DCM Technology en V6 0

DCM Technology
Applications
Siemens
SINAMICS DCM Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/103471886 Support
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DCM Technology Applications

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Table of contents
Table of contents
Legal information ......................................................................................................... 2
1 Application description ..................................................................................... 5
1.1 Overview............................................................................................... 5
1.2 Hardware setup .................................................................................... 7
1.3 Hard and software components ........................................................... 8
2 Application functions ........................................................................................ 9
2.1 Overview............................................................................................... 9
2.2 Description of the core functionality ................................................... 11
3 Application installation ................................................................................... 12
3.1 Preparation ......................................................................................... 12
3.2 Installing the OALINK application ....................................................... 12
3.3 Installation of the DCB extension library "GMC" and
"MathExtended ................................................................................... 12
3.4 Creating the starter project ................................................................. 12
3.5 Import of the technology CU............................................................... 13
3.6 Import of the S120 application ........................................................... 16
4 Interconnection of the application ................................................................. 18
4.1 Use of the interconnection script ........................................................ 21
4.2 Manual interconnection of the application .......................................... 23
© Siemens AG 2021 All rights reserved
4.2.1 Interconnections and parameterization on the SINAMICS DCM ....... 23

4.2.2 All applications - interconnections at the "TechCU" object ................ 30
4.2.3 Cross cutter and flying saw - interconnections at the "TechCU"
object .................................................................................................. 32
4.2.4 Synchronism applications - interconnections at the "TechCU"
object .................................................................................................. 34
4.2.5 All applications – connections and parameterizations at the
"MotorLoadEncoder" object................................................................ 37
4.2.6 Cross cutter and flying saw - interconnections on the
"MotorLoadEncoder" object................................................................ 42
4.2.7 Synchronism applications - wiring on the "MotorLoadEncoder"
object .................................................................................................. 46
4.2.8 All applications - interconnections at the
"MeasuringWheelLeadValue" object .................................................. 49
4.2.9 Cross cutter and flying saw - interconnections on the
4.2.10 Synchronism applications - connections at the
4.2.11 Completion of manual interconnection ............................................... 69
5 Commissioning of the application ................................................................. 70
5.1 General notes ..................................................................................... 70
5.2 Special supplements .......................................................................... 70
5.2.1 Load side position encoder available ................................................. 70
5.2.2 Position encoder present on motor side ............................................. 70
5.2.3 Load and motor side position sensor available .................................. 70
5.2.4 Position control ................................................................................... 70
5.2.5 Following error monitoring .................................................................. 70
5.2.6 Ramp stop (OFF1 and OFF3) ............................................................ 70
5.2.7 Faults and alarms ............................................................................... 71
5.2.8 Direct communication to the DCM ..................................................... 71
6 Program description ........................................................................................ 72

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Table of contents
6.1 Function diagrams .............................................................................. 72

6.1.1 Function diagrams technological application ..................................... 72
6.1.2 Function diagrams position detection and control .............................. 73
6.2 Parameter list ..................................................................................... 83
6.2.1 Basic structure of parameter descriptions .......................................... 83
6.2.2 Parameter list technological application ............................................. 92
6.2.3 Parameter list position detection and control ..................................... 92
6.3 Faults and alarms ............................................................................. 140
6.3.1 Faults ................................................................................................ 140
6.3.2 Alarms .............................................................................................. 142
7 Appendix ........................................................................................................ 143
7.1 Application Support .......................................................................... 143
7.2 Change documentation .................................................................... 143

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1 Application description
1.1 Overview
Introduction
All power converters of the SINAMICS DCM series are offering a wide range of
basic functions for different drive operations. This application extends them with
extensive and flexible positioning,synchronism and technology functionalities.
This extension is using a Control Unit CU320-2 as technology board, which
communicates via OA-Link with the Advanced CUD of the SINAMICS DCM.
Overview of the application

The following picture shows a simplified structure of the application.
Figure 1-1
M-soll
n-soll
s-soll
Positioning &
synchronism
setpoints
Position controlling Speed control
...
n-ist
OA-Link
s-ist
Actual speed
detection
n-ist
Actual position and

speed detection <1>
Control Unit CU320-2 Advanced CUD
<1> transmision of the actual speed value is optional
Application description
This application expands the positioning, synchronism, Flying Saw and Crosscutter
applications for the SINAMICS S120 drives for the usage with the SINAMICS DCM.
The CU320-2 is taking part as technology-CU and takes control of the position
control, generates a position setpoint as well as conditioning the actual speed and
position value. To communicate with the Advanced CUD of the SINAMICS DCM
OA-Link is used.

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Core elements of this application

The following core elements will be concerned in this application:
• Describing the extensions referring to the applications for SINAMICS S120
• Describing the connection to SINAMICS DCM
Distinction
This application doesn’t include descriptions
• For basic commissioning of the SINAMICS DCM and SINAMICS S120
• For the Drive Control Chart (DCC) engineering
• Any block description for the used Drive Control Blocks (DCB)
• The application description for the positioning and synchronism applications
• Description for the OA-application “Open Application Link”

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1.2 Hardware setup

The following figure exemplary shows the DRIVE-CLiQ topology for the hardware
setup including the OA-Link connection.
Figure 1-2
Sensor Module Control Control

Axis position Unit Unit
X500
X100 X100
X101 X101
X500
X102
Sensor Module X103

Measuring Wheel/ Control
Leading axis
Unit Advanced
CU320-2 CUD
As an example of a cross cutter application, the hardware structure is shown in the

following figure:
Figure 1-3

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1.3 Hard and software components

Hardware components
Table 1-1
Component Note
SINAMICS DCM Control Unit Advanced CUD as of firmware V1.4 HF2
Control Unit CU320-2 PN or CU320-2 DP as of firmware V5.2.3
SMx sensor modules for evaluating the encoder of Selection depending on encoder type
the load/motor position and for the leading
value/measuring wheel encoder or
DRIVE-CLiQ encoder
SIMATIC S7-1200 or S7-1500 CPU optional when using the SIMATIC function block
LMCSINA
Software components
Table 1-2
Component Note
STARTER commissioning tool with as of V5.4.2.1

installed DCC and valid DCC
engineering license
OA application "OALINK" Open as of V1.3
Application Link for Advanced CUD A License Key is required for the CU320-2:
and CU320-2 6SL3077-0AA01-0AB0
No license key is required for the Advanced CUD.
SINAMICS DCB Extension for A License Key is required for the CU320-2:
CU320-2 6SL3077-0AA00-0AB0
Function block library for motion GMCV6.0
control
Function block library for advanced MathExtendedV6.0
mathematical functions
S120 Technology and synchronization each usable from V6.0 without adjustments
applications
Cross cutter with DCB extension https://support.industry.siemens.com/cs/ww/en/view/109477746
Flying saw with DCB Extension https://support.industry.siemens.com/cs/ww/en/view/109477745
Synchronism applications with https://support.industry.siemens.com/cs/ww/en/view/109757232

DCB Extension
Automation software TIA Portal as of V15.1 - optional when using the SIMATIC control module
LMCSINA

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2 Application functions
2.1 Overview
The " Technology and synchronization applications with SINAMICS DCM and
CU320-2" include the following functions:
• The functionality of the applications for S120, with measuring wheel as leading
value source (only one measuring wheel is possible as leading value axis):
– Cross cutter
– Flying saw
– Basic gearing and positioning 1
– Base camming
– Extended gearing
– Extended camming
as described in the separate documentation.
• Position detection and control - the position detection and the position
controller are implemented by a DCC chart on the CU320-2. The output of the
position controller together with the speed precontrol results in the speed
reference for the SINAMICS DCM. This speed reference is transferred to the
Advanced CUD via OALINK.
• Status and error monitoring - the status of the OALINK connection and the
status of the position control are monitored.
• Communication - all control and status words for the application are received
and sent via the CU320-2
The CU320-2 communicates with the Advanced CUD via OALINK and passes
on the necessary control and feedback signals. The respective LMCSINA
control blocks of the basic applications can be used without adaptation.
1The positioning application is covered by the "Basic gearing" application, so there is no

separate application for this. Since the DCC chart of the S120 application is created on the
encoder object of the measuring wheel, this encoder must be deactivated in the topology for
pure positioning without synchronization functionality in order to avoid error messages due to its
absence.

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The following figure illustrates this schematically:

Figure 2-1

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2.2 Description of the core functionality

The functionality of the applications corresponds to the applications available for
SINAMICS S120.
In contrast to the use with SINAMICS S120, the basic application is not
implemented on a drive axis, but on the encoder object of the leading value or
measuring wheel encoder.
The required position detection and control for the motor or load encoder is a direct
component of the present application and is carried out by means of a DCC chart
at the encoder object of the motor or load encoder.
The following encoder connection options are available:
• Two encoder system, i.e. one motor encoder for speed control and another
encoder for position control - the motor encoder is connected to the SINAMICS
DCM, the position encoder to the CU320-2. In this constellation, the motor
encoder can also be an analog tachometer.
• HTL or TTL motor encoder, which is also used for positioning - the encoder is
connected (if required via a suitable isolation amplifier) to both the SINAMICS
DCM and the CU320-2
• Incremental encoder sin/cos 1Vpp, absolute encoder EnDat or SSI, encoder
with DRIVE-CLiQ interface - the encoder is only connected to the CU320-2 and
the actual speed value is optionally transmitted to the SINAMICS DCM
together with the setpoint via OALINK - however, this variant is not
recommended, the user must additionally ensure the safe operation of the
SINAMICS DCM even if the communication to the technology CPU fails, this is
not part of the present application.
Serious personal injury and damage to property can occur if

communication or CU320-2 failures occur during transmission of the actual
speed value and these failures are not responded to in time with pulse
ALARM inhibit.

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3 Application installation
3.1 Preparation
Before starting commissioning, place the following software components on your
commissioning PC:
• .zip file of the technology package OALINK
• .zip file of the S120 application with:
▪ the import files of the DCC charts
▪ the DCB extension libraries "GMC" and "MathExtended
• .zip file of the present application with it:
▪ the import files of the technology CU
▪ the import files of the application script
3.2 Installing the OALINK application

Prerequisite for the communication between CU320-2 and CUD Advanced is the
installation of the OALINK application in the commissioning tool Starter.
You perform the installation in the Starter in the menu item "Extras" -> "Installation
of libraries and technology packages".

Details can be found in the OALINK application manual.
3.3 Installation of the DCB extension library "GMC" and

"MathExtended
These libraries extend the basic functionality of DCC with blocks for motion control
applications and additional math and logic functions. These blocks are the basis of
the standard applications for cross cutter, flying saw, synchronization and
positioning and a prerequisite for the integration of the present application.
You also perform this installation in the Starter in the menu item "Extras" ->
"Installation of libraries and technology packages".
Details can be found in the manuals of the S120 applications.
3.4 Creating the starter project

The starting point for the integration of the application is the starter project and the
speed-controlled SINAMICS DCM put into operation.
If you do not have a starter project with the SINAMICS DCM yet, you can also start
with an empty project in the first step.
Note It is recommended to optimize the speed control of the SINAMICS DCM before
integrating the application.

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3.5 Import of the technology CU

Double-click on "Insert single drive device" in the project navigator of the
STARTER:
Figure 3-1
and select a CU320-2 PN in the dialog (also when using a CU320 -2 DP):
Figure 3-2

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then right-click on the newly created drive device and select the "Import object"
entry under "Expert":
Figure 3-3

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In the dialog that opens, select the storage path of the present application and
there in the subfolder "Export Technology CU" the xml file "TechnologyCU.xml"
and confirm this in the dialogs.
Figure 3-4
only when using a CU320-2 DP, you must now change from CU320-2 PN to
CU320-2 DP in the context menu under "Target device" and there "Upgrade device
version/device version":
Figure 3-5
If necessary, rename your drive unit appropriately.

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3.6 Import of the S120 application

In the project navigator, you will find the "MeasuringWheelLeadValue" encoder
object on the technology CU:
Figure 3-6
The DCC chart of the S120 application is imported at this object. To do this, right-
click on the encoder and select the "Import object" entry in the context menu under
"Expert":
Figure 3-7

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This is shown here as an example for a cross-cutter application:

Figure 3-8
The DCC chart for position detection and control is already available at the
"MotorLoadEncoder" encoder on the technology CPU.
Now go to "Configuration" on both encoders one after the other via the project
navigator and set the correct encoder data.

Under "MeasuringWheelLeadValue", the encoder of a leading drive or measuring
wheel is to be configured; for the Positioning application, this encoder should be
set to "Disabled and not available" in the topology.
Under "MotorLoadEncoder" the encoder of the position control is to be configured,
which can be located either on motor side or load side.

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4 Interconnection of the application

The basic interconnection between the DCC charts in the project, as well as the
interconnections for the communication, can be created comfortably with the
provided application script or manually.
Activation of the OALINK technology package

Before you start the interconnections, you must activate the OALINK technology
package on the SINAMICS DCM.
To do this, right-click on the drive unit and select "Select technology packages":
Figure 4-1

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Then select the technology package in the subsequent dialog:

Figure 4-2
Then go to the Control Unit and right click to its properties:

Figure 4-3

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In the "Technology packages" tab, you now activate the technology package on the
control unit:
Figure 4-4

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4.1 Use of the interconnection script

Execute the interconnection script
In principle, there are two different ways to integrate a script into STARTER. On the
one hand, the script can be imported directly into the project, but then it can only
be used in this project. On the other hand, the script can be integrated globally into
the STARTER, so that the script is executable for all projects. However, the second
method can only be used for drive objects and is therefore not available for the
present application - which only uses encoder objects.
Project integrated use of the script

With this variant, you use the script already available under the TechnologyCU:
To do this, proceed as follows:
• Accept and Execute script:
Figure 4-5
• Follow the instructions of the script

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Note In the script you will be asked whether you want to create "leading axis
interconnections only" or "communication and leading axis interconnections".
If you want to test the functionality in the first step simplified without the
superimposed control, e.g. via simulated digital inputs and fixed setpoints, select
"only leading axis interconnections".
You can always run the script again later to perform the communication
interconnections.
Time out or communication lose at OALINK connection

It is recommended at the end of commissioning, for example, to link the external
NOTICE error inputs p2106 to p2108 on the drive axis of the DCM with the OALINK status
bits r31786.7 and r31786.8 on the DCM-CUD to react to an exceeded tolerance
time or a loss of the DRIVE-CLiQ connection.

