S7 FC2 SERVOLINK 4 Single Protocol - SIEB & MEYER · S7 FC2 SERVOLINK 4 Single Protocol ... < SIMATIC STEP 7 starting form version 4.02 < SIMATIC S7 300(/400) starting from CPU 315-2DP

Drive System FC2S7 FC2 SERVOLINK 4 Single ProtocolDescription of Profibus to support the SERVOLINK 4 protocol for oneaxis

P-TD-0000187.12010-10-25

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2 Drive System FC2 - S7 FC2 SERVOLINK 4 Single Protocol

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Description of the Program S7FC2Sgl 1

Program Content 2

Program Control 3

Symbols 4

Hardware Configuration in PLC 5

Programming the SERVOLINK 4 gateway 6

Hardware Description 7

Error Detection 8

SERVOLINK 4 gateway Test Assembly 9

Related Documents 10

W Chapter Overview

Drive System FC2 - S7 FC2 SERVOLINK 4 Single Protocol 3

Chapter Overview W


1 Description of the Program S7FC2Sgl .............................. 71.1 Installation ................................................................................................... 7

2 Program Content ............................................................... 92.1 Organization block ...................................................................................... 92.2 Function Blocks ........................................................................................... 92.3 Global Data Blocks ..................................................................................... 92.4 Instance Data Blocks .................................................................................. 92.5 User-defined Data Types ............................................................................ 92.6 Inputs ........................................................................................................ 102.7 S7 System Functions and S7 System Function Blocks ............................ 10

3 Program Control .............................................................. 113.1 Organization Block .................................................................................... 113.1.1 Organization block OB_MAINPROG ..................................................................... 113.1.2 Programming the Application Program ................................................................. 113.1.3 Principle PLC Sequence ....................................................................................... 123.2 Function Blocks ......................................................................................... 133.2.1 Function block FB_READDATA ............................................................................ 133.2.1.1 General Description .............................................................................................. 133.2.1.2 Calling the Function Block ..................................................................................... 133.2.1.3 Inputs and Outputs ................................................................................................ 133.2.2 Function block FB_WRITEDATA .......................................................................... 133.2.2.1 General Description .............................................................................................. 133.2.2.2 Calling the Function Block ..................................................................................... 133.2.2.3 Inputs and Outputs ................................................................................................ 143.2.3 Function blockFB_INITAXIS .................................................................................. 143.2.3.1 General Description .............................................................................................. 143.2.3.2 Calling the Function Block ..................................................................................... 143.2.3.3 Inputs and Outputs ................................................................................................ 143.2.4 Function blockFB_SWAP_DINT ............................................................................ 143.2.4.1 General Description .............................................................................................. 143.2.4.2 Calling the Function Block ..................................................................................... 153.2.4.3 Inputs and Outputs ................................................................................................ 153.2.5 Function blockFB_SWAP_INT .............................................................................. 153.2.5.1 General Description .............................................................................................. 153.2.5.2 Calling the Function Block ..................................................................................... 153.2.5.3 Inputs and Outputs ................................................................................................ 153.3 Global Data Blocks ................................................................................... 153.3.1 Data Block DB_ERRORCODE .............................................................................. 153.3.2 Data Block DB_GLOBALDATA ............................................................................. 163.4 Instance Data Blocks ................................................................................ 163.5 User-defined Data Types .......................................................................... 163.5.1 User-defined Data Type AXIS_DATA_IN .............................................................. 163.5.2 User-defined Data Type AXIS_DATA_OUT .......................................................... 173.5.3 User-defined Data Type AXIS_DATA ................................................................... 183.6 System Functions and Blocks ................................................................... 18

4 Symbols .......................................................................... 194.1 Symbol Table ............................................................................................ 19

5 Hardware Configuration in PLC ...................................... 21

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5.1 GSD File ................................................................................................... 215.2 Settings in the Hardware Configuration .................................................... 215.3 Defining the Addresses in the Modules .................................................... 22

6 Programming the SERVOLINK 4 gateway ...................... 23

7 Hardware Description ...................................................... 257.1 Connecting of the Gateway ....................................................................... 25

