Operating Instructions

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___________________ Preface Fundamental safety 1 ___________________ instructions SINAMICS SINAMICS G120, G120P, G120C, G120D, G110M Fieldbuses Function Manual 2 ___________________ General information Communication via 3 ___________________ PROFIBUS and PROFINET Communication via 4 ___________________ EtherNet/IP 5 ___________________ Communication via RS485 Communication over 6 ___________________ CANopen Communication via AS-i 7 ___________________ only for G110M A ___________________ Appendix Editi
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Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger.
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Preface About this manual This manual describes the settings and preconditions that are required to communicate with a higher-level control system with the subsequently listed fieldbus systems.
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Preface Fieldbuses 4 Function Manual, 04/2018, FW V4.
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Table of contents Preface ................................................................................................................................................... 3 1 2 Fundamental safety instructions .............................................................................................................. 9 1.1 General safety instructions ....................................................................................................... 9 1.
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Table of contents 4 5 3.6.5 The inverter with PROFINET interface as Ethernet node. ..................................................... 70 3.7 3.7.1 3.7.2 3.7.3 3.7.4 3.7.4.1 3.7.4.2 3.7.4.3 3.7.5 Communication via PROFIBUS ............................................................................................. 72 Inverters with PROFIBUS interface ....................................................................................... 73 What do you have to set for communication via PROFIBUS? ...
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Table of contents 6 7 5.4.7.1 5.4.7.2 5.4.8 5.4.9 Read parameter ....................................................................................................................141 Write parameter ....................................................................................................................142 Communication procedure ....................................................................................................144 Application example .......................................
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Table of contents 7.5.2 7.5.3 A Acyclic communication - standard ....................................................................................... 228 Acyclic communication - manufacturer-specific ................................................................... 228 Appendix .............................................................................................................................................231 A.1 Application examples for communication with STEP7..........................
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Fundamental safety instructions 1.1 1 General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. • Observe the safety instructions given in the hardware documentation. • Consider the residual risks for the risk evaluation.
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Fundamental safety instructions 1.3 Industrial security 1.3 Industrial security Note Industrial security 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.
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Fundamental safety instructions 1.3 Industrial security WARNING Unsafe operating states resulting from software manipulation Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. • Keep the software up to date. • Incorporate the automation and drive components into a holistic, state-of-the-art industrial security concept for the installation or machine.
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Fundamental safety instructions 1.3 Industrial security Fieldbuses 12 Function Manual, 04/2018, FW V4.
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General information 2 Communication with the control, even when the line voltage is switched off If, in your plant or system, communication with the control system should continue to function even when the line voltage is switched off, then you must externally supply the inverter/Control Unit with 24 V DC. To do this, use terminals 31 and 32 – or connector X01. You can find additional details in the operating instructions for the inverter or the Control Unit. Fieldbuses Function Manual, 04/2018, FW V4.
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General information 2.1 Ethernet and PROFINET protocols that are used 2.1 Ethernet and PROFINET protocols that are used The inverter supports the protocols listed in the following tables. The address parameters, the relevant communication layer as well as the communication role and the communication direction are specified for each protocol. You require this information to set the appropriate safety measures to protect the automation system, e.g. in the firewall.
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General information 2.1 Ethernet and PROFINET protocols that are used Table 2- 2 Ethernet/IP protocols Protocol Port number Layer Function/description (2) Link layer (4) Transport layer Implicit messaging 2222 (4) UDP Used for exchanging I/O data. This is inactive when delivered. Is activated when selecting EtherNet/IP. Explicit messaging 44818 (4) TCP (4) UDP Used for parameter access (writing, reading). Table 2- 3 This is inactive when delivered. Is activated when selecting EtherNet/IP.
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General information 2.1 Ethernet and PROFINET protocols that are used Fieldbuses 16 Function Manual, 04/2018, FW V4.
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Communication via PROFIBUS and PROFINET 3.1 3 PROFIDRIVE profile - Cyclic communication Depending on the Control Unit or inverter, there are different telegrams for communication via PROFIBUS DP or PROFINET IO. The structure of the individual telegrams are listed below. The Startdrive commissioning tool or an operator panel only list the telegrams for selection that are possible with your particular inverter. How to commission the inverter and select a telegram are described in the operating instructions.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Figure 3-2 32-bit speed setpoint Figure 3-3 32-bit speed setpoint with 1 position encoder Figure 3-4 32-bit speed setpoint with 2 position encoders Figure 3-5 16-bit speed setpoint for VIK-Namur Figure 3-6 16-bit speed setpoint with torque limiting Figure 3-7 16-bit speed setpoint for PCS7 Fieldbuses 18 Function Manual, 04/2018, FW V4.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Interconnection of the process data Figure 3-11 Interconnection of the send words Figure 3-12 Interconnection of the receive words The telegrams use - with the exception of telegram 999 (free interconnection) - the word-byword transfer of send and receive data (r2050/p2051). If you require an individual telegram for your application (e.g.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.1 Assigning control and status words Assigning control and status of words is specified in part by the definitions in the PROFIdrive profile, Version 4.2 for the "Closed-loop speed control" operating mode; the other part is assigned depending on the particular manufacturer. A more detailed description of the individual control and status words is provided in the following sections.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Control word 1 (STW1) Bit Significance Explanation Signal interconnection in the inverter 0 = OFF1 The motor brakes with the ramp-down time p1121 of the ramp-function generator. The inverter switches off the motor at standstill. p0840[0] = r2090.0 0 → 1 = ON The inverter goes into the "ready" state. If, in addition bit 3 = 1, then the inverter switches on the motor.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Bit Telegram 20 All other telegrams Signal interconnection in the inverter 14 ---1) 1 = MOP down Reduce the setpoint saved in the motorized potentiometer. p1036[0] = r2090.14 15 CDS bit 0 Reserved p0810 = r2090.15 1) Significance Explanation Changes over between settings for different operation interfaces (command data sets).
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Bit Significance Remarks Signal interconnection in the inverter 1 = Motor rotates clockwise Internal inverter actual value > 0 0 = Motor rotates counterclockwise Internal inverter actual value < 0 p2080[14] = r2197.3 Telegram 20 14 15 1) All other telegrams 1 = CDS display 0 = Alarm, inverter thermal overload p2080[15] = r0836.0 / r2135.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.1.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.1.3 Control and status word 3 Control word 3 is preassigned as follows: ● Bits 0 … 15 manufacturer-specific Status word 3 is preassigned as follows: ● Bits 0 … 15 manufacturer-specific Control word 3 (STW3) Bit Meaning Explanation Signal interconnection in the inverter 1) Selects up to 16 different fixed setpoints. p1020[0] = r2093.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.2 NAMUR message word Fault word according to the VIK-NAMUR definition (MELD_NAMUR) Table 3- 1 Fault word according to the VIK-NAMUR definition and interconnection with parameters in the inverter Bit Significance P no. 0 1 = Control Unit signals a fault 1 1 = line fault: Phase failure or inadmissible voltage p2051[5] = r3113 2 1 = DC link overvoltage 3 1 = Power Module fault, e.g.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.3 Control and status word, encoder Telegrams 3 and 4 allow the higher-level control system to directly access the encoder. Direct access is necessary, if the higher-level control is responsible for the closed-loop position control for the drive. If you enable the "Basic positioner" position control in the inverter, then telegrams 3 and 4 cannot be selected, and the inverter handles the encoder control.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.4 Position actual value of the encoder G1_XIST1 and G2_XIST1 In the factory setting, the inverter transfers the encoder position actual value with a fine resolution of 11 bits to the higher-level control system. Figure 3-13 G1_XIST1 and G2_XIST1 The transferred encoder signal has the following properties: ● After the inverter power supply has been switched on, the encoder signal = 0.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication The inverter transfers the position values in the same format (encoder pulse number and fine resolution) the same as G1_XIST1 and G2_XIST1. Table 3- 2 Fault code No. Explanation Possible cause 1 Encoder fault One or more encoder faults. 2 Zero-mark monitoring --- 3 Encoder parking canceled Parking was already requested. 4 Search for reference canceled • Observe the inverter message.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.5 Extend telegrams and change signal interconnection Overview When you have selected a telegram, the inverter interconnects the corresponding signals with the fieldbus interface. Generally, these interconnections are locked so that they cannot be changed. However, with the appropriate setting in the inverter, the telegram can be extended or even freely interconnected. Extending the telegram Procedure 1.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.6 Data structure of the parameter channel Structure of the parameter channel The parameter channel consists of four words. The 1st and 2nd words transfer the parameter number, index and the type of task (read or write). The 3rd and 4th words contain the parameter content. The parameter contents can be 16-bit values (such as baud rate) or 32-bit values (e.g. CO parameters).
