SINAMICS G: Control Of A G120/G130/G150 With An Allen .
2015.07.16SINAMICS G: Control of a G120/G130/G150with an Allen-Bradley controller (Compact/ControlLogix with RSLogix 5000) m/WW/view/en/82843076
Warranty and LiabilityNoteThe Application Examples are not binding and do not claim to be completeregarding the circuits shown, equipping and any eventuality. The ApplicationExamples do not represent customer-specific solutions. They are only intendedto provide support for typical applications. You are responsible for ensuring thatthe described products are used correctly. These application examples do notrelieve you of the responsibility to use sound practices in application, installation,operation and maintenance. When using these Application Examples, yourecognize that we cannot be made liable for any damage/claims beyond theliability clause described. We reserve the right to make changes to theseApplication Examples at any time without prior notice. If there are any deviationsbetween the recommendations provided in these application examples and otherSiemens publications – e.g. Catalogs – the contents of the other documentshave priority.We do not accept any liability for the information contained in this document.ã Siemens AG Copyright 2015 All rights reservedAny claims against us – based on whatever legal reason – resulting from the use ofthe examples, information, programs, engineering and performance data etc.,described in this Application Example shall be excluded. Such an exclusion shallnot apply in the case of mandatory liability, e.g. under the German Product LiabilityAct (“Produkthaftungsgesetz”), in case of intent, gross negligence, or injury of life,body or health, guarantee for the quality of a product, fraudulent concealment of adeficiency or breach of a condition which goes to the root of the contract(“wesentliche Vertragspflichten”). The damages for a breach of a substantialcontractual obligation are, however, limited to the foreseeable damage, typical forthe type of contract, except in the event of intent or gross negligence or injury tolife, body or health. The above provisions do not imply a change of the burden ofproof to your detriment.Any form of duplication or distribution of these Application Examples or excerptshereof is prohibited without the expressed consent of Siemens Industry Sector.If you have any questions concerning this document please e-mail us to thefollowing ityinformationSiemens provides products and solutions with industrial security functions thatsupport the secure operation of plants, solutions, machines, equipment and/ornetworks. They are important components in a holistic industrial securityconcept. With this in mind, Siemens’ products and solutions undergo continuousdevelopment. Siemens recommends strongly that you regularly check forproduct updates.For the secure operation of Siemens products and solutions, it is necessary totake suitable preventive action (e.g. cell protection concept) and integrate eachcomponent into a holistic, state-of-the-art industrial security concept. Third-partyproducts that may be in use should also be considered. For more informationabout industrial security, visit http://www.siemens.com/industrialsecurity.To stay informed about product updates as they occur, sign up for a productspecific newsletter. For more information, S G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20152
Table of contentsWarranty and Liability . 2Table of contents. 31Task. 51.11.1.11.1.223ã Siemens AG Copyright 2015 All rights reserved456EtherNet/IP Overview . 5Industrial Ethernet . 5Sinamics G series Connectivity to EtherNet/IP . 5Solution Overview . 62.12.1.1Solution Overview. 6Hardware Structure. 62.2Used Components . 7Programming Overview . 83.1Configuration Methods. 83.3AOI Types . 10Sinamics G Series Add-On Instructions. 114.1Function Description . 114.24.2.14.2.24.2.3Telegram Descriptions . 11Telegram Type 1 for Simple Speed . 11Telegram Type 352 Speed Control . 11Telegram Type 111 for EPOS mode . 124.34.3.14.3.24.3.3Simple Speed Control –Telegram 1 . 13Functionality . 13Schematic Ladder Representation . 13Input and Output Parameters . 134.44.4.14.4.24.4.3Speed Control –Telegram 352 . 14Functionality . 14Schematic Ladder Representation . 15Input and Output Parameters . 