Overview
The SINAMICS G150 is a Siemens air-cooled, cabinet-style AC drive (frame sizes FxGxH up to 6,300 kW / 4,160 V) built on the SINAMICS platform. It supports PROFIBUS-DP as a standard slave interface, allowing any DP-V0/DP-V1 master (Siemens S7-300/400, S7-1500, Emerson DeltaV, ABB 800xA, etc.) to read status and write setpoints over a single shielded twisted-pair cable. The most common configuration for a two-drive system is standard telegram 352 (P0922 = 352), which provides 6 words OUT and 6 words IN at a 4 ms cycle.
This reference covers the parameter set, word mapping, status/control bit definitions, the GSD import, and commissioning checks for both Siemens and Emerson DeltaV masters. Telegram 999 is also referenced for fully custom layouts.
Source materials: SINAMICS G150 List Manual (function diagrams 2420, 2440, 2450, 2460, 2470, 2480) and the SINAMICS G150 Operating Instructions are the primary references. The official GSD file identifier is
SI018105.GSE for the G150. Always cross-check the parameter numbers against the firmware version installed on the Control Unit (CU320-2).Prerequisites
- SINAMICS G150 with a CU320-2 Control Unit and a CBE20 or PROFIBUS option (PROFIBUS is integrated on the CU320-2 via the X126 PROFIBUS DP port).
- PROFIBUS-DP cable (violet, type A) with terminating resistors enabled on both end nodes only.
- PROFIBUS connector with PG socket (Siemens 6GK1500-0FC10 or equivalent) and a known bus address (default 126, range 1–126).
- GSD file
SI018105.GSEfor the drive, plus a Siemens-approved GSD revision matching the firmware (e.g., V4.7 / V5.1 / V5.2 depending on release). - Commissioning tool: STARTER (≤ V5.4) or Startdrive in TIA Portal (V15.1+) for drive parameterization.
- Master configuration tool: STEP 7 (HW Config) for Siemens PLC, or Sycon (Hilscher) / DeltaV Profibus Configurator for Emerson DeltaV.
Telegram 352 Structure
Telegram 352 is a vendor-defined standard telegram that ships pre-compiled in the GSD. The slot is fixed and is the recommended selection for the G150 when 6 PZDs OUT and 6 PZDs IN are sufficient.
| Slot | Word | Direction | Signal | Parameter |
|---|---|---|---|---|
| 0 | 0 | OUT (PLC → Drive) | Control word 1 (STW1) | r2050[0] / PZD in |
| 0 | 1 | OUT (PLC → Drive) | Speed setpoint (NSOLL) | r2050[1] |
| 0 | 2 | OUT (PLC → Drive) | Reserved / free | r2050[2] |
| 0 | 3 | OUT (PLC → Drive) | Reserved / free | r2050[3] |
| 0 | 4 | OUT (PLC → Drive) | Reserved / free | r2050[4] |
| 0 | 5 | OUT (PLC → Drive) | Reserved / free | r2050[5] |
| 0 | 0 | IN (Drive → PLC) | Status word 1 (ZSW1) | r2089[0] |
| 0 | 1 | IN (Drive → PLC) | Speed actual (NIST), 0x4000 hex = 100 % | r0063 |
| 0 | 2 | IN (Drive → PLC) | Current actual (IAIST), 0x4000 hex = 100 % | r0068 |
| 0 | 3 | IN (Drive → PLC) | Torque actual (MIST), 0x4000 hex = 100 % | r0080 |
| 0 | 4 | IN (Drive → PLC) | Fault code | r2132 |
| 0 | 5 | IN (Drive → PLC) | Alarm code | r2131 |
Normalization of PZD words 1–3 follows SINAMICS convention: 4000h = 100 %. For speed, 100 % corresponds to p2000 (default 1500 1/min). For current, 100 % corresponds to p2002. For torque, 100 % corresponds to p2003. Always set reference parameters before scaling telemetry.
