Page 3 Preface ___________________ Fundamental safety instructions SINAMICS ___________________ General information Communication according to PROFIdrive S120 Communication Communication via PROFIBUS DP Communication via PROFINET IO Function Manual Communication via Modbus ___________________ Communication via Ethernet/IP (EIP) Communication via SINAMICS Link ___________________ Appendix Valid as of: Firmware version 5.2 12/2018 6SL3097-5BD00-0BP0...
Page 4 Note the following: 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.
Page 5: Preface
Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages at Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
Page 6 Preface Usage phases and their documents/tools (as an example) Usage phase Document/tool Orientation SINAMICS S Sales Documentation Planning/configuration SIZER Engineering Tool • Configuration Manuals, Motors • Deciding/ordering SINAMICS S120 catalogs SINAMICS S120 and SIMOTICS (Catalog D 21.4) • SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Cata- •...
Page 7 Preface Where can the various topics be found? Software Manual Alarms Described in order of ascending numbers SINAMICS S120/S150 List Manual Parameters Described in order of ascending numbers SINAMICS S120/S150 List Manual Function block Sorted according to topic SINAMICS S120/S150 List Manual diagrams Described in order of ascending numbers Drive functions...
Page 8 Information about communication via CANopen is provided in the following Manual: ● SINAMICS S120 Commissioning Manual CANopen Interface Compliance with the General Data Protection Regulation Siemens respects the principles of data protection, in particular the data minimization rules (privacy by design). For this product, this means: The product does not process neither store any person-related data, only technical function data (e.g.
Page 9: Communication Function Manual, 12/2018, 6Sl3097-5Bd00-0Bp0
Preface Notation The following notation and abbreviations are used in this documentation: Notation for faults and alarms (examples): Fault 12345 • F12345 Alarm 67890 • A67890 Safety message • C23456 Notation for parameters (examples): Adjustable parameter 918 • p0918 Display parameter 1024 •...
Page 10 Preface Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 11: Table Of Contents
Table of contents Preface ..............................3 Fundamental safety instructions ......................13 General safety instructions ..................... 13 Warranty and liability for application examples ..............13 Industrial security ........................14 General information ..........................17 Field of application ........................17 Platform Concept and Totally Integrated Automation ............. 18 System overview ........................
Page 12 Table of contents Configuring telegrams in Startdrive..................75 3.6.1 Displaying telegram configuration ..................75 3.6.2 Settings for SINAMICS S120, S150, G150, G130, MV ............76 Communication via PROFIBUS DP ....................... 79 General information about PROFIBUS .................. 79 4.1.1 General information about PROFIBUS for SINAMICS ............79 4.1.2 Example: telegram structure for cyclic data transmission .............
Page 13 Table of contents 5.9.1 Overview ..........................152 5.9.2 Design, configuring and diagnostics ..................153 5.9.3 Messages and parameters ....................154 5.10 PROFIenergy ........................155 5.10.1 Tasks of PROFIenergy ......................157 5.10.2 PROFIenergy commands ..................... 158 5.10.3 PROFIenergy measured values ................... 159 5.10.4 PROFIenergy energy-saving mode ..................
Page 14 Table of contents Examples: Transmission times for SINAMICS Link ............. 214 Function diagrams and parameters ..................215 Appendix ............................. 217 List of abbreviations ......................217 Documentation overview ...................... 227 Index ..............................229 Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 15: Fundamental Safety Instructions
Fundamental safety instructions General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. •...
Page 16: Industrial Security
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...
Page 17 Fundamental safety instructions 1.3 Industrial security WARNING Unsafe operating states resulting from software manipulation Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. •...
Page 18 Fundamental safety instructions 1.3 Industrial security Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 19: General Information
General information Field of application SINAMICS is the family of drives from Siemens designed for machine and plant engineering applications. SINAMICS offers solutions for all drive tasks: ● Simple pump and fan applications in the process industry ● Complex single drives in centrifuges, presses, extruders, elevators, as well as conveyor and transport systems ●...
Page 20: Platform Concept And Totally Integrated Automation
General information 2.2 Platform Concept and Totally Integrated Automation Depending on the application, the SINAMICS range offers the ideal variant for any drive task. ● SINAMICS S handles complex drive tasks with synchronous motors and induction motors and fulfills stringent requirements regarding: –...
Page 21 General information 2.2 Platform Concept and Totally Integrated Automation Figure 2-2 SINAMICS as part of the Siemens modular automation system Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 22: System Overview
General information 2.3 System overview System overview Figure 2-3 System overview, SINAMICS S120 with distributed servo drive technology S120M Modular system for sophisticated drive tasks SINAMICS S120 solves complex drive tasks for a wide range of industrial applications and is, therefore, designed as a modular system. You can choose from many different harmonized components and functions to create a solution that best meets your requirements.
Page 23 General information 2.3 System overview SINAMICS S120 is supplemented by a wide range of motors. SINAMICS S120 optimally supports: ● SINAMICS S120M ● Synchronous and induction motors ● Linear and torque motors System architecture with a central Control Unit On the SINAMICS S120, the drive intelligence is combined with closed-loop control functions into Control Units.
Page 24: X127 Lan (Ethernet)
General information 2.4 X127 LAN (Ethernet) X127 LAN (Ethernet) Note Ethernet interface X127 is intended for commissioning and diagnostics, which means that it must always be accessible (e.g. for service). Further, the following restrictions apply to X127: • Only local access is possible •...
Page 25: Communication Services And Used Port Numbers
General information 2.5 Communication services and used port numbers Communication services and used port numbers SINAMICS converters support the communication protocols listed in the following table. The address parameters, the relevant communication layer, as well as the communication role and the communication direction are decisive for each protocol. You require this information to match the security measures for the protection of the automation system to the used protocols (e.g.
Page 26 General information 2.5 Communication services and used port numbers Protocol Port number (2) Link layer Function Description (4) Transport layer PTCP Not relevant (2) Ethernet II and PROFINET PTC enables a time delay IEEE 802.1Q and measurement Precision Transpar- send clock and Ethertype 0x8892 ent Clock Protocol time synchronisa-...
Page 27 General information 2.5 Communication services and used port numbers Protocol Port number (2) Link layer Function Description (4) Transport layer SNMP (4) UDP Simple network SNMP enables the reading out management pro- and setting of network man- Simple Network tocol agement data (SNMP man- Management Proto- aged Objects) by the SNMP...
Page 28: Time Synchronization Between The Control And Converter
General information 2.6 Time synchronization between the control and converter Time synchronization between the control and converter In the factory setting, SINAMICS S120 drives use an operating hours counter. Based on the operating hours, SINAMICS S120 saves alarms and warnings that occur. Using this method, it is not possible to have a comparable timestamp between various converters.
Page 29 General information 2.6 Time synchronization between the control and converter Figure 2-4 Ping snap Differences for isochronous and non-isochronous communication: Communication Description Isochronous The ping compensation value is determined in the converter. not isochronous You can influence the accuracy of the ping compensation using the PZD sampling time (p2048).
Page 30: Setting Sinamics Time Synchronization
7. Save the settings in a non-volatile fashion on the memory card of the drive. You have now changed over the converter time format to the UTC format. Application example You can find an application example for SINAMICS time synchronization in the SIEMENS "Industry Online Support": Example: Specific SINAMICS time synchronization (https://support.industry.siemens.com/cs/de/en/view/88231134)
Page 31: Set Ntp Time Synchronization
7. Save the settings in a non-volatile fashion on the memory card of the drive. You have now changed over the converter time format to UTC format. Application example You can find the following application example in the SIEMENS "Industry Online Support": Example: Converter as NTP client (https://support.industry.siemens.com/cs/ww/en/view/82203451)
Page 32: Messages And Parameters
General information 2.6 Time synchronization between the control and converter 2.6.3 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) UTC synchronization tolerance violated • A01099 NTP server cannot be reached • A01097 (N) Overview of important parameters (see SINAMICS S120/S150 List Manual) IF1 PROFIdrive PZD sampling time •...
Page 33: Table
Communication according to PROFIdrive PROFIdrive is the PROFIBUS and PROFINET profile for drive technology with a wide range of applications in production and process automation systems. PROFIdrive is independent of the bus system used (PROFIBUS, PROFINET). Note PROFIdrive for drive technology is standardized and described in the following document: •...
Page 34 Communication according to PROFIdrive Controller, Supervisor and drive unit Table 3- 2 Properties of the Controller, Supervisor and drive units Properties Controller Supervisor Drive unit As bus node Active Passive Send messages Permitted without external Only possible on request by the request Controller Receive messages...
Page 35: Table
You can assign both interfaces to the following physical interfaces (p8839): ● (1) Onboard X126 PROFIBUS / X150 PROFINET ● (2) Communication Board X1400 Table 3- 3 Properties of IF1 and IF2 PROFIdrive and SIEMENS telegram Free telegram Isochronous mode Drive object types...
Page 36: Profidrive Application Classes
Communication according to PROFIdrive 3.1 PROFIdrive application classes PROFIdrive application classes There are different application classes for PROFIdrive according to the scope and type of the application processes. PROFIdrive features a total of 6 application classes, the 3 most important are compared here. ●...
