Controlling A Sinamics G120 Via Profisafe With A Simatic S7-1200 F-Cpu

Controlling a
SINAMICS G120 via

PROFIsafe with a
SIMATIC S7-1200
F-CPU
Siemens
SINAMICS G120, SIMATIC S7-1200 F-CPU Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109746271 Support
Warranty and liability
Warranty and liability
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Control G120 via PROFIsafe with S7-1200 F-PLC

Entry ID: 109746271, V1.0, 07/2017 2
Table of contents
Table of contents
Warranty and liability ................................................................................................... 2
1 Task ..................................................................................................................... 4
2 Solution............................................................................................................... 5
2.1 Overview of the total solution ............................................................... 5
2.2 Hardware and software components ................................................... 6
2.2.1 Validity .................................................................................................. 6
2.2.2 Components used ................................................................................ 6
3 Fundamentals .................................................................................................... 8
3.1 Function block "SINA_SPEED" (FB285) .............................................. 8
3.2 Safety functions integrated in the SINAMICS G120 ............................ 9
3.2.1 Safe Torque Off (STO) ....................................................................... 10
3.2.2 Safe Stop 1 (SS1) .............................................................................. 10
3.2.3 Safely Limited Speed (SLS) ............................................................... 11
3.2.4 Fail-safe communications via PROFIsafe .......................................... 12
3.3 "LDrvSafe" library ............................................................................... 13
4 Engineering and configuring .......................................................................... 15
4.1 Generating a project configuration ..................................................... 15
4.2 User program of the SIMATIC S7-1200 F-CPU ................................. 20
4.3 Node initialization for PROFINET communication ............................. 25
4.4 Commissioning SINAMICS G120 ...................................................... 26

4.5 Parameterizing safety functions in the drive ...................................... 27
5 Commissioning ................................................................................................ 32
6 Using the application example ....................................................................... 33
6.1 Protective door and Emergency Stop ................................................ 33
6.2 "MCWatch" monitoring table .............................................................. 34
6.3 Using the application example with the panel .................................... 34
6.3.1 Controlling the drive via "SINA_SPEED" ........................................... 34
6.3.2 Safety information .............................................................................. 34
7 Links and references ....................................................................................... 35
8 Change documentation ................................................................................... 35

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1 Task
1 Task
Introduction
The SIMATIC S7-1200 F-CPU can be operated as PROFINET controller.
As such, it can control a PROFINET-capable drive SINAMICS G120 as PROFINET
device. The data exchanged also includes safety-related data.
This application example covers the following drive types:
 G120 with CU240E-2 PN-F or CU250S-2 PN
 G120D with CU240D-2 PN-F or CU250D-2 PN-F
The abbreviation G120 is used in the following to represent all the above-listed
devices.
This application example shows you the following:
 Configuring and parameterizing the SIMATIC S7-1200 F-CPU via the TIA
Portal
 Configuring and parameterizing the SINAMICS G120 via Startdrive
 Access to process data and parameters
 Implementing safety-related communication between SIMATIC S7-1200 F-
CPU and SINAMICS G120 via PROFIsafe
 Controlling SINAMICS G120 safety functions
Requirements
Table 1-1 Requirements relating to the automation task
Requirement Explanation
Accessing process data The SINAMICS G120 should be switched
on and switched off and the speed setpoint
entered from an HMI device.
SINAMICS G120 safety functions Safety-related shutdown (STO or SS1) and
speed monitoring (SLS) is to be
implemented in the SINAMICS G120.

