___________________

Preface

Fundamental safety
___________________
instructions 1
SINAMICS S120 drive
SINAMICS
___________________
system 2

___________________
Overview 3
S120
Getting Started with STARTER
___________________
Hardware components 4

___________________
Creating a drive object 5
Getting Started

___________________
Configuring the drive object 6

___________________
Commissioning a drive 7

___________________
Appendix A

Valid as of:
Firmware version 5.1

11/2017
6SL3097-4AG00-0BP5
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG Document order number: 6SL3097-4AG00-0BP5 Copyright © Siemens AG 2004 - 2017.

Division Digital Factory Ⓟ 10/2017 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
● General documentation/catalogs
● User documentation
● Manufacturer/service documentation

Additional information
You can find information on the following topics at the following address
(https://support.industry.siemens.com/cs/de/en/view/108993276):
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals/information)
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address
(mailto:[email protected]).

Siemens MySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.

Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).

FAQs
You can find Frequently Asked Questions in the Service&Support pages under Product
Support (https://support.industry.siemens.com/cs/de/en/ps/faq).

SINAMICS
You can find information about SINAMICS at the following address
(http://www.siemens.com/sinamics).

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Preface

Usage phases and their documents/tools (as an example)

Table 1 Usage phases and the available documents/tools

Usage phase Document/tool

Orientation SINAMICS S Sales Documentation
Planning/configuration • SIZER Engineering Tool
• Configuration Manuals, Motors
Deciding/ordering SINAMICS S120 catalogs
• SINAMICS S120 and SIMOTICS (Catalog D 21.4)
• SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Catalog D 31)
• SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly • SINAMICS S120 Manual for Control Units and Additional System Components
• SINAMICS S120 Manual for Booksize Power Units
• SINAMICS S120 Manual for Booksize Power Units C/D Type
• SINAMICS S120 Manual for Chassis Power Units, Air-cooled
• SINAMICS S120 Manual for Chassis Power Units, Liquid-cooled
• SINAMICS S120 Manual for AC Drives
• SINAMICS S120 Manual Combi
• SINAMICS S120M Manual Distributed Drive Technology
• SINAMICS HLA System Manual Hydraulic Drive
Commissioning • STARTER Commissioning Tool
• Startdrive commissioning tool
• SINAMICS S120 Getting Started with STARTER
• SINAMICS S120 Getting Started with Startdrive
• SINAMICS S120 Commissioning Manual with STARTER
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120 CANopen Commissioning Manual
• SINAMICS S120 Function Manual Drive Functions
• SINAMICS S120 Safety Integrated Function Manual
• SINAMICS S120/S150 List Manual
• SINAMICS HLA System Manual Hydraulic Drive
Usage/operation • SINAMICS S120 Commissioning Manual with STARTER
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120/S150 List Manual
• SINAMICS HLA System Manual Hydraulic Drive
Maintenance/servicing • SINAMICS S120 Commissioning Manual with STARTER
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120/S150 List Manual
References • SINAMICS S120/S150 List Manual

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 Preface

Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.

Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.

Standard scope
The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.
● Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
● The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. The functionality of the supplied drive
system should only be taken from the ordering documentation.
● Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, and cannot take into consideration every conceivable type of
installation, operation and service/maintenance.

Technical Support
Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.

Relevant directives and standards

You can obtain an up-to-date list of currently certified components on request from your local
Siemens office. If you have any questions relating to certifications that have not yet been
completed, please ask your Siemens contact person.

Certificates for download

The certificates can be downloaded from the Internet:
Certificates (https://support.industry.siemens.com/cs/ww/de/ps/13206/cert)

EC Declaration of Conformity
You can find the EC Declaration of Conformity for the relevant directives as well as the
relevant certificates, prototype test certificates, manufacturers declarations and test
certificates for functions relating to functional safety ("Safety Integrated") on the Internet at
the following address (https://support.industry.siemens.com/cs/ww/en/ps/13231/cert).

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Preface

The following directives and standards are relevant for SINAMICS S devices:
● European Low Voltage Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2014/35/EU, insofar as they are covered by the application area of this directive.
● European Machinery Directive
SINAMICS S devices fulfil the requirements stipulated in the Low-Voltage Directive
2006/42/EU, insofar as they are covered by the application area of this directive.
However, the use of the SINAMICS S devices in a typical machine application has been
fully assessed for compliance with the main regulations in this directive concerning health
and safety.
● Directive 2011/65/EU
SINAMICS S devices comply with the requirements of Directive 2011/65/EU on the
restriction of the use of certain hazardous substances in electrical and electronic devices
(RoHS II).
● European EMC Directive
SINAMICS S devices comply with the EMC Directive 2014/30/EU.
● EMC requirements for South Korea
SINAMICS S devices with the KC marking on the type plate satisfy the EMC
requirements for South Korea.
● Eurasian conformity
SINAMICS S comply with the requirements of the Russia/Belarus/Kazakhstan customs
union (EAC).

