V90 PN 1FL6 Op Instr 0221 en-US

Preface
Fundamental safety
instructions 1
2
SINAMICS/SIMOTICS General information
Mounting 3
SINAMICS V90, SIMOTICS S-1FL6 4
Connecting
Commissioning 5
Operating Instructions
Basic operator panel (BOP) 6
Control functions 7
PROFINET communication 8
Safety Integrated function 9
Tuning 10
Parameters 11
Diagnostics 12
Appendix A
PROFINET (PN) interface
02/2021
A5E37208830-009
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 A5E37208830-009 Copyright © Siemens AG 2016 - 2021.

Commercial Vehicles Ⓟ 01/2021 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface
Documentation components
Document Content
Operating Instructions (this manual)
SIMOTICS S-1FL6 Servo Motors Installa- Describes how to install the SMOTICS S-1FL6 servo motor
tion Guide and relevant safety notices.
SINAMICS V90 Servo Drives Information Introduces the basic information of the documentation
Guide and describes how to find all the SINAMICS V90 documen-
tation from the website.
SINAMICS V90 V-ASSISTANT Online Help Describes how to perform fast commissioning and diag-
nostics for the SINAMICS V90 drives via the SINAMICS V-
ASSISTANT engineering tool.
Target group
This manual provides information about the SINAMICS V90 PN 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 (https://support.industry.siemens.com/cs/ww/en/)
Product maintenance
The components are subject to continuous further development within the scope of product
maintenance (improvements to robustness, discontinuations of components, etc.).
These further developments are "spare parts-compatible" and do not change the article
number.
In the scope of such spare parts-compatible further developments, connector positions are
sometimes changed slightly. This does not cause any problems with proper use of the
components. Take this fact into consideration in special installation situations (e.g. allow
sufficient clearance for the cable length).
SINAMICS V90, SIMOTICS S-1FL6

Operating Instructions, 02/2021, A5E37208830-009 3
Preface
Use of third-party products

This document contains recommendations relating to third-party products. Siemens accepts
the fundamental suitability of these third-party products.
You can use equivalent products from other manufacturers.
Siemens does not accept any warranty for the properties of third-party products.
Compliance with the General Data Protection Regulation

Siemens respects the principles of data protection, in particular the data minimization rules
(privacy by design).
For this product, this means:
The product does not process neither store any person-related data, only technical function
data (e.g. time stamps). If the user links these data with other data (e.g. shift plans) or if he
stores person-related data on the same data medium (e.g. hard disk), thus personalizing
these data, he has to ensure compliance with the applicable data protection stipulations.
Recycling and disposal
For environmentally-friendly recycling and disposal of your old device, please contact a
company certified for the disposal of waste electrical and electronic equipment, and dispose
of the old device as prescribed in the respective country of use.

4 Operating Instructions, 02/2021, A5E37208830-009
Preface
Warranty
Details of warranty
• Warranty period
The warranty period for the product purchased (hereinafter called "product") is subject to
the signed contract and is up to 24 months since the date of manufacture of the product.
• Warranty scope
Siemens shall replace or repair a defective product free of charge if a defect attributable to
Siemens occurs during the warranty period stated above. This warranty does not cover
defects caused by the product reaching the end of its service life and replacement of
consumables or parts with limited service life.
This warranty does not cover failures that result from any of the following causes:
– Natural wear and tear
– Handling of the product not in conformity with the product instruction or user manual
– Unauthorized or inappropriate modifications, alterations or repairs
– Damages from faulty or negligent handling, use or maintenance, overload conditions
– Excessive strain or use of unsuitable appurtenances
– Defective installation or erection not carried out by Siemens
– Inappropriate storage or any other external impact on the product not explicitly
assumed by Siemen
– Device (drives, motors) damages due to use of the non-Siemens cable assemblies, for
example, improper cables that you made by yourself
– Improper handling, abuse, or use in unsuitable conditions or in environments not
described in product catalogs or manuals, or in any separately agreed-upon
specifications
– Causes not attributable to the product itself
– Abuse of the product in a manner in which it was not originally intended
– Causes that were not foreseeable with the scientific and technological understanding
at the time of shipment from Siemens
– Malfunctions arising from natural or man-made disasters or events not attributable to
Siemens
Limitations of liability
• In no event is Siemens responsible for any loss of use, production, profit, interest,
revenues, loss of information or data, damages or indemnification based on the
customer’s third party contracts or any indirect or consequential damages or losses,
regardless of whether those damages are foreseeable.
• The information provided in product catalogs or manuals is to help customer select the
appropriate product for the intended application. The use thereof does not guarantee that
there are no infringements of intellectual property rights or other proprietary rights of
Siemens or third parties, nor does it construe a license.

Preface
• Siemens shall not be liable for any damage arising from infringements of intellectual
property rights or other proprietary rights of third parties as a result of using the
information described in catalogs or manuals.
• The indemnity obligation of Siemens for all losses of the customer attributable to Siemens
does not exceed the total amount paid by the customer for purchasing the relevant
product.
Suitability for use

• It is the customer’s responsibility to confirm conformity with any standards, codes, or
regulations that apply if the Siemens product is used in combination with any other
products.
• The customer must confirm that the Siemens product is suitable for the systems,
machines, and equipment used by the customer.
• Consult with Siemens to determine whether use in the following applications is
acceptable. If use in the application is acceptable, use the product with extra allowance in
ratings and specifications, and provide safety measures to minimize hazards in the event
of failure.
– Outdoor use, use involving potential chemical contamination or electrical interference,
or use in conditions or environments not described in product catalogs or manuals
– Nuclear energy control systems, combustion systems, railroad systems, aviation
systems, vehicle systems, medical equipment, amusement machines, and installations
subject to separate industry or government regulations
– Systems, machines, and equipment that may present a risk to life or property
– Systems that require a high degree of reliability, such as systems that supply gas,
water, or electricity, or systems that operate continuously 24 hours a day
– Other systems that require a similar high degree of safety
• Never use the product for an application involving risk to life or property without first
ensuring that the system is designed to secure the required level of safety with risk
warnings and redundancy, and that the Siemens product is properly rated and installed.
• The circuit examples and other application examples described in product catalogs and
manuals are for reference. Check the functionality and safety of the actual devices and
equipment to be used before using the product.
• Read and understand all use prohibitions and precautions, and operate the Siemens
product correctly to prevent accidental harm to third parties.
• Adhere to the instructions including but not limited to product manuals and safety notices
during the use of the product. Siemens does not accept any liability for personal injuries,
property damage, legal disputes or interest conflicts arising from non-adherence to
product manuals and safety notices or arising from Force Majeure.
Specifications change
The names, specifications, appearance, and accessories of products in product catalogs and
manuals may be changed at any time based on improvements and other reasons. The next
editions of the revised catalogs or manuals will be published with updated code numbers.
Consult with your Siemens representative to confirm the actual specifications before
purchasing a product.

Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions ......................................................................................................... 13
1.1 General safety instructions ................................................................................................. 13
1.2 Equipment damage due to electric fields or electrostatic discharge ..................................... 19
1.3 Warranty and liability for application examples ................................................................... 19
1.4 Security information .......................................................................................................... 20
1.5 Residual risks of power drive systems ................................................................................. 21
2 General information ............................................................................................................................ 23
2.1 Scope of delivery ............................................................................................................... 23
2.1.1 Drive components.............................................................................................................. 23
2.1.2 Motor components ............................................................................................................ 28
2.2 Device combination ........................................................................................................... 32
2.3 Product overview ............................................................................................................... 35
2.4 Accessories ........................................................................................................................ 39
2.4.1 MOTION-CONNECT 300 cables and connectors ................................................................... 39
2.4.2 PROFINET cable and connector ........................................................................................... 42
2.4.3 USB cable .......................................................................................................................... 42
2.4.4 Connectors used on the drive front panel ........................................................................... 42
2.4.5 External 24 V DC power supply........................................................................................... 43
2.4.6 Fuse/Type E combination motor controller ......................................................................... 44
2.4.7 Braking resistor .................................................................................................................. 46
2.4.8 Line filter (PN) ................................................................................................................... 48
2.4.9 Micro SD card/SD card ........................................................................................................ 53
2.4.10 Replacement fans .............................................................................................................. 53
2.5 Function list ....................................................................................................................... 54
2.6 Technical data ................................................................................................................... 55
2.6.1 Technical data - servo drives .............................................................................................. 55
2.6.1.1 SINAMICS V90 PN 200 V variant ......................................................................................... 55
2.6.1.2 SINAMICS V90 PN 400 V variant ......................................................................................... 58
2.6.2 Technical data - servo motors ............................................................................................. 61
2.6.2.1 1FL6 servo motor - low inertia............................................................................................ 61
2.6.2.2 1FL6 servo motor - high inertia .......................................................................................... 65
2.6.2.3 Power derating .................................................................................................................. 69
2.6.2.4 China Energy Label ............................................................................................................ 69
2.6.3 Technical data - cables ....................................................................................................... 70
2.6.4 Address of CE-authorized manufacturer ............................................................................. 71
3 Mounting ............................................................................................................................................. 73
3.1 Mounting the drive ............................................................................................................ 73
3.1.1 Mounting orientation and clearance................................................................................... 74

Table of contents
3.1.2 Drill patterns and outline dimensions ................................................................................. 76

3.1.3 Mounting the drive ............................................................................................................ 80
3.2 Mounting the motor .......................................................................................................... 81
3.2.1 Mounting orientation and dimensions................................................................................ 81
3.2.2 Mounting the motor .......................................................................................................... 90
3.2.3 Attaching output elements ................................................................................................ 92
3.2.4 Motor heat dissipation conditions ...................................................................................... 93
4 Connecting .......................................................................................................................................... 95
4.1 System connection ............................................................................................................ 95
4.1.1 Safety instructions ............................................................................................................. 95
4.1.2 Using several single-phase converters in machines and plants ............................................ 97
4.1.3 EMC instructions ................................................................................................................ 97
4.1.4 System connection diagrams ............................................................................................. 99
4.1.5 Cable connection ............................................................................................................. 103
4.2 Main circuit wiring ........................................................................................................... 106
4.2.1 Line supply - L1, L2, L3..................................................................................................... 106
4.2.2 Motor power - U, V, W ..................................................................................................... 108
4.3 Control/status interface - X8............................................................................................. 111
4.3.1 Digital inputs/outputs (DIs/Dos) ........................................................................................ 112
4.3.1.1 DIs................................................................................................................................... 112
4.3.1.2 DOs ................................................................................................................................. 114
4.3.2 Standard application wiring (factory setting) .................................................................... 116
4.3.3 Connection example with PLCs ........................................................................................ 118
4.3.3.1 SIMATICS S7-1200 ........................................................................................................... 118
4.3.3.2 SIMATICS S7-1500 ........................................................................................................... 119
4.4 24 V power supply/STO .................................................................................................... 120
4.5 Encoder interface - X9 ..................................................................................................... 122
4.6 External braking resistor - DCP, R1 .................................................................................... 125
4.7 Motor holding brake ........................................................................................................ 126
4.8 PROFINET interface - X150 ............................................................................................... 132
5 Commissioning .................................................................................................................................. 135
5.1 General commissioning information ................................................................................ 135
5.2 Commissioning in JOG mode ........................................................................................... 137
5.3 Commissioning in basic positioner control mode (EPOS) ................................................... 139
5.4 Commissioning in speed control mode (S)........................................................................ 140
6 Basic operator panel (BOP) ................................................................................................................ 141
6.1 BOP overview .................................................................................................................. 141
6.1.1 LED status indicators ........................................................................................................ 142
6.1.2 BOP display...................................................................................................................... 143
6.1.3 Control buttons ............................................................................................................... 146
6.2 Parameter structure ......................................................................................................... 147
6.3 Actual status display ........................................................................................................ 148

Table of contents
6.4 Basic operations............................................................................................................... 149

6.4.1 Editing parameters .......................................................................................................... 150
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 ........................................................................................... 156
6.5.4 Transferring data (drive to SD) ......................................................................................... 157
6.5.5 Transferring data (SD to drive) ......................................................................................... 158
6.5.6 Updating firmware........................................................................................................... 159
6.5.7 Adjusting an absolute encoder ......................................................................................... 160
7 Control functions ............................................................................................................................... 161
7.1 General functions ............................................................................................................ 161
7.1.1 Motor direction of rotation............................................................................................... 161
7.1.2 300% overload capacity ................................................................................................... 162
7.1.3 Stopping method at servo OFF ......................................................................................... 162
7.1.4 Travel to fixed stop .......................................................................................................... 164
7.1.5 Position tracking .............................................................................................................. 170
7.2 Basic positioner (EPOS) .................................................................................................... 173
7.2.1 Setting the mechanical system ......................................................................................... 173
7.2.2 Configuring the linear/modular axis ................................................................................. 174
7.2.3 Backlash compensation .................................................................................................... 175
7.2.4 Over-travel ...................................................................................................................... 176
7.2.5 Software position limit ..................................................................................................... 178
7.2.6 Speed limit ...................................................................................................................... 178
7.2.7 Torque limit ..................................................................................................................... 178
7.2.8 Referencing ..................................................................................................................... 179
7.2.8.1 Setting reference point with the digital input signal REF (p29240 = 0) .............................. 180
7.2.8.2 Referencing with the external reference cam (signal REF) and encoder zero mark
(p29240 = 1) ................................................................................................................... 181
7.2.8.3 Referencing with the encoder zero mark only (p29240 = 2) .............................................. 187
7.2.9 Traversing blocks ............................................................................................................. 191
7.2.10 Direct setpoint input (MDI)............................................................................................... 196
7.2.11 EJOG ............................................................................................................................... 199
7.3 Speed control (S) ............................................................................................................. 201
7.3.1 Speed limit ...................................................................................................................... 201
7.3.2 Torque limit ..................................................................................................................... 202
7.3.3 Ramp-function generator ................................................................................................. 203
8 PROFINET communication ................................................................................................................. 205
8.1 Supported telegrams ....................................................................................................... 205
8.2 I/O data signals ................................................................................................................ 208
8.3 Control word definition .................................................................................................... 210
8.3.1 STW1 control word (for telegrams 1, 2, 3, 5) .................................................................... 210
8.3.2 STW2 control word (for telegrams 2, 3, 5) ........................................................................ 211
8.3.3 STW1 control word (for telegrams 102, 105) .................................................................... 211
8.3.4 STW2 control word (for telegrams 102, 105) .................................................................... 212
8.3.5 STW1 control word (for telegrams 7, 9, 110, 111) ............................................................ 213

Table of contents
8.3.6 STW2 control word (for telegrams 9, 110, 111) ................................................................ 214
8.3.7 G1_STW encoder 1 control word ...................................................................................... 215
8.3.8 SATZANW control word .................................................................................................... 216
8.3.9 MDI_MOD control word ................................................................................................... 216
8.3.10 POS_STW control word .................................................................................................... 217
8.3.11 POS_STW1 positioning control word ................................................................................ 218
8.3.12 POS_STW2 positioning control word ................................................................................ 219
8.4 Status word definition ..................................................................................................... 220
8.4.1 ZSW1 status word (for telegrams 1, 2, 3, 5) ...................................................................... 220
8.4.2 ZSW2 status word (for telegrams 2, 3, 5).......................................................................... 220
8.4.3 ZSW1 status word (for telegrams 102, 105) ..................................................................... 221
8.4.4 ZSW2 status word (for telegrams 102, 105) ..................................................................... 221
8.4.5 ZSW1 status word (for telegrams 7, 9, 110, 111) .............................................................. 222
8.4.6 ZSW2 status word (for telegrams 9, 110, 111).................................................................. 222
8.4.7 G1_ZSW encoder 1 status word ........................................................................................ 223
8.4.8 MELDW status word ......................................................................................................... 224
8.4.9 POS_ZSW1 positioning status word .................................................................................. 224
8.4.10 POS_ZSW2 positioning status word .................................................................................. 225
9 Safety Integrated function ................................................................................................................ 227
9.1 Standards and regulations ............................................................................................... 227
9.1.1 General information ........................................................................................................ 227
9.1.1.1 Aims ................................................................................................................................ 227
9.1.1.2 Functional safety ............................................................................................................. 228
9.1.2 Safety of machinery in Europe ......................................................................................... 228
9.1.2.1 Machinery Directive ......................................................................................................... 228
9.1.2.2 Harmonized European Standards ..................................................................................... 229
9.1.2.3 Standards for implementing safety-related controllers ...................................................... 230
9.1.2.4 DIN EN ISO 13849-1......................................................................................................... 231
9.1.2.5 EN 62061 ........................................................................................................................ 232
9.1.2.6 Series of standards EN 61508 (VDE 0803) ........................................................................ 233
9.1.2.7 Risk analysis/assessment .................................................................................................. 234
9.1.2.8 Risk reduction .................................................................................................................. 235
9.1.2.9 Residual risk .................................................................................................................... 236
9.1.3 Machine safety in the USA ............................................................................................... 236
9.1.3.1 Minimum requirements of the OSHA................................................................................ 236
9.1.3.2 NRTL listing ..................................................................................................................... 237
9.1.3.3 NFPA 79 .......................................................................................................................... 237
9.1.3.4 ANSI B11 ......................................................................................................................... 238
9.1.4 Machine safety in Japan ................................................................................................... 238
9.1.5 Equipment regulations..................................................................................................... 239
9.2 General information about SINAMICS Safety Integrated .................................................... 239
9.3 System features ............................................................................................................... 240
9.3.1 STO functional safety data ............................................................................................... 240
9.3.2 Certification..................................................................................................................... 240
9.3.3 Safety instructions ........................................................................................................... 240
9.3.4 Probability of failure of the safety function ....................................................................... 242
9.3.5 Response time ................................................................................................................. 242
9.3.6 Residual risk .................................................................................................................... 243
9.4 Safety Integrated basic function ....................................................................................... 243

Table of contents
9.4.1 Safe Torque Off (STO) ...................................................................................................... 243

9.4.2 Forced dormant error detection ....................................................................................... 246
10 Tuning ................................................................................................................................................ 247
10.1 Controller overview ......................................................................................................... 247
10.2 Tuning mode ................................................................................................................... 249
10.3 One-button auto tuning ................................................................................................... 250
10.4 Real-time auto tuning ...................................................................................................... 255
10.5 Manual tuning ................................................................................................................. 258
10.6 Resonance suppression .................................................................................................... 259
10.7 Low frequency vibration suppression ............................................................................... 262
11 Parameters ......................................................................................................................................... 263
11.1 Overview ......................................................................................................................... 263
11.2 Parameter list .................................................................................................................. 264
12 Diagnostics ........................................................................................................................................ 305
12.1 Overview ......................................................................................................................... 305
12.2 List of faults and alarms ................................................................................................... 309
A Appendix............................................................................................................................................ 335
A.1 Overview ......................................................................................................................... 335
A.2 Assembly of cable terminals/connectors on the drive side ................................................. 337
A.2.1 Power terminal assembly ................................................................................................. 337
A.2.2 Encoder connector assembly ............................................................................................ 338
A.2.3 Brake terminal assembly .................................................................................................. 339
A.2.4 Setpoint connector assembly ........................................................................................... 340
A.3 Assembly of cable connectors on the motor side .............................................................. 341
A.3.1 Power connector assembly............................................................................................... 341
A.3.2 Encoder connector assembly ............................................................................................ 344
A.3.3 Brake connector assembly ................................................................................................ 348
A.4 Motor selection................................................................................................................ 349
A.4.1 Selection procedure ......................................................................................................... 349
A.4.2 Parameter description ...................................................................................................... 350
A.4.3 Selection examples .......................................................................................................... 352
A.5 Replacing fans ................................................................................................................. 355
Index .................................................................................................................................................. 357

Table of contents

Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
• Only work on electrical devices when you are qualified for this job.
• Always observe the country-specific safety rules.
Generally, the following steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any of
the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse
sequence.
WARNING
Risk of electric shock and fire from supply networks with an excessively high
impedance
Excessively low short-circuit currents can lead to the protective devices not tripping or
tripping too late, and thus causing electric shock or a fire.
• In the case of a conductor-conductor or conductor-ground short-circuit, ensure that the
short-circuit current at the point where the converter is connected to the line supply at
least meets the minimum requirements for the response of the protective device used.
• You must use an additional residual-current device (RCD) if a conductor-ground short
circuit does not reach the short-circuit current required for the protective device to
respond. The required short-circuit current can be too low, especially for TT supply
systems.

Fundamental safety instructions
WARNING
Risk of electric shock and fire from supply networks with an excessively low
impedance
Excessively high short-circuit currents can lead to the protective devices not being able to
interrupt these short-circuit currents and being destroyed, and thus causing electric shock or
a fire.
• Ensure that the prospective short-circuit current at the line terminal of the converter
does not exceed the breaking capacity (SCCR or Icc) of the protective device used.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage. Contact with hazardous voltage can result in severe injury or
death.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.
WARNING
Electric shock due to damaged motors or devices
Improper handling of motors or devices can damage them.
Hazardous voltages can be present at the enclosure or at exposed components on damaged
motors or devices.
• Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
• Do not use any damaged motors or devices.
WARNING
Electric shock due to unconnected cable shields
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
• As a minimum, connect cable shields and the cores of cables that are not used at one
end at the grounded housing potential.

WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
• Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.
WARNING
Electric shock due to residual charges in power components
Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the
power supply has been switched off. Contact with live parts can result in death or serious
injury.
• Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.
NOTICE
Damage to equipment due to unsuitable tightening tools.
Unsuitable tightening tools or fastening methods can damage the screws of the equipment.
• Be sure to only use screwdrivers which exactly match the heads of the screws.
• Tighten the screws with the torque specified in the technical documentation.
• Use a torque wrench or a mechanical precision nut runner with a dynamic torque sensor
and speed limitation system.
NOTICE
Property damage due to loose power connections
Insufficient tightening torques or vibration can result in loose power connections. This can
result in damage due to fire, device defects or malfunctions.
• Tighten all power connections to the prescribed torque.
• Check all power connections at regular intervals, particularly after equipment has been
transported.
WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire and smoke. This can result in serious personal injury or property damage.
• Install built-in units in a suitable metal cabinet in such a way that personnel are
protected against fire and smoke, or take other appropriate measures to protect
personnel.
• Ensure that smoke can only escape via controlled and monitored paths.

WARNING
Active implant malfunctions due to electromagnetic fields
Converters generate electromagnetic fields (EMF) in operation. Electromagnetic fields may
interfere with active implants, e.g. pacemakers. People with active implants in the
immediate vicinity of an converter are at risk.
• As the operator of an EMF-emitting installation, assess the individual risks of persons
with active implants.
• Observe the data on EMF emission provided in the product documentation.
WARNING
Active implant malfunctions due to permanent-magnet fields
Even when switched off, electric motors with permanent magnets represent a potential risk
for persons with heart pacemakers or implants if they are close to converters/motors.
• If you have a heart pacemaker or implant, maintain a minimum distance of 2 m.
• When transporting or storing permanent-magnet motors always use the original packing
materials with the warning labels attached.
• Clearly mark the storage locations with the appropriate warning labels.
• IATA regulations must be observed when transported by air.
WARNING
Unexpected movement of machines caused by radio devices or mobile phones
Using radio devices or mobile telephones in the immediate vicinity of the components can
result in equipment malfunction. Malfunctions may impair the functional safety of machines
and can therefore put people in danger or lead to property damage.
• Therefore, if you move closer than 20 cm to the components, be sure to switch off radio
devices or mobile telephones.
• Use the "SIEMENS Industry Online Support app" only on equipment that has already been
switched off.
NOTICE
Damage to motor insulation due to excessive voltages
When operated on systems with grounded line conductor or in the event of a ground fault
in the IT system, the motor insulation can be damaged by the higher voltage to ground. If
you use motors that have insulation that is not designed for operation with grounded line
conductors, you must perform the following measures:
• IT system: Use a ground fault monitor and eliminate the fault as quickly as possible.
• TN or TT systems with grounded line conductor: Use an isolating transformer on the line
side.

WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in increased
downtime and reduced service lives for devices/systems.
• Ensure compliance with the specified minimum clearance as ventilation clearance for the
respective component.
NOTICE
Overheating due to inadmissible mounting position
The device may overheat and therefore be damaged if mounted in an inadmissible position.
• Only operate the device in admissible mounting positions.
WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
• Check that the warning labels are complete based on the documentation.
• Attach any missing warning labels to the components, where necessary in the national
language.
• Replace illegible warning labels.
NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
• Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.
WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
• Observe the information in the appropriate product documentation before
commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.

Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
WARNING
Injury caused by moving or ejected parts
Contact with moving motor parts or drive output elements and the ejection of loose motor
parts (e.g. feather keys) out of the motor enclosure can result in severe injury or death.
• Remove any loose parts or secure them so that they cannot be flung out.
• Do not touch any moving parts.
• Safeguard all moving parts using the appropriate safety guards.
WARNING
Fire due to inadequate cooling
Inadequate cooling can cause the motor to overheat, resulting in death or severe injury as a
result of smoke and fire. This can also result in increased failures and reduced service lives of
motors.
• Comply with the specified cooling requirements for the motor.
WARNING
Fire due to incorrect operation of the motor
When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire
and smoke. This can result in severe injury or death. Further, excessively high temperatures
destroy motor components and result in increased failures as well as shorter service lives of
motors.
• Operate the motor according to the relevant specifications.
• Only operate the motors in conjunction with effective temperature monitoring.
• Immediately switch off the motor if excessively high temperatures occur.

1.2 Equipment damage due to electric fields or electrostatic discharge
CAUTION
Burn injuries caused by hot surfaces
In operation, the motor can reach high temperatures, which can cause burns if touched.
• Mount the motor so that it is not accessible in operation.
Measures when maintenance is required:
• Allow the motor to cool down before starting any work.
• Use the appropriate personnel protection equipment, e.g. gloves.
1.2 Equipment damage due to electric fields or electrostatic

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

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

1.4 Security information
1.4 Security information

Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the internet if and to the extent such a connection is necessary
and only when appropriate security measures (e.g. firewalls and/or network segmentation)
are in place.
For additional information on industrial security measures that may be implemented, please
visit
https://www.siemens.com/industrialsecurity (https://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customer’s exposure to
cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed under
https://www.siemens.com/industrialsecurity
(https://new.siemens.com/global/en/products/services/cert.html#Subscriptions).
Further information is provided on the Internet:
Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states
in your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security
concept.
• Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
• On completion of commissioning, check all security-related settings.

1.5 Residual risks of power drive systems

When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer
must take into account the following residual risks emanating from the control and drive
components of a drive system:
1. Unintentional movements of driven machine or system components during commissioning,
operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
– External influences/damage
– X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component failure
– Software errors
3. Hazardous shock voltages caused by, for example:
– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Condensation/conductive contamination
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk to
people with a pacemaker, implants or metal replacement joints, etc., if they are too close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters or
data communication via the network
For more information about the residual risks of the drive system components, see the
relevant sections in the technical user documentation.


General information 2
The SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN) are
available in two variants, 400 V variant and 200 V variant.
The 200 V variant is available in four frame sizes: FSA, FSB, FSC, and FSD. Frame sizes A, B,
and C are used on the single phase or three phase power network while frame size D is used
on the three phase power network only.
The 400 V variant is available in four frame sizes: FSAA, FSA, FSB, and FSC. All the frame sizes
are used on three phase power network only.
2.1 Scope of delivery
2.1.1 Drive components
Components in the SINAMICS V90 PN 200 V variant drive package
Component Illustration Rated Outline dimension Frame size Article number

power (kW) (Width x Height x
Depth, mm)
SINAMICS V90 PN, 0.1/0.2 45 x 170 x 170 FSA 6SL3210-5FB10-1UF2
single/three-phase, 6SL3210-5FB10-2UF2
200 V
0.4 55 x 170 x 170 FSB 6SL3210-5FB10-4UF1
0.75 80 x 170 x 195 FSC 6SL3210-5FB10-8UF0
SINAMICS V90 PN, 1.0/1.5/2.0 95 x 170 x 195 FSD 6SL3210-5FB11-0UF1
three-phase, 200 V 6SL3210-5FB11-5UF0
6SL3210-5FB12-0UF0
Connectors For FSA and FSB
For FSC and FSD
Shielding plate For FSA and FSB
For FSC and FSD
User documentation Information Guide English-Chinese bilingual version

General information
Components in the SINAMICS V90 PN 400 V variant drive package
Component Illustration Rated Outline dimension Frame size Article number

power (kW) (Width x Height x
Depth, mm)
SINAMICS V90 PN, 0.4 60 x 180 x 200 FSAA 6SL3210-5FE10-4UF0
three-phase, 400 V 0.75/1.0 80 x 180 x 200 FSA 6SL3210-5FE10-8UF0
6SL3210-5FE11-0UF0
1.5/2.0 100 x 180 x 220 FSB 6SL3210-5FE11-5UF0
6SL3210-5FE12-0UF0
3.5/5.0/7.0 140 x 260 x 240 FSC 6SL3210-5FE13-5UF0
6SL3210-5FE15-0UF0
6SL3210-5FE17-0UF0
Connectors For FSAA
For FSA
For FSB and FSC
Shielding plate For FSAA and FSA
For FSB and FSC
User documentation Information Guide English-Chinese bilingual version

General information
Drive rating plate (example)
① Drive name ⑦ Part number

② Mains input ⑧ Pollution degree and overvoltage criteria
③ Output data ⑨ QR code
④ Degree of protection and supported ⑩ Product serial number
motor rated power
⑤ Article number ⑪ Rated short-circuit current
⑥ MAC address ⑫ Copper wire

General information
Article number explanation (example)

General information
Serial number explanation (example)

General information
2.1.2 Motor components
Components in the SIMOTICS S-1FL6 low inertia motor package
Component Illustration Rated power (kW) Shaft height (mm) Article number
SIMOTICS S-1FL6, 0.05/0.1 20 1FL6022-2AF21-1❑❑1
low inertia 1FL6024-2AF21-1❑❑1
0.2/0.4 30 1FL6032-2AF21-1❑❑1
1FL6034-2AF21-1❑❑1
0.75/1.0 40 1FL6042-2AF21-1❑❑1
1FL6044-2AF21-1❑❑1
1.5/2.0 50 1FL6052-2AF21-0❑❑1
1FL6054-2AF21-0❑❑1
1.5/2.0 50 1FL6052-2AF21-2❑❑1
1FL6054-2AF21-2❑❑1
User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide
Note: For the SH50 motors with a multi-turn absolute encoder, only the angular connector version is available.

General information
Components in the SIMOTICS S-1FL6 high inertia motor package
Component Illustration Rated power (kW) Shaft height Article number

(mm)
SIMOTICS S-1FL6, 0.4/0.75 45 1FL6042-1AF61- ❑ ❑❑1
high inertia 1FL6044-1AF61- ❑ ❑❑1
0.75/1.0/1.5/1.75/2.0 65 1FL6061-1AC61- ❑ ❑❑1
1FL6062-1AC61- ❑ ❑❑1
1FL6064-1AC61- ❑ ❑❑1
1FL6066-1AC61- ❑ ❑❑1
1FL6067-1AC61- ❑ ❑❑1
2.5/3.5/5.0/7.0 90 1FL6090-1AC61- ❑ ❑❑1
1FL6092-1AC61- ❑ ❑❑1
1FL6094-1AC61- ❑ ❑❑1
1FL6096-1AC61- ❑ ❑❑1
Straight connectors with a fixed outlet direction 0
Angular connectors with a flexible outlet direction 2
User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide

General information
Motor rating plate (example)
① Motor type ⑩ Degree of protection

② Article number ⑪ Motor operating mode
③ Serial number ⑫ Stall current
④ Rated torque ⑬ Rated current
⑤ Static torque ⑭ Holding brake
⑥ Rated voltage ⑮ Motor ID
⑦ Rated power ⑯ Weight
⑧ Encoder type and resolution ⑰ Maximum speed
⑨ Thermal class ⑱ Rated speed

General information
Article number explanation

General information
2.2 Device combination
V90 PN 200 V servo system
SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 PN MOTION-CONNECT 300 pre-
200 V servo drives assembled cables
Power Brake Encoder
cable cable cable
Rated Rated Rated Shaft Article No. 1FL 60 Article No. Frame Article No. Article No. Article No.
torque power speed height 6SL3210-5 size 6FX3002-5 6FX3002-5 6FX3002-2
(Nm) (kW) (rpm) (mm)
0.16 0.05 3000 20 22-2AF21-1 ❑ ❑1 FB10-1UF2 FSA CK01-.... BK02-.... ❑❑ 20-....
0.32 0.1 3000 24-2AF21-1 ❑ ❑1
0.64 0.2 3000 30 32-2AF21-1 ❑ ❑1 FB10-2UF2
1.27 0.4 3000 34-2AF21-1 ❑ ❑1 FB10-4UF1 FSB
2.39 0.75 3000 40 42-2AF21-1 ❑ ❑1 FB10-8UF0 FSC
3.18 1 3000 44-2AF21-1 ❑ ❑1 FB11-0UF1 FSD
4.78 1.5 3000 50 52-2AF21-0 1) ❑ ❑1 FB11-5UF0 CK31-.... BL02-.... ❑❑ 10-....
6.37 2 3000 54-2AF21-0 1) ❑ ❑1 FB12-0UF0
4.78 1.5 3000 50 52-2AF21-2 2) ❑ ❑1 FB11-5UF0 CK32-.... BL03-.... ❑❑ 12-....
6.37 2 3000 54-2AF21-2 2) ❑ ❑1 FB12-0UF0
Incremental encoder TTL 2500 ppr A Incremental encoder TTL CT
2500 ppr
Absolute encoder single-turn 21-bit M Absolute encoder single- DB
turn 21-bit
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit
+ 12-bit multi-turn
Cable length 3)
3m 1AD0
5m 1AF0
10 m 1BA0
20 m 1CA0
1) Low inertia motor with straight connectors
2) Low inertia motor with angular connectors
3) The last four numbers in the cable article number (....)

General information
V90 PN 400 V servo system
SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 PN MOTION-CONNECT 300 pre-
connectors 400 V servo drives assembled cables
Power Brake Encoder
cable cable cable
Rated Rated Rated Shaft Article No. 1FL60 Article No. Frame Article No. Article No. Article No.
1.27 0.4 3000 45 42-1AF61-0 ❑ ❑1 FE10-4UF0 FSAA CL01-.... BL02-.... ❑❑ 10-....
2.39 0.75 3000 44-1AF61-0 ❑ ❑1 FE10-8UF0 FSA
3.58 0.75 2000 65 61-1AC61-0 ❑ ❑1 FE11-0UF0
4.78 1.0 2000 62-1AC61-0 ❑ ❑1
7.16 1.5 2000 64-1AC61-0 ❑ ❑1 FE11-5UF0 FSB CL11-....
8.36 1.75 2000 66-1AC61-0 ❑ ❑1
9.55 2.0 2000 67-1AC61-0 ❑ ❑1 FE12-0UF0
11.9 2.5 2000 90 90-1AC61-0 ❑ ❑1
16.7 3.5 2000 92-1AC61-0 ❑ ❑1 FE13-5UF0 FSC
23.9 5.0 2000 94-1AC61-0 ❑ ❑1 FE15-0UF0
33.4 7.0 2000 96-1AC61-0 ❑ ❑1 FE17-0UF0
Incremental encoder TTL 2500 ppr A Incremental encoder TTL CT
2500 ppr
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit DB
+ 12-bit multi-turn
Cable length 1)
3m 1AD0
5m 1AF0
7m 1AH0
10 m 1BA0
15 m 1BF0
20 m 1CA0

General information
SIMOTICS S-1FL6 high inertia servo motors with angu- SINAMICS V90 PN MOTION-CONNECT 300 pre-assembled
lar connectors 400 V servo drives cables
Power Brake Encoder
cable cable cable
Rated Rated Rated Shaft Article No. 1FL60 Article No. Frame Article No. Article No. Article No.
1.27 0.4 3000 45 42-1AF61-2 ❑ ❑1 FE10-4UF0 FSAA CL02-.... BL03-.... ❑❑❑❑ -
2.39 0.75 3000 44-1AF61-2 ❑ ❑1 FE10-8UF0 FSA ....
3.58 0.75 2000 65 61-1AC61-2 ❑ ❑1 FE11-0UF0
4.78 1.0 2000 62-1AC61-2 ❑ ❑1
7.16 1.5 2000 64-1AC61-2 ❑ ❑1 FE11-5UF0 FSB CL12-....
8.36 1.75 2000 66-1AC61-2 ❑ ❑1
9.55 2.0 2000 67-1AC61-2 ❑ ❑1 FE12-0UF0
11.9 2.5 2000 90 90-1AC61-2 ❑ ❑1
16.7 3.5 2000 92-1AC61-2 ❑ ❑1 FE13-5UF0 FSC
23.9 5.0 2000 94-1AC61-2 ❑ ❑1 FE15-0UF0
33.4 7.0 2000 96-1AC61-2 ❑ ❑1 FE17-0UF0
Incremental encoder TTL 2500 ppr A Incremental encoder TTL CT12
2500 ppr
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit DB10
+ 12-bit multi-turn
Cable length 1)
3m 1AD0
5m 1AF0
7m 1AH0
10 m 1BA0
15 m 1BF0
20 m 1CA0
Note
You can select a SINAMICS V90 servo drive for all the SIMOTICS S-1FL6 servo motors whose
rated power values are equal to or smaller than that specified as matching with this servo
drive in the table above.
When the rated power of the connected motor is smaller than that of the drive, make sure
that the actual load of the motor is within the overload capacity of the drive. For more
information, see Section "300% overload capacity (Page 162)".
For this kind of application, you need to consult with the Siemens service before operating.
Note
Before your commissioning, check the motor ID in the drive (p29000) and make sure that the
value is that specified on the rating plate of the connected motor, especially when the drive is
working with a motor whose rated power value is lower than that of this drive.

General information
2.3 Product overview
SINAMICS V90 PN servo drives

• SINAMICS V90 PN 200V variant
FSA and FSB
FSC and FSD

General information
• SINAMICS V90 PN 400V variant

FSAA and FSA
FSB and FSC

General information
SIMOTICS S-1FL6 servo motors

• Low inertia motors
Note
For the SH50 motors with a multi-turn absolute encoder, only the angular connector
version is available.

General information
• High inertia motors with straight connectors
• High inertia motors with angular connectors

General information
2.4 Accessories
2.4 Accessories
2.4.1 MOTION-CONNECT 300 cables and connectors
Overview of Cables
MOTION-CONNECT 300 cables Connectors

(6FX2003-)
Type Article No. Illustration (left: drive Used for Cross-section of cores Drive Motor
6FX3002-1) side; right: motor side) (SIMOTICS S-1FL6) (mm2) side side
Power cable 5CK01-.... Low inertia: 4 × 0.75 - 0LL12
Brake cable 5BK02-.... 2 × 0.75 - 0LL52
Incremental 2CT20-.... 3 × 2 × 0.20 + 2 × 2 × 0SB14 0SL12

encoder cable 0.25
Absolute 2DB20-.... 3 × 2 × 0.20 + 2 × 2 × 0DB12
encoder cable 0.25
Power cable 5CK31-.... For low inertia motors Low inertia (with 4 × 2.5 - 0LL11
of 1.5 kW to 2 kW: straight connectors):
5CL01-.... For high inertia motors 4 × 1.5 0LL11

of 0.4 kW to 1 kW:
High inertia (with
straight connectors):
5CL11-.... For high inertia motors 4 × 2.5 0LL11

of 1.5 kW to 7 kW:
Brake cable 5BL02-.... 2 x 0.75 - 0LL51
Incremental 2CT10-.... 3 x 2 x 0.22 + 2 x 2 x 0SB14 0SL11

encoder cable 0.25
Absolute 2DB10-.... 3 x 2 x 0.22 + 2 x 2 x 0DB11
encoder cable 0.25

General information
2.4 Accessories
MOTION-CONNECT 300 cables Connectors

(6FX2003-)
Type Article No. Illustration (left: drive Used for Cross-section of cores Drive Motor
6FX3002-1) side; right: motor side) (SIMOTICS S-1FL6) (mm2) side side
Power cable 5CK32-.... For low inertia motors Low inertia (with an- 4 × 2.5 - 0LL13
of 1.5 kW to 2 kW: gular connectors):
5CL02-.... For high inertia motors 4 × 1.5

of 0.4 kW to 1 kW:
High inertia (with
angular connectors):
5CL12-.... For high inertia motors 4 × 2.5
of 1.5 kW to 7 kW:
Brake cable 5BL03-.... 2 × 0.75 - 0LL53
Incremental 2CT12-.... 3 × 2 × 0.22 + 2 × 2 × 0SB14 0SL13

encoder cable 0.25
Absolute 2DB12-.... For low inertia motors 3 × 2 × 0.22 + 2 × 2 × 0DB13
encoder cable of 1.5 kW to 2 kW 0.25
2DB10-.... For high inertia motors 3 × 2 × 0.22 + 2 × 2 × 0DB11

of 0.4 kW to 7 kW 0.25
1) The "..." in the article number indicates the code for cable length, in which 1AD0 = 3 m, 1AF0 = 5 m, 1AH0 = 7 m, 1BA0 =
10 m, 1BF0 = 15 m, 1CA0 = 20 m.
For more information about the cables, see Section "Technical data - cables (Page 70)".

