OnlineHelp V90 en US en-US

___________________
Preface
Fundamental safety
___________________
instructions 1
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SINAMICS V-ASSISTANT 2
SINAMICS
___________________
User interface 3
SINAMICS V90
SINAMICS V-ASSISTANT Online ___________________
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Operating Manual
11/2017
A5E36618042-004
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 A5E36618042-004 Copyright © Siemens AG 2015 - 2017.

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Preface
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SINAMICS V-ASSISTANT Online Help

Operating Manual, 11/2017, A5E36618042-004 3
Preface

4 Operating Manual, 11/2017, A5E36618042-004
Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions .............................................................................................................. 9
1.1 General safety instructions ....................................................................................................... 9
1.2 Warranty and liability for application examples ........................................................................ 9
1.3 Industrial security ....................................................................................................................10
2 SINAMICS V-ASSISTANT .................................................................................................................... 11
2.1 Overview .................................................................................................................................11
2.2 Device combination.................................................................................................................12
2.2.1 Device combination of SINAMICS V90 PN and SIMOTICS S-1FL6 ......................................12
2.2.2 Device combination of SINAMICS V90 PTI and SIMOTICS S-1FL6 .....................................15
3 User interface ....................................................................................................................................... 19
3.1 Working modes .......................................................................................................................19
3.2 User interface - overview ........................................................................................................24
3.3 Menu bar .................................................................................................................................26
3.3.1 Menu bar - overview ...............................................................................................................26
3.3.2 Project menu ...........................................................................................................................26
3.3.2.1 Project -> New project ............................................................................................................26
3.3.2.2 Project -> Open project ...........................................................................................................27
3.3.2.3 Project -> Save project ...........................................................................................................28
3.3.2.4 Project -> Save project as.......................................................................................................29
3.3.2.5 Project -> Print ........................................................................................................................29
3.3.2.6 Project -> Language ...............................................................................................................30
3.3.2.7 Project -> Exit..........................................................................................................................30
3.3.3 Edit menu ................................................................................................................................30
3.3.3.1 Edit -> Cut ...............................................................................................................................30
3.3.3.2 Edit -> Copy ............................................................................................................................31
3.3.3.3 Edit -> Paste ...........................................................................................................................31
3.3.4 Switch menu ...........................................................................................................................31
3.3.4.1 Switch -> Go offline .................................................................................................................31
3.3.4.2 Switch -> Go online .................................................................................................................32
3.3.5 Tools menu .............................................................................................................................32
3.3.5.1 Tools -> Save parameters to ROM .........................................................................................32
3.3.5.2 Tools -> Restart drive .............................................................................................................33
3.3.5.3 Tools -> Reset absolute encoder ............................................................................................33
3.3.5.4 Tools -> Factory default ..........................................................................................................34
3.3.5.5 Tools -> Upload parameters ...................................................................................................36
3.3.6 Help menu ...............................................................................................................................36
3.3.6.1 Help -> View help ....................................................................................................................36
3.3.6.2 Help -> About SINAMICS V-ASSISTANT... ............................................................................37
3.4 Toolbar ....................................................................................................................................37

Table of contents
3.5 Alarm window ......................................................................................................................... 38

3.6 Function keys and shortcuts .................................................................................................. 39
4 Task navigation..................................................................................................................................... 41
4.1 Selecting drive........................................................................................................................ 43
4.1.1 Selecting drive........................................................................................................................ 44
4.1.2 Selecting motor ...................................................................................................................... 46
4.1.3 Control mode.......................................................................................................................... 47
4.1.4 Jog ......................................................................................................................................... 49
4.2 Setting PROFINET (V90 PN only) ......................................................................................... 50
4.2.1 Selecting telegram ................................................................................................................. 50
4.2.2 Configuring network ............................................................................................................... 53
4.3 Parameterizing ....................................................................................................................... 54
4.3.1 Setting electronic gear ratio (V90 PTI only) ........................................................................... 56
4.3.1.1 Overview ................................................................................................................................ 56
4.3.1.2 Mechanical structure .............................................................................................................. 57
4.3.2 Setting mechanism ................................................................................................................ 59
4.3.3 Setting parameter setpoint ..................................................................................................... 59
4.3.3.1 Position setpoint ..................................................................................................................... 60
4.3.3.2 Speed setpoint ....................................................................................................................... 69
4.3.3.3 Torque setpoint ...................................................................................................................... 71
4.3.4 Configuring ramp function (V90 PN only) .............................................................................. 72
4.3.5 Setting limits ........................................................................................................................... 74
4.3.5.1 Torque limit ............................................................................................................................ 74
4.3.5.2 Speed limit ............................................................................................................................. 76
4.3.6 Configuring inputs/outputs ..................................................................................................... 78
4.3.6.1 Assigning digital inputs .......................................................................................................... 78
4.3.6.2 Assigning digital outputs ........................................................................................................ 79
4.3.6.3 Assigning analog outputs (V90 PTI only) ............................................................................... 80
4.3.7 Configuring referencing .......................................................................................................... 81
4.3.7.1 Setting referencing ................................................................................................................. 81
4.3.7.2 Setting software position limit ................................................................................................ 86
4.3.8 Setting encoder pulse output (V90 PTI only) ......................................................................... 88
4.3.9 Backlash compensation ......................................................................................................... 88
4.3.10 Viewing all parameters ........................................................................................................... 90
4.4 Commissioning....................................................................................................................... 93
4.4.1 Testing interface..................................................................................................................... 93
4.4.1.1 I/O simulation ......................................................................................................................... 93
4.4.1.2 Digital inputs/outputs (DIs/Dos) ............................................................................................. 97
4.4.1.3 Analog inputs (AIs) ............................................................................................................... 108
4.4.1.4 Analog outputs (AOs) ........................................................................................................... 109
4.4.1.5 Pulse train inputs (PTIs) ....................................................................................................... 109
4.4.1.6 Pulse train encoder outputs (PTOs) .................................................................................... 110
4.4.2 Testing motor ....................................................................................................................... 110
4.4.2.1 Jog ....................................................................................................................................... 110
4.4.2.2 Position trial run (V90 PTI only) ........................................................................................... 111
4.4.3 Optimizing drive ................................................................................................................... 112
4.4.3.1 One-button auto tuning ........................................................................................................ 113
4.4.3.2 Real-time auto tuning ........................................................................................................... 117
4.4.3.3 Manual tuning....................................................................................................................... 120

Table of contents
4.4.3.4 Low frequency vibration suppression ...................................................................................123

4.5 Diagnostics ...........................................................................................................................125
4.5.1 Monitoring status ...................................................................................................................125
4.5.2 Tracing signals ......................................................................................................................126
4.5.2.1 Trace configuration ...............................................................................................................129
4.5.3 Measuring machine...............................................................................................................130
4.6 Communicating with the PLC (V90 PTI only) .......................................................................135
4.6.1 USS communication .............................................................................................................135
4.6.2 Modbus communication ........................................................................................................137
4.6.2.1 Cyclic communication ...........................................................................................................143
4.6.2.2 Acyclic communication..........................................................................................................150
Index................................................................................................................................................... 159

Table of contents

Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are
not observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.
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 (parameter assignments) against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
1.2 Warranty and liability for application examples

The application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. The application examples do
not represent specific customer solutions, but are only intended to provide support for typical
tasks. You are responsible for the proper operation of the described products. These
application examples do not relieve you of your responsibility for safe handling when using,
installing, operating and maintaining the equipment.

Fundamental safety instructions
1.3 Industrial security
1.3 Industrial security
Note
Industrial security
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 only represent one component of such a
concept.
The customer is responsible for preventing unauthorized access to its plants, systems,
machines and networks. Systems, machines and components should only be connected to
the enterprise network or the internet if and to the extent necessary and with appropriate
security measures (e.g. use of firewalls and network segmentation) in place.
Additionally, Siemens’ guidance on appropriate security measures should be taken into
account. For more information about industrial security, please visit:
Industrial security (http://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends to apply product updates as soon as available and to
always use the latest product versions. Use of product versions that are no longer supported,
and failure to apply latest updates may increase customer’s exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (http://www.siemens.com/industrialsecurity).
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware 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.

SINAMICS V-ASSISTANT 2
2.1 Overview
The SINAMICS V-ASSISTANT engineering tool is designed for faster commissioning and
diagnostics for the following SINAMICS V90 drive variants:
● SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN)
● SINAMICS V90 drives with the pulse train, USS/Modbus interface (referred to as
SINAMICS V90 PTI)
The software runs on a personal computer with Windows operating systems and utilizes
graphical user interface to interact with users and communicates with SINAMICS V90 via a
USB cable. It can be used to modify parameters and monitor status of SINAMICS V90 drives.
Note
To ensure the stability of online commissioning, Siemens recommends that you use a
shielded USB cable of no longer than 3 m with ferrite cores on both ends.
Note
The minimum screen resolution must be 1024 × 768.

SINAMICS V-ASSISTANT
2.2 Device combination
2.2.1 Device combination of SINAMICS V90 PN and SIMOTICS S-1FL6
V90 PN 200 V servo system
SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 MOTION-CONNECT 300 pre-assembled
PN 200 V servo cables
drives Power Brake cable Encoder cable
cable
Rated Rated Rated Shaft Article No. 1FL60 Article Frame Article No. Article No. Article No.
torque power speed height No. size 6FX3002-5 6FX3002-5 6FX3002-2
(Nm) (kW) (rpm) (mm) 6SL321
0-5
0.16 0.05 3000 20 22-2AF21- ❑ ❑ FB10- FSA CK01-1AD0 BK02-1AD0 ❑❑ 20-1AD0
1 1 1UF0 (3 m) (3 m) (3 m)
0.32 0.1 3000 24-2AF21- ❑ ❑ CK01-1AF0 BK02-1AF0 20-1AF0
1 1 (5 m) (5 m) (5 m)
0.64 0.2 3000 30 32-2AF21- ❑ ❑ FB10- CK01-1BA0 BK02-1BA0 20-1BA0
1 1 2UF0 (10 m) (10 m) (10 m)
1.27 0.4 3000 34-2AF21- ❑ ❑ FB10- FSB CK01-1CA0 BK02-1CA0 20-1CA0
1 1 4UF1 (20 m) (20 m) (20 m)
2.39 0.75 3000 40 42-2AF21- ❑ ❑ FB10- FSC
1 1 8UF0
3.18 1 3000 44-2AF21- ❑ ❑ FB11- FSD
1 1 0UF1
4.78 1.5 3000 50 52-2AF21- ❑ ❑ FB11- CK31-1AD0 BL02-1AD0 ❑❑ 10-1AD0
0 1 5UF0 (3 m) (3 m) (3 m)
6.37 2 3000 54-2AF21- ❑ ❑ FB12- CK31-1AF0 BL02-1AF0 10-1AF0
0 1 0UF0 (5 m) (5 m) (5 m)
CK31-1BA0 BL02-1BA0 10-1BA0
(10 m) (10 m) (10 m)
CK31-1CA0 BL02-1CA0 10-1CA0
(20 m) (20 m) (20 m)
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

V90 PN 400 V servo system
SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 MOTION-CONNECT 300 pre-assembled
connectors PN 400 V servo cables
cable
0-5
1.27 0.4 3000 45 42-1AF61- ❑ ❑ FE10- FSAA CL01-1AD0 BL02-1AD0 ❑❑ 10-1AD0
0 1 4UF0 (3 m) (3 m) (3 m)
2.39 0.75 3000 44-1AF61- ❑ ❑ FE10- FSA CL01-1AF0 BL02-1AF0 10-1AF0
0 1 8UF0 (5 m) (5 m) (5 m)
3.58 0.75 2000 65 61- ❑ ❑ FE11- CL01-1AH0 BL02-1AH0 10-1AH0
1AC61-0 1 0UF0 (7 m) (7 m) (7 m)
4.78 1.0 2000 62- ❑ ❑ CL01-1BA0 BL02-1BA0 10-1BA0
1AC61-0 1 (10 m) (10 m) (10 m)
CL01-1BF0 BL02-1BF0 10-1BF0
(15 m) (15 m) (15 m)
CL01-1CA0 BL02-1CA0 10-1CA0
(20 m) (20 m) (20 m)
7.16 1.5 2000 64- ❑ ❑ FE11- FSB CL11-1AD0
1AC61-0 1 5UF0 (3 m)
8.36 1.75 2000 66- ❑ ❑ CL11-1AF0
1AC61-0 1 (5 m)
9.55 2.0 2000 67- ❑ ❑ FE12- CL11-1AH0
1AC61-0 1 0UF0 (7 m)
11.9 2.5 2000 90 90- ❑ ❑ CL11-1BA0
1AC61-0 1 (10 m)
16.7 3.5 2000 92- ❑ ❑ FE13- FSC CL11-1BF0
1AC61-0 1 5UF0 (15 m)
23.9 5.0 2000 94- ❑ ❑ FE15- CL11-1CA0
1AC61-0 1 0UF0 (20 m)
33.4 7.0 2000 96- ❑ ❑ FE17-
1AC61-0 1 0UF0
2500 ppr
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit + DB
12-bit multi-turn

