SIEMENS SINAMICS G120D inverters CU240D-2 and CU250D-2 Control Units

The Control Unit performs closed-loop control functions for the inverter. In addition to the closed-loop control, it has additional functions that can be adapted to the particular application through parameterization. The CU240D‑2 Control Units supersede the CU240D Control Units, whereby both versions can be operated with PM250D Power Modules.

CU250D‑2 Control Units can be used to implement applications with positioning requirements in the drive. This expansion opens up their use in lifting, swiveling, traversing or rotating applications. The positioning functionality is comparable to that of SINAMICS S110 servo drives.
Two points must be noted in this context:

  • Vector control (VC) and sensorless vector control (SLVC) are possible (but not servo control)
  • Positioning using one encoder (HTL/SSI) or using two encoders simultaneously (HTL for speed control and SSI for positioning)

Control Units are available in different versions:CU240D-2 and CU250D-2 Control Units

  • CU240D-2 DP
  • CU240D-2 DP-F
  • CU240D-2 PN
  • CU240D-2 PN-F
  • CU240D-2 PN-F PP (Push Pull)
  • CU240D-2 PN-F FO (fiber optic)
  • CU250D-2 DP-F
  • CU250D-2 PN-F
  • CU250D-2 PN-F PP (Push Pull)
  • CU250D-2 PN-F FO (fiber optic)

The Push Pull version comprises an alternative connection method for the 24 V DC supply voltage and the PN communication.

Product No. / Product Description SINAMICS G120D CONTROL UNIT  Ordering data
6SL3544-0FB20-1FA0
SINAMICS G120D CONTROL UNIT CU240D-2 PN PROFINET, STO ON-BOARD 6 DI/1 F-DI, 2 DO, 2 AI USB INTERFACE SD/MMC-INTERFACE HTL-ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP -10 TO +50 DEG C WITHOUT POWER MODULE
6SL3544-0FB20-1PA0
SINAMICS G120D CONTROL UNIT CU240D-2 DP PROFIBUS DP AND STO ON-BOARD 6 DI/1 F-DI, 2 DO, 2 AI USB INTERFACE SD/MMC-INTERFACE HTL-ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP -10 TO +55 DEG C WITHOUT POWER MODULE
6SL3544-0FB21-1FA0
SINAMICS G120D CONTROL UNIT CU240D-2 PN-F PROFINET AND SAFETY INTEGRATED 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI USB INTERFACE SD/MMC-INTERFACE HTL-ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP 0 TO +50 DEG C WITHOUT POWER MODULE
6SL3544-0FB21-1FB0
SINAMICS G120D CONTROL UNIT CU240D-2 PN-F PP PROFINET AND SAFETY INTEGRATED PUSH-PULL DESIGN 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI SD/MMC-INTERFACE HTL-ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP 0 TO +50 DEG C WITHOUT POWER MODULE
6SL3544-0FB21-1FC0
SINAMICS G120D CONTROL UNIT CU240D-2 PN-F FO PROFINET AND SAFETY INTEGRATED VIA OPTICAL FIBRE COMMUNICATION IN PUSH-PULL DESIGN 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI HTL-ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP 0 TO +45 DEG C WITHOUT POWER MODULE
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6SL3544-0FB21-1PA0
SINAMICS G120D CONTROL UNIT CU240D-2 DP-F PROFIBUS DP AND SAFETY INTEGRAT 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI USB INTERFACE SD/MMC-INTERFACE HTL-ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP 0 TO +55 DEG C WITHOUT POWER MODULE
6SL3546-0FB21-1FA0
SINAMICS G120D CONTROL UNIT CU250D-2 PN-F PROFINET, STO ON-BOARD POSITIONING (EPOS) 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI USB INTERFACE SD/MMC-INTERFACE HTL AND SSI ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP -10 TO +50 DEG C WITHOUT POWER MODULE
6SL3546-0FB21-1FB0
SINAMICS G120D CONTROL UNIT CU250D-2 PN-F PP PROFINET AND SAFETY INTEGRATED POSITIONING (EPOS) PUSH-PULL DESIGN 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI SD/MMC-INTERFACE HTL AND SSI ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP 0 TO +50 DEG C WITHOUT POWER MODULE
6SL3546-0FB21-1FC0
SINAMICS G120D CONTROL UNIT CU250D-2 PN-F FO PROFINET VIA OPTICAL FIBRE COMM AND SAFETY INTEGRATED IN PUSH-PULL DESIGN POSITIONING (EPOS) 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI HTL AND SSI ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP 0 TO +45 DEG C WITHOUT POWER MODULE
6SL3546-0FB21-1PA0
SINAMICS G120D CONTROL UNIT CU250D-2 DP-F PROFIBUS DP AND SAFETY INTEGRAT POSITIONING (EPOS) 6 DI/3 F-DI, 2 DO/1 F-DO, 2 AI USB INTERFACE SD/MMC-INTERFACE HTL AND SSI ENCODER INTERFACE PROTECTION IP65 AMBIENT TEMP 0 TO +55 DEG C WITHOUT POWER MODULE

