Ethernetip-Sinamics G v3

2015.07.
16
SINAMICS G: Control of a G120/G130/G150

with an Allen-Bradley controller (Compact/
ControlLogix with RSLogix 5000) via
EtherNet/IP
http://support.automation.siemens.com/WW/view/en/82843076
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SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP
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Table of contents
Warranty and Liability .............................................................................................. 2
Table of contents...................................................................................................... 3
1 Task................................................................................................................. 5
1.1 EtherNet/IP Overview ........................................................................ 5
1.1.1 Industrial Ethernet ............................................................................. 5
1.1.2 Sinamics G series Connectivity to EtherNet/IP ................................... 5
2 Solution Overview .......................................................................................... 6
2.1 Solution Overview.............................................................................. 6
2.1.1 Hardware Structure............................................................................ 6
2.2 Used Components ............................................................................. 7
3 Programming Overview ................................................................................. 8
3.1 Configuration Methods....................................................................... 8
3.3 AOI Types ....................................................................................... 10
4 Sinamics G Series Add-On Instructions...................................................... 11
4.1 Function Description ........................................................................ 11
4.2 Telegram Descriptions ..................................................................... 11

4.2.1 Telegram Type 1 for Simple Speed .................................................. 11
4.2.2 Telegram Type 352 Speed Control .................................................. 11
4.2.3 Telegram Type 111 for EPOS mode ................................................ 12
4.3 Simple Speed Control –Telegram 1 ................................................. 13
4.3.1 Functionality .................................................................................... 13
4.3.2 Schematic Ladder Representation ................................................... 13
4.3.3 Input and Output Parameters ........................................................... 13
4.4 Speed Control –Telegram 352 ......................................................... 14
4.4.1 Functionality .................................................................................... 14
4.5 EPOS Control .................................................................................. 17
4.5.1 Functionality .................................................................................... 17
4.6 MDI Mode........................................................................................ 20
4.6.1 Functionality .................................................................................... 20
4.6.2 Schematic Ladder representation .................................................... 21
4.7 UDTs ............................................................................................... 23
5 Drive Configuration ...................................................................................... 24
5.1 Configuration in STARTER .............................................................. 24
5.1.1 Setting the IP Address through Edit Ethernet Node .......................... 24
5.1.2 G120 Parameter Setting for EtherNet/IP Communication ................. 27
5.1.3 G130/150 Parameter Settings for EtherNet/IP Communication......... 28
5.2 Using a Freely Configurable Telegram ............................................. 30
6 Configuring a Generic Ethernet Module ...................................................... 31
6.1 Adding a new module in RSLogix .................................................... 31

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6.1.1 Inserting the module in an RSLogix project ...................................... 31
6.1.2 Configuring network parameters ...................................................... 32
6.1.3 Connection Parameters ................................................................... 32
6.1.4 Using the IO Data ............................................................................ 33
7 Using AOIs in a New Application ................................................................. 34
7.1 Importing AOIs ................................................................................ 34
7.1.1 Installing L5K Files in RSLogix ......................................................... 34
7.2 Using the AOI .................................................................................. 35
7.2.1 Adding AOI to an RSLogix Program ................................................. 35
7.2.2 I/O Interface..................................................................................... 36
8 Drive Parameter Access ............................................................................... 37
8.1 Explicit Messaging ........................................................................... 37
8.2 Using the MSG Instruction ............................................................... 38
9 Troubleshooting ........................................................................................... 42
10 Glossary........................................................................................................ 45
11 History .......................................................................................................... 46

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Task

controller (Compact/ ControlLogix with RSLogix 5000) via
EtherNet/IP
1 Task
1.1 EtherNet/IP Overview
1.1.1 Industrial Ethernet
Industrial Ethernet communication networks continue to gain global importance in

automation solutions. Industrial Ethernet connectivity down to device level
components (i.e. drives, I/O, etc.) is an end user requirement that demands
openness and flexibility. To capitalize on the flexibility to connect to different
Industrial Ethernet protocols the Sinamics G drives can seamlessly be applied in
PROFINET and EtherNet/IP networks.
1.1.2 Sinamics G series Connectivity to EtherNet/IP
The Sinamics drive family offers both PROFINET and EtherNet/IP software stacks
for the Sinamics G series which is easily selected by a parameter setting in the
standard Sinamics firmware. The CBE20 communications option board for the
CU320-2 control unit is required on the G130/G150 drives to communicate on
EtherNet/IP.
The network IP address of the Sinamics G drive can be set through the STARTER
software. With STARTER software installed on your computer you can connect to
the Sinamics drive through PROFINET or EtherNet/IP.
The Sinamics drives operate on unicast telegrams which reduces network traffic.
Sinamics G drives have been certified by ODVA for EtherNet/IP conformance
testing and participated in the EtherNet/IP PlugFest. Siemens is a member of
ODVA with Vendor ID # 1251.

