Siemens SINAMICS G120 Manual
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Siemens SINAMICS G120 Manual

Control of a g120 or g110m with an allen-bradley controller (compact/controllogix) via ethernet/ip
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SINAMICS G: Control
of a G120 or G110M
with an Allen-Bradley
controller (Compact/
ControlLogix) via
EtherNet/IP
SINAMICS G120, G110M
https://support.industry.siemens.com/cs/ww/en/view/82843076
Siemens
Industry
Online
Support

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  • Page 1 SINAMICS G: Control of a G120 or G110M with an Allen-Bradley controller (Compact/ ControlLogix) via EtherNet/IP Siemens SINAMICS G120, G110M Industry Online https://support.industry.siemens.com/cs/ww/en/view/82843076 Support...

  • Page 2: Legal Information

    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.

  • Page 3: Table Of Contents

    Programming Overview ..................7 Configuration Choices ................7 AOI’s for SINAMICS G Series drives ........... 8 AOI Types .................... 8 SINAMICS G120 Add-On Instructions ............. 9 Function Description ................9 Telegram Descriptions ................. 9 4.2.1 Telegram Type 1 for Simple Speed ............9 4.2.2...
  • Page 4 Table of contents Using the MSG Instruction ..............32 Troubleshooting ....................37 I can’t go online with the drive in Starter using the Ethernet cable....................37 The drive and the PLC are not communicating ........37 Glossary ......................40 Appendix ......................

  • Page 5: Introduction

    (i.e. drives, I/O, etc.) is an end user requirement that demands openness and flexibility. To capitalize on the flexibility to connect to different Industrial Ethernet protocols the SINAMICS G120 can seamlessly be applied in PROFINET and EtherNet/IP networks. SINAMICS G series Connectivity to EtherNet/IP...

  • Page 6: Solution Overview

    2 Solution Overview Solution Overview Solution Overview Figure 2-1 Used Components The application was generated with the following components: Hardware Components Component PROFINET versions of G120 with Firmware version 4.10.1 Rockwell Automation Logix family controller Firmware version Software components Component STARTER Version 5.1.1 or later RS Logix 5000 Version 20 or later NOTE...

  • Page 7: Programming Overview

    EDS file that works with Telegram 352 and setting P8990 to 0 (SINAMICS). This EDS path is discussed in a separate application note. https://support.industry.siemens.com/cs/ww/en/view/109761721 Refer to the diagram below for a general overview of the steps to configure depending on method.

  • Page 8: Aoi's For Sinamics G Series Drives

    3 Programming Overview AOI’s for SINAMICS G Series drives Add On Instructions have been designed for the RSLogix programming that mimic standard telegrams used in SINAMICS G configurations. For most standard applications the use of the AOI’s can greatly reduce the engineering time needed to configure a system.

  • Page 9: Sinamics G120 Add-On Instructions

    For additional information on this telegram and the details of its function, refer to the SINAMICS G120 Operating Instructions Manual and List Manual.

  • Page 10: Telegram Type 111 For Epos Mode

    4 SINAMICS G120 Add-On Instructions 4.2.3 Telegram Type 111 for EPOS mode Telegram 111 is a standard PROFIdrive telegram for a positioning drive. It allows sequence and control of the drive functions in addition to control of the positioning function EPOS. 12 Words of data are exchanged with the drive where the 12th word is reserved as a user selectable value.

  • Page 11: Basic Speed Control -Telegram 1

    4 SINAMICS G120 Add-On Instructions Basic Speed Control –Telegram 1 4.3.1 Functionality The G120 Simple Speed Block provides an interface for basic speed control of a SINAMICS drive via EtherNet/IP. The drive is configured for control using Standard Telegram Type 1 which presets the drive speed reference and control word to be sourced from the communication interface.

  • Page 12: Speed Control -Telegram 352

    4 SINAMICS G120 Add-On Instructions Table 4-5 In/Out parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 2 integers referenced to the two outputs words of the drive telegram. DRV_STATUS ARRAY Array of 2 integers referenced to the two input words of the drive telegram.

