Siemens Sinamics S120 Function Manual page 20

Contents
10.1.2 Cyclic communication ............................................................................................................... 509
10.1.2.1 Telegrams and process data .................................................................................................... 509
10.1.2.2 Description of control words and setpoints ............................................................................... 515
10.1.2.3 MOMRED .................................................................................................................................. 525
10.1.2.4 Description of status words and actual values.......................................................................... 532
10.1.2.5 Control and status words for encoder ....................................................................................... 553
10.1.2.6 Extended encoder evaluation.................................................................................................... 562
10.1.2.7 Central control and status words .............................................................................................. 563
10.1.2.8 Motion Control with PROFIdrive ............................................................................................... 572
10.1.2.9 Diagnostics channel for cyclic communication.......................................................................... 575
10.1.3 Parallel operation of communication interfaces ........................................................................ 577
10.1.4 Acyclic communication.............................................................................................................. 581
10.1.4.1 General information about acyclic communication ................................................................... 581
10.1.4.2 Structure of orders and responses............................................................................................ 583
10.1.4.3 Determining the drive object numbers ...................................................................................... 588
10.1.4.4 Example 1: read parameters..................................................................................................... 589
10.1.4.5 Example 2: write parameters (multi-parameter request) .......................................................... 591
10.2 Communication via PROFIBUS DP .......................................................................................... 594
10.2.1 General information about PROFIBUS ..................................................................................... 594
10.2.1.1 General information about PROFIBUS for SINAMICS ............................................................. 594
10.2.1.2 Example: telegram structure for cyclic data transmission......................................................... 597
10.2.2 Commissioning PROFIBUS ...................................................................................................... 600
10.2.2.1 Setting the PROFIBUS interface............................................................................................... 600
10.2.2.2 PROFIBUS interface in operation ............................................................................................. 602
10.2.2.3 Commissioning PROFIBUS ...................................................................................................... 604
10.2.2.4 Diagnostics options ................................................................................................................... 605
10.2.2.5 SIMATIC HMI addressing ......................................................................................................... 605
10.2.2.6 Monitoring: telegram failure....................................................................................................... 607
10.2.3 Motion Control with PROFIBUS................................................................................................ 609
10.2.4 Slave-to-slave communication .................................................................................................. 612
10.2.4.1 Setpoint assignment in the subscriber ...................................................................................... 615
10.2.4.2 Activating/parameterizing slave-to-slave communication ......................................................... 615
10.2.4.3 Commissioning of the PROFIBUS slave-to-slave communication ........................................... 616
10.2.4.4 GSD in operation....................................................................................................................... 625
10.2.4.5 Diagnosing the PROFIBUS slave-to-slave communication in STARTER ................................ 627
10.3 Communication via PROFINET IO ........................................................................................... 628
10.3.1 General information about PROFINET IO ................................................................................ 628
10.3.1.1 Real-time (RT) and isochronous real-time (IRT) communication ............................................. 629
10.3.1.2 Addresses ................................................................................................................................. 630
10.3.1.3 Data transfer ............................................................................................................................. 632
10.3.1.4 Communication channels for PROFINET ................................................................................. 633
10.3.2 Drive control with PROFINET ................................................................................................... 635
10.3.2.1 Media redundancy..................................................................................................................... 638
10.3.3 RT classes for PROFINET IO ................................................................................................... 638
10.3.4 PROFINET GSDML .................................................................................................................. 643
10.3.5 Motion Control with PROFINET ................................................................................................ 645
10.3.6 Communication with CBE20 ..................................................................................................... 648
10.3.6.1 EtherNet/IP................................................................................................................................ 649
10.3.7 PN gate ..................................................................................................................................... 649
10.3.7.1 Functions transferred from PN Gate ......................................................................................... 650
10.3.7.2 Preconditions for PN Gate ........................................................................................................ 651
18
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Drive functions