Transcription

1 SINAMICS G: Control of a G120 or G110M with an Allen-Bradley controller (Compact/ ControlLogix) via EtherNet/IP SINAMICS G120, G110M Siemens Industry Online Support

2 Legal information 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, 09/2018 2

3 Table of contents Table of contents Legal information Introduction EtherNet/IP Overview SINAMICS G series Connectivity to EtherNet/IP Solution Overview Solution Overview Used Components Programming Overview Configuration Choices AOI s for SINAMICS G Series drives AOI Types SINAMICS G120 Add-On Instructions Function Description Telegram Descriptions Telegram Type 1 for Simple Speed Telegram Type 352 for Simple Speed Telegram Type 111 for EPOS mode Basic Speed Control Telegram Functionality Schematic Ladder Representation Input and Output Parameters Speed Control Telegram Functionality Schematic Ladder Representation Input and Output parameters EPOS Control Functionality Schematic Ladder Representation Input and Output parameters UDTs Drive Configuration Configuring IP Address of CU Using a Freely Configurable Telegram Example of "Free telegram" commissioning Configuring a Generic Ethernet Module Adding a new module in RSLogix Inserting the module in an RSLogix project Configuring network parameters Connection Parameters Using IO Data Using AIOs in a new application Importing AIOs Installing L5K Files in RSLogix Using the AOI Adding AOI to an RSLogix Program I/O Interface Drive Parameter Access Explicit Messaging Entry-ID: , V4.0, 09/2018 3

4 Table of contents 8.2 Using the MSG Instruction Troubleshooting I can t go online with the drive in Starter using the Ethernet cable The drive and the PLC are not communicating Glossary Appendix Service and support Change documentation Entry-ID: , V4.0, 09/2018 4

5 1 Introduction 1 Introduction 1.1 EtherNet/IP Overview 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 G120 can seamlessly be applied in PROFINET and EtherNet/IP networks. 1.2 SINAMICS G series Connectivity to EtherNet/IP The SINAMICS drive family offers both PROFINET and EtherNet/IP software stacks for the SINAMICS G series which is easily selected via a parameter setting in the standard SINAMICS firmware. The network IP address of the SINAMICS G drive can be set through the STARTER software. With STARTER software installed on your computer you can connect to the SINAMICS drive through PROFINET or EtherNet/IP. The SINAMICS drives operate on unicast telegrams which reduces network traffic. SINAMICS G 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 # Figure 1-1 Entry-ID: , V4.0, 09/2018 5

6 2 Solution Overview 2 Solution Overview 2.1 Solution Overview Figure Used Components Hardware Components The application was generated with the following components: Component PROFINET versions of G120 with Firmware version Rockwell Automation Logix family controller Firmware version 20 No. 1 Software components Component No. STARTER Version or later 1 RS Logix 5000 Version 20 or later 1 NOTE RSLogix 5000 Version 19 can be used when not using the EDS file Entry-ID: , V4.0, 09/2018 6

7 3 Programming Overview 3 Programming Overview 3.1 Configuration Choices There are two main ways to configure a SINAMICS G drive to communicate over EtherNet/IP. The approach described in this note uses Add On Instructions with a Generic Ethernet Module. This approach requires version 19 or higher for RSLogix Alternatively, the drive can be set up for ODVA type configuration. This allows the user to import a ODVA G120 EDS file to use the drive as an ODVA AC drive object. This approach requires version 20 or higher for RSLogix A newer option is an EDS file that works with Telegram 352 and setting P8990 to 0 (SINAMICS). This EDS path is discussed in a separate application note. Refer to the diagram below for a general overview of the steps to configure depending on method. Figure 3-1 Entry-ID: , V4.0, 09/2018 7