SIMOTICS S-1FL6 high inertia servo motors with angular SINAMICS V90 MOTION-CONNECT 300 pre-assembled
connectors PN 400 V servo cables
cable
0-5
1.27 0.4 3000 45 42-1AF61- ❑ ❑ FE10- FSAA CL02-1AD0 BL03-1AD0 ❑❑❑ -1AD0
2 1 4UF0 (3 m) (3 m) ❑ (3 m)
2.39 0.75 3000 44-1AF61- ❑ ❑ FE10- FSA CL02-1AF0 BL03-1AF0 -1AF0
2 1 8UF0 (5 m) (5 m) (5 m)
3.58 0.75 2000 65 61- ❑ ❑ FE11- CL02-1AH0 BL03-1AH0 -1AH0
1AC61-2 1 0UF0 (7 m) (7 m) (7 m)
4.78 1.0 2000 62- ❑ ❑ CL02-1BA0 BL03-1BA0 -1BA0
1AC61-2 1 (10 m) (10 m) (10 m)
CL02-1BF0 BL03-1BF0 -1BF0
(15 m) (15 m) (15 m)
CL02-1CA0 BL03-1CA0 -1CA0
(20 m) (20 m) (20 m)
7.16 1.5 2000 64- ❑ ❑ FE11- FSB CL12-1AD0
1AC61-2 1 5UF0 (3 m)
8.36 1.75 2000 66- ❑ ❑ CL12-1AF0
1AC61-2 1 (5 m)
9.55 2.0 2000 67- ❑ ❑ FE12- CL12-1AH0
1AC61-2 1 0UF0 (7 m)
11.9 2.5 2000 90 90- ❑ ❑ CL12-1BA0
1AC61-2 1 (10 m)
16.7 3.5 2000 92- ❑ ❑ FE13- FSC CL12-1BF0
1AC61-2 1 5UF0 (15 m)
23.9 5.0 2000 94- ❑ ❑ FE15- CL12-1CA0
1AC61-2 1 0UF0 (20 m)
33.4 7.0 2000 96- ❑ ❑ FE17-
1AC61-2 1 0UF0
Incremental encoder TTL 2500 ppr A Incremental encoder TTL CT12
2500 ppr
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit + DB10
12-bit multi-turn
Note
You can select a SINAMICS V90 PN 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.

2.2.2 Device combination of SINAMICS V90 PTI and SIMOTICS S-1FL6
V90 200 V servo system
SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 MOTION-CONNECT 300 pre-assembled
200 V servo cables
cable
0-5
0.16 0.05 3000 20 22-2AF21- ❑ ❑ FB10- FSA CK01-1AD0 BK02-1AD0 ❑❑ 20-1AD0
1 1 1UA0 (3 m) (3 m) (3 m)
0.32 0.1 3000 24-2AF21- ❑ ❑ CK01-1AF0 BK02-1AF0 20-1AF0
1 1 (5 m) (5 m) (5 m)
0.64 0.2 3000 30 32-2AF21- ❑ ❑ FB10- CK01-1BA0 BK02-1BA0 20-1BA0
1 1 2UA0 (10 m) (10 m) (10 m)
1.27 0.4 3000 34-2AF21- ❑ ❑ FB10- FSB CK01-1CA0 BK02-1CA0 20-1CA0
1 1 4UA1 (20 m) (20 m) (20 m)
2.39 0.75 3000 40 42-2AF21- ❑ ❑ FB10- FSC
1 1 8UA0
3.18 1 3000 44-2AF21- ❑ ❑ FB11- FSD
1 1 0UA1
4.78 1.5 3000 50 52-2AF21- ❑ ❑ FB11- CK31-1AD0 BL02-1AD0 ❑❑ 10-1AD0
0 1 5UA0 (3 m) (3 m) (3 m)
6.37 2 3000 54-2AF21- ❑ ❑ FB12- CK31-1AF0 BL02-1AF0 10-1AF0
0 1 0UA0 (5 m) (5 m) (5 m)
CK31-1BA0 BL02-1BA0 10-1BA0
(10 m) (10 m) (10 m)
CK31-1CA0 BL02-1CA0 10-1CA0
(20 m) (20 m) (20 m)
2500 ppr
Absolute encoder single-turn 21-bit M Absolute encoder single- DB
turn 21-bit

V90 400 V servo system
SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 MOTION-CONNECT 300 pre-assembled
connectors 400 V servo cables
cable
0-5
1.27 0.4 3000 45 42-1AF61- ❑ ❑ FE10- FSAA CL01-1AD0 BL02-1AD0 ❑❑ 10-1AD0
0 1 4UA0 (3 m) (3 m) (3 m)
2.39 0.75 3000 44-1AF61- ❑ ❑ FE10- FSA CL01-1AF0 BL02-1AF0 10-1AF0
0 1 8UA0 (5 m) (5 m) (5 m)
3.58 0.75 2000 65 61- ❑ ❑ FE11- CL01-1AH0 BL02-1AH0 10-1AH0
1AC61-0 1 0UA0 (7 m) (7 m) (7 m)
4.78 1.0 2000 62- ❑ ❑ CL01-1BA0 BL02-1BA0 10-1BA0
1AC61-0 1 (10 m) (10 m) (10 m)
CL01-1BF0 BL02-1BF0 10-1BF0
(15 m) (15 m) (15 m)
CL01-1CA0 BL02-1CA0 10-1CA0
(20 m) (20 m) (20 m)
7.16 1.5 2000 64- ❑ ❑ FE11- FSB CL11-1AD0
1AC61-0 1 5UA0 (3 m)
8.36 1.75 2000 66- ❑ ❑ CL11-1AF0
1AC61-0 1 (5 m)
9.55 2.0 2000 67- ❑ ❑ FE12- CL11-1AH0
1AC61-0 1 0UA0 (7 m)
11.9 2.5 2000 90 90- ❑ ❑ CL11-1BA0
1AC61-0 1 (10 m)
16.7 3.5 2000 92- ❑ ❑ FE13- FSC CL11-1BF0
1AC61-0 1 5UA0 (15 m)
23.9 5.0 2000 94- ❑ ❑ FE15- CL11-1CA0
1AC61-0 1 0UA0 (20 m)
33.4 7.0 2000 96- ❑ ❑ FE17-
1AC61-0 1 0UA0
2500 ppr
Absolute encoder 20-bit + 12-bit multi-turn L Absolute encoder 20-bit + DB
12-bit multi-turn

SIMOTICS S-1FL6 high inertia servo motors with angular SINAMICS V90 MOTION-CONNECT 300 pre-assembled
connectors 400 V servo cables
cable
0-5
1.27 0.4 3000 45 42-1AF61- ❑ ❑ FE10- FSAA CL02-1AD0 BL03-1AD0 ❑❑❑ -1AD0
2 1 4UA0 (3 m) (3 m) ❑ (3 m)
2.39 0.75 3000 44-1AF61- ❑ ❑ FE10- FSA CL02-1AF0 BL03-1AF0 -1AF0
2 1 8UA0 (5 m) (5 m) (5 m)
3.58 0.75 2000 65 61- ❑ ❑ FE11- CL02-1AH0 BL03-1AH0 -1AH0
1AC61-2 1 0UA0 (7 m) (7 m) (7 m)
4.78 1.0 2000 62- ❑ ❑ CL02-1BA0 BL03-1BA0 -1BA0
1AC61-2 1 (10 m) (10 m) (10 m)
CL02-1BF0 BL03-1BF0 -1BF0
(15 m) (15 m) (15 m)
CL02-1CA0 BL03-1CA0 -1CA0
(20 m) (20 m) (20 m)
7.16 1.5 2000 64- ❑ ❑ FE11- FSB CL12-1AD0
1AC61-2 1 5UA0 (3 m)
8.36 1.75 2000 66- ❑ ❑ CL12-1AF0
1AC61-2 1 (5 m)
9.55 2.0 2000 67- ❑ ❑ FE12- CL12-1AH0
1AC61-2 1 0UA0 (7 m)
11.9 2.5 2000 90 90- ❑ ❑ CL12-1BA0
1AC61-2 1 (10 m)
16.7 3.5 2000 92- ❑ ❑ FE13- FSC CL12-1BF0
1AC61-2 1 5UA0 (15 m)
23.9 5.0 2000 94- ❑ ❑ FE15- CL12-1CA0
1AC61-2 1 0UA0 (20 m)
33.4 7.0 2000 96- ❑ ❑ FE17-
1AC61-2 1 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
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.


User interface 3
3.1 Working modes
When you start SINAMICS V-ASSISTANT, the following window appears for you to select a
working mode:
The functions of SINAMICS V-ASSISTANT vary according to the working modes.
Online mode
SINAMICS V-ASSISTANT communicates with the target drive. The drive connects to a PC
by a USB cable.
If you select the online mode, a list of connected drives are displayed. Select the target drive
and click the following button.
SINAMICS V-ASSISTANT automatically creates a new project to save all parameter settings
from the target drive and enters the main window.
Note
If SINAMICS V-ASSISTANT fails to detect the connected drive(s) immediately, please wait
for a while and then plug in the USB cable again.

User interface
3.1 Working modes
Offline mode
SINAMICS V-ASSISTANT does not communicate with any connected drive.
In this mode, you can choose the following options:
If you select the first option, you must select a drive from the following window:
Select the product type and firmware version from the drop-down lists respectively. Then
select the article number of your desired drive. Click to save the factory settings
of the selected drive to the new project and enter the main window; otherwise, click
to return to the last step.
Note
To obtain the firmware version, you can view r29108 on BOP (Basic Operator Panel). For
more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.

User interface
3.1 Working modes
If you select the second option, you need to select an existing project in the following
directory as the current project and enter the main window:
① Default location: xxx/Siemens/V-ASSISTANT/Project

xxx: SINAMICS V-ASSISTANT setup root directory
② Only .prj format is available.
Status indicators
In the upper right of the SINAMICS V-ASSISTANT main window, the current working mode
is indicated by the status indicators:
Online
Offline
You can switch the working mode between the two modes. For more information, see
Section "Switch menu (Page 31)".

User interface
3.1 Working modes
Compare parameters
When you switch the working mode from offline to online, the following question appears to
remind you to save the current project:
You can click to save the project; otherwise, you can click to abort
saving.
Then SINAMICS V-ASSISTANT automatically compares all parameter settings between the
current project and the connected drive:

User interface
3.1 Working modes
If any inconsistency is detected, the following window appears:
Click the first button to upload all parameter values of the connected drive to the current
project; otherwise, click the second button to upload all parameter values of the current
project to the connected drive.

User interface
3.2 User interface - overview
① Menu bar ④ Function pane

② Toolbar ⑤ Alarm window
③ Task navigation
Note
The user interface screenshot of SINAMICS V-ASSISTANT for V90 PN is used as an
example here.

User interface
Menu bar
The menu bar is located at the top of the user interface. You can find various commands and
functions for basic operations of SINAMICS V-ASSISTANT. For more information, see
Section "Menu bar (Page 26)".
Toolbar
The toolbar is located below the menu bar and provides direct access to the essential
functions of SINAMICS V-ASSISTANT. For more information, see Section "Toolbar
(Page 37)".
Task navigation
The task navigation mask contains tasks for users to fulfill. Each task consists of various
functions which facilitate users to parameterize all functions of V90 drives and monitor or
diagnose the drives. For more information, see Section "Task navigation (Page 41)".
Function pane
The function pane provides the user interface of each task to implement related functions.
Alarm window
In online mode, the currently active faults and alarms are displayed in a list with their types,
numbers and names; in offline mode, the alarm window is disabled. For more information,
see Section "Alarm window (Page 38)".

User interface
3.3 Menu bar
3.3 Menu bar
3.3.1 Menu bar - overview

The menu bar lists the following menu items for users to manage projects, switch the user
interface language, or view the online help:
● Project menu (Page 26)
● Edit menu (Page 30)
● Switch menu (Page 31)
● Tools menu (Page 32)
● Help menu (Page 36)
3.3.2 Project menu

This menu item contains commands for creating, opening, saving, printing, and exiting from
a project as well as switching the user interface language. You can choose menu commands
here for project management.
● New project (Page 26)
● Open project (Page 27)
● Save project (Page 28)
● Save project as (Page 29)
● Print (Page 29)
● Language (Page 30)
● Exit (Page 30)
3.3.2.1 Project -> New project

When SINAMICS V-ASSISTANT is working in offline mode, you can use this menu
command to create a new project. To proceed, see Section "Selecting drive (Page 44)".

User interface
3.3 Menu bar
3.3.2.2 Project -> Open project

command to open an existing project in the following window:


User interface
3.3 Menu bar
3.3.2.3 Project -> Save project
Online mode/offline mode

You can use this menu command to save the changed configuration to the current project. If
this menu command is used for the first time, it is the same as "Project -> Save project as...
(Page 29)". You can specify the file name and directory in the following window:


User interface
3.3 Menu bar
3.3.2.4 Project -> Save project as...

