Integrating Siemens Drive into Rockwell Automations Studio

Integrating Siemens Drive into Rockwell Automations Studio 5000 by using Speed Control Telegrams

Application Manual Studio 5000 Telegrams 1, 2, 3, 4, 20, 350, 352 Speed Control

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Integrating Siemens Drive into Rockwell Automations Studio 5000 Speed Control Telegrams Entry ID: 82843076, V2.0.1, 10/2020 2

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Legal information Use of application examples

Application examples illustrate the solution of automation tasks through an interaction of several components in the form of text, graphics and/or software modules. The application examples are a free service by Siemens AG and/or a subsidiary of Siemens AG (“Siemens”). They are non-binding and make no claim to completeness or functionality regarding configuration and equipment. The application examples merely offer help with typical tasks; they do not constitute customer-specific solutions. You yourself are responsible for the proper and safe operation of the products in accordance with applicable regulations and must also check the function of the respective application example and customize it for your system. Siemens grants you the non-exclusive, non-sublicensable and non-transferable right to have the application examples used by technically trained personnel. Any change to the application examples is your responsibility. Sharing the application examples with third parties or copying the application examples or excerpts thereof is permitted only in combination with your own products. The application examples are not required to undergo the customary tests and quality inspections of a chargeable product; they may have functional and performance defects as well as errors. It is your responsibility to use them in such a manner that any malfunctions that may occur do not result in property damage or injury to persons.

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List of contents


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List of contents Legal information ......................................................................................................... 2

1 Overview ............................................................................................................. 4

2 Telegrams ........................................................................................................... 5

3 Reference Scaling Parameters ....................................................................... 17

4 Startdrive Configuration ................................................................................. 18

5 Download to the drive ..................................................................................... 33

6 Motor Identification ......................................................................................... 35

7 Create New Project with Rockwell Software Studio 5000 ........................... 41

8 Rockwell Automation EDS Wizard ................................................................. 46

9 Add a Siemens Drive to the Ethernet Network ............................................. 54

10 Import Add-On Instruction .............................................................................. 58

11 Configure IP Address for a Rockwell Controller .......................................... 60

12 Configure RSLinx Communications for a Rockwell Controller .................. 66

13 Insert a Rung for the Add-On Instruction ...................................................... 70

14 Controlling the Siemens Drive ....................................................................... 75

15 Download Project to the Rockwell Controller .............................................. 78

16 Create a Rockwell’s FactoryTalk View Application ...................................... 80

17 Establish Communications Between the Rockwell Controller and the Rockwell PanelView Plus Terminal ................................................................ 81

18 Import Siemens Global Objects ..................................................................... 84

19 Import Siemens Display .................................................................................. 89

20 Add GOTO Button to a Display ...................................................................... 94

21 Alarms and Warnings ...................................................................................... 99

22 Edit Tags for Alarm Setup............................................................................. 103

23 Test Application ............................................................................................. 105

24 Transfer Utility ............................................................................................... 113

25 Firmware Upgrade Wizard ............................................................................ 117

26 Appendix ........................................................................................................ 122

26.1 Application Support .......................................................................... 122 26.2 Links and Literature .......................................................................... 122 26.3 History .............................................................................................. 122

1 Overview


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1 Overview

Scope:

This document will explain how to integrate Siemens drives into Rockwell Automations Studio 5000 software. This document will illustrate how to add Electronic Data Sheet (EDS) file, add a Siemens drive to the Ethernet/IP network, import Add-On Instructions, and create a routine for the Add-On instruction to an existing Studio 5000 PLC program. This document will illustrate how to import global objects, displays, alarms, and warnings into a FactoryTalk View Machine Edition HMI application.

This document includes commonly used Siemens telegrams along with additional speed control telegrams for unique applications.

Components Used:

Hardware:

Rockwell Automations CompactLogix 5370 Controller 1769-L16ER-BB1B

Siemens G120 CU250S-2 PN V4.7 SP10

Software:

Rockwell Automations Studio 5000 V30 and FactoryTalk View Studio Machine Edition V10.0

Startdrive V16.1

BootP DHCP Ethernet/IP Commissioning Tool V3.02.00

RSLinx V4.00.00 CPR 9 SR 10.0

2 Telegrams


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2 Telegrams

What is a Telegram? Telegrams are universal blocks of data that organize parameters and functions into a uniform consistent format that all Siemens drives can use to pass data to the PLC. They are organized into 16-bit process words (abbreviated as PZD) that contain relevant information such as control words, status words, and setpoints. Most telegrams have a control word, status word, speed setpoint, and speed feedback word in common.

A telegram is easily selected within the programming platform by loading the correct electronic data sheet (EDS) file.

Commonly Used Siemens Telegrams for Speed Control:

Telegrams 1 and 352 are the most commonly used telegrams for speed control applications. Siemens recommends that you choose one of these telegrams for speed control applications.

Telegram 1 for Basic Speed Setpoint (16-bit):

This telegram is a standard PROFIdrive telegram of 2 words in length. It will control the state of the drive by selecting the appropriate bits in the control word and set the running speed in the speed setpoint word (16-bit).

Table 2-1 From Drive to PLC

PLC Tagname

Description Data Type

Drive Parameter

DriveStatus0 Status Word 1 (ZSW1) Integer r52

DriveStatus1 Smoothed Actual Speed (NIST_A_GLATT) Integer r63[1]

2 Telegrams


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Table 2-2 From PLC to Drive

PLC Tagname


Drive Parameter

DriveControl0 Control Word 1 (STW1) Integer r54

DriveControl1 Speed Setpoint (NSOLL_A) Integer p1070[0]

Telegram 352 for Vector Speed Control, Speed Setpoint, and Diagnostics:

Telegram 352 is a standard Siemens telegram of 6 words in length for speed control with VECTOR Drive Objects. This telegram cannot be used with SERVO Drive Objects. This telegram offers four optional User Defined Control Setpoints, and four added status words returning to the PLC for Current, Torque, Warnings, and Faults.


