Application Manual Studio 5000 Speed Control V2.0.1

Integrating Siemens
Drive into Rockwell

Automations Studio
5000 by using Speed
Control Telegrams
Application Manual Studio 5000 Telegrams 1, 2, 3, 4,

Siemens
20, 350, 352 Speed Control Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/82843076 Support
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Integrating Siemens Drive into Rockwell Automations Studio 5000

Speed 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 ..................................................................................... 33
6 Motor Identification ......................................................................................... 35
7 Create New Project with Rockwell Software Studio 5000 ........................... 41
8 Rockwell Automation EDS Wizard ................................................................. 46
9 Add a Siemens Drive to the Ethernet Network ............................................. 54
10 Import Add-On Instruction .............................................................................. 58
11 Configure IP Address for a Rockwell Controller .......................................... 60
12 Configure RSLinx Communications for a Rockwell Controller .................. 66
13 Insert a Rung for the Add-On Instruction...................................................... 70
14 Controlling the Siemens Drive ....................................................................... 75
15 Download Project to the Rockwell Controller .............................................. 78

16 Create a Rockwell’s FactoryTalk View Application ...................................... 80
17 Establish Communications Between the Rockwell Controller and the
Rockwell PanelView Plus Terminal ................................................................ 81
18 Import Siemens Global Objects ..................................................................... 84
19 Import Siemens Display .................................................................................. 89
20 Add GOTO Button to a Display ...................................................................... 94
21 Alarms and Warnings ...................................................................................... 99
22 Edit Tags for Alarm Setup............................................................................. 103
23 Test Application ............................................................................................. 105
24 Transfer Utility ............................................................................................... 113
25 Firmware Upgrade Wizard ............................................................................ 117
26 Appendix ........................................................................................................ 122
26.1 Application Support .......................................................................... 122
26.2 Links and Literature .......................................................................... 122
26.3 History .............................................................................................. 122

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 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 commonly used Siemens telegrams along with additional speed 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
BootP DHCP Ethernet/IP Commissioning Tool V3.02.00
RSLinx V4.00.00 CPR 9 SR 10.0

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 Siemens Telegrams for Speed Control:

Telegrams 1 and 352 are the most commonly used telegrams for speed control applications.
Siemens recommends that you choose one of these telegrams for speed control applications.
Telegram 1 for Basic Speed Setpoint (16-bit):

This telegram is a standard PROFIdrive telegram of 2 words in length. It will control the state of
the drive by selecting the appropriate bits in the control word and set the running speed in the
speed setpoint word (16-bit).
Table 2-1 From Drive to PLC

PLC Description Data Drive
Tagname Type Parameter
DriveStatus0 Status Word 1 (ZSW1) Integer r52
DriveStatus1 Smoothed Actual Speed (NIST_A_GLATT) Integer r63[1]

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2 Telegrams
Table 2-2 From PLC to Drive

DriveControl0 Control Word 1 (STW1) Integer r54
DriveControl1 Speed Setpoint (NSOLL_A) Integer p1070[0]
Telegram 352 for Vector Speed Control, Speed Setpoint, and Diagnostics:
Telegram 352 is a standard Siemens telegram of 6 words in length for speed control with
VECTOR Drive Objects. This telegram cannot be used with SERVO Drive Objects. This
telegram offers four optional User Defined Control Setpoints, and four added status words
returning to the PLC for Current, Torque, Warnings, and Faults.

DriveStatus2 Smoothed Actual Current (IAIST_GLATT) Integer r68[1]
DriveStatus3 Smoothed Actual Torque (MIST_GLATT) Integer r80[1]
DriveStatus4 Alarm Code - The most recent alarm code is displayed. 0 = No alarm Integer p2132
present. (WARN_CODE)
DriveStatus5 Fault Code - The oldest fault code is displayed. 0 = No fault present. Integer p2131
(ALARM_CODE)

PLC Tagname Description Data Drive
Type Parameter
DriveControl2 User Defined Integer
Additional Siemens Telegrams for Speed Control:

This section has additional telegrams that can be used for speed control applications. If
telegrams 1 and 352 are not suitable for your application, the telegrams in this section can be
used.
Telegram 2 for Basic Speed Setpoint (32-bit):

This telegram is a standard Siemens telegram of four words in length. It will control the state of
speed setpoint word (32-bit). This telegram contains a second control and status word.

