Modbus

Fundamental safety
Fieldbuses ___________________
instructions 1
___________________
Introduction 2
Communication via
___________________
PROFIBUS and PROFINET 3
SINAMICS Communication via
___________________
EtherNet/IP 4
SINAMICS G120, G120P, G120C,
G120D, G110M ___________________
Communication via RS485 5
Fieldbuses
___________________
Communication over
CANopen 6
Function Manual
___________________
Appendix A
Edition 04/2014, Firmware V4.7
04/2014, FW V4.7
A5E34229197B AA
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
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Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG Order number: A5E34229197B AA Copyright © Siemens AG 2014.

Industry Sector Ⓟ 07/2014 Subject to change All rights reserved
Postfach 48 48
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Table of contents
1 Fundamental safety instructions .............................................................................................................. 9

1.1 General safety instructions ............................................................................................................ 9
1.2 Industrial security .........................................................................................................................10
2 Introduction ........................................................................................................................................... 11
2.1 Ethernet and PROFINET protocols that are used .......................................................................12
3 Communication via PROFIBUS and PROFINET ................................................................................... 15
3.1 PROFIdrive profile........................................................................................................................15
3.1.1 Cyclic communication ..................................................................................................................15
3.1.1.1 Assigning control and status words .............................................................................................19
3.1.1.2 Extend telegrams and change signal interconnection .................................................................26
3.1.1.3 Data structure of the parameter channel .....................................................................................27
3.1.1.4 Slave-to-slave communication .....................................................................................................33
3.1.2 Acyclic communication .................................................................................................................34
3.2 Identification & maintenance data (I&M) ......................................................................................39
3.3 S7 communication .......................................................................................................................40
3.3.1 Direct access to a SIMATIC G120 inverter using a SIMATIC panel ............................................40
3.4 Communication via PROFINET ...................................................................................................44
3.4.1 Inverter with PROFINET interface ...............................................................................................45
3.4.2 Integrating inverters into PROFINET ...........................................................................................46
3.4.3 PROFINET IO operation ..............................................................................................................47
3.4.3.1 What do you need for communication via PROFINET? ..............................................................47
3.4.3.2 Configuring communication to the control ...................................................................................47
3.4.3.3 Activating diagnostics via the control ...........................................................................................48
3.4.3.4 PROFIenergy profile ....................................................................................................................48
3.4.4 The inverter as an Ethernet station ..............................................................................................51
3.5 Communication via PROFIBUS ...................................................................................................53
3.5.1 Inverters with PROFIBUS interface .............................................................................................54
3.5.2 What do you need for communication via PROFIBUS? ..............................................................55
3.5.3 Integrating inverters into PROFIBUS ...........................................................................................56
3.5.4 Configuring communication to the control system .......................................................................56
3.5.4.1 Configuring the communication using SIMATIC S7 control .........................................................56
3.5.4.2 Configuring the communication with a third-party control system ...............................................57
3.5.4.3 Installing the GSD ........................................................................................................................57
3.5.5 Setting the address ......................................................................................................................58
3.6 Select telegram ............................................................................................................................59
4 Communication via EtherNet/IP............................................................................................................. 61
4.1 Inverters with Ethernet/IP interface ..............................................................................................62
4.2 Connect converter to Ethernet/IP.................................................................................................64
4.3 What do you need for communication via Ethernet/IP?...............................................................64
Fieldbuses
Function Manual, 04/2014, FW V4.7, A5E34229197B AA 5
Table of contents
4.4 Configuring communication via EtherNet/IP ............................................................................... 65

4.5 Additional settings if you are working with the AC/DC profile ..................................................... 66
4.6 Supported objects ....................................................................................................................... 67
4.7 Create generic I/O module .......................................................................................................... 76
4.8 The inverter as an Ethernet station ............................................................................................. 77
5 Communication via RS485 .................................................................................................................... 79
5.1 Inverter with RS485 interface ...................................................................................................... 80
5.2 Integrating inverters into a bus system via the RS485 interface................................................. 81
5.3 Communication via USS ............................................................................................................. 82
5.3.1 Basic settings for communication ............................................................................................... 82
5.3.1.1 Setting the address ..................................................................................................................... 83
5.3.2 Telegram structure ...................................................................................................................... 84
5.3.3 User data range of the USS telegram ......................................................................................... 85
5.3.4 USS parameter channel .............................................................................................................. 86
5.3.4.1 Telegram examples, length of the parameter channel = 4 ......................................................... 90
5.3.5 USS process data channel (PZD) ............................................................................................... 91
5.3.6 Time-out and other errors ........................................................................................................... 92
5.4 Communication using Modbus RTU ........................................................................................... 94
5.4.1 Basic settings for communication ............................................................................................... 94
5.4.1.1 Setting the address ..................................................................................................................... 96
5.4.2 Modbus RTU telegram ................................................................................................................ 97
5.4.3 Baud rates and mapping tables .................................................................................................. 97
5.4.4 Write and read access via FC 03 and FC 06 ............................................................................ 101
5.4.5 Communication procedure ........................................................................................................ 103
5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT............................................ 105
5.5.1 Basic settings for communication ............................................................................................. 106
5.5.2 Supported services and objects ................................................................................................ 108
5.6 Communication via P1 - only CU230P-2 HVAC / BT ................................................................ 117
6 Communication over CANopen ............................................................................................................123
6.1 Network management (NMT service) ....................................................................................... 125
6.2 SDO services ............................................................................................................................ 128
6.2.1 Access to SINAMICS parameters via SDO .............................................................................. 129
6.2.2 Access PZD objects via SDO.................................................................................................... 130
6.3 PDO services ............................................................................................................................ 132
6.3.1 Predefined connection set......................................................................................................... 135
6.3.2 Free PDO mapping ................................................................................................................... 136
6.3.3 Interconnect objects from the receive and transmit buffers ...................................................... 139
6.3.4 Free PDO mapping for example of the actual current value and torque limit ........................... 140
6.4 CANopen operating modes ....................................................................................................... 142
6.5 RAM to ROM via the CANopen object 1010 ............................................................................. 143
6.6 Object directories ...................................................................................................................... 144
6.6.1 General objects from the CiA 301 communication profile ......................................................... 144
6.6.2 Free objects .............................................................................................................................. 153
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6 Function Manual, 04/2014, FW V4.7, A5E34229197B AA
Table of contents
6.6.3 Objects from the CiA 402 drive profile .......................................................................................154

6.7 Integrating the inverter into CANopen .......................................................................................156
6.7.1 Connecting inverter to CAN bus ................................................................................................157
6.7.2 Setting the node ID and baud rate .............................................................................................157
6.7.3 Setting the monitoring of the communication .............................................................................158
6.8 Error diagnostics ........................................................................................................................160
A Appendix............................................................................................................................................. 163
A.1 Communication with STEP7 ......................................................................................................163
A.1.1 Configuring PROFIBUS communication ....................................................................................163
A.1.1.1 Creating a STEP 7 project and network ....................................................................................163
A.1.1.2 Inserting the inverter into the project .........................................................................................164
A.1.2 Configuring PROFINET communication ....................................................................................166
A.1.2.1 Configuring the controller and converter in HW Config .............................................................166
A.1.2.2 Activate diagnostic messages via STEP 7 ................................................................................169
A.1.2.3 Go online with STARTER via PROFINET .................................................................................170
A.1.3 STEP 7 program examples ........................................................................................................173
A.1.3.1 Data exchange via the fieldbus ..................................................................................................173
A.1.3.2 STEP 7 program example for cyclic communication .................................................................174
A.1.3.3 STEP 7 program example for acyclic communication ...............................................................176
A.1.4 Configuring slave-to-slave communication in STEP 7 ...............................................................180
A.2 Additional manuals for your inverter ..........................................................................................182
Index................................................................................................................................................... 183
Fieldbuses
Table of contents
Fieldbuses
Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Risk of death if the safety instructions and remaining risks are not carefully observed
If the safety instructions and residual risks are not observed in the associated hardware
documentation, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.
WARNING
Danger to life or malfunctions of the machine as a result of incorrect or changed
parameterization
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
• Protect the parameterization (parameter assignments) against unauthorized access.
• Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).
Fieldbuses
Fundamental safety instructions
1.2 Industrial security
1.2 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should
also be considered. For more information about industrial security, visit Hotspot-Text
(http://www.siemens.com/industrialsecurity).
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. For more information, visit Hotspot-Text
(http://support.automation.siemens.com).
WARNING
Danger as a result of unsafe operating states resulting from software manipulation
Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe
operating states to develop in your installation which can result in death, severe injuries
and/or material damage.
• Keep the software up to date.
You will find relevant information and newsletters at this address
(http://support.automation.siemens.com).
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
You will find further information at this address
(http://www.siemens.com/industrialsecurity).
• Make sure that you include all installed products into the holistic industrial security
concept.
Fieldbuses
Introduction 2
About this manual
This manual describes the settings and preconditions that are required to communicate with
a higher-level control system with the subsequently listed fieldbus systems.
Fieldbuses for SINAMICS G120

● PROFIBUS DP
● PROFINET
● EtherNet/IP
● USS
● Modbus RTU
● CANopen
Additional fieldbuses for SINAMICS G120P

● BACnet MS/TP
● P1
Communication with the control, even when the line voltage is switched off
If, in your plant or system, communication with the control system should continue to function
even when the line voltage is switched off, then you must externally supply the
inverter/Control Unit with 24 V DC. To do this, use terminals 31 and 32 – or connector X01.
You can find additional details in the operating instructions for the inverter or the Control
Unit.
What is the meaning of the symbols in the manual?

An operating instruction starts here.
This concludes the operating instruction.
Fieldbuses
Introduction
2.1 Ethernet and PROFINET protocols that are used

The inverter supports the protocols listed in the following tables. The address parameters,
the relevant communication layer as well as the communication role and the communication
direction are specified for each protocol.
You require this information to set the appropriate safety measures to protect the automation
system, e.g. in the firewall.
As the security measures are limited to Ethernet and PROFINET networks, no PROFIBUS
protocols are listed in the table.
Table 2- 1 PROFINET protocols
Protocol Port Layer Function/description

number (2) Link layer
(4) Transport layer
DCP: Not (2) Ethernet II and Accessible stations, PROFINET Discovery and configuration
Discovery and relevant IEEE 802.1Q and DCP is used by PROFINET to determine PROFINET devices and to
configuration Ethertype 0x8892 make basic settings.
protocol (PROFINET)
DCP uses the special multicast MAC address:
xx-xx-xx-01-0E-CF,
xx-xx-xx = Organizationally Unique Identifier
LLDP: Not (2) Ethernet II and PROFINET Link Layer Discovery protocol
Link Layer relevant IEEE 802.1Q and LLDP is used by PROFINET to determine and manage
Discovery Ethertype 0x88CC neighborhood relationships between PROFINET devices.
Protocol (PROFINET)
LLDP uses the special multicast MAC address:
01-80-C2-00-00-0E
MRP: Not (2) Ethernet II and PROFINET medium redundancy
Media relevant IEEE 802.1Q and MRP enables the control of redundant routes through a ring
Redundancy Ethertype 0x88E3 topology.
Protocol (PROFINET)
MRP uses the special multicast MAC address:
xx-xx-xx-01-15-4E,
PTCP Not (2) Ethernet II and PROFINET send clock and time synchronisation, based on IEEE
Precision relevant IEEE 802.1Q and 1588
Transparent Ethertype 0x8892 PTC is used to implement send clock synchronization and time
Clock Protocol (PROFINET) synchronization between RJ45 ports, which are required for IRT
operation.
PTCP uses the special multicast MAC address:
xx-xx-xx-01-0E-CF,
PROFINET IO Not (2) Ethernet II and PROFINET cyclic IO data transfer
data relevant IEEE 802.1Q and The PROFINET IO telegrams are used to transfer IO data cyclically
Ethertype 0x8892 between the PROFINET IO controller and IO devices via Ethernet.
(PROFINET)
PROFINET 34964 (4) UDP PROFINET connection less RPC
Context The PROFINET context manager provides an endpoint mapper in
Manager order to establish an application relationship (PROFINET AR).
Fieldbuses
Introduction
Table 2- 2 Connection-oriented communication protocols
Protocol Port Layer Function/description

number (2) Link layer
(4) Transport layer
ISO on TCP 102 (4) TCP ISO-on-TCP protocol
(according to ISO on TCP (according to RFC 1006) is used for the message-
RFC 1006) oriented data exchange to a remote CPU, WinAC or devices of other
suppliers.
Communication with ES, HMI, etc. is activated in the factory setting,
and is always required.
SNMP 161 (4) UDP Simple Network Management Protocol
Simple SNMP enables network management data to be read out and set
Network (SNMP managed objects) by the SNMP manager.
Management It is activated in the factory setting, and is always required
Protocol
Reserved 49152 ... (4) TCP Dynamic port area that is used for the active connection endpoint if
65535 (4) UDP the application does not specify the local port.
Fieldbuses
Introduction
Fieldbuses
Communication via PROFIBUS and PROFINET 3
3.1 PROFIdrive profile
3.1.1 Cyclic communication

Depending on the particular Control Unit or inverter, there are different telegrams for
communication via PROFIBUS DP or PROFINET IO. The structure of the individual
telegrams are listed below.
The telegrams that are possible for your particular inverter are listed for selection in
STARTER or on operator panel.
How you set the telegram is described in Section Additional manuals for your inverter
(Page 182).
Communication telegrams if "basic positioner" has been configured

The inverter has the following telegrams if you have configured the "Basic positioner"
function:
● Standard telegram 7, PZD-2/2
● Standard telegram 9, PZD-10/5
● SIEMENS telegram 110, PZD-12/7
● SIEMENS telegram 111, PZD-12/12
● Telegram 999, free interconnection
These telegrams are described in the "Basic positioner and technology" Function Manual.
See also the section Additional manuals for your inverter (Page 182).
Fieldbuses
Communication via PROFIBUS and PROFINET
Communication telegrams for speed control

The send and receive telegrams of the inverter for closed-loop speed control are structured
as follows:
Fieldbuses
Abbreviation Explanation Abbreviation Explanation

STW Control word PIST_GLATT Actual active power value, smoothed
ZSW Status word M_LIM Torque limit
NSOLL_A Speed setpoint 16 bit FAULT_COD Fault number
E
NSOLL_B Speed setpoint 32 bit WARN_COD Alarm number
E
NIST_A Speed actual value 16 bit MELD_NAMU Control word according to the VIK-NAMUR
R definition
NIST_B Speed actual value 32 bit G1_STW / Control word for encoder 1 or encoder 2
G2_STW
IAIST Current actual value G1_ZSW / Status word for encoder 1 or encoder 2
G2_ZSW
IAIST_GLATT Current actual value, smoothed G1_XIST1 / Position actual value 1 from encoder 1 or
G2_XIST1 encoder 2
MIST_GLATT Torque actual value, smoothed G1_XIST2 / Position actual value 2 from encoder 1 or
G2_XIST2 encoder 2
Interconnection of the process data
Figure 3-1 Interconnection of the send words
Fieldbuses
Figure 3-2 Interconnection of the receive words
The telegrams use - with the exception of telegram 999 (free interconnection) - the word-by-
word transfer of send and receive data (r2050/p2051).
If you require an individual telegram for your application (e.g. for transferring double words),
you can adapt one of the predefined telegrams using parameters p0922 and p2079. For
details, please refer to the List Manual, function diagrams 2420 and 2472.
Fieldbuses
3.1.1.1 Assigning control and status words
Assigning control and status words

Assigning control and status of words is specified in part by the definitions in the PROFIdrive
profile, Version 4.1 for the "Closed-loop speed control" operating mode; the other part is
assigned depending on the particular manufacturer.
A more detailed description of the individual control and status words is provided in the
following sections.
If you require an individual assignment for your application, you can adapt one of the existing
control and status words using p0922 and p2079. You can find details about this in Section
Extend telegrams and change signal interconnection (Page 26).
Control word 1 (STW1)

The control word 1 is pre-assigned as follows.
● Telegram 20 (VIK/NAMUR):
– Bit 0 … 11 corresponds to PROFIdrive profile,
– Bit 12… 15 manufacturer-specific
● Other telegrams:
– Bit 0 … 10 corresponds to PROFIdrive profile,
– Bit 11… 15 manufacturer-specific
Fieldbuses
Bit Significance Explanation Signal

interconnection
Telegram 20 All other
in the inverter
telegrams
0 0 = OFF1 The motor brakes with the ramp-down time p1121 of the p0840[0] =
ramp-function generator. The inverter switches off the motor r2090.0
at standstill.
0 → 1 = ON The inverter goes into the "ready" state. If, in addition
bit 3 = 1, then the inverter switches on the motor.
1 0 = OFF2 Switch off the motor immediately, the motor then coasts p0844[0] =
down to a standstill. r2090.1
1 = No OFF2 The motor can be switched on (ON command).
2 0 = Quick stop (OFF3) Quick stop: The motor brakes with the OFF3 ramp-down p0848[0] =
time p1135 down to standstill. r2090.2
1 = No quick stop (OFF3) The motor can be switched on (ON command).
3 0 = Inhibit operation Immediately switch-off motor (cancel pulses). p0852[0] =
1 = Enable operation Switch-on motor (pulses can be enabled). r2090.3
4 0 = Disable RFG The inverter immediately sets its ramp-function generator p1140[0] =
output to 0. r2090.4
1 = Do not disable RFG The ramp-function generator can be enabled.
5 0 = Stop RFG The output of the ramp-function generator stops at the actual p1141[0] =
value. r2090.5
1 = Enable RFG The output of the ramp-function generator follows the
setpoint.
6 0 = Inhibit setpoint The inverter brakes the motor with the ramp-down time p1142[0] =
p1121 of the ramp-function generator. r2090.6
1 = Enable setpoint Motor accelerates with the ramp-up time p1120 to the
setpoint.
7 0 → 1 = Acknowledge faults Acknowledge fault. If the ON command is still active, the p2103[0] =
inverter switches to"closing lockout" state. r2090.7
8, 9 Reserved
10 0 = No control via PLC Inverter ignores the process data from the fieldbus. p0854[0] =
1 = Control via PLC Control via fieldbus, inverter accepts the process data from r2090.10
the fieldbus.
11 0 = Direction reversal Invert setpoint in the inverter. p1113[0] =
r2090.11
12 Not used
13 ---1) 1 = MOP up Increase the setpoint saved in the motorized potentiometer. p1035[0] =
r2090.13
14 ---1) 1 = MOP down Reduce the setpoint saved in the motorized potentiometer. p1036[0] =
r2090.14
15 CDS bit 0 Reserved Changes over between settings for different operation p0810 =
interfaces (command data sets). r2090.15
1) If you change over from another telegram to telegram 20, then the assignment of the previous telegram is kept.
Fieldbuses
Status word 1 (ZSW1)

The status word 1 is pre-assigned as follows.
● Bit 0 … 10 corresponds to PROFIdrive profile
● Bit 11… 15 manufacturer-specific
Bit Significance Comments Signal

Telegram 20 All other telegrams interconnection
in the inverter
0 1 = Ready to start Power supply switched on; electronics initialized; pulses p2080[0] =
locked. r0899.0
1 1 = Ready Motor is switched on (ON/OFF1 = 1), no fault is active. p2080[1] =
With the command "Enable operation" (STW1.3), the r0899.1
inverter switches on the motor.
2 1 = Operation enabled Motor follows setpoint. See control word 1, bit 3. p2080[2] =
r0899.2
3 1 = Fault active The inverter has a fault. Acknowledge fault using STW1.7. p2080[3] =
r2139.3
4 1 = OFF2 inactive Coast down to standstill is not active. p2080[4] =
r0899.4
5 1 = OFF3 inactive Quick stop is not active. p2080[5] =
r0899.5
6 1 = Closing lockout active It is only possible to switch on the motor after an OFF1 p2080[6] =
followed by ON. r0899.6
7 1 = Alarm active Motor remains switched on; no acknowledgement is p2080[7] =
necessary. r2139.7
8 1 = Speed deviation within the Setpoint / actual value deviation within the tolerance p2080[8] =
tolerance range range. r2197.7
9 1 = Master control requested The automation system is requested to accept the inverter p2080[9] =
control. r0899.9
10 1 = Comparison speed reached or Speed is greater than or equal to the corresponding p2080[10] =
exceeded maximum speed. r2199.1
11 1 = current or 1 = torque limit Comparison value for current or torque has been reached p2080[11] =
torque limit reached or exceeded. r0056.13 /
reached r1407.7
12 ---1) 1 = Holding brake Signal to open and close a motor holding brake. p2080[12] =
open r0899.12
13 0 = Alarm, motor overtemperature -- p2080[13] =
r2135.14
14 1 = Motor rotates clockwise Internal inverter actual value > 0 p2080[14] =
0 = Motor rotates counterclockwise Internal inverter actual value < 0 r2197.3
15 1 = CDS display 0 = Alarm, inverter p2080[15] =

thermal overload r0836.0 /
r2135.15
1) If you change over from another telegram to telegram 20, then the assignment of the previous telegram is kept.
Fieldbuses

● Bit 12 … 15 corresponds to the PROFIdrive profile
Bit Valu Meaning Explanation Signal interconnection

e Telegrams 2, 3 and 4 in the inverter 1)
0 1 Fixed setpoint, bit 0 Selects up to 16 different fixed setpoints. p1020[0] = r2093.0

1 1 Fixed setpoint, bit 1 p1021[0] = r2093.1
4 1 DDS selection, bit 0 Changes over between settings for p0820 = r2093.4
5 1 DDS selection, bit 1 different motors (drive data sets). p0821 = r2093.5
6 – Not used
7 – Not used
8 1 Technology controller enable -- p2200[0] = r2093.8
9 1 DC braking enable -- p1230[0] = r2093.9
10 – Not used
11 1 1 = Enable droop Enable or inhibit speed controller droop. p1492[0] = r2093.11
12 1 Torque control active Changes over the control mode for vector p1501[0] = r2093.12
0 Closed-loop speed control active control.
13 1 No external fault -- p2106[0] = r2093.13
0 External fault is active (F07860)
14 – Not used
15 1 CDS bit 1 Changes over between settings for p0811[0] = r2093.15
different operation interfaces (command
data sets).
1) If you switch from telegram 350 to a different one, then the inverter sets all interconnections p1020, … to "0". Exception:
p2106 = 1.
Fieldbuses

Status word 2
● Bit 12 … 15 corresponds to the PROFIdrive profile
Bit Valu Meaning Description Signal interconnection

e in the inverter
0 1 DC braking active -- p2051[3] = r0053
1 1 |n_act| > p1226 Absolute current speed > stationary state
detection
2 1 |n_act| > p1080 Absolute actual speed > minimum speed
3 1 i_act ≧ p2170 Actual current ≥ current threshold value
4 1 |n_act| > p2155 Absolute actual speed > speed threshold
value 2
5 1 |n_act| ≦ p2155 Absolute actual speed < speed threshold
value 2
6 1 |n_act| ≧ r1119 Speed setpoint reached
7 1 DC link voltage ≦ p2172 Actual DC link voltage ≦ threshold value
8 1 DC link voltage > p2172 Actual DC link voltage > threshold value
9 1 Ramping completed Ramp-function generator is not active.
10 1 Technology controller output at lower limit Technology controller output ≦ p2292
11 1 Technology controller output at upper limit Technology controller output > p2291
12 Not used
13 Not used
14 Not used
15 Not used
Fieldbuses

Bit Valu Significance Explanation Signal interconnection

e Telegram 350 in the inverter 1)
0 1 Fixed setpoint, bit 0 Selects up to 16 different fixed setpoints. p1020[0] = r2093.0

4 1 DDS selection, bit 0 Changes over between settings for p0820 = r2093.4
5 1 DDS selection, bit 1 different motors (drive data sets). p0821 = r2093.5
6 – Not used
7 – Not used
8 1 Technology controller enable -- p2200[0] = r2093.8
9 1 DC braking enable -- p1230[0] = r2093.9
10 – Not used
11 1 1 = Enable droop Enable or inhibit speed controller droop. p1492[0] = r2093.11
12 1 Torque control active Changes over the control mode for vector p1501[0] = r2093.12
0 Closed-loop speed control active control.
13 1 No external fault -- p2106[0] = r2093.13
0 External fault is active (F07860)
14 – Not used
15 1 CDS bit 1 Changes over between settings for p0811[0] = r2093.15
different operation interfaces (command
data sets).
1) If you switch from telegram 350 to a different one, then the inverter sets all interconnections p1020, … to "0". Exception:
p2106 = 1.
Fieldbuses