8 Siemens Siemens AG Copyright AG All rights All rights reserved reserved 3 Programming Overview 3.2 AOI s for SINAMICS G Series drives Add On Instructions have been designed for the RSLogix programming that mimic standard telegrams used in SINAMICS G configurations. For most standard applications the use of the AOI s can greatly reduce the engineering time needed to configure a system. The SINAMICS G series drives can also be freely configured using the free telegram structure, dependent on application needs. Figure AOI Types There are presently three Add On Instruction blocks that can be used for standard telegrams T1, T352, and T111. Table 3-1 Name Standard Telegram # Length Simple Speed Telegram 1 2 words in / 2 words out Vector Speed Telegram words in / 6 words out EPOS Control Telegram words in / 12 words out Entry-ID: , V4.0, 09/2018 8

9 4 SINAMICS G120 Add-On Instructions 4 SINAMICS G120 Add-On Instructions 4.1 Function Description The drive control function block (AOI) described in this section is intended to provide SINAMICS G series drive users with a quick and effective way to integrate into an automation system where a Logix family controller is the primary control. The AOI can also be used as a starting point since the user is free to customize it to fit their specific application. The canned AOIs in this application guide have been designed to seamlessly integrate with the PROFIdrive telegrams T1, T352, and T111, commonly used for controlling SINAMICS G drives. 4.2 Telegram Descriptions Telegram Type 1 for Simple 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 the details of its function, refer to the SINAMICS G120 Operating Instructions Manual and List Manual. Table 4-1 Telegram 1 WORD INPUT OUTPUT 1 Control Word 1 Status Word 1 2 Speed Setpoint value Actual Speed value Telegram Type 352 for Simple Speed This telegram is a standard PROFIdrive telegram of 6 words in length. It is similar to Telegram1 but with added functionality. There are 4 freely configurable words available for control of the drive. These could be a separate control word or analog values such as torque limitation or additional speed setpoint. Status to the PLC contains a standard Status word, Speed, Current, Torque, Fault or Warning number. For additional information on this telegram refer to the SINAMICS G120 Operating Instructions and List Manual. Table 4-2: Telegram 352 WORD INPUT OUTPUT 1 Control Word 1 Status Word 1 2 Speed Setpoint Value Actual Speed Value 3 User-Defined ABS_Current 4 User-Defined Torque 5 User-Defined Warn_Code 6 User-Defined Fault_Code Entry-ID: , V4.0, 09/2018 9

10 Siemens Siemens AG Copyright AG All rights All rights reserved reserved 4 SINAMICS G120 Add-On Instructions Telegram Type 111 for EPOS mode Telegram 111 is a standard PROFIdrive telegram for a positioning drive. It allows sequence and control of the drive functions in addition to control of the positioning function EPOS. 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 List and Operating Instruction manuals for G120 CU250S-2 and CU250D-2. A license for EPOS is needed for CU250S-2; see the link below for ordering an EPOS license. Table 4-3: SIEMENS telegram 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 Entry-ID: , V4.0, 09/

11 4 SINAMICS G120 Add-On Instructions 4.3 Basic Speed Control Telegram Functionality The G120 Simple Speed Block provides an interface for basic speed control of a SINAMICS drive via EtherNet/IP. The drive is configured for control using Standard Telegram Type 1 which presets the drive speed reference and control word to be sourced from the communication interface Schematic Ladder Representation Figure 4-1 G120 Simple Speed Block Input and Output Parameters Table 4-4 Input parameters Variable Name Data Type Description G120_Speed_Block Instance Data ON_OFF1 BOOL Drive Enable (ON/OFF1) 1 = Enable Drive 2 = 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 drive 1 = No OFF3 command RUN_SET_POINT BOOL Speed setpoint enable 0 = Setpoint disabled 1 = Setpoint enabled FAULT_RESET BOOL Reset active drive faults 0 = No fault reset 1 = Reset fault(s) on rising edge RPM_SET_SPEED REAL Speed setpoint in [rpm] MAX_SPEED REAL Speed at 100% setpoint Must be the same p2000 ( of the drive) Entry-ID: , V4.0, 09/