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2 Solution
2 Solution
The solution shown here contains code blocks, that you can directly use in your
own applications.
2.1 Overview of the total solution

The most important components of the solution are schematically shown in the
following diagram:
Fig. 2-1 The most important hardware components that are used
Know-how that is required

This application assumes the following know-how:
 Basic knowledge regarding the TIA Portal.
 Basic knowledge regarding SINAMICS Startdrive

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2 Solution
2.2 Hardware and software components

2.2.1 Validity
This application is applicable for the subsequently listed conditions:

 TIA Portal from V14 SP1
 STEP 7 Safety Basic from V14 SP1
 SIMATIC S7-1200 F-CPU from FW 4.2
 SINAMICS Startdrive from V14 SP1
 SINAMICS G120 from FW 4.7
 Standard induction motor
2.2.2 Components used
The most important components to implement the application example are listed
below.
Hardware components
Table 2-1 Hardware components that are used
Component Number Article number Note

CPU 1214FC DC/DC/DC 1 6ES7214-1AF40-0XB0 Alternatively, any other
SIMATIC S7-1200 F-CPU can be
used. In this case, the hardware
configuration must be adapted.
SM 1226 F-DI8/16x24V 1 6ES7226-6BA32-0XB0
DC
SINAMICS G120 1 G120: Alternatively, the components from
CU 240E-2 PN-F Chapter 1 can be used.
6SL3244-0BB13-1FA0
Power Module:
6SL3210-1SB11-0AA0
Motor 1 1LA7060-4AB10 Alternatively, other induction motors
can also be used. In this case, the
motor data must be adapted.
Software components
Table 2-2 Software components that are used
Component Number Article number Note
You can download the Service
SIMATIC STEP 7 Floating license Pack and the update at no charge:
1
Professional V14 SP1 6ES7822-1AA04-0YA5 https://support.industry.siemens.co
m/cs/ww/de/view/109745984
Can be downloaded at no charge:
Startdrive V14 SP1 1 6SL3072-4EA02-0XA0 https://support.industry.siemens.co
m/cs/ww/de/view/68034568

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2 Solution
Files and project example

The following list includes all files and projects that are used in this example:
Table 2-3 Files and project example
File Note
109746271_1200F_G120_PROFIsafe_V1_0_EN_DOC.pdf This document
109746271_1200F_G120_PROFIsafe_V1_0_TIA.zip TIA Portal project

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3 Fundamentals
3 Fundamentals
3.1 Function block "SINA_SPEED" (FB285)
Fig. 3-1 FB "SINA_SPEED" (FB285)
NOTICE The function block cyclically supplies the SINAMICS drive with data from
the standard telegram 1. This must be selected when configuring the
telegram.
Note The block interface is restricted to just a few inputs and outputs. All telegram
signals are reachable in the setpoint direction at any time via input "ConfigAxis".
The inputs are preassigned standard default values when inserting the block.
Function block "SINA_SPEED" (FB285) has the following functions:

 The axis is ready to be switched on if there is no error ("Error"= "0") and no
switching-on inhibit ("Lockout" = "0").
 The speed setpoint is directly entered at block input "SpeedSp" in the REAL
format.
 The setpoint must be scaled, and this is done using input "RefSpeed" (in the
SINAMICS drive, this corresponds to parameter p2000).
 The speed actual value is output at "ActVelocity" in the REAL format.

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3 Fundamentals
3.2 Safety functions integrated in the SINAMICS G120

Presently, the following encoderless safety functions acc. to DIN EN 61800-5-2 are
integrated in the SINAMICS G120 drives:
Table 3-1 Safety functions integrated in SINAMICS G120
Name Function Description
STO Safe Torque Off Safely disconnects the torque-generating energy feed
to the motor. The switching-on inhibit prevents the drive
from being switched on again. (stop function, Category
0 according to EN 60204-1)
SBC Safe Brake Control SBC is only used if there is a motor brake. SBC always
(only for CU250S-2) responds in conjunction with STO - or when internal
safety monitoring functions respond, with safe pulse
cancellation.
SS1 Safe Stop 1 The drive is quickly shut down along the OFF3 ramp,
safely monitored. Transition to STO after a delay time
expires, or reaching the shutdown speed. (stop
function, Category 1 according to EN 60204-1)
SLS Safely Limited Speed Safe monitoring of the drive speed Parameterizable
shutdown response when a limit value is violated.
SSM Safe Speed Monitor Safety-related display when a speed limit is fallen
below (n < nx)
SDI Safe Direction Safe monitoring of the direction of motion (positive and
negative direction). Parameterizable shutdown
response when traversing in a direction that has not
been enabled.
These safety functions can be controlled as follows:

 Via PROFIsafe (via PROFINET or PROFIBUS)
 Via onboard terminals
In this example, the safety functions are controlled via PROFINET with PROFIsafe
from a SIMATIC F-CPU.
The implementation of safety concepts is significantly simplified by using safety
technology integrated in the drive itself. Further, it is simpler to verify and prove the
safety category required for a machine. The Safety Evaluation tool also provides
support here.
The safety functions used in this application are subsequently described. You can
obtain more detailed information about additional safety functions at
www.siemens.com/safety-drives.

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3 Fundamentals
3.2.1 Safe Torque Off (STO)
Safe Torque Off = torque is safely shut down

This is a safety function that prevents unexpected starting according to EN 60204-1
Section 5.4.
The STO function is the most common and most basic safety function integrated in
a drive. This function ensures that a motor can no longer develop a torque,
therefore preventing undesirable starting.
Fig. 3-2 Safe Torque Off (STO)

Effect
Drive pulses are safely deleted using the Safe Torque Off function. The drive is
therefore in a safety-related no-torque state, and can no longer provide torque-
generating energy. This state is internally monitored in the drive.
3.2.2 Safe Stop 1 (SS1)
Using the Safe Stop 1 function, safe shutdown can be implemented according to
Stop Category 1 in compliance with EN 60204-1.
Function SS1 quickly and safely stops a motor - and once the motor has come to a
standstill, activates STO to bring the motor into a safety-related, torque-free
condition.
Fig. 3-3 Safe Stop 1 (SS1)
Effect
After selecting function SS1, the drive independently brakes along a fast stop
ramp, and after a set, safety-related delay time has expired, or a parameterizable
speed has been fallen below, automatically activates the Safe Torque Off safety
function.

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3 Fundamentals
3.2.3 Safely Limited Speed (SLS)
The SLS function monitors that the drive does not exceed a specific
speed/velocity limit.
Fig. 3-4 Safely Limited Speed (SLS)
Effect
The drive monitors the speed in a safety-related fashion, and activates a fault
response defined when configuring the system if a set velocity/speed limit was
exceeded. The speed monitoring of the SLS function can be broken down to a
maximum of 4 SLS levels.
Expanded functionality: Selecting SLS levels

Fig. 3-5 Selecting SLS levels

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3 Fundamentals
3.2.4 Fail-safe communications via PROFIsafe
Every drive with configured PROFIsafe telegram represents an F device with

PROFIsafe communication to the F host.
A dedicated PROFIsafe telegram is selected for each drive (in this particular
example, telegram 30). This telegram includes 6 bytes of input data and 6 bytes of
output data. The first two bytes (PZD1) include the safety user (net) data. The
remaining bytes are required for the safety-related PROFIsafe communication.
PROFIsafe telegram 900 is an alternative to PROFIsafe telegram 30.
Note
Depending on the safety functions being used, users must select the
corresponding PROFIsafe telegram.
The following control signals are sent to the drive from the F-CPU:
Fig. 3-6 From the F-CPU to the drive
The drive returns the status of the safety functions to the F-CPU.
Fig. 3-7 From the drive to the F-CPU
Note Safety functions integrated in the drive that are not used must be deselected in
the F-CPU safety program using a high signal.

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3 Fundamentals
3.3 "LDrvSafe" library

Description
The library includes fail-safe S7 blocks to implement various applications in
conjunction with SIMATIC S7-300F/S7-1200/S7-1500F and SINAMICS via
PROFIsafe. It provides fail-safe blocks to simply control safety functions of the
drive via PROFIsafe.
You can find the library at the following link:
https://support.industry.siemens.com/cs/ww/de/view/109485794
"LDrvSafe_CtrlT30SinaG" block
This function block is used to simply control the safety functions of the SINAMICS
G120 via PROFIsafe telegram 30.
Fig. 3-8 FB "LDrvSafe_CtrlT30SinaG"
The safety functions of the SINAMICS are shown at the input of the block.
 Input "InternalEventAck" is available to acknowledge SINAMICS safety
messages. These messages are acknowledged using a positive signal edge.
 The user must interconnect the block output (in this case,
"ProfisafeCtrlT30SinaG") with a variable with the data type of the selected
PROFIsafe telegram. This is then used to directly control the drive.