Page 37 Communication according to PROFIdrive 3.1 PROFIdrive application classes Selection of telegrams depending on the PROFIdrive application class The following Table provides an overview of which telegram can be used reach which PROFIdrive application class: Table 3- 4 Selection of telegrams depending on the PROFIdrive application class Telegram Description Class 1...
Page 38 Communication according to PROFIdrive 3.1 PROFIdrive application classes Telegram Description Class 1 Class 3 Class 4 (p0922 = x) Speed/position control with Dynamic Servo Control and torque precontrol, 1 position encoder, clamping status, additional actual values Closed-loop speed/position control with Dynamic Servo Control and torque precontrol, 2 position encoders (encoder 1 and en- coder 2), additional actual values, adaptation parameters Closed-loop speed/position control with Dynamic Servo Control...
Page 39: Cyclic Communication
The SINAMICS S120/S150 List Manual contains the manufacturer-specific telegrams (SIEMENS telegrams) in the following function diagrams: – 2419 PROFIdrive - Manufacturer-specific telegrams and process data 1 – 2420 PROFIdrive - Manufacturer-specific telegrams and process data 2 –...
Page 40 Communication according to PROFIdrive 3.2 Cyclic communication ● Supplementary telegrams The SINAMICS S120/S150 List Manual contains supplementary telegrams in the following function diagrams: – 2423 PROFIdrive - Manufacturer-specific/free telegrams and process data ● Free telegrams (p0922 = 999) The SINAMICS S120/S150 List Manual contains free telegrams in the following function diagrams: –...
Page 41 Communication according to PROFIdrive 3.2 Cyclic communication Telegram interconnections ● The telegram interconnection is made automatically and blocked. Telegrams 20, 111, 220, 352 are exceptions. There, in addition to the fixed interconnections, selected process data (PZD) can be interconnected as required in the send/receive telegram.
Page 42 Communication according to PROFIdrive 3.2 Cyclic communication Which drive objects support which telegrams? Drive object Telegrams (p0922) Function dia- grams A_INF 370, 371, 999 2421, 2423 B_INF 370, 371, 999 2421, 2423 S_INF 370, 371, 999 2421, 2423 SERVO 1, 2, 3, 4, 5, 6, 102, 103, 105, 106, 116, 118, 125, 126, 2415, 2419, 136, 138, 139, 146, 148, 149, 220, 999 2420, 2423...
Page 43: Information About Control Words And Status Words
Communication according to PROFIdrive 3.2 Cyclic communication Interface Mode Interface Mode is used for displaying the assignment of the control and status words in line with other drive systems and standardized interfaces. Interface Mode cannot be set by p2038, but rather by setting the telegrams in p0922: ●...
Page 44: Examples
Communication according to PROFIdrive 3.2 Cyclic communication 3.2.3 Examples Based on the PROFIdrive communication of the encoder interface, the following application examples show: ● The chronological sequence of the communication ● The chronological changes to the control and status words ●...
Page 45 Communication according to PROFIdrive 3.2 Cyclic communication Figure 3-3 Sequence chart for "Find reference mark" Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 46 Communication according to PROFIdrive 3.2 Cyclic communication Example: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Figure 3-4 Sequence chart for "Flying measurement" Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 47: Motion Control With Profidrive
Communication according to PROFIdrive 3.2 Cyclic communication 3.2.4 Motion control with PROFIdrive An isochronous drive coupling can be established between the control and device using the "Motion control with PROFIdrive" function. Note The isochronous drive coupling is defined in the following documentation: PROFIdrive Profile Drive Technology PROFIBUS User Organization e.
Page 48 Communication according to PROFIdrive 3.2 Cyclic communication Overview of closed-loop control ● Position actual value sensing in the device is alternatively realized using an: – Indirect measuring system (motor encoder) – Additional direct measuring system ● The encoder interface must be configured in the process data. ●...
Page 49 Communication according to PROFIdrive 3.2 Cyclic communication ● Acyclic part - parameters and diagnostic data ● Reserve (PROFIBUS only) – Token passing (Token Holding Time, TTH) – For searching for a new node in the drive line-up (GAP) – Waiting time until start of the next cycle Figure 3-6 Isochronous drive coupling / motion control with PROFIdrive Communication...
Page 50: Parallel Operation Of Communication Interfaces
Communication according to PROFIdrive 3.3 Parallel operation of communication interfaces Parallel operation of communication interfaces The two cyclic interfaces for the setpoints and actual values differ by the parameter ranges used (BICO technology etc.) and the functions that can be used. The interfaces are designated as cyclic interface 1 (IF1) and cyclic interface 2 (IF2).
Page 51 Communication according to PROFIdrive 3.3 Parallel operation of communication interfaces Table 3- 6 Implicit assignment of hardware to the cyclic interfaces for p8839[0] = p8839[1] = 99 Plugged hardware interface No option, only use Control Unit onboard interface Control Unit onboard (PROFIBUS, PROFINET or USS) CU320-2 DP with CBE20 (optional PROFINET COMM BOARD...
Page 52 Communication according to PROFIdrive 3.3 Parallel operation of communication interfaces Parameters for IF2 The following parameters are available in order to tune the IF2 for a PROFIBUS or PROFINET interface: ● Receive and send process data: r8850, p8851, r8853, r8860, p8861, r8863 ●...
Page 53: Acyclic Communication
Communication according to PROFIdrive 3.4 Acyclic communication Overview of important parameters (see SINAMICS S120/S150 List Manual) IF1 PROFIdrive PZD telegram selection • p0922 List of drive objects • p0978[0...n] IF1/IF2 PZD functionality selection • p8815[0...1] PZD interface hardware assignment • p8839[0...1] Acyclic communication 3.4.1 General information about acyclic communication...
Page 54 Communication according to PROFIdrive 3.4 Acyclic communication The following options are available for reading and writing parameters: ● S7 protocol This protocol uses the Startdrive commissioning tool in online operation via PROFIBUS/PROFINET. ● PROFIdrive parameter channel with the following data sets: –...
Page 55: Structure Of Requests And Responses
Communication according to PROFIdrive 3.4 Acyclic communication Characteristics of the parameter channel ● One 16-bit address exists for each parameter number and subindex. ● Concurrent access by several additional PROFIBUS masters (master class 2) or PROFINET IO supervisor (e.g. commissioning tool). ●...
Page 56 Communication according to PROFIdrive 3.4 Acyclic communication Parameter response Offset Values for Response header Request reference mirrored Response ID read access Axis mirrored Number of parameters only 1st parameter value(s) Format Number of values Error values Values or error values for negative response only nth parameter value(s)
Page 57 Communication according to PROFIdrive 3.4 Acyclic communication Field Data type Values Remark Number of elements Unsigned8 0x00 Special function 0x01 ... 0x75 No. 1 ... 117 Limited by DPV1 telegram length Number of array elements accessed. Parameter number Unsigned16 0x0001 ... 0xFFFF No.
Page 58 Communication according to PROFIdrive 3.4 Acyclic communication Error values in parameter responses Error Meaning Remark Additional value info 0x00 Illegal parameter number. Access to a parameter that does not exist. – 0x01 Parameter value cannot be changed. Modification access to a parameter value that cannot be Subindex changed.
Page 59 Communication according to PROFIdrive 3.4 Acyclic communication Error Meaning Remark Additional value info 0x6C Parameter %s [%s]: Unknown unit. – – 0x6D Parameter %s [%s]: Write access – – only in the commissioning state, encoder (p0010 = 4). 0x6E Parameter %s [%s]: Write access –...
Page 60 Communication according to PROFIdrive 3.4 Acyclic communication Error Meaning Remark Additional value info 0x7C Parameter %s [%s]: Write access – – only in the commissioning state, device download (de- vice: p0009 = 29). 0x7D Parameter %s [%s]: Write access – –...
Page 61: Determining The Drive Object Numbers
Communication according to PROFIdrive 3.4 Acyclic communication 3.4.3 Determining the drive object numbers Further information about the drive system (e.g. drive object numbers) can be determined as follows using parameters p0101, r0102, and p0107/r0107: 1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read via a read request.
Page 62: Example 1: Read Parameters
Communication according to PROFIdrive 3.4 Acyclic communication 3.4.4 Example 1: read parameters Requirements ● The PROFIdrive controller has been commissioned and is fully operational. ● PROFIdrive communication between the controller and the device is operational. ● The controller can read and write data sets in conformance with PROFINET/PROFIBUS. Task description Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object number 2), the active fault codes must be read from the fault buffer r0945[0] ...
Page 63 Communication according to PROFIdrive 3.4 Acyclic communication ● Attribute: 10 hex → The parameter values are read. ● Number of elements: 08 hex → The actual fault incident with eight faults is to be read. ● Parameter number: 945 dec → p0945 (fault code) is read. ●...