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Table 3- 4 AK Response identifiers, inverter → control Description 0 No response 1 Transfer parameter value (word) 2 Transfer parameter value (double word) 3 Transfer descriptive element 1) 4 Transfer parameter value (field, word) 2) 5 Transfer parameter value (field, double word) 2) 6 Transfer number of field elements 7 Inverter cannot process the request.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Table 3- 5 Error numbers for response identifier 7 No.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication PNU (parameter number) and page index The parameter number is located in value PNU in the 1st word of the parameter channel (PKE). The page index is located in the 2nd word of the parameter channel (IND bit 7 … 0).
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.6.
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2) In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source, ON/OFF1) the value 722.2 (DI 2).
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Communication via PROFIBUS and PROFINET 3.1 PROFIDRIVE profile - Cyclic communication 3.1.7 Slave-to-slave communication "Direct data exchange" is sometimes called "slave-to-slave communication" or "data exchange broadcast". Here, slaves exchange data without any direct involvement of the master. Example: An inverter uses the actual speed value of another inverter as its speed setpoint. Definitions ● Publisher: Slave, which sends data for direct data exchange.
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Communication via PROFIBUS and PROFINET 3.2 PROFIDRIVE profile - Acyclic communication 3.2 PROFIDRIVE profile - Acyclic communication The inverter supports the following types of acyclic communication: ● For PROFIBUS: acyclic communication via data set 47 ● For PROFINET: acyclic communication via B02E hex and B02F hex The maximum data length per request is 240 bytes. Note Values in italics Values in italics in the following tables mean that you have to adjust these values for a specific request.
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Communication via PROFIBUS and PROFINET 3.2 PROFIDRIVE profile - Acyclic communication Table 3- 8 Inverter response to a read request Data block Byte n Bytes n + 1 n Header Reference (identical to a read request) 01 hex: Inverter has executed the read request. 81 hex: Inverter was not able to completely execute the read request.
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Communication via PROFIBUS and PROFINET 3.2 PROFIDRIVE profile - Acyclic communication Changing parameter values Table 3- 9 Request to change parameters Data block Byte n Bytes n + 1 n Header Reference 00 hex ... FF hex 02 hex: Change request 0 01 hex (ID of drive objects, at G120 always = 1) Number of parameters (m) 01 hex ... 27 hex 2 10 hex: Parameter value Number of indices 4 Address, parameter 1 00 hex ... EA hex (00 hex and 01 hex are equivalents) Parameter number 0001 hex ...
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.2 PROFIDRIVE profile - Acyclic communication Error value 1 Meaning 18 hex Number of values not consistent (number of values of the parameter data to not match the number of elements in the parameter address) 19 hex Drive object does not exist (access to a drive object that does not exist) 20 hex Parameter text cannot be changed 21 hex Service is not supported (illegal or not support request ID).
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Communication via PROFIBUS and PROFINET 3.3 PROFIdrive profile - Diagnostic channels 3.3 PROFIdrive profile - Diagnostic channels The inverters provide the diagnostics standardized for PROFIBUS and PROFINET. This means that it is possible to directly output faults and alarms at an HMI (control system screen).
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Communication via PROFIBUS and PROFINET 3.3 PROFIdrive profile - Diagnostic channels 3.3.1 Diagnostics with PROFINET PROFINET uses the channel diagnostics to transfer PROFIdrive message classes.
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Communication via PROFIBUS and PROFINET 3.3 PROFIdrive profile - Diagnostic channels Reading out diagnostics data The control requests the diagnostics data from the inverter using "Read data set", e.g. using a read record with index 800C hex.
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Communication via PROFIBUS and PROFINET 3.3 PROFIdrive profile - Diagnostic channels 3.3.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.3 PROFIdrive profile - Diagnostic channels Status messages, module status For G120, independent of the status, for all slots “00” is always output, i.e. valid user data. Channel-related data 2 Undervoltage 22 Motor overload 3 Overvoltage 23 Commun. with controller faulted 9 Error 24 Safety monit. Detected an error 16 Hardware/software error 25 Act.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.4 Identification & maintenance data (I&M) 3.4 Identification & maintenance data (I&M) I&M data The inverter supports the following identification and maintenance (I&M) data. I&M data Format Explanation Associated parameters Example for the content I&M0 u8[64] PROFIBUS Inverter-specific data, read only - See below I&M1 Visible String [32] Plant/system identifier p8806[0 … 31] "ak12ne.
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Communication via PROFIBUS and PROFINET 3.5 S7 communication 3.5 S7 communication Communication via the S7 protocol facilitates the following: ● Access to the inverter with Startdrive. ● Remote maintenance of the inverter with Startdrive across network boundaries. Remote maintenance across network boundaries (https://support.industry.siemens.com/cs/ww/en/view/97550333) ● Control of the inverter directly via SIMATIC Panels via PROFIBUS or PROFINET without higher-level control.
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Communication via PROFIBUS and PROFINET 3.5 S7 communication Adjusting settings in the inverter Procedure 1. Make the following settings and releases so that the inverter can accept commands from the panel: – Set the two signal sources for OFF2 (p0844 and p0845) to 1: p0844 = 1 p0845 = 1 – Set the two signal sources for OFF3 (p0848 and p0849) to 1: p0848 = 1 p0849 = 1 – Set the releases for the ramp-up encoder p1140 = 1 p1141 = 1 – Set the setpoint release p1142 = 1 2.
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Communication via PROFIBUS and PROFINET 3.5 S7 communication Settings at the SIMATIC panel Procedure 1. Configure the connection using WinCC flexible – Enter a name for the connection – Set the value in the "Active" column to "On" – Select "SIMATIC S7 300/400" as the communication driver. – Set the value in the "Online" column to "On" 2.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6 Communication via PROFINET You can either integrate the inverter in a PROFINET network or communicate with the inverter via Ethernet. The inverter in PROFINET IO operation Figure 3-20 The inverter in PROFINET IO operation The inverter supports the following functions: ● RT ● IRT: The inverter forwards the clock synchronism, but does not support clock synchronism. ● MRP: Media redundancy, impulsed with 200 ms.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET Further information on PROFINET Further information on PROFINET can be found on the Internet: ● PROFINET – the Ethernet standard for automation (http://w3.siemens.com/mcms/automation/en/industrialcommunications/profinet/Pages/Default.aspx) ● PROFINET system description (https://support.industry.siemens.com/cs/ww/en/view/19292127) Fieldbuses 60 Function Manual, 04/2018, FW V4.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6.1 Converter with PROFINET interface The pin assignment and the connectors that you require for your inverter are listed in the following tables. You can implement either a ring or line-type topology using the two sockets at the inverter. You only require one of the two sockets at the beginning and end of a line. You can use switches to realize other topologies.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6.3 PROFINET IO operation 3.6.3.1 What do you have to set for communication via PROFINET? Check the communication settings using the following table. If you answer "Yes" to the questions, you have correctly set the communication settings and can control the inverter via the fieldbus.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET Configuring communication with Startdrive Proceed as follows to make the settings for communication with the control system. ● Activate the following windows in Startdrive: "View/Project tree" and "View/Inspector window". ● Open the drive in the project tree and double click on "Device configuration". This opens the dialog in the inspector window for setting the PROFINET interface. ● Click on "Ethernet addresses".
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6.3.3 Installing GSDML Procedure 1. Save the GSDML to your PC. – With Internet access: GSDML (https://support.industry.siemens.com/cs/ww/en/ps/13222/dl) – Without Internet access: Insert a memory card into the inverter. Set p0804 = 12. The inverter writes the GSDML as zipped file (*.zip) into directory /SIEMENS/SINAMICS/DATA/CFG on the memory card. 2. Unzip the GSDML file on your computer. 3.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6.4.1 General inverter behavior when in the PROFIenergy energy-saving mode ● When the PROFIenergy energy-saving mode is active, the inverter issues alarm A08800. ● If the PROFIenergy energy-saving mode is active, the RDY-LED flashes green as follows: 500 ms on, 3000 ms off. ● When the PROFIenergy energy-saving mode is active, the inverter does not send any diagnostic alarms.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6.4.3 Settings and displays for PROFIenergy in the inverter Pause time ● Minimum pause time: p5602 – When the pause time, which is sent using command "Start_Pause", is equal to or greater than the value in p5602[1], then the inverter goes into the energy-saving mode. – When the pause time is less than p5602[1], the inverter rejects the command "Start_Pause" with 50 hex (no appropriate pause mode).
