)

Step Description Remarks

15 Enable the CWE or CCWE and Change SON status to The actual torque of the servo motor can be viewed from
be high level (1) then the servo motor starts running the BOP operating display.
according to configured torque setpoint. The default display is actual speed. You can change it by
setting p29002=2.
Refer to "Actual status display (Page 148)".
16 The system commissioning in torque control mode You can check the system performance. If it is not satis-
ends. fied, you can adjust it. Refer to "Tuning (Page 247)".

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5.6 Commissioning in torque control mode (T)

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6.1 BOP overview
The SINAMICS V90 servo drive is designed with a Basic Operator Panel (BOP) on the front
panel of the servo drive:

You can use the BOP for the following operations:

● Standalone commissioning
● Diagnosis
● Parameter access
● Parameter settings
● Micro SD card/SD card operations
● Drive restart

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6.1 BOP overview

6.1.1 BOP display

Display Example Description Remarks

8.8.8.8.8.8. Drive is in startup state

------ Drive is busy

Fxxxxx Fault code In the case of a single fault

F.xxxxx. Fault code of the first fault In the case of multiple faults

Fxxxxx. Fault code In the case of multiple faults

Axxxxx Alarm code In the case of a single alarm

A.xxxxx. Alarm code of the first alarm In the case of multiple alarms

Axxxxx. Alarm code In the case of multiple alarms

Rxxxxx Parameter number Read-only parameter

Pxxxxx Parameter number Editable parameter

P.xxxxx Parameter number Editable parameter; the dot means that at

least one parameter has been changed
In xx Indexed parameter Figure after "In" indicates the number of indi-
ces.
For example, "In 01" means that this indexed
parameter is 1.
xxx.xxx Negative parameter value

xxx.xx<> Current display can be moved to

left or right
xxxx.xx> Current display can be moved to
right
xxxx.xx< Current display can be moved to
left
S Off Operating display: servo off

Para Editable parameter group Refer to the section "Change a parameter

value (Page 149)".
P 0x Parameter group Six groups are available:
1. P0A: basic
2. P0B: gain adjustment
3. P0C: speed control
4. P0D: torque control
5. P0E: position control
6. P0F: IO

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6.1 BOP overview

Display Example Description Remarks

Data Read-only parameter group Refer to "Read a parameter value
(Page 152)".
Func Function group Refer to "Function overview (Page 153)".

Jog Jog function Refer to "Jog (Page 154)".

Save Save data in drive Refer to "Save parameters in the servo drive
(Page 155)".
defu Restore drive to default settings Refer to "Reset parameters to default values
(Page 155)".
dr--sd Save data from drive to micro SD Refer to "Copy parameters from the servo
card/SD card drive to a micro SD card/SD card
(Page 156)".
sd--dr Upload data from micro SD Refer to "Copy parameters from a micro SD
card/SD card to drive card/SD card to the servo drive (Page 157)".
Update Update firmware Refer to "Update firmware (Page 157)".

A OFF1 Adjust AI1 offset Refer to "Adjust AI offset (Page 158)".

A OFF2 Adjust AI2 offset Refer to "Adjust AI offset (Page 158)".

ABS The zero position has not been set Refer to "Set zero position (Page 160)".

A.B.S. The zero position has been set Refer to "Set zero position (Page 160)".

r xxx Actual speed (positive direction)

r -xxx Actual speed (negative direction)

T x.x Actual torque (positive direction)

T -x.x Actual torque (negative direction)

DCxxx.x Actual DC link voltage

Exxxxx Position following error

Con The communication between the

SINAMICS V-ASSISTANT and the
servo drive is established.
In this case, the BOP is protected
from any operations except clear-
ing alarms and acknowledging
faults.

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6.1 BOP overview

6.1.2 Control buttons

Button Description Functions

M button • Exits from the current menu
• Switches between operating modes in the top level
menu
OK button Short-pressing:
• Confirms selection or input
• Enters sub menu
• Acknowledges faults
Long-pressing:
Activates auxiliary functions
• Sets Drive Bus address
• Jog
• Saves parameter set in drive (RAM to ROM)
• Sets parameter set to default
• Transfers data (drive to micro SD card/SD card)
• Transfers data (micro SD card/SD card to drive)
• Updates firmware
UP button • Navigates to the next item
• Increases a value
• JOG in CW (clockwise)
DOWN button • Navigates to the previous item
• Decreases a value
• JOG in CCW (counter-clockwise)
SHIFT button Moves the cursor from digit to digit for single digit editing,
including the digit of positive/negative sign
Note:
When the sign is edited, "_" indicates positive and "-" indi-
cates negative.
Press the key combination for four seconds to restart the drive

Moves current display to the left page when is displayed at the upper right corner, for
example .

Moves current display to the right page when is displayed at the lower right corner, for
example .

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6.2 Parameter structure

6.2 Parameter structure

The overall parameter structure of SINAMICS V90 BOP is designed as follows:

Note
There is no ABS menu function for a servo motor with an incremental encoder.
The ABS menu function is only available for a servo motor with an absolute encoder

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6.3 Actual status display

6.3 Actual status display

The following drive states can be monitored using the operating panel after power-on:
● Servo off
● Actual speed
● Actual torque
● DC voltage
● Actual position
● Position following error
If servo enable signal is available, actual drive speed is displayed by default; otherwise, "S
OFF" (servo off) is displayed.
With p29002, you define which of the following drive operating status data is to be displayed
on the BOP.:

Parameter Value Meaning

p29002 0 (default) Actual speed
1 DC voltage
2 Actual torque
3 Actual position
4 Position following error

Note
Make sure you save p29002 after modification.

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6.4 Basic operations

6.4 Basic operations

Overview
● Editable parameters: all P parameters under the "Para" menu are settable parameters.
Seven groups in total are available:
– P0A: basic
– P0B: gain adjustment
– P0C: speed control
– P0D: torque control
– P0E: position control
– P0F: IO
– P All: all parameters
● Read-only parameters: All r parameters under the "Data" menu are read-only parameters.
You can only read values of these parameters.

Parameters with index

Some parameters have several indices. Each index has its own meaning and corresponding
value.

Parameters without index

All parameters that do not have indices are parameters without index.

6.4.1 Editing parameters

You can edit a parameter value in two methods:
● Method 1: change the value directly with the UP or DOWN button
● Method 2: move the cursor to a digit with the SHIFT button, then change the digit value
with the UP or DOWN button

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6.4 Basic operations

If you edit a parameter value with Method 1, proceed as follows:

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To edit a parameter value with Method 2, proceed as follows:

NOTICE
It is forbidden to use this function when the servo is ON.
Use this function when the servo is OFF.

Note
The parameters p1414 and p1656 cannot be changed using the SHIFT button.

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6.4 Basic operations

6.4.2 Viewing parameters

To view a parameter, proceed as follows:

6.4.3 Searching parameters in "P ALL" menu

If you do not know which group that a parameter belongs to, you can find it in the "P ALL"
menu.

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6.5 Auxiliary functions

Note
Invalid parameter number
If the input parameter number is unavailable, the nearest parameter number to the input
value is displayed.

6.5 Auxiliary functions

In total, there are 9 BOP functions available:

① Jog ⑥ Update firmware

② Save parameter set in drive ⑦ Adjust AI1 offset
③ Restore parameter values to default ⑧ Adjust AI2 offset
④ Copy parameter set from drive to a micro ⑨ Adjust absolute encoder
SD card/SD card NOTE:
This function is available only when the
servo motor with an absolute encoder is
connected.
⑤ Copy parameter set from a micro SD
card/SD card to drive

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6.5 Auxiliary functions

6.5.1 Jog

Note
The digital signal EMGS must be kept at high level (1) to ensure normal operation.

With the Jog function, you can run the connected motor and view Jog speed or Jog torque.
To run the connected motor with the Jog function and view the Jog speed, proceed as
follows:

Jog in speed (example)

To run the connected motor with the Jog function and view the Jog torque, proceed as
follows:

Jog in torque (example)

NOTICE
Exit the Jog mode after completing Jog run.
The servo motor cannot run if the servo drive is in the Jog mode.

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6.5 Auxiliary functions

6.5.2 Saving parameters (RAM to ROM)

This function is used for saving a parameter set from the drive RAM to drive ROM.
To use this function, proceed as follows:

NOTICE
Plugging or unplugging the micro SD card/SD card will cause saving failure.
Do not plug or unplug the micro SD card/SD card during saving; otherwise, the saving
operation will fail.

Note
• If a micro SD card/SD card has been inserted, the parameter set will be saved onto the
micro SD card/SD card simultaneously.
• All signal functions become inactive during the saving process. Use the signal functions
afterwards.

Reference
Editing parameters (Page 149)

6.5.3 Setting parameters to default

This function is used to reset all parameters to their default values.
To reset the parameters to their default values, proceed as follows:

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6.5 Auxiliary functions

Note
You must save the parameter set after setting the parameter set to the default values;
otherwise, the default values will not be activated.

Reference
Saving parameters (RAM to ROM) (Page 155)

6.5.4 Transferring data (drive to SD)

You can save the parameter set from the drive ROM to a micro SD card/SD card with the
BOP. To do this, proceed as follows:

NOTICE
It is forbidden to use this function when the servo is ON.
Use this function when the servo is OFF.

NOTICE
Plugging or unplugging the micro SD card/SD card will cause copying failure.
Do not plug or unplug the micro SD card/SD card during copying; otherwise, the copying
operation will fail.

Note
Write protection function is not supported by SINAMICS V90. Data in the micro SD card/SD
card will be overwritten even if the write protection function of the micro SD card/SD card is
enabled.

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6.5 Auxiliary functions

6.5.5 Transferring data (SD to drive)

You can also upload the parameters from a micro SD card/SD card to the drive ROM. To do
this, proceed as follows:

NOTICE
It is forbidden to use this function when the servo is ON.
Use this function when the servo is OFF.

NOTICE
Plugging or unplugging the micro SD card/SD card will cause copying failure.
Do not plug or unplug the micro SD card/SD card during copying; otherwise, the copying
operation will fail.

Note
Parameter inconsistency
If the parameters on the micro SD card/SD card are inconsistent with existing parameters in
the drive memory, you must restart the servo drive to apply the changes.

6.5.6 Updating firmware

With the firmware update function of the BOP, you can update the drive firmware. To do this,
you have to store proper firmware files on a micro SD card/SD card and insert it into the
micro SD card/SD card slot. After that, proceed as follows:

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6.5 Auxiliary functions

After you have updated the firmware, you need to set parameters to their default values.
Refer to "Setting parameters to default (Page 155)" about the default process.

Note
Before you update the firmware, you can back up the drive data on a micro SD card/SD
card. If you want to use them after the update, you can copy the data from the micro SD
card/SD card to the drive (Page 157).

CAUTION
Improper firmware files will cause update failure.
When the update fails, the RDY indicator flashes red at 2 Hz and the COM indicator
becomes red on. An update failure is probably caused by improper firmware files or files
missing.
• If the firmware files on the micro SD card/SD card are corrupt, the servo drive cannot
start up after power-on.
• If the firmware on the micro SD card/SD card is the same with the current firmware of
the servo drive, only a restart is performed.
When a failure occurs, try to update the firmware again using proper firmware files. If the
failure persists, contact your local distributor.

Note
Update the firmware by restarting the drive.
After inserting the micro SD card/SD card with proper firmware files, you can also update the
firmware by restarting the drive.

6.5.7 Adjusting AI offsets

NOTICE
Connect to ground
You must firstly connect the AI1 or AI2 to ground and then adjust AI offset.
Refer to section "Analog inputs (Page 101)".

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6.5 Auxiliary functions

With the BOP function menu "A OFF1" or "A OFF2", AI offset can be adjusted automatically.
Proceed as follows to adjust AI offset:
● Adjust AI1 offset

● Adjust AI2 offset

Note
Save parameter
Offset value is set into parameter p29042 (for AI1) or parameter p29061 (for AI2). You must
perform parameter saving after the automatic adjustment of AI offset.
Parameter range
p29042 or p29061 ranges from -0.5 V to + 0.5 V. A value that is out of this range causes an
alarm.
Refer to chapter "Parameter list (Page 275)".

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6.5 Auxiliary functions

6.5.8 Adjusting an absolute encoder

NOTICE
Motor type
This function is only available when you are using a servo motor with the absolute encoder.
Stop servo motor
You must stop servo motor before adjusting absolute encoder.

With the BOP function menu "ABS", you can set current position of absolute encoder to be
zero position. To do this, proceed as follows:

Note
Save parameter
The position value is set in parameter p2525. You must save the parameters after setting the
zero position.

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7.1 Compound controls

Control modes
Nine control modes are available for the SINAMICS V90 servo drive:

Control modes Abbreviation

Basic control modes Pulse train input position control mode (PTI) 1) PTI
Internal position control mode (IPos) IPos
Speed control mode (S) S
Torque control mode (T) T
Compound control Control change mode: PTI/S PTI/S
modes Control change mode: IPos/S IPos/S
Control change mode: PTI/T PTI/T
Control change mode: IPos/T IPos/T
Control change mode: S/T S/T
1) Default control mode

Selecting a basic control mode

You can select a basic control mode by directly setting parameter p29003:

Parameter Setting value Description

p29003 0 (default) Pulse train input position control mode
1 Internal position control mode
2 Speed control mode
3 Torque control mode

Control mode change for a compound control mode

For a compound control mode, you can change between two basic control modes by setting
the parameter p29003 and configuring the level sensitive signal C-MODE on DI10:

p29003 C-MODE
0 (the first control mode) 1 (the second control mode)
4 PTI S
5 IPos S
6 PTI T

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p29003 C-MODE
0 (the first control mode) 1 (the second control mode)
7 IPos T
8 S T

Refer to Section "DIs (Page 92)" for detailed information about DIs.

Note
Note that if p29003 = 5 and the motor has been working in speed control mode for a certain
perido of time; or p29003 = 7 and the motor has been working in torque control mode for a
certain period of time, the fault code F7493 might appear on the drive BOP. This, however,
will not cause the motor to stop. The motor remains operative under this circumstance and
you can clear the fault code manually.

Note
Fault F52904 occurs when the control mode is changed via p29003. You must save the
parameter and then re-power on the servo drive to apply relevant configurations. For more
information about the remedy and acknowledgement of this fault, refer to Section "List of
faults and alarms (Page 318)".

Note
Switching conditions
For the switching from PTI or IPos to S or T, you are recommended to perform control mode
switching after the INP (in position) signal is at high level.
For the switching from S or T to PTI or IPos, you can perform control mode switching only
after the motor speed is lower than 30 rpm.

7.2 General functions

7.2.1 Servo ON

Servo ON signal (SON)

Signal type Signal name Setting Description

DI SON ON = rising edge Servo motor circuit is connected (servo is ON). Servo motor is
ready to run.
OFF = falling edge Servo motor circuit is shut off (servo is OFF). Servo motor is not
ready to run.

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Relevant parameter settings

Parameter Value setting Description

p29301 1 Signal SON (signal number: 1) is assigned to digital input 1 (DI1).
p29300 bit 0 = 1 Set SON at high level or rising edge forcedly.

Note
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 91)" for detailed information about
DI parameterization.
Refer to Chapter "Parameters (Page 275)" for detailed information about parameters.

7.2.2 Direction of motor rotation

With parameter p29001, you can reverse the direction of rotation of the motor without
changing the polarity of pulse train input setpoint and analog input setpoint. The polarity of
output signals like pulse train encoder output (PTO) and analog monitoring remains
unchanged at a reversal of direction.

Parameter Value Description Setpoint

Positive Negative
p29001 0 CW is forward direction • Analog monitoring: • Analog monitoring:
(factory setting)

• PTO: • PTO:

1 CCW is forward direction • Analog monitoring: • Analog monitoring:

• PTO: • PTO:

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Note
After modifying parameter p29001, you must save the parameter and then restart the drive
to ensure normal operation. In this case, you must perform referencing again because the
reference point will be lost after p29001 changes.

7.2.3 Over-travel
When the servo motor travels over distance limit, limit switch is turned on and servo motor
then has an emergency stop.

Travel limit signals (CWL/CCWL)

NOTICE
Some important information about the travel limit signals (CWL/CCWL)
• Both of the signals must be at the high level when the servo drive is powered on.
• When the drive is under the S or T control mode, operation is possible after you
acknowledge the fault; while when the drive is under the PTI or IPos control mode,
operation is possible only when both CWL and CCWL are at the high level (logic 1) after
you acknowledge the fault.
• In all the modes, signal CWL/CCWL can be responded, which means when F7492 or
F7491 happens, the motor can run over the travel limit if the fault is acknowledged.
– For a positive traversing direction, if the STOP cam plus is reached, F7492 will
happen. To clear the fault, acknowledge it with RESET, and then leave away from
the STOP cam plus in the negative traversing direction to return the axis to the valid
traversing range.
– For a negative traversing direction, if the STOP cam minus is reached, F7491 will
happen. To clear the fault, acknowledge it with RESET, and then leave away from
the STOP cam minus in the positive traversing direction to return the axis to the valid
traversing range.

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Signal CWL functions as the clockwise travel limit while signal CCWL functions as the
counter-clockwise travel limit. Both of them are level and edge sensitive signals.

Signal type Signal name Setting Description

DI CWL Falling edge Servo motor has traveled to clockwise travel limit.
(1→0) Servo motor has an emergency stop after that.
DI CCWL Falling edge Servo motor has traveled to counter-clockwise
(1→0) travel limit. Servo motor has an emergency stop
after that.

Relevant parameter settings

Parameter Value setting Description

p29303 3 Signal CWL (signal number: 3) is assigned to digital input 3 (DI3).
p29304 4 Signal CCWL (signal number: 4) is assigned to digital input 4 (DI4).
p29300 bit 1 = 1 Set CWL at high level or rising edge forcedly.
bit 2 = 1 Set CCWL at high level or rising edge forcedly.

Note
DI parameterization
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 91)" for detailed information about
DI parameterization.
Refer to Chapter "Parameters (Page 275)" for detailed information about parameters.

7.2.4 Motor holding brake

The motor holding brake is used to prevent the moving load from unwanted motions (for
example, falling under the influence of gravity) when the servo system is deactivated (for
example, the servo power is shut off). The servo motor can move because of its own weight
or an external force even the motor power has been cut off.

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The holding brake is built in the servo motors with brakes.

Note
• Use this brake for the "hold" purpose only, that is, to hold the stalling state only. Never
use this for the "brake" purpose to stop the load in motion. Use the holding brake only to
hold a stopped motor.
• The holding brake is activated at the same time when the motor power is cut off.
• Refer to Section "System connection (Page 81)" for the standard wiring of the holding
brake.

Signal status
The following table describes the states of various interfaces and components when the
brake works.
● SINAMICS V90 200 V variant

Status MBR (DO) Brake control Relay Motor brake Motor shaft
(Brake) function
Brake en- High level (1) Brake off Without cur- Opened Cannot run
gagement rent
Brake release Low level (0) Brake on With current Closed Can run

● SINAMICS V90 400 V variant

Status MBR (DO) Brake control Motor brake func- Motor shaft
(B+, B-) tion
Brake engage- High level (1) 0V Opened Cannot run
ment
Brake release Low level (0) 24 V Closed Can run

DO signal

Signal type Signal name Setting Description

DO MBR ON = high level Motor holding brake is closed.
(1)
OFF = low level Motor holding brake is released.
(0)

You can also change the assignment of the digital output signal MBR and assign it to any
DO pin with one of the following parameters:

Parameter Range Factory set- Unit Description

ting
p29330 1 to 14 1 (RDY) - Assignment of digital output 1
p29331 1 to 14 2 (FAULT) - Assignment of digital output 2
p29332 1 to 14 3 (INP) - Assignment of digital output 3

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Parameter Range Factory set- Unit Description

ting
p29333 1 to 14 5 (SPDR) - Assignment of digital output 4
p29334 1 to 14 6 (TLR) - Assignment of digital output 5
p29335 1 to 14 8 (MBR) - Assignment of digital output 6

Note
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 91)" for detailed information about
the digital outputs.

Connection example (for V90 200 V variant only)

The following shows the example when the brake is controlled through the motor holding
brake signal (Brake) of the SINAMICS V90 200 V variant servo drive.

Note
1)It is the Isolated digital output power supply. When you use the 24 VDC power supply, it
can be also the controller power supply.
The motor brake can be controlled not only by the brake control signal from the SINAMICS
2)

V90 servo drive but also by external emergency stop.

3)Never use the same power supply for the brake (24 VDC) and for the brake control signal
(P24 V).
4)Install a surge absorber as the above figure shows to suppress surge voltage generated by
ON/OFF action of the relay (RY). When you use a diode, the time from the brake release to
brake engagement is slower than the case when you use a surge absorber.

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Relevant parameters

No. Unit Range Default Description

p1215 - 0 to 3 0 Configuration of the holding brake.
• 0: No holding brake available
• 1: Motor holding brake according to
sequence control (SON)
• 2: Motor holding brake always open
• 3: SIEMENS internal use
p1216 ms 0 to 10000 Motor depend- Motor holding brake opening time.
ent
p1217 ms 0 to 10000 Motor depend- Motor holding brake closing time.
ent

You can configure the holding brake with the parameter p1215 according to the actual
application. When you set p1215=1, the motor holding brake is open once the digital input
signal SON has a rising edge and becomes closed once a falling edge comes to SON.
If the servo motor is used to control a vertical axis, the machine movable part can have a
slight shift when the holding brake becomes open or closed simultaneously with the action of
SON. To eliminate such slight shift, you can configure a delay time for the close or open time
of the motor holding brake by setting the parameters p1216 and p1217.

Note
The default values of p1216 and p1217 depend on the rated power of the motor which
connects to the SINAMICS V90 servo drive.

Note
For SINAMICS V90 200 V variant servo drives, the actual motor holding brake time consists
of the time delay of the motor brake and the time delay of the current amplifying component
(a relay in the example above); therefore, you can set the values of p1216 and p1217 as
follows:
p1216 = motor brake opening time + relay opening time
p1217 = motor brake closing time + relay closing time

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Braking sequence
The operating principle of the holding brake is configured during motor selection for motors
with incremental encoders and configured automatically for motors with absolute encoders.

The start of the closing time for the brake depends on the expiration of the shorter of p1227
(zero speed detection monitoring time) and p1228 (pulse suppression delay time).

7.2.5 Stopping method at servo OFF

You can select a stopping method when the servo is OFF. The following stopping methods
are available:
● Ramp-down (OFF1)
● Coast-down (OFF2)
● Emergency stop (OFF3)

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Ramp-down (OFF1) and coast-down (OFF2)

The ramp-down and coast-down can be configured with the digital input signal SON:

SON in PTI, IPos or S mode

Signal type Signal name Setting Description

DI SON Rising edge Power circuit is powered on and the servo drive is
(0→1) ready to run.
Falling edge Motor ramps down.
(1→0)

SON in T mode

Signal type Signal name Setting Description

DI SON Rising edge Power circuit is powered on and the servo drive is
(0→1) ready to run.
Falling edge Motor coasts down.
(1→0)

Emergency stop (OFF3)

The emergency stop can be configured with the digital input signal EMGS.

Signal type Signal name Setting Description

DI EMGS 1 Servo drive is ready to run.
0 Emergency stop.

For detailed information about the digital input signals SON and EMGS, refer to Section
"Digital inputs/outputs (DIs/DOs) (Page 91)".

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7.3 Pulse train input position control (PTI)

7.3.1 Sequence of SON

When the SINAMICS V90 servo drive operates in pulse train input position control mode
(PTI), the pulse train setpoint must be send out after the RDY signal is ok.

Timing diagram

7.3.2 Selecting a setpoint pulse train input channel

As mentioned before, the SINAMICS V90 servo drive supports two channels for the setpoint
pulse train input:
● 24 V single end pulse train input
● High-speed 5 V differential pulse train input (RS485)
You can select one of these two channels by setting the parameter p29014:

Parameter Value Setpoint pulse train input channel Default

p29014 0 High-speed 5 V differential pulse train input
(RS485)
1 24 V single end pulse train input ✓

The position pulse train inputs come from either of the following two terminal groups:
● PTIA_D+, PTIA_D-, PTIB_D+, PTIB_D-
● PTIA_24P, PTIA_24M, PTIB_24P, PTIB_24M
For more information about wiring, refer to Section "Control/Status interface (Page 90)" and
"PTIs (Page 100)".

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7.3.3 Selecting a setpoint pulse train input form

The SINAMICS V90 servo drive supports two kinds of setpoint pulse train input forms:
● AB track pulse
● Pulse + Direction
For both forms, positive logic and negative logic are supported:

Pulse train input form Positive logic = 0 Negative logic = 1

Forward (CW) Reverse (CCW) Forward (CW) Reverse (CCW)
AB track pulse

Pulse + Direction

You can select one of the setpoint pulse train input forms by setting the parameter p29010:

Parameter Value Setpoint pulse train input form Default

p29010 0 Pulse + Direction, positive logic ✓
1 AB track, positive logic
2 Pulse + Direction, negative logic
3 AB track, negative logic

Note
After modifying parameter p29010, you must save the parameter and then restart the drive
to ensure normal operation. In this case, you must perform referencing again because the
reference point will be lost after p29010 changes.

7.3.4 In position (INP)

When the deviation between the position setpoint and the actual position is within the preset
in-position range specified in p2544, the signal INP (in position) is output.

Parameter settings

Parameter Value range Setting Unit Description

value
p2544 0 to 40 (default) LU Position window (in-position range)
2147483647
p29332 1 to 13 3 - Digital output 3 assignment

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DO configuration

Signal type Signal name Setting Description

DO INP 1 Number of droop pulses is in the preset in-position range
(parameter p2544)
0 Droop pulses are beyond the in-position range

7.3.5 Smoothing function

With the smoothing function, the position characteristics curve from the pulse train input
setpoint can be transformed into an S-curve profile with a time constant specified in p2533.

Parameter setting

Parameter Range Factory setting Unit Description

p2533 0 to 1000 0 ms Smoothes the parameter in response to a sudden posi-
tion setpoint

7.3.6 Electronic gear ratio

Encoder specifications
The encoder specifications are shown as follows:

Type Resolution
A Incremental encoder 2500 ppr
L Absolute encoder 20 bit single turn + 12 bit multi-turn

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Electronic gear
With the function of electronic gear, you can define the motor revolutions according to the
number of setpoint pulses, and sequentially define the distance of mechanical movement.
The minimum travelling distance of load shaft according to one setpoint pulse is called a
length unit (LU); for example, one pulse results in 1 µm movement.

Benefits of electronic gear (example):

Move the workpiece for 10 mm:

Without electronic gear With electronic gear

Required number of setpoint pulses: Required number of setpoint pulses:
2500 ppr × 4 × (10 mm/6 mm) = 16666 (10 mm × 1000) / 1 LU = 10000

The electronic gear ratio is a multiplier factor to pulse train setpoint. It is realized with a
numerator and a denominator. Four numerators (p29012[0], p29012[1], p29012[2].
p29012[3]) and one denominator (p29013) are used for the four electronic gear ratios:

Parameter Range Factory setting Unit Description

p29012[0] 1 to 10000 1 - The first numerator of electronic gear
p29012[1] 1 to 10000 1 - The second numerator of electronic gear

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Parameter Range Factory setting Unit Description

p29012[2] 1 to 10000 1 - The third numerator of electronic gear
p29012[3] 1 to 10000 1 - The forth numerator of electronic gear
p29013 1 to 10000 1 - The denominator of electronic gear

These four electronic gear ratios can be selected with the combination of the digital input
signals EGEAR1 and EGEAR2 (refer to Section "DIs (Page 92)"):

EGEAR2 : EGEAR1 Electronic gear ratio Ratio value

0:0 Electronic gear ratio 1 p29012[0] : p29013
0:1 Electronic gear ratio 2 p29012[1] : p29013
1:0 Electronic gear ratio 3 p29012[2] : p29013
1:1 Electronic gear ratio 4 p29012[3] : p29013

Note
After a gear ratio is switched to another one via digital inputs, you need to wait five seconds
and then perform SERVO ON.

Note
The range of electronic gear ratio is from 0.02 to 200.
The electronic gear ratio can be set at SERVO OFF state only. After the setting, you need to
reference the drive again.

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Calculation formula for electronic gear ratio

The electronic gear ratio can be calculated from the formula below:

Examples for calculating the electronic gear ratio

Step Description Mechanism

Ball screw Disc table

1 Identify mechanism • Pitch of ball screw: 6 mm • Rotary angle: 360o

• Deduction gear ratio: 1:1 • Deduction gear ratio: 3:1
2 Identify encoder resolu- 10000 10000
tion
3 Define LU 1 LU=1 μm 1 LU=0.01o
4 Calculate the travel 6/0.001=6000 LU 360o/0.01o=36000 LU
distance per load shaft
revolution
5 Calculate electronic (1/6000) × (1/1) × 10000 = 10000/6000 (1/36000) × (3/1) × 10000 = 10000/12000
gear ratio
6 Set param- p29012/p = 10000/6000 = 5/3 = 10000/12000 = 5/6
eters 29013

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7.3.7 Inhibiting pulse train input setpoint (P-TRG)

Note
P-TRG in PTI mode
Note that the function "inhibiting pulse train by P-TRG in PTI mode" as described in this
section and the rest of the manual is reserved for future use.

The digital input signal P-TRG is the default connection of DI6 in the position control mode.
In the pulse train input position control mode, P-TRG is level sensitive and can be used to
allow or inhibit positioning operation according to pulse train input setpoint:
● 0: positioning according to pulse train input setpoint
● 1: inhibit pulse train input setpoint

Timing diagram

DI configuration
The signal P-TRG is the factory setting of DI6:

Signal type Signal name Setting Description

DI P-TRG High level (1) Inhibit pulse train input setpoint
Low level (0) Positioning according to pulse train input setpoint

Note
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 91)" for detailed information about
DI parameterization.
• The signal P-TRG is active only when the digital input signal SON is in OFF state.
• When the signal P-TRG is active in the PTI mode or a compound mode with PTI, the
alarm A7585 occurs.

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7.3.8 Speed limit

Four sources in total are available for the speed limit. You can select one of them via a
combination of digital input signals SLIM1 and SLIM2:

Digital signal Speed limit

SLIM2 SLIM1
0 0 Internal speed limit 1
0 1 External speed limit (analog input 1)
1 0 Internal speed limit 2
1 1 Internal speed limit 3

Note
Control mode
The above four sources are valid in all control modes. You can switch among them when the
servo drive is running.

Note
Fault F7901 occurs when the actual speed exceeds the positive speed limit + hysteresis
speed (p2162) or the negative speed limit - hysteresis speed (p2162). Go to "List of faults
and alarms (Page 318)" for information about the acknowledgment of this fault.

Note
If the drive is working with external speed limit, the system continues to work automatically
after you repower on the 24 VDC power supply which is shut off unexpected for the drive. In
this case, do not touch the equipment.

Refer to "DIs (Page 92)" for more information about the digital input signals SLIM1 and
SLIM2.

Overall speed limit

Besides the above four channels, an overall speed limit is also available for all control modes.
The overall speed limit can be configured by setting the following parameters:

Parameter Value range Default Unit Description

p1083 0 to 210000 210000 rpm Overall speed limit (positive)
p1086 -210000 to 0 -210000 rpm Overall speed limit (negative)

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Internal speed limit

Select an internal speed limit by setting the following parameters:

Parameter Value range Default Unit Description Digital input

SLIM2 SLIM1
p29070[0] 0 to 210000 210000 rpm Internal speed limit 1 (positive) 0 0
p29070[1] 0 to 210000 210000 rpm Internal speed limit 2 (positive) 1 0
p29070[2] 0 to 210000 210000 rpm Internal speed limit 3 (positive) 1 1
p29071[0] -210000 to 0 -210000 rpm Internal speed limit 1 (negative) 0 0
p29071[1] -210000 to 0 -210000 rpm Internal speed limit 2 (negative) 1 0
p29071[2] -210000 to 0 -210000 rpm Internal speed limit 3 (negative) 1 1

Note
After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 set to the
maximum speed of the motor automatically.

External speed limit

Select an external speed limit by setting the following parameters:

Parameter Value range Default Unit Description

p29060 6 to 210000 3000 rpm Scaling for analog speed setpoint (maximum
speed setpoint corresponding to 10 V)
p29061 -0.50 to 0.50 0 V Offset adjustment for analog input 1 (speed set-
point)

7.3.9 Torque limit

Four sources in total are available for the torque limit. You can select one of them via a
combination of digital input signals TLIM1 and TLIM2:

Digital signal Torque limit

TLIM2 TLIM1
0 0 Internal torque limit 1
0 1 External torque limit (analog input 2)
1 0 Internal torque limit 2
1 1 Internal torque limit 3

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When the torque setpoint reaches torque limit, the torque is limited to the value selected by
TLIM1/TLIM2.

Note
Control mode
The above four sources are valid in the PTI mode, the IPos mode and the S mode. You can
switch among them when the servo drive is running.

Note
When the motor torque exceeds the torque limit, fault F52911/F52912 appears. The fault
indicates the motor torque exceeds the torque limitation of the selected group which is
determined by TLM1 and TLM2.

Refer to "DIs (Page 92)" for more information about the digital input signals TLIM1 and
TLIM2.

Overall torque limit

Besides the above four sources, an overall torque limit is also available for all control modes.
The overall torque limit takes effect when an emergency stop (OFF3) happens. In this case,
the servo drive brakes with a maximum torque.
Parameter settings:

Parameter Value range Default Unit Description

p1520 -1000000.00 to 20000000.00 0 Nm Overall torque limit (positive)
p1521 -20000000.00 to 1000000.00 0 Nm Overall torque limit (negative)

Internal torque limit

Select an internal torque limit by setting the following parameters:

Parameter Value range Default Unit Description Digital input

TLIM1 TLIM2
p29043 -100 to 100 0 % Fixed torque setpoint - -
p29050[0] -150 to 300 300 % Internal torque limit 1 (positive) 0 0
p29050[1] -150 to 300 300 % Internal torque limit 2 (positive) 1 0
p29050[2] -150 to 300 300 % Internal torque limit 3 (positive) 1 1
p29051[0] -300 to 150 -300 % Internal torque limit 1 (negative) 0 0
p29051[1] -300 to 150 -300 % Internal torque limit 2 (negative) 1 0
p29051[2] -300 to 150 -300 % Internal torque limit 3 (negative) 1 1

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The following diagram shows how the internal torque limit functions:

External torque limit

Parameter settings:

Parameter Value range Default Unit Description Digital input

TLIM1 TLIM2
p29041[1] 0 to 300 300 % Analog torque limit scaling (value 0 1
corresponding to 10V)

p29041[1] is the scaling of analog input 2.