8 Error Detection ................................................................ 278.1 Errors in S7 PLC ....................................................................................... 278.2 Error in Drive Control FC2 ........................................................................ 27

9 SERVOLINK 4 gateway Test Assembly .......................... 299.1 Front Panel Check of SIMATIC CPU ........................................................ 299.1.1 LED Display .......................................................................................................... 299.2 Drive Check .............................................................................................. 299.3 Motor Control ............................................................................................ 29

10 Related Documents ......................................................... 31

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1 Description of the ProgramS7FC2SglThe program S7FC2Sgl makes it possible to connect the FC2 modules bySIEB & MEYER to a SIMATIC S7 CPU with Profibus interface via a SERVOLINK 4gateway. The program has been created using the engineering tool S7-SCL V5.1. Alldata blocks necessary for the communication are involved in the program. In additionthe program provides three system blocks of the S7, which are used during the proc‐ess.

In order to use the program for the communication between the S7 and the FC2 devi‐ces by SIEB & MEYER, you need the following hardware and software components:< SIMATIC STEP 7 starting form version 4.02< SIMATIC S7 300(/400) starting from CPU 315-2DP< SIEB & MEYER SERVOLINK 4 gateway< SIEB & MEYER FC2

The used communication protocol is based on the custom-designed drive profileDS402 by CANopen.

1.1 Installation✦ At first create a directory for the application program.

Example: D:\Data\Siemens\SM_AG\S7Prog✦ Copy the ZIP file of the program (e.g."S7FC2Sgl_V100.zip") into the created direc‐

tory.✦ Unpack the ZIP file.✦ Start the SIMATIC Manager.✦ Select the menu "File ÿ Open".✦ Click the button "Browse" to select the created directory and open the project

"S7FC2Sgl".

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2 Program ContentThe program S7FC2Sgl contains the following objects as SCL sources. As SCL sour‐ces they can be compiled to function and data blocks with the desired block numbervia the symbol table.

2.1 Organization blockSymbolic name Description

OB_MAINPROG Example main program

2.2 Function BlocksSymbolic name Description

FB_INITAXIS Initializing the bus data

FB_READDATA Analyzing the bus data towards the axis structure

FB_WRITEDATA Compiling the bus data from axis structure

FB_SWAP_DINT Swapping the bytes of a LongInteger value

FB_SWAP_INT Swapping the bytes of an Integer value

2.3 Global Data BlocksSymbolic name Description

DB_ERRORCODE Error codes

DB_GLOBALDATA Global used variables

2.4 Instance Data BlocksSymbolic name Description

DB_INITAXIS Data block for data initializing of axis 0

DB_READDATA Data block for read function

DB_WRITEDATA Data block for write function

DB_SWAP_DINT Data block for DINT swap function

DB_SWAP_INT Data block for INT swap function

2.5 User-defined Data TypesSymbolic name Description

AXIS_DATA_IN Data structure of the received data from Profibus

AXIS_DATA_OUT Data structure of the transmitted data to Profibus

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Symbolic name Description

AXIS_DATA Data structure of the axis data

2.6 InputsVia the inputs the connected axes can be controlled.Variable Address Meaning

IN_REGON IX0.0 Switch on

IN_START IX0.1 Enable speed

IN_QCKSTP IX0.2 Quick stop

IN_RESET IX0.7 Error reset

IN_SPEED IB4 Speed setting [rpm] (value = 0..9)Axis 0: value × 100

2.7 S7 System Functions and S7 System FunctionBlocksFunction block Symbolic name Description

SFC14 DPRD_DAT Read DP slaves

SFC15 DPWR_DAT Write DP slave

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3 Program ControlThis chapter provides information on the individual blocks and their functions.

3.1 Organization Block

3.1.1 Organization block OB_MAINPROGThe program is controlled via the organization block OB_MAINPROG. This block givesan example in which way the information is transmitted. The data from the bus areread, allocated to the axes, processed and written to the bus again. The individual pro‐gram steps are processed by the function blocks.