The status word 3 is pre-assigned as follows.
Bit Valu Significance Description Signal interconnection

e in the inverter
0 1 DC braking active -- p2051[3] = r0053
1 1 |n_act| > p1226 Absolute current speed > stationary state
detection
2 1 |n_act| > p1080 Absolute actual speed > minimum speed
3 1 i_act ≧ p2170 Actual current ≥ current threshold value
4 1 |n_act| > p2155 Absolute actual speed > speed threshold
value 2
5 1 |n_act| ≦ p2155 Absolute actual speed < speed threshold
value 2
6 1 |n_act| ≧ r1119 Speed setpoint reached
7 1 DC link voltage ≦ p2172 Actual DC link voltage ≦ threshold value
8 1 DC link voltage > p2172 Actual DC link voltage > threshold value
9 1 Ramping completed Ramp-function generator is not active.
10 1 Technology controller output at lower limit Technology controller output ≦ p2292
11 1 Technology controller output at upper limit Technology controller output > p2291
12 Not used
13 Not used
14 Not used
15 Not used
Fieldbuses
3.1.1.2 Extend telegrams and change signal interconnection

When you have selected a telegram, the inverter interconnects the corresponding signals
with the fieldbus interface. Generally, these interconnections are protected so that they
cannot be changed. With the appropriate inverter settings, these interconnections can be
changed.
Extend telegram
Every telegram can be extended, by "attaching" additional signals.
Procedure
Proceed as follows to extend a telegram:
1. Using STARTER or an operator panel, set parameter p0922 = 999.
2. Set parameter p2079 to the appropriate value of the corresponding telegram.
3. Interconnect additional PZD send words and PZD receive words with signals of your
choice via parameters r2050 and p2051.
You have extended the telegram.
Parameter Description
p0922 PROFIdrive telegram selection
999: Free telegram (message frame) configuration
p2079 PROFIdrive PZD telegram selection extended
The following values apply if you have still not enabled the "Basic positioner" function
in the inverter:
1: Standard telegram 1, PZD-2/2
350: SIEMENS telegram 350, PZD-4/4
353: SIEMENS telegram 353, PZD-2/2, PKW-4/4
The following values apply if you have enabled the "Basic positioner" function in the
inverter:
r2050[0…11] PROFIdrive PZD receive word
Connector output to interconnect the PZD (setpoints) in the word format received
from the PROFIdrive controller.
p2051[0…16] PROFIdrive PZD send word
Selection of the PZD (actual values) in the word format to be sent to the PROFIdrive
controller.
controller. For further information refer to the function block diagrams 2468 and 2470 of the
List Manual.
Fieldbuses
Freely selecting the signal interconnection of the telegram

The signals in the telegram can be freely interconnected.
Procedure
Proceed as follows to change the signal interconnection of a telegram:
3. Interconnect additional PZD send words and PZD receive words with signals of your
choice via parameters r2050 and p2051.
You have freely interconnected the signals transferred in the telegram.
Parameter Description
p0922 PROFIdrive telegram selection
p2079 PROFIdrive PZD telegram selection extended
r2050[0…11] PROFIdrive PZD receive word
Connector output to interconnect the PZD (setpoints) in the word format received
from the PROFIdrive controller.
p2051[0…16] PROFIdrive PZD send word
controller.
For further information refer to the function block diagrams 2468 and 2470 of the List
Manual.
3.1.1.3 Data structure of the parameter channel
Structure of the parameter channel

The parameter channel consists of four words. 1. and 2nd word transfer the parameter
number and index as well as the type of job (read or write) The 3rd and 4th word contains
the parameter contents. The parameter contents can be 16-bit values (such as baud rate) or
32-bit values (e.g. CO parameters).
Bit 11 in the 1st word is reserved and is always assigned 0.
You can find examples of telegrams at the end of this section.
Fieldbuses
Request and response IDs

Bits 12 to 15 of the 1st word of the parameter channel contain the request and response
identifier.
Table 3- 1 Request identifiers, control → inverter
Request Description Response identifier

identifier
positive negative
0 No request 0 7/8
1 Request parameter value 1/2 7/8
2 Change parameter value (word) 1 7/8
3 Change parameter value (double word) 2 7/8
4 Request descriptive element 1) 3 7/8
62) Request parameter value (field) 1) 4/5 7/8
72) Change parameter value (field, word) 1) 4 7/8
82) Change parameter value (field, double word) 1) 5 7/8
9 Request number of field elements 6 7/8
1) The required element of the parameter is specified in IND (2nd word).
2) The following request IDs are identical: 1 ≡ 6, 2 ≡ 7 3 ≡ 8.
We recommend that you use identifiers 6, 7, and 8.
Table 3- 2 Response identifiers, inverter → control
Response Description
identifier
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements
7 Inverter cannot process the request.
In the most significant word of the parameter channel, the inverter sends an error
number to the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the
parameter channel interface
2) The required element of the indexed parameter is specified in IND (2nd word).
Fieldbuses
Table 3- 3 Error numbers for response identifier 7
No. Description
00 hex Illegal parameter number (access to a parameter that does not exist)
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be
changed)
02 hex Lower or upper value limit exceeded (change request with a value outside the value limits)
03 hex Incorrect subindex (access to a subindex that does not exist.)
04 hex No array (access with a subindex to non-indexed parameters)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without
permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927.)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for
temporary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal
for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the inverter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be found
in table "Request identifications controller → inverter")
6B hex No change access for a controller that is enabled. (operating status of the inverter
prevents a parameter change)
86 hex Write access only for commissioning (p0010 = 15) (operating status of the inverter
87 hex Know-how protection active, access locked
C8 hex Change request below the currently valid limit (change request to a value that lies within
the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for
the inverter power)
CC hex Change request not permitted (change is not permitted as the access code is not
available)
Fieldbuses
Offset and page index of the parameter numbers

Parameter numbers < 2000 PNU = parameter number.
Write the parameter number into the PNU (PKE bit 10 ... 0).
Parameter numbers ≥ 2000 PNU = parameter number - offset.
Write the parameter number minus the offset into the PNU
(PKE bit 10 … 0).
Write the offset in the page index (IND bit 7 … 0).
Parameter number Offset Page index

Hex Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0000 … 1999 0 0 hex 0 0 0 0 0 0 0 0
2000 … 3999 2000 80 hex 1 0 0 0 0 0 0 0
6000 … 7999 6000 90 hex 1 0 0 1 0 0 0 0
8000 … 9999 8000 20 hex 0 0 1 0 0 0 0 0
10000 … 11999 10000 A0 hex 1 0 1 0 0 0 0 0
20000 … 21999 20000 50 hex 0 1 0 1 0 0 0 0
30000 … 31999 30000 F0 hex 1 1 1 1 0 0 0 0
60000 … 61999 60000 74 hex 0 1 1 1 0 1 0 0
Indexed parameters
For indexed parameters, you must write the index as hex value into the subindex (IND
bit 15 … 8).
Parameter contents
Parameter contents can be parameter values or connectors.
Table 3- 4 Parameter values in the parameter channel
PWE, 3rd word PWE, 4th word

Bit 15 … 0 Bit 15 … 8 Bit 7 … 0
0 0 8-bit value
0 16-bit value
32-bit value
Table 3- 5 Connectors in the parameter channel
PWE, 3rd word PWE, 4th word

Bit 15 … 0 Bit 15 … 10 Bit 9 … 0
Number of the connector 3F hex The index or bit field
number of the connector
Fieldbuses
Telegram examples
Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of the indexed parameter p7841, you must fill the telegram of the
parameter channel with the following data:
● PKE, bit 12 … 15 (AK): = 6 (request parameter value (field))
● PKE, bit 0 … 10 (PNU): = 1841 (Parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
● IND, bit 8 … 15 (subindex): = 2 (Index of the parameter)
● IND, bit 0 … 7 (page index): = 90 hex (offset 6000 ≙ 90 hex)
● Because you want to read the parameter value, words 3 and 4 in the parameter channel
for requesting the parameter value are irrelevant. They should be assigned a value of 0,
for example.
Figure 3-3 Telegram for a read request from p7841[2]
Write request: Change restart mode (p1210)

The restart mode is inhibited in the factory setting (p1210 = 0). In order to activate the
automatic restart with "acknowledge all faults and restart for an ON command", p1210 must
be set to 26:
● PKE, bit 12 … 15 (AK): = 7 (change parameter value (field, word))
● PKE, bit 0 … 10 (PNU): = 4BA hex (1210 = 4BA hex, no offset, as 1210 < 1999)
● IND, bit 8 … 15 (subindex): = 0 hex (parameter is not indexed)
● IND, bit 0 … 7 (page index): = 0 hex (offset 0 corresponds to 0 hex)
● PWE1, bit 0 … 15: = 0 hex
● PWE2, bit 0 … 15: = 1A hex (26 = 1A hex)
Figure 3-4 Telegram, to activate the automatic restart with p1210 = 26
Fieldbuses
Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must fill the telegram of the parameter
channel as follows:
● PKE, bit 12 … 15 (AK): = 7 hex (change, parameter value (field, word))
● PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)
● IND, bit 8 … 15 (subindex): = 1 hex (CDS1 = index1)
● PWE1, bit 0 … 15: = 2D2 hex (722 = 2D2 hex)
● PWE2, bit 10 … 15: = 3F hex (drive object - for SINAMICS G120, always 63 = 3f hex)
● PWE2, bit 0 … 9: = 2 hex (index of parameter (DI 2 = 2))
Figure 3-5 Telegram, to assign DI 2 with ON/OFF1
"Reading and writing parameters" application example

See: Reading and writing parameters via PROFIBUS
(http://support.automation.siemens.com/WW/view/en/8894584).
Fieldbuses
3.1.1.4 Slave-to-slave communication

"Direct data exchange" is sometimes called "slave-to-slave communication" or "data
exchange broadcast". Here, slaves exchange data without any direct involvement of the
master.
Example: An inverter uses the actual speed value of another inverter as its speed setpoint.
Definitions
● Publisher: Slave, which sends data for direct data exchange.
● Subscriber: Slave, which receives the data for direct data exchange from the publisher.
● Links and access points define the data that is used for direct data exchange.
Restrictions
● Direct data exchange in the current firmware version is only possible for inverters with
PROFIBUS communication.
● A maximum of 12 PZDs are permissible for each drive.
● To a publisher, a maximum of 4 links are possible.
Procedure
To configure direct data exchange, proceed as follows:
1. In the control, define:
– Which inverters operate as publisher (sender) or subscriber (receiver)?
– Which data or data areas do you use for direct data exchange?
2. In the inverter, define:
How does the subscriber process the data transferred using direct data exchange?
You have configured direct data exchange.
You can find more information in: "Manuals for your inverter in the Fieldbus communications
manual (Page 180)".
Fieldbuses
3.1.2 Acyclic communication

The inverter supports the following types of acyclic communication:
● For PROFIBUS:
Acyclic communication via data set47:
up to 240 bytes per write or read request
● For PROFINET:
Acyclic communication via B02E hex and B02F hex
Note
Values in italics
Values in italics in the following tables mean that you have to adjust these values for a
specific request.
Reading parameter values

See also: STEP 7 program example for acyclic communication (Page 176).
Table 3- 6 Request to read parameters
Data block Byte n Bytes n + 1 n

Header Reference 00 hex ... FF hex 01 hex: Read job 0
01 hex (ID of drive objects, at G120 2
always = 1)
Address, parameter 1 Attribute Number of the indices 4
10 hex: Parameter value 00 hex ... EA hex
20 hex: Parameter description (For parameters without index: 00 hex)
Parameter number 0001 hex ... FFFF hex 6
Number of the 1st index 0000 hex ... FFFF hex 8
(for parameters without index: 0000 hex)
… …
Address, parameter 2 … …
… … …
Address, parameter m … …
Fieldbuses
Table 3- 7 Inverter response to a read request

Header Reference (identical to a read request) 01 hex: Inverter has executed the read 0
request.
81 hex: Inverter was not able to completely
execute the read request.
01 hex (ID of drive objects, at G120 Number of parameters (m) 2
always = 1) (identical to the read request)
Values, parameter 1 Format Number of index values or - for a negative 4
02 hex: Integer8 response - number of error values
03 hex: Integer16
04 hex: Integer32
05 hex: Unsigned8
06 hex: Unsigned16
07 hex: Unsigned32
08 hex: FloatingPoint
10 hex OctetString
13 hex TimeDifference
41 hex: Byte
42 hex: Word
43 hex: Double word
44 hex: Error
Value of the 1st index or - for a negative response - error value 1 6
You can find the error values in a table at the end of this section.
… …
Values, parameter 2 …
… …
Values, parameter m …
Fieldbuses
Changing parameter values

See also: STEP 7 program example for acyclic communication (Page 176).
Table 3- 8 Request to change parameters

Header Reference 00 hex ... FF hex 02 hex: Change request 0
01 hex (ID of drive objects, at G120 Number of parameters (m) 01 hex ... 27 hex 2
always = 1)
Address, parameter 1 10 hex: Parameter value Number of indices 4
00 hex ... EA hex
(00 hex and 01 hex are equivalents)
Parameter number 0001 hex ... FFFF hex 6
Number of the 1st index 0001 hex ... FFFF hex 8
… …
Address, parameter 2 …
… … …
Address, parameter m …
Values, parameter 1 Format Number of index values
02 hex: Integer 8 00 hex ... EA hex
03 hex: Integer 16
04 hex: Integer 32
05 hex: Unsigned 8
06 hex: Unsigned 16
07 hex: Unsigned 32
08 hex: Floating Point
10 hex Octet String
13 hex Time Difference
41 hex: Byte
42 hex: Word
43 hex: Double word
Value of the 1st index
…
Values, parameter 2 …
… …
Values, parameter m …
Table 3- 9 Response, if the inverter has executed the change request

Header Reference (identical to a change request) 02 hex 0
01 hex (ID of drive objects, at G120 Number of parameters (identical to a change 2
always = 1) request)
Fieldbuses
Table 3- 10 Response if the inverter was not able to completely execute the change request

Header Reference (identical to a change request) 82 hex 0
01 hex (ID of drive objects, at G120 Number of parameters (identical to a change 2
always = 1) request)
Values, parameter 1 Format Number of error values 4
40 hex: Zero (change request for this data 00 hex or 02 hex
block executed)
44 hex: Error (change request for this data
block not executed)
Only for "Error" - error value 1 6
You can find the error values in the table at the end of this section.
Only for "Error" - error value 2 8
Error value 2 is either zero, or it contains the number of the first index where the error
occurred.
Values, parameter 2 ...
... … …
Values, parameter m ...
Error values
Table 3- 11 Error value in the parameter response
Error Meaning
value 1
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be changed)
03 hex Incorrect subindex (access to a parameter index that does not exist)
05 hex Incorrect data type (change request with a value that does not match the data type of the parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element that cannot be changed)
09 hex Description data not available (access to a description that does not exist, parameter value is available)
0B hex No master control (change request but with no master control)
0F hex Text array does not exist (although the parameter value is available, the request is made to a text array that
does not exist)
11 hex Request cannot be executed due to the operating state (access is not possible for temporary reasons that are
not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal for other permanent
reasons, i.e. a parameter with defined individual values)
15 hex Response too long (the length of the actual response exceeds the maximum transfer length)
16 hex Illegal parameter address (illegal or unsupported value for attribute, number of elements, parameter number,
subindex or a combination of these)
17 hex Illegal format (change request for an illegal or unsupported format)
Fieldbuses
Error Meaning
value 1
18 hex Number of values not consistent (number of values of the parameter data to not match the number of elements
in the parameter address)
19 hex Drive object does not exist (access to a drive object that does not exist)
20 hex Parameter text cannot be changed
21 hex Service is not supported (illegal or not support request ID).
6B hex A change request for a controller that has been enabled is not possible. (The inverter rejects the change
request because the motor is switched on. Please observe the "Can be changed" parameter attribute (C1, C2,
U, T) in the List Manual. See also section: Additional manuals for your inverter (Page 182))
6C hex Unknown unit.
6E hex Change request is only possible when the motor is being commissioned (p0010 = 3).
6F hex Change request is only possible when the power unit is being commissioned (p0010 = 2).
70 hex Change request is only possible for quick commissioning (basic commissioning) (p0010 = 1).
71 hex Change request is only possible if the inverter is ready (p0010 = 0).
72 hex Change request is only possible for a parameter reset (restore to factory setting) (p0010 = 30).
73 hex Change request possible only during commissioning of the safety functions (p0010 = 95).
74 hex Change request is only possible when a technological application/unit is being commissioned (p0010 = 5).
75 hex Change request is only possible in a commissioning state (p0010 ≠ 0).
76 hex Change request is not possible for internal reasons (p0010 = 29).
77 hex Change request is not possible during download.
81 hex Change request is not possible during download.
82 hex Transfer of the control authority (master) is inhibited by BI: p0806.
83 hex Desired interconnection is not possible (the connector output does not supply a float value although the
connector input requires a float value)
84 hex Inverter does not accept a change request (inverter is busy with internal calculations. See parameter r3996 in
the inverter List Manual. See also Section: Additional manuals for your inverter (Page 182))
85 hex No access methods defined.
86 hex Write access only during commissioning of the data records (p0010 = 15) (operating status of the inverter
prevents a parameter change.)
C8 hex Change request below the currently valid limit (change request to a value that lies within the "absolute" limits,
but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for the inverter power)
CC hex Change request not permitted (change is not permitted as the access code is not available)
Fieldbuses
3.2 Identification & maintenance data (I&M)
3.2 Identification & maintenance data (I&M)
I&M data
The inverter supports the following identification and maintenance (I&M) data.
I&M Format Explanation Associated Example for the

data parameters content
I&M0 u8[64] PROFIBUS Inverter-specific data, read only - See below
u8[54] PROFINET
I&M1 Visible String [32] Plant/system identifier p8806[0 … 31] "ak12-
ne.bo2=fu1"
Visible String [22] Location code p8806[32 … 53] "sc2+or45"
I&M2 Visible String [16] Date p8807[0 … 15] "2013-01-21
16:15"
I&M3 Visible String [54] Any comment p8808[0 … 53] -
I&M4 Octet String[54] Check signature to track p8809[0 … 53] Values of
changes for Safety Integrated. r9781[0] and
This value can be changed by r9782[0]
the user.
The test signature is reset to the
value generated by the machine
is p8805 = 0 is used.
When requested, the inverted transfers its I&M data to a higher-level control or to a PC/PG
with installed STEP 7, STARTER or TIA-Portal.
I&M0
Designation Format Example for the Valid for Valid for

content PROFINET PROFIBUS
Manufacturer-specific u8[10] 00 … 00 hex --- ✓
MANUFACTURER_ID u16 42d hex ✓ ✓
(=Siemens)
ORDER_ID Visible String „6SL3246-0BA22- ✓ ✓
[20] 1FA0“
SERIAL_NUMBER Visible String „T-R32015957“ ✓ ✓
[16]
HARDWARE_REVISION u16 0001 hex ✓ ✓
SOFTWARE_REVISION char, u8[3] „V“ 04.70.19 ✓ ✓
REVISION_COUNTER u16 0000 hex ✓ ✓
PROFILE_ID u16 3A00 hex ✓ ✓
PROFILE_SPECIFIC_TYPE u16 0000 hex ✓ ✓
IM_VERSION u8[2] 01.02 ✓ ✓
IM_SUPPORTED bit[16] 001E hex ✓ ✓
Fieldbuses
3.3 S7 communication
S7 communication allows the following:
● The inverter is controlled from a SIMATIC panel, also without control system by directly
accessing the inverter via PROFIBUS or PROFINET.
● Remote maintenance by accessing the inverter with STARTER or Startdrive across
network boundaries.
In the following example, we describe how you can switch the inverter on and off through a
SIMATIC panel, how to specify a setpoint and be shown the actual value on the panel.
You can find a description about accessing inverters across network boundaries in the
application document 25339612.
3.3.1 Direct access to a SIMATIC G120 inverter using a SIMATIC panel
Example of direct access to the inverter via a SIMATIC panel

You want to use the SIMATIC panel to do the following:
● Switch the inverter on and off
● Enter a setpoint
● Display the actual value and status
Conditions
You have installed the following software packages on your computer and made the
following settings:
● WINCCflex 2008 SP1 or higher
● STARTER plus SSP for 4.7 or higher
● You have configured the inverter in STARTER
● Inverter and panel are connected with one another via PROFIBUS or PROFINET.
● The same baud rates are set in the inverter and in the panel.
● The bus address configured in WinCC flexible matches the bus address of the inverter.
Fieldbuses
Settings in the inverter

Procedure
To adjust the settings in the inverter, proceed as follows:
1. Make the following settings and releases so that the inverter can accept commands from
the panel:
– Set the two signal sources for OFF2 (p0844 and p0845) to 1: p0844 = 1
p0845 = 1
– Set the two signal sources for OFF3 (p0848 and p0849) to 1: p0848 = 1
p0849 = 1
– Set the releases for the ramp-up encoder
p1140 = 1
p1141 = 1
– Set the setpoint release
p1142 = 1
2. Adjust the parameters for the ON/OFF1 command from the SIMATIC panel
– Set p0840[0] = 2094.0
In doing so, you interconnect the ON/OFF1 command with bit 0 of the BiCo converter
2094. The signal source of this parameter is p2099.
– Now set p2099[0] = p2900
In doing so, you give the ON/OFF1 command by setting P2900 = 1 (ON) or 0 (OFF1)
3. Set parameters for the setpoint default
– Set
P1070 = 1001 (fixed setpoint 1 as setpoint)
P1016 = 1 (direct selection of the speed setpoint)
P1020 = 1 (speed fixed setpoint selection, Bit 0)
4. Actual value and status word
No further settings are required by the inverter for displaying the speed list value (r0021)
and the status word (r0052).
You have now made the settings in the inverter.
Settings at the SIMATIC panel

Procedure
To adjust the settings for the panel, proceed as follows:
Fieldbuses
1. Configure the connection using WINCCflex

– Enter a name for the connection
– Set the value in the "Active" column to "On"
– Select "SIMATIC S7 300/400"as the communication driver.
– Set the value in the "Online" column to "On"
2. Make the following settings for the configured connection:
– Select the interface (IF1 B for PROFIBUS, "Ethernet" for PROFINET)
– Set the baud rate for PROFIBUS
– Assign a bus address (PROFIBUS) or an IP address (PROFINET)
– Select S7ONLINE as the access point
– If no other control is connected to the inverter, select "Only master on bus"
– Select cyclical operation.
3. ON/OFF1:
– Create a variable for the parameter p2900, which refers to the address "Data module
2900 with the data word DBD 0 (data type double word)":
DB2900.DBD 0
You can switch ON/OFF1 on the panel using one or two buttons.
4. Setpoint
– Create a variable for the parameter 1001, which refers to the address "Data module
1001 with the data word DBD 0 (data type real)":
DB1001.DBD 0
You can display it through an I/O field.
5. Actual value display
– Create a variable for the parameter r0021, which refers to the address "Data module
21 with the data word DBD 0 (data type real)":
DB21.DBD 0
You can display it through an I/O field.
6. Status display
– Create a variable for the parameter r0052, which refers to the address "Data module
52 with the data word DBW 0 (data type word)":
DB52.DBW 0
You can display it through an I/O field with a binary display, for example.
You have now made the important settings in the SIMATIC panel.
Fieldbuses
General information for accessing inverter parameters

You must create a variable with the following structure for each parameter that you want to
display or change using the SIMATIC panel: DBX DBY Z
● X: Data block number ≙ parameter number
● Y: Data type (can be found in the parameter list)
● Z: Data block offset ≙ parameter index
Figure 3-6 Accessing inverter parameters using a SINAMICS G120 as example
Fieldbuses
3.4 Communication via PROFINET

You can either communicate via Ethernet using the inverter, or integrate the inverter in a
PROFINET network.
● The inverter as an Ethernet station (Page 51)
● PROFINET IO operation (Page 47)
In PROFINET IO operation, the inverter supports the following functions:

– RT
– IRT
The inverter transmits the clock synchronism but does not support clock synchronism.
– MRP
Media redundancy, impulsed with 200 ms
Requirement: Ring topology
– MRPD
Media redundancy, impulse-free
Requirement: IRT and the ring topology created in the control
– Diagnostic alarm
in accordance with the fault classes specified in the PROFIdrive profile. See Activating
diagnostics via the control (Page 48).
– Device replacement without removable medium
Requirement: Topology created in the control
– Shared device
only in the case of control units with fail-safe functions (see Safety function manual)
Fieldbuses
Further information on PROFINET can be found on the Internet using the following links:
– General information about PROFINET can be found at Industrial Communication
(http://www.automation.siemens.com/mcms/automation/en/industrial-
communications/profinet/Pages/Default.aspx).
– The configuration of the functions is described in the PROFINET system description
(http://support.automation.siemens.com/WW/view/en/19292127) manual.
3.4.1 Inverter with PROFINET interface

The pin assignment and the connectors that you require for your inverter are listed in the
following tables.
You can implement either a ring or line-type topology using the two sockets at the inverter.
You only require one of the two sockets at the beginning and end of a line.
You can use switches to realize other topologies.
Table 3- 12 Assignment table
Inverter/Control Unit Connection via

X150 P1/ X03/X04 X03/X04
X150 P2 (RJ45, IP57) (M12, IP57)
(RJ45, IP20)
G120
• CU230P-2 PN x
• CU240E-2 PN x
• CU240E-2 PN-F x
• CU250S-2 PN x
G120C
• G120C PN x
G120D
• CU240D-2 PN x
• CU240D-2 PN-F x
• CU250D-2 PN-F x
• CU240D-2 PN-F [PP] x
G110M
• CU240M PN x
Fieldbuses
Table 3- 13 Connector pin assignments
Signal X150 P1/ X03/X04 X03/X04

X150 P2 (RJ45, IP57) (M12, IP57)
(RJ45, IP20)
TX-, transmit data - 1 1 1

RX+, receive data + 3 2 2
TX+ Transmit data + 2 3 3
RX-, receive data - 6 6 4
--- 4 4 ---
--- 5 5 ---
--- 7 7 ---
--- 8 8 ---
Recommended connectors
● RJ45, IP20: 6GK1901-1BB10-2Ax0
Information for assembling the SIMATIC NET Industrial Ethernet FastConnect RF45 Plug
180 can be found on the Internet at "Assembly instructions for SIMATIC NET Industrial
Ethernet FastConnect RJ45 Plug
(http://support.automation.siemens.com/WW/view/en/37217116/133300)".
3.4.2 Integrating inverters into PROFINET
Procedure
To connect the inverter to a control via PROFINET, proceed as follows:
1. Integrate the inverter in the bus system (e.g. ring topology) of the control using
PROFINET cables and the two PROFINET sockets X150-P1 and X150-P2 or X03 und
X04.
The position of the sockets is available in the operating instructions for the inverter. Pin
assignment, see Inverter with PROFINET interface (Page 45).
The maximum permitted cable length from the previous station and to the subsequent
one is 100 m.
2. Externally supply the inverter with 24 V DC through terminals 31 and 32 or via X01.
The external 24 V supply is only required if communications with the control system
should also operate when the line voltage is switched off.
You have connected the inverter to the control using PROFINET.
Fieldbuses
3.4.3 PROFINET IO operation
3.4.3.1 What do you need for communication via PROFINET?

