Appl s7 HW and STD Block Profibusandacsm1 Motion Revb

AC Drives ACSM1
Siemens Step7 Hardware configuration and Standard block for PROFIBUS and ACSM1 Motion
Utgivare: Godknd: Datum: Sprk: Revision:
APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

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Application description
Siemens Step 7 Hardware configuration and Standard block for PROFIBUS and ACSM1 Motion
Kontakta ABB Svensk Frsljning Motorer och Drivsystem fr mer information om denna applikation. Tel: +46 21 32 50 00 / Mail: kundservice.drivsystem@se.abb.com
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PREFACE ............................................................................................................................................................. 3 SUMMARY ........................................................................................................................................................... 3 LIMITATIONS ....................................................................................................................................................... 3 MANUALS ........................................................................................................................................................... 3 EQUIPMENT ......................................................................................................................................................... 3 PRINCIPLE ........................................................................................................................................................... 4 PLC HARDWARE CONFIGURATION ...................................................................................................................... 5 PROFIBUS Interface..................................................................................................................................... 5 PROFIBUS Module ....................................................................................................................................... 5 GSD File........................................................................................................................................................ 5 Communication profile .................................................................................................................................. 6 PPO Type ...................................................................................................................................................... 6 Hardware Configuration ............................................................................................................................... 7 PLC LOGIC (BLOCK HANDLING) AND ACSM1 MOTION PARAMETERS ............................................................. 12 General........................................................................................................................................................ 14 Mode Selection Positioning/Homing/Synchronisation ............................................................................. 15 Jogging ........................................................................................................................................................ 15 Positioning................................................................................................................................................... 16 Homing ........................................................................................................................................................ 19 Syncronisation ............................................................................................................................................. 20 Read/Write one extra parameter ................................................................................................................. 20 SYSTEM OVERVIEW ........................................................................................................................................... 21 I/O CONNECTIONS EXTERNAL MODULE (FPBA-01)........................................................................................... 22 PARAMETER FILES / PLC FILES: ........................................................................................................................ 23 Parameter files ............................................................................................................................................ 23 PLC files ...................................................................................................................................................... 23 FIELDBUS INTERFACE ........................................................................................................................................ 24 FAULT TRACING ................................................................................................................................................ 25 INFORMATION ABOUT THE APPLICATION ........................................................................................................... 26 REVISION .......................................................................................................................................................... 27
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Preface
This is an application template. The purpose for the template is to be used as a help during installations of similar applications. Note! The material of this template might need to be adapted according to actual equipment and function before use. Equipment dependent tests have to be performed before approval of the installation.
Summary
This application contains instructions for PROFIBUS communication between Siemens PLC and ABB Drive ACSM1 with Motion Software. It is applicable for Positioning. How to set the parameters in ABB Drive ACSM1 for adaption to Positioning through Fieldbus. Hardware configuration for Siemens PLC in SIMATIC STEP7. A PLC project with Function block for ACSM1 Motion control. A parameter file for ACSM1 Motion control.
Limitations
Communication profile PROFIDrive Positioning must be chosen in the Drive. PPO type 4 must be used.
Manuals
ACSM1 Firmware Manual Motion Control User Manual PROFIBUS DP Adapter Module FPBA-01 ACSM1 Application Guide Fieldbus Control PC Tool DriveStudio User Manual [3AFE68848270] [3AFE68573271] [3AUA0000049359] [3AFE68749026]
Equipment
Siemens PLC: CPU300 or CPU400 series. ABB Drive: ACSM1 PROFIBUS cable PROFIBUS contact
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Principle
The figure below shows general principles for the procedure how to program PLC and Drive when Fieldbus communication is used.
Figure: Principles for Fieldbus configuration
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PLC Hardware configuration

