Drive System SD2. S7 SD2 Service Channel SIEB & MEYER W. Description of Profibus to support the protocol for the service channel

Transcription

1 SIEB & MEYER W Drive System SD2 S7 SD2 Service Channel Description of Profibus to support the protocol for the service channel P-TD

2 W Copyright Copyright 2012 SIEB & MEYER AG. All rights reserved. This manual or extracts thereof may only be copied with the explicit authorization of SIEB & MEYER AG. Trademarks All product, font and company names mentioned in this manual may be trademarks or registered trademarks of their respective companies. SIEB & MEYER worldwide For questions regarding our products and technical problems please contact us. SIEB & MEYER AG Auf dem Schmaarkamp 21 D Lüneburg Germany Phone: Fax: support@sieb-meyer.de SIEB & MEYER Asia Co. Ltd. 4 Fl, No. 532, Sec. 1 Min-Sheng N. Road Kwei-Shan Hsiang 333 Tao-Yuan Hsien Taiwan Phone: Fax: smasia@ms42.hinet.net SIEB & MEYER Shenzhen Trading Co. Ltd. 1st floor, B room of D1 block, DongNan GongMao Building Dongjiaotou Shekou, Houhai Ave, Nanshan District Shenzhen City, P.R. China Phone: / Fax: sma-china@umail.hinet.net SIEB & MEYER USA, LLC 3975 Port Union Road Fairfield, OH USA Phone: Fax: info@sieb-meyerusa.com 2 Drive System SD2 - S7 SD2 Service Channel

3 W Chapter Overview Description of the Program S7_SD2_Service 1 Program Content 2 Program Control 3 Symbols 4 Application of Data Blocks 5 Programming the SERVOLINK 4 gateway 6 Hardware Description 7 Error Detection 8 SERVOLINK 4 gateway Test Assembly 9 Related Documents 10 Drive System SD2 - S7 SD2 Service Channel 3

4 Chapter Overview W 4 Drive System SD2 - S7 SD2 Service Channel

5 W Content 1 Description of the Program S7_SD2_Service Installation Program Content Organization block Function Blocks Global Data Blocks Instance Data Blocks User-defined Data Types Inputs S7 System Functions and S7 System Function Blocks Program Control Organization block OB_MAINPROG Function Blocks Function blockfb_swapint General Description Calling the Function Block Inputs and Outputs Function blockfb_swapdint General Description Calling the Function Block Inputs and Outputs Function blockfb_initdata General Description Calling the Function Block Inputs and Outputs Function blockfb_readobject General Description Calling the Function Block Inputs and Outputs Function blockfb_setarrayindex General Description Calling the Function Block Inputs and Outputs Function blockfb_writeobject General Description Calling the Function Block Inputs and Outputs Global Data Blocks Data BlockDB_ERRORCODE Data BlockDB_GLOBALDATA Data BlockDB_DRIVESTATE Instance Data Blocks User-defined Data Types User-defined Data Type TS_DRIVE_DATA_IN User-defined Data Type TS_DRIVE_DATA_IN User-defined Data Type TS_DRIVE_DATA_IN User-defined Data Type TS_DRIVE_DATA_IN User-defined Data Type TS_DRIVE_DATA_IN System Functions and Blocks Symbols Drive System SD2 - S7 SD2 Service Channel 5

6 Content W 4.1 Symbol Table Application of Data Blocks Hardware Configuration in the PLC GSD File Settings in the Hardware Configuration Defining the Addresses in the Modules Programming the Application Program Examples of the Functions Programming the SERVOLINK 4 gateway Hardware Description Connecting the Devices Error Detection Errors in S7 PLC Error in SERVOLINK 4 gateway Error in Drive Control SD2/SD2S SERVOLINK 4 gateway Test Assembly Front Panel Check of SIMATIC CPU LED Display Drive Check Object Access Related Documents Drive System SD2 - S7 SD2 Service Channel