Check the communication settings using the following table. If you answer "Yes" to the
questions, you have correctly set the communication settings and can control the converter
via the fieldbus.
Questions Answer/description Example

Is the inverter correctly connected to See: Integrating inverters into
the bus network? PROFINET (Page 46)
Do the IP address and device name See Configuring communication See manuals for your
in the converter and controller to the control (Page 47) inverter, fieldbus
match? communication manual
Is the same telegram set in the Set the telegram in the (Page 166)
converter as in the higher-level converter, see: Select telegram
controller? (Page 59)
Are the signals that the converter PROFIdrive-compliant
and the controller exchange via interconnection in the converter,
PROFINET correctly interconnected? see: PROFIdrive profile
(Page 15)
Unit.
3.4.3.2 Configuring communication to the control
Configuring the communication using SIMATIC S7 control

● If the inverter is included in the hardware library of HW-Config, you can configure the
inverter.
● You have the following options, if the inverter is not included in the hardware library:
– Install the more up to date STARTER version
– Install the GSDML of the inverter via "Install options/GSDML file" in HW Config.
Additional information on this topic is provided in the "Fieldbuses" Function Manual, also see
Configuring PROFINET communication (Page 166).
Configuring the communication using a non-Siemens control

1. Import the device file (GSDML) of the inverter into the configuring tool of your control
system.
2. Configure the communication.
Fieldbuses
Installing GSDML
Procedure
To install the GSDML of the inverter into the configuring tool of your control system, proceed
as follows:
1. Load the GSDML to your PC.
– On the Internet: GSDML
(http://support.automation.siemens.com/WW/view/en/22339653/133100).
– From your inverter:
Insert a memory card into the converter.
Set p0804 = 12.
The inverter writes the GSDML as zipped file (*.zip) into directory
/SIEMENS/SINAMICS/DATA/CFG on the memory card.
2. Unzip the GSDML file to a folder on your computer.
3. Import the GSDML into the configuring tool of your control system.
You have now installed the GSDML.
3.4.3.3 Activating diagnostics via the control

The converter provides the functionality to transmit fault and alarm messages (diagnostic
messages) to the higher-level control according to the PROFIdrive error classes.
You must select the functionality in the higher-level control (see Activate diagnostic
messages via STEP 7 (Page 169)) and activate it by booting up.
3.4.3.4 PROFIenergy profile

PROFIenergy is an energy management standard for production plants, based on the
PROFINET communication protocol. The functionality is certified and described in the
PROFIenergy profile of the PNO.
The converters support the PROFIenergy profile V1.1 and the function unit class 3.
PROFIenergy functions of the converter

The control transfers the PROFIenergy commands in acyclic operation to the converter in
data set 80A0 hex.
Parameters r5600 to p5614 are reserved for PROFIenergy functions in the converter.
The SINAMICS G120D supports PROFIenergy hibernation mode 1:
● The converter switches off the supply voltage of its digital inputs unless they are
interconnected with r5613.x (display hibernation) or are used as fail-safe inputs.
● The converter switches off the supply voltage of its encoders unless they are HTL
encoders assigned to the position controller.
Fieldbuses
The converters SINAMICS G110M, G120 and G120C support PROFIenergy hibernation
mode 2.
The following commands and queries are available for the control:
PROFIenergy control commands

● Start_Pause
Switches from operating state S1 or S2 (start inhibit or start readiness) to energy-saving
mode independently of the break duration.
● START_Pause_with_time_response
Switches from operating state S1 or S2 (start inhibit or start readiness) to energy-saving
mode independently of the break duration and also specifies the transition times in the
command response.
● End_Pause
Switches from energy-saving mode to the operating state independently of the break
duration.
Cancels switching from the operating state to the energy-saving mode.
PROFIenergy status requests

● List_Energy_Saving_Modes
Determines all supported energy-saving modes.
● Get_Mode
Determines information about the selected energy-saving mode.
● PEM_Status
Determines the current PROFIenergy status.
● PEM_Status_with_CTTO
Determines the current PROFIenergy status, such as the PEM_Status, together with the
regular transition time to the operating state.
● PE_ldentify
Determines the supported PROFIenergy commands.
● Query_Version
Shows the implemented PROFIenergy profile.
● Get_Measurement_List
This command returns the measured value IDs that can be accessed using the
"Get_Measurement_Values" command.
● Get_Measurement_List_with_object_number
This command returns the measured value IDs and the associated object number that
can be accessed using the "Get_Measurement_Values_with_object_number" command.
● Get_Measurement_Values
The command returns the requested measured value using the measured value ID
● Get_Measurement_Values_with_object_number
The command returns the requested measured values using the measured value ID and
the object number. The object number corresponds to the drive object ID.
Fieldbuses
Displaying
● r5600: Current energy-saving mode
● r5613: Interconnectable display of the PROFIenergy status
● A08800: PROFIenergy energy-saving mode active
General settings for PROFIenergy

● Minimum pause time: p5602
– when the pause time sent with the "Start_Pause" command is greater than or equal to
the value for p5602[1], the converter enters energy-saving mode.
– If the pause time is less than p5602[1], the converter ignores the command.
● Maximum pause time: p5606
Block PROFIenergy
If you set p5611.0 = 1, you block the response of the converter to PROFIenergy control
commands. In this case, the converter ignores the PROFIenergy control commands.
Transition to the energy-saving mode from the PROFIdrive operating state (S4)
If you set p5611.2 = 1, you enable transition to the energy-saving mode from the PROFIdrive
operating state (S4)
To do so, you must set one of the following settings:
● p5611.1 = 1: With the transition to the energy-saving mode, the converter issues an
OFF1 command and enters the start-inhibit state (S1).
● p5611.1 = 0: You can use p5614 to interconnect a signal source that switches the
converter off and places it in the start-inhibit state (S1).
If the control sends the command "End_Pause" or "Start_Pause" with a pause time of 0, the
converter continues to run automatically – if the enables are still set.
PROFIenergy measured values
PROFIenergy SINAMICS source parameters Range of

Measured value Accuracy Unit values
ID Name Domain Class Number Name

34 Active power 1 12 W r0032 Active power smoothed r2004
166 Power factor 1 12 1 r0038 Smoothed power factor 0…1
200 Active energy import 2 11 Wh r0039[1] Energy accepted -
Fieldbuses
3.4.4 The inverter as an Ethernet station
Integrating inverters with PROFINET/EtherNET/IP interface via DHCP in Ethernet

For the case that the inverter is not controlled in cyclic operation from a higher-level control
system, you have the option of integrating the inverter in the network as Ethernet station. In
this case, you integrate the inverter into the Ethernet network via DHCP. As a consequence,
you have the option, using a PC on which STARTER is installed, to carry out diagnostics,
commission or make parameter changes from any location within the Ethernet network.
You can identify the inverter either using the MAC address (r8935) or using the device name
of the inverter (r8930).
In the factory setting, the inverter is set for PROFINET IO communication. In order that you
can integrate the inverter into Ethernet via DHCP, you must change the inverter settings as
subsequently described.
Integrating inverters into an Ethernet network using the parameter settings
Procedure
Proceed as follows to integrate an inverter into the Ethernet via DHCP:
1. Set p8924 (PN DHCP Mode) = 2 or 3
– With p8924 = 2, address is assigned by the DHCP server based on the MAC address
of the inverter.
– With p8924 = 3, address is assigned by the DHCP server based on the device name
of the inverter.
2. Set p8925 = 2 or 3
– With p8925 = 2, the inverter saves the actual configuration. The settings become
effective at the next power on.
– With p8925 = 3, you reset the PROFINET interface to the factory setting (PROFINET
IO communication). The settings become effective at the next power on.
You have integrated the inverter into the Ethernet via DHCP.
Displays
The actual PN-DHCP mode is displayed in r8934, the MAC address in r8935.
Additional settings
You can find additional setting options and messages (A08565) in the List Manual
(Page 182).
With p8924 = 0, you inhibit the 'DHCP mode
Fieldbuses
Additional options of integrating inverters into Ethernet

Other options of integrating inverters into the Ethernet involve, e.g. Proneta or STEP 7.
Here is the example of the "Edit Ethernet station" screen form from Step 7, which you can
use to make the required settings.
Fieldbuses
3.5 Communication via PROFIBUS
The PROFIBUS DP interface has the following functions:

● Cyclic communication
● Acyclic communication
● Diagnostic alarms
General information on PROFIBUS DP can be found on the Internet at the following links:
● PROFIBUS information (http://support.automation.siemens.com/WW/view/en/1971286).
● Installation guidelines of the PNO (http://www.profibus.com/downloads/installation-
guide/).
Fieldbuses
3.5.1 Inverters with PROFIBUS interface

You can find the connectors and the connector assignments of the PROFIBUS DP interface
in the following tables.
You can implement a line-type topology using the two connectors at the inverter. You can
use switches to realize other topologies.
Table 3- 14 Assignment table - connectors

X126 X03, on X04, off
(D Sub socket, (M12, IP57) (M12, IP57)
IP20)
G120
• CU230P-2 DP x
• CU240E-2 DP x
• CU240E-2 DP-F x
• CU250S-2 DP x
G120C
• G120C DP x
G120D
• CU240D-2 DP x x
• CU240D-2 DP-F x x
• CU250D-2 DP-F x x
G110M
• CU240M DP x x
Fieldbuses
Signal X126 X03, on X04, off

(D Sub socket, (M12, IP57) (M12, IP57)
IP20)
Shield, ground connection 1 5 5

--- 2 1 1
RxD/TxD-P, receive and transmit (B/B’) 3 4 4
CNTR-P, control signal 4 --- ---
DGND, reference potential for data 5 --- ---
(C/C’)
VP, supply voltage 6 --- ---
--- 7 3 3
RxD/TxD-N, receive and transmit (A/A’) 8 2 2
--- 9 --- ---
Recommended PROFIBUS connectors

We recommend connectors with the following order numbers for connecting the PROFIBUS
cable:
● 6GK1500-0FC10
● 6GK1500-0EA02
3.5.2 What do you need for communication via PROFIBUS?

Check the communication settings using the following table. If you answer "Yes" to the
questions, you have correctly set the communication settings and can control the converter
via the fieldbus.
Questions Description Examples

Is the inverter correctly connected to See Section: Integrating inverters into ---
the PROFIBUS? PROFIBUS (Page 56).
Have you configured the See Section: Configuring the See Configuring
communication between the inverter communication using SIMATIC S7 PROFIBUS
and the higher-level controller? control (Page 56) communication
Do the addresses in the inverter and See Section: Setting the address (Page 163)
the higher-level controller match? (Page 58).
Is the same telegram set in the higher- Adapt the telegram in the inverter. See
level controller and in the inverter? Section: Select telegram (Page 59).
Are the signals that the inverter and the Adapt the interconnection of the signals
controller exchange via PROFIBUS in the controller to the inverter. For the
correctly interconnected? PROFIdrive-compliant interconnection in
the inverter, see also Section:
PROFIdrive profile (Page 15).
Fieldbuses
3.5.3 Integrating inverters into PROFIBUS
Procedure
To connect the inverter to a control system via PROFIBUS DP, proceed as follows:
1. Integrate the inverter into the bus system (e.g. line-type topology) using PROFIBUS
cables.
– Inverters with IP20 degree of protection: via socket X126
– Inverters with degree of protection IP65 (CU240D/CU250D) via X03 and X04
The position of the socket is explained in the operating instructions for the inverter. Pin
assignment, see Inverters with PROFIBUS interface (Page 54).
The maximum permitted cable length to the previous station and the subsequent one is
100 m at a baud rate of 12 Mbit/s. You can achieve a maximum cable length of 400 m by
using a maximum of 3 repeaters.
2. Externally supply the inverter with 24 V DC through terminals 31 and 32 or via X01.
The external 24 V supply is only required if communications with the control system
should also operate when the line voltage is switched off.
You have now connected the inverter to the control system using PROFIBUS DP.
3.5.4 Configuring communication to the control system

Configure the communication in the control system after you have connected the inverter to
the bus.
3.5.4.1 Configuring the communication using SIMATIC S7 control

● If the inverter is listed in the hardware library of HW-Conifg, you can configure the
communication in the SIMATIC control.
● If the inverter is not listed in the hardware library, you can either install the newest
STARTER version or install the GSD of the inverter through "Extras/GSD-Install file" in
HW-Config. See also Installing the GSD (Page 57).
When you have installed the GSD, configure the communication in the SIMATIC control.
Example of configuring the communication with a SIMATIC control system

You can find an example of configuring the communication with a SIMATIC control system in
the Section "Configuring PROFIBUS communication (Page 163)".
Fieldbuses
3.5.4.2 Configuring the communication with a third-party control system

If you are working with a third-party control system, you must install the device file (GSD) of
the inverter in the control before you configure the communication. You will find details in
"Installing the GSD (Page 57)".
If you have installed the GSD, configure the communication. To do this, follow the
documentation of your control system.
3.5.4.3 Installing the GSD
Procedure
To load the GSD of the inverter in the control, proceed as follows:
1. Obtain the GSD
– either in the Internet at (GSD
(http://support.automation.siemens.com/WW/view/en/22339653/133100)).
– or from your inverter. To do this, insert a memory card in the inverter, and set p0804 =
12. This means that you save the GSD as zipped file (DPGSD.ZIP) in directory
/SIEMENS/SINAMICS/DATA/CFG on the memory card.
2. Unzip the GSDfile in a folder on your computer.
3. Import the GSDinto the configuration tool of your control.
You have now installed the GSD file.
Fieldbuses
3.5.5 Setting the address
You set the PROFIBUS address of the inverter using

the address switch on the Control Unit, in parameter
p0918 or in STARTER.
In parameter p0918 (factory setting: 126) or in
STARTER, you can only set the address, if all address
switches are set to "OFF" (0) or "ON" (1).
If you have specified a valid address with the address
switches, this address will always be the one that
takes effect and parameter p0918 cannot be changed.
Valid address range: 1 … 125
The position of the address switch is described in the operating instructions of the inverter.
Procedure
To change the bus address, proceed as follows:
1. Set the address using one of the subsequently listed options:
– using the address switch
– from an operator panel using parameter p0918
– in STARTER using screen form "Control Unit/Communication/PROFIBUS" – or using
the expert list in parameter p0918
After you have changed the address in STARTER, carry out RAM to ROM ( ).
2. Switch on the inverter power supply and, if available, the 24 V power supply for the
Control Unit.
3. Switch on the voltages again after all LEDs at the inverter have gone dark.
You have now changed the bus address.
Fieldbuses
3.6 Select telegram
3.6 Select telegram
Precondition
In the basic commissioning you have selected the control using PROFIBUS or PROFINET.
Telegrams for SINAMICS G120 inverters

The following table shows all of the telegrams that are available for the G120 inverter.
p0922 = 1: Standard telegram 1, PZD-2/2 (factory setting, exceptions: CU250D and

2: CU250S)
3: standard telegram 2, PZD-4/4
9: standard telegram 7, PZD-2/2 (factory setting CU250D)
free telegram (extend telegram/change signal interconnection (Page 26))
(factory setting CU250S)
If you change parameter p0922, then you can only select the telegrams that are available for
your particular inverter.
A more detailed depiction of the individual telegrams can be found in Section Cyclic
communication (Page 15).
PROFIsafe telegram selection

The settings for the PROFIsafe telegram selection are described in the "Safety Integrated"
Function Manual.
Fieldbuses
3.6 Select telegram
Fieldbuses
Communication via EtherNet/IP 4
EtherNet/IP is real-time Ethernet, and is mainly used in automation technology.
You have the following options of integrating SINAMICS G120 inverters into EtherNet/IP:
● You use the SINAMICS profile
● You use the ODVA AC/DC drive profile
● You define the assemblies for the process data using the objects that are supported by
the inverter
You can find details on the various options in Section Configuring communication via
EtherNet/IP (Page 65).
Fieldbuses
Communication via EtherNet/IP
4.1 Inverters with Ethernet/IP interface

The pin assignment and the connectors that you require for your inverter are listed in the
following tables.
You can implement either a ring or line-type topology using the two sockets at the inverter.
You only require one of the two sockets at the beginning and end of a line.
You can use switches to realize other topologies.

X150 P1/ X03/X04 X03/X04
X150 P2 (RJ45, IP57) (M12, IP57)
(RJ45, IP20)
G120
• CU230P-2 PN x
• CU240E-2 PN x
• CU240E-2 PN-F x
• CU250S-2 PN x
G120C
• G120C PN x
G120D
• CU240D-2 PN x
• CU240D-2 PN-F x
• CU250D-2 PN-F x
G110M
• CU240M PN x
Fieldbuses
Signal X150 P1/ X03/X04 X03/X04

X150 P2 (RJ45, IP57) (M12, IP57)
(RJ45, IP20)
TX-, transmit data - 1 1 1

RX+, receive data + 3 2 2
TX+ Transmit data + 2 3 3
RX-, receive data - 6 6 4
--- 4 4 ---
--- 5 5 ---
--- 7 7 ---
--- 8 8 ---
Recommended connectors
● RJ45, IP20: 6GK1901-1BB10-2Ax0
Information for assembling the SIMATIC NET Industrial Ethernet FastConnect RF45 Plug
180 can be found on the Internet at "Assembly instructions for SIMATIC NET Industrial
Ethernet FastConnect RJ45 Plug
(http://support.automation.siemens.com/WW/view/en/14293080/133300)".
Fieldbuses
4.2 Connect converter to Ethernet/IP
4.2 Connect converter to Ethernet/IP

Procedure
To connect the inverter to a control system via Ethernet, proceed as follows:
1. Connect the inverter to the control system via an Ethernet cable.
2. You create an object for data exchange.
You have the following options:
– You load the EDS file into your control. You can find the file in the Internet at:
(http://support.automation.siemens.com/WW/view/en/48351511).
– If your control does not accept the EDS file, then create a generic I/O module
(Page 76) in your control.
You have connected the inverter to the control system via EtherNet/IP.
Routing and shielding Ethernet cables

Information can be found on the Internet: EtherNet/IP guidelines
(http://www.odva.org/Home/ODVATECHNOLOGIES/EtherNetIP/EtherNetIPLibrary/tabid/76/l
ng/en-US/Default.aspx).
Commissioning the inverter in an EtherNet/IP network

To commission the inverter, connect the inverter via the USB interface with your computer
on which STARTER, Version > 4.2 has been installed.
You can find details on this in the Operating instructions (Page 182) of the inverter or the
Control Unit.
4.3 What do you need for communication via Ethernet/IP?

