SINAMICS V4.3 SP1 incl.

SSP for STARTER

SIEMENS
General conditions and function limitations, notes for configuration and operation
These notes take precedence over statements contained in other documents.
Because these notes contain important information for the installation and use of the software, please read them carefully.

SINAMICS V4.3 SP1 incl. SSP for STARTER

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW
AP00894874

When commissioning a built-in

motor with EnDat encoder, fault
F07414 "Drive: Encoder serial
number changed" cannot be
acknowledged even after
recopying the serial number.

When commissioning a built-in motor with EnDat encoder, fault

F07414 "Drive: Encoder serial number changed" cannot be
acknowledged even after recopying the serial number.

Remedy: Set P1990 "Determine encoder

adjustment commutation angle offset" to
1 "Activated with acceptance" and then to
0 "Deactivated"; F07414 can then be
acknowledged.

- - - - - - - - - - - - - - - - - X X - X - - - 4.3 SP1

When using the sector-specific message frame p0922 = 220, the

speed controller enable STW2 bit 9 must be specified by the
controller to traverse the drive with the axis control panel. This
behavior occurs when p0856 "BI: Enable speed controller" is wired
(as is the case per definition of message frame 220). In this case,
traversing with the control panel requires that the interconnected
signal is set to 1.

The speed controller enable STW2 bit 9

must be specified by the controller to
traverse the drive with the axis control
panel. Alternatively, p856 can also be
rewired and temporarily set to 1 for
control panel operation.

- - - X - - - - - - - - - - - - - - - - - - - - 4.3 SP1

SINAMICS_SW - Axis control panel

AP00821489

When using the sector-specific

message frame p0922 = 220, the
speed controller enable STW2
bit 9 must be specified by the
controller to traverse the drive
with the axis control panel.

SINAMICS_SW - General
AP00800123

The BICO interconnection

p2081[11] = r0835.0 "ZSW2.11
data set switchover bit 0" is
missing during the offline
creation of a project for TM41
with standard message frame 3
and in the function diagram
9683.

The BICO interconnection p2081[11] = r0835.0 "ZSW2.11 data set Perform a project download and then an
switchover bit 0" is missing during the offline creation of a project upload.
for TM41 with standard message frame 3 and in the function
diagram 9683.

TM41

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

AP00866399

Emulation of an encoder with

62.5 s sampling time by the
TM41 results in displays of
faults.

If the TM41 emulates an encoder that is operated with a sampling

time of 62.5 s, then fault F35228 "TM: Sampling time p4099[3]
invalid" is output or after the next power off/on the alarm A01223
"CU: Sampling time inconsistent" with alarm value 40 is output.

TM41

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

AP00877562

The RDY LED on the drive unit

flashes irregularly without the
operator having carried out an
action.

The RDY LED on the drive unit flashes irregularly without the
None.
operator having carried out an action. The CompactFlash Card is
not accessed during this period, only the internal memory. The drive
unit can therefore be switched off during this period.

AP00880504

If bit r0899.13 "Close holding

brake command" with inverter
p0748 is used during the rampup of the drive module after a
Power On, the digital output can
output a high level for up to 4 s.

If bit r0899.13 "Close holding brake command" is inverted by

means of p0748 and connected to a digital output of the drive
module in order to control an external brake, then the digital output
can output the command to open the brake for up to 4 s during the
ramp-up of the drive module after a Power On.

AP00882514

If alarm A30804 "Power unit:

If alarm A30804 "Power unit: CRC" occurs, the pulses are disabled Power Off/On.
CRC" occurs, the pulses are
on the power unit. The LED on the power unit turns red.
disabled on the power unit. The
LED on the power unit turns red.

SINAMICS V4.3 SP1 Restrictions

Set parameter p0115[0] "Sampling time

for additional functions" to 62.5 s.

- - - - - - - - - - - - X X - - - X X - X - - - 4.3 SP1

In accordance with the parameter

description of p1215, r0899.12 "Open
holding brake" should be used for the
control of an external holding brake, and
not r0899.13.

-1-

Servo/Vector

- - - - - - - - - - X X X X X X - X X - X - X - 4.3 SP1

Servo/Vector

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - General
AP00884942

The temperature is no longer

measured via the encoder
evaluation when the encoder is
parked.

If the encoder is parked at high speeds through p1402 "Current

Perform the temperature measurement via Servo/Vector
control and motor model configuration" bit 1 "Park encoder at n_act the power unit.
> p1404" = 1, then the motor temperature sensor is also no longer
evaluated via the relevant encoder. 200 C is displayed in parameter
r0035 "CO: Motor temperature" and the motor temperature is
derived from the motor model. The same behavior is displayed for
parking via p0145 "Activate/deactivate encoder interface" = 0 or via
the PROFIdrive process data STW2.7 "Parking axis selection" and
GnSTW.14 "Request parking encoder".

- - - - - - - - - - X - X X X X - X X - X - X - 4.3 SP1

AP00888436

If the encoder of an axis is

emulated with the TM41
Terminal Module with a current
controller cycle clock p115[0] =
62.5 s, fault F35228 "TM:
Sampling time p4099[3] invalid"
is output. If a POWER ON is
performed as described in the
documentation for F35228, the
CU remains unchanged in the
state r0002 = 34 "Exit the
commissioning mode".

