Preface

1
SIMOTION SIMOTION SCOUT D410

______________
Description

2
______________
Commissioning (hardware)
SIMOTION Configuring SIMOTION
3
______________
D410

SIMOTION
4
D410 ______________
Commissioning (software)

5
Commissioning Manual
______________
Maintenance and service

6
______________
Service and diagnostics

A
______________
Standards and approvals

B
______________
ESD guidelines

Valid for SIMOTION D410 DP and D410 PN

05/2009
Legal information
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
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 device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
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 adhered to. The information in the relevant documentation must be observed.

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

Siemens AG Copyright © Siemens AG 2009.

Industry Sector Technical data subject to change
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

Contents of the commissioning manual

This manual is part of the SIMOTION D4xx documentation package, Edition 05/2009.
This manual describes commissioning of the SIMOTION devices D410 DP and D410 PN.

Information blocks in this manual

The following information blocks describe the purpose and use of the commissioning
manual.
● Description
This section provides information pertaining to the SIMOTION system and its integration
into the information landscape.
● Commissioning (hardware)
This section describes how to start up the device and what you must take into account.
● Configuring SIMOTION D410
This section describes how to integrate SIMOTION D410 in a project and how to
configure the interfaces.
● Commissioning (software)
This section describes how to configure a plant and how to test the drives and axes you
configured.
● Maintenance and service
This section describes how to replace a module, how to run updates, and how to modify
settings.
● Service and diagnostics
This section provides information about service and diagnostics options, as well as LED
states.
● Appendices with factual information for reference (for example, Standards and Approvals,
and ESD)
● Index for locating information.

D410
Commissioning Manual, 05/2009 3
Preface

SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation with the supplied SIMOTION
SCOUT.
The SIMOTION documentation consists of 9 documentation packages containing
approximately 80 SIMOTION documents and documents on related systems (e.g.
SINAMICS).
The following documentation packages are available for SIMOTION V4.1 SP3:
● SIMOTION Engineering System
● SIMOTION System and Function Descriptions
● SIMOTION Diagnostics
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P350
● SIMOTION D4xx
● SIMOTION Supplementary Documentation

Hotline and Internet addresses

Technical support
If you have any technical questions, please contact our hotline:

Europe / Africa
Phone +49 180 5050 222 (subject to charge)
Fax +49 180 5050 223
Internet http://www.siemens.com/automation/support-request

Americas
Phone +1 423 262 2522
Fax +1 423 262 2200
E-mail mailto:[email protected]

Asia / Pacific
Phone +86 1064 719 990
Fax +86 1064 747 474
E-mail mailto:[email protected]

D410
4 Commissioning Manual, 05/2009
 Preface

Note
Country-specific telephone numbers for technical support are provided under the following
Internet address:
http://www.siemens.com/automation/service&support
Calls are subject to charge, e.g. 0.14 €/min. on the German landline network. Tariffs of other
phone companies may differ.

Questions about this documentation

If you have any questions (suggestions, corrections) regarding this documentation, please
fax or e-mail us at:

Fax +49 9131- 98 63315

E-mail mailto:[email protected]

Siemens Internet address

The latest information about SIMOTION products, product support, and FAQs can be found
on the Internet at:
● General information:
– http://www.siemens.de/simotion (German)
– http://www.siemens.com/simotion (international)
● Product support:
– http://support.automation.siemens.com/WW/view/en/10805436

Additional support
We also offer introductory courses to help you familiarize yourself with SIMOTION.
Please contact your regional training center or our main training center at D-90027
Nuremberg, phone +49 (911) 895 3202.
Information about training courses on offer can be found at:
www.sitrain.com

D410
Commissioning Manual, 05/2009 5
Preface

Disposal and recycling

SIMOTION D410 is an environmentally friendly product! It includes the following features:
● In spite of its excellent resistance to fire, the flame-resistant agent in the plastic used for
the housing does not contain halogens.
● Identification of plastic materials in accordance with DIN 54840
● Less material used because the unit is smaller and with fewer components thanks to
integration in ASICs
SIMOTION D410 can be recycled because it is made with low-polluting materials.
For state-of-the art environmentally friendly recycling and disposal of your old modules,
contact your Siemens representative. To locate your representative, point your browser to:
Internet address (http://www.automation.siemens.com/partner).

Further information / FAQs

You can find additional information on this manual under FAQ at Internet address
(http://support.automation.siemens.com/WW/view/en/27585482).
The following resources are also available:
● SIMOTION Utilities & Applications: The SIMOTION Utilities & Applications CD is included
in the SIMOTION SCOUT scope of delivery and, along with FAQs, also contains free
utilities (e.g. calculation tools, optimization tools, etc.) and application examples (ready-
to-apply solutions such as winders, cross cutters or handling).
● The latest FAQs for SIMOTION can be found at:
Internet address (http://support.automation.siemens.com/WW/view/en/10805436)
● SIMOTION SCOUT online help
● Additional documentation: Refer to the SIMOTION list of references (separate document).

D410
6 Commissioning Manual, 05/2009
Table of contents

Preface ...................................................................................................................................................... 3
1 Description............................................................................................................................................... 11
1.1 System overview ..........................................................................................................................11
1.2 System components ....................................................................................................................13
1.3 SIMOTION D410 DP display .......................................................................................................18
1.4 SIMOTION D410 PN display .......................................................................................................21
1.5 The CompactFlash card...............................................................................................................24
1.6 Licensing ......................................................................................................................................25
1.7 Safety information ........................................................................................................................25
2 Commissioning (hardware) ...................................................................................................................... 27
2.1 Prerequisites for commissioning ..................................................................................................27
2.2 Inserting the Compact Flash card................................................................................................28
2.3 Switching on the power supply ....................................................................................................29
2.4 RESET button ..............................................................................................................................30
2.5 User memory concept..................................................................................................................31
2.5.1 SIMOTION D410 memory model.................................................................................................31
2.5.2 Properties of the user memories..................................................................................................32
2.5.3 Operator actions and their impact on user memory.....................................................................34
3 Configuring SIMOTION D410 .................................................................................................................. 39
3.1 Software requirements.................................................................................................................39
3.2 Inserting SIMOTION D410 into a project .....................................................................................39
3.3 Configuring the PROFIBUS DP interface (only D410 DP) ..........................................................42
3.3.1 General information about PROFIBUS DP communication ........................................................42
3.3.2 Assignment of the PROFIBUS addresses in HW Config.............................................................43
3.3.3 Operating SIMOTION D410 on PROFIBUS DP. .........................................................................44
3.3.4 Creating a new PROFIBUS DP subnet .......................................................................................45
3.3.5 Setting the DP cycle and system cycle clocks.............................................................................46
3.3.6 Rules for SIMOTION D410 DP ....................................................................................................47
3.3.7 Operating the PROFIBUS interface (X21) as an MPI interface...................................................48
3.4 Configuring PROFINET (only for D410 PN) ................................................................................49
3.4.1 General information about PROFINET communication...............................................................49
3.4.2 Operating SIMOTION D410 PN on PROFINET ..........................................................................50
3.4.3 Setting the send cycles and system clocks .................................................................................53
3.4.4 Rules for SIMOTION D410 PN ....................................................................................................54
4 Commissioning (software) ....................................................................................................................... 57
4.1 Overview of commissioning .........................................................................................................57
4.2 Configuring the system in offline mode........................................................................................59

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Table of contents

4.2.1 Overview ..................................................................................................................................... 59

4.2.2 Accessing the drive wizard.......................................................................................................... 60
4.2.3 Configuring the components ....................................................................................................... 61
4.2.4 Aligning HW Config ..................................................................................................................... 69
4.2.5 Downloading a project created offline to the target system ........................................................ 70
4.2.6 Loading a project created offline to the CompactFlash Card...................................................... 71
4.2.7 Downloading a project, including sources and additional data ................................................... 72
4.3 Configuring the system in online mode....................................................................................... 73
4.3.1 Overview ..................................................................................................................................... 73
4.3.2 Establishing the online connection.............................................................................................. 74
4.3.3 Starting automatic configuration ................................................................................................. 75
4.3.4 Editing SINAMICS components .................................................................................................. 78
4.3.5 Aligning HW Config ..................................................................................................................... 78
4.3.6 Download the project to SIMOTION D410.................................................................................. 78
4.4 Additional information on configuring the SINAMICS Integrated ................................................ 79
4.4.1 Settings for DP slave properties ................................................................................................. 79
4.4.2 Using vector drives...................................................................................................................... 81
4.4.3 Setting the time of day ................................................................................................................ 82
4.4.4 SINAMICS diagnostic buffer ....................................................................................................... 83
4.4.5 Acyclic communication with the drive ......................................................................................... 84
4.4.6 Control properties and performance features ............................................................................. 85
4.5 Testing the configured drive using the drive control panel ......................................................... 86
4.6 Creating an axis .......................................................................................................................... 88
4.7 Testing the configured axis using the axis control panel ............................................................ 90
4.8 Integrating additional encoders (optional)................................................................................... 92
4.8.1 General information..................................................................................................................... 92
4.8.2 Configuring a second encoder on the SINAMICS drive.............................................................. 93
4.8.3 Configuring a second encoder for a TO axis in SIMOTION........................................................ 94
4.8.4 Configuring external encoders in SIMOTION ............................................................................. 94
4.9 Configuring drive-related I/Os ..................................................................................................... 95
4.9.1 Onboard I/Os and terminal modules configuration overview ...................................................... 95
4.9.2 Use of message frame 39x ......................................................................................................... 97
4.9.3 Free message frame configuring with P915/P916 (only TM15/TM17 High Feature) ............... 101
4.9.4 Configuring free message frames by means of BICO .............................................................. 102
4.9.5 Expanding a message frame .................................................................................................... 107
4.9.6 Using high-speed outputs for output cams on D410................................................................. 110
4.9.7 Using probe inputs on D410...................................................................................................... 111
4.9.8 Outputs of cam outputs and probe inputs on TM15/TM17 High Feature ................................. 115
4.9.9 Programming examples/Additional information ........................................................................ 115
4.10 Creating and programming TM41 ............................................................................................. 116
4.10.1 Overview ................................................................................................................................... 116
4.10.2 Configuring TM41 at SINAMICS Integrated.............................................................................. 116
4.11 Creating a DMC20 .................................................................................................................... 117
4.11.1 DMC20 hub properties .............................................................................................................. 117
4.11.2 Creating a DRIVE-CLiQ hub ..................................................................................................... 118
4.12 Optimizing the drive and controller ........................................................................................... 118
4.12.1 Overview of automatic controller setting ................................................................................... 118
4.12.2 Automatic speed controller setting............................................................................................ 119
4.12.3 Automatic position controller setting ......................................................................................... 120
4.12.4 Measuring functions, trace, and function generator.................................................................. 122

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8 Commissioning Manual, 05/2009
 Table of contents

4.12.5 Manual speed controller optimization ........................................................................................124

4.13 Downloading and saving user data............................................................................................128
4.14 Deleting data ..............................................................................................................................129
4.14.1 Overview of data deletion ..........................................................................................................129
4.14.2 Resetting the memory of SIMOTION D410 ...............................................................................130
4.14.3 Deleting user data from the CompactFlash Card ......................................................................133
4.14.4 Restoring the default settings of SINAMICS Integrated ............................................................134
4.14.5 Restoring the default settings of SIMOTION D410....................................................................134
4.15 System shutdown.......................................................................................................................136
4.16 Configuring Safety Integrated functions.....................................................................................136
5 Maintenance and service....................................................................................................................... 141
5.1 Overview ....................................................................................................................................141
5.2 Replacing modules (spare part scenario) ..................................................................................143
5.2.1 Removing and replacing the SIMOTION D410..........................................................................143
5.2.2 Replacing DRIVE-CLiQ components.........................................................................................144
5.2.3 Replacing the fan .......................................................................................................................147
5.2.4 Replacing the CompactFlash card.............................................................................................149
5.3 Adapting a project (new device type/device version).................................................................150
5.3.1 Overview ....................................................................................................................................150
5.3.2 Replacing the SIMOTION device in HW Config ........................................................................151
5.3.3 Upgrading the device version of SINAMICS components .........................................................153
5.3.4 Upgrading technology packages................................................................................................154
5.3.5 Upgrade the libraries..................................................................................................................155
5.3.6 Backing up variables..................................................................................................................155
5.3.7 Upgrading the CompactFlash Card's bootloader.......................................................................156
5.3.8 Downloading the project to the target system............................................................................156
5.4 Performing a firmware and project update.................................................................................157
5.4.1 Overview ....................................................................................................................................157
5.4.2 Firmware update using a CompactFlash Card ..........................................................................158
5.4.3 Firmware and project update using IT DIAG .............................................................................162
5.4.4 Firmware and project update using the device update tool .......................................................163
5.5 SIMOTION CompactFlash Card ................................................................................................165
5.5.1 Replacing the CompactFlash Card............................................................................................165
5.5.2 Writing to a CompactFlash card.................................................................................................166
5.5.3 Formatting the CompactFlash Card...........................................................................................167
5.5.4 Bootloader on the CompactFlash card ......................................................................................167
5.5.5 Recommended method of handling CompactFlash Cards........................................................168
6 Service and diagnostics......................................................................................................................... 169
6.1 Diagnostics by means of LED displays......................................................................................169
6.2 Diagnostic data and non-volatile data........................................................................................172
6.2.1 Overview ....................................................................................................................................172
6.2.2 Backing up diagnostic data and non-volatile data .....................................................................173
6.2.2.1 Diagnostic data ..........................................................................................................................173
6.2.2.2 Non-volatile data (retain data)....................................................................................................173
6.2.2.3 Procedure for backing up during operation................................................................................174
6.2.2.4 Procedure for backing up during startup....................................................................................175
6.2.2.5 Storing data................................................................................................................................176
6.2.3 Diagnostics via websites............................................................................................................178

D410
Commissioning Manual, 05/2009 9
Table of contents

6.2.4 Restoring non-volatile data ....................................................................................................... 179

6.2.5 Backing up diagnostic data and non-volatile data using IT DIAG............................................. 181
6.3 Additional service and diagnostics options ............................................................................... 183
6.3.1 SIMOTION Task Profiler application......................................................................................... 183
6.3.2 Diagnostics using IT DIAG ........................................................................................................ 183
A Standards and approvals ....................................................................................................................... 185
A.1 General rules............................................................................................................................. 185
A.2 Safety of electronic controllers.................................................................................................. 186
A.3 Electromagnetic Compatibility................................................................................................... 188
B ESD guidelines ...................................................................................................................................... 189
B.1 ESD definition ........................................................................................................................... 189
B.2 Electrostatic charging of individuals.......................................................................................... 190
B.3 Basic measures for protection against discharge of static electricity ....................................... 191
Index...................................................................................................................................................... 193

D410
10 Commissioning Manual, 05/2009
Description 1
1.1 System overview

Overview
SIMOTION D is a drive-based version of SIMOTION based on the SINAMICS S120 drive
family. With SIMOTION D, the SIMOTION PLC and motion control functionalities as well as
the SINAMICS S120 drive software run on shared control hardware.
SIMOTION D410 is a module drive system for single axes, which solves demanding drive
tasks for a very wide range of industrial applications. SIMOTION D410 supplements D425,
D435 and D445, the three power levels for multi-axis connections.
SIMOTION D is an integral part of the Totally Integrated Automation (TIA) concept. TIA
features standardized data management, configuration and communication over all products
and systems. Thus, an extensive toolbox of automation modules is also available for
SIMOTION D410.

Application
Combining a power module with SIMOTION D410 forms a compact single drive for machine
and plant engineering.
Applications include:
● Machine concepts with central drive (e.g., pressing, printing and packaging machines, . .
.)
● Modular machine concepts where the machine modules broken down to single axes
● Single drives with high accuracy, stability and concentricity requirements (compared with
standard drives) in machine and industrial plant engineering
● Single drives for transport tasks (conveying, raising, lowering)
● Single drives with integrated PLC functionality and expanded motion control functionality
such as output cam or cams
● Drives without power recovery (wire drawing, extruding)
● Drive connections with high availability requirements (incoming supply failure may not
cause all axes to fail)

Product variants
SIMOTION D410 comes in two variants:
● SIMOTION D410 DP with PROFIBUS DP interface.
● SIMOTION D410 PN with PROFINET interface.

D410
Commissioning Manual, 05/2009 11
Description
1.1 System overview

System integration
SIMOTION provides an optimized system platform for automation and drive solutions where
the main focus is on motion control applications and technology tasks.
The SIMOTION system is made up of three components:
● SIMOTION SCOUT Engineering System
● Runtime Software
● Hardware platforms
The innovative SIMOTION concept involves integrating pure automation and motion
functions, which have been traditionally isolated in the past.

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Figure 1-1 System solution

SIMOTION can be used with all machines with motion control tasks. The focus is on a
simple and flexible solution to a wide variety of motion control tasks. In order to achieve this
in the best way possible, a new system approach has been introduced:
the fusion of motion control with two other control functions, which are found in most
machines: PLC and technology functions.
This approach enables motion control of axes and machines with only one system. The
same applies to technology functions, such as pressure control of a hydraulic axis. A
seamless switch can be made from position-controlled positioning mode to pressure control.
Combining the three control functions of motion control, PLC and technology functions has
the following benefits:
● Lower engineering expenditure and higher machine performance.
● Interfaces between individual components requiring rapid response are no longer
needed.
● Simple, standardized and transparent programming and diagnostics for the complete
machine.

D410
12 Commissioning Manual, 05/2009
 Description
1.2 System components

1.2 System components

Overview
SIMOTION D410 communicates with the components of the automation landscape via the
following interfaces:
● PROFIBUS DP (SIMOTION D410 DP only)
● PROFINET (SIMOTION D410 PN only)
● DRIVE-CLiQ (DRIVE Component Link with IQ)
● Power Module Interface (PM-IF)
● SIMOTION D features a SINAMICS Integrated drive element. Communication with the
SINAMICS Integrated (node 3) is via PROFIBUS mechanisms (DP integrated).
The most important system components and their functions are listed in the following table.

Table 1- 1 System components

Components Function
SIMOTION D410 ... is the central motion control module.
The module contains the programmable SIMOTION Runtime in
SIMOTION D410 and the SINAMICS S120 drive software.
You can use the integrated rapid digital I/Os as:
• Homing inputs
• Inputs for measuring inputs
• User-addressable process inputs/outputs
• Outputs for fast output cams
The measuring sockets can output any analog signals.
The DRIVE-CLiQ interface permits a fast connection to the SINAMICS drive
components.
System software The system software is delivered separately on a CompactFlash Card (not
included in the scope of delivery).
Note:
An additional license is not required for the real axis technology.
Power supply (PS) ... provides the electronic power supply for SIMOTION D410 (e.g., SITOP
power supply).
Note:
If the SIMOTION D410 is snapped on to a PM340 Power Module, the Power
Module may be used as the sole method of supplying power to the
SIMOTION D410 in certain cases (e.g. when digital outputs are not used,
etc.). Also refer to the section titled in the SIMOTION D410 Manual.

D410
Commissioning Manual, 05/2009 13
Description
1.2 System components

PROFIBUS DP
SIMOTION D410 DP can communicate via PROFIBUS DP interface to the following
components:

Table 1- 2 Components on PROFIBUS DP

Components Function
PG/PC programming device ... configures, sets parameters, programs and tests using the
SIMOTION SCOUT Engineering System (ES).
SIMATIC HMI device ... is used for operator control and monitoring functions. It is not
absolutely essential for running SIMOTION D410.
Drive units with ... convert speed setpoints into signals for controlling the motor and
PROFIBUS DP interface (e.g. supply the power required to operate the motors.
CU310 DP) Can also be operated as an isochronous, equidistant Slave on the
PROFIBUS DP.
Other controls (e.g.,
SIMOTION or SIMATIC)
Distributed I/O systems
SIMATIC ET 200M Modular I/O system for control cabinet installation and high channel
densities.
SIMATIC ET 200S Finely scalable I/O system for control cabinet installation and
particularly time-critical applications; including motor starters, safety
technology and individual grouping of load groups.
SIMATIC ET 200pro Modular I/O system with IP65/IP67 rating for machine-related
applications with no control cabinet; with new features such as more
compact designs, integrated PROFIsafe safety technology,
PROFINET connection and live module replacement.
SIMATIC ET 200eco I/O system with IP65/IP67 rating for machine-related applications
with no control cabinet, with a flexible and fast connection system in
ECOFAST or M12.
Other PROFIBUS I/O
Gateways • DP/AS Interface Link 20E and DP/AS Interface Link Advanced for
the PROFIBUS DP gateway to AS Interface
• DP/DP coupler to connect two PROFIBUS DP networks
Teleservice adapter Remote diagnosis

Note
Note that only one real axis can be used on a SIMOTION D410.

D410
14 Commissioning Manual, 05/2009
 Description
1.2 System components

PROFINET
SIMOTION D410 PN can communicate via PROFINET interface to the following
components:

Table 1- 3 Components on PROFINET

Components Function
The master computer (at ... communicates with other devices via Ethernet.
company and production
management level)
PG/PC programming device ... communicates with the SIMOTION SCOUT Engineering
Systems (ES), STEP 7 and HMI (Human Machine Interface).
SIMATIC HMI device ... is used for operator control and monitoring functions. It is not
absolutely essential for running SIMOTION D410.
Drive units with PROFINET ... convert speed setpoints into signals for controlling the motor
interface (e.g., SINAMICS S120 and supply the power required to operate the motors.
with CBE20)
Other controls (e.g. SIMOTION
or SIMATIC)
Distributed I/O systems
SIMATIC ET 200M Modular I/O system for control cabinet installation and high
channel densities.
SIMATIC ET 200S Finely scalable I/O system for control cabinet installation and
particularly time-critical applications; including motor starters,
safety technology and individual grouping of load groups.
SIMATIC ET 200pro Modular I/O system with IP65/IP67 rating for machine-related
applications with no control cabinet; with new features such as
more compact designs, integrated PROFIsafe safety technology,
PROFINET connection and live module replacement.
Other PROFINET I/O
Gateways • IE/AS Interface Link PN IO for the PROFINET IO gateway to
AS Interface
• PN/PN coupler to connect two PROFINET IO networks

Note
Note that only one real axis can be used on a SIMOTION D410.

D410
Commissioning Manual, 05/2009 15
Description
1.2 System components

I/O integration

Note
Please note that not all modules for the I/O systems listed are enabled for SIMOTION.
Moreover, system-related functional differences can come into play when these I/O or I/O
systems are used on SIMOTION vs. on SIMATIC. For example, special process-control
functions (e.g., HART modules, etc.) are not supported by SIMOTION for the ET 200M
distributed I/O system.
You can find an up-to-date list of the I/O modules that can be used with SIMOTION at:
Internet address (http://support.automation.siemens.com/WW/view/en/11886029).

In addition to the I/O modules enabled for SIMOTION, in principle all certified standard
PROFIBUS slaves (DP-V0/DP-V1/DP-V2) and PROFINET devices with RT and IRT real-
time classes may be connected to SIMOTION D410.
These modules are integrated using the GSD file (PROFIBUS) or GSDML file (PROFINET)
provided by the relevant device manufacturer.

Note
Please note that in isolated cases, additional boundary conditions must be fulfilled in order to
integrate a module into SIMOTION. For example, "driver modules" in the form of function
blocks are required for some modules, which enable integration or make it especially easy.
For modules enabled for SIMOTION (e.g., S7-300 module FM 350-1, etc.), these driver
modules are part of the SIMOTION SCOUT Engineering System command library.

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16 Commissioning Manual, 05/2009
 Description
1.2 System components

DRIVE-CLiQ
DRIVE-CLiQ offers the following advantages within the DRIVE-CLiQ topology rules:
● Independent expansion of components possible
● Automatic detection of components by the Control Unit
● Standardized interfaces in all components
● Uniform diagnostics, right down to component level
● Complete serviceability, right down to component level
● Mechanical parts are easy to use
SIMOTION D410 can communicate via DRIVE-CLiQ interface to the following components:

Table 1- 4 Components on DRIVE-CLiQ

Components Function
SINAMICS S120 AC DRIVE drive ... convert speed setpoints into signals for controlling the motor
units and supply the power required to operate the motors. The
(with CUA31/CUA32) AC DRIVE component PM340 is connected via CUA31/CUA32.
No more than one PM340 can be connected. Chassis power
module is connected via DRIVE-CLiQ.
Note:
Components in booksize format are not supported!
TM15 and TM17 High Feature The terminal modules TM15 and TM17 High Feature are used to
terminal modules implement probe inputs and cam outputs. In addition, these
Terminal Modules provide drive-related digital inputs and outputs
with short signal delay times.
TM31 terminal module ... enables terminal expansion via DRIVE-CLiQ (additional
analog and digital inputs/outputs).
TM41 terminal module ... enables terminal expansion (analog and digital inputs/outputs)
and encoder simulation via DRIVE-CLiQ. The TM41 can be
connected to a real axis. It is important to note that exactly one
real axis can be configured on the D410.
TM54F terminal module ... enables terminal expansion (secure digital inputs/digital
outputs) for SIMOTION Version V4.1 SP2 and higher, for
controlling the secure motion monitoring functions of the
integrated drive.
SMx sensor modules ... enable the acquisition of encoder data from the connected
motors via DRIVE-CLiQ.
Motors with DRIVE-CLiQ interface ... allow simplified commissioning and diagnostics, as the motor
and encoder type are identified automatically.
DMC20 ... expands the number of DRIVE-CLiQ nodes

Note
Please note that SIMOTION D410 components in booksize format (CX32 Controller
Extension, Motor Modules, Line Modules, etc.) are not supported.

D410
Commissioning Manual, 05/2009 17
Description
1.3 SIMOTION D410 DP display

1.3 SIMOTION D410 DP display

View
The following figure shows SIMOTION D410 DP with the interfaces and front elements.

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Figure 1-2 Location of interfaces and front elements in SIMOTION D410 DP

Note
The label underneath the mode selector lists the switch settings for the operating states of
the SIMOTION D410.

D410
18 Commissioning Manual, 05/2009
 Description
1.3 SIMOTION D410 DP display

Interfaces
The SIMOTION D410 DP interfaces are described in the following tables.

Table 1- 5 SIMOTION D410 interfaces

Interface Description
Digital inputs/outputs 12-pin Mini Combicon:
X121 • 4 digital inputs: for connecting switches or proximity sensors
• 4 digital inputs/outputs: for connecting actuators and sensors
DRIVE-CLiQ interface 8-pin RJ45plus socket to connect DRIVE-CLiQ nodes
X100
PROFIBUS DP interface 9-pin SUB-D socket to connect to PROFIBUS DP
X21
Power Module Interface 8-pin direct connector to connect to a blocksize power module
(PM-IF)
Encoder interface 15-pin SUB-D socket for connecting HTL, TTL and SSI encoders.
(HTL/TTL/SSI)
X23
EP terminals/temperature 8-pin Mini Combicon for connecting Safety Integrated input terminals
sensor connection or for connecting temperature sensing via KTY or PTC
X120
Power supply connection 4-pin screw terminal connection to connect the 24 V DC load power
X124 supply
Measuring sockets Sockets to output analog signals
T0, T1, T2 and M

Type plates
The following figure shows you all the information included on the type plate located on the
side of the unit.

Module designation

Order number

Serial number

HW version

Figure 1-3 SIMOTION D410 nameplate

D410
Commissioning Manual, 05/2009 19
Description
1.3 SIMOTION D410 DP display

The type plate below is located on the front of the SIMOTION D410 DP.

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Note
The contents of the individual nameplate fields on the current module may differ from those
described in this Manual (e.g., updated product status, space for approvals and
identifications, etc.).

D410
20 Commissioning Manual, 05/2009
 Description
1.4 SIMOTION D410 PN display

1.4 SIMOTION D410 PN display

View
The following figure shows SIMOTION D410 PN with the interfaces and front elements.

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D410
Commissioning Manual, 05/2009 21
Description
1.4 SIMOTION D410 PN display

Interfaces
The SIMOTION D410 PN interfaces are described in the following tables.

Table 1- 6 SIMOTION D410 interfaces

Interface Description
Digital inputs/outputs 12-pin Mini Combicon:
X121 • 4 digital inputs: for connecting switches and proximity sensors
• 4 digital inputs/outputs: for connecting actuators and sensors
DRIVE-CLiQ interface 8-pin RJ45plus socket to connect DRIVE-CLiQ nodes
X100
PROFINET interface 8-pin RJ45plus socket to connect to PROFINET
(ports X200 and X201)
Power Module Interface 8-pin direct connector to connect to a blocksize power module
(PM-IF)
Encoder interface (HTL / TTL / 15-pin SUB-D socket for connecting HTL, TTL and SSI encoders.
SSI)
X23
EP terminals/temperature 8-pin Mini Combicon for connecting Safety Integrated input
sensor connection terminals or for connecting temperature sensing via KTY or PTC
X120
Power supply connection 4-pin screw terminal connection to connect the 24 V DC load
X124 power supply
Measuring sockets Sockets to output analog signals
T0, T1, T2 and M

Type plates
The figure below shows all the information included on the type plate located on the side of
the unit.

Module designation

Order number

Serial number

HW version

Figure 1-6 SIMOTION D410 PN type plate

D410
22 Commissioning Manual, 05/2009
 Description
1.4 SIMOTION D410 PN display

The following nameplate includes the MAC address of the PROFINET interface (ports X200
and X201) and is located on the front side of the module.

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Note
The contents of the individual nameplate fields on the current module may differ from those
described in this Manual (e.g., updated product status, space for approvals and
identifications, etc.).

D410
Commissioning Manual, 05/2009 23
Description
1.5 The CompactFlash card

1.5 The CompactFlash card

CompactFlash Card
The following figure shows you all the information included on the nameplate of the
CompactFlash Card (CF card).

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Pre-installed runtime licenses

For versions V4.1 SP1 HF6 and higher, pre-installed licenses are printed on the type plate of
the CF card as a Z option underneath the order number.
Example with Z option for a combined SIMOTION IT license + 2 TControl licenses:
6AU1400-2PA00-0AA0-Z
Z=J00+T02
A maximum of 7 different Z options are printed on the type plate of the CF card. When there
are more than 7 different Z options, the text "Z = see delivery order" is printed on the CF card
in place of the Z option.