When controlling the drive through PROFIBUS, the control system can be divided into two parts; the hardware configuration and the logic. Before configuring the hardware, the following decisions should be made: PROFIBUS Interface PROFIBUS Module GSD File Communication profile PPO Type
PROFIBUS Interface There are several different PROFIBUS interfaces and the ones which are supported by the FPBA-01 module are: PROFIBUS DP-V0: Suitable in most applications where cyclic communication is desired. DP-V0 is supported by the Function block in this application. PROFIBUS DP-V1: A more advanced model where acyclic communication is used. DP-V1 is not supported by the Function block in this application. For more information about DP-V1, see manual User Manual PROFIBUS DP Adapter Module FPBA-01.
PROFIBUS Module What PROFIBUS module that should be used depends on actual drive. The PROFIBUS module that is included in this application (for ACSM1) is FPBA-01. GSD File To be able to include a PROFIBUS slave (in this case a Drive) in the PLC Hardware configuration, a GSD file is needed. The GSD file includes a description of the PROFIBUS slave and how the communication should be handled. Actual GSD file depends on the PROFIBUS module type, but also the PROFIBUS interface (DP-V0 or DP-V1). FPBA-01 and PROFIBUS DP-V0: ABB0959.gsd
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Communication profile The communication profile determines how the PROFIBUS module handle the information that is sent through the Fieldbus. Some communication profile examples are ABB Drives, PROFIDrive, Transparent 16, Transparent 32 and PROFIDrive Positioning. The communication profile that is supported by the Function block in this application is PROFIDrive Positioning. PPO Type The PPO type determines the length and the constitution of the messages that are sent through the Fieldbus. A PPO message always includes a Process Data area and in some cases also a Parameter Data area. Process Data is used for cyclic messages and often this is enough to handle the application. Parameter Data is used to read and write drive parameters acyclically. For more information about acyclic messages, see manual User Manual PROFIBUS DP Adapter Module FPBA-01. The PPO types that are supported by the FPBA-01 module are: o o o o o o PPO Type 1 PPO Type 2 PPO Type 3 PPO Type 4 PPO Type 5 PPO Type 6 4 Parameter Data words + 2 Process Data words 4 Parameter Data words + 6 Process Data words 0 Parameter Data words + 2 Process Data words 0 Parameter Data words + 6 Process Data words 4 Parameter Data words + 10 Process Data words 0 Parameter Data words + 10 Process Data words
PPO Type 4 is supported by the Function block in this application.
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Hardware Configuration In the PLC hardware configuration, all the units and modules connected to the system should be implemented and given addresses. Pictures below show a normal procedure. Open Hardware configurator:
Open the program for configuring hardware If actual GSD file is not already installed in SIMATIC Hardware Config, install according to:
Install GSD file, step 1: Choose Install GSD File from the Options menu
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Install GSD file, step 2: Get actual GSD file through Browse, click on it and choose Install. Add desired PROFIBUS module to desired PROFIBUS net. Below, an example with ACSM1 (FPBA-01 PROFIBUS module), PPO type 4 is used:
Mark the title for desired PROFIBUS module in the catalogue tree, drag and drop to the PROFIBUS line.
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Give the PROFIBUS module a PROFIBUS address and choose Ok. Properties for the PROFIBUS slave:
Double-click the PROFIBUS slave on the PROFIBUS line.
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Make sure that Watchdog is chosen PPO type choice and address settings:
Mark desired PPO type in the catalogue tree, drag and drop to the darker green marked module field.
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In this case, PPO type 4 has been included. Process Data has been given the address area 320-331. If needed, the given address areas can be modified by double-clicking the PPO line. Save and download to the CPU.
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PLC Logic (Block handling) and ACSM1 Motion parameters

