A paper version of the Getting Started is included in the scope of supply for SINAMICS S210 incl. SIMOTICS S‑1FK2.
Further documentation, such as Operating Instructions and List Manuals, is available for download free of charge online at:
http://www.siemens.com/sinamics-s210/documentation

Detailed information on the SINAMICS S210 servo drive system, including the latest technical documentation (brochures, dimensional drawings, certificates, manuals and operating instructions), is available on the Internet at: 
http://www.siemens.com/sinamics-s210

and is also available via the Drive Technology Configurator (DT Configurator).
The DT Configurator can be found in the Siemens Industry Mall at the following address:
http://www.siemens.com/dt-configurator