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Solution Overview

EtherNet/IP
2 Solution Overview
2.1 Solution Overview
2.1.1 Hardware Structure
Figure 2-1 Sample System Overview

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Solution Overview

EtherNet/IP
2.2 Used Components

The application was generated with the following components:
Hardware components
Table 1
Component No.
PROFINET versions of G120 with Firmware version 4.6 or later 1
CU320-2 PN/DP with CBE20 option board, and firmware version
1
4.6 or later
Rockwell Automation Logix family controller Firmware version
1
19 or later
Software components
Table 2
Component No.
STARTER Version 4.3 SP2 or later 1
RS Logix 5000 Version 20 or later 1
NOTE RSLogix 5000 Version 19 can be used when not using the EDS file

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Programming Overview

EtherNet/IP
3 Programming Overview
3.1 Configuration Methods
There are two methods to configure a Sinamics G series drive to communicate
over EtherNet/IP. This manual will focus on the SINAMICS approach to
configuration using Add On Instructions. This approach requires version 19 or
higher for RSLogix 5000. Alternatively, the drive can be set up for ODVA type
configuration. This allows the user to import a G120 EDS file and treat the drive as
an ODVA AC drive object. This approach requires version 20 or higher for RSLogix
5000. Refer to the diagram below for a general overview of the steps to configure
with either method.

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Programming Overview

EtherNet/IP

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3 Programming Overview
3.2 AOI’s for Sinamics G Series drives
The EtherNet/IP telegrams to the Sinamics G series drives can be freely configured
using the free telegram structure for the message frame type. Alternatively in an
effort to seamlessly integrate the communication between a Sinamics G series
drive object and an AB Logix family controller Add On Instructions have been
designed for the RSLogix programming that mimic standard telegrams used in
Sinamics G configurations. For most standard applications the use of the AOI’s
can greatly reduce the Engineering time to configure a system. This manual
documents the use of the AOI’s developed to simplify the integration of Sinamics
drives connected to RSLogix automation systems over EtherNet/IP.
Figure 3-1 Example utilizing Simple Speed AOI and Standard Telegram 1
3.3 AOI Types

There are presently four Add On Instruction blocks that can be used for standard
telegrams T1, T352, and T111.
1. Simple Speed Standard Telegram 1 (2 words in / 2 words out)

2. T352 Speed Control Standard Telegram 352 (6 words in / 6 words out)
3. Easy Positioning Standard Telegram 111 (12 words in / 12 words out)
4. Basic MDI Standard Telegram 111 (12 words in / 12 words out)

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4 Sinamics G Series Add-On Instructions

4.1 Function Description
The Drive control function block (AOI) described in this section is intended to
provide Sinamics G series drive users with a quick and effective way to integrate
the SINAMICS G drives into an automation system where a Logix family controller
is the primary control. The AOI can also be used as a starting point since the user
is free to customize it to fit their specific application. The canned AOIs in this
application guide have been designed to seamlessly integrate with the PROFIdrive
telegrams T1, T352, and T111, commonly used for controlling Sinamics G drives.
4.2 Telegram Descriptions

4.2.1 Telegram Type 1 for Simple Speed
This telegram is a standard PROFIdrive telegram of 2 words in length. It will control

the state of the drive by selecting the appropriate bits in the control word and set
the running speed in the speed setpoint word. For additional information on this
telegram and the details of its function, refer to the Sinamics G120/130/150
Operating Instructions Manual and List manual.
Table 1 Telegram Type 1

WORD INPUT OUTPUT
1 Control Word 1 Status Word 1
2 Speed Setpoint Value Actual Speed Value
4.2.2 Telegram Type 352 Speed Control
This telegram is a standard PROFIdrive telegram of 6 words in length. It is similar

to Telegram1 but with added functionality. There are 4 freely configurable words
available for control of the drive. These could be a separate control word or analog
values such torque limitation or additional speed setpoint. Status to the PLC
contains a standard Status word, Speed, Current, Torque, and present Faults or
warnings. For additional information on this telegram and the details of its function,
refer to the Sinamics G120/130/150 Operating Instructions and List Manual.

WORD INPUT OUTPUT
3 User- Defined ABS_Current
4 User- Defined Torque
5 User- Defined Warn_Code
6 User-Defined Fault_Code

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4.2.3 Telegram Type 111 for EPOS mode
Telegram 111 is a standard Siemens Telegram for a positioning drive. It allows

sequence and control of the drive functions in addition to control of the positioning
function EPOS. This interface is used for both the “MDI” control AOI and “EPOS”
th
AOI. 12 Words of data are exchanged with the drive where the 12 word is
reserved as a user selectable value. For detailed information on this telegram refer
to the Sinamics S120 List Manual Section 2.8 and Function Manual Section 10.1.
NOTE Telegram Type 1, 352, and 111 can also be applied to Sinamics G130 and G150
drives utilizing the EtherNet/IP connectivity.

