Q uick Start tartu up Guide for STEP-7 EP-7 S7-300 & S7-400 PROFIBUS CONNECTIVITY TO SIMOVERT MASTERDRIVES 6SE70
Section tion 1:
STEP 7 Hard Hardw ware Config Configu uration tion
Section ion 2:
Expla xplanation ion of PZD & PKW PKW
Section ion 3:
Con Configuring ing O B1
Section tion 4:
PZD PZD Pro Proc cess Data Data Config Configu uration tion
Section 5:
PKW Param rameter ter Data Config Configu uration ration
Section 6:
Summary
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We reserve the right to modify functions, technical data, standards, drawings and parameters.
We have checked the contents of this document to ensure that they coincide with the desc descri ribed bed hardwa hardware re and and software oftware.. However, owever, devi devia ations tions cannot be completely completely ruledruledout, so we cannot cannot guarantee complete conforma conformance nce.. However, owever, the infor informa mation tion in this this document is regularly checked and the necessary corrections will be included in subsequent edit editiions. We are thankful thankful for for any recomm recommendations tions or sugge suggestions. stions. e-mail: GMC@sea.siemens.com
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NOTE: These instructions do not purport to cover a ll details or variations in equipment, nor to provide for every possible contingency to be met in connection with installation, operation or maintenance. Should further information be desired or should particular problems arise which are not covered sufficiently for the purchaser’s purposes, please contact your local Siemens office. Further, the contents of these instructions shall neither be come a part of nor modify any prior or existing agreement, commitment or relationship. relationship. The sales contract contains the entire obligation of Siemens Energy & Automation. The warranty contained in the contract between the parties is the sole warranty of Siemens Energy & Automation. Any statements contained herein do not create new warranties nor modify the existing warranty.
Note: This Quick Startup Guide is not an autonomous document, but is intended to direct users to the section in the Operating Instructions which are important for start-up. Thus, these brief instructions instructions can only be completely valid when used in conjunction with the Operating Instructions. It is especially important to observe the warning and information regarding potential hazards in the Operating Instructions.
Warning:
• Electrical equipment has parts an components which are at hazardous voltage levels. • If the warning information in the detailed Operating Instructions is not observed, this can result in • •
severe bodily injury or material damage. Only appropriately qualified personnel may work with this equ ipment. These personnel must be knowledgeable with all of the warning information and service/maintenance measures of the Operating Instruction.
Perfect and safe operation of this equipment assumes professional transport, storage, erection and installation as well as careful operating control and service.
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Step 7 Hardware Configuration Section 1 Table of Contents: 1.1 Launch Step 7 1.2 Hardware Configuration Editor 1.3 Insert DP Master System 1.4 Add MasterDrive CBP to DP Master System
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1.1 Launch Step 7
A Select New Project from the File Menu. Name the Project and click OK.
B
B
Select Upload Station from the PLC Menu. This will Upload the Hardware Configuration for the PLC connected via MPI Network. Note: Offline Hardware Configurati on is also possible. If the Hardware Configuration is not uploaded from the PLC, individual components for your PLC must be chosen from the STEP 7 Hardware Catalog.
C
C Verify the MPI Address for the Station that you wish to Upload. By default the PLC MPI Address is 2.
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1.2 Hardware Configuration Editor
A Notice that after PLC Upload a SIMATIC 300 Station is now present in the Project. Click on the SIMATIC 300 Station to access the “Hardware” Icon.
A
B
B Double click the “Hardware” Icon to launch the Hardware Configuration Editor. This Editor will allow you to insert MasterDrives onto a Profibus DP Network
1.3
C Within the Hardware Configuration Editor select “DP Master” from the X2 Slot in the Rack. This Rack displays the Hardware Modules that were Uploaded previously.
C D
D Right Click on the DP Master and select “Insert DP Master System”
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1.3 Insert DP Master System
A A
Select New Network
B
B Select Network Settings to Configure Profibus.
C Select the Transmission Rate and DP Profile for the new Network.
C
D Click OK with the new Network selected.
