Siemens SINAMICS G120, SINAMICS G110M, SINAMICS G Series User Manual
SINAMICS G: Control of a G120 or G110M with an Allen-Bradley controller (Compact/ ControlLogix) via EtherNet/IP
SINAMICS G120, G110M
https://support.industry.siemens.com/cs/ww/en/view/82843076
Siemens
Industry
Online
Support
Legal information
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
2
Siemens AG
2015 All rights reserved
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 nonbinding 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.
Disclaimer of liability
Siemens shall not assume any liability, for any legal reason whatsoever, including, without
limitation, liability for the usability, availability, completeness and freedom from defects of the
application examples as well as for related information, configuration and performance data and
any damage caused thereby. This shall not apply in cases of mandatory liability, for example
under the German Product Liability Act, or in cases of intent, gross negligence, or culpable loss of
life, bodily injury or damage to health, non-compliance with a guarantee, fraudulent
non-disclosure of a defect, or culpable breach of material contractual obligations. Claims for
damages arising from a breach of material contractual obligations shall however be limited to the
foreseeable damage typical of the type of agreement, unless liability arises from intent or gross
negligence or is based on loss of life, bodily injury or damage to health. The foregoing provisions
do not imply any change in the burden of proof to your detriment. You shall indemnify Siemens
against existing or future claims of third parties in this connection except where Siemens is
mandatorily liable.
By using the application examples you acknowledge that Siemens cannot be held liable for any
damage beyond the liability provisions described.
Other information
Siemens reserves the right to make changes to the application examples at any time without
notice. In case of discrepancies between the suggestions in the application examples and other
Siemens publications such as catalogs, the content of the other documentation shall have
precedence.
The Siemens terms of use (https://support.industry.siemens.com) shall also apply.
Security information
Siemens provides products and solutions with industrial security functions that support the secure
operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is necessary
to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept.
Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems, machines
and networks. Such systems, machines and components should only be connected to an
enterprise network or the Internet if and to the extent such a connection is necessary and only
when appropriate security measures (e.g. firewalls and/or network segmentation) are in place.
For additional information on industrial security measures that may be implemented, please visit
https://www.siemens.com/industrialsecurity.
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the latest updates may increase customer’s exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed
at: https://www.siemens.com/industrialsecurity.
Table of contents
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
3
Siemens AG
2015 All rights reserved
Table of contents
Legal information ......................................................................................................... 2
1 Introduction ........................................................................................................ 5
1.1 EtherNet/IP Overview ........................................................................... 5
1.2 SINAMICS G series Connectivity to EtherNet/IP ................................. 5
2 Solution Overview ............................................................................................. 6
2.1 Solution Overview ................................................................................ 6
2.2 Used Components ................................................................................ 6
3 Programming Overview .................................................................................... 7
3.1 Configuration Choices .......................................................................... 7
3.2 AOI’s for SINAMICS G Series drives ................................................... 8
3.3 AOI Types ............................................................................................ 8
4 SINAMICS G120 Add-On Instructions ............................................................. 9
4.1 Function Description ............................................................................. 9
4.2 Telegram Descriptions ......................................................................... 9
4.2.1 Telegram Type 1 for Simple Speed ...................................................... 9
4.2.2 Telegram Type 352 for Simple Speed .................................................. 9
4.2.3 Telegram Type 111 for EPOS mode .................................................. 10
4.3 Basic Speed Control –Telegram 1 ..................................................... 11
4.3.1 Functionality ....................................................................................... 11
4.3.2 Schematic Ladder Representation ..................................................... 11
4.3.3 Input and Output Parameters ............................................................. 11
4.4 Speed Control –Telegram 352 ........................................................... 12
4.4.1 Functionality ....................................................................................... 12
4.4.2 Schematic Ladder Representation ..................................................... 13
4.4.3 Input and Output parameters ............................................................. 13
4.5 EPOS Control ..................................................................................... 15
