Siemens SIMOTION Parts list manual

SIMOTION
Motion Control
Basic Functions for Modular
Machines
Function Manual
04/2014
Preface
Fundamental safety
instructions
1
Overview of the functionality
of modular machines
2
Synchronizing SIMOTION
devices with a higher-level
bus cycle clock
3
Setting the communication
addresses via the user
program
4
Activating and deactivating
components and technology
objects
5
Changing the active
configuration or the active
kernel
6
Appendix
A

Legal information
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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.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
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The product/system described in this documentation may be operated only by personnel qualified for the specific
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personnel are those who, based on their training and experience, are capable of identifying risks and avoiding
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Note the following:
WARNING
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Ⓟ 04/2014 Subject to change
Copyright © Siemens AG 2014.
All rights reserved

Preface
Preface
This document is part of the SIMOTION System and Function Descriptions documentation
package.
Scope of validity
This document applies to SIMOTION SCOUT, the engineering system of the SIMOTION
product family, V4.4 in conjunction with:
● A SIMOTION device with the following versions of the SIMOTION Kernel:
– V4.4
– V4.3
– V4.2
– V4.1
– V4.0
– V3.2
● The relevant version of the following SIMOTION Technology Packages, depending on the
kernel:
– Cam
– Path (as of Kernel V4.1)
– Cam_ext
– TControl
The descriptions for the PROFINET communication refer to PROFINET standard V2.2. For
details please see Compatibility List SW (http://support.automation.siemens.com/WW/view/de/
18857317).
Sections in this manual
The following is a list of sections included in this manual along with a description of the
information presented in each section.
●Overview of the functionality of modular machines in the SIMOTION system (Section 1)
This section provides an overview of the functionalities for modular machines that are
automated using SIMOTION and PROFIBUS DP or PROFINET IO.
●Synchronizing SIMOTION devices with a higher-level bus cycle clock (Section 2)
This section describes the synchronization of a SIMOTION device and its PROFIBUS DP
interfaces with a higher-level bus cycle clock.
Basic Functions for Modular Machines
Function Manual, 04/2014 3

●Setting the communication addresses via the user program (Section 3)
This section describes the options for changing the communication addresses for
PROFIBUS DP, PROFINET IO, and Ethernet via the user program.
●Activating and deactivating components and technology objects (Section 4)
This section describes how to activate or deactivate DP slaves (in PROFIBUS), IO devices
(in PROFINET), or technology objects in the user program.
●Changing the active configuration or the active kernel (Section 5)
This section describes how to perform a controlled change of configurations or the
SIMOTION Kernel via a user program.
●Index
Keyword index for locating information.
SIMOTION Documentation
An 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
● SIMOTION D
● SIMOTION Supplementary Documentation
Hotline and Internet addresses
Additional information
Click the following link to find information on the 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
Preface
Basic Functions for Modular Machines
4Function Manual, 04/2014

Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
[email protected]
My Documentation Manager
Click 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
Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain
FAQs
Frequently 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 support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
http://www.siemens.com/automation/service&support
Preface
Basic Functions for Modular Machines
Function Manual, 04/2014 5

