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Telegrams Manual Draft3 Sharp

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Telegrams Manual Draft3 Sharp

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Available Formats

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Telegram User Manual

Table of contents
1 Overview ............................................................................................................. 6
1.1 Scope ................................................................................................... 6
1.2 What is a Telegram? ............................................................................ 6
1.3 How to Interpret This Document .......................................................... 7
2 Application Class and Telegram Support ....................................................... 8
2.1 Telegram Application Class.................................................................. 8
2.1.1 Siemens Supported Application Classes ............................................. 8
2.1.2 Telegram Supported Application Classes ............................................ 9
2.2 Drive supported telegrams ................................................................. 10
3 Telegram Contents .......................................................................................... 11
3.1 Telegram 1 for Basic Speed Setpoint (16-bit) .................................... 11
3.1.1 Description ......................................................................................... 11
3.1.2 Telegram 1 Structure .......................................................................... 11
3.1.3 Telegram 1 Input Words ..................................................................... 12
3.1.4 Telegram 1 Output Words .................................................................. 13
3.1.5 Telegram 1 Associated Parameters ................................................... 14
3.2 Telegram 2 for Basic Speed Setpoint (32-bit) .................................... 21
© Siemens AG copyright year All rights reserved

3.2.1 Description ......................................................................................... 21

3.2.2 Telegram 2 Structure .......................................................................... 21
3.2.3 Telegram 2 Input Words ..................................................................... 22
3.2.4 Telegram 2 Output Words .................................................................. 24
3.2.5 Telegram 2 Associated Parameters ................................................... 26
3.3 Telegram 3 for Speed Setpoint (32-bit) with Position Encoder .......... 36
3.3.1 Description ......................................................................................... 36
3.3.2 Telegram 3 Structure .......................................................................... 36
3.3.3 Telegram 3 Input Words ..................................................................... 37
3.3.4 Telegram 3 Output Words .................................................................. 40
3.3.5 Telegram 3 Associated Parameters ................................................... 43
3.4 Telegram 4 for Speed Setpoint (32-bit) with Two Position Encoders 55
3.4.1 Description ......................................................................................... 55
3.4.2 Telegram 4 Structure .......................................................................... 55
3.4.3 Telegram 4 Input Words ..................................................................... 56
3.4.4 Telegram 4 Output Words .................................................................. 60
3.4.5 Telegram 4 Associated Parameters ................................................... 64
3.5 Telegram 7 for Single Axis Positioner with Traversing Block Selection76
3.5.1 Description ......................................................................................... 76
3.5.2 Telegram 7 Structure .......................................................................... 76
3.5.3 Telegram 7 Input Words ..................................................................... 77
3.5.4 Telegram 7 Output Words .................................................................. 79
3.5.5 Telegram 7 Associated Parameters ................................................... 81
3.6 Telegram 9 for Basic Positioning with Direct Setpoint Input (MDI) .... 88
3.6.1 Description ......................................................................................... 88
3.6.2 Telegram 9 Structure .......................................................................... 88
3.6.3 Telegram 9 Input Words ..................................................................... 89
3.6.4 Telegram 9 Output Words .................................................................. 94
3.6.5 Telegram 9 Associated Parameters ................................................... 97
3.7 Telegram 20 for Speed Setpoint (16-bit) for VIK-NAMUR ............... 108
3.7.1 Description ....................................................................................... 108
3.7.2 Telegram 20 Structure ...................................................................... 108

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3.7.3 Telegram 20 Input Words ................................................................. 109
3.7.4 Telegram 20 Output Words .............................................................. 110
3.7.5 Telegram 20 Associated Parameters ............................................... 113
3.8 Telegram 110 for Basic Positioning with Direct Setpoint Input (MDI),
Override, and Position Feedback ..................................................... 122
3.8.1 Description ....................................................................................... 122
3.8.2 Telegram 110 Structure .................................................................... 122
3.8.3 Telegram 110 Input Words ............................................................... 123
3.8.4 Telegram 110 Output Words ............................................................ 129
3.8.5 Telegram 110 Associated Parameters ............................................. 134
3.9 Telegram 111 for Basic Positioning with Direct Setpoint Input (MDI),
Override, Position Feedback, and Speed Feedback ....................... 150
3.9.1 Description ....................................................................................... 150
3.9.2 Telegram 111 Structure .................................................................... 150
3.9.3 Telegram 111 Input Words ............................................................... 151
3.9.4 Telegram 111 Output Words ............................................................ 156
3.9.5 Telegram 111 Associated Parameters ............................................. 162
3.10 Telegram 350 for Speed Setpoint (16-bit), Speed Feedback, Current
Feedback, and Torque Limit ............................................................ 183
3.10.1 Description ....................................................................................... 183
3.10.2 Telegram 350 Structure .................................................................... 183
3.10.3 Telegram 350 Input Words ............................................................... 184
3.10.4 Telegram 350 Output Words ............................................................ 186
© Siemens AG copyright year All rights reserved

3.10.5 Telegram 350 Associated Parameters ............................................. 188

3.11 Telegram 352 for Vector Speed Control, Speed Setpoint, and
Diagnostic Words ............................................................................. 199
3.11.1 Description ....................................................................................... 199
3.11.2 Telegram 352 Structure .................................................................... 199
3.11.3 Telegram 352 Input Words ............................................................... 200
3.11.4 Telegram 352 Output Words ............................................................ 201
3.11.5 Telegram 352 Associated Parameters ............................................. 203
3.12 Telegram 353 for Speed Setpoint (16-bit), Smoothed Speed Feedback212
3.12.1 Description ....................................................................................... 212
3.12.2 Telegram 353 Structure .................................................................... 212
3.12.3 Telegram 353 Input Words ............................................................... 213
3.12.4 Telegram 353 Output Words ............................................................ 214
3.12.5 Telegram 353 Associated Parameters ............................................. 215
3.13 Telegram 354 for Speed Setpoint (16-bit), User Defined Setpoints,
and Diagnostic Information............................................................... 222
3.13.1 Description ....................................................................................... 222
3.13.2 Telegram 354 Structure .................................................................... 222
3.13.3 Telegram 354 Input Words ............................................................... 223
3.13.4 Telegram 354 Output Words ............................................................ 224
3.13.5 Telegram 354 Associated Parameters ............................................. 226
3.14 Telegram 370 for Line Module Object .............................................. 235
3.14.1 Description ....................................................................................... 235
3.14.2 Telegram 370 Structure .................................................................... 235
3.14.3 Telegram 370 Input Words ............................................................... 236
3.14.4 Telegram 370 Output Words ............................................................ 237
3.14.5 Telegram 370 Associated Parameters ............................................. 238
3.15 Telegram 371 for Line Module, Metals Application .......................... 241
3.15.1 Description ....................................................................................... 241
3.15.2 Telegram 371 Structure .................................................................... 241
3.15.3 Telegram 371 Input Words ............................................................... 242

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3.15.4 Telegram 371 Output Words ............................................................ 243
3.15.5 Telegram 371 Associated Parameters ............................................. 245
3.16 Telegram 390 for Control Unit and Digital I/O 16/8 .......................... 250
3.16.1 Description ....................................................................................... 250
3.16.2 Telegram 390 Structure .................................................................... 250
3.16.3 Telegram 390 Input Words ............................................................... 251
3.16.4 Telegram 390 Output Words ............................................................ 253
3.16.5 Telegram 390 Associated Parameters ............................................. 255
3.17 Telegram 391 for Control Unit and Digital I/O 16/8 with 2 Measuring
Probes .............................................................................................. 261
3.17.1 Description ....................................................................................... 261
3.17.2 Telegram 391 Structure .................................................................... 261
3.17.3 Telegram 391 Input Words ............................................................... 262
3.17.4 Telegram 391 Output Words ............................................................ 265
3.17.5 Telegram 391 Associated Parameters ............................................. 269
3.18 Telegram 392 for Control Unit, Digital I/O 16/8, and 6 Measuring
Probes .............................................................................................. 278
3.18.1 Description ....................................................................................... 278
3.18.2 Telegram 392 Structure .................................................................... 278
3.18.3 Telegram 392 Input Words ............................................................... 279
3.18.4 Telegram 392 Output Words ............................................................ 282
3.18.5 Telegram 392 Associated Parameters ............................................. 287
© Siemens AG copyright year All rights reserved

3.19 Telegram 393 for Control Unit, Digital I/O 24/9, 8 Measuring Probes,
and Analog Input .............................................................................. 296
3.19.1 Description ....................................................................................... 296
3.19.2 Telegram 393 Structure .................................................................... 296
3.19.3 Telegram 393 Input Words ............................................................... 297
3.19.4 Telegram 393 Output Words ............................................................ 301
3.19.5 Telegram 393 Associated Parameters ............................................. 308
3.20 Telegram 394 for Control Unit and Digital I/O 24/9 .......................... 319
3.20.1 Description ....................................................................................... 319
3.20.2 Telegram 394 Structure .................................................................... 319
3.20.3 Telegram 394 Input Words ............................................................... 320
3.20.4 Telegram 394 Output Words ............................................................ 323
3.20.5 Telegram 394 Associated Parameters ............................................. 326
3.21 Telegram 395 for Control Unit, Digital I/O 24/9, and 16 Measuring
Probes .............................................................................................. 333
3.21.1 Description ....................................................................................... 333
3.21.2 Telegram 395 Structure .................................................................... 333
3.21.3 Telegram 395 Input Words ............................................................... 335
3.21.4 Telegram 395 Output Words ............................................................ 339
3.21.5 Telegram 395 Associated Parameters ............................................. 345
3.22 Supplementary Telegram 700 for Safety Info Channel .................... 354
3.22.1 Description ....................................................................................... 354
3.22.2 Telegram 700 Structure .................................................................... 354
3.22.3 Telegram 700 Output Words ............................................................ 355
3.22.4 Telegram 700 Associated Parameters ............................................. 356
3.23 Telegram 999 for Free Interconnection ............................................ 360
3.23.1 Description ....................................................................................... 360
3.23.2 Telegram 999 Structure .................................................................... 360
3.23.3 Extending an Existing Telegram using Telegram 999 ..................... 361
3.23.4 Telegram 999 Associated Parameters ............................................. 362
4 Additional Resources .................................................................................... 367

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4.1 List Manuals ..................................................................................... 367
4.2 Function Manuals ............................................................................. 368
© Siemens AG copyright year All rights reserved

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1 Overview

1 Overview
1.1 Scope
This document contains telegram compatibility information, individual telegram
structure, and process word structure for a series of drives and telegrams. Each
telegram section contains a short description, tables for the process word structure
and content of each process word, and an information list for parameters
associated with the contents of each process word.

This document does not contain telegram information about telegrams that are not
easily accessible for standard applications, such as Telegram 166 for hydraulic
drives. A guide for the electronic data sheet (EDS) files used within some supplier’s
programming platforms to configure telegrams is not within the scope of this
manual.

As of the listed date and firmware revisions listed below, the information in this
document is accurate.

1.2 What is a Telegram?

Telegrams are universal blocks of data that organize parameters and functions into
a uniform consistent format that all Siemens drives can use to pass data to the
PLC. They are organized into 16-bit process words (abbreviated as PZD) that
contain relevant information such as control words, status words, and setpoints.
Most telegrams have a control word, status word, speed setpoint, and speed
feedback word in common.

A telegram is easily selected within the programming platform by loading the

correct electronic data sheet (EDS) file.

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1 Overview

1.3 How to Interpret This Document

The telegrams discussed in this document contain an input image and an output
image. For the purposes of this manual, Input refers to communication from the
PLC to the drive, and Output refers to communication from the drive to the PLC.
Equivalently, the input and output images are named from the perspective of the
drive.

The content of a process word may have subtle differences depending on what
telegram is used. For example, several bits of Control Word 1 have different
functions between telegrams 1 and 110. Therefore, it is best practice to learn the
content of a desired process word in the context of a specific telegram to be used.
© Siemens AG copyright year All rights reserved

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2 Application Class and Telegram Support

2 Application Class and Telegram Support

2.1 Telegram Application Class
2.1.1 Siemens Supported Application Classes

The PROFIdrive profile supports six different applications classes; Siemens uses
the first four classes. The purpose of these four classes are briefly discussed in the
following diagram.
© Siemens AG copyright year All rights reserved

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2 Application Class and Telegram Support

2.1.2 Telegram Supported Application Classes

The telegrams discussed in this document may support one or more of the
Siemens-supported applications classes as discussed in the following table. Note
that Application Class 2 is omitted because no telegram in this document supports
it. No telegram in this document supports the Dynamic Servo Control (DSC)
capability as part of Application Class 4.

Telegram Class Class Class

Description
(p0922 = x) 1 3 4
1 Speed setpoint, 16-bit X
2 Speed setpoint, 32-bit X
3 Speed setpoint, 32-bit with 1 position encoder X
4 Speed setpoint, 32-bit with 2 position encoders X
7 Single axis positioner, traversing block selection (basic positioner) X
9 Basic positioning with direct setpoint input X
20 Speed setpoint, 16-bit VIK-NAMUR X
110 Basic positioner with MDI, override, and position feedback X
© Siemens AG copyright year All rights reserved

111 Basic positioner in MDI mode X

350 Speed setpoint (16-bit), speed and current feedback, and torque limit X
352 Speed setpoint, 16-bit, vector speed control, and diagnostic words X
353 Speed setpoint (16-bit), Smoothed speed feedback X
354 Speed setpoint (16-bit), User defined setpoints, diagnostic information X
370 Line module object, infeed
371 Line module object, infeed, metal industry
390 Control Unit with digital inputs/outputs
391 Control Unit with digital inputs/outputs and 2 measuring probes
392 Control Unit with digital inputs/outputs and 6 measuring probes
393 Control Unit with digital inputs/outputs, 8 probes and analog input
394 Control Unit with digital inputs/outputs
395 Control Unit with digital inputs/outputs and 16 probes
999 Free telegram or telegram extension X X X

Notes:

Telegrams 370-395 are specific to Control Unit drive objects and are not applicable to
classes 1 through 4.

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2 Application Class and Telegram Support

2.2 Drive supported telegrams

The series of drives in the table below support a number of the telegrams
discussed in this document.

Supported Telegrams
Drive Model FRN1 1 2 3 4 7 9 20 110 111 350 352 353
G110M 4.7 X X X X X
G120C 4.7 X X X X X
G120X 1.0 X X X X X
DCM DO: DC_CTRL 1.4 X X X X X
DCM DO: CU_DC 1.4
G120 CU240E-2 4.7 X X X X X
G120 CU240E-2 PN 4.7 X X X X X
G120 CU240E-2 PN-F 4.7 X X X X X
G120 CU250S-2 4.7 X X X X X X X X X X X X
G120D CU240D-2 4.7 X X X X X
G120D CU250D-2 PN 4.7 X X X X
G120D CU250D-2 PN-F 4.7 X X X X
G130 2.6 X X X X X X
G150 2.6 X X X X X X
S120 CU310 PN 2.6 X X X X X X X X X X
© Siemens AG copyright year All rights reserved

S120 CU310-2 PN 5.2 X X X X X X X X X X

S120 CU320-2 PN 5.2 X X X X X X X X X X
S150 CU320-2 PN 5.2 X X X X X X X X X X

Supported Telegrams
Drive Model FRN 354 370 371 390 391 392 393 394 395 396 700 999
G110M 4.7 X X
G120C 4.7 X X
G120X 1.0 X X
DCM DO: DC_CTRL 1.4 X
DCM DO: CU_DC 1.4 X X
G120 CU240E-2 4.7 X X
G120 CU240E-2 PN 4.7 X X
G120 CU240E-2 PN-F 4.7 X X X
G120 CU250S-2 4.7 X X X
G120D CU240D-2 4.7 X X
G120D CU250D-2 PN 4.7 X
G120D CU250D-2 PN-F 4.7 X X
G130 2.6 X X X X X X X
G150 2.6 X X X X X X X
S120 CU310 PN 2.6 X X X X X X X X X X
S120 CU310-2 PN 5.2 X X X X X X X X X X
S120 CU320-2 PN 5.2 X X X X X X X X X X
S150 CU320-2 PN 5.2 X X X X X X X X X X

1 Firmware revision number.

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3 Telegram Contents
3.1 Telegram 1 for Basic Speed Setpoint (16-bit)
3.1.1 Description

This telegram is a standard PROFIdrive telegram of 2 words in length. It will control

the state of the drive by selecting the appropriate bits in the control word and set
the running speed in the speed setpoint word (16-bit).

3.1.2 Telegram 1 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Speed Setpoint (NSOLL_A) Actual Speed (NIST_A)
© Siemens AG copyright year All rights reserved

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3.1.3 Telegram 1 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

Bit Name Functionality Interconnection
0 Drive Enable (ON/OFF1) 1 = Enable drive; 0 = Ramp down and disable drive p0840[0]
1 Coast Stop Command (OFF2) 1 = No stop command issued; 0 = Immediate disable and coast to stop p0844[0]
2 Quick Stop Command (OFF3) 1 = No stop command issued; 0 = Immediate disable and quick stop p0848[0]
3 Enable Operation 1 = Enable drive (pulses enabled); 0 = Inverter prohibited from generating pulses p0852[0]
© Siemens AG copyright year All rights reserved

4 Enable Ramp Function Generator (RFG) 1 = RFG output enabled; 0 = RFG output set to 0 p1140[0]
5 Continue Ramp Function Generator 1 = RFG follows setpoint input; 0 = RFG freezes at current value p1141[0]
6 Setpoint Enable 1 = RFG setpoint input enabled; 0 = RFG input set to 0 p1142[0]
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved
10 Master Control by PLC 1 = Control is by PLC; 0 = No control by PLC p0854[0]
11 Setpoint Inversion 1 = Invert setpoint; 0 = Do not invert setpoint p1113[0]
12 Reserved
13 Motorized Potentiometer (MOP) Raise 1 = Raise MOP setpoint; 0 = No action p1035[0]
14 Motorized Potentiometer Lower 1 = Lower MOP setpoint; 0 = No action p1036[0]
15 Reserved

Speed Setpoint (NSOLL_A) p1070[0] Interconnection

Connector input word for main setpoint (16-bit). Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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3.1.4 Telegram 1 Output Words

Status Word 1 (ZSW1) p2080[0…15], r0052

Bit Name Functionality Interconnection
0 Ready to Power On 1 = Drive ready; 0 = Drive not ready r0899.0
1 Ready to Run 1 = Ready to run (motor is on); 0 = Not ready to run (motor is off or fault active) r0899.1
2 Operation Enabled 1 = Motor enabled (see Control Word 1 STW1, bit 3); 0 = Motor not enabled r0899.2
3 Fault Active 1 = Converter fault. Acknowledge with Control Word 1, bit 7; 0 = No fault active r2139.3
4 Coast to Stop Off 1 = Coast down (OFF2) inactive; 0 = Coast down active r0899.4
© Siemens AG copyright year All rights reserved

5 Quick Stop Off 1 = Quick stop (OFF3) inactive; 0 = Quick stop active r0899.5
6 Switch-On Inhibited 1 = Motor inhibited from switching on; 0 = Motor can be switched on r0899.6
7 Active Alarm 1 = Alarm active; 0 = No alarm active r2139.7
8 Motor at Acceptable Speed 1 = Speed deviation within tolerance; 0 = Speed deviation outside tolerance r2197.7
9 Master Control Request 1 = Master control requested; 0 = No action r0899.9
10 Speed Above Max Speed 1 = Speed greater than or equal to max speed; 0 = Speed less than max speed r2199.1
11 Torque Limit Reached 1 = Torque limit reached; 0 = Torque limit not reached r0052.11
12 Holding Brake Open 1 = Holding brake open; 0 = Holding brake closed r0899.12
13 No Motor Overtemperature Alarm 1 = No overtemperature alarm; 0 = Overtemperature alarm present r2135.14
14 Motor Rotation Direction 1 = Motor rotates clockwise; 0 = Motor rotates counterclockwise r2197.3
15 No Converter Thermal Overload 1 = No converter thermal overload alarm; 0 = Thermal overload alarm present r2135.15

Actual Speed (NIST_A) r63[0] Interconnection

Connector output for actual speed (16-bit). Scaled by p2000. r63[0]

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3.1.5 Telegram 1 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_A)

p1070[0...n] CI: Main setpoint / Main setpoint

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

Actual Speed (NIST_A)

r0063 CO: Actual speed smoothed / n_act smooth

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or
p2000 Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity, or
[FloatingPoint32] frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or pressure.
p2002
[FloatingPoint32] Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its factory
r2004
[FloatingPoint32] default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.2 Telegram 2 for Basic Speed Setpoint (32-bit)

3.2.1 Description

This telegram is a standard Siemens telegram of four words in length. It will control
the state of the drive by selecting the appropriate bits in the control word and set
the running speed in the speed setpoint word (32-bit). Additionally, this telegram
contains a second control and status word.

