Siemens SINAMICS G Series User manual

SINAMICS G:
Controlling a speed
axis with the
“SINA_SPEED” block
SINAMICS G120 / SIMATIC S7-1200
https://support.industry.siemens.com/cs/ww/en/view/109485727
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Industry
Online
Support

Warranty and Liability
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Warranty and Liability
Note
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Examples do not represent customer-specific solutions. They are only intended
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Table of contents
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Table of contents
Warranty and Liability ................................................................................................. 2
1Introduction........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Requirements of the application example............................................ 4
2Engineering........................................................................................................ 5
2.1 Overview............................................................................................... 5
2.2 Description of the core functionality..................................................... 6
2.3 Hardware and software components ................................................... 6
3Function Principle of the Application Example.............................................. 8
3.1 Data exchange to the SINAMICS drive................................................ 8
3.2 “SINA_SPEED” function block ........................................................... 10
3.3 Safe torque off STO ........................................................................... 13
3.3.1 STO via digital inputs ......................................................................... 13
3.3.2 STO as per SIL 3 with power module PM240-2................................. 13
4Configuration and Settings............................................................................. 14
4.1 Creating the project configuration ...................................................... 14
4.2 Commissioning the SINAMICS drive ................................................. 17
4.3 Configuring the S7 program............................................................... 19
5Installation and commissioning..................................................................... 21
5.1 Installing the hardware....................................................................... 21
5.2 IP addresses and device names........................................................ 22
5.3 Download the project to the components........................................... 22
6Operating the application example................................................................ 25
6.1 Operation via HMI .............................................................................. 25
6.1.1 Start screen........................................................................................ 26
6.1.2 Operating the “SINA_SPEED” block .................................................. 27
6.1.3 System functions................................................................................ 28
6.1.4 Support information............................................................................ 28
6.2 Operating via the control board.......................................................... 29
7Appendix .......................................................................................................... 30
7.1 Service and Support........................................................................... 30
7.2 Links and literature............................................................................. 31
7.3 Change documentation...................................................................... 31

1 Introduction
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1 Introduction
1.1 Overview
The SIMATIC S7-1200 can be operated as a PROFINET controller. For this, the
PROFINET-capable SINAMICS G120 drive can be used as PROFINET device and
be controlled by SIMATIC S7-1200.
This application example specifies a setpoint speed for a SINAMICS G120 drive.
The drive is controlled using the control word.
Overview of the application example
The following figure provides an overview of the application example.
Figure 1-1: Overview
SIMATICS7-1200
SINAMICSG120
SIMATICHMI
PROFINET IE
1.2 Requirements of the application example
Table 1-1: Requirements of the application example
Requirement
Explanation
Access to process data
The control word switches the SINAMICS G120 drive on or off
and specifies the setpoint speed value.
Pending faults at the drive are displayed and acknowledged.
Monitoring the
communication
The communication connection between the controller and the
drive are monitored for interruptions.
Safety function of the
SINAMICS G120
The SINAMICS G120 will have the option of performing a fail-
safe shutdown (STO).

2 Engineering
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2 Engineering
This application description shows the PROFINET connection of a SINAMICS
G120 to a SIMATIC S7-1215C with SINAMICS Startdrive. The drive is controlled
with the “SINA_SPEED” block which can be downloaded directly from a standard
library in the TIA Portal.
2.1 Overview
Schematic layout
The figure below shows a schematic overview of the most important components of
the solution:
Figure 2-1: Interconnection of the components
SIMATIC S7-1215C
SINAMICS G120
CU240-2 PN-F
SIMATIC HMI KTP400
PG/PC
PROFINET IE
Motor
Advantages
The use of the standard block “SINA_SPEED” offers a quick and simple option to
control the SINAMICS drive.
Topics not covered by this application
This application example does not contain a description of:
Structure and principle of operation of the “SINA_SPEED” block
Configuration of the safety functions in the SINAMICS G120 drive
Assumed knowledge
Basic knowledge on TIA Portal is assumed.

