Configuring SINAMICS S210 STO/SS1 Safety Functions in TIA Portal

Overview

The SINAMICS S210 servo drive system integrates Safety Integrated functions natively over PROFINET using PROFIsafe. When a light curtain, safety gate, or E-stop is triggered, the controller must command STO (Safe Torque Off) and SS1 (Safe Stop 1) deterministically through the safety telegram - not through the standard motion telegram. The S210 supports safety functions as of firmware V5.1 (SIMOTION) / V5.2 (SINUMERIK) and the corresponding S210 converter firmware versions. PROFIsafe over PROFINET uses slot 1 with safety telegram 30 (for STO/SS1) or 901/902 (extended safety), mapped into the drive's hardware configuration.

This guide consolidates the official Siemens Safety Integrated commissioning workflow for S210, addresses the typical stumbling points (PROFIsafe F-destination address mismatch, telegram slot configuration, SS1 vs STO selection, technology object coupling), and documents the auto-tuning and torque-readback procedures that come up during commissioning.

Prerequisites

Before starting, gather the following hardware and software components:

• SINAMICS S210 converter (6SL3210-5HE... series) with current firmware. The latest S210 firmware is referenced in Siemens support entry 109821935.
• SIMOTION D4x5-2 / SINUMERIK ONE / SIMATIC S7-1500F controller with PROFINET IRT capability.
• TIA Portal V17 or later (V18/V19 recommended for the most recent S210 GSDML).
• SINAMICS S210 Safety Integrated Functions Commissioning Manual: S210_MC_SI_commiss_man_0220_en-US.pdf (entry 109779363).
• SISTEMA library for SINAMICS S210 to verify PL e / SIL 3 calculations.
• Safety I/O (F-CPU with PROFIsafe, or 3SK1 / ET 200SP F-modules) wired to the physical barrier/E-stop.

Step 1: Install the Correct GSDML and Add the S210 to the Project

Install the current GSDML-V2.34-Siemens-Sinamics-S210-...xml file (HSP for TIA Portal V18+ or GSDML for older versions). In TIA Portal:

1. Open Options > Manage General Station Description Files (GSD) and install the S210 GSDML.
2. Drag the SINAMICS S210 from the catalog into the PROFINET network view.
3. Assign the S210 a unique PROFINET device name and IP address on the subnet that matches the controller's PN interface.
4. Note the S210's MAC address (printed on the front panel, also readable via Startdrive > Online > Accessible Nodes).

Step 2: Configure the Standard Telegram (Slot 0 / Standard)

The S210 needs a standard Siemens telegram 105 (drive-integrated, 6 words PZD) or telegram 102/103 for closed-loop torque/position control. Insert the telegram in the device view under Module parameters > Telegram configuration:

• Telegram 105 - recommended for SIMOTION/SINUMERIK motion control: contains MAV (manipulated variable from controller), actual position, actual velocity, and torque utilization.
• IO data length: 6 words input, 6 words output.

Wire the I/O addresses into the technology object (TO) on the SIMOTION side via TO > Configuration > Interconnection > PROFIdrive telegram.

Step 3: Configure the PROFIsafe Telegram (Slot 1 / Safety)

This is the most critical step. The safety telegram must be added on slot 1 with a unique PROFIsafe F-destination address:

1. In the device view of the S210, click Slot 1 and insert F-DI/F-DO module PROFIsafe telegram 30 (telegram 30 covers STO and SS1; telegram 901/902 covers extended functions SS2, SOS, SLS, SDI, SSM).
2. Set the F-destination address (F-Adresse / F-DestAddr) to a value unique on the PROFINET subnet. The default for the first S210 is 1; the second is 2; etc. The F-destination address must match the parameter p9610 in the S210.
3. Set the F-monitoring time (F-Überwachungszeit) to 1000 ms (default 100 ms for PROFINET IRT; 1000 ms is conservative for the first commissioning).
4. Configure the PROFIsafe iPar-CRC check only after full commissioning, otherwise every parameter download will trigger an F-CRC mismatch alarm.

Step 4: Parameterize the S210 Safety Functions in Startdrive

Open the S210 in Startdrive (or TIA Portal with the Startdrive HSP) and navigate to Safety Integrated > Functions:

For SS1 (Safe Stop 1, time-controlled): Set p9601 = 2, p9650 to the desired deceleration delay (typical 0.3-2.0 s depending on axis dynamics). After SS1, the drive automatically transitions to STO internally.

For STO only (no controlled stop before torque removal): Set p9601 = 1. The drive removes torque within the STO debounce time p9651 once the safety bit drops.