Please note that the data from the Profibus module first must be copied into the axisstructure via the SFC14. Using the function block FB_READDATA the data is then an‐alyzed in the axis structure. After analyzing is complete the data is processed using thefunction block FB_WRITEDATA and the adjacent inputs. Then the data is transferredto the axis structure and copied into the Profibus module via the SFC15. Before theproper sequential control comes into operation, the data must be initialized ones whenthe program is started or after a fault.

3.1.2 Programming the Application ProgramAt the beginning of the program cycle the data area of the Profibus must be read usingthe system function SFC14, DPRD_DAT,. Afterwards the data must be assigned to thedifferent axes via the function block FB_READDATA. This function must be called oncefor each FC2 module.

In order to align the data between the module status and the PLC status, the functionblock FB_INITAXIS should be called for each FC2 module once when starting the PLCand after a fault..

Afterwards the data can be processed and the new parameters and control commandscan be generated using the function block FB_WRITEDATA.

At the end of the program cycle the data must be written into the data area of the Profi‐bus via the system function SFC15, DPWR_DAT,. This function must be called oncefor each FC2 DP slave.

The cycle starts again: load → process → output.

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3.1.3 Principle PLC Sequence

Fig. 1: Program sequence

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3.2 Function Blocks

3.2.1 Function block FB_READDATA

3.2.1.1 General DescriptionThe function block FB_READDATA processes the data of the FC2 DP slave. The dataof the FC2 device is filtered by the function block so that individual information blocksare created. The information is deposited in the axis structure. Thus it is globally avail‐able in the whole application program. In order to process the data, parameters mustbe passed to the function block (FB). At the output of the block an error informationand the actual values are upcoming.

This function block must be called for each FC2 device, e.g. at the beginning of eachPLC cycle.

3.2.1.2 Calling the Function BlockFB_READDATA.DB_READDATA

(Axis := DB_GLOBALDATA.SD_Axis[0]);

3.2.1.3 Inputs and Outputs

Parameter In / Out Type Description

Axis in_out AXIS_DATA Data structure of the axis

ErrorID out WORD Error code

Act_Position out DINT Actual position

Act_Velocity out REAL actual velocity

Act_Current out REAL actual current

3.2.2 Function block FB_WRITEDATA

3.2.2.1 General DescriptionFB_WRITEDATAThe function block WR_DNC compiles a reference value telegramfrom the data in the axis structure and the parameter values and writes the new param‐eters and control bits into the axis structure. In order to write into a DP slave, parame‐ters must be passed to the function block (FB). At the output of the block an error infor‐mation is upcoming.

This function block must be called for each FC2 device, e.g. at the end of each PLCcycle.

3.2.2.2 Calling the Function BlockFB_WRITEDATA.DB_WRITEDATA

(Fault_Reset := IX0.7, Regulator_On := IX0.0, Start := IX0.1, QuickStop := IX0.2,

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Velocity := INT_TO_REAL (WORD_TO_INT (BYTE_TO_WORD (IB4))) * 100.0,

Current := 1.0, Axis := DB_GLOBALDATA.SD_Axis[0]);




FAULT_RESET in BOOL Reset of the axis error

Regulator_On in BOOL Switching on the output stage

Start in BOOL Enable movements

QuickStop in BOOL Quick stop

Velocity in INT Speed setting

Current in INT Preset maximum current value

ErrorID out WORD Error code

3.2.3 Function blockFB_INITAXIS

3.2.3.1 General DescriptionUsing the function block FB_INITAXIS the command bits are initialized and depositedin the axis structure. The reference values are initialized with the value zero.

During initialization the service channel in the drive sets the number of spindles (object154) to the value 1 and the spindle selection (object 153) to 0.

