Control modes

SINAMICS V90 
Pulse train version (PTI)

SINAMICS V90 
PROFINET version (PN)

Control modes

• Pulse train input position control (PTI)
• Internal position control (IPos), setpoints selected using a combination of digital inputs, or Modbus/USS
• Speed control (S)
• Torque control (T)
• Compound controls, switches between position control, speed control, and torque control
• Jog using buttons on the integrated operator panel

• Speed control mode: position and speed control in combination with a motion function (TO axis) of SIMATIC S7-1500/S7-1200 and PROFINET

Speed control

Speed input

External analog input or internal speed setpoint

PROFINET or internal speed setpoint

Torque limit

External analog input or set using a parameter

PROFINET or set using a parameter

Pulse train input 
position control

Max. pulse frequency

• Differential line driver (5 V), 1 MHz
• Optical coupler (24 V), 200 kHz

–

Multiplying factor

Electronic gear ratio (A/B), A:1-65535, B:1-65535, 1/50<A/B<200

–

Torque limit

External analog input or set using a parameter

–

Torque control mode

Torque input

External analog input or internal torque setpoint

–

Speed limit

Prevents speed limits from being violated, set using a parameter for analog input

Set using a parameter

Control features

Real time auto tuning

Estimates the machine characteristic and sets the closed-loop control parameters (gain, integral time, etc.) continuously in real time without any user intervention

Resonance suppression

Suppresses mechanical resonance, such as workpiece and foundation vibration

One-button auto tuning

Estimates the machine load inertia and mechanical characteristics with internal movement command (pre-configured in the SINAMICS V90)

This feature can be initiated using the SINAMICS V-ASSISTANT engineering tool.

Gain switch and PI/P switch

Switches between gains or from PI to P control using an external signal or internal operating conditions

–

Torque limit

Limits motor speed using an external analog input or internal torque limit

Motor torque is internally limited

Travel to fixed stop

–

Can be used to move an axis to a fixed stop at a specified torque without a signal fault

DI/DO parameterization

Freely assigns the control signals to digital inputs and digital outputs

External braking resistor

An external braking resistor can be used when the internal braking resistor is not capable of handling the regenerative energy.

Measure machine

The machine frequency characteristics are analyzed using SINAMICS V-ASSISTANT

Parameter cloning and Firmware update

• Standard SD card with 400 V version
• Micro SD card with 200 V version

Maximum supported capacity is 32 GB

Safety functions

Safe torque off (STO) via terminal, complies with safety standard SIL 2 according to EN 61508 resp. PL d, Cat 3 according to EN ISO 13849 (activation only via terminals of SINAMICS V90, not supported via PROFINET/PROFIsafe)

Basic Operator Panel (BOP)

Integrated, 6-digit/7-segment display, 5 buttons

Engineering PC tool

• SINAMICS V-ASSISTANT engineering tool exclusively for SINAMICS V90
• SINAMICS V90 in combination with S7-1500 and STEP 7 Professional engineering via TIA Portal V14 possible.

General technical specifications

Control power supply

• Voltage   DC

24 V DC (-15 %/+20 %)

When SINAMICS V90 controls a motor equipped with brake, the tolerance of the 24 V DC power supply must be -10 % to +10 % to comply with the voltage required by the brake.

• Current ¹⁾

• without holding brake

1.6 A

• with holding brake

3.6 A

Line supply system

TN, TT, IT, TT earthed line

Overload capacity

300 % × rated current 
for 300 ms every 10 s

Control system

Servo control

Braking resistor

Integrated

Ambient temperature

• Operation

0 ... 45 °C (32 ... 113 °F) 
45 ... 55 °C (113 ... 131 °F) with power derating

• Storage

-40 ... +70 °C (-40 ... 158 °F)

Ambient humidity

• Operation

<90 % (no condensation)

• Storage

90 % (no condensation

Pollution class

2

Vibration

• Operation

Operational area II

10 Hz ... 58 Hz: 0.075 mm deflection 
58 Hz ... 200 Hz: 1 g vibration

• Product packaging

2 Hz ... 9 Hz: 3.5 mm deflection 
9 Hz ... 200 Hz: 1 g vibration

Quantity of cycles: 10 per axis 
Sweep speed: 1 octave/min

Shock

Operational area II

Peak acceleration: 5 g, 30 ms, 15 g, 11 ms

Quantity of shocks: 3 per direction × 6 directions

Duration of shock: 1 s

Degree of protection

IP20

Installation altitude

Up to 1000 m (3281 ft) above sea level without power derating, 
> 1000 m ... 5000 m (> 3281 ft ... 16405 ft)) with power derating

Standards

CE, KC, EAC, cULus, RCM

Line voltage 
200 ... 240 V 1 AC/3 AC

SINAMICS V90 servo drive

Pulse train version: 6SL3210?5F...

