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Version 4.8 https://support.industry.siemens.

1 Speed control of a SINAMICS drive with a SIMATIC S via MODBUS-TCP SINAMCS / Firmware Version 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: , V1.0, 11/2017 2

3 Table of contents Table of contents Legal information Introduction Overview Mode of operation Components used Engineering Configuration Operation Additional information Background Fieldbus monitoring time Appendix Service and Support Application Support Links and Literature Change documentation Entry-ID: , V1.0, 11/2017 3

4 1 Introduction 1 Introduction 1.1 Overview Since SINAMICS firmware version 4.8 the communication protocol Modbus TCP is supported by S120, G130 and G150. The application example describes the communication settings from a SINAMICS S Mode of operation Modbus TCP is a connection-oriented communication, where a client-server session is established before the user data can be transferred. The drive has the Modbus TCP Server functionality implemented. In the example application, a S7-1516F is configured as a Modbus TCP client, which connects to a Modbus TCP server (drive). 1.3 Components used This application example has been created with the following hardware and software components: Table 1-1 Component Number Article number S7-1516F 1 6ES7516-3FN00-0AB0 CU SL3040-1LA01-0AA0 Entry-ID: , V1.0, 11/2017 4

By following the instructions in this document, a beginner will need only a few minutes to engineer and configure the sample project and start up the motor. https://support.industry.siemens.

5 2 Engineering 2 Engineering 2.1 Configuration Prerequisite for further steps is the successful commissioning of the drive. The document (follow the link) offers a brief guide to commissioning a sample project with a simple SINAMICS S120 drive train. By following the instructions in this document, a beginner will need only a few minutes to engineer and configure the sample project and start up the motor. Table 2-1 Configuration 1. For drive object control unit (DO1), set p2030 = 13 (Modbus TCP). 2. Select the DHCP mode using p8924. If you set the parameter for the onboard interface of the Control Unit by yourself, set the value to 0. If you use a DHCP mode (p8924 >0) can you proceed with step Set the IP address for the onboard interface of the Control Unit using p8921. Here in the example : Set the standard gateway using p Set the subnet mask using p8923. Entry-ID: , V1.0, 11/2017 5

2 Engineering 6. Select "Activate and save configuration" as interface configuration using p8925 = 2. 7.

However, Modbus TCP is only activated, if under p0978[0] is a drive object that is supported by Modbus TCP.

6 2 Engineering 6. Select "Activate and save configuration" as interface configuration using p8925 = With Modbus TCP, you always address first drive object from the list of drive objects (p0978[0]). A servo or vector drive object must be in this parameter! However, Modbus TCP is only activated, if under p0978[0] is a drive object that is supported by Modbus TCP. If p0978[0] does not contain a valid drive object, then establishing communication is acknowledged with Alarm A In the STARTER commissioning tool, check the list of drive object p0978. The screenshot below is showing a correct configuration 8. Save the settings in the STARTER commissioning tool and carry out a POWER ON. Entry-ID: , V1.0, 11/2017 6

7 2 Engineering 2.2 Operation For the operation of the application example, the content of this Section is absolutely necessary. In SIOS you can download the example project. Before the example function block "Modbus_Communication" can establish the Modbus TCP connection to the partner, the connection parameters first must be specified in the user application. All relevant communication parameters can be found in the data structure configuration.connection. Table 2-2 Connection parameter Parameter Data type Description Connection Struct interfaceid HW_ANY Hardware identifier of the local interface, see PLC tags->default tag table->system constants (default: 64) connectionid CONN_ANY Unique connection identifier 16# #0FFF (default: 16#0FFF) localport UInt Local port number, see system function TCON (default: 3456) partnerport UInt Partner port number, see system function TCON. (default: 502) partnerip IP_V4 Partner IP address from the drive Figure 2-1 Connection parameters example // Connection parameter // //hardware identifier of the local interface "Modbus_Communication_DB".configuration.connection.interfaceID :="Local~PROFINET_interface_1"; //unique connection identifier (16# #0FFF) "Modbus_Communication_DB".configuration.connection.connectionID := 500; //local port number, see system function TCON "Modbus_Communication_DB".configuration.connection.localPort := 3456; //drive port number "Modbus_Communication_DB".configuration.connection.partnerPort := 502; //IP-address from the cu xxx.xxx.xxx.xxx = [1].[2].[3].[4] "Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[1] := 192; "Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[2] := 168; "Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[3] := 214; "Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[4] := 2; Entry-ID: , V1.0, 11/2017 7

8 2 Engineering Figure 2-2 Function block Modbus_Communication Bool enable error Bool Bool request status Word Bool Int faultacknowle dge speed "typemodbus_config" configuration Table 2-3 Parameters Parameter Datentyp Kommentar enable Bool TRUE: A rising edge activates processing and FB tries to establish a connection to the drive. FALSE (default): A falling edge clears the connection. request Bool TRUE: The axis is switched step by step to operating state S4 (Operation). FALSE (default): The drive is switched step by step to operating state S1 (Switching On Inhibited). faultacknowledge Bool TRUE: Acknowledgment of axis error. speed Int Velocity setpoint in rpm. configuration typemodbus_config FB Configuration. error Bool TRUE: An error is occurred. More detailed information is provided by output parameter status. FALSE: No error is occurred. status Word FB Status, see system function MB_CLIENT. Entry-ID: , V1.0, 11/2017 8

3 Additional information 3 Additional information 3.1 Background Modbus-TCP-Client The "MB_CLIENT" instruction from the S7-1500 communicates as a Modbus TCP client via the local interface.