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1.4 Add MasterDrive CBP to DP Master System
A Select the appropriate MasterDrive CBP from the Hardware Catalog. MasterDrives are listed under: Profibus DP / SIMOVERT / MASTERDRIVE CBP. Drag the Icon up to the PROFIBUS DP Master System. If DVA-S7 is not installed different options will appear for selecting the MASTERDRIVE CBP. The important thing is to select the desired PPO Type and configure the drive according to this.
AA
B After you drag the MasterDrive Icon onto the DP Network, Click OK to confirm that you have the MasterDrive on the appropriate Network and it has the correct Profibus Address.
B
C Select the appropriate PPO Type. For our example we will use PPO Type 2. (This Window looks different without DVA-S7) The PPO Type allows the user to select the type and amount of data that will be transmitted. PKW data consists of four words of data that are used to change individual Parameters.
C
PZD data is Process Data that can be used as Control Words and Setpoints. Additionally PZD can be utilized with MasterDrive’s BICO Data System of Connectors and Binectors. Page 10
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D Note that STEP 7 automatically lists out the I/O Peripheral Output Addresses for both the PKW & PZD Data Areas in Decimal format. The length of the data is given in bytes.
E D
E Click the Hot-Button on the Toolbar to download the current Hardware Configuration to the PLC. Close Hardware Configuration Editor window when complete.
The Hardware Configuration is now complete. At this point you have created a project, upread an existing S7 Station, created a Profibus DP Master Network and configured that Network with a Simovert MasterDrive. Please proceed to the next sections for programming instructions that will easily allow you to interface PLC and Drive.
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Explanation of PZD and PKW Section 2 Table of Contents: 2.1 PZD Process Data 2.2 PKW Parameter Data
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2.1 PZD Process Data Process data interconnection involves the linking up of setpoints and control bits to the RAM interface of the drive. The transferred process data only becomes effective when the used bits of the control words as well as the setpoints, status words and actual values are connected to the dual-port RAM interface. The CBP stores the received process data at fixed pre-determined addresses in the dual-port RAM. Each item of process data is assigned a connector. The connector is also used to determine whether the PZD is a 16-bit value or a 32-bit value. With the help of selector switches, the setpoints or the individual bits of the control words can be assigned to a particular PZD in the dual port RAM. In order to do this the connector belonging to the required PZD is assigned to the selector switch. YOU MUST ASSIGN BICO BINNECTORS AND CONNECTORS IN THE DRIVE PARAMETERS. See MASTERDRIVE Compendium function diagrams [120] (Receive) and [125] (Send) for Binnectors and Connectors in the Drive. If the first Word of data transmitted to the drive is to be used as a Control Word, BICO programming must occur in Control Word 1 of the MasterDrive [180]. Please note that BIT 10 must be asserted. BIT 10 is the LIFE BIT and must be asserted for the Drive to receive control from Profibus. Note that to turn the dri ve on P554 must be explicitly programmed. (e.g. P554 = B3100).
Process Data Transfer must be programmed in PLC program. The rules of consistent data apply to transferring PZD data. Consistent data must be sent together. SFC14 and SFC15 are used to send and receive the data in the PLC program. The PZD data is sent to the Peripheral Output addresses that were assigned during hardware configuration. This will be shown in the following section’s examples.
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2.2 PKW Parameter Data PKW Parameter Data is used to monitor parameter values, as well as to transfer and acknowledge parameter changes. The parameter area always contains at least four words. The first word of the PKW Data is used to request a task and identify the parameter number. The second word indicates the parameter index. The third and fourth words are used to pass parameter values. The following Tasks are possible with PKW Parameter Data.
Task ID Significance (Decimal ID #) 0 No task 1 Request parameter value 2 Change parameter value (word) 3 Change parameter value (double word) 4 Request description element 5 Change description element (not with CBP) 6 Request parameter value (array) 7 Change parameter value (array, word) 8 Change parameter value (array, double word) 9 Request the number of array elements 10 Reserved 11 Change parameter value (array, double word) and store in the EEPROM 12 Change parameter value (array, word) and store in the EEPROM 13 Change parameter value (double word) and store in the EEPROM 14 Change parameter value (word) and store in the EEPROM 15 Read or change text (not with CBP)
Reply ID positive 0 1 or 2 1 2 3 3 4 or 5 4 5 6 -
negative 7 or 8
5
4
2
1 15
↓
↑
7 or 8
Table Task IDs (master -> converter)
Parameter Data Transfer must be programmed in PLC program. The rules of consistent data apply to transferring PKW data. SFC14 and SFC15 are used to send and receive the data in the PLC program. The PKW data is sent to the Peripheral Output addresses that were assigned during hardware configuration. This will be shown in the following section’s examples.
