SIMOTION Reading and writing drive data

SIMOTION

Reading and Writing Drive Data

Function Manual

01/2015

Preface

Fundamental safety instructions 1

Description 2

Function block 3

Example of an application 4

Appendix A

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WARNINGindicates that death or severe personal injury may result if proper precautions are not taken.

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Ⓟ 02/2015 Subject to change

Copyright © Siemens AG 2015.All rights reserved

Preface

Contents of Function ManualThis document is part of the SIMOTION Programming - References documentation package.

The manual describes how you can use a function block to read and write drive parameters using the PIV (Parameter Identification Value) interface.

Function blockThe function block for the "Reading and Writing of Drive Data" for SIMOTION is part of the command library of the "SIMOTION SCOUT" engineering system.

Information in this manualThe following describes the purpose and objectives of the manual:

● GeneralThis chapter presents information on commissioning the drives, assigning parameters to the PROFIBUS DP interface, and integrating the function block into the SIMOTION system.

● Function blocksThis chapter describes the function block for reading and writing drive data in connection with the SIMOTION system.

● Index to locate information

SIMOTION DocumentationAn overview of the SIMOTION documentation can be found in the SIMOTION Documentation Overview document.

This documentation is included as electronic documentation in the scope of delivery of SIMOTION SCOUT. It comprises ten documentation packages.

The following documentation packages are available for SIMOTION V4.4:

● SIMOTION Engineering System Handling

● SIMOTION System and Function Descriptions

● SIMOTION Service and Diagnostics

● SIMOTION IT

● SIMOTION Programming

● SIMOTION Programming - References

● SIMOTION C

● SIMOTION P

Reading and Writing Drive DataFunction Manual, 01/2015 3

● SIMOTION D

● SIMOTION Supplementary Documentation

Hotline and Internet addresses

Additional informationClick the following link to find information on the following topics:

● Ordering documentation / overview of documentation

● Additional links to download documents

● Using documentation online (find and search manuals/information)

http://www.siemens.com/motioncontrol/docu

My Documentation ManagerClick the following link for information on how to compile documentation individually on the basis of Siemens content and how to adapt it for the purpose of your own machine documentation:

http://www.siemens.com/mdm

TrainingClick the following link for information on SITRAIN - Siemens training courses for automation products, systems and solutions:

http://www.siemens.com/sitrain

FAQsFrequently Asked Questions can be found in SIMOTION Utilities & Applications, which are included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages in Product Support:

http://support.automation.siemens.com

Technical supportCountry-specific telephone numbers for technical support are provided on the Internet under Contact:

http://www.siemens.com/automation/service&support

Preface

Reading and Writing Drive Data4 Function Manual, 01/2015

Table of contents

Preface.........................................................................................................................................................3

1 Fundamental safety instructions...................................................................................................................7

1.1 General safety instructions.......................................................................................................7

1.2 Industrial security.....................................................................................................................7

2 Description....................................................................................................................................................9

2.1 General....................................................................................................................................9

2.2 Start-up and Parameterization of PROFIBUS DP Interface...................................................10

2.3 Integrating the function block in the user project....................................................................11

2.4 Creating I/O Variables............................................................................................................12

3 Function block............................................................................................................................................15

3.1 Overview................................................................................................................................15

3.2 _RWPAR_cyclic function block..............................................................................................15

3.3 Calling the function block.......................................................................................................18

4 Example of an application..........................................................................................................................21

4.1 General..................................................................................................................................21

4.2 Sequence of the application example....................................................................................23

4.3 Error messages......................................................................................................................24

A Appendix.....................................................................................................................................................25

A.1 List of parameters..................................................................................................................25

Index...........................................................................................................................................................27


Table of contents


Fundamental safety instructions 11.1 General safety instructions

WARNING

Risk of death if the safety instructions and remaining risks are not carefully observed

If the safety instructions and residual risks are not observed in the associated hardware documentation, 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.

