V90 PTI 1FL6 Op Instr 0420 en-US

SINAMICS V90, SIMOTICS S-1FL6
Preface
Fundamental safety
instructions 1
General information 2
SINAMICS/SIMOTICS
Mounting 3
SINAMICS V90, SIMOTICS S-1FL6 4
Connecting
Commissioning 5
Operating Instructions
Basic operator panel (BOP) 6
Control functions 7
Safety Integrated function 8
Tuning 9
Parameters 10
Diagnostics 11
Appendix A
Pulse train, USS/Modbus interface
04/2020
A5E36037884-008
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.
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Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG A5E36037884-008 Copyright © Siemens AG 2015 - 2020.

Digital Industries Ⓟ 04/2020 Subject to change All rights reserved
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Preface
Documentation components
Document Content
Operating Instructions (this manual)
SIMOTICS S-1FL6 Servo Motors Instal- Describes how to install the SMOTICS S-1FL6 servo
lation Guide motor and relevant safety notices.
SINAMICS V90 Servo Drives Information Introduces the basic information of the documents and
Guide describes how to find all the SINAMICS V90 documents
from the website.
SINAMICS V90 V-ASSISTANT Online Describes how to perform fast commissioning and diag-
Help nostics for the SINAMICS V90 drives via the SINAMICS
V-ASSISTANT engineering tool.
Target group
This manual provides information about the SINAMICS V90 servo system for planners,
operators, mechanical engineers, electrical engineers, commissioning engineers, and
service engineers.
Technical support
Country Hotline
China +86 400 810 4288
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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).

Operating Instructions, 04/2020, A5E36037884-008 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, 04/2020, A5E36037884-008
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 ......................................20
1.3 Warranty and liability for application examples ......................................................................20
1.4 Security information ................................................................................................................20
1.5 Residual risks of power drive systems....................................................................................22
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 System configuration ..............................................................................................................38
2.5 Accessories .............................................................................................................................42
2.5.1 MOTION-CONNECT 300 cables and connectors ..................................................................42
2.5.2 Setpoint cables and connectors ..............................................................................................45
2.5.3 USB cable ...............................................................................................................................45
2.5.4 Connectors used on the drive front panel ...............................................................................45
2.5.5 External 24 V DC power supply ..............................................................................................46
2.5.6 Fuse/Type E combination motor controller .............................................................................47
2.5.7 Braking resistor .......................................................................................................................50
2.5.8 Line filter .................................................................................................................................51
2.5.9 Micro SD card/SD card ...........................................................................................................56
2.5.10 Replacement fans ...................................................................................................................56
2.6 Function list .............................................................................................................................56
2.7 Technical data .........................................................................................................................58
2.7.1 Technical data - servo drives ..................................................................................................58
2.7.1.1 SINAMICS V90 200 V variant .................................................................................................58
2.7.1.2 SINAMICS V90 400 V variant .................................................................................................61
2.7.2 Technical data - servo motors ................................................................................................64
2.7.2.1 1FL6 servo motor - low inertia ................................................................................................64
2.7.2.2 1FL6 servo motor - high inertia ...............................................................................................69
2.7.2.3 Power derating ........................................................................................................................73
2.7.3 Technical data - cables ...........................................................................................................73
2.7.4 Address of CE-authorized manufacturer ................................................................................74
3 Mounting ............................................................................................................................................... 75
3.1 Mounting the drive ..................................................................................................................75

Table of contents
3.1.1 Mounting orientation and clearance ....................................................................................... 76

3.1.2 Drill patterns and outline dimensions ..................................................................................... 78
3.1.3 Mounting the drive ................................................................................................................. 82
3.2 Mounting the motor ................................................................................................................ 82
3.2.1 Mounting orientation and dimensions .................................................................................... 83
3.2.2 Mounting the motor ................................................................................................................ 92
3.2.3 Attaching output elements ..................................................................................................... 93
3.2.4 Motor heat dissipation conditions........................................................................................... 94
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 ............................................ 96
4.1.3 EMC instructions .................................................................................................................... 97
4.1.4 System connection diagrams ................................................................................................. 99
4.1.5 Cable connection ................................................................................................................. 104
4.2 Main circuit wiring................................................................................................................. 108
4.2.1 Line supply - L1, L2, L3 ........................................................................................................ 108
4.2.2 Motor power - U, V, W ......................................................................................................... 110
4.3 Control/status interface - X8 ................................................................................................ 112
4.3.1 Digital inputs/outputs (DIs/DOs)........................................................................................... 115
4.3.1.1 DIs ........................................................................................................................................ 117
4.3.1.2 DOs ...................................................................................................................................... 122
4.3.2 Pulse train inputs/encoder outputs (PTIs/PTOs) ................................................................. 126
4.3.2.1 PTIs ...................................................................................................................................... 126
4.3.2.2 PTOs .................................................................................................................................... 127
4.3.3 Analog inputs/outputs (AIs/AOs) .......................................................................................... 128
4.3.3.1 AIs ........................................................................................................................................ 128
4.3.3.2 AOs ...................................................................................................................................... 128
4.3.4 Standard application wiring (factory setting) ........................................................................ 130
4.3.4.1 Pulse train input position control (PTI) ................................................................................. 130
4.3.4.2 Fast pulse train input position control (Fast PTI) ................................................................. 132
4.3.4.3 Internal position control (IPos) ............................................................................................. 134
4.3.4.4 Speed control (S) ................................................................................................................. 136
4.3.4.5 Torque control (T) ................................................................................................................ 138
4.3.5 Connection examples with PLCs ......................................................................................... 139
4.3.5.1 SIMATIC S7-200 SMART .................................................................................................... 139
4.3.5.2 SIMATIC S7-200 .................................................................................................................. 147
4.3.5.3 SIMATIC S7-1200 ................................................................................................................ 154
4.4 24 V power supply/STO ....................................................................................................... 161
4.5 Encoder interface - X9 ......................................................................................................... 163
4.6 External braking resistor - DCP, R1 ..................................................................................... 166
4.7 Motor holding brake ............................................................................................................. 167
4.8 RS485 interface - X12 .......................................................................................................... 173
5 Commissioning ....................................................................................................................................175
5.1 General commissioning information..................................................................................... 175
5.2 Initial commissioning in JOG mode...................................................................................... 177

Table of contents
5.3 Commissioning in pulse train position control mode (PTI) ...................................................179

5.4 Commissioning in fast pulse train position control mode (Fast PTI) ....................................181
5.5 Commissioning in internal position control mode (IPos).......................................................183
5.6 Commissioning in speed control mode (S) ...........................................................................185
5.7 Commissioning in torque control mode (T) ...........................................................................186
6 Basic operator panel (BOP)................................................................................................................. 189
6.1 BOP overview .......................................................................................................................189
6.1.1 LED status indicators ............................................................................................................190
6.1.2 BOP display ..........................................................................................................................190
6.1.3 Control buttons ......................................................................................................................193
6.2 Parameter structure ..............................................................................................................194
6.3 Actual status display .............................................................................................................195
6.4 Basic operations ...................................................................................................................196
6.4.1 Editing parameters ................................................................................................................197
6.4.2 Viewing parameters ..............................................................................................................199
6.4.3 Searching parameters in "P ALL" menu ...............................................................................199
6.5 Auxiliary functions .................................................................................................................200
6.5.1 JOG .......................................................................................................................................200
6.5.2 Saving parameters (RAM to ROM) .......................................................................................201
6.5.3 Setting parameters to default ................................................................................................202
6.5.4 Transferring data (drive to SD) .............................................................................................203
6.5.5 Transferring data (SD to drive) .............................................................................................203
6.5.6 Updating firmware .................................................................................................................204
6.5.7 Adjusting AI offsets ...............................................................................................................205
6.5.8 Adjusting an absolute encoder .............................................................................................206
7 Control functions ................................................................................................................................. 207
7.1 Compound controls ...............................................................................................................207
7.2 General functions ..................................................................................................................208
7.2.1 Servo ON ..............................................................................................................................208
7.2.2 Motor direction of rotation .....................................................................................................210
7.2.3 300% overload capacity ........................................................................................................211
7.2.4 Over-travel ............................................................................................................................211
7.2.5 Stopping method at servo OFF .............................................................................................213
7.2.6 Travel to fixed stop................................................................................................................215
7.3 Pulse train input position control (PTI) ..................................................................................219
7.3.1 Sequence of SON .................................................................................................................219
7.3.2 Selecting a setpoint pulse train input channel ......................................................................220
7.3.3 Selecting a setpoint pulse train input form ............................................................................220
7.3.4 In position (INP) ....................................................................................................................221
7.3.5 Smoothing function ...............................................................................................................222
7.3.6 Electronic gear ratio ..............................................................................................................222
7.3.7 Inhibiting pulse train input setpoint (P-TRG) .........................................................................225
7.3.8 Speed limit ............................................................................................................................226
7.3.9 Torque limit ...........................................................................................................................228
7.3.10 Clearing droop pulses (CLR) ................................................................................................230

Table of contents
7.3.11 Referencing (only for absolute encoder) .............................................................................. 232

7.3.12 PTO function ........................................................................................................................ 232
7.4 Fast pulse train input position control (Fast PTI) ................................................................. 233
7.5 Internal position control (IPos) ............................................................................................. 234
7.5.1 Setting mechanical system .................................................................................................. 234
7.5.2 Setting fixed position setpoint .............................................................................................. 235
7.5.3 Selecting a positioning mode - absolute/incremental .......................................................... 237
7.5.4 Configuring the linear/modular axis ..................................................................................... 237
7.5.5 Backlash compensation ....................................................................................................... 238
7.5.6 Referencing .......................................................................................................................... 239
7.5.7 Traversing blocks ................................................................................................................. 247
7.5.8 Software position limit .......................................................................................................... 251
7.5.9 Speed limit ........................................................................................................................... 252
7.5.10 Torque limit .......................................................................................................................... 252
7.5.11 Selecting a fixed position setpoint and starting positioning ................................................. 252
7.5.12 Position tracking ................................................................................................................... 255
7.6 Speed control (S) ................................................................................................................. 258
7.6.1 Configuring speed setpoint .................................................................................................. 258
7.6.1.1 Speed control with external analog speed setpoint ............................................................. 258
7.6.1.2 Speed control with fixed speed setpoint .............................................................................. 260
7.6.2 Direction and stop ................................................................................................................ 260
7.6.3 Speed limit ........................................................................................................................... 261
7.6.4 Torque limit .......................................................................................................................... 261
7.6.5 Zero speed clamp ................................................................................................................ 261
7.6.6 Ramp-function generator ..................................................................................................... 262
7.7 Torque control (T) ................................................................................................................ 263
7.7.1 Torque setpoint .................................................................................................................... 263
7.7.1.1 Torque control with external analog torque setpoint ............................................................ 264
7.7.1.2 Torque control with fixed torque setpoint ............................................................................. 265
7.7.2 Direction and stop ................................................................................................................ 265
7.7.3 Speed limit ........................................................................................................................... 265
7.8 Communicating with the PLC............................................................................................... 265
7.8.1 USS communication ............................................................................................................ 266
7.8.2 Modbus communication ....................................................................................................... 268
7.8.2.1 Overview .............................................................................................................................. 268
7.8.2.2 Cyclic communication .......................................................................................................... 273
7.8.2.3 Acyclic communication ......................................................................................................... 283
7.9 Absolute position system ..................................................................................................... 292
7.9.1 Overview .............................................................................................................................. 292
7.9.2 Transmitting sequence for the absolute position data ......................................................... 293
8 Safety Integrated function ....................................................................................................................295
8.1 Standards and regulations ................................................................................................... 295
8.1.1 General information ............................................................................................................. 295
8.1.1.1 Aims ..................................................................................................................................... 295
8.1.1.2 Functional safety .................................................................................................................. 296
8.1.2 Safety of machinery in Europe ............................................................................................. 296
8.1.2.1 Machinery Directive ............................................................................................................. 296
8.1.2.2 Harmonized European Standards........................................................................................ 297

Table of contents
8.1.2.3 Standards for implementing safety-related controllers .........................................................298

8.1.2.4 DIN EN ISO 13849-1 ............................................................................................................299
8.1.2.5 EN 62061 ..............................................................................................................................300
8.1.2.6 Series of standards EN 61508 (VDE 0803) ..........................................................................302
8.1.2.7 Risk analysis/assessment .....................................................................................................302
8.1.2.8 Risk reduction .......................................................................................................................304
8.1.2.9 Residual risk .........................................................................................................................304
8.1.3 Machine safety in the USA ...................................................................................................304
8.1.3.1 Minimum requirements of the OSHA ....................................................................................304
8.1.3.2 NRTL listing ..........................................................................................................................305
8.1.3.3 NFPA 79 ...............................................................................................................................305
8.1.3.4 ANSI B11 ..............................................................................................................................306
8.1.4 Machine safety in Japan .......................................................................................................307
8.1.5 Equipment regulations ..........................................................................................................307
8.2 General information about SINAMICS Safety Integrated .....................................................308
8.3 System features ....................................................................................................................308
8.3.1 STO functional safety data ...................................................................................................308
8.3.2 Certification ...........................................................................................................................308
8.3.3 Safety instructions .................................................................................................................309
8.3.4 Probability of failure of the safety function ............................................................................310
8.3.5 Response time ......................................................................................................................311
8.3.6 Residual risk .........................................................................................................................311
8.4 Safety Integrated basic functions ..........................................................................................312
8.4.1 Safe Torque Off (STO)..........................................................................................................312
8.4.2 Forced dormant error detection ............................................................................................314
9 Tuning ................................................................................................................................................ 317
9.1 Controller overview ...............................................................................................................317
9.2 Tuning mode .........................................................................................................................319
9.3 One-button auto tuning .........................................................................................................320
9.4 Real-time auto tuning ............................................................................................................325
9.5 Manual tuning .......................................................................................................................328
9.6 Resonance suppression .......................................................................................................330
9.7 Low frequency vibration suppression ...................................................................................333
9.8 Gain switching .......................................................................................................................334
9.8.1 Gain switching using an external digital input signal (G-CHANGE) .....................................335
9.8.2 Gain switching using position deviation ................................................................................336
9.8.3 Gain switching using position setpoint frequency .................................................................336
9.8.4 Gain switching using actual speed .......................................................................................337
9.9 PI/P switching .......................................................................................................................338
9.9.1 PI/P switching using torque setpoint .....................................................................................340
9.9.2 PI/P switching using an external digital input signal (G-CHANGE) ......................................340
9.9.3 PI/P switching using speed setpoint .....................................................................................341
9.9.4 PI/P switching using acceleration setpoint ...........................................................................342
9.9.5 PI/P switching using pulse deviation.....................................................................................343

Table of contents
10 Parameters ..........................................................................................................................................345
10.1 Overview .............................................................................................................................. 345
10.2 Parameter list ....................................................................................................................... 346
11 Diagnostics ..........................................................................................................................................399
11.1 Overview .............................................................................................................................. 399
11.2 List of faults and alarms ....................................................................................................... 402
A Appendix .............................................................................................................................................423
A.1 Assembly of cable terminals/connectors on the drive side .................................................. 425
A.1.1 Power terminal assembly ..................................................................................................... 425
A.1.2 Encoder connector assembly............................................................................................... 426
A.1.3 Brake terminal assembly ...................................................................................................... 427
A.1.4 Setpoint connector assembly ............................................................................................... 428
A.2 Assembly of cable connectors on the motor side ................................................................ 430
A.2.1 Power connector assembly .................................................................................................. 430
A.2.2 Encoder connector assembly............................................................................................... 433
A.2.3 Brake connector assembly ................................................................................................... 437
A.3 Motor selection ..................................................................................................................... 438
A.3.1 Selection procedure ............................................................................................................. 438
A.3.2 Parameter description .......................................................................................................... 439
A.3.3 Selection examples .............................................................................................................. 440
A.4 Replacing fans ..................................................................................................................... 443
Index ...................................................................................................................................................445

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 inverter is connected to the line supply at
least meets the minimum requirements for the response of the protective device used.
• You must use an additional residual-current device (RCD) if a conductor-ground short
circuit does not reach the short-circuit current required for the protective device to
respond. The required short-circuit current can be too low, especially for TT supply
systems.

Fundamental safety instructions
WARNING
Risk of electric shock and fire from supply networks with an excessively low impedance
Excessively high short-circuit currents can lead to the protective devices not being able to
interrupt these short-circuit currents and being destroyed, and thus causing electric shock
or a fire.
• Ensure that the prospective short-circuit current at the line terminal of the inverter does
not exceed the breaking capacity (SCCR or Icc) of the protective device used.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage. 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
Inverters 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 inverter 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.
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
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

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.

1.4 Security information
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.
• Protect the drive against unauthorized changes by activating the "Know-how protection"
converter function.

1.5 Residual risks of power drive systems
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 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 also 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 SINAMICS V90 200 V variant drive package
Component Illustration Rated power Outline dimen- Frame Article number

(kW) sion size
(Width x Height x
Depth, mm)
SINAMICS V90, 0.1/0.2 45 x 170 x 170 FSA 6SL3210-5FB10-1UA2
single/three-phase, 6SL3210-5FB10-2UA2
200 V
0.4 55 x 170 x 170 FSB 6SL3210-5FB10-4UA1
0.75 80 x 170 x 195 FSC 6SL3210-5FB10-8UA0
SINAMICS V90, 1.0/1.5/2.0 95 x 170 x 195 FSD 6SL3210-5FB11-0UA1
three-phase, 200 V 6SL3210-5FB11-5UA0
6SL3210-5FB12-0UA0
Connectors For FSA and FSB
For FSC and FSD
Shielding plate For FSA and FSB
For FSC and FSD
User documentation Information Guide English-Chinese bilingual version

General information
Components in SINAMICS V90 400 V variant drive package
Component Illustration Rated power Outline dimen- Frame Article number

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

ria
② Mains input ⑧ QR code
③ Output data ⑨ Product serial number
④ Degree of protection and supported ⑩ Rated short-circuit current
motor rated power
⑤ Article number ⑪ Copper wire
⑥ Part number

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 Shaft height Article number

(kW) (mm)
SIMOTICS S- 0.4/0.75 45 1FL6042-1AF61- ❑ ❑❑1
1FL6, high 1FL6044-1AF61- ❑ ❑❑1
inertia
0.75/1.0/1.5/1.7 65 1FL6061-1AC61- ❑ ❑❑1
5/2.0 1FL6062-1AC61- ❑ ❑❑1
1FL6064-1AC61- ❑ ❑❑1
1FL6066-1AC61- ❑ ❑❑1
1FL6067-1AC61- ❑ ❑❑1
2.5/3.5/5.0/7.0 90 1FL6090-1AC61- ❑ ❑❑1
1FL6092-1AC61- ❑ ❑❑1
1FL6094-1AC61- ❑ ❑❑1
1FL6096-1AC61- ❑ ❑❑1
Straight connectors with a fixed outlet direction 0
Angular connectors with a flexible outlet direction 2
User docu- SIMOTICS S-1FL6 Servo Motors Installation Guide

mentation

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 200 V servo system
SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 MOTION-CONNECT 300 pre-
200 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.
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 FB10-1UA2 FSA CK01-.... BK02-.... ❑❑ 20-....
0.32 0.1 3000 24-2AF21-1 ❑ ❑1
0.64 0.2 3000 30 32-2AF21-1 ❑ ❑1 FB10-2UA2
1.27 0.4 3000 34-2AF21-1 ❑ ❑1 FB10-4UA1 FSB
2.39 0.75 3000 40 42-2AF21-1 ❑ ❑1 FB10-8UA0 FSC
3.18 1 3000 44-2AF21-1 ❑ ❑1 FB11-0UA1 FSD
4.78 1.5 3000 50 52-2AF21-0 1) ❑ ❑1 FB11-5UA0 CK31-.... BL02-.... ❑❑ 10-....
6.37 2 3000 54-2AF21-0 1) ❑ ❑1 FB12-0UA0
4.78 1.5 3000 50 52-2AF21-2 2) ❑ ❑1 FB11-5UA0 CK32-.... BL03-.... ❑❑ 12-....
6.37 2 3000 54-2AF21-2 2) ❑ ❑1 FB12-0UA0
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 400 V servo system
SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 MOTION-CONNECT 300 pre-
connectors 400 V servo drives assembled cables
Power Brake Encoder
cable cable cable
1.27 0.4 3000 45 42-1AF61-0 ❑ ❑1 FE10-4UA0 FSAA CL01-.... BL02-.... ❑❑ 10-
2.39 0.75 3000 44-1AF61-0 ❑ ❑1 FE10-8UA0 FSA ....
3.58 0.75 2000 65 61-1AC61-0 ❑ ❑1 FE11-0UA0

4.78 1.0 2000 62-1AC61-0 ❑ ❑1
7.16 1.5 2000 64-1AC61-0 ❑ ❑1 FE11-5UA0 FSB CL11-....
8.36 1.75 2000 66-1AC61-0 ❑ ❑1
9.55 2.0 2000 67-1AC61-0 ❑ ❑1 FE12-0UA0
11.9 2.5 2000 90 90-1AC61-0 ❑ ❑1
16.7 3.5 2000 92-1AC61-0 ❑ ❑1 FE13-5UA0 FSC
23.9 5.0 2000 94-1AC61-0 ❑ ❑1 FE15-0UA0
33.4 7.0 2000 96-1AC61-0 ❑ ❑1 FE17-0UA0
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 angular SINAMICS V90 MOTION-CONNECT 300 pre-
connectors 400 V servo drives assembled cables
Power Brake Encoder
cable cable cable
1.27 0.4 3000 45 42-1AF61-2 ❑ ❑1 FE10-4UA0 FSAA CL02-.... BL03-.... ❑❑❑❑ -
2.39 0.75 3000 44-1AF61-2 ❑ ❑1 FE10-8UA0 FSA ....
3.58 0.75 2000 65 61-1AC61-2 ❑ ❑1 FE11-0UA0

4.78 1.0 2000 62-1AC61-2 ❑ ❑1
7.16 1.5 2000 64-1AC61-2 ❑ ❑1 FE11-5UA0 FSB CL12-....
8.36 1.75 2000 66-1AC61-2 ❑ ❑1
9.55 2.0 2000 67-1AC61-2 ❑ ❑1 FE12-0UA0
11.9 2.5 2000 90 90-1AC61-2 ❑ ❑1
16.7 3.5 2000 92-1AC61-2 ❑ ❑1 FE13-5UA0 FSC
23.9 5.0 2000 94-1AC61-2 ❑ ❑1 FE15-0UA0
33.4 7.0 2000 96-1AC61-2 ❑ ❑1 FE17-0UA0
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 211)".
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 servo drives

● SINAMICS V90 200 V variant
FSA and FSB
FSC and FSD

General information
● SINAMICS V90 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 angular connector version
is available.

General information
2.4 System configuration
● High inertia motors with straight connectors
● High inertia motors with angular connectors

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

General information
SINAMICS V90 200 V variant

FSB on the single phase power network
① SINAMICS V90 servo drive ⑩ Micro SD card

② Fuse/Type-E combination motor controller ⑪ Host controller
(option)
③ Line filter (option) ⑫ Setpoint cable (50 pins, 1 m)
④ 24 V DC power supply (option) ⑬ Setpoint cable with terminal block (50 pins, 0.5 m)
⑤ External braking resistor (option, see ⑭ Encoder cable
"Braking resistor (Page 50)" for selection)
⑥ External relay (third party device) ⑮ Shielding plate (in V90 package)
⑦ SIMOTICS S-1FL6 servo motor ⑯ Hose clamp (attached on Siemens power cable)
⑧ Serial cable (RS485) ⑰ Power cable
⑨ USB cable ⑱ Brake cable

General information
FSD on the three phase power network

② Fuse/Type-E combination motor controller ⑪ Host controller
(option)
④ 24 V DC power supply (option) ⑬ Setpoint cable with terminal block (50 pins,
0.5 m)
⑤ External braking resistor (option, see "Braking ⑭ Encoder cable
resistor (Page 50)" for selection)
⑦ SIMOTICS S-1FL6 servo motor ⑯ Hose clamp (attached on Siemens power ca-
ble)

General information

FSA on the three phase power network
① SINAMICS V90 servo drive ⑩ Host controller

② Fuse/Type-E combination motor controller (option) ⑪ Setpoint cable (50 pins, 1 m)
③ Line filter (option) ⑫ Setpoint cable with terminal block (50 pins,
0.5 m)
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 50)" for selection)
⑥ SIMOTICS S-1FL6 servo motor ⑮ Hose clamp (attached on Siemens power cable)
⑦ Serial cable (RS485) ⑯ Power cable
⑧ USB cable ⑰ Brake cable
⑨ SD card

General information
2.5 Accessories
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
200 V AC/380 V AC line supply system.
2.5 Accessories
2.5.1 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 × 0.25 0SB14 0SL12

encoder cable
Absolute 2DB20-.... 3 × 2 × 0.20 + 2 × 2 × 0.25 0DB12
encoder cable
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:

General information
2.5 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
Brake cable 5BL02-.... 2 x 0.75 - 0LL51
Incremental 2CT10-.... 3 x 2 x 0.22 + 2 x 2 x 0.25 0SB14 0SL11

encoder cable
Absolute 2DB10-.... 3 x 2 x 0.22 + 2 x 2 x 0.25 0DB11
encoder cable
Power cable 5CK32-.... For low inertia motors Low inertia (with 4 × 2.5 - 0LL13
of 1.5 kW to 2 kW: angular 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 × 0.25 0SB14 0SL13

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

of 0.4 kW to 7 kW
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 73)".

General information
2.5 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 425)" and
"Assembly of cable connectors on the motor side (Page 430)".

General information
2.5 Accessories
2.5.2 Setpoint cables and connectors

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

Option 1
Setpoint connector (50 pins) 6SL3260-2NA00-0VA0 -
Setpoint cable (50 pins) 6SL3260-4NA00-1VB0 1
Option 2
Setpoint cable with terminal block (50 pins) 1) 6SL3260-4NA00-1VA5 0.5
1) Make sure that you connect a terminal block according to the pin definitions of interface X8 on the
existing SINAMICS V90 servo drive.
The wire color of the setpoint cable exposed side and X8 pin definitions, see Section
“Control/status interface - X8 (Page 112)”.
2.5.3 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
2.5.4 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
connector kits for SINAMICS V90 400V servo drives of FSAA or FSA.

General information
2.5 Accessories
2.5.5 External 24 V DC power supply

A 24 V DC power supply is needed to supply the V90 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: 1.6 A
When using a motor with a brake: 1.6 A + motor holding brake rated cur-
rent (See Section "Technical data - servo motors (Page 64)")
Ripple caused by the ≤ 5%
rectifier
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 DC 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 DC power supply to the drive is
10 m.

General information
2.5 Accessories
2.5.6 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:
Recommended fuse
SINAMICS V90 CE-compliant fuse UL/cUL-compliant fuse

Frame Rated power Article No. Rated cur- Class 1) Max. rated SCCR with
size (kW) rent (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.

General information
2.5 Accessories
Recommended Type E combination motor controller
SINAMICS V90 Type E combination motor controller 1)

Frame Rated power Article No. Rated Rated voltage Rated pow- SCCR with
size (kW) current (A) (V AC) er (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
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.
Recommended fuse
SINAMICS V90 CE-compliant fuse UL/cUL-compliant fuse

Frame Rated pow- Article No. Rated Class Max. rated SCCR with
size er (kW) current (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
2.5 Accessories
Recommended Type E combination motor controller
SINAMICS V90 Type E combination motor controller 1)

Frame Rated pow- Article No. Rated cur- Rated volt- Rated SCCR with
size er (kW) rent (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

General information
2.5 Accessories
2.5.7 Braking resistor

The SINAMICS V90 has a built-in braking resistor. The table below shows the information of
the built-in resistor:
SINAMICS V90 Resistance (Ω) Max. power (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
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 (FSA) 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 Minimum re- Max. power Rated power Max. energy (kJ)
sistance (Ω) (kW) (W)
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 2 kW) 25 6.56 123 4.92
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
2.5 Accessories
2.5.8 Line filter

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

1-phase, 200 VAC to 240 VAC
FSA 18 6SL3203-0BB21-8VA0 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
2.5 Accessories
Outline dimensions (mm)

Filter used on the single phase power network
Filter used on the three phase power network
Rated current W W1 W2 H H1 H2 H3 D ø1
(A)
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
2.5 Accessories
Technical data
Basic technical data
Rated current 18 A
Rated voltage Single phase 200 VAC to 240 VAC (-15% to +10%)
Line frequency 50/60 Hz (-10% to +10%)
Product standard IEC 61800-5-1
Power loss < 1.2 W
Weight 0.9 kg
Package size (H × W × 230 mm × 95 mm ×90 mm
D)
Rated current 5A 12 A 20 A
Rated voltage Three phase 200 VAC to 480 VAC Three phase 380 VAC to 480 VAC
(-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 × 140 mm × 200 mm × 260 mm 140 mm × 200 mm × 330 mm
D)
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
2.5 Accessories
Connecting (example)
SINAMICS V90 Rated current (A) Max. tightening Wire gauge Stripping length L
torque (Nm) (AWG) (mm)
200 V variant (6SL3210-5FB..-....)
10-1UA2 18 1.5 14 to 12 8
10-2UA2
10-4UA1 18 to 16
10-8UA0 14 to 12

General information
2.5 Accessories
SINAMICS Rated current (A) Tightening torque Wire gauge (AWG) Stripping length L
V90 (Nm) (mm)
200 V variant (6SL3210-5FB..-....)
10-1UA2 5 0.7 to 0.8 14 to 12 8
10-2UA2
10-4UA1 22 to 20
10-8UA0 18 to 16
11-0UA1 12 0.7 to 0.8 16 to 14
11-5UA0 14 to 12
12-0UA0
400 V variant (6SL3210-5FE..-....)
10-4UA0 5 0.7 to 0.8 15 to 13 8
10-8UA0
11-0UA0
11-5UA0 12 0.7 to 0.8 15 to 14
12-0UA0
13-5UA0 20 0.7 to 0.8 11 to 10
15-0UA0
17-0UA0

General information
2.6 Function list
2.5.9 Micro SD card/SD card

Optionally you can use a micro SD card/SD card to copy drive parameters or perform a
firmware update. Micro SD card is used for the 200 V variant servo drive and SD card is
used for the 400 V variant servo drive. Siemens recommends you to use the Siemens SD
card (article number: 6SL3054-4AG00-2AA0).
● For the servo drives with firmware version V1.04.00 or higher, you can select high quality
micro SD cards/SD cards with a maximum capacity of 32 GB from manufacturers such as
Kingston or SanDisk.
● For the servo drives with earlier firmware version, you can select high quality micro SD
cards/SD cards with a maximum capacity of 2 GB from manufacturers such as
KINGMAX, Kingston or SanDisk.
2.5.10 Replacement fans

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

FSD 6SL3200-0WF00-0AA0
FSB 6SL3200-0WF00-0AA0
FSC 6SL3200-0WF01-0AA0
2.6 Function list
Function Description Control mode

Pulse train input position control Implements accurate positioning through two pulse train PTI
(PTI) (Page 219) input channels: 5 V differential or 24 V single end signal. In
addition, it supports the S-curve position smoothing function
Fast pulse train input position con- Optimized PTI control mode to achieve a better dynamic Fast PTI
trol (Fast PTI) (Page 233) response performance
Internal position control (IPos) Implements accurate positioning through internal position IPos
(Page 234) commands (up to eight groups) and allows to specify the
acceleration/speed for positioning
Speed control (S) (Page 258) Flexibly controls motor speed and direction through external S
analog speed commands (0 V DC to ±10 V DC) or internal
speed commands (up to seven groups)
Torque control (T) (Page 263) Flexibly controls motor output torque through external ana- T
log torque commands (0 V DC to ±10 V DC) or internal
torque commands. In addition, it supports speed limit func-
tion to prevent overspeed when a motor has no loads
Compound controls (Page 207) Supports flexible switches among position control mode, PTI/S, IPos/S, PTI/T,
speed control mode, and torque control mode IPos/T, S/T
Absolute position system Allows to implement motion control tasks immediately after PTI
(Page 292) the servo system with an absolute encoder is powered on,
needless of carrying out referencing or zero position opera-
tion beforehand

General information
2.6 Function list
Function Description Control mode

Gain switching (Page 334) Switches between gains during motor rotation or stop with PTI, IPos, S, Fast PTI
an external signal or internal parameters to reduce noise
and positioning time, or improve the operation stability of a
servo system
PI/P switching (Page 338) Switches from PI control to P control with an external signal PTI, IPos, S, Fast PTI
or internal parameters to suppress overshooting during
acceleration or deceleration (for speed control mode) or to
suppress undershooting during positioning and reduce the
settling time (for position control mode)
Safe Torque Off (STO) (Page 312 ) Safely disconnects the output voltage of the drive to switch PTI, IPos, S, T, Fast
off the motor. The motor then cannot generate an output PTI
torque and this prevents an unintentional motor restart.
Zero speed clamp (Page 261) Stops motor and clamps the motor shaft when motor speed S
setpoint is below a parameterized threshold level
Cyclic communication (Page 273) Supports the communication between the SINAMICS V90 PTI, IPos, S, T, Fast
servo drive and PLC with the standard Modbus communica- PTI
tion protocol
One-button auto tuning (Page 320) Estimates the machine characteristic and sets the closed PTI, IPos, S, T, Fast
loop control parameters (position loop gain, speed loop PTI
gain, speed integral compensation, filter if necessary, etc.)
without any user intervention
Real-time auto tuning (Page 325) Estimates the machine characteristic and sets the closed PTI, IPos, S, T, Fast
loop control parameters (position loop gain, speed loop PTI
gain, speed integral compensation, filter if necessary, etc.)
continuously in real time without any user intervention
Resonance suppression (Page 330) Suppresses the mechanical resonance, such as workpiece PTI, IPos, S, T, Fast
vibration and base shake PTI
Low frequency vibration suppres- Suppresses the low frequency vibration in the machine IPos
sion (Page 333) system
Speed limit (Page 226) Limits motor speed through external analog speed limit PTI, IPos, S, T, Fast
commands (0 V DC to ±10 V DC) or internal speed limit PTI
commands (up to three groups)
Torque limit (Page 228) Limits motor torque through external analog torque limit PTI, IPos, S, Fast PTI
commands (0 V DC to ±10 V DC) or internal torque limit
commands (up to three groups)
Electronic gear ratio (Page 222) Defines a multiplier factor for input pulses PTI, IPos, Fast PTI
Basic operator panel (BOP) Displays servo status on a 6-digit 7-segment display PTI, IPos, S, T, Fast
(Page 189) PTI
External braking resistor - DCP, R1 An external braking resistor can be used when the internal PTI, IPos, S, T, Fast
(Page 166) braking resistor is insufficient for regenerative energy PTI
Digital inputs/outputs (DIs/DOs) Control signals and status signals can be assigned to eight PTI, IPos, S, T, Fast
(Page 115) programmable digital inputs and six digital outputs PTI
Smoothing function (Page 222) Transforms position characteristics from the pulse train PTI, Fast PTI
input setpoint into an S-curve profile with a parameterized
time constant
SINAMICS V-ASSISTANT You can perform parameter settings, test operation, ad- PTI, IPos, S, T, Fast
justment and other operations with a PC PTI

General information
2.7 Technical data
2.7 Technical data
2.7.1 Technical data - servo drives
2.7.1.1 SINAMICS V90 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 Analog speed command 1:2000, internal speed command 1:5000
Analog speed command input -10 V DC to +10 V DC/rated speed
Torque limit Set through a parameter or the analog input command (0 V DC to +10 V DC/max.
torque)
Position control mode
Max. input pulse frequency 1 M (differential input), 200 kpps (open collector input)
Command pulse multiplying factor Electronic gear ratio (A/B)
A: 1 - 10000, B: 1 - 10000
1/50 <A/B < 200
In-position range setting 0 to ±10000 pulse (command pulse unit)
Error excessive ±1/10 revolutions
torque)
Torque control mode
Analog torque command input -10 V DC to +10 V DC/max. torque (input impedance 10 kΩ to 12 kΩ)

General information
2.7 Technical data
Speed limit Set through a parameter or the analog input command (0 V DC to +10 V DC/max.
speed)
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
Altitude ≤ 1000 m (without power derating)
Degree of protection IP 20
Degree of pollution Class 2
Vibration
Shock Operational area II
Operation 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 200 V servo drive has an overvoltage threshold of 410 V DC and an undervoltage threshold of 150 V DC; the
V90 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
2.7 Technical data
Specific technical data
Order No. 6SL3210-5FB... 10-1UA2 10-2UA2 10-4UA1 10-8UA0 11-0UA1 11-5UA0 12-0UA0
Frame size FSA FSA FSB FSC FSD FSD FSD
Rated output current (A) 1.2 1.4 2.6 4.7 6.3 10.6 11.6
Max. output current (A) 3.6 4.2 7.8 14.1 18.9 31.8 34.8
Max. supported motor power 0.1 0.2 0.4 0.75 1.0 1.5 2
(kW)
Output frequency (Hz) 0 to 330
Cooling method 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 1.3 1.95 2.35 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
FSA, FSB and FSC: single phase/three phase 200 V AC to 240 V AC, 50/60 Hz
Voltage/frequency FSD: three phase 200 V AC to 240 V AC, 50/60 Hz
Permissible voltage fluctua- -15% to +10%
tion
Permissible frequency fluc- -10% to +10%
tuation
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: 1.6 A + motor holding brake rated current (See Section
"Technical data - servo motors (Page 65)".)
Ripple caused by the rectifier ≤ 5%
1) The values here are calculated at rated load.
2) When SINAMICS V90 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
2.7 Technical data
2.7.1.2 SINAMICS V90 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 Analog speed command 1:2000, internal speed command 1:5000
Analog speed command input -10 V DC to +10 V DC/rated speed
torque)
Position control mode
Max. input pulse frequency 1 M (differential input), 200 kpps (open collector input)
Command pulse multiplying factor Electronic gear ratio (A/B)
A: 1 - 10000, B: 1 - 10000
1/50 <A/B < 200
In-position range setting 0 to ±10000 pulse (command pulse unit)
Error excessive ±1/10 revolutions
torque)
Torque control mode
Analog torque command input -10 V DC to +10 V DC/max. torque (input impedance 10 kΩ to 12 kΩ)
Speed limit Set through a parameter or the analog input command (0 V DC to +10 V DC/max.
speed)
Environmental conditions

General information
2.7 Technical data
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
Altitude ≤ 1000 m (without power derating)
Degree of protection IP 20
Degree of pollution Class 2
Vibration
Shock Operational area II
Operation 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 200 V servo drive has an overvoltage threshold of 410 V DC and an undervoltage threshold of 150 V DC; the
V90 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
2.7 Technical data
Order No. 6SL3210-5FE... 10-4UA0 10- 8UA0 11-0UA0 11-5UA0 12- 0UA0 13-5UA0 15-0UA0 17-0UA0
Frame size FSAA FSA FSA FSB FSB FSC FSC FSC
Rated output current (A) 1.2 2.1 3.0 5.3 7.8 11.0 12.6 13.2
Max. output current (A) 3.6 6.3 9.0 13.8 23.4 33.0 37.8 39.6
Max. supported motor power 0.4 0.75 1.0 1.75 2.5 3.5 5.0 7.0
(kW)
Output frequency (Hz) 0 to 330
Cooling method 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) 1.800 2.500 2.510 3.055 3.130 6.515 6.615 6.615
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
Power supply
Voltage/frequency 3-phase 380 V AC to 480 V AC, 50/60 Hz
Permissible voltage fluctua- -15% to +10%
tion
Permissible frequency fluc- -10% to +10%
tuation
Permissible supply configu- TN, TT, IT
ration
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: 1.6 A + motor holding brake rated current (See Section
Technical data - servo motors (Page 69)".)
Ripple caused by the rectifier ≤ 5%
1) The values here are calculated at rated load.
2) When SINAMICS V90 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
2.7 Technical data
2.7.2 Technical data - servo motors
2.7.2.1 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.