WORD Input Output
2 Pos Control Word 1 Pos Status Word 1
3 Pos Control Word 2 Pos Status Word 2

5 Velocity Override MELDW (Extended) Control Word
6-7 MDI Position Setpoint Position Actual Value
8-9 MDI Velocity Setpoint Velocity Actual Value
10 MDI Percent Acceleration Active Fault Number
11 MDI Percent Deceleration Active Warning Number
12 User Selectable User Selectable

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4.3 Simple Speed Control –Telegram 1

4.3.1 Functionality
The G120 Simple Speed Block (also used in G130/G150) provides an interface for
basic speed control of a drive object in Sinamics via EtherNet/IP. The Drive is
configured for control using Standard telegram type 1 which presets the drive
speed reference and control word to be sourced from the communication interface.
4.3.2 Schematic Ladder Representation
Figure 4-1 G120 Simple Speed Block

4.3.3 Input and Output Parameters
Table 1 Inputs Parameters

Variable Name Data Type Description
G120_Speed_Block Instance Data
ON_OFF1 BOOL Drive Enable (ON/OFF1)
1 = Enable Drive
0 = Ramp Down and Disable drive
OFF2 BOOL Coast Stop Command
0 = OFF2 Immediate Disable
1 = No OFF2 Command
OFF3 BOOL Fast Stop Command
0 = OFF3 Fast Ramp and Disable
1 = No OFF3 Command
RUN_SET_POINT BOOL Speed Setpoint Enable
0 = Setpoint Disabled
1 = Setpoint Enabled

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FAULT_RESET BOOL Reset Active Fault(s)
0 = No Fault Reset
1 = Reset Fault on Rising Edge
RPM_SET_SPEED REAL Speed Setpoint in RPM
MAX_SPEED REAL Speed at 100% Setpoint
Must be the same as P2000
Table 2 IN/OUT Parameters

DRV_CONTROL ARRAY Array of 2 integers referenced to the two
outputs words of the drive telegram.
DRV_STATUS ARRAY Array of 2 integers referenced to the two input
words of the drive telegram
Table 3 Output Parameters

RTS BOOL Ready to Start
RDY_OP BOOL Ready for Operation
FAULTED BOOL Fault is Active
ENABLED BOOL Pulses are Enabled
RPM_ACTUAL REAL Actual Speed in RPM
WORD INPUT OUTPUT

4.4 Speed Control –Telegram 352

4.4.1 Functionality
The G120 T352 Speed Block (also used in G130/G150) provides an interface for
speed control of a drive object in Sinamics via EtherNet/IP. The Drive is configured
for control using Standard telegram type 352 which presets the drive speed
reference and control word to be sourced from the communication interface. In
addition there are four separate user defined control words/setpoints available; and
feedback for Current, Torque, Warning and Fault values.

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Figure 4-2 T352 Speed Block

Table 1 Inputs Parameters

G120_Speed_Block Instance Data
ON_OFF1 BOOL Drive Enable (ON/OFF1)
1 = Enable Drive
0 = Ramp Down and Disable drive
OFF2 BOOL Coast Stop Command
0 = OFF2 Immediate Disable
1 = No OFF2 Command
OFF3 BOOL Fast Stop Command
0 = OFF3 Fast Ramp and Disable
1 = No OFF3 Command
RUN_SET_POINT BOOL Speed Setpoint Enable
0 = Setpoint Disabled
1 = Setpoint Enabled
0 = No Fault Reset
RPM_SET_SPEED REAL Speed Setpoint in RPM
MAX_SPEED REAL Speed at 100% Setpoint
Must be the same as P2000

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USER_SETPOINT1 INT User-defined word 1
Table 2 IN/OUT Parameters

DRV_CONTROL ARRAY Array of 6 integers referenced to the 6 outputs
words of the drive telegram.
DRV_STATUS ARRAY Array of 6 integers referenced to the 6 input
words of the drive telegram
Table 3 Output Parameters


READY BOOL Ready for Operation
INHIBITED BOOL Power On Inhibited
ENABLED BOOL Pulses are Enabled
MTR_OVRTEMP_OK BOOL Motor Not Overtemp
PM_OVERTEMP_OK BOOL Power Module Overtemp
RPM_ACTUAL REAL Actual Speed in RPM *Set Scale Value to 100
for Percentage or set to P2000 Value
CURRENT_ACTUAL REAL Actual Current in AMP *Set Scale Value to 100
for Percentage or set to P2002 value
WORD INPUT OUTPUT

3 User- Defined ABS_Current
4 User- Defined Torque
5 User- Defined Warn_Code
6 User-Defined Fault_Code

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4.5 EPOS Control

4.5.1 Functionality
The EPOS block interfaces to the Sinamics Basic Positioner via EtherNet/IP. The
EPOS Positioner is used for the absolute and relative positioning of linear and
rotary axes.
The AOI provides a direct interface to EPOS control. The Sinamics G120/130/150
List manual provides detailed explanation of all functionality available. Note that
drive must be referenced before absolute positioning is allowed. State control and
sequencing is not provided. Additional user logic is required to synchronize the
state of the drive with the positioning functions.
The instruction interface provides easy access to basic drive control and to most
signals and setpoints required for control of the MDI mode.
Figure 4-3 G120 EPOS Block