General information
2.4 Accessories
Overview of connectors
Cable connectors (motor side)

Article No. 0LL11 0LL51 0SL11 0DB11 2)
(6FX2003-)
Pin type1) Soldering Soldering Soldering Soldering
Qty. per package 30 30 30 30
Illustration
Article No. 0LL12 0LL52 0SL12 0DB12

(6FX2003-)
Pin type Soldering Soldering Soldering Soldering
Illustration
Article No. 0LL13 0LL53 0SL13 0DB13

(6FX2003-)
Pin type Crimping Crimping Crimping Crimping
Illustration
Cable connectors (drive side)

Article No. 0SB14
(6FX2003-)
Pin type Soldering
Qty. per package 30
Illustration
1) Mind the pin type when assembling the cable connectors. Do not solder on the crimping type connectors or crimp the
soldering type connectors.
2) The quantity of connectors in the package will change to 5 pieces in the near future due to product package upgrading.
Consult with your Siemens representative to confirm the packaging quantity before purchasing.
For more information about assembling cable connectors on both the drive and motor sides,
see Sections "Assembly of cable terminals/connectors on the drive side (Page 337)" and
"Assembly of cable connectors on the motor side (Page 341)".

General information
2.4 Accessories
2.4.2 PROFINET cable and connector

The cable is used to connect the drive to a controller.
Name Article number Length (m)

SINAMICS V90 PROFINET I/O connector (20 pins) 6SL3260-2MA00-0VA0 -
SINAMICS V90 PROFINET I/O cable (20 pins) 1) 6SL3260-4MA00-1VB0 1
RJ45 data plug-in connector, with 180° (straight) cable outlet 6GK1901-1BB10-2AA0 -
Standard bus cable (4-core), sold by meter, not assembled 6XV1840-2AH10 -
Preassembled PROFINET cable, with two RJ45 plug-180 con- 6XV1871-5BH10 1
nectors
1)The wire color of the PROFINET I/O cable exposed side, see Section "Control/status interface
- X8 (Page 111)".
2.4.3 USB cable

The USB cable is used to connect the drive to a PC for commissioning the drive directly from
the PC.
Name Article number Length (m)

USB cable 6SL3255-0AA00-2CA0 3
2.4.4 Connectors used on the drive front panel

If you need a new connector that used on the drive front panel, you can order a connector kit
from Siemens.
Connector kits
Illustration Used for (SINAMICS servo drive) Article number

200 V variant
FSA, FSB 6SL3200-0WT02-0AA0
FSC, FSD 6SL3200-0WT03-0AA0
400 V variant
FSAA 6SL3200-0WT00-0AA0
FSA 6SL3200-0WT01-0AA0
1) You can obtain the connectors for SINAMICS V90 400V servo drives of FSB and FSC from the con-
nector kits for SINAMICS V90 400V servo drives of FSAA or FSA.

General information
2.4 Accessories
2.4.5 External 24 V DC power supply

A 24 V DC power supply is needed to supply the V90 PN servo drive. Refer to the table below
to select the power supply:
Parameter Description
Rated voltage (V) 24 (-15% to +20%) 1)
Maximum current (A) When using a motor without a brake: 1.5 A
When using a motor with a brake: 1.5 A + motor holding brake rated
current (See Section "Technical data - servo motors (Page 61)")
Ripple caused by the rectifier ≤ 5%
Safety insulation class PELV
1) When using a motor with a brake, the minimum voltage of 24 V DC -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 V DC +10% is exceeded, 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]
Note
Make sure that you use different 24 V power supplies for the drive and for the inductive loads
such as relays or solenoid valves; otherwise, the drive may not work properly.
Note
The maximum length of the cable used to connect the 24 V power supply to the drive is
10 m.

General information
2.4 Accessories
2.4.6 Fuse/Type E combination motor controller

A fuse/Type E combination motor controller 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 other
additional local codes. Refer to the table below for the selection of fuses and Type E
combination motor controllers:
SINAMICS V90 200 V variant
Recommended fuse
SINAMICS V90 CE-compliant fuse UL/cUL-compliant fuse

Frame Rated power Article No. Rated current Class 1) Max. rated SCCR with
size (kW) (A) current (A) fuse (kA)
1-phase, 200 V AC to 240 V AC
FSA 0.1 3NA3 801 6 List JDDZ 6 100
0.2 3NA3 801 6 List JDDZ 6 100
FSB 0.4 3NA3 803 10 List JDDZ 16 100
FSC 0.75 3NA3 805 16 List JDDZ 20 100
FSA 0.1 3NA3 801 6 List JDDZ 6 100
0.2 3NA3 801 6 List JDDZ 6 100
FSB 0.4 3NA3 803 10 List JDDZ 10 100
FSC 0.75 3NA3 805 16 List JDDZ 20 100
FSD 1.0 3NA3 805 16 List JDDZ 20 100
1.5 3NA3 810 25 List JDDZ 25 100
2.0 3NA3 810 25 List JDDZ 25 100
1) UL/cUL-compliant listed (JDDZ) fuse rated Class J, T, CC, CF, or G.
Recommended Type E combination motor controller
SINAMICS V90 Type E combination motor controller 1)

Frame Rated power Article No. Rated Rated voltage Rated power SCCR with
size (kW) current (A) (V AC) (hp) CMC (kA)
FSA 0.1 3RV 2011-1EA10 2.8 to 4 230/240 1/3 65
3RV 2021-1EA10
0.2 3RV 2011-1EA10 2.8 to 4 230/240 1/3 65
3RV 2021-1EA10
FSB 0.4 3RV 2011-1HA10 5.5 to 8 230/240 1 65
3RV 2021-1HA10
FSC 0.75 3RV 2011-1KA10 9 to 12.5 230/240 2 65
3RV 2021-1KA10

General information
2.4 Accessories

Frame Rated power Article No. Rated Rated voltage Rated power SCCR with
size (kW) current (A) (V AC) (hp) CMC (kA)
FSA 0.1 3RV 2011-1EA10 2.8 to 4 230/240 3/4 65
3RV 2021-1EA10
0.2 3RV 2011-1EA10 2.8 to 4 230/240 3/4 65
3RV 2021-1EA10
FSB 0.4 3RV 2011-1EA10 2.8 to 4 230/240 3/4 65
3RV 2021-1EA10
FSC 0.75 3RV 2011-1HA10 5.5 to 8 230/240 2 65
3RV 2021-1HA10
FSD 1.0 3RV 2011-1JA10 7 to 10 230/240 3 65
3RV 2021-1JA10
1.5 3RV 2011-4AA10 10 to 16 230/240 5 65
3RV 2021-4AA10
2.0 3RV 2011-4AA10 10 to 16 230/240 5 65
3RV 2021-4AA10
1) The above types for Type E combination motor controllers are listed in compliance with both CE
and UL/cUL standards.
SINAMICS V90 400 V variant
Recommended fuse
SINAMICS V90 CE-compliant fuse UL/cUL-compliant fuse

Frame Rated power Article No. Rated current Class Max. rated SCCR with
size (kW) (A) current (A) fuse (kA)
FSAA 0.4 3NA3 801 6 List JDDZ 10 65
FSA 0.75 3NA3 801 6 List JDDZ 10 65
1.0 3NA3 803 10 List JDDZ 10 65
FSB 1.5 3NA3 803 10 List JDDZ 15 65
2.0 3NA3 805 16 List JDDZ 15 65
FSC 3.5 3NA3 807 20 List JDDZ 25 65
5.0 3NA3 807 20 List JDDZ 25 65
7.0 3NA3 810 25 List JDDZ 25 65

General information
2.4 Accessories
Recommended Type E combination motor controller

Frame Rated power Article No. Rated Rated volt- Rated SCCR with
size (kW) current (A) age (V AC) power (hp) CMC (kA)
FSAA 0.4 3RV 2021-1DA10 2.2 to 3.2 380/480 0.5 65
FSA 0.75 3RV 2021-1EA10 2.8 to 4 380/480 1 65
1.0 3RV 2021-1FA10 3.5 to 5 380/480 1.34 65
FSB 1.5 3RV 2021-1HA10 5.5 to 8 380/480 2 65
2.0 3RV 2021-4AA10 11 to 16 380/480 2.68 65
FSC 3.5 3RV 2021-4BA10 14 to 20 380/480 4.7 65
5.0 3RV 2021-4BA10 14 to 20 380/480 6.7 65
7.0 3RV 2021-4DA10 20 to 25 380/480 9.4 65
1) The above types for Type E combination motor controllers are listed in compliance with both CE
and UL/cUL standards.
WARNING
Requirements for United States/Canadian installations (UL/cUL)
This equipment is capable of providing internal motor overload protection according to
UL 61800-5-1.
For each frame size AA, A, B, C and D, use 75 °C copper wire only.
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 V AC, 50/60 Hz, 3-phase; 120/208 V AC, 50/60 Hz, 1/3-
phase
• Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 V AC
• Suitable for Type 2 SPD application
• Clamping shall be provided between phases and also between phase and ground
2.4.7 Braking resistor

The SINAMICS V90 PN has a built-in braking resistor. The table below shows the information
of the built-in resistor:
SINAMICS V90 PN Resistance (Ω) Max. power (kW) Rated power (W) Max. energy (kJ)
1/3-phase, 200 V AC to 240 V AC
FSA (0.2 kW) 150 1.09 13.5 0.55
FSB 100 1.64 20.5 0.82
FSC 50 3.28 41 1.64

General information
2.4 Accessories
SINAMICS V90 PN Resistance (Ω) Max. power (kW) Rated power (W) Max. energy (kJ)
FSD (1 kW) 50 3.28 41 1.64
FSD (1.5 kW to 2 kW) 25 6.56 82 3.28
FSAA 533 1.2 17 1.8
FSA 160 4 57 6
FSB 70 9.1 131 13.7
FSC 27 23.7 339 35.6
Note
The 200 V variant servo drive with rated power of 0.1 kW does not have a built-in resistor.
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 the set threshold. The temperature
of the heat sink increases (>100 °C) when the braking resistor is working. If alarms A52901
and A5000 appear at the same time, you need to switch the built-in braking resistor to the
external braking resistor. You can select a standard braking resistor according to the table
below:
SINAMICS V90 PN Minimum Max. power (kW) Rated power (W) Max. energy (kJ)
resistance (Ω)
1/3-phase, 200 V AC to 240 V AC
FSA 150 1.09 20 0.8
FSB 100 1.64 21 1.23
FSC 50 3.28 62 2.46
FSD (1 kW) 50 3.28 62 2.46
FSD (1.5 kW to 25 6.56 123 4.92
2 kW)
FSAA 533 1.2 30 2.4
FSA 160 4 100 8
FSB 70 9.1 229 18.3
FSC 27 23.7 1185 189.6
Note
When selecting a braking resistor, you must take into account the factors such as braking
inertia, deceleration time, speed variation, and braking period according to your specific
application and technology. The resistance of the selected braking resistor must not be lower
than the minimum resistance listed above.

General information
2.4 Accessories
2.4.8 Line filter (PN)

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 PN
to the permissible values. The SINAMICS V90 PN 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.
Recommended line filters
SINAMICS V90 PN Rated current (A) Article number Degree of protection

FSA 18 6SL3203-0BB21-8VA1 IP20
FSB
FSC
FSA 5 6SL3203-0BE15-0VA0 IP20
FSB
FSC
FSD 12 6SL3203-0BE21-2VA0
FSAA 5 6SL3203-0BE15-0VA0 IP20
FSA
FSB 12 6SL3203-0BE21-2VA0
FSC 20 6SL3203-0BE22-0VA0

General information
2.4 Accessories
Outline dimensions (mm)

Filter used on the single phase power network
Fastening Tightening torque

Fixing to the mounting surface 2 x M4 screws, nuts, washers 1.2 Nm to 1.8 Nm
Protective conductor connection 2 x M5 bolts 2.0 Nm to 2.2 Nm
Filter used on the three phase power network
Rated current (A) W W1 W2 H H1 H2 H3 D ø1

5 55 8.5 38 176.7 170 158 145 130 5
12 75 8.5 58 176.7 170 158 145 140 5
20 60 10 40 251.7 250 240 220 130 5.5

General information
2.4 Accessories
Technical data
Basic technical data
Rated current 18 A
Rated voltage Single phase 200 V AC to 240 V AC (-15% to +10%)
Line frequency 50/60 Hz (-10% to +10%)
Product standard IEC 61800-5-1, UL 61800-5-1, IEC 60939-3, and UL 60939-3
Power loss < 1.2 W
Weight 0.70 kg
Package size (H × W × D) 230 mm × 100 mm × 90 mm
Rated current 5A 12 A 20 A
Rated voltage Three phase 200 V AC to 480 V AC Three phase 380 V AC to 480 V AC
(-15% to +15%) (-15% to +15%)
Line frequency 50/60 Hz (-10% to +10%)
Product standard IEC 61800-5-1
Power loss <2W <3W <7W
Weight 0.68 kg 1.01 kg 1.33 kg
Package size (H × W × D) 140 mm × 200 mm × 260 mm 140 mm × 200 mm × 330 mm
Insertion loss
Rated current 5A
Noise frequency (MHz) 0.15 0.5 1.0 5.0 10 30
CM (dB) 50 80 70 45 35 20
DM (dB) 50 75 65 55 55 40
Rated current 12 A
CM (dB) 65 80 75 45 35 20
DM (dB) 60 70 70 60 50 30
Rated current 18 A
CM (dB) 32 70 82 88 81 90
DM (dB) 40 67 68 72 69 59
Rated current 20 A
CM (dB) 60 70 65 45 35 20
DM (dB) 55 65 60 50 45 40

General information
2.4 Accessories
Connecting (example)
SINAMICS V90 Rated Max. tightening Wire gauge Wire gauge Stripping
PN current (A) torque (Nm) (AWG) (mm2) length L (mm)
200 V variant (6SL3210-5FB..-....)
10-1UF2 18 0.7 to 0.8 14 to 12 2.08 to 3.32 8 to 9
10-2UF2
10-4UF1 18 to 16 0.82 to 1.31
10-8UF0 14 to 12 2.08 to 3.32

General information
2.4 Accessories
SINAMICS V90 PN Rated Tightening Wire gauge Wire gauge Stripping length
current (A) torque (Nm) (AWG) (mm2) L (mm)
200 V variant (6SL3210-5FB..-....)
10-1UF2 5 0.7 to 0.8 14 to 12 2.08 to 3.32 8
10-2UF2
10-4UF1 22 to 20 0.33 to 0.52
10-8UF0 18 to 16 0.82 to 1.31
11-0UF1 12 0.7 to 0.8 16 to 14 1.31 to 2.08
11-5UF0 14 to 12 2.08 to 3.32
12-0UF0
400 V variant (6SL3210-5FE..-....)
10-4UF0 5 0.7 to 0.8 15 to 13 1.65 to 2.63 8
10-8UF0
11-0UF0
11-5UF0 12 0.7 to 0.8 15 to 14 1.65 to 2.08
12-0UF0
13-5UF0 20 0.7 to 0.8 11 to 10 4.17 to 5.26
15-0UF0
17-0UF0

General information
2.4 Accessories
2.4.9 Micro SD card/SD card

Optionally a micro SD card/SD card can be used to copy drive parameters or perform a
firmware update. Micro SD card is used for 200 V variant servo drive and SD card is used for
400 V variant servo drive. Siemens recommends you to use the Siemens SD card (article
number: 6SL3054-4AG00-2AA0).
You can select high quality micro SD cards/SD cards with a maximum capacity of 32 GB from
manufacturers such as Kingston or SanDisk.
2.4.10 Replacement fans

The table below lists the replacement fans for SINAMICS V90 PN servo drives.
SINAMICS V90 PN Article number

FSD 6SL3200-0WF00-0AA0
FSB 6SL3200-0WF00-0AA0
FSC 6SL3200-0WF01-0AA0

General information
2.5 Function list
2.5 Function list
Function Description Control mode

Basic positioner (EPOS) (Page 173) Positions axes in absolute/relative terms with a motor en- EPOS
coder
Speed control (S) (Page 201) Flexibly controls motor speed and direction through S
PROFINET communication port
Safe Torque Off (STO) (Page 243) Safely disconnects the output voltage of the drive to switch EPOS, S
off the motor. The motor then cannot generate an output
torque and this prevents an unintentional motor restart.
One-button auto tuning (Page 250) Estimates the machine characteristic and sets the closed EPOS, S
loop control parameters (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 EPOS, S
loop control parameters (speed loop gain, speed integral
compensation, filter if necessary, etc.) continuously in real
time without any user intervention
Resonance suppression (Page 259) Suppresses the mechanical resonance, such as workpiece EPOS, S
vibration and base shake
Low frequency vibration suppression Suppresses the low frequency vibration in the machine EPOS
(Page 262) system
Speed limit (Page 201) Limits motor speed through internal speed limit commands EPOS, S
(two groups)
Torque limit (Page 202) Limits motor torque through internal torque limit com- EPOS, S
mands (two groups)
Basic operator panel (BOP) Displays servo status on a 6-digit 7-segment display EPOS, S
(Page 141)
External braking resistor - DCP, R1 An external braking resistor can be used when the internal EPOS, S
(Page 125) braking resistor is insufficient for regenerative energy
Digital inputs/outputs (DIs/Dos) Control signals and status signals can be assigned to four EPOS, S
(Page 112) programmable digital inputs and two digital outputs
PROFINET communication Supports communication between the SINAMICS V90 PN EPOS, S
(Page 205) servo drive and PLC with PROFINET communication protocol
SINAMICS V-ASSISTANT You can perform parameter settings, test operation, adjust- EPOS, S
ment and other operations with a PC

General information
2.6 Technical data
2.6 Technical data
2.6.1 Technical data - servo drives
2.6.1.1 SINAMICS V90 PN 200 V variant
General technical data
Overload capability 300%
Control system Servo control

Dynamic brake Built-in
Protective functions Earthing fault protection, output short-circuit protection 1), overvoltage/undervoltage
protection 2), drive I2t protection, motor overtemperature protection 3), IGBT over-
temperature protection
Overvoltage criteria Category III
Certification
Speed control mode

Speed control range Internal speed command 1:5000
Torque limit Set through a parameter
Environmental conditions
Surrounding air Operation 0 °C to 45 °C: without power derating
temperature 45 °C to 55 °C: with power derating
Storage -40 °C to +70 °C

General information
2.6 Technical data
Ambient humidity Operation < 90% (non-condensing)
Storage 90% (non-condensing)
Operating environment Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil gas, or
dust
Altitude ≤ 1000 m (without power derating)
Degree of protection IP20

Degree of pollution Class 2
Vibration
Operation Shock Operational area II
Peak acceleration: 5 g, 30 ms and 15 g, 11 ms
Quantity of shocks: 3 per direction × 6 directions
Duration of shock: 1 s
Vibration Operational area II
10 Hz to 58 Hz: 0.075 mm deflection
58 Hz to 200 Hz: 1 g vibration
Product packag- Vibration 2 Hz to 9 Hz: 3.5 mm deflection
ing 9 Hz to 200 Hz: 1 g vibration
Quantity of cycles: 10 per axis
Sweep seed: 1 octave/min
1) 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.
2) The V90 PN 200 V servo drive has an overvoltage threshold of 410 V DC and an undervoltage threshold of 150 V DC; the
V90 PN 400 V servo drive has an overvoltage threshold of 820 V DC and an undervoltage threshold of 320 V DC.
3) Motor temperature is calculated by motor thermal model and protected by the output current from the drive.

General information
2.6 Technical data
Specific technical data
Article No. 6SL3210-5FB... 10-1UF2 10-2UF2 10-4UF1 10-8UF0 11-0UF1 11-5UF0 12-0UF0
Frame size FSA FSA FSB FSC FSD FSD FSD
Rated output current (A) 1.2 1.4 2.6 4.7 6.3 10.6 11.6
Max. output current (A) 3.6 4.2 7.8 14.1 18.9 31.8 34.8
Max. supported motor power 0.1 0.2 0.4 0.75 1.0 1.5 2.0
(kW)
Output frequency (Hz) 0 to 330
Cooling type Self-cooled Fan-cooled
Outline dimensions (W x H x 45 x 170 x 170 55 x 170 x 80 x 170 x 95 x 170 x 195
D, mm) 170 195
Weight (kg) 1.1 1.25 1.95 2.3 2.4
Power loss 1)
Main circuit (W) 8 15 33 48 65 105 113
Regenerative resistor (W) 5 5 7 9 13 25 25
Control circuit (W) 16 16 16 16 16 18 18
Total (W) 29 36 56 73 94 148 156
Mains power supply
Voltage/frequency FSA, FSB and FSC: single phase/three phase 200 V AC to 240 V AC, 50/60 Hz
FSD: three phase 200 V AC to 240 V AC, 50/60 Hz
Permissible voltage fluctua- -15% to +10%
tion
Permissible frequency fluctu- -10% to +10%
ation
Permissible supply configura- TN, TT, IT
tion
Short-circuit current (SCCR) Maximum permissible short-circuit current: 100 kA rms
Minimum required short-circuit current: 5 kA rms
Rated input cur- 1-phase 2.5 3.0 5.0 10.4 - - -
rent (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 (kVA) 3-phase 0.5 0.7 1.1 1.9 2.7 4.2 4.6
Inrush current (A) 8.0
24 V DC power supply
Voltage (V) 24 (-15% to +20%) 2)
When using a motor with a brake: 1.5 A + motor holding brake rated current (See Section
"Technical data - servo motors (Page 61)".)
1) The values here are calculated at rated load.
2) When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 V DC power supply must be -
10% to +10% to meet the voltage requirement of the brake.

General information
2.6 Technical data
2.6.1.2 SINAMICS V90 PN 400 V variant
Overload capability 300%
Control system Servo control

Dynamic brake Built-in
Protective functions Earthing fault protection, output short-circuit protection 1), overvoltage/undervoltage
protection 2), drive I2t protection, motor overtemperature protection 3), IGBT over-
temperature protection
Overvoltage criteria Category III
Certification
Speed control mode

Speed control range Internal speed command 1:5000
Torque limit Set through a parameter
Environmental conditions
Surrounding air Operation 0 °C to 45 °C: without power derating
temperature 45 °C to 55 °C: with power derating
Storage -40 °C to +70 °C

Ambient humidity Operation < 90% (non-condensing)
Storage 90% (non-condensing)
Operating environment Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil gas, or
dust

General information
2.6 Technical data
Altitude ≤ 1000 m (without power derating)

Degree of pollution Class 2
Vibration
Operation Shock Operational area II
Peak acceleration: 5 g, 30 ms and 15 g, 11 ms
Quantity of shocks: 3 per direction × 6 directions
Duration of shock: 1 s
Vibration Operational area II
10 Hz to 58 Hz: 0.075 mm deflection
58 Hz to 200 Hz: 1 g vibration
Product packag- Vibration 2 Hz to 9 Hz: 3.5 mm deflection
ing 9 Hz to 200 Hz: 1 g vibration
Quantity of cycles: 10 per axis
Sweep seed: 1 octave/min
1) 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.
2) The V90 PN 200 V servo drive has an overvoltage threshold of 410 V DC and an undervoltage threshold of 150 V DC; the
V90 PN 400 V servo drive has an overvoltage threshold of 820 V DC and an undervoltage threshold of 320 V DC.
3) Motor temperature is calculated by motor thermal model and protected by the output current from the drive.

General information
2.6 Technical data
Article No. 6SL3210-5FE... 10-4UF0 10-8UF0 11-0UF0 11-5UF0 12-0UF0 13-5UF0 15-0UF0 17-0UF0
Frame size FSAA FSA FSA FSB FSB FSC FSC FSC
Rated output current (A) 1.2 2.1 3.0 5.3 7.8 11.0 12.6 13.2
Max. output current (A) 3.6 6.3 9.0 13.8 23.4 33.0 37.8 39.6
Max. supported motor power 0.4 0.75 1.0 1.75 2.5 3.5 5.0 7.0
(kW)
Output frequency (Hz) 0 to 330
Cooling type Self-cooled Fan-cooled
Outline dimensions (W x H x 60 x 180 80 x 180 x 200 100 x 180 x 220 140 x 260 x 240
D, mm) x 200
Weight (kg) 1.5 1.9 1.9 2.5 2.5 5.0 5.5 5.75
Power loss 1)
Main circuit (W) 12 29 32 84 96 92 115 138
Regenerative resistor (W) 17 57 57 131 131 339 339 339
Control circuit (W) 32 32 35 35 35 36 36 36
Total (W) 61 118 124 250 262 467 490 513
Mains power supply
Voltage/frequency Three phase 380 V AC to 480 V AC, 50/60 Hz
Permissible voltage fluctua- -15% to +10%
tion
Permissible frequency fluctu- -10% to +10%
ation
Permissible supply configura- TN, TT, IT
tion
Short-circuit current (SCCR) Maximum permissible short-circuit current: 65 kA rms
Minimum required short-circuit current: 5 kA rms
Rated input current (A) 1.5 2.6 3.8 6.6 9.8 13.8 15.8 16.5
Power supply capacity (kVA) 1.7 3.0 4.3 7.6 11.1 15.7 18.0 18.9
Inrush current (A) 8.0 8.0 8.0 4.0 4.0 2.5 2.5 2.5
24 V DC power supply
Voltage (V) 24 (-15% to +20%) 2)
When using a motor with a brake: 1.5 A + motor holding brake rated current (See Section
"Technical data - servo motors (Page 65)".)
1) The values here are calculated at rated load.
2) When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 V DC power supply must be -
10% to +10% to meet the voltage requirement of the brake.

General information
2.6 Technical data
2.6.2 Technical data - servo motors
2.6.2.1 1FL6 servo motor - low inertia
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 RAL 7016
Protection degree of shaft IP65, with shaft oil seal
Type of construction IM B5, IM V1, and IM V3
Positive rotation Clockwise (default setting in 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.
Article No. 1FL60... 22 24 32 34 42 44 52 54

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

General information
2.6 Technical data
Article 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 Max. 30x Max. 20x Max. 15x
motor inertia ratio
Operating temperature (°C) 1FL602❑, 1FL603❑ and 1FL604❑: 0 to 40 (without power derating)
1FL605❑: 0 to 30 (without power derating) 1)
Storage temperature (°C) -20 to +65
Maximum noise level (dB) 60
Oil seal lifetime (h) 3000 to 5000
Encoder lifetime (h) > 20000 3)
Protection degree of motor IP65
body
Protection degree of cable IP20 -
end connector
Holding brake
Rated voltage (V) 24 ± 10%
Rated current (A) 0.25 0.3 0.35 0.57
Holding brake torque (Nm) 0.32 1.27 3.18 6.37
Maximum brake opening 35 75 105 90
time (ms)
Maximum brake closing 10 10 15 35
time (ms)
Maximum number of 2000 2)
emergency stops
Weight (kg)
With brake 0.7 0.9 1.5 1.9 3.7 4.2 6.8/7.0 4) 8.0/8.2 4)
Without brake 0.5 0.6 1.0 1.5 2.8 3.4 5.4/5.5 4) 6.6/6.7 4)
1) When the surrounding temperature is between 30 °C and 40 °C, the 1FL605 motor will have a power derating of 10%.
2) Restricted emergency stop operation is permissible. Up to 2000 braking operations for the motors of 0.05 kW to 1 kW,
and 200 braking operations for the motors of 1.5 kW to 2 kW can be executed with 300% rotor moment of inertia as ex-
ternal moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear.
3) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is
30 °C, the encoder lifetime can be ensured.
4) The former value indicates the data for low inertia motors with straight connectors; the latter value indicates the data for
low inertia motors with angular connectors.
Note
The data of rated torque, rated power, maximum torque, and armature resistance in the
above table allows a tolerance of 10%.

General information
2.6 Technical data
Torque-Speed characteristics

General information
2.6 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 consumption on the
cables grows larger when the cables in the major loop exceed 20 m.
Permissible radial and axial forces

General information
2.6 Technical data
2.6.2.2 1FL6 servo motor - high inertia
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 RAL 7016
Protection degree of shaft IP65, with shaft oil seal
Type of construction IM B5, IM V1, and IM V3
Positive rotation Clockwise (default setting in 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.
Article No. 1FL60... 42 44 61 62 64 66 67 90 92 94 96

Rated power (kW) 0.40 0.75 0.75 1.00 1.50 1.75 2.00 2.5 3.5 5.0 7.0 1)
Rated torque (Nm) 1.27 2.39 3.58 4.78 7.16 8.36 9.55 11.9 16.7 23.9 33.4
Maximum torque (Nm) 3.8 7.2 10.7 14.3 21.5 25.1 28.7 35.7 50.0 70.0 90.0
Rated speed (rpm) 3000 2000 2000
Maximum speed (rpm) 4000 3000 3000 2500 2000
Rated frequency (Hz) 200 133 133
Rated current (A) 1.2 2.1 2.5 3.0 4.6 5.3 5.9 7.8 11.0 12.6 13.2
Maximum current (A) 3.6 6.3 7.5 9.0 13.8 15.9 17.7 23.4 33.0 36.9 35.6
Moment of inertia (10-4 2.7 5.2 8.0 15.3/ 15.3 22.6 29.9 47.4 69.1 90.8 134.3
kgm2) 11.7 2)
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) 13.5 2)
Recommended load to Max. 10× Max. 5× Max. 5×
motor inertia ratio

General information
2.6 Technical data
Article No. 1FL60... 42 44 61 62 64 66 67 90 92 94 96

Operating temperature 0 to 40 (without power derating)
(°C)
Storage temperature -20 to +65
(°C)
Maximum noise level 65 70 70
(dB)
Oil seal lifetime (h) 5000
Degree of protection IP65, with shaft oil seal
Holding brake
Rated voltage (V) 24 ± 10%
Rated current (A) 0.88 1.44 1.88
Holding brake torque 3.5 12 30
(Nm)
Maximum brake open- 60 180 220
ing time (ms)
Maximum brake closing 45 60 115
time (ms)
Maximum number of 2000 3)
emergency stops
Oil seal lifetime (h) 5000
Degree of protection IP65, with shaft oil seal
Weight of incremental encoder motor (kg)
With brake 2) 4.6/ 6.4/ 8.6/ 11.3/ 11.3/ 14.0/ 16.6/ 21.3/ 25.7/ 30.3/ 39.1/
4.8 6.6 8.8 10.1 11.5 14.2 16.8 21.5 25.9 30.5 39.3
Without brake 2) 3.3/ 5.1/ 5.6/ 8.3/ 8.3/ 11.0/ 13.6/ 15.3/ 19.7/ 24.3/ 33.2/
3.4 5.2 5.7 7.0 8.4 11.1 13.7 15.4 19.8 24.4 33.3
Weight of absolute encoder motor (kg)
With brake 2) 4.4/ 6.2/ 8.3/8.4 11.0/ 11.0/ 13.6/ 16.3/ 20.9/ 25.3/ 29.9/ 38.7/
4.5 6.3 9.7 11.1 13.7 16.4 21.0 25.4 30.0 38.8
Without brake 2) 3.1/ 4.9/ 5.3/5.4 8.0/6.7 8.0/8.1 10.7/ 13.3/ 14.8/ 19.3/ 23.9/ 32.7/
3.2 5.0 10.8 13.4 14.9 19.4 24.0 32.8
1) When the surrounding temperature is between 30 °C and 40 °C, the 1FL6096 motors with brake will have a power derat-
ing of 10%.
2) The former value indicates the data for high inertia motors with straight connectors; the latter value indicates the data
for high inertia motors with angular connectors.
3) Restricted emergency stop operation is permissible. Up to 2000 braking operations can be executed with 300% rotor
moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inad-
missible amount of wear.
4) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is
30 °C, the encoder lifetime can be ensured.
Note
The data of rated torque, rated power, and maximum torque in the above table allows a
tolerance of 10%.

General information
2.6 Technical data
Torque-Speed characteristics

General information
2.6 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 consumption grows
larger when the cables in the major loop exceed 20 m.
• For 1FL6096 motors, the maximum speed can be ensured when the line supply voltage is
higher than 380 V.
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, 8 mm, and 5 mm.

General information
2.6 Technical data
2.6.2.3 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 Surrounding temperature in °C

above 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
2.6.2.4 China Energy Label

This chapter describes information about Siemens SIMOTICS S-1FL6 motors that must comply
with the China national standard GB30253-2013.
Applicable China national standard
Name of the standard Minimum allowable values of energy efficiency and energy efficiency grades for permanent-
magnet synchronous motors (GB30253-2013).
Implementation date July 1, 2020
Applicable motors Permanent-magnet synchronous motors (without built-in brakes) up to 1000 V, fed by varia-
ble-frequency power supply, and with a power rating of 0.55 kW to 90 kW, and with a rated
speed of 500 r/min to 3000 r/min
Requirements for motors The China energy label must be attached to all applicable motors since the date of implemen-
tation of the standard.
Affected Siemens products

Affected Siemens motors subject to the requirements of the standard GB30253-2013:
SIMOTICS S-1FL6 motors.

General information
2.6 Technical data
China energy label example
① Article number
Note
The article number ① stated on the China Energy Label corresponds to the complete article
number of the SIMOTICS S-1FL6 motor.
2.6.3 Technical data - cables
Parameter MOTION-CONNECT 300 Power Cable MOTION-CONNECT 300 MOTION-CONNECT

Encoder Cable 300 Brake Cable
Jacket material PVC PVC PVC
Number of cores 4 10 2
Operation temperature -25 to 80
(°C)
Shielding Yes
• Coverage ≥ 60%:
For 200 V variant servo drives + low inertia motors of 0.05 kW to 1 kW
• Coverage ≥ 85%:
For 200 V variant servo drives + low inertia motors of 1.5 kW to 2 kW, and for 400 V variant
servo drives + high inertia motors of 0.4 kW to 7 kW
Minimum bending 5 x outer diameter
radius, static (mm)
Minimum bending 155
radius, dynamic (mm)
Oil resistance EN60811-2-1 fulfilled
Flame-retardant EN60332-1-1 to 1-3 fulfilled
Certification RoHS, CE RoHS RoHS
Cable used for 200 V variant servo drive + low inertia motor of 0.05 kW to 1 kW
Rated voltage (V) 220 24 24
Cross-section of cores 4 x 0.75 3 x 2 x 0.20 + 2 x 2 x 0.25 2 x 0.75
(mm2)
Outer diameter (mm) ø (6.7±0.4) ø (7.2±0.3) ø (6.1±0.3)

General information
2.6 Technical data
Parameter MOTION-CONNECT 300 Power Cable MOTION-CONNECT 300 MOTION-CONNECT

Encoder Cable 300 Brake Cable
(motor-side only)
Bending cycles 100000:
Maximum acceleration 3 m/s2, maximum speed 40 m/min
Cable used for 200 V variant servo drives + low inertia motors of 1.5 kW to 2 kW, and for 400 V variant servo drives + high
inertia motors of 0.4 kW to 7 kW
Cross-section of cores • 4 x 1.5: 3 x 2 x 0.22 + 2 x 2 x 0.25 2 x 0.75
(mm2)
For high inertia motors of 0.4 kW to 1 kW
• 4 x 2.5:
For low inertia motors of 1.5 kW to 2 kW
and high inertia motors of 1.5 kW to 7 kW
Rated voltage (V) 380 24 24
Outer diameter (mm) • ø (7.8±0.3): ø (6.9±0.3) ø (6.0±0.3)
For high inertia motors of 0.4 kW to 1 kW
• ø (9.0±0.4):
For low inertia motors of 1.5 kW to 2 kW
and high inertia motors of 1.5 kW to 7 kW
(motor-side only)
Bending cycles 1000000:
Maximum acceleration 3 m/s2, maximum speed 40 m/min
2.6.4 Address of CE-authorized manufacturer

The CE Declaration of Conformity is held on file available to the competent authorities at the
following address:
SINAMICS V90 drive

Siemens AG
Digital Industries
Motion Control
Frauenauracher Straße 80
DE-91056 Erlangen
Germany
SIMOTICS S-1FL6 motor

Siemens AG
Digital Industries
Motion Control
Industriestraße 1
DE-97615 Bad Neustadt a. d. Saale
Germany

General information
2.6 Technical data

Mounting 3
3.1 Mounting the drive
Protection against the spread of fire

The device may be operated only in closed housings or in control cabinets with protective
covers that are closed, and when all of the protective devices are used. The installation of the
device in a metal control cabinet or the protection with another equivalent measure must
prevent the spread of fire and emissions outside the control cabinet.
Protection against condensation or electrically conductive contamination

Protect the device, e.g. by installing it in a control cabinet with degree of protection IP54
according to IEC 60529 or NEMA 12. Further measures may be necessary for particularly
critical operating conditions.
If condensation or conductive pollution can be excluded at the installation site, a lower
degree of control cabinet protection may be permitted.
WARNING
Death or severe personal injury from harsh installation environment
A harsh installation environment will jeopardize personal safety and equipment. Therefore,
• Do not install the drive and the motor in an area subject to inflammables or
combustibles, water or corrosion hazards.
• Do not install the drive and the motor in an area where it is likely to be exposed to
constant vibrations or physical shocks.
• Do not keep the drive exposed to strong electro-magnetic interference.
CAUTION
Risk of injury due to touching hot surfaces
There is a risk of injury if you touch the hot surfaces, because surfaces of the drive can reach
a high temperature during operation and for a short time after switching-off.
• Avoid coming into direct contact with the drive surface.
For mounting conditions, see Technical data - servo drives (Page 55).

Mounting
3.1.1 Mounting orientation and clearance

The SINAMICS V90 PN 200 V variant servo drives with rated power of 400 W and 750 W
support vertical mounting and horizontal mounting. Other drives support vertical mounting
only.
Mount the drive in a shielded cabinet by observing the mounting orientation and clearance
specified in the following illustrations.
Mounting orientation
NOTICE
Overheating due to inadmissible mounting orientation
If you use an inadmissible mounting orientation, the drives can overheat and therefore be
damaged.
• Always observe the mounting orientation required in the instruction.

Mounting
Mounting clearance
Note
When mounting the drive horizontally, you need to make sure the distance between the drive
front panel and the top cabinet wall is larger than 100 mm.
Note
The drive must be derated to 80% when one of the following conditions is satisfied:
• The surrounding temperature is 0 °C to 45 °C, and the mounting clearance is less than
10 mm. In this case, the minimum mounting clearance should not be less than 5 mm.
• The surrounding temperature is 45 °C to 55 °C. In this case, the minimum mounting
clearance should not be less than 20 mm.
Note
When mounting the drive in the cabinet, you need to consider the temperature change of the
cooling air. The rapid temperature change of the cooling air is forbidden.

Mounting
3.1.2 Drill patterns and outline dimensions
SINAMICS V90 PN 200V variant (unit: mm)

Mounting

Mounting
SINAMICS V90 PN 400V variant (unit: mm)

Mounting

Mounting
3.1.3 Mounting the drive
Note
Screw tightening
Make sure you fix the screw to the terminal door of the drive after you have completed the
installation work.
Note
For the installation altitude lower than or equal to 2000 m above sea level, it is permissible to
connect the drive to any of the line supplies that are specified for it. For the installation
altitude higher than 2000 m and lower than 5000 m above sea level, you must connect the
drive to any of the specified line supplies either via an isolating transformer or with a
grounded neutral point.

Mounting
3.2 Mounting the motor
NOTICE
Damage to the encoder due to shocking
Shocks at the motor shaft end can cause an encoder damage.
• Do not exert any shock at the shaft end.
The following warning labels are attached to the motor upon delivery:
• One piece of "No shocks on the shaft end" warning label
• One piece of "Hot surface" warning label
In addition, three pieces of "Hot surface" warning labels are provided in the scope of delivery.
Before mounting the motor, attach them to the motor surfaces to make sure that all the four
longitudinal sides of the motor display the labels.
For mounting conditions, see Technical data - servo motors (Page 61).
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.
Note
When configuring the IM V3 type of construction, you need to pay particular attention to the
permissible axial force (weight force of the drive elements) and the necessary degree of
protection.

