82843076_Application_Manual_Studio_5000_Speed_Control_V2 0 1

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Integrating Siemens 
Drive into Rockwell 
Automations Studio 
5000 by using Speed 
Control Telegrams 
 
Application Manual Studio 5000 Telegrams 1, 2, 3, 4, 
20, 350, 352 Speed Control 
 
https://support.industry.siemens.com/cs/ww/en/view/82843076 
 
 
Siemens 
Industry 
Online 
Support 
https://support.industry.siemens.com/cs/ww/en/view/82843076
Legal information 
 
Integrating Siemens Drive into Rockwell Automations Studio 5000 
Speed Control Telegrams 
Entry ID: 82843076, V2.0.1, 10/2020 2 
 
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Legal information 
Use of application examples 
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List of contents 
 
Integrating Siemens Drive into Rockwell Automations Studio 5000 
Speed Control Telegrams 
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List of contents 
Legal information ......................................................................................................... 2 
1 Overview ............................................................................................................. 4 
2 Telegrams ........................................................................................................... 5 
3 Reference Scaling Parameters ....................................................................... 17 
4 Startdrive Configuration ................................................................................. 18 
5 Download to the drive ..................................................................................... 33 
6 Motor Identification ......................................................................................... 35 
7 Create New Project with Rockwell Software Studio 5000 ........................... 41 
8 Rockwell Automation EDS Wizard ................................................................. 46 
9 Add a Siemens Drive to the Ethernet Network ............................................. 54 
10 Import Add-On Instruction .............................................................................. 58 
11 Configure IP Address for a Rockwell Controller .......................................... 60 
12 Configure RSLinx Communications for a Rockwell Controller .................. 66 
13 Insert a Rung for the Add-On Instruction ...................................................... 70 
14 Controlling the Siemens Drive ....................................................................... 75 
15 Download Project to the Rockwell Controller .............................................. 78 
16 Create a Rockwell’s FactoryTalk View Application ...................................... 80 
17 Establish Communications Between the Rockwell Controller and the 
Rockwell PanelView Plus Terminal ................................................................ 81 
18 Import Siemens Global Objects ..................................................................... 84 
19 Import Siemens Display .................................................................................. 89 
20 Add GOTO Button to a Display ......................................................................94 
21 Alarms and Warnings ...................................................................................... 99 
22 Edit Tags for Alarm Setup............................................................................. 103 
23 Test Application ............................................................................................. 105 
24 Transfer Utility ............................................................................................... 113 
25 Firmware Upgrade Wizard ............................................................................ 117 
26 Appendix ........................................................................................................ 122 
26.1 Application Support .......................................................................... 122 
26.2 Links and Literature .......................................................................... 122 
26.3 History .............................................................................................. 122 
 
 
1 Overview 
 
 
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1 Overview 
 
Scope: 
This document will explain how to integrate Siemens drives into Rockwell Automations Studio 
5000 software. This document will illustrate how to add Electronic Data Sheet (EDS) file, add a 
Siemens drive to the Ethernet/IP network, import Add-On Instructions, and create a routine for 
the Add-On instruction to an existing Studio 5000 PLC program. This document will illustrate 
how to import global objects, displays, alarms, and warnings into a FactoryTalk View Machine 
Edition HMI application. 
This document includes commonly used Siemens telegrams along with additional speed control 
telegrams for unique applications. 
 
Components Used: 
Hardware: 
Rockwell Automations CompactLogix 5370 Controller 1769-L16ER-BB1B 
Siemens G120 CU250S-2 PN V4.7 SP10 
 
Software: 
Rockwell Automations Studio 5000 V30 and FactoryTalk View Studio Machine Edition V10.0 
Startdrive V16.1 
BootP DHCP Ethernet/IP Commissioning Tool V3.02.00 
RSLinx V4.00.00 CPR 9 SR 10.0 
 
2 Telegrams 
 
 
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2 Telegrams 
 
What is a Telegram? Telegrams are universal blocks of data that organize parameters and 
functions into a uniform consistent format that all Siemens drives can use to pass data to the 
PLC. They are organized into 16-bit process words (abbreviated as PZD) that contain relevant 
information such as control words, status words, and setpoints. Most telegrams have a control 
word, status word, speed setpoint, and speed feedback word in common. 
 
 
 
A telegram is easily selected within the programming platform by loading the correct electronic 
data sheet (EDS) file. 
 
Commonly Used Siemens Telegrams for Speed Control: 
Telegrams 1 and 352 are the most commonly used telegrams for speed control applications. 
Siemens recommends that you choose one of these telegrams for speed control applications. 
 
Telegram 1 for Basic Speed Setpoint (16-bit): 
This telegram is a standard PROFIdrive telegram of 2 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 (16-bit). 
 
