S7 SD2 Service Channel - sieb-meyer.de · 5.3.1 Examples of the ... SIEB & MEYER adapter to a...
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Drive System SD2S7 SD2 Service ChannelDescription of Profibus to support the protocol for the service channel
P-TD-0000319.12012-10-25
SIEB & MEYERW
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2 Drive System SD2 - S7 SD2 Service Channel
Description of the Program S7_SD2_Service 1
Program Content 2
Program Control 3
Symbols 4
Application of Data Blocks 5
Programming the SERVOLINK 4 gateway 6
Hardware Description 7
Error Detection 8
SERVOLINK 4 gateway Test Assembly 9
Related Documents 10
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1 Description of the Program S7_SD2_Service ................... 71.1 Installation ................................................................................................... 7
2 Program Content ............................................................... 92.1 Organization block ...................................................................................... 92.2 Function Blocks ........................................................................................... 92.3 Global Data Blocks ..................................................................................... 92.4 Instance Data Blocks .................................................................................. 92.5 User-defined Data Types .......................................................................... 102.6 Inputs ........................................................................................................ 102.7 S7 System Functions and S7 System Function Blocks ............................ 10
3 Program Control .............................................................. 113.1 Organization block OB_MAINPROG ......................................................... 113.2 Function Blocks ......................................................................................... 113.2.1 Function blockFB_SwapINT .................................................................................. 113.2.1.1 General Description .............................................................................................. 113.2.1.2 Calling the Function Block ..................................................................................... 113.2.1.3 Inputs and Outputs ................................................................................................ 113.2.2 Function blockFB_SwapDINT ............................................................................... 113.2.2.1 General Description .............................................................................................. 113.2.2.2 Calling the Function Block ..................................................................................... 123.2.2.3 Inputs and Outputs ................................................................................................ 123.2.3 Function blockFB_InitData .................................................................................... 123.2.3.1 General Description .............................................................................................. 123.2.3.2 Calling the Function Block ..................................................................................... 123.2.3.3 Inputs and Outputs ................................................................................................ 123.2.4 Function blockFB_ReadObject .............................................................................. 123.2.4.1 General Description .............................................................................................. 123.2.4.2 Calling the Function Block ..................................................................................... 123.2.4.3 Inputs and Outputs ................................................................................................ 133.2.5 Function blockFB_SetArrayIndex .......................................................................... 133.2.5.1 General Description .............................................................................................. 133.2.5.2 Calling the Function Block ..................................................................................... 133.2.5.3 Inputs and Outputs ................................................................................................ 133.2.6 Function blockFB_WriteObject .............................................................................. 143.2.6.1 General Description .............................................................................................. 143.2.6.2 Calling the Function Block ..................................................................................... 143.2.6.3 Inputs and Outputs ................................................................................................ 143.3 Global Data Blocks ................................................................................... 143.3.1 Data BlockDB_ERRORCODE ............................................................................... 143.3.2 Data BlockDB_GLOBALDATA .............................................................................. 153.3.3 Data BlockDB_DRIVESTATE ............................................................................... 153.4 Instance Data Blocks ................................................................................ 153.5 User-defined Data Types .......................................................................... 153.5.1 User-defined Data Type TS_DRIVE_DATA_IN ..................................................... 163.5.2 User-defined Data Type TS_DRIVE_DATA_IN ..................................................... 163.5.3 User-defined Data Type TS_DRIVE_DATA_IN ..................................................... 163.5.4 User-defined Data Type TS_DRIVE_DATA_IN ..................................................... 163.5.5 User-defined Data Type TS_DRIVE_DATA_IN ..................................................... 173.6 System Functions and Blocks ................................................................... 17
4 Symbols .......................................................................... 19
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4.1 Symbol Table ............................................................................................ 19
5 Application of Data Blocks .............................................. 215.1 Hardware Configuration in the PLC .......................................................... 215.1.1 GSD File ................................................................................................................ 215.1.2 Settings in the Hardware Configuration ................................................................ 215.2 Defining the Addresses in the Modules .................................................... 225.3 Programming the Application Program ..................................................... 225.3.1 Examples of the Functions .................................................................................... 23
6 Programming the SERVOLINK 4 gateway ...................... 25
7 Hardware Description ...................................................... 277.1 Connecting the Devices ............................................................................ 27
8 Error Detection ................................................................ 298.1 Errors in S7 PLC ....................................................................................... 298.2 Error in SERVOLINK 4 gateway ............................................................... 298.3 Error in Drive Control SD2/SD2S .............................................................. 29
9 SERVOLINK 4 gateway Test Assembly .......................... 319.1 Front Panel Check of SIMATIC CPU ........................................................ 319.1.1 LED Display .......................................................................................................... 319.2 Drive Check .............................................................................................. 319.3 Object Access ........................................................................................... 31
10 Related Documents ......................................................... 33
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6 Drive System SD2 - S7 SD2 Service Channel
1 Description of the ProgramS7_SD2_ServiceThe program S7_SD2_Service makes it possible to connect a SD2/SD2S drive bySIEB & MEYER adapter to a SIMATIC S7 CPU with Profibus interface via a ProfibusDP SERVOLINK 4 adapter.