Table of contents
Preface.........................................................................................................................................................3
1Fundamental safety instructions.................................................................................................................11
1.1 General safety instructions..........................................................................................................11
1.2 Industrial security........................................................................................................................12
2 Overview of the functionality of modular machines....................................................................................13
2.1 Synchronizing SIMOTION devices with a higher-level bus cycle clock.......................................13
2.2 Changing communication addresses via the user program........................................................14
2.2.1 Application examples for setting the communication address.....................................................14
2.2.2 User program for changing the communication address.............................................................18
2.3 Operating only parts of a configured maximum configuration.....................................................19
2.3.1 Fundamental procedures............................................................................................................20
2.3.2 User program..............................................................................................................................21
2.3.3 System behavior..........................................................................................................................21
2.4 Activating the configuration or the SIMOTION kernel.................................................................22
2.4.1 Activating the configuration.........................................................................................................22
2.4.2 Activating the SIMOTION kernel.................................................................................................23
2.4.3 Selecting and activating a configuration using an initial configuration........................................23
2.4.4 Procedure....................................................................................................................................23
3 Synchronizing SIMOTION devices with a higher-level bus cycle clock......................................................25
3.1 General information about synchronizing a SIMOTION device with the bus cycle clock............25
3.1.1 Cycle clock generation and synchronization in PROFIBUS DP..................................................26
3.1.2 Cycle clock generation and synchronization in PROFINET IO...................................................28
3.2 Synchronizing a SIMOTION device without an isochronous DP master interface......................31
3.3 Synchronization of a SIMOTION device with an isochronous DP master interface....................33
3.4 Behavior in the STOP and RUN operating modes......................................................................38
4 Setting the communication addresses via the user program......................................................................41
4.1 Setting the PROFIBUS address..................................................................................................41
4.1.1 System functions.........................................................................................................................42
4.1.2 System behavior..........................................................................................................................43
4.2 Topology detection in PROFINET IO..........................................................................................44
4.3 Setting the device name (NameOfStation) of an IO device on PROFINET IO............................46
4.3.1 System functions.........................................................................................................................47
4.3.2 System behavior..........................................................................................................................52
4.4 Setting the IP address (on Ethernet)...........................................................................................52
5 Activating and deactivating components and technology objects..............................................................57
5.1 Activating and deactivating nodes on the PROFIBUS or PROFINET IO....................................57
Basic Functions for Modular Machines
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5.1.1 System functions for activating and deactivating bus nodes.......................................................58
5.1.1.1 Status diagram for the functions _activateDpSlave and _deactivateDpSlave ............................60
5.1.1.2 Asynchronous call for the functions _activateDpSlave and _deactivateDpSlave........................62
5.1.1.3 Synchronous call for the functions _activateDpSlave and _deactivateDpSlave .........................64
5.1.2 Querying the activation state and status of the nodes (DP slaves or IO devices)......................66
5.1.2.1 Querying the activation state of the DP slaves and IO devices using system functions.............66
5.1.2.2 Querying the status of the DP slaves and IO devices using system functions ...........................67
5.1.2.3 Monitoring the status of the DP slaves and IO devices in the engineering system.....................68
5.1.3 Converting a PROFIBUS address or device number for PROFINET IO into the logical
diagnostics address and vice versa............................................................................................68
5.2 Option handling for ET 200S with reserve modules....................................................................68
5.2.1 Principle of operation of option handling without reserve modules.............................................69
5.2.2 Prerequisites for option handling without reserve modules.........................................................70
5.2.3 Example of use without reserve modules....................................................................................70
5.2.4 Assigning parameters for option handling without reserve modules...........................................71
5.2.5 Controlling and monitoring options..............................................................................................73
5.3 Activating and deactivating SINAMICS components...................................................................75
5.4 Activating and deactivating technology objects...........................................................................78
5.4.1 System functions for activating and deactivating technology objects.........................................79
5.4.1.1 Status diagram for the functions _activateTo and _deactivateTo................................................79
5.4.1.2 Asynchronous call for the functions _activateTo and _deactivateTo...........................................80
5.4.1.3 Synchronous call for the functions _activateTo and _deactivateTo.............................................82
5.4.2 Activating or deactivating technology objects in the engineering system...................................84
5.4.3 Querying the activation state of technology objects....................................................................85
5.4.3.1 Querying the activation state of technology objects using system functions..............................85
5.4.3.2 Monitoring the activation state of technology objects in the engineering system........................86
5.5 Procedure for deactivating and activating components...............................................................86
5.5.1 Deactivating components............................................................................................................87
5.5.2 Activating components................................................................................................................87
6 Changing the active configuration or the active kernel...............................................................................89
6.1 Activating a configuration............................................................................................................89
6.1.1 Special considerations when a CX32/CX32‑2 controller extension (up to Kernel V4.2) is
connected....................................................................................................................................91
6.1.2 Example for the activation of a configuration..............................................................................92
6.2 Activating a kernel.......................................................................................................................94
6.2.1 Activating a kernel.......................................................................................................................94
6.2.2 Example programs for activating a kernel...................................................................................96
6.2.3 Status diagram for activating a kernel.........................................................................................99
6.3 Selecting and activating a configuration using an initial configuration........................................99
6.3.1 Selecting and activating a configuration using an initial configuration........................................99
6.3.2 Status diagram for what happens when a SIMOTION device is switched on depending on
whether or not the SelfAdaptingConfiguration functionality is active .......................................102
6.3.3 Example program for an initial configuration.............................................................................103
6.4 Reading the activation state of configurations...........................................................................104
6.5 Retaining retentive data in the event of a configuration change...............................................105
6.6 Procedure for creating the card images of configurations.........................................................107
6.6.1 Preparing the memory card of the SIMOTION device...............................................................107
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Basic Functions for Modular Machines
8Function Manual, 04/2014