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Table 3 Input Parameter Data

Variable Name Data Description
Type
S120_EPOS_BLOCK Instance
Data
ON BOOL Drive Enable (ON/OFF1)
0 = No Fault Reset
JOG_FWD BOOL 0 = No Jog
1 = Jog Forward at speed in P2586
JOG_REV BOOL 0 = No Jog
1 = Jog Reverse at speed in P2585
REF_START BOOL Referencing Start
0 = No Referencing
1 = Enable Referencing
MDI_START BOOL Enable MDI Mode
0 = No MDI mode
Note: All motion should be completed before
disable to avoid fault.
1 = Enable MDI Mode
MDI_SETUP BOOL Enable MDI Setup Mode
0 = No Setup Mode
1 = Enable MDI Setup Mode
MDI_POS_TYPE BOOL Select MDI Positioning Type
0 = Absolute Positioning
1 = Relative Positioning
MDI_FWD_DIR BOOL Enable Forward Direction
MDI_REV_DIR BOOL Enable Reverse Direction
Note: If Both MDI_FWD_DIR and
MDI_REV_DIR are True, shortest path is
selected for absolute positioning
MDI_EDGE_TRIG BOOL Trigger Loading of Setpoints
Load executed on rising edge of input transition
MDI_CONSTANT_TRIG BOOL Select Setpoint loading type
0 = The setpoint are accepted on the rising edge
of the MDI_EDGE_TRIG input
1 = Setpoints are continuously loaded. (Absolute
Positioning only)
INTERMEDIATE_STOP BOOL Stop motion. The canceling the motion
command.
0 = Stop motion
1 = Allow motion
POSITION_SETPOINT DINT Position Setpoint in LUs

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Type
2
ACCEL_RATE REAL Acceleration rate in LUs / s
DECEL_RATE REAL Deceleration rate in LUs / s2
V_OVERRIDE REAL Speed Setpoint in LUs / s
Table 4 Input/Output Parameter Data

Type
DRV_CONTROL ARRAY Array of 12 integers referenced to the 12 outputs
words of the drive telegram.
DRV_STATUS ARRAY Array of 12 Integers referenced to the 12 Input
words for the drive Object.
Table 5 Output Parameter Data

Type
RDY_OP BOOL Ready for Operation
ENABLED BOOL Pulses are Enabled at Motor Output
ALARM BOOL Alarm is Active
JOGGING BOOL Axis is Jogging
HOMING BOOL Referencing Mode Enabled
REFERENCED BOOL Axis is Referenced
MDI_POS BOOL MDI Mode is Active
MDI_SETUP_ON BOOL MDI Setup Mode is Active
TARGET_REACHED BOOL Position Actual is within the position window set
FAULT_NUMBER INT Active Fault number. 0 if no Fault
ALARM_NUMBER INT Active Alarm Number. 0 if no Alarm
POSITION_ACTUAL DINT Position value in LUs
SPEED_ACT_PCT REAL Speed in Percent of P2000
TORQUE_ACTUAL REAL Torque value in percent of P2002
This value is mapped to word 12 of the telegram
status data. For the torque to be displayed
Parameter 2051 Index 11 must be connected to
r80.

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4.6 MDI Mode

4.6.1 Functionality
The MDI Mode AOI interfaces to the Sinamics EPOS positioner via EtherNet/IP.
The EPOS positioner is used for the absolute and relative positioning of linear and
rotary axes.
The AOI implements a state machine that allows the selection of three major
motion modes. The three modes are Velocity mode, Relative positioning, and
Absolute positioning mode.
Velocity mode enables motion at a constant velocity set by the Speed reference
input. The velocity setpoint can be changed while the axis is in motion The drive
uses the Accel and Decel setpoints to reach the velocity setpoint. The mode is
started by setting the VEL_MOVE input of the instruction.
Jog forward and reverse is also available by setting the appropriate inputs to the
instructions. Jog velocity is set in the drive at parameters P2585 and P2586.
Relative positioning mode allows the axis to travel for a specified distance set at
the position setpoint input of the instruction and selecting the REL_MOVE input.
Absolute positioning mode moves the axis to a specified position by setting the
position value at the position setpoint input of the instruction and the setting the
ABS_MOVE input.
NOTICE
Note that the axis is not allowed to position until it has been referenced.