The program S7_SD2_Service has been created using the engineering tool S7-SCL V5.3. All data blocks necessary for the communication are involved in the pro‐gram. In addition the program provides system blocks of the S7, which are used duringthe process.
In order to use the program for the communication between S7 and the SD2/SD2Sdrive by SIEB & MEYER, you need the following hardware and software components:< SIMATIC STEP 7 starting form version 5.5< SIMATIC S7 300(/400) starting from CPU 315-2DP< SIEB & MEYER SERVOLINK 4 gateway< SIEB & MEYER SD2/SD2S
1.1 Installation✦ At first create a directory for the application program.
Example:D:\Data\Siemens\SM_AG\S7Prog\S7_SD2_Service✦ Copy the ZIP file of the program (e.g."S7_SD2_Service_V100.zip") into the created
directory.✦ Unpack the ZIP file.✦ Start the SIMATIC Manager.✦ Select the menu "File ÿ Open".✦ Click the button "Browse" to select the created directory and open the project
"S7_SD2_Service".
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2 Program ContentThe program S7_SD2_Service contains the following objects as SCL sources. As SCLsources they can be compiled to function and data blocks with the desired block num‐ber via the symbol table.
2.1 Organization blockSymbolic name Description
OB_MAINPROG Example main program
2.2 Function BlocksSymbolic name Description
FB_SwapINT Changes the byte order in the integer value
FB_SwapDINT Changes the byte order in the long integer value
FB_InitData Initialization of the process data
FB_ReadObject Reads an object from the drive
FB_SetArrayIndex Sets the array index counter in the drive
FB_WriteObject Writes on an object in the drive
2.3 Global Data BlocksSymbolic name Description
DB_ERRORCODE Error codes
DB_GLOBALDATA Global variables for adaptation to the own project
DB_DRIVESTATE List of the drive states
2.4 Instance Data BlocksSymbolic name Description
DB_SwapINT Instance data block for FB_SwapINT
DB_SwapDINT Instance data block for FB_SwapDINT
DB_InitData Instance data block for FB_InitData
DB_ReadObject0 Instance data block for FB_ReadObject
DB_SetArrayIndex0 Instance data block for FB_SetArrayIndex
DB_WriteObject0 Instance data block for FB_WriteObject
For additional drives you must create additional instance data blocks:< DB_ReadObjectX< DB_SetArrayIndexX< DB_WriteObjectX
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2.5 User-defined Data TypesSymbolic name Description
TS_DRIVE_DATA_IN Data structure of the received data from Profibus
TS_DRIVE_DATA_IN Data structure of the transmitted data to Profibus
TS_DRIVE_DATA_IN Data structure of the drive data
TS_DRIVE_DATA_IN Data structure of the setpoints
TS_DRIVE_DATA_IN Data structure of the actual values
2.6 InputsVariable Address Meaning
I_ReadObject I 0.4 Start: read object
I_WriteObject I 0.5 Start: write object
I_SetArrayIndex I 0.6 Start: set array index
2.7 S7 System Functions and S7 System FunctionBlocksFunction block Symbolic name Description
SFC14 DPRD_DAT Read DP slaves
SFC15 DPWR_DAT Write DP slave
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3 Program ControlThis chapter provides information on the individual blocks and their functions.
