Speed control of a

SINAMICS drive with a

SIMATIC S7-1500 via
MODBUS-TCP
Siemens
SINAMCS / Firmware Version 4.8 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/35928944 Support
 Legal information

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Entry-ID: 35928944, V1.0, 11/2017 2

 Table of contents

Table of contents
Legal information ......................................................................................................... 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Mode of operation ................................................................................ 4
1.3 Components used ................................................................................ 4
2 Engineering ........................................................................................................ 5
2.1 Configuration ........................................................................................ 5
2.2 Operation .............................................................................................. 7
3 Additional information ...................................................................................... 9
3.1 Background .......................................................................................... 9
3.2 Fieldbus monitoring time .................................................................... 11
4 Appendix .......................................................................................................... 12
4.1 Service and Support ........................................................................... 12
4.2 Application Support ............................................................................ 13
4.3 Links and Literature ............................................................................ 13
4.4 Change documentation ...................................................................... 13
 Siemens AG 2017 All rights reserved

Entry-ID: 35928944, V1.0, 11/2017 3

 1 Introduction

1 Introduction
1.1 Overview
Since SINAMICS firmware version 4.8 the communication protocol Modbus TCP is
supported by S120, G130 and G150. The application example describes the
communication settings from a SINAMICS S120.

1.2 Mode of operation

Modbus TCP is a connection-oriented communication, where a client-server
session is established before the user data can be transferred. The drive has the
Modbus TCP Server functionality implemented. In the example application, a S7-
1516F is configured as a Modbus TCP client, which connects to a Modbus TCP
server (drive).

1.3 Components used

This application example has been created with the following hardware and
software components:
Table 1-1
Component Number Article number
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S7-1516F 1 6ES7516-3FN00-0AB0
CU310-2 1 6SL3040-1LA01-0AA0

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 2 Engineering

2 Engineering

2.1 Configuration
Prerequisite for further steps is the successful commissioning of the drive. The
document (follow the link) offers a brief guide to commissioning a sample project
with a simple SINAMICS S120 drive train. By following the instructions in this
document, a beginner will need only a few minutes to engineer and configure the
sample project and start up the motor.

https://support.industry.siemens.com/cs/ww/en/view/109740023

Table 2-1 Configuration

1. For drive object control unit (DO1), set p2030 = 13 (Modbus TCP).
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2. Select the DHCP mode using p8924.

If you set the parameter for the onboard interface of the Control Unit by yourself, set
the value to 0. If you use a DHCP mode (p8924 >0) can you proceed with step 6.
3. Set the IP address for the onboard interface of the Control Unit using p8921. Here in
the example : 192.168.214.2

4. Set the standard gateway using p8922.

5. Set the subnet mask using p8923.

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 2 Engineering

6. Select "Activate and save configuration" as interface configuration using p8925 = 2.

7. With Modbus TCP, you always address first drive object from the list of drive objects
(p0978[0]). A servo or vector drive object must be in this parameter!
However, Modbus TCP is only activated, if under p0978[0] is a drive object that is
supported by Modbus TCP. If p0978[0] does not contain a valid drive object, then
establishing communication is acknowledged with Alarm A08555.

In the STARTER commissioning tool, check the list of drive object p0978.
The screenshot below is showing a correct configuration
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8. Save the settings in the STARTER commissioning tool and carry out a POWER ON.

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 2 Engineering

2.2 Operation
For the operation of the application example, the content of this Section is
absolutely necessary. In SIOS you can download the example project.

Before the example function block "Modbus_Communication" can establish the

Modbus TCP connection to the partner, the connection parameters first must be
specified in the user application. All relevant communication parameters can be
found in the data structure configuration.connection.

Table 2-2 Connection parameter

Parameter Data type Description
Connection Struct
interfaceID HW_ANY Hardware identifier of the local interface,
see PLC tags->Default tag table->System
constants
(default: 64)
connectionID CONN_ANY Unique connection identifier
16#0001 .. 16#0FFF
(default: 16#0FFF)
localPort UInt Local port number, see system function
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TCON
(default: 3456)
partnerPort UInt Partner port number, see system function
TCON. (default: 502)
partnerIP IP_V4 Partner IP address from the drive

Figure 2-1 Connection parameters example

// Connection parameter
//-----------------------------------------------------------

//hardware identifier of the local interface

"Modbus_Communication_DB".configuration.connection.interfaceID :="Local~PROFINET_interface_1";
//unique connection identifier (16#0001..16#0FFF)
"Modbus_Communication_DB".configuration.connection.connectionID := 500;
//local port number, see system function TCON
"Modbus_Communication_DB".configuration.connection.localPort := 3456;
//drive port number
"Modbus_Communication_DB".configuration.connection.partnerPort := 502;
//IP-address from the cu xxx.xxx.xxx.xxx = [1].[2].[3].[4]
"Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[1] := 192;
"Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[2] := 168;
"Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[3] := 214;
"Modbus_Communication_DB".configuration.connection.partnerIP.ADDR[4] := 2;

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 2 Engineering

Figure 2-2 Function block

Modbus_Communication

Bool enable error Bool

Bool request status Word

faultAcknowle
Bool
dge
Int speed

"typeModbus_Config" configuration

Table 2-3 Parameters

Parameter Datentyp Kommentar

enable Bool TRUE: A rising edge activates processing and FB tries to
establish a connection to the drive.

