Application Manual Studio 5000 Position Control V2.0.1

Integrating Siemens
Drive into Rockwell

Automations Studio
5000 by using
Position Control
Telegrams
Application Manual Studio 5000 Telegrams 7, 9, 110,

Siemens
111 Position Control Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/82843076 Support
Legal information
Legal information
Use of application examples
Application examples illustrate the solution of automation tasks through an interaction of several
components in the form of text, graphics and/or software modules. The application examples are
a free service by Siemens AG and/or a subsidiary of Siemens AG (“Siemens”). They are non-
binding and make no claim to completeness or functionality regarding configuration and
equipment. The application examples merely offer help with typical tasks; they do not constitute
customer-specific solutions. You yourself are responsible for the proper and safe operation of the
products in accordance with applicable regulations and must also check the function of the
respective application example and customize it for your system.
Siemens grants you the non-exclusive, non-sublicensable and non-transferable right to have the
application examples used by technically trained personnel. Any change to the application
examples is your responsibility. Sharing the application examples with third parties or copying the
application examples or excerpts thereof is permitted only in combination with your own products.
The application examples are not required to undergo the customary tests and quality inspections
of a chargeable product; they may have functional and performance defects as well as errors. It is
your responsibility to use them in such a manner that any malfunctions that may occur do not
result in property damage or injury to persons.
Disclaimer of liability
Siemens shall not assume any liability, for any legal reason whatsoever, including, without
limitation, liability for the usability, availability, completeness and freedom from defects of the
application examples as well as for related information, configuration and performance data and
any damage caused thereby. This shall not apply in cases of mandatory liability, for example
under the German Product Liability Act, or in cases of intent, gross negligence, or culpable loss of
life, bodily injury or damage to health, non-compliance with a guarantee, fraudulent
non-disclosure of a defect, or culpable breach of material contractual obligations. Claims for
damages arising from a breach of material contractual obligations shall however be limited to the
© Siemens AG 2020 All rights reserved
foreseeable damage typical of the type of agreement, unless liability arises from intent or gross
negligence or is based on loss of life, bodily injury or damage to health. The foregoing provisions
do not imply any change in the burden of proof to your detriment. You shall indemnify Siemens
against existing or future claims of third parties in this connection except where Siemens is
mandatorily liable.
By using the application examples you acknowledge that Siemens cannot be held liable for any
damage beyond the liability provisions described.
Other information
Siemens reserves the right to make changes to the application examples at any time without
notice. In case of discrepancies between the suggestions in the application examples and other
Siemens publications such as catalogs, the content of the other documentation shall have
precedence.
The Siemens terms of use (https://support.industry.siemens.com) shall also apply.
Security information
Siemens provides products and solutions with industrial security functions that support the secure
operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is necessary
to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept.
Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems, machines
and networks. Such systems, machines and components should only be connected to an
enterprise network or the Internet if and to the extent such a connection is necessary and only
when appropriate security measures (e.g. firewalls and/or network segmentation) are in place.
For additional information on industrial security measures that may be implemented, please visit
https://www.siemens.com/industrialsecurity.
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the latest updates may increase customer’s exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed
at: https://www.siemens.com/industrialsecurity.
Integrating Siemens Drive into Rockwell Automations Studio 5000

Position Control Telegrams
Entry ID: 82843076, V2.0.1, 10/2020 2
List of contents
List of contents
Legal information ......................................................................................................... 2
1 Overview ............................................................................................................. 4
2 Telegrams ........................................................................................................... 5
3 Reference Scaling Parameters ....................................................................... 17
4 Startdrive Configuration ................................................................................. 18
5 Download to the drive ..................................................................................... 36
6 Motor Identification ......................................................................................... 38
7 Create New Project with Rockwell Software Studio 5000 ........................... 44
8 Rockwell Automation EDS Wizard ................................................................. 49
9 Add a Siemens Drive to the Ethernet Network ............................................. 57
10 Import Add-On Instruction .............................................................................. 61
11 Configure IP Address for a Rockwell Controller .......................................... 63
12 Configure RSLinx Communications for a Rockwell Controller .................. 69
13 Insert a Rung for the Add-On Instruction...................................................... 73
14 Download Project to the Rockwell Controller .............................................. 77
15 Create a Rockwell’s FactoryTalk View Application ...................................... 79

16 Import Siemens Global Objects ..................................................................... 83
17 Import Siemens Display .................................................................................. 88
18 Add GOTO Button to a Display ...................................................................... 93
19 Alarms and Warnings ...................................................................................... 98
20 Edit Tags for Alarm Setup............................................................................. 102
21 Transfer Utility ............................................................................................... 104
22 Configure Siemens Drive for Telegram 111 ................................................ 108
23 Manually Control the Siemens Drive with Telegram 111 by Using
Rockwell’s PanelView Plus Terminal ........................................................... 113
24 Automatically Control the Siemens Drive with Telegram 111................... 134
25 Firmware Upgrade Wizard ............................................................................ 140
26 Appendix ........................................................................................................ 146
26.1 Application Support .......................................................................... 146
26.2 Links and Literature .......................................................................... 146
26.3 History .............................................................................................. 146

Entry ID: 82843076, V2.0.1, 10/2020 3
1 Overview
1 Overview
Scope:
This document will explain how to integrate Siemens drives into Rockwell Automations Studio
5000 software. This document is intended for individuals with Rockwell Automation Studio
5000, FactoryTalk View Machine Edition, and commissioning a Siemens drive. This document
will illustrate how to add Electronic Data Sheet (EDS) file, add a Siemens drive to the
Ethernet/IP network, import Add-On Instructions, and create a routine for the Add-On instruction
to an existing Studio 5000 PLC program. This document will illustrate how to import global
objects, displays, alarms, and warnings into a FactoryTalk View Machine Edition HMI
application.
This document includes the commonly used Siemens telegram along with additional position
control telegrams for unique applications.
Components Used:
Hardware:
Rockwell Automations CompactLogix 5370 Controller 1769-L16ER-BB1B
Siemens G120 CU250S-2 PN V4.7 SP10
Software:
Rockwell Automations Studio 5000 V30 and FactoryTalk View Studio Machine Edition V10.0
Startdrive V16.1

Entry ID: 82843076, V2.0.1, 10/2020 4
2 Telegrams
2 Telegrams
What is a Telegram? Telegrams are universal blocks of data that organize parameters and
functions into a uniform consistent format that all Siemens drives can use to pass data to the
PLC. They are organized into 16-bit process words (abbreviated as PZD) that contain relevant
information such as control words, status words, and setpoints. Most telegrams have a control
word, status word, speed setpoint, and speed feedback word in common.
A telegram is easily selected within the programming platform by loading the correct electronic
data sheet (EDS) file.
Commonly Used Telegram: Telegram 111 is for Basic Positioning with

Direct Setpoint Input (MDI), Override, Position Feedback, and Speed
Feedback:
Telegram 111 is the most commonly used telegram for position control applications. If
applicable, it is recommended that you use telegram 111 for position control.
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. It is a 12-
word telegram with the last word being a freely assignable interconnection. Position and speed
feedback are available in the output image.
Table 2-1 From Drive to PLC

PLC Description Data Drive
Tagname Type Parameter
DriveStatus0 Status Word 1 (ZSW1) INT r2089[0]
DriveStatus1 Positioning Status Word 1 (POS_ZSW1) INT r2089[3]

Entry ID: 82843076, V2.0.1, 10/2020 5
2 Telegrams

DriveStatus2 Positioning Status Word 2 (POS_ZSW2) INT r2089[4]
DriveStatus4 Message Word (MELDW) INT r2089[2]
DriveStatus5 Actual Position Value (XIST_A) INT r2521[0]
DriveStatus7 Actual Speed Value (NIST_B) INT r63[0]
DriveStatus8 Actual Speed Value (NIST_B) INT r63[0]
DriveStatus9 Fault Code (FAULT_CODE) INT r2131
DriveStatus10 Alarm Code (WARN_CODE) INT r2132
DriveStatus11 User Definable INT
Table 2-2 From PLC to Drive

DriveControl0 Control Word 1 (STW1) INT
DriveControl1 Positioning Control Word 1 (POS_STW1) INT
DriveControl2 Positioning Control Word 2 (POS_STW2) INT
DriveControl3 Control Word 2 (STW2) INT p2045
DriveControl4 EPOS Velocity Override (OVERRIDE) INT p2646

DriveControl5 Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) INT p2642
DriveControl7 Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) INT p2643
DriveControl9 Manual Data Input (MDI) Acceleration Override (MDI_ACC) INT p2644
DriveControl10 Manual Data Input (MDI) Deceleration Override (MDI_DEC) INT p2645
DriveControl11 User Definable INT
Additional Position Control Telegrams:

This section has additional telegrams that can be used for position control applications. If
telegram 111 is not suitable for your application, the telegrams in this section can be used.
Telegram 7 for Single Axis Positioner with Traversing Block Selection:

This telegram is a Siemens telegram of 2 words in length. It contains single control and status
words. An additional control word is included to select a traversing block, and the selected block
value is available in the output image.