3.1 Organization block OB_MAINPROGThe program is controlled via the organization block OB_MAINPROG. The data fromthe bus is read, allocated to the drives, processed and written to the bus again. Theindividual program steps are processed by the function blocks.
Please note: At first the data must be copied from the Profibus module into the busstructure via SFC14 and at last the data must be copied from the bus structure back tothe Profibus module via SFC15.
Before the proper sequential control comes into operation, the data must be initializedones when the program is started or after a fault.
3.2 Function Blocks
3.2.1 Function blockFB_SwapINT
3.2.1.1 General DescriptionUsing the function block FB_SwapINT the byte order of an Integer value is swapped.
Byte order before: Byte0, Byte1
Byte order after: Byte1, Byte0
3.2.1.2 Calling the Function BlockFB_SwapINT.DB_FB_SwapINT
(value := DB_GLOBALDATA.SD2_Data[DrNo].OutData.ServiceIndex);
3.2.1.3 Inputs and Outputs
Parameter In / Out Type Description
value in_out INT Variable for swapping
3.2.2 Function blockFB_SwapDINT
3.2.2.1 General DescriptionUsing the function block FB_SwapDINT the byte order of a LongInteger value is swap‐ped.
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Byte order before: Byte0, Byte1, Byte2, Byte3
Byte order after: Byte3, Byte2, Byte1, Byte0
3.2.2.2 Calling the Function BlockFB_SwapDINT.DB_FB_SwapDINT
(value := DB_GLOBALDATA.SD2_Data[DrNo].OutData.ServiceValue);
3.2.2.3 Inputs and Outputs
Parameter In / Out Type Description
value in_out DINT Variable for swapping
3.2.3 Function blockFB_InitData
3.2.3.1 General DescriptionBefore calling this block, the bus data must have been read once. Using the functionblock FB_InitData, the command bits are initialized and deposited in the drive structurevia the status bits of the drive. The reference values are initialized with the value zero.Afterwards the initializing data should be transmitted once.
3.2.3.2 Calling the Function BlockFB_InitData.DB_InitData (Drive := DB_GLOBALDATA.SD_Data[DrNo]);
3.2.3.3 Inputs and Outputs
Parameter In / Out Type Description
Drive in_out TS_DRIVE_DA‐TA_IN
Data structure of the drive
3.2.4 Function blockFB_ReadObject
3.2.4.1 General DescriptionThe function block FB_ReadObject allows read access to the object data of the drive.The document "Acyclic_Servolink_ServiceChannel.doc" provides information on thefunctional process of the access.
3.2.4.2 Calling the Function BlockFB_ReadObject.DB_ReadObject0
(Execute := TRUE, Drive := DB_GLOBALDATA.SD_Drive[DrNo], ObjectIndex := 69,ObjectSubindex := 0);
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3.2.4.3 Inputs and Outputs
Parameter In / Out Type Description
Drive in_out TS_DRIVE_DA‐TA_IN
Data structure of the drive
Execute in BOOL TRUE: Start of the function block
ObjectIndex in INT Index of the object
ObjectSubindex in DINT Subindex of the object
Busy out BOOL Function block is active
Done out BOOL Function block is ready
Error out BOOL Function block stopped due to error
ErrorID out WORD Error number
ReturnValue out DINT Return value of the reading process
3.2.5 Function blockFB_SetArrayIndex
3.2.5.1 General DescriptionThe function block FB_SetArrayIndex is used to set the subindex of an array object. Af‐terwards, during writing of the object, the subindex is increased automatically. Thedocument "Acyclic_Servolink_ServiceChannel.doc" provides information on the func‐tional process of the access. In order to set the array index to the first element, the call‐ing parameter must have the value 4.