You can use this menu command to save the current project with a specified file name and
directory in the following window:

3.3.2.5 Project -> Print

You can use this menu command to print the user interface of the selected function from
"Task navigation (Page 41)".

User interface
3.3 Menu bar
3.3.2.6 Project -> Language

You can use this menu command to switch the user interface language as desired. The
default languages of SINAMICS V-ASSISTANT are English and Chinese. For installation
packages of additional languages, visit this address (http://www.siemens.com/sinamics-v-
assistant). After you download the desired installation package to your PC and run it, you
can switch the interface language to the corresponding one.
3.3.2.7 Project -> Exit

You can use this menu command to exit from SINAMICS V-ASSISTANT directly.
3.3.3 Edit menu

This menu contains commands for cutting, copying and editing parameter values or technical
data of the motor and drive.
● Cut (Page 30)
● Copy (Page 31)
● Paste (Page 31)
3.3.3.1 Edit -> Cut

This command deletes the selected objects, for example, the parameter values from the user
interface, and then copies them to the clipboard.
Alternatively, you can use from the toolbar.
Note
This menu command can only be used to modify the values in "Viewing all parameters
(Page 90)".

User interface
3.3 Menu bar
3.3.3.2 Edit -> Copy

The command copies the selected objects, such as parameter values, article number or the
rated power of the drive or motor, to the clipboard.
Note
You can only use this menu command on the following function panes:
• Selecting drive (Page 44)
• Selecting motor (Page 46)
• Viewing all parameters (Page 90)
• Signal (Page 93)
3.3.3.3 Edit -> Paste

This menu command copies the clipboard content to the input field. The copied content can
be inserted at a position determined with a mouse click.
Note
You can only use this menu command to modify the values in Viewing all parameters
(Page 90).
3.3.4 Switch menu

This menu contains the following two commands for switching SINAMICS V-ASSISTANT
between the online mode and offline mode.
● Go offline (Page 31)
● Go online (Page 32)
3.3.4.1 Switch -> Go offline

When SINAMICS V-ASSISTANT is working in online mode, you can use this menu
command to switch it to offline mode.

User interface
3.3 Menu bar
3.3.4.2 Switch -> Go online

command to switch it to online mode.
3.3.5 Tools menu

This menu contains the following menu commands:
● Tools -> Save parameters to ROM (Page 32)
● Tools -> Restart drive (Page 33)
● Tools -> Reset absolute encoder (Page 33)
● Tools -> Factory default (Page 34)
● Tools -> Upload parameters (Page 36)
3.3.5.1 Tools -> Save parameters to ROM

You can use this menu command to save parameters from RAM to ROM in the drive. The
following window appears to display the saving process:

User interface
3.3 Menu bar
3.3.5.2 Tools -> Restart drive

You can use this menu command to restart the drive. After you select this menu command,
the following reminder appears:
If you click , then the following information window appears:
Click and the drive is restarted successfully.
3.3.5.3 Tools -> Reset absolute encoder

In online mode, if you have connected SINAMICS V-ASSISTANT to a motor with an absolute
encoder, you can use this menu command to set the current position of the absolute encoder
as the reference point.

User interface
3.3 Menu bar
3.3.5.4 Tools -> Factory default
Online
Select this menu command and the following reminder appears:
● If you click , then the following information window appears:
When the process completes, this window disappears automatically.

● If you click , this operation can be aborted.

User interface
3.3 Menu bar
Offline
Select this menu command and the following reminder appears:
● If you click , the following information appears after the parameters are reset
to their factory defaults:
Click to close the information window. To save the project, see Section
"Project -> Save project (Page 28)".
● If you click , this operation can be aborted.

User interface
3.3 Menu bar
3.3.5.5 Tools -> Upload parameters
Note
This menu command is only available in online mode.
You can use this menu command to upload parameters from the drive to SINAMICS V-
ASSISTANT. After you select this menu command, the following window appears to show
the process:
After the process is complete, the values of the same parameters in SINAMICS V-
ASSISTANT are overwritten by those in the drive automatically.
3.3.6 Help menu

The online help quickly provides you with information about drive selection, parameterization,
commissioning and diagnostics of SINAMICS V-ASSISTANT.
● Help -> View help (Page 36)
● Help -> About SINAMICS V-ASSISTANT... (Page 37)
3.3.6.1 Help -> View help

You can use this menu command to display the content of SINAMICS V-ASSISTANT Online
help.

User interface
3.4 Toolbar
3.3.6.2 Help -> About SINAMICS V-ASSISTANT...

You can use this menu command to display the following information window for SINAMICS
V-ASSISTANT. You can read or download the legal notices, software installation packages,
and user manuals by clicking the links.
3.4 Toolbar
The icons of the toolbar provide quick access to the commands in the menu bar or functions
from Task navigation (Page 41).
New project (Page 26)
Open project (Page 27)
Save project (Page 28)
Print (Page 29)
Cut (Page 30)
Copy (Page 31)
Paste (Page 31)
Go offline (Page 31)
Go online (Page 32)
Save parameters to ROM (Page 32)
Upload parameters (Page 36)

User interface
3.5 Alarm window
Viewing all parameters (Page 90)
Trace (Page 126)
Test motor (Page 110)
Help (Page 36)
3.5 Alarm window
Alarm window overview
① Alarm type 1) ④ Alarm value

• : Fault
• : Alarm
② Alarm number ⑤ Acknowledge All

Clears the faults in the buffer area of the
drive
③ Alarm name and description
1) Faults are displayed in prior to alarms.
Note
To view the detailed information of an active fault/alarm, press F1 to call the corresponding
online help.

User interface
3.6 Function keys and shortcuts

SINAMICS V-ASSISTANT provides function keys and shortcuts for frequently called
functions.
Function keys in SINAMICS V-ASSISTANT
[F1] → Calls the context sensitive online help

[Ctrl+X] → Edit -> Cut (Page 30)
[Ctrl+C] → Edit -> Copy (Page 31)
[Ctrl+V] → Edit -> Paste (Page 31)

User interface

Task navigation 4
Note
The task navigation mask screenshot of SINAMICS V-ASSISTANT for V90 PN is used as an
example here.

Task navigation
Task Sub-functions
SINAMICS V90 PN SINAMICS V90 PTI
Selecting drive • Selecting drive (Page 44)
(Page 43)
• Selecting motor (Page 46)
• Control mode (Page 47)
• Jog (Page 49)
Setting PROFINET • Selecting telegram (Page 50) -
(V90 PN only)
• Configuring network (Page 53)
(Page 50)
Parameterizing • Setting electronic gear ratio (V90 PTI only) (Page 56)
(Page 54)
• Setting mechanism (Page 59)
• Setting parameter setpoint (Page 59)
• Configuring ramp function (V90 PN only) (Page 72)
• Setting limits (Page 74)
• Configuring inputs/outputs (Page 78)
• Configuring referencing (Page 81)
• Setting encoder pulse output (V90 PTI only) (Page 88)
• Backlash compensation (Page 88)
• Viewing all parameters (Page 90)
Commissioning • Testing interface (Page 93)
(Page 93)
• Testing motor (Page 110)
• Optimizing drive (Page 112)
Diagnostics • Monitoring status (Page 125)
(Page 125)
• Tracing signals (Page 126)
• Measuring machine (Page 130)

Task navigation
4.1 Selecting drive
Note
The task navigation mask of SINAMICS V-ASSISTANT for V90 PN is used as an example
here.
Area Function Description See also

① Drive selection Selects a drive in this field "Selecting drive (Page 44)"
② Motor selection Selects a motor in this field "Selecting motor (Page 46)"
③ Control mode Selects a control mode in this field "Control mode (Page 47)"
④ Jog Tests the Jog function in this field "Jog (Page 49)"

Task navigation
4.1.1 Selecting drive
Online mode
When you choose to work in online mode, a list of connected drive type(s) is displayed for
your selection:
Select the target drive type, and click to establish communication between
SINAMICS V-ASSISTANT and the drive. SINAMICS V-ASSISTANT reads all parameter
settings from the connected drive and the main window displays the drive information on the
following panel:
The following drive information is displayed:

● Article number
● Line supply

Task navigation
● Rated power
● Rated current
Note
is disabled in online mode.
Offline mode
When you are working in offline mode, SINAMICS V-ASSISTANT does not communicate
with the connected drive(s).
You can click to change the drive type in the following window:
Select the article number of the target drive. Click to save the factory settings of
the selected drive to the new project and enter the main window; or otherwise, click
to exit.

Task navigation
4.1.2 Selecting motor
Online mode
● If the connected motor is equipped with an absolute encoder, is disabled.
Note
In the article number, "x" is a wildcard; for more information about "A\G", see the
SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
● If the connected motor is equipped with an incremental encoder, click

and the motor list is displayed.
Select a motor from the list and click the following button to confirm your selection:
Note
You can click "name plate" in the above window to see the specific location of the name
plate on the motor.

Task navigation
Offline mode
● If you choose to create a new project, you need to select a drive first, then the information
of the default motor is displayed.
● If you choose to open an existing project, the saved motor information is displayed.
● If you switch from online mode to offline mode, you can select the motor by clicking
.
4.1.3 Control mode
Totally, eleven control modes are available for V90 drives:
Control mode V90 PN V90 PTI

Basic control mode • Speed control mode (S) 1) • Pulse train input position control
• Basic positioner control mode mode (PTI) 2)
(EPOS) • Internal position control mode
(IPos)
• Speed control mode (S)
• Torque control mode (T)
Compound control - • Control change mode: PTI/S
mode
• Control change mode: IPos/S
• Control change mode: PTI/T
• Control change mode: IPos/T
• Control change mode: S/T
1) Default control mode for V90 PN, different from S control mode for V90 PTI
2) Default control mode for V90 PTI

Task navigation
Apply a control mode

After you select a control mode, the following warning message appears:
● Online mode
Click and the following message appears:
Click to save all parameters to ROM and reset the drive.

Otherwise, click the following button or directly close the dialog box, and the drive can
continue to work in the current control mode.
● Offline mode
Click and the control mode is changed.

Task navigation
4.1.4 Jog
Jog function is only available in online mode. You can configure this function on the following
panel:
● To start the Jog function, enter the Jog speed first. Click , then
the following warning appears:
Click and run the drive counter-clockwise/clockwise by clicking the following

two buttons respectively:
Then the actual speed, actual torque, actual current and actual utilization are displayed.
● To stop the Jog function, click in the following window and
SINAMICS V-ASSISTANT releases the control priority.
Note
The Jog speed cannot be too fast. Otherwise, the machine axes can get out of control due to
possible communication delay.

Task navigation
4.2 Setting PROFINET (V90 PN only)
You can select the desired telegram and configure the network with this function.
4.2.1 Selecting telegram

In the following area, you can see the activated control mode and telegram. If you desire to
change the telegram, you can click the drop-down list and select the desired telegram.
After you select a new telegram, the displayed process data changes according to the
selected telegram. You can view all PZDs of the selected telegram by clicking the drop-down
list and read their hexadecimal values from the first row of the table.

Task navigation
The PZD in green indicates that it has a bit definition. You can read the binary value of each
bit from the table.
Supported telegrams
SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control
mode. You can select the desired telegram with parameter p0922. See the following table for
details.
From the perspective of the drive unit, the received process data represents the receive
words and the process data to be sent to the send words.
Telegram Maximum number of PZD Description

Receive word Send word
Standard telegram 1 2 2 p0922 = 1
Siemens telegram 102 6 10 p0922 = 102
Siemens telegram 105 10 10 p0922 = 105
One PZD = one word

Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the SIMATICS S7-1500
and the TIA Portal version is V14 or higher.

Task navigation
Telegrams used for speed control mode
Tele- 1 2 3 5 102 105

gram
Appl. 1 1 1, 4 4 1, 4 4
class
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL NIST_A NSOLL NIST_B NSOLL NIST_B NSOLL NIST_B NSOLL NIST_B NSOLL NIST_
_A _B _B _B _B _B B
PZD3
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2
PZD5 G1_ST G1_ZS G1_ST G1_ZS MOMR MELD MOMR MELD
W W W W ED W ED W
PZD6 G1_XIS XERR G1_XIS G1_ST G1_ZS G1_ST G1_ZS
T1 T1 W W W W
PZD7 G1_XIS XERR G1_XI
PZD8 G1_XIS KPC G1_XIS T1 ST1
PZD9 T2 T2 G1_XIS KPC G1_XI
PZD10 T2 ST2
Telegrams used for basic positioner control mode
Telegram 7 9 110 111

Appl. class 3 3 3 3
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 SATZANW AKTSATZ SATZANW AKTSATZ SATZANW AKTSATZ POS_STW POS_ZSW
1 1
PZD3 STW2 ZSW2 POS_STW POS_ZSW POS_STW POS_ZSW
2 2
PZD4 MDI_ XIST_A STW2 ZSW2 STW2 ZSW2
PZD5 TARPOS OVERRIDE MELDW OVERRIDE MELDW
PZD6 MDI_ MDI_TAR XIST_A MDI_TAR XIST_A
PZD7 VELOCITY POS POS
PZD8 MDI_ACC MDI_VELO MDI_VELO NIST_B

PZD9 MDI_DEC CITY CITY
PZD10 MDI_MOD MDI_ACC MDI_ACC FAULT_CO
DE
PZD11 MDI_DEC MDI_DEC WARN_CO
DE
PZD12 MDI_MODE user 1) user 1)
1) PZD12 of telegram 111 is used to configure the user-defined function.

