control drive siemens s120 with plc rockwell via ethernet Speed control of a SINAMICS S120 with an Allen Bradley controller

Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via EtherNetIP Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via Et.Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via EtherNetIP Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via Et.

Trang 2

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 binding 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

non-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 ( https://support.industry.siemens.com ) 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 https://www.siemens.com/industrialsecurity

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: https://www.siemens.com/industrialsecurity

Trang 3

in PROFINET and EtherNet/IP networks

Since Firmware version 5.1SP1 both the CU310-2 PN and Cu320-2 PN can be commissioned for EIP via on board Ethernet ports The CBE20 is no longer necessary for EIP communication and the onboard X150 ports are utilized for EIP

communication

The network IP address of the S120 CU (Control Unit) is set through the STARTER

or STARTDRIVE software With STARTER software installed on your computer you can connect to the SINAMICS drive through the Built in X150 ports on CU310-2 or CU320-2 and set IP address

The SINAMICS S120 multi-axis drive system can contain up to six vector or servo axis controlled by a single CU320-2 control unit This allows one IP address for the CU320-2 to control multiple drive objects thus cutting down on the number of IP addresses and Ethernet connections required for drive systems For the CU310-2

it is a single drive axis but can have additional control and status for the Control Unit if needed

The SINAMICS drives operate on unicast telegrams thus further reducing network traffic SINAMICS S120 drives have been certified by ODVA for EtherNet/IP conformance testing and participated in the EtherNet/IP PlugFest Siemens is a member of ODVA with Vendor ID # 1251

Trang 4

The application was generated with the following components:

Table 2-1 Hardware components

SINAMICS S120 CU320-2

PLC

Reference values Control word

Actual values Status word

PC/Network Remote I/O

SINAMICS S120 CU310-2

HMI

Trang 5

Add On Instructions have been designed for the Logix programming that mimics

standard telegrams used in S120 configurations For most standard applications the use of the AOI’s can greatly reduce the Engineering time to configure a system This manual document the use of the AOI’s developed to simplify the integration of SINAMICS S120 drives connected to an AB Logix’s automation systems over EtherNet/IP

The EtherNet/IP telegrams to the SINAMICS S120 drives can be freely configured using the free telegram structure for the message frame type Alternatively in an effort to seamlessly integrate the communication between an S120 drive object and

an AB Logix family controller

Figure 3-1 Example utilizing Simple Speed AOI and Standard Telegram 1

There are presently six Add On Instruction blocks designed to coordinate with standard telegrams used in SINAMICS S120 systems

2 Vector Speed (For Vector Drive Objects) (SIEMENS Telegram 352)

3 EPOS (Positioning) (SIEMENS Telegram 111)

5 Line Module object (SIEMENS Telegram 370)

6 Control Unit object (SIEMENS Telegram 390)

Trang 6

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

This telegram is a standard PROFIdrive telegram of 2 words in length It will control the state of the drive by selecting the appropriate bits in the control word and set the running speed in the speed setpoint word For additional information on this telegram and its detailed function, refer to the SINAMICS S120 List Manual and Function Manual

Table 4-1 Telegram Type 1

1 Control Word 1 Status Word 1

2 Speed Setpoint Value Actual Speed Value

Telegram 352 is a standard Siemens Telegram for Speed Control with Vector Drive Objects

This telegram cannot be used with Servo Drive Objects The 1st two words in and out are the same as Telegram1 The advantage of T352 is that there are 4 Optional User Defined Control Setpoints, and four added Status words returning to the PLC for Current, Torque, Warning Word, and Fault Word

2 Speed Setpoint Value Actual Speed Value

3 User Setpoint1 ABS Actual Current

4 User Setpoint2 Torque Actual

5 User Setpoint3 Actual Alarm Code

6 User Setpoint4 Actual Fault Code

Trang 7

Telegram 111 is a standard Siemens Telegram for a positioning drive It allows sequence and control of the drive functions in addition to control of the positioning function EPOS This interface is used for “EPOS” AOI 12 Words of data are exchanged with the drive where the 12th word is reserved as a user selectable value For detailed information on this telegram refer to the SINAMICS S120 Function Manual Section and List Manual

2 Pos Control Word 1 Pos Status Word 1

3 Pos Control Word 2 Pos Status Word 2

5 Velocity Override MELDW Status Word

12 User Selectable User Selectable

Telegram 102 is a Siemens telegram for Speed mode control of drives For detailed information on this telegram refer to the SINAMICS S120 Function Manual and List Manual