DriveStatus1 Position Selected Block (AKTSATZ) INT r2670

Entry ID: 82843076, V2.0.1, 10/2020 6
2 Telegrams

DriveControl0 Control Word 1 (STW1) INT
DriveControl1 Position Block Selection (SATZANW) INT
Telegram 9 for Basic Positioning with Direct Setpoint Input (MDI):

This telegram is a Siemens telegram of 10 words in length. It contains two control and status
words. An additional control word is included to select a traversing block. Through Manual Data
Input (MDI), position and velocity setpoints are also received by the drive. Position feedback is
available in the output words.


DriveControl0 Control Word 1 (STW1) INT r54
DriveControl1 Positioning Control Word 1 (POS_STW1) INT r2091
DriveControl9 Manual Data Input (MDI) Mode (MDI_MOD) INT r2094
Telegram 110 for Basic Positioning with Direct Setpoint Input (MDI), Override, and
Position Feedback:
This telegram is a Siemens telegram of 12 words in length. It contains two standard control
words and a positioning control word. An additional control word is included to select a
traversing block. Through Manual Data Input (MDI), position and velocity setpoints are also
received by the drive. The output image contains two standard status words, a positioning
status word, position feedback, and a message word containing additional status information.


Entry ID: 82843076, V2.0.1, 10/2020 7
2 Telegrams

DriveStatus2 Position Status Word (POS_ZSW) INT r2683
DriveStatus3 Status Word 2 (ZSW2) INT p2081
DriveStatus4 Message Word (MELDW) INT p2082
DriveStatus5 Actual Position Value A (XIST_A) INT r2521[0]

DriveControl4 EPOS Velocity Override (OVERRIDE) INT p2646
DriveControl11 Manual Data Input (MDI) Mode (MDI_MOD) INT r2094
Data from the PLC to the Drive – Drive Control Word Individual Bits:
Table 2-9 Status Word 1 (ZSW1)

Bit Name Description Data Drive
Type Parameter
0 1 = Drive ready BOOL
Ready To Power On 0 = Drive not ready r0899.0
1 1 = Ready to run (motor is on) BOOL
Ready To Run 0 = Not ready to run (motor is off or fault active) r0899.1
2 1 = Motor enabled BOOL
Operation Enabled 0 = Motor not enabled r0899.2
3 1 = Converter fault BOOL
Fault Present 0 = No fault active r2139.3
4 1 = Coast down (OFF2) inactive BOOL
Coast Stop 0 = Coast down active r0899.4
5 1 = Quick stop (OFF3) inactive BOOL
Quick Stop 0 = Quick stop active r0899.5
6 1 = Motor inhibited from switching on BOOL
Switching On Inhibited 0 = Motor can be switched on r0899.6
7 1 = Alarm active BOOL
Warning Present 0 = No alarm active r2139.7
8 1 = Following error within tolerance BOOL
Following Error 0 = Following error outside of tolerance r2684.8
9 1 = Master control requested BOOL
PLC Has Request 0 = No action r0899.9

Entry ID: 82843076, V2.0.1, 10/2020 8
2 Telegrams

Type Parameter
10 1 = Target position reached BOOL
Target Position Reached 0 = Target position not reached r2684.10
11 1 = Reference point set BOOL
Reference Point Set 0 = Reference point not set r2684.11
12 Traversing Block Active 1 = Yes; 0 = No BOOL r2684.12
13 1 = Absolute actual speed below threshold value 3 BOOL
Speed Below Threshold 3 (p2161[0])
0 = Speed above or greater than threshold value 3 r2199.0
14 Axis Accelerating 1 = Yes; 0 = No BOOL r2684.4
15 Axis Decelerating 1 = Yes; 0 = No BOOL r2684.5
Table 2-10 Positioning Status Word 1 (POS_ZSW1)

Type Parameter
0 Active Traversing Block Bit 0 BOOL r2670[0]
1 Active Traversing Block Bit 1 r2670[1]
2 Active Traversing Block Bit 2 r2670[2]
Bits 0 to 3 display one of 16 traversing
3 Active Traversing Block Bit 3 blocks r2670[3]
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 1 = STOP cam minus active BOOL
0 = STOP cam minus inactive
STOP Cam Minus r2684[13]
9 1 = STOP cam plus active BOOL
STOP Cam Plus 0 = STOP cam plus inactive r2684[14]
10 1 = Jogging active BOOL
Jogging Status 0 = Jogging inactive r2094[0]
11 1= Reference point approach active BOOL
Reference Point Approach 0= Reference point approach inactive r2094[1]
12 1 = Flying referencing active BOOL
Flying Referencing Status 0 = Flying referencing inactive r2684[1]
13 1 = Traversing block active BOOL
Traversing Block Status 0 = Traversing block inactive r2094[2]
14 1 = Drive setting-up active BOOL
Setting-up Status 0 = Drive setting-up inactive r2094[4]
15 1 = MDI Active BOOL
EPOS Manual Data Input (MDI) Status 0 = MDI Inactive r2670[15]
Table 2-11 Positioning Status Word 2 (POS_ZSW2)

Type Parameter
0 1 = Tracking mode active BOOL
Tracking Mode Status 0 = Tracking mode inactive r2683.0
1 1 = Velocity limiting Active BOOL
Velocity Limiting Status 0 = Velocity limiting inactive r2683.1
2 Setpoint Availability Status 1 = Setpoint available BOOL r2683.2

Entry ID: 82843076, V2.0.1, 10/2020 9
2 Telegrams

Type Parameter
0 = Setpoint unavailable
3 1= Printing mark outside outer window BOOL
Printing Mark Placement Status 0= Printing mark inside outer window r2683.3
4 1 = Axis moving forward BOOL
Axis Movement Forward Status 0 = Axis not moving forward r2683.4
5 1 = Axis moving backward BOOL
Axis Movement Backward Status 0 = Axis not moving backward r2683.5
6 1 = Software limit switch minus reached BOOL
Software Limit Switch Minus Status 0 = Limit switch minus not reached r2683.6
7 1 = Software limit switch plus reached BOOL
Software Limit Switch Plus Status 0 = Limit switch plus not reached r2683.7
8 1 = Position less than or equal to cam BOOL
Cam Switching Position 1 Status switching position 1 r2683.8
10 Direct Output 1 Via Traversing Block 1 = Yes; 0 = No BOOL r2683.10
12 1 = Fixed stop reached BOOL
Fixed Stop Status 0 = Fixed stop not reached r2683.12
13 1 = Fixed stop clamping torque reached BOOL
Fixed Stop Clamping Torque Status 0 = Clamping torque not reached r2683.13
14 1 = Traveling to fixed stop active BOOL
Travel to Fixed Stop Status 0 = Traveling to fixed stop inactive r2683.14
15 1 = Traversing command active BOOL
Traversing Command Status 0 = Traversing command inactive r2683.15
Table 2-12 Status Word 2 (ZSW2)

