SINAMICS S120 Connectivity To EtherNet/IP

2012.10.
15
SINAMICS S: Speed Control of a S120

with an Allen-Bradley controller
(Compact/ControlLogix with RSLogix
5000) via EtherNet/IP
http://support.automation.siemens.com/WW/view/en/92045369
Warranty and liability
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Table of contents
Table of contents
Warranty and liability................................................................................................... 2
1 Task ..................................................................................................................... 5
1.1 Overview............................................................................................... 5
1.1.1 Industrial Ethernet ................................................................................ 5
1.1.2 SINAMICS S120 Connectivity to EtherNet/IP ...................................... 5
2 Solution............................................................................................................... 6
2.1 Solution overview ................................................................................. 6
2.1.1 Hardware Structure .............................................................................. 6
2.1.2 Additional Network Connections .......................................................... 6
2.2 Used Components ................................................................................ 7
3 Programming Overview .................................................................................... 8
3.1 AOI’s for SINAMICS S120 drives ......................................................... 8
3.2 AOI Types ............................................................................................ 8
4 Function mechanisms ....................................................................................... 9
4.1 Function Description............................................................................. 9
4.2 Telegram Description ........................................................................... 9
4.2.1 Telegram Type 1 for Basic speed ........................................................ 9
4.2.2 Telegram Type 111 for EPOS mode .................................................... 9
4.2.3 Telegram Type 102 for Advanced Speed Control .............................. 10

4.3 Basic Speed Control........................................................................... 10
4.3.1 Functionality ....................................................................................... 10
4.3.2 Schematic Ladder Representation ..................................................... 11
4.3.3 Input and Output Parameters ............................................................. 11
4.4 EPOS Control ..................................................................................... 12
4.4.1 Functionality ....................................................................................... 12
4.4.2 Schematic Ladder Representation ..................................................... 13
4.5 MDI Mode ........................................................................................... 15
4.5.1 Functionality ....................................................................................... 15
4.5.2 Schematic Ladder representation ...................................................... 16
4.6 Advanced Speed ................................................................................ 18
4.6.1 Functionality ....................................................................................... 18
4.7 Line Module Control ........................................................................... 19
4.7.1 Functionality ....................................................................................... 19
4.8 Control Unit IO Interface..................................................................... 21
4.8.1 Functionality ....................................................................................... 21
4.9 UDTs .................................................................................................. 22
5 Drives Configuration ....................................................................................... 23
5.1 Basic Speed ....................................................................................... 23
5.1.1 Telegram Selection ............................................................................ 23
5.1.2 Control Mode ...................................................................................... 23
5.2 EPOS Drive or MDI Positioning ......................................................... 24
5.2.1 Telegram Selection ............................................................................ 24
5.2.2 Control Mode ...................................................................................... 24
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Table of contents
5.3 Using a Freely Configurable Telegram .............................................. 24

5.4 Configuring the Communication Interface .......................................... 25
5.4.1 Setting the IP Address........................................................................ 25
5.4.2 Selecting EtherNet/IP ......................................................................... 26
5.4.3 Using a CU320-2 PN and a CBE20 ................................................... 26
6 Configuring a Generic Ethernet Module........................................................ 27
6.1 Adding a new module ......................................................................... 27
6.1.1 Inserting the module ........................................................................... 27
6.1.2 Configuring network parameters ........................................................ 27
6.1.3 Connection Parameters...................................................................... 28
6.1.4 Using the IO Data ............................................................................... 28
7 Using AOIs in a New Application ................................................................... 30
7.1 Importing AOIs ................................................................................... 30
7.1.1 Installing L5K Files ............................................................................. 30
7.2 Using the AOI ..................................................................................... 31
7.2.1 Adding AOI to a Program ................................................................... 31
7.2.2 I/O Interface ........................................................................................ 31
8 Drive Parameter Access.................................................................................. 33
8.1 Explicit Messaging .............................................................................. 33
8.2 Using the MSG Instruction ................................................................. 35
9 Glossary ........................................................................................................... 38
10 History............................................................................................................... 40
11 Contact.............................................................................................................. 40
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1 Task
1 Task
1.1 Overview
1.1.1 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.
1.1.2 SINAMICS S120 Connectivity to EtherNet/IP
Through the use of the CBE20 (Communication Board Ethernet) the SINAMICS
S120 drives have direct connectivity to EtherNet/IP networks. The CBE20 resides
in the option slot of the SINAMICS multi-axis Control Unit and offers a four port
switch to conveniently plug in network connections. The SINAMICS drive system
offers both PROFINET and EtherNet/IP software stacks for the CBE20 which is
easily selected by a parameter setting in the standard SINAMICS firmware.
The network IP address of the CBE20 is set through the STARTER software. With
STARTER software installed on your computer you can connect to the SINAMICS
drive through the CBE20 interface, the built in CU320-2 interface (DP or PN) or the
Ethernet LAN connection on the front of the CU320-2 Control Unit.
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
CBE20 card to control multiple drive objects thus cutting down on the number of IP
addresses and Ethernet connections required for drive systems. 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 # 1251.
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2 Solution
2 Solution
2.1 Solution overview
2.1.1 Hardware Structure
Figure 1 Sample System Overview
HMI
PLC Remote I/O