PLC Tagname


Drive Parameter



DriveStatus2 Smoothed Actual Current (IAIST_GLATT) Integer r68[1]

DriveStatus3 Smoothed Actual Torque (MIST_GLATT) Integer r80[1]

DriveStatus4 Alarm Code - The most recent alarm code is displayed. 0 = No alarm present. (WARN_CODE)

Integer p2132

DriveStatus5 Fault Code - The oldest fault code is displayed. 0 = No fault present. (ALARM_CODE)

Integer p2131


PLC Tagname Description Data Type

Drive Parameter



DriveControl2 User Defined Integer




Additional Siemens Telegrams for Speed Control:

This section has additional telegrams that can be used for speed control applications. If telegrams 1 and 352 are not suitable for your application, the telegrams in this section can be used.

Telegram 2 for Basic Speed Setpoint (32-bit):

This telegram is a standard Siemens telegram of four words in length. It will control the state of the drive by selecting the appropriate bits in the control word and set the running speed in the speed setpoint word (32-bit). This telegram contains a second control and status word.


PLC Tagname


Drive Parameter


2 Telegrams


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DriveStatus1 Actual Speed (NIST_B) Integer r63[0]

DriveStatus2 Actual Speed (NIST_B) Integer r63[0]

DriveStatus3 Status Word 2 (ZSW2) Integer p2081


PLC Tagname


Drive Parameter


DriveControl1 Speed Setpoint (NSOLL_B) Integer p1070[0]

DriveControl2 Speed Setpoint (NSOLL_B) Integer p1070[0]


Telegram 3 for Speed Setpoint (32-bit) with Position Encoder:

This telegram is a Siemens telegram of 9 words in length. It will control the state of the drive by selecting the appropriate bits in the two control words and set the running speed in the speed setpoint word. The control word, status word, and position feedback of the encoder is also included. Telegram 3 is not suitable for sensorless vector control.


PLC Tagname


Drive Parameter

DriveStatus0 Status Word 1 (ZSW1) Integer r2089[0]

DriveStatus1 Actual Speed Value (NIST_B) Integer r63[0]



DriveStatus4 Encoder Status Word (G1_ZSW) Integer r481[0]

DriveStatus5 Encoder 1 Actual Position 1 (G1_XIST1) Integer r482[0]





PLC Tagname


Drive Parameter


DriveControl0 Main Setpoint (NSOLL_B) Integer p1070[0]


DriveControl3 Control Word 2 (STW2) Integer p2045

DriveControl4 Encoder 1 Control Word (G1_STW) Integer p480[0]

Telegram 4 for Speed Setpoint (32-bit) with Two Position Encoders:

This telegram is a standard Siemens telegram of 14 words in length. It will control the state of the drive by selecting the appropriate bits in the two control words and set the running speed in the speed setpoint word. The control words, status words, and position feedback of two encoders are also included. Telegram 4 is not suitable for sensorless vector control.

2 Telegrams


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Drive Parameter





DriveStatus4 Encoder Status Word (G1_ZSW) Integer r481[0]





DriveStatus9 Encoder 2 Status Word (G2_ZSW) Integer r481[1]






PLC Tagname


Drive Parameter

DriveControl0 Control Word 1 (STW1) Integer



DriveControl3 Control Word 2 (STW2) Integer p2045



Telegram 20 for Speed Setpoint (16-bit) for VIK-NAMUR:

This telegram is a standard PROFIdrive telegram of 6 words in length. It will control the state of the drive by selecting the appropriate bits in the control word and set the running speed in the speed setpoint word. Additionally, this telegram can send current, torque, and power feedback.


PLC Tagname


Drive Parameter



DriveStatus2 Smoothed Actual Current (IAIST_GLATT) Integer r68[1]

DriveStatus3 Smoothed Actual Torque (MIST_GLATT) Integer r80[1]

DriveStatus4 Smoothed Actual Power (PIST_GLATT) Integer r82[1]

DriveStatus5 MELD_NAMUR Namur Message Bit Bar Integer p3113

2 Telegrams


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PLC Tagname


Drive Parameter



Telegram 350 for Speed Setpoint (16-bit), Speed Feedback, Current Feedback, and Torque Limit:

This telegram is a standard Siemens telegram of 4 words in length. The drive is controlled through two control words and a speed setpoint. In the output image, speed and current feedback are available. Scaling of the upper torque limit to limit the speed controller output can be controlled in the input image.