3.2.2 Telegram 2 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2
Speed Setpoint B (NSOLL_B) Actual Speed B (NIST_B)
3
4 Control Word 2 (STW2) Status Word 2 (ZSW2)
© Siemens AG copyright year All rights reserved

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3.2.3 Telegram 2 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

5 Continue Ramp Function Generator 1 = RFG follows setpoint input; 0 = RFG freezes at current value p1141[0]
6 Setpoint Enable 1 = RFG setpoint input enabled; 0 = RFG input set to 0 p1142[0]
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved
10 Master Control by PLC 1 = Control is by PLC; 0 = No control by PLC p0854[0]
11 Setpoint Inversion 1 = Invert setpoint; 0 = Do not invert setpoint p1113[0]
12 Reserved
13 Motorized Potentiometer (MOP) Raise 1 = Raise MOP setpoint; 0 = No action p1035[0]
14 Motorized Potentiometer Lower 1 = Lower MOP setpoint; 0 = No action p1036[0]
15 Reserved

Speed Setpoint (NSOLL_B) p1070[0] Interconnection

Connector input word for main setpoint (32 bit). Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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Control Word 2 (STW2) r2093.0...15

Bit Name Functionality Interconnection
0 Drive data set selection (DDS) Bit 0 Bits 0-4 are used to select a drive data set. p0820[0]
1 Drive data set selection (DDS) Bit 1 p0821[0]
2 Drive data set selection (DDS) Bit 2 p0822[0]
3 Drive data set selection (DDS) Bit 3 p0823[0]
4 Drive data set selection (DDS) Bit 4 p0824[0]
5 Reserved
6 Reserved
7 Parking Axis Selection 1 = Activate parking axis function; 0 = Deactivate parking axis function p0897
© Siemens AG copyright year All rights reserved

8 Traverse to Fixed Endstop 1 = Activate travel to fixed endstop function; 0 = Travel to fixed endstop inactive p1545[0]
9 Reserved
10 Reserved
11 Motor Changeover Feedback Signal When p0833.04 = 1, this bit must be set after motor changeover to enable pulse generation. p0828[0]
12 Master sign-of-life Bit 0 p2045 = r2050[3]
13 Master sign-of-life Bit 1 p2045 = r2050[3]
14 Master sign-of-life Bit 2 p2045 = r2050[3]
15 Master sign-of-life Bit 3 p2045 = r2050[3]

4 p0833.0 sets the configuration for the motor and encoder changeover. 1 = Changeover from the application; 0 = Changeover from the drive.

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3.2.4 Telegram 2 Output Words

Status Word 1 (ZSW1) p2080[0…15], r0052

Actual Speed (NIST_B) r63[0] Interconnection

Connector output for actual speed (32 bit). r63[0]

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Status Word 2 (ZSW2) p2081[0…15]

Bit Name Functionality Interconnection
0 Drive data set selection (DDS) Bit 0 Bits 0-4 display the selected drive data set. r0051.0
1 Drive data set selection (DDS) Bit 1 r0051.1
2 Drive data set selection (DDS) Bit 2 r0051.2
3 Drive data set selection (DDS) Bit 3 r0051.3
4 Drive data set selection (DDS) Bit 4 r0051.4
5 Alarm Class Bit 0 r2139.11
Bits 5-6 are used for the classification of internal alarm classes and are intended for diagnostic
6 Alarm Class Bit 1 purposes only. r2139.12
7 Parking Axis Function Status 1 = Parking axis function active; 0 = Parking axis function inactive r0896.0
© Siemens AG copyright year All rights reserved

8 Travel to Fixed Stop Status1 1 = Travel to fixed endstop function active; 0 = Travel to fixed endstop inactive r1406.8
9 Reserved
10 Pulse Status 1 = Pulses enabled; 0 = Pulses inhibited r0899.11
11 Motor Data Set Changeover Status 1 = Motor data set changeover active; 0 = Motor data set changeover inactive r0835.0
12 Slave sign-of-life Bit 0 implicit
13 Slave sign-of-life Bit 1 implicit
14 Slave sign-of-life Bit 2 implicit
15 Slave sign-of-life Bit 3 implicit

1 This bit is only available for the S120 and is not available for vector U/f control.

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3.2.5 Telegram 2 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_B)

p1070[0...n] CI: Main setpoint / Main setpoint

Control Word 2 (STW2)

p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0
© Siemens AG copyright year All rights reserved

Parameters p0821[0], p0822[0], p0823[0], and p0824[0] function exactly as p0820[0] for their
respective Drive Data Set bits.

p0897 BI: Parking axis selection / Parking axis sel

p1545[0...n] BI: Activates travel to a fixed stop / TfS activation

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p0828[0...n] BI: Motor changeover feedback signal / Mot_chng fdbk sig

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src
© Siemens AG copyright year All rights reserved

Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

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r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

Actual Speed (NIST_B)

r0063 CO: Actual speed smoothed / n_act smooth

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Status Word 2 (ZSW2)

r0051.0...4 CO/BO: Drive Data Set DDS effective / DDS effective

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0896.0 BO: Parking axis, status word / Parking axis, ZSW

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r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r0835.0...12 CO/BO: Data set changeover status word / Data set sw ZSW
© Siemens AG copyright year All rights reserved

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example,
if the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed,
Reference Speed, Velocity, or Frequency
p2000 velocity, or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz
[FloatingPoint32]
(frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or
p2003
[FloatingPoint32] torque. Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.3 Telegram 3 for Speed Setpoint (32-bit) with Position

Encoder
3.3.1 Description

This telegram is a Siemens telegram of 9 words in length. It will control the state of
the drive by selecting the appropriate bits in the two control words and set the
running speed in the speed setpoint word. The control word, status word, and
position feedback of the encoder is also included.

3.3.2 Telegram 3 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2
Speed Setpoint B (NSOLL_B) Actual Speed B (NIST_B)
3
4 Control Word 2 (STW2) Status Word 2 (ZSW2)
5 Encoder 1 Control Word (G1_STW) Encoder 1 Status Word (G1_ZSW)
6 Empty Encoder 1 Actual Position 1
© Siemens AG copyright year All rights reserved

7 Empty (G1_XIST1)

8 Empty Encoder 1 Actual Position 2

9 Empty (G1_XIST2)

Notes:

Telegram 3 is not suitable for sensorless vector control.

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3.3.3 Telegram 3 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

Speed Setpoint (NSOLL_B) p1070[0] Interconnection

Connector input word for main setpoint (32 bit). Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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Control Word 2 (STW2) r2093.0...15

8 Traverse to Fixed Endstop 1 = Activate travel to fixed endstop function; 0 = Travel to fixed endstop inactive p1545[0]
9 Reserved
10 Reserved
11 Motor Changeover Feedback Signal When p0833.01 = 1, this bit must be set after motor changeover to enable pulse generation. p0828[0]
12 Master sign-of-life Bit 0 p2045 = r2050[3]
13 Master sign-of-life Bit 1 p2045 = r2050[3]
14 Master sign-of-life Bit 2 p2045 = r2050[3]
15 Master sign-of-life Bit 3 p2045 = r2050[3]

1 p0833.0 sets the configuration for the motor and encoder changeover. 1 = Changeover from the application; 0 = Changeover from the drive.

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Encoder 1 Control Word (G1_STW) p480[0]

Bit Name Functionality Interconnection
If bit 7 = 0 If bit 7 = 1

1 = Search for reference cam 1 with 1 = Request flying referencing to the

0 Request Function 1 positive start direction rising edge of reference cam 1 r2050[4]

1 = Search for reference cam 1 with 1 = Request flying referencing to the

1 Request Function 2 negative start direction falling edge of reference cam 1 r2050[4]

1 = Search for reference cam 2 with 1 = Request flying referencing to the

2 Request Function 3 positive start direction rising edge of reference cam 2 r2050[4]

1 = Search for reference cam 2 with 1 = Request flying referencing to the

3 Request Function 4 negative start direction falling edge of reference cam 2 r2050[4]
4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 r2050[4]
5 Request Command Bit 1 1 = Read the value requested using bits 0…3 r2050[4]
6 Request Command Bit 2 Reserved r2050[4]
7 Function Mode Selection 1 = Flying measurement function set; 0 = Reference cam search function set r2050[4]
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Request Absolute Value Cyclic 1 = Request for cyclic transfer of actual position value of encoder 1 r2050[4]
14 Request Parking Encoder 1 = Request to park the encoder r2050[4]
15 Request Acknowledge Encoder Fault 1 = Acknowledge encoder fault (on rising edge) r2050[4]

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3.3.4 Telegram 3 Output Words

Status Word 1 (ZSW1) p2080[0…15], r0052

Actual Speed (NIST_B) r63[0] Interconnection

Connector output for actual speed (32 bit). Scaled by p2000. r63[0]

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Status Word 2 (ZSW2) p2081[0…15]

1 This bit is only available for the S120 and is not available for vector U/f control.

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Encoder 1 Status Word (G1_ZSW) r481[0]

Bi
Name Functionality Interconnection
t
Enc. Control Word Bit 7 = 0 Enc. Control Word Bit 7 = 1
0 Function 1 Status 1 = Search for ref. cam 1 active 1 = Flying referencing to rising edge of ref. cam 1 active r2051[4]
1 Function 2 Status 1 = Search for ref. cam 1 active 1 = Flying referencing to falling edge of ref. cam 1 active r2051[4]
2 Function 3 Status 1 = Search for ref. cam 2 active 1 = Flying referencing to rising edge of ref. cam 2 active r2051[4]
3 Function 4 Status 1 = Search for ref. cam 2 active 1 = Flying referencing to falling edge of ref. cam 2 active r2051[4]
4 Status Value 1 1 = Actual position at ref. cam 1 1 = Flying referencing to rising edge of ref. cam 1 complete r2051[4]
5 Status Value 2 1 = Actual position at ref. cam 1 1 = Flying referencing to falling edge of ref. cam 1 complete r2051[4]
© Siemens AG copyright year All rights reserved

6 Status Value 3 1 = Actual position at ref. cam 2 1 = Flying referencing to rising edge of ref. cam 2 complete r2051[4]
7 Status Value 4 1 = Actual position at ref. cam 2 1 = Flying referencing to falling edge of ref. cam 2 complete r2051[4]
8 Measuring Probe 1 Deflection Status 1 = Measuring probe 1 deflected; 0 = Measuring probe 1 not deflected r2051[4]
9 Measuring Probe 2 Deflection Status 1 = Measuring probe 2 deflected; 0 = Measuring probe 2 not deflected r2051[4]
10 Encoder 1 Status 1 = Encoder 1 on; 0 = Encoder 1 off r2051[4]
11 Acknowledge 1 = Acknowledge encoder fault is active r2051[4]
12 Encoder 1 Status 1 = Encoder 1 on; 0 = Encoder 1 off r2051[4]
13 Cyclic Absolute Value Status 1 = Actual position displayed in r04831; 0 = No value displayed r2051[4]
14 Parking Status 1 = Encoder is parked; 0 = Encoder is not parked r2051[4]
15 Fault Status 1 = Encoder indicates its fault type in r0483; 0 = No fault r2051[4]

Encoder 1 Actual Position 1 (G1_XIST1) r0482[0] Interconnection

Connector output word for encoder 1 position 1 (32 bit). r0482[0]

Encoder 1 Actual Position 2 (G1_XIST2) r0483[0] Interconnection

Connector output word for encoder 1 position 2 (32 bit). r0483[0]

1 r0483[0] displays the encoder position value; r0483[1] displays the encoder fault number if a fault is present.

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3.3.5 Telegram 3 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_B)

p1070[0...n] CI: Main setpoint / Main setpoint

Control Word 2 (STW2)

p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0
© Siemens AG copyright year All rights reserved

Parameters p0821[0], p0822[0], p0823[0], and p0824[0] function exactly as p0820[0] for their
respective Drive Data Set bits.

p0897 BI: Parking axis selection / Parking axis sel

p1545[0...n] BI: Activates travel to a fixed stop / TfS activation

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p0828[0...n] BI: Motor changeover feedback signal / Mot_chng fdbk sig

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src
© Siemens AG copyright year All rights reserved

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Encoder 1 Control Word (G1_STW)

p0480[0...2] CI: Encoder control word Gn_STW signal source / Enc Gn_STW S_src
© Siemens AG copyright year All rights reserved

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

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Actual Speed (NIST_B)

r0063 CO: Actual speed smoothed / n_act smooth

Status Word 2 (ZSW2)

r0051.0...4 CO/BO: Drive Data Set DDS effective / DDS effective

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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r0896.0 BO: Parking axis, status word / Parking axis, ZSW

r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r0835.0...12 CO/BO: Data set changeover status word / Data set sw ZSW

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Encoder 1 Status Word (G1_ZSW)

r0481[0...2] CO: Encoder status word Gn_ZSW / Enc Gn_ZSW

Encoder 1 Actual Position 1 (G1_XIST1)

r0482[0...2] CO: Encoder actual position value Gn_XIST1 / Enc Gn_XIST1

Encoder 1 Actual Position 2 (G1_XIST2)

r0483[0...2] CO: Encoder actual position value Gn_XIST2 / Enc Gn_XIST2

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if the
desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity, or
p2000
[FloatingPoint32] frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage. Factory
p2001
[FloatingPoint32] default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or pressure.
p2002
[FloatingPoint32] Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

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3.4 Telegram 4 for Speed Setpoint (32-bit) with Two

Position Encoders
3.4.1 Description

This telegram is a standard Siemens telegram of 14 words in length. It will control

the state of the drive by selecting the appropriate bits in the two control words and
set the running speed in the speed setpoint word. The control words, status words,
and position feedback of two encoders are also included.

3.4.2 Telegram 4 Structure

WORD INPUT OUTPUT

6 Encoder 2 Control Word (G2_STW) Encoder 1 Actual Position 1

7 (G1_XIST1)

8 Encoder 1 Actual Position 2

9 (G1_XIST2)

10 Encoder 2 Status Word (G2_ZSW)

11 Encoder 2 Actual Position 1
12 (G2_XIST1)

13 Encoder 2 Actual Position 2

14 (G2_XIST2)

Notes:

Telegram 4 is not suitable for sensorless vector control.

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3.4.3 Telegram 4 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

Speed Setpoint (NSOLL_B) p1070[0] Interconnection

Connector input word for main setpoint (32 bit). Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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Control Word 2 (STW2) r2093.0...15

8 Traverse to Fixed Endstop 1 = Activate travel to fixed endstop function; 0 = Travel to fixed endstop inactive p1545[0]
9 Reserved
10 Reserved
11 Motor Changeover Feedback Signal When p0833.01 = 1, this bit must be set after motor changeover to enable pulse generation. p0828[0]
12 Master sign-of-life Bit 0 p2045 = r2050[3]
13 Master sign-of-life Bit 1 p2045 = r2050[3]
14 Master sign-of-life Bit 2 p2045 = r2050[3]
15 Master sign-of-life Bit 3 p2045 = r2050[3]

1 p0833.0 sets the configuration for the motor and encoder changeover. 1 = Changeover from the application; 0 = Changeover from the drive.

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Encoder 1 Control Word (G1_STW) p480[0]

Bit Name Functionality Interconnection
Bit 7 = 0 Bit 7 = 1

1 = Search for reference cam 1 with 1 = Request flying referencing to the

0 Request Function 1 positive start direction rising edge of reference cam 1 r2050[4]

1 = Search for reference cam 1 with 1 = Request flying referencing to the

1 Request Function 2 negative start direction falling edge of reference cam 1 r2050[4]

1 = Search for reference cam 2 with 1 = Request flying referencing to the

2 Request Function 3 positive start direction rising edge of reference cam 2 r2050[4]

1 = Search for reference cam 2 with 1 = Request flying referencing to the

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Encoder 2 Control Word (G2_STW) p480[1]

Bit Name Functionality Interconnection
Bit 7 = 0 Bit 7 = 1

1 = Search for reference cam 1 1 = Request flying referencing to the

0 Request Function 1 with positive start direction rising edge of reference cam 1 p2050[9]

1 = Search for reference cam 1 1 = Request flying referencing to the

1 Request Function 2 with negative start direction falling edge of reference cam 1 p2050[9]

1 = Search for reference cam 2 1 = Request flying referencing to the

2 Request Function 3 with positive start direction rising edge of reference cam 2 p2050[9]

1 = Search for reference cam 2 1 = Request flying referencing to the

3 Request Function 4 with negative start direction falling edge of reference cam 2 p2050[9]
4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 p2050[9]
5 Request Command Bit 1 1 = Read the value requested using bits 0…3 p2050[9]
6 Request Command Bit 2 Reserved p2050[9]
1 = Flying measurement function set; 0 = Reference cam search function
7 Function Mode Selection set p2050[9]
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Request Absolute Value Cyclic 1 = Request for cyclic transfer of actual position value of encoder 1 p2050[9]
14 Request Parking Encoder 1 = Request to park the encoder p2050[9]
15 Request Acknowledge Encoder Fault 1 = Acknowledge encoder fault (on rising edge) p2050[9]

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3.4.4 Telegram 4 Output Words

Status Word 1 (ZSW1) r0052, r2089[0]

Actual Speed (NIST_B) r63[0] Interconnection

Connector output for actual speed (32 bit). Scaled by p2000. r63[0]

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Status Word 2 (ZSW2) p2081[0…15]

1 This bit is only available for the S120 and is not available for vector U/f control.

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Encoder 1 Status Word (G1_ZSW) r481[0]

Encoder 1 Actual Position 1 (G1_XIST1) r0482[0] Interconnection

Connector output word for encoder 1 position 1 (32 bit). r0482[0]

Encoder 1 Actual Position 2 (G1_XIST2) r0483[0] Interconnection

Connector output word for encoder 1 position 2 (32 bit). r0483[0]

1 r0483[0] displays the encoder position value; r0483[1] displays the encoder fault number if a fault is present.