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4.2 Manual interconnection of the application

If you do not use the interconnection script, you can interconnect the application
manually. Save and compile your project in advance.
Note When saving and translating, you will receive error messages about missing
interconnections. Please ignore these for the time being, after completion of all
the following listed interconnections this error message will no longer occur.
4.2.1 Interconnections and parameterization on the SINAMICS DCM
The following parameter settings must be made on the SINAMICS DCM.
Parameter settings on the control unit:

Table 4-1
Parameter Parameter description Parameter value
p31770[0] OALINK activation OALINK1 [1] OALINK communication via
DRIVE-CLiQ socket X101
p31771[0] OALINK sampling time OALINK1 2.00000
p31772[0] OALINK communication problems 2000.00
signals tolerance time OALINK1
p31778 OALINK1 receive words maximum 10

number
p31780 OALINK1 send words maximum 10
number

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Binector input connections at the control unit of the DCM:

Table 4-2
Parameters Parameter description Object of the - interconnected Parameter description of the Binector
created by "leading axis interconnection"

at the interconnected binector
Control binector
created by "communication
Unit object
interconnection" script
of the
created by default
SINAMICS
DCM
script
p31802[0] BI: OALINK bin/con converter Drive object of r899.0 CO/BO: Status word sequence control, ready to switch
1 signal source bit 0 the DCM on 
p31802[1] BI: OALINK bin/con converter Drive object of r899.1 CO/BO: Status word sequence control, ready for
1 signal source bit 1 the DCM operation 
p31802[2] BI: OALINK bin/con converter Drive object of r899.2 CO/BO: Status word sequence control, operation
1 signal source bit 2 the DCM enabled 
p31802[3] BI: OALINK bin/con converter Drive object of r2139.3 CO/BO: Status word faults/alarms 1, fault present
1 signal source bit 3 the DCM 
p31802[4] BI: OALINK bin/con converter Drive object of r899.4 CO/BO: Status word sequence control, no coasting
1 signal source bit 4 the DCM active 
p31802[5] BI: OALINK bin/con converter Drive object of r899.5 CO/BO: Status word sequence control, no Quick stop
p31802[6] BI: OALINK bin/con converter Drive object of r899.6 CO/BO: Status word sequence control, switch-on inhibit

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at the interconnected binector
Control binector
Unit object
of the
created by default
SINAMICS
DCM
script
p31802[7] BI: OALINK bin/con converter Drive object of r2139.7 CO/BO: Status word faults/alarms 1, Alarm present
p31802[8] BI: OALINK bin/con converter Drive object of r2197.7 CO/BO: Status word monitoring 1, Speed setpoint -
1 signal source bit 8 the DCM actual value deviation in tolerance t_off 
p31802[9] BI: OALINK bin/con converter Drive object of r899.9 CO/BO: Status word sequence control, Control request
p31802[10] BI: OALINK bin/con converter Drive object of r2199.1 CO/BO: Status word monitoring 3, f or n comparison
1 signal source bit 10 the DCM value reached/ or exceeded 
p31802[11] BI: OALINK bin/con converter Drive object of r1407.7 CO/BO: Status word speed controller, Torque limit
1 signal source bit 11 the DCM reached 
p31802[12] BI: OALINK bin/con converter Drive object of r899.12 CO/BO: Status word sequence control, Open holding
1 signal source bit 12 the DCM brake 
p31802[13] BI: OALINK bin/con converter Drive object of r2135.14 CO/BO: Status word faults/alarms 2, Alarm motor
1 signal source bit 13 the DCM overtemperature 
p31802[14] BI: OALINK bin/con converter Drive object of r2197.3 CO/BO: Status word monitoring 1, n_act >= 0
p31802[15] BI: OALINK bin/con converter Drive object of r2135.15 CO/BO: Status word faults/alarms 2, Alarm power unit
1 signal source bit 15 the DCM thermal overload 

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Connector input connections on the control unit of the DCM:

Table 4-3
Parameters Parameter description Object of the - interconnected Parameter description of the connector

at the interconnected connector
Control connector
Unit object
of the
created by default
SINAMICS
DCM
script
p31793[0] CI: OALINK1 Send words Control Unit of r31807[0] CO: OALINK bin/con converter result, converter 1
Integer16 the DCM 
p31793[1] CI: OALINK1 Send words Drive object of r63[1] CO: Speed actual value, Smoothed with p0045
p31793[2] CI: OALINK1 Send words Drive object of r80[0] CO: Torque actual value, Unsmoothed
p31793[7] CI: OALINK1 Send words Drive object of r2131 CO: Actual fault code
p31793[8] CI: OALINK1 Send words Drive object of r2132 CO: Actual alarm code
p31795[3] CI: OALINK1 Send words Drive object of r2703 CO: Reference torque
FloatingPoint32 the DCM 
p31808[0] CI: OALINK Con/Bin converter Control Unit of r31790[0] CO: OALINK1 Receive words Integer16
Signal source converter 1 the DCM 

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Binector input connections on the drive of the DCM:

Table 4-4

on the interconnected binector
drive of the binector
SINAMICS
DCM
created by default
script
p840[0] BI: ON/OFF (OFF1) Control Unit of r31810.0 BO: OALINK Con/Bin converter 1 Result, bit 0
the DCM 
p844[0] BI: No coast-down / coast- Control Unit of r31810.1 BO: OALINK Con/Bin converter 1 Result, bit 1
down (OFF2) signal source 1 the DCM 
p848[0] BI: No Quick Stop / Quick Control Unit of r31810.2 BO: OALINK Con/Bin converter 1 Result, bit 2
Stop (OFF3) signal source 1 the DCM 
p852[0] BI: Enable operation/inhibit Control Unit of r31810.3 BO: OALINK Con/Bin converter 1 Result, bit 3
operation the DCM 
p854[0] BI: Control by PLC/no control Control Unit of r31810.10 BO: OALINK Con/Bin converter 1 Result, bit 10
by PLC the DCM 
p1140[0] BI: Enable ramp-function Control Unit of r31810.4 BO: OALINK Con/Bin converter 1 Result, bit 4
generator/inhibit ramp- the DCM 
function generator
p1141[0] BI: Continue ramp-function Control Unit of r31810.5 BO: OALINK Con/Bin converter 1 Result, bit 5
generator/freeze ramp- the DCM 
function generator

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drive of the binector
SINAMICS
DCM
created by default
script
p1142[0] BI: Enable setpoint/inhibit Control Unit of r31810.6 BO: OALINK Con/Bin converter 1 Result, bit 6
setpoint the DCM 
p2103[0] BI: 1st acknowledge faults Control Unit of r31810.7 BO: OALINK Con/Bin converter 1 Result, bit 7
the DCM 
p2106[0] BI: External fault 1 Control Unit of r31786.7 CO/BO: OALINK1 status - Tolerance time
the DCM communication problem
p2107[0] BI: External fault 2 Control Unit of r31786.8 CO/BO: OALINK1 status - DRIVE-CLiQ connection
the DCM status

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Connector input connections on the drive of the DCM:

Table 4-5

on the interconnected connector
drive of the connector
SINAMICS
DCM
created by default
script
p50634[0] CI: RFG input signal for Control Unit of r31792[1] CO: OALINK1 Receive words FloatingPoint32
limiting after RFG the DCM 

Entry-ID: 103471886, V6.0, 12/2021 29
4.2.2 All applications - interconnections at the "TechCU" object
The following connections are required on the control unit for all applications:
Binector input interconnections:

Table 4-6

TechCU binector
object
created by default
script
p2102 BI: Acknowledge all faults MotorLoadEncoder r23035.0 BO: Acknowledge fault 

Entry-ID: 103471886, V6.0, 12/2021 30
Connector input interconnections:

Table 4-7

on the interconnected connector connector
TechCU
object
created by default
script
p2051[0] CI: IF1 PROFIdrive PZD MotorLoadEncoder r21570 CO: Status word 1 (ZSW1) of DCM
send word - PZD 1 
p2051[1] CI: IF1 PROFIdrive PZD MotorLoadEncoder r2132 CO: Actual alarm code
p2051[2] CI: IF1 PROFIdrive PZD MotorLoadEncoder r2131 CO: Actual fault code
p2051[4] CI: IF1 PROFIdrive PZD MeasuringWheelLeadValue r21541 CO: Technology status word 1
p2051[5] CI: IF1 PROFIdrive PZD MeasuringWheelLeadValue r21542 CO: Technology status word 2
p31793[0] CI: OALINK1 Send words MotorLoadEncoder r21531 CO: Control word 1 (STW1) to DCM
Integer16 
p31795[1] CI: OALINK1 Send words MotorLoadEncoder r21600 CO: Speed setpoint to drive normalized
FloatingPoint32 
p31795[3] CI: OALINK1 Send words MotorLoadEncoder r21610 CO: Actual speed value normalized to drive
FloatingPoint32 

Entry-ID: 103471886, V6.0, 12/2021 31
4.2.3 Cross cutter and flying saw - interconnections at the "TechCU" object
The following connections are required on the control unit object for the cross cutter and flying saw applications:

Table 4-8

TechCU
object
created by default
script
p2051[7] CI: IF1 PROFIdrive PZD MotorLoadEncoder r25551 CO: DWORD to WORD 1 Output word high
p2051[8] CI: IF1 PROFIdrive PZD MotorLoadEncoder r25552 CO: DWORD to WORD 1 Output word low
p2051[11] CI: IF1 PROFIdrive PZD TechCU r31790[2] CO: OALINK1 Receive words Integer16
p2051[12] CI: IF1 PROFIdrive PZD MeasuringWheelLeadValue r22007 CO: Fine resolution length values decimal
send word - PZD 13 power [DINT] 

Entry-ID: 103471886, V6.0, 12/2021 32

TechCU
object
created by default
script

Entry-ID: 103471886, V6.0, 12/2021 33
4.2.4 Synchronism applications - interconnections at the "TechCU" object
The following connections are required on the Control Unit object for the synchronization applications:

Table 4-9

TechCU
object
created by default
script
p2051[7] CI: IF1 PROFIdrive PZD MeasuringWheelLeadValue r25003 CO: VLA: Technology status word
p2051[8] CI: IF1 PROFIdrive PZD MeasuringWheelLeadValue r25503 CO: MRL: Technology status word

Entry-ID: 103471886, V6.0, 12/2021 34

TechCU
object
created by default
script
p2051[13] CI: IF1 PROFIdrive PZD TechCU r31790[2] CO: OALINK1 Receive words Integer16

Entry-ID: 103471886, V6.0, 12/2021 35

TechCU
object
created by default
script

Entry-ID: 103471886, V6.0, 12/2021 36
4.2.5 All applications – connections and parameterizations at the "MotorLoadEncoder" object
The position control is created as a DCC chart at the "MotorLoadEncoder" object. The following parameterizations and connections are
required there for all applications:
Parameter settings:
Table 4-10
Parameter Parameter description Parameter value
p22700 Reference speed of drive Value of p2000 at the SINAMICS DCM

Table 4-11
Parameters at Parameter description Object of the - interconnected Parameter description of the Binector

the interconnected binector binector
MotorLoadGeber
object
created by default
script
p2103 BI: 1. acknowledge faults MotorLoadEncoder r23035.0 BO: Acknowledge fault 
p21550 BI: Fault effective from TechCU r2139.3 CO/BO: Status word faults/Alarms 1
technology CU 
Fault present

Entry-ID: 103471886, V6.0, 12/2021 37

MotorLoadGeber
object
created by default
script
p21551 BI: Fault effective from MeasuringWheelLeadValue r2139.3 CO/BO: Status word faults/Alarms 1
standard application 
Fault present
p21552 BI: Fault effective from MotorLoadEncoder r2139.3 CO/BO: Status word faults/Alarms 1
position control Fault present 
application
p21553 BI: OALINK Tolerance TechCU r31786.7 CO/BO: OALINK1 status, Tolerance time
time communication communication problem 
problem not exceeded
p21554 BI: OALINK DRIVE-CLiQ TechCU r31786.8 CO/BO: OALINK1 status, DRIVE-CLiQ
connection status not connection status 
interrupted
p21560 BI: Alarm effective from TechCU r2139.7 CO/BO: Status word faults/Alarms 1
technology CU 
Alarm present
p21561 BI: Alarm effective from MeasuringWheelLeadValue r2139.7 CO/BO: Status word faults/Alarms 1
standard application 
Alarm present

Entry-ID: 103471886, V6.0, 12/2021 38

MotorLoadGeber
object
created by default
script
p21562 BI: Fault effective from MotorLoadEncoder r2139.7 CO/BO: Status word faults/Alarms 1
position control Alarm present 
application
p25921 BI: Absolute encoder MeasuringWheelLeadValue r25920 BO: Absolute encoder adjustment activated
adjustment started via CW 

Entry-ID: 103471886, V6.0, 12/2021 39
Connector Input Parameters:

Table 4-12
Parameters at Parameter description Object of the - interconnected Parameter description of the connector

the interconnected connector connector
MotorLoadGeber
object
created by default
script
p480 CI: Encoder control word MotorLoadEncoder r22520 CO: Encoder control word Gn_STW
Gn_STW Signal source 
p21530 CI: Control word 1 TechCU r2050[0] CO: IF1 PROFIdrive PZD receive word 
(STW1) PZD 1
p21549 CI: Status word 1 of drive TechCU r31790[0] CO: OALINK1 Receive words Integer16 
p21555 CI: actual fault code from TechCU r2131 CO: Actual fault code 
technology CPU
p21556 CI: actual fault code from MeasuringWheelLeadValue r2131 CO: Actual fault code 
standard application
p21557 CI: actual fault code from MotorLoadEncoder r2131 CO: Actual fault code 
position controller
application
p21558 CI: actual fault code from TechCU r31790[7] CO: OALINK1 Receive words Integer16 
DCM
p21565 CI: actual alarm code TechCU r2132 CO: Actual alarm code 
from technology CPU
Entry-ID: 103471886, V6.0, 12/2021 40