CU240D-2 PN Control Unit                                                  CU240D-2 DP Control Unit

CU250D-2 PN-F Control Unit                                       CU250D-2 DP-F Control Unit

CU250D-2 PN-F PP and CU250D-2 PN-F FO Control Units

Safety Integrated functions

The safety function “Safe Torque Off” (STO) (certified according to IEC 61508 SIL 2, EN ISO 13849‑1 PL d and Category 3) is already integrated into the standard versions of the CU240D‑2 series (CU240D‑2 DP and CU240D‑2 PN). It can be activated either over PROFIsafe or over the safety input.

With the fail-safe variants of the CU240D‑2 series (CU240D‑2 DP‑F xx and CU240D‑2 PN‑F xx) and with the entire CU250D‑2 series, the fail-safe SINAMICS G120D inverter provides five safety functions which are certified according to IEC 61508 SIL 2, EN ISO 13849‑1 PL d and Category 3:

  • Safe Torque Off (STO)
    to protect against active movement of the drive
  • Safe Stop 1 (SS1)
    for continuous monitoring of a safe braking ramp
  • Safely-Limited Speed (SLS)
    for protection against dangerous movements on exceeding a speed limit
  • Safe direction (SDI)
    This function ensures that the drive can only rotate in the selected direction.
  • Safe speed monitoring (SSM)
    This function signals if a drive is operating below a specific speed/feed velocity.

These functions can be activated by means of PROFIsafe or via the safety inputs. A safety output is provided in addition.

None of the safety functions require a motor encoder and they are thus much cheaper and easier to implement. Existing systems in particular can be simply updated with safety technology without the need to change the motor or mechanical system.

The Safe Torque Off (STO) function can be used without restriction for all applications. The SS1, SLS, SSM and SDI functions are only permissible for applications where the load can never accelerate when the inverter is switched off. They are therefore not permitted for applications involving pull-through loads such as hoisting gear and unwinders.

Further information can be found in the section Safety Integrated.

Selection and ordering data

Communication

Digital inputs
(number which can be parameterized as fail-safe given below)

Analog inputs

Digital outputs
(number which can be parameterized as fail-safe given below)

Encoder interfaces HTL/SSI

Safety Integrated functions

Description

Control Unit

Article No.

CU240D-2 series – standard

PROFIBUS DP

6 (1)

2

2

1/–

STO

CU240D‑2 DP

6SL3544-0FB20-1PA0

PROFINET, EtherNet/IP

6 (1)

2

2

1/–

STO

CU240D‑2 PN

6SL3544-0FB20-1FA0

CU240D-2 series – fail-safe for Safety Integrated

PROFIBUS DP

6 (3)

2

2 (1)

1/–

STO, SLS, SS1, SSM, SDI

CU240D‑2 DP‑F

6SL3544-0FB21-1PA0

PROFINET, EtherNet/IP

6 (3)

2

2 (1)

1/–

STO, SLS, SS1, SSM, SDI

CU240D‑2 PN‑F

6SL3544-0FB21-1FA0

CU240D‑2 PN‑F PP

6SL3544-0FB21-1FB0

CU240D‑2 PN‑F FO

6SL3544-0FB21-1FC0

CU250D-2 series – basic positioner (EPos) and fail-safe for Safety Integrated

PROFIBUS DP

6 (3)

2 (1)

1/1

STO, SLS, SS1, SSM, SDI

CU250D‑2 DP‑F

6SL3546-0FB21-1PA0

PROFINET, EtherNet/IP

6 (3)

2 (1)

1/1

STO, SLS, SS1, SSM, SDI

CU250D‑2 PN‑F

6SL3546-0FB21-1FA0

CU250D‑2 PN‑F PP

6SL3546-0FB21-1FB0

CU250D‑2 PN‑F FO

6SL3546-0FB21-1FC0

Note:

An external 24 V DC power supply is required in order to operate the Control Unit. For information about suitable connecting cables, refer to section Supplementary system components, Connecting cables/connectors for supplying the Control Unit with 24 V DC power.