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3 Fundamentals
Block "LDrvSafe_StatusT30SinaG"
This function block is used to simply evaluate the safety functions of the SINAMICS
G via PROFIsafe telegram 30.
Fig. 3-9 FB "LDrvSafe_StatusT30SinaG"
 The status of the safety functions of the SINAMICS are shown at the output of
the block.
 The user must interconnect the input of block (in this case
"ProfisafeStatusT30SinaG") with a variable having a data type of the selected
PROFIsafe telegram. It is directly interconnected with the information of the
PROFIsafe telegram.

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4 Engineering and configuring

4.1 Generating a project configuration
Note If you only wish to load the program example and commission, then follow the
instructions provided in Chapter 5.
If you wish to configure the SIMATIC S7-1200 F-CPU and the SINAMICS G120
yourself, and you do not wish to use the code example, then the subsequent tables
describe the necessary steps to do this.
This chapter does not describe the complete programming of the SIMATIC S7-
1200 and the configuring of the HMI device.
Table 4-1 Creating a project configuration
No. Action Screen
Creating a new project
1  Open the TIA Portal.
 Create a new project and assign it
a name (e.g. "G120_at_S7-
1200F").
Inserting the SIMATIC F-CPU S7-1200

2 Click on "Add new device".

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No. Action Screen

3  Under "Controller (1) > SIMATIC S7-1200 > CPU", select the required CPU, e.g. "CPU 1214FC
DC/DC/DC". (2)
 Then check the firmware version (3) and acknowledge with "OK". (4)
3
Configuring the SIMATIC S7-1200 F-CPU

4 In the project tree, click on "Device
configuration" to configure the
hardware.

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No. Action Screen

5 In the hardware catalog (1), on the right-hand side of the screen, select the fail-safe input module
"F-DI 8/16x24VDC" (2) and insert this by dragging & dropping.
6 Then, under "Properties (1) > General (2)" parameterize the fail-safe input module depending on
the sensors being used, e.g.:
Channel 0, 8 (Emergency Stop command device) and Channel 2, 10 (position switch) (3)
 Sensor evaluation: "1oo2 (2v2) evaluation"
 Sensor type: "2 channel equivalent"

 Discrepancy behavior: "Provide 0 value"
 Discrepancy time: 100ms

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Inserting SINAMICS G120

7  Click on the "Network view" tab (1) and in the hardware catalog, select the required Control Unit
(2) under "Drives & Starter > SINAMICS drives > SINAMICS G120 > Control modules" - for
example "CU240E-2 PN-F" (3).
 Check the firmware version (4) and then drag the Control Unit, selected from the catalog, and
drop into the graphic area.
8 In order to establish a PROFINET

(PN) connection between SIMATIC
S7-1200 F-CPU and G120, now
click on hyperlink "Not assigned" (1)
and select the SIMATIC S7-1200 F-
CPU "PLC_1.PROFINET
Interface_1" (2).
The PN connection is then

displayed as shown here. (3)

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SINAMICS G120 configuration

9  Change to "Device view" (1) - and there select drive device (2).
 Then select the appropriate power unit in the hardware catalog (3), e.g. "PM340 IP20 FSA A
240V 0.12kW" (4) then drag this and drop it next to the control module.
 To make the Control Unit settings, then click on the control module (5).
10  Under "Properties (1) > General (2) > PROFINET interface [X150]" open the telegram
configuration. (3)
 Using "Add telegram (4) > Add safety telegram (5)", insert PROFIsafe telegram 30.
Note IP address and PROFINET device names are automatically assigned when
inserting the modules (S7-1200 and Control Unit).
You can change these module settings at any time under "Settings > General >
PROFINET interface> Ethernet addresses".