MotorLoadGeber
object
created by default
script
p21566 CI: actual alarm code MeasuringWheelLeadValue r2132 CO: Actual alarm code 
from standard application
p21567 CI: actual alarm code MotorLoadEncoder r2132 CO: Actual alarm code 
from position controller
application
p21568 CI: actual alarm code TechCU r31790[8] CO: OALINK1 Receive words Integer16 
from DCM
p22481 CI: Encoder status word MotorLoadEncoder r481 CO: Encoder status word Gn_ZSW 
Gn_ZSW, encoder 1
p22482 CI: Encoder position MotorLoadEncoder r482 CO: Encoder position actual value 
actual value Gn_XIST1 Gn_XIST1
p22483 CI: Encoder position MotorLoadEncoder r483 CO: Encoder position actual value 
actual value Gn_XIST2 Gn_XIST2
p25550 CI: DWORD to WORD 1 MotorLoadEncoder r22521 CO: Actual position value, position control 
p25553 CI: DWORD to WORD 2 MotorLoadEncoder r22522 CO: Position control speed actual value
[1000 LU/min]. 
p25565 CI: DWORD to WORD 6 MeasuringWheelLeadValue r23900 Status axis 

p25568 CI: DWORD to WORD 7 MeasuringWheelLeadValue r21502 CO: Internal ID 
Entry-ID: 103471886, V6.0, 12/2021 41
4.2.6 Cross cutter and flying saw - interconnections on the "MotorLoadEncoder" object
The position control is created as a DCC chart at the "MotorLoadEncoder" object. The following connections are required there for the
cross cutter and flying saw applications:

Table 4-13

MotorLoadGeber
object
created by default
script
p22508 BI: Activate reference MeasuringWheelLeadValue r24990.0 BO: Activate zero mark sensing
mark search, position 
control
p22509 BI: Activate measuring MeasuringWheelLeadValue r24991.0 BO: Activate measuring input sensing
probe evaluation, 
position control
p22512 BI: Position actual value MeasuringWheelLeadValue r25004.0 BO: Position correction bit for the position
prep. correction positive controller NOV 
(edge), NOV

Entry-ID: 103471886, V6.0, 12/2021 42

MotorLoadGeber
object
created by default
script
p22730 BI: Position actual value MeasuringWheelLeadValue r25005.0 BO: Position correction bit for the position
prep. correction negative controller POV 
(edge), POV

Entry-ID: 103471886, V6.0, 12/2021 43

Table 4-14

MotorLoadGeber
object
created by default
script
p22513 CI: Position actual value MeasuringWheelLeadValue r25003 CO: Position correction value to position
preparation correction controller 
value, position control
p22530 CI: Position setpoint MeasuringWheelLeadValue 25000 CO: Position setpoint to the position
before decimal point controller 
p22531 CI: Speed setpoint before MeasuringWheelLeadValue 25001 CO: Velocity setpoint to the position
decimal point controller 
p22694 CI: Additional setpoint MeasuringWheelLeadValue r25010 CO: Position setpoint to position controller
position decimal point (decimal part) 
p22695 CI: Additional setpoint MeasuringWheelLeadValue r25011 CO: Speed setpoint to position controller
speed decimal point (decimal part) 
p25500 CI: WORD to DWORD 1 TechCU r2050[6] CO: IF1 PROFIdrive PZD receive word,
Input word high PZD 7 
Input word low PZD 8 

Entry-ID: 103471886, V6.0, 12/2021 44

MotorLoadGeber
object
created by default
script
p25556 CI: DWORD to WORD 3 MeasuringWheelLeadValue r22005 CO: Format length at leading axis [fine
resolution * mm]. 
p25559 CI: DWORD to WORD 4 MeasuringWheelLeadValue r21502 CO: Internal ID 

p25562 CI: DWORD to WORD 5 MeasuringWheelLeadValue r23310 CO: Number of cuts 

Entry-ID: 103471886, V6.0, 12/2021 45
4.2.7 Synchronism applications - wiring on the "MotorLoadEncoder" object
The position control is created as a DCC chart at the "MotorLoadEncoder" object. The following connections are required there for the
synchronization applications:

Table 4-15

MotorLoadGeber
object
created by default
script
p22508 BI: Activate reference MeasuringWheelLeadValue r24011.0 BO: Activate zero mark sensing
mark search, position 
control
p22509 BI: Activate measuring MeasuringWheelLeadValue r24012.0 BO: Activate measuring probe sensing
probe evaluation, 
position control
p22512 BI: Position actual value MeasuringWheelLeadValue r24007.0 BO: Correction bit POV to actual position
prep. correction positive evaluation 
(edge), NOV
p22730 BI: Position actual value MeasuringWheelLeadValue r24006.0 BO: Correction bit NOV to actual position
prep. correction negative evaluation 
(edge), POV
Entry-ID: 103471886, V6.0, 12/2021 46

Table 4-16

MotorLoadGeber
object
created by default
script
p22513 CI: Position actual value MeasuringWheelLeadValue r24005 CO: Correction value to actual position
preparation correction evaluation 
value, position control
p22530 CI: Position setpoint MeasuringWheelLeadValue r24001 CO: Position setpoint to position controller
before decimal point (integer) 
p22531 CI: Speed setpoint before MeasuringWheelLeadValue r24003 CO: Velocity setpoint to position controller
decimal point (integer) 
p22694 CI: Additional setpoint MeasuringWheelLeadValue r24002 CO: Position setpoint to position controller
position decimal point (decimal) 
p22695 CI: Additional setpoint MeasuringWheelLeadValue r24004 CO: Velocity setpoint to position controller
speed decimal point (decimal) 

Entry-ID: 103471886, V6.0, 12/2021 47

MotorLoadGeber
object
created by default
script
p25556 CI: DWORD to WORD 3 MeasuringWheelLeadValue r25065 CO: VLA: Position command DINT [LU] 
p25559 CI: DWORD to WORD 4 MeasuringWheelLeadValue r25066 CO: VLA: Velocity leading value DINT [1000
LU/min]. 
p25562 CI: DWORD to WORD 5 MeasuringWheelLeadValue r25575 CO: MRL: Actual position DINT [LU] 

Entry-ID: 103471886, V6.0, 12/2021 48
4.2.8 All applications - interconnections at the "MeasuringWheelLeadValue" object
The DCC chart of the applications for cross cutter, flying saw or synchronism is created at the "Measuring wheel control value" object. The
following connections are required there for all applications:

Table 4-17
Parameters at the Parameter Object of the - interconnected Parameter description of the

MeasuringWheelLeadValue description interconnected binector binector Binector
object
created by default
script
BI: 1. acknowledge MotorLoadEncoder r23035.0 BO: Acknowledge fault
p2103 faults 
BI: Mechanical data MeasuringWheelLeadValue 1

via BiCo (deactivate 
p25900 acyclic reading)

Entry-ID: 103471886, V6.0, 12/2021 49
4.2.9 Cross cutter and flying saw - interconnections on the "MeasuringWheelLeadValue" object
The DCC chart of the applications for cross cutter, flying saw or synchronism is created at the "MeasuringWheelLeadValue" object. The
following connections are required there for the cross cutter and flying saw applications:

Table 4-18

object
created by default
script
p21602 BI: Measured value MotorLoadEncoder r22525.0 BO: Measured value valid
valid 
p21607 BI: Position control MotorLoadEncoder r22526.0 BO: Position control active
active 
p23539 BI: Use of print marks MeasuringWheelLeadValue r25194.0 BO: MW: Use of printmarks
activated on leading activated 
axis
p24929 BI: Home position set MotorLoadEncoder r25924.0 BO: Absolute encoder adjusted
absolute angular
encoder of the 
position controller

Entry-ID: 103471886, V6.0, 12/2021 50

object
created by default
script
p25190 BI: MR: Acknowledge MeasuringWheelLeadValue r2138.7 CO/BO: Control word faults/Alarms,
encoder fault acknowledge fault 

Entry-ID: 103471886, V6.0, 12/2021 51
Binector input interconnections - only cross cutters:

Table 4-19

object
created by default
script
p24930 BI: Feedback signal MeasuringWheelLeadValue r25240.0 BO: Reset command accepted
set position from 
leading axis

Entry-ID: 103471886, V6.0, 12/2021 52
Binector input interconnections - flying saw only:

Table 4-20

object
created by default
script
p23017 BI: compensation for MeasuringWheelLeadValue r25235 BO: MW: Offset caused by print
print mark correction mark correction will be 
started at leading axis compensated
p23018 BI: compensation for MeasuringWheelLeadValue r25236 BO: MW: Offset caused by print
print mark correction mark correction is compensated
completed at the 
leading axis

Entry-ID: 103471886, V6.0, 12/2021 53

Table 4-21
Parameters at the Parameter description Object of the - interconnected Parameter description of the

MeasuringWheelLeadValue interconnected connector connector connector
object
created by default
script
p480 CI: Encoder control word MeasuringWheelLeadValue r25154 CO: MW: Encoder control word
Gn_STW Signal source Gn_STW 
p21510 CI: Technology control TechCU r2050[1] CO: IF1 PROFIdrive PZD receive
word 1 word, PZD 2 
p21600 CI: Position actual value, MotorLoadEncoder r22521 CO: Actual position value, position
position controller control 
p21601 CI: Position MotorLoadEncoder r22523 CO: Measured value, position

measurement value control 
p21701 CI: Position setpoint, MeasuringWheelLeadValue r25230 CO: MW: Position leading value
leading axis (DCC measuring wheel 
connection)
p21703 CI: Velocity setpoint, MeasuringWheelLeadValue r25231 CO: MW: Velocity leading value 
Entry-ID: 103471886, V6.0, 12/2021 54

object
created by default
script
leading axis (DCC measuring wheel
connection)
p21715 CI: Correction value MeasuringWheelLeadValue r25232 CO: MR: Correction value by print
leading axis by mark correction 
printmark correction
p22002 CI: Format length MotorLoadEncoder r25502 CO: WORD to DWORD 1
variable [fine resolution * 
mm].
p22020 CI: Maintenance position MotorLoadEncoder r25505 CO: WORD to DWORD 2
variable [fine resolution * 
mm].
p22201 CI: Speed override test TechCU r2050[5] CO: IF1 PROFIdrive PZD receive
mode [%]. word, PZD 6 
p23050 CI: Scaling NFX leading MeasuringWheelLeadValue r25123 CO: Drum circumference leading
axis for test and autarkic axis incl. fine res (=scaling NFX) 
cutting velocity
p23051 CI: Scaling NFV leading MeasuringWheelLeadValue r25124 CO: Scaling NFV
axis for test and autarkic 
cutting velocity

Entry-ID: 103471886, V6.0, 12/2021 55

object
created by default
script
p23123 CI: Jog velocity override TechCU r2050[10] CO: IF1 PROFIdrive PZD receive
[%] word, PZD 11 
p23508 CI: Distance print mark MotorLoadEncoder r25508 CO: WORD to DWORD 3
cut variable [fine 
resolution * mm].
p23710 CI: Override velocity TechCU r2050[11] CO: IF1 PROFIdrive PZD receive
positioning word, PZD 12 
p23713 CI: Override TechCU r2050[12] CO: IF1 PROFIdrive PZD receive
acceleration word, PZD 13 
positioning/jogging
p25151 CI: MR: Encoder MeasuringWheelLeadValue r482 CO: Encoder actual position value
position actual value Gn_XIST1 
Gn_XIST1
p25152 CI: MR: Encoder MeasuringWheelLeadValue r483 CO: Encoder actual position value
position actual value Gn_XIST2 
Gn_XIST2
p25153 CI: MR: Encoder status MeasuringWheelLeadValue r481 CO: Encoder status word Gn_ZSW
word Gn_ZSW 

Entry-ID: 103471886, V6.0, 12/2021 56

object
created by default
script
p25905 CI: LU per load MotorLoadEncoder r25905 CO: LU per load revolution
revolution from position 
detection

Entry-ID: 103471886, V6.0, 12/2021 57
Connector input interconnections only cross cutter:

Table 4-22
Parameters at the Parameter description Object of the - interconnected Parameter description of the connector

MeasuringWheelLeadValue interconnected connector
object connector
created by default
script
p22027 CI: Scaling overspeed 100%
setpoint 
p23515 CI: Override velocity for TechCU r2050[13] CO: IF1 PROFIdrive PZD receive word, PZD
compensating print mark 14 
correction [%]
p23517 CI: Override acceleration TechCU r2050[14] CO: IF1 PROFIdrive PZD receive word, PZD
for compensating print 15 
mark correction [%]
p24902 CI: Reference torque of TechCU r31792[3] CO: OALINK1 Receive words
the drive FloatingPoint32 

Entry-ID: 103471886, V6.0, 12/2021 58
4.2.10 Synchronism applications - connections at the "MeasuringWheelLeadValue" object
The DCC chart of the applications for cross cutter, flying saw or synchronism is created at the "Measuring wheel control value" object. The
following connections are required there for the synchronism applications:

Table 4-23

object
created by default
script
p21707 BI: Leading axis MeasuringWheelLeadValue r25574.0 BO: MRL: Correction bit real leading
connection 1: axis (measuring wheel) 
Correction bit
p24101 BI: Measured value MotorLoadEncoder r22525.0 BO: Measured value valid
valid 
p24103 BI: Position control MotorLoadEncoder r22526.0 BO: Position control active
active 
p24104 BI: OFF2 Signal MotorLoadEncoder r21532.0 BO: OFF2 Enable missing
internal 

Entry-ID: 103471886, V6.0, 12/2021 59

object
created by default
script
p24110 BI: Encoder adjusted MotorLoadEncoder r25924.0 BO: Absolute value encoder
adjusted 
p25803 BI: MRL: MeasuringWheelLeadValue r2138.7 CO/BO: Control word faults/Alarms,

Acknowledge encoder acknowledge fault
errors (measuring 
wheel)

Entry-ID: 103471886, V6.0, 12/2021 60

Table 4-24

object
created by default
script
p480 CI: Encoder control MeasuringWheelLeadValue r25805 CO: MRL: Encoder control word
word Gn_STW Signal Gn_STW 
source
p21552 CI: Override max. TechCU r2050[9] CO: IF1 PROFIdrive PZD receive
supplementary speed word, PZD 10
compensating 
motions[%]
supp.accel. word, PZD 11
comp.motions/max. 
accel.autark.[%]