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2.2 Description of the core functionality
Configuring the communication
Both the SIMATIC controller and the SINAMICS converter are configured and
programmed in the TIA Portal. To do this, the following data are generated in the
hardware configuration:
IP addresses
PROFINET device names
I/O address ranges for the data to be exchanged between the SIMATIC
controller and the SINAMICS drive.
However, they can be modified at any time. Which process data are exchanged
between SIMATIC controller and SINAMICS drive is specified by the frame type (in
the example: standard telegram 1). The telegram type is also configured in the
hardware configuration.
Data exchange
Data exchange between SINAMICS G120 and SIMATIC S7-1200 is done with the
“SINA_SPEED” block in the process data range. The S7-1200 sends the control
word and the setpoint speed value to the drive. The drive sends the status word
and the actual speed value to the S7-1200.
Process data is transferred cyclically, which means in each bus cycle. The data is
therefore transferred as quickly as possible.
2.3 Hardware and software components
The application example was created with the following components:
Hardware components
Table 2-1: Hardware components
Component
Qty.
Article number
Note
CPU 1215C
DC/DC/DC
(FW 4.2.1)
1
6ES7215-1AG40-0XB0
Alternatively, you can also use
a different CPU.
SINAMICS CU240-2
PN-F
(FW 4.7.6)
1
6SL3244-0BB13-1FA0
Alternatively, you can also use
a different CU with
PROFINET.
SINAMICS PM240-2
IP20
1
6SL3210-1PB13-0ULx
-
Asynchronous motor
1
1LA7060-4AB10-Z
Alternatively, you can use a
different asynchronous motor.
SIMATIC Panel
KTP400 Comfort
1
6AV2124-2DC01-0AX0
The panel is optional.
PROFINET lines
-
6XV1840-2AH10
-
PROFINET connector
6
6GK1901-1BB10-2AA0
-

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Software components
Table 2-2: Software components
Component
Qty.
Article number
Note
STEP 7
Professional V14
Update 2
1
6ES7822-1..04-..
-
WinCC Advanced
V14 Update 2
1
6AV210.-….4-0
-
SINAMICS Startdrive
V14 Update 2
1
6SL3072-4EA02-0XG0
-
Example files and projects
The following list contains all files and projects that are used in this application
example.
Table 2-3: Example files and projects
Component
Note
109485727_G120_CU240E2PN_at_S7_1200_
SINA_SPEED_v10.zip
This zip file contains the STEP
7 V14 project.
109485727_ G120_CU240E2PN_at_S7_1200_
SINA_SPEED_DOCU_v10_en.pdf
This document.

3 Function Principle of the Application Example
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3 Function Principle of the Application
Example
Program overview
Figure 3-1: Program overview
User program Data blocks
Main [OB1] SINA_SPEED
[FB 285]
InstSina
Speed
[DB 285]
DPWR_DAT
DPRD_DAT
Instructions
3.1 Data exchange to the SINAMICS drive
Commands DPWR_DAT and DPRD_DAT
The “SINA_SPEED” block establishes the cyclic communication to a SINAMICS
drive. To do this, the block accesses the following command:
DPWR_DAT (writing consistent data of a DP standard slave)
DPRD_DAT (reading consistent data of a DP standard slave)
These instructions ensure that the consistency is maintained across the entire
process data, i.e. all elements of the process data of a device are from the same
bus cycle or are transferred within a bus cycle.
Note
For more information on the commands DPWR_DAT and DPRD_DAT refer to
the Online Help of the TIA Portal.