For example, if p29041[1] is 100%, the relationship between torque limit value and analog
input is shown as follows:

In this case, analog input of 5 V corresponds to 50% of rated torque and 10 V corresponds to
100% of rated torque.

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Torque limit reached (TLR)

When the generated torque has nearly (internal hysteresis) reached the value of the positive
torque limit, negative torque limit or analog torque limit, the signal TLR is output.

7.3.10 Clearing droop pulses (CLR)

The droop pulses can be cleared with the parameter p29242 and the digital input signal CLR.

Selecting a clear mode by setting p29242

You can select a clear mode by setting the parameter p29242:

Parameter Range Factory setting Unit Description

p29242 0 to 2 0 - • 0: do not clear droop pulses
• 1: clear droop pulses with the high level
• 2: clear droop pulses with the rising edge

Clearing droop pulses with DI signal CLR

You can clear the droop pulses with the DI signal CLR after p29242 is set. The signal CLR is
the factory setting of pin 11 (DI7) on the control/status interface.

p29242 = 0

p29242 = 1

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p29242 = 2

Note
When you use the CLR high level to clear the pulses (p29242 = 1), the high level need to be
kept for more than 8 ms.
When the signal CLR is active in the PTI mode or a compound mode with PTI, the alarm
A7585 occurs.
If there are overshoot when you use the CLR function, you need to increase the integral time
(p29121).

7.3.11 Referencing (only for absolute encoder)

If an absolute encoder is used, you must adjust the absolute encoder with the BOP menu
function "ABS". For detailed information about "ABS" menu function, refer to "Adjusting an
absolute encoder (Page 160)".

7.3.12 PTO function

Function
A pulse train encoder output (PTO) which provides pulse signals can transmit the signals to
the controller to realize a closed-loop control system inside the controller, or transmit them to
another drive as pulse train setpoint for a synchronous axis.

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Electronic gear
The electronic gear ratio is a multiplier factor to the PTO to a controller. It is realized with a
numerator and a denominator. One numerator (p29031) and one denominator (p29032) are
used for the PTO electronic gear ratio:

Parameter Range Factory setting Unit Description

p29031 1 to 2147000000 1 - Numerator of output pulse
p29032 1 to 2147000000 1 - Denominator of output pulse

Note
When you use the PTO electronic gear function, for the absolute encoder, the electronic
gear is based on the resolution of 8192 ppr.
The range of electronic gear ratio is from 0.02 to 200.
The electronic gear ratio can be set at SERVO OFF state only.

Note
PTO direction
For an application of fully closed-loop position control using PTI and PTO, you can set the
PTO direction with parameter p29033.

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Note
When using the PTO function, the drive will output some pulses before the motor servo on if
you executing the following operations.
• Default the drive with the BOP instruction.
• Configure the motor ID on the drive.

Note
When you use the PTO electronic gear ratio function, zero mark will not be generated.

PTO zero mark

Make the servo motor rotate for more than one revolution before using PTO's zero mark for
referencing.

7.4 Internal position control (IPos)

7.4.1 Setting mechanical system

By parameterizing the mechanical system, the link between the physical moving part and the
length unit (LU) is established.

The unit of the fixed position setpoint is the Length Unit (LU). All subsequent position
setpoint, related speed value, and acceleration value will maintain the LU as the unit in
internal position control mode.
Taking a ball screw system for example, if the system has a pitch of 10 mm/revolution
(10000 µm/revolution) and the resolution of the length unit is 1 µm (1 LU = 1 µm), one load
revolution corresponds to 10000 LU (p29247 = 10000).

Note
If the value of p29247 increases by N times, the values of p2542, p2544 and p2546 should
increase by N times accordingly. Otherwise, the fault F7450 or F7452 occur.

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Relevant parameters

Parameter Range Factory setting Unit Description

p29247 1 to 2147483647 10000 - LU per load revolution
p29248 1 to 1048576 1 - Load revolutions
p29249 1 to 1048576 1 - Motor revolutions

Examples for configuring mechanical system

Step Description Mechanical system

Ball screw Disc table

1 Identify the mechanical • Pitch of ball screw: 6 mm • Rotary angle: 360o

system
• Reduction gear ratio: 1:1 • Reduction gear ratio: 3:1
2 Define LU 1 LU = 1 µm 1 LU = 0.01o
3 Calculate the LU per 6/0.001 = 6000 LU 360/0.01 = 36000 LU
load shaft revolution
4 Set param- p29247 6000 36000
eters p29248 1 1
p29249 1 3

7.4.2 Setting fixed position setpoint

Eight position setpoints in total are available. Each position setpoint comes from one group
of position data:

Fixed position setpoint Corresponding parameters

Parameter Description
Fixed position setpoint 1 p2617[0] Fixed position setpoint 1 (P_pos1)
p2618[0] Speed of fixed position setpoint 1 (P_pos_spd1)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 2 p2617[1] Fixed position setpoint 2 (P_pos2)
p2618[1] Speed of fixed position setpoint 2 (P_pos_spd2)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration

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Fixed position setpoint Corresponding parameters

Parameter Description
Fixed position setpoint 3 p2617[2] Fixed position setpoint 3 (P_pos3)
p2618[2] Speed of fixed position setpoint 3 (P_pos_spd3)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 4 p2617[3] Fixed position setpoint 4 (P_pos4)
p2618[3] Speed of fixed position setpoint 4 (P_pos_spd4)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 5 p2617[4] Fixed position setpoint 5 (P_pos5)
p2618[4] Speed of fixed position setpoint 5 (P_pos_spd5)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 6 p2617[5] Fixed position setpoint 6 (P_pos6)
p2618[5] Speed of fixed position setpoint 6 (P_pos_spd6)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 7 p2617[6] Fixed position setpoint 7 (P_pos7)
p2618[6] Speed of fixed position setpoint 7 (P_pos_spd7)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration
Fixed position setpoint 8 p2617[7] Fixed position setpoint 8 (P_pos8)
p2618[7] Speed of fixed position setpoint 8 (P_pos_spd8)
p2572 IPos maximum acceleration
p2573 IPos maximum deceleration

Parameter settings

Parameter Range Factory setting Unit Description

p2617[0]...[ -2147482648 to 0 LU Fixed position setpoint 1 to 8
7] 2147482647
p2618[0]...[ 1 to 40000000 600 1000 Speed of fixed position setpoint 1 to 8
7] LU/min
p2572 1 to 2000000 Motor dependent 1000 IPos maximum acceleration
LU/s²
p2573 1 to 2000000 Motor dependent 1000 IPos maximum deceleration
LU/s²

Note
When the motor is working in the IPos control mode, you need to check that whether the
values of the parameters p2542, p2544, p2546, p2547 and p2573 are your desired values.
The values are set automatically by the drive based on the encoder resolution.

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7.4.3 Selecting a positioning mode - absolute/incremental

In the internal position control mode, you can select between absolute positioning mode and
incremental positioning mode with the parameter p29241:

Parameter Range Factory setting Unit Description

p29241 0 to 3 0 - Absolute or incremental positioning mode:
• 0: incremental
• 1: absolute
• 2: absolute, positive (only for a rotary axis with modu-
lo correction)
• 3: absolute, negative (only for a rotary axis with modu-
lo correction)

NOTICE
Pre-conditions for using the absolute mode
The absolute mode can be used only after:
• the axis has been referenced for incremental measuring system. Refer to Section
"Referencing (Page 190)" for detailed information about referencing.
• the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting
an absolute encoder (Page 160)" for reference.

Example

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7.4.4 Configuring linear/modular axis

Linear axis or modular axis can be used depending on your actual application. The linear
axis has a restricted traversing range and it is the factory setting of the SINAMICS V90 servo
drive.
The modular axis has an unrestricted traversing range. The value range of the position
repeats itself after a value specified in p29245. You can use the modular axis by setting the
following parameters additionally:

Parameter Range Unit Default Description

p29245 0 to 1 - 0 • 0: linear axis
• 1: modular axis
p29246 1 to 2147482647 LU 360000 Modular range

Note
After modifying parameter p29245, you must perform the referencing again.

7.4.5 Backlash compensation

Generally, backlash occurs when the mechanical force is transferred between a machine
part and its drive:

If the mechanical system was to be adjusted/designed so that there was absolutely no

backlash, this would result in high wear. Thus, backlash can occur between the machine
component and the encoder. For axes with indirect position sensing, mechanical backlash
results in a false traversing distance because the axis, at direction reversal, travels either too
far or not far enough corresponding to the absolute value of the backlash.

Note
Pre-conditions for backlash compensation
The backlash compensation is active after
• the axis has been referenced for incremental measuring system. Refer to Section
"Referencing (Page 190)" for detailed information about referencing.
• the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting an
absolute encoder (Page 160)" for reference.

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In order to compensate the backlash, the determined backlash must be specified in p2583
with correct polarity. At each direction of rotation reversal, the axis actual value is corrected
dependent on the actual traversing direction.
If the axis has been referenced or adjusted, then the setting of parameter p2604 (reference
point approach, starting direction) is used to activate the compensation value:

p2604 Traversing direction Activate compensation value

0 Negative Immediately
1 Positive Immediately

Parameter settings

Parameter Range Unit Default Description

p2583 -200000 to LU 0 Backlash compensation
200000
p2604 0 to 1 - 0 Set signal source for start direction of searching cam:
• 0: start in positive direction
• 1: start in negative direction

7.4.6 Referencing

Referencing modes
If the servo motor has an incremental encoder, five referencing modes in total are available:
● Setting reference point with the digital input signal REF
● External reference cam (signal REF) and encoder zero mark
● Encoder zero mark only
● External reference cam (signal CWL) and encoder zero mark
● External reference cam (signal CCWL) and encoder zero mark
If the servo motor has an absolute encoder, the five referencing modes are available. You
can also adjust the absolute encoder (by setting current position as the zero position) with
the BOP function "ABS". Refer to Section "Adjusting an absolute encoder (Page 160)" for
details.
You can select one of these referencing modes by setting the parameter p29240:

Parameter Value Description

p29240 0 Setting reference point with the digital input signal REF
1 (default) External reference cam (signal REF) and encoder zero mark
2 Encoder zero mark only
3 External reference cam (signal CCWL) and encoder zero mark
4 External reference cam (signal CWL) and encoder zero mark

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Note
Referencing mode for absolute encoder
If an absolute encoder is connected, the five referencing modes are available. You can
select the different referencing modes with parameter p29240. When p29240 = 1 to 4, the
referencing process can only be implemented before you use the "ABS" function. Once the
"ABS" function is implemented, the four referencing modes are not available any more.

Note
p29240 can be modified only when the drive is in IPos mode.

Setting reference point with the digital input signal REF (p29240=0)

Note
Preconditions for this referencing mode
• The servo motor must be in servo on state and keep standstill.
• The signal REF must be OFF under the following conditions:
– before power-on
– when switching from another referencing mode to this referencing mode
– when switching from another control mode to internal position control mode

The current position is set to zero at a rising edge of the signal REF and the servo drive is
referenced:

CAUTION
The referencing point may not be fixed during referencing.
The servo motor must be in servo on state so that the referencing point is fixed during
referencing.

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External reference cam (signal REF) and encoder zero mark (p29240=1)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CW or CCW) for
searching the reference cam is defined by p2604. When the reference cam is reached
(signal REF: 0→1), the servo motor decelerates to standstill. After that, the servo motor
accelerates again to the speed specified in p2608 and the running direction is opposite to the
direction defined by p2604. Then the signal REF should be switched off (1→0). When the
servo motor reaches the first zero mark, it starts to travel towards the reference point defined
in p2600 with the speed specified in p2611. When the servo motor reaches the reference
point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the
referencing finishes successfully.
The whole process is shown in the diagram below:

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Follow the steps below to perform referencing with this mode:

1. Set relevant parameters:

Parameter Range Factory Unit Description

setting
p2599 -2147482648 to 0 LU Sets the position value for the refer-
2147482647 ence point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 0 to 1 0 - Sets signal source for start direction
of searching cam:
• 0: start in positive direction
• 1: start in negative direction
p2605 1 to 40000000 5000 1000 Speed for searching the cam
LU/min
p2606 0 to 2147482647 2147482647 LU Maximum distance for searching the
cam
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/min
p2609 0 to 2147482647 20000 LU Maximum distance for searching the
zero mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/min

2. Configure signals SREF and REF.

Refer to Chapter "Digital inputs/outputs (DIs/DOs) (Page 91)" for reference.
3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

Encoder zero mark only (p29240=2)

In this mode, there is no cam available. The referencing is triggered by signal SREF. After
that, the servo motor accelerates to the speed specified in p2608 and the direction (CW or
CCW) is defined by p2604. When the servo motor reaches the first zero mark, it starts to
travel towards the reference point defined in p2600 with the speed specified by p2611. When
the servo motor reaches the reference point (p2599), the signal REFOK is output. Switch off
the signal SREF (1→0) and the referencing finishes successfully.

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The whole process is shown in the diagram below:

Follow the steps below to perform referencing with this mode:

1. Set relevant parameters:

Parameter Range Factory Unit Description

setting
p2599 -2147482648 to 0 LU Sets the position value for the refer-
2147482647 ence point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 0 to 1 0 - Sets signal source for start direction
of searching cam:
• 0: start in positive direction
• 1: start in negative direction
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/min
p2609 0 to 2147482647 20000 LU Maximum distance for searching the
zero mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/min

2. Configure the signal SREF.

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3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

External reference cam (signal CCWL) and encoder zero mark (p29240=3)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CCW) for searching the
reference cam is defined by p2604. When the signal CCWL is detected (1→0), the servo
motor decelerates to standstill with maximum deceleration. After that, the servo motor
accelerates again to the speed specified in p2608 and the running direction (CW) is opposite
to the direction defined by p2604. The signal CCWL switches to high level (0→1). When the
servo motor finds the first zero mark, it starts to travel towards the reference point defined in
p2600 with the speed specified in p2611. When the servo motor reaches the reference point
(p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing
finishes successfully.
The whole process is shown in the diagram below:

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7.4 Internal position control (IPos)

Note
• During the referencing process, the signals CWL and CCWL are unavaiable. Once the
process is complete, the signals will act as limits signal again.
• For the safety purpose, the maximum distance for searching the cam (p2606) and the
maximum distance for searching the zero mark (p2609) must be set.

Follow the steps below to perform referencing with this mode:

1. Set relevant parameters:

Parameter Range Factory Unit Description

setting
p2599 -2147482648 to 0 LU Sets the position value for the refer-
2147482647 ence point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 1) 0 to 1 0 - Sets signal source for start direction
of searching cam:
• 0: start in positive direction (CW)
• 1: start in negative direction
(CCW)
p2605 1 to 40000000 5000 1000 Speed for searching the cam
LU/min
p2606 0 to 2147482647 2147482647 LU Maximum distance for searching the
cam
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/min
p2609 0 to 2147482647 20000 LU Maximum distance for searching the
zero mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/min
1) When p29240= 3, the direction for searching the reference cam must be CCW, that is
p2604=1.

2. Configure the signal SREF and CCWL.

3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

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External reference cam (signal CWL) and encoder zero mark (p29240=4)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CW) for searching the
reference cam is defined by p2604. When the signal CWL is detected (1→0), the servo motor
decelerates to standstill with maximum deceleration. After that, the servo motor accelerates
again to the speed specified in p2608 and the running direction (CCW) is opposite to the
direction defined by p2604. The signal CWL switches to high level (0→1). When the servo
motor finds the first zero mark, it starts to travel towards the reference point defined in p2600
with the speed specified in p2611. When the servo motor reaches the reference point
(p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing
finishes successfully.
The whole process is shown in the diagram below:

Note
• During the referencing process, the signals CWL and CCWL are unavaiable. Once the
process is complete, the signals will act as limits signal again.
• For the safety purpose, the maximum distance for searching the cam (p2606) and the
maximum distance for searching the zero mark (p2609) must be set.

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7.4 Internal position control (IPos)

Follow the steps below to perform referencing with this mode:

1. Set relevant parameters:

Parameter Range Factory Unit Description

setting
p2599 -2147482648 to 0 LU Sets the position value for the refer-
2147482647 ence point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 1) 0 to 1 0 - Sets signal source for start direction
of searching cam:
• 0: start in positive direction
• 1: start in negative direction
p2605 1 to 40000000 5000 1000 Speed for searching the cam
LU/min
p2606 0 to 2147482647 2147482647 LU Maximum distance for searching the
cam
p2608 1 to 40000000 300 1000 Speed for searching zero mark
LU/min
p2609 0 to 2147482647 20000 LU Maximum distance for searching the
zero mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/min
1) When p29240= 4, the direction for searching the reference cam must be CW, that is p2604=0.

2. Configure the signal SREF and CWL.

3. Trigger SREF to a rising edge to start referencing.

Note
During the referencing, if SREF is OFF, the referencing stops.

4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.

7.4.7 Software position limit

The following two software position limits are available in the internal position control mode:
● positive position limit
● negative position limit
The function of software position limit only becomes active after going to reference. When
the actual position reaches one of the above-mentioned software position limits, motor speed
decelerates to 0.

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Parameter settings

Parameter Range Factory setting Unit Description

p2580 -2147482648 to -2147482648 LU Negative software position limit switch
2147482647
p2581 -2147482648 to 2147482648 LU Positive software position limit switch
2147482647
p2582 0 to 1 0 - Activation of software limit switch:
• 0: deactivate
• 1: activate

7.4.8 Speed limit

Refer to "Speed limit (Page 178)" for details.

7.4.9 Torque limit

Refer to "Torque limit (Page 179)" for details.

7.4.10 Selecting a fixed position setpoint and starting positioning

In the IPos mode, two methods are available to select a fixed position setpoint and then start
motor running according to selected fixed position setpoint:
● select a fixed position setpoint with the co-settings of signals POS1, POS2 and POS3 and
then use the trigger signal P-TRG to start positioning
● use the rising edge of the signal STEPF, STEPB or STEPH
Refer to Chapter "Digital inputs/outputs (DIs/DOs) (Page 91)" for detailed information about
the signals POS1, POS2, POS3, P-TRG, STEPF, STEPB, STEPH.

Selecting the target position with the signals POS1, POS2 and POS3, and starting the positioning
with the trigger signal P-TRG
Select one of the eight fixed position setpoints with the co-settings of signals POS1, POS2
and POS3:

Fixed position setpoint Signal

POS3 POS2 POS1
Fixed position setpoint 1 0 0 0
Fixed position setpoint 2 0 0 1
Fixed position setpoint 3 0 1 0
Fixed position setpoint 4 0 1 1
Fixed position setpoint 5 1 0 0

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Fixed position setpoint Signal

POS3 POS2 POS1
Fixed position setpoint 6 1 0 1
Fixed position setpoint 7 1 1 0
Fixed position setpoint 8 1 1 1

In the fixed position control mode, the signals POS1 and POS2 are default assignments of
DI7 and DI8 while the signal POS3 is not assigned:

Signal type Signal name Description

DI POS1 Select a fixed position setpoint.
DI POS2
DI POS3

Note
Configuration of POS3
If the POS3 is not assigned to any DI, its status is assumed to be 0, which means only the
following fixed position setpoints can be used:
• Fixed position setpoint 1
• Fixed position setpoint 2
• Fixed position setpoint 3
• Fixed position setpoint 4

After selecting a fixed position setpoint, the servo motor can start positioning at a rising edge
of the signal P-TRG.
The digital input signal P-TRG is the default assignment of DI6 in the internal position control
mode:

Signal type Signal name Setting Description

DI P-TRG 0→1 Starts positioning according to selected fixed

position setpoint

The timing diagram for starting positioning with the trigger signal P-TRG is shown as follows:

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Selecting the target position and starting the positioning with the rising edge of the signal STEPF,
STEPB or STEPH
If the signal STEPF is enabled, the servo motor, at a rising edge of STEPF, traverses to next
fixed position setpoint. For example, if the servo motor currently locates at the fixed position
setpoint 3, the servo motor traverses to the fixed position setpoint 4 at a rising edge of
STEPF.
If the signal STEPB is enabled, the servo motor, at a rising edge of STEPB, traverses to
previous fixed position setpoint.
If the signal STEPH is enabled, the servo motor, at a rising edge of STEPH, traverses to the
fixed position setpoint 1.

Note
The servo drive can respond to the rising edge of the signal STEPF, STEPB or STEPH only
when the servo motor is at a standstill.
If the servo motor is at fixed position 8, a rising edge of STEPF is not responded.
If motor is at fixed position 1, a rising edge of STEPH is responded, but a rising edge of
STEPB is not responded.
During positioning, if the motor stops unexpectedly, the drive assumes that the target
position has been reached; for example, if the motor stops between POS2 and POS3
because of a fault after the signal STEPB (traversing to POS2) is given, the drive assumes
that POS2 has been reached.

7.5 Speed control (S)

7.5.1 Configuring speed setpoint

Eight sources in total are available for speed setpoint. You can select one of them with the
combination of digital input signals SPD1, SPD2 and SPD3:

Digital signal Torque limit

SPD3 SPD2 SPD1
0 0 0 External analog speed setpoint (analog input 1)
0 0 1 Fixed speed setpoint 1 (p1001)
0 1 0 Fixed speed setpoint 2 (p1002)
0 1 1 Fixed speed setpoint 3 (p1003)
1 0 0 Fixed speed setpoint 4 (p1004)
1 0 1 Fixed speed setpoint 5 (p1005)
1 1 0 Fixed speed setpoint 6 (p1006)
1 1 1 Fixed speed setpoint 7 (p1007)

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7.5 Speed control (S)

Refer to "DIs (Page 92)" for more information about the digital signals SPD1, SPD2 and
SPD3.

7.5.1.1 Speed control with external analog speed setpoint

In the S mode, when the digital input signals SPD1, SPD2 and SPD3 are all at low level (0),
analog voltage from the analog input 1 is used as the speed setpoint.
The analog voltage from the analog input 1 correponds to a parameterized speed value.
Default speed value is rated motor speed. The analog voltage of 10 V corresponds to the
maximum speed setpoint (V_max) and this maximum speed setpoint can be specified by
parameter p29060.

Parameter Range Factory setting Unit Description

p29060 6 to 210000 3000 rpm Maximum analog speed setpoint corresponding to 10 V

The relationship between the analog voltage and the speed setpoint is shown as follows:

Note
If the drive is working with external analog speed setpoint, the system continues to work
automatically after you repower on the 24 VDC power supply which is shut off unexpected
for the drive. In this case, do not touch the equipment.

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Offset adjustment for analog input 1

Offset exists for the input voltage from the analog input 1. You have two methods to adjust
such offset:
● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 158)" for
details.
● Manual input of an offset value (p29061)

Parameter Range Factory setting Unit Description

p29061 -0.50 to 0.50 0 V Offset adjustment for analog
input 1 (speed setpoint)

7.5.1.2 Speed control with fixed speed setpoint

Parameter settings
In the S mode, when at least one of the three digital input signals SPD1, SPD2 and SPD3 is
at high level, one of the following parameter values is used as speed setpoint:

Parameter Value range Default Unit Description Digital input

SPD3 SPD2 SPD2
p1001 -210000 to 0 rpm Fixed speed setpoint 1 0 0 1
210000
p1002 -210000 to 0 rpm Fixed speed setpoint 2 0 1 0
210000
p1003 -210000 to 0 rpm Fixed speed setpoint 3 0 1 1
210000
p1004 -210000 to 0 rpm Fixed speed setpoint 4 1 0 0
210000
p1005 -210000 to 0 rpm Fixed speed setpoint 5 1 0 1
210000

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7.5 Speed control (S)

Parameter Value range Default Unit Description Digital input

SPD3 SPD2 SPD2
p1006 -210000 to 0 rpm Fixed speed setpoint 6 1 1 0
210000
p1007 -210000 to 0 rpm Fixed speed setpoint 7 1 1 1
210000

7.5.2 Direction and stop

Two digital input signals are used to control motor direction and run/stop.
● CWE: clockwise enable
● CCWE: counter-clockwise enable
The following table shows you in details:

Signal Fixed torque setpoint Analog torque setpoint

CCWE CWE + polarity - polarity 0V
0 0 0 0 0 0
0 1 CW CW CCW 0
1 0 CCW CCW CW 0
1 1 0 0 0 0

Note
In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must
to start running the motor.
For more information about signals CWE and CCWE, refer to "DIs (Page 92)".

7.5.3 Speed limit

Refer to "Speed limit (Page 178)" for details.

7.5.4 Torque limit

Refer to "Torque limit (Page 179)" for details.

7.5.5 Zero speed clamp

The function of zero speed clamp is used to stop motor and lock motor axis when motor
speed setpoint is below a parameterized threshold level (p29075).

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This function is available only when the analog input 1 is used as the source of speed
setpoint. The digital input signal ZSCLAMP is used to activate this function. When both
motor speed setpoint and motor actual speed are below the parameterized threshold level
and signal ZSCLAMP is logic "1", the motor is locked. Drive exits from clamping state either
when the motor speed setpoint is above the threshold level or when the signal ZSCLAMP is
logic "0".

Parameter settings

Parameter Value range Default Unit Description

p29075 0 to 200 200 rpm Zero speed clamp threshold
p29060 6 to 210000 3000 % Maximum analog speed setpoint corresponding to 10 V

DI configuration

Signal type Signal name Pin assignment Setting Description

DI ZSCLAMP To be assigned 1 When the motor speed setpoint is below zero speed
clamp threshold, the motor is locked.
0 No action

Note
When p29003=4 and CMODE is "1", the drive is working in speed control mode. In this case
if ZSCLAMP is activated, the drive will switch to PTI control mode and PTI pulse input will
lead motor running under PTI control mode.

Note
For more information about the signal ZSCLAMP, refer to "DIs (Page 92)".

7.5.6 Ramp-function generator

The ramp-function generator is used to limit acceleration in the event of abrupt setpoint
changes and thus helps prevent load surges during drive operation.
The ramp-up time p1120 and ramp-down time p1121 can be used to set acceleration and
deceleration ramps separately. This allows a smoothed transition in the event of setpoint
changes.

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7.5 Speed control (S)

The maximum speed p1082 is used as the reference value for calculating the ramp-up and
ramp-down times.
You can see the properties of the ramp-function generator from the diagram below:

S-curve ramp-function generator

You can also use the S-curve ramp-function generator by setting p1115 to 1. The S-curve
ramp-function generator is realized with:
● the acceleration (p1120) and deceleration (p1121) ramps
● the initial (p1130) and final (p1131) rounding-off times
You can see the properties of the S-curve ramp-function generator from the diagram below:

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7.6 Torque control (T)

Parameter settings

Parameter Value range Default Unit Description

p1082 0 to 210000 1500 rpm Maximum motor speed
p1115 0 to 1 0 - Ramp-function generator selection
p1120 0 to 999999 1 s Ramp-function generator ramp-up time
p1121 0 to 999999 1 s Ramp-function generator ramp-down time
p1130 0 to 30 0 s Ramp-function generator initial rounding-off time
p1131 0 to 30 0 s Ramp-function generator final rounding-off time

7.6 Torque control (T)

7.6.1 300% overload capacity

SINAMICS V90 servo drives can work with 300% overload capacity for a specific time period.
The following diagrams show in details:

SINAMICS V90 200 V servo drive

Without load With load

SINAMICS V90 400 V servo drive

Without load With load

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7.6 Torque control (T)

7.6.2 Torque setpoint

Two sources are available for torque setpoint:
● External setpoint: analog input 2
● Fixed setpoint: p29043
These two resources can be selected with the digital input signal TSET:

Signal Level Source of torque setpoint

TSET 0 (default) Analog torque setpoint (analog input 2)
1 Fixed torque setpoint (p29043)

Refer to "DIs (Page 92)" for detailed information about the signal TSET.

7.6.2.1 Torque control with external analog torque setpoint

In the T mode, when the digital input signal TSET is at low level, analog voltage from the
analog input 2 is used as the torque setpoint.
The analog voltage from the analog input 2 corresponds to a parameterized torque value
scaling (p29041[0]). If p29041[0] = 100%, analog input voltage of 10 V corresponds to rated
torque; if p29041[0] = 50%, the analog input value of 10 V corresponds to 50% of the rated
torque.

Parameter Range Factory setting Unit Description

p29041[0] 0 to 100 100 % Scaling for analog torque setpoint (corresponding to 10
V)

Note
The value of analog input 2 can be monitored through parameter p29351.

Offset adjustment for analog input 2

Offset exists for the input voltage from the analog input 2. The motor can run at a very low
speed even the current input voltage is 0 V. You have 2 methods to adjust such offset:
● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 158)" for
details.
● Manual input of an offset value (p29042)

Parameter Range Factory setting Unit Description

p29042 -0.50 to 0.50 0 V Offset adjustment for analog input 2
(torque setpoint)

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7.6.2.2 Torque control with fixed torque setpoint

Parameter settings

Parameter Range Factory setting Unit Description

p29043 -100 to 100 0 % Fixed torque setpoint

7.6.3 Direction and stop

Two digital input signals are used to control motor direction and run/stop:
● CWE: clockwise enable
● CCWE: counter-clockwise enable
The following table shows you in details:

Signal Fixed torque setpoint Analog torque setpoint

CCWE CWE + polarity - polarity 0V
0 0 0 0 0 0
0 1 CW CW CCW 0
1 0 CCW CCW CW 0
1 1 0 0 0 0

Note
In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must
to start running the motor.
For more information about the signals CWE and CCWE, refer to "DIs (Page 92)".

7.6.4 Speed limit

Refer to "Speed limit (Page 178)" for details.

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7.7 Communicating with the PLC

7.7 Communicating with the PLC

The SINAMICS V90 supports communication with the PLC on RS485 interface. You can
parameterize whether the RS485 interface shall apply USS or Modbus RTU protocol. USS is
the default bus setting. A shielded twisted pair cable is recommended for the RS485
communication.

7.7.1 USS communication

The SINAMICS V90 can communicate with the PLC through an RS485 cable with the
standard USS communication protocol. After the communication is established, you can
change the position setpoint and speed setpoint through the USS communication protocol.
The servo drive can also transmit the actual speed, torque, and alarm to the PLC through the
USS communication protocol.

Telegram format
The telegram format is shown as follows:

STX LGE ADR PKE IND PWE PWE BCC

STX: start of text

LGE: length
ADR: slave address
PKE: parameter ID
IND: sub-index
PWE: parameter value
BCC: block check character

Relevant parameters
You can access the following parameters by USS.

Parameter Description Parameter Description

p1001 Fixed speed setpoint 1 r0020 Speed setpoint smoothed
p1002 Fixed speed setpoint 2 r0021 Actual speed smoothed
p1003 Fixed speed setpoint 3 r0026 DC link voltage smoothed
p1004 Fixed speed setpoint 4 r0027 Absolute actual current smoothed
p1005 Fixed speed setpoint 5 r0031 Actual torque smoothed
p1006 Fixed speed setpoint 6 r0032 Active power actual value smoothed
p1007 Fixed speed setpoint 7 r0034 Motor utilization thermal
p2617[0...7] Fixed position setpoint r0807 Master control active
p2618[0...7] Speed of fixed position setpoint r2521 LR position actual value
p2572 IPos maximum acceleration r2556 LR position setpoint after setpoint
smoothing
p2573 IPos maximum deceleration

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Note
There is no priority when BOP, V-ASSISTANT, and USS access the same parameter at the
same time, the value of the parameter depends on the last access operation.

Operating steps

Main step Sub step/comment

① Configure the setup and program the PLC.

② Configure the RS485 bus address by parameter The RS485 bus is used to transfer current absolute position of
p29004. the servo drive to the upper controller/PLC. You can configure
the slaver address from 1 to 31.
③ Select the USS communication protocol by parameter • p29007 = 0: no protocol
p29007.
• p29007 = 1: USS protocol
• p29007 = 2: Modbus protocol

④ Set the transmission baud rate by parameter p29009. • 5: 4800 baud

• 6: 9600 baud
• 7: 19200 baud
• 8: 38400 baud
• 9: 57600 baud
• 10: 76800 baud
• 11: 93750 baud
• 12: 115200 baud
• 13: 187500 baud

⑤ Set control mode for the drive.

⑥ Save the parameters and restart the drive.

⑦ Access the parameters via USS. For IPos control mode, you can change the following parame-
ters via USS:
• p2617[0...7], p2618[0...7], p2572, p2573
For S control mode, you can change the following parameter
via USS:
• p1001 to p1007
Ten monitor parameters can be read by USS:
• r0020, r0021, r0026, r0027, r0031, r0032, r0034, r0807,
r2556, and r2521

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Note
The USS protocol communication libraries of S7-200, S7-200 SMART V1.0, and S7-1200 do
not support the communication with the SINAMICS V90 servo drive.

7.7.2 Modbus communication

The SINAMICS V90 servo drive can communicate with the PLC through an RS485 cable
with the standard Modbus communication protocol. For Modbus data format, V90 supports
Modbus RTU while Modbus ASCII is not supported. Registers of the servo drive can be read
by Modbus function code FC3 and written via function code FC6 (single register) or FC16
(multiple registers).

Supported function codes

The SINAMICS V90 supports only three function codes. If a request with an unknown
function code is received, an error message will be returned.

FC3 - Read holding registers

When a message with FC = 0x03 is received, then four bytes of data are expected, that is,
FC3 has four bytes of data:
● Two bytes for the starting address
● Two bytes for the number of registers

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Address FC (0x03) Start ad- Start ad- Number of Number of CRC CRC
dress dress registers registers
(most (least (most (least
significant significant significant significant
byte) byte) byte) byte)

FC6 - Write single register

When a message with FC = 0x06 is received, then four bytes of data are expected, that is,
FC6 has four bytes of data:
● Two bytes for the register address
● Two bytes for the register value

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Address FC (0x06) Start ad- Start ad- New regis- New regis- CRC CRC
dress dress ter value ter value
(most (least (most (least
significant significant significant significant
byte) byte) byte) byte)

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FC16 - Write multiple registers

When a message with FC = 0x10 is received, then 5 + N bytes of data are expected, that is,
FC16 has 5 + N bytes of data:
● Two bytes for the starting address
● Two bytes for the number of registers
● One byte for the byte count
● N bytes for the register values

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 7 + Byte 8 + Byte 9 + Byte 10 +
n n n n
Address FC Start Start Number Number Number nth nth CRC CRC
(0x10) address address of regis- of regis- of bytes value value
(most (least ters ters (most (least
signifi- signifi- (most (least signifi- signifi-
cant cant signifi- signifi- cant cant
byte) byte) cant cant byte) byte)
byte) byte)

Operating steps

Description Comment
① Configure the RS485 bus address by parameter You can configure the slaver address from 1 to 31.
p29004.
② Select the communication protocol by parameter • p29007 = 0: No protocol
p29007.
• p29007 = 1: USS protocol
• p29007 = 2: Modbus protocol

③ Select the command and setpoint source by parame- • p29008 = 1: Setpoint and control word from Modbus PZD
ter p29008.
• p29008 = 2: No control word.

