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Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via EtherNetIP Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via Et.Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via EtherNetIP Speed control of a SINAMICS S120 with an Allen Bradley controller (CompactControlLogix) via Et.
Speed control of a SINAMICS S120 with an Allen-Bradley controller (Compact/ControlLogix) via EtherNet/IP https://support.industry.siemens.com/cs/ww/en/view/92045369 Siemens Industry Online Support 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 nonbinding and make no claim to completeness or functionality regarding configuration and equipment The application examples merely offer help with typical tasks; they 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, 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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 SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 Task Task 1.1 EtherNet/IP Overview 1.1.1 Industrial Ethernet Industrial Ethernet communication networks continue to gain global importance in automation solutions Industrial Ethernet connectivity down to device level components (i.e drives, I/O, etc.) is an end user requirement that demands openness and flexibility To capitalize on the flexibility to connect to different Industrial Ethernet protocols the SINAMICS S120 drives can seamlessly be applied in PROFINET and EtherNet/IP networks 1.1.2 SINAMICS S120 Connectivity to EtherNet/IP Siemens AG 2015 All rights reserved Since Firmware version 5.1SP1 both the CU310-2 PN and Cu320-2 PN can be commissioned for EIP via on board Ethernet ports The CBE20 is no longer necessary for EIP communication and the onboard X150 ports are utilized for EIP communication The network IP address of the S120 CU (Control Unit) is set through the STARTER or STARTDRIVE software With STARTER software installed on your computer you can connect to the SINAMICS drive through the Built in X150 ports on CU310-2 or CU320-2 and set IP address The SINAMICS S120 multi-axis drive system can contain up to six vector or servo axis controlled by a single CU320-2 control unit This allows one IP address for the CU320-2 to control multiple drive objects thus cutting down on the number of IP addresses and Ethernet connections required for drive systems For the CU310-2 it is a single drive axis but can have additional control and status for the Control Unit if needed The SINAMICS drives operate on unicast telegrams thus further reducing network traffic SINAMICS S120 drives have been certified by ODVA for EtherNet/IP conformance testing and participated in the EtherNet/IP PlugFest Siemens is a member of ODVA with Vendor ID # 1251 SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 Solution Overview Solution Overview 2.1 Solution Overview 2.1.1 Hardware Structure Figure 2-1 Sample System Overview HMI PLC Remote I/O Siemens AG 2015 All rights reserved PC/Network Reference Actual values values Control Status word word 2.2 SINAMICS S120 CU320-2 SINAMICS S120 CU310-2 Used Components The application was generated with the following components: Table 2-1 Hardware components Component No CU320-2 PN or CU310-2 PN with Firmware version 5.1SP1 or later Rockwell Automation Logix family controller Firmware version 19 or later Table 2-2 Software components Component No STARTER Version 5.1SP1 or later RS Logix 5000 Version 19 or later or Studio 5000 SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 Programming Overview Programming Overview 3.1 AOI’s for SINAMICS S120 drives Add On Instructions have been designed for the Logix programming that mimics standard telegrams used in S120 configurations For most standard applications the use of the AOI’s can greatly reduce the Engineering time to configure a system This manual document the use of the AOI’s developed to simplify the integration of SINAMICS S120 drives connected to an AB Logix’s automation systems over EtherNet/IP The EtherNet/IP telegrams to the SINAMICS S120 drives can be freely configured using the free telegram structure for the message frame type Alternatively in an effort to seamlessly integrate the communication between an S120 drive object and an AB Logix family controller Siemens AG 2015 All rights reserved Figure 3-1 Example utilizing Simple Speed AOI and Standard Telegram 3.2 AOI Types There are presently six Add On Instruction blocks designed to coordinate with standard telegrams used in SINAMICS S120 systems Simple Speed (Standard Telegram 1) Vector Speed (For Vector Drive Objects) (SIEMENS Telegram 352) EPOS (Positioning) (SIEMENS Telegram 111) Advanced Speed (SIEMENS Telegram 102) Line