Cover sheet

SINAMICS S110
EPOS via FB283
Control via PROFINET – Safety via PROFIsafe

Application Description  February 2012

Applications & Tools

Answers for industry.
 Siemens Industry Online Support
This article is taken from the Siemens Industry Online Support. The following link
takes you directly to the download page of this document:
http://support.automation.siemens.com/WW/view/de/58703362

Caution
The functions and solutions described in this article confine themselves to the
realization of the automation task predominantly. Please take into account
furthermore that corresponding protective measures have to be taken up in the
context of Industrial Security when connecting your equipment to other parts of the
plant, the enterprise network or the Internet. Further information can be found
under the Item-ID 50203404.
http://support.automation.siemens.com/WW/view/en/50203404

If you have any questions concerning this document please e-mail us to the
following address:
tech.team.motioncontrol@siemens.com
Copyright  Siemens AG 2012 All rights reserved

You can also actively use our Technical Forum from the Siemens Industry Online
Support regarding this subject. Add your questions, suggestions and problems and
discuss them together in our strong forum community:
http://www.siemens.com/forum-applications

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 Warranty and liability

Warranty and liability

Note The application examples are not binding and do not claim to be complete
regarding the configuration and equipping as well as possible eventualities. The
application examples do not represent customer-specific solutions. They are only
intended to provide support for typical applications. You are responsible in
ensuring that the described products are correctly used. These application
examples do not relieve you of the responsibility of safely and professionally
using, installing, operating and servicing equipment. When using these
application examples, you recognize that we cannot be made liable for any
damage/claims beyond the liability clause described. We reserve the right to
make changes to these application examples at any time without prior notice. If
there are any deviations between the recommendations provided in this
application example and other Siemens publications - e.g. Catalogs, then the
contents of the other documents have priority.

We do not accept any liability for the information contained in this document.
Claims against us – irrespective of the legal grounds – resulting from the use of the
examples described in this application example, information, programs,
engineering and performance data etc. are excluded. Such an exclusion shall not
apply where liability is mandatory, e.g. under the German Product Liability Act
involving intent, gross negligence, or injury of life, body or health, guarantee for the
quality of a product, fraudulent concealment of a deficiency or non-performance.
Copyright  Siemens AG 2012 All rights reserved
58703362_FE_FB283_Profinet_Profisafe_en.doc

Claims of the purchaser for compensation relating to non-performance of essential

contract obligations shall be limited to foreseeable damages typically covered by a
contract unless intent, willful misconduct or gross negligence is involved or injury of
life, body or health. The above stipulations shall not change the burden of proof to
your detriment.

It is not permissible to transfer or copy these application examples or excerpts of

them without first having prior authorization from Siemens Industry Sector in
writing.

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 Table of Contents

Table of Contents
Warranty and liability................................................................................................... 3
1 Automation function.......................................................................................... 6
1.1 Description of the functionality ............................................................. 6
2 Functionality of the function example............................................................. 7
2.1 Task description ................................................................................... 7
2.2 Solution ................................................................................................ 7
2.3 Structure of the function example ........................................................ 7
3 Components required ....................................................................................... 8
3.1 Hardware components ......................................................................... 8
3.2 Software components........................................................................... 9
4 Structure and wiring........................................................................................ 10
4.1 Connecting-up the hardware components ......................................... 10
4.1.1 Connecting-up PROFIsafe for PROFINET......................................... 10
4.1.2 PM340 with motor .............................................................................. 11
4.2 Settings at the hardware components................................................ 11
4.2.1 Simulation module SM374 ................................................................. 11
4.2.2 Safety digital input module SM326..................................................... 11
Copyright  Siemens AG 2012 All rights reserved

5 Download.......................................................................................................... 13
5.1 S7 program......................................................................................... 13
5.2 Load the safety program .................................................................... 13
5.3 Setting the SINAMICS S110 IP address and device name ............... 13
5.4 SINAMICS S110 configuration........................................................... 18
5.5 Exiting the STARTER parameterizing software ................................. 20
6 Using the application ...................................................................................... 21
6.1 Via digital inputs ................................................................................. 21
6.1.1 Operator control ................................................................................. 21
6.1.2 Example ............................................................................................. 21
6.2 Variables table.................................................................................... 22
6.2.1 Reference – controlling the referencing operating mode ................... 22
6.2.2 MDI – control of the direct setpoint input............................................ 23
6.2.3 TVB – controlling traversing blocks.................................................... 25
6.2.4 Acyclic tasks....................................................................................... 27
6.2.5 Parameters – read/write parameters.................................................. 28
6.2.6 Para_1_10- read/write 1-10 parameters ............................................ 29
6.2.7 TVBsingle – changing/reading out a traversing block........................ 31
6.2.8 TVBblock – changing/reading out a traversing block......................... 34
6.2.9 FaultBuffer – Read-out fault memory ................................................. 36
6.3 Function test of the safety functions................................................... 38
7 More detailed information............................................................................... 39
7.1 Configuration of a control ................................................................... 39
7.1.1 Settings in the hardware configuration............................................... 39
7.1.2 S7 program......................................................................................... 42
Call FB283.......................................................................................... 42
7.1.3 Settings, Safety program.................................................................... 44
Properties of the CPU ........................................................................ 44
Properties of the F-DI module ............................................................ 45
Generating the safety program .......................................................... 47
7.2 Configuring the SINAMICS S110 ....................................................... 50
7.2.1 SIMATIC Manager, inserting the SINAMICS S110............................ 50

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 Table of Contents

7.2.2 Calling the STARTER commissioning tool......................................... 51

7.2.3 STARTER, performing quick commissioning ..................................... 52
7.2.4 STARTER, performing motor identification ........................................ 54
7.2.5 Settings, Safety via PROFIsafe.......................................................... 56
7.2.6 Overview and settings of the position controller screen forms........... 58
Mechanics .......................................................................................... 59
Position actual value preparation ....................................................... 60
Position controller............................................................................... 61
Monitoring........................................................................................... 63
7.2.7 Overview and settings of the basic positioning screen forms ............ 65
Limitation ............................................................................................ 66
Jogging ............................................................................................ 69
Homing ............................................................................................ 72
Traversing blocks ............................................................................... 76
Direct setpoint input MDI .................................................................... 78
7.2.8 Completing commissioning ................................................................ 80
7.3 FB283 error messages....................................................................... 81
7.3.1 single.ErrorNumbr .............................................................................. 81
7.3.2 SINAMICS S110................................................................................. 83
7.4 FAQ on FB283 ................................................................................... 84
8 References ....................................................................................................... 85
8.1 Internet links - data............................................................................. 85
9 Contact.............................................................................................................. 85
Copyright  Siemens AG 2012 All rights reserved

10 History............................................................................................................... 85

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 1 0BAutomation function

1 Automation function
1.1 Description of the functionality
The SINAMICS S110 frequency converter is a modular, single-axis drive with the
basic positioning function. It comprises the function units Control Unit (CU) and
Power Module (PM).
When using the CU305 DP, a PROFIBUS DP interface is available; with the
CU305 PN there are two PROFINET interfaces. It is possible to exchange data
between the converter and the control system via these interfaces.
The safety-relevant applications can be controlled via fail safe digital inputs (F-DI)
or PROFIsafe in this function example the safety-relevant applications are
controlled via PROFIsafe.
Copyright  Siemens AG 2012 All rights reserved

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 2 1BFunctionality of the function example

2 Functionality of the function example

2.1 Task description
The SINAMICS S110 should be controlled via a fieldbus (PROFIBUS or
PROFINET) from an S7 300 CPU. In this case, it should also be possible to
change the traversing blocks from the control system.
Optionally, the safety functions should be used.

2.2 Solution
In this function example, function block FB 283 is used for this purpose. FB 283
controls the cyclic communication, and offers various types of non-cyclic jobs. This
also includes a function to read and write traversing blocks, but also a user-friendly
option of changing or reading any parameters.
User-specific data types (User Defined Types / UDTs) are used to improve the
transparency and increase the flexibility by appropriately structuring large
quantities of data.
If the safety functions of the S110 are to be used, then a corresponding chapter is
provided in these instructions where it is described as to how the functions are set-
Copyright  Siemens AG 2012 All rights reserved

up. You can select between Safety via F-DI and Safety via PROFIsafe. The latter
requires an F-CPU.
In addition, there are extended safety functions, what are known as motion
monitoring functions. These require a license and are not discussed in this
example.

2.3 Structure of the function example

The function example is sub-divided into various steps. First of all, the technical
prerequisites for use are shown and how the components are connected up.

Commissioning and operation then follow, which are shown using the function
example provided.

For the case that you wish to create your own project, in Chapter 7, an explanation
is provided as to how you can create your own program example.

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 3 2BComponents required

3 Components required
It can also be implemented with compatible components. To do this, it may be
necessary to change the hardware configuration (HW Config) or in the STARTER
parameterizing tool.

3.1 Hardware components

Table 3-1
Component Qty. MLFB/order number Note
Power supply 1 6ES7307-1EA00-0AA0
PS307 5A
S7-300-CPU 1 6ES7315-2EH13-0AB0 Not suitable for
CPU 315-2 PN/DP PROFIsafe.
S7-300-F-CPU 1 6ES7315-2FH13-0AB0
CPU 315F-2 PN/DP
DI / DO simulation 1 6ES7374-2XH01-0AA0
module SM374
Copyright  Siemens AG 2012 All rights reserved

Safety digital input 1 6ES7326-1BK01-0AB0

Memory Card 1 6ES7953-8LJ11-0AA0
e.g. MMC 512 kB
Mounting rail 1 6ES7390-1AE80-0AA0
PROFINET RJ45 2 6GK1901-1BB10-2AA0
connector
PROFINET cable 2m 6XV1840-2AH10
SINAMICS S110 CU 1
CU305 PN – FW 4.4
SINAMICS S110 PM 1 6SL3210-1SB12-3AA0
PM340
Motor 1 1FK7022-5AK71-1DA0 For Safety, a sin/cos
Synchronous encoder is required
servomotor for synchronous
motors

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 3 2BComponents required

3.2 Software components

Table 3-2
Component Qty. MLFB/Order No. Note
STARTER V4.2 1 6SL3072-0AA00-0AG0
commissioning tool Or download from
http://support.automation.si
emens.com/WW/view/de/2
6233208
STEP 7 V5.5 1 6ES7822-1AA01-0YA5 Alternatively: 5.4 SP5
Distributed Safety 1 6ES7833-1FC02-0YA5 min. 5.4 SP5
V5.4

Example files and projects

The following list includes all files and projects that are used in this example.
Table 3-3
Component Note
S110STD.zip <This zip file includes the STEP 7
project.>
Copyright  Siemens AG 2012 All rights reserved

S110STD.pdf This document.

