sinamics s: speed control of a s120 with an allen … s: speed control of a s120 with an...

http://support.automation.siemens.com/WW/view/en/92045369

2014.03.26

SINAMICS S: Speed control of a S120 with an

Allen-Bradley controller (Compact/

ControlLogix with RSLogix 5000) via

EtherNet/IP

http://support.automation.siemens.com/WW/view/en/92045369

SINAMICS S: Speed control of a S120 with an Allen-Bradley controller(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 92045369, V3.0, 03/2015 2

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Warranty and LiabilityNote The Application Examples are not binding and do not claim to be complete

regarding the circuits shown, equipping and any eventuality. The ApplicationExamples do not represent customer-specific solutions. They are only intendedto provide support for typical applications. You are responsible for ensuring thatthe described products are used correctly. These application examples do notrelieve you of the responsibility to use sound practices in application, installation,operation and maintenance. When using these Application Examples, yourecognize that we cannot be made liable for any damage/claims beyond theliability clause described. We reserve the right to make changes to theseApplication Examples at any time without prior notice. If there are any deviationsbetween the recommendations provided in these application examples and otherSiemens publications – e.g. Catalogs – the contents of the other documentshave priority.

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Table of contentsWarranty and Liability .............................................................................................. 2Table of contents...................................................................................................... 31 Task................................................................................................................. 5

1.1 EtherNet/IP Overview ........................................................................ 51.1.1 Industrial Ethernet ............................................................................. 51.1.2 Sinamics S120 Connectivity to EtherNet/IP ........................................ 5

2 Solution Overview .......................................................................................... 62.1 Solution Overview .............................................................................. 62.1.1 Hardware Structure............................................................................ 62.1.2 Additional Network Connections ........................................................ 6

2.2 Used Components ............................................................................. 7

3 Programming Overview ................................................................................. 8

3.2 AOI Types ......................................................................................... 8

4 Sinamics S120 Add-On Instructions .............................................................. 9

4.1 Function Description .......................................................................... 9

4.2 Telegram Description ......................................................................... 94.2.1 Telegram Type 1 for Basic speed ...................................................... 94.2.2 Telegram Type 111 for EPOS mode .................................................. 94.2.3 Telegram Type 102 for Advanced Speed Control ............................. 10

4.3 Basic Speed Control ........................................................................ 104.3.1 Functionality .................................................................................... 104.3.2 Schematic Ladder Representation ................................................... 114.3.3 Input and Output Parameters ........................................................... 11

4.4 EPOS Control .................................................................................. 124.4.1 Functionality .................................................................................... 124.4.2 Schematic Ladder Representation ................................................... 134.4.3 Input and Output Parameters ........................................................... 13

4.5 MDI Mode ........................................................................................ 154.5.1 Functionality .................................................................................... 154.5.2 Schematic Ladder representation .................................................... 164.5.3 Input and Output Parameters ........................................................... 17

4.6 Advanced Speed ............................................................................. 184.6.1 Functionality .................................................................................... 184.6.2 Schematic Ladder representation .................................................... 194.6.3 Input and Output Parameters ........................................................... 19

4.7 Line Module Control......................................................................... 204.7.1 Functionality .................................................................................... 204.7.2 Schematic Ladder representation .................................................... 214.7.3 Input and Output Parameters ........................................................... 21

4.8 Control Unit IO Interface .................................................................. 224.8.1 Functionality .................................................................................... 224.8.2 Schematic Ladder representation .................................................... 224.8.3 Input and Output Parameters ........................................................... 22

4.9 UDTs ............................................................................................... 23

5 Drives Configuration .................................................................................... 24


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5.1 Basic Speed .................................................................................... 245.1.1 Telegram Selection .......................................................................... 245.1.2 Control Mode ................................................................................... 24

5.2 EPOS Drive or MDI Positioning ........................................................ 245.2.1 Telegram Selection .......................................................................... 245.2.2 Control Mode ................................................................................... 24

5.3 Using a Freely Configurable Telegram ............................................. 25

5.4 Configuring the Communication Interface......................................... 265.4.1 Setting the IP Address ..................................................................... 265.4.2 Selecting EtherNet/IP ...................................................................... 265.4.3 Using a CU320-2 PN and a CBE20 .................................................. 26

6 Configuring a Generic Ethernet Module ...................................................... 28

6.1 Adding a new module ...................................................................... 286.1.1 Inserting the module ........................................................................ 286.1.2 Configuring network parameters ...................................................... 286.1.3 Connection Parameters ................................................................... 296.1.4 Using the IO Data ............................................................................ 29

7 Using AOIs in a New Application ................................................................. 31

7.1 Importing AOIs ................................................................................ 317.1.1 Installing L5K Files .......................................................................... 31

7.2 Using the AOI .................................................................................. 327.2.1 Adding AOI to a Program ................................................................. 327.2.2 I/O Interface..................................................................................... 32

8 Drive Parameter Access ............................................................................... 34

8.1 Explicit Messaging ........................................................................... 34

8.2 Using the MSG Instruction ............................................................... 35

9 Troubleshooting ........................................................................................... 3910 Glossary ........................................................................................................ 4211 History .......................................................................................................... 44

1 Task


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1 Task1.1 EtherNet/IP Overview

1.1.1 Industrial Ethernet

Industrial Ethernet communication networks continue to gain global importance inautomation solutions. Industrial Ethernet connectivity down to device levelcomponents (i.e. drives, I/O, etc.) is an end user requirement that demandsopenness and flexibility. To capitalize on the flexibility to connect to differentIndustrial Ethernet protocols the Sinamics S120 drives can seamlessly be appliedin PROFINET and EtherNet/IP networks.