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6.4.4 Control commands and status queries PROFIenergy control commands ● Start_Pause Dependent on the pause duration, switches into the energy-saving mode. – For p5611.2 = 0, from operating states S1 (switching on inhibited) or S2 (ready to switch on) – For p5611.2 = 1, also from operating states S3 (ready) or S4 (operation).
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET ● Get_Measurement_Values The command returns the requested measured value using the measured value ID ● Get_Measurement_Values_with_object_number The command returns the requested measured values using the measured value ID and the object number. The object number corresponds to the drive object ID.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET 3.6.5 The inverter with PROFINET interface as Ethernet node. As default setting, the inverter is set for PROFINET IO communication. Alternatively, you have the option of integrating the inverter into an Ethernet network via the PROFINET interface. This means that from any location in a network, you can use Startdrive to make diagnostic queries, change parameters or carry out commissioning work.
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Communication via PROFIBUS and PROFINET 3.6 Communication via PROFINET Additional options of integrating inverters into Ethernet You also have the option of integrating the inverter into Ethernet using Proneta or STEP7, for example. Here is the example of the "Edit Ethernet station" screen form from Step 7, which you can use to make the required settings. Fieldbuses Function Manual, 04/2018, FW V4.
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Communication via PROFIBUS and PROFINET 3.7 Communication via PROFIBUS 3.7 Communication via PROFIBUS The PROFIBUS DP interface has the following functions: ● Cyclic communication ● Acyclic communication ● Diagnostic alarms General information on PROFIBUS DP can be found in the Internet: ● PROFIBUS information (https://support.industry.siemens.com/cs/ww/en/view/1971286) ● Installation guidelines of the PNO (http://www.profibus.
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Communication via PROFIBUS and PROFINET 3.7 Communication via PROFIBUS 3.7.1 Inverters with PROFIBUS interface You can find the connectors and the connector assignments of the PROFIBUS DP interface in the following tables. You can implement a line-type topology using the two connectors at the inverter. You can use switches to realize other topologies.
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Communication via PROFIBUS and PROFINET 3.
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Communication via PROFIBUS and PROFINET 3.7 Communication via PROFIBUS 3.7.2 What do you have to set for communication via PROFIBUS? Configuring PROFIBUS communication You require the appropriate engineering system to configure PROFIBUS communication in the PROFIBUS master. If required, load the GSD file of the inverter into the engineering system. Configuring communication to the control system (Page 76) Setting the address Set the address of the PROFIBUS slave.
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Communication via PROFIBUS and PROFINET 3.7 Communication via PROFIBUS 3.7.3 Integrating inverters into PROFIBUS To connect the inverter to a control system via PROFIBUS DP, proceed as follows: Procedure 1. Integrate the inverter into the bus system (e.g. line-type topology) using PROFIBUS cables.
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Communication via PROFIBUS and PROFINET 3.7 Communication via PROFIBUS 3.7.4.3 Installing the GSD Procedure 1. Save the GSD on your PC via one of the following methods. – With Internet access: GSD (http://support.automation.siemens.com/WW/view/en/22339653/133100) – Without Internet access: Insert a memory card into the inverter. Set p0804 to 12. The inverter writes the GSD as zipped file (*.zip) into directory /SIEMENS/SINAMICS/DATA/CFG on the memory card. 2. Unzip the GSD file on your computer. 3.
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Communication via PROFIBUS and PROFINET 3.7 Communication via PROFIBUS 3.7.5 Setting the address Valid address area: 1 … 125 You have the following options for setting the address: ● Using the address switch on the Control Unit: Figure 3-22 Address switch with example for bus address 10 The address switch has priority over the other settings.
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Communication via PROFIBUS and PROFINET 3.8 Select telegram 3.8 Select telegram Precondition In the basic commissioning you have selected the control using PROFIBUS or PROFINET. Telegrams for SINAMICS G120 inverters The following table shows all of the telegrams for the G120 inverter. In your inverter you have a list of telegrams that are available for your particular inverter.
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Communication via PROFIBUS and PROFINET 3.8 Select telegram Fieldbuses 80 Function Manual, 04/2018, FW V4.
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Communication via EtherNet/IP 4 EtherNet/IP is real-time Ethernet, and is mainly used in automation technology. You have the following options of integrating SINAMICS G120 inverters into EtherNet/IP: ● You use the SINAMICS profile ● You use the ODVA AC/DC drive profile ● You define the assemblies for the process data using the objects that are supported by the inverter Configuring communication via EtherNet/IP (Page 86).
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Communication via EtherNet/IP 4.1 Inverters with Ethernet/IP interface 4.
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Communication via EtherNet/IP 4.
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Communication via EtherNet/IP 4.2 Connect converter to Ethernet/IP 4.2 Connect converter to Ethernet/IP To connect the inverter to a control system via Ethernet, proceed as follows: Procedure 1. Connect the inverter to the control system via an Ethernet cable. 2. You create an object for data exchange. You have the following options: – Load the EDS file into your controller if you want to use the ODVA profile. You can find the EDS file in the Internet: EDS (https://support.industry.siemens.
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Communication via EtherNet/IP 4.3 What do you need for communication via Ethernet/IP? 4.3 What do you need for communication via Ethernet/IP? Check the communication settings using the following questions. If you answer "Yes" to the questions, you have correctly set the communication settings and can control the inverter via the fieldbus.
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Communication via EtherNet/IP 4.4 Configuring communication via EtherNet/IP 4.4 Configuring communication via EtherNet/IP Make the following settings in order to communicate with a higher-level control via EtherNet/IP: Procedure 1. p2030: set a value of 10: Fieldbus interface protocol selection Ethernet/IP: 2. p8921: Enter the IP address. You can find the currently valid address in r8931. 3. p8923: Enter the subnet mask. You can find the currently valid subnet mask in r8933. 4.
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Communication via EtherNet/IP 4.4 Configuring communication via EtherNet/IP 4.4.2 Special issues if you wish to use the ODVA AC/DC Drive profile If you change the following parameters using Startdrive or an operator panel, you must switch off the inverter power supply and switch it on again in order for the changes to become effective.
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Communication via EtherNet/IP 4.5 Supported objects 4.
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Communication via EtherNet/IP 4.5 Supported objects Table 4- 4 Instance Attribute No.
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Communication via EtherNet/IP 4.5 Supported objects Assembly Object, Instance Number: 4 hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Table 4- 6 Class Attribute No. Service Type 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 4- 7 Name Instance Attribute No.
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Communication via EtherNet/IP 4.5 Supported objects Connection Management Object, Instance Number: 6 hex Supported services Class Instance • Get Attribute all • Get Attribute single • Forward open • Forward close • Get Attribute single • Set Attribute single Table 4- 8 Class Attribute No. Service Type 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 4- 9 Name Instance Attribute No.
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Communication via EtherNet/IP 4.5 Supported objects Motor Data Object, Instance Number 28 hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Table 4- 10 Class Attribute No . Service Type 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 4- 11 Name Instance Attribute No .
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Communication via EtherNet/IP 4.5 Supported objects Supervisor Object, Instance Number: 29 hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Table 4- 12 Class Attribute No . Service Type 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 4- 13 Name Instance Attribute No . Service Type Name Value/explanation 3 get, set Bool Run1 STW.
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Communication via EtherNet/IP 4.5 Supported objects Drive Object, Instance Number: 2A hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Table 4- 14 Class Attribute No . Service Type 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 4- 15 Name Instance Attribute No . Service Type Name Value/explanation 3 get Bool At reference r2197.
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Communication via EtherNet/IP 4.
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Communication via EtherNet/IP 4.5 Supported objects No.
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Communication via EtherNet/IP 4.5 Supported objects No.
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Communication via EtherNet/IP 4.5 Supported objects TCP/IP Interface Object, Instance Number: F5 hex Supported services Class Instance • Get Attribute all • Get Attribute single • Get Attribute all • Get Attribute single • Set Attribute single Table 4- 20 Class Attribute No. Service Type 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 4- 21 Name Instance Attribute No.
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Communication via EtherNet/IP 4.5 Supported objects Link Object, Instance Number: F6 hex Supported services Class Instance • Get Attribute all • Get Attribute single • Get Attribute all • Get Attribute single • Set Attribute single Table 4- 22 Class Attribute No. Service Type 1 get UINT16 Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Table 4- 23 Name Instance Attribute No.
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Communication via EtherNet/IP 4.5 Supported objects No.
