Transcription

1 Control of a SINAMICS S120 with an Allen- Bradley controller (Compact/ControlLogix) via EtherNet/IP Siemens Industry Online Support

2 Legal information Use of application examples Application examples illustrate the solution of automation tasks through an interaction of several components in the form of text, graphics and/or software modules. The application examples are a free service by Siemens AG and/or a subsidiary of Siemens AG ( Siemens ). They are nonbinding and make no claim to completeness or functionality regarding configuration and equipment. The application examples merely offer help with typical tasks; they do not constitute customer-specific solutions. You yourself are responsible for the proper and safe operation of the products in accordance with applicable regulations and must also check the function of the respective application example and customize it for your system. Siemens grants you the non-exclusive, non-sublicensable and non-transferable right to have the application examples used by technically trained personnel. Any change to the application examples is your responsibility. Sharing the application examples with third parties or copying the application examples or excerpts thereof is permitted only in combination with your own products. The application examples are not required to undergo the customary tests and quality inspections of a chargeable product; they may have functional and performance defects as well as errors. It is your responsibility to use them in such a manner that any malfunctions that may occur do not result in property damage or injury to persons. Disclaimer of liability Siemens shall not assume any liability, for any legal reason whatsoever, including, without limitation, liability for the usability, availability, completeness and freedom from defects of the application examples as well as for related information, configuration and performance data and any damage caused thereby. This shall not apply in cases of mandatory liability, for example under the German Product Liability Act, or in cases of intent, gross negligence, or culpable loss of life, bodily injury or damage to health, non-compliance with a guarantee, fraudulent non-disclosure of a defect, or culpable breach of material contractual obligations. Claims for damages arising from a breach of material contractual obligations shall however be limited to the foreseeable damage typical of the type of agreement, unless liability arises from intent or gross negligence or is based on loss of life, bodily injury or damage to health. The foregoing provisions do not imply any change in the burden of proof to your detriment. You shall indemnify Siemens against existing or future claims of third parties in this connection except where Siemens is mandatorily liable. By using the application examples you acknowledge that Siemens cannot be held liable for any damage beyond the liability provisions described. Other information Siemens reserves the right to make changes to the application examples at any time without notice. In case of discrepancies between the suggestions in the application examples and other Siemens publications such as catalogs, the content of the other documentation shall have precedence. The Siemens terms of use ( shall also apply. Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, state-of-the-art industrial security concept. Siemens products and solutions constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the Internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit Siemens products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Entry-ID: , V4.0, 08/2018 2

3 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 Since Firmware version 5.1SP1 both the CU310-2 PN and Cu320-2 PN can be commissioned for EIP via on board Ethernet ports. The CBE20 is no longer necessary for EIP communication and the onboard X150 ports are utilized for EIP communication. The network IP address of the S120 CU (Control Unit) is set through the STARTER or STARTDRIVE software. With STARTER software installed on your computer you can connect to the SINAMICS drive through the built in X150 ports on CU310-2 or CU320-2 and set IP address. 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 CU320-2 to control multiple drive objects thus cutting down on the number of IP addresses and Ethernet connections required for drive systems. For the CU310-2 it is a single drive axis but can have additional control and status for the Control Unit if needed. 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: , V4.0, 08/2018 3

4 2 Solution Overview 2 Solution Overview 2.1 Solution Overview Hardware Structure Figure 2-1 Sample System Overview HMI PLC Remote I/O PC/Network Reference values Control word Actual values Status word SINAMICS S120 CU320-2 SINAMICS S120 CU Used Components The application was generated with the following components: Table 2-1 Hardware components Component No. CU320-2 PN or CU310-2 PN with Firmware version 5.1SP1 or later 1 Rockwell Automation Logix family controller Firmware version 19 or later 1 Table 2-2 Software components Component No. STARTER Version 5.1SP1 or later 1 RS Logix 5000 Version 19 or later or Studio Entry-ID: , V4.0, 08/2018 4

5 3 Programming Overview 3 Programming Overview 3.1 AOI s for SINAMICS S120 drives Add On Instructions have been designed for the Logix programming that mimics 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 document the use of the AOI s developed to simplify the integration of SINAMICS S120 drives connected to an AB Logix s automation systems over EtherNet/IP. 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 Figure 3-1 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. Vector Speed (For Vector Drive Objects) (SIEMENS Telegram 352) 3. EPOS (Positioning) (SIEMENS Telegram 111) 4. Advanced Speed (SIEMENS Telegram 102) 5. Line Module object (SIEMENS Telegram 370) 6. Control Unit object (SIEMENS Telegram 390) Entry-ID: , V4.0, 08/2018 5