● North American market

SINAMICS S devices provided with one of the test symbols displayed fulfill the
requirements stipulated for the North American market as a component of drive
applications.
You can find the relevant certificates on the Internet pages of the certifier
(http://database.ul.com/cgi-bin/XYV/template/LISEXT/1FRAME/index.html).

● Specification for semiconductor process equipment voltage drop immunity

SINAMICS S devices meet the requirements of standard SEMI F47-0706.
● Australia and New Zealand (RCM formerly C-Tick)
SINAMICS S devices showing the test symbols fulfill the EMC requirements for Australia
and New Zealand.
● Quality systems
Siemens AG employs a quality management system that meets the requirements of ISO
9001 and ISO 14001.

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 Preface

Not relevant standards

China Compulsory Certification

SINAMICS S devices do not fall in the area of validity of the China Compulsory Certification
(CCC).

EMC limit values in South Korea

The EMC limit values to be observed for Korea correspond to the limit values of the EMC
product standard for variable-speed electric drives EN 61800-3 of category C2 or the limit
value class A, Group 1 to KN11. By implementing appropriate additional measures, the limit
values according to category C2 or limit value class A, Group 1, are observed. Further,
additional measures may be required, such as using an additional radio interference
suppression filter (EMC filter).
The measures for EMC-compliant design of the system are described in detail in this manual
respectively in the EMC Installation Guideline Configuration Manual.
The final statement regarding compliance with the standard is given by the respective label
attached to the individual unit.

Ensuring reliable operation

The manual describes a desired state which, if maintained, ensures the required level of
operational reliability and compliance with EMC limit values.
Should there be any deviation from the requirements in the manual, appropriate actions (e.g.
measurements) must be taken to check/prove that the required level of operational reliability
and compliance with EMC limit values are ensured.

Spare parts
Spare parts are available on the Internet at the following address
(https://www.automation.siemens.com/sow?sap-language=EN).

Product maintenance
The components are subject to continuous further development within the scope of product
maintenance (improvements to robustness, discontinuations of components, etc).
These further developments are "spare parts-compatible" and do not change the article
number.
In the scope of such spare parts-compatible further developments, connector/connection
positions are sometimes changed slightly. This does not cause any problems with proper
use of the components. Please take this fact into consideration in special installation
situations (e.g. allow sufficient clearance for the cable length).

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Preface

Use of third-party products

This document contains recommendations relating to third-party products. Siemens accepts
the fundamental suitability of these third-party products.
You can use equivalent products from other manufacturers.
Siemens does not accept any warranty for the properties of third-party products.

Ground symbols

Table 2 Symbols

Symbol Meaning

Connection for protective conductor

Ground (e.g. M 24 V)

Connection for function potential bonding

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 Preface

Notation
The following notation and abbreviations are used in this documentation:

Notation for faults and alarms (examples):

• F12345 Fault 12345

• A67890 Alarm 67890
• C23456 Safety message

Notation for parameters (examples):

• p0918 Adjustable parameter 918

• r1024 Display parameter 1024
• p1070[1] Adjustable parameter 1070, index 1
• p2098[1].3 Adjustable parameter 2098, index 1 bit 3
• p0099[0...3] Adjustable parameter 99, indices 0 to 3
• r0945[2](3) Display parameter 945, index 2 of drive object 3
• p0795.4 Adjustable parameter 795, bit 4

This documentation is aimed at beginners who want to find out more about the
SINAMICS S120 drive system. The document offers a brief guide to commissioning a
sample project with a simple SINAMICS S120 drive train (CU320-2 PN). By following the
instructions in this document, a beginner will need only a few minutes to engineer and
configure the sample project and start up the motor.

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Preface

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12 Getting Started, 11/2017, 6SL3097-4AG00-0BP5
Table of contents