.... ....

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 4 3BStructure and wiring

4 Structure and wiring

The chapter describes the hardware design and how to connect up the function
example.
Carefully observe the subsequent safety notes regarding the use of SINAMICS
S110:
The SINAMICS S110 has components at hazardous voltage levels and controls
rotating mechanical equipment, which is also hazardous. If this warning is not
carefully observed, or if the notes provided in the various SINAMICS S110
WARNUNG instructions are not followed, then this can result in death, severe bodily injury or
significant material damage.

4.1 Connecting-up the hardware components

4.1.1 Connecting-up PROFIsafe for PROFINET

Fig. 4-1
Copyright  Siemens AG 2012 All rights reserved

An SM326 module is used to evaluate the safety-relevant signals.

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 4 3BStructure and wiring

4.1.2 PM340 with motor

Fig. 4-2
Copyright  Siemens AG 2012 All rights reserved

4.2 Settings at the hardware components

4.2.1 Simulation module SM374

This module can be operated as 16 x DO (output via LED), 16 x DI (input via

switch) or as combined 8 x DI / 8 x DO. The latter combination is used in this
function description.
The module function is selected using a rotary switch, behind the front cover
between the series of switches.
Set the function switch, as shown in the following diagram, to 16 x input.

4.2.2 Safety digital input module SM326

At the rear of the module, before installation, the PROFIsafe address must be set
according to HW Config.
For the example, set the DIL switch as shown in the following diagram.
The number series 8-4096 can be ignored, the normal numbers to the power of two
20 (1) up to 29 (512) apply.

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 4 3BStructure and wiring

The upper position corresponds to 0, the lower, to the particular numerical value.

Fig. 4-3
Copyright  Siemens AG 2012 All rights reserved

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 5 4BDownload

5 Download
5.1 S7 program
To download the S7 program, you require a connection between the MPI interface
of your PG/PC and the MPI interface of the S7-CPU.
• Start the "SIMATIC Manager".
• De-archive the function example provided.
• Open the "S110_FB283" project.
• Connect the control with your PG/PC via the MPI/PROFIBUS interface.
• Using "Options> Select PG/PC…", select the "AUTO" interface identification of
the "MPI/PROFIBUS" interface. And configure the interface based on the
results of the automatic identification.
• Select the configuration example “300_PN_PSA”.
• Open "HW Config" and download this to the control system. After the
download, close "HW Config" again.
• By loading "HW Config", it is possible that the control system interfaces have
changed. Therefore, check your "PG/PC interface" and if necessary,
Copyright  Siemens AG 2012 All rights reserved

reconfigure. To set the device addresses, please observe Chapter 5.3 Setting
the SINAMICS S110 IP address and device name
• In the SIMATIC Manager, select the block folder via "CPU > S7 program >
Blocks".
• Download all of the S7 program blocks into the CPU

5.2 Load the safety program

• In the SIMATIC Manager, select "CPU".
• Open the safety program dialog via "Options > Edit safety program".
• Press the "Download" button, and in the following dialog window that appears,
press "Yes" to load the standard blocks.
• In the dialog window "Set-up access authorization" enter the password
siemens.
• After the load operation has been successfully completed, you can close the
"Safety program" dialog again.

5.3 Setting the SINAMICS S110 IP address and device

name
Different than for PROFIBUS, for PROFINET the node addresses are not set per
hardware, but per software. To do this, a connection is required between the
PG/PC and the PROFINET interface of the SINAMICS S110 via TCP/IP.
• Connect the PROFINET cable from the SINAMICS S110 interface X01 P2 to
the Ethernet interface of your PG/PC (see Chapter 4.1).
• Set the IP address and the subnet mask of the Ethernet card of your PG/PC as
follows.

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 5 4BDownload

Fig. 5-1
Copyright  Siemens AG 2012 All rights reserved

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 5 4BDownload

• In STARTER via "Options > Set PG/PC interface…", select the TCP/IP
interface parameterization. While working through the function example, you
can execute all of the additional steps via this interface.

Fig. 5-2
Copyright  Siemens AG 2012 All rights reserved

• Then, in STARTER via "Target system > Edit Ethernet node…" open the "Edit
Ethernet node" dialog.

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 5 4BDownload

• Press the "Browse…" button.

Fig. 5-3
Copyright  Siemens AG 2012 All rights reserved

• In the dialog that is then displayed, select the SINAMICS device type nodes
and press the "OK" button.

Fig. 5-4

• (1.) Now, under "IP address": enter 192.168.0.2“ and under "Subnet mask:
255.255.255.0". (2.) Then press the "Assign IP Configuration" button.

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 5 4BDownload

Fig. 5-5
Copyright  Siemens AG 2012 All rights reserved

• (3.) After completing the IP configuration assignment, enter the device names
assigned in HW Config, under "Device name:" (in this function example,
"S110"). (4.) By pressing the "Assign Name", this is then assigned to the
SINAMICS S110.
• Close the screen form by pressing the "Close" button.

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 5 4BDownload

5.4 SINAMICS S110 configuration

Then download the SINAMICS S110 configuration using the STARTER
parameterizing tool.
• Starting from the main path of the SIMATIC Manager, start the parameterizing
software STARTER by selecting the "SINAMICS_S110" icon and double
clicking on the "Commissioning" icon.

Fig. 5-6
Copyright  Siemens AG 2012 All rights reserved

• If you have components that deviate from Chapter 3.1, then in the
configuration screen form, select "Configure DDS" and follow the Wizard. In so
doing, you change the motor and power unit data. (For Drive-Cliq motors, the
checkmark "Read out motor again" should be activated)
• In the project navigator of the STARTER parameterizing software, then select
object "S110" (1.) and press the button (2.) to establish the online
connection to the frequency converter.

Fig. 5-7

• After the online connection has been established, to download the SINAMICS
S110 drive parameters, select the button .

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 5 4BDownload

It is not necessary to separately activate Safety, as the checksums are not checked
at download. For details, see chapter 7.2.5.
• To activate the Safety functions, you must first go to Change settings in the
Safety screen form. (2.)

Fig. 5-8:
Copyright  Siemens AG 2012 All rights reserved

• After this, you can activate the Safety functions using Copy parameters (1.)
and Activate settings (2.).
• More detailed information on the topic of Safety Integrated is provided in the
S110 Function Manual.

Fig. 5-9:

• In the subsequent screen forms, first output the checksums and then backup
the data of the complete drive unit into the ROM.
• The drive is then ready for operation after a power on reset.

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 5 4BDownload

5.5 Exiting the STARTER parameterizing software

• If you do not wish to make any additional parameter settings, then you can now
exit the STARTER parameterizing software.
• In the tree, select the SINAMICS S110 and transfer all parameter changes into
the ROM memory of the SINAMICS S110 by pressing the button.

• Then, transfer all of the parameters into your offline project by pressing the
button.
• Disconnect the connection between the PG / PC and the SINAMICS S110 by
pressing the button.

• You can then exit STARTER via "Project > Exit" or by pressing the button.
Copyright  Siemens AG 2012 All rights reserved

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 6 5BUsing the application

6 Using the application

Two options are available to use the application:
In Chapter 6.1, an S7 block is shown, which can be used in conjunction with a
digital input module to control the individual functions of the S110.
How the functions are activated using different variable tables is explained in
Chapter 6.2.

6.1 Via digital inputs

6.1.1 Operator control

Table 6-1
Bit
I 0.0 On/Off 1
I 0.1 Acknowledge
I 0.2 Jogging in the positive direction (jog 2)
I 0.3 Jogging in the negative direction (jog 1)
Copyright  Siemens AG 2012 All rights reserved

I 0.4 Start reference point approach

I 0.5 Manually set reference point (home position)
I 0.6 MDI absolute (1) or relative (0)
I 0.7 MDI continuous setpoint transfer (1) or signal edge
I 1.0 Activate MDI
I 1.1 Value transfer
I 1.2 Reject traversing task (0)
I 1.3 Intermediate stop (0)
I 1.4 Traversing block selection, bit 0
I 1.5 Traversing block selection, bit 1
I 1.6 Traversing block selection, bit 2
I 1.7 Traversing block selection, bit 3
(The values for MDI must be set in the control, the traversing blocks in STARTER)

6.1.2 Example

Acknowledge  Deactivate continuous setpoint transfer  Switch-on (edge) 

Traverse to the required reference point with jogging  Set reference point 
Deactivate MDI  Select traversing block 0  Reject the traversing task and set
intermediate stop to 1  Activate value transfer (edge)  Drive executes
traversing block  Set MDI to relative  Activate MDI  Activate value transfer
(edge)  Drive traverses by the specified position value  Set MDI to absolute 
Drive traverses to the specified target position.  Switching-off with Off1.

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 6 5BUsing the application

6.2 Variables table

6.2.1 Reference – controlling the referencing operating mode

A referenced drive is necessary for absolute positioning. This axis referencing can
be performed using the "Reference" variable table.

Table 6-2
Variable Significance Example
DB72.DBW 172 Control word 1
DB72.DBX 173.0 p0840[0] On/Off1 01
Switch-on the drive. Switch-on
DB72.DBX 213.3 The converter has an active fault message
DB72 DBW 230 Actual fault number
DB72.DBX 173.7 p2103.0 Acknowledge fault
Faults are acknowledged for a positive edge.