Type Parameter
0 Drive data set selection (DDS) Bit 0 BOOL r0051.0
1 Drive data set selection (DDS) Bit 1 Bits 0-1 display the selected drive data set BOOL r0051.1
2 Reserved
3 Reserved
4 Reserved
5 Alarm Class Bit 0 Bits 5-6 are used for the classification of BOOL r2139.11
internal alarm classes and are intended for
6 BOOL
Alarm Class Bit 1 diagnostic purposes only r2139.12
7 Reserved
8 1 = Travel to fixed end stop function active BOOL
Travel to Fixed Stop Status 0 = Travel to fixed end stop inactive r1406.8
9 Reserved
10 1 = Pulses enabled BOOL
Pulse Status 0 = Pulses inhibited r0899.11
11 1 = Motor data set changeover active BOOL
Motor Data Set Changeover Status 0 = Motor data set changeover inactive r0835.0
12 Slave sign-of-life Bit 0 BOOL

Entry ID: 82843076, V2.0.1, 10/2020 10
2 Telegrams
Table 2-13 Message Word (MELDW)

Type Parameter
0 1 = Ramp up or down completed BOOL
Ramp Up or Down Completed 0 = Ramp up or down incomplete r2199.5
1 1 = Torque utilization below threshold value 2 BOOL
0 = Utilization above or equal
Torque Utilization Below Threshold Torque threshold value 2 is found in p2194 r2199.11
2 1 = Absolute speed below threshold 3 BOOL
0 = Speed at or above threshold 3
Speed Below Threshold 3 Speed threshold value 3 is in p2161 r2199.0
3 1 = Absolute speed below or at threshold 2 BOOL
0 = Speed above threshold 2
Speed Below or At Threshold 2 Speed threshold value 2 is in p2155 r2197.1
4 1 = Vdc_min controller active BOOL
0 = Vdc_min controller inactive
The controller activates when the DC link
voltage is less than p1248 (DC link voltage
Vdc_min Controller Status lower threshold) r0056.15
5 Reserved
6 No Motor Overtemperature Alarm 1 = No alarm; 0 = Alarm present BOOL r2135.14
7 No Power Unit Thermal Overload BOOL
Alarm 1 = No alarm; 0 = Alarm present r2135.15
8 1 = Speed within setpoint tolerance BOOL

Speed Within Setpoint Tolerance 0 = Speed outside of setpoint tolerance r2199.4
9 Reserved
10 Reserved
11 Controller Enabled 1 = Controller enabled; 0 = Controller disabled BOOL r0899.8
12 Drive Ready Status 1 = Yes; 0 = No BOOL r0899.7
13 Pulses Enabled Status 1 = Yes; 0 = No BOOL r0899.11
14 2nd Variable Signaling Function BOOL
Status 1 = On; 0 = Off r3294.1
15 3rd Variable Signaling Function BOOL
Status 1 = On; 0 = Off r3294.2
Table 2-14 Position Selected Block (AKTSATZ)

Type Parameter
0 Active Traversing Block Bit 0 BOOL r2670.0
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved

Entry ID: 82843076, V2.0.1, 10/2020 11
2 Telegrams

Type Parameter
13 Reserved
14 Reserved
15 EPOS Manual Data Input (MDI) BOOL
Status 1 = MDI Active; 0 = MDI Inactive r2670.15
Table 2-15 Position Status Word (POS_ZSW)

Type Parameter
Tracking Mode Status 0 = Tracking mode inactive r2683.0
1 1 = Velocity limiting Active BOOL
Velocity Limiting Status 0 = Velocity limiting inactive r2683.1
2 1 = Setpoint available BOOL
Setpoint Availability Status 0 = Setpoint unavailable r2683.2
3 Set Positioned Reached Status BOOL
1 = Set position reached
Set Position Reached Status 0 = Set position not reached r2683.3
4 1 = Axis moving forward BOOL
Axis Movement Forward Status 0 = Axis not moving forward r2683.4
5 1 = Axis moving backward BOOL

Axis Movement Backward Status 0 = Axis not moving backward r2683.5
6 1 = Software limit switch minus reached BOOL
Software Limit Switch Minus Status 0 = Limit switch minus not reached r2683.6
7 1 = Software limit switch plus reached BOOL
Software Limit Switch Plus Status 0 = Limit switch plus not reached r2683.7
12 1 = Fixed stop reached BOOL
Fixed Stop Status 0 = Fixed stop not reached r2683.12
13 1 = Fixed stop clamping torque reached BOOL
Fixed Stop Clamping Torque Status 0 = Clamping torque not reached r2683.13
14 1 = Traveling to fixed stop active BOOL
Travel to Fixed Stop Status 0 = Traveling to fixed stop inactive r2683.14
15 EPOS Status Word 1 Status BOOL
EPOS Status Word 1 Status 1 = On; 0 = Off r2683
Data from the PLC to the Drive – Drive Control Word Individual Bits:

Entry ID: 82843076, V2.0.1, 10/2020 12
2 Telegrams
Table 2-16 Control Word 1 (STW1)

Type Parameter
0 1 = Enable drive BOOL
Run Command 0 = Ramp down and disable drive p0840[0]
1 1 = No stop command issued BOOL
Coast Stop 0 = Immediate disable and coast to stop p0844[0]
2 1 = No stop command issued BOOL
Quick Stop 0 = Immediate disable and quick stop p0848[0]
3 1 = Enable drive (pulses enabled) BOOL
Enable Operation 0 = Inverter prohibited from generating pulses p0852[0]
4 1 = Do not reject traversing task BOOL
Reject Traversing Task 0 = Reject traversing task p2641
5 1 = Intermediate stop off BOOL
Intermediate Stop 0 = Intermediate stop on p2640
6 1 = Activate traversing task (on rising edge) BOOL
Activate Traversing Task 0 = Traversing task off p2631
7 Fault Acknowledge 1 = Acknowledge faults (on rising edge) BOOL p2103[0]
8 Jog 1 Signal Source 1 = On, 0 = Off BOOL p2589
9 Jog 2 Signal Source 1 = On, 0 = Off BOOL p2590
10 1 = Control is by PLC BOOL
PLC Control 0 = No control by PLC p0854[0]
11 1 = Referencing start on BOOL

Referencing Start 0 = Referencing start off p2595
12 Reserved
13 1 = External block change on (on rising edge) BOOL
External Block Change 0 = External block change off p2633
14 Reserved
15 Reserved
Table 2-17 Positioning Control Word 1 (POS_STW1)

Type Parameter
0 Traversing Block Selection Bit 0 BOOL p2625
1 Traversing Block Selection Bit 1 p2626
Bits 0 to 3 are used to select one of 16
3 Traversing Block Selection Bit 3 traversing blocks p2628
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 1 = Absolute positioning is selected BOOL
Positioning Type Selection 0 = Relative positioning is selected p2648
9 Absolute positioning method by: BOOL
Absolute Positioning Method Bit 0 0 = shortest distance p2651
10 1 = Positive direction
2 = Negative direction
Absolute Positioning Method Bit 1 3 = Shortest distance
11 Reserved
12 Value Transfer Method 1 = Continuous Transfer BOOL p2649

Entry ID: 82843076, V2.0.1, 10/2020 13
2 Telegrams

Type Parameter
0 = Transfer on rising edge of p2650
p2650 sets signal source to accept values for
edge-triggered selection in operating mode -
direct setpoint input/MDI
13 Reserved
14 1= Drive in setting-up mode selected BOOL
Setting-up Selection 0= Drive in positioning mode selected p2653
15 For direct setpoint entry BOOL
EPOS Manual Data Input (MDI) 1 = Activate MDI
Activation 0 = Deactivate MDI p2647
Table 2-18 Positioning Control Word 2 (POS_STW2)