Available Z options / licenses for SIMOTION D CF cards

The following Z options are available for SIMOTION D410:
TControl temperature control:
● Txx – TControl license and number (e.g. T03 = 3 TControl licenses)
SIMOTION IT:
● D00 – IT DIAG license
● X00 – OPC XML-DA license
● J00 – Combined license for SIMOTION IT, comprises SIMOTION IT Virtual Machine for
Java applications, SIMOTION IT DIAG and SIMOTION IT OPC XML-DA
Safety functions:
● Fxx - License for SINAMICS Safety Integrated Extended Functions (e.g., F01 = 1 license
for safety functions)

D410
24 Commissioning Manual, 05/2009
 Description
1.6 Licensing

1.6 Licensing

SIMOTION D410 licensing

SIMOTION D410 is a modular drive system for single-axis applications. D410 contains the
motion control technology functions for precisely one real axis (speed control, positioning,
synchronous operation, cam). This means that these technology functions do not require an
additional license. It is not possible to increase the number of axes using licenses. Along
with the one real axis, further virtual axes can be configured and loaded.
Licenses are required for runtime functions such as SIMOTION IT DIAG. These can be pre-
installed on a CompactFlash Card (CF card) or ordered separately.

Additional references
For more information about license management, see the SIMOTION SCOUT Configuration
Manual. General information about licensing can be found in the Motion Control SIMOTION,
SINAMICS S120 catalog and motors for production machines catalog, PM21 2008.

1.7 Safety information

Observe the following safety information when working with SIMOTION D410 and its
components!

CAUTION
The CompactFlash Card may only be unplugged and plugged in when SIMOTION D410 is
switched off (zero current)! The SIMOTION D410 is in a de-energized state when all the
LEDs are OFF.

CAUTION
The 50 mm clearances above and below the components must be observed. The
ventilation openings may not be covered by connecting cables.

D410
Commissioning Manual, 05/2009 25
Commissioning (hardware) 2
2.1 Prerequisites for commissioning

Prerequisites
Prerequisites for commissioning the SIMOTION D410:
● You have completed installation and the wiring of your system with SIMOTION D410.
● A programming device / PC is available.

Connecting a programming device / PC to SIMOTION D410

You can interconnect the programming device / PC:
● With the PROFIBUS interface of SIMOTION D410 DP (X21 connector) using a
connecting cable.
Information pertaining to cable lengths for PROFIBUS DP is available in the
SIMOTION D410 Manual.
● With the PROFINET interface of SIMOTION D410 PN (X200 or X201 connector) using a
twisted pair cable.
Information pertaining to PROFINET communication is available in chapter "Configuring
PROFINET".

System requirements
System requirements for hardware commissioning:
● The programming device must be equipped with a PROFIBUS or Ethernet adapter.
● The programming device / PC must be interconnected with SIMOTION D410 DP
(connector X21) for online communication on PROFIBUS DP.
● The programming device / PC must be interconnected with SIMOTION D410 PN
(connector X200 and 201) for online communication on PROFINET.
● You need a CF adapter on the programming device / PC to write to the Compact Flash
Card (for example, a SIMOTION firmware update).

D410
Commissioning Manual, 05/2009 27
Commissioning (hardware)
2.2 Inserting the Compact Flash card

2.2 Inserting the Compact Flash card

Properties of the CF card

The CF card is mandatory for operation of SIMOTION D410. The SIMOTION kernel and the
drive control software (SINAMICS firmware) are installed on the CF card.
The CompactFlash card must be inserted when you start up SIMOTION D410 in order to
load the SIMOTION kernel.

Note
The CompactFlash Card may only be inserted or removed when the system is in a de-
energized state. The SIMOTION D410 is in a de-energized state when all the LEDs are OFF.

Procedure
Insert the CompactFlash Card as follows:
1. The insertion direction of the CompactFlash Card is identified by an arrow on the card
and a matching arrow on the slot. Align the arrows when inserting the CompactFlash
Card.
2. Gently push the CompactFlash Card into the card slot of SIMOTION D410 until it
engages. The properly inserted card does not protrude from the SIMOTION D410
housing.

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Figure 2-1 Inserting the CompactFlash Card

D410
28 Commissioning Manual, 05/2009
 Commissioning (hardware)
2.3 Switching on the power supply

2.3 Switching on the power supply

Checking the system

Check the system installation and wiring once again before you switch it on. Observe the
safety-relevant items of the following checklist:
● Have you observed all ESD measures when handling the components?
● Are all connectors properly inserted and interlocked / screwed on?
● Are all components grounded and all shields terminated?
● Have you made allowances for sufficient load capacity of the central power supply?

Switching on the external power supply

Power is supplied to the SIMOTION D410 using an external power supply unit; for example,
using SITOP power supplies (in special circumstances, the SIMOTION D410 can also be
supplied using the PM340 Power Module: refer to the SIMOTION D410 Manual).
Switch on the power supply after having checked off all items of the checklist.

CAUTION
It is imperative to prevent the external 24 VDC power supply to SIMOTION D410 from
being interrupted for a duration longer than 3 ms. Operation of SIMOTION D410 is stopped
on expiration of these 3 ms and can only be recovered by cycling power Off > On.
Additional information is available in chapter "User memory concept".

D410
Commissioning Manual, 05/2009 29
Commissioning (hardware)
2.4 RESET button

Startup of SIMOTION D410

The startup of SIMOTION D410 is initiated after the power supply is activated:
1. The RDY LED is lit and the red RUN/STOP LED briefly lights up at the beginning of the
startup sequence. These LEDs can be used to monitor the startup sequence. Any errors
are displayed.
2. Startup of the SIMOTION kernel.
3. All DRIVE-CLiQ connections (with SINAMICS S120 Power Module PM340, for example)
are identified automatically.
4. Startup of SIMOTION D410 is completed as soon as its RDY LED is lit in green color and
the RUN/STOP LED is lit in yellow or green color. The SIMOTION D410 is ready for
configuring after successful completion of the startup.

Note
The components' firmware is automatically updated, depending on the FW version on the
SINAMICS components and on the CompactFlash Card. During an FW update, please
take note of the messages and alarms in the SIMOTION SCOUT detail window. An FW
update on the SIMOTION D410 is signaled by the RDY LED flashing yellow, while on the
DRIVE-CLiQ components (TM, SMC, etc.) it is signaled by the RDY LED flashing
red/green.
• FW update running: RDY LED flashes slowly (0.5 Hz)
• FW update complete: RDY LED flashes quickly (2 Hz)
Go offline once all the FW updates are complete, then switch the 24 V supply for the
upgraded initialization components off/on.

2.4 RESET button

Arrangement
The RESET button is located behind the blanking plate on the SIMOTION D410.

Performing a reset operation

A reset causes the entire system to be reset and requires the system to be ramped-up again.
It is similar to a "Power On Reset" except that the 24 V power supply does not have to be
switched off.

D410
30 Commissioning Manual, 05/2009
 Commissioning (hardware)
2.5 User memory concept

2.5 User memory concept

2.5.1 SIMOTION D410 memory model

The following figure provides an overview of the SIMOTION D410 memory model.

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As a result, the SIMOTION Kernel (D410 firmware) contains the functions required for
virtually all applications, and essentially acts as a PLC featuring an IEC 61131-3-compliant
command set as well as system functions for controlling various components, such as inputs
and outputs.
The SIMOTION Kernel can be expanded by loading technology packages (TPs), e.g. for
motion control or temperature controllers.
The next chapters provide information pertaining to user memories and to the sequences of
specific user actions.

See also
Properties of the user memories (Page 32)
Operator actions and their impact on user memory (Page 34)

D410
Commissioning Manual, 05/2009 31
Commissioning (hardware)
2.5 User memory concept

2.5.2 Properties of the user memories

Non-volatile data
Non-volatile data is used with the objective of retaining user- and system-relevant data when
SIMOTION D410 is in de-energized state. You will find information about the area that can
be used for non-volatile data in the SIMOTION SCOUT Configuration Manual.
Non-volatile data available in SIMOTION devices:

Table 2- 1 Content of non-volatile data

Non-volatile data Content

Kernel data • Last operating state
• IP parameters (IP address, subnet mask, router address)
• DP parameters (PROFIBUS DP address, baud rate)
• Diagnostics buffer
Retain variables • Variables in the interface or implementation section of a unit declared
with VAR_GLOBAL RETAIN
• Global device variables set with the "RETAIN" attribute
Retain TO Absolute encoder offset
DCC blocks SAV blocks and user-defined blocks with retain behavior.

Note
DCC SIMOTION blocks with retain behavior act like retain variables in terms of copying RAM
to ROM, performing a memory reset, downloading, backing up non-volatile data
(_savePersistentMemoryData), and backing up data.
With DCC SINAMICS blocks, data are only backed up using FRAM, i.e. not
_savePersistentMemoryData.
For additional details, please refer to the DCC Programming Programming Manual.

The SIMOTION D410 backed-up data have the following features:

Table 2- 2 Non-volatile data and real-time clock properties

Properties Non-volatile data Real-time clock

Location Non-volatile data resides in the The real-time clock is backed up using
FRAM of SIMOTION D410. SuperCap.
Backup battery No No
Backup time Unlimited At least 5 days
If the real-time clock backup time is exceeded, the time is reset.

D410
32 Commissioning Manual, 05/2009
 Commissioning (hardware)
2.5 User memory concept

More information
IP and DP parameters in non-volatile data
The IP and DP parameters are loaded from configuration data on the CompactFlash Card
during startup for use by the SIMOTION device. The SIMOTION D410 can use the
addresses defined in these data to go online. The IP and DP parameters on the
CompactFlash Card are also written to non-volatile memory during startup. The IP and DP
parameters in non-volatile data is retained and used by the SIMOTION device if the system
is restarted with a CompactFlash Card which does not contain any configuration data. The
SIMOTION device can always be made available online if the configuration was downloaded
to the device at least once using SIMOTION SCOUT, or if the SIMOTION device was started
up with Compact Flash Card.

Volatile data (RAM/current RAM)

Definition of the properties of volatile data:
● Volatile data resides in the RAM area of SIMOTION D410.
● The download data of SIMOTION SCOUT is written to this memory.
● These data is lost after the SIMOTION D410 is shut down.
● Contents of the "volatile data" area:
– SIMOTION kernel
– Technology packages (TP)
– User data (programs, configuration data, parameters)

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You can find additional information about memory management in SIMOTION in the
SIMOTION Basic Functions Function Manual.

D410
Commissioning Manual, 05/2009 33
Commissioning (hardware)
2.5 User memory concept

CompactFlash Card
The CompactFlash Card contains the following data:
● SIMOTION kernel
● Technology packages (TP)
● User data (units, configuration data, parameters, task configuration)
● IP parameters (IP address, subnet mask, router address)
● DP parameters (PROFIBUS DP address, baud rate)

2.5.3 Operator actions and their impact on user memory

The operations marked with arrows in the figures titled "SIMOTION D410 memory model"
and "Configuration data and system variables in the volatile memory" and their effects on the
user memory are described below.

Download SIMOTION SCOUT

The "Download" command transfers the following data from the Engineering System to the
"volatile data" area:
● User data (units, configuration data, parameters, task configuration)
● Technology packages (TPs)
The IP and DP parameters are furthermore saved to the "non-volatile data" area. The retain
variables are initialized with their start values. This however, depends on the settings in
SIMOTION SCOUT. Volatile data is lost if you shut down the SIMOTION D410 module after
the download.

Copy RAM to ROM

The "Copy RAM to ROM" command is used on the ES to save the following data to the
CompactFlash Card:
● Technology packages and user data (units, configuration data, parameters, task
configuration) of the "volatile data" area
● Actual values are copied to the "volatile data" area, depending on the settings in
SIMOTION SCOUT.

Note
The "Copy RAM to ROM" command does not save the actual values of the retain
variables to the CompactFlash Card: Use the "_savePersistentMemoryData" system
function for this purpose.

D410
34 Commissioning Manual, 05/2009
 Commissioning (hardware)
2.5 User memory concept

Current RAM
If you change the system variable values, these take immediate effect in the current RAM.
New configuration data values are initially stored in the Next memory. Configuration data that
take immediate effect are automatically transferred to the current RAM. Configuration data
that will only become active following a RESTART on the technology object (set the
restartactivation system variable to the ACTIVATE_RESTART value) are only written to the
current RAM once the RESTART has taken place.
To save the configuration data changed online to the offline project, you must first transfer
the content of the current RAM to the RAM using the menu command "Target system" >
"Copy current to RAM".
Once you have done this, the configuration in SCOUT will no longer be consistent with the
configuration in the target device, as a consistency check is performed on the RAM data.
Read the data from the RAM using the menu command "Target system" > "Load" > "Load to
PG" (for configuration data only) to re-establish a consistent system state.
To save the configuration on the CompactFlash Card with protection against power failures,
execute the menu command "Target system" > "Copy RAM to ROM".

Note
The "Copy current to RAM" command does not transfer the values of the system variables to
the RAM memory. This means that it is not possible to execute "Save to memory card (Copy
RAM to ROM)" or "Save in the engineering project (Load to PG)".
In order to ensure that system variable values can also be saved to the engineering project
and memory card, the system variable values must be changed OFFLINE before being
downloaded to the target device and saved.

Startup of SIMOTION D410

The SIMOTION kernel is loaded from the CompactFlash Card to the "volatile data" area
during the startup of SIMOTION D410.
Volatile data is lost if you shut down the SIMOTION D410 module after the download. Data
loaded from the CompactFlash Card at the next restart:
● The technology packages and user data to the "volatile data" area
● IP and DP parameters to the "non-volatile data" area

D410
Commissioning Manual, 05/2009 35
Commissioning (hardware)
2.5 User memory concept

Backup of non-volatile data

You have the following options for backing up non-volatile data on the CompactFlash Card:
● In the user program:
With the "_savePersistentMemoryData" system function, the user program can back up
the non-volatile data content to the CompactFlash Card. This backup prevents the retain
variables and the absolute encoder position from being lost if a component is replaced.
● Using a switch setting (SIMOTION D410 service selector switches) or IT DIAG
For information on this, refer to the section titled Diagnostic data and non-volatile data
(Page 172).
The "_savePersistentMemoryData" function creates a backup copy of the non-volatile data.
The backup copy is saved to the "PMEMORY.XML" backup file in the "USER/SIMOTION"
folder. On system side it is always ensured that a consistent overall image of the non-volatile
data is available at the next restart, even if there is a power failure during backup. An already
existing backup file is renamed to "PMEMORY.BAK" before a new backup file is generated.
If the backup to this new file fails (for example, due to insufficient storage capacity of the
CompactFlash Card), the existing backup file is used in the next attempt to restore the
content of non-volatile data. The backup file is deleted if the new file was successfully
created.

NOTICE
Non-volatile data that are not backed up to the CompactFlash Card will be lost if a spare
part is installed (in the event of a module defect). For example, failing to back up the current
values of the retain variables will result in them being lost and reset to their initial values.
If an absolute encoder overflow occurs after "_savePersistentMemoryData", the actual
position value will no longer be correct once the non-volatile data have been restored. In
this case, homing (absolute encoder adjustment) must be repeated.

With the SCOUT functions "Back up variables" and "Restore variables", you also have the
option of backing up to your PC and restoring data that were changed during operation and
only stored in the runtime system.

D410
36 Commissioning Manual, 05/2009
 Commissioning (hardware)
2.5 User memory concept

Startup and non-volatile data

The table below describes the startup situations which may develop in terms of the non-
volatile data and how to handle such situations.

Table 2- 3 Startup situations with non-volatile data

Situa Initial condition Result

tion
1 Valid contents of non-volatile data. Startup of SIMOTION D410 with the non-volatile data.
The PROFIBUS address in non-volatile data is
therefore valid, for example.
2 Invalid contents in non-volatile data, and neither a backup SIMOTION D410 copies the factory defaults to its non-
file (PMEMORY.XML), nor a backup copy volatile data and restarts using this data. The default
(PMEMORY.BAK) exists. PROFIBUS address is valid in this case, for example.
3 Invalid contents in non-volatile data. A backup file SIMOTION D410 copies the contents of the backup file
(PMEMORY.XML) with valid contents is available. to its non-volatile data and starts using this data.
4 Invalid contents in non-volatile data and in the backup file, SIMOTION D410 copies the factory defaults to its non-
and a backup copy (PMEMORY.BAK) is not available. volatile data and restarts using this data. The default
PROFIBUS address is valid in this case, for example.
5 Invalid contents in non-volatile data and in the backup file, SIMOTION D410 copies the contents of the backup file
and a backup copy (PMEMORY.BAK) with valid contents to its non-volatile data and starts using this data.
is available.

Diagnostics of non-volatile data

Users can determine the status of non-volatile data by reading the diagnostic buffer and the
system variables.
The following message events are entered once in the diagnostics buffer when they occur:

Table 2- 4 Messages of the diagnostics buffer

Entry Meaning To correct or avoid errors

Non-volatile data loaded from file Non-volatile data successfully restored -
(Persistent Data File Loading done) from the backup file to the
CompactFlash Card.
Non-volatile data loaded from the backup file Non-volatile data successfully restored -
(Persistent Data Backup File Loading done) from the backup copy to the
CompactFlash Card.
Error while loading non-volatile data from a Backup file or backup copy could not be Use the
file loaded. "_savePersistentMemoryData"
(Persistent Data File Loading Failure) Possible causes: system function to generate a
backup file with valid contents.
• Backup file or backup copy not
available
• Invalid data in backup file

Refer to the SIMOTION SCOUT Configuration Manual for information about how to read out
the contents of the diagnostic buffer.

D410
Commissioning Manual, 05/2009 37
Commissioning (hardware)
2.5 User memory concept

System variable "device.persistentDataPowerMonitoring.persistentDataState" indicates the

status of non-volatile data after startup:

Table 2- 5 Status of non-volatile data after startup (persistentDataState system variable)

Status Meaning
FROM_RAM (1) Non-volatile data is activated in the SIMOTION device
FROM_FILE (2) Non-volatile data was restored from the backup file
FROM_BACKUP (3) Non-volatile data was restored from the backup copy
INVALID (4) Data in the non-volatile data and in the backup file/backup copy of backup
file are invalid or non-existent/deleted.
The SIMOTION device copied the factory settings to its non-volatile data
and started up using this data.

See also
SIMOTION D410 memory model (Page 31)

D410
38 Commissioning Manual, 05/2009
Configuring SIMOTION D410 3
3.1 Software requirements

SIMOTION SCOUT Engineering System

The SIMOTION SCOUT Engineering System must be installed on your programming device
/ PC in order to commission the SIMOTION D410. Please note the information on the latest
"SIMOTION SCOUT" DVD.
For information on how to install SIMOTION SCOUT on your programming device / PC, refer
to the SIMOTION SCOUT Configuration Manual.

3.2 Inserting SIMOTION D410 into a project

Creating a project and configuring the programming device / PC interface

Proceed as follows in order to create a project in SIMOTION SCOUT and to insert a
SIMOTION D410:
1. Select the "Project > New..." menu.
2. Enter a name for your project in the "New Project" dialog box and confirm your entry with
"OK".
A new folder is generated in the Project Navigator and assigned the name of the project.
3. Double-click "Create new device" in the Project Navigator. The "Create New Device"
dialog box opens. Select D410 from the "CPU type" field and the characteristic of your
module (D410 DP or D410 PN) from the "Variant" field. Confirm with "OK".

Note
For SIMOTION D410 V4.1 with PROFINET, you can choose from
• "D410 PN-V2.1, SINAMICS ...": IRT in accordance with PROFINET standard V2.1
• "D410 PN-V2.2, SINAMICS ...": IRT in accordance with PROFINET standard V2.2

4. The "Properties" dialog box of the (PROFIBUS or PROFINET) interface opens where you
set up the connection to the programming device / PC according to the module
characteristics.
Standardization of PROFINET in accordance with IEC 61158 has resulted in a transition
from version V2.1 to V2.2.
Please note that separate SIMOTION D firmware is available for PN V2.1 and PN V2.2. The
required firmware can be found on the SCOUT DVD, as well as at:
Internet address (http://support.automation.siemens.com/WW/view/en/31045047).
For PN V2.2, you require STEP7 Version V5.4 SP4 (at least).
Mixed operation of PN V2.1 and PN V2.2 synchronization processes is not possible.

D410
Commissioning Manual, 05/2009 39
Configuring SIMOTION D410
3.2 Inserting SIMOTION D410 into a project

Communication with the programming device / PC via PROFIBUS (only for D410 DP)
1. Select the PROFIBUS interface from the "Properties - PROFIBUS/MPI" dialog box and
confirm your selection with "OK".
2. The connection to the programming device / PC is activated automatically and HW Config
opens.

Note
The active state setting of the connection to the programming device / PC is only
visualized in NetPro!

Interconnection with the programming device / PC on PROFINET (only for D410 DN)
The "Properties - Ethernet Interface" dialog box is open.

Figure 3-1 Properties of the Ethernet interface

Program the following parameters in the "Properties - Ethernet Interface" dialog box:
1. Click "New".
The "New Subnet Industrial Ethernet" dialog box opens. Rename the new subnet, or
accept the default name by clicking "OK".
2. Select the new Ethernet subnet which is now displayed in the "Properties - Ethernet
Interface" dialog box.
3. Define your addresses in the "IP address" and "Subnet mask" fields of the "Properties -
Ethernet Interface" dialog box. Change to the "Network node" field and define whether
you are going to use a router and, if yes, enter the router address. Confirm with "OK".

D410
40 Commissioning Manual, 05/2009
 Configuring SIMOTION D410
3.2 Inserting SIMOTION D410 into a project

4. Select the PROFINET interface from the "Properties" dialog box and confirm your
selection with "OK".
5. The connection to the programming device / PC is activated automatically and HW Config
opens.

Note
The active state setting of the connection to the programming device / PC is only
visualized in NetPro!

Representation in HW Config
SIMOTION D410 is represented in HW Config.

Figure 3-2 Image of a SIMOTION D410 PN in HW Config

Additional references
You can find additional information on the subject of going online in SIMOTION Utilities &
Applications. SIMOTION Utilities & Applications is provided as part of the
SIMOTION SCOUT scope of delivery.

D410
Commissioning Manual, 05/2009 41
Configuring SIMOTION D410
3.3 Configuring the PROFIBUS DP interface (only D410 DP)

3.3 Configuring the PROFIBUS DP interface (only D410 DP)

3.3.1 General information about PROFIBUS DP communication

Definition of PROFIBUS DP
PROFIBUS DP is an international, open field bus standard specified in the European field
bus Standard EN 50170 Part 2. PROFIBUS DP is optimized for high-speed, time-sensitive
data transfer at field level.
Components communicating on PROFIBUS DP are classified as master and slave
components.
● Master (active bus node)
Components representing a bus master determine the data traffic on the bus and are
therefore also referred to as active bus nodes.
● Slaves (passive bus nodes)
These devices may only receive, acknowledge and return messages to the master if
requested by the master.
Examples: SINAMICS drives, I/O modules

Note
If a SIMOTION D410 DP is operated as a passive PROFIBUS I-slave, the display,
measuring functions and controller optimization engineering functions will be very slow. If
possible, use the "active I-slave" setting for local commissioning (which does mean that an
equidistance is no longer possible) and for complete commissioning, switch to "passive I-
slave".

Additional references
You will find additional information about PROFIBUS DP in the SIMOTION Communication
System Manual.

D410
42 Commissioning Manual, 05/2009
 Configuring SIMOTION D410
3.3 Configuring the PROFIBUS DP interface (only D410 DP)

3.3.2 Assignment of the PROFIBUS addresses in HW Config

Assigning PROFIBUS addresses

Assign a PROFIBUS address to all devices before you start networking these in order to
enable intercommunication.

Note
All PROFIBUS addresses you assign must be unique on the PROFIBUS subnet.
Information pertaining to the rules of communication on the PROFIBUS subnet is available in
the SIMOTION D410 Manual.

Define the PROFIBUS address separately for each device on your programming device / PC
in HW Config. Certain PROFIBUS DP slaves are equipped with an address switch.

Note
The PROFIBUS addresses set at the devices using these switches must correspond with the
address settings in HW Config.

Recommendation for PROFIBUS addresses

Reserve PROFIBUS address "0" for a service programming device and "1" for a service HMI
device which are connected to the subnet as required.
Recommended PROFIBUS address setting for SIMOTION D410 in case of replacement or
service:
Reserve address "2" for a SIMOTION D410. This prevents redundancy of the addresses
after SIMOTION D410 is installed in the subnet with default settings (for example, when
replacing a SIMOTION D410). Assign addresses higher than "2" to any additional devices on
the subnet.

D410
Commissioning Manual, 05/2009 43
Configuring SIMOTION D410
3.3 Configuring the PROFIBUS DP interface (only D410 DP)

3.3.3 Operating SIMOTION D410 on PROFIBUS DP.

PROFIBUS DP interface (X21)

SIMOTION D410 provides an interface for connecting to PROFIBUS DP. The interface
supports transmission rates up to 12 Mbit/s.
The X21 interface can be operated as a:
● DP slave, isochronous
● DP master, isochronous
● DP slave, not isochronous
● DP master, not isochronous
● MPI interface
Both PROFIBUS DP interfaces are set by default for operation as master at address 2 at a
transmission rate of 1.5 Mbit/s. The PROFIBUS DP network is automatically detected and
generated for this setting.
However, you can select other settings. Such user-specific settings must be configured in
HW Config and NetPro.

Note
Communication with the SINAMICS Integrated of a D410 is always equidistant. Here, the
SIMOTION D410 is the master and the SINAMICS Integrated drive is the slave.

D410
44 Commissioning Manual, 05/2009
 Configuring SIMOTION D410
3.3 Configuring the PROFIBUS DP interface (only D410 DP)

3.3.4 Creating a new PROFIBUS DP subnet

The SIMOTION D410 device is networked using SIMOTION SCOUT. Set up your user-
specific bus parameters for the PROFIBUS interface when you configure the network.

Note
The actions outlined below only need to be taken if you have not selected an interface when
integrating SIMOTION D410 into the project (cf. chapter "Integrating SIMOTION D410 into a
project").
Next, interconnect the programming device / PC using NetPro with the device, see the
chapter "Configuring the programming device / PC interface".

1. Double-click the "D410" entry in the Project Navigator in order to open HW Config.
2. Double-click the DP/MPI interface in the SIMOTION D410 representation in HW Config.
The "Properties - DP/MPI" dialog box opens.
3. Click "Properties" in the "General" tab to open the "PROFIBUS interface DP/MPI" dialog
box.
4. Click "New" to open the "Properties - New PROFIBUS Subnet" dialog box.
5. Name the new subnet, and then enter its properties in the "Network settings" tab, for
example, the transmission rate.
6. Click "OK" to accept the settings.
The new subnet is now displayed in the "Properties - PROFIBUS interface DP/MPI"
dialog box and is ready for being interconnected with the PROFIBUS DP interface.
7. Save and compile the changes.
The PROFIBUS subnet you created is displayed as a graphic object in HW Config.

D410
Commissioning Manual, 05/2009 45
Configuring SIMOTION D410
3.3 Configuring the PROFIBUS DP interface (only D410 DP)

3.3.5 Setting the DP cycle and system cycle clocks

All system clocks for SIMOTION D410 DP are based on the DP cycle of SINAMICS
Integrated, which must be set in HW Config.
In HW Config, double-click the SINAMICS drive at the integrated PROFIBUS. The "DP Slave
Properties" dialog box opens. You can synchronize the DP cycle of SINAMICS Integrated in
the "Isochronous mode" tab.

Table 3- 1 Range of values for SIMOTION D410 DP

DP cycle ≥ 1 ms
Grid 0.125 ms
The PROFIBUS DP interface of the SIMOTION D410 DP supports operation at a DP cycle
time ≥ 1 ms, at a resolution of 0.125 ms. SINAMICS Integrated always runs in isochronous
mode. The cyclic tasks of SIMOTION are therefore always in synchronism with
SINAMICS Integrated.
The set DP cycle of SINAMICS Integrated is displayed as "Bus cycle" in the "System Clocks
- D410..." dialog box in SIMOTION SCOUT. Select the SIMOTION D410 DP in the project
tree, and then select the "Set system clocks" option in the "Target system" > "Expert" menu.
The table below shows the ratios you can set for the system clocks of SIMOTION D410 DP
based on the DP cycle.

Table 3- 2 Possible factors between the system cycle clocks

Servo cycle: Bus cycle IPO cycle: Servo cycle IPO2 cycle: IPO cycle
1 to 4, 8 1 to 6 2 to 64
The minimum servo cycle length that can be set is 2 ms.
If you programmed the PROFIBUS DP interface for operation in isochronous master mode,
you must synchronize its DP cycle with the DP cycle of SINAMICS Integrated in HW Config.
The timebase for the system clocks is generated internally if the DP interface is operated in
isochronous or non-isochronous master mode. SIMOTION D410 does not have to
synchronize itself with an external cycle.
The PROFIBUS DP interface can also be operated in isochronous slave mode. In this
constellation system clocks are based on the clock signals received at the slave interface. A
substitute clock of a duration equivalent to the configured clock is generated internally if the
isochronous slave interface has not received a clock signal.
The clock settings are included in the project download to SIMOTION D410 DP and are
adjusted according to specification.
At a PROFIBUS DP interface operated in isochronous slave mode you can also step down
the clock ratio for synchronization with SINAMICS Integrated. This reduction of the clock
ratio at the isochronous slave interface for synchronization with SINAMICS Integrated allows
the operation of a DP cycle at the slave interface which is equivalent to an integer multiple
SINAMICS Integrated. This reduction can be set up by setting an integer multiple of the
SINAMICS Integrated DP cycle as the DP cycle for the DP interface (X21) in HW Config.
The rule is checked in HW Config.

D410
46 Commissioning Manual, 05/2009
 Configuring SIMOTION D410
3.3 Configuring the PROFIBUS DP interface (only D410 DP)

3.3.6 Rules for SIMOTION D410 DP

Rules for synchronizing the system clocks

You must adhere to the following rules when setting the DP cycle and SINAMICS cycle
clocks:
1. The DP cycle must be an integer multiple of the current controller cycle. Error A01902 (2)
is reported in the drive if this rule is violated.
2. The master application cycle (Tmapc), which corresponds to the servo cycle, must be an
integer multiple of the speed controller cycle. Error A01902 (7) is reported in the drive if
this rule is violated. The smallest-possible T mapc so results from the smallest common
multiple of the DP cycle and the speed controller cycle.
If the master application cycle = 1, this means that the DP cycle is also an integer multiple
of the speed controller cycle.
3. The DP cycle must be an integer multiple of the basic cycles r0110[x] (DRIVE-CLiQ basic
sampling rates). Error A01902 (13) is reported in the drive if this rule is violated.
You can determine parameter r0110[x] using the expert list in SIMOTION SCOUT (select
the "Control_Unit" from "SINAMICS_Integrated" in the Project Navigator, and then open
the "Expert List" by selecting the "Expert" command from the shortcut menu).

Note
In addition to the rules mentioned, also observe the rules outlined below. These rules
apply both to SIMOTION D410 DP and to SIMOTION D410 PN!
An overview of errors reported by the SINAMICS Integrated is provided in the
SINAMICS S Parameter Manual.