DB72.DBX 172.0 p2589 EPOS jogging 1 1 = traversing

Drive is traversed in jogging mode 1 (standard = in the negative
Copyright  Siemens AG 2012 All rights reserved

negative traversing direction) direction of

rotation
DB72.DBX 172.1 p2590 EPOS jogging 2 1 = traversing
Drive is traversed in jogging mode 2 (standard = in the positive
positive traversing direction) direction of
rotation
DB72.DBX 172.3 Starting referencing (active/passive) 0
DB72.DBX 177.1 Manually setting the reference point 01
Set reference
point
DB72.DBX 176.0 Selecting the referencing type
0 = reference point approach (active)
1 = flying referencing (passive)
DB72.DBX 177.2 Signal for the reference cams
(Required for active referencing using the
reference cams and encoder zero mark)
DB72.DBX 176.1 Homing start direction (active homing)
DB72.DBD 222 Position actual value
DB72.DBX 212.3 Feedback signal, drive referenced

Control example – manually setting the reference point

Switch-on the drive  Traverse to the reference position, jogging  Manually
set the reference point. For more detailed information on referencing, see Chapter
657.2.7 Overview and settings of the basic positioning screen forms in the
Referencing section.

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 6 5BUsing the application

6.2.2 MDI – control of the direct setpoint input

The variable table MDI is used to control the MDI operating mode, which is also
called direct setpoint input.

Table 6-3
Variable Significance Example
DB72.DBW 172 Control word 1
DB72.DBX 173.0 p0840[0] On/off1 01
Switch-on the drive. Switching-on
DB72.DBX 173.4 p2641 EPOS reject traversing task 1
Must be "true" for traversing. For "false", the task is Do not reject
rejected. task
DB72.DBX 173.5 p2640 EPOS intermediate stop 1
Must be "true" for traversing. For "false", the drive No intermediate
is stopped. stop

DB72.DBX 173.6 (p2631 activate traversing task 01

Selected traversing task is activated. Accepts the
If MDI is activated (p2647 = "true"), not relevant) MDI setpoint
Copyright  Siemens AG 2012 All rights reserved

p2650 MDI setpoint transfer

Accepts the MDI setpoint for a positive edge. (If
p2649 = "false")
DB72.DBX 213.3 The converter has an active fault message
DB72 DBW 230 Actual fault number
DB72.DBX 173.7 p2103.0 Acknowledge fault
Faults are acknowledged for a positive edge.

DB72.DBX 172.0 p2589 EPOS jogging 1 0

Drive is traversed in jogging mode 1 (standard =
negative traversing direction)
DB72.DBX 172.1 p2590 EPOS jogging 2 0
Drive is traversed in jogging mode 2 (standard =
positive traversing direction)

DB72.DBX 174.0 p2648 MDI positioning type 0

"true" = absolute positioning Relative
(axis must be referenced) positioning
"false" = relative positioning

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 6 5BUsing the application

Variable Significance Example

)
DB72.DBX 174.1 p2651 MDI direction selection, positive *
DB72.DBX 174.2 p2652 MDI direction selection, negative *)
*) EPOS direction selection when setting up:
Preselection, traversing direction
The axis remains stationary if both are selected or
deselected.
EPOS direction selection when positioning and
activated modulo correction and absolute
positioning:
Absolute positioning in the selected direction
The axis positions along the shortest path if both
are selected or deselected.
DB72.DBX 174.4 p2649 EPOS MDI transfer type, selection. 0
If "false", then the values are only transferred for a Transfer
positive edge of p2650. setpoint for
If "true", the values are continuously transferred edge
and relative positioning is not permissible.
DB72.DBX 174.6 p2653 Setting up MDI. 0
The drive is traversed with the selected velocity
and acceleration values for MDI with p2651
Copyright  Siemens AG 2012 All rights reserved

(positive direction) and p2652 (negative direction).

DB72.DBX 174.7 p2647 MDI selection 1
With "true", positioning is activated via MDI. Positioning via
MDI
DB72.DBW 180 p2646 Velocity override 16384
Scaling factor for the velocity as a %. (= 100%)
DB72.DBD 182 p2642 MDI position setpoint 360000
Enter the position setpoint.
DB72.DBD 186 p2643 MDI velocity setpoint 1440000
Enter the velocity setpoint in LU/min. (= 4000 rpm)
DB72.DBW 190 p2644 MDI acceleration override 16384
Scaling factor for the acceleration as a %. (= 100%)
DB72.DBW 192 p2645 MDI deceleration override 16384
Scaling factor for the deceleration as a %. (= 100%)

DB72.DBW 212 r0052 Status word 1

DB72.DBX 213.2 r899.2 Operation enabled

DB72.DBD 222 r2521.0 Position actual value, position

controller
DB72.DBD 226 r0063 Speed actual value, smoothed

Control example – relative traversing using MDI

Deselect setting up and jogging (0)  Reject traversing task and deactivate
intermediate stop (1)  Select positioning type  Select transfer type  Select
MDI Enter setpoints  Switch-on drive Activate traversing task

For more detailed information on MDI, refer to Chapter 7.2.7 Overview and settings
of the basic positioning screen forms in Section, Direct selection/MDI.

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6.2.3 TVB – controlling traversing blocks

Traversing blocks can be controlled using the variable table TVB.

Table 6-4
Variable Significance Example
DB72.DBW 172 Control word 1
DB72.DBX 173.0 p0840[0] On/off1 01
Switch-on the drive. Switching-on
DB72.DBX 173.4 p2641 EPOS reject traversing task 1
Must be "true" for traversing. For "false", the task is Do not reject
rejected. task
DB72.DBX 173.5 p2640 EPOS intermediate stop 1
Must be "true" for traversing. For "false", the drive No intermediate
is stopped. stop

DB72.DBX 173.6 (p2631 activate traversing task 01

Selected traversing task is activated. Activate
p2650 MDI setpoint transfer traversing task
Accepts the MDI setpoint for a positive edge. (If
Copyright  Siemens AG 2012 All rights reserved

p2649 = "false")
DB72.DBX 213.3 The converter has an active fault message
DB72 DBW 230 Actual fault number
DB72.DBX 173.7 p2103.0 Acknowledge fault
Faults are acknowledged for a positive edge.

DB72.DBX 172.0 p2589 EPOS jogging 1 0

Drive is traversed in jogging mode 1 (standard,
negative direction)
DB72.DBX 172.1 p2590 EPOS jogging 2 0
Drive is traversed in jogging mode 2 (standard,
positive direction)

DB72.DBX 174.7 p2647 MDI selection 0

With "false", positioning via MDI, which has priority, Deactivate MDI
is deactivated.
DB72.DBB 175 Traversing block number 0
Select
traversing block
0
DB72.DBX 175.0 p2625 Traversing block selection, bit 0
0
Weighting: 2 = 1
DB72.DBX 175.1 p2626 Traversing block selection, bit 1
1
Weighting: 2 = 2
DB72.DBX 175.2 p2627 Traversing block selection, bit 2
2
Weighting: 2 = 4
DB72.DBX 175.3 p2628 Traversing block selection, bit 3
3
Weighting: 2 = 8
DB72.DBX 175.4 p2629 Traversing block selection, bit 4
4
Weighting: 2 = 16

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Variable Significance Example

DB72.DBX 175.5 p2630 Traversing block selection, bit 5
5
Weighting: 2 = 32
DB72.DBW 212 r0052 Status word 1
DB72.DBX 213.2 r0899.2 Operation enabled
DB72.DBB 215 Active traversing block
DB72.DBX 215.0 r2670.0 Active traversing block bit 0
0
Weighting: 2 = 1
DB72.DBX 215.1 r2670.1 Active traversing block bit 1
1
Weighting: 2 = 2
DB72.DBX 215.2 r2670.2 Active traversing block bit 2
2
Weighting: 2 = 4
DB72.DBX 215.3 r2670.3 Active traversing block bit 3
Weighting: 23 = 8
DB72.DBX 215.4 r2670.4 Active traversing block bit 4
4
Weighting: 2 = 16
DB72.DBX 215.5 r2670.5 Active traversing block bit 5
5
Weighting: 2 = 32
Copyright  Siemens AG 2012 All rights reserved

DB72.DBD 222 r2521.0 Position actual value, position

controller

Control example – starting traversing block 0

Deselect jogging (0)  Reject traversing task and deactivate intermediate stop (1)
 Deselect MDI (0)  Enter traversing the block number  Switch-on drive
Activate traversing block

For more detailed information on MDI, refer to Chapter 7.2.7 Overview and settings
of the basic positioning screen forms in Section, Direct selection/MDI.

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6.2.4 Acyclic tasks

Using acyclic tasks, in addition to the cyclic telegrams, data can be sent and
received To do this, the cyclic tasks must be individually initiated.
The advantage of acyclic tasks is that also parameters can be addressed, which
cannot be addressed using cyclic communication. Further, you can process a
larger data quantity.
It should be noted that not just any number of acyclic tasks can be called. The
reason for this is that the control system can only simultaneously process a limited
number of tasks, and while processing the task, the drive rejects other tasks.
More information on the number of acyclic tasks that can be simultaneously
processed is provided under the following link
http://support.automation.siemens.com/WW/view/de/32210587

With the task interface, two types of acyclic tasks can be started:

• Parameter tasks
• Special tasks
Copyright  Siemens AG 2012 All rights reserved

Using the parameter tasksi, normally a single parameter task is started. The
number that has been entered into tasksi corresponds to the parameters to be
processed. However, there is also a reserved area, which is not available for
parameter tasks, but instead starts special tasks.

List of special tasks

30000: Read/write individual traversing blocks.
30001: Read/write traversing blocks
30002: Read-out fault memory
30010: Read/write up to 10 parameters
30011: Preassign traversing blocks 0 to 63 (only S120, not possible for S110)

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6.2.5 Parameters – read/write parameters

Individual parameters can be accessed using this variable table.