Page 64: Example 2: Writing Parameters (Multi-Parameter Request)
Communication according to PROFIdrive 3.4 Acyclic communication 3.4.5 Example 2: Writing parameters (multi-parameter request) Requirements ● The PROFIdrive controller has been commissioned and is fully operational. ● PROFIdrive communication between the controller and the device is operational. ● The controller can read and write data sets in conformance with PROFINET/PROFIBUS. Special requirements for this example: ●...
Page 65 Communication according to PROFIdrive 3.4 Acyclic communication Basic procedure 1. Create a request to write the parameters. 2. Invoke the request. 3. Evaluate the response. Create the request Parameter request Offset Request header Request reference = 40 Request ID = 02 hex 0 + 1 Axis = 02 hex Number of parameters = 04 hex...
Page 66 Communication according to PROFIdrive 3.4 Acyclic communication Notes relating to the parameter request: ● Request reference: The value is selected at random from the valid value range. The request reference establishes the relationship between request and response. ● Request ID: 02 hex →...
Page 67 Communication according to PROFIdrive 3.4 Acyclic communication Evaluate the parameter response. Parameter response Offset Response header Request reference mirrored = 40 hex Response ID = 02 hex Axis mirrored = 02 hex Number of parameters = 04 hex Notes regarding the parameter response: ●...
Page 68: Diagnostics Channels
Communication according to PROFIdrive 3.5 Diagnostics channels Diagnostics channels SINAMICS drives provide the standard diagnostics for PROFIBUS and PROFINET. This allows the PROFIdrive classes of the SINAMICS drive to be integrated into the system diagnostics of a higher-level control system and automatically displayed on an HMI. The information transferred is saved for the drive objects in the following parameters: •...
Page 69: Profinet-Based Diagnostics
Communication according to PROFIdrive 3.5 Diagnostics channels 3.5.1 PROFINET-based diagnostics For PROFINET, to transfer PROFIdrive message classes, channel diagnostics (Channel Diagnosis) are used (see PROFINET IO specification (http://www.profibus.com)). A message always comprises the following components in this specific sequence: ● Block Header (6 Byte) –...
Page 70 Communication according to PROFIdrive 3.5 Diagnostics channels Individual components of the Channel Diagnosis Data block can be included n times in a message. A precise explanation of these message components is subsequently provided: Designation Data For SINAMICS type/length Value Significance Channel Number 1 ...
Page 71 Communication according to PROFIdrive 3.5 Diagnostics channels System response - reading out diagnostics data The converter can request diagnostics data via "Read data set" (detailed information is provided in the PROFINET-IO specification (http://www.profibus.com)). Example: For example, a read record with index 0x800C can be used to read out diagnostics data from specific sub slots.
Page 72: Profibus-Based Diagnostics
Communication according to PROFIdrive 3.5 Diagnostics channels 3.5.2 PROFIBUS-based diagnostics For communication via PROFIBUS, in the case of fault the following diagnostics data is output: ● Standard diagnostics (Page 71) ● Identifier-related diagnostics (Page 71) ● Status messages/module status (Page 72) ●...
Page 73: Standard Diagnostics
Communication according to PROFIdrive 3.5 Diagnostics channels 3.5.2.1 Standard diagnostics For communication via PROFIBUS, standard diagnostics is structured as follows. Octet Name Station Master_ Prm_Fault Not_ Ext_Diag Cfg_Fault Station_ Station_ status 1 Lock Supported Not_ Non_ Ready Exist Station Sync_ Freeze_ WD_On Stat_Diag...
Page 74: Status Messages/Module Status
Communication according to PROFIdrive 3.5 Diagnostics channels 3.5.2.3 Status messages/module status Status messages and module status briefly represent an overview of the state of the devices: Octet Name Header Block length (2 ... 32) incl. this byte byte Module 0x82 status Slot Specifier...
Page 75: Channel-Related Diagnostics
Communication according to PROFIdrive 3.5 Diagnostics channels 3.5.2.4 Channel-related diagnostics Channel-related diagnostics encompasses the following data: Octet Name Header- 0 ... 63 (module number) including this byte Byte x + 1 0 (no component assignment) x + 2 Message classes: 2 undervoltage 3 overvoltage 9 error...
Page 76: Data Sets Ds0/Ds1 And Diagnostics Alarm
Communication according to PROFIdrive 3.5 Diagnostics channels 3.5.2.5 Data sets DS0/DS1 and diagnostics alarm The PROFIdrive message classes are transferred using diagnostic alarm DS0/DS1. All faults are assigned channel 0. The drive objects are assigned using the slot number. The structure is as follows: Octet Name Header-Byte...
Page 77: Configuring Telegrams In Startdrive
Communication according to PROFIdrive 3.6 Configuring telegrams in Startdrive Configuring telegrams in Startdrive Description If communication is established between the drive and higher-level control system via PROFINET IO, then the data (setpoints and actual values) are cyclically transferred using PROFIdrive telegrams. To configure a cyclic data transfer, proceed as follows: ●...
Page 78: Settings For Sinamics S120, S150, G150, G130, Mv
Communication according to PROFIdrive 3.6 Configuring telegrams in Startdrive 3.6.2 Settings for SINAMICS S120, S150, G150, G130, MV Telegram configuration The dialog box for the telegram configuration is structured as follows: Figure 3-10 Example: Telegram configuration with several drive objects Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 79 Communication according to PROFIdrive 3.6 Configuring telegrams in Startdrive Number Description Area for the drive objects (setpoints, actual values and safety components). A telegram is assigned to each drive object for setpoints and actual values. "Free telegram" is selected by default. Area for the interfaces Area for the communication partners of the drive (e.g.
Page 80 Communication according to PROFIdrive 3.6 Configuring telegrams in Startdrive Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 81: General Information About Profibus
Communication via PROFIBUS DP General information about PROFIBUS 4.1.1 General information about PROFIBUS for SINAMICS PROFIBUS is an open international fieldbus standard for a wide range of production and process automation applications. The following standards ensure open, multi-vendor systems: ● International standard EN 50170 ●...
Page 82 Communication via PROFIBUS DP 4.1 General information about PROFIBUS Master and slave ● Master and slave properties Properties Master Slave As bus node Active Passive Send messages Permitted without external Only possible on request by request master Receive messages Possible without any re- Only receive and acknowledge strictions permitted...
Page 83 Communication via PROFIBUS DP 4.1 General information about PROFIBUS Sequence of drive objects in the telegram On the drive side, the sequence of drive objects in the telegram is displayed via a list in p0978[0...24] where it can also be changed. Using the Startdrive commissioning tool you can display the sequence of drive objects for a commissioned drive system in the project navigator under "Drive unit"...
Page 84: Example: Telegram Structure For Cyclic Data Transmission
Communication via PROFIBUS DP 4.1 General information about PROFIBUS 4.1.2 Example: telegram structure for cyclic data transmission Task The drive system comprises the following drive objects: ● Control Unit (CU_S) ● Active Infeed (A_INF) ● SERVO 1 (comprises a Single Motor Module and other components) ●...
Page 85 Communication via PROFIBUS DP 4.1 General information about PROFIBUS Configuration settings (e.g. HW Config for SIMATIC S7) Due to the telegram structure shown, the objects in the "DP slave properties" overview must be configured as follows: Telegram 370 • Active Infeed (A_INF): Standard telegram 6 •...
Page 86 Communication via PROFIBUS DP 4.1 General information about PROFIBUS DP slave properties – details Figure 4-3 Slave properties – details The axis separator separates the objects in the telegram as follows: Object 1 ––> Active Infeed (A_INF) • Slots 4 and 5: Object 2 ––>...
Page 87: Commissioning Profibus
Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS Commissioning PROFIBUS 4.2.1 Setting the PROFIBUS interface Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available as standard on the CU320-2 DP Control Unit. Figure 4-4 Interfaces and diagnostic LED Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 88 Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS ● PROFIBUS interface The PROFIBUS is described in the "SINAMICS S120 Control Units and Supplementary System Components Manual". ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnostics purposes.
Page 89 Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS Setting the PROFIBUS address The factory setting for the rotary coding switches is 0 There are two ways to set the PROFIBUS address: 1. Using the STARTER commissioning tool (parameter p0918) – To set the bus address for a PROFIBUS node using STARTER, first set the rotary code switches to 0 ) and/or 127 –...
Page 90: Profibus Interface In Operation
The GSD files can be found: ● On the Internet: PROFINET I/O (https://support.industry.siemens.com/cs/ww/en/view/49217480) (GSDML files) PROFIBUS DP (https://support.industry.siemens.com/cs/ww/en/view/49216293) (GSD files) ●...
Page 91: Commissioning Profibus
Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS 4.2.3 Commissioning PROFIBUS Preconditions and assumptions for commissioning Requirement PROFIBUS slave The PROFIBUS address to be set for the device application is known. • The telegram type for each drive object is known by the application. •...
Page 92: Diagnostics Options
Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS 4.2.4 Diagnostics options The standard slave diagnostics can be read online in the HW config. 4.2.5 SIMATIC HMI addressing You can use a SIMATIC HMI as a PROFIBUS master (master class 2) to access SINAMICS directly.