12 4 SINAMICS G120 Add-On Instructions Table 4-5 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 4-6 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 Speed Control Telegram Functionality The Vector_Speed_352 Speed Block provides an interface for speed control via EtherNet/IP. The Drive is configured for control using Standard Telegram Type 352 which presets the drive speed reference and control word to be sourced from the communication interface. In addition there are four separate user defined control words/setpoints available, as well as feedback for Current, Torque, Warning and Fault values. Entry-ID: , V4.0, 09/

13 4 SINAMICS G120 Add-On Instructions Schematic Ladder Representation Figure 4-2 Vector Speed T Input and Output parameters Table 4-7 Input parameters Vector_Speed_T352 Instance Data ON_OFF1 BOOL Drive Enable (ON/OFF1) 1 = Enable Drive 2 = 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 drive 1 = No OFF3 command RUN_SET_POINT BOOL Speed setpoint enable 0 = Setpoint disabled 1 = Setpoint enabled FAULT_RESET BOOL Reset active drive faults 0 = No fault reset 1 = Reset fault(s) on rising edge RPM_SET_SPEED REAL Speed setpoint in [rpm] Entry-ID: , V4.0, 09/

14 4 SINAMICS G120 Add-On Instructions MAX_RPM REAL Speed at 100% setpoint Must be the same p2000 ( of the drive) 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 4-8 IN/OUT parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 12 integers referenced to the two outputs words of the drive telegram. DRV_STATUS ARRAY Array of 12 integers referenced to the two input words of the drive telegram. Table 4-9 Output parameters RTS BOOL Ready to Start READY BOOL Ready for Operation FAULTED BOOL Fault is Active INHIBITED BOOL Power On Inhibited ENABLED BOOL Pulses are Enabled MTR_OVRTEMP_OK BOOL Motor Not Overtemp PM_OVERTEMP_OK BOOL Power Module Overtemp RPM_ACTUAL REAL Actual Speed in RPM *Set Scale Value to 100 for Percentage or set to P2000 Value CURRENT_ACTUAL REAL Actual Current in AMP *Set Scale Value to 100 for Percentage or set to P2002 value Entry-ID: , V4.0, 09/

15 4 SINAMICS G120 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 absolute and relative positioning of linear and rotary axes. The CU250D-2 and CU250S-2 G120 controllers are capable of EPOS control. The AOI provides a direct interface to EPOS control. Note that the 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 Schematic Ladder Representation Figure 4-3 EPOS block Entry-ID: , V4.0, 09/

16 4 SINAMICS G120 Add-On Instructions Input and Output parameters Table 4-10 Input parameters S120_EPOS_BLOCK Instance Data ON BOOL Drive Enable (ON/OFF1) 1 = Enable Drive 2 = Ramp down and disable drive 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 1 = Enable MDI Mode 0 = No MDI mode Note: All motion should be completed before disable to avoid fault. 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 [LU] ACCEL_RATE REAL % of Nominal Acceleration DECEL_RATE REAL % of Nominal Deceleration V_OVERRIDE REAL % of Override for Velocity Entry-ID: , V4.0, 09/

17 4 SINAMICS G120 Add-On Instructions Table 4-11 IN/OUT parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 12 integers referenced to the two outputs words of the drive telegram. DRV_STATUS ARRAY Array of 12 integers referenced to the two input words of the drive telegram. Table 4-12 Output parameters 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 [LU] 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 must be connected to r80. Entry-ID: , V4.0, 09/

18 4 SINAMICS G120 Add-On Instructions 4.6 UDTs UDTs are provided as representing the typical control and status words used for Telegrams implemented by the AOI provided. These cannot be utilized when using the provided EDS file. The UDTs can also be used independently to map IO data sent and received by the drive. The user application can directly control telegram words and bits to accomplish control functions 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, 09/