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Communication via EtherNet/IP 4.5 Supported objects Parameter Object, Instance Number: 401 hex Supported services Class Instance • Get Attribute all • Get Attribute all • Set Attribute single Table 4- 24 Class Attribute No. Service Type 1 get UINT16 Name Revision 2 get UINT16 Max Instance 3 get UINT16 Num of Instances Cyclic communication is established via parameter object 401.
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Communication via EtherNet/IP 4.5 Supported objects 4.5.
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Communication via EtherNet/IP 4.6 Create generic I/O module 4.6 Create generic I/O module For certain controllers, or if you wish to use the SINAMICS profile, you cannot use the EDS file provided by Siemens. In these cases, you must create a generic I/O module in the control system for the cyclic communication. Procedure 1. In your control, create a generic device with Ethernet/IP functionality. 2.
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Communication via EtherNet/IP 4.7 The inverter as an Ethernet station 4.7 The inverter as an Ethernet station Integrating an inverter into an Ethernet network (assigning an IP address) Procedure 1. Set p8924 (PN DHCP mode) = 2 oder 3 – p8924 = 2: The DHCP server assigns the IP address based on the MAC address of the inverter. – p8924 = 3: The DHCP server assigns the IP address based on the device name of the inverter. 2. Save the settings with p8925 = 2.
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Communication via EtherNet/IP 4.7 The inverter as an Ethernet station Additional options of integrating inverters into Ethernet You also have the option of integrating the inverter into Ethernet using Proneta or STEP7, for example. Here is the example of the "Edit Ethernet station" screen form from Step 7, which you can use to make the required settings. You can find the required settings for the inverter as Ethernet node in The inverter with PROFINET interface as Ethernet node. (Page 70).
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Communication via EtherNet/IP 4.7 The inverter as an Ethernet station Fieldbuses 106 Function Manual, 04/2018, FW V4.
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5 Communication via RS485 Table 5- 1 Assignment table - fieldbus systems via RS485 Inverter/Control Unit Fieldbus connection for USS Modbus RTU BACnet MS/TP P1 G120 • CU230P-2 HVAC ✓ ✓ ✓ ✓ • CU230P-2 BT ✓ ✓ ✓ ✓ • CU240B-2 ✓ ✓ --- --- • CU240E-2 ✓ ✓ --- --- • CU240E-2 F ✓ ✓ --- --- • CU250S-2 ✓ ✓ --- --- ✓ ✓ --- --- ✓ ✓ --- --- G120C • G120C USS/MB G110M • CU240M USS Fieldbuses Function Manual, 04/2018, FW V4.
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Communication via RS485 5.1 Inverter with RS485 interface 5.1 Inverter with RS485 interface You can find the connectors and the connector assignments of the RS485 interface in the following tables.
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Communication via RS485 5.1 Inverter with RS485 interface Table 5- 3 Pin assignment Signal X128 X03, in (M12) X04, out (M12) Not assigned 5 1/3 1/3 RS485N, receive and transmit (-) 3 --- --- RS485N, receive --- 2 --- RS485N, transmit (-) --- --- 2 RS485P, receive and transmit (+) 2 --- --- RS485P, receive --- 4 --- RS485P, transmit (+) --- --- 4 0 V, reference potential 1 5 5 Cable shield 4 --- --- Fieldbuses Function Manual, 04/2018, FW V4.
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Communication via RS485 5.2 Integrating inverters into a bus system via the RS485 interface 5.2 Integrating inverters into a bus system via the RS485 interface Connecting to a network via RS485 Connect the inverter to the fieldbus via the RS485 interface. The RS485 connector has shortcircuit proof, isolated pins. You must switch-in the busterminating resistor for the first and last nodes.
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Communication via RS485 5.3 Communication via USS 5.3 Communication via USS The USS protocol is a serial data link between a master and up to a maximum of 31 slaves. A master is, for example: ● A programmable logic controller (e.g. SIMATIC S7-200) ● A PC The inverter is always a slave.
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Communication via RS485 5.3 Communication via USS 4. Make additional changes based on the parameters listed in the following section. 5. If you are working with Startdrive, back up the settings so they are not lost if the power fails. You have now made the settings for communication via the USS. ❒ 5.3.1.
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Communication via RS485 5.3 Communication via USS 5.3.1.
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Communication via RS485 5.3 Communication via USS 5.3.2 Telegram structure Overview A USS telegram comprises a series of elements with a defined sequence. Each element contains 11 bits. Figure 5-2 Structure of a USS telegram Telegram part Description Start delay / response delay There is always a start and/or response delay between two telegrams. Time-out and other errors (Page 123) STX An ASCII character (02 hex) indicates the beginning of the message.
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Communication via RS485 5.3 Communication via USS 5.3.3 User data range of the USS telegram The user data area consists of the following elements: ● Parameter channel (PIV) for writing and reading parameter values ● Process data (PZD) for controlling the drive. Figure 5-3 USS telegram - user data structure Parameter channel In parameter p2023 you specify the parameter channel length. Parameter channel with fixed and variable length ● p2023 = 0 With this setting, no parameter values are transferred.
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Communication via RS485 5.3 Communication via USS 5.3.4 USS parameter channel Structure of the parameter channel Depending on the setting in p2023, the parameter channel has a fixed length of three or four words, or a variable length, depending on the length of the data to be transferred. 1. and 2nd word contain the parameter number and index as well as the type of job (read or write). The other words of the parameter channel contain parameter contents.
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Communication via RS485 5.3 Communication via USS Table 5- 5 AK Response identifiers, inverter → control Description 0 No response 1 Transfer parameter value (word) 2 Transfer parameter value (double word) 3 Transfer descriptive element 1) 4 Transfer parameter value (field, word) 2) 5 Transfer parameter value (field, double word) 2) 6 Transfer number of field elements 7 Inverter cannot process the request.
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Communication via RS485 5.3 Communication via USS Table 5- 6 Error numbers for response identifier 7 No.
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Communication via RS485 5.3 Communication via USS Parameter number Parameter numbers < 2000 PNU = parameter number. Write the parameter number into the PNU (PKE bit 10 ... 0). Parameter numbers ≥ 2000 PNU = parameter number - offset. Write the parameter number minus the offset into the PNU (PKE bit 10 … 0). Write the offset in the page index (IND bit 15 … 8).
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Communication via RS485 5.3 Communication via USS 5.3.4.
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Communication via RS485 5.3 Communication via USS Write request: Assign digital input 2 with the function ON/OFF1 (p0840[1] = 722.2) In order to link digital input 2 with ON/OFF1, you must assign parameter p0840[1] (source, ON/OFF1) the value 722.2 (DI 2).
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Communication via RS485 5.3 Communication via USS 5.3.5 USS process data channel (PZD) Description The process data channel (PZD) contains the following data depending on the transmission direction: ● Control words and setpoints for the slave ● Status words and actual values for the master.
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Communication via RS485 5.3 Communication via USS 5.3.6 Time-out and other errors You require the telegram runtimes in order to set the telegram monitoring. The character runtime is the basis of the telegram runtime: Table 5- 8 Character runtime Baud rate in bit/s Transmission time per bit Character run time (= 11 bits) 9600 104.170 µs 1.146 ms 19200 52.084 µs 0.573 ms 38400 26.042 µs 0.286 ms 57600 17.361 µs 0.191 ms 115200 8.681 µs 0.
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Communication via RS485 5.3 Communication via USS The duration of the start delay must at least be as long as the time for two characters and depends on the baud rate. Table 5- 9 Duration of the start delay Baud rate in bit/s Transmission time per character (= 11 bits) Min. start delay 9600 1.146 ms > 2.291 ms 19200 0.573 ms > 1.146 ms 38400 0.286 ms > 0.573 ms 57600 0.191 ms > 0.382 ms 115200 0.095 ms > 0.191 ms Note: The character delay time must be shorter than the start delay.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4 Communication using Modbus RTU Overview of communication using Modbus The Modbus protocol is a communication protocol based on a client/server architecture. Selected parameters and process data are exchanged in a cyclic access via the Modbus register. Modbus offers three transmission modes: ● Modbus ASCII - via a serial interface data in the ASCII code. The data throughput is lower compared to RTU.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.1 Basic settings for communication Overview Depending on the particular inverter, you have the following options when setting communication via Modbus RTU: ● For all inverters with an RS485 interface: 21 "USS Fieldbus" ● For inverters with a CU230P-2 HVAC / CU230P-2 BT 109 "BT Mac 9: Modbus RTU Fieldbus" For additional information, please refer to the operating instructions of your inverter. Overview of the manuals (Page 232).
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.1.1 Setting the address Valid address area: 1 … 247 You have the following options for setting the address: ● Using the address switch on the Control Unit from 1 … 127: Figure 5-10 Address switch with example for bus address 10 The address switch has priority over the other settings.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.1.