6 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, 352, 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 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 and Function Manual. Table 4-1 Telegram Type 1 WORD INPUT OUTPUT 1. Control Word 1 Status Word 1 2. Speed Setpoint Value Actual Speed Value Telegram 352 for Vector Speed Control Telegram 352 is a standard Siemens Telegram for Speed Control with Vector Drive Objects. This telegram cannot be used with Servo Drive Objects. The 1st two words in and out are the same as Telegram1. The advantage of T352 is that there are 4 Optional User Defined Control Setpoints, and four added Status words returning to the PLC for Current, Torque, Warning Word, and Fault Word. Table 4-2 Telegram Type 352 WORD INPUT OUTPUT 1. Control Word 1 Status Word 1 2. Speed Setpoint Value Actual Speed Value 3. User Setpoint1 ABS Actual Current 4. User Setpoint2 Torque Actual 5. User Setpoint3 Actual Alarm Code 6. User Setpoint4 Actual Fault Code Entry-ID: , V4.0, 08/2018 6

7 4 SINAMICS S120 Add-On Instructions Telegram 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 EPOS AOI. 12 Words of data are exchanged with the drive where the 12th word is reserved as a user selectable value. For detailed information on this telegram refer to the SINAMICS S120 Function Manual Section and List Manual. Table 4-3 Telegram Type 11 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 Status Word MDI Position Setpoint MDI Velocity Setpoint 10. MDI Percent Acceleration 11. MDI Percent Deceleration Position Actual Value Velocity Actual Value Active Fault Number 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 Function Manual and List Manual. Table 4-4 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 Status Word 6. Encoder Control Word 1 Encoder Status Word 1 7. Encoder Position 8. G1_XIST1 9. Encoder Position 10. G1_XIST2 Entry-ID: , V4.0, 08/2018 7

8 4 SINAMICS S120 Add-On Instructions 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 Schematic Ladder Representation Figure 4-1 S120 Speed Block Input and Output Parameters Table 4-5 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: , V4.0, 08/2018 8

9 4 SINAMICS S120 Add-On Instructions Table 4-6 IN/OUT Parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 2 integers referenced to the two output words of the drive telegram DRV_STATUS ARRAY Array of 2 integers referenced to the two input words of the drive telegram Table 4-7 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 Entry-ID: , V4.0, 08/2018 9

10 4 SINAMICS S120 Add-On Instructions 4.4 Vector Speed_T Functionality The Vector speed block is very useful for a lot of speed control applications. This telegram is only available for S120 Drive Objects of the Type Vector and not Servo. The control is similar to Telegram 1 (Simple Speed) but there are 4 additional Setpoints words that can be connected to functionality in a S120 Vector Drive Object. For example the following are possible: Torque limits, Torque Setpoint, and additional speed setpoint. For the Status this is similar to the Simple Speed but Current Actual, Torque Actual, and Warning and Fault values are transmitted back to the PLC. NOTE This telegram is only available for S120 Vector Drive Objects or other SINAMICS Vector Drives (Such as G120) Schematic Ladder Representation Figure 4-2: S120 Vector (Speed) block Entry-ID: , V4.0, 08/

11 4 SINAMICS S120 Add-On Instructions Input and Output Parameters Table 4-8 Input Parameters Variable Name Data Type Description Vector_Speed_T352 Instance Data ON_OFF1 BOOL ON_OFF1 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_RPM REAL Speed at 100% Setpoint Must be the same as P2000 MAX_CURRENT REAL Current Feedback 100% value Can be Scaled to P2002 or % (100.0) MAX_TORQUE REAL Torque Feedback 100% value Can be Scaled to P2003 or % (100.0) USER_SETPOINT1 Integer User Defined setpoint 0 to = 0 to 100% Value to Drive USER_SETPOINT2 Integer User Defined setpoint 0 to = 0 to 100% Value to Drive USER_SETPOINT3 Integer User Defined setpoint 0 to = 0 to 100% Value to Drive USER_SETPOINT4 Integer User Defined setpoint 0 to = 0 to 100% Value to Drive Table 4-9 IN/OUT Parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 6 integers referenced to the six output words of the drive telegram DRV_STATUS ARRAY Array of 6 integers referenced to the six input words of the drive telegram Table 4-10 Output Parameters Variable Name Data Type Description RTS BOOL Ready to Start READY BOOL Ready for Operation ENABLED BOOL Pulses are Enabled Entry-ID: , V4.0, 08/

12 4 SINAMICS S120 Add-On Instructions Variable Name Data Type Description FAULTED BOOL Fault is Active ALARM BOOL Alarm is Present FAULT BOOL Fault is Present INHIBITED BOOL Drive is Inhibited (Fault or No Positive transition to OFF1 MTR_OVERTEMP_OK BOOL Motor Temperature Normal MTR_OVERTEMP_OK BOOL Power Module Temperature Normal RPM_ACTUAL REAL Actual Speed in RPM CURRENT_ACTUAL REAL Actual Current in Amps or % TORQUE_ACTUAL REAL Actual Torque in Amps or % ALARM_ACTUAL Integer Actual Active Alarm Number FAULT_ACTUAL Integer Actual Active Fault Entry-ID: , V4.0, 08/