Entry-ID: 103471886, V6.0, 12/2021 61

object
created by default
script
p21702 CI: Leading axis MeasuringWheelLeadValue r25571 CO: MRL: Position real leading
connection 1: Pos. axis
leading value (decimal 
part)
p21704 CI: Leading axis MeasuringWheelLeadValue r25572 CO: MRL: Velocity real leading
connection 1: Vel. axis
part)
p21706 CI: Leading axis MeasuringWheelLeadValue r25573 CO: MRL: Correction value real
connection 1: Correction leading axis 
value REAL format
p21752 CI: Leading axis MeasuringWheelLeadValue r25061 CO: VLA: Position leading value
connection 2: Pos.
part)
p21754 CI: Leading axis MeasuringWheelLeadValue r25062 CO: VLA: Velocity leading value
connection 2: Vel.
part)

Entry-ID: 103471886, V6.0, 12/2021 62

object
created by default
script
p21907 CI: Signal source MotorLoadEncoder r25508 CO: WORD to DWORD 3
reference coordinate 
[LU].
positioning setpoint [LU]. 
p22016 CI: Positioning velocity TechCU r2050[11] CO: IF1 PROFIdrive PZD receive
override [%]. word, PZD 12 
p24100 CI: position actual value MotorLoadEncoder r22521 CO: Position actual value,
position control 
p24102 CI: Measured value MotorLoadEncoder r22523 CO: Measured value, position
control 
p25001 CI: VLA: Technology TechCU r2050[4] CO: IF1 PROFIdrive PZD receive
control word word, PZD 5 
p25005 CI: VLA: Velocity TechCU r2050[6] CO: IF1 PROFIdrive PZD receive
override [%] word, PZD 7 
p25007 CI: VLA: Acceleration 100%

override [%] 

Entry-ID: 103471886, V6.0, 12/2021 63

object
created by default
script
p25014 CI: VLA: Signal source MotorLoadEncoder r25502 CO: WORD to DWORD 1
positioning setpoint [LU]. 
p25501 CI: MRL: Technology TechCU r2050[5] CO: IF1 PROFIdrive PZD receive
Control Word word, PZD 6 
p25800 CI: MRL: Encoder MeasuringWheelLeadValue r482 CO: Encoder actual position
position actual value value Gn_XIST1 
Gn_XIST1
p25801 CI: MRL: Encoder actual MeasuringWheelLeadValue r483 CO: Encoder actual position
position value Gn_XIST2 value Gn_XIST2 
p25802 CI: MRL: Encoder status MeasuringWheelLeadValue r481 CO: Encoder status word
word Gn_ZSW Gn_ZSW 
p25905 CI: LU per load MotorLoadEncoder r25905 CO: LU per load revolution
revolution from position 
actual value processing

Entry-ID: 103471886, V6.0, 12/2021 64
Connector input circuits only Extended gearing and Extended camming:

Table 4-25

object
created by default
script
word 3 (offset) word, PZD 17 
word 4 (couple/engager) word, PZD 18 
supplementary speed word, PZD 10
compensating 
motions[%]
supp.accel. word, PZD 11
comp.motions/max. 
accel.autark.[%]
p21702 CI: Leading axis MeasuringWheelLeadValue r25571 CO: MRL: Position real leading
connection 1: Pos. axis
part)

Entry-ID: 103471886, V6.0, 12/2021 65

object
created by default
script
p21704 CI: Leading axis MeasuringWheelLeadValue r25572 CO: MRL: Velocity real leading
connection 1: Vel. axis
part)
p21706 CI: Leading axis MeasuringWheelLeadValue r25573 CO: MRL: Correction value real
connection 1: Correction leading axis 
value REAL format
p21752 CI: Leading axis MeasuringWheelLeadValue r25061 CO: VLA: Position leading value
connection 2: Pos.
part)
p21754 CI: Leading axis MeasuringWheelLeadValue r25062 CO: VLA: Velocity leading value
connection 2: Vel.
part)
reference coordinate 
[LU].

Entry-ID: 103471886, V6.0, 12/2021 66

object
created by default
script
positioning setpoint 
[LU].
p22016 CI: Positioning velocity TechCU r2050[11] CO: IF1 PROFIdrive PZD receive
override [%]. word, PZD 12 
p22204 CI: Override velocity 100%

catch-up [%] 

Entry-ID: 103471886, V6.0, 12/2021 67
Connector Input Interconnections only Extended Camming:

Table 4-26
Parameters at the Parameter description Object of the - interconnected Parameter description of the connector

MeasuringWheelLeadValue interconnected connector
object connector
created by default
script
p21515 CI: Technology control TechCU r2050[18] CO: IF1 PROFIdrive PZD receive word,
word 5 (cam) PZD 19 

Entry-ID: 103471886, V6.0, 12/2021 68
4.2.11 Completion of manual interconnection
• "Save" your project - do not select "Save and compile"
• Open a DCC chart and select the "Read back BICOS and parameters" entry in
the "Options" menu item
Figure 4-6
• • In the starter, open the context menu of the DCC chart with a right
mouse click and select "Set execution groups..."
Figure 4-7
• Set required sequence groups to 2 ms, deviating from the documentation

of the S120 applications, for example by selecting "T = 2 * r21003".
• Then you can "Save and compile" the project and load it to the target
device

Entry-ID: 103471886, V6.0, 12/2021 69
5 Commissioning of the application

5.1 General notes
The application is commissioned as described in the manuals of the technological
applications.
5.2 Special supplements

The present application realizes position detection and control by means of a DCC
chart. The special topology results in the following special features.
5.2.1 Load side position encoder available
In this case, position control is performed on the load-side encoder and the gear
ratio between encoder and load (p23004 and p23005) and the gear ratio between
motor and load (p23002 and p23003) must be set as shown in the function
diagram DCP2010, since the actual motor speed and speed setpoint are calculated
in addition to the load position. If the load-side encoder is mounted directly, i.e. the
gear ratio is 1:1, both gear ratios are identical.
5.2.2 Position encoder present on motor side

If there is only one position encoder on the motor side, position control is
performed on this encoder. In this case, only the gear ratio between motor and load
must be set. The values for the gear ratio motor to load (p23002 and p23003) must
be left at 1:1.
5.2.3 Load and motor side position sensor available
In this case, position control is preferably performed on the load-side encoder. The
settings are made as described under Load side position encoder available
In this case, the position encoder on the motor side is not evaluated on the
technology CPU but is typically used directly on the DCM for speed control.
5.2.4 Position control
The parameters of the position control are shown in function chart DCP2050.
Automatic controller optimization is not available for this application.
5.2.5 Following error monitoring
The application offers a following arror monitoring that can be activated. The
functionality is shown on the DCP2070 function chart.
5.2.6 Ramp stop (OFF1 and OFF3)
Since the speed setpoint generation for the DCM is made via the technology CPU,
the ramps for OFF1 and OFF3 are implemented applicatively. This is shown in the
DCP2060 function block diagram. The ramp times set on the DCM are not effective
in normal operation!

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5.2.7 Faults and alarms
The faults and alarms of the objects:

• TechCU - the technology CU
• Measuring wheel leading value - there is the DCC chart of the applications for
cross cutter, flying saw or synchronism
• MotorLoadEncoder - the DCC chart of the position detection and control is
located there.
• DCM - the drive object of the DCM
are transmitted summarized by the application.
The feedback messages "Fault present" or "Alarm present" in the telegram
therefore become active as soon as a fault or alarm occurs at one of the objects.
The fault or alarm value transmitted via the telegram corresponds to the highest
simultaneously occurring value of all the above objects. In the case of several
simultaneously occurring faults or alarms, a detailed diagnosis is only possible by
acyclic read requests to the individual objects or by means of the commissioning
software.
5.2.8 Direct communication to the DCM
In this application, the typical communication data such as control and status
words, setpoints and actual values are interconnected via the technology CPU.
Therefore, no standard telegram may be used on the DCM, as this would overwrite
the interconnections. If required, a free telegram interconnection or acyclic
communication can be used.

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6 Program description
6.1 Function diagrams
6.1.1 Function diagrams technological application
See application manual of the respective application


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6.1.2 Function diagrams position detection and control


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CU320-2 CUD Advanced


Entry-ID: 103471886, V6.0, 12/2021
Dynamic data
Position detection and

control
O
Set point
s
DCC generator for s* A
s cr oss cutter
n-Regulation
s* Flying saw
L
x y t
synchronization
t Gearbox v*
i
Cam disk
Measuring wheel-/ Positioning etc. Interface to the n
leading value encoder Position controller k
evaluation
autonomous t
operating
Encoder object modes
Position
correction
Encoder object Drive object
measuring
Homing motor/load encoder DC_CTRL
wheel
1 2 3 4 5 6 7 8
74
DO: ENC, DC_CTRL DCM_Lageregelung Funktionsplan
DCP1010
Übersicht: Technologie- und Gleichlaufapplikationen mit SINAMICS DCM und CU320 -2 28.05.20 V06.00.00 SINAMICS
p21000[8] = [8]
Position control
CI: Control word 1 (STW1)

1
ON active [DCP2050.2] CO: Control word 1
p21530
(0) (STW1) to DCM
1
Speed Setpoint HLG & r21531
p21510
=0 S Q
BI: ON/OFF (OFF1) Bit 0
Fault effective Bit 0
(0) 1
ZSW DCM-no OFF2
R Q
BI: No coasting/ p21511 1 r21532 BO: OFF2 Enable missing
coasting (OFF2) (0) Bit 1 Bit 1

No OFF3 [DCP1050.6][DCP2050.2]

BI: No quick stop/ p21512 S Q
quick stop (OFF3) (0) Bit 2 Bit 2
R Q
BI: Enable operation/ p21513
Inhibit operation Bit 3 Bit 3
Entry-ID: 103471886, V6.0, 12/2021

(0)
BI: Enable ramp-
p21514
function generator/
(0) Bit 4 Bit 4
Disable
BI: Continue ramp-
p21515
functiongenerator/
(0) Bit 5 Bit 5
Freeze
BI: Enable setpoint/ p21516
Inhibit setpoint (0) Bit 6 Bit 6
p21517
BI: Acknowledge faults
(0) Bit 7 Bit 7
BO: Acknowledge fault

Bit 8 r23035 Bit 8
Bit 9 Bit 9
BI: PLC control/ p21520

No PLC control (0) Bit 10 Bit 10
p21521
BI: Setpoint inversion Bit 11 Bit 11
(0)
p21522
BI: Release brake (0) Bit 12 Bit 12
p21523
BI: Motor potentiometer
(0) Bit 13 Bit 13
setpoint higher
p21524
BI: Motor potentiometer
(0) Bit 14 Bit 14
setpoint lower
Bit 15 Bit 15
1 2 3 4 5 6 7 8
75
DO: ENC DCM_Position_control Function diagram
DCP1020
Control word 1 28.05.20 V06.00.00 SINAMICS
CO: Status word position control

Bit
Status word position control r21575
Nr.
0 1 = Position control active
1 1 = Position controller at upper limit

2 1 = Position controller at lower limit

3 1 = reserved
Entry-ID: 103471886, V6.0, 12/2021

4 1 = reserved
5 1 = Encoder parked
6 1 = Position tracking absolute encoder active
7 1 = Measurement active
8 1 = reserved
9 1 = Error position preparation
10 1 = Alarm position preparation
11 1 = reserved
12 1 = Following error exceeded while moving
13 1 = Following error exceeded at standstill
14 1 = reserved
15 1 = reserved
1 2 3 4 5 6 7 8
76
DCP1060
Status word position controller 28.05.20 V06.00.00 SINAMICS
Gear ratio encoder/load encoder revolutions Gear ratio encoder/load load revolutions
CI: Encoder position actual value Gn_XIST1 p23004 (1) p23005 (1)
p22482
(r482)
CI: Encoder position actual value Gn_XIST2
p22483 INC CO: Position actual value preparation encoder control word
(r483)
r22520
CI: Encoder status word Gn_ZSW, encoder 1
p22481 CO: Position actual value, high word
(r481)
r25000
LU per position CO: Position actual value, position control

encoder revolution r22521
p23006
CO: Position actual value, low word
BI: Activate reference r25001
p22508
mark search,
(0)
Entry-ID: 103471886, V6.0, 12/2021

position control CO: Speed actual value [1000 LU/min] high word
BI: Activate measuring r25002
p22509 CO: Position control, speed actual value [1000 LU/min]
probe evaluation,
position control (0)
r22522
BI: Measuring probe CO: Speed actual value [1000 LU/min] low word
p22510
evaluation selection, r25003
position control (0)
s Motor speed actual value [1/min]
BI: Measuring probe r24163
p22511 CO: Actual speed value normalized to drive
evaluation edge,
(0)
position control r21610
Reference speed DCM
CI: Position actual value p22513
Preparation correction CO: LU per load revolution
(0) t
value, position control r25905
BI: Position actual value
p22512 CO: Measured value, position control
prep. correction positive
(edge), NOV (0)
r22523
BI: Position actual value
p22730
prep. correction negative BO: Measured value valid
(edge), POV (0)
r22525
p22725 CO: Absolute encoder adjustment status

BI: Park encoder
(0)
r25925
BI: Absolute encoder p25921

BO: Absolute encoder adjusted
adjustment started (0)
r25924
Position tracking Activate
absolute encoder
p22720 (0)
Tolerance factor position
tracking [LU]
p22721 (2500) <1>
Gear ratio motor/load motor revolutions Gear ratio motor/load load revolutions <1> only set unequal to 1 with load-side
p23002 (1) p23003 (1) encoder to calculate the motor speed correctly
1 2 3 4 5 6 7 8
77
DCP2010
Position detection motor or load encoder 28.05.20 V06.00.00 SINAMICS
Speed pre-control factor

p22534 (1.0) CO: Speed pre-control value [1/min]
Total speed setpoint
CI: Speed r22561
p22531 DINT
setpoint before +
(0)
decimal point REA L
+ LU per position
Encoder
CI: Additional revolution
p22695 Gear ratio encoder gear [DCP2010.2]
setpoint speed
(0) and load gear

decimal point

Entry-ID: 103471886, V6.0, 12/2021
Position controller
proportional gain
[1000/min]
CI: Position controller adaptation p22538
p22537 Position controller
CI: Position (100%) integral time (ms)
p22530 DINT
setpoint before p22539 (0)
(0)
decimal point REA L
Position controller CO: Speed setpoint
CO: Actual following error speed limit [1/min] Position controller position controller output
Kp Tn at upper limit
r22565 p22540 r22560 CO: Speed setpoint total
CI: Additional [DCP1060.2] from position controller [1/min].
p22694 +
setpoint position
decimal point (0) + r22562
-
Position controller
at lower limit
r22559
EN [DCP1060.2]
CO: Position CO: Position controller
DINT
Actual value, integrator value
r22521
position control REA L
[DCP2010.7]
BI: Position
controller enable 2
p22550
(1)
ON active [DCP1020.5] BO: Position control active
No OFF3 [DCP1020.5] & r22526
DCM: Operation enabled [DCP1050.2]
1 2 3 4 5 6 7 8
78
DCP2050
Position controller 28.05.20 V06.00.00 SINAMICS
OFF1 Ramp-down time [ms] OFF3 Ramp-down time [ms]

p24121 (100000) p24135 (30000)