Mounting
SIMOTICS S-1FL6 Low inertia servo motors (unit: mm)

Shaft height 20 mm
Rated power Rated torque a L L1 LE

0.05 kW 0.16 Nm 38.5 86 119 15
0.1 kW 0.32 Nm 38.5 106 139 35
Shaft height 30 mm

0.2 kW 0.64 Nm 39.5 98 132.5 27
0.4 kW 1.27 Nm 39.5 123 157.5 52

Mounting
Shaft height 40 mm

0.75 kW 2.39 Nm 48 139 178.3 40
1.0 kW 3.18 Nm 48 158.8 198.1 60
Shaft height 50 mm, with straight connectors

Mounting
Shaft height 50 mm, with angular connectors
Rated power Rated a b b1 L L1

torque
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
SIMOTICS S-1FL6 high inertia servo motors (unit: mm)
Shaft height 45 mm, with the incremental encoder and straight connectors

Mounting
Shaft height 45 mm, with the incremental encoder and angular connectors
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 the absolute encoder and straight connectors

Mounting
Shaft height 45 mm, with the absolute encoder and angular connectors

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

Mounting
Rated power Rated K K1 a b b1

torque
0.75 kW 3.58 Nm 148 202.5 163 15 69.5
1.0 kW 4.78 Nm 181/164 1) 235.5/219 1) 196/179.5 1)
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
1) The former value indicates the dimension for high inertia motors with straight connectors; the
latter value indicates the dimension for high inertia motors with angular connectors.

Mounting
Rated power Rated K K1 a b b1

torque
0.75 kW 3.58 Nm 151 205.5 166 15 69.5
1.0 kW 4.78 Nm 184/167.5 1) 238.5/222 1) 199/182.5 1)
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
1) The former value indicates the dimension for high inertia motors with straight connectors; the
latter value indicates the dimension for high inertia motors with angular connectors.

Mounting

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

Mounting

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
3.2.2 Mounting the motor
WARNING
Personal injury and material damage due to motor falling down
Some motors, especially the 1FL609❑ are heavy. Motor falling down can cause serious
personal injury or material damage.
• The excessive weight of the motor should be considered and any necessary assistance
required for mounting should be sought.
NOTICE
Damage to the motor due to liquid entering
If the liquid enters the motor, the motor can be damaged.
• When installing the motor horizontally, make sure that the cable outlet faces downward
to protect the motor from ingress of oil or water.

Mounting
NOTICE
Damage to the absolute encoder due to the magnetic interference from the magnetic
field
The magnetic interference from the magnetic field can cause a damage to the absolute
encoder.
• To avoid magnetic interference to the absolute encoder, keep the servo motor with an
absolute encoder at least 15 mm away from the devices that produce a magnetic field
stronger than 10 mT.
Note
Using the eyebolts
The 1FL609❑ motor (90 mm shaft 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.
Note
The 1FL6 motors are supplied with degree of protection IP65, which protects dust and water
as medium that can potentially enter, and are not suitable for use in environments where oil
or other creeping fluids are used.
If the motors are used in applications which use oil-containing, creeping and/or aggressive
cooling lubricants, you must take additional measures to protect the motors (for example,
using suitable covers).
Install the motor onto a steel flange with four screws as shown in the following figure:
Motor Screw Recommended flange size Tightening torque Flange material

Low inertia motors
1FL602❑ 2 x M4 120 x 100 x 40 (mm) 2.4 Nm Steel
1FL603❑ 4 x M5 120 x 100 x 40 (mm) 4.7 Nm
1FL604❑ 4 x M6 120 x 100 x 40 (mm) 8 Nm
1FL605❑ 4 x M8 120 x 100 x 40 (mm) 20 Nm
High inertia motors
1FL604❑ 4 x M6 270 x 270 x 10 (mm) 8 Nm Steel
1FL606❑ 4 x M8 390 x 390 x 15 (mm) 20 Nm
1FL609❑ 4 x M12 420 x 420 x 20 (mm) 85 Nm

Mounting
3.2.3 Attaching output elements

Reduce the bending torque load applied to the shaft and the bearing by appropriately
arranging the output elements.
Mount the output elements as close as possible to the motor bearing.
Optimum Unfavorable
Low stress on shafts and bearings High stress on shafts and bearings
Mount or remove the power output elements (e.g. couplings, gear wheels, belt pulleys) using
suitable devices only (see figure).
• Use the threaded hole in the shaft extension.
• If required, heat up the output elements before mounting or removing.
• When removing the output elements, use an intermediate disk to protect the centering in
the shaft extension.
• If necessary, completely balance the motor together with the output elements according
to ISO 1940.
Note
Motors with feather key are half-key balanced. The motors have been balanced with half a
feather key.
For motor dimension, see Section "Mounting orientation and dimensions (Page 81)".

Mounting
3.2.4 Motor heat dissipation conditions

The rated motor specifications are continuous allowable values at a surrounding temperature
of 40 °C when the motor is installed with a steel flange. When the motor is mounted on a
small surface, the motor temperature might rise considerably due to limited heat radiating
abilities of the surface.
The motor overtemperature protection function protects the motor by responding to
overtemperature conditions with alarms or faults. The motor temperature is calculated using
the motor thermal model, and the calculation is closely related to the flange size. Make sure
that you use a suitable flange according to the recommended flange sizes; otherwise, the
motor overtemperature protection function might work improperly. For more information
about the recommended flange size, see Section "Mounting the motor (Page 90)".
Note
The actual temperature rise depends on how the flange (motor mounting section) is fixed on
the installation surface, the material of the motor mounting section, and motor speed.
Always check the actual motor temperature.

Mounting

Connecting 4
4.1 System connection
4.1.1 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.
• The line supply voltage must be within the allowable range (refer to the drive rating
plate). Never connect the line supply cable to the motor terminals U, V, W or connect the
motor power cable to the line input terminals L1, L2, L3.
• Never wire up the U, V, W terminals in an interchanged phase sequence.
• If the CE marking for cables is mandatory in some cases, the motor power cable, line
supply cable and brake cable used must all be shielded cables.
• For terminal connection, make sure that the clearances in air between non-insulated live
parts are at least 5.5 mm.
• Cables connected may not come into contact with rotating mechanical parts.
WARNING
Death or severe personal injury from electrical shock
The earth leakage current for the drive can be greater than 3.5 mA AC, 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.
WARNING
Danger to life when PE connectors are touched
When the equipment is working, hazardous touch current can be present at the PE
connectors; if touched, this can result in death or severe personal injury.
• Do not touch the PE connector during operation or within a certain period since power
disconnection.

Connecting
CAUTION
Personal injury and damage to property from inadequate protection
Inadequate protection may cause minor personal injury or damage to property.
• Route a second PE conductor with the cross section of the supply system lead in parallel
to the protective earth via separate terminals or use a copper protective earth conductor
with a cross section of 10 mm2.
• Terminals for equipotential bondings that exist in addition to terminals for PE conductors
must not be used for looping-through the PE conductors.
• To ensure protective separation, an isolating transformer must be used for the 220 V
AC/380 V AC line supply system.
NOTICE
Drive damage caused by short-circuiting between the shielding wire and the unused
pin on the PROFINET I/O connector
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-
assembled PROFINET I/O connector. This can cause damage to the drive.
• Exercise caution when connecting the shielding cable to the PROFINET I/O connector.
• You can see the assembly method of the connector in Section "Assembly of cable
terminals/connectors on the drive side (Page 337)".
Note
Interruptions of the internal protective bonding of the equipment caused by cable
movement
The interruptions of the internal protective bonding of the equipment may be caused by
cable movement such as dragging cables.
• Do not drag cables when in operation.
• Make sure that you have performed appropriate protective measures for the protective
bonding when moving cables.
Note
Low Voltage Directive complied
Our products comply with EN61800-5-1: 2007 standards and Low Voltage Directive (Low
Voltage Directive 2006/95/EC).
Note
For low inertia motors of shaft heights 20 mm, 30 mm and 40 mm, the encoder cable
connectors may only be accessible to electrically skilled personnel.
Note
The mini-USB interface of the SINAMICS V90 PN is used for fast commissioning and
diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long-term
monitoring.

Connecting
4.1.2 Using several single-phase converters in machines and plants
Overview
Evaluate the input currents of single-phase converters in your machine or plant in terms of
harmonics and unbalance.
Description
In unfavorable cases, the harmonic currents of several converters in the neutral conductor
(N) add up to a value greater than the currents of the line conductors (L1, L2, L3). The current
carrying capacity of the neutral conductor must be sufficient for this. IEC 60364-5-52:2019,
section 524, makes recommendations for sizing the neutral conductor. If no more precise
information is available, the standard recommends dimensioning the neutral conductor for
1.45 times the current carrying capacity of the line conductors.
CAUTION
Fire caused by neutral conductor (N) overload
The neutral conductor can heat up due to the load from harmonic currents and cause a fire.
• Consider the harmonic currents when dimensioning the neutral conductor.
WARNING
Electric shock caused by PEN conductor overload
In TN-C supply networks, the protective function of the PEN conductor can be adversely
affected by exposure to harmonic currents.
• Consider the harmonic currents when dimensioning the PEN conductor.
4.1.3 EMC instructions

Reliable and disturbance-free operation is only guaranteed for EMC-compliant installation.
When connecting the drive system, you need to observe the following EMC-compliant
instructions:
• To comply with the EMC standards, all cables connected with the SINAMICS V90 system
must be shielded cables, which include line supply cables (cables from the line supply to
the line filter and from the line filter to the SINAMICS V90 drive), power cable, encoder
cable and brake cable.
• Route signal cables and power cables separately in different cable conduits. The signal
cables shall be at least 10 cm away from the power cables.
• The SINAMICS V90 drives are designed for operation in the second environment (industrial
area) and may not be used in the first environment (residential area) unless the
appropriate noise suppression measures have been adopted.

Connecting
• 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.
– For a radiated emission test, an external AC filter (between the mains supply and the
drive) need to be used to meet the EMC requirement and the drive need to be installed
inside the shielded metallic chamber, other parts of the motion control system
(including the PLC, DC power supply, spindle drive, motor) need to be put inside the
shielded chamber.
– For a conductive emission test, an external AC filter (between the mains supply and the
drive) need to 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.
NOTICE
Malfunction caused by radio devices or mobile phones
When radio devices or mobile phones are used in the immediate vicinity of the drives (less
than 20 cm), the drives can be disturbed, which can cause the drives to malfunction. This
may impair the functional safety of drives and can therefore put people in danger or lead to
property damage.
• If you come closer than around 20 cm to the drives, switch off any radios or mobile
phones.
Note
Failure to meet the EMC requirements resulting from failure to observe the wiring
instruction
Failure to meet the EMC requirements because you do not observe the wiring instruction.
• In order to meet EMC requirements, all cables must be shielded cables.
• Make sure that you connect the cable shields of shielded twisted-pair cables to the
shielding plate or the hose clamp of the servo drive.

Connecting
4.1.4 System connection diagrams

The SINAMICS V90 PN servo drive is integrated with digital input/output interface and
PROFINET communication port. It can be connected either to a Siemens controllers like S7-
1200 or S7-1500.
The following illustrations show the examples of the SINAMICS V90 PN servo system
connection.
SINAMICS V90 PN 200 V variant
FSB on the single phase power network

Connecting
① SINAMICS V90 PN servo drive ⑩ Micro SD card

② Fuse/Type-E combination motor controller (op- ⑪ Host controller
tion)
③ Line filter (option) ⑫ PROFINET I/O cable (20 pins)
④ 24 V DC power supply (option) ⑬ Encoder cable
⑤ External braking resistor (option, see "Braking ⑭ Shielding plate (in V90 package)
resistor (Page 46)" for selection)
⑥ External relay (third-party device) ⑮ Hose clamp (attached on Siemens power
cable)
⑦ SIMOTICS S-1FL6 servo motor ⑯ Power cable
⑧ PROFINET cable ⑰ Brake cable
⑨ USB cable

Connecting
FSD on the three phase power network
① SINAMICS V90 PN servo drive ⑩ Micro SD card

② Fuse/Type-E combination motor controller ⑪ Host controller
(option)
③ Line filter (option) ⑫ PROFINET I/O cable (20 pins)
④ 24 V DC power supply (option) ⑬ Encoder cable
⑤ External braking resistor (option, see ⑭ Shielding plate (in V90 package)
"Braking resistor (Page 46)" for selection)
⑥ External relay (third-party device) ⑮ Hose clamp (attached on Siemens power cable)
⑦ SIMOTICS S-1FL6 servo motor ⑯ Power cable
⑧ PROFINET cable ⑰ Brake cable
⑨ USB cable

Connecting
SINAMICS V90 PN 400 V variant

FSB on the three phase power network
① SINAMICS V90 PN servo drive ⑨ SD card

② Fuse/Type-E combination motor controller (option) ⑩ Host controller
③ Line filter (option) ⑪ PROFINET I/O cable (20 pins)
④ 24 V DC power supply (option) ⑫ Encoder cable
⑤ External braking resistor (option, see "Braking resistor ⑬ Shielding plate (in V90 package)
(Page 46)" for selection)
⑥ SIMOTICS S-1FL6 servo motor ⑭ Hose clamp (attached on Siemens power cable)
⑦ PROFINET cable ⑮ Power cable
⑧ USB cable ⑯ Brake cable

Connecting
4.1.5 Cable connection
Connecting the cable shields

To achieve EMC-compliant installation of the drive, connect the shields of the power cable to
the shielding plate via the hose clamps. The shielding plate is shipped with the drive. See
figure A for steps to connect cable shields with the shielding plate.
To ensure better EMC effects, you are recommended to strip the brake cable and the encoder
cable and connect the cable shields to earth, as shown in the figure A and figure B. Make sure
that the shielding plate, the drive and the motor are properly grounded.
Connecting the cable shields for power cable and brake cable
1. Connect the power cable, and brake cable, and strip the cables where necessary.
2. Slip the hose clamps over the cable shields and the shielding plate; tighten the screws to
press the cable shields onto the shielding plate as well as to fix the grounding lugs.

Connecting
Connecting the cable shields for the encoder cable
Adjusting cable directions from the motor side

For some low inertia motors and all high inertia motors, you can adjust the direction of the
power cable, encoder cable, or brake cable from the motor side to facilitate cable connection.
The following illustrations take high inertia motors with the incremental encoder for example
to show how to adjust the cable directions.
Low inertia motors with a shaft height of 50 mm and high inertia motors with straight
connectors
Note
Rotating the connectors
After connecting the cable to the motor, you can rotate the incremental encoder connector
within 270° and rotate the absolute encoder connector within 180°. For other connectors,
you can rotate them within 360°.

Connecting
High inertia motors with angular connectors
Note
Rotating the connectors
For motors with angular connectors, you can rotate all the connectors within 310° except for
the absolute encoder connector which can be rotated only within 180°.
Note
For an absolute encoder cable on a high inertia motor with angular connectors, adjust its
direction just the same as you adjust the cable directions on a high inertia motor with straight
connectors mentioned above.
Clamping cables on the motor side

When clamping cables on the motor side, observe the following requirements:
• The way of clamping the cable must be fully examined so that bending stress and cable's
own weight stress are not applied to the cable connection.
• For use in any application where the servo motor moves, fix the cables (power cable,
encoder cable, and brake cable) supplied with the servo motor, and flex the cables. Use
the cables within the bending cycle of the cables.
• Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a
machine corner or stamped by workers or vehicles.
• For installation on a machine where the servo motor will move, the bending radius should
be made as large as possible. Refer to Section "Technical data - cables (Page 70)" for
details.

Connecting
4.2 Main circuit wiring
4.2.1 Line supply - L1, L2, L3
Signal Description
200 V variant
L1 Line phase L1
L2 Line phase L2
L3 Line phase L3
Recommended minimum cable cross-section:
When used on the single phase power network:
FSA: 0.75 mm2
FSB: 0.52 mm2
FSC: 1.31 mm2
When used on the three phase power network:
FSA: 0.75 mm2
FSB: 0.33 mm2
FSC: 0.52 mm2
FSD (1 kW): 0.82 mm2
FSD (1.5 kW to 2 kW): 2.08 mm2
400 V variant
L1 Line phase L1
L2 Line phase L2
L3 Line phase L3
FSAA and FSA: 1.5 mm2
FSB and FSC: 2.5 mm2
Note
For 200 V variant servo drive, 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.
Assembling the line supply cable terminals

The procedure of assembling a line supply cable terminal is the same as that for a power
cable terminal on the drive side.
For more information, see Section "Assembly of cable terminals/connectors on the drive side
(Page 337)".

Connecting
Attaching the line supply cable
CAUTION
Risk of injury due to improper cable connection
When attaching the line supply cable to a line supply connector that has not been fixed on
the drive, you can injure your fingers.
• Make sure you first assemble the line supply connector to the drive and tighten the fixing
screws on the connector, and then attach the cable to the connector.
200 V variant
• For FSA and FSB
• For FSC and FSD
400 V variant
• For FSAA and FSA
You can attach the line supply cable with the same method for 200 V variant drives of
frame sizes FSC and FSD.
• For FSB and FSC
The FSB and FSC servo drives are equipped with barrier terminals for line supply
connection. You can fix the line supply cable on the servo drives by using the M4 screws
with a tightening torque of 2.25 Nm (19.91 lbf.in).

Connecting
4.2.2 Motor power - U, V, W
Motor output - drive side
Signal Description
200 V variant
U Motor phase U
V Motor phase V
W Motor phase W
FSA and FSB: 0.75 mm2
FSC and FSD (1 kW): 0.75 mm2
FSD (1.5 kW to 2 kW): 2.5 mm2
400 V variant
U Motor phase U
V Motor phase V
W Motor phase W
FSAA and FSA: 1.5 mm2
FSB and FSC: 2.5 mm2
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
Straight connectors: 1 U Black Phase U
2 V Black Phase V
3 W Black Phase W
4/ PE Yellow-green Protective earthing
Angular connectors:

Connecting
Wiring
* 4: high inertia motors with straight connectors and all low inertia motors
: high inertia motors with angular connectors
Attaching the motor power cable
CAUTION
Risk of injury due to improper cable connection
When attaching the motor power cable to a motor power connector that has not been fixed
on the drive, you can injure your fingers.
• Make sure you first assemble the motor power connector to the drive and tighten the
fixing screw on the connector, and then attach the cable to the connector.

Connecting
200 V variant
• FSA and FSB
• FSC and FSD
400 V variant
• For FSAA and FSA
You can attach the motor power cable with the same method for 200 V variant drives of
frame sizes FSC and FSD.
• For FSB and FSC
The FSB and FSC servo drives are equipped with barrier terminals for motor power
connection. You can fix the motor power cable on the servo drives by using the M4 screws
with a tightening torque of 2.25 Nm (19.91 lbf.in).

Connecting
4.3 Control/status interface - X8
Pin Signal Wire color on the Description

PROFINET I/O ca-
ble exposed side
Type: 20-pin MDR socket

Digital inputs/outputs
1 DI1 Green Digital input 1
2 DI2 Yellow Digital input 2
3 DI3 White Digital input 3
4 DI4 Brown Digital input 4
6 DI_COM Red Common terminal for digital inputs
7 DI_COM Blue Common terminal for digital inputs
11 DO1+ Gray-Pink Digital output 1, positive
12 DO1- Red-Blue Digital output 1, negative
13 DO2+ Gray Digital output 2, positive
14 DO2- Pink Digital output 2, negative
17 * BK+ Black Motor holding brake control signal, positive
18 * BK- Violet Motor holding brake control signal, negative
None
5 - - Reserved
8 - - Reserved
9 - - Reserved
10 - - Reserved
15 - - Reserved
16 - - Reserved
19 - - Reserved
20 - - Reserved
* The pins are used to connect the brake control signals for 200 V variant drive only.

Connecting
4.3.1 Digital inputs/outputs (DIs/Dos)

SINAMICS V90 PN supports free assignment of signals to the following digital input and
output terminals depending on the control mode selected:
DI1 to DI4 -- Assignable with parameters p29301 to p29304
DO1 to DO2 -- Assignable with parameters p29330 to p29331
For detailed information about default DI/DO signal assignments, see the table below:
Pin Digital in- Parameters Default values/signals

puts/outputs
1 DI1 p29301 2 (RESET)
2 DI2 p29302 11 (TLIM)
3 DI3 p29303 0
4 DI4 p29304 0
11 DO1 p29330 2 (FAULT)
13 DO2 p29331 9 (OLL)
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 and DO2 can be inversed. You can inverse the logics
of DO1 and DO2 by setting the bit 0 and bit 1 of parameter p0748.
4.3.1.1 DIs
You can assign a maximum of seven internal digital input signals to the SINAMICS V90 PN
servo drive. For detailed information about these signals, see the table below:
Name Type Description

RESET Edge Reset alarms
0→1 • 0→1: reset alarms
TLIM Level Torque limit selection
You can select two internal torque limit sources with the digital input
signal TLIM.
• 0: internal torque limit 1
• 1: internal torque limit 2
SLIM Level Speed limit selection
You can select two internal speed limit sources with the digital input
signal SLIM.
• 0: internal speed limit 1
• 1: internal speed limit 2

Connecting
Name Type Description

EMGS Level Quick stop
• 0: quick stop
• 1: servo drive is ready to run
REF Edge Setting the reference point with a digital input or reference cam input
0→1 for reference approaching mode
• 0→1: reference input
CWL Edge Clockwise over-travel limit (positive limit)
1→0 • 1: condition for operation
• 1→0: quick stop (OFF3)
CCWL Edge Counter-clockwise over-travel limit (negative limit)
1→0 • 1: condition for operation
• 1→0: quick stop (OFF3)
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

Connecting
4.3.1.2 DOs
You can assign a maximum of 10 internal digital output signals to the SINAMICS V90 PN servo
drive. For detailed information about these signals, see the table below:
Name Descriptions
RDY Servo ready
• 1: the drive is ready.
• 0: the drive is not ready (a fault occurs or the enable signal is missing).
FAULT Fault
• 1: in the fault state.
• 0: no fault.
ZSP Zero speed detection
• 1: motor speed ≤ zero speed (can be set with parameter p2161).
• 0: motor speed > zero speed + hysteresis (10 rpm).
TLR Torque limit reached
• 1: the generated torque has nearly (internal hysteresis) reached the value of
the positive torque limit or negative torque limit.
• 0: the generated torque has not reached any torque limit.
MBR Motor holding brake
• 1: the motor holding brake is engaged.
• 0: the motor holding brake is released.
Note: MBR is only a status signal because the control and the power supply of the
motor holding brake are realized with separate terminals.
OLL Overload level reached
• 1: the motor has reached the parameterizable output overload level (p29080
in % of the rated torque; default: 100%; max: 300%).
• 0: the motor has not reached the overload level.
RDY_ON Ready for servo on
• 1: the drive is ready for servo on.
• 0: the drive is not ready for servo on (a fault occurs, the main power supply is
missing, or STW1.1 and STW1.2 are not set to 1).
Note: after the drive is in "servo on" state, the signal remains at high level (1)
unless the above abnormal cases happen.
INP In-position signal
• 1: the number of droop pulses is in the preset in-position range (parameter
p2544).
• 0: the number of droop pulses is beyond the preset in-position range.

Connecting
Name Descriptions
REFOK Referenced
• 1: referenced.
• 0: not referenced.
STO_EP STO active
• 1: the enable signal is missing, indicating that STO is active.
• 0: the enable signal is available, indicating that STO is inactive.
Note: STO_EP is only a status signal for STO input terminals but not a safe DO for
the Safety Integrated function.
Wiring
The digital outputs support both PNP and NPN types of wirings. You can find detailed
information from the following diagrams:
NPN wiring PNP wiring

Connecting
4.3.2 Standard application wiring (factory setting)

Example 1

Connecting
Example 2
* Digital inputs, supporting both PNP and NPN types.

** The pins are used to connect the brake control signals for 200 V variant drive only. Refer
to section "Motor holding brake (Page 126)" for the detailed connections.

Connecting
4.3.3 Connection example with PLCs
4.3.3.1 SIMATICS S7-1200

Connecting
4.3.3.2 SIMATICS S7-1500

Connecting
4.4 24 V 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 V DC Voltage tolerance:
M Power supply, 0 V DC • Without brake: -15% to +20%
• With brake: -10% to +10%
Maximum current consumption:
• Without brake: 1.5 A
• With brake: 1.5 A + motor holding brake
rated current (See Section "Technical
data - servo motors (Page 61)")
Maximum conductor cross-section: 1.5 mm2
Wiring
WARNING
Material damages and personal injuries by the drop of a hanging axis
When the servo system is used as a hanging axis, the axis will drop if the positive and
negative poles of the 24 V power supply are connected inversely. Unexpected drop of the
hanging axis can cause material damages and personal injuries.
• Make sure that the 24 V power supply is correctly connected.
WARNING
Unexpected drop of the hanging axis can cause material damages and personal injuries.
• It is not allowed to use the STO with a hanging axis because the axis may drop.

Connecting
Note
Using the STO function
The STO1, STO+ and STO2 are short connected at the factory setting.
When the STO function is to be used, you must remove the short-circuit stick before
connecting the STO interfaces. The safety function of the servo drive is SIL 2 (EN61800-5-2).
If you do not need to use it any more, you must reinsert the short-circuit stick; otherwise, the
motor will not run.
For detailed information about the STO function, refer to "Safety Integrated basic function
(Page 243)".
Assembling the 24 V power supply and STO cable terminals

The procedure of assembling a 24 V power cable terminal or an STO cable terminal is the
same as that for a power cable terminal on the drive side of the V90 PN 200 V servo drives.
For more information, see Section "Assembly of cable terminals/connectors on the drive side
(Page 337)".
Plugging the 24 V power supply and STO cables

Connecting
4.5 Encoder interface - X9

The SINAMICS V90 200 V variant servo drive supports three kinds of encoders:
• Incremental encoder TTL 2500 ppr
• Absolute encoder single-turn 21-bit
• Absolute encoder 20-bit + 12-bit multi-turn
The SINAMICS V90 400 V variant servo drive supports two kinds of encoders:
• Incremental encoder TTL 2500 ppr
• Absolute encoder 20-bit + 12-bit multi-turn
Note
Failure to meet the EMC requirements because the cable is not shielded
If a cable is not shielded, it cannot meet the EMC requirements.
• The encoder cable must be shielded to meet the EMC requirements.
Encoder interface - drive side
Illustration Pin No. Signal name Description

1 Biss_DataP Absolute encoder data signal, positive
2 Biss_DataN Absolute encoder data signal, negative
3 Biss_ClockN Absolute encoder clock signal, negative
4 Biss_ClockP Absolute encoder clock signal, positive
5 P5V Encoder power supply, 5 V
6 P5V Encoder power supply, 5 V
7 M Encoder power supply, grounding
8 M Encoder power supply, grounding
9 Rp Encoder R phase positive signal
10 Rn Encoder R phase negative signal
11 Bn Encoder B phase negative signal
12 Bp Encoder B phase positive signal
13 An Encoder A phase negative signal
14 Ap Encoder A phase positive signal
Screw type: UNC 4-40 (plug-in terminal block)
Tightening torque: 0.4 Nm

Connecting
Encoder connector - motor side
Illustration Pin Incremental encoder TTL Illustration Absolute encoder single-turn

No. 2500 ppr 21-bit
Absolute encoder 20-bit + 12-
bit multi-turn
Signal Description Signal Description
Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm
1 P_Supply Power supply 5 V P_Supply Power supply 5 V
2 M Power supply 0 V M Power supply 0 V
3 A+ Phase A+ Clock_P Clock
4 B+ Phase B+ Data_P Data
5 R+ Phase R+ n. c. Not connected
6 n. c. Not connected P_Supply Power supply 5 V
7 P_Supply Power supply 5 V M Power supply 0 V
8 M Power supply 0 V Clock_N Inverted clock
9 A- Phase A- Data_N Inverted data
10 B- Phase B- Shielding Grounding
11 R- Phase R- Note
12 Shielding Grounding The pin11 to pin15 of the abso-
lute encoder connector are not
connected.
Illustration Pin Incremental encoder TTL 2500 ppr Absolute encoder single-turn 21-bit
No. Absolute encoder 20-bit + 12-bit
multi-turn
Low inertia motor, shaft-height: 50 mm
High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm
Straight con- 1 P_Supply Power supply 5 V P_Supply Power supply 5 V
nectors: 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
Angular con-
7 R+ Phase R+ n. c. Not connected
nectors:
8 R- Phase R- Data_N Inverted data

Connecting
Internal structure of encoder cable

6FX3002-2CT..../6FX3002-2DB....
Wiring of encoder cable
Low inertia motor, shaft-height: 20 mm, 30 mm and 40 mm
6FX3002-2CT20-.... 6FX3002-2DB20-....

Connecting
4.6 External braking resistor - DCP, R1
Low inertia motor, shaft-height: 50 mm

High inertia motor, shaft-height: 45 mm, 65 mm, and 90 mm
6FX3002-2CT10-..../6FX3002-2CT12-.... 6FX3002-2DB10-..../6FX3002-2DB12-....
Twisted-pair wires
Shielding
4.6 External braking resistor - DCP, R1

The SINAMICS V90 PN has been designed with an internal braking resistor to absorb
regenerative energy from the motor. When the internal braking resistor cannot meet the
braking requirements (e.g. the alarm A52901 is generated), you can connect an external
braking resistor. For more information about how to select a braking resistor, see Section
"Braking resistor (Page 46)".
Note
The 200 V variant servo drive with rated power of 0.1 kW does not have a built-in resistor.
Connecting an external braking resistor
NOTICE
Damage to the drive due to not moving the short-circuit stick between terminals DCP
and R2
There is a damage to the drive if you do not move the short-circuit stick between terminals
DCP and R2 when using an external resistor.
• Before connecting an external resistor to DCP and R1, remove the connection between
terminals DCP and R2.
For more information about how to connect the external braking resistor, see Section
"System connection diagrams (Page 99)".

Connecting
4.7 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.
The holding brake is built in the servo motors with brakes.
For 400 V variant servo drive, a motor holding brake interface (X7) is integrated in the front
panel. You can connect it to a servo motor with brake to use the function of motor holding
brake directly.
For 200 V variant servo drive, no specific interface is integrated. To use the function, you
need to connect the drive to a third-party device via the control/status interface (X8).
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.
Motor holding brake interface - drive side (for the 400 V variant servo drive only)
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%
Brake connector - motor side
Illustration Pin No. Signal Description

Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm
1 Brake+ Phase Brake+
2 Brake- Phase Brake-
Low inertia motor, shaft height: 50 mm

High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm
Straight connectors: 1 Brake+ Phase Brake+
2 Brake- Phase Brake-
Angular connectors:

Connecting
Single status
The following table describes the states of various interfaces and components when the
brake works.
• 200 V variant
Status MBR (DO) Brake control Relay Motor brake Motor shaft
(Brake) function
Brake en- High level (1) Off Without cur- Opened Cannot run
gagement rent
Brake release Low level (0) On With current Closed Can run
• 400 V variant
Status MBR (DO) Brake control Motor brake Motor shaft

(B+, B-) function
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 (1) Motor holding brake is engaged.
OFF = low level (0) Motor holding brake is released.
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 setting Unit Description

p29330 1 to 14 2 (FAULT) - Assignment of digital output 1
p29331 1 to 14 9 (OLL) - Assignment of digital output 2
Note
Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 112)" for detailed information about
the digital outputs.

Connecting
Wiring for the 200 V variant servo drive

The following diagrams show the examples when the brake is controlled through the motor
holding brake signal (Brake) of the 200 V variant servo drive.
Example 1:
Example 2:
Note
1) It is the isolated digital output power supply. Select a proper power supply based on the
relay type (see below for the recommended relay). When you use the 24 V DC power supply,
it can also be the controller power supply.
The motor brake can be controlled not only by the brake control signal from the SINAMICS
2)
V90 PN servo drive but also by external emergency stop.

3)Make sure that you use different power supplies for the brake (24 V DC) and for the brake
control signal (P24 V) separately to avoid electro-magnetic interference to electronic
components.
4)Install a varistor as shown above to suppress the surge voltage or surge current generated
by an ON/OFF action of the relay (RY).

Connecting
Varistor (V) used for the power supply of the brake
Note
All the following data on a varistor is provided based on the low inertia motors with a rated
power of 2 kW; however, the data is also applicable to the low inertia motors of other power
ranges.
Consider the following current-time and voltage-time characteristics when using a varistor to
suppress the surge voltage or surge current:
You may select an appropriate varistor with reference to the table below:
Power supply voltage of the brake 24 V DC

Order information Manufacturer EPCOS
Model S20K20
Specification requirements Operating temperature -20 °C to 60 °C
Delay switching frequency < 10 times/min
Maximum operating DC voltage 26 V
Average power dissipation 0.2 W
Voltage at 1 mA 33 V ± 10%
Clamping voltage at 20 A (8/20 μs) 65 V
Energy absorption (2 ms) at a time 18 J
Relay (R) used for the power supply of the brake

Siemens recommends you to select a Siemens relay (article number: 3RQ3018-2AB00).
You can find more information about Siemens relays from Chapter 05 of Catalog IC 10 -
SIRIUS 2016 at the following Web site:
Siemens relays
(http://w3app.siemens.com/mcms/infocenter/content/en/Pages/order_form.aspx?nodeKey=ke
y_517764&infotype=catalogs)
You can also select other high quality relays from manufacturers such as Omron (article
number: G2R-1A-E-DC24V).

Connecting
Wiring for the 400 V variant servo drive
Relevant parameters
Parameter Range Default Unit Description

p1215 0 to 2 0 - Configuration of the holding brake.
• 0: No holding brake available
• 1: Motor holding brake according to
sequence control
• 2: Motor holding brake always open
p1216 0 to 10000 Motor dependent ms Motor holding brake opening time.
p1217 0 to 10000 Motor dependent ms Motor holding brake closing time.
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 control word
STW1.0 has a rising edge and becomes closed once the motor is in "servo off" state.
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. 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 servo drive.
Note
For 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
NOTICE
Motor brake service life shortened due to the improper use
The motor brake is used for holding purpose only. Frequent emergency stops with the
motor brake will shorten its service life.
• Unless absolutely necessary, do not apply the motor brake as an emergency stop or
deceleration mechanism.

Connecting
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.

p1226 0 to 210000 20 rpm Speed threshold for the standstill identification.
p1227 0 to 300 300 s Monitoring time for the standstill identification.
p1228 0 to 299 0 s Delay time for pulse suppression.
The start of the closing time p1217 for the brake depends on the expiration of the shorter of
p1227 (zero speed detection monitoring time) and p1228 (pulse suppression delay time).

Connecting
4.8 PROFINET interface - X150
PROFINET interface
PROFINET devices from the SINAMICS family have a PROFINET interface (Ethernet-
controller/interface) with two ports (physical connection possibilities).
Every PROFINET device on the network is uniquely identified via its PROFINET interface. For
this purpose, each PROFINET interface has:
• A MAC address (factory default)
• An IP address
• A device name (name of the station)
Illustration Pin PROFINET communication port 1 - PROFINET communication port 2 -

P1 P2
1 P1RXP Port 1 receive data + P2RXP Port 2 receive data +
2 P1RXN Port 1 receive data - P2RXN Port 2 receive data -
3 P1TXP Port 1 transmit data + P2TXP Port 2 transmit data +
4 PE terminal Protective earthing PE terminal Protective earthing
6 P1TXN Port 1 transmit data - P2TXN Port 2 transmit data -
LED displays
For diagnostic purposes, the RJ45 sockets are each equipped with a green and an orange LED.
This allows the following status information about the respective PROFINET port to be
displayed:
Name Color Status Meaning

Link Green lit Transfer rate 100 Mbit/s
off No or faulty connection
Activity Orange lit Data exchange
off No data exchange

Connecting
Wiring
The maximum length of cables between stations (L1 to Ln) is 100 m. For a long cable, you
are recommended to fix the cable on the cabinet to prevent connector damage caused by
dragging.
Note
When connecting the ports P1 and P2, you need to make sure that the physical input and
output connections are the same with the connections in the topology.

Connecting

Commissioning 5
5.1 General commissioning information
Prior to commissioning, read "Basic operator panel (BOP) (Page 141)" for more information
about the BOP operations. In case of any faults or alarms during commissioning, refer to
Chapter "Diagnostics (Page 305)" for detailed description.
CAUTION
Danger to injury resulting from failure to observe the safety instructions
Failure to observe the instructions can result in serious injuries.
• Before your commissioning or operation, read the safety instructions in Chapter
"Fundamental safety instructions (Page 13)" carefully.
WARNING
When the servo system is used as a hanging axis, the axis will drop if the positive and
negative poles of the 24 V power supply are connected inversely. Unexpected drop of the
hanging axis may cause material damages and personal injuries.
• Before commissioning, you need to make sure that a crosstie is used to hold the hanging
axis in prevention of an unexpected drop. In addition, make sure that the 24 V power
supply is correctly connected.
NOTICE
Firmware damage due to drive power-off during data transfer
Switching off the 24 V DC 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.
NOTICE
Existing setting data is overwritten by the setting data on the micro SD card/SD card
during the drive startup
Existing setting data is overwritten by the setting data on the micro SD card/SD card during
the drive startup. This situation occurs when a drive is switched on with a micro SD card/SD
card containing user setting data, the existing setting data on the drive will be overwritten,
or when a drive is switched on with a micro SD card/SD card containing no user setting data,
the drive will automatically save the existing user setting data onto the micro SD card/SD
card.
• Before starting up the drive with a micro SD card/SD card, check whether the micro SD
card/SD card contains user setting data; otherwise, the existing data on the drive might
be overwritten.

Commissioning
5.1 General commissioning information
NOTICE
Device damage caused by inappropriate parameter settings for the motor
The inappropriate parameter settings for the motor may cause drive or motor damages.
• Make sure that you have set the parameters for the motor appropriately.
Note
Failure to identify the magnetic pole position of the rotor
The magnetic pole position of the rotor may not be identified when you use a motor with an
incremental encoder on a loaded hanging axis. In this case, the drive outputs fault F7995.
• For the equipment that needs the hanging axis, for example, the hoisting machine, you
are recommended to use a motor with an absolute encoder.
Note
Plugging or unplugging the micro SD card/SD card will cause startup failure
Do not plug or unplug the micro SD card/SD card during startup; otherwise, the drive will fail
to start up.
Note
In S control mode, if the motor shaft is blocked, the blocked torque is the current effective
torque. Long time shaft blocking can cause damage to the motor.
Engineering tool - SINAMICS V-ASSISTANT

You can use the engineering tool SINAMICS V-ASSISTANT to perform the trial operation.
SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the
Windows operating system. It communicates with the SINAMICS V90 PN servo drive with a
USB cable. To ensure the stability of online commissioning, Siemens recommends you to use
a shielded USB cable of no longer than 3 m with ferrite cores on both ends (article number:
6SL3255-0AA00-2CA0) or to use a network cable with RJ45 connectors. With SINAMICS V-
ASSISTANT, you can change drive parameters and monitor drive working states in online
mode.
For more information, refer to the SINAMICS V-ASSISTANT Online Help. You can search and
download SINAMICS V-ASSISTANT from Technical support website
(https://support.industry.siemens.com/cs/ww/en/).

Commissioning
5.2 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 V DC 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
Prerequisites
• The servo drive is connected to the servo motor without load
• The servo drive is not in servo on status
Operating sequence
Note
Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the
drive, to enable the JOG function; otherwise, you cannot access the function related
parameter p1058.
If you have assigned digital signal EMGS, keep it at a high level (1) to ensure normal
operation.

Commissioning
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 V DC 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 95)".
2 Switch on the 24 V DC 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
You can find the motor ID from the motor rating plate.
motor ID (p29000).
Go to "Motor components (Page 28)" for detailed de-
• If the servo motor has an absolute encoder, the servo scriptions about motor rating plate.
drive can identify the servo motor automatically. Refer to "Basic operations (Page 149)" for information
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). You p29001=1: CCW
can change it by setting parameter p29001 if necessary.
5 Check the JOG speed. Set bit 0 of parameter p29108 to 1, and then save the
The default JOG speed is 100 rpm. You can change it by parameter setting and restart the drive, to enable the
setting parameter p1058. JOG function; otherwise, you cannot access p1058.
6 Save parameters with the BOP. For detailed information about the parameter saving
with the BOP, refer to "Saving parameters (RAM to ROM)
(Page 155)".
7 Switch on the main line supply.
8 Clear faults and alarms. Refer to "Diagnostics (Page 305)".
9 For the BOP, enter the JOG menu function and press the For more information about JOG with the BOP, see
UP or DOWN button to run the servo motor. Section "JOG (Page 154)".
For the engineering tool, use the JOG function to run the For more information about JOG with SINAMICS V-
servo motor. ASSISTANT, see the 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.

Commissioning
5.3 Commissioning in basic positioner control mode (EPOS)
5.3 Commissioning in basic positioner control mode (EPOS)

The following takes the EJOG function for example to describe the commissioning in EPOS
control mode.