Check the communication settings using the following questions. If you answer "Yes" to the
questions, you have correctly set the communication settings and can control the inverter via
the fieldbus.
● Is the inverter correctly connected to the EtherNet/IP?
● Is the EDS file (http://support.automation.siemens.com/WW/view/en/48351511) installed
in your control system?
● Have the bus interface and IP address been correctly set?
● Have the signals that the inverter and the control system exchange been correctly
interconnected?
Fieldbuses
4.4 Configuring communication via EtherNet/IP
4.4 Configuring communication via EtherNet/IP
Basic settings
Procedure
Make the following settings in order to communicate with a higher-level control via
EtherNet/IP:
1. p2030: set a value of 10: Fieldbus interface protocol selection Ethernet/IP:
2. p8921: Enter the IP address. You can find the currently valid address in r8931.
3. p8923: Enter the subnet mask. You can find the currently valid subnet mask in r8933.
4. p8922: Enter the standard gateway. You can find the currently valid Default Gateway in
r8932.
5. p8920: Enter the station name.
6. p8925: Set a value of 2: Save and activate PN interface configuration
7. Switch off the inverter, and then any possibly existing external 24 V power supply.
8. Switch on the inverter again.
You have configured the inverter for communication via Ethernet/IP.
Parameters p8921 … p8925 apply if p2030 = 10 is set, for EtherNet/IP, even if the
parameter names indicates PROFINET.
Communication settings
You set the communication using parameter p8980. You have the following options
Communication via the SINAMICS profile

● The SINAMICS profile is a drive profile for EtherNet/IP defined by Siemens, based on
PROFIdrive, and is factory set in the inverters.
Setting: p8980 = 0
With the SINAMICS profile, you can use each of the telegrams listed in parameter p0922
Communication via the ODVA AC/DC drive profile

● The ODVA AC/DC drive profile is a drive profile defined by the ODVA organization
Setting: p8980 = 1
With the AC/DC profile of ODVA, you select the standard telegram, p0922 = 1
Communication settings via EtherNet/IP objects and assemblies

You cannot work with the EDS file if you wish to use the assemblies described in Section
Supported objects (Page 67). In this case, you must integrate the inverter into your control
system. Details on this topic can be found in the documentation of your control system.
Fieldbuses
4.5 Additional settings if you are working with the AC/DC profile
Setting the bus monitoring time

You set the bus monitoring using parameter p8840 in the inverter.
If you set this parameter to 0, the inverter continues to operate even if the bus develops a
fault condition. If you set a time ≠ 0, then the inverter switches off with F08501 "Setpoint
timeout" if the control system does not issue any signals within this time.
4.5 Additional settings if you are working with the AC/DC profile
If you change the following settings in the inverter by accessing the appropriate parameters,
you must switch-off the inverter and switched it on again in order that these changes become
effective. The changes become immediately effective when making the changes via the
control system with objects 90 hex or 91 hex.
Setting the off response for the motor

You set the standard off response for the inverter using parameter p8981:
● p8981 = 0: OFF1 (factory setting), also corresponds to the setting in the SINAMICS
profile
● p8981 = 1: OFF2
You can find details about OFF1 and OFF2 in the operating instructions of the Control Unit in
the Section "Switching on and switching off a motor".
Setting the speed and torque scaling

You scale the speed and torque display using parameter p8982 or p8983. Setting range: 25
to 2-5.
Displaying the maximum process data that can be transferred (PZD)

● r2067[0] maximum interconnected PZD length - receiving
● p2067[1] maximum interconnected PZD length - sending
Fieldbuses
4.6 Supported objects
EtherNet/IP objects supported by the G120
Object class Object name Objects ODVA objects SINAMICS

hex dec required objects
1 hex 1 Identity object x

4 hex 4 Assembly object x
6 hex 6 Connection Manager object x
28 hex 30 Motor Data Object x
29 hex 31 Supervisor Object x
2A hex 42 Drive Object x
32C hex 44 Siemens Drive Object x
32D hex 45 Siemens Motor Data Object x
90 hex 144 Parameter object x
91 hex 145 Parameter object free access (DS47) x
F5 hex 245 TCP/IP Interface object 1) x
F6 hex 246 Ethernet Link object 1) x
401 hex … 43E he 1025 … 10 Parameter object x
x 86
1) these objects are part of the EtherNet/IP system management.
ODVA AC/DC assembly
Number required/ Type Name

optional
hex dec
14 hex 20 Required Sending Basic Speed Control Output

15 hex 21 Optional Sending Extended Speed Control Output
16 hex 22 Optional Sending Speed and Torque Control Output
17 hex 23 Optional Sending Extended Speed and Torque Control Output
18 hex 24 Optional Sending Process Control Output
19 hex 25 Optional Sending Extended Process Control Output
46 hex 70 Required Receiving Basic Speed Control Input
47 hex 71 Optional Receiving Extended Speed Control Input
48 hex 72 Optional Receiving Speed and Torque Control Input
49 hex 73 Optional Receiving Extended Speed and Torque Control Input
4A hex 74 Optional Receiving Process Control Input
4B hex 75 Optional Receiving Extended Process Control Input
Fieldbuses
Assembly Basic Speed Control, Instance Number: 20, type: Output
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Fault RUN
Reset Forward
1
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)
Assembly Basic Speed Control, Instance Number: 70, type: Input

0 Running Faulted
Forward
1
2 Speed Actual (Low Byte)
3 Speed Actual (High Byte)
Assembly Basic Speed Control with parameter assembly, Instance Number: 120, type: Output

0 Fault RUN
Reset Forward
1
4 Data Out 1 Value (Low Byte)
5 Data Out 1 Value (High Byte)
Fieldbuses
Assembly Basic Speed Control with parameter assembly, Instance Number: 170, type: Input

0 Running Faulted
Forward
1
4 Data In 1 Value (Low Byte)
5 Data In 1 Value (High Byte)
22 Data In10 Value (Low Byte)
Assembly Extended Speed Control, Instance Number: 21, type: Output

0 NetRef Net CtrL Fault RUN RUN
Reset Reverse Forward
1
Fieldbuses
Assembly Extended Speed Control, Instance Number: 71, type: Input

0 At Ref From CtrL From Ready Running Running Warning Faulted
Reference Net Net Reverse Forward
1 Drive State
Assembly Extended Speed Control with parameter assembly, Instance Number: 121, type: Output

1
Fieldbuses
Assembly Extended Speed Control with parameter assembly, Instance Number: 171, type: Input

0 At Ref From Ref From Ready Running Running Warning Faulted
1 Drive State
Assembly Basic Speed and Torque Control , Instance Number: 22, type: Output

0 Fault RUN
Reset Forward
1
4 Torque Reference (High Byte)
Fieldbuses
Assembly Basic Speed and Torque Control , Instance Number: 72, type: Input

0 Running RUN
Forward Forward
1
4 Torque Actual (High Byte)
Assembly Basic Speed and Torque Control with parameter assembly , Instance Number: 122, type:
Output

0 Fault RUN
Reset Forward
1
Fieldbuses
Assembly Basic Speed and Torque Control with parameter assembly , Instance Number: 172, type:
Input

Running Faulted
Forward
1
Data In 8 Value (High Byte)
Extended Speed and Torque Control, Instance Number: 23, type: Output

1
Fieldbuses
Extended Speed and Torque Control, Instance Number: 73, type: Input

0 At Ref From Crtl From Ready Running Running Warning Faulted
1 Drive State
Basic Speed and Torque Control with parameter assembly, Instance Number: 123, type: Output

1
Fieldbuses
Basic Speed and Torque Control with parameter assembly, Instance Number: 173, type: Input

0 At Ref From Crtl From Ready Running Running Warning Faulted
1 Drive State
Fieldbuses
4.7 Create generic I/O module
4.7 Create generic I/O module

For certain controllers, you cannot use the EDS file provided by Siemens. In these cases,
you must create a generic I/O module in the control system for the cyclic communication.
Procedure
To do this, proceed as follows:
1. In your control, create a generic device with Ethernet/IP functionality.
2. In the control, enter the lengths for the process data for cyclic communication in the new
device, which you have selected in STARTER, r2067[0] (input), r2067[1] (output), for
example: Standard telegram 2/2.
3. In STARTER, set the same values for IP address, Subnet Mask, Default Gateway and the
Name of Station as in the control system (see Configuring communication via EtherNet/IP
(Page 65))
You have created a generic I/O module for cyclic communication with the inverter.
Fieldbuses
4.8 The inverter as an Ethernet station
Integrating inverters with PROFINET/EtherNET/IP interface via DHCP in Ethernet

For the case that the inverter is not controlled in cyclic operation from a higher-level control
system, you have the option of integrating the inverter in the network as Ethernet station. In
this case, you integrate the inverter into the Ethernet network via DHCP. As a consequence,
you have the option, using a PC on which STARTER is installed, to carry out diagnostics,
commission or make parameter changes from any location within the Ethernet network.
You can identify the inverter either using the MAC address (r8935) or using the device name
of the inverter (r8930).
In the factory setting, the inverter is set for PROFINET IO communication. In order that you
can integrate the inverter into Ethernet via DHCP, you must change the inverter settings as
subsequently described.
Integrating inverters into an Ethernet network using the parameter settings
Procedure
Proceed as follows to integrate an inverter into the Ethernet via DHCP:
1. Set p8924 (PN DHCP Mode) = 2 or 3
– With p8924 = 2, address is assigned by the DHCP server based on the MAC address
of the inverter.
– With p8924 = 3, address is assigned by the DHCP server based on the device name
of the inverter.
2. Set p8925 = 2 or 3
– With p8925 = 2, the inverter saves the actual configuration. The settings become
effective at the next power on.
– With p8925 = 3, you reset the PROFINET interface to the factory setting (PROFINET
IO communication). The settings become effective at the next power on.
You have integrated the inverter into the Ethernet via DHCP.
Displays
The actual PN-DHCP mode is displayed in r8934, the MAC address in r8935.
Additional settings
You can find additional setting options and messages (A08565) in the List Manual
(Page 182).
With p8924 = 0, you inhibit the 'DHCP mode
Fieldbuses
Additional options of integrating inverters into Ethernet

Other options of integrating inverters into the Ethernet involve, e.g. Proneta or STEP 7.
Here is the example of the "Edit Ethernet station" screen form from Step 7, which you can
use to make the required settings.
Fieldbuses
Communication via RS485 5
Table 5- 1 Assignment table - fieldbus systems via RS485
Inverter/Control Unit Fieldbus connection for

USS Modbus BACnet P1
RTU MS/TP
G120
• CU230P-2 HVAC ✓ ✓ ✓ ✓
• CU230P-2 BT ✓ ✓ ✓ ✓
• CU240B-2 ✓ ✓ --- ---
• CU240E-2 ✓ ✓ --- ---
• CU240E-2 F ✓ ✓ --- ---
• CU250S-2 ✓ ✓ --- ---
G120C
• G120C USS/MB ✓ ✓ --- ---
G110M
• CU240M USS ✓ ✓ --- ---
Fieldbuses
Communication via RS485
5.1 Inverter with RS485 interface
5.1 Inverter with RS485 interface

You can find the connectors and the connector assignments of the RS485 interface in the
following tables.

X128 X03, in X04, out
(IP20) (M12, IP57) (M12, IP57)
G120
• CU230P-2 HVAC x
• CU230P-2 BT x
• CU240B-2 x
• CU240E-2 x
• CU240E-2 F x
• CU250S-2 x
G120C
• G120C USS/MB x
G110M
• CU240M USS x x
Table 5- 3 Pin assignment

Signal X128 X03, in X04, out
(IP20) (M12, IP57) (M12, IP57)
Not assigned 5 1/3 1/3

RS485N, receive and transmit 3 --- ---
RS485N, receive --- 2 ---
RS485N, transmit (-) --- --- 2
RS485P, receive and transmit (-) 2 --- ---
RS485P, receive --- 4 ---
RS485P, transmit (+) --- --- 4
0 V, reference potential 1 5 5
Cable shield 4 --- ---
Fieldbuses
5.2 Integrating inverters into a bus system via the RS485 interface
5.2 Integrating inverters into a bus system via the RS485 interface
Connecting to a network via RS485

Connect the inverter to the fieldbus
via the RS485 interface.
The RS485 connector has short-
circuit proof, isolated pins.
You must switch-in the bus-
terminating resistor for the first and
last nodes.
You can find the position of the
RS485 connector and the bus
terminating resistor in the operating
instructions for the inverter or the
Control Unit.
The precondition for error-free communications is that the first and last station are supplied
with power.
Communications are maintained if you withdraw individual slaves from the bus without
interrupting the cable (this is not possible for inverters with a high degree of protection).
Unit.
Fieldbuses
5.3 Communication via USS

The USS protocol is a serial-data connection between one master and one or more slaves. A
master is, for example:
● A programmable logic controller (e.g. SIMATIC S7-200)
● A PC
The inverter is always a slave.
A maximum of 31 slaves is possible.
The maximum cable length is 100 m.
Information about how to connect the inverter to the USS fieldbus is provided in Section
Integrating inverters into a bus system via the RS485 interface (Page 81).
5.3.1 Basic settings for communication
Overview
Depending on the particular inverter, you have the following options when setting
communication via USS:
● Default setting 21 "USS fieldbus" for all inverters with RS485 interface
● Default setting 108 "BT Mac 8: USS fieldbus" only for CU230P-2 HVAC / CU230P-2 BT.
See also Additional manuals for your inverter (Page 182).
Procedure with default setting 21 "USS Fieldbus"

Proceed as follows to set communication via USS:
1. Activate communication via the RS485 interface using one of the following options:
– with STARTER under Control Unit/Configuration "Default settings of the
setpoint/command sources":
21: USS fieldbus
– with BOP-2 for the basic commissioning under Step "MAc PAr P15":
FB USS
– using the expert list or parameter number:
p0015 = 21
2. Set the bus protocol
– using STARTER under Control Unit/Communication/Fieldbus:
1 USS
– using the BOP-2 via parameter p2030:
p2030 = 1
3. Set the inverter address.
4. Make additional changes based on the parameters listed in the following section.
5. If you are working with STARTER, backup the settings with .
This means that you have made the settings for communication via USS.
Fieldbuses
Parameters to adapt the settings for communication via USS
Fieldbus telegram selection p2030 = 1 (USS)
Baud rate p2020 = 8, 38400 bit/s

Setting range: 2400 bit/s … 187500 bit/s
Fieldbus analog outputs p0791[0 … 1]

Parameter to interconnect the analog outputs for control via the fieldbus
Fieldbus interface USS PZD number p2022 = 2

Setting the number of 16-bit words in the PZD part of the USS telegram
Setting range: 0… 8 (0 … 8 words)
Fieldbus interface USS PKW number, p2023 = 127

Setting the number of 16-bit words in the PKW part of the USS telegram
Setting range:
● 0, 3, 4: fixed length with 0, 3 or 4 words
● 127: variable lengths
Fieldbus error statistics r2029

Displaying receive errors at the fieldbus interface
Fieldbus monitoring time p2040 = 100 ms

Setting range: 0 ms … 1999999 ms
The more slaves that are connected in the network, the longer the fieldbus monitoring time
must be.
If process data is not transferred within one cycle of the fieldbus monitoring time, then the
inverter shuts down with fault F01910.
p2040 = 0 ⇒ bus monitoring deactivated.
5.3.1.1 Setting the address
You set the bus address of the inverter using the

address switches, using parameter p2021 or in
STARTER.
If you have specified a valid address using the
address switches, this address will always be the one
that takes effect, and parameter p2021 (factory
setting: 0) will not be able to be changed.
The position of the address switches can be found in
the operating instructions of the Control Unit in the
section "Overview of interfaces".
Fieldbuses
Procedure
1. Set the new address:
– using the address switches
– from an operator panel in parameter p2021
– in STARTER using screen form "Control Unit/Communication/Fieldbus", or using the
expert list in parameter p2021
Control Unit.
You have so changed the bus address.
5.3.2 Telegram structure
Overview
A USS telegram comprises a series of elements with a defined sequence. Each element
contains 11 bits.
Figure 5-1 Structure of a USS telegram
Fieldbuses
Telegram part Description

Start delay / There is always a start and/or response delay between two telegrams (see
response delay alsoTime-out and other errors (Page 92))
STX An ASCII character (02 hex) indicates the beginning of the message.
LGE The telegram length "LGE" is calculated as follows:
LGE = user data (n bytes) + ADR (1 byte) + BCC (1 byte)
ADR
• Bit 7 = 0: Normal data exchange.

Bit 7 =1, to transfer telegrams that require a net data structure different
from the device profile.
Bit 6 = 1: Testing the bus connection: The converter returns the telegram
unchanged to the master.
(Bit 5 = 1: Not supported in the converter.)
• Bits 0 ... 4: Address of the converter.
Net data See section User data range of the USS telegram (Page 85).
BCC Checksum (exclusive or) across all telegram bytes – with the exception of
BCC.
5.3.3 User data range of the USS telegram

The user data area consists of the following elements:
● Parameter channel (PIV) for writing and reading parameter values
● Process data (PZD) for controlling the drive.
Figure 5-2 USS telegram - user data structure
Fieldbuses
Parameter channel
In parameter p2023 you specify the parameter channel length.
Parameter channel with fixed and variable length

● p2023 = 0
With this setting, no parameter values are transferred.
● p2023 = 3
You can select this setting if you only want to read or write 16-bit data or alarm signals.
● p2023 = 4:
If you want to read or write 32-bit values (for example indexed parameters or bit
parameters, e.g. r0722.2), then this setting is required. In this case, the send or receive
telegram always contains four words, even if only three would be required. The values
are enter right-justified in the 4th word.
● p2023 = 127:
If you set p2023 = 27 (variable length), the send and response telegrams are as long as
the task actually requires.
Process data
Parameter p2022 defines the length for the process data. You can transfer up to eight
process data items in one telegram (p2022 = 0 … 8). For p2022 = 0, no process data is
transferred.
5.3.4 USS parameter channel
Structure of the parameter channel

Depending on the setting in p2023, the parameter channel has a fixed length of three or four
words, or a variable length, depending on the length of the data to be transferred.
1. and 2nd word contain the parameter number and index as well as the type of job (read or
write). The other words of the parameter channel contain parameter contents. The
parameter contents can be 8-bit values, 16-bit values (such as baud rate) or 32-bit values
(e.g. CO parameters). The parameter contents are entered right justified in the word with the
highest number. Words that are not required are assigned 0.
Bit 11 in the 1st word is reserved and is always assigned 0.
The diagram shows a parameter channel that is four words long.
You can find examples of telegrams at the end of this section.
Fieldbuses
Request and response IDs

Bits 12 to 15 of the 1st word of the parameter channel contain the request and response
identifier.
Table 5- 4 Request identifiers, control → inverter
Request Description Response identifier

identifier
positive negative
0 No request 0 7/8
1 Request parameter value 1/2 7/8
2 Change parameter value (word) 1 7/8
3 Change parameter value (double word) 2 7/8
4 Request descriptive element 1) 3 7/8
62) Request parameter value (field) 1) 4/5 7/8
72) Change parameter value (field, word) 1) 4 7/8
82) Change parameter value (field, double word) 1) 5 7/8
9 Request number of field elements 6 7/8
2) The following request IDs are identical: 1 ≡ 6, 2 ≡ 7 3 ≡ 8.
We recommend that you use identifiers 6, 7, and 8.
Table 5- 5 Response identifiers, inverter → control
Response Description
identifier
0 No response
1 Transfer parameter value (word)
2 Transfer parameter value (double word)
3 Transfer descriptive element 1)
4 Transfer parameter value (field, word) 2)
5 Transfer parameter value (field, double word) 2)
6 Transfer number of field elements
7 Inverter cannot process the request.
In the most significant word of the parameter channel, the inverter sends an error
number to the control, refer to the following table.
8 No master controller status / no authorization to change parameters of the
parameter channel interface
2) The required element of the indexed parameter is specified in IND (2nd word).
Fieldbuses
Table 5- 6 Error numbers for response identifier 7
No. Description
01 hex Parameter value cannot be changed (change request for a parameter value that cannot be
changed)
03 hex Incorrect subindex (access to a subindex that does not exist.)
05 hex Incorrect data type (change request with a value that does not match the data type of the
parameter)
06 hex Setting not permitted, only resetting (change request with a value not equal to 0 without
permission)
07 hex Descriptive element cannot be changed (change request to a descriptive element error
value that cannot be changed)
0B hex No master control (change request but with no master control, see also p0927.)
0C hex Keyword missing
11 hex Request cannot be executed due to the operating state (access is not possible for
temporary reasons that are not specified)
14 hex Inadmissible value (change request with a value that is within the limits but which is illegal
for other permanent reasons, i.e. a parameter with defined individual values)
65 hex Parameter number is currently deactivated (depending on the mode of the inverter)
66 hex Channel width is insufficient (communication channel is too small for response)
68 hex Illegal parameter value (parameter can only assume certain values)
6A hex Request not included / task is not supported (the valid request identifications can be found
in table "Request identifications controller → inverter")
6B hex No change access for a controller that is enabled. (operating status of the inverter
86 hex Write access only for commissioning (p0010 = 15) (operating status of the inverter
C8 hex Change request below the currently valid limit (change request to a value that lies within
the "absolute" limits, but is however below the currently valid lower limit)
C9 hex Change request above the currently valid limit (example: a parameter value is too large for
the inverter power)
CC hex Change request not permitted (change is not permitted as the access code is not
available)
Fieldbuses
Parameter number
Parameter numbers < 2000 PNU = parameter number.
Write the parameter number into the PNU (PKE bit 10 ... 0).
Parameter numbers ≥ 2000 PNU = parameter number - offset.
Write the parameter number minus the offset into the PNU
(PKE bit 10 … 0).
Write the offset in the page index (IND bit 15 … 8).
Table 5- 7 Offset and page index of the parameter numbers
Parameter number Offset Page index

Hex Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
0000 … 1999 0 0 hex 0 0 0 0 0 0 0 0
2000 … 3999 2000 80 hex 1 0 0 0 0 0 0 0
6000 … 7999 6000 90 hex 1 0 0 1 0 0 0 0
8000 … 9999 8000 20 hex 0 0 1 0 0 0 0 0
10000 … 11999 10000 A0 hex 1 0 1 0 0 0 0 0
20000 … 21999 20000 50 hex 0 1 0 1 0 0 0 0
30000 … 31999 30000 F0 hex 1 1 1 1 0 0 0 0
60000 … 61999 60000 74 hex 0 1 1 1 0 1 0 0
Indexed parameters
For indexed parameters, you must write the index as hex value into the subindex (IND
bit 7 … 0).
Parameter contents
Parameter contents can be parameter values or connector parameters. You require two
words for connector parameters. You can find more information on interconnecting
connector parameters in the operating instructions of the Control Unit in the section
"Interconnecting signals in the inverter".
Enter the parameter value in the parameter channel right-justified as follows:

• 8-bit values: Low word, bits 0 … 7, bits 8 … 15 are zero.
• 16-bit values: Low word, bits 0 … 15,
• 32-bit values: Low word and high word
Enter a connector parameter right-justified as follows:
• Number of the connector parameter: High word
• Drive object of the connector parameter: Low word, bits 10 … 15
• The index or bit field number of the connector parameter: Low word, bits 0 … 9
Fieldbuses
5.3.4.1 Telegram examples, length of the parameter channel = 4
Read request: Read out serial number of the Power Module (p7841[2])
To obtain the value of the indexed parameter p7841, you must fill the telegram of the
parameter channel with the following data:
● PKE, bit 12 … 15 (AK): = 6 (request parameter value (field))
● PKE, bit 0 … 10 (PNU): = 1841 (Parameter number without offset)
Parameter number = PNU + offset (page index)
(7841 = 1841 + 6000)
● IND, bit 0 … 7 (subindex): = 2 (Index of the parameter)
● Because you want to read the parameter value, words 3 and 4 in the parameter channel
for requesting the parameter value are irrelevant. They should be assigned a value of 0,
for example.
Figure 5-3 Telegram for a read request from p7841[2]
Write request: Changing the automatic restart mode (p1210)

Parameter p1210 defines the automatic restart mode:
● PKE, bit 12 … 15 (AK): = 7 (change parameter value (field, word))
● PKE, bit 0 … 10 (PNU): = 4BA hex (1210 = 4BA hex, no offset, as 1210 < 1999)
● IND, bit 8 … 15 (page index): = 0 hex (offset 0 corresponds to 0 hex)
● IND, bit 0 … 7 (subindex): = 0 hex (parameter is not indexed)
● PWE1, bit 0 … 15: = 0 hex
● PWE2, bit 0 … 15: = 1A hex (26 = 1A hex)
Figure 5-4 Telegram, to activate the automatic restart with p1210 = 26
Fieldbuses
Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2)
In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source,
ON/OFF1) the value 722.2 (DI 2). To do this, you must fill the telegram of the parameter
channel as follows:
● PKE, bit 12 … 15 (AK): = 7 hex (change, parameter value (field, word))
● PKE, bit 0 … 10 (PNU): = 348 hex (840 = 348 hex, no offset, as 840 < 1999)
● IND, bit 0 … 7 (subindex): = 1 hex (command data set, CDS1 = index1)
● PWE1, bit 0 … 15: = 2D2 hex (722 = 2D2 hex)
● PWE2, bit 10 … 15: = 3f hex (drive object - for SINAMICS G120, always 63 = 3f hex)
● PWE2, bit 0 … 9: = 2 hex (index or bit number of the parameter: DI 2 = r0722.2)
Figure 5-5 Telegram, to assign DI 2 with ON/OFF1
5.3.5 USS process data channel (PZD)
Description
The process data channel (PZD) contains the following data depending on the transmission
direction:
● Control words and setpoints for the slave
● Status words and actual values for the master.
Figure 5-6 Process data channel
The first two words are:

● Control 1 (STW1) and main setpoint (HSW)
● Status word 1 (ZSW1) and main actual value (HIW)
If p2022 is greater than or equal to 4, then the converter receives the additional control word
(STW2).
You define the sources of the PZD using parameter p2051.
For further information, please refer to the List Manual.
Fieldbuses
5.3.6 Time-out and other errors

You require the telegram runtimes in order to set the telegram monitoring. The character
runtime is the basis of the telegram runtime:
Table 5- 8 Character runtime
Baud rate in bit/s Transmission time per bit Character run time (= 11 bits)
9600 104.170 µs 1.146 ms
19200 52.084 µs 0.573 ms
38400 26.042 µs 0.286 ms
57600 17.361 µs 0.191 ms
115200 8.681 µs 0.095 ms
The telegram runtime is longer than just purely adding all of the character runtimes
(=residual runtime). You must also take into consideration the character delay time between
the individual characters of the telegram.
Figure 5-7 Telegram runtime as the sum of the residual runtime and character delay times
The total telegram runtime is always less than 150% of the pure residual runtime.
Before each request telegram, the master must maintain the start delay. The start delay
must be > 2 × character runtime.
The slave only responds after the response delay has expired.
Figure 5-8 Start delay and response delay
The duration of the start delay must at least be as long as the time for two characters and
depends on the baud rate.
Fieldbuses
Table 5- 9 Duration of the start delay
Baud rate in bit/s Transmission time per character (= 11 bits) Min. start delay
9600 1.146 ms > 2.291 ms
19200 0.573 ms > 1.146 ms
38400 0.286 ms > 0.573 ms
57600 0.191 ms > 0.382 ms
115200 0.095 ms > 0.191 ms
Note: The character delay time must be shorter than the start delay.
Telegram monitoring of the master

With your USS master, we recommend that the following times are monitored:
• Response delay: Response time of the slave to a request from the master
The response delay must be < 20 ms, but longer than the start
delay
• Telegram runtime: Transmission time of the response telegram sent from the slave
Telegram monitoring of the inverter

The inverter monitors the time between two requests of the master. Parameter p2040
defines the permissible time in ms. If a time p2040 ≠ 0 is exceeded, then the inverter
interprets this as telegram failure and responds with fault F01910.
150% of the residual runtime is the guide value for the setting of p2040, i.e. the telegram
runtime without taking into account the character delay times.
For communication via USS, the inverter checks bit 10 of the received control word 1. If the
bit is not set when the motor is switched on ("Operation"), the inverter responds with fault
F07220.
Fieldbuses
5.4 Communication using Modbus RTU
Overview of communication using Modbus

The Modbus protocol is a communication protocol with linear topology based on a
master/slave architecture.
Modbus offers three transmission modes:
● Modbus ASCII
Data in ASCII code. The data throughput is lower compared to RTU.
● Modbus RTU (RTU: Remote Terminal Unit)
Data in binary format. The data throughput is greater than in ASCII code.
● Modbus TCP
Data as TCP/IP packets. TCP port 502 is reserved for Modbus TCP. Modbus TCP is
currently undergoing definition as a standard (IEC PAS 62030 (pre-standard)).
The Control Unit supports Modbus RTU as a slave with even parity.
General information about communication using Modbus RTU

● Communication using Modbus RTU takes place over the RS485 interface with a
maximum of 247 slaves.
● The maximum cable length is 100 m.
● Two 100 kΩ resistors are provided to polarize the receive and send cables.
Note
It is not permitted to change over the units
The "Unit switchover" function – for details see the operating instructions of the Control Unit
– is not permissible with this bus system!
Overview
Depending on the particular inverter, you have the following options when setting
communication via Modbus RTU:
● Default setting 21 "USS Fieldbus" for all inverters with RS485 interface
● Default setting 109 "BT Mac 9: Modbus RTU Fieldbus" only for CU230P-2 HVAC /
CU230P-2 BT. See also Additional manuals for your inverter (Page 182).
Fieldbuses
Procedure with default setting 21 "USS Fieldbus"

Proceed as follows to set communication via Modbus RTU:
1. Activate communication via the RS485 interface using one of the following options:
– with STARTER under Control Unit/Configuration "Default settings of the
21: USS fieldbus
FB USS
p0015 = 21
2. Set the bus protocol
– using STARTER under Control Unit/Communication/Fieldbus:
2 Modbus
– using the BOP-2 via parameter p2030:
p2030 = 2
4. Make additional changes based on the parameters listed in the following section.
This means that you have made the settings for communication via Modbus.
Parameters to adapt the settings for communication via Modbus RTU
Fieldbus telegram selection p2030 = 2 (Modbus)


Parameter to interconnect the analog outputs for control via the fieldbus
Modbus timing p2024[0 … 2]

(see Section "Baud rates and mapping tables (Page 97)")
● p2024[0]: Maximum slave telegram processing time:
The time after which the slave must have sent a response to the master.
● p2024[1]: Character delay time:
Character delay time: Maximum permissible time between the individual characters in the
Modbus frame (Modbus standard processing time for 1.5 bytes).
● p2024[20]: Inter-telegram delay:
maximum permissible time between Modbus telegrams (Modbus standard processing
time for 3.5 bytes).
Fieldbuses

must be.