Page 93 Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS Field Value DBB, DBW, DBD Drive object No. and sub-index (data block offset) bit 15 ... 10: Drive object No. 0 ... 63 bit 9 ... 0: Sub-index 0 ... 1023 or expressed differently DBW = 1024 * drive object No.
Page 94: Monitoring Telegram Failure
Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS 4.2.6 Monitoring telegram failure When monitoring the telegram failure, SINAMICS differentiates between two cases: ● Telegram failure with a bus fault After a telegram failure and the additional monitoring time has elapsed (p2047), bit r2043.0 is set to "1"...
Page 95 Communication via PROFIBUS DP 4.2 Commissioning PROFIBUS Example: Quick stop at telegram failure Assumption: ● A drive unit with an Active Line Module and a Single Motor Module. ● VECTOR mode is activated. ● After a ramp-down time (p1135) of two seconds, the drive is at a standstill. Settings: p2047 = 20 ms A_INF...
Page 96: Motion Control With Profibus
Communication via PROFIBUS DP 4.3 Motion Control with PROFIBUS Motion Control with PROFIBUS Motion control / isochronous drive coupling with PROFIBUS Figure 4-7 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T = 2 ∙ T MAPC Sequence of data transfer to closed-loop control system 1.
Page 97 Communication via PROFIBUS DP 4.3 Motion Control with PROFIBUS Designations and descriptions for motion control Table 4- 4 Time settings and meanings Name Limit value Description 250 µs Time base for T BASE_DP ≥ T DP cycle time DP_MIN = Dx + MSG + RES + GC = multiple integer ∙...
Page 98 Communication via PROFIBUS DP 4.3 Motion Control with PROFIBUS Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. – T > T and T > T Note After T has been changed on the PROFIBUS master, the drive system must be switched on (POWER ON) or parameter p0972 = 1 (reset drive unit) must be set.
Page 99 Communication via PROFIBUS DP 4.3 Motion Control with PROFIBUS User data integrity User data integrity is verified in both transfer directions (master <––> slave) by a sign-of-life (4-bit counter). The sign-of-life counters are incremented from 1 to 15 and then start again at an arbitrary value between 1 and 15.
Page 100: Slave-To-Slave Communication
Communication via PROFIBUS DP 4.4 Slave-to-slave communication Slave-to-slave communication For PROFIBUS DP, the master interrogates all of the slaves one after the other in a DP cycle. In this case, the master transfers its output data (setpoints) to the particular slave and receives as response the input data (actual values).
Page 101 Communication via PROFIBUS DP 4.4 Slave-to-slave communication Links and taps The links configured in the subscriber (connections to publisher) contain the following information: ● From which publisher is the input data received? ● What is the content of the input data? ●...
Page 102: Setpoint Assignment In The Subscriber
Communication via PROFIBUS DP 4.4 Slave-to-slave communication 4.4.1 Setpoint assignment in the subscriber Information about setpoints ● Number of setpoint When bus communication is being established, the master signals the slave the number of setpoints (process data) to be transferred using the configuring telegram (ChkCfg). ●...
Page 103 Communication via PROFIBUS DP 4.4 Slave-to-slave communication Parameterizing telegram (SetPrm) The filter table is transferred, as dedicated block from the master to the slave with the parameterizing telegram when a bus communication is established. Figure 4-9 Filter block in the parameterizing telegram (SetPrm) Configuration telegram (ChkCfg) Using the configuration telegram, a slave knows how many setpoints are to be received from the master and how many actual values are to be sent to the master.
Page 104: Commissioning Profibus Slave-To-Slave Communication
Communication via PROFIBUS DP 4.4 Slave-to-slave communication 4.4.3 Commissioning PROFIBUS slave-to-slave communication The commissioning of slave-to-slave communication between two SINAMICS drive devices using the additional Drive ES package is described below in an example. Settings in HW Config Based on the example of the project below, the settings in HW Config are described when using standard telegrams.
Page 105 Communication via PROFIBUS DP 4.4 Slave-to-slave communication Procedure 1. You have generated a project, e.g. with SIMATIC Manager and HW Config. In the project example, you defined a CPU 314 controller as master and 2 SINAMICS S120 Control Units as slaves. Of the slaves, one CU310-2 DP is the publisher and one CU320-2 DP the subscriber.
Page 106 Communication via PROFIBUS DP 4.4 Slave-to-slave communication 4. Then switch to the detailed view. – Slots 4/5 contain the actual and setpoint values for the first drive object, e.g. SERVO. – Slots 7/8 contain the telegram components for the actual values and setpoints for the second drive object, e.g.
Page 107 Communication via PROFIBUS DP 4.4 Slave-to-slave communication 7. In the first column, select the PROFIBUS DP address of the publisher, in this example "5". All PROFIBUS DP slaves are listed here, for which actual value data can be retrieved. It also provides the possibility of sharing data via slave-to-slave communication within the same drive device.
Page 108 Communication via PROFIBUS DP 4.4 Slave-to-slave communication 9. Click the "Slave-to-slave communication overview" tab. The configured slave-to-slave communication relationships are shown here which correspond to the current status of the configuration in HW Config. Figure 4-15 Slave-to-slave communication - overview After the slave-to-slave communication link has been created, instead of showing "Standard telegram 2"...
Page 109 Communication via PROFIBUS DP 4.4 Slave-to-slave communication Figure 4-17 Details after the creation of the slave-to-slave communication link 10.You should therefore adjust the telegrams for each drive object of the selected drive device that is to participate actively in slave-to-slave communication. Automatic identification in Startdrive The settings made in HW Config for the slave-to-slave telegrams are automatically detected by Startdrive.
Page 110: Diagnosing Profibus Slave-To-Slave Communication
Communication via PROFIBUS DP 4.5 Messages via diagnostics channels 4.4.4 Diagnosing PROFIBUS slave-to-slave communication Since the PROFIBUS slave-to-slave communication is implemented on the basis of a broadcast telegram, only the subscriber can detect connection or data faults, e.g. via the publisher data length (see "Configuration telegram").
Page 111 Communication via PROFIBUS DP 4.5 Messages via diagnostics channels Activating the diagnostic function The diagnostics function is activated or deactivated via the parameterization of the relevant configuration tool (HW Config, TIA Portal, etc.). Figure 4-18 Activation of PROFIBUS The following parameter assignments are possible: Setting Code for parameter assignment Inactive...
Page 112 Communication via PROFIBUS DP 4.5 Messages via diagnostics channels Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 113: General Information About Profinet Io
Communication via PROFINET IO General information about PROFINET IO PROFINET IO is an open Industrial Ethernet standard for a wide range of production and process automation applications. PROFINET IO is based on Industrial Ethernet and observes TCP/IP and IT standards. Deterministic signal processing in real time is important in industrial networks.
Page 114 Communication via PROFINET IO 5.1 General information about PROFINET IO IO devices: Drive units with PROFINET interface ● SINAMICS S120 with CU320-2 DP and inserted CBE20 (X1400) ● SINAMICS S120 with CU320-2 PN ● SINAMICS S120 with CU310-2 PN Cyclic communication using PROFINET IO with IRT or using RT is possible on all drive units equipped with a PROFINET interface.
Page 115: Real-Time (Rt) And Isochronous Real-Time (Irt) Communication
Communication via PROFINET IO 5.1 General information about PROFINET IO 5.1.1 Real-time (RT) and isochronous real-time (IRT) communication Real-time communication When communication takes place via TCP/IP, the resultant transmission times may be too long and not defined to meet the production automation requirements. When communicating time-critical IO user data, PROFINET IO therefore uses its own real-time channel, rather than TCP/IP.
Page 116: Addresses
Communication via PROFINET IO 5.1 General information about PROFINET IO 5.1.2 Addresses MAC address Every Ethernet and therefore every PROFINET interface is assigned a worldwide unique device identifier in the factory. This 6-byte long device identifier is the MAC address. The MAC address is divided up as follows: ●...
Page 117 Communication via PROFINET IO 5.1 General information about PROFINET IO Notes regarding interface X127 LAN (Ethernet) Note Ethernet interface X127 is intended for commissioning and diagnostics, which means that it must always be accessible (e.g. for service). Further, the following restrictions apply to X127: •...
Page 118: Dynamic Ip Address Assignment
Communication via PROFINET IO 5.1 General information about PROFINET IO Activating the interface configuration and saving it in non-volatile memory To activate the interface configuration and save it in non-volatile memory, use the following parameter settings: ● X127 Ethernet interfaces: p8905 = 2 ●...
Page 119 Communication via PROFINET IO 5.1 General information about PROFINET IO Setting the DHCP address assignment with SIMATIC Manager (STEP 7) 1. Call the "Target system > Edit Ethernet node" menu path in the SIMATIC Manager. 2. Click the "Search" button in the "Ethernet nodes" area. 3.
Page 120: Dcp Flashing
Communication via PROFINET IO 5.1 General information about PROFINET IO 5.1.4 DCP flashing This function is used to check the correct assignment to a module and its interfaces. This function is supported by a CU310-2 PN and a CU320-2 DP/PN with inserted CBE20. The function can also be used without CBE20 in a CU320-2 PN.