Rules for SIMOTION D410 DP

The general rule for SIMOTION D410 specifies that the DP cycle (D410 DP) forms the basic
clock of the cycle system. All cycles longer than this basic clock must be an integer multiple
of the basic clock.
This rule also applies to SINAMICS cycles, if one of the successive cycles is longer than the
basic clock:
● Speed controller p115[1]
● Flow controller p115[2]
● Setpoint channel p115[3]
● Position controller p115[4]
● Positioning p115[5]
● Technology controller (p0115[6])
● Onboard I/O p0799
● Terminal module I/O p4099
The corresponding cycle must be an integer multiple of the basic clock (DP cycle).

D410
Commissioning Manual, 05/2009 47
Configuring SIMOTION D410
3.3 Configuring the PROFIBUS DP interface (only D410 DP)

If any change to the DP cycle violates this rule you must also change the SINAMICS cycles.
In order to change the cycles in the Expert list of SIMOTION SCOUT, select the
"Control_Unit" from "SINAMICS_Integrated" in the Project Navigator, and then open the
"Expert List" by selecting the "Expert" command from the shortcut menu.
Example:
A default value of 4 ms is set at the SINAMICS setpoint channel. If the DP cycle is to be set
to 3 ms, the fact that an integer multiple value is required means that you will need to set
3 ms or 6 ms (for example) for the setpoint channel.

3.3.7 Operating the PROFIBUS interface (X21) as an MPI interface

The X21 interface can also be operated as an MPI interface instead of a PROFIBUS DP
interface. The typical (default) baud rate is 187.5 kBaud. A baud rate of up to 12 MBaud can
be set for communication with other CPUs. It should be noted, however, that a rate of
12 MBaud is not supported by all CPUs (e.g. smaller SIMATIC S7 CPUs).
The following list provides examples of when using MPI (Multi Point Interface) may prove
effective:
● If a PC/programming device is being used with an MPI interface
● If an OP/TP only has an MPI interface (newer devices have PROFIBUS or PROFINET
interfaces)
● If SIMOTION and SIMATIC CPUs are coupled via XSEND/XRECEIVE

Additional references
For more detailed information on MPI in relation to SIMOTION D, refer to the SIMOTION
D4x5 Commissioning and Hardware Installation Manual.
For general information on MPI, refer to the SIMOTION Communication System Manual.

D410
48 Commissioning Manual, 05/2009
 Configuring SIMOTION D410
3.4 Configuring PROFINET (only for D410 PN)

3.4 Configuring PROFINET (only for D410 PN)

3.4.1 General information about PROFINET communication

Overview
PROFINET is an open component-based industrial communication system using Ethernet
(IEC 61158) for distributed automation systems.
The PROFINET interface supports operation of SIMOTION D410 PN as IO controller and/or
as intelligent device.
PROFINET distinguishes between the controller and its assigned devices. Controller and
devices form a PROFINET IO system, comparable to a master-slave system on PROFIBUS.
SIMOTION D410 PN supports the following PROFINET communication methods:
● RT
● IRT
With IRT, a distinction is made between IRT with high flexibility and IRT with high
performance.

Additional references
Additional information pertaining to PROFINET communication is available in the SIMOTION
Communication System Manual.

D410
Commissioning Manual, 05/2009 49
Configuring SIMOTION D410
3.4 Configuring PROFINET (only for D410 PN)

3.4.2 Operating SIMOTION D410 PN on PROFINET

PROFINET interface (port X200, X201)

SIMOTION D410 PN provides a dual-port PROFINET interface (X200 and X201). The
interface supports transmission rates as high as 100 Mbit/s. It can also be operated
isochronous and equidistant. The autocrossing functionality means both crossed and
uncrossed cables can be used
A port has two integrated LEDs, a green LED and an orange LED. The following LED states
can occur:

Table 3- 3 LED states of the LED on the port of the PROFINET interface

LEDs Status Meaning

Green LED off No connection to an active partner exists.
LED on A connection to an active partner exists.
Orange LED off No data is being exchanged.
LED flashing Data is being exchanged over the port.
The LED flashes irregularly depending on the data
exchange,
i.e. the LED does not flash with a specific frequency.

Properties of PROFINET on SIMOTION D410 PN

SIMOTION D410 PN on PROFINET supports the following properties
● PROFINET specifies operation at 100 Mbit/s.
● The minimum send cycle is 0.5 ms, and the maximum is 4 ms.
● The setting accuracy for the send cycle is 125 μs.
The use of cycle reduction is possible for the D410. Detailed information concerning cycle
reduction is available in the SIMOTION Communication System Manual.

D410
50 Commissioning Manual, 05/2009
 Configuring SIMOTION D410
3.4 Configuring PROFINET (only for D410 PN)

Initializing SIMOTION D410

SIMOTION D410 must be assigned an IP address and a device name in order to enable
downloading of the project. This is performed online on the SIMOTION device using the so-
called "node initialization". To perform the node initialization, the programming device / PC
must be connected with the SIMOTION D410 PN. SIMOTION SCOUT must be open.
1. Click the "Reachable nodes" button on the SIMOTION SCOUT toolbar. The newly
opened "Reachable nodes" window shows the SIMOTION D410 device as "bus node"
with the address 0.0.0.0 and a name.
2. Select the "Bus node" entry and open the "Edit Ethernet node..." function in the context
menu. The "Edit Ethernet Node" dialog box opens.
3. Enter a name in the "Device name" field.
4. Click the "Assign name" button and confirm the displayed message with "OK."
5. Enter an appropriate IP address for the Ethernet subnet in the "IP address" field.
6. Enter an appropriate subnet mask for the Ethernet subnet in the "Subnet mask" field.
7. If required, enter the data for a network gateway.
8. Click "Assign IP Configuration". The entered data is assigned to the SIMOTION device.
9. Confirm the displayed message with "OK".
10.Click the "Close" button to close the "Edit Ethernet Node" window.
11.Click the "Update" button in the "Reachable Nodes" window. The SIMOTION D410
device is now displayed as "Geraet_01" with the type designation of the device and the
assigned IP address.
12.Click the "Close" button to close the "Reachable Nodes" window.

Reading the IP address

To fetch the IP address, the SIMOTION SCOUT must be in online mode.
The IP address of SIMOTION D410 PN can be viewed in SIMOTION SCOUT as follows:
1. Establish an online connection to the SIMOTION D410.
2. Right-click the SIMOTION device in SIMOTION SCOUT.
3. Select the "Target device > Device Diagnostics" command from the shortcut menu.
The address is displayed as follows, for example:

Figure 3-3 Reading the IP address

D410
Commissioning Manual, 05/2009 51
Configuring SIMOTION D410
3.4 Configuring PROFINET (only for D410 PN)

As an alternative, you can determine the IP address as follows:

● By accessing "Project" > "Reachable nodes" in SIMOTION SCOUT or
● By calling "Target system" > "Ethernet" > "Edit Ethernet node..." in HW Config and
browsing to "Online reachable nodes".

Note
The MAC address is available on the rating plate on the front panel of the module.

Changing the IP address, device name, network gateway

Set the IP address, the subnet mask and, if necessary, the data for a gateway (router
address) in order to enable communication over PROFINET with SIMOTION D410.
If you want to change the properties in the PROFINET subnet, you can change them using
the "Reachable nodes" function in SIMOTION SCOUT or in the HW Config.
The "Reachable nodes" function in SIMOTION SCOUT is described in the section titled
"Initializing SIMOTION D410".
To configure and transfer the properties in HW Config, proceed as follows:
1. Open your project in SIMOTION SCOUT.
2. Open HW Config. Double-click the PROFINET interface to open the "Properties" dialog
box.
3. Click "Properties". The "Properties - Ethernet Interface" dialog box opens.
4. Click "New". The "New Subnet Industrial Ethernet" dialog box opens. Rename the new
subnet, or accept the default name by clicking "OK".
5. Select the new Ethernet subnet which is now displayed in the "Properties - Ethernet
Interface" dialog box.
6. Enter the required addresses in the "IP address" and "Subnet mask" fields of the
"Properties - Ethernet interface" dialog. In the "Gateway" field, select whether or not you
wish to use a router and, if you do, enter the router address. Confirm with "OK".
7. Close the "Properties" dialog by clicking "OK".
8. Save and compile the modified hardware configuration.
9. Download the new hardware configuration on PROFINET to your SIMOTION D410.

D410
52 Commissioning Manual, 05/2009
 Configuring SIMOTION D410
3.4 Configuring PROFINET (only for D410 PN)

3.4.3 Setting the send cycles and system clocks

Prerequisite
The SIMOTION system clocks (servo/IPO/IPO2) are based on the SINAMICS Integrated DP
cycle or the PROFINET send cycle, depending on the PROFINET real-time class and the
type of data transfer. The cycle clock source can be generated "internally" by the
SIMOTION D410; otherwise, it is obtained "externally" from the clock signals received at the
PROFINET interface.

Table 3- 4 Basis for the SIMOTION system clocks/cycle clock source

Real-time class in which the Data transfer Basis for the SIMOTION system Cycle clock source
PROFINET interface is clocks
operated DP cycle PROFINET
(Integrated) send cycle 1)
RT communication X Internal
IRT communication X Internal
(high flexibility)
IRT communication The D410 is the SYNC master X Internal
(high performance) in the I/O system;
synchronized data traffic takes
place 2)
The D410 is the SYNC slave X External
in the I/O system; Internal
synchronized data traffic takes (as substitute value)
place 2)
No synchronized data traffic 2) X Internal
1)If the PROFINET send cycle forms the basis for the SIMOTION system clocks, the SINAMICS Integrated DP cycle and
the servo cycle are equal.
2) Synchronized data traffic, e.g. by means of:
- Controller-controller slave-to-slave communication
- I/O device in separate I/O system

Setting the DP cycle in HW Config

Set the DP cycle of SINAMICS Integrated in HW Config. In HW Config, double-click the
SINAMICS drive at the integrated PROFIBUS. The "DP Slave Properties" dialog box opens.
You can synchronize the DP cycle of SINAMICS Integrated in the "Isochronous mode" tab.

Table 3- 5 Range of values for SIMOTION D410 PN

DP cycle ≥ 1 ms
Grid 0.125 ms
SINAMICS Integrated always operates in isochronous mode. The cyclic tasks of SIMOTION
are therefore always in synchronism with SINAMICS Integrated.

D410
Commissioning Manual, 05/2009 53
Configuring SIMOTION D410
3.4 Configuring PROFINET (only for D410 PN)

Setting the send cycle in HW Config

The PROFINET send cycle always forms the basis for the SIMOTION cycles if the "IRT
communication" real-time class is set and data are being transferred. Set the send cycle in
the "Domain Management" dialog box of HW Config. Open this dialog by selecting the "Edit"
> "PROFINET IO" > "Domain Management ..." command in HW Config.
The set PROFINET send cycle is displayed in SIMOTION SCOUT as "Bus cycle" in the
"System Clocks - D410..." dialog box. Select the SIMOTION D410 PN in the project tree, and
then select the "Set system clocks" option in the "Target system" > "Expert" menu.
The PROFINET interface supports send cycle times within the range 0.5 ms < send cycle <
4 ms. The maximum configurable resolution is 0.125 ms.
The table below shows which ratios you can set for the system clocks of SIMOTION D410
PN based on the DP cycle of SINAMICS Integrated or on the PROFINET send cycle.

Table 3- 6 Possible factors for setting the system clocks

Servo cycle: DP cycle/send cycle IPO cycle: Servo cycle IPO2 cycle: IPO cycle
1 to 4, 8 1 to 6 2 to 64
The minimum servo cycle length that can be set is 2 ms.

3.4.4 Rules for SIMOTION D410 PN

Rules for using the PROFINET send cycle

If the PROFINET send cycle is the basis for the cycles, ensure that the DP cycle of the
SINAMICS Integrated and the servo cycle are equal.
The timebase for the system clocks are generated internally if the PROFINET interface is not
operated with RT class IRT with high performance or IRT with high performance is set, but
no data is being transferred. This even applies if the PROFINET interface with real-time
class "IRT with high performance" is being operated as the synchronization master and data
are being transferred. The SIMOTION device does not have to synchronize itself with an
external cycle.
The basis for system clocks is derived from the clock signals received at the PROFINET
interface if this interface is operated as synchronization slave with RT class IRT with high
performance. The SIMOTION device does not have to synchronize itself with this external
clock.
A substitute clock of a duration equivalent to the configured clock is generated internally if
the PROFINET interface has not received a clock signal.
The clock settings are included in the project download to the SIMOTION device and are
adjusted according to specification.

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3.4 Configuring PROFINET (only for D410 PN)

Rules for SIMOTION D410 PN

As a general rule for SIMOTION D410, the send cycle (D410 PN) forms the basic clock of
the task system. All cycles longer than this basic clock must be an integer multiple of the
basic clock.
This rule also applies to SINAMICS cycles, if one of the successive cycles is longer than the
basic clock:
● Speed controller p115[1]
● Flow controller p115[2]
● Setpoint channel p115[3]
● Position controller p115[4]
● Positioning p115[5]
● Technology controller (p0115[6])
● Onboard I/O p0799
● Terminal module I/O p4099
The corresponding cycle must be an integer multiple of the basic clock.
If any change to the send cycle violates this rule you must also change the SINAMICS
cycles. In order to change the cycles in the Expert list of SIMOTION SCOUT, select the
"Control_Unit" from "SINAMICS_Integrated" in the Project Navigator, and then open the
"Expert List" by selecting the "Expert" command from the shortcut menu.
Example:
A default value of 4 ms is set at the SINAMICS setpoint channel. If the send cycle is to be
set to 3 ms, the fact that an integer multiple value is required means that you will need to set
3 ms or 6 ms (for example) for the setpoint channel.

Note
An overview of errors reported by the SINAMICS Integrated is provided in the SINAMICS S
Parameter Manual.

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4.1 Overview of commissioning

Prerequisites
Prerequisites for commissioning the SIMOTION D410:
● The system has been connected and wired.
● The SIMOTION D410 is switched on and started up (STOP state).
● SIMOTION SCOUT (with integrated STARTER) has been installed and started on the
programming device / PC.
● Communication between the SIMOTION D410 and the programming device / PC is
configured.
● You have created a project and installed a SIMOTION D410 in the project.

Commissioning steps
This chapter describes the steps in configuring the plant and testing the configured stand-
alone drive and axis. The steps in commissioning are listed below in the order as
recommended:
1. Configuring SINAMICS Integrated
The integrated drive SINAMICS Integrated can be configured in offline or online mode:
– For information on offline configuration, refer to the section titled Configuring the
system in offline mode (Page 59).
All components and their order number must be known for the offline configuration.
– For information on online configuration, refer to the section titled Configuring the
system in online mode (Page 73).
The configuration in online mode allows you to upload all information of the connected
DRIVE-CLiQ components to your user project.
2. For information on testing a configured drive, refer to the section titled Testing the
configured drive using the drive control panel (Page 86).
3. For information on creating an axis, refer to the section titled Creating an axis (Page 88).
4. For information on testing a configured axis, refer to the section titled Testing the
configured axis using the axis control panel (Page 90).
5. For information on integrating an additional encoder (optional), refer to the section titled
Integrating additional encoders (optional) (Page 92).
6. For information on configuring drive-related I/Os, refer to the section titled Configuring
drive-related I/Os (Page 95).
7. For information on optimizing the drive and controller, refer to the section titled Optimizing
the drive and controller (Page 118).

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Observe the corresponding references.

This chapter also contains additional configuration information, e.g. for vector drives,
Safety Integrated, etc.

Downloading projects/Copying from RAM to ROM

Please note the following behavior concerning SIMOTION SCOUT's online functions:

Icon Function Effect

Downloading the project to the target Downloads the programs to the
system SIMOTION device as well as the
configuration for the SINAMICS
Integrated.
Downloading the CPU/drive unit to the The configuration is only downloaded to
target device the device selected in the project tree
(which means that the function needs to
be performed separately for each D410
and SINAMICS Integrated).
Downloading the CPU/drive unit to the The unit configuration is downloaded to
programming device the programming device selected in the
project tree (which means that the
function needs to be performed
separately for each D410 and SINAMICS
Integrated).
Copying RAM to ROM Copying from RAM to ROM is only
performed for the device selected in the
project tree (which means that the
function needs to be performed
separately for each D410 and SINAMICS
Integrated).

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4.2 Configuring the system in offline mode

4.2 Configuring the system in offline mode

4.2.1 Overview

Introduction
You can decouple commissioning of the drive from the system engineering. This enables
you to configure the system offline (in the office), e.g. configure the drive and create a virtual
axis. In this way, a SIMOTION project can be developed to the point that there is a basic
project specification (including a program). You can then download the finished project to the
SIMOTION D410. Any errors that were made during configuration can be cleaned up during
online operation (using a desired/actual comparison of the SINAMICS topology).

Prerequisites for offline configuration

● All components and their order number must be known for the offline configuration.
● You created a project in SIMOTION SCOUT and added a SIMOTION D410 to the project.
● You configured the communication between the programming device / PC and
SIMOTION D410.

Procedure
Steps involved in offline configuring:
● Calling the Drive Wizard
● Configuring components
● Aligning the HW Config
● Downloading the project to SIMOTION D410, by means of the following options:
– Downloading to the target system
– Downloading to the CompactFlash Card
– Downloading incl. sources and additional data

Note
During offline configuration, you can configure Terminal Modules such as the TM15, for
example.

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4.2.2 Accessing the drive wizard

Integrated drive
SIMOTION D410 features an integrated SINAMICS S120 drive (control unit) which is
automatically included when you insert the SIMOTION D410 in the Project Navigator. The
integrated drive must be operated in equidistant, isochronous mode using PROFIdrive-
compliant message frame types.
The Drive Wizard for the integrated STARTER in SIMOTION SCOUT is available for the
purpose of configuring the integrated drive and its associated modules (SINAMICS S120
Power Module, for example).

Note
Take note of all the necessary safety instructions and rules governing connections, which
can be found in the latest SINAMICS S120 documentation on the SIMOTION SCOUT DVD.

Procedure
Select the "SINAMICS_Integrated" > "Configure drive unit" drive element in the Project
Navigator to open the Drive Wizard.
You can configure the following components:
● Power unit (e.g. SINAMICS S120 PM340 power module)
● Motor
● Encoder

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4.2.3 Configuring the components

Procedure

Note
An overview of permissible configurations, quantity structures, and DRIVE-CLiQ topologies
can be found in the SINAMICS S120 Commissioning Manual.
Failure to comply with the rules listed in this manual will result in errors that are not output
until the download is performed, rather than at configuration stage.

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1. Enter a drive name in the "Drive Properties" dialog box and select the drive type (servo or
vector).

Figure 4-1 Drive properties

2. You can select the function modules and the control mode in the "Open-loop Control
Structure" dialog box.

Figure 4-2 Control-loop structure

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3. In the "Power Unit" dialog, use the order number to select your power unit from the list.

Figure 4-3 Selecting a power unit

4. Select in the "Power unit supplementary data" dialog the component added to the power
unit.
The selection of the component depends on the construction type.
– D410 DP with D410 PN: The SIMOTION D410 snapped directly onto the PM340
power module
– CUA31 or CUA32: The CUA3x snapped directly onto the PM340. The D410 is
mounted individually on a mounting plate. The D410 is connected to the CUA3x using
a DRIVE-CLiQ cable.

Figure 4-4 Selecting the mounting type

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5. In the next dialog, select the motor and, where applicable, the motor type:
– Either by selecting a standard motor from the list
– Or by entering the motor data,
– Or by automatically identifying the motor (motor with DRIVE-CLiQ interface)

Figure 4-5 Selecting a motor

Note
A motor with a DRIVE-CLiQ interface is directly connected to the Power Module. This
means that the motor sensor and temperature signals as well as the electronic type
plate data, such as the unique identification number and rated data (voltage, current
and torque), are transferred directly to the Control Unit. These motors feature
integrated encoder evaluation.

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4.2 Configuring the system in offline mode

6. Select a motor holding brake (if installed).

Figure 4-6 Selecting a motor holding brake

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7. Select the encoder order number in the "Encoder selection by motor order number" if
using a motor that is not equipped with a DRIVE-CLiQ interface.

Figure 4-7 Selecting the encoder order number

Note
If required, you can configure a second or third encoder in the "Encoder" dialog. You can
transmit a maximum of 2 encoder values to SIMOTION via the axis message frame. In
the case of motors with a DRIVE-CLiQ interface, the motor encoder is identified
automatically. It is not necessary to enter encoder data in such cases (the box for
selecting Encoder 1 is grayed out and, therefore, inactive).

8. In the next dialog, select the PROFIdrive message frame.

The following message frames can be used, for example, in conjunction with SINAMICS
S120 drives:
– SIEMENS message frame 105, PSD-10/10: Dynamic life sign, torque reduction,
encoder data for an encoder, dynamic drive control (DSC)
– SIEMENS message frame 106, PSD-11/15: Dynamic life sign, torque reduction,
encoder data for two encoders, dynamic drive control (DSC)

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Advantages of DSC (compared to a position controller in the control unit):

● Higher Kv (position controller gain) possible
● Larger bandwidth and consequently higher dynamic response
● Shorter response times for disturbance characteristic
The DSC dynamic drive control can be used for the SIEMENS message frame 105, PSD-
10/10 and SIEMENS message frame 106, PSD-11/15. The DSC is activated by default for
the configuration of the axis using the Drive Wizard.
Detailed information for the various message frame types can be found in the Motion
Control, TO Axis Electric / Hydraulic, External Encoder Function Manual.

Figure 4-8 Selecting the PROFIdrive message frame

A "Summary" dialog box opens with a listing of all settings after you completed all settings in
the Drive Wizard. You can now choose to activate your settings by clicking "Finish", or to
return to the component configuration for further editing.

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Figure 4-9 Finishing the drive

The configured drive is displayed in the Project Navigator. An overview of your configured
SINAMICS components is available in the "SINAMICS_Integrated" > "Topology" dialog.
In the next step, HW Config alignment must be carried out for the configured drive
component.

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4.2.4 Aligning HW Config

After having completed the configuration of all SINAMICS components, align the data with
HW Config.
Proceed as follows:
1. Open the "Configuration" entry in the "SINAMICS_Integrated" tree in the Project
Navigator. The "SINAMICS_Integrated - Configuration" dialog box opens with a list of
configured drive objects.
The question marks in the I/O address fields indicate that you have not yet defined the
I/O addresses of the drive objects.

Figure 4-10 Configuration prior to HW Config alignment

Note
Drive objects without address must be positioned at the end of the list, for otherwise it is
not possible to align HW Config ("Align with HW Config"). To move the order of a drive
object without address, select the associated drive object and move it downwards using
the arrow key.

2. Click "Align with HW Config" in order to assign addresses to the configured components.
The addresses are written to HW Config.

Figure 4-11 Configuration after HW Config alignment

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Note
If the message frames for drive objects (Control Unit, Drive, Terminal Modules, etc.)
change, you must perform HW Config alignment again. The addresses are not updated
automatically.

4.2.5 Downloading a project created offline to the target system

Procedure
1. Save and compile the project.
2. Go online to SIMOTION D410.
3. Select the "Download project to target system" command to download the project to
SIMOTION D410. The connection to SINAMICS Integrated is activated automatically.
4. Execute the "Copy RAM to ROM ..." function on the D410 and SINAMICS Integrated.
This saves the project on the CompactFlash Card, meaning that it does not need to be
reloaded after switching off and on again.
Drive programming and commissioning is completed. You can now test the drive using the
drive control panel.

Note
Online access to SINAMICS Integrated is not possible if HW Config is not loaded at the time
you initially connect to the target system.
Download the data to HW Config in order to enable online access to SINAMICS Integrated.

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4.2.6 Loading a project created offline to the CompactFlash Card

Procedure
You can use a card reader to write the entire project to the CompactFlash Card, even in
offline mode. In SIMOTION SCOUT, you can call the "Download to the file system" function
in the context menu of the SIMOTION device.
1. Save and compile the project.
2. Switch off the SIMOTION D410.
3. Remove the CompactFlash Card and insert it in a card adapter. The card adapter must
be connected to a programming device/PC.
4. In the SCOUT project, select the SIMOTION D410 device that you want to download to
the CompactFlash Card.
5. Click "Download to the file system" in the context menu. A dialog box opens.
6. In the "Download to the file system" dialog, select the "Save normal" option and click the
"Select target" button.
7. Select the target drive.
8. Confirm your entries with "OK". The data will be written to the CompactFlash Card.
9. Remove the CF card and insert it in the D410 slot.
10.Switch on the D410. The D410 starts with the downloaded project.

Note
The components' firmware is automatically updated, depending on the FW version on the
SINAMICS components and on the CompactFlash Card. During an FW update, please
take note of the messages and alarms in the SIMOTION SCOUT detail window. An FW
update on the SIMOTION D410 is signaled by the RDY LED flashing yellow, while on the
DRIVE-CLiQ components (TM, SMC, etc.) it is signaled by the RDY LED flashing
red/green.
• FW update running: RDY LED flashes slowly (0.5 Hz)
• FW update complete: RDY LED flashes quickly (2 Hz)
Go offline once all the FW updates are complete, then switch the 24 V supply for the
upgraded initialization components off/on.

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4.2.7 Downloading a project, including sources and additional data

Overview
In the case of SIMOTION V4.1 SP2 and higher, it is possible to download additional data
(e.g. sources) to the target device when saving a project to the CompactFlash Card or
downloading to the D410. These data are required for:
● Online object comparison (e.g. additional properties)
● Various detailed comparisons (e.g. ST source file comparison)
● Synchronization with online objects.
In order to be able to load a project's sources and additional data to the programming device,
this must be specified in the project under "Options" > "Settings" > "CPU download" > "Save
supplementary data on the target device".
If the sources and additional data have been saved on the CF card, the option described in
the sections that follow becomes available.

Project comparison
You intend to carry out servicing work on a commissioned system and have placed a project
on your PC/programming device. This project is not consistent with the project on the D410
in the system. In order to analyze the differences, perform an object comparison via "Start
object comparison".
You have the following options in terms of re-establishing consistency:
● In the object comparison, it is possible to establish consistency in sources and technology
objects on an object-granular basis.
● Consistency can be established for the whole Control Unit by loading the
CompactFlash Card via "Target system" > "Load" > "Load to PG".

Additional references
Detailed information on downloading data to the target device can be found in the
SIMOTION Basic Functions Function Manual.

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4.3 Configuring the system in online mode

4.3 Configuring the system in online mode

4.3.1 Overview

Introduction
You can configure the plant in online mode after having completed its wiring. You can use
the "Automatic configuration" function to load the SINAMICS components connected via
DRIVE-CLiQ to your programming device/PC. However, this functionality is only available
within the initial commissioning phase.

Note
Components without DRIVE-CLiQ connection must be edited in offline mode. You may need
to edit DRIVE-CLiQ components which were detected in the course of automatic
configuration (for example, adding encoder data if using SMC modules).

Prerequisites for online configuration

● You created a project in SIMOTION SCOUT and added a SIMOTION D410 to the project.
● You configured the communication between the the programming device / PC and
SIMOTION D410.
● Your system has been installed and wired.

Procedure
Steps involved in offline configuring:
● Establishing the online connection
● Starting automatic configuration
● Editing SINAMICS components
● Aligning HW Config
● Downloading the project to SIMOTION D410

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4.3.2 Establishing the online connection

The procedure for an initial commissioning follows.
To perform an online configuration, you must establish an online connection to the
SIMOTION D410. In this case, no connection can yet be established to SINAMICS
Integrated. An appropriate message is output. Once the hardware configuration has been
loaded into the target device, an online connection to the SINAMICS Integrated is
established automatically. Proceed as follows:
1. Save and compile the project.
2. Establish an online connection.
3. Select the SIMOTION D410 device in the Project Navigator.

Note
Ensure that you use the "Download to the target device" function rather than "Download
to the target system". An automatic commissioning is no longer possible after "Download
to the target system". If "Download to the target system" has been used, "Restore factory
settings" must be performed on the drive element in order to start an automatic
commissioning afterwards.

4. Use the "Download to the target device" function to download the SIMOTION D410
device into the target device. The connection to SINAMICS Integrated is activated
automatically.
You can now run the automatic configuration at SINAMICS Integrated. For details, refer to
the section titled Starting automatic configuration (Page 75).

Additional references
Further information about establishing an online connection to the programming device / PC
is contained in the following documentation:
● SIMOTION SCOUT Configuration Manual
● SIMOTION SCOUT Online Help
● In the FAQ for SIMOTION Utilities & Applications
SIMOTION Utilities & Applications is provided as part of the SIMOTION SCOUT scope of
delivery.

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4.3.3 Starting automatic configuration

Prerequisites
● You activated the online connection to SINAMICS Integrated.
● You have not yet configured any drive objects.
● The default settings of SINAMICS Integrated were activated.
Right-click SINAMICS Integrated" and select the "Target device" > "Restore defaults"
command from the shortcut menu in SIMOTION SCOUT in order to restore the factory
settings.

Procedure
1. Open the "Automatic Configuration" dialog box by selecting the "SINAMICS_Integrated >
Automatic configuration" command in the Project Navigator.

Figure 4-12 Starting automatic configuration

2. Click "Start automatic configuration".

The "Drive Object Type" dialog box opens.

Figure 4-13 Selecting the drive object type

3. Select either a servo or a vector drive object.

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4.3 Configuring the system in online mode

4. Click "Close" to complete automatic configuration.

The configuration data is uploaded (Upload to PG) automatically as soon as automatic
commissioning is completed.

Note
The components' firmware is automatically updated, depending on the FW version on the
SINAMICS components and on the CompactFlash Card. During an FW update, please
take note of the messages and alarms in the SIMOTION SCOUT detail window. An FW
update on the SIMOTION D410 is signaled by the RDY LED flashing yellow, while on the
DRIVE-CLiQ components (TM, SMC, etc.) it is signaled by the RDY LED flashing
red/green.
• FW update running: RDY LED flashes slowly (0.5 Hz)
• FW update complete: RDY LED flashes quickly (2 Hz)
Go offline once all the FW updates are complete, then switch the 24 V supply for the
upgraded initialization components off/on.

5. Click "Close" to exit automatic configuration.

Figure 4-14 Automatic configuration completed

6. Execute the "Copy RAM to ROM ..." function on the D410 and SINAMICS Integrated.
This saves the project on the CompactFlash Card, meaning that it does not need to be
reloaded after switching off and on again.

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Result
The DRIVE-CLiQ components loaded to the user project by means of automatic
configuration are displayed in the project navigator.

Figure 4-15 Project Navigator with the downloaded DRIVE-CLiQ components

You must then define the axis message frame and, if necessary, edit the
SINAMICS components (e.g. components without a DRIVE-CLiQ interface, such as an
encoder connected to the onboard encoder interface).

See also
Editing SINAMICS components (Page 78)

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4.3.4 Editing SINAMICS components

Prerequisites
● You have uploaded all connected DRIVE-CLiQ components to the user project.
● You shut down the connection to the target system (offline mode).