Table 2-1 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) Integer r52 
DriveStatus1 Smoothed Actual Speed (NIST_A_GLATT) Integer r63[1] 
2 Telegrams 
 
 
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Table 2-2 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) Integer r54 
DriveControl1 Speed Setpoint (NSOLL_A) Integer p1070[0] 
 
Telegram 352 for Vector Speed Control, Speed Setpoint, and Diagnostics: 
Telegram 352 is a standard Siemens telegram of 6 words in length for speed control with 
VECTOR Drive Objects. This telegram cannot be used with SERVO Drive Objects. This 
telegram offers four optional User Defined Control Setpoints, and four added status words 
returning to the PLC for Current, Torque, Warnings, and Faults. 
 
Table 2-3 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) Integer r52 
DriveStatus1 Smoothed Actual Speed (NIST_A_GLATT) Integer r63[1] 
DriveStatus2 Smoothed Actual Current (IAIST_GLATT) Integer r68[1] 
DriveStatus3 Smoothed Actual Torque (MIST_GLATT) Integer r80[1] 
DriveStatus4 Alarm Code - The most recent alarm code is displayed. 0 = No alarm 
present. (WARN_CODE) 
Integer p2132 
DriveStatus5 Fault Code - The oldest fault code is displayed. 0 = No fault present. 
(ALARM_CODE) 
Integer p2131 
 
Table 2-4 From PLC to Drive 
PLC Tagname Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) Integer r54 
DriveControl1 Speed Setpoint (NSOLL_A) Integer p1070[0] 
DriveControl2 User Defined Integer 
DriveControl3 User Defined Integer 
DriveControl4 User Defined Integer 
DriveControl5 User Defined Integer 
 
Additional Siemens Telegrams for Speed Control: 
This section has additional telegrams that can be used for speed control applications. If 
telegrams 1 and 352 are not suitable for your application, the telegrams in this section can be 
used. 
 
Telegram 2 for Basic Speed Setpoint (32-bit): 
This telegram is a standard Siemens telegram of four 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 (32-bit). This telegram contains a second control and status word. 
Table 2-5 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) Integer r52 
2 Telegrams 
 
 
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DriveStatus1 Actual Speed (NIST_B) Integer r63[0] 
DriveStatus2 Actual Speed (NIST_B) Integer r63[0] 
DriveStatus3 Status Word 2 (ZSW2) Integer p2081 
 
Table 2-6 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) Integer r54 
DriveControl1 Speed Setpoint (NSOLL_B) Integer p1070[0] 
DriveControl2 Speed Setpoint (NSOLL_B) Integer p1070[0] 
DriveControl3 Control Word 2 (STW2) Integer r2093 
 
Telegram 3 for Speed Setpoint (32-bit) with Position Encoder: 
This telegram is a Siemens telegram of 9 words in length. It will control the state of the drive by 
selecting the appropriate bits in the two control words and set the running speed in the speed 
setpoint word. The control word, status word, and position feedback of the encoder is also 
included. Telegram 3 is not suitable for sensorless vector control. 
 
Table 2-7 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) Integer r2089[0] 
DriveStatus1 Actual Speed Value (NIST_B) Integer r63[0] 
DriveStatus2 Actual Speed Value (NIST_B) Integer r63[0] 
DriveStatus3 Status Word 2 (ZSW2) Integer r2089[1] 
DriveStatus4 Encoder Status Word (G1_ZSW) Integer r481[0] 
DriveStatus5 Encoder 1 Actual Position 1 (G1_XIST1) Integer r482[0] 
DriveStatus6 Encoder 1 Actual Position 1 (G1_XIST1) Integer r482[0] 
DriveStatus7 Encoder 1 Actual Position 2 (G1_XIST2) Integer r483[0]DriveStatus8 Encoder 1 Actual Position 2 (G1_XIST2) Integer r483[0] 
 
Table 2-8 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) Integer r54 
DriveControl0 Main Setpoint (NSOLL_B) Integer p1070[0] 
DriveControl2 Main Setpoint (NSOLL_B) Integer p1070[0] 
DriveControl3 Control Word 2 (STW2) Integer p2045 
DriveControl4 Encoder 1 Control Word (G1_STW) Integer p480[0] 
 
Telegram 4 for Speed Setpoint (32-bit) with Two Position Encoders: 
This telegram is a standard Siemens telegram of 14 words in length. It will control the state of 
the drive by selecting the appropriate bits in the two control words and set the running speed in 
the speed setpoint word. The control words, status words, and position feedback of two 
encoders are also included. Telegram 4 is not suitable for sensorless vector control. 
 