WARNING

Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization

As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death.● Protect the parameterization (parameter assignments) against unauthorized access.● Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY

STOP or EMERGENCY OFF).

1.2 Industrial security

NoteIndustrial security

Siemens provides products and solutions with industrial security functions that support the secure operation of plants, solutions, machines, equipment and/or networks. They are important components in a holistic industrial security concept. With this in mind, Siemens’ products and solutions undergo continuous development. Siemens recommends strongly that you regularly check for product updates.

For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept. Third-party products that may be in use should also be considered. For more information about industrial security, visit http://www.siemens.com/industrialsecurity.

To stay informed about product updates as they occur, sign up for a product-specific newsletter. For more information, visit http://support.automation.siemens.com


WARNING

Danger as a result of unsafe operating states resulting from software manipulation

Software manipulation (e.g. by viruses, Trojan horses, malware, worms) can cause unsafe operating states to develop in your installation which can lead to death, severe injuries and/or material damage.● Keep the software up to date.

Information and newsletters can be found at: http://support.automation.siemens.com

● Incorporate the automation and drive components into a state-of-the-art, integrated industrial security concept for the installation or machine.For more detailed information, go to: http://www.siemens.com/industrialsecurity

● Make sure that you include all installed products into the integrated industrial security concept.

Fundamental safety instructions1.2 Industrial security


Description 22.1 General

OverviewSiemens offers a wide spectrum of drives with a graduated range of power ratings.

Of this extensive selection of drives, the SIMOTION Motion Control System supports the SIMODRIVE 611 universal, SIMOVERT MASTERDRIVES MC and POSMO CA/CD/SI drives, as well as other drives.

Coupling via PROFIBUS DP enables the drive system and the SIMOTION system to exchange all of their data over this link.

RequirementThe following software versions are required for the standard functions described in this documentation:

● SIMOTION SCOUT V4.0 or higher

● SIMOTION Kernel V4.0 or higher

● SIMOTION technology packages V4.0 or higher


CommunicationThe PROFIBUS DP field bus allows rapid cyclical data exchange between the DP slave (drive) and the higher-level DP master (SIMOTION hardware platform, such as SIMOTION C2xx).

Note

The _RWPAR_cyclic function block described in this documentation enables you to read or write the individual parameters of a drive. In so doing, the parameter channel is transferred in the cyclic message frame. This requires that the relevant drive supports data exchange via the parameter identifier value (PIV) interface, as defined in the PROFIdrive V2 Drive Profile (1997).

For drives that support the parameter channel according to the PROFIdrive V3.1 Drive Profile (parameter requests are transferred with acyclic DP-V1 message frames), the corresponding system functions are available in SIMOTION:● _readDriveParameterDescription: This function enables the descriptive data of a drive

parameter to be read out.● _readDriveParameter: This function enables a drive parameter to be read.● _writeDriveParameter: This function enables a drive parameter to be written.● _readDriveFaults: This function enables the current fault buffer entry in the drive to be read.● _readDriveMultiParameterDescription: This function enables multiple parameter

descriptions to be read.● _readDriveMultiParameter: This function enables multiple parameters to be read.● _writeDriveMultiParameter: This function enables multiple parameters to be written.

Further information is contained in the SIMOTION C2xx / P350 / D4xx System Function/Variables lists manual. These documents are shipped with SIMOTION SCOUT in electronic form!

The SIMODRIVE 611 universal, SIMOVERT MASTERDRIVES, MICROMASTER MM4, and POSMO CA/CD/SI drives support both the PIV interface as well as the acyclic parameter channel. SINAMICS devices support only the acyclic PROFIdrive parameter channel.

2.2 Start-up and Parameterization of PROFIBUS DP Interface

RequirementThe following requirements must be met:

1. You have created a project in SIMOTION SCOUT and have inserted a rack with a SIMOTION hardware platform in the hardware configuration.