For optional memory cards, see section Supplementary system components.


Design

CU240D-2 DP Control Unit

CU240D-2 PN Control Unit

CU240D‑2 DP‑F Control Unit

CU240D‑2 PN‑F Control Unit

CU240D‑2 PN‑F PP and CU240D‑2 PN‑F FO Control Units

CU250D‑2 DP‑F Control Unit

CU250D‑2 PN‑F Control Unit

CU250D‑2 PN‑F PP and CU250D‑2 PN‑F FO Control Units

Control Unit, view from the rear, memory card slot at the top and PM-IF interface at bottom center


Function

Function module basic positioner EPos

The basic positioner EPos is available as a standard technology function for the following SINAMICS Control Units and can be called as a function module that can be activated additionally.

  • SINAMICS S120 CU310‑2 and CU320‑2 Control Units
  • SINAMICS S110 CU305 Control Units
  • SINAMICS G120 CU250S‑2 Control Units
  • SINAMICS G120D CU250D‑2 Control Units

The basic positioner can be used to resolve basic motion control tasks without additional external technological outlay from the drive itself.

Integrated functionality for absolute and relative positioning of linear and rotary axes with motor encoders or machine encoders.

The EPos basic positioner in the SINAMICS drive system provides powerful and precise positioning functions. Due to its flexibility and adaptability, the basic positioner can be used for a wide range of positioning tasks.

The functions are easy to handle both during commissioning and during operation, and the comprehensive monitoring functions are outstanding.

Many applications can be carried out without external position controllers.

The EPos basic positioner is used to position linear and rotary axes (modulo) in absolute/relative terms with rotary as well as linear motor encoder or machine encoder (indirect or direct measuring system).

EPos is a function module that can be activated additionally in Servo Control and in Vector Control.

User-friendly configuring and commissioning, including control panel (operation using PC) and diagnostics, are possible with the STARTER and SINAMICS Startdrive commissioning tools.

In addition to extremely flexible positioning functions, EPos offers a high degree of user-friendliness and reliability thanks to integral monitoring and compensation functions.

Different operating modes and their functionality increase flexibility and plant productivity, for example, by means of “on-the-fly” and bumpless correction of the motion control.

Preconfigured PROFIdrive positioning frames are available which, when selected, automatically establish the internal “connection” to the basic positioner.

Functionality of the EPos basic positioner

Lower-level closed-loop position control with the following essential components

  • Position actual value sensing (including the lower-level measuring probe evaluation and reference mark search)
  • Position controller (including limits, adaptation and pre-control calculation)
  • Monitoring functions (standstill, positioning and dynamic following error monitoring, cam signals)

Mechanical system

  • Backlash compensation
  • Modulo offset

Limitations

  • Speed/acceleration/delay/jerk limitation
  • Software limit switches (traversing range limitation by means of position setpoint evaluation)
  • Stop cams (traversing range limitation using hardware limit switch evaluation)

Referencing or adjustment

  • Set reference point (for an axis at standstill)
  • Search for reference (separate mode including reversing cam functionality, automatic reversal of direction, homing to “output cam and encoder zero mark” or only “encoder zero mark” or “external zero mark (BERO)”)
  • Flying referencing (seamless referencing possible during “normal” traversing with the aid of the measuring input evaluation; generally evaluation, e.g. of a BERO. Subordinate function for the modes “jog”, “direct setpoint input/MDI” and “traversing blocks”)
  • Absolute encoder alignment

Traversing block mode

  • 64 traversing blocks for
    • SINAMICS S120 CU310‑2 and CU320‑2 Control Units
  • 16 traversing blocks for
    • SINAMICS S110 CU305 Control Units
    • SINAMICS G120 CU250S‑2 Control Units
    • SINAMICS G120D CU250D‑2 Control Units
  • Positioning using traversing blocks that can be stored in the drive unit including continuation conditions and specific jobs for previously homed axis
  • Configuring traversing blocks using the traversing block editor in the relevant commissioning tool of the SINAMICS drive family
  • A traversing block contains the following information:
    • Job number and job (e.g. positioning, waiting, GOTO block jump, setting of binary outputs, travel to fixed endstop)
    • Motion parameters (target position, velocity, override for acceleration and deceleration)
    • Mode (e.g.: hide block, continuation conditions such as “Continue_with_stop”, “Continue_flying” and “Continue_externally using high-speed measuring inputs”)
    • Job parameters (e.g. wait time, block step conditions)