5.4.1.1 Setting the address

address switches on the Control Unit, using parameter
p2021 with the BOP-2 or in STARTER.
Using parameter p2021 (factory setting: 1) or using
STARTER, you can only set the address, if all address
switches are set to "OFF" (0).
that takes effect and parameter p2021 cannot be
changed.
Only addresses in the range 1 … 127 can be set via the address switches. If you require an
address in the range 128 … 247, set the address switches to 0 and enter the address using
p2021.
The position of the address switches can be found in the operating instructions of the Control
Unit in the section "Overview of interfaces".
Procedure
Control Unit.
Fieldbuses
5.4.2 Modbus RTU telegram
Description
For Modbus, there is precisely one master and up to 247 slaves. The master always starts
the communication. The slaves can only transfer data at the request of the master. Slave-to-
slave communication is not possible. The Control Unit always operates as slave.
The following figure shows the structure of a Modbus RTU telegram.
Figure 5-9 Modbus with delay times
The data area of the telegram is structured according to the mapping tables.
5.4.3 Baud rates and mapping tables
Permissible baud rates and telegram delay

The Modbus RTU telegram requires pauses for the following cases:
● Start detection
● Between the individual frames
● End detection
Minimum duration: Processing time for 3.5 bytes (can be set via p2024[2]).
Fieldbuses
A character delay time is also permitted between the individual bytes of a frame. Maximum
duration: Processing time for 1.5 bytes (can be set via p2024[1]).
Table 5- 10 Baud rates, transmission times, and delays
Baud rate in bit/s (p2020) Transmission time per Minimum pause Maximum pause
character (11 bits) between two between two bytes
telegrams (p2024[2]) (p2024[1])
4800 2.292 ms ≥ 8.021 ms ≤ 3.438 ms
9600 1.146 ms ≥ 4.010 ms ≤ 1.719 ms
19200 (factory setting) 0.573 ms ≥ 1.75 ms ≤ 0.859 ms
38400 0.286 ms ≥ 1.75 ms ≤ 0.75 ms
57600 0.191 ms ≥ 1.75 ms ≤ 0.556 ms
76800 0.143 ms ≥ 1.75 ms ≤ 0.417 ms
93750 0.117 ms ≥ 1.75 ms ≤ 0.341 ms
115200 0.095 ms ≥ 1.75 ms ≤ 0.278 ms
187500 0.059 ms ≥ 1.75 ms ≤ 0.171 ms
Note
The factory setting for p2024[1] and p2024[2] is 0. The converter specifies the associated
values depending on the protocol selection (p2030) or the baud rate.
Modbus register and Control Unit parameters

The Modbus protocol contains register or bit numbers for addressing memory. You must
assign the appropriate control words, status words and parameters to these registers in the
slave.
The converter supports the following addressing ranges:
Addressing range Remark

40001 … 40065 Compatible with Micromaster MM436
40100 … 40522
The valid holding register addressing range extends from 40001 to 40522. Access to other
holding registers generates the fault "Exception Code".
The registers 40100 to 40111 are described as process data.
Note
R"; "W"; "R/W" in the column Modbus access stands for read (with FC03); write (with FC06);
read/write.
Fieldbuses
Table 5- 11 Assigning the Modbus register to the parameters of the Control Unit
Modbus Description Mod- Unit Scaling On/Off text Data / parameter

Reg. bus factor or value range
No. access
Process data
Control data
40100 Control word R/W -- 1 Process data 1
40101 Main setpoint R/W -- 1 Process data 2
Status data
40110 Status word R -- 1 Process data 1
40111 Main actual value R -- 1 Process data 2
Parameter data
Digital outputs
40200 DO 0 R/W -- 1 HIGH LOW p0730, r747.0, p748.0
40201 DO 1 R/W -- 1 HIGH LOW p0731, r747.1, p748.1
40202 DO 2 R/W -- 1 HIGH LOW p0732, r747.2, p748.2
Analog outputs
40220 AO 0 R % 100 -100.0 … 100.0 r0774.0
40221 AO 1 R % 100 -100.0 … 100.0 r0774.1
Digital inputs
40240 DI 0 R -- 1 HIGH LOW r0722.0
40241 DI 1 R -- 1 HIGH LOW r0722.1
40242 DI 2 R -- 1 HIGH LOW r0722.2
40243 DI 3 R -- 1 HIGH LOW r0722.3
40244 DI 4 R -- 1 HIGH LOW r0722.4
40245 DI 5 R -- 1 HIGH LOW r0722.5
Analog inputs
40260 AI 0 R % 100 -300.0 … 300.0 r0755 [0]
40261 AI 1 R % 100 -300.0 … 300.0 r0755 [1]
40262 AI 2 R % 100 -300.0 … 300.0 r0755 [2]
40263 AI 3 R % 100 -300.0 … 300.0 r0755 [3]
Converter identification
40300 Powerstack number R -- 1 0 … 32767 r0200
40301 Converter firmware R -- 0.0001 0.00 … 327.67 r0018
Converter data
40320 Rated power of the power unit R kW 100 0 … 327.67 r0206
40321 Current limit R/W % 10 10.0 … 400.0 p0640
40322 Ramp-up time R/W s 100 0.00 … 650.0 p1120
40323 Ramp-down time R/W s 100 0.00 … 650.0 p1121
40324 Reference speed R/W RPM 1 6.000 … 32767 p2000
Converter diagnostics
40340 Speed setpoint R RPM 1 -16250 … 16250 r0020
40341 Actual speed value R RPM 1 -16250 … 16250 r0022
Fieldbuses
Modbus Description Mod- Unit Scaling On/Off text Data / parameter

Reg. bus factor or value range
No. access
40342 Output frequency R Hz 100 - 327.68 … 327.67 r0024
40343 Output voltage R V 1 0 … 32767 r0025
40344 DC-link voltage R V 1 0 … 32767 r0026
40345 Actual current value R A 100 0 … 163.83 r0027
40346 Actual torque value R Nm 100 - 325.00 … 325.00 r0031
40347 Actual active power R kW 100 0 … 327.67 r0032
40348 Energy consumption R kWh 1 0 … 32767 r0039
40349 Control priority R -- 1 HAND AUTO r0807
Fault diagnostics
40400 Failure number, index 0 R -- 1 0 … 32767 r0947 [0]
40408 Alarm number R -- 1 0 …32767 r2110 [0]
40499 PRM ERROR code R -- 1 0 …99 --
Technology controller
40500 Technology controller enable R/W -- 1 0…1 p2200, r2349.0
40501 Technology controller MOP R/W % 100 -200.0 … 200.0 p2240
Technology controller adjustment
40510 Time constant for actual-value filters of R/W -- 100 0.00 … 60.0 p2265
the technology controller
40511 Scaling factor for actual value of the R/W % 100 0.00 … 500.00 p2269
technology controller
40512 Proportional amplification of the R/W -- 1000 0.000 … 65.000 p2280
40513 Integral time of the technology R/W s 1 0 … 60 p2285
controller
40514 Time constant D-component of the R/W -- 1 0 … 60 p2274
40515 Max. limit of technology controller R/W % 100 -200.0 … 200.0 p2291
40516 Min. limit technology controller R/W % 100 -200.0 … 200.0 p2292
PID diagnostics
40520 Effective setpoint acc. to internal R % 100 -100.0 … 100.0 r2250
technology controller MOP ramp-
function generator
40521 Actual value of technology controller R % 100 -100.0 … 100.0 r2266
after filter
40522 Output signal technology controller R % 100 -100.0 … 100.0 r2294
Fieldbuses
5.4.4 Write and read access via FC 03 and FC 06
Function codes used

For data exchange between the master and slave, predefined function codes are used for
communication via Modbus.
The Control Unit uses the Modbus function code 03, FC 03 (read holding registers) for
reading, and the Modbus function code 06, FC 06 (preset single register) for writing.
Structure of a read request via Modbus function code 03 (FC 03)

Any valid register address is permitted as the start address.
The controller can access more than one register via FC 03 with a request. The number of
addressed registers is contained in bytes 4 and 5 of the read request.
Table 5- 12 Invalid read requests
Read request Inverter response

Invalid register address Exception code 02 (invalid data address)
Read a write-only register Telegram in which all values are set to 0.
Read a reserved register
Controller addresses more than 125 registers Exception code 03 (invalid data value)
The start address and the number of registers of an Exception code 02 (invalid data address)
address are located outside of a defined register
block
Table 5- 13 Structure of a read request for slave number 17
Example
Byte Description
11 h 0 Slave address
03 h 1 Function code
00 h 2 Register start address "High" (register 40110)
6D h 3 Register start address "Low"
00 h 4 Number of registers "High" (2 registers: 40110; 40111)
02 h 5 Number of registers "Low"
xx h 6 CRC "Low"
xx h 7 CRC "High"
Fieldbuses
The response returns the corresponding data set:
Table 5- 14 Slave response to the read request
Example
Byte Description
04 h 2 Number of bytes (4 bytes are returned)
11 h 3 Data of first register "High"
22 h 4 Data of first register "Low"
33 h 5 Data of second register "High"
44 h 6 Data of second register "Low"
xx h 7 CRC "Low"
xx h 8 CRC "High"
Structure of a write request via Modbus function code 06 (FC 06)

Start address is the holding register address.
Using FC 06, precisely one register can always be addressed with one request. The value to
be written to the addressed register is contained in bytes 4 and 5 of the write request.
Table 5- 15 Write request and response of the inverter
Write request Inverter response

Incorrect address (a holding register address does not exist) Exception code 02
Write to a "read-only" register Modbus error telegram (exception
Write to a reserved register code 04 - device failure)
If an incorrect address is entered (a holding register address does not exist), exception code
02 (invalid data address) is returned. An attempt to write to a "read-only" register or a
reserved register is replied to with a Modbus error telegram (exception code 4 - device
failure). In this instance, the detailed internal error code that occurred on the last parameter
access via the holding registers can be read out via holding register 40499.
Table 5- 16 Structure of a write request for slave number 17
Example
Byte Description
00 h 2 Register start address "High" (write register 40100)
63 h 3 Register start address "Low"
55 h 4 Register data "High"
66 h 5 Register data "Low"
xx h 6 CRC "Low"
xx h 7 CRC "High"
Fieldbuses
The response returns the register address (bytes 2 and 3) and the value (bytes 4 and 5) that
was written by the higher-level controller to the register.
Table 5- 17 Slave response to the write request
Example
Byte Description
00 h 2 Register start address "High"
63 h 3 Register start address "Low"
55 h 4 Register data "High"
66 h 5 Register data "Low"
xx h 6 CRC "Low"
xx h 7 CRC "High"
5.4.5 Communication procedure
Procedure for communication in a normal case

Normally, the master sends a telegram to a slave (address range 1 ... 247). The slave sends
a response telegram to the master. This response telegram mirrors the function code; the
slave enters its own address in the telegram and so the slave identifies itself with the master.
The slave only processes orders and telegrams which are directly addressed to it.
Communication error
If the slave detects a communication error on receipt (parity, CRC), it does not send a
response to the master (this can lead to "setpoint timeout").
Logical error
If the slave detects a logical error within a request, it responds to the master with an
"exception response". In this case, the slave sets the highest bit in the function code to 1 in
the response. If, for example, it receives an unsupported function code from the master, the
slave responds with an "exception response" with code 01 (illegal function code).
Table 5- 18 Overview of exception codes
Exception Modbus name Remark

code
01 Illegal function code An unknown (unsupported) function code was sent to the
slave.
02 Illegal Data Address An invalid address was requested.
03 Illegal data value An invalid data value was detected.
04 Server failure Slave has terminated during processing.
Fieldbuses
Maximum processing time, p2024[0]

The slave-response time is the time in which the Modbus master expects a response to a
request. Set the same slave-response time (p2024 [0] in the inverter) in the master and
slave.
Process data monitoring time (setpoint timeout), p2040

"Setpoint timeout" (F1910) is issued by the Modbus if p2040 is set to a value > 0 ms and no
process data is requested within this time period.
The "Setpoint timeout" only applies for access to process data (40100, 40101, 40110,
40111). The "Setpoint timeout" is not generated for parameter data (40200 … 40522).
Note
Adjust the time (factory setting = 100 ms) depending on the number of slaves and the baud
rate set on the bus.
Fieldbuses
5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT
BACnet properties
In BACnet, components and systems are considered to be black boxes which contain a
number of objects. BACnet objects only stipulate the behavior outside the device, BACnet
sets no internal functions.
A range of object types and their instances represent one component.
Each BACnet device has precisely one BACnet device object. An NSAP (Network Service
Access Point - comprising network number and MAC address; MAC: Medium Access
Control) uniquely identifies a BACnet device. This address is BACnet-specific and must not
be confused with the Ethernet MAC address.
Data exchange with the client

The inverter receives control commands and setpoints via service instructions from the
control and transmits its status back to the control. The inverter can also send telegrams
automatically itself, respectively execute services, e.g. COV_Notification.
Communication settings
● The Control Unit supports BACnet via RS485 (BACnet MS/TP),
● Communication supports Unicode, coded with the character set UTF-8
● The maximum cable length is 1200 m (3281 ft).
Protocol Implementation Conformance Statement

You will find the Protocol Implementation Conformance Statement (PICS) in the Internet
under the following link: BACnet files (http://www.big-
eu.org/catalog/siemens/SINAMICS%20PICS%20V4.6.pdf)
Note
It is not permitted to change over the units
The "Unit switchover" function – for details see the operating instructions of the Control Unit
– is not permissible with this bus system!
Fieldbuses
Overview
Procedure
Proceed as follows to set communication via BACnet:
1. Select the default setting 110.
– With STARTER: under Control Unit/Configuration "Default settings of the
110 "BT Mac 10: BACnet MS/TP Fieldbus"
P_F bAc
p0015 = 110
3. Make additional changes based on the parameters listed in the following sections.
This means that you have made the settings for communication via BACnet.
Settings using "BT Mac 10: BACnet MS/TP Feldbus"
Fieldbus telegram selection p2030 = 5


must be.
Fieldbuses
Additional setting options

Additional parameters for adapting communication via BACnet:

Displays the value of the particular analog output as a percentage.
Processing times p2024[0 … 2]

p2024 [0]: 0 ms … 10000 ms, maximum processing time (APDU timeout), factory setting =
1000 ms,
p2024[1 … 2]: Irrelevant
BACnet communication parameter p2025[0 … 3]

● p2025 [0]: 0 … 4194303: Device object instance number,
Factory setting = 1
● p2025 [1]: 1 … 10: Maximum Info Frames, factory setting = 1
● p2025 [2]: 0 … 39: Number of APDU Retries (repeated attempts after fault telegrams),
factory setting = 3
● p2025 [3]: 1 … 127: Maximum Master address, factory setting = 127
Setting the COV_Increments p2026[0 … 74]

(COV = change of values) 0 … 4194303.000, factory setting = 1
COV_Increment: Changes the value of the "present value" of an object instance for which
the server transfers an UnConfirmedCOV_Notification or ConfirmedCOV_Notification.
You can use these parameters to set for which inverter value changes an
UnConfirmedCOV_Notification or ConfirmedCOV_Notification result is sent.
The factory setting 1 means that the inverter sends an UnConfirmedCOV_Notification or
ConfirmedCOV_Notification if the considered value, e.g. for a range of 0 … 10 V, changes by
an absolute value ≥ 1.
This requires an active SubscribeCOV_Service to send the relevant object instance.
You can also set the COV_Increment via the object property "COV_Increment" of the
relevant analog input, analog output or analog value.
BACnet language selection p2027

German/English - only becomes effective after power off/on

Fieldbuses
Setting the address

You set the MAC address of the inverter using the
address switches on the Control Unit, using
parameter p2021 or in STARTER.
Valid address range: 0 … 127.
For address 0, the inverter responds to a broadcast.
If you have specified a valid address ≠ 0 using the
that takes effect and parameter p2021 cannot be
changed.
See also
Additional manuals for your inverter (Page 182)
Procedure
Control Unit.
5.5.2 Supported services and objects
BIBBs used by the inverter

The BIBBs (BIBB: BACnet Interoperability Building Block) are a collection of one or several
BACnet services. The BACnet services are subdivided into A and B devices. An A device
operates as client and a B device as server.
The inverter is a server and therefore operates as B device, as "BACnet Application Specific
Controller" (B-ASC).
The CU230P-2 HVAC uses the BIBBs listed below.
Fieldbuses
Overview of the BIBBs used by CU230P-2 HVAC and associated services
Short designation BIBB Service

DS-RP-B Data Sharing-ReadProperty-B ReadProperty
DS-RPM-B Data Sharing-ReadMultipleProperty-B ReadPropertyMultiple
DS-WP-B Data Sharing-WriteProperty-B WriteProperty
DM-DDB-B Device Management-Dynamic Device • Who-Is
Binding-B
• I-Am
DM-DOB-B Device Management-Dynamic Object • Who-Has
Binding-B
• I-Have
DM-DCC-B Device Management- DeviceCommunicationControl
DeviceCommunicationControl-B
DS-COV-B Data Sharing-COV-B • SubscribeCOV,
• ConfirmedCOVNotification,
• UnConfirmedCOVNotification
The inverter can simultaneously process up to 32 SubscribeCOV services. These can all
refer to the same object instances - or different object instances.
SubscribeCOV monitors the property changes of the following objects:
● Analog Input (AIxx),
● Analog Output (AOxx),
● Analog Value (AVxx),
● Binary Value (BVxx) and
● Multi-state Input (MSIxx)
Note
SubscribeCOV services are not retentive; i.e. the master must re-initiate the SubscribedCOV
services when restarting the CU.
Code numbers of the object types supported in BACnet
Object type Code number for BACnet Object type Code number for BACnet
object type object type
Device Object 8 Analog Input Object 0
Binary Input Object 3 Analog Output Object 1
Binary Output Object 4 Analog Value Object 2
Binary Value Object 5 Multi-State Input Object 13
Fieldbuses
Object properties of the "Device" object type

• Object_Identifier • Application_Software_Version • APDU_Timeout
• Object_Name • Protocol_Version • Number_Of_APDU_Retries
• Object_Type • Protocol_Revision • Max Master
• System_Status • Protocol_Services_Supported • Max Info Frames
• Vendor_Name • Protocol_Object_Types_Supported • Device Address Binding
• Vendor_Identifier • Object_List • Database Revision
• Model_Name • Max_APDU_Length_Accepted 1)
• Firmware_Revision • Segmentation_Supported 2)
1) Length = 480, 2) not supported
Object properties of other object types
Object property Object type

Binary Input Binary Binary Value Analog Input Analog Analog Multi-State
Output Output Value Input
Object_Identifier X X X X X X X
Object_Name X X X X X X X
Object_Type X X X X X X X
Present_Value X X X X X X X
Description X X X X X X X
Status_Flags X X X X X X X
Event_State X X X X X X X
Out_Of_Service X X X X X X X
Units X X X
Priority_Array X X* X X*
Relinquish_Default X X* X X*
Polarity X X
Active_Text X X X
Inactive_Text X X X
COV_Increment X X X
State_Text X
Number_of_States X
* for command values only (access type C)
Note
Access types are available in the following versions
• C: Executable
• R: Readable
• W: Writable
Fieldbuses
Binary Input Objects
Instance Object name Description Possible Text active / Access Parameter

ID values text inactive type
BI0 DI0 ACT State of DI 0 ON/OFF ON/OFF R r0722.0
BI7 DI7 ACT State of AI 1 - used as DI ON/OFF ON/OFF R r0722.11
BI8 DI8 ACT State of AI 2 - used as DI ON/OFF ON/OFF R r0722.12
BI10 DO0 ACT State of DO 0 (relay 1) ON/OFF ON/OFF R read r747.0
BI11 DO1 ACT State of DO 1 (relay 2) ON/OFF ON/OFF R read r747.1
BI12 DO2 ACT State of DO2 (relay 3) ON/OFF ON/OFF R read r747.2
Binary Output Objects
Instance Object name Description Possible Text active / Access Parameter

ID values text inactive type
BO0 DO0 CMD Controls DO 0 (relay 1) ON/OFF ON/OFF C p0730
Binary value Objects
Instance Object name Description Possible values Text Text Acces Parameter
ID active inactive s type
BV0 RUN / STOP Inverter status regardless of RUN / STOP STOP RUN R r0052.2
ACT command source
BV1 FWD / REV Direction of rotation regardless of REV / FWD FWD REV R r0052.14
command source
BV2 FAULT ACT Inverter fault FAULT / OK FAULT OK R r0052.3
BV3 WARN ACT Inverter warning WARN / OK WARN OK R r0052.7
BV4 MANUAL / Indicates the source of the AUTO / AUTO LOCAL R r0052.9
AUTO ACT manual/auto inverter control MANUAL
BV7 CTL ACT displays the inverter's control ON/OFF 0 1 R r2032[10]
OVERRIDE unit from the BACnet override
ACT control unit via BV93.
Note that the operator panel's
"Manual" operating mode has a
higher priority than the BACnet
override control.
BV8 AT SET- Setpoint reached YES / NO YES NO R r0052.8
POINT
Fieldbuses
Instance Object name Description Possible values Text Text Acces Parameter
ID active inactive s type
BV9 AT MAX Maximum speed reached YES / NO YES NO R r0052.10
FREQ
BV10 DRIVE Inverter ready YES / NO YES NO R r0052.1
READY
BV15 RUN COM ACT indicates the status of the ON YES / NO 0 1 R r2032[0]
ACT command, regardless of the source
BV16 HIB MOD ACT means that the inverter is ON/OFF 0 1 R r2399[1]
ACT operating in energy-saving mode.
BV17 ESM MOD ACT means that the inverter is ON/OFF 0 1 R r3889[0]
operating in the essential service
mode
BV20 RUN / STOP ON command for the inverter (when RUN / STOP 0 1 C r0054.0
CMD controlling via BACnet)
BV21 FWD / REV Reverse direction of rotation (when REV / FWD 0 1 C r0054.11
CMD controlling via BACnet)
BV22 FAULT Acknowledge fault (when controlling RESET / NO 0 1 C r0054.7
RESET via BACnet)
BV24 CDS Local / Remote Local / Remote YES NO C r0054.15
BV26 RUN ENA Enable inverter operation ENABL DISABL C r0054.3
CMD ED ED
BV27 OFF2 OFF2 status RUN / STOP 0 1 C r0054.1
BV28 OFF3 OFF3 status RUN / STOP 0 1 C r0054.2
Note:
BV28 sets the r0054.4, r0054.5,
and r0054.6 bits
BV50 ENABLE PID Enable technology controller ENABLED / ENABL DISABL C p2200
DISABLED ED ED
BV51 ENABLE PID Enable technology 0 controller ENABLED / ENABL DISABL C p11000
0 DISABLED ED ED
1 DISABLED ED ED
2 DISABLED ED ED
BV90 LOCAL Use MANUAL (operator panel) to LOCK UNLOC C p0806
LOCK lock inverter control K
BV93 CTL Inverter control using BACnet ON/OFF 0 1 C r0054.10
OVERRIDE override control
CMD
Fieldbuses
Analog Input Objects
Instance Object name Description Unit Range Access Parameter