PLC Tagname


Drive Parameter


DriveStatus1 Actual Speed Value (FIST_GLATT) Integer r63[1]

DriveStatus2 Absolute Current Actual Value (IAIST_GLATT) Integer r68[1]




Drive Parameter


DriveControl1 Main Setpoint (FSOLL) Integer p1070[0]

DriveControl2 Torque Limit Upper Scaling Without Offset (M_LIM) Integer p1552[0]


Data from the Drive to the PLC – Drive Status Word Individual Bits:

Table 2-15 Status Word 1 (ZSW1)

Bit Name Functionality Data Type

Drive Parameter

0

Ready to Power On

1 = Drive ready

0 = Drive not ready

Bool r0899.0

1

Ready to Run

1 = Ready to run

0 = Not ready to run

Bool r0899.1

2

Drive Running

1 = Motor enabled

0 = Motor not enabled

Bool r0899.2

3

Fault Present

1 = Converter fault

0 = No fault active

Bool r2139.3

4

Coast Stop

0 = Coast down (OFF2) inactive

1 = Coast down active

Bool r0899.4

5

Quick Stop

0 = Quick stop (OFF3) inactive

1 = Quick stop active

Bool r0899.5

2 Telegrams


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6

Switch On Inhibited

1 = Motor inhibited from switching on

0 = Motor can be switched on

Bool r0899.6

7

Warning Present

1 = Warning present

0 = No warning present

Bool r2139.7

8

Motor at Acceptable Speed

1 = Speed deviation within tolerance

0 = Speed deviation outside tolerance

Bool r2197.7

9

PLC Has Control

1 = Master control requested

0 = No action

Bool r0899.9

10

Speed Comparison Reached

1 = Speed greater than or equal to max speed

0 = Speed less than max speed

Bool r2199.1

11

Torque Limit Reached

1 = Torque limit reached

0 = Torque limit not reached

Bool r0052.11

12

Holding Brake Open

1 = Holding brake open

0 = Holding brake closed

Bool r0899.12

13

Motor Overload

0 = No overtemperature alarm

1 = Overtemperature alarm present

Bool r2135.14

14

Reverse Direction

1 = Motor rotates clockwise

0 = Motor rotates counterclockwise

Bool r2197.3

15

Drive Overload

0 = No converter thermal overload alarm

1 = Thermal overload alarm present

Bool r2135.15



Drive Parameter

0 Drive data set selection (DDS) Bit 0

Bits 0-4 display the selected drive data set.

Bool

Bool

r0051.0

1 Drive data set selection (DDS) Bit 1 r0051.1




5

Alarm Class Bit 0

Bits 5-6 are used for the classification of internal alarm classes and are intended for diagnostic purposes only.

Bool r2139.11

6 Alarm Class Bit 1 1 = On; 0 = Off Bool r2139.12

7

Parking Axis Function Status

1 = Parking axis function active

0 = Parking axis function inactive

Bool

8

Travel to Fixed Stop Status

1 = Travel to fixed end stop function active

0 = Travel to fixed end stop inactive

Bool

r1406.8

9 Reserved

10 Pulse Status 1 = Pulses enabled; 0 = Pulses inhibited Bool r0899.11

11

Motor Data Set Changeover Status

1 = Motor data set changeover active

0 = Motor data set changeover inactive

Bool

r0835.0

12 Slave sign-of-life Bit 0 Bool




2 Telegrams


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Drive Parameter

0

DC Brake Status

1 = DC braking active

0 = DC braking inactive

Bool

r0053.0

1

Speed Above Stationary Speed

1 = Absolute speed is greater than "stationary" speed (p1226)

0 = Speed less than stationary speed

Bool

r0053.1

2

Speed Above Minimum Speed

1 = Absolute speed is greater than minimum speed (p1080)

0 = Speed less than minimum speed

Bool

r0053.2

3

Current Above Threshold Value

1 = Current greater than or equal to threshold value (p2170)

0 = Current less than threshold value

Bool

r0053.4

4

Speed Above Threshold 2

1 = Absolute speed greater than speed threshold value 2 (p2155)

0 = Speed less than threshold 2

Bool

r0053.4

5

Speed Below Threshold 2

1 = Absolute speed less than or equal to speed threshold value 2

0 = Speed greater than threshold 2

Bool

r0053.5

6

Speed Setpoint Reached

1 = Absolute speed greater than or equal to setpoint (r1119)

0 = Speed less than setpoint

Bool

r0053.6

7

DC Link Voltage Below Threshold

1 = DC link voltage at or below threshold value (p2172)

0 = DC link voltage below threshold value

Bool

r0053.7

8

DC Link Voltage Above Threshold

1 = DC link voltage above threshold value

0 = DC link voltage below threshold value

Bool

r0053.8

9

Ramp Function Generator Status

1 = Ramp up or ramp down completed (RFG inactive)

0 = Ramp up or ramp down incomplete

Bool

r0053.9

10

Technology Controller Lower Limit

1 = Tech controller output at or below lower limit (p2292)

0 = Output above lower limit

Bool

r0053.10

11

Technology Controller Upper Limit

1 = Tech controller output above upper limit (p2291)

0 = Output below or at upper limit

Bool

r0053.11

12 Reserved

13 Reserved

14 Reserved

15 Reserved

Table 2-18 Encoder 1 Status Word (G1_ZSW)


Drive Parameter

Encoder

Control Word

Bit 7 = 0

Encoder

Control Word

Bit 7 = 1

0

Function 1 Status Search for reference cam 1 active

Flying referencing to rising edge of reference cam 1 active

Bool

r2051[4]

1 Function 2 Status

Search for reference cam 1 active

Flying referencing to falling edge of

Bool r2051[4]

2 Telegrams


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Drive Parameter

reference cam 1 active

2



Bool

r2051[4]

3


Flying referencing to falling edge of reference cam 2 active

Bool

r2051[4]

4

Status Value 1

Actual position at reference cam 1

Flying referencing to rising edge of reference cam 1 complete

Bool

r2051[4]

5

Status Value 2


Flying referencing to falling edge of reference cam 1 complete

Bool

r2051[4]

6

Status Value 3



Bool

r2051[4]

7

Status Value 4



Bool

r2051[4]

8 Measuring Probe 1 Deflection Status

1 = Measuring probe 1 deflected

0 = Measuring probe 1 not deflected

Bool

r2051[4]




Bool

r2051[4]

10

Encoder 1 Status

1 = Encoder 1 on

0 = Encoder 1 off

Bool

r2051[4]

11 Acknowledge 1 = Acknowledge encoder fault is active Bool r2051[4]

12

Encoder 1 Status

1 = Encoder 1 on

0 = Encoder 1 off

Bool

r2051[4]

13

Cyclic Absolute Value Status

1 = Actual position displayed in r0483

0 = No value displayed

r0483[0] displays the encoder position value

r0483[1] displays the encoder fault number if a fault is present.