Preface ................................................................................................................................................... 5
1 Fundamental safety instructions ............................................................................................................ 15
1.1 General safety instructions .....................................................................................................15
1.2 Equipment damage due to electric fields or electrostatic discharge ......................................20
1.3 Warranty and liability for application examples ......................................................................21
1.4 Industrial security ....................................................................................................................22
1.5 Residual risks of power drive systems....................................................................................23
2 SINAMICS S120 drive system ............................................................................................................... 25
3 Overview............................................................................................................................................... 27
4 Hardware components .......................................................................................................................... 29
4.1 Components of the example configuration .............................................................................29
4.2 System data of the SINAMICS S120 training case ................................................................30
4.3 Wiring the components ...........................................................................................................32
5 Creating a drive object .......................................................................................................................... 33
5.1 Overview .................................................................................................................................33
5.2 Setting the communication interfaces .....................................................................................34
5.2.1 Setting up the Ethernet interface ............................................................................................34
5.2.2 Calling STARTER ...................................................................................................................35
5.2.3 Assigning the Ethernet interface in STARTER .......................................................................36
5.3 Creating a drive project ...........................................................................................................38
6 Configuring the drive object ................................................................................................................... 41
6.1 Configuring the drive unit ........................................................................................................41
6.2 Configuring the Motor Module ................................................................................................45
6.3 Special issues with the SINAMICS S120 training case ..........................................................46
7 Commissioning a drive .......................................................................................................................... 49
A Appendix............................................................................................................................................... 55
A.1 List of important alarms and faults ..........................................................................................55
A.2 Restoring factory settings .......................................................................................................57
A.3 Documentation overview ........................................................................................................59

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Table of contents

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14 Getting Started, 11/2017, 6SL3097-4AG00-0BP5
Fundamental safety instructions 1
1.1 General safety instructions

WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
• Only work on electrical devices when you are qualified for this job.
• Always observe the country-specific safety rules.
Generally, the following six steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be affected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time specified on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any
of the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse
sequence.

WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may
carry a hazardous voltage that might result in serious injury or death.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the
electronics modules.

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Fundamental safety instructions
1.1 General safety instructions

WARNING
Electric shock due to equipment damage
Improper handling may cause damage to equipment. For damaged devices, hazardous
voltages can be present at the enclosure or at exposed components; if touched, this can
result in death or severe injury.
• Ensure compliance with the limit values specified in the technical data during transport,
storage and operation.
• Do not use any damaged devices.

WARNING
Electric shock due to unconnected cable shield
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
• As a minimum, connect cable shields and the conductors of power cables that are not
used (e.g. brake cores) at one end at the grounded housing potential.

WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when
touched, can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.

WARNING
Arcing when a plug connection is opened during operation
Opening a plug connection when a system is operation can result in arcing that may cause
serious injury or death.
• Only open plug connections when the equipment is in a voltage-free state, unless it has
been explicitly stated that they can be opened in operation.

WARNING
Electric shock due to residual charges in power components
Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the
power supply has been switched off. Contact with live parts can result in death or serious
injury.
• Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.

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 Fundamental safety instructions
1.1 General safety instructions

NOTICE
Property damage due to loose power connections
Insufficient tightening torques or vibration can result in loose power connections. This can
result in damage due to fire, device defects or malfunctions.
• Tighten all power connections to the prescribed torque.
• Check all power connections at regular intervals, particularly after equipment has been
transported.

WARNING
Spread of fire from built-in devices
In the event of fire outbreak, the enclosures of built-in devices cannot prevent the escape of
fire and smoke. This can result in serious personal injury or property damage.
• Install built-in units in a suitable metal cabinet in such a way that personnel are
protected against fire and smoke, or take other appropriate measures to protect
personnel.
• Ensure that smoke can only escape via controlled and monitored paths.

WARNING
Failure of pacemakers or implant malfunctions due to electromagnetic fields
Electromagnetic fields (EMF) are generated by the operation of electrical power equipment,
such as transformers, converters, or motors. People with pacemakers or implants in the
immediate vicinity of this equipment are at particular risk.
• If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from
electrical power equipment.

WARNING
Unexpected movement of machines caused by radio devices or mobile phones
When radio devices or mobile phones with a transmission power > 1 W are used in the
immediate vicinity of components, they may cause the equipment to malfunction.
Malfunctions may impair the functional safety of machines and can therefore put people in
danger or lead to property damage.
• If you come closer than around 2 m to such components, switch off any radios or mobile
phones.
• Use the "SIEMENS Industry Online Support App" only on equipment that has already
been switched off.

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Fundamental safety instructions
1.1 General safety instructions

WARNING
Motor fire in the event of insulation overload
There is higher stress on the motor insulation through a ground fault in an IT system. If the
insulation fails, it is possible that death or severe injury can occur as a result of smoke and
fire.
• Use a monitoring device that signals an insulation fault.
• Correct the fault as quickly as possible so the motor insulation is not overloaded.

WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent
fire and smoke. This can cause severe injury or even death. This can also result in
increased downtime and reduced service lives for devices/systems.
• Ensure compliance with the specified minimum clearance as ventilation clearance for
the respective component.

WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
• Check that the warning labels are complete based on the documentation.
• Attach any missing warning labels to the components, where necessary in the national
language.
• Replace illegible warning labels.