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Encoder 2 Status Word (G2_ZSW) r481[1]

Bi
Name Functionality Interconnection
t
Enc. Control Word Bit 7 = 0 Enc. Control Word Bit 7 = 1
0 Function 1 Status 1 = Search for ref. cam 1 active 1 = Flying referencing to rising edge of ref. cam 1 active p2051[9]
1 Function 2 Status 1 = Search for ref. cam 1 active 1 = Flying referencing to falling edge of ref. cam 1 active p2051[9]
2 Function 3 Status 1 = Search for ref. cam 2 active 1 = Flying referencing to rising edge of ref. cam 2 active p2051[9]
3 Function 4 Status 1 = Search for ref. cam 2 active 1 = Flying referencing to falling edge of ref. cam 2 active p2051[9]
4 Status Value 1 1 = Actual position at ref. cam 1 1 = Flying referencing to rising edge of ref. cam 1 complete p2051[9]
5 Status Value 2 1 = Actual position at ref. cam 1 1 = Flying referencing to falling edge of ref. cam 1 complete p2051[9]
© Siemens AG copyright year All rights reserved

6 Status Value 3 1 = Actual position at ref. cam 2 1 = Flying referencing to rising edge of ref. cam 2 complete p2051[9]
7 Status Value 4 1 = Actual position at ref. cam 2 1 = Flying referencing to falling edge of ref. cam 2 complete p2051[9]
8 Measuring Probe 1 Deflection Status 1 = Measuring probe 1 deflected; 0 = Measuring probe 1 not deflected p2051[9]
9 Measuring Probe 2 Deflection Status 1 = Measuring probe 2 deflected; 0 = Measuring probe 2 not deflected p2051[9]
10 Encoder 1 Status 1 = Encoder 1 on; 0 = Encoder 1 off p2051[9]
11 Acknowledge 1 = Acknowledge encoder fault is active p2051[9]
12 Encoder 1 Status 1 = Encoder 1 on; 0 = Encoder 1 off p2051[9]
13 Cyclic Absolute Value Status 1 = Actual position displayed in r0483; 0 = No value displayed p2051[9]
14 Parking Status 1 = Encoder is parked; 0 = Encoder is not parked p2051[9]
15 Fault Status 1 = Encoder indicates its fault in r0483; 0 = No fault p2051[9]

Encoder 2 Actual Position 1 (G2_XIST1) r0482[1] Interconnection

Connector output word for encoder 2 position 1 (32 bit). r0482[1]

Encoder 2 Actual Position 2 (G2_XIST2) r0483[1] Interconnection

Connector output word for encoder 2 position 2 (32 bit). r0483[1]

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3.4.5 Telegram 4 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_B)

p1070[0...n] CI: Main setpoint / Main setpoint

Control Word 2 (STW2)

p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0
© Siemens AG copyright year All rights reserved

Parameters p0821[0], p0822[0], p0823[0], and p0824[0] function exactly as p0820[0] for their
respective Drive Data Set bits.

p0897 BI: Parking axis selection / Parking axis sel

p1545[0...n] BI: Activates travel to a fixed stop / TfS activation

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p0828[0...n] BI: Motor changeover feedback signal / Mot_chng fdbk sig

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src
© Siemens AG copyright year All rights reserved

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Encoder 1 Control Word (G1_STW) and Encoder 2 Control Word (G2_STW)

p0480[0...2] CI: Encoder control word Gn_STW signal source / Enc Gn_STW S_src
© Siemens AG copyright year All rights reserved

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

Actual Speed (NIST_B)

r0063 CO: Actual speed smoothed / n_act smooth

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Status Word 2 (ZSW2)

r0051.0...4 CO/BO: Drive Data Set DDS effective / DDS effective

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0896.0 BO: Parking axis, status word / Parking axis, ZSW

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r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r0835.0...12 CO/BO: Data set changeover status word / Data set sw ZSW
© Siemens AG copyright year All rights reserved

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Encoder 1 Status Word (G1_ZSW) and Encoder 2 Status Word (G2_ZSW)

r0481[0...2] CO: Encoder status word Gn_ZSW / Enc Gn_ZSW

Encoder 1 Actual Position 1 (G1_XIST1) and Encoder 2 Actual Position 1 (G1_XIST2)

r0482[0...2] CO: Encoder actual position value Gn_XIST1 / Enc Gn_XIST1

Encoder 1 Actual Position 2 (G1_XIST2) and Encoder 2 Actual Position 2 (G2_XIST2)

r0483[0...2] CO: Encoder actual position value Gn_XIST2 / Enc Gn_XIST2

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.5 Telegram 7 for Single Axis Positioner with Traversing

Block Selection
3.5.1 Description

This telegram is a Siemens telegram of 2 words in length. It contains single control

and status words. An additional control word is included to select a traversing
block, and the selected block value is available in the output image.

3.5.2 Telegram 7 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Position Block Selection (SATZANW) Position Selected Block (AKTSATZ)

Notes:
To access this telegram, the “basic positioner” capability must be configured.
© Siemens AG copyright year All rights reserved

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3.5.3 Telegram 7 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

5 EPOS Intermediate Stop 1 = Intermediate stop off; 0 = Intermediate stop on p2640

6 EPOS Activate Traversing Task 1 = Activate traversing task (on rising edge); 0 = Traversing task off p2631
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 EPOS Jog 1 Signal Source 1 = On, 0 = Off p2589
9 EPOS Jog 2 Signal Source 1 = On, 0 = Off p2590
10 Master Control by PLC 1 = Control is by PLC; 0 = No control by PLC p0854[0]
11 EPOS Referencing Start 1 = Referencing start on; 0 = Referencing start off p2595
12 Reserved
13 EPOS External Block Change 1 = Ext. block change on (on rising edge); 0 = Ext. block change off p2633
14 Reserved
15 Reserved

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Position Block Selection (SATZANW) r2091.0…15

Bit Name Functionality Interconnection
0 Traversing Block Selection Bit 0 Bits 0 to 5 are used to select one of the maximum of 64 traversing blocks. p2625
1 Traversing Block Selection Bit 1 p2626
2 Traversing Block Selection Bit 2 p2627
3 Traversing Block Selection Bit 3 p2628
4 Reserved
5 Reserved
6 Reserved
7 Reserved
© Siemens AG copyright year All rights reserved

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 EPOS Manual Data Input (MDI) Activation For direct setpoint entry. 1 = Activate MDI; 0 = Deactivate MDI p2647

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3.5.4 Telegram 7 Output Words

Status Word 1 (ZSW1) r2089[0]

6 Switch-On Inhibited 1 = Motor inhibited from switching on; 0 = Motor can be switched on r0899.6
7 Active Alarm 1 = Alarm active; 0 = No alarm active r2139.7
8 Following Error in Tolerance 1 = Following error within tolerance; 0 = Following error outside of tolerance r2684.8
9 Master Control Request 1 = Master control requested; 0 = No action r0899.9
10 Target Position Reached 1 = Target position reached; 0 = Target position not reached r2684.10
11 Reference Point Set 1 = Reference point set; 0 = Reference point not set r2684.11
12 Acknowledgement Trav. Block Active 1 = On; 0 = Off r2684.12
1 = Absolute actual speed below threshold value 3 (p2161[0]); 0 = Speed above or greater
13 Speed Below Threshold 3 than threshold value 3 r2199.0
14 Reserved
15 Reserved

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Position Selected Block (AKTSATZ) r2670.0…15

Bit Name Functionality Interconnection
0 Active Traversing Block Bit 0 Bits 0 to 3 display the active traversing block. r2670.0
1 Active Traversing Block Bit 1 r2670.1
2 Active Traversing Block Bit 2 r2670.2
3 Active Traversing Block Bit 3 r2670.3
4 Reserved
5 Reserved
6 Reserved
7 Reserved
© Siemens AG copyright year All rights reserved

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 EPOS Manual Data Input (MDI) Status 1 = MDI Active; 0 = MDI Inactive r2670.15

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3.5.5 Telegram 7 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p2641 BI: EPOS reject traversing task (0 signal) / Trav_task reject

p2640 BI: EPOS intermediate stop (0 signal) / Intermediate stop

p2631 BI: EPOS activate traversing task (0 -> 1) / Trav_task act

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p2589 BI: EPOS jog 1 signal source / Jog 1 S_src

p2590 BI: EPOS jog 2 signal source / Jog 2 S_src

p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p2595 BI: EPOS referencing start / Ref start

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p2633 BI: EPOS external block change (0 -> 1) / Ext BlckChg (0->1)

Position Block Selection (SATZANW)

p2625 BI: EPOS traversing block selection bit 0 / Trav_blk sel bit 0

Parameters p2626, p2627, p2628, p2629, p2630 function exactly as p2625 for their respective
© Siemens AG copyright year All rights reserved

bits in the selection of the traversing block.

p2647 BI: EPOS direct setpoint input/MDI selection / MDI selection

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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r2684.0...15 CO/BO: EPOS status word 2 / POS_ZSW2

r2199.0...11 CO/BO: Status word monitoring 3 / ZSW monitor 3

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Position Selected Block (AKTSATZ)

r2670.0...15 CO/BO: EPOS status word active traversing block / ZSW act trav_block
© Siemens AG copyright year All rights reserved

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3.6 Telegram 9 for Basic Positioning with Direct Setpoint

Input (MDI)
3.6.1 Description

This telegram is a Siemens telegram of 10 words in length. It contains two control

and status words. An additional control word is included to select a traversing
block. Through Manual Data Input (MDI), position and velocity setpoints are also
received by the drive. Position feedback is available in the output words.

3.6.2 Telegram 9 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Position Block Selection (SATZANW) Position Selected Block (AKTSATZ)
3 Control Word 2 (STW2) Status Word 2 (ZSW2)
4
MDI Position (MDI_TARPOS) Actual Position Value A (XIST_A)
5
6
MDI Velocity (MDI_VELOCITY)
7
© Siemens AG copyright year All rights reserved

8
MDI Acceleration Override (MDI_ACC)
9
10 MDI Mode (MDI_MOD)

Notes:

To access this telegram, the “basic positioner” capability must be configured.

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3.6.3 Telegram 9 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

5 EPOS Intermediate Stop 1 = Intermediate stop off; 0 = Intermediate stop on p2640

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Position Block Selection (SATZANW) r2091.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 EPOS Manual Data Input (MDI) Activation For direct setpoint entry. 1 = Activate MDI; 0 = Deactivate MDI p2647

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Control Word 2 (STW2) r2093.0...15

Bit Name Functionality Interconnection
0 Reserved
1 Reserved
2 Reserved
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
© Siemens AG copyright year All rights reserved

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

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Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) p2642 Interconnection

Connector input for MDI position setpoint. p2642

Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) p2643 Interconnection

Connector input for MDI velocity setpoint. p2643

Manual Data Input (MDI) Acceleration Override (MDI_ACC) p2644 Interconnection

Connector input for MDI acceleration override. p2644
© Siemens AG copyright year All rights reserved

Manual Data Input (MDI) Deceleration Override (MDI_DEC) p2645 Interconnection

Connector input for MDI deceleration override. p2645

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Manual Data Input (MDI) Mode (MDI_MOD) r2094.0…15

Bit Name Functionality Interconnection
0 Positioning Type Selection 1 = Absolute positioning selected; 0 = Relative positioning selected p2648

1 Positioning Method Selection Bit 0 00 or 11 = Absolute positioning through the shortest distance. p2651
10 = Absolute positioning in the positive direction.
2 Positioning Method Selection Bit 1 01 = Absolute positioning in the negative direction. p2652
3 Reserved
4 Reserved
5 Reserved
6 Reserved
© Siemens AG copyright year All rights reserved

7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

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3.6.4 Telegram 9 Output Words

Status Word 1 (ZSW1) r2089[0]

3 Fault Active 1 = Converter fault. Acknowledge with Control Word 1, bit 7; 0 = No fault active r2139.3
4 Coast to Stop Off 1 = Coast down (OFF2) inactive; 0 = Coast down active r0899.4
5 Quick Stop Off 1 = Quick stop (OFF3) inactive; 0 = Quick stop active r0899.5
6 Switch-On Inhibited 1 = Motor inhibited from switching on; 0 = Motor can be switched on r0899.6
7 Active Alarm 1 = Alarm active; 0 = No alarm active r2139.7
8 Following Error in Tolerance 1 = Following error within tolerance; 0 = Following error outside of tolerance r2684.8
9 Master Control Request 1 = Master control requested; 0 = No action r0899.9
10 Target Position Reached 1 = Target position reached; 0 = Target position not reached r2684.10
11 Reference Point Set 1 = Reference point set; 0 = Reference point not set r2684.11
12 Acknowledgement Trav. Block Active 1 = On; 0 = Off r2684.12
1 = Absolute actual speed below threshold value 3 (p2161[0]); 0 = Speed above or greater
13 Speed Below Threshold 3 than threshold value 3 r2199.0
14 Reserved
15 Reserved

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Position Selected Block (AKTSATZ) r2670.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 EPOS Manual Data Input (MDI) Status 1 = MDI Active; 0 = MDI Inactive r2670.15

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Status Word 2 (ZSW2) p2081[0…15]

8 Travel to Fixed Stop Status 1 = Travel to fixed endstop function active; 0 = Travel to fixed endstop inactive r1406.8
9 Reserved
10 Pulse Status 1 = Pulses enabled; 0 = Pulses inhibited r0899.11
11 Motor Data Set Changeover Status 1 = Motor data set changeover active; 0 = Motor data set changeover inactive r0835.0
12 Slave sign-of-life Bit 0 implicit
13 Slave sign-of-life Bit 1 implicit
14 Slave sign-of-life Bit 2 implicit
15 Slave sign-of-life Bit 3 implicit

Actual Position Value A (XIST_A) r2521[0] Interconnection

Connector output for actual position A (32 bit). r2521[0]

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3.6.5 Telegram 9 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p2641 BI: EPOS reject traversing task (0 signal) / Trav_task reject

p2640 BI: EPOS intermediate stop (0 signal) / Intermediate stop

p2631 BI: EPOS activate traversing task (0 -> 1) / Trav_task act

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p2589 BI: EPOS jog 1 signal source / Jog 1 S_src

p2590 BI: EPOS jog 2 signal source / Jog 2 S_src

p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p2595 BI: EPOS referencing start / Ref start

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p2633 BI: EPOS external block change (0 -> 1) / Ext BlckChg (0->1)

Position Block Selection (SATZANW)

p2625 BI: EPOS traversing block selection bit 0 / Trav_blk sel bit 0

Parameters p2626, p2627, p2628, p2629, p2630 function exactly as p2625 for their respective
© Siemens AG copyright year All rights reserved

bits in the selection of the traversing block.

p2647 BI: EPOS direct setpoint input/MDI selection / MDI selection

Manual Data Input (MDI) Position Setpoint (MDI_TARPOS)

p2642 CI: EPOS direct setpoint input/MDI position setpoint / MDI s_set

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Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY)

p2643 CI: EPOS direct setpoint input/MDI velocity setpoint / MDI v_set

Manual Data Input (MDI) Acceleration Override (MDI_ACC)

p2644 CI: EPOS direct setpoint input/MDI acceleration override / MDI a_over
© Siemens AG copyright year All rights reserved

Manual Data Input (MDI) Deceleration Override (MDI_DEC)

p2645 CI: EPOS direct setpoint input/MDI deceleration override / MDI -a_over

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Manual Data Input (MDI) Mode (MDI_MOD)

p2648 BI: EPOS direct setpoint input/MDI positioning type / MDI pos_type

p2651 BI: EPOS direct setpoint input/MDI direction selection, positive / MDI dir_sel pos
© Siemens AG copyright year All rights reserved

p2652 BI: EPOS direct setpoint input/MDI direction selection negative / MDI dir_sel neg

Note: p2652 has the same dependencies and note information as p2651.

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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r2684.0...15 CO/BO: EPOS status word 2 / POS_ZSW2

r2199.0...11 CO/BO: Status word monitoring 3 / ZSW monitor 3

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Position Selected Block (AKTSATZ)

r2670.0...15 CO/BO: EPOS status word active traversing block / ZSW act trav_block
© Siemens AG copyright year All rights reserved

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Status Word 2 (ZSW2)

r0051.0...4 CO/BO: Drive Data Set DDS effective / DDS effective

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0896.0 BO: Parking axis, status word / Parking axis, ZSW

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r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r0835.0...12 CO/BO: Data set changeover status word / Data set sw ZSW

Actual Position Value A (XIST_A)

r2521[0...3] CO: LR position actual value / s_act

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3.7 Telegram 20 for Speed Setpoint (16-bit) for VIK-NAMUR

3.7.1 Description

This telegram is a standard PROFIdrive telegram of 6 words in length. It will control

the state of the drive by selecting the appropriate bits in the control word and set
the running speed in the speed setpoint word. Additionally, this telegram can send
current, torque, and power feedback.

3.7.2 Telegram 20 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Speed Setpoint (NSOLL_A) Smoothed Actual Speed (NIST_A_GLATT)
3 Smoothed Actual Current (IAIST_GLATT)
4 Smoothed Actual Torque (MIST_GLATT)
5 Smoothed Actual Active Power (PIST_GLATT)
6 Freely Assignable1
© Siemens AG copyright year All rights reserved

1 The default setting for this process word is MELD_NAMUR, a message word for the VIK-NAMUR
interface mode (a chemical industry specific application).

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3.7.3 Telegram 20 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

6 Setpoint Enable 1 = RFG setpoint input enabled; 0 = RFG input set to 0 p1142[0]
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved
10 Master Control by PLC 1 = Control is by PLC; 0 = No control by PLC p0854[0]
11 Setpoint Inversion 1 = Invert setpoint; 0 = Do not invert setpoint p1113[0]
12 Reserved
13 Motorized Potentiometer (MOP) Raise 1 = Raise MOP setpoint; 0 = No action p1035[0]
14 Motorized Potentiometer Lower 1 = Lower MOP setpoint; 0 = No action p1036[0]
15 Reserved

Speed Setpoint (NSOLL_A) p1070[0] Interconnection

Connector input word for main setpoint. Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed, current, torque, and power values.

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3.7.4 Telegram 20 Output Words

Status Word 1 (ZSW1) r0052, r2089[0]

Smoothed Actual Speed (NIST_A_GLATT) r63[1] Interconnection

Connector output for actual speed, smoothed. Scaled by p2000. The smoothing time constant is specified by p0045. r63[1]

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Smoothed Actual Current (IAIST_GLATT) r68[1] Interconnection

Connector output for actual current, smoothed. Scaled by p2002. The smoothing time constant is specified by p0045. r68[1]

Smoothed Actual Torque (MIST_GLATT) r80[1] Interconnection

Connector output for actual torque, smoothed. Scaled by p2003. The smoothing time constant is specified by p0045. r80[1]

Smoothed Actual Power (PIST_GLATT) r82[1] Interconnection

Connector output for actual active power, smoothed. Scaled by r2004. The smoothing time constant is specified by p0045. r82[1]
© Siemens AG copyright year All rights reserved

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VIK-NAMUR Message Word (MELD_NAMUR) r3113

Bit Name Functionality Interconnection
0 Fault Converter Info Electronics/Software Error 1 = Yes; 0 = No r3113.0
1 Network Fault 1 = Yes; 0 = No r3113.1
2 DC Link Overvoltage 1 = Yes; 0 = No r3113.2
3 Fault Drive Converter Power Electronics 1 = Yes; 0 = No r3113.3
4 Drive Converter Overtemperature 1 = Yes; 0 = No r3113.4
5 Ground Fault 1 = Yes; 0 = No r3113.5
6 Motor Overload 1 = Yes; 0 = No r3113.6
7 Bus Error 1 = Yes; 0 = No r3113.7
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8 External Safety-relevant Shutdown 1 = Yes; 0 = No r3113.8

9 Reserved
10 Error Communication Internal 1 = Yes; 0 = No r3113.10
11 Fault Infeed 1 = Yes; 0 = No r3113.11
12 Reserved
13 Reserved
14 Reserved
15 Other Faults 1 = Yes; 0 = No r3113.15

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3.7.5 Telegram 20 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
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p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_A)

p1070[0...n] CI: Main setpoint / Main setpoint

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

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r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

Smoothed Actual Speed (NIST_A_GLATT)

r0063[0...2] CO: Speed actual value / n_act

Smoothed Actual Current (IAIST_GLATT)

r0068[0...1] CO: Absolute current actual value / I_act abs val

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Smoothed Actual Torque (MIST_GLATT)

r0080[0...1] CO: Torque actual value / M_act

Smoothed Actual Power (PIST_GLATT)

r0082[0...3] CO: Active power actual value / P_act

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VIK-NAMUR Message Word (MELD_NAMUR)

r3113.0...15 CO/BO: NAMUR message bit bar / NAMUR bit bar

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.8 Telegram 110 for Basic Positioning with Direct

Setpoint Input (MDI), Override, and Position Feedback
3.8.1 Description

This telegram is a Siemens telegram of 12 words in length. It contains two standard

control words and a positioning control word. An additional control word is included
to select a traversing block. Through Manual Data Input (MDI), position and
velocity setpoints are also received by the drive. The output image contains two
standard status words, a positioning status word, position feedback, and a
message word containing additional status information.