Direct setpoint specification mode (MDI)

  • Positioning (absolute, relative) and setting-up (endless closed-loop position control) using direct setpoint inputs (e.g. via the PLC using process data)
  • It is always possible to influence the motion parameters during traversing (on-the-fly setpoint acceptance) as well as for on-the-fly changes between the setup and positioning modes.
  • The direct setpoint specification mode (MDI) can also be used in the relative positioning or setup mode if the axis is not referenced. This means that on-the-fly synchronization and re-referencing can be carried out using “flying referencing”.

Jog mode

  • Closed-loop position controlled traversing of the axis with “endless position controlled” or “jog incremental” modes (traverse through a “step width”), which can be toggled between

Further information can be found in the section Technology functions.


Technical specifications

Control Unit

CU240D‑2 DP

6SL3544-0FB20-1PA0

CU240D‑2 PN

6SL3544-0FB20-1FA0

CU240D‑2 DP‑F

6SL3544-0FB21-1PA0

CU240D‑2 PN‑F

6SL3544-0FB21-1FA0

CU240D‑2 PN‑F PP

6SL3544-0FB21-1FB0

CU240D‑2 PN‑F FO

6SL3544-0FB21-1FC0

CU250D‑2 DP‑F

6SL3546-0FB21-1PA0

CU250D‑2 PN‑F

6SL3546-0FB21-1FA0

CU250D‑2 PN‑F PP

6SL3546-0FB21-1FB0

CU250D‑2 PN‑F FO

6SL3546-0FB21-1FC0

Electrical specifications

Operating voltage

External 24 V DC necessary

External 24 V DC necessary

External 24 V DC necessary

External 24 V DC necessary

External 24 V DC necessary

External 24 V DC necessary

Current consumption 1)

(from the 24 V DC supply)

  • With Power Module frame sizes FSA and FSB

300 mA

400 mA

300 mA

400 mA
(FO variant: 520 mA)

300 mA

400 mA
(FO variant: 520 mA)

  • With Power Module frame size FSC

450 mA

550 mA

450 mA

550 mA
(FO variant: 670 mA)

450 mA

550 mA
(FO variant: 670 mA)

Interfaces

Digital inputs

(non-isolated)

6

6

6

6

6

6

  • Optionally parameterizable as safe inputs

1

1

3

3

3

3

Analog inputs

(0 … 10 V)

2

2

2

2

Digital outputs

(0.5 A, fed through switched 24 V DC, isolated)

2

2

2

2

2

2

  • Optionally parameterizable as safe digital output

1

1

1

1

Bus interface

  • Fieldbus protocols

PROFIBUS DP

PROFINET

EtherNet/IP

PROFIBUS DP

PROFINET

EtherNet/IP

PROFIBUS DP

PROFINET

EtherNet/IP

  • Profiles

PROFIdrive
PROFIsafe

PROFIdrive
PROFIsafe
PROFIenergy

PROFIdrive
PROFIsafe

PROFIdrive
PROFIsafe
PROFIenergy

PROFIdrive
PROFIsafe

PROFIdrive
PROFIsafe
PROFIenergy

HTL encoder interface

(incremental interface, bipolar up to 2048 pulses, max. 150 mA)

1

1

1

1

1

1

SSI encoder interface

(absolute encoder, single-turn and multi-turn 4096 pulses, 24 V, max. 250 mA)

1

1

PTC/KTY interface

(connection via Power Module)

  • Motor temperature sensor

1 input,
sensors that can be connected: PTC, KTY, bimetal or Pt1000

1 input,
sensors that can be connected: PTC, KTY, bimetal or Pt1000

1 input,
sensors that can be connected: PTC, KTY, bimetal or Pt1000

1 input,
sensors that can be connected: PTC, KTY, bimetal or Pt1000

1 input,
sensors that can be connected: PTC, KTY, bimetal or Pt1000

1 input,
sensors that can be connected: PTC, KTY, bimetal or Pt1000

Control of a mechanical motor brake

(connection via Power Module)

Slot for SINAMICS SD memory card

Commissioning interface (mini USB)