7 W Description of the Program S7_SD2_Service 1 Description of the Program S7_SD2_Service 1 The program S7_SD2_Service makes it possible to connect a SD2/SD2S drive by SIEB & MEYER adapter to a SIMATIC S7 CPU with Profibus interface via a Profibus DP SERVOLINK 4 adapter. The program S7_SD2_Service has been created using the engineering tool S7- SCL V5.3. All data blocks necessary for the communication are involved in the program. In addition the program provides system blocks of the S7, which are used during the process. In order to use the program for the communication between S7 and the SD2/SD2S drive by SIEB & MEYER, you need the following hardware and software components: < SIMATIC STEP 7 starting form version 5.5 < SIMATIC S7 300(/400) starting from CPU 315-2DP < SIEB & MEYER SERVOLINK 4 gateway < SIEB & MEYER SD2/SD2S 1.1 Installation At first create a directory for the application program. Example:D:\Data\Siemens\SM_AG\S7Prog\S7_SD2_Service Copy the ZIP file of the program (e.g."s7_sd2_service_v100.zip") into the created directory. Unpack the ZIP file. Start the SIMATIC Manager. Select the menu "File ÿ Open". Click the button "Browse" to select the created directory and open the project "S7_SD2_Service". Drive System SD2 - S7 SD2 Service Channel 7

8 Description of the Program S7_SD2_Service W 1 8 Drive System SD2 - S7 SD2 Service Channel

9 W 2 Program Content Program Content The program S7_SD2_Service contains the following objects as SCL sources. As SCL sources they can be compiled to function and data blocks with the desired block number via the symbol table Organization block Symbolic name OB_MAINPROG Description Example main program 2.2 Function Blocks Symbolic name FB_SwapINT FB_SwapDINT FB_InitData FB_ReadObject FB_SetArrayIndex FB_WriteObject Description Changes the byte order in the integer value Changes the byte order in the long integer value Initialization of the process data Reads an object from the drive Sets the array index counter in the drive Writes on an object in the drive 2.3 Global Data Blocks Symbolic name DB_ERRORCODE DB_GLOBALDATA DB_DRIVESTATE Description Error codes Global variables for adaptation to the own project List of the drive states 2.4 Instance Data Blocks Symbolic name DB_SwapINT DB_SwapDINT DB_InitData DB_ReadObject0 DB_SetArrayIndex0 DB_WriteObject0 Description Instance data block for FB_SwapINT Instance data block for FB_SwapDINT Instance data block for FB_InitData Instance data block for FB_ReadObject Instance data block for FB_SetArrayIndex Instance data block for FB_WriteObject For additional drives you must create additional instance data blocks: < DB_ReadObjectX < DB_SetArrayIndexX < DB_WriteObjectX Drive System SD2 - S7 SD2 Service Channel 9

10 Program Content W 2.5 User-defined Data Types 2 Symbolic name TS_DRIVE_DATA_IN TS_DRIVE_DATA_IN TS_DRIVE_DATA_IN TS_DRIVE_DATA_IN TS_DRIVE_DATA_IN Description Data structure of the received data from Profibus Data structure of the transmitted data to Profibus Data structure of the drive data Data structure of the setpoints Data structure of the actual values 2.6 Inputs Variable Address Meaning I_ReadObject I 0.4 Start: read object I_WriteObject I 0.5 Start: write object I_SetArrayIndex I 0.6 Start: set array index 2.7 S7 System Functions and S7 System Function Blocks Function block Symbolic name Description SFC14 DPRD_DAT Read DP slaves SFC15 DPWR_DAT Write DP slave 10 Drive System SD2 - S7 SD2 Service Channel

