Preface Fundamental safety instructions 1 SIMOTION SIMOTION SCOUT Description 2 Function block 3 Example of an application 4 Function Manual Appendix A 04/2014
Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: Trademarks WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. All names identified by are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Industry Sector Postfach 48 48 90026 NÜRNBERG GERMANY Copyright Siemens AG 2014. All rights reserved
Preface Contents of Function Manual This document is part of the SIMOTION Programming - References documentation package. The manual describes how you can use a function block to read and write drive parameters using the PIV (Parameter Identification Value) interface. Function block The function block for the "Reading and Writing of Drive Data" for SIMOTION is part of the command library of the "SIMOTION SCOUT" engineering system. Information in this manual The following describes the purpose and objectives of the manual: General This chapter presents information on commissioning the drives, assigning parameters to the PROFIBUS DP interface, and integrating the function block into the SIMOTION system. Function blocks This chapter describes the function block for reading and writing drive data in connection with the SIMOTION system. Index to locate information SIMOTION Documentation An overview of the SIMOTION documentation can be found in the SIMOTION Documentation Overview document. This documentation is included as electronic documentation in the scope of delivery of SIMOTION SCOUT. It comprises ten documentation packages. The following documentation packages are available for SIMOTION V4.4: SIMOTION Engineering System Handling SIMOTION System and Function Descriptions SIMOTION Service and Diagnostics SIMOTION IT SIMOTION Programming SIMOTION Programming - References SIMOTION C SIMOTION P Function Manual, 04/2014 3
Preface SIMOTION D SIMOTION Supplementary Documentation Hotline and Internet addresses Additional information Click the following link to find information on the the following topics: Ordering documentation / overview of documentation Additional links to download documents Using documentation online (find and search manuals/information) http://www.siemens.com/motioncontrol/docu Please send any questions about the technical documentation (e.g. suggestions for improvement, corrections) to the following e-mail address: docu.motioncontrol@siemens.com My Documentation Manager Click the following link for information on how to compile documentation individually on the basis of Siemens content and how to adapt it for the purpose of your own machine documentation: http://www.siemens.com/mdm Training Click the following link for information on SITRAIN - Siemens training courses for automation products, systems and solutions: http://www.siemens.com/sitrain FAQs Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages in Product Support: http://support.automation.siemens.com Technical support Country-specific telephone numbers for technical support are provided on the Internet under Contact: http://www.siemens.com/automation/service&support 4 Function Manual, 04/2014
Table of contents Preface...3 1 Fundamental safety instructions...7 1.1 General safety instructions...7 1.2 Industrial security...8 2 Description...9 2.1 General...9 2.2 Start-up and Parameterization of PROFIBUS DP Interface...11 2.3 Integrating the function block in the user project...12 2.4 Creating I/O Variables...13 3 Function block...15 3.1 Overview...15 3.2 _RWPAR_cyclic function block...16 3.3 Calling the function block...19 4 Example of an application...21 4.1 General...21 4.2 Sequence of the application example...23 4.3 Error messages...24 A Appendix...25 A.1 List of parameters...25 Index...27 Function Manual, 04/2014 5
Fundamental safety instructions 1 1.1 General safety instructions WARNING Risk of death if the safety instructions and remaining risks are not carefully observed If the safety instructions and residual risks are not observed in the associated hardware documentation, accidents involving severe injuries or death can occur. Observe the safety instructions given in the hardware documentation. Consider the residual risks for the risk evaluation. WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. Protect the parameterization (parameter assignments) against unauthorized access. Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF). Function Manual, 04/2014 7