3.8.2 Telegram 110 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Position Block Selection (SATZANW) Position Selected Block (AKTSATZ)
3 Position Control Word (POS_STW) Position Status Word (POS_ZSW)
4 Control Word 2 (STW2) Status Word 2 (ZSW2)
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5 Position Velocity Override (OVERRIDE) Message Word (MELDW)

6
MDI Position (MDI_TARPOS) Actual Position Value A (XIST_A)
7
8
MDI Velocity (MDI_VELOCITY)
9
10 MDI Acceleration Override (MDI_ACC)
11 MDI Deceleration Override (MDI_DEC)
12 MDI Mode (MDI_MOD)

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3.8.3 Telegram 110 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

5 EPOS Intermediate Stop 1 = Intermediate stop off; 0 = Intermediate stop on p2640

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Position Block Selection (SATZANW) r2091.0…15

Bit Name Functionality Interconnection
0 Traversing Block Selection Bit 0 Bits 0 to 5 are used to select one of the maximum of 64 traversing blocks. p2625
1 Traversing Block Selection Bit 1 p2626
2 Traversing Block Selection Bit 2 p2627
3 Traversing Block Selection Bit 3 p2628
4 Traversing Block Selection Bit 4 p2629
5 Traversing Block Selection Bit 5 p2630
6 Reserved
7 Reserved
© Siemens AG copyright year All rights reserved

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 EPOS Manual Data Input (MDI) Activation For direct setpoint entry. 1 = Activate MDI; 0 = Deactivate MDI p2647

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Positioning Control Word (POS_STW) r2092.0…15

Bit Name Functionality Interconnection
0 Tracking Mode Activation 1 = Tracking mode active; 0 = Tracking mode inactive p2655[0]
1 Set Reference Point 1 = Set reference point; 0 = No action p2596
2 Reference Cam Active 1 = Reference cam active; 0 = No action p2612
3 Reserved
4 Reserved
5 Jog Method 1 = Incremental jogging active; 0 = Velocity jogging active p2591
6 Reserved
7 Reserved
© Siemens AG copyright year All rights reserved

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

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Control Word 2 (STW2) r2093.0...15

Bit Name Functionality Interconnection
0 Drive data set selection (DDS) Bit 0 Bits 0-1 are used to select a drive data set. p0820[0]
1 Drive data set selection (DDS) Bit 1 p0821[0]
2 Reserved
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Parking Axis Selection 1 = Activate parking axis function; 0 = Deactivate parking axis function p0897
© Siemens AG copyright year All rights reserved

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Master sign-of-life Bit 0
13 Master sign-of-life Bit 1
14 Master sign-of-life Bit 2
15 Master sign-of-life Bit 3

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EPOS Velocity Override (OVERRIDE) p2646 Interconnection

Connector input for positioning mode velocity override. p2646

Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) p2642 Interconnection

Connector input for MDI position setpoint. p2642

Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) p2643 Interconnection

Connector input for MDI velocity setpoint. p2643
© Siemens AG copyright year All rights reserved

Manual Data Input (MDI) Acceleration Override (MDI_ACC) p2644 Interconnection

Connector input for MDI acceleration override. p2644

Manual Data Input (MDI) Deceleration Override (MDI_DEC) p2645 Interconnection

Connector input for MDI deceleration override. p2645

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Manual Data Input (MDI) Mode (MDI_MOD) r2094.0…15

Bit Name Functionality Interconnection
0 Positioning Type Selection 1 = Absolute positioning selected; 0 = Relative positioning selected p2648

7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

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3.8.4 Telegram 110 Output Words

Status Word 1 (ZSW1) r2089[0]

5 Quick Stop Off 1 = Quick stop (OFF3) inactive; 0 = Quick stop active r0899.5
6 Switch-On Inhibited 1 = Motor inhibited from switching on; 0 = Motor can be switched on r0899.6
7 Active Alarm 1 = Alarm active; 0 = No alarm active r2139.7
8 Following Error on Tolerance 1 = Following error within tolerance; 0 = Following error outside of tolerance r2684.8
9 Master Control Request 1 = Master control requested; 0 = No action r0899.9
10 Target Position Reached 1 = Target position reached; 0 = Target position not reached r2684.10
11 Reference Point Set 1 = Reference point set; 0 = Reference point not set r2684.11
12 Acknowledgement Trav. Block Active 1 = On; 0 = Off r2684.12
Speed Below Threshold 3 1 = Absolute actual speed below threshold value 3 (p2161[0])
13 0 = Speed above or greater than threshold value 3 r2199.0
14 Reserved
15 Reserved

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Position Selected Block (AKTSATZ) r2670.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 EPOS Manual Data Input (MDI) Status 1 = MDI Active; 0 = MDI Inactive r2670.15

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Positioning Status Word (POS_ZSW) r2683.0…15

Bit Name Functionality Interconnection
0 Tracking Mode Status 1 = Tracking mode active; 0 = Tracking mode inactive r2683.0
1 Velocity Limiting Status 1 = Velocity limiting Active; 0 = Velocity limiting inactive r2683.1
2 Setpoint Availability Status 1 = Setpoint available; 0 = Setpoint unavailable r2683.2
3 Set Position Reached Status 1 = Set position reached; 0 = Set position not reached r2683.3
4 Axis Movement Forward Status 1 = Axis moving forward; 0 = Axis not moving forward r2683.4
5 Axis Movement Backward Status 1 = Axis moving backward; 0 = Axis not moving backward r2683.5
6 Software Limit Switch Minus Status 1 = Software limit switch minus reached; 0 = Limit switch minus not reached r2683.6
7 Software Limit Switch Plus Status 1 = Software limit switch plus reached; 0 = Limit switch plus not reached r2683.7
© Siemens AG copyright year All rights reserved

8 Cam Switching Position 1 Status 1 = Position less than or equal to cam switching position 1 r2683.8
9 Cam Switching Position 2 Status 1 = Position less than or equal to cam switching position 2 r2683.9
10 Direct Output 1 Via Traversing Block 1 = Yes; 0 = No r2683.10
11 Direct Output 2 Via Traversing Block 1 = Yes; 0 = No r2683.11
12 Fixed Stop Status 1 = Fixed stop reached; 0 = Fixed stop not reached r2683.12
13 Fixed Stop Clamping Torque Status 1 = Fixed stop clamping torque reached; 0 = Clamping torque not reached r2683.13
14 Travel to Fixed Stop Status 1 = Traveling to fixed stop active; 0 = Traveling to fixed stop inactive r2683.14
15 EPOS Status Word 1 Status 1 = On; 0 = Off r2683

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Status Word 2 (ZSW2) p2081[0…15]

Bit Name Functionality Interconnection
0 Drive data set selection (DDS) Bit 0 Bits 0-1 display the selected drive data set. r0051.0
1 Drive data set selection (DDS) Bit 1 r0051.1
2 Reserved
3 Reserved
4 Reserved r0051.4
5 Alarm Class Bit 0 r2139.11
Bits 5-6 are used for the classification of internal alarm classes and are intended for diagnostic
6 Alarm Class Bit 1 purposes only. r2139.12
7 Parking Axis Function Status 1 = Parking axis function active; 0 = Parking axis function inactive r0896.0
© Siemens AG copyright year All rights reserved

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Message Word (MELDW) p2082[0…15]

Bit Name Functionality Interconnection
0 Ramp Up or Down Completed 1 = Ramp up or down completed; 0 = Ramp up or down incomplete r2199.5
1 Torque Utilization Below Threshold 1 = Torque utilization below threshold value1 2; 0 = Utilization above or equal r2199.11
2 Speed Below Threshold 3 1 = Absolute speed below threshold2 3; 0 = Speed at or above threshold 3 r2199.0
3
3 Speed Below or At Threshold 2 1 = Absolute speed below or at threshold 2; 0 = Speed above threshold 2 r2197.1
4 Vdc_min Controller Status 1 = Vdc_min controller active4; 0 = Vdc_min controller inactive r0056.15
5 Reserved
6 No Motor Overtemperature Alarm 1 = No alarm; 0 = Alarm present r2135.14
7 No Power Unit Thermal Overload Alarm 1 = No alarm; 0 = Alarm present r2135.15
© Siemens AG copyright year All rights reserved

8 Speed Within Setpoint Tolerance 1 = Speed within setpoint tolerance; 0 = Speed outside of setpoint tolerance r2199.4
9 Reserved
10 Reserved
11 Controller Enabled 1 = Controller enabled; 0 = Controller disabled r0899.8
12 Drive Ready Status 1 = Yes; 0 = No r0899.7
13 Pulses Enabled Status 1 = Yes; 0 = No r0899.11
14 2nd Variable Signaling Function Status 1 = On; 0 = Off r3294.1
15 3rd Variable Signaling Function Status 1 = On; 0 = Off r3294.2

Actual Position Value A (XIST_A) r2521[0] Interconnection

Connector output for actual position A (32 bit). r2521[0]

1 Torque threshold value 2 is found in p2194.

2 Speed threshold value 3 is found in p2161.
3 Speed threshold value 2 is found p2155.
4 The controller activates when the DC link voltage is less than p1248 (DC link voltage lower threshold).

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3.8.5 Telegram 110 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p2641 BI: EPOS reject traversing task (0 signal) / Trav_task reject

p2640 BI: EPOS intermediate stop (0 signal) / Intermediate stop

p2631 BI: EPOS activate traversing task (0 -> 1) / Trav_task act

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p2589 BI: EPOS jog 1 signal source / Jog 1 S_src

p2590 BI: EPOS jog 2 signal source / Jog 2 S_src

p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p2595 BI: EPOS referencing start / Ref start

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p2633 BI: EPOS external block change (0 -> 1) / Ext BlckChg (0->1)

Position Block Selection (SATZANW)

p2625 BI: EPOS traversing block selection bit 0 / Trav_blk sel bit 0

Parameters p2626, p2627, p2628, p2629, p2630 function exactly as p2625 for their respective
© Siemens AG copyright year All rights reserved

bits in the selection of the traversing block.

p2647 BI: EPOS direct setpoint input/MDI selection / MDI selection

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Positioning Control Word (POS_STW)

p2655[0...1] BI: EPOS select tracking mode / Sel tracking mode

p2596 BI: EPOS set reference point / Set ref_pt

p2612 BI: EPOS search for reference reference cam / Ref_cam

p2591 BI: EPOS jogging incremental / Jog incr

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Control Word 2 (STW2)

p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0

Parameter p0821[0] functions exactly as p0820[0] for its respective Drive Data Set bit.

p0897 BI: Parking axis selection / Parking axis sel

EPOS Velocity Override (OVERRIDE)

p2646 CI: EPOS velocity override / v_over

Manual Data Input (MDI) Position Setpoint (MDI_TARPOS)

p2642 CI: EPOS direct setpoint input/MDI position setpoint / MDI s_set

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Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY)

p2643 CI: EPOS direct setpoint input/MDI velocity setpoint / MDI v_set

Manual Data Input (MDI) Acceleration Override (MDI_ACC)

p2644 CI: EPOS direct setpoint input/MDI acceleration override / MDI a_over
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Manual Data Input (MDI) Deceleration Override (MDI_DEC)

p2645 CI: EPOS direct setpoint input/MDI deceleration override / MDI -a_over

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Manual Data Input (MDI) Mode (MDI_MOD)

p2648 BI: EPOS direct setpoint input/MDI positioning type / MDI pos_type

p2651 BI: EPOS direct setpoint input/MDI direction selection, positive / MDI dir_sel pos
© Siemens AG copyright year All rights reserved

p2652 BI: EPOS direct setpoint input/MDI direction selection negative / MDI dir_sel neg

See above p2651 for the functionality of binary inputs p2651 and p2652.

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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r2684.0...15 CO/BO: EPOS status word 2 / POS_ZSW2

r2199.0...11 CO/BO: Status word monitoring 3 / ZSW monitor 3

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Position Selected Block (AKTSATZ)

r2670.0...15 CO/BO: EPOS status word active traversing block / ZSW act trav_block

Position Status Word (POS_ZSW)

r2683.0...14 CO/BO: EPOS status word 1 / POS_ZSW1

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Status Word 2 (ZSW2)

r0051.0...4 CO/BO: Drive Data Set DDS effective / DDS effective

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0896.0 BO: Parking axis, status word / Parking axis, ZSW

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r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r0835.0...12 CO/BO: Data set changeover status word / Data set sw ZSW

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Message Word (MELDW)

r2199.0...11 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2197.0...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r0056.0...15 CO/BO: Status word, closed-loop control / ZSW cl-loop ctrl

r2135.12...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

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r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r3294.0...2 BO: Variable signaling function output signal / Var sig outp_sig
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Actual Position Value A (XIST_A)

r2521[0...3] CO: LR position actual value / s_act

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3.9 Telegram 111 for Basic Positioning with Direct

Setpoint Input (MDI), Override, Position Feedback, and
Speed Feedback
3.9.1 Description

Telegram 111 is a standard Siemens Telegram for a positioning drive. It allows

sequence and control of the drive functions in addition to control of the positioning
function EPOS. It is a 12-word telegram with the last word being a freely
assignable interconnection. Position and speed feedback are available in the
output image.

3.9.2 Telegram 111 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
Position Status Word 1
Position Control Word 1 (POS_STW1)
2 (POS_ZSW1)
Position Status Word 2
Position Control Word 2 (POS_STW2)
3 (POS_ZSW2)
4 Control Word 2 (STW2) Status Word 2 (ZSW2)
5 Position Velocity Override (OVERRIDE) Message Word (MELDW)
© Siemens AG copyright year All rights reserved

6
MDI Position (MDI_TARPOS) Actual Position Value A (XIST_A)
7
8
MDI Velocity (MDI_VELOCITY) Actual Speed (NIST_B)
9
10 MDI Acceleration Override (MDI_ACC) Fault Code Word (FAULT_CODE)
11 MDI Deceleration Override (MDI_DEC) Alarm Code Word (ALARM_CODE)
12 Freely Assignable Freely Assignable

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3.9.3 Telegram 111 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

5 EPOS Intermediate Stop 1 = Intermediate stop off; 0 = Intermediate stop on p2640

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Positioning Control Word 1 (POS_STW1) r2091.0…15

Bit Name Functionality Interconnection
0 Traversing Block Selection Bit 0 Bits 0 to 3 are used to select one of 16 traversing blocks. p2625
1 Traversing Block Selection Bit 1 p2626
2 Traversing Block Selection Bit 2 p2627
3 Traversing Block Selection Bit 3 p2628
4 Reserved
5 Reserved
6 Reserved
7 Reserved
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8 Positioning Type Selection 1 = Absolute positioning is selected; 0 = Relative positioning is selected p2648
9 Absolute Positioning Method Bit 0 p2651
Absolute positioning method by: 0 = shortest distance; 1 = Positive direction;
10 Absolute Positioning Method Bit 1 2 = Negative direction; 3 = Shortest distance p2652
11 Reserved
12 Value Transfer Method 1 = Continuous Transfer; 0 = Transfer on rising edge of p2650 1 p2649
13 Reserved
14 Setting-up Selection 1 = Drive in setting-up mode selected; 0 = Drive in positioning mode selected p2653
15 EPOS Manual Data Input (MDI) Activation For direct setpoint entry. 1 = Activate MDI; 0 = Deactivate MDI p2647

1 p2650 sets the signal source to accept the values for edge-triggered selection in the operating mode „direct setpoint input/MDI“

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Positioning Control Word 2 (POS_STW2) r2092.0…15

8 Reference Type Selection 1 = Flying referencing; 0 = Search for reference p2597

9 Reference Search Direction 1 = Start search in negative direction; 0 = Start search in positive direction p2604
10 LR Measuring Probe Selection 1 = Measuring probe 2 activated; 0 = Measuring probe 1 activated p2510[0]
11 Measurement Probe Edge Activation 1 = Falling edge of probe activated; 0 = Rising edge of probe activated p2511[0]
12 Reserved
13 Reserved
14 Software Limit Switch Activation 1 = SW limit switch active; 0 = SW limit switch inactive p2582
15 STOP Cam 1 = Function "STOP cam" active; 0 = Function "STOP cam" inactive p2568

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Control Word 2 (STW2) r2093.0...15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Master sign-of-life Bit 0
13 Master sign-of-life Bit 1
14 Master sign-of-life Bit 2
15 Master sign-of-life Bit 3

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EPOS Velocity Override (OVERRIDE) p2646 Interconnection

Connector input for positioning mode velocity override. p2646

Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) p2642 Interconnection

Connector input for MDI position setpoint. p2642

Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) p2643 Interconnection

Connector input for MDI velocity setpoint. p2643
© Siemens AG copyright year All rights reserved

Manual Data Input (MDI) Acceleration Override (MDI_ACC) p2644 Interconnection

Connector input for MDI acceleration override. p2644

Manual Data Input (MDI) Deceleration Override (MDI_DEC) p2645 Interconnection

Connector input for MDI deceleration override. p2645

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3.9.4 Telegram 111 Output Words

Status Word 1 (ZSW1) r2089[0]

5 Quick Stop Off 1 = Quick stop (OFF3) inactive; 0 = Quick stop active r0899.5
6 Switch-On Inhibited 1 = Motor inhibited from switching on; 0 = Motor can be switched on r0899.6
7 Active Alarm 1 = Alarm active; 0 = No alarm active r2139.7
8 Following Error on Tolerance 1 = Following error within tolerance; 0 = Following error outside of tolerance r2684.8
9 Master Control Request 1 = Master control requested; 0 = No action r0899.9
10 Target Position Reached 1 = Target position reached; 0 = Target position not reached r2684.10
11 Reference Point Set 1 = Reference point set; 0 = Reference point not set r2684.11
12 Acknowledgement Trav. Block Active 1 = On; 0 = Off r2684.12
Speed Below Threshold 3 1 = Absolute actual speed below threshold value 3 (p2161[0])
13 0 = Speed above or greater than threshold value 3 r2199.0
14 Axis Accelerating 1 = Yes; 0 = No r2684.4
15 Axis Decelerating 1 = Yes; 0 = No r2684.5

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Positioning Status Word 1 (POS_ZSW1) p2083[0…15]

Bit Name Functionality Interconnection
0 Active Traversing Block Bit 0 Bits 0 to 3 display one of 16 traversing blocks. r2670[0]
1 Active Traversing Block Bit 1 r2670[1]
2 Active Traversing Block Bit 2 r2670[2]
3 Active Traversing Block Bit 3 r2670[3]
4 Reserved
5 Reserved
6 Reserved
7 Reserved
© Siemens AG copyright year All rights reserved

8 STOP Cam Minus 1 = STOP cam minus active; 0 = STOP cam minus inactive r2684[13]
9 STOP Cam Plus 1 = STOP cam plus active; 0 = STOP cam plus inactive r2684[14]
10 Jogging Status 1 = Jogging active; 0 = Jogging inactive r2094[0]
11 Reference Point Approach 1 = Reference point approach active; 0 = Reference point approach inactive r2094[1]
12 Flying Referencing Status 1 = Flying referencing active; 0 = Flying referencing inactive r2684[1]
13 Traversing Block Status 1 = Traversing block active; 0 = Traversing block inactive r2094[2]
14 Setting-up Status 1 = Drive setting-up active; 0 = Drive setting-up inactive r2094[4]
15 EPOS Manual Data Input (MDI) Status 1 = MDI Active; 0 = MDI Inactive r2670[15]

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Positioning Status Word 2 (POS_ZSW2) p2084[0…15]

Bit Name Functionality Interconnection
0 Tracking Mode Status 1 = Tracking mode active; 0 = Tracking mode inactive r2683.0
1 Velocity Limiting Status 1 = Velocity limiting Active; 0 = Velocity limiting inactive r2683.1
2 Setpoint Availability Status 1 = Setpoint available; 0 = Setpoint unavailable r2683.2
3 Printing Mark Placement Status 1 = Printing mark outside outer window; 0 = Printing mark inside outer window r2683.3
4 Axis Movement Forward Status 1 = Axis moving forward; 0 = Axis not moving forward r2683.4
5 Axis Movement Backward Status 1 = Axis moving backward; 0 = Axis not moving backward r2683.5
6 Software Limit Switch Minus Status 1 = Software limit switch minus reached; 0 = Limit switch minus not reached r2683.6
7 Software Limit Switch Plus Status 1 = Software limit switch plus reached; 0 = Limit switch plus not reached r2683.7
© Siemens AG copyright year All rights reserved

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Status Word 2 (ZSW2) p2081[0…15]

Bit Name Functionality Interconnection
0 Drive data set selection (DDS) Bit 0 Bits 0-1 display the selected drive data set. r0051.0
1 Drive data set selection (DDS) Bit 1 r0051.1
2 Reserved
3 Reserved
4 Reserved
5 Alarm Class Bit 0 r2139.11
Bits 5-6 are used for the classification of internal alarm classes and are intended for diagnostic
6 Alarm Class Bit 1 purposes only. r2139.12
7 Reserved
© Siemens AG copyright year All rights reserved

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Message Word (MELDW) p2082[0…15]

Actual Position Value A (XIST_A) r2521[0] Interconnection

Connector output for actual position A (32 bit). r2521[0]

1 Torque threshold value 2 is found in p2194.

2 Speed threshold value 3 is found in p2161.
3 Speed threshold value 2 is found p2155.
4 The controller activates when the DC link voltage is less than p1248 (DC link voltage lower threshold).