NOTICE
Device damage caused by incorrect voltage/insulation tests
Incorrect voltage/insulation tests can damage the device.
• Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the
manufacturer, and therefore it is not necessary to perform an additional test within the
system/machine.

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 Fundamental safety instructions
1.1 General safety instructions

WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
• Observe the information in the appropriate product documentation before
commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.

Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the
Safety Integrated manuals.

WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in
turn can lead to injuries or death.
• Protect the parameterization (parameter assignments) against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.

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Fundamental safety instructions
1.2 Equipment damage due to electric fields or electrostatic discharge

1.2 Equipment damage due to electric fields or electrostatic discharge

Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules
or devices that may be damaged by either electric fields or electrostatic discharge.

NOTICE
Equipment damage due to electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged
individual components, integrated circuits, modules or devices.
• Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of
aluminum foil.
• Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
• Only place electronic components, modules or devices on conductive surfaces (table
with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).

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 Fundamental safety instructions
1.3 Warranty and liability for application examples

1.3 Warranty and liability for application examples

The application examples are not binding and do not claim to be complete regarding
configuration, equipment or any eventuality which may arise. The application examples do
not represent specific customer solutions, but are only intended to provide support for typical
tasks. You are responsible for the proper operation of the described products. These
application examples do not relieve you of your responsibility for safe handling when using,
installing, operating and maintaining the equipment.

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Fundamental safety instructions
1.4 Industrial security

1.4 Industrial security

Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens products and solutions only represent one component of such a
concept.
The customer is responsible for preventing unauthorized access to its plants, systems,
machines and networks. Systems, machines and components should only be connected to
the enterprise network or the internet if and to the extent necessary and with appropriate
security measures (e.g. use of firewalls and network segmentation) in place.
Additionally, Siemens’ guidance on appropriate security measures should be taken into
account. For more information about industrial security, please visit:
Industrial security (http://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends to apply product updates as soon as available and to
always use the latest product versions. Use of product versions that are no longer supported,
and failure to apply latest updates may increase customer’s exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed at:
Industrial security (http://www.siemens.com/industrialsecurity).

WARNING
Unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe
operating states in your system that may lead to death, serious injury, and property
damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security
concept.
• Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.

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 Fundamental safety instructions
1.5 Residual risks of power drive systems

1.5 Residual risks of power drive systems

When assessing the machine- or system-related risk in accordance with the respective local
regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer
must take into account the following residual risks emanating from the control and drive
components of a drive system:
1. Unintentional movements of driven machine or system components during
commissioning, operation, maintenance, and repairs caused by, for example,
– Hardware and/or software errors in the sensors, control system, actuators, and cables
and connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices/mobile phones in the immediate vicinity of electronic
components
– External influences/damage
– X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component failure
– Software errors
– Operation and/or environmental conditions outside the specification
– External influences/damage
3. Hazardous shock voltages caused by, for example:
– Component failure
– Influence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside the specification
– Condensation/conductive contamination
– External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a
risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too
close

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Fundamental safety instructions
1.5 Residual risks of power drive systems

5. Release of environmental pollutants or emissions as a result of improper operation of the

system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters
or data communication via the network
For more information about the residual risks of the drive system components, see the
relevant sections in the technical user documentation.

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SINAMICS S120 drive system 2
Modular system for sophisticated drive tasks
SINAMICS S120 solves complex drive tasks for a wide range of industrial applications and
is, therefore, designed as a modular system. Users can choose from many different
harmonized components and functions to create a solution that best meets their
requirements. SIZER, a high-performance engineering tool, makes it easier to choose and
determine the optimum drive configuration.
SINAMICS S120 is supplemented by a wide range of motors. Whether torque, synchronous
or induction motors, whether rotating or linear motors, all of these motors are optimally
supported by SINAMICS S120.

System architecture with a central Control Unit

On the SINAMICS S120, the drive intelligence is combined with closed-loop control functions
into Control Units. These units are capable of controlling drives in the vector, servo, and V/f
modes. They also perform the speed and torque control functions plus other intelligent drive
functions for all axes on the drive. Inter-axis connections can be established within a
component and easily configured in the STARTER commissioning tool using a mouse.

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SINAMICS S120 drive system

System overview
The SINAMICS S120 drive system consists of a variety of different modules. It is constructed
of infeeds, filters, motor power units, modules for additional functions, Control Units plus
standard and special versions of rotating and linear motors.

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Overview 3
This manual provides instructions on how to commission a simple SINAMICS S120 drive
based on a sample project.
To create a sample project the following points are explained:
1. Which hardware components do you need for the sample project?
2. How do you create a simple project in the STARTER?
3. How do you configure a drive?
4. How do you put the drive into operation?