Variant telegrams: Telegram 1 (control word 1 + NSOLL) is the bare minimum. Telegram 2 adds speed feedback. Telegram 3 adds current. Telegram 4 and 20 add the closed-loop speed controller, and Telegram 350 is the universal vendor layout used in newer S120 projects. For custom layouts, set
p0922 = 999 and interconnect p2051 (PZD send) and p2061 (PZD receive) per word.Drive Parameter Configuration (G150)
Apply the following parameters before going online with the master. They define the bus address, command source, setpoint source, and telegram layout.
| Parameter | Value | Description |
|---|---|---|
| P0918 | 3 (example) | PROFIBUS node address. Set via DIP switches on the CU320-2 or write online. Must be unique on the bus. |
| P0700 | 5 | Command source = PROFIBUS (this is the SINAMICS source selector, replacing the legacy Micromaster P0700). |
| P1000 | 1 | Setpoint source = PROFIBUS, channel 1. |
| P0922 | 352 | Selects standard telegram 352 (6/6). Becomes active only after a power cycle or warm restart of the CU. |
| P2030 | 2 | Fieldbus interface protocol = PROFIBUS (default; 0 = no protocol, 1 = RS232 USS for STARTER, 2 = PROFIBUS). |
| P2031 | 0 | Set to 0 for PROFIBUS-DP (no further routing on RS232). |
| P2040 | 20 | Process data monitoring time in ms. If no PZD arrives within this window, the drive trips with F08501. |
| P2000 | 1500 (default) | Reference speed 1 in 1/min used to normalize NSOLL/NIST on PROFIBUS. |
| P2002 | — (drive rating) | Reference current in A RMS. Read from r0207 for sane default. |
| P2003 | — (drive rating) | Reference torque in N·m. Read from r0333. |
| P2051 | per word | Bit-selector for IN words (only used with P0922 = 999). |
| P2061 | per word | Bit-selector for OUT words (only used with P0922 = 999). |
| P840[0] | — (computed) | BI: ON/OFF1 source; interconnect to PZD-in bit-r2089 mapping (typically r2090.0 for STW1 bit 0). |
| P2103 | — (computed) | BI: Fault acknowledgement. Tie to STW1 bit 7 (r2090.7) when acks come from the master. |
Anti-pattern: Do not leave P0700 = 1 (terminals) and P1000 = 1 while writing from PROFIBUS. The drive's ramp function generator will mix the two sources and ON/OFF1 will appear sticky. With P0700 = 5 and P1000 = 1, PROFIBUS becomes the sole command/setpoint source and all hardwired interlocks should be replicated inside STW1 (e.g., external fault via P2106 → F07806).
Status Word 1 (ZSW1) Bit Definitions
Read ZSW1 from input word 0. Bits are active-high unless noted. Default state during power-up is 0x4A31 (ready, no alarm, no fault).
| Bit | Signal | Meaning |
|---|---|---|
| 0 | Ready to power up | Power supply present, DC bus charged, electronics initialized. |
| 1 | Ready | ON command accepted, DC bus OK, no pending enable-inhibits. Output stage can energize. |
| 2 | Operation enabled | Pulses enabled, drive is actively ramping the motor. |
| 3 | Fault present | Latched fault, motor torque-free. Ack via STW1.7 to clear. |
| 4 | Coast down active (OFF2) | Pulses inhibited, drive ramping to zero without regen. Active while OFF2 is low. |
| 5 | Quick stop active (OFF3) | Fast stop along P1135 ramp, then OFF1 inhibit. |
| 6 | Switch-on inhibit | Re-ON command required to re-enter the Ready state. |
| 7 | Alarm active | Non-latched warning. Code in r2131. |
| 8 | Setpoint/actual deviation | Speed controller at limit. Useful for diagnostics. |
| 9 | Control requested | PLC should retain control. PROFIBUS always raises this. |
| 10 | Comparison value reached | (reserved / n.c. in standard layout) |
| 11 | Current limit reached | Drive running at I_max. Reduce load or check P0640. |
| 12 | Regenerative limit | Braking chopper / regen at limit. |
| 13 | Motor overtemperature alarm | From I²t model or PTC (P0601). |
| 14 | Motor rotates forward | Speed actual > 0. |
| 15 | Converter overtemperature alarm | Heatsink or chip temp exceeded A07810 threshold. |
Control Word 1 (STW1) Bit Definitions
Write STW1 to output word 0. The drive executes a state machine per PROFIdrive profile; bits must be set in the proper sequence or the drive will not transition out of "Switch-on inhibit". The minimum transition sequence is:
- Send
0x047E(Ready, no ON, no Coast, no Quick stop). - Wait for ZSW1 bit 0 ("Ready to power up") and bit 1 ("Ready").
