SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP

Transcription

1 SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP

2 Warranty and Liability Note The Application Examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The Application Examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are used correctly. These application examples do not relieve you of the responsibility to use sound practices in application, installation, operation and maintenance. When using these Application Examples, you recognize that we cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these Application Examples at any time without prior notice. If there are any deviations between the recommendations provided in these application examples and other Siemens publications e.g. Catalogs the contents of the other documents have priority. We do not accept any liability for the information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data etc., described in this Application Example shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act ( Produkthaftungsgesetz ), in case of intent, gross negligence, or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract ( wesentliche Vertragspflichten ). The damages for a breach of a substantial contractual obligation are, however, limited to the foreseeable damage, typical for the type of contract, except in the event of intent or gross negligence or injury to life, body or health. The above provisions do not imply a change of the burden of proof to your detriment. Any form of duplication or distribution of these Application Examples or excerpts hereof is prohibited without the expressed consent of Siemens Industry Sector. If you have any questions concerning this document please us to the following address: online-support.automation@siemens.com Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, equipment and/or networks. They are important components in a holistic industrial security concept. With this in mind, Siemens products and solutions undergo continuous development. Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept. Third-party products that may be in use should also be considered. For more information about industrial security, visit To stay informed about product updates as they occur, sign up for a productspecific newsletter. For more information, visit Entry-ID: , V3.0, 03/2015 2

3 Table of contents Warranty and Liability... 2 Table of contents Task EtherNet/IP Overview Industrial Ethernet Sinamics S120 Connectivity to EtherNet/IP Solution Overview Solution Overview Hardware Structure Additional Network Connections Used Components Programming Overview AOI Types Sinamics S120 Add-On Instructions Function Description Telegram Description Telegram Type 1 for Basic speed Telegram Type 111 for EPOS mode Telegram Type 102 for Advanced Speed Control Basic Speed Control Functionality Schematic Ladder Representation Input and Output Parameters EPOS Control Functionality Schematic Ladder Representation Input and Output Parameters MDI Mode Functionality Schematic Ladder representation Input and Output Parameters Advanced Speed Functionality Schematic Ladder representation Input and Output Parameters Line Module Control Functionality Schematic Ladder representation Input and Output Parameters Control Unit IO Interface Functionality Schematic Ladder representation Input and Output Parameters UDTs Drives Configuration Entry-ID: , V3.0, 03/2015 3

4 5.1 Basic Speed Telegram Selection Control Mode EPOS Drive or MDI Positioning Telegram Selection Control Mode Using a Freely Configurable Telegram Configuring the Communication Interface Setting the IP Address Selecting EtherNet/IP Using a CU320-2 PN and a CBE Configuring a Generic Ethernet Module Adding a new module Inserting the module Configuring network parameters Connection Parameters Using the IO Data Using AOIs in a New Application Importing AOIs Installing L5K Files Using the AOI Adding AOI to a Program I/O Interface Drive Parameter Access Explicit Messaging Using the MSG Instruction Troubleshooting Glossary History Entry-ID: , V3.0, 03/2015 4

5 1 Task 1 Task 1.1 EtherNet/IP Overview Industrial Ethernet Industrial Ethernet communication networks continue to gain global importance in automation solutions. Industrial Ethernet connectivity down to device level components (i.e. drives, I/O, etc.) is an end user requirement that demands openness and flexibility. To capitalize on the flexibility to connect to different Industrial Ethernet protocols the Sinamics S120 drives can seamlessly be applied in PROFINET and EtherNet/IP networks Sinamics S120 Connectivity to EtherNet/IP Through the use of the CBE20 (Communication Board Ethernet) the Sinamics S120 drives have direct connectivity to EtherNet/IP networks. The CBE20 resides in the option slot of the Sinamics multi-axis Control Unit and offers a four port switch to conveniently plug in network connections. The Sinamics drive system offers both PROFINET and EtherNet/IP software stacks for the CBE20 which is easily selected by a parameter setting in the standard Sinamics firmware. The network IP address of the CBE20 is set through the STARTER software. With STARTER software installed on your computer you can connect to the Sinamics drive through the CBE20 interface, the built in CU320-2 interface (DP or PN) or the Ethernet 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 servo axis controlled by a single CU320-2 control unit. This allows one IP address for the CBE20 card to control multiple drive objects thus cutting down on the number of IP addresses and Ethernet connections required for drive systems. The Sinamics drives operate on unicast telegrams thus further reducing network traffic. Sinamics S120 drives have been certified by ODVA for EtherNet/IP conformance testing and participated in the EtherNet/IP PlugFest. Siemens is a member of ODVA with Vendor ID # Entry-ID: , V3.0, 03/2015 5