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Overview

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Hardware components 4
4.1 Components of the example configuration
The following components are contained within the example configuration:
● CU320-2 DP from firmware version 4.5 with integrated Ethernet interface
● Smart Line Module (supply module)
● Line filter
● Double Motor Module
● Line reactor (for ALM and SLM)
● Synchronous servo motor with absolute encoder and DRIVE-CLiQ interface
● Standard PC with Windows operating system as a programming device (PG/PC), with
pre-installed STARTER commissioning tool from version 4.3.
The following procedure uses the Windows 7 operating system. Operation can differ
slightly for other operating systems (e.g. Windows XP).
● Installed motor, power, and control cables
● DRIVE-CLiQ cables
● Ethernet interface in the PG/PC
● Ethernet connection between the PG/PC and the Control Unit

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Hardware components
4.2 System data of the SINAMICS S120 training case

4.2 System data of the SINAMICS S120 training case

The example configuration is performed on a SINAMICS S120 training case.

Figure 4-1 Training case

The following technical data applies to the training case used:

Structure
Drive system comprising:
● CU320-2 Control Unit with TB30 Terminal Board
● Smart Line Module 5 kW, Double Motor Module 3 A
● One 1FK7022-5AK71-1AG3 synchronous servo motor with incremental encoder sin/cos 1
Vpp via SMC 20
● One 1FK7022-5AK71-1LG3 synchronous servo motor with absolute encoder 2048 and
DRIVE-CLiQ interface.
● Reference discs for position monitoring

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 Hardware components
4.2 System data of the SINAMICS S120 training case

The training case is supplied ready-to-use with a demo project on the memory card and
documentation.

Technical data
Degree of protection in accordance with IP20
DIN VDE 0470
Part 1/ EN 60529/IEC 529
Supply voltage1) • 1 AC 230 V/50 Hz
• Via power supply adapter 1 AC 115 V
(USA) (not supplied in the package)
Dimensions (W x H x D) in mm 320 × 650 × 330
Weight Approx. 30 kg
1) The connection conditions of the respective network operator are to be observed.

Selection and ordering data Article No.

Training case
SINAMICS S120 TK-SIN-CU320-2
2-axis design with1FK7 motors
• With CU320-2 DP and demo project 6ZB2480-0CM00
• With CU320-2 PN and demo project 6ZB2480-0CN00

Power supply adapter

1 AC 115 V / 1 AC 230 V 6AG1 064-1AA02-0AA0
Operator box SINAMICS 6AG1 064-1AA01-0AA0
(if ordered separately)

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Hardware components
4.3 Wiring the components

4.3 Wiring the components

The components of this example are assembled and wired into the SINAMICS training case.
No changes to this wiring are permitted. For the purpose of commissioning this project
example, it is not permissible to connect other components or drive loads to the motor.

Figure 4-2 Wiring principle

Note
The following description only refers to one of the two motors.

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Creating a drive object 5
5.1 Overview
This example shows how you can generate a new drive project using the STARTER
commissioning tool. You then transfer the drive project via a communication interface to the
Control Unit of the drive.
For data exchange between the programming device (PG/PC) and the Control Unit (CU), an
Ethernet interface is used in the example, which is integrated into each SINAMICS S120
device. With PROFIBUS or PROFINET interfaces, commissioning happens in a similar way.
The programming device and the drive (in the training case example) are switched on and
connected to each other via a data line.

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Creating a drive object
5.2 Setting the communication interfaces

5.2 Setting the communication interfaces

5.2.1 Setting up the Ethernet interface

For the commissioning, the programming device (PG/PC) can be connected to the Control
Unit via an Ethernet interface. However, the communications interface of the programming
device must first be set up.

Note
The following procedure refers to the Windows 7 operating system. Operation can differ
slightly for other operating systems (e.g. Windows XP).

Communication interface of the programming device

1. In the programming device (PG/PC) call up the control panel via the menu items "Start >
Control Panel".
2. In the control panel of your programming device, under "Network and Internet", select the
"Network and Sharing Center" function.
3. For your network card that is displayed, click on the connection link.
4. Click in the status dialog of the connection on "Properties" and acknowledge the
subsequent confirmation prompt with "Yes".
5. In the properties dialog of the connection, select the element "Internet protocol 4
(TCP/IPv4)" and then click on "Properties".
6. In the properties dialog, activate the "Use the following IP address" option.

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 Creating a drive object
5.2 Setting the communication interfaces

7. Set the IP address of the access interface of the PG/PC to the Control Unit to
169.254.11.1 and the subnet mask to 255.255.0.0.