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4.2 User program of the SIMATIC S7-1200 F-CPU

Table 4-2 User program SIMATIC S7-1200 F-CPU
No. Action Screen
Standard user program to switch on and enter a speed setpoint for the G120
1  Open block "Main" (OB1) (1).
 From "Libraries (2) > Drive_Lib_S7_1200_1500 > Master copies > 03_SINAMICS" insert block
"SINA_SPEED" (3) by dragging & dropping.

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No. Action Screen

2  Interconnect the following block inputs, for example with variables from global data blocks, bit
memories etc. in order to switch on and operate the G120:
 "EnableAxis" (1) to switch on the drive
 "AckError" (2) to acknowledge errors
 "SpeedSp" (3) to enter a speed setpoint
 Enter a fixed reference speed at input "RefSpeed" (4). This speed must match parameter p2000
of the SINAMICS.
 The hardware ID at the block input must be interconnected in order to control the correct drive.
To do this, symbolically assign inputs "HWIDSTW" (5) and "HWIDZSW" (6) the hardware ID of
PROFINET ("Drive_1~PROFINET_interface~Standard_telegram_1").
3

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Safety user program

3 To more easily control the safety functions of the SINAMICS, user library "LDrvSafe" library is
used.
 Open the library and copy the blocks
 "LDrvSafe_CtrlT30SinaG" and
 "LDrvSafe_StatusT30SinaG"
to the "Program blocks" folder (1).
 Further, copy data types
 "LDrvSafe_typeCtrlT30SinaG" and
 "LDrvSafe_typeStatusT30SinaG"
to folder "PLC data types" (2).
1
4 Then open the variable table and create two arbitrary variables (1) with the data types just
inserted (2), e.g.:
1 2 3
The start address (3) must be the same as the start address of the PROFIsafe telegram in the
HWCN (4) (hardware configuration); in this example, "2.0":

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5  Now open function block "Main_Safety_RTG1", and insert block "ACK_GL" by dragging &
dropping.
The block can be found under the "Instructions" tab in the "Safety functions" folder.
 Interconnect input "ACK_GLOB" (1) with a variable or an input, e.g. "I0.1". With a positive edge
at this input, each F I/O will be reintegrated after communication failure.
6  Also insert block "ESTOP1" by

dragging & dropping.
 Interconnect input "E_STOP" with
the Emergency Stop command
device, e.g. I8.0 (1).

 To reset the Emergency Stop 1
command, input "ACK" must be
interconnected, e.g. with I0.1 (2).
2
7  Then insert block "SFDOOR" by

dragging & dropping.
 Interconnect inputs "IN1" and
"IN2" with the protective door
position switch, in this case I8.2
(1).
1
 Then link the value status of
position switch (I10.2) with inputs
"QBAD_IN1" and "QBAD_IN2"
(2).
2
 To acknowledge, interconnect
input "ACK", e.g. with I0.1 (3).

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8 To control safety functions STO and

SLS of the SINAMICS G120, call
block "LDrvSafe_CtrlT30SinaG".
 Interconnect input "STO" with the

output of the "ESTOP1" block:
"STO" = "instEstop.Q" (1)
 Interconnect input "SLS" with the 1
output of the "SFDOOR" block:
"SLS" = "instSfdoor. Q" (2) 2
 To acknowledge safety errors of 3
the G120, link input
"InternalEventAck", e.g. with I0.1. 4
(3)
 Output "ProfisafeCtrlT30SinaG"
must be interconnected with the
previously created variable
"PROFIsafeCtrlDrive" (4).
9 To evaluate the status of the active

safety functions, interconnect input
"ProfisafeStatus_T30SinaG" with
the previously created variable
"PROFIsafeStatDrive" (1).
You can now further evaluate and

interconnect the outputs in your
user program.
10 Save your project.
11 Then download the SIMATIC S7-