Module object (SIEMENS Telegram 370) Control Unit object (SIEMENS Telegram 390) SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 SINAMICS S120 Add-On Instructions SINAMICS S120 Add-On Instructions 4.1 Function Description The Drive control function blocks (AOIs) described in this section are intended to provide SINAMICS S120 users help in engineering and integrating the S120 drives into an automation system where a Logix family controller is the primary control The canned AOI’s in this application guide have been designed to seamlessly integrate in to the PROFIdrive telegram and Siemens telegrams 102, 111, 352, 370 and 390 commonly used for controlling the S120 drive system It is possible to control a S120 drive as a simple speed controlled drive or a positioning drive using the EPOS function enabled in the drive The AOIs also provide a quick implementation of basic drive control using the EtherNet/IP communication interface Using multiple instances of the AOI several S120 drives axes can be controlled via the IO interface 4.2 Telegram Description 4.2.1 Telegram for Basic speed Siemens AG 2015 All rights reserved This telegram is a standard PROFIdrive telegram of 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 For additional information on this telegram and its detailed function, refer to the SINAMICS S120 List Manual and Function Manual Table 4-1 Telegram Type WORD 4.2.2 INPUT OUTPUT Control Word Status Word Speed Setpoint Value Actual Speed Value Telegram 352 for Vector Speed Control Telegram 352 is a standard Siemens Telegram for Speed Control with Vector Drive Objects This telegram cannot be used with Servo Drive Objects The 1st two words in and out are the same as Telegram1 The advantage of T352 is that there are Optional User Defined Control Setpoints, and four added Status words returning to the PLC for Current, Torque, Warning Word, and Fault Word Table 4-2 Telegram Type 352 WORD INPUT OUTPUT Control Word Status Word Speed Setpoint Value Actual Speed Value User Setpoint1 ABS Actual Current User Setpoint2 Torque Actual User Setpoint3 Actual Alarm Code User Setpoint4 Actual Fault Code SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 SINAMICS S120 Add-On Instructions 4.2.3 Telegram 111 for EPOS mode 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 This interface is used for “EPOS” AOI 12 Words of data are exchanged with the drive where the 12th word is reserved as a user selectable value For detailed information on this telegram refer to the SINAMICS S120 Function Manual Section and List Manual Table 4-3 Telegram Type 11 WORD Control Word Status Word Pos Control Word Pos Status Word Pos Control Word Pos Status Word Control Word Status Word Velocity Override MELDW Status Word MDI Position Setpoint Position Actual Value MDI Velocity Setpoint Velocity Actual Value 10 MDI Percent Acceleration Active Fault Number 11 MDI Percent Deceleration Active Warning Number 12 User Selectable User Selectable Siemens AG 2015 All rights reserved OUTPUT 4.2.4 INPUT Telegram Type 102 for Advanced Speed Control Telegram 102 is a Siemens telegram for Speed mode control of drives For detailed information on this telegram refer to the SINAMICS S120 Function Manual and List Manual Table 4-4 Telegram Type 102 WORD INPUT OUTPUT Control Word Status Word Speed Setpoint Speed Actual Control Word Status Word Torque Reduction MELDW Status Word Encoder Control Word Encoder Status Word 10 Encoder Position G1_XIST1 Encoder Position G1_XIST2 SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 SINAMICS S120 Add-On Instructions 4.3 Basic Speed Control 4.3.1 Functionality The S120 Speed Block provides an interface for basic speed control of a Servo or Vector drive object in SINAMICS via EtherNet/IP The Drive object is configured for control using Standard telegram type 4.3.2 Schematic Ladder Representation Siemens AG 2015 All rights reserved Figure 4-1 S120 Speed Block 4.3.3 Input and Output Parameters Table 4-5 Inputs Parameters Variable Name Data Type Description S120_Speed_Block Instance Data ON_OFF1 BOOL Drive Enable (ON/OFF1) = Enable Drive = Ramp Down and Disable drive OFF2 BOOL Coast Stop Command = OFF2 Immediate Disable = No OFF2 Command OFF3 BOOL Fast Stop Command = OFF3 Fast Ramp and Disable = No OFF3 Command RUN_SET_POINT BOOL Speed Setpoint Enable = Setpoint Disabled = Setpoint Enabled FAULT_RESET BOOL Reset Active Fault(s) = No Fault Reset = Reset Fault on Rising Edge RPM_SET_SPEED REAL Speed Setpoint in RPM MAX_SPEED REAL Speed at 100% Setpoint Must be the same as P2000 SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 SINAMICS S120 Add-On Instructions Table 4-6 IN/OUT Parameters Variable Name Data Type