PROFINET communication 8

PROFINET IO is a real time protocol based on Ethernet. It is used as high level network for
industrial automation applications. PROFINET IO focuses on the data exchange for a
programmable controller. A PROFINET IO network consists of the following devices:
IO controller: typically, it is the PLC, which controls the whole application
IO device: a decentralized IO device (for example, encoder, sensor), which is controlled
by the IO controller
IO supervisor: HMI (human machine interface) or PC for diagnostic purposes or
commissioning
PROFINET supplies two kinds of real time communication, that is, PROFINET IO RT (Real
Time) and PROFINET IO IRT (Isochronous Real Time). The real time channel is used for IO
data and alarm mechanism.
In PROFINET IO RT, the RT data is transferred via a prioritized Ethernet frame. No special
hardware is required. Due to this prioritization a cycle time of 4 ms can be achieved.
PROFINET IO IRT is used for more precise timing requirements. Cycle time of 2 ms is
possible, but also special hardware for IO devices and switches are required.
All diagnostic and configuration data is transferred via the non-real time channel (NRT). For
this purpose the common TCP/IP protocol is used. Anyhow, no timing can be guaranteed
and typically the cycle times can be more than 100 ms.

8.1 Supported telegrams

SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control
mode and basic positioner control mode. You can select the desired telegram with
parameter p0922. See the following table for details.
From the perspective of the drive unit, the received process data represents the receive
words and the process data to be sent represents the send words.

Telegram Maximum number of PZD Description

Receive word Send word
Standard telegram 1 2 2
Standard telegram 2 4 4
Standard telegram 3 5 9
Standard telegram 5 9 9
Standard telegram 7 2 2
Standard telegram 9 10 5
Siemens telegram 102 6 10
Siemens telegram 105 10 10

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 Telegram Maximum number of PZD Description
Receive word Send word
Siemens telegram 110 12 7
Siemens telegram 111 12 12

Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the
SIMATICS S7-1500 and the TIA Portal version is V14 or higher.

Telegrams used for speed control mode

Tele- 1 2 3 5 102 105

gram
Appl. 1 1 1, 4 4 1, 4 4
class
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL NIST_A NSOLL NIST_B NSOLL NIST_B NSOLL NIST_B NSOLL NIST_B NSOLL NIST_
_A _B _B _B _B _B B
PZD3
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2
PZD5 G1_ST G1_ZS G1_ST G1_ZS MOMR MELD MOMR MELD
W W W W ED W ED W
PZD6 G1_XIS XERR G1_XIS G1_ST G1_ZS G1_ST G1_ZS
T1 T1 W W W W
PZD7 G1_XIS XERR G1_XI
PZD8 G1_XIS KPC G1_XIS T1 ST1

PZD9 T2 T2 G1_XIS KPC G1_XI

PZD10 T2 ST2

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Telegrams used for basic positioner control mode

Telegram 7 9 110 111

Appl. class 3 3 3 3
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 SATZANW AKTSATZ SATZANW AKTSATZ SATZANW AKTSATZ POS_STW POS_ZSW
1 1
PZD3 STW2 ZSW2 POS_STW POS_ZSW POS_STW POS_ZSW
2 2
PZD4 MDI_ XIST_A STW2 ZSW2 STW2 ZSW2
PZD5 TARPOS OVERRIDE MELDW OVERRIDE MELDW
PZD6 MDI_ MDI_TAR XIST_A MDI_TAR XIST_A
PZD7 VELOCITY POS POS
PZD8 MDI_ACC MDI_VELO MDI_VELO NIST_B
PZD9 MDI_DEC CITY CITY

PZD10 MDI_MOD MDI_ACC MDI_ACC FAULT_CO

DE
PZD11 MDI_DEC MDI_DEC WARN_CO
DE
PZD12 MDI_MODE user 1) user 2)
1) User-defined receive word
2) User-defined send word

8.2 I/O data signals

hex or
40000000 hex in the case of double words if the input variable has the value p200x).

The following table provides an overview of the I/O data used in the telegram.