Reference speed DCM
p22700
CI: Reference speed from drive NRM
CU :r31792[ 5]
Entry-ID: 103471886, V6.0, 12/2021

0 X Y
SV
SET
BO: Position control active

r22526
0 CO: Speed setpoint to drive normalized

CO: Speed setpoint total r21600
r22562
from position controller [1/min] 1
1 2 3 4 5 6 7 8
79
DCP2060
Ramp-up function generator for OFF1 and OFF3 and bypass 28.05.20 V06.00.00 SINAMICS

CO: Actual following error
REA L
r22565 |x|
DINT
Entry-ID: 103471886, V6.0, 12/2021

Following error moving tolerance [LU]
>
P22544 (10000)
Following error standstill tolerance [LU]
p22542 (5000)
Following error exceeded while moving
& F51053
BO: Position control active
r22526
Time delay standstill [ms]
p22543 (100)
Total speed setpoint

T 0
=
0
BI: Enable following error monitoring Following error exceeded at standstill

& F51054
p22549
(1)
1 2 3 4 5 6 7 8
80
DCP2070
Following error monitoring 28.05.20 V06.00.00 SINAMICS
CI: WORD to DWORD 1 Input word high CI: WORD to DWORD 7 Input word high
p25500 CO: WORD to DWORD 1 p25518 CO: WORD to DWORD 7
(0) r25502 (0) r25520
CI: WORD to DWORD 1 Input word low CI: WORD to DWORD 7 Input word low
p25501 p25519
(0) (0)
(0) r25505 (0) r25523

p25504 p25522
(0) (0)
Entry-ID: 103471886, V6.0, 12/2021

(0) r25508 (0) r25526
p25507 p25525
(0) (0)
(0) r25511 (0) r25529
p25510 p25528
(0) (0)
CI: WORD to DWORD 5 Input word high

p25512 CO: WORD to DWORD 5
(0) r25514
CI: WORD to DWORD 5 Input word low

p25513
(0)
CI: WORD to DWORD 6 Input word high

p25515 CO: WORD to DWORD 6
(0) r25517
CI: WORD to DWORD 6 Input word low

p25516
(0)
1 2 3 4 5 6 7 8
81
DCP3000
WORD-DWORD converter 28.05.20 V06.00.00 SINAMICS
CI: DWORD to WORD 1 CI: DWORD to WORD 7

p25550 CO: DWORD to WORD 1 Output word high p25568 CO: DWORD to WORD 7 Output word high
(0) r25551 (0) r25569
CO: DWORD to WORD 1 Output word low CO: DWORD to WORD 7 Output word low
r25552 r25570

(0) r25554 (0) r25572

r25555 r25573
Entry-ID: 103471886, V6.0, 12/2021

(0) r25557 (0) r25575
r25558 r25576

(0) r25560 (0) r25578
r25561 r25579
CI: DWORD to WORD 5

p25562 CO: DWORD to WORD 5 Output word high
(0) r25563
CO: DWORD to WORD 5 Output word low

r25564
CI: DWORD to WORD 6

p25565 CO: DWORD to WORD 6 Output word high
(0) r25566
CO: DWORD to WORD 6 Output word low

r25567
1 2 3 4 5 6 7 8
82
DCP3010
DWORD-WORD converter 28.05.20 V06.00.00 SINAMICS
6.2 Parameter list

6.2.1 Basic structure of parameter descriptions
The data in the following example has been chosen at random. The table below
contains all the information that can be included in a parameter description. Some
of the information is optional.
The parameter lists have the following structure:
- - - - - - - - - - - - - - - - - - - - Start of example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
pxxxx[0...n] BICO: Full parameter name / abbreviated name
Drive object Can be changed: U, T Calculated: - Access level: 2
Function diagram:
Data type: Dynamic index: -
ASC 1012
P-Group: Unit group: - Unit selection: -
Not for motor type: - Expert list: 1
Min Max Factory setting
0.00 [Nm] 10.00 [Nm] 0.00 [Nm]
Description: Text
0: Name and meaning of value 0

Values:
etc.
Recommendation: Text
Bit array: Bit Signal name 1 signal 0 signal FP
00 Name and meaning of bit 0 Yes No ASC 1620
01 Name and meaning of bit 1 Yes No ASC 1620
02 Name and meaning of bit 2
Yes No ASC 1620
etc.
Dependency: Text
See also: pxxxx, rxxxx
See also: Fxxxxx, Axxxxx
Danger: Warning: Caution: Safety notices with a warning triangle
DANGER WARNING CAUTION
Caution: Notice: Safety notices without a warning triangle

Note: Information that might be useful.
- - - - - - - - - - - - - - - - - - - - End of example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
The individual pieces of information are described in detail below.

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pxxxx[0...n] Parameter number

The parameter number is made up of a "p" or "r", followed by the parameter
number and the index or bit field (optional).
Examples of the representation in the parameter list:
p... adjustable parameters (can be read and written)
r... display parameters (read only)
p0918 Adjustable parameter 918
p0099[0...3] Adjustable parameter 99 indices 0 to 3
p1001[0...n] Adjustable parameter 1001 indices 0 to n
(n = configurable)
r0944 Display parameter 944
r2129.0...15 Display parameter 2129 with bit array from
Bit 0 (lowest bit) to bit 15 (highest bit)
Other examples for the notation in the documentation:

p1070[1] Adjustable parameter 1070, index 1
p2098[1].3 Adjustable parameter 2098, index 1 bit 3
r0945[2](3) Display parameter 945, index 2 of
Drive object 3
p0795.4 Adjustable parameter 795, bit 4
The following applies to adjustable parameters:

The parameter value "when shipped from the factory" is specified under "Factory
setting" with the relevant unit in square parentheses. The value can be adjusted
within the range defined by "Min" and "Max".
The term "linked parameterization" is used in cases where changes to adjustable
parameters affect the settings of other parameters.
Linked parameterization can occur, for example, as a result of the following actions
and parameters:
Executing macros
p0015, p0700, p1000, p1500
Setting the PROFIBUS telegram (BICO interconnection)
p0922
Setting component lists
p0230, p0300, p0301, p0400
Automatically calculating and preassigning
p0112, p0340, p0578, p3900
Restoring factory settings
p0970
The following applies to display parameters:

The fields "Min", "Max" and "Factory setting" are specified with a dash "-" and the
relevant unit in square brackets.

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Note The parameter list can contain parameters that are not visible in the expert lists
of the respective commissioning software (e.g. parameters for trace functions).
The parameters of the application example are completely visible in the expert
list.
BICO: Full parameter name / abbreviated name
The following abbreviations can appear in front of the BICO parameter name:
BI: Binector Input Binector input)
This parameter selects the source of a digital signal.
BO: Binector output Binector output)
This parameter is available as an digital signal for interconnection with
other parameters.
CI: Connector Input Connector input)
This parameter selects the source of an "analog" signal.
CO: Connector output Connector output)
This parameter is available as an "analog" signal for interconnection
with other parameters.
CO/BO: Connector/Binector Output Connector/Binector Output)

This parameter is available as both an "analog" and also as digital
signals for interconnection with other parameters.
Note A BICO input (BI/CI) cannot be just interconnected with any BICO output
(BO/CO, signal source).
When interconnecting a BICO input using the commissioning software, only the
signal sources that are actually possible are listed.
Function diagrams 1020 ... 1030 of the List Manual explain the symbols for BICO
parameters and how to handle BICO technology.

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Drive object (function module)

A drive object (DO) is an independent, "self-contained" functional unit that has its
own parameters and, in some cases, faults and alarms.
When carrying out commissioning using the commissioning software, you can
select/deselect additional functions and their parameters by activating/deactivating
function modules accordingly.
Note References: /FH1/ SINAMICS S120 Function Manual Drive Functions
The parameter list specifies the associated drive object and function module for
each individual parameter.
Examples:
p1070 CI: Main setpoint
SERVO (extended setpoint), VECTOR
The parameter is available only in association with drive object SERVO and
the "Extended setpoint channel" Function Module or with drive object
VECTOR irrespective of activated Function Modules.
p1055 BI: Jogging bit 0
SERVO, VECTOR
For drive objects SERVO and VECTOR, regardless of which function
modules have been activated, this parameter is always available. This
means that it is available with every activated function module belonging to
the drive object.
A parameter can belong to one, several, or all drive objects.
Note All parameters of this application example are also available after installation at
the SERVO and VECTOR drive objects. The "Position controller" function
module is required for the functionality.

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Can be changed
The "-" sign indicates that the parameter can be changed in any object state and
that the change will be effective immediately.
The information "C1(x), C2(x), T, U" ((x): optional) means that the parameter can
be changed only in the specified drive unit state and that the change will not take
effect until the unit switches to another state. One or more states are possible.
The following states are available for the parameter:
C1(x) Device commissioning C1: Commissioning 1

Device is in the process of being commissioned (p0009 > 0).
Pulses cannot be enabled.
The parameter can only be changed in the following device
commissioning settings (p0009 > 0):
• C1: Can be changed for all settings p0009 > 0.
• C1(x): Can only be changed for settings p0009 = x
A modified parameter value does not take effect until the device
commissioning mode is exited with p0009 = 0.
C2(x) Drive object commissioning C2: Commissioning 2
The drive is in the process of being commissioned (p0009 = 0 and

p0010 > 0).
Pulses cannot be enabled.
The parameter can only be changed in the following drive
commissioning settings (p0010 > 0):
• C2: Can be changed for all settings p0010 > 0.
• C2(x): Can only be changed for settings p0010 = x.
A modified parameter value does not take effect until the device
commissioning mode is exited with p0010 = 0.
U Operation U: Run
Pulses are enabled.
T Ready to operate T: Ready to run
The pulses are not enabled and the state "C1(x)" or "C2(x)" is not
active.
Note Parameter p0009 is CU-specific (available on the Control Unit).

Parameter p0010 is drive-specific (available for each drive object).
The operating state of individual drive objects is displayed in r0002.
Calculated
Specifies whether the parameter is influenced by automatic calculations. The
calculation attribute defines which activities influence the parameter.

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Note This attribute is not relevant for the application parameters.
Access level
Specifies the minimum access level required to be able to display and change the
relevant parameter. The required access level can be set using p0003.
The system uses the following access levels:

1: Standard
2: Extended
3:Expert
4: Service Parameters with this access level are protected using a
password.
Note Parameter p0003 is CU-specific (available on the Control Unit). A higher access
level will also include the functions of the lower levels.
Data type
Note The data type attribute is not listed for the application parameters.
Dynamic index
Note This dynamic index attribute is not relevant for the application parameters.
Function diagram
The parameter is included in this function diagram. The structure of the parameter
function and its relationship with other parameters is shown in the specified
function diagram.

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P-Group (refers only to access via BOP (Basic Operator Panel))

Specifies the functional group to which this parameter belongs. The required
parameter group can be set via p0004.
Note Parameter p0004 is CU-specific (is available on the Control Unit).
Unit, unit group and unit selection
Note These attributes are not relevant for the parameters of the application example; it
is not possible to switch over the units.
Parameter values
Min Minimum value of the parameter [unit]
Max Maximum value of the parameter [unit]
Factory setting Value when shipped [unit]

In the case of a binector/connector input, the signal source of the default BICO
interconnection is specified. A non-indexed connector output is assigned the index
[0].
Not for motor type
Note The motor type attribute is not relevant for the application parameters.
Scaling
Note The scaling attribute is not relevant for the application parameters. If there is a
reference to another parameter, then this is indicated in the parameter list.
Expert list
Specifies whether this parameter is available in the expert list of the specified drive
objects in the commissioning software.
1: Parameter is available in the expert list.

0: Parameter does not exist in the expert list.

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Note The application does not have any parameters that do not exist in the expert list.
The support for the parameters and functions of the application example is
realized via the contacts specified in this document.
Description
Explanation of the function of a parameter.
Values
Lists of the possible values of a parameter.
Recommendation
Information about recommended settings.
Index
Note The index attribute is not relevant for the application parameters.

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Bit array
For parameters with bit arrays, the following information is provided about each bit:
Bit number and signal name
Meaning for signal states 1 and 0
Function diagram (optional)
The signal is shown in this function diagram.
Dependency
Conditions that must be fulfilled in conjunction with this parameter. Also includes
special effects that can occur between this parameter and others.
Where necessary, "Refer to:" indicates the following information:

List of other relevant parameters to be considered.
List of faults and alarms to be considered.
Safety notices
Important information that must be observed to avoid the risk of physical injury or
material damage.
Information that must be observed to avoid any problems. Information that the user
may find useful.
Number ranges of parameters

The parameters of the application example are in the number range for Drive
Control Chart (DCC) from 21000 to 25999.

