SINAMICS G: PROFIBUS slave-to-slave communication with SINAMICS G120

SINAMICS G120, G120C, G120D, G120P Application description June 2013

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Siemens Industry Online Support This article is taken from the Siemens Industry Online Support. The following link takes you directly to the download page of this document: http://support.automation.siemens.com/WW/view/en/74455218 Caution The functions and solutions described in this article are predominantly confined to the realization of the automation task. Please also take into account that appropriate protective measures have to be taken with regard to industrial security when connecting your equipment to other parts of the plant, the company network or the Internet. Further information can be found under the item ID 50203404. http://support.automation.siemens.com/WW/view/en/50203404

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

Task

1 2 3 4 5 6 7

Solution

Basics Configuring the slave-toslave communication

SIMATIC Slave to Slave Communication SINAMICS G120

Internet links

Contact person

History
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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

Warranty and liability

Warranty and liability

Note The application examples are not binding and do not claim to be complete regarding the circuits shown, equipping and any eventuality. The application examples do not represent customer-specific solutions. They are only intended to provide support for typical applications. You are responsible for ensuring that the described products are used correctly. These application examples do not relieve you of the responsibility to use safe practices in application, installation, operation and maintenance. When using these application examples, you recognize that we cannot be made liable for any damage/claims beyond the liability clause described. We reserve the right to make changes to these application examples at any time without prior notice. If there are any variations between the recommendations provided in these application examples and other Siemens publications, e.g. catalogs, the contents of the other documents have priority.

We do not accept any liability for the information contained in this document. Any claims against us based on whatever legal reason resulting from the use of the examples, information, programs, engineering and performance data, etc. described in this application example, shall be excluded. Such an exclusion shall not apply in the case of mandatory liability, e.g. under the German Product Liability Act (Produkthaftungsgesetz), in case of intent, gross negligence or injury of life, body or health, guarantee for the quality of a product, fraudulent concealment of a deficiency or breach of a condition which goes to the root of the contract (wesentliche Vertragspflichten). The damages for a breach of a substantial contractual obligation are, however, limited to the foreseeable damage, typical for the type of contract, except in the event of intent or gross negligence or injury to life, body or health. The above provisions do not imply a change of the burden of proof to your detriment. Any form of duplication or distribution of these application examples or excerpts thereof is prohibited without the express consent of Siemens Industry Sector.

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

Preface

Preface
Aim of the application In many applications, data must be very quickly exchanged between drives. Direct data exchange between the drives using PROFIBUS slave-to-slave communication is faster than the indirect route through a control system. Applications include, for example, speed setpoint cascade, controlling additional drives using a control word or leading/following drives with closed-loop torque control for rigidly coupled axes.

Key contents of this application This application deals with the following key points: Direct communication between two DP slaves using direct telegram exchange. Configuring the SIMATIC S7 hardware configuration and the SINAMICS telegram interconnection of the SINAMICS drives for direct data exchange. Validity The application is applicable for all SINAMICS G120 / G120C / G120D G120P with PROFIBUS from FW V4.4
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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

Table of contents

Table of contents
Warranty and liability ............................................................................................... 4 Preface ...................................................................................................................... 5 1 Task................................................................................................................. 7 1.1 2 Description ........................................................................................ 7

Solution........................................................................................................... 8 2.1 2.2 2.2.1 2.2.2 2.3 Overview of the overall solution ......................................................... 8 Description of the core functionality.................................................... 9 Parameterizing the communication .................................................... 9 SIMATIC S7-300/400 ......................................................................... 9 Data exchange .................................................................................. 9 SINAMICS G120 ............................................................................... 9 Hardware and software components used ....................................... 10

Basics ........................................................................................................... 11 3.1 3.2 Basics direct data exchange ............................................................ 11 Direct data exchange between SINAMICS drives............................. 12

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Configuring the slave-to-slave communication .......................................... 13 4.1 4.2 4.3 Requirement .................................................................................... 13 Setting up direct data exchange in HW Config ................................. 14 Interconnecting direct data exchange in STARTER .......................... 17

5 6 7

Internet links ................................................................................................. 20 Contact person ............................................................................................. 20 History .......................................................................................................... 20

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

1 Task

1
1.1

Task
Description
The following diagram provides an overview of the automation task.
Fig. 1-1 Overview of the task

Overview of the automation task

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Description of the automation task This application will show how direct data exchange between several PROFIBUS slaves functions.