  • Page 13: Schematic Ladder Representation

    4 SINAMICS G120 Add-On Instructions 4.4.2 Schematic Ladder Representation Figure 4-2 Vector Speed T352 4.4.3 Input and Output parameters Table 4-7 Input parameters Vector_Speed_T352 Instance Data ON_OFF1 BOOL Drive Enable (ON/OFF1) 1 = Enable Drive 2 = Ramp down and disable drive...
  • Page 14 4 SINAMICS G120 Add-On Instructions Speed at 100% setpoint MAX_RPM REAL Must be the same p2000 ( of the drive) MAX_CURRENT REAL Current Feedback 100% value Can be Scaled to P2002 or % (100.0) MAX_TORQUE REAL Torque Feedback 100% value Can be Scaled to P2003 or % (100.0)

  • Page 15: Epos Control

    4 SINAMICS G120 Add-On Instructions EPOS Control 4.5.1 Functionality The EPOS block interfaces to the SINAMICS Basic Positioner via EtherNet/IP. The EPOS Positioner is used for absolute and relative positioning of linear and rotary axes. The CU250D-2 and CU250S-2 G120 controllers are capable of EPOS control.

  • Page 16: Input And Output Parameters

    4 SINAMICS G120 Add-On Instructions 4.5.3 Input and Output parameters Table 4-10 Input parameters S120_EPOS_BLOCK Instance Data BOOL Drive Enable (ON/OFF1) 1 = Enable Drive 2 = Ramp down and disable drive FAULT_RESET BOOL Reset Active Fault(s) 0 = No Fault Reset...
  • Page 17 4 SINAMICS G120 Add-On Instructions Table 4-11 IN/OUT parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of 12 integers referenced to the two outputs words of the drive telegram. DRV_STATUS ARRAY Array of 12 integers referenced to the two input words of the drive telegram.

  • Page 18: Udts

    The user application can directly control telegram words and bits to accomplish control functions 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.

  • Page 19: Drive Configuration

    “Getting Started Manual” for your G120 model to assist in the commissioning of the drive(s). See the link below for G120 Getting Started manuals. https://support.industry.siemens.com Configuring IP Address of CU The IP address can be set from Starter. Make sure that your PC is in the same Subnet as address desired for the G120 and AB PLC.
  • Page 20 5 Drive Configuration Figure 5-3 Set IP Address for the G120 as shown Figure 5-4 Bring the Drive Unit into Project. Choose Select and then Accept. Figure 5-5 The G120 controller is now in the Project Tree. Go online to upload Power Module properties.
  • Page 21 5 Drive Configuration Figure 5-6 Load HW Configuration to PG. Figure 5-7 Go offline with the G120 and Complete Commissioning. Figure 5-8 Figure 5-9 Commission Drive Object(s) as needed. Note the message frame in next section for the Example Dual Axis Demo program. Refer to the documentation link in previous section if commissioning assistance is needed.
  • Page 22 5 Drive Configuration Figure 5-10 Figure 5-11 . Highlight the Drive Unit, Go Online, and download to the G120. Figure 5-12 Complete the Motor ID and Rotation Check. SINAMICS G: Control of a G120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 82843076, V4.0, 09/2018...

  • Page 23: Using A Freely Configurable Telegram

    5 Drive Configuration Figure 5-13 Save RAM to ROM and Upload to PC 14. Power Cycle the G120; the Control Unit must be powered off to set the communication protocol to EtherNet/IP. Wait sufficient time that the Control Unit powers down. The CU will be ready for EtherNet/IP communication when power is restored.

  • Page 24: Example Of "Free Telegram" Commissioning

    5 Drive Configuration 5.2.1 Example of "Free telegram" commissioning 1. Drive commissioned with T352 and change then parameter 922 Telegram Type set to [999] for use with Free Telegram Figure 5-15 2. Check r2067 in the Expert List. All words being sent to the drive from the PLC and from the PLC to the drive must be accounted for.

  • Page 25: Configuring A Generic Ethernet Module

    6 Configuring a Generic Ethernet Module Configuring a Generic Ethernet Module Adding a new module in RSLogix A Generic IO module is used to configure the cyclic data exchange between the automation controller and the SINAMICS drive without an EDS file. 6.1.1 Inserting the module in an RSLogix project Table 6-1 Inserting the Generic Ethernet Module...

  • Page 26: Configuring Network Parameters

    6 Configuring a Generic Ethernet Module 6.1.2 Configuring network parameters Table 6-2 Configuring the Network Parameters The module name should identify the G120 to allow easy selection from other modules configured in the controller. It is also the name used for the controller level tag that will hold the data.

  • Page 27: Connection Parameters

    6 Configuring a Generic Ethernet Module 6.1.3 Connection Parameters Table 6-3 Setting the connection parameters The Requested Packet Interval (RPI) is the rate at which the controller will exchange data with the drive. The G120 can operate with a RPI set to a minimum of 5 ms.