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Actual Speed (NIST_B) r63[0] Interconnection

Connector output for actual speed (32 bit). Scaled by p20001. r63[0]

Fault Code (FAULT_CODE) p2131 Interconnection

Connector output for fault code. The oldest fault code is displayed. 0 = No fault present. p2131

Alarm Code (WARN_CODE) p2132 Interconnection

Connector output for alarm code. The most recent alarm code is displayed. 0 = No alarm present. p2132
© Siemens AG copyright year All rights reserved

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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3.9.5 Telegram 111 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p2641 BI: EPOS reject traversing task (0 signal) / Trav_task reject

p2640 BI: EPOS intermediate stop (0 signal) / Intermediate stop

p2631 BI: EPOS activate traversing task (0 -> 1) / Trav_task act

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p2589 BI: EPOS jog 1 signal source / Jog 1 S_src

p2590 BI: EPOS jog 2 signal source / Jog 2 S_src

p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p2595 BI: EPOS referencing start / Ref start

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p2633 BI: EPOS external block change (0 -> 1) / Ext BlckChg (0->1)
© Siemens AG copyright year All rights reserved

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Positioning Control Word 1 (POS_STW1)

p2625 BI: EPOS traversing block selection bit 0 / Trav_blk sel bit 0

Note: parameters p2626, p2627, and p2628 function exactly as p2625 for their respective bits in
the selection of the traversing block.

p2648 BI: EPOS direct setpoint input/MDI positioning type / MDI pos_type
© Siemens AG copyright year All rights reserved

p2651 BI: EPOS direct setpoint input/MDI direction selection, positive / MDI dir_sel pos

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p2652 BI: EPOS direct setpoint input/MDI direction selection negative / MDI dir_sel neg

Note: p2652 has the same dependencies and note information as p2651.

p2649 BI: EPOS direct setpoint input/MDI transfer type selection / MDI trans_type sel
© Siemens AG copyright year All rights reserved

p2653 BI: EPOS direct setpoint input/MDI setting-up selection / MDI setting-up sel

p2647 BI: EPOS direct setpoint input/MDI selection / MDI selection

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Positioning Control Word 2 (POS_STW2)

p2655[0...1] BI: EPOS select tracking mode / Sel tracking mode

p2596 BI: EPOS set reference point / Set ref_pt

p2612 BI: EPOS search for reference reference cam / Ref_cam

p2591 BI: EPOS jogging incremental / Jog incr

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p2597 BI: EPOS referencing type selection / Ref_typ select

p2604 BI: EPOS search for reference start direction / Srch for ref dir
© Siemens AG copyright year All rights reserved

p2510[0...3] BI: LR selecting measuring probe evaluation / MT_eval select

p2511[0...3] BI: LR measuring probe evaluation edge / MT_eval edge

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p2582 BI: EPOS software limit switch activation / SW lim sw act

p2568 BI: EPOS STOP cam activation / STOP cam act

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Control Word 2 (STW2)

p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0

Parameter p0821[0] functions exactly as p0820[0] for its respective Drive Data Set bit.

p0897 BI: Parking axis selection / Parking axis sel

EPOS Velocity Override (OVERRIDE)

p2646 CI: EPOS velocity override / v_over

Manual Data Input (MDI) Position Setpoint (MDI_TARPOS)

p2642 CI: EPOS direct setpoint input/MDI position setpoint / MDI s_set

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Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY)

p2643 CI: EPOS direct setpoint input/MDI velocity setpoint / MDI v_set

Manual Data Input (MDI) Acceleration Override (MDI_ACC)

p2644 CI: EPOS direct setpoint input/MDI acceleration override / MDI a_over
© Siemens AG copyright year All rights reserved

Manual Data Input (MDI) Deceleration Override (MDI_DEC)

p2645 CI: EPOS direct setpoint input/MDI deceleration override / MDI -a_over

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Positioning Status Word 1 (POS_ZSW1)

r2670.0...15 CO/BO: EPOS status word active traversing block / ZSW act trav_block

r2684.0...15 CO/BO: EPOS status word 2 / POS_ZSW2

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r2094.0...15 BO: IF1 connector-binector converter binector output / Con/bin outp

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Position Status Word 2 (POS_ZSW2)

r2683.0...14 CO/BO: EPOS status word 1 / POS_ZSW1

r2684.0...15 CO/BO: EPOS status word 2 / POS_ZSW2

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Status Word 2 (ZSW2)

r0051.0...4 CO/BO: Drive Data Set DDS effective / DDS effective

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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r1406.8...12 CO/BO: Control word speed controller / STW n_ctrl

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r0835.0...12 CO/BO: Data set changeover status word / Data set sw ZSW

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Message Word (MELDW)

r2199.0...11 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2197.0...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r0056.0...15 CO/BO: Status word, closed-loop control / ZSW cl-loop ctrl

r2135.12...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

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r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r3294.0...2 BO: Variable signaling function output signal / Var sig outp_sig
© Siemens AG copyright year All rights reserved

Actual Position Value A (XIST_A)

r2521[0...3] CO: LR position actual value / s_act

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Actual Speed (NIST_B)

r0063 CO: Actual speed smoothed / n_act smooth

Fault Code Word (FAULT_CODE)

r2131 CO: Actual fault code / Act fault code

Alarm Code Word (ALARM_CODE)

r2132 CO: Actual alarm code / Alarm code act

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.10 Telegram 350 for Speed Setpoint (16-bit), Speed

Feedback, Current Feedback, and Torque Limit
3.10.1 Description

This telegram is a standard Siemens telegram of 4 words in length. The drive is

controlled through two control words and a speed setpoint. In the output image,
speed and current feedback are available. Scaling of the upper torque limit to limit
the speed controller output can be controlled in the input image.

3.10.2 Telegram 350 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Speed Setpoint (NSOLL_A) Smoothed Actual Speed (NIST_A_GLATT)
3 Torque Limiting Upper Scaling Value (M_LIM) Smoothed Actual Current (IAIST_GLATT)
4 Control Word 3 (STW3) Status Word 3 (ZSW3)
© Siemens AG copyright year All rights reserved

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3.10.3 Telegram 350 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

Speed Setpoint (NSOLL_A) p1070[0] Interconnection

Connector input word for main setpoint. Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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Torque Limiting Upper Scaling Value (M_LIM) p1552[0] Interconnection

Connector input for the scaling of the upper torque limiting to limit the speed controller output. p1552[0]

Control Word 3 (STW3) r2093.0...15

Bit Name Functionality Interconnection
0 Fixed Setpoint Selector Bit 0 Bits 0-3 are used to select between 16 different fixed setpoints. p1020[0]
1 Fixed Setpoint Selector Bit 1 p1021[0]
2 Fixed Setpoint Selector Bit 2 p1022[0]
3 Fixed Setpoint Selector Bit 3 p1023[0]
© Siemens AG copyright year All rights reserved

4 Drive data set selection (DDS) Bit 0 Bits 4-5 are used to select a drive data set. p0820
5 Drive data set selection (DDS) Bit 1 p0821
6 Reserved
7 Reserved
8 Technology Controller Enable 1 = Technology Controller Enabled; 0 = Technology Controller Disable p2200[0]
9 DC Braking Enable 1 = Enable DC braking; 0 = DC braking disabled p1230[0]
10 Reserved
11 Droop Feedback Enable 1 = Speed controller droop enable; 0 = Speed controller droop disable p1492[0]
12 Vector Control Mode 1 = Torque control active; 0 = Speed control active p1501[0]
13 External Fault Status 1 = No external fault; 0 = External fault present p2106[0]
14 Reserved
15 Command Data Set Selection Bit 0 Bit 15 is used to select a command data set (CDS). p0811[0]

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3.10.4 Telegram 350 Output Words

Status Word 1 (ZSW1) r0052, r2089[0]

Smoothed Actual Speed (NIST_A_GLATT) r63[1] Interconnection

Connector output for actual speed, smoothed. Scaled by p2000. The smoothing time constant is specified by p0045. r63[1]

Smoothed Actual Current (IAIST_GLATT) r68[1] Interconnection

Connector output for actual current, smoothed. Scaled by p2002. The smoothing time constant is specified by p0045. r68[1]

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Status Word 3 (ZSW3) r0053.0...15

Bit Name Functionality Interconnection
0 DC Brake Status 1 = DC braking active; 0 = DC braking inactive r0053.0
1 Speed Above Stationary Speed 1 = Absolute speed is greater than "stationary" speed (p1226); 0 = Speed less than stationary speed r0053.1
2 Speed Above Minimum Speed 1 = Absolute speed is greater than minimum speed (p1080); 0 = Speed less than minimum speed r0053.2
3 Current Above Threshold Value 1 = Current greater than or equal to threshold value (p2170); 0 = Current less than threshold value r0053.4
4 Speed Above Threshold 2 1 = Absolute speed greater than speed threshold value 2 (p2155); 0 = Speed less than threshold 2 r0053.4
5 Speed Below Threshold 2 1 = Absolute speed less than or equal to speed threshold value 2; 0 = Speed greater than threshold 2 r0053.5
6 Speed Setpoint Reached 1 = Absolute speed greater than or equal to setpoint (r1119); 0 = Speed less than setpoint r0053.6
7 DC Link Voltage Below Threshold 1 = DC link voltage at or below threshold value (p2172); 0 = DC link voltage below threshold value r0053.7
© Siemens AG copyright year All rights reserved

8 DC Link Voltage Above Threshold 1 = DC link voltage above threshold value; 0 = DC link voltage below threshold value r0053.8
9 Ramp Function Generator Status 1 = Ramp up or ramp down completed (RFG inactive); 0 = Ramp up or ramp down incomplete r0053.9
10 Technology Controller Lower Limit 1 = Tech controller output at or below lower limit (p2292); 0 = Output above lower limit r0053.10
11 Technology Controller Upper Limit 1 = Tech controller output above upper limit (p2291); 0 = Output below or at upper limit r0053.11
12 Reserved
13 Reserved
14 Reserved
15 Reserved

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3.10.5 Telegram 350 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_A)

p1070[0...n] CI: Main setpoint / Main setpoint

Torque Limiting Upper Scaling Value (M_LIM)

p1552[0...n] CI: Torque limit upper scaling without offset / M_max up w/o offs
© Siemens AG copyright year All rights reserved

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Control Word 3 (STW3)

p1020[0...n] BI: Fixed speed setpoint selection Bit 0 / n_set_fixed Bit 0

Note: p1021[0], p1022[0], and p1023[0] function exactly as p1020[0] for their respective speed
setpoint selection bits.

p0820[0...n] BI: Drive Data Set selection DDS bit 0 / DDS select., bit 0
© Siemens AG copyright year All rights reserved

Note: Parameter p0821[0] functions exactly as p0820[0] for its respective Drive Data Set bit.

p2200[0...n] BI: Technology controller enable / Tec_ctrl enable

p1230[0...n] BI: Armature short-circuit / DC braking activation / ASC/DCBRK act

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p1492[0...n] BI: Droop feedback enable / Droop enable

p1501[0...n] BI: Change over between closed-loop speed/torque control / Changeov

n/M_ctrl
© Siemens AG copyright year All rights reserved

p2106[0...n] BI: External fault 1 / External fault 1

p0811 BI: Command data set selection CDS bit 1 / CDS select., bit 1

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

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Smoothed Actual Speed (NIST_A_GLATT)

r0063[0...2] CO: Speed actual value / n_act

Smoothed Actual Current (IAIST_GLATT)

r0068[0...1] CO: Absolute current actual value / I_act abs val

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Status Word 3 (ZSW3)

r0053.0...11 CO/BO: Status word 2 / ZSW 2

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.11 Telegram 352 for Vector Speed Control, Speed

Setpoint, and Diagnostic Words
3.11.1 Description

Telegram 352 is a standard Siemens telegram of 6 words in length for speed

control with VECTOR Drive Objects. This telegram cannot be used with SERVO
Drive Objects. The first two words in and out are the same as Telegram 1. This
telegram offers four optional User Defined Control Setpoints, and four added status
words returning to the PLC for Current, Torque, Warning Word, and Fault Word.

3.11.2 Telegram 352 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Speed Setpoint (NSOLL_A) Smoothed Actual Speed (NIST_A_GLATT)
3 Freely assignable User Setpoint 1 Smoothed Actual Current (IAIST_GLATT)
4 Freely assignable User Setpoint 2 Smoothed Actual Torque (MIST_GLATT)
5 Freely assignable User Setpoint 3 Alarm Code (WARN_CODE)
© Siemens AG copyright year All rights reserved

6 Freely assignable User Setpoint 4 Fault Code (FAULT_CODE)

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3.11.3 Telegram 352 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

Speed Setpoint (NSOLL_A) p1070[0] Interconnection

Connector input word for main setpoint (16-bit). Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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3.11.4 Telegram 352 Output Words

Status Word 1 (ZSW1) r0052, r2089[0]

Smoothed Actual Speed (NIST_A_GLATT) r63[1] Interconnection

Connector output for actual speed, smoothed. Scaled by p2000. The smoothing time constant is specified by p0045. r63[1]

Smoothed Actual Current (IAIST_GLATT) r68[1] Interconnection

Connector output for actual current, smoothed. Scaled by p2002. The smoothing time constant is specified by p0045. r68[1]

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Smoothed Actual Torque (MIST_GLATT) r80[1] Interconnection

Connector output for actual torque, smoothed. Scaled by p2003. The smoothing time constant is specified by p0045. r80[1]

Alarm Code (WARN_CODE) p2132 Interconnection

Connector output for alarm code. The most recent alarm code is displayed. 0 = No alarm present. p2132

Fault Code (FAULT_CODE) p2131 Interconnection

Connector output for fault code. The oldest fault code is displayed. 0 = No fault present. p2131
© Siemens AG copyright year All rights reserved

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3.11.5 Telegram 352 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_A)

p1070[0...n] CI: Main setpoint / Main setpoint

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

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Smoothed Actual Speed (NIST_A_GLATT)

r0063[0...2] CO: Speed actual value / n_act

Smoothed Actual Current (IAIST_GLATT)

r0068[0...1] CO: Absolute current actual value / I_act abs val

Smoothed Actual Torque (MIST_GLATT)

r0080[0...1] CO: Torque actual value / M_act

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Alarm Code (WARN_CODE)

r2132 CO: Actual alarm code / Alarm code act

Fault Code (FAULT_CODE)

r2131 CO: Actual fault code / Act fault code

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.12 Telegram 353 for Speed Setpoint (16-bit), Smoothed

Speed Feedback
3.12.1 Description

This telegram is a Siemens telegram of 2 words in length. It will control the state of
the drive by selecting the appropriate bits in the control word and set the running
speed in the speed setpoint word. It is identical to Telegram 1, with the exception
that the speed feedback value is smoothed.

3.12.2 Telegram 353 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Speed Setpoint (NSOLL_A) Smoothed Actual Speed (NIST_A_GLATT)
© Siemens AG copyright year All rights reserved

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3.12.3 Telegram 353 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

Speed Setpoint (NSOLL_A) p1070[0] Interconnection

Connector input word for main setpoint. Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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3.12.4 Telegram 353 Output Words

Status Word 1 (ZSW1) r0052, r2089[0]

Smoothed Actual Speed (NIST_A_GLATT) r63[1] Interconnection

Connector output for actual speed, smoothed. Scaled by p2000. The smoothing time constant is specified by p0045. r63[1]

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3.12.5 Telegram 353 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_A)

p1070[0...n] CI: Main setpoint / Main setpoint

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

Smoothed Actual Speed (NIST_A_GLATT)

r0063[0...2] CO: Speed actual value / n_act

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.13 Telegram 354 for Speed Setpoint (16-bit), User Defined

Setpoints, and Diagnostic Information
3.13.1 Description

Telegram 354 is a Siemens telegram of 6 words in length for speed control with
VECTOR Drive Objects. This telegram cannot be used with SERVO Drive Objects.
This telegram offers four optional User Defined Control Setpoints, and four added
status words returning to the PLC for Current, Torque, Alarm Word, and Fault
Word.

3.13.2 Telegram 354 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1) Status Word 1 (ZSW1)
2 Speed Setpoint (NSOLL_A) Smoothed Actual Speed (NIST_A_GLATT)
3 Freely assignable Smoothed Actual Current (IAIST_GLATT)
4 Freely assignable Smoothed Actual Torque (MIST_GLATT)
5 Freely assignable Alarm Code (WARN_CODE)
© Siemens AG copyright year All rights reserved

6 Freely assignable Fault Code (FAULT_CODE)

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3.13.3 Telegram 354 Input Words

Control Word 1 (STW1) r2090.0…15, r0054

Speed Setpoint (NSOLL_A) p1070[0] Interconnection

Connector input word for main setpoint. Scaled by p20001. p1070[0]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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3.13.4 Telegram 354 Output Words

Status Word 1 (ZSW1) r0052, r2089[0]

Smoothed Actual Speed (NIST_A_GLATT) r63[1] Interconnection

Connector output for actual speed, smoothed. Scaled by p2000. The smoothing time constant is specified by p0045. r63[1]

Smoothed Actual Current (IAIST_GLATT) r68[1] Interconnection

Connector output for actual current, smoothed. Scaled by p2002. The smoothing time constant is specified by p0045. r68[1]

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Smoothed Actual Torque (MIST_GLATT) r80[1] Interconnection

Connector output for actual torque, smoothed. Scaled by p2003. The smoothing time constant is specified by p0045. r80[1]

Alarm Code (WARN_CODE) p2132 Interconnection

Connector output for alarm code. The most recent alarm code is displayed. 0 = No alarm present. p2132

Fault Code (FAULT_CODE) p2131 Interconnection

Connector output for fault code. The oldest fault code is displayed. 0 = No fault present. p2131
© Siemens AG copyright year All rights reserved

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3.13.5 Telegram 354 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

Continue RFG
© Siemens AG copyright year All rights reserved

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

p1035[0...n] BI: Motorized potentiometer setpoint raise / Mop raise

p1036[0...n] BI: Motorized potentiometer lower setpoint / Mop lower

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Speed Setpoint (NSOLL_A)

p1070[0...n] CI: Main setpoint / Main setpoint

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

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Smoothed Actual Speed (NIST_A_GLATT)

r0063[0...2] CO: Speed actual value / n_act

Smoothed Actual Current (IAIST_GLATT)

r0068[0...1] CO: Absolute current actual value / I_act abs val

Smoothed Actual Torque (MIST_GLATT)

r0080[0...1] CO: Torque actual value / M_act

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Alarm Code (WARN_CODE)

r2132 CO: Actual alarm code / Alarm code act

Fault Code (FAULT_CODE)

r2131 CO: Actual fault code / Act fault code

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.14 Telegram 370 for Line Module Object

3.14.1 Description

This telegram is a Siemens telegram of one word in length. It consists of a control

and status word dedicated to the active infeed component of a line module drive
object.

3.14.2 Telegram 370 Structure

WORD INPUT OUTPUT

1 Control Word 1 for Active Infeed (E_STW1) Status Word 1 for Active Infeed (E_ZSW1)

Notes:

This telegram cannot be configured for any drive object that is not a line module. To select this
telegram, parameter p0922 of the supply module must be set to 370. Any other drive objects
connected to the supply will support their own independent telegrams.
© Siemens AG copyright year All rights reserved

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3.14.3 Telegram 370 Input Words

Control Word 1 for Active Infeed (E_STW1) r2090.0…15

Bit Name Functionality Interconnection
0 Drive Enable (ON/OFF1) 1 = Enable drive; 0 = Ramp down and disable drive p0840[0]
1 Coast Stop Command (OFF2) 1 = No stop command issued; 0 = Immediate disable and coast to stop p0844[0]
2 Reserved
3 Enable Operation1 1 = Enable drive (pulses enabled); 0 = Inverter prohibited from generating pulses p0852[0]
4 Reserved
5 Inhibit Motoring Operation2 1 = Infeed inhibit motoring operation; 0 = No action p3532
© Siemens AG copyright year All rights reserved

6 Inhibit Regenerative Operation3 1 = Infeed inhibit regenerative operation; 0 = No action p3533

7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved
10 Master Control by PLC 1 = Control is by PLC; 0 = No control by PLC p0854[0]
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 Only for drive objects A_INF and S_INF.