Figure 5-1 Example: IPv4 address of the PG/PC

8. Click "OK" and close the Windows-specific window of the network connections.

5.2.2 Calling STARTER

Note
The following procedure refers to the Windows 7 operating system. Operation can differ
slightly for other operating systems (e.g. Windows XP).

1. Click on the STARTER symbol of your user interface.

Or
2. In the Windows starting menu, call the menu command "Start > STARTER > STARTER".

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Creating a drive object
5.2 Setting the communication interfaces

5.2.3 Assigning the Ethernet interface in STARTER

Assigning the communication interface

1. In STARTER, go through the menu items "Tools > Set PG/PC interface...".
The "Set PG/PC interface" window opens:

Figure 5-2 Creating an access point

2. Check the access point of the application. Here, the access point "DEVICE (STARTER,
SCOUT) ..." must be set.
If necessary, correct the access point using the "Access Point of the Application" drop-
down list.

Note
The interface in our example has the designation TCP/IP -> Belkin F5D 5055 Gigabit
USB 2.0 Network Adapter.
However, any Ethernet interface of the PG/PC can essentially be used.

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 Creating a drive object
5.2 Setting the communication interfaces

3. If the desired adapter is in the list, continue as described in point 6.

If the required adapter is not included in the list, you must add the appropriate entry. To
do so, click on the "Selection..." button.
The already installed interfaces are located in the window "Install/uninstall interfaces". If
the required interface is not present, you must install it yourself.

Figure 5-3 Selecting the interface

4. Select the desired interface on the left-hand side, and then click on "Install-- > ".
The interface then changes to the right-hand side.
5. Select the required interface and close the window.
6. Click in the list box "Interface parameter assignment used:" on the interface parameter
assignment "TCP/IP -> Belkin F5D 5055 Gigabit USB 2.0 Network Adapter."
7. Close the "Set PG/PC interface" window by clicking "OK."

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Creating a drive object
5.3 Creating a drive project

5.3 Creating a drive project

In STARTER, the project wizard will guide you through all the steps necessary to create and
set up a new drive project.

Procedure
1. In STARTER, click on the menu items "Project > New with Wizard."
The start window of the project wizard is opened.

Figure 5-4 Find drive units online

2. Click on the "Find drive units online..." button.

In step 1, the project wizard opens the "Create new project" window.
3. Enter a name for your project, e.g. "Sample Project", in the input field.

Figure 5-5 Creating a new project

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 Creating a drive object
5.3 Creating a drive project

4. Click on "Continue >".

In step 2, the project wizard opens the "Set PG/PC interface" window.

Figure 5-6 Setting the PG/PC Interface

5. In this window, you can check the settings of the communication interface made in the
previous chapter, i.e. you do not have to change anything in this window. Click on
"Continue >".
The project wizard searches for drive units in step 3. The drive units found are displayed
in "Preview".

Figure 5-7 Insert drive units

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Creating a drive object
5.3 Creating a drive project

6. Click on "Continue >".

The project wizard continues to step 4 to display a summary of your project settings.

Figure 5-8 Summary

7. Click on button "Complete".

The project wizard closes the window.
In the project navigator, the found drive unit "S120_CU320_2_DP" is then displayed under
the sample project.

Figure 5-9 Drive object created

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Configuring the drive object 6
6.1 Configuring the drive unit
In the example configuration, the "S120_CU320_2_DP" drive unit is configured for operation
in the online mode. Through automatic configuration, the drive is initially switched to the
"Factory settings" state and then provided with a standard configuration.

Procedure
1. Go to the menu items "Project > Connect to selected target devices" to switch to online
mode.
When connecting with a target device for the first time, the target device selection is
opened. The "DEVICE" option is activated as the access point.

Figure 6-1 Target device selection

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Configuring the drive object
6.1 Configuring the drive unit

2. Activate the desired target device and click on "OK."

The target device selection is closed and online mode is active.

Note
Online/offline comparison
If you create additional projects in the same way in quick succession, the "Online/offline
comparison" dialog appears after closing the target device selection. This dialog indicates
that the data saved in your drive object (of the training case) does not correspond with
the data of the new project. The reason for this is generally because you have configured
settings in the expert list in the last project that are still saved in the target device (the
training case), but which are missing in the newly created project in STARTER (see
Chapter Special issues with the SINAMICS S120 training case (Page 46) and Chapter
Commissioning a drive (Page 49)).
However, as the online and offline configuration has to be identical, the data records have
to be aligned.
1. To do this, click on the "Load to PG ==>" button and confirm the subsequent "Load to
PG" prompt with "OK."
The "Online/offline comparison" dialog is emptied.
2. If no more differences remain, click on "Close."
In general, the settings required for the training case are then already available in the
expert list (see Chapter “Special issues with the SINAMICS S120 training case
(Page 46)” and Chapter “Commissioning a drive (Page 49)”).