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Configuring OB1 Section 3 Table of Contents: 3.1 Create OB1 3.2 Edit OB1 3.3 Enter PZD Process Data in OB1 3.4 Enter PKW Parameter Data in OB1 3.5 Save and Download OB1
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3.1 Create OB1
A Within SIMATIC Manager there will be a Program File for the Uploaded Station. Go into the “Blocks” Folder. This folder contains all of the Objects in the PLC program as well as the System Data. System Data contains the Hardware Configuration if it was saved. You may choose to delete SFCs that were Uploaded because these are automatically reside in the PLC and do not need to be programmed.
B C D
C
A
B
Right Click in this window and choose to insert an Organizational Block.
By numbering the new Organizational Block “OB1” this becomes the master block of the program. For simplicity we will program our communication interface from wit hin OB1. We will program the drive data transfer for both PZD and PKW data areas within OB1.
Double Click the new Icon for OB1 to launch into the LAD/STL/FBD Editor.
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3.2 Edit OB1
A Select Program Elements from the Hot button on the Toolbar.
A
B
B
Create four networks with two containing SFC15 and two containing SFC14. The first pair (SFC15 & SFC14) will be used to program PZD data transfer and the second pair will be used to progr am PKW data transfer. Note: SFC15 & 14 are located in Program Elements / Libraries / Standard Libraries / System Functions.
Right Click to insert Networks.
Select LAD from the View Window
Reference Table:
Decimal and Hexadecimal Number Format
Decimal Hexadecimal
(Dec) (Hex)
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 8 9 A B C D E F
(Dec)
4 3 10 1000
3 2 10 100
2 1 10 10
12
2 256
8
2 16
Place Value Decimal Decimal Value
Hexadecimal Decimal Value
th
(Hex)
2 4096
rd
nd
4
st
1 0 10 1
2 1
0
Example: Decimal to Hex 340 Decimal rd
340 – 256*1 = 84 3 Place Hex = 1 nd 84 – 16*5 = 4 2 Place Hex = 5 4 – 1*4 = 0 1st Place Hex = 4 340 Dec = 154 Hex Example: Hex to Decimal 287 Hex
Examples 256 (Dec) = 100 Hex 264 (Dec) = 108 Hex 12 (Dec) = C Hex
2 * 256 = 512 8 * 16 = 128 7*1=7 ( 512 + 128 + 7 ) = 647 Decimal
Note: Most Scientific Calculators Facilitate DEC/HEX Number Conversion.
287 Hex = 647 Dec
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3.3 Enter PZD Process Data in OB1
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3.4 Enter PKW Parameter Data in OB1
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3.5 Save and Download OB1
A A
Save and Download OB1 to the PLC with the Hot-buttons in the Toolbar.
The OB1 is now configured for communication. Please proceed to the specific section on PZD and PKW to learn how to appropriately pass data to the drives.
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PZD Process Data Configuration Section 4 Table of Contents: 4.1 Configure MASTERDRIVES 4.2 Create VAT1 4.3 Control Drive PZD Data via VAT Table
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4.1 Configure MASTERDRIVES
A B
Parameterize Base Drive settings for the MASTERDRIVES. For VC (Vector Control) see Compendium. For MC (Motion Control) see Quick Startup Guide or Compendium.
See Function Diagrams [120] Profibus Receiving, [125] Profibus Transmitting, and [180] Control Word 1. All Function Diagrams are in the Compendium for MASTERDRIVES.