1 Switch off the main line supply.
2 Power off the servo drive and connect it to the controller If any one of digital signals EMGS, CWL, and CCWL is not
(for example, SIMATIC S7-1500) with the PROFINET cable assigned to a DI, it will be set to a high level (1) auto-
and signal cable. matically.
If you have assigned any one of digital signals EMGS,
CWL, and CCWL to a DI, keep it at a high level (1).
Refer to "Standard application wiring (factory setting)
(Page 116)" and "Connection example with PLCs
(Page 118)".
fied.
the motor ID (p29000).
For the detailed information of the motor rating plate,
• If the servo motor has an absolute encoder, the servo see Section "Motor components (Page 28)".
5 Switch to the basic positioner control mode by setting • p29003 = 1: basic positioner control (EPOS)
parameter p29003 = 1.
• p29003 = 2: speed control (S)
6 Save the parameter and restart the servo drive to apply
the setting of the basic positioner control mode.
7 Set the mechanical gear ratio with parameters p29247, • p29247: LU per load revolution
p29248 and p29249.
• p29248: load revolutions
• p29249: motor revolutions
Refer to "Setting the mechanical system (Page 173)".
8 Select the axis type by setting parameter p29245. If you • p29245 = 0: linear axis
use the modular axis, you need to define the modular
range by setting parameter p29246. • p29245 = 1: modular axis
Refer to "Configuring the linear/modular axis
(Page 174)".
9 Setting jogging setpoints with the appropriate parame- Refer to "EJOG (Page 199)".
ters.
• Velocity (p2585, p2586)
• Incremental (p2587, p2588)
11 Set up the PROFINET configuration with TIA Portal.
12 Select the telegram for PROFINET communication with
parameter p0922.

Commissioning
5.4 Commissioning in speed control mode (S)
5.4 Commissioning in speed control mode (S)

1 Switch off the main line supply.
2 Power off the servo drive and connect it to the controller If any one of digital signals EMGS, CWL, and CCWL is not
(for example, SIMATIC S7-1500) with the PROFINET cable assigned to a DI, it will be set to a high level (1) auto-
and signal cable. matically.
If you have assigned any one of digital signals EMGS,
CWL, and CCWL to a DI, keep it at a high level (1).
Refer to "Standard application wiring (factory setting)
(Page 116)" and "Connection example with PLCs
(Page 118)".
fied.
the motor ID (p29000).
Go to "Motor components (Page 28)" for detailed de-
• If the servo motor has an absolute encoder, the servo scriptions about motor rating plate.
5 Set up the PROFINET configuration with TIA Portal.
6 Select the telegram for PROFINET communication with
parameter p0922.
7 Set the IP address for the station with parameters p8921,
p8923.
8 Set the device name for the station with parameter The device name must be unique within the PROFINET
p8920. network.
9 Active the IP configuration and device name with parame-
ter p8925.
10 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 202)" and "Speed limit
(Page 201)".
11 Configure necessary digital input signals by setting the The factory settings are:
following parameters:
• p29301: 2 (RESET)
• p29301: DI1
• p29302: 11 (TLIM)
• p29302: DI2
• p29303: 0
• p29303: DI3
• p29304: 0
• p29304: DI4 Refer to "Digital inputs/outputs (DIs/Dos) (Page 112)".
12 Save parameters with the BOP and restart the drive.
14 Clear faults and alarms. Refer to "Diagnostics (Page 305)".
15 Send and receive the process data (PZD) with TIA Portal. The actual speed of the servo motor can be viewed from
the BOP operating display.
The default display is the actual speed.
Refer to "Actual status display (Page 148)".

Basic operator panel (BOP) 6
6.1 BOP overview
Overview
The SINAMICS V90 PN servo drive is designed with a Basic Operator Panel (BOP) on the front
panel of the servo drive:
You can use the BOP for the following operations:

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

Basic operator panel (BOP)
6.1 BOP overview
6.1.1 LED status indicators

Two LED status indicators (RDY and COM) are available to indicate drive status. Both LEDs are
tricolor (green/red/yellow).
You can find detailed information about the status indications in the table below:
Status indicator Color Status Description

RDY - Off 24 V control board power supply is missing
Green Continuously lit The drive is in "servo on" state
Red Continuously lit The drive is in "servo off" state or in the startup state
Flash at 1 Hz Alarms or faults occurs
Green and yellow Flash alternatively at 2 Hz Drive identification
COM Green Continuously lit PROFINET communication is working with IRT
Flash at 0.5 Hz PROFINET communication is working with RT
Flash at 2 Hz Micro SD card/SD card operating (read or write)
Red Continuously lit Communication error (always put the PROFINET com-
munication error as the first consideration)

6.1 BOP overview
6.1.2 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 xxx Indexed parameter Figure after "In" indicates the number of indi-
ces.
For example, "In 001" means that this indexed
parameter is 1.
xxx.xxx Negative parameter value
xxx.xx<> Current display can be moved to

left or right
xxxx.xx> Current display can be moved to

right
xxxx.xx< Current display can be moved to

left
S Off Operating display: servo off

6.1 BOP overview

Para Editable parameter group Refer to the section "Editing parameters
(Page 150)".
P xxxx Parameter group Five groups are available:

1. P APP: application
2. P BASE: basic
3. P CON: communication
4. P EPOS: basic positioner
5. P ALL: all parameters
Data Read-only parameter group Refer to "Viewing parameters (Page 152)".
Func Function group Refer to "Auxiliary functions (Page 153)".
Jog Jog function Refer to "JOG (Page 154)".
Save Save data in drive Refer to "Saving parameters (RAM to ROM)

(Page 155)".
defu Restore drive to default settings Refer to "Setting parameters to default

(Page 156)".
dr--sd Save data from drive to micro SD Refer to "Transferring data (drive to SD)
card/SD card (Page 157)".
sd--dr Upload data from micro SD Refer to "Transferring data (SD to drive)
card/SD card to drive (Page 158)".
Update Update firmware Refer to "Updating firmware (Page 159)".
ABS The zero position has not been set Refer to "Adjusting an absolute encoder
(Page 160)".
A.B.S. The zero position has been set Refer to "Adjusting an absolute encoder
(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)
xxxxxx Actual position (positive direction) Only the last six digits displays due to a limited
display length.

6.1 BOP overview

xxxxxx. Actual position (negative direc- Only the last six digits displays due to a limited
tion) display length.
DCxxx.x Actual DC link voltage
Exxxxx Position following error
run The motor is running
Con The communication between the

commissioning tool SINAMICS V-
ASSISTANT and the servo drive is
established. In this case, the BOP is
protected from any operations
except clearing alarms and ac-
knowledging faults.

6.1 BOP overview
6.1.3 Control buttons
Control buttons
Button Description Functions

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

6.2 Parameter structure
6.2 Parameter structure

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

6.3 Actual status display
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.
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.

6.4 Basic operations
Overview
• Editable parameters: all P parameters under the "Para" menu are settable parameters. Five
groups in total are available:
– P APP: application
– P BASE: basic
– P COM: communication
– P EPOS: basic positioner
– 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

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

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 search for in the "P
ALL" menu.
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 six BOP functions available:
① Jog ⑤ Copy parameter set from a micro SD

card/SD card to a drive
② Save parameter set in drive ⑥ Update firmware
③ Restore parameter values to default ⑦ Adjust absolute encoder
NOTE:
This function is available only when the
servo motor with an absolute encoder is
connected.
④ Copy parameter set from a drive to a micro
SD card/SD card

6.5.1 JOG
Note
To enable the JOG function, set bit 0 of parameter p29108 to 1, and then save the parameter
setting and restart the drive.
Keep digital signal EMGS at a 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.

6.5.2 Saving parameters (RAM to ROM)

This function is used for saving a parameter set from the drive RAM to the drive ROM.
To use this function, proceed as follows:
Note
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 150)

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:
Note
You must save the parameter set after setting the parameter set to the default values;
otherwise, the default values will not be saved to drive ROM.
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:
Note
Data transfer between the drive and the SD card is possible only when the drive is in "servo
off" state.
Note
Plugging or unplugging the micro SD card/SD card will cause transferring failure.
Do not plug or unplug the micro SD card/SD card during transferring; otherwise, the
transferring operation will fail.
Note
Write protection function is not supported by SINAMICS V90 PN. 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.

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:
Note
Data transfer between the drive and the SD card is possible only when the drive is in "servo
off" state.
Note
Plugging or unplugging the micro SD card/SD card will cause transferring failure.
Do not plug or unplug the micro SD card/SD card during transferring; otherwise, the
transferring 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:
After you have updated the firmware, you need to set parameters to their default values.
Refer to "Setting parameters to default (Page 156)" 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 158).
CAUTION
Update failure due to improper firmware files
An update failure can be caused by improper firmware files or files missing. When the
update fails, the RDY indicator flashes red at 2 Hz and the COM indicator becomes red on. 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.
• 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 an absolute encoder
Note
Motor type
This function is only available when you are using a servo motor with the absolute encoder.
Stop the servo motor
You must stop the servo motor before adjusting the absolute encoder.
With the BOP function menu "ABS", you can set the current position of an absolute encoder
to the 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.

Control functions 7
7.1 General functions
7.1.1 Motor direction of rotation

With parameter p29001, you can reverse the direction of rotation of the motor. The polarity
of output signal analog monitoring remains unchanged at a reversal of direction.
Parame- Value Description Setpoint

ter
Positive Negative
p29001 0 CW is forward direction • Analog monitoring: • Analog monitoring:
(factory setting)
1 CCW is forward direc- • Analog monitoring: • Analog monitoring:

tion

Control functions
7.1.2 300% overload capacity

SINAMICS V90 servo drives can work with 300% overload capacity for a specific time period.
The following diagrams show in details:
200 V variant servo drive
Without load With load
400 V variant servo drive
Without load With load
7.1.3 Stopping method at servo OFF

You can select a stopping method when the drive is in "servo off" state. The following
stopping methods are available:
• Ramp-down (OFF1)
• Coast-down (OFF2)
• Quick stop (OFF3)

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

The ramp-down and coast-down can be configured with the PROFINET control words STW1.0
and STW1.1:
Ramp-down (OFF1)
Control word Setting Description

STW1.0 Rising edge (0→1) Power circuit is powered on (the drive is in "servo on" state)
and the servo motor is ready to run.
0 Motor ramps down.
Note:
The control word STW1.0 can be used to control the start and stop of the motor.
Coast-down (OFF2)

STW1.1 1 Servo motor is ready to run.
0 Motor coasts down.
Quick stop (OFF3)

The quick stop can be configured with the PROFINET control word STW1.2 or the digital input
signal EMGS:
Configuring by the PROFINET control word

STW1.2 1 Servo motor is ready to run.
0 Quick stop.
Configuring by the digital input signal
DI Signal Setting Description

EMGS 1 Servo motor is ready to run.
0 Quick stop.
For detailed information about the PROFINET control word and the digital input signal EMGS,
refer to Section "Control word definition (Page 210)" and "Digital inputs/outputs (DIs/Dos)
(Page 112)".

Control functions
7.1.4 Travel to fixed stop

The function can be used to move the motor to a fixed stop at a specified torque without a
fault being signaled. The specified torque is built up and remains applied after the motor
reaches the fixed stop.
The desired torque derating is brought about by scaling the upper torque limit and the lower
torque limit.
Function behavior in speed (S) control mode

When SINAMICS V90 PN is working in the speed (S) control mode, the "travel to fixed stop"
function can be used in all the telegrams except the standard telegram 1, because the
function through telegram is part of STW2 and ZSW2 and they are not included in standard
telegram 1.
The function can be enabled by the PROFINET control word STW2.8 and the drive status can
be indicated by the status word ZSW2.8:
Control word Value Description

STW2.8 1 Activation of the "travel to fixed stop" function
0 De-activation of the "travel to fixed stop" function
Status word Value Description

ZSW2.8 1 Travel to fixed stop reached
0 No "travel to fixed stop" status
When PROFINET telegrams 2, 3, and 5 are used, no torque reduction is transferred. When the
"Travel to fixed stop" function is activated, the motor ramps up to the torque limits.
When PROFINET telegrams 102 and 105 are used, the torque can be reduced by the control
word MOMRED.

Control functions
Example
This example shows the operating procedures when you use the "Travel to fixed stop"
function in S control mode.
Prerequisites
Use a 0.4 kW low inertia motor (rated torque = 1.27 Nm)
Procedures
1. Set the STW2.8 = 1 to enable the "Travel to fixed stop" function.
2. Set the required torque limit. The smaller value of the following two torque limits will be the
active one.
Assume
Internal torque limit TLM:
– p29050[0] = 300 → Positive torque limit
– p29051[0] = -300 → Negative torque limit
Overall torque limit:
– p1520 = 100 Nm → Positive overall torque limit
– p1521 = -150 Nm → Negative overall torque limit

Control functions
3. Set the torque reduction by control word MOMRED (for telegrams 102 and 105 only).
When the torque reduction function is used, the calculation of actual torque limit value is
shown as follows:
Actual torque limit value = Torque limit × (1 - percentage of reference torque)
Example
– In this example, the active torque limit is the internal torque limit TLM (torque limit =
300% × rated torque)
– MOMRED = 3600 hex (13824 dec)
Actual torque limit value = 300% × 1.27 Nm × (1 - 13824/16384) = 0.5953 Nm
4. Servo on the motor and it traverses to the fixed stop.
The motor runs at the set speed until it reaches the stop and continues to work against
the stop until the torque limit has been reached.
For telegrams 2, 3, and 5, the torque limit status can be indicated in status word ZSW1.11.
For telegrams 102 and 105, this status can be indicated in status word MELDW.1.
Function behavior in basic positioner (EPOS) control mode

When the drive is working In EPOS traversing block mode, if a traversing block is processed
with the FIXED STOP command (p2621[0...15] = 2), the function starts. You can set the
required clamping torque of the FIXED STOP function by the task parameter p2622[0...15].
An adjustable monitoring window for travel to fixed stop prevents the drive from traveling
beyond the window if the fixed stop should break away. For more information about setting
parameters in the traversing block, see Section "Traversing blocks (Page 191)".
Parameter Setting value Description

p2621[0...15] 1 (default) POSITIONING
2 FIXED STOP
3 ENDLESS_POS
4 ENDLESS_NEG
5 WAITING
6 GOTO
7 SET_O
8 RESET_O
9 JERK
You can set the additional data depending on the different traversing block task by the
parameter p2622:
p2622[0...15] FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm])
WAITING: Delay time [ms]
GOTO: Block number
SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
RESET_O: 1, 2 or 3 - reset direct output 1, 2 or 3 (both)
JERK: 0 - deactivate; 1 - activate

Control functions
From the start position onwards, the target position is approached with the parameterized
speed (p2618). The fixed stop (the workpiece) must be between the start position and the
braking point of the axis; that is, the target position is placed inside the workpiece. The preset
torque limit is effective from the start, i.e. travel to fixed stop also occurs with a reduced
torque. The preset acceleration and deceleration overrides and the current speed override are
also effective.
Note
F7452 is disabled when the function of travelling to fixed stop is activated.
Fixed stop is reached

As soon as the axis comes into contact with the mechanical fixed stop, the closed-loop
control in the drive raises the torque so that the axis can move on. The torque increases up to
the value specified in the task and then remains constant. If the actual position following
error exceeds the value set in parameter p2634 (fixed stop: maximum following error), fixed
stop is reached.
Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed
stop" is ended. The program advances to the next block depending on the task
parameterization. The drive remains in fixed stop until the next positioning task is processed
or the system is switched to jog mode. The clamping torque is therefore also applied during
subsequent waiting tasks. The continuation condition CONTINUE_EXTERNAL_WAIT can be
used to specify that the drive must remain at the fixed stop until a step enabling signal is
applied externally.

Control functions
As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual
position value (position setpoint = actual position value). Fixed stop monitoring and
controller enable are active.
Note
If the drive is in fixed stop, it can be referenced using the control signal "Set reference point".
If the axis leaves the position that has been detected as the fixed stop by more than the
selected monitoring window for the fixed stop (p2635), the speed setpoint is set to 0, and
fault F7484 "Fixed stop outside of the monitoring window" is triggered with the reaction
OFF3 (quick stop). The monitoring window can be set using the parameter p2635 ("Fixed
stop monitoring window"). It applies to both positive and negative traversing directions and
must be selected such that it will only be triggered if the axis breaks away from the fixed
stop.
Fixed stop is not reached

If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F7485 "Fixed stop is not reached" is output with fault reaction OFF1,
the torque limit is canceled and the drive cancels the traversing block.
Related parameters
• p2617[0...15] EPOS traversing block, position

• p2618[0...15] EPOS traversing block, velocity
• p2619[0...15] EPOS traversing block, acceleration override
• p2620[0...15] EPOS traversing block, deceleration override
• p2621[0...15] EPOS traversing block task
• p2622[0...15] EPOS traversing block task parameter
• p2634 EPOS fixed stop maximum following error
• p2635 EPOS fixed stop monitoring window
For more information about parameters above, see Section "Parameter list (Page 264)".
Example
This example shows the operating procedures when you use the "Travel to fixed stop"
function in EPOS control mode.
Prerequisites
Use a 0.4 kW low inertia motor (rated torque = 1.27 Nm)

Control functions
Procedures
1. Configure the PLC and V90 PN drive. Select the telegram 111.
2. Set the target position of traversing block 0.
p2617[0] = 10000
3. Configure the traversing task to be "FIXED STOP".
p2621[0] = 2
4. Set the torque limit to 0.1 Nm.
p2622[0] = 10
5. Set the maximum following error by p2634 and the monitoring window by p2635.
6. Perform referencing.
Note:
When the SINAMICS V90 PN is working in EPOS traversing block mode, referencing must
be performed before moving the axis.
7. After the drive performs referencing successfully, trigger traversing block 0 by control word
STW1.6.
8. Observe the drive status to check whether the fixed stop is reached.
Fixed stop is reached:
– If the actual position following error exceeds the value set in parameter p2634, fixed
stop is reached.
Fixed stop is not reached:
– After the fixed stop is reached, if the axis leaves the fixed stop and exceeds the
monitoring window (p2635), the speed setpoint is set to 0, and fault F7484 occurs.
– If the brake application point is reached without the "fixed stop reached" status being
detected, then the fault F7485 occurs.
9. Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed
stop" is ended. The program advances to the next block depending on the task
parameterization.

Control functions
7.1.5 Position tracking

The position tracking function can be used to realize the following features:
• Setting up a virtual multi-turn for a single-turn absolute encoder
• Extending the position area
• Enabling the load position to be reproduced when using gearboxes
If the position tracking function is enabled, the actual position value can be saved in a power-
off retentive memory when you power off the drive. When you power on the drive again, the
saved position value can be read by the drive.
Virtual multi-turn encoder

For a single-turn absolute encoder with position tracking activated (p29243 = 1), p29244 can
be used to enter a virtual multi-turn resolution. This enables you to generate a virtual multi-
turn encoder value from a single-turn encoder. The actual position value in r2521 is limited to
232 places.
• When position tracking is deactivated (p29243 = 0):
Encoder actual position value range = actual single-turn resolution
• When position tracking is activated (p29243 = 1):
Encoder actual position value range = actual single-turn resolution × virtual multi-turn
resolution (p29244)
Tolerance window
The tolerance window is preset to a quarter of one encoder revolution. After switching on the
drive, the difference between the saved position and the actual position is determined. Based
on the difference, the following situations apply:
• Difference being within the tolerance window:
The position is reproduced based on the actual encoder value.
• Difference exceeding the tolerance window:
The fault F7449 (for EPOS control mode) is output.
NOTICE
Multi-turn position loss resulting from the axis movement when the drive is power-off
When the drive is power-off, if the axis moves, the drive does not store the multi-turn
position (when using the virtual multi-turn encoder). The actual position loses.
• Make sure that the motor holding brake function is enabled when you use the position
tracking function.
Position area extension

After the position tracking function is activated, the position area can be extended.

Control functions
Example
An absolute encoder that can represent eight encoder revolutions is used here.
• If the position tracking function is deactivated (p29243 = 0), the position for +/- 4 encoder
revolutions can be reproduced.
• If you activate the position tracking function (p29243 = 1), and set the virtual multi-turn
p29244 = 24, and the gear ratio p29248/p29249 = 1, the position for +/- 12 encoder
revolutions (+/- 12 load revolutions with load gear) can be reproduced.
Mechanical gear configuration

If you are using a mechanical gear between the motor and the load, and using an absolute
encoder to process the position control, an offset occurs (depending on the gear ratio)
between the zero position of the encoder and the load whenever encoder overflow occurs.
Note
If the ratio between the multi-turn resolution and the modulo range (p29246) is not an
integer number, fault F7442 is output.
To make the ratio between the multi-turn resolution and the modulo range an integer
number, observe the following formulas. The ratio v is calculated as follows:
• Motor encoder without position tracking (p29243 = 0):
– For multi-turn encoders:
v = (4096 × p29247 × p29248)/(p29249 × p29246)
– For single-turn encoders:
v = (p29247 × p29248)/(p29249 × p29246)
• Motor encoder with position tracking (p29243 = 1):
v = (p29244 × 29247)/p29246

Control functions
Example
• Gear ratio = p29248 : p29249 = 1 : 3

• The absolute encoder can count eight encoder revolutions
• The position tracking function is deactivated (p29243 = 0)
For each encoder overflow, there is a load-side offset of 1/3 load revolution, after three
encoder overflows, the motor and load zero position coincide again. The position of the load
can no longer be clearly reproduced after one overflow.
In this case, if you activate the position tracking function (set p29243 = 1), and set the virtual
multi-turn p29244 = 24, the gear ratio is calculated with the encoder actual position value.
Note
Be sure to perform the "ABS" function again after you set p29243 to 1.

Control functions
7.2 Basic positioner (EPOS)
Overview of important parameters
• p29243 Position tracking activate

• p29244 Absolute encoder virtual rotary revolutions
• p29248 Mechanical gear: Numerator
• p29249 Mechanical gear: Denominator
• r2521[0] LR position actual value
7.2.1 Setting the 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 occurs.
Relevant parameters

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

Control functions
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 load 6/0.001 = 6000 LU 360/0.01 = 36000 LU
shaft revolution
4 Set parame- p29247 6000 36000
ters p29248 1 1
p29249 1 3
7.2.2 Configuring the linear/modular axis

You can choose to use a linear axis or a modular axis depending on your actual application.
The linear axis has a restricted traversing range, which is the factory setting of the SINAMICS
V90 PN servo drive.
The modular axis has an unrestricted traversing range. The value range of the position
repeats itself after a value is specified in p29246. 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 operation again.

Control functions
7.2.3 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, when the axis is
operated in a process that the traversing direction is reversed between the positive direction
and negative direction alternately, the mechanical backlash results in a false traversing
distance because the axis travels either too far or not far enough.
Note
Pre-conditions for backlash compensation
The backlash compensation is active after
• the axis has been referenced for the incremental measuring system. Refer to Section
"Referencing (Page 179)" for detailed information about referencing.
• the axis has been adjusted for the absolute measuring system. Refer to Section "Adjusting
an absolute encoder (Page 160)" for reference.
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, 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 1) 0 to 1 - 0 Set signal source for start direction of searching cam:
• 0: start in positive direction
• 1: start in negative direction
1) When telegram 111 is used, the value of p2604 is assigned by control word POS_STW2.9.

Control functions
7.2.4 Over-travel
When the servo motor travels over the distance limit, the limit switch is turned on and then
the servo motor has a quick stop.
When telegram 111 is used, the over-travel function can be configured with the PROFINET
control word POS_STW2.15:

POS_STW2.15 1 STOP cam active.
0 STOP cam inactive.
Travel limit signal (CWL/CCWL)

In EPOS control mode, the motor rotates properly after you do as follows:
• When F7492 is triggered after the STOP cam plus is reached in a positive traversing
direction, acknowledge the fault using the RESET signal, and then move the axis away
from the STOP cam plus in a negative traversing direction to return it to a position within
the valid traversing range.
• When F7491 is triggered after the STOP cam minus is reached in a negative traversing
direction, acknowledge the fault using the RESET signal, and then move the axis away
from the STOP cam minus in a positive traversing direction to return it to a position within
the valid traversing range.
Note
• Make sure both signals CWL and CCWL are at a high level when the servo drive is powered
on.
• In EPOS control mode, the motor cannot rotate with F7491/F7492 being triggered again,
if you only acknowledge the fault without returning the axis to a position within the valid
traversing range.

Control functions
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 Signal Pin assign- Setting Description

type name ment
DI CWL X8-a (a = 1 to Falling edge The servo motor has travelled to the
4) (1→0) clockwise travel limit and has a quick stop
after that.
DI CCWL X8-b (b = 1 to Falling edge The servo motor has travelled to the coun-
4; b ≠ a) (1→0) ter-clockwise travel limit and has a quick
stop after that.
Relevant parameter settings
Parameter Value setting Description

p29301 to 3 Signal CWL (signal number: 3) is assigned to any one of DI1 to DI4.
p29304
p29301 to 4 Signal CCWL (signal number: 4) is assigned to any one of DI1 to DI4.
p29304
When either of signals CWL and CCWL is not assigned to any DI, the signal will be at a high level automatically.
Note
DI parameterization
Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 112)" for detailed information about
DI parameterization.
Refer to Chapter "Parameters (Page 263)" for detailed information about parameters.

Control functions
7.2.5 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 the software position limit only becomes active after the referencing
operation is performed. When the actual position reaches one of the above-mentioned
software position limits, the motor decelerates to 0.
When telegram 111 is used, the software position limit function can be configured with the
PROFINET control word POS_STW2.14:

POS_STW2.14 1 Software limit switch activation.
0 Software limit switch deactivation.
Parameter settings

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
7.2.6 Speed limit

Refer to Section "Speed limit (Page 201)" for details.
7.2.7 Torque limit

Refer to Section "Torque limit (Page 202)" for details.

Control functions
7.2.8 Referencing
Referencing modes
If the servo motor has an incremental encoder, totally three referencing modes are available:
• Setting reference point with the digital input signal REF
• Referencing with the external reference cam (signal REF) and encoder zero mark
• Referencing with the encoder zero mark only
If the servo motor has an absolute encoder, the three 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 external signal REF
1 (default) Referencing with the external reference cam (signal REF) and
encoder zero mark
2 Referencing with the encoder zero mark only
Note
Referencing mode for absolute encoder
If an absolute encoder is connected, the three referencing modes are available. You can
select the different referencing modes with parameter p29240. When p29240 = 1 or 2, the
referencing process can only be implemented before you use the "ABS" function. Once the
"ABS" function is implemented, the two referencing modes are not available any more.
Starting referencing by PROFINET

When using the telegrams 7, 9, 110, and 111, you can start referencing by configuring the
PROFINET control word STW1.11:

STW1.11 1 Start referencing.
0 Stop referencing.

Control functions
7.2.8.1 Setting reference point with the digital input signal REF (p29240 = 0)
When telegram 111 is used, the digital input signal REF is configured with the PROFINET

POS_STW2.1 1 Set reference point.
0 Do not set reference point.
control word POS_STW.1:

POS_STW.1 1 Set reference point.
0 Do not set reference point.
When telegrams 7 and 9 are used, the digital input signal REF is configured with digital
inputs.
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 basic positioner control mode
Note
When setting the reference point via the digital input REF, you need to keep the control word
STW1.11 = 0.
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.

Control functions
7.2.8.2 Referencing with the external reference cam (signal REF) and encoder zero mark
(p29240 = 1)
In this referencing mode, you can choose to enable or disable the reversing cams. If the
reversing cams are enabled, when the reversing cam is reached before the servo motor finds
the reference cam, the searching direction is reversed. The servo motor continues finding the
reference cam in the reversed direction.

POS_STW2.2 1 Reference cam active.
0 Reference cam inactive.
control word POS_STW.2:

POS_STW.2 1 Reference cam active.
0 Reference cam inactive.
When telegrams 7 and 9 are used, the digital input signal REF is configured with digital
inputs.
Referencing without the reversing cams (p29239 = 0)
Travel to the reference cam

The referencing is triggered by control word STW1.11. 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.
Travel to the zero mark

After the reference cam is reached, 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 is switched off (1→0). The servo motor continues moving untill it reaches the first
zero mark.
Travel to the reference point

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 (0→1). Set STW1.11 to 0 and the
referencing finishes successfully.

Control functions
① Speed for searching the cam (p2605)

② Speed for searching zero mark (p2608)
③ Speed for searching reference point (p2611)
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
2147482647 reference point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 1) 0 to 1 0 - Sets signal source for start direc-
tion of searching:
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
the zero mark
p2611 1 to 40000000 300 1000 Speed for searching reference
LU/min point
2. Configure signal REF if telegrams 7 and 9 are used.

Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 112)" for reference.

Control functions
3. Set STW1.11 (0→1) to start referencing.
Note
During the referencing, if STW1.11 is set to 0, the referencing stops.
4. If the servo motor reaches the reference point, the signal REFOK (ZSW1.11) is output (0→1).
5. Set control word STW1.11 to 0, and the referencing finishes successfully.
Referencing with the reversing cams (p29239 = 1)
Travel to the reference cam

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.
If the servo motor reaches a reversing cam before it reaches the reference cam, the searching
direction is reversed. The servo motor continues finding the referencing cam in the reversed
direction (opposite to the direction defined by p2604).
When the reference cam is reached (signal REF: 0→1), the servo motor decelerates to
standstill.

After the reference cam is reached, the servo motor accelerates again to the speed specified
in p2608 and the running direction depends 1). Then the signal REF is switched off (1→0).
The servo motor continues moving until it reaches the first zero mark.

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 (0→1). Set STW1.11 to 0 and the
referencing finishes successfully.

Control functions
The searching direction toward the reference cam

1) The running direction when travelling to the zero mark is opposite to the direction defined in
p2604

Control functions
The searching direction against the reference cam

1) The running direction when traveling to the zero mark is the direction defined in p2604

Control functions

2147482647
tion of searching:
p2605 1 to 40000000 5000 1000 Speed for searching the cam
LU/min
the cam
LU/min
the zero mark
LU/min point
2. Enable reversing cams by setting p29239 to 1.

3. Configure signal REF if telegrams 7 and 9 are used.
Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 112)" for reference.
4a. Referencing with telegram 111
– Before the referencing starts, if the STOP cams are enabled (high level), the PLC
disables them by POS_STW2.15 (1→0); while if the STOP cams are disabled, no actions
are executed by the PLC.
– After the referencing starts, if the servo motor reaches the reversing cam, the
searching direction is reversed; otherwise, the servo drive searches for the referencing
cam in the direction that defined in p2604. When the referencing cam is reached, PLC
enables the STOP cams by POS_STW2.15 (0→1).
4b. Referencing with telegrams 7, 9 and 110
– After the referencing starts, the drive disables the STOP cams, and the servo motor
starts to search for the referencing cam. If the servo motor reaches the reversing cam,
the searching direction is reversed; otherwise, the servo drive searches for the
referencing cam in the direction that defined in p2604. When the referencing cam is
reached, the drive enables the STOP cams.
Note
5. After the servo motor reaches the reference point, the signal REFOK (ZSW1.11) is output
(0→1).

Control functions
7.2.8.3 Referencing with the encoder zero mark only (p29240 = 2)

In this referencing mode, you can choose to enable or disable the reversing cams. If the
reversing cams are enabled, when the reversing cam is reached before the servo motor finds
the zero mark, the searching direction is reversed. The servo motor continues finding the zero
mark in the reversed direction.
Referencing without the reversing cams (p29239 = 0)

to the speed specified in p2608 and the direction (CW or CCW) is defined by p2604 to find
the first zero mark.

After 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 (0→1). Set control word STW1.11 to 0
and the referencing finishes successfully.
① Speed for searching zero mark (p2608)

② Speed for searching reference point (p2611)

Control functions


setting
2147482647
tion of searching:
LU/min
the zero mark
LU/min point
Note
3. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
Referencing with the reversing cams (p29239 = 1)

to the speed specified in p2608 and the direction (CW or CCW) is defined by p2604 to find
the first zero mark.
If the servo motor reaches a reversing cam before it finds the first zero mark, the searching
direction is reversed. The servo motor continues finding the zero mark in the reversed
direction (opposite to the direction defined by p2604).

After 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 (0→1). Set control word STW1.11 to 0
and the referencing finishes successfully.

Control functions
The searching direction toward the reference cam

The searching direction against the reference cam


Control functions


setting
2147482647
p26041) 0 to 1 0 - Sets signal source for start direc-
tion of searching:
LU/min
the zero mark
LU/min point
2. Enable reversing cams by setting p29239 to 1.

3a. Referencing with telegram 111
– Before the referencing starts, if the STOP cams are enabled (high level), the PLC
disables them by POS_STW2.15 (1→0); while if the STOP cams are disabled, no actions
are executed by the PLC.
– After the referencing starts, if the servo motor reaches the reversing cam, the
searching direction is reversed; otherwise, the servo drive searches for the referencing
cam in the direction that defined in p2604. When the referencing cam is reached, PLC
enables the STOP cams by POS_STW2.15 (0→1).
3b. Referencing with telegrams 7, 9 and 110
– After the referencing starts, the drive disables the STOP cams, and the servo motor
starts to search for the referencing cam. If the servo motor reaches the reversing cam,
the searching direction is reversed; otherwise, the servo drive searches for the
referencing cam in the direction that defined in p2604. When the referencing cam is
reached, the drive enables the STOP cams.
Note
4. After the servo motor reaches the reference point, the signal REFOK (ZSW1.11) is output
(0→1).

Control functions
7.2.9 Traversing blocks

Up to 16 different traversing tasks can be saved. All parameters which describe a traversing
task are effective during a block change.
Activating the traversing block function

When telegram 111 is used, the traversing block function can be configured with the

POS_STW1.15 1 MDI selection.
0 Traversing block selection.
When telegrams 7, 9, and 110 are used, the traversing block function can be configured with
the PROFINET control word SATZANW.15:

SATZANW.15 1 MDI selection.
Selecting a traversing block number

When telegram 111 is used, set traversing block numbers bit 0 to bit 3 respectively with the
PROFINET control words POS_STW1.0 to POS_STW1.3.
When telegrams 7, 9, and 110 are used, set traversing block numbers bit 0 to bit 3
respectively with the PROFINET control words SATZANW.0 to SATZANW.3.
Select one of the 16 traversing block numbers with the co-settings of bit 0 to bit 3:
Traversing block number Bit 3 Bit 2 Bit 1 Bit 0

Traversing block 1 0 0 0 0
... ...
Activating a traversing task

When telegrams 7, 9, 110, and 111 are used, activate a traversing task with the PROFINET
control word STW1.6:

STW1.6 1 Traversing task activation.
0 Traversing task deactivation.

Control functions
Parameter sets
Traversing blocks are parameterized using parameter sets that have a fixed structure:
• Task (p2621[0...15])
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
• Motion parameters
– Target position or traversing distance (p2617[0...15])
– Velocity (p2618[0...15])
– Acceleration override (p2619[0...15])
– Deceleration override (p2620[0...15])
• Task mode (p2623[0...15])
The execution of a traversing task can be influenced by parameter p2623 (task mode).
This is automatically written by programming the traversing blocks in the engineering tool
SINAMICS V-ASSISTANT.
Value = 0000 cccc bbbb aaaa
– aaaa: Identifiers
000x → hide/show block (x = 0: show, x = 1: hide)
– bbbb: Continuation condition
0000, END: 0/1 edge at STW1.6
0001, CONTINUE_WITH_STOP:
The exact position parameterized in the block is approached (brake to standstill and
positioning window monitoring) before block processing can continue.
0010, CONTINUE_ON-THE-FLY:
The system switches to the next traversing block "on the fly" when the braking point
for the current block is reached (if the direction needs to be changed, this does not
occur until the drive stops within the positioning window).
0011, CONTINUE_EXTERNAL:
Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be
triggered up to the braking point by a 0/1 edge. If an external block change is not
triggered, a block change is triggered at the braking point.
0100, CONTINUE_EXTERNAL_WAIT:
Control signal "External block change" can be used to trigger a flying changeover to the
next task at any time during the traveling phase. If "External block change" is not
triggered, the axis remains in the parameterized target position until the signal is
issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover is
carried out at the braking point if "External block change" has not been triggered, while
here the drive waits for the signal in the target position.
0101, CONTINUE_EXTERNAL_ALARM:
This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463 "External
traversing block change in traversing block x not requested" is output when "External
block change" is not triggered by the time the drive comes to a standstill. The alarm
can be converted to a fault with a stop response so that block processing can be
canceled if the control signal is not issued.

Control functions
– cccc: positioning mode

The POSITIONING task (p2621 = 1) defines how the position specified in the traversing
task is to be approached.
0000, ABSOLUTE:
The position specified in p2617 is approached.
0001, RELATIVE:
The axis is traveled along the value specified in p2617
0010, ABS_POS:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a positive direction.
0011, ABS_NEG:
For rotary axes with modulo offset only. The position specified in p2617 is approached
in a negative direction.
• Task parameter (command-dependent significance) (p2622[0...15])
Traversing block tasks
POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
• p2616[x] Block number
• p2617[x] Position
• p2618[x] Velocity
• p2619[x] Acceleration override
• p2620[x] Deceleration override
• p2623[x] Task mode
The task is executed until the target position is reached. If, when the task is activated, the
drive is already located at the target position, then for the block change enable
(CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL), the next task is selected in the same
interpolation cycle. For CONTINUE_WITH_STOP, the next block is activated in the next
interpolation cycle. CONTINUE_EXTERNAL_ALARM causes a message to be output
immediately.
FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
The following parameters are relevant:
• p2617[x] Position
• p2620[x] Deceleration override
• p2622[x] Task parameter clamping torque [0.01 Nm] with rotary motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP, CONTINUE_EXTERNAL,
CONTINUE_EXTERNAL_WAIT.

Control functions
ENDLESS POS, ENDLESS NEG

Using these tasks, the axis is accelerated to the specified velocity and is moved until:
• A software limit switch is reached.
• A STOP cam signal has been issued.
• The traversing range limit is reached.
• Motion is interrupted by the control signal "no intermediate stop / intermediate stop"
(STW1.5).
• Motion is interrupted by the control signal "do not reject traversing task / reject traversing
task" (STW1.4).
• An external block change is triggered (with the appropriate continuation condition).
All continuation conditions are possible.
JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter =
0) by means of the JERK task. p2575 "Active jerk limitation" must be set to zero. The value
parameterized in "jerk limit" p2574 is the jerk limit.
A precise stop is always carried out here regardless of the parameterized continuation
condition of the task preceding the JERK task.
• p2622[x] Task parameter = 0 or 1
All continuation conditions are possible.
WAIT
The WAIT task can be used to set a waiting period which should expire before the following
task is processed.
• p2622[x] Task parameter = delay time in milliseconds ≥ 0 ms, but is rounded-off to a
multiple of numeral 8
Regardless of the parameterized continuation condition which is parameterized for the task
that precedes the WAIT task, an exact stop is always executed before the waiting time
expires. The WAIT task can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP, CONTINUE_EXTERNAL,
CONTINUE_EXTERNAL_WAIT, and CONTINUE_EXTERNAL_ALARM. The fault message is
triggered when "External block change" has still not been issued after the waiting time has
elapsed.

Control functions
GOTO
Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The block
number which is to be jumped to must be specified as task parameter. A continuation
condition is not permissible. If there is no block with this number, then alarm A07468 (jump
destination does not exist in traversing block x) is output and the block is designated as being
inconsistent.
• p2622[x] Task parameter = Next traversing block number
Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation cycle
and a subsequent POSITION and WAIT task can be started.
SET_O, RESET_O
The tasks SET_O and RESET_O allow up to two binary signals (output 1 or 2) to be
simultaneously set or reset. The number of the output (1 or 2) is specified bit-coded in the
task parameter.
• p2622[x] Task parameter = bit-coded output:
– 0x1: Output 1
– 0x2: Output 2
– 0x3: Output 1 and output 2
Possible continuation conditions are END, CONTINUE_ON-THE-FLY and
CONTINUE_WITH_STOP, and CONTINUE_EXTERNAL_WAIT.
Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation cycle
and a subsequent POSITIONING and WAIT task can be started.
Intermediate stop and reject a traversing task

When telegrams 7, 9, 110, and 111 are used, reject a traversing task with the PROFINET
control word STW1.4:

STW1.4 1 Do not reject a traversing task.
0 Reject a traversing task (ramp-down with the maximum
deceleration).
When telegrams 7, 9, 110, and 111 are used, perform an intermediate stop with the

STW1.5 1 No intermediate stop.
0 Intermediate stop.

Control functions
• p2617[0...15] EPOS traversing block, position

• p2618[0...15] EPOS traversing block, velocity
• p2619[0...15] EPOS traversing block, acceleration override
• p2620[0...15] EPOS traversing block, deceleration override
• p2621[0...15] EPOS traversing block, task
• p2622[0...15] EPOS traversing block, task parameter
• p2623[0...15] EPOS traversing block, task mode
For more information about the parameters above, see Section "Parameter list (Page 264)".
7.2.10 Direct setpoint input (MDI)

The "direct setpoint input" function allows for positioning (absolute, relative) and setup
(endless position-controlled) by means of direct setpoint inputs (e.g. via the PLC using
process data).
During traversing, the motion parameters can also be influenced (on-the-fly setpoint
acceptance) and an on-the-fly change can be undertaken between the "setting-up" and
"positioning" modes. The "direct setpoint specification" mode (MDI) can also be used if the
axis is not referenced in the "setting-up" or "relative positioning" modes.
Activating the direct setpoint input function

When telegram 111 is used, the direct setpoint input function can be configured with the

POS_STW1.15 1 MDI selection.
When telegrams 7, 9, and 110 are used, the direct setpoint input function can be configured
with the PROFINET control word SATZANW.15:

SATZANW.15 1 MDI selection.
Selecting a working mode

In "positioning" mode, the parameters (position, velocity, acceleration and deceleration) can
be used to carry out absolute or relative positioning.
In the "setting-up" mode, using parameters (velocity, acceleration and deceleration) endless
closed-loop position control behavior can be carried out.