Fundamental safety instructions 1.2 Industrial security 1.2 Industrial security Note Industrial security Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, equipment and/or networks. They are important components in a holistic industrial security concept. With this in mind, Siemens products and solutions undergo continuous development. Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept. Third-party products that may be in use should also be considered. For more information about industrial security, visit http:// www.siemens.com/industrialsecurity. To stay informed about product updates as they occur, sign up for a product-specific newsletter. For more information, visit http://support.automation.siemens.com WARNING Danger as a result of unsafe operating states resulting from software manipulation Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe operating states to develop in your installation which can lead to death, severe injuries and/ or material damage. Keep the software up to date. Information and newsletters can be found at: http://support.automation.siemens.com Incorporate the automation and drive components into a state-of-the-art, integrated industrial security concept for the installation or machine. For more detailed information, go to: http://www.siemens.com/industrialsecurity Make sure that you include all installed products into the integrated industrial security concept. 8 Function Manual, 04/2014
Description 2 2.1 General Overview Siemens offers a wide spectrum of drives with a graduated range of power ratings. Of this extensive selection of drives, the SIMOTION Motion Control System supports the SIMODRIVE 611 universal, SIMOVERT MASTERDRIVES MC and POSMO CA/CD/SI drives, as well as other drives. Coupling via PROFIBUS DP enables the drive system and the SIMOTION system to exchange all of their data over this link. Requirement The following software versions are required for the standard functions described in this documentation: SIMOTION SCOUT V4.0 or higher SIMOTION Kernel V4.0 or higher SIMOTION technology packages V4.0 or higher Function Manual, 04/2014 9
Description 2.1 General Communication The PROFIBUS DP field bus allows rapid cyclical data exchange between the DP slave (drive) and the higher-level DP master (SIMOTION hardware platform, such as SIMOTION C2xx). Note The _RWPAR_cyclic function block described in this documentation enables you to read or write the individual parameters of a drive. In so doing, the parameter channel is transferred in the cyclic message frame. This requires that the relevant drive supports data exchange via the parameter identifier value (PIV) interface, as defined in the PROFIdrive V2 Drive Profile (1997). For drives that support the parameter channel according to the PROFIdrive V3.1 Drive Profile (parameter requests are transferred with acyclic DP-V1 message frames), the corresponding system functions are available in SIMOTION: _readdriveparameterdescription: This function enables the descriptive data of a drive parameter to be read out. _readdriveparameter: This function enables a drive parameter to be read. _writedriveparameter: This function enables a drive parameter to be written. _readdrivefaults: This function enables the current fault buffer entry in the drive to be read. _readdrivemultiparameterdescription: This function enables multiple parameter descriptions to be read. _readdrivemultiparameter: This function enables multiple parameters to be read. _writedrivemultiparameter: This function enables multiple parameters to be written. Further information is contained in the SIMOTION C2xx / P350 / D4xx System Function/ Variables lists manual. These documents are shipped with SIMOTION SCOUT in electronic form! The SIMODRIVE 611 universal, SIMOVERT MASTERDRIVES, MICROMASTER MM4, and POSMO CA/CD/SI drives support both the PIV interface as well as the acyclic parameter channel. SINAMICS devices support only the acyclic PROFIdrive parameter channel. 10 Function Manual, 04/2014
Description 2.2 Start-up and Parameterization of PROFIBUS DP Interface 2.2 Start-up and Parameterization of PROFIBUS DP Interface Requirement The following requirements must be met: 1. You have created a project in SIMOTION SCOUT and have inserted a rack with a SIMOTION hardware platform in the hardware configuration. 2. You have configured a PROFIBUS subnet. 3. You have commissioned the drive(s) and inserted them in your SIMOTION project. 4. You have configured the drive(s) as a PROFIBUS slave and have assigned parameters for the PROFIBUS DP interface. 5. PIV slot If the message frame set during configuration of the drive as a PROFIBUS slave (HW Config > DP slave properties > Configuration tab) does not contain a PIV component, then one PIV slot must be configured for each axis (slot 4 for single-axis drives; slots 4 and 8 for double-axis drives). Refer to the figure: "Addresses (PIV slot) in SIMOTION SCOUT" Note: For SIMOVERT MASTERDRIVES MC, a message frame with a PIV component must be set. Note For instructions on creating a project, configuring a PROFIBUS subnet, and inserting a drive in the project, refer to the online help for SIMOTION SCOUT. For additional information, e.g. about commissioning, refer to the user manuals of the installed drives. Function Manual, 04/2014 11
Description 2.3 Integrating the function block in the user project 2.3 Integrating the function block in the user project Creating the instance of the FBs in the user project The function block is part of the command library of the SIMOTION SCOUT engineering system. To work with the block, an instance must first be created in the user project. Example: VAR_GLOBAL... myinstrwparcyclicaxis1: _RWPAR_cyclic ;... END_VAR // create "_RWPAR_cyclic" // instance Call (LAD representation) Application example The application example is included on the "SIMOTION Utilities & Applications" CD-ROM and is available for various SIMOTION hardware platforms. The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery. 12 Function Manual, 04/2014