Receive Words K Connectors =1 word (16 Bit) KK Connectors = 2 words (32 Bit)
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Output Words Double Words should be connected in consecutive pairs. (K Connectors)
Control Word 1 is used to start and stop the drive. The Life Bit sent to this Control Word MUST be high for Profibus Connection to work. Life Bit (LB) is Bit 10 on [180]. P554 is for ON/OFF1
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C D
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Select ON/Off1 Command. Set Main Speed Setpoint. Set Profibus Address
P554 = B3100 [180] [120] P443 = KK3033 [300] [120] P918 = 1 Note: P60 = 4 to change.
Note: P734.01 = K0032 (Status Word 1) by Default [125] [200] Set Transmit Double Word 3 to the Actual Speed Connector (KK091). P734.03 = KK0091 [360] [125] P734.04 = KK0091
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4.2 Create VAT Table
Right Click in the Blocks Window from SIMATIC Manager and choose to insert a Variable Table.
A
Name the VAT Table. Example = VAT1.
B
Double Click the VAT Table Icon to launch the “Monitor and Modify” VAT Editor.
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C
C D E
D
Enter the Variables that you wish to observe. Remember for this example MW16 – MW26 are used for the PZD Transmit Data and MW36 – MW46 are used for PZD Receive Data. Note: The Symbol Editor can be used to name your variables.
Select “Establish Online Connection” from the Hot Buttons. Select “Monitor Online” Eyeglass Icon from the Hot Buttons. Note that the PLC selection switch should be in the R UN-P Mode.
Observe the Online values returned from the drive. The Status Word Code will be displayed in HEX. To display numbers in Binary or decimal, right click on the Format Column. Note that returned value error codes can be evaluated by looking at MW 50 & MW52 as programmed in OB1. Selecting the OB1 Network in question and pressing the F1 key will launch the STEP 7 help menu that li sts error codes.
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4.3 Control Drive PZD Data Via VAT Table
B
A
A
Insert values to be modified in the Modify Column. MW16 was selected as Control Word 1. In order to turn the drive on Bit 0 and Bit 10 must be asserted. Bit 10 is the Life Bit. Note that the right most bit is the least significant (Bit 0). To view the Binary format of MW16 right-click the Format column and select Binary. rd
th
rd
The 3 and 4 words that are transmitted are used as the speed reference. The 3 word is the high word and the 4th word is the low word. Note that 4000 Hex rd represents 100% speed and 1000 Hex represents 25% speed in the 3 word. The fourth word is of lower significance, however it can be used to set very slow speeds.
B
Assert the Modified Values by clicking the “Modify” Hot Button. This looks like a lighting bolt. CAUTION: THE DRIVE WILL TURN ON AND THE MOTOR WILL TURN AT THE SETPOINT SPEED.
PZD Data Modification is now complete. This demonstration outlines how to configure the drive, soft-wire binectors and connectors, create a VAT table, and modify values. Note that for applications, modifications would be written into the PLC code to change the appropriate Memory Words and Memory Bits.
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PKW Parameter Data Configuration Section 5 Table of Contents: 5.1 Configure MASTERDRIVES 5.2 PKW Telegraph Word Format 5.3 Create VAT2 5.4 Change PKW Parameters via VAT Table
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5.1 Configure MASTERDRIVE Verify that Profibus Address is set. P918 = 1 (Address)
Note: P60 = 4 to change.
Set Operator Control Rights P53 = 1 allows Parameterization by CBP Profibus Board. P53 = 7 allows Parameterization by CBP Profibus Board, PMU Operator Interface and Serial Comm Interface.
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5.2 PKW Telegraph Word Format PKW Parameter Data is used to monitor parameter values, as well as to transfer and acknowledge parameter changes. The parameter area always contains at least four words. The first word of the PKW Data is used to request a task and identify the parameter number. The second word indicates the parameter index. The third and fourth words are used to pass parameter values. The following Tasks are possible with PKW Parameter Data. Task ID Significance (Decimal ID #) 0 No task 1 Request parameter value 2 Change parameter value (word) 3 Change parameter value (double word) 4 Request description element 5 Change description element (not with CBP) 6 Request parameter value (array) 7 Change parameter value (array, word) 8 Change parameter value (array, double word) 9 Request the number of array elements 10 Reserved 11 Change parameter value (array, double word) and store in the EEPROM 12 Change parameter value (array, word) and store in the EEPROM 13 Change parameter value (double word) and store in the EEPROM 14 Change parameter value (word) and store in the EEPROM 15 Read or change text (not with CBP)
Reply ID positive 0 1 or 2 1 2 3 3 4 or 5 4 5 6 -
negative 7 or 8
5
4
2
1 15
↓
↑
7 or 8
Table Task IDs (master -> converter)
Word 1 Consists of the Task ID and the Parameter Number.