ID type
AI0 ANALOG INPUT 0 AI0 input signal V/mA inverter-dependent R r0752[0]
AI10 ANALOG INPUT 0 Scaled AI 0 input signal % inverter-dependent R r0755[0]
SCALED
SCALED
SCALED
SCALED
Analog Output Objects
Instanc Object name Description Unit Range Access Parameter

e ID type
AO0 ANALOG OUTPUT 0 AI0 value % inverter-dependent C p0791.0
AO1 ANALOG OUTPUT 1 AI1 value % inverter-dependent C p0791.1
Analog Value Objects

ID type
AV0 OUTPUT FREQ_Hz Output frequency (Hz) Hz inverter-dependent R r0024
AV1 OUTPUT FREQ_PCT Output frequency (%) % inverter-dependent R HIW
AV2 OUTPUT SPEED Motor speed RPM inverter-dependent R r0022
AV3 DC BUS VOLT DC-link voltage. V inverter-dependent R r0026
AV4 OUTPUT VOLT Output voltage V inverter-dependent R r0025
AV5 CURRENT Motor current A inverter-dependent R r0027
AV6 TORQUE Motor torque Nm inverter-dependent R r0031
AV7 POWER Motor power kW inverter-dependent R r0032
AV8 DRIVE TEMP Heat sink temperature °C inverter-dependent R r0037
AV9 MOTOR TEMP Measured or calculated motor °C inverter-dependent R r0035
temperature
AV10 KWH (NR) Cumulative inverter energy kWh inverter-dependent R r0039
consumption (cannot be reset!)
AV12 INV RUN TIME (R) Motor's operating hours (is reset h 0 … 4294967295 W p0650
by entering "0")
AV13 INV Model Code number of Power Module --- inverter-dependent R r0200
AV14 INV FW VER Firmware version --- inverter-dependent R r0018
AV15 INV POWER Rated power of the inverter kW inverter-dependent R r0206
Fieldbuses

ID type
AV16 RPM STPT 1 Reference speed of the inverter RPM 6.0 … 210000 W p2000
AV17 FREQ STPT PCT Setpoint 1 (when controlling via % -199.99 … 199.99 C HSW
BACnet)
AV18 ACT FAULT Number of the fault due to be --- inverter-dependent R r0947[0]
dealt with
AV19 PREV FAULT 1 Number of the last fault --- inverter-dependent R r0947[1]
AV20 PREV FAULT 2 Number of the fault before last --- inverter-dependent R r0947[2]
AV21 PREV FAULT 3 Number of the fault third from --- inverter-dependent R r0947[3]
last
AV22 PREV FAULT 4 Number of the fault fourth from --- inverter-dependent R r0947[4]
last
AV25 Select Setpoint Command to select the setpoint --- 0 … 32767 W p1000
Source source
AV28 AO1 ACT Signal from AO 1 mA inverter-dependent R r0774.0
AV29 AO2 ACT Signal from AO 1 mA inverter-dependent R r0774.1
AV30 MIN SPEED Minimum speed RPM 0.000 – 19500.000 W p1080
AV31 MAX FREQ Maximum speed RPM 0.000 … 210000.00 W p1082
0
AV32 ACCEL TIME Ramp-up time s 0.00 … 999999.0 W p1120
AV33 DECEL TIME Ramp-down time s 0.00 … 999999.0 W p1121
AV34 CUR LIM Current limit A inverter-dependent R p0640
AV39 ACT WARN Indication of a pending alarm --- inverter-dependent R r2110[0]
AV40 PREV WARN 1 Indication of the last alarm --- inverter-dependent R r2110[1]
AV41 PREV WARN 2 Indication of the last but one --- inverter-dependent R r2110[2]
alarm
AV5000 RAMP UP TIME Technology controller ramp-up s 0 … 650 W p2257
time
AV5001 RAMP DOWN TIME Technology controller ramp- s 0 … 650 W p2258
down time
AV5002 FILTER TIME Technology controller actual s 0 … 60 W p2265
value filter time constant
AV5003 DIFF TIME Technology controller s 0 … 60 W p2274
differentiation time constant
AV5004 PROP GAIN Technology controller s 0 … 1000 W p2280
proportional gain
AV5005 INTEG TIME Technology controller integral s 0 … 1000 W p2285
time
AV5006 OUTPUT MAX Technology controller maximum % - 200 … 200 W p2291
limiting
AV5007 OUTPUT MIN Technology controller minimum % - 200 … 200 W p2292
limiting
AV5100 RAMP UP TIME 0 Technology controller 0 ramp-up s 0 … 650 W p11057
time
AV5101 RAMP DOWN TIME 0 Technology controller 0 ramp- s 0 … 650 W p11058
down time
Fieldbuses

ID type
AV5102 FILTER TIME 0 Technology controller 0 actual s 0 … 60 W p11065
AV5103 DIFF TIME 0 Technology controller 0 s 0 … 60 W p11074
AV5104 PROP GAIN 0 Technology controller 0 s 0 … 1000 W p11080
proportional gain
AV5105 INTEG TIME 0 Technology controller 0 integral s 0 … 1000 W p11085
time
AV5106 OUTPUT MAX 0 Technology controller 0 % - 200 … 200 W p11091
maximum limiting
AV5107 OUTPUT MIN Technology controller 0 % - 200 … 200 W p11092
minimum limiting
time
down time
proportional gain
AV5205 INTEG TIME 1 Technology controller integral s 0 … 1000 W p11185
time
maximum limiting
AV5207 OUTPUT MIN 1 Technology controller 1 % - 200 … 200 W p11192
minimum limiting
time
down time
proportional gain
AV5305 INTEG TIME 2 Technology controller 2 integral s 0 … 1000 W p11285
time
maximum limiting
AV5307 OUTPUT MIN 2 Technology controller 2 % - 200 … 200 W p11292
minimum limiting
Fieldbuses
Multi-State Input Objects
Instance Object name Description Possible values Access type Parameter

ID
MSI0 FAULT_1 Fault number 1 See List Manual "List of faults and R r0947[0]
MSI1 FAULT_2 Fault number 2 alarms" R r0947[1]
MSI2 FAULT_3 Fault number 3 R r0947[2]
MSI8 WARNING_1 Warning R r2110[0]
number 1
MS9 WARNING_2 Warning R r2110[1]
number 2
number 3
number 4
number 5
number 6
number 7
number 8
Fieldbuses
5.6 Communication via P1 - only CU230P-2 HVAC / BT

P1 is an asynchronous master-slave communication between what is known as a Field
Cabinet (master) and the FLN devices (slaves). FLN stands for "Floor level network".
The master individually addresses the various slaves. A slave responds only if the master
addresses it. Communication between the slaves is not possible.
A Field Cabinet can have several FLN ports. You can connect up to 32 FLN devices to each
FLN port (slaves).
Settings in the controller

In the Field Cabinet, for each slave you must install what is known as a "Logical controller
(LCTR) point". In addition, in the Field Cabinet you must define the "Point numbers" for
communication.
An overview of the "Point Numbers" is provided on the following pages.
Overview
Procedure
Proceed as follows to set communication via P1:
1. Select the default setting 114.
– With STARTER: under Control Unit/Configuration "Default settings of the
114 "BT Mac 14: Communication P1"
P_F _P1
p0015 = 114
3. Make additional changes based on the parameters listed in the following sections.
This means that you have made the settings for communication via P1.
Settings using "BT Mac 14: Kommunikation P1"
Fieldbus telegram selection p2030 = 8
Baud rate p2020 = 5: 4800 bit/s

Additional setting option: p2020 = 7 (19200 bits/s)
ON/OFF1: p0840 = 2090.0

The ON/OFF1 command is connected to control word 1 bit 0.
Enable operation: p0852 = 2090.3

The signal for "Enable operation" is connected to control word 1 bit 3
Signal for acknowledging errors: p2103.0 = 2090.7

The signal for "Acknowledge error" is connected to control word 1 bit 7
Fieldbuses
Additional setting options

Additional parameters for adapting communication via P1:
Main setpoint p1070 = 2050.1

Connect the signal for the main setpoint to the communication interface
Sending process data

● Send status word via the communication interface p2051.0 = 52.0
● Send speed actual value via the communication interface p2051.1 = 63.0
Note
Address 99 (to all)
No matter their address, all FLN devices answer telegrams with address 99.
Setting the address

address switches on the Control Unit, using
parameter p2021 or in STARTER.
See also
Additional manuals for your inverter (Page 182)
Procedure
Control Unit.
Fieldbuses
Overview
The subsequently listed "Point Numbers" for communication are defined using P1 in the
converter. The values listed in the tables refer to SI units.
Fieldbuses
Fieldbuses
1*): For reasons of compatibility, these type 1 subpoints can save COV area information.
Point Number 98 RAM TO ROM was implemented in order to be able to save these in a non-
volatile fashion.
Fieldbuses
Communication over CANopen 6
General information on CAN
You can find general information on CAN in the CAN Internet pages (http://www.can-cia.org);
you can obtain an explanation of CAN terminology in the CANdictionary under CAN
downloads (http://www.can-cia.org/index.php?id=6).
Integrating an inverter in a CANopen network

To integrate an inverter in a CANopen network, we recommend the EDS file on the Internet
(http://support.automation.siemens.com/WW/view/en/48351511). This file is the description
file of the SINAMICS G120 inverter for CANopen networks. In this way, you can use the
objects of the DSP 402 device profile.
The following Control Units and inverters have an CANopen interface
G120 CU230P-2 CAN G120C CAN

G120 CU250S-2 CAN
Table 6- 1 Pin assignment of the connector
Signal X126
(D Sub connector, IP20)
--- 1
CAN_L, CAN signal (dominant low) 2
CAN_GND, CAN ground 3
--- 4
(CAN _SHLD), optional shield 5
(GND), optional ground 6
CAN_H, CAN signal (dominant high) 7
--- 8
--- 9
Fieldbuses
Communication over CANopen
CANopen functions of the inverter

CANopen is a communication protocol with line-type topology that operates on the basis of
communication objects (COB).
SINAMICS G120 inverters with CANopen interface comply with the following standards:
● CiA 301 (Application Layer and Communication Profile)
● CiA 303-3 (Indicator Specification)
● CiA 306 (Electronic Data Sheet Specification for CANopen)
● CiA 402 (Device Profile for Drives and Motion Control)
Communication objects (COB)

The inverter operates with the following communication objects:
● NMT Network management (NMT service) (Page 125)
Network management objects for controlling CANopen communication and for monitoring
the individual nodes on the basis of a master-slave relationship
● SDO SDO services (Page 128)
Service data objects for reading and changing parameters
● PDO PDO services (Page 132)
Process data objects to transfer process data; TPDO to send, RPDO to receive
● SYNC
Synchronization objects
● EMCY
Time stamp and fault messages
COB ID
A communication object contains the data to be transferred and a unique 11-bit COB ID. The
COB ID also defines the priority for processing the communication objects. The
communication object with the lowest COB ID always has the highest priority.
COB ID for individual communication objects

You will find the specifications for the COB IDs of the individual communication objects
below:
• COB IDNMT = 0 Cannot be changed

• COB IDSYNC = free Pre-assigned with 80 hex
• COB IDEMCY = free 80 hex + NAlleode-ID = COB IDEMCY
• COB IDTPDO = free In the free PDO mapping *)
• COB IDRPDO = free In the free PDO mapping *)
• COB IDTSDO = 580 hex + node ID
• COB IDRSDO = 600 hex + node ID
• COB IDNode Guarding/Heartbeat = 700 hex + node ID
* ) In the "Predefined Connection Set", see SectionPredefined connection set (Page 135) .
Fieldbuses
6.1 Network management (NMT service)

Network management (NMT) is node-oriented and has a master-slave topology.
A node is a master or a slave.
The inverter is an NMT slave, and can adopt the following states:
● Boot-up service COB ID = 700hex + node ID
● Node Control Service COB ID = 0 (see CANopen state diagram)
The transition between two states is realized using NMT services. You can find details on
the NMT services at CiA 301 (Application Layer and Communication Profile)
(http://www.can-cia.org/index.php?id=specifications).
● Error Control Service COB ID = 700hex + node ID
CANopen state diagram
Fieldbuses
NMT states
The current state of the node is displayed via p8685. It can also be changed directly using
this parameter:
● Initializing, display via p8685 = 0
The inverter initializes itself after power on. In the factory setting, the inverter then enters
the "Pre-Operational" state, which also corresponds to the CANopen standard.
Using p8684, you can set that after the bus has booted, the inverter does not go into the
"Pre-Operational" state, but instead, into the "Stopped" or "Operational" state.
● Pre-operational display/change using p8685 = 127 (factory setting)
In this state, the node cannot process any process data (PDO). However, the controller
can use SDO parameters to change or operate the inverter, which means that you can
also enter setpoints via SDO.
● Operational display/change using p8685 = 5
In this state, the node can process both SDO and PDO.
● Stopped, display/change using p8685 = 4
In this state, the node can neither process SDO nor PDO. The "Stopped" state terminates
one of the following commands:
– Enter pre-operational, p8685 = 127 (factory setting)
– Start Remote Node
– Reset node, p8685 = 128
– Reset communication, p8685 = 129
You can also change the NMT state in STARTER via "Control_Unit / Communication / CAN"
under the "Network-Management" tab.
Request sent by the master to one or several slaves

The NMT master can simultaneously direct a request to one or more slaves. The following is
applicable:
● Requirement of a slave:
The controller accesses the slave with its node ID (1 - 127).
● Requirement for all slaves:
Node ID = 0
Fieldbuses
Boot-up Service
The boot-up protocol indicates the state of the NMT slave after it has booted (factory setting
"Pre-operational").
Bootup protocol COB ID = 700 hex + node ID
1 data byte with the value 0 is transmitted.
NMT state after power up

Using parameter p8684, you can set that after powering up, the inverter goes into one of the
following states:
p8684 = 4 Stopped
p8684 = 5 Operational
p8684 = 127 Pre-Operational (factory setting)
Node Control Service

The Node Control Services control state transitions
● Start Remote Node:
Command for switching from the "Pre-Operational" communication state to "Operational".
The drive can only transmit and receive process data (PDO) in "Operational" state.
● Stop Remote Node:
Command for switching from "Pre-Operational" or "Operational" to "Stopped". The node
only processes NMT commands in the "Stopped" state.
● Enter Pre-Operational:
Command for switching from "Operational" or "Stopped" to "Pre-Operational". In this
state, the node cannot process any process data (PDO). However, the controller can use
SDO parameters to change or operate the inverter, which means that you can also enter
setpoints via SDO.
● Reset Node:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to
"Initialization". When the Reset Node command is issued, the inverter resets all the
objects (1000 hex - 9FFF hex) to the state that was present after "Power On".
● Reset Communication:
Command for switching from "Operational", "Pre-Operational" or "Stopped" to
"Initialization". When the Reset Communication command is issued, the inverter resets all
the communication objects (1000 hex - 1FFF hex) to the state that was present after
"Power On".
Command specifier and node_ID indicate the transition states and addressed nodes.
Error Control Service

"Node Guarding / Life Guarding" or "Heartbeat" monitor communication.
Setting options and default settings, see Setting the monitoring of the communication
(Page 158)
Fieldbuses
6.2 SDO services
6.2 SDO services

You can access the object directory of the connected drive unit using the SDO services. An
SDO connection is a peer-to-peer coupling between an SDO client and a server.
The drive unit with its object directory is an SDO server.
The identifiers for the SDO channel of a drive unit are defined according to CANopen as
follows.
Receiving: Server ⇐ client: COB ID = 600 hex + node ID

Transmitting: Server ⇒ client: COB ID = 580 hex + node ID
Properties
The SDOs have the following properties:
● An SDO connection exists only in the Pre-Operational and Operational states
● Transmission is confirmed
● Asynchronous transmission (matches the acyclical communication via PROFIBUS DB)
● Transmission of values > 4 bytes (normal transfer)
● Transmission of values ≤ 4 bytes (expedited transfer)
● All drive unit parameters can be addressed via SDO
Fieldbuses
6.2 SDO services
6.2.1 Access to SINAMICS parameters via SDO

You access SINAMICS parameters using the SDO service. To do this, you use objects 2000
hex … 470F hex of the manufacturer-specific area of the object directory.
Because you cannot directly address all of the parameters using this area, you require for an
SDO job always the parameter number itself and the offset dependent on the parameter
number.
Selection of parameter range and the associated offset

Parameter range Offset Offset value
0 < parameter number < 10000 p8630[2] = 0 0
10000 ≤ parameter number < 20000 p8630[2] = 1 10000
Calculate object number for an SDO job
The object number for the SDO job is calculated as follows:
object number hex = (number of the inverter parameter - offset value) hex + 2000 hex
Examples of object numbers

Parameter Number of the inverter parameter - offset value Object number
Decimal Hexadecimal
● p0010: 10 dec A hex ⇒ 200A hex
● p11000: 1000 dec 3E8 hex ⇒ 23E8 hex
● r20001: 1 dec 1 hex ⇒ 2001 hex
● p31020: 1020 dec 3FC hex ⇒ 23FC hex
Selection, index range

A CANopen object can contain a maximum of 255 indexes. For parameters with more than
255 indexes, you must create additional CANopen objects via p8630[1]. Overall, 1024
indexes are possible.
● p8630[1] = 0: 0 … 255
● p8630[1] = 1: 256 … 511
● p8630[1] = 2: 512 … 767
● p8630[1] = 3: 768 … 1023
Switch-on access to objects of the inverter parameters

Access to objects of the inverter parameters is activated via p8630[0], where:
● p8630[0] = 0: only access to CANopen objects
● p8630[0] = 1: access to virtual CANopen objects (inverter parameters)
● p8630[0] = 2: not relevant for G120 inverters
A selection of important manufacturer-specific objects is included in the EDS file.
Fieldbuses
6.2 SDO services
6.2.2 Access PZD objects via SDO
Access to mapped PZD objects

When you access objects mapped via transmit or receive telegrams, you can access the
process data without additional settings.
Overview
Figure 6-1 Access to mapped PZD setpoint objects
Figure 6-2 Access to mapped PZD actual value objects
Example, access to object 6042 hex
Figure 6-3 Access to the process data
Fieldbuses
6.2 SDO services
Access to non-mapped PZD objects

When you access objects that are not interconnected via the receive or transmit telegram,
you must also establish the interconnection with the corresponding CANopen parameters.
Overview
Figure 6-4 Access to non-mapped PZD setpoint objects
Figure 6-5 Access to non-mapped free PZD actual value objects
Figure 6-6 Access to non-mapped standardized PZD actual value objects
Example for interconnecting the control word with CANopen parameters:
ON/OFF1 p840[0] = r8795.0

No coast down activated p0844[0] = r8795.1
No fast stop activated p0848[0] = r8795.2
Enable operation p0852[0] = r8795.3
Enable ramp-function p1140[0] = r8795.4
generator
Continue ramp-function p1141[0] = r8795.5
generator
Enable speed setpoint p1142[0] = r8795.6
Acknowledge fault p2103[0] = r8795.7
Stop p8791 = r8795.8
Fieldbuses
6.3 PDO services
6.3 PDO services
Process data objects (PDO)

CANopen transfers the process data using "Process Data Objects" (PDO). There are send
PDOs (TDPO) and receive PDOs (RPDO). CAN controller and inverter each exchange up to
eight TPDOs and RPDOs.
PDO communication parameters and PDO mapping parameters define a PDO.
Link the PDO with the elements of the object directory that contain the process data. You
can use Free PDO mapping (Page 136) or the Predefined connection set (Page 135) to do
this.
Parameter area for PDO RPDO TPDO

In the inverter In CANopen In the inverter In CANopen
Communication parameters p8700 … p8707 1400 hex … 1407 hex p8720 … p8727 1800 hex … 1807 hex
Mapping parameters p8710 … p8717 1600 hex … 1607 hex p8730 … p8737 1A00 hex …1A07 hex
Structure of the PDO

A PDO consists of communication and mapping parameters. Examples for the structure of
the TPDO and RPDO follow.
The values for communication parameters can be found in the tables in Section Object
directories (Page 144)
Figure 6-7 Structure of the RPDO and TPDO communication objects
COB ID
An overview of the COB IDs can be found in Section Communication over CANopen
(Page 123). Section Predefined connection set (Page 135) explains how the COB IDs are
calculated.
Fieldbuses
6.3 PDO services
Transmission type
For process data objects, the following transmission types are available, which you set in
index 1 of the communication parameter (p8700[1] … p8707[1] / p8720[1] … p8727[1]) in the
inverter:
● Cyclic synchronous (value range: 1 … 240)
– TPDO after each n-th SYNC
– RPDO after each n-th SYNC
● Acyclic synchronous (value: 0)
– TPDO when a SYNC is received and a process data has changed in the telegram.
● Cyclic asynchronous (values: 254, 255 + event time)
– TPDO when a process data has changed in the telegram.
● Acyclic asynchronous (values: 254, 255)
– TPDO sent in the Event Time interval.
– The controller accepts the RPDO immediately.
● Synchronous data transmission
A periodic synchronization object (SYNC object) ensures that the devices on the
CANopen bus remain synchronized during transmission.
Each PDO transferred as synchronization object must include a "transmission type" 1 ...
n:
– Transmission type 1: PDO in each SYNC cycle
– Transmission type n: PDO in every n-th SYNC cycle
The following diagram shows the principle of synchronous and asynchronous
transmission:
Figure 6-8 Principle of synchronous and asynchronous transmission
For synchronous TPDOs, the transmission mode also identifies the transmission rate as a
factor of the SYNC object transmission intervals.
Fieldbuses
6.3 PDO services
The CAN controller transfers data from synchronous RPDOs that it received after a
SYNC signal only after the next SYNC signal to the inverter.
Note
The SYNC signal synchronizes only the communication on the CANopen bus and not
functions in the inverter, e.g. the clock times of the speed control.
Inhibit time
The inhibit time defines the minimum interval between two transmissions.
PDO services
The following services are available for CANopen:
● PDO Write protocol
● PDO Read protocol
SINAMICS inverters support the PDO Write protocol
Write PDO
The "PDO Write protocol" service is based on the push model. The PDO has exactly one
producer. There can be no consumer, one consumer, or multiple consumers.
Via Write PDO, the producer of the PDO sends the data of the mapped application object to
the individual consumer.
Fieldbuses
6.3 PDO services
6.3.1 Predefined connection set

If you integrate the inverter using the factory setting in CANopen, the inverter receives the
control word and the speed setpoint from the controller. The inverter returns the status word
and the actual speed value to the controller. These are the settings stipulated in the
Predefined Connection Set.
Figure 6-9 RPDO mapping with the Predefined Connection Set
Figure 6-10 TPDO mapping with the Predefined Connection Set
Fieldbuses
6.3 PDO services
6.3.2 Free PDO mapping