If the encoder of an axis is emulated with the TM41 Terminal

- Set p115[0] to 62.5 s on the TM41 - Set TM41
Module with a current controller cycle clock p115[0] = 62.5 s, fault p0009 of the CU to 0 - Copy RAM to
F35228 "TM: Sampling time p4099[3] invalid" is output. If a
ROM (p0977 = 1)
POWER ON is performed as described in the documentation for
F35228, the CU remains unchanged in the state r0002 = 34 "Exit
the commissioning mode".

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

AP00904301

If a full SMI is used as a spare

part instead of an empty SMI, it
is possible that no data can be
loaded after the SMI data has
been deleted. After loading,
alarm A01840 "SMI: Component
found without motor data" and
fault F31905 "Encoder 1:
Parameterization error" with
fault value 400/0 are displayed.

If a full SMI is used as a spare part instead of an empty SMI, it is

Use empty SMI as spare part.
possible that no data can be loaded after the SMI data has been
deleted. After loading, alarm A01840 "SMI: Component found
without motor data" and fault F31905 "Encoder 1: Parameterization
error" with fault value 400/0 are displayed.

- - - - - - - - - - - - - - - - - X X - - - - - 4.3 SP1

After download of a project with small motor and large motor

When selecting a larger motor, check and
module, parameter p1800 "Pulse frequency setpoint" is set to a
if required, correct p1800.
higher value and the error message F07085 "Drive: Parameter of the
open/closed-loop control changed" is output with fault value 1800.
After an upload, selection of a larger motor and renewed download,
p1800 is not reduced again to the original value.

X X - - X - - - - X - X X X - - X X X X X - - - 4.3 SP1

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

SINAMICS_SW - Drive wizard

AP00806539

A pulse frequency p1800 that is

too large is not corrected to a
smaller value after a download

SINAMICS_SW - Drive integration

AP00885172

If a TM120 Terminal Module is

connected to port X202 of a
Motor Module, then p0600,
p0601 and p4610 are preset on
the Motor Module for 1FN1,
1FN3, 1FN6 and 1FW6 standard
motors during commissioning.
However, p4100 on the TM120
is not set in compliance with
p4610 on the drive.

If a TM120 Terminal Module is connected to port X202 of a Motor Set p4100 on the TM120 in compliance
Module, then p0600, p0601 and p4610 are preset on the Motor
with p4610 on the drive.
Module for 1FN1, 1FN3, 1FN6 and 1FW6 standard motors during
commissioning. However, p4100 on the TM120 is not set in
compliance with p4610 on the drive.

AP00885371

If a TM120 is connected to a
Double Motor Module, p0600 is
set to 20 on all Motor Modules
after the commissioning of the
drive.

If a TM120 Terminal Module is connected to a Double Motor

Module, p0600 "Motor temperature sensor for monitoring" is set to
20 "Temperature sensor via BICO interconnection p608" on both
drives after the commissioning of the drive. This is only correct for
the Motor Module to which the TM120 is connected.

SINAMICS V4.3 SP1 Restrictions

Set p600 correctly on the drive.

-2-

TM120

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - Drive integration

AP00905107

No component may be connected

to a DRIVE-CLiQ line with a
TM41 that has been
parameterized with a cycle clock
faster than p4099[3] "TM41
incremental encoder emulation
input/outputs sampling time".
Otherwise a following error
builds up between the TM41
pulse encoder emulation and the
encoder signal to be emulated.

No component may be connected to a DRIVE-CLiQ line with a

TM41 that has been parameterized with a cycle clock faster than
p4099[3] "TM41 incremental encoder emulation input/outputs
sampling time". Otherwise a following error builds up between the
TM41 pulse encoder emulation and the encoder signal to be
emulated.

Attach the component to another line.

TM41

- - - - - - - - - - - - - - - - - - X - X - - - 4.3 SP1

SINAMICS_SW - DRIVE-CLiQ
AP00898002

If a complete DRIVE-CLiQ line

is pulled from the CU and then
plugged in again, no other
component may be pulled and
plugged in again during the
partial ramp-up within another
DRIVE-CLiQ line.

If a complete DRIVE-CLiQ line is pulled from the CU and then

Await end of partial ramp-up. Then
plugged in again, no other component may be pulled and plugged in another component may be pulled out /
again during the partial ramp-up within another DRIVE-CLiQ line. plugged in.

AP00906248

When unplugging and plugging When unplugging and plugging in DMC20 or DME20 modules that Switch drive unit off and on again.
in DMC20 or DME20 modules are connected directly to a port of the Control Unit, the components
that are connected directly to a
may not be able to return to the Ready for operation state.
port of the Control Unit, the
components may not be able to
return to the Ready for operation
state.

X X X - X X - - - X - - - - - - X - X - - - - - 4.3 SP1

- - - - - - - - - - - - - X X X - - X - X - X - 4.3 SP1

SINAMICS_SW - EPOS
AP00734501

If the "Basic positioner" function If the "Basic positioner" function module is used on the S110, the
module is used on the S110, the number of blocks that can be used is restricted when using the "Free
number of blocks that can be
function blocks" function module.
used is restricted when using the
"Free function blocks" function
module.

The following applies with external

Servo
encoder evaluation via an SMCxx
module: During simultaneous use of the
"Basic positioner" and the "Free function
blocks" function modules, 23 blocks (one
of each block type) can be calculated in
16 ms. Approx. 23 blocks can be
calculated in 4 ms when the "Basic
positioner" function module is not
activated. If a shorter sampling time is
set, this reduces the remaining
computation time, so that, e.g. only
approx. 3 blocks can be calculated in 2
ms with "Basic positioner".