1200 F-CPU.

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4.3 Node initialization for PROFINET communication

Table 4-3 Node initialization PROFINET
No. Action Screen
1 In order that PN communication can
be established, each IO device must
be assigned a PN device name.
To do this, right click on the PN line
(1) and then select "Assign device
name"(2).
2 Assigning the PN device name is carried out for the SINAMICS G120:
 Select the PN device name of the SINAMICS, in this case "drive_1". (1)
 Set the PG/PC interface, via which you are connected to SINAMICS. (2)
 Click on "Update list". (3)
 Select SINAMICS. (4)
 Click on "Assign name". (5)

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4.4 Commissioning SINAMICS G120

Table 4-4 Commissioning the SINAMICS G120
No. Action Screen
1  Carry out the basic
commissioning of the G120.
 To do this, click on
"Commissioning" (1) and start the
"Commissioning Wizard" (2).
2  For all menu items, press "Next" without making any changes - with the exception of "Motor" (1).
Here, select "Select from order number list" (2), "1LA7 induction motor" (3) and "Order number
1LA7060-4AB10-xxxx" (4).
 Then click on "Next" (5), and continue to run through the Wizard.
4 Then download the G120.

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4.5 Parameterizing safety functions in the drive

Table 4-5 Parameterizing safety functions in the drive
No. Action Screen
1 In the project tree, click on the drive device (1) and establish an online connection (2) .
2  Then select entry "Parameter" (1) in the project tree.

 To parameterize the safety functions, click in the secondary navigation under "Functional view >
Drive functions" on entry "Safety Integrated > Selecting safety functionality" (2) - and start safety
commissioning (3).
3 The system now prompts you to

enter the password for
parameterizing the safety functions.
Here, enter the safety password
(factory setting "0") - and
acknowledge with "OK".

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No. Action Screen

4 In the drop-down menu, select "Extended functions" (1) and then click on "Actual value sensing"
(2).
5 Click on the tool symbol to transfer

the motor pole pair number into the
safety settings.
6 The safely calculated speed is converted over from the motor side to the load side. A gearbox
ratio must be specified, which comprises the following:
p9521[0] (𝟏) 1
=
p9522[0] (𝟐) "Motor pole pair number (r313[0])" ∗ "𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑠𝑠𝑖𝑜𝑛 𝑟𝑎𝑡𝑖𝑜 (𝑖)"
In this specific example, the ratio is:

p9521[0] (𝟏) 1 1
= =
p9522[0] (𝟐) 2∗1 2
1 2

Entry ID: 109746271, V1.0, 07/2017 28
No. Action Screen

7  Then, in the navigation, set entry "Control type/safety functions" (1).
 Set the radio button for "via PROFIsafe" (2) and enable the safety functions (3).

Entry ID: 109746271, V1.0, 07/2017 29
No. Action Screen

8  In the navigation bar, select safety function "SLS" (1).
 As soon as the SLS safety function is selected with level 1, the G120 brakes the motor along
the OFF3 ramp (the OFF3 ramp is defined using p1082 and p1135) down to setpoint speed n set.
Depending on the application, this braking operation can be monitored in a fail-safe fashion
(Safe Brake Ramp). In this particular example, the ramp is not monitored; therefore, the setting
"with delay time" (2) is selected.
Setpoint speed nset is limited by the ramp-function generator to the following value:
𝑛𝑠𝑒𝑡𝑝𝑜𝑖𝑛𝑡 (𝑝1051[0], 1052[0]) = "Setpoint speed limiting (p9533)" (4) ∗ "nSLS (p9531[0])" (𝟓)
In this example, setpoint nset is limited to
𝑛𝑠𝑒𝑡𝑝𝑜𝑖𝑛𝑡 = 80% ∗ 300𝑟𝑝𝑚 = 240𝑟𝑝𝑚.
 In order that the motor can be braked to below the SLS limit speed n SLS, before SLS becomes
active, set the time delay between selecting and actually activating the SLS safety function (3).
Here, a time delay of 500ms is selected.
 Adapt the SLS limit speed (5) and the stop response (6) when this speed is exceeded. In this
example, "STOP A" (corresponds to safety function STO) is initiated when the SLS limit speed
of 300rpm is exceeded.