154.54.5.14.5.24.5.3EPOS Control . 17Functionality . 17Schematic Ladder Representation . 17Input and Output Parameters . 184.64.6.14.6.24.6.3MDI Mode. 20Functionality . 20Schematic Ladder representation . 21Input and Output Parameters . 224.7UDTs . 23Drive Configuration . 245.15.1.15.1.25.1.3Configuration in STARTER . 24Setting the IP Address through Edit Ethernet Node . 24G120 Parameter Setting for EtherNet/IP Communication . 27G130/150 Parameter Settings for EtherNet/IP Communication. 285.2Using a Freely Configurable Telegram . 30Configuring a Generic Ethernet Module . 316.1Adding a new module in RSLogix . 31SINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20153
6.1.16.1.26.1.36.1.478Inserting the module in an RSLogix project . 31Configuring network parameters . 32Connection Parameters . 32Using the IO Data . 33Using AOIs in a New Application . 347.17.1.1Importing AOIs . 34Installing L5K Files in RSLogix . 347.27.2.17.2.2Using the AOI . 35Adding AOI to an RSLogix Program . 35I/O Interface. 36Drive Parameter Access . 378.1Explicit Messaging . 378.2Using the MSG Instruction . 38Troubleshooting . 4210Glossary. 4511History . 46ã Siemens AG Copyright 2015 All rights reserved9SINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20154
TaskSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) viaEtherNet/IP1Task1.1EtherNet/IP Overview1.1.1Industrial EthernetIndustrial Ethernet communication networks continue to gain global importance inautomation solutions. Industrial Ethernet connectivity down to device levelcomponents (i.e. drives, I/O, etc.) is an end user requirement that demandsopenness and flexibility. To capitalize on the flexibility to connect to differentIndustrial Ethernet protocols the Sinamics G drives can seamlessly be applied inPROFINET and EtherNet/IP networks.1.1.2Sinamics G series Connectivity to EtherNet/IPThe Sinamics drive family offers both PROFINET and EtherNet/IP software stacksfor the Sinamics G series which is easily selected by a parameter setting in thestandard Sinamics firmware. The CBE20 communications option board for theCU320-2 control unit is required on the G130/G150 drives to communicate onEtherNet/IP.The network IP address of the Sinamics G drive can be set through the STARTERsoftware. With STARTER software installed on your computer you can connect tothe Sinamics drive through PROFINET or EtherNet/IP.The Sinamics drives operate on unicast telegrams which reduces network traffic.Sinamics G drives have been certified by ODVA for EtherNet/IP conformancetesting and participated in the EtherNet/IP PlugFest. Siemens is a member ofODVA with Vendor ID # 1251.SINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20155
Solution OverviewSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) viaEtherNet/IP2Solution Overview2.1Solution Overview2.1.1Hardware StructureFigure 2-1 Sample System OverviewSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20156
Solution OverviewSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) viaEtherNet/IP2.2Used ComponentsThe application was generated with the following components:Hardware componentsTable 1ComponentNo.PROFINET versions of G120 with Firmware version 4.6 or later1CU320-2 PN/DP with CBE20 option board, and firmware version4.6 or later1Rockwell Automation Logix family controller Firmware version19 or later1Software componentsTable 2ComponentNOTENo.STARTER Version 4.3 SP2 or later1RS Logix 5000 Version 20 or later1RSLogix 5000 Version 19 can be used when not using the EDS fileSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20157
Programming OverviewSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) viaEtherNet/IP3Programming Overview3.1Configuration MethodsThere are two methods to configure a Sinamics G series drive to communicateover EtherNet/IP. This manual will focus on the SINAMICS approach toconfiguration using Add On Instructions. This approach requires version 19 orhigher for RSLogix 5000. Alternatively, the drive can be set up for ODVA typeconfiguration. This allows the user to import a G120 EDS file and treat the drive asan ODVA AC drive object. This approach requires version 20 or higher for RSLogix5000. Refer to the diagram below for a general overview of the steps to configurewith either method.SINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20158