General information
2.7 Technical data
Article No. 1FL60... 22 24 32 34 42 44 52 54

Rated power (kW) 0.05 0.1 0.2 0.4 0.75 1 1.5 2
Rated torque (Nm) 0.16 0.32 0.64 1.27 2.39 3.18 4.78 6.37
Maximum torque (Nm) 0.48 0.96 1.91 3.82 7.2 9.54 14.3 19.1
Rated speed (rpm) 3000
Maximum speed (rpm) 5000
Rated frequency (Hz) 200
Rated current (A) 1.2 1.2 1.4 2.6 4.7 6.3 10.6 11.6
Maximum current (A) 3.6 3.6 4.2 7.8 14.2 18.9 31.8 34.8
Moment of inertia (10-4 kgm2) 0.031 0.052 0.214 0.351 0.897 1.15 2.04 2.62
Moment of inertia, with brake (10-4 kgm2) 0.038 0.059 0.245 0.381 1.06 1.31 2.24 2.82
Recommended load to motor inertia ratio Max. 30x Max. 20x Max. 15x
Operating temperature (°C) 1FL602❑, 1FL603❑ and 1FL604❑: 0 to 40 (without power derating)
1FL605❑: 0 to 30 (without power derating) 1)
Storage temperature (°C) -20 to +65
Maximum noise level (dB) 60
Oil seal lifetime (h) 3000 to 5000
Encoder lifetime (h) > 20000 3)
Protection degree of motor body IP65
Protection degree of cable end connector IP20 -
Holding brake
Rated voltage (V) 24 ± 10%
Rated current (A) 0.25 0.3 0.35 0.57
Holding brake torque (Nm) 0.32 1.27 3.18 6.37
Maximum brake opening time (ms) 35 75 105 90
Maximum brake closing time (ms) 10 10 15 35
Maximum number of emergency stops 2000 2)
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
2.7 Technical data
Torque-Speed characteristics

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

General information
2.7 Technical data
Permissible radial and axial forces

General information
2.7 Technical data
2.7.2.2 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 15.3/1 15.3 22.6 29.9 47.4 69.1 90.8 134.3
kgm2) 1.7 2)
Moment of inertia, with 3.2 5.7 9.1 16.4/1 16.4 23.7 31.0 56.3 77.9 99.7 143.2
brake (10-4 kgm2) 3.5 2)

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

Recommended load to Max. 10× Max. 5× Max. 5×
motor inertia ratio
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 clos- 45 60 115
ing 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) 4.6/4.8 6.4/6.6 8.6/8.8 11.3/1 11.3/1 14.0/1 16.6/1 21.3/2 25.7/2 30.3/3 39.1/3
0.1 1.5 4.2 6.8 1.5 5.9 0.5 9.3
Without brake 2) 3.3/3.4 5.1/5.2 5.6/5.7 8.3/7.0 8.3/8.4 11.0/1 13.6/1 15.3/1 19.7/1 24.3/2 33.2/3
1.1 3.7 5.4 9.8 4.4 3.3
Weight of absolute encoder motor (kg)
With brake 2) 4.4/4.5 6.2/6.3 8.3/8.4 11.0/9. 11.0/1 13.6/1 16.3/1 20.9/2 25.3/2 29.9/3 38.7/3
7 1.1 3.7 6.4 1.0 5.4 0.0 8.8
Without brake 2) 3.1/3.2 4.9/5.0 5.3/5.4 8.0/6.7 8.0/8.1 10.7/1 13.3/1 14.8/1 19.3/1 23.9/2 32.7/3
0.8 3.4 4.9 9.4 4.0 2.8
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 inadmis-
sible 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
2.7 Technical data
Torque-Speed characteristics

General information
2.7 Technical data
Note
• Continuous operating area is a series of states when a motor can operate continuously
and safely. The effective torque must be located in this area.
• Short-term operating area is a series of states when a motor can operate for a short
duration if its effective torque is larger than the rated torque.
• For the motors with different rated and maximum speeds, the output torque will decline at
a faster rate after the speed exceeds the rated speed.
• The feature in short-term operating area varies with power supply voltages.
• The continuous operating area becomes smaller and the voltage 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
2.7 Technical data
2.7.2.3 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 above Surrounding temperature in °C

sea level (m) < 30 30 to 40 45 50 55
1000 1.07 1.00 0.96 0.92 0.87
1500 1.04 0.97 0.93 0.89 0.84
2000 1.00 0.94 0.90 0.86 0.82
2500 0.96 0.90 0.86 0.83 0.78
3000 0.92 0.86 0.82 0.79 0.75
3500 0.88 0.82 0.79 0.75 0.71
4000 0.82 0.77 0.74 0.71 0.67
2.7.3 Technical data - cables
Parameter MOTION-CONNECT 300 Power MOTION-CONNECT 300 MOTION-CONNECT 300

Cable Encoder Cable Brake Cable
Jacket material PVC PVC PVC
Number of cores 4 10 2
Operation temperature (°C) -25 to 80
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 vari-
ant servo drives + high inertia motors of 0.4 kW to 7 kW
Minimum bending radius, 5 x outer diameter
static (mm)
Minimum bending radius, 155
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 (mm2) 4 x 0.75 3 x 2 x 0.20 + 2 x 2 x 0.25 2 x 0.75
Outer diameter (mm) ø (6.7±0.4) ø (7.2±0.3) ø (6.1±0.3)
Degree of protection (motor- IP20
side only)

General information
2.7 Technical data
Parameter MOTION-CONNECT 300 Power MOTION-CONNECT 300 MOTION-CONNECT 300

Cable Encoder Cable Brake Cable
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 (mm2) • 4 x 1.5: 3 x 2 x 0.22 + 2 x 2 x 0.25 2 x 0.75
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 iner-
tia 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 iner-
tia motors of 1.5 kW to 7 kW
Degree of protection (motor- IP65
side only)
Bending cycles 1000000:
Maximum acceleration 3 m/s2, maximum speed 40 m/min
2.7.4 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

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 can jeopardize personal safety and equipment.
• 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 58).

Mounting
3.1.1 Mounting orientation and clearance

The SINAMICS V90 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 200 V variant (unit: mm)

Mounting

Mounting
SINAMICS V90 400 V variant (unit: mm)

Mounting

Mounting
3.2 Mounting the motor
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.
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.
For mounting conditions, see Technical data - servo motors (Page 64).

Mounting
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.
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

Mounting
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
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

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

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

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

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

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

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

Mounting
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.
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).

Mounting
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
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

Mounting
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 83)".
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 92)".
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.

Connecting 4
4.1 System connection
4.1.1 Safety instructions
WARNING
Electric shock 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 box 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
Electric shock due to touching PE connectors
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
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 with shaft-heights of 20 mm, 30 mm and 40 mm, the encoder cable
connectors may only be accessible to electrically skilled personnel.
Note
The mini-USB interface of the SINAMICS V90 is used for fast commissioning and
diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long-term
monitoring.
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.

Connecting
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.
● 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.

Connecting
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
FSB on the single phase power network

Connecting

② Fuse/Type-E combination motor control- ⑪ Host controller
ler (option)
④ 24 V DC power supply (option) ⑬ Setpoint cable with terminal block (50
pins, 0.5 m)
"Braking resistor (Page 50)" for selec-
tion)
⑦ SIMOTICS S-1FL6 servo motor ⑯ Hose clamp (attached on Siemens pow-
er cable)

Connecting
FSD on the three phase power network

② Fuse/Type-E combination motor control- ⑪ Host controller
ler (option)
④ 24 V DC power supply (option) ⑬ Setpoint cable with terminal block (50
pins, 0.5 m)

Connecting

tion)
⑦ SIMOTICS S-1FL6 servo motor ⑯ Hose clamp (attached on Siemens pow-
er cable)

Connecting
FSB on the three phase power network
① SINAMICS V90 servo drive ⑩ Host controller

② Fuse/Type-E combination motor control- ⑪ Setpoint cable (50 pins, 1 m)
ler (option)
③ Line filter (option) ⑫ Setpoint cable with terminal block (50
pins, 0.5 m)

Connecting
④ 24 V DC power supply (option) ⑬ Encoder cable

⑤ External braking resistor (option, see ⑭ Shielding plate (in V90 package)
tion)
⑥ SIMOTICS S-1FL6 servo motor ⑮ Hose clamp (attached on Siemens pow-
er cable)
⑦ Serial cable (RS485) ⑯ Power cable
⑧ USB cable ⑰ Brake cable
⑨ SD card
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

Connecting
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°.
High inertia motors with angular connectors

Connecting
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 73)" 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 425)".

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.
200 V variant
● FSA and FSB

Connecting
4.3 Control/status interface - X8
● 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).

The pins with an asterisk (*) have been redefined in the table below, wherein DO4 (+/-) to
DO6 (+/-) are used for the servo drive to support the wiring of both the NPN and the PNP
types.
Note
The pin definition updates are applicable only when the FS (function state) version is as
follows:
• V90 200 V: FS02 and the later
• V90 400 V: FS04 and the later
Refer to the rating plate on the drive housing for the FS version of a SINAMICS V90 servo
drive.

Connecting
Pin No. Signal Wire color on the set- Description

point cable exposed
side
Type: 50-pin MDR socket

Pulse train inputs (PTI)/Pulse train encoder outputs (PTO)
1, 2, 26, 27:
Position setpoint with pulse train input
High-speed 5 V differential pulse train input (RS485)
Maximum frequency: 1MHz
Signal transmission of this channel has better noise immunity
1 PTIA_D+ Gray-Pink High-speed 5 V differential pulse train input A
(+)
2 PTIA_D- Red-Blue High-speed 5 V differential pulse train input A
(-)
26 PTIB_D+ White-Black High-speed 5 V differential pulse train input B
(+)
27 PTIB_D- Brown-Black High-speed 5 V differential pulse train input B
(-)
36, 37, 38, 39:
Position setpoint with pulse train input
24 V single end pulse train input
Maximum frequency: 200 kHz
36 PTIA_24P Green-Blue 24 V pulse train input A, positive
37 PTIA_24M Yellow-Blue 24 V pulse train input A, ground
38 PTIB_24P Green-Black 24 V pulse train input B, positive
39 PTIB_24M Yellow-Black 24 V pulse train input B, ground
15, 16, 40, 41:
Encoder emulation pulse output with high-speed 5 V differential signals (A+/A-, B+/B-)
15 PTOA+ White-Yellow High-speed 5 V differential pulse train en-
coder output A (+)
16 PTOA- Yellow-Brown High-speed 5 V differential pulse train en-
coder output A (-)
40 PTOB+ Gray-Blue High-speed 5 V differential pulse train en-
coder output B (+)
41 PTOB- Pink-Blue High-speed 5 V differential pulse train en-
coder output B (-)
17, 25 *:
Encoder Zero phase pulse output and reference ground (with open collector)
17 PTOZ (OC) White-Gray Pulse train encoder output Z signal (open
collector output)

Connecting

point cable exposed
side
25 * PTOZ_M (OC) Gray-Green Pulse train output Z signal reference ground
(open collector output)
42, 43:
Encoder Zero phase pulse output with high-speed 5 V differential signals
42 PTOZ+ Gray-Red High-speed 5 V differential pulse train en-
coder output Z (+)
43 PTOZ- Pink-Red High-speed 5 V differential pulse train en-
coder output Z (-)
24 *:
PTO and PTI_D reference ground
24 * M Brown-Red PTO and PTI_D reference ground
Digital inputs/outputs
3 DI_COM Green Common terminal for digital inputs
4 DI_COM Yellow Common terminal for digital inputs
5 DI1 Gray Digital input 1
6 DI2 Pink Digital input 2
7 DI3 Blue Digital input 3
8 DI4 Red Digital input 4
9 DI5 Black Digital input 5
10 DI6 Violet Digital input 6
11 DI7 White Digital input 7
12 DI8 Brown Digital input 8
13 DI9 White-Green Digital input 9
14 DI10 Brown-Green Digital input 10
23 Brake White-Red Motor holding brake control signal (for
SINAMICS V90 200 V variant only)
28 P24V_DO Yellow-Gray External 24 V supply for digital outputs
29 * DO4+ Green Digital output 4+
30 DO1 Yellow Digital output 1
31 DO2 Gray Digital output 2
32 DO3 Pink Digital output 3
33 * DO4- Pink-Green Digital output 4-
34 * DO5+ Yellow-Pink Digital output 5+
35 * DO6+ Green-Red Digital output 6+
44 * DO5- Yellow-Red Digital output 5-
49 * DO6- White Digital output 6-
50 MEXT_DO Brown External 24 V ground for digital outputs
Analog inputs/outputs
18 P12AI Gray-Brown 12 V power output for analog input
19 AI1+ White-Pink Analog input channel 1, positive
20 AI1- Pink-Brown Analog input channel 1, negative

Connecting

point cable exposed
side
21 AI2+ White-Blue Analog input channel 2, positive
22 AI2- Brown-Blue Analog input channel 2, negative
45 AO_M Gray-Black Analog output ground
46 AO1 Pink-Black Analog output channel 1
47 AO_M Blue-Black Analog output ground
48 AO2 Red-Black Analog output channel 2
Refer to the following table for the original definitions of the above pins with an asterisk (*),
wherein DO4 to DO6 are used for the servo drive to support the wiring of only the NPN type.
Note
The original pin definitions are applicable only when the FS version is as follows:
• V90 200 V: FS01
• V90 400 V: FS03 and the earlier
Refer to the rating plate on the drive housing for the FS version of a SINAMICS V90 servo
drive.
Pin No. Signal Description

24 - Reserved
25 - Reserved
29 P24V_ DO External 24 V supply for digital outputs
33 DO4 Digital output 4
44 - Reserved
49 MEXT_ DO External 24 V ground for digital outputs
4.3.1 Digital inputs/outputs (DIs/DOs)

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

Connecting
For detailed information about default DI/DO signal assignments, see the table below:
Pin No. Digital in- Parameters Default signals/values

puts/outputs Index 0 (PTI) Index 1 (IPos) Index 2 (S) Index 3 (T) Index 9
(Fast PTI)
5 DI1 p29301 1 (SON) 1 (SON) 1 (SON) 1 (SON) 1 (SON)
6 DI2 p29302 2 (RESET) 2 (RESET) 2 (RESET) 2 (RESET) 2 (RESET)
7 DI3 p29303 3 (CWL) 3 (CWL) 3 (CWL) 3 (CWL) 8
(EGEAR1)
8 DI4 p29304 4 (CCWL) 4 (CCWL) 4 (CCWL) 4 (CCWL) 9
(EGEAR2)
9 DI5 p29305 5 (G- 5 (G- 12 (CWE) 12 (CWE) 5 (G-
CHANGE) CHANGE) CHANGE)
10 DI6 p29306 6 (P-TRG) 6 (P-TRG) 13 (CCWE) 13 (CCWE) 19 (SLIM1)
11 DI7 p29307 7 (CLR) 21 (POS1) 15 (SPD1) 18 (TSET) 7 (CLR)
12 DI8 p29308 10 (TLIM1) 22 (POS2) 16 (SPD2) 19 (SLIM1) 10 (TLM1)
30 DO1 p29330 1 (RDY)
31 DO2 p29331 2 (FAULT)
32 DO3 p29332 3 (INP)
29/33 DO4 p29333 5 (SPDR)
34/44 DO5 p29334 6 (TLR)
35/49 DO6 p29335 8 (MBR)
Note
The selected DI signal will respond with a delay time of 8 ms to 16 ms.
Note
DO signal inverse
The logics of digital output signals DO1 to DO6 can be inversed. You can inverse the logics
of DO1 to DO6 by setting the bit 0 to bit 5 of parameter p0748.

Connecting
4.3.1.1 DIs
You can assign a maximum of 28 internal digital input signals to the SINAMICS V90 servo
drive. For detailed information about these signals, see the table below:
No. Name Type Description Control mode

PTI IPos S T Fast
PTI
1 SON Edge Servo-on ✓ ✓ ✓ ✓ ✓
0→1 • 0→1: powers on power circuit and makes
1→0 servo drive ready to operate.
• 1→0: motor ramps down (OFF1) in PTI,
Fast PTI, IPos, and S modes; motor coasts
down (OFF2) in T mode.
2 RESET Edge Reset alarms ✓ ✓ ✓ ✓ ✓
0→1 • 0→1: Reset alarms
3 CWL Edge Clockwise over-travel limit (positive limit) ✓ ✓ ✓ ✓ X
1→0 • 1 = condition for operation
• 1→0: quick stop (OFF3)
4 CCWL Edge Counter-clockwise over-travel limit (negative ✓ ✓ ✓ ✓ X
1→0 limit)
• 1 = condition for operation
• 1→0: quick stop (OFF3)
5 G- Level Gain change between the first and the second ✓ ✓ ✓ X ✓
CHANGE gain parameter set.
• 0: the first gain parameter set
• 1: the second gain parameter set
6 P-TRG Level In PTI/Fast PTI mode: pulse allowable/inhibit. ✓ ✓ X X ✓
Edge • 0: operation with pulse train setpoint is
0→1 possible
• 1: inhibit the pulse train setpoint
In IPos mode: position trigger
• 0→1: starts positioning of selected fixed
position setpoint
Note: P-TRG in PTI/Fast PTI mode is reserved
for future use
7 CLR Level Clear position control droop pulses. ✓ X X X ✓
• 0: not clear
• 1: clear the droop pulses based on the
selected clear mode by p29242
8 EGEAR1 Level Electronic gear. ✓ X X X ✓

Connecting

PTI IPos S T Fast
PTI
9 EGEAR2 Level A combination of the signals EGEAR1 and ✓ X X X ✓
EGEAR2 can select four electronic gear ratios.
EGEAR2 : EGEAR1
• 0 : 0: electronic gear ratios 1
10 TLIM1 Level Torque limit selection. ✓ ✓ ✓ X ✓
11 TLIM2 Level A combination of TLIM1 and TLIM2 can select
four torque limit sources (one external torque
limit, three internal torque limits).
TLIM2 : TLIM1
• 0 : 0: internal torque limit 1
• 0 : 1: external torque limit (analog input 2)
12 CWE Level Enable clockwise rotations. X X ✓ ✓ X
• 1: Enable clockwise rotation, ramp up
• 0: Disable clockwise rotation, ramp down
13 CCWE Level Enable counter-clockwise rotations. X X ✓ ✓ X
• 1: Enable counter-clockwise rotation, ramp
down
• 0: Disable counter-clockwise rotation, ramp
up
14 ZSCLAM Level Zero speed clamps. X X ✓ X X
P • 1 = when the motor speed setpoint is an
analog signal and lower than the threshold
level (p29075), the motor is clamped.
• 0 = no action
15 SPD1 Level Select speed mode: fixed speed setpoint. X X ✓ X X
16 SPD2 Level A combination of the signals SPD1, SPD2 and

Connecting

PTI IPos S T Fast
PTI
17 SPD3 Level SPD3 can select eight speed setpoint sources
(one external speed setpoint, seven fixed
speed setpoints).
SPD3 : SPD2 : SPD1
• 0 : 0 : 0: external analog speed setpoint
• 0 : 0 : 1: fixed speed setpoint 1
18 TSET Level Torque setpoint selection. X X X ✓ X
This signal can select two torque setpoint
sources (one external torque setpoint, one
fixed torque setpoint).
• 0: external torque setpoint (analog input 2)
• 1: fixed torque setpoint
19 SLIM1 Level Speed limit selection. ✓ ✓ ✓ ✓ ✓
20 SLIM2 Level A combination of SLIM1 to SLIM2 can select
four speed limit sources (one external speed
limit, three internal speed limits).
SLIM2 : SLIM1
• 0 : 0: internal speed limit 1
• 0 : 1: external speed limit (analog input 1)
21 POS1 Level Select position setpoint. X ✓ X X X
22 POS2 Level A combination of the signals POS1 to POS3
23 POS3 Level can select eight fixed position setpoint sources.
POS3 : POS2 : POS1
• 0 : 0 : 0: fixed position setpoint 1

Connecting

PTI IPos S T Fast
PTI
24 REF Edge Set reference point with digital input or refer- X ✓ X X X
0→1 ence cam input for reference approaching
mode.
• 0→1: reference input
25 SREF Edge The reference approach will be started with the X ✓ X X X
0→1 signal SREF.
• 0→1 start reference approach
26 STEPF Edge Step forward to the next fixed position setpoint. X ✓ X X X
0→1 • 0→1 start step action
27 STEPB Edge Step backward to the previous fixed position X ✓ X X X
0→1 setpoint.
• 0→1 start step action
28 STEPH Edge Step to the fixed position setpoint 1. X ✓ X X X
0→1 • 0→1 start step action
Note: "X" means that the DI signal is not effective for this control mode, although the value can be modified.
Note
When working in the torque control mode, the torque setpoint equals to 0 if CWE and CCWE
are at the same status. For more information, please refer to section Direction and stop
(Page 265).
Note
Invalid circumstances for DI signals
When SINAMICS V-ASSISTANT is communicating with the drive or you are operating the
drive on SINAMICS V-ASSISTANT, some DI signals are invalid:
• During referencing via SINAMICS V-ASSISTANT, DI signal SREF is invalid.
• During a trial run test, DI signal SON is invalid; meanwhile, DI7 and DI8 are occupied by
SINAMICS V-ASSISTANT.
Direct signal map

Force the following six signals to logical "1" with parameter p29300 (P_DI_Mat):
● SON
● CWL
● CCWL
● TLIM1
● SPD1

Connecting
● TSET
● EMGS
The definition for p29300 is as follows:
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

EMGS TSET SPD1 TLIM1 CCWL CWL SON
For example, if you set p29300 = 1 to force the signal SON to a logical high signal, DI1 can
then be assigned to other desired signals.
Note
The parameter p29300 has higher priority than the DIs.
The bit 6 of p29300 is used for quick stop. You are not allowed to modify it when the drive is
in "S ON" state.
Wiring
The digital inputs support both PNP and NPN types of wirings. You can find detailed
information from the following diagrams:
NPN wiring PNP wiring

Connecting
4.3.1.2 DOs
You can assign a maximum of 15 internal digital output signals to the SINAMICS V90 servo
drive. For detailed information about these signals, see the table below:
No. Name Descriptions Control mode

PTI IPos S T Fast
PTI
1 RDY Servo ready ✓ ✓ ✓ ✓ ✓
• 1: the drive is ready.
• 0: the drive is not ready (a fault occurs or the
enable signal is missing).
2 FAULT Fault ✓ ✓ ✓ ✓ ✓
• 1: in the fault state.
• 0: no fault.
3 INP In-position signal ✓ ✓ X X ✓
• 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.
4 ZSP Zero speed detection ✓ ✓ ✓ ✓ ✓
• 1: motor speed ≤ zero speed (can be set with
parameter p2161).
• 0: motor speed > zero speed + hysteresis (10
rpm).
5 SPDR Speed reached X X ✓ X X
• 1: the actual motor speed has nearly (internal
hysteresis 10 rpm) reached the speed of the in-
ternal speed command or analog speed com-
mand. The speed approaching range can be set
via parameter p29078.
• 0: the speed difference between the speed set-
point and the actual speed is larger than the in-
ternal hysteresis.
6 TLR Torque limit reached ✓ ✓ ✓ X ✓
• 1: the generated torque has nearly (internal
hysteresis) reached the value of the positive
torque limit, negative torque limit or analog
torque limit.
• 0: the generated torque has not reached any
torque limit.
7 SPLR Speed limit reached ✓ ✓ ✓ X ✓
• 1: the speed has nearly (internal hysteresis 10
rpm) reached the speed limit.
• 0: the speed has not reached the speed limit.

Connecting

PTI IPos S T Fast
PTI
8 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 con-
trol and the power supply of the motor holding brake
are realized with separate terminals.
9 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.
10 WARNING Warning 1 condition satisfied ✓ ✓ ✓ ✓ ✓
1
• 1: the parameterizable warning 1 condition has
been satisfied.
not been satisfied.
See the note below on warning condition settings.
11 WARNING Warning 2 condition satisfied ✓ ✓ ✓ ✓ ✓
2
been satisfied.
not been satisfied.
See the note below on warning condition settings.
12 REFOK Referenced X ✓ X X X
• 1: referenced.
• 0: not referenced.
13 CM_STA Current control mode ✓ ✓ ✓ ✓ X
• 1: the second mode in five compound control
modes (PTI/S, IPos/S, PTI/T, IPos/T, S/T).
• 0: the first mode in five compound control modes
or four basic modes (PTI, IPos, S, T).
14 RDY_ON Ready for servo on ✓ ✓ ✓ ✓ ✓
• 1: the drive is ready for servo on.
• 0: the drive is not ready for servo on (a fault
occurs or the main power supply is missing).
Note: after the drive is in "S ON" state, the signal
remains at high level (1) unless the above abnormal
cases happen.

Connecting

PTI IPos S T Fast
PTI
15 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 Integrat-
ed function.
Note: "X" means that the DO signal is not effective for this control mode and the value cannot be modified.
Assigning warning signals to digital outputs

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

1 Overload protection: load factor is 85% of or above the motor utiliza-
tion.
2 Holding brake power overload warning: threshold p29005 has been
reached.
3 Fan alarm: fan has stopped for 1 second or longer.
4 Encoder alarm.
5 Motor overheat: motor has reached 85% of the maximum allowed
motor temperature.
6 Lifetime detection: the life expectancy of the capacity or the fan is
shorter than the specified time.
Note
If the warning condition(s) assigned to p29340 occur, WARNING1 becomes ON.
If the warning condition(s) assigned to p29341 occur, WARNING2 becomes ON.

Connecting
Wiring
The digital outputs 1 to 3 only support the wiring of the NPN type as illustrated below:
The digital outputs 4 to 6 support the wiring of both the NPN and the PNP types as illustrated
below:
NPN wiring PNP wiring

Connecting
4.3.2 Pulse train inputs/encoder outputs (PTIs/PTOs)
4.3.2.1 PTIs
Two channels of pulse train input are available for the SINAMICS V90 servo drive:
● 24 V single end pulse train input
● High-speed 5 V differential pulse train input (RS485)
When using the 24 V single end PTI: When using the 5 V differential PTI:
Note
Only one channel can be used. The 24 V single end PTI is the factory setting of the
SINAMICS V90 servo drives.
When you choose to use the high-speed 5 V differential PTI (RS485), you must change the
value of parameter p29014 from 1 to 0. Refer to "Selecting a setpoint pulse train input
channel (Page 220)".

Connecting
4.3.2.2 PTOs
High-speed 5 V differential signals (A+/A-, B+/B-, Z+/Z-) and open collector (zero pulse) are
supported.
Wirings
When not using the open collector: When using the open collector:

Connecting
4.3.3 Analog inputs/outputs (AIs/AOs)
4.3.3.1 AIs
SINAMICS V90 has two analog input terminals. The input voltage at each analog input
varies with control modes.
Pin No. Analog input Input voltage Control mode Function

19, 20 Analog input 1 0 V to 10 V PTI Not used
0 V to 10 V Fast PTI Not used
0 V to 10 V IPos Not used
-10 V to +10 V S Speed setpoint (reference
p29060) *
0 V to 10 V T Speed limit (reference
p29060) *
21, 22 Analog input 2 0 V to 10 V Fast PTI Torque limit (reference
r0333)
0 V to 10 V PTI Torque limit (reference
r0333)
0 V to 10 V IPos Torque limit (reference
r0333)
0 V to 10 V S Torque limit (reference
r0333)
-10 V to +10 V T Torque setpoint (refer-
ence r0333)
* If the AI input voltage is higher than 10 V, the speed is not limited to the value at 10 V (p29060), but
scaled according to p29060. For example, if p29060 = 3000 rpm, the speed is 3300 rpm at 11 V
and 3600 rpm at 12 V.
Command voltage
The command voltage of the analog inputs always follows the formula below:
Vinput = (AI+) - (AI-)
4.3.3.2 AOs
The SINAMICS V90 has two analog outputs. You can find detailed information about these
two analog outputs from the table below:
Pin No. Analog output Output voltage Function

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

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

p29350 0 (default) Actual speed (reference p29060)
1 Actual torque (reference 3 × r0333)
2 Speed setpoint (reference p29060)
3 Torque setpoint (reference 3 × r0333)
4 DC bus voltage (reference 1000 V)
5 Pulse input frequency (reference 1 k)
9 Remaining number of pulses (reference 1 k)
p29351 0 Actual speed (reference p29060)
1 (default) Actual torque (reference 3 × r0333)
2 Speed setpoint (reference p29060)
3 Torque setpoint (reference 3 × r0333)
4 DC bus voltage (reference 1000 V)
Wiring
Do wiring of analog outputs as follows:

Connecting
4.3.4 Standard application wiring (factory setting)

4.3.4.1 Pulse train input position control (PTI)
Standard wiring for pulse train input position control mode:

Connecting
* PTO and PTI_D reference ground, connected to the reference ground of the host con-
troller.
** Digital inputs, supporting both the PNP and the NPN types.
*** Digital outputs, supporting both the PNP and the NPN types.
For more information about these two wiring types, see Section "DOs (Page 122)".
The 24 V power supplies in the connection diagram are as follows:
1) 24 V power supply for SINAMICS V90. All the PTO signals must be connected to the
controller with the same 24 V power supply as SINAMICS V90.
2) Isolated digital input power supply. It can be the controller power supply.
3) Isolated digital output power supply. It can be the controller power supply.
Note
Only one of the pulse train input channels can be used.

Connecting
4.3.4.2 Fast pulse train input position control (Fast PTI)

Standard wiring for fast pulse train input position control mode:

Connecting
troller.
** Digital inputs, supporting both the PNP and the NPN types.
Note
Only one of the pulse train input channels can be used.

Connecting
4.3.4.3 Internal position control (IPos)

Standard wiring for internal position control mode:

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

Connecting
4.3.4.4 Speed control (S)

Standard wiring for speed control mode:

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

Connecting
4.3.4.5 Torque control (T)

Standard wiring for torque control mode:

Connecting
troller.
Note
The analog outputs to analog inputs on the servo unit and the 24V input for the servo unit
must use a common ground (M).
4.3.5 Connection examples with PLCs

This section gives examples of connections between the drive and the PLC. All of the
connection examples shown in this section are made based on factory default settings for
digital inputs/outputs. You can assign different digital inputs/outputs based on your actual
requirement.
4.3.5.1 SIMATIC S7-200 SMART
Pulse train input position control (PTI)

When connecting to different axes, the outputs are different. The diagram below takes the
connection with axis 0 for example.

Connecting

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

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

When connecting to different axes, the outputs are different. The diagram below takes the
connection with axis 0 for example.

Connecting

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

When connect to axis 2, the outputs are DO a.3 and DO b.0.