④ Set the transmission baud rate by parameter p29009. • 5: 4800 baud

• 6: 9600 baud
• 7: 19200 baud
• 8: 38400 baud
• 9: 57600 baud
• 10: 76800 baud
• 11: 93750 baud
• 12: 115200 baud
• 13: 187500 baud

⑤ Set control mode for the drive by p29003.

⑥ Save the parameters and restart the drive.

⑦ Configure the PLC parameters. Note:

Keep the PLC baud rate the same as the drive setting.
Set even parity check for the PLC.

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Description Comment
⑧ Write the control word via PLC. Note:
Bit 10 of the register 40100 must be set to 1 to allow the PLC
to control the drive.
You need to trigger a rise edge for OFF1 to enable SON sta-
tus for the motor, and OFF2 and OFF3 must be set to 1. The
step must be executed when you enable SON for the first
time.
⑨ Write the setpoint and read the status word via PLC.

Example 1
This example shows the operating procedures when we the use setpoint and control word
from Modbus as the Modbus control source in S control mode.

1. Set RS485 bus address for the drive.

• p29004 = 1
2. Select the Modbus protocol by p29007.
• p29007 = 2
3. Select Modbus control source by p29008.
• p29008 = 1
4. Set the transmission baud rate by p29009.
• p29009 = 8 (38400 baud)
5. Save the parameters and restart the drive.
6. Set the drive work mode to S control mode.
7. Configure the PLC parameters.

Note:
Keep the PLC baud rate the same as the drive setting.
Set even parity check for the PLC (parity = 2).

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8. Write the control word you desired via the register 40100.

Note:
Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive.
You need to trigger a rise edge for OFF1 to enable SON status for the motor, and
OFF2 and OFF3 must be set to 1. The step must be executed when you enable SON
for the first time.
For example, we write 0x41E to the register 40100 firstly and then write 0x41F to the
register. The motor now is in SON status. You can check the control word definition
table below to see the meaning of "0x41E" and "0x41F".
9. Write the speed setpoint via the register 40101.

Note:
You can calculate the actual speed value with the scale factor. Value 0x4000 repre-
sents the value of 100% × motor rated speed. Therefore, 0x2000 represents half of
the motor rated speed.

Example 2
This example shows the operating procedures when we use the setpoint and control word
from Modbus as the Modbus control source in IPos control mode.

1. Set RS485 bus address for the drive.

• p29004 = 1
2. Select the Modbus protocol by p29007.
• p29007 = 2
3. Select Modbus control source by p29008.
• p29008 = 1
4. Set the transmission baud rate by p29009.
• p29009 = 8 (38400 baud)
5. Save the parameters and restart the drive.

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6. Set the drive work mode to IPos control mode.

7. Configure the PLC parameters.

Note:
Keep the PLC baud rate the same as the drive setting.
Set even parity check for the PLC (parity = 2).
8. Write the control word you desired via the register 40100.

Note:
Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive.
You need to trigger a rise edge for OFF1 to enable SON (0→1) status for the motor,
and OFF2 and OFF3 must be set to 1. The step must be executed when you enable
SON for the first time.
For example, we write 0x46E to the register 40100 firstly and then write 0x46F to the
register. The motor now is in SON status. You can check the control word definition
table below to see the meaning of "0x46E" and "0x46F".

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9. Implement referencing for the drive.

Keep the drive in SON status and implement referencing by writing the control word
40100.
10. Write the position setpoint and speed setpoint via the registers 40932, 40933, 40934,
40935, 40102 and 40103.

Mapping table
The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the
column access stand for read, write, read/write.

Modbus register Description Mod- Unit Scaling factor Range or Data/parameter

number bus On/Off text
access
40100 Control word (PTI, R/W - 1 - Process data 1, receive
IPos, S, T) word, PZD1
40101 Speed setpoint (S) R/W - 0x4000 hex = - Process data 2, receive
100% × motor word, PZD2
rated speed
40102 Position setpoint high- R/W LU 1 -2147482648 to Process data 3, receive
word (IPos) 2147482647 word, PZD3
40103 Position setpoint low- R/W LU 1 Process data 4, receive
word (IPos) word, PZD4
40110 Status word (PTI, R - 1 - Process data 1, send
IPos, S, T) word, PZD1
40111 Actual speed (PTI, R - 0x4000 hex = - Process data 2, send
IPos, S, T) 100% × motor word, PZD2
rated speed
40112 Actual position high- R LU 1 -2147482648 to Process data 3, send
word (PTI, IPos) 2147482647 word, PZD3
40113 Actual position low- R LU 1 Process data 4, send
word (PTI, IPos) word, PZD4

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Modbus register Description Mod- Unit Scaling factor Range or Data/parameter

number bus On/Off text
access
40200 DO 1 R/W - 1 HIGH/LOW r0747.0
40201 DO 2 R/W - 1 HIGH/LOW r0747.1
40202 DO 3 R/W - 1 HIGH/LOW r0747.2
40203 DO 4 R/W - 1 HIGH/LOW r0747.3
40204 DO 5 R/W - 1 HIGH/LOW r0747.4
40205 DO 6 R/W - 1 HIGH/LOW r0747.5
40220 AO 1 R % 100 -100.0 to 100.0 -
40221 AO 2 R % 100 -100.0 to 100.0 -
40240 DI 1 R - 1 HIGH/LOW r0722.0
40241 DI 2 R - 1 HIGH/LOW r0722.1
40242 DI 3 R - 1 HIGH/LOW r0722.2
40243 DI 4 R - 1 HIGH/LOW r0722.3
40244 DI 5 R - 1 HIGH/LOW r0722.4
40245 DI 6 R - 1 HIGH/LOW r0722.5
40246 DI 7 R - 1 HIGH/LOW r0722.6
40247 DI 8 R - 1 HIGH/LOW r0722.7
40248 DI 9 R - 1 HIGH/LOW r0722.8
40249 DI 10 R - 1 HIGH/LOW r0722.9
40260 AI 1 R % 100 -300.0 to 300.0 -
40261 AI 2 R % 100 -300.0 to 300.0 -
40280 Enable DI simulation R/W - 1 HIGH/LOW -
(high part)
40281 Enable DI simulation R/W - 1 HIGH/LOW -
(low part)
40282 Setpoint DI simulation R/W - 1 HIGH/LOW -
(high part)
40283 Setpoint DI simulation R/W - 1 HIGH/LOW -
(low part)
40300 Power stack code R - 1 0 to 32767 -
number
40301 V90 OA version R - 1 e.g. 104xx for p29018[0]/10000
V01.04.xx
40320 Rated power of the R kW 100 0.00 to 327.67 -
power unit
40321 Current limit R/W % 10 10.0 to 400.0 -
40322 Ramp-up time R/W s 100 0.0 to 650.0 p1120
40323 Ramp-down time R/W s 100 0.0 to 650.0 p1121
40324 Reference speed R rpm 1 6 to 32767 Motor rated speed
40325 Control mode R/W - 1 0 to 8 p29003
40340 Speed setpoint R rpm 1 -16250 to r0020
16250
40341 Actual speed value R rpm 1 -16250 to r0021
16250

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Modbus register Description Mod- Unit Scaling factor Range or Data/parameter

number bus On/Off text
access
40344 DC-link voltage R V 1 0 to 32767 r0026
40345 Actual current value R A 100 0 to 163.83 r0027
40346 Actual torque value R Nm 100 -325.00 to r0031
325.00
40347 Actual active power R kW 100 0 to 327.67 r0032
40348 Energy consumption R kWh 1 0 to 32767 -
40349 Control priority R - 1 Manual/Auto r0807
40350/40351 Position setpoint R LU 1 -2147482648 to r2556
2147482647
40352/40353 Actual position value R LU 1 -2147482648 to r2521[0]
2147482647
40354 Motor utilization R % 100 -320.00 to r0034
320.00
40400 Failure number, index R - 1 0 to 32767 -
0
40401 Failure number, index R - 1 0 to 32767 -
1
40402 Failure number, index R - 1 0 to 32767 -
2
40403 Failure number, index R - 1 0 to 32767 -
3
40404 Failure number, index R - 1 0 to 32767 -
4
40405 Failure number, index R - 1 0 to 32767 -
5
40406 Failure number, index R - 1 0 to 32767 -
6
40407 Failure number, index R - 1 0 to 32767 -
7
40408 Alarm number R - 1 0 to 32767 -
40800/40801 Fixed position setpoint R/W LU 1 -2147482648 to p2617[0]
1 2147482647
40802/40803 Fixed position setpoint R/W LU 1 -2147482648 to p2617[1]
2 2147482647
40804/40805 Fixed position setpoint R/W LU 1 -2147482648 to p2617[2]
3 2147482647
40806/40807 Fixed position setpoint R/W LU 1 -2147482648 to p2617[3]
4 2147482647
40808/40809 Fixed position setpoint R/W LU 1 -2147482648 to p2617[4]
5 2147482647
40810/40811 Fixed position setpoint R/W LU 1 -2147482648 to p2617[5]
6 2147482647
40812/40813 Fixed position setpoint R/W LU 1 -2147482648 to p2617[6]
7 2147482647

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Modbus register Description Mod- Unit Scaling factor Range or Data/parameter

number bus On/Off text
access
40814/40815 Fixed position setpoint R/W LU 1 -2147482648 to p2617[7]
8 2147482647
40840/40841 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[0]
position 1 LU/mi
n
40842/40843 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[1]
position 2 LU/mi
n
40844/40845 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[2]
position 3 LU/mi
n
40846/40847 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[3]
position 4 LU/mi
n
40848/40849 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[4]
position 5 LU/mi
n
40850/40851 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[5]
position 6 LU/mi
n
40852/40853 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[6]
position 7 LU/mi
n
40854/40855 Speed of the fixed R/W 1000 1 1 to 40000000 p2618[7]
position 8 LU/mi
n
40880/40881 IPos maximum accel- R/W 1000 1 1 to 2000000 p2572
eration LU/s2
40882/40883 IPos maximum decel- R/W 1000 1 1 to 2000000 p2573
eration LU/s2
40884/40885 IPos jerk limiting R/W 1000 1 1 to 100000000 p2574
LU/s3
40900 Fixed speed setpoint 1 R/W - 0x4000 hex = -210000.000 to p1001
100% × motor 210000.00
rated speed
40901 Fixed speed setpoint 2 R/W - 0x4000 hex = -210000.000 to p1002
100% × motor 210000.00
rated speed
40902 Fixed speed setpoint 3 R/W - 0x4000 hex = -210000.000 to p1003
100% × motor 210000.00
rated speed
40903 Fixed speed setpoint 4 R/W - 0x4000 hex = -210000.000 to p1004
100% × motor 210000.00
rated speed
40904 Fixed speed setpoint 5 R/W - 0x4000 hex = -210000.000 to p1005
100% × motor 210000.00
rated speed

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Modbus register Description Mod- Unit Scaling factor Range or Data/parameter

number bus On/Off text
access
40905 Fixed speed setpoint 6 R/W - 0x4000 hex = -210000.000 to p1006
100% × motor 210000.00
rated speed
40906 Fixed speed setpoint 7 R/W - 0x4000 hex = -210000.000 to p1007
100% × motor 210000.00
rated speed
40932/40933 MDI speed of position R/W 1000 1 1 to p2691
setpoint LU/mi 2147482647
n
40934 MDI acceleration over- R/W % 100 0.1 to 100 p2692
ride
40935 MDI deceleration R/W % 100 0.1 to 100 p2693
override
40950 Fixed torque setpoint R/W % 100 -100 to 100 p29043

Process data overview

Control mode PTI IPos S T

Control 40100 PTI mode control word IPos mode control word S mode control word T mode control word
data 40101 - - Speed setpoint -
40102 - Position setpoint high - -
word
40103 - Position setpoint low - -
word
Status 40110 Status word Status word Status word Status word
data 40111 Actual speed Actual speed Actual speed Actual speed
40112 Actual position high Actual position high - -
word word
40113 Actual position low Actual position low - -
word word

Definition of the register 40100

Bit PTI control mode IPos control mode

Signals Description Signals Description
0 SON_OFF1 Rising edge to enable SON (pulses can SON_OFF1 Rising edge to enable SON (pulses can
be enabled). be enabled).
0: OFF1 (braking with ramp-function 0: OFF1 (braking with ramp-function
generator, then pulse cancellation, ready generator, then pulse cancellation, ready
to power up) to power up)
1 OFF2 1: No OFF2 (enable is possible) OFF2 1: No OFF2 (enable is possible)
0: OFF2 (immediate pulse cancelation 0: OFF2 (immediate pulse cancelation
and power on inhibit) and power on inhibit)

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Bit PTI control mode IPos control mode

Signals Description Signals Description
2 OFF3 1: No OFF3 (enable is possible) OFF3 1: No OFF3 (enable is possible)
0: OFF3 (fast braking then pulse cancela- 0: OFF3 (fast braking then pulse cancela-
tion and power on inhibit) tion and power on inhibit)
3 OPER 1: Enable operation (pulses can be ena- OPER 1: Enable operation (pulses can be ena-
bled) bled)
0: Inhibit operation (cancel pulses) 0: Inhibit operation (cancel pulses)
4 Reserved - SETP_ACC Rising edge to accept MDI setpoint
5 Reserved - TRANS_TY 1: Accept new setpoint immediately
PE SE 0: Accept on rising edge of SETP_ACC
6 Reserved - POS_TYP 1: Absolute positioning
0: Relative positioning
7 RESET Reset faults RESET Reset faults
8 Reserved - Reserved -
9 Reserved - Reserved -
10 PLC Enable master control from the PLC PLC Enable master control from the PLC
11 Reserved - Reserved -
12 Reserved - Reserved -
13 Reserved - SREF Start referencing (act as REF for refer-
ence mode 0)
14 Reserved - Reserved -
15 Reserved - Reserved -

Bit S control mode T control mode

Signals Description Signals Description
0 SON_OFF1 Rising edge to enable SON (pulses can SON_OFF1 Rising edge to enable SON (pulses can
be enabled). be enabled).
0: OFF1 (braking with ramp-function
generator, then pulse cancellation, ready
to power up)
1 OFF2 1: No OFF2 (enable is possible) OFF2 1: No OFF2 (enable is possible)
0: OFF2 (immediate pulse cancelation 0: OFF2 (immediate pulse cancelation
and power on inhibit) and power on inhibit)
2 OFF3 1: no OFF3 (enable is possible) OFF3 1: no OFF3 (enable is possible)
0: OFF3 (fast braking then pulse cancela- 0: OFF3 (fast braking then pulse cancela-
tion and power on inhibit) tion and power on inhibit)
3 OPER 1: Enable operation (pulses can be ena- OPER 1: Enable operation (pulses can be ena-
bled) bled)
0: Inhibit operation (cancel pulses) 0: Inhibit operation (cancel pulses)
4 EN_PAMP 1: Operating condition (the ramp function Reserved -
generator can be enabled)
0: Inhibit ramp function generator (set the
ramp function generator output to zero)
5 Reserved - Reserved -

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Bit S control mode T control mode

Signals Description Signals Description
6 Reserved - Reserved -
7 RESET Reset faults RESET Reset faults
8 Reserved - Reserved -
9 Reserved - Reserved -
10 PLC Enable master control from the PLC PLC Enable master control from the PLC
11 Rev Direction of rotation reversal Reserved -
12 Reserved - Reserved -
13 Reserved - Reserved -
14 Reserved - Reserved -
15 Reserved - Reserved -

Note
The following signals are occupied by Modbus control word when you use the setpoint and
control word from Modbus as the Modbus control source (p29008 = 1). They can only be
enabled by Modbus control word while cannot be enabled by external DI terminals.
• PTI control mode: SON
• IPos control mode: SON, SREF (REF for reference mode 0)
• S control mode: SON, CWE/CCWE
• T control mode: SON

Note
In IPos control mode, when the relative positioning mode is selected, the method for
accepting MDI setpoint must be a rising edge (bit 5 = 0); otherwise, fault F7488 occurs.

Note
In IPos control mode, when you implement the absolute positioning for the modular axis with
Modbus, you can select the MDI direction with parameter p29230.

Note
All the reserved bits in register 40100 must be set to 0.

Definition of register 40110

Bit PTI, IPos, S and T control modes

Signals Description
0 RDY Servo ready
1 FAULT Fault status
2 INP In-position signal

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Bit PTI, IPos, S and T control modes

Signals Description
3 ZSP Zero speed detection
4 SPDR Speed reached
5 TLR Torque limit reached
6 SPLR Speed limit reached
7 MBR Motor holding brake
8 OLL Overload level reached
9 WARNING 1 Warning 1 condition reached
10 WARNING 2 Warning 2 condition reached
11 REFOK Referenced
12 MODE 2 In the second control mode
13 Reserved -
14 Reserved -
15 Reserved -

Parameter scaling
Due to the limits of the integer data in the Modbus protocol, it is necessary to convert the
drive parameters before transmitting them. This is done by scaling, so that a parameter,
which has a position after decimal point, is multiplied by a factor, to get rid of the fractional
part. The scaling factor is as defined in the above table.

7.8 Absolute position system

When the SINAMICS V90 servo drive uses a servo motor with an absolute encoder. the
current absolute position can be detected and transmitted to the controller. With this function
of absolute position system, you can perform motion control task immediately after the servo
system is powered on, which means you do not have to carry out referencing or zero
position operation beforehand.

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Restrictions
The absolute position system cannot be configured under the following conditions:
● Internal position control (IPos)
● Speed control (S)
● Torque control (T)
● Control change mode
● Strokeless coordinate system, for example, rotary shaft, infinitely long positioning
operation
● Change of electronic gear after referencing
● Use of alarm code output

7.8.1 Transmitting sequence for the absolute position data

The following table shows you the transmitting sequence for the absolute position data:

Main step Sub step/comment

① Set PTI control mode. Set p29003 = 0.

② Enable absolute position mode. Set p29250 = 1.

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Main step Sub step/comment

③ Configure relative parameters. 1. Set PTI input parameters (p29010 to p29014).
2. Set position control parameters (p29247 to p29249).
3. Set electrical gear p29012 and p29013.

④ Referencing with the BOP or SINAMICS V- 1. Run the servo motor for a proper distance.
ASSISTANT. 2. Adjust the absolute encoder with the BOP menu function
NOTE: "ABS" or SINAMICS V-ASSISTANT.
You must perform the referencing operation under the
following conditions:
• System setup is performed.
• The servo drive has been changed.
• The servo motor has been changed.
• An alarm occurs.

⑤ Select a communication protocol with p29007. Set value for p29007.

• 0: no protocol
• 1: USS protocol
• 2: Modbus protocol

⑥ Configure the parameters for selected communication 1. Set RS485 address (p29004).
protocol. 2. Set baud rate (p29009).
3. Set the command and setpoint source if you use Modbus
protocol (p29008).

⑦ Save the parameters and restart the drive.

⑧ Start transmitting.
⑨ Transmit the calibration status of the absolute encoder 1. Turn on the servo-on enable signal (SON).
to the PLC. 2. The PLC checks the standstill status and alarm status
through the digital output of the servo drive.
3. If there is no alarm and the motor is in standstill status, the
PLC sends a data request to the servo drive through the
RS485 cable.
4. In response to the data request from PLC, the servo drive
transmits calibration status (p2507[0]=3) of encoder to the
PLC.

⑩ Transmit the absolute position data to the PLC. 1. If the absolute encoder is calibrated, and meanwhile, the
servo drive is ready (the digital output RDY is logic 1) and
in standstill status (the digital output signal INP is logic 1),
the PLC sends a data request to drive through the RS485
cable.
2. In response to the data request from the PLC, the servo
drive transmits the absolute position data (r2521) to the
PLC.

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8.1.1 General information

8.1.1.1 Aims
Manufacturers and operating companies of equipment, machines, and products are
responsible for ensuring the required level of safety. This means that plants, machines, and
other equipment must be designed to be as safe as possible in accordance with the current
state of the art. To ensure this, companies describe in the various standards the current
state of the art covering all aspects relevant to safety. When the relevant Standards are
observed, this ensures that state-of-the-art technology has been utilized and, in turn, the
erector/builder of a plant or a manufacturer of a machine or a piece of equipment has fulfilled
his appropriate responsibility.
Safety systems are designed to minimize potential hazards for both people and the
environment by means of suitable technical equipment, without restricting industrial
production and the use of machines more than is necessary. The protection of man and
environment must be assigned equal importance in all countries, which is it is important that
rules and regulations that have been internationally harmonized are applied. This is also
designed to avoid distortions in the competition due to different safety requirements in
different countries.
There are different concepts and requirements in the various regions and countries of the
world when it comes to ensuring the appropriate degree of safety. The legislation and the
requirements of how and when proof is to be given and whether there is an adequate level of
safety are just as different as the assignment of responsibilities.
The most important thing for manufacturers of machines and companies that set up plants
and systems is that the legislation and regulations in the country where the machine or plant
is being operated apply. For example, the control system for a machine that is to be used in
the US must fulfill local US requirements even if the machine manufacturer (OEM) is based
in the European Economic Area (EEA).

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8.1.1.2 Functional safety

Safety, from the perspective of the object to be protected, cannot be split-up. The causes of
hazards and, in turn, the technical measures to avoid them can vary significantly. This is why
a differentiation is made between different types of safety (e.g. by specifying the cause of
possible hazards). "Functional safety" is involved if safety depends on the correct function.
To ensure the functional safety of a machine or plant, the safety-related parts of the
protection and control devices must function correctly. In addition, the systems must behave
in such a way that either the plant remains in a safe state or it is brought into a safe state if a
fault occurs. In this case, it is necessary to use specially qualified technology that fulfills the
requirements described in the associated Standards. The requirements to achieve functional
safety are based on the following basic goals:
● Avoiding systematic faults
● Controlling systematic faults
● Controlling random faults or failures
Benchmarks for establishing whether or not a sufficient level of functional safety has been
achieved include the probability of hazardous failures, the fault tolerance, and the quality that
is to be ensured by minimizing systematic faults. This is expressed in the Standards using
different terms. In IEC/EN 61508, IEC/EN 62061 "Safety Integrity Level" (SIL) and EN ISO
13849-1 "Categories" and "Performance Level" (PL).

8.1.2 Safety of machinery in Europe

The EU Directives that apply to the implementation of products are based on Article 95 of the
EU contract, which regulates the free exchange of goods. These are based on a new global
concept ("new approach", "global approach"):
● EU Directives only specify general safety goals and define basic safety requirements.
● Technical details can be defined by means of standards by Standards Associations that
have the appropriate mandate from the commission of the European Parliament and
Council (CEN, CENELEC). These standards are harmonized in line with a specific
directive and listed in the official journal of the commission of the European Parliament
and Council. Legislation does not specify that certain standards have to be observed.
When the harmonized Standards are observed, it can be assumed that the safety
requirements and specifications of the Directives involved have been fulfilled.
● EU Directives specify that the Member States must mutually recognize domestic
regulations.
The EU Directives are equal. This means that if several Directives apply for a specific piece
of equipment or device, the requirements of all of the relevant Directives apply (e.g. for a
machine with electrical equipment, the Machinery Directive and the Low-Voltage Directive
apply).

8.1.2.1 Machinery Directive

The basic safety and health requirements specified in Annex I of the Directive must be
fulfilled for the safety of machines.

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The protective goals must be implemented responsibly to ensure compliance with the
Directive.
Manufacturers of a machine must verify that their machine complies with the basic
requirements. This verification is facilitated by means of harmonized standards.

8.1.2.2 Harmonized European Standards

The two Standards Organizations CEN (Comité Européen de Normalisation) and CENELEC
(Comité Européen de Normalisation Électrotechnique), mandated by the EU Commission,
drew-up harmonized European standards in order to precisely specify the requirements of
the EC directives for a specific product. These standards (EN standards) are published in the
official journal of the commission of the European Parliament and Council and must be
included without revision in domestic standards. They are designed to fulfill basic health and
safety requirements as well as the protective goals specified in Annex I of the Machinery
Directive.
When the harmonized standards are observed, it is "automatically assumed" that the
Directive is fulfilled. As such, manufacturers can assume that they have observed the safety
aspects of the Directive under the assumption that these are also covered in this standard.
However, not every European Standard is harmonized in this sense. Key here is the listing in
the official journal of the commission of the European Parliament and Council.
The European Safety of Machines standard is hierarchically structured. It is divided into:
● A standards (basic standards)
● B standards (group standards)
● C standards (product standards)
Type A standards/basic standards
A standards include basic terminology and definitions relating to all types of machine. This
includes EN ISO 12100-1 (previously EN 292-1) "Safety of Machines, Basic Terminology,
General Design Principles".
A standards are aimed primarily at the bodies responsible for setting the B and C standards.
The measures specified here for minimizing risk, however, may also be useful for
manufacturers if no applicable C standards have been defined.
Type B standards/group standards
B standards cover all safety-related standards for various different machine types. B
standards are aimed primarily at the bodies responsible for setting C standards. They can
also be useful for manufacturers during the machine design and construction phases,
however, if no applicable C standards have been defined.
A further sub-division has been made for B standards:
● Type B1 standards for higher-level safety aspects (e.g. ergonomic principles, safety
clearances from sources of danger, minimum clearances to prevent parts of the body
from being crushed).
● Type B2 standards for protective safety devices are defined for different machine types
(e.g. EMERGENCY STOP devices, two-hand operating circuits, interlocking elements,
contactless protective devices, safety-related parts of controls).

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Type C standards/product standards

C standards are product-specific standards (e.g. for machine tools, woodworking machines,
elevators, packaging machines, printing machines etc.). Product standards cover machine-
specific requirements. The requirements can, under certain circumstances, deviate from the
basic and group standards. Type C/product standards have the highest priority for machine
manufacturers who can assume that it fulfills the basic requirements of Annex I of the
Machinery Directive (automatic presumption of compliance). If no product standard has been
defined for a particular machine, type B standards can be applied when the machine is
constructed.
A complete list of the standards specified and the mandated draft standards are available on
the Internet at the following address:
http://www.newapproach.org/
Recommendation: Due to the rapid pace of technical development and the associated
changes in machine concepts, the standards (and C standards in particular) should be
checked to ensure that they are up to date. Please note that the application of a particular
standard may not be mandatory provided that all the safety requirements of the applicable
EU directives are fulfilled.

8.1.2.3 Standards for implementing safety-related controllers

If the functional safety of a machine depends on various control functions, the controller must
be implemented in such a way that the probability of the safety functions failing is sufficiently
minimized. EN ISO 13849-1 (formerly EN 954-1) and EN IEC61508 define principles for
implementing safety-related machine controllers which, when properly applied, ensure that
all the safety requirements of the EC Machinery Directive are fulfilled. These standards
ensure that the relevant safety requirements of the Machinery Directive are fulfilled.

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The application areas of EN ISO 13849-1, EN 62061, and EN 61508 are very similar. To
help users make an appropriate decision, the IEC and ISO associations have specified the
application areas of both standards in a joint table in the introduction to the standards. EN
ISO 13849-1 or EN 62061 should be applied depending on the technology (mechanics,
hydraulics, pneumatics, electrics, electronics and programmable electronics), risk
classification and architecture.

Type Systems for executing safety-related control EN ISO 13849-1 EN 62061

functions
A Non-electrical (e.g. hydraulic, pneumatic) X Not covered
B Electromechanical (e.g. relay and/or basic Restricted to the designated All architectures and max. up
electronics) architectures (see comment to SIL 3
1) and max. up to PL = e
C Complex electronics (e.g. programmable Restricted to the designated All architectures and max. up
electronics) architectures (see comment to SIL 3
1) and max. up to PL = d
D A standards combined with B standards Restricted to the designated X
architectures (see comment See comment 3
1) and max. up to PL = e
E C standards combined with B standards Restricted to the designated All architectures and max. up
architectures (see comment to SIL 3
1) and max. up to PL = d
F C standards combined with A standards or C X X
standards combined with A standards and B See comment 2 See comment 3
standards
"X" indicates that the point is covered by this standard.
Comment 1:
Designated architectures are described in Annex B of EN ISO 13849-1 and provide a simplified basis for the quantification.
Comment 2:
For complex electronics: Using designated architectures in compliance with EN ISO 13849-1 up to PL = d or every archi-
tecture in compliance with EN 62061.
Comment 3:
For non-electrical systems: Use components that comply with EN ISO 13849-1 as sub-systems.

8.1.2.4 DIN EN ISO 13849-1 (replaces EN 954-1)

A qualitative analysis according to DIN EN 13849-1 is not sufficient for modern control
systems due to their technology. Among other things, DIN EN ISO 13849-1 does not take
into account time behavior (e.g. test interval and/or cyclic test, lifetime). This results in the
probabilistic approach in DIN EN ISO 13849-1 (probability of failure per unit time).
DIN EN ISO 13849-1 is based on the known categories of EN 954-1. It now also takes into
account complete safety functions and all the devices required to execute these. With DIN
EN ISO 13849-1, safety functions are investigated from a quantitative perspective going
beyond the qualitative basis of EN 954-1. Performance levels (PL), which are based on the
categories, are used. The following safety-related characteristic quantities are required for
devices/equipment:
● Category (structural requirement)
● PL: Performance level

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● MTTFd: Mean time to dangerous failure

● DC: Diagnostic coverage
● CCF: Common cause failure
The standard describes how the performance level (PL) is calculated for safety-related
components of the controller on the basis of designated architectures. In the event of any
deviations from this, EN ISO 13849-1 refers to EN 61508.
When combining several safety-related parts to form a complete system, the standard
explains how to determine the resulting PL.

Note
DIN EN ISO 13849-1 and machinery directive
Since May 2007, DIN EN ISO 13849-1 has been harmonized as part of the Machinery
Directive.

8.1.2.5 EN 62061
EN 62061 (identical to IEC 62061) is a sector-specific standard subordinate to IEC/EN
61508. It describes the implementation of safety-related electrical machine control systems
and looks at the complete life cycle, from the conceptual phase to decommissioning. The
standard is based on the quantitative and qualitative analyses of safety functions, whereby it
systematically applies a top-down approach to implementing complex control systems
(known as "functional decomposition"). The safety functions derived from the risk analysis
are sub-divided into sub-safety functions, which are then assigned to real devices, sub-
systems, and sub-system elements. Both the hardware and software are covered. EN 62061
also describes the requirements placed on implementing application programs.
A safety-related control system comprises different sub-systems. From a safety perspective,
the sub-systems are described in terms of the SIL claim limit and PFHD characteristic
quantities.
Programmable electronic devices (e.g. PLCs or variable-speed drives) must fulfill EN 61508.
They can then be integrated in the controller as sub-systems. The following safety-related
characteristic quantities must be specified by the manufacturers of these devices.
Safety-related characteristic quantities for subsystems:
● SIL CL: SIL claim limit
● PFHD: Probability of dangerous failures per hour
● T1: Lifetime
Simple sub-systems (e.g. sensors and actuators) in electromechanical components can, in
turn, comprise sub-system elements (devices) interconnected in different ways with the
characteristic quantities required for determining the relevant PFHD value of the sub-system.
Safety-related characteristic quantities for subsystem elements (devices):
● λ: Failure rate
● B10 value: For elements that are subject to wear
● T1: Lifetime

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For electromechanical devices, a manufacturer specifies a failure rate λ with reference to the
number of operating cycles. The failure rate per unit time and the lifetime must be
determined using the switching frequency for the particular application.
Parameters for the sub-system, which comprises sub-system elements, that must be defined
during the design phase:
● T2: Diagnostic test interval
● β: Susceptibility to common cause failure
● DC: Diagnostic coverage
The PFHD value of the safety-related controller is determined by adding the individual PFHD
values for subsystems.
The user has the following options when setting up a safety-related controller:
● Use devices and sub-systems that already comply with EN ISO 13849-1, IEC/EN 61508,
or IEC/EN 62061. The standard provides information specifying how qualified devices
can be integrated when safety functions are implemented.
● Develop own subsystems:
– Programmable, electronic systems and complex systems: Application of EN 61508 or
EN 61800-5-2.
– Simple devices and subsystems: Application of EN 62061.
EN 62061 does not include information about non-electric systems. The standard provides
detailed information on implementing safety-related electrical, electronic, and programmable
electronic control systems. EN ISO 13849-1 must be applied for non-electric systems.

Note
Function examples
Details of simple sub-systems that have been implemented and integrated are now available
as "functional examples".

Note
EN 62061 and machinery directive
IEC 62061 has been ratified as EN 62061 in Europe and harmonized as part of the
Machinery Directive.

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8.1.2.6 Series of standards EN 61508 (VDE 0803)

This series of standards describes the current state of the art.
EN 61508 is not harmonized in line with any EU directives, which means that an automatic
presumption of conformity for fulfilling the protective requirements of a directive is not implied.
The manufacturer of a safety-related product, however, can also use EN 61508 to fulfill basic
requirements of European directives in accordance with the latest conceptual design, for
example, in the following cases:
● If no harmonized standard exists for the application in question. In this case, the
manufacturer can use EN 61508, although no presumption of conformity exists here.
● A harmonized European standard (e.g. EN 62061, EN ISO 13849, EN 60204-1)
references EN 61508. This ensures that the appropriate requirements of the directives
are fulfilled ("standard that is also applicable"). When manufacturers apply EN 61508
properly and responsibly in accordance with this reference, they can use the presumption
of conformity of the referencing standard.
EN 61508 covers all the aspects that must be taken into account when E/E/PES systems
(electrical, electronic, and programmable electronic System) are used in order to execute
safety functions and/or to ensure the appropriate level of functional safety. Other hazards
(e.g. electric shock) are, as in EN ISO 13849, not part of the standard.
EN 61508 has recently been declared the "International Basic Safety Publication", which
makes it a framework for other, sector-specific standards (e.g. EN 62061). As a result, this
standard is now accepted worldwide, particularly in North America and in the automotive
industry. Today, many regulatory bodies already stipulate it (e.g. as a basis for NRTL listing).
Another recent development with respect to EN 61508 is its system approach, which extends
the technical requirements to include the entire safety installation from the sensor to the
actuator, the quantification of the probability of hazardous failure due to random hardware
failures, and the creation of documentation covering all phases of the safety-related lifecycle
of the E/E/PES.