Task navigation
4.2.2 Configuring network

This function is only available in online mode. You can configure this function on the
following panel:
In online mode, the IP address of the connected drive is displayed in area "②" automatically.
You can define the PN name of station in area "①". Note that only numbers (0 to 9),
lowercase letters ("a" to "z") and characters ("-" and ".") in English are permissible. In
addition, you can modify the IP address in area "②" as desired. Click button "③" to save
and activate the settings. Restart the drive and then the PN name and IP address you set
become active and appear in areas "④" and "⑤".
Note
If you have also configured the IP protocol in TIA portal, then the IP protocol set in TIA portal
takes the first priority and displays in area "⑤" as the actual active IP protocol.

Task navigation
4.3 Parameterizing
Note
The parameterizing panel screenshot of SINAMICS V-ASSISTANT for V90 PN is used as an
example here.

Task navigation
Totally, ten sub-functions are available. The sub-function combinations vary with the drive
variant and control modes:
Sub-function Control mode

V90 PN V90 PTI
EPOS S PTI IPos S T
Setting electronic gear ✓
ratio (V90 PTI only)
(Page 56)
Setting mechanism ✓ ✓
(Page 59)
Setting parameter set- ✓ ✓ ✓ ✓ ✓
point (Page 59)
Configuring ramp func- ✓ ✓
tion (V90 PN only)
(Page 72)
Setting limits (Page 74) ✓ ✓ ✓ ✓ ✓ ✓
Configuring in- ✓ ✓ ✓ ✓ ✓ ✓
puts/outputs (Page 78)
Configuring referencing ✓ ✓
(Page 81)
Setting encoder pulse ✓ ✓
output (V90 PTI only)
(Page 88)
Backlash compensation ✓ ✓
(Page 88)
Viewing all parameters ✓ ✓ ✓ ✓ ✓ ✓
(Page 90)

Task navigation
4.3.1 Setting electronic gear ratio (V90 PTI only)
4.3.1.1 Overview
Setting electronic gear ratio is only available in pulse train input position control mode (PTI).
Select one of the following options for setting electronic gear ratio:
Options Description
① When number of setpoint pulses per motor revolution (p29011) is 0, configure electronic
gear ratio by setting numerator (p29012) and denominator (p29013).
② When number of setpoint pulses per motor revolution is not 0, enter the number of set-
point pulses per motor revolution here.
③ Calculate the electronic gear ratio according to different mechanical structures.
Totally, five mechanical structures are available:
• Ball screw
• Disc table
• Belt pulley
• Rack and pinion
• Roll feed
For more information, see Section "Mechanical structure (Page 57)".
Enter the pitch value and gear ratio, select a display unit and click . Then the
electronic gear ratio can be calculated automatically.

Task navigation
4.3.1.2 Mechanical structure
Variables
Configure variables according to the selected mechanical structure:
Mechanical Graphical view Variable setting

structure Variable Range
Ball screw P: Pitch value (mm) 0.0001 to
2147000000
N: Load revolutions 1 to 2147000000
M: Motor revolutions 1 to 2147000000
Disc table N: Load revolutions 1 to 2147000000

Belt pulley D: Diameter (mm) 0.0001 to

2147000000
Rack and D: Diameter (mm) 0.0001 to

pinion 2147000000
Roll feed D: Diameter (mm) 0.0001 to

2147000000

Task navigation
Unit
After configuring the variables for the selected mechanical structure, you must select one of
the following units and input values within the scope:
● Length unit
Range: 0.0001 to 2147000000
● Axis movement per load revolution
Range: 1 to 2147000000
Calculation
Click to calculate the electronic gear ratio and the calculated result is displayed
as the following example:
Note
If either the numerator or the denominator of the electronic gear ratio is larger than 10000,
the ratio can be reduced automatically to make them smaller than 10000.

Task navigation
4.3.2 Setting mechanism

By parameterizing the mechanical system, you can establish the link between the physical
moving part and the length unit (LU). Select the mechanical structure and then set the
gearbox factor as well as the length unit per revolution of the load on the following panel:
The unit of the fixed position setpoint is the Length Unit (LU). All subsequent position
setpoint, related speed value, and acceleration value take LU as their unit in IPos control
mode.
Take a ball screw system as an example. If the system has a pitch of 10 mm/revolution, then
the resolution of the length unit is 1 µm (1 LU = 1 µm). Therefore, one load revolution
corresponds to 10000 LU (p29247 = 10000).
4.3.3 Setting parameter setpoint

Setting parameter setpoint is used to specify parameters related to speed, torque and
position.
Depending on the current control mode, you can configure parameters of the following sub-
functions:
Function Control mode

V90 PN V90 PTI
EPOS S PTI IPos S T
Signal form selection ✓
(Page 60)
Position setpoint ✓ ✓ ✓
smoothing time setting
(Page 60)
Position reached win- ✓ ✓ ✓
dow setting (Page 60)

Task navigation

V90 PN V90 PTI
EPOS S PTI IPos S T
Fixed position setpoint ✓
(Page 60)
Speed setpoint ✓
(Page 69)
Ramp-function genera- ✓ ✓ ✓
tor (Page 69)
Speed reached win- ✓
dow (Page 69)
Torque setpoint ✓
(Page 71)
EPOS setpoint set- ✓
tings
When SINAMICS V-ASSISTANT is in compound control modes, for how to set the
parameter setpoint, refer to the settings in basic control modes .
4.3.3.1 Position setpoint
Position setpoint
The position setpoint function varies with the control modes. You can set the position
setpoint on the corresponding panels in each control mode.
Setting the position setpoint in PTI control mode

In PTI control mode, you can select one signal to link with pulse train input from the following
options:
Select the signal level on the following panels:
For more information, see Section "Pulse train inputs (PTIs) (Page 109)".

Task navigation
Setting the position setpoint in IPos control mode

In IPos control mode, you must specify the position setpoint on the following panel:
Linear axis or modular axis can be used depending on your actual application.
● The linear axis has a restricted traversing range and it is the factory setting of the
SINAMICS V90 servo drive.
● The modular axis has an unrestricted traversing range.
You can directly enter the digital value in the cells for the following items:
● Position
● Speed
● Acceleration
● Deceleration
The current active position setpoint channel is displayed at the bottom of this panel. The
channels correspond with p2617 and p2618 as follows:
Position setpoint channel Index of p2617 Index of p2618

0 0 0
1 1 1
2 2 2
3 3 3
4 4 4
5 5 5
6 6 6
7 7 7

Task navigation
Source for internal position setpoint

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

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

Task navigation
Setting the position setpoint in EPOS control mode
Legend Description
① Maximum acceleration in 1000 LU/s2 (default value: 100)
② Maximum deceleration in 1000 LU/s2 (default value: 100)
③ Working mode overview for EPOS setpoint settings
Three working modes are available for your selection. Whatever mode you select, the actual
velocity is affected by the maximum acceleration and deceleration. You can enter the
desired maximum acceleration and deceleration in areas ① and ② respectively.
Configure your desired working mode on the corresponding panel:
● Traversing block

Task navigation
A total of 16 position setpoints are available. Each position setpoint comes from one
group of position data:
Basic position setpoint Corresponding parameters

Basic position setpoint 1 p2617[0] EPOS traversing block position
p2618[0] EPOS traversing block velocity
p2619[0] EPOS traversing block acceleration override
p2620[0] EPOS traversing deceleration override
p2621[0] EPOS traversing block task
p2622[0] EPOS traversing block task parameter
p2623[0] EPOS traversing block task mode

Task navigation


Task navigation


Task navigation
If you desire to configure the task settings of the traversing block, you can click
to open the following window:
Click to expand the drop-down lists. Select your desired type of 2621, positioning
mode, continuation condition as well as IDs and then close the window.
● EPOS Jog
Enter the desired traversing distance and velocity setpoint for Jog 1 or Jog 2 in the above
window.
● MDI Positioning
Enter the desired MDI position, MDI velocity, MDI acceleration override and MDI
deceleration override of the fixed setpoint. Click to expand the drop-down lists of the
MDI positioning type and absolute positioning direction. Select your desired settings and
close the window.

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Position setpoint smoothing time setting

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.
Position reached window setting

Set parameter p2544 to specify the monitoring window for controller to decide whether the
setpoint position is reached on the following panel:
For more information about signal INP, see Section "Digital inputs/outputs (DIs/Dos)
(Page 97)".

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4.3.3.2 Speed setpoint
Source of speed setpoint

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

SPD3 SPD2 SPD1
0 0 0 External analog speed setpoint (analog input 1)
0 0 1 Fixed speed setpoint 1 (p1001)
Ramp-function generator
The ramp-function generator is used to limit acceleration in the event of abrupt setpoint
changes and thus helps prevent load surges during drive operation.
The ramp-up time p1120 and ramp-down time p1121 can be used to set acceleration and
deceleration ramps separately. This allows a smoothed transition in the event of setpoint
changes.

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Two types of ramp-function generator are available. You can specify the parameters on the
corresponding panels:
● Basic ramp-function generator
● Extended ramp-function generator

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Speed reached window

Set parameter p29078 for controller to decide whether the setpoint speed is reached on the
following panel:
4.3.3.3 Torque setpoint
Source of torque setpoint

Two sources are available for torque setpoint:
● External setpoint: analog input 2
● Fixed setpoint: p29043

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You can select these two sources 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)
4.3.4 Configuring ramp function (V90 PN only)
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.
To activate this function, select "②" from the drop-down list in the above window or set bit 0
of p29108 on the BOP first. Make sure you have properly connected the SINAMICS V90 PN
drive to the motor and the encoder works normally; otherwise, the ramp function generator is
disabled due to faults (such as F31117 and F52983, etc.) despite that it is displayed active in
the above window. To activate the internal configuration of the ramp function generator, you
have to re-connect the motor and restart the drive. Then, you can continue with either type of
the ramp function generator.

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Two types of ramp-function generator are available. You can specify the parameters on the
corresponding panels:
● Basic ramp-function generator
● Extended ramp-function generator

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4.3.5 Setting limits

You can configure speed limit, torque limit and software position limit with this function. The
sub-functions vary with the selected control mode as follows:

V90 PN V90 PTI
EPOS S PTI IPos S T
Torque limit ✓ ✓ ✓ ✓ ✓
(Page 74)
Overall torque limit ✓ ✓ ✓ ✓ ✓ ✓
Speed limit ✓ ✓ ✓ ✓ ✓ ✓
(Page 76)
Overall speed limit ✓ ✓ ✓ ✓ ✓ ✓
Software Position ✓ ✓
limit (Page 86)
4.3.5.1 Torque limit

Torque limit is available in PTI, IPos, S and EPOS control modes.
You can specify the corresponding parameters on the following panels:
● In S (V90 PN) and EPOS control modes:
● In S (V90 PTI), PTI and IPos control modes:

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Source of torque limit

● SINAMICS V90 PN
Two sources in total are available for torque limit. You can select one of them via the
digital input signal TLIM:
Digital input (TLIM) Torque limit

0 Internal torque limit 1
1 Internal torque limit 2
When the torque setpoint reaches torque limit, the torque is limited to the value selected
by TLIM.
Note
You can switch between the two sources and modify their values when the servo drive is
running.
For more information about the digital input signal TLIM, see Section "DIs (Page 97)".
● SINAMICS V90 PTI
Four sources in total are available for torque limit. You can select one of them via a
combination of digital input signals TLIM1 and TLIM2:
Digital signal Torque limit

TLIM2 TLIM1
0 0 Internal torque limit 1
0 1 External torque limit (analog input 2)
When the torque setpoint reaches the torque limit, the torque is limited to the value
selected by TLIM1/TLIM2.
Note
These four sources are valid in control modes PTI, IPos, and S. You can switch among
them when the servo drive is running.
For more information about the digital input signals TLIM1 and TLIM2, see Section "DIs
(Page 100)".