Type Parameter
Tracking Mode Activation 0 = Tracking mode inactive p2655[0]
1 1 = Set reference point BOOL
Set Reference Point 0 = No action p2596
2 1 = Reference cam active BOOL
Reference Cam Active 0 = No action p2612
3 Reserved
4 Reserved
5 1 = Incremental jogging active BOOL
Jog Method 0 = Velocity jogging active p2591
6 Reserved
7 Reserved
8 1 = Flying referencing BOOL
Reference Type Selection 0 = Search for reference p2597
9 1 = Start search in negative direction BOOL
Reference Search Direction 0 = Start search in positive direction p2604
10 1 = Measuring probe 2 activated BOOL
LR Measuring Probe Selection 0 = Measuring probe 1 activated p2510[0]
11 1 = Falling edge of probe activated BOOL
Measurement Probe Edge Activation 0 = Rising edge of probe activated p2511[0]
12 Reserved
13 Reserved
14 1 = SW limit switch active BOOL
Software Limit Switch Activation 0 = SW limit switch inactive p2582
15 1 = Function "STOP cam" active BOOL
STOP Cam 0 = Function "STOP cam" inactive p2568
Table 2-19 Control Word 2 (STW2)

Type Parameter
0 Drive data set selection (DDS) Bit 0 Bits 0-1 are used to select a drive data set BOOL p0820[0]
1 Drive data set selection (DDS) Bit 1 p0821[0]
2 Reserved
3 Reserved

Entry ID: 82843076, V2.0.1, 10/2020 14
2 Telegrams

Type Parameter
4 Reserved
5 Reserved
6 Reserved
7 1 = Activate parking axis function BOOL
Parking Axis Selection 0 = Deactivate parking axis function p0897
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Master sign-of-life Bit 0
Table 2-20 Position Block Selection (SATZANW)

Type Parameter
0 Traversing Block Selection Bit 0 Bits 0 to 5 are used to select one of the BOOL p2625
1 Traversing Block Selection Bit 1 64 traversing blocks BOOL p2626

BOOL
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 For direct setpoint entry BOOL
1 = Activate MDI
EPOS Manual Data Input (MDI) Activation 0 = Deactivate MDI p2647
Table 2-21 Positioning Control Word (POS_STW)

Type Parameter
Tracking Mode Activation 0 = Tracking mode inactive p2655[0]
1 1 = Set reference point BOOL
Set Reference Point 0 = No action p2596
2 1 = Reference cam active BOOL
Reference Cam Active 0 = No action p2612
3 Reserved

Entry ID: 82843076, V2.0.1, 10/2020 15
2 Telegrams

Type Parameter
4 Reserved
5 1 = Incremental jogging active BOOL
Jog Method 0 = Velocity jogging active p2591
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

Entry ID: 82843076, V2.0.1, 10/2020 16
3 Reference Scaling Parameters
3 Reference Scaling Parameters

Certain data words are normalized internally by the drive using the following parameters.
Commanded values use the scale that is set by these parameters. For example, if the desired
100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of
1500 rpm would be treated as 75%.
Table 3-1
Parameter Name [Data Type] Functionality
p2000 Reference Speed, The value of this parameter corresponds to 100% or 4000 hex (16b) or
Velocity, or Frequency 4000000 hex (32b) of speed, velocity, or frequency. Factory default values:
[FloatingPoint32] 120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency)
p2001 Reference Voltage The value of this parameter corresponds to 100% or 4000 hex (16b) or
[FloatingPoint32] 4000000 hex (32b) of voltage. Factory default value: 1000 V
p2002 Reference Current or The value of this parameter corresponds to 100% or 4000 hex (16b) or
Pressure 4000000 hex (32b) of current or pressure. Factory default values: 100.00
[FloatingPoint32] Arms (current), 100.00 bar (pressure)
p2003 Reference Force or The value of this parameter corresponds to 100% or 4000 hex (16b) or
Torque 4000000 hex (32b) of force or torque. Factory default values: 100.00 N
[FloatingPoint32] (force), 1.00 Nm (torque)
p2004 Reference Power The value of this parameter corresponds to 100% or 4000 hex (16b) or
[FloatingPoint32] 4000000 hex (32b) of power. Its factory default is calculated from p2003 *
p2000 (torque * speed) or p2003 * p2000 (force * linear speed).

p2005 Reference Angle The value of this parameter corresponds to 100% or 4000 hex (16b) or
[FloatingPoint32] 4000000 hex (32b) of ref. angle. Factory default values: 90.00 degrees
p2006 Reference The value of this parameter corresponds to 100% or 4000 hex (16b) or
Temperature 4000000 hex (32b) of temperature. Factory default values: 100.00 degrees C
[FloatingPoint32]
p2007 Reference The value of this parameter corresponds to 100% or 4000 hex (16b) or
Acceleration 4000000 hex (32b) of rotational acceleration. Factory default values: 0.01
[FloatingPoint32] revolutions/sec^2

Entry ID: 82843076, V2.0.1, 10/2020 17
4 Startdrive Configuration
Create a New Project: Launch TIA Portal or Startdrive. For this example, TIA Portal is being
used. Create New Project. Assign Project Name. Select Path. Click Create.
Click Open the project view.

Online Access: Click the Accessible devices from the toolbar.
Type of the PG/PC interface: Select the appropriate interface for your application from the
pulldown. For this example, PN/IE will be used.
PG/PC interface: Select the appropriate interface for the application from the pulldown. For this
example, Intel® I210 Gigabit Network Connection will be used.
Select the appropriate drive. Click Start search. Click Show.

Entry ID: 82843076, V2.0.1, 10/2020 18
The result will be displayed.
Assign IP address: Double click Online & Diagnostics. Expand Functions. Click Assign IP
address. Enter IP address. Enter Subnet mask. Click Assign IP address.

Entry ID: 82843076, V2.0.1, 10/2020 19
Upload device as new station: Right click the desired drive. Click Upload device as new
station.
An image of the result is below.

Entry ID: 82843076, V2.0.1, 10/2020 20
Commission the Drive: Expand the desired drive from the Project tree. Double click
Commissioning. Click Commissioning Wizard.
Application class:
You can set the application class in the wizard function in the configuration. Select one of the
following classes:
Standard Drive Control: The same performance such as U/f with FCC and slip compensation
/ speed accuracy is only restricted. There is therefore no speed controller and no torque

Entry ID: 82843076, V2.0.1, 10/2020 21
accuracy. Two rating plate parameters are required for the motor commissioning: Rated current
and rated speed. The synchronous rated speed is accepted. The motor data identification is
preset. A short measurement is performed once (only stator resistance, dead time
compensation) to improve the start-up. This is followed by a direct switchover to operation. The
optimization of the speed controller is not relevant.
Dynamic Drive Control: Compared to Standard Drive Control, the performance such as
sensorless vector control / speed accuracy is significantly improved. The robustness is
improved with higher model change limits but takes effect at slow reversing. Three rating plate
parameters are required for the motor commissioning: Rated current, rated power and rated
speed. The motor data identification is preset and serves to simplify and shorten the
measurement compared with the existing standstill measurement. This is followed by a direct
switchover to operation. In the speed controller optimization, there is a shorter measurement of
the moment of inertia / magnetizing current with direct transition to operation and the setpoint
speed defined by the user.
Expert: The Expert functions include the Standard Drive Control and Dynamic Drive Control
functions.
Select the appropriate application class for the drive from the pulldown. For this example, [1]
Standard Drive Control (SDC) is selected. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 22
Setpoint specification: Selection if the drive is connected to a PLC and where the
setpoint is to be created.
Select the appropriate controller connection and the setpoint specification. For this example,
data exchange from the PLC to the drive (Ramp function in the drive) will be used. Click Next.
Further functions: Select Basic positioner. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 23
Defaults of the setpoints/command sources: Selection of a predefined interconnection

of the inputs/outputs and, if required, the fieldbus telegram. Can be changed later user-
specifically.
Select the appropriate IO configuration from the pulldown. For this example, [4] Conveyor
technology with fieldbus will be selected. Select the appropriate Telegram configuration from
the pulldown. For this example, [111] SIEMENS telegram 111, PZD-12/12 will be selected to
control a Siemens drive with a Rockwell processor. PZD-12/12 represents the number of
Integers that will be received from the drive and sent to the drive. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 24
Drive setting: Selection of motor standard and load cycle.