Control functions
When telegram 111 is used, select a working mode with the PROFINET control word
POS_STW1.14:

POS_STW1.14 1 Signal setting-up selected.
0 Signal positioning selected. 1)
1) Telegrams 7, 9, and 110 can only work in signal positioning mode.
Features
Selecting a positioning type in signal positioning mode
When telegram 111 is used, select a positioning type with the PROFINET control word
POS_STW1.8:

POS_STW1.8 1 Absolute positioning is selected.
0 Relative positioning is selected.
When telegram 9 is used, select a positioning type with the PROFINET control word
MDI_MOD.0:

MDI_MOD.0 1 Absolute positioning is selected.
0 Relative positioning is selected.
When telegram 7 is used, select a positioning type with the following parameter:
Parameter Setting Description

p29231 0 (default) Relative positioning is selected.
1 Absolute positioning is selected.
Selecting an absolute positioning direction in signal positioning mode

When telegram 111 is used, select an absolute positioning direction with the PROFINET
control words POS_STW1.9 and POS_STW1.10:

POS_STW1.9 0 Absolute positioning through the shortest distance.
POS_STW1.10 1 Absolute positioning/MDI direction selection, positive.
2 Absolute positioning/MDI direction selection, negative.
3 Absolute positioning through the shortest distance.
When telegram 9 is used, select an absolute positioning direction with the PROFINET control
words MDI_MOD.1 and MDI_MOD.2:

MDI_MOD.1 0 Absolute positioning through the shortest distance.
MDI_MOD.2 1 Absolute positioning/MDI direction selection, positive.
3 Absolute positioning through the shortest distance.

Control functions
When telegram 7 is used, select an absolute positioning direction with the following
parameter:
Parameter Setting Description

p29230 0 (default) Absolute positioning through the shortest distance.
1 Absolute positioning/MDI direction selection, positive.
Selecting a direction in signal setting-up mode

POS_STW1.9 1 MDI direction selection, positive.
POS_STW1.10 2 MDI direction selection, negative.
MDI mode with the use of telegram 110

When telegram 110 is used, select a positioning type and an absolute positioning direction
with the PROFINET control word MDI_MODE (PZD12):
• xx0x = absolute
• xx1x = relative
• xx2x = ABS_POS
• xx3x = ABS_NEG
Selecting an MDI transfer type

When telegram 111 is used, select an MDI transfer type with the PROFINET control word
POS_STW1.12:

POS_STW1.12 1 Continuous transfer.
0 Activate MDI block change with of a traversing task (STW1.6).
Note
When telegrams 7, 9, and 110 are used, a rising edge is fixed.
Setting MDI setpoints

When telegrams 9, 110, and 111 are used, set MDI setpoints with the following PROFINET
control words:
• Position setpoint (MDI_TARPOS): 1 hex = 1 LU
• Velocity setpoint (MDI_VELOCITY): 1 hex = 1000 LU/min
• Acceleration override (MDI_ACC): 4000 hex = 100%
• Deceleration override (MDI_DEC): 4000 hex = 100%
When telegram 7 is used, set MDI setpoints with the following parameters:
• Position setpoint (p2690)
• Velocity setpoint (p2691)
• Acceleration override (p2692)
• Deceleration override (p2693)

Control functions
Intermediate stop and reject an MDI task

When telegrams 7, 9, 110, and 111 are used, reject an MDI task with the PROFINET control
word STW1.4:

STW1.4 1 Do not reject a traversing task.
0 Reject a traversing task (ramp-down with the maximum
deceleration).
When telegrams 7, 9, 110, and 111 are used, perform an intermediate stop with the

STW1.5 1 No intermediate stop.
0 Intermediate stop with parameterized deceleration MDI_DEC
(telegrams 9, 110, and 111) or p2693 (telegram 7).
• p2690 MDI position, fixed setpoint

• p2691 MDI velocity, fixed setpoint
• p2692 MDI acceleration override, fixed setpoint
• p2693 MDI deceleration override, fixed setpoint
7.2.11 EJOG
When telegrams 7, 9, 110, and 111 are used, select a jogging channel with the PROFINET
control words STW1.8 and STW1.9:

STW1.8 0 No jogging channel activated.
STW1.9 1 Jog 1 signal source rising edge activated.
2 Jog 2 signal source rising edge activated.
3 Reserved.

Control functions
Features
Selecting a jogging mode

When telegram 110 is used, select a jogging mode with the PROFINET control word
POS_STW.5:

POS_STW.5 1 Jogging, incremental active.
0 Jogging, velocity active.
When telegram 111 is used, select a jogging mode with the PROFINET control word
POS_STW2.5:

POS_STW2.5 1 Jogging, incremental active.
0 Jogging, velocity active.
Note
When telegrams 7 and 9 are used, endless jogging is fixed.
Setting jogging setpoints

When telegrams 7 and 9 are used, set the following jogging setpoint with the appropriate
parameters:
When telegrams 110 and 111 are used, set the following jogging setpoints with the
appropriate parameters:
• Incremental (p2587, p2588)
• p2585 EPOS jog 1 setpoint velocity

• p2586 EPOS jog 2 setpoint velocity
• p2587 EPOS jog 1 travel distance
• p2588 EPOS jog 2 travel distance

Control functions
7.3 Speed control (S)
7.3.1 Speed limit

Two sources in total are available for the speed limit. You can select one of them via a
combination of digital input signal SLIM:
Digital signal (SLIM) Speed limit

0 Internal speed limit 1
1 Internal speed limit 2
Note
The bit 0 of parameter p29108 must be set to 1 to enable the speed limit function.
Note
You can switch between the two sources and modify their values when the servo drive is
running.
Note
Fault F7901 occurs when the actual speed exceeds the positive speed limit + hysteresis speed
(p2162) or the negative speed limit - hysteresis speed (p2162). Go to "List of faults and
alarms (Page 309)" for information about the acknowledgment of this fault.
Refer to "DIs (Page 112)" for more information about the digital input signal SLIM.
Overall speed limit

Besides the above two channels, an overall speed limit is also available.
You can configure the overall speed limit by setting the following parameters:
Parameter Value range Default Unit Description

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

Select an internal speed limit by setting the following parameters:
Parameter Value range Default Unit Description Digital input

(SLIM)
p29070[0] 0 to 210000 210000 rpm Internal speed limit 1 (positive) 0
p29070[1] 0 to 210000 210000 rpm Internal speed limit 2 (positive) 1
p29071[0] -210000 to 0 -210000 rpm Internal speed limit 1 (negative) 0
p29071[1] -210000 to 0 -210000 rpm Internal speed limit 2 (negative) 1
Note
After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 are set to the
maximum speed of the motor automatically.

Control functions
7.3.2 Torque limit

Two sources in total are available for the torque limit. You can select one of them via the
digital input signal TLIM:
Digital input (TLIM) Torque limit

0 Internal torque limit 1
1 Internal torque limit 2
When the torque setpoint reaches torque limit, the torque is limited to the value selected by
TLIM.
Note
You can switch between the two sources and modify their values when the servo drive is
running.
Refer to "DIs (Page 112)" for more information about the digital input signal TLIM.
Overall torque limit

Besides the above two sources, an overall torque limit is also available. The overall torque
limit takes effect when a quick stop (OFF3) happens. In this case, the servo drive brakes with
a maximum torque.
You can configure the overall torque limit by setting the following parameters:

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

Select an internal torque limit by setting the following parameters:
Parameter Value range Default Unit Description Digital input

(TLIM)
p29050[0] -150 to 300 300 % Internal torque limit 1 (positive) 0
p29050[1] -150 to 300 300 % Internal torque limit 2 (positive) 1
p29051[0] -300 to 150 -300 % Internal torque limit 1 (negative) 0
p29051[1] -300 to 150 -300 % Internal torque limit 2 (negative) 1
The following diagram shows how the internal torque limit functions:

Control functions
Torque limit reached (TLR)

When the generated torque has nearly (internal hysteresis) reached the value of the positive
torque limit or negative torque limit, the signal TLR is output.
7.3.3 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.
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 following parameters:
• 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:

Control functions
Parameter settings

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

PROFINET communication 8
PROFINET IO is a real time protocol based on Ethernet. It is used as high level network for
industrial automation applications. PROFINET IO focuses on the data exchange for a
programmable controller. A PROFINET IO network consists of the following devices:
• IO controller: typically, it is the PLC, which controls the whole application
• IO device: a decentralized IO device (for example, encoder, sensor), which is controlled by
the IO controller
• IO supervisor: HMI (human machine interface) or PC for diagnostic purposes or
commissioning
PROFINET supplies two kinds of real time communication, that is, PROFINET IO RT (Real Time)
and PROFINET IO IRT (Isochronous Real Time). The real time channel is used for IO data and
alarm mechanism.
In PROFINET IO RT, the RT data is transferred via a prioritized Ethernet frame. No special
hardware is required. Due to this prioritization a cycle time of 4 ms can be achieved.
PROFINET IO IRT is used for more precise timing requirements. Cycle time of 2 ms is possible,
but also special hardware for IO devices and switches are required.
All diagnostic and configuration data is transferred via the non-real time channel (NRT). For
this purpose the common TCP/IP protocol is used. Anyhow, no timing can be guaranteed and
typically the cycle times can be more than 100 ms.
8.1 Supported telegrams

SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control
mode and basic positioner control mode.
From the perspective of the drive unit, the received process data represents the receive words
and the process data to be sent represents the send words.
Telegram Maximum number of PZD Description

Receive word Send word
Standard telegram 1 2 2 p0922 = 1
Siemens telegram 102 6 10 p0922 = 102

PROFINET communication
Telegram Maximum number of PZD Description

Receive word Send word
Siemens telegram 750 (supplementary telegram) 3 1 p8864 = 750
One PZD = one word
Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the
SIMATICS S7-1500 and the TIA Portal version is V14 or higher.
The supplementary telegram can only be used together with a main telegram. It cannot be used sepa-
rately.
Telegrams used for speed control mode
Telegrams used for basic positioner control mode
Note
When you use the telegram 110 and 111 in EPOS functions JOG, MDI, traversing block, and
referencing, the value of the PZD5 OVERRIDE affects the speed.

Setting EPOS reference point coordinate value via the PZD user2
To set the EPOS reference point coordinate value via the PZD user2 in the telegrams, you
need to activate the function of the PZD user2 by setting p8864 = 999 and p29152 = 1. After
the function of the PZD user2 is activated, if both user2 and p2599 are set, the actual
effective value is the value in user2.
Signal Range Unit Description

p8864 750 to 999 - Sets the supplementary telegram.
• p8864 = 750: Supplementary tele-
gram 750, PZD-3/1
• p8864 = 999: No telegram
p29152 0 to 1 - Activates the function of the PZD user2 in
the telegrams used in the EPOS control
mode.
• 0: No function activated
• 1: Activates the function of setting the
EPOS reference point coordinate via
the PZD user2
user2 -2147482648 to 2147482647 LU Sets the EPOS reference point coordinate.
Note
When the value of p8864 is changed not to be 999, the function of setting the position value
for the reference point coordinate via the PZD user2 is disabled, that is, p29152 is set to 0
automatically.
Supplementary telegram
Note
Before setting the supplementary telegram via p8864, you must select a main telegram via
p0922 firstly. If you change the main telegram, the supplementary telegram will be disabled
automatically, so after changing p0922, you must set p8864 again. While if you change the
control mode of the drive, p8864 keeps the same state as that in the former control mode,
that is, before you change the control mode, if p8864 = 750, after the control mode change,
the supplementary telegram keeps available and will not be disabled automatically.
Note
After you enabled the supplementary telegram, the PZDs of the supplementary telegram
follow after the PZDs of the main telegram.
Note
When you use the telegram 750 in the application of rewinding and unwinding, the built-in
braking resistor of the drives is not sufficient to absorb the excess regenerative energy.

8.2 I/O data signals
Note
When you use the telegram 750, if either of the following settings is done, the motor will be
accelerated in an uncontrollable manner:
• Setting a negative value for the positive torque limit via the PZD M_LIMIT_POS
• Setting a positive value for the negative torque limit via the PZD M_LIMIT_NEG

Parameters p200x apply as reference variables (telegram contents = 4000 hex or
40000000 hex in the case of double words if the input variable has the value p200x).
The following table provides an overview of the I/O data used in the telegram.
Signal Description Receive word/send Data type Scaling

word
STW1 Control word 1 Receive word U16 -
STW2 Control word 2 Receive word U16 -
ZSW1 Status word 1 Send word U16 -
ZSW2 Status word 2 Send word U16 -
NSOLL_A Speed setpoint A (16 bit) Receive word I16 4000 hex ≙ p2000
NSOLL_B Speed setpoint B (32 bit) Receive word I32 40000000 hex ≙ p2000
NIST_A Speed actual value A (16 bit) Send word I16 4000 hex ≙ p2000
NIST_B Speed actual value B (32 bit) Send word I32 40000000 hex ≙ p2000

Signal Description Receive word/send Data type Scaling

word
G1_STW Encoder 1 control word Receive word U16 -
G1_ZSW Encoder 1 status word Send word U16 -
G1_XIST1 Encoder 1 actual position 1 Send word U32 -
G1_XIST2 Encoder 1 actual position 2 Send word U32 -
MOMRED Torque reduction Receive word I16 4000 hex ≙ p2003
MELDW Message word Send word U16 -
KPC Position controller gain factor Receive word I32 -
XERR Position deviation Receive word I32 -
SATZANW Position block selection Receive word U16 -
AKTSATZ Selected position block Send word U16 -
MDI_TAR POS MDI position Receive word I32 1 hex ≙ 1 LU
MDI_VELOCITY MDI velocity Receive word I32 1 hex ≙ 1000 LU/min
MDI_ACC MDI acceleration override Receive word I16 4000 hex ≙ 100%
MDI_DEC MDI deceleration override Receive word I16 4000 hex ≙ 100%
XIST_A Position actual value A Send word I32 1 hex ≙ 1 LU
OVERRIDE 1) Position velocity override Receive word I16 4000 hex ≙ 100%
MDI_MODE Position MDI mode Receive word U16 -
FAULT_CODE Fault code Send word U16 -
WARN_CODE Alarm code Send word U16 -
POS_ZSW Position status word Send word U16 -
M_ADD1 Additional torque Receive word I16 4000 hex ≙ p2003
M_LIMIT_POS Positive torque limit Receive word I16 4000 hex ≙ p2003
M_LIMIT_NEG Negative torque limit Receive word I16 4000 hex ≙ p2003
M_ACT Actual torque Send word Float 4000 hex ≙ p2003
user 2) User-defined receive word (de- Receive word I16 • Torque feedforward
pends on the value of p29150):
(4000 hex ≙ p2003)
• p29150 = 0: No function • Speed feedforward
• p29150 = 1: Torque feedfor- (4000 hex ≙ p2003)
ward
• p29150 = 2: Speed feedfor-
ward
user User-defined send word (de- Send word I16 • Actual torque (4000
pends on the value of p29151):
hex ≙ p2003)
• p29151 = 0: No function • Actual absolute cur-
• p29151 = 1: Actual torque rent (4000 hex ≙
• p29151 = 2: Actual absolute p2003)
current
• p29151 = 3: DI status
user2 EPOS reference point coordinate Receive word I32 1 hex ≙ 1 LU
value
1) Make sure that signal OVERRIDE is set to a value from 0 to 32767.
2) When you use the auto-tuning function, values of the torque feedforward and speed feedforward can be overwritten
after the tuning function is enabled. If you want to use functions of the torque feedforward and speed feedforward, you
need to set their values to the required values again.

8.3 Control word definition
8.3.1 STW1 control word (for telegrams 1, 2, 3, 5)
Note
When p29108.0 = 0, STW1.11 is disabled.
Note
When telegram 5 is used, STW1.4, STW1.5, and STW1.6 are disabled.
Note
STW1.10 must be set to 1 to allow the PLC to control the drive.
Signal Description
STW1.0 = ON (pulses can be enabled)
0 = OFF1 (braking with ramp-function generator, then pulse suppression and
ready for switching on)
STW1.1 1 = No OFF2 (enable is possible)
0 = OFF2 (immediate pulse suppression and switching on inhibited)
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and
switching on inhibited)
STW1.3 1 = Enable operation (pulses can be enabled)
0 = Inhibit operation (suppress pulses)
STW1.4 1 = Operating condition (the ramp-function generator can be enabled)
0 = Inhibit ramp-function generator (set the ramp-function generator output to
zero)
STW1.5 1 = Continue ramp-function generator
0 = Freeze ramp-function generator (freeze the ramp-function generator output)
STW1.6 1 = Enable setpoint
0 = Inhibit setpoint (set the ramp-function generator input to zero)
STW1.7 = 1. Acknowledge faults
STW1.8 Reserved
STW1.9 Reserved
STW1.10 1 = Control via PLC
STW1.11 1 = Setpoint inversion
STW1.12 Reserved
STW1.13 Reserved
STW1.14 Reserved
STW1.15 Reserved

8.3.2 STW2 control word (for telegrams 2, 3, 5)
Signal Description
STW2.0 Reserved
STW2.1 Reserved
STW2.2 Reserved
STW2.3 Reserved
STW2.4 Reserved
STW2.5 Reserved
STW2.6 Reserved
STW2.7 Reserved
STW2.8 1 = Traverse to fixed endstop
STW2.9 Reserved
STW2.10 Reserved
STW2.11 Reserved
STW2.12 Master sign-of-life, bit 0
8.3.3 STW1 control word (for telegrams 102, 105)
Note
When telegram 105 is used, STW1.4, STW1.5, and STW1.6 are disabled.
Note
STW1.10 must be set to 1 to allow PLC to control the drive.
Signal Description
STW1.4 1 = Operating condition (the ramp-function generator can be enabled)
0 = Inhibit ramp-function generator (set the ramp-function generator output to
zero)

Signal Description
STW1.5 1 = Continue ramp-function generator
0 = Freeze ramp-function generator (freeze the ramp-function generator output)
STW1.6 1 = Enable setpoint
0 = Inhibit setpoint (set the ramp-function generator input to zero)
STW1.7 = 1. Acknowledge faults
STW1.8 Reserved
STW1.9 Reserved
STW1.11 1 = Ramp-function generator active
STW1.12 1 = Unconditionally open the holding brake
STW1.13 Reserved
STW1.14 1 = Closed-loop torque control active
0 = Closed-loop speed control active
STW1.15 Reserved
8.3.4 STW2 control word (for telegrams 102, 105)
Note
When p29108.0 = 0, STW2.4 is disabled.
Signal Description
STW2.0 Reserved
STW2.1 Reserved
STW2.2 Reserved
STW2.3 Reserved
STW2.4 1 = Bypass ramp-function generator
STW2.5 Reserved
STW2.6 1 = Integrator inhibit, speed controller
STW2.7 Reserved
STW2.9 Reserved
STW2.10 Reserved
STW2.11 Reserved

8.3.5 STW1 control word (for telegrams 7, 9, 110, 111)
Note
STW1.10 must be set to 1 to allow the PLC to control the drive.
Signal Description
STW1.4 1 = Do not reject traversing task
0 = Reject traversing task (ramp-down with the maximum deceleration)
STW1.5 1 = No intermediate stop
0 = Intermediate stop
STW1.6 = Activate traversing task
STW1.7 = Acknowledge faults
STW1.8 1 = Jog 1 signal source
STW1.9 1 = Jog 2 signal source
STW1.11 1 = Start referencing
0 = Stop referencing
STW1.12 Reserved
STW1.13 = External block change
STW1.14 Reserved
STW1.15 Reserved

8.3.6 STW2 control word (for telegrams 9, 110, 111)
Signal Description
STW2.0 Reserved
STW2.1 Reserved
STW2.2 Reserved
STW2.3 Reserved
STW2.4 Reserved
STW2.5 Reserved
STW2.6 Reserved
STW2.7 Reserved
STW2.9 Reserved
STW2.10 Reserved
STW2.11 Reserved

8.3.7 G1_STW encoder 1 control word
Signal Description
G1_STW.0 Selects the function to be activate (with bit value = 1)
G1_STW.1
G1_STW.2
G1_STW.3
G1_STW.4 Start/stop/read selected function

G1_STW.5
G1_STW.6
G1_STW.7 Mode of the function to be activated

1 = Flying measurement
0 = Search for reference mark
G1_STW.8 Reserved
G1_STW.9 Reserved
G1_STW.10 Reserved
G1_STW.11 Reserved
G1_STW.12 Reserved
G1_STW.13 1 = Request value cyclic transfer of the absolute position value in Gn_XIST2
G1_STW.14 1 = Request parking encoder
G1_STW.15 = Acknowledge encoder fault

8.3.8 SATZANW control word
Signal Description
SATZANW.0 1 = Traversing block selection, bit 0
SATZANW.6 Reserved
SATZANW.7 Reserved
SATZANW.8 Reserved
SATZANW.9 Reserved
SATZANW.10 Reserved
SATZANW.11 Reserved
SATZANW.12 Reserved
SATZANW.13 Reserved
SATZANW.14 Reserved
SATZANW.15 1 = Activate MDI
0 = Deactivate MDI
8.3.9 MDI_MOD control word
Signal Description
MDI_MOD.0 1 = Absolute positioning is selected
0 = Relative positioning is selected
MDI_MOD.1 0 = Absolute positioning through the shortest distance
MDI_MOD.2 1 = Absolute positioning in the positive direction
2 = Absolute positioning in the negative direction
3 = Absolute positioning through the shortest distance
MDI_MOD.3 Reserved
MDI_MOD.4 Reserved
MDI_MOD.5 Reserved
MDI_MOD.6 Reserved
MDI_MOD.7 Reserved
MDI_MOD.8 Reserved
MDI_MOD.9 Reserved
MDI_MOD.10 Reserved
MDI_MOD.11 Reserved
MDI_MOD.12 Reserved
MDI_MOD.13 Reserved
MDI_MOD.14 Reserved
MDI_MOD.15 Reserved

8.3.10 POS_STW control word
Signal Description
POS_STW.0 1 = Tracking mode active
0 = No tracking mode active
POS_STW.1 1 = Set reference point
0 = Do not set reference point
POS_STW.2 1 = Reference cam active
POS_STW.3 Reserved
POS_STW.4 Reserved
POS_STW.5 1 = Jogging, incremental active
0 = Jogging, velocity active
POS_STW.6 Reserved
POS_STW.7 Reserved
POS_STW.8 Reserved
POS_STW.9 Reserved
POS_STW.10 Reserved
POS_STW.11 Reserved
POS_STW.12 Reserved
POS_STW.13 Reserved
POS_STW.14 Reserved
POS_STW.15 Reserved
Note
If the tracking mode is activated, the position setpoint follows the actual position value, i.e.
position setpoint = actual position value.

8.3.11 POS_STW1 positioning control word
Signal Description
POS_STW1.0 Traversing block selection, bit 0
POS_STW1.6 Reserved
POS_STW1.7 Reserved
POS_STW1.8 1 = Absolute positioning is selected
0 = Relative positioning is selected
POS_STW1.9 0 = Absolute positioning through the shortest distance
POS_STW1.10 1 = Absolute positioning/MDI direction selection, positive
2 = Absolute positioning/MDI direction selection, negative
3 = Absolute positioning through the shortest distance
POS_STW1.11 Reserved
POS_STW1.12 1 = Continuous transfer
0 = Activate MDI block change with of a traversing task (STW1.6)
POS_STW1.14 1 = Signal setting-up selected
0 = Signal positioning selected
POS_STW1.15 1 = MDI selection

8.3.12 POS_STW2 positioning control word
Signal Description
POS_STW2.0 1 = Tracking mode active
POS_STW2.1 1 = Set reference point
POS_STW2.2 1 = Reference cam active
POS_STW2.3 Reserved
POS_STW2.4 Reserved
POS_STW2.5 1 = Jogging, incremental active
0 = Jogging, velocity active
POS_STW2.6 Reserved
POS_STW2.7 Reserved
POS_STW2.8 Reserved
POS_STW2.9 1 = Start the search for reference in the negative direction
0 = Start the search for reference in the positive direction
POS_STW2.14 1 = Software limit switch activation
POS_STW2.15 1 = STOP cam active
Note
If the tracking mode is activated, the position setpoint follows the actual position value, i.e.
position setpoint = actual position value.

8.4 Status word definition
8.4.1 ZSW1 status word (for telegrams 1, 2, 3, 5)
Signal Description
ZSW1.0 1 = Ready for servo on
ZSW1.1 1 = Ready for operation
ZSW1.2 1 = Operation enabled
ZSW1.3 1 = Fault present
ZSW1.4 1 = No coast down active (OFF2 inactive)
ZSW1.5 1 = No fast stop active (OFF3 inactive)
ZSW1.6 1 = Switching on inhibited active
ZSW1.7 1 = Alarm present
ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off
ZSW1.9 1 = Control requested
ZSW1.10 1 = f or n comparison value reached/exceeded
ZSW1.11 0 = I, M, or P limit reached
ZSW1.12 1 = Open the holding brake
ZSW1.13 1 = No motor overtemperature alarm
ZSW1.14 1 = Motor rotates forwards (n_act ≥ 0)
0 = Motor rotates backwards (n_act < 0)
ZSW1.15 1 = No alarm, thermal overload, power unit
8.4.2 ZSW2 status word (for telegrams 2, 3, 5)
Signal Description
ZSW2.0 Reserved
ZSW2.1 Reserved
ZSW2.2 Reserved
ZSW2.3 Reserved
ZSW2.4 Reserved
ZSW2.5 1 = Alarm class bit 0
ZSW2.7 Reserved
ZSW2.8 1 = Traverse to fixed endstop
ZSW2.9 Reserved
ZSW2.10 1 = Pulses enabled
ZSW2.11 Reserved
ZSW2.12 Slave sign-of-life, bit 0

8.4.3 ZSW1 status word (for telegrams 102, 105)
Signal Description
ZSW1.0 1 = Ready for servo on
ZSW1.1 1 = Ready for operation
ZSW1.2 1 = Operation enabled
ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off
ZSW1.10 1 = f or n comparison value reached/exceeded
ZSW1.13 Reserved
ZSW1.14 1 = Closed-loop torque control active
ZSW1.15 Reserved
8.4.4 ZSW2 status word (for telegrams 102, 105)
Signal Description
ZSW2.0 Reserved
ZSW2.1 Reserved
ZSW2.2 Reserved
ZSW2.3 Reserved
ZSW2.4 1 = Ramp-function generator inactive
ZSW2.5 1 = Open the holding brake
ZSW2.6 1 = Integrator inhibit, speed controller
ZSW2.7 Reserved
ZSW2.9 Reserved
ZSW2.10 Reserved
ZSW2.11 Reserved

8.4.5 ZSW1 status word (for telegrams 7, 9, 110, 111)
Signal Description
ZSW1.0 1 = Ready for switching on
ZSW1.1 1 = Ready for operation (DC link loaded, pulses blocked)
ZSW1.2 1 = Operation enabled (drive follows n_set)
ZSW1.8 1 = Following error within tolerance
ZSW1.10 1 = Target position reached
ZSW1.11 1 = Reference point set
ZSW1.12 = Acknowledgement traversing block activated
ZSW1.13 1 = Setpoint fixed
ZSW1.14 1 = Axis accelerated
ZSW1.15 1 = Axis decelerated
8.4.6 ZSW2 status word (for telegrams 9, 110, 111)
Signal Description
ZSW2.0 Reserved
ZSW2.1 Reserved
ZSW2.2 Reserved
ZSW2.3 Reserved
ZSW2.4 Reserved
ZSW2.7 Reserved
ZSW2.9 Reserved
ZSW2.10 1 = Pulses enabled
ZSW2.11 Reserved

8.4.7 G1_ZSW encoder 1 status word
Signal Description
G1_ZSW.0 Feedback signal of the active function (1 = function active)
G1_ZSW.1
G1_ZSW.2
G1_ZSW.3
G1_ZSW.4 1 = Position actual value from function Generated value in Gn_XIST2 (and can
1 be read)
G1_ZSW.5 1 = Position actual value from function
2
3
4
G1_ZSW.8 Reserved
G1_ZSW.9 Reserved
G1_ZSW.10 Reserved
G1_ZSW.11 1 = Acknowledge encoder fault active
G1_ZSW.12 Reserved (for reference point offset)
G1_ZSW.13 Absolute value is cyclically transferred
G1_ZSW.14 Parking encoder active
G1_ZSW.15 Encoder fault, the fault is in Gn_XIST2

8.4.8 MELDW status word
Signal Description
MELDW.0 1 = Ramp-up/ramp-down complete
0 = Ramp-function generator active
MELDW.1 1 = Torque utilization [%] < torque threshold value 2
MELDW.2 1 = |n_act| < speed threshold value 3 (p2161)
MELDW.3 1 = |n_act| ≤ speed threshold value 2
MELDW.4 1 = Vdc_min controller active
MELDW.5 Reserved
MELDW.6 1 = No motor overtemperature alarm
MELDW.7 1 = No alarm, thermal overload, power unit
MELDW.8 1 = Speed setpoint - actual value deviation within tolerance t_on
MELDW.9 Reserved
MELDW.10 Reserved
MELDW.11 1 = Controller enable
MELDW.12 1 = Drive ready
MELDW.13 1 = Pulses enabled
MELDW.14 Reserved
MELDW.15 Reserved
8.4.9 POS_ZSW1 positioning status word
Signal Description
POS_ZSW1.0 Active Traversing Block Bit 0 (20)
POS_ZSW1.6 Reserved
POS_ZSW1.7 Reserved
POS_ZSW1.8 1 = STOP cam minus active
POS_ZSW1.9 1 = STOP cam plus active
POS_ZSW1.10 1 = Jogging active
POS_ZSW1.11 1 = Reference point approach active
POS_ZSW1.12 Reserved
POS_ZSW1.13 1 = Traversing Block active
POS_ZSW1.14 1 = Set-up active
POS_ZSW1.15 1 = MDI active
0 = MDI inactive

8.4.10 POS_ZSW2 positioning status word
Signal Description
POS_ZSW2.0 1 = Tracking mode active
POS_ZSW2.1 1 = Velocity limiting active
POS_ZSW2.2 1 = Setpoint available
POS_ZSW2.3 Reserved
POS_ZSW2.4 1 = Axis moves forward
POS_ZSW2.5 1 = Axis moves backwards
POS_ZSW2.6 1 = Software limit switch minus reached
POS_ZSW2.7 1 = Software limit switch plus reached
POS_ZSW2.8 1 = Position actual value ≤ cam switching position 1
POS_ZSW2.9 1 = Position actual value ≤ cam switching position 2
POS_ZSW2.10 1 = Direct output 1 via traversing block
POS_ZSW2.11 1 = Direct output 2 via traversing block
POS_ZSW2.12 1 = Fixed stop reached
POS_ZSW2.13 1 = Fixed stop clamping torque reached
POS_ZSW2.14 1 = Travel to fixed stop active
POS_ZSW2.15 1 = Traversing command active


Safety Integrated function 9
9.1 Standards and regulations
9.1.1 General information
9.1.1.1 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).

Safety Integrated function
9.1.1.2 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).
9.1.2 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).
9.1.2.1 Machinery Directive

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

9.1.2.2 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).
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.
9.1.2.3 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 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.
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 con- EN ISO 13849-1 EN 62061

trol 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 architec-
ture in compliance with EN 62061.
Comment 3:
For non-electrical systems: Use components that comply with EN ISO 13849-1 as sub-systems.
9.1.2.4 DIN EN ISO 13849-1

A qualitative analysis according to DIN ISO 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 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 the
qualitative perspective as well as the quantitative perspective. 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
• 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.
9.1.2.5 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
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.
9.1.2.6 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.
9.1.2.7 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 "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.
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.
9.1.2.8 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.
9.1.2.9 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).
9.1.3 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.
9.1.3.1 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.)
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.
9.1.3.2 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.
9.1.3.3 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)
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.

9.1.3.4 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
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 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.
9.1.4 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).

9.2 General information about SINAMICS Safety Integrated
Japanese standards
ISO/IEC number JIS number Comment

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 European foreword
IEC 61508-0 to -7 JIS C 0508
IEC 62061 JIS number not yet assigned
9.1.5 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.
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.
9.2 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-
1:2015, 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 "24 V power supply/STO (Page 120)".

9.3 System features
9.3 System features
9.3.1 STO functional safety data

The STO functional safety data of SINAMICS V90 PN 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
9.3.2 Certification
The safety function of the SINAMICS V90 PN drive system meets the following requirements:
• Category 3 according to ISO 13849-1:2015
• Performance Level (PL) d to ISO 13849-1:2015
• Safety integrity level 2 (SIL 2) to IEC 61508
In addition, the safety function of SINAMICS V90 PN has been certified by independent
institutes. An up-to-date list of certified components is available on request from your local
Siemens office.
9.3.3 Safety instructions
Note
Residual risks not specified in this section are included in the chapter "Fundamental safety
instructions (Page 13)".

9.3 System features
DANGER
Death or serious injury resulting from failure to observe the Safety Integrated
instructions
Safety Integrated can be used to minimize the level of risk associated with machines and
plants. Failure to observe the Safety Integrated instructions. Machines and plants can only
be operated safely in conjunction with Safety Integrated 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
Failure to activate the Safety Integrated function due to system not startup
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. To start up the
system, you need to make sure that the following requirements are fulfilled.
• No personnel is 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.
WARNING
Personal injury or device damage due to improper operations of the Emergency Stop
function
There is a personal injury or device damage if you use the Emergency Stop function
improperly. According to the standard EN 60204-1:2006, Emergency Stop function must
bring the machine to a standstill in accordance with STO.
• Make sure that, if you use the Emergency Stop function to shut down the machine, the
machine is not allowed to 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). For
example, an automatic start is permitted when a protective door is closed.

9.3 System features
WARNING
Personal injury or device damage due to improper operations after the hardware
and/or software components change
After hardware and/or software components have been modified or replaced, all protective
equipment must be closed prior to system startup and drive activation; otherwise, personal
injury or device damage occur.
• No personnel is 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 use Safety Integrated functions, you need to make sure that the system has
completely powered up.
9.3.4 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 13849-1:2015. 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 PN 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 PFH value of SINAMICS V90 PN drive system is 5 × 10-8 per hour.
Hardware fault tolerance (HFT)

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

Response time means the time from the control via terminals until the response actually
occurs. For 200 V variant servo drives, the STO response time in the worst case is 15 ms. For
400 V variant servo drives, the STO response time in the worst case is 5 ms. The response
time of fault reaction functions is 2 s.

9.4 Safety Integrated basic function
9.3.6 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
Personal injury or device damage due to the intrinsic potential of hardware faults
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.
• Take into account the residual risks when designing your machine and where necessary
apply suitable countermeasures.
WARNING
Personal injury or device damage resulting from the simultaneous failure of two power
transistors in the inverter
Simultaneous failure of two power transistors (one in the upper and the other offset in the
lower inverter bridge) in the drive may cause brief movement of the drive which can result
in a personal injury or device damage. The movement depends on the number of poles of
the motor. For a synchronous rotary motor, the maximum movement is 180 °/Number of
pole pairs.
• Take suitable measures to prevent unexpected drive movement, for example, by using a
brake equipped with safety monitoring.
9.4.1 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 units 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.
• 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, the safety messages are 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
Personal injury or device damage resulting from the unexpected movement of the
motor after the energy feed is disconnected
The motor may have an unexpected move once the energy feed has been disconnected.
This may lead to a personal injury or device damage.
• Take appropriate measures to ensure that the motor does not undesirably move in this
case, e.g. against coasting down.
CAUTION
Personal injury or device damage resulting from the simultaneous failure of two power
transistors in the inverter
If two power transistors (one in the upper and one in the lower bridge) simultaneously fail
in the drive, this can cause brief momentary movement. For a synchronous rotary motor,
the maximum movement is 180 °/Number of pole pairs. For a synchronous liner motor, the
maximum movement is the pole width.
• Take suitable measures to prevent unexpected drive movement, for example, by using a
brake equipped with safety monitoring.
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 must be fulfilled:
• The high level duration of the input pulse is larger than 500 ms.
Note
If the input signal contains pluses whose high level duration are less than 500 ms, you
need to decrease the sensitivity of the STO sensor or filter the input pulses by a PLC
program or by a physical filter.
• 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.
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

For 200 V variant servo drives, the STO response time in the worst case is 15 ms. For 400 V
variant servo drives, the STO response time in the worst case is 5 ms.
9.4.2 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 13849-1:2015 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.
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.

Tuning 10
10.1 Controller overview
The SINAMICS V90 PN 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 PN 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.

Tuning
10.1 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 0.00 to 300.00 1.8 1000/min Position loop gain
• 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.

p29120 0 to 999999.00 0.3 Nms/rad Speed loop gain
• 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.

p29121 0 to 100000.00 15 ms Speed loop integral time
p29022 1 to 10000 1 - Tuning: Ratio of total inertia mo-
ment to motor inertia moment
• 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.

p29111 0 to 200 0 % Speed pre-control factor (feed
forward)

Tuning
10.2 Tuning mode
10.2 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 PN servo drive.
Select a tuning mode by setting 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
adjust servo gains accordingly.
3 Real-time auto tuning
Identify the ratio of load moment of inertia and automatically
adjust 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 methods
The SINAMICS V90 PN 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.

Tuning
10.3 One-button auto tuning
• 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 the motor is servo on, the
real-time auto tuning function stays effective. If you do not need to estimate the load
moment of inertia continuously, you can disable the function when the system
performance is acceptable.
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.
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 still 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
One-button auto tuning procedure

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

Tuning

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 machine 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.
Parameter Value Default value Unit Description

range
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 10000 1 - Ratio of load moment of inertia
p29023 0 to 0xffff 0x0007 - One-button auto tuning configuration
p29025 0 to 0x003f 0x0004 - Overall tuning configuration
p29026 0 to 5000 2000 (default) ms Test signal duration
p29027 0 to 30000 0 (default) ° Limit rotation position of the motor
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

(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.
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.
A total of 35 dynamic factors are available for the SINAMICS V90 PN servo drive:
Dynamic factor (p29020) Machine rigidity

1 Low
2
... ↑
17
18 Middle
19
... ↓
35 High

Tuning
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 259)" 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 quick stop with the digital input EMGS.
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 Default 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 fre-
quency
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 fre-
quency
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
p2572 1 to 100 1000 EPOS maximum acceleration
2000000 LU/s2
p2573 1 to 100 1000 EPOS maximum deceleration
2000000 LU/s2
p29110 0.00 to 1.8 1000/mi Position loop gain
300.00 n

Tuning

ter value
p29120 0 to 999999 0.3 Nms/rad Speed loop gain
p29121 0 to 100000 15 ms Speed loop integral time
p29111 0 to 200 0 % Speed pre-control factor (feed forward)
After one-button tuning, four current setpoint filters can be activated at most. The following
parameters related to the filters may be tuned accordingly.

ter value
p1663 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 denomi-
nator
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 numera-
tor.
p1666 0.0 to 10 0.01 - Damp of current notch filter 2 numerator
nator
p1670 0.5 to 16000 1000 Hz Natural frequency of current notch filter 3 numerator
nator
p1675 0.5 to 16000 1000 Hz Natural frequency 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 stop.

Tuning
10.4 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 PN servo drive.

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.

value
p29020[0.. 1 to 35 18 - The dynamic factor of auto tuning.
.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
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.
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 PN servo drive:
Dynamic factor (p29020) Machine rigidity
1 Low
2
... ↑
17
18 Middle
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 259)" for detailed information about the function of resonance
suppression.

Tuning
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:

ter value
p1417 0.5 to 16000 1999 Hz Speed setpoint filter 1 denominator natural fre-
quency
p1419 0.5 to 16000 1999 Hz Speed setpoint filter 1 numerator natural frequency
p29110 0.00 to 1.8 1000/min Position loop gain
300.00
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.
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.

Tuning
10.5 Manual tuning
10.5 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:
Note
Resonance suppression
For detailed information about the resonance suppression, refer to Section "Resonance
suppression (Page 259)".