4.5.1 Functionality ....................................................................................... 15
4.5.2 Schematic Ladder Representation ..................................................... 15
4.5.3 Input and Output parameters ............................................................. 16
4.6 UDTs .................................................................................................. 18
5 Drive Configuration ......................................................................................... 19
5.1 Configuring IP Address of CU ............................................................ 19
5.2 Using a Freely Configurable Telegram ............................................... 23
5.2.1 Example of "Free telegram" commissioning ...................................... 24
6 Configuring a Generic Ethernet Module........................................................ 25
6.1 Adding a new module in RSLogix ...................................................... 25
6.1.1 Inserting the module in an RSLogix project ....................................... 25
6.1.2 Configuring network parameters ........................................................ 26
6.1.3 Connection Parameters...................................................................... 27
6.1.4 Using IO Data ..................................................................................... 27
7 Using AIOs in a new application .................................................................... 28
7.1 Importing AIOs ................................................................................... 28
7.1.1 Installing L5K Files in RSLogix ........................................................... 28
7.2 Using the AOI ..................................................................................... 29
7.2.1 Adding AOI to an RSLogix Program .................................................. 29
7.2.2 I/O Interface ........................................................................................ 30
8 Drive Parameter Access.................................................................................. 31
8.1 Explicit Messaging .............................................................................. 31
Table of contents
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
4
Siemens AG
2015 All rights reserved
8.2 Using the MSG Instruction ................................................................. 32
9 Troubleshooting .............................................................................................. 37
9.1 I can’t go online with the drive in Starter using the Ethernet
cable. .................................................................................................. 37
9.2 The drive and the PLC are not communicating .................................. 37
10 Glossary ........................................................................................................... 40
11 Appendix .......................................................................................................... 41
11.1 Service and support ........................................................................... 41
11.2 Change documentation ...................................................................... 42
1 Introduction
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
5
Siemens AG
2015 All rights reserved
1 Introduction
1.1 EtherNet/IP Overview
Industrial Ethernet communication networks continue to gain global importance in
automation solutions. Industrial Ethernet connectivity down to device level
components (i.e. drives, I/O, etc.) is an end user requirement that demands
openness and flexibility. To capitalize on the flexibility to connect to different
Industrial Ethernet protocols the SINAMICS G120 can seamlessly be applied in
PROFINET and EtherNet/IP networks.
1.2 SINAMICS G series Connectivity to EtherNet/IP
The SINAMICS drive family offers both PROFINET and EtherNet/IP software
stacks for the SINAMICS G series which is easily selected via a parameter setting
in the standard SINAMICS firmware.
The network IP address of the SINAMICS G drive can be set through the
STARTER software. With STARTER software installed on your computer you can
connect to the 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 conformance
testing and participated in the EtherNet/IP PlugFest. Siemens is a member of
ODVA with Vendor ID # 1251.
Figure 1-1
2 Solution Overview
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
6
Siemens AG
2015 All rights reserved
2 Solution Overview
2.1 Solution Overview
Figure 2-1
2.2 Used Components
The application was generated with the following components:
Hardware Components
Component
No.
PROFINET versions of G120 with Firmware version 4.10.1
1
Rockwell Automation Logix family controller Firmware version
20
1
Software components
Component
No.
STARTER Version 5.1.1 or later
1
RS Logix 5000 Version 20 or later
1
NOTE
RSLogix 5000 Version 19 can be used when not using the EDS file
3 Programming Overview
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
7
Siemens AG
2015 All rights reserved
3 Programming Overview
3.1 Configuration Choices
There are two main ways to configure a SINAMICS G drive to communicate over
EtherNet/IP. The approach described in this note uses Add On Instructions with a
Generic Ethernet Module. This approach requires version 19 or higher for RSLogix
5000.
Alternatively, the drive can be set up for ODVA type configuration. This allows the
user to import a ODVA G120 EDS file to use the drive as an ODVA AC drive
object. This approach requires version 20 or higher for RSLogix 5000. A newer
option is an EDS file that works with Telegram 352 and setting P8990 to 0
(SINAMICS). This EDS path is discussed in a separate application note.
https://support.industry.siemens.com/cs/ww/en/view/109761721
Refer to the diagram below for a general overview of the steps to configure
depending on method.