3.2.5.2 Calling the Function BlockFB_SetArrayIndex.DB_SetArrayIndex0
(Execute := TRUE, Drive := DB_GLOBALDATA.SD_Drive[DrNo], ArrayIndex := 4);
3.2.5.3 Inputs and Outputs
Parameter In / Out Type Description
Drive in_out TS_DRIVE_DA‐TA_IN
Data structure of the drive
Execute in BOOL TRUE: Start of the function block
ArrayIndex in DINT Index
Busy out BOOL Function block is active
Done out BOOL Function block is ready
Error out BOOL Function block stopped due to error
ErrorID out WORD Error number
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3.2.6 Function blockFB_WriteObject
3.2.6.1 General DescriptionThe function block FB_WriteObject allows write access to the object data of the drive.The document "Acyclic_Servolink_ServiceChannel.doc" provides information on thefunctional process of the access.
3.2.6.2 Calling the Function BlockFB_WriteObject.DB_WriteObject0
(Execute := TRUE, Drive := DB_GLOBALDATA.SD_Drive[DrNo], ObjectIndex := 186,ObjectValue := 10000, ObjectNoOfBytes := 4);
3.2.6.3 Inputs and Outputs
Parameter In / Out Type Description
Drive in_out TS_DRIVE_DA‐TA_IN
Data structure of the drive
Execute in BOOL TRUE: Start of the function block
ObjectIndex in INT Index of the object
objectValue in DINT Value to be written
ObjectNoOfBytes in INT Number of valid bytes (1…4)
Busy out BOOL Function block is active
Done out BOOL Function block is ready
Error out BOOL Function block stopped due to error
ErrorID out WORD Error number
3.3 Global Data Blocks
3.3.1 Data BlockDB_ERRORCODEThe global data block DB_ERRORCODE contains the structure of the error codes thatare returned by the function block.
The error codes have the following meanings:Error code Value Meaning
ERR_None 0 No error
ERR_WrongState 1 The drive is in the wrong device status for the up‐coming command.
ERR_Parameter 2 Parameter error
ERR_SERVOLINK_Fault 6 SERVOLINK error
ERR_SERVOLINK_Slot 7 SERVOLINK slot error
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3.3.2 Data BlockDB_GLOBALDATAThe global data block DB_GLOBALDATA contains the structure of the program-rele‐vant data that must be adapted to the particular project.
The following variables are used:Variable Type Meaning
ReadValue DINT Array of the return values of the reading processes
SD_Drive TS_DRIVE_DA‐TA_IN
Array of the data structures of the projected drives
3.3.3 Data BlockDB_DRIVESTATEThe global data block DB_DRIVESTATE contains a list of the drive states according tothe drive protocol DS402.
State Value Meaning
STATE_Start 0 Start, initialization
State_NotReadyToSwitchOn 1 Not ready to be switched on
STATE_SwitchOnDisabled 2 Switch on disabled
STATE_ReadyToSwitchOn 3 Ready to be switched on
State_SwitchedOn 4 Switched on
State_OperationEnabled 5 Operation enabled
STATE_QuickStopActive 6 Quick stop
State_FaultReactActive 7 Fault reaction
State_Fault 8 Fault occurred
3.4 Instance Data BlocksOne instance data block is required for each function block. Each instance data blockcontains the input parameters, the output parameters, the in-out parameters and thestatic variables of the respective function block.
For several function blocks a set of instance data blocks is required per drive:< DB_ReadObjectX< DB_SetArrayIndexX< DB_WriteObjectX
3.5 User-defined Data TypesThe user-defined data types describe the data structure of each drive. These are theinput and output values of the Profibus data and the prepared setpoints and actual va‐lues.
The data can be accessed via the global variables.
The structures of the bus parameters are based on the CANopen protocol. The struc‐tures of the bus parameters are based on the CANopen protocol. A description of thetelegram structure is part of the documents "SD2_CAN-Connection.pdf" and "SD2_De‐viceControl.pdf".