11 W 3 Program Control Program Control This chapter provides information on the individual blocks and their functions. 3.1 Organization block OB_MAINPROG The program is controlled via the organization block OB_MAINPROG. The data from the bus is read, allocated to the drives, processed and written to the bus again. The individual program steps are processed by the function blocks. 3 Please note: At first the data must be copied from the Profibus module into the bus structure via SFC14 and at last the data must be copied from the bus structure back to the Profibus module via SFC15. Before the proper sequential control comes into operation, the data must be initialized ones when the program is started or after a fault. 3.2 Function Blocks Function blockfb_swapint General Description Using the function block FB_SwapINT the byte order of an Integer value is swapped. Byte order before: Byte order after: Byte0, Byte1 Byte1, Byte Calling the Function Block FB_SwapINT.DB_FB_SwapINT (value := DB_GLOBALDATA.SD2_Data[DrNo].OutData.ServiceIndex); Inputs and Outputs Parameter In / Out Type Description value in_out INT Variable for swapping Function blockfb_swapdint General Description Using the function block FB_SwapDINT the byte order of a LongInteger value is swapped. Drive System SD2 - S7 SD2 Service Channel 11

12 Program Control W Byte order before: Byte order after: Byte0, Byte1, Byte2, Byte3 Byte3, Byte2, Byte1, Byte Calling the Function Block FB_SwapDINT.DB_FB_SwapDINT 3 (value := DB_GLOBALDATA.SD2_Data[DrNo].OutData.ServiceValue); Inputs and Outputs Parameter In / Out Type Description value in_out DINT Variable for swapping Function blockfb_initdata General Description Before calling this block, the bus data must have been read once. Using the function block FB_InitData, the command bits are initialized and deposited in the drive structure via the status bits of the drive. The reference values are initialized with the value zero. Afterwards the initializing data should be transmitted once Calling the Function Block FB_InitData.DB_InitData (Drive := DB_GLOBALDATA.SD_Data[DrNo]); Inputs and Outputs Parameter In / Out Type Description Drive in_out TS_DRIVE_DA TA_IN Data structure of the drive Function blockfb_readobject General Description The function block FB_ReadObject allows read access to the object data of the drive. The document "Acyclic_Servolink_ServiceChannel.doc" provides information on the functional process of the access Calling the Function Block FB_ReadObject.DB_ReadObject0 (Execute := TRUE, Drive := DB_GLOBALDATA.SD_Drive[DrNo], ObjectIndex := 69, ObjectSubindex := 0); 12 Drive System SD2 - S7 SD2 Service Channel

13 W Program Control Inputs and Outputs Parameter In / Out Type Description Drive in_out TS_DRIVE_DA TA_IN Data structure of the drive Execute in BOOL TRUE: Start of the function block ObjectIndex in INT Index of the object ObjectSubindex in DINT Subindex of the object Busy out BOOL Function block is active Done out BOOL Function block is ready Error out BOOL Function block stopped due to error ErrorID out WORD Error number ReturnValue out DINT Return value of the reading process Function blockfb_setarrayindex General Description The function block FB_SetArrayIndex is used to set the subindex of an array object. Afterwards, during writing of the object, the subindex is increased automatically. The document "Acyclic_Servolink_ServiceChannel.doc" provides information on the functional process of the access. In order to set the array index to the first element, the calling parameter must have the value Calling the Function Block FB_SetArrayIndex.DB_SetArrayIndex0 (Execute := TRUE, Drive := DB_GLOBALDATA.SD_Drive[DrNo], ArrayIndex := 4); Inputs and Outputs Parameter In / Out Type Description Drive in_out TS_DRIVE_DA TA_IN Data structure of the drive Execute in BOOL TRUE: Start of the function block ArrayIndex in DINT Index Busy out BOOL Function block is active Done out BOOL Function block is ready Error out BOOL Function block stopped due to error ErrorID out WORD Error number Drive System SD2 - S7 SD2 Service Channel 13