Procedure
Now go ahead and adapt your components to suit the application.
Run the wizards for all DRIVE-CLiQ components to be adapted and (if necessary) configure
the motor, encoder, and process data message frames (PROFIdrive message frame type).
This procedure corresponds with the description in chapter "Configuring the system in offline
mode".
The amount of editing work involved involved depends on the components used. For
example, in the case of a motor with a DRIVE-CLiQ interface, the motor and encoder type
are identified automatically.

Note
If only the message frame type needs to be selected for the edit, you can also set this in the
"Configuration" screen form of the drive element. HW Config alignment is then required.

See also
Configuring the system in offline mode (Page 59)

4.3.5 Aligning HW Config

The procedure you need to follow for carrying out HW Config alignment is described in the
section titled Aligning HW Config (Page 69).

4.3.6 Download the project to SIMOTION D410

After having aligned HW Config, download the configuration to SINAMICS Integrated.
1. Save and compile the project.
2. Go online to SIMOTION D410.
3. Select the "Download project to target system" command to download the project to
SIMOTION D410. The connection to SINAMICS Integrated is activated automatically.
4. Execute the "Copy RAM to ROM ..." function on the D410 and SINAMICS Integrated.
This saves the project on the CompactFlash Card, meaning that it does not need to be
reloaded after switching off and on again.
Drive programming and commissioning is completed. You can now test the drive using the
drive control panel.

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4.4 Additional information on configuring the SINAMICS Integrated

4.4 Additional information on configuring the SINAMICS Integrated

4.4.1 Settings for DP slave properties

Settings in HW Config
Depending on the cycle clock ratios (bus cycle, servo cycle) and the drive used, it may be
necessary to adapt the properties of the DP slave (SINAMICS Integrated) on the PROFIBUS
Integrated.
Open HW Config. Double-clicking the SINAMICS Integrated enables you to display and, if
required, change the properties of the DP slave on the "Isochronous Mode" tab. Possible
changes include:
● Synchronizing the drive to the equidistant DP cycle
The SINAMICS Integrated on a D410 can only be operated isochronously. For this
reason, this option cannot be deactivated.
● Changing the master application cycle (TMAPC)
The master application cycle must always be the same as the servo cycle set (setting is
made in "Context Menu of the D410" > "Set System Cycle Clocks" in the project tree).
Provided that the DP cycle is not scaled down to the servo cycle, the master application
cycle will always be the same as the DP cycle.

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● Changing the DP cycle (TDP)

It may be necessary to adapt the DP cycle, depending on the requirements placed on the
quantity structures and response times. (Also refer to the SIMOTION Basic Functions
Function Manual).
Additionally, the minimum DP cycle for vector drives depends on the speed controller
cycle, which in turn depends on the type of device used. This means that, particularly in
the case of vector drives, the DP cycle must be checked and changed if necessary (refer
to the section titled Using vector drives (Page 81)).

Note
After TDP has been changed on the PROFIBUS master, the drive system must be
switched on (POWER ON).

● Changing the TI and TO times

A change to TI/TO is required in the case of vector drives, for example, where the TI/TO
time for devices in chassis format depends on the type of device used.

Figure 4-16 HW Config - settings

Additional references
For additional information, please refer to the
● SINAMICS S120 Function Manual
● SIMOTION Basic Functions Function Manual

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4.4.2 Using vector drives

Changes need to be made in HW Config when using SINAMICS vector drives. This means,
for example, that the TI/TO time and the minimum DP cycle for drives in chassis format
depend on the type of device used.
Therefore, we recommend adopting the following procedure when using a vector drive with
the SIMOTION D410.

Procedure
1. Open HW Config. Double-clicking the SINAMICS Integrated allows you to change the
properties of the DP slave on the "Isochronous Mode" tab.
2. For TI = TO =, enter an integer multiple of the current controller cycle. For the current
controller cycle, use 375 µs for devices in chassis format and 500 µs for the PM340.
3. For TDP, enter an integer multiple of the speed controller cycle. For a drive on the
SINAMICS Integrated, TDP must be >= TO in all cases.
4. Enter TMAPC = TDP (exception: You are working with cycle reduction; i.e. servo cycle > DP
cycle).
5. Use the "Target system" > "Load" > "Project to target system" menu command to
download the parameterization to the SIMOTION D410.
6. Once the download has been successfully completed, you should determine the drive's
current and speed controller cycles from the expert list for the drive, as cycles are set in
the SINAMICS drive unit after a project has been downloaded.
p115[0] Current controller cycle
p115[1] Speed controller cycle
7. If the current and speed controller cycles from the expert list are different to the cycles
used in steps 2 and 3, you will have to repeat the steps using the most up-to-date values
for the current and speed controller cycles.

Table 4- 1 Vector drive

Example Settings
Vector drive (chassis format) TI = TO = At least 375 µs
Current controller cycle = 375 µs TDP = 1.5 ms (... or 3 ms, or 6 ms ....)
Speed controller cycle = 1.5 ms TMAPC = TDP
For the SIMOTION D410, a minimum of 2 ms is recommended for
the servo cycle.
For this reason, set TMAPC = TDP = 3 ms or higher.
Vector drive (PM340) TI = TO = At least 500 µs
Current controller cycle = 500 µs TDP = 2 ms (... or 4 ms, 8 ms ....)
Speed controller cycle = 2 ms TMAPC = TDP

Note
Vector drives in chassis format can also be operated with a current controller sampling time
of 400 µs (among other settings).

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In a SIMOTION context, the following should be considered:

● A current controller sampling time of 400 µs is only possible if a CU310/CU320 is used for
control purposes, and if this is not operated isochronously via PROFIBUS/PROFINET on
SIMOTION D.
● If the bus is operated isochronously, only cycles with an integer multiple of 125 µs are
possible (instead of 400 µs, so 375 µs or 500 µs, for example).
● The PROFIBUS Integrated of a D410 is always isochronous. This means that a current
controller sampling time of 400 µs is not possible.
● With CU parameter p0092 = 1, the sampling times are preassigned in a way that enables
isochronous operation with a control system.

Additional references
Additional information on quantity structures and cycle clock settings can be found in the
SINAMICS S120 Function Manual.

4.4.3 Setting the time of day

Time of day on SIMOTION (real-time clock)

SIMOTION D410 features an integrated real-time clock. All events on a module (alarms,
messages, etc.) are "time-stamped" on the basis of the time shown by this real-time clock.
To set the clock from SIMOTION SCOUT, select the D410 in the project tree, followed by
"Target System" > "Set Time".
Alternatively, the clock can be set using the "rtc" system function block.

SINAMICS system runtime (operating hours counter)

For SINAMICS S120 Control Units and the SINAMICS Integrated on a SIMOTION D410,
faults and warnings are "time-stamped" on the basis of the system runtime. This means that
events are recorded in terms of operating hours rather than in terms of a particular time of
day or date.
System runtime
The entire system runtime is displayed in CU parameter p2114.
● p2114[0] indicates the system runtime in milliseconds. The value is reset once
86,400,000 ms (24 hours) have passed.
● p2114[1] indicates the system runtime in days.
The counter value is saved when the power is switched off. After the drive unit has been
switched on, the counter continues to run with the value stored when the power was last
switched off.
As a result, the drive displays the system runtime from 00:00:00 on 01/01/1992 in both the
alarm window in SIMOTION SCOUT and the diagnostic buffer for entries.
If faults and warnings need to be "time-stamped" on the basis of a time of day, "Time-stamp
operating hours" needs to be changed to "Time-stamp UTC format" as described below.

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4.4 Additional information on configuring the SINAMICS Integrated

Setting the time of day on SINAMICS

Changing to UTC format
CU parameter p3100 can be used to change the time-stamping mode from operating hours
to UTC format.
● p3100 = 0: Time stamp based on operating hours
● p3100 = 1: Time stamp based on UTC format (UTC: Universal Time Coordinates)
According to its definition, UTC time begins at 00:00:00 on 01/01/1970 and is expressed in
days and milliseconds.
Displaying the current UTC time in the drive system
p3102[0]: Milliseconds
p3102[1]: Days
SIMOTION can transfer the time of day to the drive using a PING mechanism. This is only
possible, however, if the SIMOTION format for the time of day (RTC, Real-Time Clock) is
converted to UTC format. To compensate for deviations between the SIMOTION and
SINAMICS clocks, the time of day must be reset on a regular basis (e.g. hourly).
When doing this, please note the following:
● "Time/date to be set" is after "Time/date on SINAMICS": Time and date are tracked on
SINAMICS.
● "Time/date to be set" is before "Time/date on SINAMICS": The SINAMICS clock must be
stopped until the SINAMICS "Time/date" has caught up with "Time/date to be set".
Adopting this procedure ensures that the sequence of SINAMICS diagnostic buffer entries
remains the same, even if the time of day is reset.

Additional references
For more information on this topic, refer to the Online Help. There is also a sample program
in SIMOTION Utilities & Applications. SIMOTION Utilities & Applications is provided as part
of the SIMOTION SCOUT scope of delivery.

4.4.4 SINAMICS diagnostic buffer

The SINAMICS Integrated diagnostic buffer can be displayed in SIMOTION SCOUT for
SIMOTION version V4.1 SP2 and higher.
To do this, select the SINAMICS Integrated in the project tree, followed by "Target System" >
"Device Diagnostics".
In addition, the SINAMICS diagnostic buffer entries are displayed in the D410 device
diagnostics. Here, all D410 diagnostic buffer entries are displayed first, followed by those for
the SINAMICS Integrated. The start of the SINAMICS Integrated diagnostic buffer entries is
indicated by the following entry:
>>>>>> Start of SINAMICS Integrated diagnostic buffer, station address = x <<<<<<
You also have the option of viewing the SIMOTION D410 and SINAMICS Integrated
diagnostic buffers via IT DIAG.

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4.4 Additional information on configuring the SINAMICS Integrated

4.4.5 Acyclic communication with the drive

Overview
PROFIdrive drive units are supplied with control signals and setpoints by the controller and
return status signals and actual values. These signals are normally transferred cyclically (i.e.
continuously) between the controller and the drive.
For SINAMICS S120, configure the axis message frames for data exchange (see
Configuring the system in offline mode (Page 59)).
In addition to cyclic data exchange, PROFIdrive drive units feature an acyclic communication
channel. In particular, this is used for reading and writing drive parameters (e.g. error codes,
warnings, controller parameters, motor data, etc.).
As a result, data can be transferred on an "acyclic" as opposed to "cyclic" basis when
required. Acyclic reading and writing of parameters for PROFIdrive drives is based on the
DP V1 services "read data set" and "write data set".
The acyclic DP V1 services are transferred while cyclic communication is taking place via
PROFIBUS or PROFINET. The PROFIdrive profile specifies precisely how these basic
mechanisms are used for read/write access to parameters of a PROFIdrive-compliant drive.
The PROFIdrive standard states that "pipelining" of jobs on PROFIdrive drives is not
supported. This means:
● Only one "write/read data set" operation can be performed at any one time on a drive unit
(e.g. SINAMICS S120 Control Unit or SINAMICS Integrated of a SIMOTION D).
● However, if several PROFIdrive drive units are connected to a controller, a job can be
processed for each of these drive units at the same time. In this case, the maximum total
number of jobs will depend on the control system. (for SIMOTION, this is a maximum of 8
jobs at a time).
In the case of acyclic data exchange with SINAMICS drives, this means you will have to
coordinate the write/read jobs with one another (buffer management). An interlock must be
set in order to prevent the application or different parts of the application from sending
overlapping jobs to the same PROFIdrive drive unit.

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Additional references
Additional information on how to use DP V1 services can be found in the SIMOTION
Communication System Manual.
SIMOTION Utilities & Applications also has a DP V1 library with functions that are capable of
undertaking coordination tasks commonly associated with acyclic communication. The library
does not coordinate access to the system
functions (_ReadRecord/_WriteRecord/_readDriveParameter/_writeDriveParameter/, etc.),
but instead expands the range of functions available for frequently requested tasks, such as
time-of-day synchronization.
SIMOTION Utilities & Applications is provided as part of the SIMOTION SCOUT scope of
delivery.
The functions available in the DP V1 library include:
● Buffer management (coordination of a number of parallel DP V1 services)
● StartUp (function for coordinating startup of the SINAMICS drive with SIMOTION)
● TimeSync (time-of-day synchronization: Transfer of SIMOTION time of day to the
SINAMICS drives)
● SetActIn (activating/deactivating objects in SIMOTION and SINAMICS)
● RwnPar (reading and writing of drive parameters)
● GetFault (reading errors and warnings from the drive)

4.4.6 Control properties and performance features

With a few exceptions, the integrated drive control of the SIMOTION D410 has the same
control properties and performance features as the SINAMICS S120 CU310 Control Unit.
We would particularly like to draw your attention to the following points:
● The SINAMICS Integrated does not feature a basic positioner (EPOS). EPOS
functionality is provided by SIMOTION technology functions.
● It is not possible to connect a BOP20 Basic Operator Panel to the SIMOTION D410.

NOTICE
With the SIMOTION D410, the drive must not be reset using the expert list of the
Control Unit in parameter p972 (drive unit reset). Doing so will lead to a SIMOTION
D410 malfunction, at which the RDY, RUN/STOP, and SF/BF LEDs will glow red. In this
fault situation, the SIMOTION D410 must be switched off and on again.

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4.5 Testing the configured drive using the drive control panel

4.5 Testing the configured drive using the drive control panel
You can test a configured drive using the drive control panel where you can define a speed
value by setting a scaling factor. The drive control panel should only be used for
commissioning.

Prerequisites
● The project has been downloaded to the target system.
● SIMOTION SCOUT is in online mode.
● The drive is not in use by a current project in RUN mode.

WARNING
Make sure that the drive test does not pose any risk to persons.

Testing the drive using the drive control panel

1. Change to the configured drive in the Project Navigator and open the drive control panel
by selecting "Commissioning" > "Control panel". The drive control panel opens in the
detail view.

Figure 4-17 Drive control panel

2. To display the control range and axis diagnostics, click the "Show/hide control range" and
"Show/hide diagnostics area" buttons.

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4.5 Testing the configured drive using the drive control panel

3. Click "Assume control priority". The "Assume Control Priority" dialog box opens.

Figure 4-18 Assuming control priority

4. Read the notes and confirm these with "Accept".

5. Activate the "Enables" checkbox to enable the drive.
All enables are now set with the exception of ON/OFF1.
6. Enter your setpoint in the input field and shift the scaling to 0% as safety setting.

Figure 4-19 Entering the setpoint

7. Click the "Drive On" button. The "Enable is set" LED lights up in green color. The drive
starts moving as you move the slider towards the right side. The current motor speed is
displayed in "Actual".
8. Click "Drive Off" to stop the drive after you completed the test.
9. Deactivate the enable signal and click "Give up control priority" to deactivate controlling at
the programming device / PC.

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4.6 Creating an axis

4.6 Creating an axis

Overview
The SIMOTION SCOUT Engineering System can be used to insert axes in your project.
1. Start a session of the Axis Wizard in order to configure the axes and interconnect these
with the SINAMICS Integrated drive.
2. Following this, select "SINAMICS_Integrated" in the project navigator and deactivate the
"Connect Online" option in the context menu. This only downloads the project to the
SIMOTION D410.
Provided you have completed configuration at the drive end, we strongly recommend that
you deactivate the SINAMICS Integrated so that work can be carried out more quickly.
3. Insert your user programs into the project.
4. Compile the project and download it to SIMOTION D410.

Note
Note that only one real axis can be used on a SIMOTION D410.

Creating an axis using the Axis Wizard

Axes are integrated as technology objects (TOs) in SIMOTION. Create the axis with
corresponding settings under the SIMOTION D410 and then interconnect it with
SINAMICS Integrated.
How to insert an axis:
1. Double-click the "Axis > Insert Axis" entry in the Project Navigator.
This opens the Axis Wizard.

Figure 4-20 Inserting an axis

2. Name the axis TO in the "Insert Axis" dialog box, select the technology and save and
confirm your entries with "OK".

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4.6 Creating an axis

3. Continue the Axis Configuration Wizard and enter your system settings until the "Drive
Assignment" dialog box opens.
4. Click "Align SINAMICS devices..." to open the "Device Alignment" dialog box.
5. Select the drive to be aligned (SINAMICS Integrated) in this dialog box and then click
"Align".
The addresses are assigned to the configured components and entered in HW Config.

Note
This device alignment is only necessary if not already done in the course of drive
commissioning. This shows that no interconnectable drive of the SINAMICS Integrated
type is displayed.

Figure 4-21 Assigning a drive

6. Select a drive unit in the "Drive Assignment" dialog box. Normally only a SINAMICS
Integrated drive will be offered. Exception: A D410 has been configured, for example,
with a hydraulic axis. You have already defined the message frame type in the previous
steps and so only need to accept it. To do this, click the "Accept data from the drive"
button to transfer the SINAMICS Integrated values in the axis wizards.
7. Select the encoder from the "Encoder Assignment" dialog box and then adapt its
properties. Click the "Accept data from the drive" button to transfer the SINAMICS
Integrated values in the axis wizards.

Note
For motors with DRIVE-CLiQ interface, a "Accept data from the drive" automatically
transfers the determined drive and encoder data (e.g. encoder type). This requires that
the data has already been fetched from the attached devices. Namely, an offline
configuration has already been used to establish an online connection or an online
configuration has been performed.

8. Complete the Axis Wizard session.

The configured axis is displayed in the Project Navigator. After downloading it to the target
system, you can test the axis using the axis control panel.

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4.7 Testing the configured axis using the axis control panel

4.7 Testing the configured axis using the axis control panel

Axis control panel

The axis control panel is used exclusively for testing axes.
You can use the axis control panel for the following tasks, for example:
● Testing all system components before the axis movement is controlled by a program
● Testing as to whether you can move the axis using the axis control panel if a fault is
detected
● Moving the axes for tuning purposes (controller tuning)
● Executing active homing
● Setting and resetting the axis enable signal
● Testing a connected axis

Prerequisites
Prerequisites for testing:
● The project has been downloaded to the target system.
● SIMOTION SCOUT is in online mode.
● The mode selector switch is at STOPU:
Recommendation: Operate the mode selector switch via SIMOTION SCOUT only
("Target system" > "Control operating mode").

Axis test
1. Open the "AXES" folder in the Project Navigator and click the "Control panel" entry below
the axis (for example, Axis_1).
The axis control panel is displayed.

Figure 4-22 Axis control panel

2. To display the control range and axis diagnostics, click the "Show/hide control range" and
"Show/hide diagnostics area" buttons.

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4.7 Testing the configured axis using the axis control panel

3. Click "Assume control priority".

Confirm the next message with "Yes" in order to set the controller to STOPU state.

Note
You must assume control priority in order to move the axis using the programming device
/ PC. You can always stop the axis by pressing the SPACEBAR.

4. The "Assume Control Priority" dialog box opens.

Figure 4-23 Assuming control priority

5. Read the notes and confirm these with "Accept".

6. To enable the axis, click "Set/reset enables".
Confirm the "Set Axis Enable" dialog box with "OK".
7. To traverse the axis, click the "Position-controlled traversing of the axis" button.
8. Enter a velocity.
9. Click "OK" to confirm the displayed "Set Axis Enable" window.
10.Click the "Start motion" button to traverse the axis. You can monitor the traversing motion
at the velocity and position entries. Use the "Stop motion" button to stop the axis motion
again.
11.Click "Set/reset enables" to remove the enable. Confirm the "Reset Axis Enable" dialog
box with "OK".
12.Click "Give up control priority" to deactivate axis control at the programming device / PC.
You can no longer control the axis at the programming device / PC if this state is set.

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4.8 Integrating additional encoders (optional)

4.8 Integrating additional encoders (optional)

4.8.1 General information

SIMOTION D410 provides the option of integrating and configuring further encoders in
addition to the motor encoder.
The following encoders are supported for operation with SIMOTION D410:
● Encoders with DRIVE-CLiQ interface
● Encoders connected to SIMOTION D410 via the onboard encoder interface (X23)
● Encoders connected to SIMOTION D410 using an SMx module
● Encoders connected using PROFIBUS or PROFINET

Prerequisite
SIMOTION D410 features a DRIVE-CLiQ X100 interface for connecting an encoder. An
additional encoder can be connected, for example, using the on-board encoder interface
(X23).

Configuring two encoders

The second encoder can be used at SIMOTION D410, for example, as:
● A machine encoder (second encoder = direct measuring system)
A direct measuring system measures the technological parameter directly, i.e. without the
interference of influences such as torsion, backlash, slip, etc.
This may enable improved smoothing of mechanical influences. If you use a second
encoder as a machine encoder, you can work with the encoder changeover function.
● An external encoder
You can use the external encoder for recording an external master value, for example.

Configuring tasks
Encoders connected via PROFIBUS or PROFINET are configured for SIMOTION only.
Encoders connected using SMx, DRIVE-CLiQ or the onboard encoder interface, must be
configured for the drive (SINAMICS Integrated) and SIMOTION.
Configure this additional encoder on drive side (SINAMICS Integrated) and in SIMOTION:
1. For information on configuring a second encoder on the SINAMICS drive, refer to the
section titled Configuring a second encoder on the SINAMICS drive (Page 93).
2. For information on configuring a second encoder for a TO axis in SIMOTION, refer to the
section titled Configuring a second encoder for a TO axis in SIMOTION (Page 94).
3. For information on configuring an external encoder in SIMOTION, refer to the section
titled Configuring external encoders in SIMOTION (Page 94).
These steps in configuring are described in the next section.

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4.8.2 Configuring a second encoder on the SINAMICS drive

Prerequisite
You configured the drive with an encoder in the Drive Wizard.

Procedure
1. Open the "Configuration" entry of your drive by selecting the "SINAMICS_Integrated" >
Drives" command in the Project Navigator. The "Configuration" dialog box opens.
2. Click "Configure DDS..." to open the Drive Wizard.
3. Step the Drive Wizard forward until the "SINAMICS_Integrated - Encoders" dialog box
opens.
4. Select the "Encoder 2" option in this dialog. The dialog box displays a list of available
encoders.
5. Select for "encoder evaluation":
– SMx for the encoder connection using DRIVE-CLiQ / SMx
– D410 DP (or D410 PN) for the encoder connection using the onboard encoder
interface

Figure 4-24 Selecting the internal encoder interface

6. Select the connected encoder and confirm with "Continue".

7. In the "Configuration - SINAMICS Integrated - PROFIBUS (drive) Process Data
Exchange" dialog box, select a message frame that supports the transmission of two
encoder values (e.g. SIEMENS message frame 106, PSD-11/15).
8. Click "Continue" to complete the Drive Wizard.
9. Click "Transfer to HW Config" in the "SINAMICS_Integrated - Configuration" dialog box in
order to align HW Config.
The drive is configured for operation with two encoders.

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4.8 Integrating additional encoders (optional)

4.8.3 Configuring a second encoder for a TO axis in SIMOTION

Prerequisites
● You have configured a drive with two encoders as specified in Section Configuring a
second encoder on the SINAMICS drive (Page 93).
● The set message frame supports the transmission of two encoder values.
● The configuration of the PROFIdrive message frames has been aligned with HW Config.

Procedure
1. In the Project Navigator, open the Axis Wizard of the axis.
2. In the "Drive Assignment" dialog box, select the same message frame that you have
already used to configure the second encoder on the SINAMICS Integrated or on the
"SINAMICS Integrated > Configuration" screen form (e.g. SIEMENS message frame 106,
PZD-11/15).
3. Complete the Axis Wizard session.
You have configured a second encoder for an axis TO in SIMOTION. The set message
frame type now allows you to use the value of a second encoder.

4.8.4 Configuring external encoders in SIMOTION

An external encoder allows you to determine the position values of a drive without an
associated axis.

Prerequisite
Encoder using PROFIBUS/PROFINET
You have used HW Config to configure an encoder on the PROFIBUS or PROFINET. Two
different possibilities are available for the encoder connection:
● Encoder interconnection using a PROFIdrive message frame (encoder with message
frame type 81)
● Encoder interface as a direct value in the I/O area
Detailed information can be found in the SIMOTION TO Axis, Electric / Hydraulic, External
Encoder Function Manual
Encoder on the drive
You have created a drive with two encoders and the corresponding axis. A
PROFIdrive message frame, which supports the transfer of 2 encoder values, must be
configured for the axis. The second encoder value should be used as the "external encoder".
This procedure is described below.

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Procedure
1. Open the wizard for configuring an external encoder by selecting the "External Encoders"
> "Insert external encoder" folder in the Project Navigator.
2. Assign a name in the "Inserting an external encoder" screen form and, if required, enter
the author and version.
3. Execute the wizard for the encoder configuration and enter the appropriate values in the
screen forms.
The external encoder is configured and uses the second value, which is transferred by
means of the selected PROFIdrive message frame.

Additional references
Detailed information for the external encoder is contained in the SIMOTION SCOUT TO
Axis, Electric/Hydraulic, External Encoder Function Manual.

4.9 Configuring drive-related I/Os

4.9.1 Onboard I/Os and terminal modules configuration overview

Using SINAMICS I/Os by SIMOTION

Drive-related I/Os assigned to SINAMICS can be used either completely or partially by
SIMOTION. Examples here are the use of terminal modules (TMs) or onboard I/Os of the
D410. To allow the I/Os to be used by SIMOTION, the input and output data must be
transferred using message frames. This message frame configuration is used to represent
the I/Os in the logical address space of SIMOTION and so can be used by a SIMOTION
application. The BICO interconnections on the drive specify which I/Os are represented on
the message frame.
These BICO interconnections can be:
● Freely defined (free message frame configuration; message frame extension).
● Permanently defined (standard message frames, e.g. message frame 39x; axis message
frames). . .)
● Configuration dependent (TM15/TM17 High Feature).
The access to the message frame for SIMOTION D410 is made using I/O variables or
input/output addresses. Depending how the I/Os are to be used, various configuration
possibilities are appropriate:

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4.9 Configuring drive-related I/Os

Table 4- 2 Use of I/Os by SIMOTION, overview

Configuration Description Applications Supported I/Os

(drive objects)
Use of message frame The 39x message frames can be This is the preferred solution in cases • Onboard I/Os on
39x used by SIMOTION to access where, for example, all SIMOTION the D410
the onboard I/Os. I/Os are to be used. Use of: • Onboard I/Os on
• Onboard DI/DO CU310 (no high-
speed outputs for
• High-speed outputs for output
output cams)
cams
• Global probes
Free message frame For the TM15/TM17 High Use of TM15 and TM17 High Feature • TM15
configuration with Feature, when the module is for: • TM17 High
P915/P916 created, an automatic • High-speed DI/DO Feature
(TM15/TM17 High interconnection to a "free
• Outputs of output cam
Feature special case) message frame with P915/P916"
is made. This means TMs are • Probe inputs
available exclusively for
SIMOTION.
Free message frame Dedicated message frame for Preferred solution when I/Os are to • Onboard I/Os on
configuration by means the data transmission are be divided between SIMOTION and the D410
of BICO assigned to the associated drive SINAMICS and a module view is • Onboard I/Os on
objects. The "free message preferred. The message frame, the CU310
frame configuration using BICO", for example, is created on a drive • TM15 DI/DO
message frame 999, is used for object (for example, on a TM or a • TM31
the data transmission here. Control Unit).
• TM41
Expanding a message For the data transmission of the This is the preferred solution in cases • Onboard I/Os on
frame I/O data, existing message where I/Os are to be divided between the D410
frames are extended with the SIMOTION and SINAMICS and, • Onboard I/Os on
process status data (PSD). for example, an axis view is the CU310
These additional PSDs must preferable. (Drive-related I/Os are • TM15 DI/DO
then be interconnected using appended to each axis message
• TM31
BICO. frame.)
• TM41

Note
The module hardware for the TM15 and TM15 DI/DO is identical. A distinction is only made
by the addition of the component in the SIMOTION SCOUT project navigator using "Inserting
input/output component".
Further information about the TM15 and TM17 High Feature is contained in the TM15 and
TM17 High Feature Commissioning Manual.

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Note
The "free message frame configuration using BICO" and the "message frame extension"
allow you to use inputs/outputs channel-granular by SIMOTION or SINAMICS.
For message frame 39x, however, all onboard terminals are interconnected automatically to
message frame 39x using BICO interconnections and so available only for SIMOTION. The
following is true:
• All onboard I/Os configured as a digital output for the drive are available for SIMOTION
only, i.e. they can no longer be used by SINAMICS.
• Digital inputs can be used by SIMOTION and SINAMICS.

4.9.2 Use of message frame 39x

The following section describes the configuration of the onboard I/Os of a SIMOTION D410.
The configuration of the onboard I/Os of a CU310 connected to a SIMOTION controller is
performed similarly. With the exception of the "high-speed output cams / DOs", the same
functionality is available for a CU310 as the D410.

Functionality of the 390, 391 and 392 message frames

The onboard I/Os of the D410 assigned to SINAMICS can be used by SIMOTION with the
39x message frames. This functionality is available as of SIMOTION V4.1, SP1. If a
message frame 39x is set, however, all the onboard I/Os are interconnected automatically to
this message frame 39x using BICO interconnections and so available for SIMOTION. All
onboard I/Os of a Control Unit that are parameterized as a digital output are available for
SIMOTION only. Digital inputs can be used by both SIMOTION and SINAMICS.
In addition to the use of the onboard I/Os, the 39x message frame permits the use of:
● High-speed outputs for output cams and high-speed digital outputs (DO)
● "Global" measuring inputs
● The control and status word of the control unit (CU_STW, CU_ZSW)
Depending on the selected 39x message frame, various functionalities can be used with
SIMOTION D.

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Table 4- 3 Functionality of the 390, 391 and 392 message frames, overview

Message frame Functionality available on the DI/DO of the D410

390 • CU_STW, CU_ZSW
• I/O access to the DIs and DOs
• Maximum of four high-speed output cams / DOs
391 • CU_STW, CU_ZSW
• I/O access to the DIs and DOs
• Maximum of four high-speed output cams / DOs
• Maximum of two inputs for measuring inputs (global measuring inputs)
392 • CU_STW, CU_ZSW
• I/O access to the DIs and DOs
• Maximum of four high-speed output cams / DOs
• Maximum of three inputs for measuring inputs (global measuring inputs)

Because the same terminals are used, the maximum "high-speed output cams / DOs"
quantity framework reduces by the number of used inputs for measuring inputs.
The configuration of local measuring inputs does not require the configuration of message
frame 39x.