Page 121 Communication via PROFINET IO 5.1 General information about PROFINET IO Using the Startdrive commissioning tool you can display the sequence of drive objects for a commissioned drive system in the project navigator under "Drive unit" > "Communication" > "Telegram configuration". When you create the configuration on the controller side (e.g.
Page 122: Communication Channels For Profinet
Communication via PROFINET IO 5.1 General information about PROFINET IO 5.1.6 Communication channels for PROFINET PROFINET connection channels ● A Control Unit has an integrated Ethernet interface (X127). ● The PROFINET versions CU320-2 PN and CU310-2 PN each have a PROFINET interface (X150) with two onboard ports: P1 and P2 ●...
Page 123: References
FAQ in the Online Support "PROFINET IO communication between an S7- CPU and SINAMICS S120 (http://support.automation.siemens.com/WW/view/en/27196655)". ● A description of the CBE20 and how you can install it is provided in the SINAMICS S120 Control Units and Additional System Components Manual.
Page 124: Overview Of Important Parameters
Communication via PROFINET IO 5.1 General information about PROFINET IO 5.1.8 Overview of important parameters Ethernet interface IE Name of Station • p8900[0...239] IE IP Address • p8901[0...3] IE Default Gateway • p8902[0...3] IE Subnet Mask • p8903[0...3] IE DHCP Mode •...
Page 125 Communication via PROFINET IO 5.1 General information about PROFINET IO CBE20 CBE2x Name of Station • p8940[0...239] CBE2x IP address • p8941[0...3] CBE2x Default Gateway • p8942[0...3] CBE2x Subnet Mask • p8943[0...3] CBE2x DHCP mode • p8944 CBE2x interfaces configuration •...
Page 126: Rt Classes For Profinet Io
Communication via PROFINET IO 5.2 RT classes for PROFINET IO RT classes for PROFINET IO PROFINET IO is a scalable realtime communication system based on Ethernet technology. The scalable approach is expressed with three realtime classes. RT communication is based on standard Ethernet. The data is transferred via prioritized Ethernet telegrams.
Page 127 Communication via PROFINET IO 5.2 RT classes for PROFINET IO IRT "high performance" In addition to the bandwidth reservation, the telegram traffic can be further tuned by configuring the topology. This enhances the performance during data exchange and the deterministic behavior. The IRT time interval can thus be further tuned or minimized with respect to IRT "high flexibility".
Page 128 Communication via PROFINET IO 5.2 RT classes for PROFINET IO Comparison between RT and IRT Table 5- 1 Comparison between RT and IRT IRT "high flexibility" IRT "high performance" Transfer mode Switching based on the MAC Switching using the MAC Path-based switching ac- address;...
Page 129 Communication via PROFINET IO 5.2 RT classes for PROFINET IO Synchronization domain The sum of all devices to be synchronized form a synchronization domain. The whole domain must be set to a single, specific RT class (real-time class) for synchronization. Different synchronization domains can communicate with one another via RT.
Page 130 Communication via PROFINET IO 5.2 RT classes for PROFINET IO The table below specifies the reduction ratios which can be set between the send cycle and the update times for IRT "high performance", IRT "high flexibility", and RT. Table 5- 2 Settable send cycles and update cycles Send cycle Reduction ratios between update time and send cycles...
Page 131: Profinet Gsdml
Access Point (MAP), the PROFIsafe telegram, a PZD telegram to transfer process data and where necessary, a telegram for PZD extensions. Example: GSDML-V2.31-Siemens-Sinamics_S_CU3x0_20160101.xml You can download GSDML files from the following Siemens Internet address: PROFINET GSDML (https://support.industry.siemens.com/cs/ww/en/view/49217480) The GSDML files on the memory card are saved in the following location: ..\SIEMENS\SINAMICS\DATA\CFG\PNGSD.ZIP...
Page 132 Communication via PROFINET IO 5.3 PROFINET GSDML The following table shows the possible submodules depending on the particular drive object. Table 5- 3 Submodules depending on the particular drive object Module Sub- Subslot 2 Subslot 3 Subslot 4 Subslot 5 Max.
Page 133: Motion Control With Profinet
Communication via PROFINET IO 5.4 Motion Control with PROFINET Motion Control with PROFINET Motion Control / isochronous drive link with PROFINET Figure 5-3 Motion Control / isochronous drive link with PROFINET, optimized cycle with CACF = 2 (Controller Application Cycle Factor) When planning the communication system, please observe the following interrelationships between the synchronism of the communication and your specific application: ●...
Page 134 Communication via PROFINET IO 5.4 Motion Control with PROFINET Sequence of data transfer to closed-loop control system 1. Actual position value G1_XIST1 is read into the telegram image at time T before the IO_Input start of each clock cycle - and transferred to the controllers in the next cycle. 2.
Page 135 Communication via PROFINET IO 5.4 Motion Control with PROFINET Designations and descriptions for motion control Table 5- 4 Time settings and meanings Name Limit value Description Time basis for cycle time T DC_BASE calculation: = T_DC_BASE · 31.25 µs = 4 · 31.25 µs = 125 µs DC_BASE T_DC_MIN ≤...
Page 136 Communication via PROFINET IO 5.4 Motion Control with PROFINET Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. T is a multiple of SendClock. – T > T and T ≧...
Page 137: Communication With Cbe20
Communication via PROFINET IO 5.5 Communication with CBE20 Overview of important parameters (see SINAMICS S120/S150 List Manual) r2064[1] PB/PN diagnostics isochronous operation: Bus cycle time r2064[2] PB/PN diagnostics isochronous operation: Master cycle time CACF r2064[3] PB/PN diagnostics isochronous operation: Instant that the actual value is acquired r2064[4] PB/PN diagnostics isochronous operation: Instant that the set-...
Page 138: Communication Via Profinet Gate
Communication via PROFINET IO 5.6 Communication via PROFINET Gate Communication via PROFINET Gate The "PN GATE FOR SINAMICS" is a PROFINET solution for controller manufacturers or mechanical equipment manufacturers who wish to simply integrate an interface to a PROFINET network in their controllers. PROFINET communication is implemented via the standard Ethernet interface of the controller without the need for a communication module or an option module.
Page 139: Functions Supported By Pn Gate
Communication via PROFINET IO 5.6 Communication via PROFINET Gate 5.6.1 Functions supported by PN Gate PN Gate function overview Function Description Communication channels Cyclic data communication: • – IRT – RT Acyclic data communication: • - PROFINET alarms - Read/write data set - TCP/IP PROFINET basic services LLDP...
Page 140: Preconditions For Pn Gate
Communication via PROFINET IO 5.6 Communication via PROFINET Gate 5.6.2 Preconditions for PN Gate Hardware ● SINAMICS CU320-2 PN with firmware version as of 4.5 ● Communication Board Ethernet 20 (CBE20) ● Short Ethernet cable to connect CBE20 and CU320-2 PN (X150) Recommendation: Ethernet cable with the article number: 6SL3060-4AB00-0AA0 ●...
Page 141: Profinet With 2 Controllers
PROFINET, e.g. an automation controller (A-CPU) and a safety controller (F-CPU). SINAMICS S supports for this communication the PROFIsafe standard telegrams 30 and 31, as well as the Siemens telegrams 901, 902 and 903 for the safety controller. Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 142 The following diagram shows a configuration example of a drive with three axes. The A-CPU sends Siemens telegram 105 for axis 1 and Siemens telegram 102 for axis 2. The F-CPU sends PROFIsafe telegram 30 for axis 1 and axis 3.
Page 143: Configuring Shared Device
Communication via PROFINET IO 5.7 PROFINET with 2 controllers Note CPU failure Communication is carried out by both controllers independently of one another. In the event of failure of a CPU, communication with the other CPU is not interrupted, it continues to operate without interruption.
Page 144 Communication via PROFINET IO 5.7 PROFINET with 2 controllers Example: 2 controllers in a common project Start STEP 7: 1. Under S7, create an automation controller for the new project, in the example called A- CPU, based on a SIMATIC 300. Figure 5-6 Creating a new S7 project 2.
Page 145 Communication via PROFINET IO 5.7 PROFINET with 2 controllers 4. Select menu "Station/save and compile" (Ctrl+S). The previous project is saved. 5. To configure the drives in STARTER, from the shortcut menu of the S120 drive, select "Open object with STARTER". Figure 5-8 New project transferred from HW Config into STARTER Communication...
Page 146 Communication via PROFINET IO 5.7 PROFINET with 2 controllers The STARTER window opens automatically The project is displayed in the navigation window. 1. Configure an infeed and three drives in servo control. We have selected telegram 370 for the infeed communication, and standard telegrams 1, 2 and 3 for the drives. –...
Page 147 Communication via PROFINET IO 5.7 PROFINET with 2 controllers Figure 5-12 The telegrams were aligned with HW Config After the telegrams have been successfully transferred to HW Config, the red exclamation mark is replaced by a checkmark. Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 148 Communication via PROFINET IO 5.7 PROFINET with 2 controllers Configuring the safety controller: 1. In the HW Config window, click the S120 drive. Figure 5-13 Updated project in HW Config There is full access to all telegrams. You must enable this in order that the PROFIsafe controller can access telegram 30.