Signal Description Receive word/send word Data type Scaling

STW1 Control word 1 Receive word U16 -
STW2 Control word 2 Receive word U16 -
ZSW1 Status word 1 Send word U16 -
ZSW2 Status word 2 Send word U16 -
NSOLL_A Speed setpoint A (16 bit) Receive word I16 4000 hex p2000
NSOLL_B Speed setpoint B (32 bit) Receive word I32

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 Signal Description Receive word/send word Data type Scaling
NIST_A Speed actual value A (16 bit) Send word I16
NIST_B Speed actual value B (32 bit) Send word I32
G1_STW Encoder 1 control word Receive word U16 -
G1_ZSW Encoder 1 status word Send word U16 -
G1_XIST1 Encoder 1 actual position 1 Send word U32 -
G1_XIST2 Encoder 1 actual position 2 Send word U32 -
MOMRED Torque reduction Receive word I16
MELDW Message word Send word U16 -
KPC Position controller gain factor Receive word I32 -
XERR Position deviation Receive word I32 -
AKTSATZ Position selected block Send word U16 -
MDI_TAR MDI position Receive word I32
POS
MDI_VELO MDI velocity Receive word I32
CITY
MDI_ACC MDI acceleration override Receive word I16
MDI_DEC MDI deceleration override Receive word I16
XIST_A Position actual value A Send word I32
OVERRIDE Position velocity override Receive word I16
1)

MDI_MODE Position MDI mode Receive word U16 -

FAULT_CO Fault code Send word U16 -
DE
WARN_CO Alarm code Send word U16 -
DE
POS_ZSW Position status word Send word U16 -
user User-defined receive word Receive word I16 -
(p29150):
0: No function
1: Additional torque

2: Additional speed

user User-defined send word Send word I16 -

(p29151):
0: No function

p2003)
2: Actual absolute current

3: DI status

1) Make sure that signal OVERRIDE is set to a value from 0 to 32767.

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8.3 Control word definition

8.3.1 STW1 control word (for telegrams 1, 2, 3, 5)

Note

Note
When telegram 5 is used, STW1.4, STW1.5, and STW1.6 are disabled.

Note
STW1.10 must be set to 1 to allow the PLC to control the drive.

Signal Description
STW1.0
-function generator, then pulse suppression and ready for
switching on)
STW1.1
ng on inhibited)
STW1.2

on inhibited)
STW1.3

STW1.4 1 -function generator can be enabled)

-function generator (set the ramp-function generator output to zero)
STW1.5 -function generator
-function generator (freeze the ramp-function generator output)
STW1.6
-function generator input to zero)
STW1.7

STW1.8 Reserved
STW1.9 Reserved
STW1.10
STW1.11
STW1.12 Reserved
STW1.13 Reserved
STW1.14 Reserved
STW1.15 Reserved

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8.3.2 STW2 control word (for telegrams 2, 3, 5)

Signal Description
STW2.0 Reserved
STW2.1 Reserved
STW2.2 Reserved
STW2.3 Reserved
STW2.4 Reserved
STW2.5 Reserved
STW2.6 Reserved
STW2.7 Reserved
STW2.8
STW2.9 Reserved
STW2.10 Reserved
STW2.11 Reserved
STW2.12 Master sign-of-life, bit 0
STW2.13 Master sign-of-life, bit 1
STW2.14 Master sign-of-life, bit 2
STW2.15 Master sign-of-life, bit 3

8.3.3 STW1 control word (for telegrams 102, 105)

Note
When telegram 105 is used, STW1.4, STW1.5, and STW1.6 are disabled.

Note
STW1.10 must be set to 1 to allow PLC to control the drive.