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3.5.1 User-defined Data Type TS_DRIVE_DATA_INThe user-defined data type TS_DRIVE_DATA_IN contains the data structure of the re‐ceived data of a drive from Profibus.
Only the Bytes 10 to 15 matter for the acyclic service channel:Name Type Meaning
Process data byte 0..9 Cyclic process data
Service data byte 10..15
ServiceReturn DINT Return value / Error state
res14 BYTE Reserved
ServiceDoneToggle BOOL Return toggle bit
ServiceFault BOOL Error bit
smres152 to smres157 6 * BOOL Reserved
3.5.2 User-defined Data Type TS_DRIVE_DATA_INThe user-defined data type TS_DRIVE_DATA_IN contains the data structure of thetransmission data of a drive to Profibus.
Only the Bytes 10 to 15 matter for the acyclic service channel:Name Type Meaning
Process data byte 0..8 Cyclic process data
Service data byte 9..15
ServiceValidToggle BOOL Service toggle bit
ServiceFunction0 BOOL Function bit 0: read, write, array index
ServiceFunction1 BOOL Function bit 1: read, write, array index
ServiceByteIndex0 BOOL Byte number 0: 0..3
ServiceByteIndex1 BOOL Byte number 1: 0..3
smres095 to smres097 3 * BOOL Reserved
ServiceIndex INT Index of the object
ServiceValue DINT Object value / array index
3.5.3 User-defined Data Type TS_DRIVE_DATA_INThe user-defined data type TS_DRIVE_DATA_IN contains the data structure of thedrive data.
Name Type Meaning
init_ok BOOL TRUE: all parameters are initialized
ActValues TS_DRIVE_DATA_IN Actual values of the drive
Setpoints TS_DRIVE_DATA_IN Setpoints of the drive
InData TS_DRIVE_DATA_IN Data block (PB-DP->PLC)
OutData TS_DRIVE_DATA_IN Data block (PLC->PB-DP)
3.5.4 User-defined Data Type TS_DRIVE_DATA_INThe user-defined data type TS_DRIVE_DATA_IN contains the data structure of the set‐points of the drive.
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Name Type Meaning
FaultReset BOOL TRUE = reset error
SwitchOn BOOL TRUE = switch on output stage
EnableOperation BOOL TRUE = enable operation
EnableVoltage BOOL TRUE = enable voltage
QuickStop BOOL FALSE = trigger quick stop
Velocity INT Setpoint velocity, max. 0x3FFF
Current INT Setpoint current, max. 0x3FFF
3.5.5 User-defined Data Type TS_DRIVE_DATA_INThe user-defined data type TS_DRIVE_DATA_IN contains the data structure of theprepared actual values of the drive.
Name Type Meaning
Status WORD Device status of the drive
Act_Position DINT Actual position
Act_Velocity INT Actual velocity
Act_Current INT actual current
3.6 System Functions and BlocksThe system functions SFC14 and SFC15 are used in the function blocks FB_ReadOb‐ject and FB_WriteObject to read and write data from and to Profibus.
The blocks of the S7 system functions are described in the according manuals by SIE‐MENS.
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4 SymbolsAll function and data blocks receive a block number during compiling. These blocknumbers can be assigned in the symbol table.
Then the blocks can be called using their numbers (DB10 or FB10) or their symbolnames (DB_InitData, FB_InitData).
4.1 Symbol TableAs an example in the following you see an extract of the symbol table including the as‐signment of the block numbers. Individual instance blocks are assigned to each drive.