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Communication via RS485 5.4 Communication using Modbus RTU Interconnecting analog outputs If you set communication via Modbus (p2030 = 2), then the analog outputs of the inverter are internally interconnected with the fieldbus analog outputs: ● p0771[0] = 791[0] ● p0771[1] = 791[1]. The values for p0791[0] and p0791[1] are written via registers 40523 and 40524. Interconnections between parameter p0791 and other sources are rejected.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.2 Modbus RTU telegram Description For Modbus, there is precisely one master and up to 247 slaves. The master always starts the communication. Slaves send data when requested to do so by the master. Slave-to-slave communication is not possible. The inverter always operates as slave. The following figure shows the structure of a Modbus RTU telegram.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.3 Baud rates and mapping tables Permissible baud rates and telegram delay The Modbus RTU telegram requires pauses for the following situations: ● for the start identifier ● for separating the individual frames ● for the end identifier Minimum duration: Processing time for 3.5 bytes (can be set via p2024[2]). A character delay time is also permitted between the individual bytes of a frame. Maximum duration: Processing time for 1.
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Communication via RS485 5.4 Communication using Modbus RTU Table 5- 11 Assigning the Modbus register to the parameters - process data Register Description 40100 Control word You can find details in function chart 9342 in the List Manual of the inverter.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.4 Mapping tables - inverter data Table 5- 12 Register Assigning the Modbus register to the parameters - On and outputs Description Access Unit Scaling ON-/OFF text/value range Data / parameter Digital outputs 40200 DO 0 R/W -- 1 HIGH LOW p0730, r747.0, p748.0 40201 DO 1 R/W -- 1 HIGH LOW p0731, r747.1, p748.1 40202 DO 2 R/W -- 1 HIGH LOW p0732, r747.2, p748.2 R % 100 Analog outputs 40220 AO 0 -100.0 … 100.
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Communication via RS485 5.4 Communication using Modbus RTU Table 5- 13 Assigning the Modbus register to the parameters - inverter data Register Description Access Unit Scaling ON-/OFF text/value range Data / parameter 40300 Powerstack number R -- 1 0 … 32767 40301 Inverter firmware R -- 1 z. B. 470 r0200 40320 Rated power R kW 100 0 … 327.67 r0206 40321 Current limit R/W A 10 10.0 … 400.0 p0640 40322 Ramp-up time R/W s 100 0.00 … 650.
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Communication via RS485 5.4 Communication using Modbus RTU Table 5- 15 Assigning the Modbus register to the parameters - technology controller Register Description Access Unit Scaling ON-/OFF text/value range Data / parameter 40500 Technology controller enable R/W -- 1 0…1 40501 Technology controller MOP R/W % 100 -200.0 … 200.0 p2240 p2200, r2349.0 Technology controller adjustment 40510 Time constant for actual-value filters of the technology controller R/W -- 100 0.00 … 60.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.5 Acyclic communication via Modbus RTU Acyclic communication or general parameter access is realized using the Modbus register 40601 … 40722. Acyclic communication is controlled using 40601. 40602 contains the function code (always = 47 = 2F hex) and the number of the following user data. User data are contained in registers 40603 … 40722.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.6 Write and read access using function codes Basic structure of read and write access using function codes Function codes used For data exchange between the master and slave, predefined function codes are used for communication via Modbus.
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Communication via RS485 5.
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Communication via RS485 5.4 Communication using Modbus RTU The response returns register address (bytes 2 and 3) and the value (bytes 4 and 5), which the higher-level control had written to the register.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.7 Acyclically read and write parameter via FC 16 Via FC 16, with one request, up to 122 registers can be written to directly one after the other, while for Write Single Register (FC 06) you must individually write the header data for each register. Header In addition to the slave address, enter the transfer type, the start address and the number of the following registers in the header.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.7.
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Communication via RS485 5.4 Communication using Modbus RTU Table 5- 27 Value 11 03 20 0001 2F00 0004 h h h h h h xx h xx h 5.4.7.
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Communication via RS485 5.
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Communication via RS485 5.4 Communication using Modbus RTU 5.4.8 Communication procedure Procedure for communication in a normal case Normally, the master sends a telegram to a slave (address range 1 ... 247). The slave sends a response telegram to the master. This response telegram mirrors the function code; the slave enters its own address in the telegram and so the slave identifies itself with the master. The slave only processes orders and telegrams which are directly addressed to it.
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Communication via RS485 5.4 Communication using Modbus RTU Process data monitoring time (setpoint timeout), p2040 "Setpoint timeout" (F1910) is issued by the Modbus if p2040 is set to a value > 0 ms and no process data is requested within this time period. The "Setpoint timeout" only applies for access to process data (40100, 40101, 40110, 40111). The "Setpoint timeout" is not generated for parameter data (40200 … 40522).
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT BACnet properties In BACnet, components and systems are considered to be black boxes which contain a number of objects. BACnet objects only stipulate the behavior outside the device, BACnet sets no internal functions. A range of object types and their instances represent one component. Each BACnet device has precisely one BACnet device object.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT 5.5.1 Basic settings for communication Setting communication via BACnet Procedure 1. Select the default setting 110 – With Startdrive during commissioning step "Default setting of setpoint/command sources": 110 "BT Mac 10: BACnet MS/TP fieldbus" – With the BOP-2 during the basic commissioning under step "MAc PAr P15": P_F bAc – Via parameter number: p0015 = 110 2. Set the inverter address. 3.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT 5.5.1.1 Setting the address Valid address area: 0 ... 127 With address 0, the inverter responds to a broadcast. You have the following options for setting the BACnet address: ● Using the address switch on the Control Unit: Figure 5-12 Address switch with example for bus address 10 The address switch has priority over the other settings.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT 5.5.1.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT Device name - default setting, change name, restore factory setting In BACnet, the Control Unit has a unique name, which is required for identification when replacing a device etc. The device name is preset at initial power up. It has the following structure: The name is represented in the ASCII format in the 79 indices of p7610. Changing device names - procedure 1.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT Example ● AO 0 should display the value written with object ANALOG OUTPUT 0 via the control. In this particular case, no other settings are required in the inverter. ● AO 1 should display the smoothed current actual value. To do this, you must set p0771[1] = 27 (r0027 smoothed current actual value).
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT The inverter can simultaneously process up to 32 SubscribeCOV services. These can all refer to the same object instances - or different object instances. SubscribeCOV monitors the property changes of the following objects: ● Analog Input (AIxx), ● Analog Output (AOxx), ● Analog Value (AVxx), ● Binary Value (BVxx) and ● Multi-state Input (MSIxx) Note SubscribeCOV services are not retentive; i.e.
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Communication via RS485 5.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT Binary Input Objects Instance Object name ID Description Possible values Text active / text inactive Access type Parameter BI0 State of DI 0 ON/OFF ON/OFF R r0722.0 DI0 ACT BI1 DI1 ACT State of DI 1 ON/OFF ON/OFF R r0722.1 BI2 DI2 ACT State of DI 2 ON/OFF ON/OFF R r0722.2 BI3 DI3 ACT State of DI 3 ON/OFF ON/OFF R r0722.3 BI4 DI4 ACT State of DI 4 ON/OFF ON/OFF R r0722.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT Instance ID Object name Description Possible values Text active Text inactive Access type Parameter BV8 AT SETPOINT Setpoint reached YES / NO YES NO R r0052.8 BV9 AT MAX FREQ Maximum speed reached YES / NO YES NO R r0052.10 BV10 DRIVE READY Inverter ready YES / NO YES NO R r0052.
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Communication via RS485 5.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT Instance Object name ID Description Unit Range Access type Parameter AV17 FREQ SP PCT Setpoint 1 (when controlling via BACnet) % -199.99 … 199.
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Communication via RS485 5.
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Communication via RS485 5.
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Communication via RS485 5.5 Communication via BACnet MS/TP - only CU230P-2 HVAC / BT 5.5.3 Acyclic communication (general parameter access) via BACnet Acyclic communication or general parameter access is realized via BACnet objects DS47IN and DS47OUT. Acyclic communication uses the octet string value objects OSV0 and OSV1.
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Communication via RS485 5.
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Communication via RS485 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT P1 is an asynchronous master-slave communication between what is known as a Field Cabinet (master) and the FLN devices (slaves). FLN stands for "Floor level network". The master individually addresses the various slaves. A slave responds only if the master addresses it. Communication between the slaves is not possible. A Field Cabinet can have several FLN ports.