2. You have configured a PROFIBUS subnet.

3. You have commissioned the drive(s) and inserted them in your SIMOTION project.

Description2.2 Start-up and Parameterization of PROFIBUS DP Interface


4. You have configured the drive(s) as a PROFIBUS slave and have assigned parameters for the PROFIBUS DP interface.

5. PIV slotIf the message frame set during configuration of the drive as a PROFIBUS slave (HW Config > DP slave properties > Configuration tab) does not contain a PIV component, then one PIV slot must be configured for each axis (slot 4 for single-axis drives; slots 4 and 8 for double-axis drives). Refer to the figure: "Addresses (PIV slot) in SIMOTION SCOUT"Note:For SIMOVERT MASTERDRIVES MC, a message frame with a PIV component must be set.

Note

For instructions on creating a project, configuring a PROFIBUS subnet, and inserting a drive in the project, refer to the online help for SIMOTION SCOUT.

For additional information, e.g. about commissioning, refer to the user manuals of the installed drives.

2.3 Integrating the function block in the user project

Creating the instance of the FBs in the user projectThe function block is part of the command library of the “SIMOTION SCOUT” engineering system. To work with the block, an instance must first be created in the user project.

Example:

VAR_GLOBAL... myInstRWParCyclicAxis1: _RWPAR_cyclic ; // create "_RWPAR_cyclic" // instance...END_VAR

Description2.3 Integrating the function block in the user project


Call (LAD representation)

Application exampleThe application example is included on the "SIMOTION Utilities & Applications" CD-ROM and is available for various SIMOTION hardware platforms.

The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery.

2.4 Creating I/O Variables

OverviewTo read and write drive parameters by means of the PIV interface, you must define I/O variables in SIMOTION SCOUT.

Communication between the SIMOTION device and the drive takes place by means of direct I/O access when data are exchanged over the PIV interface. I/O variables are used to address the direct read/write access to the I/O.

You can freely assign the names of I/O variables in SIMOTION SCOUT. I/O variables must be specified as ARRAY [0..7] of BYTE. You assign addresses set in the hardware configuration (PIV slot) to these I/O variables.

Description2.4 Creating I/O Variables


Figure 2-1 Addresses (PIV slot) in SIMOTION SCOUT

The names of the I/O inputs must be transferred to the function block as a call parameter (inputInterface). The data prepared for the I/O outputs are made available as output parameters by the FB and must be assigned to the corresponding I/O variables (see call example in the "Calling the Function Block" section).

The following example shows how to assign the module addresses to the I/O variables in SIMOTION SCOUT.

Figure 2-2 Address assignment in SIMOTION SCOUT

Input addresses and output addresses have a range of 8 bytes each (corresponding to the PIV range of the drive).

Note

For additional information, refer to:● SIMOTION SCOUT online help● Programming manual of the corresponding programming language, e.g.:

– SIMOTION ST, Structured Text programming manual– SIMOTION MCC, Motion Control Chart programming manual– SIMOTION LAD/FBD, Ladder Diagram and Function Block Diagram programming

manual

These documents are shipped with SIMOTION SCOUT in electronic form!



Function block 33.1 Overview

This section contains a description of the function block (FB) required to read and write drive data between a SIMOTION device and the drive.

This function block makes it easier to read and write drive parameters from a SIMOTION program over the PIV interface of a drive.

The _RWPAR_cyclic function block must be called repeatedly (cyclically) from the user program.

3.2 _RWPAR_cyclic function block

TaskThe _RWPAR_cyclic function block enables you to read or write the individual parameters of a drive.

For this purpose, the relevant drive must support the mechanism of data exchange via the PIV interface.

Call (LAD representation)


_RWPAR_cyclic FB parameters

Note

The SIMOTION identifiers have changed as of V4.0. A comparison of the designations up to V3.2 / from V4.0 is contained in the "List of parameters" table in Appendix A.