Select appropriate setting from the pull down. Enter Drive unit line supply voltage. For this
example, the motor being used is [0] IEC-Motor (50 Hz, SI unitts) at 230V line supply voltage.
Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 25
Drive options: Configuration of optional braking resistor and drive filter.

If applicable, select Braking resistor. Select Drive filter type motor side from pull down. For this
example, braking resistor will be deselected with [0] No filter. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 26
Motor: Specification of motor type and motor data.

Select appropriate motor configuration from the pull down. For this example, Enter motor data
is selected. Select motor type from the pulldown. For this example, [1] Induction motor is
selected. Select the connection type for the motor from the pulldown. For this example, Star is
selected. Enter the rated motor current, rated motor power, rated motor speed, rated motor
voltage, and rated motor frequency from the motor nameplate. Select motor cooling type from
the pulldown. For this example, [0] Natural ventilization is selected. Select Temperature sensor
from the pulldown. For this example, [0] No sensor is selected. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 27
Motor holding brake: Select Motor holding brake configuration from pull down. For this
example, [0] No motor holding brake available. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 28
Important parameters: Specification of the most important dynamic response data.
Synchronization of the speed of the drive with the speed of the PLC:
Enter Reference speed: p2000. Sets reference quantity for speed and frequency.
Enter Maximum speed: p1082[0]. Sets the highest possible speed.
Configuration of ramp up and ramp down time:
Enter Ramp up time: p1120[0]. The ramp-function generator ramps-up the speed setpoint from
standstill (setpoint = 0) up to the maximum speed (p1082) in this time.
Enter OFF1 ramp down time: p1121[0]. The ramp-function generator ramps-down the speed
setpoint from the maximum speed (p1082) down to standstill (setpoint = 0) in this time.
Enter OFF3 (quick stop) ramp down time: Sets the ramp-down time from the maximum speed
down to zero speed for the OFF3 command.
Configuration of the current limit:
Enter current limit: p640[0]. Sets the current limit.
Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 29
Drive functions: Specification of the method to measure the motor data.

Select technological application (Standard Drive Control) from the pulldown. For this example,
[0] Constant load (linear characteristic) is selected. Select motor identification from the
pulldown. For this example, [2] Identifying motor data (at standstill) is selected. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 30
Encoders: Select the appropriate encoder. Select the appropriate encoder interface from the
pulldown. Select the appropriate encoder configuration from the pulldown. Select the
appropriate encoder type. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 31
Measuring system: Selection of the paramerized encoder that is to be used for the
position control. Select the appropriate encoder system for the position control from the
pulldown. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 32
Mechanical system: Enter the appropriate values. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 33
Summary: Click Finish.

Entry ID: 82843076, V2.0.1, 10/2020 34

Entry ID: 82843076, V2.0.1, 10/2020 35
5 Download to the drive

Expand the desired drive from the Project tree. Select the appropriate drive. Click download
from the toolbar.
Click Load.

Entry ID: 82843076, V2.0.1, 10/2020 36

Entry ID: 82843076, V2.0.1, 10/2020 37
6 Motor Identification
Expand the desired drive from the Project tree. Select the appropriate drive. Double click
Commissioning. Click Control panel.
Click Go online from the toolbar.
Notice the motor measurement drive status is visible. Click Activate.

Entry ID: 82843076, V2.0.1, 10/2020 38
Click Accept.
If required, set Drive enables. Click Forward. Repeat until motor measurement drive status is
invisible.
Notice the motor measurement drive status is invisible. Click Deactivate.

Entry ID: 82843076, V2.0.1, 10/2020 39
Click Accept.
Field bus interface protocol selection:

Double click Parameter.

Entry ID: 82843076, V2.0.1, 10/2020 40
Click Parameter View. Scroll down to p2030. Select [10] Ethernet/IP from the pulldown.
User Defined Parameter List: Click create new user defined parameter list.
Type the following parameters: 922, 2030, 8980, 2000, 2001, 2002, 2003, 2004, 1820. These
are a few useful parameters. Click Save.

Entry ID: 82843076, V2.0.1, 10/2020 41
Click Yes.
Assign a file name and location. Click Save.
Save RAM to ROM:

Double click Commissioning. Click Backup/Restore. Save RAM data to EEPROM: Click Save.

Entry ID: 82843076, V2.0.1, 10/2020 42
Save project: Click Save project.
Click Go offline:
Reboot drive.

Entry ID: 82843076, V2.0.1, 10/2020 43
7 Create New Project with Rockwell Software Studio 5000
7 Create New Project with Rockwell

Software Studio 5000
Under Create, Click New Project.
Expand appropriate controller. Select controller. Assign name. Click Browse.

Entry ID: 82843076, V2.0.1, 10/2020 44
Select appropriate folder. Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 45
Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 46
Select revision from pulldown. If applicable, select expansion IO from pulldown. Click Finish.

Entry ID: 82843076, V2.0.1, 10/2020 47

Entry ID: 82843076, V2.0.1, 10/2020 48
8 Rockwell Automation EDS Wizard

A Siemens drive is not firmware dependent to operate. These EDS files were created without a
specific firmware version. From the Toolbar, Click Tools. Click EDS Hardware Installation Tool.
Welcome to Rockwell Automation’s EDS Wizard. To continue, Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 49
Options - What task do you want to complete? Select Register an EDS file(s). This option will
add a device(s) to our database. To continue, Click Next.
Registration – Electronic Data Sheet file(s) will be added to your system for use in Rockwell
Automation applications. Select Register a directory of EDS files and check Look in subfolders.
Click Browse.

Entry ID: 82843076, V2.0.1, 10/2020 50
Browse to the folder where the EDS files are located. Select All EDS Files (this is the folder
where all EDS files for a Siemens G drive resides) folder. Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 51
Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 52
EDS File Installation Test Results – This test evaluates each EDS file for errors in the EDS file.
This test does not guarantee EDS file validity. If the installation test results have a green check
mark, click Next.

Entry ID: 82843076, V2.0.1, 10/2020 53
Change Graphic Image – You can change the graphic image that is associated with a device.
To continue, click Next.

Entry ID: 82843076, V2.0.1, 10/2020 54
Final Task Summary – This is a review of the task you want to complete. You would like to
register the following device. To continue, click Next.

Entry ID: 82843076, V2.0.1, 10/2020 55
You have successfully completed the EDS Wizard. To continue, click Finish.

Entry ID: 82843076, V2.0.1, 10/2020 56
9 Add a Siemens Drive to the Ethernet Network
9 Add a Siemens Drive to the Ethernet

Network
As an example, the following information will be using Telegram 111. In the Controller
Organizer, expand I/O Configuration, right click on Ethernet and click New Module.
In the “Select Module Type” window, type T111 into the search bar. The results should show
Siemens G Drive – T111. Another option would be to deselect Module Type Vendor Filters and
scroll down to Siemens AG, select Siemens AG. Select Siemens G Drive – T111. Select Close
on Create. To continue, click Create.

Entry ID: 82843076, V2.0.1, 10/2020 57
Assign a Name for the New Module. Assign the IP Address. Click Change.
Select Disable Keying in the Electronic Keying Dropdown. Select the connections size data
type as INT. Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 58
Change module definition? Click Yes.
Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 59
You have completed adding an Ethernet module to control a Siemens drive by using Telegram
111.

Entry ID: 82843076, V2.0.1, 10/2020 60
10 Import Add-On Instruction

As an example, the following information will be using Telegram 111 to manually control a
Siemens drive with a PanelView Plus terminal. Right click on Add-On Instruction and click
Import Add-On Instruction.
Browse to the folder where the Add-On Instruction resides. Select

AOI_Telegram_111_HMI.L5X for use with an HMI. Click Open.