6.6.2 Creating the work directories on the PC/PG.............................................................................108
6.6.3 Saving the configuration files in the work directories on the PC/PG.........................................111
6.6.4 Creating the compressed configuration files.............................................................................114
6.6.5 Saving the kernel in the work directory on the PC/PG..............................................................115
6.6.6 Creating the card images of the configurations.........................................................................115
A Appendix...................................................................................................................................................119
A.1 Command line application u7mkcnfx.exe..................................................................................119
A.2 Creating the card images for the configuration server by means of SCOUT scripting..............121
A.2.1 Creating the script folder in the SCOUT project........................................................................122
A.2.2 Creating the work directories on the PC/PG.............................................................................122
A.2.3 Saving the configuration files in the work directories on the PC/PG.........................................124
A.2.4 Creating the compressed configuration files.............................................................................125
A.2.5 Creating the card images of the configurations.........................................................................126
A.2.6 Script to call up the individual scripts to create the card image.................................................128
A.3 Loading the card image to the target device by means of SCOUT scripting............................128
A.4 Storing configuration files for SIMOTION D4xx devices up to kernel version V4.1.4................129
Index.........................................................................................................................................................131
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Basic Functions for Modular Machines
Function Manual, 04/2014 9

Fundamental safety instructions 1
1.1 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).
Basic Functions for Modular Machines
Function Manual, 04/2014 11

1.2 Industrial security
Note
Industrial 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 instructions
1.2 Industrial security
Basic Functions for Modular Machines
12 Function Manual, 04/2014

Overview of the functionality of modular machines 2
This section provides an overview of which functionalities are offered by the SIMOTION MC
system to enable the creation of modular machines with SINAMICS drives, PROFIBUS DP,
and PROFINET IO.
The SIMOTION system offers several ways of designing a machine on a modular basis and
optimizing the rated conditions:
● The targeted and automated creation of a SIMOTION project in the SIMOTION SCOUT
engineering system, for example by:
– Using ready-made and tested modules such as library components, for example
– Automating the configuration and parameter assignment of machine components
(e.g. the drives or the components) in scripting.
This procedure is clearly described in the online help section of the SCOUT engineering
system and will not be explained in further detail here.
● Changing the configuration during user program runtime. This is done via system functions
provided by the SIMOTION kernel. An engineering system is not required.
This procedure is described in detail in this document.
The procedure for distributed synchronous operation, which can apply to the entire project,
is described in the function manual titled SIMOTION Motion Control Technology Objects
Synchronous Operation, Cam .
2.1 Synchronizing SIMOTION devices with a higher-level bus cycle clock
SIMOTION devices provide several communication interfaces to which distributed I/O,
for example, or other SIMOTION devices can be connected. This enables the synchronous
running of axes that are controlled and regulated via the various SIMOTION devices
(distributed synchronous operation). For this, the devices must be interconnected via an
isochronous communication network (PROFIBUS DP or PROFINET IO) and synchronized
with a common bus cycle clock.
'HILQHVWKHF\FOHFORFNIRUWKHV\VWHP0DVWHU0DVWHU6ODYH'ULYHVODYH6,027,21B6,027,21B
Figure 2-1 Sample configuration for synchronizing a SIMOTION device with an isochronous master
Basic Functions for Modular Machines
Function Manual, 04/2014 13