Table 3-1 _RWPAR_cyclic FB parameters

Name P type 1) Data type Meaning Actions performed by user

Actions per‐formed by block

periIn IN ARRAY [0 to 7] of BYTE

Transfers I/O inputs of drive to FB

I/O variable of the I/O in‐puts of the drive transfer‐red to the FB

Checked

execute IN BOOL FALSE → TRUE edgeStart request

Entered Checked

paraNumber IN UINT Parameter to be read or writ‐ten 2)

Entered Checked

index IN USINT Subindex for parameter to be read or written

Entered Checked

sendParaValue IN DWORD Value of parameter to be writ‐ten

Entered Checked

jobIdentification IN SINT Request identifier 2) Entered CheckedslotNumber IN UINT PIV slot number 2) Entered CheckedperiOut OUT ARRAY [0 to 7]

of BYTEPrepared FB data for I/O out‐puts of drive

Checked and entered on the I/O variable for the I/O outputs

Entered

receiveParaValue OUT DWORD Value of read parameter Checked Enteredbusy OUT BOOL = TRUE: A request is being

processed= FALSE: No request has been received

Checked Entered

done OUT BOOL = TRUE: If current request is done, only one cycle is active= FALSE: There is no request pending, or a request is being executed.

Checked Entered

error OUT BOOL = TRUE: Request terminated with error (see errorID param‐eter) - only one cycle is active

Checked Entered

errorID OUT INT Error specification 2)

only one cycle is activeChecked Entered

1)Parameter types: IN = input parameter, OUT = output parameter

Function block3.2 _RWPAR_cyclic function block


2)See user manuals for relevant drives (PIV range)

Note

If errorID = 201, an incorrect slot was configuredRemedy: Check and modify slot configuration!

If errorID = 301, transfer of the request was aborted because no correct response data has been received from the drive after 1000 function block call cycles.Remedy: Repeat request, check communication link if necessary!

If errorID = 302, parameter change rights do not exist for the relevant driveRemedy: Set the parameter change rights and repeat the request.

If you want to read and write indexed parameters for SIMODRIVE 611 universal and SIMODRIVE POSMO CD, CA and SI, you must set bit 11 in the P879 parameter to "1".

For information about drive parameters and their formats and data types, refer to the user manuals for the installed drives.

Function descriptionThis function block processes the PIV interface (4 words wide) in a cyclic message frame.

A complete request (paraNumber, index, sendParaValue, jobIdentification) is processed. Consistent data transfer is ensured by the byte ARRAY mechanism for I/O inputs and outputs. A new request is accepted through a positive edge at the execute parameter of the block. A busy parameter at the block indicates that request processing is in progress. A new request cannot be started until processing of the previous request is finished (done = TRUE). Any errors are indicated in the error and errorID parameters.

Function block3.2 _RWPAR_cyclic function block


Signal sequence diagramThe following figure shows the behavior of the parameters of the _RWPAR_cyclic function block

Figure 3-1 _RWPAR_cyclic FB signal sequence diagram

Task integration (call) The _RWPAR_cyclic function block must be called cyclically in the BackgroundTask or in the TimerInterruptTask. Calling in the SystemInterruptTask is not permitted. Calling the function block in the IPOSynchronousTask is not recommended for runtime reasons.

3.3 Calling the function blockIn order to work with the function block in your user program, proceed as follows (the numbers shown in the following program snippet correspond to the steps below):

1. Create an instance of the function block.

2. Call instance of the function block.

3. Transfer input parameters.

4. The output parameters of the function block are accessed with <instance name of FB>.<name of output parameter>.

5. The data for the I/O outputs prepared by the FB are assigned to the I/O variables.

Note

If you want to read or write parameters from multiple drives, you must create an FB instance with a new name for each drive.