Page 149 Communication via PROFINET IO 5.7 PROFINET with 2 controllers Figure 5-14 Safety telegrams of the A-CPU enabled Inserting the PROFIsafe controller in STEP 7 You configure the PROFIsafe controller in precisely the same way as the automation controller under STEP 7. Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 150 Communication via PROFINET IO 5.7 PROFINET with 2 controllers Configuring the F-CPU in HW Config 1. Contrary to an automation controller, you now select a PROFIsafe-compatible controller, for example, a CPU 317F-2 PN/DP. We have manually renamed the PROFIsafe controller to "F-CPU". 2.
Page 151 Communication via PROFINET IO 5.7 PROFINET with 2 controllers 8. Select "Insert shared" in the shortcut menu. The S120 automation controller is connected to the PROFINET of the PROFIsafe controller. In the table, the PROFIsafe controller has automatically been allocated full access for PROFIsafe telegram 30.
Page 152: Overview Of Important Parameters
Communication via PROFINET IO 5.7 PROFINET with 2 controllers 9. In HW Config, click "Station\Save and compile". 10.Click "Open object with STARTER" again After completing the last save operation, you will see in the STARTER window that the PROFIsafe telegrams have been assigned to PN-IO-1 and the drive telegrams to PN-IO. Figure 5-17 New project completed in STARTER If there is a checkmark after each telegram type in STARTER, then the Shared Device...
Page 153: Profinet Media Redundancy
Communication via PROFINET IO 5.8 PROFINET media redundancy PROFINET media redundancy To increase the availability of PROFINET, you can create a ring topology. If the ring is interrupted at one point, the data paths between the devices are automatically reconfigured. Following reconfiguration, the devices can once again be accessed in the resulting new topology.
Page 154: Profinet System Redundancy
Communication via PROFINET IO 5.9 PROFINET system redundancy PROFINET system redundancy 5.9.1 Overview Thanks to SINAMICS S120 PROFINET Control Unit, the assembly of system-redundant systems is possible. Precondition for system-redundant systems is a so-called H-system. The H-system consists of 2 fault-tolerant controls – master and reserve CPU – which are constantly synchronized via fiber-optic cables.
Page 155: Design, Configuring And Diagnostics
Communication via PROFINET IO 5.9 PROFINET system redundancy 5.9.2 Design, configuring and diagnostics Configuration The figure below shows a sample structure of a system-redundant controller with 3 converters. Figure 5-18 System redundancy with converters Configuring Configuring the redundancy takes place in STEP 7. In the converter, you only have to configure the communication via PROFINET.
Page 156: Messages And Parameters
SIMATICS S7-400H Manual (https://support.industry.siemens.com/cs/ww/en/view/82478488) ● Application description Configuration examples for S7-400H PROFINET SIMATICS S7-400H Configuration examples (https://support.industry.siemens.com/cs/ww/en/view/90885106) ● Application example (https://support.industry.siemens.com/cs/de/en/view/109744811) 5.9.3 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) • F01910 (N, A) Fieldbus: Setpoint timeout PN: Cyclic connection interrupted •...
Page 157: Profienergy
Communication via PROFINET IO 5.10 PROFIenergy 5.10 PROFIenergy PROFIenergy is an energy management system for production plants, based on the PROFINET communication protocol. The functionality is certified in the PROFIenergy profile of the PNO. Drive units which have PROFIenergy functionality, can be certified in an approved laboratory.
Page 158 Communication via PROFINET IO 5.10 PROFIenergy SINAMICS devices support the following PROFIenergy functions: Figure 5-19 PROFIenergy functions Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 159: Tasks Of Profienergy
Communication via PROFINET IO 5.10 PROFIenergy 5.10.1 Tasks of PROFIenergy PROFIenergy is a data interface based on PROFINET. This data interface allows loads to be shut down during non-operational periods in a controlled fashion, and irrespective of the manufacturer and device. Consequently, the process should be given only the energy it actually requires.
Page 160: Profienergy Commands
Communication via PROFINET IO 5.10 PROFIenergy 5.10.2 PROFIenergy commands Principle of operation At the start and end of pauses, the plant operator activates or deactivates the pause function of the plant/system after which the IO controller sends the PROFIenergy "START_Pause" / "END_Pause"...
Page 161: Profienergy Measured Values
Communication via PROFINET IO 5.10 PROFIenergy Query commands Description Get_Measurement_Values Returns the requested measured value using the measured value ID: For power measured values: • The command addresses the sum of the measured value over all control drive objects. For energy measured values: •...
Page 162: Profienergy Energy-Saving Mode
Communication via PROFINET IO 5.10 PROFIenergy 5.10.4 PROFIenergy energy-saving mode SINAMICS S120 drive devices support PROFIenergy energy-saving mode 2. The following two parameters indicate the effective PROFIenergy mode: ● Parameter r5600 indicates the currently active PROFIenergy mode. ● Using interconnectable bits, the r5613 parameter indicates whether the PROFIenergy energy saving is active.
Page 163: Function Diagrams And Parameters
Communication via PROFINET IO 5.11 Messages via diagnostics channels 5.10.6 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) PROFIenergy - Control commands / query commands • 2381 PROFIenergy - States • 2382 Sequence control - Sequencer • 2610 Overview of important parameters (see SINAMICS S120/S150 List Manual) Pe hibernation ID •...
Page 164 Communication via PROFINET IO 5.11 Messages via diagnostics channels Activating the diagnostic function The diagnostics function is activated or deactivated via the parameterization of the relevant configuration tool (HW Config, TIA Portal, etc.). Figure 5-21 Activation of PROFINET The following parameter assignments are possible: Setting Code for parameter assignment Inactive...
Page 165: Support Of I&M Data Sets 1...4
Communication via PROFINET IO 5.12 Support of I&M data sets 1...4 5.12 Support of I&M data sets 1...4 Identification & Maintenance (I&M) I&M data sets contain information for a standardized and simplified identification and maintenance of PROFIBUS/PROFINET devices. I&M data sets 1...4 contain plant-specific information, such as the installation location and date.
Page 166 Communication via PROFINET IO 5.12 Support of I&M data sets 1...4 I&M parameter Format Size/oct Initialization SINAMICS Meaning designation parameters I&M 3: Visible Space p8808[0...53] Text with any comments or notes. DESCRIPTOR string 0x20…0x20 I&M 4: Octet Space r8809[0...53] The parameter is automatically populated by SIGNATURE string 0x00…0x00...
Page 167: Overview
Communication via Modbus TCP Overview The Modbus protocol is a communication protocol based on a controller/device architecture. Modbus offers three transmission modes: ● Modbus ASCII - via a serial interface data in the ASCII code. The data throughput is lower compared to RTU. ●...
Page 168 Communication via Modbus TCP 6.1 Overview General information about communication Communication with Modbus TCP is established via the Ethernet/PROFINET interfaces: ● X150 For Modbus TCP with a CU320-2 PN or CU310-2 PN. ● X1400 For Modbus TCP with a CU320-2 PN or a CU320-2 DP via a CBE20. Precisely one Modbus connection can be established.
Page 169: Configuring Modbus Tcp Via Interface X150
Communication via Modbus TCP 6.2 Configuring Modbus TCP via interface X150 Configuring Modbus TCP via interface X150 Activate Modbus TCP via X150 (CU320-2 PN or CU310-2 PN) 1. For drive object DO1, set p2030 = 13 (Modbus TCP). 2. Using p8921, set the IP address for the onboard PROFINET interface on the Control Unit. 3.
Page 170: Configuring Modbus Tcp Via Interface X1400
Communication via Modbus TCP 6.3 Configuring Modbus TCP via interface X1400 Configuring Modbus TCP via interface X1400 Activating Modbus TCP via X1400 (CBE20) 1. For drive object DO1, set p8835 = 5 (Modbus TCP). 2. Set the IP address for the CBE20 using p8941. 3.
Page 171: Mapping Tables
Communication via Modbus TCP 6.4 Mapping tables Mapping tables Modbus register and Control Unit parameters 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 device.
Page 172 Communication via Modbus TCP 6.4 Mapping tables Table 6- 2 Assigning the Modbus register to the parameters - parameter data Register Description Unit Scaling ON/OFF text Data / parameter cess or Value range Drive identification 40300 Actual power unit code number 0 …...
Page 173 Communication via Modbus TCP 6.4 Mapping tables Register Description Unit Scaling ON/OFF text Data / parameter cess or Value range 40513 Integral time of the technology control- 0 … 60 p2285 40514 Time constant D-component of the 0 … 60 p2274 technology controller 40515...
Page 174: Write And Read Access Using Function Codes
Communication via Modbus TCP 6.5 Write and read access using function codes Write and read access using function codes Function codes used For data exchange between the controller and device, predefined function codes are used for communication via Modbus. The Control Unit uses the following Modbus function codes: ●...