Programming OverviewSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) viaEtherNet/IPSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/20159
3 Programming Overview3.2AOI’s for Sinamics G Series drivesThe EtherNet/IP telegrams to the Sinamics G series drives can be freely configuredusing the free telegram structure for the message frame type. Alternatively in aneffort to seamlessly integrate the communication between a Sinamics G seriesdrive object and an AB Logix family controller Add On Instructions have beendesigned for the RSLogix programming that mimic standard telegrams used inSinamics G configurations. For most standard applications the use of the AOI’scan greatly reduce the Engineering time to configure a system. This manualdocuments the use of the AOI’s developed to simplify the integration of Sinamicsdrives connected to RSLogix automation systems over EtherNet/IP.ã Siemens AG Copyright 2015 All rights reservedFigure 3-1 Example utilizing Simple Speed AOI and Standard Telegram 13.3AOI TypesThere are presently four Add On Instruction blocks that can be used for standardtelegrams T1, T352, and T111.1. Simple SpeedStandard Telegram 12. T352 Speed ControlStandard Telegram 352 (6 words in / 6 words out)3. Easy PositioningStandard Telegram 111 (12 words in / 12 words out)4. Basic MDIStandard Telegram 111 (12 words in / 12 words out)SINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/2015(2 words in / 2 words out)10
4 Sinamics G Series Add-On Instructions4Sinamics G Series Add-On Instructions4.1Function Descriptionã Siemens AG Copyright 2015 All rights reservedThe Drive control function block (AOI) described in this section is intended toprovide Sinamics G series drive users with a quick and effective way to integratethe SINAMICS G drives into an automation system where a Logix family controlleris the primary control. The AOI can also be used as a starting point since the useris free to customize it to fit their specific application. The canned AOIs in thisapplication guide have been designed to seamlessly integrate with the PROFIdrivetelegrams T1, T352, and T111, commonly used for controlling Sinamics G drives.4.2Telegram Descriptions4.2.1Telegram Type 1 for Simple SpeedThis telegram is a standard PROFIdrive telegram of 2 words in length. It will controlthe state of the drive by selecting the appropriate bits in the control word and setthe running speed in the speed setpoint word. For additional information on thistelegram and the details of its function, refer to the Sinamics G120/130/150Operating Instructions Manual and List manual.Table 1 Telegram Type 1WORD4.2.2INPUTOUTPUT1Control Word 1Status Word 12Speed Setpoint ValueActual Speed ValueTelegram Type 352 Speed ControlThis telegram is a standard PROFIdrive telegram of 6 words in length. It is similarto Telegram1 but with added functionality. There are 4 freely configurable wordsavailable for control of the drive. These could be a separate control word or analogvalues such torque limitation or additional speed setpoint. Status to the PLCcontains a standard Status word, Speed, Current, Torque, and present Faults orwarnings. For additional information on this telegram and the details of its function,refer to the Sinamics G120/130/150 Operating Instructions and List Manual.Table 2 Telegram Type 352WORDINPUTOUTPUT1Control Word 1Status Word 12Speed Setpoint ValueActual Speed Value3User- DefinedABS Current4User- DefinedTorque5User- DefinedWarn Code6User-DefinedFault CodeSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/201511
4 Sinamics G Series Add-On Instructions4.2.3Telegram Type 111 for EPOS modeTelegram 111 is a standard Siemens Telegram for a positioning drive. It allowssequence and control of the drive functions in addition to control of the positioningfunction EPOS. This interface is used for both the “MDI” control AOI and “EPOS”thAOI. 12 Words of data are exchanged with the drive where the 12 word isreserved as a user selectable value. For detailed information on this telegram referto the Sinamics S120 List Manual Section 2.8 and Function Manual Section 10.1.NOTETelegram Type 1, 352, and 111 can also be applied to Sinamics G130 and G150drives utilizing the EtherNet/IP connectivity.ã Siemens AG Copyright 2015 All rights reservedTable 2 Telegram Type 111WORDInputOutput1Control Word 1Status Word 12Pos Control Word 1Pos Status Word 13Pos Control Word 2Pos Status Word 24Control Word 2Status Word 25Velocity OverrideMELDW (Extended) Control Word6-7MDI Position SetpointPosition Actual Value8-9MDI Velocity SetpointVelocity Actual Value10MDI Percent AccelerationActive Fault Number11MDI Percent DecelerationActive Warning Number12User SelectableUser SelectableSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IPEntry-ID: 82843076, V3.0, 07/201512