  • Page 28: Using Aios In A New Application

    7 Using AIOs in a new application Using AIOs in a new application Importing AIOs The AOIs provided with the sample application can be easily integrated into a new or existing user program by importing the instructions using L5K files. 7.1.1 Installing L5K Files in RSLogix Table 7-1...

  • Page 29: Using The Aoi

    7 Using AIOs in a new application Using the AOI 7.2.1 Adding AOI to an RSLogix Program Table 7-2 Using the G120 Simple Speed Block Add the AOI to a new rung by dragging from the project tree. Declare and assign the instance data variable.

  • Page 30: I/O Interface

    7 Using AIOs in a new application 7.2.2 I/O Interface Connecting the instruction to the Controller IO tags is accomplished by moving the IO data into the AOI Interface. Figure 7-1 Configuring AOI Communication The second rung holds the AOI. The local variables “InputDataBuffer” and “OutputDataBuffer”...

  • Page 31: Drive Parameter Access

    8 Drive Parameter Access Drive Parameter Access Explicit Messaging In many applications it is necessary to read or write parameters in the drive. This allows increased flexibility in implementation of the machine functionality. To allow this occasional (acyclic) data exchange of drive and motor parameters, the drive supports explicit messaging.

  • Page 32: Using The Msg Instruction

    8 Drive Parameter Access Using the MSG Instruction NOTE It is a good idea to one-shot the message requests (e.g. with a flasher). If the rung for the MSG instruction is always true, the communication board can get overwhelmed and fault out. Table 8-1 MSG Instruction: Insert the MSG instruction.
  • Page 33 8 Drive Parameter Access Service Type: Select “Get Attribute Single” to read the parameter or “Set Attribute Single” to write to the parameter. Class: 401 (hex) Instance: This is the parameter number of the object, in Starter. E.g. DC Link voltage (p26).
  • Page 34 8 Drive Parameter Access Attribute: This is the parameter index. For parameters without an index, use “0”. Destination: For reading a parameter select a Controller scope tag where the value will be written. If writing a value to the parameter, select a tag in the Source element entry.
  • Page 35 8 Drive Parameter Access Make sure the data type of the tag (source/destination) matches the data type of the parameter. INT = 2 Bytes (16 bit) REAL = 4 Bytes (32 bit) To figure out the data type of the parameter, search for the parameter in the Starter help tool, or refer to the List Manual.
  • Page 36 8 Drive Parameter Access Path: In the communication tab enter the name of the IO node for the G120. Use the Browse option to find the node in the Project Tree. SINAMICS G: Control of a G120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 82843076, V4.0,...

  • Page 37: Troubleshooting

    9 Troubleshooting Troubleshooting I can’t go online with the drive in Starter using the Ethernet cable. Do you have firmware v4.7 or above on the drive unit? Communication from Starter to the drive using Ethernet/IP is only support with firmware v4.7 or later on the G120.
  • Page 38 9 Troubleshooting 3. Are there duplicate IP addresses on the network? a. Verify IP addresses (accessible nodes, edit Ethernet nodes, etc.) 4. Did you parameterize the Generic Ethernet Module in RSLogix 5000 correctly? Figure 9-3 a. Do you have the “Comm. Format” set to Data –INT, or accidentally set to Data-DINT? Figure 9-4 b.
  • Page 39 9 Troubleshooting 6. Are there faults on the drive? a. Check drive status LEDs b. Check drive diagnostics for faults 7. Are all Drive Enables (OFF1/OFF2/OFF3) enabled? SINAMICS G: Control of a G120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 82843076, V4.0, 09/2018...

  • Page 40: Glossary

    STARTER: Software for Siemens SINAMICS drives configuration and diagnostics Status Word: Arrangement of two bytes used to report the current status of the drive (referred to as ZSW1 in SINAMICS Documentation) UDT: User Defined Type;...

  • Page 41: Appendix

    Industry Online Support Do you have any questions or need assistance? Siemens Industry Online Support offers round the clock access to our entire service and support know-how and portfolio. The Industry Online Support is the central address for information about our products, solutions and services.

  • Page 42: Change Documentation

    11 Appendix 11.2 Change documentation Table 11-1 Version Date Modifications V1.0 05/2013 First version V1.2b 10/2014 Draft for Revision V2.0 03/2015 Add in explicit messaging Added in troubleshooting Added in G130/G150 information V3.0 07/2015 Removed references to USB connection Removed the appendix and added the “edit ethernet node” to the main documentation Updated T352 block Added in T111 block V4.0...

This manual is also suitable for:

Sinamics g110mSinamics g series

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