The function block that comes with the application is named FB31. FB31 can be inserted in any OB (Organisation block), FB (Function block ) or FC (Function). In the PLC project that is included in this application, one ACSM1 (with FPBA-01 PROFIBUS adapter module) has been attached to the PROFIBUS net (Hardware Configuration). In the project, the function block FB31 is called directly from OB1 (Main block). When an FB is inserted, a DB (Data block) must me created and attached to the FB. The Data block that is used in the project is named DB110. The figure on next page shows the user interface of FB30. On coming pages, the block is described more in detail in combination with comments about drive parameters.
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Figure: FB31 Standard block for ACSM1 Motion Kontakta ABB Svensk Frsljning Motorer och Drivsystem fr mer information om denna applikation. Tel: +46 21 32 50 00 / Mail: kundservice.drivsystem@se.abb.com
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General Drive parameters, various Parameter 50.01 50.04 50.05 51.02 51.05 52.01 52.02 52.04 53.01 53.02 53.04 10.01 10.04 10.08 22.01 Setting ENABLE POSITION VELOCITY X 4 4 15 16 1 12 13 FBA FBA 2.12 bit 8 ENC 1 SPEED Comment Enable Fieldbus Fieldbus Ref 1 = Position reference Fieldbus Ref 2 = Speed reference Actual Fieldbus node Communication profile ProfiDrive Positioning PZD1 = Status Word, 16 bits PZD 2-3 = Actual value 1 (Position), 32 bits PZD 4-5 = Actual value 2 (Speed), 32 bits PZD1 = Control Word (CW), 16 bits PZD 2-3 = Reference 1 (Position), 32 bits PZD 4-5 = Reference 2 (Speed), 32 bits EXT1 Start through Fieldbus CW EXT2 Start through Fieldbus CW Fault reset through Fieldbus Use Encoder 1 speed as speed feedback. Check first that P1.08 ENCODER 1 SPEED has the same sign as P1.14 ESTIMATED SPEED.
Drive parameters, encoder Parameter 90.01 Group 91, 92 or 93 90.10 Setting X X REFRESH Comment Actual encoder interface Various settings depending on which encoder interface that is used. Save encoder configuration
Reset fault in drive Set Block input Reset = TRUE
Run Enable If Fieldbus is activated (P50.01 = ENABLE), then Run Enable is always read through Fieldbus CW, independently of the setting in P10.09.
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Mode Selection Positioning/Homing/Synchronisation Parameter 34.01 34.02 34.03 34.04 34.05 Setting 2.12 bit 28 2.12 bit 26 POSITION HOMING SYNCHRON Comment Activate control place EXT2 through Fieldbus CW Activate EXT1 Mode 2 through Fieldbus CW EXT1 Mode 1 = Position EXT1 Mode 2 = Homing EXT2 = Synchron
Mode selection is handled by the function block depending on the block inputs: Positioning = NOT SyncMode AND (NOT Activate OR NOT HomingStart) Homing = Activate AND HomingStart AND NOT SyncMode Synchronisation = SyncMode Check Actual Mode in P6.12 (Note! Actual Mode can only be checked when the drive is started i.e. Block input Activate = TRUE).
Jogging Parameter 10.07 10.14 24.10 24.11 Setting 2.12 bit 9 2.12 bit 10 X X Comment Jog 1, start jogging through Fieldbus CW Jog 2, start jogging through Fieldbus CW Speed reference Jog 1 Speed reference Jog 2
Jogging handling Start Jogging by o Block inputs SyncMode and HomingStart must be set to FALSE o Set Block input Activate = TRUE o Set Block input Jog1_Start or Jog2_Start = TRUE Comments If both Block inputs Jog1_Start and Jog2_Start are activated, Jog1_Start is prioritized (despite that both bits are set in CW). P10.15 JOG ENABLE has no effect when Jogging is started through Fieldbus.
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Positioning Drive parameters, positioning Parameter Setting 60.05 X 60.09 >= 20 bits 65.01 65.03 65.04 65.09 65.22 66.05 70.03 FIELDBUS C.FALSE FBA Ref 1 X FBA Ref 2 C.FALSE C.FALSE Comment Units: Degrees, Revolutions or Meters Position resolution. At least 20 bits to get rid of problem can not find position. Position reference through Fieldbus Position start through Fieldbus only Position reference 1 through Fieldbus Desired position style, bit pattern Position reference 2 through Fieldbus Position reference generator is enabled through Fieldbus only. Position reference enable command through Fieldbus only.
Positioning handling Start Positioning by o Block inputs SyncMode and HomingStart must be set to FALSE o Set Block input Activate = TRUE o Set Block inputs PosRef_Whole and PosRef_Dec to desired Position values. o Set Block inputs SpRef_Whole and SpRef_Dec to desired Speed values. o Give a positive edge on Block input GoNewPos (= TRUE). Update Position or Speed Reference when running o Change Block inputs PosRef_Whole, PosRef_Dec, SpRef_Whole and SpRef_Dec to desired values. o Give a new positive edge on Block input GoNewPos (= TRUE). Pause positioning (stop) while running o Set Block input IntStop = TRUE o To start again, set Block input IntStop = FALSE Reject position reference and stop while running o Set Block input RejTravTask = TRUE o To return to basic state, set Block input RejTravTask = FALSE