Connecting
Internal position control (IPos)

Connecting
Speed control (S)

Connecting
Torque control (T)

Connecting
4.3.5.2 SIMATIC S7-200

Connecting

Connecting

Connecting

Connecting

Connecting
Speed control (S)

Connecting
Torque control (T)

Connecting
4.3.5.3 SIMATIC S7-1200

Connecting

Connecting

Connecting

Connecting

Connecting
Speed control (S)

Connecting
Torque control (T)

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: 1.6 A
• With brake: 1.6 A + motor holding brake
rated current (See Section "Technical
data - servo motors (Page 64)")
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 functions
(Page 312)".
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 200 V servo drives.
For more information, see Section "Assembly of cable terminals/connectors on the drive side
(Page 425)".
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 2500 Illustration Absolute encoder single-turn 21-
No. ppr 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
Signal Description Signal Description
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-
nectors: 7 R+ Phase R+ n. c. Not connected
8 R- Phase R- Data_N Inverted data

Connecting
Internal structure of encoder cable

6FX3002-2CT..../6FX3002-2DB....
Wiring of encoder cable
6FX3002-2CT20-.... 6FX3002-2DB20-....

Connecting
4.6 External braking resistor - DCP, R1
6FX3002-2CT10-..../6FX3002-2CT12-.... 6FX3002-2DB10-..../6FX3002-2DB12-....
Twisted-pair wires
Shielding
4.6 External braking resistor - DCP, R1

The SINAMICS V90 has been designed with an internal braking resistor to absorb
regenerative energy from the motor. When the internal braking resistor cannot meet the
braking requirements (e.g. the alarm A52901 is generated), you can connect an external
braking resistor. For more information about how to select a braking resistor, see Section
"Braking resistor (Page 50)".
Note
The 200 V variant servo drive with rated power of 0.1 kW (FSA) does not have a built-in
resistor.

Connecting
4.7 Motor holding brake
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)".

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 motor holding brake 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 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%

Connecting
Motor holding brake connector - motor side
Illustration Pin No. Signal Description

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

Straight connectors: 1 Brake+ Phase Brake+
2 Brake- Phase Brake-
Angular connectors:
Signal 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) Brake off Without cur- Opened Cannot run
gagement rent
Brake release Low level (0) Brake on With current Closed Can run
● 400 V variant
Status MBR (DO) Brake control Motor brake func- Motor shaft
(B+, B-) tion
Brake engage- High level (1) 0V Opened Cannot run
ment
Brake release Low level (0) 24 V Closed Can run
DO signal
Signal type Signal Pin assignment Setting Description

name
DO MBR X8-35/49 (facto- ON = high level Motor holding brake is closed.
ry setting) (1)
OFF = low level Motor holding brake is released.
(0)

Connecting
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 1 (RDY) - Assignment of digital output 1
p29331 1 to 14 2 (FAULT) - Assignment of digital output 2
p29332 1 to 14 3 (INP) - Assignment of digital output 3
p29333 1 to 14 5 (SPDR) - Assignment of digital output 4
p29334 1 to 14 6 (TLR) - Assignment of digital output 5
p29335 1 to 14 8 (MBR) - Assignment of digital output 6
Note
Refer to Section "Digital inputs/outputs (DIs/DOs) (Page 115)" for detailed information about
the digital outputs.
Wiring for the 200 V variant servo drive

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

Connecting
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 type). When you use the 24 V DC power
supply, it can be also the controller power supply.
2) The
motor brake can be controlled not only by the brake control signal from the SINAMICS
V90 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 the 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).
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 ± 10%

Order information Manufacturer EPCOS
Model S20K20
Specification re- Operating temperature -20 °C to 60 °C
quirements Delay switching frequency < 10 times/min
Maximum operating DC volt- 26 V
age

Connecting
Average power dissipation 0.2 W

Voltage at 1 mA 33 V ± 10%
Clamping voltage at 20 A 65 V
(8/20 μs)
Energy absorption (2 ms) at a 18 J
time
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 IC10 -
SIRIUS 2016 at the following Web site:
Siemens relays
(http://w3app.siemens.com/mcms/infocenter/content/en/Pages/order_form.aspx?nodeKey=k
ey_517764&infotype=catalogs)
You can also select other high quality relays from manufacturers such as Omron (article
number: G2R-1A-E-DC24V) .
Wiring for the 400 V variant servo drive
Relevant parameters
Parameter Unit Range Default Description

p1215 - 0 to 3 0 Configuration of the holding brake.
• 0: No holding brake available
• 1: Motor holding brake according to
sequence control (SON)
• 2: Motor holding brake always open
• 3: SIEMENS internal use
p1216 ms 0 to 10000 Motor depend- Motor holding brake opening time.
ent
p1217 ms 0 to 10000 Motor depend- Motor holding brake closing time.
ent
You can configure the holding brake with the parameter p1215 according to the actual
application. When you set p1215=1, the motor holding brake is open once the digital input
signal SON has a rising edge and becomes closed once a falling edge comes to SON.

Connecting
If the servo motor is used to control a vertical axis, the machine movable part can have a
slight shift when the holding brake becomes open or closed simultaneously with the action of
SON. To eliminate such slight shift, you can configure a delay time for the close or open time
of the motor holding brake by setting the parameters p1216 and p1217.
Note
The default values of p1216 and p1217 depend on the rated power of the motor which
connects to the servo drive.
Note
For SINAMICS V90 200 V variant servo drives, the actual motor holding brake time consists
of the time delay of the motor brake and the time delay of the current amplifying component
(a relay in the example above); therefore, you can set the values of p1216 and p1217 as
follows:
p1216 = motor brake opening time + relay opening time
p1217 = motor brake closing time + relay closing time
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
4.8 RS485 interface - X12
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.
Parameter Range Default Unit Description

p1226 0 to 210000 20 rpm Speed threshold for the standstill identifica-
tion.
p1227 0 to 300 300 s Monitoring time for the standstill identifica-
tion.
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).

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

Connecting
Pin assignment
Illustration Pin Signal name Description

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

Commissioning 5
5.1 General commissioning information
Prior to commissioning, read "Basic operator panel (BOP) (Page 189)" for more information
about the BOP operations. In case of any faults or alarms during commissioning, refer to
Chapter "Diagnostics (Page 399)" 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.

Commissioning
5.1 General commissioning information
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.
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). With SINAMICS V-ASSISTANT, you can change drive
parameters and monitor drive working states in online mode.

Commissioning
5.2 Initial commissioning in JOG 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 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.
● No PLC is connected to the drive system.
Operating sequence
Note
The digital signal EMGS must be kept 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-
• If the servo motor has an incremental encoder, input fied.
the motor ID (p29000). You can find the motor ID from the motor rating plate.
Go to "Motor components (Page 28)" for detailed de-
• If the servo motor has an absolute encoder, the scriptions about motor rating plate.
servo drive can identify the servo motor automatical-
Refer to "Basic operations (Page 196)" for information
ly. about how to change a parameter with the BOP.
4 Check the direction of motor rotation. • p29001 = 0: CW (default)
The default direction of rotation is CW (clockwise). You • p29001 = 1: CCW
can change it by setting the parameter p29001 if neces-
sary.
5 Check the Jog speed.
The default Jog speed is 100 rpm. You can change it by
setting the parameter 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 201)".
7 Switch on the line supply.
8 Clear faults and alarms. Refer to "Diagnostics (Page 399)".
9 For the BOP, enter the Jog menu function and press the For more information about Jog with the BOP, see Sec-
UP or DOWN button to run the servo motor. tion "JOG (Page 200)".
For the engineering tool, use the Jog function to run the For more information about Jog with SINAMICS V-
servo motor. ASSISTANT, see SINAMICS V-ASSISTANT Online
Help.
Note
When you run the servo motor with an incremental encoder in JOG mode, the servo motor
makes a short buzzing sound indicating that it is identifying the magnetic pole position of the
rotor.

Commissioning
5.3 Commissioning in pulse train position control mode (PTI)
Step Description Comment

1 Switch off the line supply.
2 Power off the servo drive and connect it to the controller The digital signals CWL, CCWL and EMGS must be
(for example, SIMATIC S7-200 SMART) with the signal kept at high level (1) to ensure normal operation.
cable. Refer to "Standard application wiring (factory setting)
(Page 130)" and "Connection examples with PLCs
(Page 139)".
fied.
• If the servo motor has an incremental encoder, input
ly.
about how to change a parameter with the BOP.
5 Check the current control mode by viewing value of the Refer to "Compound controls (Page 207)".
parameter p29003. Pulse train input position control
mode (p29003=0) is the factory setting of SINAMICS
V90 servo drives.
6 Save the parameter and restart the servo drive to apply
the setting of the pulse train input position control mode.
7 Select a setpoint pulse train input form by setting pa- • p29010 = 0 (default): pulse + direction, positive logic
rameter p29010.
• p29010 = 1: AB track, positive logic
• p29010 = 2: pulse + direction, negative logic
• p29010 = 3: AB track, negative logic
Refer to "Selecting a setpoint pulse train input form
(Page 220)".
8 Select a pulse input channel by setting parameter • p29014 = 0: high-speed 5 V differential pulse train
p29014. input (RS485)
• p29014 = 1 (default): 24 V single end pulse train
input
Refer to "Selecting a setpoint pulse train input channel
(Page 220)".

Commissioning

9 Set the electronic gear ratio. You can use one of the following three methods to set
the electronic gear ratio:
• Set the electronic gear ratio with parameters p29012
and p29013.
– p29012: numerator of the electronic gear. Four
numerators in total (p29012[0] to p29012[3]) are
available.
– p29013: denominator of the electronic gear.
• Set the setpoint pluses per revolution.
– p29011: number of setpoint pulses per revolution.
• Calculate the electronic gear ratio by selecting me-
chanical structure.
– For more information, see SINAMICS V90 V-
ASSISTANT Online Help.
Refer to "Electronic gear ratio (Page 222)".
10 Set the torque limitation and speed limitation. Refer to "Torque control (T) (Page 263)" and "Speed
control (S) (Page 258)".
11 Configure necessary digital input signals by setting the The factory settings for PTI mode are:
following parameters:
• p29301[0]: 1 (SON)
• p29301[0]: DI1 • p29302[0]: 2 (RESET)
• p29302[0]: DI2 • p29303[0]: 3 (CWL)
• p29303[0]: DI3 • p29304[0]: 4 (CCWL)
• p29304[0]: DI4 • p29305[0]: 5 (G-CHANGE)
• p29305[0]: DI5 • p29306[0]: 6 (P-TRG)
• p29306[0]: DI6 • p29307[0]: 7 (CLR)
• p29307[0]: DI7 • p29308[0]: 10 (TLIM1)
• p29308[0]: DI8 Refer to "Digital inputs/outputs (DIs/DOs) (Page 115)".
12 Check the encoder type. Refer to "Adjusting an absolute encoder (Page 206)".
If it is an absolute encoder, adjust the absolute encoder
with the BOP menu function "ABS".
13 Set the pulse train encoder output. Refer to "PTO function (Page 232)".
14 Save parameters with the BOP.
17 Trigger SON to the high level, input the setpoint pulse Use a low pulse frequency at first to check the direction
train from the command device, and then the servo and speed of rotation.
motor starts running.
18 The system commissioning in pulse train input position You can check the system performance. If it is not satis-
control mode ends. fied, you can adjust it. Refer to "Tuning (Page 317)".

Commissioning
5.4 Commissioning in fast pulse train position control mode (Fast PTI)

2 Power off the servo drive and connect it to the controller The digital signal EMGS must be kept at high level (1) to
(for example, SIMATIC S7-200 SMART) with the signal ensure normal operation.
(Page 139)".
fied.
ly.
5 Check the current control mode by viewing value of the Refer to "Compound controls (Page 207)".
parameter p29003. Set p29003 = 9 for Fast PTI control
mode.
the setting of the pulse train input position control mode.
7 Select a setpoint pulse train input form by setting pa- • p29010 = 0 (default): pulse + direction, positive logic
rameter p29010.
• p29010 = 1: AB track, positive logic
• p29010 = 2: pulse + direction, negative logic
• p29010 = 3: AB track, negative logic
Refer to "Selecting a setpoint pulse train input form
(Page 220)".
8 Select a pulse input channel by setting parameter • p29014 = 0: high-speed 5 V differential pulse train
p29014. input (RS485)
• p29014 = 1 (default): 24 V single end pulse train
input
Refer to "Selecting a setpoint pulse train input channel
(Page 220)".

Commissioning

9 Set the electronic gear ratio. You can use one of the following three methods to set
the electronic gear ratio:
• Set the electronic gear ratio with parameters p29012
and p29013.
– p29012: numerator of the electronic gear. Four
numerators in total (p29012[0] to p29012[3]) are
available.
– p29013: denominator of the electronic gear.
• Set the setpoint pluses per revolution.
– p29011: number of setpoint pulses per revolution.
• Calculate the electronic gear ratio by selecting me-
chanical structure.
– For more information, see SINAMICS V90 V-
ASSISTANT Online Help.
Refer to "Electronic gear ratio (Page 222)".
10 Set the torque limitation and speed limitation. Refer to "Torque control (T) (Page 263)" and "Speed
control (S) (Page 258)".
11 Configure necessary digital input signals by setting the The factory settings for Fast PTI mode are:
• p29301[0]: 1 (SON)
• p29301[0]: DI1 • p29302[0]: 2 (RESET)
• p29302[0]: DI2 • p29303[0]: 8 (EGEAR1)
• p29303[0]: DI3 • p29304[0]: 9 (EGEAR2)
• p29304[0]: DI4 • p29305[0]: 5 (G-CHANGE)
• p29305[0]: DI5 • p29306[0]: 19 (SLIM1)
• p29306[0]: DI6 • p29307[0]: 7 (CLR)
• p29307[0]: DI7 • p29308[0]: 10 (TLIM1)
12 Check the encoder type. Refer to "Adjusting an absolute encoder (Page 206)".
If it is an absolute encoder, adjust the absolute encoder
with the BOP menu function "ABS".
17 Trigger SON to the high level, input the setpoint pulse Use a low pulse frequency at first to check the direction
train from the command device, and then the servo and speed of rotation.
motor starts running.
18 The system commissioning in pulse train input position You can check the system performance. If it is not satis-
control mode ends. fied, you can adjust it. Refer to "Tuning (Page 317)".

Commissioning
5.5 Commissioning in internal position control mode (IPos)

(Page 139)".
fied.
For the detailed information of the motor rating plate,
• If the servo motor has an absolute encoder, the see Section "Motor components (Page 28)".
ly.
5 Switch to the internal position control mode by setting Refer to "Compound controls (Page 207)".
parameter p29003 = 1.
the setting of the internal position 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 mechanical system (Page 234)".
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
• p29245 = 1: modular axis
range by setting parameter p29246.
Refer to "Configuring the linear/modular axis
(Page 237)".
9 Check and select a positioning mode by setting parame- For a linear axis, there are two positioning modes:
ter p29241.
• p29241 = 0: incremental
• p29241 = 1: absolute
For modular axis, there are four positioning modes:
• p29241 = 0: incremental
• p29241 = 1: absolute
• p29241 = 2: absolute, positive (only for a rotary axis
with modulo correction)
• p29241 = 3: absolute, negative (only for a rotary axis
Refer to "Selecting a positioning mode - abso-
lute/incremental (Page 237)".
10 Configure the fixed position setpoint (p2617[0] to Refer to "Setting fixed position setpoint (Page 235)".
p2617[7] and p2618[0] to p2618[7]) according to mech-
anism.
11 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 252)" and "Speed limit
(Page 252)".

Commissioning

12 Configure necessary digital input signals by setting the The factory settings are:
• p29301[1]: 1 (SON)
• p29301[1]: DI1 • p29302[1]: 2 (RESET)
• p29302[1]: DI2 • p29303[1]: 3 (CWL)
• p29303[1]: DI3 • p29304[1]: 4 (CCWL)
• p29304[1]: DI4 • p29305[1]: 5 (G-CHANGE)
• p29305[1]: DI5 • p29306[1]: 6 (P-TRG)
• p29306[1]: DI6 • p29307[1]: 21 (POS1)
• p29307[1]: DI7 • p29308[1]: 22 (POS2)
NOTE
You must configure the digital input signal REF or SREF
according to your selection of referencing mode.
Refer to "Referencing (Page 239)".
13 Check the encoder type and perform referencing: Five referencing modes are available:
• For an incremental encoder, choose a referencing • p29240 = 0: with digital input signal REF
mode by setting parameter p29240 and perform ref- • p29240 = 1 (default): external referencing cam (REF)
erencing. and encoder zero mark
• For an absolute encoder, choose a referencing mode • p29240 = 2: only encoder zero mark
and adjust the encoder with the BOP menu function
• p29240 = 3: external referencing cam (CCWL) and
"ABS". Refer to "Adjusting an absolute encoder
encoder zero mark
(Page 206)".
• p29240 = 4: external referencing cam (CWL) and
encoder zero mark
Refer to "Referencing (Page 239)".
18 Trigger the digital signal SON to be high level.
19 Select a fixed position setpoint by configuring the digital POS3 : POS2 : POS1
inputs POS1, POS2 and POS3, then start positioning 0 : 0 : 0: fixed position setpoint 1 (p2617[0])
with the triggering signal P-TRG.
0 : 0 : 1: fixed position setpoint 2 (p2617[1])
Refer to "Selecting a fixed position setpoint and starting
positioning (Page 252)".
20 The system commissioning in internal position control You can check the system performance. If it is not satis-
mode ends. fied, you can adjust it. Refer to "Tuning (Page 317)".

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

(Page 139)".
fied.
ly.
5 Switch to the speed control mode by setting p29003 = 2. Refer to "Compound controls (Page 207)".
the setting of the speed control mode.
7 Configure speed setpoint. You can select the external analog speed setpoint or
one of seven fixed speed setpoints by configuring the
digital signals SPD3, SPD2 and SPD1.
SPD3 : SPD2 : SPD1
0 : 0 : 0: external analog speed setpoint (analog input 1)
0 : 0 : 1: fixed speed setpoint 1 (p1001)
Refer to "Configuring speed setpoint (Page 258)".
8 If the external analog speed setpoint is used, configure
the maximum analog speed setpoint corresponding to
10 V by setting parameter p29060.
9 Set the torque limitation and speed limitation. Refer to "Torque limit (Page 261)" and "Speed limit
(Page 261)".

Commissioning
5.7 Commissioning in torque control mode (T)

• p29301[2]: 1 (SON)
• p29301[2]: DI1 • p29302[2]: 2 (RESET)
• p29302[2]: DI2 • p29303[2]: 3 (CWL)
• p29303[2]: DI3 • p29304[2]: 4 (CCWL)
• p29304[2]: DI4 • p29305[2]: 12 (CWE)
• p29305[2]: DI5 • p29306[2]: 13 (CCWE)
• p29306[2]: DI6 • p29307[2]: 15 (SPD1)
• p29307[2]: DI7 • p29308[2]: 16 (SPD2)
14 Enable the CWE or CCWE and change SON status to The actual speed of the servo motor can be viewed from
be high level (1) then the servo motor starts running the BOP operating display.
according to configured speed setpoint. The default display is the actual speed. You can change
the display by setting the parameter p29002.
Refer to "Actual status display (Page 195)".
15 The system commissioning in speed control mode ends. You can check the system performance. If it is not satis-
fied, you can adjust it. Refer to "Tuning (Page 317)".

(Page 139)".
fied.
ly.
5 Switch to the torque control mode by setting p29003 = 3. Refer to "Compound controls (Page 207)".
the setting of the torque control mode.

Commissioning

7 Select torque setpoint by configuring the digital input • TSET = low level (0): external analog torque setpoint
signal TSET. (analog input 2)
• TSET = high level (1): fixed torque setpoint
8 If the fixed torque setpoint is used, input your desired Refer to "Torque control with fixed torque setpoint
torque setpoint value and offset value into parameter (Page 265)".
p29043 and p29042.
9 If the external analog torque setpoint is used, configure Refer to "Torque control with external analog torque
the scaling (percentage of the rated torque) for analog setpoint (Page 264)".
torque setpoint corresponding to 10 V by setting param-
eter p29041[0].
10 Set the speed limitation. Refer to "Speed limit (Page 265)".
• p29301[3]: 1 (SON)
• p29301[3]: DI1 • p29302[3]: 2 (RESET)
• p29302[3]: DI2 • p29303[3]: 3 (CWL)
• p29303[3]: DI3 • p29304[3]: 4 (CCWL)
• p29304[3]: DI4 • p29305[3]: 12 (CWE)
• p29305[3]: DI5 • p29306[3]: 13 (CCWE)
• p29306[3]: DI6 • p29307[3]: 18 (TSET)
• p29307[3]: DI7 • p29308[3]: 19 (SLIM1)
15 Enable the CWE or CCWE and Change SON status to The actual torque of the servo motor can be viewed from
be high level (1) then the servo motor starts running the BOP operating display.
according to configured torque setpoint. The default display is actual speed. You can change it
by setting p29002 = 2.
Refer to "Actual status display (Page 195)".
16 The system commissioning in torque control mode ends. You can check the system performance. If it is not satis-
fied, you can adjust it. Refer to "Tuning (Page 317)".

Commissioning

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

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

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 dual color (green/red).
You can find detailed information about the status indications in the table below:
Status indicator Color Status Description

RDY - Off 24 V control board power supply is missing
Green Continuously lit The drive is in "S ON" state
Red Continuously lit The drive is in "S OFF" state or in startup state
Flash at 1 Hz Alarms or faults occurs
COM - Off Communication with PC is not active
Green Flash at 0.5 Hz Communication with PC is active
Flash at 2 Hz Micro SD card/SD card operating (read or write)
Red Continuously lit Communication with PC is in error
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

6.1 BOP overview

Fxxxxx. Fault code In the case of multiple faults
Axxxxx Alarm code In the case of a single alarm
A.xxxxx. Alarm code of the first alarm In the case of multiple alarms
Axxxxx. Alarm code In the case of multiple alarms
Rxxxxx Parameter number Read-only parameter
Pxxxxx Parameter number Editable parameter
P.xxxxx Parameter number Editable parameter; the dot means that at

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

left or right
xxxx.xx> Current display can be moved to
right
xxxx.xx< Current display can be moved to
left
S Off Operating display: servo off
Para Editable parameter group Refer to the section "Editing parameters

(Page 197)".
P xxx Parameter group Seven groups are available:
1. P 0A: basic
2. P 0B: gain adjustment
3. P 0C: speed control
4. P 0D: torque control
5. P 0E: position control
6. P 0F: I/O
7. P ALL: all parameters
Data Read-only parameter group Refer to "Viewing parameters (Page 199)".
Func Function group Refer to "Auxiliary functions (Page 200)".
Jog Jog function Refer to "JOG (Page 200)".

6.1 BOP overview

Save Save data in drive Refer to "Saving parameters (RAM to ROM)
(Page 201)".
defu Restore drive to default settings Refer to "Setting parameters to default
(Page 202)".
dr--sd Save data from drive to micro SD Refer to "Transferring data (drive to SD)
card/SD card (Page 203)".
sd--dr Upload data from micro SD Refer to "Transferring data (SD to drive)
card/SD card to drive (Page 203)".
Update Update firmware Refer to "Updating firmware (Page 204)".
A OFF1 Adjust AI1 offset Refer to "Adjusting AI offsets (Page 205)".
A OFF2 Adjust AI2 offset Refer to "Adjusting AI offsets (Page 205)".
ABS The zero position has not been set Refer to "Adjusting an absolute encoder
(Page 206)".
A.B.S. The zero position has been set Refer to "Adjusting an absolute encoder
(Page 206)".
r xxx Actual speed (positive direction)
r -xxx Actual speed (negative direction)
T x.x Actual torque (positive direction)
xxxxxx Actual position (positive direction) Only the last six digits displays due to a lim-
ited display length.
xxxxxx. Actual position (negative direction) Only the last six digits displays due to a lim-
ited display length.
T -x.x Actual torque (negative direction)
DCxxx.x Actual DC link voltage
Exxxxx Position following error
run The motor is running
Con The communication between the In this case, the BOP is protected from any
SINAMICS V-ASSISTANT and the operations except clearing alarms and ac-
servo drive is established. knowledging faults.

6.1 BOP overview
6.1.3 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 the BOP is designed as follows.
Note
There is no ABS menu function for a servo motor with an incremental encoder.
The ABS menu function is only available for a servo motor with an absolute encoder.

6.3 Actual status display
6.3 Actual status display

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

p29002 0 to 4 0 - • 0: 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.
Seven groups in total are available:
– P 0A: basic
– P 0B: gain adjustment
– P 0C: speed control
– P 0D: torque control
– P 0E: position control
– P 0F: I/O
– 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
The 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.

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

Totally, there are nine BOP functions available.
① Jog ⑥ Update firmware

② Save parameter set in drive ⑦ Adjust AI1 offset
③ Restore parameter values to default ⑧ Adjust AI2 offset
④ Copy parameter set from drive to a micro ⑨ Adjust absolute encoder
SD card/SD card NOTE:
This function is available only when the
servo motor with an absolute encoder is
connected.
⑤ Copy parameter set from a micro SD
card/SD card to drive
6.5.1 JOG
Note
The digital signal EMGS must be kept at high level (1) to ensure normal operation.
With the Jog function, you can run the connected motor and view Jog speed or Jog torque.

Jog in speed (example)
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 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 197)
6.5.3 Setting parameters to default

This function is used to reset all parameters to their default values. To use this function,
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 201)

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 "S
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. 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 "S
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 202)" about the default process.
Note
Before updating 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 203).
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 AI offsets
NOTICE
Connect to ground
You must firstly connect the AI1 or AI2 to ground and then adjust AI offset.
Refer to section "Analog inputs (Page 128)".
With the BOP function menu "A OFF1" or "A OFF2", AI offset can be adjusted automatically.
To use this, function proceed as follows.
● Adjust AI1 offset
● Adjust AI2 offset

Note
Save parameter
Offset value is set into parameter p29042 (for AI2) or parameter p29061 (for AI1). You must
perform parameter saving after the automatic adjustment of AI offset.
Parameter range
p29042 and p29061 range from -0.5 V to +0.5 V. A value that is out of this range causes an
alarm.
Refer to chapter "Parameter list (Page 345)".
6.5.8 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 Compound controls
Control modes
Nine control modes are available for the SINAMICS V90 servo drive:
Basic control modes Pulse train input position control mode (PTI) 1)
Internal position control mode (IPos)
Speed control mode (S)
Torque control mode (T)
Fast pulse train input position control mode (Fast PTI)
Compound control modes Control change mode: PTI/S
Control change mode: IPos/S
Control change mode: PTI/T
Control change mode: IPos/T
Control change mode: S/T
1) Default control mode
Selecting a basic control mode

You can select a basic control mode by directly setting parameter p29003.
Parameter Setting value Description

p29003 0 (default) Pulse train input position control mode
1 Internal position control mode
2 Speed control mode
3 Torque control mode
9 Fast pulse train input position control mode
Control mode change for a compound control mode

For a compound control mode, you can change between two basic control modes by setting
the parameter p29003 and configuring the level sensitive signal C-MODE on DI10.
p29003 C-MODE
0 (the first control mode) 1 (the second control mode)
4 PTI S
5 IPos S
6 PTI T
7 IPos T
8 S T
Refer to Section "DIs (Page 117)" for detailed information about DIs.

Control functions
7.2 General functions
Note
Note that if p29003 = 5 and the motor has been working in speed control mode for a certain
period of time; or p29003 = 7 and the motor has been working in torque control mode for a
certain period of time, the fault code F7493 might appear on the drive BOP. This, however,
will not cause the motor to stop. The motor remains operative under this circumstance and
you can clear the fault code manually.
Note
Fault F52904 occurs when the control mode is changed via p29003. You must save the
parameter and then re-power on the servo drive to apply relevant configurations. For more
information about the remedy and acknowledgement of this fault, refer to Section "List of
faults and alarms (Page 402)".
Note
Switching conditions
For the switching from PTI or IPos to S or T, you are recommended to perform control mode
switching after the INP (in position) signal is at high level.
For the switching from S or T to PTI or IPos, you can perform control mode switching only
after the motor speed is lower than 30 rpm.
7.2.1 Servo ON
Servo ON signal (SON)
Signal Signal name Pin assignment Setting Description

type
DI SON X8-5 (factory set- ON = rising Servo motor circuit is connected (the motor is in "S
ting) edge ON" state). Servo motor is ready to run.
OFF = falling Servo motor circuit is shut off (the motor is in "S OFF"
edge state). Servo motor is not ready to run.
Relevant parameter settings
Parameter Value setting Description

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

Control functions
Note
DI parameterization.
Refer to Chapter "Parameters (Page 345)" for detailed information about parameters.
Note
When you set bit 0 of p29300 to 1, the following apply:
• After the drive is powered on, it will be set to "S ON" state automatically.
• After a fault is acknowledged, the drive will be set to "S ON" state automatically.

Control functions
7.2.2 Motor direction of rotation

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

Positive Negative
p29001 0 CW is forward direction • Analog monitoring: • Analog monitoring:
(factory setting)
• PTO: • PTO:
1 CCW is forward direction • Analog monitoring: • Analog monitoring:
• PTO: • PTO:
Note
After modifying parameter p29001, the reference point will be lost. When the drive is working
in IPos control mode, you must perform referencing again.

Control functions
7.2.3 300% 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
7.2.4 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.
Note
The function is unavailable in the Fast PTI control mode.

Control functions
Travel limit signal (CWL/CCWL)

In S, T, PTI, or IPos 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.
WARNING
Danger to life or malfunctions of the machine due to the motor travelling over the distance
limit
In T control mode, the motor travels over the distance limit if you only acknowledge the fault
without returning the axis to a position within the valid traversing range.
In S control mode, the motor travels over the distance limit if you only acknowledge the fault
without returning the axis to a position within the valid traversing range while signal CWL or
CCWL becomes from a low level (logic 0) to a high level (logic 1).
• Acknowledge the fault, and then return the axis to a position within the valid traversing
range to prevent the motor from travelling over the distance limit.
Note
• Make sure both signals CWL and CCWL are at a high level when the servo drive is
powered on.
• In S control mode, the motor cannot rotate with no fault if you only acknowledge the fault
without returning the axis to a position within the valid traversing range while signal CWL
or CCWL keeps at a low level.
• In PTI or IPos 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 type Signal Pin assign- Setting Description

name ment
DI CWL X8-7 (factory Falling edge The servo motor has travelled to the
setting) (1→0) clockwise travel limit and has a quick stop
after that.
DI CCWL X8-8 (factory Falling edge The servo motor has travelled to the
setting) (1→0) counter-clockwise travel limit and has a
quick stop after that.
Relevant parameter settings
Parameter Value setting Description

p29303 3 Signal CWL (signal number: 3) is assigned to DI3.
p29304 4 Signal CCWL (signal number: 4) is assigned to DI4.
p29300 bit 1 = 1 Set signal CWL at a high level or rising edge forcedly.
bit 2 = 1 Set signal CCWL at a high level or rising edge forcedly.
Note
DI parameterization
Refer to Chapter "Parameters (Page 345)" for detailed information about parameters.
7.2.5 Stopping method at servo OFF

You can select a stopping method when the drive is in "S 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 digital input signal SON.
SON in PTI, IPos, S or Fast PTI mode

name ment
DI SON X8-5 (factory Rising edge Power circuit is powered on and the servo
setting) (0→1) drive is ready to run.
Falling edge Motor ramps down.
(1→0)
SON in T mode

name ment
DI SON X8-5 (factory Rising edge Power circuit is powered on and the servo
setting) (0→1) drive is ready to run.
Falling edge Motor coasts down.
(1→0)
Quick stop (OFF3)

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

name ment
DI EMGS X8-13 (fixed) 1 Servo drive is ready to run.
0 Quick stop.
For detailed information about the digital input signals SON and EMGS, refer to Section
"Digital inputs/outputs (DIs/DOs) (Page 115)".

Control functions
7.2.6 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 PTI/Fast PTI control mode

You can configure the function of travelling to fixed stop by setting the following parameter.
When the fixed stop is reached, the drive sets the digital output torque limit reached (TLR).

p29045 0 to 1 0 - • 0: Travel to fixed stop is inactive
• 1: Travel to fixed stop is active.
Signal type Signal name Setting Description

DO TLR 0 The generated torque has not reached any
torque limit.
1 The generated torque has nearly (internal hys-
teresis) reached the value of the positive torque
limit, negative torque limit or analog torque
limit.

Control functions
Example
This example shows the operating procedures when you use the "Travel to fixed stop"
function in PTI control mode.
Prerequisites:
Use a 0.4 kW low inertia motor (rated torque = 1.27 Nm).
Procedures:
1. Set the p29045 = 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 TLM1:
– 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
Actual torque limit = 300% × 1.27 Nm = 3.81 Nm
3. 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.

Control functions
Function behavior in IPos control mode

When the drive is working In IPos traversing block mode, if a traversing block is processed
with the FIXED STOP command (p2621[0...7] = 2), the function starts. You can set a torque
limit for the FIXED STOP function. 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 247)".
Parameter Value Description

p2621[0...7] 1 (default) POSITIONING
2 FIXED STOP
5 WAIT
6 GOTO
You can set the additional data depending on the different traversing block task (defined in
p2621) by the parameter p2622:
p2622 FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear
0...65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
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. When the fixed stop is reached, the drive sets the digital output
torque limit reached (TLR).

Control functions
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.
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 it had at detection of 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 F07485 "Fixed stop is not reached" is output with fault reaction
OFF1, the torque limit is canceled and the drive cancels the traversing block.
Overview of important parameters
• p2617[0...7] Traversing block position

• p2618[0...7] Traversing block velocity
• p2621[0...7] Internal positioning task
• p2622 Traversing block task parameter
• p2634 Fixed stop maximum following error
• p2635 Fixed stop monitoring window
For more information about the parameters above, see Section "Parameter list (Page 346)".
Example
This example shows the operating procedures when you use the "Travel to fixed stop"
function in IPos control mode.