1.1.2 Sinamics S120 Connectivity to EtherNet/IP

Through the use of the CBE20 (Communication Board Ethernet) the SinamicsS120 drives have direct connectivity to EtherNet/IP networks. The CBE20 residesin the option slot of the Sinamics multi-axis Control Unit and offers a four portswitch to conveniently plug in network connections. The Sinamics drive systemoffers both PROFINET and EtherNet/IP software stacks for the CBE20 which iseasily selected by a parameter setting in the standard Sinamics firmware.The network IP address of the CBE20 is set through the STARTER software. WithSTARTER software installed on your computer you can connect to the Sinamicsdrive through the CBE20 interface, the built in CU320-2 interface (DP or PN) or theEthernet LAN connection on the front of the CU320-2 Control Unit..The Sinamics S120 multi-axis drive system can contain up to six vector or servoaxis controlled by a single CU320-2 control unit. This allows one IP address for theCBE20 card to control multiple drive objects thus cutting down on the number of IPaddresses and Ethernet connections required for drive systems. The Sinamicsdrives operate on unicast telegrams thus further reducing network traffic.Sinamics S120 drives have been certified by ODVA for EtherNet/IP conformancetesting and participated in the EtherNet/IP PlugFest. Siemens is a member ofODVA with Vendor ID # 1251.

2 Solution Overview


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2 Solution Overview2.1 Solution Overview

2.1.1 Hardware Structure

Figure 1 Sample System Overview

2.1.2 Additional Network Connections

The CBE20 (Communication Board Ethernet) is configured with parameter P8835to operate either the PROFINET or EtherNet/IP software stack. Based on P8835all four ports of the CBE20 operate the same selected software stack and cannotbe programmed individually. Either software stack will also support standardEthernet TCP/IP telegrams on all four ports.The CU320-2 control unit also contains either a Profibus DP or PROFINET built-ininterface. The built-in interface of the CU320-2 is an independent interface to theCBE20 interface thus capable of supporting a second network.

SINAMICS S120w/ CBE20

PLC

ReferencevaluesControlword

ActualvaluesStatusWord

PC/Network

Remote I/O

SINAMICS S120w/ CBE20

HMI

2 Solution Overview


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2.2 Used Components

The application was generated with the following components:Hardware components

Table 1

Component No.

CU320-2 DP or CU320-2 PN with Firmware version 4.5 or later 1CBE20 Communication Board Ethernet 1Rockwell Automation Logix family controller Firmware version19 or later

1

Software components

Table 2

Component No.

STARTER Version 4.3 SP1 or later 1RS Logix 5000 Version 19 or later 1

3 Programming Overview


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3 Programming Overview3.1 AOI’s for Sinamics S120 drives

The EtherNet/IP telegrams to the Sinamics S120 drives can be freely configuredusing the free telegram structure for the message frame type. Alternatively in aneffort to seamlessly integrate the communication between an S120 drive object andan AB Logix family controller Add On Instructions have been designed for theRSLogix programming that mimic standard telegrams used in S120 configurations.For most standard applications the use of the AOI’s can greatly reduce theEngineering time to configure a system. This manual documents the use of theAOI’s developed to simplify the integration of Sinamics drives connected to RSLogix automation systems over EtherNet/IP.

Figure 1 Example utilizing Simple Speed AOI and Standard Telegram 1

3.2 AOI Types

There are presently six Add On Instruction blocks designed to coordinate withstandard telegrams used in Sinamics S120 systems.1. Simple Speed (Standard Telegram 1)2. Easy Positioning (Standard Telegram 111)3. Basic MDI (Standard Telegram 111)4. Advanced Speed (Standard Telegram 102)5. Line Module object (Standard Telegram 370)6. Control Unit object (Standard Telegram 390)

4 Sinamics S120 Add-On Instructions


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4 Sinamics S120 Add-On Instructions4.1 Function Description

The Drive control function blocks (AOIs) described in this section are intended toprovide Sinamics S120 users help in engineering and integrating the S120 drivesinto an automation system where a Logix family controller is the primary control.The canned AOI’s in this application guide have been designed to seamlesslyintegrate in to the PROFIdrive telegram 1 and Siemens telegrams 102, 111, 370,and 390 commonly used for controlling the S120 drive system.

It is possible to control a S120 drive as a simple speed controlled drive or apositioning drive using the EPOS function enabled in the drive. The AOIs alsoprovide a quick implementation of basic drive control using the EtherNet/IPcommunication interface. Using multiple instances of the AOI several S120 drivesaxes can be controlled via the IO interface.

4.2 Telegram Description

4.2.1 Telegram Type 1 for Basic speed

This telegram is a standard PROFIdrive telegram of 2 words in length. It will controlthe state of the drive by selecting the appropriate bits in the control word and setthe running speed in the speed setpoint word. For additional information on thistelegram and its detailed function, refer to the Sinamics S120 List Manual Section2.8 and Function Manual Section 10.1.