Entry ID: 82843076, V2.0.1, 10/2020 6
2 Telegrams
DriveStatus1 Actual Speed (NIST_B) Integer r63[0]

DriveStatus2 Actual Speed (NIST_B) Integer r63[0]
DriveStatus3 Status Word 2 (ZSW2) Integer p2081

DriveControl1 Speed Setpoint (NSOLL_B) Integer p1070[0]
DriveControl2 Speed Setpoint (NSOLL_B) Integer p1070[0]
Telegram 3 for Speed Setpoint (32-bit) with Position Encoder:

This telegram is a Siemens telegram of 9 words in length. It will control the state of the drive by
selecting the appropriate bits in the two control words and set the running speed in the speed
setpoint word. The control word, status word, and position feedback of the encoder is also
included. Telegram 3 is not suitable for sensorless vector control.


DriveStatus0 Status Word 1 (ZSW1) Integer r2089[0]
DriveStatus1 Actual Speed Value (NIST_B) Integer r63[0]
DriveStatus4 Encoder Status Word (G1_ZSW) Integer r481[0]
DriveStatus5 Encoder 1 Actual Position 1 (G1_XIST1) Integer r482[0]

DriveControl0 Main Setpoint (NSOLL_B) Integer p1070[0]
DriveControl3 Control Word 2 (STW2) Integer p2045
DriveControl4 Encoder 1 Control Word (G1_STW) Integer p480[0]
Telegram 4 for Speed Setpoint (32-bit) with Two Position Encoders:

This telegram is a standard Siemens telegram of 14 words in length. It will control the state of
the drive by selecting the appropriate bits in the two control words and set the running speed in
the speed setpoint word. The control words, status words, and position feedback of two
encoders are also included. Telegram 4 is not suitable for sensorless vector control.

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

Type Parameter
DriveStatus4 Encoder Status Word (G1_ZSW) Integer r481[0]
DriveStatus9 Encoder 2 Status Word (G2_ZSW) Integer r481[1]


DriveControl0 Control Word 1 (STW1) Integer
DriveControl3 Control Word 2 (STW2) Integer p2045
Telegram 20 for Speed Setpoint (16-bit) for VIK-NAMUR:

This telegram is a standard PROFIdrive telegram of 6 words in length. It will control the state of
speed setpoint word. Additionally, this telegram can send current, torque, and power feedback.

DriveStatus2 Smoothed Actual Current (IAIST_GLATT) Integer r68[1]
DriveStatus3 Smoothed Actual Torque (MIST_GLATT) Integer r80[1]
DriveStatus4 Smoothed Actual Power (PIST_GLATT) Integer r82[1]
DriveStatus5 MELD_NAMUR Namur Message Bit Bar Integer p3113

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2 Telegrams

Telegram 350 for Speed Setpoint (16-bit), Speed Feedback, Current Feedback, and
Torque Limit:
This telegram is a standard Siemens telegram of 4 words in length. The drive is controlled
through two control words and a speed setpoint. In the output image, speed and current
feedback are available. Scaling of the upper torque limit to limit the speed controller output can
be controlled in the input image.

DriveStatus1 Actual Speed Value (FIST_GLATT) Integer r63[1]
DriveStatus2 Absolute Current Actual Value (IAIST_GLATT) Integer r68[1]

Type Parameter
DriveControl1 Main Setpoint (FSOLL) Integer p1070[0]
DriveControl2 Torque Limit Upper Scaling Without Offset (M_LIM) Integer p1552[0]
Data from the Drive to the PLC – Drive Status Word Individual Bits:
Table 2-15 Status Word 1 (ZSW1)

Bit Name Functionality Data Drive
Type Parameter
0 1 = Drive ready Bool r0899.0
Ready to Power On 0 = Drive not ready
1 1 = Ready to run Bool r0899.1
Ready to Run 0 = Not ready to run
2 1 = Motor enabled Bool r0899.2
Drive Running 0 = Motor not enabled
3 1 = Converter fault Bool r2139.3
Fault Present 0 = No fault active
4 0 = Coast down (OFF2) inactive Bool r0899.4
Coast Stop 1 = Coast down active
5 0 = Quick stop (OFF3) inactive Bool r0899.5
Quick Stop 1 = Quick stop active

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2 Telegrams
6 1 = Motor inhibited from switching on Bool r0899.6