Control functions
7.3 Pulse train input position control (PTI)
Prerequisites:
Use a 0.4 kW low inertia motor (rated torque = 1.27 Nm).
Procedures:
1. Set the target position of traversing block 0.
p2617[0] = 10000
2. Configure the traversing task to be "FIXED STOP".
p2621[0] = 2
3. Set the required torque limit. The smaller value of the internal torque limit TLM and the
overall torque limit will be the active one.
4. Set the maximum following error by p2634 and the monitoring window by p2635.
5. Perform referencing.
Note:
When the SINAMICS V90 is working in IPos traversing block mode, referencing must be
performed before moving the axis.
6. After the drive performs referencing successfully, trigger traversing block 0 by the DI
signal P-TRG.
7. 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.
8. Once the "Fixed stop reached" status has been detected, the traversing task "Travel to
fixed stop" is ended.
7.3.1 Sequence of SON

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

Control functions
Timing diagram
7.3.2 Selecting a setpoint pulse train input channel

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

p29014 0 to 1 1 - • 0: High-speed 5 V differential pulse train
input (RS485)
• 1: 24 V single end pulse train input
The position pulse train inputs come from either of the following two terminal groups.
Group 1 Group 2
Signal name Pin assignment Signal name Pin assignment
PTIA_D+ X8-1 PTIA_24P X8-36
PTIA_D- X8-2 PTIA_24M X8-37
PTIB_D+ X8-26 PTIB_24P X8-38
PTIB_D- X8-27 PTIB_24M X8-39
For more information about wiring, see Section "Control/status interface - X8 (Page 112)"
and "PTIs (Page 126)".
7.3.3 Selecting a setpoint pulse train input form

The SINAMICS V90 servo drive supports two kinds of setpoint pulse train input forms:
● AB track pulse
● Pulse + Direction

Control functions
For both forms, positive logic and negative logic are supported.
Pulse train input form Positive logic = 0 Negative logic = 1

Forward (CW) Reverse (CCW) Forward (CW) Reverse (CCW)
AB track pulse
Pulse + Direction
You can select one of the setpoint pulse train input forms by setting the parameter p29010.

p29010 0 to 3 0 - • 0: Pulse + Direction, positive logic
• 1: AB track, positive logic
• 2: Pulse + Direction, negative logic
• 3: AB track, negative logic
Note
After modifying parameter p29010, you must perform referencing again because the
reference point will lost after p29010 changes.
7.3.4 In position (INP)

When the deviation between the position setpoint and the actual position is within the preset
in-position range specified in p2544, the signal INP (in position) is output.
Parameter settings
Parameter Value range Setting Unit Description

value
p2544 0 to 40 (default) LU Position window (in-position range)
2147483647
p29332 1 to 13 3 - Digital output 3 assignment
DO configuration
Signal type Signal name Pin assignment Setting Description

DO INP X8-32 (factory 1 Number of droop pulses is in the preset in-position
setting) range (parameter p2544)
0 Droop pulses are beyond the in-position range

Control functions
7.3.5 Smoothing function

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

p2533 0 to 1000 0 ms Smoothes the parameter in response to a
sudden position setpoint
7.3.6 Electronic gear ratio
Encoder specifications
The encoder specifications are shown as follows:
Type Resolution Output pulses per revolution

A Incremental encoder 2500 ppr 10000
M Absolute encoder 21-bit single-turn 2097152
L Absolute encoder 20-bit + 12-bit multi-turn 1048576

Control functions
Electronic gear
With the function of electronic gear, you can define the motor revolutions according to the
number of setpoint pulses, and sequentially define the distance of mechanical movement.
The minimum traveling distance of load shaft according to one setpoint pulse is called a
length unit (LU); for example, one pulse results in 1 µm movement.
Benefits of electronic gear (example)
Move the workpiece for 10 mm
Without electronic gear With electronic gear

Required number of setpoint pulses: Required number of setpoint pulses:
2500 ppr × 4 × (10 mm/6 mm) = 16666 (10 mm × 1000)/1 LU = 10000
The electronic gear ratio is a multiplier factor to pulse train setpoint. It is realized with a
numerator and a denominator. Four numerators (p29012[0], p29012[1], p29012[2].
p29012[3]) and one denominator (p29013) are used for the four electronic gear ratios.

p29012[0] 1 to 10000 1 - The first numerator of electronic gear
p29012[1] 1 to 10000 1 - The second numerator of electronic gear
p29012[2] 1 to 10000 1 - The third numerator of electronic gear
p29012[3] 1 to 10000 1 - The forth numerator of electronic gear
p29013 1 to 10000 1 - The denominator of electronic gear

Control functions
These four electronic gear ratios can be selected with the combination of the digital input
signals EGEAR1 and EGEAR2 (refer to Section "DIs (Page 117)").
EGEAR2 : EGEAR1 Electronic gear ratio Ratio value

0:0 Electronic gear ratio 1 p29012[0] : p29013
Note
After a gear ratio is switched to another one via digital inputs, you need to wait 10 seconds
and then perform SERVO ON.
Note
The range of electronic gear ratio is from 0.02 to 200.
The electronic gear ratio can be set only at SERVO OFF state. After the setting, you need to
reference the drive again.
Calculation formula for the electronic gear ratio

Control functions
Examples for calculating the electronic gear ratio
Step Description Mechanism

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

• Deduction gear ratio: 1:1 • Deduction gear ratio: 1:3
2 Identify the encoder 10000 10000
resolution
3 Define LU 1 LU = 1 μm 1 LU = 0.01o
4 Calculate the travel 6/0.001 = 6000 LU 360o/0.01o = 36000 LU
distance per load shaft
revolution
5 Calculate the electronic (1/6000)/(1/1) × 10000 = 10000/6000 (1/36000)/(1/3) × 10000 = 10000/12000
gear ratio
6 Set parameters 10000/6000 = 5/3 10000/12000 = 5/6
p29012/p29013
7.3.7 Inhibiting pulse train input setpoint (P-TRG)
Note
P-TRG in PTI control mode
Note that the function "inhibiting pulse train by P-TRG in PTI control mode" as described in
this section and the rest of the manual is reserved for future use.
The digital input signal P-TRG is the default connection of DI6 in the position control mode.
In the pulse train input position control mode (PTI), P-TRG is level sensitive and can be used
to allow or inhibit positioning operation according to pulse train input setpoint:
● 0: positioning according to pulse train input setpoint
● 1: inhibit pulse train input setpoint

Control functions
Timing diagram
DI configuration
The signal P-TRG is the factory setting of DI6.

name ment
DI P-TRG X8-10 (factory High level (1) Inhibit pulse train input setpoint
setting) Low level (0) Positioning according to pulse train input
setpoint
Note
• The signal P-TRG is active only when the digital input signal SON is in OFF state.
• When the signal P-TRG is active in the PTI mode or a compound mode with PTI, the
alarm A7585 occurs.
7.3.8 Speed limit

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

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

Control functions
Note
Control mode
The above four sources are valid in all control modes. You can switch among them when the
servo drive is running.
Note
Fault F7901 occurs when the actual speed exceeds the positive speed limit + hysteresis
speed (p2162) or the negative speed limit - hysteresis speed (p2162). Go to "List of faults
and alarms (Page 402)" for information about the acknowledgment of this fault.
Note
When the drive is working with external speed limit, the system continues to work
automatically after you repower on the 24 V DC power supply which was unexpectedly shut
off. In this case, do not touch the equipment.
Refer to "DIs (Page 117)" for more information about the digital input signals SLIM1 and
SLIM2.
Overall speed limit

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

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 Range Default Unit Description Digital input

SLIM2 SLIM1
p29070[0] 0 to 210000 210000 rpm Internal speed limit 1 (positive) 0 0
p29071[0] -210000 to 0 -210000 rpm Internal speed limit 1 (negative) 0 0
Note
After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 set to the
maximum speed of the motor automatically.

Control functions
External speed limit

Select an external speed limit by setting the following parameters.
Parameter Value range Default Unit Description

p29060 6 to 210000 3000 rpm Scaling for analog speed setpoint (maximum
speed setpoint corresponding to 10 V)
p29061 -0.5000 to 0.0000 V Offset adjustment for analog input 1 (speed
0.5000 setpoint)
7.3.9 Torque limit

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

TLIM2 TLIM1
0 0 Internal torque limit 1
0 1 External torque limit (analog input 2)
When the torque setpoint reaches torque limit, the torque is limited to the value selected by
TLIM1/TLIM2.
Note
Control mode
The above four sources are valid in the PTI mode, the IPos mode and the S mode. You can
switch among them when the servo drive is running.
Note
When the motor torque exceeds the torque limit, fault F52911/F52912 appears. The fault
indicates the motor torque exceeds the torque limitation of the selected group which is
determined by TLM1 and TLM2.
Refer to "DIs (Page 117)" for more information about the digital input signals TLIM1 and
TLIM2.

Control functions
Overall torque limit

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

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

Select an internal torque limit by setting the following parameters.

TLIM2 TLIM1
p29043 -100 to 0 % Fixed torque setpoint - -
100
p29050[0] -150 to 300 % Internal torque limit 1 (positive) 0 0
300
300
300
p29051[0] -300 to -300 % Internal torque limit 1 (negative) 0 0
150
150
150
The following diagram shows how the internal torque limit functions.

Control functions
External torque limit

TLIM2 TLIM1
p29041[1] 0 to 300 300 % Analog torque limit scaling 0 1
(value corresponding to 10 V)
p29041[1] is the scaling of analog input 2.

For example, if p29041[1] is 100%, the relationship between torque limit value and analog
input is shown as follows:
In this case, analog input of 5 V corresponds to 50% of rated torque and 10 V corresponds to
100% of rated torque.
Torque limit reached (TLR)

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

The droop pulses can be cleared with the parameter p29242 and the digital input signal
CLR.
Selecting a clear mode by setting p29242

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

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

Control functions
Clearing droop pulses with DI signal CLR

You can clear the droop pulses with the DI signal CLR after p29242 is set. The signal CLR is
the factory setting of pin 11 (DI7) on the control/status interface (X8).
p29242 = 0
p29242 = 1
p29242 = 2
Note
When you use the CLR high level to clear the pulses (p29242 = 1), the high level need to be
kept for more than 8 ms.
When the signal CLR is active in the PTI mode or a compound mode with PTI, the alarm
A7585 occurs.
If there are overshoot when you use the CLR function, you need to increase the integral time
(p29121).

Control functions
7.3.11 Referencing (only for absolute encoder)

If an absolute encoder is used, you must adjust the absolute encoder with the BOP menu
function "ABS". For more information about the "ABS" menu function, see Section "Adjusting
an absolute encoder (Page 206)".
7.3.12 PTO function
Function
A pulse train encoder output (PTO) which provides pulse signals can transmit the signals to
the controller to realize a closed-loop control system inside the controller, or transmit them to
another drive as pulse train setpoint for a synchronous axis.
Electronic gear
The electronic gear ratio is a multiplier factor to the PTO to a controller. It is realized with a
numerator and a denominator. One numerator (p29031) and one denominator (p29032) are
used for the PTO electronic gear ratio:

p29031 1 to 1 - Numerator of output pulse
2147000000
p29032 1 to 1 - Denominator of output pulse
2147000000
Note
When you use the PTO electronic gear function, for the absolute encoder, the electronic
gear is based on the resolution of 8192 ppr.
The range of electronic gear ratio is from 0.02 to 200.
The electronic gear ratio can be set at SERVO OFF state only.

Control functions
7.4 Fast pulse train input position control (Fast PTI)
Note
PTO direction
For an application of fully closed-loop position control using PTI and PTO, you can set the
PTO direction with parameter p29033.
Note
When using the PTO function, the drive will output some pulses before the motor servo on if
you executing the following operations.
• Default the drive with the BOP instruction.
• Configure the motor ID on the drive.
Note
When you use the PTO electronic gear ratio function, zero mark will not be generated.
PTO zero mark

Make the servo motor rotate for more than one revolution before using PTO's zero mark for
referencing.
7.4 Fast pulse train input position control (Fast PTI)

Fast PTI control mode is an optimized PTI control mode. You can achieve a better dynamic
response performance by using it.
The control mode specific functions of Fast PTI control mode are mostly the same as that of
PTI control mode. For detailed function descriptions, you can refer to Section "Pulse train
input position control (PTI) (Page 219)" for reference.

Control functions
7.5 Internal position control (IPos)
7.5.1 Setting mechanical system

By parameterizing the mechanical system, the link between the physical moving part and the
length unit (LU) is established.
The unit of the fixed position setpoint is the Length Unit (LU). All subsequent position
setpoint, related speed value, and acceleration value will maintain the LU as the unit in
internal position control mode.
Taking a ball screw system for example, if the system has a pitch of 10 mm/revolution
(10000 µm/revolution) and the resolution of the length unit is 1 µm (1 LU = 1 µm), one load
revolution corresponds to 10000 LU (p29247 = 10000).
Note
If the value of p29247 increases by N times, the values of p2542, p2544 and p2546 should
increase by N times accordingly. Otherwise, the fault F7450 or F7452 occurs.
Relevant parameters

p29247 1 to 10000 - LU per load revolution
2147483647
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 6/0.001 = 6000 LU 360/0.01 = 36000 LU
load shaft revolution
4 Set param- p29247 6000 36000
eters p29248 1 1
p29249 1 3
7.5.2 Setting fixed position setpoint

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

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

Control functions
Fixed position setpoint Corresponding parameters

Parameter settings

p2617[0]...[7] - 0 LU Fixed position setpoint 1 to 8
2147482648
to
2147482647
p2618[0]...[7] 1 to 600 1000 Speed of fixed position setpoint 1 to 8
40000000 LU/min
p2572 1 to 2000000 Motor de- 1000 IPos maximum acceleration
pendent LU/s²
p2573 1 to 2000000 Motor de- 1000 IPos maximum deceleration
pendent LU/s²
Note
When the motor is working in the IPos control mode, you need to check that whether the
values of the parameters p2542, p2544, p2546, p2573, and p2574 are your desired values.
The values are set automatically by the drive based on the encoder resolution.

Control functions
7.5.3 Selecting a positioning mode - absolute/incremental

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

p29241 0 to 3 0 - Absolute or incremental positioning mode:
• 0: incremental
• 1: absolute
• 2: absolute, positive (only for a rotary axis
• 3: absolute, negative (only for a rotary
axis with modulo correction)
NOTICE
Pre-conditions for using the absolute mode
The absolute mode can be used only after:
• the axis has been referenced for incremental measuring system. Refer to Section
"Referencing (Page 239)" for detailed information about referencing.
• the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting
an absolute encoder (Page 206)" for reference.
Example
7.5.4 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 servo drive.

Control functions
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.

p29245 0 to 1 0 - • 0: linear axis
• 1: modular axis
p29246 1 to 360000 LU Modular range
2147482647
Note
After modifying parameter p29245, you must perform the referencing operation again.
7.5.5 Backlash compensation

Generally, backlash occurs when the mechanical force is transferred between a machine
part and its drive:
If the mechanical system was to be adjusted/designed so that there was absolutely no

backlash, this would result in high wear. Thus, backlash can occur between the machine
component and the encoder. For axes with indirect position sensing, 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 incremental measuring system. Refer to Section
"Referencing (Page 239)" for detailed information about referencing.
• the axis has been adjusted for absolute measuring system. Refer to Section "Adjusting an
absolute encoder (Page 206)" 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.

Control functions
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

p2583 -200000 to 0 LU Backlash compensation
200000
p2604 0 to 1 0 - Set signal source for start direction of
searching cam:
• 0: start in positive direction
• 1: start in negative direction
7.5.6 Referencing
Referencing modes
If the servo motor has an incremental encoder, totally five referencing modes are available:
● Setting reference point with the digital input signal REF
● External reference cam (signal REF) and encoder zero mark
● Encoder zero mark only
● External reference cam (signal CWL) and encoder zero mark
● External reference cam (signal CCWL) and encoder zero mark
If the servo motor has an absolute encoder, the five referencing modes above 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 206)"
for details.

Control functions
You can select one of these referencing modes by setting the parameter p29240.

p29240 0 to 4 1 - • 0: Setting reference point with the
digital input signal REF
• 1: External reference cam (signal REF)
and encoder zero mark
• 2: Encoder zero mark only
• 3: External reference cam (signal
CCWL) and encoder zero mark
• 4: External reference cam (signal
CWL) and encoder zero mark
Note
Referencing mode for absolute encoder
If an absolute encoder is connected, the five referencing modes above are available. You
can select the different referencing modes with parameter p29240. When p29240 = 1 to 4,
the referencing process can only be implemented before you use the "ABS" function. Once
the "ABS" function is implemented, the four referencing modes are not available any more.
Note
p29240 can be modified only when the drive is in IPos mode.
Setting reference point with the digital input signal REF (p29240=0)
Note
Preconditions for this referencing mode
• The servo motor must be in "S ON" state and keep standstill.
• The signal REF must be OFF under the following conditions:
– before power-on
– when switching from another referencing mode to this referencing mode
– when switching from another control mode to internal position control mode
The current position is set to zero at a rising edge of the signal REF and the servo drive is
referenced:

Control functions
CAUTION
The referencing point may not be fixed during referencing.
The servo motor must be in "S ON" state so that the referencing point is fixed during
referencing.
External reference cam (signal REF) and encoder zero mark (p29240=1)
The referencing is triggered by signal SREF. After that, the servo motor accelerates to the
speed specified in p2605 to find the reference cam. The direction (CW or CCW) for
searching the reference cam is defined by p2604. When the reference cam is reached
(signal REF: 0→1), the servo motor decelerates to standstill. After that, the servo motor
accelerates again to the speed specified in p2608 and the running direction is opposite to the
direction defined by p2604. Then the signal REF should be switched off (1→0). When the
servo motor reaches the first zero mark, it starts to travel towards the reference point defined
in p2600 with the speed specified in p2611. When the servo motor reaches the reference
point (p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the
referencing finishes successfully.
The whole process is shown in the diagram below:

Control functions
Follow the steps below to perform referencing with this mode:

1. Set relevant parameters.

p2599 -2147482648 to 0 LU Sets the position value for the refer-
2147482647 ence point coordinate.
p2600 -2147482648 to 0 LU Reference point offset
2147482647
p2604 0 to 1 0 - Sets signal source for start direction
of searching:
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
zero mark
p2611 1 to 40000000 300 1000 Speed for searching reference point
LU/min
2. Configure signals SREF and REF.

Refer to Chapter "Digital inputs/outputs (DIs/DOs) (Page 115)" for reference.
3. Trigger SREF to a rising edge to start referencing.
Note
During the referencing, if SREF is OFF, the referencing stops.
4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output.
5. Switch off the signal SREF, and the referencing finishes successfully.
Encoder zero mark only (p29240=2)

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

Control functions


2147482647
p2604 0 to 1 0 - Sets signal source for start direction
of searching:
LU/min
zero mark
LU/min
2. Configure the signal SREF.

Note

Control functions
External reference cam (signal CCWL) and encoder zero mark (p29240=3)
speed specified in p2605 to find the reference cam. The direction (CCW) for searching the
reference cam is defined by p2604. When the signal CCWL is detected (1→0), the servo
motor decelerates to standstill with maximum deceleration. After that, the servo motor
accelerates again to the speed specified in p2608 and the running direction (CW) is opposite
to the direction defined by p2604. The signal CCWL switches to high level (0→1). When the
servo motor finds the first zero mark, it starts to travel towards the reference point defined in
p2600 with the speed specified in p2611. When the servo motor reaches the reference point
(p2599), the signal REFOK is output. Switch off the signal SREF (1→0) and the referencing
finishes successfully.
Note
• During the referencing process, the signals CWL and CCWL are unavailable. Once the
process is complete, the signals will act as limits signal again.
• For the safety purpose, the maximum distance for searching the cam (p2606) and the
maximum distance for searching the zero mark (p2609) must be set.

Control functions


2147482647
p2604 1) 0 to 1 0 - Sets signal source for start direction
of searching:
• 0: start in positive direction (CW)
(CCW)
LU/min
cam
LU/min
zero mark
LU/min
1) When p29240= 3, the direction for searching the reference cam must be CCW, that is
p2604=1.
2. Configure the signal SREF and CCWL.

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

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

Control functions


2147482647
p2604 1) 0 to 1 0 - Sets signal source for start direction
of searching:
LU/min
cam
LU/min
zero mark
LU/min
1) When p29240= 4, the direction for searching the reference cam must be CW, that is p2604 = 0.
2. Configure the signal SREF and CWL.

Note
7.5.7 Traversing blocks

Up to 8 different traversing tasks can be saved when using the "Traversing blocks" function
in IPos control mode. All parameters which describe a traversing task are effective during a
block change.

Control functions
Parameterizing the traversing blocks

Traversing blocks are parameterized using parameter sets that have a fixed structure:
● Task (p2621[0...7])
1: POSITIONING
2: FIXED STOP
5: WAIT
6: GOTO
● Motion parameters
– Target position or traversing distance (p2617[0...7])
– Velocity (p2618[0...7])
● Progression condition (p29251[0...7])
– 0: END
– 1: CONTINUE_WITH_STOP
The exact position parameterized in the block is approached (brake to standstill and
positioning window monitoring) before block processing can continue.
– 2: CONTINUE_FLYING
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).
● Task parameter (command-dependent significance) (p2622)
Traversing block tasks

You can define the task of the traversing blocks by parameter p2621[0...7].
POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
● p2617[x] Position
● p2618[x] Velocity
● p29251[x] IPOS progression condition
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, for the block change enable
CONTINUE_FLYING, the next task is selected in the same interpolation cycle; while for
block change enable CONTINUE_WITH_STOP, the next traversing block is activated in the
next interpolation cycle.
Note
If the block change enable CONTINUE_WITH_STOP or CONTINUE_FLYING is set for the
last traversing block, the alarm A7465 is output.
• Set block change enable END for the last traversing block, i.e., p29251[x] = 0.

Control functions
For more information about the POSITIONING task, refer to Section "Selecting a fixed
position setpoint and starting positioning (Page 252)".
FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
The following parameters are relevant:
● p2617[x] Position
● p2618[x] Velocity
● p2622[x] Task parameter = clamping torque [0.01 Nm] with rotary motors.
Continuation conditions include END and CONTINUE_WITH_STOP.
For more information about the FIXED STOP task, refer to Section "Travel to fixed stop
(Page 215)".
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.
Continuation conditions include END and CONTINUE_WITH_STOP.
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, the alarm A7465
(traversing block does not have a subsequent block) is output.
● p2622[x] Task parameter = block number of the next traversing block (valid block
number: 0 to 7)
Example
This example shows the operating procedures when you use the "Traversing blocks"
function in IPos control mode.
Procedure
1. Switch to the internal position control mode by setting parameter p29003 = 1.
2. Configure necessary digital input signals.

Control functions
3. Parametrize the traversing blocks:

Traversing block 1
– Configure the task of traversing block 1 to be "POSITIONING".
p2621[0] = 1
– Set the target position of traversing block 1
p2617[0] = 100000
– Set the velocity of traversing block 1
p2618[0] = 3000
– Select the positioning mode
p29241[0] = 1
– Set the continuation condition as END.
p29251[0] = 0
Traversing block 2
– Configure the task of traversing block 2 to be "WAIT".
p2621[1] = 5
– Set the duration of waiting to be 1000 ms.
p2622 = 1000
– Set the continuation condition as CONTINUE_WITH_STOP.
p29251[1] = 1
Traversing block 3
– Configure the task of traversing block 3 to be "POSITIONING".
p2621[2] = 1
– Set the target position of traversing block 3
p2617[2] = 200000
– Set the velocity of traversing block 3
p2618[2] = 6000
– Select the positioning mode
p29241[2] = 0
– Set the continuation condition as CONTINUE_FLYING.
p29251[2] = 2
Traversing block 4
– Configure the task of traversing block 4 to be "GOTO".
p2621[3] = 6
– Set the block number of the next traversing block.
p2622 = 0

Control functions
4. Perform referencing.
Note:
When the SINAMICS V90 is working in IPos traversing block mode, referencing must be
performed before moving the axis.
5. After the drive performs referencing successfully, select the number of the traversing
block to start.
For example, select traversing block 2 by setting DI signal POS1 = 1, POS2 = 0, POS3 =
0.
6. Servo on the motor by DI signal SON, and trigger traversing block 2 by the DI signal P-
TRG.
7. Observe the drive status to check whether the target position is reached.
Traversing block 2 is triggered, the motor is at standstill, waiting for 1000 ms. Then at
traversing block 3, the motor reaches relative position 100000 with velocity 3000, and
then continues with block 4 without stop. At traversing block 4, the drive immediately
switches to block 1. At traversing block 1, the motor reaches absolute position 200000
with velocity 6000, then the motion stops.
❒
• p2621 Traversing block, task

• p2622 Traversing block, task parameter
• p2617[0...7] Traversing block, position
• p2618[0...7] Traversing block, velocity
• p29241[0...7] Positioning mode selection
• p29251[0...7] IPOS progression condition
For more information about the parameters above, see Section "Parameter list (Page 346)".
7.5.8 Software position limit

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

Control functions
Parameter settings

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

Refer to "Speed limit (Page 226)" for details.
7.5.10 Torque limit

Refer to "Torque limit (Page 228)" for details.
7.5.11 Selecting a fixed position setpoint and starting positioning

In the IPos mode, two methods are available to select a fixed position setpoint and then start
motor running according to selected fixed position setpoint:
● select a fixed position setpoint with the co-settings of signals POS1, POS2 and POS3 and
then use the trigger signal P-TRG to start positioning
● use the rising edge of the signal STEPF, STEPB or STEPH
Refer to Chapter "Digital inputs/outputs (DIs/DOs) (Page 115)" for detailed information about
the signals POS1, POS2, POS3, P-TRG, STEPF, STEPB, STEPH.

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

POS3 POS2 POS1
Fixed position setpoint 1 0 0 0
In the fixed position control mode, the signals POS1 and POS2 are default assignments of
DI7 and DI8 while the signal POS3 is not assigned:
Signal type Signal name Pin assignment Description

DI POS1 X8-11 Select a fixed position setpoint.
DI POS2 X8-12
DI POS3 To be assigned
Note
Configuration of POS3
If the POS3 is not assigned to any DI, its status is assumed to be 0, which means only the
following fixed position setpoints can be used:
• Fixed position setpoint 1
After selecting a fixed position setpoint, the servo motor can start positioning at a rising edge
of the signal P-TRG.
The digital input signal P-TRG is the default assignment of DI6 in the internal position control
mode:

name ment
DI P-TRG X8-10 (factory 0→1 Starts positioning according to selected
setting) fixed position setpoint

Control functions
The timing diagram for starting positioning with the trigger signal P-TRG is shown as follows:
Selecting the target position and starting the positioning with the rising edge of the signal STEPF,
STEPB or STEPH
If the signal STEPF is enabled, the servo motor, at a rising edge of STEPF, traverses to next
fixed position setpoint. For example, if the servo motor currently locates at the fixed position
setpoint 3, the servo motor traverses to the fixed position setpoint 4 at a rising edge of
STEPF.
If the signal STEPB is enabled, the servo motor, at a rising edge of STEPB, traverses to
previous fixed position setpoint.
If the signal STEPH is enabled, the servo motor, at a rising edge of STEPH, traverses to the
fixed position setpoint 1.
Note
The servo drive can respond to the rising edge of the signal STEPF, STEPB or STEPH only
when the servo motor is at a standstill.
If the servo motor is at fixed position 8, a rising edge of STEPF is not responded.
If motor is at fixed position 1, a rising edge of STEPH is responded, but a rising edge of
STEPB is not responded.
During positioning, if the motor stops unexpectedly, the drive assumes that the target
position has been reached; for example, if the motor stops between POS2 and POS3
because of a fault after the signal STEPB (traversing to POS2) is given, the drive assumes
that POS2 has been reached.
Note
When selecting the target position and starting the positioning with the rising edge of the
signal STEPF, STEPB or STEPH, you are recommended to set parameter p29251 = 0.

Control functions
7.5.12 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.

Control functions
7.6 Speed control (S)
Note
Be sure to perform the "ABS" function again after you set p29243 to 1.
• p29243 Position tracking activate

• p29244 Absolute encoder virtual rotary revolutions
• p29248 Mechanical gear: Numerator
• p29249 Mechanical gear: Denominator
• r2521[0] LR position actual value
7.6.1 Configuring speed setpoint

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

SPD3 SPD2 SPD1
0 0 0 External analog speed setpoint (analog input 1)
0 0 1 Fixed speed setpoint 1 (p1001)
Refer to "DIs (Page 117)" for more information about the digital signals SPD1, SPD2 and
SPD3.
7.6.1.1 Speed control with external analog speed setpoint

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

Control functions

p29060 6 to 210000 3000 rpm Maximum analog speed setpoint correspond-
ing to 10 V
The relationship between the analog voltage and the speed setpoint is shown as follows:
Note
When the drive is working with external analog speed setpoint, the system continues to work
automatically after you repower on the 24 V DC power supply which was unexpectedly shut
off for the drive. In this case, do not touch the equipment.
Offset adjustment for analog input 1

Offset exists for the input voltage from the analog input 1. You have two methods to adjust
such offset:
● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 205)" for
details.
● Manual input of an offset value (p29061)

p29061 -0.5000 to 0.0000 V Offset adjustment for analog input 1 (speed
0.5000 setpoint)

Control functions
7.6.1.2 Speed control with fixed speed setpoint
Parameter settings
In the S mode, when at least one of the three digital input signals SPD1, SPD2 and SPD3 is
at high level, one of the following parameter values is used as speed setpoint.

SPD3 SPD2 SPD1
p1001 -210000 to 0 rpm Fixed speed setpoint 1 0 0 1
210000
210000
210000
210000
210000
210000
210000
7.6.2 Direction and stop

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

CCWE CWE + polarity - polarity 0V
0 0 0 0 0 0
0 1 CW CW CCW 0
1 0 CCW CCW CW 0
1 1 0 0 0 0
Note
In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must
to start running the motor.
For more information about signals CWE and CCWE, refer to "DIs (Page 117)".

Control functions
7.6.3 Speed limit

7.6.4 Torque limit

Refer to "Torque limit (Page 228)" for details.
7.6.5 Zero speed clamp

The function of zero speed clamp is used to stop motor and lock motor axis when motor
speed setpoint is below a parameterized threshold level (p29075).
This function is available only when the analog input 1 is used as the source of speed
setpoint. The digital input signal ZSCLAMP is used to activate this function. When both
motor speed setpoint and motor actual speed are below the parameterized threshold level
and signal ZSCLAMP is logic "1", the motor is locked. Drive exits from clamping state either
when the motor speed setpoint is above the threshold level or when the signal ZSCLAMP is
logic "0".
Parameter settings

p29075 0 to 200 200 rpm Zero speed clamp threshold
p29060 6 to 210000 3000 % Maximum analog speed setpoint correspond-
ing to 10 V
DI configuration
Signal type Signal name Pin assign- Setting Description

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

Control functions
Note
When p29003=4 and CMODE is "1", the drive is working in speed control mode. In this case
if ZSCLAMP is activated, the drive will switch to PTI control mode and PTI pulse input will
lead motor running under PTI control mode.
Note
For more information about the signal ZSCLAMP, refer to "DIs (Page 117)".
7.6.6 Ramp-function generator

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

Control functions
7.7 Torque control (T)
You can see the properties of the S-curve ramp-function generator from the diagram below:
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
7.7.1 Torque setpoint

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

TSET 0 (default) Analog torque setpoint (analog input 2)
1 Fixed torque setpoint (p29043)
Refer to "DIs (Page 117)" for detailed information about the signal TSET.

Control functions
7.7.1.1 Torque control with external analog torque setpoint

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

p29041[0] 0 to 100 100 % Scaling for analog torque setpoint (corre-
sponding to 10 V)
Note
The value of analog input 2 can be monitored through parameter p29351.
Offset adjustment for analog input 2

Offset exists for the input voltage from the analog input 2. The motor can run at a very low
speed even the current input voltage is 0 V. You have 2 methods to adjust such offset:
● Automatic adjustment with BOP function: refer to "Adjusting AI offsets (Page 205)" for
details.
● Manual input of an offset value (p29042)

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

Control functions
7.8 Communicating with the PLC
7.7.1.2 Torque control with fixed torque setpoint
Parameter settings

p29043 -100 to 100 0 % Fixed torque setpoint
7.7.2 Direction and stop

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

CCWE CWE + polarity - polarity 0V
0 0 0 0 0 0
0 1 CW CW CCW 0
1 0 CCW CCW CW 0
1 1 0 0 0 0
Note
In S mode or T mode, when the servo motor is ready to run, signal CWE or CCWE is a must
to start running the motor.
For more information about the signals CWE and CCWE, refer to "DIs (Page 117)".
7.7.3 Speed limit


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

Control functions
7.8.1 USS communication

The SINAMICS V90 can communicate with the PLC through an RS485 cable with the
standard USS communication protocol. After the communication is established, you can
change the position setpoint and speed setpoint through the USS communication protocol.
The servo drive can also transmit the actual speed, torque, and alarm to the PLC through the
USS communication protocol.
Telegram format
The telegram format is shown as follows:
STX LGE ADR PKE IND PWE PWE BCC
STX: start of text

LGE: length
ADR: slave address
PKE: parameter ID
IND: sub-index
PWE: parameter value
BCC: block check character
Relevant parameters
You can access the following parameters by USS.
Parameter Description Parameter Description

p1001 Fixed speed setpoint 1 r0020 Speed setpoint smoothed
p1002 Fixed speed setpoint 2 r0021 Actual speed smoothed
p1003 Fixed speed setpoint 3 r0026 DC link voltage smoothed
p1004 Fixed speed setpoint 4 r0027 Absolute actual current smoothed
p1005 Fixed speed setpoint 5 r0031 Actual torque smoothed
p1006 Fixed speed setpoint 6 r0032 Active power actual value smoothed
p1007 Fixed speed setpoint 7 r0034 Motor utilization thermal
p2617[0...7] Fixed position setpoint r0807 Master control active
p2618[0...7] Speed of fixed position setpoint r2521 LR position actual value
p2572 IPos maximum acceleration r2556 LR position setpoint after setpoint
smoothing
Note
There is no priority when BOP, V-ASSISTANT, and USS access the same parameter at the
same time, the value of the parameter depends on the last access operation.

Control functions
Operating steps
Main step Sub step/comment

① Configure the setup and program the PLC.
② Configure the RS485 bus address by parameter The RS485 bus is used to transfer current absolute position of
p29004. the servo drive to the upper controller/PLC. You can configure
the slaver address from 1 to 31.
③ Select the USS communication protocol by parameter • p29007 = 0: no protocol
p29007.
• p29007 = 1: USS protocol
• p29007 = 2: Modbus protocol
④ Set the transmission baud rate by parameter p29009. • 5: 4800 baud

• 6: 9600 baud
• 7: 19200 baud
• 8: 38400 baud
• 9: 57600 baud
• 10: 76800 baud
• 11: 93750 baud
• 12: 115200 baud
• 13: 187500 baud
⑤ Set control mode for the drive.
⑥ Save the parameters and restart the drive.
⑦ Access the parameters via USS. For IPos control mode, you can change the following parame-
ters via USS:
• p2617[0...7], p2618[0...7], p2572, p2573
For S control mode, you can change the following parameter
via USS:
• p1001 to p1007
Ten monitor parameters can be read by USS:
• r0020, r0021, r0026, r0027, r0031, r0032, r0034, r0807,
r2556, and r2521
Note
The USS protocol communication libraries of S7-200, S7-200 SMART V1.0, and S7-1200 do
not support the communication with the SINAMICS V90 servo drive.