Bool

r2051[4]

14

Parking Status

1 = Encoder is parked

0 = Encoder is not parked

Bool

r2051[4]

15

Fault Status

1 = Encoder indicates its fault type in r0483

0 = No fault

Bool

r2051[4]

Table 2-19 Encoder 2 Status Word (G2_ZSW)


Drive Parameter

Encoder

Control Word

Bit 7 = 0

Encoder

Control Word

Bit 7 = 1

0



Bool

r2051[4]

2 Telegrams


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Drive Parameter

1



Bool

r2051[4]

2



Bool

r2051[4]

3



Bool

r2051[4]

4

Status Value 1



Bool

r2051[4]

5

Status Value 2



Bool

r2051[4]

6

Status Value 3



Bool

r2051[4]

7

Status Value 4



Bool

r2051[4]




Bool

r2051[4]




Bool

r2051[4]

10

Encoder 1 Status

1 = Encoder 1 on

0 = Encoder 1 off

Bool

r2051[4]

11 Acknowledge 1 = Acknowledge encoder fault is active Bool r2051[4]

12

Encoder 1 Status

1 = Encoder 1 on

0 = Encoder 1 off

Bool

r2051[4]

13

Cyclic Absolute Value Status

1 = Actual position displayed in r0483

0 = No value displayed

r0483[0] displays the encoder position value

r0483[1] displays the encoder fault number if a fault is present.

Bool

r2051[4]

14

Parking Status

1 = Encoder is parked

0 = Encoder is not parked

Bool

r2051[4]

15

Fault Status

1 = Encoder indicates its fault type in r0483

0 = No fault

Bool

r2051[4]

Data from the PLC to the Drive – Drive Control Word Individual Bits:

2 Telegrams


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Table 2-20 Control Word 1 (STW1)


Drive Parameter

0

Run Command

1 = Enable drive

0 = Ramp down and disable drive

Bool p0840[0]

1

Coast Stop

0 = No stop command issued

1 = Immediate disable and coast to stop

Bool p0844[0]

2

Quick Stop

0 = No stop command issued

1 = Immediate disable and quick stop

Bool p0848[0]

3

Enable Operation

1 = Enable drive (pulses enabled)

0 = Inverter prohibited from generating pulses

Bool p0852[0]

4

RFG Enable

1 = Ramp function generator output enabled

0 = Ramp function generator output set to 0

Bool p1140[0]

5

RFG Freeze

1 = Ramp function generator follows setpoint input

0 = Ramp function generator freezes at current value

Bool p1141[0]

6

Setpoint Enable

1 = Ramp function generator setpoint input enabled

0 = Ramp function generator input set to 0

Bool p1142[0]

7 Fault Acknowledge 1 = Acknowledge faults (on rising edge) Bool p2103[0]

8 Reserved

9 Reserved

10

PLC Control

1 = Control is by PLC

0 = No control by PLC

Bool p0854[0]

11

Reverse Direction

1 = Reverse Rotation

0 = Forward Rotation

Bool p1113[0]

12 Reserved

13

MOP Raise Setpoint

1 = Raise Motorized potentiometer setpoint

0 = No action

Bool p1035[0]

14

MOP Lower Setpoint

1 = Lower Motorized potentiometer setpoint

0 = No action

Bool p1036[0]

15 Reserved



Drive Parameter

0 Drive data set selection (DDS) Bit 0 1 = On; 0 = Off Bool p0820[0]

1 Drive data set selection (DDS) Bit 1 1 = On; 0 = Off Bool p0821[0]




5 Reserved

6 Reserved

7

Parking Axis Selection

1 = Parking axis function active

0 = Parking axis function inactive

Bool p0897

8

Traverse to Fixed End Stop

1 = Travel to fixed end stop function active

0 = Travel to fixed end stop inactive

This bit is only available for the S120 and is not available for vector U/f control

Bool p1545[0]

9 Reserved

10 Reserved

2 Telegrams


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11 Motor Changeover Feedback Signal

12 Master sign-of-life Bit 0






Drive Parameter

0 Fixed Setpoint Selector Bit 0 Bits 0-3 are used to select between 16 different fixed setpoints.

Bool p1020[0]

1 Fixed Setpoint Selector Bit 1 Bool p1021[0]



4 Drive data set selection (DDS) Bit 0 Bits 4-5 are used to select a drive data set.

Bool p0820

5 Drive data set selection (DDS) Bit 1 Bool p0821

6 Reserved

7 Reserved

8

Technology Controller Enable

1 = Technology Controller Enabled

0 = Technology Controller Disable

Bool

p2200[0]

9

DC Braking Enable

1 = Enable DC braking

0 = DC braking disabled

Bool

p1230[0]

10 Reserved

11

Droop Feedback Enable

1 = Speed controller droop enable

0 = Speed controller droop disable

Bool

p1492[0]

12

Vector Control Mode

1 = Torque control active

0 = Speed control active

Bool

p1501[0]

13

External Fault Status

1 = No external fault

0 = External fault present

Bool

p2106[0]

14 Reserved

15 Command Data Set Selection Bit 0 Bool p0811[0]

Table 2-23 Encoder 1 Control Word (G1_STW)