Switch On Inhibited 0 = Motor can be switched on
7 1 = Warning present Bool r2139.7
Warning Present 0 = No warning present
8 1 = Speed deviation within tolerance Bool r2197.7
Motor at Acceptable Speed 0 = Speed deviation outside tolerance
9 1 = Master control requested Bool r0899.9
PLC Has Control 0 = No action
10 1 = Speed greater than or equal to max speed Bool r2199.1
Speed Comparison Reached 0 = Speed less than max speed
11 1 = Torque limit reached Bool r0052.11
Torque Limit Reached 0 = Torque limit not reached
12 1 = Holding brake open Bool r0899.12
Holding Brake Open 0 = Holding brake closed
13 0 = No overtemperature alarm Bool r2135.14
Motor Overload 1 = Overtemperature alarm present
14 1 = Motor rotates clockwise Bool r2197.3
Reverse Direction 0 = Motor rotates counterclockwise
15 0 = No converter thermal overload alarm Bool r2135.15
Drive Overload 1 = Thermal overload alarm present


Type Parameter
0 Drive data set selection (DDS) Bit 0 Bool r0051.0
1 Drive data set selection (DDS) Bit 1 Bool r0051.1
Bits 0-4 display the selected drive data set.
2 Drive data set selection (DDS) Bit 2
5 Bits 5-6 are used for the classification of Bool r2139.11
internal alarm classes and are intended for
Alarm Class Bit 0 diagnostic purposes only.
6 Alarm Class Bit 1 1 = On; 0 = Off Bool r2139.12
7 1 = Parking axis function active Bool
Parking Axis Function Status 0 = Parking axis function inactive
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 Pulse Status 1 = Pulses enabled; 0 = Pulses inhibited Bool 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

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2 Telegrams

Type Parameter
0 1 = DC braking active Bool
DC Brake Status 0 = DC braking inactive r0053.0
1 1 = Absolute speed is greater than "stationary" Bool
speed (p1226)
Speed Above Stationary Speed 0 = Speed less than stationary speed r0053.1
2 1 = Absolute speed is greater than minimum Bool
speed (p1080)
Speed Above Minimum Speed 0 = Speed less than minimum speed r0053.2
3 1 = Current greater than or equal to threshold Bool
value (p2170)
Current Above Threshold Value 0 = Current less than threshold value r0053.4
4 1 = Absolute speed greater than speed threshold Bool
value 2 (p2155)
Speed Above Threshold 2 0 = Speed less than threshold 2 r0053.4
5 1 = Absolute speed less than or equal to speed Bool
threshold value 2
Speed Below Threshold 2 0 = Speed greater than threshold 2 r0053.5
6 1 = Absolute speed greater than or equal to Bool
setpoint (r1119)
Speed Setpoint Reached 0 = Speed less than setpoint r0053.6
7 1 = DC link voltage at or below threshold value Bool

(p2172)
DC Link Voltage Below Threshold 0 = DC link voltage below threshold value r0053.7
8 1 = DC link voltage above threshold value Bool
DC Link Voltage Above Threshold 0 = DC link voltage below threshold value r0053.8
9 1 = Ramp up or ramp down completed (RFG Bool
inactive)
Ramp Function Generator Status 0 = Ramp up or ramp down incomplete r0053.9
10 1 = Tech controller output at or below lower limit Bool
(p2292)
Technology Controller Lower Limit 0 = Output above lower limit r0053.10
11 1 = Tech controller output above upper limit Bool
(p2291)
Technology Controller Upper Limit 0 = Output below or at upper limit r0053.11
12 Reserved
13 Reserved
14 Reserved
15 Reserved
Table 2-18 Encoder 1 Status Word (G1_ZSW)

Type Parameter
Encoder Encoder
Control Word Control Word
Bit 7 = 0 Bit 7 = 1
0 Flying referencing to Bool
rising edge of
Search for reference cam 1 reference cam 1
Function 1 Status active active r2051[4]
1 Search for reference cam 1 Flying referencing to Bool
Function 2 Status active falling edge of r2051[4]