Using the free PDO mapping, you configure and interconnect any process data as required
as follows:
● as free objects, or
● as objects of drive profile CiA 402, corresponding to the requirements of your system for
the PDO service
This requires that the inverter is set to a free PDO mapping (p8744 = 2) (factory setting).
Configuring and mapping process data using free PDO mapping
Procedure
Proceed as follows to configure and map process data:
1. Define process data,
examples:
– Send actual current value (r0068) from the inverter to the controller (TPDO - Transmit
Process Data Object)
– Send additional speed setpoint from the controller to the inverter (RPDO - Receive
Process Data Object) and write in p1075
2. Specify objects for transmission of the process data
– TPDO1 for the actual current value
– RPDO1 for additional speed setpoint
3. Set communication parameters for RPDO and TPDO
– Define the communication parameters for RPDO, see RPDO communication
parameters (Page 146)
– Define the communication parameters for TPDO, see TPDO communication
parameters (Page 149)
4. Select the OD index for the mapping parameters:
– Mapping parameters for RPDO, see RPDO mapping parameters (Page 147)
– Mapping parameters for TPDO, see TPDO mapping parameters (Page 151)
5. Write OV index into the SINAMICS mapping parameters
– p8710 … p8717 for RPDO
– p8730 … p8737 for TPDO
– You will find the OD index in the free objects (Page 153) or in the objects of the CiA
402 drive profile (Page 154)
Fieldbuses
6.3 PDO services
Note
Requirement for changing the OD indexes of the SINAMICS mapping parameters
To allow you to change the values of the mapping parameters, you must set the COB ID
of the corresponding parameter to invalid. Add the value 80000000 hex to the COB ID. If
you have changed the mapping parameter, you must reset the COB ID to the valid value.
You have configured and mapped the process data.
Free RPDO mapping - Overview
Fieldbuses
6.3 PDO services
Free TPDO mapping - Overview
See also
General objects from the CiA 301 communication profile (Page 144)
General objects from the CiA 301 communication profile (Page 144)
Fieldbuses
6.3 PDO services
6.3.3 Interconnect objects from the receive and transmit buffers
Procedure
Proceed as follows to interconnect process data:
1. Create a telegram:
create PDO (parameterize the PDO Com. Parameters and PDO mapping parameters),
see Predefined connection set (Page 135) and Free PDO mapping (Page 136)
2. Interconnect parameters:
Interconnect the parameters of the PZD buffer ( r2050/r2060, p2051/p2061)
corresponding to the mapping of point "Create telegram" using the mapping table
r8750/r8760 or r8751/r8761. The mapping table indicates the position of a mapped
CANopen object in the PZD buffer.
You have interconnected the process data.
Interconnecting the receive buffer

The inverter writes the received data in the receive buffer:
● PZD receive word 1 … PZD receive word 12 double word in r2060[0] … r2060[10].
● PZD receive word 1 … PZD receive word 12 word in r2050[0] … r2050[11].
● PZD 1 … PZD 4 bit-by-bit in r2090.0 … r2090.15 to r2093.0 … r2093.15
The position of the mapped objects in the receive buffer is displayed in:
● r8760 for double word switching
● r8750 for word switching
Examples
Object Mapped receive Receive word r2050

objects
Control word r8750[0] = 6040 hex Interconnect r2050[0] (PZD1) in p0840.0 = 2090.0
(PZD1) control word 1) p0844.0 = 2090.1
p08484.0 = 2090.
2
p0852.0 = 2090.3
p2130.0 = 2090.7
Torque limit r8750[1] = 5800 hex Interconnect r2050[1] (PZD2) in p1522 = 2050[1]
(PZD2) the torque limit:
Speed setpoint r8750[2] = 6042 hex Interconnect r2050[2] (PZD3) in p1070 = 2050[2]
(PZD3) the speed setpoint:
1) see also p8790, "Automatic CAN control word interconnection"
Fieldbuses
6.3 PDO services
Interconnecting the send buffer

The inverter sends the data from the send buffer as follows:
● p2051[0] … p2051[13] in PZD 1 … PZD 14 (indication of the actual values in
r2053[0 … 13])
● p2061[0] … p2061[12] in PZD 1 … PZD 14 (indication of the actual values in
r2063[0 … 12])
Examples
Object Mapped send objects Send word p2051

Status word r8751[0] = 6041 hex Interconnect p2051[0] in PZD1 p2051[0] =
(PZD1) r8784
Current actual r8751[1] = 5810 hex Interconnect PZD2 in the current p2051[1] = r68[1
value (PZD2) actual value ]
Actual speed r8751[2] = 6044 hex Interconnect PZD3 in the speed p2051[2] = r63[0
value (PZD3) actual value ]
6.3.4 Free PDO mapping for example of the actual current value and torque limit
You integrate the actual current value and torque limit into the communication via the free
PDO mapping.
The actual current value and the torque setpoint are transferred in TPDO1 and RPDO1,
respectively. TPDO1 and RPDO1 have already been specified by the Predefined Connection
Set.
Mapping the actual current value (r0068) with TPDO1
Procedure
Proceed as follows to accept the current actual value as send object in the communication:
1. Set the OV index for the actual current value:
first free OV index from the send data from the "Free objects" 5810 table
2. Map the OV index for the actual current value with PZD2:
– Set the COB-ID of TPDO1 to "invalid":
p8720[0] = 800001B2 hex
– Link the mapping parameter object 2 of TPDO1 (p8730.1) with the OV index for the
actual current value:
p8730.1 = 58100010 hex (5810 = OV index, 00 = fixed value, 10 ≙ 16 bit value)
– Set the COB-ID of TPDO1 to "valid":
p8720[0] = 400001B2 hex
r8751 shows which object is matched to which PZD:
PZD2 (r8751[1] ) = 5810 (actual current value)
3. link the PZD send word 2 in the send word (p2051) with the actual current value:
p2051[1] = r0086[0]
This means you have transferred the actual current value into the communication as the
send object.
Fieldbuses
6.3 PDO services
Mapping the torque limit (p1520) with RPDO1
Procedure
Proceed as follows to accept the torque limit value in the communication:
1. Set the OV index for the torque limit:
first free OV index from the receive data from the "Free objects" 5800 table
2. Map the OV index for the torque limit with PZD2
– Set the COB-ID of RPDO1 to "invalid":
p8700[0] = 80000232 hex
– Link the mapping parameter object 2 of RPDO1 (p8710.1) with the OV index for the
torque limit:
p8710.1 = 58000010 hex (5800 = OV index, 00 = fixed value)
– Set the COB-ID of RPDO1 to "valid":
p8700[0] = 40000232 hex
r8750 shows which object is mapped to which PZD:
PZD2 (r8750[1]) = 5800 (torque limit)
3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:
p2050[1] = p1520[0]
This means you have transferred the value for the torque limit into the communication.
Fieldbuses
6.4 CANopen operating modes
6.4 CANopen operating modes

The inverter has the following CANopen operating modes
CANopen operating mode SINAMICS

Active operating Set in Displays Open-loop/closed-loop Control Unit/inverter Value
mode 6060 the active control mode in
hex 1) operating p1300
mode in
Value 6502 hex CU23 G120 CU25
0P-2 C_CA 0S-2
CAN N CAN
Velocity Mode 2 Bit1 U/f control with linear x x x 0
characteristic
Manufacturer- -1 Bit16 U/f control with linear x x x 1
specific operating characteristic and FCC
mode 1
Manufacturer- -2 Bit17 U/f control with parabolic x x x 2
specific operating characteristic
mode 2
Manufacturer- -3 Bit18 U/f control with X x 3
specific operating parameterizable
mode 3 characteristic
Manufacturer- -4 Bit19 U/f control with linear x x x 4
specific operating characteristic and ECO
mode 4
Manufacturer- -5 Bit20 U/f control for drive X x 5
specific operating requiring a precise
mode 5 frequency (e.g. textiles)
Manufacturer- -6 Bit21 U/f control for drive X x 6
specific operating requiring a precise
mode 6 frequency and FCC
Manufacturer- -7 Bit22 U/f control with parabolic x x x 7
specific operating characteristic and ECO
mode 7
Manufacturer- -15 Bit23 Operation with braking x 15
specific operating resistor
mode 8
Manufacturer- -19 Bit25 U/f control with x x 19
specific operating independent voltage
mode 10 setpoint
Manufacturer- -20 Bit26 Speed control (without x x x 20
specific operating encoder)
mode 11
Profile Velocity 3 Bit2 Speed control (with x 21
Mode encoder)
Manufacturer- -22 Bit27 Torque control (without x 22
specific operating encoder)
mode 12
Profile Torque 4 Bit3 Closed-loop torque x 23
Mode control (with encoder)
Fieldbuses
6.5 RAM to ROM via the CANopen object 1010
Switching the CANopen operating modes
You can also use parameters from other CANopen operating modes, independently from the
current effective CANopen operating mode.
6.5 RAM to ROM via the CANopen object 1010

You save the parameter changes in the EEPROM of the inverter using the CANopen object
1010. This function is identical with the data save function using the button (RAM ->
ROM) in STARTER or via p0971 = 1.
Saving data using the CANopen object 1010 is not possible when an MMC is inserted, the
inverter is connected with a computer via the USB connector, but STARTER is not accessing
the inverter online.
Withdraw the USB cable in order to be able to save data using CANopen object 1010.
Fieldbuses
6.6 Object directories
6.6.1 General objects from the CiA 301 communication profile
Overview
The following table lists the drive-independent communication objects. The "SINAMICS
parameters" column shows the parameter numbers assigned in the converter.
Table 6- 2 Drive-independent communication objects
OD index Subindex Object name SINAMICS Transmis Data Default Can be read/
(hex) (hex) parameters sion type values written
1000 Device type r8600 SDO U32 – r
1001 Error register r8601 SDO U8 – r
1003 0...52 hex Predefined error field p8611[0...82] SDO U32 0 r/w
0 Number of errors p8611.0 SDO U32 0 rw
1 Number of module p8611.1 SDO U32 0 r
2 Number of errors: p8611.2 SDO U32 0 r
module 1
3-A Standard error field: p8611.3- p8611.10 SDO U32 0 r
module 1
B Number of errors: p8611.11 SDO U32 0 r
module 2
C-13 Standard error field: p8611.12- SDO U32 0 r
module 2 p8611.19
module 3
15-1C Standard error field: p8611.21- SDO U32 0 r
module 3 p8611.28
1D Number of errors: p8611.29 SDO U32 0 r
module 4
1E-25 Standard error field: p8611.30-p8611.37 SDO U32 0 r
module 4
module 5
27-2E Standard error field: p8611.39-p8611.46 SDO U32 0 r
module 5
2F Number of errors: p8611.47 SDO U32 0 r
module 6
30-37 Standard error field: p8611.48-p8611.55 SDO U32 0 r
module 6
module 7
module 7
Fieldbuses
module 8
module 8
4A Number of Control Unit p8611.74 SDO U32 0 r
faults
4B-52 Field Control Unit p8611.75-p8611.82 SDO U32 0 r
standard error
1005 SYNCH COB ID p8602 SDO U32 128 rw
1008 Manufacturer device SDO
name
100A Manufacturer software r0018 SDO U32 – r
version
100C Guard time p8604.0 SDO U16 0 rw
100D Lifetime factor p8604.1 SDO U16 0 rw
1010 Store parameters p0971 SDO U16 0 rw
0 Largest subindex SDO
supported
1 Save all parameters p0971 SDO U16 0 rw
2 Save communication p0971 SDO U16 0 rw
parameters (0x1000-
0x1fff)
3 Save application-related p0971 SDO U16 0 rw
parameters (0x6000-
0x9fff)
1011 Restore default p0970 SDO U16 0 rw
parameters
0 Largest subindex SDO
supported
1 Restore all default p0970 SDO U16 0 rw
parameters
2 Restore communication p0970 SDO U16 0 rw
default parameters
(0x1000-0x1fff)
3 Restore application p0970 SDO U16 0 rw
default parameters
(0x6000-0x9fff)
1014 COB ID emergency p8603 SDO U32 0 rw
1017 Producer heartbeat time p8606 SDO U16 0 rw
1018 Identy Object r8607[0...3] U32 – r
0 Number of entries SDO
1 Vendor ID r8607.0 SDO U32 – r
2 Product code r8607.1 SDO U32 – r
3 Revision number r8607.2 SDO U32 – r
4 Serial number r8607.3 SDO U32 0 r
Fieldbuses
1027 Module list
0 Number of entries r0102 SDO U16 – r
1-8 Module ID p0107[0...15] SDO I16 0 rw
1029 Error behavior
0 Number of error classes SDO
1 Communication Error p8609.0 SDO U32 1 rw
2 Device profile or p8609.1 SDO U32 1 rw
manufacturer-specific
error
1200 1st server SDO
parameter
0 Number of entries SDO
1 COB ID client -> server r8610.0 SDO U32 – r
(rx)
2 COB ID server -> client r8610.1 SDO U32 – r
(tx)
RPDO configuration objects

The following tables list the communication and mapping parameters together with the
indexes for the individual RPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 6- 3 RPDO configuration objects - communication parameters
OD Sub- Name of the object SINAMICS Data Predefined Can be

Index index parameters type connection set read/
(hex) (hex) written to
1400 Receive PDO 1 communication parameter
0 Largest subindex supported U8 2 r
1 COB ID used by PDO p8700.0 U32 200 hex + node ID r/w
2 Transmission type p8700.1 U8 FE hex r/w
1 COB ID used by PDO p8701.0 U32 300 hex + node ID r/w
1 COB ID used by PDO p8702.0 U32 8000 06DF hex r/w
Fieldbuses

Index index parameters type connection set read/
Table 6- 4 RPDO configuration objects - mapping parameters

index index parameters type connection set read/
1600 Receive PDO 1 mapping parameter
0 Number of mapped application objects in PDO U8 1 r
1 PDO mapping for the first application object to be p8710.0 U32 6040 hex r/w
mapped
2 PDO mapping for the second application object to p8710.1 U32 0 r/w
be mapped
3 PDO mapping for the third application object to be p8710.2 U32 0 r/w
mapped
4 PDO mapping for the fourth application object to p8710.3 U32 0 r/w
be mapped
mapped
2 PDO mapping for the second application object to p8711.1 U32 6042 hex r/w
be mapped
mapped
be mapped
Fieldbuses

1 PDO mapping for the first application object to be p8712.0 U32 0 r/w
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
Fieldbuses

be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
TPDO configuration objects

The following tables list the communication and mapping parameters together with the
indexes for the individual TPDO configuration objects. The configuration objects are
established via SDO. The "SINAMICS parameters" column shows the parameter numbers
assigned in the converter.
Table 6- 5 TPDO configuration objects - communication parameters
OD Sub- Object name SINAMICS Data Predefined Can be

(hex) (hex) written
1800 Transmit PDO 1 communication parameter
1 COB ID used by PDO p8720.0 U32 180 hex + node r/w
ID
3 Inhibit time p8720.2 U16 0 r/w
4 Reserved p8720.3 U8 --- r/w
5 Event timer p8720.4 U16 0 r/w
1 COB ID used by PDO p8721.0 U32 280 hex + node r/w
ID
Fieldbuses

(hex) (hex) written
1 COB ID used by PDO p8722.0 U32 C000 06DF hex r/w
Fieldbuses

(hex) (hex) written
Table 6- 6 TPDO configuration objects - mapping parameters
OD Sub- Object name SINAMICS Data type Predefined Can be

index index parameters connection read/
(hex) (hex) set written
1A00 Transmit PDO 1 mapping parameter
0 Number of mapped application objects in PDO U8 1 r/w
mapped
be mapped
mapped
be mapped
mapped
2 PDO mapping for the second application object to p8731.1 U32 6044 hex r/w
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
Fieldbuses

be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
mapped
be mapped
Fieldbuses

mapped
be mapped
6.6.2 Free objects

You can interconnect any process data objects of the receive and transmit buffer using
receive and transmit double words.
● Scaling the process data of the free objects:
– 16-bit (word): 4000 hex ≙ 100%
– 32-bit (doubleword) 4000000 hex ≙ 100%
– For temperature values: 16-bit (word): 4000 hex ≙ 100° C
– For temperature values: 32-bit (doubleword): 4000000 hex ≙ 100° C
The "SINAMICS parameters" column shows the parameter numbers assigned in the
converter. The assignment applies to the case in which an object which is not mapped in any
PDO is to be accessed via SDO.
OD index (hex) Description Data Default Can be read/ SINAMICS

type values written parameters
per PZD
5800 … 580F 16 freely-interconnectable receive process I16 0 r/w r8745[0 … 15]
data
5810 … 581F 16 freely-interconnectable transmit process I16 0 r r8746[0 … 15]
data
5820 … 5827 8 freely-interconnectable receive process data I32 0 r/w r8747[0 … 7]
5828 … 582F Reserved
5830 … 5837 8 freely-interconnectable transmit process data I32 0 r r8748[0 … 7]
5828 … 582F Reserved
Fieldbuses
6.6.3 Objects from the CiA 402 drive profile

The following table lists the object directory with the index of the individual objects for the
drives. The "SINAMICS parameters" column shows the parameter numbers assigned in the
inverter.
OD index Subi Name of the object SINAMICS Transmi Data Default Can be
(hex) ndex parameters ssion type setting read/
(hex) written
Predefinitions
67FF Single device type SDO U32 r
Common entries in the object dictionary
6007 Abort connection option code p8641 SDO I16 3 r/w
6502 Supported drive modes SDO I32 r
6504 Drive manufacturer SDO String SIEME r
NS
Device control
6040 Control word r8795 PDO/S U16 – r/w
DO
6041 Status word r8784 PDO/S U16 – r
DO
605D Halt option code p8791 PDO/S I16 – r/w
DO
6060 Modes of operation p1300 SDO I8 – r/w
6061 Modes of operation display r8762 SDO I8 – r
Factor group
6094 Velocity encoder factor SDO U8 - r
01 velocity encoder factor p8798[1] SDO U32 1 r/w
numerator
02 velocity encoder factor p8798[2] SDO U32 1 r/w
denumerator
Profile velocity mode
6063 Actual position value r0482 SDO/P I32 – r
DO
6069 Velocity sensor actual value r0061 SDO/P I32 – r
DO
606B Velocity demand value r1170 SDO/P I32 – r
DO
606C Velocity actual value r0063 SDO/P I32 – r
Actual velocity DO
6083 Profile acceleration p1082/p1120 SDO I32 – r/w
6084 Profile deceleration p1082/p1121 SDO I32 0 r/w
6085 Quick stop deceleration p1082/p1135 SDO I32 0 r/w
6086 Motion profile type p1115/p1134 SDO I32 0 r/w
60FF Target velocity p1155[0] 1) SDO/P I32 0 r/w
Set velocity p1072 2) DO
Profile Torque Mode 3)
Fieldbuses
OD index Subi Name of the object SINAMICS Transmi Data Default Can be
(hex) ndex parameters ssion type setting read/
(hex) written
6071 Target torque r8797 SDO/P I16 – r/w
torque setpoint DO
6072 Max. torque p1520 SDO 0 0
6074 Torque demand value r0079 SDO/P I16 – r
overall torque setpoint DO
6077 Torque actual value r0080 SDO/P I16 – r
DO
Velocity mode
6042 vl target velocity r8792 SDO/P I16 – r/w
DO
6043 vl velocity demand r1170 SDO/P I16 – r
DO
6044 vl velocity actual value r0063 SDO/P I16 – r
DO
6046 0 vl velocity min./max. amount SDO U8 – r
1 vl velocity min. amount p1080 SDO U32 – r/w
2 vl velocity max. amount p1082 SDO U32 – r/w
6048 0 vl velocity acceleration SDO U8 – r
1 Delta speed p1082 SDO U32 – r/w
2 Delta time p1120 SDO U16 – r/w
1) Without ramp-function generator

2) With ramp-function generator
3) The inverter can process the objects from the Profile Torque Mode. But they cannot be set nor selected in inverters.
Fieldbuses
6.7 Integrating the inverter into CANopen
Commissioning
Precondition
• STARTER ≥ version 4.2, is installed on the computer

used to commission the system.
• The inverter is connected to a CANopen master.
• The EDS (Electronic Data Sheet)
(http://support.automation.siemens.com/WW/view/en/4
8351511)is installed on your CANopen master.
• In the basic commissioning you have set the inverter
interfaces to the CANopen fieldbus.
This means that the following signals in the inverter are
interconnected corresponding to the Predefined
Connection Sets:
– Speed setpoint and control word
– Speed actual value and status word
Procedure
Proceed as follows to commission the CANopen interface:
1. Connecting inverter to CAN bus (Page 157)
2. Set the node ID, baud rate and the monitoring of the communication.
Also see "Setting the node ID and baud rate (Page 157)" as well as "Setting the
monitoring of the communication (Page 158)"
3. Interconnecting additional process data
Set p8744 = 2. You can now interconnect additional process data.
See also "Free PDO mapping (Page 136)"
4. Signal interconnection of the links created in free PDO mapping.
See also Interconnect objects from the receive and transmit buffers (Page 139).
5. Exiting commissioning
Select the "Operational" status in the "Network management" tab in the "Control
Unit/Communication/CAN" STARTER screen form and exit the commissioning.
You have commissioned the CANopen interface.
More information about configuring the communication is provided in Sections
Communication over CANopen (Page 123) and Object directories (Page 144).
Fieldbuses
6.7.1 Connecting inverter to CAN bus

Connect the inverter to the fieldbus via the 9-pin SUB-D pin connector.
The connections of this pin connector are short-circuit proof and isolated. If the inverter
forms the first or last slave in the CANopen network, then you must switch-in the bus-
terminating resistor.
For additional information, refer to the operating instructions of the Control Unit.
6.7.2 Setting the node ID and baud rate
Setting the node ID

You set the node ID of the inverter using the address
switches on the Control Unit, using parameter p8620
or in STARTER.
If you have specified a valid node ID using the
address switches, this node ID will always be the one
Procedure
● Set the address using one of the subsequently listed options:
– with an operator panel using p8620
– in STARTER using screen form "Control Unit/Communication/Fieldbus" or using the
expert list with p8620 and - only for STARTER - save the settings using (RAM to
ROM)
1. Switch on the inverter power supply and, if being used, the 24 V supply
for the Control Unit.
This means that you have changed the bus address.
Fieldbuses
Setting the data transfer rate

You set the data transfer rate using parameter p8622 or in the STARTER
"Control Unit/Communication/CAN" screen form under the "CAN interface" tab. When you
are working with STARTER, you must also save the setting with (RAM to ROM).
Setting range: 10 kbit/s … 1 Mbit/s. The maximum permissible cable length for1 Mbit/s is
40 m.
In order that a newly set or modified data transfer rate becomes effective, switch on the
inverter power supply and, if being used, the 24 V supply for the Control Unit. Switch on the
voltages again after all LEDs at the inverter have gone dark.
6.7.3 Setting the monitoring of the communication
To monitor the communication, use one of the following methods:

• Node guarding / life guarding
• Heartbeat
Node guarding / life guarding
Principle of operation
● Node guarding:
Is always active if heartbeat is not activated (p8606 = 0). Node guarding means the
master sends monitoring queries to the converter which then answers.
The converter does not monitor the communication. Set the responses to a bus failure in
the master.
● Life guarding:
is active if you use p8604.0 and p8604.1 to set a lifetime ≠ 0.
Life Guarding means that the converter monitors the master's monitoring query and
reports fault F8700 (A) with fault value 2, if a life guarding protocol (life guarding event) is
not received within the lifetime. Set additional responses to a bus failure in the master.
Calculate value for lifetime
Life time = guard time in milliseconds (p8604.0) * life time factor (p8604.1)
Heartbeat
Principle of operation
The slave periodically sends heartbeat messages. Other slaves and the master can monitor
this signal. In the master, set the responses for the case that the heartbeat does not come.
Setting value for heartbeat

Set in p8606 the cycle time for the heartbeat in milliseconds.
Fieldbuses
Converter behavior with a bus fault

With a bus fault, the CAN master goes to the "Bus OFF" status. In the converter set the
response via the p8641 parameter. Factory setting: p8641 = 3 (AUS3). When you have
resolved the bus fault, you can confirm the error as follows:
● via OFF/ON: this enables you to remove the Bus OFF state and start communication
again.
● via the DI 2 or direct via p3981: the converter remains in the Bus OFF state. To start the
communication again, set p8608 = 1.
WARNING
Stopping the motor after a bus error
If the converter does not enter into a fault for a bus fault (p8641 = 0), the motor cannot be
stopped via the controller.
For this case, wire an additional OFF command via terminals.
To stop the motor from the controller, you must resolve the bus fault and restart the
communication via p8608 = 1.
Fieldbuses
6.8 Error diagnostics
Objects to signal and describe errors and operating states

The following options are available to display errors and operating states:
● Display of the operating state using LEDs
● Display of the operating state using the alarm object (Emergency Object)
– Inverter-specific error list (predefined error field)
– CANopen error register (error register)
Display of the operating state using LEDs

In addition to the signal states "ON" and "OFF", the following flashing frequencies are
available:
Table 6- 7 Diagnostics of the communication state using the LED
LED Explanation
BF RDY
GREEN - on Not relevant Data is being exchanged between the inverter and
control ("Operational")
GREEN - fast Bus state "Pre-Operational"
GREEN - single Bus state "Stopped"
flash
RED - on No bus available
RED - single flash Alarm - limit reached
RED - double flash Error event in control (Error Control Event)
RED - slow RED - slow Inverter waits until the power supply is switched off and
switched on again after a firmware update
RED - fast RED - fast Incorrect memory card or unsuccessful firmware update
YELLOW - variable RED - on Firmware update in progress
frequency
Fieldbuses
Display of the operating state using the alarm object (Emergency Object)
Error states are displayed using the alarm object (Emergency Object), OV index 1014 in the
emergency telegram. It has the following structure:
• Bytes 0 and 1: CANopen error code

• Byte 2: Codes for the CANopen error register
• Byte 5: Number of the drive object. For G120 inverters, this is always = 1
Errors trigger an emergency telegram and cause the drive to shut down.
You can suppress the emergency telegram by setting bit 31 in object 1014 hex to 1.
This means that shutdown is not suppressed, however the fault message is not sent to the
master.
Inverter-specific error list (predefined error field)

You can read out the inverter-specific error list using the following objects:
● OV index 1003 hex
● Inverter parameter p8611
It includes the alarms and faults present in the inverter in the CANopen alarm number range
8700-8799.
The errors are listed in the order in which they occur using an error code and additional,
device-specific information.
As soon as a fault is acknowledged or an alarm is resolved, they are deleted from the
inverter-specific error list.
You acknowledge all of the active inverter errors by setting subindex 0 in the OV index 1003
to 0 or setting p8611[0] = 0.
Table 6- 8 CANopen error code
Error code Meaning Explanation

0000 hex No error present Successful acknowledgement of all errors or all the alarms
are cleared in the display.
1000 hex CAN Error 1 All other SINAMICS faults/errors
1001 hex CAN Error 2 All other CANopen alarms in the alarm number range
F08700 to F08799
8110 hex CAN overflow, CBC: Telegram loss (A(N)08751) [alarm]
message lost
8120 hex CAN Error Passive CBC: Error number for Error Passive exceeded (A08752)
[alarm]
8130 hex CAN Life Guard Error CBC: Communications error, alarm value 2 F08700(A)
[error/alarm]
Fieldbuses
CANopen error register (error register)

You can read out the error register using the following objects:
● OV index 1001 hex
● Inverter parameter r8601
It indicates the error in byte 2 of the emergency telegram.
Table 6- 9 CANopen Error Register
Error Meaning Explanation

Register
Bit 0 Generic error Set for every alarm that CAN identifies.
Bit 4 Communication Is set for CAN communication alarms (alarms in the range
error 08700 … 08799).
Bit 7 Manufacturer error Is set for all alarms outside the range 08700 … 08799.
Response in the case of an error

For a CAN communication error, e.g. too many telegram failures, the inverter outputs fault
F(A)08700(2). (Details are provided in the List Manual, see Additional manuals for your
inverter (Page 182)).
You set the response of the CAN node in p8609.