Entry ID: 82843076, V2.0.1, 10/2020 61
Click OK.
You have completed importing the Add-On Instruction.

Entry ID: 82843076, V2.0.1, 10/2020 62
11 Configure IP Address for a Rockwell Controller
11 Configure IP Address for a Rockwell

Controller
Connect the Ethernet cable directly to the controller. If the process is not connected to the plant
Ethernet communications, connect the PC and the controller Ethernet cable to an ethernet
switch.
Record the MAC address of the controller.
Launch BootP DHCP Tool.
Select the proper Ethernet adapter through which the PC is connected to the PLC. Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 63
Click OK.
Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 64
Click Add Relation.
The software will begin pinging the controller.

Entry ID: 82843076, V2.0.1, 10/2020 65
Double click the MAC address. Assign the Client IP Address. Click OK.
Select the device. Click Enable BOOTP/DHCP.

Entry ID: 82843076, V2.0.1, 10/2020 66
The device appears in the upper section.
Select the device in the lower section. Click Disable BOOTP/DHCP. The IP address has been
successfully assigned to the controller. Close software.

Entry ID: 82843076, V2.0.1, 10/2020 67

Entry ID: 82843076, V2.0.1, 10/2020 68
12 Configure RSLinx Communications for a Rockwell Controller
12 Configure RSLinx Communications for a

Rockwell Controller
Launch RSLinx Classic.
Click Communications. Click Configure Drivers.
Select Ethernet/IP Driver from the pulldown. Click Add New.

Entry ID: 82843076, V2.0.1, 10/2020 69
Assign a name for the driver.

Select the appropriate IP address. Click Apply. Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 70
Click Close.
Click Communications. Click RSWho.

Entry ID: 82843076, V2.0.1, 10/2020 71
Expand the newly created driver. The PC is communicating with the processor.

Entry ID: 82843076, V2.0.1, 10/2020 72
13 Insert a Rung for the Add-On Instruction

As an example, the following information will be using Telegram 352. Click Add-On. Click
AOI_Telegram_352_HMI.
Right click AOI_ Telegram_352_HMI.

Click New Tag.

Entry ID: 82843076, V2.0.1, 10/2020 73
Assign Name. Click Create.

Entry ID: 82843076, V2.0.1, 10/2020 74
Double click DriveStatus (data from the drive to the PLC). Click pulldown. Expand Drive_01:I
(Drive_01 was the name assigned to the drive when it was added to the IO Configuration).
Double click Drive_01:I.Data. Press Enter.

Entry ID: 82843076, V2.0.1, 10/2020 75
Click pulldown for DriveControl (data from the PLC to the drive). Expand Drive_01:O (Drive_01
was the name assigned to the drive when it was added to the IO Configuration). Double click
Drive_01:O.Data. Press Enter.
The next fields in the AOI can be assigned with an Integer value.
Reference_Speed_P2000 = p2000 (Reference speed reference frequency)
The units for actual speed is RPM. A conversion would be required to display the actual speed
in a different unit.

Entry ID: 82843076, V2.0.1, 10/2020 76
14 Download Project to the Rockwell Controller
14 Download Project to the Rockwell

Controller
Click Communications. Click Who Active.
Click Set Project Path. Click Download.
Follow instructions before downloading. Click download.

Entry ID: 82843076, V2.0.1, 10/2020 77
14 Download Project to the Rockwell Controller
Click Yes.

Entry ID: 82843076, V2.0.1, 10/2020 78
15 Create a Rockwell’s FactoryTalk View Application
15 Create a Rockwell’s FactoryTalk View

Application
Click New. Assign Application name. Select Language from the pulldown. Select Resolution
from the pulldown. Click Create.
Establish Communications Between the Rockwell Controller and the Rockwell PanelView Plus
Terminal
Expand FactoryTalk Linx. Double click Communication Setup.

Entry ID: 82843076, V2.0.1, 10/2020 79
FactoryTalk Linx Runtime Configuration Wizard: Select an operation about runtime

configuration. Select create a new configuration. Click Finish.
Click Add. Assign shortcut name. Press Enter. Select the appropriate controller. Click Apply.

Entry ID: 82843076, V2.0.1, 10/2020 80
Click Yes.
Click Copy from Design to Runtime.
Click Yes.

Entry ID: 82843076, V2.0.1, 10/2020 81
Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 82
16 Import Siemens Global Objects

These steps only apply to Telegram 111. Expand Graphics. Right click on Global Objects.
Click Import and Export.
Select Import graphic information into displays. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 83
Select No. Click Next.
Select Multiple displays batch import file. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 84
Browse to the folder where the global object resides.
Select BatchImport_Global_Telegram 111. Click Open.

Entry ID: 82843076, V2.0.1, 10/2020 85
Click Finish.
Exit Notepad.

Entry ID: 82843076, V2.0.1, 10/2020 86

Entry ID: 82843076, V2.0.1, 10/2020 87
17 Import Siemens Display

These steps only apply to Telegram 111. Expand Graphics. Right click on Displays. Click
Import and Export.
Select Import graphic information into displays. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 88
Select Multiple displays batch import file. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 89
Browse to the folder where the display resides.
Select BatchImport_Display_Telegram 111. Click Open.

Entry ID: 82843076, V2.0.1, 10/2020 90
Click Finish.
Exit Notepad.

Entry ID: 82843076, V2.0.1, 10/2020 91

Entry ID: 82843076, V2.0.1, 10/2020 92
18 Add GOTO Button to a Display

When the operator presses the Goto Display button at run time, the graphic display assigned to
the button opens. Expand Graphics. Expand Global Objects. Double click Telegram 111.
Right click on the motor icon. Click Copy.

Entry ID: 82843076, V2.0.1, 10/2020 93
Expand Graphics. Expand Displays. Select desired display. Right click on the display. Click
Paste.
Right click on the icon. Click Global Object Parameter Values.

Entry ID: 82843076, V2.0.1, 10/2020 94
Click Tag.

Entry ID: 82843076, V2.0.1, 10/2020 95
Select Refresh All Folders. Expand device shortcut. Expand Online. Select the appropriate
controller tag. Click OK.
Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 96
You have completed adding a GOTO button for Siemens Telegram 111.

Entry ID: 82843076, V2.0.1, 10/2020 97
19 Alarms and Warnings

Expand Alarms. Right click on Alarm Setup. Click Import and Export.
Select Import alarm configuration into application. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 98

Click Browse.

Entry ID: 82843076, V2.0.1, 10/2020 99
Browse to the appropriate folder. Select Alarm Setup. Click Open.

Entry ID: 82843076, V2.0.1, 10/2020 100
Click Finish.
Exit Notepad.

Entry ID: 82843076, V2.0.1, 10/2020 101
20 Edit Tags for Alarm Setup

Double click Alarm Setup
Based on the controller tag name for the Add-On instruction, the triggers for the alarms may
need to be Edited. Select the appropriate tag. Click Edit.
Click Tag.

Entry ID: 82843076, V2.0.1, 10/2020 102
Select the appropriate tag. Click OK.

Click OK.
Repeat these steps for WarnCode.

Entry ID: 82843076, V2.0.1, 10/2020 103
21 Transfer Utility
21 Transfer Utility
Click Application. Click Create Runtime Application.
Create Runtime Application: Save the file to the desired folder. Enter file name. Select type
from the pulldown. Click Always Allow Conversion. Click Save.

Entry ID: 82843076, V2.0.1, 10/2020 104
21 Transfer Utility
Click Tools. Click Transfer Utility.

Entry ID: 82843076, V2.0.1, 10/2020 105
21 Transfer Utility
Click Download. Browse to select source file. Select destination storage from the pulldown.
Select Run Application at Startup. Select Replace Communications and Delete Log files when
application runs. Select the appropriate PanelView terminal. Click Download.
Click OK.

Entry ID: 82843076, V2.0.1, 10/2020 106
21 Transfer Utility
Click Exit.