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2 Telegrams

Type Parameter
reference cam 1
active
rising edge of
falling edge of
4 Actual position at reference Flying referencing to Bool
cam 1 rising edge of
reference cam 1
Status Value 1 complete r2051[4]
cam 1 falling edge of
reference cam 1
reference cam 2
reference cam 2
8 Measuring Probe 1 1 = Measuring probe 1 deflected Bool
Deflection Status 0 = Measuring probe 1 not deflected r2051[4]
10 1 = Encoder 1 on Bool
Encoder 1 Status 0 = Encoder 1 off r2051[4]
11 Acknowledge 1 = Acknowledge encoder fault is active Bool r2051[4]
13 1 = Actual position displayed in r0483 Bool
0 = No value displayed
r0483[0] displays the encoder position value
Cyclic Absolute Value r0483[1] displays the encoder fault number if a fault is
Status present. r2051[4]
14 1 = Encoder is parked Bool
Parking Status 0 = Encoder is not parked r2051[4]
15 1 = Encoder indicates its fault type in r0483 Bool
Fault Status 0 = No fault r2051[4]
Table 2-19 Encoder 2 Status Word (G2_ZSW)

Type Parameter
Encoder Encoder
Control Word Control Word
Bit 7 = 0 Bit 7 = 1
rising edge of

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2 Telegrams

Type Parameter
falling edge of
rising edge of
falling edge of
reference cam 1
reference cam 1
reference cam 2

reference cam 2
11 Acknowledge 1 = Acknowledge encoder fault is active Bool r2051[4]
13 1 = Actual position displayed in r0483 Bool
0 = No value displayed
r0483[0] displays the encoder position value
Cyclic Absolute Value r0483[1] displays the encoder fault number if a fault is
Status present. r2051[4]
14 1 = Encoder is parked Bool
Parking Status 0 = Encoder is not parked r2051[4]
15 1 = Encoder indicates its fault type in r0483 Bool
Fault Status 0 = No fault r2051[4]
Data from the PLC to the Drive – Drive Control Word Individual Bits:

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2 Telegrams
Table 2-20 Control Word 1 (STW1)

Type Parameter
0 1 = Enable drive Bool p0840[0]
Run Command 0 = Ramp down and disable drive
1 0 = No stop command issued Bool p0844[0]
Coast Stop 1 = Immediate disable and coast to stop
2 0 = No stop command issued Bool p0848[0]
Quick Stop 1 = Immediate disable and quick stop
3 1 = Enable drive (pulses enabled) Bool p0852[0]
Enable Operation 0 = Inverter prohibited from generating pulses
4 1 = Ramp function generator output enabled Bool p1140[0]
RFG Enable 0 = Ramp function generator output set to 0
5 1 = Ramp function generator follows setpoint input Bool p1141[0]
RFG Freeze 0 = Ramp function generator freezes at current value
6 1 = Ramp function generator setpoint input enabled Bool p1142[0]
Setpoint Enable 0 = Ramp function generator input set to 0
7 Fault Acknowledge 1 = Acknowledge faults (on rising edge) Bool p2103[0]
8 Reserved
9 Reserved
10 1 = Control is by PLC Bool p0854[0]
PLC Control 0 = No control by PLC

11 1 = Reverse Rotation Bool p1113[0]
Reverse Direction 0 = Forward Rotation
12 Reserved
13 1 = Raise Motorized potentiometer setpoint Bool p1035[0]
MOP Raise Setpoint 0 = No action
14 1 = Lower Motorized potentiometer setpoint Bool p1036[0]
MOP Lower Setpoint 0 = No action
15 Reserved

Type Parameter
0 Drive data set selection (DDS) Bit 0 1 = On; 0 = Off Bool p0820[0]
1 Drive data set selection (DDS) Bit 1 1 = On; 0 = Off Bool p0821[0]
5 Reserved
6 Reserved
7 1 = Parking axis function active Bool p0897
Parking Axis Selection 0 = Parking axis function inactive
8 1 = Travel to fixed end stop function active Bool p1545[0]
0 = Travel to fixed end stop inactive
This bit is only available for the S120 and
Traverse to Fixed End Stop is not available for vector U/f control
9 Reserved
10 Reserved

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2 Telegrams
11 Motor Changeover Feedback Signal

12 Master sign-of-life Bit 0

Type Parameter
0 Fixed Setpoint Selector Bit 0 Bits 0-3 are used to select between 16 different Bool p1020[0]
fixed setpoints.
1 Fixed Setpoint Selector Bit 1 Bool p1021[0]
4 Drive data set selection (DDS) Bit 0 Bits 4-5 are used to select a drive data set. Bool p0820
5 Drive data set selection (DDS) Bit 1 Bool p0821
6 Reserved
7 Reserved
8 1 = Technology Controller Enabled Bool
Technology Controller Enable 0 = Technology Controller Disable p2200[0]
9 1 = Enable DC braking Bool