PC/Network
Reference Actual
values values
Control Status
word Word SINAMICS S120 SINAMICS S120
w/ CBE20 w/ CBE20
2.1.2 Additional Network Connections
The CBE20 (Communication Board Ethernet) is configured with parameter P8835

to operate either the PROFINET or EtherNet/IP software stack. Based on P8835 all
four ports of the CBE20 operate the same selected software stack and can not be
programmed individually. Either software stack will also support standard Ethernet
TCP/IP telegrams on all four ports.
The CU320-2 control unit also contains either a PROFIBUS DP or PROFINET
built-in interface. The built-in interface of the CU320-2 is an independent interface
to the CBE20 interface thus capable of supporting a second network.
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2 Solution
2.2 Used Components

The application was generated with the following components:
Hardware components
Table 1
Component No.
CU320-2 DP or CU320-2 PN with Firmware version 1
4.5 or later
CBE20 Communication Board Ethernet 1
Rockwell Automation Logix family controller Firmware 1

version
19 or later
RS Logix 5000 Version 19 or later 1

Standard software components

Table 2
Component No.
STARTER Version 4.3 SP1 or later 1
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3 Programming Overview
3 Programming Overview
3.1 AOI’s for SINAMICS S120 drives
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 Add On Instructions have been designed for the
RSLogix programming that mimic 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. These manual documents the use of the
AOI’s developed to simplify the integration of SINAMICS drives connected to RS
Logix automation systems over EtherNet/IP.
Figure 2 Example utilizing Simple Speed AOI and Standard Telegram 1

3.2 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. Easy Positioning (Standard Telegram 111)
3. Basic MDI (Standard Telegram 111)
4. Advanced Speed (Standard Telegram 102)
5. Line Module object (Standard Telegram 370)
6. Control Unit object (Standard Telegram 390)
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4 Function mechanisms
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, 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

4.2.1 Telegram Type 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 Section
2.8 and Function Manual Section 10.1.
Table 3 Telegram Type 1

WORD INPUT OUTPUT
1 Control Word 1 Status Word 1
2 Speed Setpoint Value Actual Speed Value
4.2.2 Telegram Type 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 both the “MDI” control AOI and “EPOS”
th
AOI. 12 Words of data are exchanged with the drive where the 12 word is
reserved as a user selectable value. For detailed information on this telegram refer
to the SINAMICS S120 List Manual Section 2.8 and Function Manual Section 10.1.
NOTE Telegram Type 1 can also be applied to SINAMICS G130 and G150 drives
utilizing the EtherNet/IP connectivity.
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WORD Input Output
2 Pos Control Word 1 Pos Status Word 1
3 Pos Control Word 2 Pos 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
4.2.3 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 List Manual
Section 2.8 and Function Manual Section 10.1.

