9
Appendix
Drive Handling Blocks for Communication between PMCtendo DD4 with PROFIBUS-DP
Option and SIMATIC S7
The package consists of the following handling blocks:
FC21
Send data to the drive
FC22
Receive data from drive
FC100 DRVSTAT
STATUS information of the Profibus communication, transmission of
status
(Z
SW) and control (STW) information to the servodrive, jogging
and homing
FB102 DRIVEFSS
Function to store motion tasks to the servo drive
FC106 DRIVEFS
Call and process motion tasks
FC110 DRIVEPAR
Transfer of parameters, actual and setpoint values between the PLC and
the servodrive
System requirements
- S7-315-2 DP or other S7-Controller with DP-Operation.
- Simatic Step 7, Version 2.1 or higher
How it works
The function blocks FC21 (Send) and FC22 (Receive) do the communication with the drives by using
the user data block and the parameter data block. They use the parameters of the actual drive from the
parameter data block to transfer data from the user data block to the output peripherie of the CPU and
to read data from the input peripherie and transfer it to the user data block. In doing so they use the S7
system function SFC15 to send and the S7 system function SFC14 to receive data.
The function blocks FC100, FB102, FC106 and FC110 also access the user data block and
provide
interfaces for the user program.
The User Data Block
A user data block (DB101, DB102, ...) with the following design is needed for each axis:
Adress
Name
Comment
n
reserved
Begin of Data Block
...
...
n + 16
reserved
n + 18
PKES
Parameter-ID
PKW - Send Panel
n + 20
INDS
n + 22
PWE1S
Parameter-Value 1
n + 24
PWE2S
Parameter-Value 2
n + 26
STW
Control Word
PZD - Send Panel
n + 28
HSW
Main Setpoint
n + 30
PZD3S
n + 32
PZD4S
n + 34
PZD5S
n + 36
PZD6S
n + 38
PKEE
Parameter ID
PKW - Receive Panel
n + 40
PKWE
n + 42
PKE1E
n + 44
PWE2E
User manual PROFIBUS DP PMCtendo DD4
Page 55
9 Appendix