4 Sinamics G Series Add-On Instructions4.3Simple Speed Control –Telegram 14.3.1FunctionalityThe G120 Simple Speed Block (also used in G130/G150) provides an interface forbasic speed control of a drive object in Sinamics via EtherNet/IP. The Drive isconfigured for control using Standard telegram type 1 which presets the drivespeed reference and control word to be sourced from the communication interface.4.3.2Schematic Ladder Representationã Siemens AG Copyright 2015 All rights reservedFigure 4-1 G120 Simple Speed Block4.3.3Input and Output ParametersTable 1 Inputs ParametersVariable NameData TypeDescriptionG120 Speed BlockInstance DataON OFF1BOOLDrive Enable (ON/OFF1)1 Enable Drive0 Ramp Down and Disable driveOFF2BOOLCoast Stop Command0 OFF2 Immediate Disable1 No OFF2 CommandOFF3BOOLFast Stop Command0 OFF3 Fast Ramp and Disable1 No OFF3 CommandRUN SET POINTBOOLSpeed Setpoint Enable0 Setpoint Disabled1 Setpoint EnabledSINAMICS G: Control of a G120/130/150 with an Allen-Bradleycontroller (Compact/ ControlLogix wi
3 Programming Overview SINAMICS G: Control of a G120/130/150 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 82843076, V3.0, 07/2015 10 ã S i e m e n s A G C o p y r i g h t 2 0 1 5 A l l r i g h t s r e s e r v e d 3.2 AOI’s for Sinamics G Series drives
SINAMICS G110 SINAMICS G120 SINAMICS G120D SINAMICS G130/G150 SINAMICS S120 SINAMICS S150 SINAMICS GM150/SM150/GL150 V/f control V/f control/vector control V/f control/vector control/servo control V/f control/vector control 0.12–3 kW 0.37–90 kW 0.75–7.5 kW 75–1,500 kW 0.12–4,500 kW 75–1,200 kW 0.8–120 MW Pumps, fans, conveyor belts
3 Low voltage Medium voltage SINAMICS G SINAMICS S SINAMICS GM/SM/GL 0.12–2,700 kW 0.12–4,500 kW 0.8–120 MW SINAMICS G120 is a member of the SINAMICS family, which stands for innovative drive solutions that are fit for the future SINAMICS offers the optimum solution for every drive application. It goes without saying that all of the drives
3 Low-voltage Medium-voltage SINAMICS G SINAMICS S SINAMICS GM/SM/GL 0.12–2,700 kW 0.12–4,500 kW 0.8–120 MW SINAMICS G120 is a member of the SINAMICS family, which stands for innovative drive solutions that are fit for the future SINAMICS offers the optimal solution for every drive application.
automatically recognise all variants of the following Control Units from the SINAMICS range: SINAMICS G120 CU230P-2 SINAMICS G120 CU240B-2 SINAMICS G120 CU240E-2 Note BOP-2 functional suppport The BOP-2 has been designed to support all the above mention Control Units with firmware version 4.3 Service Pack 2 (SP2) or later.
simple connection of various SINAMICS S/G/V converter systems. Each communication block can be used for an axis of a SINAMICS S120 multi-axis or a SINAMICS S110, SINAMICS V90 or G120x converter system.
SINAMICS G110 SINAMICS G120 SINAMICS G110D SINAMICS G120D The versatile single motor drive for low power ratings The modular single motor drive for low up to medium power ratings The distributed single motor drive for basic solutions The distributed single motor drive for high performance Typical ratings 230 V 1 ph. AC in / 3 ph. out 0.15 to 4 HP
The SINAMICS G120 is to be controlled from an S7-300 CPU via Profinet. 2.1.2 Solution In this function example, the control of a SINAMICS G120 (control word and frequency setpoint) will be demonstrated using an S7-300 CPU and a specific program example. This program example comprises an S7 program to control the SINAMICS G120
3 SINAMICS G120 — a member of the SINAMICS family Communication Integral part of Totally Integrated Automation Automation — with interfaces for PROFINET and PROFIBUS . and torque control Flexible SINAMICS G120 is the reliable system for a variety of applications. 10