WORD Input Output
2-3 Speed Setpoint Speed Actual
5 Torque Reduction MELDW (Extended) Status Word
6 Encoder Control Word 1 Encoder Status Word 1
7 Encoder Position G1_XIST1
8 Encoder Position G1_XIST2
4.3 Basic Speed Control

4.3.1 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 1.
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4.3.2 Schematic Ladder Representation
Figure 3 S120 Speed Block
4.3.3 Input and Output Parameters
Table 6 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
Table 7 IN/OUT Parameters

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
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Table 8 Output Parameters

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 EPOS Control

4.4.1 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.
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4.4.2 Schematic Ladder Representation
Figure 4 S120 EPOS Block

Table 9 Input Parameter Data

Variable Name Data Description
Type
S120_EPOS_BLOCK Instance
Data
ON BOOL Drive Enable (ON/OFF1)
0 = No Fault Reset
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
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Type
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
2
ACCEL_RATE REAL Acceleration rate in LUs / s
DECEL_RATE REAL Deceleration rate in LUs / s2
V_OVERRIDE REAL Speed Setpoint in LUs / s
Table 10Input/Output Parameter Data

Type
DRV_CONTROL ARRAY
DRV_STATUS ARRAY
Table 11 Output Parameter Data

Type
RDY_OP BOOL Ready for Operation
ENABLED BOOL Pulses are Enabled at Motor Output
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Type
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.
4.5 MDI Mode

4.5.1 Functionality
The MDI Mode AOI interfaces to the SINAMICS EPOS positioner via EtherNet/IP.
The EPOS positioner is used for the absolute and relative positioning of linear and
rotary axes.
The AOI implements a state machine that allows the selection of three major
motion modes. The three modes are Velocity mode, Relative positioning, and
Absolute positioning mode.
Velocity mode enables motion at a constant velocity set by the Speed reference
input. The velocity setpoint can be changed while the axis is in motion The drive
uses the Accel and Decel setpoints to reach the velocity setpoint. The mode is
started by setting the VEL_MOVE input of the instruction.
Jog forward and reverse is also available by setting the appropriate inputs to the
instructions. Jog velocity is set in the drive at parameters P2585 and P2586.
Relative positioning mode allows the axis to travel for a specified distance set at
the position setpoint input of the instruction and selecting the REL_MOVE input.
Absolute positioning mode moves the axis to a specified position by setting the
position value at the position setpoint input of the instruction and the setting the
ABS_MOVE input.
NOTICE
Note that the axis is not allowed to position until it has been referenced.
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4.5.2 Schematic Ladder representation
Figure 5 S120 MDI Block

Table 12 Input Parameter Data

Type
ESTOP_OK BOOL 1 = Deselect Estop Mode
0 = Select Estop Mode
DRV_ENABLE BOOL 1 = Allow Drive Enable
0 = Disable Drive
FAULT_RESET BOOL Acknowledge Drive Fault
0 -> 1 Signal Transition Acknowledges Fault
REF_START BOOL Referencing Start
0 = Disallow Referencing
1 = Start referencing mode
AT_HOME BOOL 0 -> 1 Set location of the Home position
VEL_MOVE 0 = Disallow Speed Mode
1 = Enable Speed Mode
ABS_MOVE BOOL Select Absolute Positioning Mode
0=
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Type
1 = Absolute positioning
REL_MOVE BOOL Select Relative Positioning Mode
0=
1=
JOG_FWD BOOL Jog Forward (Position Control Mode)
JOG_REV BOOL Jog Reverse (Position Control Mode)
POSITION_SETPOINT DINT Position target setpoint in Length Units (LUs)
2
ACCEL_RATE REAL Acceleration Rate in LUs / s
2
DECEL_RATE REAL Deceleration Rate in LUs / s
SPEED_REF_PCT REAL Speed setpoint as a percentage of Nominal
Speed. (Velocity Override)
NOM_SPEED_IN_LU REAL Speed setpoint in LUs / s
Table 13 Input / Output Parameter Data

Type
DRV_CONTROL ARRAY Array of 12 Integers referenced to the 12
Output words for the drive object.
DRV_STATUS ARRAY Array of 12 Integers referenced to the 12 Input
words for the drive Object.
Table 14 Output Data Parameters