• p8609 = 0 Pre-operational
• p8609 = 1 No change (factory setting)
• p8609 = 2 Stopped
You set the inverter response in p8641:
• p8641 = 0 No reaction (factory setting)
• p8641 = 1 OFF1
• p8641 = 2 OFF2
• p8641 = 3 OFF3
Fieldbuses
Appendix A
A.1 Communication with STEP7
This section describes the communication with a SIMATIC control system using examples.
To configure the control you require the SIMATIC STEP 7 software tool with HW Config.
It is assumed that you are knowledgeable about working with SIMATIC control systems and
that you have a sound understanding of the STEP 7 engineering tool.
A.1.1 Configuring PROFIBUS communication
A.1.1.1 Creating a STEP 7 project and network
Procedure
In order to create a STEP 7 project, proceed as follows:
1. Create a new STEP 7 project, e.g. "G120_in_S7".
2. Insert a SIMATIC control S7 300 CPU.
3. Select the SIMATIC 300 station in your project and open HW Config.
4. Insert an S7 300 mounting rail from the hardware catalog into your project with drag &
drop.
5. Locate a power supply at slot 1 of the mounting rail and a CPU 315-2 DP control at slot 2.
When inserting the control, HW Config opens the network setting.
6. Create a PROFIBUS DP network.
Fieldbuses
Appendix
You have created a STEP 7 project with a SIMATIC control and a PROFIBUS network.
A.1.1.2 Inserting the inverter into the project

There are two ways to insert an inverter into the project:
● Using the inverter GSD
● Using the STEP 7 object manager
This more user-friendly method is only available when STARTER is available.
Using an example of a SINAMICS G120 with Control Unit CU240B-2 or CU240E-2, the
procedure shows how you insert the inverter into the project using the GSD.
Precondition
You have installed the GSD of the inverter in your PC using HW Config (menu "Options -
Install GSD files").
Procedure
In order to insert an inverter into your project, proceed as follows:
1. Insert the inverter by dragging and dropping it into the PROFIBUS network.
You can find the inverter under "PROFIBUS DP - Other field devices" in the HW Config
hardware catalog.
2. Enter the PROFIBUS address set at the inverter in HW Config.
3. Select the appropriate telegram and insert the telegram into slot 1 of the inverter by
dragging and dropping.
More information on the telegram types can be found in Chapter Cyclic communication
(Page 15).
4. If you wish to assign several inverter slots with telegrams, then you must comply with the
permitted sequence of slot assignments.
Fieldbuses
Appendix
5. Save and compile the project.

6. Download the project data to the S7-CPU.
You have inserted your project into the inverter and loaded your configuration to the CPU.
Permitted sequence for the slot assignment

1. PROFIsafe telegram, if one is being used.
Information on connecting the inverter via PROFIsafe can be found in the "Safety
Integrated Function Manual".
2. PKW channel, if one is used.
3. Standard, SIEMENS or free telegram, if one is used.
4. Direct data exchange
If you do not use one or several of the telegrams 1, 2 or 3, configure your telegrams starting
with the 1st slot.
Cyclic communication to the inverter when using the universal module

A universal module with the following properties is not permitted:
● PZD length 4/4 words
● Consistency over the complete length
With these properties, the universal module has the same DP identifier (4AX) as the "PKW
channel 4 words". The higher-level control does not establish cyclic communication with the
inverter.
Workaround when using the universal module above:
● In the properties of the DP slave, change the PZD length to 8/8 bytes
● Change the consistency to "Unit".
Fieldbuses
Appendix
A.1.2 Configuring PROFINET communication
A.1.2.1 Configuring the controller and converter in HW Config

Using an example of a SINAMICS G120 with Control Unit CU240B-2 or CU240E-2, the
procedure shows how you insert the inverter into the project.
Procedure
Proceed as follows to configure communications between the inverter and the control system
via PROFINET:
1. Open HW Config in STEP 7 via "Insert/[Station]", and create the components in
accordance with your hardware structure. The following example is limited to the
components that are absolutely required.
2. Build your station with a rack and power supply unit.
3. Insert the CPU.
HW Config opens a screen form with suggestions for the next free IP address and a
subnet screen form.
4. If you have configured a local area network, and are not working within a larger Ethernet
network, use the proposed entries.
Otherwise, ask your administrator about the IP addresses for the PROFINET participants
and subnet mask. CPU and supervisor must have the same subnet screen form.
5. Use the "New" button to either create a new PROFINET subnet or select an existing one.
6. Assign a name for your PROFINET network.
7. Exit this screen form and the next one with OK.
8. Select your subnet.
Fieldbuses
Appendix
9. Using the hardware catalog, first insert the inverter using drag & drop.
10.Insert the communication telegram.
11.Open the properties window of the inverter and enter a unique and descriptive device
name for the inverter.
Using the device name, the PROFINET controller assigns the IP address when starting
up.
12.You will also find the proposed IP address in this screen form. If required, you can
change the IP address via "Properties".
13.Save your hardware configuration with "Save and compile" ( ).
14.Load the configuration into the control unit via the button.
15.Enter the IP address of the controller.
If you do not have the IP address readily available, you can display the participants that
can be reached by clicking the "Display" button. Select the control from the list of
accessible participants, and exit the screen form with OK.
Fieldbuses
Appendix
16.If you have installed Drive ES Basic, open the STARTER by double-clicking the inverter
symbol in the Hardware Manager and configure the inverter in the STARTER.
In this case, STARTER automatically accepts the device name and IP address. The
approach described in the following section is therefore superfluous.
17.If you are working with the GSDML, close HW Config now and create a reference for
STARTER as described in the following section.
You have configured the communication between the inverter and the control unit using
PROFINET .
Fieldbuses
Appendix
A.1.2.2 Activate diagnostic messages via STEP 7
Procedure
Proceed as follows to activate the diagnostic messages of the inverter:
1. In HW Config, select the inverter.
Figure A-1 Highlight inverter in HW Config
2. By double clicking on slot 0 in the station window, open the property window for the
inverter's network settings.
3. Select the Parameters tab.

4. Activate the standard alarms.
You have activated the diagnosis messages.

With the next ramp-up of the controller, the diagnostic messages of the inverter are then
transferred to the controller.
Fieldbuses
Appendix
A.1.2.3 Go online with STARTER via PROFINET
Adapting the PROFINET interface

If you commission the inverter with STARTER via PROFINET, then you must correctly
address your PC and allocate STARTER the interface via which it goes online with the
inverter.
Procedure
To address the inverter, proceed as follows:
1. Establish the bus connection.

See Section Integrating inverters into
PROFINET (Page 46))
2. From the control panel, assign the IP
address and the subnet mask address
to your computer:
3. Go to "Start/Settings/Control Panel".
4. Select "Network Connections".
5. Right-click to open the properties
window of the LAN connection.
6. In this window, select "Internet
Protocol (TCP/IP)".
7. Select "Properties".
8. Set 192.168.0.100 as the IP address
of the supervisor and 255.255.255.0
as subnet mask.
In the company network it is possible
that the IP address and the subnet
mask have different values. You can
obtain these values from your network
administrator.
9. Open the SIMATIC Manager.
10. Assign the TCP/IP interface to
"Intel(R) PRO/100 VE Network
Connection" via "Tools/PG/PC
interface".
You have allocated your computer the IP address and the address of the subnet mask, and
defined the PC interface via which STARTER goes online with the inverter.
Fieldbuses
Appendix
Create a reference for STARTERS

If you have configured the inverter via GSDML, in STEP 7, you must create a reference of
the inverter for STARTER, so that you can call up STARTER from STEP 7.
This procedure is described using the example of a SINAMICS G120 with Control Unit
CU240B-2 or CU240E-2.
Procedure
Proceed as follows to create a reference of the inverter for STARTER:
1. Highlight the project in the SIMATIC manager
2. Open the "Insert single drive unit" screen form by right clicking on "Insert New
Object/SINAMICS".
3. Under the "Drive device/address" tab, set the device family, device and the firmware
version.
4. In the device version, select your inverter.
5. Set the online access.
6. Set the address.
7. Enter the PROFINET device name in the "General" tab.
8. Exit the screen form with OK.

9. The inverter is visible in your project.
In your project, you have created an inverter reference for STARTER. You can now call
STARTER from your STEP 7 project.
Fieldbuses
Appendix
Call the STARTER and go online
Procedure
To call STARTER from STEP 7 and establish an online connection to the inverter, proceed
as follows:
1. Highlight the inverter in the SIMATIC manager with the right mouse button.
2. Open the STARTER via "Open object".
3. Configure the inverter in STARTER and click on the Online button ( ).
4. In the following window, select the inverter and then the S7ONLINE as access point.
5. Exit the screen form with OK.

You have called STARTER from STEP 7, and have established the online connection to the
inverter.
Fieldbuses
Appendix
A.1.3 STEP 7 program examples
A.1.3.1 Data exchange via the fieldbus
Data exchange via the fieldbus
Analog signals
The inverter always scales signals that are transferred via the fieldbus to a value of 4000
hex.
Table A- 1 Signal category and the associated scaling parameters
Signal category 4000 hex ≙ … available in

CU230P-2 CU240D-2 CU240B-2 CU250S-2
G120C CU250D-2 CU240E-2
Speeds, frequencies p2000 ✓ ✓ ✓ ✓
Voltage p2001 ✓ ✓ ✓ ✓
Current p2002 ✓ ✓ ✓ ✓
Torque p2003 ✓ ✓ ✓ ✓
Power r2004 ✓ ✓ ✓ ✓
Angle p2005 --- ✓ ✓ ✓
Temperature p2006 ✓ ✓ ✓ ✓
Acceleration p2007 --- ✓ ✓ ✓
Control and status words

Control and status words consist of a high byte and a low byte. A SIMATIC control interprets
words differently than the inverter: The higher and lower-order bytes are interchanged when
they are transferred. See also the following program example.
Fieldbuses
Appendix
A.1.3.2 STEP 7 program example for cyclic communication
The controller and inverter communicate via

standard telegram 1. The control specifies
control word 1 (STW1) and the speed setpoint,
while the inverter responds with status word 1
(ZSW1) and its actual speed.
In this example, inputs E0.0 and E0.6 are linked
to the ON/OFF1 bit or to the "acknowledge fault"
bit of STW 1.
Control word 1 contains the numerical value
047E hex. The bits of control word 1 are listed in
the following table.
The hexadecimal numeric value 2500 specifies
the setpoint frequency of the inverter. The
maximum frequency is the hexadecimal value
4000.
The controller cyclically writes the process data
to logical address 256 of the inverter. The
inverter also writes its process data to logical
address 256. You define the address area in HW
Config.
Fieldbuses
Appendix
Table A- 2 Assignment of the control bits in the inverter to the SIMATIC flags and inputs
HEX BIN Bit in Significance Bit in Bit in Bit in Inputs

STW1 MW1 MB1 MB2
E 0 0 ON/OFF1 8 0 E0.0
1 1 OFF2 9 1
1 2 OFF3 10 2
1 3 Operation enable 11 3
7 1 4 Ramp-function generator enable 12 4
1 5 Start ramp-function generator 13 5
1 6 Setpoint enable 14 6
0 7 Acknowledge fault 15 7 E0.6
4 0 8 Jog 1 0 0
0 9 Jog 2 1 1
1 10 PLC control 2 2
0 11 Setpoint inversion 3 3
0 0 12 Irrelevant 4 4
0 13 Motorized potentiometer ↑ 5 5
0 14 Motorized potentiometer ↓ 6 6
0 15 Data set changeover 7 7
Fieldbuses
Appendix
A.1.3.3 STEP 7 program example for acyclic communication
M9.0 Starts reading parameters

M9.1 Starts writing parameters
M9.2 Displays the read process
M9.3 Displays the write process
The number of simultaneous requests for acyclic
communication is limited. More detailed
information can be found under
http://support.automation.siemens.com/WW/view
/de/15364459
(http://support.automation.siemens.com/WW/vie
w/en/15364459).
Fieldbuses
Appendix
Figure A-2 Reading parameters
Note
With PROFINET standard function blocks (SFB) instead of system functions (SFC)
With acyclic communication via PROFINET, you must replace the system functions with
standard function blocks as follows:
• SFC 58 → SFB 53
• SFC 59 → SFB 52
Fieldbuses
Appendix
Explanation of FC 1
Table A- 3 Request to read parameters
Data block DB 1 Byte n Bytes n + 1 n

Header Reference MB 40 01 hex: Read request 0
01 hex Number of parameters (m) MB 62 2
Address, Attribute 10 hex: Parameter value Number of indexes MB 58 4
parameter 1 Parameter number MW 50 6
Number of the 1st index MW 63 8
SFC 58 copies the specifications for the parameters to be read from DB 1 and sends them to
the inverter as a read request. No other read requests are permitted while this one is being
processed.
After the read request and a waiting time of one second, the controller takes the parameter
values from the inverter via SFC 59 and saves them in DB 2.
Fieldbuses
Appendix
Figure A-3 Writing parameters
Explanation of FC 3
Table A- 4 Request to change parameters
Data block DB 3 Byte n Bytes n + 1 n

Header Reference MB 42 02 hex: Change request 0
01 hex Number of parameters MB 44 2
Address, 10 hex: Parameter value Number of indexes 00 hex 4
Values, Format MB 25 Number of index values MB 27 10
parameter 1 Value of the 1st indexMW35 12
SFC 58 copies the specifications for the parameters to be written from DB 3 and sends them
to the inverter. The inverter blocks other write jobs while this write job is running.
Fieldbuses
Appendix
A.1.4 Configuring slave-to-slave communication in STEP 7

Two drives communicate via standard telegram 1 with the higher-level controller. In addition,
drive 2 receives its speed setpoint directly from drive 1 (actual speed).
Figure A-4 Communication with the higher-level controller and between the drives with direct data
exchange
Setting direct data exchange in the control
Procedure
Proceed as follows to set direct data exchange in the control:
1. In HW Config in drive 2 (subscriber),

insert a direct data exchange object,
e.g. "Slave-to-slave, PZD2".
2. With a double-click, open the dialog

box to make additional settings for the
direct data exchange.
Fieldbuses
Appendix
3. Activate the tab "Address

configuration".
4. Select line 1.
5. Open the dialog box in which you
define the Publisher and the address
area to be transferred.
6. Select DX for direct data exchange

7. Select the address of drive 1
(publisher).
8. In the address field, select the start
address specifying the data area to
be received from drive 1. In the
example, these are the status word 1
(PZD1) and the actual speed value
with the start address 256.
9. Close both screen forms with OK.

You have now defined the value range for direct data exchange.
In the direct data exchange, drive 2 receives the sent data and writes this into the next
available words, in this case, PZD3 and PZD4.
Settings in drive 2 (subscriber)

Drive 2 is preset in such a way that it receives its setpoint from the higher-level controller. In
order that drive 2 accepts the actual value sent from drive 1 as setpoint, you must set the
following:
● In drive 2, set the PROFIdrive telegram selection to "Free telegram configuration" (p0922
= 999).
● In drive 2, set the source of the main setpoint to p1070 = 2050.3.
The inverter indicates the inverter addresses that are configured for direct data exchange in
parameter r2077.
Fieldbuses
Appendix
A.2 Additional manuals for your inverter
A.2 Additional manuals for your inverter
Table A- 5 Manuals for your inverter
Informati Manual Contents Available Download or order number

on depth languages
++ Getting Started Guide Installing the inverter and English, Download manuals
commissioning. German, ((http://support.automation.
+++ Operating Instructions Installing the inverter and Italian, siemens.com/WW/view/en/
for the SINAMICS G120 inverter commissioning. Description French, 22339653/133300)
with the CU250S-2 Control Unit of the inverter functions. Spanish, SINAMICS
Chinese Manual Collection
+++ Function Manual Basic Positioner Commissioning the basic English, Documentation on DVD,
positioner. German, order number
+++ Function Manual for Safety Configuring PROFIsafe. Chinese 6SL3097-4CA00-0YG0
Integrated Installing, commissioning
for the SINAMICS G110M, G120, and operating fail-safe
G120C, G120D inverters and functions of the inverter.
SIMATIC ET 200pro FC-2
converters
+++ Fieldbus Function Manual (this manual)
for the SINAMICS G120, G120C
and G120D inverters
+++ List Manual Complete list of all
parameters, alarms and
faults.
Graphic function diagrams.
+ Getting Started Guide Installing the Power Module English
for the following SINAMICS G120
Power Modules:
• PM240, PM250 and PM260
• PM240-2
+ Installation Instructions Installing components
for reactors, filters and braking
resistors
+++ Hardware Installation Manual Installing power modules, English,
for the following SINAMICS G120 reactors and filters. German
Power Modules: Maintaining power modules.
• PM240
• PM240-2
• PM250
• PM260
+++ Operating Instructions Operating operator panels,
for the following Operator Panels: installing door assembly for
IOP
• BOP-2
• IOP
Fieldbuses
Index
A E
AC/DC drive profile, 66 EMCY, 124
Acyclic communication, 34 Ethernet/IP, 61
Application
Reading and writing parameters cyclically via
PROFIBUS, 32 G
Getting Started, 182
GSD (Generic Station Description), 57, 164
C
GSDML (Generic Station Description Markup
CAN Language), 47
COB, 124
COB ID, 124
Device profile, 124 H
EMCY, 124
Hardware Installation Manual, 182
NMT, 124
HW Config (hardware configuration), 163
SDO, 124
SYNC, 124
CANopen communication profile, 124
I
Checklist
PROFIBUS, 55 IND (page index), 30, 89
PROFINET, 47, 64
COB, 124
COB ID, 124 L
Communication
List Manual, 182
Acyclic, 34
Cyclically, 16
Control word
M
Control word 1, 19
Control word 2, 22 Manual Collection, 182
Control word 3, 24 Manuals
Control word 2 (STW2), 22 Download, 182
Control word 3 (STW3), 24 Function Manual for Safety Integrated, 182
Cyclic communication, 18 Inverter accessories, 182
Overview, 182
Maximum cable length
D Modbus, 94
PROFIBUS, 56
Data exchange fieldbus, 173
PROFINET, 46
Data set 47 (DS), 34, 178
USS, 82
DC braking, 22, 24
Device profile, 124
Direct data exchange, 33, 180
N
Drive-independent communication objects, 144
DS 47, 34 Network management (NMT service), 125
NMT, 124
Fieldbuses
Index
O U
Operating instruction, 11 USS (universal serial interface), 82, 86
Operating instructions, 182
Overview
Manuals, 182 Z
ZSW1 (status word 1), 21
ZSW3 (status word 3), 25
P
Page index, 30, 89
Parameter channel, 27, 86
IND, 30, 89
Parameter index, 30, 89
Parameter number, 30
Parameter value, 34
PDO, 132
Procedure, 11
PROFIBUS, 55
PROFIenergy, 48
PROFIsafe, 165
Pulse cancelation, 20
Pulse enable, 20
R
RS485 interface, 81
S
Scaling
Fieldbus, 173
SDO, 124, 129
SDO services, 128
SIMATIC, 163
Status word
Status word 1, 21
Status word 2, 23
Status word 3, 25
Status word 1 (ZSW2), 23
STEP 7 object manager, 164
STW1 (control word 1), 19
Subindex, 30, 89
Switching on inhibited, 20
Symbols, 11
SYNC, 124
T
Technology controller, 22, 24
Telegram types, 164
Fieldbuses

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Fundamental safety

Edition 04/2014, Firmware V4.7

Siemens AG Order number: A5E34229197B AA Copyright © Siemens AG 2014.

1 Fundamental safety instructions .............................................................................................................. 9

4.4 Configuring communication via EtherNet/IP ............................................................................... 65

6.6.3 Objects from the CiA 402 drive profile .......................................................................................154

1.2 Industrial security

Fieldbuses for SINAMICS G120

Additional fieldbuses for SINAMICS G120P

What is the meaning of the symbols in the manual?

This concludes the operating instruction.

2.1 Ethernet and PROFINET protocols that are used

Table 2- 1 PROFINET protocols

Protocol Port Layer Function/description

Table 2- 2 Connection-oriented communication protocols

Protocol Port Layer Function/description

3.1.1 Cyclic communication

Communication telegrams if "basic positioner" has been configured

Communication telegrams for speed control

Abbreviation Explanation Abbreviation Explanation

Interconnection of the process data

Figure 3-1 Interconnection of the send words

Figure 3-2 Interconnection of the receive words

3.1.1.1 Assigning control and status words

Assigning control and status words

Control word 1 (STW1)

Bit Significance Explanation Signal

Status word 1 (ZSW1)

Bit Significance Comments Signal

15 1 = CDS display 0 = Alarm, inverter p2080[15] =

Control word 2 (STW2)

Bit Valu Meaning Explanation Signal interconnection

0 1 Fixed setpoint, bit 0 Selects up to 16 different fixed setpoints. p1020[0] = r2093.0

Status word 2 (ZSW2)

Bit Valu Meaning Description Signal interconnection

Control word 3 (STW3)

Bit Valu Significance Explanation Signal interconnection

0 1 Fixed setpoint, bit 0 Selects up to 16 different fixed setpoints. p1020[0] = r2093.0

Status word 3 (ZSW3)

Bit Valu Significance Description Signal interconnection

3.1.1.2 Extend telegrams and change signal interconnection

Freely selecting the signal interconnection of the telegram

3.1.1.3 Data structure of the parameter channel

Structure of the parameter channel

You can find examples of telegrams at the end of this section.

Request and response IDs

Table 3- 1 Request identifiers, control → inverter

Request Description Response identifier

Table 3- 2 Response identifiers, inverter → control

Table 3- 3 Error numbers for response identifier 7

Offset and page index of the parameter numbers

Parameter number Offset Page index

Table 3- 4 Parameter values in the parameter channel

PWE, 3rd word PWE, 4th word

Table 3- 5 Connectors in the parameter channel

PWE, 3rd word PWE, 4th word

Figure 3-3 Telegram for a read request from p7841[2]

Write request: Change restart mode (p1210)

Figure 3-4 Telegram, to activate the automatic restart with p1210 = 26