Message frame 39x configuration

The following requirements must be satisfied:
● A SCOUT project has been created
● The D410 has been created
● A SINAMICS Integrated drive has been configured
Proceed as follows:
1. In the Project Navigator, double-click the "Configuration" entry under "SINAMICS
Integrated". In the view, the "PROFIdrive message frame" tab is displayed in the
"SINAMICS Integrated - Configuration" dialog.
2. Select the message frame type (SIEMENS message frame 390, 391 or 392) for the
control unit.
3. Click the "Transfer to HW Config" button to transfer the message frame data to hardware
configuration.
A message frame 39x is configured for the D410 control unit. The address area of the
message frame is displayed in "SINAMICS_Integrated – Configuration" dialog. The 39x
message frame configuration automatically makes the BICO interconnections for the DI and
DI/DO which are then available for SIMOTION.

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Figure 4-25 Message frame 39x configuration

Use of the onboard I/O by SIMOTION

Message frame 390 transfers the control and status word of the Control Unit in PZD1 and
the status of the onboard inputs/outputs in PZD2.
For the 391 and 392 message frames, additional control and status information for the global
measuring inputs is transferred. The content of these PSD3 to PSD15 is used exclusively by
the measuring input technology object.

Table 4- 4 D410 assignment of the addresses: Control/status word and onboard I/Os

PSD Logical hardware address and bit number: Input Output

PSD1 Start address message frame 39x + 0 CU_ZSW CU_STW
PSD2 Start address message frame 39x + 2, bit 0 DI 0 –
Start address message frame 39x + 2, bit 1 DI 1 –
Start address message frame 39x + 2, bit 2 DI 2 –
Start address message frame 39x + 2, bit 3 DI 3 –
Start address message frame 39x + 3, bit 0 DI 8 DO 8
Start address message frame 39x + 3, bit 1 DI 9 DO 9
Start address message frame 39x + 3, bit 2 DI 10 DO 10
Start address message frame 39x + 3, bit 3 DI 11 DO 11
PSD3 Start address message frame 39x + 4 Used internal for global measuring –
inputs
(only for message frame 391, 392)
PSD4-7 Start address message frame 39x + +6 Used internal for global measuring –
inputs 1 to 2
(only for message frame 391, 392)
PSD8-15 Start address message frame 39x + +10 Used internal for global measuring –
input 3
(only for message frame 392)
To allow access by the I/Os to the individual PSDs, I/O variables must be created in
SIMOTION. The input and output addresses displayed on the "PROFIdrive message frame"
tab in the "SINAMICS Integrated - Configuration" dialog are required for this purpose.
The following figure shows an example of I/Os created in SCOUT: In this example, the start
address of the 390 message frame for the input and output data is each 276.

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Figure 4-26 Example: Access to message frame 390 using I/O variables.

Configuring DI/DO as input or output

When a DI/DO is to be used as digital input or digital output, interconnection screen forms
can be used for configuring.
Proceed as follows:
1. Double-click the "Inputs/outputs" entry below the SINAMICS_Integrated > Control Unit in
the Project Navigator.
2. Click the "Bidirectional digital inputs/outputs" tab.
3. In this tab, configure the required inputs or outputs.

Figure 4-27 Configuring DI/DOs as input or output

The configuration can also be set channel-granular on the p728 parameter using the expert
list of the control unit.

Note
When the 39x message frames are used, a HW Config must always be performed after
changes have been made to onboard I/O-relevant parameters. "Download to the target
system" must then be used to download the changed configuration data into the target
device. The matching is always made only for the associated selected control unit and not
project-global.

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4.9.3 Free message frame configuring with P915/P916 (only TM15/TM17 High Feature)
The TM15 and TM17 High Feature Terminal Modules are connected to the Control Unit via
the DRIVE-CLiQ interface. This assigns the terminal modules to the SINAMICS. When a
TM15 or TM17 High Feature is added to SIMOTION SCOUT, an automatic interconnection
to a "free message frame with P915/P916" is made. There are no other interconnection
options for the TM15 (does not apply to the TM15 DI/DO) or TM17 High Feature.
The structure and the length of the message frame depends on the configured properties of
the inputs and outputs. The I/O channels can be parameterized as digital input, digital
output, input for measuring input or output for output cam.
The automatic interconnection of the message frame means the functionality of the modules
can only be used by SIMOTION and is controlled from the SIMOTION user program using
input/output addresses or I/O variables. A drive-side configuring using BICO / DCC
SINAMICS is not possible.

Additional references
Additional information about this topic is available in the following documents:
● To configure TM15 and TM17 High Feature, refer to the SIMOTION TM15 and TM17
High Feature Commissioning Manual.
● To configure output cams and measuring inputs, refer to the SIMOTION Motion Control
Output Cams and Measuring Inputs Function Manual.
● For I/O processing with the TM15 and TM17 High Feature (timing, classification in the
task system), refer to the SIMOTION SCOUT Basic Functions Function Manual.

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4.9.4 Configuring free message frames by means of BICO

Overview
When "configuring free message frames by means of BICO", dedicated message frames for
data transfer are assigned to the associated drive objects (e.g. Terminal Modules). Message
frame type: Configuring free message frames by means of BICO (message frame 999)
In order to enable SIMOTION to access the SINAMICS drive signals, e.g. I/Os, they must be
interconnected to the message frame on SINAMICS using BICO. The "free message frame
configuring using" is a preferred solution when I/Os are to be divided channel-granular
between SIMOTION and SINAMICS and a module view is preferred.

Table 4- 5 Drive object: Maximum number of PSDs

Drive object Maximum number of PZD items for configuring

PROFIdrive message frames
Input data Output data
(from the SIMOTION D (from the SIMOTION D
viewpoint) viewpoint)
TM15 DI/DO 5 5
TM31 5 5
TM41 19 16
Control Unit (CU) 15 5

Free message frame configuring using the TM31 as example

The example describes the interconnection of a signal to the TM31 connected to a
SIMOTION D410.
Steps in configuring user-specific message frames using BICO:
● Configuring a user-specific message frame
● Interconnecting the message frame for TM31
● Create I/O variables in SIMOTION SCOUT

Prerequisite
You have already created a project and configured a drive.

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Configuring a user-specific message frame

1. Double-click "Insert I/O component" under "SINAMICS_Integrated" in the project
navigator, and then select the "TM31" Terminal Module from the "Drive objects type" field
in the dialog that appears.
2. Enter a name for the module to be inserted and confirm your entry with OK.
3. Double-click "Configuration" under "SINAMICS_Integrated" in the project navigator to
open the "PROFIdrive Message Frame" screen form.
"Free message frame configuration with BICO" (message frame 999) is set for the
inserted TM31. Insert the number of PSDs (Process Status Data) for I/O data. You must
adhere to the maximum possible number of PZD items for the various drive objects (see
previous table). A TM31, for example, supports a maximum of 5 PZD items in both the
send and receive direction.
4. For the purposes of this example, enter the value 3 in the "Length" column under "Input
data" or "Output data".

Figure 4-28 Inserting a specific number of PSDs for the I/O data.

5. Click "Transfer to HW Config" in order to transfer the data to HW Config and to read the
address space of the I/O data.

Note
Before the matching, all drive objects without input/output addresses ("---..---") must be
moved behind the objects with valid input/output addresses or those still to be matched
("???..???").

The icons in the status column show the following information:

The message frame is configured differently in HW Config. You must match with HW
Config.
You are using a predefined standard message frame or free BICO interconnection.
You are using an altered standard message frame, which you have extended to include
additional data.
You are using a message frame for which one of the two message frame lengths is too long.
The drive object cannot process this entry.

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Figure 4-29 Reading the I/O address space

You can now transfer data from the TM31 to SIMOTION (PROFIdrive send direction) or
receive data from there (PROFIdrive receive direction).

Interconnecting the message frame for TM31

The next section describes how you can transfer signals from the TM31 to SIMOTION
(PROFIBUS send direction).
1. Double-click the "PROFIBUS" entry in the "Communication" dialog of the TM31 you
created. The corresponding dialog box opens.
2. Switch to the "PROFIBUS send direction" tab.

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3. Select the source for process data word 1 (PZD1), indicated by a blue icon. Under
"TM31", select "More interconnections..." followed by "r4022 - CO/BO: TM31 digital inputs
status".

Figure 4-30 Selecting the PSD

4. Now interconnect analog inputs AI 0 and AI 1 in the same way (r4055[0] and r4055[1],
current value in percent; 100% = 4000 hex).

Figure 4-31 Interconnecting the TM31 digital and analog inputs

How to transfer a signal from SIMOTION to TM31 (PROFIBUS receive direction):

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1. Double-click the "PROFIBUS" entry in the "Communication" dialog of the TM31 you
created. The corresponding dialog box opens.
2. Switch to the "PROFIBUS receive direction" tab.
3. For PZD1, click the icon for bit-by-by representation and interconnect the individual bits
with p4038 (DO 8) to p4041 (DO 11), as well as p4030 (DO 0) and p4031 (DO 1).
Interconnect analog outputs AO 0 and AO 1 with PZD2 and PZD3 (p4071[0] and
p4071[1]).

Figure 4-32 Interconnecting the TM31 digital and analog outputs

Creating an I/O variable in SIMOTION

In order to access the TM31 signals, you must create I/O variables in SIMOTION. For this
purpose, you require the input or output addresses for the TM31 message frame in the
"PROFIdrive Message Frame" screen form. This allows you to assign a complete word, a
byte, or a single bit to the variables.
1. In the project navigator, double-click "I/O" at the SIMOTION D410 entry you created.
The symbol browser opens
2. Enter a name for the I/O variable.
3. Enter an I/O address, e.g.
"PI277.0" - This enables you to access PZD1, bit 0 of the configured message frame.
"PI276.0" - This enables you to access PZD1, bit 8 of the configured message frame.
SIMOTION can now access the signal.
The PROFIdrive profile specifies that the process status data (PSD) is defined as a 16-bit
value. When determining the I/O address, it must be noted that the low-order byte of the
SIMOTION I/O variable is assigned to the high-order PZD bits of the message frame, and
vice versa:

Table 4- 6 Byte representation/PZD representation assignment

I/O address Byte 276 Byte 277

Bytes represented in 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
bit format
PSD in bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
representation
In the example, the I/Os have the following addresses:

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DI 0 to 7 Addresses PI 277.0 to PI 277.7

DI/DO 8 to 11 Addresses PI 276.0 to PI 276.3 (if DI/DO has been parameterized as DI)
AI 0 Address PIW 278
AI 1 Address PIW 280

DI/DO 8 to 11 Addresses PQ 276.0 to PQ 276.3 (if DI/DO has been parameterized as

DO)
AO 0 Address PQW 278
AO 1 Address PQW 280

4.9.5 Expanding a message frame

Extending a message frame involves extending existing standard message frames (e.g. axis
message frames) to include additional process data (PZD). These additional PSDs are then
interconnected using BICO (e.g. to an actual speed value or to the status of a digital input).
A message frame extension is then the preferred variant when I/Os are to be distributed
between SIMOTION and SINAMICS and, for example, an axis view is preferred (drive-
related I/O should be appended to each axis message frame).
Proceed as follows:
1. Insert a drive using the Drive Wizard and make a selection for process data exchange,
such as "Standard message frame 103".
2. Double-click "Configuration" below "SINAMICS_Integrated" in the project navigator in
order to open the "PROFIdrive message frame" tab.
The tab contains the default length of I/O data for the drive you inserted. As the
addresses of I/O data have not yet been transferred to HW Config the default entry "???"
is set.
3. Select the row of the object of which you want to expand the message frame.

Figure 4-33 PROFIdrive message frame

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4. Click "Add line" and select the "Message frame expansion" option in the menu shown.
A new line which contains the message frame expansion is inserted below the current
line.
5. Enter the "length" for the number of PSDs by which the message frame is to be extended
in the Input data and Output data columns.

Note
Before the matching, all drive objects without input/output addresses ("---..---") must be
moved behind the objects with valid input/output addresses or those still to be matched
("???..???").

The icons in the status column represent the following information:

The message frame is configured differently in HW Config. You must perform alignment
with HW Config.
You are using a predefined standard message frame or free BICO interconnection.
You are using an altered standard message frame, which you have extended to include
additional data.
You are using a message frame for which one of the two message frame lengths is too
long. The drive object cannot process this entry.
6. Click the "Transfer to HW Config" button to transfer the changes to HW Config.
A red check mark will be placed in the line to indicate that a standard message frame to
which changes have been made is being used. The I/O address data is entered after its
transfer to HW Config.
7. Change to the configured drive and double-click the "PROFIBUS" entry in
"Communication".

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8. Deactivate the "Hide inactive interconnections" to display all the PZD items for the
message frame.
The send and receive data (at least 16) are displayed. The first PSDs are assigned the
standard message frame by default and cannot be changed.
9. Interconnect the PSDs (at the end of the PSD list) that you have added with the required
signals by means of BICO.

Figure 4-34 Example: Interconnection of the onboard DI in the PROFIBUS send direction

Note
A warning message is not output if you interconnect more PSDs than were set in the
additional PSDs. Note that a SERVO drive object supports a maximum of 16 PSD
setpoints and 19 PSD actual values. Each VECTOR drive object supports a maximum of
32 PSD setpoints.

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4.9.6 Using high-speed outputs for output cams on D410

Using high-speed outputs for output cams / DOs with D410

Output cams are defined as being the position-dependent output of switching signals. The
TO output cam and TO cam track technology objects control the output of the output cam for
SIMOTION.
The onboard digital outputs of the SIMOTION D410 can be used as an output for the output
cam or a high-speed output with write access to the user program. In order to be able to use
the high-speed outputs, one of the 39x message frames must be created.

Note
If I/O data is transferred using bus message frames, the update of the I/O data is subject to
the set bus cycle. This means an I/O using a 39x message frame can change its status just
once in each bus cycle of the PROFIBUS Integrated.
In the case of SIMOTION D410 onboard outputs, the outputs are controlled using direct write
accesses to the hardware (i.e. bypassing the message frame). This means:
• Write accesses to digital outputs act with a particularly short delay time because the write
access is independent of the bus cycle.
• A more accurate output of the cam output is possible
For fast write accesses from the user program, the resulting delay time has the following
form:
• User program delay time -> terminal register: Maximum 75 μs
• Load-dependent output delay time of the hardware for D410:
L -> H: max. 400 μs
H -> L: max. 100 μs

High-speed outputs of output cams

If you use the output as high-speed output of a cam output, for the configuration of the TO
output cams / TO output cam track, enter the logical hardware address and the bit number of
the used output in the configuration screen form of the TO.
For additional information, see the SIMOTION Motion Control Output Cams and Measuring
Outputs Function Manual.
High-speed digital outputs
If you use the output as high-speed digital output, create an I/O variable in SIMOTION
SCOUT. The same addresses should be used for the high-speed digital outputs as those
normally used for the digital outputs.

Table 4- 7 Logical hardware address and the bit number (high-speed outputs for cam outputs /
DOs)

Logical hardware address and bit number Output on the D410

Start address message frame 39x +3, bit 0 DO 8
Start address message frame 39x +3, bit 1 DO 9
Start address message frame 39x +3, bit 2 DO 10
Start address message frame 39x +3, bit 3 DO 11

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Additional references
For information on how to configure message frame 39x and how to parameterize a DI/DO
as a DO, refer to the section titled Use of message frame 39x (Page 97).

4.9.7 Using probe inputs on D410

Configuration of probe inputs

Measuring inputs are used for fast, accurate measurement of actual positions. This is
achieved with the support of hardware (for example, the measuring input on the assigned
drive unit). Digital inputs for standard peripherals, e.g. the SIMATIC ET 200 distributed I/O
system, cannot generally be used as probe inputs.
For SIMOTION, the TO probe input technology object controls the probe input functionality.
SIMOTION differentiates between two classes of the probe inputs; these classes have
different properties that are configured differently.

Local and global measuring inputs

Depending on the used hardware platform, the following local and global measuring inputs
are available for the measuring tasks:
● Local measuring inputs are axis-related and implemented in the SINAMICS drive. The
actual position value is measured.
● Global measuring inputs can be freely assigned to the axes and add an internal
timestamp to the measurement result for more precise determination of the axis positions.
The term "central probe" is also used within the context of drives.

Table 4- 8 Comparison of local and global measuring inputs on the D410

Local measuring input Global measuring input

Hardware supported D410, D4x5, CX32, CU310, CU320 TM15, TM17 High Feature
V4.1 SP1 and higher: D410, D4x5
V4.1 SP2 and higher: CX32, CU310,
CU320
Measurement operation With a signal edge at the relevant input, With a signal edge at the relevant input,
the current actual values of an encoder the current actual values of one or
connected to a control unit are more encoders are measured using
measured with positioning accuracy to timestamp functionality with positioning
determine lengths and distances. accuracy in order to provide information
for determining lengths and distances
(possible with any encoders included in
the project).
Configuration of the Measuring Input The assignment of inputs is always The assignment of inputs is not fixed
TO in the SIMOTION SCOUT permanent depending on the hardware depending on the hardware and is
of the control unit and is performed performed during the configuration of
during the configuration of the the Measuring Input TO using the
Measuring Input TO using the hardware address.
measuring input number.

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Local measuring input Global measuring input

Measuring Input technology object Yes Yes
setting Single measurement
(Measurement jobs must be issued
individually for each measurement.
Several interpolation cycle clocks lie
between two measurements.)
Measuring Input technology object No Yes
setting Cyclical measurement D4x5, CX32, CU310, CU320:
(The measurement is activated just The minimum interval between two
once and runs cyclically until measurements is 3 servo cycles
deactivated.) (max. 2 edges per measurement).
TM17 High Feature:
Minimum interval between two
measurements is 1 servo cycle
(max. 2 edges per measurement).
TM15:
Cyclical measurement not available
Use of multiple Measuring Input TOs No Yes
on one axis/encoder, whereby these
can be active concurrently.
Listening Measuring Input TO No Yes
Measuring on virtual axes No Yes
Measuring on axes attached to a No Yes
different drive unit
A maximum of three probe inputs can be configured onboard on the D410.

Table 4- 9 Probes - Overview of quantity structures and functionality

Maximum available quantity structure

CU310 D4x5 CX32 CU320 TM15 TM17 High
Feature
Maximum number of 3 6 3 6 24 16
probe inputs
Can be configured as a x x x x - -
local probe
Can be configured as a x x x x x x
global probe

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Configuring of local measuring inputs on the D410

Local measuring inputs are always permanently assigned to an axis (drive). They are
configured separately for each drive. The drive and the probe input must always be located
on the same control unit. The measuring results are transferred using the axis message
frame in accordance with the PROFIdrive profile. Message frame 39x does not need to be
configured for local measuring inputs.
The settings for the use of the local measuring inputs must be made in the expert list.

Table 4- 10 Local probes, required settings in the expert list (1)

Parameters in the expert list of the CU Parameterization as

Any DI/DO used as a measuring p728[8] (DI/DO 8) Not applicable 1)
input must be parameterized as p728[9] (DI/DO 9) Input
an input in the Control Unit
expert list. p728[10] (DI/DO 10) Input
p728[11] (DI/DO 11) Input
1) Not applicable, as this I/O cannot be used as a probe input.

Table 4- 11 Local probes, required settings in the expert list (2)

Parameters in the expert list of the drive Parameterization as

Specification of the input p488[0] DI/DO 9 or
terminal of the measuring input (measuring input 1 input terminal, encoder 1) DI/DO 10 or
in the expert list of the drive p488[1] DI/DO 11
(measuring input 1 input terminal, encoder 2)
p488[2]
(measuring input 1 input terminal, encoder 3)
p489[0]
(measuring input 2 input terminal, encoder 1)
p489[1]
(measuring input 2 input terminal, encoder 2)
p489[2]
(measuring input 2 input terminal, encoder 3)
As a maximum of three encoders can be assigned to a drive, the index [0..2] specifies
whether the measurement applies to encoder 1, 2, or 3.
The following must be taken into account:
● Only two Measuring Input TOs can be configured per Axis TO or External Encoder TO.
● Only one Measuring Input TO can be active on an Axis TO or External Encoder TO.

Table 4- 12 Local measuring inputs, configuration of the Measuring Input TO

Axis measuring system no. Under axis measuring system number, enter the number of the used
encoder system (namely, encoder 1, 2 or 3). Encoder system 1 is the
default setting.
Local measuring Activate the checkbox when a local measuring input is used.
Measuring input number Enter here which measuring input is used (namely, 1 or 2). Input 1 is
the default setting.
Detailed information is contained in the SIMOTION Motion Control Output Cams and
Measuring Outputs Function Manual.

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Configuring of global measuring inputs on the D410

Global measuring inputs can be freely assigned to the axes (drives) and add an internal
timestamp to the measurement result for more precise determination of the axis positions.
The drive and the probe input do not need to be located on the same control unit. The
measuring results are not transferred using the axis message frame, but using the 391/392
axis message frame.

Table 4- 13 Global probes, required settings in the expert list (1)

Parameters in the expert list of the CU Parameterization as

Any DI/DO used as a p728[8] (DI/DO 8) Not applicable 1)
measuring input must p728[9] (DI/DO 9) Input
be parameterized as
an input in the Control p728[10] (DI/DO 10) Input
Unit expert list. p728[11] (DI/DO 11) Input
1) Not applicable, as this I/O cannot be used as a probe input.

Table 4- 14 Global probes, required settings in the expert list (2)

Parameters in the expert list of the CU Parameterization as

Specification of the p680[0] (probe input terminal) DI/DO 9,
input terminal of the p680[1] (probe input terminal) DI/DO 10, or
measuring input in the DIDO 11
expert list of the p680[2] (probe input terminal)
control unit
In addition to the settings of the parameters, message frame 391 (max. two measuring
inputs) or message frame 392 (max. three measuring inputs) must be set for the control unit.
The p680 parameter is used to define a terminal as global probe inputs. Message frame 391
can be used to assign the p680[0..1] parameter; message frame 392 can be used to assign
the p680[0..2] parameter. The parameter used to set the required terminal is not relevant.
The assignment of the measuring input to an axis is made using the logical hardware
address and the bit number of the digital input to be used as measuring input (see also
Section Use of message frame 39x (Page 97)).

Note
The Control Unit parameters p490, p684, and r685 to r688 are of no relevance to
SIMOTION.

Note
When the 39x message frames are used, a HW Config must always be performed after
changes have been made to onboard I/O-relevant parameters. "Download to the target
system" must then be used to download the changed configuration data into the target
device.

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Table 4- 15 Global measuring inputs, configuration of the Measuring Input TO

Axis measuring system no. Under axis measuring system number, enter the number of the used
encoder system (namely, encoder 1, 2 or 3). Encoder system 1 is the
default setting.
Global measuring Activate the checkbox when a global measuring input is used.
Logical hardware address Enter here the logical HW address and the bit number of the used
and bit number: input.
Start address message frame 39x + 3, bit 1 for input DI/DO 9
Start address message frame 39x + 3, bit 2 for input DI/DO 10
Start address message frame 39x + 3, bit 3 for input DI/DO 11
Detailed information is contained in the SIMOTION Motion Control Output Cams and
Measuring Outputs Function Manual.

4.9.8 Outputs of cam outputs and probe inputs on TM15/TM17 High Feature

Quantity framework for TM15/TM17 High Feature

The TM15/TM17 High Feature Terminal Modules can be used to extend the number of
outputs for cam outputs and probe inputs that can be installed.
● TM15, maximum 24 outputs for cam outputs / probe inputs
● TM17 High Feature, maximum 16 outputs for cam outputs / probe inputs

Additional references
Detailed information for the configuration is contained in the following documents
● SIMOTION Output Cams and Measuring Inputs Function Manual
● TM15/TM17 High Feature Terminal Modules Commissioning Manual

4.9.9 Programming examples/Additional information

Additional information and programming examples for configuring drive-related I/Os can be
found
● At Internet address (http://support.automation.siemens.com/WW/view/en/29063656)
● In SIMOTION Utilities & Applications. SIMOTION Utilities & Applications is provided as
part of the SIMOTION SCOUT scope of delivery.

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4.10 Creating and programming TM41

4.10.1 Overview
The TM41 terminal module can be used to expand the number of digital I/O and of analog
inputs within a drive system. TM41 also returns TTL signals which emulate an incremental
encoder, for example, for a master control system.
The emulated encoder signal has the signal characteristic of an incremental TTL encoder (A
track, B track, R track). The resolution of the encoder signal can be specified in the
configuration.
Configuring the TM41 involves the following steps:
● Configuring TM41 at SINAMICS Integrated
● Configuring TM41 using the Axis Wizard.

Note
The digital I/Os and the analog input can be interconnected using BICO configuration in
the same way as a TM31.

The TM41 encoder interface (incremental encoder representation) can

● Be interconnected with a Control Unit encoder signal (from sin/cos incremental encoders,
for example), using parameterization. For detailed information, consult the SINAMICS
manuals.
● From the SIMOTION viewpoint, can be accessed as axis. This allows you to make the
axis position (a master value) available to a second controller as an encoder signal, for
example. Detailed information is contained in the SIMOTION D4x5 Commissioning and
Hardware Installation Manual.
The second application case can only be used with SIMOTION D410 with restrictions,
because the TM41 is configured as a real axis. Because SIMOTION D410 supports just one
real axis, no additional real axis can be configured.

4.10.2 Configuring TM41 at SINAMICS Integrated

TM41 can be configured after you completed the configuration of SINAMICS Integrated.
Proceed as follows:
1. Double-click "Insert InputIOutput Ccomponent" at "Input/output component" in the Project
Navigator.
2. Select the TM41 from the "Drive object type" field of the "Insert Input/Output Component"
dialog box and assign a unique name to the module.
3. Confirm your entry with "OK".
The TM41 is inserted in the Project Navigator by the name you entered.

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4.11 Creating a DMC20

4.11 Creating a DMC20

4.11.1 DMC20 hub properties

DRIVE-CLiQ hub properties

The DMC20 DRIVE-CLiQ hub can be used to extend the number of DRIVE-CLiQ interfaces
and to configure a star topology. You must increase the number of DRIVE-CLiQ interfaces if
connecting the following additional components to the SIMOTION D410:
● Direct measuring systems
● Terminal modules
● Reduction of the network hierarchy levels
A star topology has the following advantages:
● The components can operate as end node of your segment.
● Line communication is not affected.

Application examples
Encoder expansion and hot-plugging are typical applications implemented by means of a
DRIVE-CLiQ hub.
● An encoder expansion involves integration of direct measuring systems. These are
installed in the control cabinet directly at the machine. Several encoders can be
connected to the same hub.
Note:
The SIMOTION D410 has precisely one DRIVE-CLiQ interface. You can use the DMC20
to evaluate the motor encoder and an additional encoder by means of SMx.
● Hot plugging is the option for changing motor components while in operation. These
components are connected to a star topology using a DRIVE-CLiQ hub. This setup allows
their deactivation without impairing downstream components.

Additional references
Information pertaining to the DMC20 DRIVE-CLiQ hub is available in the SIMOTION D410
Manual.

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4.12 Optimizing the drive and controller

4.11.2 Creating a DRIVE-CLiQ hub

The hub is not wired when you insert the DMC20 and is represented in the topology tree in
the component storage. The hub has to be wired manually. Proceed as follows:
1. Right-click the "Topology" entry in the Project Navigator.
2. Select the "Insert new object" > "DRIVE-CLiQ Hub" command from the shortcut menu
and confirm with "OK".
3. Double-click "Topology" to open the topology tree.
The hub is saved to the component storage of the topology tree.
4. Drag-and-drop the hub to the required DRIVE-CLiQ interface.
The components connected to the hub are displayed in the topology tree.
The hub you inserted is displayed as icon at the "Topology" entry in the Project Navigator. All
components connected to a hub are also displayed in the course of automatic configuration.

4.12 Optimizing the drive and controller

4.12.1 Overview of automatic controller setting

Overview
SIMOTION SCOUT offers an automatic controller setting wizard that can be used for drive
controller optimization.
In the "Automatic Controller Setting" screen form, you can automatically set the speed
controller and the DSC (dynamic servo control) position controller for SINAMICS drive units.
The necessary steps for this calculation can be controlled using this screen form. The
parameter values calculated for the speed controller or position controller are displayed;
these can then be transferred online to the drive or axis on the controller.
You can set the controller automatically using the "Target System" > "Automatic Controller
Setting" menu command.
For a detailed description of the parameters that can be set, refer to the SIMOTION SCOUT
online help.

Prerequisites
● You have configured a SINAMICS drive.
● The configured drive is operated in the "Servo" drive object type.
● Control takes place with the motor encoder.
● There is an online connection to the relevant drive unit.

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4.12 Optimizing the drive and controller

Procedure
Automatic controller setting involves the following steps:
1. Setting the speed controller
2. Setting the position controller

Note
You can cancel automatic controller setting by pressing the SPACEBAR.
• The step currently being executed is canceled.
• The drive enable is locked.

Additional references
Information on the controller structure can be found in the SIMOTION TO Axis, Electric /
Hydraulic, External Encoder Function Manual.
In addition to automatic controller setting, SIMOTION SCOUT also offers the option of
optimizing the drive and controller manually by means of measuring functions, trace, and
function generator (see the sections titled Measuring functions, trace, and function generator
(Page 122) and Manual speed controller optimization (Page 124)).

4.12.2 Automatic speed controller setting

Features
Automatic speed controller setting has the following features:
● Attenuation of resonances in the speed-controlled system
● Automatic setting of the gain factor Kp and the reset time Tn of the speed controller.
● The speed setpoint filter and the reference model are not adjusted.

Procedure
To perform automatic setting of the speed controller, proceed as follows:
1. Select the "Target System" > "Automatic Controller Setting" menu command.
2. Select the drive unit and the drive.
3. Select the "Speed controller" from "Controller Selection".
4. Click "Assume control priority!" to assume control priority.
5. Click the "Drive ON" button to enable the drive.
Perform these steps (1 to 4) in automatic mode or as individual steps.
6. Click "Transfer" to transfer the calculated parameter values for the speed controller to the
drive.
7. Disable the drive by clicking the "Drive OFF" button.

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4.12 Optimizing the drive and controller

8. Click the "Give up control priority!" button to give up the control priority of the
programming device/PC.
9. Save the online parameters.
You can now transfer the parameters that you have automatically set to the project.

Backing up parameters
Proceed as follows to back up the parameters:
1. In the project navigator, select the SINAMICS device with the drive for which you want to
perform automatic setting.
2. Select "Copy RAM to ROM" from the context menu.
3. Select "Load to PG" from the context menu.
If necessary, the automatic controller settings can be verified with the measuring functions.

4.12.3 Automatic position controller setting

Introduction
In the "Automatic Controller Setting" screen form, you can select the drive unit and the drive
for which you want to perform automatic DSC position controller setting. The steps required
for this calculation can be performed via this screen form. The calculated Kv value is
displayed and can then be accepted online in the configuration data of the axis that is
assigned to the drive.