Description 2.4 Creating I/O Variables 2.4 Creating I/O Variables Overview To read and write drive parameters by means of the PIV interface, you must define I/O variables in SIMOTION SCOUT. Communication between the SIMOTION device and the drive takes place by means of direct I/O access when data are exchanged over the PIV interface. I/O variables are used to address the direct read/write access to the I/O. You can freely assign the names of I/O variables in SIMOTION SCOUT. I/O variables must be specified as ARRAY [0..7] of BYTE. You assign addresses set in the hardware configuration (PIV slot) to these I/O variables. Figure 2-1 Addresses (PIV slot) in SIMOTION SCOUT The names of the I/O inputs must be transferred to the function block as a call parameter (inputinterface). The data prepared for the I/O outputs are made available as output parameters by the FB and must be assigned to the corresponding I/O variables (see call example in the "Calling the Function Block" section). The following example shows how to assign the module addresses to the I/O variables in SIMOTION SCOUT. Figure 2-2 Address assignment in SIMOTION SCOUT Function Manual, 04/2014 13
Description 2.4 Creating I/O Variables Input addresses and output addresses have a range of 8 bytes each (corresponding to the PIV range of the drive). Note For additional information, refer to: SIMOTION SCOUT online help Programming manual of the corresponding programming language, e.g.: SIMOTION ST, Structured Text programming manual SIMOTION MCC, Motion Control Chart programming manual SIMOTION LAD/FBD, Ladder Diagram and Function Block Diagram programming manual These documents are shipped with SIMOTION SCOUT in electronic form! 14 Function Manual, 04/2014
Function block 3 3.1 Overview This section contains a description of the function block (FB) required to read and write drive data between a SIMOTION device and the drive. This function block makes it easier to read and write drive parameters from a SIMOTION program over the PIV interface of a drive. The _RWPAR_cyclic function block must be called repeatedly (cyclically) from the user program. Function Manual, 04/2014 15
Function block 3.2 _RWPAR_cyclic function block 3.2 _RWPAR_cyclic function block Task The _RWPAR_cyclic function block enables you to read or write the individual parameters of a drive. For this purpose, the relevant drive must support the mechanism of data exchange via the PIV interface. Call (LAD representation) _RWPAR_cyclic FB parameters Note The SIMOTION identifiers have changed as of V4.0. A comparison of the designations up to V3.2 / from V4.0 is contained in the "List of parameters" table in Appendix A. Table 3-1 _RWPAR_cyclic FB parameters Name P type 1) Data type Meaning Actions performed by user periin IN ARRAY [0 to 7] of BYTE Transfers I/O inputs of drive to FB execute IN BOOL FALSE TRUE edge Start request I/O variable of the I/O inputs of the drive transferred to the FB Entered Actions performed by block Checked Checked paranumber IN UINT Parameter to be read or written 2) Entered Checked index IN USINT Subindex for parameter to be read or written Entered Checked 16 Function Manual, 04/2014
Function block 3.2 _RWPAR_cyclic function block Name P type 1) Data type Meaning Actions performed by user sendparavalue IN DWORD Value of parameter to be written Entered Actions performed by block Checked jobidentification IN SINT Request identifier 2) Entered Checked slotnumber IN UINT PIV slot number 2) Entered Checked periout OUT ARRAY [0 to 7] of BYTE Prepared FB data for I/O outputs of drive Checked and entered on the I/O variable for the I/O outputs Entered receiveparavalue OUT DWORD Value of read parameter Checked Entered busy OUT BOOL = TRUE: A request is being processed = FALSE: No request has been received done OUT BOOL = TRUE: If current request is done, only one cycle is active = FALSE: There is no request pending, or a request is being executed. error OUT BOOL = TRUE: Request terminated with error (see errorid parameter) - only one cycle is active errorid OUT INT Error specification 2) only one cycle is active Checked Checked Checked Checked 1) Parameter types: IN = input parameter, OUT = output parameter 2) See user manuals for relevant drives (PIV range) Entered Entered Entered Entered Note If errorid = 201, an incorrect slot was configured Remedy: Check and modify slot configuration! If errorid = 301, transfer of the request was aborted because no correct response data has been received from the drive after 1000 function block call cycles. Remedy: Repeat request, check communication link if necessary! If errorid = 302, parameter change rights do not exist for the relevant drive Remedy: Set the parameter change rights and repeat the request. If you want to read and write indexed parameters for SIMODRIVE 611 universal and SIMODRIVE POSMO CD, CA and SI, you must set bit 11 in the P879 parameter to "1". For information about drive parameters and their formats and data types, refer to the user manuals for the installed drives. Function description This function block processes the PIV interface (4 words wide) in a cyclic message frame. Function Manual, 04/2014 17