Table 6-5
Variable Significance Example
DB72.DBW 16 tasksi 1135
Specification of the parameter number Parameter for
OFF3 ramp-down
time
DB72.DBW 18 ind 0
Subparameter number, subindex Index 0
DB72.DBD 20 Data 5.0
Contains the parameter value to be written to or Set a down ramp
read out of 5 seconds

DB72.DBX 14.0 RD 0
Starts a read task. The parameter value is saved No read task
in "Data".
DB72.DBX 14.1 WR 01
Copyright  Siemens AG 2012 All rights reserved

Starts a write task. The value from "Data" is Start write task
written to the converter.

DB72.DBX 14.3 busy

Transfer is active.
DB72.DBX 14.2 Done
The task was successfully executed.
DB72.DBX 14.7 Error
The task was canceled with an error.

DB72.DBW 24 ErrorNumbr
If Error = “true”, contains the error number with
which the task was canceled.
(see Chapter 7.3.1 single.ErrorNumbr)

Control example – changing the down ramp

Set "tasksi" (1135)  Set index (0)  Enter the down ramp into Data (5.0)  Start
write task with positive edge

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6.2.6 Para_1_10- read/write 1-10 parameters

The list Para_1_10 is used to simultaneously read/write up to 10 parameters.

Table 6-6
Variable Significance Example
DB72.DBW 16 tasksi 30010
Contains the special task number "30010" for Special task
simultaneously reading/writing up to 10 number
parameters.
DB72.DBW 18 Ind 1
Specifies the number of the first parameter task
to be processed.
DB72.DBD 20 Data 2
Specifies the number of the last parameter task
to processed.

DB72.DBX 14.0 RD 01

Starts the parameter tasks as read tasks. Start read task
DB72.DBX 14.1 WR 0
Copyright  Siemens AG 2012 All rights reserved

Starts the parameter tasks as write tasks. No write task

DB72.DBX 14.3 busy

Transfer is active.
DB72.DBX 14.2 Done
The task was successfully executed.
DB72.DBX 14.7 Error
The task was canceled with an error.

DB72.DBW 24 ErrorNumbr
If Error = “true”, contains the error number with
which the task was canceled.
(see Chapter 7.3.1 single.ErrorNumbr)

Parameter 1
DB72.DBW 54 PNU_1 p2585
Parameter number of parameter task X Parameter EPOS
jogging 1
DB72.DBW 56 Ind_1 0
Sub parameter number of parameter task X
DB72.DBD 58 Data_1
Parameter value of parameter task X, read/to be
written

Parameter 2
DB72.DBW 62 PNU_2 p2586
Parameter number of parameter task X Parameter EPOS
jogging 2
DB72.DBW 64 Ind_2 0
Sub parameter number of parameter task X
DB72.DBD 68 Data_2
Parameter value of parameter task X, read/to be
written

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Variable Significance Example

.
.
.
Parameter 10
DB72.DBW 126 PNU_10
Parameter number of parameter task X
DB72.DBW 128 Ind_10
Sub parameter number of parameter task X
DB72.DBD 130 Data_10
Parameter value of parameter task X, read/to be
written

Control example – reading out the EPOS jog velocities

Set the particular parameter number (p2585 or p2586)  Set the particular index
(0)  Enter the number of the first task (index = 1) Enter the number of the last
task (Data = 2)  Start read task with positive edge
Copyright  Siemens AG 2012 All rights reserved

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6.2.7 TVBsingle – changing/reading out a traversing block

Traversing blocks can be individually transferred in this variable table. In so doing,

it must be observed that also the values that are not required for the traversing task
(with a gray background in STARTER), must have a valid value if they are to be
transferred. Otherwise errors will occur at data transfer.

Table 6-7
Variable Significance Example
DB72.DBW 16 tasksi 30000
Contains the special task number "30000" for Special task
reading and writing a traversing block number
DB72.DBW 18 Ind 11
Specifies the traversing block position 0 to 15. Processing the
(Corresponds to the index 1 to 16) 12th traversing
block
DB72.DBD 20 Data
No significance

DB72.DBX 14.0 RD 0
Copyright  Siemens AG 2012 All rights reserved

Starts to read-out the traversing block No read task

DB72.DBX 14.1 WR 01
Starts to write to the traversing block Write traversing
block

DB72.DBX 14.3 busy

Transfer is active.
DB72.DBX 14.2 Done
The task was successfully executed.
DB72.DBX 14.7 Error
The task was canceled with an error.

DB72.DBW 24 ErrorNumbr
If Error = “true”, contains the error number with
which the task was canceled.
(see Chapter 7.3.1 single.ErrorNumbr)

DB72.DBB 134 Preselection as to which parameters should be 1011 1111

transferred. Transfer
Bit 0 Block number everything except
Bit 1 Position the command
Bit 2 Velocity parameter.
Bit 3 Acceleration
Bit 4 Deceleration
Bit 5 Command
Bit 6 Command parameter
Bit 7 Mode

DB72.DBW 136 block_no 40

Specifies the traversing block number (-1 to 63)
the number must be unique. The tasks are
executed according to the traversing block
number. For -1, the traversing block is ignored.
(-1 can be used as often as required)

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Variable Significance Example

DB72.DBD 138 position 45000
Specifies the position setpoint.
DB72.DBD 142 velocity 3600
Specifies the velocity in [1000 LU/min].
DB72.DBD 146 accel_over 50.0
Specifies the percentage acceleration value.
DB72.DBD 150 decel_over 50.0
Specifies the percentage deceleration value.
DB72.DBW 154 command 1
Specifies the task type:
1: Positioning
2: Fixed endstop
3: Endless, positive
4: Endless, negative
5: Wait
6: GoTo
7: Set_Output
8: Reset_Output
9: Jerk limiting
Copyright  Siemens AG 2012 All rights reserved

DB72.DBD 156 command_par

Also specifies the task parameter
WAIT: Waiting time in [ms]
GOTO: Block number which is
jumped to.
SET_Output: Setting digital output 1,
2 or both (3)
RESET_Output: Resetting digital output
1, 2 or both (3)
JERK: "1" activate or "0"
deactivate.
FIXED STOP: Enters the clamping
torque in [Nm]

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Variable Significance Example

DB72.DBW 160 mode 0000 0000 0000
Specifies the traversing block mode. 0000

Display traversing block (bit 3-0) Display traversing

xxxx xxxx xxxx xxx0 displays the traversing block (active)
block
xxxx xxxx xxxx xxx1 hides the traversing After end of
block traversing block
Hiding corresponds to -1 traversing block is
ignored. Absolute
positioning
Advance (bit 7-4)
xxxx xxxx 0000 xxxx End (0)
xxxx xxxx 0001 xxxx Continue with stop (1)
xxxx xxxx 0010 xxxx Continue flying (2)
xxxx xxxx 0011 xxxx Continue external (3)
xxxx xxxx 0100 xxxx Continue external wait
(4)
xxxx xxxx 0101 xxxx Continue external alarm
(5)
Copyright  Siemens AG 2012 All rights reserved

Positioning mode (bit 11-8)

xxxx 0000 xxxx xxxx Absolute (0)
xxxx 0001 xxxx xxxx Relative (1)
xxxx 0010 xxxx xxxx Absolute positive(2)*)
xxxx 0011 xxxx xxxx Absolute negative(3)*)
)
* Only when modulo correction activated

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6.2.8 TVBblock – changing/reading out a traversing block

This allows traversing blocks to be transferred. In so doing it should be observed

that also the values that are not required for the traversing task (with a gray
background in STARTER), must have a valid value if they are to be transferred.
Otherwise errors will occur at data transfer.

Table 6-8
Variable Significance Example
DB72.DBW 16 tasksi 30001
Contains the special task number "30001" for
reading and writing several traversing blocks
DB72.DBW 18 Ind 0
Position of the first data block that is transferred.
DB72.DBD 20 Data 15
Position of the last data block that is transferred.

DB72.DBX 14.0 RD 01

Starts to read-out the traversing blocks. Start read task
DB72.DBX 14.1 WR 0
Copyright  Siemens AG 2012 All rights reserved

Starts to write to the traversing blocks. No write task

DB72.DBX 14.3 busy

Transfer is active.
DB72.DBX 14.2 Done
The task was successfully executed.
DB72.DBX 14.7 Error
The task was canceled with an error.

DB72.DBW 24 ErrorNumbr
If Error = “true”, contains the error number with
which the task was canceled.
(see Chapter 7.3.1 single.ErrorNumbr)

DB72.DBB 134 Preselection as to which parameters should be 1111 1111

transferred. Transfer all
See chap 6.2.7 TVBsingle parameters

//traversing block
0
DB72.DBW 264 Block0
See chap 6.2.7 TVBsingle Entryblock_no
DB72.DBD 266 Position0
See chap 6.2.7 TVBsingle Entry position
DB72.DBD 270 Velocity0
See chap 6.2.7 TVBsingle Entry velocity
DB72.DBD 274 Accel_over0
See chap 6.2.7 TVBsingle Entry accel_over
DB72.DBD 278 Decel_over0
See chap 6.2.7 TVBsingle Entry decel_over
DB72.DBW 282 Command0
See chap 6.2.7 TVBsingle Entry command

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Variable Significance Example

DB72.DBD 284 Command parameter0
See chap 6.2.7 TVBsingle Entry command_par
DB72.DBW 288 Mode0
See chap 6.2.7 TVBsingle Entry mode

//traversing block
1
DB72.DBW 290 Block1
See chap 6.2.7 TVBsingle Entry block_no
DB72.DBD 292 Position1
See chap 6.2.7 TVBsingle Entry position
DB72.DBD 296 Velocity1
See chap 6.2.7 TVBsingle Entry velocity
DB72.DBD 300 Accel_over1
See chap 6.2.7 TVBsingle Entry accel_over
DB72.DBD 304 Decel_over1
See chap 6.2.7 TVBsingle Entry decel_over
DB72.DBW 308 Command1
See chap 6.2.7 TVBsingle Entry command
Copyright  Siemens AG 2012 All rights reserved

DB72.DBD 310 Command parameter1

See chap 6.2.7 TVBsingle Entry command_par
DB72.DBW 314 Mode1
See chap 6.2.7 TVBsingle Entry mode
.
.
.
//traversing block
15
DB72.DBW 654 Block15
See chap 6.2.7 TVBsingle Entry block_no
DB72.DBD 266 Position15
See chap 6.2.7 TVBsingle Entry position
DB72.DBD 270 Velocity15
See chap 6.2.7 TVBsingle Entry velocity
DB72.DBD 274 Accel_over15
See chap 6.2.7 TVBsingle Entry accel_over
DB72.DBD 278 Decel_over15
See chap 6.2.7 TVBsingle Entry decel_over
DB72.DBW 282 Command15
See chap 6.2.7 TVBsingle Entry command
DB72.DBD 284 Command parameter15
See chap 6.2.7 TVBsingle Entry command_par
DB72.DBW 288 Mode15
See chap 6.2.7 TVBsingle Entry mode

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6.2.9 FaultBuffer – Read-out fault memory

Table 6-9
Variable Significance Examples
DB72.DBW 16 tasksi 30002
Contains the special task number "30002" for
reading out the fault code
DB72.DBW 18 Ind
Not used
DB72.DBD 20 Data
Not used.