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6.2.2 Parameter list technological application
See application manual of the respective application
6.2.3 Parameter list position detection and control
r21500 Software version Position control DCM

ENC Can be changed: - Calculated: - Access level: 1
Data type: Dynamic index: - Func. diagram:
P group: - Unit group: - Unit selection: -
6.0
Description: Version of the DCC chart (for consulting/diagnostic purposes).
r21501 Entry ID
ENC Can be changed: U/T Calculated: - Access level: 1
-
Description: Entry ID of the application (Siemens Industry Online Support)
r21502 CO: Internal ID

-
Description: Internal identification number of the DCC chart (language-dependent).
p21510 BI: ON/OFF (OFF1)

ENC Can be changed: T Calculated: - Access level: 1
Data type: Dynamic index: - Func. diagram: DCP1020
0
Description: Setting the signal source for the "ON/OFF (OFF1)" command.
This command corresponds to control word 1 bit 0 (STW1.0) for PROFIdrive profiles.
Dependency: see also: p21530, p24121
Notice: The signal is linked with the associated bit of the connector of control word 1 OR connected in p21530. With
control via p21530, no interconnection should be made here, since otherwise an OFF1 command would only take
effect when both signals are removed.
With 0 signal, the speed setpoint for the DCM is ramped down to zero speed according to the setting of p24121,
regardless of the previous operating mode. When a speed setpoint of zero is reached, the ON command, which is
internally connected to the DCM, is cancelled, which then leads to pulse inhibition.

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p21511 BI: No coasting/coasting (OFF2)

0
Description: Setting of the first signal source for the "No coasting/coasting (OFF2)" command.
Dependency: see also: p21530, p0845 (at DCM)
control via p21530 no interconnection should take place here, since otherwise an OFF2 command would only
become effective when both signals are removed.
The AND operation of the following signals is effective:
- p21511 (or the corresponding OR linked bit 1 in the connector at p21530)
- p0845 on SINAMICS DCM " BI: No coasting/coasting (OFF2) signal source 2".
The result of the AND operation corresponds to control word 1 bit 1 (STW1.1) for PROFIdrive profiles.
At 0-signal OFF2 occurs, i.e. immediate pulse cancellation and switch-on inhibit.
p21512 BI: No quick stop/quick stop (OFF3)

0
Description: Setting the first signal source for the "No quick stop/quick stop (OFF3)" command.
Dependency: see also: p21530, p24135, p0849 (at DCM)
control via p21530 no interconnection should take place here, since otherwise an OFF3 command would only
become effective when both signals are removed.
The AND operation of the following signals is effective:
- p21512 (or the corresponding OR linked bit 2 in the connector at p21530)
- p0849 on SINAMICS DCM " No quick stop/quick stop (OFF3) signal source 2".
The result of the AND operation corresponds to control word 1 bit 2 (STW1.2) for PROFIdrive profiles.
With 0 signal, the speed setpoint for the DCM is ramped down to zero speed according to the setting of p24135,
regardless of the previous operating mode. When a speed setpoint of zero is reached, the ON command, which is
internally connected to the DCM, is cancelled, which then leads to pulse inhibition.
p21513 BI: Enable operation / Inhibit operation

0
Description: Setting of the signal source for the "Enable operation/Disable operation" command.
Dependency: see also: p21530
Notice: The signal is linked with the associated bit of the connector of control word 1 OR connected in p21530. In case of
control via p21530, no interconnection should be made here, since otherwise an inhibition of the operation would
only become effective when both signals are removed.

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p21514 BI: Enable ramp-function generator / Disable ramp-function generator

-
Description: Setting the signal source for the "Enable ramp-function generator/ Disable ramp-function generator" command.
Notice: The signal is linked to the associated bit of the connector of control word 1 OR connected in p21530.
The application-internal ramp-function generator is not controlled via this bit, since it only realizes the ramp down.
The bit is passed on 1:1 to the SINAMICS DCM, but has no relevance there during normal operation of the
application.
p21515 BI: Continue ramp-function generator/Freeze ramp-function generator

0
Description: Setting the signal source for the " Continue ramp-function generator/Freeze ramp-function generator" command.
application.
p21516 BI: Enable setpoint / Inhibit setpoint

0
Description: Setting of the signal source for the command "Enable setpoint/inhibit setpoint".
application.

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p21517 BI: Acknowledge faults

0
Description: Setting the signal source for acknowledging all faults on all drive objects of the drive system.
Dependency: see also: p21530, r23035
With recommended wiring of the application, this bit affects all drive objects on the CU technology and on the
SINAMICS DCM.
Via r23035 a signal is available for interconnection to objects of the technology CPU if required.
p21520 BI: PLC control/No PLC control

0
Description: Setting of the signal source for the command " PLC control/No PLC control".
Notice: The signal is linked to the associated bit of the connector of control word 1 OR connected in p21530. Typically,
there should be no default via p21520, this parameter is only useful for test purposes.
p21521 BI: Setpoint inversion

0
Description: Setting of the signal source for the inversion of the setpoint.
application.
p21522 BI: Release brake

0
Description: Setting the signal source for the "Open holding brake unconditionally" command.
The bit is passed through 1:1 to the SINAMICS DCM.
The signal at the DCM via binector input p0858 "Close holding brake unconditionally" has higher priority than
"Open holding brake unconditionally".

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p21523 BI: Motor potentiometer setpoint higher

0
Description: Setting of the signal source for increasing the setpoint at the motor potentiometer.
application.
p21524 BI: Motor potentiometer setpoint lower

0
Description: Setting of the signal source for decreasing the setpoint at the motor potentiometer.
application.

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p21530 CI: Control word 1 (STW1)

0
Description: Setting the signal source for the control word 1.
Recommendation: In order to be able to use the application specific telegrams for the LMCSINA control blocks,
r2050[0] of the object "TechCU" must be connected here.
Bitfield: Bit Signal name 1-Signal 0 signal FP
0 ON/OFF1 ON (no OFF1) OFF1 DCP1020
No coasting (no OFF2)/coasting No coasting (no AUS2) coasting DCP1020
1
(OFF2) (OFF2)
No quick stop (no OFF3)/Quick No quick stop (no OFF3) Quick stop DCP1020
2
stop (OFF3) (OFF3)
Enable operation / Inhibit Enable operation DCP1020
3
operation
Enable / disable ramp-function Enable ramp-function DCP1020
4
generator generator
Continue / freeze ramp-function Continue ramp-function DCP1020
5
generator generator
6 Enable setpoint / Disable setpoint Enable setpoint DCP1020
7 Acknowledge faults Acknowledge faults DCP1020
reserved (will not be passed on to
8
the DCM!)
9
the DCM!)
10 PLC control/No PLC control PLC control DCP1020
11 Set point inversion Set point inversion DCP1020
12 Open brake Open brake DCP1020
Motor potentiometer setpoint Motor potentiometer setpoint DCP1020
13
higher higher
Motor potentiometer Motor potentiometer DCP1020
14
setpoint lower setpoint lower
15
the DCM!)
Dependency: see also: p21510 to p21524
Notice: The control word is logical OR combined bit by bit with the signals at the binector inputs
p21510 to p21524. Bits 3 to 6 and 10 to 14 are not evaluated directly by the application and
are passed on 1:1 to the SINAMICS DCM. A more detailed description of the individual bits
can be found in the parameter description of the binector inputs p21510 to p21524.

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r21531 CO: Control word 1 (STW1) to DCM

-
Description: Display and output of control word 1 to the SINAMICS DCM
Recommendation: The control word 1 is to be connected via p31793[0] at the object "TechCU" as send word for the OALINK
communication to the SINAMICS DCM.
0 ON/OFF1 ON (no OFF1) OFF1 DCP1020
No coasting (no OFF2)/coasting (OFF2) No coasting (no AUS2) coasting DCP1020
1
(OFF2)
No quick stop (no OFF3)/Quick stop (OFF3) No quick stop (no OFF3) Quick stop DCP1020
2
(OFF3)
3 Enable operation / Inhibit operation Enable operation DCP1020
Enable / disable ramp-function generator Enable ramp-function DCP1020
4
generator
Continue / freeze ramp-function generator Continue ramp-function DCP1020
5
generator
6 Enable setpoint / Disable setpoint Enable setpoint DCP1020
7 Acknowledge faults Acknowledge faults DCP1020
8 reserved (will not be passed on to the DCM!)
PLC control/No PLC control PLC control DCP1020
10
11 Set point inversion Set point inversion DCP1020
12 Open brake Open brake DCP1020
Motor potentiometer setpoint higher Motor potentiometer setpoint DCP1020
13
higher
Motor potentiometer Motor potentiometer DCP1020
14
setpoint lower setpoint lower
Dependency: see also: p21530, p21510 to p21524
Notice: Control word 1 for the SINAMICS DCM is formed from the input signals of the application and an internal
sequence control. A more detailed description of the individual bits can be found in the parameter description of
the binector inputs p21510 to p21524.
r21532 BO: OFF2 Enable missing

-
Description: Status feedback on the absence of OFF2 enable via control word 1.
Dependency: see also: p21511, p21530,

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p21549 CI: Status word 1 of drive

TechCU: r31790[0]
Description: Setting the signal source for the status word from the SINAMICS DCM.
Recommendation: The status word 1 is transferred via OALINK from SINAMICS DCM to the technology CPU and is available there
in r31790[0].
Dependency: see also: Control Unit of the DCM p31793, p31802[0], r31807[0]
p21550 BI: Fault effective from technology CPU

TechCU: r2139.3
Description: Setting of the signal source for the feedback of an effective fault at the technology CPU.
p21551 BI: Fault effective from standard application


Measuring wheel leading
value: r2139.3
Description: Setting of the signal source for the feedback of an effective fault at the encoder object
MeasuringWheelLeadValue with the DCC standard application.
p21552 BI: Fault effective from position detection and control application
r2139.3
Description: Setting of the signal source for the feedback of an effective fault at the encoder object MotorLoadEncoder with
the position controller DCC chart.
p21553 BI: OALINK Tolerance time communication problem not exceeded

Data type: Dynamic index: - Func. diagram: -
TechCU: r31786.7
Description: Setting of the signal source for the feedback of the not exceeded tolerance time for the OALINK communication.

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p21554 BI: OALINK DRIVE-CLiQ connection status not interrupted

Data type: Dynamic index: - Func. diagram: -
TechCU: r31786.7
Description: Setting of the signal source for the feedback that the DRIVE-CLiQ connection of the OALINK is not interrupted.
p21555 CI: actual fault code from technology CPU

TechCU: r2131
Description: Setting the signal source for the actual fault code from the technology CPU.
Notice: The highest simultaneously occurring fault code of all drive objects is transmitted via the telegram.
p21556 CI: actual fault code from standard application


value: r2131
Description: Setting the signal source for the actual fault code from the encoder object Measuring wheel leading value with the
DCC standard application.
p21557 CI: actual fault code from position controller application

MotorLoadEncoder: r2131
Description: Setting the signal source for the actual fault code from the encoder object MotorLoadEncoder with the position
controller DCC chart.
p21558 CI: actual fault code from DCM

TechCU: r31790[7]
Description: Setting the signal source for the actual fault code from the drive object of the DCM. The value is received via
OALINK from the SINAMICS DCM.

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p21560 BI: Alarm effective from technology CU

TechCU: r2139.7
Description: Setting of the signal source for the feedback of an effective alarm at the technology CPU.
p21561 BI: Alarm effective from standard application

value: r2139.7
Description: Setting of the signal source for the feedback of an effective alarm at the encoder object measuring wheel leading
value with the DCC standard application.
p21562 BI: Alarm effective from position detection and control application

MotorLoadEncoder: r2139.7
Description: Setting the signal source for the feedback of an effective alarm at the encoder object MotorLoadEncoder with the
position controller DCC chart.
p21565 CI: actual alarm code from technology CPU

TechCU: r2132
Description: Setting the signal source for the actual alarm code from the technology CPU.
Notice: The highest simultaneously occurring alarm code of all drive objects is transmitted via the telegram.
p21566 CI: actual alarm code from standard application

value: r2132
Description: Setting the signal source for the actual alarm code from the encoder object Measuring wheel leading value with
the DCC standard application.

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p21567 CI: actual alarm code from position controller application

MotorLoadEncoder: r2132
Description: Setting the signal source for the actual alarm code from the encoder object MotorLoadEncoder with the position
controller DCC chart.
p21568 CI: actual alarm code from DCM

TechCU: r31790[8]
Description: Setting the signal source for the actual alarm code from the drive object of the DCM. The value is received via
OALINK from the SINAMICS DCM.

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r21570 CO: Status word 1 (ZSW1) of DCM

-
Description: This parameter displays status word 1 of the DCM supplemented by status feedback from the application.
Ready for switching on Ready for switching Not ready for DCP1050
0
on switching on
Ready Ready for operation Not ready for DCP1050
1
operation
Operation enabled Operation enabled no operation DCP1050
2
enabled
3 Fault present Fault present No fault present DCP1050
4 No coasting active OFF2 inactive OFF2 active DCP1050
5 No quick stop active OFF3 inactive OFF3 active DCP1050
Switching on inhibited active Switching on Switching on DCP1050
6
inhibited active inhibited inactive
7 Alarm present Alarm present no alarm present DCP1050
Speed setpoint-actual deviation in tolerance Speed setpoint- Speed setpoint DCP1050
8 actual deviation in actual deviation
tolerance
9 PLC control PLC control required DCP1050
f or n comparison value reached/exceeded f or n comparison f or n comparison DCP1050
10 value value not reached

reached/exceeded
11 M limit not reached M limit not reached M limit reached DCP1050
Open holding brake Holding brake open Holding brake DCP1050
12
closed
Alarm motor overtemperature No alarm motor Alarm motor DCP1050
13
overtemperature overtemperature
15 Motor turns forward n_act ≥ 0 n_act < 0 DCP1050
Alarm power unit thermal overload No alarm power unit Alarm power unit DCP1050
15
thermal overload thermal overload
Dependency: see also: p21549, p21550, p21551, p21552, p21560, p21561, p21562
Notice: Bits 03, 05 and 07 are linked to internal states of the application.

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r21575 CO: Status word position control

-
Description: Display of the status word of the applicative position control.
Position control active Position control Position control
0
active inactive
Position controller at upper limit Position controller at Position controller
1
upper limit not at upper limit
Position controller at lower limit Position controller at Position controller
2
lower limit not at lower limit
3 reserved
4 reserved
5 Encoder parked Encoder parked Encoder not parked
Position tracking absolute encoder active Position tracking Position tracking
6 absolute encoder absolute encoder
active inactive
Measurement active Measurement active Measurement
7
inactive
8 reserved
Error position preparation Error position no error position
9
preparation preparation
Alarm position preparation Alarm position no alarm position

10
preparation preparation
11 reserved
Following error exceeded while moving Following error Following error in
12 exceeded while tolerance
moving
Following error exceeded at standstill Following error Following error at
13 exceeded at standstillstandstill in
tolerance
14 reserved
15 reserved
r21600 CO: Speed setpoint to drive normalized

-
Description: Display and connector output for the speed setpoint that is transmitted to the SINAMICS DCM. The value takes
into account the speed reference of the position controller and the ramp down ramp at OFF1 and OFF3.
Dependency: see also: r22562, p24121, p24135, p22700, r22526
Notice: The value is normalized to the reference speed of the SINAMICS DCM.