Drive Parameter

If bit 7 = 0 If bit 7 = 1

0

Request Function 1

Search for reference cam 1 with positive start direction

Request flying referencing to the rising edge of reference cam 1

Bool

r2050[4]

1

Request Function 2

Search for reference cam 1 with negative start direction

Request flying referencing to the falling edge of reference cam 1

Bool

r2050[4]

2

Request Function 3



Bool

r2050[4]

3

Request Function 4



Bool

r2050[4]

4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 Bool r2050[4]

5 Request Command Bit 1 1 = Read the value requested using bits 0…3 Bool r2050[4]

2 Telegrams


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Drive Parameter

6 Request Command Bit 2 Reserved Bool r2050[4]

7

Function Mode Selection

1 = Flying measurement function set

0 = Reference cam search function set

Bool

r2050[4]

8 Reserved

9 Reserved

10 Reserved

11 Reserved

12 Reserved

13 Request Absolute Value Cyclic

1 = Request for cyclic transfer of actual position value of encoder 1

Bool r2050[4]

14 Request Parking Encoder 1 = Request to park the encoder Bool r2050[4]

15 Request Acknowledge Encoder Fault 1 = Acknowledge encoder fault (on rising edge)

Bool r2050[4]

Table 2-24 Encoder 2 Control Word (G2_STW)


Drive Parameter

If bit 7 = 0 If bit 7 = 1

0

Request Function 1



Bool

r2050[4]

1

Request Function 2



Bool

r2050[4]

2

Request Function 3



Bool

r2050[4]

3

Request Function 4



Bool

r2050[4]

4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 Bool r2050[4]

5 Request Command Bit 1 1 = Read the value requested using bits 0…3 Bool r2050[4]

6 Request Command Bit 2 Reserved Bool r2050[4]

7

Function Mode Selection

1 = Flying measurement function set

0 = Reference cam search function set

Bool

r2050[4]

8 Reserved

9 Reserved

10 Reserved

11 Reserved

12 Reserved

13 Request Absolute Value Cyclic

1 = Request for cyclic transfer of actual position value of encoder 1

Bool r2050[4]

14 Request Parking Encoder 1 = Request to park the encoder Bool r2050[4]

15 Request Acknowledge Encoder Fault 1 = Acknowledge encoder fault (on rising edge)

Bool r2050[4]

3 Reference Scaling Parameters


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3 Reference Scaling Parameters

Certain data words are normalized internally by the drive using the following parameters. Commanded values use the scale that is set by these parameters. For example, if the desired 100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 1500 rpm would be treated as 75%.

Table 3-1 Reference Scaling Parameters

Parameter Name [Data Type] Functionality

p2000 Reference Speed, Velocity, or Frequency [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of speed, velocity, or frequency. Factory default values: 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)

p2001 Reference Voltage [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of voltage. Factory default value: 1000 V

p2002 Reference Current or Pressure [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of current or pressure. Factory default values: 100.00 Arms (current), 100.00 bar (pressure)

p2003 Reference Force or Torque [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of force or torque. Factory default values: 100.00 N (force), 1.00 Nm (torque)

p2004 Reference Power [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of power. Its factory default is calculated from p2003 * p2000 (torque * speed) or p2003 * p2000 (force * linear speed).

p2005 Reference Angle [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of ref. angle. Factory default values: 90.00 degrees

p2006 Reference Temperature [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of temperature. Factory default values: 100.00 degrees C

p2007 Reference Acceleration [FloatingPoint32]

The value of this parameter corresponds to 100% or 4000 hex (16b) or 4000000 hex (32b) of rotational acceleration. Factory default values: 0.01 revolutions/sec^2

4 Startdrive Configuration


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Create a New Project: Launch TIA Portal or Startdrive. For this example, TIA Portal is being used. Create New Project. Assign Project Name. Select Path. Click Create.

Click Open the project view.

Online Access: Click the Accessible devices from the toolbar.

Type of the PG/PC interface: Select the appropriate interface for your application from the pulldown. For this example, PN/IE will be used.

PG/PC interface: Select the appropriate interface for the application from the pulldown. For this example, Intel® I210 Gigabit Network Connection will be used.

Select the appropriate drive. Click Start search. Click Show.



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The result will be displayed.

Assign IP address: Double click Online & Diagnostics. Expand Functions. Click Assign IP address. Enter IP address. Enter Subnet mask. Click Assign IP address.



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Upload device as new station: Right click the desired drive. Click Upload device as new station.

An image of the result is below.



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Commission the Drive: Expand the desired drive from the Project tree. Double click Commissioning. Click Commissioning Wizard.

Application class:

You can set the application class in the wizard function in the configuration. Select one of the following classes:

Standard Drive Control: The same performance such as U/f with FCC and slip compensation / speed accuracy is only restricted. There is therefore no speed controller and no torque



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accuracy. Two rating plate parameters are required for the motor commissioning: Rated current and rated speed. The synchronous rated speed is accepted. The motor data identification is preset. A short measurement is performed once (only stator resistance, dead time compensation) to improve the start-up. This is followed by a direct switchover to operation. The optimization of the speed controller is not relevant. Dynamic Drive Control: Compared to Standard Drive Control, the performance such as sensorless vector control / speed accuracy is significantly improved. The robustness is improved with higher model change limits but takes effect at slow reversing. Three rating plate parameters are required for the motor commissioning: Rated current, rated power and rated speed. The motor data identification is preset and serves to simplify and shorten the measurement compared with the existing standstill measurement. This is followed by a direct switchover to operation. In the speed controller optimization, there is a shorter measurement of the moment of inertia / magnetizing current with direct transition to operation and the setpoint speed defined by the user. Expert: The Expert functions include the Standard Drive Control and Dynamic Drive Control functions. Select the appropriate application class for the drive from the pulldown. For this example, [1] Standard Drive Control (SDC) is selected. Click Next.