For this example we choose Task 12 (Decimal). This will change a single word parameter and store the results in the MASTERDRIVE EEPROM. Note that if the EEPROM Task is not selected the changes will only occur in RAM and this state will not exist after a power cycle. If a parameter is going to be continuously changed by the program the parameter should be stored in the drive’s RAM because the EEPROM can only be written to a limited amount of times. The Task and Parameter Number will be passed over via a VAT Table. We will need to convert this into Hexadecimal format. Word 1 Format: Bits 0 to 10 represent the Parameter Number. Bit 11 is the toggle bit for parameter change reports. Bits 12 to 15 contain the task ID and reply ID Bits 15 14 13 12 ~ 11 10 9 8 ~ 7 6 5 4 ~ 3 2 1 0 Decimal ---- 12 ----- ------------- P554 -----------Binary 1 1 0 0 ~ 0 0 1 0 ~ 0 0 1 0 ~ 1 0 1 0 HEX ---- C ------ ---- 2 ---- ~ --- 2 --- ~ --- A--Therefore for PKW Word 1 will transmit C22A Hex to change P554 in the drive’s EEPROM. Page 36
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Word 2 Consists of the Array Sub-Index and the MASTERDRIVE specific Page Select.
For cyclical communication by means of PPOs the following word arrangement is used. Bits 0 to 7 are used for Page Selection Bits 8 to 15 are used for the Parameter Index. Page Selection: Parameter designation (acc. to parameter list)
Serial parameter number
P000 - P999 (r000 - r999) H000 - H999 (d000 - d999) U000 - U999 (n000 - n999) L000 - L999 (c000 - c999)
0 - 999 1000 - 1999 2000 - 2999 3000 - 3999
Required addressing of the parameter via PROFIBUS PNU PNU [decimal] [hex.] 0 - 999 0 - 3E7 1000 -1999 3E8 - 7CF 0 - 999 0 - 3E7 1000 - 1999 3E8 - 7CF
Bit #0 =0 =0 =1 =1
For our example we are changing P554, therefore the Page Selection Bit #0 = 0 and Bits 0 to 7 = 0. Parameter Index:
P554 is an indexed parameter. The MASTERDRIVE has BICO Data Sets to change it’s configuration without reprogramming. This utilizes index parameters. By default the first index is the active Data Set, therefore we must select index one of P554. Indexed parameters may range from 0 to 255 Decimal, 0 to FF Hex. To indicate the Index = 1, the th th th 8 bit =1. (Example: If the Index = 2, then 9 bit = 1 and 8 bit = 0) Word 2 Bits 15 14 13 12 ~ 11 10 9 8 ~ 7 6 5 4 ~ 3 2 1 0 Binary 0 0 0 0 ~ 0 0 0 1 ~ 0 0 0 0 ~ 0 0 0 0 HEX ---- 0 ------ ---- 1 ---- ~ --- 0 --- ~ --- 0--PKW Word 2 is 0100 Hex. This represents the first index of a Parameter in the range of 0 – 1999.
Word 3 & Word 4 Consists of the data to be transferred.
The parameter value (PWE) is always transferred as a double word (32 bit). PWE is split into PWE1 and PWE2 (16 bit). rd
PWE1 (Most Significant Word, 3 Word) PWE2 (Least Significant word, 4th Word). A 32-bit parameter value is composed of PWE1 and PWE2. A 16 bit parameter value is transferred in PWE2, in the case that you have set PWE1 to 0. Hex values are used to set the parameter value. This Example passes two different 16 bit parameter. PWE1 (3rd Word) = HEX ---- 0 ------ ---- 0 ---- ~ --- 0 --- ~ --- 0---- 0 ---- ---- 0 --- ~ --- 0 --- ~ --- 0--OR PWE2 (4th Word) = HEX ---- 3 ------ ---- 1 ---- ~ --- 0 --- ~ --- 0---- 0 ---- ---- 0 --- ~ --- 2 --- ~ --- 0--Therefore PKW Words 3 & 4 will transmit either 3100 Hex or 0020 Hex to change P554 On/Off command from the Profibus Receive OR Digital Input 6.