2 Only for drive object A_INF.
3 Only for drive objects A_INF and S_INF.

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3.14.4 Telegram 370 Output Words

Status Word 1 for Active Infeed for Metals Industry (E_ZSW1_BM) p2080[0…15]
Bit Name Functionality Interconnection
0 Ready to Power On 1 = Drive ready; 0 = Drive not ready r0899.0
1 Ready to Run 1 = Ready to run (motor is on); 0 = Not ready to run (motor is off or fault active) r0899.1
2 Operation Enabled 1 = Motor enabled (see Control Word 1 STW1, bit 3); 0 = Motor not enabled r0899.2
3 Fault Active 1 = Converter fault. Acknowledge with Control Word 1, bit 7; 0 = No fault active r2139.3
4 Coast to Stop Off 1 = Coast down (OFF2) inactive; 0 = Coast down active r0899.4
5 Reserved
© Siemens AG copyright year All rights reserved

6 Switch-On Inhibited 1 = Motor inhibited from switching on; 0 = Motor can be switched on r0899.6
7 Active Alarm 1 = Alarm active; 0 = No alarm active r2139.7
8 Reserved
9 Master Control Request 1 = Master control requested; 0 = No action r0899.9
10 Reserved
11 Precharging Status 1 = Precharging completed; 0 = Precharging incomplete r0899.11
12 Line Contactor Status 1 = Line contactor closed; 0 = Line contactor open r0899.12
13 Reserved
14 Reserved
15 Controller sign-of-life toggle bit 1 = On; 0 = Off r2090.15

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3.14.5 Telegram 370 Associated Parameters

Control Word 1 for Active Infeed (E_STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p3532 BI: Infeed inhibit motoring / INF mot mode inhib

p3533 BI: Infeed inhibit generator mode / INF gen mode inhib
© Siemens AG copyright year All rights reserved

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

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Status Word 1 for Active Infeed (E_ZSW1)

r0899.0...12 CO/BO: Status word sequence control infeed / ZSW seq_ctrl INF

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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3.15 Telegram 371 for Line Module, Metals Application

3.15.1 Description

This telegram is a Siemens telegram of one word in length. It consists of a control

and status word dedicated to the active infeed component of a line module drive
object. This telegram is specific for drive applications in the metals industry.

3.15.2 Telegram 371 Structure

WORD INPUT OUTPUT

1 Control Word 1 for Active Infeed Status Word 1 for Active Infeed
for Metals Industry (E_STW1_BM) for Metals Industry (E_ZSW1_BM)
2 Freely Assignable Actual Current (IAIST)
3 Freely Assignable Alarm Code (WARN_CODE)
4 Freely Assignable Fault Code (FAULT_CODE)
5 Freely Assignable Freely Assignable
6 Freely Assignable
7 Freely Assignable
© Siemens AG copyright year All rights reserved

8 Freely Assignable

Notes:

This telegram cannot be configured for any drive object that is not a line module. To select this
telegram, parameter p0922 of the supply module must be set to 371. Any other drive objects
connected to the supply will support their own independent telegrams.

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3.15.3 Telegram 371 Input Words

Control Word 1 for Active Infeed for Metals Industry (E_STW1_BM) r2090.0…15
Bit Name Functionality Interconnection
0 Drive Enable (ON/OFF1) 1 = Enable drive; 0 = Ramp down and disable drive p0840[0]
1 Coast Stop Command (OFF2) 1 = No stop command issued; 0 = Immediate disable and coast to stop p0844[0]
2 Reserved
3 Enable Operation1 1 = Enable drive (pulses enabled); 0 = Inverter prohibited from generating pulses p0852[0]
4 Reserved
5 Inhibit Motoring Operation2 1 = Infeed inhibit motoring operation; 0 = No action p3532
© Siemens AG copyright year All rights reserved

6 Inhibit Regenerative Operation3 1 = Infeed inhibit regenerative operation; 0 = No action p3533

1 Only for drive objects A_INF and S_INF.

2 Only for drive object A_INF.
3 Only for drive objects A_INF and S_INF.

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3.15.4 Telegram 371 Output Words

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Actual Current (IAIST) r68[0] Interconnection

Connector output for actual current. Scaled by p20021. r68[0]

Alarm Code (WARN_CODE) p2132 Interconnection

Connector output for alarm code. The most recent alarm code is displayed. 0 = No alarm present. p2132

Fault Code (FAULT_CODE) p2131 Interconnection

Connector output for fault code. The oldest fault code is displayed. 0 = No fault present. p2131
© Siemens AG copyright year All rights reserved

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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3.15.5 Telegram 371 Associated Parameters

Control Word 1 for Active Infeed in Metals Industry (E_STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p3532 BI: Infeed inhibit motoring / INF mot mode inhib

p3533 BI: Infeed inhibit generator mode / INF gen mode inhib
© Siemens AG copyright year All rights reserved

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

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Status Word 1 for Active Infeed in Metals Industry (E_ZSW1_BM)

r0899.0...12 CO/BO: Status word sequence control infeed / ZSW seq_ctrl INF

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

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Actual Current (IAIST)

r0068[0...1] CO: Absolute current actual value / I_act abs val

Alarm Code (WARN_CODE)

r2132 CO: Actual alarm code / Alarm code act

Fault Code (FAULT_CODE)

r2131 CO: Actual fault code / Act fault code

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.16 Telegram 390 for Control Unit and Digital I/O 16/8
3.16.1 Description

This telegram is a Siemens telegram of two words in length. It consists of a control

and status word as well as support for up to eight digital outputs (from PLC) or up
to sixteen digital inputs (to PLC).

3.16.2 Telegram 390 Structure

WORD INPUT OUTPUT

1 Control Word 1 for Control Unit (CU_STW1) Status Word 1 for Control Unit (CU_ZSW1)
2 Digital Output (A_DIGITAL) Digital Input (E_DIGITAL)

Notes:

This telegram can only be configured for a Control Unit drive object. Any drive object of a
different type will support its own independent telegram.
© Siemens AG copyright year All rights reserved

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3.16.3 Telegram 390 Input Words

Control Word 1 for Control Unit Interconnection (CU_STW1) r2090.0…15, r0898

Bit Name Functionality Interconnection
0 Central Measuring Probe Synchronizing Signal 1 = Synchronizing signal on; 0 = Synchronizing signal off p0681[0]
1 RTC Real time synchronization PING 1 = UTC PING synchronization on; 0 = UTC PING synchronization off p3104
2 Emergency Stop and Retract (ESR) Requested1 1 = ESR requested; 0 = No request p0890.0
3 Reserved
4 Reserved
5 Reserved
© Siemens AG copyright year All rights reserved

6 Reserved
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved

10 Suppression of Automatic Acknowledgement 1 = Suppress automatic acknowledgement on control unit

0 = Acknowledgeable faults are automatically acknowledged on control unit p3116[0]
11 Reserved
12 Master sign-of-life Bit 0 1 = On, 0 = Off p2045 = r2050[0]
13 Master sign-of-life Bit 1 1 = On, 0 = Off p2045 = r2050[0]
14 Master sign-of-life Bit 2 1 = On, 0 = Off p2045 = r2050[0]
15 Master sign-of-life Bit 3 1 = On, 0 = Off p2045 = r2050[0]

1 This bit is only available when the “extended setpoint channel” function module is active by setting r0108.9 = 1.

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Digital Output Interconnection (A_DIGITAL) r2091.0…15

Bit Name Functionality Interconnection
0 Digital Output 8 (DI/DO 8)1 Signal source for terminal DI/DO 8 p0738
1 Digital Output 9 (DI/DO 9) Signal source for terminal DI/DO 9 p0739
2 Digital Output 10 (DI/DO 10) Signal source for terminal DI/DO 10 p0740
3 Digital Output 11 (DI/DO 11) Signal source for terminal DI/DO 11 p0741
4 Digital Output 12 (DI/DO 12) Signal source for terminal DI/DO 12 p0742
5 Digital Output 13 (DI/DO 13) Signal source for terminal DI/DO 13 p0743
6 Digital Output 14 (DI/DO 14) Signal source for terminal DI/DO 14 p0744
7 Digital Output 15 (DI/DO 15) Signal source for terminal DI/DO 15 p0745
© Siemens AG copyright year All rights reserved

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 Digital outputs can be configured as digital inputs using bits 8 to 15 of p0728: 1 = Configured as output; 0 = Configured as input.

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3.16.4 Telegram 390 Output Words

Status Word 1 for Control Unit Interconnection (CU_ZSW1) p2081[0…15]

Bit Name Functionality Interconnection
0 Reserved
1 Reserved
2 Reserved
3 Converter Fault 1 = Converter fault. Acknowledge with Control Word 1, bit 7; 0 = No fault r2139.3
4 Reserved
5 Reserved
© Siemens AG copyright year All rights reserved

6 Reserved
7 Active Alarm 1 = Alarm active; 0 = No alarm active r2139.7
8 System Time Sync 1 = System time synchronized; 0 = System time not synchronized r0899.8
9 Group Alarm Status 1 = No alarm present; 0 = Alarm present r3114.9
10 Group Fault Status 1 = No fault present; 0 = Fault present r3114.10
11 Safety Group Message Status 1 = No safety message present; 0 = Safety message present r3114.11
12 Slave sign-of-life Bit 0 1 = On, 0 = Off
13 Slave sign-of-life Bit 1 1 = On, 0 = Off
14 Slave sign-of-life Bit 2 1 = On, 0 = Off
15 Slave sign-of-life Bit 3 1 = On, 0 = Off

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Digital Input Interconnection (E_DIGITAL) p2081[0…15]

Bit Name Functionality Interconnection
0 Digital Input 8 (DI/DO 8)1 1 = High; 0 = Low r0722.8
1 Digital Input 9 (DI/DO 9) 1 = High; 0 = Low r0722.9
2 Digital Input 10 (DI/DO 10) 1 = High; 0 = Low r0722.10
3 Digital Input 11 (DI/DO 11) 1 = High; 0 = Low r0722.11
4 Digital Input 12 (DI/DO 12) 1 = High; 0 = Low r0722.12
5 Digital Input 13 (DI/DO 13) 1 = High; 0 = Low r0722.13
6 Digital Input 14 (DI/DO 14) 1 = High; 0 = Low r0722.14
© Siemens AG copyright year All rights reserved

7 Digital Input 15 (DI/DO 15) 1 = High; 0 = Low r0722.15

8 Digital Input 0 (DI 0) 1 = High; 0 = Low r0722.0
9 Digital Input 1 (DI 1) 1 = High; 0 = Low r0722.1
10 Digital Input 2 (DI 2) 1 = High; 0 = Low r0722.2
11 Digital Input 3 (DI 3) 1 = High; 0 = Low r0722.3
12 Digital Input 4 (DI 4)2 1 = High; 0 = Low r0722.4
13 Digital Input 5 (DI 5) 1 = High; 0 = Low r0722.5
14 Digital Input 6 (DI 6) 1 = High; 0 = Low r0722.6
15 Digital Input 7 (DI 7) 1 = High; 0 = Low r0722.7

1 Digital outputs can be configured as digital inputs using bits 8 to 15 of p0728: 1 = Configured as output; 0 = Configured as input.
2 Digital inputs 4 to 7 (bits 12 to 15) are only available for the CU320-2.

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3.16.5 Telegram 390 Associated Parameters

Control Word 1 for Control Unit (CU_STW1)

p0681 BI: Central measuring probe synchronizing signal signal source / Cen meas
sync_sig

p3104 BI: UTC PING synchronization / UTC PING sync

p0890[0...4] BI: ESR trigger / ESR trigger

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p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p3116 BI: Suppress automatic acknowledgment / Ackn suppress

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src

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Digital Output Interconnection (A_DIGITAL)

p0738 BI: CU signal source for terminal DI/DO 8 / CU S_src DI/DO 8

p0739 BI: CU signal source for terminal DI/DO 9 / CU S_src DI/DO 9

p0740 BI: CU signal source for terminal DI/DO 10 / CU S_src DI/DO 10

p0741 BI: CU signal source for terminal DI/DO 11 / CU S_src DI/DO 11

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p0742 BI: CU signal source for terminal DI/DO 12 / CU S_src DI/DO 12

p0743 BI: CU signal source for terminal DI/DO 13 / CU S_src DI/DO 13

p0744 BI: CU signal source for terminal DI/DO 14 / CU S_src DI/DO 14

p0745 BI: CU signal source for terminal DI/DO 15 / CU S_src DI/DO 15

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Status Word 1 for Control Unit (CU_ZSW1)

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1

r3114.9...11 CO/BO: Messages status word global / Msg ZSW global

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Digital Input Interconnection (E_DIGITAL)

r0722.0...21 CO/BO: CU digital inputs status / CU DI status

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3.17 Telegram 391 for Control Unit and Digital I/O 16/8 with
2 Measuring Probes
3.17.1 Description

This telegram is a Siemens telegram of 7 words in length. It consists of a control

and status word, support for up to 8 digital outputs (from PLC) or up to 16 digital
inputs (to PLC), and a control and status word for measuring probes. Measuring
times for probe signal edges are available in the output image.

3.17.2 Telegram 391 Structure

WORD INPUT OUTPUT

1 Control Word 1 for Control Unit (CU_STW1) Status Word 1 for Control Unit (CU_ZSW1)
2 Digital Output (A_DIGITAL) Digital Input (E_DIGITAL)
3 Measuring Probe Control Word (MT_STW) Measuring Probe Status Word (MT_ZSW)

4 Measuring Probe 1
Measuring Time Falling Edge (MT1_ZS_F)

5 Measuring Probe 1
Measuring Time Rising Edge (MT1_ZS_S)
© Siemens AG copyright year All rights reserved

6 Measuring Probe 2
Measuring Time Falling Edge (MT2_ZS_F)

7 Measuring Probe 2
Measuring Time Rising Edge (MT2_ZS_S)

Notes:

This telegram can only be configured for a Control Unit drive object. Any drive object of a
different type will support its own independent telegram.

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3.17.3 Telegram 391 Input Words

Control Word 1 for Control Unit Interconnection (CU_STW1) r2090.0…15, r0898

Bit Name Functionality Interconnection
0 Central Measuring Probe Synchronizing Signal 1 = Synchronizing signal on; 0 = Synchronizing signal off p0681[0]
1 RTC Real time synchronization PING 1 = UTC PING synchronization on; 0 = UTC PING synchronization off p3104
2 Emergency Stop and Retract (ESR) Requested 1 = ESR requested; 0 = No request p0890.0
3 Reserved
4 Reserved
5 Reserved
© Siemens AG copyright year All rights reserved

6 Reserved
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved

10 Suppression of Automatic Acknowledgement 1 = Suppress automatic acknowledgement on control unit

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Digital Output Interconnection (A_DIGITAL) r2091.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 Digital outputs can be configured as digital inputs using bits 8 to 15 of p0728: 1 = Configured as output; 0 = Configured as input.

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Measuring Probe Control Word (MT_STW) p0682

Bit Name Functionality Interconnection
0 Falling Edge Measuring Probe 1 1 = High; 0 = Low p0682.0
1 Falling Edge Measuring Probe 2 1 = High; 0 = Low p0682.1
2 Falling Edge Measuring Probe 3 1 = High; 0 = Low p0682.2
3 Falling Edge Measuring Probe 4 1 = High; 0 = Low p0682.3
4 Falling Edge Measuring Probe 5 1 = High; 0 = Low p0682.4
5 Falling Edge Measuring Probe 6 1 = High; 0 = Low p0682.5
6 Falling Edge Measuring Probe 7 1 = High; 0 = Low p0682.6
7 Falling Edge Measuring Probe 8 1 = High; 0 = Low p0682.7
© Siemens AG copyright year All rights reserved

8 Rising Edge Measuring Probe 1 1 = High; 0 = Low p0682.8

9 Rising Edge Measuring Probe 2 1 = High; 0 = Low p0682.9
10 Rising Edge Measuring Probe 3 1 = High; 0 = Low p0682.10
11 Rising Edge Measuring Probe 4 1 = High; 0 = Low p0682.11
12 Rising Edge Measuring Probe 5 1 = High; 0 = Low p0682.12
13 Rising Edge Measuring Probe 6 1 = High; 0 = Low p0682.13
14 Rising Edge Measuring Probe 7 1 = High; 0 = Low p0682.14
15 Rising Edge Measuring Probe 8 1 = High; 0 = Low p0682.15

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3.17.4 Telegram 391 Output Words

Status Word 1 for Control Unit Interconnection (CU_ZSW1) p2081[0…15]

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Digital Input Interconnection (E_DIGITAL) p2081[0…15]

8 Digital Input 0 (DI 0) 1 = High; 0 = Low r0722.0

9 Digital Input 1 (DI 1) 1 = High; 0 = Low r0722.1
10 Digital Input 2 (DI 2) 1 = High; 0 = Low r0722.2
11 Digital Input 3 (DI 3) 1 = High; 0 = Low r0722.3
12 Digital Input 4 (DI 4)2 1 = High; 0 = Low r0722.4
13 Digital Input 5 (DI 5) 1 = High; 0 = Low r0722.5
14 Digital Input 6 (DI 6) 1 = High; 0 = Low r0722.6
15 Digital Input 7 (DI 7) 1 = High; 0 = Low r0722.7

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Measuring Probe Status Word (MT_ZSW) r0688

Bit Name Functionality Interconnection
0 Digital Input Measuring Probe 1 1 = Yes; 0 = No r0688.0
1 Digital Input Measuring Probe 2 1 = Yes; 0 = No r0688.1
2 Digital Input Measuring Probe 3 1 = Yes; 0 = No r0688.2
3 Digital Input Measuring Probe 4 1 = Yes; 0 = No r0688.3
4 Digital Input Measuring Probe 5 1 = Yes; 0 = No r0688.4
5 Digital Input Measuring Probe 6 1 = Yes; 0 = No r0688.5
6 Digital Input Measuring Probe 7 1 = Yes; 0 = No r0688.6
7 Digital Input Measuring Probe 8 1 = Yes; 0 = No r0688.7
© Siemens AG copyright year All rights reserved

8 Sub-sampling Measuring Probe 1 1 = Yes; 0 = No r0688.8

9 Sub-sampling Measuring Probe 2 1 = Yes; 0 = No r0688.9
10 Sub-sampling Measuring Probe 3 1 = Yes; 0 = No r0688.10
11 Sub-sampling Measuring Probe 4 1 = Yes; 0 = No r0688.11
12 Sub-sampling Measuring Probe 5 1 = Yes; 0 = No r0688.12
13 Sub-sampling Measuring Probe 6 1 = Yes; 0 = No r0688.13
14 Sub-sampling Measuring Probe 7 1 = Yes; 0 = No r0688.14
15 Sub-sampling Measuring Probe 8 1 = Yes; 0 = No r0688.15

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Probe 1 Measuring Time Falling Edge (MT1_ZS_F) r0687[0] Interconnection

Connector output for measuring time of measuring probe 1 falling edge. It has a resolution of 0.25 µs. r0687[0]

Probe 1 Measuring Time Rising Edge (MT1_ZS_S) r0686[0] Interconnection

Connector output for measuring time of measuring probe 1 rising edge. It has a resolution of 0.25 µs. r0686[0]

Probe 2 Measuring Time Falling Edge (MT2_ZS_F) r0687[1] Interconnection

Probe 2 Measuring Time Rising Edge (MT2_ZS_S) r0686[1] Interconnection

Connector output for measuring time of measuring probe 1 rising edge. It has a resolution of 0.25 µs. r0686[1]

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3.17.5 Telegram 391 Associated Parameters

Control Word 1 for Control Unit (CU_STW1)

p0681 BI: Central measuring probe synchronizing signal signal source / Cen meas
sync_sig

p3104 BI: UTC PING synchronization / UTC PING sync

p0890[0...4] BI: ESR trigger / ESR trigger

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p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p3116 BI: Suppress automatic acknowledgment / Ackn suppress

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src

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Digital Output Interconnection (A_DIGITAL)

p0738 BI: CU signal source for terminal DI/DO 8 / CU S_src DI/DO 8

p0739 BI: CU signal source for terminal DI/DO 9 / CU S_src DI/DO 9

p0740 BI: CU signal source for terminal DI/DO 10 / CU S_src DI/DO 10

p0741 BI: CU signal source for terminal DI/DO 11 / CU S_src DI/DO 11

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p0742 BI: CU signal source for terminal DI/DO 12 / CU S_src DI/DO 12

p0743 BI: CU signal source for terminal DI/DO 13 / CU S_src DI/DO 13

p0744 BI: CU signal source for terminal DI/DO 14 / CU S_src DI/DO 14

p0745 BI: CU signal source for terminal DI/DO 15 / CU S_src DI/DO 15

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Measuring Probe Control Word (MT_STW)

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Status Word 1 for Control Unit (CU_ZSW1)

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1

r3114.9...11 CO/BO: Messages status word global / Msg ZSW global

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Digital Input Interconnection (E_DIGITAL)

r0722.0...21 CO/BO: CU digital inputs status / CU DI status

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Measuring Probe Status Word (MT_ZSW)

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Measuring Probe Edge Measuring Times (MTX_ZS_F for MTX_ZS_S)

r0687[0...7] CO: Central measuring probe measuring time falling edge / CenMeas t_meas
1/0

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3.18 Telegram 392 for Control Unit, Digital I/O 16/8, and 6
Measuring Probes
3.18.1 Description

This telegram is a Siemens telegram of 15 words in length. It consists of a control

and status word, support for up to 8 digital outputs (from PLC) or up to 16 digital
inputs (to PLC), and a control and status word for measuring probes. Measuring
times of probe signal edges are available in the output image.