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Setpoint specification: Selection if the drive is connected to a PLC and where the setpoint is to be created.

Select the appropriate controller connection and the setpoint specification. For this example, data exchange from the PLC to the drive (Ramp function in the drive) will be used. Click Next.

Further functions: Select the appropriate function modules for the drive. For this example; Telegram 352 will be used. Click Next.



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Defaults of the setpoints/command sources: Selection of a predefined interconnection of the inputs/outputs and, if required, the fieldbus telegram. Can be changed later user-specifically.

Select the appropriate IO configuration from the pulldown. For this example, [4] Conveyor technology with fieldbus will be selected. Select the appropriate Telegram configuration from the pulldown. For this example, [352] SIEMENS telegram 352, PZD-6/6 will be selected to control a Siemens drive with a Rockwell processor. PZD-6/6 represents the number of Integers that will be received from the drive and sent to the drive. Click Next.



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Drive setting: Selection of motor standard and load cycle.

Select appropriate setting from the pull down. Enter Drive unit line supply voltage. For this example, the motor being used is [0] IEC-Motor (50 Hz, SI unitts) at 230V line supply voltage. Click Next.



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Drive options: Configuration of optional braking resistor and drive filter.

If applicable, select Braking resistor. Select Drive filter type motor side from pull down. For this example, braking resistor will be deselected with [0] No filter. Click Next.



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Motor: Specification of motor type and motor data. Select appropriate motor configuration from the pull down. For this example, Enter motor data is selected. Select motor type from the pulldown. For this example, [1] Induction motor is selected. Select the connection type for the motor from the pulldown. For this example, Star is selected. Enter the rated motor current, rated motor power, rated motor speed, rated motor voltage, and rated motor frequency from the motor nameplate. Select motor cooling type from the pulldown. For this example, [0] Natural ventilization is selected. Select Temperature sensor from the pulldown. For this example, [0] No sensor is selected. Click Next.



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Motor holding brake: Select Motor holding brake configuration from pull down. For this example, [0] No motor holding brake available. Click Next.



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Important parameters: Specification of the most important dynamic response data.

Synchronization of the speed of the drive with the speed of the PLC:

Enter Reference speed: p2000. Sets reference quantity for speed and frequency.

Enter Maximum speed: p1082[0]. Sets the highest possible speed.

Configuration of ramp up and ramp down time:

Enter Ramp up time: p1120[0]. The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed (p1082) in this time.

Enter OFF1 ramp down time: p1121[0]. The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill (setpoint = 0) in this time.

Enter OFF3 (quick stop) ramp down time: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.

Configuration of the current limit:

Enter current limit: p640[0]. Sets the current limit.

Click Next.



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Drive functions: Specification of the method to measure the motor data.

Select technological application (Standard Drive Control) from the pulldown. For this example, [0] Constant load (linear characteristic) is selected. Select motor identification from the pulldown. For this example, [2] Identifying motor data (at standstill) is selected. Click Next.



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Summary: Click Finish.



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5 Download to the drive


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Expand the desired drive from the Project tree. Select the appropriate drive. Click download from the toolbar.

Click Load.



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6 Motor Identification


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Expand the desired drive from the Project tree. Select the appropriate drive. Double click Commissioning. Click Control panel.

Click Go online from the toolbar.

Notice the motor measurement drive status is visible. Click Activate.



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Click Accept.

If required, set Drive enables. Click Forward. Repeat until motor measurement drive status is invisible.

Notice the motor measurement drive status is invisible. Click Deactivate.



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Click Accept.

Field bus interface protocol selection:

Double click Parameter.



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Click Parameter View. Scroll down to p2030. Select [10] Ethernet/IP from the pulldown.

User Defined Parameter List: Click create new user defined parameter list.

Type the following parameters: 922, 2030, 8980, 2000, 2001, 2002, 2003, 2004, 1820. These are a few useful parameters. Click Save.



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Click Yes.

Assign a file name and location. Click Save.

Save RAM to ROM:

Double click Commissioning. Click Backup/Restore. Save RAM data to EEPROM: Click Save.



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Save project: Click Save project.

Click Go offline:

Reboot drive.

7 Create New Project with Rockwell Software Studio 5000


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Under Create, Click New Project.

Expand appropriate controller. Select controller. Assign name. Click Browse.



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Select appropriate folder. Click OK.



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Click Next.



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Select revision from pulldown. If applicable, select expansion IO from pulldown. Click Finish.



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8 Rockwell Automation EDS Wizard


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A Siemens drive is not firmware dependent to operate. These EDS files were created without a specific firmware version. From the Toolbar, Click Tools. Click EDS Hardware Installation Tool.

Welcome to Rockwell Automation’s EDS Wizard. To continue, Click Next.



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Options - What task do you want to complete? Select Register an EDS file(s). This option will add a device(s) to our database. To continue, Click Next.

Registration – Electronic Data Sheet file(s) will be added to your system for use in Rockwell Automation applications. Select Register a directory of EDS files and check Look in subfolders. Click Browse.



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Browse to the folder where the EDS files are located. Select All EDS Files (this is the folder where all EDS files for a Siemens G drive resides) folder. Click OK.



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Click Next.



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EDS File Installation Test Results – This test evaluates each EDS file for errors in the EDS file. This test does not guarantee EDS file validity. If the installation test results have a green check mark, click Next.