Table 1 Telegram Type 1

WORD INPUT OUTPUT

1 Control Word 1 Status Word 12 Speed Setpoint Value Actual Speed Value

4.2.2 Telegram Type 111 for EPOS mode

Telegram 111 is a standard Siemens Telegram for a positioning drive. It allowssequence and control of the drive functions in addition to control of the positioningfunction EPOS. This interface is used for both the “MDI” control AOI and “EPOS”AOI. 12 Words of data are exchanged with the drive where the 12th word isreserved as a user selectable value. For detailed information on this telegram referto the Sinamics S120 List Manual Section 2.8 and Function Manual Section 10.1.

NOTE Telegram Type 1 can also be applied to Sinamics G130 and G150 drives utilizingthe EtherNet/IP connectivity.



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WORD Input Output

1 Control Word 1 Status Word 12 Pos Control Word 1 Pos Status Word 13 Pos Control Word 2 Pos Status Word 24 Control Word 2 Status Word 25 Velocity Override MELDW (Extended) Control Word

6-7 MDI Position Setpoint Position Actual Value8-9 MDI Velocity Setpoint Velocity Actual Value10 MDI Percent Acceleration Active Fault Number11 MDI Percent Deceleration Active Warning Number12 User Selectable User Selectable

4.2.3 Telegram Type 102 for Advanced Speed Control

Telegram 102 is a Siemens telegram for Speed mode control of drives. Fordetailed information on this telegram refer to the Sinamics S120 List ManualSection 2.8 and Function Manual Section 10.1.


WORD Input Output

1 Control Word 1 Status Word 12-3 Speed Setpoint Speed Actual4 Control Word 2 Status Word 25 Torque Reduction MELDW (Extended) Status Word6 Encoder Control Word 1 Encoder Status Word 17 Encoder Position G1_XIST18 Encoder Position G1_XIST2

4.3 Basic Speed Control

4.3.1 Functionality

The S120 Speed Block provides an interface for basic speed control of a Servo orVector drive object in Sinamics via EtherNet/IP. The Drive object is configured forcontrol using Standard telegram type 1.



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4.3.2 Schematic Ladder Representation

Figure 1 S120 Speed Block

4.3.3 Input and Output Parameters

Table 4 Inputs Parameters

Variable Name Data Type Description

S120_Speed_Block Instance DataON_OFF1 BOOL Drive Enable (ON/OFF1)

1 = Enable Drive0 = Ramp Down and Disable drive

OFF2 BOOL Coast Stop Command0 = OFF2 Immediate Disable1 = No OFF2 Command

OFF3 BOOL Fast Stop Command0 = OFF3 Fast Ramp and Disable1 = No OFF3 Command

RUN_SET_POINT BOOL Speed Setpoint Enable0 = Setpoint Disabled1 = Setpoint Enabled

FAULT_RESET BOOL Reset Active Fault(s)0 = No Fault Reset1 = Reset Fault on Rising Edge

RPM_SET_SPEED REAL Speed Setpoint in RPMMAX_SPEED REAL Speed at 100% Setpoint

Must be the same as P2000



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Table 5 IN/OUT Parameters


DRV_CONTROL ARRAY Array of 2 integers referenced to the twooutputs words of the drive telegram.

DRV_STATUS ARRAY Array of 2 integers referenced to the two inputwords of the drive telegram

Table 6 Output Parameters


RTS BOOL Ready to StartRDY_OP BOOL Ready for OperationFAULTED BOOL Fault is ActiveENABLED BOOL Pulses are EnabledRPM_ACTUAL REAL Actual Speed in RPM

4.4 EPOS Control

4.4.1 Functionality

The EPOS block interfaces to the Sinamics Basic Positioner via EtherNet/IP. TheEPOS Positioner is used for the absolute and relative positioning of linear androtary axes.The AOI provides a direct interface to EPOS control. The Sinamics S120 Listmanual provides detailed explanation of all functionality available. Note that drivemust be referenced before absolute positioning is allowed. State control andsequencing is not provided. Additional user logic is required to synchronize thestate of the drive with the positioning functions.The instruction interface provides easy access to basic drive control and to mostsignals and setpoints required for control of the MDI mode.



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4.4.2 Schematic Ladder Representation

Figure 2 S120 EPOS Block


Table 7 Input Parameter Data

Variable Name DataType

Description

S120_EPOS_BLOCK InstanceData

ON BOOL Drive Enable (ON/OFF1)FAULT_RESET BOOL Reset Active Fault(s)

0 = No Fault Reset1 = Reset Fault on Rising Edge

JOG_FWD BOOL 0 = No Jog1 = Jog Forward at speed in P2586

JOG_REV BOOL 0 = No Jog1 = Jog Reverse at speed in P2585



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Description

REF_START BOOL Referencing Start0 = No Referencing1 = Enable Referencing

MDI_START BOOL Enable MDI Mode0 = No MDI modeNote: All motion should be completed beforedisable to avoid fault.1 = Enable MDI Mode