Type
READY BOOL Ready to Start
ENABLED BOOL Pulse are Enabled at Motor Output
POS_ACTIVE BOOL Positioning Mode is Active
VEL_ACTIVE BOOL Velocity (Speed) mode is Active
REFERENCED BOOL Axis is Referenced
FAULTED BOOL Drive Fault is Active
HOMING BOOL Drive Alarm is Active
TARGET_REACHED BOOL Position actual is within window set in drive
FAULT_NUMBER INT Active Fault Number (0 = No Faults)
ALARM_NUMBER INT Active Fault Number (0 = No Alarm)
POSITION_ACTUAL DINT Actual Position Value in LUs
SPEED_ACT_PCT REAL Speed in Percent of P2000
TORQUE_ACTUAL REAL Torque Value in Percent of P2002
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4.6 Advanced Speed

4.6.1 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.
Figure 6 Advance Speed Control AOI

Table 15 Input Data Parameters

Type
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
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Type
0 = No Fault Reset
SPEED_SET_MAIN REAL Speed Setpoint in Percent of P2000
TORQ_LIMIT REAL Torque limit setpoint in Percent of P2002
Table 16 Input / Output Parameter Data

Type
DRV_CONTROL ARRAY Array of 8 Integers referenced to the 8 Output
words for the drive object
DRV_STATUS ARRAY Array of 6 Integers referenced to the 6 Output
Table 17 Output Data Parameter


Type
INHIBITED BOOL Ready for Operation
ENABLED BOOL Pulses are Enabled
SPEED_ACTUAL REAL Actual Speed in Percent of
P2000
POSITION_ACTUAL DINT Actual Position Value
4.7 Line Module Control

4.7.1 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.
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Figure 7 Line Module Control AOI

Type
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

Type
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
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4.8 Control Unit IO Interface

4.8.1 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 390 as documented in Section 2.8 of the SINAMICS S120 List Manual.
Figure 8 Control Unit IO AOI


Type
DO8 BOOL Digital Output 8 Terminal X122-9
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Table 21 Input / Output Data Parameters

Type
DRV_STATUS ARRAY Array of 2 Integers referenced to the 2 Input
DRV_CONTROL ARRAY Array of 2 Integers referenced to the 2 Output

Type
DI0 BOOL Digital Input 0 Terminal X122-1

4.9 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.
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5 Drives Configuration
Commissioning of the S120 drives is not in the scope of this document. Refer to
the SINAMICS S120 quick start guide to assist in the commissioning of the
drive(s).
This 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.
5.1 Basic Speed

5.1.1 Telegram Selection
Telegram type 1 is selected for Speed control in coordination with the Basic Speed
AOI. The telegram is selected in the Communication configuration of the CU in
STARTER.
Table 23
No. Instruction Remarks

1. Double click
“Message frame Configuration”
in the project tree
2. Select the
Standard Telegram 111
for the Red Wheel
5.1.2 Control Mode
Speed mode can be achieved in one of the following control modes

1) Servo or Vector Mode - Closed loop speed control with encoder
2) Vector Mode - Closed loop speed control without encoder.
3) Servo or Vector - Open loop V/Hz
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5.2 EPOS Drive or MDI Positioning

5.2.1 Telegram Selection
Telegram Type 111 is used both for EPOS and Basic MDI Add On Instructions.
The telegram is selected in the Communication configuration of the CU in
STARTER.
Table 24
1. Double click
“Message frame Configuration”
in the project tree
2. Select the Line under RedWheel

Standard Telegram 111
for the Blue Wheel
5.2.2 Control Mode
EPOS mode can be achieved in Servo or Vector modes. Closed loop speed control
with encoder is required for Standard Telegram Type 111.
5.3 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.
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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. In the figure below the message frame
configuration shows the Input and Output data length which must match the values
calculated by the controller in r2067 of the specified Drive Object.
Figure 9 Number of Interconnected PZDs
NOTE In order for the CU to correctly calculate parameter r2067, The last PZD of the
telegram must be interconnected.
5.4 Configuring the Communication Interface