6 2 Solution Overview 2 Solution Overview 2.1 Solution Overview Hardware Structure Figure 1 Sample System Overview HMI PLC Remote I/O Reference values Control word Actual values Status Word SINAMICS S120 w/ CBE Additional Network Connections SINAMICS S120 w/ CBE20 PC/Network The CBE20 (Communication Board Ethernet) is configured with parameter P8835 to operate either the PROFINET or EtherNet/IP software stack. Based on P8835 all four ports of the CBE20 operate the same selected software stack and cannot be programmed individually. Either software stack will also support standard Ethernet TCP/IP telegrams on all four ports. The CU320-2 control unit also contains either a Profibus DP or PROFINET built-in interface. The built-in interface of the CU320-2 is an independent interface to the CBE20 interface thus capable of supporting a second network. Entry-ID: , V3.0, 03/2015 6

7 2 Solution Overview 2.2 Used Components Hardware components The application was generated with the following components: Table 1 Component CU320-2 DP or CU320-2 PN with Firmware version 4.5 or later 1 CBE20 Communication Board Ethernet 1 Rockwell Automation Logix family controller Firmware version 19 or later 1 No. Software components Table 2 Component STARTER Version 4.3 SP1 or later 1 RS Logix 5000 Version 19 or later 1 No. Entry-ID: , V3.0, 03/2015 7

8 3 Programming Overview 3 Programming Overview 3.1 AOI s for Sinamics S120 drives The EtherNet/IP telegrams to the Sinamics S120 drives can be freely configured using the free telegram structure for the message frame type. Alternatively in an effort to seamlessly integrate the communication between an S120 drive object and an AB Logix family controller Add On Instructions have been designed for the RSLogix programming that mimic standard telegrams used in S120 configurations. For most standard applications the use of the AOI s can greatly reduce the Engineering time to configure a system. This manual documents the use of the AOI s developed to simplify the integration of Sinamics drives connected to RS Logix automation systems over EtherNet/IP. Figure 1 Example utilizing Simple Speed AOI and Standard Telegram AOI Types There are presently six Add On Instruction blocks designed to coordinate with standard 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) Entry-ID: , V3.0, 03/2015 8

9 4 Sinamics S120 Add-On Instructions 4 Sinamics S120 Add-On Instructions 4.1 Function Description The Drive control function blocks (AOIs) described in this section are intended to provide Sinamics S120 users help in engineering and integrating the S120 drives into an automation system where a Logix family controller is the primary control. The canned AOI s in this application guide have been designed to seamlessly integrate 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 a positioning drive using the EPOS function enabled in the drive. The AOIs also provide a quick implementation of basic drive control using the EtherNet/IP communication interface. Using multiple instances of the AOI several S120 drives axes can be controlled via the IO interface. 4.2 Telegram Description Telegram Type 1 for Basic speed This telegram is a standard PROFIdrive telegram of 2 words in length. It will control the state of the drive by selecting the appropriate bits in the control word and set the running speed in the speed setpoint word. For additional information on this telegram and its detailed function, refer to the Sinamics S120 List Manual Section 2.8 and Function Manual Section Table 1 Telegram Type 1 WORD INPUT OUTPUT 1 Control Word 1 Status Word 1 2 Speed Setpoint Value Actual Speed Value Telegram Type 111 for EPOS mode Telegram 111 is a standard Siemens Telegram for a positioning drive. It allows sequence and control of the drive functions in addition to control of the positioning function 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 12 th word is reserved as a user selectable value. For detailed information on this telegram refer to the Sinamics S120 List Manual Section 2.8 and Function Manual Section NOTE Telegram Type 1 can also be applied to Sinamics G130 and G150 drives utilizing the EtherNet/IP connectivity. Entry-ID: , V3.0, 03/2015 9