B10-1UA0

B10-2UA0

B10-4UA1

B10-8UA0

B11-0UA1

B11-5UA0

B12-0UA0

PROFINET version: 6SL3210?5F...

B10-1UF0

B10-2UF0

B10-4UF1

B10-8UF0

B11-0UF1

B11-5UF0

B12-0UF0

Frame size

FSA ²⁾

FSB

FSC

FSD

Max. motor power

kW

0.1

0.2

0.4

0.75

1

1.5

2

Output current

• Rated current I_rated

A

1.2

1.4

2.6

4.7

6.3

10.6

11.6

• Max. current I_max

A

3.6

4.2

7.8

14.1

18.9

31.8

34.8

Line supply voltage

200 V ... 240 V 1 AC/3 AC (-15 %/+10 %)

200 V ... 240 V 3 AC (-15 %/+10 %)

Line frequency

Hz

50/60 (-10 %/+10 %)

Line capacity

• 1 AC

kVA

0.5

0.7

1.2

2

–

–

–

• 3 AC

kVA

0.5

0.7

1.1

1.9

2.7

4.2

4.6

Cooling

Natural cooling

Fan cooling

Dimensions

• Width

mm (in)

45 (1.77)

55 (2.17)

80 (3.15)

95 (3.74)

• Height

mm (in)

170 (6.69)

170 (6.69)

170 (6.69)

170 (6.69)

• Depth

mm (in)

170 (6.69)

170 (6.69)

195 (7.68)

195 (7.68)

Weight, approx.

kg (lb)

1.07 (2.4)

1.20 (2.6)

1.94 (4.3)

2.49 (5.5)

Line voltage 
380 ... 480 V 3 AC

SINAMICS V90 servo drive

Pulse train version: 6SL3210?5F...

E10-4UA0

E10-8UA0

E11-0UA0

E11-5UA0

E12-0UA0

E13-5UA0

E15-0UA0

E17-0UA0

PROFINET version: 6SL3210?5F...

E10-4UF0

E10-8UF0

E11-0UF0

E11-5UF0

E12-0UF0

E13-5UF0

E15-0UF0

E17-0UF0

Frame size

FSAA

FSA

FSB

FSC

Max. motor power

kW

0.4

0.75

1

1.75

2.5

3.5

5

7

Output current

• Rated current I_rated

A

1.2

2.1

3

5.3

7.8

11

12.6

13.2

• Max. current I_max

A

3.6

6.3

9

15.9

23.4

33

37.8

39.6

Line supply voltage

V 3 AC

380 ... 480, (-15 %/+10 %)

Line frequency

Hz

50/60, (-10 %/+10 %)

Line capacity

kVA

1.7

3

4.3

6.6

11.1

15.7

18

18.9

Cooling

Natural cooling

Fan cooling

Dimensions

• Width

mm (in)

60 (2.36)

80 (3.15)

100 (3.94)

140 (5.51)

• Height

mm (in)

180 (7.09)

180 (7.09)

180 (7.09)

260 (10.24)

• Depth

mm (in)

200 (7.87)

200 (7.87)

220 (8.66)

240 (9.45)

Weight, approx.

kg (lb)

1.45 (3.2)

2.09 (4.6)

2.73 (6.0)

5.95 (13.1)

Interfaces

SINAMICS V90 
Pulse train version (PTI)

SINAMICS V90 
PROFINET version (PN)

USB

Mini USB

Mini USB

Pulse train input

2 channels, one exclusively for 5 V differential signal, one for 24 V single end signal

–

Pulse train encoder output

5 V differential signal, A, B, Z phase

–

Digital inputs/outputs

10 inputs, NPN/PNP; 6 outputs, NPN

4 inputs, NPN/PNP; 2 outputs, NPN/PNP

Analog outputs

2 analog outputs, output voltage range ± 10 V, 10 bit

–

Communication

USS/Modbus RTU (RS485)

PROFINET RT/IRT interface with 2 ports 
(RJ45 sockets)

SD card slot

• Standard SD card with 400 V version
• Micro SD card with 200 V version

• Standard SD card with 400 V version
• Micro SD card with 200 V version

Safety functions

Safe Torque Off (STO) via terminal, SIL 2

Safe Torque Off (STO) via terminal, SIL 2