Signal Description
STW1.0

-function generator, then pulse suppression and ready for

switching on)
STW1.1
g on inhibited)
STW1.2

on inhibited)
STW1.3

STW1.4 Operating condition (the ramp-function generator can be enabled)

-function generator (set the ramp-function generator output to zero)

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 STW1.5 -function generator
-function generator (freeze the ramp-function generator output)
STW1.6
-function generator input to zero)
STW1.7

STW1.8 Reserved
STW1.9 Reserved
STW1.10
STW1.11 -function generator active
STW1.12
STW1.13 Reserved
STW1.14 Reserved
STW1.15 Reserved

8.3.4 STW2 control word (for telegrams 102, 105)

Note

Signal Description
STW2.0 Reserved
STW2.1 Reserved
STW2.2 Reserved
STW2.3 Reserved
STW2.4 -function generator
STW2.5 Reserved
STW2.6
STW2.7 Reserved
STW2.8
STW2.9 Reserved
STW2.10 Reserved
STW2.11 Reserved
STW2.12 Master sign-of-life, bit 0
STW2.13 Master sign-of-life, bit 1
STW2.14 Master sign-of-life, bit 2
STW2.15 Master sign-of-life, bit 3

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8.3.5 STW1 control word (for telegrams 7, 9, 110, 111)

Note
STW1.10 must be set to 1 to allow the PLC to control the drive.

Signal Description
STW1.0
-function generator, then pulse suppression and ready for
switching on)
STW1.1

STW1.2

on inhibited)
STW1.3 operation (pulses can be enabled)

STW1.4
-down with the maximum deceleration)
STW1.5

STW1.6

STW1.7

STW1.8
STW1.9
STW1.10
STW1.11 erencing

STW1.12 Reserved
STW1.13

STW1.14 Reserved
STW1.15 Reserved

8.3.6 STW2 control word (for telegrams 9, 110, 111)

Signal Description
STW2.0 Reserved
STW2.1 Reserved
STW2.2 Reserved
STW2.3 Reserved
STW2.4 Reserved
STW2.5 Reserved

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 Signal Description
STW2.6 Reserved
STW2.7 Reserved
STW2.8 e to fixed endstop
STW2.9 Reserved
STW2.10 Reserved
STW2.11 Reserved
STW2.12 Master sign-of-life, bit 0
STW2.13 Master sign-of-life, bit 1
STW2.14 Master sign-of-life, bit 2
STW2.15 Master sign-of-life, bit 3

8.3.7 G1_STW encoder 1 control word

Signal Description
G1_STW.0
G1_STW.1
G1_STW.2
G1_STW.3

G1_STW.4 Start/stop/read selected function

G1_STW.5
G1_STW.6

G1_STW.7 Mode of the function to be activated

G1_STW.8 Reserved
G1_STW.9 Reserved
G1_STW.10 Reserved
G1_STW.11 Reserved
G1_STW.12 Reserved

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 Signal Description
G1_STW.13 of the absolute position value in Gn_XIST2
G1_STW.14
G1_STW.15

8.3.8 SATZANW control word

Signal Description
SATZANW.0
SATZANW.1
SATZANW.2
SATZANW.3 lock selection, bit 3
SATZANW.4
SATZANW.5
SATZANW.6 Reserved
SATZANW.7 Reserved
SATZANW.8 Reserved
SATZANW.9 Reserved
SATZANW.10 Reserved
SATZANW.11 Reserved
SATZANW.12 Reserved
SATZANW.13 Reserved
SATZANW.14 Reserved
SATZANW.15

8.3.9 MDI_MOD control word

Signal Description
MDI_MOD.0

MDI_MOD.1 ing through the shortest distance

MDI_MOD.2

MDI_MOD.3 Reserved
MDI_MOD.4 Reserved
MDI_MOD.5 Reserved
MDI_MOD.6 Reserved
MDI_MOD.7 Reserved
MDI_MOD.8 Reserved

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 Signal Description
MDI_MOD.9 Reserved
MDI_MOD.10 Reserved
MDI_MOD.11 Reserved
MDI_MOD.12 Reserved
MDI_MOD.13 Reserved
MDI_MOD.14 Reserved
MDI_MOD.15 Reserved

8.3.10 POS_STW control word

Signal Description
POS_STW.0

POS_STW.1

POS_STW.2
POS_STW.3 Reserved
POS_STW.4 Reserved
POS_STW.5
ogging, velocity active
POS_STW.6 Reserved
POS_STW.7 Reserved
POS_STW.8 Reserved
POS_STW.9 Reserved
POS_STW.10 Reserved
POS_STW.11 Reserved
POS_STW.12 Reserved
POS_STW.13 Reserved
POS_STW.14 Reserved
POS_STW.15 Reserved

Note
If the tracking mode is activated, the position setpoint follows the actual position value, i.e.