10 4 Sinamics S120 Add-On Instructions Table 2 Telegram Type 111 WORD Input Output 1 Control Word 1 Status Word 1 2 Pos Control Word 1 Pos Status Word 1 3 Pos Control Word 2 Pos Status Word 2 4 Control Word 2 Status Word 2 5 Velocity Override MELDW (Extended) Control Word 6-7 MDI Position Setpoint Position Actual Value 8-9 MDI Velocity Setpoint Velocity Actual Value 10 MDI Percent Acceleration Active Fault Number 11 MDI Percent Deceleration Active Warning Number 12 User Selectable User Selectable Telegram Type 102 for Advanced Speed Control Telegram 102 is a Siemens telegram for Speed mode control of drives. For detailed information on this telegram refer to the Sinamics S120 List Manual Section 2.8 and Function Manual Section Table 3 Telegram Type 102 WORD Input Output 1 Control Word 1 Status Word Speed Setpoint Speed Actual 4 Control Word 2 Status Word 2 5 Torque Reduction MELDW (Extended) Status Word 6 Encoder Control Word 1 Encoder Status Word 1 7 Encoder Position G1_XIST1 8 Encoder Position G1_XIST2 4.3 Basic Speed Control Functionality The S120 Speed Block provides an interface for basic speed control of a Servo or Vector drive object in Sinamics via EtherNet/IP. The Drive object is configured for control using Standard telegram type 1. Entry-ID: , V3.0, 03/

11 4 Sinamics S120 Add-On Instructions Schematic Ladder Representation Figure 1 S120 Speed Block Input and Output Parameters Table 4 Inputs Parameters Variable Name Data Type Description S120_Speed_Block Instance Data ON_OFF1 BOOL Drive Enable (ON/OFF1) 1 = Enable Drive 0 = Ramp Down and Disable drive OFF2 BOOL Coast Stop Command 0 = OFF2 Immediate Disable 1 = No OFF2 Command OFF3 BOOL Fast Stop Command 0 = OFF3 Fast Ramp and Disable 1 = No OFF3 Command RUN_SET_POINT BOOL Speed Setpoint Enable 0 = Setpoint Disabled 1 = Setpoint Enabled FAULT_RESET BOOL Reset Active Fault(s) 0 = No Fault Reset 1 = Reset Fault on Rising Edge RPM_SET_SPEED REAL Speed Setpoint in RPM MAX_SPEED REAL Speed at 100% Setpoint Must be the same as P2000 Entry-ID: , V3.0, 03/

12 4 Sinamics S120 Add-On Instructions Table 5 IN/OUT Parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 2 integers referenced to the two outputs words of the drive telegram. DRV_STATUS ARRAY Array of 2 integers referenced to the two input words of the drive telegram Table 6 Output Parameters Variable Name Data Type Description RTS BOOL Ready to Start RDY_OP BOOL Ready for Operation FAULTED BOOL Fault is Active ENABLED BOOL Pulses are Enabled RPM_ACTUAL REAL Actual Speed in RPM 4.4 EPOS Control Functionality The EPOS block interfaces to the Sinamics Basic Positioner via EtherNet/IP. The EPOS Positioner is used for the absolute and relative positioning of linear and rotary axes. The AOI provides a direct interface to EPOS control. The Sinamics S120 List manual provides detailed explanation of all functionality available. Note that drive must be referenced before absolute positioning is allowed. State control and sequencing is not provided. Additional user logic is required to synchronize the state of the drive with the positioning functions. The instruction interface provides easy access to basic drive control and to most signals and setpoints required for control of the MDI mode. Entry-ID: , V3.0, 03/

13 4 Sinamics S120 Add-On Instructions Schematic Ladder Representation Figure 2 S120 EPOS Block Input and Output Parameters Table 7 Input Parameter Data Variable Name S120_EPOS_BLOCK Data Type Instance Data Description ON BOOL Drive Enable (ON/OFF1) FAULT_RESET BOOL Reset Active Fault(s) 0 = No Fault Reset 1 = Reset Fault on Rising Edge JOG_FWD BOOL 0 = No Jog 1 = Jog Forward at speed in P2586 JOG_REV BOOL 0 = No Jog 1 = Jog Reverse at speed in P2585 Entry-ID: , V3.0, 03/