14 Program Control W Function blockfb_writeobject General Description The function block FB_WriteObject allows write access to the object data of the drive. The document "Acyclic_Servolink_ServiceChannel.doc" provides information on the functional process of the access Calling the Function Block FB_WriteObject.DB_WriteObject0 (Execute := TRUE, Drive := DB_GLOBALDATA.SD_Drive[DrNo], ObjectIndex := 186, ObjectValue := 10000, ObjectNoOfBytes := 4); Inputs and Outputs Parameter In / Out Type Description Drive in_out TS_DRIVE_DA TA_IN Data structure of the drive Execute in BOOL TRUE: Start of the function block ObjectIndex in INT Index of the object objectvalue in DINT Value to be written ObjectNoOfBytes in INT Number of valid bytes (1 4) Busy out BOOL Function block is active Done out BOOL Function block is ready Error out BOOL Function block stopped due to error ErrorID out WORD Error number 3.3 Global Data Blocks Data BlockDB_ERRORCODE The global data block DB_ERRORCODE contains the structure of the error codes that are returned by the function block. The error codes have the following meanings: Error code Value Meaning ERR_None 0 No error ERR_WrongState 1 The drive is in the wrong device status for the upcoming command. ERR_Parameter 2 Parameter error ERR_SERVOLINK_Fault 6 SERVOLINK error ERR_SERVOLINK_Slot 7 SERVOLINK slot error 14 Drive System SD2 - S7 SD2 Service Channel

15 W Program Control Data BlockDB_GLOBALDATA The global data block DB_GLOBALDATA contains the structure of the program-relevant data that must be adapted to the particular project. The following variables are used: Variable Type Meaning ReadValue DINT Array of the return values of the reading processes SD_Drive TS_DRIVE_DA TA_IN Array of the data structures of the projected drives Data BlockDB_DRIVESTATE The global data block DB_DRIVESTATE contains a list of the drive states according to the drive protocol DS402. State Value Meaning STATE_Start 0 Start, initialization State_NotReadyToSwitchOn 1 Not ready to be switched on STATE_SwitchOnDisabled 2 Switch on disabled STATE_ReadyToSwitchOn 3 Ready to be switched on State_SwitchedOn 4 Switched on State_OperationEnabled 5 Operation enabled STATE_QuickStopActive 6 Quick stop State_FaultReactActive 7 Fault reaction State_Fault 8 Fault occurred 3.4 Instance Data Blocks One instance data block is required for each function block. Each instance data block contains the input parameters, the output parameters, the in-out parameters and the static variables of the respective function block. For several function blocks a set of instance data blocks is required per drive: < DB_ReadObjectX < DB_SetArrayIndexX < DB_WriteObjectX 3.5 User-defined Data Types The user-defined data types describe the data structure of each drive. These are the input and output values of the Profibus data and the prepared setpoints and actual values. The data can be accessed via the global variables. The structures of the bus parameters are based on the CANopen protocol. The structures of the bus parameters are based on the CANopen protocol. A description of the telegram structure is part of the documents "SD2_CAN-Connection.pdf" and "SD2_DeviceControl.pdf". Drive System SD2 - S7 SD2 Service Channel 15