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Communication via RS485 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT 5.6.1 Basic settings for communication via P1 Overview Procedure Proceed as follows to set communication via P1: 1.
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Communication via RS485 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT 5.6.2 Setting the address Valid address area: 1 … 99 You have the following options for setting the address: ● Using the address switch on the Control Unit: Figure 5-13 Address switch with example for bus address 10 The address switch has priority over the other settings. ● Using Startdrive or an operator panel via parameter p2021 (default setting: p2021 = 99).
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Communication via RS485 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT 5.6.3 Point numbers The subsequently listed "Point Numbers" for communication are defined using P1 in the converter. The values listed in the tables refer to SI units. Fieldbuses Function Manual, 04/2018, FW V4.
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Communication via RS485 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT Fieldbuses 166 Function Manual, 04/2018, FW V4.
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Communication via RS485 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT 1*): For reasons of compatibility, these type 1 subpoints can save COV area information. Point Number 98 RAM TO ROM was implemented in order to be able to save these in a nonvolatile fashion. Fieldbuses Function Manual, 04/2018, FW V4.
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Communication via RS485 5.6 Communication via P1 - only CU230P-2 HVAC, CU230P-2 BT Fieldbuses 168 Function Manual, 04/2018, FW V4.
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6 Communication over CANopen General information on CAN You can find general information about CAN in the Internet: CAN Internet pages (http://www.can-cia.org) The CAN dictionary provides an explanation of the CAN terminology: CAN downloads (http://www.can-cia.org/index.php?id=6). Integrating an inverter in a CANopen network To integrate an inverter in a CANopen network, we recommend the EDS file on the Internet EDS (http://support.automation.siemens.com/WW/view/en/48351511).
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Communication over CANopen Grounding the CANopen Control Unit The CAN ground (pin 3) and the optional ground are electrically isolated from the ground potential of the system. The optional shield (pin 5) and the connector housing are connected with the ground potential of the system. CANopen functions of the inverter CANopen is a communication protocol with line-type topology that operates on the basis of communication objects (COB).
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Communication over CANopen COB ID for individual communication objects You will find the specifications for the COB IDs of the individual communication objects below: • COB IDNMT = 0 Cannot be changed • COB IDSYNC = free Pre-assigned with 80 hex • COB IDEMCY = free 80 hex + NAlleode-ID = COB IDEMCY • COB IDTPDO = free In the free PDO mapping *) • COB IDRPDO = free In the free PDO mapping *) • COB IDTSDO = 580 hex + node ID • COB-IDRSDO = 600 hex + node ID • COB IDNode Guarding/Heartbeat = 700 hex
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Communication over CANopen 6.1 Network management (NMT service) 6.1 Network management (NMT service) Network management (NMT) is node-oriented and has a master-slave topology. A node is a master or a slave. The inverter is an NMT slave, and can adopt the following states: ● Boot-up service COB-ID = 700 hex + Node-ID ● Node Control Service COB ID = 0 (see CANopen state diagram) The transition between two states is realized using NMT services.
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Communication over CANopen 6.1 Network management (NMT service) can use SDO parameters to change or operate the inverter, which means that you can also enter setpoints via SDO. ● Operational, p8685 = 5; Command specifier = 1 In this state, the nodes can process SDO as well as also PDO. ● Stopped, p8685 = 4; Command specifier = 2 In this state, the nodes can neither process PDO nor SDO.
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Communication over CANopen 6.1 Network management (NMT service) Node Control Service The Node Control Services control state transitions ● Start Remote Node: Command for switching from the "Pre-Operational" communication state to "Operational". The drive can only transmit and receive process data (PDO) in "Operational" state. ● Stop Remote Node: Command for switching from "Pre-Operational" or "Operational" to "Stopped". The node only processes NMT commands in the "Stopped" state.
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Communication over CANopen 6.2 SDO services 6.2 SDO services You can access the object directory of the connected drive unit using the SDO services. An SDO connection is a peer-to-peer coupling between an SDO client and a server. The drive unit with its object directory is an SDO server. The identifiers for the SDO channel of a drive unit are defined according to CANopen as follows.
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Communication over CANopen 6.
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Communication over CANopen 6.2 SDO services 6.2.2 Access PZD objects via SDO Access to mapped PZD objects When you access objects mapped via transmit or receive telegrams, you can access the process data without additional settings. Overview Figure 6-1 Access to mapped PZD setpoint objects Figure 6-2 Access to mapped PZD actual value objects Example, access to object 6042 hex Figure 6-3 Access to the process data Fieldbuses Function Manual, 04/2018, FW V4.
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Communication over CANopen 6.2 SDO services Access to non-mapped PZD objects When you access objects that are not interconnected via the receive or transmit telegram, you must also establish the interconnection with the corresponding CANopen parameters.
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Communication over CANopen 6.3 PDO services 6.3 PDO services Process data objects (PDO) CANopen transfers the process data using "Process Data Objects" (PDO). There are send PDOs (TDPO) and receive PDOs (RPDO). CAN controller and inverter each exchange up to eight TPDOs and RPDOs. PDO communication parameters and PDO mapping parameters define a PDO. Link the PDO with the elements of the object directory that contain the process data. Free PDO mapping (Page 184) Predefined connection set (Page 182) .
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Communication over CANopen 6.3 PDO services COB ID Overview: Communication over CANopen (Page 169).
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Communication over CANopen 6.3 PDO services Figure 6-8 Principle of synchronous and asynchronous transmission For synchronous TPDOs, the transmission mode also identifies the transmission rate as a factor of the SYNC object transmission intervals. The CAN controller transfers data from synchronous RPDOs that it received after a SYNC signal only after the next SYNC signal to the inverter. Note The SYNC signal synchronizes only the communication on the CANopen bus and not functions in the inverter, e.g.
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Communication over CANopen 6.3 PDO services 6.3.1 Predefined connection set If you integrate the inverter using the factory setting in CANopen, the inverter receives the control word and the speed setpoint from the controller. The inverter returns the status word and the actual speed value to the controller. These are the settings stipulated in the Predefined Connection Set. Figure 6-9 RPDO mapping with the Predefined Connection Set Fieldbuses 182 Function Manual, 04/2018, FW V4.
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Communication over CANopen 6.3 PDO services Figure 6-10 TPDO mapping with the Predefined Connection Set Fieldbuses Function Manual, 04/2018, FW V4.
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Communication over CANopen 6.3 PDO services 6.3.2 Free PDO mapping Using the free PDO mapping, you configure and interconnect any process data as required as follows: ● as free objects free objects (Page 203) or ● as objects of drive profile CiA 402, corresponding to the requirements of your system for the PDO service The precondition is that the inverter is set for free PDO mapping. (p8744 = 2) (factory setting). Configuring and mapping process data using free PDO mapping Procedure 1.
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Communication over CANopen 6.3 PDO services Note Precondition for changing the OD indexes of the SINAMICS mapping parameters To allow you to change the values of the mapping parameters, you must set the COB ID of the corresponding parameter to invalid. To do this, add a value of 80000000 hex to the COB-ID. You must reset the COB-ID to a valid value once you changed the mapping parameters.
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Communication over CANopen 6.3 PDO services Free TPDO mapping - Overview Fieldbuses 186 Function Manual, 04/2018, FW V4.
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Communication over CANopen 6.3 PDO services 6.3.3 Interconnect objects from the receive and transmit buffers To interconnect process data, proceed as follows: Procedure 1. Create a telegram: create PDO (parameterize the PDO Com. Parameters and PDO mapping parameters). Predefined connection set (Page 182) Free PDO mapping (Page 184) 2.
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Communication over CANopen 6.
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Communication over CANopen 6.3 PDO services 6.3.4 Free PDO mapping for example of the actual current value and torque limit You integrate the actual current value and torque limit into the communication via the free PDO mapping. The actual current value and the torque setpoint are transferred in TPDO1 and RPDO1, respectively. TPDO1 and RPDO1 have already been specified by the Predefined Connection Set.
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Communication over CANopen 6.3 PDO services – Set the COB-ID of RPDO1 to "valid": p8700[0] = 40000232 hex r8750 shows which object is mapped to which PZD: PZD2 (r8750[1]) = 5800 (torque limit) 3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit: p2050[1] = p1520[0] You have now transferred the value for the torque limit into the communication. ❒ Fieldbuses 190 Function Manual, 04/2018, FW V4.
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Communication over CANopen 6.4 CANopen operating modes 6.
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Communication over CANopen 6.4 CANopen operating modes Switching the CANopen operating modes You can also use parameters from other CANopen operating modes, independently from the current effective CANopen operating mode. Fieldbuses 192 Function Manual, 04/2018, FW V4.