- - - - - - - - - - - - - - - - - X - - - - - - 4.3 SP1

The following applies with internal

encoder evaluation (without an external
SMCxx module): Approx. 23 blocks can
be calculated in 16 ms when the "Basic
positioner" function module is not
activated.
If the remaining computation time is not
sufficient, fault F01054 "CU: System
limit exceeded" is triggered.

SINAMICS V4.3 SP1 Restrictions

-3-

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - EPOS
AP00903077

If the current position is

specified as target position for
MDI absolute, then the status of
p2683 bit 3 "EPOS status word 1
- Set position reached" remains
unchanged. In particular, bit 3
remains at zero if the MDI
absolute command is issued after
ramp-up.

If the current position is specified as target position for MDI

None.
absolute, then the status of p2683 bit 3 "EPOS status word 1 - Set
position reached" remains unchanged. In particular, bit 3 remains at
zero if the MDI absolute command is issued after ramp-up.

Servo/Vector

- - - - - - - - - - - - - - - - - X X X X - - - 4.3 SP1

SINAMICS_SW - General communication

AP00882697

SINAMICS link alarms A50003, SINAMICS link alarms A50003, A50004 and A50006 display an
A50004 and A50006 display an incomplete alarm value. The value displayed as "Info 1" is either
incomplete alarm value. The
zero or a random value.
value displayed as "Info 1" is
either zero or a random value.

None.

- - - - - - - - - - - - X X X X - - X - X - X - 4.3 SP1

SINAMICS_SW - CAN communication

AP00875674

If a CAN partial storage (Store

Com. or Store Appl. parameter)
is triggered without having
previously performed a total
storage at least once, then the
relevant ACX files
(CCxxxxxx.ACX and
CAxxxxxx.ACX) are present at
/USER/SINAMICS/DATA/*,
but are not read in at a restart and
therefore have no effect. The
files are also not stored on an
inserted memory card.

If a CAN partial storage (Store Com. or Store Appl. parameter) is

Execute p0977 "Save all parameters" = 1.
triggered without having previously performed a total storage at
least once, then the relevant ACX files (CCxxxxxx.ACX and
CAxxxxxx.ACX) are present at /USER/SINAMICS/DATA/*, but
are not read in at a restart and therefore have no effect. The files are
also not stored on an inserted memory card.

- - - - - - - - - - - X X X X X - X X - X - X - 4.3 SP1

AP00899130

CAN CBC10 supports a

maximum of eight V/f axes.

CAN CBC10 supports a maximum of eight V/f axes. If more then

eight axes are created, the error message F01000 "Software error
internal" is displayed.

For a plugged in CBC10, do not use more Servo/Vector

than eight V/f axes.

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

AP00900563

For the automatic start-up of the

eight axes, the 25 CAN channels
are not sufficient to allocate the
four required channels for the
Predefined Connection Set for
each drive. For axis 7 and 8, the
number of channels is set to 0.
These, therefore, do not
participate in the
communications.

For the automatic start-up of the eight axes, the 25 CAN channels
are not sufficient to allocate the four required channels for the
Predefined Connection Set for each drive. For axis 7 and 8, the
number of channels is set to 0. These, therefore, do not participate
in the communications.

In the offline project, manually reallocate

the CAN channels preassigned by the
Predefined Connection Set In this
context, please note that a CAN channel
(P8740) is set for each activated PDO.

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

SINAMICS_SW - PROFIBUS communication

AP00334540

Diagnostics display for message

frame 110 incomplete.

PZD MDI_vel and MDI_decc are missing in the diagnostics display --for PROFIBUS message frame 110.

- - - - - - - - - - - - - - - - - X X - - - - - 2.6 SP1

AP00535834

Software error for data exchange

broadcast and isochronous
PROFIBUS and dynamically
faulted bus connection.

An internal software error (F1000) can occur when configuring data Power Off / Power On.
exchange broadcast and isochronous PROFIBUS, if the bus
connection is dynamically (very fast/frequently, e.g. through a loose
connection) interrupted and then established again.

- - - - - - - - - - - - X X X X - - X X X - X - 2.6 SP1

SINAMICS V4.3 SP1 Restrictions

-4-

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - PROFIBUS communication

AP00909775

For applications with

isochronous
PROFIBUS/PROFINET not
equal to 1 ms, the system load
r9976 "System utilization" is
displayed approx. 3% too low
directly after the download. The
correct value is displayed after a
Power On reset. The result is that
for projects with a system load
greater than 97%, fault F01054
"CU: System limit exceeded" is
not output until after the Power
On reset instead of after the
download.

For applications with isochronous PROFIBUS/PROFINET not

equal to 1 ms, the system load r9976 "System utilization" is
displayed approx. 3% too low directly after the download. The
correct value is displayed after a Power On reset. The result is that
for projects with a system load greater than 97%, fault F01054 "CU:
System limit exceeded" is not output until after the Power On reset
instead of after the download.

- Do not connect the isochronous

PROFIBUS/PROFINET master already
during the commissioning - Always
switch the unit off and on again after the
project download (Power On reset) in
order to display r9976 correctly.

- - - - - - - - - - - - - - - - - X X - - - - - 4.3 SP1

SINAMICS CBE20 does not support PROFIsafe diagnostics.