13 4 SINAMICS S120 Add-On Instructions 4.5 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. Schematic Ladder Representation Figure 4-3 S120 EPOS Block Entry-ID: , V4.0, 08/

14 4 SINAMICS S120 Add-On Instructions Input and Output Parameters Table 4-11 Inputs Parameters Variable Name Data Type Description S120_EPOS_BLOCK Instance Data 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 REF_START BOOL Referencing Start 0 = No Referencing 1 = Enable Referencing 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 % of Nominal Acceleration DECEL_RATE REAL % of Nominal De-acceleration V_OVERRIDE REAL % of Override for Velocity Entry-ID: , V4.0, 08/

15 4 SINAMICS S120 Add-On Instructions Table 4-12 IN/OUT Parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 12 integers referenced to the twelve output words of the drive telegram DRV_STATUS ARRAY Array of 12 integers referenced to the twelve input words of the drive telegram Table 4-13 Output Parameters Variable Name Data Type Description RTS BOOL Ready to Start RDY_OP BOOL Ready for Operation 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 r80. Entry-ID: , V4.0, 08/

16 4 SINAMICS S120 Add-On Instructions 4.6 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 Schematic Ladder representation Figure 4-4 Advance Speed Control AOI Entry-ID: , V4.0, 08/

17 4 SINAMICS S120 Add-On Instructions Input and Output Parameters Table 4-14 Inputs Parameters Variable Name Data Type Description AdvSpeedBlock 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 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 Table 4-15 IN/OUT Parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 8 Integers referenced to the 8 output words for the drive telegram DRV_STATUS ARRAY Array of 6 Integers referenced to the 6 input words for the drive telegram Table 4-16 Output Parameters 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 Entry-ID: , V4.0, 08/

18 4 SINAMICS S120 Add-On Instructions 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 Schematic Ladder representation Figure 4-5 Line Module Control AOI Table 4-17 Inputs Parameters Variable Name Data Type Description S120_LineModule Instance Data Enable BOOL Enable the Line Module 1 = Enable 0 = Disable Drive 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 4-18 Output 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: , V4.0, 08/

19 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 Schematic Ladder representation Figure 4-6 Control Unit IO AOI Input and Output Parameters Table 4-19 Inputs Parameters Variable Name Data Type Description S120_CUIO Instance Data 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 Table 4-20 IN/OUT Parameters Variable Name Data Type Description DRV_STATUS ARRAY Array of 2 Integers referenced to the 2 input words for the drive object telegram DRV_CONTROL ARRAY Array of 2 Integers referenced to the 2 output words for the drive object telegram Entry-ID: , V4.0, 08/

20 4 SINAMICS S120 Add-On Instructions Table 4-21 Output 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: , V4.0, 08/

21 5 Drives Configuration 5 Drives Configuration Commissioning of the S120 drives is not in the scope of this document. Refer to the Getting Started with S120 with Starter to assist in the commissioning of the drive(s). A 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. The CU310-2 can now be used with EIP and telegrams in example can be used in with CU There is an example AB Program and Starter program included for the CU310-2 if there is a Single Axis S120 Demo or an application available. 5.1 Configuring IP Address of CU The IP address can be set from Starter. Make sure that your PC has same Subnet as address desired for S120 and AB PLC. 1. TCP/IPv4 Address for PC or PG 2. Use Accessible Nodes to Find CU Afterwards Set IP address for CU320-2 or CU Entry-ID: , V4.0, 08/

22 5 Drives Configuration 3. Set IP Address for CU320-2 Dual Axis set as shown. 4. Update or use Accessible Nodes again to find drive after address setting. 5. Bring Drive Unit into Project. Choose Select and then Accept. 6. Go Online with Starter and Complete Automatic Configuration. For S120 dual axis demo the choice Servo must be used. If you have CU320-2 PN or CU310-2 PN Vector application Vector setting is a possible choice. Entry-ID: , V4.0, 08/

23 5 Drives Configuration 7. Commission Drive Object(s) as needed. Note the message frame in next section for the Example Dual Axis Demo program. Refer to documentation link in previous section if commissioning assistance is needed. 5.2 Configure Message Frame Open Message Configuration and Select Telegrams needed. For this example the Drive Objects and Telegrams were used. This will change depending on needs for application. Figure 5-1 Table 5-1 Drive Object Drive Object # Telegram Control Unit 1 T390 Control Unit IO (Optional) Servo_02 2 T1 Simple Speed Control Servo_03 3 T11 EPOS Control Note that Field -No. is for Drive Object Number. This should be in same order as sent and received from PLC. This is same for either PROFINET or EIP! Figure 5-2 Entry-ID: , V4.0, 08/