Prerequisites
In addition to the general prerequisites for automatic controller setting, the following
boundary conditions apply for setting the position controller:
● DSC is required for position controller setting.
● The speed controller must have already been configured (e.g. using automatic speed
controller setting).
● One axis must be connected to the SINAMICS drive (servo).
● The actual values and manipulated variables between the controller and the drive must
have been correctly standardized by the user. These values are not checked.
● An online connection to the SIMOTION device must be established to transfer the results
of automatic position controller setting.
● The balancing filter is not changed.
● For operation without precontrol, the equivalent time constant of the position controller
must be adjusted manually by the user (PostionTimeConstant = 1/Kv).
● Vibration on the load side is not taken into account for position controller setting.

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4.12 Optimizing the drive and controller

Procedure
To perform automatic setting of the position controller, proceed as follows:
1. Select the "Target System" > "Automatic Controller Setting" menu command.
2. Select the drive unit and the drive (axis).
3. Select the "Position controller (DSC)" from "Controller Selection".
4. Click "Assume control priority!" to assume control priority.
5. Click the "Drive ON" button to enable the drive.
Perform the steps either in automatic mode or as individual steps.
6. Select the axis data sets to which the Kv factor is to be transferred.
7. Click "Transfer" to transfer the calculated Kv factor to the axis data sets.
8. Disable the drive by clicking the "Drive OFF" button.
9. Give up the control priority of the programming device/PC.
10.Save the online parameters.
You can now transfer the parameters that you have automatically set to the project.

Backing up parameters
Proceed as follows to back up the parameters:
1. In the project navigator, select the SIMOTION device with the axis for which you want to
perform automatic setting.
2. Select "Copy Current data to RAM" from the context menu.
3. Select "Copy RAM to ROM" from the context menu.
4. Select "Load Configuration Data to PG" from the context menu.
If necessary, the automatic controller settings can be verified with the measuring functions.

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4.12 Optimizing the drive and controller

4.12.4 Measuring functions, trace, and function generator

Drive optimization
Drive optimization is part of commissioning and can be performed with SIMOTION SCOUT.

CAUTION
Controller optimization may only be performed by skilled personnel with knowledge of
control engineering.

Controller optimization
Various measuring functions are available for drive controller optimization. Using simple
parameterization, these measuring functions enable the influence of higher-level control
loops to be selectively switched off and the dynamic response of individual drives to be
analyzed. The function generator and trace recorder are used.
The control loop is supplied with the function generator signal at a specific point (e.g. speed
setpoint), and the signal is recorded by the trace recorder at another point (e.g. speed actual
value).

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Depending on the form of controller optimization to be performed, it is possible to define the

quality (e.g. waveform, amplitude, settling time) of the disabled signal, the measurement
period for jump functions in the time range, or the bandwidth and number of averaging
operations in the frequency range for the recording. The analytical and graphical evaluation
can then be performed accordingly (FFT diagram, Bode diagram).
The following measuring functions are available:
● Setpoint jump at current controller
● Reference frequency response at current controller
● Setpoint jump at speed controller

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4.12 Optimizing the drive and controller

● Interference jump at speed controller

● Reference frequency response at speed controller
● Interference frequency response at speed controller
● Speed-controlled system (excitation at current setpoint filter)

Additional references
For additional information about drive optimization, consult the SINAMICS S120
Commissioning Manual.
More detailed information on trace and measuring functions, as well as on the function
generator, can be found in the SIMOTION SCOUT online help.

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4.12 Optimizing the drive and controller

4.12.5 Manual speed controller optimization

Prerequisite
You have already created a project and configured an axis and a drive. You can now
optimize the speed controller.

Procedure
1. Open the project and enter online mode.

2. Click to call the "Measuring Functions" dialog.

3. Select the drive unit and the drive.
4. Select "Speed controller setpoint jump" as the measuring function. You can change the
values in the following fields: "Settling time", "Amplitude", "Offset", "Ramp-up time", and
"Measuring time".
Four channels can be recorded. Depending on the measuring function, certain channels
are preassigned.

Figure 4-36 Speed controller measuring function

5. Download the changes to the drive by clicking (Download Parameter Assignment).

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4.12 Optimizing the drive and controller

Starting the measuring function

1. Click "Assume control priority!" to assume control priority.
Read the notice that appears and click "Accept" to confirm.
2. Click the "Drive ON" button to enable the drive.
3. Click (Start measuring function) to start the measuring function.
The axis is moved during measurement. For this reason, a safety message that allows
the process to be canceled is displayed.
After reading the notices, you can begin the measurement with "Accept" or cancel it with
"Abort".
4. The signals recorded are represented on the "Timing Diagram" tab.

Figure 4-37 Timing diagram before parameterization

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4.12 Optimizing the drive and controller

Adjusting the P-gain

You can adjust the P-gain of the controller to optimize the transient response.
1. Under the corresponding drive (Servo_1, for example) in the project navigator, use the
menu command "Open-Loop/Closed-Loop Control" > "Speed Controller" to display the
"Speed Controller with Encoder" dialog window.
2. Enter an appropriate value in the "P-gain" field and the "Reset time" field.

CAUTION
The values entered take immediate effect.

Figure 4-38 Entering the P-gain

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4.12 Optimizing the drive and controller

3. For verification purposes, perform the measurement again.

4. With the modified parameters, the controller demonstrates a much better transient
response. If necessary, you can continue changing the value until the transient response
has reached its optimum level.

Figure 4-39 Measurement with modified P-gain

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4.13 Downloading and saving user data

4.13 Downloading and saving user data

Overview
It is advisable to backup all user data (programs, configuration data, parameters) to the
CompactFlash Card after having completed commissioning of SIMOTION D410.

Downloading user data

Use the "Target system > Download > Download to the target system" command to transfer
the following data from the SIMOTION SCOUT Engineering System (ES) to the "non-volatile
data" area of SIMOTION D410:
● Configuration data
● Programs
● Parameterization
● Technology packages
The hardware configuration of SIMOTION D410 and the retain variables are also saved to
the "nonvolatile data" area.

Note
Using the menu:
• "Target system > Download > Project to target system" downloads all the project data to
the target system.
• "Target system > Download > Download to target device" only downloads the data for the
selected device/drive element to the target device.
All contents of the "volatile data" area are lost after you shut down SIMOTION D410!

Additional references
Additional information on the SIMOTION SCOUT engineering system can be found in the
SIMOTION SCOUT Configuration Manual.

Saving user data

The "Copy RAM to ROM" function is used in SIMOTION SCOUT to save the following data
from RAM to the CompactFlash card:
● Technology packages and user data (units, configuration data, parameters, task
configuration) of the "volatile data" area
● Actual values are copied to the "volatile data" area, depending on the settings in
SIMOTION SCOUT.

Note
The "Copy RAM to ROM" command cannot be used to save the actual value of retain
variables to the CompactFlash Card.

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4.14 Deleting data

You have the following options for backing up the current values of retain variables to the
CompactFlash Card:
● In the user program
Use the "_savePersistentMemoryData" system function for this purpose.
● Using a switch position (SIMOTION D410 service selector switches) or IT DIAG
For information on this, refer to the section titled Diagnostic data and non-volatile data
(Page 172).
With the SCOUT functions "Back up variables" and "Restore variables", you also have the
option of backing up to your PC and restoring data that were changed during operation and
only stored in the runtime system.
Execute the "Copy RAM to ROM" function separately for SINAMICS Integrated. This
requires that the drive element has been selected in the Project Navigator.

See also
Properties of the user memories (Page 32)

4.14 Deleting data

4.14.1 Overview of data deletion

You can define the scope of data to be deleted from SIMOTION D410 memory described in
the "user memory concept". That is, you can choose to delete all data or only specific parts.
You have the following options of deleting data from SIMOTION D410:
● For information on performing a SIMOTION D410 memory reset, refer to the section titled
Resetting the memory of SIMOTION D410 (Page 130).
● For information on deleting user data on a CompactFlash Card, refer to the section titled
Deleting user data from the CompactFlash Card (Page 133).
● For information on restoring the SINAMICS Integrated to its factory settings, refer to the
section titled Restoring the default settings of SINAMICS Integrated (Page 134).
● For information on setting the SIMOTION D410 to its factory settings, refer to the section
titled Restoring the default settings of SIMOTION D410 (Page 134).

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4.14 Deleting data

4.14.2 Resetting the memory of SIMOTION D410

Introduction
A memory reset deletes all data from RAM on the SIMOTION D410 and non-volatile data in
the FRAM, with the exception of the communication configuration (baud rates, network
addresses, etc.). Data on the CompactFlash Card is retained if you reset the memory.
Reset the memory on SIMOTION D410 if
● You want to undo changes made to user data (programs, configuration data, parameter
assignments) which you have not backed up by means of the "Copy RAM to ROM"
command.
● The RUN/STOP LED is flashing (slowly flashing yellow) to indicate that the
SIMOTION D410 is requesting a memory reset.
● Non-volatile data does not match the project on the CF card and an error is generated
(diagnostics buffer entry).
You can reset memory either in offline mode using the DIL switch of SIMOTION D410, or in
online mode using SIMOTION SCOUT.

Data deleted by memory reset

The following data is deleted during a memory reset:
● User data (units, configuration data, parameters, task configuration)
● Technology packages
● Retain TO (absolute encoder adjustment)
● Retain variables
Retain variables are variables in the interface or implementation section of a UNIT that
are declared with VAR_GLOBAL RETAIN, or global device variables with the RETAIN
attribute.

Note
As a memory reset deletes all absolute encoder data the encoder must be re-adjusted
after memory reset.

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4.14 Deleting data

Data retained during memory reset

The following data is retained during memory reset:
● TCP/IP and DP parameters
● Diagnostics buffer
● Data that was saved with the _savePersistentMemoryData, _saveUnitDataSet,
_exportUnitDataSet and RAMtoROM commands and with the "Copy RAM to ROM"
function.
The data contents of a backup file generated by executing _savePersistentMemoryData
(PMEMORY.XML/PMEMORY.BAK) is written back to non-volatile data after memory
reset. Users can therefore force the restoration of non-volatile data by means of memory
reset.
● Licenses
The technology packages and user data (configuration data, programs, parameter
assignments) you previously backed up to a CompactFlash Card by means of the "Copy
RAM to ROM" command are transferred to the "non-volatile data" area of the SIMOTION
410 during the next startup. This operation transfers any configuration data found on the
CompactFlash Card to the SIMOTION device after memory reset.

Memory reset by means of SIMOTION SCOUT

You can only reset memory using SIMOTION SCOUT if SIMOTION D410 is operating in
online mode.
1. Select SIMOTION D410 from the Project Navigator of SIMOTION SCOUT.
2. Select the "Target device > Control system mode" command from the shortcut menu in
order to open the "D410: System Mode" dialog box.
3. Select the STOP mode.
4. Next, select the MRES mode to reset the memory.

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4.14 Deleting data

Memory reset using the mode selector switch

The mode selector switch function is implemented in SIMOTION D410 by means of a DIL
switch (DIL = Dual-In-Line). Use this DIL switch (switch S1 - S3) to set the binary code for
the mode of operation.
Information pertaining to to the switch positions and corresponding modes of operation is
available in the SIMOTION D410 Manual.
You can only reset memory using the mode selector switch if SIMOTION D410 is operating
in offline mode.
How to reset the memory:
1. Select the MRES operating mode by
– Setting mode selector switches S1 to S3 to OFF AND
– Using the service selector switch to ensure that no service functions are selected (S4
to S7 = OFF).
The RUN/STOP LED will begin flashing soon after this (slowly flashing yellow).

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Figure 4-40 Switch position MRES

2. Set switch 1 to ON (STOP mode) once the RUN/STOP LED permanently lights up yellow.
3. Within 3 seconds, set the switch back to MRES operating mode by setting switch S1 to
OFF again. The memory reset is performed (the RUN/STOP LED flashes yellow quickly).

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4.14 Deleting data

4. Wait until the D410 has completed the memory reset (RUN/STOP LED permanently lights
up yellow).
5. Now set the mode selector switch back to the required operating mode; for example, set
switches S1, S2, and S3 to ON for RUN mode.

Note
Memory reset is cancelled if you do not return the DIL switch to MRES as specified within
three seconds. Repeat the procedure in this case.

NOTICE
Please note that, during startup, the MRES setting will cause the factory settings to be
restored. For details, refer to the section titled Restoring the default settings of
SIMOTION D410 (Page 134).
Make sure you do not accidentally switch the power supply OFF/ON while MRES is set,
as this will re-establish the factory settings instead of performing a memory reset.

4.14.3 Deleting user data from the CompactFlash Card

Overview
You can delete the user data using SIMOTION SCOUT. SIMOTION D410 must be operating
in online mode. This deletes the following data:
● User data from the "volatile data" area
● Non-volatile data, with the exception of IP and DP parameters
● User data on the CompactFlash Card (user folders), including the SINAMICS
configuration data
You can still go online to SIMOTION D410 at your programming device / PC. All licenses on
the CompactFlash Card are retained.

Deleting user data

1. Open the project you want to edit in SIMOTION SCOUT.
2. Go online to SIMOTION D410.
3. Select SIMOTION D410 in the Project Navigator, and then select the "Delete user data
on card" option from the "Target system" menu.
4. Confirm the "Delete user data from card" message with "OK".
The user data are deleted. SINAMICS Integrated goes into offline mode.

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4.14 Deleting data

4.14.4 Restoring the default settings of SINAMICS Integrated

Prerequisite
You must be online to SINAMICS Integrated in order to restore its default settings.

Restoring the default settings

1. Right-click "SINAMICS_Integrated" in the Project Navigator.
2. Select the "Target device > Restore default settings" command from the shortcut menu.
This restores the delivery state of SINAMICS Integrated.

4.14.5 Restoring the default settings of SIMOTION D410

Overview
SIMOTION D410 is supplied with default parameters such as the transmission rate or
PROFIBUS addresses. You can restore the default settings using the DIL switch. This
deletes the following data:
● Non-volatile data in the SIMOTION device
● The backup copy of non-volatile data on the CompactFlash Card
(PMEMORY.XML/PMEMORY.BAK)
● User data in the "volatile data" area and on the CompactFlash Card
● The communication configuration (IP and DP parameters) on the CompactFlash Card is
set to the factory settings.
All licenses on the CompactFlash Card are retained.

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Restoring the default settings using the DIL switch

1. The power supply is shut down.
2. Select the MRES operating mode by
– Setting mode selector switches S1 to S3 to OFF AND
– Using the service selector switches to ensure that no service functions are selected
(S4 to S7 = OFF).
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Figure 4-41 MRES switch position

3. Restart the power supply.

The FRAM and the user data are deleted. The default settings are loaded. SIMOTION
D410 remains in STOP mode.
4. Change to the required mode by setting the DIL switch.

Note
The default communications parameters are now restored. You must re-configure the
communication parameters of SIMOTION D410.

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4.15 System shutdown

4.15 System shutdown

All axes and system components must be in safe state before you shut down the system.
You can set up this safe state by providing a separate motion task, for example.
You can shut down the power supply after the system has reached a standstill state.

Note
You must observe the safety notices for SINAMICS components, which you can find in the
corresponding SINAMICS manuals.

4.16 Configuring Safety Integrated functions

Integrated safety functions (V4.1 SP2 and higher)

The integrated SINAMICS S120 safety functions, when used in conjunction with SIMOTION
D, can provide highly effective application-oriented protection for personnel and machinery.
The following Safety Integrated functions are currently available:
(Terms in accordance with IEC 61800-5-2)
● Safe Torque Off (STO)
● Safe Brake Control (SBC)
● Safe Stop1 (SS1)
● Safe Stop2 (SS2)
● Safe Operating Stop (SOS)
● Safely Limited Speed (SLS)
● Safe Speed Monitor (SSM)

Note
Currently, it is not possible to use Safety Integrated functions with devices in chassis
format.
For SBC, if you are using a SIMOTION D410 in conjunction with a PM340 Power Module
you also require a Safe Brake Relay, which is supported with V4.1 SP3 and higher.

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4.16 Configuring Safety Integrated functions

Control
The Safety Integrated functions are fully integrated into the drive system. They can be
activated as follows:
● Via terminals on the Control Unit and on the power unit (STO, SBC, SS1 only)
● Via terminals on the TM54F Terminal Module
● Via PROFIBUS with PROFIsafe (D410 DP only)
The Safety Integrated functions are implemented on an entirely electronic basis and,
therefore, offer short response times in comparison to solutions with externally implemented
monitoring functions.

Note
Although SIMOTION does not feature any safety-related functions, it provides support for
SINAMICS drives that can perform safety-related functions.
The purpose of this support that SIMOTION offers for the safety-related monitoring functions
is to prevent fault reactions at the drive end by ensuring that the drive does not exit the
operating mode being monitored.

Hardware required
Controlling the safety functions requires at least the following hardware versions:
● SIMOTION D410 DP: 6AU1410-0AA00-0AA0, product version A
● SIMOTION D410 PN: 6AU1410-0AB00-0AA0, product version A

Safety Integrated functions with TM54F

Safety Integrated functions are activated via fail-safe digital inputs on the TM54F. This
means that every drive control (SINAMICS Integrated of SIMOTION D410, CU310,
CU320, etc.) requires its own TM54F (assuming the relevant safety functions are to be used
on the Control Unit concerned).

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4.16 Configuring Safety Integrated functions

Safety Integrated functions with PROFIsafe

Safety Integrated functions are activated via "PROFIsafe on PROFIBUS" safe
communication. Control (F logic) is based on a SIMATIC F CPU connected via PROFIBUS
with PROFIsafe. Examples are the SIMATIC S7-300 CPU 317F-2 DP (not pictured) or the
ET 200S IM151-7 F-CPU with the PROFIBUS DP master interface module (see image).

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Topologies
The section below lists the topologies that may potentially be used with the SIMOTION
D410. In each case, the description specifies whether the control of Safety Integrated
functions is routed through to the drives.
● SIMATIC F CPU (master), connected via PROFIBUS with PROFIsafe to the
SIMOTION D410 DP (I slave) Routing to the SINAMICS Integrated drive of the D410 DP
● The SIMOTION D410 DP is the master for F slave-to-slave communication (e.g. between
a SIMATIC F CPU and a CU320)

Note
Control for the Safety Integrated functions cannot be routed through to the SINAMICS
Integrated of the D410 in this configuration.

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4.16 Configuring Safety Integrated functions

Additional references
Additional information on configuring Safety Integrated functions can be found in
● The SINAMICS S120 Safety Integrated Function Manual
● The TO Axis Electric / Hydraulic, External Encoder Function Manual
● On the Internet at Internet address (https://www.automation.siemens.com/cd/safety)

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Maintenance and service 5
5.1 Overview

Introduction
It is possible to distinguish between the following scenarios when replacing and updating
components:
● Replacing modules (spare part scenario)
– For information on removing and replacing the SIMOTION D410, refer to the section
titled Removing and replacing the SIMOTION D410 (Page 143).
– For information on replacing DRIVE-CLiQ components, refer to the section titled
Replacing DRIVE-CLiQ components (Page 144).
– For information on replacing SIMOTION D410 fans, refer to the section titled
Replacing the fan (Page 147).
– For information on replacing a CompactFlash card, refer to the section titled Replacing
the CompactFlash card (Page 149).
● Adapting a project (new device type/device version)
The project needs to be adapted if you want to change the type (e.g. D410 DP -> D410
PN) or version of the SIMOTION device in your existing project.
– For information on replacing a SIMOTION device in HW Config, refer to the section
titled Replacing the SIMOTION device in HW Config (Page 151).
– For information on upgrading the device version of SINAMICS components, refer to
the section titled Upgrading the device version of SINAMICS components (Page 153).
– For information on upgrading technology packages, refer to the section titled
Upgrading technology packages (Page 154).
– For information on upgrading a library, refer to the section titled Upgrade the libraries
(Page 155).
– For information on backing up variables, refer to the section titled Backing up variables
(Page 155).
– For information on upgrading a CompactFlash Card bootloader, refer to the section
titled Upgrading the CompactFlash Card's bootloader (Page 156).
– For information on downloading a project to the target system, refer to the section
titled Downloading the project to the target system (Page 156).
● Performing a firmware and project update
– For information on performing a firmware update using a CompactFlash Card, refer to
the section titled Firmware update using a CompactFlash Card (Page 158).
– For information on performing a firmware and project update using IT DIAG, refer to
the section titled Firmware and project update using IT DIAG (Page 162).
– For information on performing a firmware and project update using the device update
tool, refer to the section titled Firmware and project update using the device update

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5.1 Overview

tool (Page 163).

The upgrade data are created using the SCOUT function "Start device update tool"
and then transferred to the SIMOTION D410 using either the CompactFlash Card or
an IT DIAG file. Upgrading modules using upgrade data offers the option of
downgrading if the upgrade does not produce the desired result.

Note
Upgrading using the device update tool offers a number of advantages (keeping retain
data, option of downgrading, no license key handling, etc.). We would therefore
recommend using this method for firmware and project updates.

Please also observe the information on handling the CompactFlash card.

● For information on changing a CompactFlash card, refer to the section titled Replacing
the CompactFlash Card (Page 165).
● For information on writing to a CompactFlash card, refer to the section titled Writing to a
CompactFlash card (Page 166).
● For information on formatting a CompactFlash card, refer to the section titled Formatting
the CompactFlash Card (Page 167).
● For information on the CompactFlash card bootloader, refer to the section titled
Bootloader on the CompactFlash card (Page 167).
● For the recommended method of handling CompactFlash Cards, refer to the section titled
Recommended method of handling CompactFlash Cards (Page 168).

Note
This document uses the following terms:
• Upgrade: Denotes upgrading to a higher version of a component/software
• Downgrade: Denotes reverting to a previous version of a component/software
• Update: In general terms, denotes the act of bringing a component/software up to date
(in isolated cases, this may refer to an upgrade or downgrade)

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5.2 Replacing modules (spare part scenario)

5.2 Replacing modules (spare part scenario)

5.2.1 Removing and replacing the SIMOTION D410

Overview
You must replace the entire SIMOTION D410 module.

WARNING
Always shut down the load power supply before you replace the SIMOTION D410 module.
You shut down power using the On/Off switch of the PS power supply module, for example.
Note that power modules with FSB performance rating or higher still carry a residual
intermediate voltage after shutdown. Wait 10 minutes before you remove any screws.

Replacing defective modules

How to remove the SIMOTION D410 module:
1. Shut down the power supply.
2. Remove the CompactFlash Card from the card slot.
3. Remove the connections for the power supply.
4. Disconnect the DRIVE-CLiQ connector from the device, and the PROFIBUS DP interface
(X21) or PROFINET interface (X200 and X201) connectors.
5. If necessary, disconnect the digital I/O cable connectors at interface X121.
6. Disconnect the plug of any encoder connected to the X23 encoder interface.
7. Remove the SIMOTION D410 module from the power module or from the mounting
panel, depending on the type of assembly (see the "Installation" chapter in the
SIMOTION D410 Manual).
How to install the new SIMOTION D410 module:

Note
Observe the information in the SIMOTION D410 Manual, when installing, wiring and
connecting the SIMOTION D410 module.

1. Mount the new SIMOTION D410 onto the power module, or onto the mounting panel (see
the "Installation" chapter in the SIMOTION D410 Manual).
2. Connect all previously removed connectors.
3. Terminate the load voltage supply cables at the terminal block.
4. Rewire the shielding of all cables.
5. Insert the original CompactFlash Card into the card slot of the new SIMOTION D410.
6. Restart the power supply. The new SIMOTION D410 is immediately ready for operation.

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Replacing SIMOTION D410 modules without PC/programming device

To enable a module replacement without a programming device/PC, you must back up the
current non-volatile data to the CompactFlash Card.
The user program can use the "_savePersistentMemoryData" system function to save the
contents of non-volatile data to the CompactFlash Card. This ensures that the retain
variables and the absolute encoder position are backed up to the CompactFlash Card in the
event that a spare part is fitted.
As an additional option, you can back up the non-volatile data by setting the service selector
switch or by using IT DIAG; for details, refer to the section titled Diagnostic data and non-
volatile data (Page 172).

Note
Non-volatile data that are not backed up to the CompactFlash Card will be lost if a spare part
is installed (in the event of a module defect). (For example, failing to back up the current
values of the retain variables will result in them being lost and reset to their initial values).
If an absolute encoder overflow occurs after "_savePersistentMemoryData", the actual
position value will no longer be correct once the non-volatile data have been restored. In this
case, homing (absolute encoder adjustment) must be repeated.

See also
User memory concept (Page 31)

5.2.2 Replacing DRIVE-CLiQ components

Module replacement
DRIVE-CLiQ components can be replaced or newly inserted during operation (without
POWER OFF) or when the system is switched off.

Prerequisite
The affected components are located at the end of the line.

Procedure for removing a component

1. Deactivate the affected component or drive object.
2. Remove the DRIVE-CLiQ connector.
3. Remove the supply voltage for the component and remove the component.

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5.2 Replacing modules (spare part scenario)

Procedure for installing a component

1. Mount the component and reconnect the supply voltage.
2. Reconnect the DRIVE-CLiQ cable at the same location (port). The cable must be the
same length as the old one.
3. Activate the affected component or drive object.

WARNING
In order to replace this component, the module must be in a de-energized state.

Parameters for topology comparator and component replacement

In the expert list, you can use CU parameter p9906 to specify how the electronic rating
plates are compared for all the components of a Control Unit. The type of comparison can be
changed for each individual component at a later point in time, using p9907/p9908 or by
right-clicking in the topology. All data on the electronic rating plate are compared as
standard.
● When p9909 = 1, the serial number and the hardware version of the new replacement
component are automatically transferred from the actual topology to the reference
topology, and then saved in the non-volatile memory.
● When p9909 = 0, serial numbers and hardware versions are not automatically
transferred.
The setting p9901 = 1 enables the spare parts/components replacement without tool support
to be carried out. The new serial number of the spare part is automatically transferred from
the actual topology to the reference topology and saved in the non-volatile memory. In order
for this to occur, the components that have been replaced must be of the same type and
have the same order number, such as "6SL3055-0AA0-5BA0". The last or last two digits of
the order number (depending on the component type) are not checked, as the HW version,
for example, is coded in these. This mechanism is also applied when several components
are replaced.

Modified wiring following module replacement

In the default setting for the topology comparator, modified wiring configurations of the
DRIVE-CLiQ components (e.g. a cross-exchange) are not accepted for safety reasons and
are generated by a fault.
If a cross-exchange of components is required (i.e. existing components are replaced with
other existing components, and no spare parts are used), e.g. for troubleshooting purposes,
the topology comparator must be reduced via parameter p9906 or preferably via
p9907/p9908; or as an alternative, by right-clicking in the topology.

NOTICE
In this case, incorrect insertion of components is no longer monitored.

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5.2 Replacing modules (spare part scenario)

Automatic upgrading/downgrading (FW update)

When starting up, the system automatically upgrades or downgrades all DRIVE-CLiQ
components to the version of the component firmware on the CompactFlash Card.
Components that cannot be downgraded to the component firmware version on the
CompactFlash Card (for example, old firmware on the CompactFlash Card and new
components to which the old firmware cannot be loaded) retain their firmware version. The
resulting firmware version combinations are always functional.

Note
During an automatic FW update, please take note of the messages and alarms in the
SIMOTION SCOUT detail window.
An FW update on the D410 is signaled by the RDY LED flashing yellow, while on the DRIVE-
CLiQ components (TM, SMC, etc.) it is signaled by the RDY LED flashing red/green.
• FW update running: RDY LED flashes slowly (0.5 Hz)
• FW update complete: RDY LED flashes quickly (2 Hz)
Go offline once all the FW updates are complete, then switch the 24 V supply for the
upgraded/downgraded initialization components off/on.
The update function can be deactivated using CU parameter p7826 in the expert list.

Additional references
For additional information about this topic, consult the SINAMICS S120 Commissioning
Manual.

See also
Firmware update using a CompactFlash Card (Page 158)

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5.2 Replacing modules (spare part scenario)

5.2.3 Replacing the fan

Prerequisite
Replace the fan if a warning is output by the temperature monitoring function as a result of a
fan defect.
The SIMOTION D410 fans switch on depending on the internal module temperature. If the
temperature reaches impermissible values, this is signaled by a warning at the drive end:
A1009: CU warning: Control Unit overtemperature
In this case, the temperature (CU parameter r0037[0]) of the SIMOTION D410 has exceeded
the specified limit value.
Remedy:
● Check the supply air for the SIMOTION D410.
– Does the control cabinet temperature fall within the permitted range?
– Is natural convection possible?
● Check the fan for the SIMOTION D410.
– Is the fan failing to rotate, despite the warning?
– Is the fan blocked by dirt/foreign bodies?
The warning will automatically disappear as soon as the limit value is undershot.
If the fan is defective, it must be replaced.
The fan can be ordered as spare part, see "Spare parts and accessories" in the
SIMOTION D410 Manual.

CAUTION
The fan of the SIMOTION D410 module may only be replaced by qualified technical
personnel and strictly in accordance with ESD guidelines!
• The module must be in a de-energized state.
• Use a flat-bladed screwdriver with an extremely thin blade; be careful not to damage the
plastic enclosure.
• Observe ESD guidelines (refer to the section titled ESD guidelines (Page 189)).
• Avoid making contact with the printed circuit board.

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Replacing the fan

How to replace the fan:
1. Remove all connectors at the front of the modules (X120, X121, X124).
2. Use a flat-bladed screwdriver to release all 7 snap hooks on the plastic enclosure for the
SIMOTION D410 (3 on the left, 3 on the right, one at the bottom).

Figure 5-1 Releasing the snap hooks (example)

3. Remove the plastic enclosure.

The fan is located underneath the module.
4. Release the fan connector at the bottom left-hand side. To do this, press the release and
the connector together gently and remove the connector.

1 Release the fan connector.

2 Remove the fan using the plastic lug.
Figure 5-2 D410, open

1. Carefully remove the fan from the middle plastic lug.

2. Insert the new fan and reattach the connector.

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5.2 Replacing modules (spare part scenario)

3. Check the position of the fan cables to ensure that they do not become jammed when the
plastic enclosure is replaced.
4. Replace the plastic enclosure and re-engage all 7 snap hooks.

5.2.4 Replacing the CompactFlash card

If spare parts are being used, you must seek the assistance of the Technical Support Center
in order to convert the license key code of the defective CompactFlash Card to that of the
new CompactFlash Card.
Proceed as follows to write your project to the new CompactFlash Card:
● Change the CompactFlash card; for information, refer to the section titled Replacing the
CompactFlash Card (Page 165).
● Write to the CompactFlash card; for information, refer to the section titled Writing to a
CompactFlash card (Page 166).
Detailed information on the subject of licensing can be found in the SIMOTION SCOUT
Configuration Manual.