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Control word (STW1) and status word (ZSW1)
The “SINA_SPEED” function block is used to cyclically control a SINAMICS G120
drive with the standard telegram 1.
Table 3-1: Transmission telegram to the drive
Address
Name
Content
PZD 1
STW1
Control word 1
PZD 2
NSOLL_A
Setpoint speed value
Table 3-2: Receive telegram from the drive
Address
Name
Content
PZD 1
ZSW1
Status word 1
PZD 2
NIST_A
Setpoint speed of the motor
The following bits in the control word or the status word are influenced or displayed
in this application example.
Table 3-3: Used bits from control word 1
Bit
Value
Meaning
Remark
0
0
OFF1
Motor brakes with deceleration ramp p1121, the motor is
switched off at standstill (f < f min)
1
ON
Upon positive edge, the converter switches to “Ready
for operation”. If "Bit 3" = 1, the converter switches on
the motor.
1
0
OFF2
Electrical supply of the motor is switched off. The motor
coasts.
1
No OFF2
-
2
0
Quick stop (OFF3)
Quick stop: The motor brakes with OFF3 deceleration
ramp p1135 until standstill.
1
No quick stop (OFF3)
-
3
0
Lock operation
Switch off motor
1
Enable operation
Motor ready for switch on
4
0
Lock ramp-function generator
Ramp-function generator output is set to 0 (quickest
possible brake operation)
1
Enable ramp-function
generator
Possible to enable ramp-up function generator
5
0
Stop ramp-function generator
The ramp-function generator output is “frozen”
1
Continue ramp-function
generator
The value of the ramp-function generator is updated
6
0
Lock setpoint
The motor brakes with deceleration ramp p1121
1
Enable setpoint
Motor can accelerate to the setpoint value with ramp-up
time p1120
7
0
No fault acknowledgement
Pending faults are not acknowledged
1
Acknowledge fault
Pending faults are acknowledged with a positive edge
10
0
No control by PLC
Process data invalid
1
Master control by PLC
Process data valid, master control via field bus
11
0
No inversion of direction
No inversion of the setpoint value
1
Inversion of direction
The setpoint value is inverted

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Table 3-4: Used bits from status word 1
Bit
Value
Meaning
Remark
2
1
Enable operation
Motor can follow the setpoint value (status word 1 bit 3
enabled)
3
1
Fault active
There is a fault in the converter
6
1
On-inhibit active
The motor is only switched on again after re-starting
(status word 1 bit 0).
Note
More information on the SINAMICS G120 drives can be found in the manuals \3\.
3.2 “SINA_SPEED” function block
Note
The “SINA_SPEED” block is contained in the “DriveLib” library.
https://support.industry.siemens.com/cs/ww/en/view/109475044
Block call
The “SINA_SPEED” block can be called in the following organization blocks (OBs):
Cyclic task: OB1
Interrupt OB: for example OB32
Figure 3-2: “SINA_SPEED” block call
SINA_SPEED
BOOL
EnableAxis
AxisEnabled
BOOL
BOOL
AckError
Lockout
BOOL
REAL
SpeedSp
ActVelocity
REAL
REAL
RefSpeed
Error
BOOL
WORD
ConfigAxis
Status
WORD
HW_IO
HWIDSTW
DiagId
WORD
HW_IO
HWIDZSW
Block parameters
The following tables list the input and output parameters of the “SINA_SPEED”
block.
Table 3-5: “SINA_SPEED” input parameters
Name
Type
Start value
Function
EnableAxis
BOOL
FALSE
Start/stop of the drive (assignment of drive
control word 1 bit 0)
AckError
BOOL
FALSE
Acknowledgment of errors in the drive
(assignment of drive control word 1 bit 7)
SpeedSp
REAL
0.0
Definition of the speed [1/min]
RefSpeed
REAL
0.0
Reference speed of the drive.
(Entry must be identical with drive
parameter p2000)