DC Braking Enable 0 = DC braking disabled p1230[0]
10 Reserved
11 1 = Speed controller droop enable Bool
Droop Feedback Enable 0 = Speed controller droop disable p1492[0]
12 1 = Torque control active Bool
Vector Control Mode 0 = Speed control active p1501[0]
13 1 = No external fault Bool
External Fault Status 0 = External fault present p2106[0]
14 Reserved
15 Command Data Set Selection Bit 0 Bool p0811[0]
Table 2-23 Encoder 1 Control Word (G1_STW)

Type Parameter
If bit 7 = 0 If bit 7 = 1
0 Search for reference Request flying referencing to Bool
cam 1 with the rising edge of reference
Request Function 1 positive start direction cam 1 r2050[4]
cam 1 with the falling edge of reference
Request Function 2 negative start direction cam 1 r2050[4]
4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 Bool r2050[4]
5 Request Command Bit 1 1 = Read the value requested using bits 0…3 Bool r2050[4]

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2 Telegrams

Type Parameter
6 Request Command Bit 2 Reserved Bool r2050[4]
7 1 = Flying measurement function set Bool
Function Mode Selection 0 = Reference cam search function set r2050[4]
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Request Absolute Value 1 = Request for cyclic transfer of actual position value of Bool
Cyclic encoder 1 r2050[4]
14 Request Parking Encoder 1 = Request to park the encoder Bool r2050[4]
15 Request Acknowledge Bool
Encoder Fault 1 = Acknowledge encoder fault (on rising edge) r2050[4]
Table 2-24 Encoder 2 Control Word (G2_STW)

Type Parameter
If bit 7 = 0 If bit 7 = 1

4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 Bool r2050[4]
5 Request Command Bit 1 1 = Read the value requested using bits 0…3 Bool r2050[4]
6 Request Command Bit 2 Reserved Bool r2050[4]
7 1 = Flying measurement function set Bool
Function Mode Selection 0 = Reference cam search function set r2050[4]
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Request Absolute Value 1 = Request for cyclic transfer of actual position value of Bool
Cyclic encoder 1 r2050[4]
14 Request Parking Encoder 1 = Request to park the encoder Bool r2050[4]
15 Request Acknowledge Bool
Encoder Fault 1 = Acknowledge encoder fault (on rising edge) r2050[4]

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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 Reference Scaling Parameters

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

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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.

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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.

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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 the appropriate function modules for the drive. For this example;
Telegram 352 will be used. Click Next.

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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, [352] SIEMENS telegram 352, PZD-6/6 will be selected to
control a Siemens drive with a Rockwell processor. PZD-6/6 represents the number of Integers
that will be received from the drive and sent to the drive. Click Next.

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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.

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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.

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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.

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Motor holding brake: Select Motor holding brake configuration from pull down. For this
example, [0] No motor holding brake available. Click Next.

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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.

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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.

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Summary: Click Finish.

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5 Download to the drive

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

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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.

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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.

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Click Accept.
Field bus interface protocol selection:

Double click Parameter.

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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.

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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.

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Save project: Click Save project.
Click Go offline:
Reboot drive.

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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.

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Select appropriate folder. Click OK.

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Click Next.

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Select revision from pulldown. If applicable, select expansion IO from pulldown. Click Finish.

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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.

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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.

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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.

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Click Next.

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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.

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Change Graphic Image – You can change the graphic image that is associated with a device.
To continue, click Next.

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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.
You have successfully completed the EDS Wizard. To continue, click Finish.

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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 352. In the Controller
Organizer, expand I/O Configuration, right click on Ethernet and click New Module.
In the “Select Module Type” window, type T352 into the search bar. The results should show
Siemens G Drive – T352. Another option would be to deselect Module Type Vendor Filters and
scroll down to Siemens AG, select Siemens AG. Select Siemens G Drive – T352. Select Close
on Create. To continue, click Create.

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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.

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Change module definition? Click Yes.
Click OK.

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You have completed adding an Ethernet module to control a Siemens drive by using Telegram
352.

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10 Import Add-On Instruction

As an example, the following information will be using Telegram 352 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_352_HMI.L5X for use with an HMI. Click Open.
Click OK.

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You have completed importing the Add-On Instruction.

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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.

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Click OK.
Click OK.

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Click Add Relation.
The software will begin pinging the controller.

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Double click the MAC address. Assign the Client IP Address. Click OK.
Select the device. Click Enable BOOTP/DHCP.