19 5 Drive Configuration 5 Drive Configuration Commissioning of the G120 drives is not in the scope of this document. Refer to the Getting Started Manual for your G120 model to assist in the commissioning of the drive(s). See the link below for G120 Getting Started manuals Configuring IP Address of CU The IP address can be set from Starter. Make sure that your PC is in the same Subnet as address desired for the G120 and AB PLC. Figure 5-1 TCP/IPv4 Address for PC or PG Figure 5-2 Use Accessible Nodes to Find CU250. Right click on Node to Open address setting. Entry-ID: , V4.0, 09/

20 5 Drive Configuration Figure 5-3 Set IP Address for the G120 as shown Figure 5-4 Bring the Drive Unit into Project. Choose Select and then Accept. Figure 5-5 The G120 controller is now in the Project Tree. Go online to upload Power Module properties. Entry-ID: , V4.0, 09/

21 5 Drive Configuration Figure 5-6 Load HW Configuration to PG. Figure 5-7 Go offline with the G120 and Complete Commissioning. Figure 5-8 Figure 5-9 Commission Drive Object(s) as needed. Note the message frame in next section for the Example Dual Axis Demo program. Refer to the documentation link in previous section if commissioning assistance is needed. 8. Open the Communication folder. Set Telegram to desired telegram (352 in this example) and set Protocol to 10 EtherNet/IP. Alternately this can be done in Expert List via parameters P922 for telegram type and P2030 for protocol type. Entry-ID: , V4.0, 09/

22 5 Drive Configuration Figure 5-10 Figure Highlight the Drive Unit, Go Online, and download to the G120. Figure 5-12 Complete the Motor ID and Rotation Check. Entry-ID: , V4.0, 09/

23 5 Drive Configuration Figure 5-13 Save RAM to ROM and Upload to PC 14. Power Cycle the G120; the Control Unit must be powered off to set the communication protocol to EtherNet/IP. Wait sufficient time that the Control Unit powers down. The CU will be ready for EtherNet/IP communication when power is restored. 5.2 Using a Freely Configurable Telegram Selectable Telegrams such as T352 offer easy parameter mapping for drive control. Binectors or Connectors terminated by the telegram can be changed if the telegram is changed to Free Telegram (P922 = 999). It is possible to configure a custom telegram to fit a specific application requirement. The custom configuration can be accomplished using one the 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 that 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. The Input and Output data length must match the values in r2067 of the drive. For example, if telegram T352 was used as a basis for a free Telegram, it would have 4 User Defined Words to the drive from the PLC. If these words are not used for connections such as Added Speed Setpoint, Torque Setpoint, or Torque Limits, then they must be terminated to unused Connector Input Parameters. Figure 5-14 Entry-ID: , V4.0, 09/

24 5 Drive Configuration Example of "Free telegram" commissioning 1. Drive commissioned with T352 and change then parameter 922 Telegram Type set to [999] for use with Free Telegram Figure Check r2067 in the Expert List. All words being sent to the drive from the PLC and from the PLC to the drive must be accounted for. Vector Speed uses 6 words IN / 6 words OUT. That message frame must agree with r2067 in the Expert List. Figure 5-16 Example using T352 AOI for Free Telegram before terminating spare words 3. Words not being used must be terminated to Dummy Parameters. These words could be used for more useful connections such as Added Speed Setpoint, Torque Limits, or Torque Setpoints. This programming can be done via scripting, Expert List, or the Starter GUI. Figure 5-17 Example of spare word holder script using p20110 (free blocks multiplier) Figure 5-18 The values in r2067 after terminating extra words and downloading 4. After downloading, cycle power to the drive. NOTE The Spare Words In or Out for a standard telegram can be freely used by the user. It is only necessary to use a free telegram if changing the mapped value of a Standard Telegram or making a User Defined Telegram. Entry-ID: , V4.0, 09/

25 6 Configuring a Generic Ethernet Module 6 Configuring a Generic Ethernet Module 6.1 Adding a new module in RSLogix A Generic IO module is used to configure the cyclic data exchange between the automation controller and the SINAMICS drive without an EDS file Inserting the module in an RSLogix project Table 6-1 Inserting the Generic Ethernet Module 1. Insert a module by rightclicking 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 to be inserted Entry-ID: , V4.0, 09/