Not with PP and FO variants


Not with PP and FO variants

Safety functions

Integrated safety functions

acc. to IEC 61508 SIL 2, EN ISO 13849‑1 PL d and Category 3

  • Safe Torque Off (STO)
  • Safe Torque Off (STO)
  • Safe Torque Off (STO)
  • Safe Stop 1 (SS1)
  • Safely-Limited Speed (SLS)
  • Safe Direction (SDI)
  • Safe Speed Monitor (SSM)
  • Safe Torque Off (STO)
  • Safe Stop 1 (SS1)
  • Safely-Limited Speed (SLS)
  • Safe Direction (SDI)
  • Safe Speed Monitor (SSM)
  • Safe Torque Off (STO)
  • Safe Stop 1 (SS1)
  • Safely-Limited Speed (SLS)
  • Safe Direction (SDI)
  • Safe Speed Monitor (SSM)
  • Safe Torque Off (STO)
  • Safe Stop 1 (SS1)
  • Safely-Limited Speed (SLS)
  • Safe Direction (SDI)
  • Safe Speed Monitor (SSM)

Open-loop/closed-loop control techniques

V/f linear/quadratic/parameterizable

V/f with flux current control (FCC)

Vector control, sensorless

Vector control, with sensor

Torque control, sensorless

Torque control, with sensor

Software functions

Basic positioner (EPos)

Fixed frequencies

16, parameterizable

16, parameterizable

16, parameterizable

16, parameterizable

16, parameterizable

16, parameterizable

Signal interconnection with BICO technology

Automatic restart after line supply failure or operational fault

Slip compensation

Free function blocks (FFB) for logical and arithmetic operations

Ramp smoothing

4 selectable drive datasets

4 selectable command data sets (CDS) (manual/auto)

Flying restart

JOG

Cyclic recording of ramp-up and ramp-down

Technology controller (PID)

Thermal motor protection

Thermal inverter protection

Setpoint input

Motor identification

Motor holding brake

Mechanical specifications and ambient conditions

Operating temperature

-10 … +55 °C
(14 … 131 °F)

-10 … +50 °C
(14 … 122 °F)

0 … 55 °C
(32 … 131 °F)

0 … 50 °C
(32 … 122 °F)
(FO variant: 0 … 45 °C
(32 … 113 °F))

0 … 55 °C
(32 … 131 °F)

0 … 50 °C
(32 … 122 °F)
(FO variant: 0 … 45 °C
(32 … 113 °F))

Storage temperature

-40 … +70 °C
(-40 … +158 °F)

-40 … +70 °C
(-40 … +158 °F)

-40 … +70 °C
(-40 … +158 °F)

-40 … +70 °C
(-40 … +158 °F)

-40 … +70 °C
(-40 … +158 °F)

-40 … +70 °C
(-40 … +158 °F)

Relative humidity

< 95 % RH, condensation not permissible

< 95 % RH, condensation not permissible

< 95 % RH, condensation not permissible

< 95 % RH, condensation not permissible

< 95 % RH, condensation not permissible

< 95 % RH, condensation not permissible

Dimensions

  • Width

153 mm (6.02 in)

153 mm (6.02 in)

153 mm (6.02 in)

153 mm (6.02 in)

153 mm (6.02 in)

153 mm (6.02 in)

  • Height

208 mm (8.19 in)

208 mm (8.19 in)

208 mm (8.19 in)

208 mm (8.19 in)

208 mm (8.19 in)

208 mm (8.19 in)

  • Depth

55 mm (2.17 in)

55 mm (2.17 in)

55 mm (2.17 in)

55 mm (2.17 in)
(PP variant: 118 mm (4.65 in))

55 mm (2.17 in)

55 mm (2.17 in)
(PP variant: 118 mm (4.65 in))

Weight, approx.

0.8 kg (1.76 lb)

0.8 kg (1.76 lb)

0.8 kg (1.76 lb)

0.8 kg (1.76 lb)
(PP and FO variants: 1.3 kg (2.87 lb))

0.8 kg (1.76 lb)

0.8 kg (1.76 lb)
(PP and FO variants: 1.3 kg (2.87 lb))

1) The current consumption of connected encoders (HTL ≤ 100 mA or SSI ≤ 250 mA), sensors (total, max. 300 mA) as well as the current drawn from the digital outputs (total, max. 500 mA) must be added, where applicable.