16 Program Control W User-defined Data Type TS_DRIVE_DATA_IN The user-defined data type TS_DRIVE_DATA_IN contains the data structure of the received data of a drive from Profibus. Only the Bytes 10 to 15 matter for the acyclic service channel: 3 Name Type Meaning Process data byte 0..9 Cyclic process data Service data byte ServiceReturn DINT Return value / Error state res14 BYTE Reserved ServiceDoneToggle BOOL Return toggle bit ServiceFault BOOL Error bit smres152 to smres157 6 * BOOL Reserved User-defined Data Type TS_DRIVE_DATA_IN The user-defined data type TS_DRIVE_DATA_IN contains the data structure of the transmission data of a drive to Profibus. Only the Bytes 10 to 15 matter for the acyclic service channel: Name Type Meaning Process data byte 0..8 Cyclic process data Service data byte ServiceValidToggle BOOL Service toggle bit ServiceFunction0 BOOL Function bit 0: read, write, array index ServiceFunction1 BOOL Function bit 1: read, write, array index ServiceByteIndex0 BOOL Byte number 0: 0..3 ServiceByteIndex1 BOOL Byte number 1: 0..3 smres095 to smres097 3 * BOOL Reserved ServiceIndex INT Index of the object ServiceValue DINT Object value / array index User-defined Data Type TS_DRIVE_DATA_IN The user-defined data type TS_DRIVE_DATA_IN contains the data structure of the drive data. Name Type Meaning init_ok BOOL TRUE: all parameters are initialized ActValues TS_DRIVE_DATA_IN Actual values of the drive Setpoints TS_DRIVE_DATA_IN Setpoints of the drive InData TS_DRIVE_DATA_IN Data block (PB-DP->PLC) OutData TS_DRIVE_DATA_IN Data block (PLC->PB-DP) User-defined Data Type TS_DRIVE_DATA_IN The user-defined data type TS_DRIVE_DATA_IN contains the data structure of the setpoints of the drive. 16 Drive System SD2 - S7 SD2 Service Channel

17 W Program Control Name Type Meaning FaultReset BOOL TRUE = reset error SwitchOn BOOL TRUE = switch on output stage EnableOperation BOOL TRUE = enable operation EnableVoltage BOOL TRUE = enable voltage QuickStop BOOL FALSE = trigger quick stop Velocity INT Setpoint velocity, max. 0x3FFF Current INT Setpoint current, max. 0x3FFF User-defined Data Type TS_DRIVE_DATA_IN The user-defined data type TS_DRIVE_DATA_IN contains the data structure of the prepared actual values of the drive. Name Type Meaning Status WORD Device status of the drive Act_Position DINT Actual position Act_Velocity INT Actual velocity Act_Current INT actual current 3.6 System Functions and Blocks The system functions SFC14 and SFC15 are used in the function blocks FB_ReadObject and FB_WriteObject to read and write data from and to Profibus. The blocks of the S7 system functions are described in the according manuals by SIE MENS. Drive System SD2 - S7 SD2 Service Channel 17

18 Program Control W 3 18 Drive System SD2 - S7 SD2 Service Channel

19 W 4 Symbols Symbols All function and data blocks receive a block number during compiling. These block numbers can be assigned in the symbol table. Then the blocks can be called using their numbers (DB10 or FB10) or their symbol names (DB_InitData, FB_InitData). 4.1 Symbol Table As an example in the following you see an extract of the symbol table including the assignment of the block numbers. Individual instance blocks are assigned to each drive. 4 Symbol Address Data type Comment DB_ERRORCODE DB1 DB1 List of the error codes DB_GLOBALDATA DB2 DB2 Global data DB_DRIVESTATE DB3 DB3 List of the drive states DB_InitData DB10 FB10 Instance data block DB_SwapINT DB11 FB11 Instance data block DB_SwapDINT DB12 FB12 Instance data block DB_ReadObject0 DB30 FB30 Instance data block DB_SetArrayIndex0 DB31 FB31 Instance data block DB_WriteObject0 DB32 FB32 Instance data block FB_InitData FB10 FB10 Initialization of process data FB_SwapINT FB11 FB11 Swapping of an integer value (2 byte) FB_SwapDINT FB12 FB12 Swapping of a long integer value (4 byte) FB_ReadObject FB30 FB30 For request telegram: read object FB_SetArrayIndex FB31 FB31 For request telegram: set array index FB_WriteObject FB32 FB32 For request telegram: write object OB_MAINPROG OB1 OB1 Main program DPRD_DAT SFC14 SFC14 Read consistent data from a standard DP slave DPWR_DAT SFC15 SFC15 Write consistent data to a standard DP slave TS_DRIVE_DATA_IN UDT1 UDT1 Structure of the input data TS_DRIVE_DATA_IN UDT2 UDT2 Structure of the output data TS_DRIVE_DATA_IN UDT3 UDT3 Structure of the drive data TS_DRIVE_DATA_IN UDT4 UDT4 Structure of the setpoints TS_DRIVE_DATA_IN UDT5 UDT5 Structure of the actual values Drive System SD2 - S7 SD2 Service Channel 19