None

- - - X - - - - - - - - - - - - - - - - - - - - 2.6 SP1

SINAMICS_SW - PROFINET communication

AP00687479

SINAMICS CBE20 does not

support PROFIsafe diagnostics.

SINAMICS_SW - USS communications:

AP00900457

USS communications: For the

USS communications: For the CU, no more than five process data
None
CU, no more than five process
are permitted in the receive direction. If more are parameterized, the
data are permitted in the receive error message F01000 "Software error internal" is triggered.
direction. If more are
parameterized, the error message
F01000 "Software error internal"
is triggered.

Servo/Vector

- - - - - - - - - - - - - - - - - X X - X - - - 4.3 SP1

SINAMICS_SW - Quantity structure

AP00886045

If fault F01340 "Topology: Too If fault F01340 "Topology: Too many components on a line" is
many components on a line" is
triggered by setting a faster sampling time in p4099 of a terminal
triggered by setting a faster
module, the digital inputs/outputs of the control unit freeze.
sampling time in p4099 of a
terminal module, the digital
inputs/outputs of the control unit
freeze.

Set a slower sampling time or attach

fewer terminal modules to a DRIVECLiQ line.

AP00890822

With activated "Controlled

operation of PESM down to f = 0
with HF signal injection" for the
rotor position detection, the
maximum number of motor
modules that can be operated
with one CU is reduced.

If current oversampling (p1810 bit 3 = 1) is activated, the number of

possible axes is reduced to one axis for chassis units and to two axes
for booksize units for drives with 250 s sampling time. Double
motor modules can also not be operated.

Deselection of the operation with HF

signals (p1750 bit 5) and deselection of
the oversampling (p1810 bit 3). Retrofit
of further CUs. Increase of the sampling
time to 400 s (chassis), or 500 s
(booksize).

Vector

- - - - X - - - - X - - X X - - - - X - X - - - 4.3 SP1

In the topologies

In the topologies

Switch off/on.

Vector

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

AP00909724

Current oversampling is required in the encoderless vector control

mode down to zero speed with HF signal injection (p1300=20,
p1750 bit 5 = 1) for the permanently excited synchronous machine.
Conventional encoderless operation (p1750 bit 5 = 0, p1810 bit 3 =
0) is not restricted.

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

1xALM+12xMOMO+1xTM31 1xALM+12xMOMO+1xTM31 in 12 vector in V/f control

in 12 vector in V/f control
1xALM+8xMOMO+1xTM31; 4 servo and 4 vector in V/f control
1xALM+8xMOMO+1xTM31; 4
servo and 4 vector in V/f control fault code F01068 "CU memory overflow" with fault value 1
appears after the project download. The fault cannot be
fault code F01068 "CU memory acknowledged.
overflow" with fault value 1
appears after the project
download. The fault cannot be
acknowledged.
SINAMICS V4.3 SP1 Restrictions

-5-

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - Quantity structure

AP00909795

If alarm F1054 "System limit

exceeded" is present
immediately after switching on
the CU305, a download can no
longer be performed and the
factory settings can no longer be
restored; the communication is
interrupted.

If alarm F1054 "System limit exceeded" is present immediately

after switching on the CU305, a download can no longer be
performed and the factory settings can no longer be restored; the
communication is interrupted.

1. During ramp-up of the Control Unit

(BOP displays Run-up on the screen and
the RDY LED is permanently lit orange),
switch the Control Unit power supply off.
Perform this operation three times. When
the Control Unit is switched on again, the
drive automatically restores the factory
settings and fault F01018 "Ramp-up
aborted several times" is output. An
executable project can then be
downloaded again to the drive.

- - - - - - - - - - - - - - - - - X - - - - - - 4.3 SP1

2. If an executable parameterization is
stored on the MMC, switch the Control
Unit off, insert the MMC and connect the
power supply again. The parameterization
stored on the MMC is then loaded. This
can then be saved to the flash via
RAM2ROM. The project on the MMC
may not be created in STARTER through
"Load to file system".
SINAMICS_SW - Closed-loop control
AP00326281

Power errors greater than 10%

Power errors greater than 10% can occur in the field weakening
can occur in the field weakening range for 1FE spindles.
range for 1FE spindles.

Perform motor data identification and

activate kt estimator (additional CU
processor performance).

AP00516843

When parameterizing a gearbox

in p0432/p0433, this is not
included in the position
calculation.

If a gearbox is parameterized in p0432/p0433, this is only included

in the speed, but not the position calculation.

A recalculation of the position can be

achieved by activating the position
tracking in p0411.0.

- - - X - - - - - - - - - - - - - - - - - - - - 2.6 SP1

AP00871254

For 1FN6 as with other linear

motors, p0320 "Motor rated
magnetizing current / short
circuit current" has zero set by
default. This means that the field
weakening mode has been
activated. The field weakening
mode is not permitted for 1FN6.

For 1FN6 as with other linear motors, p0320 "Motor rated

magnetizing current / short circuit current" has zero set by default.
This means that the field weakening mode has been activated. The
field weakening mode is not permitted for 1FN6.

Do not exceed speed in p0348

Servo
"Operational speed field weakening VDC
= 600V".

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

AP00890839

In vector control, the torque

accuracy can decrease in the
range below 30% of the rated
motor speed.