Step 5: Wire the Safety Telegram in the F-CPU

In the F-CPU program (S7-1500F), the S210's PROFIsafe slot 1 appears as an F-DB with input/output tags:

// F-DB tags generated by TIA Portal after F-runtime group compile
#S210_Safety_DI     // BOOL - safety input bit 0 = STO/SS1 request
#S210_Safety_DO     // BOOL - safety output bit 0 = status feedback (SSM_ACTIVE)
// F-I/O DB naming example: "S210_Slot1_Receive_DB".DI_S210_STO_SS1_Request

The F-application logic should look like:

// Pass STO/SS1 request from safety input module to S210
#S210_Safety_DI := #LightCurtain_OK AND #DoorClosed AND NOT #Estop_Pressed;

// Or using the F-Select FB:
"F_Select_DB"(
    IN1 := #LightCurtain_OK,
    SEL := TRUE,
    OUT  => #S210_Safety_DI
);

After every F-runtime group change, perform an F-runtime group acceptance test from TIA Portal (menu Safety > Generate F-runtime group acceptance) to create the protocol required by EN ISO 13849-1.

Step 6: Configure the Technology Object (TO) and Drive Auto-Tuning

The S210 must be mechanically tuned before safety functions can be reliably validated. Use the Startdrive One Button Tuning or the SIMOTION Axis auto-tune function:

1. In TIA Portal, open the S210 in Startdrive and navigate to Commissioning > One Button Tuning.
2. Set the mechanical limits (travel range, max velocity, max torque) appropriate for the load.
3. Click Start tuning. The drive performs a series of motion tests (positive/negative direction, inertia measurement, vibration detection).
4. After successful tuning, the dialog shows the new Kp / Tn values. Click Take values to drive to commit them to RAM, then Copy RAM to ROM to persist.

If the controller is SIMOTION, also run TO > Axis > Automatic Servo Tuning from the axis diagnostics. After auto-tuning, in the TO expert list set Take Values from Drive = TRUE to push the new drive Kp/Tn into the TO controller.

Step 7: Read Torque from the Drive

Torque readback is available in two units depending on the path:

In the F-CPU, you can read the actual torque utilization via telegram 105 with the standard MC_ReadActualTorque / MC_ReadAxisInfo block (SIMOTION) or the S7-1500 motion control MC_ReadActualValue with Selector = Torque.

Example for SIMOTION ST:

#bEnable := TRUE;
#iAxis := TO_Axis1;
#MC_ReadActualTorque_Instance(
    Enable     := #bEnable,
    Axis       := #iAxis,
    Torque     => #lrTorque,    // LREAL, units of 0.001 Nm per S7-1500 / SIMOTION
    Error      => #bErr,
    ErrorID    => #wErrId
);
// lrTorque is in [Nm], signed
// To convert to percentage: % = lrTorque * 100 / Motor_M rated torque

The PLC returns the value in Nm; the percent display requires division by the rated motor torque (drive parameter r0333, or 1FK motor nameplate).

Step 8: Verification - Functional Test of STO/SS1

Before declaring the safety chain operational, perform a documented functional test:

1. Verify normal operation - axis moves under standard motion control.
2. Trigger the safety input (open barrier, press E-stop). The drive must remove torque within p9651 + p9650 (for SS1) or within the F-monitoring time (for STO).
3. Check the safety status word: bit SSM (Safe Speed Monitor) = 0 indicates safe state active.
4. Reset the safety input. The drive should remain in STO until a standard RESET / ENABLE is issued via the standard telegram (this prevents automatic restart, EN 60204-1 §9.2.5.8).
5. Record the test results in the safety acceptance protocol.

Troubleshooting Matrix

Step 9: Project Documentation and Acceptance

Finalize the safety project documentation as required by EN ISO 13849-1 §4.8 and EN 62061 §5:

1. Generate the F-runtime group acceptance report from TIA Portal (Safety > Acceptance test report).
2. Run the SISTEMA library import for S210 and verify the calculated PFHd and PL for each safety function.
3. Print the safety parameter printout (Startdrive > Print > Safety parameters) and attach to the machine file.
4. Mark all safety-related I/O in the electrical schematic with the safety PL/SIL designation.

Commissioning Checklist

• [ ] S210 GSDML installed, latest firmware loaded (reference: 109821935)
• [ ] Standard telegram 105 configured on slot 0
• [ ] PROFIsafe telegram 30 configured on slot 1
• [ ] F-destination address in HWCN matches p9610
• [ ] p9601 = 1 (STO) or 2 (SS1)
• [ ] p9620 = 0 (PROFIsafe as source)
• [ ] p9650 set for SS1 transition time
• [ ] F-CPU safety program compiles, F-runtime group active
• [ ] Auto-tune completed, Kp/Tn committed, Copy RAM to ROM
• [ ] Functional test passed, acceptance report signed

Key Siemens Documentation References

Official Siemens documentation entries used in this article:

• S210 Safety Integrated Commissioning Manual (PDF)
• SINAMICS S210 Safety Integrated entry 109779363
• Latest S210 firmware safety configuration entry 109821935
• S210 safety library (older firmware) entry 109485794