Entry ID: 82843076, V2.0.1, 10/2020 107
22 Configure Siemens Drive for Telegram 111

Click Go online from the toolbar.
Configure Jog: Expand desired drive. Double click Parameter.

Expand Application functions. Expand Basic positioner. Click Configuring jogging. Click
Configure jog setpoints.
EPOS jog 1 velocity setpoint: Enter a positive number

EPOS jog 2 velocity setpoint: Enter a negative number
For incremental jogging, enter EPOS jog 1 and jog 2 traversing distance
Click Close.

Entry ID: 82843076, V2.0.1, 10/2020 108
Configure Traversing Blocks: Expand Traversing blocks. Click Configuring traversing blocks.
Click Program traversing blocks.

Entry ID: 82843076, V2.0.1, 10/2020 109
Enter desired settings. Click Close. For this example, the drive will perform four separate
moves.
1. An absolute move to a position of 360000 (LU) at a velocity of 1000 RPM’s with an
acceleration and deceleration of 100%
Configure Homing: Expand Homing. Click Configuring referencing. Click Homing Active.

Entry ID: 82843076, V2.0.1, 10/2020 110
Enter appropriate values.

Entry ID: 82843076, V2.0.1, 10/2020 111
Save RAM to ROM:

Double click Commissioning. Click Backup/Restore. Save RAM data to EEPROM: Click Save.

Entry ID: 82843076, V2.0.1, 10/2020 112
23 Manually Control the Siemens Drive with Telegram 111 by Using Rockwell’s PanelView Plus
Terminal
23 Manually Control the Siemens Drive with

Telegram 111 by Using Rockwell’s
PanelView Plus Terminal
NOTE LU = Length Units
MDI = Manual Data Input – a higher level control providing the converter with the
position setpoint and traversing profile.
Position Setpoint - Displays the actual absolute position setpoint.

Range = -2147483647 (LU) – 2147483647 (LU)
Velocity Setpoint - Displays the actual velocity setpoint.

Range = 0 (LU/Min) – 2147483647 (LU/Min)
Velocity Override - Sets the signal source for the velocity override.
The velocity override is effective in the following operating modes "direct setpoint
input/MDI", "traversing blocks", "jogging" and "search for reference" (when
approaching the reference cam).
Range = 0 (%) – 100 (%)
Acceleration Override – Displays the acceleration override presently being

processed. An override of 100% is effective in the “jogging” and “search for
reference” operating modes.
Range = 0 (%) – 199 (%)
Deceleration Override – Sets the deceleration override for the traversing block.
Range = 0 (%) – 199 (%)
Acknowledge Fault: If the drive is enabled and MDI is activated, deactivate MDI first and then
disable the drive. If the drive is disabled first, a fault will occur. Click Ack Alarm or press F1 on
the keyboard. Click Faults.

Entry ID: 82843076, V2.0.1, 10/2020 113
Terminal
This display will indicate the Fault Code and Warning Code with a description. Click
Acknowledge Faults. Click Home.

Entry ID: 82843076, V2.0.1, 10/2020 114
Terminal
NOTE If DriveControl0_DriveEnable is energized from the external code, the Drive

Enable Override button will be invisible.
At the PanelView terminal, click the motor icon. The faceplate opens.
Click Manual.
Jog Forward or Jog Reverse: Click Drive Enable Override. Click Enable Drive. Enter value
for Velocity Override. Click Jog Forward or Jog Reverse.
Incremental Jog: Click Incremental Jog. Click Jog Forward or Jog Reverse.

Entry ID: 82843076, V2.0.1, 10/2020 115
Terminal
For incremental jog, the drive will perform a move of 360000 (LU) in the direction selected at the
desired velocity from the current location. The starting position was at 140 (LU).

Entry ID: 82843076, V2.0.1, 10/2020 116
Terminal
Homing: Click Drive Enable Override. Click Enable Drive. Click Positioning Setup.

Entry ID: 82843076, V2.0.1, 10/2020 117
Terminal
Click Referencing Start. Click Home.

When the target position is reached, the home position will be set at 0 (LU).

Entry ID: 82843076, V2.0.1, 10/2020 118
Terminal
Relative Move: Click Drive Enable Override. Click Enable Drive. Click Activate MDI. Click
Position Setpoint. Enter value (LU). Click Velocity Setpoint. Enter value (kLU/Min). Click
Velocity Override. Enter value (%). Click Deceleration Override. Enter value (%). Click
Acceleration Override. Enter value (%). Click Positioning Setup.
Positioning Mode, Transfer on Rising Edge, and Relative should be green. Click Home.

Entry ID: 82843076, V2.0.1, 10/2020 119
Terminal
Click Edge Trigger. The drive will move to 360000 length units at 1000 LU/Min. Click Edge
Trigger again and the drive will move another 360000 length units at 1000 LU/Min.

Entry ID: 82843076, V2.0.1, 10/2020 120
Terminal
Absolute Move: Click Drive Enable Override. Click Enable Drive. Click Activate MDI. Click
Position Setpoint. Enter value (LU). Click Velocity Setpoint. Enter value (kLU/Min). Click
Positioning Mode, Transfer on Rising Edge, and Absolute should be green. Click Home.

Entry ID: 82843076, V2.0.1, 10/2020 121
Terminal
Click Edge Trigger. The drive performed an absolute move to 0 (LU) at 1000 LU/Min. The
Actual Position is 0 (LU).

Entry ID: 82843076, V2.0.1, 10/2020 122
Terminal
Continuous Transfer: Values are continually transferred. Click Drive Enable Override.
Click Enable Drive. Click Activate MDI. Click Velocity Setpoint. Enter value (kLU/Min). Click
Setup Mode and Continuous Transfer should be green. Relative and Absolute is not necessary.
Click Positive or Negative Direction. Click Home.

Entry ID: 82843076, V2.0.1, 10/2020 123
Terminal
The drive will move continuously in the direction selected at 1000 LU/Min.

Entry ID: 82843076, V2.0.1, 10/2020 124
Terminal
Traversing Task Bit 0: Click Drive Enable Override. Click Enable Drive. Click Positioning
Setup.
Click Traversing Block Bit 0. Click Home.

Entry ID: 82843076, V2.0.1, 10/2020 125
Terminal
Click Edge Trigger. The drive performs a traversing task based upon the drive setup.

Entry ID: 82843076, V2.0.1, 10/2020 126
Terminal
Status Displays: Click Status. Status Word 1 (Data from the drive to the PLC) and Control
Word 1 (Data from the PLC to the drive) will appear.
Click Status. Status Word 2 (Data from the drive to the PLC) and Control Word 2 (Data from the
PLC to the drive) will appear.

Entry ID: 82843076, V2.0.1, 10/2020 127
Terminal
Click Status. EPOS Status Word 1 (Data from the drive to the PLC) and EPOS Control Word 1
(Data from the PLC to the drive) will appear.

Entry ID: 82843076, V2.0.1, 10/2020 128
Terminal
Click Status. EPOS Status Word 2 (Data from the drive to the PLC) and EPOS Control Word 2
(Data from the PLC to the drive) will appear.
Click Status. Message Word (Data from the drive to the PLC) will appear.

Entry ID: 82843076, V2.0.1, 10/2020 129
Terminal
Click Status. The Fault display will appear.

Entry ID: 82843076, V2.0.1, 10/2020 130
Terminal
Click Status. The Positioning Setup display will appear.

Click Status. The Home display will appear.

Entry ID: 82843076, V2.0.1, 10/2020 131
Terminal
Click Auto. The drive performs a Stop based on the Deceleration rate.

Entry ID: 82843076, V2.0.1, 10/2020 132
Terminal
Click Close. The drive performs a Stop based on the Deceleration rate. The display closes and
goes to the display where the motor is located.
Remove the Ethernet cable from the PanelView Plus terminal. The drive performs a Stop based
on the Deceleration rate.