Symbol Address Data type Comment
DB_ERRORCODE DB1 DB1 List of the error codes
DB_GLOBALDATA DB2 DB2 Global data
DB_DRIVESTATE DB3 DB3 List of the drive states
DB_InitData DB10 FB10 Instance data block
DB_SwapINT DB11 FB11 Instance data block
DB_SwapDINT DB12 FB12 Instance data block
DB_ReadObject0 DB30 FB30 Instance data block
DB_SetArrayIndex0 DB31 FB31 Instance data block
DB_WriteObject0 DB32 FB32 Instance data block
FB_InitData FB10 FB10 Initialization of process data
FB_SwapINT FB11 FB11 Swapping of an integer value (2 byte)
FB_SwapDINT FB12 FB12 Swapping of a long integer value (4 byte)
FB_ReadObject FB30 FB30 For request telegram: read object
FB_SetArrayIndex FB31 FB31 For request telegram: set array index
FB_WriteObject FB32 FB32 For request telegram: write object
OB_MAINPROG OB1 OB1 Main program
DPRD_DAT SFC14 SFC14 Read consistent data from a standard DPslave
DPWR_DAT SFC15 SFC15 Write consistent data to a standard DP slave
TS_DRIVE_DATA_IN UDT1 UDT1 Structure of the input data
TS_DRIVE_DATA_IN UDT2 UDT2 Structure of the output data
TS_DRIVE_DATA_IN UDT3 UDT3 Structure of the drive data
TS_DRIVE_DATA_IN UDT4 UDT4 Structure of the setpoints
TS_DRIVE_DATA_IN UDT5 UDT5 Structure of the actual values
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5 Application of Data Blocks
5.1 Hardware Configuration in the PLCThe SIEB & MEYER drives are addressed by the SERVOLINK 4 interface of the SER‐VOLINK 4 gateway. This converter is projected via the Profibus DP as DP slave in thesoftware SIEMENS Step 7 with inputs and outputs of 16 byte each according to thenumber of SD2/SD2S drives. For this purpose the appropriate GSD file bySIEB & MEYER is required. Please refer to the SIMATIC documentation on how to in‐tegrate new GSD files into the programming environment.
5.1.1 GSD FileIn order to project the device on the PLC the GSD file SM_SLGW.GSD is required.
5.1.2 Settings in the Hardware ConfigurationAt first the object "SERVOLINK 4 gateway" is dragged to the Profibus DP master sys‐tem in the station window of the "HW Config".
Fig. 1: SIMATIC software "HW Config"
The inserted module is highlighted. By double-click the properties window is opened.There you can enter a module name and assign the Profibus address.
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Fig. 2: Dialog window "Properties - DP slave"
In the lower part of the station window the detailed view of the converter is indicated intable form.
According to the used drives the objects "DS402 Single Axis" or "DS402 Double Axis"are dragged into the detailed view of the "HW Config". By double-click you can open aproperties window again and define the addresses of the input and the output area.
Fig. 3: Dialog window "Properties - DP slave"
5.2 Defining the Addresses in the ModulesBeside defining the addresses in the PLC, also the SD2/SD2S drives and the gatewaymust be set to the right addresses. Refer to the device documentation for additional in‐formation.
5.3 Programming the Application ProgramAt the beginning of the program cycle the data area of Profibus must be read using thesystem function SFC14, DPRD_DAT,.
Then the different functions can be executed. These functions must be called once foreach drive.
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In order to align the data between the drive status and the PLC status, the functionblock FB_InitData should be called once for each SD2/SD2S drive when starting thePLC and after a fault.
Then the data is written into the data area of the Profibus via the system functionSFC15, DPWR_DAT,.
The cycle starts again: load → process → output.
5.3.1 Examples of the FunctionsThe sample program provides the following functions:< reading the current error form object 69, DEV_CTRL_ERROR_CODE_ACTUAL< writing the value 10000 for the velocity ramp in object 186, SPG_VELOCITY_AC‐
CELERATION_TIME_VL with 4 bytes< setting the array index to the first element via the value 4
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6 Programming the SERVOLINK 4gatewayCustomized programming is not required. The converter automatically detects thenumber of drives connected to it.
You must only set the Profibus address by means of the address selection switches atthe gateway.
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7 Hardware DescriptionFor initial operation and use of the mentioned devices the according regulations, direc‐tives and standards must be taken into account. For further information refer to the ac‐cording product manuals.
A SERVOLINK 4 gateway is used to connect drives providing a SERVOLINK 4 inter‐face to Profibus. This converter is a master for SERVOLINK 4 and a slave for ProfibusDP.