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Overall torque limit

Besides the above sources, an overall torque limit is available in all control modes. The
overall torque limit takes effect when an emergency stop (OFF3) happens. In this case, the
servo drive brakes with a maximum torque.
In T mode, you can set the overall torque limit on the following panel:
4.3.5.2 Speed limit

Speed limit is available in PTI, IPos, S, T and EPOS control modes.
You can specify the corresponding parameters on the following panels:
● In S (V90 PN) and EPOS control modes:
● In S (V90 PTI), PTI, IPos and T control modes:

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Source of speed Limit

● SINAMICS V90 PN
Two sources in total are available for speed limit. You can select one of them via the
digital input signal SLIM:
Digital input (SLIM) Speed limit

0 Internal speed limit 1
1 Internal speed limit 2
Note
You can switch between the two sources and modify their values when the servo drive is
running.
When the speed setpoint reaches the speed limit, an alarm occurs.
For more information about the digital input signal SLIM, see Section "DIs (Page 97)".
● SINAMICS V90 PTI
Four sources in total are available for speed limit. You can select one of them via a
combination of digital input signals SLIM1 and SLIM2:
Digital signal Speed limit

SLIM2 SLIM1
0 0 Internal speed limit 1
0 1 External speed limit (analog input 1)
Note
Control mode
The above four sources are valid in all control modes for V90 PTI. You can switch among
them when the servo drive is running.
When the speed setpoint reaches the speed limit, an alarm occurs.
For more information about the digital input signals SLIM1 and SLIM2, see Section "DIs
(Page 100)".
Overall speed limit

Besides the above sources, an overall speed limit is available in all control modes.

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4.3.6 Configuring inputs/outputs

Three sub-functions are available as follows:
● Assigning digital inputs (Page 78)
● Assigning digital outputs (Page 79)
● Assigning analog outputs (V90 PTI only) (Page 80)
4.3.6.1 Assigning digital inputs

You can assign digital inputs on the following panels:
● Assigning digital inputs for V90 PN
A total of four signals can be freely linked to digital inputs, for more information, see
Section "DIs (Page 97)".
Click the cells with white background in the table. Two options are displayed in the drop-
down list: Assign and Cancel. Select "Assign" to link the digital input with the
corresponding signal. Then the current row displays grey. Otherwise, select "Cancel" to
release the link. The current row then displays white.
● Assigning digital inputs for V90 PTI
A total of 28 signals can be freely linked to digital inputs except for DI9 and DI10 linked
with E_Stop and C_Mode signals. For more information, see Section "DIs (Page 100)".
Click the cells with white background in the table. Two options are displayed in the drop-
down list: Assign and Cancel. Select "Assign" to link the digital input with the
corresponding signal. Then the current row displays grey. Otherwise, select "Cancel" to
release the link. The current row then displays white.

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You can activate the checkbox in column "Set to 1" to forcely set the signal status to 1.
For the signal EMGS, it can be forcely set to 1 when the drive firmware version is
V1.04.00 or higher.
Note
Signal P_TRG in PTI mode is reserved for future use.
4.3.6.2 Assigning digital outputs

You can assign digital outputs on the following panels:
● Assigning digital outputs for V90 PN
A total of seven signals can be freely linked to digital outputs. For more information, see
Section "DOs (Page 98)".
Click the cells with white background in the table. Select "Assign" to link the digital input
with the corresponding signal. Then the current cell displays grey.
DO signal reverse
You can reverse the logics of DO1 and DO2 by activating the checkboxes in the following
function area or setting the bit 0 and bit 1 of parameter p748:
After the DO port is reversed, a "/" appears before the DO port to indicate that the logic of
the signal assigned to this port has been reversed.

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● Assigning digital outputs for V90 PTI
A total of 14 signals can be freely linked to digital outputs. For more information, see
Section "DOs (Page 105)".
Click the cells with white background in the table. Select "Assign" to link the digital input
with the corresponding signal. Then the current cell displays grey.
Note
DO signal inverse
The logics of digital output signals DO1 to DO6 can be reversed. You can inverse the
logics of DO1 to DO6 by setting the bit 0 to bit 5 of parameter p0748.
4.3.6.3 Assigning analog outputs (V90 PTI only)

You can assign analog outputs on the panel below:

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Seven signals in total can be linked with either analog output. For more information, see
Section "Analog outputs (AOs) (Page 109)".
By default, analog output 1 and analog output 2 are linked with actual speed and actual
torque respectively. You can freely select the target signal in the drop-down list to link with
analog outputs.
4.3.7 Configuring referencing

Referencing is only available in IPos and EPOS control modes.
Two sub-functions are available:
● Setting referencing (Page 81)
● Setting software position limit (Page 86)
4.3.7.1 Setting referencing

Setting referencing is only available in online mode.
Setting referencing (in IPos control mode)

● Incremental encoder
If the motor is equipped with an incremental encoder, five referencing modes in total are
available:
Parameter Value Referencing mode Illustration

p29240 0 Setting the refer-
ence point via
digital input (signal
REF)

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1 External reference
cam (signal REF)
and encoder zero
mark
2 Encoder zero mark

only
cam (CCWL sig-
nal) and encoder
zero mark

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cam (CWL signal)
and encoder zero
mark
Taking the second referencing mode as an example, you can configure relevant
parameters on the following panel:
Assign signals REF and SREF(for more information, see Section "Configuring
inputs/outputs (Page 78)"). Click and the following warning
appears:

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Click to start referencing and the following window appears:
To stop the referencing process, click the following button:
● Absolute encoder
If the motor is equipped with an absolute encoder, the five referencing modes are
available. You can implement the referencing process via the Modbus or external DI
terminals rather than the V-ASSISTANT.
If the motor is equipped with an absolute encoder, you can adjust the absolute encoder
by clicking on the following panel to configure referencing:
Note
Referencing mode for the absolute encoder
If an absolute encoder is connected, the five referencing modes are also available. You
can select different referencing modes with the parameter p29240. When p29240 = 1 to
4, the referencing process can only be implemented before you set the current position
as the zero position. Once the zero position is set, the four referencing modes are not
available any more.

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Setting referencing (in EPOS control mode)

You can view the current telegram in the header of this function mask.
● Incremental encoder
If the motor is equipped with an incremental encoder, three referencing modes in total are
available:

p29240 0 Setting the refer-
ence point via
digital input (signal
REF)
Note
When setting the reference point via the digital input
REF, you need to keep the control word STW1.11 = 0.
cam (signal REF)
and encoder zero
mark
2 Encoder zero mark

only

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Taking the second referencing mode as an example, you can configure the relevant
parameters on the following panel:
Before starting referencing, check the sources of signals REF and SREF in the above
illustration respectively. In this example, the source of signal REF is DI. See Section
"Assigning digital inputs (Page 78)" for information on how to assign signal REF.
● Absolute encoder
See the relevant description in Section "Setting referencing (in IPos control mode)
(Page 81)".
4.3.7.2 Setting software position limit
Prerequisites
● You have implemented the referencing function successfully.
● You have selected the linear axis working mode.
Setting software position limit

The following two software position limits are available in IPos and EPOS control modes:
● positive position limit
● negative position limit
When the actual position reaches one of the above-mentioned software position limits, motor
speed decelerates to 0.

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You can set the software position limit on the following panel:
Method 1: Setting through manual input

Click on the checkbox to enable the software position limit. Enter the desired position values
in the bottom input fields directly.
Method 2: Setting through the Jog function
1. Click on the checkbox to enable the software position limit.

2. Enter the speed value.
Note:
The Jog speed can not be too fast. Otherwise, the machine
axes can get out of control due to possible communication
delay.
3. Click this button to execute servo-on function and a warning
message appears. Confirm your selection by clicking
in the message window.
4. Click this button to rotate the motor clockwisely and set a
proper limit position.
5. Obtain the current position by clicking this button.
6. Click this button to rotate the motor counter-clockwisely and

set a proper limit position.
8. If you desire to disable this function, you can click this button
and the checkbox.

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4.3.8 Setting encoder pulse output (V90 PTI only)

When SINAMICS V-ASSISTANT is working in position control modes (PTI and IPos), you
can configure pulse output on the following panel:
SINAMICS V-ASSISTANT automatically identifies the encoder type and resolution.

Two options are available for you to configure PTO relevant parameters:
● set PTO number per revolution
● set PTO number by gear ratio
4.3.9 Backlash compensation
Note
Prerequisites for backlash compensation
• The axis has been referenced for incremental measuring system. For more information
about referencing, see Section "Setting referencing (in IPos control mode) (Page 81)" .
• The axis has been adjusted for absolute measuring system.
Generally, backlash occurs when the mechanical force is transferred between a machine
part and its drive.
If the mechanical system was to be adjusted/designed so that there was absolutely no
backlash, this would result in high wear. Thus, backlash can occur between the machine
component and the encoder. For axes with indirect position sensing, mechanical backlash
results in a false traversing distance because the axis, at direction reversal, travels either too
far or not far enough corresponding to the absolute value of the backlash.

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You can configure the backlash compensation for V90 PTI on the following panel:
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.
Note
Backlash compensation for V90 PN
The backlash compensation pane for V90 PN is included in the function pane of "Set
mechanism".

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4.3.10 Viewing all parameters

You can configure all editable parameters in this field:
Note
Icons
• this icon is only available for V90 PTI. A parameter with this icon in the above list
indicates that it is related to Modbus communication. You can click on this icon to call the
online help for Modbus communication.
• parameters with this icon in the above list indicate they are indexed parameters. By
default, the first index of each indexed parameter is displayed. To view all indices of an
indexed parameter, click on this icon.
Note
Can be changed
The parameters can be changed in two states. You can see the attribute of each parameter
in Section "Parameter list" in the online help. The online help can be called by pressing F1
key.
• U (Run): Can be changed in the "Running" state when the drive is in "S ON" state.
• T (Ready to run): Can be changed in the "Ready" state when the drive is in "S OFF"
state.

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Field Description
Group filter Views parameters according to different groups.
Find Filters the parameter list according to the entered text. The filtering is done after you
enter the desired text.
Note:
If you enter the parameter number of an indexed parameter in the input field, all its
indices can be displayed. To return to the view of all parameters, you only need to
clear the entered text.
Factory You can click the following button to reset all parameters to their factory settings:
default
For more information, see Section "Tools -> Factory default (Page 34)".
Save You can click the following button to save the changes compared to the de-
changes faults/factory settings into an .html file and use the file for future documentation pur-
poses or as an reference for BOP commissioning.
Window for saving the changes:
①: Default location: xxx/Siemens/V-ASSISTANT/Project.

②: Only .html format is available.

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Field Description
Table All parameters are displayed with the following information:
• Group
• Parameter number
• Name
• Value
• Unit
• Range
• Factory setting
• Effect type
Note:
In the value relevant column, values with white background are editable.

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4.4 Commissioning
4.4.1 Testing interface
4.4.1.1 I/O simulation

When SINAMICS V-ASSISTANT is working in online mode, you can view the I/O status on
the following panel for V90 PTI and V90 PN respectively:
● SINAMICS V90 PTI:

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● SINAMICS V90 PN:
Area Item Description

① Pulse train input Information about pulse train input:
• Received number of pulses
• Pulse frequency
For more information, see Section "Pulse train inputs
(PTIs) (Page 109)".
② SINAMICS V90 PTI
DI1~DI8 Every digital input can be linked with either of the 28
internal signals.
DI9 Linked with EMGS signal
DI10 Linked with C_MODE signal
SINAMICS V90 PN
DI1~DI4 Every digital input can be linked with either of the seven
internal signals.
Note:
For more information about the number and definition of signals, see Section "DIs (Page 97)".
③ AI1 Linked with speed related signals
AI2 Linked with torque related signals
Note:
For more information about analog inputs, see Section "Analog inputs (AIs) (Page 108)".
④ AO1 Linked with actual speed signal by default
AO2 Linked with actual torque signal by default
Note:
For more information, see Section "Analog outputs (AOs) (Page 109)".

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⑤ SINAMICS V90 PTI

DO1~DO6 Every digital output can be freely linked with either of the
15 internal signals.
SINAMICS V90 PN
DO1~DO2 Every digital output can be freely linked with either of the
ten internal signals.
Note:
For more information, see Section "Digital inputs/outputs (DIs/Dos) (Page 97)".
⑥ Clicking this button enables DO simulation. If you desire
to disable this function, click the following button:
⑦ Signal is enabled Indicates that high-voltage (or logic 1) is on the digital

input/output.
Signal is disabled Indicates that low-voltage (or logic 0) is on the digital
input/output.
Signal is forcedly set Indicates that the status of the assigned signal is forcedly
to 1 set to 1.
DO is reversed Indicates that the logic of the DO is reversed.
After the DO is reversed, a "/" appears in front of the DO
port.
Note
• This function is unavailable but can be displayed in offline mode.
• The status of each indicator and analog value is updated every 0.5 s.
• Signal P_TRG in PTI control mode is reserved for future use.
• You can change the signal link as desired. For more information, see Section
"Configuring inputs/outputs (Page 78)".