MDI_SETUP BOOL Enable MDI Setup Mode0 = No Setup Mode1 = Enable MDI Setup Mode

MDI_POS_TYPE BOOL Select MDI Positioning Type0 = Absolute Positioning1 = Relative Positioning

MDI_FWD_DIR BOOL Enable Forward DirectionMDI_REV_DIR BOOL Enable Reverse Direction

Note: If Both MDI_FWD_DIR andMDI_REV_DIR are True, shortest path isselected for absolute positioning

MDI_EDGE_TRIG BOOL Trigger Loading of SetpointsLoad executed on rising edge of input transition

MDI_CONSTANT_TRIG BOOL Select Setpoint loading type0 = The setpoint are accepted on the rising edgeof the MDI_EDGE_TRIG input1 = Setpoints are continuously loaded. (AbsolutePositioning only)

INTERMEDIATE_STOP BOOL Stop motion. The canceling the motioncommand.0 = Stop motion1 = Allow motion

POSITION_SETPOINT DINT Position Setpoint in LUsACCEL_RATE REAL Acceleration rate in LUs / s2

DECEL_RATE REAL Deceleration rate in LUs / s2

V_OVERRIDE REAL Speed Setpoint in LUs / s

Table 8 Input/Output Parameter Data


Description

DRV_CONTROL ARRAYDRV_STATUS ARRAY



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Table 9 Output Parameter Data


Description

RTS BOOL Ready to StartRDY_OP BOOL Ready for OperationENABLED BOOL Pulses are Enabled at Motor OutputFAULTED BOOL Fault is ActiveALARM BOOL Alarm is ActiveJOGGING BOOL Axis is JoggingHOMING BOOL Referencing Mode EnabledREFERENCED BOOL Axis is ReferencedMDI_POS BOOL MDI Mode is ActiveMDI_SETUP_ON BOOL MDI Setup Mode is ActiveTARGET_REACHED BOOL Position Actual is within the position window setFAULT_NUMBER INT Active Fault number. 0 if no FaultALARM_NUMBER INT Active Alarm Number. 0 if no AlarmPOSITION_ACTUAL DINT Position value in LUsSPEED_ACT_PCT REAL Speed in Percent of P2000TORQUE_ACTUAL REAL Torque value in percent of P2002

This value is mapped to word 12 of the telegramstatus data. For the torque to be displayedParameter 2051 Index 11 must be connected tor80.

4.5 MDI Mode

4.5.1 Functionality

The MDI Mode AOI interfaces to the Sinamics EPOS positioner via EtherNet/IP.The EPOS positioner is used for the absolute and relative positioning of linear androtary axes.The AOI implements a state machine that allows the selection of three majormotion modes. The three modes are Velocity mode, Relative positioning, andAbsolute positioning mode.Velocity mode enables motion at a constant velocity set by the Speed referenceinput. The velocity setpoint can be changed while the axis is in motion The driveuses the Accel and Decel setpoints to reach the velocity setpoint. The mode isstarted by setting the VEL_MOVE input of the instruction.Jog forward and reverse is also available by setting the appropriate inputs to theinstructions. Jog velocity is set in the drive at parameters P2585 and P2586.Relative positioning mode allows the axis to travel for a specified distance set atthe position setpoint input of the instruction and selecting the REL_MOVE input.Absolute positioning mode moves the axis to a specified position by setting theposition value at the position setpoint input of the instruction and the setting theABS_MOVE input.



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NOTICENote that the axis is not allowed to position until it has been referenced.

4.5.2 Schematic Ladder representation

Figure 3 S120 MDI Block



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Table 10 Input Parameter Data


Description

ESTOP_OK BOOL 1 = Deselect Estop Mode0 = Select Estop Mode

DRV_ENABLE BOOL 1 = Allow Drive Enable0 = Disable Drive

FAULT_RESET BOOL Acknowledge Drive Fault0 -> 1 Signal Transition Acknowledges Fault

REF_START BOOL Referencing Start0 = Disallow Referencing1 = Start referencing mode

AT_HOME BOOL 0 -> 1 Set location of the Home positionVEL_MOVE 0 = Disallow Speed Mode

1 = Enable Speed ModeABS_MOVE BOOL Select Absolute Positioning Mode

0 =1 = Absolute positioning

REL_MOVE BOOL Select Relative Positioning Mode0 =1 =

JOG_FWD BOOL Jog Forward (Position Control Mode)JOG_REV BOOL Jog Reverse (Position Control Mode)POSITION_SETPOINT DINT Position target setpoint in Length Units (LUs)ACCEL_RATE REAL Acceleration Rate in LUs / s2

DECEL_RATE REAL Deceleration Rate in LUs / s2

SPEED_REF_PCT REAL Speed setpoint as a percentage of NominalSpeed. (Velocity Override)

NOM_SPEED_IN_LU REAL Speed setpoint in LUs / s

Table 11 Input / Output Parameter Data


Description

DRV_CONTROL ARRAY Array of 12 Integers referenced to the 12Output words for the drive object.

DRV_STATUS ARRAY Array of 12 Integers referenced to the 12 Inputwords for the drive Object.