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Name
Type
Start value
Function
ConfigAxis
WORD
16#003F
Assignment of the drive control word (drive
parameter r2090).
The start value 16#003F sets bits 1 to 6 to
TRUE:
Bit 1: OFF2
Bit 2: OFF3
Bit 3: Enable operation
Bit 4: Enable ramp-function generator
Bit 5: Continue ramp-function generator
Bit 6: Enable speed setpoint
HWIDSTW
HW_IO
0
Hardware ID setpoint value (see section
Telegram slot)
HWIDZSW
HW_IO
0
Hardware ID actual value (see section
Telegram slot)
Table 3-6: “SINA_SPEED” output parameter
Name
Type
Start value
Function
AxisEnabled
BOOL
FALSE
Drive operation is enabled
Lockout
BOOL
FALSE
On-inhibit of the drive is active
ActVelocity
REAL
0.0
Actual speed of the drive
Error
BOOL
FALSE
Drive fault active
Status
WORD
0
Display of status values:
16#7002: No fault
16#8401: Drive fault active
16#8402: On-inhibit active
16#8600: DPRD_DAT error
16#8601: DPWR_DAT error
DiagId
WORD
0
Expanded communication fault (error
when calling up a command)
Telegram slot
The block inputs HWIDSTW and HWIDZSW must reference to the hardware ID of
the standard telegram.
Figure 3-3: Supply of the telegram slot
When using a PROFINET connection between the SIMATIC controller and the
SINAMICS G120 drive, the same hardware ID must be configured for block inputs
HWIDSTW and HWIDZSW.

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Note
For more information on the “SINA_SPEED” block refer to the Online Help of the
TIA Portal or to the “DriveLib” documentation.
https://support.industry.siemens.com/cs/ww/en/view/109475044
Instance data block
The “SINA_SPEED” block interface is restricted to few inputs and outputs. All
signals of standard telegram 1 are available via the instance data block at all times.
The instance data block “InstSinaSpeed” contains the following information:
Function block inputs (1)
Function block outputs (2)
Standard telegram 1 structure in the statistical tag range (3)
Figure 3-4: “InstSinaSpeed” instance data blocks
1
2
3

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3.3 Safe torque off STO
3.3.1 STO via digital inputs
The converter with the “Safe Torque Off” (STO) function active prevents the
unwanted startup of machine components. This safety function can be configured
with specific digital inputs for a SINAMICS G120 drive with a control unit with safety
function. To do this, the safety functions must be enabled in the control unit.
Note
A detailed description of the configuration of the safety function STO using digital
inputs can be found in the application example “SINAMICS G: Speed Control of
a G110M / G120 (Startdrive) with S7-1500 (TO) via PROFINET or PROFIBUS
with Safety Integrated (via Terminal) and HMI”.
https://support.industry.siemens.com/cs/ww/en/view/78788716
3.3.2 STO as per SIL 3 with power module PM240-2
The PM240-2 power modules in sizes FSD, FSE and FSF can be used to realize
the “Safe Torque Off” (STO) according to EN 13849-1 and SIL 3 according to
IEC61508. Two terminal blocks (STO_A and STO_B) and two Dip switches are
available on the front side of the power module.
Note
More information on how to use the STO safety function as per SIL 3 with the
PM240-2 power module can be found in the “SINAMICS G120 power module
PM240-2” manual.
https://support.industry.siemens.com/cs/ww/en/view/109482011

4 Configuration and Settings
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4 Configuration and Settings
The step tables below describe how to configure the S7-1200 and the
SINAMICS S120 drive. The configuration of the operator panel is not described in
this chapter.
A requirement is that the software listed in Table 2-2 is installed on your PC/PG.
4.1 Creating the project configuration
Table 4-1: Creating the project configuration
No.
Action
Remark
1.
Open TIA Portal and create a new
project.
2.
Double-click on “Add new device“.
3.
Add your desired controller:
1. Select “Controller”.
2. Select the desired CPU.
3. Then click on “OK”.