8.1.2.7 Risk analysis/assessment

Risks are intrinsic in machines due to their design and functionality. For this reason, the
Machinery Directive requires that a risk assessment be performed for each machine and, if
necessary, the level of risk reduced until the residual risk is less than the tolerable risk. To
assess these risks, the following standards must be applied:
EN ISO 12100-1 "Safety of Machinery - basic terminology, general principles for design"
EN ISO 13849-1 (successor to EN 954-1) "Safety-related parts of control systems"
EN ISO 12100-1 focuses on the risks to be analyzed and the design principles for minimizing
risk.
The risk assessment is a procedure that allows hazards resulting from machines to be
systematically investigated. Where necessary, the risk assessment is followed by a risk
reduction procedure. When the procedure is repeated, this is known as an iterative process.
This can help eliminate hazards (as far as this is possible) and can act as a basis for
implementing suitable protective measures.

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The risk assessment involves the following:

● Risk analysis
– Determines the limits of the machine (EN ISO 12100-1)
– Identification of the hazards (EN ISO 12100-114)
– Estimating the level of risk (EN 1050 Paragraph 7)
● Risk evaluation
As part of the iterative process to achieve the required level of safety, a risk assessment is
carried out after the risk estimation. A decision must be made here as to whether the
residual risk needs to be reduced. If the risk is to be further reduced, suitable protective
measures must be selected and applied. The risk assessment must then be repeated.

Risks must be reduced by designing and implementing the machine accordingly (e.g. by
means of controllers or protective measures suitable for the safety-related functions).
If the protective measures involve the use of interlocking or control functions, these must be
designed according to EN ISO 13849-1. For electrical and electronic controllers, EN 62061
can be used as an alternative to EN ISO 13849-1. Electronic controllers and bus systems
must also comply with IEC/EN 61508.

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8.1.2.8 Risk reduction

Risk reduction measures for a machine can be implemented by means of safety-related
control functions in addition to structural measures. To implement these control functions,
special requirements must be taken into account, graded according to the magnitude of the
risk. These are described in EN ISO 13849-1 or, in the case of electrical controllers
(particularly programmable electronics), in EN 61508 or EN 62061. The requirements
regarding safety-related controller components are graded according to the magnitude of the
risk and the level to which the risk needs to be reduced.
EN ISO 13849-1 defines a risk flow chart that instead of categories results in hierarchically
graduated Performance Levels (PL).
IEC/EN 62061 uses "Safety Integrity Level" (SIL) for classification purposes. This is a
quantified measure of the safety-related performance of a controller. The required SIL is also
determined in accordance with the risk assessment principle according to ISO 12100 (EN
1050). Annex A of the standard describes a method for determining the required Safety
Integrity Level (SIL).
Regardless of which standard is applied, steps must be taken to ensure that all the machine
controller components required for executing the safety-related functions fulfill these
requirements.

8.1.2.9 Residual risk

In today's technologically advanced world, the concept of safety is relative. The ability to
ensure safety to the extent that risk is ruled out in all circumstances – "zero-risk guarantee" –
is practically impossible. The residual risk is the risk that remains once all the relevant
protective measures have been implemented in accordance with the latest state of the art.
Residual risks must be clearly referred to in the machine/plant documentation (user
information according to EN ISO 12100-2).

8.1.3 Machine safety in the USA

A key difference between the USA and Europe in the legal requirements regarding safety at
work is that, in the USA, no legislation exists regarding machinery safety that is applicable in
all of the states and that defines the responsibility of the manufacturer/supplier. A general
requirement exists stating that employers must ensure a safe workplace.

8.1.3.1 Minimum requirements of the OSHA

The Occupational Safety and Health Act (OSHA) from 1970 regulates the requirement that
employers must offer a safe place of work. The core requirements of OSHA are specified in
Section 5 "Duties".
The requirements of the OSH Act are managed by the "Occupational Safety and Health
Administration" (also known as OSHA). OSHA employs regional inspectors who check
whether or not workplaces comply with the applicable regulations.
The OSHA regulations are described in OSHA 29 CFR 1910.xxx ("OSHA Regulations (29
CFR) PART 1910 Occupational Safety and Health"). (CFR: Code of Federal Regulations.)

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http://www.osha.gov
The application of standards is regulated in 29 CFR 1910.5 "Applicability of standards". The
concept is similar to that used in Europe. Product-specific standards have priority over
general standards insofar as they cover the relevant aspects. Once the standards are
fulfilled, employers can assume that they have fulfilled the core requirements of the OSH Act
with respect to the aspects covered by the standards.
In conjunction with certain applications, OSHA requires that all electrical equipment and
devices that are used to protect workers be authorized by an OSHA-certified, "Nationally
Recognized Testing Laboratory" (NRTL) for the specific application.
In addition to the OSHA regulations, the current standards defined by organizations such as
NFPA and ANSI must be carefully observed and the extensive product liability legislation
that exists in the US taken into account. Due to the product liability legislation, it is in the
interests of manufacturing and operating companies that they carefully maintain the
applicable regulations and are "forced" to fulfill the requirement to use state-of-the-art
technology.
Third-party insurance companies generally demand that their customers fulfill the applicable
standards of the standards organizations. Self-insured companies are not initially subject to
this requirement but, in the event of an accident, they must provide verification that they
have applied generally-recognized safety principles.

8.1.3.2 NRTL listing

To protect employees, all electrical equipment used in the USA must be certified for the
planned application by a "Nationally Recognized Testing Laboratory" (NRTL) certified by the
OSHA. NRTLs are authorized to certify equipment and material by means of listing, labeling,
or similar. Domestic standards (e.g. NFPA 79) and international standards (e.g. IEC/EN
61508 for E/E/PES systems) are the basis for testing.

8.1.3.3 NFPA 79
Standard NFPA 79 (Electrical Standard for Industrial Machinery) applies to electrical
equipment on industrial machines with rated voltages of less than 600 V. A group of
machines that operate together in a coordinated fashion is also considered to be one
machine.
For programmable electronics and communication buses, NFPA 79 states as a basic
requirement that these must be listed if they are to be used to implement and execute safety-
related functions. If this requirement is fulfilled, then electronic controls and communication
buses can also be used for Emergency Stop functions, Stop Categories 0 and 1 (refer to
NFPA 79 9.2.5.4.1.4). Like EN 60204-1, NFPA 79 no longer specifies that the electrical
energy must be disconnected by electromechanical means for emergency stop functions.
The core requirements regarding programmable electronics and communication buses are:
system requirements (see NFPA 79 9.4.3)

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1. Control systems that contain software-based controllers must:

● In the event of a single fault
– cause the system to switch to a safe shutdown mode
– prevent the system from restarting until the fault has been rectified
– prevent an unexpected restart
● Offer the same level of protection as hard-wired controllers
● Be implemented in accordance with a recognized standard that defines the requirements
for such systems.
2. IEC 61508, IEC 62061, ISO 13849-1, ISO 13849 2 and IEC 61800-5-2 are specified as
suitable standards in a note.
Underwriter Laboratories Inc. (UL) has defined a special category for "Programmable Safety
Controllers" for implementing this requirement (code NRGF). This category covers control
devices that contain software and are designed for use in safety-related functions.
A precise description of the category and a list of devices that fulfill this requirement can be
found on the Internet at the following address:
http://www.ul.com → certifications directory → UL Category code/ Guide information → search
for category "NRGF"
TUV Rheinland of North America, Inc. is also an NRTL for these applications.

8.1.3.4 ANSI B11

ANSI B11 standards are joint standards developed by associations such as the Association
for Manufacturing Technology (AMT) and the Robotic Industries Association (RIA).
The hazards of a machine are evaluated by means of a risk analysis/assessment. The risk
analysis is an important requirement in accordance with NFPA 79, ANSI/RIA 15.06, ANSI
B11.TR-3 and SEMI S10 (semiconductors). The documented findings of a risk analysis can
be used to select a suitable safety system based on the safety class of the application in
question.
The situation in Japan is different from that in Europe and the US. Legislation such as that
prescribed in Europe does not exist. Similarly, product liability does not play such an
important role as it does in the US.
Instead of legal requirements to apply standards have been defined, an administrative
recommendation to apply JIS (Japanese Industrial Standard) is in place: Japan bases its
approach on the European concept and uses basic standards as national standards (see
table).

Japanese standards

ISO/IEC number JIS number Comment

ISO12100-1 JIS B 9700-1 Earlier designation TR B 0008
ISO12100-2 JIS B 9700-2 Earlier designation TR B 0009
ISO14121- 1 / EN1050 JIS B 9702
ISO13849- 1 JIS B 9705-1

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ISO/IEC number JIS number Comment

ISO13849- 2 JIS B 9705-1
IEC 60204-1 JIS B 9960-1 Without annex F or route map of
the European foreword
IEC 61508-0 to -7 JIS C 0508
IEC 62061 JIS number not yet assigned

In addition to the requirements of the guidelines and standards, company-specific

requirements must be taken into account. Large corporations in particular (e.g. automobile
manufacturers) make stringent demands regarding automation components, which are often
listed in their own equipment specifications.
Safety-related issues (e.g. operating modes, operator actions with access to hazardous
areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so
that they can be integrated in the risk assessment/risk reduction process.

8.1.4 Machine safety in Japan

The situation in Japan is different from that in Europe and the US. Legislation such as that
prescribed in Europe does not exist. Similarly, product liability does not play such an
important role as it does in the US.
Instead of legal requirements to apply standards have been defined, an administrative
recommendation to apply JIS (Japanese Industrial Standard) is in place: Japan bases its
approach on the European concept and uses basic standards as national standards (see
table).

Japanese standards

ISO/IEC number JIS number Comment

ISO12100-1 JIS B 9700-1 Earlier designation TR B 0008
ISO12100-2 JIS B 9700-2 Earlier designation TR B 0009
ISO14121- 1 / EN1050 JIS B 9702
ISO13849-1 JIS B 9705-1
ISO13849-2 JIS B 9705-1
IEC 60204-1 JIS B 9960-1 Without annex F or route map of the Euro-
pean foreword
IEC 61508-0 to -7 JIS C 0508
IEC 62061 JIS number not yet assigned

8.1.5 Equipment regulations

In addition to the requirements of the guidelines and standards, company-specific
requirements must be taken into account. Large corporations in particular (e.g. automobile
manufacturers) make stringent demands regarding automation components, which are often
listed in their own equipment specifications.

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8.2 General information about SINAMICS Safety Integrated

Safety-related issues (e.g. operating modes, operator actions with access to hazardous
areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so
that they can be integrated in the risk assessment/risk reduction process.

8.2 General information about SINAMICS Safety Integrated

Safety Integrated function - STO

The Safe Torque Off (STO) is a safety function that prevents the drive from restarting
unexpectedly, in accordance with EN 60204-1:2006 Section 5.4.
The STO function is in conformance with the IEC 61508, SIL2 standard, in the operating
mode with a high demand, Category 3 and Performance Level d (PL d) acc. to ISO 13849-
1:2006, as well as IEC 61800-5-2.

Controlling the STO Function

The STO function can be controlled via terminals. For the details about STO wiring, refer to
the chapter "24V power supply/STO (Page 124)".

8.3 System features

8.3.1 STO functional safety data

The STO functional safety data of SINAMICS V90 is as follows:

Applied standards IEC 61508, IEC 62061, ISO 13849-1

Type A
Safety Integrity Level (SIL) 2
Hardware Fault Tolerance (HFT) 1
Probability of Failure per Hour (PFH) 5 × 10-8 per hour

8.3.2 Certification
The safety function of the SINAMICS V90 drive system meets the following requirements:
● Category 3 according to ISO 13849-1:2006
● Performance Level (PL) d to ISO 13849-1:2006
● Safety integrity level 2 (SIL 2) to IEC 61508

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In addition, the safety function of SINAMICS V90 has been certified by independent institutes.
An up-to-date list of certified components is available on request from your local Siemens
office.

8.3.3 Safety instructions

Note
Additional safety information and residual risks not specified in this section are included in
the chapter "Safety instructions (Page 11)".

DANGER

Safety Integrated can be used to minimize the level of risk associated with machines and
plants.
Machines and plants can only be operated safely in conjunction with Safety Integrated,
however, when the machine manufacturer is familiar with and observes every aspect of this
technical user documentation, including the documented general conditions, safety
information, and residual risks.
Precisely knows and observes this technical user documentation - including the
documented limitations, safety information and residual risks;
Carefully constructs and configures the machine/plant. A careful and thorough acceptance
test must then be performed by qualified personnel and the results documented.
Implements and validates all the measures required in accordance with the machine/plant
risk analysis by means of the programmed and configured Safety Integrated functions or by
other means.
The use of Safety Integrated does not replace the machine/plant risk assessment carried
out by the machine manufacturer as required by the EC machinery directive.
In addition to using Safety Integrated functions, further risk reduction measures must be
implemented.

WARNING

The Safety Integrated functions cannot be activated until the system has been completely
powered up. System startup is a critical operating state with increased risk. No personnel
may be present in the immediate danger zone in this phase.
The drives of vertical axes must be in torque state.
A complete forced dormant error detection cycle is required after power on.

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WARNING

EN 60204-1:2006
Emergency Stop function must bring the machine to a standstill in accordance with STO.
The machine must not restart automatically after EMERGENCY STOP.
When the safety function is deactivated, an automatic restart is permitted under certain
circumstances depending on the risk analysis (except when Emergency Stop is reset). An
automatic start is permitted when a protective door is closed, for example.

WARNING

After hardware and/or software components have been modified or replaced, all protective
equipment must be closed prior to system startup and drive activation. Personnel shall not
be present within the danger zone.
Before allowing anybody to re-enter the danger zone, you should test steady control
response by briefly moving the drives in forward and reverse direction (+/–).
To observe during power on:
The Safety Integrated functions are only available and can only be selected after the
system has completely powered up.

8.3.4 Probability of failure of the safety function

Probability of failure per hour (PFH)

The probability of the failure of safety functions must be specified in the form of a PFH value
in accordance with IEC 61508, IEC 62061, and ISO 13849-1:2006. The PFH value of a
safety function depends on the safety concept of the drive unit and its hardware
configuration, as well as on the PFH values of other components used for this safety function.
Corresponding PFH values are provided for the SINAMICS V90 drive system, depending on
the hardware configuration (number of drives, control type, number of encoders used). The
various integrated safety functions are not differentiated.
The PHF value of SINAMICS V90 drive system is 5 × 10-8 per hour.

Hardware fault tolerance (HFT)

The HFT value of SINAMICS V90 drive system is one. It means that the system can handle
one fault without brake down. SINAMICS V90 STO function is a subsystem from type A, and
only the discrete components are involved in the STO function.

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8.3.5 Response time

Response time means the time from the control via terminals until the response actually
occurs. The worst response time for the STO function is 5 ms. The response time of fault
reaction functions is 2 s.

8.3.6 Residual risk

The fault analysis enables the machine manufacturer to determine the residual risk at this
machine with regard to the drive unit. The following residual risks are known:

WARNING

Due to the intrinsic potential of hardware faults, electrical systems are subject to additional
residual risk, which can be expressed by means of the PFH value.

WARNING

Simultaneous failure of two power transistors (one in the upper and the other offset in the
lower inverter bridge) in the inverter may cause brief movement of the drive, depending on
the number of poles of the motor.
Maximum value of this movement:
Synchronous rotary motors: Max. movement = 180° / no. of pole pairs

8.4 Safety Integrated basic functions

8.4.1 Safe Torque Off (STO)

In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO)
function is used to safely disconnect and de-energize the torque-generating energy feed to
the motor.
When the function is selected, the drive unit is in a "safe status". The switching on inhibited
function prevents the drive unit from being restarted.
The two-channel pulse suppression function integrated in the Motor Modules/Power Modules
is a basis for this function.

Functional features of "Safe Torque Off"

● This function is integrated in the drive; this means that a higher-level controller is not
required.
● The function is drive-specific, i.e. it is available for each drive and must be individually
commissioned.

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8.4 Safety Integrated basic functions

● When the "Safe Torque Off" function is selected, the following applies:
– The motor cannot be started accidentally.
– The pulse suppression safely disconnects the torque-generating energy feed to the
motor.
– The power unit and motor are not electrically isolated.
● By selecting/deselecting STO, in addition to the fault messages, the safety messages are
also automatically withdrawn.
The STO function can be used wherever the drive naturally reaches a standstill due to load
torque or friction in a sufficiently short time or when "coasting down" of the drive will not have
any relevance for safety.

WARNING

Appropriate measures must be taken to ensure that the motor does not undesirably move
once the energy feed has been disconnected, e.g. against coasting down.

CAUTION

If two power transistors simultaneously fail in the power unit (one in the upper and one in
the lower bridge), then this can cause brief momentary movement.
The maximum movement can be:
Synchronous rotary motors: Max. movement = 180 ° / No. of pole pairs
Synchronous linear motors: Max. movement = pole width

Note
Closing delay of the holding brake
The closing signal (low level) of the holding brake is output 30 ms after the STO is triggered.

Preconditions for using the STO function

When use the STO function, the following preconditions should be fulfilled:
● Each monitoring channel (STO1 and STO2) triggers safe pulse suppression with its
switch off signal path.
● If a motor holding brake is connected and configured, the connected brake is not safe
because there is no safety function for brake, such as safe brake.

Behaviors of the STO function

Terminal State Action

STO1 STO2
High level High level Safe The servo motor can normally run when you power on the servo
drive.
Low level Low level Safe The servo drive starts up normally but the servo motor cannot
run.

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Terminal State Action

STO1 STO2
High level Low level Unsafe Fault F1611 occurs and servo motor coasts down (OFF2).
Low level High level Unsafe Fault F1611 occurs and servo motor coasts down (OFF2).

Selecting/deselecting "Safe Torque Off"

The following is executed when "Safe Torque Off" is selected:
● Each monitoring channel triggers safe pulse suppression via its switch-off signal path.
● A motor holding brake is closed (if connected and configured).

Note
If "Safe Torque Off" is selected and de-selected through one channel within 2 seconds, the
pulses are suppressed without a message being output.

Restart after the "Safe Torque Off" function has been selected
1. Deselect the function in each monitoring channel via the input terminals.
2. Issue drive enable signals.
3. Switch the drive back on.
– 1/0 edge at input signal "ON/OFF1"
– 0/1 edge at input signal "ON/OFF1" (switch on drive)
4. Operate the drives again.

Response time for the "Safe Torque Off" function

The worst response time for the STO function is 5 ms.

8.4.2 Forced dormant error detection

Forced dormant error detection or test of the switch-off signal paths for Safety Integrated Basic
Functions
The forced dormant error detection function at the switch-off signal paths is used to detect
software/hardware faults at both monitoring channels in time and is automated by means of
activation/deactivation of the "Safe Torque Off" function.
To fulfill the requirements of ISO 13849-1:2006 regarding timely error detection, the two
switch-off signal paths must be tested at least once within a defined time to ensure that they
are functioning properly. This functionality must be implemented by means of forced dormant
error detection function, triggered either in manual mode or by the automated process.

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A timer ensures that forced dormant error detection is carried out as quickly as possible.
8760 hours for the forced dormant error detection.
Once this time has elapsed, an alarm is output and remains present until forced dormant
error detection is carried out.
The timer returns to the set value each time the STO function is deactivated.
When the appropriate safety devices are implemented (e.g. protective doors), it can be
assumed that running machinery will not pose any risk to personnel. For this reason, only an
alarm is output to inform the user that a forced dormant error detection run is due and to
request that this be carried out at the next available opportunity. This alarm does not affect
machine operation.
Examples of when to carry out forced dormant error detection:
● When the drives are at a standstill after the system has been switched on (POWER ON).
● When the protective door is opened.
● At defined intervals.
● In automatic mode (time and event dependent)

Note
The timer will be reset if the associated forced dormant error detection is executed. The
corresponding alarm is not triggered.
The forced dormant error detection procedure of Safety Function (STO) always has to be
executed through the terminals.
The mission time of the devices is 40000 hours.

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9.1 Controller overview
The SINAMICS V90 servo drive consists of three control loops:
● Current control
● Speed control
● Position control
The following block diagram shows the relationship between these three control loops:

In theory, frequency width of the inside control loop must be wider than that of the outer
control loop; otherwise, the whole control system can vibrate or have a low response level.
The relationship between the frequency widths of these three control loops is as follows:
Current loop > speed loop > position loop
Since the current loop of SINAMICS V90 servo drive already has a perfect frequency width,
it is only necessary for you to adjust the speed loop gain and the position loop gain.

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9.1 Controller overview

Servo gains
● Position loop gain
Position loop gain directly influences the response level of the position loop. If the
mechanical system does not vibrate or produce noises, you can increase the value of
position loop gain so that the response level can be increased and positioning time can
be shortened.

Parameter Value range Default value Unit Description

p29110[0] 0.00 to 300.00 Motor dependent 1000/min Position loop gain 1
p29110[1] 0.00 to 300.00 1.00 1000/min Position loop gain 2

● Speed loop gain

Speed loop gain directly influences the response level of the speed loop. If the
mechanical system does not vibrate or produce noises, you can increase the value of
speed loop gain so that the response level can be increased.

Parameter Value range Default value Unit Description

p29120[0] 0 to 999999 Motor dependent Nms/rad Speed loop gain 1
p29120[1] 0 to 999999 0.3 Nms/rad Speed loop gain 2

● Speed loop integral gain

With adding integral component into speed loop, the servo drive can efficiently eliminate
the steady-state error of speed and give response to a small change to speed.
Generally speaking, if the mechanical system does not vibrate or produce noises, you
can decrease speed loop integral gain so that the system rigidity can be increased.
If the load inertia ratio is very high or the mechanical system has a resonance factor, it
must be guaranteed that the speed loop integral time constant is big enough; otherwise,
the mechanical system may have a resonance.

Parameter Value range Default value Unit Description

p29121[0] 0 to 100000 15 ms Speed loop integral time 1
p29121[1] 0 to 100000 20 ms Speed loop integral time 2
p29022 1 to 10000 1 - Load moment of inertia ratio

● Position loop feed forward gain

With position loop feed forward gain, the responsiveness level can be increased. If the
position loop feed forward gain is too big, motor speed can have overshoots and the
digital output signal INP can have a repeated on/off. You, therefore, must monitor the
changes to speed waveform and the action of the digital output signal INP during
adjustment. You can slowly adjust the position loop feed forward gain. The effect of feed
forward function is not obvious if the position loop gain is too big.

Parameter Value range Default value Unit Description

p29111 0.00 to 200.00 0 % Position loop feed forward gain

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9.2 Tuning mode

Responsivity of a machine can be optimized by tuning. The responsivity is reflected by
dynamic factor and determined by the servo gains that is set in the servo drive.
The servo gains are set by using a combination of parameters. These parameters influence
each other so you must consider the balance between set values when setting these values.
Generally, the responsivity of a machine with high rigidity can be improved by increasing the
servo gains; however, if the servo gains of a machine with low rigidity are increased, the
machine can vibrate and the responsivity cannot be improved.

NOTICE
Effectiveness of servo gains
The tuning function only uses the first group of servo gains (position loop gain 1, speed
loop gain 1 and speed loop integral time 1).

The following tuning functions are available for the SINAMICS V90 servo drive.
Select a tuning mode by setting the parameter p29021:

Parameter Setting value Description

p29021 0 (default) Auto tuning is disabled (manual tuning) without changing servo
gains relevant parameters.
1 One-button auto tuning
Identify the ratio of load moment of inertia and automatically ad-
just servo gains accordingly.
3 Real-time auto tuning
Identify the ratio of load moment of inertia and automatically ad-
just servo gains in real time.
5 Auto tuning is disabled (manual tuning). All servo gains relevant
parameters are set to tuning default values.

Auto-tuning modes
The SINAMICS V90 supplies two auto-tuning modes: one-button auto tuning and real-time
auto tuning. The auto tuning function can optimize control parameters with ratio of machine
load moment of inertia (p29022) and set suitable current filter parameters to suppress the
machine resonance automatically. You can change the dynamic performance of the system
by setting different dynamic factors.
● One-button auto tuning
– One-button auto tuning estimates the machine load moment of inertia and mechanical
characteristics with internal motion commands. To achieve the desired performance,
you can execute the process many times before you control the drive with the host
controller. The maximum speed is limited by the rated speed.
● Real-time auto tuning
– Real-time auto tuning estimates the machine load moment of inertia automatically
while the drive is running with the host controller command. After enabling the servo

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9.3 One-button auto tuning

on (SON), the real-time auto tuning function stays effective for the servo drive. If you
do not need to estimate the load moment of inertia continuously, you can disable the
function when the system performance is acceptable.
For IPos control mode, if you have obtained the machine load inertia (p29022) and desired
dynamic performance with tuned dynamic factor, you can set the drive to the servo off state
and set p29025.5 = 1 to make sure that there is no position overshoot on the axis.
You are recommended to save the tuned parameters when the tuning is completed and the
drive performance is acceptable.

Tuning with SINAMICS V-ASSISTANT

You are recommended to perform tuning with the engineering tool SINAMICS V-ASSISTANT.
For more information, refer to SINAMICS V-ASSISTANT Online Help.

9.3 One-button auto tuning

Note
The function is valid for firmware version V1.04.00 and higher.

Note
Before using the one-button auto tuning, move the servo motor to the middle of mechanical
position to avoid approaching the actual machine position limit.

Pre-conditions for one-button auto tuning

● The ratio of machine load moment of inertia is unknown and needs to be estimated.
● The motor is allowed to rotate clockwise and counter clockwise.
● The motor rotation position (p29027 defines that one revolution equals to 360 degree) is
allowed by the machine.
– For the motor with an absolute encoder: position limitation is defined by p29027
– For the motor with an incremental encoder: the motor must be allowed to rotate freely
about two rounds when tuning starts

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One-button auto tuning procedure

Proceed as follows to perform one-button auto tuning for the SINAMICS V90 servo drive.

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9.3 One-button auto tuning

Parameter settings
You can set the ratio of machine load moment of inertia (p29022) with the following methods:
● Enter it manually if you have known the ratio of machine load moment of inertia.
● Estimate the ratio of manchine load moment of inertia with one-button auto tuning
(p29023.2 = 1). When you have executed the one-button tuning many times and obtained
a stable value of p29022, you can stop estimating it by setting p29023.2 = 0.

Parame- Value Default Unit Description

ter range value
p29020[ 1 to 35 18 - The dynamic factor of auto tuning
0...1]
• [0]: dynamic factor for one-button auto tuning
• [1]: dynamic factor for real-time auto tuning
p29021 0 to 5 0 - Selection of a tuning mode
• 0: disabled
• 1: one-button auto tuning
• 3: real-time auto tuning
• 5: disabled with default control parameters
p29022 1 to 1 - Ratio of load moment of inertia
10000
p29023 0 to 0xffff 0x0007 - One-button auto tuning configuration
p29025 0 to 0x0004 - Overall tuning configuration
0x003f
p29026 0 to 5000 2000 ms Test signal duration
(default)
p29027 0 to 3000 0 (de- ° Limit rotation position of the motor
fault)
p29028 0.0 to 7.5 ms Pre-control time constant
60.0

Parameter p29028 is available when the multi-axis interpolation function is activated

(p29023.7 = 1). If the axes are used as the interpolation axes, you need to set the same pre-
control time constants (p29028) for them. After tuning is completed, you need to manually
set the same position loop gains (p29110 [0]) for them if the tuning results are different.
You can configure the dynamic factor of the servo system with the parameter p29020.
Higher dynamic factor means higher tracking ability and shorter settling time but also higher
possibility of resonance. You should find a desired dynamic factor within a resonance-free
range.
35 dynamic factors are available for the SINAMICS V90 servo drive:

Dynamic factor (p29020) Machine rigidity

1 Low
2
... ↑
17
18 Middle

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Dynamic factor (p29020) Machine rigidity

19
... ↓
35 High

If the dynamic factor setting cannot be increased up to the desired level because of machine
resonance beyond 250 Hz, the function of resonance suppression can be used to suppress
machine resonance and thus increase dynamic factor. Refer to Section "Resonance
suppression (Page 260)" for detailed information about the function of resonance
suppression.

Note
The tuning configuration parameters must be set carefully when the auto tuning function is
disabled (p29021=0).
After servo on, the motor will run with the test signal.
When the one-button auto tuning process completes successfully, the parameter p29021 will
be set to 0 automatically. You can also set the parameter p29021 to 0 before servo on to
interrupt the one-button tuning process. Before you save the parameters on the drive, make
sure that p29021 has changed to 0.

Note
Do not use the JOG function when you use the one-button tuning function.

Note
After the one-button tuning is activated, no operation will be allowed except the servo off and
emergency stop.

With one-button auto tuning, the servo drive can automatically estimate the ratio of load
moment of inertia and set the following relevant parameters accordingly.

Parame- Value range Defult Unit Description

ter value
p1414 0 to 3 0 - Speed setpoint filter activation
p1415 0 to 2 0 - Speed setpoint filter 1 type
p1417 0.5 to 16000 1999 Hz Speed setpoint filter 1 denominator natural frequency
p1418 0.001 to 10 0.7 - Speed setpoint filter 1 denominator damping
p1419 0.5 to 16000 1999 Hz Speed setpoint filter 1 numerator natural frequency
p1420 0.001 to 10 0.7 - Speed setpoint filter 1 numerator damping
p1441 0 to 50 0 ms Actual speed smoothing time
p1656 0 to 15 1 - Activates current setpoint filter
p1658 0.5 to 16000 1999 Hz Current setpoint filter 1 denominator natural frequen-
cy
p1659 0.001 to 10 0.7 - Current setpoint filter 1 denominator damping
p2533 0 to 1000 0 ms LR position setpoint filter time constant

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Parame- Value range Defult Unit Description

ter value
p2572 1 to 2000000 Motor 1000 IPos maximum acceleration
dependent LU/s2
p2573 1 to 2000000 Motor 1000 IPos maximum deceleration
dependent LU/s2
p29022 1 to 10000 1 - Ratio of load moment of inertia
p29110[ 0.00 to Motor 1000/ Position loop gain 1
0] 300.00 dependent min
p29120[ 0 to 999999 Motor Nms/ra Speed loop gain 1
0] dependent d
p29121[ 0 to 100000 15 ms Speed loop integral time 1
0]
p29111 0.00 to 0.00 % Position loop feed forward gain
200.00

After one-button tuning, four current setpoint filters can be activated at most. The following
parameters related to the filters may be tuned accordingly.

Parame- Value range Default Unit Description

ter value
p1663 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 denomina-
tor.
p1664 0.001 to 10 0.3 - Damp of current notch filter 2 denominator.
p1665 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator.
p1666 0.0 to 10 0.01 - Damp of current notch filter 2 numerator.
p1668 0.5 to 16000 1000 Hz Natural frequency of current notch filter 3 denomina-
tor.
p1669 0.001 to 10 0.3 - Damp of current notch filter 3 denominator.
p1670 0.5 to 16000 1000 Hz Natural frequency of current notch filter 3 numerator.
p1671 0.0 to 10 0.01 - Damp of current notch filter 3 numerator.
p1673 0.5 to 16000 1000 Hz Natural frequency of current notch filter 4 denomina-
tor.
p1674 0.001 to 10 0.3 - Damp of current notch filter 4 denominator.
p1675 0.5 to 16000 1000 Hz- Natural frequency of current notch filter 4 numerator.
p1676 0.0 to 10 0.01 - Damp of current notch filter 4 numerator.

Note
After one-button auto tuning is activated, do not change other auto tuning related
control/filter parameters since these parameters can be set automatically and your changes
will not be accepted.

Note
One-button auto tuning may cause some changes of the control parameters. When the
system rigidity is low, this may lead to a situation that when you set EMGS = 0, the motor
needs take long time to emergency stop.

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9.4 Real-time auto tuning

With real-time auto tuning, the servo drive can automatically estimate the ratio of load
moment of inertia and set the optimum control parameters.

Pre-conditions for the real-time auto tuning

● The drive must be controlled by the host controller.
● The machine actual load moment of inertia is different when the machine moves to the
different positions.
● Make sure that the motor has multiple accelerations and decelerations. Step command is
recommended.
● Machine resonance frequency changes when the machine is running.

Real-time auto tuning procedure

Proceed as follows to perform real-time auto tuning for the SINAMICS V90 servo drive.

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9.4 Real-time auto tuning

Parameter settings
You can set the ratio of machine load moment of inertia (p29022) with the following methods:
● Enter it manually if you have known the ratio of machine load moment of inertia
● Use the ratio of machine load moment of inertia estimated by the one-button auto tuning
function directly
● Estimate the ratio of machine load moment of inertia with real-time auto tuning (p29024.2
= 1). When you have obtained a stable value of p29022, you can stop estimating it by
setting p29024.2 = 0.

Parame- Value range Default Unit Description

ter value
p29020[ 1 to 35 18 - The dynamic factor of auto tuning.
0...1]
• [0]: dynamic factor for one-button auto tuning
• [1]: dynamic factor for real-time auto tuning
p29021 0 to 5 0 - Selection of a tuning mode.
• 0: disabled
• 1: one-button auto tuning
• 3: real-time auto tuning
• 5: disable with default controller parameters
p29022 1 to 10000 1 - Ratio of load moment of inertia
p29024 0 to 0xffff 0x004c - Real-time auto tuning configuration
p29025 0 to 0x003f 0x0004 - Overall tuning configuration
p29028 0.0 to 60.0 7.5 ms Pre-control time constant

Parameter p29028 is available when the multi-axis interpolation function is activated

(p29024.7 = 1). If the axes are used as the interpolation axes, you need to set the same pre-
control time constants (p29028) for them. After tuning is completed, you need to manually
set the same position loop gains (p29110 [0]) for them if the tuning results are different.
You can configure the dynamic factor of the servo system with the parameter p29020.
Higher dynamic factor means higher tracking ability and shorter settling time but also higher
possibility of resonance. You should find a desired dynamic factor within a resonance-free
range.
35 dynamic factors are available for the SINAMICS V90 servo drive:

Dynamic factor (p29020) Machine rigidity

1 Low
2
... ↑
17
18 Middle
19
... ↓
35 High

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If the dynamic factor setting cannot be increased up to the desired level because of machine
resonance beyond 250 Hz, the function of resonance suppression can be used to suppress
machine resonance and thus increase dynamic factor. Refer to Section "Resonance
suppression (Page 260)" for detailed information about the function of resonance
suppression.