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Table 12 Output Data Parameters


Description

READY BOOL Ready to StartENABLED BOOL Pulse are Enabled at Motor OutputPOS_ACTIVE BOOL Positioning Mode is ActiveVEL_ACTIVE BOOL Velocity (Speed) mode is ActiveREFERENCED BOOL Axis is ReferencedFAULTED BOOL Drive Fault is ActiveHOMING BOOL Drive Alarm is ActiveTARGET_REACHED BOOL Position actual is within window set in driveFAULT_NUMBER INT Active Fault Number (0 = No Faults)ALARM_NUMBER INT Active Fault Number (0 = No Alarm)POSITION_ACTUAL DINT Actual Position Value in LUsSPEED_ACT_PCT REAL Speed in Percent of P2000TORQUE_ACTUAL REAL Torque Value in Percent of P2002

4.6 Advanced Speed

4.6.1 Functionality

The Advance Speed Block provides an interface to the S120 Drive in speed modefor Servo mode of operation. It implements Standard Telegram 102. The AOIprovides additional functionality beyond the Basic Speed AOI. A 32 bit (DINT)speed setpoint value is used for improved resolution and speed control for highperformance applications. An encoder interface is also included providing a shaftposition value. Torque can also be controlled using the torque reduction value.



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Figure 4 Advance Speed Control AOI


Table 13 Input Data Parameters


Description

ON_OFF1 BOOL Drive Enable (ON/OFF1)1 = Enable Drive0 = Ramp Down and Disable drive

OFF2 BOOL Coast Stop Command0 = OFF2 Immediate Disable1 = No OFF2 Command

OFF3 BOOL Fast Stop Command0 = OFF3 Fast Ramp and Disable1 = No OFF3 Command

FAULT_RESET BOOL Reset Active Fault(s)0 = No Fault Reset1 = Reset Fault on Rising Edge

SPEED_SET_MAIN REAL Speed Setpoint in Percent of P2000TORQ_LIMIT REAL Torque limit setpoint in Percent of P2002



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Table 14 Input / Output Parameter Data


Description

DRV_CONTROL ARRAY Array of 8 Integers referenced to the 8 Outputwords for the drive object

DRV_STATUS ARRAY Array of 6 Integers referenced to the 6 Outputwords for the drive object

Table 15 Output Data Parameter


Description

RTS BOOL Ready to StartINHIBITED BOOL Ready for OperationFAULTED BOOL Fault is ActiveENABLED BOOL Pulses are EnabledSPEED_ACTUAL REAL Actual Speed in Percent of

P2000POSITION_ACTUAL DINT Actual Position Value

4.7 Line Module Control

4.7.1 Functionality

The line module control AOI allow for simple control and monitoring of a linemodule for the S120 drives. The line module can be enabled via AOI inputs and anoutput signals the current state. Faults are monitored and can be acknowledgedvia input.



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Figure 5 Line Module Control AOI




Description

Enable BOOL Enable the Line Module1 = Enable0 = Disable Drive

OFF2 BOOL Immediate Pulses Disable1 = Allow Pulse Enable0 = Disable Pulses

FaultAck BOOL Acknowledge Active Faults0 -> 1 Acknowledge Faults

DRV_STATUS WORD Status Data from IO mapped to Line Module



Description

Ready BOOL Line Module is ReadyEnabled BOOL Line Module is Precharged and EnabledInhibited BOOL Operation InhibitedFaultActive BOOL Fault is ActiveAlarmActive BOOL Alarm is ActiveDRV_CONTROL WORD Control Data to IO mapped to Line module



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4.8 Control Unit IO Interface

4.8.1 Functionality

The main function of Control Unit (CUIO) AOI is easy access to the digital IO onthe CU320-2 controller. The instruction’s parameters provide individual access toeach digital IO point. In the case of a programmable IO point both Inputs andOutputs are provided. The interface is accomplished using Siemens StandardTelegram 390 as documented in Section 2.8 of the Sinamics S120 List Manual.


Figure 6 Control Unit IO AOI




Description

DO8 BOOL Digital Output 8 Terminal X122-9DO9 BOOL Digital Output 9 Terminal X122-10DO10 BOOL Digital Output 10 Terminal X122-12DO11 BOOL Digital Output 11 Terminal X122-13DO12 BOOL Digital Output 12 Terminal X132-9DO13 BOOL Digital Output 13 Terminal X132-10DO14 BOOL Digital Output 14 Terminal X132-12DO15 BOOL Digital Output 15 Terminal X132-13



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Table 19 Input / Output Data Parameters


Description

DRV_STATUS ARRAY Array of 2 Integers referenced to the 2 Inputwords for the drive object

DRV_CONTROL ARRAY Array of 2 Integers referenced to the 2 Outputwords for the drive object



Description

DI0 BOOL Digital Input 0 Terminal X122-1DI1 BOOL Digital Input 1 Terminal X122-2DI2 BOOL Digital Input 2 Terminal X122-3DI3 BOOL Digital Input 3 Terminal X122-4DI4 BOOL Digital Input 4 Terminal X132-1DI5 BOOL Digital Input 5 Terminal X132-2DI6 BOOL Digital Input 6 Terminal X132-3DI7 BOOL Digital Input 7 Terminal X132-4DI8 BOOL Digital Input 8 Terminal X122-9DI9 BOOL Digital Input 9 Terminal X122-10DI10 BOOL Digital Input 10 Terminal X122-12DI11 BOOL Digital Input 11 Terminal X122-13DI12 BOOL Digital Input 12 Terminal X132-9DI13 BOOL Digital Input 13 Terminal X132-10DI14 BOOL Digital Input 14 Terminal X132-12DI15 BOOL Digital Input 15 Terminal X132-13

4.9 UDTs

UDTs are provided as representing the typical control and status words used forTelegrams implemented by the AOIs provided. The UDTs can also be usedindependently to map IO data sent and received by the drive. The user applicationis able to directly control the telegram words and bits to accomplish controlconcepts not included in the AOIs provided by Siemens. This is the case whenusing user defined telegrams (free telegram configuration with BICO) to exchangedata with the drives.