In vector control, the torque accuracy can decrease in the range

below 30% of the rated motor speed. This is the case, when during
no-load operation in the higher speed range (e.g. 70% of the rated
motor speed) a difference is determined between the setpoint and
the actual value of the field-generating current component.

After the motor data identification at

Vector
standstill, the rotating measurement
without load should be performed. If
there are still differences in the current,
the rated magnetizing current p0320 can
be assigned the value of the fieldgenerating current r0029 that is produced
in no-load operation at 70% of the rated
motor speed.

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

AP00891150

In vector control, the torque

accuracy can decrease in the
range below 30% of the rated
motor speed when braking is
performed so quickly from
higher speeds (e.g. from field
weakening) that the magnetizing
inductance of the motor model
cannot be corrected quickly
enough through the Lh
adaptation.

In vector control, the torque accuracy can decrease in the range

below 30% of the rated motor speed when braking is performed so
quickly from higher speeds (e.g. from field weakening) that the
magnetizing inductance of the motor model cannot be corrected
quickly enough through the Lh adaptation. At lower speeds, the Lh
adaptation is deactivated automatically internally and the adaptation
remains at the values determined last.

It is recommended that a rotating

measurement is always performed after
the stationary measurement to determine
the magnetizing inductance and the
saturation characteristic. The Lh
adaptation can then be switched off
(p1780 bit2 = 0).

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

SINAMICS V4.3 SP1 Restrictions

-6-

Servo

Vector

- - - - - - - - - X - - - - - - X - X - - - - - 2.5 SP1

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - Closed-loop control

AP00897581

If the power supply of a chassis

Motor Module (vector DO) is
switched on later than the power
supply of the CU, it may occur
that no pulses are generated in
the gating unit when the drive is
switched on and as a result no
current flows and F7800 (Motor
blocked) is issued.

If the power supply of a chassis Motor Module (vector DO) is

switched on later than the power supply of the CU, it may occur that
fault code F7900 (Motor blocked) is issued when the drive is
switched on. The reason is that no pulses are generated in the gating
unit and as a result no current flows.

- Switch the power supply of the CU on at Vector

the same time (or later) as that of the
power unit. - After switching on the
power supply of the power unit: Perform
warm restart of the CU.

- - - - X - - - - X - - X X - - - - X X X - - - 4.3 SP1

If the longer response time is critical, it

can be reduced by setting a shorter
monitoring cycle for the Safety Integrated
extended functions (p9500/p9300) in the
drive unit.

- - - - X - - - - X - - X X - - - - X X X - - - 2.6 SP1

The error occurs when the gating unit is computed in the CU. This
is the case when both edge modulation (p1802 > 6) and pulse
frequency sweep (p1810 bit 2 = 1) have been activated or when
there is a parallel connection.

SINAMICS_SW - Safety Integrated

AP00719209

In a worst case situation, the total

response time is increased by
approx. 30 ms compared to V2.5
SP1 when the Safety Integrated
extended functions are selected
via PROFIsafe.

In a worst case situation, the total response time is increased by

approx. 30 ms compared to V2.5 SP1 when the Safety Integrated
extended functions are selected via PROFIsafe. This can result in
increased overtravel. During the acceptance test of series machines
that were previously operated with V2.5 SP1 and are now used with
V2.6 SP1, a check must be made whether this is relevant for the
safety in the respective application.

AP00808654

When using a double motor

When using a double motor module and the Safety Integrated
On the drive with p9511 = 0 ms, set
module and the Safety Integrated extended functions with the following configuration
PROFIBUS cycle instead of 0 ms.
extended functions with the
following configuration
- p9511 on one drive of the double motor module = 1 ms - p9511 on
the other drive of the double motor module = 0 ms (= take over DP
- p9511 on one drive of the
cycle) - isochronous PROFIBUS with PROFIBUS cycle not equal
double motor module = 1 ms to 1 ms
p9511 on the other drive of the
double motor module = 0 ms (= the error messages C01711 "SI Motion CU: Defect in a monitoring
take over DP cycle) channel" with fault value 1020 and C30711 "SI Motion MM: Defect
isochronous PROFIBUS with
in a monitoring channel" with fault value 1020 are output.
PROFIBUS cycle not equal to 1
ms

- - - - X - X X X - - - - - - - - - X - - - - - 4.3 SP1

error messages are output.

AP00874610

AP00892479

If when using the safety basic

functions and power units
connected in parallel, the EP
terminals on the individual
power units are connected
differently, the display of the
diagnostic bits 5, 6, 17 and 22 in
parameter r9872 "SI status
(motor module)" may not be
refreshed correctly.

If when using the safety basic functions and power units connected Do not use bits 5, 6, 17 and 22 of
in parallel, the EP terminals on the individual power units are
parameter r9872 for power units
connected differently, the display of the following diagnostic bits in connected in parallel.
parameter r9872 "SI status (motor module)" may not be refreshed
correctly:

Changes to parameters p9587 to

p9589 only take effect after
Power Off/On. However, alarm
A01693 requesting the Power
Off/On does not appear.