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4.6.2 Schematic Ladder representation
Figure 4-4 S120 MDI Block


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Table 6 Input Parameter Data

Type
ESTOP_OK BOOL 1 = Deselect Estop Mode
0 = Select Estop Mode
DRV_ENABLE BOOL 1 = Allow Drive Enable
0 = Disable Drive
FAULT_RESET BOOL Acknowledge Drive Fault
0 -> 1 Signal Transition Acknowledges Fault
REF_START BOOL Referencing Start
0 = Disallow Referencing
1 = Start referencing mode
AT_HOME BOOL 0 -> 1 Set location of the Home position
VEL_MOVE 0 = Disallow Speed Mode
1 = Enable Speed Mode
ABS_MOVE BOOL Select Absolute Positioning Mode

0=
1 = Absolute positioning
REL_MOVE BOOL Select Relative Positioning Mode
0=
1=
JOG_FWD BOOL Jog Forward (Position Control Mode)
JOG_REV BOOL Jog Reverse (Position Control Mode)
POSITION_SETPOINT DINT Position target setpoint in Length Units (LUs)
2
ACCEL_RATE REAL Acceleration Rate in LUs / s
2
DECEL_RATE REAL Deceleration Rate in LUs / s
SPEED_REF_PCT REAL Speed setpoint as a percentage of Nominal
Speed. (Velocity Override)
NOM_SPEED_IN_LU REAL Speed setpoint in LUs / s
Table 7 Input / Output Parameter Data

Type
DRV_CONTROL ARRAY Array of 12 Integers referenced to the 12
Output words for the drive object.
DRV_STATUS ARRAY Array of 12 Integers referenced to the 12 Input
words for the drive Object.

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Table 8 Output Data Parameters

Type
READY BOOL Ready to Start
ENABLED BOOL Pulse are Enabled at Motor Output
POS_ACTIVE BOOL Positioning Mode is Active
VEL_ACTIVE BOOL Velocity (Speed) mode is Active
REFERENCED BOOL Axis is Referenced
FAULTED BOOL Drive Fault is Active
HOMING BOOL Drive Alarm is Active
TARGET_REACHED BOOL Position actual is within window set in drive
FAULT_NUMBER INT Active Fault Number (0 = No Faults)
ALARM_NUMBER INT Active Fault Number (0 = No Alarm)
POSITION_ACTUAL DINT Actual Position Value in LUs
SPEED_ACT_PCT REAL Speed in Percent of P2000
TORQUE_ACTUAL REAL Torque Value in Percent of P2002
4.7 UDTs
UDTs are provided as representing the typical control and status words used for
Telegrams implemented by the AOI provided. This cannot be utilized when using
the provided EDS file. The UDTs can also be used independently to map IO data
sent and received by the drive. The user application is able to directly control the
telegram words and bits to accomplish control concepts not included in the AOIs
provided by Siemens. This is the case when using user defined telegrams (free
telegram configuration with BICO) to exchange data with the drives.

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5 Drive Configuration
Initial commissioning of the G120/130/150 drives is not in the scope of this
document. Refer to the Sinamics G120/130/150 Getting Started Manual to assist in
the commissioning of the drive(s). This sample application referenced in this
document utilizes the Sinamics G120 training unit.
5.1 Configuration in STARTER

From Starter version 4.4 and G120 firmware 4.7.3 it is now possible to go online
when the G120 is setup as for EIP communication. For the G130/150, it is possible
to go online from firmware 4.5 onwards, with a CBE20 option board.
5.1.1 Setting the IP Address through Edit Ethernet Node
Connect the Ethernet cable from the SINAMICS G120 interface X01 P2 (or one of
the CBE20 ports on the CU320-2 DP/PN) to the Ethernet interface (port) of your
PG/PC. This should be the only Ethernet cable connected to the Sinamics G drive.
Set the IP address and the subnet mask of the Ethernet card of your PG/PC.
Ensure that the subnet of your PC and G120/130/150 match.
1. Right Click your LAN adapter and select “Properties”

2. Highlight the Internet Protocol item (this may be called TCP/IPv4)
3. Click Properties
4. Select “Use the following IP address”
5. Enter in a unique IP address where the subnet matches the G120’s subnet.
The default IP address of the G120/130/150 is 0.0.0.0. Therefore, if this is the
first commissioning of the drive, set your PG/PC’s IP address to 0.0.0.100 with
the subnet mask set to 255.255.255.0.

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In STARTER, go to Options > Set PG/PC Interface…. select the TCP/IP interface
parameterization. Click OK.
Go to Project > Accessible Nodes. If the window doesn’t automatically search for
drives on the network, click “Update”. Right-click the found drive unit and select
“Edit Ethernet Node”.

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1. Enter the desired IP address and Subnet Mask. Ensure the IP address has
the same subnet as the Logix controller
2. Press the Assign IP Configuration button.
3. After completing the IP configuration assignment, enter the device name.
4. Assign this to the SINAMICS G120/130/150 drive by pressing the Assign
Name button.
5. Close the screen by pressing the Close button.