20 Symbols W 4 20 Drive System SD2 - S7 SD2 Service Channel

21 W 5 Application of Data Blocks Application of Data Blocks 5.1 Hardware Configuration in the PLC The SIEB & MEYER drives are addressed by the SERVOLINK 4 interface of the SER VOLINK 4 gateway. This converter is projected via the Profibus DP as DP slave in the software SIEMENS Step 7 with inputs and outputs of 16 byte each according to the number of SD2/SD2S drives. For this purpose the appropriate GSD file by SIEB & MEYER is required. Please refer to the SIMATIC documentation on how to integrate new GSD files into the programming environment GSD File In order to project the device on the PLC the GSD file SM_SLGW.GSD is required Settings in the Hardware Configuration At first the object "SERVOLINK 4 gateway" is dragged to the Profibus DP master system in the station window of the "HW Config". Fig. 1: SIMATIC software "HW Config" The inserted module is highlighted. By double-click the properties window is opened. There you can enter a module name and assign the Profibus address. Drive System SD2 - S7 SD2 Service Channel 21

22 Application of Data Blocks W Fig. 2: Dialog window "Properties - DP slave" 5 In the lower part of the station window the detailed view of the converter is indicated in table form. According to the used drives the objects "DS402 Single Axis" or "DS402 Double Axis" are dragged into the detailed view of the "HW Config". By double-click you can open a properties window again and define the addresses of the input and the output area. Fig. 3: Dialog window "Properties - DP slave" 5.2 Defining the Addresses in the Modules Beside defining the addresses in the PLC, also the SD2/SD2S drives and the gateway must be set to the right addresses. Refer to the device documentation for additional information. 5.3 Programming the Application Program At the beginning of the program cycle the data area of Profibus must be read using the system function SFC14, DPRD_DAT,. Then the different functions can be executed. These functions must be called once for each drive. 22 Drive System SD2 - S7 SD2 Service Channel

23 W Application of Data Blocks In order to align the data between the drive status and the PLC status, the function block FB_InitData should be called once for each SD2/SD2S drive when starting the PLC and after a fault. Then the data is written into the data area of the Profibus via the system function SFC15, DPWR_DAT,. The cycle starts again: load process output Examples of the Functions The sample program provides the following functions: < reading the current error form object 69, DEV_CTRL_ERROR_CODE_ACTUAL < writing the value for the velocity ramp in object 186, SPG_VELOCITY_AC CELERATION_TIME_VL with 4 bytes < setting the array index to the first element via the value 4 5 Drive System SD2 - S7 SD2 Service Channel 23

24 Application of Data Blocks W 5 24 Drive System SD2 - S7 SD2 Service Channel

25 W Programming the SERVOLINK 4 gateway 6 Programming the SERVOLINK 4 gateway Customized programming is not required. The converter automatically detects the number of drives connected to it. You must only set the Profibus address by means of the address selection switches at the gateway. 6 Drive System SD2 - S7 SD2 Service Channel 25

26 Programming the SERVOLINK 4 gateway W 6 26 Drive System SD2 - S7 SD2 Service Channel

27 W 7 Hardware Description Hardware Description For initial operation and use of the mentioned devices the according regulations, direc tives and standards must be taken into account. For further information refer to the ac cording product manuals. A SERVOLINK 4 gateway is used to connect drives providing a SERVOLINK 4 inter face to Profibus. This converter is a master for SERVOLINK 4 and a slave for Profibus DP. Further information on this and the connector pin assignment is to be found in the man uals. 7.1 Connecting the Devices The following figures indicates the connection establishment between PLC, SERVO LINK 4 gateway and the drives. 7 Fig. 4: Device connection Drive System SD2 - S7 SD2 Service Channel 27