26 6 Configuring a Generic Ethernet Module Configuring network parameters Table 6-2 Configuring the Network Parameters The module name should identify the G120 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. Use the Description box to describe the Drive objects contained in the module. The data exchange format should be set to Integer (INT). Enter the IP Address of the G120. The Connection Parameters section configures the IO Assemblies. 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 Standard Telegram 1, there are 2 words in and 2 words out. For Telegram 352 there are 6 words in and 6 words out. In this example the speed block telegram for T352 is shown. Entry-ID: , V4.0, 09/

27 6 Configuring a Generic Ethernet Module Connection Parameters Table 6-3 Setting the connection parameters The Requested Packet Interval (RPI) is the rate at which the controller will exchange data with the drive. The G120 can operate with a RPI set to a minimum of 5 ms. In this application we will use a value of 10 ms. Unicast is selected as the exchange method Using IO Data The IO data is available as an array of integers in the controller tags section of the project tree. They are included as a tag list with the L5K file. Figure 6-1 Controller Tags for new module Entry-ID: , V4.0, 09/

28 7 Using AIOs in a new application 7 Using AIOs in a new application 7.1 Importing AIOs 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 in RSLogix Table 7-1 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. Select the required L5K file for the desired Instruction and click Import. Review the Import configuration and click OK. 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. Entry-ID: , V4.0, 09/

29 7 Using AIOs in a new application 7.2 Using the AOI Adding AOI to an RSLogix Program Table 7-2 Using the G120 Simple Speed Block Add the AOI to a new rung by dragging from the project tree. Declare and assign the instance data variable. The new tag can be created as a local program tag with a name that clearly identifies the drive data. Right click the field next to G120_Speed_Block and select New Tag. Give the tag a descriptive name and select OK. Entry-ID: , V4.0, 09/

30 7 Using AIOs 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 Configuring AOI Communication 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 the drive to a local variable to be used by the AOI as inputs in the DRV_STATUS parameters. DRV_STATUS and DRV_CONTROL are declared as INOUT parameters and are 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 controlled by the AOI. In a similar manner the Status data can be accessed by the user program Entry-ID: , V4.0, 09/

31 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 drive 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 = 401hex (for G120) Instance = parameter number p1027 = instance 1027 Attribute = parameter index number (hex) Index 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, 09/

32 8 Drive Parameter Access 8.2 Using the MSG Instruction 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. Table 8-1 MSG Instruction: Insert the MSG instruction. 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. Message Type: Select the CIP Generic message type. Entry-ID: , V4.0, 09/

33 8 Drive Parameter Access Service Type: Select Get Attribute Single to read the parameter or Set Attribute Single to write to the parameter. Class: 401 (hex) Instance: This is the parameter number of the object, in Starter. E.g. DC Link voltage (p26). Entry-ID: , V4.0, 09/

34 8 Drive Parameter Access Attribute: This is the parameter index. For parameters without an index, use 0. 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. Source Length (writing only): When writing to a parameter, make sure the source length matches the parameter that you are trying to write to. INT = 2 Bytes (16 bit) REAL = 4 Bytes (32 bit) Entry-ID: , V4.0, 09/

35 8 Drive Parameter Access 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) To figure out the data type of the parameter, search for the parameter in the Starter help tool, or refer to the List Manual. Entry-ID: , V4.0, 09/

36 8 Drive Parameter Access Path: In the communication tab enter the name of the IO node for the G120. Use the Browse option to find the node in the Project Tree. Entry-ID: , V4.0, 09/

37 9 Troubleshooting 9 Troubleshooting 9.1 I can t go online with the drive in Starter using the Ethernet cable. Do you have firmware v4.7 or above on the drive unit? Communication from Starter to the drive using Ethernet/IP is only support with firmware v4.7 or later on the G120. If you are using v4.6, then you will need to use the USB cable to connect to the drive with Starter. 9.2 The drive and the PLC are not communicating Figure 9-1 Figure Check the LED lights a. PLC: Is the I/O light solid green? b. G120: Is the Link1 light solid green? c. This means that the drive is communicating and it is another issue 2. Is the drive set for EIP (G120: p2030 = 10)? a. A power cycle is required after changing p2030. Entry-ID: , V4.0, 09/