DB72.DBX 14.0 RD 01

Starts to read-out the actual fault messages Start read task
DB72.DBX 14.1 WR
Not used

DB72.DBX 14.3 busy

Transfer is active.
Copyright  Siemens AG 2012 All rights reserved

DB72.DBX 14.2 Done

The task was successfully executed.
DB72.DBX 14.7 Error
The task was canceled with an error.

DB72.DBW 24 ErrorNumbr
If Error = “true”, contains the error number with
which the task was canceled.
(see Chapter 7.3.1 single.ErrorNumbr)
DB72.DBW 1940 Fault entry0.fault code
Indicates the fault message number.
DB72.DBW 1942 Fault entry0.fault number
Indicates the fault message number.
DB72.DBD 1944 Fault entry0.fault time
Indicates the instant in time that the fault has
been received. Specified in [ms].
DB72.DBD 1948 Fault entry0.fault value
Indicates the fault value that contains
supplementary information for the actual fault
message.
DB72.DBW 1952 Fault entry1.fault code
Indicates the fault message number.
DB72.DBW 1954 Fault entry1.fault number
Indicates the fault message number.
DB72.DBD 1956 Fault entry1.fault time
Indicates the instant in time that the fault has
been received. Specified in [ms].
DB72.DBD 1960 Fault entry1.fault value
Indicates the fault value that contains
supplementary information for the actual fault
message.
.
.
.
DB72.DBW 2896 Fault entry63.fault code

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Variable Significance Examples

Indicates the fault message number.
DB72.DBW 2898 Fault entry63.fault number
Indicates the fault message number.
DB72.DBD 2900 Fault entry63.fault time
Indicates the instant in time that the fault has
been received. Specified in [ms].
DB72.DBD 2904 Fault entry63.fault value
Indicates the fault value that contains
supplementary information for the actual fault
message.

For the fault message it should be noted that it is always arranged in blocks of 8.
As a consequence, the actual fault messages that are entered in fault value 0-7 are
obtained.
The last acknowledged fault cases are in fault values 8-15. At each
acknowledgment, the fault values are shifted by 8 positions, until they drop out of
the list after the 8th acknowledgment!
Copyright  Siemens AG 2012 All rights reserved

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6.3 Function test of the safety functions

Templates for the acceptance test are available in STARTER. The acceptance
document can be generated as follows.

If you are not already online, then go online now. The acceptance test can only be
performed online.

Fig. 6-1

• Double-click on "Create acceptance documentation" in order to access the

associated window.

Fig. 6-2
Copyright  Siemens AG 2012 All rights reserved

• Select the drive unit. In this case, "Servo_02".

• For STARTER Version 4.2, there is still no template for the S110; however,
you can use the template for the S120 with the Basic functions. This only
differs regarding 2 points:
– p9697 is not available for the S110.
– S110 has no EP terminal (both signals are connected to Control Unit).
• You create the acceptance document by pressing the Create button.
• Perform the acceptance as described in the acceptance document.

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7 More detailed information

The individual functions of the code example are explained in the following
chapters, so that you are then in a position to implement your own projects.
For this function example, the described settings no longer have to be
performed.
Deviations from the configuration example must be taken into account for
the following points, and performed at the relevant position.

7.1 Configuration of a control

Create a project and insert a SIMATIC 300 station. Open HW Config.

7.1.1 Settings in the hardware configuration

Insert the control and the SINAMICS S110 with the CU305-DP into your project.

Fig. 7-1
Copyright  Siemens AG 2012 All rights reserved

You can download the GSD for the SINAMICS S110 under the following link:
http://support.automation.siemens.com/WW/view/de/42705323
GSD/GSDML files are required to operate a node/station (e.g. the SINAMICS
S110) on the fieldbus (PROFINET (GSDML)) and to register the device with the
configuring/engineering tools.

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As telegram, select Siemens telegram 111, after pressing the button. And then
drag this and drop it at the first slot of the S110. You can access this list, if you click
on the SINAMICS S110 icon on the work area. Also see Fig. 7-3.

Fig. 7-2
Copyright  Siemens AG 2012 All rights reserved

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Fig. 7-3
Copyright  Siemens AG 2012 All rights reserved

The fieldbus telegram (1.) between the CPU and the SINAMICS S110 comprises a
standard telegram, in this particular example Siemens telegram 111. You can also
see which I/O devices have been assigned to the device.
If you wish to use PROFIsafe, then you must also use the PROFIsafe telegram
30. Locate this at the first slot, and the standard telegram at the second slot.
Under (2.), you will find the diagnostic address that is required to control acyclic
tasks via the FB283.

Hinweis FB283 can only operate with the same start addresses for the I/O area.

Load the HW Config into the control system.

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7.1.2 S7 program

Copy the FB283, the UDTs and the variable tables into the block folder. This can
either be from the project example or from the library example
http://support.automation.siemens.com/WW/view/en/25166781

Call FB283
Create a new FC (e.g. FC72), call this FC in the OB1.

In the FC, call FB283. The call can look like this:

CALL FB283 , DB283

NR_ACHS_DB:=72
LADDR :=256
LADDR_DIAG:=2042
WR_PZD :=P#DB72.DBX172.0 BYTE 24
RD_PZD := P#DB72.DBX212.0 BYTE 24
CONSIST :=TRUE
Copyright  Siemens AG 2012 All rights reserved

RESTART :=FALSE
AXIS_NO :=B#16#2

Table 7-1
Signal Comment
NR_ACHS_DB Number of the data block for the axis DB.
If there is still no axis DB that can be used (e.g. DB72),
then a new one must be created. (see the next page)
LADDR Start of the I/O address of the S110 (cyclic communication
 PZD)
LADDR_DIAG Diagnostics address of the S110 (acyclic communication),
see also HW Config)
WR_PZD Target area for process data, master  slave (control
words/setpoints)
Generally, the axis DB (e.g. DB72) is used here, i.e. in the
pointer, the same DB No. must be specified as at the
formal parameter "NR_ACHS_DB"
The start of the area to be sent is specified in the DB as
the start of the area (e.g. DBX172.0)
The pointer length depends on the telegram.
Standard telegram1: 4 bytes
Siemens telegram 111: 24 bytes
P#DB72.DBX172.0 BYTE 24 is obtained from this
RD_PZD Target area for process data, master <– slave (status
words/actual values)
Generally, the axis DB (e.g. DB72) is used here, i.e. in the
pointer, the same DB No. must be specified as at the
formal parameter "NR_ACHS_DB"
The start of the area to be sent is specified in the DB as
the start of the area (e.g. DBX212.0)
The pointer length depends on the telegram.
Standard telegram1: 4 bytes

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Signal Comment
Siemens telegram 111: 24 bytes
P#DB72.DBX212.0 BYTE 24 is obtained from this
CONSIST Please take the required setting from your hardware
configuration.
True:
The PZD area is "constant over the complete length";
transfer of process data in the area specified under
WR_PZD/RD_PZD is realized with SFC 14/15.
False:
The PZD area is consistent over the unit. Process data is
transferred using load/transfer commands.
RESTART Can be used in order to re-initialize/first initialize the block.
When powering up, the first initialization is always
independent of the value that has been set.
As a consequence, in almost all application cases, the
parameter is assigned false.
AXIS_NO The axis No. or the DriveObject_ID (DO_ID) of the axis to
be addressed should be specified here. As the S110 is a
single-axis system, the DO_ID is always 2!
Copyright  Siemens AG 2012 All rights reserved

Axis DB
The axis DB contains all of the data that the FB283 requires to execute its
functions. The declaration of the axis DB can look like this:

Table 7-2
Address Name Type
0.0 STRUCT
+0.0 Basis UDT30000
+162.0 MDI_Positioning UDT30008
+252.0 Traversing blocks UDT30001
+1928.0 Fault memory UDT30002
2708.0 END_STRUCT

The structure of the axis DB is specified by the UDTs The basis UDT must always
be used. As an alternative for the UDT30008 (telegram 111), UDT30010 (telegram
110) or UDT 30009 (closed-loop speed controlled) can be used.
UDTs 30001 and 30002 are optional, and can be removed if they are not required.

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7.1.3 Settings, Safety program

Properties of the CPU

Before the safety functions of the CPU can be used, they must be enabled. By
double-clicking on the CPU315F-2 PN/DP, the Properties window of the CPU
opens.

Fig. 7-4
Copyright  Siemens AG 2012 All rights reserved

Under the Protection tab, by selecting the following functions, the safety functions
of the CPU are enabled:
 Protection level 1: Access protection for F-CPU,
 Activate Can be bypassed with password,
 Enter a password (in this code example siemens),
 Activate CPU contains safety program.