Description DRV_CONTROL ARRAY Array of integers referenced to the two output words of the drive telegram DRV_STATUS ARRAY Array of integers referenced to the two input words of the drive telegram Table 4-7 Output Parameters Variable Name Data Type Description BOOL Ready to Start RDY_OP BOOL Ready for Operation FAULTED BOOL Fault is Active ENABLED BOOL Pulses are Enabled RPM_ACTUAL REAL Actual Speed in RPM Siemens AG 2015 All rights reserved RTS SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 SINAMICS S120 Add-On Instructions 4.4 Vector Speed_T352 4.4.1 Functionality The Vector speed block is very useful for a lot of speed control applications This telegram is only available for S120 Drive Objects of the Type Vector and not Servo The control is similar to Telegram (Simple Speed) but there are additional Setpoints words that can be connected to functionality in a S120 Vector Drive Object For example the following are possible: Torque limits, Torque Setpoint, and additional speed setpoint For the Status this is similar to the Simple Speed but Current Actual, Torque Actual, and Warning and Fault values are transmitted back to the PLC NOTE 4.4.2 This telegram is only available for S120 Vector Drive Objects or other SINAMICS Vector Drives (Such as G120) Schematic Ladder Representation Siemens AG 2015 All rights reserved Figure 4-2: S120 Vector (Speed) block SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 10 Configuring a Generic Ethernet Module Configuring a Generic Ethernet Module 6.1 Adding a new module A Generic IO module is used to configure the cyclic data exchange between the automation controller and the SINAMICS drive without the need for an EDS file 6.1.1 Inserting the module Siemens AG 2015 All rights reserved Table 6-1 6.1.2 Insert a module by right clicking the network interface in the IO configuration section of the Project tree In the “Select Module” dialog box use the Find function to search for the term “GENERIC” Select the “Generic Ethernet Module” module to be inserted Configuring network parameters Table 6-2 Configuring the Network Parameters The module name should identify the CU320-2 or Cu310-2 to allow easy selection from other modules configured in the controller It is also the name used for the controller level tag that will hold the data Use the Description box to describe the Drive objects contained in the module and the order the data will arrive In the picture, notice how the drive objects are listed showing the number and orders of the IO words that control each The data exchange format should be set to Integer (INT) SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 26 Configuring a Generic Ethernet Module Enter the IP Address of the CU320-2 PN or CU310-2 PN The Connection Parameters section configures the IO Assemblies for the CU320-2 The Assembly Instances should always be 101 through 103 for the Input, Output and Configuration Assembly respectively The size of the Input and Output assemblies is the total number of words for all the control unit drive objects to be configured as IO Siemens AG 2015 All rights reserved This can be determined by adding the column listing the number of words for each telegram in the message frame configuration of the Starter project 6.1.3 Connection Parameters Table 6-3 Setting the Connection Parameters The Requested Packet Interval (RPI) is the rate at which the controller will exchange data with the IO module In this application we will use a value of 10 ms 2) Unicast is selected as the exchange method SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 27 Configuring a Generic Ethernet Module 6.1.4 Using the IO Data The IO data is available as an array of integers in the controller tags section of the project tree Siemens AG 2015 All rights reserved Figure 6-1 Controller Tags for new module SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 28 Using AOIs in a New Application Using AOIs in a New Application 7.1 Importing AOIs The AOIs provided with the sample application can be easily integrated into a new or existing user program by importing the instructions using L5K files 7.1.1 Installing L5K Files Siemens AG 2015 All rights reserved Table 7-1 Steps to Importing the AOIs Import the AOI into the Add On Instructions folder Right click the Add-On Instructions folder in the project tree and select the Import Add-On Instruction option Select the required L5K file for the desired Instruction and Import Review the Import configuration and click OK SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 29 Using AOIs in a New Application The Project should now show the imported Instruction Notice that UDTs required for the instruction have