Function block 3.2 _RWPAR_cyclic function block A complete request (paranumber, index, sendparavalue, jobidentification) is processed. Consistent data transfer is ensured by the byte ARRAY mechanism for I/O inputs and outputs. A new request is accepted through a positive edge at the execute parameter of the block. A busy parameter at the block indicates that request processing is in progress. A new request cannot be started until processing of the previous request is finished (done = TRUE). Any errors are indicated in the error and errorid parameters. Signal sequence diagram The following figure shows the behavior of the parameters of the _RWPAR_cyclic function block Figure 3-1 _RWPAR_cyclic FB signal sequence diagram Task integration (call) The _RWPAR_cyclic function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask. Calling in the SystemInterruptTask is not permitted. Calling the function block in the IPOSynchronousTask is not recommended for runtime reasons. 18 Function Manual, 04/2014
Function block 3.3 Calling the function block 3.3 Calling the function block In order to work with the function block in your user program, proceed as follows (the numbers shown in the following program snippet correspond to the steps below): 1. Create an instance of the function block. 2. Call instance of the function block. 3. Transfer input parameters. 4. The output parameters of the function block are accessed with <instance name of FB>.<name of output parameter>. 5. The data for the I/O outputs prepared by the FB are assigned to the I/O variables. Note If you want to read or write parameters from multiple drives, you must create an FB instance with a new name for each drive. Call example UNIT E_rwPar; INTERFACE VAR_GLOBAL myinstrwparcyclicaxis1: _RWPAR_cyclic; // create "_RWPAR_cyclic" instance mytransfererror : WORD :=16#0000; // displays error number of // data transfer mywroneparatoaxis1 : BOOL :=FALSE; // starts the transmission of // proportional gain // (non indexed parameter) to Axis1 END_VAR (1) PROGRAM ExampleRWParameter; END_INTERFACE IMPLEMENTATION PROGRAM ExampleRWParameter // program of BackgroundTask VAR myslotnumberaxis1 : UINT ; mystartparamaxis1 : BOOL :=FALSE; // start flag for data transmission //of axis 1 myparanumaxis1 : UINT :=0; myindexaxis1 : USINT := 0; mysendparavalueaxis1 : DWORD :=16#0000; myjobidentificationaxis1 : SINT := 0; END_VAR // call instance from standard FB "_RWPAR_cyclic" to proceed data transfer (2) Function Manual, 04/2014 19
Function block 3.3 Calling the function block myinstrwparcyclicaxis1( periin := myperipheralinputaxis1, slotnumber := myslotnumberaxis1, execute := mystartparamaxis1, paranumber := myparanumaxis1, index := myindexaxis1, sendparavalue := mysendparavalueaxis1, jobidentification := myjobidentificationaxis1 ); // copy error code mytransfererror:= myinstrwparcyclicaxis1.errorid; (3) (4) // write peripheral outputs myperipheraloutputaxis1 := myinstrwparcyclicaxis1.periout; (5) END_PROGRAM END_IMPLEMENTATION Note The ExampleRWParameter program must be assigned in the execution system. 20 Function Manual, 04/2014
Example of an application 4 4.1 General The call example above shows how to read and write a variety of drive parameters from a SIMOTION program in a system with a SIMODRIVE 611 universal double-axis module. The parameters are written either individually or as a group to the 1st and 2nd axis on the doubleaxis module. Drive parameters are read: once from the 1st axis of the double-axis module cyclically from the 2nd axis of the double-axis module Hardware platform The application example is available for various SIMOTION hardware platforms. Note If the application example is not available for your hardware platform, you have to adapt the hardware configuration. Adapting the application example The configuration in the example and its available hardware must be adapted. The following options are available: 1. The configuration in the example can be adapted to the available hardware (commission drive, PROFIBUS DP address). 2. The hardware configuration can be adapted to the example (commission drive, PROFIBUS DP address). Note For commissioning the drive, please observe the drive documentation! This documentation is included in the SIMOTION SCOUT scope of supply as electronic documentation! Function Manual, 04/2014 21
