Example - Siemens SINAMICS S120 Function Manual

Communication
11.4 Communication via SINAMICS Link
11.4.4

Example

Task
Configure SINAMICS Link for two nodes and transfer the following values:
● Send data from node 1 to node 2
– r0898 CO/BO: Control word, sequence control, drive 1 (1 PZD), in the example PZD 1
– r0079 CO: Total torque setpoint (2 PZD), in the example PZD 2
– r0021 CO: Smoothed actual speed (2 PZD), in the example PZD 3
● Send data from node 2 to node 1
– r0899 CO/BO: Status word, sequence control, drive 2 (1 PZD), in the example PZD 1
Procedure
1. For all nodes, set p0009 = 1 to change the device configuration.
2. For all CBE20 nodes, set the "SINAMICS Link" mode using p8835 = 3.
3. Assign the node numbers for the devices involved:
– Node 1: p8836 = 1 and
– Node 2: p8836 = 2
4. For both nodes p0009 = 0, carry out "Copy RAM to ROM" followed by a POWER ON.
5. Set all CBE20 to the isochronous mode by setting p8812[0] = 1.
6. Make the following interface setting for all nodes:
– For IF1: p8839[0] = 2 (COMM BOARD)
– For IF2: p8839[1] = 1 (Control Unit onboard)
7. Limit the maximum number of nodes for all nodes with p8811 = 16.
8. For both nodes p0009 = 0, carry out a "Copy RAM to ROM" followed by a POWER ON in
order to activate the modified firmware versions and the new settings in the CBE20.
9. Define the send data for node 1:
– Define the PZD that node 1 should send:
– Place this PZD in the send buffer (p8871) of node 1:
764
p2051[0] = drive1:r0898 (PZD length is 1 word)
p2061[1] = drive1:r0079 (PZD length is 2 words)
p2061[3] = drive1:r0021 (PZD length is 2 words)
p8871[0] = 1 (r0898)
p8871[1] = 2 (r0079 first part)
p8871[2] = 3 (r0079 second part)
p8871[3] = 4 (r0021 first part)
p8871[4] = 5 (r0021 second part)
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Drive functions