Control functions
7.8.2 Modbus communication
7.8.2.1 Overview
The SINAMICS V90 servo drive can communicate with the PLC through an RS485 cable by
using the standard Modbus communication protocol. There are two ways of sending a
message to a slave.
● Unicast mode (addresses 1 to 31): The master sends a message to a specific slave
directly.
● Broadcast mode (address 0): The master sends a message to all slaves at the same
time.
The broadcast mode cannot be used for an error request because all slaves cannot respond
at once.
For the Modbus data format, V90 supports Modbus RTU while Modbus ASCII is not
supported. Registers of the servo drive can be read by Modbus function code FC3 and
written via Modbus function code FC6 (single register) or FC16 (multiple registers).
Supported function codes

The SINAMICS V90 supports only three function codes. If a request with an unknown
function code is received, an error message is returned.
FC3 - Read holding registers

When a message with FC = 0x03 is received, then four bytes of data are expected, that is,
FC3 has four bytes of data:
● Two bytes for the starting address
● Two bytes for the number of registers
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Address FC (0x03) Start address Number of registers CRC
High Low High Low High Low
FC6 - Write single register

When a message with FC = 0x06 is received, then four bytes of data are expected, that is,
FC6 has four bytes of data:
● Two bytes for the register address
● Two bytes for the register value
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Address FC (0x06) Start address New register value CRC
High Low High Low High Low

Control functions
FC16 - Write multiple registers

When a message with FC = 0x10 is received, then 5 + N bytes of data are expected, that is,
FC16 has 5 + N bytes of data:
● Two bytes for the starting address
● Two bytes for the number of registers
● One byte for the byte count
● N bytes for the register values
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 7 Byte 8 Byte 9 Byte
+N +N +N 10 + N
Ad- FC Start address Number of regis- Num- Register N value CRC
dress (0x10) ters ber of
High Low High Low bytes High Low High Low
Mapping table
The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the
column access stand for read, write, read/write.
Modbus register Description Modbus Unit Scaling factor Range or Data/parameter

number access On/Off text
40100 Control word (PTI, IPos, R/W - 1 - Process data 1, re-
S, T, Fast PTI) ceive word, PZD1
40101 Speed setpoint (S) R/W - 0x4000 hex = - Process data 2, re-
100% × motor ceive word, PZD2
rated speed
40102 MDI position setpoint R/W LU 1 -2147482648 to Process data 3, re-
high word (IPos) 2147482647 ceive word, PZD3
40103 MDI position setpoint R/W LU 1 Process data 4, re-
low word (IPos) ceive word, PZD4
40104 MDI speed setpoint R/W 1000 1 1 to 40000000 Process data 5, re-
high word (IPos) LU/min ceive word, PZD5
40105 MDI speed setpoint low R/W 1000 1 Process data 6, re-
word (IPos) LU/min ceive word, PZD6
40110 Status word (PTI, IPos, R - 1 - Process data 1, send
S, T, Fast PTI) word, PZD1
40111 Actual speed (PTI, R - 0x4000 hex = - Process data 2, send
IPos, S, T, Fast PTI) 100% × motor word, PZD2
rated speed
40112 Actual position high R LU 1 -2147482648 to Process data 3, send
word (PTI, IPos, Fast 2147482647 word, PZD3
PTI)
40113 Actual position low word R LU 1 Process data 4, send
(PTI, IPos, Fast PTI) word, PZD4
40114 Actual speed high word R 1000 1 1 to 40000000 Process data 5, send
(PTI, IPos, Fast PTI) LU/min word, PZD5

Control functions

40115 Actual speed low word R 1000 1 Process data 6, send
(PTI, IPos, Fast PTI) LU/min word, PZD6
40200 DO 1 R/W - 1 HIGH/LOW r0747.0
40201 DO 2 R/W - 1 HIGH/LOW r0747.1
40202 DO 3 R/W - 1 HIGH/LOW r0747.2
40203 DO 4 R/W - 1 HIGH/LOW r0747.3
40204 DO 5 R/W - 1 HIGH/LOW r0747.4
40205 DO 6 R/W - 1 HIGH/LOW r0747.5
40220 AO 1 R % 100 -100.0 to 100.0 -
40221 AO 2 R % 100 -100.0 to 100.0 -
40240 DI 1 R - 1 HIGH/LOW r0722.0
40241 DI 2 R - 1 HIGH/LOW r0722.1
40242 DI 3 R - 1 HIGH/LOW r0722.2
40243 DI 4 R - 1 HIGH/LOW r0722.3
40244 DI 5 R - 1 HIGH/LOW r0722.4
40245 DI 6 R - 1 HIGH/LOW r0722.5
40246 DI 7 R - 1 HIGH/LOW r0722.6
40247 DI 8 R - 1 HIGH/LOW r0722.7
40248 DI 9 R - 1 HIGH/LOW r0722.8
40249 DI 10 R - 1 HIGH/LOW r0722.9
40260 AI 1 R % 100 -300.0 to 300.0 -
40261 AI 2 R % 100 -300.0 to 300.0 -
40280/40281 Enable DI simulation R/W - 1 HIGH/LOW p0795
(high part/low part)
40282/40283 Setpoint DI simulation R/W - 1 HIGH/LOW p0796
(high part/low part)
40300 Power stack code num- R - 1 0 to 32767 -
ber
40301 V90 OA version R - 1 e.g. 104xx for p29018[0]/100
V01.04.xx
40320 Rated power of the R kW 100 0.00 to 327.67 -
power unit
40321 Current limit R/W A 1 0.0 to 400.0 -
40322 Ramp-up time R/W s 100 0.0 to 650.0 p1120
40323 Ramp-down time R/W s 100 0.0 to 650.0 p1121
40324 Reference speed R rpm 1 6 to 32767 Motor rated speed
40325 Control mode R/W - 1 0 to 8 p29003
40326 Reference mode R/W - 1 0 to 4 p29240
40340 Speed setpoint R rpm 1 -16250 to r0020
16250
40341 Actual speed value R rpm 1 -16250 to r0021
16250
40344 DC-link voltage R V 1 0 to 32767 r0026

Control functions

40345 Actual current value R A 100 0 to 163.83 r0027
40346 Actual torque value R Nm 100 -325.00 to r0031
325.00
40347 Actual active power R kW 100 0 to 327.67 r0032
40348 Energy consumption R kWh 1 0 to 32767 -
40349 Control priority R - 1 Manual/Auto r0807
40350/40351 Position setpoint R LU 1 -2147482648 to r2556
2147482647
40352/40353 Actual position value R LU 1 -2147482648 to r2521[0]
2147482647
40354 Motor utilization R % 100 -320.00 to r0034
320.00
40400 Failure number, index 0 R - 1 0 to 65535 -
40408 Alarm number R - 1 0 to 65535 -
40601 DS47 Control R/W - - - -
40602 DS47 header R/W - - - -
40603 DS47 data 1 R/W - - - -
... ...
40722 DS47 data 120 R/W - - - -
40800/40801 Fixed position setpoint R/W LU 1 -2147482648 to p2617[0]
1 2147482647
2 2147482647
3 2147482647
4 2147482647
5 2147482647
6 2147482647
7 2147482647
8 2147482647
40840/40841 Speed of the fixed posi- R/W 1000 1 1 to 40000000 p2618[0]
tion 1 LU/min

Control functions

tion 2 LU/min
tion 3 LU/min
tion 4 LU/min
tion 5 LU/min
tion 6 LU/min
tion 7 LU/min
tion 8 LU/min
40880/40881 IPos maximum acceler- R/W 1000 1 1 to 2000000 p2572
ation LU/s2
40882/40883 IPos maximum deceler- R/W 1000 1 1 to 2000000 p2573
ation LU/s2
40884/40885 IPos jerk limiting R/W 1000 1 1 to 100000000 p2574
LU/s3
40886/40887 IPos reference point R/W LU 1 -2147482648 to p2599
coordinate value 2147482647
40900 Fixed speed setpoint 1 R/W - 0x4000 hex = -210000.000 to p1001
100% × motor 210000.00
rated speed
100% × motor 210000.00
rated speed
100% × motor 210000.00
rated speed
100% × motor 210000.00
rated speed
100% × motor 210000.00
rated speed
100% × motor 210000.00
rated speed
100% × motor 210000.00
rated speed
40934 MDI acceleration over- R/W % 100 0.1 to 100 p2692
ride
40935 MDI deceleration over- R/W % 100 0.1 to 100 p2693
ride
40950 Fixed torque setpoint R/W % 100 -100 to 100 p29043

Control functions

40960/40961 Number of pulses per R/W - 1 0 to 16777215 p29011
revolution
40962/40963 Numerator of electronic R/W - 1 1 to 10000 p29012[0]
gear 0
gear 1
gear 2
gear 3
40970/40971 Denominator of the R/W - 1 1 to 10000 p29013
electronic gear
Parameter scaling
Due to the limits of the integer data in the Modbus protocol, it is necessary to convert the
drive parameters before transmitting them. This is done by scaling, so that a parameter,
which has a position after decimal point, is multiplied by a factor, to get rid of the fractional
part. The scaling factor is as defined in the above table.
7.8.2.2 Cyclic communication
Operating steps
Description Comment
① Configure the RS485 bus address by parameter You can configure the slave address from 1 to 31.
p29004.
② Select the communication protocol by parameter • p29007 = 0: No protocol
p29007.
• p29007 = 1: USS protocol
• p29007 = 2: Modbus protocol
③ Select the command and setpoint source by parame- • p29008 = 1: Setpoint and control word from Modbus PZD
ter p29008.
• p29008 = 2: No control word.
④ Set the transmission baud rate by parameter p29009. • 5: 4800 baud

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

Control functions
Description Comment
⑤ Set the monitor time for Modbus by parameter Sets the monitoring time to monitor the process data received
p29019. via the RS485 interface. If no process data is received within
this time, then F1910 is output.
The default value of p29019 is 0. If p29019 = 0, monitoring is
deactivated.
⑥ Set control mode for the drive by p29003.
⑦ Save the parameters and restart the drive.
⑧ Configure the PLC parameters. Note:

Keep the PLC baud rate the same as the drive setting.
Set even parity check for the PLC.
⑨ Set a way for PLC sending message to slaves. Note:
For broadcast mode, you need to set the slave address to 0
on the PLC side.
For unicast mode, you need to set the desired target slave
address on the PLC side. For example, if you want to send
the message to slave 1, you need to set the slave address to
1 on the PLC side.
⑩ Write the control word via PLC. Note:
Bit 10 of the register 40100 must be set to 1 to allow the PLC
to control the drive.
You need to trigger a rise edge for OFF1 to enable SON sta-
tus for the motor, and OFF2 and OFF3 must be set to 1. The
step must be executed when you enable SON for the first
time.
⑪ Write the setpoint and read the status word via PLC.
Example 1
This example shows the operating procedures when we use the setpoint and control word
from Modbus (p29008 = 1) as the Modbus control source in S control mode.
1. Set RS485 bus address for the drive.

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

Control functions
7. Configure the PLC parameters.
Note:
Set even parity check for the PLC (parity = 2).
8. Set a way for PLC sending message to slaves. Here we use the unicast mode and we
only want to send the message to slave 1.
Note:
If you want to send the message to all slaves, you need to set the slave address to 0
to use the broadcast mode.

Control functions
9. Write the control word you desired via the register 40100.
Note:
Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive.
You need to trigger a rise edge for OFF1 to enable SON status for the motor, and
OFF2 and OFF3 must be set to 1. The step must be executed when you enable SON
for the first time.
For example, we write 0x41E to the register 40100 firstly and then write 0x41F to the
register. The motor now is in SON status. You can check the control word definition
table below to see the meaning of "0x41E" and "0x41F".
10. Write the speed setpoint via the register 40101.
Note:
You can calculate the actual speed value with the scale factor. Value 0x4000 repre-
sents the value of 100% × motor rated speed. Therefore, 0x2000 represents half of
the motor rated speed.
Example 2
This example shows the operating procedures when no control word (p29008 = 2) is used in
S control mode.

• p29004 = 1
• p29007 = 2
• p29008 = 2
• p29009 = 8 (38400 baud)

Control functions
5. Set the drive work mode to S control mode.

Note:
Note:
9. Set the motor to SON status.
You can servo on the motor with external terminal DI signal or simulated DI signal
(registers 40280/40281 and 40282/40283).

Control functions
10. Write the speed setpoint via the register 40101.
Note:
You can calculate the actual speed value with the scale factor. Value 0x4000 repre-
sents the value of 100% × motor rated speed. Therefore, 0x2000 represents half of
the motor rated speed.
Example 3
This example shows the operating procedures when we use the setpoint and control word
from Modbus (p29008 = 1) as the Modbus control source in IPos control mode.

• p29004 = 1
• p29007 = 2
• p29008 = 1
• p29009 = 8 (38400 baud)
5. Set the drive work mode to IPos control mode.
Note:

Control functions
Note:
9. Write the control word you desired via the register 40100.
Note:
Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive.
You need to trigger a rise edge for OFF1 to enable SON (0→1) status for the motor,
and OFF2 and OFF3 must be set to 1. The step must be executed when you enable
SON for the first time.
For example, we write 0x46E to the register 40100 firstly and then write 0x46F to the
register. The motor now is in SON status. You can check the control word definition
table below to see the meaning of "0x46E" and "0x46F".
10. Implement referencing for the drive.
Keep the drive in SON status and implement referencing by writing the control word
40100.
11. Write the position setpoint, speed setpoint, acceleration override, and deceleration
override via the registers 40102, 40103, 40104, 40105, 40934 and 40935.

Control functions
Process data overview
Control mode PTI/Fast PTI IPos S T

Control 40100 PTI/Fast PTI mode IPos mode control word S mode control word T mode control word
data control word
40101 - - Speed setpoint -
40102 - Position setpoint high word - -
40103 - Position setpoint low word - -
Status 40110 Status word Status word Status word Status word
data 40111 Actual speed Actual speed Actual speed Actual speed
40112 Actual position high Actual position high word - -
word
40113 Actual position low Actual position low word - -
word
Definition of the register 40100
Bit PTI/Fast PTI control mode IPos control mode

Signals Description Signals Description
0 SON_OFF1 Rising edge to enable SON (pulses can SON_OFF1 Rising edge to enable SON (pulses can
be enabled). be enabled).
0: OFF1 (braking with ramp-function 0: OFF1 (braking with ramp-function
generator, then pulse cancellation, ready generator, then pulse cancellation, ready
to power up) to power up)
1 OFF2 1: No OFF2 (enable is possible) OFF2 1: No OFF2 (enable is possible)
0: OFF2 (immediate pulse cancelation 0: OFF2 (immediate pulse cancelation
and power on inhibit) and power on inhibit)
0: OFF3 (fast braking then pulse cancela- 0: OFF3 (fast braking then pulse cancela-
tion and power on inhibit) tion and power on inhibit)
3 OPER 1: Enable operation (pulses can be ena- OPER 1: Enable operation (pulses can be ena-
bled) bled)
0: Inhibit operation (cancel pulses) 0: Inhibit operation (cancel pulses)
4 Reserved - SETP_ACC Rising edge to accept MDI setpoint
5 Reserved - TRANS_TY 1: Accept new setpoint immediately
PE SE 0: Accept on rising edge of SETP_ACC
6 Reserved - POS_TYP 1: Absolute positioning
0: Relative positioning
7 RESET Reset faults RESET Reset faults
8 Reserved - Reserved -
10 PLC Enable master control from the PLC PLC Enable master control from the PLC
13 Reserved - SREF Start referencing (act as REF for refer-
ence mode 0)

Control functions
Bit S control mode T control mode

Signals Description Signals Description
0 SON_OFF1 Rising edge to enable SON (pulses can SON_OFF1 Rising edge to enable SON (pulses can
be enabled). be enabled).
0: OFF1 (braking with ramp-function
generator, then pulse cancellation, ready
to power up)
0: OFF2 (immediate pulse cancelation 0: OFF2 (immediate pulse cancelation
and power on inhibit) and power on inhibit)
2 OFF3 1: no OFF3 (enable is possible) OFF3 1: no OFF3 (enable is possible)
0: OFF3 (fast braking then pulse cancela- 0: OFF3 (fast braking then pulse cancela-
tion and power on inhibit) tion and power on inhibit)
3 OPER 1: Enable operation (pulses can be ena- OPER 1: Enable operation (pulses can be ena-
bled) bled)
0: Inhibit operation (cancel pulses) 0: Inhibit operation (cancel pulses)
4 EN_RAMP 1: Operating condition (the ramp function Reserved -
generator can be enabled)
0: Inhibit ramp function generator (set the
ramp function generator output to zero)
7 RESET Reset faults RESET Reset faults
10 PLC Enable master control from the PLC PLC Enable master control from the PLC
11 Rev Direction of rotation reversal Reserved -
Note
The following signals are occupied by Modbus control word when you use the setpoint and
control word from Modbus as the Modbus control source (p29008 = 1). They can only be
enabled by Modbus control word while cannot be enabled by external DI terminals.
• PTI/Fast PTI control mode: SON
• IPos control mode: SON, SREF (REF for reference mode 0)
• S control mode: SON, CWE/CCWE
• T control mode: SON

Control functions
Note
In IPos control mode, when the relative positioning mode is selected, the method for
accepting MDI setpoint must be a rising edge (bit 5 = 0); otherwise, fault F7488 occurs.
Note
In IPos control mode, when you implement the absolute positioning for the modular axis with
Modbus, you can select the MDI direction with parameter p29230.
Note
In T control mode, the motor cannot be stopped with OFF1 via Modbus.
Note
All the reserved bits in register 40100 must be set to 0.
Definition of register 40110
Bit PTI, Fast PTI, IPos, S and T control modes

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

Control functions
DI simulation
The digital input signals can be simulated by Modbus with registers 40281 and 40283.
Digital input DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10
Register Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9
40281 (p0795)
40283 (p0796)
● Set the simulation mode for DIs with register 40281

Bit 0 to bit 9 of register 40281 can be used to set the simulation mode for DI1 to DI 10.
For example, if you want to simulate DI1 with Modbus, you need to set bit 0 = 1 for
register 40281.
● Set the setpoint for DIs with register 40283
Bit 0 to bit 9 of register 40283 can be used to set the setpoint for the simulated DI signals.
After the DI simulation mode is set, you can set the setpoint for a DI signal with register
40283 to enable the DI signal. For example, if you have set bit 0 = 1 for register 40281, to
enable signal DI1, you need to set the trigger condition (rising edge or high level) for bit 0
of register 40283.
DI simulation example in S control mode
In S control mode, the default digital input signal assignment is as follows:
Digital input DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10
Signal SON REST CWL CCWL CWE CCWE SPD1 SPD2 EMGS C-
MODE
40281 (p0795)
40283 (p0796)
For more information about the DI assignment, refer to "Digital inputs/outputs (DIs/DOs)
(Page 115)".
● Set the simulation mode for DI1
To simulate DI1 with Modbus, you need to set bit 0 = 1 for register 40281.
● Set the setpoint for DI1
After the simulation mode of DI1 is set, you can set the setpoint for DI1 with register
40283 to enable the DI signal.
In S control mode, DI1 is assigned with SON by default, so we need to trigger a rising
edge to enable the SON signal. Set bit 0 = 0 for register 40283 and then set the bit to 1. A
rising edge is triggered. The motor is now in "S ON" state.
7.8.2.3 Acyclic communication

The SINAMICS V90 servo drive supports acyclic communication via data set 47.

Control functions
The maximum data length per request is 240 bytes.
Note
Values in italics
Values in italics in the following tables mean that you have to adjust these values for a
specific request.
Data block setting
Reading parameter values

The table below formats a request to read parameters.
Data block Byte n Bytes n + 1 n

Header Reference 00 hex ... FF hex 01 hex: Read job 0
02 hex (ID of drive objects, at V90 always = 2) Number of parameters (m) 2
Address, parameter 1 Attribute Number of the indices 4
10 hex: Parameter value 00 hex ... EA hex
(For parameters without index: 00 hex)
Parameter number 0001 hex ... FFFF hex 6
Number of the 1st Index 0000 hex ... FFFF hex 8
(for parameters without index: 0000 hex)
… …
Address, parameter 2 … …
… … …
Address, parameter m … …

Control functions
The table below formats the drive response to a read request.

Header Reference (identical to a read request) 01 hex: Drive has executed the read request. 0
81 hex: Drive was not able to completely
execute the read request.
02 hex (ID of drive objects, at V90 always = 2) Number of parameters (m) 2
(identical to the read request)
Values, parameter 1 Format Number of index values or - for a negative 4
02 hex: Integer8 response - number of error values
03 hex: Integer16
04 hex: Integer32
05 hex: Unsigned8
06 hex: Unsigned16
07 hex: Unsigned32
08 hex: FloatingPoint
0A hex: OctetString
0D hex: TimeDifference
34 hex: TimeOfDay without date indication
35 hex: TimeDifference with date indication
36 hex: TimeDifference without date indication
41 hex: Byte
42 hex: Word
43 hex: Double word
44 hex: Error
Value of the 1st Index or - for a negative response- Error value 1 6
You can find the error values in the table at the end of this section.
… …
Values, parameter 2 …
… …
Values, parameter m …
Changing parameter values

The table below formats a request to change parameters.

Header Reference 00 hex ... FF hex 02 hex: Change request 0
02 hex (ID of drive objects, at V90 always = 2) Number of parameters (m) 01 hex ... 27 hex 2
Address, parameter 1 10 hex: Parameter value Number of indices 4
00 hex ... EA hex
(00 hex and 01 hex are equivalents)
Parameter number 0001 hex ... FFFF hex 6
Number of the 1st Index 0001 hex ... FFFF hex 8
… …
Address, parameter 2 …
… … …
Address, parameter m …

Control functions

Values, parameter 1 Format Number of index values
02 hex: Integer 8 00 hex ... EA hex
03 hex: Integer 16
04 hex: Integer 32
05 hex: Unsigned 8
06 hex: Unsigned 16
07 hex: Unsigned 32
08 hex: Floating Point
0A hex: Octet String
0D hex: Time Difference
34 hex: TimeOfDay without date indication
35 hex: TimeDifference with date indication
36 hex: TimeDifference without date indication
41 hex: Byte
42 hex: Word
43 hex: Double word
Value of the 1st Index
…
Values, parameter 2 …
… …
Values, parameter m …
The table below formats the response when the drive has executed the change request.

Header Reference (identical to a change request) 02 hex (change request successful) 0
02 hex (ID of drive objects, at V90 always = 2) Number of parameters (identical to a change 2
request)
The table below formats the response when the drive was not able to completely execute the
change request.

Header Reference (identical to a change request) 82 hex: (Drive was not able to completely 0
execute the write request)
02 hex (ID of drive objects, at V90 always = 2) Number of parameters (identical to a change 2
request)
Values, parameter 1 Format Number of error values 4
40 hex: Zero (change request for this data 00 hex
block executed)
44 hex: Error (change request for this data 01 hex or 02 hex
block not executed)
Only for "Error" - error value 1 6
You can find the error values in the table at the end of this section.
Only for "Error" - error value 2 8
Error value 2 is either zero, or it contains the number of the first index where the error oc-
curred.
Values, parameter 2 ...
... … …
Values, parameter m ...

Control functions
Error values
See the table below for error values in the parameter response.
Error Meaning
value 1
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value limits)
03 hex Incorrect subindex (access to a parameter index that does not exist)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element that cannot be changed)
09 hex Description data not available (access to a description that does not exist, parameter value is available)
0B hex No master control (change request but with no master control)
0F hex Text array does not exist (although the parameter value is available, the request is made to a text array that
does not exist)
11 hex Request cannot be executed due to the operating state (access is not possible for temporary reasons that are
not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal for other permanent
reasons, i.e. a parameter with defined individual values)
15 hex Response too long (the length of the actual response exceeds the maximum transfer length)
16 hex Illegal parameter address (illegal or unsupported value for attribute, number of elements, parameter number,
subindex or a combination of these)
17 hex Illegal format (change request for an illegal or unsupported format)
18 hex Number of values not consistent (number of values of the parameter data to not match the number of elements
in the parameter address)
19 hex Drive object does not exist (access to a drive object that does not exist)
20 hex Parameter text cannot be changed
21 hex Service is not supported (illegal or not support request ID)
6B hex A change request for a controller that has been enabled is not possible (The drive rejects the change request
because the motor is switched on. Please observe the "Can be changed" parameter attribute (U, T) in
Section "Parameter list (Page 346)".)
6C hex Unknown unit
77 hex Change request is not possible during download
81 hex Change request is not possible during download
82 hex Accepting the master control is inhibited
83 hex Desired interconnection is not possible (the connector output does not supply a float value although the con-
nector input requires a float value)
84 hex Drive does not accept a change request (drive is busy with internal calculations)
85 hex No access methods defined
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies within the "absolute" limits,
but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for the drive power)
CC hex Change request not permitted (change is not permitted as the access code is not available)

Control functions
Examples
Via FC 16, with one request, up to 122 registers can be written to directly one after the other.
Header
In addition to the slave address, enter the transfer type, the start address and the number of
the following registers in the header.
User data
You control the access in the user data via register 40601.
In register 40602, you define the acyclic access as well as the length of the request data.
Register 40603 contains the request reference, which is defined by the user, and the access
type reading or writing.
From register 40603 and higher, the request aligns acyclic communication via data set 47.
Register 40604 contains the number of the drive object (for V90 always 2) and the number of
parameters that are read out or written to.
Register 40605 contains the attribute (for V90 always 0x10). In the number of elements you
specify how many indices are read.
Example: p1215 and p1120 read acyclically

The table below formats a request to read the parameter values of p1215 and p1120 from
slave number 1.
Byte Description
Header
01 h 0 Slave address
10 h 1 Function code (write multiple)
0258 h 2,3 Register start address
000A h 4,5 Number of registers to be read (40601 … 40610)
14 h 6 Number of data bytes (10 registers, each 2 bytes = 20
bytes)
User data
0001 h 7,8 40601: DS47 Control = 1 (activate request)
2F10 h 9,10 40602: Function 2F h (47), request length 16 bytes (10 h)
8001 h 11,12 40603: Request reference = 80 h, request identifier = 1 h
0202 h 13,14 40604: V90 = 2 h, number of parameters = 2
1001 h 15,16 40605: Attribute, number of elements of the first parame-
04BF h 17,18 ter
0000 h 19,20 40606: First parameter number = p1215
1001 h 21,22 40607: First parameter subindex = 0
0460 h 23,24 40608: Attribute, number of elements of the second parame-
0000 h 25,26 ter
40609: Second parameter number = p1120
40610: Second parameter subindex = 0

Control functions
Write the PLC command from registers 40601 to 40610:
The table below formats a response for successful read operation.
Byte Description
Header
03 h 1 Function code (read)
20 h 2 Number of following data bytes (20 h: 32 bytes ≙ 16 registers)
User data
0002 h 3,4 40601: DS47 Control = 2 (request was executed)
2F0E h 5,6 40602: Function code 2F h (47), response lengths 14 bytes (0e h)
8001 h 7,8 40603: Request reference mirrored = 80 h,
response identifier = 1 (request parameter)
0301 h 11,12 40605: Format, number of elements of the first parameter
0001 h 13,14 40606: First parameter value = 1
0801 h 15,16 40607: Format, number of elements of the second parameter
4142 h 17,18 40608: Second parameter value = 12.15 (41426666 h)
6666 h 19,20 40609: Second parameter value

Control functions
The table below formats a response for unsuccessful read operation (read request still not
completed).
Byte Description
Header
User data
0001 h 3,4 40601: Check value 1 = request is processed
2F00 h 5,6 40602: Function 2F h(47), response length 0 (fault)
0004 h 7,8 40603: Error code: 0004 Response Not Ready (response has still not been
issued)
Example: Set p1121 = 11.28 and p29130 = 2

The table below formats a request to write the parameter values of p1121 and p29130 from
slave number 1.
Byte Description
Header
10 h 1 Function code (write multiple)
0258 h 2,3 Register start address
000A h 4,5 Number of registers to be written to (40601 … 40615)
1E h 6 Number of data bytes (15 registers, each 2 bytes = 30 bytes)
User data
0001 h 7,8 40601: ds47=1 (activate request)
2F1A h 9,10 40602: Function 2F h (47), request length 26 bytes (1A h)
8002 h 11,12 40603: Request reference = 80 h, request identifier = 2 h (write)
1001 h 15,16 40605: Attribute, number of elements of the first parameter
0461 h 17,18 40606: First parameter number = p1121
0000 h 19,20 40607: First parameter subindex = 0
1001 h 21,22 40608: Attribute, number of elements of the second parameter
71CA h 23,24 40609: Second parameter number = p29130
0000 h 25,26 40610: Second parameter subindex = 0
0801 h 27,28 40611: Format, number of values of the first parameter
4134 h 29,30 40612: First parameter value 11.28 (41347AE1 h)
7AE1 h 31,32 40613: First parameter value
0301 h 33,34 40614: Format, number of values of the second parameter
0002 h 35,36 40615: Second parameter value 2

Control functions
The table below formats a response for successful write operation.
Byte Description
Header
User data
0002 h 3,4 40601: DS47 Control = 2 (request was executed)
2F04 h 5,6 40602: Function code 2F h (47), response length 4 bytes
8002 h 7,8 40603: Request reference mirrored = 80 h,
response identifier = 2 (change parameter)

Control functions
7.9 Absolute position system
The table below formats a response for unsuccessful write operation (write request still not
completed).
Byte Description
Header
User data
0001 h 3,4 40601: DS47 Control = 1 (request is processed)
2F00 h 5,6 40602: Function 2F h(47), response length 0 (fault)
0004 h 7,8 40603: Error code: 0004 Response Not Ready (response has still not been
issued)
7.9.1 Overview
When the SINAMICS V90 servo drive uses a servo motor with an absolute encoder. the
current absolute position can be detected and transmitted to the controller. With this function
of the absolute position system, you can perform motion control task immediately after the
servo system is powered on, which means you do not have to carry out referencing or zero
position operation beforehand.
Restrictions
The absolute position system cannot be configured under the following conditions:
● Internal position control (IPos)
● Speed control (S)
● Torque control (T)
● Fast pulse train input position control (Fast PTI)
● Control change mode
● Strokeless coordinate system, for example, rotary shaft, infinitely long positioning
operation

Control functions
● Change of electronic gear after referencing

● Use of alarm code output
7.9.2 Transmitting sequence for the absolute position data

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

① Set PTI control mode. Set p29003 = 0.
② Enable absolute position mode. Set p29250 = 1.
③ Configure relative parameters. 1. Set PTI input parameters (p29010 to p29014).

2. Set electrical gear p29012 and p29013.
④ Referencing with the BOP or SINAMICS V-ASSISTANT. 1. Run the servo motor for a proper distance.
NOTE: 2. Adjust the absolute encoder with the BOP menu function
You must perform the referencing operation under the "ABS" or SINAMICS V-ASSISTANT.
following conditions:
• System setup is performed.
• The servo drive has been changed.
• The servo motor has been changed.
• An alarm occurs.

Control functions

⑤ Select a communication protocol with p29007. Set value for p29007.
• 0: no protocol
• 1: USS protocol
• 2: Modbus protocol
⑥ Configure the parameters for selected communication 1. Set RS485 address (p29004).
protocol. 2. Set baud rate (p29009).
3. Set the command and setpoint source if you use Mod-
bus protocol (p29008).
⑦ Save the parameters and restart the drive.

⑧ Start transmitting.
⑨ Transmit the calibration status of the absolute encoder 1. Turn on the servo-on enable signal (SON).
to the PLC. 2. The PLC checks the standstill status and alarm status
through the digital output of the servo drive.
3. If there is no alarm and the motor is in standstill status,
the PLC sends a data request to the servo drive through
the RS485 cable.
4. In response to the data request from PLC, the servo
drive transmits calibration status (p2507[0]=3) of encod-
er to the PLC.
⑩ Transmit the absolute position data to the PLC. 1. If the absolute encoder is calibrated, and meanwhile, the
servo drive is ready (the digital output RDY is logic 1)
and in standstill status (the digital output signal INP is
logic 1), the PLC sends a data request to the drive
through the RS485 cable.
2. In response to the data request from the PLC, the servo
drive transmits the absolute position data (r2521) to the
PLC.

Safety Integrated function 8
8.1 Standards and regulations
8.1.1 General information
8.1.1.1 Aims
Manufacturers and operating companies of equipment, machines, and products are
responsible for ensuring the required level of safety. This means that plants, machines, and
other equipment must be designed to be as safe as possible in accordance with the current
state of the art. To ensure this, companies describe in the various standards the current
state of the art covering all aspects relevant to safety. When the relevant Standards are
observed, this ensures that state-of-the-art technology has been utilized and, in turn, the
erector/builder of a plant or a manufacturer of a machine or a piece of equipment has fulfilled
his appropriate responsibility.
Safety systems are designed to minimize potential hazards for both people and the
environment by means of suitable technical equipment, without restricting industrial
production and the use of machines more than is necessary. The protection of man and
environment must be assigned equal importance in all countries, which is it is important that
rules and regulations that have been internationally harmonized are applied. This is also
designed to avoid distortions in the competition due to different safety requirements in
different countries.
There are different concepts and requirements in the various regions and countries of the
world when it comes to ensuring the appropriate degree of safety. The legislation and the
requirements of how and when proof is to be given and whether there is an adequate level of
safety are just as different as the assignment of responsibilities.
The most important thing for manufacturers of machines and companies that set up plants
and systems is that the legislation and regulations in the country where the machine or plant
is being operated apply. For example, the control system for a machine that is to be used in
the US must fulfill local US requirements even if the machine manufacturer (OEM) is based
in the European Economic Area (EEA).

Safety Integrated function
8.1.1.2 Functional safety

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

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

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

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

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

Type C standards/product standards

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

If the functional safety of a machine depends on various control functions, the controller must
be implemented in such a way that the probability of the safety functions failing is sufficiently
minimized. EN ISO 13849-1 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 control EN ISO 13849-1 EN 62061

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

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

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.

8.1.2.6 Series of standards EN 61508 (VDE 0803)

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

Risks are intrinsic in machines due to their design and functionality. For this reason, the
Machinery Directive requires that a risk assessment be performed for each machine and, if
necessary, the level of risk reduced until the residual risk is less than the tolerable risk. To
assess these risks, the following standards must be applied:
EN ISO 12100-1 "Safety of Machinery - basic terminology, general principles for design"
EN ISO 13849-1 "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.

8.1.2.8 Risk reduction

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

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

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

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

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

To protect employees, all electrical equipment used in the USA must be certified for the
planned application by a "Nationally Recognized Testing Laboratory" (NRTL) certified by the
OSHA. NRTLs are authorized to certify equipment and material by means of listing, labeling,
or similar. Domestic standards (e.g. NFPA 79) and international standards (e.g. IEC/EN
61508 for E/E/PES systems) are the basis for testing.
8.1.3.3 NFPA 79
Standard NFPA 79 (Electrical Standard for Industrial Machinery) applies to electrical
equipment on industrial machines with rated voltages of less than 600 V. A group of
machines that operate together in a coordinated fashion is also considered to be one
machine.
For programmable electronics and communication buses, NFPA 79 states as a basic
requirement that these must be listed if they are to be used to implement and execute safety-
related functions. If this requirement is fulfilled, then electronic controls and communication
buses can also be used for Emergency Stop functions, Stop Categories 0 and 1 (refer to
NFPA 79 9.2.5.4.1.4). Like EN 60204-1, NFPA 79 no longer specifies that the electrical
energy must be disconnected by electromechanical means for emergency stop functions.
The core requirements regarding programmable electronics and communication buses are:
system requirements (see NFPA 79 9.4.3)

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

● In the event of a single fault
– cause the system to switch to a safe shutdown mode
– prevent the system from restarting until the fault has been rectified
– prevent an unexpected restart
● Offer the same level of protection as hard-wired controllers
● Be implemented in accordance with a recognized standard that defines the requirements
for such systems.
2. IEC 61508, IEC 62061, ISO 13849-1, ISO 13849 2 and IEC 61800-5-2 are specified as
suitable standards in a note.
Underwriter Laboratories Inc. (UL) has defined a special category for "Programmable Safety
Controllers" for implementing this requirement (code NRGF). This category covers control
devices that contain software and are designed for use in safety-related functions.
A precise description of the category and a list of devices that fulfill this requirement can be
found on the Internet at the following address:
http://www.ul.com → certifications directory → UL Category code/ Guide information → search
for category "NRGF"
TUV Rheinland of North America, Inc. is also an NRTL for these applications.
8.1.3.4 ANSI B11

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

ISO12100-1 JIS B 9700-1 Earlier designation TR B 0008
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.
8.1.4 Machine safety in Japan

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

ISO14121- 1 / EN1050 JIS B 9702
ISO13849-1 JIS B 9705-1
ISO13849-2 JIS B 9705-1
IEC 60204-1 JIS B 9960-1 Without annex F or route map of the Euro-
pean foreword
IEC 61508-0 to -7 JIS C 0508
IEC 62061 JIS number not yet assigned
8.1.5 Equipment regulations

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

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

The Safe Torque Off (STO) is a safety function that prevents the drive from restarting
unexpectedly, in accordance with EN 60204-1:2006 Section 5.4.
The STO function is in conformance with the IEC 61508, SIL2 standard, in the operating
mode with a high demand, Category 3 and Performance Level d (PL d) acc. to ISO 13849-
1:2015, 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 161)".
8.3 System features
8.3.1 STO functional safety data

The STO functional safety data of SINAMICS V90 is as follows:
Applied standards IEC 61508, IEC 62061, ISO 13849-1

Type A
Safety Integrity Level (SIL) 2
Hardware Fault Tolerance (HFT) 1
Probability of Failure per Hour (PFH) 5 × 10-8 per hour
8.3.2 Certification
The safety function of the SINAMICS V90 drive system meets the following requirements:
● Category 3 according to ISO 13849-1:2015
● Performance Level (PL) d to ISO 13849-1:2015
● Safety integrity level 2 (SIL 2) to IEC 61508

8.3 System features
In addition, the safety function of SINAMICS V90 has been certified by independent
institutes. An up-to-date list of certified components is available on request from your local
Siemens office.
8.3.3 Safety instructions
Note
Residual risks not specified in this section are included in the chapter "Fundamental safety
instructions (Page 13)".
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.