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

2 Solution

2
2.1
Schematic

Solution
Overview of the overall solution
The following schematic diagram shows the most important components of the solution:

Fig. 2-1 Schematic diagram

Publisher

Subscriber

- S7-300/400 SIMATIC

SINAMICS G120

SINAMICS G120

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PROFIBUS

PROFIBUS

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PG/PC

Slave to slave

The example shows you... ... the fundamentals of direct data exchange. how direct data exchange with DP slaves is setup.

Demarcation This application does not include... ... the use of direct data exchange in a specific example engineering a drive. ... commissioning SINAMICS drives.

Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

2 Solution

SIMATIC programming of a drive control. Other articles go into detail regarding the specific use of direct data exchange. -continuous material web with PROFIBUS direct data exchange at SINAMICS G120 See: http://support.automation.siemens.com/WW/view/en/74455574 -load distribution via PROFIBUS direct data exchange with SINAMICS G120/G120D See: http://support.automation.siemens.com/WW/view/en/60602336 Knowledge required It is assumed that readers have basic knowledge about handling SIMATIC S7, cyclic data exchange via PROFIBUS, STARTER commissioning software as well as drive technology.

2.2
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Description of the core functionality

Parameterizing the communication

2.2.1

SIMATIC S7-300/400 SIMATIC S7-300/400 is programmed using STEP 7 V5.5. It is important that in the hardware configuration and in STARTER, the same telegram length and the same telegram type are selected. When inserting the SINAMICS in the SIMATIC project, the peripheral addresses are also defined, which the SIMATIC control should use to access the converter.

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2.2.2

Data exchange

SIMATIC S7-300/400 Data exchange between SINAMICS drives and the SIMATIC control is realized via cyclic process data exchange, i.e. data is transferred in each bus cycle. SINAMICS G120 Data exchange between the two SINAMICS drives direct data exchange is handled via an area reserved in the hardware configuration using the telegram length. Data exchange is cyclic.

Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

2 Solution

2.3

Hardware and software components used

The application was created with the following components:

Standard software components

Table 2-1 Component SIMATIC STEP V5.5 Qty. 1 MLFB/order number STEP 7 V5.5 SP2 floating license 6ES7810-4CC10-0YA5 6SL3072-0AA00-0AG0 Note

STARTER V4.3.2

http://support.automat ion.siemens.com/WW /view/en/26233208

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

3 Basics

3
3.1

Basics
Basics direct data exchange
The publisher/subscriber model is used to implement direct data exchange between the PROFIBUS slaves. PROFIBUS slaves declared as publishers make their input data available to other slaves, the subscribers, for reading. Direct telegram exchange allows the direct and therefore time-saving communication between slaves via broadcast, without going indirectly through a master. In so doing, the slaves act as "publisher"; i.e. the slave response is not returned to a coordinating master, but is sent directly to the other slaves known as "subscribers". As a consequence, slaves can directly track data from other slaves, and use this data for their own inputs (e.g. setpoints). This opens up completely new applications. Further, bus response times are significantly reduced. Direct data exchange is realized cyclically. Direct data exchange requires a PROFIBUS-DP master, which supports direct data exchange as functionality; for example, these include all SIMATIC S7-CPUs with the "equidistant" (isochronous functionality) in the Catalog.

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Publisher - sender: With the "slave-to-slave communication" function, at least one slave must act as the publisher. The publisher is addressed by the master when the output data are transferred with a modified layer 2 function code (DXB.req). The publisher then sends its input data for the master with a broadcast telegram to all bus nodes. An explicit configuration of the direct data exchange sender (broadcast publisher) is not required.

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Subscriber - receiver: The subscribers evaluate the broadcast telegrams, sent from the publishers, and use the data which has been received as setpoints. These setpoints of the publisher are used, in addition to the setpoints received from the master, corresponding to the configured telegram structure (p0922).

Links and taps: The links configured in the subscriber (connections to publisher) contain the following information: From which publisher is the input data received? What is the content of the input data? Where are the additional setpoints received? Several taps are possible within a link. Several input data or input data areas, which are not associated with one another, can be used as setpoint via a tap.

Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

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3 Basics

Fig. 3-1

3.2
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Direct data exchange between SINAMICS drives

When creating the hardware configuration it must be taken into account that the area required for direct data exchange must be reserved in the I/O. For the communication settings in STARTER, the data for the subscribers are interconnected to the reserved PZD in the publisher. In the subscriber, the received data are interconnected with the intended function (e.g. main setpoint).