5 Drives Configuration


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5 Drives ConfigurationCommissioning of the S120 drives is not in the scope of this document. Refer tothe Sinamics S120 quick start guide to assist in the commissioning of the drive(s).This sample application referenced in this document utilizes the 2 axis SinamicsS120 training unit. The Red Wheel drive on the training unit is configured as aspeed controlled drive and the Blue wheel drive is configured for positioning usingthe EPOS technology module.

5.1 Basic Speed

5.1.1 Telegram Selection

Telegram type 1 is selected for Speed control in coordination with the Basic SpeedAOI. The telegram is selected in the Communication configuration of the CU inStarter. Double click “Message Configuration” in the project tree and select theStandard Telegram 1 for the Red Wheel.

Figure 1 Selection of Telegram Type 1

5.1.2 Control Mode

Speed mode can be achieved in one of the following control modes1) Servo or Vector Mode - Closed loop speed control with encoder2) Vector Mode - Closed loop speed control without encoder.3) Servo or Vector - Open loop V/Hz

5.2 EPOS Drive or MDI Positioning

5.2.1 Telegram Selection

Telegram Type 111 is used both for EPOS and Basic MDI Add On Instructions.The telegram is selected in the Communication configuration of the CU in Starter.Double click “Message Configuration” in the project tree and select the StandardTelegram 111 for the Blue Wheel.

5.2.2 Control Mode

EPOS mode can be achieved in Servo or Vector modes. Closed loop speed controlwith encoder is required for Standard Telegram Type 111.



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5.3 Using a Freely Configurable Telegram

It is possible to configure a custom telegram to fit a specific applicationrequirement. The custom configuration can be accomplished by one of severalmethods listed.1. Using a standard telegram as a template and changing the configuration

manually.2. Selecting the input and output data length and connecting the telegram words

in the communications window of the drive configuration.3. Configuration by Script execution. A script can be written in Starter which

configures the telegram size and connections required. The script is thenexecuted in Starter configuring the drive.

Parameter r2067 displays the number of PZDs the controller detected to be part ofthe telegram for the Drive Object. The Input and Output data length must match thevalues calculated by the controller in r2067 of the specified Drive Object.

Figure 2 Number of Interconnected PZDs

NOTICE When changing from a standard telegram to a freely configurable telegram,you must cycle the power of the drive to ensure a correct configuration.

Parameter r2067 is only calculated on a power-up of the drive. In order for theCU to correctly calculate parameter r2067, all of the PZD of the telegram mustbe interconnected.

*For example if you are using Telegram 352 and change to Free-BICO telegram(P922 =999) then the four freely configurable input value to the drive must beterminated to “Dummy” parameters if they are not used for actual parameterconnection – such as torque limit or added speed.



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5.4 Configuring the Communication Interface

5.4.1 Setting the IP Address

The IP address for the CBE20 module can be set via Parameter P8941. The fourindices accommodate the octets of the device IP Address. The Subnet mask forthe CBE20 is set in Parameter P8943 on the Control Unit.Parameters P8951 and P8953 display the active values for IP Address and Subnetmask. Once the values are saved to ROM and control unit is restarted the newvalues should be displayed.

Figure 3 IP Address of the CBE20

5.4.2 Selecting EtherNet/IP

EtherNet/IP must be selected as the communication protocol for the CBE20.Setting parameter P8835 to a value of 4 will select the EtherNet/IP communicationstack for the CBE20. After saving this value to ROM and cycling power the CBE20will then operate as an EtherNet/IP adapter.

Figure 4 Selection of EtherNet/IP at P8835

5.4.3 Using a CU320-2 PN and a CBE20

When a CBE20 is installed in a CU320-2 PN it is important to note that theconfiguration of the Communication Option Module is not preselected as primaryinterface (IF1). In the configuration process of the CU the Option module must beselected as the first interface as shown in the figure below. This can also beselected with parameter P8839.



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Figure 5 Selecting Optional Communication module as PZD Interface 1 (IF1)

6 Configuring a Generic Ethernet Module


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6 Configuring a Generic Ethernet Module6.1 Adding a new module

A Generic IO module is used to configure the cyclic data exchange between theautomation controller and the Sinamics drive without the need for an EDS file.

6.1.1 Inserting the module

Table 1 Inserting the Module

1. Insert a module by right clicking thenetwork interface in the IO configurationsection of the Project tree.

2. In the “Select Module” dialog box use theFind function to search for the term“GENERIC”. Select the “Generic EthernetModule” module to be inserted.