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Communication over CANopen 6.5 RAM to ROM via the CANopen object 1010 6.5 RAM to ROM via the CANopen object 1010 Save the parameters of the inverter EEPROM using CANopen object 1010. The following options are available: ● 1010.1: Save all parameters - identical with p0971 = 1, or back them up so they are not lost if the power fails. ● 1010.2: Save communication parameters - not possible via parameter settings! ● 1010.
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Communication over CANopen 6.6 Object directories 6.6 Object directories 6.6.1 General objects from the CiA 301 communication profile Overview The following table lists the drive-independent communication objects. The "SINAMICS parameters" column shows the parameter numbers assigned in the converter.
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Communication over CANopen 6.
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Communication over CANopen 6.6 Object directories RPDO configuration objects The following tables list the communication and mapping parameters together with the indexes for the individual RPDO configuration objects. The configuration objects are established via SDO. The "SINAMICS parameters" column shows the parameter numbers assigned in the converter.
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Communication over CANopen 6.6 Object directories Table 6- 4 OD index (hex) RPDO configuration objects - mapping parameters Sub- Name of the object index (hex) 1600 SINAMICS Data parameters type Predefined connection set Can be read/ written to U8 1 r Receive PDO 1 mapping parameter 0 Number of mapped application objects in PDO 1 PDO mapping for the first application object to be mapped p8710.0 U32 6040 hex r/w 2 PDO mapping for the second application object to be mapped p8710.
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Communication over CANopen 6.6 Object directories OD index (hex) Sub- Name of the object index (hex) SINAMICS parameters Data type Predefined connection set Can be read/ written to 1 PDO mapping for the first application object to be mapped p8714.0 U32 0 r/w 2 PDO mapping for the second application object to be mapped p8714.1 U32 0 r/w 3 PDO mapping for the third application object to be mapped p8714.2 U32 0 r/w 4 PDO mapping for the fourth application object to be mapped p8714.
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Communication over CANopen 6.6 Object directories TPDO configuration objects The following tables list the communication and mapping parameters together with the indexes for the individual TPDO configuration objects. The configuration objects are established via SDO. The "SINAMICS parameters" column shows the parameter numbers assigned in the converter.
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Communication over CANopen 6.6 Object directories OD index (hex) Sub- Object name index (hex) SINAMICS parameters Data type Predefined connection set Can be read/ written 3 Inhibit time p8724.2 U16 0 r/w 4 Reserved p8724.3 U8 --- r/w 5 Event timer p8724.4 U16 0 r/w 1805 Transmit PDO 6 communication parameter 0 Largest subindex supported U8 5 r 1 COB ID used by PDO p8725.0 U32 C000 06DF hex r/w 2 Transmission type p8725.1 U8 FE hex r/w 3 Inhibit time p8725.
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Communication over CANopen 6.6 Object directories Table 6- 6 OD index (hex) Subindex (hex) 1A00 TPDO configuration objects - mapping parameters Object name SINAMICS Data type parameters Predefined connection set Can be read/ written U8 1 r/w Transmit PDO 1 mapping parameter 0 Number of mapped application objects in PDO 1 PDO mapping for the first application object to be mapped p8730.0 U32 6041 hex r/w 2 PDO mapping for the second application object to be mapped p8730.
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Communication over CANopen 6.6 Object directories OD index (hex) Subindex (hex) Object name SINAMICS Data type parameters Predefined connection set Can be read/ written 1 PDO mapping for the first application object to be mapped p8734.0 U32 0 r/w 2 PDO mapping for the second application object to be mapped p8734.1 U32 0 r/w 3 PDO mapping for the third application object to be mapped p8734.2 U32 0 r/w 4 PDO mapping for the fourth application object to be mapped p8734.
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Communication over CANopen 6.6 Object directories 6.6.2 Free objects You can interconnect any process data objects of the receive and transmit buffer using receive and transmit double words.
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Communication over CANopen 6.6 Object directories 6.6.3 Objects from the CiA 402 drive profile The following table lists the object directory with the index of the individual objects for the drives. The "SINAMICS parameters" column shows the parameter numbers assigned in the inverter.
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Communication over CANopen 6.6 Object directories OD index Sub- Name of the object (hex) index (hex) SINAMICS parameters Transmission Data type Default setting Can be read/ written 6077 Torque actual value r0080 SDO/PDO I16 – r 6042 vl target velocity r8792 SDO/PDO I16 – r/w 6043 vl velocity demand r1170 SDO/PDO I16 – r vl velocity actual value r0063 SDO/PDO I16 – r SDO U8 – r Velocity mode 6044 6046 6048 0 vl velocity min./max. amount 1 vl velocity min.
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Communication over CANopen 6.7 Integrating the inverter into CANopen 6.7 Integrating the inverter into CANopen Commissioning Requirement • Startdrive is installed on the computer used to commission the system. • The inverter is connected to a CANopen master. • The EDS (Electronic Data Sheet) is installed on your CANopen master. • In the basic commissioning you have set the inverter interfaces to the CANopen fieldbus.
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Communication over CANopen 6.7 Integrating the inverter into CANopen 6.7.1 Connecting inverter to CAN bus Connect the inverter to the fieldbus via the 9-pin SUB-D pin connector. The connections of this pin connector are short-circuit proof and isolated. If the inverter forms the first or last slave in the CANopen network, then you must switch-in the busterminating resistor. For additional information, refer to the operating instructions of the Control Unit. 6.7.
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Communication over CANopen 6.7 Integrating the inverter into CANopen Activating node ID or baud rate Procedure To activate the changed node ID or baud rate, proceed as follows: 1. Switch off the inverter power supply. 2. Wait until all LEDs on the inverter are dark. 3. Switch on the inverter power supply again. Your settings become effective after switching on. You have now activated the changed settings. ❒ 6.7.
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Communication over CANopen 6.7 Integrating the inverter into CANopen Heartbeat Principle of operation The slave periodically sends heartbeat messages. Other slaves and the master can monitor this signal. In the master, set the responses for the case that the heartbeat does not come. Setting value for heartbeat Set in p8606 the cycle time for the heartbeat in milliseconds. Inverter behavior with a bus fault With a bus fault, the CAN master goes to the "Bus OFF" status.
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Communication over CANopen 6.8 Error diagnostics 6.
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Communication over CANopen 6.
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Communication over CANopen 6.8 Error diagnostics Inverter-specific error list (predefined error field) You can read out the inverter-specific error list using the following objects: ● OV index 1003 hex ● Inverter parameter p8611 It includes the alarms and faults present in the inverter in the CANopen alarm number range 8700-8799. The errors are listed in the order in which they occur using an error code and additional, device-specific information.
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Communication over CANopen 6.8 Error diagnostics Response in the case of an error For a CAN communication error, e.g. too many telegram failures, the inverter outputs fault F(A)08700(2). For further information, please refer to the List Manual of your inverter. Overview of the manuals (Page 232)). You set the response of the CAN node in p8609.
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Communication over CANopen 6.9 CAN bus sampling time 6.9 CAN bus sampling time The CAN bus sampling time is 4 ms. The inverter can send and receive telegrams within this time frame. Receive telegrams cycle time ● For cyclic receive telegrams, the cycle time must be greater than twice the sampling time. Telegrams could be lost if the cycle time is any less than this. In this case, warning A08751 appears.
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Communication via AS-i - only for G110M 7 General information The inverter operates based on the extended AS-i specification V3.0. The signaling is made as Manchester-coded current pulses superimposed on the 28 V supply. Decouple the 28 V supply with inductances so that the receivers can decouple the transferred messages. The Control Unit power consumption is approx. 90 mA provided you do not use any digital or analog inputs.
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Communication via AS-i - only for G110M Connection The following table shows the AS-i plug assignment. Further connection information is contained in the AS-Interface system manual. Overview of the manuals (Page 232) Table 7- 1 Pin assignment X03 AS-i (M12) Pin Function Description 1 AS-i + AS-i plus signal 2 0V Reference potential for terminal 4 3 AS-i - AS-i minus signal 4 24 V 24 V auxiliary voltage 5 Not assigned Fieldbuses 216 Function Manual, 04/2018, FW V4.
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Communication via AS-i - only for G110M 7.1 Setting the address 7.1 Setting the address As factory setting, all AS-i slaves have address 0. Slaves with address 0 are not included in the communication. The addresses must be unique, although they can be mixed as required.