also been imported These UDTs can also be used to create additional variables and aliases Siemens AG 2015 All rights reserved 7.2 Using the AOI 7.2.1 Adding AOI to a Program Table 7-2 Using the S120 Speed Block Add instruction to a new rung by dragging from project tree Declare and assign instance data variable The new tag can be created as a local program tag with a name that clearly identifies the drive data SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 30 Using AOIs in a New Application 7.2.2 I/O Interface Connecting the instruction to the Controller IO tags is accomplished by moving the IO data into the AOI Interface Siemens AG 2015 All rights reserved Figure 7-1 The second rung holds the AOI The local variables “InputDataBuffer” and “OutputDataBuffer” are used as storage for the AOI to receive and send data to the Controller IO tags The first rung copies the IO data for this Red Wheel to a local variable to be used by the AOI as inputs in the “DRV_STATUS” parameters “DRV_STATUS” and “DRV_CONTROL” is declared as INOUT parameters and therefore passed by reference The third rung holds the copy command that moves the control data from the working variable “OutputDataBuffer” to the controller IO tag All AOIs provided will use this method of data exchange with IO containing the drive data Additional access to the control data can be performed before the data is copied to the IO Tag This allows the user to utilize features already mapped in the telegram that are not control by the AOI In a similar manner the Status data can be access by the user program SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 31 Drive Parameter Access Drive Parameter Access 8.1 Explicit Messaging In many applications it is necessary to read or write parameters in the drive This allows increased flexibility in implementation of the machine functionality To allow this occasional (acyclic) data exchange of drive and motor parameters, the CU310-2 PN and Cu320-2 PN support explicit messaging The MSG instruction can read from or write to a parameter by accessing the drive’s communication object When parameterizing the MSG instruction, below are some important parameters: Class = 400hex + drive object number DO = class 401h DO = class 402h … DO62 = class 43Eh Siemens AG 2015 All rights reserved Instance = parameter number p1027 = instance 1027 Attribute = parameter index number (hex) Index = attribute Index = attribute … Index 65535 = attribute FFFFh Get attribute single = read a parameter Set attribute single = write a parameter SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 32 Drive Parameter Access 8.2 Using the MSG Instruction Siemens AG 2015 All rights reserved Table 8-1 Parameterizing the MSG Instruction MSG Instruction: Insert the MSG instruction Instruction Tag: Create a controller scope tag for the instruction in the Tag tab of the message configuration dialog box This tag contains the working memory area for the MSG instruction Message Type: Select the CIP Generic message type Service Type: Select “Get Attribute Single” to read and parameter or “Set Attribute Single” to write the parameter SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 33 Siemens AG 2015 All rights reserved Drive Parameter Access To figure out what the drive object number is, navigate to “telegram configuration” Find the corresponding drive object number (e.g Red_Wheel = drive object hex) Class: 400 + drive object number (hex) Instance: This is the parameter number of the object, in Starter E.g DC Link voltage (p26) SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 34 Drive Parameter Access Attribute: This is the parameter index For parameters without an index, use “0” 10 Destination: For reading a parameter select a Controller scope tag where the value will be written Siemens AG 2015 All rights reserved If writing a value to the parameter, select a tag in the Source element entry 11 Make sure the data type of the tag (source/destination) matches the data type of the parameter INT = Bytes (16 bit) REAL = Bytes (32 bit) SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 35 Drive Parameter Access 12 To figure out the data type of the parameter, Open the Expert List and Highlight the Parameter to read as shown Right Click on the parameter and open “Parameter Help” The Data Type is in the Parameter Description Siemens AG 2015 All rights reserved 13 NOTE Path: In the Communication tab enter the name of the IO node for CU Use the Browse option to find the node in the project tree It is a good idea to one-shot the message requests (e.g with a flasher) If the rung for the MSG instruction is always true, the communication board can get