Tuning
10.6 Resonance suppression
Parameter settings
You need to set the following servo gains related parameters manually when using the
manual tuning function:

p2533 0 to 1000 0 ms LR position setpoint filter time constant
p2572 1 to 2000000 100 1000 LU/s2 EPOS maximum acceleration
p2573 1 to 2000000 100 1000 LU/s2 EPOS maximum deceleration
p29110 0.00 to 1.8 1000/min Position loop gain
300.00

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 PN servo drive. Filter 1 is lowpass
filter. Filter 2, filter 3 and filter 4 are band damp filters.
The gain decreasing frequency, width as well as depth can be set by setting the notch filter:

Tuning
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.

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.
p1675 0.5 to 16000 1000 Hz- Natural frequency 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.

Tuning
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:

value
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:

value
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)

Tuning
10.7 Low frequency vibration suppression
10.7 Low frequency vibration suppression

The low frequency vibration suppression function is a position setpoint filter function. It can
suppress the vibration from 0.5 Hz to 62.5 Hz. The function is available in EPOS control mode.
Related parameters
When you use the vibration suppression function, you need to configure the following
parameters accordingly:

p29035 0 to 1 0 - Low frequency vibration suppression activation.
• 0: disable
• 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" state.
② Select the filter type by p31581. Vibration suppression filter type.
• 0: filter type rugged
• 1: filter type sensitive
③ Set the suppression frequency by p31585. You can set the suppression frequency from 0.5 Hz to 62.5 Hz.
④ Set the damp of the filter by p31586. You can set the damp from 0 to 0.99.
⑤ Set the 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" state.

Parameters 11
11.1 Overview
The section below lists all the parameters of the SINAMICS V90 PN servo drive.
Parameter number
Numbers prefixed with an "r" indicate that parameter is a read-only parameter.
Numbers prefixed with a "p" indicate that the parameter is an editable parameter.
Effective
Indicates the conditions for making parameterization effective. Two conditions are possible:
• IM (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 "servo on" state. The
"RDY" LED lights up green.
• T (Ready to run): Can be changed in the "Ready" state when the drive is in "servo off"
state. The "RDY" LED lights up red.
Note
When judging the state of the drive according to the "RDY" LED, ensure that no faults or
alarms exist.
Data type
Data type Abbreviation Description

Integer16 I16 16-bit integer
Integer32 I32 32-bit integer
Unsigned8 U8 8-bit unsigned integer
FloatingPoint32 Float 32-bit floating point number

Parameters
11.2 Parameter list
Parameter groups
The SINAMICS V90 PN parameters are divided into the following groups:
Parameter group Available parameters Parameter group dis-

play on the BOP
Basic parameters p07xx, p10xx to p16xx, p21xx
Application parameters p29xxx
Communication parameters p09xx, p89xx
Basic positioner parameters p25xx, p26xx
Status monitoring parameters All read-only parameters
11.2 Parameter list
Editable parameters
The values of the parameters marked with an asterisk (*) may be changed after
commissioning. Make sure you back up the parameters first as required if you desire to
replace the motor. The default values of the parameters marked with two asterisks (**) are
motor dependent. They may have different default values when the drive connects to
different motors.
Parameter Specifications
p0290 Power unit overload response
Min: 0 Max: 1 Factory setting: 0 Unit: -
Data type: I16 Effective: IM Can be changed: T
Description: Sets the response to a thermal overload condition of the power unit.
• 0: Reduce output current or output frequency
• 1: No reduction shutdown when overload threshold is reached
Dependency: For a thermal power unit overload, an appropriate alarm or fault is output.
Note: If the thermal overload of the power unit is not sufficiently reduced by the actions taken, the drive
is always shut down. This means that the power unit is always protected irrespective of the setting of
this parameter.
The setting p0290 = 0 is only practical if the load decreases with decreasing speed (e.g. for applications
with variable torque such as for pumps and fans).
Under overload conditions, the current and torque limit are reduced, and therefore the motor is braked
and forbidden speed ranges can be passed through.

Parameters
11.2 Parameter list
p0748 CU invert digital outputs
Data type: U32 Effective: IM Can be changed: T, U
Description: Inverts the signals at the digital outputs.
• Bit 0: inverts signal DO 1
– Bit 0 = 0: not inverted
– Bit 0 = 1: inverted
• Bit 1: inverts signal DO 2
– Bit 1 = 0: not inverted
– Bit 1 = 1: inverted
p0795 Digital inputs simulation mode
Description: Sets the simulation mode for digital inputs.
Bit 0 to bit 9: set the simulation mode for DI 1 to DI 10
• Bit = 0: terminal eval
• Bit = 1: simulation
Note: If a digital input is used as signal source for the function "STO" then it is not permissible to select
the simulation mode and this is rejected.
This parameter is not saved when data is backed up.
p0796 Digital inputs simulation mode setpoint
Description: Sets the setpoint for the input signals in the digital input simulation mode.
Bit 0 to bit 9: set the setpoint for DI 1 to DI 10
• Bit = 0: low
• Bit = 1: high
Note: This parameter is not saved when data is backed up.
p0922 PROFIdrive: PZD telegram selection
Data type: U16 Effective: IM Can be changed: T
Description: Sets the send and receive telegram.
For speed control mode:
• 1: Standard telegram 1, PZD-2/2
• 102: SIEMENS telegram 102, PZD-6/10
For basic positioner control mode:

Parameters
11.2 Parameter list
p0925 PROFIdrive: Synchronous sign-of-life tolerance
Description: Sets the number of tolerated consecutive sign-of-life errors of the clock-cycle synchronous
master. The sign-of-life signal is normally received in PZD4 (control word 2) from the master.
p0927 Parameter authority
Min: 0000 hex Max: 0003 hex Factory setting: 0003 hex Unit: -
Description: Sets the interface via which parameters can be changed.
• Bit definition:
– Bit 0: PROFINET or V-ASSISTANT
– Bit 1: BOP
• Value definition for a bit:
– 0: Read only
– 1: Read and write
Note: If p927.0 = 0, the V-ASSISTANT can only be used to read parameters, all other functions won't
work.
p0972 Drive unit reset
Description: Sets the required procedure to execute a hardware reset for the drive unit.
• 0: Inactive
• 1: Hardware reset immediate
• 2: Hardware reset preparation
Danger: It must be absolutely ensured that the system is in a safe condition.
The memory card/device memory of the Control Unit must not be accessed.
Note:
If value = 1:
Reset is immediately executed and communications interrupted.
If value = 2:
Help to check the reset operation.
Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is
possibly no longer acknowledged). The communication is then interrupted.
After the drive unit has been restarted and communications have been established, read p0972 and
check the following:
p0972 = 0? → The reset was successfully executed.
p0972 > 0? → The reset was not executed.
p0977 Save all parameters
Description: Saves all parameters of the drive system to the non-volatile memory.
When saving, only the adjustable parameters intended to be saved are taken into account.
• Value = 0: Inactive
• Value = 1: Save in non-volatile memory - downloaded at POWER ON
Notice: The Control Unit power supply may only be powered down after data has been saved (i.e. after
data save has been started, wait until the parameter again has the value 0).
Writing to parameters is inhibited while saving.

Parameters
11.2 Parameter list
p1058 JOG 1 speed setpoint
Min: 0.000 Max: 210000.000 Factory setting: 100.000 Unit: rmp
Data type: Float Effective: IM Can be changed: T
Description: Sets the speed/velocity for JOG 1. Jogging is level-triggered and allows the motor to be
incrementally moved.
Note: The parameter values displayed on the BOP are integers.
p1082 * Maximum speed
Min: 0.000 Max: 210000.000 Factory setting: 1500.000 Unit: rpm
Description: Sets the highest possible speed.
Notice: After the value has been modified, no further parameter modifications can be made.
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 connecting to different motors.
p1083 * Speed limit in positive direction of rotation
Data type: Float Effective: IM Can be changed: T, U
Description: Sets the maximum speed for the positive direction.
p1086 * Speed limit in negative direction of rotation
Min: -210000.000 Max: 0.000 Factory setting: -210000.000 Unit: rpm
Description: Sets the speed limit for the negative direction.
p1115 Ramp-function generator selection
Description: Sets the ramp-function generator type.
• 0: Basic ramp-function generator
• 1: Extended ramp-function generator
Note: Another ramp-function generator type can only be selected when the motor is at a standstill.
p1120 Ramp-function generator ramp-up time
Min: 0.000 Max: 999999.000 Factory setting: 1.000 Unit: s
Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up
to the maximum speed (p1082) in this time.
Dependency: Refer to p1082
p1121 Ramp-function generator ramp-down time
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.

Parameters
11.2 Parameter list
p1130 Ramp-function generator 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.
p1131 Ramp-function generator 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.
p1135 OFF3 ramp-down time
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3
command.
Note: This time can be exceeded if the DC link voltage reaches its maximum value.
p1215 * Motor holding brake configuration
Description: Sets the holding brake configuration.
Dependency: Refer to p1216, p1217, p1226, p1227, p1228
Caution: For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will
destroy the brake.
Notice: If p1215 was set to 1, then when the pulses are suppressed, the brake is closed even if the mo-
tor is still rotating.
Note: The parameter can only be set to zero when the pulses are inhibited.
p1216 * Motor holding brake opening time
Min: 0 Max: 10000 Factory setting: 100 Unit: ms
Description: Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time.
After this, the speed/velocity setpoint is enabled.
Dependency: Refer to p1215, p1217
Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor.
For p1216 = 0 ms, the monitoring and the message A7931 "Brake does not open" are deactivated.
p1217 * Motor holding brake closing time
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.
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 A7932 "Brake does not close" are deactivated.

Parameters
11.2 Parameter list
p1226 Threshold for zero speed 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.
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 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 puls-
es 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
monitoring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not sup-
pressed.
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.

Parameters
11.2 Parameter list
p1228 Pulse suppression delay time
Description: Sets the delay time for the pulse suppression. After OFF1 or OFF3, the pulses are canceled,
if at least one of the following conditions is fulfilled:
• The speed actual value falls below the threshold in p1226 and the time started after this in p1228
has expired.
• The speed setpoint falls below the threshold in p1226 and the time started after this in p1227 has
expired.
Notice: When the motor holding brake is activated, pulse cancellation is additionally delayed by the
brake closing time (p1217).
p1414 Speed setpoint filter activation
Min: 0000 hex Max: 0003 hex Factory setting: 0000 hex Unit: -
Description: Setting for activating/de-activating the speed setpoint filter.
• Bit 0: Activate filter 1
– Bit 0 = 0: Deactivated
– Bit 0 = 1: Activated
Dependency: The individual speed setpoint filters are parameterized as of p1415.
Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each
bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
p1415 Speed setpoint filter 1 type
Data type: I16 Effective: IM Can be changed: T, U
Description: Sets the type for speed setpoint filter 1.
• 0: Low pass filter PT1
• 2: General 2nd order filter
Dependency:
PT1 low pass filter: p1416
PT2 low pass filter: p1417, p1418
General filter: p1417 ... p1420
p1416 Speed setpoint filter 1 time constant
Min: 0.00 Max: 5000.00 Factory setting: 0.00 Unit: ms
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
Note: This parameter is only effective if the filter is set as a PT1 low pass.

Parameters
11.2 Parameter list
p1417 Speed setpoint filter 1 denominator natural frequency
Min:0.5 Max: 16000.0 Factory setting: 1999.0 Unit: Hz
Description: Sets the denominator natural frequency for speed setpoint filter 1(PT2, general filter).
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general
filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
p1418 Speed setpoint filter 1 denominator damping
Min: 0.001 Max: 10.000 Factory setting: 0.700 Unit: -
Description: Sets the denominator damping for speed setpoint filter 1 (PT2, general filter).
filter.
p1419 Speed setpoint filter 1 numerator natural frequency
Min: 0.5 Max: 16000.0 Factory setting: 1999.0 Unit: Hz
Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).
Note: This parameter is only effective if the speed filter is set as a general filter. The filter is only effec-
tive if the natural frequency is less than half of the sampling frequency.
p1420 Speed setpoint filter 1 numerator damping
Description: Sets the numerator damping for speed setpoint filter 1 (general filter).
Note: This parameter is only effective if the speed filter is set as a general filter.
p1421 Speed setpoint filter 2 type
Description: Sets the type for speed setpoint filter 2.
• 2: General 2nd order filter
Dependency:
PT1 low pass filter: p1422
PT2 low pass filter: p1423, p1424
General filter: p1423 ... p1426
p1422 Speed setpoint filter 2 time constant
Description: Sets the time constant for the speed setpoint filter 2 (PT1).
Note: This parameter is only effective if the speed filter is set as a PT1 low pass.

Parameters
11.2 Parameter list
p1423 Speed setpoint filter 2 denominator natural frequency
Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).
filter.
p1424 Speed setpoint filter 2 denominator damping
Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).
filter.
p1425 Speed setpoint filter 2 numerator natural frequency
Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).
p1426 Speed setpoint filter 2 numerator damping
Description: Sets the numerator damping for speed setpoint filter 2 (general filter).
p1433 Speed controller reference model natural frequency
Description: Sets the natural frequency of the PT2 element for the reference model of the speed con-
troller.
This value will be effective and automatically set by auto tuning. The larger the value of p1433 is, the
faster the speed setpoint responses. For interpolation axes, the value of p1433 needs to be set to a
same value manually.
p1441 Actual speed smoothing 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).

Parameters
11.2 Parameter list
p1520 * Torque limit upper
Min: -1000000.00 Max: 20000000.00 Factory setting: 0.00 Unit: Nm
Description: Sets the fixed upper torque limit.
Danger: Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accel-
erating in an uncontrollable fashion.
Notice: The maximum value depends on the maximum torque of the connected motor.
p1521 * Torque limit lower
Min: -20000000.00 Max: 1000000.00 Factory setting: 0.00 Unit: Nm
Data type: Float Effective: IM Can be change: 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 acceler-
ating in an uncontrollable fashion.
Notice: The maximum value depends on the maximum torque of the connected motor.
p1656 * Activates current setpoint filter
Min: 0000 hex Max: 000F hex Factory setting: 0001 hex Unit: -
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 denominator natural frequency
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 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.

Parameters
11.2 Parameter list
p1663 Current setpoint filter 2 denominator natural frequency
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
p1664 Current setpoint filter 2 denominator damping
p1665 Current setpoint filter 2 numerator natural frequency
Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter).
p1666 Current setpoint filter 2 numerator damping
Description: Sets the numerator damping for current setpoint filter 2.

Parameters
11.2 Parameter list
p1981 Pole position identification maximum distance
Min: 0 Max: 180 Factory setting: 30 Unit: °
Description: Sets the maximum distance (electrical angle) when carrying out the pole position identifi-
cation routine. If this distance (travel) is exceeded, an appropriate fault is output.
Refer to: F7995
Notice: Value = 180 °: Monitoring is deactivated.
p2000 Reference speed
Description: Sets the reference quantity for speed and frequency.
All speeds or frequencies specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).
Dependency: Refer to: p2003
p2002 Reference current
Min: 0.10 Max: 100000.00 Factory setting: 100.00 Unit: Arms
Description: Sets the reference quantity for currents.
All currents specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 4000 0000 hex (double word).
Notice: If various DDS are used with different motor data, then the reference quantities remain the
same as these are not changed over with the DDS. The resulting conversion factor should be taken into
account (e.g. for trace records).
Example:
p2002 = 100 A
Reference quantity 100 A corresponds to 100 %
p2003 Reference torque
Min: 0.01 Max: 20000000.00 Factory setting: 1.00 Unit: Nm
Description: Sets the reference quantity for torque.
All torques specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).

Parameters
11.2 Parameter list
p2118[0...19] Message number selection of a type-to-be-changed message
Min: 0 Max: 65535 Factory setting: Unit: -
[0] 6310
[1] 7594
[2] 7566
[3] 32905
[4...19] 0
Description: Selects faults or alarms of whose message type should be changed.
Dependency: Selects the fault or alarm and sets the required type of message realized under the same
index.
Refer to: p2119
Note: Re-parameterization is also possible if a message is present. The change only becomes effective
after the message has gone.
p2119[0...19] Change the type for a message
Min: 1 Max: 3 Factory setting: Unit: -
[0] 2
[1...3] 3
[4...19] 1
Description: Sets the message type for the selected fault or alarm.
• Value = 1: Fault (F)
• Value = 2: Alarm (A)
• Value = 3: No message (N)
Dependency: Selects the fault or alarm and sets the required type of message realized under the same
index.
Refer to: p2118
Note: Re-parameterization is also possible if a message is present. The change only becomes effective
after the message has gone.
The message type can only be changed for messages with the appropriate identification (exception,
value = 0).
Example:
F12345(A): Fault F12345 can be changed to alarm A12345.
p2153 Speed actual value filter time constant
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 messag-
es and signals.
p2161 * Speed threshold 3
Description: Sets the speed threshold value for the signal that indicates the axis is stationary.
p2162 * Hysteresis speed n_act > n_max
Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max".

Parameters
11.2 Parameter list
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 hysteresis p2162 can be increased, but its value must not be greater than the value calculated by
the formula below when the motor maximum speed is sufficiently greater than the maximum speed
p1082.
p2162 ≤ 1.05 × motor maximum speed - maximum speed (p1082)
The range of the parameter is different when connect with different motors.
p2175 * Motor blocked speed threshold
Description: Sets the speed threshold for the message "Motor blocked".
Dependency: Refer to p2177.
p2177 * Motor blocked delay time
Description: Sets the delay time for the message "Motor blocked".
Dependency: Refer to p2175.
p2525 LR encoder adjustment offset
Min: 0 Max: 4294967295 Factory setting: 0 Unit: LU
Description: Position offset when adjusting the absolute encoder.
Note: The position offset is only relevant for absolute encoders. The drive determines the value when
adjusting the absolute encoder and the user should not change it.
p2533 LR position setpoint filter time constant
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
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)

Parameters
11.2 Parameter list
p2543 * LR standstill monitoring 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.
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)
p2544 * LR positioning window
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.
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) ≥ positioning window (p2544)
p2545 * LR positioning monitoring 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, and F7451
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)
p2546 * LR dynamic following error monitoring tolerance
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 out-
put.
Value = 0: The dynamic following error monitoring is deactivated.
Dependency: Refer to: r2563, F7452
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrect-
ly responding due to operational control sequences (e.g. during load surges).

Parameters
11.2 Parameter list
p2571 EPOS maximum velocity
Min: 1 Max: 40000000 Factory setting: 30000 Unit: 1000
LU/min
Description: Sets the maximum velocity for the "basic positioner" function (EPOS).
Note: The maximum velocity is active in all of the operating modes of the basic positioner.
The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of
the speed/velocity controller:
p2571[1000 LU/min] = max_speed[rpm] x p29248/p29249 x p29247/1000
p2572 ** EPOS maximum acceleration
Min: 1 Max: 2000000 Factory setting: 100 Unit: 1000 LU/s2
Description: Sets the maximum acceleration for the "basic positioner" function (EPOS).
Note: The maximum acceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed acceleration override (p2619) acts on the maximum acceleration.
"Direct setpoint input/MDI" mode:
The acceleration override is effective (p2644, 4000 hex = 100%).
"Jog" and "search for reference" modes:
No acceleration override is active. The axis starts with the maximum acceleration.
p2573 ** EPOS maximum deceleration
Description: Sets the maximum deceleration for the "basic positioner" function (EPOS).
Note: The maximum deceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override (p2620) acts on the maximum deceleration.
"Direct setpoint input/MDI" mode:
The deceleration override is effective (p2645, 4000 hex = 100%).
"Jog" and "search for reference" modes:
No deceleration override is effective. The axis brakes with the maximum deceleration.
p2574 ** EPOS jerk limiting
Description: Sets the jerk limiting.
Dependency: Refer to p2572, p2573, and p2575
Note: The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573)/p2574

Parameters
11.2 Parameter list
p2575 EPOS jerk limiting activation
Description: Activates the jerk limiting.
• 0: The jerk limiting is deactivated.
• 1: The jerk limiting is activated.
p2580 EPOS software limit switch minus
Min: -2147482648 Max: 2147482647 Factory setting: -2147482648 Unit: LU
Data type: I32 Effective: IM Can be change: T, U
Description: Sets the software limit switch in the negative direction of travel.
p2581 EPOS software limit switch plus
Min: -2147482648 Max: 2147482647 Factory setting: 2147482648 Unit: LU
Description: Sets the software limit switch in the positive direction of travel.
p2582 EPOS software limit switch activation
Data type: U32/Binary Effective: IM Can be changed: T
Description: Sets the signal source to activate the "software limit switch".
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 appro-
priate 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.

Parameters
11.2 Parameter list
p2583 EPOS backlash compensation
Description: Sets the amount of play (backlash) for positive or negative play.
• = 0: The backlash compensation is deactivated.
• > 0: Positive backlash (normal case)
When the direction is reversed, the encoder actual value leads the actual value.
• < 0: Negative backlash
When the direction is reversed, the actual value leads the encoder actual value.
Dependency: If a stationary axis is referenced by setting the reference point, or an adjusted with abso-
lute 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 rele-
vant but instead the history of the axis.
Refer to: p2604
p2585 EPOS jog 1 setpoint velocity
Min: -40000000 Max: 40000000 Factory setting: -300 Unit: 1000
LU/min
Description: Sets the setpoint speed for jog 1.
p2586 EPOS jog 2 setpoint velocity
Min: -40000000 Max: 40000000 Factory setting: 300 Unit: 1000
LU/min
Description: Sets the setpoint speed for jog 2.
p2587 EPOS jog 1 traversing distance
Description: Sets the traversing distance for incremental jog 1.
p2588 EPOS jog 2 traversing distance
Description: Sets the traversing distance for incremental jog 2.
p2599 EPOS reference point coordinate value
Description: Sets the position value for the reference point coordinate. This value is set as the actual
axis position after referencing or adjustment.

Parameters
11.2 Parameter list
p2600 EPOS search for reference point offset
Description: Sets the reference point offset for search for reference.
p2604 EPOS search for reference start direction
Data type: U32/Binary Effective: IM Can be changed: T
Description: Sets the signal sources for the start direction of the search for reference.
• 1 signal: Start in the negative direction.
• 0 signal: Start in the positive direction.
p2605 EPOS search for reference approach velocity 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 trav-
erse to the zero mark.
p2606 EPOS search for reference reference cam maximum distance
Description: Sets the maximum distance after the start of the search for reference when traversing to
the reference cam.
Note: When using a reversing cam, the maximum distance must be set appropriately long.
p2608 EPOS search for reference approach velocity 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
internal factors. This is the reason that the reference cam should be adjusted in this center between two
zero marks and the approach velocity should be adapted to the distance between two zero marks.
Note: The velocity override is not effective when traversing to the zero mark.

Parameters
11.2 Parameter list
p2609 EPOS search for reference max. distance ref. cam and zero mark
Description: Sets the maximum distance after leaving the reference cam when traversing to the zero
mark.
p2611 EPOS search for reference approach velocity 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...15] EPOS traversing block position
Description: Sets the target position for the traversing block.
Dependency: Refer to: p2618, p2619, p2620, p2621, p2622, p2623
Note: The target position is approached in either relative or absolute terms depending on p2623.
p2618[0...15] EPOS traversing block velocity
LU/min
Description: Sets the velocity for the traversing block.
Note: The velocity can be influenced using the velocity override.
p2619[0...15] EPOS traversing block acceleration override
Min: 1.0 Max: 100.0 Factory setting: 100.0 Unit: %
Description: Sets the acceleration override for the traversing block.
The override refers to the maximum acceleration (p2572).
Dependency: Refer to: p2572, p2617, p2618, p2620, p2621, p2622, p2623
p2620[0...15] EPOS traversing deceleration override
Description: Sets the deceleration override for the traversing block.
The override refers to the maximum deceleration (p2573).
Dependency: Refer to: p2573, p2617, p2618, p2619, p2621, p2622, p2623

Parameters
11.2 Parameter list
p2621[0...15] EPOS traversing block task
Description: Sets the required task for the traversing block.
• 1: POSITIONING
• 2: FIXED STOP
• 3: ENDLESS_POS
• 4: ENDLESS_NEG
• 5: WAIT
• 6: GOTO
• 7: SET_O
• 8: RESET_O
• 9: JERK
p2622[0...15] EPOS traversing block task parameter
Min: -2147483648 Max: 2147483647 Factory setting: 0 Unit: -
Description: Sets additional information/data of the appropriate task for the traversing block.
Note: The following should be set depending on the task:
FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear 0...65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
RESET_O: 1, 2 or 3 - reset direct output 1, 2 or 3 (both)
JERK: 0 - deactivate, 1 - activate
p2623[0...15] EPOS traversing block task mode
Description: Sets the influence of the task for the traversing block.
Value = 0000 cccc bbbb aaaa
cccc: Positioning mode
cccc = 0000: ABSOLUTE
cccc = 0001: RELATIVE
cccc = 0010: ABS_POS (only for a rotary axis with modulo correction)
cccc = 0011: ABS_NEG (only for a rotary axis with modulo correction)
bbbb: Progression condition
bbbb = 0000: END
bbbb = 0001: CONTINUE WITH STOP
bbbb = 0010: CONTINUE FLYING
bbbb = 0011: CONTINUE EXTERNAL
bbbb = 0100: CONTINUE EXTERNAL WAIT
bbbb = 0101: CONTINUE EXTERNAL ALARM
aaaa: IDs
aaaa = 000x: show/hide block (x = 0: show; x = 1: hide)

Parameters
11.2 Parameter list
p2634 EPOS fixed stop maximum following error
Description: Sets the following error to detect the "fixed stop reached" state.
Note: The state "fixed stop reached" is detected if the following error exceeds the theoretically calculat-
ed following error value by p2634.
p2635 EPOS fixed stop monitoring window
Description: Sets the monitoring window of the actual position after the fixed stop is reached.
Dependency: Refer to: F07484
Note: If, after the fixed stop is reached, the end stop shifts in either the positive or negative direction by
more than the value set here, an appropriate message is output.
p2690 MDI position fixed setpoint
Min: -2147482648 Max: 2147482647 Factory setting: 0 Unit: -
Description: Sets a fixed setpoint for the position.
p2691 MDI velocity fixed setpoint
LU/min
Description: Sets a fixed setpoint for the speed.
p2692 MDI acceleration override, fixed setpoint
Description: Sets a fixed setpoint for the acceleration override.
Note: The percentage value refers to the maximum acceleration (p2572).
p2693 MDI deceleration override, fixed setpoint
Description: Sets a fixed setpoint for the deceleration override.
Note: The percentage value refers to the maximum deceleration (p2573).
p8864 PROFIdrive supplementary telegram selection
Min: 750 Max: 999 Factory setting: 999 Unit: T
Description: Sets the supplementary telegram.
• p8864 = 750: Supplementary telegram 750, PZD-3/1
• p8864 = 999: No telegram
Note: After changing p0922, you must set p8864 again.

Parameters
11.2 Parameter list
p8920[0...239] PROFIdrive: Name of station
Min: - Max: - Factory setting: - Unit: -
Description: Sets the station name for the onboard PROFINET interface on the Control Unit.
The active station name is displayed in r8930.
Note: The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
p8921[0...3] PROFIdrive: IP address of station
Description: Sets the IP address for the onboard PROFINET interface on the Control Unit.
The active IP address is displayed in r8931.
p8922[0...3] PROFIdrive: Default gateway of station
Description: Sets the default gateway for the onboard PROFINET interface on the Control Unit.
The active default gateway is displayed in r8932.
p8923[0...3] PROFIdrive: Subnet mask of station
Description: Sets the subnet mask for the onboard PROFINET interface on the Control Unit.
The active subnet mask is displayed in r8933.
p8925 PROFIdrive: Interface configuration
Description: Setting to activate the interface configuration for the onboard PROFINET interface on the
Control Unit.
p8925 is automatically set to 0 at the end of the operation.
• p8925 = 0: No function
• p8925 = 2: Save and activate configuration
The interface configuration (p8920 and following) is saved and activated after the next POWER ON.
p29000 * Motor ID
Description: Motor type number is printed on the motor rating plate as motor ID.
For a motor with an incremental encoder, users need to manually input the parameter value.
For a motor with an absolute encoder, the drive automatically reads the parameter value.

Parameters
11.2 Parameter list
p29001 Reversal of motor direction
Description: Reversal of motor running direction. By default, CW is the positive direction while CCW the
negative direction. After changing of p29001, reference point will be lost, A7461 will remind user to
referencing again.
• 0: No reversal
• 1: Reverse
p29002 BOP display selection
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
Data type: I16 Effective: RE Can be changed: T
Description: Selection of control mode.
• 1: Basic positioner control mode (EPOS)
• 2: Speed control mode (S)
p29005 Braking resistor capacity percentage alarm threshold
Min: 1 Max: 100 Factory setting: 100 Unit: %
Description: Alarm triggering threshold for the capacity of the internal braking resistor.
Alarm number: A52901
p29006 Line supply voltage
Min: 200 Max: 480 Factory setting: 400/230 Unit: V
Description: Nominal Line supply voltage, effective value of line to line voltage. Drive can operate with-
in -15% to +10% error.
• For 400 V variant servo drive, the value range is 380 V to 480 V, default value is 400 V.
• For 200 V variant servo drive, the value range is 200 V to 240 V, default value is 230 V.
p29020[0...1] Tuning: Dynamic factor
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

Parameters
11.2 Parameter list
p29021 Tuning: Mode selection
Description: Selection of a tuning mode.
• 0: Disabled
• 1: One-button auto tuning
• 3: Real-time auto tuning
• 5: Disable with default controller parameters
p29022 Tuning: Ratio of total inertia moment to motor inertia moment
Description: Ratio of total inertia moment to servo motor inertia moment.
p29023 Tuning: One-button auto tuning configuration
Min: 0000 hex Max: FFFF hex Factory setting: 0007 hex Unit: -
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 con-
sequence, a higher dynamic performance can be achieved in the speed control loop.
• Bit 2: The inertia moment ratio (p29022) can be measured after this function is running. If not set,
the inertia moment ratio must be set manually with p29022.
• Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is neces-
sary for interpolating axes. The time in p29028 should be set according to the axis with the lowest
dynamic response.
p29024 Tuning: Real-time auto tuning configuration
Min: 0000 hex Max: FFFF hex Factory setting: 004C hex Unit: -
Description: Real-time auto tuning configuration.
• Bit 2: The inertia moment ratio (p29022) is estimated while the motor is running, if not set, the
inertia moment ratio must be set manually with p29022.
• Bit 3: If not set, the inertia moment ratio (p29022) is estimated only once and the inertia estimator is
deactivated automatically after the estimation is completed. If the bit is set to 1, the inertia moment
ratio is estimated in real time and the controller adapts the parameters continuously. You are rec-
ommended 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 the current setpoint filter. This adaption may be necessary if a mechanical
resonance frequency changes in operation. It can also be used to dampen a fixed resonance fre-
quency. Once the control loop has stabilized, this bit should be deactivated and to save parameters
in a non-volatile memory.
• Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is neces-
sary for interpolating axes. The time in p29028 should be set according to the axis with the lowest
dynamic response.

Parameters
11.2 Parameter list
p29025 Tuning: Configuration overall
Min: 0000 hex Max: FFFF hex Factory setting: 0004 hex Unit: -
Description: Overall configuration of auto tuning, apply for both one-button and real-time auto tuning.
• Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic
performance of the controller, then the P controller becomes a PD controller in the position control
loop. As a consequence, the dynamic performance of the position controller is increased. This func-
tion should only be set when the speed pre-control (bit 3 = 1) or the torque pre-control (bit 4 = 1) is
active.
• Bit 1: At low speeds, the controller gain factors are automatically reduced in order to avoid noise and
oscillation at standstill. This setting is recommended for incremental encoders.
• Bit 2: The estimated load moment of inertia is taken into account for the speed controller gain.
• Bit 3: Activates the speed pre-control for the position controller.
• Bit 4: Activates the torque pre-control for the position controller.
• Bit 5: Adapts acceleration limit.
Note:
Speed pre-control
• The bit 3 of the p29025 will be set to 1 automatically after the factory default.
• You can set the bit 3 of p29025 manually in all control modes.
Torque pre-control
• The bit 4 of p29025 will be set to 1 automatically if the following conditions are fulfilled simultane-
ously:
– Working with the 200 V drives
– Working in S control mode (p29003 = 2).
• The bit 4 of p29025 will not be set to 1 automatically if either of the following conditions is fulfilled:
– Working with the 400 V drives
– Working in all control modes except for the S control mode (p29003 ≠ 2).
• You can set the bit 4 of p29025 manually in all control modes.
p29026 Tuning: Test signal duration
Description: The duration time of the one-button auto tuning test signal.
p29027 Tuning: Limit rotation of motor
Min: 0 Max: 30000 Factory setting: 0 Unit: °
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 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).

Parameters
11.2 Parameter list
p29035 VIBSUP activation
Description: Select the VIBSUP ON/OFF.
Position setpoint filter can be activated (p29035) for EPOS control mode.
• 0: Disable
Filter is not activated.
• 1: Enable
Filter is activated.
p29046 Activate motor blocked protection under speed control mode
Description: Activates/deactivates the motor blocked protection function in the speed control mode.
• 1: F7900 will be triggered if the motor is blocked at torque limit.
• 0: No F7900 protection when the motor is blocked.
p29050[0...1] Torque limit upper
Min: -150 Max: 300 Factory setting: 300 Unit: %
Description: Positive torque limit.
Two internal torque limits in total are available.
You can select the internal parameters as the source of the torque limit with the digital input signals
TLIM.
p29051[0...1] Torque limit lower
Min: -300 Max: 150 Factory setting: -300 Unit: %
Description: Negative torque limit.
Two internal torque limits in total are available.
You can select the internal parameters as the source of the torque limit with the digital input signals
TLIM.
p29070[0...1] * Speed limit positive
Min: 0 Max: 210000 Factory setting: 210000 Unit: rpm
Description: Positive speed limit.
Two internal speed limits in total are available.
You can select the internal parameters as the source of the speed limit with the digital input signals
SLIM.
p29071[0...1] * Speed limit negative
Min: -210000 Max: 0 Factory setting: -210000 Unit: rpm
Description: Negative speed limit.
Two internal speed limits in total are available.
You can select the internal parameters as the source of the speed limit with the digital input signals
SLIM.
p29080 Overload threshold for output signal triggering
Min: 10 Max: 300 Factory setting: 100 Unit: %
Description: Overload threshold for the output power.

Parameters
11.2 Parameter list
p29108 Function module activation
Min: 0 Max: FFFFFFFF hex Factory setting: 0 Unit: -
Data type: U32 Effective: RE Can be changed: T
Description: Bit 0: activate extended setpoint channel including ramp-function generator (RFG), speed
limit (SLIM), and JOG.
• Bit 0 = 0: Deactivate
• Bit 0 = 1: Activate
Note: Changes only become effective after save and repower-on.
Currently, you can set bit 0 only.
p29110 ** Position loop gain
Min: 0.000 Max: 300.000 Factory setting: Motor dependent Unit: 1000/min
Description: Position loop gain.
Two position loop gains in total are available. You can switch between these two gains by configuring
the digital input signal G-CHANGE or setting relevant condition parameters.
The first position loop gain is the default setting.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
p29111 Speed pre-control factor (feed forward)
Description: Setting to activate and weight the speed pre-control value.
Value = 0%: The pre-control is deactivated.
p29120** Speed loop gain
Min: 0.00 Max: 999999.00 Factory setting: Motor dependent Unit: Nms/rad
Description: Speed loop gain.
p29121* Speed loop integral time
Description: Speed loop integral time.
p29150 User defined PZD receive
Description: Select the function of control PZD12 when using telegram 111.
• 0: No function
• 1: Additional torque setpoint
• 2: Additional speed setpoint
• 3: Update DO status

Parameters
11.2 Parameter list
p29151 User defined PZD send
Description: Select the function of status PZD12 when using telegram 111.
• 0: No function
• 1: Actual torque
• 2: Actual absolute current
• 3: DI status
p29152 PZD user2 function activation
Description: Activates the function of the PZD user2.
• 0: No function activated
• 1: Activates the function of setting the EPOS reference point coordinate value via the PZD user2
p29230 MDI direction selection
Description: MDI direction selection:
• 0: Absolute positioning through the shortest distance
• 1: Absolute positioning in the positive direction
• 2: Absolute positioning in the negative direction
Dependency: This parameter is only valid for modulo axis (p29245 = 1).
p29231 MDI positioning type
Description: MDI positioning type:
• 0: Relative positioning
• 1: Absolute positioning
p29239 Activate the reversing cam in referencing
Description: Activates the reversing cam when performing referencing.
• 0: Deactivate
• 1: Activate
p29240 Select referencing mode
Description: Selects referencing mode.
• 0: Referencing with external signal REF
• 1: Referencing with external reference cam (signal REF) and encoder zero mark
• 2: Referencing with zero mark only

Parameters
11.2 Parameter list
p29243 Positioning tracking activate
Description: Activation of position tracking.
• 0: Deactivated
• 1: Activated
p29244 Absolute encoder virtual 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
Description: Linear/modulo mode:
• 0: Linear axis
• 1: Modulo axis
p29246 * Modulo correction range
Description: Modulo number, effective on modulo mode (P29245 = 1)
p29247 * Mechanical gear: LU per revolution
Description: LU per load revolution.
p29248 * Mechanical gear: Numerator
Description: (Load/Motor) Load revolutions.
p29249 * Mechanical gear: Denominator
Description: (Load/Motor) Motor revolutions.
p29301 Digital input 1 assignment
Description: Defines the function of digital input signal DI1
• 0: NA
• 2: RESET
• 3: CWL
• 4: CCWL
• 11: TLIM
• 20: SLIM
• 24: REF
• 29: EMGS

Parameters
11.2 Parameter list
p29330 Digital output 1 assignment
Description: Defines the function of digital output signal DO1
• 1: RDY
• 2: FAULT
• 3: INP
• 4: ZSP
• 6: TLR
• 8: MBR
• 9: OLL
• 12: REFOK
• 14: RDY_ON
• 15: STO_EP
p29331 Digital output 2 assignment
Description: Defines the function of digital output signal DO2
p29360 Brake resistor alarm active
Description: Configure the deactivation of the brake resistor alarm.
• 0: A52901 monitor is activated.
• 1: A52901 monitor is deactivated.
p29418 Fine resolution G1_XIST1 (in bits)
Description: Sets the fine resolution in bits of the incremental position actual values G1_XIST1.
Note: The fine resolution specifies the fraction between two encoder pluses. The number of pulses for
one encoder revolution is 2048, so the effective resolution is 2048 × 2p29418.
The default value is automatically adjusted with the encoder type.

Parameters
11.2 Parameter list
p29419 Fine resolution G1_XIST2 (in bits)
Description: Sets the fine resolution in bits of the absolute position actual values G1_XIST2.
Note: The fine resolution specifies the fraction between two encoder pluses. The number of pulses for
one encoder revolution is 2048, so the effective resolution is 2048 × 2p29419.
The default value is automatically adjusted with the encoder type.
p31581 VIBSUP filter type
Description: Sets the filter type for VIBSUP. Depending on the selected filter type, the VIBSUP filter re-
sults 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 ex-
tended 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 ex-
tended by half the time period Td/2 (Td = 1/fd).
p31585 VIBSUP filter frequency fd
Min: 0.5 Max: 62.5 Factory setting: 1 Unit: Hz
Description: Sets the frequency of the damped natural vibration of the mechanical system. This fre-
quency 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
Min: 0 Max: 0.99 Factory setting: 0.03 Unit: -
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
Parameter 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
characteristic (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.
The speed actual value is available smoothed (r0021) and unsmoothed.

Parameters
11.2 Parameter list

r0026 DC link voltage smoothed V Float
Description: Displays the smoothed actual value of the DC link voltage.
The DC link voltage is available smoothed.
r0027 Absolute actual current smoothed Arms Float
Description: Displays the smoothed absolute actual current value.
Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this
case, the unsmoothed value should be used.
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.
The field-generating current actual value is available smoothed (r0029) and unsmoothed.
r0030 Current actual value torque-generating smoothed Arms Float
Description: Displays the smoothed torque-generating actual current.
The torque-generating current actual value is available smoothed.
r0031 Actual torque smoothed Nm Float
Description: Displays the smoothed torque actual value.
The torque actual value is available smoothed (r0031) and unsmoothed.
r0034 Motor utilization thermal % Float
Description: Displays the motor utilization from motor temperature model 1 (I2t) or 3.

Parameters
11.2 Parameter list

r0037[0...19] Power unit temperatures °C Float
Description: Displays the temperatures in the power unit.
Index:
• [0]: Inverter maximum value
• [1]: Depletion layer maximum value
• [2]: Rectifier maximum value
• [3]: Air intake
• [4]: Interior of power unit
• [5]: Inverter 1
• [6]: Inverter 2
• [7]: Inverter 3
• [8]: Inverter 4
• [9]: Inverter 5
• [10]: Inverter 6
• [11]: Rectifier 1
• [12]: Rectifier 2
• [13]: Depletion layer 1
• [19]: Cooling unit liquid intake
Dependency: Refer to A01009
Notice: Only for internal Siemens troubleshooting.
Note: The value of -200 indicates that there is no measuring signal.
• r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]).
• r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
• r0037[2]: Maximum value of the rectifier temperatures (r0037[11...12]).
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.
r0079[0...1] Torque setpoint total Nm Float
Description: Displays and connector output for the torque setpoint at the output of the speed controller
(before clock cycle interpolation).
Index:
• [0]: Unsmoothed
• [1]: Smoothed
r0296 DC link voltage undervoltage threshold V U16
Description: Threshold to detect a DC link undervoltage.
If the DC link voltage falls below this threshold, the drive unit is tripped due to a DC link undervoltage
condition.
Note: The value depends on the device type and the selected device rated voltage.