Note
The tuning configuration parameters must be set carefully when the auto tuning function is
disabled (p29021=0).
During tuning, you can modify the dynamic factor with p29020[1] to obtain the different
dynamic performance after p29022 has been tuned and accepted by the drive.
After servo on, the real-time auto tuning function will always effective for the servo drive. If
you want to end or interrupt the real-time auto tuning process, set the drive to the servo off
state then set p29021 to 0.

The following relevant parameters can be continuous set in real time when you are using the
real-time auto tuning:

Parame- Value range Default Unit Description

ter value
p1417 0.5 to 16000 1999 Hz Speed setpoint filter 1 denominator natural frequen-
cy
p1419 0.5 to 16000 1999 Hz Speed setpoint filter 1 numerator natural frequency
p29022 1 to 10000 1 - Ratio of load moment of inertia
p29110[ 0.00 to Motor 1000/mi Position loop gain 1
0] 300.00 depend- n
ent
p29120[ 0 to 999999 Motor Nms/ra Speed loop gain 1
0] depend- d
ent
p29121[ 0 to 100000 15 ms Speed loop integral time 1
0]
p29111 0.00 to 0.00 % Position loop feed forward gain
200.00

Note
When using the real-time auto tuning function, if the default values are inappropriate, the
host controller cannot run the motor. To run the motor with the host controller, you need to
let the drive tune the parameters automatically through trial run with the real-time auto tuning
function. After the tuning is completed, the host controller can run the motor.

Note
After the real-time auto tuning is activated, do not change other auto tuning related
control/filter parameters since these parameters can be set automatically and your changes
will not be accepted.

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9.4 Real-time auto tuning

Note
The real-time auto tuning may not be performed properly if the following conditions are not
satisfied:
• Accelerate the motor for 100 ms or more with the acceleration torque.
• The acceleration/deceleration torque is 15% or more of the rated torque.
Under operating conditions that impose sudden disturbance torque during
acceleration/deceleration or on a machine that its rigidity is poor, auto tuning may not
function properly, either. In such cases, use the one-button auto tuning or manual tuning to
optimize the drive.

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9.5 Manual tuning

9.5 Manual tuning

When the auto tuning cannot reach expected tuning results, you can disable the auto tuning
function by setting the parameter p29021 and manually perform tuning:
● p29021=5: auto tuning function is disabled and all control parameters are reset to tuning
default values.
● p29021=0: auto tuning function is disabled without changing control parameters.

Procedure for manual tuning

Follow the procedure below to perform manual tuning:

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9.6 Resonance suppression

Note
Resonance suppression
For detailed information about the resonance suppression, refer to Section "Resonance
suppression (Page 260)".

Parameter settings
You need to set the following servo gains related parameters manually when using the
manual tuning function:

Parame- Value range Default Unit Description

ter value
p2533 0 to 1000 0 ms LR position setpoint filter time constant
p2572 1 to 2000000 Motor 1000 IPos maximum acceleration
depen- LU/s
pen- 2

dent
p2573 1 to 2000000 Motor 1000 IPos maximum deceleration
depen- LU/s
pen- 2

dent
p29110[ 0.00 to Motor 1000 Position loop gain 1
0] 300.00 depen- /min
pen-
dent
p29120[ 0 to 999999 Motor Nms Speed loop gain 1
0] depen- /rad
pen-
dent
p29121[ 0 to 100000 15 ms Speed loop integral time 1
0]
p29111 0.00 to 0.00 % Position loop feed forward gain
200.00

9.6 Resonance suppression

The resonance suppression function is filter (notch filter) function. It detects mechanical
resonance at a frequency between 250 Hz and 1500 Hz, and decreases the gain of specific
frequency (by automatically setting notch filter) to suppress the mechanical resonance.
Now four current setpoint filters are available for the V90 servo drive. Filter 1 is lowpass filter.
Filter 2, filter 3 and filter 4 are band damp filters.

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9.6 Resonance suppression

The gain decreasing frequency, width as well as depth can be set by setting the notch filter:

Using the resonance suppression function

Note
The resonance suppression function is used together with the auto tuning function. In real-
time auto tuning and one-button auto tuning mode, the function is activated by default.
When you use real-time auto tuning function, you are recommended to disable the
resonance suppression function to get a high dynamic performance if there is no resonance
in the machine.
The function can be activated/deactivated with the following parameters:
• For one-button auto tuning: bit 1 of p29023
• For real-time auto tuning: bit 6 of p29024

Resonance suppression with one-button auto tuning (p29021=1, p29023.1=1)

Before you use the resonance suppression function with one-button auto tuning, make sure
the load is mounted as required and the servo motor can rotate freely. When the one-button
auto tuning process completes successfully, the servo drive automatically sets the following
notch filter relevant parameters with real machine characteristic. Four current setpoint filters
can be activated at most.

Parameter Value range Default Unit Description

value
p1663 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 denominator.
p1664 0.001 to 10 0.3 - Damp of current notch filter 2 denominator.
p1665 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator.
p1666 0.0 to 10 0.01 - Damp of current notch filter 2 numerator.
p1668 0.5 to 16000 1000 Hz Natural frequency of current notch filter 3 denominator.
p1669 0.001 to 10 0.3 - Damp of current notch filter 3 denominator.
p1670 0.5 to 16000 1000 Hz Natural frequency of current notch filter 3 numerator.

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9.6 Resonance suppression

Parameter Value range Default Unit Description

value
p1671 0.0 to 10 0.01 - Damp of current notch filter 3 numerator.
p1673 0.5 to 16000 1000 Hz Natural frequency of current notch filter 4 denominator.
p1674 0.001 to 10 0.3 - Damp of current notch filter 4 denominator.
p1675 0.5 to 16000 1000 Hz- Natural frequency of current notch filter 4 numerator.
p1676 0.0 to 10 0.01 - Damp of current notch filter 4 numerator.

Note
Notch filter remains active when the resonance suppression function is activated
automatically.
After one-button tuning is completed, four filters can be activated at most. You can
deactivate the notch filters by setting the parameter p1656.

Resonance suppression with real-time auto tuning (p29021=3, p29024.6=1)

When you choose to use the resonance suppression function with real-time auto tuning, the
servo drive performs real-time detection of the resonance frequency and configures the
following notch filter relevant parameters accordingly:

Parameter Value range Default Unit Description

value
p1663 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 denominator.
p1664 0.001 to 10 0.3 - Damp of current notch filter 2 denominator.
p1665 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator.
p1666 0.0 to 10 0.01 - Damp of current notch filter 2 numerator.

Resonance suppression with manual tuning (p29021=0)

When both the resonance suppression with real-time auto tuning and one-button tuning
mode cannot reach the suppression effect, you can do the resonance suppression by
manually setting the following parameters:

Parameter Value range Default Unit Description

value
p1663 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 denominator.
p1664 0.001 to 10 0.3 - Damp of current notch filter 2 denominator.
p1665 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator.
p1666 0.0 to 10 0.01 - Damp of current notch filter 2 numerator.
p1668 0.5 to 16000 1000 Hz Natural frequency of current notch filter 3 denominator.
p1669 0.001 to 10 0.3 - Damp of current notch filter 3 denominator.
p1670 0.5 to 16000 1000 Hz Natural frequency of current notch filter 3 numerator.
p1671 0.0 to 10 0.01 - Damp of current notch filter 3 numerator.

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9.7 Low frequency vibration suppression

Parameter Value range Default Unit Description

value
p1673 0.5 to 16000 1000 Hz Natural frequency of current notch filter 4 denominator.
p1674 0.001 to 10 0.3 - Damp of current notch filter 4 denominator.
p1675 0.5 to 16000 1000 Hz Natural frequency of current notch filter 4 numerator.
p1676 0.0 to 10 0.01 - Damp of current notch filter 4 numerator.

Assume the notch frequency is fsp, notch width is fBB, and notch depth is K, then the filter
parameters can be calculated as follows:
p1663=p1665=fsp
p1664=fBB / (2 × fsp)
p1666=(fBB × 10(k/20) )/ (2 × fsp)

9.7 Low frequency vibration suppression

Low frequency vibration suppression function is position setpoint filter function. It can
suppression the vibration between 0.5 Hz to 62.5 Hz. The function is available in IPos control
mode.

Related parameters
When you use the vibration suppression function, you need to configure the following
parameters accordingly:

Parame- Value Default Unit Description

ter range value
p29035 0 to 1 0 - Vibration suppression activation.
• 0: disble
• 1: enable
p31581 0 to 1 0 - Vibration suppression filter type.
• 0: filter type rugged
• 1: filter type sensitive
p31585 0.5 to 62.5 1 Hz Vibration suppression filter frequency.
p31586 0 to 0.99 0.03 - Vibration suppression filter damp.

Operating steps

Step Description Comment

① Set the drive to servo off status.

② Select the filter type by p31581. Vibration suppression filter type.

• 0: filter type rugged
• 1: filter type sensitive

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9.8 Gain switching

Step Description Comment

③ Set the suppression frequency by p31585. You can set the suppression frequency from 0.5 Hz to
62.5 Hz.
④ Set damp of the filter by p31586. You can set the damp from 0 to 0.99.

⑤ Set control mode for the drive by p29003.

⑥ Enable the vibration suppression function by Set p29035 = 1 to activate the function.
p29035.
⑦ Set the drive to servo on status.

9.8 Gain switching

Note
The Gain Switching function is not available in T mode (torque control mode).
The function of auto-tuning must be disabled so that the function of gain switching can be
available.

With this function, you can:

● increase the gains during servo lock and decrease gains to reduce noise during rotation.
● increase the gains during settling to shorten the stop settling time.
● switch between two groups of gains using an external signal (G-CHANGE) to ensure
stability of the servo system because the load inertia moment ratio varies greatly during a
stop (for example, a large load is mounted on a carrier).

Selection of a gain switching mode

Five gain switching modes in total are available:
● Gain switching disabled
● Gain switching using digital input signal (G-CHANGE)
● Gain switching using position deviation
● Gain switching using position setpoint frequency
● Gain switching using actual speed

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9.8 Gain switching

You can select one of the five modes by setting parameter p29130:

Parameter Value Description

p29130 0 (default) The function of gain switching is disabled.
Only the first group of gains is valid and the function of PI to P switching of speed controller
is enabled.
1 Gain switching using digital input signal (G-CHANGE).
When G-CHANGE is 0, the first group of gains is selected; when G-CHANGE is 1, the
second one is selected.
2 Gain switching using position deviation.
In the position control mode, gain switching can be decided by position deviation. If the
position deviation is less than preset value, the first group of gains is selected; otherwise,
the second one is selected.
3 Gain switching using position setpoint frequency.
In the position control mode, gain switching can also be decided by position setpoint fre-
quency. If the position setpoint frequency is less than preset value, the first group of gain is
selected; otherwise, the second one is selected.
4 In the speed control mode, gain switching can be decided by actual speed. If the actual
speed is below preset value; otherwise, the second one is selected.

9.8.1 Gain switching using an external digital input signal (G-CHANGE)

DI settings
● Position control mode

Signal Setting Description

G-CHANGE 0 The first group of gains is selected.
1 The second group of gains is selected.

● Speed control mode

Signal Setting Description

G-CHANGE 0 The first group of gains is selected.
1 The second group of gains is selected.

Parameter settings (p29130 = 1)

Parameter Value range Default value Unit Description
p29110[0] 0.00 to 300.00 Motor dependent 1000/min Position loop gain 1
p29110[1] 0.00 to 300.00 1.00 1000/min Position loop gain 2
p29120[0] 0 to 999999 Motor dependent Nms/rad Speed loop gain 1
p29120[1] 0 to 999999 0.3 Nms/rad Speed loop gain 2
p29121[0] 0 to 100000 15 ms Speed loop integral time 1
p29121[1] 0 to 100000 20 ms Speed loop integral time 2
p29139 8 to 1000 20 ms Time constant to smooth the switching between gain sets

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9.8 Gain switching

Timing diagram

Note
If the pulse duration is shorter than 10 ms, there is no reaction.

9.8.2 Gain switching using position deviation

Parameter settings (p29130 = 2)

Parameter Value range Default value Unit Description

p29110[0] 0.00 to 300.00 Motor dependent 1000/min Position loop gain 1
p29110[1] 0.00 to 300.00 1.00 1000/min Position loop gain 2
p29120[0] 0 to 999999 Motor dependent Nms/rad Speed loop gain 1
p29120[1] 0 to 999999 0.3 Nms/rad Speed loop gain 2
p29121[0] 0 to 100000 15 ms Speed loop integral time 1
p29121[1] 0 to 100000 20 ms Speed loop integral time 2
p29131 0 to 2147483647 100 LU Position deviation threshold for automatically triggering
gain switching
p29139 8 to 1000 20 ms Time constant to smooth the switching between gain sets

Timing diagram

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9.8 Gain switching

9.8.3 Gain switching using position setpoint frequency

Parameter settings (p29130 = 3)

Parameter Value range Setting value Unit Description

p29110[0] 0.00 to 300.00 Motor dependent 1000/min Position loop gain 1
p29110[1] 0.00 to 300.00 1.00 1000/min Position loop gain 2
p29120[0] 0 to 999999 Motor dependent Nms/rad Speed loop gain 1
p29120[1] 0 to 999999 0.3 Nms/rad Speed loop gain 2
p29121[0] 0 to 100000 15 ms Speed loop integral time 1
p29121[1] 0 to 100000 20 ms Speed loop integral time 2
p29132 0 to 2147000064 100 1000 LU/min Position setpoint frequency threshold for automatical-
ly triggering gain switching
p29139 8 to 1000 20 ms Time constant to smooth the switching between gain
sets

Timing diagram

9.8.4 Gain switching using actual speed

Parameter settings (p29130 = 4)

Parameter Value range Setting value Unit Description

p29110[0] 0.00 to 300.00 Motor dependent 1000/min Position loop gain 1
p29110[1] 0.00 to 300.00 1.00 1000/min Position loop gain 2
p29120[0] 0 to 999999 Motor dependent Nms/rad Speed loop gain 1
p29120[1] 0 to 999999 0.3 Nms/rad Speed loop gain 2
p29121[0] 0 to 100000 15 ms Speed loop integral time 1
p29121[1] 0 to 100000 20 ms Speed loop integral time 2
p29133 0 to 2147000064 100 rpm Speed threshold for automatically triggering gain
switching
p29139 8 to 1000 20 ms Time constant to smooth the switching between gain
sets

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9.9 PI/P switching

Timing diagram

9.9 PI/P switching

Note
PI/P switching
Function of PI/P switching is not available for the T mode (torque control mode).
The functions of auto-tuning and gain switching must be disabled so that the function of PI/P
switching can be available.
The PI/P switching will respond with a delay time of several milliseconds.

The function of PI/P switching is used to switch from PI (Proportional/Integral) control of

speed controller to P (Proportional) control. With this function, you can:
● shorten the position setting time (for the position control mode).
● avoid overshooting of actual speed value during acceleration or deceleration (for the
speed control mode).
● avoid unnecessary torque when the target position is at a mechanical limitation (for the
position control mode).

Selection of a switching mode for PI/P switching

Five switching modes in total are available for PI/P switching:
● using torque setpoint
● using an external digital input signal (G-CHANGE)

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9.9 PI/P switching

● using speed setpoint

● using acceleration setpoint
● using pulse deviation
You can select one of the switching modes by setting parameter p29140:

Parameter Value Description

p29140 0 (default) Disabled.
1 Torque is higher than a parameterizable setting value.
2 Using the digital input signal (G-CHANGE)
3 Speed is higher than a parameterizable setting value.
4 Acceleration is higher than a parameterizable setting value.
5 Pulse deviation is higher than a parameterizable setting value.

Example

Without the function of PI/P switching With the function of PI/P switching
Example 1: If the PI/P switching is not used, the speed of the motor may overshoot or undershoot due to torque saturation
during acceleration or deceleration. The mode switching function suppresses torque saturation and eliminates the over-
shooting or undershooting of the motor speed.

Example 2: The function of PI/P switching can be used to suppress overshooting and undershooting when speed loop gain
is increased

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9.9 PI/P switching

9.9.1 PI/P switching using torque setpoint

When torque setpoint exceeds preset torque value (p29141), the speed loop is switched
from PI control to P control.

Parameter settings

Parameter Value range Setting value Unit Description

p29140 0 to 5 1 - Switches PI control to P control using torque setpoint
p29141 0 to 300 200 (default) % Torque threshold for automatically triggering PI to P
switch
p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1
p29121[0] 0 to 100000 15 (default) ms Speed loop integral time 1

Note
Speed setpoint
For detailed information about speed setpoint, refer to "Configuring speed setpoint
(Page 201)".
Torque setpoint
For detailed information about torque setpoint, refer to "Torque setpoint (Page 208)".

9.9.2 PI/P switching using an external digital input signal (G-CHANGE)

DI settings
● Position control mode

Signal Setting Description

G-CHANGE 0 The first group of gains is selected.
1 The second group of gains is selected.

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● Speed control mode

Signal Setting Description

G-CHANGE 0 The first group of gains is selected.
1 The second group of gains is selected.

Parameter settings

Parameter Value range Setting value Unit Description

p29140 0 to 5 2 - Switches PI control to P control using an external digital
input signal (G-CHANGE)
p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1
p29121[0] 0 to 100000 15 (default) ms Speed loop integral time 1

Timing diagram

9.9.3 PI/P switching using speed setpoint

When the speed setpoint exceeds the preset speed value (p29142), the speed loop is
switched from PI control to P control.

Parameter settings

Parameter Value range Setting value Unit Description

p29140 0 to 5 3 - Switches PI control to P control using speed setpoint.
p29142 0 to 210000 2000 (default) rpm Speed threshold for automatically triggering PI to P
switch.
p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1
p29121[0] 0 to 100000 15 (default) ms Speed loop integral time 1

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9.9 PI/P switching

Note
For detailed information about speed setpoint, refer to "Configuring speed setpoint
(Page 201)".

9.9.4 PI/P switching using acceleration setpoint

When the motor acceleration exceeds the preset acceleration rate (p29143), the speed loop
is switched from PI control to P control.

Parameter settings

Parameter Value range Setting value Unit Description

p29140 0 to 5 4 - Switches PI control to P control using acceleration set-
point.
p29143 0 to 30000 20 (default) rev/s2 Acceleration threshold for automatically triggering PI to P
switch.
p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1
p29121[0] 0 to 100000 15 (default) ms Speed loop integral time 1

Note
Speed setpoint
For detailed information about speed setpoint, refer to "Configuring speed setpoint
(Page 201)".
Acceleration
For detailed information about acceleration, refer to "Setting fixed position setpoint
(Page 186)" of the internal position control mode.

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9.9 PI/P switching

9.9.5 PI/P switching using pulse deviation

The speed loop is switched from PI control to P control when the pulse deviation exceeds
the preset value (p29144).

Parameter settings

Parameter Value range Setting value Unit Description

p29140 0 to 5 5 - Switches PI control to P control using pulse deviation
p29144 0 to 2147483647 30000 (default) - Pulse deviation threshold for automatically triggering PI
to P switching
p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1
p29121[0] 0 to 100000 15 (default) ms Speed loop integral time 1

Note
Speed setpoint
For detailed information about speed setpoint, refer to "Configuring speed setpoint
(Page 201)".

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10.1 Overview

Parameter number
Numbers prefixed with an "r" indicate that parameter is a read-only parameter.
Numbers prefixed with a "P" indicate that the parameter is an editable parameter.

Effective
Indicates the conditions for making parameterization effective. Two conditions are possible:
● IM (Immediately): Parameter value becomes effective immediately after changing.
● RE (Reset): Parameter value becomes effective after repower-on.

Can be changed
This indicates when the parameter can be changed. Two states are possible:
● U (Run): Can be changed in the "Running" state when the drive is in the servo on state.
The "RDY" LED lights up green.
● T (Ready to run): Can be changed in the "Ready" state when the drive is in the servo off
state. The "RDY" LED lights up red.

Note
When judging the state of the drive according to the "RDY" LED, ensure that no faults or
alarms exist.

Data type

Type Description
I16 16-bit integer
I32 32-bit integer
U16 16 bits without sign
U32 32 bits without sign
Uint16 16-bit unsigned integer
Uint32 32-bit unsigned integer
Float 32-bit floating point number

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10.1 Overview

Parameter groups
The SINAMICS V90 parameters are divided into the following groups:

Parameter group Available parameters Parameter group display on

the BOP
Basic parameters p290xx

Gain adjustment parameters p291xx

Speed control parameters p10xx to p14xx, p21xx

Torque control parameters p15xx to p16xx

Position control parameters p25xx to p26xx, p292xx

I/O parameters p293xx

Status monitoring parameters All read-only parameters

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10.2 Parameter list

10.2 Parameter list

Editable parameters
The values of the parameters marked with an asterisk (*) may be changed after
commissioning. Make sure you back up the parameters first as required if you desire to
replace the motor. The default values of the parameters marked with two asterisks (**) are
motor dependent. They may have different default values when different motor connected.

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p0748 CU invert digital outputs 0 63 0 - U32 IM T, U
Description: Inverts the signals at the digital outputs.
• Bit 0: inverts signal DO1.
– Bit 0 = 0: not inverted
– Bit 0 = 1: inverted
• Bit 1: inverts signal DO2.
– Bit 1 = 0: not inverted
– Bit 1 = 1: inverted
• Bit 2: inverts signal DO3.
– Bit 2 = 0: not inverted
– Bit 2 = 1: inverted
• Bit 3: inverts signal DO4.
– Bit 3 = 0: not inverted
– Bit 3 = 1: inverted
• Bit 4: inverts signal DO5.
– Bit 4 = 0: not inverted
– Bit 4 = 1: inverted
• Bit 5: inverts signal DO6.
– Bit 5 = 0: not inverted
– Bit 5 = 1: inverted
p1001 Fixed speed setpoint 1 -210000.000 210000.000 0.000 rpm Float IM T, U
Description: Sets a value for the fixed speed / velocity setpoint 1.
p1002 Fixed speed setpoint 2 -210000.000 210000.000 0.000 rpm Float IM T, U
Description: Sets a value for the fixed speed / velocity setpoint 2.
p1003 Fixed speed setpoint 3 -210000.000 210000.000 00.000 rpm Float IM T, U
Description: Sets a value for the fixed speed / velocity setpoint 3.
p1004 Fixed speed setpoint 4 -210000.000 210000.000 0.000 rpm Float IM T, U
Description: Sets a value for the fixed speed / velocity setpoint 4.
p1005 Fixed speed setpoint 5 -210000.000 210000.000 0.000 rpm Float IM T, U
Description: Sets a value for the fixed speed / velocity setpoint 5.
p1006 Fixed speed setpoint 6 -210000.000 210000.000 0.000 rpm Float IM T, U
Description: Sets a value for the fixed speed / velocity setpoint 6.

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10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p1007 Fixed speed setpoint 7 -210000.000 210000.000 0.000 rpm Float IM T, U
Description: Sets a value for the fixed speed / velocity setpoint 7.
p1058 Jog 1 speed setpoint 0.00 210000.000 100.00 rpm Float IM T
Description: Sets the speed/velocity for jog 1. Jogging is level-triggered and allows the motor to be incremen-
tally moved.
Note: The parameter values displayed on the BOP are integers.
p1082 * Maximum speed 0.000 210000.000 1500.00 rpm Float IM T
0
Description: Sets the highest possible speed.
Notice: After the value has been modified, no further parameter modifications can be made.
Note: The parameter values displayed on the BOP are integers.
The parameter applies for both motor directions.
The parameter has a limiting effect and is the reference quantity for all ramp-up and ramp-down times (e.g.
down ramps, ramp-function generator and motor potentiometer).
The range of the parameter is different when connect with different motors.
p1083 * Speed limit in positive 0.000 210000.000 210000. rpm Float IM T, U
direction of rotation 000
Description: Sets the maximum speed for the positive direction.
Note: The parameter values displayed on the BOP are integers.
p1086 * Speed limit in negative -210000.000 0.000 - rpm Float IM T, U
direction of rotation 210000.
000
Description: Sets the speed limit for the negative direction.
Note: The parameter values displayed on the BOP are integers.
p1115 Ramp-function generator 0 1 0 - I16 IM T
selection
Description: Sets the ramp-function generator type.
Note: Another ramp-function generator type can only be selected when the motor is at a standstill.
p1120 Ramp-function generator 0.000 999999.000 1 s Float IM T, U
ramp-up time
Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the
maximum speed (p1082) in this time.
Dependency: Refer to p1082
p1121 Ramp-function generator 0.000 999999.000 1 s Float IM T, U
ramp-down time
Description: Sets the ramp-down time for the ramp-function generator.
The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to
standstill (setpoint = 0) in this time.
Further, the ramp-down time is always effective for OFF1.
Dependency: Refer to p1082
p1130 Ramp-function generator 0.000 30.000 0.000 s Float IM T, U
initial rounding-off time
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.

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p1131 Ramp-function generator 0.000 30.000 0.000 s Float IM T, U
final rounding-off time
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.
p1215 * Motor holding brake con- 0 3 0 - I16 IM T
figuration
Description: Sets the holding brake configuration.
Dependency: Refer to p1216, p1217, p1226, p1227, p1228
Caution: For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy
the brake.
Notice: If p1215 was set to 1 or if p1215 was set to 3, then when the pulses are suppressed, the brake is
closed even if the motor is still rotating.
Note: If a holding brake integrated in the motor is used, then it is not permissible that p1215 is set to 3.
The parameter can only be set to zero when the pulses are inhibited.
p1216 * Motor holding brake 0 10000 100 ms Float IM T, U
opening time
Description: Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this,
the speed/velocity setpoint is enabled.
Dependency: Refer to p1215, p1217
Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor.
For p1216 = 0 ms, the monitoring and the message A7931 "Brake does not open" are deactivated.
p1217 * Motor holding brake clos- 0 10000 100 ms Float IM T, U
ing time
Description: Sets the time to apply the motor holding brake.
After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop
controlled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are suppressed
when the time expires.
Dependency: Refer to p1215, p1216
Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor.
For p1217 = 0 ms, the monitoring and the message A07932 "Brake does not close" are deactivated.
p1226 Threshold for zero speed 0.00 210000.00 20.00 rpm Float IM T, U
detection
Description: Sets the speed threshold for the standstill identification.
Acts on the actual value and setpoint monitoring. When braking with OFF1 or OFF3, when the threshold is
undershot, standstill is identified.
The following applies when the brake control is activated:
When the threshold is undershot, the brake control is started and the system waits for the brake closing time
in p1217. The pulses are then suppressed.
If the brake control is not activated, the following applies:
When the threshold is undershot, the pulses are suppressed and the drive coasts down.
Dependency: Refer to p1215, p1216, p1217, p1227
Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in
indices 1 to 31 is overwritten with the parameter value in index 0 when the drive boots.

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
Note: Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has
expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the
speed threshold is too low.
p1227 Zero speed detection 0.000 300.000 300.000 s Float IM T, U
monitoring time
Description: Sets the monitoring time for the standstill identification.
When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed
has fallen below p1226.
After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are
suppressed.
Dependency: Refer to p1215, p1216, p1217, p1226
Notice: The setpoint is not equal to zero dependent on the selected value. This can therefore cause the moni-
toring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not suppressed..
Note: Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has
expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has
expired.
For p1227 = 300.000 s, the following applies:
Monitoring is de-activated.
For p1227 = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor
"coasts" down.
p1228 Pulse suppression delay 0.000 299.000 0.000 s Float IM T, U
time
Description: Sets the delay time for pulse suppression. After OFF1 or OFF3, the pulses are canceled, if at
least one of the following conditions is fulfilled:
- The speed actual value falls below the threshold in p1226 and the time started after this in p1228 has ex-
pired.
- The speed setpoint falls below the threshold in p1226 and the time started after this in p1227 has expired.
Dependency: Refer to p1226, p1227
Notice: When the motor holding brake is activated, pulse cancellation is additionally delayed by the brake
closing time (p1217).
p1414 Speed setpoint filter acti- 0000 bin 0011 bin 0000 - U16 IM T, U
vation bin
Description: Setting for activating/de-activating the speed setpoint filter.
Dependency: The individual speed setpoint filters are parameterized as of p1415.
Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you
must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p1415 Speed setpoint filter 1 0 2 0 - I16 IM T, U
type
Description: Sets the type for speed setpoint filter 1.
Dependency:
PT1 low pass: p1416
PT2 low pass: p1417, p1418
General filter: p1417 ... p1420
p1416 Speed setpoint filter 1 0.00 5000.00 0.00 ms Float IM T, U
time constant
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the filter is set as a PT1 low pass.
p1417 Speed setpoint filter 1 0.5 16000.0 1999.0 Hz Float IM T, U
denominator natural fre-
quency
Description: Sets the denominator natural frequency for speed setpoint filter 1(PT2, general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general
filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
p1418 Speed setpoint filter 1 0.001 10.000 0.700 - Float IM T, U
denominator damping
Description: Sets the denominator damping for speed setpoint filter 1 (PT2, general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general
filter.
p1419 Speed setpoint filter 1 0.5 16000.0 1999.0 Hz Float IM T, U
numerator natural fre-
quency
Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is set as a general filter. The filter is only effective if the
natural frequency is less than half of the sampling frequency.
p1420 Speed setpoint filter 1 0.001 10.000 0.700 - Float IM T, U
numerator damping
Description: Sets the numerator damping for speed setpoint filter 1 (general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is set as a general filter.
p1421 Speed setpoint filter 2 0 2 0 - I16 IM T, U
type
Description: Sets the type for speed setpoint filter 2.
Dependency:
PT1 low pass: p1422
PT2 low pass: p1423, p1424
General filter: p1423 ... p1426

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p1422 Speed setpoint filter 2 0.00 5000.00 0.00 ms Float IM T, U
time constant
Description: Sets the time constant for the speed setpoint filter 2 (PT1).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is set as a PT1 low pass.
p1423 Speed setpoint filter 2 0.5 16000.0 1999.0 Hz Float IM T, U
denominator natural fre-
quency
Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general
filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
p1424 Speed setpoint filter 2 0.001 10.000 0.700 - Float IM T, U
denominator damping
Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general
filter.
p1425 Speed setpoint filter 2 0.5 16000.0 1999.0 Hz Float IM T, U
numerator natural fre-
quency
Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is set as a general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
p1426 Speed setpoint filter 2 0.000 10.000 0.700 - Float IM T, U
numerator damping
Description: Sets the numerator damping for speed setpoint filter 2 (general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is set as a general filter.
p1441 Actual speed smoothing 0.00 50.00 0.00 ms Float IM T, U
time
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Note: The speed actual value should be smoothed for increment encoders with a low pulse number.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed
controller settings checked Kp (p29120) and Tn (p29121).
p1520 * Torque limit upper -1000000.00 20000000.0 0.00 Nm Float IM T, U
0
Description: Sets the fixed upper torque limit.
Danger: Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating
in an uncontrollable fashion.
Notice: The maximum value depends on the maximum torque of the connected motor.

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p1521 * Torque limit lower -20000000.00 1000000.00 0.00 Nm Float IM T, U
Description: Sets the fixed lower torque limit.
Danger: Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in
an uncontrollable fashion.
Notice: The maximum value depends on the maximum torque of the connected motor.
p1656 * Activates current setpoint 0000 bin 1111 bin 0001 - U16 IM T, U
filter bin
Description: Setting for activating/de-activating the current setpoint filter.
Dependency: The individual current setpoint filters are parameterized as of p1658.
Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1. The
drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must
convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
p1658 * Current setpoint filter 1 0.5 16000.0 1999.0 Hz Float IM T, U
denominator natural fre-
quency
Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).
Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.
p1659 * Current setpoint filter 1 0.001 10.000 0.700 - Float IM T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 1.
Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.
p1663 Current setpoint filter 2 0.5 16000.0 1000.0 Hz Float IM T, U
denominator natural fre-
quency
Description: Sets the denominator natural frequency for current setpoint filter 2 (PT2, general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
p1664 Current setpoint filter 2 0.001 10.000 0.300 - Float IM T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
p1665 Current setpoint filter 2 0.5 16000.0 1000.0 Hz Float IM T, U
numerator natural fre-
quency
Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.
p1666 Current setpoint filter 2 0.000 10.000 0.010 - Float IM T, U
numerator damping
Description: Sets the numerator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
p1668 Current setpoint filter 3 0.5 16000.0 1000.0 Hz Float IM T, U
denominator natural fre-
quency
Description: Sets the denominator natural frequency for current setpoint filter 3 (PT2, general filter).
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p1669 Current setpoint filter 3 0.001 10.000 0.300 - Float IM T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 3.
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
p1670 Current setpoint filter 3 0.5 16000.0 1000.0 Hz Float IM T, U
numerator natural fre-
quency
Description: Sets the numerator natural frequency for current setpoint filter 3 (general filter).
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
p1671 Current setpoint filter 3 0.000 10.000 0.010 - Float IM T, U
numerator damping
Description: Sets the numerator damping for current setpoint filter 3.
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
p1673 Current setpoint filter 4 0.5 16000.0 1000.0 Hz Float IM T, U
denominator natural fre-
quency
Description: Sets the denominator natural frequency for current setpoint filter 4 (PT2, general filter).
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p1674 Current setpoint filter 4 0.001 10.000 0.300 - Float IM T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 4.
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p1675 Current setpoint filter 4 0.5 16000.0 1000.0 Hz Float IM T, U
numerator natural fre-
quency
Description: Sets the numerator natural frequency for current setpoint filter 4 (general filter).
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p1676 Current setpoint filter 4 0.000 10.000 0.010 - Float IM T, U
numerator damping
Description: Sets the numerator damping for current setpoint filter 4.
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
p2153 Speed actual value filter 0 1000000 0 ms Float IM T, U
time constant
Description: Sets the time constant of the PT1 element to smooth the speed / velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and
signals.
p2161 * Speed threshold 3 0.00 210000.00 10.00 rpm Float IM T, U
Description: Sets the speed threshold value for the signal that indicates the axis is stationary.