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Properties of the F-DI module

The signal sources for the safety functions (pushbutton for STO, SS1, and
acknowledge Emergency Off) are read-in via the fail-safe module DI24xDC24V
(6ES7326-1BK01-0AB0). After double-clicking on the module, the Properties
dialog opens. By selecting the Parameter tab, the module properties can be
parameterized.

Fig. 7-5
Copyright  Siemens AG 2012 All rights reserved

• (1.) Also on this module, safety operation must be enabled by selecting Safety
mode for Operating mode.
• (2.) The binary code, which is specified under DIL switch setting (9......0),
must be set at the rear of the module.

DIL switch at the rear of the module:

Fig. 7-6

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• (3.) By selecting the function Sensor supply via module, the short-circuit and
cross-fault monitoring of the channel group can be activated. This function
should be activated due to the wiring of the function example.
• (4.) The properties of the individual channels of the module are parameterized
as shown under Channel 0, 12.
For more detailed information, please refer to the Manual SIMATIC Automation
system S7-300 fail-safe modules.
Download under:
http://support.automation.siemens.com/WW/view/de/12265765/133300

• In order that the pushbuttons for STO, SS1 and acknowledge Emergency Off
can be used in the safety program, symbolic addresses must be assigned for
the inputs of the safety input module. By selecting the module, pressing the
right-hand mouse key and selecting Edit symbols..., the input window for the
symbolic addresses is opened.

Fig. 7-7
Copyright  Siemens AG 2012 All rights reserved

• After you have made all of the changes, you must save and compile the

program. To do this, press the button. The safety program is then

generated.

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Generating the safety program

• In order to generate a functioning safety program, initially insert an F program
module, e.g. FB201. To do this, create a function block in your program.

Fig. 7-8
Copyright  Siemens AG 2012 All rights reserved

• As generating language, (1.) F-FBD or F-LAD must be selected.

• Using the normal editor, you can then create your own safety program. To do
this, blocks from the Distributed Safety library are used.
• The following are suitable as blocks from the Distributed Safety library:
– FB215 Block to evaluate Emergency Stop command devices
– FB186 Switch-off delay (this is necessary for FB215)
• When interconnecting the blocks, it is important not only to create the
possibility of acknowledging Emergency Stop functions, but also to create the
possibility of acknowledging communication errors. For this purpose, bit
xxx.ACK_REI of each Safety module used and bus node must be
interconnected with an acknowledge input.
• If it is necessary to interconnect "non-Safety parameters", then this can be
realized using bit memories. It should be carefully noted that it is not
permissible to use this for interconnections with safety-relevant functions.
• But may only be used as a supplement, such as an additional display of Safety
status information, which do not involve any safety-relevant actions.

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• After that you must call an F-Call function. To do this, in your program folder,
insert a function (for example FC200), and as language, select F-Call. The
procedure when creating the FC 200 is essentially the same as when creating
the Safety program block.
• You must call this FC in a fixed runtime group, e.g. OB35. You can use the
following instruction to do this:
CALL FC 200

• Go back into the Simatic Manager and double-click on the FC 200. A second
window then opens.

Fig. 7-9
Copyright  Siemens AG 2012 All rights reserved

• The points (1.) and (2.) are preset to the correct value if you have created both
blocks.
• Enter the instance DB for your F program block (3.). After exiting the screen
form, a query is displayed as to whether this DB should be created.
• For (4.), the runtime group, in which the safety program is executed, is defined.
This is preset as default and does not have to be changed in this example.

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In the other open screen form, you can see the structure of the safety program and
you have the option of generating and loading the safety program.

Fig. 7-10
Copyright  Siemens AG 2012 All rights reserved

• By pressing on "F Runtime group" (1.), you can return to the previous screen
form, in which you can change the runtime group and the F-Call block. For
larger projects, several runtime groups can be processed.
• Once the safety program has been completed, you can compile it (2.) and
subsequently download it (3.).
• If this is successful without any error, then you only have to check the function
of the safety program; after this has been done, from the control perspective,
the safety program has been completed.

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7.2 Configuring the SINAMICS S110

7.2.1 SIMATIC Manager, inserting the SINAMICS S110

• In the SIMATIC Manager tree, select the topmost point and then via "Insert >
Program > SINAMICS", select a "SINAMICS S110" type object.

Fig. 7-11
Copyright  Siemens AG 2012 All rights reserved

• Select an S110 according to your hardware/firmware version and then press

the "OK" button.

Fig. 7-12

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7.2.2 Calling the STARTER commissioning tool

• Starting from the main path of the SIMATIC Manager, start the commissioning
tool STARTER by selecting the "SINAMICS_S110" and double clicking on
"Commissioning".
Fig. 7-13

• Then click to the right on the S110 and select "Connect target device".

Fig. 7-14
Copyright  Siemens AG 2012 All rights reserved

• The screen form that might open with differences in the online/offline
comparison can be closed without having to take any action. A "Load to PG" is
manually performed after the factory reset.

• Restore the factory settings by pressing the button. If the button is grayed
out, then you must select the S110 in the project tree.
• After the factory settings have been restored, the data is loaded to the PG by
pressing the button.

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7.2.3 STARTER, performing quick commissioning

• Select the "Servo_02  Configuration" menu item and press the

button to start to commission the motor

• The drive must go offline for commissioning. This step is done automatically if
you respond to the corresponding message with yes
• In the first screen form, the function module "Basic positioner" must be
selected and control mode "[21] closed-loop speed control (with encoder)"
• The point "Power unit" and the points "Motor" to "Measurement system" are
correctly preassigned for motors with integrated DRIVE-CLiQ encoder.
Fig. 7-15
Copyright  Siemens AG 2012 All rights reserved

• "Mechanics" screen form: In this particular example, a rotary axis is assumed.

The position change of the motor shaft through 1° should correspond to 1000
LU (Length Units).
– The gear ratio, load revolutions (1.) / motor revolutions (2.) is 1:1 for this
example.
– One revolution corresponds to 360°, therefore one revolution has 360,000
LU. This value is entered for (3.).
– The modulo correction, which can be activated via (4.), is used to reset the
position actual value to 0 after a defined number of LU. In this example, the
reset should be after one load revolution, which corresponds to 360,000
LU (5.).

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• In the screen form "Process data exchange", select the "PROFIdrive telegram"
as the setpoint source, and "[111] SIEMENS telegram 111, PZD-12/12" as
telegram type.
• You can then check the values that you have entered in the "Summary" screen
form. The configuration is completed by pressing "Finish".
• Go back on line and load the data to the target device. This is either done
using the online/offline comparison screen form that then appears, or using the
"Load to target device" button in the screen form that subsequently opens. Set
the check mark for "After loading, copy RAM to ROM".
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7.2.4 STARTER, performing motor identification

• After quick commissioning has been completed, a stationary measurement can

be performed. For DRIVE-CLiQ motors, a rotating (turning) measurement is not
required, as very precise motor data have already been stored. For other
motors, a rotating (turning) measurement should be performed. This is realized
analogous to the subsequently described "Stationary measurement".
• To activate the measurement, via
"SERVO_02CommissioningStationary/turning measurement" (1.) open the
following screen form.

Fig. 7-16
Copyright  Siemens AG 2012 All rights reserved

• For the measuring type, select "Stationary measurement" (2.) and then press
on "Activate measurement" (3.).
• To start the motor identification, in the project navigator, select the menu item
"Commissioning" and activate by double clicking on the "Control panel".

Fig. 7-17

• Press the "Assume control priority" button and carefully observe the safety
notes. Then activate "Enables".

Only use the motor identification function if the motor cannot be turned by
a connected load.
WARNUNG In order to avoid an external load accelerating the motor, we recommend
that the motor is locked for the stationary motor identification routine.

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Fig. 7-18

• 1.) If the control panel on your PG/PC is not completely shown, then press the

button.

• The motor data identification routine is started by pressing the button. Do

not change from the STARTER software into another task, as otherwise, the
motor data identification routine will be interrupted for safety reasons.

• Please wait until the button changes back to the button.

Copyright  Siemens AG 2012 All rights reserved

• By pressing the button, return the control

priority to the S7 control.

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7.2.5 Settings, Safety via PROFIsafe

• Activate the Safety screen form by selecting "SERVO_02FunctionsSafety

Integrated" (1.).
• In order to change the settings, you must press "Change settings" (2.). If you
have already assigned a Safety password, you will now be asked to enter this.

Fig. 7-19
Copyright  Siemens AG 2012 All rights reserved

For the Basis Safety functions via PROFIsafe, three functions are available SS1
(Safe Stop 1), STO (Safe Torque Off) and SBC (Safe Brake Control – external
"Safe Brake Module" required). These can be selected via PROFIsafe.

Fig. 7-20

• In the drop-down menu, select "STO/SBC/SS1 via fieldbus" (1.).

• The "Safe Stop1 delay time" (SS1) (2.) specifies how long the drive should be
braked along the fast stop ramp after pressing the Emergency Stop button
before STO is initiated. For SS1 = 0s, STO is immediately initiated.

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• Under address (3.), enter the PROFIsafe address as it was configured in HW

Config.
• The "Safe Brake Control" (SBC) (4.) is not used in this example. However, it
can be enabled from the selection menu.
• The extended settings for STO (5.) are also not changed in this example. The
standard settings are suitable for this example.
• It is also possible to interconnect the signal as to whether STO is activated (9.),
e.g. to a digital output.
• The safety functions are implemented through two channels via two
processors. In order that these values are identical in both processors, the
modified values must be copied using "Copy parameters" (6.) into the second
processor.
• The new settings can then be activated. This is realized using the "Activate
settings" (7.) button. If you have still not assigned a password, then enter
12345 as new password.
• The Safety password can be changed with "Change password" (8.) .
• In order that the changes become active, they must be saved to the ROM. You
can save/backup either "Complete project" (total drive unit) or only the "Axis
parameters" (individual axes). Activate "Complete project".
• For multi-axis devices (S120), saving as individual axis has the
Copyright  Siemens AG 2012 All rights reserved

advantage that it is faster, as only data associated with the individual

axis are saved from RAM to ROM. For multi-axis devices, this
especially has advantages where several Safety axes must be
commissioned one after the other. When saving individual axes,
only the Power Module data are saved, but not the CU data. This
means that on the CU, a difference between RAM and ROM is
obtained until the "Complete project" is saved.