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Status of signals
You can view the name, description, value and status of individual signals on the following
panels for V90 PTI and V90 PN respectively:
● SINAMICS V90 PTI:
● SINAMICS V90 PN:

– Status of DI signals:
– Status of DO signals:

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4.4.1.2 Digital inputs/outputs (DIs/Dos)
DIs/Dos for SINAMICS V90 PN
DIs
You can assign a maximum of seven internal digital input signals to the SINAMICS V90 PN
servo drive. For detailed information about these signals, see the table below:
Name Type Description Control mode

S EPOS
RESET Edge Reset alarms ✓ ✓
0→1 • 0→1: reset alarms
TLIM Level Torque limit selection ✓ ✓
You can select two internal torque limit
sources with the digital input signal TLIM.
• 0: internal torque limit 1
• 1: internal torque limit 2
SLIM Level Speed limit selection ✓ ✓
You can select two internal speed limit sources
with the digital input signal SLIM.
• 0: internal speed limit 1
• 1: internal speed limit 2
EMGS Level Emergency stop ✓ ✓
• 0: emergency stop
• 1: servo drive is ready to run
REF Edge Setting the reference point with a digital input X ✓
0→1 or reference cam input for reference approach-
ing mode
• 0→1: reference input
CWL Edge Clockwise over-travel limit (positive limit) X ✓
1→0 • 1: condition for operation
• 1→0: emergency stop (OFF3)
CCWL Edge Counter-clockwise over-travel limit (negative X ✓
1→0 limit)
• 1: condition for operation

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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
DOs
You can assign a maximum of ten internal digital output signals to the SINAMICS V90 PN
servo drive. For detailed information about these signals, see the table below:
Name Descriptions Control mode

S EPOS
RDY Servo ready ✓ ✓
• 1: ready to operate
• 0: drive not ready (alarm occurs or enable signal is miss-
ing)
FAULT Fault ✓ ✓
• 1: in fault status
• 0: no fault
ZSP Zero speed detection ✓ ✓
• 1: motor speed is equal with or lower than the zero
speed (can be set with parameter p2161).
• 0: motor speed is higher than zero speed + hysteresis
(10 rpm).
TLR Torque limit reached ✓ ✓
• 1: the generated torque has nearly (internal hysteresis)
reached the value of the positive torque limit, negative
torque limit or analog torque limit
• 0: the generated torque has not reached the limit

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Name Descriptions Control mode

S EPOS
MBR Motor holding brake ✓ ✓
• 1: motor holding brake is closed
• 0: motor holding brake is released
Note: MBR is only status signal because the control and the
power supply of the motor holding brake is realized with
separate terminals.
OLL Overload level reached ✓ ✓
• 1: motor has reached the parameterizable output over-
load level (p29080 in % of rated torque, default: 100%,
max: 300%)
• 0: motor has not reached the overload level
RDY_ON Ready for servo on ✓ ✓
• 1: ready to servo on
• 0: drive is not ready for servo on (fault occurs, main
power supply is missing, or STW1.1 and STW1.2 are
not set to 1)
Note: After the drive is servo on, the signal remains in 1
status unless the above abnormal cases happen.
INP In-position signal X ✓
• 1: number of droop pulses is in the preset in-position
range (parameter p2544)
• 0: droop pulses are beyond the in-position range
REFOK Referenced X ✓
• 1: referenced
• 0: not referenced
STO_EP STO active ✓ ✓
• 1: the enable signal is missing, indicating that STO is
active.
• 0: the enable signal is available, indicating that STO is
inactive.
Note: STO_EP is only a status signal for STO input termi-
nals but not a safe DO for the Safety Integrated function.

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Wiring
The digital outputs support both PNP and NPN types of wirings. You can find detailed
DIs/Dos for SINAMICS V90 PTI
DIs
You can assign a maximum of 28 internal digital input signals to the SINAMICS V90 servo
drive. For detailed information about these signals, see the table below:
No. Name Type Description Control mode

PTI IPos S T
1 SON Edge Servo-on ✓ ✓ ✓ ✓
0→1 • 0→1: powers on power circuit and makes servo
1→0 drive ready to operate.
• 1→0: motor ramps down (OFF1) in PTI, IPos, and
S modes; motor coasts down (OFF2) in T mode.
2 RESET Edge Reset alarms ✓ ✓ ✓ ✓
0→1 • 0→1: Reset alarms
3 CWL Edge Clockwise over-travel limit (positive limit) ✓ ✓ ✓ ✓
1→0 • 1 = condition for operation
4 CCWL Edge Counter-clockwise over-travel limit (negative limit) ✓ ✓ ✓ ✓
1→0 • 1 = condition for operation
5 G- Level Gain change between the first and the second gain ✓ ✓ ✓ X
CHANGE parameter set.
• 0: the first gain parameter set
• 1: the second gain parameter set

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PTI IPos S T
6 P-TRG Level In PTI mode: pulse allowable/inhibit. ✓ ✓ X X
(P-TRG in Edge • 0: operation with pulse train setpoint is possible
PTI mode is 0→1
• 1: inhibit the pulse train setpoint
reserved for
future use) In IPos mode: position trigger
• 0→1: starts positioning of selected fixed position
setpoint
7 CLR Level Clear position control droop pulses. ✓ X X X
• 0: not clear
• 1: clear the droop pulses based on the selected
clear mode by p29242
8 EGEAR1 Level Electronic gear. ✓ X X X
9 EGEAR2 Level A combination of the signals EGEAR1 and EGEAR2 ✓ X X X
can select four electronic gear ratios.
EGEAR2 : EGEAR1
• 0 : 0: electronic gear ratios 1
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 ✓ ✓
• 1: Enable clockwise rotation, ramp up
• 0: Disable clockwise rotation, ramp down
13 CCWE Level Enable counter-clockwise rotations. X X ✓ ✓
• 1: Enable counter-clockwise rotation, ramp down
• 0: Disable counter-clockwise rotation, ramp up
14 ZSCLAMP Level Zero speed clamps. X X ✓ X
• 1 = when the motor speed setpoint is an analog
signal and lower than the threshold level (p29075),
the motor is clamped.
• 0 = no action

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

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PTI IPos S T
24 REF Edge Set reference point with digital input or reference cam X ✓ X X
0→1 input for reference approaching mode.
• 0→1: reference input
25 SREF Edge The reference approach can be started with the signal X ✓ X X
0→1 SREF.
• 0→1 start reference approach
26 STEPF Edge Step forward to the next fixed position setpoint. X ✓ X X
0→1 • 0→1 start step action
27 STEPB Edge Step backward to the previous fixed position setpoint. X ✓ X X
28 STEPH Edge Step to the fixed position setpoint 1. X ✓ X X
Note
When the drive is working in the torque control mode, the torque setpoint equals to 0 if CWE
and CCWE are at the same status. For more information, see the direction and stop relevant
section in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
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:
• DI signal SREF is invalid during referencing via SINAMICS V-ASSISTANT.
• DI signal SON is invalid during a trial run test; meanwhile, DI7 and DI8 are occupied by
SINAMICS V-ASSISTANT.
Direct signal map

You can set the following six signals to logical "1" forcedly with parameter p29300
(P_DI_Mat):
● SON
● CWL
● CCWL
● TLIM1
● SPD1
● TSET
● EMGS

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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 forcedly set the signal SON to a logical high signal,
DI1 can then be assigned to other desired signals.
Note
The parameter p29300 has higher priority than the DIs.
The bit 6 of p29300 is used for emergency stop. You are not allowed to modify it when the
drive is in "S ON" state.
Wiring
The digital inputs support both PNP and NPN types of wirings. You can find detailed

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

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No. Name Descriptions Control mode

PTI IPos S T
9 OLL Overload level reached ✓ ✓ ✓ ✓
• 1: motor has reached the parameterizable output over-
load level (p29080 in % of rated torque, default: 100%,
max: 300%)
• 0: motor has not reached the overload level
10 WARNING1 Warning 1 condition reached ✓ ✓ ✓ ✓
• 1: parameterizable warning 1 condition has been
reached.
• 0: warning 1 condition has not been reached.
See note below.
11 WARNING2 Warning 2 condition reached ✓ ✓ ✓ ✓
• 1: parameterizable warning 2 condition has been
reached
• 0: warning 2 condition has not been reached.
See note below
12 REFOK Referenced X ✓ X X
• 1 = Referenced
• 0 = Not referenced
13 CM_STA Current control mode ✓ ✓ ✓ ✓
• 1 = The second mode in five compound control modes
(PTI/S, IPos/S, PTI/T, IPos/T, S/T)
• 0 = The first mode in five compound control modes or
four basic modes (PTI, IPos, S, T)
14 RDY_ON Ready for servo on ✓ ✓ ✓ ✓
• 1: ready to servo on
• 0: drive is not ready for servo on (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.
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 termi-
nals but not a safe DO for the Safety Integrated function.

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Assigning warning signals to digital outputs

You can assign two groups of warning signals to digital outputs by 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 utilization.
2 Braking resistor: capacity of the braking resistor is 85% of or above the
resistor power rating.
3 Fan alarm: fan has stopped for 1 second or longer.
4 Encoder alarm
5 Motor overheat: motor has reached 85% of the maximum allowed motor
temperature.
6 Lifetime detection: the life expectancy of the capacity or the fan is shorter
than the specified time.
If warning condition assigned to p29340 occurs, WARNING1 becomes ON.

If warning condition assigned to p29341 occurs, WARNING2 becomes ON.
Wiring
The digital outputs 1 to 3 only support the wiring of the NPN type as illustrated below:

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The digital outputs 4 to 6 support the wiring of both the NPN and PNP types as illustrated
below:
4.4.1.3 Analog inputs (AIs)

Two analog inputs in total are available:
● AI1: linked with speed related signals.
● AI2: linked with torque related signals.
In different control modes, the analog inputs are linked with different signals:
Control mode AI1 AI2

Position (PTI and IPos) Not used Torque limitation
S Speed setpoint Torque limitation
T Speed limitation Torque setpoint
PTI/S and IPos/S Not used in position control Torque limitation
modes
--> Speed setpoint in S mode
PTI/T and IPos/T Not used in position control Torque limitation in position
modes control modes
-->Speed limitation in T mode --> Torque setpoint in T mode
S/T Speed setpoint in S mode Torque limitation in S mode
--> Speed limitation in T mode --> Torque setpoint in T mode

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4.4.1.4 Analog outputs (AOs)

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

ter
p29350 0 (de- Actual speed (reference 7 Pulse input frequency (reference 100
fault) p29060) k)
1 Actual torque (reference 3 × 8 Pulse input frequency (reference
r0333) 1000 k)
2 Speed setpoint (reference 9 Remaining number of pulses (refer-
p29060) ence 1 k)
3 Torque setpoint (reference 3 × 10 Remaining number of pulses (refer-
r0333) ence 10 k)
4 DC bus voltage (reference 11 Remaining number of pulses (refer-
1000 V) ence 100 k)
5 Pulse input frequency (refer- 12 Remaining number of pulses (refer-
ence 1 k) ence 1000 k)
6 Pulse input frequency (refer-
ence 10 k)
p29351 0 Actual speed (reference 7 Pulse input frequency (reference 100
p29060) k)
1 (de- Actual torque (reference 3 × 8 Pulse input frequency (reference
fault) r0333) 1000 k)
2 Speed setpoint (reference 9 Remaining number of pulses (refer-
p29060) ence 1 k)
3 Torque setpoint (reference 3 × 10 Remaining number of pulses (refer-
r0333) ence 10 k)
4 DC bus voltage (reference 11 Remaining number of pulses (refer-
1000 V) ence 100 k)
5 Pulse input frequency (refer- 12 Remaining number of pulses (refer-
ence 1 k) ence 1000 k)
6 Pulse input frequency (refer-
ence 10 k)
4.4.1.5 Pulse train inputs (PTIs)

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

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For both forms, positive logic and negative logic are supported:
Pulse train Positive logic = 0 Negative logic = 1

input form Forward (CW) Reverse (CCW) Forward (CW) Reverse (CCW)
AB track
pulse
Pulse +
Direction
4.4.1.6 Pulse train encoder outputs (PTOs)
Function
A pulse train encoder output (PTO) which provides pulse signals can transmit the signals to
the controller to implement a closed-loop control system inside the controller, or transmit
them to another drive as pulse train setpoint for a synchronous axis.
4.4.2 Testing motor

Two sub-functions are available:
● Jog (Page 110)
● Position trial run (V90 PTI only) (Page 111)
4.4.2.1 Jog
For detailed information about the Jog function, see Section "Jog (Page 49)".

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4.4.2.2 Position trial run (V90 PTI only)

In online mode, you can configure this function on the following panel:
Note
Position trial run is only available in PTI and IPos control modes.
Operating sequence
1. Enter the Jog speed.

2. Use this button to enable the Jog function.
Note:
After clicking this button, a warning message appears. Click
in the message window to confirm executing ser-
vo-on.
3. Click this button to rotate the motor clockwise and set a proper
limit position.