3. In the project navigator, click on the "+" symbol before the entry "S120_CU320_2_DP".
The list of objects for this drive opens and looks like this:

Figure 6-2 Launch automatic configuration

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 Configuring the drive object
6.1 Configuring the drive unit

4. Double-click on option "Automatic configuration" in the project navigator.

The following window opens:

Figure 6-3 Automatic configuration is prepared

5. Start the automatic configuration of the drive unit by clicking on the "Configure" button.
The programming device (PG/PC) searches the DRIVE-CLiQ bus for connected objects.
In the sample project, the PG/PC finds two drives.
6. Select the entry "Servo" from the list "Default setting for all components".
The drive in the project example is therefore used as servo control.

Figure 6-4 Automatic configuration drive selection

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Configuring the drive object
6.1 Configuring the drive unit

7. Click on button "Create".

The automatic configuration process commences. When the process has been
completed, a window with the message "Automatic configuration is complete" opens.

Figure 6-5 Automatic configuration, stay online

Note
The above message appears because two drives are integrated in the training case. For
our example configuration, however, we only put one drive into operation.

8. Click on the button "Stay ONLINE."

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 Configuring the drive object
6.2 Configuring the Motor Module

6.2 Configuring the Motor Module

The Control Unit has detected the connected Motor Module and the SMI motor during the
automatic configuration process. The device data have been transferred to the Control Unit.
The Control Unit has automatically entered the correct device data into the parameters
required to operate the components.
The sample project is now ready to commission.

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Configuring the drive object
6.3 Special issues with the SINAMICS S120 training case

6.3 Special issues with the SINAMICS S120 training case

If you use the SINAMICS S120 training case (which is customary with SITRAIN), as in the
example case, pay attention to the following special issues:

Motor used in the example configuration

In this example, we only put the motor with the DRIVE-CLiQ interface into operation. The
second motor (with incremental encoder) is ignored.

Define infeed operating message

Note
The settings explained below refer exclusively to the example case. If you have already
taken data from an earlier project, only checking the parameter settings described below will
suffice. In this regard, see also the note "Online/offline comparison" in Chapter “Configuring
the drive unit (Page 41)”.

So that you can commission the drive, you will need to define the signal source for the
"Operating message of the infeed". In this example, we permanently set this signal to "1."
1. In the project navigator, click on the "+" symbol before the entry "S120_CU320_2_DP".
2. In the project navigator, click on the "+" symbol before drive "SERVO_02."
3. Double-click on the entry "Expert list."
4. Scroll to the right through the expert list to parameter p0864.

Figure 6-6 Expert list

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 Configuring the drive object
6.3 Special issues with the SINAMICS S120 training case

5. There, click on the "0" button in the expert list.

The following configuration dialog is opened:

Figure 6-7 Infeed operation

6. Click on row "1" and then click on "OK".

7. Go to the menu items "Project > Save" to save the example project.

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Configuring the drive object
6.3 Special issues with the SINAMICS S120 training case

Device supply voltage

You must reduce the device supply voltage so that you can commission the drive.
1. Scroll through the expert list of the drive to parameter p0210 (device supply voltage)

Figure 6-8 Device supply voltage

2. In the "Online value SERVO_02", overwrite the value "600" with "300"
3. Go to the menu items "Project > Save" to save the example project.

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Commissioning a drive 7
The control panel allows you to perform basic tasks for operating, monitoring, and testing the
drive. For operation, the symbols (START), (STOP), and (TIP), and various
diagnostic functions are available.
You can find more information about these functions in the SINAMICS S120 Drive Functions
Function Manual.

ON/OFF enable
1. In the project navigator, click on the "+" symbol before the entry "S120_CU320_2_DP".
2. In the project navigator, click on the "+" symbol before drive "SERVO_02."
3. Double-click on the entry "Expert list."
4. Scroll to the right through the expert list to parameter p0840 for the ON/OFF signal.

Figure 7-1 On/off signal

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Commissioning a drive

5. There, click on the "0" button.

The configuration dialog for the ON/OFF signal is opened:

Figure 7-2 On/off configuration

6. Click on row "1" and then click on "OK".

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 Commissioning a drive

Commission with the control panel

1. Double-click on the entries
"S120_CU320_2_DP > Drives > SERVO_02 > Commissioning > Control Panel" in the
project navigator.

Figure 7-3 Calling up the control panel

The control panel is opened.

Figure 7-4 Control panel displayed

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Commissioning a drive

2. Click on button "Assume control priority!".

The "Assume control priority" window opens.