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8.3.11 POS_STW1 positioning control word

Signal Description
POS_STW1.0 Traversing block selection, bit 0
POS_STW1.1 Traversing block selection, bit 1
POS_STW1.2 Traversing block selection, bit 2
POS_STW1.3 Traversing block selection, bit 3
POS_STW1.4 Traversing block selection, bit 4
POS_STW1.5 Traversing block selection, bit 5
POS_STW1.6 Reserved
POS_STW1.7 Reserved
POS_STW1.8 Absolute positioning is selected

POS_STW1.9
POS_STW1.10

POS_STW1.11 Reserved
POS_STW1.12
of a traversing task (STW1.6)
POS_STW1.13 Reserved
POS_STW1.14 -up selected

POS_STW1.15

8.3.12 POS_STW2 positioning control word

Signal Description
POS_STW2.0
POS_STW2.1
POS_STW2.2
POS_STW2.3 Reserved
POS_STW2.4 Reserved
POS_STW2.5
ocity active
POS_STW2.6 Reserved
POS_STW2.7 Reserved
POS_STW2.8 Reserved
POS_STW2.9

POS_STW2.10 Reserved

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 Signal Description
POS_STW2.11 Reserved
POS_STW2.12 Reserved
POS_STW2.13 Reserved
POS_STW2.14
POS_STW2.15

Note
If the tracking mode is activated, the position setpoint follows the actual position value, i.e.
ual position value.

8.4 Status word definition

8.4.1 ZSW1 status word (for telegrams 1, 2, 3, 5)

Signal Description
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4 ctive (OFF2 inactive)
ZSW1.5
ZSW1.6
ZSW1.7
ZSW1.8 - actual value deviation within tolerance t_off
ZSW1.9
ZSW1.10 f or n comparison value reached/exceeded
ZSW1.11
ZSW1.12
ZSW1.13
ZSW1.14

ZSW1.15

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8.4.2 ZSW2 status word (for telegram 2, 3, 5)

Signal Description
ZSW2.0 Reserved
ZSW2.1 Reserved
ZSW2.2 Reserved
ZSW2.3 Reserved
ZSW2.4 Reserved
ZSW2.5
ZSW2.6
ZSW2.7 Reserved
ZSW2.8
ZSW2.9 Reserved
ZSW2.10
ZSW2.11 Reserved
ZSW2.12 Slave sign-of-life, bit 0
ZSW2.13 Slave sign-of-life, bit 1
ZSW2.14 Slave sign-of-life, bit 2
ZSW2.15 Slave sign-of-life, bit 3

8.4.3 ZSW1 status word (for telegrams 102, 105)

Signal Description
ZSW1.0
ZSW1.1
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5 e (OFF3 inactive)
ZSW1.6
ZSW1.7
ZSW1.8 - actual value deviation within tolerance t_off
ZSW1.9
ZSW1.10
ZSW1.11 1
ZSW1.12
ZSW1.13 Reserved
ZSW1.14 -loop torque control active
ZSW1.15 Reserved

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8.4.4 ZSW2 status word (for telegram 102, 105)

Signal Description
ZSW2.0 Reserved
ZSW2.1 Reserved
ZSW2.2 Reserved
ZSW2.3 Reserved
ZSW2.4 -function generator inactive
ZSW2.5
ZSW2.6
ZSW2.7 Reserved
ZSW2.8
ZSW2.9 Reserved
ZSW2.10 Reserved
ZSW2.11 Reserved
ZSW2.12 Slave sign-of-life, bit 0
ZSW2.13 Slave sign-of-life, bit 1
ZSW2.14 Slave sign-of-life, bit 2
ZSW2.15 Slave sign-of-life, bit 3