5.4.1 Setting the IP Address
The IP address for the CBE20 module can be set via Parameter P8941. The four
indices accommodate the octets of the device IP Address. The Subnet mask for
the CBE20 is set in Parameter P8943.
Parameters P8951 and P8953 display the active values for IP Address and Subnet
mask. Once the values are saved to ROM and control unit is restarted the new
values should be displayed
Figure 10 IP Address of the CBE20
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5.4.2 Selecting EtherNet/IP
EtherNet/IP must be selected as the communication protocol for the CBE20.
Table 25
1. Set parameter P8835 to a value will select the EtherNet/IP communication stack for the
of 4 CBE20
2. Save this value to ROM and CBE20 will then operate as an EtherNet/IP adapter
cycle power
Figure 11 Selection of EtherNet/IP at P8835

5.4.3 Using a CU320-2 PN and a CBE20
When a CBE20 is installed in a CU320-2 PN it is important to note that the

configuration of the Communication Option Module is not preselected as primary
interface (IF1). In the configuration process of the CU the Option module must be
selected as the first interface as shown in the figure below. This can also be
selected with parameter P8839.
Figure 12 Selecting Optional Communication module as PZD Interface 1 (IF1)
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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.
6.1.1 Inserting the module
Table 26 Inserting the Module
1. 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.
6.1.2 Configuring network parameters
Table 27 Configuring the Network Parameters
1. The module name should identify the

CU320-2 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).
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4. Enter the IP Address of the CBE20

option module.
5. The Connection Parameters section
configures the IO Assemblies for the
CU320-2. 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
6.1.3 Connection Parameters
Table 28 Setting the Connection Parameters
6. The Requested Packet Interval (RPI) is

the rate at which the controller will
exchange data with the IO module. The
CU320-2 can operate with a RPI set to
a minimum of 5 ms. In this application
we will use a value of 10 ms.
7. 2) Unicast is selected as the exchange

method.
6.1.4 Using the IO Data
The IO data is available as an array of integers in the controller tags section of the
project tree.
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Figure 1. Controller Tags for new module

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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.
7.1.1 Installing L5K Files
Table 29 Steps to Importing the AOIs
8. 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.
9. Select the required L5K file for the

desired Instruction and Import.
10. Review the Import configuration and

click OK
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11. 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.
12.
7.2 Using the AOI

7.2.1 Adding AOI to a Program
Table 30 Using the S120 Speed Block
13. Add instruction to a new rung by

dragging from project tree.
14. Declare and assign instance data

variable. The new tag can be created as
a local program tag with an name that
clearly identifies the drive data.
7.2.2 I/O Interface
Connecting the instruction to the Controller IO tags is accomplished by moving the

IO data into the AOI Interface.
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Figure 13
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.
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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 CBE20 supports explicit messaging. The most common parameters listed in
the tables below are available to the Logix application program using the MSG
instruction.
The MSG instruction can read from or write to a parameter by accessing the drive’s
communication object. Each SINAMICS drive object has an instance of both a
drive and motor communication objects. The drive and motor objects have lists of
attributes that correspond to parameters in the SINAMICS drive object. The MSG
instruction is then parameterized to read or write (Get or Set Attribute) a parameter
by selecting the instance’s type and attribute.
Table 31 S120 Drive Object (Class 032Ch)

Attribute Name Service Type Drive
# Parameter
2 Commissioning state Set / Get P10