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5.1.2 G120 Parameter Setting for EtherNet/IP Communication
1. Go online with the drive via Profinet/Ethernet connection and navigate to the
expert list.
2. Change the following parameter to configure for Ethernet/IP:

· p2030 = [10] EtherNet/IP
3. Copy RAM to ROM

4. Upload the G120 to the PG/PC
5. Power-cycle the control unit
The G120 is now set to operate as an EtherNet/IP adapter.
h
1
2
3
NOTE When using AOI’s with the generic Ethernet module, p8980 = [0] SINAMICS
When using an EDS file, then set p8980 = [1] ODVA AC/DC

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5.1.3 G130/150 Parameter Settings for EtherNet/IP Communication
1. Go online with the drive via Profinet/Ethernet connection and navigate to the
expert list.
2. Change the following parameters to configure for Ethernet/IP:

· P8835 = [4] EtherNet/IP
3. Copy RAM to ROM

4. Upload the G130/150 to the PG/PC
5. Power-cycle the control unit
The G130/150 is now set to operate as an EtherNet/IP adapter.
Figure 5-1 Selection of EtherNet/IP at P8835
Using a CU320-2 PN and a CBE20
When a CBE20 is installed in a CU320-2 PN it is important to note that the

configuration of the Communication Option Module is not preselected as primary
interface (IF1). In the configuration process of the CU the Option module must be
selected as the first interface as shown in the figure below. This can also be
selected with parameter P8839.

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Figure 5-2 Selecting Optional Communication module as PZD Interface 1 (IF1)

NOTE If you are using a standard AOI (e.g. with telegram 1, 352, 111), make sure you
set p922 = [1], [352], or [111].

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5.2 Using a Freely Configurable Telegram

It is possible to configure a custom telegram to fit a specific application
requirement. The custom configuration can be accomplished by one of several
methods listed.
1. Using a standard telegram as a template and changing the configuration
manually.
2. Selecting the input and output data length and connecting the telegram words
in the communications window of the drive configuration.
3. Configuration by Script execution. A script can be written in Starter which
configures the telegram size and connections required. The script is then
executed in Starter configuring the drive.
Parameter r2067 displays the number of PZDs the controller detected to be part of
the telegram for the Drive Object. The Input and Output data length must match the
values calculated by the controller in r2067 of the specified Drive Object.
Figure 5-3 Number of Interconnected PZDs

NOTICE When changing from a standard telegram to a freely configurable telegram,

you must cycle the power of the drive to ensure a correct configuration.
Parameter r2067 is only calculated on a power-up of the drive. In order for the
CU to correctly calculate parameter r2067, all of the PZD of the telegram must
be interconnected.
*For example if you are using Telegram 352 and change to Free-BICO telegram
(P922 =999) then the four freely configurable input value to the drive must be
terminated to “Dummy” parameters if they are not used for actual parameter
connection – such as torque limit or added speed.

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6 Configuring a Generic Ethernet Module

6.1 Adding a new module in RSLogix
A Generic IO module is used to configure the cyclic data exchange between the
automation controller and the Sinamics drive without an EDS file.
6.1.1 Inserting the module in an RSLogix project
Table 1 Inserting the Module
1. Insert a module by right clicking the

network interface in the IO configuration
section of the Project tree.
2. In the “Select Module” dialog box use the

Find function to search for the term
“GENERIC”. Select the “Generic Ethernet
Module” module to be inserted.

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6.1.2 Configuring network parameters
Table 2 Configuring the Network Parameters
The module name should identify the

G120/130/150 to allow easy selection from
other modules configured in the controller.
It is also the name used for the controller
level tag that will hold the data. Use the
Description box to describe the Drive
objects contained in the module.
The data exchange format should be set to

Integer (INT).
Enter the IP Address of the G120/130/150.
The Connection Parameters section
configures the IO Assemblies. The
Assembly Instances should always be 101
through 103 for the Input, Output and
Configuration Assembly respectively. The
size of the Input and Output assemblies is

the total number of words. For Standard
Telegram 1, there are two words in and two
words out. For Telegram 352 there are 6
in 6 out.
In this example the speed block telegram
for T352 is shown.
6.1.3 Connection Parameters
Table 3 Setting the Connection Parameters
1. The Requested Packet Interval (RPI) is

the rate at which the controller will
exchange data with the drive. The
G120/130/150 can operate with a RPI
set to a minimum of 5 ms. In this
application we will use a value of 10 ms.
2. 2) Unicast is selected as the exchange

method.

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6.1.4 Using the IO Data
The IO data is available as an array of integers in the controller tags section of the
project tree. They are included as a tag list with the L5K file.
Figure 6-1 Controller Tags for new module


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7 Using AOIs in a New Application

7.1 Importing AOIs
The AOIs provided with the sample application can be easily integrated into a new
or existing user program by importing the instructions using L5K files.
7.1.1 Installing L5K Files in RSLogix
Table 1 Steps to Importing the AOIs
3. Import the AOI into the Add On

Instructions folder. Right click the Add-
On Instructions folder in the project tree
and select the Import Add-On
Instruction option.
4. Select the required L5K file for the

desired Instruction and click Import.
Review the Import configuration and
click OK.
5. The Project should now show the

imported Instruction. Notice that UDTs
required for the instruction have also
been imported. These UDTs can also
be used to create additional variables
and aliases.