Parameters
11.2 Parameter list

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...2] Encoder actual position value Gn_XIST1 - U32
Description: Displays the encoder actual position value Gn_XIST1.
Index:
• [0]: Encoder 1
• [1]: Encoder 2
• [2]: Reserved
Note:
• In this value, the measuring gear is only taken into account when the position tracking is activated.
• The update time for the position control (EPOS) corresponds to the position controller clock cycle.
• The update time in isochronous operation corresponds to the bus cycle time.
• The update time in isochronous operation and with position control (EPOS) corresponds to the posi-
tion 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).

Parameters
11.2 Parameter list

r0930 PROFIdrive operating mode - U16
Description: Displays the operating mode.
• 1: Closed-loop speed controlled operation with ramp-function generator
• 2: Closed-loop position controlled operation
• 3: Closed-loop speed controlled operation without ramp-function generator
r0945[0...63] Fault code - U16
Description: Displays the number of faults that have occurred.
Dependency: Refer to r0949
Note: The buffer parameters are cyclically updated in the background.
Fault buffer structure (general principle):
r0945[0], r0949[0] → actual fault case, fault 1
...
r0945[7], r0949[7] → actual fault case, fault 8
r0945[8], r0949[8] → 1st acknowledged fault case, fault 1
...
r0945[15], r0949[15] → 1st acknowledged fault case, fault 8
...
r0945[56], r0949[56] → 7th acknowledged fault case, fault 1
...
r0945[63], r0949[63] → 7th acknowledged fault case, fault 8
r0949[0...63] Fault value - I32
Description: Displays additional information about the fault that occurred (as integer number).
The structure of the fault buffer and the assignment of the indices is shown in r0945.
r0964[0...6] Device identification - U16
Description: Displays the device identification.
Index:
• [0]: Company (Siemens = 42)
• [1]: Device type
• [2]: Firmware version
• [3]: Firmware data (year)
• [4]: Firmware data (day/month)
• [5]: Number of drive objects
• [6]: Firmware patch/hot fix
Note:
Example:
r0964[0] = 42 → SIEMENS
r0964[1] = Device type
r0964[2] = 403 → First part of the firmware version V04.03 (for second part, refer to index 6)
r0964[3] = 2010 → Year 2010
r0964[4] = 1705 → 17th of May
r0964[5] = 2 → 2 drive objects
r0964[6] = 200 → Second part, firmware version (complete version: V04.03.02.00)

Parameters
11.2 Parameter list

r0965 PROFIdrive profile number - U16
Description: Displays the PROFIdrive profile and profile version.
Constant value = 0329 hex
Byte 1: Profile number = 03 hex = PROFIdrive profile
Byte 2: Profile version = 29 hex = Version 4.1
Note: When the parameter is read via PROFIdrive, the Octet String 2 data type applies.
r0975[0...10] Drive object identification - U16
Description: Displays the identification of the drive object.
Index:
• [0]: Company (Siemens = 42)
• [1]: Drive object type
• [3]: Firmware data (year)
• [4]: Firmware data (day/month)
• [5]: PROFIdrive drive object type class
• [6]: PROFIdrive drive object sub-type class 1
• [7]: Drive object number
• [8]: Reserved
• [9]: Reserved
• [10]: Firmware patch/hot fix
Note:
Example:
r0975[0] = 42 → SIEMENS
r0975[1] = SERVO drive object type
r0975[2] = 102 → First part of the firmware version V01.02 (for second part, refer to index 10)
r0975[3] = 2003 → Year 2003
r0975[4] = 1401 → 14th of January
r0975[5] = 1 → PROFIdrive drive object, type class
r0975[6] = 9 → PROFIdrive drive object sub-type class 1
r0975[7] = 2 → Drive object number = 2
r0975[8] = 0 (Reserved)
r0975[9] = 0 (Reserved)
r0975[10] = 600 → Second part, firmware version (complete version: V01.02.06.00)
r0979[0...30] PROFIdrive encoder format - U32
Description: Displays the actual position encoder used according to PROFIdrive.
Index:
• [0]: Header
• [1]: Type encoder 1
• [2]: Resolution encoder 1
• [3]: Shift factor G1_XIST1
• [4]: Shift factor G1_XIST2
• [5]: Distinguishable revolutions encoder 1
• [6]...[30]: Reserved
Note: Information about the individual indices can be taken from the following literature:
PROFIdrive Profile Drive Technology

Parameters
11.2 Parameter list

r2043.0...2 PROFIdrive: PZD state - U8
Description: Displays the PROFIdrive PZD state.
Bit 0: Setpoint failure
• Value = 1: Yes
• Value = 0: No
Bit 1: Clock cycle synchronous operation active
• Value = 1: Yes
• Value = 0: No
Bit 2: Fieldbus operation
• Value = 1: Yes
• Value = 0: No
Note: When using the "setpoint failure" signal, the bus can be monitored and an application-specific
response triggered when the setpoint fails.
r2050[0...19] PROFIdrive: PZD receive word - I16
Description: Displays the PZD (setpoints) with word format received from the fieldbus controller.
Dependency: Refer to r2060.
Index:
Index 0 to index 19 stand for PZD1 to PZD20 correspondingly.
r2053[0...27] PROFIdrive: Diagnostics PZD send word - U16
Description: Displays the PZD (actual values) with word format send to the fieldbus controller.
Index:
Index 0 to index 27 stand for PZD1 to PZD28 correspondingly.
Bit field:
For each PZD, it has 16 bits from bit 0 to bit 15. For the control words, if the bit value equals to 0, the
function of the bit is OFF; if the bit value equals to 1, the function of the bit is ON.
r2060[0...18] PROFIdrive: PZD receive double word - I32
Description: Displays the PZD (setpoints) with double word format received from the fieldbus control-
ler.
Dependency: Refer to r2050.
Index:
Index [n] = PZD[n +1] + n + 2
In the formula, n = 0...18.
Notice: A maximum of 4 indices of the "trace" function can be used.
r2063[0...26] PROFIdrive: Diagnostics PZD send double word - U32
Description: Displays the PZD (actual values) with double word format send to the fieldbus controller.
Index:
Index [n] = PZD[n +1] + n + 2
In the formula, n = 0...26.
Bit field:
For each PZD, it has 32 bits from bit 0 to bit 31. For the control words, if the bit value equals to 0, the
function of the bit is OFF; if the bit value equals to 1, the function of the bit is ON.
Notice: A maximum of 4 indices of the "trace" function can be used.
r2090.0...15 PROFIdrive: PZD1 receive bit-serial - U16
Description: Bit-serial description of PZD1 (normally control word 1) received from the PROFIdrive con-
troller.
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.

Parameters
11.2 Parameter list

r2091 PROFIdrive: PZD2 receive bit-serial - U16
Description: Binector output for bit-serial interconnection of PZD2 received from the PROFIdrive control-
ler.
r2092 PROFIdrive: PZD3 receive bit-serial - U16
Description: Binector output for bit-serial interconnection of PZD3 received from the PROFIdrive control-
ler.
r2093.0...15 PROFIdrive: PZD4 receive bit-serial - U16
Description: Bit-serial description of PZD4 (normally control word 2) received from the PROFIdrive con-
troller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit
equals to 1, it means the function of this bit is activated.
r2094 PROFIdrive: MDI_MOD receive bit-serial for telegram 9 - U16
Description: Binector output for bit-serial onward interconnection of a PZD word received from the
PROFIdrive controller.
r2122[0...63] Alarm code - U16
Description: Displays the number of faults that have occurred.
Alarm buffer structure (general principle):
r2122[0], r2124[0] → alarm 1 (the oldest)
...
r2122[7], r2124[7] → alarm 8 (the latest)
When the alarm buffer is full, the alarms that have gone are entered into the alarm history:
r2122[8], r2124[8] → alarm 1 (the latest)
...
r2122[63], r2124[63] → alarm 1 (the oldest)
r2124[0...63] Alarm value - I32
Description: Displays additional information about the active alarm (as integer number).
The structure of the alarm buffer and the assignment of the indices is shown in r2122.
r2521[0...3] LR position actual value LU I32
Description: Display and connector output for the actual position actual value determined by the posi-
tion 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: Display and connector output for the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position set-
point and the position actual value.
r2665 EPOS position setpoint LU I32
Description: Displays the actual absolute position setpoint.

Parameters
11.2 Parameter list

r8909 PROFIdrive: Device ID - U16
Description: Displays the PROFINET device ID.
Every SINAMICS device type has its own PROFINET device ID and its own PROFINET GSD.
r8930[0...239] PROFIdrive: Active name of station - U8
Description: Displays the active station name for the onboard PROFINET interface on the Control Unit.
r8931[0...3] PROFIdrive: Active IP address of station - U8
Description: Displays the active IP address for the onboard PROFINET interface on the Control Unit.
r8932[0...3] PROFIdrive: Active default gateway of station - U8
Description: Displays the active default gateway for the onboard PROFINET interface on the Control
Unit.
r8933[0...3] PROFIdrive: Active subnet mask of station - U8
Description: Displays the active subnet mask for the onboard PROFINET interface on the Control Unit.
r8935 PROFIdrive: MAC address of station - U8
Description: Displays the MAC address for the onboard PROFINET interface on the Control Unit.
r8939 PROFIdrive: Device access point (DAP) ID - U32
Description: Displays the PROFINET device access point ID for the onboard PROFINET interface.
The combination of device ID (r8909) and DAP ID uniquely identifies a PROFINET access point.
r29018[0...1] OA version - Float
Description: Displays the OA version.
Index:
• [1]: Build increment number
r29400 Internal control signal status indicating - U32
Description: Control signal status identifiers
The bits of the parameter are reserved except the following ones:
• Bit 1: RESET
• Bit 2: CWL
• Bit 3: CCWL
• Bit 10: TLIM
• Bit 19: SLIM
• Bit 23: REF
• Bit 28: EMGS

Parameters
11.2 Parameter list

r29942 DO signals status indicating - U32
Description: Indicates the status of DO signals.
• Bit 0: RDY
• Bit 1: FAULT
• Bit 2: Reserved
• Bit 3: ZSP
• Bit 4: Reserved
• Bit 5: TLR
• Bit 6: Reserved
• Bit 7: MBR
• Bit 8: OLL
• Bit 9: Reserved
• Bit 10: Reserved
• Bit 13: RDY_ON
• Bit 14: STO_EP
• Bit15: PZD1
• Bit16: PZD2

Diagnostics 12
12.1 Overview
General information about faults and alarms

The errors and states detected by the individual components of the drive system are indicated
by messages.
The messages are categorized into faults and alarms.
Properties of faults and alarms

• Faults
– Are identified by Fxxxxx.
– Can lead to a fault reaction.
– Must be acknowledged once the cause has been remedied.
– Status via control unit and LED RDY.
– Status via PROFINET status word ZSW1.3.
– Entry in the fault buffer.
• Alarms
– Are identified by Axxxxx.
– Have no further effect on the drive.
– The alarms are automatically reset once the cause has been remedied. No
acknowledgement is required.
– Status via Control Unit and LED RDY.
– Status via PROFINET status word ZSW1.7.
– Entry in the alarm buffer.
• General properties of faults and alarms
– Triggering on selected messages possible.
– Contain the component number for identifying the affected SINAMICS component.
– Contain diagnostic information on the relevant message.
Message class
For each message, specifies the associated message class with the following structure:
Text of the message class (number according to PROFIdrive)

Diagnostics
12.1 Overview
The message classes that are available are shown in the table below, which provides the text
of the message class, their number according to PROFIdrive, and a brief help text regarding
the cause and remedy.
Text of the message class (num- Cause and remedy

ber according to PROFIdrive)
Hardware/software errors (1) A hardware or software malfunction was detected. Carry out a POWER ON for the
relevant component. If it occurs again, contact the hotline.
Line fault (2) A line supply fault has occurred (phase failure, voltage level ...). Check the line supply
and fuses. Check the supply voltage. Check the wiring.
Supply voltage fault (3) An electronics supply voltage fault (48 V, 24 V, 5 V …) was detected. Check the wir-
ing. Check the voltage level.
DC link overvoltage (4) The DC link voltage has assumed an inadmissibly high value. Check the dimensioning
of the system (line supply, reactor, voltages). Check the infeed settings.
Power electronics fault (5) An impermissible operating state of the power electronics was detected (overcurrent,
overtemperature, IGBT failure …). Check compliance with the permissible load cycles.
Check the ambient temperatures (fan).
Overtemperature of the electronic The temperature in the component has exceeded the highest permissible limit. Check
component (6) the ambient temperature/control cabinet ventilation.
Ground fault/inter-phase short- A ground fault/inter-phase short-circuit was detected in the power cables or in the
circuit detected (7) motor windings. Check the power cables (connection). Check the motor.
Motor overload (8) The motor was operated outside the permissible limits (temperature, current, torque
…). Check the load cycles and set limits. Check the ambient temperature/motor cool-
ing.
Communication to the higher-level The communication to the higher-level controller (internal coupling, PROFINET …) is
controller faulted (9) faulted or interrupted. Check the state of the higher-level controller. Check the com-
munication connection/wiring. Check the bus configuration/cycles.
Safety monitoring channel has A safe operation monitoring function has detected an error.
detected an error (10)
Actual position/speed value incor- An illegal signal state was detected while evaluating the encoder signals (track sig-
rect or not available (11) nals, zero marks, absolute values …). Check the encoder/state of the encoder signals.
Observe the maximum permissible frequencies.
Internal communication faulted The internal communication between the SINAMICS components is faulted or inter-
(12) rupted. Ensure an EMC compliant installation. Observe the maximum permissible
quantity structures/cycles.
Infeed fault (13) The infeed is faulty or has failed. Check the infeed and its environment (line supply,
filters, reactors, fuses …). Check the infeed control.
Braking controller/Braking Module The internal or external Braking Module is faulted or overloaded (temperature). Check
faulted (14) the connection/state of the Braking Module. Comply with the permissible number of
braking operations and their duration.
Line filter fault (15) The line filter monitoring has detected an excessively high temperature or another
impermissible state. Check the temperature/temperature monitoring. Check the con-
figuration to ensure that it is permissible (filter type, infeed, thresholds).
External measured value/signal A measured value/signal state read in via the input area (digital/temperature) has
state outside of the permissible assumed an impermissible value/state. Identify and check the relevant signal. Check
range (16) the set thresholds.
Application/technological function The application/technological function has exceeded a (set) limit (position, velocity,
faulty (17) torque …). Identify and check the relevant limit. Check the setpoint specification of
the higher-level controller.
Error in the parameteriza- An error was identified in the parameterization or in a commissioning procedure, or
tion/configuration/commissioning the parameterization does not match the actual device configuration. Determine the
procedure (18) precise cause of the fault using the commissioning tool. Adapt the parameterization
or device configuration.

Diagnostics
12.1 Overview
Text of the message class (num- Cause and remedy

ber according to PROFIdrive)
General drive fault (19) Group fault. Determine the precise cause of the fault using the commissioning tool.
Auxiliary unit fault (20) The monitoring of an auxiliary unit (incoming transformer, cooling unit …) has de-
tected an illegal state. Determine the exact cause of the fault and check the relevant
device.
Differences between faults and alarms
Type BOP display (example) Status indicator Reaction Acknowledgement

RDY COM
Fault Single fault Slow - • NONE: no reaction • POWER ON: re-power on
flashing
• OFF1: servo motor the servo drive to clear a
in red
The first fault in the ramps down fault after eliminating its
case of multiple cause.
faults • OFF2: servo motor
coasts down • IMMEDIATELY: the fault
Non-first fault in the
case of multiple disappears immediately
• OFF3: servo motor
faults after eliminating its cause.
stops quickly
• PULSE INHIBIT: The fault
• ENOCDER: Encoder
can only be acknowledged
fault causes OFF2.
with a pulse inhibit.
The same options are
available for acknowledg-
ing as described under ac-
knowledgment with
IMMEDIATELY.
Alarm Single alarm Slow - NONE: no reaction Self-acknowledgement
flashing
in red
The first alarm in the
case of multiple
alarms
Non-first alarm in
the case of multiple
alarms
NOTICE
Faults are displayed in prior to alarms
If both faults and alarms occur, faults are displayed prior to alarms. Alarms are displayed
only after all faults have been acknowledged.

Diagnostics
12.1 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
To acknowledge faults, proceed as follows:

Diagnostics
12.2 List of faults and alarms
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 112).

This section lists only common faults and alarms. To view the detailed information of all
faults and alarms, call the online help for an active fault/alarm in the SINAMICS V-ASSISTANT
engineering tool.
Fault list
Fault Cause Remedy

F1000: Internal software error An internal software error has oc- • Evaluate fault buffer.
Message class: Hardware/software curred.
• Carry out a POWER ON (power off/on) for
error (1)
all components.
Reaction: OFF2
Acknowledgement: POWER ON • Upgrade firmware to later version.
• Contact the Hotline.
• Replace the Control Unit.
F1001: FloatingPoint exception An exception occurred during an • Carry out a POWER ON (power off/on) for
Message class: Hardware/software operation with the FloatingPoint
all components.
error (1) data type.
• Upgrade firmware to the latest version.
Reaction: OFF2
Acknowledgement: POWER ON • Contact the Hotline.
F1002: Internal software error An internal software error has oc- • Carry out a POWER ON (power off/on) for
all components.
error (1)
Reaction: OFF2
Acknowledgement: IMMEDIATELY • Contact the Hotline.

Diagnostics
Fault Cause Remedy

F1003: Acknowledgement delay A memory area was accessed that • Carry out a POWER ON (power off/on).
when accessing the memory does not return a "READY".
• Contact the Hotline.
Message class: Hardware/software
error (1)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
F1015: Internal software error An internal software error has oc- • Carry out a POWER ON (power off/on) for
all components.
error (1)
Reaction: OFF2
Acknowledgement: POWER ON • Contact the Hotline.
F1018: Booting has been interrupt- Module booting was interrupted • Carry out a POWER ON (power off/on).
ed several times several times. As a consequence,
After switching on, the module reboots
Message class: Hardware/software the module boots with the factory
setting. from the valid parameterization (if availa-
error (1)
Possible reasons for booting being ble).
Reaction: NONE
interrupted: • Restore the valid parameterization
Acknowledgement: POWER ON
• Power supply interrupted. Examples:
• CPU crashed. • Carry out a first commissioning, save,
• Parameterization invalid. carry out a POWER ON (switch-off/switch-
on).
After this fault is output, then the
module is booted with the factory • Load another valid parameter backup (e.g.
settings. 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.
F1030: Sign-of-life failure for mas- For active PC master control, no Contact the Hotline.
ter control sign-of-life was received within the
Message class: Communication to the monitoring time.
higher-level controller faulted (9)
Reaction: OFF3
F1611: SI CU: Defect detected The drive-integrated "Safety Inte- • Make sure that the high level duration of
Message class: Safety monitoring grated" (SI) function on the Control
the input pulse is larger than 500 ms.
channel has identified an error (10) Unit (CU) has detected an error and
initiated an STO. • Carry out a POWER ON (power off/on) for
Reaction: OFF2
all components.
• Upgrade software.
• Replace the Control Unit.
F1910: Fieldbus: setpoint timeout The reception of setpoints from the Restore the bus connection and set the con-
Message class: Communication to the fieldbus interface (Modbus/USS) troller to RUN.
higher-level controller faulted (9) has been interrupted.
Reaction: OFF3 • Bus connection interrupted.
Acknowledgement: IMMEDIATELY • Controller switched off.
• Controller set into the STOP
state.

Diagnostics
Fault Cause Remedy

F1911: PROFIdrive: Clock cycle The global control telegram to • Check the physical bus configuration (ca-
synchronous operation clock cycle synchronize the clock cycles has
ble, connector, terminating resistor,
failure failed - for several DP clock cycles or
has violated the time grid specified shielding, etc.).
Message class: Communication to the
higher-level controller faulted (9) in the parameterizing telegram • Check whether communication was briefly
over several consecutive DP clock or permanently interrupted.
Reaction: OFF1 cycles (refer to the bus cycle time,
Acknowledgement: IMMEDIATELY Tdp and Tpllw). • Check the bus and controller for utilization
level (e.g. bus cycle time Tdp was set too
short).
F1912: PROFIdrive: Clock cycle The maximum permissible number • Physically check the bus (cables, connect-
synchronous operation sign-of-life of errors in the controller sign-of-
ors, terminating resistor, shielding, etc).
failure life (clock synchronous operation)
Message class: Communication to the has been exceeded in cyclic opera- • Correct the interconnection of the control-
higher-level controller faulted (9) tion. ler sign-of-life.
Reaction: OFF1 • Check whether the controller correctly
Acknowledgement: IMMEDIATELY sends the sign-of-life (e.g. create a trace
with STW2.12...STW2.15 and trigger sig-
nal ZSW1.3).
• Check the permissible telegram failure
rate (p0925).
• Check the bus and controller for utilization
level (e.g. bus cycle time was set too
short).
F7011: Motor overtemperature • Motor overloaded • Reduce the motor load.
Message class: Motor overload (8)
• Motor surrounding temperature • Check the surrounding temperature and
Reaction: OFF2 too high the motor ventilation.
• Wire breakage or sensor not • Check the wiring and the connection.
connected • Check the motor temperature model pa-
• Motor temperature model in- rameters.
correctly parameterized
F7085: Open-loop/closed-loop con- Open-loop/closed-loop control It is not necessary to change the parameters
trol parameters changed parameters have had to be as they have already been correctly limited.
Message class: Error in the parame- changed for the following reasons:
teriza- • As a result of other parameters,
tion/configuration/commissioning
they have exceeded the dynam-
procedure (18)
ic limits.
Reaction: NONE
Acknowledgement: IMMEDIATELY • They cannot be used due to the
fact that the hardware detected
not having certain features.
F7090: Drive: Upper torque limit The upper torque limit is lower than The upper torque limit (p29050) must be ≥
less than the lower torque limit the lower torque limit. lower torque limit (p29051)
Message class: Error in the parame-
teriza-
procedure (18)
Reaction: OFF2

Diagnostics
Fault Cause Remedy

F7093: Drive: Test signal error The limit rotation of the motor Modify the value of parameter p29027.
Message class: Error in the parame- (p29027) is inappropriate.
teriza-
procedure (18)
Reaction: OFF3
F7220: Drive: Master control by PLC The "master control by PLC" signal • Check the input for "master control by
missing was missing in operation.
PLC".
Message class: Communication to the • Input for "master control by
higher-level controller faulted (9) • Check the "master control by PLC" signal
PLC" is incorrect. and, if required, switch in.
Reaction: OFF1
• The higher-level control has • Check the data transfer via the fieldbus
withdrawn the "master control (master/drive).
by PLC" signal.
• Data transfer via the fieldbus
(master/drive) was interrupted.
F7403: Lower DC link voltage The DC link voltage monitoring is • Check the line supply voltage.
threshold reached active and the lower DC link voltage
threshold was reached in the "Op- • Check the infeed.
Message class: Infeed faulted (13)
eration" state. • Reduce the lower DC link threshold.
Reaction: OFF1
Acknowledgement: IMMEDIATELY • Switch out (disable) the DC link voltage
monitoring.
F7404: Upper DC link voltage The DC link voltage monitoring is • Check the line supply voltage.
threshold reached active and the upper DC link volt-
age threshold was reached in the • Check the infeed module or the brake
Message class: DC link overvoltage
(4) "Operation" state. module.
Reaction: OFF2 • Increase the upper DC link voltage thresh-
Acknowledgement: IMMEDIATELY old.
• Switch out (disable) the DC link voltage
monitoring.
F7410: Current controller output The condition "I_act = 0 and • Connect the motor or check the motor
limited Uq_set_1 longer than 16 ms at its
contactor.
Message class: Applica- limit" is present and can be caused
tion/technological function faulty by the following: • Check the DC link voltage.
(17) • Motor not connected or motor • Check the Motor Module.
Reaction: OFF2 contactor open.
Acknowledgement: IMMEDIATELY • No DC link voltage present.
• Motor Module defective.

Diagnostics
Fault Cause Remedy

F7412: Commutation angle incor- An incorrect commutation angle • If the encoder mounting was changed, re-
rect (motor model) was detected that can result in a
adjust the encoder.
Message class: Actual position/speed positive coupling in the speed con-
value incorrect or not available (11) troller. • Replace the defective motor encoder.
Reaction: ENCODER Possible causes: • Correctly set the motor stator resistance,
Acknowledgement: IMMEDIATELY • The motor encoder is incorrectly cable resistance and motor-stator leakage
adjusted with respect to the inductance.
magnet position. Calculate the cable resistance from the
• The motor encoder is damaged. cross-section and length, check the in-
ductance and stator resistance using the
• Data to calculate the motor
motor data sheet, measure the stator re-
model has been incorrectly set.
sistance, e.g. using a multimeter - and if
• Pole position identification required, again identify the values using
might have calculated an incor- the stationary motor data identification.
rect value when activated.
• With pole position identification activated,
• The motor encoder speed signal check the procedure for pole position
is faulted. identification and force a new pole posi-
• The control loop is instable due tion identification procedure by means of
to incorrect parameterization. de-selection followed by selection.
F7420: Drive: Current setpoint filter One of the filter natural frequencies • Reduce the numerator or denominator
natural frequency > Shannon fre- is greater than the Shannon fre-
natural frequency of the current setpoint
quency quency.
filter involved.
Message class: Error in the parame-
teriza- • Switch out the filter involved (p1656).
procedure (18)
F7442: LR: multi-turn does not The ratio between the multi-turn Make the ratio between the multi-turn resolu-
match the modulo range resolution and the modulo range tion and the modulo range an integer num-
Message class: Error in the parame- (p29246) is not an integer number. ber.
teriza- This results in the adjustment being The ratio v is calculated as follows:
tion/configuration/commissioning set back, as the position actual
procedure (18) value cannot be reproduced after • Motor encoder without position tracking
power-off/power-on. (p29243 = 0):
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY – For multi-turn encoders:
v = (4096 * p29247 * p29248)/(p29249 *
p29246)
– For single-turn encoders:
v = (p29247 * p29248)/(p29249 *
p29246)
• Motor encoder with position tracking
(p29243 = 1):
v = (p29244 * 29247)/p29246

Diagnostics
Fault Cause Remedy

F7443: Reference point coordinate The reference point coordinate Set the reference point coordinate to a lower
not in the permissible range received when adjusting the en- value than specified in the fault value.
Message class: Error in the parame- coder via connector input p2599 See also: p2599 (EPOS reference point coor-
teriza- lies outside the half of the encoder dinate value)
tion/configuration/commissioning range and cannot be set as actual
axis position. For a motor with an absolute encoder, the
procedure (18) maximum permissible encoder range is calcu-
Reaction: OFF1 (OFF2, OFF3) Fault value (r0949, interpret deci- lated by the following formula:
mal):
Acknowledgement: IMMEDIATELY • For multi-turn encoders:
Maximum permissible value for the
reference point coordinate. (4096 * p29247) / 2
• For single-turn encoders:
p29247 / 2
F7447: Load gear: Position tracking, When the position tracking of the Reduce the multi-turn resolution (p29244).
maximum actual value exceeded load gear is configured, the
Message class: Applica- drive/encoder (motor encoder)
tion/technological function faulted identifies a maximum possible
(17) absolute position actual that can no
longer be represented within 32
Reaction: NONE bits.
Acknowledgement: IMMEDIATELY Maximum value: encoder resolu-
tion (220 or 221) × p29244
F7449: Load gear: Position tracking When switched off, the currently Reactivate the position tracking function (set
actual position outside tolerance effective motor encoder was p29243 = 1 → 0 → 1). Then the fault is
window moved through a distance greater acknowledged and, if necessary, adjust the
Message class: Applica- than was parameterized in the encoder (ABS).
tion/technological function faulted tolerance window. It is possible
(17) that there is no longer any refer-
ence between the mechanical sys-
Reaction: OFF1 tem and encoder.
Acknowledgement: IMMEDIATELY Fault value (r0949, interpret deci-
mal):
Deviation (difference) to the last
encoder position in increments of
the absolute value after the meas-
uring gear - if one is being used.
The sign designates the traversing
direction.
Note: The deviation (difference)
window is pre-assigned quarter of
the encoder range.
F7450: Standstill monitoring has After the standstill monitoring time Check the causes and resolve.
responded expired, the drive left the standstill
Message class: Applica- window.
tion/technological function faulty • Position loop gain too low.
(17)
• Position loop gain too high
Reaction: OFF1
(instability/oscillation).
• Mechanical overload.
• Connecting cable, motor/drive
converter incorrect (phase miss-
ing, interchange).
• Tracking mode is not activated
with POS_STW.0 (telegram 110)
or POS_STW2.0 (telegram 111).

Diagnostics
Fault Cause Remedy

F7451: Position monitoring has When the position monitoring time Check the causes and resolve.
responded (p2545) expired, the drive had still
Message class: Applica- not reached the positioning win-
tion/technological function faulty dow (p2544).
(17) • Positioning window parameter-
Reaction: OFF1 ized too small (p2544).
Acknowledgement: IMMEDIATELY • Position monitoring time pa-
rameterized too short (p2545).
• Position loop gain is too low.
• Position loop gain is too high
(instability/oscillation).
• Drive mechanically locked.
F7452: Following error too high The difference between the posi- Check the causes and resolve.
Message class: Applica- tion setpoint and position actual
tion/technological function faulty value (following error dynamic
(17) model) is greater than the toler-
ance (p2546).
Reaction: OFF1
Acknowledgement: IMMEDIATELY • The value of p2546 is too small.
• The gain of position loop is too
small.
• The drive torque or accelerating
capacity exceeded.
• Position measuring system
fault.
• Position control sense incorrect.
• Mechanical system locked.
• Excessively high traversing
velocity or excessively high po-
sition reference value (setpoint)
differences.
F7453: Position actual value pre- An error has occurred during the Check the encoder for the position actual
processing error position actual value preprocessing. value preprocessing.
Message class: Applica-
tion/technological function faulty
(17)
Reaction: OFF2
F7458: EPOS: Reference cam not After starting the search for refer- • Check the "reference cam" input.
found ence, the axis moved through the
maximum permissible distance to • Check the maximum permissible distance
tion/technological function faulty search for the reference cam with- to the reference cam (p2606).
(17) out actually finding the reference See also: p2606 (EPOS search for reference
cam. reference cam maximum distance)

Diagnostics
Fault Cause Remedy

F7459: Zero mark not detected After leaving the reference cam, • Check the encoder regarding zero mark.
Message class: Applica- the axis has traversed the maxi-
tion/technological function faulty mum permissible distance (p2609) • Check the maximum permissible distance
(17) between the reference cam and the between the reference cam and zero mark
zero mark without finding the zero (p2609).
Reaction: OFF1 mark.
Acknowledgement: IMMEDIATELY • Use an external encoder zero mark (equiv-
alent zero mark).
See also: p2609 (EPOS search for reference
max distance ref cam and zero mark)
F7460: EPOS: End of reference cam During the search for reference, • Check the "reference cam" input.
not found when the axis reached the zero
mark it also reached the end of the • Repeat the search for reference.
tion/technological function faulty traversing range without detecting
(17) an edge at the binector input "ref-
erence cam".
Maximum traversing range: -
Acknowledgement: IMMEDIATELY 2147483648 [LU] ... -2147483647
[LU]
F7464: EPOS: Traversing block is The traversing block does not con- Check the traversing block and where rele-
inconsistent tain valid information. vant, take into consideration alarms that are
Message class: Error in the parame- Alarm value: present.
teriza- Number of the traversing block
tion/configuration/commissioning with invalid information.
procedure (18)
F7475: EPOS: Target position < start The target position for relative Correct the target position.
of traversing range traversing lies outside the travers-
Message class: Error in the parame- ing range.
teriza-
procedure (18)
F7476: EPOS: Target position > end The target position for relative Correct the target position.
of the traversing range traversing lies outside the travers-
Message class: Error in the parame- ing range.
teriza-
procedure (18)
F7481: EPOS: Axis position < soft- The actual position of the axis is • Correct the target position.
ware limit switch minus less than the position of the soft-
ware limit switch minus. • Change software limit switch minus (CI:
tion/technological function faulty p2580).
(17) See also: p2580 (EPOS software limit switch
Reaction: OFF1 (OFF2, OFF3) minus), p2582 (EPOS software limit switch
activation)

Diagnostics
Fault Cause Remedy

F7482: EPOS: Axis position > soft- The actual position of the axis is • Correct the target position.
ware limit switch plus greater than the position of the
software limit switch plus. • Change software limit switch plus (CI:
tion/technological function faulty p2581).
(17) See also: p2580 (EPOS software limit switch
Reaction: OFF1 (OFF2, OFF3) minus), p2582 (EPOS software limit switch
activation)
F7484: EPOS: Fixed stop outside the In the "fixed stop reached" state, • Check the monitoring window (p2635).
monitoring window the axis has moved outside the
defined monitoring window • Check the mechanical system.
tion/technological function faulty (p2635).
(17)
F7485: EPOS: Fixed stop not In a traversing block with the task • Check the traversing block and locate the
reached FIXED STOP, the end position was
target position further into the workpiece.
Message class: Applica- reached without detecting a fixed
tion/technological function faulty stop. • Check the "fixed stop reached" control
(17) signal.
Reaction: OFF1 (OFF2, OFF3) • If required, reduce the maximum follow-
Acknowledgement: IMMEDIATELY ing error window to detect the fixed stop
(p2634).
F7488: EPOS: Relative positioning In the mode "direct setpoint in- Check the control.
not possible put/MDI", for continuous transfer
Message class: Applica- relative positioning was selected.
(17)
F7490: Enable signal withdrawn • For a standard assignment, • Set the enable signals or check the cause
while traversing
another fault may have oc- of the fault that first occurred and then re-
Message class: Applica- curred as a result of withdraw- sult (for a standard assignment).
(17) ing the enable signals. • Check the assignment to enable the basic
Reaction: OFF1 • The drive is in the "switching on positioning function.
Acknowledgement: IMMEDIATELY inhibited" state (for a standard
assignment).
F7491: STOP cam minus reached The STOP cam minus was reached. • Leave the STOP cam minus in the positive
Message class: Applica- For a positive traversing direction, traversing direction and return the axis to
tion/technological function faulty the STOP cam minus was reached, the valid traversing range.
(17) i.e. the wiring of the STOP cam is
Reaction: OFF3 incorrect. • Check the wiring of the STOP cam.

Diagnostics
Fault Cause Remedy

F7492: STOP cam plus reached The STOP cam plus was reached. • Leave the STOP cam plus in the negative
Message class: Applica- For a negative traversing direction, traversing direction and return the axis to
tion/technological function faulty the STOP cam plus was reached, i.e. the valid traversing range.
(17) the wiring of the STOP cam is incor-
Reaction: OFF3 rect. • Check the wiring of the STOP cam.
F7493: LR: Overflow of the value The value range (-2147483648 ... If required, reduce the traversing range or
range for position actual value 2147483647) for the position ac- position resolution p29247.
Message class: Applica- tual value representation was ex- Note for case = 3:
tion/technological function faulty ceeded.
If the value for the maximum possible abso-
(17) When the overflow occurs, the lute position (LU) is greater than
Reaction: OFF1 (OFF2, OFF3) "referenced" or "adjustment abso- 4294967296, then it is not possible to make
lute measuring system" status is an adjustment due to an overflow.
Acknowledgement: IMMEDIATELY reset.
For rotary encoders, the maximum possible
• The position actual value absolute position (LU) is calculated as follows:
(r2521) has exceeded the value Motor encoder with position tracking:
range. EPOS: p29247 * p29244
• The encoder position actual Motor encoder without position tracking:
value has exceeded the value • For multi-turn encoders:
range.
EPOS: p29247 * p29248 * 4096 / p29249
• The maximum encoder value
times the factor to convert the • For single-turn encoders:
absolute position from incre- EPOS: p29247 * p29248 / p29249
ments to length units (LU) has
exceeded the value range for
displaying the position actual
value.
F7575: Drive: Motor encoder not The motor encoder signals that it is Evaluate other queued faults via motor en-
ready not ready. coder.
Message class: Actual position/speed • Initialization of motor encoder
value incorrect or not available (11)
was unsuccessful.
Reaction: OFF2
• The function "parking encoder"
is active (encoder control word
G1_STW.14 = 1).
F7599: Encoder 1: Adjustment not The maximum encoder value times If the value for the maximum possible abso-
possible the factor to convert the absolute lute position (LU) is greater than
Message class: Error in the parame- position from increments to length 4294967296, then it is not possible to make
teriza- units (LU) has exceeded the value an adjustment due to an overflow.
tion/configuration/commissioning range (-2147483648 ... For rotary encoders, the maximum possible
procedure (18) 2147483647) for displaying the absolute position (LU) is calculated as follows:
position actual value.
Reaction: OFF1 (NONE, OFF2, OFF3) Motor encoder with position tracking:
Acknowledgement: IMMEDIATELY EPOS: p29247 * p29244
Motor encoder without position tracking:
• For multiturn encoders:
EPOS: p29247 * p29248 * 4096 / p29249

• For singleturn encoders:
EPOS: p29247 * p29248 / p29249

Diagnostics
Fault Cause Remedy

F7800 Drive: No power unit present The power unit parameters cannot • Carry out a POWER ON (power off/on) for
Message class: Error in the parame- be read or no parameters are stored
all components.
teriza- in the power unit.
tion/configuration/commissioning • Change the module.
procedure (18)
Reaction: NONE
F7801: Motor overcurrent The permissible motor limit current • Reduce the static torque correction factor.
Message class: Motor overload (8) was exceeded.
• Increase the up ramp or reduce the load.
Reaction: OFF2 • Effective current limit set too
• Check the motor and motor cables for
Acknowledgement: IMMEDIATELY low.
short-circuit and ground fault.
• Current controller not correctly
• Check the Motor Module and motor com-
set.
bination.
• Motor was braked with an ex-
cessively high static torque cor-
rection factor.
• 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 current of Motor Module.
F7802: Infeed or power unit not After an internal power-on com- • Ensure that there is a DC link voltage.
ready mand, the infeed or drive does not
Check the DC link busbar. Enable the in-
Message class: Infeed faulted (13) signal ready because of one of the
following reasons: feed.
Reaction: OFF2
• Monitoring time is too short. • Replace the associated infeed or drive of
the signaling component.
• DC link voltage is not present.
• Associated infeed or drive of the
signaling component is defec-
tive.
F7815: Power unit has been The code number of the actual Connect the original power unit and power up
changed power unit does not match the the Control Unit again (POWER ON).
Message class: Error in the parame- saved number.
teriza-
procedure (18)
Reaction: NONE
F7900: Motor blocked/speed con- The servo motor has been operat- • Check whether the servo motor can rotate
troller at its limit ing at the torque limit longer than
freely or not.
Message class: Applica- 1s and below the speed threshold
tion/technological function faulty of 120 rpm. • Check the torque limit.
(17) This signal can also be initiated if • Check the inversion of the actual value.
Reaction: OFF2 the speed actual value is oscillating
and the speed controller output • Check the motor encoder connection.
Acknowledgement: IMMEDIATELY repeatedly goes to its limit. • Check the encoder pulse number.

Diagnostics
Fault Cause Remedy

F7901: Motor overspeed The maximum permissible speed • Check and correct the maximum speed
Message class: Applica- has been exceeded.
(p1082).
(17) • Check if there are any peaks of actual
Reaction: OFF2 speed. If the value of the peak is especially
large, contact the hotline.
F7995: Motor identification failure For incremental motor, needs pole Stop the motor before servo on.
Message class: Error in the parame- position identification when the
teriza- motor is servo on for the first time.
tion/configuration/commissioning If the motor already in run (i.e. by
procedure (18) external force) position identifica-
tion may failure.
Reaction: OFF2
F8501: PROFIdrive: Setpoint The reception of setpoints from the Restore the PROFINET connection and set the
timeout PROFINET has been interrupted. controller to RUN.
Message class: Communication to the • PROFINET connection interrupt-
higher-level controller faulted (9)
ed.
Reaction: OFF3
• Controller switched off.
• Controller set into the STOP
state.
• PROFINET defective.
F30001: Power unit: Overcurrent The power unit has detected an • Check the motor data - if required, carry
Message class: Power electronics overcurrent condition.
out commissioning.
faulted (5) • Closed-loop control is incorrect- • Modify speed loop Kp (p29120), position
Reaction: OFF2 ly parameterized. loop Kv (p29110).
Acknowledgement: IMMEDIATELY • Controller parameters are not • Check the motor circuit configuration
proper. (star-delta).
• Motor has a short-circuit or fault • Check the power cable connections.
to ground (frame).
• Check the power cables for short-circuit or
• Power cables are not correctly ground fault.
connected.
• Check the length of the power cables.
• Power cables exceed the maxi-
• Replace power unit.
mum permissible length.
• Check the line supply phases.
• Power unit defective.
• Check the external braking resistor con-
• Line phase interrupted.
nection.
F30002: DC link voltage, overvolt- The power unit has detected over- • Increase the ramp-down time.
age voltage in the DC link.
• Activate the DC link voltage controller.
Message class: DC link overvoltage • Motor regenerates too much
(4) • Use a braking resistor.
energy.
Reaction: OFF2 • Increase the current limit of the infeed or
• Device connection voltage too
Acknowledgement: IMMEDIATELY use a larger module.
high.
• Check the device supply voltage.