overwhelmed and fault out SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 36 Trouble Shooting Tips Trouble Shooting Tips The drive and the PLC are not communicating Siemens AG 2015 All rights reserved Figure 9-1 Check the LED lights a PLC: Is the I/O light solid green? b Is the COM LED on CU310-2 or PN Light LED on Cu320-2 Solid Green? c This means that the drive is communicating and it is another issue Is Drive set for EIP (S120: P2030 = 10)? a A power cycle is required after changing p2030 b For CU320-2 Firmware 5.1SP1 must be used for EIP with X150 ports Are there duplicate IP addresses on the network? a Verify IP addresses (accessible nodes, PST, edit Ethernet nodes, etc.) SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 37 Trouble Shooting Tips Did you parameterize the Generic Ethernet Module correctly? Check Section on Generic Ethernet Module to be sure Siemens AG 2015 All rights reserved a Do you have the “Comm Format” set to Data –INT, or accidentally set to Data-DINT? b Do the Connection Parameters (addresses and length) match the drive telegram? Could it be a bad Ethernet cable? Are there faults on the drive? a Check LED’s status on the drive b Check diagnostics on drive for faults Are all Drive Enables (OFF1/OFF2/OFF3) enabled? SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 38 10 Glossary 10 Glossary AOI (Add On Instruction): Commonly used logic for a task that is encapsulated into a block to be reused in RSLogix programs CU320-2 PN: Control unit for SINAMICS Multi Axis drives Up to six Vector or Servo axis can be controlled from a single CU320-2 CU320-2 PN with firmware version 5.1SP1 is needed CU310-2 PN: Control unit for SINAMICS Single Axis Drive A Vector or Servo Drive Object can be used as well as a Telegram (Discrete IO Status and Control) for the CU (Control Unit) Firmware version 5.1SP1 is needed DO (Drive Object): The SINAMICS S120 multi-axis drive system typically consists of several drive objects for each control unit The length and order of each drive object is set in the message frame DRIVE CLiQ: Flexible back plane for SINAMICS drives allowing nameplate data and actual values of all DRIVE CLiQ components to be transmitted with the control unit Siemens AG 2015 All rights reserved EPOS (Easy Positioning): Function module in SINAMICS drives providing basic positioning task such as traversing task, MDI, and homing Free Telegrams: The send and receive telegrams can be configured as required by using BICO technology to interconnect the send and receive process data IF1 & IF2: The CU320-2 control unit can communicate via two different interfaces IF1 refers to the primary interface for drive control IF2 is the secondary interface 1F1 is used in this application example L5K file: File type used for importing an AOI into RSLogix program MDI (Motion Direct Input): Direct setpoint input function for positioning PN Interface: PROFINET interface PROFIdrive: Device profile to provide standardization of drive telegram type thus minimizing integration and commissioning time and effort Siemens Standard Telegrams: Structured in accordance with manufacturer specification with the internal process data links automatically set up in accordance with the telegram number setting Standard PROFIdrive Telegrams: Structured in accordance with PROFIdrive profile with the internal process data links automatically set up in accordance with the telegram number setting STARTER: Software for Siemens SINAMICS drives configuration and diagnostics SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 39 11 History 11 Version History Date Changes 04.06.2012 PreRelease V1.0 05.18.2012 Initial Release V1.1 06.04.2012 Changes and corrections V2.0 06.14.2012 Add Explicit messaging Added Free telegram CU320-2PN difference V3.0 03.26.2015 Remove explicit messaging tables Update drive parameter access (explicit messaging) Added Frequently Asked Questions V4.0 09.01.2018 Usage of Onboard PROFINET Ports with Firmware >= 5.1SP1 with CU310-2 PN and CU320-2 PN Vector Telegram 352 added, and Line Module AOI corrected Siemens AG 2015 All rights reserved V0.1 SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/IP Entry-ID: 92045369, V4.0, 08/2018 40 ... telegram configuration with BICO) to exchange data with the drives SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/ IP Entry-ID:... Representation Siemens AG 2015 All rights reserved Figure 4-3 S120 EPOS Block SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/ IP... Siemens AG 2015 All rights reserved Figure 4-4 Advance Speed Control AOI SINAMICS S: Speed control of a S120 with an Allen-Bradley controller (Compact/ ControlLogix with RSLogix 5000) via EtherNet/ IP