3 – 18 STW1 (Bit 0 – 15) Get (Drive) STW1
36 Actual Frequency % Get (Drive) HIW
37 Ramp Up Time (sec) Set/Get (Drive) P1120[0]
38 Ramp Down Time (sec) Set/Get (Drive) P1121[0]
39 Current Limit % Set/Get (Drive) P0640[0]
40 Frequency MAX Limit (Hz) Set/Get (Drive) P1082[0]
41 Frequency MIN Limit (Hz) Set/Get (Drive) P1080[0]
42 OFF3 Ramp Down Time (sec) Set/Get (Drive) P1135[0]
43 PID Enable Set/Get (Drive) P2200[0]
44 PID Filter Time Constant (sec) Set/Get (Drive) P2265
45 PID D Gain (sec) Set/Get (Drive) P2274
46 PID P Gain Set/Get (Drive) P2280
47 PID I Gain (sec) Set/Get (Drive) P2285
48 PID Up Limit % Set/Get (Drive) P2291
49 PID Down Limit % Set/Get (Drive) P2292
50 Speed Setpoint (RPM) Get (Drive) r0020
51 Output Frequency (Hz) Get (Drive) r0024
52 Output Voltage (Volts) Get (Drive) r0025
53 DC Link Voltage (Volts) Get (Drive) r0026[0]
54 Actual Current (Amps) Get (Drive) r0027
55 Actual Torque (NM) Get (Drive) r0031
56 Output Power (KW) Get (Drive) r0032
57 Motor Temperature (Deg C) Get (Drive) r0035[0]
58 Power Unit Temperature (Deg C) Get (Drive) r0037[0]
59 Energy (kWh) Get (Drive) r0039
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# Parameter
60 CDS Eff. (Local Mode) Get (Drive) r0050
61 Status Word 2 Get (Drive) r0053
62 Control Word 1 Get (Drive) r0054
63 Motor Speed : Encoder 1 (RPM) Get (Drive) r0061
64 Digital Inputs Get (CU) r0722
65 Digital Outputs Get (CU) r0747
66 Analog Input 1 Get CU) r0752[0]
67 Analog Input 2 Get (CU) r0752[1]
68 Analog Output 1 Get (CU) r0774[0]
69 Analog Output 2 Get (CU) r0774[1]
70 Fault Code 1 Get (CU / Drive) r0947[0]

79 Alarm Code 1 Get (CU / Drive) r2110[0]
83 PID Setpoint Output Get (Drive) r2260
84 PID Feedback Get (Drive) r2266
85 PID Output Get (Drive) r2294
Table 32 Drive Motor Data (Class 032Dh)

# Parameter
2 Commissioning state Get/Set P10
3 Motor Type Get P300
6 Rated Current Get/Set P305
7 Rated Voltage Get/Set P304
8 Rated Power Get/Set P307
9 Rated Frequency Get/Set P310
10 Rated Temperature Get/Set P605
11 Max Speed Get/Set P322
12 Pole Count Get/Set P314
13 Torque Constant Get/Set P312
14 Inertia Get/Set P341
15 Base Speed Get/Set P311
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# Parameter
19 Cos Phi Get/Set P308
8.2 Using the MSG Instruction

Table 33 Parameterizing the MSG Instruction
15. MSG Instruction:

Insert the MSG instruction.
16. 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.
17. Message Type:

Select the CIP Generic message
type.
18. Service Type:

Select “Get Attribute Single” to read
and parameter or “Set Attribute
Single” to write the parameter.
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19. CIP Object Class:

Enter the appropriate Class code.
SINAMICS Drive Object = 032C

Motor Object = 032D
20. Class Attribute:

Enter the Attribute corresponding to
the parameter to be read for the
Class selected..
See Table 1 or 2 in this section.

