appl s7 hw and std block profibusandacsm1 motion revb

�� AC Drives ACSM1

Siemens Step7 – Hardware configuration and Standard block for PROFIBUS and ACSM1 Motion

APPL - S7 HW and Std block - Profibus and ACSM1 Motion -

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Godkänd: Datum: Språk: Revision: Sida:

AP/SP/JE AP/SP/HS 091110 EN A 1 (27)

Kontakta ABB Svensk Försäljning Motorer och Drivsystem för mer information om denna applikation. Tel: +46 21 32 50 00 / Mail: [email protected]

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Application description

Siemens Step 7 – Hardware configuration and Standard block for PROFIBUS and ACSM1 Motion




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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 [3AFE68848270] • User Manual PROFIBUS DP Adapter Module FPBA-01 [3AFE68573271] • ACSM1 Application Guide Fieldbus Control [3AUA0000049359] • PC Tool DriveStudio User Manual [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 PPO Type 1 4 Parameter Data words + 2 Process Data words o PPO Type 2 4 Parameter Data words + 6 Process Data words o PPO Type 3 0 Parameter Data words + 2 Process Data words o PPO Type 4 0 Parameter Data words + 6 Process Data words o PPO Type 5 4 Parameter Data words + 10 Process Data words o PPO Type 6 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




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General Drive parameters, various Parameter Setting Comment 50.01 ENABLE Enable Fieldbus 50.04 POSITION Fieldbus Ref 1 = Position reference 50.05 VELOCITY Fieldbus Ref 2 = Speed reference 51.02 X Actual Fieldbus node 51.05 4 Communication profile “ProfiDrive Positioning” 52.01 4 PZD1 = Status Word, 16 bits 52.02 15 PZD 2-3 = Actual value 1 (Position), 32 bits 52.04 16 PZD 4-5 = Actual value 2 (Speed), 32 bits 53.01 1 PZD1 = Control Word (CW), 16 bits 53.02 12 PZD 2-3 = Reference 1 (Position), 32 bits 53.04 13 PZD 4-5 = Reference 2 (Speed), 32 bits 10.01 FBA EXT1 Start through Fieldbus CW 10.04 FBA EXT2 Start through Fieldbus CW 10.08 2.12 bit 8 Fault reset through Fieldbus 22.01 ENC 1 SPEED 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 Setting Comment 90.01 X Actual encoder interface Group 91, 92 or 93

X Various settings depending on which encoder interface that is used.

90.10 REFRESH 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 Setting Comment 34.01 2.12 bit 28 Activate control place EXT2 through Fieldbus CW 34.02 2.12 bit 26 Activate EXT1 Mode 2 through Fieldbus CW 34.03 POSITION EXT1 Mode 1 = Position 34.04 HOMING EXT1 Mode 2 = Homing 34.05 SYNCHRON 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 Setting Comment 10.07 2.12 bit 9 Jog 1, start jogging through Fieldbus CW 10.14 2.12 bit 10 Jog 2, start jogging through Fieldbus CW 24.10 X Speed reference Jog 1 24.11 X 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 Comment 60.05 X Units: Degrees, Revolutions or Meters 60.09 >= 20 bits Position resolution. At least 20 bits to get rid of problem “can

not find position”. 65.01 FIELDBUS Position reference through Fieldbus 65.03 C.FALSE Position start through Fieldbus only 65.04 FBA Ref 1 Position reference 1 through Fieldbus 65.09 X Desired position style, bit pattern 65.22 FBA Ref 2 Position reference 2 through Fieldbus 66.05 C.FALSE Position reference generator is enabled through Fieldbus

only. 70.03 C.FALSE 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: Parameter Setting Comment 1.12 Pos Act Actual position 4.06 Pos Ref Position reference 4.07 Pos Speed Ref Speed reference in positioning mode 6.12 Op mode act Operation mode only displayed when the drive is started




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Homing Drive parameters, homing Parameter Setting Comment 62.01 X Homing mode, see appendix in ACSM1 Firmware Manual

Motion Control. 62.03 C.FALSE (or

2.12 bit 26) Homing start through Fieldbus only

62.07 X Speed ref during homing Other interesting parameters for Homing Parameter Setting Comment (62.11) Whole System This setting writes 0 to actual position after homing is done. 62.12 X PRESET TRIG, Homing sensor 62.13 X 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

Siemens PLC

ABB Drives ACSM1

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 To drive Name Parameter Scaling and comments Control Word (CW) P53.01 = 1 See ”State machine” and description of Control Word in “User

Manual PROFIBUS DP Adapter Module FPBA-01”.

Position reference (Word 1) P53.02 = 12 Scaling is described in chapter “PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning”

Position reference (Word 2) P53.03 = 0 See comment above

Speed reference (Word 1) P53.04 = 13 Scaling is described in chapter “PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning”

Speed reference (Word 2) P53.05 = 0 See comment above

Spare - - From drive Name Parameter Scaling and comments Status Word (SW) P52.01 = 4 See ”State machine” and description of Status Word in “User

Manual PROFIBUS DP Adapter Module FPBA-01”.

Actual position (Word 1) P52.02 = 15 Scaling is described in chapter “PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning”

Actual position (Word 2) P52.03 = 0 See comment above

Actual speed (Word 1) P52.04 = 16 Scaling is described in chapter “PLC Logic (Block handling) and ACSM1 Motion parameters -> Positioning”

Actual speed (Word 2) P52.05 = 0 See comment above

Spare - -




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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 För manualer och övrig information om våra frekvensomriktare, besök vår hemsida: http://www.abb.se/frekvensomriktare




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Revision

Rev.ind. Page (P) Chap. (C)

Description Date Dep./Init.

A - New document 2009-07-13 AP/SP/JE

B - Read/Write parameter block 2010-03-01 AP/SP/JE

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