14 4 Sinamics S120 Add-On Instructions Variable Name Data Type REF_START BOOL Referencing Start 0 = No Referencing 1 = Enable Referencing Description MDI_START BOOL Enable MDI Mode 0 = No MDI mode Note: All motion should be completed before disable to avoid fault. 1 = Enable MDI Mode MDI_SETUP BOOL Enable MDI Setup Mode 0 = No Setup Mode 1 = Enable MDI Setup Mode MDI_POS_TYPE BOOL Select MDI Positioning Type 0 = Absolute Positioning 1 = Relative Positioning MDI_FWD_DIR BOOL Enable Forward Direction MDI_REV_DIR BOOL Enable Reverse Direction Note: If Both MDI_FWD_DIR and MDI_REV_DIR are True, shortest path is selected for absolute positioning MDI_EDGE_TRIG BOOL Trigger Loading of Setpoints Load executed on rising edge of input transition MDI_CONSTANT_TRIG BOOL Select Setpoint loading type 0 = The setpoint are accepted on the rising edge of the MDI_EDGE_TRIG input 1 = Setpoints are continuously loaded. (Absolute Positioning only) INTERMEDIATE_STOP BOOL Stop motion. The canceling the motion command. 0 = Stop motion 1 = Allow motion POSITION_SETPOINT DINT Position Setpoint in LUs ACCEL_RATE REAL Acceleration rate in LUs / s 2 DECEL_RATE V_OVERRIDE REAL REAL Deceleration rate in LUs Speed Setpoint in LUs / s / s2 Table 8 Input/Output Parameter Data Variable Name DRV_CONTROL DRV_STATUS Data Type ARRAY ARRAY Description Entry-ID: , V3.0, 03/

15 4 Sinamics S120 Add-On Instructions Table 9 Output Parameter Data Variable Name 4.5 MDI Mode Data Type RTS BOOL Ready to Start RDY_OP BOOL Ready for Operation Description ENABLED BOOL Pulses are Enabled at Motor Output FAULTED BOOL Fault is Active ALARM BOOL Alarm is Active JOGGING BOOL Axis is Jogging HOMING BOOL Referencing Mode Enabled REFERENCED BOOL Axis is Referenced MDI_POS BOOL MDI Mode is Active MDI_SETUP_ON BOOL MDI Setup Mode is Active TARGET_REACHED BOOL Position Actual is within the position window set FAULT_NUMBER INT Active Fault number. 0 if no Fault ALARM_NUMBER INT Active Alarm Number. 0 if no Alarm POSITION_ACTUAL DINT Position value in LUs SPEED_ACT_PCT REAL Speed in Percent of P2000 TORQUE_ACTUAL REAL Torque value in percent of P2002 This value is mapped to word 12 of the telegram status data. For the torque to be displayed Parameter 2051 Index 11 must be connected to r 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 and rotary axes. The AOI implements a state machine that allows the selection of three major motion modes. The three modes are Velocity mode, Relative positioning, and Absolute positioning mode. Velocity mode enables motion at a constant velocity set by the Speed reference input. The velocity setpoint can be changed while the axis is in motion The drive uses the Accel and Decel setpoints to reach the velocity setpoint. The mode is started by setting the VEL_MOVE input of the instruction. Jog forward and reverse is also available by setting the appropriate inputs to the instructions. 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 at the position setpoint input of the instruction and selecting the REL_MOVE input. Absolute positioning mode moves the axis to a specified position by setting the position value at the position setpoint input of the instruction and the setting the ABS_MOVE input. Entry-ID: , V3.0, 03/

16 4 Sinamics S120 Add-On Instructions NOTICE Note that the axis is not allowed to position until it has been referenced Schematic Ladder representation Figure 3 S120 MDI Block Entry-ID: , V3.0, 03/

17 4 Sinamics S120 Add-On Instructions Input and Output Parameters Table 10 Input Parameter Data Variable Name Data Type Description ESTOP_OK BOOL 1 = Deselect Estop Mode 0 = Select Estop Mode DRV_ENABLE BOOL 1 = Allow Drive Enable 0 = Disable Drive FAULT_RESET BOOL Acknowledge Drive Fault 0 -> 1 Signal Transition Acknowledges Fault REF_START BOOL Referencing Start 0 = Disallow Referencing 1 = Start referencing mode AT_HOME BOOL 0 -> 1 Set location of the Home position VEL_MOVE 0 = Disallow Speed Mode 1 = Enable Speed Mode ABS_MOVE BOOL Select Absolute Positioning Mode 0 = 1 = Absolute positioning REL_MOVE BOOL Select Relative Positioning Mode 0 = 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 / s 2 DECEL_RATE REAL Deceleration Rate in LUs / s 2 SPEED_REF_PCT REAL Speed setpoint as a percentage of Nominal Speed. (Velocity Override) NOM_SPEED_IN_LU REAL Speed setpoint in LUs / s Table 11 Input / Output Parameter Data Variable Name Data Type Description DRV_CONTROL ARRAY Array of 12 Integers referenced to the 12 Output words for the drive object. DRV_STATUS ARRAY Array of 12 Integers referenced to the 12 Input words for the drive Object. Entry-ID: , V3.0, 03/