Page 175 Communication via Modbus TCP 6.5 Write and read access using function codes The response returns the corresponding data set: Table 6- 5 Device response to the read request, example Value Byte Description MBAP header 03 h 04 h Number of bytes (4 bytes are returned) 11 h Data first register "High"...
Page 176 Communication via Modbus TCP 6.5 Write and read access using function codes Structure of a write request via Modbus function code 06 (FC 06) Start address is the holding register address. Via FC 06, with one request, only precisely one register can be addressed. The value, which is written to the addressed register, is contained in bytes 10 and 11 of the write request.
Page 177: Communication Via Data Set 47
Communication via Modbus TCP 6.6 Communication via data set 47 Communication via data set 47 Via FC 16, with one request, up to 122 registers can be written to directly one after the other, while for Write Single Register (FC 06) you must individually write the header data for each register.
Page 178: Communication Details
Communication via Modbus TCP 6.6 Communication via data set 47 6.6.1 Communication details General parameter access is realized using the Modbus register 40601 … 40722. Communication via DS47 is controlled using 40601. 40602 contains the function code (always = 47 = 2F hex) and the number of the following user data. User data are contained in registers 40603 …...
Page 179 Communication via Modbus TCP 6.6 Communication via data set 47 Table 6- 11 Start parameter request: Reading parameter value of r0002 from device number 17 Value Byte Description MBAP header 03 h Function code (read) 0258 h Register start address 0007 h 10,11 Number of registers to be read (40601 …...
Page 180: Examples: Write Parameter
Communication via Modbus TCP 6.6 Communication via data set 47 6.6.3 Examples: Write parameter Table 6- 14 Write parameter request: Writing the parameter value of p1121 from device number 17 Value Byte Description MBAP header 10 h Function code (write multiple) 0258 h Register start address 000A h...
Page 181 Communication via Modbus TCP 6.6 Communication via data set 47 Table 6- 17 Response for unsuccessful write operation - write request still not completed Value Byte Description MBAP header Number of following data bytes (20 h: 32 bytes ≙ 16 registers) 03 h Function code (read) 20 h...
Page 182: Communication Procedure
Communication via Modbus TCP 6.7 Communication procedure Communication procedure Logical error If the device detects a logical error within a request, it responds to the controller with an "exception response". In the response, the device sets the highest bit in the function code to 1.
Page 183: Messages And Parameters
Communication via Modbus TCP 6.8 Messages and parameters Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) Fieldbus: Setpoint timeout • F01910 Modbus TCP connection interrupted • A01925 (F) • F08501 (N, A) PN/COMM BOARD: Setpoint timeout PN/COMM BOARD: No cyclic connection •...
Page 184 Communication via Modbus TCP 6.8 Messages and parameters Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 185: Overview
Communication via Ethernet/IP (EIP) Overview EtherNet/IP (EIP) is a realtime Ethernet, and is mainly used in automation technology. The EtherNet Industrial Protocol (EtherNet/IP) is an open standard for industrial networks. EtherNet/IP is used to transmit cyclic I/O data and acyclic parameter data. EtherNet/IP was developed by Rockwell Automation and the Open Device-Net Vendor Association (ODVA (https://www.odva.org/Technology-Standards/EtherNet-IP/Overview)), and standardized in the series of international IEC 61158 standards.
Page 186: Connecting The Drive Device To Eip
Further, you can find a detailed description of how to create a generic I/O module on the following Internet page: (Gen_Module (https://support.industry.siemens.com/cs/ww/en/view/92045369)). Routing and shielding Ethernet cables You can find information on how to do this on the Internet page of "Open Device-Net Vendor Association (ODVA)":...
Page 187: Requirements For Communication
Communication via Ethernet/IP (EIP) 7.3 Requirements for communication Commissioning the drive in an EIP network To commission the drive, connect the drive via an interface (depending on the Control Unit type: PROFIBUS, PROFINET, Ethernet, etc) with your computer on which Startdrive is installed.
Page 188: Configuring Eip Via The Onboard Profinet X150 Interface
Communication via Ethernet/IP (EIP) 7.4 Configuring EIP via the onboard PROFINET X150 interface Configuring EIP via the onboard PROFINET X150 interface To communicate with a higher-level control via EIP, make the following settings for the PROFINET interface at the CU320-2 PN: 1.
Page 189: Configuring Eip Via The X1400 Interface At The Cbe20
Communication via Ethernet/IP (EIP) 7.5 Configuring EIP via the X1400 interface at the CBE20 Configuring EIP via the X1400 interface at the CBE20 To communicate with a higher-level control via EIP, make the following settings for the CBE20: 1. With p8835 = 4, set the firmware version of "EtherNet/IP". 2.
Page 190: Supported Objects
Identity object 4 hex Assembly Object 6 hex Connection Management Object 32C hex Siemens Drive Object 32D hex Siemens Motor Data Object F5 hex TCP/IP Interface Object F6 hex Ethernet Link Object 300 hex Stack Diagnostic Object 302 hex Adapter Diagnostic Object...
Page 191 7.6 Supported objects Table 7- 4 Instance Attribute Service Type Name Value/explanation UINT16 Vendor ID 1251 UINT16 Device Type - Siemens Drive 0C hex UINT16 Product code r0964[1] UINT16 Revision UINT16 Status See the following table UINT32 Serial number Bit 0 … 19: consecutive number;...
Page 192 Communication via Ethernet/IP (EIP) 7.6 Supported objects Assembly Object, Instance Number: 4 hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Table 7- 6 Class Attribute Service Type Name UINT16 Revision UINT16 Max Instance UINT16 Num of Instances...
Page 193 Communication via Ethernet/IP (EIP) 7.6 Supported objects Connection Management Object, Instance Number: 6 hex Supported services Class Instance • Get Attribute all • Forward open • Get Attribute single • Forward close • Get Attribute single • Set Attribute single Table 7- 8 Class Attribute Service...
Page 194: Zsw1
Communication via Ethernet/IP (EIP) 7.6 Supported objects Siemens Drive Object, Instance Number: 32C hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Table 7- 10 Class Attribute Service Type Name UINT16 Revision...
Page 195 Communication via Ethernet/IP (EIP) 7.6 Supported objects Service Name Value/explanation get, set PID Down Limit p2292 technology controller minimum limiting Speed setpoint r0020 speed setpoint Output Frequency r0024 output frequency Output Voltage r0025 output voltage DC Link Voltage r0026[0] DC link voltage Actual Current r0027 current actual value Actual Torque...
Page 196 Communication via Ethernet/IP (EIP) 7.6 Supported objects Siemens Motor Data Object, Instance Number: 32D hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Object "32D hex" is only available on "SERVO" and "VECTOR" drive objects: ●...
Page 197 Communication via Ethernet/IP (EIP) 7.6 Supported objects TCP/IP Interface Object, Instance Number: F5 hex Supported services Class Instance • Get Attribute all • Get Attribute all • Get Attribute single • Get Attribute single • Set Attribute single Table 7- 14 Class Attribute Service Type...
Page 198 Communication via Ethernet/IP (EIP) 7.6 Supported objects Link Object, Instance Number: F6 hex Supported services Class Instance • Get Attribute all • Get Attribute all • Get Attribute single • Get Attribute single • Set Attribute single Table 7- 16 Class Attribute Service Type...
Page 199 Communication via Ethernet/IP (EIP) 7.6 Supported objects Service Type Name Value/explanation get_and_ UINT32 Alignment Errors Structure received, which does not match the num- clear ber of octets UINT32 FCS Errors Structure received, which does not pass the FCS check UINT32 Single Collisions Structure successfully transmitted, precisely one collision...
Page 200 Communication via Ethernet/IP (EIP) 7.6 Supported objects Parameter Object, Instance Number: 401 hex Supported services Class Instance • Get Attribute all • Get Attribute all • Set Attribute single Table 7- 18 Class Attribute Service Type Name UINT16 Revision UINT16 Max Instance UINT16 Num of Instances...
Page 201 Communication via Ethernet/IP (EIP) 7.6 Supported objects Parameter Object, Instance Number: 401 hex ... 43E hex Supported services Class Instance • Get Attribute All • Get Attribute Single • Get Attribute Single • Set Attribute Single Table 7- 19 Class Attribute Service Type Name...
Page 202: Integrating The Drive Device Into The Eip Network Via Dhcp
Communication via Ethernet/IP (EIP) 7.7 Integrating the drive device into the EIP network via DHCP Integrating the drive device into the EIP network via DHCP Integrating the drive via the PROFINET onboard interface X150 into the EIP network Proceed as follows to integrate the drive into the EIP network: 1.
Page 203: Messages And Parameters
Communication via Ethernet/IP (EIP) 7.8 Messages and parameters Integrating the drive into the EIP network via the X1400 interface at the CBE20 Integrating the drive into the EIP network via interface X1400 at the CBE20 1. Set p8944 (CBE2x DHCP mode) = 2 or 3. Parameterization Meaning p8944 = 2...
Page 204 Communication via Ethernet/IP (EIP) 7.8 Messages and parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) List of drive objects • p0978[0...n] IF1 PROFIdrive PZD telegram selection • p0922 List of modified parameters 10 • p0999[0...99] Fieldbus interface protocol selection •...