FALSE (default): A falling edge clears the connection.

request Bool TRUE: The axis is switched step by step to operating state
S4 (Operation).
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FALSE (default): The drive is switched step by step to

operating state S1 (Switching On Inhibited).
faultAcknowledge Bool TRUE: Acknowledgment of axis error.
speed Int Velocity setpoint in rpm.
configuration typeModbus_Config FB Configuration.
error Bool TRUE: An error is occurred. More detailed information is
provided by output parameter status.

FALSE: No error is occurred.

status Word FB Status, see system function MB_CLIENT.

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 3 Additional information

3 Additional information

3.1 Background
Modbus-TCP-Client
The "MB_CLIENT" instruction from the S7-1500 communicates as a Modbus TCP
client via the local interface. With the "MB_CLIENT" instruction, you establish a
connection between the client (S7-1500) and the server (drive), send Modbus
requests, receive responses and control connection termination of the Modbus
TCP client.
For details please look at description of system function MB_CLIENT.

Drive Profile
PROFIdrive is the standard profile for SINAMICS drive technology in conjunction
with the PROFIBUS and PROFINET communication systems. A uniform basic
state machine is defined for all application classes in PROFIdrive. It is used to
bring the drive to a dedicated operating state or switch off the drive in a defined
manner.

The following figure shows the basic state machine (general state diagram) of a
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PROFIdrive drive. The blue blocks represent drive axis states S1 to S5 and the
arrows indicate the state transitions that are possible between them. In case of
competing state transitions, priorities are defined by the number of red points
shown. The conditions for the state transitions to the yellow boxes are the
individual control commands, which are transferred from the controller to the drive
axis in the control word with bit coding.

Figure 3-1 general state diagram

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 3 Additional information

In the example function block, the state machine was implemented in the
"Modbus_Communication" FB as an example. This example implantation is not
exhaustive, but only serves as a test function.

Modbus-Register and Parameter from the Control Unit

The Modbus protocol contains register or bit numbers for addressing memory.
You must assign the appropriate control words, status words and parameters to
these registers in the slave.
The valid holding register address range extends from 40001 up to 40722. When
trying to access other holding registers, the "Exception code" error is generated.
The process data are transferred into the register range from 40100 up to 40119.
The most important Modbus registers are listed in the following table.

NOTE A detail overview about the assigning Modbus register to the parameters is listed
in the SINAMICS S120 function manual under the chapter 11.4 "Communication
via MODBUS TCP".
https://support.industry.siemens.com/cs/ww/en/view/109740020

Table 3-1 Modbus register

Register Description Access Data/Parameter
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Control data
40100 Control word (see SINAMICS S120/150 Process data 1
R/W
List Manual, function diagram 2442)
40101 Main setpoint R/W Process data 2
40102 STW 3 R/W Process data 3
40103 STW 4 R/W Process data 4
40104 PZD 5 R/W Process data 5
4010… PZD … R/W Process data …
40109 PZD 10 R/W Process data 10
Status data
40110 Control word (see SINAMICS S120/150 Process data 1
R
List Manual, function diagram 2452)
40111 Main actual value R Process data 2
40112 ZSW 3 R Process data 3
40113 ZSW 4 R Process data 4
40114 PZD 5 R Process data 5
4011… PZD … R Process data …
40119 PZD 10 R Process data 10
Drive data
40324 2
Reference speed R/W P2000
40400 Failure number, Index 0 R r0947 [0]
40408 Alarm number R r2110 [0]
40409 Actual alarm code R r2132

2) These registers are not supported for linear motors as the unit and value range differ from normal rotary
drives.

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 3 Additional information

3.2 Fieldbus monitoring time

The time for monitoring received process data via fieldbus interface is set up via
p2040. If process data is not transferred within one cycle of the fieldbus monitoring
time then the drive shuts down with fault F01910. "Setpoint timeout" (F01910) is
issued by the Modbus if p2040 is set to a value > 0 ms and no process data are
transferred within this time period.

In the application example, a fieldbus monitoring time (p2040) of 150 ms is set

because the controller send new values every 100ms to the drive.

Figure 3-2 Monitoring time

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Figure 3-3 Cycle time

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 4 Appendix

4 Appendix
4.1 Service and Support
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 4 Appendix

4.2 Application Support

Siemens AG
Digital Factory Division
Factory Automation
Production Machines
DF FA PMA APC
Frauenauracher Str. 80
91056 Erlangen, Germany
mailto: profinet.team.motioncontrol.i-dt@siemens.com

4.3 Links and Literature

Table 4-1
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/view/35928944
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4.4 Change documentation

Table 4-2
Version Date Modifications
V1.0 11/2017 First version

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