Entry ID: 109746271, V1.0, 07/2017 30
No. Action Screen

9  Select "Test stop" (1) in the navigation bar.
To maintain the guaranteed failure probability of the SINAMICS safety functionality, the test stop
must be executed at least once every year (8760 hours).
 As the extended safety functions are used, the timer for the basic and extended functions must
be adapted (p9659 (2) = p9559 (3) = 8760).
 The test stop of the extended safety functions is executed using a standard signal, e.g. via
fieldbus, BiCo or digital input.
In this particular example, digital input 4 of the Control Unit is used (p9705 = r722.4) (4).
4
10 This completes the parameterization

of the STO and SLS safety
functions via PROFIsafe. Click on
"End safety commissioning".
11 Then back up the parameterization

in the non-volatile memory. To do
this, confirm the message box with
"Yes".
12 In order that the safety settings

become active, disconnect the
online connection and then switch
off the drive device and switch on
again.
13 Then upload the G120, so that the
online and offline project are
consistent.

Entry ID: 109746271, V1.0, 07/2017 31
5 Commissioning
5 Commissioning
Download the project to the components
The following table lists the actions to download the project.
Table 5-1 Download the project to the components
No. Action Screen
1 Open the project example, or the
project created in Chapter 4 .
2 Select the F-CPU and then click on
"Load to device".
3 If the "Extended download to

device" dialog opens, then
 select the settings necessary for
your online connection,
 select the CPU 1214, and
 click on "Load".
4 Load the SINAMICS G120 in the

same way.
5 Load the operator panel (TP700) in
the same way.

Entry ID: 109746271, V1.0, 07/2017 32
6 Using the application example

The project example program only comprises the call of the blocks for the motion
control instructions - and copying the status signals for the HMI.
You can test the individual block functions, and understand their responses by
visualizing the blocks on the operator panel.
Carefully ensure that the moving drive cannot endanger persons or

machine parts.
WARNING Take suitable measures so that the drive cannot traverse outside limits that
are either technically or mechanically specified.
6.1 Protective door and Emergency Stop

An Emergency Stop with acknowledgment and a protective door with
acknowledgment are configured in the project example. For the protective door,
there is also the requirement that this must be opened before the system starts and
then reclosed. It can then be acknowledged.
The drive can be started if the Emergency Stop is released, the protective door
closed and both elements are acknowledged.
If Emergency Stop is actuated, STO is initiated and the motor is switched into a
torque-free condition.
If the protective door is opened in operation, the speed is limited by the internal
interconnection of the drive, and is safely monitored against the set limit value.
The speed limiting is not a safety function! The SLS functionality monitors the
speed against a certain limit value, and when exceeded, initiates a safe stop
response.
If the protective door is closed, the speed limiting and monitoring can be canceled
by acknowledging.

Entry ID: 109746271, V1.0, 07/2017 33
6.2 "MCWatch" monitoring table

If you are not using an operator panel, then you can also use the "MCWatch"
monitoring table, created in the project example, to control the drive - or you
simulate the HMI.
6.3 Using the application example with the panel

6.3.1 Controlling the drive via "SINA_SPEED"
 A setpoint speed can be entered via "SpeedSP". If "EnableAxis" is activated,

the drive is switched on and operates with the specified speed.
 Signals "Error", "AxisEnabled" and "Act Velocity" indicate the status information
of the drive.
Figure 6-1 Display at the panel
6.3.2 Safety information
The "Safety" screen form is only used for information purposes. The safety control
word and status word are shown, as well as the status of the Emergency Stop and
protective door.
Fig. 6-2 Display at the panel

Entry ID: 109746271, V1.0, 07/2017 34
7 Links and references
7 Links and references