18 4 Sinamics S120 Add-On Instructions Table 12 Output Data Parameters Variable Name Data Type READY BOOL Ready to Start Description ENABLED BOOL Pulse are Enabled at Motor Output POS_ACTIVE BOOL Positioning Mode is Active VEL_ACTIVE BOOL Velocity (Speed) mode is Active REFERENCED BOOL Axis is Referenced FAULTED BOOL Drive Fault is Active HOMING BOOL Drive Alarm is Active TARGET_REACHED BOOL Position actual is within window set in drive FAULT_NUMBER INT Active Fault Number (0 = No Faults) ALARM_NUMBER INT Active Fault Number (0 = No Alarm) POSITION_ACTUAL DINT Actual Position Value in LUs SPEED_ACT_PCT REAL Speed in Percent of P2000 TORQUE_ACTUAL REAL Torque Value in Percent of P Advanced Speed Functionality The Advance Speed Block provides an interface to the S120 Drive in speed mode for Servo mode of operation. It implements Standard Telegram 102. The AOI provides additional functionality beyond the Basic Speed AOI. A 32 bit (DINT) speed setpoint value is used for improved resolution and speed control for high performance applications. An encoder interface is also included providing a shaft position value. Torque can also be controlled using the torque reduction value. Entry-ID: , V3.0, 03/

19 4 Sinamics S120 Add-On Instructions Schematic Ladder representation Figure 4 Advance Speed Control AOI Input and Output Parameters Table 13 Input Data Parameters Variable Name Data Type Description ON_OFF1 BOOL Drive Enable (ON/OFF1) 1 = Enable Drive 0 = Ramp Down and Disable drive OFF2 BOOL Coast Stop Command 0 = OFF2 Immediate Disable 1 = No OFF2 Command OFF3 BOOL Fast Stop Command 0 = OFF3 Fast Ramp and Disable 1 = No OFF3 Command FAULT_RESET BOOL Reset Active Fault(s) 0 = No Fault Reset 1 = Reset Fault on Rising Edge SPEED_SET_MAIN REAL Speed Setpoint in Percent of P2000 TORQ_LIMIT REAL Torque limit setpoint in Percent of P2002 Entry-ID: , V3.0, 03/

20 4 Sinamics S120 Add-On Instructions Table 14 Input / Output Parameter Data Variable Name Data Type Description DRV_CONTROL ARRAY Array of 8 Integers referenced to the 8 Output words for the drive object DRV_STATUS ARRAY Array of 6 Integers referenced to the 6 Output words for the drive object Table 15 Output Data Parameter Variable Name Data Type Description RTS BOOL Ready to Start INHIBITED BOOL Ready for Operation FAULTED BOOL Fault is Active ENABLED BOOL Pulses are Enabled SPEED_ACTUAL REAL Actual Speed in Percent of P2000 POSITION_ACTUAL DINT Actual Position Value 4.7 Line Module Control Functionality The line module control AOI allow for simple control and monitoring of a line module for the S120 drives. The line module can be enabled via AOI inputs and an output signals the current state. Faults are monitored and can be acknowledged via input. Entry-ID: , V3.0, 03/

21 4 Sinamics S120 Add-On Instructions Schematic Ladder representation Figure 5 Line Module Control AOI Input and Output Parameters Table 16 Input Data Parameters Variable Name Data Type Enable BOOL Enable the Line Module 1 = Enable 0 = Disable Drive Description OFF2 BOOL Immediate Pulses Disable 1 = Allow Pulse Enable 0 = Disable Pulses FaultAck BOOL Acknowledge Active Faults 0 -> 1 Acknowledge Faults DRV_STATUS WORD Status Data from IO mapped to Line Module Table 17 Output Data Parameters Variable Name Data Type Description Ready BOOL Line Module is Ready Enabled BOOL Line Module is Precharged and Enabled Inhibited BOOL Operation Inhibited FaultActive BOOL Fault is Active AlarmActive BOOL Alarm is Active DRV_CONTROL WORD Control Data to IO mapped to Line module Entry-ID: , V3.0, 03/

22 4 Sinamics S120 Add-On Instructions 4.8 Control Unit IO Interface Functionality The main function of Control Unit (CUIO) AOI is easy access to the digital IO on the CU320-2 controller. The instruction s parameters provide individual access to each digital IO point. In the case of a programmable IO point both Inputs and Outputs are provided. The interface is accomplished using Siemens Standard Telegram 390 as documented in Section 2.8 of the Sinamics S120 List Manual Schematic Ladder representation Figure 6 Control Unit IO AOI Input and Output Parameters Table 18 Input Data Parameters Variable Name Data Type Description DO8 BOOL Digital Output 8 Terminal X122-9 DO9 BOOL Digital Output 9 Terminal X DO10 BOOL Digital Output 10 Terminal X DO11 BOOL Digital Output 11 Terminal X DO12 BOOL Digital Output 12 Terminal X132-9 DO13 BOOL Digital Output 13 Terminal X DO14 BOOL Digital Output 14 Terminal X DO15 BOOL Digital Output 15 Terminal X Entry-ID: , V3.0, 03/