38 9 Troubleshooting 3. Are there duplicate IP addresses on the network? a. Verify IP addresses (accessible nodes, edit Ethernet nodes, etc.) 4. Did you parameterize the Generic Ethernet Module in RSLogix 5000 correctly? Figure 9-3 a. Do you have the Comm. Format set to Data INT, or accidentally set to Data-DINT? Figure 9-4 b. Do the Connection Parameters (addresses and length) match the drive telegram? Figure Could it be a bad Ethernet cable? Entry-ID: , V4.0, 09/

39 9 Troubleshooting 6. Are there faults on the drive? a. Check drive status LEDs b. Check drive diagnostics for faults 7. Are all Drive Enables (OFF1/OFF2/OFF3) enabled? Entry-ID: , V4.0, 09/

40 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 BICO: BICO technology (Binector Connector Technology) allows the drive to be adapted to a wide variety of requirements. Digital and analog signals which can be connected freely by means of BICO parameters are identified by the prefix BI, BO, CI or CO in their parameter name. Control Word: Arrangement of two bytes used to command the drive sequence control (referred to as STW1 in SINAMICS Documentation) EDS File: Text files used by RSLogix network configuration tool to help identify products and easily integrate them on a network. All available G120 EDS files can be found here: Free Telegrams: Send and receive telegrams that can be configured as required by using BICO technology to interconnect the send and receive process data. L5K file: File type used for importing an AOI into RSLogix program MDI (Motion Direct Input): Direct setpoint input function for positioning ODVA: Open DeviceNet Vendors Association. Organization that supports network technologies built on the Common Industrial Protocol (CIP ) DeviceNet, EtherNet/IP, CompoNet, and ControlNet 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 Status Word: Arrangement of two bytes used to report the current status of the drive (referred to as ZSW1 in SINAMICS Documentation) UDT: User Defined Type; holds data relevant to the device Entry-ID: , V4.0, 09/

41 11 Appendix 11 Appendix 11.1 Service and support Industry Online Support Do you have any questions or need assistance? Siemens Industry Online Support offers round the clock access to our entire service and support know-how and portfolio. The Industry Online Support is the central address for information about our products, solutions and services. Product information, manuals, downloads, FAQs, application examples and videos all information is accessible with just a few mouse clicks: Technical Support The Technical Support of Siemens Industry provides you fast and competent support regarding all technical queries with numerous tailor-made offers ranging from basic support to individual support contracts. Please send queries to Technical Support via Web form: SITRAIN Training for Industry We support you with our globally available training courses for industry with practical experience, innovative learning methods and a concept that s tailored to the customer s specific needs. For more information on our offered trainings and courses, as well as their locations and dates, refer to our web page: Service offer Our range of services includes the following: Plant data services Spare parts services Repair services On-site and maintenance services Retrofitting and modernization services Service programs and contracts You can find detailed information on our range of services in the service catalog web page: Industry Online Support app You will receive optimum support wherever you are with the "Siemens Industry Online Support" app. The app is available for Apple ios, Android and Windows Phone: Entry-ID: , V4.0, 09/

42 11 Appendix 11.2 Change documentation Table 11-1 Version Date Modifications V1.0 05/2013 First version V1.2b 10/2014 Draft for Revision V2.0 03/2015 Add in explicit messaging Added in troubleshooting V3.0 07/2015 Added in G130/G150 information Removed references to USB connection Removed the appendix and added the edit ethernet node to the main documentation Updated T352 block Added in T111 block V4.0 09/2018 Removed G130/ G150 information. This type information /configuration in the S120 note for AB Controller. Upgraded Setting Ethernet Address and other sections. Entry-ID: , V4.0, 09/