In addition to the Basis Safety functions that have been described, there are also
extended functions, for example SLS (Safely-Limited Speed), SDI (Safe Direction),
SSM (Safe Speed Monitor) or SOS (Safe Operational Stop). However, in this case,
an additional license is required for the drive.

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7.2.6 Overview and settings of the position controller screen forms

You can find the position controller settings under the main item, Technology. They
are subdivided into 4 points.

Fig. 7-21
Copyright  Siemens AG 2012 All rights reserved

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Mechanics
The mechanical settings were already made when commissioning. As a
consequence, no changes have to be made here.

Fig. 7-22
Copyright  Siemens AG 2012 All rights reserved

In addition to the settings already made for quick commissioning, when required,
the backlash value can be set (1.), which is then taken into account for the closed-
loop position control.
For absolute encoders, position tracking is important (2.); this ensures that encoder
overflows are counted, and even if encoder overflows occur, the system can still
correctly position.
Detailed information is provided in the S110 Function Manual on both of these
topics.

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Position actual value preparation

For position actual value preparation, various settings can be made to adapt the
position actual value. However, for this example, no adaptations are required.
Generally, when using EPOS, only a few changes are required in the screen form,
as EPOS has its own reference system to which it refers.

Fig. 7-23
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Position controller
The position controller comprises two screen forms.

• Setpoint position controller

• Position controller

The setpoint sources and position actual value source can be adapted for the
setpoints for the position controller. As we are using EPOS, EPOS already
preassigns these values, and they should not be changed.

Fig. 7-24
Copyright  Siemens AG 2012 All rights reserved

• The position setpoint is filtered using a PT1 element with the selected time
constant via the position setpoint filter (1.). This filtering reduces the pre-control
dynamics and jerk limiting.
• With pre-control (2.), a percentage (0 – 200 %) can be entered, with which the
position setpoint precontrols a speed/velocity on the speed controller,
bypassing the position controller. (0 % = deactivated)
• With pre-control balancing (3.), the position setpoint signal can be filtered again
in order to emulate the behavior of the speed control loop. To achieve this, a
dead time filter (0.0 – 2.0), which represents the factor of the position controller
sampling time (1s), and a PT1 element (0 – 100 ms) are available.

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With the position controller screen form, the settings of the position controller can
be adapted, the controller enable assigned, and the outputs of the position
controller interconnected.

Fig. 7-25
Copyright  Siemens AG 2012 All rights reserved

• The position controller can be optimized using the P gain (1.) and the reset
time (2.).
• In addition, the P component can be modified using an adaptation (3.). This
can be used to variably scale the P gain. This means that different position
controller settings can be set for various situations.
• The maximum permissible traversing velocity is set for limitation active(4.).

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Monitoring
The monitoring function comprises three screen forms:
• Position and standstill (zero speed) monitoring
• Following error monitoring
• Cams

In these screen forms, it is possible to set the position monitoring functions.

NOTE In this case, all values that refer to LU should be increased as a minimum by a
factor of 10, as the set value of 360,000 LU is significantly higher than the factory
value of 10,000 LU, for which the values have been selected.

Note The various monitoring functions can be deactivated by entering 0.

Copyright  Siemens AG 2012 All rights reserved

The corresponding values should be parameterized under "Positioning/standstill

monitoring".

Fig. 7-26

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The maximum delta between the setpoint and actual value is set under "Following
error monitoring".
If the "Travel to fixed endstop" function is used, then when the following error is
exceeded, a fault is not output, but the fixed endstop reached bit is output.

Fig. 7-27
Copyright  Siemens AG 2012 All rights reserved

Two cam positions can be set under "Output cams".

The output cams provide a feedback signal of "1" if the actual position is less than
the value of the output cam – or 0, if the actual position is greater than the value
that has been set.

Only after the axis has been referenced (homed) can it be ensured that the
! output cam switching signal has a "true" position reference when it is output.
WARNING

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7.2.7 Overview and settings of the basic positioning screen forms

For EPOS. there are 5 subpoints that are used to configure the individual functions.

Fig. 7-28
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Limitation
The limitation comprises two tabs. One for the traversing range limitation and one
for the traversing profile limitation.

For the traversing range limitation, the software limit switches and stop output
cams are parameterized. This parameterization is only required if you want to use
the associated functions.

Fig. 7-29
Copyright  Siemens AG 2012 All rights reserved

For the software limit switches (1.), the end positions are specified in LU, which the
drive must not pass. Generally, these end positions are located in front of the stop
output cams.
The software limit switches output various alarms:
• A 7469 or A7470 Target position in a traversing block exceeds the
software limit switch range in the negative/positive
direction
• A 7477 or A7478 The target position when actually traversing is less
than/greater than the negative/positive end position
• A 7479 or A7480 Axis is located at a negative/positive limit switch
position – an active traversing block has been
canceled/interrupted.
• F 7481 or F 7482 Software limit switch, negative/positive activated.

Using "Software limit switch activation" (2.) , the limit switches can be activated;
however, only if the modulo correction is not active and the axis has been
referenced (homed). When using telegram 111, the software limit switch is
activated using bit 14 of positioning control word 2.

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There are also the stop output cams (3.). Generally, these are interconnected with
sensors at the digital inputs. A response is initiated if the output stop cam is
activated (passed).

NOTE A fault as standard response can be adapted in the expert list using p2117 and
p2119 to become an alarm.

The stop output cams can be activated using "Stop output cam activation" (4.). This
is realized for a telegram using bit 15 of the positioning control word 2.

The limits for maximum velocity, acceleration, deceleration and jerk can be entered
under the traversing profile limitation tab. Just the same as for the monitoring
functions, these values can be increased, as it involves a higher resolution than in
the basic settings. The mechanical load on a motor operating under no-load
conditions is low. This means that the positioning velocity can be set to the
maximum velocity without any problem, and the acceleration and deceleration
rates can be correspondingly increased. When a mechanical system is
connected to the motor, then the load limits of the mechanical system must
be taken into consideration.
Copyright  Siemens AG 2012 All rights reserved

Fig. 7-30

For the velocity, the maximum velocity can be set in 1000 LU/min. However, this
must lie below the maximum motor speed. The value converted into speed is
shown in the screen form under Corresponds to speed.
The acceleration rate of the drive can be determined using acceleration. This is
comparable with the acceleration time. You must perform the following calculation if
you want to convert the acceleration rate into an acceleration time:
1000 LU 
max . velocity  
 min 
= acceleration time [s ]
 s  1000 LU 
60   • max . acceleration  
 min   s 
2

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Analogous to acceleration, there is also deceleration. Using the same formula, this
can be converted into a deceleration time.
The jerk limitation specifies the jerk when the drive accelerates. As standard, this is
not active but must be separately activated. If it is active, then it rounds-off the
ramps. The rounding-off time can be calculated as follows:
1000 LU 
max . acceleration  
 s 
2
= rounding − off time [s ]
1000 LU 
max . jerk  
 s 
3
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Jogging
Here, there are two screen forms; one for configuring and one for diagnostics.

When configuring, you can toggle between the digital and analog inputs/outputs of
the jog function by making the appropriate selection at the top left. All of the
settings of this screen form are correctly set when selecting the telegram, and do
not have to be changed.

Fig. 7-31
Copyright  Siemens AG 2012 All rights reserved

By clicking on the jog block (1.), the box to configure the jog setpoints is opened.
Here, you should increase the values, as they are too low for the mechanical
settings that have been made.

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Fig. 7-32
Copyright  Siemens AG 2012 All rights reserved

The traversing velocity when jogging can be defined using the setpoint velocity
values (1.).
The traversing distance settings (2.) specify how far the drive is traversed for
incremental jogging. Incremental jogging must be separately activated, and is then
controlled using the same inputs as for normal jogging.
In the ramp-function generator, you can set an up ramp, which is only applicable
for jogging.

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An overview of the analog and digital inputs and outputs is provided in the
diagnostics screen form.

Fig. 7-33
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Homing
The screen forms for homing have a similar structure to those for jogging.

When homing, two inputs, which are not covered by the standard telegram 111, are
still available. These are for the reversing output cams, where the drive, when
performing an active search, changes its direction and searches for the homing
points (reference points) in the other direction. However, these are not used in the
example.

Fig. 7-34
Copyright  Siemens AG 2012 All rights reserved

You can select the homing mode by double-clicking on the homing block (1.). In the
example, active homing is used and as homing mode, the encoder zero mark.
When selecting homing, the drive is automatically traversed in order to search for
the homing point, which is the encoder zero mark. On the other hand, for passive
homing, the axis is homed during normal traversing when detecting the homing
signal.

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The following screen form is available for active homing for incremental encoders.

Fig. 7-35
Copyright  Siemens AG 2012 All rights reserved

You can select between different homing types(1.) and homing modes (2.).

The possible homing modes are active (specifically requested automatic homing)
and passive (the axis is automatically homed during normal traversing)

For the homing mode, the following can be selected for the reference signal:
• Reference cam and encoder zero mark
• Encoder zero mark
• External zero mark

The settings for the approach velocities (3.) should be set corresponding to the
mechanical system. In this example, this means that the value should be
increased, as we have set a relatively high resolution.

There are two options for correcting the position value to the required value: (4.)
1. Home position/coordinate
The value is entered, which is the position actual value at the zero mark.
This means that for active homing, the motor remains stationary at the encoder
zero mark, which represents the home position.

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2. Home position offset

It is specified as to how many LU the home position should be shifted in the
positive direction.
This means that for active homing, the motor remains stationary at the home
position (0 LU).