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5.3 Adapting a project (new device type/device version)

5.3 Adapting a project (new device type/device version)

5.3.1 Overview
The project needs to be adapted if you want to replace the type (e.g. D410 DP with
D410 PN) or version of the SIMOTION device in your existing project. Carry out this
replacement in HW Config.
A SIMOTION D can only be replaced with another if the SINAMICS version involved is the
same or higher. It is not possible to downgrade to a lower SINAMICS version.
When upgrading your user project, you must follow the steps outlined below depending on
the type of upgrade you are carrying out:
1. Replace the SIMOTION device in HW Config; for information, refer to the section titled
Replacing the SIMOTION device in HW Config (Page 151).
2. Upgrade the device version of SINAMICS components; for information, refer to the
section titled Upgrading the device version of SINAMICS components (Page 153).
3. Upgrade the technology packages; for information, refer to the section titled Upgrading
technology packages (Page 154).
4. Upgrade the libraries; for information, refer to the section titled Upgrade the libraries
(Page 155).
5. Back up variables; for information, refer to the section titled Backing up variables
(Page 155).
6. Back up the CompactFlash Card bootloader; for information, refer to the section titled
Upgrading the CompactFlash Card's bootloader (Page 156).
7. Download the project to the target system; for information, refer to the section titled
Downloading the project to the target system (Page 156).

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5.3 Adapting a project (new device type/device version)

5.3.2 Replacing the SIMOTION device in HW Config

Procedure
1. Double-click the SIMOTION device to be replaced in the project navigator in
SIMOTION SCOUT. HW Config opens.
2. Open the "SIMOTION Drive Based" folder in the hardware catalog.

Note
SIMOTION D is modeled as a compact device in HW Config. Replacing a module
requires the new module to be moved to the header of the module rack shown rather
than to slot 2. Please note that you must not delete the D410 rack.
When you move the new module to the rack header using drag-and-drop, the old module
will be replaced. Alternatively, you can:
• Select the rack header and double-click the new module in the module catalog to
replace the previous module, or:
• Right-click the rack header and select "Replace object".

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5.3 Adapting a project (new device type/device version)

3. Move the new module to the top field of the module rack using drag-and-drop.

Figure 5-3 HW Config module replacement

4. Confirm the dialog box that appears with "Yes" if you want to replace the
SIMOTION device. The module is replaced.
5. Accept the changes made to the hardware configuration with "Station" > "Save and
Compile".
6. Close HW Config.

Note
The data for the SIMOTION device is immediately accepted into the SIMOTION SCOUT
project, and the entire project is saved. In this way, the project also accepts all changes in
the project (e.g. axis configuration).
If you are using technology packages in your project, these will also need to be updated.

If the module hardware changes (e.g. the D410 DP is replaced with the D410 PN), proceed
as described in the section titled Removing and replacing the SIMOTION D410 (Page 143).

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5.3 Adapting a project (new device type/device version)

5.3.3 Upgrading the device version of SINAMICS components

Prerequisite
You can upgrade the device versions of the configured SINAMICS devices (SINAMICS
Integrated or CU3xx) using SIMOTION SCOUT. An upgrade is required for the SINAMICS
Integrated in, for example, the following cases:
● The module type has been changed (e.g. from D410 DP to D410 PN)
● A module version has been changed (e.g. from D410 DP V4.1 auf D410 DP Vx.y)

Note
The SINAMICS version can only ever be upgraded in a project; it cannot be downgraded.
Each SINAMICS Integrated must be upgraded separately.

As an alternative to the procedure described below, the device versions of all configured
SINAMICS devices (SINAMICS Integrated only; not CU3xx) can also be automatically
upgraded using a "technology packages upgrade". This is particularly suitable for upgrading
projects to another version, as the technology packages generally also need to be upgraded
in such cases (for details, refer to the section titled Upgrading technology packages
(Page 154)).

Procedure
1. Right-click the respective device, e.g. the "SINAMICS_Integrated".
2. Select "Target Device" > "Device Version" from the context menu.
The "Device Version..." dialog appears with all the available device versions listed.

Figure 5-4 Device version

3. Select the SINAMICS Integrated device version you are using and click "Change
version". This upgrades the SINAMICS components.
If the module hardware changes (e.g. D410 DP to D410 PN), proceed as described under
Removing and replacing the SIMOTION D410 (Page 143).

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5.3 Adapting a project (new device type/device version)

5.3.4 Upgrading technology packages

Upgrading technology packages

When modules are replaced or project data is imported, the versions of the technology
packages (TP) assigned to the individual technology objects (TO) are not automatically
upgraded to a version valid for the SIMOTION device. This upgrade requires a separate
step.

To adapt the technology package version of the new SIMOTION device:

1. Select the desired SIMOTION device in the Project Navigator.
2. Choose "Select Technology Packages" from the context menu.
The "Select Technology Packages" window opens.

Note
If the last step you performed was to replace the SIMOTION device, the "Technology
Packages from Another Version" dialog box appears. Confirm this with "OK" to delete the
existing links to the technology packages, thus enabling new technology packages to be
assigned. The "Select Technology Packages" dialog box will now appear.

3. If technology objects for your project indicating an incorrect version appear under
"Incorrect version", click "Update". Otherwise, continue with step 5.

Note
The device versions of all configured SINAMICS devices (SINAMICS Integrated only; not
CU3xx) can also be automatically upgraded using the "Update" button.

4. The "Update Technology Packages" dialog box opens. Confirm with "OK". A message
appears.
5. Confirm the message with "OK".
6. If the update is successful, a message appears. Confirm with "OK".
7. Click "OK" to confirm the "Select Technology Packages" dialog.
The TP upgrade is completed.

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5.3 Adapting a project (new device type/device version)

5.3.5 Upgrade the libraries

An upgrade of the libraries you are using is required if the version of the SIMOTION device
or TOs in your existing project has changed.
1. Open the LIBRARY directory in the Project Navigator.
2. Select a library, right-click to open the context menu, and select "Properties...."
3. Select the "TPs/TOs" tab in the "Properties" window.
4. Select the SIMOTION device and the technology packages for which the library is to be
valid.
5. Close the dialog box with "OK".

Note
Please also observe the notes on device-dependencies in the SIMOTION SCOUT online
help.

5.3.6 Backing up variables

With the SCOUT functions "Back up variables" and "Restore variables", you have the option
of backing up and restoring data that were changed during operation and only stored in the
runtime system. This is necessary if a SIMOTION platform is changed or a version
upgraded, for example.
The "Back up variables" function creates XML files which are stored in a folder of your
choice.
The following types of data can be backed up:
● Remanent global device variables and unit variables, as well as TO retain data (V4.1 and
higher) that are located in the FRAM of the control
● Data saved with _saveUnitDataSet or _exportUnitDataSet, and which are located on the
CompactFlash Card

Note
When performing an upgrade with a firmware version that is ≥ V4.1, this function is only
required for backing up and restoring unit data sets that have been created using
_saveUnitDataSet.
Retain and unit data (saved with _exportUnitDataSet) remain valid even after a version
upgrade.
Retain data can also be easily backed up to a memory card without the use of
SIMOTION SCOUT. For this purpose, use:
• The _savePersistentMemoryData function or
• A SIMOTION D410 service selector switch, or IT DIAG.
For information on this, refer to the section titled Diagnostic data and non-volatile data
(Page 172).

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Additional references
For additional information, refer to the SIMOTION SCOUT Configuration Manual.

5.3.7 Upgrading the CompactFlash Card's bootloader

Upgrading the D410 may also make it necessary to upgrade the bootloader of the
CompactFlash card.
Detailed information on the CompactFlash Card, bootloader version, SIMOTION D410
hardware, and SIMOTION firmware version compatibility relationships can be found in the
software compatibility list. This list is available both in the documentation supplied on the
SIMOTION SCOUT DVD (at \1_Important\German\Kompatibilität\) . . and on the Internet at
Internet address (http://support.automation.siemens.com/WW/view/en/18857317).

See also
Bootloader on the CompactFlash card (Page 167)

5.3.8 Downloading the project to the target system

Once all the changes required for upgrading your project have been made, you must
download the project to the SIMOTION D410.

Prerequisite
The firmware required is located on the CompactFlash Card; for information, refer to the
section titled Firmware update using a CompactFlash Card (Page 158).

Procedure
1. Save and compile the project.
2. Click "Connect with target system" to go online to the target system.
3. Execute the "Download to target system" command, and then select "Copy RAM to ROM"
to download the updated project to the CompactFlash Card as well.
4. For the automatic subsequent configuring in the SINAMICS Integrated drive, you must
now perform "Download to programming device".
5. Save the project.

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5.4 Performing a firmware and project update

5.4 Performing a firmware and project update

5.4.1 Overview

Upgrading SIMOTION D410

The actions described in this section also apply to downgrading to an older version.
Various options are available for performing a firmware and project update on the
SIMOTION D410.
● For information on performing a firmware update using a CompactFlash Card, refer to the
section titled Firmware update using a CompactFlash Card (Page 158).
● For information on performing a firmware and project update using IT DIAG, refer to the
section titled Firmware and project update using IT DIAG (Page 162).
● For information on performing a firmware and project update using the device update
tool, refer to the section titled Firmware and project update using the device update tool
(Page 163).
The SIMOTION D410 only supports upgrading using the IT DIAG or device update tool with
version V4.1 SP2 and higher.

Note
Upgrading using the device update tool offers a number of advantages (keeping retain data,
option of downgrading, no license key handling, etc.).
We would therefore recommend using this method for firmware and project updates.

Prerequisite (firmware updates)

You can find the latest firmware for SIMOTION D
● On the SIMOTION SCOUT DVDs (e.g. at ...\3_D4xx\Firmware\V4.1.1\d4xx.zip).
● On the Internet at Internet address
(http://support.automation.siemens.com/WW/view/en/31045047)
Upgrading the SIMOTION D410 automatically updates the firmware of all connected
SINAMICS components.

Note
Observe the readme files and upgrade instructions included in the delivery of new
SIMOTION versions.
Use only CompactFlash Cards that have been approved for use with the SIMOTION D410
and whose bootloader version is correct.

You can find the compatibility relationships in the SIMOTION SCOUT Add-Ons "software
products" compatibility list, as well as at Internet address
(http://support.automation.siemens.com/WW/view/en/18857317).

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5.4 Performing a firmware and project update

NOTICE
The upgrade operation deletes all project data and parameters from the CompactFlash
Card!

Prerequisite (project updates)

You have updated your project and, if necessary, adapted the device type and device
version. For details, refer to the section titled Adapting a project (new device type/device
version) (Page 150).

5.4.2 Firmware update using a CompactFlash Card

Procedure
The following procedure describes how to perform the upgrade:
1. Switch off the power supply to the D410.
2. Remove the CompactFlash Card from SIMOTION D410 and insert it into the
CompactFlash Card adaptor of your PC.
3. Open Windows Explorer. The CompactFlash Card must be visible as removable data
volume Windows Explorer under an arbitrary drive letter.
4. If necessary, back up the licenses, retain data, and user data on the CompactFlash Card
to your PC (see the section below titled "Backing up licenses, retain data, and user
data").
5. Delete all the data from the CompactFlash Card.
6. Unzip the firmware file to the CompactFlash Card using a ZIP file utility such as WinZip.
Always maintain the file structure when setting up the unpacking tool.
7. Copy the data saved in step 4 back to the appropriate folder structure on the
CompactFlash Card.
8. Remove the CompactFlash Card from the CompactFlash Card adaptor of your
programming device / PC.
9. Insert the CF card into the D410.
10.Switch on power to the D410. The new firmware is loaded from the CompactFlash Card
to the SIMOTION D410 module.

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Backing up licenses, retain data, and user data

Prior to upgrading/downgrading firmware, as a precaution we would generally recommend
backing up the entire contents of the CompactFlash Card to the PC/programming device
using the card adapter and Windows Explorer.
How you should proceed when it comes to backing up and subsequently restoring data on
the CompactFlash Card depends on whether licenses and/or other retain data and user data
required are located on the CompactFlash Card.
If the CompactFlash Card contains no licenses and no other retain data or user data
required
You do not need to take any steps in this case. Delete the contents of the CompactFlash
Card and upgrade the firmware as described.
If the CompactFlash Card contains licenses (e.g. axis licenses)
Before upgrading the new firmware, back up the "KEYS" directory to your PC. This can then
be copied back to the CompactFlash Card once you have installed the new firmware.

Note
The license key is stored in the "KEYS" directory on the CompactFlash Card. When the
SIMOTION device starts up for the first time (firmware version V4.1 or higher), the license
key is saved in the boot sector of the CompactFlash Card.
A license key saved in the boot sector cannot be deleted by means of a user operation; nor
can it be deleted by formatting the CompactFlash Card or rewriting the bootloader.
If the Keys.txt file is no longer present on the CompactFlash Card (because the "KEYS"
directory has been deleted, for example), it will be written again from the boot sector to the
"KEYS" directory while the SIMOTION device is starting up. The license key can be changed
at any time (by relicensing, for example). When the device is next started up, the license key
will be saved in the boot sector again.

If you should lose the license key, you can access it again via the Web License Manager on
the Internet, at Internet address (http://www.siemens.com/automation/license). You require
the HW serial number printed on the CompactFlash Card to do this. In the Web License
Manager, you have the option of displaying the corresponding license key.
If the CompactFlash Card contains other required retain data/user data
If you are using your application to back up data to the CompactFlash Card, you must back
them up before upgrading the new firmware.
Example:
● Backing up retain data (non-volatile data saved using _savePersistentMemoryData):
– user\simotion\pmemory.xml
● Backing up IT DIAG user files, settings (e.g. trace.xml), task trace data, log files, and
Java files (classes, archives, user file system, etc.), stored in the following directories:
– user\simotion\hmicfg
– user\simotion\hmi

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Maintenance and service
5.4 Performing a firmware and project update

● Backing up configuration data for modular machines in conjunction with the

_activateConfiguration system function, stored in the following directory:
– install\simotion
● Backing up unit data (data saved on the CompactFlash Card using
_saveUnitDataSet/_exportUnitDataSet), stored in the following directory:
– user\simotion\user dir\<unitname>

Note
When a version is changed, you must use the "Back up variables" function to back up
data saved using _saveUnitDataSet or _exportUnitDataSet in a way that is not
dependent on the version. You then have the option of restoring them using "Restore
variables".
When performing an upgrade with a firmware version that is ≥ V4.1, these two
functions are only required for backing up and restoring unit data sets that have been
created using _saveUnitDataSet.
Retain and unit data (saved with _exportUnitDataSet) remain valid even after a
version upgrade.

Re-compiling and downloading project data in SIMOTION SCOUT

Re-compile and download the project data after upgrading the D410. To do this, you have
the following options:
● Download the project to the CompactFlash Card using the SIMOTION D410
You require an online connection between the programming device/PC and
SIMOTION D410 for this purpose. Select the "Download project to target system"
command to download the project to SIMOTION D410. The connection to the SINAMICS
Integrated is automatically established.
For details, refer to the section titled Downloading a project created offline to the target
system (Page 70).
● Download the project directly to the CompactFlash Card using the CompactFlash Card
adapter
You can use a card reader to write the entire project to the CompactFlash Card, even
while offline. In SIMOTION SCOUT, you can call the "Download to the file system"
function in the context menu of the SIMOTION device.
For details, refer to the section titled Loading a project created offline to the
CompactFlash Card (Page 71).
In both cases, the firmware update is performed automatically.

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 Maintenance and service
5.4 Performing a firmware and project update

Updating the firmware of SINAMICS components automatically

When starting up, the system automatically upgrades or downgrades all DRIVE-CLiQ
components to the version of the component firmware on the CompactFlash Card.
Components that cannot be downgraded to the component firmware version on the
CompactFlash Card (for example, old firmware on the CompactFlash Card and new
components to which the old firmware cannot be loaded) retain their firmware version. The
resulting firmware version combinations are always functional.

Note
The components' firmware is automatically updated, depending on the FW version on the
SINAMICS components and on the CompactFlash Card. During an FW update, please take
note of the messages and alarms in the SIMOTION SCOUT detail window. An FW update
on the SIMOTION D410 is signaled by the RDY LED flashing yellow, while on the DRIVE-
CLiQ components (TM, SMC, etc.) it is signaled by the RDY LED flashing red/green.
• FW update running: RDY LED flashes slowly (0.5 Hz)
• FW update complete: RDY LED flashes quickly (2 Hz)
Go offline once all the FW updates are complete, then switch the 24 V supply for the
upgraded initialization components off/on.

Updating the firmware of the SINAMICS components

The SINAMICS components' firmware is upgraded automatically, depending on the setting of
parameter p7826.
● p7826 = 0: Upgrade/downgrade deactivated
● p7826 = 1: Upgrade and downgrade
● p7826 = 2: Upgrade only

CAUTION
The automatic FW update via p7826 = 1 (upgrade and downgrade) must not be
deactivated when Safety Integrated is used.

If you are upgrading the firmware manually, proceed as follows:

1. Select the SINAMICS component in the Project Navigator, for example, SINAMICS
Integrated.
2. Double-click "Configuration" in the project navigator.
The "SINAMICS_Integrated - Configuration" dialog box will open with a list of available
drive objects.
3. Click "Version Overview" to open the list of connected SINAMICS components.
4. Go online and select the devices whose firmware you wish to update.
The list displays the current firmware version of the devices.

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Maintenance and service
5.4 Performing a firmware and project update

5. Click "Firmware update" to download the new firmware to the devices. To do so, you
must select all components whose firmware is to be updated.
6. When the firmware update is complete, switch the 24 V power supply off and on again.
The device is now ready for operation.

Note
The SINAMICS components must be configured for a firmware update to take place. The
firmware cannot be updated if the components are not programmed.
You can also update the firmware by means of the Expert list. Refer to the SINAMICS
S120 Commissioning Manual for a description of this procedure.

See also
Adapting a project (new device type/device version) (Page 150)

5.4.3 Firmware and project update using IT DIAG

The SIMOTION D410 features an integrated web server that is licensed via the software
option "SIMOTION IT DIAG".
In addition to customized websites and comprehensive device/diagnostic information, one of
the options that IT DIAG offers is performing firmware and project updates using a standard
PC with Internet Explorer.

Note
An Ethernet or PROFINET interface is required for IT DIAG. For this reason, IT DIAG is only
available on the SIMOTION D410 PN, not the D410 DP.

For detailed information, refer to the SIMOTION IT Ethernet-Based HMI and Diagnostic
Functions Diagnostics Manual.

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 Maintenance and service
5.4 Performing a firmware and project update

5.4.4 Firmware and project update using the device update tool

Overview
With SIMOTION V4.1 SP2 and higher, SIMOTION D Control Units and projects can be
upgraded using upgrade data that was created at an earlier point in time.
Performing an upgrade using upgrade data has the following advantages:
● User-friendly creation of upgrade data via SIMOTION SCOUT with the aid of a wizard (at
the machine manufacturer's site)
● SIMOTION devices can be upgraded by the machine operator without the
SIMOTION SCOUT engineering system.
● The machine manufacturer can conveniently send upgrade data via e-mail or post to the
machine operator.
● There is no need to use license keys, as licenses are retained.
● Retain data and unit data are retained when upgrades are performed, even across
versions.
● An upgrade which has been imported can be discarded again, and a downgrade to the
previous configuration performed.
● You can upgrade either a single SIMOTION device or multiple devices from one or more
SIMOTION projects.
● It is possible to upgrade only parts of a configuration (e.g. Technology Packages only,
firmware only, project only, etc.).
Upgrade data are created by the application engineer at the machine manufacturer's
premises using SIMOTION SCOUT. The upgrade data can then be handled flexibly
depending on both the SIMOTION device in question (SIMOTION C, D, or P) and the
customer requirements:
● Creating upgrade data and then copying them to a storage or upgrade medium:
– CompactFlash Card
– USB memory stick (D4x5 only; not with D410)
– IT DIAG file
● Alternatively, the upgrade data can be created and stored in an archive on the PC, with a
view to importing it to an upgrade medium suitable for SIMOTION devices at a later point.
● The process of importing the data to an upgrade medium can be performed at the
machine manufacturer's premises; alternatively, if the upgrade archive has been
transferred to the machine operator, the service engineer can do this on site.
● The service engineer imports the upgrade data on an operator-guided basis (without any
involvement by the application engineer) to the SIMOTION device(s), and upgrades the
SIMOTION devices in the process (SIMOTION SCOUT is not required on site).

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Maintenance and service
5.4 Performing a firmware and project update

Upgrading with a CompactFlash Card

1. Switch the SIMOTION D410 to be upgraded off.
2. Insert the CompactFlash Card into the SIMOTION D410.
3. Switch the SIMOTION D410 back on. The D410 will begin to process the upgrade data.
The RDY LED will flash green during this process. Once the upgrade process is
complete, the RDY LED will change
– To green (constant) if the process was successful
– To red (constant) if the process was not successful
4. Switch the D410 off and on again to perform a restart.

Downgrading
If the upgrade was not successful (the machine is not behaving as required, for example),
it is possible to undo the upgrade. To do this, proceed as follows:
1. Switch off the SIMOTION D410.
2. Set the service selector switch (switch 6) to ON.

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Figure 5-5 Switch position for downgrading

3. Switch the SIMOTION D410 back on.

The system restores the data that were backed up during the upgrade process (TP,
project, user data). The data from the upgrade process are deleted.
The SIMOTION device restarts once this is complete.
Following startup, the configuration from the state present prior to the upgrade becomes
active.
4. Set the service selector switch (switch 6) to OFF.

Additional references
Detailed information on upgrading devices can be found in the Upgrading SIMOTION
Devices Operating Instructions.

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 Maintenance and service
5.5 SIMOTION CompactFlash Card

5.5 SIMOTION CompactFlash Card

5.5.1 Replacing the CompactFlash Card

Prerequisite

Note
Always power down the unit before you insert or remove the CompactFlash Card!
The SIMOTION D410 is in a de-energized state when all the LEDs are OFF.

Procedure
How to replace the CompactFlash Card:
1. Shut down the power supply.
2. Remove the CompactFlash Card from the plug-in slot on the SIMOTION D410.
To do this, grasp the gripping cavity between your thumb and forefinger and pull the card
out.
3. Insert the new CompactFlash Card into the card slot. Push it in all the way with slight
pressure until it engages. The insertion direction of the CompactFlash Card is identified
by an arrow on the card and a matching arrow on the slot.
The properly inserted card does not protrude from the SIMOTION D410 housing.
4. Restart the power supply.

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Maintenance and service
5.5 SIMOTION CompactFlash Card

5.5.2 Writing to a CompactFlash card

Overview
You have the following options of writing data to a CompactFlash Card:
● Writing to a CompactFlash Card that is inserted in a SIMOTION D
The programming device / PC must be online to SIMOTION D410 in order to execute this
function.
● Writing to a CompactFlash Card without a SIMOTION D module
This function requires a CompactFlash Card adapter.

Note
CompactFlash Card are always shipped in formatted state. It contains the SIMOTION
Kernel (D4xx firmware).
Trouble-free operation of the CompactFlash Card can only be guaranteed if you do not
modify its partitioning.

Writing to a CompactFlash Card that is inserted in the SIMOTION D

The CompactFlash Card can be used as storage volume for technology and user data
(programs, configuration data and parameters) from the "volatile data" area. Proceed as
follows:
1. Go online to SIMOTION D410 on your programming device / PC (see the chapter
"Creating a project").
2. Select the "Copy RAM to ROM" command in SIMOTION SCOUT to write the data to your
CompactFlash Card.

Writing to a CompactFlash Card without a SIMOTION D module

A CompactFlash Card adapter must be installed on the programming device / PC and can
be used to write data to the CompactFlash Card. Always save your project data to
CompactFlash Card using the programming device / PC before you update the SIMOTION
firmware, for example.

Note
Do not use any of the onboard tools in Windows to modify or delete files which were written
to the CompactFlash Card using the "Copy RAM to ROM" function in SIMOTION SCOUT.
Such actions may irrevocably destroy your project.

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 Maintenance and service
5.5 SIMOTION CompactFlash Card

5.5.3 Formatting the CompactFlash Card

You can format a faulty CompactFlash Card, for example. Proceed as follows:
1. Insert the CompactFlash Card into a CompactFlash Card adapter which is connected to
your programming device / PC.
2. Format the CompactFlash Card in Windows (FAT or FAT16 file system).
The CompactFlash Card is formatted.
3. If the CompactFlash Card bootloader is also defective, you will have to rewrite it.

NOTICE
The CompactFlash Card must only be formatted with FAT or FAT16, and must not be
formatted with FAT32 or NTFS.

See also
Bootloader on the CompactFlash card (Page 167)

5.5.4 Bootloader on the CompactFlash card

Writing a bootloader
A bootloader may need to be written in the following situations:
● When a new bootloader is required for the SIMOTION D410 firmware version being used.
● When a new bootloader is required for the used SIMOTION D410 hardware version.
● When the bootloader is defective.
The bootloader version can be fetched using SIMOTION SCOUT device diagnostics. If this
is not possible because of the following reason, this can be caused by an incorrect
bootloader version.
A potential fault description could be as follows:
The SIMOTION D410 does not power up, the RDY LED flashes red at 0.5 Hz and the
RUN/STOP LED lights up red, or all the LEDs remain off.
In this case, replace the bootloader version with the current version.
Use the "Options > Write boot sector..." function to write the bootloader version in
SIMOTION SCOUT to the CompactFlash Card.

Note
You require programming device/PC administrator rights in order to write to the boot sector.
If you do not have administrator rights on your programming device/PC, an administrator can
enter an administrator login for you in order to use this function, under "Options" > "Settings"
> "Rights".

Detailed information on the CompactFlash Card, bootloader version, SIMOTION D410

hardware, and SIMOTION firmware version compatibility relationships can be found in the
software compatibility list. This list is available both in the documentation supplied on the
SIMOTION SCOUT DVD (at \1_Important\German\Kompatibilität\) . . and on the Internet at
Internet address (http://support.automation.siemens.com/WW/view/en/18857317).

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Maintenance and service
5.5 SIMOTION CompactFlash Card

5.5.5 Recommended method of handling CompactFlash Cards

Handling CompactFlash Cards correctly

The following points should be noted when handling the CompactFlash Card:
● The CompactFlash Card may only be inserted or removed when the system is in a de-
energized state.
● CompactFlash Cards cannot be rewritten as many times as the user wishes.
With this in mind, it is better if you avoid writing user data from the application to the
CompactFlash Card on a cyclical basis. Depending on the system, a writing process from
the application may trigger one or more writing processes on the CompactFlash Card.
Therefore, we recommend you adopt a conservative approach in terms of the number of
writing processes. In other words, do not perform more than 100,000 write access
instances from the user program over the estimated service life of the application.
● We recommend you avoid switching off the module during write accesses to the
CompactFlash Card (e.g. "Copy RAM to ROM", savePersistentMemoryData,
_saveUnitDataSet, _exportUnitDataSet, etc.).

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Service and diagnostics 6
6.1 Diagnostics by means of LED displays

Overview
The status LEDs display the operating modes or fault states of SIMOTION D410.

Legend of the LED states

Table 6- 1 Legend of the LED states

Symbol Meaning
1 LED on
0 LED off
0.5/1 LED flashes at 0.5 Hz:
2/1 LED flashes at 2 Hz:
Λ LED flickers
x The LED display is irrelevant to the states shown in the table

LED displays
The following table provides an overview of all relevant LED display combinations. Each LED
can be lit in yellow, red, or green color. The color which corresponds with the LED signal
state is also defined.

Table 6- 2 Diagnostics by means of LED display

Meaning RDY RUN/STOP OUT > 5V SF/BF:

SINAMICS Integrated ready for operation 1 x x x
(green)
SINAMICS Integrated in fault state Λ x x x
(red)
Startup of the D410 without CF card or with CF card without valid 0.5/1 1 0 0
operating system (the bootloader may be defective) (red) (red)
Write access to CompactFlash Card 2/1 x x x
(green)
SIMOTION ready for operation x 1 x x
(green or
yellow)

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Service and diagnostics
6.1 Diagnostics by means of LED displays

Meaning RDY RUN/STOP OUT > 5V SF/BF:

Fault event to which the user program (SIMOTION) cannot Λ Λ x Λ
respond, or firmware error at the PROFINET interface. (red) (red) (red)
The following actions may be required to rectify the fault:
• Power OFF/ON
• Check of the CompactFlash Card
• Re-commissioning
• Replacement of SIMOTION D410
The following statuses are signaled: 1 x x x
- A warning on the SINAMICS Integrated is pending. This status (yellow)
may occur if, for example, a DRIVE-CLiQ component is
configured, but not present.
- Module identification (recognition via LED) selected using
SCOUT or p124.
The RDY LED of the SIMOTION D410 does not flash
yellow/green as in the case of CUs, but instead lights up yellow
constantly.

Ethernet LED (only for SIMOTION D410 PN) x x x 2/1

DCP flashing of the module activated in the HW Config at Target (green)
system > Ethernet > Edit Ethernet node > "Search" button >
"Flashing" button
Priority: 0 1)
Active interrupt which can be acknowledged (alarm, message, x x x 1
note) (red)
Priority: 1 1)
Bus fault x x x 2/1
• PROFIBUS master: At least one slave is missing (red)
• PROFIBUS slave: No parameter assignment master found
• PROFINET: Failure of a connected I/O device; at least one of
the assigned I/O devices cannot be addressed; faulty or
missing configuration data.
Priority: 2 1)
Sublicensing of technology/option objects x x x 0.5/1
Priority: 3 1) (red)
Upgrade/downgrade operation running. 0.5/1 x x x
(yellow)
The upgrade/downgrade operation has completed 2/1 x x x
(power OFF/ON of the upgraded/downgraded devices is (yellow)
necessary)

STOP to RUN transition x 2/1 x x

(green)
STOP/STOPU x 1 x x
(yellow)
RUN to STOP transition x 2/1 x x
(yellow)
Memory reset requested by SIMOTION D410, or by means of x 0.5/1 x x
mode selector switch. (yellow)

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 Service and diagnostics
6.1 Diagnostics by means of LED displays

Meaning RDY RUN/STOP OUT > 5V SF/BF:

Memory reset in progress x 0 x 0
Memory reset completed x 1 x x
(yellow)

Firmware download to the integrated PROFINET interface is busy 0 2/1 x 2/1

(yellow) (yellow)
Firmware download to the integrated PROFINET interface is 1 1 x Λ
completed SIMOTION cannot enter the RUN and Online mode (green) (yellow) (red)
1)Priority of the displays: The displays always visualize the state which is assigned the
numerically lowest priority level. The error of the next highest priority class is displayed after
the cause of the previous signal state was eliminated.
The LED "OUT > 5V" display is controlled only by the encoder evaluation for the integrated
X23 encoder interface in SINAMICS Integrated. The table below lists the display states and
their meaning.