The SIMOTION_1 device delivers a bus cycle clock to the connected subnet via an isochronous
communication interface that has been configured as a DP master (in PROFIBUS DP) or as
a sync master (in PROFINET IO).
The SIMOTION_2 device should be synchronized with this higher-level bus cycle clock. For
this reason, the communication interface reached by the bus cycle clock in the SIMOTION_1
device must be configured as a DP slave (in PROFIBUS DP) or as a sync slave (in
PROFINET IO). General information about synchronizing a SIMOTION device with the bus
cycle clock (Page 25) provides an overview of cycle clock generation and synchronization in
PROFIBUS DP and PROFINET IO.
Isochronous DP master interfaces in the SIMOTION_2 device can be synchronized with the
higher-level bus cycle clock and the cycle clock delivered to lower-level drives. The
synchronization behavior of the SIMOTION_2 device depends on whether or not the
PROFIBUS DP interfaces have been configured as isochronous DP masters:
● No further isochronous DP master interface available: The synchronization of the device
(with the internal cycle clocks) occurs automatically when the higher-level bus cycle clock
has been recognized at the corresponding slave interface. See Synchronizing a SIMOTION
device without an isochronous DP master interface (Page 31)
● At least one isochronous DP master interface is available (for example in SIMOTION D).
Synchronization of the isochronous DP master interfaces is controlled by the user and
occurs when the user calls up a system function. Synchronization of the device varies,
depending on whether the higher-level bus cycle clock is fed in via a PROFIBUS DP
interface or a PROFINET IO interface. See Synchronization of a SIMOTION device with
an isochronous DP master interface (Page 33)
2.2 Changing communication addresses via the user program
Nodes are clearly identified within a communication network by means of, for example
● The PROFIBUS address of the interface in PROFIBUS DP
● The device name (NameOfStation) in PROFINET IO
● The IP address of the interface on Ethernet
These communication addresses are set during configuration with the help of the SIMOTION
SCOUT engineering software. They can be changed later by a user program and the
requirements customized at each respective destination.
Some application examples for this functionality are described in the following.
2.2.1 Application examples for setting the communication address
Base machine with several modules
A machine consists of a base machine (base_machine) with several machine modules
(module_1 to module_n). The base machine and all modules are controlled via separate
Overview of the functionality of modular machines
2.2 Changing communication addresses via the user program
Basic Functions for Modular Machines
14 Function Manual, 04/2014

SIMOTION devices. These are interconnected via a communication network. This is shown
schematically:
● In the PROFIBUS DP example: A base machine with several identical modules, which
communicate via PROFIBUS DP
● In the PROFINET IO example: A base machine with several identical modules, which
communicate via PROFINET IO
The same SIMOTION project (i.e. the same SIMOTION devices, drives, technology objects,
user programs) is loaded on all machine modules. The user program of each module
determines the necessary communication address and sets it up.
Note
As an alternative to changing the communication address of the machine module, you can
also activate different configurations (Activating the configuration (Page 22)).
Overview of the functionality of modular machines
2.2 Changing communication addresses via the user program
Basic Functions for Modular Machines
Function Manual, 04/2014 15

Example of communication via PROFIBUS DP
'3VODYH'3PDVWHU'3'3PDVWHU23+0,'3VODYH'3PDVWHU'3VODYH'3PDVWHUPRGXOHBPRGXOHBPRGXOHBEDVHBPDFKLQHGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHB6,027,21B6,027,21B6,027,21B6,027,21B
Figure 2-2 Base machine with several identical modules (communication via PROFIBUS DP)
Overview of the functionality of modular machines
2.2 Changing communication addresses via the user program
Basic Functions for Modular Machines
16 Function Manual, 04/2014

Example of communication via PROFINET IO
'3PDVWHU'3PDVWHU'3PDVWHU'3PDVWHU
23+0,
SRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWSRUWGSBVODYHBGSBVODYHB
GSBVODYHB
GSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGSBVODYHBGHYLFHBGHYLFHBGHYLFHBGHYLFHBGHYLFHBGHYLFHBGHYLFHBGHYLFHBGHYLFHBPRGXOHBPRGXOHBPRGXOHBEDVHBPDFKLQH6,027,21B6,027,21B6,027,21B6,027,21B
Figure 2-3 Base machine with several identical modules (communication via PROFINET IO)
Replacing a module on the base machine
The user connects a replacement module to the base machine. A standard project with a preset
communication address is loaded on the replacement module. The user program of each
module determines the necessary communication address and sets it up.
Overview of the functionality of modular machines
2.2 Changing communication addresses via the user program
Basic Functions for Modular Machines
Function Manual, 04/2014 17