Diagnostics
Fault Cause Remedy

F30003: DC link voltage, undervolt- The power unit has detected an • Check the line supply voltage
age undervoltage condition in the DC
link. • Check the line supply infeed and observe
Message class: Infeed faulted (13)
the fault messages relating to it (if there
Reaction: OFF2 • Line supply failure
are any)
Acknowledgement: IMMEDIATELY • Line supply voltage below the
permissible value.
• Check the line supply voltage setting.
• Line supply infeed failed or
interrupted.
F30004: Drive heat sink over- The temperature of the power unit • Check whether the fan is running.
temperature heat sink has exceeded the permis-
sible limit value. • Check the fan elements.
Message class: Power electronics
faulted (5) • Insufficient cooling, fan failure. • Check whether the surrounding tempera-
Reaction: OFF2 ture is in the permissible range.
• Overload.
Acknowledgement: IMMEDIATELY • Check the motor load.
• Surrounding temperature too
high. • Reduce the pulse frequency if this is high-
er than the rated pulse frequency.
• Pulse frequency too high.
F30005: Power unit: Overload I 2t The power unit was overloaded. • Reduce the continuous load.
Message class: Power electronics • The permissible rated power • Adapt the load duty cycle.
faulted (5)
unit current was exceeded for
Reaction: OFF2 • Check the motor and power unit rated
an inadmissibly long time.
Acknowledgement: IMMEDIATELY currents.
• The permissible load duty cycle
was not maintained.
F30011: Line phase failure in main At the power unit, the DC link volt- • Check the main circuit fuses.
circuit age ripple has exceeded the per-
missible limit value. • Check whether a single-phase load is dis-
Message class: Network fault (2)
Possible causes: torting the line voltages.
Reaction: OFF2
Acknowledgement: IMMEDIATELY • A line phase has failed. • Check the motor feeder cables.
• The 3 line phases are inadmissi-

bly unsymmetrical.
• The fuse of a phase of a main
circuit has ruptured.
• A motor phase has failed.
F30015: Phase failure motor cable A phase failure in the motor feeder • Check the motor feeder cables.
Message class: Applica- cable was detected.
• Check the speed controller settings.
tion/technological function faulty The signal can also be output in the
(17) following case:
Reaction: OFF2 The motor is correctly connected,
Acknowledgement: IMMEDIATELY however the closed-speed control is
instable and therefore an oscillating
torque is generated.
F30021: Ground fault Power unit has detected a ground • Check the power cable connections.
Message class: Ground fault/inter- fault.
• Check the motor.
phase short-circuit detected (7) • Ground fault in the power ca-
Reaction: OFF2 bles.
Acknowledgement: IMMEDIATELY • Winding fault or ground fault at
the motor.

Diagnostics
Fault Cause Remedy

F30027: Precharging DC link time • The power unit DC link was not Check the line supply voltage at the input
monitoring terminals.
able to be pre-charged within
Message class: Infeed faulted (13) the expected time.
Reaction: OFF2 There is no line supply voltage
Acknowledgement: IMMEDIATELY connected.
• The line contactor/line side
switch has not been closed.
• The line supply voltage is too
low.
• The pre-charging resistors are
overheated as there were too
many pre-charging operations
per time unit
overheated as the DC link ca-
pacitance is too high.
overheated.
overheated as the line contactor
was closed during the DC link
fast discharge through the Brak-
ing Module.
• The DC link has either a ground
fault or a short-circuit.
• The pre-charging circuit is pos-
sibly defective.
F30036: Internal overtemperature The temperature inside the drive • Check whether the fan is running.
Message class: Power electronics converter has exceeded the permis-
sible temperature limit. • Check the fan elements.
faulted (5)
Reaction: OFF2 • Insufficient cooling, fan failure. • Check whether the surrounding tempera-
Acknowledgement: IMMEDIATELY ture is in the permissible range.
• Overload.
Notice:
• Surrounding temperature too
This fault can only be acknowledged once the
high. permissible temperature limit minus 5 K has
been fallen below.
F30050: 24 V supply overvoltage The voltage monitor signals an • Check the 24 V power supply.
Message class: Supply voltage fault overvoltage fault on the module.
• Replace the module if necessary.
(undervoltage) (3)
Reaction: OFF2

Diagnostics
Fault Cause Remedy

F31100: Zero mark distance error The measured zero mark distance • Check that the encoder cables are routed
Message class: Actual position/speed does not correspond to the param-
in compliance with EMC.
value incorrect or not available (11) eterized zero mark distance.
For distance-coded encoders, the • Check the plug connections
Reaction: ENCODER zero mark distance is determined
Acknowledgement: PULSE INHIBIT • Replace the encoder or encoder cable
from zero marks detected pairs.
This means that if a zero mark is
missing, depending on the pair
generation, this cannot result in a
fault and also has no effect in the
system.
F31101: Zero mark failed The 1.5 x parameterized zero mark • Check that the encoder cables are routed
Message class: Actual position/speed distance was exceeded.
• Check the plug connections.
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT • Replace the encoder or encoder cable.
F31110: Serial communications Serial communication protocol • Check the encoder cable and shielding
error transfer error between the encoder
connection.
Message class: Actual position/speed and evaluation module.
value incorrect or not available (11) • Replace the encoder cable/encoder.
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
F31111: Encoder 1: Absolute en- The absolute encoder fault word • Check the encoder cable connection and
coder internal error supplies fault bits that have been
make sure the cables are routed in com-
Message class: Actual position/speed set.
pliance with EMC.
Reaction: ENCODER • Check the motor temperature.
Acknowledgement: PULSE INHIBIT • Replace the motor/encoder.
F31112: Error bit set in the serial The encoder sends a set error bit Refer to F31111.
protocol via the serial protocol.
Message class: Actual position/speed
Reaction: ENCODER
F31117: Inversion error signals • For a square-wave encoder • Check the encoder and cable and the
A/B/R
(bipolar, double ended) signals connection of them.
Message class: Actual position/speed A*, B* and R* are not inverted
with respect to signals A, B and
Reaction: ENCODER
R.
• The encoder sends signals and
the associated inverted signals
at the same time.
F31130: Zero mark and position After initializing the pole position • Check that the encoder cables are routed
error from the coarse synchroniza- using track C/D, Hall signals or pole
tion position identification routine, the
Message class: Actual position/speed zero mark was detected outside the • Check the plug connections
value incorrect or not available (11) permissible range. For distance-
• If the Hall sensor is used as an equivalent
coded encoders, the test is carried
Reaction: ENCODER out after passing 2 zero marks. Fine for track C/D, check the connection.
Acknowledgement: PULSE INHIBIT synchronization was not carried • Check the connection of track C or D.
out.
• Replace the encoder or encoder cable.

Diagnostics
Fault Cause Remedy

F31131: Encoder 1: Deviation posi- • Absolute encoder • Check that the encoder cables are routed
tion incremental/absolute too large
Message class: Actual position/speed When cyclically reading the ab-
value incorrect or not available (11) solute position, an excessively • Check the plug connections.
Reaction: ENCODER high difference to the incre- • Replace the encoder or encoder cable.
Acknowledgement: PULSE INHIBIT mental position was detected. • Check whether the coding disk is dirty or
The absolute position that was there are strong ambient magnetic fields.
read is rejected.
Limit value for the deviation: 15
pulses (60 quadrants).
• Incremental encoder
When the zero is passed, a de-

viation in the incremental posi-
tion was detected.
The first zero mark passed sup-

plies the reference point for all
subsequent checks. The other
zero marks must have n times
the distance referred to the first
zero mark.
Deviation in quadrants (1 pulse = 4
quadrants).
F31150: Initialization error Encoder functionality is not operat- • Check the encoder type used (incremen-
Message class: Error in the parame- ing correctly.
tal/absolute) and the encoder cable.
teriza-
tion/configuration/commissioning • If relevant, note additional fault messages
procedure (18) that describe the fault in detail.
Reaction: ENCODER
F52904: Control mode change When the control mode is changed, Save and restart the drive.
Message class: General drive fault the drive must be saved and re-
(19) started.
Reaction: OFF2
F52980: Absolute encoder motor The servo motor with an absolute The servo motor will be automatically config-
changed encoder is changed. For example, ured after the following measures have been
Message class: General drive fault the actual motor ID is different implemented:
(19) from the commissioned motor ID.
• Acknowledge the fault firstly and then
Reaction: OFF1 save the newly commissioned parameters
Acknowledgement: IMMEDIATELY to the drive ROM
F52981: Absolute encoder motor Connected absolute encoder motor Use a suitable absolute encoder motor.
mismatched cannot be operated. The servo
Message class: General drive fault drive in use does not support the
(19) Motor ID.
Reaction: OFF1

Diagnostics
Fault Cause Remedy

F52983: No encoder detected The servo drive in use does not • Check the encoder cable connection be-
Message class: General drive fault support encoderless operation.
tween the servo drive and the servo mo-
(19) tor.
Reaction: OFF1
• Use a servo motor with encoder.
F52984: Incremental encoder mo- • Commissioning of the servo Configure the motor ID by setting the parame-
tor not configured ter p29000.
motor has failed.
Message class: General drive fault
(19) • The incremental encoder motor
Reaction: OFF1 is connected but fails to com-
mission.
F52985: Absolute encoder motor • Motor ID is downloaded wrong • Update the firmware.
wrong
during manufacture. • Use a correct absolute encoder motor.
(19) • The firmware of the servo drive
Reaction: OFF1 does not support the Motor ID.
F52987: Absolute encoder replaced Incorrect absolute encoder data. Contact the Hotline.
(19)
Reaction: OFF1
Alarm list
Alarm Cause Remedy

A1009: Control module The temperature of the control module • Check the air intake for the Control Unit.
overtemperature (Control Unit) has exceeded the specified
limit value. • Check the Control Unit fan.
Message class: Overtempera-
ture of the electronic compo- Note:
nents (6) The alarm automatically disappears after the
limit value has been undershot.
A1019: Writing to the re- The write access to the removable data Remove and check the removable data medi-
movable data medium un- medium was unsuccessful. um. Then run the data backup again.
successful
Message class: Overtempera-
ture of the electronic compo-
nent (6)
A1032: All parameters must The parameters of an individual drive ob- Save all parameters.
be saved ject were saved, although there is still no
Message class: Hard- backup of all drive system parameters.
ware/software error (1) 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 com-
pletely backed up.
A1045: Configuring data An error was detected when evaluating the Save the parameterization using the "Copy
invalid parameter files saved in the non-volatile RAM to ROM" function on the BOP. This over-
Message class: Hard- memory. Because of this, under certain writes the incorrect parameter files in the
ware/software error (1) circumstances, several of the saved param- non-volatile memory – and the alarm is with-
eter values were not able to be accepted. drawn.

Diagnostics
Alarm Cause Remedy

A1774: Test stop for fail-safe The preset time for the forced checking Carry out the forced checking procedure for
digital outputs required procedure (test stop) for the fail-safe digi- the digital outputs.
tal outputs (F-DO) has been exceeded. A
new forced checking procedure is required.
Note:
• This message does not result in a safety
stop response.
• The test must be performed within a
defined maximum time interval (maxi-
mum of 8760 hours) in order to comply
with the requirements as laid down in
the standards for timely fault detection
and the conditions to calculate the fail-
ure rates of safety functions (PFH val-
ue). Operation beyond this maximum
time period is permissible if it can be
ensured that the forced checking pro-
cedure is performed before persons en-
ter the hazardous area and who are
depending on the safety functions cor-
rectly functioning.
A1902: PROFIdrive: Clock Parameterization for isochronous operation • Adapt the bus parameterization Tdp, Ti,
cycle synchronous operation is not permissible.
To.
parameterization not per-
missible • Adapt the sampling time for the current
Message class: Error in the controller or speed controller.
parameteriza- • Reduce Tdx by using fewer bus partici-
tion/configuration/commissio
ning procedure (18) pants or shorter telegrams.
A1920: Drive Bus: Receive Output data of Drive Bus master (setpoints) • Check bus configuration.
setpoints after To received at the incorrect instant in time
within the Drive Bus clock cycle. • Check parameters for clock cycle synchro-
Message class: Communica-
tion to the higher-level con- nization (ensure To > Tdx).
troller faulted (9) 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 con-
synchronization missing for synchronous sign of life and DSC is select- figuration and transfer clock synchronous
DSC ed. sign-of-life.
Message class: Error in the Note:
parameteriza- DSC: Dynamic Servo Control
ning procedure (18)

Diagnostics
Alarm Cause Remedy

A1940: PROFIdrive: clock The bus is in the data exchange state and • Check the master application and bus
cycle synchronism not clock synchronous operation has been
configuration.
reached selected using the parameterizing tele-
Message class: Communica- gram. It was not possible to synchronize to • Check the consistency between the clock
tion to the higher-level con- the clock cycle specified by the master. cycle input when configuring the slave
troller faulted (9) • The master does not send a clock syn- and clock cycle setting at the master.
chronous global control telegram alt- • Check that no drive object has a pulse
hough clock synchronous operation enable. Only enable the pulses after syn-
was selected when configuring the bus. chronizing the PROFIdrive.
• The master is using another clock syn-
chronous DP clock cycle than was trans-
ferred to the slave in the
parameterizing telegram.
• At least one drive object has a pulse
enable (not controlled from PROFIdrive
either).
A1944: PROFIdrive: Sign-of- The bus is in the data exchange state and Ensure that the master correctly increments
life synchronism not clock synchronous operation has been the sign-of-life in the master application clock
reached selected using the parameterizing tele- cycle Tmapc.
Message class: Communica- gram.
tion to the higher-level con- Synchronization with the master sign-of-
troller faulted (9) life (STW2.12...STW2.15) could not be
completed because the sign-of-life is
changing differently to how it was config-
ured in the Tmapc time grid.
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
Message class: Power elec- If the temperature of the heat sink increas-
defined limit values?
tronics faulted (5) 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?
A6310: Supply voltage For AC/AC drive units, the measured DC • Check the parameterized supply voltage
(p29006) incorrectly param- voltage lies outside the tolerance range
and if required change it (p29006).
eterized after pre-charging has been completed.
Message class: Network fault The following applies for the tolerance • Check the line supply voltage.
(2) range: 1.16 × p29006 < r0026 < 1.6 × See also: p29006 (Line supply voltage)
p29006
Note:
The fault can only be acknowledged when
the drive is switched off.
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.
Message class: Motor over- ed.
load (8) • Check the motor surrounding tempera-
ture.

Diagnostics
Alarm Cause Remedy

A7092: Drive: Moment of The moment of the inertia estimator has Traverse the axis until the moment of inertia
inertia estimator still not still not determined any valid values. estimator has stabilized.
ready The acceleration cannot be calculated. The alarm is automatically withdrawn after
Message class: Error in the The moment of inertia estimator has stabi- the moment of inertia estimator has stabi-
parameteriza- lized, if the ratio of machine load moment lized.
tion/configuration/commissio of inertia (p29022) has been determined.
ning procedure (18)
A7440: EPOS: Jerk time is The calculation of the jerk time Tr = max • Increase the jerk limiting (p2574).
limited (p2572, 2573)/2574 resulted in an exces-
sively high value so that the jerk time is • Reduce maximum acceleration or maxi-
Message class: Error in the
parameteriza- internally limited to 1000 ms. mum deceleration (p2572, p2573).
tion/configuration/commissio Note: See also: p2572 (EPOS maximum accelera-
ning procedure (18) The alarm is also output if jerk limiting is tion), p2573 (EPOS maximum deceleration),
not active. p2574 (EPOS jerk limiting)
A7441: LR: Save the position The status of the absolute encoder adjust- Not necessary.
offset of the absolute en- ment has changed. This alarm automatically disappears after the
coder adjustment In order to permanently save the deter- offset has been saved.
Message class: Applica- mined position offset (p2525), it must be See also: p2525 (LR encoder adjustment off-
tion/technological function saved in a non-volatile fashion (p0977). set)
faulty (17)
A7454: LR: Position value One of the following problems has oc- Check the drive data sets, encoder data sets
preprocessing does not have curred with the position actual value pre- and encoder assignment.
a valid encoder processing:
Message class: Error in the • An encoder is not assigned for the
parameteriza-
position actual value preprocessing.
ning procedure (18) • An encoder is assigned, but no encoder
data set.
• An encoder and an encoder data set
have been assigned, however, the en-
coder data set does not contain any en-
coder data or invalid data.
A7455: EPOS: Maximum The maximum velocity (p2571) is too high Reduce the maximum velocity (p2571).
velocity limited to correctly calculate the modulo correc-
Message class: Error in the tion.
parameteriza- Within the sampling time for positioning,
tion/configuration/commissio with the maximum velocity, a maximum of
ning procedure (18) 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 • Check the entered setpoint velocity.
locity limited the parameterized maximum velocity
(p2571) and is therefore limited. • Reduce the velocity override.
tion/technological function • Increase the maximum velocity (p2571).
faulty (17)
• Check the signal source for the externally
limited velocity.

Diagnostics
Alarm Cause Remedy

A7457: EPOS: Combination An illegal combination of input signals that Check the appropriate input signals and cor-
of input signals illegal are simultaneously set was identified. rect.
Message class: Applica- Alarm value (r2124, interpret decimal):
tion/technological function 0: Jog 1 and jog 2.
faulty (17)
1: Jog 1 or jog 2 and direct setpoint in-
put/MDI.
2: Jog 1 or jog 2 and start referencing.
3: Jog 1 or jog 2 and activate traversing
task.
4: Direct setpoint input/MDI and starting
referencing.
5: Direct setpoint input/MDI and activate
traversing task.
6: Start referencing and activate traversing
task.
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).
tion/technological function
faulty (17)
A7462: EPOS: Selected trav- A traversing block selected via PROFINET • Correct the traversing program.
ersing block number does control words POS_STW1.0 to POS_STW1.5
not exist (when telegram 111 is used) or • Select an available traversing block num-
Message class: Error in the SATZANW.0 to SATZANW.5 (when tele- ber.
parameteriza- gram 7, 9 and 110 are used) was started
tion/configuration/commissio via PROFINET control word STW1.6 = 0/1
ning procedure (18) edge "Activate traversing task".
• The selected traversing block exceeds
the block number limit, relevant high-
order bits should remain low. Refer to
Section "Traversing blocks"
• The started traversing block is sup-
pressed.
Alarm value (r2124, interpret decimal):
Number of the selected traversing block
that is also not available.
A7463: EPOS: External block For a traversing block with the block Resolve the reason as to why the edge is miss-
change not requested in the change enable ing at STW1.13.
traversing block CONTINUE_EXTERNAL_ALARM, the exter-
Message class: Applica- nal block change was not requested.
tion/technological function Alarm value (r2124, interpret decimal):
faulty (17) Number of the traversing block.
A7467: EPOS: Traversing The task parameter in the traversing block Correct the task parameter in the traversing
block has illegal task pa- contains an illegal value. block.
rameters Alarm value (r2124, interpret decimal):
Message class: Error in the Number of the traversing block with an
parameteriza- illegal task parameter.
ning procedure (18)

Diagnostics
Alarm Cause Remedy

A7468: EPOS: Traversing In a traversing block, a jump was pro- • Correct the traversing block.
block jump destination does grammed to a non-existent block.
not exist • Add the missing traversing block.
Alarm value (r2124, interpret decimal):
Message class: Error in the Number of the traversing block with a
parameteriza- jump destination that does not exist.
ning procedure (18)
A7469: EPOS: Traversing In the traversing block the specified abso- • Correct the traversing block.
block < target position < lute target position lies outside the range
software limit switch minus limited by the software limit switch minus. • Change software limit switch minus
Message class: Error in the (p2580).
parameteriza-
ning procedure (18)
A7470: EPOS: Traversing In the traversing block the specified abso- • Correct the traversing block.
block > target position > lute target position lies outside the range
software limit switch plus limited by the software limit switch plus. • Change software limit switch plus
Message class: Error in the (p2581).
parameteriza-
ning procedure (18)
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
Message class: Applica- • Change the modulo range (p29246).
faulty (17)
A7472: EPOS: Traversing In the traversing block the positioning Correct the traversing block.
block ABS_POS/ABS_NEG not mode ABS_POS or ABS_NEG were parame-
possible terized with the modulo correction not
Message class: Applica- activated.
faulty (17)
A7473: EPOS: Beginning of When traversing, the axis has moved to the Move away in the positive direction.
traversing range reached traversing range limit.
faulty (17)
A7474: EPOS: End of travers- When traversing, the axis has moved to the Move away in the negative direction.
ing range reached traversing range limit.
faulty (17)
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
minus limit switch minus. • Change software limit switch minus (CI:
Message class: Error in the p2580).
parameteriza- See also: p2580 (EPOS software limit switch
tion/configuration/commissio minus), p2582 (EPOS software limit switch
ning procedure (18) activation)

Diagnostics
Alarm Cause Remedy

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
plus limit switch plus. • Change software limit switch plus (CI:
Message class: Error in the p2581).
parameteriza- See also: p2581 (EPOS software limit switch
tion/configuration/commissio plus), p2582 (EPOS software limit switch
ning procedure (18) activation)
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
block was interrupted. • Change software limit switch minus (CI:
tion/technological function p2580).
faulty (17) See also: p2580 (EPOS software limit switch
minus), p2582 (EPOS software limit switch
activation)
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
was interrupted. • Change software limit switch plus (CI:
tion/technological function p2581).
faulty (17) See also: p2581 (EPOS software limit switch
plus), p2582 (EPOS software limit switch
activation)
A7483: EPOS: Travel to fixed The fixed stop in the traversing block was Check the torque limits (p1520, p1521).
stop clamping torque not reached without the clamping
reached torque/clamping force having been
Message class: Applica- achieved.
faulty (17)
A7486: EPOS: Intermediate In the modes "traversing blocks" or "direct Connect a 1 signal to the binector input "no
stop missing setpoint input/MDI" at the start of motion, intermediate stop/intermediate stop" and
Message class: Applica- the binector input "no intermediate restart motion.
tion/technological function stop/intermediate stop" did not have a 1
faulty (17) signal.
A7487: EPOS: Reject travers- In the modes "traversing blocks" or "direct Connect a 1 signal to the binector input "do
ing task missing setpoint input/MDI" at the start of motion, not reject traversing task/reject traversing
Message class: Applica- the binector input "do not reject traversing task" and restart motion.
tion/technological function task/reject traversing task" does not have a
faulty (17) 1 signal.
A7496: EPOS: Enable not In the EPOS control mode, no servo on Send servo on command to the drive via
possible command is sent to the drive via PROFINET. PROFINET.
faulty (17)
A7530: Drive: Drive Data Set The selected drive data set is not available. • Select the existing drive data set.
DDS not present The drive data set was not changed over.
• Set up additional drive data sets.
parameteriza-
ning procedure (18)
A7565: Drive: Encoder error An encoder error was signaled for encoder Acknowledge the encoder error using the
in PROFIdrive encoder inter- 1 via the PROFIdrive encoder interface encoder control word (G1_STW.15 = 1).
face 1 (G1_ZSW.15).
Message class: Actual posi-
tion/speed value incorrect or
not available (11)

Diagnostics
Alarm Cause Remedy

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.
tion/speed value incorrect or • Carry out a POWER ON (power off/on) for
not available (11) all components.
A7582: Position actual value An error has occurred during the position Check the encoder for the position actual
preprocessing error actual value preprocessing. value preprocessing.
tion/speed value incorrect or
not available (11)
A7805: Power unit overload Alarm threshold for I2t overload of the • Reduce the continuous load.
I2 t power unit exceeded.
• Adapt the load duty cycle.
Message class: Power elec-
tronics faulted (5) • 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
Message class: Error in the defined and has still not been saved. data has been saved.
parameteriza- In order to permanently accept the new
tion/configuration/commissio value, it must be saved in a non-volatile
ning procedure (18) fashion.
A7971: Angular commuta- The automatic determination of the angu- The alarm automatically disappears after
tion offset determination lar commutation offset (encoder adjust- determination.
activated ment) is activated.
Message class: Error in the The automatic determination is carried out
parameteriza- at the next power-on command.
ning procedure (18)
A7991: Motor data identifi- The motor data ident. routine is activated. The alarm automatically disappears after the
cation activated The motor data identification routine is motor data identification routine has been
Message class: Error in the carried out at the next power-on com- successfully completed.
parameteriza- mand. If a POWER ON or a warm restart is performed
tion/configuration/commissio with motor data identification selected, the
ning procedure (18) motor data identification request will be lost.
If motor data identification is required, it will
need to be selected again manually following
ramp-up.
A8511: PROFIdrive: Receive The drive unit did not accept the receive Check the receive configuration data.
configuration data invalid configuration data.
parameteriza-
ning procedure (18)
A8526: PROFIdrive: No cyclic There is no cyclic connection to the control. • Establish the cyclic connection and acti-
connection
vate the control with cyclic operation.
Message class: Communica-
tion to the higher-level con- • Check the parameters "Name of Station"
troller faulted (9) and "IP of Station" (r8930, r8931).
A8565: PROFIdrive: Receive A consistency error was detected when Check the required interface configuration,
configuration data invalid activating the configuration. correct if necessary.
Message class: Error in the Note: Currently set configuration has not
parameteriza- been activated.
ning procedure (18)

Diagnostics
Alarm Cause Remedy

A30016: Load supply The DC link voltage is too low. • Switch on the load supply.
switched off
• Check the line supply if necessary.
Message class: Network fault
(2)
A30031: Hardware current Hardware current limit for phase U re- Check the motor data. As an alternative, run a
limiting in phase U sponded. The pulsing in this phase is inhib- motor data identification.
Message class: Power elec- ited for one pulse period.
• Check the motor circuit configuration
tronics faulted (5) • 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 maximum
ground fault.
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 unit, the hardware current limiting
of phase U, V or W responds.
A31411: Encoder 1: Absolute The absolute encoder fault word includes • Check the encoder cable connection and
encoder signals internal alarm bits that have been set.
make sure the cables are routed in com-
alarms
pliance with EMC.
tion/speed value incorrect or • Check the motor temperature.
not available (11) • Replace the motor/encoder.
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.
tion/speed value incorrect or • Check that the cables are routed in com-
not available (11) pliance 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 plugged • Make sure the drive is in the stop state.
Message class: General drive
fault (19) 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.
fault (19)
A52902: Quick stop (EMGS) Implement servo on when the digital input Switch on the digital input (EMGS) and then
missing (EMGS) is switched off. implement servo on.
fault (19)

Diagnostics

Appendix A
A.1 Overview
Cables connecting the SINAMICS V90 servo drives and SIMOTICS S-1FL6 servo motors are
important components of a servo drive system. They are essential to the stable and reliable
operation of the system.
You are recommended to use Siemens cable assemblies and connectors. All Siemens cable
assemblies and connectors are tested and compliant with the CE standards and EMC
requirements. If you use non-Siemens cable assemblies, for example, cables you made by
yourself or cables from a third party, Siemens does not guarantee that the drive system
composed of V90 servo drive and 1FL6 servo motor meets the CE standards. If you use non-
Siemens cable assemblies in your drive system, and the drive system are required to be
operated in a CE-compliant environment, you need to reapply for certification for the drive
system.
Siemens allows you assemble your own cables in case that, for example, cables of the special
length is needed; therefore Siemens provides the instructions for assembling cables and
connectors. However, Siemens does not guarantee that cables you made meet the CE
standards and EMC requirements. When you made cables, you need to observe the assembly
procedures in this section. Besides, you need to prepare appropriate tools, raw cables, and
Siemens connectors according to the cable technical data and information in this section.
Siemens does not guarantee the performance of the cables you made. For device (drives,
motors) damages due to use of the cables you made the warranty is not assumed.
Operation requirements
When you made cable yourself, observe the following requirements:
• The assembly must be performed by qualified personnel
• Use appropriate tools to solder or crimp cables and ensure the operation quality
Cable and connector requirements

• Use raw cables that with shields
Power cables and encoder cables must be shielded cables, and the shield coverage must
be conformed to the Siemens requirements.
• Use Siemens connectors only
For more information about the cable and connector requirements, see Sections "MOTION-
CONNECT 300 cables and connectors (Page 39)" and "Technical data - cables (Page 70)".

Appendix
A.1 Overview
Assembly requirements
Observe the assembly procedures in this section as well as the following key points:
• Stripping cables
After you remove the outer sheath of the cables, make sure that all conductors are
smooth and straight.
• Processing unused pins on the connectors

To avoid the short-circuiting between the shielding wire and the unused pin on the
connector, cover all unused pins with heat-shrinkable tubes.
• Connecting cable shields
When you assemble the drive side encoder connectors, the cable shields must be
connected to the ground plate and then connected to the housing.

Appendix
A.2 Assembly of cable terminals/connectors on the drive side
A.2.1 Power terminal assembly
Procedure Illustration
200 V variant: FSA, FSB, FSC, FSD
400 V variant: FSAA, FSA
1. Remove the outer sheath of the cable.
2. Remove the insulation from the wire.
3. Insert the stripped end into the cable end sleeve.
4. Crimp the cable end sleeve using a crimp tool for
end sleeves.
400 V 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 exposed wires with
tin.)

Appendix
A.2.2 Encoder connector assembly

For drives of all the frame sizes, the basic assembly procedures for the encoder connector on
the drive side are the same. The only thing you need to pay attention to is the different signal
connections for the absolute encoder connector and the incremental encoder connector.

Appendix
NOTICE
Drive damage caused by short-circuiting between the shielding wire and the unused
pin on the encoder connector
assembled encoder connector. This can cause damage to the drive.
• When assembling the connector, exercise caution when connecting the shielding cable
to the encoder connector.
A.2.3 Brake terminal assembly

The assembly of a brake terminal follows the procedure as described for a power terminal of
the 200 V variant servo drive. See Section "Power terminal assembly (Page 337)" for details.

Appendix
A.2.4 Setpoint connector assembly
NOTICE
Drive damage resulting from the short-circuiting between the shielding wire and the
unused pin on the setpoint connector
assembled setpoint connector. This can cause damage to the drive.
• When assembling the connector, exercise caution when connecting the shielding cable
to the setpoint connector.

Appendix
A.3 Assembly of cable connectors on the motor side
A.3.1 Power connector assembly
Power cable used for low inertia motors (SH20, SH30, SH40)

Appendix
Power cable used for motors with straight connectors (low inertia motors SH50 and high
inertia motors)

Appendix
Power cable used for motors with angular connectors (low inertia motors SH50 and high
inertia motors)

Appendix
A.3.2 Encoder connector assembly
Incremental encoder cable used for low inertia motors (SH20, SH30, SH40)

Appendix
Absolute encoder cable used for low inertia motors (SH20, SH30, SH40)

Appendix
Encoder cable used for motors with straight connectors (low inertia motors SH50 and
high inertia motors)

Appendix
Encoder cable used for motors with angular connectors (low inertia motors SH50 and
high inertia motors)
Note
No matter which type of the encoder connectors is (incremental or absolute), the assembly
procedures for them are the same if they have the same look.

Appendix
A.3.3 Brake connector assembly
Brake cable used for low inertia motors (SH20, SH30, SH40)
The assembly of a brake terminal follows the procedure as described for a power connector.
See Section "Power connector assembly (Page 341)" for details.
Brake cable used for motors with straight connectors (low inertia motors SH50 and high
inertia motors)
The assembly of a brake terminal follows the procedure as described for an encoder
connector used for motors with straight connectors. See Section "Encoder connector
assembly (Page 344)" for details.
Brake cable used for motors with angular connectors (low inertia motors SH50 and high
inertia motors)
The assembly of a brake terminal follows the procedure as described for an encoder
connector used for motors with angular connectors. See Section "Encoder connector
assembly (Page 344)" for details.

Appendix
A.4 Motor selection
A.4 Motor selection
A.4.1 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.
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.

Appendix
A.4 Motor selection
A.4.2 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.
• 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.
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.

Appendix
A.4 Motor selection
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

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)

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)

Appendix
A.4 Motor selection
A.4.3 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.
Workpiece weight W 40 kg
Material density of the ball screw ρ 7.9 × 103 kg/m3
Ball screw length Bl 2m
Ball screw diameter Bd 0.04 m
Ball screw pitch Bp 0.04 m
Mechanical efficiency Bŋ 0.9
Coupler inertia (refer to the supplier's product catalog) Jc 20 × 10-6 kgm2
Acceleration time ta 0.15 s
Constant motion time tu 0.7 s
Deceleration time td 0.15 s
Cycle time tc 2s
Travel distance L 0.5 m
Gravitational acceleration g 9.81 m/s2
Frictional coefficient μ 0.025
Calculating velocity:
Maximum travelling velocity:
Calculating forces, pitch angle and friction angle

Frictional force:
Accelerating force/decelerating force:
Pitch angle of the ball screw:
Friction angle of the ball screw:

Appendix
A.4 Motor selection
Calculating torques for the ball screw and the coupling when accelerating and
decelerating
Angular velocity of the ball screw at Vmax:
Maximum rotating velocity:
Angular acceleration of the ball screw:
Ball screw weight:
Moment of inertia of the ball screw:
Moment of inertia of the ball screw + coupling:
Accelerating torque and decelerating torque for the ball screw + coupling:
Preselecting the motor

Based on the calculated torques, if we select the 1FL6062 motor:
nn = 2000 rpm, Mn = 4.78 Nm, Jmotor = 1.57 × 10-3 kgm2
Then the inertia ratio:
Wherein, JW is the moment of inertia of the workpiece:

Appendix
A.4 Motor selection
Calculating the motor torques during the constant motion phase
Calculating the motor torques when accelerating and decelerating

Accelerating torque and decelerating torque for the motor:
Motor torque when accelerating:
Motor torque when decelerating:
* If the expression in brackets has a negative sign, the sign of β changes to minus
Final selection
According to the above calculated speed, torque, and inertia ratio, 1FL6062 motor is suitable.

Appendix
A.5 Replacing fans
A.5 Replacing fans

Proceed as illustrated below to remove the fan from the drive. To re-assemble the fan,
proceed in reverse order. When re-assembling the fan, make sure that the arrow symbol ("
"in the illustration) on the fan points to the drive rather than the fan housing.
Replacing the fan (example)

Appendix
A.5 Replacing fans

Index
A D
Accessories Differences between faults and alarms, 307
Braking resistor, 46 Digital inputs, 112
Filter, 48 Wiring, 113
Fuse/Type E combination motor controller, 44 Digital outputs, 114
Micro SD card/SD card, 53 Wiring, 115
MOTION-CONNECT 300 cable and connector, 41 DIN EN ISO 13849-1, 231
Replacement fans, 53 Direction of motor rotation, 161
USB cable, 42 Drive overload capacity
Aims, 227 300% overload capacity, 162
ANSI B11, 238
E
B EN 61508, 233
Backlash compensation, 175 EN 62061, 232
Basic positioner (EPOS) EPOS
Linear/modular axis, 174 Traversing blocks, 191
BOP operations Equipment regulations, 239
Button functions, 146
BOP operations for faults and alarms, 308
Acknowledging faults, 308 F
Exiting from alarm display, 308
Function list, 54
Exiting from fault display, 308
Functional safety, 228
Viewing alarms, 308
Viewing faults, 308
BOP overview, 141
G
General information about faults and alarms, 305
C
Certification, 240
H
Change a parameter value, 150
Set the parameter value directly, 150 Harmonized European Standards, 229
Set the parameter value with a shift function, 150
Commissioning
Initial commissioning, 137 I
Connecting
Internal position control mode (IPos)
24 V power supply/STO, 120
Setting mechanical system, 173
Connecting an external braking resistor, 125
Software position limit, 178
Connecting the cable shields, 103
Iterative process for achieving safety, 234
Copy parameter set from a micro SD card/SD card to
drive, 158
Copy parameters from the servo drive to a micro SD
card/SD card, 157

Index
J Resonance suppression, 259

Activate the resonance suppression function, 260
JOG function, 154
Manual tuning with resonance suppression
JOG in speed, 154
(p29021=0), 261
JOG in torque, 154
One-button auto tuning with resonance suppression
(p29023.1=1), 260
Real-time auto tuning with resonance suppression
L
(p29024.6=1), 261
LED status indicators, 142 Response time, 242
Risk analysis, 234
Risk reduction, 235
M
Machine safety in Japan, 238
S
Machine safety in the USA, 236
Machinery directive, 228 Safe Torque Off
Main circuit wirings Functional features, 244
Connecting the motor power - U, V, W, 108 Response time, 246
Motor holding brake, 126 Selecting/deselecting STO, 245
Relevant parameters, 130 Safety Integrated function, 239
Motor rating plate, 30 Safety of machinery in Europe, 228
Motor selection method, 349 Save parameters in the servo drive, 155
Mounting the motor Search a parameter in "P ALL" menu, 152
Motor dimensions, 84 Set parameter set to default, 156
Mounting orientation, 81 Set zero position, 160
Speed control mode
Ramp-function generator, 203
N Speed limit, 201
Overall speed limit, 201
NFPA 79, 237
Standards for implementing safety-related
NRTL, 237
controllers, 230
Stopping method at servo OFF, 162
Coast-down (OFF2), 163
O
Quick stop (OFF3), 163
Operating display, 148 Ramp-down (OFF1), 163
OSHA, 236 System connection diagrams, 99
Over-travel, 176
Overview of SINAMICS V90 PN BOP functions, 153
T
Technical data
P
Cables, 70
Preface Torque control mode
Documentation components, 3 Internal speed limit, 201
Target group, 3 Torque limit, 202
Technical support, 3 Internal torque limit, 202
Probability of failure, 242 Overall torque limit, 202
Torque limit reached (TLR), 203
Traversing blocks, 191
R Traversing task
Rejecting, 192
Referencing
Tuning
Referencing modes, 179
Configuration of dynamic factor, 252, 256
Residual risk, 236

Index
Manual tuning, 258

Real-time auto tuning, 255
Servo gains, 248
Tuning methods, 249
Tuning with SINAMICS V-ASSISTANT, 250
U
Update firmware, 159
W
Wiring and connecting
Adjusting cable orientations, 104

Index


V90 PN 1FL6 Op Instr 0221 en-US

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Preface

Basic operator panel (BOP) 6

Safety Integrated function 9

Siemens AG A5E37208830-009 Copyright © Siemens AG 2016 - 2021.

SINAMICS V90, SIMOTICS S-1FL6

Use of third-party products

Compliance with the General Data Protection Regulation

Recycling and disposal

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

Suitability for use

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

3.1.2 Drill patterns and outline dimensions ................................................................................. 76

SINAMICS V90, SIMOTICS S-1FL6

6.4 Basic operations............................................................................................................... 149

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

9.4.1 Safe Torque Off (STO) ...................................................................................................... 243

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

1.2 Equipment damage due to electric fields or electrostatic

1.3 Warranty and liability for application examples

SINAMICS V90, SIMOTICS S-1FL6

1.4 Security information

SINAMICS V90, SIMOTICS S-1FL6

1.5 Residual risks of power drive systems

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

2.1 Scope of delivery

2.1.1 Drive components

Components in the SINAMICS V90 PN 200 V variant drive package

Component Illustration Rated Outline dimension Frame size Article number

Connectors For FSA and FSB

For FSC and FSD

Shielding plate For FSA and FSB

For FSC and FSD

User documentation Information Guide English-Chinese bilingual version

SINAMICS V90, SIMOTICS S-1FL6

Components in the SINAMICS V90 PN 400 V variant drive package

Component Illustration Rated Outline dimension Frame size Article number

Connectors For FSAA

For FSB and FSC

Shielding plate For FSAA and FSA

For FSB and FSC

User documentation Information Guide English-Chinese bilingual version

SINAMICS V90, SIMOTICS S-1FL6

Drive rating plate (example)

① Drive name ⑦ Part number

SINAMICS V90, SIMOTICS S-1FL6

Article number explanation (example)

SINAMICS V90, SIMOTICS S-1FL6

Serial number explanation (example)

SINAMICS V90, SIMOTICS S-1FL6