Figure 3-1
3 Programming Overview
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
8
Siemens AG
2015 All rights reserved
3.2 AOI’s for SINAMICS G Series drives
Add On Instructions have been designed for the RSLogix programming that mimic
standard telegrams used in SINAMICS G configurations. For most standard
applications the use of the AOI’s can greatly reduce the engineering time needed
to configure a system. The SINAMICS G series drives can also be freely
configured using the free telegram structure, dependent on application needs.
Figure 3-2
3.3 AOI Types
There are presently three Add On Instruction blocks that can be used for standard
telegrams T1, T352, and T111.
Table 3-1
Name
Standard Telegram #
Length
Simple Speed
Telegram 1
2 words in / 2 words out
Vector Speed
Telegram 352
6 words in / 6 words out
EPOS Control
Telegram 111
12 words in / 12 words out
Siemens AG Copyright 2015 All rights reserved
4 SINAMICS G120 Add-On Instructions
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
9
Siemens AG
2015 All rights reserved
4 SINAMICS G120 Add-On Instructions
4.1 Function Description
The drive control function block (AOI) described in this section is intended to
provide SINAMICS G series drive users with a quick and effective way to integrate
into an automation system where a Logix family controller is the primary control.
The AOI can also be used as a starting point since the user is free to customize it
to fit their specific application. The canned AOIs in this application guide have been
designed to seamlessly integrate with the PROFIdrive telegrams T1, T352, and
T111, commonly used for controlling SINAMICS G drives.
4.2 Telegram Descriptions
4.2.1 Telegram Type 1 for Simple Speed
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. For additional information on this
telegram and the details of its function, refer to the SINAMICS G120 Operating
Instructions Manual and List Manual.
Table 4-1 Telegram 1
WORD
INPUT
OUTPUT
1
Control Word 1
Status Word 1
2
Speed Setpoint value
Actual Speed value
4.2.2 Telegram Type 352 for Simple Speed
This telegram is a standard PROFIdrive telegram of 6 words in length. It is similar
to Telegram1 but with added functionality. There are 4 freely configurable words
available for control of the drive. These could be a separate control word or analog
values such as torque limitation or additional speed setpoint. Status to the PLC
contains a standard Status word, Speed, Current, Torque, Fault or Warning
number. For additional information on this telegram refer to the SINAMICS G120
Operating Instructions and List Manual.
Table 4-2: Telegram 352
WORD
INPUT
OUTPUT
1
Control Word 1
Status Word 1
2
Speed Setpoint Value
Actual Speed Value
3
User-Defined
ABS_Current
4
User-Defined
Torque
5
User-Defined
Warn_Code
6
User-Defined
Fault_Code
4 SINAMICS G120 Add-On Instructions
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
10
Siemens AG
2015 All rights reserved
4.2.3 Telegram Type 111 for EPOS mode
Telegram 111 is a standard PROFIdrive telegram for a positioning drive. It allows
sequence and control of the drive functions in addition to control of the positioning
function EPOS. 12 Words of data are exchanged with the drive where the 12th
word is reserved as a user selectable value. For detailed information on this
telegram refer to the SINAMICS List and Operating Instruction manuals for G120
CU250S-2 and CU250D-2. A license for EPOS is needed for CU250S-2; see the
link below for ordering an EPOS license.