21. Object Instance:

The instance number must be set
to the value of the slot (Object) for
the drive object as shown in the
“Message Frame Configuration
section of the CU in STARTER.
22. 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.
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23. Path:
In the communication tab enter the
name of the IO node for the
CBE20. Use the Browse option to
find the node in the project tree.
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9 Glossary
9 Glossary
AOI (Add On Instruction): Commonly used logic for a task that is encapsulated into a block to
be reused in RSLogix programs.
CBE20 (Communication Board Ethernet): Option board for SINAMICS drives with four
Ethernet ports. The CBE20 fits into the option slot of the CU320-2 multi-axis control unit.
CU320-2: Control unit for SINAMICS drives available with either a built in Profibus interface
(CU320-2 DP) or PROFINET interface (CU320-2 PN). Up to six Vector or Servo axis can be
controlled from a single CU320-2.
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.
DP interface: PROFIBUS interface
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.
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.
Servo mode: Axis control type for high dynamic applications. Particularly suitable for
synchronous motors and high performance induction motors.
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
Telegram type 1: Standard PROFIdrive telegram of two words for simple speed control
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9 Glossary
Telegram type 102: Siemens Standard telegram with 32 bit speed value and torque reduction
value for advanced speed applications
Telegram type 111: Siemens Standard telegram for positioning with 12 words in each direction.
th
In this manual we have assigned the freely connected 12 word for torque.
Telegram type 370: Siemens Standard telegram for SINAMICS Line Module control and status
word
Telegram type 390: Siemens Standard telegram for Control Unit digital inputs/outputs
UDT: User Defined Type
Vector mode: Axis control type including closed loop, open loop, and V/Hz speed control.
Typically used with induction motors to obtain high speed and low torque ripple.
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10 History
10 History
Table 34 History
Version Date Changes
V0.1 04.06.2012 PreRelease
V1.0 05.18.2012 Initial Release
V1.1 06.04.2012 Changes and corrections.
V2.0 06.14.2012 Add Explicit messaging
Added Free telegram
CU320-2PN difference
11 Contact
Siemens AG
Industry Sector
I DT MC PMA APC
Frauenauracher Strasse 80
91056 Erlangen
Germany
mailto: tech.team.motioncontrol@siemens.com
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SINAMICS S120 Connectivity To EtherNet/IP

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2012.10.

SINAMICS S: Speed Control of a S120

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Act (“Produkthaftungsgesetz”), in case of intent, gross negligence, or injury of life,

Any form of duplication or distribution of these Application Examples or excerpts

4.2.3 Telegram Type 102 for Advanced Speed Control .............................. 10

5.3 Using a Freely Configurable Telegram .............................................. 24

Industrial Ethernet communication networks continue to gain global importance in

1.1.2 SINAMICS S120 Connectivity to EtherNet/IP

Figure 1 Sample System Overview

PLC Remote I/O

2.1.2 Additional Network Connections

The CBE20 (Communication Board Ethernet) is configured with parameter P8835

2.2 Used Components

CBE20 Communication Board Ethernet 1

Rockwell Automation Logix family controller Firmware 1

RS Logix 5000 Version 19 or later 1

Standard software components

Figure 2 Example utilizing Simple Speed AOI and Standard Telegram 1

3.2 AOI Types

It is possible to control a S120 drive as a simple speed controlled drive or a

4.2 Telegram Description

4.2.1 Telegram Type 1 for Basic speed

This telegram is a standard PROFIdrive telegram of 2 words in length. It will control

Table 3 Telegram Type 1

4.2.2 Telegram Type 111 for EPOS mode

Telegram 111 is a standard Siemens Telegram for a positioning drive. It allows

Table 4 Telegram Type 111

4.2.3 Telegram Type 102 for Advanced Speed Control

Table 5 Telegram Type 102

4.3 Basic Speed Control

4.3.2 Schematic Ladder Representation

Figure 3 S120 Speed Block

4.3.3 Input and Output Parameters

Table 6 Inputs Parameters

Variable Name Data Type Description

Table 7 IN/OUT Parameters

Table 8 Output Parameters

4.4 EPOS Control

sequencing is not provided. Additional user logic is required to synchronize the

4.4.2 Schematic Ladder Representation

Figure 4 S120 EPOS Block

4.4.3 Input and Output Parameters

Table 9 Input Parameter Data

Variable Name Data Description

1 = Setpoints are continuously loaded. (Absolute

Table 10Input/Output Parameter Data

Table 11 Output Parameter Data

Variable Name Data Description

4.5 MDI Mode

4.5.2 Schematic Ladder representation

Figure 5 S120 MDI Block

4.5.3 Input and Output Parameters

Table 12 Input Parameter Data

Variable Name Data Description

Table 13 Input / Output Parameter Data

Table 14 Output Data Parameters

4.6 Advanced Speed

4.6.2 Schematic Ladder representation

Figure 6 Advance Speed Control AOI

4.6.3 Input and Output Parameters

Table 15 Input Data Parameters

Variable Name Data Description