23 4 Sinamics S120 Add-On Instructions Table 19 Input / Output Data Parameters Variable Name Data Type Description DRV_STATUS ARRAY Array of 2 Integers referenced to the 2 Input words for the drive object DRV_CONTROL ARRAY Array of 2 Integers referenced to the 2 Output words for the drive object Table 20 Output Data Parameters Variable Name Data Type Description DI0 BOOL Digital Input 0 Terminal X122-1 DI1 BOOL Digital Input 1 Terminal X122-2 DI2 BOOL Digital Input 2 Terminal X122-3 DI3 BOOL Digital Input 3 Terminal X122-4 DI4 BOOL Digital Input 4 Terminal X132-1 DI5 BOOL Digital Input 5 Terminal X132-2 DI6 BOOL Digital Input 6 Terminal X132-3 DI7 BOOL Digital Input 7 Terminal X132-4 DI8 BOOL Digital Input 8 Terminal X122-9 DI9 BOOL Digital Input 9 Terminal X DI10 BOOL Digital Input 10 Terminal X DI11 BOOL Digital Input 11 Terminal X DI12 BOOL Digital Input 12 Terminal X132-9 DI13 BOOL Digital Input 13 Terminal X DI14 BOOL Digital Input 14 Terminal X DI15 BOOL Digital Input 15 Terminal X UDTs UDTs are provided as representing the typical control and status words used for Telegrams implemented by the AOIs provided. The UDTs can also be used independently to map IO data sent and received by the drive. The user application is able to directly control the telegram words and bits to accomplish control concepts not included in the AOIs provided by Siemens. This is the case when using user defined telegrams (free telegram configuration with BICO) to exchange data with the drives. Entry-ID: , V3.0, 03/

24 5 Drives Configuration 5 Drives Configuration Commissioning of the S120 drives is not in the scope of this document. Refer to the 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 Sinamics S120 training unit. The Red Wheel drive on the training unit is configured as a speed controlled drive and the Blue wheel drive is configured for positioning using the EPOS technology module. 5.1 Basic Speed Telegram Selection Telegram type 1 is selected for Speed control in coordination with the Basic Speed AOI. The telegram is selected in the Communication configuration of the CU in Starter. Double click Message Configuration in the project tree and select the Standard Telegram 1 for the Red Wheel. Figure 1 Selection of Telegram Type Control Mode Speed mode can be achieved in one of the following control modes 1) Servo or Vector Mode - Closed loop speed control with encoder 2) Vector Mode - Closed loop speed control without encoder. 3) Servo or Vector - Open loop V/Hz 5.2 EPOS Drive or MDI Positioning 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 Standard Telegram 111 for the Blue Wheel Control Mode EPOS mode can be achieved in Servo or Vector modes. Closed loop speed control with encoder is required for Standard Telegram Type 111. Entry-ID: , V3.0, 03/

25 5 Drives Configuration 5.3 Using a Freely Configurable Telegram It is possible to configure a custom telegram to fit a specific application requirement. The custom configuration can be accomplished by one of several methods 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 then executed in Starter configuring the drive. Parameter r2067 displays the number of PZDs the controller detected to be part of the telegram for the Drive Object. The Input and Output data length must match the values 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 the CU to correctly calculate parameter r2067, all of the PZD of the telegram must be 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 be terminated to Dummy parameters if they are not used for actual parameter connection such as torque limit or added speed. Entry-ID: , V3.0, 03/

26 5 Drives Configuration 5.4 Configuring the Communication Interface Setting the IP Address The IP address for the CBE20 module can be set via Parameter P8941. The four indices accommodate the octets of the device IP Address. The Subnet mask for the CBE20 is set in Parameter P8943 on the Control Unit. Parameters P8951 and P8953 display the active values for IP Address and Subnet mask. Once the values are saved to ROM and control unit is restarted the new values should be displayed. Figure 3 IP Address of the CBE 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 communication stack for the CBE20. After saving this value to ROM and cycling power the CBE20 will then operate as an EtherNet/IP adapter. Figure 4 Selection of EtherNet/IP at P Using a CU320-2 PN and a CBE20 When a CBE20 is installed in a CU320-2 PN it is important to note that the configuration of the Communication Option Module is not preselected as primary interface (IF1). In the configuration process of the CU the Option module must be selected as the first interface as shown in the figure below. This can also be selected with parameter P8839. Entry-ID: , V3.0, 03/