8.3 System features
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.
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.
8.3.4 Probability of failure of the safety function
Probability of failure per hour (PFH)

The probability of the failure of safety functions must be specified in the form of a PFH value
in accordance with IEC 61508, IEC 62061, and ISO 13849-1:2015. 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 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 drive system is 5 × 10-8 per hour.

8.3 System features
Hardware fault tolerance (HFT)

The HFT value of SINAMICS V90 drive system is one. It means that the system can handle
one fault without brake down. SINAMICS V90 STO function is a subsystem from type A, and
only the discrete components are involved in the STO function.
8.3.5 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.
8.3.6 Residual risk

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

8.4 Safety Integrated basic functions
8.4.1 Safe Torque Off (STO)

In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO)
function is used to safely disconnect and de-energize the torque-generating energy feed to
the motor.
When the function is selected, the drive unit is in a "safe status". The switching on inhibited
function prevents the drive unit from being restarted.
The two-channel pulse suppression function integrated in the Motor Modules/power 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.
8.4.2 Forced dormant error detection
Forced dormant error detection or test of the switch-off signal paths for Safety Integrated Basic
Functions
The forced dormant error detection function at the switch-off signal paths is used to detect
software/hardware faults at both monitoring channels in time and is automated by means of
activation/deactivation of the "Safe Torque Off" function.
To fulfill the requirements of ISO 13849-1:2015 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 9
9.1 Controller overview
The SINAMICS V90 servo drive consists of three control loops:
● Current control
● Speed control
● Position control
The following block diagram shows the relationship between these three control loops:
In theory, frequency width of the inside control loop must be wider than that of the outer
control loop; otherwise, the whole control system can vibrate or have a low response level.
The relationship between the frequency widths of these three control loops is as follows:
Current loop > speed loop > position loop
Since the current loop of SINAMICS V90 servo drive already has a perfect frequency width,
it is only necessary for you to adjust the speed loop gain and the position loop gain.

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

p29110[0] 0.00 to Motor de- 1000/mi Position loop gain 1
300.00 pendent n
p29110[1] 0.00 to 1.00 1000/mi Position loop gain 2
300.00 n
● 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] 0 to 999999 Motor de- Nms/rad Speed loop gain 1
pendent
p29120[1] 0 to 999999 0.3 Nms/rad Speed loop gain 2
● Speed loop integral gain

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

p29121[0] 0 to 100000 15 ms Speed loop integral time 1
p29022 1 to 10000 1 - Load moment of inertia ratio
● Position loop feed forward gain

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

p29111 0.00 to 0 % Position loop feed forward gain
200.00

Tuning
9.2 Tuning mode
9.2 Tuning mode

Responsivity of a machine can be optimized by tuning. The responsivity is reflected by
dynamic factor and determined by the servo gains that is set in the servo drive.
The servo gains are set by using a combination of parameters. These parameters influence
each other so you must consider the balance between set values when setting these values.
Generally, the responsivity of a machine with high rigidity can be improved by increasing the
servo gains; however, if the servo gains of a machine with low rigidity are increased, the
machine can vibrate and the responsivity cannot be improved.
NOTICE
Effectiveness of servo gains
The tuning function only uses the first group of servo gains (position loop gain 1, speed
loop gain 1 and speed loop integral time 1).
The following tuning functions are available for the SINAMICS V90 servo drive.
Select a tuning mode by setting the parameter p29021.
Parameter Setting value Description

p29021 0 (default) Auto tuning is disabled (manual tuning) without changing servo
gains relevant parameters.
1 One-button auto tuning. Identify the ratio of load moment of iner-
tia 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 modes
The SINAMICS V90 supplies two auto-tuning modes: one-button auto tuning and real-time
auto tuning. The auto tuning function can optimize control parameters with ratio of machine
load moment of inertia (p29022) and set suitable current filter parameters to suppress the
machine resonance automatically. You can change the dynamic performance of the system
by setting different dynamic factors.
● One-button auto tuning
One-button auto tuning estimates the machine load moment of inertia and mechanical
characteristics with internal motion commands. To achieve the desired performance, you
can execute the process many times before you control the drive with the host controller.
The maximum speed is limited by the rated speed.
● Real-time auto tuning
Real-time auto tuning estimates the machine load moment of inertia automatically while
the drive is running with the host controller command. After enabling the servo on (SON),
the real-time auto tuning function stays effective for the servo drive. If you do not need to
estimate the load moment of inertia continuously, you can disable the function when the
system performance is acceptable.

Tuning
9.3 One-button auto tuning
For IPos control mode, if you have obtained the machine load inertia (p29022) and desired
dynamic performance with tuned dynamic factor, you can set the drive to the servo off state
and set p29025.5 = 1 to make sure that there is no position overshoot on the axis.
You are recommended to save the tuned parameters when the tuning is completed and the
drive performance is acceptable.
Tuning with SINAMICS V-ASSISTANT

You are recommended to perform tuning with the engineering tool SINAMICS V-
ASSISTANT. For more information, refer to SINAMICS V-ASSISTANT Online Help.
Note
The function is valid for firmware version V1.04.00 and higher.
Note
Before using the one-button auto tuning, move the servo motor to the middle of mechanical
position to avoid approaching the actual machine position limit.
Pre-conditions for one-button auto tuning

● The ratio of machine load moment of inertia is 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

Tuning
One-button auto tuning procedure

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

p29020[0...1] 1 to 35 18 - The dynamic factor of auto tuning
• [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 ms Test signal duration
p29027 0 to 30000 0 ° 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. After tuning is completed, you need to manually
set the same position loop gains (p29110 [0]) for them if the tuning results are different.
You can configure the dynamic factor of the servo system with the parameter p29020.
Higher dynamic factor means higher tracking ability and shorter settling time but also higher
possibility of resonance. You should find a desired dynamic factor within a resonance-free
range.
A total of 35 dynamic factors are available for the SINAMICS V90 servo drive:
Dynamic factor (p29020) Machine rigidity

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

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 330)" 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, 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.
When the one-button auto tuning process completes successfully, bit 0 of parameter p29300
will be set to 0 automatically or remain unchanged (= 0), which means the drive is in "S OFF"
state.
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.

p1414 0 to 3 0 - Speed setpoint filter activation
p1415 0 to 2 0 - Speed setpoint filter 1 type
p1417 0.5 to 16000 1999 Hz Speed setpoint filter 1 denominator natural
frequency
p1418 0.001 to 10 0.7 - Speed setpoint filter 1 denominator damping
p1419 0.5 to 16000 1999 Hz Speed setpoint filter 1 numerator natural
frequency
p1420 0.001 to 10 0.7 - Speed setpoint filter 1 numerator damping
p1441 0 to 50 0 ms Actual speed smoothing time
p1656 0 to 15 1 - Activates current setpoint filter
p1658 0.5 to 16000 1999 Hz Current setpoint filter 1 denominator natural
frequency
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
pendent LU/s2

Tuning

pendent LU/s2
300.00 pendent n
pendent
p29111 0.00 to 0.00 % Position loop feed forward gain
200.00
After one-button tuning, four current setpoint filters can be activated at most. The following
parameters related to the filters may be tuned accordingly.

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.
numerator.
p1666 0.0 to 10 0.01 - Damp of current notch filter 2 numerator.
denominator.
numerator.
denominator.
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
9.4 Real-time auto tuning

With real-time auto tuning, the servo drive can automatically estimate the ratio of load
moment of inertia and set the optimum control parameters.
Pre-conditions for the real-time auto tuning

● The drive must be controlled by the host controller.
● The machine actual load moment of inertia is different when the machine moves to the
different positions.
● Make sure that the motor has multiple accelerations and decelerations. Step command is
recommended.
● Machine resonance frequency changes when the machine is running.
Real-time auto tuning procedure

Proceed as follows to perform real-time auto tuning for the SINAMICS V90 servo drive.

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.

p29020[0...1] 1 to 35 18 - The dynamic factor of auto tuning.
• [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 parame-
ters
p29024 0 to 0xffff 0x004c - Real-time auto tuning configuration
p29025 0 to 0x003f 0x0004 - Overall tuning configuration
p29028 0.0 to 60.0 7.5 ms Pre-control time constant
Parameter p29028 is available when the multi-axis interpolation function is activated

(p29024.7 = 1). If the axes are used as the interpolation axes, you need to set the same pre-
control time constants (p29028) for them. After tuning is completed, you need to manually
set the same position loop gains (p29110 [0]) for them if the tuning results are different.
You can configure the dynamic factor of the servo system with the parameter p29020.
Higher dynamic factor means higher tracking ability and shorter settling time but also higher
possibility of resonance. You should find a desired dynamic factor within a resonance-free
range.
35 dynamic factors are available for the SINAMICS V90 servo drive.

1 Low
2
... ↑
17
18 Middle

Tuning

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 330)" for detailed information about the function of resonance
suppression.
Note
The tuning configuration parameters must be set carefully when the auto tuning function is
disabled (p29021=0).
During tuning, you can modify the dynamic factor with p29020[1] to obtain the different
dynamic performance after p29022 has been tuned and accepted by the drive.
After servo on, the real-time auto tuning function will always effective for the servo drive. If
you want to end or interrupt the real-time auto tuning process, set the drive to the servo off
state then set p29021 to 0.
The following relevant parameters can be continuous set in real time when you are using the
real-time auto tuning.

p1417 0.5 to 16000 1999 Hz Speed setpoint filter 1 denominator natural
frequency
p1419 0.5 to 16000 1999 Hz Speed setpoint filter 1 numerator natural
frequency
300.00 pendent n
pendent
200.00
Note
When using the real-time auto tuning function, if the default values are inappropriate, the
host controller cannot run the motor. To run the motor with the host controller, you need to
let the drive tune the parameters automatically through trial run with the real-time auto tuning
function. After the tuning is completed, the host controller can run the motor.

Tuning
9.5 Manual tuning
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.
9.5 Manual tuning

When the auto tuning cannot reach expected tuning results, you can disable the auto tuning
function by setting the parameter p29021 and manually perform tuning:
● p29021=5: auto tuning function is disabled and all control parameters are reset to tuning
default values.
● p29021=0: auto tuning function is disabled without changing control parameters.

Tuning
9.5 Manual tuning
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 330)".

Tuning
9.6 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
pendent LU/s2
pendent LU/s2
300.00 pendent n
pendent
200.00

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 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.

denominator.
numerator.
denominator.
numerator.
denominator.
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.

denominator.
numerator.
Resonance suppression with manual tuning (p29021=0)

When both the resonance suppression with real-time auto tuning and one-button tuning
mode cannot reach the suppression effect, you can do the resonance suppression by
manually setting the following parameters.

denominator.
numerator.
denominator.
numerator.
denominator.
numerator.
Assume the notch frequency is fsp, notch width is fBB, and notch depth is K, then the filter
parameters can be calculated as follows:
p1663=p1665=fsp
p1664=fBB / (2 × fsp)
p1666=(fBB × 10(k/20) )/ (2 × fsp)

Tuning
9.7 Low frequency vibration suppression
9.7 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 IPos control mode.
Related parameters
When you use the vibration suppression function, you need to configure the following
parameters accordingly:
Pa- Range Default Unit Description

rame-
ter
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 1 Hz Vibration suppression filter frequency.
62.5
p31586 0 to 0.03 - Vibration suppression filter damp.
0.99
Operating steps

① Set the drive to "S 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 "S ON" state.

Tuning
9.8 Gain switching
9.8 Gain switching
Note
The Gain Switching function is not available in T mode (torque control mode).
The function of auto-tuning must be disabled so that the function of gain switching can be
available.
With this function, you can implement the following operations:

● Increase the gains during servo lock and decrease gains to reduce noise during rotation.
● Increase the gains during settling to shorten the stop settling time.
● Switch between two groups of gains using an external signal (G-CHANGE) to ensure
stability of the servo system because the load inertia moment ratio varies greatly during a
stop (for example, a large load is mounted on a carrier).
Selection of a gain switching mode

Five gain switching modes in total are available:
● Gain switching disabled
● Gain switching using digital input signal (G-CHANGE)
● Gain switching using position deviation
● Gain switching using position setpoint frequency
● Gain switching using actual speed
You can select one of the five modes by setting parameter p29130:

p29130 0 (default) The function of gain switching is disabled.
Only the first group of gains is valid and the function of PI to P switching of speed controller
is enabled.
1 Gain switching using digital input signal (G-CHANGE).
When G-CHANGE is 0, the first group of gains is selected; when G-CHANGE is 1, the
second one is selected.
2 Gain switching using position deviation.
In the position control mode, gain switching can be decided by position deviation. If the
position deviation is less than preset value, the first group of gains is selected; otherwise,
the second one is selected.
3 Gain switching using position setpoint frequency.
In the position control mode, gain switching can also be decided by position setpoint fre-
quency. If the position setpoint frequency is less than preset value, the first group of gain is
selected; otherwise, the second one is selected.
4 In the speed control mode, gain switching can be decided by actual speed. If the actual
speed is below preset value; otherwise, the second one is selected.

Tuning
9.8 Gain switching
9.8.1 Gain switching using an external digital input signal (G-CHANGE)
DI settings
● Position control mode
Signal Pin assignment Setting Description

G-CHANGE X8-9 (factory 0 The first group of gains is selected.
setting) 1 The second group of gains is selected.
● Speed control mode

G-CHANGE To be assigned 0 The first group of gains is selected.
1 The second group of gains is selected.
Parameter settings (p29130 = 1)

p29110[0] 0.00 to 300.00 Motor de- 1000/min Position loop gain 1
pendent
p29110[1] 0.00 to 300.00 1.00 1000/min Position loop gain 2
pendent
p29139 8 to 1000 20 ms Time constant to smooth the switching
between gain sets
Timing diagram
Note
If the pulse duration is shorter than 10 ms, there is no reaction.

Tuning
9.8 Gain switching
9.8.2 Gain switching using position deviation

300.00 pendent n
300.00 n
pendent
p29131 0 to 100 LU Position deviation threshold for automatically
2147483647 triggering gain switching
p29139 8 to 1000 20 ms Time constant to smooth the switching be-
tween gain sets
Timing diagram
9.8.3 Gain switching using position setpoint frequency

300.00 pendent n
300.00 n
pendent

Tuning
9.8 Gain switching

p29132 0 to 100 1000 Position setpoint frequency threshold for
2147000064 LU/min automatically triggering gain switching
tween gain sets
Timing diagram
9.8.4 Gain switching using actual speed

300.00 pendent n
300.00 n
pendent
p29133 0 to 100 rpm Speed threshold for automatically triggering
2147000064 gain switching
tween gain sets

Tuning
9.9 PI/P switching
Timing diagram
9.9 PI/P switching
Note
PI/P switching
Function of PI/P switching is not available for the T mode (torque control mode).
The functions of auto-tuning and gain switching must be disabled so that the function of PI/P
switching can be available.
The PI/P switching will respond with a delay time of several milliseconds.
The function of PI/P switching is used to switch from PI (Proportional/Integral) control of

speed controller to P (Proportional) control. With this function, you can:
● shorten the position setting time (for the position control mode).
● avoid overshooting of actual speed value during acceleration or deceleration (for the
speed control mode).
● avoid unnecessary torque when the target position is at a mechanical limitation (for the
position control mode).
Selection of a switching mode for PI/P switching

Five switching modes in total are available for PI/P switching:
● using torque setpoint
● using an external digital input signal (G-CHANGE)
● using speed setpoint

Tuning
9.9 PI/P switching
● using acceleration setpoint

● using pulse deviation
You can select one of the switching modes by setting parameter p29140:

p29140 0 (default) Disabled.
1 Torque is higher than a parameterizable setting value.
2 Using the digital input signal (G-CHANGE)
3 Speed is higher than a parameterizable setting value.
4 Acceleration is higher than a parameterizable setting value.
5 Pulse deviation is higher than a parameterizable setting value.
Example
Without the function of PI/P switching With the function of PI/P switching
Example 1: If the PI/P switching is not used, the speed of the motor may overshoot or undershoot due to torque saturation
during acceleration or deceleration. The mode switching function suppresses torque saturation and eliminates the over-
shooting or undershooting of the motor speed.
Example 2: The function of PI/P switching can be used to suppress overshooting and undershooting when speed loop gain
is increased

Tuning
9.9 PI/P switching
9.9.1 PI/P switching using torque setpoint

When torque setpoint exceeds preset torque value (p29141), the speed loop is switched
from PI control to P control.
Parameter settings
Parameter Value range Setting value Unit Description

p29140 0 to 5 1 - Switches PI control to P control using torque setpoint
p29141 0 to 300 200 (default) % Torque threshold for automatically triggering PI to P
switch
p29120[0] 0 to 999999 0.3 (default) Nms/rad Speed loop gain 1
p29121[0] 0 to 100000 15 (default) ms Speed loop integral time 1
Note
Speed setpoint
For detailed information about speed setpoint, refer to "Configuring speed setpoint
(Page 258)".
Torque setpoint
For detailed information about torque setpoint, refer to "Torque setpoint (Page 263)".
9.9.2 PI/P switching using an external digital input signal (G-CHANGE)
DI settings
● Position control mode

G-CHANGE X8-9 (factory 0 The first group of gains is selected.
setting) 1 The second group of gains is selected.

Tuning
9.9 PI/P switching
● Speed control mode

G-CHANGE To be assigned 0 The first group of gains is selected.
1 The second group of gains is selected.
Parameter settings

p29140 0 to 5 2 - Switches PI control to P control using an external digital
input signal (G-CHANGE)
Timing diagram
9.9.3 PI/P switching using speed setpoint

When the speed setpoint exceeds the preset speed value (p29142), the speed loop is
switched from PI control to P control.
Parameter settings

p29140 0 to 5 3 - Switches PI control to P control using speed setpoint.
p29142 0 to 210000 2000 (default) rpm Speed threshold for automatically triggering PI to P
switch.
Note
(Page 258)".

Tuning
9.9 PI/P switching
9.9.4 PI/P switching using acceleration setpoint

When the motor acceleration exceeds the preset acceleration rate (p29143), the speed loop
is switched from PI control to P control.
Parameter settings

p29140 0 to 5 4 - Switches PI control to P control using acceleration set-
point.
p29143 0 to 30000 20 (default) rev/s2 Acceleration threshold for automatically triggering PI to P
switch.
Note
Speed setpoint
(Page 258)".
Acceleration
For detailed information about acceleration, refer to "Setting fixed position setpoint
(Page 235)" of the internal position control mode.

Tuning
9.9 PI/P switching
9.9.5 PI/P switching using pulse deviation

The speed loop is switched from PI control to P control when the pulse deviation exceeds
the preset value (p29144).
Parameter settings

p29140 0 to 5 5 - Switches PI control to P control using pulse deviation
p29144 0 to 2147483647 30000 (default) - Pulse deviation threshold for automatically triggering PI
to P switching
Note
Speed setpoint
(Page 258)".

Tuning
9.9 PI/P switching

Parameters 10
10.1 Overview
The section below lists all the parameters of the SINAMICS V90 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
This 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 "S ON" state. The
"RDY" LED lights up green.
● T (Ready to run): Can be changed in the "Ready" state when the drive is in "S 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
10.2 Parameter list
Parameter groups
The SINAMICS V90 parameters are divided into the following groups:
Parameter group Available parameters Parameter group display

on the BOP
Basic parameters p290xx
Gain adjustment parameters p291xx
Speed control parameters p10xx to p14xx, p21xx
Torque control parameters p15xx to p16xx
Position control parameters p25xx to p26xx, p292xx
I/O parameters p293xx
Status monitoring parameters All read-only parameters
10.2 Parameter list
Editable parameters
The values of the parameters marked with an asterisk (*) may be changed after
commissioning. Make sure you back up the parameters first as required if you desire to
replace the motor. The default values of the parameters marked with two asterisks (**) are
motor dependent. They may have different default values when different motors are
connected.
Parameter Specifications
p0251 Operating hours counter power unit fan
Min: 0 Max: 4294967295 Factory setting: 0 Unit: h
Data type: U32 Effective: IM Can be changed: T
Description: Displays the power unit fan operating hours.
The number of hours operated can only be reset to 0 in this parameter (e.g. after a fan has been re-
placed).
Dependency: Refer to: A30042
Note:
For liquid-cooled chassis power units, the operating hours of the inner fan are displayed in p0251.

Parameters
10.2 Parameter list
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.
Refer to: r0037
Refer to: A05000, A05001, A07805
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 applica-
tions 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.
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 to bit 5: invert signal for DO 1 to DO 6.
– Bit = 0: not inverted
– Bit = 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.

Parameters
10.2 Parameter list
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: 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.
p1001 Fixed speed setpoint 1
Min: -210000.000 Max: 210000.000 Factory setting: 0.000 Unit: rpm
Data type: Float Effective: IM Can be changed: T, U
Description: Sets a value for the fixed speed / velocity setpoint 1.

Parameters
10.2 Parameter list
p1058 Jog 1 speed setpoint
Min: 0.00 Max: 210000.000 Factory setting: 100.00 Unit: rpm
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
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
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

Parameters
10.2 Parameter list
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.
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.
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 or if p1215 was set to 3, then when the pulses are suppressed, the brake
is closed even if the motor is still rotating.
Note: If a holding brake integrated in the motor is used, then it is not permissible that p1215 is set to 3.
The parameter can only be set to zero when the pulses are inhibited.
p1216 * Motor holding brake 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.

Parameters
10.2 Parameter list
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 A07932 "Brake does not close" are deactivated.
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 thresh-
old 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.

Parameters
10.2 Parameter list
Note: Standstill is identified in the following cases:
• The speed actual value falls below the speed threshold in p1226 and the time started after this in
p1228 has expired.
• The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227
has expired.
For p1227 = 300.000 s, the following applies:
Monitoring is de-activated.
For p1227 = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor
"coasts" down.
p1228 Pulse suppression delay time
Description: Sets the delay time for the pulse suppression. After OFF1 or OFF3, the pulses are can-
celed, 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

Parameters
10.2 Parameter list
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.
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 gen-
eral 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).
eral filter.
p1419 Speed setpoint filter 1 numerator natural frequency
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.

Parameters
10.2 Parameter list
p1421 Speed setpoint filter 2 type
Description: Sets the type for speed setpoint filter 2.
• 2: General 2nd order filter
Dependency:
PT1 low pass: p1422
PT2 low pass: 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.
p1423 Speed setpoint filter 2 denominator natural frequency
Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).
eral filter.
p1424 Speed setpoint filter 2 denominator damping
Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).
eral filter.
p1425 Speed setpoint filter 2 numerator natural frequency
Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).

Parameters
10.2 Parameter list
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).
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
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.

Parameters
10.2 Parameter list
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.
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

Parameters
10.2 Parameter list
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
10.2 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 identifica-
tion routine. If this distance (travel) is exceeded, an appropriate fault is output.
Refer to: F7995
Notice: Value = 180 °: Monitoring is deactivated.
p2118[0...19] Change message type message number
Min: 0 Max: 65535 Factory setting: Unit: -
[0] 6310
[1] 7594
[2] 7566
[3] 32905
[4...19] 0
Description: Selects faults or alarms for which the 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.

Parameters
10.2 Parameter list
p2119[0...19] Change the type for a message
[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 mes-
sages 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".
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.

Parameters
10.2 Parameter list
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: For the absolute encoder adjustment, a drive determines the position offset.
Note: The position offset is only relevant for absolute encoders. The drive determines it when making
the adjustment and the user should not change it.
p2533 LR position setpoint filter 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)
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.

Parameters
10.2 Parameter list
Dependency: Refer to: p2542, p2545, and F07450
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) ≤ positioning monitoring time (p2545)
p2544 * LR positioning window
Description: Sets the positioning window for the positioning monitoring function.
After the positioning monitoring time expires, it is checked once as to whether the difference between
the setpoint and actual position lies within the positioning window and if required an appropriate fault is
output.
Value = 0: The positioning monitoring function is de-activated.
Dependency: Refer to F07451.
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) ≥ positioning window (p2544)
p2545 * LR positioning monitoring 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 F07451
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly
responding due to operational control sequences (for example, during load surges).
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.
For a motor with an incremental encoder, the default value is 3000. For a motor with an absolute en-
coder, the default value is 629146.
Value = 0: The dynamic following error monitoring is deactivated.
Dependency: Refer to r2563, F07452
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly
responding due to operational control sequences (e.g. during load surges).
p2571 IPos maximum velocity
Min: 1 Max: 40000000 Factory setting: 30000 Unit: 1000
LU/min
Description: Sets the maximum velocity for the "basic positioner" function (IPos).
Note: The maximum velocity is active in all of the operating modes of the basic positioner.
The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of
the speed/velocity controller.

Parameters
10.2 Parameter list
p2572 ** IPos maximum acceleration
Min: 1 Max: 2000000 Factory setting: motor dependent Unit: 1000
LU/s²
Description: Sets the maximum acceleration for the "basic positioner" function (IPos).
Note: The maximum acceleration appears to exhibit jumps (without jerk).
• "Traversing blocks" operating mode:
The programmed acceleration override acts on the maximum acceleration.

• "Direct setpoint input/MDI" mode:
The acceleration override is effective.

• "Jog" and "search for reference" modes:
No acceleration override is active. The axis starts with the maximum acceleration.
p2573 ** IPos maximum deceleration
Min: 1 Max: 2000000 Factory setting: Motor dependent Unit: 1000
LU/s²
Description: Sets the maximum deceleration for the "basic positioner" function (IPos).
Note: The maximum deceleration appears to exhibit jumps (without jerk).
• "Traversing blocks" operating mode:
The programmed deceleration override acts on the maximum deceleration.

• "Direct setpoint input/MDI" mode:
The deceleration override is effective.

• "Jog" and "search for reference" modes:
No deceleration override is effective. The axis brakes with the maximum deceleration.
p2574 ** IPos jerk limiting
LU/s3
Description: Sets the jerk limiting.
Dependency: Refer to p2572, p2573, and p2575
Note: The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573)/p2574
p2575 IPos jerk limiting activation
Description: Activates the jerk limiting.
• 0: The jerk limiting is deactivated.
• 1: The jerk limiting is activated.

Parameters
10.2 Parameter list
p2580 EPOS software limit switch minus
Min: -2147482648 Max: 2147482648 Factory setting: -2147482648 Unit: LU
Description: Sets the software limit switch in the negative direction of travel.
p2581 EPOS software limit switch plus
Min: -2147482648 Max: 2147482648 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.
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.

Parameters
10.2 Parameter list
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
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.
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.

Parameters
10.2 Parameter list
Dependency: Refer to p2604, p2605, F07458
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.
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.
Dependency: Refer to p2604, p2608, F07459
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.
Note: When traversing to the reference point, the velocity override is not effective.
p2617[0...7] EPOS traversing block position
Description: Sets the target position for the traversing block.
Note: The target position is approached in either relative or absolute terms depending on p29241.
p2618[0...7] EPOS traversing block velocity
LU/min
Description: Sets the velocity for the traversing block.
Note: The velocity can be influenced using the velocity override.

Parameters
10.2 Parameter list
p2621[0...7] Internal positioning task
Description: Sets the required task for the traversing block.
• 1: POSITIONING
• 2: FIXED STOP
• 5: WAIT
• 6: GOTO
Dependency: The number of indices depends on p2615.
Refer to: p2617, p2618, p2622
p2622 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.
Dependency:
Refer to: p2617, p2618, p2621
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
p2634 * Fixed stop maximum following error
Description: Sets the following error to detect the "fixed stop reached" state.
Dependency: Refer to: p2621
Note: The state "fixed stop reached" is detected if the following error exceeds the theoretically calculat-
ed following error value by p2634.
p2635 * 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.
p2692 MDI acceleration override, fixed setpoint
Min: 0.100 Max: 100.000 Factory setting: 100.000 Unit: %
Description: Sets a fixed setpoint for the acceleration override.
Note: The percentage value refers to the maximum acceleration (p2572).

Parameters
10.2 Parameter list
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).
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.
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 lost, A7461 will remind user to refer-
encing 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

Parameters
10.2 Parameter list
p29003 Control mode
Data type: I16 Effective: RE Can be changed: T
Description: Selection of control mode.
• 0: Position control with pulse train input (PTI)
• 1: Internal position control (IPos)
• 2: Speed control (S)
• 3: Torque control (T)
• 4: Control change mode: PTI/S
• 5: Control change mode: IPos/S
• 6: Control change mode: PTI/T
• 7: Control change mode: IPos/T
• 8: Control change mode: S/T
• 9: Fast position control with pulse train input (Fast PTI)
Note: The compound control mode can be controlled by the digital input signal C-MODE. When DI10
(C-MODE) is 0, the first control mode of control change mode is selected; otherwise, the second one is
selected.
p29004 RS485 address
Data type: U16 Effective: RE Can be changed: T
Description: Configuration of the RS485 bus address. The RS485 bus is used to transfer current abso-
lute position of the servo drive to the controller/PLC.
Note: Changes only become effective after power on. The parameter isn't influenced by default func-
tion.
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 within
-15% to +10% error.
• For V90 400 V variant, the value range is 380 V to 480 V, default value is 400 V.
• For V90 200 V variant, the value range is 200 V to 240 V, default value is 230 V.

Parameters
10.2 Parameter list
p29007 RS485 protocol
Description: Set the communication protocol for the field bus interface:
• 0: No protocol
• 1: USS
• 2: Modbus
Note: Changes only become effective after power on. The parameter isn't influenced by default func-
tion.
p29008 Modbus control source
Description: Select the Modbus control source:
• 1: Setpoint and control word from Modbus PZD
• 2: No control word
No setpoint and control word from Modbus PZD

Note: Changes only become effective after power on.
p29009 RS485 baud rate
Description: Set the baud rate for the RS485 interface:
• 5: 4800 baud
• 6: 9600 baud
• 7: 19200 baud
• 8: 38400 baud
• 9: 57600 baud
• 10: 76800 baud
• 11: 93750 baud
• 12: 115200 baud
• 13: 187500 baud
Note: The change only becomes effective after power on. The parameter is not influenced by default
function.
p29010 PTI: Selection of input pulse form
Description: Selection of setpoint pulse train input form. After changing of p29010, reference point will
lost, A7461 will remind user to referencing again.
• 0: Pulse + direction, positive logic
• 1: AB phase, positive logic
• 2: Pulse + direction, negative logic
• 3: AB phase, negative logic

Parameters
10.2 Parameter list
p29011 PTI: Number of setpoint pulse per revolution
Description: The number of setpoint pulses per motor revolution. The servo motor rotates for one revo-
lution when the number of the setpoint pulses reaches this value.
When this value is 0, the number of required setpoint pulses is decided by the electronic gear ratio.
p29012[0...3] PTI: Numerator of electronic gear
Description: The numerator of the electronic gear ratio for the setpoint pulses. For the servo system
with an absolute encoder, the value range of p29012 is 1 to 10000.
Four numerators in total are available. You can select one of the numerators by configuring the digital
input signal EGEAR.
For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating
Instructions or use SINAMICS V-ASSISTANT to do the calculation.
p29013 PTI: Denominator of electronic gear
Description: The denominator of the electronic gear for the setpoint pulses.
p29014 PTI: Selection of pulse input electrical level
Description: Selection of a logic level for the setpoint pulses.
• 0: 5 V
• 1: 24 V
p29016 PTI: Pulse input filter
Description: Select filter for PTI input to get better EMC performance, 0 for low frequency PTI input, 1
for high frequency PTI input.
p29019 RS485 monitor time
Description: Sets the monitoring time to monitor the process data received via the RS485 bus interface.
If no process data is received within this time, then an appropriate message is output.
Note: If p29019 = 0, monitoring is deactivated.
p29020[0...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
10.2 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
consequence, a higher dynamic performance can be achieved in the speed control loop.
• Bit 2: The inertia moment ratio (p29022) can be measured after this function is running. If not set,
the inertia moment ratio must be set manually with p29022.
• Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is nec-
essary 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 iner-
tia 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 nec-
essary for interpolating axes. The time in p29028 should be set according to the axis with the lowest
dynamic response.

Parameters
10.2 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).

Parameters
10.2 Parameter list
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).
p29030 PTO: Number of pulse per revolution
Description: Number of output pulses per motor revolution.
If this value is 0, the number of required output pulses is decided by the electronic gear ratio.
p29031 PTO: Numerator of electronic gear
Description: The numerator of the electronic gear ratio for the output pulses.
For detailed information about the calculation of a numerator, refer to the SINAMICS V90 Operating
Instructions or use the SINAMICS V-ASSISTANT to do the calculation.
p29032 PTO: Denominator electronic gear
Description: The denominator of the electronic gear ratio for the output pulses.
For detailed information about the calculation of a denominator, refer to the SINAMICS V90 Operating
Instructions or use the SINAMICS V-ASSISTANT to do the calculation.
p29033 PTO: Direction change
Description: Select the PTO direction.
• 0: PTO positive
PTO direction does not change. PTO A leads PTO B with 90 degrees when the motor rotates in
clockwise direction. PTO B leads PTO A with 90 degrees when the motor rotates in counter- clock-
wise direction.
• 1: PTO negative
PTO direction changes. PTO A leads PTO B with 90 degrees when the motor rotates in counter-
clockwise direction. PTO B leads PTO A with 90 degrees when the motor rotates in clockwise direc-
tion.

Parameters
10.2 Parameter list
p29035 VIBSUP activation
Description: Select the VIBSUP on/off.
Position setpoint filter can be activated (p29035) for IPos control mode.
• 0: Disable
Filter is not activated.

• 1: Enable
Filter is activated.
p29041[0...1] Torque scaling
Min: 0 Max: Factory setting: Unit: %
[0] 100 [0] 100
[1] 300 [1] 300
Description:
• [0]: The scaling for the analog torque setpoint.
With this parameter, you can specify the torque setpoint corresponding to full analog input (10 V).
• [1]: The scaling for the analog torque limit.
With this parameter, you can specify the torque limit corresponding to full analog input (10 V).
You can select the internal parameters or the analog input as the source of the torque limit with the
combination of the digital input signals TLIM1 and TLIM2.
Index:
• [0]: Torque setpoint scale
• [1]: Torque limit scale
p29042 Offset adjustment for analog input 2
Min: -0.5000 Max: 0.5000 Factory setting: 0.0000 Unit: V
Description: Offset adjustment for the analog input 2.
p29043 Fixed torque setpoint
Min: -100 Max: 100 Factory setting: 0 Unit: %
Description: Fixed torque setpoint.
You can select the internal parameters or the analog input as the source of the torque setpoint by con-
figuring the digital input signal TSET.
p29045 PTI: activate travel to fixed stop
Description: Activate/deactivate "travel to fixed stop" function under PTI control mode.
• 1: Travel to fixed stop is active
• 0: Travel to fixed stop is inactive

Parameters
10.2 Parameter list
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...2] Torque limit upper
Min: -150 Max: 300 Factory setting: 300 Unit: %
Description: Positive torque limit.
Three internal torque limits in total are available.
p29051[0...2] Torque limit lower
Min: -300 Max: 150 Factory setting: -300 Unit: %
Description: Negative torque limit.
Three internal torque limits in total are available.
p29060 * Speed scaling
Min: 6 Max: 210000 Factory setting: 3000 Unit: rpm
Description: The scaling for the analog speed setpoint.
With this parameter, you can specify the speed setpoint corresponding to full analog input (10 V).
p29061 Offset adjustment for analog input 1
Description: Offset adjustment for the analog input 1.
p29070[0...2] * Speed limit positive
Description: Positive speed limit.
Three internal speed limits in total are available.
You can select the internal parameters or the analog input as the source of the speed limit with the
combination of the digital input signals SLIM1 and SLIM2.
p29071[0...2] * Speed limit negative
Min: -210000 Max: 0 Factory setting: -210000 Unit: rpm
Description: Negative speed limit.
Three internal speed limits in total are available.
You can select the internal parameters or the analog input as the source of the speed limit with the
combination of the digital input signals SLIM1 and SLIM2.