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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.

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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.

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Assign a name for the driver.

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

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Click Close.
Click Communications. Click RSWho.

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Expand the newly created driver. The PC is communicating with the processor.

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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.

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Assign Name. Click Create.

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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.

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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)
Reference_Current_P2002 = p2002 (Reference current)
Reference_Torque_P2003 = p2003 (Reference torque)
The units for actual speed is RPM. A conversion would be required to display the actual speed
in a different unit.

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14 Controlling the Siemens Drive

As an example, a Siemens drive will be replacing a Rockwell’s PowerFlex 525 drive.
Output structure for Rockwell’s PowerFlex 525 drive.

Output structure for a Siemens drive using Telegram 352.
To Run or Jog the Drive in the Forward direction:

DriveControl1_MainSetpoint (RPM): Enter a value from (–) Maximum speed to (+) Maximum
speed
DriveControl0_DriveEnable = 1
DriveControl0_ReverseDirection = 0
DriveControl0_RunCommand = 1

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To Run or Jog the Drive in the Reverse Direction:

DriveControl1_MainSetpoint (RPM): Enter a value from (–) Maximum speed to (+) Maximum
speed
DriveControl0_DriveEnable = 1
DriveControl0_ReverseDirection = 1
DriveControl0_ RunCommand = 1
To perform a Coast to Stop:

DriveControl0_CoastStop = 1
To perform a Quick Stop:

DriveControl0_QuickStop = 1
Acknowledge Fault:
DriveControl0_FaultAcknowledge = 1

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15 Download Project to the Rockwell Controller
15 Download Project to the Rockwell

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

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15 Download Project to the Rockwell Controller
Click Yes.

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16 Create a Rockwell’s FactoryTalk View Application
16 Create a Rockwell’s FactoryTalk View

Application
Click New. Assign Application name. Select Language from the pulldown. Select Resolution
from the pulldown. Click Create.

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17 Establish Communications Between the Rockwell Controller and the Rockwell PanelView
Plus Terminal
17 Establish Communications Between the

Rockwell Controller and the Rockwell
PanelView Plus Terminal
Expand FactoryTalk Linx. Double click Communication Setup.
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.

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Plus Terminal
Click Yes.
Click Copy from Design to Runtime.

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Plus Terminal
Click Yes.
Click OK.

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18 Import Siemens Global Objects

These steps only apply to Telegram 1, 20, and 352. Expand Graphics. Right click on Global
Objects. Click Import and Export.
Select Import graphic information into displays. Click Next.

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Select No. Click Next.
Select Multiple displays batch import file. Click Next.

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Browse to the folder where the global object resides.
Select BatchImport_Global_Telegram 352. Click Open.

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Click Finish.
Exit Notepad.

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19 Import Siemens Display

These steps only apply to Telegram 1, 20, and 352. Expand Graphics. Right click on Displays.
Click Import and Export.
Select Import graphic information into displays. Click Next.

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Select Multiple displays batch import file. Click Next.

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Browse to the folder where the display resides.
Select BatchImport_Display_Telegram 352. Click Open.

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Click Finish.
Exit Notepad.

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20 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 352.
Right click on the motor icon. Click Copy.

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Expand Graphics. Expand Displays. Select desired display. Right click on the display. Click
Paste.
Right click on the icon. Click Global Object Parameter Values.

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Click Tag.

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Select Refresh All Folders. Expand device shortcut. Expand Online. Select the appropriate
controller tag. Click OK.
Click OK.

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You have completed adding a GOTO button for Siemens Telegram 352.

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21 Alarms and Warnings

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

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Click Browse.

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Browse to the appropriate folder. Select Alarm Setup. Click Open.

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Click Finish.
Exit Notepad.

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22 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.

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Select the appropriate tag. Click OK.

Click OK.
Repeat these steps for WarnCode.

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23 Test Application
23 Test Application
Click Application. Click Test Application.
Click Motor.
If DriveControl0_DriveEnable is energized from the external code, the Drive Enable Override
button will be invisible. Click Manual.
Enter Speed Setpoint (RPM). Click Start.

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23 Test Application
The motor ramps to 250 RPM’s in the Forward direction based on the Acceleration rate.
Click Forward. The motor ramps to -250 RPM’s in the Reverse direction based on the
Deceleration rate.

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23 Test Application
Click Stop. The drive performs a Stop based on the Deceleration rate.
Click Reverse. Click Start. The motor ramps to 250 RPM’s in the Forward direction based on
the Acceleration rate.