Entry ID: 82843076, V2.0.1, 10/2020 133
24 Automatically Control the Siemens Drive with Telegram 111
24 Automatically Control the Siemens Drive

with Telegram 111
Common Tags:
DriveControl0_DriveEnable = 1
Position Setpoint - DriveControl5_PositionSetpoint: Range = -2147483647 (LU) – 2147483647
(LU)
Velocity Setpoint - DriveControl7_VelocitySetpoint: Range = 0 (LU/Min) – 2147483647
(LU/Min)
Velocity Override - DriveControl4_VelocityOverride: Range = 0 (%) – 100 (%)
Acceleration Override – DriveControl9_AccelerationOverride: Range = 0 (%) – 199 (%)
Deceleration Override – DriveControl10_DecelerationOverride: Range = 0 (%) – 199 (%)
To perform a Coast to Stop:

DriveControl0_CoastDown = 1
To perform a Quick Stop:
DriveControl0_QuickStop = 1
Acknowledge Fault:
DriveControl0_FaultAcknowledge = 1

Entry ID: 82843076, V2.0.1, 10/2020 134
Jog Forward
DriveControl4_VelocityOverride > 0
DriveControl0_RunCommand = 1
DriveControl0_Jog1SignalSource = 1
Jog Reverse
Jogging Incremental
DriveControl2_JoggingIncremental = 1
DriveControl0_Jog1SignalSource = 1 or
Homing without Reference Point Approach:

Entry ID: 82843076, V2.0.1, 10/2020 135
DriveControl0_ReferencingStart = 1
Homing with Reference Point Approach:

DriveControl2_SearchReferenceStartDir = 1 (Negative Direction) or
DriveControl2_SearchReferenceStartDir = 0 (Positive Direction)
DriveControl2_SearchReferenceCam = 1
DriveControl0_ReferencingStart = 11
NOTE Reminder: If the drive is enabled and MDI is activated, deactivate MDI first and
then disable the drive. If the drive is disabled first, a fault will occur.
Relative Positioning with Transfer on Rising Edge:

DriveControl1_MDISelection = 12 (Activate MDI)
DriveControl0_ActivateTraversingTask = 1
Absolute Positioning with Transfer on Rising Edge:

1 When DriveControl0_ReferencingStart = 1, the motor will continue to run in the selected

direction
2 In order to Stop Motion without a drive fault, DriveControl1_MDISelection = 0

Entry ID: 82843076, V2.0.1, 10/2020 136

DriveControl1_MDIPositioningType = 1 (Absolute Positioning)
DriveControl0_ActivateTraversingTask = 1
Absolute Positioning with Continuous Transfer:

DriveControl1_MDIPositioningType = 1 (Absolute Positioning)
DriveControl1_MDITransferTypeSelection = 1 (Continuous Transfer)
Setup Mode with Transfer on Rising Edge:

DriveControl1_MDISettingUpSelection = 1 (Setup Mode)
DriveControl1_MDIPositiveDirection = 1 or
DriveControl1_MDINegativeDirection = 1
DriveControl0_ActivateTraversingTask =1

Entry ID: 82843076, V2.0.1, 10/2020 137
Setup Mode with Continuous Transfer:

DriveControl1_MDISettingUpSelection = 1 (Setup Mode)
DriveControl1_MDIPositiveDirection = 1 or
DriveControl1_MDINegativeDirection = 1
DriveControl1_MDITransferTypeSelection = 1 (Continuous Transfer)
Traversing Blocks:
DriveControl1_TraversingBlockSelBit0 = 1 or
DriveControl1_TraversingBlockSelBit3 = 1
DriveControl0_ActivateTraversingTask =1

Entry ID: 82843076, V2.0.1, 10/2020 138

Entry ID: 82843076, V2.0.1, 10/2020 139
25 Firmware Upgrade Wizard

Click Tools. Click Firmware Upgrade Wizard.
Select the type of firmware upgrade to perform: Click Upgrade firmware on terminal. Click
Next.

Entry ID: 82843076, V2.0.1, 10/2020 140
Click Yes.
Select the type of connection to the terminal: Click Network connection. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 141
Select the appropriate PanelView Plus terminal. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 142
Firmware source folder: Leave as default. Upgrade firmware version: Select the appropriate
version from the pulldown. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 143
Select all the KEPServer drivers to be included in the firmware. Click Next.

Entry ID: 82843076, V2.0.1, 10/2020 144
Click Finish.

Entry ID: 82843076, V2.0.1, 10/2020 145
26 Appendix
26 Appendix
26.1 Application Support
Siemens AG
Digital Industries
Factory Automation
Production Machines
DI FA PMA APC
Frauenauracher Str. 80
D-91056 Erlangen, Germany
mailto: tech.team.motioncontrol@siemens.com
26.2 Links and Literature

Table 26-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
https://support.industry.siemens.com/cs/ww/en/109477746
\3\ Startdrive for commissioning G120
https://support.industry.siemens.com/cs/ww/en/view/109771710
\4\ Starter software for commissioning G120
https://support.industry.siemens.com/cs/ww/en/view/26233208
26.3 History
Table 26-2
Version Date Modification
V1.0 03/2020 First Version
V2.0 09/2020 Second Version
V2.0.1 10/2020 Manual optimized, no functional adaptions

Entry ID: 82843076, V2.0.1, 10/2020 146

Application Manual Studio 5000 Position Control V2.0.1

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Application Manual Studio 5000 Position Control V2.0.1

Uploaded by

Copyright:

Available Formats

Integrating Siemens

Drive into Rockwell

Application Manual Studio 5000 Telegrams 7, 9, 110,

Integrating Siemens Drive into Rockwell Automations Studio 5000

15 Create a Rockwell’s FactoryTalk View Application ...................................... 79

Integrating Siemens Drive into Rockwell Automations Studio 5000

Integrating Siemens Drive into Rockwell Automations Studio 5000

Commonly Used Telegram: Telegram 111 is for Basic Positioning with

Table 2-1 From Drive to PLC

Integrating Siemens Drive into Rockwell Automations Studio 5000

PLC Description Data Drive

Table 2-2 From PLC to Drive

DriveControl4 EPOS Velocity Override (OVERRIDE) INT p2646

Additional Position Control Telegrams:

Telegram 7 for Single Axis Positioner with Traversing Block Selection:

Table 2-3 From Drive to PLC

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-4 From PLC to Drive

Telegram 9 for Basic Positioning with Direct Setpoint Input (MDI):

Table 2-5 From Drive to PLC

Table 2-6 From PLC to Drive

Table 2-7 From Drive to PLC

Integrating Siemens Drive into Rockwell Automations Studio 5000

PLC Description Data Drive

Table 2-8 From PLC to Drive

Table 2-9 Status Word 1 (ZSW1)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Description Data Drive

Table 2-10 Positioning Status Word 1 (POS_ZSW1)

Table 2-11 Positioning Status Word 2 (POS_ZSW2)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Description Data Drive

Table 2-12 Status Word 2 (ZSW2)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-13 Message Word (MELDW)

8 1 = Speed within setpoint tolerance BOOL

Table 2-14 Position Selected Block (AKTSATZ)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Description Data Drive

Table 2-15 Position Status Word (POS_ZSW)

5 1 = Axis moving backward BOOL

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-16 Control Word 1 (STW1)

11 1 = Referencing start on BOOL

Table 2-17 Positioning Control Word 1 (POS_STW1)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Description Data Drive

Table 2-18 Positioning Control Word 2 (POS_STW2)

Table 2-19 Control Word 2 (STW2)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Description Data Drive

Table 2-20 Position Block Selection (SATZANW)

1 Traversing Block Selection Bit 1 64 traversing blocks BOOL p2626

Table 2-21 Positioning Control Word (POS_STW)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Description Data Drive

Integrating Siemens Drive into Rockwell Automations Studio 5000

3 Reference Scaling Parameters

p2000 (torque * speed) or p2003 * p2000 (force * linear speed).

Integrating Siemens Drive into Rockwell Automations Studio 5000

Click Open the project view.

Online Access: Click the Accessible devices from the toolbar.

Integrating Siemens Drive into Rockwell Automations Studio 5000