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Change Graphic Image – You can change the graphic image that is associated with a device. To continue, click Next.



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Final Task Summary – This is a review of the task you want to complete. You would like to register the following device. To continue, click Next.

You have successfully completed the EDS Wizard. To continue, click Finish.



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9 Add a Siemens Drive to the Ethernet Network


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As an example, the following information will be using Telegram 352. In the Controller Organizer, expand I/O Configuration, right click on Ethernet and click New Module.

In the “Select Module Type” window, type T352 into the search bar. The results should show Siemens G Drive – T352. Another option would be to deselect Module Type Vendor Filters and scroll down to Siemens AG, select Siemens AG. Select Siemens G Drive – T352. Select Close on Create. To continue, click Create.



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Assign a Name for the New Module. Assign the IP Address. Click Change.

Select Disable Keying in the Electronic Keying Dropdown. Select the connections size data type as INT. Click OK.



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Change module definition? Click Yes.

Click OK.



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You have completed adding an Ethernet module to control a Siemens drive by using Telegram 352.

10 Import Add-On Instruction


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As an example, the following information will be using Telegram 352 to manually control a Siemens drive with a PanelView Plus terminal. Right click on Add-On Instruction and click Import Add-On Instruction.

Browse to the folder where the Add-On Instruction resides. Select AOI_Telegram_352_HMI.L5X for use with an HMI. Click Open.

Click OK.



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You have completed importing the Add-On Instruction.

11 Configure IP Address for a Rockwell Controller


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Connect the Ethernet cable directly to the controller. If the process is not connected to the plant Ethernet communications, connect the PC and the controller Ethernet cable to an ethernet switch.

Record the MAC address of the controller.

Launch BootP DHCP Tool.

Select the proper Ethernet adapter through which the PC is connected to the PLC. Click OK.



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Click OK.

Click OK.



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Click Add Relation.

The software will begin pinging the controller.



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Double click the MAC address. Assign the Client IP Address. Click OK.

Select the device. Click Enable BOOTP/DHCP.



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The device appears in the upper section.

Select the device in the lower section. Click Disable BOOTP/DHCP. The IP address has been successfully assigned to the controller. Close software.



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12 Configure RSLinx Communications for a Rockwell Controller


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Launch RSLinx Classic.

Click Communications. Click Configure Drivers.

Select Ethernet/IP Driver from the pulldown. Click Add New.



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Assign a name for the driver.

Select the appropriate IP address. Click Apply. Click OK.



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Click Close.

Click Communications. Click RSWho.



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Expand the newly created driver. The PC is communicating with the processor.

13 Insert a Rung for the Add-On Instruction


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As an example, the following information will be using Telegram 352. Click Add-On. Click AOI_Telegram_352_HMI.

Right click AOI_ Telegram_352_HMI.

Click New Tag.



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Assign Name. Click Create.



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Double click DriveStatus (data from the drive to the PLC). Click pulldown. Expand Drive_01:I (Drive_01 was the name assigned to the drive when it was added to the IO Configuration). Double click Drive_01:I.Data. Press Enter.



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Click pulldown for DriveControl (data from the PLC to the drive). Expand Drive_01:O (Drive_01 was the name assigned to the drive when it was added to the IO Configuration). Double click Drive_01:O.Data. Press Enter.

The next fields in the AOI can be assigned with an Integer value.

Reference_Speed_P2000 = p2000 (Reference speed reference frequency)

Reference_Current_P2002 = p2002 (Reference current)

Reference_Torque_P2003 = p2003 (Reference torque)

The units for actual speed is RPM. A conversion would be required to display the actual speed in a different unit.



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14 Controlling the Siemens Drive


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As an example, a Siemens drive will be replacing a Rockwell’s PowerFlex 525 drive.

Output structure for Rockwell’s PowerFlex 525 drive.

Output structure for a Siemens drive using Telegram 352.

To Run or Jog the Drive in the Forward direction:

DriveControl1_MainSetpoint (RPM): Enter a value from (–) Maximum speed to (+) Maximum speed

DriveControl0_DriveEnable = 1

DriveControl0_ReverseDirection = 0

DriveControl0_RunCommand = 1



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To Run or Jog the Drive in the Reverse Direction:

DriveControl1_MainSetpoint (RPM): Enter a value from (–) Maximum speed to (+) Maximum speed

DriveControl0_DriveEnable = 1

DriveControl0_ReverseDirection = 1

DriveControl0_ RunCommand = 1

To perform a Coast to Stop:

DriveControl0_CoastStop = 1

To perform a Quick Stop:

DriveControl0_QuickStop = 1

Acknowledge Fault:

DriveControl0_FaultAcknowledge = 1



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15 Download Project to the Rockwell Controller


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Click Communications. Click Who Active.

Click Set Project Path. Click Download.

Follow instructions before downloading. Click download.



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Click Yes.

16 Create a Rockwell’s FactoryTalk View Application


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16 Create a Rockwell’s FactoryTalk View Application

Click New. Assign Application name. Select Language from the pulldown. Select Resolution from the pulldown. Click Create.

17 Establish Communications Between the Rockwell Controller and the Rockwell PanelView Plus Terminal


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Expand FactoryTalk Linx. Double click Communication Setup.

FactoryTalk Linx Runtime Configuration Wizard: Select an operation about runtime configuration. Select create a new configuration. Click Finish.

Click Add. Assign shortcut name. Press Enter. Select the appropriate controller. Click Apply.



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Click Yes.

Click Copy from Design to Runtime.



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Click Yes.

Click OK.