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5. Click this button to rotate the motor counter-clockwise and set

a proper limit position.
Note:
Make sure the actual position is within the scope. Otherwise,
the position trial run cannot be started.
7. Use this button to disable the Jog function.
Note:
The Jog function must be disabled before position trial run is
started.
8. Enter the moving distance and moving speed.
9. Click this button to enable the trial run function.
10. Start trial run by clicking this button. Or otherwise, click the
following button to stop trial run:
11. If necessary, click this button to move back to the previous

position.
4.4.3 Optimizing drive

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

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4.4.3.1 One-button auto tuning
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.
The one-button auto tuning function allows the servo drive to automatically estimate the ratio
of load moment of inertia.
Prerequisites for one-button auto tuning

● The ratio of machine load moment of inertia is unknown and needs to be estimated.
● The motor is allowed to rotate clockwise and counter clockwise.
● The motor rotation position (p29027 defines that one revolution equals to 360 degree) is
allowed by the machine.
– For the motor with an absolute encoder: position limitation is defined by p29027
– For the motor with an incremental encoder: the motor must be allowed to rotate freely
about two rounds when tuning starts
Implement the following steps to use the one-button auto tuning function:
1. Select the dynamic factor in the following area:
For more information about selecting the dynamic factor, see the SINAMICS V90,
SIMOTICS S-1FL6 Operating Instructions.
2. Configure the test signal in the following area:
Note:
The recommended position amplitude (p29027) is 360°.
3. Click the following button to configure the parameters for the one-button auto tuning
function.

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4. Set the parameters in the window below:
Note:
You can set the ratio of machine load moment of inertia (p29022) with the following
methods:
• Enter it manually if you have known the ratio of machine load moment of inertia
• Estimate the ratio of machine load moment of inertia with one-button auto tuning
(p29023.2 = 1). When you have executed the one-button tuning many times and
obtained a stable value of p29022, you can stop estimating it by setting p29023.2 =
0.
Parameter p29028 is available when the multi-axis interpolation function is activated
(p29023.7 = 1). If several axes are used as interpolation axes, you need to set the same
pre-control time constants (p29028) for them.
The parameters in advanced settings window must be set carefully when the auto-tuning
function is disabled (p29021 = 0).
5. Click the following button to enable the function after the parameters are set.
6. Click this button to start tuning.

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7. After the tuning is complete, the tuning results window appears.
Click to apply the tuning result; otherwise, click to

abort the tuning result.
8. Copy the tuned parameters from RAM to ROM to save them when the tuning is com-
plete and the drive performance is acceptable.
Note
After you set the drive to the servo-on state, the motor runs with the test signal.
After the one-button auto tuning process is complete successfully, the value of the parameter
p29021 is set to 0 automatically. You can also set the value of the parameter p29021 to 0
before setting the derive to the servo-on state to interrupt the one-button auto tuning. Before
saving the parameters on the drive, you need to make sure that p29021 has been changed
to 0.
Note
Do not use the JOG function when the one-button tuning function is in use.
Note
After the one-button tuning function is activated, you are not allowed to perform any
operation except servo off and emergency stop.
Note
After activating one-button auto tuning, do not change other auto tuning related control/filter
parameters since these parameters can be set automatically and your changes can not be
accepted.
Note
One-button auto tuning can 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 a long time to realize emergency stop.

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Resonance suppression with one-button auto tuning (p29021=1, p29023.1=1)

The resonance suppression function is used together with the one-button auto tuning
function. The function is activated by default.
The function can be activated/deactivated with bit 1 of p29023.
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 actual machine characteristic. Four current setpoint
filters can be activated at most. You can check the following parameters in the tuning result
window.
Parame- Value range Default Unit Description

ter value
p1663 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 denominator.
p1664 0.001 to 10 0.3 - Damp of current notch filter 2 denominator.
p1665 0.5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator.
p1666 0.0 to 10 0.01 - Damp of current notch filter 2 numerator.
Note
Notch filter remains active when the resonance suppression function is activated
automatically.
After one-button tuning, four filters can be enabled at most. You can deactivate the notch
filters by setting the parameter p1656.

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4.4.3.2 Real-time auto tuning
Note
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 one-button auto tuning or manual tuning to
optimize the drive.
The real-time auto tuning function allows the servo drive to automatically estimate the ratio of
load moment of inertia and set the optimum control parameters.
Prerequisites for 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.
Implement the following steps to use the real-time auto tuning function:
1. Select the dynamic factor in the following area:
For more information about selecting the dynamic factor, see the SINAMICS V90,
SIMOTICS S-1FL6 Operating Instructions.
2. Click the following button to configure the parameters for the real-time auto tuning func-
tion.

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3. Set the parameters in the window below:
Note:
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.
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.
The parameters in advanced settings window must be set carefully when the auto-tuning
function is disabled (p29021 = 0).
4. Click the following button to start tuning after the parameters are set.

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5. Perform the servo on for the drive with host controller and tuning starts.
For example, you can use the following method to run the motor.
Implement servo on for the drive with Jog.
Enter the speed for the motor and press the direction button to let the motor run.
6. To achieve the desired system performance, you can change the dynamic factors or
related configuration parameters during tuning.
7. If the drive performance is acceptable, disable the tuning function by servo off and set
p29021 = 0.
8. Copy the tuned parameters from RAM to ROM to save them.
Resonance suppression with real-time auto tuning (p29021=3, p29024.6=1)

The resonance suppression function is used together with the real-time auto tuning function.
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 bit 6 of p29024.
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:

ter value

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4.4.3.3 Manual tuning

When the auto tuning function cannot reach the 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.
Parameter settings
You can set the parameters on the following panel:
Click to reset the following parameters to their tuning defaults. The tuning
default values of the parameters are different when you use the different drives and motors.
The function of the button is not drive default so the tuning default values of the control
parameters are different with their factory settings.
● p1414
● p1415
● p1656
● p1658
● p1659
● p2533
● p29110[0]

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● p29111
● p29120[0]
● p29121[0]
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:

ter value
p1675 0.5 to 16000 1000 Hz- Natural frequency of current notch filter 4 numerator.
Assume the notch frequency is fsp, notch width is fBB, and notch depth is K, then the filter
parameters can be calculated as follows:
p1663=p1665=fsp
p1664=fBB / (2 × fsp)
p1666=(fBB × 10(k/20) )/ (2 × fsp)

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Switching modes
The following two switching modes are only available for V90 PTI:
These two switching modes cannot be used at the same time. Once one mode is enabled,
the other one becomes disabled. The functions of auto-tuning and gain switching must be
disabled so that the function of PI/P switching can be available. When the gain switching
function is enabled, the PI/P switching function is disabled and the settings can not be
cleared.
● Gain switching
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
If you select either of the last three gain switching modes, you need to set the conditional
threshold.

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● Speed loop 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
– using acceleration setpoint
– using pulse deviation
If you select either of the PI/P switching modes (except the second mode), you need to
set the conditional threshold as shown in the above screenshot.
Note
PI/P switching
This function is not available in T mode and responds with a delay of several
milliseconds.
4.4.3.4 Low frequency vibration suppression

Low frequency vibration suppression is a position setpoint filter function. It can suppress the
vibration frequency within 0.5 Hz to 62.5 Hz.
This function is only available in IPos and EPOS control modes.
Parameter settings
To use the vibration suppression function, you need to configure the following parameters
accordingly:
Parameter Value range Default Unit Description

value
p29035 0 to 1 0 - Vibration suppression activation
= 0: disable
= 1: enable
p31581 0 to 1 0 - Vibration suppression filter type
= 0: rugged
= 1: sensitive
p31585 0.5 to 62.5 1 Hz Vibration suppression filter frequency
p31586 0 to 0.99 0.03 - Vibration suppression filter damping

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Operating sequence
1. Set the drive to servo off status.

2. Set relevant parameters on the "Viewing all parameters (Page 90)" panel.
• Select the filter type by setting p31581:
– p31581 = 0: rugged
– p31581 = 1: sensitive
• Define the suppression frequency by setting p31585 (value range: 0.5 Hz to
62.5 Hz).
• Set the filter damping by p31586 (value range: 0 to 0.99).
3. Select the desired control mode for the drive on the following panel.
4. Enable the vibration suppression function by setting p29035 = 1 on the "Viewing all pa-
rameters (Page 90)" panel.
5. Set the drive to servo on status.

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4.5 Diagnostics
4.5.1 Monitoring status
Note
This function can only work in online mode.
You can monitor the real-time value of motion relevant parameters. The motion data and
product information are displayed on the following panel:
Note
The above screenshot takes the user interface of SINAMICS V-ASSISTANT for V90 PN for
example.

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4.5.2 Tracing signals

With this function, you can trace the performance of the connected drive in the current
control mode on the following panel:
① Trace configu- Opens the window of trace configuration

ration For more information, see Section "Trace configuration
(Page 129)".
Start/stop trace Starts recording the current trace
(Only available If you desire to stop the trace process, click the following
in online mode) button:
② Cursors Changes the cursor shape from cross to arrow

When the cursor appears as an arrow, you can directly
select a curve and use it for variable calculation.
Note:
The selected curve is displayed highlighted.
If you click this button, you can move the selected curve
freely after the cursor appears in the shape of a hand.

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Auxiliary lines Vertical cursor:

• In the time domain chart, you can click this button to
display coordinates t1 and t2 in the chart. You can
move t1 or t2 when the cursor changes to .
• In frequency domain chart, activate this button to
display a highlighted coordinate in the chart. You can
move this coordinate in the chart when the cursor
changes to .
Horizontal cursor:
• In the time domain chart, you can click this button to
display coordinates y1 and y2 in the chart. You can
move y1 or y2 when the cursor changes to .
• In the frequency domain chart, the button is unavaila-
ble.
Zoom Zooms in the current curves with a specified scale
Zooms out the current curves with a specified scale
Restores curves in the chart
File operation Opens an existing .trc file for curve display in the chart
Saves the current recording of values in the following file

formats:
• .trc: trace curve files
• .png: bode diagrams, time domain charts or frequency
domain charts
Reset scaling Displays the selected curves with the same scale, that is,
the biggest scale of all selected curves
Note:
In the frequency domain chart, horizontal cursor button is unavailable.
③ Charts • Time domain chart:
Displays the time chart in curves and records meas-

ured values of parameters
• Frequency domain chart:
Available for mathematically computed curves and

displays the Fourier transformation
④ Time domain chart
T Coordinate T (time):
• t1: real-time value of coordinate t1
• t2: real-time value of coordinate t2
• dt: automatically calculated duration.
Formula: dt = t2 - t1

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Y Coordinate Y:
• y1: real-time value of coordinate y1
• y2: real-time value of coordinate y2
• dy: automatically calculated value range
Formula: dy = y2 - y1
Y(T) Coordinate Y(T):
• y(t1): real-time value at the cross point of coordinate
t1 and selected curve
• y(t2): real-time value at the cross point of coordinate
t2 and selected curve
• dy(t): automatically calculated real-time value range
Formula: dy(t) = y(t2) - y(t1)
Note:
You can select a coordinate by clicking its designation, then the selected coordinate is
displayed yellow.
Frequency domain chart
Frequency Displays real-time frequency value of the horizontal cur-
sor coordinate in the chart
Amplitude Displays real-time amplitude value at the cross point of
the horizontal cursor coordinate and curve
⑤ Curve selection Selects a curve to display in the chart
• Time domain chart:
A maximum of six curves can be simultaneously dis-

played in the chart.
Only one curve can be selected to appear in the

chart.

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4.5.2.1 Trace configuration
Index Function description

① Click the following button to select the analog signal.
Select a trace signal and click to confirm your selection; or otherwise,

you can click
to abort your selection.
Click the color bar to define the display color of the curve for the signal.
② Click the following button to select the digital signal.
Select a trace signal and click to confirm your selection; or otherwise,

you can click
to abort your selection.
Click the color bar to define the display color of the curve for the signal.
③ Recording settings:
You can select the factor and define the trace cycle clock, maximum duration and
recording duration.
If you desire to set the recording duration to the maximum duration, you can click
to copy the value as the recording duration.

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Index Function description

④ Seven trigger types are available for your selection:
• Immediate recording (default settings)
• Trigger on rising edge
Note:
The digital signals must be set to 1. Otherwise, the rising edge cannot be trig-
gered.
• Trigger on falling edge
Note:
The digital signals must be set to 0. Otherwise, the falling edge cannot be trig-
gered.
• Trigger within the scope
• Trigger outside of the scope
• Trigger at alarm
• Trigger at fault
Trigger type settings:
• For the last six trigger types, you can select pre-trigger or post-trigger and the
trigger signal.
• For the fourth and fifth trigger types, you can enter the threshold upper/lower
value in the textbox.
4.5.3 Measuring machine

The measuring function is used for controller optimization. With measuring function, you can
directly inhibit the influence of higher-level control loops by means of simple
parameterization, and analyze the dynamic response of individual drives.
For easier handling of the controller optimization, predefined measuring functions are
available for selection. The operating mode is automatically set depending on the measuring
function.
● Speed controller setpoint frequency response(before speed setpoint filter)
The speed control loop is closed while all of the higher-level control loops are open. For
the setpoint frequency response on the speed controller, the speed setpoint is activated
by a PRBS signal. The evaluation of the signals is performed in the frequency range.
● Speed control system(excitation after current setpoint filter)
The speed control loop is closed while all of the higher-level control loops are open. For
the measurement of the speed controller system on the speed controller, the speed
setpoint is activated by a PRBS signal. The evaluation of the signals is performed in the
frequency range.