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p2162 * Hysteresis speed n_act > 0.00 60000.00 0.00 rpm Float IM T, U
n_max
Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max".
Note:
For a negative speed limit, the hysteresis is effective below the limit value and for a positive speed limit above
the limit value.
If significant overshoot occurs in the maximum speed range (for example, due to load shedding), you are
advised to increase the dynamic response of the speed controller (if possible). If this is insufficient, the hyste-
resis p2162 can only be increased by more than 10% of the rated speed when the maximum speed of the
motor is sufficiently greater than the speed limit p1082.
The range of the parameter is different when connect with different motors.
p2525 LR encoder adjustment 0 429496729 0 LU U32 IM T
offset 5
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.
p2533 LR position setpoint filter 0.00 1000.00 0.00 ms Float IM T, U
time constant
Description: Sets the time constant for the position setpoint filter (PT1).
Note: The effective Kv factor (position loop gain) is reduced with the filter.
This allows a softer control behavior with improved tolerance with respect to noise/disturbances.
Applications:
- Reduces the pre-control dynamic response.
- Jerk limiting.
p2542 * LR standstill window 0 214748364 1000 LU U32 IM T, U
7
Description: Sets the standstill window for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint
and actual position is located within the standstill window and, if required, an appropriate fault is output.
Value = 0: The standstill monitoring is deactivated.
Dependency: Refer to: p2543, p2544, and F07450
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) ≥ positioning window (p2544)
p2543 * LR standstill monitoring 0.00 100000.00 200.00 ms Float IM T, U
time
Description: Sets the standstill monitoring time for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint
and actual position is located within the standstill window and, if required, an appropriate fault is output.
Dependency: Refer to: p2542, p2545, and F07450
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p2544 * LR positioning window 0 214748364 40 LU U32 IM T, U
7
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.
Dependency: Refer to F07451.
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) ≥ positioning window (p2544)
p2545 * LR positioning monitoring 0.00 100000.00 1000.00 ms Float IM T, U
time
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.
Dependency: The range of p2545 depends on p2543.
Refer to: p2543, p2544, F07451
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly re-
sponding due to operational control sequences (for example, during load surges).
p2546 * LR dynamic following 0 214748364 1000 LU U32 IM T, U
error monitoring tolerance 7
Description: Sets the tolerance for the dynamic following error monitoring.
If the dynamic following error (r2563) exceeds the selected tolerance, then an appropriate fault is output.
Value = 0 --> The dynamic following error monitoring is de-activated.
Dependency: Refer to r2563, F07452
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly re-
sponding due to operational control sequences (e.g. during load surges).
p2571 IPos maximum velocity 1 40000000 30000 100 U32 IM T, U
0
LU/
min
Description: Sets the maximum velocity for the "basic positioner" function (IPos).
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.
p2572 ** IPos maximum accelera- 1 2000000 Motor 100 U32 IM T
tion de- 0
pendent LU/s
²
Description: Sets the maximum acceleration for the "basic positioner" function (IPos).
Note: The maximum acceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed acceleration override acts on the maximum acceleration.
"Direct setpoint input/MDI" mode:
The acceleration override is effective.
"Jog" and "search for reference" modes:
No acceleration override is active. The axis starts with the maximum acceleration.

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p2573 ** IPos maximum decelera- 1 2000000 Motor 100 U32 IM T
tion de- 0
pendent LU/s
²
Description: Sets the maximum deceleration for the "basic positioner" function (IPos).
Note: The maximum deceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override acts on the maximum deceleration.
"Direct setpoint input/MDI" mode:
The deceleration override is effective.
"Jog" and "search for reference" modes:
No deceleration override is effective. The axis brakes with the maximum deceleration.
p2574 IPOS jerk limiting 1 100000000 10000 100 U32 IM T, U
0
LU/s
3

Description: Sets the jerk limiting.

Dependency: Refer to p2572, p2573, p2575
Note: The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573) / p2574
p2580 EPOS software limit -2147482648 214748264 - LU I32 IM T, U
switch minus 7 214748
2648
Description: Sets the software limit switch in the negative direction of travel.
Dependency: Refer to p2581, p2582
p2581 EPOS software limit -2147482648 214748264 214748 LU I32 IM T, U
switch plus 7 2647
Description: Sets the software limit switch in the positive direction of travel.
Dependency: Refer to p2580, p2582
p2582 EPOS software limit - - 0 - U32/Bina IM T
switch activation ry
Description: Sets the signal source to activate the "software limit switch".
Dependency: Refer to p2580, p2581
Caution: Software limit switch effective:
- Axis is referenced.
Software limit switch ineffective:
- Modulo correction active.
- Search for reference is executed.
Notice: Target position for relative positioning outside software limit switch:
The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate
alarm is output and the traversing block is interrupted. Traversing blocks with valid position can be activated.
Target position for absolute positioning outside software limit switch:
In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output.
Axis outside the valid traversing range:
If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be
acknowledged at standstill. Traversing blocks with valid position can be activated.
Note: The traversing range can also be limited using STOP cams.

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p2583 EPOS backlash compen- -200000 200000 0 LU I32 IM T, U
sation
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.
Refer to p2604
p2599 EPOS reference point -2147482648 214748264 0 LU I32 IM T, U
coordinate value 7
Description: Sets the position value for the reference point coordinate. This value is set as the actual axis
position after referencing or adjustment.
Dependency: Refer to p2525
p2600 EPOS search for refer- -2147482648 214748264 0 LU I32 IM T, U
ence point offset 7
Description: Sets the reference point offset for search for reference.
p2604 EPOS search for refer- - - 0 - U32/Bina IM T
ence start direction ry
Description: Sets the signal sources for the start direction of the search for reference.
• 1 signal: Start in the negative direction.
• 0 signal: Start in the positive direction.
Dependency: Refer to p2583
p2605 EPOS search for refer- 1 40000000 5000 100 U32 IM T, U
ence approach velocity 0
reference cam LU/
min
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.
Refer to p2604, p2606
Note: When traversing to the reference cam, the velocity override is effective. If, at the start of the search for
reference, the axis is already at the reference cam, then the axis immediately starts to traverse to the zero
mark.

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288 Operating Instructions, 09/2015, A5E36037884
 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p2606 EPOS search for refer- 0 214748264 214748 LU U32 IM T, U
ence reference cam max- 7 2647
imum distance
Description: Sets the maximum distance after the start of the search for reference when traversing to the
reference cam.
Dependency: Refer to p2604, p2605, F07458
Note: When using a reversing cam, the maximum distance must be set appropriately long.
p2608 EPOS search for refer- 1 40000000 300 100 U32 IM T, U
ence approach velocity 0
zero mark LU/
min
Description: Sets the approach velocity after detecting the reference cam to search for the zero mark for the
search for reference.
Dependency: If there is no reference cam, the search for reference immediately starts with the axis traversing
to the zero mark.
Refer to p2604, p2609
Caution: If the reference cam is not adjusted so that at each search for reference the same zero mark for
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 inter-
nal factors. This is the reason that the reference cam should be adjusted in this center between two zero
marks and the approach velocity should be adapted to the distance between two zero marks.
Note: The velocity override is not effective when traversing to the zero mark.
p2609 EPOS search for refer- 0 214748264 20000 LU U32 IM T, U
ence max. distance ref. 7
cam and zero mark
Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark.
Dependency: Refer to p2604, p2608, F07459
p2611 EPOS search for refer- 1 40000000 300 100 U32 IM T, U
ence approach velocity 0
reference point LU/
min
Description: Sets the approach velocity after detecting the zero mark to approach the reference point.
Dependency: Refer to p2604, p2609
Note: When traversing to the reference point, the velocity override is not effective.
p2617[0... EPOS traversing block -2147482648 214748264 0 LU I32 IM T, U
7] position 7
Description: Sets the target position for the traversing block.
Dependency: Refer to p2618
Note: The target position is approached in either relative or absolute terms depending on p29241.
p2618[0... EPOS traversing block 1 40000000 600 100 I32 IM T, U
7] velocity 0
LU/
min
Description: Sets the velocity for the traversing block.
Dependency: Refer to p2617
Note: The velocity can be influenced using the velocity override (p2646).

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p2691 MDI speed fixed setpoint 1 40000000 600 100 U32 IM T, U
0
LU/
min
Description: Sets a fixed setpoint for the speed.
p2692 MDI acceleration over- 0.100 100.000 100.000 % Float IM T, U
ride, fixed setpoint
Description: Sets a fixed setpoint for the acceleration override.
Note: The percentage value refers to the maximum acceleration (p2572).
p2693 MDI deceleration over- 0.100 100.000 100.000 % Float IM T, U
ride, fixed setpoint
Description: Sets a fixed setpoint for the deceleration override.
Note: The percentage value refers to the maximum deceleration (p2573).
p29000 * Motor ID 0 65535 0 - U16 IM T
Description: Motor type number is printed on the motor rating plate as motor ID.
For a motor with an incremental encoder, users need to manually input the parameter value. The range of
high inertia motor is 18 to 39; the range of low inertia motor is 42 to 71.
For a motor with an absolute encoder, the drive automatically reads the parameter value. The range of high
inertia motor with multi-turn encoder is 10009 to 10048.
p29001 Reversal of motor direc- 0 1 0 - I16 IM T
tion
Description: Reversal of motor running direction. By default, CW is the positive direction while CCW the nega-
tive direction. After changing of p29001, reference point will lost, A7461 will remind user to referencing again.
• 0: No reversal
• 1: Reverse
p29002 BOP display selection 0 4 0 - I16 IM T, U
Description: Selection of BOP operating display.
• 0: Actual speed (default)
• 1: DC voltage
• 2: Actual torque
• 3: Actual position
• 4: Position following error
p29003 Control mode 0 8 0 - U16 RE T
Description: Selection of control mode.
• 0: Position control with pulse train input (PTI)
• 1: Internal position control (IPos)
• 2: Speed control (S)
• 3: Torque control (T)
• 4: Control change mode: PTI/S
• 5: Control change mode: IPos/S
• 6: Control change mode: PTI/T
• 7: Control change mode: IPos/T
• 8: Control change mode: S/T

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
Note: The compound control mode can be controlled by the digital input signal C-MODE. When DI10 (C-
MODE) is 0, the first control mode of control change mode is selected; otherwise, the second one is selected.
p29004 RS485 address 1 31 1 - U16 RE T
Description: Configuration of the RS485 bus address. The RS485 bus is used to transfer current absolute
position of the servo drive to the controller/PLC.
Note: Changes only become effective after power on. The parameter isn't influenced by default function.
p29005 Braking resistor capacity 1 100 100 % Float IM T
percentage alarm thresh-
old
Description: Alarm triggering threshold for the capacity of the internal braking resistor.
Alarm number: A52901
p29006 Line supply voltage 200 480 400 V U16 IM T
Description: Nominal Line supply voltage, effective value of line to line voltage. Drive can operate within -15%
to +10% error.
For V90 400 V variant, the value range is 380 V to 480 V, default value is 400 V.
For V90 200 V variant, the value range is 200 V to 240 V, default value is 230 V.
p29007 RS485 protocol 0 2 1 - I16 RE T
Description: Set the communication protocol for the field bus interface:
• 0: No protocol
• 1: USS
• 2: Modbus
Note: Changes only become effective after power on. The parameter isn't influenced by default function.
p29008 Modbus control source 1 2 2 - I16 RE T
Description: Select the Modbus control source:
• 1: Setpoint and control word from Modbus PZD
• 2: No control word
– No setpoint and control word from Modbus PZD
Note: Changes only become effective after power on.
p29009 RS485 baud rate 5 13 8 - I16 RE T
Description: Set the baud rate for the RS485 interface:
• 5: 4800 baud
• 6: 9600 baud
• 7: 19200 baud
• 8: 38400 baud
• 9: 57600 baud
• 10: 76800 baud
• 11: 93750 baud
• 12: 115200 baud
• 13: 187500 baud
Note: The change only becomes effective after power on. The parameter is not influenced by default function.

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29010 PTI: Selection of input 0 3 0 - U16 RE T
pulse form
Description: Selection of setpoint pulse train input form. After changing of p29010, reference point will lost,
A7461 will remind user to referencing again.
• 0: Pulse + direction, positive logic
• 1: AB phase, positive logic
• 2: Pulse + direction, negative logic
• 3: AB phase, negative logic
p29011 PTI: Number of Setpoint 0 16777215 0 - U32 IM T
Pulse Per Revolution
Description: The number of setpoint pulses per motor revolution. The servo motor rotates for one revolution
when the number of the setpoint pulses reaches this value.
When this value is 0, the number of required setpoint pulses is decided by the electronic gear ratio.
p29012[0.. PTI: Numerator of Elec- 1 10000 1 - U32 IM T
.3] tronic Gear
Description: The numerator of the electronic gear ratio for the setpoint pulses. For the servo system with an
absolute encoder, the value range of p29012 is 1 to 10000.
Four numerators in total are available. You can select one of the numerators by configuring the digital input
signal EGEAR.
For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc-
tions or use SINAMICS V-ASSISTANT to do the calculation.
p29013 PTI: Denominator of 1 10000 1 - U32 IM T
Electronic Gear
Description: The denominator of the electronic gear for the setpoint pulses.
p29014 PTI: Selection of Pulse 0 1 1 - I16 IM T
input Electrical Level
Description: Selection of a logic level for the setpoint pulses.
• 0: 5 V
• 1: 24 V
p29016 PTI: Pulse Input Filter 0 1 [0] 0 - I16 IM T
Description: Select filter for PTI input to get better EMC performance, 0 for low frequency PTI input, 1 for high
frequency PTI input.
p29019 RS485 monitor time 0 1999999 0 ms Float IM T
Description: Sets the monitoring time to monitor the process data received via the RS485 bus interface. If no
process data is received within this time, then an appropriate message is output.
Note: If p29019 = 0, monitoring is deactivated.
p29020[0.. Tuning: Dynamic factor 1 35 18 - U16 IM T, U
.1] Description: The dynamic factor of auto tuning. 35 dynamic factors in total are available.
Index:
• [0]: Dynamic factor for one-button auto tuning
• [1]: Dynamic factor for real-time auto tuning

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29021 Tuning: Mode Selection 0 5 0 - I16 IM T
Description: Selection of a tuning mode.
• 0: Disabled
• 1: One-button auto tuning
• 3: Real-time auto tuning
• 5: Disable with default controller parameters
p29022 Tuning: Ratio of Total 1.00 10000.00 1.00 - Float IM T, U
Inertia Moment to Motor
Inertia Moment
Description: Ratio of total inertia moment to servo motor inertia moment.
p29023 Tuning: One-button auto 0 0xffff 0x0007 - U16 IM T, U
tuning configuration
Description: One-button auto tuning configuration.
• Bit 0: The speed controller gain is determined and set using a noise signal.
• Bit 1: Possible required current setpoint filters are determined and set using a noise signal. As a conse-
quence, a higher dynamic performance can be achieved in the speed control loop.
• Bit 2: The inertia moment ratio (p29022) can be measured after this function is running. If not set, the iner-
tia moment ratio must be set manually with p29022.
• Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary
for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic re-
sponse.
p29024 Tuning: Real-time auto 0 0xffff 0x004c - U16 IM T
tuning configuration
Description: Real-time auto tuning configuration.
• Bit 2: The inertia moment ratio (p29022) is estimated while the motor is runing, if not set, the inertia mo-
ment ratio must be set manually with p29022.
• Bit 3: If not set, the inertia moment ratio (p29022) is estimated only once and the inertia estimator is deac-
tivated automatically after the estimation is completed. If the bit is set to 1, the inertia moment ratio is esti-
mated in real time and the controller adapts the parameters continuously. You are recommended to save
the parameters when the estimation result is satisfied. After that, when you power on the drive next time,
the controller will be started with the optimized parameters.
• Bit 6: The adaption of current setpoint filter. This adaption may be necessary if a mechanical resonace
frequency changes in operation. It can also be used to dampen a fixed resonace frequency. Once the con-
trol loop has stabilized, this bit should be deactivated and to save parameters in a non-volatile memory.
• Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary
for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic re-
sponse.

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29025 Tuning: Configuration 0 0x003f 0x0004 - U16 IM T, U
overall
Description: Overall configuration of auto tuning, apply for both one-button and real-time auto tuning.
• Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic perfor-
mance of the controller, then the P controller becomes a PD controller in the position control loop. As a
consequence, the dynamic performance of the position controller is increased. This function should only
be set when the speed pre-control (bit 3 = 1) or the torque pre-control (bit 4 = 1) is active.
• Bit 1: At low speeds, the controller gain factors are automatically reduced in order to avoid noise and oscil-
lation at standstill. This setting is recommended for incremental encoders.
• Bit 2: The estimated load moment of inertia is taken into account for the speed controller gain.
• Bit 3: Activates the speed pre-control for the position controller.
• Bit 4: Activates the torque pre-control for the position controller.
• Bit 5: Adapts acceleration limit.
p29026 Tuning: Test signal dura- 0 5000 2000 ms U32 IM T
tion
Description: The duration time of the one-button auto tuning test signal.
p29027 Tuning: Limit rotation of 0 3000 0 ° U32 IM T
motor
Description: The limit position with motor rotations during one-button auto tuning. The traversing range is
limited within +/- p29027 degrees (motor run one revolution is 360 degree).
p29028 Tuning: Pre-control time 0.0 60.0 7.5 ms Float IM T, U
constant
Description: Sets the time constant for the pre-control symmetrization for auto tuning.
As a consequence, the drive is allocated a defined, dynamic response via its pre-control.
For drives, which must interpolate with one another, the same value must be entered.
The higher this time constant is, the smoother the drive will follow the position set point.
Note: This time constant is only effective when multi-axis interpolation is selected (bit 7 of p29023 and
p29024).
p29030 PTO: Number of pulse 0, 30 16384 1000 - U32 IM T
per revolution
Description: Number of output pulses per motor revolution.
If this value is 0, the number of required output pulses is decided by the electronic gear ratio.
p29031 PTO: Numerator of elec- 1 214700000 1 - U32 IM T
tronic gear 0
Description: The numerator of the electronic gear ratio for the output pulses.
For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating Instruc-
tions or use the SINAMICS V-ASSISTANT to do the calculation.
p29032 PTO: Denominator elec- 1 214700000 1 - U32 IM T
tronic gear 0
Description: The denominator of the electronic gear ratio for the output pulses.
For detailed information about the calculation of a denominator, refer to the SINAMICS V90 Operating Instruc-
tions or use the SINAMICS V-ASSISTANT to do the calculation.

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29033 PTO: Direction change 0 1 0 - I16 IM T
Description: Select the PTO direction.
• 0: PTO positive

PTO direction does not change. PTO A leads PTO B with 90 degrees when the motor rotates in clockwise
direction. PTO B leads PTO A with 90 degrees when the motor rotates in counter- clockwise direction.
• 1: PTO negative

PTO direction changes. PTO A leads PTO B with 90 degrees when the motor rotates in counter-clockwise
direction. PTO B leads PTO A with 90 degrees when the motor rotates in clockwise direction.
p29035 VIBSUP activation 0 1 0 - I16 IM T
Description: Select the VIBSUP on/off.
Position setpoint filter can be activated (p29035) for IPos control mode.
• 0: Disable

Filter is not activated.

• 1: Enable
Filter is activated.
p29041[0.. Torque Scaling 0 [0] 100 [0] 100 % Float IM T
.1] [1] 300 [1] 300
Description:
• [0]The scaling for the analog torque setpoint.

With this parameter, you can specify the torque setpoint corresponding to full analog input (10 V).
• [1]The scaling for the analog torque limit.

With this parameter, you can specify the torque limit corresponding to full analog input (10 V).

You can select the internal parameters or the analog input as the source of the torque limit with the combi-
nation of the digital input signals TLIM1 and TLIM2.
Index:
[0]: Torque set scale
[1]: Torque limit scale
p29042 Offset Adjustment for -0.50 0.50 0.00 V Float IM T
Analog input 2
Description: Offset adjustment for the analog input 2.
p29043 Fixed Torque Setpoint -100 100 0 % Float IM U, T
Description: Fixed torque setpoint.
You can select the internal parameters or the analog input as the source of the torque setpoint by configuring
the digital input signal TSET.
p29050[0.. Torque limit upper -150 300 300 % Float IM T
.2] Description: Positive torque limit.
Three internal torque limits in total are available.
You can select the internal parameters or the analog input as the source of the torque limit with the combina-
tion of the digital input signals TLIM1 and TLIM2.

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29051[0.. Torque limit lower -300 150 -300 % Float IM T
.2] Description: Negative torque limit.
Three internal torque limits in total are available.
You can select the internal parameters or the analog input as the source of the torque limit with the combina-
tion of the digital input signals TLIM1 and TLIM2.
p29060 * Speed Scaling 6 210000 3000 rpm Float IM T
Description: The scaling for the analog speed setpoint.
With this parameter, you can specify the speed setpoint corresponding to full analog input (10 V).
p29061 Offset Adjustment for -0.50 0.50 0.00 V Float IM T
Analog input 1
Description: Offset adjustment for the analog input 1.
p29070[0.. Speed limit positive 0 210000 210000 rpm Float IM T
.2] * Description: Positive speed limit.
Three internal speed limits in total are available.
You can select the internal parameters or the analog input as the source of the speed limit with the combina-
tion of the digital input signals SLIM1 and SLIM2.
p29071[0.. Speed limit negative -210000 0 - rpm Float IM T
.2] * 210000
Description: Negative speed limit.
Three internal speed limits in total are available.
You can select the internal parameters or the analog input as the source of the speed limit with the combina-
tion of the digital input signals SLIM1 and SLIM2.
p29075 Speed Clamp Threshold 0 200 200 rpm Float IM T
Description: The threshold for the zero speed clamp.
If the function of zero speed clamp has been enabled under the speed control mode, the motor speed is
clamped to 0 when both the setpoint speed and the actual speed are below this threshold.
p29078 Speed Reach Threshold 0.0 100.0 10 rpm Float IM T
Description: Speed reached range (deviation between setpoint and motor speed)
p29080 Overload Threshold for 10 300 100 % Float IM T
Output Signal Triggering
Description: Overload threshold for the output power.
p29090 Offset Adjustment for -0.50 0.50 0.00 V Float IM T
Analog output 1
Description: Offset adjustment for analog output 1.
p29091 Offset Adjustment for -0.50 0.50 0.00 V Float IM T
Analog output 2
Description: Offset adjustment for analog output 2.
p29110[0.. Position Loop Gain 0.000 300.000 [0] 100 Float IM T, U
.1] ** Motor 0/mi
de- n
pendent
[1]
1.000

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
Description: Position loop gain.
Two position loop gains in total are available. You can switch between these two gains by configuring the
digital input signal G-CHANGE or setting relevant condition parameters.
The first position loop gain is the default setting.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
p29111 Speed Pre-control Factor 0.00 200.00 0.00 % Float IM T, U
(Feed Forward)
Description: Setting to activate and weight the speed pre-control value. Value = 0 % --> The pre-control is de-
activated.
p29120[0.. Speed Loop Gain 0.00 999999.00 [0] Nms Float IM T, U
.1] ** Motor /rad
de-
pendent
[1] 0.30
Description: Speed loop gain.
Two speed loop gains in total are available. You can switch between these two gains by configuring the digital
input signal G-CHANGE or setting relevant condition parameters.
The first speed loop gain is the default setting.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
p29121[0.. Speed Loop Integral time 0.00 100000.00 [0] 15 ms Float IM T, U
.1] * [1] 20
Description: Speed loop integral time.
Two speed loop integral time values in total are available. You can switch between these two time values by
configuring the digital input signal G-CHANGE or setting relevant condition parameters.
The first speed loop integral time is the default setting.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
p29130 Gain Switching: Mode 0 4 0 - I16 IM T
Selection
Description: Selects gain switching mode.
• 0: Disabled
• 1: Switch through DI-G-CHANG
• 2: Position deviation as switch condition
• 3: Pulse input frequency as switch condition
• 4: Actual speed as switch condition
Note: Only when the auto tuning function (p20021=0) is disabled can the gain switching function be used.
p29131 Gain Switching Condition: 0 214748364 100 LU I32 IM T
Pulse Deviation 7
Description: Triggers position deviation threshold for gain switching. If the gain switching function is enabled
and this condition is selected:
• Switch from the first group of control parameters to the second group when the position deviation is larger
than the threshold.
• Switch from the second group of control parameters to the first group when the position deviation is small-
er than the threshold.

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29132 Gain Switching Condition: 0 214700006 100 100 Float IM T
Position Setpoint Fre- 4 0
quency LU/
min
Description: Triggers pulse input frequency (PTI) threshold or internal position speed (IPos) threshold for gain
switching. If the gain switching function is enabled and this condition is selected:
1. PTI
– Switch from the first group of control parameters to the second group when the pulse train input pulse
is higher than the threshold.
– Switch from the second group of control parameters to the first group when the pulse train input is low-
er than the threshold.
2. IPos
– Switch from the first group of control parameters to the second group when the speed of fixed position
setpoint is larger than the threshold.
– Switch from the second group of control parameters to the first group when the IPos is smaller than the
threshold.
p29133 Gain Switching Condition: 0 214700006 100 rpm Float IM T
Actual Speed 4
Description: Triggers speed threshold for gain switching. If the gain switching function is enabled and this
condition is selected:
• Switch from the first group of control parameters to the second group when the actual motor speed is
larger than the threshold.
• Switch from the second group of control parameters to the first group when the actual motor speed is
smaller than the threshold.
p29139 Gain switching Time 8 1000 20 ms Float IM T
Constant
Description: Time constant for gain switching. Set this parameter to avoid frequent gain switches that reduces
system reliability.
p29140 PI to P: Mode Selection 0 5 0 - U16 IM T
Description: Selects a condition for the switch from PI control to P control under the speed loop.
• 0: Disabled
• 1: Torque is higher than a parameterizable setting value.
• 2: Using the digital input signal (G-CHANGE).
• 3: Speed is higher than a parameterizable setting value.
• 4: Acceleration is higher than a parameterizable setting value.
• 5: Pulse deviation is higher than a parameterizable setting value.
Note: Only when the auto tuning function (p29021=0) and gain switching function are both disabled can the
PI/P switching function be used.
p29141 PI to P Switching Condi- 0 300 200 % Float IM T
tion: Torque
Description: Triggers torque threshold for PI/P switching. If the PI/P switching function is enabled and this
condition is selected:
• Switch from the PI control to the P control when the actual torque is larger than the threshold.
• Switch from the P control to the PI control when the actual torque is smaller than the threshold.

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29142 PI to P Switching Condi- 0 210000 2000 rpm Float IM T
tion: Speed
Description: Triggers speed threshold for PI/P switching. If the PI/P switching function is enabled and this
condition is selected:
• Switch from the PI control to the P control when the actual speed is larger than the threshold.
• Switch from the P control to the PI control when the actual speed is smaller than the threshold.
p29143 PI to P Switching Condi- 0 30000 20 rev/ Float IM T
tion: Acceleration s²
Description: Triggers acceleration threshold for PI/P switching. If the PI/P switching function is enabled and
this condition is selected:
• Switch from the PI control to the P control when the actual acceleration is larger than the threshold.
• Switch from the P control to the PI control when the actual acceleration is smaller than the threshold.
p29144 PI to P Switching Condi- 0 214748364 30000 LU U32 IM T
tion: Pulse Deviation 7
Description: Triggers pulse deviation threshold for PI/P switching. If the PI/P switching function is enabled and
this condition is selected:
• Switch from the PI control to the P control when the actual pulse deviation is larger than the threshold.
• Switch from the P control to the PI control when the actual pulse deviation is smaller than the threshold.
p29230 MDI direction selection 0 2 0 - I16 IM T
Description: MDI direction selection:
• 0: absolute positioning through the shortest distance
• 1: absolute positioning through the positive direction
• 2: absolute positioning through the negative direction
p29240 Select Referencing Mode 0 4 1 - I16 IM T
Description: Selects referencing mode.
• 0: referencing with external signal REF
• 1: referencing with external reference cam (signal REF)
• 2: referencing with zero mark only
• 3: referencing with external reference cam (CCWL) and zero mark
• 4: referencing with external reference cam (CWL) and zero mark
p29241 Motion Mode 0 3 0 - U16 IM T
Description: Moves mode set for IPos:
• 0: means relative moving
• 1: means abs moving
• 2: POS Mod
• 3: NEG Mod
p29242 CLR Pulse Mode 0 2 0 - U16 IM T
Description: Select clear pulse mode
• 0: disabled
• 1: means clear pulse on high level
• 2: means clear pulse on rising edge

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29243 Positioning tracking acti- 0 1 0 - I16 IM T
vate
Description: Activation of position tracking.
• 0: deactivated
• 1: activated
p29244 Absolute encoder virtual 0 4096 0 - U32 IM T
rotary revolutions
Description: Sets the number of rotations that can be resolved for an encoder with activated position tracking
function (p29243 = 1).
p29245 Axis mode state 0 1 0 - U32 IM T
Description: Linear/modulo mode
• 0: linear axis
• 1: modulo axis
p29246 * EPOS modulo correction 1 214748264 360000 LU U32 IM T
module range 7
Description: Sets the modulo range for axes with modulo correction.
p29247 * Mechanical gear: pulse 1 214748364 10000 - U32 IM T
per revolution 7
Description: LU per load revolution
p29248 * Mechanical gear: numer- 1 1048576 1 - U32 IM T
ator
Description: (Load/Motor) Load revolutions
p29249 * Mechanical gear: denom- 1 1048576 1 - U32 IM T
inator
Description: (Load/Motor) Motor revolutions
p29250 PTI Absolute Position 0 1 0 - U32 RE T
Mode Enable
Description: Absolute Position Mode Enable.
• =1 Enable Absolute Mode
• =0 Disable Absolute Mode
p29300 Digital Input Forced Sig- 0 127 0 - U32 IM T, U
nals
Description: Input signals are forced to be high. 7 bits in total.
• Bit 0: SON
• Bit 1: CWL
• Bit 2: CCWL
• Bit 3: TLIM1
• Bit 4: SPD1
• Bit 5: TSET
• Bit 6: EMGS
If one or more bits are set to be high, the corresponding input signals are forced to be logical high signals.
Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you
must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29301[0.. Digital Input 1 Assign- 0 28 1 - I16 IM T
.3] ment
Description: Defines the function of digital input signal DI1 (PTI mode)
• SON 1
• RESET 2
• CWL 3
• CCWL 4
• G-CHANGE 5
• P-TRG 6
• CLR 7
• EGEAR1 8
• EGEAR2 9
• TLIMT1 10
• TLIMT2 11
• CWE 12
• CCWE 13
• ZSCLAMP 14
• SPD1 15
• SPD2 16
• SPD3 17
• TSET 18
• SLIMT1 19
• SLIMT2 20
• POS1 21
• POS2 22
• POS3 23
• REF 24
• SREF 25
• STEPF 26
• STEPB 27
• STEPH 28
Index:
• [0]: DI1 for Control mode 0
• [1]: DI1 for Control mode 1
• [2]: DI1 for Control mode 2
• [3]: DI1 for Control mode 3
p29302[0.. Digital Input 2 Assign- 0 28 2 - I16 IM T
.3] ment
Description: Defines the function of digital input signal DI2

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
Index:
• [0]: DI2 for Control mode 0
• [1]: DI2 for Control mode 1
• [2]: DI2 for Control mode 2
• [3]: DI2 for Control mode 3
p29303[0.. Digital Input 3 Assign- 0 28 3 - I16 IM T
.3] ment
Description: Defines the function of digital input signal DI3
Index:
• [0]: DI3 for Control mode 0
• [1]: DI3 for Control mode 1
• [2]: DI3 for Control mode 2
• [3]: DI3 for Control mode 3
p29304[0.. Digital Input 4 Assign- 0 28 4 - I16 IM T
.3] ment
Description: Defines the function of digital input signal DI4
Index:
• [0]: DI4 for Control mode 0
• [1]: DI4 for Control mode 1
• [2]: DI4 for Control mode 2
• [3]: DI4 for Control mode 3
p29305[0.. Digital Input 5 Assign- 0 28 [0] 5; [1] - I16 IM T
.3] ment 5; [2]
12; [3]
12
Description: Defines the function of digital input signal DI5
Index:
• [0]: DI5 for Control mode 0
• [1]: DI5 for Control mode 1
• [2]: DI5 for Control mode 2
• [3]: DI5 for Control mode 3
p29306[0.. Digital Input 6 Assign- 0 28 [0] 6; [1] - I16 IM T
.3] ment 6; [2]
13; [3]
13
Description: Defines the function of digital input signal DI6
Index:
• [0]: DI6 for Control mode 0
• [1]: DI6 for Control mode 1
• [2]: DI6 for Control mode 2
• [3]: DI6 for Control mode 3

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29307[0.. Digital Input 7 Assign- 0 28 [0] 7; [1] - I16 IM T
.3] ment 21; [2]
15; [3]
18
Description: Defines the function of digital input signal DI7
Index:
• [0]: DI7 for Control mode 0
• [1]: DI7 for Control mode 1
• [2]: DI7 for Control mode 2
• [3]: DI7 for Control mode 3
p29308[0.. Digital Input 8 Assign- 0 28 [0] 10; - I16 IM T
.3] ment [1] 22;
[2] 16;
[3] 19
Description: Defines the function of digital input signal DI8
Index:
• [0]: DI8 for Control mode 0
• [1]: DI8 for Control mode 1
• [2]: DI8 for Control mode 2
• [3]: DI8 for Control mode 3
p29330 Digital Output 1 Assign- 1 14 1 - I16 IM T
ment
Description: Defines the function of digital output signal DO1
• 1: RDY
• 2: FAULT
• 3: INP
• 4: ZSP
• 5: SPDR
• 6: TLR
• 7: SPLR
• 8: MBR
• 9: OLL
• 10: WARNING1
• 11: WARNING2
• 12: REFOK
• 13: CM_STA
• 14: RDY_ON
p29331 Digital Output 2 Assign- 1 14 2 - I16 IM T
ment
Description: Defines the function of digital output signal DO2
p29332 Digital Output 3 Assign- 1 14 3 - I16 IM T
ment
Description: Defines the function of digital output signal DO3

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29333 Digital Output 4 Assign- 1 14 5 - I16 IM T
ment
Description: Defines the function of digital output signal DO4
p29334 Digital Output 5 Assign- 1 14 6 - I16 IM T
ment
Description: Defines the function of digital output signal DO5
p29335 Digital Output 6 Assign- 1 14 8 - I16 IM T
ment
Description: Defines the function of digital output signal DO6
p29340 Warning 1 Assigned for 1 6 1 - U16 IM T
Digital Output
Description: Defines conditions for WRN1.
• 1: Motor overload protection warning: 85% of overload threshold has been reached.
• 2: Holding brake power overload warning: 85% of overload threshold has been reached.
• 3: Fan warning: fan has stopped for more than 1 s.
• 4: Encoder warning
• 5: Motor overtemperature warning: 85% of overtemperature threshold has been reached.
• 6: Capacitor service life warning: The capacitor has reached its expiry, so replace it.
p29341 Warning 2 Assigned for 1 6 2 - U16 IM T
Digital Output
Description: Defines conditions for WARNING2.
• 1: Motor overload protection warning: 85% of overload threshold has been reached.
• 2: Holding brake power overload warning: 85% of overload threshold has been reached.
• 3: Fan warning: life time of fan expired (40000 hours), replacement of fan needed.
• 4: Encoder warning
• 5: Motor overtemperature warning: 85% of overtemperature threshold has been reached.
• 6: Capacitor service life warning: The capacitor has reached its expiry, so replace it.