6.1.2 Configuring network parameters

Table 2 Configuring the Network Parameters

1. The module name should identify theCU320-2 to allow easy selection fromother modules configured in thecontroller. It is also the name used forthe controller level tag that will hold thedata.

2. Use the Description box to describe theDrive objects contained in the moduleand the order the data will arrive. In thepicture, notice how the drive objects arelisted showing the number and orders ofthe IO words that control each.



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3. The data exchange format should beset to Integer (INT).

4. Enter the IP Address of the CBE20option module.

5. The Connection Parameters sectionconfigures the IO Assemblies for theCU320-2. The Assembly Instancesshould always be 101 through 103 forthe Input, Output and ConfigurationAssembly respectively. The size of theInput and Output assemblies is the totalnumber of words for all the control unitdrive objects to be configured as IO.This can be determined by adding thecolumn listing the number of words foreach telegram in the message frameconfiguration of the Starter project

6.1.3 Connection Parameters

Table 3 Setting the Connection Parameters

1. The Requested Packet Interval (RPI) isthe rate at which the controller willexchange data with the IO module. TheCU320-2 can operate with a RPI set toa minimum of 5 ms. In this applicationwe will use a value of 10 ms.

2. 2) Unicast is selected as the exchangemethod.

6.1.4 Using the IO Data

The IO data is available as an array of integers in the controller tags section of theproject tree.



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Figure 1 Controller Tags for new module

7 Using AOIs in a New Application


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7 Using AOIs in a New Application7.1 Importing AOIs

The AOIs provided with the sample application can be easily integrated into a newor existing user program by importing the instructions using L5K files.

7.1.1 Installing L5K Files

Table 1 Steps to Importing the AOIs

1. Import the AOI into the Add OnInstructions folder. Right click the Add-On Instructions folder in the project treeand select the Import Add-OnInstruction option.

2. Select the required L5K file for thedesired Instruction and Import.

3. Review the Import configuration andclick OK



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4. The Project should now show theimported Instruction. Notice that UDTsrequired for the instruction have alsobeen imported. These UDTs can alsobe used to create additional variablesand aliases.

5.

7.2 Using the AOI

7.2.1 Adding AOI to a Program

Table 2 Using the S120 Speed Block

1. Add instruction to a new rung bydragging from project tree.

2. Declare and assign instance datavariable. The new tag can be created asa local program tag with an name thatclearly identifies the drive data.

7.2.2 I/O Interface

Connecting the instruction to the Controller IO tags is accomplished by moving theIO data into the AOI Interface.



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Figure 1

The second rung holds the AOI. The local variables “InputDataBuffer” and“OutputDataBuffer” are used as storage for the AOI to receive and send data to theController IO tags.The first rung copies the IO data for this Red Wheel to a local variable to be usedby the AOI as inputs in the “DRV_STATUS” parameters. “DRV_STATUS” and“DRV_CONTROL” is declared as INOUT parameters and therefore passed byreference.The third rung holds the copy command that moves the control data from theworking variable “OutputDataBuffer” to the controller IO tag.All AOIs provided will use this method of data exchange with IO containing thedrive data. Additional access to the control data can be performed before the datais copied to the IO Tag. This allows the user to utilize features already mapped inthe telegram that are not control by the AOI. In a similar manner the Status datacan be access by the user program.

8 Drive Parameter Access


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8 Drive Parameter Access8.1 Explicit Messaging

In many applications it is necessary to read or write parameters in the drive. Thisallows increased flexibility in implementation of the machine functionality.To allow this occasional (acyclic) data exchange of drive and motor parameters,the CBE20 supports explicit messaging.

The MSG instruction can read from or write to a parameter by accessing the drive’scommunication object. When parameterizing the MSG instruction, below are someimportant parameters:Class = 400hex + drive object number

DO 1 = class 401hDO 2 = class 402h…DO62 = class 43Eh

Instance = parameter number p1027 = instance 1027

Attribute = parameter index number (hex) Index 0 = attribute 0 Index 1 = attribute 1 … Index 65535 = attribute FFFFh

Get attribute single = read a parameterSet attribute single = write a parameter



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8.2 Using the MSG InstructionTable 1 Parameterizing the MSG Instruction

1. MSG Instruction:Insert the MSG instruction.

2. Instruction Tag:Create a controller scope tag forthe instruction in the Tag tab of themessage configuration dialog box.This tag contains the workingmemory area for the MSGinstruction.

3. Message Type:Select the CIP Generic messagetype.



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4. Service Type:Select “Get Attribute Single” to readand parameter or “Set AttributeSingle” to write the parameter.

5. To figure out what the drive objectnumber is, navigate to “telegramconfiguration”.

6. Find the corresponding drive objectnumber (e.g. Red_Wheel = driveobject 2 hex).

7. Class:400 + drive object number (hex)



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8. Instance:This is the parameter number ofthe object, in Starter. E.g. DC Linkvoltage (p26).

9. Attribute:This is the parameter index. Forparameters without an index, use“0”.

10. Destination:For reading a parameter select aController scope tag where thevalue will be written

If writing a value to the parameter,select a tag in the Source elemententry.



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11. Make sure the data type of the tag(source/destination) matches thedata type of the parameter.