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7.2 Using the AOI

7.2.1 Adding AOI to an RSLogix Program
Table 2 Using the G120 Simple Speed Block
6. Add AOI to a new rung by

dragging from project tree.
7. Declare and assign instance

data variable. The new tag can
be created as a local program
tag with a name that clearly
identifies the drive data. Right
click the field next to
G120_Speed_Block and select

New Tag.
8. Give the tag a descriptive name

and select OK

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7.2.2 I/O Interface
Connecting the instruction to the Controller IO tags is accomplished by moving the

IO data into the AOI Interface.
Figure 7-1
The second rung holds the AOI. The local variables “InputDataBuffer” and
“OutputDataBuffer” are used as storage for the AOI to receive and send data to the
Controller IO tags.
The first rung copies the IO data for the drive to a local variable to be used by the
AOI as inputs in the “DRV_STATUS” parameters. “DRV_STATUS” and
“DRV_CONTROL” is declared as INOUT parameters and therefore passed by
reference.
The third rung holds the copy command that moves the control data from the
working variable “OutputDataBuffer” to the controller IO tag.
All AOIs provided will use this method of data exchange with IO containing the
drive data. Additional access to the control data can be performed before the data
is copied to the IO Tag. This allows the user to utilize features already mapped in
the telegram that are not control by the AOI. In a similar manner the Status data
can be access by the user program.

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8 Drive Parameter Access

8.1 Explicit Messaging
In many applications it is necessary to read or write parameters in the drive. This
allows increased flexibility in implementation of the machine functionality.
To allow this occasional (acyclic) data exchange of drive and motor parameters,
the drive supports explicit messaging.
The MSG instruction can read from or write to a parameter by accessing the drive’s
communication object. When parameterizing the MSG instruction, below are some
important parameters:
Class = 401hex (for G120)
On the G130/150:
CU class = 401hex
Drive class = 402hex
Instance = parameter number

p1027 = instance 1027
Attribute = parameter index number (hex)

Index 0 = attribute 0
Index 1 = attribute 1
…
Index 65535 = attribute FFFFh
Get attribute single = read a parameter

Set attribute single = write a parameter

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8.2 Using the MSG Instruction
NOTE It is a good idea to one-shot the message requests (e.g. with a flasher). If the
rung for the MSG instruction is always true, the communication board can get
overwhelmed and fault out.
Table 1 Parameterizing the MSG Instruction
1. MSG Instruction:
Insert the MSG instruction.
2. Instruction Tag:
Create a controller scope tag for

the instruction in the Tag tab of the
message configuration dialog box.
This tag contains the working
memory area for the MSG
instruction.
3. Message Type:
Select the CIP Generic message
type.

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4. Service Type:
Select “Get Attribute Single” to read
and parameter or “Set Attribute
Single” to write the parameter.
5. Class:
401 (hex)
6. Instance:
This is the parameter number of
the object, in Starter. E.g. DC Link
voltage (p26).

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7. Attribute:
This is the parameter index. For
parameters without an index, use
“0”.
8. Destination:
For reading a parameter select a
Controller scope tag where the
value will be written
If writing a value to the parameter,

select a tag in the Source element
entry.
9. Source Length (writing only):

When writing to a parameter, make
sure the source length matches the
parameter that you are trying to
write to.
INT = 2 Bytes (16 bit)

REAL = 4 Bytes (32 bit)

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10. Make sure the data type of the tag

(source/destination) matches the
data type of the parameter.
INT = 2 Bytes (16 bit)

REAL = 4 Bytes (32 bit)
11. To figure out the data type of the

parameter, search for the

parameter in the Starter help tool,
or refer to the list manual.
12. Path:
In the communication tab enter the
name of the IO node for the
G120/130/150. Use the Browse
option to find the node in the
project tree.

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9 Troubleshooting
9 Troubleshooting
I can’t go online with the drive in Starter using the Ethernet cable.
Do you have firmware v4.7 on the drive unit? Communication from Starter to the
drive using Ethernet/IP is only support with firmware v4.7 or later on the G120. If
you are using v4.6, then you will need to use the USB cable to connect to the drive
with Starter.
On the G130/150, EtherNet/IP communication is supported with a CBE20 and

firmware v4.5 or later.
The drive and the PLC are not communicating.

1. Check the LED lights.

a. PLC: Is the I/O light solid green?
b. G120: Is the Link1 light solid green?
c. G130/G150/S120: Is the OPT light solid green?
d. This means that the drive is communicating and it is another issue.
2. Is Drive set for EIP (G120: p2030 = 10, G130/G150/S120: p8835 = 4)?
a. A power cycle is required after changing p2030/p8835.
b. For drives with CU320-2 (G130/G150/S120), the PLC must be
connected through the CBE20 card on the drive.
3. Are there duplicate IP addresses on the network?

a. Verify IP addresses (accessible nodes, PST, edit Ethernet nodes, etc.)

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9 Troubleshooting
4. Did you parameterize the Generic Ethernet Module in RSLogix 5000 correctly?
a. Do you have the “Comm. Format” set to Data –INT, or accidentally set
to Data-DINT?
b. Do the Connection Parameters (addresses and length) match the drive

telegram?
i. If you are using an EDS, it is for Telegram 1 only. If another

Telegram is needed, use a generic Ethernet device.
5. Could it be a bad Ethernet cable?
6. Are there faults on the drive?

a. Check LED’s status on the drive
b. Check diagnostics on drive for faults.