https://support.industry.siemens.com/cs/ae/en/view/109755273
Table 4-3: SIEMENS telegram 111
WORD
Input
Output
1
Control Word 1
Status Word 1
2
Pos Control Word 1
Pos Status Word 1
3
Pos Control Word 2
Pos Status Word 2
4
Control Word 2
Status Word 2
5
Velocity Override
MELDW (Extended) Control
Word
6-7
MDI Position Setpoint
Position Actual Value
8-9
MDI Velocity Setpoint
Velocity Actual Value
10
MDI Percent Acceleration
Active Fault Number
11
MDI Percent Deceleration
Active Warning Number
12
User Selectable
User Selectable
Siemens AG Copyright 2015 All rights reserved
4 SINAMICS G120 Add-On Instructions
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
11
Siemens AG
2015 All rights reserved
4.3 Basic Speed Control –Telegram 1
4.3.1 Functionality
The G120 Simple Speed Block provides an interface for basic speed control of a
SINAMICS drive via EtherNet/IP. The drive is configured for control using Standard
Telegram Type 1 which presets the drive speed reference and control word to be
sourced from the communication interface.
4.3.2 Schematic Ladder Representation
Figure 4-1 G120 Simple Speed Block
4.3.3 Input and Output Parameters
Table 4-4 Input parameters
Variable Name
Data Type
Description
G120_Speed_Block
Instance Data
ON_OFF1
BOOL
Drive Enable (ON/OFF1)
1 = Enable Drive
2 = Ramp down and disable drive
OFF2
BOOL
Coast Stop Command
0 = Off2 (Immediate disable)
1 = No OFF2 command
OFF3
BOOL
Fast Stop command
0 = OFF3 Fast ramp and disable drive
1 = No OFF3 command
RUN_SET_POINT
BOOL
Speed setpoint enable
0 = Setpoint disabled
1 = Setpoint enabled
FAULT_RESET
BOOL
Reset active drive faults
0 = No fault reset
1 = Reset fault(s) on rising edge
RPM_SET_SPEED
REAL
Speed setpoint in [rpm]
MAX_SPEED
REAL
Speed at 100% setpoint
Must be the same p2000 ( of the drive)
4 SINAMICS G120 Add-On Instructions
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
12
Siemens AG
2015 All rights reserved
Table 4-5 In/Out parameters
Variable Name
Data Type
Description
DRV_CONTROL
ARRAY
Array of 2 integers referenced to the two
outputs words of the drive telegram.
DRV_STATUS
ARRAY
Array of 2 integers referenced to the two
input words of the drive telegram.
Table 4-6 Output parameters
Variable Name
Data Type
Description
RTS
BOOL
Ready to Start
RDY_OP
BOOL
Ready for Operation
FAULTED
BOOL
Fault is Active
ENABLED
BOOL
Pulses are Enabled
RPM_ACTUAL
REAL
Actual Speed in RPM
4.4 Speed Control –Telegram 352
4.4.1 Functionality
The Vector_Speed_352 Speed Block provides an interface for speed control via
EtherNet/IP. The Drive is configured for control using Standard Telegram Type 352
which presets the drive speed reference and control word to be sourced from the
communication interface. In addition there are four separate user defined control
words/setpoints available, as well as feedback for Current, Torque, Warning and
Fault values.
4 SINAMICS G120 Add-On Instructions
SINAMICS G: Control of a G120 with an Allen-Bradley controller
(Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
Entry-ID: 82843076, V4.0, 09/2018
13
Siemens AG
2015 All rights reserved
4.4.2 Schematic Ladder Representation
Figure 4-2 Vector Speed T352
4.4.3 Input and Output parameters
Table 4-7 Input parameters
Vector_Speed_T352
Instance Data
ON_OFF1
BOOL
Drive Enable (ON/OFF1)
1 = Enable Drive
2 = Ramp down and disable drive
OFF2
BOOL
Coast Stop Command
0 = Off2 (Immediate disable)
1 = No OFF2 command
OFF3
BOOL
Fast Stop command
0 = OFF3 Fast ramp and disable drive
1 = No OFF3 command
RUN_SET_POINT
BOOL
Speed setpoint enable
0 = Setpoint disabled
1 = Setpoint enabled
FAULT_RESET
BOOL
Reset active drive faults
0 = No fault reset
1 = Reset fault(s) on rising edge
RPM_SET_SPEED
REAL
Speed setpoint in [rpm]
Loading...