8.4.5 ZSW1 status word (for telegram 7, 9, 110, 111)

Signal Description
ZSW1.0
ZSW1.1 eration (DC link loaded, pulses blocked)
ZSW1.2
ZSW1.3
ZSW1.4
ZSW1.5
ZSW1.6 e
ZSW1.7
ZSW1.8
ZSW1.9
ZSW1.10
ZSW1.11
ZSW1.12

ZSW1.13
ZSW1.14
ZSW1.15

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8.4.6 ZSW2 status word (for telegrams 9, 110, 111)

Signal Description
ZSW2.0 Reserved
ZSW2.1 Reserved
ZSW2.2 Reserved
ZSW2.3 Reserved
ZSW2.4 Reserved
ZSW2.5
ZSW2.6
ZSW2.7 Reserved
ZSW2.8
ZSW2.9 Reserved
ZSW2.10
ZSW2.11 Reserved
ZSW2.12 Slave sign-of-life, bit 0
ZSW2.13 Slave sign-of-life, bit 1
ZSW2.14 Slave sign-of-life, bit 2
ZSW2.15 Slave sign-of-life, bit 3

8.4.7 G1_ZSW encoder 1 status word

Signal Description
G1_ZSW.0 Feedb
G1_ZSW.1
G1_ZSW.2
G1_ZSW.3

G1_ZSW.4 Generated value in Gn_XIST2 (and can

G1_ZSW.5 be read)
G1_ZSW.6
G1_ZSW.7 ction 4
G1_ZSW.8 Reserved
G1_ZSW.9 Reserved
G1_ZSW.10 Reserved
G1_ZSW.11

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 Signal Description
G1_ZSW.12 Reserved (for reference point offset)
G1_ZSW.13 Absolute value is cyclically transferred
G1_ZSW.14 Parking encoder active
G1_ZSW.15 Encoder fault, the fault is in Gn_XIST2

8.4.8 MELDW status word

Signal Description
MELDW.0 -up/ramp-down complete
-function generator active
MELDW.1
MELDW.2 hold value 3 (p2161)
-MELDW.3
MELDW.4
MELDW.5 Reserved
MELDW.6
MELDW.7
MELDW.8 - actual value deviation within tolerance t_on
MELDW.9 Reserved
MELDW.10 Reserved
MELDW.11
MELDW.12
MELDW.13
MELDW.14 Reserved
MELDW.15 Reserved

8.4.9 POS_ZSW1 positioning status word

Signal Description
POS_ZSW1.0 Active Traversing Block Bit 0 (20)
POS_ZSW1.1 Active Traversing Block Bit 0 (21)
POS_ZSW1.2 Active Traversing Block Bit 0 (22)
POS_ZSW1.3 Active Traversing Block Bit 0 (23)
POS_ZSW1.4 Active Traversing Block Bit 0 (24)
POS_ZSW1.5 Active Traversing Block Bit 0 (25)
POS_ZSW1.6 Reserved
POS_ZSW1.7 Reserved
POS_ZSW1.8

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 Signal Description
POS_ZSW1.9
POS_ZSW1.10
POS_ZSW1.11
POS_ZSW1.12 Reserved
POS_ZSW1.13
POS_ZSW1.14 -up active
POS_ZSW1.15

8.4.10 POS_ZSW2 positioning status word

Signal Description
POS_ZSW2.0
POS_ZSW2.1
POS_ZSW2.2 Setpoint available
POS_ZSW2.3 Reserved
POS_ZSW2.4
POS_ZSW2.5
POS_ZSW2.6
POS_ZSW2.7
POS_ZSW2.8 cam switching position 1
POS_ZSW2.9
POS_ZSW2.10
POS_ZSW2.11
POS_ZSW2.12
POS_ZSW2.13 stop clamping torque reached
POS_ZSW2.14
POS_ZSW2.15

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