Figure 7-5 Assuming control priority

3. Click on button "Safety notes".

The "Safety notes" window opens.

Figure 7-6 Safety instructions

4. Read and take note of the safety notes and then close the window.
5. In the "Assume control priority" window, click on button "Accept".
The window is closed and the control panel is activated.

Figure 7-7 Control panel motor enable signal

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 Commissioning a drive

6. Activate the check box "Enable signals".

The symbols and are active.

7. Enter a suitable speed for the motor in input field "n = ", e.g. "1,000."

Figure 7-8 Control panel motor running

8. Click on the symbol .

The motor accelerates to the selected example speed of 1000 rpm. The "Enables
available" LED lights up green .

Switching off the drive

1. To switch-off the motor, click on the symbol.
The drive coasts to a standstill.
2. Click on the "Give up control priority!" button to return the control priority.
3. Confirm the following "Return control priority" prompt with "Yes."
4. Go to the menu items "Project > Disconnect from target system" to end the
communication between the PG/PC and the Control Unit.
5. Go to the menu items "Project > Save" to save the example project to the local hard disk
of the PG/PC.

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Commissioning a drive

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Appendix A
A.1 List of important alarms and faults
Axxxxx: Alarm
Fyyyyy: Fault

Table A- 1 The most important alarms and faults

Number Cause Remedy

F07085 Control parameters were compulsorily changed for Not necessary.
the following reasons: No parameter change is necessary as the parameters
• They exceeded dynamic limits due to different have already been limited to a reasonable level.
parameters.
• They are not applicable because of properties of
the detected hardware that are not present.
• The value is estimated as the thermal time con-
stant is missing.
• Motor temperature model 1 is activated as thermal
motor protection is missing.
F07802 Infeed or drive does not reply a 'ready' after an inter- • Extend monitoring time (p0857).
nal actuation command.
• Ensure the DC link voltage. Check the DC link
• Monitoring time too short. voltage. Enable the infeed.
• DC link voltage not available. • Replace associated infeed or drive of the reporting
• Associated infeed or drive of the reporting compo- components.
nents defective. • Check settings of the supply voltage (p0210).
• Supply voltage incorrectly set.

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Appendix
A.1 List of important alarms and faults

Number Cause Remedy

F07840 The "Infeed operation" signal is not available, though • Put infeed into operation.
the enables for the drive have already been pending
• Check the interconnection of the binector input for
for longer than the parameterized monitoring time
(p0857). the "infeed operation" signal (p0864).
• Extend monitoring time (p0857).
• Infeed not in operation.
• Wait for completion of the infeed network identifi-
• Interconnection of the binector input for the 'ready'
cation.
signal is incorrect or missing (p0864).
• Infeed is currently identifying the network.
A08526 No cyclic connection to the control is available. • Establish a cyclic connection and activate the
control with cyclic operation.
• Check the parameters "Name of Station" and "IP
of Station" (r61000, r61001) on PROFINET.
• If a CBE20 is inserted and PROFIBUS is to com-
municate via process data interface 1, then pa-
rameterize with the STARTER commissioning tool
or directly via p8839.

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 Appendix
A.2 Restoring factory settings

A.2 Restoring factory settings

In rare cases, it may be necessary to revert the target device (the training case) back to
factory settings. The simulated drive in the training case thus obtains a defined state once
again and you can then restart the configuration on a secure basis. Factory settings can only
be reached in online mode.

Procedure
1. Go to the menu items "Project > Connect to selected target devices" to switch to online
mode.
The window "Target Device Selection" opens and lists the configured drive units.

Figure A-1 Access point control

2. Activate the "DEVICE" option.

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Appendix
A.2 Restoring factory settings

3. Activate the check box " S120_CU320_2_DP ", and click on "OK."
The PG/PC establishes the link to the Control Unit. It then performs an "Online/offline
comparison". The result is displayed in the following dialog "Online/offline comparison".
Example:

Figure A-2 Online/offline comparison

4. Click on the "Close" button.

5. Select the drive object "S120_CU320_2_DP" in the project navigator.
6. With the right mouse button, select the shortcut menu "Target device > Restore factory
settings."
7. Confirm the query with "OK".
The PG/PC sets the drive parameters to their factory settings.
The new status is automatically transferred to the Control Unit memory card using the
function "Copy RAM to ROM".
8. Select the drive unit in the project navigator and go to the shortcut menu "Target device >
Copy RAM to ROM."
The factory settings have now been restored: the drive is in a defined basic state.

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 Appendix
A.3 Documentation overview

A.3 Documentation overview

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Appendix
A.3 Documentation overview

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