27 5 Drives Configuration Figure 5 Selecting Optional Communication module as PZD Interface 1 (IF1) Entry-ID: , V3.0, 03/

28 6 Configuring a Generic Ethernet Module 6 Configuring a Generic Ethernet Module 6.1 Adding a new module A Generic IO module is used to configure the cyclic data exchange between the automation controller and the Sinamics drive without the need for an EDS file Inserting the module Table 1 Inserting the Module 1. Insert a module by right clicking the network interface in the IO configuration section of the Project tree. 2. In the Select Module dialog box use the Find function to search for the term GENERIC. Select the Generic Ethernet Module module to be inserted Configuring network parameters Table 2 Configuring the Network Parameters 1. The module name should identify the CU320-2 to allow easy selection from other modules configured in the controller. It is also the name used for the controller level tag that will hold the data. 2. Use the Description box to describe the Drive objects contained in the module and the order the data will arrive. In the picture, notice how the drive objects are listed showing the number and orders of the IO words that control each. Entry-ID: , V3.0, 03/

29 6 Configuring a Generic Ethernet Module 3. The data exchange format should be set to Integer (INT). 4. Enter the IP Address of the CBE20 option module. 5. The Connection Parameters section configures the IO Assemblies for the CU The Assembly Instances should always be 101 through 103 for the Input, Output and Configuration Assembly respectively. The size of the Input and Output assemblies is the total number of words for all the control unit drive objects to be configured as IO. This can be determined by adding the column listing the number of words for each telegram in the message frame configuration of the Starter project Connection Parameters Table 3 Setting the Connection Parameters 1. The Requested Packet Interval (RPI) is the rate at which the controller will exchange data with the IO module. The CU320-2 can operate with a RPI set to a minimum of 5 ms. In this application we will use a value of 10 ms. 2. 2) Unicast is selected as the exchange method Using the IO Data The IO data is available as an array of integers in the controller tags section of the project tree. Entry-ID: , V3.0, 03/

30 6 Configuring a Generic Ethernet Module Figure 1 Controller Tags for new module Entry-ID: , V3.0, 03/

31 7 Using AOIs in a New Application 7 Using AOIs in a New Application 7.1 Importing AOIs The AOIs provided with the sample application can be easily integrated into a new or existing user program by importing the instructions using L5K files Installing L5K Files Table 1 Steps to Importing the AOIs 1. Import the AOI into the Add On Instructions folder. Right click the Add- On Instructions folder in the project tree and select the Import Add-On Instruction option. 2. Select the required L5K file for the desired Instruction and Import. 3. Review the Import configuration and click OK Entry-ID: , V3.0, 03/

32 7 Using AOIs in a New Application 4. The Project should now show the imported Instruction. Notice that UDTs required for the instruction have also been imported. These UDTs can also be used to create additional variables and aliases Using the AOI Adding AOI to a Program Table 2 Using the S120 Speed Block 1. Add instruction to a new rung by dragging from project tree. 2. Declare and assign instance data variable. The new tag can be created as a local program tag with an name that clearly identifies the drive data I/O Interface Connecting the instruction to the Controller IO tags is accomplished by moving the IO data into the AOI Interface. Entry-ID: , V3.0, 03/

33 7 Using AOIs in a New Application 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 the Controller IO tags. The first rung copies the IO data for this Red Wheel to a local variable to be used by the AOI as inputs in the DRV_STATUS parameters. DRV_STATUS and DRV_CONTROL is declared as INOUT parameters and therefore passed by reference. The third rung holds the copy command that moves the control data from the working variable OutputDataBuffer to the controller IO tag. All AOIs provided will use this method of data exchange with IO containing the drive data. Additional access to the control data can be performed before the data is copied to the IO Tag. This allows the user to utilize features already mapped in the telegram that are not control by the AOI. In a similar manner the Status data can be access by the user program. Entry-ID: , V3.0, 03/

34 8 Drive Parameter Access 8 Drive Parameter Access 8.1 Explicit Messaging In many applications it is necessary to read or write parameters in the drive. This allows 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 s communication object. When parameterizing the MSG instruction, below are some important parameters: Class = 400hex + drive object number DO 1 = class 401h DO 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 = attribute FFFFh Get attribute single = read a parameter Set attribute single = write a parameter Entry-ID: , V3.0, 03/