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No.
Action
Remark
4.
Open the device configuration of the
CPU and configure the PROFINET
interface.
1. Open the “Properties” of the
CPU.
2. Select “Ethernet addresses”.
3. Add a new subnet.
4. Enter the desired IP address and
subnet mask.
5. You can also specify the
PROFINET device name in this
mask.
Configuring the SINAMICS G120 drive
Table 4-2: Adding the drive
No.
Action
Remark
1.
Select the desired SINAMICS drive.
1. In the “devices and networks”
editor, go to the “Network view”.
2. Now drag the desired
PROFINET-capable SINAMICS
drive into the graphic area.
(The SINAMICS drive is configured in
the TIA Portal using Startdrive)
2.
Connect the Ethernet connections of
the SIMATIC controller and the
SINAMICS drive with each other.
3.
Assign a power module to the drive
added in the network view. (This step
is not necessary when using a
G120C drive):
1. Open the “Device view”.
2. Select a power module from the
hardware catalog and add it to
the drive.
3
4
5

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No.
Action
Remark
4.
Configure the PROFINET interface of
the drive:
1. Open the “Properties” of the
drive.
2. You can set the IP address and
the device name in the
“PROFINET interface” settings.
5.
For data exchange between CPU and
drive, leave the setting at standard
telegram 1 unchanged.
Adding the HMI (optional)
Table 4-3: Adding the HMI
No.
Action
Remark
1.
Add the HMI in the “Network view”.
2.
Configure an HMI connection
between CPU and HMI.
3.
Then, check the PROFINET
addresses set.

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4.2 Commissioning the SINAMICS drive
After generating the project configuration, you have to commission the SINAMICS
G120 drive. When doing so, the commissioning wizard in Startdrive is followed.
Note
Information on the configuration and commissioning of drives can be found in the
TIA Portal online help.
Table 4-4: Commissioning the drive
No.
Action
Remark
1.
The drive must be assigned the
device name to be able to establish
an online connection to the drive. To
do this, select the interface used in
the “Online access” folder. Once the
available participants have been
updated (Update accessible
devices), the devices connected to
PROFINET are displayed. For
drives, there is the option to assign
IP address and device name in the
“Online & diagnostics” menu sub-
item.
2.
You can assign IP address and
device name in the “Online &
diagnostics” menu sub-item.
1. Enter the IP address or the
device name in the respective
field.
2. Then, assign the drive the
address or device name.
3.
When the assigned data (IP
address and device name) is
identical with the configuration of
the drive (chapter 4.1), Startdrive
can be used to establish an online
connection to the drive. To do so,
select the drive in the project
navigation and click “Go online” in
the toolbar.
1
2

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No.
Action
Remark
4.
The Commissioning Wizard can be
found in the drive folder under
“Commissioning”.
5.
Follow the Commissioning Wizard.
Useful support can be found in the
TIA Portal online help.
It is particularly important to
configure standard telegram 1 to
control the communication.
6.
As a last step of the commissioning
wizard, you have to save the drive
settings. To do so, check the “RAM
data to EEPROM” checkbox and
finish the wizard.
7.
Then disconnect the online
connection to the drive and load the
configuration stored in the drive into
the offline project.
8.
Save the TIA Portal project.
-

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4.3 Configuring the S7 program
The following step table shows how to configure a S7 program with the
“SINA_SPEED” function block.
Table 4-5: Configuring the S7 program
No.
Action
Remark
1.
Select the S7-1200 CPU in the
project tree.
-
2.
Open the libraries and select the
“SINA_SPEED” block from the
DriveLib library (V5.0) matching the
S7 controller used.
3.
Then add the block the “Program
blocks” folder in the controller.
4.
Call the “SINA_SPEED” block in the
Main OB (OB1). Assign the function
block an instance data block. The
number of the instance data block
can be selected by the user.

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No.
Action
Remark
5.
Connect the inputs and outputs
of the block as described in
chapter 3.2
6.
It is recommended to copy the
inputs and outputs of the block
"SINA_SPEED" into a control panel.
(see chapter 6.2)
7.
Save the project and load the
program into the controller.