18 Import Siemens Global Objects


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These steps only apply to Telegram 1, 20, and 352. Expand Graphics. Right click on Global Objects. Click Import and Export.

Select Import graphic information into displays. Click Next.



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Select No. Click Next.

Select Multiple displays batch import file. Click Next.



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Browse to the folder where the global object resides.

Select BatchImport_Global_Telegram 352. Click Open.



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Click Finish.

Exit Notepad.



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19 Import Siemens Display


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These steps only apply to Telegram 1, 20, and 352. Expand Graphics. Right click on Displays. Click Import and Export.

Select Import graphic information into displays. Click Next.



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Select Multiple displays batch import file. Click Next.



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Browse to the folder where the display resides.

Select BatchImport_Display_Telegram 352. Click Open.



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Click Finish.

Exit Notepad.



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20 Add GOTO Button to a Display


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When the operator presses the Goto Display button at run time, the graphic display assigned to the button opens. Expand Graphics. Expand Global Objects. Double click Telegram 352.

Right click on the motor icon. Click Copy.



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Expand Graphics. Expand Displays. Select desired display. Right click on the display. Click Paste.

Right click on the icon. Click Global Object Parameter Values.



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Click Tag.



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Select Refresh All Folders. Expand device shortcut. Expand Online. Select the appropriate controller tag. Click OK.

Click OK.



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You have completed adding a GOTO button for Siemens Telegram 352.

21 Alarms and Warnings


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Expand Alarms. Right click on Alarm Setup. Click Import and Export.

Select Import alarm configuration into application. Click Next.



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Click Browse.



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Browse to the appropriate folder. Select Alarm Setup. Click Open.



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Click Finish.

Exit Notepad.

22 Edit Tags for Alarm Setup


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Double click Alarm Setup

Based on the controller tag name for the Add-On instruction, the triggers for the alarms may need to be Edited. Select the appropriate tag. Click Edit.

Click Tag.



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Select the appropriate tag. Click OK.

Click OK.

Repeat these steps for WarnCode.

23 Test Application


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23 Test Application

Click Application. Click Test Application.

Click Motor.

If DriveControl0_DriveEnable is energized from the external code, the Drive Enable Override button will be invisible. Click Manual.

Enter Speed Setpoint (RPM). Click Start.

23 Test Application


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The motor ramps to 250 RPM’s in the Forward direction based on the Acceleration rate.

Click Forward. The motor ramps to -250 RPM’s in the Reverse direction based on the Deceleration rate.

23 Test Application


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Click Stop. The drive performs a Stop based on the Deceleration rate.

Click Reverse. Click Start. The motor ramps to 250 RPM’s in the Forward direction based on the Acceleration rate.

23 Test Application


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Click Auto. The drive performs a Stop based on the Deceleration rate.

Click Manual. Click Start. The motor ramps to 250 RPM’s in the Forward direction based on the Acceleration rate.

23 Test Application


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Click Close. The drive performs a Stop based on the Deceleration rate. The display closes and goes to the display where the motor is located.

Click motor. Click Manual. Click Start. The motor ramps to 250 RPM’s in the Forward direction based on the Acceleration rate.

23 Test Application


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Remove the Ethernet cable from the PanelView Plus terminal. The drive performs a Stop based on the Deceleration rate.

23 Test Application


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Click Status. Status Word: Data from the drive to the PLC. Control Word: Data from the PLC to the drive.

Click Faults. Click Acknowledge Faults to reset all active alarms. A warning is cleared when the drives Run Command is activated. If active, a Fault Code or Warning Code with appropriate description will be displayed.

23 Test Application


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24 Transfer Utility


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24 Transfer Utility

Click Application. Click Create Runtime Application.

Create Runtime Application: Save the file to the desired folder. Enter file name. Select type from the pulldown. Click Always Allow Conversion. Click Save.

24 Transfer Utility


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Click Tools. Click Transfer Utility.

24 Transfer Utility


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Click Download. Browse to select source file. Select destination storage from the pulldown. Select Run Application at Startup. Select Replace Communications and Delete Log files when application runs. Select the appropriate PanelView terminal. Click Download.

Click OK.

24 Transfer Utility


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Click Exit.

25 Firmware Upgrade Wizard


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Click Tools. Click Firmware Upgrade Wizard.

Select the type of firmware upgrade to perform: Click Upgrade firmware on terminal. Click Next.



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Click Yes.

Select the type of connection to the terminal: Click Network connection. Click Next.



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Select the appropriate PanelView Plus terminal. Click Next.



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Firmware source folder: Leave as default. Upgrade firmware version: Select the appropriate version from the pulldown. Click Next.

Select all the KEPServer drivers to be included in the firmware. Click Next.



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Click Finish.

26 Appendix


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26 Appendix

26.1 Application Support

Siemens AG Digital Industries Factory Automation Production Machines DI FA PMA APC Frauenauracher Str. 80 D-91056 Erlangen, Germany

mailto: [email protected]

26.2 Links and Literature

Table 26-1

No. Topic

\1\ Siemens Industry Online Support

https://support.industry.siemens.com

\2\ Link to this entry page of this application example

https://support.industry.siemens.com/cs/ww/en/109477746

\3\ Startdrive for commissioning G120


\4\ Starter software for commissioning G120


26.3 History

Table 26-2

Version Date Modification

V1.0 03/2020 First Version

V2.0 09/2020 Second Version

V2.0.1 10/2020 Manual optimized, no functional adaptions

mailto:[email protected]

https://support.industry.siemens.com/

https://support.industry.siemens.com/cs/ww/en/109477746



Documents

Integrating Siemens Drive into Rockwell Automations Studio