- Send
0x047Fto issue ON/OFF1 = 1. - Wait for ZSW1 bit 2 ("Operation enabled").
- Set NSOLL (PZD 1) to the desired normalized speed.
| Bit | Signal | Meaning |
|---|---|---|
| 0 | ON / OFF1 | 0 = coast to stop, 1 = enable ramp. |
| 1 | OFF2 | 0 = coast (pulses off), 1 = OFF2 not active. |
| 2 | OFF3 | 0 = quick stop along P1135, 1 = OFF3 not active. |
| 3 | Enable operation | 0 = inhibit pulses, 1 = enable pulses. |
| 4 | Enable ramp generator | 0 = freeze RFG, 1 = enable RFG (set to 1 in normal run). |
| 5 | Unfreeze ramp generator | 0 = hold last setpoint, 1 = accept new setpoint. |
| 6 | Enable setpoint | 0 = setpoint = 0, 1 = apply PZD 1 to RFG. |
| 7 | Acknowledge fault | 0→1 edge resets the active fault (if cleared). |
| 8 | Jog 1 | Reserved / per application. |
| 9 | Jog 2 | Reserved / per application. |
| 10 | Control by PLC | Must be 1 for PROFIBUS authority. Setting 0 forces ramp stop. |
| 11–15 | Reserved / vendor | Use Telegram 999 for custom mappings. |
STEP 7 / S7-300/400 Integration Procedure
-
Install the GSD: In SIMATIC Manager, choose Options → Install GSD File and select
SI018105.GSE. Restart HW Config. - Insert the drive: Drag "SINAMICS G150" from the catalog (PROFIBUS DP → Drives → Siemens AG → SINAMICS → G150) onto the DP master system. Set the address to match P0918 (e.g., 3).
- Place the telegram: Open the drive's slot, drag "Standard Telegram 352" into slot 0. The diagnostic address (default 2047) is filled in automatically.
- Map process I/O: HW Config assigns PEB/PAB addresses. For example, with start address 256, IN starts at PEW 256 and OUT starts at PAW 256 (6 words each). Record these addresses for the user program.
-
Configure the S7 user program:
- Use SFC14 / SFC15 "DPRD_DAT" and "DPWR_DAT" for consistent reads/writes when the master is the CPU 315/317/319. For S7-400 with consistent PZDs, use SFC14/15 only.
- Block FB 305 / FB 350 "SINAMICS" (Siemens standard library) handles the state machine, scaling, and fault/warning decoding. Bind it to the configured I/O addresses.
- Download and go online: Save, compile, download the HW Config and the OB1/OB35 logic. Use the S7 "Monitor/Modify" tool to confirm PEW/PAW motion. Open STARTER online to verify PZD inputs in r2050 / r2089.
Emerson DeltaV Integration Procedure
DeltaV controllers talk PROFIBUS-DP only via the DeltaV Profibus Interface (CI module + Sycon configurator). The default GSD SI018105.GSE can be imported directly.
- Launch Sycon (the offline PROFIBUS configurator shipped with DeltaV). Import the GSD.
- Insert the DeltaV Profibus Master from the catalog onto the bus. The master must be inserted at the correct slot and configured with the controller's IO capacity.
- Drag "SINAMICS G150" from the catalog and drop it on the bus. Assign the correct PROFIBUS address (matching P0918 on the drive).
- Insert the Standard Telegram 352 module into slot 0. The configurator generates per-byte I/O areas; map them to DeltaV
%AI/%AOblocks. - Export the bus configuration as a DBM file and import it into DeltaV Control Studio. The drive appears as a Device under the Profibus master.