INT = 2 Bytes (16 bit)REAL = 4 Bytes (32 bit)

12. To figure out the data type of theparameter, search for theparameter in the Starter help tool,or refer to the list manual.

13. Path:In the communication tab enter thename of the IO node for theCBE20. Use the Browse option tofind the node in the project tree.

NOTE It is a good idea to one-shot the message requests (e.g. with a flasher). If therung for the MSG instruction is always true, the communication board can getoverwhelmed and fault out.

9 Troubleshooting


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9 Troubleshooting

The drive and the PLC are not communicating.

1. Check the LED lights.a. PLC: Is the I/O light solid green?b. G120: Is the Link1 light solid green?c. G150/S120: Is the OPT light solid green?d. This means that the drive is communicating and it is another issue.

2. Is Drive set for EIP (G120: p2030 = 10, S120: p8835 = 4)?a. A power cycle is required after changing p2030/p8835.b. For drives with CU320-2 (S120 and G130), the PLC must be

connected through the CBE20 card on the drive.

3. Are there duplicate IP addresses on the network?a. Verify IP addresses (accessible nodes, PST, edit Ethernet nodes, etc.)

4. Did you parameterize the Generic Ethernet Module in Studio 5000 correctly?

9 Troubleshooting


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a. Do you have the “Comm. Format” set to Data –INT, or accidentally setto Data-DINT?

b. Do the Connection Parameters (addresses and length) match the drivetelegram?

i. If you are using an EDS, it is for Telegram 1 only. If anotherTelegram is needed, use a generic Ethernet device.

5. Could it be a bad Ethernet cable?

6. Are there faults on the drive?a. Check LED’s status on the driveb. Check diagnostics on drive for faults.

7. Are all Drive Enables (OFF1/OFF2/OFF3) enabled?

9 Troubleshooting


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There is no information on the control/status of the AOI’s even though thedrive and the PLC are set up correctly (no faults, green lights on LED’s).

Check that you have the CBE20 set up on the control unit as IF1.

10 Glossary


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10 Glossary

AOI (Add On Instruction): Commonly used logic for a task that is encapsulated into a block tobe reused in RSLogix programs.

CBE20 (Communication Board Ethernet): Option board for Sinamics drives with four Ethernetports. The CBE20 fits into the option slot of the CU320-2 multi-axis control unit.

CU320-2: Control unit for Sinamics drives available with either a built in Profibus interface(CU320-2 DP) or PROFINET interface (CU320-2 PN). Up to six Vector or Servo axis can becontrolled from a single CU320-2.

DO (Drive Object): The Sinamics S120 multi-axis drive system typically consists of severaldrive objects for each control unit. The length and order of each drive object is set in themessage frame.

DP interface: PROFIBUS interface

DRIVE CLiQ: Flexible back plane for Sinamics drives allowing nameplate data and actualvalues of all DRIVE CLiQ components to be transmitted with the control unit.

EPOS (Easy Positioning): Function module in Sinamics drives providing basic positioning tasksuch as traversing task, MDI, and homing.

Free Telegrams: The send and receive telegrams can be configured as required by using BICOtechnology to interconnect the send and receive process data.

IF1 & IF2: The CU320-2 control unit can communicate via two different interfaces. IF1 refers tothe primary interface for drive control. IF2 is the secondary interface.

L5K file: File type used for importing an AOI into RSLogix program

MDI (Motion Direct Input): Direct setpoint input function for positioning

PN Interface: PROFINET interface

PROFIdrive: Device profile to provide standardization of drive telegram type thus minimizingintegration and commissioning time and effort.

Servo mode: Axis control type for high dynamic applications. Particularly suitable forsynchronous motors and high performance induction motors.

Siemens Standard Telegrams: Structured in accordance with manufacturer specification withthe internal process data links automatically set up in accordance with the telegram numbersetting.

Standard PROFIdrive Telegrams: Structured in accordance with PROFIdrive profile with theinternal process data links automatically set up in accordance with the telegram number setting.

STARTER: Software for Siemens Sinamics drives configuration and diagnostics

Telegram type 1: Standard PROFIdrive telegram of two words for simple speed control

10 Glossary


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Telegram type 102: Siemens Standard telegram with 32 bit speed value and torque reductionvalue for advanced speed applications

Telegram type 111: Siemens Standard telegram for positioning with 12 words in each direction.In this manual we have assigned the freely connected 12th word for torque.

Telegram type 370: Siemens Standard telegram for Sinamics Line Module control and statusword

Telegram type 390: Siemens Standard telegram for Control Unit digital inputs/outputs

UDT: User Defined Type

Vector mode: Axis control type including closed loop, open loop, and V/Hz speed control.Typically used with induction motors to obtain high speed and low torque ripple.

11 History


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11 HistoryTable 11 History

Version Date Changes

V0.1 04.06.2012 PreReleaseV1.0 05.18.2012 Initial ReleaseV1.1 06.04.2012 Changes and corrections.V2.0 06.14.2012 Add Explicit messaging

Added Free telegramCU320-2PN difference

V3.0 03.26.2015 Remove explicit messaging tablesUpdate drive parameter access (explicit messaging)Added troubleshooting

sinamics s: speed control of a s120 with an allen … s: speed control of a s120 with an...

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