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 Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p29350 Select sources for analog 0 12 0 - U16 IM T
output 1
Description: Selects signal source for analog output 1.
• 0: Actual speed (reference p29060)
• 1: Actual torque (reference 3 × r0333)
• 2: Speed setpoint (reference p29060)
• 3: Torque setpoint (reference 3 × r0333)
• 4: DC bus voltage (reference 1000 V)
• 5: Pulse input frequency (reference 1k)
• 6: Pulse input frequency (reference 10k)
• 7: Pulse input frequency (reference 100k)
• 8: Pulse input frequency (reference 1000k)
• 9: Remaining number of pulses (reference 1k)
• 10: Remaining number of pulses (reference 10k)
• 11: Remaining number of pulses (reference 100k)
• 12: Remaining number of pulses (reference 1000k)
p29351 Select Signal Source for 0 12 1 - U16 IM T
Analog 2
Description: Selects signals for analog output 2.
• 0: Actual speed (reference p29060)
• 1: Actual torque (reference 3 × r0333)
• 2: Speed setpoint (reference p29060)
• 3: Torque setpoint (reference 3 × r0333)
• 4: DC bus voltage (reference 1000 V)
• 5: Pulse input frequency (reference 1k)
• 6: Pulse input frequency (reference 10k)
• 7: Pulse input frequency (reference 100k)
• 8: Pulse input frequency (reference 1000k)
• 9: Remaining number of pulses (reference 1k)
• 10: Remaining number of pulses (reference 10k)
• 11: Remaining number of pulses (reference 100k)
• 12: Remaining number of pulses (reference 1000k)
p31581 VIBSUP: Filter type 0 1 0 - I16 IM T
Description: Sets the filter type for VIBSUP. Depending on the selected filter type, the VIBSUP filter results in
motion sequences that take somewhat longer.
• 0: The rugged VIBSUP filter has a lower sensitivity to frequency offsets compared with the sensitive filter
type, but results in a higher delay of the motion sequence. The total motion sequence is extended by the
time period Td (Td = 1/fd).
• 1: The sensitive VIBSUP filter has a higher sensitivity to frequency offsets compared with the rugged filter
type, but results in a lower delay of the motion sequence. The total motion sequence is extended by half
the time period Td/2 (Td = 1/fd).

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Parameters
10.2 Parameter list

Par. No. Name Min Max Factory Unit Data Effective Can be
Setting type changed
p31585 VIBSUP: Filter frequency 0.5 62.5 1 Hz Float 32 IM T
fd
Description: Sets the frequency of the damped natural vibration of the mechanical system. This frequency can
be determined by making the appropriate measurements.
Note: The maximum frequency that can be set depends on the filter sampling time.
p31586 VIBSUP: Filter damping 0.00 0.99 0.03 - Float 32 IM T
Description: Sets the value for the damping of the natural mechanical vibration to be filtered. Typically, the
damping value is about 0.03, and can be optimized by performing the appropriate positioning tests.

Read-only parameters

Par. No. Name Unit Data type

r0020 Speed setpoint smoothed rpm Float
Description: Displays the currently smoothed speed setpoint at the input of the speed controller or U/f charac-
teristic (after the interpolator).
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed setpoint is available smoothed (r0020) and unsmoothed.
r0021 Actual speed smoothed rpm Float
Description: Displays the smoothed actual value of the motor speed.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed actual value is available smoothed (r0021) and unsmoothed.
r0026 DC link voltage smoothed V Float
Description: Displays the smoothed actual value of the DC link voltage.
Notice: When measuring a DC link voltage < 200 V, for the Power Module (e.g. PM340) a valid measured
value is not supplied. In this case, when an external 24 V power supply is connected, a value of approx. 24 V
is displayed in the display parameter.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The DC link voltage is available smoothed (r0026) and unsmoothed.
r0027 Absolute actual current smoothed Arms Float
Description: Displays the smoothed absolute actual current value.
Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case,
the unsmoothed value should be used.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The absolute current actual value is available smoothed (r0027) and unsmoothed.
r0029 Current actual value field-generating smoothed Arms Float
Description: Displays the smoothed field-generating actual current.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The field-generating current actual value is available smoothed (r0029) and unsmoothed.

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 Parameters
10.2 Parameter list

Par. No. Name Unit Data type

r0030 Current actual value torque-generating smoothed Arms Float
Description: Displays the smoothed torque-generating actual current.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque-generating current actual value is available smoothed.
r0031 Actual torque smoothed Nm Float
Description: Displays the smoothed torque actual value.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque actual value is available smoothed (r0031) and unsmoothed.
r0032 Active power actual value smoothed kW Float
Description: Displays the smoothed actual value of the active power.
r0033 Torque utilization smoothed % Float
Description: Displays the smoothed torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque in reference to the torque limit, scaled
using p2196.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque utilization is available smoothed (r0033) and unsmoothed.
For M_set total (r0079) > M_max offset, the following applies:
• demanded torque = M_set total - M_max offset
• actual torque limit = M_max upper effective - 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
For the actual torque limit = 0, the following applies: r0033 = 100 %
For the actual torque limit < 0, the following applies: r0033 = 0 %
r0034 Motor utilization thermal % Float
Description: Displays the motor utilization from motor temperature model 1 (I2t) or 3.

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Parameters
10.2 Parameter list

Par. No. Name Unit Data type

r0037[0... Power unit temperatures °C Float
19] Description: Displays the temperatures in the power unit.
Index:
• [0]: Inverter maximum value
• [1]: Depletion layer maximum value
• [2]: Rectifier maximum value
• [3]: Air intake
• [4]: Interior of power unit
• [5]: Inverter 1
• [6]: Inverter 2
• [7]: Inverter 3
• [8]: Inverter 4
• [9]: Inverter 5
• [10]: Inverter 6
• [11]: Rectifier 1
• [12]: Rectifier 2
• [13]: Depletion layer 1
• [14]: Depletion layer 2
• [15]: Depletion layer 3
• [16]: Depletion layer 4
• [17]: Depletion layer 5
• [18]: Depletion layer 6
• [19]: Cooling unit liquid intake
Dependency: Refer to A01009
Notice: Only for internal Siemens troubleshooting.
Note: The value of -200 indicates that there is no measuring signal.
• r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]).
• r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
• r0037[2]: Maximum value of the rectifier temperatures (r0037[11...12]).
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.
r0079[0... Torque setpoint total Nm Float
1] Description: Displays and connector output for the torque setpoint at the output of the speed controller (before
clock cycle interpolation).
Index:
• [0]: Unsmoothed
• [1]: Smoothed
r0296 DC link voltage undervoltage threshold V U16
Description: Threshold to detect a DC link undervoltage.
If the DC link voltage falls below this threshold, the drive unit is tripped due to a DC link undervoltage condi-
tion.
Note: The value depends on the device type and the selected device rated voltage.

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 Parameters
10.2 Parameter list

Par. No. Name Unit Data type

r0297 DC link voltage overvoltage threshold V U16
Description: If the DC link voltage exceeds the threshold specified here, the drive unit is tripped due to DC link
overvoltage.
Dependency: Refer to F30002.
r0311 Rated motor speed rpm Float
Description: Displays the rated motor speed (rating plate).
r0333 Rated motor torque Nm Float
Description: Displays the rated motor torque.
IEC drive: unit Nm
NEMA drive: unit lbf ft
r0482[0... Encoder actual position value Gn_XIST1 - U32
2] Description: Displays the encoder actual position value Gn_XIST1.
Index:
• [0]: Encoder 1
• [1]: Encoder 2
• [2]: Reserved
Note:
• In this value, the measuring gear is only taken into account when the position tracking is activated.
• The update time for the position control (EPOS) corresponds to the position controller clock cycle.
• The update time in isochronous operation corresponds to the bus cycle time.
• The update time in isochronous operation and with position control (EPOS) corresponds to the position
controller clock cycle.
• The update time in non-isochronous operation or without position control (EPOS) comprises the following:
– Update time = 4 * least common multiple (LCM) of all current controller clock cycles in the drive group
(infeed + drives). The minimum update time is 1 ms.
– Example 1: infeed, servo
Update time = 4 * LCM(250 μs, 125 μs) = 4 * 250 μs = 1 ms
– Example 2: infeed, servo, vector
Update time = 4 * LCM(250 μs, 125 μs, 500 μs) = 4 * 500 μs = 2 ms
r0632 Motor temperature model, stator winding temperature °C Float
Description: Displays the stator winding temperature of the motor temperature model.
r0722 CU digital inputs status - U32
Description: Displays the status of the digital inputs.
Note:
DI: Digital Input
DI/DO: Bidirectional Digital Input/Output
The drive unit displays the value in hex format. You can convert the hex number to the binary number, for
example, FF (hex) = 11111111 (bin).
r0747 CU digital outputs status - U32
Description: Displays the status of digital outputs.
Note:
DI/DO: Bidirectional Digital Input/Output
The drive unit displays the value in hex format. You can convert the hex number to the binary number, for
example, FF (hex) = 11111111 (bin).

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Parameters
10.2 Parameter list

Par. No. Name Unit Data type

r0807.0 Master control active - U8
Description: Displays what has the master control. The drive can be controlled via the internal interconnection
or from external.
r2050 MODBUS PZD receive word - I16
[0...19] Description: Modbus PZD (setpoints) with word format received from the host controller.
Index:
Index 0 to index 19 stand for PZD1 to PZD20 correspondingly.
• [0]: Control word from host controller, the definition of control word refer to r2090.
• [1]: In speed control mode, means speed setpoint from host controller.
• [2] and [3]: In internal position control mode, means position setpoint(Hword/Lword) from host controller
• [4] to [19]: Reserved.
r2090.0... MODBUS PZD1 receive bit-serial - U16
15 Description: Bit-serial description of PZD1 (normally control word 1) received from the host controller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to
1, it means the function of this bit is activated.
r2521[0... LR position actual value LU I32
3] Description: Displays the actual position actual value determined by the position actual value preprocessing.
Index:
• [0]: Cl-loop position control
• [1]: Encoder 1
• [2]: Encoder 2
• [3]: Reserved
r2556 LR position setpoint after setpoint smoothing LU I32
Description: Display and connector output for the position setpoint after setpoint smoothing.
r2563 LR following error dynamic model LU I32
Description: Displays the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and
the position actual value.
r2665 EPOS position setpoint LU I32
Description: Displays the actual absolute position setpoint.
r29015 PTI: Pulse input frequency Hz Float
Description: Displays the PTI input pulse frequency.
r29018[0.. OA version - Float
.1] Description: Displays the OA version.
Index:
• [0]: Firmware version
• [1]: Build increment number
r29400 Internal Control Signal Status Indicating - U32
Description: Control signal status identifiers
Bit00 SON Bit01 RESET Bit02 CWL Bit03 CCWL Bit04 G-CHANGE Bit05 P-TRG Bit06 CLR Bit07 EGEAR1
Bit08 EGEAR2 Bit09 TLIMT1 Bit10 TLIMT2 Bit11 CWE Bit12 CCWE Bit13 ZSCLAMP Bit14 SPD1 Bit15 SPD2
Bit16 SPD3 Bit17 TSET Bit18 SLIMT1 Bit19 SLIMT2 Bit20 POS1 Bit21 POS2 Bit22 POS3 Bit23 REF Bit24
SREF Bit25 STEPF Bit26 STEPB Bit27 STEPH Bit28 EMGS Bit29 C-MODE

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 Parameters
10.2 Parameter list

Par. No. Name Unit Data type

r29942 DO signals status indicating - U32
Description: Indicates the status of DO signals.
• Bit 0: RDY
• Bit 1: FAULT
• Bit 2: INP
• Bit 3: ZSP
• Bit 4: SPDR
• Bit 5: TLR
• Bit 6: SPLR
• Bit 7: MBR
• Bit 8: OLL
• Bit 9: WARNING1
• Bit 10: WARNING2
• Bit 11: REFOK
• Bit 12: CM_STA
• Bit 13: RDY_ON
r29979 PStatus - U32
Description: Displays the status of position loop.
• Bit 0 - Bit 1: actual EGear index

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Parameters
10.2 Parameter list

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Diagnostics 11
11.1 Overview

General information about faults and alarms

The errors and states detected by the individual components of the drive system are
indicated by messages.
The messages are categorized into faults and alarms.

Properties of faults and alarms

● Faults
– Are identified by Fxxxxx.
– Can lead to a fault reaction.
– Must be acknowledged once the cause has been remedied.
– Status via control unit and LED RDY.
– Status via MODBUS status word PZD1.1 (fault status).
– Entry in the fault buffer.
● Alarms
– Are identified by Axxxxx.
– Have no further effect on the drive.
– The alarms are automatically reset once the cause has been remedied. No
acknowledgement is required.
– Status via Control Unit and LED RDY.
– Entry in the alarm buffer.
● General properties of faults and alarms
– Triggering on selected messages possible.
– Contain the component number for identifying the affected SINAMICS component.
– Contain diagnostic information on the relevant message.

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Diagnostics
11.1 Overview

Differences between faults and alarms

The differences between faults and alarms are shown as follows:

Type BOP display (example) Status indicator Reaction Acknowledgement

RDY COM
Fault Single fault Slow - • NONE: no reaction • POWER ON: re-power
flashing on the servo drive to
• OFF1: servo motor
in red clear a fault after elim-
The first fault in the ramps down
case of multiple inating its cause.
• OFF2: servo motor
faults • IMMEDIATELY: the
coasts down
Non-first fault in the fault disappears im-
• OFF3: servo motor
case of multiple mediately after elimi-
faults stops quickly
nating its cause.
(emergency stop)
• PULSE INHIBIT: The
• ENOCDER: En-
fault can only be
coder fault causes
acknowledged with a
OFF2.
pulse inhibit.
The same options are
available for acknowl-
edging as described
under acknowledg-
ment with
IMMEDIATELY.
Alar Single alarm Slow - • NONE: no reaction Self-acknowledgement
m flashing
in red
The first alarm in the
case of multiple
alarms
Non-first alarm in the
case of multiple
alarms

NOTICE
Faults have higher display priority than alarms
In the case that both faults and alarms occur, only faults are displayed until they have been
acknowledged.

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 Diagnostics
11.1 Overview

BOP operations for faults and alarms

To view faults or alarms, proceed as follows:
● Faults

● Alarms

To exit from fault or alarm display, proceed as follows:

● Faults

● Alarms

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Diagnostics
11.1 Overview

To acknowledge faults, proceed as follows:

Note
• If you do not eliminate the cause(s) of the fault, it can appear again after no button
operation for five seconds. Make sure that you have eliminated the cause(s) of the fault.
• You can acknowledge faults using RESET signal. For details of the signal, refer to DIs
(Page 92).
• You can acknowledge faults on the SINAMICS V-ASSISTANT. For details, refer to
SINAMICS V-ASSISTANT Online Help.

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 Diagnostics
11.1 Overview

Two LED status indicators (RDY and COM) are available to indicate drive status. Both LEDs
are dual color (green/red).

You can find detailed information about the status indications in the table below:

Status indicator Color Status Description

RDY - Off 24 V control board power supply is missing
Green Continuously lit The drive is in the servo on state
Red Continuously lit The drive is in the servo off state or in the startup state
Flash at 1 Hz Alarms or faults occurs
COM - Off Communication with PC is not active
Green Flash at 0.5 Hz Communication with PC is active
Flash at 2 Hz Micro SD card/SD card operating (read or write)
Red Continuously lit Communication with PC is in error

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Diagnostics
11.2 List of faults and alarms

11.2 List of faults and alarms

Fault list

Fault Cause Remedy

F1000: Internal software error An internal software error has occurred. • Evaluate fault buffer.
Reaction: OFF2 • Carry out a POWER ON (power off/on) for
Acknowledgement: POWER all components.
ON
• Upgrade firmware to later version.
• Contact the Hotline.
• Replace the Control Unit.
F1001: FloatingPoint excep- An exception occurred during an operation • Carry out a POWER ON (power off/on) for
tion with the FloatingPoint data type. all components.
Reaction: OFF2 • Upgrade firmware to the latest version.
Acknowledgement: POWER
• Contact the Hotline.
ON
F1002: Internal software error An internal software error has occurred. • Carry out a POWER ON (power off/on) for
Reaction: OFF2 all components.
Acknowledgement: • Upgrade firmware to the latest version.
IMMEDIATELY
• Contact the Hotline.
F1003: Acknowledgement A memory area was accessed that does • Carry out a POWER ON (power off/on).
delay when accessing the not return a "READY".
• Contact the Hotline.
memory
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F1015: Internal software error An internal software error has occurred. • Carry out a POWER ON (power off/on) for
Reaction: OFF2 all components.
Acknowledgement: POWER • Upgrade firmware to the latest version.
ON
• Contact the Hotline.
F1018: Booting has been Module booting was interrupted several • Carry out a POWER ON (power off/on).
interrupted several times times. As a consequence, the module After switching on, the module reboots
Reaction: NONE boots with the factory setting. from the valid parameterization (if availa-
Acknowledgement: POWER Possible reasons for booting being inter- ble).
ON rupted:
• Restore the valid parameterization
• Power supply interrupted. Examples:
• CPU crashed. • Carry out a first commissioning, save,
• Parameterization invalid. carry out a POWER ON (switch-off/switch-
After this fault is output, then the module is on).
booted with the factory settings. • Load another valid parameter backup
(e.g. from the memory card), save, carry
out a POWER ON (switch-off/switch-on).
Note:
If the fault situation is repeated, then this fault
is again output after several interrupted boots.

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 Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F1030: Sign-of-life failure for For active PC master control, no sign-of- Contact the Hotline.
master control life was received within the monitoring
Reaction: OFF3 time.
Acknowledgement:
IMMEDIATELY
F1611: SI CU: Defect detect- The drive-integrated "Safety Integrated" • Carry out a POWER ON (power off/on) for
ed (SI) function on the Control Unit (CU) has all components.
Reaction: OFF2 detected an error and initiated an STO
• Upgrade software.
Acknowledgement:
• Replace the Control Unit.
IMMEDIATELY
F1910: Fieldbus: setpoint The reception of setpoints from the Restore the bus connection and set the con-
timeout fieldbus interface (Modbus/USS) has been troller to RUN.
Reaction: OFF3 interrupted.
Acknowledgement: • Bus connection interrupted.
IMMEDIATELY • Controller switched off.
• Controller set into the STOP state.
F7011: Motor overtempera- • Motor overloaded • Reduce the motor load.
ture
• Motor surrounding temperature too • Check the surrounding temperature and
Reaction: OFF2 high the motor ventilation.
Acknowledgement:
• Wire breakage or sensor not connected • Check the wiring and the connection.
IMMEDIATELY
• Motor temperature model incorrectly • Check the motor temperature model pa-
parameterized rameters.
F7085: Open-loop/closed- Open-loop/closed-loop control parameters It is not necessary to change the parameters
loop control parameters have had to be changed for the following as they have already been correctly limited.
changed reasons:
Reaction: NONE • As a result of other parameters, they
Acknowledgement: have exceeded the dynamic limits.
IMMEDIATELY • They cannot be used due to the fact
that the hardware detected not having
certain features.
F7093: Drive: Test signal The limit rotation of the motor (p29027) is Modify the value of parameter p29027.
error inappropriate.
Reaction: NONE
Acknowledgement:
IMMEDIATELY
F7220: Drive: Master control The "master control by PLC" signal was • Check the input for "master control by
by PLC missing missing in operation. PLC".
Reaction: OFF1 • Input for "master control by PLC" is • Check the "master control by PLC" signal
Acknowledgement: incorrect. and, if required, switch in.
IMMEDIATELY • The higher-level control has withdrawn • Check the data transfer via the fieldbus
the "master control by PLC" signal. (master/drive).
• Data transfer via the fieldbus (mas-
ter/drive) was interrupted.

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Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F7403: Lower DC link voltage The DC link voltage monitoring is active • Check the line supply voltage.
threshold reached and the lower DC link voltage threshold
• Check the infeed.
Reaction: OFF1 was reached in the "Operation" state.
• Reduce the lower DC link threshold.
Acknowledgement:
IMMEDIATELY • Switch out (disable) the DC link voltage
monitoring.
F7404: Upper DC link voltage The DC link voltage monitoring is active • Check the line supply voltage.
threshold reached and the upper DC link voltage threshold
• Check the infeed module or the brake
Reaction: OFF2 was reached in the "Operation" state.
module.
Acknowledgement:
• Increase the upper DC link voltage
IMMEDIATELY
threshold.
• Switch out (disable) the DC link voltage
monitoring.
F7410: Current controller The condition "I_act = 0 and Uq_set_1 • Connect the motor or check the motor
output limited longer than 16 ms at its limit" is present contactor.
Reaction: OFF2 and can be caused by the following:
• Check the DC link voltage.
Acknowledgement: • Motor not connected or motor contactor
• Check the Motor Module.
IMMEDIATELY open.
• No DC link voltage present.
• Motor Module defective.
F7412: Commutation angle An incorrect commutation angle was de- • If the encoder mounting was changed, re-
incorrect (motor model) tected that can result in a positive coupling adjust the encoder.
Reaction: ENCODER in the speed controller.
• Replace the defective motor encoder.
Acknowledgement: Possible causes:
• Correctly set the motor stator resistance,
IMMEDIATELY • The motor encoder is incorrectly ad- cable resistance and motor-stator leakage
justed with respect to the magnet posi- inductance.
tion. Calculate the cable resistance from the
• The motor encoder is damaged. cross-section and length, check the in-
• Data to calculate the motor model has ductance and stator resistance using the
been incorrectly set. motor data sheet, measure the stator re-
sistance, e.g. using a multimeter - and if
• Pole position identification might have
required, again identify the values using
calculated an incorrect value when ac-
the stationary motor data identification.
tivated.
• With pole position identification activated,
• The motor encoder speed signal is
check the procedure for pole position
faulted.
identification and force a new pole posi-
• The control loop is instable due to tion identification procedure by means of
incorrect parameterization. de-selection followed by selection.
F7420: Drive: Current set- One of the filter natural frequencies is • Reduce the numerator or denominator
point filter natural frequency > greater than the Shannon frequency. natural frequency of the current setpoint
Shannon frequecy filter involved.
• Switch out the filter involved (p1656).

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 Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F7430: Changeover to open- For encoderless operation, the converter • Do not attempt to change over to closed-
loop torque controlled opera- cannot change over to closed-loop torque- loop torque-controlled operation.
tion not possible controlled operation.
• Check the encoder cable connection.
Reaction: OFF2
Acknowledgement: POWER
ON
F7431: Changeover to en- For closed-loop torque control, the con- • Do not attempt to change over to encoder-
coderless operation not pos- verter cannot change over to encoderless less operation.
sible operation.
• Check the encoder cable connection.
Reaction: OFF2
Acknowledgement: POWER
ON
F7442: LR: Multiturn does not The ratio between the multiturn resolution Make the ration between the multiturn resolu-
match the modulo range and the modulo range (p29246) is not an tion and the modulo range an integer number.
Reaction: OFF1 (OFF2, integer number. This results in the adjust- The ratio v is calculated as follows:
OFF3) ment being set back, as the position actual
value cannot be reproduced after power- • Motor encoder without position tracking
Acknowledgement: (p29243 = 0):
off/power-on.
IMMEDIATELY
v = (4096 * p29247 * p29248)/(p29249 *
p29246)
• Motor encoder with position trakcing
(p29243 = 1):

v = (p29244 * 29247)/p29246
F7443: Reference point coor- The reference point coordinate received Set the reference point coordinate to a lower
dinate not in the permissible when adjusting the encoder via connector value than specified in the fault value.
range input p2599 lies outside the half of the See also: p2599 (EPOS reference point coor-
Reaction: OFF1 (OFF2, encoder range and cannot be set as actual dinate value.
OFF3) axis position.
For a motor with an absolute encoder, the
Acknowledgement: maximum permissible encoder range is calcu-
IMMEDIATELY lated by the formula (4096xp29247)/2.
F7450: Standstill monitoring After the standstill monitoring time expired, Check the causes and resolve.
has responded the drive left the standstill window.
Reaction: OFF1 • Position loop gain too low.
Acknowledgement: • Position loop gain too high (instabil-
IMMEDIATELY ity/oscillation).
• Mechanical overload.
• Connecting cable, motor/drive convert-
er incorrect (phase missing, inter-
change).

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Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F7451: Position monitoring When the position monitoring time (p2545) Check the causes and resolve.
has responded expired, the drive had still not reached the
Reaction: OFF1 positioning window (p2544).
Acknowledgement: • Positioning window parameterized too
IMMEDIATELY small (p2544).
• Position monitoring time parameterized
too short (p2545).
• Position loop gain is too low.
• Position loop gain is too high (instabil-
ity/oscillation).
• Drive mechanically locked.
F7452: Following error too The difference between the position set- Check the causes and resolve.
high point and position actual value (following
Reaction: OFF1 error dynamic model) is greater than the
tolerance (p2546).
Acknowledgement:
IMMEDIATELY • The value of p2546 is too small.
• The gain of position loop is too small.
• The drive torque or accelerating capac-
ity exceeded.
• Position measuring system fault.
• Position control sense incorrect.
• Mechanical system locked.
• Excessively high traversing velocity or
excessively high position reference
value (setpoint) differences.
F7453: Position actual value An error has occurred during the position Check the encoder for the position actual
preprocessing error actual value preprocessing. value preprocessing.
Reaction: OFF1
Acknowledgement:
IMMEDIATELY
F7458: EPOS: Reference After starting the search for reference, the • Check the "reference cam" input.
cam not found axis moved through the maximum permis-
• Check the maximum permissible distance
Reaction: OFF1 (OFF2, sible distance to seach for the reference
cam without actually finding the reference to the reference cam (p2606).
OFF3)
cam. See also: p2606 (EPOS search for reference
Acknowledgement: reference cam maximum distance)
IMMEDIATELY
F7459: Zero mark not detect- After leaving the reference cam, the axis • Check the encoder regarding zero mark.
ed has traversed the maximum permissible
• Check the maximum permissible distance
Reaction: OFF1 distance (p2609) between the reference
cam and the zero mark without finding the between the reference cam and zero mark
Acknowledgement: (p2609).
zero mark.
IMMEDIATELY
• Use an external encoder zero mark
(equivalent zero mark).

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 Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F7460: EPOS: End of refer- During the search for reference, when the • Check the "reference cam" input.
ence cam not found axis reached the zero mark it also reached
• Repeat the search for reference.
Reaction: OFF1 (OFF2, the end of the traversing range without
OFF3) detecting an edge at the binector input
"reference cam".
Acknowledgement:
IMMEDIATELY Maximum traversing range: -2147483648
[LU] ... -2147483647 [LU]
F7464: EPOS: Traversing The traversing block does not contain vaild Check the traversing block and where rele-
block is inconsistent information. vant, take into consideration alarms that are
Reaction: OFF1 (OFF2, Alarm value: present.
OFF3) Number of the traversing block with invaild
Acknowledgement: information.
IMMEDIATELY
F7475: EPOS: Target posi- The target position for relative traversing Correct the target position.
tion < start of traversing lies outside the traversing range.
range
Reaction: OFF1 (OFF2,
OFF3)
Acknowledgement:
IMMEDIATELY
F7476: EPOS: Target posi- The target position for relative traversing Correct the target position.
tion > end of the traversing lies outside the traversing range.
range
Reaction: OFF1 (OFF2,
OFF3)
Acknowledgement:
IMMEDIATELY
F7481: EPOS: Axis position < The actual position of the axis is less than • Correct the target position.
software limit switch minus the position of the software limit switch
• Change software limit switch minus (CI:
Reaction: OFF1 (OFF2, minus.
p2580).
OFF3)
Acknowledgement:
IMMEDIATELY
F7482: EPOS: Axis position > The actual position of the axis is greater • Correct the target position.
software limit switch plus than the position of the software limit
• Change software limit switch plus (CI:
Reaction: OFF1 (OFF2, switch plus.
p2581).
OFF3)
Acknowledgement:
IMMEDIATELY
F7488: EPOS: Relative posi- In the mode "direct setpoint input/MDI", for Check the control.
tioning not possible continuous transfer relative positioning
Reaction: OFF1 (OFF2, was selected.
OFF3)
Acknowledgement:
IMMEDIATELY

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Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F7490: Enable signal with- • For a standard assignment, another • Set the enable signals or check the cause
drawn while traversing fault may have occurred as a result of of the fault that first occurred and then re-
Reaction: OFF1 withdrawing the enable signals. sult (for a standard assignment).
Acknowledgement: • The drive is in the "switching on inhibit- • Check the assignment to enable the basic
IMMEDIATELY ed" state (for a standard assignment). positioning function.
F7491: STOP cam minus The STOP cam minus was reached. For a • Leave the STOP cam minus in the posi-
reached positive traversing direction, the STOP tive traversing direction and return the ax-
Reaction: OFF3 cam minus was reached, i.e. the wiring of is to the valid traversing range.
the STOP cam is incorrect.
Acknowledgement: • Check the wiring of the STOP cam.
IMMEDIATELY
F7492: STOP cam plus The STOP cam plus was reached. For a • Leave the STOP cam plus in the negative
reached negative traversing direction, the STOP traversing direction and return the axis to
Reaction: OFF3 cam plus was reached, i.e. the wiring of the valid traversing range.
the STOP cam is incorrect.
Acknowledgement: • Check the wiring of the STOP cam.
IMMEDIATELY
F7493: LR: Overflow of the The value range (-2147483648 ... If required, reduce the traversing range or
value range for position actu- 2147483647) for the position actual value position resolution p29247.
al value representation was exceeded. When the Note for case = 3:
Reaction: OFF1 (OFF2, overflow occurs, the "referenced" or "ad-
If the value for the maximum possible abso-
OFF3) justment absolute measuring system"
lute position (LU) is greater than 4294967296,
status is reset.
Acknowledgement: then it is not possible to
IMMEDIATELY • The position actual value (r2521) has make an adjustment due to an overflow.
exceeded the value range.
For rotary encoders, the maximum possible
• The encoder position actual value has absolute position (LU) is calculated as fol-
• exceeded the value range. lows:
• The maximum encoder value times the Motor encoder without position tracking:
factor to convert the absolute position • IPos: p29247 * p29248 * 4096 / p29249
from increments to length units (LU) for multiturn encoders
has exceeded the value range for dis- • PTI: 1048576 * p29012[X] * 4096
playing the position actual value. / p29013 for multiturn encoders
F7599: Encoder 1: Adjust- The maximum encoder value times the If the value for the maximum possible abso-
ment not possible factor to convert the absolute position from lute position (LU) is greater than 4294967296,
Reaction: OFF1 (NONE, increments to length units (LU) has ex- then it is not possible to make an adjustment
OFF2, OFF3) ceeded the value range (-2147483648 ... due to an overflow.
2147483647) for displaying the position For rotary encoders, the maximum possible
Acknowledgement:
actual value. absolute position (LU) is calculated as fol-
IMMEDIATELY
lows:
Motor encoder without position tracking:
• IPos: p29247 * p29248 * 4096 / p29249
for multiturn encoders
• PTI: 1048576 * p29012[X] * 4096
/ p29013 for multiturn encoders
F7800 Drive: No power unit The power unit parameters cannot be read • Carry out a POWER ON (power off/on) for
present or no parameters are stored in the power all components.
Reaction: NONE unit.
• Change the module.
Acknowledgement:
IMMEDIATELY

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 Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F7801: Motor overcurrent The permissible motor limit current was • Reduce the stall torque correction factor.
Reaction: OFF2 exceeded.
• Increase the up ramp or reduce the load.
Acknowledgement: • Effective current limit set too low.
• Check the motor and motor cables for
IMMEDIATELY • Current controller not correctly set. short-circuit and ground fault.
• Motor was braked with an excessively • Check the Motor Module and motor com-
high stall torque correction factor. bination.
• Up ramp was set too short or the load
is too high.
• Short-circuit in the motor cable or
ground fault.
• Motor current does not match the cur-
rent of Motor Module.
F7802: Infeed or power unit After an internal power-on command, the • Ensure that there is a DC link voltage.
not ready infeed or drive does not signal ready be- Check the DC link busbar. Enable the in-
Reaction: OFF2 cause of one of the following reasons: feed.
Acknowledgement: • Monitoring time is too short. • Replace the associated infeed or drive of
IMMEDIATELY • DC link voltage is not present. the signaling component.
• Associated infeed or drive of the signal-
ing component is defective.
F7815: Power unit has been The code number of the actual power unit Connect the original power unit and power up
changed does not match the saved number. the Control Unit again (POWER ON).
Reaction: NONE
Acknowledgement:
IMMEDIATELY
F7900: Motor blocked/speed The servo motor has been operating at the • Check whether the servo motor can rotate
controller at its limit torque limit longer than 1s and below the freely or not.
Reaction: OFF2 speed threshold of 120 rpm .
• Check the torque limit.
Acknowledgement: This signal can also be initiated if the
speed actual value is oscillating and the • Check the inversion of the actual value.
IMMEDIATELY
speed controller output repeatedly goes to • Check the motor encoder connection.
its limit.
• Check the encoder pulse number.
F7901: Motor overspeed The maximumly permissible speed has Check and correct the maximum speed
Reaction: OFF2 been exceeded. (p1082).
Acknowledgement: Check if there are any peaks of actual speed.
IMMEDIATELY If the value of the peak is especially large,
contact the hotline.
F7995: Motor identification For incremental motor, needs pole position Stop motor before SON.
failure identification when first SON. If motor
Reaction: OFF2 already in run (i.e. by external force) posi-
tion identification may failure.
Acknowledgement:
IMMEDIATELY

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Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F30001: Power unit: Overcur- The power unit has detected an overcur- • Check the motor data - if required, carry
rent rent condition. out commissioning.
Reaction: OFF2 • Closed-loop control is incorrectly pa- • Modify speed loop Kp (p29120), position
Acknowledgement: rameterized. loop Kv (p29110).
IMMEDIATELY • Controller parameters are not proper. • Check the motor circuit configuration
• Motor has a short-circuit or fault to (star-delta).
ground (frame). • Check the power cable connections.
• Power cables are not correctly con- • Check the power cables for short-circuit or
nected. ground fault.
• Power cables exceed the maximum • Check the length of the power cables.
permissible length.
• Replace power unit.
• Power unit defective.
• Check the line supply phases.
• Line phase interrupted.
• Check the external braking resistor con-
nection.
F30002: DC link voltage, The power unit has detected overvoltage • Increase the ramp-down time.
overvoltage in the DC link.
• Activate the DC link voltage controller.
Reaction: OFF2 • Motor regenerates too much energy.
• Use a braking resistor.
Acknowledgement: • Device connection voltage too high.
IMMEDIATELY • Increase the current limit of the infeed or
• Line phase interrupted. use a larger module.
• Check the device supply voltage.
• Check the line supply phases.
F30003: DC link voltage, The power unit has detected an undervolt- • Check the line supply voltage
undervoltage age condition in the DC link.
• Check the line supply infeed and observe
Reaction: OFF2 • Line supply failure the fault messages relating to it (if there
Acknowledgement: • Line supply voltage below the permis- are any)
IMMEDIATELY sible value. • Check the line supply phases.
• Line supply infeed failed or interrupted. • Check the line supply voltage setting.
• Line phase interrupted.
F30004: Drive heat sink over- The temperature of the power unit heat • Check whether the fan is running.
temperature sink has exceeded the permissible limit
• Check the fan elements.
Reaction: OFF2 value.
• Check whether the surrounding tempera-
Acknowledgement: • Insufficient cooling, fan failure.
ture is in the permissible range.
IMMEDIATELY • Overload.
• Check the motor load.
• Surrounding temperature too high.
• Reduce the pulse frequency if this is high-
• Pulse frequency too high. er than the rated pulse frequency.
F30005: Power unit: Overload The power unit was overloaded. • Reduce the continuous load.
I2t
• The permissible rated power unit cur- • Adapt the load duty cycle.
Reaction: OFF2 rent was exceeded for an inadmissibly • Check the motor and power unit rated
Acknowledgement: long time. currents.
IMMEDIATELY
• The permissible load duty cycle was
not maintained.