Operating a module on several base machines
A module (with dedicated SIMOTION control) is alternately connected to different base
machines (e.g. a transport vehicle travels to different assembly sites and connects there). At
each base machine, the module is to be integrated in the respective communication network
and contact established with the higher-level control.
A standard project with a preset communication address is loaded on the module. The
communication address valid for the network of the respective base machine is set by the user
program of the module according to the specifications.
2.2.2 User program for changing the communication address
The user program checks which communication address is to be set for the respective network,
e.g. by:
● Reading in and evaluating a slot coding
● Evaluating a program variable (which can be changed, for example, by a user input on the
HMI device)
The determined communication address then sets the user program. System functions are
provided for this purpose, for example:
Overview of the functionality of modular machines
2.2 Changing communication addresses via the user program
Basic Functions for Modular Machines
18 Function Manual, 04/2014

● To change the PROFIBUS address of a DP slave (see Setting the PROFIBUS address
(Page 41)):
– _getActiveDpSlaveAddress
– _setDpSlaveAddress
– _activateDpSlaveAddress
● To change the device name (NameOfStation) of an IO device on PROFINET IO (see Setting
the device name (NameOfStation) of an IO device on PROFINET IO (Page 46)):
As of SIMOTION Kernel version V4.4, the following functions should be used in new
projects:
– _getPnNameOfStation (as of Kernel V4.4, replaces _getActiveNameOfStation)
– _setPnNameOfStation (as of Kernel V4.4, _setNameOfStation _activateNameOfStation)
Up to SIMOTION Kernel version V4.3, the following functions should be used:
– _getActiveNameOfStation
– _setNameOfStation
– _activateNameOfStation
● To change the IP address of an Ethernet node (see Setting the IP address (on Ethernet)
(Page 52)):
As of SIMOTION Kernel version V4.4, the following functions should be used in new
projects:
– _getPnIpConfig (as of Kernel V4.4, replaces _getIpConfig)
– _setPnIpConfig (as of Kernel V4.4, replaces _setIpConfig)
Up to SIMOTION Kernel version V4.3, the following functions should be used:
– _getIpConfig
– _setIpConfig
2.3 Operating only parts of a configured maximum configuration
Here, for example, a machine consists of a base machine with several machine modules or
several axes. The user configures and programs the base machine with all possible machine
modules and axes (maximum configuration). The real machine differs from the configured
maximum configuration, e.g.:
● Not all configured machine modules or axes are available (actual structure differs from
configured structure)
● Not all machine modules or axes are required in an operation phase.
SIMOTION provides system functions for the following purposes:
Overview of the functionality of modular machines
2.3 Operating only parts of a configured maximum configuration
Basic Functions for Modular Machines
Function Manual, 04/2014 19

● The distributed I/O on PROFIBUS DP or PROFINET IO (e.g. drives or other DP slaves or
IO devices) can be activated or deactivated. In addition, the current state of individual or
all DP slaves or IO devices can be queried.
● Technology objects (e.g. axes assigned to drives that are not required) can be activated or
deactivated.
The computational load of the SIMOTION device can be reduced through specific use of these
system functions; the computing capability can be concentrated on the drives or technology
objects which are currently required. No bus fault is signaled, even if bus nodes are not
available.
Note
Licenses are required for all axes of the maximum configuration.
2.3.1 Fundamental procedures
As an example, different procedures are described for a machine during ramp-up or during
production.
● During ramp-up, the user program determines the actual structure of the distributed I/O
(e.g. drives, other DP slaves) of the machine. Here, the system function calls
_getStateOfAllDpSlaves and evaluates its return value.
All configured distributed I/O are activated, by default. The user program now deactivates
the DP slaves that are not available and the technology objects assigned to the drives.
● During a defined production phase, certain plant units (e.g. machine modules, including
drives and axes) are required, while others are not. In accordance with the relevant operator
specifications, the user program deactivates plant units which are no longer required (along
with the assigned technology objects) and activates the newly added ones.
Overview of the functionality of modular machines
2.3 Operating only parts of a configured maximum configuration
Basic Functions for Modular Machines
20 Function Manual, 04/2014