Example of an application 4.1 General Calling the application example The application example can be found on the "SIMOTION Utilities & Applications" CD-ROM. The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery. 1. Dearchive and open the project containing the application example. 2. Check the axis configuration: PROFIBUS DP addresses. 3. Save and compile the example project. Then, you can download the example to the SIMOTION device and switch to RUN mode. Variables used in application example Symbol Data type Meaning Actions performed by user mywroneparatoaxis1 BOOL Transfers the P-gain of the speed controller to Axis 1 (edge-triggered) mywrindexedparatoaxis1 BOOL Transfers the ramp-up time of parameter block 1 of Axis 2 - indexed parameter (edge-triggered) mywrthreeparatoaxis1 BOOL Transfers a set of 3 parameters to Axis 1 (edge-triggered) mywroneparatoaxis2 BOOL Transfers the P-gain of the speed controller to Axis 2 (edge-triggered) myrdthreeparaaxis1 BOOL Reads 3 parameters from axis 1 once Set myrdindexedparaaxis1 BOOL Reads the ramp-up time of parameter block 1 of Axis 1 - indexed parameter (edge-triggered) myrdthreeparacyclicaxis2 BOOL Reads 3 parameters from axis 2 cyclically Set mytransfererror INT Contains the error identifier (errorid) of the _RWPAR_cyclic FB myreadcyclicactive BOOL = TRUE: cyclical reading of parameters is active Set Reset (on error) Set Reset (on error) Set Reset (on error) Set Reset (on error) Reset (on error) Set Reset (on error) Reset Read Read Actions performed by example Reset Reset Reset Reset Reset Reset Read Reset (on error) Written Written 22 Function Manual, 04/2014
Example of an application 4.2 Sequence of the application example 4.2 Sequence of the application example This application example illustrates how to read and write the drive parameters for a SIMODRIVE 611 universal double-axis module using the _RWPAR_cyclicfunction block. On the basis of five different parameterized calls of the _RWPAR_cyclic FB, drive parameters will be written to the 2 axes of the double-axis module or will be read discretely or cyclically. Start the transfer operation by setting the global variables (e.g., "mywroneparatoaxis1" to transfer the P-gain of the speed controller to Axis 1) in the symbol browser and pressing the "Immediate control" button. Once the parameters have been transferred successfully, the variables will be reset by the application example. However, if any transfer errors have occurred, the global variables will not be reset automatically by the application example. In this case, you must reset the global variables (to "FALSE") in the symbol browser yourself. The error ID is saved in the "mytransfererror" global variable and displayed in the symbol browser of SIMOTION SCOUT. The drive parameters are stored in the following structures: Table 4-1 Overview of the data structures for the drive parameters Data structure structparameteraxis1 writeparameter readparameter structparameteraxis2 writeparameter readparameter Meaning Drive parameters for axis 1 Substructure for the drive parameters to be written for axis 1 Substructure for the drive parameters of axis 1 to be read Drive parameters for axis 2 Substructure for the drive parameters to be written for axis 2 Substructure for the drive parameters of axis 2 to be read Before initiating the transfer, you can modify the values of the drive parameters to be written in the symbol browser and activate them using the "Immediate control" button. Function Manual, 04/2014 23
Example of an application 4.3 Error messages 4.3 Error messages Any transfer errors that occur are stored in the "mytransfererror" global variable and displayed in the symbol browser of SIMOTION SCOUT. Note If mytransfererror = 201, an incorrect slot was configured Remedy: Check and modify slot configuration! If mytransfererror = 301, transfer of the request was aborted because no correct response data have been received from the drive after 1,000 function block call cycles. Remedy: Repeat request, check communication link if necessary! If mytransfererror = 302, parameter change rights do not exist for the relevant drive Remedy: Set the parameter change rights and repeat the request. If you want to read and write indexed parameters for SIMODRIVE 611 universal and SIMODRIVE POSMO CD, CA and SI, you must set bit 11 in the P879 parameter to "1". For information about drive parameters and their formats and data types, as well as a detailed description of the error ID, refer the the SIMODRIVE 611 universal (PIV range) function description. This documentation is included as electronic documentation with the supplied SIMOTION SCOUT! 24 Function Manual, 04/2014
Appendix A A.1 List of parameters A comparison of the SIMOTION identifiers up to V3.2/as of V4.0 is shown in the table below. Table A-1 List of parameters Name in the SIMOTION system as of V4.0 (program library in SCOUT) Function block parameters _RWPAR_cyclic periin execute paranumber index sendparavalue jobidentification slotnumber periout receiveparavalue busy done error errorid Name in the SIMOTION system up to V3.2 (SIMOTION function library) _FB_rwPar_cyclic inputinterface execute parameternumber index sendparametervalue jobidentification slotnumber outputinterface receiveparametervalue busy done error errorid Function Manual, 04/2014 25
Index RWPAR_cyclic function block, 16 C Call example for reading and writing, 20 Calling the function block, 19 Creating I/O variables, 13 E Example of an application, 21 F FB _RWPAR_cyclic parameters, 16 Function block Call, 19 Parameter, 16 Task integration, 18 Function blocks, 15 G General, 9 I Integrating the function block, 12 L List of parameters, 25 R References, 3 S Start-up and Parameterization of PROFIBUS DP Interface, 11 Function Manual, 04/2014 27