Table 6- 3 LED display OUT > 5V

Status Meaning
0 Electronic power supply is missing or outside the valid tolerance range. Power
supply ≤ 5 V. Use of an encoder with 5 V power supply.
1 Electronics power supply for measuring system available. Power supply >5 V.
(yellow) Caution: Always ensure that you can operate the encoder on the 24 V power
supply (e.g. HTL encoder). Operation of a 5 V encoder on the 24 V encoder
supply may lead to the destruction of its electronic components! This setting can
be selected in the expert list of the drive in parameter p405.1.

Note
There are additional status indicators available for the SF/BF and RDY LEDs when
upgrading/downgrading the SIMOTION D410 using the device update tool.
Additional references
Detailed information can be found in the Upgrading SIMOTION Devices Operating
Instructions.

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Service and diagnostics
6.2 Diagnostic data and non-volatile data

6.2 Diagnostic data and non-volatile data

6.2.1 Overview
With V4.1 SP2 and higher, and without the need for the SCOUT engineering system, you
can use simple operations (e.g. setting switches)
● Back up diagnostic data, including non-volatile data (retain data) to the
CompactFlash Card. For details, refer to the section titled Backing up diagnostic data and
non-volatile data (Page 173).
● Back up websites to the CompactFlash Card, including the most up-to-date content for
diagnostic purposes, refer to the section titled Diagnostics via websites (Page 178).
● For information on restoring backed-up non-volatile data (retain data), refer to the section
titled Restoring non-volatile data (Page 179).

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 Service and diagnostics
6.2 Diagnostic data and non-volatile data

6.2.2 Backing up diagnostic data and non-volatile data

6.2.2.1 Diagnostic data

Following a fault on a SIMOTION device, diagnostic data (e.g. diagnostic buffer content, up-
to-date content of websites, etc.) can provide important information on the cause of the fault.
For this purpose, these data can be backed up to the CompactFlash Card using a simple
operation (e.g. by setting a switch on the D410).
You then have the following options for the diagnostic data:
● Fetching them from the CompactFlash Card using a card reader
● Downloading them using IT DIAG or FTP
You can also use them for diagnostic purposes or provide technical support with them for
evaluation purposes.
You have various options in terms of backing up the diagnostic data:
● Backing up during operation (in STOP/STOPU/RUN mode); for details, refer to the
section titled Procedure for backing up during operation (Page 174)
– Using IT DIAG;
IT DIAG also offers the option of fetching diagnostic data online.
– Using a service selector switch
● Backing up while the module is starting up; for details, refer to the section titled
Procedure for backing up during startup (Page 175).
– Using a service selector switch
– Controlling diagnostic data creation using an INI file stored on the CompactFlash Card

Note
An Ethernet or PROFINET interface is required for IT DIAG. For this reason, IT DIAG
is only available on the SIMOTION D410 PN, not the D410 DP.

6.2.2.2 Non-volatile data (retain data)

In addition to diagnostic data, non-volatile data (retain data) is saved on the
CompactFlash Card. You can use these in situations where the non-volatile data has not
been saved on the CompactFlash Card using the _savePersistentMemoryData system
function, and you wish to restore the non-volatile data after a CPU has been replaced.

Note
While the non-volatile data are stored as a "PMEMORY.XML" backup file in the
"...USER/SIMOTION" directory using the _savePersistentMemoryData system function,
backing up diagnostic data and non-volatile data involves storing data in the
"...\USER\SIMOTION\HMI\SYSLOG\DIAG directory.

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Service and diagnostics
6.2 Diagnostic data and non-volatile data

6.2.2.3 Procedure for backing up during operation

Procedure
The advantage of backing up diagnostic data and non-volatile data during operation is that
enhanced diagnostic information is available via websites and TO alarm information.
Data are backed up:
● Using "Diagnostics > Diagnostics Files" in IT DIAG; for details, refer to the section titled
Backing up diagnostic data and non-volatile data using IT DIAG (Page 181)
● Using a service selector switch (see description below)

Service selector switch

To back up diagnostic data and non-volatile data using a service selector switch, proceed as
follows:
1. Set the service selector switch to the "Diagnostics" setting (i.e. set DIP switch S7 to ON).
The positions of the mode selector switches are not relevant (i.e. the operating mode set
remains unchanged).
The diagnostic data and non-volatile data can be created in STOP, STOPU, and RUN
modes.

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Figure 6-1 Writing diagnostic data using a switch position

2. The diagnostic data and non-volatile data are backed up to the CompactFlash Card.
The backup process is indicated by the status LEDs as follows:

Table 6- 4 LED displays during backup process

Status LED displays on the D410

Backup in progress RUN/STOP LED flashes yellow at 2 Hz
Backup complete RUN/STOP-LED flashes green at 2 Hz and SF LED lights up
1. Once the backup is complete, switch off the D410.
2. Remove the CompactFlash Card and reset the service selector switch to its original
setting.

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 Service and diagnostics
6.2 Diagnostic data and non-volatile data

6.2.2.4 Procedure for backing up during startup

Procedure
Backing up diagnostic data and non-volatile data during startup provides you with diagnostic
information without websites/TO alarm information.
Backing up during startup is particularly advisable for SIMOTION devices that are not run
capable or have crashed.
Diagnostic data and non-volatile data are backed up
● Using a service selector switch or
● Using an INI file saved on the CompactFlash Card
The procedure for each is described below.

Service selector switch

Data are backed up using a service selector switch as follows:
1. Set the service selector switch to "Diagnostics" (i.e. set DIP switch S7 to ON).
The switch positions of the mode selector switches are not relevant (i.e. the operating
mode set remains unchanged).

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Figure 6-2 Writing diagnostic data using a switch position

2. Switch the D410 off and on again.

3. Wait for the device to start up.
The diagnostic data and non-volatile data are backed up to the CompactFlash Card
during startup, provided that this is still possible and is not prevented by HW
defects,for example.
4. Once the backup is complete, switch off the D410.
5. Remove the CompactFlash Card and reset the service selector switch to its original
setting.

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Service and diagnostics
6.2 Diagnostic data and non-volatile data

INI file in the main CompactFlash Card directory

1. Use a text editor (such as Notepad) to create a file called simotion.ini.
2. Add the following text: DIAG_FILES=1
You must use a text editor and may not use any formatting in the text.
3. Copy the simotion.ini file to the main CompactFlash Card directory.
4. Insert the CompactFlash Card into the module, which is switched off.
5. Switch the D410 on and allow the SIMOTION device to start up.
The diagnostic data and non-volatile data are backed up to the data carrier during
startup, provided that this is still possible and is not prevented by HW defects,
for example.
6. Once the backup is complete, switch off the SIMOTION device.
7. Remove the CompactFlash Card.

NOTICE
To suppress startup in diagnostics mode again, you must delete the simotion.ini file from
the CompactFlash Card.

6.2.2.5 Storing data

Storing diagnostic data and non-volatile data

You can find diagnostic data and non-volatile data on the CompactFlash Card in
the \USER\SIMOTION\HMI\SYSLOG\DIAG directory.
Copy these data and transfer them to technical support on request. A commercially available
card reader can be used to transfer the diagnostic data the CompactFlash Card via standard
IT DIAG sites or FTP.
The following data are stored:

Table 6- 5 Diagnostic data on the CompactFlash Card

File Application
DIAGBUF.TXT Diagnostic buffer in a simple text format:
Numerical values; no specific plain text. A text editor is used for evaluation
purposes.
PMEMORY.XML Non-volatile data (retain data)
An operation can be used to restore the non-volatile data saved after a CPU
has been replaced.
(For details, refer to the section titled Restoring non-volatile data
(Page 179).)
TOALARMS.TXT Text file containing the pending TO alarms. Only TO IDs, alarm numbers,
and associated HEX values.
Note:
The TO alarms are only created if diagnostic data have been created during
operation (STOP/STOPU/RUN).

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 Service and diagnostics
6.2 Diagnostic data and non-volatile data

File Application
Website If the diagnostic data are backed up, the URLs are requested from the text
file (DIAGURLS.TXT) and stored as websites together with their contents.
(For details, refer to the section titled Diagnostics via websites (Page 178).)
Note: Note:The websites are only stored if diagnostic data are created
during operation (STOP/STOPU/RUN).
Other files All other files stored in the directory are only of relevance to technical
support.

Note
Use websites if you wish to back up diagnostic data in plain-text format. Websites enable
user-friendly diagnostics. In addition to the standard IT DIAG diagnostics sites, you have the
option of creating your own websites (e.g. for the axis status or for machine diagnostics).
Customized diagnostics sites are particularly suitable for application problems, as you can
define the contents yourself.

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Service and diagnostics
6.2 Diagnostic data and non-volatile data

6.2.3 Diagnostics via websites

In the "DIAGURLS.TXT" text file, found in the ...\USER\SIMOTION\HMI\SYSLOG\DIAG
directory, you can specify HTML files whose status is to be stored on the
CompactFlash Card when diagnostic data are created during operation. (For example,
"devinfo.mcs" must be entered for the "devinfo.htm" website.)
Since the sites in question are stored together with their most up-to-date contents, this
enables the latest status information regarding the SIMOTION device, as well as the
machine/system, from the point at which diagnostic data were created (e.g. when the service
selector switch was activated) to be archived.
In addition to the standard IT DIAG diagnostics sites, it is possible to store customized sites.
Information on creating sites of this type can be found in, for example, Utilities &
Applications.

Figure 6-3 Diagnostic buffer at the point when diagnostic data was created

The following points must be noted for the DIAGURLS.TXT file:

● A DIAGURLS.TXT file containing the standard IT DIAG sites is automatically created if
you have not stored your own DIAGURLS.TXT file.
● Standard IT DIAG sites are entered "without" a path specification (e.g. "devinfo.mcs" for
the standard IT DIAG site "devinfo.htm").
● Customized IT DIAG sites (such as "user.htm") in the \USER\SIMOTION\HMI\FILES
directory on the CompactFlash Card must contain the FILES/ path specification.
● If you have created subfolders (e.g. "myfolder" in the FILES directory), these must also
appear in the path.
● Only 1 file name may be used per line.

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 Service and diagnostics
6.2 Diagnostic data and non-volatile data

● Empty lines are not permitted (an empty line will be interpreted as the end of the list).
● No distinction is made between upper-case and lower-case letters.
● It does not matter whether you use "\" or "/" in the path name.

Figure 6-4 Depiction of DIAGURLS.TXT editor

6.2.4 Restoring non-volatile data

Prerequisite
The diagnostic data and non-volatile data have been backed up to the CompactFlash Card.
For details, refer to the section titled Backing up diagnostic data and non-volatile data
(Page 173).

Procedure
To restore non-volatile data after a CPU has been replaced, proceed as follows:
1. Insert the CompactFlash Card into the new D410 (which must be switched off).
2. Set the switch to the "Delete non-volatile data" setting (i.e. set DIP switch S5 to ON).
The positions of the mode selector switches are not relevant (i.e. the operating mode set
remains unchanged).

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Figure 6-5 Switch position for restoring non-volatile data

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Service and diagnostics
6.2 Diagnostic data and non-volatile data

3. Allow the D410 to start up; the non-volatile data will be restored while this is taking place.
If there is a file called "PMEMORY.XML" in the "USER/SIMOTION" directory, this will be
restored (rather than the "PMEMORY.XML" file saved using diagnostics in directory
"\USER\SIMOTION\HMI\SYSLOG\DIAG").
The order of priority for restoration is as follows:
– /USER/SIMOTION/PMEMORY.XML
– /USER/SIMOTION/PMEMORY.BAK
– /USER/SIMOTION/HMI/SYSLOG/DIAG/PMEMORY.XML

Note
When the "Delete non-volatile data" switch position is selected, the non-volatile data of
the D410 is first deleted and then restored by means of the PMEMORY backup file.

4. Once the D410 has started up, switch it off.

5. Reset the service selector switch to its original setting.
6. Switch the D410 back on.

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 Service and diagnostics
6.2 Diagnostic data and non-volatile data

6.2.5 Backing up diagnostic data and non-volatile data using IT DIAG

SIMOTION devices feature pre-configured, standard IT DIAG sites. These sites can be
displayed via Ethernet using a commercially available browser. Additionally, you have the
option of creating your own websites and incorporating service and diagnostic information.
You can also use IT DIAG to back up diagnostic data and non-volatile data. IT DIAG is
opened by entering the IP address of the SIMOTION device in the address bar of the
browser; e.g. http://192.168.0.22.
This opens the IT DIAG start screen. To back up diagnostic data and non-volatile data, call
up the "Diagnostic files" page from the "Diagnostics" menu.

Figure 6-6 IT DIAG

Table 6- 6 Functions on the "Diagnostic files" website

Button Function
Create general diagnostic files This button saves diagnostic data and non-volatile data in the
...\USER\SIMOTION\HMI\SYSLOG\DIAG directory. HTML files
used for diagnostics purposes are not saved.
Create html diagfiles This button is used to save diagnostics websites on the data
carrier. It should be noted that only those sites that are listed in
the DIAGURLS.TXT file in directory
...\USER\SIMOTION\HMI\SYSLOG\DIAG are saved (for details,
refer to the section titled Backing up diagnostic data and non-
volatile data (Page 173)).

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Service and diagnostics
6.2 Diagnostic data and non-volatile data

Button Function
Zip all diagfiles The "zip all Diagfiles" button enables you to compress
diagnostics files. This stores all files and folders in a ZIP file in
directory ...\USER\SIMOTION\HMI\SYSLOG\DIAG, while
retaining the folder structure.
Get diagarchive This button is used to save the ZIP archive to connected
programming devices/PCs.
Delete all diagfiles This button is used to delete all data stored in the
...\USER\SIMOTION\HMI\SYSLOG\DIAG directory; the directory
itself is not removed, however.
You can find diagnostic data and non-volatile data on the CompactFlash Card in the
following directory:
\USER\SIMOTION\HMI\SYSLOG\DIAG

Additional references
For detailed information, refer to the SIMOTION IT Ethernet-Based HMI and Diagnostic
Functions Diagnostics Manual.

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 Service and diagnostics
6.3 Additional service and diagnostics options

6.3 Additional service and diagnostics options

6.3.1 SIMOTION Task Profiler application

The SIMOTION Task Profiler is a dedicated application installed parallel to
SIMOTION SCOUT during SIMOTION SCOUT setup. The Task Profiler can be called in
online mode using device diagnostics in SIMOTION SCOUT or the Windows application. In
the event of a malfunction or error, the Task Trace data can be written to a directory or the
CompactFlash Card. They can then be processed using the Task Trace Viewer.

Additional references
For detailed information, refer to the SIMOTION Task Trace Function Manual.

6.3.2 Diagnostics using IT DIAG

The SIMOTION D410 features an integrated web server that is licensed via the software
option "SIMOTION IT DIAG".
In addition to customized websites the option of performing firmware and project updates,
IT DIAG provides comprehensive device and diagnostic information that can be called up
using a standard PC with Internet Explorer.

Additional references
For detailed information, refer to the SIMOTION IT Ethernet-Based HMI and Diagnostic
Functions Diagnostics Manual.

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Standards and approvals A
A.1 General rules

IEC 1131
The SIMOTION programmable controller meets the requirements and criteria of the
Standard IEC 1131, Section 2.

CE marking
Our products meet the general and safety-related requirements of the following EC
guidelines and conform to the uniform standards (EN) for programmable controllers
published in the official gazettes of the European Union:
89/336/EEC "Electromagnetic Compatibility" (EMC guideline)
The EC declaration of conformity is contained in this manual.

EMC Directive
SIMOTION products are designed for industrial use.

Table A- 1 EMC Directive

Field of application Requirements for

Emitted interference Immunity to noise
Industry EN 50081-2 EN 61000-6-2

UL certification
Recognized component mark for United States and the Canada Underwriters Laboratories
(UL) according to Standard UL 508, File 16 4110.

Declaration of conformity
The current Declaration of Conformity is on the Internet at
http://support.automation.siemens.com/WW/view/de/15257461

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Standards and approvals
A.2 Safety of electronic controllers

A.2 Safety of electronic controllers

Introduction
The following remarks relate to fundamental criteria and apply irrespective of the type of
controller and the manufacturer.

Reliability
Comprehensive and cost-effective measures have been taken during development and
production to increase the reliability of the devices and components as far as possible.
These include
● The selection of high-quality components
● Worst-case dimensioning of all circuits
● Systematic and computerized inspection of all supplied components
● Burn-in of all large-scale integrated circuits (e.g. processors, memory, etc.)
● Measures to prevent static discharge when handling MOS circuits
● Visual checks during various stages of manufacture
● Continuous heat testing at higher ambient temperatures for several days
● Computerized final inspection
● Statistical analysis of all returned goods so that corrective measures can be initiated
immediately
● Monitoring of the primary controller components using online tests
These measures are considered to be basic measures for safety engineering. They avoid or
control the majority of faults that may occur.

Risk
A higher degree of safety standard applies to all applications and situations where there is a
risk of material damage or injury to persons if there is a failure. Special regulations specific to
the system apply to such applications. These must be taken into account for configuration of
the controller (e.g. VDE 0116 for furnaces).
For electronic controllers with safety responsibility, the measures required for preventing or
controlling faults depend on the hazard inherent in the plant. In this respect, the basic
measures listed above are no longer adequate once the hazard exceeds a certain potential.
Additional measures (e.g. double redundancy, tests, checksums, etc.) for the controller must
implemented and certified (DIN VDE 0801).

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 Standards and approvals
A.2 Safety of electronic controllers

Division into safety-critical and non-safety-critical areas

Nearly all systems contain parts that perform safety-related tasks (e.g. emergency stop
switch, protective grating, two-hand controls). To avoid having to apply safety-related criteria
to the entire controller, it is customary to divide the controller into two areas - one that is
critical to safety and one that is not critical to safety. No special demands are made
concerning safety in the area that is not safety-critical as an electronic fault would not have
any effect on the safety of the system. However, in the safety-critical area, only controllers
and circuits that comply with the relevant regulations, may be used.

Important note
Even if an extremely high level of conceptual safety has been achieved in the design of an
electronic controller - e.g. through implementation of a multi-channel design - strict
adherence to all instructions in the operator's guide is mandatory, as incorrect handling could
invalidate measures taken to prevent hazardous faults or create additional potential hazards.

DANGER
Electrical, magnetic and electromagnetic fields (EMF) that occur during operation can pose
a danger to persons who are present in the direct vicinity of the product - especially
persons with pacemakers, implants, or similar devices.
The relevant directives and standards must be observed by the machine/plant operators
and persons present in the vicinity of the product. These are, for example, EMF Directive
2004/40/EEC and standards EN 12198-1 to -3 applying to the European Economic Area
(EEA) and in Germany the accident prevention regulation BGV 11 and the associated rule
BGR 11 "Electromagnetic fields" from the German employer's liability accident insurance
association.
These state that a hazard analysis must be drawn up for every workplace, from which
measures for reducing dangers and their impact on persons are derived and applied, and
exposure and danger zones are defined and observed.
The safety information in the Storage, Transport, Installation, Commissioning, Operation,
Maintenance, Disassembly and Disposal sections must also be taken into account.

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Standards and approvals
A.3 Electromagnetic Compatibility

A.3 Electromagnetic Compatibility

Definition
Electromagnetic compatibility (EMC) is the ability of an electrical device to function
sufficiently in its electromagnetic environment without interfering with this environment.
The SIMOTION D410 control meets the requirements of the EU directive on EMC and the
EMC law of the European single market 89/339/EEC.

Relevant standards regarding electromagnetic compatibility

The following EMC standards are met if the EMC installation guideline (order number
6FC5297-☐AD30-0AP☐) is complied with:

Table A- 2 EMC standards

Informational topic Standard

Product standard DIN EN 61800-3
Emitted interference DIN EN 61000-6-4
Noise immunity DIN EN 61000-6-2

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ESD guidelines B
B.1 ESD definition

What does ESD mean?

All electronic modules are equipped with highly integrated modules or components. Because
of the technology used, these electronic components are very sensitive to overvoltages and
thus to discharge of static electricity.
The acronym ESD has become the established designation for such Electrostatic Sensitive
Devices. The ESD designation is used internationally to refer to electrostatic sensitive
devices.
Electrostatic sensitive devices are identified by the following symbol:

Figure B-1 Symbol for identification of electrostatic sensitive devices

CAUTION
Electrostatic sensitive devices can be irreparably damaged by voltages that are far lower
than anything a person can perceive. These voltages occur if you touch a component or the
electrical connection of a module without having previously discharged any static from your
body. Any damage that occurs to a module as a result of overvoltage is generally not
recognized immediately and only comes to light after the equipment has been operating for
some time.

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ESD guidelines
B.2 Electrostatic charging of individuals

B.2 Electrostatic charging of individuals

Any person who is not conductively connected to the electrical potential of the environment
can accumulate an electrostatic charge.
This figure indicates the maximum electrostatic charges that can accumulate on an operator
when he comes into contact with the indicated materials. These values comply with the
specifications in IEC 801-2.

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Figure B-2 Electrostatic voltage that can accumulate on operating personnel

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 ESD guidelines
B.3 Basic measures for protection against discharge of static electricity

B.3 Basic measures for protection against discharge of static electricity

Ensure sufficient grounding

When working with electrostatic sensitive devices, make sure that the you, your workstation,
and the packaging are properly grounded. This prevents the accumulation of static
electricity.

Avoid direct contact

You should only touch ESD components if unavoidable (for example, during maintenance
work). When you touch modules, make sure that you do not touch either the pins on the
modules or the printed conductors. If you follow these instructions, electrostatic discharge
cannot reach or damage sensitive components.
If you have to take measurements on a module, make sure that you first discharge any static
that may have accumulated in your body. To do this, touch a grounded metal object. Only
use grounded measuring instruments.

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Index
Configuring components, 62
Configuring encoders, 94
A Configuring free message frames by means of
BICO, 102
Acyclic communication
Configuring the TM41, 116
Overview, 84
Control properties, 85
Additional data
Controller optimization, 122
Downloading, 72
Creating a DMC20, 118
Applications, 11
Creating an axis, 88
Automatic commissioning, 75
DMC20, 117
Automatic configuration, 75
Downloading additional data, 72
Automatic controller setting
Downloading project to CompactFlash Card, 71
Position controller, 120
Downloading sources, 72
Speed controller, 119
Downloading the project to the target system, 70
Automatic downgrading, 146
Downloading to file system, 71
Automatic position controller setting, 120
Downloading user data, 128
Automatic speed controller setting, 119
Drive optimization, 122
Automatic upgrading, 146
Editing components, 78
Axis
Expanding a message frame, 107
Creating, 88
High-speed output cams, 110
Testing, 90
HW Config alignment, 69
Axis control panel
Inserting a second encoder, 93
Testing an axis, 90
Inserting another encoder, 92
Message frame 39x, 97
Offline configuration, 60
B
Online configuration, 73
BICO Optimizing a controller, 118
Configuring free message frames, 102 Optimizing a drive, 118
Interconnection, 104 Optimizing a speed controller, 124
Bootloader Output cams, 110
Reading, 167 Overview, 57, 59
Upgrading, 156 Overview of onboard I/Os, 95
Writing, 156, 167 P915/P916 free message frame configuration, 101
Bus cycle, 54 Performance features, 85
Prerequisites, 27
Probe, 111
C Procedure for offline configuration, 62
Safety Integrated, 136
CE marking, 185
SINAMICS Integrated, 79
CF card, 24
Supplementary information, 79
Layout, 24
Testing an axis, 90
Licenses, 24
Testing the drive, 86
Type plate, 24
TM41, 116
Commissioning, 57
Vector drive, 81
Acyclic communication, 84
Compact Flash Card
Automatic configuration, 75
Inserting, 28
Comparing a project, 72
CompactFlash card, 34
Configuring a second encoder, 92
Correct handling, 168
Configuring an external encoder, 94

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Index

Deleting, 133 Changing, 52

CompactFlash Card, 24 Configuring, 52
Correct handling, 168 Device version
Deleting, 133 Upgrading, 153
Formatting, 167 Diagnostic buffer
Inserting, 28 SINAMICS, 83
Licenses, 24 Diagnostic data
Replacing, 165 Backing up, 173, 181
Saving user data, 166 Backing up during operation, 174
Type plate, 24 Backing up during startup, 175
View, 24 Backing up using IT DIAG, 181
Writing data using the programming device / Data storage, 176
PC, 166 Diagnostics
Writing data using the programming device/PC, 166 IT DIAG, 183
Writing to, 166 LED display, 169
Components SIMOTION Task Profiler, 183
Configuring, 62 Via websites, 178
on DRIVE-CLiQ, 17 Diagnostics data, 169
on PROFIBUS DP, 14 Digital output
on PROFINET, 15 Onboard, 110
Replacing, 144 Distributed I/O, 14
System components, 13 DMC20
Configuration Creating, 118
DI/DOs, 100 Properties, 117
Global measuring inputs, 111 Downgrading
Inserting another encoder, 92 Automatic, 146
Local probe, 111 Device update tool, 163
Message frame 39x, 97 Downgrading firmware, 161
Probe, 111 Downloading
Configuring To the target system, 156
Components, 62 Downloading to file system, 71
Configuring free message frames by means of DP cycle, 47
BICO, 102 PROFIBUS DP, 46
Configuring message frames, 97 Drive
BICO, 102 Optimizing, 118
Controller Testing, 86
Optimizing, 118 Drive control panel
Controller optimization, 122 Testing the drive, 86
Automatic position controller setting, 120 Drive optimization, 122
Automatic speed controller setting, 119 DRIVE-CLiQ
Function generator, 122 Overview of components, 17
Measuring functions, 122 DRIVE-CLIQ components
Trace, 122 Replacing, 144
Creating a subnet DSC
PROFIBUS DP, 45 Advantages, 67

D E
Data storage EMC guidelines, 185
Diagnostic data, 176 Encoder
Declaration of conformity, 185 Inserting, 92
Device name Encoders

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194 Commissioning Manual, 05/2009
 Index

Configuring, 93, 94 Changing, 52

ESD guideline, 189 Configuring, 52
External encoders Reading out, 51
Configuring, 94 Isochronous operation, 79
IT DIAG
Diagnostics, 183
F FW update, 162
Fan
Operating hours counter, 149
L
Replacing, 147
Fan operating hours counter, 149 LED
Firmware Diagnostics, 169
Automatically updating, 161 Status on the PROFINET port, 50
Updating manually, 161 LEDs
Firmware update Display, 169
Device update tool, 163 Library
IT DIAG, 162 Upgrading, 155
Performing, 157 Licenses
Formatting Backing up, 159
CompactFlash Card, 167 Runtime, 24
FW update Licensing, 25
Automatic, 146 Local probe, 111
Performing, 157 Parameters, 113

G M
Gateway, 52 Maintenance
Global probe, 111 Overview, 141
Global probes Master application cycle, 47
Parameters, 114 Memory model, 31
Guideline Memory reset, 130
ESD, 189 Using the mode selector switch, 132
With SIMOTION SCOUT, 131
Message frame
H Configuring, 102
Extending, 107
High-speed output cams, 110
Interconnecting, 104
HW Config
Message frame 39x, 97
Aligning, 69
Message frame extension, 107
Replacing a module, 151
Module
Replacing in HW Config, 151
I
I/O integration, 16 N
IEC 1131, 185
Non-volatile data, 32
Initialization, 51
Backing up, 36, 173, 181
Integrated drive, 60
Backing up using IT DIAG, 181
Interconnection
Diagnostics data, 37
Free message frames by means of BICO, 104
Restoring, 179
Interface
PROFIBUS DP, 44
IP address, 51

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Index

O Q
Offline configuration, 59 Quantity structure
Onboard I/Os, 95 High-speed output cams / DOs, 98
Probe input, 111 Outputs for the output cams, 115
Online configuration, 73 Probe inputs, 115
Overview, 73 TM15/TM17 High Feature, 115
Operating hours counter, 82
Operating mode, 169
Output R
High-speed output cams, 110
Real-time clock
Overview
Setting, 82
Diagnostic data, 172
References, 4
Onboard I/Os, 95
Renaming a device, 51
Upgrading and downgrading, 157
Replacing a module
DRIVE-CLIQ components, 144
Replacing the module, 143
P
Reset, 30
P915/P916 free message frame configuration, 101 RESET button, 30
P915/P916 message frame configuration, 101 Restoring
Pre-installed runtime licenses, 24 Non-volatile data, 179
Probe Restoring the default settings
Comparison of local and global probes, 111 SIMOTION D410, 134
Global, 111 SINAMICS Integrated, 134
Input, 111 Retain data
Local, 111 Backing up, 155, 173
Process status data, 99 Retain data and user data
Product variants, 11 Backing up, 159
PROFIBUS address RTC, 83
Assign, 43 Rules
PROFIBUS DP PROFIBUS system clocks, 47
Configuring, 42 PROFINET send cycle, 54
Creating a subnet, 45 Runtime licenses, 24
Definition, 42
DP cycle, 46
Interface, 44 S
PROFINET
Safety Integrated
Configuring, 50
Controlling, 137
Features, 50
Functions, 136
Interface, 50
TM54F, 137
Overview, 49
Topology, 138
Programming device / PC
With PROFIsafe, 138
Establish the online connection, 74
Safety of electronic controllers, 186
Project
Send cycle, 53
Comparing, 72
Service, 169
Creating, 39
Service selector switch
Downloading, 156
S5 switch position, 179
Project update
Servicing
Device update tool, 163
Overview, 141
IT DIAG, 162
SIMOTION Task Profiler, 183
Performing, 158
SINAMICS Integrated
PSD, 99
Isochronous operation, 79

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 Index

Restoring the factory settings, 134 Saving, 128

Supplementary information, 79 User memory
Upgrading, 153 CompactFlash card, 34
Sources Copying RAM to ROM, 34
Downloading, 72 Downloading, 34
Speed controller Features, 34
Adjusting the P-gain, 126 Non-volatile data, 36
Optimizing, 124 Non-volatile data, 32
Starting the measuring function, 125 Volatile data, 33
Startup, 30, 37 User memory concept, 31
System clock UTC, 83
Ratio, 46, 54
Rules, 47
Setting, 46, 53 V
System runtime, 82
Variables
Backing up, 155
Vector drive
T
Application, 81
Task Profiler, 183 Volatile data, 33
Technology package
Upgrading, 154
Terminal Module
TM41, 116
Time of day
RTC, 83
Setting, 82
SIMOTION, 82
SINAMICS, 82
UTC, 83
TM41
Overview, 116
Type plate
CF card, 24
SIMOTION D410 DP, 19
SIMOTION D410 PN, 22

U
UL certification, 185
Unit data
Backing up, 155
Upgrading
Automatic, 146
Device update tool, 163
Library, 155
SINAMICS Integrated, 153
Technology package, 154
Upgrading firmware, 161
Upgrading the firmware, 157
User data
Deleting from the CompactFlash Card, 133
Downloading, 128

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SIMOTION SIMOTION SCOUT D410
Commissioning Manual, 05/2009 198