Changes to the following parameters only take effect after Power

Off/On. However, alarm A01693 "SI motion CU: Safety
parameterization changed, restart / POWER ON required" does not
appear:

Vector

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

Servo/Vector

- - - - - - - - - - - X X X - - - X X - X - - - 4.3 SP1

Bit 05 SS1 selected on motor module (basic functions), Bit 06 SS1

active on motor module (basic functions), Bit 17 STO cause:
Selection via terminal (basic functions), Bit 22 SS1 cause: Terminal
selection (basic functions)
Power Off/On

p9587 "SI motion encoderless actual value acquisition filter time

(control unit)", p9588 "SI motion minimum current encoderless
actual value acquisition (control unit)", p9589 "SI motion voltage
tolerance, acceleration (control unit)"

SINAMICS V4.3 SP1 Restrictions

-7-

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - Safety Integrated

AP00896426

If on a CU305 with isochronous

PROFIBUS and Safety
Integrated Extended Functions
via PROFIsafe, the PROFIBUS
cable is disconnected and
connected again or not connected
until after power up, the errors
that cannot be acknowledged are
output after acknowledgement of
the error messages.

If on a CU305 with isochronous PROFIBUS and Safety Integrated

Extended Functions via PROFIsafe, the PROFIBUS cable is
disconnected and connected again or not connected until after
power up, the errors that cannot be acknowledged are output after
acknowledgement of the error messages:

AP00897310

If during encoderless safety

operation the SI motion
monitoring cycles in parameters
p9500/p9300 are not set to an
integer multiple of 1 ms, the fault
code F30665 "SI MM: System is
defective" is issued with fault
value 2hex. It cannot be
acknowledged. The drive cannot
be traversed.

If during encoderless safety operation the SI motion monitoring

cycles in parameters p9500/p9300 are not set to an integer multiple
of 1 ms, the fault code F30665 "SI MM: System is defective" is
issued with fault value 2hex. It cannot be acknowledged. The drive
cannot be traversed.

AP00897883

Contrary to the documentation, For the parameters:

bit 0 in p9601 and p9801 (Enable
STO via terminals) takes effect p9601 SI enable, functions integrated in the drive (control unit),
immediately.
p9801 SI enable, functions integrated in the drive (motor module)

Power Off/On.

Servo

- - - - - - - - - - - - - - - - - X - - - - - - 4.3 SP1

Set integer multiple of 1 ms in

p9500/p9300.

Servo

- - - - - - - - - - - - - - - - - X - - - - - - 4.3 SP1

None

Servo/Vector

- - - - - - - - - - - - X X - - - X X - X - - - 4.3 SP1

C01711(1012) "SI Motion CU: Defect in a monitoring channel"

C01701 "SI Motion CU: STOP B triggered" C01700 "SI Motion
CU: STOP A triggered" C30700 "SI Motion MM: STOP A
triggered"

a change of bit 0 "Enable STO (SH) via terminals" takes effect

immediately. Alarm A01693 "SI motion CU: Safety
parameterization changed, restart / POWER ON required" is not
output. Changes to the other bits only take effect after Power
Off/On, as in the documentation for the whole parameter. A01693 is
output.
AP00898685

For a drive with DRIVE-CLiQ

motor and DQI encoder, alarms
"F30711/1023 Fault during
effectiveness test in the DRIVECLIQ encoder" and "F1711/0
Fault in the other monitoring
channel" can occur after
completion of the safety
commissioning when only
parameters that take effect
immediately have been changed.

For a drive with DRIVE-CLiQ motor and DQI encoder, alarms

"F30711/1023 Fault during effectiveness test in the DRIVE-CLIQ
encoder" and "F1711/0 Fault in the other monitoring channel" can
occur after completion of the safety commissioning when only
parameters that take effect immediately have been changed.

Perform Power Off/On after changing the Servo/Vector

safety encoder parameters even when
there is no prompt ("F1693/30693 Safety
parameterization changed, warm restart /
Power On required).

- - - - - - - - - - - - X X - - - X X - X - - - 4.3 SP1

AP00899696

Selection of the "Copy

parameters" function for the
TM54F Terminal Module in
STARTER/SCOUT does not
function in offline mode.

Selection of the "Copy parameters" function for the TM54F

Terminal Module in STARTER/SCOUT does not function in
offline mode: If the "Copy parameters" function is selected either
by activating the appropriate checkbox in the "Safety Integrated"
screen for the TM54F or by setting parameter p9700 in the expert
list for the TM54F, the "Copy parameters" function is not executed
for the TM54F after the project download to the drive unit.

Use the "Copy parameters" function for

the TM54F Terminal Module in online
mode.

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

AP00905863

PROFIsafe for safety basic

functions via non-isochronous
PROFINET connection signals
error during ramp-up.

If the safety basic functions are controlled via PROFIsafe and the
PROFIsafe communication is via a non-isochronous PROFINET
connection, the PROFIsafe error F01611,6000 is signaled after
ramp-up of the Control Unit. The error occurs on drives that are
connected to a Double Motor Module.

Switch on F-CPU with delay or switch

Servo
power supply of the Motor Module on
first, switch on Control Unit with delay or
perform warm restart on the Control Unit:
p0009 = 30, p976 = 3.

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

SINAMICS V4.3 SP1 Restrictions

-8-

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - Safety Integrated

AP00906029

No remedy in the help for safety

message C01711/1043,
C30711/1043 "Too many
acceleration actions".

When safety messages C01711 "SI Motion CU: Defect in a

monitoring channel" message value 1043 "Too many acceleration
actions" and C30711 "SI Motion MM: Defect in a monitoring
channel" message value 1043 "Too many acceleration actions"
occur, there is no reference to parameter p9589/p9389 "SI Motion
acceleration voltage tolerance" in the help.