Entry-ID: 103471886, V6.0, 12/2021 104
r21610 CO: Actual speed value normalized to drive

-
Description: Display and connector output for the actual speed value of the motor shaft.
Recommendation: It is recommended not to use this value for speed control on the DCM, but to use an additional encoder or a
suitable encoder splitter for this purpose.
Dependency: see also: p22700, p23002, p23003, p23004, p23005, r24163
Notice: The value is normalized to the reference speed of the SINAMICS DCM. The absolute value of the actual motor
speed value is available in r24163 for diagnostics.
r22031 CO: Fault code all objects

-
Description: Display and connector output for the maximum fault code of all objects.
Dependency: see also: p21555, p21556, p21557, p21558
Notice: Since the application includes other encoder objects and the technology CPU in addition to the DCM, it is
necessary to combine the fault codes of all objects in order to forward the fault code to the cyclic telegram. The
highest current fault code is displayed in this connector output.
r22032 CO: Alarm code all objects

-
Description: Display and connector output for the maximum alarm code of all objects.
Notice: Since the application includes further encoder objects and the technology CPU in addition to the DCM, it is
necessary to combine the alarm codes of all objects in order to forward the alarm code to the cyclic telegram. The
highest current alarm code is displayed in this connector output.
p22481 CI: Encoder status word Gn_ZSW, encoder 1

r481
Description: Setting the signal source for the encoder status word.
Notice: The parameter is correctly interconnected by default and must not be changed.

Entry-ID: 103471886, V6.0, 12/2021 105
p22482 CI: Encoder position actual value Gn_XIST1

r482
Description: Setting the signal source for the encoder position actual value GnXIST1.
p22483 CI: Encoder position actual value Gn_XIST2

r483
Description: Setting the signal source for the encoder position actual value GnXIST2.
p22508 BI: Activate reference mark search, position control


-
Description: Setting the signal source for activating the reference mark search.
Notice: The signal for the reference mark search is generated by the technological application. The signal source is
therefore dependent on the application used. The required settings are made via script or manually according to
the information in chapter 4.2Manual interconnection of the application
p22509 BI: Activate measuring probe evaluation, position control

-
Description: Setting the signal source for activating the measuring probe evaluation.
Notice: The signal for measuring probe evaluation is generated by the technological application. The signal source is
therefore dependent on the application used. The required settings are made via script or manually according to
the information in chapter 4.2Manual interconnection of the application

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p22510 BI: Measuring probe evaluation selection, position control

0
Description: Setting of the signal source for the selection of the measuring probe to be activated.
Values: 0 Measuring probe 1
1 Measuring probe 2
p22511 BI: Measuring probe evaluation edge, position control

0
Description: Setting of the signal source for the selection of the edge during measuring probe evaluation.
Values: 0 Measure on rising edge
1 Measure for falling edge
p22512 BI: Position actual value prep. correction positive (edge), NOV
0
Description: Setting the signal source for the function " BI: Position actual value preparation correction positive (edge), NOV ".
0/1 signal: The correction value present via connector input p22513 is activated.
Dependency: see also: p22513, p22521, p22730
Notice: The NOV (Negative OverFlow) signal is used to correct the actual position value by adding the correction value
via connector input p22513. This correction is controlled by the position setpoint preparation of the technological
application and ensures, for example, that the position setpoint and the actual position value are corrected
simultaneously during modulo corrections or on-the-fly referencing. This prevents jumps in the following error, i.e.
the actual position setpoint deviation at the position controller.
Depending on the following error, the traversed range of the actual position value is outside the upper range of
the modulo value in the case of modulo correction by the value of the following error. This must be taken into
account if the actual position value is evaluated via cam controllers, for example.
The signal source depends on the application used. The required settings are made via script or manually
according to the information in chapter 4.2Manual interconnection of the application

Entry-ID: 103471886, V6.0, 12/2021 107
p22513 CI: Position actual value preparation correction value, position control
0
Description: Setting the signal source for the correction value for actual position value preparation. The correction value is
activated by a 0/1 edge at binector input p22512 or p22730.
Notice: The NOV (Negative Over Flow) signal at p22512 is used to correct the actual position value by adding the
correction value, while the POV (Positive Over Flow) signal at p22730 is used to correct it by subtracting the
correction value. This correction is controlled by the position setpoint preparation of the technological application
and ensures that, for example, in the case of modulo corrections or on-the-fly referencing, a simultaneous
correction of position setpoint and actual position value is guaranteed. This prevents jumps in the following error,
i.e. the actual position setpoint deviation at the position controller.
r22520 CO: Position actual value preparation encoder control word


-
Description: Display and connector output for the encoder control word generated by the actual position value preparation.
00 Request function 1 Yes No DCP2010
04 Request command bit 0 Yes No DCP2010
07 Flying measurement mode/search for Flying measurement Reference marks DCP2010
reference mark
13 Request absolute value cyclic Yes No DCP2010
14 Request parking encoder Yes No DCP2010
15 Request acknowledge encoder fault Yes No DCP2010

Entry-ID: 103471886, V6.0, 12/2021 108
r22521 CO: Position actual value, position control

-
Description: Display and connector output for the current position actual value determined by the position actual value
preparation.
Notice: The NOV (Negative Over Flow) signal at p22512 is used to correct the actual position value by adding the
correction value, while the POV (Positive Over Flow) signal at p22730 is used to correct it by subtracting the
correction value. This correction is controlled by the position setpoint preparation of the technological application
and ensures that, for example, in the case of modulo corrections or on-the-fly referencing, a simultaneous
correction of position setpoint and actual position value is guaranteed. This prevents jumps in the following error,
i.e. the actual position setpoint deviation at the position controller.
In such applications, therefore, either the position setpoint must be evaluated or an additional correction must be
implemented in the upper module range.
r22522 CO: Position control, speed actual value [1000 LU/min]


-
Description: Display and connector output for the position actual value determined by the actual position value preparation.
r22523 CO: Measured value, position control

-
Description: Display and connector output for the measuring value evaluated by the "Reference mark search" and "Measuring
probe evaluation" functions.
r22525 BO: Measured value valid

-
Description: Display and binector output for the validity of a measured value determined by the "Reference mark search" and
"Probe evaluation" functions.

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r22526 BO: Position control active

-
Description: Display and binector output for feedback of active position control.
Dependency: see also: r21531, p22550
Notice: The activation of the position controller is influenced by the status feedback of the DCM in addition to the enable
via the control signal at p22550.
p22530 CI: Position setpoint before decimal point

-
Description: Setting of the signal source for the pre-decimal part of the position setpoint.
Notice: The position setpoint is composed additively of the pre-decimal and post-decimal parts, thus a higher resolution is
achieved compared to a pure 32-bit double integer setpoint.
p22531 CI: Speed setpoint before decimal point

-
Description: Setting of the signal source for the pre-decimal part of the speed setpoint for the position controller.
Notice: The velocity setpoint is composed additively of the pre-decimal and post-decimal parts, thus a higher resolution is
p22534 Speed pre-control factor

-3,40282E+43 3,40282E+43 1.0
Description: Setting for activating and weighting the speed precontrol value.
Value = 0.000→The pre control is deactivated. Value = 1.000→the pre control is activated with 100%.

Entry-ID: 103471886, V6.0, 12/2021 110
p22537 CI: Position controller adaptation

100%
Description: Setting of the signal source for the adaptation of the proportional gain of the position controller.
p22538 Position controller proportional gain [1000/min]

-3,40282E+43 3,40282E+43 0.006
Description: Setting the proportional gain (P-gain, position loop gain, Kv-factor) of the position controller.
Dependency: see also: p22537, 22539
Notice: Proportional amplification is used to determine at which traversing speed which following error occurs
(without pre control).
Proportional gain small:
Slow response to setpoint-actual difference, following error becomes large.
Proportional gain large:
Fast response to setpoint-actual difference, following error becomes small.
p22539 Position controller integral time (ms)

0 3,40282E+43 0.000
Description: Setting for activating the integral time of the position controller.
Recommendation: The position controller is typically operated as a pure P-controller, which corresponds to a reset time of 0 ms at
this parameter.
Notice: With the controller modules in DCC, the smallest integral time is limited to the value of the sampling time. In the
present application, therefore, an additional function is implemented which permanently sets the integral
component of the controller to zero when a value of zero or less is specified.
p22540 Position controller speed limit [1/min]

-3,40282E+43 3,40282E+43 500
Description: Setting for the speed limit of the position controller output.
Notice: The value acts symmetrically on the upper and lower limits.

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p22542 Following error standstill tolerance [LU]

0 2147483647 5000
Description: Setting of the standstill window for standstill monitoring.
After the standstill monitoring time has elapsed, a cyclic check is made to see whether the difference between the
setpoint and the
actual position is within the standstill window and, if necessary, a corresponding fault F51054 is output.
Dependency: see also: p22543, p22549see
also: F51054
Notice: Monitoring can be completely deactivated via the signal source at p22549.
p22543 Time delay standstill [ms]

-3,40282E+43 3,40282E+43 100.0
Description: Setting the standstill monitoring time for standstill monitoring.
After the standstill monitoring time has elapsed, a cyclic check is made to see whether the difference between the
setpoint and the
actual position is within the standstill window and, if necessary, a corresponding fault F51054 is output.
see also: F51054
p22544 Following error moving tolerance [LU]

-2147483648 2147483647 10000
Description: Setting of the monitoring threshold for the following error when moving. If the speed setpoint is not zero, the
difference between the setpoint and actual position is monitored for the permissible tolerance and, if necessary, a
corresponding F51053 fault is output.
see also: F51053
p22549 BI: Enable following error monitoring

1
Description: Setting of the signal source for the activation of the following error monitoring.
Values: 0 The following error monitoring is deactivated when moving and at a standstill.
1 The following error monitoring is active when moving and at a standstill.
see also: F51053, F51054

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p22550 BI: Position controller enable 2

1
Description: Setting the signal source for position controller enable 2.
Dependency: see also: r22526
Notice: The position controller is enabled via an AND operation of the signal at p22550, the pending ON command and
"no OFF3" signal in control word 1, as well as the operation feedback of the DCM.
r22559 CO: Position controller Integrator value

-
Description: Display and connector output for the I-component at the output of the position controller (speed setpoint).
r22560 CO: Speed setpoint position controller output


-
Description: Display and connector output for speed reference after limitation.
r22561 CO: Speed pre-control value [1/min]

-
Description: Display and connector output for speed setpoint due to pre control.
r22562 CO: Speed setpoint total from position controller [1/min].

-
Description: Display and connector output for the total speed setpoint.
This value results from the sum of speed pre-control and position controller output.
Dependency: see also: r22560, r22561
Notice: This value is not transferred directly to the DCM, because there is still an influence at OFF1 and OFF3.

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r22565 CO: Actual following error

-
Description: Display and connector output for the actual following error.
This value is the deviation between the position setpoint and the actual position value.
p22694 CI: Additional setpoint position decimal point

-
Description: Setting of the signal source for the decimal part of the position setpoint.
Notice: The position setpoint is composed additively of the pre-decimal and post-decimal parts, thus a higher resolution is
p22695 CI: Additional setpoint speed decimal point

Can be changed: T Calculated: - Access level: 1
ENC
-
Description: Setting the signal source for the decimal part of the speed setpoint for the position controller.
Notice: The velocity setpoint is composed additively of the pre-decimal and post-decimal parts, thus a higher resolution is
p22700 Reference speed of drive

0
Description: Setting the signal source for the reference speed of the SINAMICS DCM drive.
Notice: The parameter is required for the correct normalization of the speed setpoints and actual values at the SINAMICS
DCM.
The parameter must be set identically to the p2000 parameter of the SINAMICS DCM.

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p22720 Position tracking Activate absolute encoder

0
Description: Activation of position tracking for the absolute encoder.
Notice: Position tracking is only available for absolute encoders.
p22721 Tolerance factor position tracking [LU]

0 4294967295 -
Description: Setting for the tolerance window of the position tracking.
Recommendation: The tolerance window specifies by how many length units (LU) the absolute encoder may rotate when position
tracking is activated in the switched-off state.
p22725 BI: Park encoder

0
Description: Setting the signal source for the selection encoder parking.
Notice: The encoder is deactivated and no longer evaluated by the park encoder function. No actual value signal is then
available for position control.
p22730 BI: Position actual value prep. correction negative (edge), POV
-
Description: Setting the signal source for the function "Activate position actual value preparation correction negative (edge),
POV".
0/1 signal: The correction value present via connector input p22513 is subtracted.
Notice: The POV (Positive Overflow) signal is used to correct the actual position value by subtracting the correction value
via connector input p22513. This correction is controlled by the position setpoint preparation of the technological
application and ensures, for example, that the position setpoint and the actual position value are corrected
simultaneously during modulo corrections or on-the-fly referencing. This prevents jumps in the following error, i.e.
the actual position setpoint deviation at the position controller.

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p23002 Gear ratio motor/load motor revolutions

-3,40282E+43 3,40282E+43 1.0
Description: Setting of the number of motor revolutions for the gear ratio of the gearbox between motor and load.
Notice: Only in the case of a load-side encoder, a value unequal to 1.0 must be set here in order to calculate the motor
speed values correctly.
p23003 Gear ratio motor/load load revolutions

-3,40282E+43 3,40282E+43 1.0
Description: Setting of the number of load revolutions for the gear ratio of the gearbox between motor and load.
Notice: Only in the case of a load-side encoder, a value unequal to 1.0 must be set here in order to calculate the motor
speed values correctly.
p23004 Gear ratio encoder/load encoder revolutions

-32768 32767 1.0
Description: Setting of the number of encoder revolutions for the gear ratio of the gearbox between encoder and load.
p23005 Gear ratio encoder/load load revolutions

-32768 32767 1.0
Description: Setting of the number of load revolutions for the gear ratio of the gearbox between encoder and load.