Parameters
10.2 Parameter list
p29075 Speed clamp threshold
Description: The threshold for the zero speed clamp.
If the function of zero speed clamp has been enabled under the speed control mode, the motor speed
is clamped to 0 when both the setpoint speed and the actual speed are below this threshold.
p29078 Speed reach threshold
Description: Speed reached range (deviation between setpoint and motor speed)
p29080 Overload threshold for output signal triggering
Description: Overload threshold for the output power.
p29090 Offset Adjustment for Analog output 1
Description: Offset adjustment for analog output 1.
p29091 Offset adjustment for analog output 2
Description: Offset adjustment for analog output 2.
p29110[0...1] ** Position loop gain
Min: 0.000 Max: 300.000 Factory setting: Unit: 1000/min
[0] Motor dependent
[1] 1.000
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[0...1] ** Speed loop gain
Min: 0.00 Max: 999999.00 Factory setting: Unit: Nms/rad
[0] Motor dependent
[1] 0.30

Parameters
10.2 Parameter list
Description: Speed loop gain.
Two speed loop gains in total are available. You can switch between these two gains by configuring the
digital input signal G-CHANGE or setting relevant condition parameters.
The first speed loop gain is the default setting.
p29121[0...1] * Speed loop integral time
Min: 0.00 Max: 100000.00 Factory setting: Unit: ms
[0] 15.00
[1] 20.00
Description: Speed loop integral time.
Two speed loop integral time values in total are available. You can switch between these two time
values by configuring the digital input signal G-CHANGE or setting relevant condition parameters.
The first speed loop integral time is the default setting.
p29130 Gain switching: Mode selection
Description: Selects gain switching mode.
• 0: Disabled
• 1: Switch through DI-G-CHANG
• 2: Position deviation as switch condition
• 3: Pulse input frequency as switch condition
• 4: Actual speed as switch condition
Note: Only when the auto tuning function (p20021=0) is disabled can the gain switching function be
used.
p29131 Gain switching condition: Pulse deviation
Description: Triggers position deviation threshold for gain switching. If the gain switching function is
enabled and this condition is selected:
• Switch from the first group of control parameters to the second group when the position deviation is
larger than the threshold.
• Switch from the second group of control parameters to the first group when the position deviation is
smaller than the threshold.

Parameters
10.2 Parameter list
p29132 Gain switching condition: Position setpoint frequency
LU/min
Description: Triggers pulse input frequency (PTI) threshold or internal position speed (IPos) threshold
for gain switching. If the gain switching function is enabled and this condition is selected:
• PTI
– Switch from the first group of control parameters to the second group when the pulse train input
pulse is higher than the threshold.
– Switch from the second group of control parameters to the first group when the pulse train input
is lower than the threshold.
• IPos
– Switch from the first group of control parameters to the second group when the speed of fixed
position setpoint is larger than the threshold.
– Switch from the second group of control parameters to the first group when the IPos is smaller
than the threshold.
p29133 Gain switching condition: Actual speed
Description: Triggers speed threshold for gain switching. If the gain switching function is enabled and
this condition is selected:
• Switch from the first group of control parameters to the second group when the actual motor speed
is larger than the threshold.
• Switch from the second group of control parameters to the first group when the actual motor speed
is smaller than the threshold.
p29139 Gain switching time constant
Description: Time constant for gain switching. Set this parameter to avoid frequent gain switches that
reduces system reliability.
p29140 PI to P: Mode selection
Description: Selects a condition for the switch from PI control to P control under the speed loop.
• 0: Disabled
• 1: Torque is higher than a parameterizable setting value.
• 2: Using the digital input signal (G-CHANGE).
• 3: Speed is higher than a parameterizable setting value.
• 4: Acceleration is higher than a parameterizable setting value.
• 5: Pulse deviation is higher than a parameterizable setting value.
Note: Only when the auto tuning function (p29021=0) and gain switching function are both disabled can
the PI/P switching function be used.

Parameters
10.2 Parameter list
p29141 PI to P switching condition: Torque
Description: Triggers torque threshold for PI/P switching. If the PI/P switching function is enabled and
• Switch from the PI control to the P control when the actual torque is larger than the threshold.
• Switch from the P control to the PI control when the actual torque is smaller than the threshold.
p29142 PI to P switching condition: Speed
Description: Triggers speed threshold for PI/P switching. If the PI/P switching function is enabled and
• Switch from the PI control to the P control when the actual speed is larger than the threshold.
• Switch from the P control to the PI control when the actual speed is smaller than the threshold.
p29143 PI to P switching condition: Acceleration
Min: 0 Max: 30000 Factory setting: 20 Unit: rev/s²
Description: Triggers acceleration threshold for PI/P switching. If the PI/P switching function is enabled
and this condition is selected:
• Switch from the PI control to the P control when the actual acceleration is larger than the threshold.
• Switch from the P control to the PI control when the actual acceleration is smaller than the thresh-
old.
p29144 PI to P switching condition: Pulse deviation
Description: Triggers pulse deviation threshold for PI/P switching. If the PI/P switching function is ena-
bled and this condition is selected:
• Switch from the PI control to the P control when the actual pulse deviation is larger than the thresh-
old.
• Switch from the P control to the PI control when the actual pulse deviation is smaller than the
threshold.
p29230 MDI direction selection
Description: MDI direction selection:
• 0: Absolute positioning through the shortest distance
• 1: Absolute positioning through the positive direction
• 2: Absolute positioning through the negative direction

Parameters
10.2 Parameter list
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
• 3: Referencing with external reference cam (CCWL) and zero mark
• 4: Referencing with external reference cam (CWL) and zero mark
p29241[0...7] Positioning mode selection
Description: Moves mode set for IPos:
• 0: Means relative moving
• 1: Means abs moving
• 2: POS Mod
• 3: NEG Mod
p29242 CLR pulse mode
Description: Select clear pulse mode
• 0: Disabled
• 1: Means clear pulse on high level
• 2: Means clear pulse on rising edge
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

Parameters
10.2 Parameter list
p29246 * Modulo correction range
Description: Sets the modulo range for axes with modulo correction.
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.
p29250 PTI absolute position mode enable
Data type: U32 Effective: RE Can be changed: T
Description: Absolute position mode enable.
• 1: Enable Absolute Mode
• 0: Disable Absolute Mode
p29251[0...7] IPOS progression condition
Description: IPOS progression condition
• 0 END
• 1 CONTINUE_WITH_STOP
• 2 CONTINUE_FLYING
Index:
• [0]: ipos progress [0]

Parameters
10.2 Parameter list
p29300 Digital input forced signals
Description: assignment signals are forced to be high. 7 bits in total.
• Bit 0: SON
• Bit 1: CWL
• Bit 2: CCWL
• Bit 3: TLIM1
• Bit 4: SPD1
• Bit 5: TSET
• Bit 6: EMGS
If one or more bits are set to be high, the corresponding input signals are forced to be logical high sig-
nals.
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).

Parameters
10.2 Parameter list
p29301[0...9] Digital input 1 assignment
Description: Defines the function of digital input signal DI1
• 1: SON
• 2: RESET
• 3: CWL
• 4: CCWL
• 5: G-CHANGE
• 6: P-TRG
• 7: CLR
• 8: EGEAR1
• 9: EGEAR2
• 10: TLIM1
• 11: TLIM2
• 12: CWE
• 13: CCWE
• 14: ZSCLAMP
• 15: SPD1
• 16: SPD2
• 17: SPD3
• 18: TSET
• 19: SLIM1
• 20: SLIM2
• 21: POS1
• 22: POS2
• 23: POS3
• 24: REF
• 25: SREF
• 26: STEPF
• 27: STEPB
• 28: STEPH
Index:
• [0]: DI1 for the control mode 0
• [4...8]: Reserved

Parameters
10.2 Parameter list
Index:
[0...3] 3
[9] 8
Index:
[0...3] 4
[9] 9
Index:

Parameters
10.2 Parameter list
[0...1] 5
[2…3] 12
[9] 5
Index:
[0...1] 6
[2…3] 13
[9] 19
Index:

Parameters
10.2 Parameter list
[0] 7
[1] 21
[2] 15
[3] 18
[9] 7
Index:
[0] 8
[1] 22
[2] 16
[3] 19
[9] 10
Index:

Parameters
10.2 Parameter list
p29330 Digital output 1 assignment
Description: Defines the function of digital output signal DO1
• 1: RDY
• 2: FAULT
• 3: INP
• 4: ZSP
• 5: SPDR
• 6: TLR
• 7: SPLR
• 8: MBR
• 9: OLL
• 10: WARNING1
• 11: WARNING2
• 12: REFOK
• 13: CM_STA
• 14: RDY_ON
• 15: STO_EP

Parameters
10.2 Parameter list
p29340 Warning 1 assigned for digital output
Description: Defines conditions for WRN1.
• 1: Motor overload protection warning: 85% of overload threshold has been reached.
• 2: Holding brake power overload warning: threshold p29005 has been reached.
• 3: Fan warning: fan has stopped for more than 1 s.
• 4: Encoder warning
• 5: Motor overtemperature warning: 85% of overtemperature threshold has been reached.
• 6: Capacitor service life warning: The capacitor has reached its expiry, so replace it.
p29341 Warning 2 assigned for digital output
Description: Defines conditions for WARNING2.
• 1: Motor overload protection warning: 85% of overload threshold has been reached.
• 2: Holding brake power overload warning: threshold p29005 has been reached.
• 3: Fan warning: life time of fan expired (40000 hours), replacement of fan needed.
• 4: Encoder warning
• 5: Motor overtemperature warning: 85% of overtemperature threshold has been reached.
• 6: Capacitor service life warning: The capacitor has reached its expiry, so replace it.
p29350 Select sources for analog output 1
Description: Selects signal source for analog output 1.
• 0: Actual speed (reference p29060)
• 1: Actual torque (reference 3 × r0333)
• 2: Speed setpoint (reference p29060)
• 3: Torque setpoint (reference 3 × r0333)
• 4: DC bus voltage (reference 1000 V)
• 5: Pulse input frequency (reference 1k)
• 9: Remaining number of pulses (reference 1k)

Parameters
10.2 Parameter list
p29351 Select signal source for analog 2
Description: Selects signals for analog output 2.
• 0: Actual speed (reference p29060)
• 1: Actual torque (reference 3 × r0333)
• 2: Speed setpoint (reference p29060)
• 3: Torque setpoint (reference 3 × r0333)
• 4: DC bus voltage (reference 1000 V)
p29360 Brake resistor alarm active
Description: Configure the deactivation of the brake resistor alarm.
• 0: A52901 monitor is activated.
• 1: A52901 monitor is deactivated.
p31581 VIBSUP: Filter type
Description: Sets the filter type for VIBSUP. Depending on the selected filter type, the VIBSUP filter
results in motion sequences that take somewhat longer.
• 0: The rugged VIBSUP filter has a lower sensitivity to frequency offsets compared with the sensitive
filter type, but results in a higher delay of the motion sequence. The total motion sequence is 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 rug-
ged 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.

Parameters
10.2 Parameter list
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.
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.

Parameters
10.2 Parameter list

r0031 Actual torque smoothed Nm Float
Description: Displays the smoothed torque actual value.
The torque actual value is available smoothed (r0031) and unsmoothed.
r0032 Active power actual value smoothed kW Float
Description: Displays the smoothed actual value of the active power.
r0033 Torque utilization smoothed % Float
Description: Displays the smoothed torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque in reference to the torque limit,
scaled using p2196.
The torque utilization is available smoothed (r0033) and unsmoothed.
For M_set total (r0079) > M_max offset, the following applies:
• demanded torque = M_set total - M_max offset
• actual torque limit = M_max upper effective - M_max offset
For M_set total (r0079) <= M_max offset (p1532), the following applies:
• demanded torque = M_max offset - M_set total
• actual torque limit = M_max offset - M_max lower effective
For the actual torque limit = 0, the following applies: r0033 = 100 %
For the actual torque limit < 0, the following applies: r0033 = 0 %
r0034 Motor utilization thermal % Float
Description: Displays the motor utilization from motor temperature model 1 (I2t) or 3.

Parameters
10.2 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
10.2 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
position controller clock cycle.
• The update time in non-isochronous operation or without position control (EPOS) comprises the
following:
– Update time = 4 * least common multiple (LCM) of all current controller clock cycles in the drive
group (infeed + drives). The minimum update time is 1 ms.
– Example 1: infeed, servo
Update time = 4 * LCM(250 μs, 125 μs) = 4 * 250 μs = 1 ms
– Example 2: infeed, servo, vector
Update time = 4 * LCM(250 μs, 125 μs, 500 μs) = 4 * 500 μs = 2 ms
r0632 Motor temperature model, stator winding temperature °C Float
Description: Displays the stator winding temperature of the motor temperature model.
r0722 CU digital inputs status - U32
Description: Displays the status of the digital inputs.
Note:
DI: Digital input
DI/DO: Bidirectional digital input/output
The drive unit displays the value in hex format. You can convert the hex number to the binary number,
for example, FF (hex) = 11111111 (bin).

Parameters
10.2 Parameter list

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).
r0807.0 Master control active - U8
Description: Displays what has the master control. The drive can be controlled via the internal intercon-
nection or from external.
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.
r2050 [0...19] MODBUS PZD receive word - I16
Description: Modbus PZD (setpoints) with word format received from the host controller.
Index:
Index 0 to index 19 stand for PZD1 to PZD20 correspondingly.
• [0]: Control word from host controller, the definition of control word refer to r2090.
• [1]: In speed control mode, means speed setpoint from host controller.
• [2] and [3]: In internal position control mode, means position setpoint(Hword/Lword) from host con-
troller
• [4] to [19]: Reserved.
r2090.0...15 MODBUS PZD1 receive bit-serial - U16
Description: Bit-serial description of PZD1 (normally control word 1) received from the host controller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit
equals to 1, it means the function of this bit is activated.

Parameters
10.2 Parameter list

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: Displays the actual position actual value determined by the position actual value prepro-
cessing.
Index:
• [0]: Cl-loop position control
• [1]: Encoder 1
• [2]: Encoder 2
• [3]: Reserved
r2522[0...3] LR velocity actual value 1000 LU/min I32
Description: Displays the actual position actual value determined by the velocity actual value prepro-
cessing.
Index:
• [0]: Cl-loop position control
• [1]: Encoder 1
• [2]: Encoder 2
• [3]: Reserved
r2556 LR position setpoint after setpoint smoothing LU I32
Description: Display and connector output for the position setpoint after setpoint smoothing.
r2563 LR following error dynamic model LU I32
Description: Displays the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position set-
point and the position actual value.
r2665 EPOS position setpoint LU I32
Description: Displays the actual absolute position setpoint.

Parameters
10.2 Parameter list

r29015 PTI: Pulse input frequency Hz Float
Description: Displays the PTI input pulse frequency.
r29018[0...1] OA version - Float
Description: Displays the OA version.
Index:
• [0]: Firmware version
• [1]: Build increment number
r29400 Internal control signal status indicating - U32
Description: Control signal status identifiers
• Bit 0: SON
• Bit 1: RESET
• Bit 2: CWL
• Bit 3: CCWL
• Bit 4: G-CHANGE
• Bit 5: P-TRG
• Bit 6: CLR
• Bit 7: EGEAR1
• Bit 8: EGEAR2
• Bit 9: TLIM1
• Bit 10: TLIM2
• Bit 11: CWE
• Bit 12: CCWE
• Bit 13: ZSCLAMP
• Bit 14: SPD1
• Bit 15 SPD2
• Bit 16: SPD3
• Bit 17: TSET
• Bit 18: SLIM1
• Bit 19: SLIM2
• Bit 20: POS1
• Bit 21: POS2
• Bit 22: POS3
• Bit 23: REF
• Bit 24: SREF
• Bit 25: STEPF
• Bit 26: STEPB
• Bit 27: STEPH
• Bit 28: EMGS
• Bit 29: C-MODE

Parameters
10.2 Parameter list

r29942 DO signals status indicating - U32
Description: Indicates the status of DO signals.
• Bit 0: RDY
• Bit 1: FAULT
• Bit 2: INP
• Bit 3: ZSP
• Bit 4: SPDR
• Bit 5: TLR
• Bit 6: SPLR
• Bit 7: MBR
• Bit 8: OLL
• Bit 9: WARNING1
• Bit 10: WARNING2
• Bit 11: REFOK
• Bit 12: CM_STA
• Bit 13: RDY_ON
• Bit 14: STO_EP
r29979 Index of actual electronic gear - U32
Description: Displays the status of position loop.
• Bit 0 to Bit 1: Actual EGear index

Parameters
10.2 Parameter list

Diagnostics 11
11.1 Overview
General information about faults and alarms

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

● Faults
– Are identified by Fxxxxx.
– Can lead to a fault reaction.
– Must be acknowledged once the cause has been remedied.
– Status via control unit and LED RDY.
– Status via MODBUS status word PZD1.1 (fault status).
– Entry in the fault buffer.
● Alarms
– Are identified by Axxxxx.
– Have no further effect on the drive.
– The alarms are automatically reset once the cause has been remedied. No
acknowledgement is required.
– Status via Control Unit and LED RDY.
– Entry in the alarm buffer.
● General properties of faults and alarms
– Triggering on selected messages possible.
– Contain the component number for identifying the affected SINAMICS component.
– Contain diagnostic information on the relevant message.

Diagnostics
11.1 Overview
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 the servo drive to clear a
• OFF1: servo motor
in red fault after eliminating its
The first fault in the ramps down
case of multiple cause.
• OFF2: servo motor
faults • IMMEDIATELY: the fault
coasts down
Non-first fault in the disappears immediately
case of multiple • OFF3: servo motor
after eliminating its cause.
faults stops quickly
• PULSE INHIBIT: The fault
• ENOCDER: Encod-
can only be acknowl-
er fault causes
edged with a pulse inhibit.
OFF2.
The same options are
available for acknowledg-
ing as described under
acknowledgment 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 in prior to alarms. Alarms are displayed
only after all faults have been acknowledged.

Diagnostics
11.1 Overview
BOP operations for faults and alarms

To view faults or alarms, proceed as follows:
● Faults
● Alarms
To exit from fault or alarm display, proceed as follows:

● Faults
● Alarms

Diagnostics
11.2 List of faults and alarms
To acknowledge faults, proceed as follows:
Note
• If you do not eliminate the cause(s) of the fault, it can appear again after no button
operation for five seconds. Make sure that you have eliminated the cause(s) of the fault.
• You can acknowledge faults using RESET signal. For details of the signal, refer to DIs
(Page 117).
• You can acknowledge faults on the SINAMICS V-ASSISTANT. For details, refer to
SINAMICS V-ASSISTANT Online Help.

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

Diagnostics
Fault Cause Remedy

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

Diagnostics
Fault Cause Remedy

F7011: Motor overtempera- • Motor overloaded • Reduce the motor load.
ture
• Motor surrounding temperature too • Check the surrounding temperature and
Reaction: OFF2
high the motor ventilation.
Acknowledgement:
IMMEDIATELY • Wire breakage or sensor not connected • Check the wiring and the connection.
• Motor temperature model incorrectly • Check the motor temperature model pa-
parameterized rameters.
F7085: Open-loop/closed- Open-loop/closed-loop control parameters It is not necessary to change the parameters
loop control parameters have had to be changed for the following as they have already been correctly limited.
changed reasons:
Reaction: NONE • As a result of other parameters, they
Acknowledgement: have exceeded the dynamic limits.
IMMEDIATELY
• They cannot be used due to the fact
that the hardware detected not having
certain features.
F7093: Drive: Test signal The limit rotation of the motor (p29027) is Modify the value of parameter p29027.
error inappropriate.
Reaction: OFF3
Acknowledgement:
IMMEDIATELY
F7220: Drive: Master control The "master control by PLC" signal was • Check the input for "master control by
by PLC missing missing in operation. PLC".
Reaction: OFF1 • Input for "master control by PLC" is • Check the "master control by PLC" signal
Acknowledgement: incorrect. and, if required, switch in.
IMMEDIATELY
• The higher-level control has withdrawn • Check the data transfer via the fieldbus
the "master control by PLC" signal. (master/drive).
• Data transfer via the fieldbus (mas-
ter/drive) was interrupted.
F7403: Lower DC link voltage The DC link voltage monitoring is active • Check the line supply voltage.
threshold reached and the lower DC link voltage threshold
• Check the infeed.
Reaction: OFF1 was reached in the "Operation" state.
Acknowledgement: • Reduce the lower DC link threshold.
IMMEDIATELY • Switch out (disable) the DC link voltage
monitoring.
F7404: Upper DC link voltage The DC link voltage monitoring is active • Check the line supply voltage.
threshold reached and the upper DC link voltage threshold
• Check the infeed module or the brake
Reaction: OFF2 was reached in the "Operation" state.
module.
Acknowledgement:
IMMEDIATELY • Increase the upper DC link voltage
threshold.
• Switch out (disable) the DC link voltage
monitoring.
F7410: Current controller The condition "I_act = 0 and Uq_set_1 • Connect the motor or check the motor
output limited longer than 16 ms at its limit" is present contactor.
Reaction: OFF2 and can be caused by the following:
• Check the DC link voltage.
Acknowledgement: • Motor not connected or motor contactor
IMMEDIATELY open. • Check the Motor Module.
• No DC link voltage present.

• Motor Module defective.

Diagnostics
Fault Cause Remedy

F7412: Commutation angle An incorrect commutation angle was de- • If the encoder mounting was changed, re-
incorrect (motor model) tected that can result in a positive coupling adjust the encoder.
Reaction: ENCODER in the speed controller.
• Replace the defective motor encoder.
Acknowledgement: Possible causes:
IMMEDIATELY • Correctly set the motor stator resistance,
• The motor encoder is incorrectly ad-
cable resistance and motor-stator leakage
justed with respect to the magnet posi-
inductance.
tion.
Calculate the cable resistance from the
• The motor encoder is damaged. cross-section and length, check the in-
• Data to calculate the motor model has ductance and stator resistance using the
been incorrectly set. motor data sheet, measure the stator re-
• Pole position identification might have sistance, e.g. using a multimeter - and if
calculated an incorrect value when ac- required, again identify the values using
tivated. the stationary motor data identification.
• The motor encoder speed signal is • With pole position identification activated,
faulted. check the procedure for pole position
identification and force a new pole posi-
• The control loop is instable due to
tion identification procedure by means of
incorrect parameterization.
de-selection followed by selection.
F7420: Drive: Current set- One of the filter natural frequencies is • Reduce the numerator or denominator
point filter natural frequency > greater than the Shannon frequency. natural frequency of the current setpoint
Shannon frequency filter involved.
• Switch out the filter involved (p1656).
F7430: Changeover to open- For encoderless operation, the converter • Do not attempt to change over to closed-
loop torque controlled opera- cannot change over to closed-loop torque- loop torque-controlled operation.
tion not possible controlled operation.
• Check the encoder cable connection.
Reaction: OFF2
ON
F7431: Changeover to en- For closed-loop torque control, the con- • Do not attempt to change over to encoder-
coderless operation not pos- verter cannot change over to encoderless less operation.
sible operation.
• Check the encoder cable connection.
Reaction: OFF2
ON
F7442: LR: Multiturn does not The ratio between the multiturn resolution Make the ration between the multiturn resolu-
match the modulo range and the modulo range (p29246) is not an tion and the modulo range an integer number.
Reaction: OFF1 (OFF2, integer number. This results in the adjust- The ratio v is calculated as follows:
OFF3) ment being set back, as the position actual
• Motor encoder without position tracking
Acknowledgement: value cannot be reproduced after power-
off/power-on. (p29243 = 0):
IMMEDIATELY
– For multiturn encoders:
v = (4096 * p29247 * p29248)/(p29249 *
p29246)
– For singleturn encoders:
v = (p29247 * p29248)/(p29249 * p29246)
• Motor encoder with position tracking
(p29243 = 1):
v = (p29244 * 29247)/p29246

Diagnostics
Fault Cause Remedy

F7443: Reference point coor- The reference point coordinate received Set the reference point coordinate to a lower
dinate not in the permissible when adjusting the encoder via connector value than specified in the fault value.
range input p2599 lies outside the half of the See also: p2599 (EPOS reference point coor-
Reaction: OFF1 (OFF2, encoder range and cannot be set as actual dinate value).
OFF3) axis position.
For a motor with an absolute encoder, the
Acknowledgement: Fault value (r0949, interpret decimal): maximum permissible encoder range is calcu-
IMMEDIATELY Maximum permissible value for the refer- lated by the following formula:
ence point coordinate.
• For multiturn encoders:
(4096 * p29247) / 2
• For singleturn encoders:
p29247 / 2
F7447: Load gear: Position When the position tracking of the load gear Reduce the multi-turn resolution (p29244).
tracking, maximum actual is configured, the drive/encoder (motor
value exceeded encoder) identifies a maximum possible
Message class: Applica- absolute position actual that can no longer
tion/technological function be represented within 32 bits.
faulted (17) Maximum value: encoder resolution (220 or
Reaction: NONE 221) × p29244
Acknowledgement:
IMMEDIATELY
F7449: Load gear: Position When switched off, the currently effective Reactivate the position tracking function (set
tracking actual position out- motor encoder was moved through a dis- p29243 = 1 → 0 → 1). Then the fault is
side tolerance window tance greater than was parameterized in acknowledged and, if necessary, adjust the
Message class: Applica- the tolerance window. It is possible that encoder (ABS).
tion/technological function there is no longer any reference between
faulted (17) the mechanical system and encoder.
Reaction: OFF1 Fault value (r0949, interpret decimal):
Acknowledgement: Deviation (difference) to the last encoder
IMMEDIATELY position in increments of the absolute
value after the measuring gear - if one is
being used. The sign designates the trav-
ersing direction.
Note: The deviation (difference) window is
pre-assigned quarter of the encoder range.
F7450: Standstill monitoring After the standstill monitoring time expired, Check the causes and resolve.
has responded the drive left the standstill window.
Reaction: OFF1 • Position loop gain too low.
Acknowledgement: • Position loop gain too high (instabil-
IMMEDIATELY ity/oscillation).
• Mechanical overload.
• Connecting cable, motor/drive convert-
er incorrect (phase missing, inter-
change).

Diagnostics
Fault Cause Remedy

F7451: Position monitoring When the position monitoring time (p2545) Check the causes and resolve.
has responded expired, the drive had still not reached the
Reaction: OFF1 positioning window (p2544).
Acknowledgement: • Positioning window parameterized too
IMMEDIATELY small (p2544).
• Position monitoring time parameterized
too short (p2545).
• Position loop gain is too low.
• Position loop gain is too high (instabil-
ity/oscillation).
• Drive mechanically locked.
F7452: Following error too The difference between the position set- Check the causes and resolve.
high point and position actual value (following
Reaction: OFF1 error dynamic model) is greater than the
tolerance (p2546).
Acknowledgement:
IMMEDIATELY • The value of p2546 is too small.
• The gain of position loop is too small.
• The drive torque or accelerating capac-
ity exceeded.
• Position measuring system fault.
• Position control sense incorrect.
• Mechanical system locked.
• Excessively high traversing velocity or
excessively high position reference
value (setpoint) differences.
F7453: Position actual value An error has occurred during the position Check the encoder for the position actual
preprocessing error actual value preprocessing. value preprocessing.
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F7458: EPOS: Reference After starting the search for reference, the • Check the "reference cam" input.
cam not found axis moved through the maximum permis-
• Check the maximum permissible distance
Reaction: OFF1 (OFF2, sible distance to search for the reference
cam without actually finding the reference to the reference cam (p2606).
OFF3)
cam. See also: p2606 (EPOS search for reference
Acknowledgement: reference cam maximum distance)
IMMEDIATELY
F7459: Zero mark not detect- After leaving the reference cam, the axis • Check the encoder regarding zero mark.
ed has traversed the maximum permissible
• Check the maximum permissible distance
Reaction: OFF1 distance (p2609) between the reference
cam and the zero mark without finding the between the reference cam and zero mark
Acknowledgement: (p2609).
zero mark.
IMMEDIATELY
• Use an external encoder zero mark
(equivalent zero mark).
See also: p2609 (EPOS search for reference
max distance ref cam and zero mark)

Diagnostics
Fault Cause Remedy

F7460: EPOS: End of refer- During the search for reference, when the • Check the "reference cam" input.
ence cam not found axis reached the zero mark it also reached
• Repeat the search for reference.
Reaction: OFF1 (OFF2, the end of the traversing range without
OFF3) detecting an edge at the binector input
Acknowledgement: "reference cam".
IMMEDIATELY Maximum traversing range: -2147483648
[LU] ... -2147483647 [LU]
F7464: EPOS: Traversing The traversing block does not contain valid Check the traversing block and where rele-
block is inconsistent information. vant, take into consideration alarms that are
Reaction: OFF1 (OFF2, Alarm value: present.
OFF3) Number of the traversing block with invalid
Acknowledgement: information.
IMMEDIATELY
F7475: EPOS: Target posi- The target position for relative traversing Correct the target position.
tion < start of traversing lies outside the traversing range.
range
Reaction: OFF1 (OFF2,
OFF3)
Acknowledgement:
IMMEDIATELY
F7476: EPOS: Target posi- The target position for relative traversing Correct the target position.
tion > end of the traversing lies outside the traversing range.
range
Reaction: OFF1 (OFF2,
OFF3)
Acknowledgement:
IMMEDIATELY
F7481: EPOS: Axis position < The actual position of the axis is less than • Correct the target position.
software limit switch minus the position of the software limit switch
• Change software limit switch minus (CI:
Reaction: OFF1 (OFF2, minus.
p2580).
OFF3)
Acknowledgement:
IMMEDIATELY
F7482: EPOS: Axis position > The actual position of the axis is greater • Correct the target position.
software limit switch plus than the position of the software limit
• Change software limit switch plus (CI:
Reaction: OFF1 (OFF2, switch plus.
p2581).
OFF3)
Acknowledgement:
IMMEDIATELY
F7484: Fixed stop outside the In the "fixed stop reached" state, the axis • Check the monitoring window (p2635).
monitoring window has moved outside the defined monitoring
• Check the mechanical system.
Reaction: OFF1 (OFF2, window (p2635).
OFF3)
Acknowledgement:
IMMEDIATELY
F7485: Fixed stop not In a traversing block with the task FIXED • Check the traversing block and locate the
reached STOP, the end position was reached with- target position further into the workpiece.
Reaction: OFF1 (OFF2, out detecting a fixed stop.
• Check the "fixed stop reached" control
OFF3)
signal.
Acknowledgement:
IMMEDIATELY • If required, reduce the maximum following
error window to detect the fixed stop
(p2634).

Diagnostics
Fault Cause Remedy

F7488: EPOS: Relative posi- In the mode "direct setpoint input/MDI", for Check the control.
tioning not possible continuous transfer relative positioning
Reaction: OFF1 (OFF2, was selected.
OFF3)
Acknowledgement:
IMMEDIATELY
F7490: Enable signal with- • For a standard assignment, another • Set the enable signals or check the cause
drawn while traversing fault may have occurred as a result of of the fault that first occurred and then re-
Reaction: OFF1 withdrawing the enable signals. sult (for a standard assignment).
Acknowledgement: • The drive is in the "switching on inhibit- • Check the assignment to enable the basic
IMMEDIATELY
ed" state (for a standard assignment). positioning function.
F7491: STOP cam minus The STOP cam minus was reached. • Leave the STOP cam minus in the posi-
reached For a positive traversing direction, the tive traversing direction and return the ax-
Reaction: OFF3 STOP cam minus was reached, i.e. the is to the valid traversing range.
Acknowledgement: wiring of the STOP cam is incorrect.
• Check the wiring of the STOP cam.
IMMEDIATELY
F7492: STOP cam plus The STOP cam plus was reached. • Leave the STOP cam plus in the negative
reached For a negative traversing direction, the traversing direction and return the axis to
Reaction: OFF3 STOP cam plus was reached, i.e. the the valid traversing range.
Acknowledgement: wiring of the STOP cam is incorrect.
• Check the wiring of the STOP cam.
IMMEDIATELY
F7493: LR: Overflow of the The value range (-2147483648 ... If required, reduce the traversing range or
value range for position actu- 2147483647) for the position actual value position resolution p29247.
al value representation was exceeded. When the Note for case = 3:
Reaction: OFF1 (OFF2, overflow occurs, the "referenced" or "ad-
If the value for the maximum possible abso-
OFF3) justment absolute measuring system"
lute position (LU) is greater than 4294967296,
status is reset.
Acknowledgement: then it is not possible to make an adjustment
IMMEDIATELY • The position actual value (r2521) has due to an overflow.
exceeded the value range. For rotary encoders, the maximum possible
• The encoder position actual value has absolute position (LU) is calculated as fol-
exceeded the value range. lows:
• The maximum encoder value times the Motor encoder with position tracking:
factor to convert the absolute position • IPos: p29247 * p29244
from increments to length units (LU) • PTI: 1048576 * p29012[X] * p29244
has exceeded the value range for dis- / p29013
playing the position actual value.
Motor encoder without position tracking:
– IPos: p29247 * p29248 * 4096
/ p29249
– PTI: 1048576 * p29012[X] * 4096
/ p29013
– IPos: p29247 * p29248 / p29249
– PTI: 1048576 * p29012[X] / p29013

Diagnostics
Fault Cause Remedy

F7599: Encoder 1: Adjust- The maximum encoder value times the If the value for the maximum possible abso-
ment not possible factor to convert the absolute position from lute position (LU) is greater than 4294967296,
Reaction: OFF1 (NONE, increments to length units (LU) has ex- then it is not possible to make an adjustment
OFF2, OFF3) ceeded the value range (-2147483648 ... due to an overflow.
2147483647) for displaying the position For rotary encoders, the maximum possible
Acknowledgement:
actual value. absolute position (LU) is calculated as fol-
IMMEDIATELY
lows:
Motor encoder with position tracking:
• IPos: p29247 * p29244
• PTI: 1048576 * p29012[X] * p29244
/ p29013
Motor encoder without position tracking:
– IPos: p29247 * p29248 * 4096
/ p29249
– PTI: 1048576 * p29012[X] * 4096
/ p29013
– IPos: p29247 * p29248 / p29249
– PTI: 1048576 * p29012[X] / p29013
F7800 Drive: No power unit The power unit parameters cannot be read • Carry out a POWER ON (power off/on) for
present or no parameters are stored in the power all components.
Reaction: NONE unit.
• Change the module.
Acknowledgement:
IMMEDIATELY
F7801: Motor overcurrent The permissible motor limit current was • Reduce the static torque correction factor.
Reaction: OFF2 exceeded.
• Increase the up ramp or reduce the load.
Acknowledgement: • Effective current limit set too low.
• Check the motor and motor cables for
IMMEDIATELY • Current controller not correctly set. short-circuit and ground fault.
• Motor was braked with an excessively • Check the Motor Module and motor com-
high static torque correction factor. bination.
• Up ramp was set too short or the load
is too high.
• Short-circuit in the motor cable or
ground fault.
• Motor current does not match the cur-
rent of Motor Module.
F7802: Infeed or power unit After an internal power-on command, the • Ensure that there is a DC link voltage.
not ready infeed or drive does not signal ready be- Check the DC link busbar. Enable the in-
Reaction: OFF2 cause of one of the following reasons: feed.
Acknowledgement: • Monitoring time is too short. • Replace the associated infeed or drive of
IMMEDIATELY • DC link voltage is not present. the signaling component.
• Associated infeed or drive of the signal-
ing component is defective.