3.18.2 Telegram 392 Structure

WORD INPUT OUTPUT

4 Measuring Probe 1
Measuring Time Falling Edge (MT1_ZS_F)

6 Measuring Probe 2
Measuring Time Falling Edge (MT2_ZS_F)

7 Measuring Probe 2
Measuring Time Rising Edge (MT2_ZS_S)

8 Measuring Probe 3
Measuring Time Falling Edge (MT3_ZS_F)

9 Measuring Probe 3
Measuring Time Rising Edge (MT3_ZS_S)

10 Measuring Probe 4
Measuring Time Falling Edge (MT4_ZS_F)

11 Measuring Probe 4
Measuring Time Rising Edge (MT4_ZS_S)

12 Measuring Probe 5
Measuring Time Falling Edge (MT5_ZS_F)

13 Measuring Probe 5
Measuring Time Rising Edge (MT5_ZS_S)

14 Measuring Probe 6
Measuring Time Falling Edge (MT6_ZS_F)

15 Measuring Probe 6
Measuring Time Rising Edge (MT6_ZS_S)

Notes:

This telegram can only be configured for a Control Unit drive object. Any drive object of a
different type will support its own independent telegram.

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3.18.3 Telegram 392 Input Words

Control Word 1 for Control Unit Interconnection (CU_STW1) r2090.0…15, r0898

Bit Name Functionality Interconnection
0 Central Measuring Probe Synchronizing Signal 1 = Synchronizing signal on; 0 = Synchronizing signal off p0681[0]
1 RTC Real time synchronization PING 1 = UTC PING synchronization on; 0 = UTC PING synchronization off p3104
2 Emergency Stop and Retract (ESR) Requested 1 = ESR requested; 0 = No request p0890.0
3 Reserved
4 Reserved
5 Reserved
© Siemens AG copyright year All rights reserved

6 Reserved
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved

10 Suppression of Automatic Acknowledgement 1 = Suppress automatic acknowledgement on control unit

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Digital Output Interconnection (A_DIGITAL) r2091.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 Digital outputs can be configured as digital inputs using bits 8 to 15 of p0728: 1 = Configured as output; 0 = Configured as input.

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Measuring Probe Control Word (MT_STW) p0682

8 Rising Edge Measuring Probe 1 1 = High; 0 = Low p0682.8

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3.18.4 Telegram 392 Output Words

Status Word 1 for Control Unit Interconnection (CU_ZSW1) p2081[0…15]

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Digital Input Interconnection (E_DIGITAL) p2081[0…15]

8 Digital Input 0 (DI 0) 1 = High; 0 = Low r0722.0

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Measuring Probe Status Word (MT_ZSW) r0688

8 Sub-sampling Measuring Probe 1 1 = Yes; 0 = No r0688.8

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Probe 1 Measuring Time Falling Edge (MT1_ZS_F) r0687[0] Interconnection

Connector output for measuring time of measuring probe 1 falling edge. It has a resolution of 0.25 µs. r0687[0]

Probe 1 Measuring Time Rising Edge (MT1_ZS_S) r0686[0] Interconnection

Connector output for measuring time of measuring probe 1 rising edge. It has a resolution of 0.25 µs. r0686[0]

Probe 2 Measuring Time Falling Edge (MT2_ZS_F) r0687[1] Interconnection

Probe 2 Measuring Time Rising Edge (MT2_ZS_S) r0686[1] Interconnection

Connector output for measuring time of measuring probe 2 rising edge. It has a resolution of 0.25 µs. r0686[1]

Probe 3 Measuring Time Falling Edge (MT3_ZS_F) r0687[2] Interconnection

Connector output for measuring time of measuring probe 3 falling edge. It has a resolution of 0.25 µs. r0687[2]

Probe 3 Measuring Time Rising Edge (MT3_ZS_S) r0686[2] Interconnection

Connector output for measuring time of measuring probe 3 rising edge. It has a resolution of 0.25 µs. r0686[2]

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Probe 4 Measuring Time Falling Edge (MT4_ZS_F) r0687[3] Interconnection

Connector output for measuring time of measuring probe 4 falling edge. It has a resolution of 0.25 µs. r0687[3]

Probe 4 Measuring Time Rising Edge (MT4_ZS_S) r0686[3] Interconnection

Connector output for measuring time of measuring probe 4 rising edge. It has a resolution of 0.25 µs. r0686[3]

Probe 5 Measuring Time Falling Edge (MT5_ZS_F) r0687[4] Interconnection

Probe 5 Measuring Time Rising Edge (MT5_ZS_S) r0686[4] Interconnection

Connector output for measuring time of measuring probe 5 rising edge. It has a resolution of 0.25 µs. r0686[4]

Probe 6 Measuring Time Falling Edge (MT6_ZS_F) r0687[5] Interconnection

Connector output for measuring time of measuring probe 6 falling edge. It has a resolution of 0.25 µs. r0687[5]

Probe 6 Measuring Time Rising Edge (MT6_ZS_S) r0686[5] Interconnection

Connector output for measuring time of measuring probe 6 rising edge. It has a resolution of 0.25 µs. r0686[5]

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3.18.5 Telegram 392 Associated Parameters

Control Word 1 for Control Unit (CU_STW1)

p0681 BI: Central measuring probe synchronizing signal signal source / Cen meas
sync_sig

p3104 BI: UTC PING synchronization / UTC PING sync

p0890[0...4] BI: ESR trigger / ESR trigger

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p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p3116 BI: Suppress automatic acknowledgment / Ackn suppress

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src

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Digital Output Interconnection (A_DIGITAL)

p0738 BI: CU signal source for terminal DI/DO 8 / CU S_src DI/DO 8

p0739 BI: CU signal source for terminal DI/DO 9 / CU S_src DI/DO 9

p0740 BI: CU signal source for terminal DI/DO 10 / CU S_src DI/DO 10

p0741 BI: CU signal source for terminal DI/DO 11 / CU S_src DI/DO 11

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p0742 BI: CU signal source for terminal DI/DO 12 / CU S_src DI/DO 12

p0743 BI: CU signal source for terminal DI/DO 13 / CU S_src DI/DO 13

p0744 BI: CU signal source for terminal DI/DO 14 / CU S_src DI/DO 14

p0745 BI: CU signal source for terminal DI/DO 15 / CU S_src DI/DO 15

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Measuring Probe Control Word (MT_STW)

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Status Word 1 for Control Unit (CU_ZSW1)

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1

r3114.9...11 CO/BO: Messages status word global / Msg ZSW global

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Digital Input Interconnection (E_DIGITAL)

r0722.0...21 CO/BO: CU digital inputs status / CU DI status

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Measuring Probe Status Word (MT_ZSW)

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Measuring Probe Edge Measuring Times (MTX_ZS_F for MTX_ZS_S)

r0687[0...7] CO: Central measuring probe measuring time falling edge / CenMeas t_meas
1/0

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3.19 Telegram 393 for Control Unit, Digital I/O 24/9, 8

Measuring Probes, and Analog Input
3.19.1 Description

This telegram is a Siemens telegram of 21 words in length. It consists of a control

and status word, support for up to 9 digital outputs (from PLC) or up to 24 digital
inputs (to PLC), and a control and status word for a measuring probe. Measuring
times of probe signal edges are available in the output image. For certain drive
objects, an analog input word is available.

3.19.2 Telegram 393 Structure

WORD INPUT OUTPUT

1 Control Word 1 for Control Unit (CU_STW1) Status Word 1 for Control Unit (CU_ZSW1)
2 Digital Output (A_DIGITAL) Digital Input (E_DIGITAL)
3 Digital Output (A_DIGITAL_1) Digital Input (E_DIGITAL_1)
4 Measuring Probe Control Word (MT_STW) Measuring Probe Status Word (MT_ZSW)
5 Probe 1 Measuring Time Falling Edge (MT1_ZS_F)
6 Probe 1 Measuring Time Rising Edge (MT1_ZS_S)
7 Probe 2 Measuring Time Falling Edge (MT2_ZS_F)
© Siemens AG copyright year All rights reserved

8 Probe 2 Measuring Time Rising Edge (MT2_ZS_S)

9 Probe 3 Measuring Time Falling Edge (MT3_ZS_F)
10 Probe 3 Measuring Time Rising Edge (MT3_ZS_S)
11 Probe 4 Measuring Time Falling Edge (MT4_ZS_F)
12 Probe 4 Measuring Time Rising Edge (MT4_ZS_S)
13 Probe 5 Measuring Time Falling Edge (MT5_ZS_F)
14 Probe 5 Measuring Time Rising Edge (MT5_ZS_S)
15 Probe 6 Measuring Time Falling Edge (MT6_ZS_F)
16 Probe 6 Measuring Time Rising Edge (MT6_ZS_S)
17 Probe 7 Measuring Time Falling Edge (MT7_ZS_F)
18 Probe 7 Measuring Time Rising Edge (MT7_ZS_S)
19 Probe 8 Measuring Time Falling Edge (MT8_ZS_F)
20 Probe 8 Measuring Time Rising Edge (MT8_ZS_S)
21 Analog Input (E_ANALOG)

Notes:

This telegram can only be configured for a Control Unit drive object. Any drive object of a
different type will support its own independent telegram.

Digital Output A_DIGITAL_1 and Analog Input E_ANALOG are only available for drive objects
CU_S_AC and CU_I_D410.

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3.19.3 Telegram 393 Input Words

Control Word 1 for Control Unit Interconnection (CU_STW1) r2090.0…15, r0898

6 Reserved
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved

10 Suppression of Automatic Acknowledgement 1 = Suppress automatic acknowledgement on control unit

1 This bit is only available when the “extended setpoint channel” function module is active by setting r0108.9 = 1.

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Digital Output Interconnection (A_DIGITAL) r2091.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 Digital outputs can be configured as digital inputs using bits 8 to 15 of p0728: 1 = Configured as output; 0 = Configured as input.

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Digital Output Interconnection (A_DIGITAL_1) r2092.0…15

8 Digital Output 16 (DI/DO 16)1 Signal source for terminal DI/DO 16 p0746
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 This bit is not reserved only for drive objects CU_S_AC and CU_I_D410.

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Measuring Probe Control Word (MT_STW) p0682

8 Rising Edge Measuring Probe 1 1 = High; 0 = Low p0682.8

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3.19.4 Telegram 393 Output Words

Status Word 1 for Control Unit Interconnection (CU_ZSW1) p2081[0…15]

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Digital Input Interconnection (E_DIGITAL) p2081[0…15]

8 Digital Input 0 (DI 0) 1 = High; 0 = Low r0722.0

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Digital Input Interconnection (E_DIGITAL_1) p2083[0…15]

8 Digital Input 16 (DI 16) 1 = High; 0 = Low r0722.16

9 Digital Input 17 (DI 17) 1 = High; 0 = Low r0722.17
10 Digital Input 18 (DI 18)1 1 = High; 0 = Low r0722.18
11 Digital Input 19 (DI 19)1 1 = High; 0 = Low r0722.19
12 Digital Input 20 (DI 20 1 = High; 0 = Low r0722.20
13 Digital Input 21 (DI 21) 1 = High; 0 = Low r0722.21
14 Digital Input 22 (DI 22)1 1 = High; 0 = Low r0722.22
15 Reserved

1 These bits are not available for the CU320-2.

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Measuring Probe Status Word (MT_ZSW) r0688

8 Sub-sampling Measuring Probe 1 1 = Yes; 0 = No r0688.8

Probe 1 Measuring Time Falling Edge (MT1_ZS_F) r0687[0] Interconnection

Connector output for measuring time of measuring probe 1 falling edge. It has a resolution of 0.25 µs. r0687[0]

Probe 1 Measuring Time Rising Edge (MT1_ZS_S) r0686[0] Interconnection

Connector output for measuring time of measuring probe 1 rising edge. It has a resolution of 0.25 µs. r0686[0]

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Probe 2 Measuring Time Falling Edge (MT2_ZS_F) r0687[1] Interconnection

Connector output for measuring time of measuring probe 2 falling edge. It has a resolution of 0.25 µs. r0687[1]

Probe 2 Measuring Time Rising Edge (MT2_ZS_S) r0686[1] Interconnection

Connector output for measuring time of measuring probe 2 rising edge. It has a resolution of 0.25 µs. r0686[1]

Probe 3 Measuring Time Falling Edge (MT3_ZS_F) r0687[2] Interconnection

Connector output for measuring time of measuring probe 3 falling edge. It has a resolution of 0.25 µs. r0687[2]

Probe 3 Measuring Time Rising Edge (MT3_ZS_S) r0686[2] Interconnection

Connector output for measuring time of measuring probe 3 rising edge. It has a resolution of 0.25 µs. r0686[2]

Probe 4 Measuring Time Falling Edge (MT4_ZS_F) r0687[3] Interconnection

Connector output for measuring time of measuring probe 4 falling edge. It has a resolution of 0.25 µs. r0687[3]

Probe 4 Measuring Time Rising Edge (MT4_ZS_S) r0686[3] Interconnection

Connector output for measuring time of measuring probe 4 rising edge. It has a resolution of 0.25 µs. r0686[3]

Probe 5 Measuring Time Falling Edge (MT5_ZS_F) r0687[4] Interconnection

Connector output for measuring time of measuring probe 5 falling edge. It has a resolution of 0.25 µs. r0687[4]

Probe 5 Measuring Time Rising Edge (MT5_ZS_S) r0686[4] Interconnection

Connector output for measuring time of measuring probe 5 rising edge. It has a resolution of 0.25 µs. r0686[4]

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Probe 6 Measuring Time Falling Edge (MT6_ZS_F) r0687[5] Interconnection

Connector output for measuring time of measuring probe 6 falling edge. It has a resolution of 0.25 µs. r0687[5]

Probe 6 Measuring Time Rising Edge (MT6_ZS_S) r0686[5] Interconnection

Connector output for measuring time of measuring probe 6 rising edge. It has a resolution of 0.25 µs. r0686[5]

Probe 7 Measuring Time Falling Edge (MT7_ZS_F) r0687[6] Interconnection

Connector output for measuring time of measuring probe 7 falling edge. It has a resolution of 0.25 µs. r0687[6]

Probe 7 Measuring Time Rising Edge (MT7_ZS_S) r0686[6] Interconnection

Connector output for measuring time of measuring probe 7 rising edge. It has a resolution of 0.25 µs. r0686[6]

Probe 8 Measuring Time Falling Edge (MT8_ZS_F) r0687[7] Interconnection

Connector output for measuring time of measuring probe 8 falling edge. It has a resolution of 0.25 µs. r0687[7]

Probe 8 Measuring Time Rising Edge (MT8_ZS_S) r0686[7] Interconnection

Connector output for measuring time of measuring probe 8 rising edge. It has a resolution of 0.25 µs. r0686[7]

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Analog Input Percent (E_ANALOG) r0755[0] Interconnection

Connector output for analog input. Shown as a percentage and scaled by one of p200x1. r0755[0]

Notes:
This word is only available for drive objects CU_S_AC and CU_I_D410.

p0756[0] is used to determine the scaling parameter that is applied to E_ANALOG according to the following:

p0756[0] = 0 or 4: E_ANALOG is a voltage input and is scaled by p2001.

See p0756[0] in the Associated Parameters section for more information.

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect analog input values.

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3.19.5 Telegram 393 Associated Parameters

Control Word 1 for Control Unit (CU_STW1)

p0681 BI: Central measuring probe synchronizing signal signal source / Cen meas
sync_sig

p3104 BI: UTC PING synchronization / UTC PING sync

p0890[0...4] BI: ESR trigger / ESR trigger

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p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p3116 BI: Suppress automatic acknowledgment / Ackn suppress

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src

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Digital Output Interconnection (A_DIGITAL)

p0738 BI: CU signal source for terminal DI/DO 8 / CU S_src DI/DO 8

p0739 BI: CU signal source for terminal DI/DO 9 / CU S_src DI/DO 9

p0740 BI: CU signal source for terminal DI/DO 10 / CU S_src DI/DO 10

p0741 BI: CU signal source for terminal DI/DO 11 / CU S_src DI/DO 11

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p0742 BI: CU signal source for terminal DI/DO 12 / CU S_src DI/DO 12

p0743 BI: CU signal source for terminal DI/DO 13 / CU S_src DI/DO 13

p0744 BI: CU signal source for terminal DI/DO 14 / CU S_src DI/DO 14

p0745 BI: CU signal source for terminal DI/DO 15 / CU S_src DI/DO 15

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Measuring Probe Control Word (MT_STW)

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Status Word 1 for Control Unit (CU_ZSW1)

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1

r3114.9...11 CO/BO: Messages status word global / Msg ZSW global

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Digital Input Interconnection (E_DIGITAL)

r0722.0...21 CO/BO: CU digital inputs status / CU DI status

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Measuring Probe Status Word (MT_ZSW)

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Measuring Probe Edge Measuring Times (MTX_ZS_F for MTX_ZS_S)

r0687[0...7] CO: Central measuring probe measuring time falling edge / CenMeas t_meas
1/0

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Analog Input (E_ANALOG)

r0755[0] CO: CU analog input actual value in percent / CU AI value in %

p0756[0] CU analog input type / CU AI type

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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3.20 Telegram 394 for Control Unit and Digital I/O 24/9
3.20.1 Description

This telegram is a Siemens telegram of 3 words in length. It consists of a control

word, status word, and support for up to 9 digital outputs (from PLC) or up to 24
digital inputs (to PLC).

3.20.2 Telegram 394 Structure

WORD INPUT OUTPUT

1 Control Word 1 for Control Unit (CU_STW1) Status Word 1 for Control Unit (CU_ZSW1)
2 Digital Output (A_DIGITAL) Digital Input (E_DIGITAL)
3 Digital Output (A_DIGITAL_1) Digital Input (E_DIGITAL_1)

This telegram can only be configured for a Control Unit drive object. Any other type of drive
object will support its own independent telegram.

The process data Digital Output (A_DIGITAL_1) is only available for drive objects CU_S_AC
and CU_I_D410.

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3.20.3 Telegram 394 Input Words

Control Word 1 for Control Unit Interconnection (CU_STW1) r2090.0…15, r0898

6 Reserved
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved

10 Suppression of Automatic Acknowledgement 1 = Suppress automatic acknowledgement on control unit

1 This bit is only available when the “extended setpoint channel” function module is active by setting r0108.9 = 1.

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Digital Output Interconnection (A_DIGITAL) r2091.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 Digital outputs can be configured as digital inputs using bits 8 to 15 of p0728: 1 = Configured as output; 0 = Configured as input.

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Digital Output Interconnection (A_DIGITAL_1) r2092.0…15

8 Digital Output 16 (DI/DO 16)1 Signal source for terminal DI/DO 16 p0746
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 This bit is not reserved only for drive objects CU_S_AC and CU_I_D410.