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PKW Reply ID
The reply from the drive after requesting a parameter or changing a parameter is significant because a Reply ID code is generated that will indicate if the Task was successfully completed. In the Task Table Positive and Negative IDs are indicated. The significance of the reply is listed in the tables below. Please note that the returned values from the drive are in Hexadecimal and will need to be converted back to decimal.
Reply ID (Decimal) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Significance No reply Transfer parameter value (word) Transfer parameter value (double word) Transfer description element Transfer parameter value (array, word) Transfer parameter value (array, double word) Transfer the number of array elements Task cannot be executed (with error number) No operator change rights for the PKW interface Parameter change report (word) Parameter change report (double word) Parameter change report (array, word) Parameter change report (array, double word) Reserved Reserved Transfer text (not with CBP)
Error Number corresponding to ID Code 7 Error Number (Decimal) 0 1 2 3 4 5 6 7 11 12
Significance
Cause
Non-admissible parameter No. (PNU) Parameter value cannot be changed Upper or lower limit exceeded Erroneous subindex No array Incorrect data type Setting not allowed (can only be reset) Description element cannot be changed No operator control rights Key word missing
If the PNU does not exist If the parameter is a visualization parameter
15 17 101 102 103
No text array available Task cannot be executed due to operating status Parameter number deactivated at present Channel width too small Incorrect number of PKWs
104 105
Parameter value not admissible The parameter is indexed
106
Task not im lemented
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− − − − −
Generally not possible for MASTERDRIVES Check P53 Drive converter parameter "access key" and/or "parameter special access" not correctly set
−
Drive converter status does not permit the present task Specific to MASTERDRIVES Specific to MASTERDRIVES: only for short channels Specific to MASTERDRIVES: only for G-SST1/2 and SCB interface (USS) Specific to MASTERDRIVES e.g. task: "PWE, change word" for indexed parameters
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5.3 Create VAT2
Right Click in the Blocks Window from SIMATIC Manager and choose to insert a Variable Table.
A
Name the VAT Table. Example = VAT2.
B
Double Click the VAT Table Icon to launch the “Monitor and Modify” VAT Editor.
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C
C
Enter the Variables that you wish to observe. Remember for this example MW8 – MW14 are used for the PKW Transmit Data and MW28 – MW34 are used for PKW Receive Data. Note: The Symbol Editor can be used to name your variables.
D
Select “Establish Online Connection” from the Hot Buttons. Select “Monitor Online” Eyeglass Icon from the Hot Buttons.
E
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D
Observe the Online values returned from the drive. Note that returned value error codes can be evaluated by looking at M W54 & MW56 as programmed in OB1. Selecting the OB1 Network in question and pressing the F1 key will launch the STEP 7 help menu that l ists error codes.
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5.4 Change PKW Parameters via VAT Table
B
A
A B C Version 1.0
Insert values to be modified in the Modify Column. MW 8 is PKW Transmit Word 1 = MW 10 is PKW Transmit Word 2 = MW 12 is PKW Transmit Word 3 = MW 14 is PKW Transmit Word 4 =
C22A Hex 0100 Hex 0000 Hex 3100 Hex OR 0020 Hex
Assert the Modified Values by clicking the “Modify” Hot Button. This looks like a lighting bolt. The selected Parameter will change. Verify that you get the correct Reply ID Code back from the drive. Turn the drive on using either the PZD VAT Table 1 from the previous example or Digital Input 6.
PKW Parameter Data Modification is now complete. This demonstration outlines how to configure the drive, construct PKW Transmit Words, evaluate error codes, create a VAT table and modify values. Note that for applications, modifications would be written into the PLC code to change the appropriate Memory Words and Memory Bits.
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