Diagnostics
Fault Cause Remedy

F7815: Power unit has been The code number of the actual power unit Connect the original power unit and power up
changed does not match the saved number. the Control Unit again (POWER ON).
Reaction: NONE
Acknowledgement:
IMMEDIATELY
F7900: Motor blocked/speed The servo motor has been operating at the • Check whether the servo motor can rotate
controller at its limit torque limit longer than the delay time freely or not.
Reaction: OFF2 (p2177) and below the speed threshold
(p2175). • Check the torque limit.
Acknowledgement:
This signal can also be initiated if the • Check the inversion of the actual value.
IMMEDIATELY
speed actual value is oscillating and the • Check the motor encoder connection.
speed controller output repeatedly goes to
• Check the encoder pulse number.
its limit.
F7901: Motor overspeed • The maximum permissible speed has • Check and correct the maximum speed
Reaction: OFF2 been exceeded. (p1082).
Acknowledgement: • The speed limit has been exceeded. • Check and correct the speed limit
IMMEDIATELY (p29070, p29071), and the DI signals
SLIM1 and SLIM2.
• Check if there are any peaks of actual
speed. If the value of the peak is especial-
ly large, contact the hotline.
F7995: Motor identification For incremental motor, needs pole position Stop the motor before servo on.
failure identification when first SON. If the motor
Reaction: OFF2 already in run (i.e. by external force) posi-
tion identification may failure.
Acknowledgement:
IMMEDIATELY
F30001: Power unit: Overcur- The power unit has detected an overcur- • Check the motor data - if required, carry
rent rent condition. out commissioning.
Reaction: OFF2 • Closed-loop control is incorrectly pa- • Modify speed loop Kp (p29120), position
Acknowledgement: rameterized. loop Kv (p29110).
IMMEDIATELY • Controller parameters are not proper. • Check the motor circuit configuration
• Motor has a short-circuit or fault to (star-delta).
ground (frame). • Check the power cable connections.
• Power cables are not correctly con- • Check the power cables for short-circuit or
nected. ground fault.
• Power cables exceed the maximum • Check the length of the power cables.
permissible length.
• Replace power unit.
• Power unit defective.
• Check the line supply phases.
• Line phase interrupted.
• Check the external braking resistor con-
nection.

Diagnostics
Fault Cause Remedy

F30002: DC link voltage, The power unit has detected overvoltage • Increase the ramp-down time.
overvoltage in the DC link.
• Activate the DC link voltage controller.
Reaction: OFF2 • Motor regenerates too much energy.
• Use a braking resistor.
Acknowledgement: • Device connection voltage too high.
IMMEDIATELY • Increase the current limit of the infeed or
• Line phase interrupted. use a larger module.
• Check the device supply voltage.
• Check the line supply phases.
F30003: DC link voltage, The power unit has detected an undervolt- • Check the line supply voltage
undervoltage age condition in the DC link.
• Check the line supply infeed and observe
Reaction: OFF2 • Line supply failure the fault messages relating to it (if there
Acknowledgement: • Line supply voltage below the permis- are any)
IMMEDIATELY sible value. • Check the line supply phases.
• Line supply infeed failed or interrupted. • Check the line supply voltage setting.
• Line phase interrupted.
F30004: Drive heat sink over- The temperature of the power unit heat • Check whether the fan is running.
temperature sink has exceeded the permissible limit
• Check the fan elements.
Reaction: OFF2 value.
• Check whether the surrounding tempera-
Acknowledgement: • Insufficient cooling, fan failure.
ture is in the permissible range.
IMMEDIATELY • Overload.
• Check the motor load.
• Surrounding temperature too high.
• Reduce the pulse frequency if this is high-
• Pulse frequency too high. er than the rated pulse frequency.
F30005: Power unit: Overload The power unit was overloaded. • Reduce the continuous load.
I2t
• The permissible rated power unit cur- • Adapt the load duty cycle.
Reaction: OFF2 rent was exceeded for an inadmissibly • Check the motor and power unit rated
Acknowledgement: long time. currents.
IMMEDIATELY
• The permissible load duty cycle was
not maintained.
F30011: Line phase failure in At the power unit, the DC link voltage rip- • Check the main circuit fuses.
main circuit ple has exceeded the permissible limit
• Check whether a single-phase load is
Reaction: OFF2 value.
distorting the line voltages.
Acknowledgement: Possible causes:
• Check the motor feeder cables.
IMMEDIATELY • A line phase has failed.
• The 3 line phases are inadmissibly
unsymmetrical.
• The fuse of a phase of a main circuit
has ruptured.
• A motor phase has failed.

Diagnostics
Fault Cause Remedy

F30015: Phase failure motor A phase failure in the motor feeder cable • Check the motor feeder cables.
cable was detected.
• Check the speed controller settings.
Reaction: OFF2 The signal can also be output in the follow-
Acknowledgement: ing case:
IMMEDIATELY The motor is correctly connected, however
the closed-speed control is instable and
therefore an oscillating torque is generat-
ed.
F30021: Ground fault Power unit has detected a ground fault. • Check the power cable connections.
Reaction: OFF2 • Ground fault in the power cables. • Check the motor.
Acknowledgement: • Winding fault or ground fault at the
IMMEDIATELY motor.
F30027: Precharging DC link • The power unit DC link was not able to Check the line supply voltage at the input
time monitoring be pre-charged within the expected terminals.
Reaction: OFF2 time.
Acknowledgement: There is no line supply voltage con-
IMMEDIATELY nected.
• The line contactor/line side switch has
not been closed.
• The line supply voltage is too low.
• The pre-charging resistors are over-
heated as there were too many pre-
charging operations per time unit
heated as the DC link capacitance is
too high.
heated.
heated as the line contactor was closed
during the DC link fast discharge
through the Braking Module.
• The DC link has either a ground fault or
a short-circuit.
• The pre-charging circuit is possibly
defective.
F30036: Internal overtemper- The temperature inside the drive converter • Check whether the fan is running.
ature has exceeded the permissible temperature
• Check the fan elements.
Reaction: OFF2 limit.
• Check whether the surrounding tempera-
Acknowledgement: • Insufficient cooling, fan failure.
ture is in the permissible range.
IMMEDIATELY • Overload. Notice:
• Surrounding temperature too high. This fault can only be acknowledged once the
permissible temperature limit minus 5 K has
been fallen below.

Diagnostics
Fault Cause Remedy

F30050: 24 V supply over- The voltage monitor signals an overvoltage • Check the 24 V power supply.
voltage fault on the module.
• Replace the module if necessary.
Reaction: OFF2
ON
F30071: No new actual val- The number of actual value telegrams from Replace the module if necessary.
ues received from the power the power unit that have failed has ex-
unit ceeded the permissible number.
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F31100: Zero mark distance The measured zero mark distance does • Check that the encoder cables are routed
error not correspond to the parameterized zero in compliance with EMC.
Reaction: ENCODER mark distance.
For distance-coded encoders, the zero • Check the plug connections
Acknowledgement: PULSE
mark distance is determined from zero • Replace the encoder or encoder cable
INHIBIT
marks detected pairs. This means that if a
zero mark is missing, depending on the
pair generation, this cannot result in a fault
and also has no effect in the system.
F31101: Zero mark failed The 1.5 x parameterized zero mark dis- • Check that the encoder cables are routed
Reaction: ENCODER tance was exceeded. in compliance with EMC.
Acknowledgement: PULSE • Check the plug connections.
INHIBIT
• Replace the encoder or encoder cable.
F31110: Serial communica- Serial communication protocol transfer • Check the encoder cable and shielding
tions error error between the encoder and evaluation connection.
Reaction: ENCODER module.
• Replace the encoder cable/encoder.
INHIBIT
F31111: Encoder 1: Absolute The absolute encoder fault word supplies • Check the encoder cable connection and
encoder internal error fault bits that have been set. make sure the cables are routed in com-
Reaction: ENCODER pliance with EMC.
Acknowledgement: PULSE • Check the motor temperature.
INHIBIT
• Replace the motor/encoder.
F31112: Error bit set in the The encoder sends a set error bit via the Refer to F31111.
serial protocol serial protocol.
Reaction: ENCODER
INHIBIT
F31117: Inversion error sig- • For a square-wave encoder (bipolar, • Check the encoder and cable and the
nals A/B/R double ended) signals A*, B* and R* connection of them.
Reaction: ENCODER are not inverted with respect to signals
Acknowledgement: PULSE A, B and R.
INHIBIT • The encoder sends signals and the
associated inverted signals at the same
time.

Diagnostics
Fault Cause Remedy

F31130: Zero mark and posi- After initializing the pole position using • Check that the encoder cables are routed
tion error from the coarse track C/D, Hall signals or pole position in compliance with EMC.
synchronization identification routine, the zero mark was
detected outside the permissible range. • Check the plug connections.
Reaction: ENCODER
For distance-coded encoders, the test is • If the Hall sensor is used as an equivalent
carried out after passing 2 zero marks. for track C/D, check the connection.
INHIBIT
Fine synchronization was not carried out.
• Check the connection of track C or D.
• Replace the encoder or encoder cable.
F31131: Encoder 1: Deviation • Absolute encoder • Check that the encoder cables are routed
position incremental/absolute in compliance with EMC.
too large When cyclically reading the absolute
position, an excessively high difference • Check the plug connections.
Reaction: ENCODER
to the incremental position was detect- • Replace the encoder or encoder cable.
ed. The absolute position that was read • Check whether the coding disk is dirty or
INHIBIT
is rejected. there are strong ambient magnetic fields.
Limit value for the deviation: 15 pulses
(60 quadrants).
• Incremental encoder
When the zero is passed, a deviation in

the incremental position was detected.
The first zero mark passed supplies 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 quad-
rants).
F31150: Initialization error Encoder functionality is not operating cor- • Check the encoder type used (incremen-
Reaction: ENCODER rectly. tal/absolute) and the encoder cable.
Acknowledgement: PULSE • If relevant, note additional fault messages
INHIBIT that describe the fault in detail.
F52903: Fault inconsistence Fault status and fault number buffer are Repower on.
between fault status and fault inconsistent.
buffer
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F52904: Control mode When the control mode is changed, the Save and restart the drive.
change drive must be saved and restarted.
Reaction: OFF2
ON

Diagnostics
Fault Cause Remedy

F52911: Positive torque limi- One of positive torque limitation values Configure all of positive torque limitation val-
tation value error (p29050, p1520) becomes less than 0. ues (p29050, p1520) not less than 0.
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F52912: Negative torque One of negative torque limitation values Configure all of negative torque limitation
limitation value error (p29051, p1521) becomes greater than 0. values (p29051, 1521) not greater than 0.
Reaction: OFF2
Acknowledgement:
IMMEDIATELY
F52931: Gear box limit The electronic gear ratio (p29012[x] / Adjust the electronic gear ratio within the
Reaction: OFF1 p29013[x]) exceeds the range from 0.02 to permissible range from 0.02 to 200.
Acknowledgement: 200.
IMMEDIATELY
F52933: PTO gear box limit The electronic gear ratio (p29031[0] / Adjust the electronic gear ratio within the
Reaction: OFF1 p29032[0]) exceeds the range from 0.02 to permissible range from 0.02 to 200.
Acknowledgement: 200.
IMMEDIATELY
F52980: Absolute encoder The servo motor with an absolute encoder The servo motor will be automatically config-
motor changed is changed. For example, the actual motor ured after the following measures have been
Reaction: OFF1 ID is different from the commissioned implemented:
Acknowledgement: motor ID. • Acknowledge the fault firstly and then
IMMEDIATELY save the newly commissioned parameters
to the drive ROM
F52981: Absolute encoder Connected absolute encoder motor cannot Use a suitable absolute encoder motor.
motor mismatched be operated. The servo drive in use does
Reaction: OFF1 not support the Motor ID.
Acknowledgement:
IMMEDIATELY
F52983: No encoder detected The servo drive in use does not support • Check the encoder cable connection be-
Reaction: OFF1 encoderless operation. tween the servo drive and the servo mo-
Acknowledgement: tor.
IMMEDIATELY • Use a servo motor with encoder.
F52984: Incremental encoder • Commissioning of the servo motor has Configure the motor ID by setting the parame-
motor not configured failed. ter p29000.
Reaction: OFF1 • The incremental encoder motor is con-
Acknowledgement: nected but fails to commission.
IMMEDIATELY
F52985: Absolute encoder • Motor ID is downloaded wrong during • Update the firmware.
motor wrong manufacture. • Use a correct absolute encoder motor.
Reaction: OFF1 • The firmware of the servo drive does
Acknowledgement: not support the Motor ID.
IMMEDIATELY
F52987: Absolute encoder Incorrect absolute encoder data. Contact the Hotline.
replaced
Reaction: OFF1
Acknowledgement:
IMMEDIATELY

Diagnostics
Alarm list
Alarm Cause Remedy

A1009: Control module over- The temperature of the control module (Control • Check the air intake for the Control
temperature Unit) has exceeded the specified limit value. Unit.
• Check the Control Unit fan.
Note:
The alarm automatically disappears after
the limit value has been undershot.
A1019: Writing to the remov- The write access to the removable data medi- Remove and check the removable data
able data medium unsuccess- um was unsuccessful. medium. Then run the data backup again.
ful
A1032: All parameters must The parameters of an individual drive object Save all parameters.
be saved were saved, although there is still no backup of
all drive system parameters.
The saved object-specific parameters are not
loaded the next time that the system powers
up.
For the system to successfully power up, all of
the parameters must have been completely
backed up.
A1045: Configuring data An error was detected when evaluating the Save the parameterization in SINAMICS
invalid parameter files saved in the non-volatile V-ASSISTANT using the "Copy RAM to
memory. Because of this, under certain circum- ROM" function or on the BOP. This over-
stances, several of the saved parameter values writes the incorrect parameter files in the
were not able to be accepted. non-volatile memory – and the alarm is
withdrawn.
A1774: Test stop for fail-safe The preset time for the forced checking proce- Carry out the forced checking procedure
digital outputs required dure (test stop) for the fail-safe digital outputs for the digital 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 (maximum of 8760
hours) in order to comply with the require-
ments as laid down in the standards for
timely fault detection and the conditions to
calculate the failure rates of safety functions
(PFH value). Operation beyond this maxi-
mum time period is permissible if it can be
ensured that the forced checking procedure
is performed before persons enter the haz-
ardous area and who are depending on the
safety functions correctly functioning.

Diagnostics
Alarm Cause Remedy

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
• Check parameters for clock cycle
the Drive Bus clock cycle.
synchronization (ensure To > Tdx).
Note:
To: Time of setpoint acceptance
Tdx: Data exchange time
A1932: Drive Bus clock cycle There is no clock synchronization or clock syn- Set clock synchronization across the bus
synchronization missing for chronous sign of life and DSC is selected. configuration and transfer clock synchro-
DSC Note: nous sign-of-life.
DSC: Dynamic Servo Control
A5000: Drive heat sink over- The alarm threshold for overtemperature at the Check the following:
temperature inverter heat sink has been reached.
• Is the surrounding temperature within
If the temperature of the heat sink increases by the defined limit values?
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 volt- • Check the parameterized supply volt-
(p29006) incorrectly parame- age lies outside the tolerance range after pre- age and if required change it
terized charging has been completed. (p29006).
The following applies for the tolerance range:
• Check the line supply voltage.
1.16 × p29006 < r0026 < 1.6 × p29006
See also: p29006 (Line supply voltage)
Note:
The fault can only be acknowledged when the
drive is switched off.
A7012: Motor temperature The motor temperature model 1/3 identified that • Check the motor load and reduce it if
model 1/3 overtemperature the alarm threshold was exceeded. required.
• Check the motor surrounding tem-
perature.
A7092: Drive: Moment of The moment of the inertia estimator has still not Traverse the axis until the moment of
inertia estimator still not ready determined any valid values. inertia estimator has stabilized.
The acceleration cannot be calculated. The alarm is automatically withdrawn after
The moment of inertia estimator has stabilized, the moment of inertia estimator has stabi-
if the ratio of machine load moment of inertia lized.
(p29022) have been determined.
A7440: IPos: Jerk time is The calculation of the jerk time Tr = max • Increase the jerk limiting (p2574).
limited (p2572, p2573)/p2574 resulted in an excessive-
• Reduce maximum acceleration or
ly high value so that the jerk time is internally
limited to 1000 ms. maximum deceleration (p2572,
p2573).
Note:
See also: p2572 (IPos maximum acceler-
The alarm is also output if jerk limiting is not ation), p2573 (IPos maximum decelera-
active. tion), p2574 (IPos jerk limiting)

Diagnostics
Alarm Cause Remedy

A7441: LR: Save the position The status of the absolute encoder adjustment Not necessary.
offset of the absolute encoder has changed. This alarm automatically disappears after
adjustment In order to permanently save the determined the offset has been saved.
position offset (p2525) it must be saved. See also: p2525 (LR encoder adjustment
offset)
A7454: LR: Position value The parameter configuration of encoder is Default the drive and re-configure the
preprocessing does not have incorrect. parameters.
a valid encoder
A7455: EPOS: Maximum The maximum velocity (p2571) is too high to Reduce the maximum velocity (p2571).
velocity limited correctly calculate the modulo correction.
Within the sampling time for positioning, with
the maximum velocity, a maximum of the half
modulo length must be moved through. p2571
was limited to this value.
A7456: EPOS: Setpoint ve- The actual setpoint velocity is greater than the Decrease the actual setpoint velocity.
locity limited parameterized maximum velocity and is there-
fore limited.
A7461: EPOS: Reference When starting a traversing block/direct setpoint Reference the system (search for refer-
point not set input, a reference point is not set. ence, flying referencing, set reference
point).
A7465: EPOS: Traversing There is no subsequent block in the traversing • Parameterize this traversing block with
block does not have a subse- block. the block change enable END.
quent block Alarm value (r2124, interpret decimal): • Parameterize additional traversing
Number of the traversing block with the missing blocks with a higher block number,
subsequent block. and use the block change enable END
for the last traversing block.
A7469: EPOS: Traversing In the traversing block the specified absolute • Correct the traversing block.
block < target position < soft- target position lies outside the range limited by
• Change software limit switch minus
ware limit switch minus the software limit switch minus.
(p2580).
A7470: EPOS: Traversing In the traversing block the specified absolute • Correct the traversing block.
block > target position > soft- target position lies outside the range limited by
• Change software limit switch plus
ware limit switch plus the software limit switch plus.
(p2581).
A7471: EPOS: Traversing In the traversing block the target position lies • In the traversing block, correct the
block target position outside outside the modulo range. target position.
the modulo range
• Change the modulo range (p29246).
A7472: EPOS: Traversing In the traversing block the positioning mode Correct the traversing block.
block ABS_POS/ABS_NEG ABS_POS or ABS_NEG were parameterized
not possible with the modulo correction not activated.
A7473: EPOS: Beginning of When traversing, the axis has moved to the Move away in the positive direction.
traversing range reached traversing range limit.
A7474: EPOS: End of trav- When traversing, the axis has moved to the Move away in the negative direction.
ersing range reached traversing range limit.
A7477: EPOS: Target posi- In the actual traversing operation, the target • Correct the target position.
tion < software limit switch position is less than the software limit switch
minus minus.
(CI: p2580).

Diagnostics
Alarm Cause Remedy

A7478: EPOS: Target posi- In the actual traversing operation, the target • Correct the target position.
tion > software limit switch position is greater than the software limit switch
plus plus.
p2581).
A7479: EPOS: Software limit The axis is at the position of the software limit • Correct the target position.
switch minus reached switch minus. An active traversing block was
interrupted.
(CI: p2580).
A7480: EPOS: Software limit The axis is at the position of the software limit • Correct the target position.
switch plus reached switch plus. An active traversing block was
interrupted.
p2581).
A7496: SON enable missing • In the IPos control mode or a compound • Send servo on command to the drive
control mode with IPos, no servo on com- via Modbus
mand is sent to the drive via Modbus when • Set the drive to servo on status firstly
p29008 = 1. and trigger a rising edge for the P-
• In the IPos control mode, rising edge is TRG signal.
triggered for the P-TRG signal when the • Acknowledge the faults firstly and
drive is in servo off status. implement "Enable trial run" again.
• In the PTI control mode, any faults which is
caused by implementing the "Enable trial
run" operation with the V-ASSISTANT lead
to A7496.
A7576: Encoderless opera- Encoderless operation is active due to a fault. • Remove the cause of a possible en-
tion due to a fault active coder fault.
• Carry out a POWER ON (power
off/on) for all components.
A7582: Position actual value An error has occurred during the position actual Check the encoder for the position actual
preprocessing error value preprocessing. value preprocessing.
Refer to F52931.
A7585: P-TRG or CLR active In the PTI mode or a compound mode with PTI, In the PTI mode, deactivate the P-TRG or
the P-TRG or CLR function is activated. CLR function; in the compound mode with
PTI, do not switch to other modes.
A7588: Encoder 2: Position The parameter configuration of PTI counter is Default the drive and re-configure the
value preprocessing does not incorrect. parameters.
have a valid encoder
A7805: Power unit overload Alarm threshold for I2t overload of the power • Reduce the continuous load.
I2t unit exceeded.
• Adapt the load duty cycle.
• Check the assignment of the rated
currents of the motor and motor mod-
ule.
A7965: Save required The angular commutation offset was re-defined This alarm automatically disappears after
and has still not been saved. the data has been saved.
In order to permanently accept the new value, it
must be saved in a non-volatile fashion.
A7971: Angular commutation The automatic determination of the angular The alarm automatically disappears after
offset determination activated commutation offset (encoder adjustment) is determination.
activated.
The automatic determination is carried out at
the next power-on command.

Diagnostics
Alarm Cause Remedy

A7991: Motor data identifica- The motor data identification routine is activat- The alarm automatically disappears after
tion activated ed. the motor data identification routine has
The motor data identification routine is carried been successfully completed.
out at the next power-on command. If a POWER ON or a warm restart is per-
formed with motor data identification se-
lected, the motor data identification
request will be lost. If motor data identifi-
cation is required, it will need to be se-
lected again manually following ramp-up.
A30016: Load supply The DC link voltage is too low. • Switch on the load supply.
switched off
• Check the line supply if necessary.
A30031: Hardware current Hardware current limit for phase U responded. Check the motor data. As an alternative,
limiting in phase U The pulsing in this phase is inhibited for one run a motor data identification.
pulse period. • Check the motor circuit configuration
• Closed-loop control is incorrectly parame- (star-delta)
terized. • Check the motor load.
• Fault in the motor or in the power cables. • Check the power cable connections.
• The power cables exceed the maximum • Check the power cables for short-
permissible length. circuit or ground fault.
• Motor load too high. • Check the length of the power cables.
• 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.
A30042: Power unit: Fan has The maximum operating time of at least one For the fan involved, carry out the follow-
reached the maximum oper- fan will soon be reached, or has already been ing:
ating hours exceeded. • Replace the fan
Fault value (r0949, interpret binary):
• Reset the operating hours counter
Bit 0: heat sink fan will reach the maximum
(p0251)
operating time in 500 hours.
Bit 1: heat sink fan has exceeded the maximum
operating time.
Note:
The maximum operating time of the internal
device fan in the power unit is internally speci-
fied (40000 hours) and is fixed.
A31411: Encoder 1: Absolute The absolute encoder fault word includes alarm • Check the encoder cable connection
encoder signals internal bits that have been set. and make sure the cables are routed
alarms in compliance with EMC.
• Check the motor temperature.
• Replace the motor/encoder.

Diagnostics
Alarm Cause Remedy

A31412: Error bit set in the The encoder sends a set error bit via the serial • Carry out a POWER ON (power
serial protocol protocol. off/on) for all components.
• Check that the cables are routed in
compliance with EMC.
• Check the plug connections.
• Replace the encoder.
A52900: Failure during data • Copying is halted. • Re-plug in the micro SD card/SD card.
copying
• The micro SD card/SD card was plugged • Make sure the drive is in the stop
out. state.
• The drive is not in the stop state.
A52901: Braking resistor The heat capacity reaches the threshold • Change the external braking resistor.
reaches alarm threshold (p29005) of the braking resistor capacity.
• Increase deceleration time.
A52902: Quick stop (EMGS) Implement servo on when the digital input Switch on the digital input (EMGS) and
missing (EMGS) is switched off. then implement servo on.
A52932: PTO max limit For incremental encoder, when PTO frequency Change PTO ratio.
exceeds 280K, drive will output A52932 to
remind that exceed limitation.
For absolute encoder, when PTO frequency
exceeds 120K, drive will output A52932 to
remind that exceed limitation.

Appendix A
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 42)" and "Technical data - cables (Page 73)".

Appendix
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.1 Assembly of cable terminals/connectors on the drive side
A.1.1 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.1.2 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
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-
assembled encoder connector. This can cause damage to the drive.
• When assembling the connector, exercise caution when connecting the shielding cable
to the encoder connector.
A.1.3 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 425)" for details.

Appendix
A.1.4 Setpoint connector assembly

Appendix
NOTICE
Drive damage resulting from the short-circuiting between the shielding wire and the unused
pin on the setpoint connector
The shielding wire may inadvertently be short-circuited to the unused pin on the to-be-
assembled setpoint connector. This can cause damage to the drive.
• When assembling the connector, exercise caution when connecting the shielding cable
to the setpoint connector.

Appendix
A.2 Assembly of cable connectors on the motor side
A.2.1 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.2.2 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.2.3 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 430)" 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 433)" 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 433)" for details.

Appendix
A.3 Motor selection
A.3 Motor selection
A.3.1 Selection procedure

1. Determine the mechanism type as well as the detailed data of the related mechanical
parts, such as ball screw lead, diameter, lead, and gear diameter. Three mechanism
types are shown below:
Ball screw
Belt transmission
Rack and pinion and/or gear
2. Determine the operation pattern including such parameters as acceleration time (ta),
constant motion time (tu), deceleration time (td), stopping time (ts), cycle time (tc), and
travel distance (L).
3. Calculate load inertia and inertia ratio.

The inertia ratio can be obtained by dividing the load inertia by the rotor inertia of the
selected motor. The unit of inertia is x 10-4 kg·m2.
4. Calculate the speed.
Calculate the speed according to the travel distance, acceleration time, deceleration time,
and constant motion time.
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.3 Motor selection
A.3.2 Parameter description
Torque
● Summit torque: It refers to the maximum torque required by a motor in operation, which is
generally less than 80% of the motor’s maximum torque. When the torque is a negative
value, regenerative resistors may be needed.
● Moving torque and hold torque in standstill: It refers to the torque required by a motor in
long-term operation, which is generally less than 80% of the motor’s rated torque. When
the torque is a negative value, regenerative resistors may be needed.
● 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.
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

Appendix
A.3 Motor selection
Mechanism Equation Mechanism Equation
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)
A.3.3 Selection examples

This section uses a ball screw mechanism as an example to illustrate the motor selection
procedure.
Exemplary data
The following table lists the data related to the ball screw mechanism and operation pattern.
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:

Appendix
A.3 Motor selection
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:
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:

Appendix
A.3 Motor selection
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:
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.4 Replacing fans
A.4 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.4 Replacing fans

Index
A Connecting the RS485 interface, 173

Connecting the SIMATIC S7-1200
Accessories
For fast pulse train input position control (Fast
Braking resistor, 50
PTI), 155
External 24 V DC power supply, 46
For internal position control (IPos), 158
Filter, 51
For pulse train input position control (PTI), 154
Fuse/Type E combination motor controller, 47
For speed control (S), 159
MOTION-CONNECT 300 cable and connector, 44
For torque control (T), 160
Replacement fans, 56
Connecting the SIMATIC S7-200
SD card/Micro SD card, 56
Setpoint cable, 45
PTI), 149
USB cable, 45
Adjust AI offset, 205
Aims, 295
For speed control, 152
analog inputs, 128
For torque control, 153
Analog inputs
Connecting the SIMATIC S7-200 SMART
Command voltage, 128
analog outputs, 128
PTI), 141
Analog outputs
Parameterization, 129
Wiring, 129
For speed control (S), 145
ANSI B11, 306
For torque control (T), 146
Copy parameter set from a micro SD card/SD card to
drive, 203
B
Copy parameters from the servo drive to a micro SD
Backlash compensation, 238 card/SD card, 203
BOP operations
Button functions, 193
BOP operations for faults and alarms, 401 D
Acknowledging faults, 402
Differences between faults and alarms, 400
Exiting from alarm display, 401
Digital inputs, 117
Exiting from fault display, 401
Direct signal map, 120
Viewing alarms, 401
Wiring, 121
Viewing faults, 401
Digital outputs, 122
BOP overview, 189
Assigning warning signals to digital outputs, 124
DIN EN ISO 13849-1, 299
Direction of motor rotation, 210
C
Drive overload capacity
Certification, 308 300% overload capacity, 211
Change a parameter value, 197 Drive rating plate, 25
Parameter setting with shift function, 198
Commissioning
Initial commissioning, 177 E
Connecting 24 V power supply/STO, 161
EN 61508, 302
Connecting an external braking resistor, 167
EN 62061, 300
Connecting the cable shields, 104

Index
Equipment regulations, 307 Machine safety in the USA, 304

Machinery directive, 296
Main circuit wirings
F Connecting the motor power - U, V, W, 110
Motor holding brake, 167
Fast pulse train input position control mode (Fast
Relevant parameters, 171
PTI), 233
Motor rating plate, 30
Function list, 56
Motor selection method, 438
Functional safety, 296
Mounting the motor
Motor dimensions, 86
Mounting orientation, 83
G
Gain switch, 334
Gain switching using actual speed, 337 N
Gain switching using an external digital input
NFPA 79, 305
signal, 335
NRTL, 305
Gain switching using position deviation, 336
Gain switching using position setpoint frequency, 336
General information about faults and alarms, 399
O
Operating display, 195
H OSHA, 304
Over-travel, 211
Harmonized European Standards, 297
Overview of absolute position system, 292
Restrictions, 292
Overview of SINAMICS V90 BOP functions, 200
I
Internal position control mode (IPos)
Linear/modular axis, 237 P
Position setpoint, 235
Parameter value, 284
Selecting a fixed position setpoint and starting
PI to P switching using torque setpoint, 340
positioning, 252
PI/P switching, 338
Selecting a positioning mode, 237
PI/P switching using acceleration setpoint, 342
Setting mechanical system, 234
PI/P switching using an external digital input
Software position limit, 251
signal, 340
Traversing blocks, 247
PI/P switching using pulse deviation, 343
Iterative process for achieving safety, 303
PI/P switching using speed setpoint, 341
Preface
Documentation components, 3
J
Target group, 3
Jog function, 200 Technical support, 3
Jog in speed, 201 Probability of failure, 310
Jog in torque, 201 PTO
Wiring, 127
Pulse train encoder outputs, 127
L Pulse train input position control mode (PTI)
Calculating electronic gear ratio, 223
LED status indicators, 190
Clearing droop pulses, 230
In position (INP), 221
P-TRG, 225
M
Selecting a setpoint pulse train input channel, 220
Machine safety in Japan, 307

Index
Selecting a setpoint pulse train input form, 220 Standards for implementing safety-related
Smoothing function, 222 controllers, 298
Pulse train inputs Stopping method at servo OFF, 213
Wiring, 126 Coast-down (OFF2), 214
Quick stop (OFF3), 214
Ramp-down (OFF1), 214
R System connection diagrams, 99
Referencing
Referencing modes, 239
T
Residual risk, 304
Resonance suppression, 330 Technical data
Activate the resonance suppression function, 331 Cables, 73
Manual tuning with resonance suppression Torque control mode
(p29021=0), 332 Direction and stop, 265
One-button auto tuning with resonance suppression External analog torque setpoint, 264
(p29023.1=1), 331 External speed limit, 228
Real-time auto tuning with resonance suppression Internal speed limit, 227
(p29024.6=1), 332 Offset adjustment, 264
Response time, 311 Torque control with fixed setpoint, 265
Risk analysis, 302 Torque setpoint, 263
Risk reduction, 304 Torque limit, 228
External torque limit, 230
Internal torque limit, 229
S Overall torque limit, 229
Torque limit reached (TLR), 230
Safe Torque Off
Transmitting sequence for the absolute position
Functional features, 312
data, 293
Response time, 314
Tuning
Selecting/deselecting STO, 314
Configuration of dynamic factor, 322, 326
Safety Integrated function, 308
Manual tuning, 328
Safety of machinery in Europe, 296
Real-time auto tuning, 325
Save parameters in the servo drive, 201
Servo gains, 318
Search a parameter in "P ALL" menu, 199
Tuning methods, 319
Selection of control mode
Tuning with SINAMICS V-ASSISTANT, 320
Control mode change for a compound control
mode, 207
Control modes, 207
U
Selection of a basic control mode, 207
Servo ON signal, 208 Update firmware, 204
Relevant parameter settings, 208 USS
Set parameter set to default, 202 Telegram format, 266
Set zero position, 206
Speed control mode
Direction and stop, 260 W
External speed setpoint, 258
Wiring and connecting
Offset adjustment, 259
Adjusting cable orientations, 106
Parameter settings for fixed speed setpoint, 260
Ramp-function generator, 262
Speed setpoint, 258
Zero speed clamp, 261
Speed limit, 226
Overall speed limit, 227


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SINAMICS V90, SIMOTICS S-1FL6

Basic operator panel (BOP) 6

Safety Integrated function 8

Pulse train, USS/Modbus interface

Siemens AG A5E36037884-008 Copyright © Siemens AG 2015 - 2020.

SINAMICS V90, SIMOTICS S-1FL6

Use of third-party products

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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

3.1.1 Mounting orientation and clearance ....................................................................................... 76

SINAMICS V90, SIMOTICS S-1FL6

5.3 Commissioning in pulse train position control mode (PTI) ...................................................179

SINAMICS V90, SIMOTICS S-1FL6

7.3.11 Referencing (only for absolute encoder) .............................................................................. 232

SINAMICS V90, SIMOTICS S-1FL6

8.1.2.3 Standards for implementing safety-related controllers .........................................................298

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

SINAMICS V90, SIMOTICS S-1FL6

1.2 Equipment damage due to electric fields or electrostatic discharge

1.3 Warranty and liability for application examples

1.4 Security information

SINAMICS V90, SIMOTICS S-1FL6

SINAMICS V90, SIMOTICS S-1FL6

1.5 Residual risks of power drive systems

SINAMICS V90, SIMOTICS S-1FL6

2.1 Scope of delivery

2.1.1 Drive components

Components in SINAMICS V90 200 V variant drive package

Component Illustration Rated power Outline dimen- Frame 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 SINAMICS V90 400 V variant drive package

Component Illustration Rated power Outline dimen- Frame 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 Pollution degree and overvoltage crite-

SINAMICS V90, SIMOTICS S-1FL6

Article number explanation (example)

SINAMICS V90, SIMOTICS S-1FL6