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9 Troubleshooting
7. Are all Drive Enables (OFF1/OFF2/OFF3) enabled?
There is no information on the control/status of the AOI’s even though the

drive and the PLC are set up correctly (no faults, green lights on LED’s).
On the G130/G150/S120 check that you have the CBE20 set up on the control unit
as IF1.

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10 Glossary
10 Glossary
AOI (Add On Instruction): Commonly used logic for a task that is encapsulated into a block to
be reused in RSLogix programs
BICO: BICO technology (Binector Connector Technology) allows the drive to be adapted to a
wide variety of requirements. Digital and analog signals which can be connected freely by
means of BICO parameters, are identified by the prefix BI, BO, CI or CO in their parameter
name.
Control Word: Arrangement of two bytes used to command the drive sequence control
(referred to as STW1 in SINAMICS Documentation)
EDS File: Text files used by RSLogix network configuration tool to help identify products and
easily integrate them on a network. All available G120/130/150 EDS files can be found here:
http://support.automation.siemens.com/WW/llisapi.dll?func=cslib.csinfo&lang=en&objid=780262
17&caller=nl
Free Telegrams: The send and receive telegrams can be configured as required by using BICO
technology to interconnect the send and receive process data.
L5K file: File type used for importing an AOI into RSLogix program
MDI (Motion Direct Input): Direct setpoint input function for positioning
ODVA: Open DeviceNet Vendors Association. Organization that supports network technologies
built on the Common Industrial Protocol (CIP™) — DeviceNet™, EtherNet/IP™, CompoNet™,
and ControlNet™
PN Interface: PROFINET interface
PROFIdrive: Device profile to provide standardization of drive telegram type thus minimizing
integration and commissioning time and effort.
Siemens Standard Telegrams: Structured in accordance with manufacturer specification with

the internal process data links automatically set up in accordance with the telegram number
setting.
Standard PROFIdrive Telegrams: Structured in accordance with PROFIdrive profile with the
internal process data links automatically set up in accordance with the telegram number setting.
STARTER: Software for Siemens Sinamics drives configuration and diagnostics
Status Word: Arrangement of two bytes used to report the current status of the drive (referred
to as ZSW1 in SINAMICS Documentation)
Telegram type 1: Standard PROFIdrive telegram of two words for simple speed control
Telegram type 2: Standard PROFIdrive telegram of six words for vector speed control
UDT: User Defined Type holds data relevant to the device
Vector mode: Axis control type including closed loop, open loop, and V/Hz speed control.
Typically used with induction motors to obtain high speed and low torque ripple.

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11 History
11 History
Table 11 History
Version Date Changes
V1.0 05.28.2013 Initial Release
V1.2b 10.17.2014 Draft for Revision
V2.0 03.26.2015 Add in explicit messaging
Added in troubleshooting
V3 07.02.2015 Added in G130/G150 information
Removed references to USB connection
Removed the appendix and added the “edit ethernet node”
to the main documentation
Updated T352 block
Added in T111 block

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SINAMICS G: Control of a G120/G130/G150

body or health, guarantee for the quality of a product, fraudulent concealment of a

Any form of duplication or distribution of these Application Examples or excerpts

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

4.2 Telegram Descriptions ..................................................................... 11

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

Industrial Ethernet communication networks continue to gain global importance in

1.1.2 Sinamics G series Connectivity to EtherNet/IP

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

Figure 2-1 Sample System Overview

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

2.2 Used Components

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

3.2 AOI’s for Sinamics G Series drives

3.3 AOI Types

1. Simple Speed Standard Telegram 1 (2 words in / 2 words out)

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

4 Sinamics G Series Add-On Instructions

4.2 Telegram Descriptions

This telegram is a standard PROFIdrive telegram of 2 words in length. It will control

Operating Instructions Manual and List manual.

Table 1 Telegram Type 1

4.2.2 Telegram Type 352 Speed Control

This telegram is a standard PROFIdrive telegram of 6 words in length. It is similar

Table 2 Telegram Type 352

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

4.2.3 Telegram Type 111 for EPOS mode

Telegram 111 is a standard Siemens Telegram for a positioning drive. It allows

Table 2 Telegram Type 111

4 Control Word 2 Status Word 2

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

4.3 Simple Speed Control –Telegram 1

4.3.2 Schematic Ladder Representation

Figure 4-1 G120 Simple Speed Block

4.3.3 Input and Output Parameters

Table 1 Inputs Parameters

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

Variable Name Data Type Description

Table 2 IN/OUT Parameters

Table 3 Output Parameters

WORD INPUT OUTPUT

4.4 Speed Control –Telegram 352

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley

4.4.2 Schematic Ladder Representation

Figure 4-2 T352 Speed Block

4.4.3 Input and Output Parameters

Table 1 Inputs Parameters

SINAMICS G: Control of a G120/130/150 with an Allen-Bradley