3.2.3.2 Calling the Function BlockFB_INITAXISDB_INITAXIS(Axis := DB_GLOBALDATA.SD_Axis[0]);




3.2.4 Function blockFB_SWAP_DINT

3.2.4.1 General DescriptionUsing the function block FB_SWAP_DINT the byte order of a LongInteger value isswapped.

Byte order before: byte0, byte1, byte2, byte3

Byte order after: byte3, byte2, byte1, byte0

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3.2.4.2 Calling the Function BlockFB_SWAP_DINT.DB_FB_SWAP_DINT

(value := Axis.InData.Act_Position);



value in_out DINT Variable for swapping

3.2.5 Function blockFB_SWAP_INT

3.2.5.1 General DescriptionUsing the function block FB_SWAP_INT the byte order of an Integer value is swapped.

Byte order before: byte0, byte1

Byte order after: byte1, byte0

3.2.5.2 Calling the Function BlockFB_SWAP_INT.DB_FB_SWAP_INT (value := Axis.InData.Act_Velocity);


Parameters In / Out Type Description

value in_out INT Variable for swapping

3.3 Global Data Blocks

3.3.1 Data Block DB_ERRORCODEThe global data block DB_ERRORCODE contains the structure of the error codes thatare returned by the function block.

The error codes have the following meanings:Error code Value Meaning

ERR_None 0 no error

ERR_WrongState 1 The axis is in the wrong device status for the upcom‐ing command.

ERR_Parameter 2 Parameter error

ERR_SERVOLINK_Fault 6 SERVOLINK error

ERR_SERVOLINK_Slot 7 SERVOLINK slot error

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3.3.2 Data Block DB_GLOBALDATAThe global data block DB_GLOBALDATA contains the structure of the program-rele‐vant data that must be adapted to the particular project.

The following variables are used:Variable Type Initial value Meaning

DP_Base_Address WORD W#16#100 Base address Profibus

SD_Axis AXIS_DATA 0 ARRAY[0..9] of the axis structure

3.4 Instance Data BlocksA separate set of instance data blocks is required for each axis. Each instance datablock contains the input parameters, the output parameters, the in-out parameters andthe static variables of the respective function block.

3.5 User-defined Data TypesThe user-defined data types describe the data structure of each axis and the input andoutput data of the Profibus module.

The data can be accessed via the global variables.

The structure of AXIS_DATA is based on the standards by the PLCopen group.Thestructures of the bus parameters are based on the CANopen protocol. A description ofthe telegram structure is part of the FC2 device description.

3.5.1 User-defined Data Type AXIS_DATA_INThe user-defined data type AXIS_DATA_IN contains the data structure of the receiveddata of a module from the Profibus.

Name Type Meaning

Status word byte 0..1

ReadyToSwitchOn BOOL Ready to be switched on

SwitchedOn BOOL Switched on

OperationEnabled BOOL Operation is enabled

Fault BOOL Fault occurred

VoltageEnabled BOOL Voltage is enabled

QuickStop BOOL Quick stop

SwitchOnDisabled BOOL Switch on is disabled

Warning BOOL Warning

smres010 BOOL reserved

Remote BOOL Remote mode

TargetReached BOOL Reference value reached

InternalLimitActive BOOL Internal limit reached

OperationModeSpecific0 BOOL Dependent on the operating mode

OperationModeSpecific1 BOOL Dependent on the operating mode

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Name Type Meaning

ActualValueTelegramCode1 BOOL Code of actual value telegram

ActualValueTelegramCode0 BOOL Code of actual value telegram

Actual values byte 2..9

Act_Position DINT Actual position

Act_Velocity INT actual velocity

Act_Current INT actual current

Service channel byte 10..15

ServiceReturn DINT Return parameters / error code

res14 Byte reserved

ServiceDoneToggle BOOL Return toggle bit

ServiceFault BOOL Error

smres152 to smres157 6 * BOOL reserved

3.5.2 User-defined Data Type AXIS_DATA_OUTThe user-defined data type AXIS_DATA_OUT contains the data structure of the trans‐mission data of a module to the Profibus.