Page 205: Basic Principles Of Sinamics Link
Communication via SINAMICS Link Basic principles of SINAMICS Link A drive unit (with a node number) most frequently comprises a Control Unit with a number of connected drive objects (DOs). SINAMICS Link allows data to be directly exchanged between up to 64 CU320-2 PN or CU320-2 DP Control Units or CUD. All of the participating Control Units must be equipped with a CBE20 in order that SINAMICS Link functions.
Page 206 Communication via SINAMICS Link 8.1 Basic principles of SINAMICS Link Send and receive data The SINAMICS Link telegram contains 32 indices (0...31) for the process data (PZD1...32). Each PZD is precisely 1 word long (= 16 bits). Indices that are not required are automatically filled with "0".
Page 207: Topology
Communication via SINAMICS Link 8.2 Topology Bus cycle and number of nodes You can operate the bus cycle of the SINAMICS Link with the current controller cycle, either synchronized or non-synchronized. ● You set synchronized operation with p8812[0] = 1. A maximum of 64 nodes can then communicate with one another via SINAMICS Link.
Page 208 Communication via SINAMICS Link 8.2 Topology Features ● The CBE20 can be assigned to IF1 or IF2 when SINAMICS Link is used. The interface, assigned to the CBE20, must be switched into synchronous operation if p8812[0] = 1 is set. You must also make the following parameter settings in order to assign, e.g.
Page 209: Configuring And Commissioning
Communication via SINAMICS Link 8.3 Configuring and commissioning Configuring and commissioning Commissioning When commissioning, proceed as follows: 1. Set the Control Unit parameter p0009 = 1 (device configuration). 2. Set the Control Unit parameter p8835 = 3 (SINAMICS Link). 3. Using p8839, define which interface should be used (for example for IF1: p8839[0] = 2). 4.
Page 210: Actual Speed Value Part
Communication via SINAMICS Link 8.3 Configuring and commissioning Sending data Note The parameters listed in the following description refer to the assignment of SINAMICS Link to IF1. If you assigned SINAMICS Link to IF2, then you find the corresponding parameters in the "Table 8-1 Corresponding parameters (Page 206)".
Page 211: From Pa- Rameter
Communication via SINAMICS Link 8.3 Configuring and commissioning Table 8- 3 Compile send data of drive 2 (DO3) p2051[x] p2061[x] Contents From pa- Slots in the send buffer rameter p8871[x] Index Index Telegram word 0...5 ZSW1 r0899 Actual speed value part 1 r0061[0] Actual speed value part 2 Actual torque value part 1...
Page 212 Communication via SINAMICS Link 8.3 Configuring and commissioning Receiving data The sent telegrams of all nodes are simultaneously available at the SINAMICS Link. Each telegram has a length of 32 PZD. Each telegram has a marker of the sender. You select those PZD that you want to receive for the relevant node from all telegrams.
Page 213: Example
Communication via SINAMICS Link 8.4 Example Note For double words, two PZD must be read in succession. To do this, read in a 32 bit setpoint, which is on PZD 2 + PZD 3 of the telegram of node 2. Emulate this setpoint on PZD 2 + PZD 3 of node 1: p8872[1] = 2, p8870[1] = 2, p8872[2] = 2, p8870[2] = 3 Activating the SINAMICS Link...
Page 214 Communication via SINAMICS Link 8.4 Example 5. Set all CBE20 to the isochronous mode by setting p8812[0] = 1. 6. Make the following interface setting for all nodes: – For IF1: p8839[0] = 2 (COMM BOARD) – For IF2: p8839[1] = 1 (Control Unit onboard) 7.
Page 215 Communication via SINAMICS Link 8.4 Example 11.Define the receive data for node 1: – Specify the data that should be placed in the receive buffer p8872 of node 1 in location 0, received from node 2: p8872[0] = 2 – Define that PZD1 of node 2 is saved in the receive buffer p8870 of node 1 in location p8870 [ 0] = 1 –...
Page 216: Communication Failure When Booting Or In Cyclic Operation
Communication via SINAMICS Link 8.5 Communication failure when booting or in cyclic operation Communication failure when booting or in cyclic operation If at least one sender does not correctly boot after commissioning or fails in cyclic operation, then alarm A50005 is output to the other nodes: "Sender was not found on the SINAMICS Link."...
Page 217: Function Diagrams And Parameters
Communication via SINAMICS Link 8.7 Function diagrams and parameters Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit communication - SINAMICS Link overview • 2197 (r0108.31 = 1, p8835 = 3) Control Unit communication - SINAMICS Link configuration •...
Page 218 Communication via SINAMICS Link 8.7 Function diagrams and parameters Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 219: A.1 List Of Abbreviations
Appendix List of abbreviations Note The following list of abbreviations includes all abbreviations and their meanings used in the entire SINAMICS family of drives. Abbreviation Source of abbreviation Meaning A… Alarm Warning Alternating Current Alternating current Analog Digital Converter Analog digital converter Analog Input Analog input Active Interface Module...
Page 220 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning C… Safety message Controller Area Network Serial bus system Communication Board CAN Communication Board CAN Communication Board Ethernet PROFINET communication module (Ethernet) Compact Disc Compact disc Command Data Set Command data set CF Card CompactFlash Card CompactFlash card...
Page 221 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning DRIVE-CLiQ DRIVE-CLiQ DRAM Dynamic Random Access Memory Dynamic Random Access Memory DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ Dynamic Servo Control Dynamic Servo Control Doppelsubmodul Double submodule Digital Time Clock Timer EASC...
Page 222 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning FPGA Field Programmable Gate Array Field Programmable Gate Array Firmware Firmware Gigabyte Gigabyte Global Control Global control telegram (broadcast telegram) Ground Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as M) Gerätestammdatei Generic Station Description: Describes the fea-...
Page 223 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning Kreuzweiser Datenvergleich Data cross-check Know-how protection Know-how protection Kinetische Pufferung Kinetic buffering Proportional gain KTY84-130 Temperature sensor Symbol for inductance Light Emitting Diode Light emitting diode Linearmotor Linear motor Lageregler Position controller Least Significant Bit Least significant bit...
Page 224 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning Nullmarke Zero mark Normally Open (contact) NO contact Netzstromrichter Line-side converter Network Time Protocol Standard for synchronization of the time of day NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory Open Architecture Software component which provides additional functions for the SINAMICS drive system...
Page 225 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning Power Supply Power supply Power Stack Adapter Power Stack Adapter PT1000 Temperature sensor Positive Temperature Coefficient Positive temperature coefficient Point To Point Point-to-point Pulse Width Modulation Pulse width modulation Prozessdaten Process data r…...
Page 226 Safe stop Safety Integrated Safety Integrated Safety Info Channel Safety Info Channel Safety Integrity Level Safety Integrity Level SITOP Siemens power supply system Safely-Limited Acceleration Safely limited acceleration Smart Line Module Smart Line Module Safely-Limited Position Safely Limited Position Safely-Limited Speed...
Page 227 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning Terminal Board Terminal Board Technology Extension Software component which is installed as an addi- tional technology package and which expands the functionality of SINAMICS (previously OA applica- tion) Totally Integrated Automation Totally Integrated Automation Transport Layer Security Encryption protocol for secure data transfer (previ-...
Page 228 Appendix A.1 List of abbreviations Abbreviation Source of abbreviation Meaning Zwischenkreis DC link Zero Mark Zero mark Zustandswort Status word Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 229: A.2 Documentation Overview
Appendix A.2 Documentation overview Documentation overview Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 230 Appendix A.2 Documentation overview Communication Function Manual, 12/2018, 6SL3097-5BD00-0BP0...
Page 231: Index
Index Encoder interface Find reference mark, 42 Flying measurement, 44 EtherNet/IP, 183 Address Activating X1400 (CBE20), 187 Setting the PROFIBUS address, 87 Activating X150 CU320-2 PN, 186 Application classes, 34 Commissioning the drive, 185 Connect the drive device, 184 Create generic I/O module, 184 Integrating the drive into the EIP network via DHCP CANopen, 6 (X150), 200...
Page 232 Index Activate via interface X150, 167 Generic station description file, 88 Communication via data set 47, 176 Interface Mode, 41 Function codes used, 172 Master class 1 and 2, 80 Mapping tables, 169 Setting the address, 87 Modbus register to the parameters of the Control Sign-of-life, 97, 134 Unit, 169 Slave-to-slave communication, 98...
Page 233 Index Comparison with IRT, 126 RT classes Send cycles, 127 Setting, 126 Update cycles, 127 Sequence of objects in the telegram, 81, 118 Setting NTP time synchronization, 29 SINAMICS time synchronization, 28 Shared device, 139 SINAMICS Link Activation, 211 Bus cycle, 205 Configuration example, 211 Configuring, 207 Requirements, 203...

Siemens SINAMICS S120 Series Function Manual

1 Fundamental Safety Instructions

3 Communication According to Profidrive

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