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Scaling Position reference o Scale with P60.09 Pos Revolution, see example: Send value 50 in PosRef_Whole (Whole number) Send value 0 in PosRef_Dec (Decimal) 60.09 = 20 bits -> Pos Ref (4.06) = 2048 60.09 = 22 bits -> Pos Ref (4.06) = 512 60.09 = 24 bits -> Pos Ref (4.06) = 128 o Scale also with P60.08 Pos2Int Scale, see example: Set point = 1000 P60.08 = 100 Physical value = 1000/100 = 10 [unit depends on P60.05] Speed reference o Scale with Drive parameters 60.05 Units Change from Revolutions to Degrees means 360 times slower with the same reference. 60.10 Pos speed units Change from Units/Second to Units/minut means 60 times slower with the same reference. Example 1 60.05 = Revolutions 60.10 = Units/second Send value 0 in SpRef_Whole and 5000 in SpRef_Dec o Speed ref (4.07) = 5,0 units/s Example 2 60.05 = Degrees 60.10 = Units/second Send value 50 in SpRef_Whole and 0 in SpRef_Dec o Speed ref (4.07) = 3277 units/s o Scale also with P60.11 Pos Speed2Int Set point = 1000 P60.11 = 100 Physical value = 1000/100 = 10 [unit depends on P60.05]
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Actual Position o Actual Position follows the same scaling as Position Reference
Actual Speed o Actual Speed follows the same scaling as Speed Reference o Actual Speed value (in Positioning mode) does not correspond to P25.02. During test, 300 rpm gave value 0 in Block output ActSp_Whole and 5000 in Block output ActSp_Dec both when P25.02 = 1500 and P25.02 = 2500.
Comments Position Reference (P4.06) is updated on positive edge of Block input GoNewPos Fieldbus references P2.14 FBA MAIN REF 1 and P2.15 FBA MAIN REF 2 are updated directly when a new reference is sent through Fieldbus. Interesting parameters for feedback: Setting Pos Act Pos Ref Pos Speed Ref Op mode act Comment Actual position Position reference Speed reference in positioning mode Operation mode only displayed when the drive is started
Parameter 1.12 4.06 4.07 6.12
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Homing Drive parameters, homing Parameter Setting 62.01 X 62.03 62.07 C.FALSE (or 2.12 bit 26) X Comment Homing mode, see appendix in ACSM1 Firmware Manual Motion Control. Homing start through Fieldbus only Speed ref during homing
Other interesting parameters for Homing Parameter (62.11) 62.12 62.13 Setting Whole System X X Comment This setting writes 0 to actual position after homing is done. PRESET TRIG, Homing sensor PRESET POSITION, Preset position in relation to Homing sensor
Homing handling Start Homing by o Block input SyncMode must be set to FALSE o Set Block input Activate = TRUE o Set Block input HomingStart = TRUE Comments Started Homing can not be reset o When Homing is started according to above, CW bit 11 is set from the PLC (corresponds to P2.12 bit 26 in the drive). o If Block input HomingStart is set to FALSE during Homing, CW bit 11 is reset from the PLC, but P2.12 bit 26 in the drive is still TRUE. o Independently of the setting in P62.02 (Normal or Pulse) and the setting in P62.03 (C.FALSE or 2.12 bit 26), the Homing will finish even with Block input HomingStart = FALSE. o To stop the drive, Block input Activate must be set to FALSE. (ACSM1 Demo unit: Activate the Sensor button and check status in P2.16 FEN DI Status)
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Syncronisation Not yet tested other than making sure that Syncronisation mode is set in P6.12 when Block input SyncMode = TRUE.
Read/Write one extra parameter The function block also includes the possibility to read one extra 16 bit parameter and write 1 extra 16 bit parameter. Read parameter example o Set P52.06 = 105 (P1.05 = Current Percentage, Data Length 16 bits) o Read Current actual value in Block output PZD6_In. Write parameter example o Set P53.06 = 2006 (P20.06 = Maximum Torque, Data Length 16 bits) o Write Maximum Torque value to Block input PZD6_Out.
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System overview
ABB Drives ACSM1
Siemens PLC
PROFIBUS
FPBA-01 modules
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I/O connections external module (FPBA-01)
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Parameter files / PLC files:

Parameter files Use DriveStudio to open the dsp file. Parameters ACSM1 Motion - PROFIBUS - PPO-Typ 4.dsp Parameters ACSM1 Motion - PROFIBUS - PPO-Typ 4.pdf PLC files Unzip by opening SIMATIC Manager -> File -> Retrieve. 090708_PLC_Std_ABB_Drives_Motion_ReadAndWrite_RevA.zip
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Fieldbus interface
Fieldbus type: PROFIBUS Configuration type: PPO Type 4 Configuration file: ABB0959.gsd Communication profile: Profidrive Positioning Parameter settings for activation of the Fieldbus o P50.01 = Enable
Parameter P53.01 = 1 P53.02 = 12 P53.03 = 0 P53.04 = 13 P53.05 = 0 Scaling and comments See State machine and description of Control Word in User Manual PROFIBUS DP Adapter Module FPBA-01. Scaling is described in chapter PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning See comment above Scaling is described in chapter PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning See comment above -
To drive
Name Control Word (CW) Position reference (Word 1) Position reference (Word 2) Speed reference (Word 1) Speed reference (Word 2) Spare
From drive
Name Status Word (SW) Actual position (Word 1) Actual position (Word 2) Actual speed (Word 1) Actual speed (Word 2) Spare Parameter P52.01 = 4 P52.02 = 15 P52.03 = 0 P52.04 = 16 P52.05 = 0 Scaling and comments See State machine and description of Status Word in User Manual PROFIBUS DP Adapter Module FPBA-01. Scaling is described in chapter PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning See comment above Scaling is described in chapter PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning See comment above -
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Fault tracing
For Fault tracing of the ACSM1 drive, see Firmware manual [3AFE68848270] chapter Fault tracing. For Fault tracing of the FPBA-01 PROFIBUS adapter module, see manual [3AFE68573271]. Alarm and Fault messages For Alarm and Fault messages of the ACSM1 drive, see Firmware manual [3AFE68848270] chapter Alarm and Fault messages.
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Information about the application

Application created by: Johan Elfvelin AP/SP Application approved by: Hans Stolpe AP/SP 2009-11-10 Fr manualer och vrig information om vra frekvensomriktare, besk vr hemsida: http://www.abb.se/frekvensomriktare
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Revision Rev.ind. A B Page (P) Chap. (C) Description New document Read/Write parameter block Date Dep./Init. 2009-07-13 AP/SP/JE 2010-03-01 AP/SP/JE

Appl s7 HW and STD Block Profibusandacsm1 Motion Revb

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AC Drives ACSM1

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

Figure: Principles for Fieldbus configuration

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

PLC Hardware configuration

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

PPO Type 4 is supported by the Function block in this application.

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

Double-click the PROFIBUS slave on the PROFIBUS line.

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

PLC Logic (Block handling) and ACSM1 Motion parameters

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

Reset fault in drive Set Block input Reset = TRUE

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

Parameter 1.12 4.06 4.07 6.12

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

ABB Drives ACSM1

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

I/O connections external module (FPBA-01)

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

Parameter files / PLC files:

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

Information about the application

APPL - S7 HW and Std block Profibus and ACSM1 Motion RevB.doc

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