The value in parameter p9589/p9389 "SI

Motion acceleration voltage tolerance"
must be increased when C1711/C30711
with message value 1043 "Too many
acceleration actions" occurs.

AP00906400

If several drives of a Control

Unit are incorrectly
parameterized from an F-CPU,
only the first drive signals an
incorrect parameterization.

If several drives of a Control Unit are incorrectly parameterized

from an F-CPU, only the first drive signals an incorrect
parameterization.

Correct the error in the

PROFIBUS/PROFINET configuration. If
a further error is then signaled, also
correct this error in the
PROFIBUS/PROFINET configuration.

AP00907464

With parallel connection of

Motor Modules and activated
debounce time for the STO
terminals, the signals of the STO
terminals on the CU are not
evaluated correctly. The
evaluation in the Motor Modules
is performed correctly and
therefore the functional safety is
guaranteed.

With parallel connection of Motor Modules and activated debounce

time for the STO terminals, the signals of the STO terminals on the
CU are not evaluated correctly. The evaluation in the Motor
Modules is performed correctly and therefore the functional safety
is guaranteed.

With parallel connection of Motor

Modules, parameters P9651 "SI
STO/SBC/SS1 debounce time (Control
Unit)" and P9851 "SI STO/SBC/SS1
debounce time (Motor Module)" must be
set to zero or remain at zero (the default
setting is zero and are set to zero when
projects with firmware versions less than
or equal to V2.6 are taken over). The
fixed debouncing contained in the
previous versions is always retained.

Servo

- - - - - - - - - - - X X X - - - X X - X - - - 4.3 SP1

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

Vector

- - - - - - - - - - - - - X - - - - X - - - - - 4.3 SP1

In case the additional debounce time has

to be used to suppress test signals of an FDO module (safety-relevant output
module) of an F-PLC (safe PLC), make
sure that all the digital inputs (DIs) of the
CU for the control of the STO are
connected in parallel to an F-DO output
of the F-PLC so that the relevant DIs are
always switched simultaneously.
AP00908818

If the safety basic functions are

used and controlled via
PROFIsafe, subsequent plugging
in of the Motor Module is not
permitted and results in the loss
of communication.

If the safety basic functions are used and controlled via PROFIsafe,
subsequent plugging in of the Motor Module is not permitted and
results in the loss of communication. The RDY LED then lights up
in red.

Make sure that the Motor Module is

connected during ramp-up of the Control
Unit. Otherwise a Power On must be
performed when the Motor Module is
subsequently plugged in.

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

SINAMICS_SW - Topology
AP00710801

The automatic configuration with The automatic configuration with BLM and SLM is not possible
BLM and SLM is not possible
when at least one of the components is available several times.
when at least one of the
components is available several
times.

Offline configuration with the aid of the

STARTER wizard.

- - - - X - - X X - - - - - - - - - X - - - - - 2.6 SP1

AP00833388

If the drive already contains a

project with a CUA31 and
Terminal Modules and a project
with another topology is
downloaded, the online
connection to STARTER may be
interrupted. It is not possible to
establish the online connection
again.

- Switch drive unit off/on - Go online Perform default setting with RAM2ROM
- Switch drive unit off/on - Go online Perform project download

- - - - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

SINAMICS V4.3 SP1 Restrictions

If the drive already contains a project with a CUA31 and Terminal

Modules and a project with another topology is downloaded, the
online connection to STARTER may be interrupted. It is not
possible to establish the online connection again.

-9-

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Note the message A01416 "Topology:

Comparison shows additional component
in actual topology" and determine which
components are connected incorrectly in
the topology display in
STARTER/SCOUT.

Drive familiy
CX32-2

If a PROFIBUS standard message frame is configured (p0922 <>

999), no messages about missing DRIVE-CLiQ components
A01481 to A01489 are issued after the project download when the
topology is connected incorrectly, as long as the controller is not in
the RUN mode.

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

SINAMICS_SW - Topology
AP00889464

If a PROFIBUS standard
message frame is configured
(p0922 <> 999), no messages
about missing DRIVE-CLiQ
components A01481 to A01489
are issued after the project
download when the topology is
connected incorrectly, as long as
the controller is not in the RUN
mode.

AP00897692

If a component is parked via

If a component is parked via "Parking axis" (STW2.7 = 1, p0897)
"Parking axis" (STW2.7 = 1,
and then the DRIVE-CLiQ link is removed, the wrong message is
p0897) and then the DRIVEdisplayed: "A01315 - Drive object cannot be run".
CLiQ link is removed, the wrong
message is displayed: "A01315 Drive object cannot be run".

Ignore message

AP00899734

If double motor modules are

plugged in and set on
"Deactivated and not present"
(p0105=2), it may happen that
after activation of the
components the operation freezes
and the STARTER goes offline
after some while.

- switch off - pull out deactivated

components - switch on - set components
from "Deactivated and not present" to
"Deactivated" - plug in deactivated
components - activate components

If double motor modules are plugged in and set on "Deactivated and

not present" (p0105=2), it may happen that after activation of the
components the operation freezes and the STARTER goes offline
after some while.

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

Servo/Vector

- - X - - - - - - - - - X X - - - X X - X - - - 4.3 SP1

- - X - - - - - - - - - - - - - - - X - - - - - 4.3 SP1

SINAMICS_SW - Upload/Download
AP00893231

Projects saved via the STARTER Projects saved via the STARTER function "Loading to file system" Execute a project download directly into
function "Loading to file system" on the MMC card cannot be run on the CU305.
the device.
on the MMC card cannot be run
on the CU305.