Further information on this and the connector pin assignment is to be found in the man‐uals.
7.1 Connecting the DevicesThe following figures indicates the connection establishment between PLC, SERVO‐LINK 4 gateway and the drives.
Fig. 4: Device connection
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8 Error DetectionIn the following several errors regarding the conversion from Profibus to SERVOLINK 4and their detection are described.
8.1 Errors in S7 PLCPLC failure
The converter detects a bus error and sets the output data to SERVOLINK 4 to zero.The drive SD2/SD2S switches off because the control word has the value zero.
PLC stops
S7 PLC sets the output data to zero. The converter forwards this data to SERVO‐LINK 4. The drive SD2/SD2S switches off because the control word has the valuezero.
System Function Block SFC 15
When the system function block SFC 15 is not called, the present data pattern is keptand sent again and again. The converter forwards this data to SERVOLINK 4. Thedrive is not able to distinguish whether the same data shall be sent repeatedly or theblock can not be called.
8.2 Error in SERVOLINK 4 gatewayConverter failure
S7 detects that the participant is not existent. It signal a bus error and stops the pro‐gram. The drive SD2/SD2S does not receive any telegrams and stops via time moni‐toring.
Error Detection Field Bus
If the converter detects a field bus error, it sets the output data to SERVOLINK 4 tozero. The drive SD2/SD2S switches off because the control word has the value zero.
Error DetectionSERVOLINK 4
If the converter detects an error in SERVOLINK 4, it sets the output data to the fieldbus to zero (general error) or to 0FFh (slot error).
8.3 Error in Drive Control SD2/SD2SDue to a failure of the drive SD2/SD2S the SERVOLINK 4 telegram is replied faulty ornot at all.
Thus the converter detects an error. The device distinguishes between a general errorin SERVOLINK 4 and a slot error of an individual participant. If a general error is detec‐ted, the output data to the field bus are set to zero. If a slot error is detected, the output
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data are set to 0FFh. The status in the PLC program can be set correspondingly andthe PLC program can be set to switch to an error routine.
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9 SERVOLINK 4 gateway TestAssemblyThe test assembly is done as shown in the hardware description. When the system isconnected and ready for operation you can start checking.
9.1 Front Panel Check of SIMATIC CPUThe front panel provides several LEDs that indicate the status of the CPU. The LEDindicating the power supply "DC5V" and the LED "RUN" must be on permanently. Thismakes sure that the PLC program is running.
In the event of an error the PLC switches to the stop mode. In order to fix the error youmust check that the converter is connected correctly. Check also whether the rightnumber of drives is connected.
9.1.1 LED DisplayThe meaning of each LED on the front panel of the SIMATIC CPU is described in thefollowing table.LED State Meaning
SF LED on Error in PLC
BATF LED on Battery error
BUSF LED on Bus error
DC5V LED on Power supply of 5 V present
FRCE LED on Output data of PLC is frozen.
RUN LED on PLC program is running.
STOP LED on PLC program has been stopped.
9.2 Drive CheckYou can check the received SERVOLINK 4 data using the bus monitor in the softwaredrivemaster2.
9.3 Object AccessYou can test the different functions via the inputs of the PLC:< input i4: reading< input i5: writing< input i6: setting the array index
W SERVOLINK 4 gateway Test Assembly
Drive System SD2 - S7 SD2 Service Channel 31
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SERVOLINK 4 gateway Test Assembly W
32 Drive System SD2 - S7 SD2 Service Channel
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10 Related DocumentsThe following documents provide more information on this topic:Supplier Document name
SIEMENS Manuals regarding Step 7 programming
SIEB & MEYERAG Gateway_0362151.pdf
SIEB & MEYERAG SD2_DeviceControl.pdf
SIEB & MEYERAG SD2_CAN-Connection.pdf
SIEB & MEYERAG drivemaster2_UserManual.pdf
W Related Documents
Drive System SD2 - S7 SD2 Service Channel 33
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Related Documents W
34 Drive System SD2 - S7 SD2 Service Channel
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