Name Type Meaning

Control word byte 0..1

SwitchOn BOOL Switch on power unit

EnableVoltage BOOL Enable voltage at the power unit

QuickStop BOOL Quick stop

EnableOperation BOOL Operation enable

Mode0 BOOL Operation mode bit 0



FaultReset BOOL Error reset

Hold BOOL Hold

res011 BOOL reserved

res012 BOOL reserved




ReferenceValueTelegramID0 BOOL Code of reference value telegram

ReferenceValueTelegramID1 BOOL Code of reference value telegram

Reference values byte 2..7

res02 INT reserved

Spt_Velocity INT reference speed

Spt_Current INT Maximum reference current

Byte 8

res08 Byte reserved

Service channel byte 9..15

ServiceValidToggle BOOL New service command

ServiceFunction0 BOOL Service function

ServiceFunction1 BOOL

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Name Type Meaning

ServiceByteIndex0 BOOL Number of bytes

ServiceByteIndex1 BOOL

smres095 to smres097 3 * BOOL reserved

ServiceIndex INT Object number

ServiceValue DINT Object value / array index

3.5.3 User-defined Data Type AXIS_DATAThe user-defined data type AXIS_DATA contains the data structure of the axis databased on the PLCopen standard.

Name Type Meaning

init_ok BOOL TRUE: all parameters are initialized

State_NotReadyToSwitchOn BOOL Module status that is made up of the statusbits 0 ... 3 and 5 ... 6 of the bus protocol.There is always only one module state set,the others are not set.

State_SwitchOnDisabled BOOL

State_ReadyToSwitchOn BOOL

State_SwitchedOn BOOL

State_OperationEnabled BOOL

State_QuickStopActive BOOL

State_FaultReactActive BOOL

State_Fault BOOL

InData AXIS_DATA_IN Data block (PB->PLC)

OutData AXIS_DATA_OUT Data block (PLC->PB)

3.6 System Functions and BlocksThe blocks of the S7 system functions are described in the according manuals by SIE‐MENS.

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4 SymbolsAll function and data blocks receive a block number during compiling. These blocknumbers can be assigned in the symbol table.

The blocks then can be called using their number (DB10 or FB10) or their symbolnames (DB_INITAXIS, FB_INITAXIS).

4.1 Symbol TableAs an example in the following you see an extract of the symbol table including the as‐signment of the block numbers. Individual instance blocks are assigned to each axis.

Symbol Address Data type Comment

DB_FB_SWAP_DINT DB2 FB2 Instance data block

DB_FB_SWAP_INT DB3 FB3 Instance data block

DB_INITAXIS DB10 FB10 Instance data block

DB_READDATA DB20 FB20 Instance data block

DB_WRITEDATA DB30 FB30 Instance data block

DB_ERRORCODE DB40 DB40 Global data block

DB_GLOBALDATA DB50 DB50 Global data block

FB_SWAP_DINT FB2 FB2 Function block

FB_SWAP_INT FB3 FB3 Function block

FB_INITAXIS FB10 FB10 Function block

FB_READDATA FB20 FB20 Function block

FB_WRITEDATA FB30 FB30 Function block

OB_MAINPROG OB1 OB1 Organization block

DPRD_DAT SFC14 SFC14 System function

DPWR_DAT SFC15 SFC15 System function

AXIS_DATA_IN UDT1 UDT1 User-defined data type

AXIS_DATA_OUT UDT2 UDT2 User-defined data type

AXIS_DATA UDT3 UDT3 User-defined data type

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5 Hardware Configuration in PLCThe SIEB & MEYER modules are addresses by the SERVOLINK 4 interface of theSERVOLINK 4 gateway. This converter is projected via the Profibus DP as DP slave inthe software SIEMENS Step 7 with inputs and outputs of 16 byte each according to thenumber of FC2 modules. Therefore the appropriate GSD file by SIEB & MEYER is re‐quired. Please refer to the SIMATIC documentation on how to integrate new GSD filesinto the programming environment.

5.1 GSD FileIn order to project the device on the PLC the GSD file SM_SLGW.GSD is required.

5.2 Settings in the Hardware ConfigurationAt first the object "SERVOLINK 4 gateway" is dragged to the Profibus DP master sys‐tem in the station window of the "HW Config".

Fig. 2: SIMATIC software "HW Config"

The inserted module is highlighted. By double-click the properties window is opened.There you can enter a module name and assign the Profibus address.

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Fig. 3: Dialog window "Properties - DP slave"

In the lower part of the station window the detailed view of the converter is indicated intable form.

According to the used drives the objects "DS402 Single Axis" or "DS402 Double Axis"are dragged into the detailed view of the "HW Config". By double-click you can open aproperties window again and define the addresses of the input and the output area.