24 5 Drives Configuration To adjust Drive Object Number order, Highlight Drive Object and then use Up and Down arrows to move Position ( -No. field). Figure Set to EIP Communication 1. Open expert List for CU and Set P2030 to [10] Ethernet/IP. This works the same for the CU310-2 PN as well. Figure Project Offline commissioning should be completed at this time. Highlight CU and Go Online with Starter. Download offline project to Control Unit. After Downloading and Saving Ram to ROM (this is usually default with download) the communication for the S120 is now ready. Power Cycle S120 and then EIP will take effect on Power Up. Figure 5-5 Entry-ID: , V4.0, 08/

25 5 Drives Configuration 5.4 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 5-6 Number of Interconnected PZDs NOTE In order for the CU to correctly calculate parameter r2067, The last 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. Figure 5-7 Example of spare word holder script using p20110 (free blocks multiplier) Entry-ID: , V4.0, 08/

26 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 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 6-2 Configuring the Network Parameters 1. The module name should identify the CU320-2 or Cu310-2 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. 3. The data exchange format should be set to Integer (INT). Entry-ID: , V4.0, 08/

27 6 Configuring a Generic Ethernet Module 4. Enter the IP Address of the CU320-2 PN or CU310-2 PN. 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 6-3 Setting the Connection Parameters 1. The Requested Packet Interval (RPI) is the rate at which the controller will exchange data with the IO module. In this application we will use a value of 10 ms. 2. 2) Unicast is selected as the exchange method. 1 2 Entry-ID: , V4.0, 08/

28 6 Configuring a Generic Ethernet Module Using the IO Data The IO data is available as an array of integers in the controller tags section of the project tree. Figure 6-1 Controller Tags for new module Entry-ID: , V4.0, 08/

29 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 7-1 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: , V4.0, 08/

30 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 7-2 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 a name that clearly identifies the drive data. Entry-ID: , V4.0, 08/

31 7 Using AOIs in a New Application I/O Interface Connecting the instruction to the Controller IO tags is accomplished by moving the IO data into the AOI Interface. Figure 7-1 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: , V4.0, 08/

32 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 CU310-2 PN and Cu320-2 PN support 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 DO 2 DO62 = class 401h = class 402h = 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: , V4.0, 08/

33 8 Drive Parameter Access 8.2 Using the MSG Instruction Table 8-1 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. 4. Service Type: Select Get Attribute Single to read and parameter or Set Attribute Single to write the parameter. Entry-ID: , V4.0, 08/

34 8 Drive Parameter Access 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) 8. Instance: This is the parameter number of the object, in Starter. E.g. DC Link voltage (p26). Entry-ID: , V4.0, 08/

35 8 Drive Parameter Access 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. 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) Entry-ID: , V4.0, 08/

36 8 Drive Parameter Access 12. To figure out the data type of the parameter, Open the Expert List and Highlight the Parameter to read as shown. Right Click on the parameter and open Parameter Help. The Data Type is in the Parameter Description. 13. Path: In the Communication tab enter the name of the IO node for CU. 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: , V4.0, 08/

37 9 Trouble Shooting Tips 9 Trouble Shooting Tips The drive and the PLC are not communicating. Figure Check the LED lights. a. PLC: Is the I/O light solid green? b. Is the COM LED on CU310-2 or PN Light LED on Cu320-2 Solid Green? c. This means that the drive is communicating and it is another issue. 2. Is Drive set for EIP (S120: P2030 = 10)? a. A power cycle is required after changing p2030 b. For CU320-2 Firmware 5.1SP1 must be used for EIP with X150 ports. 3. Are there duplicate IP addresses on the network? a. Verify IP addresses (accessible nodes, PST, edit Ethernet nodes, etc.) Entry-ID: , V4.0, 08/

38 9 Trouble Shooting Tips 4. Did you parameterize the Generic Ethernet Module correctly? Check Section on Generic Ethernet Module to be sure. 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?. 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: , V4.0, 08/

39 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. CU320-2 PN: Control unit for SINAMICS Multi Axis drives. Up to six Vector or Servo axis can be controlled from a single CU CU320-2 PN with firmware version 5.1SP1 is needed. CU310-2 PN: Control unit for SINAMICS Single Axis Drive. A Vector or Servo Drive Object can be used as well as a Telegram (Discrete IO Status and Control) for the CU (Control Unit). Firmware version 5.1SP1 is needed. 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. 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. 1F1 is used in this application example. 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. 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 Entry-ID: , V4.0, 08/

40 11 History 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 Frequently Asked Questions V Usage of Onboard PROFINET Ports with Firmware >= 5.1SP1 with CU310-2 PN and CU320-2 PN. Vector Telegram 352 added, and Line Module AOI corrected. Entry-ID: , V4.0, 08/