- From the DeltaV controller, write STW1 using Function Block IO_OUT to the configured
%AOchannel. Read ZSW1, speed, current, torque, fault and alarm codes into%AIchannels. Add a control block that issues the0x047E → 0x047Fsequence on the rising edge of a start command and toggles STW1.7 to acknowledge faults.
Because DeltaV treats each PZD word as an integer, apply the same 0x4000 = 100 % scaling. To convert NIST to engineering units (1/min), apply:
rpm = AI_word × p2000 ÷ 16384. To convert IAIST to amps: amps = AI_word × p2002 ÷ 16384.Commissioning Verification
Run this checklist once the master is online with the drive:
- Confirm
r2050[0..5]andr2089[0..5]reflect the PZDs that the master is transmitting. If r2050 stays 0, the bus is wired but the telegram is not selected correctly; re-check P0922 = 352 and power-cycle the CU. - Read ZSW1 in the master. Bit 0 should toggle true within 5 s of bus scan; bit 6 "Switch-on inhibit" should be true until the state machine accepts the first ON command.
- Issue
STW1 = 0x047E. Bit 0 of ZSW1 remains true, bit 1 should rise (Ready). Then issue0x047Fand wait for bit 2 (Operation enabled). The drive should not run the motor because NSOLL = 0. - Write
NSOLL = 0x1000(25 % of p2000). Monitor r0063 in STARTER and verify the master sees NIST in proportion. - Force a trip by setting P840[0] = 0 momentarily. Verify the master's fault code word matches r2132 and that pulsing bit 7 of STW1 resets the fault. Re-acknowledge and confirm drive returns to "Ready".
- Check r2131 alarm buffer; clear all non-essential warnings (e.g., A07810) by fixing root cause, not by suppressing them.
Common Fault and Alarm Codes
| Code | Description | Likely Cause | Action |
|---|---|---|---|
| F08501 | PN/COMM board sign-of-life failure | P2040 timeout, telegram loss. | Verify cable, terminations, P2040 ≥ 4× bus cycle. Check shield bonding. |
| F08502 | Watchdog timeout (DP-V1) | Master timeout too low. | Increase DP-V1 watchdog in master. For DP-V0 use P2040. |
| F01910 | Fieldbus setpoint timeout | PROFIBUS comms lost while running. | Set P2040 to non-zero and add reaction (P2100[0] mapped to F01910). |
| F30003 | DC bus undervoltage | Loss of mains during run. | Check line reactor, supply, line dips. |
| F07806 | Drive feedback signal error | Encoder issue (closed-loop only). | Re-validate encoder wiring; P0400/P0408. |
| A07810 | Drive: overtemperature alarm | Cooling fan / heatsink temp high. | Inspect fans, ambient, derating curves. |
| A07901 | Motor overload alarm | Motor I²t above threshold. | Verify load profile, P0601 thermal model. |
| A08502 | PROFIBUS warning | Bus errors, no parameter access. | Check CRC, baud rate (≤ 12 Mbps), repeaters. |
Troubleshooting Matrix
| Symptom | Likely Parameter | Verify | Fix |
|---|---|---|---|
| Drive powers up but master sees no PZDs | P0922, P0918, P2030 | Check r2050 and r2089 in STARTER; oscilloscope on DP cable. | Set P0922 = 352, set unique address, cycle power. |
| ZSW1 always shows "Switch-on inhibit" | STW1 sequence | Read PZD0 from master. | Issue 0x047E, then 0x047F; never let bit 0 fall during operation. |
| Motor will not run despite ZSW1.2 = 1 | P840[0] source | Trace BI: r2090.0 → P840. | Ensure r2090.0 is connected; verify P1000 and P0700 = PROFIBUS. |
| Speed setpoint ignored (r0063 = 0) | P1000, P1150 | Read r2250 (RFG output). | Set P1000 = 1, P1150[0] = 0; confirm STW1.6 = 1. |
| Periodic F08501 / F01910 | P2040 | Monitor P2040 counter. | Raise P2040 to 4× bus cycle (≥ 16 ms typical). |
| Fault cannot be acked from PLC | P2103, P2104[0] | Check r2090.7 status. | Interconnect P2103 = r2090.7; ensure P2104[0] = r2090.7. |
| DeltaV Sycon cannot see GSD | GSD revision | Check GSD date stamp. | Import from latest Siemens Industry Online Support; restart Sycon. |
| Read scaling is half expected | p2000/p2002/p2003 | Inspect reference values. | Set reference values to motor nameplate; 0x4000 = 100 %. |
Field-Proven Caveats
- Baud rate: PROFIBUS-DP is rated up to 12 Mbps. For cable runs > 100 m or noisy environments, drop to 1.5 Mbps. The G150 auto-detects the master's baud rate; no parameter is required.