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● Current controller setpoint frequency response(after current setpoint filter)

For the reference frequency response on the current controller, the current setpoint is
activated by a PRBS signal. The evaluation of the signals is performed in the frequency
range.
Note
Measuring machine is only available in online mode.
Overview

① Measuring functions • Speed controller setpoint frequency response(before speed setpoint filter)
• Speed control system(excitation after current setpoint filter)
• Current controller setpoint frequency response(after current setpoint filter)
Amplitude The value of the signal amplitude to be applied
For the current controller, the specification is a relative value in percent. The
value refers to the reference current (p2002). For the speed controller, the ampli-
tude specification is always in physical units.

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Offset DC component which is superimposed on the test signal
The value is normalized in the same way as the amplitude specification. Please
note that the offset is subtracted again when the measured values are saved
during runtime.
Bandwidth Bandwidth of the measurement activated by a PRBS signal
Bandwidth = 1/(2*sample frequency). As only multiply of 2n for the minimum sam-
pling time (0.25ms) is available, the bandwidths that can be implemented are
quantized.
② Servo on/off Click and the following warning appears:
Confirm by clicking to obtain the control priority for the connected

drive.
Then becomes . If you
desire to give up the control priority, you can directly click it.
Start trace Click this button to start trace.
Note:
During the trace process, you cannot stop it but only wait until it is completed.
③ Cursor Changes the cursor shape from cross to arrow
When the cursor appears as an arrow, you can directly select a curve and use it
for variable calculation.
Note:
The selected curve is displayed highlighted.
If you click this button, you can move the selected curve freely after the cursor
appears in the shape of a hand.
Auxiliary line Vertical cursor:
In the time domain chart, you can click this button to display coordinates t1 and t2
in the chart. You can move t1 or t2 when the cursor changes to .
In the frequency domain chart, activate this button to display a highlighted coordi-
nate in the chart. You can move this coordinate in the chart when the cursor
changes to .
Horizontal cursor:
• In the time domain chart, you can click this button to display coordinates y1
and y2 in the chart. You can move y1 or y2 when the cursor changes to .
• In the frequency domain chart, the button is not available.

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Zoom Zooms in the current curves with a specified scale
Zooms out the current curves with a specified scale
Restores curves in the chart
File operation Opens an existing .trc file for curve display in the chart
Saves the current recording of values in the following file formats:

• .trc: trace curve files
• .png: time domain charts or frequency domain charts
Reset scaling Displays the selected curves with the same scale, that is, the biggest scale of all
selected curves
Note:
In frequency domain chart, horizontal cursor button is unavailable.
④ Chart • Time domain chart:
Displays the time chart in curves and records measured values of parameters
Available for mathematically computed curves and displays the Fourier trans-
formation
• Bode diagram:
Available for mathematically computed curves
⑤ Time domain chart
T Coordinate T (time):
• t1: Real-time value of coordinate t1
• t2: Real-time value of coordinate t2
• dt: Automatically calculated duration
Formula: dt = t2 - t1
Y Coordinate Y:
• y1: Real-time value of coordinate y1
• y2: Real-time value of coordinate y2
• dy: Automatically calculated value range
Formula: dy = y2 - y1
Y(T) • y(t1): real-time value at the cross point of coordinate t1 and selected curve
• y(t2): real-time value at the cross point of coordinate t2 and selected curve
• dy(t): automatically calculated real-time value range
Formula: dy(t) = y(t2) - y(t1)
Note:
You can select a coordinate by clicking its designation, then the selected coordinate is displayed yellow.

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Frequency domain chart
Frequency Displays real-time frequency value of the horizontal cursor coordinate in the chart
Amplitude Displays real-time amplitude value at the cross point of the horizontal cursor
coordinate and curve
Bode diagram
Frequency Displays real-time frequency value of the horizontal cursor coordinate in the dia-
gram
Amplitude Displays real-time amplitude value at the cross point of the horizontal cursor
coordinate and the curve
⑥ Curve selection Selects a curve to display in the chart.
• Time domain chart:
A maximum of six curves can be simultaneously displayed in the chart.

Only one curve can be selected to appear in the chart.

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4.6 Communicating with the PLC (V90 PTI only)

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.
4.6.1 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

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

2. Go to "View all parameters" panel and set the related parameters.
• Configure the RS485 bus address by parameter p29004.
– You can configure the slaver address from 1 to 31.
• Set the communication protocol by parameter p29007.
– Set p29007 = 1 to use the USS protocol.
• Set the transmission baud rate by parameter p29009.
3. Set control mode for the drive on the following panel.
4. Save the parameters and restart the drive.

5. Access the parameters via USS.
• For IPos control mode, you can change the following parameters via USS:
– p2617[0...7], p2618[0...7], p2572, p2573
• For S control mode, you can change the following parameters 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.

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4.6.2 Modbus communication

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 sepcific 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

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FC16 - Write multiple registers

When a message with FC = 0x10 is received, then 5 + N bytes of data are expected, that is,
FC16 has 5 + N bytes of data:
● Two bytes for the starting address
● Two bytes for the number of registers
● One byte for the byte count
● N bytes for the register values
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 7 Byte 8 Byte 9 Byte
+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) 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) word, PZD1
40111 Actual speed (PTI, R - 0x4000 hex = - Process data 2, send
IPos, S, T) 100% × motor word, PZD2
rated speed
40112 Actual position high R LU 1 -2147482648 to Process data 3, send
word (PTI, IPos) 2147482647 word, PZD3
40113 Actual position low word R LU 1 Process data 4, send
(PTI, IPos) word, PZD4
40114 Actual speed high word R 1000 1 1 to 40000000 Process data 5, send
(PTI, IPos) LU/min word, PZD5

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40115 Actual speed low word R 1000 1 Process data 6, send
(PTI, IPos) 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

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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

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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

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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.

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4.6.2.1 Cyclic communication
Operating steps

2. Go to "View all parameters" panel and set the related parameters.
• Configure the RS485 bus address by parameter p29004.
– You can configure the slaver address from 1 to 31.
• Set the communication protocol by parameter p29007.
– Set p29007 = 2 to use the Modbus protocol.
• Select the Modbus control source by parameter p29008.
– p29008 = 1: Setpoint and control word from Modbus PZD
– p29008 = 2: No control word.
• Set the transmission baud rate by parameter p29009.
• Set the monitor time for Modbus by parameter p29019.
Sets the monitoring time to monitor the process data received via the RS485
interface. If no process data is received within this time, then F1910 is output.
The default vaule of p29019 is 0. If p29019 = 0, monitoring is deactivated.
3. Select the control mode for the drive on the following panel:

5. Configure the PLC parameters.
Note:
Keep the PLC baud rate the same as the drive setting.
Set even parity check for the PLC.
6. Set a way for PLC to send the 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.
7. Write the control word via the 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 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.
8. Write the setpoint and read the status word via PLC.

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Example
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.
7. Configure the PLC parameters.
Note:
Keep the PLC baud rate the same as the drive setting.
Set even parity check for the PLC (parity = 2).
8. 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.

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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.

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Process data overview
Control mode PTI IPos S T

Control 40100 PTI mode control word IPos mode control S mode control word T mode control word
data 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 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

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Bit PTI control mode IPos control mode

13 Reserved - SREF Start referencing (act as REF for refer-
ence mode 0)
Bit S control mode T control mode

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 -

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Note
The following signals are occupied by Modbus control word when you use the setpoint and
control word from Modbus as the Modbus control source (p29008 = 1). They can only be
enabled by Modbus control word while cannot be enabled by external DI terminals.
• PTI control mode: SON
• IPos control mode: SON, SREF (REF for reference mode 0)
• S control mode: SON, CWE/CCWE
• T control mode: SON
Note
In IPos control mode, when the relative positioning mode is selected, the method for
accepting MDI setpoint must be a rising edge (bit 5 = 0); otherwise, fault F7488 occurs.
Note
In IPos control mode, when you implement the absolute positioning for the modular axis with
Modbus, you can select the MDI direction with parameter p29230.
Note
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, 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 -

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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, see Section "Digital inputs/outputs (DIs/Dos)
(Page 97)".
● 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.

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4.6.2.2 Acyclic communication

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

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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 …

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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 ...

Task navigation
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) as given in
the parameter list relevant section in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions.
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 Inverter does not accept a change request(inverter 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)

Task navigation
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

Task navigation
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 (the 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

Task navigation
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 16 bytes (10 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

Task navigation
The table below formats a response for successful write operation.
Table 4- 1 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)

Task navigation
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)
4.7
4.8

Index
A H
Alarm window, 38 Help
Analog inputs, 108 About SINAMICS V-ASSISTANT, 37
Analog outputs, 109 View help, 36
C I
Configure inputs/outputs, 78 IO simulation, 93
analog outputs assignment, 80
digital inputs assignment, 78
digital outputs assignment, 79 M
Configure referencing
Mechanical structure, 57
set referencing, 81
set software position limit, 86
O
D Optimize drive
low frequency vibration suppression, 123
Diagnostics
manual tuning, 120
measure machine, 130
one-button auto tuning, 113
monitor status, 125
real-time auto tuning, 117
trace signals, 126
Digital inputs
Direct signal map, 103
P
Wiring, 98, 104
Digital inputs/outputs Parameter value, 150
DIs for V90 PN, 97 Parameterize
DIs for V90 PTI, 100 backlash compensation, 88
DOs for V90 PN, 98 configure referencing, 81
DOs for V90 PTI, 105 Set electronic gear ratio, 56
Digital outputs set encoder pulse output, 88
Assigning warning signals to digital outputs, 107 set mechanism, 59
Wiring, 100 view all parameters, 90
PI/P switching, 123
Position setpoint, 60
E Position trial run, 111
Preface
Edit
Technical support, 3
Copy, 31
Project
Cut, 30
Exit, 30
Paste, 31
Language, 30
New project, 26
Open project, 27
F
Print, 29
Function keys and shortcuts, 39 Save project, 28
Save project as, 29

Index
Pulse train encoder outputs, 110

Pulse train inputs, 109
S
Select drive
Control mode, 47
Drive selection, 44
Jog, 49
Motor selection, 46
Set limits, 74
Set parameter setpoint, 59
Set PROFINET
Configure network, 53
Select telegram, 50
Speed limit, 76
Switch
Go offline, 31
Go online, 32
T
Test motor, 110
Toolbar, 37
Tools
Factory default, 34
Reset absolute encoder, 33
Restart drive, 33
Save parameters to ROM, 32
Upload parameters, 36
Torque control mode
Torque setpoint, 71
Torque limit, 74
Trace configuration, 129
U
User interface, 25
W
Working modes, 19


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___________________

Siemens AG A5E36618042-004 Copyright © Siemens AG 2015 - 2017.

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

3.5 Alarm window ......................................................................................................................... 38

SINAMICS V-ASSISTANT Online Help

4.4.3.4 Low frequency vibration suppression ...................................................................................123

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

1.2 Warranty and liability for application examples

SINAMICS V-ASSISTANT Online Help

1.3 Industrial security

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

2.2 Device combination

2.2.1 Device combination of SINAMICS V90 PN and SIMOTICS S-1FL6

V90 PN 200 V servo system

SINAMICS V-ASSISTANT Online Help

V90 PN 400 V servo system

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

2.2.2 Device combination of SINAMICS V90 PTI and SIMOTICS S-1FL6

V90 200 V servo system

SINAMICS V-ASSISTANT Online Help

V90 400 V servo system

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

The functions of SINAMICS V-ASSISTANT vary according to the working modes.

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

① Default location: xxx/Siemens/V-ASSISTANT/Project

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

If any inconsistency is detected, the following window appears:

SINAMICS V-ASSISTANT Online Help

3.2 User interface - overview

① Menu bar ④ Function pane

SINAMICS V-ASSISTANT Online Help

SINAMICS V-ASSISTANT Online Help

3.3 Menu bar

3.3.1 Menu bar - overview

3.3.2 Project menu

3.3.2.1 Project -> New project

SINAMICS V-ASSISTANT Online Help

3.3.2.2 Project -> Open project

① Default location: xxx/Siemens/V-ASSISTANT/Project

SINAMICS V-ASSISTANT Online Help

3.3.2.3 Project -> Save project

Online mode/offline mode

① Default location: xxx/Siemens/V-ASSISTANT/Project

SINAMICS V-ASSISTANT Online Help

3.3.2.4 Project -> Save project as...

Online mode/offline mode

① Default location: xxx/Siemens/V-ASSISTANT/Project

3.3.2.5 Project -> Print

Online mode/offline mode

SINAMICS V-ASSISTANT Online Help

3.3.2.6 Project -> Language