Table 7-1 Links and references
No. Topic
\1\ Siemens Industry Online Support
http://support.automation.siemens.com
\2\ Link to the article page of the application example
https://support.industry.siemens.com/cs/ww/en/view/109746271
\3\ STEP 7 V14 SP1
\4\ Startdrive V14 SP1 download page
\5\ General SINAMICS G manuals
Safety Integrated Function Manual (V4.7SP6):
http://support.automation.siemens.com/WW/view/en/109744795
Fieldbus Systems Function Manual (V4.7SP6):
http://support.automation.siemens.com/WW/view/en/109483004
\6\ SINA_SPEED
Documentation for the SINAMICS DriveLib communication blocks for controlling the
TIA Portal
\7\ Safety Evaluation Tool

www.siemens.com/safety-evaluation-tool
\8\ LDrvSafe
8 Change documentation
Table 8-1: Change documentation
Version Date Modifications
V1.0 07/2017 First Edition

Entry ID: 109746271, V1.0, 07/2017 35

Controlling A Sinamics G120 Via Profisafe With A Simatic S7-1200 F-Cpu

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Controlling a

SINAMICS G120 via

Warranty and liability

deficiency or breach of a condition which goes to the root of the contract

Control G120 via PROFIsafe with S7-1200 F-PLC

4.4 Commissioning SINAMICS G120 ...................................................... 26

Control G120 via PROFIsafe with S7-1200 F-PLC

Control G120 via PROFIsafe with S7-1200 F-PLC

2.1 Overview of the total solution

Know-how that is required

Control G120 via PROFIsafe with S7-1200 F-PLC

2.2 Hardware and software components

This application is applicable for the subsequently listed conditions:

2.2.2 Components used

Component Number Article number Note

Control G120 via PROFIsafe with S7-1200 F-PLC

Files and project example

Control G120 via PROFIsafe with S7-1200 F-PLC

Function block "SINA_SPEED" (FB285) has the following functions:

Control G120 via PROFIsafe with S7-1200 F-PLC

3.2 Safety functions integrated in the SINAMICS G120

These safety functions can be controlled as follows:

Control G120 via PROFIsafe with S7-1200 F-PLC

3.2.1 Safe Torque Off (STO)

Safe Torque Off = torque is safely shut down

Fig. 3-2 Safe Torque Off (STO)

3.2.2 Safe Stop 1 (SS1)

Control G120 via PROFIsafe with S7-1200 F-PLC

3.2.3 Safely Limited Speed (SLS)

Expanded functionality: Selecting SLS levels

Control G120 via PROFIsafe with S7-1200 F-PLC

3.2.4 Fail-safe communications via PROFIsafe

Every drive with configured PROFIsafe telegram represents an F device with

Control G120 via PROFIsafe with S7-1200 F-PLC

3.3 "LDrvSafe" library

Control G120 via PROFIsafe with S7-1200 F-PLC

Control G120 via PROFIsafe with S7-1200 F-PLC

4 Engineering and configuring

Inserting the SIMATIC F-CPU S7-1200

Control G120 via PROFIsafe with S7-1200 F-PLC

No. Action Screen

Configuring the SIMATIC S7-1200 F-CPU

Control G120 via PROFIsafe with S7-1200 F-PLC

No. Action Screen

 Sensor type: "2 channel equivalent"

Control G120 via PROFIsafe with S7-1200 F-PLC

Inserting SINAMICS G120

8 In order to establish a PROFINET

The PN connection is then

Control G120 via PROFIsafe with S7-1200 F-PLC

SINAMICS G120 configuration

Control G120 via PROFIsafe with S7-1200 F-PLC

4.2 User program of the SIMATIC S7-1200 F-CPU

Control G120 via PROFIsafe with S7-1200 F-PLC

No. Action Screen

Control G120 via PROFIsafe with S7-1200 F-PLC

Safety user program

Control G120 via PROFIsafe with S7-1200 F-PLC

6  Also insert block "ESTOP1" by