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Communication via AS-i - only for G110M 7.1 Setting the address Addressing via the addressing device (e.g. 3RK1904-2AB02) Addressing via the addressing device is made offline. Further information is contained in the AS-Interface system manual, Section "Setting the AS-i address" Overview of the manuals (Page 232) Addressing via parameters The address assignment is made with the p2012[0] and p2012[1] parameters.
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Communication via AS-i - only for G110M 7.2 Single Slave mode 7.2 Single Slave mode In Single Slave mode, four bits are available for the communication between the AS-i master and the inverter. The four bits are used to transfer process data. In parallel, the control can start a diagnostic request via AS-i.P0. The following default settings are available; both work with profile 7.F.E.
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Communication via AS-i - only for G110M 7.2 Single Slave mode Default setting 32: Modified Single Slave mode In Single Slave mode with modified addressing the control specifies the following: Control -> inverter • AS-i.DO0 -> p3330.0 = 2093.0 ON clockwise / OFF 1 • AS-i.DO1 -> p3331.0 = 2093.1 ON counter-clockwise / OFF 1 • AS-i.DO2 -> p0810 = 2093.2 Speed via potentiometer or AI0 • AS-i.DO3 -> p2104 = 2093.3 p0852 = 2093.3 Acknowledge errors with a positive edge Operating enable, if p2093.
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Communication via AS-i - only for G110M 7.3 Dual Slave mode 7.3 Dual Slave mode In Dual Slave mode, eight bits are available for the communication between the AS-i master and the inverter. The eight bits are used to transfer process data. In parallel, the control can start a diagnostic request via AS-i.P0.
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Communication via AS-i - only for G110M 7.3 Dual Slave mode Default setting 31, slave 1 with profile 7.A.5: Control -> inverter • AS-i.DO0 -> Time signal for the CTT2 transfer from the AS-i master • AS-i.DO1 -> Data bit for the CTT2 transfer, four bytes cyclically or acyclically via PIV. The reading and writing of parameters is possible via the PIV. Because data is transferred bit-by-bit, the read and write process is very slow. • AS-i.DO2 -> p0881 = 2093.4 • AS-i.
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Communication via AS-i - only for G110M 7.3 Dual Slave mode If the control sends a diagnostic request via AS-i.P0, the inverter replies with the currently pending fault or alarm messages. Table 7-5 Alarm and fault messages via RP0 … RP3 from the inverter to the AS-i master (Page 225). Default setting 34, slave 1 with profile 7.A.5: Control -> inverter • AS-i.DO0 -> Time signal for the CTT2 transfer from the AS-i master • AS-i.
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Communication via AS-i - only for G110M 7.4 Assignment tables 7.4 Assignment tables Fixed speeds - Single Slave Table 7- 2 AS-i.DO3 Fixed speeds via the motor control bits AS-i.DO2 AS-i.DO1 AS-i.
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Communication via AS-i - only for G110M 7.4 Assignment tables Fixed speeds - Dual Slave Table 7- 4 Fixed speeds via the motor control bits and response in the inverter AS-i.DO2 AS-i.DO1 AS-i.
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Communication via AS-i - only for G110M 7.5 Cyclic and acyclic communication via CTT2 7.5 Cyclic and acyclic communication via CTT2 Via CTT2 (Combined Transaction Type 2), both cyclical and acyclical communication is performed via AS-i. Because only one channel is available (AS-i.DO1 master -> slave or ASi.DI3 slave -> master), a concurrent cyclical and acyclical data exchange is not possible.
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Communication via AS-i - only for G110M 7.5 Cyclic and acyclic communication via CTT2 If an acyclical request cannot be executed by the inverter, it replies with one of the following error messages. Error message 7.5.
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Communication via AS-i - only for G110M 7.5 Cyclic and acyclic communication via CTT2 Once a setpoint has been transferred completely, the setpoint present in the control will be transferred as next setpoint. Any setpoint changes made during the transfer are not considered. 7.5.2 Acyclic communication - standard This type of acyclical communication supports the ID read request and the diagnostic read request. All other requests receive the "request not implemented" message response.
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Communication via AS-i - only for G110M 7.5 Cyclic and acyclic communication via CTT2 Data exchange Reading data The data for the last write or exchange request is read Writing data In the event of a fault, the inverter sends the following telegram as reponse to the master: . Value for PWE: Fault table from USS parameter channel (Page 116). Fieldbuses Function Manual, 04/2018, FW V4.
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Communication via AS-i - only for G110M 7.5 Cyclic and acyclic communication via CTT2 Fieldbuses 230 Function Manual, 04/2018, FW V4.
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A Appendix A.1 Application examples for communication with STEP7 Application examples for communication with STEP 7 can be found in the following manual: "Fieldbuses" function manual, edition 09/2017 (https://support.industry.siemens.com/cs/ww/en/view/109751350) Fieldbuses Function Manual, 04/2018, FW V4.
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Appendix A.2 Manuals and technical support A.2 Manuals and technical support A.2.1 Overview of the manuals You can find manuals here with additional information for downloading ● CU250S-2 operating instructions (https://support.industry.siemens.com/cs/ww/en/view/109482997) Installing, commissioning and maintaining the inverter. Advanced commissioning ● CU240B/E-2 operating instructions (https://support.industry.siemens.
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Appendix A.2 Manuals and technical support ● "Safety Integrated" function manual (https://support.industry.siemens.com/cs/ww/ene/view/109751320) Configuring PROFIsafe. Installing, commissioning and operating fail-safe functions of the inverter. ● "Fieldbus" function manual (https://support.industry.siemens.com/cs/ww/en/view/109751350) Configuring fieldbuses (this manual) ● "Basic positioner" function manual (https://support.industry.siemens.
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Appendix A.2 Manuals and technical support ● SIMATIC ET 200pro FC-2 List Manual (https://support.industry.siemens.com/cs/ww/en/view/109478711) List of all parameters, alarms and faults, graphic function diagrams. ● SIMATIC ET 200pro operating instructions (https://support.industry.siemens.com/cs/ww/en/view/21210852) Distributed ET 200pro I/O system ● SIMATIC ET 200pro motor starters manual (https://support.industry.siemens.
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Appendix A.2 Manuals and technical support Finding the most recent edition of a manual If there a multiple editions of a manual, select the latest edition: Configuring a manual Further information about the configurability of manuals is available in the Internet: MyDocumentationManager (https://www.industry.siemens.com/topics/global/en/planningefficiency/documentation/Pages/default.aspx).
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Appendix A.2 Manuals and technical support A.2.2 Configuring support Catalog Ordering data and technical information for SINAMICS G inverters. Catalogs for download or online catalog (Industry Mall): Everything about SINAMICS G120 (www.siemens.en/sinamics-g120) SIZER The configuration tool for SINAMICS, MICROMASTER and DYNAVERT T drives, motor starters, as well as SINUMERIK, SIMOTION controllers and SIMATIC technology SIZER on DVD: Article number: 6SL3070-0AA00-0AG0 Download SIZER (https://support.
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Appendix A.2 Manuals and technical support A.2.3 Product Support You can find additional information about the product on the Internet: Product support (https://support.industry.siemens.com/cs/ww/en/) This URL provides the following: ● Up-to-date product information (product announcements) ● FAQs ● Downloads ● The Newsletter contains the latest information on the products you use. ● The Knowledge Manager (Intelligent Search) helps you find the documents you need.
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Appendix A.2 Manuals and technical support Fieldbuses 238 Function Manual, 04/2018, FW V4.
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Index A E AC/DC drive profile, 87 Acyclic communication, 42 Application example, 40, 75, 75, 145 Reading and writing parameters cyclically via PROFIBUS, 40 EMCY, 170 Ethernet/IP, 81 F Function Manual, 232 C CAN COB, 170 COB ID, 171 Device profile, 170 EMCY, 170 NMT, 170 SDO, 170 SYNC, 170 CANopen communication profile, 170 Catalog, 236 Checklist PROFINET, 63, 85 COB, 170 COB ID, 171 Communication Acyclic, 42 Cyclically, 17 Configuring support, 236 Control word Control word 1, 22 Control word 2, 25 Cont
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Index O U Operating instruction, 3 Operating instructions, 232 USS (universal serial interface), 111, 116 P Page index, 38, 119 Parameter channel, 35, 116 IND, 38, 119 Parameter index, 38, 119 Parameter number, 38 Parameter value, 42 PDO, 179 Procedure, 3 PROFIBUS, 75 PROFIenergy, 65 Pulse cancelation, 22 Pulse enable, 22 Z ZSW1 (status word 1), 23 ZSW3 (status word 3), 27 Q Questions, 237 R RS485 interface, 110 S SDO, 170, 175 SDO services, 175 SIZER, 236 Status word Status word 1, 23 Status word
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