28 Hardware Description W 7 28 Drive System SD2 - S7 SD2 Service Channel

29 W 8 Error Detection Error Detection In the following several errors regarding the conversion from Profibus to SERVOLINK 4 and their detection are described. 8.1 Errors in S7 PLC PLC failure The converter detects a bus error and sets the output data to SERVOLINK 4 to zero. The drive SD2/SD2S switches off because the control word has the value zero. PLC stops S7 PLC sets the output data to zero. The converter forwards this data to SERVO LINK 4. The drive SD2/SD2S switches off because the control word has the value zero. System Function Block SFC 15 When the system function block SFC 15 is not called, the present data pattern is kept and sent again and again. The converter forwards this data to SERVOLINK 4. The drive is not able to distinguish whether the same data shall be sent repeatedly or the block can not be called Error in SERVOLINK 4 gateway Converter failure S7 detects that the participant is not existent. It signal a bus error and stops the program. The drive SD2/SD2S does not receive any telegrams and stops via time monitoring. Error Detection Field Bus If the converter detects a field bus error, it sets the output data to SERVOLINK 4 to zero. The drive SD2/SD2S switches off because the control word has the value zero. Error DetectionSERVOLINK 4 If the converter detects an error in SERVOLINK 4, it sets the output data to the field bus to zero (general error) or to 0FFh (slot error). 8.3 Error in Drive Control SD2/SD2S Due to a failure of the drive SD2/SD2S the SERVOLINK 4 telegram is replied faulty or not at all. Thus the converter detects an error. The device distinguishes between a general error in SERVOLINK 4 and a slot error of an individual participant. If a general error is detected, the output data to the field bus are set to zero. If a slot error is detected, the output Drive System SD2 - S7 SD2 Service Channel 29

30 Error Detection W data are set to 0FFh. The status in the PLC program can be set correspondingly and the PLC program can be set to switch to an error routine Drive System SD2 - S7 SD2 Service Channel

31 W SERVOLINK 4 gateway Test Assembly 9 SERVOLINK 4 gateway Test Assembly The test assembly is done as shown in the hardware description. When the system is connected and ready for operation you can start checking. 9.1 Front Panel Check of SIMATIC CPU The front panel provides several LEDs that indicate the status of the CPU. The LED indicating the power supply "DC5V" and the LED "RUN" must be on permanently. This makes sure that the PLC program is running. In the event of an error the PLC switches to the stop mode. In order to fix the error you must check that the converter is connected correctly. Check also whether the right number of drives is connected LED Display The meaning of each LED on the front panel of the SIMATIC CPU is described in the following table. LED State Meaning SF LED on Error in PLC BATF LED on Battery error BUSF LED on Bus error DC5V LED on Power supply of 5 V present FRCE LED on Output data of PLC is frozen. RUN LED on PLC program is running. STOP LED on PLC program has been stopped Drive Check You can check the received SERVOLINK 4 data using the bus monitor in the software drivemaster Object Access You can test the different functions via the inputs of the PLC: < input i4: reading < input i5: writing < input i6: setting the array index Drive System SD2 - S7 SD2 Service Channel 31

32 SERVOLINK 4 gateway Test Assembly W 9 32 Drive System SD2 - S7 SD2 Service Channel

33 W 10 Related Documents Related Documents The following documents provide more information on this topic: Supplier SIEMENS SIEB & MEYERAG SIEB & MEYERAG SIEB & MEYERAG SIEB & MEYERAG Document name Manuals regarding Step 7 programming Gateway_ pdf SD2_DeviceControl.pdf SD2_CAN-Connection.pdf drivemaster2_usermanual.pdf 10 Drive System SD2 - S7 SD2 Service Channel 33

34 Related Documents W Drive System SD2 - S7 SD2 Service Channel