- Shielding: Use 360° EMC glands at every cabinet entry. Route the PROFIBUS cable at least 200 mm from VFD output cables. Avoid routing parallel to motor leads for more than 1 m.
- Terminating resistors: Enable on the first and last node only. The G150 connector typically ships with a switch inside the connector body.
- Cold start vs. warm start: After changing P0922, the drive ignores the new layout until a power cycle. The same applies to changes in P2051 / P2061 for telegram 999.
- Slot 0 occupancy: Telegram 352 must occupy slot 0 of the drive. Inserting other modules (encoder, I/O) into slot 0 is illegal and will produce a bus configuration error in the master.
- Consistency: For S7-300/400, SFC14/15 are required because the PZDs exceed 4 bytes. Direct L PEB / T PAB access yields non-consistent data and will intermittently mis-decode bits.
Reference Documents
- SINAMICS G150 Operating Instructions (A5E01804662) — Siemens Industry Online Support.
- SINAMICS G150 List Manual (function diagrams 2420 / 2440 / 2460, parameter list) — accessible via STARTER help and Siemens support portal.
- PROFIdrive Profile V4.2 specification — published on PROFIBUS & PROFINET International (PI).
- SINAMICS G150 entry on the PI product finder — profibus.com/product-finder/sinamics-g150.
- Siemens Industry Forum thread on G150 PROFINET vs. PLC PROFIBUS — Siemens Forum post 976075.
What GSD file does the SINAMICS G150 use on PROFIBUS?
The G150 ships with GSD SI018105.GSE. Always import the revision matching the installed CU320-2 firmware (commonly V4.7 to V5.2). The GSD is available on the Siemens Industry Online Support portal.
Which telegram should I select for two PZDs of speed + status?
Use Standard Telegram 352 (P0922 = 352). It provides 6 words OUT and 6 words IN including ZSW1, NIST, IAIST, MIST, fault code (r2132) and alarm code (r2131). For smaller designs use telegram 1 (2/2) or telegram 2 (2/6).
How do I scale the 0x4000 = 100 % PZDs back to engineering units?
Speed: rpm = NIST × p2000 ÷ 16384. Current: A = IAIST × p2002 ÷ 16384. Torque: Nm = MIST × p2003 ÷ 16384. Make sure p2000, p2002, and p2003 are set to the motor nameplate values before the fieldbus is brought up.
Why does my drive trip with F01910 shortly after enabling?
F01910 means "Fieldbus setpoint timeout". P2040 is the process data monitoring time in ms. Set P2040 to at least 4× the bus cycle (typical 16–20 ms). If the master is DP-V1, also raise the watchdog in HW Config or Sycon.
What is the minimum STW1 sequence to start the drive over PROFIBUS?
Send 0x047E first (bit 0 = OFF1, bit 1 = not OFF2, bit 2 = not OFF3, others passive). Wait for ZSW1.0 and ZSW1.1. Then send 0x047F (set bit 0 = ON). Once ZSW1.2 = 1, apply NSOLL in PZD 1. Toggling bit 7 with a 0→1 edge acks faults.
Can I use Telegram 999 for a custom layout?
Yes. Set P0922 = 999, then interconnect p2051[0..15] to the signals you want to send (e.g., r0063 for speed feedback, r0080 for torque) and p2061[0..15] for the receive side (e.g., STW1 control word, NSOLL). A power cycle is required after every P0922 change.