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p23006 LU per position encoder revolution

0 2147483647 360000
Description: Setting the LU per position encoder revolution
Notice: The change in position resulting from each revolution of the position encoder must be parameterized here.
The position actual value processing converts the position actual value into a neutral distance unit LU (Length
Unit). For this, the function block is based on the encoder interfaces Gn_XIST1, Gn_XIST2, Gn_STW and
Gn_ZSW available in encoder evaluation / motor control. These provide the position information only in encoder
pulses and fine resolution (increments).
The preparation of the actual position value takes place immediately after the system start-up, as soon as valid
values are received via the encoder interface, independent of the position controller enable.
r23035 BO: Acknowledge fault

-
Description: Display and binector output for the control bit "Acknowledge fault" from control word 1.

Notice: This signal can be used to distribute the acknowledgement command from the telegram to further objects if
required.
p24121 OFF1 Ramp-down time [ms]

0 3,40282E+43 100000
Description: Setting of the OFF1 ramp-down time for the ramp-function generator.
During this time, the speed setpoint is ramped down by the ramp-function generator from the reference speed to
standstill (setpoint = 0).
is run. The OFF1 ramp-down time is always effective at OFF1.
Notice: The Ramp-down time behaves according to the behavior of a SINAMICS DCM, i.e. the time refers to the passage
of 100% of the reference speed and not to the parameterized maximum speed as with a SINAMICS S120.
p24135 OFF3 Ramp-down time [ms]

0 3,40282E+43 30000
Description: Setting of the OFF3 ramp-down time or fast stop time for the ramp-function generator.
During this time, the speed setpoint is ramped down by the ramp-function generator from the reference speed to
standstill (setpoint = 0). The OFF3 ramp-down time is always effective at OFF3.
Notice: The ramp-down time behaves according to the behavior of a SINAMICS DCM, i.e. the time refers to the passage
of 100% of the reference speed and not to the parameterized maximum speed as with a SINAMICS S120.

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r24163 Motor speed actual value [1/min]

-
Description: Display of the actual speed value of the motor shaft.
r25000 CO: Position actual value, high word

-
Description: Display and connector output for the high word of the actual position value
Notice: Since the number of receive and transmit data of drive objects of the type "ENC", i.e. encoder objects, is not
sufficient for the standard applications, the communication takes place completely via the object of the control
unit. Since this object does not allow double-word interconnection on the telegram, the send data is sent in high
and low words.
r25001 CO: Position actual value, low word

-
Description: Display and connector output for the low word of the actual position value
and low words.
r25002 CO: Speed actual value [1000 LU/min] high word

-
Description: Display and connector output for the high word of the actual speed value
and low words.

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r25003 CO: Actual speed value [1000 LU/min] low word

-
Description: Display and connector output for the low word of the actual speed value
and low words.
p25500 CI: WORD to DWORD 1 Input word high

0
Description: Setting the signal source for the high word at the WORD to DWORD converter 1.
Notice: Since the number of receive and transmit data of drive objects of the type "ENC", i.e. encoder objects is not
unit. Since this does not allow double-word interconnection on the telegram, the receive data words are
converted to a double word via this converter.
The signal source depends on the application used. The necessary settings are made via script or manually
p25501 CI: WORD to DWORD 1 Input word low

0
Description: Setting the signal source for the low word at the WORD to DWORD converter 1.

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r25502 CO: WORD to DWORD 1

-
Description: Display and connector output of the WORD to DWORD converter 1.

0


-

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-
Description: Display and connector output of the WORD to DWORD converter 2.

-


-

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-
Description: Display and connector output of WORD to DWORD converter 3.

-


-

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-

-


-

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-

-


-

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-

-


-

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-

-


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-

-


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-

-


-

-

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p25550 CI: DWORD to WORD 1

-
Description: Setting the signal source for that of the DWORD to WORD converter 1.
unit. Since this does not allow double word switching on the telegram, the send data double words are converted
into high and low word via this converter.
The signal source depends on the used application. The necessary settings are made via script or manually
r25551 CO: DWORD to WORD 1 Output word high


-
Description: Display and connector output of the high word on the WORD to DWORD converter 1.
r25552 CO: DWORD to WORD 1 Output word low

-
Description: Display and connector output of the low word on the WORD to DWORD converter 1.

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-

-


-

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-

-


-

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-

-


-

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-

-


-

-

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-


-

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-

-


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-

-


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-

-

r25905 CO: LU per load revolution

ENC Can be changed: Calculated: - Access level: 1
-
Description: Display and connector output for the parameterized number of length units (LU) per load revolution.
Notice: The parameter value corresponds to the setting value of p23006.
The actual position value processing converts the actual position value into a neutral path unit LU (Length Unit).
For this, the function block is based on the encoder interfaces Gn_XIST1, Gn_XIST2, Gn_STW and Gn_ZSW
available in encoder evaluation / motor control. These provide the position information only in encoder lines and
fine resolution (increments).
The processing of the actual position value takes place immediately after the system start-up, as soon as valid
values are received via the encoder interface, independent of the position controller enable.

Entry-ID: 103471886, V6.0, 12/2021 138
p25921 BI: Trigger absolute encoder adjustment

-
Description: Setting the signal source for triggering the absolute encoder adjustment.
Recommendation: Here the connection must be made with measuring wheel leading value: r25920.0. The connection is carried out
by means of a script or manually.
r25924 BO: Absolute encoder adjusted

-
Description: Display and binector output for the "absolute encoder adjusted" signal
Values: 0 Absolute encoder not adjusted
1 Absolute encoder adjusted
r25925 CO: Absolute encoder adjustment Status

-
Description: Display and connector output for absolute encoder adjustment status.
Values: 0 No absolute encoder
1 Absolute encoder not adjusted
2 Absolute encoder adjustment started
3 Absolute encoder adjusted
4 Absolute encoder adjustment failed

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6.3 Faults and alarms

6.3.1 Faults
F51050 Encoder evaluation fault

Drive object: ENC
Reaction: OFF2
Acknowledgment: IMMEDIATELY
Cause: Evaluate fault value:
Bit Meaning Remedy
0 No NVRAM available New Control Unit start:
1 Data was not able to be read out of the NVRAM New Control Unit start:
2 Undefined status of the NVRAM New Control Unit start:
3 Cycle time of 0ms read back Execution group with computation time > 1ms
4 p404 was not able to be read New Control Unit start:
Number of encoder increments at XIST1 exceeds
10 Check the encoder parameterization
value range
Number of encoder increments at XIST2 exceeds
11 Check the encoder parameterization
value range
Position tracking of the basic system activated
12 Set p411 to a value of 0
p411 != 0
13 Encoder has left the tolerance window Readjust absolute encoder
Error in the startup function: Undefined status

14 New Control Unit start:
reached
Error in the measurement function:
15 Restart the measuring function
Undefined status reached
16 Error in the absolute encoder adjustment undefined
Restart adjustment
status reached
Invalid encoder index specified (Index [2] was Assign encoder index 0,1 or 2 and restart the
17
automatically selected) Control Unit
18 Reserved
Mechanical system: Set a value greater than zero for the number of
19
denominator (encoder revolutions) = 0 encoder revolutions
Set a value greater than zero for the LU per load
20 Mechanical system: LU per load revolution set = 0
revolution
21 – 22 Reserved -
NVRAM:
23 Restart adjustment
Data was not able to be backed up
NVRAM:
24 None
Absolute encoder adjustment could not be reset
Set tolerance window; ensure that the encoder is in
XIST_LU has exceeded the value range
27 the switched-off state in order that it is not rotated
(in the switched-off state)
through more than half its encoder range.
Ensure that the position output is only in the DINT
XIST_LU has exceeded the value range
28 value range. (Reduce RLR, carry out modulo offset,
(at the runtime)
etc.)
Encoder fault signaled using the encoder status Acknowledge encoder fault (ACK_ENC_ERR), if
29
word applicable Error value in XIST2 must be considered
F51051 Reference speed from drive is zero

Drive object: ENC
Reaction: OFF2
Acknowledgement:IMMEDIATELY
Cause: The value for the reference speed is zero.
Remedy Correct setting of p22700.

Entry-ID: 103471886, V6.0, 12/2021 140
F51052 Speed normalization to DCM results in zero

Drive object: ENC
Reaction: OFF2
Cause: The value for the gear factors p23003 or p23004 or the set value for the LU per load revolution is zero.
Remedy Correct setting of p23003, p23004 or p23006.
F51053 Following error exceeded while moving

Drive object: ENC
Reaction: OFF2
Cause: The permissible following error while moving was exceeded.
Remedy Check settings of following error monitoring p22544 and p22549. Check mechanics for sluggishness.
Check controller settings.
F51054 Following error exceeded at standstill

Drive object: ENC
Reaction: OFF2
Cause: The permissible following error in standstill was exceeded.
Remedy Check settings of following error monitoring p22542, p22543 and p22549. Check mechanics for
sluggishness. Check controller settings.
F51055 Tolerance time communication problem exceeded

Drive object: ENC
Reaction: OFF2
Cause: The tolerance time for OALINK communication was exceeded on the Technology CU and this was
indicated via r31786.7, which is connected to p21553 on MotorLoadEncoder in the standard.
Remedy Check OALINK communication, see OALINK manual.
F51056 OALINK Connection loss of the DRIVE-CLiQ connection

Drive object: ENC
Reaction: OFF2
Cause: A loss of the OALINK DRIVE-CLiQ connection was indicated on the technology CPU via r31786.8, which
is connected in the standard with p21554 to MotorLoadEncoder.
Remedy Check OALINK communication, see OALINK manual.

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6.3.2 Alarms
A51060 Warning measuring wheel- leading axis encoder evaluation

Drive object: ENC
Reaction: NONE
Acknowledgment: NONE
Cause: Evaluate alarm value:
Bit Meaning Remedy
Setting value SV in the first half of the
Absolute encoder adjustment not possible:
0 encoder value range (converted
SV too high
to LU)
Absolute encoder adjustment not possible: Adapt the mechanical data: select lower
1
XIST2->LU exceeds DINT resolution or reduce SV
Absolute encoder adjustment not possible: Complete/deselect measurement,
2
Measurement active Restart encoder adjustment
Absolute encoder adjustment:
3 New Control Unit start:
Data was not able to be backed up in the NVRAM
4 Absolute encoder adjustment was reset None
5 Reserved -
6 Encoder index was changed New Control Unit start, or
Reinsert execution group
7–8
Reserved -
Position tracking: Set a tolerance window less than
9
Tolerance window too large half of the encoder value range
10 Position tracking: Activate position tracking, gearbox
Offset for multiturn overflow possible set with factor 2^x
11 Position tracking: Activate position tracking,
Modulo does not fit with multiturn-> overflows Set modulo length with integer
possible ratio v = p421 * NM * RLR / (DN * AZL)

14 Mechanical system:
Reduce RLR or select an encoder with
LU per load revolutions too high
a higher resolution
(encoder resolution < selected LU resolution)

Entry-ID: 103471886, V6.0, 12/2021 142
7 Appendix
7 Appendix
7.1 Application Support
Siemens AG
Digital Industries
Factory Automation
Production Machines
DI FA PMA APC
Frauenauracher Str. 80
D-91056 Erlangen, Germany
mailto: tech.team.motioncontrol@siemens.com
7.2 Change documentation

Table 7-1
Version Date Change
V1.0 02/2014 First edition (not published)
V2.0 08/2014 Second edition
V3.0 03/2016 Third edition

V3.01 07/2016 Fourth edition
V4.0 05/2017 Fifth Edition:
All synchronism applications were upgraded to version
V4.0.
Only the measuring wheel is now supported as the leading

axis of the technology/synchronism applications. Therefore,
only one drive is imported on the technology CPU instead
of two previously.
As of now, the flying saw and the cross cutter for the DCM
are also supported.
V6.0 12/2021 Sixth edition:
- Complete new creation
- no more "dummy" drive objects necessary
- The original S120 applications from version V6.0 are
used without adjustments in the DCC chart.
- the interconnection is possible by script or manually
- the use of the LMCSINA modules is possible, PLC
connection now via technology CU

Entry-ID: 103471886, V6.0, 12/2021 143

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DCM Technology

DCM Technology Applications

4.2.1 Interconnections and parameterization on the SINAMICS DCM ....... 23

DCM Technology Applications

6.1 Function diagrams .............................................................................. 72

DCM Technology Applications

Overview of the application

Actual position and

Control Unit CU320-2 Advanced CUD

<1> transmision of the actual speed value is optional

DCM Technology Applications

Core elements of this application

DCM Technology Applications

1.2 Hardware setup

Sensor Module Control Control

Sensor Module X103

As an example of a cross cutter application, the hardware structure is shown in the

DCM Technology Applications

1.3 Hard and software components

STARTER commissioning tool with as of V5.4.2.1

Synchronism applications with https://support.industry.siemens.com/cs/ww/en/view/109757232

DCM Technology Applications

1The positioning application is covered by the "Basic gearing" application, so there is no

DCM Technology Applications

The following figure illustrates this schematically:

DCM Technology Applications

2.2 Description of the core functionality

Serious personal injury and damage to property can occur if

DCM Technology Applications

3.2 Installing the OALINK application

of libraries and technology packages".

3.3 Installation of the DCB extension library "GMC" and

3.4 Creating the starter project

DCM Technology Applications

3.5 Import of the technology CU

DCM Technology Applications

DCM Technology Applications

If necessary, rename your drive unit appropriately.

DCM Technology Applications

3.6 Import of the S120 application

DCM Technology Applications

This is shown here as an example for a cross-cutter application:

navigator and set the correct encoder data.

DCM Technology Applications

4 Interconnection of the application

Activation of the OALINK technology package

DCM Technology Applications

Then select the technology package in the subsequent dialog:

Then go to the Control Unit and right click to its properties:

DCM Technology Applications

DCM Technology Applications

4.1 Use of the interconnection script

Project integrated use of the script

• Follow the instructions of the script

DCM Technology Applications

Time out or communication lose at OALINK connection

DCM Technology Applications

4.2 Manual interconnection of the application

4.2.1 Interconnections and parameterization on the SINAMICS DCM

The following parameter settings must be made on the SINAMICS DCM.

Parameter settings on the control unit:

p31778 OALINK1 receive words maximum 10

DCM Technology Applications