For absolute encoders, in the screen form "Active homing", there is just one
button "Absolute encoder adjustment" as well as one input field for the home
position coordinates. Absolute encoders have the advantage that they do not have
to be re-homed each time that the system is switched on.
Passive homing is also possible for absolute encoders.

The screen form for passive homing is the same both for absolute as well as
incremental encoders; however, it is not used for the example.

Fig. 7-36
Copyright  Siemens AG 2012 All rights reserved

For passive homing, you can parameterize two measuring probes as home position
source for passive homing. (1.) For telegram 111, the active measuring probe is
selected via fieldbus.
Using the edge evaluation (2.), you can set whether measuring probe high or low
active is used.
You can set whether a position actual value correction should be taken into
account for relative positioning (3.) or only for absolute positioning.
When entering the inner and outer windows (4.), you can set separate correction
values. This means that the measuring probe width can be compensated.

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Otherwise, this would automatically result in different zero positions, dependent on

the direction of travel.
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Traversing blocks
For the traversing blocks, just as for the previous, there is one screen form for
configuring
and one for diagnostics.
All of the settings of this screen form are correctly set when selecting the telegram,
and should not be changed.

Fig. 7-37
Copyright  Siemens AG 2012 All rights reserved

You can get to the traversing block screen form via the block for the traversing
block (1.).

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Fig. 7-38
Copyright  Siemens AG 2012 All rights reserved

Here, you can parameterize the traversing blocks. Parameters that are not required
are grayed out. The sequence is defined by the block number and not by the
sequence of the list; this means that when making subsequent changes, a new line
can be simply attached with the corresponding number.

This example is only intended to show what traversing blocks can look like.

More detailed information on setting traversing programs is provided in the S110

Function Manual.

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Direct setpoint input MDI

The direct setpoint input / MDI, just like the previous points, is subdivided into 2 tab
sheets for configuration and diagnostics.
All of the settings of this screen form are correctly set when selecting the telegram,
and should not be changed.
You can assign the input signals for MDI here. As standard, all of the inputs are
already preassigned via fieldbus. By selecting the "Positioning MDI" block (1.), you
can set 4 fixed setpoints, which are active if a setpoint has not been specified via
the bus.

Fig. 7-39
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Fig. 7-40

In this screen form, you can set the setpoints that are used as long as they are not
externally entered. As in this example the setpoints are received via the control
(telegram 111), changes in this screen form have no effect for this example.

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7.2.8 Completing commissioning

• To complete, you only have to backup the SINAMICS S110 configuration in the
ROM memory of the converter. To do this, in the project navigator, select the
menu item S110_CU305_DP.

Fig. 7-41

• In the toolbar, press the button.

• Please wait until the operation has been completed.
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7.3 FB283 error messages

7.3.1 single.ErrorNumbr

Table 7-3

ErrorNumbr Significance

10XY Network 2: SFC6 RET_VAL <> 0

11XY Network 2: obligatory Udt30000 not available in the axis DB
or is not at the start of the axis DB
Remedy
1.) Reboot the CPU
2.) Create the axis DB corresponding to the documentation,
e.g. UDT30000, UDT30001, ..., at the end, own variables.
20XY Network 3: SFC15 RET_VAL <> 0, error when writing process data
21XY Network 3: SFC21 RET_VAL <> 0, error when deleting the status words
22XY Network 3: SFC20 RET_VAL <> 0, error when copying from #rdz to #hilf_zsw
30XY Network 4: #AuftrArt has an invalid value
40XY Network 5: single.taski = 0
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41XY Network 5: single.taski has an invalid value

Network 5: The task 30011 "Pre-assign traversing blocks 0..63"
42XY
cannot be started with a positive edge of bit single.RD
Network 5: The task 30002 "Read-out fault memory" cannot be started
43XY
with a positive edge of bit single.WR
50XY Network 6: #AuftrSchritt has an invalid value
Network 6: Incorrect return value (ParameterValues.Format) from
51XY
SINAMICS S120
60XY Network 7: #AuftrSchritt has an invalid value
61XY Network 7: Internal program error
70XY Network 8: #AuftrSchritt has an invalid value
71XY Network 8: singl.Ind < 0 (permitted values: 0...63)
72XY Network 8: singl.Ind > 63 (permitted values: 0...63)
80XY Network 9: #AuftrSchritt has an invalid value
81XY Network 9: optional UDT30001 not available in the axis DB,
this means that the task "Read/write traversing block" cannot be executed.
Remedy
1.) Reboot the CPU
2.) Create the axis DB corresponding to the documentation,
e.g. UDT30000, UDT30001, ..., at the end, own variables.
82XY Network 9: single.Ind > 63 (permitted values: 0...63)
83XY Network 9: single.Ind < 0 (permitted values: 0...63)
84XY Network 9: single.Data > 63 (permitted values: 0...63)
85XY Network 9: single.Data < single.Ind (note: single.Ind must be <= single.Data)
86XY Network 17: single.Ind > 10 (permitted values: 1...10)
87XY Network 17: single.Ind < 1 (permitted values: 1...10)
88XY Network 17: single.Data > 10 (permitted values: 1...10)
89XY Network 17: single.Data < 1 (permitted values: 1...10)

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Network 17: single.Ind =< single.Data

8AXY
(Note: single.Ind must be >= single.Data)
90XY Network 10: #AuftrSchritt has an invalid value
91XY Network 10: optional UDT30002 not available in the axis DB,
this means that the task "Read-out fault memory" cannot be executed.
Remedy
1.) Reboot the CPU
2.) Create the axis DB corresponding to the documentation,
e.g. UDT30000, UDT30001, ..., at the end, own variables.
92XY Network 10: Internal program error when generating the task - jump bar
93XY Network 10: Internal program error when evaluating the task - jump bar
94XY Network 10: Internal program error when evaluating the task - fault code
95XY Network 10: Internal program error when evaluating the task - fault number
96XY Network 10: Internal program error when evaluating the task - fault value
A0XY Network 12: #AuftrSchritt has an invalid value
B0XY Network 12: #AuftrSchritt has an invalid value
B1XY Network 12: A value was not able to be read
B2XY Network 12: Internal program error when evaluating the task.
C0XY Network 13: #AuftrSchritt has an invalid value
C1XY Network 13: A value was not able to be written
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Network 14: Error for non-cyclic write access using SFB53

D0XY
(SFB errors, refer below)
D1XY Network 14: Error for non-cyclic read access using SFB52
D2XY Network 14: Internal program error
E0XY Network 15: Error for non-cyclic access using SFB
Network 14/15: Request Error task completed with error (Response ID =
0x81/82); additional tasks canceled.
For a more precise error number, refer to instance DB DBW322
E1XY
(response.Error_Nr).
Significance of the error numbers, refer to the Manual, Chapter "Acyclic
communication"
F0XY Network 17/18: #AuftrSchritt has an invalid value
Network 17: Incorrect return value (ParameterValues.Format) from
F1XY
SINAMICS S120

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7.3.2 SINAMICS S110

A detailed description of the SINAMICS S110 error messages is provided in the

associated List Manual (Chapter 3.2 List of faults and alarms):
http://support.automation.siemens.com/WW/view/de/49129886
Or in the STARTER online help.
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7.4 FAQ on FB283

Q: The system blocks SFC 14/15 signal an area length error in the diagnostics
buffer of the S7 CPU?
A: Check the access width of the WR_PZD and RD_PZD in the FB283 call with
HW Config. The access width (in bytes) must be the same size. The PROFIBUS
address must be correct.

Q: Cyclic communication runs, but acyclic communication does not function?

A1: Check the diagnostics address (this can be found in HW Config). Generally,
the preset diagnostics address of the example is not appropriate.
A2: Check the axis object number. The drive object number of the axis in
STARTER corresponds to the axis object number in the FB283 call.

Q: Is it possible to acyclically access a drive line-up of several SINAMICS

connected in parallel?
A : No - The task interface of the FB283 only permits acyclic access operations. If
several SINAMICS are to be accessed, then this must be done sequentially.
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Q: Is it possible to acyclically access a CU320 with several axes in parallel?

A: No - as PROFIBUS node, a CU320 has only ONE diagnostics address –
accessing axes of a CU must be realized sequentially.

Q: Why does the S7 CPU signal an area length error for the FB283 in the
diagnostics buffer when using a multi-instance for several drives?
A : Within a multi-instance, the FB283 can only manage a limited number of axis
data blocks. In tests, this limit was defined to be 6. If more axes are managed, then
the FB283 should be used under a new name (for example FB284).

Q: Why does the FB283 output an error when attempting to write to one/several
traversing blocks on an axis?
A : Writing to one/several traversing blocks requires correct parameterization of the
traversing blocks - incorrect traversing blocks are not transferred or the transfer is
canceled for a traversing block at this position.

Q: Why can parameters of an OA application not be read out/written to with a

parameter value greater than 30000?
A : There is an internal limit of all readable/writable parameters in the FB283. This
limit is 29999. In this case, standard blocks SF52 / 53 must be used.

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8 References
8.1 Internet links - data
This list in no way complete and only reflects a selection of suitable information.
Table 8-1
Subject area Title
\1\ Reference to the http://support.automation.siemens.com/WW/view/en/58703362
article
\2\ Siemens I IA/DT http://support.automation.siemens.com
Customer Support
\3\ GSD file for S110 http://support.automation.siemens.com/WW/view/en/42705323
CU305 DP
\3\ GSD file for S110 http://support.automation.siemens.com/WW/view/en/48924746
CU305 PN
\5\ SINAMICS S110 http://support.automation.siemens.com/WW/view/en/49129886
List Manual
\6\ Toolbox v2.1 http://support.automation.siemens.com/WW/view/en/25166781
SINAMICS S120
Copyright  Siemens AG 2012 All rights reserved

9 Contact
Siemens AG
Industry Sector
I DT MC PMA APC
Frauenauracher Straße 80
D - 91056 Erlangen
mailto: tech.team.motioncontrol@siemens.com

10 History
Table 10-1
Version Date Change
V1.0 16.02.2012 First Edition

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