2

Speed Setpoint Speed Actual

3

5 Torque Reduction MELDW Status Word

6 Encoder Control Word 1 Encoder Status Word 1

Trang 8

Figure 4-1 S120 Speed Block

Table 4-5 Inputs Parameters

Variable Name Data Type Description

S120_Speed_Block Instance Data

1 = Enable Drive

0 = Ramp Down and Disable drive

0 = OFF2 Immediate Disable

1 = No OFF2 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

Must be the same as P2000

Trang 9

Table 4-6 IN/OUT Parameters

DRV_CONTROL ARRAY Array of 2 integers referenced to the two

output words of the drive telegram DRV_STATUS ARRAY Array of 2 integers referenced to the two input

words of the drive telegram

Table 4-7 Output Parameters

Trang 10

For example the following are possible: Torque limits, Torque Setpoint, and additional speed setpoint

For the Status this is similar to the Simple Speed but Current Actual, Torque Actual, and Warning and Fault values are transmitted back to the PLC

NOTE This telegram is only available for S120 Vector Drive Objects or other SINAMICS

Vector Drives (Such as G120)

Figure 4-2: S120 Vector (Speed) block

Trang 11

Table 4-8 Input Parameters

Vector_Speed_T352 Instance Data

1 = Enable Drive

1 = No OFF2 Command

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

Must be the same as P2000

Can be Scaled to P2002 or % (100.0)

Can be Scaled to P2003 or % (100.0) USER_SETPOINT1 Integer User Defined setpoint 0 to 16384

= 0 to 100% Value to Drive USER_SETPOINT2 Integer User Defined setpoint 0 to 16384

= 0 to 100% Value to Drive

DRV_CONTROL ARRAY Array of 6 integers referenced to the six output

words of the drive telegram DRV_STATUS ARRAY Array of 6 integers referenced to the six input

words of the drive telegram

Trang 12

(Fault or No Positive transition to OFF1 MTR_OVERTEMP_OK BOOL Motor Temperature Normal

MTR_OVERTEMP_OK BOOL Power Module Temperature Normal

CURRENT_ACTUAL REAL Actual Current in Amps or % TORQUE_ACTUAL REAL Actual Torque in Amps or % ALARM_ACTUAL Integer Actual Active Alarm Number FAULT_ACTUAL Integer Actual Active Fault

Trang 13

The AOI provides a direct interface to EPOS control The SINAMICS S120 List manual provides detailed explanation of all functionality available Note that drive must be referenced before absolute positioning is allowed State control and sequencing is not provided Additional user logic is required to synchronize the state of the drive with the positioning functions

The instruction interface provides easy access to basic drive control and to most signals and setpoints required for control of the MDI mode

Schematic Ladder Representation

Figure 4-3 S120 EPOS Block

Trang 14

S120_EPOS_BLOCK Instance Data

0 = No Fault Reset

1 = Reset Fault on Rising Edge

1 = Jog (Forward) at speed in P2586

1 = Jog (Reverse) at speed in P2585

0 = No Referencing

1 = Enable Referencing

0 = No MDI mode Note: All motion should be completed before disable to avoid fault

1 = Enable MDI Mode

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

DECEL_RATE REAL % of Nominal De-acceleration V_OVERRIDE REAL % of Override for Velocity

Trang 15

DRV_CONTROL ARRAY Array of 12 integers referenced to the

twelve output words of the drive telegram DRV_STATUS ARRAY Array of 12 integers referenced to the

twelve input words of the drive telegram

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

Trang 16

Figure 4-4 Advance Speed Control AOI

Trang 17

AdvSpeedBlock Instance Data

1 = Enable Drive

1 = No OFF2 Command

DRV_CONTROL ARRAY Array of 8 Integers referenced to the 8 output

words for the drive telegram DRV_STATUS ARRAY Array of 6 Integers referenced to the 6 input

words for the drive telegram

SPEED_ACTUAL REAL Actual Speed in Percent of P2000 POSITION_ACTUAL DINT Actual Position Value

Trang 18

Figure 4-5 Line Module Control AOI

S120_LineModule Instance Data

1 = Enable

0 = Disable Drive

1 = Allow Pulse Enable

0 = Disable Pulses

0 -> 1 Acknowledge Faults DRV_STATUS WORD Status Data from IO mapped to Line Module

DRV_CONTROL WORD Control Data to IO mapped to Line module

Trang 19

Figure 4-6 Control Unit IO AOI

DRV_STATUS ARRAY Array of 2 Integers referenced to the 2 input

words for the drive object telegram DRV_CONTROL ARRAY Array of 2 Integers referenced to the 2 output

words for the drive object telegram

Trang 20

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

Định dạng
Số trang	40
Dung lượng	2,09 MB