Fig. 4: Dialog window "Properties - DP slave"

5.3 Defining the Addresses in the ModulesBesides defining the addresses in the PLC also the FC2 modules and the SERVO‐LINK 4 gateway must be set to the right address. Refer to the device documentationfor additional information.

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6 Programming the SERVOLINK 4gatewayCustomized programming is not required. The converter automatically detects thenumber of modules connected to it.

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7 Hardware DescriptionFor initial operation and use of the mentioned devices the according regulations, direc‐tives and standards must be taken into account. For further information refer to the ac‐cording product manuals.

A SERVOLINK 4 gateway is used to connect devices providing a SERVOLINK 4 inter‐face to the Profibus . This converter is a master for SERVOLINK 4 and a slave for Pro‐fibus DP.

Further information on this and the connector pin assignment is to be found in the man‐uals.

7.1 Connecting of the Gateway

Fig. 5: Gateway 0362151 connected to SPS/IPC and SIEB & MEYER drives

[*] Up to ten drives can be connected to the gateway.

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8 Error DetectionIn the following several errors regarding the conversion from Profibus to SERVOLINK 4and their detection are described.

8.1 Errors in S7 PLCPLC failure

The converter detects a bus error and sets the output data to the SERVOLINK 4 tozero. The drive FC2 switches off because the control word has the value zero.

PLC stops

S7 PLC sets the output data to zero. The converter forwards this data to the SERVO‐LINK 4. The drive FC2 switches off because the control word has the value zero.

System Function Block SFC 15

When the system function block SFC 15 is not called, the present data pattern is keptand sent again and again. The converter forwards this data to the SERVOLINK 4. Thedrive is not able to distinguish whether the same data shall be sent repeatedly or theblock can not be called.

8.2 Error in Drive Control FC2A failure of the drive FC2 causes that the SERVOLINK 4telegram is replied faulty ornot at all.

Thus the converter detects an error. The device distinguishes between a general errorin the SERVOLINK 4 and a slot error of an individual participant. If a general error isdetected, the output data to the field bus are set to zero. If a slot error is detected, theoutput data are set to 0FFh. The status in the PLC program can be set correspondinglyand the PLC program can be set to switch to an error routine.

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9 SERVOLINK 4 gateway TestAssemblyThe test assembly is done as shown in the hardware description. When the system isconnected and ready for operation you can start checking.

9.1 Front Panel Check of SIMATIC CPUThe front panel provides several LEDs that indicate the status of the CPU. The LEDindicating the power supply "DC5V" and the LED "RUN" must be on permanently. Thismakes sure that the PLC program is running.

In the event of an error the PLC switches to the stop mode. In order to fix the error youmust check that the converter is connected correctly. Check also whether the rightnumber of drives is connected.

9.1.1 LED DisplayThe meaning of each LED on the front panel of the SIMATIC CPU is described in thefollowing table.LED State Meaning

SF LED on Error in PLC

BATF LED on Battery error

BUSF LED on Bus error

DC5V LED on Power supply of 5 V present

FRCE LED on Output data of PLC is frozen.

RUN LED on PLC program is running.

Stop LED on PLC program has been stopped.

9.2 Drive CheckYou can check the received SERVOLINK 4 data using the bus monitor in the softwaredrivemaster2.

9.3 Motor ControlWhen a motor is connected to the drive, it can be controlled via the inputs of the PLC.< Via the input i0 the output stage is switched on.< Via the input i1 the operation is enabled and the motor can rotate.< Via the input i2 the quick stop function is activated.< Via the input i7 an axis error can be reset.

In the demo program you can preset the speed via the input area IB4 (value = 0...9).< For axis 0 the speed "value * 100 " is preset.

In the demo program the current setting has the fixed value 10 %.

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The speed and current settings are passed standardized using the maximum valuesthat are read from the drives during initialization.

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10 Related DocumentsThe following documents provide more information on this topic:Supplier Document name

SIEMENS Manuals regarding Step 7 programming

SIEB & MEYER AG Gateway_0362151.pdf

SIEB & MEYER AG drivemaster2_UserManual.pdf

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