35 8 Drive Parameter Access 8.2 Using the MSG Instruction Table 1 Parameterizing the MSG Instruction 1. MSG Instruction: Insert the MSG instruction. 2. Instruction Tag: Create a controller scope tag for the instruction in the Tag tab of the message configuration dialog box. This tag contains the working memory area for the MSG instruction. 3. Message Type: Select the CIP Generic message type. Entry-ID: , V3.0, 03/

36 8 Drive Parameter Access 4. Service Type: Select Get Attribute Single to read and parameter or Set Attribute Single to write the parameter. 5. To figure out what the drive object number is, navigate to telegram configuration. 6. Find the corresponding drive object number (e.g. Red_Wheel = drive object 2 hex). 7. Class: drive object number (hex) Entry-ID: , V3.0, 03/

37 8 Drive Parameter Access 8. Instance: This is the parameter number of the object, in Starter. E.g. DC Link voltage (p26). 9. Attribute: This is the parameter index. For parameters without an index, use Destination: For reading a parameter select a Controller scope tag where the value will be written If writing a value to the parameter, select a tag in the Source element entry. Entry-ID: , V3.0, 03/

38 8 Drive Parameter Access 11. Make sure the data type of the tag (source/destination) matches the data type of the parameter. INT = 2 Bytes (16 bit) REAL = 4 Bytes (32 bit) 12. To figure out the data type of the parameter, search for the parameter in the Starter help tool, or refer to the list manual. 13. Path: In the communication tab enter the name of the IO node for the CBE20. Use the Browse option to find the node in the project tree. NOTE It is a good idea to one-shot the message requests (e.g. with a flasher). If the rung for the MSG instruction is always true, the communication board can get overwhelmed and fault out. Entry-ID: , V3.0, 03/

39 9 Troubleshooting 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? Entry-ID: , V3.0, 03/

40 9 Troubleshooting a. Do you have the Comm. Format set to Data INT, or accidentally set to Data-DINT? b. Do the Connection Parameters (addresses and length) match the drive telegram? i. If you are using an EDS, it is for Telegram 1 only. If another Telegram 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 drive b. Check diagnostics on drive for faults. 7. Are all Drive Enables (OFF1/OFF2/OFF3) enabled? Entry-ID: , V3.0, 03/

41 9 Troubleshooting There is no information on the control/status of the AOI s even though the drive 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. Entry-ID: , V3.0, 03/

42 10 Glossary 10 Glossary AOI (Add On Instruction): Commonly used logic for a task that is encapsulated into a block to be reused in RSLogix programs. CBE20 (Communication Board Ethernet): Option board for Sinamics drives with four Ethernet ports. 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 be controlled from a single CU DO (Drive Object): The Sinamics S120 multi-axis drive system typically consists of several drive objects for each control unit. The length and order of each drive object is set in the message frame. DP interface: PROFIBUS interface DRIVE CLiQ: Flexible back plane for Sinamics drives allowing nameplate data and actual values of all DRIVE CLiQ components to be transmitted with the control unit. EPOS (Easy Positioning): Function module in Sinamics drives providing basic positioning task such as traversing task, MDI, and homing. Free Telegrams: The send and receive telegrams can be configured as required by using BICO technology to interconnect the send and receive process data. IF1 & IF2: The CU320-2 control unit can communicate via two different interfaces. IF1 refers to the 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 minimizing integration and commissioning time and effort. Servo mode: Axis control type for high dynamic applications. Particularly suitable for synchronous motors and high performance induction motors. Siemens Standard Telegrams: Structured in accordance with manufacturer specification with the internal process data links automatically set up in accordance with the telegram number setting. Standard PROFIdrive Telegrams: Structured in accordance with PROFIdrive profile with the internal 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 Entry-ID: , V3.0, 03/

43 10 Glossary Telegram type 102: Siemens Standard telegram with 32 bit speed value and torque reduction value 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 12 th word for torque. Telegram type 370: Siemens Standard telegram for Sinamics Line Module control and status word 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. Entry-ID: , V3.0, 03/

44 11 History 11 History Table 11 History Version Date Changes V PreRelease V Initial Release V Changes and corrections. V Add Explicit messaging Added Free telegram CU320-2PN difference V Remove explicit messaging tables Update drive parameter access (explicit messaging) Added troubleshooting Entry-ID: , V3.0, 03/