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23 Test Application
Click Auto. The drive performs a Stop based on the Deceleration rate.
Click Manual. Click Start. The motor ramps to 250 RPM’s in the Forward direction based on the
Acceleration rate.

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23 Test Application
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.
Click motor. Click Manual. Click Start. The motor ramps to 250 RPM’s in the Forward direction
based on the Acceleration rate.

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23 Test Application
Remove the Ethernet cable from the PanelView Plus terminal. The drive performs a Stop based
on the Deceleration rate.

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23 Test Application
Click Status. Status Word: Data from the drive to the PLC. Control Word: Data from the PLC
to the drive.
Click Faults. Click Acknowledge Faults to reset all active alarms. A warning is cleared when
the drives Run Command is activated. If active, a Fault Code or Warning Code with appropriate
description will be displayed.

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23 Test Application

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24 Transfer Utility
24 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.

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24 Transfer Utility
Click Tools. Click Transfer Utility.

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24 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.

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24 Transfer Utility
Click Exit.

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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.

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Click Yes.
Select the type of connection to the terminal: Click Network connection. Click Next.

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Select the appropriate PanelView Plus terminal. Click Next.

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Firmware source folder: Leave as default. Upgrade firmware version: Select the appropriate
version from the pulldown. Click Next.
Select all the KEPServer drivers to be included in the firmware. Click Next.

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Click Finish.

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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

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Integrating Siemens

Drive into Rockwell

Application Manual Studio 5000 Telegrams 1, 2, 3, 4,

Integrating Siemens Drive into Rockwell Automations Studio 5000

15 Download Project to the Rockwell Controller .............................................. 78

Integrating Siemens Drive into Rockwell Automations Studio 5000

Integrating Siemens Drive into Rockwell Automations Studio 5000

Commonly Used Siemens Telegrams for Speed Control:

Telegram 1 for Basic Speed Setpoint (16-bit):

Table 2-1 From Drive to PLC

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-2 From PLC to Drive

Table 2-3 From Drive to PLC

Table 2-4 From PLC to Drive

Additional Siemens Telegrams for Speed Control:

Telegram 2 for Basic Speed Setpoint (32-bit):

Integrating Siemens Drive into Rockwell Automations Studio 5000

DriveStatus1 Actual Speed (NIST_B) Integer r63[0]

Table 2-6 From PLC to Drive

Telegram 3 for Speed Setpoint (32-bit) with Position Encoder:

Table 2-7 From Drive to PLC

Tagname Type Parameter

Table 2-8 From PLC to Drive

Telegram 4 for Speed Setpoint (32-bit) with Two Position Encoders:

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-9 From Drive to PLC

Table 2-10 From PLC to Drive

Tagname Type Parameter

Telegram 20 for Speed Setpoint (16-bit) for VIK-NAMUR:

Table 2-11 From Drive to PLC

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-12 From PLC to Drive

Table 2-13 From Drive to PLC

DriveStatus3 Status Word 2 (ZSW3) Integer r53

Table 2-14 From PLC to Drive

Table 2-15 Status Word 1 (ZSW1)

Integrating Siemens Drive into Rockwell Automations Studio 5000

6 1 = Motor inhibited from switching on Bool r0899.6

Table 2-16 Status Word 2 (ZSW2)

Bit Name Functionality Data Drive

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-17 Status Word 3 (ZSW3)

7 1 = DC link voltage at or below threshold value Bool

Table 2-18 Encoder 1 Status Word (G1_ZSW)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Functionality Data Drive

Table 2-19 Encoder 2 Status Word (G2_ZSW)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Functionality Data Drive

7 Actual position at reference Flying referencing to Bool

Integrating Siemens Drive into Rockwell Automations Studio 5000

Table 2-20 Control Word 1 (STW1)

PLC Control 0 = No control by PLC

Table 2-21 Control Word 2 (STW2)

Integrating Siemens Drive into Rockwell Automations Studio 5000

11 Motor Changeover Feedback Signal

Table 2-22 Control Word 3 (STW3)

9 1 = Enable DC braking Bool

Table 2-23 Encoder 1 Control Word (G1_STW)

Integrating Siemens Drive into Rockwell Automations Studio 5000

Bit Name Functionality Data Drive

Table 2-24 Encoder 2 Control Word (G2_STW)

0 Search for reference Request flying referencing to Bool