Function block3.3 Calling the function block


Call example

UNIT E_rwPar; INTERFACE VAR_GLOBAL myInstRWParCyclicAxis1: _RWPAR_cyclic; // create "_RWPAR_cyclic" instance myTransferError : WORD :=16#0000; // displays error number of // data transfer myWrOneParaToAxis1 : BOOL :=FALSE; // starts the transmission of // proportional gain // (non indexed parameter) to Axis1 END_VAR PROGRAM ExampleRWParameter; END_INTERFACE IMPLEMENTATION PROGRAM ExampleRWParameter // program of BackgroundTask VAR mySlotNumberAxis1 : UINT ; myStartParamAxis1 : BOOL :=FALSE; // start flag for data transmission //of axis 1 myParaNumAxis1 : UINT :=0; myIndexAxis1 : USINT := 0; mySendParaValueAxis1 : DWORD :=16#0000; myJobIdentificationAxis1 : SINT := 0; END_VAR

(1)

// call instance from standard FB "_RWPAR_cyclic" to proceed data transfer myInstRWParCyclicAxis1( periIn := myPeripheralInputAxis1,

(2)

slotNumber := mySlotNumberAxis1, execute := myStartParamAxis1, paraNumber := myParaNumAxis1, index := myIndexAxis1, sendParaValue := mySendParaValueAxis1, jobIdentification := myJobIdentificationAxis1 );

(3)

// copy error code myTransferError:= myInstRWParCyclicAxis1.errorID;

(4)

// write peripheral outputs myPeripheralOutputAxis1 := myInstRWParCyclicAxis1.periOut; END_PROGRAM END_IMPLEMENTATION

(5)



Note

The ExampleRWParameter program must be assigned in the execution system.



Example of an application 44.1 General

The call example above shows how to read and write a variety of drive parameters from a SIMOTION program in a system with a SIMODRIVE 611 universal double-axis module. The parameters are written either individually or as a group to the 1st and 2nd axis on the double-axis module. Drive parameters are read:

● once from the 1st axis of the double-axis module

● cyclically from the 2nd axis of the double-axis module

Hardware platformThe application example is available for various SIMOTION hardware platforms.

Note

If the application example is not available for your hardware platform, you have to adapt the hardware configuration.

Adapting the application exampleThe configuration in the example and its available hardware must be adapted.

The following options are available:

1. The configuration in the example can be adapted to the available hardware (commission drive, PROFIBUS DP address).

2. The hardware configuration can be adapted to the example (commission drive, PROFIBUS DP address).

Note

For commissioning the drive, please observe the drive documentation!This documentation is included in the SIMOTION SCOUT scope of supply as electronic documentation!


Calling the application exampleThe application example can be found on the "SIMOTION Utilities & Applications" CD-ROM. The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the SIMOTION SCOUT scope of delivery.

1. Dearchive and open the project containing the application example.

2. Check the axis configuration: PROFIBUS DP addresses.

3. Save and compile the example project. Then, you can download the example to the SIMOTION device and switch to RUN mode.

Variables used in application example

Symbol Data type Meaning Actions per‐formed by user

Actions per‐formed by ex‐ample

myWrOneParaToAxis1 BOOL Transfers the P-gain of the speed controller to Axis 1(edge-triggered)

SetReset (on er‐ror)

Reset

myWrIndexedParaToAxis1 BOOL Transfers the ramp-up time of parameter block 1 of Axis 2 - indexed parameter (edge-triggered)


Reset

myWrThreeParaToAxis1 BOOL Transfers a set of 3 parameters to Axis 1(edge-triggered)


Reset

myWrOneParaToAxis2 BOOL Transfers the P-gain of the speed controller to Axis 2(edge-triggered)


Reset

myRdThreeParaAxis1 BOOL Reads 3 parameters from axis 1 once SetReset (on er‐ror)

Reset

myRdIndexedParaAxis1 BOOL Reads the ramp-up time of parameter block 1 of Axis 1 - indexed parameter (edge-triggered)


Reset

myRdThreeParaCyclicAxis2 BOOL Reads 3 parameters from axis 2 cyclically SetReset

ReadReset (on er‐ror)

myTransferError INT Contains the error identifier (errorID) of the _RWPAR_cyclic FB

Read Written

myReadCyclicActive BOOL = TRUE: cyclical reading of parameters is active

Read Written

Example of an application4.1 General


4.2 Sequence of the application exampleThis application example illustrates how to read and write the drive parameters for a SIMODRIVE 611 universal double-axis module using the _RWPAR_cyclicfunction block. On the basis of five different parameterized calls of the _RWPAR_cyclic FB, drive parameters will be written to the 2 axes of the double-axis module or will be read discretely or cyclically.