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3.20.4 Telegram 394 Output Words

Status Word 1 for Control Unit Interconnection (CU_ZSW1) p2081[0…15]

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Digital Input Interconnection (E_DIGITAL) p2081[0…15]

8 Digital Input 0 (DI 0) 1 = High; 0 = Low r0722.0

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Digital Input Interconnection (E_DIGITAL_1) p2083[0…15]

8 Digital Input 16 (DI 16) 1 = High; 0 = Low r0722.16

1 These bits are not available for the CU320-2.

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3.20.5 Telegram 394 Associated Parameters

Control Word 1 for Control Unit (CU_STW1)

p0681 BI: Central measuring probe synchronizing signal signal source / Cen meas
sync_sig

p3104 BI: UTC PING synchronization / UTC PING sync

p0890[0...4] BI: ESR trigger / ESR trigger

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p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p3116 BI: Suppress automatic acknowledgment / Ackn suppress

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src

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Digital Output Interconnection (A_DIGITAL and A_DIGITAL_1)

p0738 BI: CU signal source for terminal DI/DO 8 / CU S_src DI/DO 8

p0739 BI: CU signal source for terminal DI/DO 9 / CU S_src DI/DO 9

p0740 BI: CU signal source for terminal DI/DO 10 / CU S_src DI/DO 10

p0741 BI: CU signal source for terminal DI/DO 11 / CU S_src DI/DO 11

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p0742 BI: CU signal source for terminal DI/DO 12 / CU S_src DI/DO 12

p0743 BI: CU signal source for terminal DI/DO 13 / CU S_src DI/DO 13

p0744 BI: CU signal source for terminal DI/DO 14 / CU S_src DI/DO 14

p0745 BI: CU signal source for terminal DI/DO 15 / CU S_src DI/DO 15

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p0746 BI: CU signal source for terminal DO 16 / CU S_src DO 16

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Status Word 1 for Control Unit (CU_ZSW1)

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1

r3114.9...11 CO/BO: Messages status word global / Msg ZSW global

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Digital Input Interconnection (E_DIGITAL and E_DIGITAL_1)

r0722.0...21 CO/BO: CU digital inputs status / CU DI status

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3.21 Telegram 395 for Control Unit, Digital I/O 24/9, and 16
Measuring Probes
3.21.1 Description

This telegram is a Siemens telegram of 25 words in length. It consists of a control

and status word, support for up to 9 digital outputs (from PLC) or up to 24 digital
inputs (to PLC), control and status word for measuring probes, and a probe
diagnostics word. Measuring time stamps of the probe signal are available in the
output image.

3.21.2 Telegram 395 Structure

WORD INPUT OUTPUT

5 Measuring Probe Stage 3

Diagnostics Word (MT_DIAG)

6 Measuring Probe Stage 3

Measuring Time 1 (MT_ZS_1)

7 Measuring Probe Stage 3

Measuring Time 2 (MT_ZS_2)

8 Measuring Probe Stage 3

Measuring Time 3 (MT_ZS_3)

9 Measuring Probe Stage 3

Measuring Time 4 (MT_ZS_4)

10 Measuring Probe Stage 3

Measuring Time Reference 1 (MT_ZSB1)

11 Measuring Probe Stage 3

Measuring Time 5 (MT_ZS_5)

12 Measuring Probe Stage 3

Measuring Time 6 (MT_ZS_6)

13 Measuring Probe Stage 3

Measuring Time 7 (MT_ZS_7)

(continued)

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WORD INPUT OUTPUT

14 Measuring Probe Stage 3

Measuring Time 8 (MT_ZS_8)

15 Measuring Probe Stage 3

Measuring Time Reference 2 (MT_ZSB2)

16 Measuring Probe Stage 3

Measuring Time 9 (MT_ZS_9)

17 Measuring Probe Stage 3

Measuring Time 10 (MT_ZS_10)

18 Measuring Probe Stage 3

Measuring Time 11 (MT_ZS_11)

19 Measuring Probe Stage 3

Measuring Time 12 (MT_ZS_12)

20 Measuring Probe Stage 3

Measuring Time Reference 3 (MT_ZSB3)

21 Measuring Probe Stage 3

Measuring Time 13 (MT_ZS_1)

22 Measuring Probe Stage 3

Measuring Time 14 (MT_ZS_13)

23 Measuring Probe Stage 3

24 Measuring Probe Stage 3

Measuring Time 16 (MT_ZS_15)
25 Measuring Probe Stage 3
Measuring Time Reference 4 (MT_ZSB4)

Notes:

This telegram can only be configured for a Control Unit drive object. A drive object of any other
type will support its own independent telegram.

The process data Digital Output (A_DIGITAL_1) is only available for drive objects CU_S_AC
and CU_I_D410.

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3.21.3 Telegram 395 Input Words

Control Word 1 for Control Unit Interconnection (CU_STW1) r2090.0…15, r0898

6 Reserved
7 First Fault Acknowledge 1 = Acknowledge faults (on rising edge) p2103[0]
8 Reserved
9 Reserved

10 Suppression of Automatic Acknowledgement 1 = Suppress automatic acknowledgement on control unit

1 This bit is only available when the “extended setpoint channel” function module is active by setting r0108.9 = 1.

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Digital Output Interconnection (A_DIGITAL) r2091.0…15

8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 Digital outputs can be configured as digital inputs using bits 8 to 15 of p0728: 1 = Configured as output; 0 = Configured as input.

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Digital Output Interconnection (A_DIGITAL_1) r2092.0…15

8 Digital Output 16 (DI/DO 16)1 Signal source for terminal DI/DO 16 p0746
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

1 This bit is not reserved only for drive objects CU_S_AC and CU_I_D410.

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Measuring Probe Control Word (MT_STW) p0682

8 Rising Edge Measuring Probe 1 1 = High; 0 = Low p0682.8

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3.21.4 Telegram 395 Output Words

Status Word 1 for Control Unit Interconnection (CU_ZSW1) p2081[0…15]

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Digital Input Interconnection (E_DIGITAL) p2081[0…15]

8 Digital Input 0 (DI 0) 1 = High; 0 = Low r0722.0

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Digital Input Interconnection (E_DIGITAL_1) p2083[0…15]

8 Digital Input 16 (DI 16) 1 = High; 0 = Low r0722.16

1 These bits are not available for the CU320-2.

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Measuring Probe Status Word (MT_ZSW) r0688

8 Sub-sampling Measuring Probe 1 1 = Yes; 0 = No r0688.8

Measuring Probe Diagnostics Word (MT_DIAG) r0567 Interconnection

Connector output for measuring probe diagnostics word. r0567

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Probe Stage 3 Measuring Time 1 (MT_ZS_1) r0565[0] Interconnection

Connector output for the time stamp MT_ZS_1. It is a 16-bit value with 0.25 µs resolution. r0565[0]

Probe Stage 3 Measuring Time 2 (MT_ZS_2) r0565[1] Interconnection

Connector output for the time stamp MT_ZS_2. It is a 16-bit value with 0.25 µs resolution. r0565[1]

Probe Stage 3 Measuring Time 3 (MT_ZS_3) r0565[2] Interconnection

Connector output for the time stamp MT_ZS_3. It is a 16-bit value with 0.25 µs resolution. r0565[2]

Probe Stage 3 Measuring Time 4 (MT_ZS_4) r0565[3] Interconnection

Connector output for the time stamp MT_ZS_4. It is a 16-bit value with 0.25 µs resolution. r0565[3]

Probe Stage 3 Measuring Time Reference 1 (MT_ZSB1) r0566[0] Interconnection

Connector output for the time stamp reference MT_ZSB1 (16-bit). r0566[0]

Probe Stage 3 Measuring Time 5 (MT_ZS_5) r0565[4] Interconnection

Connector output for the time stamp MT_ZS_5. It is a 16-bit value with 0.25 µs resolution. r0565[4]

Probe Stage 3 Measuring Time 6 (MT_ZS_6) r0565[5]

Interconnection
Connector output for the time stamp MT_ZS_6. It is a 16-bit value with 0.25 µs resolution. r0565[5]

Probe Stage 3 Measuring Time 7 (MT_ZS_7) r0565[6] Interconnection

Connector output for the time stamp MT_ZS_7. It is a 16-bit value with 0.25 µs resolution. r0565[6]

Probe Stage 3 Measuring Time 8 (MT_ZS_8) r0565[7] Interconnection

Connector output for the time stamp MT_ZS_8. It is a 16-bit value with 0.25 µs resolution. r0565[7]

Probe Stage 3 Measuring Time Reference 2 (MT_ZSB2) r0566[1] Interconnection

Connector output for the time stamp reference MT_ZSB2 (16-bit). r0566[1]

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Probe Stage 3 Measuring Time 9 (MT_ZS_9) r0565[8] Interconnection

Connector output for the time stamp MT_ZS_9. It is a 16-bit value with 0.25 µs resolution. r0565[8]

Probe Stage 3 Measuring Time 10 (MT_ZS_10) r0565[9] Interconnection

Connector output for the time stamp MT_ZS_10. It is a 16-bit value with 0.25 µs resolution. r0565[9]

Probe Stage 3 Measuring Time 11 (MT_ZS_11) r0565[10] Interconnection

Connector output for the time stamp MT_ZS_11. It is a 16-bit value with 0.25 µs resolution. r0565[10]

Probe Stage 3 Measuring Time 12 (MT_ZS_12) r0565[11] Interconnection

Connector output for the time stamp MT_ZS_12. It is a 16-bit value with 0.25 µs resolution. r0565[11]

Probe Stage 3 Measuring Time Reference 3 (MT_ZSB3) r0566[2] Interconnection

Connector output for the time stamp reference MT_ZSB3 (16-bit). r0566[2]

Probe Stage 3 Measuring Time 13 (MT_ZS_13) r0565[12] Interconnection

Connector output for the time stamp MT_ZS_13. It is a 16-bit value with 0.25 µs resolution. r0565[12]

Probe Stage 3 Measuring Time 14 (MT_ZS_14) r0565[13]

Interconnection
Connector output for the time stamp MT_ZS_14. It is a 16-bit value with 0.25 µs resolution. r0565[13]

Probe Stage 3 Measuring Time 15 (MT_ZS_15) r0565[14] Interconnection

Connector output for the time stamp MT_ZS_15. It is a 16-bit value with 0.25 µs resolution. r0565[14]

Probe Stage 3 Measuring Time 16 (MT_ZS_16) r0565[15] Interconnection

Connector output for the time stamp MT_ZS_16. It is a 16-bit value with 0.25 µs resolution. r0565[15]

Probe Stage 3 Measuring Time Reference 4 (MT_ZSB4) r0566[3] Interconnection

Connector output for the time stamp reference MT_ZSB4 (16-bit). r0566[3]

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3.21.5 Telegram 395 Associated Parameters

Control Word 1 for Control Unit (CU_STW1)

p0681 BI: Central measuring probe synchronizing signal signal source / Cen meas
sync_sig

p3104 BI: UTC PING synchronization / UTC PING sync

p0890[0...4] BI: ESR trigger / ESR trigger

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p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

p3116 BI: Suppress automatic acknowledgment / Ackn suppress

p2045 CI: PB/PN clock synchronous controller sign-of-life signal source /

PB/PN ctrSoL s_src

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Digital Output Interconnection (A_DIGITAL and A_DIGITAL_1)

p0738 BI: CU signal source for terminal DI/DO 8 / CU S_src DI/DO 8

p0739 BI: CU signal source for terminal DI/DO 9 / CU S_src DI/DO 9

p0740 BI: CU signal source for terminal DI/DO 10 / CU S_src DI/DO 10

p0741 BI: CU signal source for terminal DI/DO 11 / CU S_src DI/DO 11

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p0742 BI: CU signal source for terminal DI/DO 12 / CU S_src DI/DO 12

p0743 BI: CU signal source for terminal DI/DO 13 / CU S_src DI/DO 13

p0744 BI: CU signal source for terminal DI/DO 14 / CU S_src DI/DO 14

p0745 BI: CU signal source for terminal DI/DO 15 / CU S_src DI/DO 15

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p0746 BI: CU signal source for terminal DO 16 / CU S_src DO 16

Measuring Probe Control Word (MT_STW)

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Status Word 1 for Control Unit (CU_ZSW1)

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r0899.0...15 CO/BO: Status word drive object 1 / ZSW DO1

r3114.9...11 CO/BO: Messages status word global / Msg ZSW global

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Digital Input Interconnection (E_DIGITAL and E_DIGITAL_1)

r0722.0...21 CO/BO: CU digital inputs status / CU DI status

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Measuring Probe Status Word (MT_ZSW)

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Measuring Probe Stage 3 Diagnostics Word (MT_DIAG)

r0567 CO: Probe diagnostics word / Probe diag_word

Probe Measuring Times (MT_ZS_1…16)

r0565[0...15] CO: Probe time stamp / Probe t_stamp

Probe Measuring Time References (MT_ZSB1…4)

r0566[0...3] CO: Probe time stamp reference / Probe t_stamp name

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3.22 Supplementary Telegram 700 for Safety Info Channel

3.22.1 Description

This telegram is a standard Siemens telegram of variable word length. It consists of

the send and receive words of another telegram with three send data words
appended to the end for Safety Status word and Absolute Setpoint Limit.

3.22.2 Telegram 700 Structure

WORD INPUT OUTPUT

… … …
… Safety Status Word 1 (S_ZSW1B)
…
Absolute Setpoint Limit (S_V_LIMIT)
…

Notes
The arrangement of process data (PZD) for telegram 700 depends on the telegram selection
(p0922, p2079) and the receive and send words reserved (p2070, p2071). To select this
© Siemens AG copyright year All rights reserved

telegram, p60122 must be set to 700.

The telegram 700 is appended to the telegram selected with respect to the words reserved.

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3.22.3 Telegram 700 Output Words

Safety Info Channel Status Word (S_ZSW1B) r9734.0…15

Bit Name Functionality Interconnection
0 Safe Torque Off (STO) Active 1 = Yes; 0 = No r9734.0
1 Safe Stop 1 (SS1) Active 1 = Yes; 0 = No r9734.1
2 Reserved
3 Reserved
4 Safely Limited Speed (SLS) Active 1 = Yes; 0 = No r9734.4
© Siemens AG copyright year All rights reserved

5 Reserved
6 Safety Limited Sped (SLS) Selected 1 = Yes; 0 = No
7 Internal Event Status 1 = One of STOP A…F is active; 0 = None of STOP A…F active r9734.7
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Safe Direction (SDI) Positive Selected 1 = Yes; 0 = No r9734.12
13 Safe Direction (SDI) Negative Selected 1 = Yes; 0 = No r9734.13
14 Extended Stop and Retract (ESR) Requested 1 = Yes; 0 = No r9734.14
15 Reserved

Absolute Setpoint Limit (S_V_LIMIT) r9733[2] Interconnection

Connector output word for absolute setpoint limit (32 bit). Scaled by p20001. r9733[2]

1 See Reference Scaling Parameters in the Associated Parameters section for a description of how the scaling parameters affect speed values.

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3.22.4 Telegram 700 Associated Parameters

Safety Info Channel Status Word (S_ZSW1B)

Absolute Setpoint Limit (S_V_LIMIT)

r9733[0...2] CO: SI Motion setpoint speed limit effective / SI Mtn setp_lim

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Reference Scaling Parameters p2000…p2007

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if
the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.
Parameter Name [data type] Functionality
Reference Speed, Velocity, or Frequency The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity,
p2000
[FloatingPoint32] or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage.
p2001
[FloatingPoint32] Factory default value: 1000 V
Reference Current or Pressure The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or
p2002
[FloatingPoint32] pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)
© Siemens AG copyright year All rights reserved

Reference Force or Torque The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque.
p2003
[FloatingPoint32] Factory default values: 100.00 N (force), 1.00 Nm (torque)
Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its
r2004
[FloatingPoint32] factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).
Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle.
p2005
[FloatingPoint32] Factory default values: 90.00 degrees
Reference Temperature The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature.
p2006
[FloatingPoint32] Factory default values: 100.00 degrees C
Reference Acceleration The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational
p2007
[FloatingPoint32] acceleration. Factory default values: 0.01 revolutions/sec^2

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Telegram 700 Additional Parameters

p60122 IF1 PROFIdrive SIC/SCC telegram selection / IF1 SIC/SCC telegr

p2070 IF1 PROFIdrive supplementary telegram receive beginning / Suppl_tele rec beg

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p2071 IF1 PROFIdrive supplementary telegram send beginning / Suppl_tel send beg

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3.23 Telegram 999 for Free Interconnection

3.23.1 Description

This telegram is a standard PROFIdrive telegram of variable word length. The first
word of Telegram 999 consists of a control and status word, and the rest of the
telegram is freely configurable.

3.23.2 Telegram 999 Structure

WORD INPUT OUTPUT

1 Control Word 1 (STW1)1 Status Word 1 (ZSW1)
… … …

Notes:

To select this telegram, p0922 must be set to 999. When switching from a different telegram to
telegram 999, the interconnections of the previous telegram will be inherited by default at the
beginning of telegram 999. Inherited interconnections can be changed once p0922 = 999.
© Siemens AG copyright year All rights reserved

The maximum number of available process words is determined by the drive object type.

1 The first control and status word of Telegram 999 may not be STW1 or ZSW1 depending on the inherited
telegram; the above are used as an example.

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3.23.3 Extending an Existing Telegram using Telegram 999

It is possible to set up a telegram with an extension for free interconnections using

Telegram 999. To extend a telegram, follow these steps:

1. Set p0922 (PROFIdrive PZD telegram selection) to 999.

2. Set p2079 (PROFIdrive PZD telegram selection extended) to the number of the
telegram that you wish to extend.
3. The fieldbus will now contain the process data of the telegram selected with
p2079 with several free interconnections at the end. The number of leftover
available interconnections varies depending on the drive object and selected
telegram.

For more information, see 3.2.1 “Telegrams and Process Data” in the S120
Communications Function Manual linked in the Additional Resources section of this
document.

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3.23.4 Telegram 999 Associated Parameters

Control Word 1 (STW1)

p0840[0...n] BI: ON / OFF (OFF1) / ON / OFF (OFF1)

p0844[0...n] BI: No coast-down / coast-down (OFF2) signal source 1 / OFF2 S_src 1

p0848[0...n] BI: No Quick Stop / Quick Stop (OFF3) signal source 1 / OFF3 S_src 1

p0852[0...n] BI: Enable operation/inhibit operation / Enable operation

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p1140[0...n] BI: Enable ramp-function generator/inhibit ramp-function generator / Enable

RFG

p1141[0...n] BI: Continue ramp-function generator/freeze ramp-function generator /

p1142[0...n] BI: Enable setpoint/inhibit setpoint / Setpoint enable

p2103[0...n] BI: 1st acknowledge faults / 1st acknowledge

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p0854[0...n] BI: Control by PLC/no control by PLC / Master ctrl by PLC

p1113[0...n] BI: Setpoint inversion / Setp inv

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Status Word 1 (ZSW1)

r0899.0...15 CO/BO: Status word sequence control / ZSW seq_ctrl

r2139.0...15 CO/BO: Status word faults/alarms 1 / ZSW fault/alarm 1

r2197.1...13 CO/BO: Status word monitoring 1 / ZSW monitor 1

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r2199.0...14 CO/BO: Status word monitoring 3 / ZSW monitor 3

r2135.0...15 CO/BO: Status word faults/alarms 2 / ZSW fault/alarm 2

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4 Additional Resources

4 Additional Resources
4.1 List Manuals
The following documents contain telegram charts, parameter information, function
diagrams, and fault and alarm information.

G110M List Manual

https://support.industry.siemens.com/cs/document/109769385/sinamics-
g110m?dti=0&lc=en-US

G120 CU240B/E List Manual

https://support.industry.siemens.com/cs/document/109751314/sinamics-g120-control-
units-cu240b-2-cu240e-2?dti=0&lc=en-US

G120 CU250S-2 List Manual

https://support.industry.siemens.com/cs/document/109751315/sinamics-g120-control-
units-cu250s-2?dti=0&lc=en-US
© Siemens AG copyright year All rights reserved

G120C List Manual

https://support.industry.siemens.com/cs/document/109751318/sinamics-
g120c?dti=0&lc=en-US

G120D List Manual

https://support.industry.siemens.com/cs/document/109769390/sinamics-g120d-control-
units-cu240d-2-cu250d-2?dti=0&lc=en-US

G120X List Manual

https://support.industry.siemens.com/cs/document/109766682/sinamics-g120x-
converter?dti=0&lc=en-US

G130/G150 List Manual

https://support.industry.siemens.com/cs/document/109763269/sinamics-g130-
g150?dti=0&lc=en-US

S120/S150 List Manual

https://support.industry.siemens.com/cs/document/109763271/sinamics-s120-
s150?dti=0&lc=en-US

DCM List Manual

https://support.industry.siemens.com/cs/document/109763564/sinamics-dcm-list-
manual-firmware-version-1-5-(based-on-5-1-sp1)?dti=0&lc=en-US

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4.2 Function Manuals

The following documents contain drive function and communication information.

G120 Series Fieldbus Manual

https://support.industry.siemens.com/cs/document/109477369/fieldbus-systems%3A-
profinet-profibus-ethernet-ip-canopen-uss-bacnet-modbus-p1?dti=0&lc=en-US

S120 Communications Function Manual

https://support.industry.siemens.com/cs/document/109763284/sinamics-s120-function-
manual-communication?dti=0&lc=en-US

S120 Drive Function Manual

https://support.industry.siemens.com/cs/document/109763287/sinamics-s120-function-
manual-for-drive-functions?dti=0&lc=en-US
© Siemens AG copyright year All rights reserved

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