Servo

- - - - - - - - - - - - - - - - - X - - - - - - 4.3 SP1

PNIO_MC - PROFINET communication

AP00796791

In the commissioning interface

screen of STARTER, an IP
address assigned by the
PROFINET controller
(automatically) is not displayed
updated, but the default IP
address or the IP address stored
in the device.

In the commissioning interface screen of STARTER, an IP address

assigned by the PROFINET controller (automatically) is not
displayed updated, but the default IP address or the IP address
stored in the device.

The correct or currently active/valid IP

address is always displayed via
"Accessible nodes" in STARTER. Or the
IP address assigned via STARTER. The
correct IP address is then also displayed
on the interface screen.

- - - - - - - - - - - - X X X X - - X X X - - - 4.3 SP1

AP00896693

An incorrect supply of the IP

address is displayed when the
"Edit Ethernet Node" dialog box
is opened.

If the SINAMICS is operated in IRT, the "Edit Ethernet Node"

dialog box shows that the device is assigned its IP address by a
DHCP server instead of "Use IP parameter". The default setting is
correct in RT operation.

Manually change "Take IP address from a

DHCP server" to "Use IP parameter".

- - - - - - - - - - - - - - - - - - X - X - - - 4.3 SP1

The description of fault F01682 "SI Motion CU: Monitoring

function not supported" with fault value 22 is missing in the List
Manual.

F01682 fault value 22: Encoderless

monitoring functions not supported with
chassis.

- - - - - - - - - - - - X X - - - - X - X - - - 4.3 SP1

The currents specified in parameter r0207[1, 2] are not rated

currents of the chassis power units. The currents specified for the
load cycles are read from the EEPROM of the respective power unit
and displayed.

If the load cycle currents from r0207[1, 2]

differ from those of the catalog, the
values from the catalog for the respective
power unit apply.

- - - - - - - - - - - - - - - - - - X X X X - - 4.3 SP1

Dokumentation allgemein - Safety Integrated

AP00905602

The description of fault F01682

"SI Motion CU: Monitoring
function not supported" with
fault value 22 is missing in the
List Manual.

LH1 Listenh S120/S150 - General

AP00820864

The currents specified in

parameter r0207[1, 2] are not
rated currents of the chassis
power units.

SINAMICS V4.3 SP1 Restrictions

- 10 -

12/15/2009

SINAMICS V4.3 SP1 incl. SSP for STARTER

SIEMENS

SL150

SM150

S150

SINAMICS_Doku

S120

S120-ACDrive

S110

GM150

NCU7xx

G150

Since version
GL150

G130

G120_Sinamics_Poo

D4xx

DC Master

D445

D435

D425

CX32

Drive familiy
CX32-2

Affected DO
All Products

Possible work-around

828D

Circumstances

828D-2

Brief description

802D-sl

ARTSPlusRQ

LH1 Listenh S120/S150 - Safety Integrated

AP00892486

In the safety message C01711

"SI Motion CU: Defect in a
monitoring channel", the
description of the message
values 1041, 1042 and 1043 is
missing in the documentation.

In the safety message C01711 "SI Motion CU: Defect in a

monitoring channel", the description of the message values 1041,
1042 and 1043 is missing in the documentation.

Message value = 1041: - Reduce p9588.

- - - - - - - - - - - - - - - - - X X - X - - - 4.3 SP1

Message value = 1042: - Increase rampfunction generator ramp-up/ramp-down

time (p1120/p1121). - Check that the
current/speed control is set correctly (no
oscillations in the torque/field-generating
current and in the actual speed value). Reduce the dynamic response of the
setpoint. - Increase p9588.
Message value = 1043: - Increase p9589.
- Increase ramp-function generator rampup/ramp-down time (p1120/p1121). Check that the current/speed control is set
correctly (no oscillations in the
torque/field-generating current and in the
actual speed value). - Reduce the dynamic
response of the setpoint.

LH3 Listenh GM150 - General

AP00887548

Notice: Before deactivating a

Notice: Before deactivating a power unit, the user must ensure that
power unit, the user must ensure this power unit is removed from the trip line, if required, and that
that this power unit is removed
this is reconfigured.
from the trip line, if required,
and that this is reconfigured.

- - - - - - - - - - - - - - - X - - - - - - - - 4.3 SP1

LH4 Listenh SM150 - General

AP00887546

Notice: Before deactivating a

Notice: Before deactivating a power unit, the user must ensure that
power unit, the user must ensure this power unit is removed from the trip line, if required, and that
that this power unit is removed
this is reconfigured.
from the trip line, if required,
and that this is reconfigured.

- - - - - - - - - - - - - - - - - - - - - - - X 4.3 SP1

LH5 Listenh GL150 - General

AP00887550

Notice: Before deactivating a

Notice: Before deactivating a power unit, the user must ensure that
power unit, the user must ensure this power unit is removed from the trip line, if required, and that
that this power unit is removed
this is reconfigured.
from the trip line, if required,
and that this is reconfigured.

SINAMICS V4.3 SP1 Restrictions

- - - - - - - - - - - - - - X - - - - - - X - - 4.3 SP1

- 11 -

12/15/2009