Start the transfer operation by setting the global variables (e.g., "myWrOneParaToAxis1" to transfer the P-gain of the speed controller to Axis 1) in the symbol browser and pressing the "Immediate control" button. Once the parameters have been transferred successfully, the variables will be reset by the application example. However, if any transfer errors have occurred, the global variables will not be reset automatically by the application example. In this case, you must reset the global variables (to "FALSE") in the symbol browser yourself. The error ID is saved in the "myTransferError" global variable and displayed in the symbol browser of SIMOTION SCOUT.

The drive parameters are stored in the following structures:

Table 4-1 Overview of the data structures for the drive parameters

Data structure MeaningstructParameterAxis1writeParameterreadParameter

Drive parameters for axis 1Substructure for the drive parameters to be written for axis 1Substructure for the drive parameters of axis 1 to be read

structParameterAxis2writeParameterreadParameter

Drive parameters for axis 2Substructure for the drive parameters to be written for axis 2Substructure for the drive parameters of axis 2 to be read

Before initiating the transfer, you can modify the values of the drive parameters to be written in the symbol browser and activate them using the "Immediate control" button.

Example of an application4.2 Sequence of the application example


4.3 Error messagesAny transfer errors that occur are stored in the "myTransferError" global variable and displayed in the symbol browser of SIMOTION SCOUT.

Note

If myTransferError = 201, an incorrect slot was configuredRemedy: Check and modify slot configuration!

If myTransferError = 301, transfer of the request was aborted because no correct response data have been received from the drive after 1,000 function block call cycles.Remedy: Repeat request, check communication link if necessary!

If myTransferError = 302, parameter change rights do not exist for the relevant driveRemedy: Set the parameter change rights and repeat the request.

If you want to read and write indexed parameters for SIMODRIVE 611 universal and SIMODRIVE POSMO CD, CA and SI, you must set bit 11 in the P879 parameter to "1".

For information about drive parameters and their formats and data types, as well as a detailed description of the error ID, refer the the SIMODRIVE 611 universal (PIV range) function description. This documentation is included as electronic documentation with the supplied SIMOTION SCOUT!

Example of an application4.3 Error messages


Appendix AA.1 List of parameters

A comparison of the SIMOTION identifiers up to V3.2/as of V4.0 is shown in the table below.

Table A-1 List of parameters

Name in the SIMOTION system as of V4.0 (program library in SCOUT)

Name in the SIMOTION system up to V3.2 (SIMOTION function library)

Function block parameters_RWPAR_cyclic _FB_rwPar_cyclicperiIn inputInterfaceexecute executeparaNumber parameterNumberindex indexsendParaValue sendParameterValuejobIdentification jobIdentificationslotNumber slotNumberperiOut outputInterfacereceiveParaValue receiveParameterValuebusy busydone doneerror errorerrorID errorID


AppendixA.1 List of parameters


Index

__RWPAR_cyclic function block, 15

CCall example for reading and writing, 20Calling the function block, 18Creating I/O variables, 12

EExample of an application, 21

FFB _RWPAR_cyclic parameters, 16Function block

Call, 18Parameter, 16Task integration, 18

Function blocks, 15

GGeneral, 9

IIntegrating the function block, 11

LList of parameters, 25

RReferences, 3

SStart-up and Parameterization of PROFIBUS DP Interface, 10


Index


SIMOTION Reading and writing drive data

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