9 3 Additional information 3 Additional information 3.1 Background Modbus-TCP-Client The "MB_CLIENT" instruction from the S communicates as a Modbus TCP client via the local interface. With the "MB_CLIENT" instruction, you establish a connection between the client (S7-1500) and the server (drive), send Modbus requests, receive responses and control connection termination of the Modbus TCP client. For details please look at description of system function MB_CLIENT. Drive Profile PROFIdrive is the standard profile for SINAMICS drive technology in conjunction with the PROFIBUS and PROFINET communication systems. A uniform basic state machine is defined for all application classes in PROFIdrive. It is used to bring the drive to a dedicated operating state or switch off the drive in a defined manner. The following figure shows the basic state machine (general state diagram) of a PROFIdrive drive. The blue blocks represent drive axis states S1 to S5 and the arrows indicate the state transitions that are possible between them. In case of competing state transitions, priorities are defined by the number of red points shown. The conditions for the state transitions to the yellow boxes are the individual control commands, which are transferred from the controller to the drive axis in the control word with bit coding. Figure 3-1 general state diagram Entry-ID: , V1.0, 11/2017 9

10 3 Additional information In the example function block, the state machine was implemented in the "Modbus_Communication" FB as an example. This example implantation is not exhaustive, but only serves as a test function. Modbus-Register and Parameter from the Control Unit The Modbus protocol contains register or bit numbers for addressing memory. You must assign the appropriate control words, status words and parameters to these registers in the slave. The valid holding register address range extends from up to When trying to access other holding registers, the "Exception code" error is generated. The process data are transferred into the register range from up to The most important Modbus registers are listed in the following table. NOTE A detail overview about the assigning Modbus register to the parameters is listed in the SINAMICS S120 function manual under the chapter 11.4 "Communication via MODBUS TCP". Table 3-1 Modbus register Register Description Access Data/Parameter Control data Control word (see SINAMICS S120/150 List Manual, function diagram 2442) R/W Process data Main setpoint R/W Process data STW 3 R/W Process data STW 4 R/W Process data PZD 5 R/W Process data PZD R/W Process data PZD 10 R/W Process data 10 Status data Control word (see SINAMICS S120/150 R Process data 1 List Manual, function diagram 2452) Main actual value R Process data ZSW 3 R Process data ZSW 4 R Process data PZD 5 R Process data PZD R Process data PZD 10 R Process data 10 Drive data Reference speed 2 R/W P Failure number, Index 0 R r0947 [0] Alarm number R r2110 [0] Actual alarm code R r2132 2) These registers are not supported for linear motors as the unit and value range differ from normal rotary drives. Entry-ID: , V1.0, 11/

11 3 Additional information 3.2 Fieldbus monitoring time The time for monitoring received process data via fieldbus interface is set up via p2040. If process data is not transferred within one cycle of the fieldbus monitoring time then the drive shuts down with fault F "Setpoint timeout" (F01910) is issued by the Modbus if p2040 is set to a value > 0 ms and no process data are transferred within this time period. In the application example, a fieldbus monitoring time (p2040) of 150 ms is set because the controller send new values every 100ms to the drive. Figure 3-2 Monitoring time Figure 3-3 Cycle time Entry-ID: , V1.0, 11/

12 4 Appendix 4 Appendix 4.1 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 at: 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. You send queries to Technical Support via Web form: SITRAIN Training for Industry With our globally available training courses for our products and solutions, we help you achieve 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: 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: 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: , V1.0, 11/

13 4 Appendix 4.2 Application Support Siemens AG Digital Factory Division Factory Automation Production Machines DF FA PMA APC Frauenauracher Str Erlangen, Germany mailto: 4.3 Links and Literature Table 4-1 No. \1\ Siemens Industry Online Support Topic \2\ Link to this entry page of this application example Change documentation Table 4-2 Version Date Modifications V1.0 11/2017 First version Entry-ID: , V1.0, 11/

Single Message Report for the Information Server. SIMATIC PCS 7, SIMATIC Information Server Siemens Industry Online Support

Single Message Report for the Information Server SIMATIC PCS 7, SIMATIC Information Server 2014 https://support.industry.siemens.com/cs/ww/en/view/64906050 Siemens Industry Online Support Legal information