Fig. 3-2 The principle of slave-slave communication

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

4 Configuring the slave-to-slave communication

4
4.1

Configuring the slave-to-slave communication

Requirement
A SIMATIC project with a SIMATIC module capable of direct data exchange with a PROFIBUS subnet must already have been created in the hardware configuration. You can find a list with the SIMATIC modules capable of direct data exchange at the following link. http://support.automation.siemens.com/WW/view/en/17660809 Fig. 4-1

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

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4 Configuring the slave-to-slave communication

4.2
No. 1.

Setting up direct data exchange in HW Config

Action Insert the SINAMICS, which should be used as publisher, as DP slave. Remark

Table 4-1 Configuring direct telegram exchange in HW Config

2.

Assign the SINAMICS a PROFIBUS address.

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3.

Under the "Configuration" tab of the DP slave properties, the I/O addresses are assigned PZDs. The length in words is also specified. PZDs declared as "actual value" can be used for direct data exchange. In this particular case, PZD 3 and PZD 4 are parameterized with a length of 1 word for direct data exchange.

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

4 Configuring the slave-to-slave communication

No. 4.

Action You can change the name under the "General" tab of the DP slave properties.

Remark

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5.

Insert the SINAMICS, which should be used as subscriber, as DP slave.

6.

Assign the SINAMICS a PROFIBUS address.

Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

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4 Configuring the slave-to-slave communication

No. 7.

Action Under the "Configuration" tab of the DP slave properties, the I/O addresses are assigned PZDs. The length in words is also specified. PZDs declared as "setpoint" can be used for direct data exchange. To do this, change the type of input to direct data exchange. Then select the PROFIBUS address of the publisher and the required I/O address. In this particular case, PZD 3 and PZD 4 are parameterized with a length of 1 word for direct data exchange.

Remark

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8.

You can change the name under the "General" tab of the DP slave properties.

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

4 Configuring the slave-to-slave communication

No. 9.

Action The configuration of the direct data exchange is clearly shown under the "Direct data exchange overview" tab of the DP slave properties.

Remark

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10.

You must "save and compile" the changes in HW Config and load to the module.

4.3
1.

Interconnecting direct data exchange in STARTER

You open STARTER by doubleclicking on the SINAMICS commissioning symbol in the SIMATIC Manager.

Interconnection in the publisher

2. Establish the online connection to the publisher and load the drive into the PG

Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

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4 Configuring the slave-to-slave communication

3.

Under "Communication", open the "PROFIBUS" screen form For the telegram configuration, select "999 Free telegram configuration with BICO

4.

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The transmit data are interconnected under the "Transmit direction" tab. In this case, PZD 3 and PZD 4 were reserved for direct data exchange. The speed setpoint is interconnected to PZD 3, and status word 1 is interconnected to PZD 4.

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Interconnection in the subscriber

5. Establish the online connection to the subscriber and load the drive into the PG. Under "Communication", open the "PROFIBUS" screen form For the telegram configuration, select "999 Free telegram configuration with BICO The PZD are interconnected word-by-word under the "Receive direction" tab The speed setpoint from the publisher is received in PZD3 and can be interconnected at the required location

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

4 Configuring the slave-to-slave communication

6.

Using parameters r2090 to r2093, the received PZDs 1 to 4 are interconnected bit-by-bit. For instance, the "enable operation" signal of the publisher can be used in the subscriber in r2093.2.

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218

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5 Internet links

Internet links
This list does not purport to be complete and merely reflects a selection of suitable information.
Table 5-1 Topic \1\ \2\ \3\ Reference to the article Siemens Industry Online Support Siemens Industry Online Support SINAMICS G SIMATIC S7 modules with direct data exchange Title
http://support.automation.siemens.com/WW/view/en/74455218 http://support.automation.siemens.com http://support.automation.siemens.com/WW/view/en/36426537/13330 0 http://support.automation.siemens.com/WW/view/en/17660809

\4\

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Contact person
Siemens AG Industry Sector I DT MC PMA APC Frauenauracher Strasse 80 D - 91056 Erlangen, Germany E-mail: tech.team.motioncontrol@siemens.com

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History
Table 7-1 Version V1.0 V 1.1 Date 06/2013 09/2013 First edition Formatting changed Change

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Slave to Slave Communication SINAMICS G120 V1.0, Item ID: 74455218