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 Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F30011: Line phase failure in At the power unit, the DC link voltage rip- • Check the main circuit fuses.
main circuit ple has exceeded the permissible limit
• Check whether a single-phase load is
Reaction: OFF2 value.
distorting the line voltages.
Acknowledgement: Possible causes:
• Check the motor feeder cables.
IMMEDIATELY • A line phase has failed.
• The 3 line phases are inadmissibly
unsymmetrical.
• The fuse of a phase of a main circuit
has ruptured.
• A motor phase has failed.
F30015: Phase failure motor A phase failure in the motor feeder cable • Check the motor feeder cables.
cable was detected.
• Check the speed controller settings.
Reaction: OFF2 The signal can also be output in the follow-
Acknowledgement: ing case:
IMMEDIATELY The motor is correctly connected, however
the closed-speed control is instable and
therefore an oscillating torque is generat-
ed.
F30021: Ground fault Power unit has detected a ground fault. • Check the power cable connections.
Reaction: OFF2 • Ground fault in the power cables. • Check the motor.
Acknowledgement: • Winding fault or ground fault at the
IMMEDIATELY motor.
F30027: Precharging DC link • The power unit DC link was not able to Check the line supply voltage at the input
time monitoring be pre-charged within the expected terminals.
Reaction: OFF2 time.
Acknowledgement: There is no line supply voltage con-
IMMEDIATELY nected.
• The line contactor/line side switch has
not been closed.
• The line supply voltage is too low.
• The pre-charging resistors are over-
heated as there were too many pre-
charging operations per time unit
• The pre-charging resistors are over-
heated as the DC link capacitance is
too high.
• The pre-charging resistors are over-
heated.
• The pre-charging resistors are over-
heated as the line contactor was closed
during the DC link fast discharge
through the Braking Module.
• The DC link has either a ground fault or
a short-circuit.
• The pre-charging circuit is possibly
defective.

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Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F30036: Internal overtemper- The temperature inside the drive converter • Check whether the fan is running.
ature has exceeded the permissible temperature
• Check the fan elements.
Reaction: OFF2 limit.
• Check whether the surrounding tempera-
Acknowledgement: • Insufficient cooling, fan failure.
ture is in the permissible range.
IMMEDIATELY • Overload. Notice:
• Surrounding temperature too high. This fault can only be acknowledged once the
permissible temperature limit minus 5 K has
been fallen below.
F30050: 24 V supply over- The voltage monitor signals an overvoltage • Check the 24 V power supply.
voltage fault on the module.
• Replace the module if necessary.
Reaction: OFF2
Acknowledgement: POWER
ON
F31100: Zero mark distance The measured zero mark distance does • Check that the encoder cables are routed
error not correspond to the parameterized zero in compliance with EMC.
Reaction: ENCODER mark distance.
For distance-coded encoders, the zero • Check the plug connections
Acknowledgement: PULSE
mark distance is determined from zero • Replace the encoder or encoder cable
INHIBIT
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.
F31101: Zero mark failed The 1.5 x parameterized zero mark dis- • Check that the encoder cables are routed
Reaction: ENCODER tance was exceeded. in compliance with EMC.
Acknowledgement: PULSE • Check the plug connections.
INHIBIT
• Replace the encoder or encoder cable.
F31110: Serial communica- Serial communication protocol transfer • Check the encoder cable and shielding
tions error error between the encoder and evaluation connection.
Reaction: ENCODER module.
• Replace the encoder cable/encoder.
Acknowledgement: PULSE
INHIBIT
F31112: Error bit set in the The encoder sends a set error bit via the • Check the encoder cable and shielding
serial protocol serial protocol. connection.
Reaction: ENCODER • Replace the encoder cable/encoder.
Acknowledgement: PULSE
INHIBIT
F31117: Inversion error sig- For a square-wave encoder (bipolar, dou- • Check the encoder and cable and the
nals A/B/R ble ended) signals A*, B* and R* are not connection of them.
Reaction: ENCODER inverted with respect to signals A, B and R.
• Does the encoder supply signals and the
Acknowledgement: PULSE associated inverted signals?
INHIBIT

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328 Operating Instructions, 09/2015, A5E36037884
 Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F31130: Zero mark and posi- After initializing the pole position using • Check that the encoder cables are routed
tion error from the coarse track C/D, Hall signals or pole position in compliance with EMC.
synchronization identification routine, the zero mark was
detected outside the permissible range. • Check the plug connections
Reaction: ENCODER
For distance-coded encoders, the test is • If the Hall sensor is used as an equivalent
Acknowledgement: PULSE
carried out after passing 2 zero marks. for track C/D, check the connection.
INHIBIT
Fine synchronization was not carried out.
• Check the connection of track C or D.
• Replace the encoder or encoder cable.
F31150: Initialization error Encoder functionality is not operating cor- • Check the encoder type used (incremen-
Reaction: ENCODER rectly. tal/absolute) and the encoder cable.
Acknowledgement: PULSE • If relevant, note additional fault messages
INHIBIT that describe the fault in detail.
F52903: Fault inconsistence Fault status and fault number buffer are Repower on.
between fault status and fault inconsistent.
buffer
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F52904: Control mode When the control mode is changed, the Save and restart the drive.
change drive must be saved and restarted.
Reaction: OFF2
Acknowledgement: POWER
ON
F52911: Positive torque limi- One of positive torque limitation values Configure all of positive torque limitation val-
tation value error (P29050) becomes less than 0. ues (P29050) not less than 0.
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F52912: Negative torque One of negative torque limitation values Configure all of negative torque limitation
limitation value error (P29051) becomes greater than 0. values (P29051) not greater than 0.
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F52931: Gear box limit The electronic gear ratio (p29012[x] / Adjust the electronic gear ratio within the
Reaction: OFF1 p29013[x]) exceeds the range from 0.02 to permissible range from 0.02 to 200.
200.
Acknowledgement:
IMMEDIATELY
F52933: PTO gear box limit The electronic gear ratio (p29031[0] / Adjust the electronic gear ratio within the
Reaction: OFF1 p29032[0]) exceeds the range from 0.02 to permissible range from 0.02 to 200.
200.
Acknowledgement:
IMMEDIATELY
F52980: Absolute encoder The servo motor with absolute encoder is The servo motor will be automatically config-
motor changed changed. Actual motor ID is different from ured after the acknowledgement of this fault.
Reaction: OFF1 commissioned motor ID.
Acknowledgement:
IMMEDIATELY

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Diagnostics
11.2 List of faults and alarms

Fault Cause Remedy

F52981: Absolute encoder Connected absolute encoder motor cannot Use a suitable absolute encoder motor.
motor mismatched be operated. The servo drive in use does
Reaction: OFF1 not support the Motor ID.
Acknowledgement:
IMMEDIATELY
F52983: No encoder detected The servo drive in use does not support • Check the encoder cable connection be-
Reaction: OFF1 encoderless operation. tween the servo drive and the servo mo-
Acknowledgement: tor.
IMMEDIATELY • Use a servo motor with encoder.
F52984: Incremental encoder • Commissioning of the servo motor has Configure the motor ID by setting the parame-
motor not configured failed. ter p29000.
Reaction: OFF1 • The incremental encoder motor is con-
Acknowledgement: nected but fails to commission.
IMMEDIATELY
F52985: Absolute encoder • Motor ID is downloaded wrong during • Update the firmware.
motor wrong manufacture. • Use a correct absolute encoder motor.
Reaction: OFF1 • The firmware of the servo drive does
Acknowledgement: not support the Motor ID.
IMMEDIATELY
F52987: Absolute encoder Incorrect absolute encoder data. Contact the Hotline.
replaced
Reaction: OFF1
Acknowledgement:
IMMEDIATELY

Alarm list

Alarm Cause Remedy

A1009: Control module over- The temperature of the control module • Check the air intake for the Control Unit.
temperature (Control Unit) has exceeded the specified
• Check the Control Unit fan.
limit value.
Note:
The alarm automatically disappears after the
limit value has been
undershot.
A1019: Writing to the remov- The write access to the removable data Remove and check the removable data me-
able data medium unsuccess- medium was unsuccessful. dium. Then run the data backup again.
ful
A1032: All parameters must The parameters of an individual drive ob- Save all parameters.
be saved ject were saved, although there is still no
backup of all drive system parameters.
The saved object-specific parameters are
not loaded the next time that the system
powers up.
For the system to successfully power up,
all of the parameters must have been
completely backed up.

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 Diagnostics
11.2 List of faults and alarms

Alarm Cause Remedy

A1045: Configuring data An error was detected when evaluating the Save the parameterization in SINAMICS V-
invalid parameter files saved in the non-volatile ASSISTANT using the "Copy RAM to ROM"
memory. Because of this, under certain function or on the BOP. This overwrites the
circumstances, several of the saved pa- incorrect parameter files in the non-volatile
rameter values were not able to be ac- memory – and the alarm is withdrawn.
cepted.
A1920: Drive Bus: Receive Output data of Drive Bus master (set- • Check bus configuration.
setpoints after To points) received at the incorrect instant in
• Check parameters for clock cycle syn-
time within the Drive Bus clock cycle.
chronization (ensure To > Tdx).
Note:
To: Time of setpoint acceptance
Tdx: Data exchange time
A1932: Drive Bus clock cycle There is no clock synchronization or clock Set clock synchronization across the bus
synchronization missing for synchronous sign of life and DSC is se- configuration and transfer clock synchronous
DSC lected. sign-of-life.
Note:
DSC: Dynamic Servo Control
A5000: Drive heat sink over- The alarm threshold for overtemperature at Check the following:
temperature the inverter heat sink has been reached.
• Is the surrounding temperature within the
If the temperature of the heat sink increas- defined limit values?
es by an additional 5 K, then fault F30004
is initiated. • Have the load conditions and the load
duty cycle been appropriately dimen-
sioned?
• Has the cooling failed?
A7012: Motor temperature The motor temperature model 1/3 identi- • Check the motor load and reduce it if
model 1/3 overtemperature fied that the alarm threshold was exceed- required.
ed.
• Check the motor surrounding tempera-
ture.
A7441: LR: Save the position The status of the absolute encoder ad- Not necessary. This alarm automatically dis-
offset of the absolute encoder justment has changed. appears after the offset has been saved.
adjustment In order to permanently save the deter-
mined position offset (p2525) it must be
saved.
A7454: LR: Position value The parameter configuration of encoder is Default the drive and re-configure the param-
preprocessing does not have incorrect. eters.
a valid encoder
A7455: EPOS: Maximum The maximum velocity (p2571) is too high Reduce the maximum velocity (p2571).
velocity limited to correctly calculate the modulo correc-
tion.
Within the sampling time for positioning,
with the maximum velocity, a maximum of
the half modulo length must be moved
through. p2571 was limited to this value.
A7456: EPOS: Setpoint ve- The actual setpoint velocity is greater than Decrease the actual setpoint velocity.
locity limited the parameterized maximum velocity and
is therefore limited.
A7461: EPOS: Reference When starting a traversing block/direct Reference the system (search for reference,
point not set setpoint input, a reference point is not set. flying referencing, set reference point).

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Diagnostics
11.2 List of faults and alarms

Alarm Cause Remedy

A7469: EPOS: Traversing In the traversing block the specified abso- • Correct the traversing block.
block < target position < soft- lute target position lies outside the range
• Change software limit switch minus
ware limit switch minus limited by the software limit switch minus.
(p2580).
A7470: EPOS: Traversing In the traversing block the specified abso- • Correct the traversing block.
block > target position > soft- lute target position lies outside the range
• Change software limit switch plus (p2581).
ware limit switch plus limited by the software limit switch plus.
A7471: EPOS: Traversing In the traversing block the target position • In the traversing block, correct the target
block target position outside lies outside the modulo range. position.
the modulo range
• Change the modulo range (p29246).
A7472: EPOS: Traversing In the traversing block the positioning Correct the traversing block.
block ABS_POS/ABS_NEG mode ABS_POS or ABS_NEG were pa-
not possible rameterized with the modulo correction not
activated.
A7473: EPOS: Beginning of When traversing, the axis has moved to Move away in the positive direction.
traversing range reached the traversing range limit.
A7474: EPOS: End of trav- When traversing, the axis has moved to Move away in the negative direction.
ersing range reached the traversing range limit.
A7477: EPOS: Target posi- In the actual traversing operation, the • Correct the target position.
tion < software limit switch target position is less than the software
• Change software limit switch minus (CI:
minus limit switch minus.
p2580).
A7478: EPOS: Target posi- In the actual traversing operation, the • Correct the target position.
tion > software limit switch target position is greater than the software
• Change software limit switch plus (CI:
plus limit switch plus.
p2581).
A7479: EPOS: Software limit The axis is at the position of the software • Correct the target position.
switch minus reached limit switch minus. An active traversing
• Change software limit switch minus (CI:
block was interrupted.
p2580).
A7480: EPOS: Software limit The axis is at the position of the software • Correct the target position.
switch plus reached limit switch plus. An active traversing block
• Change software limit switch plus (CI:
was interrupted.
p2581).
A7496: SON enable missing • In the IPos control mode or a com- • Send servo on command to the drive via
pound control mode with IPos, no ser- Modbus
vo on command is sent to the drive via • Set the drive to servo on status firstly and
Modbus when p29008 = 1. trigger a rising edge for the P-TRG signal.
• In the IPos control mode, rising edge is • Acknowledge the faults firstly and imple-
triggered for the P-TRG signal when ment "Enable trial run" again.
the drive is in servo off status.
• In the PTI control mode, any faults
which is caused by implementing the
"Enable trial run" operation with the V-
ASSISTANT lead to A7496.
A7576: Encoderless opera- Encoderless operation is active due to a • Remove the cause of a possible encoder
tion due to a fault active fault. fault.
• Carry out a POWER ON (power off/on) for
all components.

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 Diagnostics
11.2 List of faults and alarms

Alarm Cause Remedy

A7582: Position actual value An error has occurred during the position Check the encoder for the position actual
preprocessing error actual vaule preprocessing. value preprocessing.
Refer to F52931.
A7585: P-TRG or CLR active In the PTI mode or a compound mode with In the PTI mode, deactivate the P-TRG or
PTI, the P-TRG or CLR function is activat- CLR function; in the compound mode with
ed. PTI, do not switch to other modes.
A7588: Encoder 2: Position The parameter configuration of PTI coun- Default the drive and re-configure the param-
value preprocessing does not ter is incorrect. eters.
have a valid encoder
A7805: Power unit overload Alarm threshold for I2t overload of the • Reduce the continuous load.
I2t power unit exceeded.
• Adapt the load duty cycle.
• Check the assignment of the rated cur-
rents of the motor and motor module.
A7965: Save required The angular commutation offset was re- This alarm automatically disappears after the
defined and has still not been saved. data has been saved.
In order to permanently accept the new
value, it must be saved in a non-volatile
fashion.
A7971: Angular commutation The automatic determination of the angular The alarm automatically disappears after
offset determination activated commutation offset (encoder adjustment) determination.
is activated.
The automatic determination is carried out
at the next power-on command.
A7991: Motor data identifica- The motor data ident. routine is activated.
The alarm automatically disappears after the
tion activated The motor data identification routine is motor data identification routine has been
carried out at the next power-on command. successfully completed.
If a POWER ON or a warm restart is per-
formed with motor data identification selected,
the motor data identification request will be
lost. If motor data identification is required, it
will need to be selected again manually fol-
lowing ramp-up.
A30016: Load supply The DC link voltage is too low. • Switch on the load supply.
switched off
• Check the line supply if necessary.

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Diagnostics
11.2 List of faults and alarms

Alarm Cause Remedy

A30031: Hardware current Hardware current limit for phase U re- Check the motor data. As an alternative, run
limiting in phase U sponded. The pulsing in this phase is in- a motor data identification.
hibited for one pulse period.
• Check the motor circuit configuration
• Closed-loop control is incorrectly pa- (star-delta)
rameterized. • Check the motor load.
• Fault in the motor or in the power ca- • Check the power cable connections.
bles.
• Check the power cables for short-circuit or
• The power cables exceed the maxi- ground fault.
mum permissible length.
• Check the length of the power cables.
• Motor load too high.
• Power unit defective.
Note:
Alarm A30031 is always output if, for a
Power Module, the hardware current limit-
ing of phase U, V or W responds.
A31411: Absolute encoder The absolute encoder fault word includes Replace the encoder.
signals internal alarms alarm bits that have been set.
A31412: Error bit set in the The encoder sends a set error bit via the • Carry out a POWER ON (power off/on) for
serial protocol serial protocol. all components.
• Check that the encoder cables are routed
in compliance with EMC.
• Check the plug connections.
• Replace the encoder.
A52900: Failure during data • Copying is halted. • Re-plug in the micro SD card/SD card.
copying
• The micro SD card/SD card was • Make sure the drive is in the stop state.
plugged out.
• The drive is not in the stop state.
A52901: Braking resistor The heat capacity reaches the threshold • Change the external braking resistor.
reaches alarm threshold (p29005) of the braking resistor capacity.
• Increase deceleration time.
A52902: Emergency missing Implement servo on when the emergency Switch on the emergency input (EMGS) and
input (EMGS) is switched off. then implement servo on.
A52932: PTO max limit For incremental encoder, when PTO fre- Change PTO ratio.
quency exceeds 280K, drive will output
A52932 to remind that exceed limitation.
For absolute encoder, when PTO frequen-
cy exceeds 120K, drive will output A52932
to remind that exceed limitation.

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Appendix A
The assembly methods of the power cable connector, encoder cable connecotor and brake
cable connector in motor side which are introduced in this chapter are for low inertia motor
with shaft-height 50 mm and high inertia motor.

A.1 Assembly of cable connectors on the motor side

Power connector assembly

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Appendix
A.1 Assembly of cable connectors on the motor side

Encoder connector assembly

The connector assembly procedures for incremental and absolute encoders are the same.

Brake connector assembly

The assembly of a brake connector follows the procedure as described in the figure above
for an encoder connector.

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 Appendix
A.2 Assembly of cable terminals on the drive side

A.2 Assembly of cable terminals on the drive side

Power terminal assembly

Drive type Procedure Illustration

SINAMICS V90 200 V Terminal assembly procedure:
variant: 1. Remove the outer sheath of the cable.
FSA/FSB/FSC/FSD
2. Remove the insulation from the wire.
3. Insert the stripped end into the cable
SINAMICS V90 400 V end sleeve.
variant: FSAA/FSA
4. Crimp the cable end sleeve using a
crimp tool for end sleeves.

SINAMICS V90 400 V Terminal assembly procedure:

variant: FSB/FSC 1. Remove the outer sheath of the cable.
2. Remove the insulation from the wire.
3. Insert the stripped end into the spade
terminal.
4. Crimp the spade terminal using a crimp
tool for cable lugs. (Note: Coat any ex-
posed wires with tin.)

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Appendix
A.2 Assembly of cable terminals on the drive side

Encoder terminal assembly

The terminal assembly procedures for incremental and absolute encoders are the same.

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 Appendix
A.2 Assembly of cable terminals on the drive side

Brake terminal assembly

The assembly of a brake terminal follows the procedure as described in the figure above for
a power terminal.

Setpoint connector assembly

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Appendix
A.3 Motor selection

A.3 Motor selection

A.3.1 Selection procedure

1. Determine the mechanism type as well as the detailed data of the related mechanical
parts, such as ball screw lead, diameter, lead, and gear diameter. Three mechanism
types are shown below:

Ball screw

Belt transmission
Rack and pinion and/or gear

2. Determine the operation pattern including such parameters as acceleration time (ta),
constant motion time (tu), deceleration time (td), stopping time (ts), cycle time (tc), and
travel distance (L).

3. Calculate load inertia and inertia ratio.

The inertia ratio can be obtained by dividing the load inertia by the rotor inertia of the
selected motor. The unit of inertia is x 10-4 kg·m2.
4. Calculate the speed.
Calculate the speed according to the travel distance, acceleration time, deceleration time,
and constant motion time.

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 Appendix
A.3 Motor selection

5. Calculate the torque.

Calculate the torque according to the load inertia, acceleration time, deceleration time,
and constant motion time.
6. Select the motor.
Select the motor that matches the data in step 3 to step 5.

A.3.2 Parameter description

Torque
● Summit torque: It refers to the maximum torque required by a motor in operation, which is
generally less than 80% of the motor’s maximum torque. When the torque is a negative
value, regenerative resistors may be needed.
● Moving torque and hold torque in standstill: It refers to the torque required by a motor in
long-term operation, which is generally less than 80% of the motor’s rated torque. When
the torque is a negative value, regenerative resistors may be needed.
Torque calculation methods of two major mechanism types:

W: Mass [kg] η: Mechanical efficiency

Pb: Ball screw lead [m] μ: Friction coefficient
F: External force [N] g: Gravitational acceleration 9.8 [m/s2]

W: Mass [kg] η: Mechanical efficiency

Pd: Belt transmission lead [m] μ: Friction coefficient
F: External force [N] g: Gravitational acceleration 9.8 [m/s2]

● Effective torque: It refers to the continuous effective load torque converted into the
equivalent value on the servo motor shaft, which is generally less than 80% of the motor’s
rated torque.

Ta: Acceleration torque [N·m] ta: Acceleration time [s] tc: Cycle time [s]
Tm: Moving torque [N·m] tu: Constant motion time [s]
Td: Deceleration torque [N·m] td: Deceleration time [s]

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Appendix
A.3 Motor selection

Speed
Maximum speed: It refers to the motor's maximum speed in operation, which is generally
lower than the rated speed. When a motor operating at the maximum speed, pay attention to
its torque and temperature rise.

Inertia and inertia ratio

Inertia refers to the force required to keep a certain physical state. Inertia ratio indicates
dynamic response performance of motors. The smaller the inertia ratio is the better response
performance a motor has.

Typical load inertia equations

Mechanism Equation Mechanism Equation

W: Mass (kg) W: Mass (kg)

a: Length (m) D1: External diameter (m)
b: Width (m) D2: Internal diameter (m)

Axis of rotation on center Axis of rotation on center

W: Mass (kg) W: Mass (kg)

a: Length (m) D: Workpiece diameter (m)
b: Width (m) R: Rotational diameter (m)
R: Rotational diameter (m)

Axis of rotation off center Axis of rotation off center

Conveyor W: Mass (kg) W: Mass (kg)

D: Pulley wheel diameter (m) Ball screw P: Lead (m)
Jb: Ball screw inertia (kg·m2)

W: Mass (kg) W: Mass (kg)

D: Pulley wheel diameter (m) n1/n2: Speed of each motor
Jp: Pulley inertia (kg·m2) Reducer (rpm)
Object hung with pulley J1 /J2: Inertia of each motor
(kg·m2)

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 Appendix
A.3 Motor selection

A.3.3 Selection examples

This section uses a ball screw mechanism as an example to illustrate the motor selection
procedure.
Exemplary data
The following table lists the data related to the ball screw mechanism and operation pattern.

Mechanism Operation pattern

Workpiece weight (W) 40 kg Acceleration time (ta) 0.15 s
Ball screw length (Bl) 2m Constant motion time (tu) 0.7 s
Ball screw diameter (Bd) 0.04 m Deceleration time (td) 0.15 s
Ball screw pitch (Bp) 0.04 m Cycle time (tc) 2s
Mechanical efficiency (Bŋ) 0.9 Travel distance (L) 0.5 m
Coupler inertia (Jc) 20 x 10-6 kg·m2
(refer to -
the supplier's product
catalog)

1. Ball screw weight

Bw = ρ x π x (Bd/2)2 x Bl = 19.85 kg
2. Load inertia
Jl = Jc + Jb = Jc + 1/8 x Bw x Bd2 + W x Bp2 / 4π2 = 5.61 x 10-3 kg·m2
3. Preselection
If a 1000 W motor is selected, Jm (motor inertia) = 1.57 x 10-3 kg·m2
Therefore, Jl / Jm (inertia ratio) = 3.57 < 5 times
4. Maximum rotational speed
Vmax (maximum travelling speed) = 2L / (ta + 2tu + td) = 5.89 m/s
Nmax (maximum rotational speed) = 60 x Vmax / Bp = 882 rpm < 2000 rpm (rated speed)
5. Effective torque
Tm (moving torque) = (μgW + F) x Bp / 2πBη = 0.069 Nm
Ta (acceleration torque) = [(Jl + Jm) x 2 πN / Ta] + Tm = 4.49 Nm
Td (deceleration torque) = [(Jl + Jm) x 2 πN / Td] - Tm = 4.35 Nm
Therefore, Trms (effective torque) =√(Ta2 x ta + Tm2 x tb + Td2 x td) / tc = 1.71 Nm < 4.78 Nm
(rated torque)
6. Final selection
According to the above calculated speed, torque, and inertia ratio, you are recommended
to select 1000 W motors, i.e. 1FL6062.

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Appendix
A.4 Replacing fans

A.4 Replacing fans

Proceed as illustrated below to remove the fan from the SINAMICS V90 drive. To re-
assemble the fan, proceed in reverse order. When re-assembling the fan for FSC, make sure
that the arrow symbol (" "in the illustration) on the fan points to the drive rather than the
fan housing.

Replacing the fans from frame size B

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 Appendix
A.4 Replacing fans

Replacing the fan from frame size C

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Appendix
A.4 Replacing fans

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346 Operating Instructions, 09/2015, A5E36037884
Index

For speed control (S), 122

For torque control (T), 123
A Connecting the SIMATIC S7-200
For internal position control (IPos), 117
Accessories
For pulse train input position control (PTI), 116
Braking resistor, 46
For speed control, 118
Cables and connectors, 42
For torque control, 119
External 24 VDC power supply, 45
Connecting the SIMATIC S7-200 SMART
Filter, 47
For internal position control (IPos), 113
Fuse/Circuit breaker, 45
For pulse train input position control (PTI), 112
SD card/Micro SD card, 51
For speed control (S), 114
Aims, 227
For torque control (T), 115
Ajust AI offset, 159
Copy parameter set from a micro SD card/SD card to
analog inputs, 101
drive, 157
Analog inputs
Copy parameters from the servo drive to a micro SD
Command voltage, 102
card/SD card, 156
analog outputs, 102
Analog outputs
Parameterization, 102
D
Wiring, 103
ANSI B11, 238 Device combination, 33
Differences between faults and alarms, 314
Digital inputs, 92
B Direct signal map, 96
Wiring, 96
Backlash compensation, 189
Digital outputs, 97
BOP operations
Assigning warning signals to digital outputs, 99
Button functions, 146
DIN EN ISO 13849-1, 231
BOP operations for faults and alarms, 315
Direction of motor rotation, 163
Acknowledging faults, 316
Drive rating plate, 29
Exiting from alarm display, 315
Exiting from fault display, 315
Viewing alarms, 315
E
Viewing faults, 315
BOP overview, 143 EN 61508, 234
EN 62061, 232
Equipment regulations, 239
C
Certification, 240
F
Change a parameter value, 149
Parameter setting with shift function, 151 Function list, 52
Commissioning Functional safety, 228
Initial commissioning, 132
Connecting 24 V power supply/STO, 124
Connecting an external braking resistor, 129 G
Connecting the RS485 interface, 130
Gain switch, 264
Connecting the SIMATIC S7-1200
Gain switching using actual speed, 267
For internal position control (IPos), 121
For pulse train input position control (PTI), 120

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Index

Gain switching using an external digital input N

signal, 265
NFPA 79, 237
Gain switching using position deviation, 266
NRTL, 237
Gain switching using position setpoint frequency, 267
General information about faults and alarms, 313
O
H Operating display, 148
OSHA, 236
Harmonized European Standards, 229
Over-travel, 164
Overview of absolute position system, 224
Restrictions, 225
I
Overview of SINAMICS V90 BOP functions, 153
Internal position control mode (IPos)
Linear/modular axis, 189
Position setpoint, 186 P
Selecting a fixed position setpoint and starting
PI to P switching using torque setpoint, 270
positioning, 199
PI/P switching, 268
Selecting a positioning mode, 188
PI/P switching using acceleration setpoint, 272
Setting mechanical system, 185
PI/P switching using an external digital input
Software position limit, 198
signal, 270
Iterative process for achieving safety, 235
PI/P switching using pulse deviation, 273
PI/P switching using speed setpoint, 271
Preface
J
Documentation components, 3
Jog function, 154 Target group, 3
Jog in speed, 154 Technical support, 3
Jog in torque, 154 Probabilty of failure, 242
PTO
Wiring, 101
L Pulse train encoder outputs, 101
Pulse train input position control mode (PTI)
LED status indicators, 317
Calculating electronic gear ratio, 174
Clearing droop pulses, 182
In position (INP), 172
M
P-TRG, 177
Machine safety in Japan, 239 Selecting a setpoint pulse train input channel, 171
Machine safety in the USA, 236 Selecting a setpoint pulse train input form, 172
Machinery directive, 228 Smoothing function, 173
Main circuit wirings Pulse train inputs
Connecting the motor power - U, V, W, 87 Wiring, 100
Motor holding brake, 165
Relevant parameters, 168
Signal status, 166 R
Motor rating plate, 32
Referencing
Motor selection method, 340
Referencing modes, 190
Mounting the motor
Residual risk, 236
Motor dimensions, 75
Resonance suppression, 260
Mounting orientation, 72
Activate the resonance suppression function, 261
Manual tuning with resonance suppression
(p29021=0), 262

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 Index

One-button auto tuning with resonance suppression Direction and stop, 209
(p29023.1=1), 261 External analog torque setpoint, 208
Real-time auto tuning with resonance suppression External speed limit, 179
(p29024.6=1), 262 Internal speed limit, 179
Response time, 243 Offset adjustment, 208
Risk analysis, 234 Torque control with fixed setpoint, 209
Risk reduction, 236 Torque setpoint, 208
Torque limit, 179
External torque limit, 181
S Internal torque limit, 180
Overall torque limit, 180
Safe Torque Off
Torque limit reached (TLR), 182
functional features, 243
Transmitting sequence for the absolute position
response time, 245
data, 225
selecting/deselecting STO, 245
Tuning
Safety Integrated function, 240
Configuration of dynamic factor, 252, 256
Safety of machinery in Europe, 228
Manual tuning, 259
Save parameters in the servo drive, 155
Real-time auto tuning, 255
Search a parameter in "P ALL" menu, 152
Servo gains, 248
Selection of control mode
Tuning methods, 249
Control mode change for a compound control
Tuning with SINAMICS V-ASSISTANT, 250
mode, 161
Control modes, 161
Selection of a basic control mode, 161
U
Servo ON signal, 162
Relevant parameter settings, 163 Update firmware, 157
Set parameter set to default, 155 Usage of the shielding plate, 85
Set zero position, 160 USS
Speed control mode Telegram format, 210
Direction and stop, 204
External speed setpoint, 202
Offset adjustment, 203 W
Parameter settings for fixed speed setpoint, 203
Wiring and connecting
Ramp-function generator, 205
Adjusting cable orientations, 86
Speed setpoint, 201
Wiring and connection
Zero speed clamp, 204
Connecting the motor holding brake - X7, 129
Speed limit, 178
Overall speed limit, 178
Standards for implementing safety-related
controllers, 230
Stopping method at servo OFF, 169
Coast-down, 170
Emergency stop, 170
Ramp-down (OFF1), 170
System connection, 81

T
Technical data
Cables, 66
Torque control mode
300% overload capacity, 207

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