2 Telegrams 
 
 
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Table 2-9 From Drive to PLC 
PLC Tagname Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) Integer r2089[0] 
DriveStatus1 Actual Speed Value (NIST_B) Integer r63[0] 
DriveStatus2 Actual Speed Value (NIST_B) Integer r63[0] 
DriveStatus3 Status Word 2 (ZSW2) Integer r2089[1] 
DriveStatus4 Encoder Status Word (G1_ZSW) Integer r481[0] 
DriveStatus5 Encoder 1 Actual Position 1 (G1_XIST1) Integer r482[0] 
DriveStatus6 Encoder 1 Actual Position 1 (G1_XIST1) Integer r482[0] 
DriveStatus7 Encoder 1 Actual Position 2 (G1_XIST2) Integer r483[0] 
DriveStatus8 Encoder 1 Actual Position 2 (G1_XIST2) Integer r483[0] 
DriveStatus9 Encoder 2 Status Word (G2_ZSW) Integer r481[1] 
DriveStatus10 Encoder 2 Actual Position 1 (G2_XIST1) Integer r482[1] 
DriveStatus11 Encoder 2 Actual Position 1 (G2_XIST1) Integer r482[1] 
DriveStatus12 Encoder 2 Actual Position 2 (G2_XIST2) Integer r483[1] 
DriveStatus13 Encoder 2 Actual Position 2 (G2_XIST2) Integer r483[1] 
 
Table 2-10 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) Integer 
DriveControl1 Main Setpoint (NSOLL_B) Integer p1070[0] 
DriveControl2 Main Setpoint (NSOLL_B) Integer p1070[0] 
DriveControl3 Control Word 2 (STW2) Integer p2045 
DriveControl4 Encoder 1 Control Word (G1_STW) Integer p480[0] 
DriveControl5 Encoder 2 Control Word (G2_STW) Integer p480[1] 
 
Telegram 20 for Speed Setpoint (16-bit) for VIK-NAMUR: 
This telegram is a standard PROFIdrive telegram of 6 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. Additionally, this telegram can send current, torque, and power feedback. 
 
Table 2-11 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) Integer r52 
DriveStatus1 Smoothed Actual Speed (NIST_A_GLATT) Integer r63[1] 
DriveStatus2 Smoothed Actual Current (IAIST_GLATT) Integer r68[1] 
DriveStatus3 Smoothed Actual Torque (MIST_GLATT) Integer r80[1] 
DriveStatus4 Smoothed Actual Power (PIST_GLATT) Integer r82[1] 
DriveStatus5 MELD_NAMUR Namur Message Bit Bar Integer p3113 
2 Telegrams 
 
 
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Table 2-12 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) Integer r54 
DriveControl1 Speed Setpoint (NSOLL_A) Integer p1070[0] 
 
Telegram 350 for Speed Setpoint (16-bit), Speed Feedback, Current Feedback, and 
Torque Limit: 
This telegram is a standard Siemens telegram of 4 words in length. The drive is controlled 
through two control words and a speed setpoint. In the output image, speed and current 
feedback are available. Scaling of the upper torque limit to limit the speed controller output can 
be controlled in the input image. 
 
Table 2-13 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) Integer r2089[0] 
DriveStatus1 Actual Speed Value (FIST_GLATT) Integer r63[1] 
DriveStatus2 Absolute Current Actual Value (IAIST_GLATT) Integer r68[1] 
DriveStatus3 Status Word 2 (ZSW3) Integer r53 
 
 
Table 2-14 From PLC to Drive 
PLC Tagname Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) Integer 
DriveControl1 Main Setpoint (FSOLL) Integer p1070[0] 
DriveControl2 Torque Limit Upper Scaling Without Offset (M_LIM) Integer p1552[0] 
DriveControl3 Control Word 3 (STW3) Integer 
 
Data from the Drive to the PLC – Drive Status Word Individual Bits: 
 
Table 2-15 Status Word 1 (ZSW1) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
0 
Ready to Power On 
1 = Drive ready 
0 = Drive not ready 
Bool r0899.0 
1 
Ready to Run 
1 = Ready to run 
0 = Not ready to run 
Bool r0899.1 
2 
Drive Running 
1 = Motor enabled 
0 = Motor not enabled 
Bool r0899.2 
3 
Fault Present 
1 = Converter fault 
0 = No fault active 
Bool r2139.3 
4 
Coast Stop 
0 = Coast down (OFF2) inactive 
1 = Coast down active 
Bool r0899.4 
5 
Quick Stop 
0 = Quick stop (OFF3) inactive 
1 = Quick stop active 
Bool r0899.5 
2 Telegrams 
 
 
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6 
Switch On Inhibited 
1 = Motor inhibited from switching on 
0 = Motor can be switched on 
Bool r0899.6 
7 
Warning Present 
1 = Warning present 
0 = No warning present 
Bool r2139.7 
8 
Motor at Acceptable Speed 
1 = Speed deviation within tolerance 
0 = Speed deviation outside tolerance 
Bool r2197.7 
9 
PLC Has Control 
1 = Master control requested 
0 = No action 
Bool r0899.9 
10 
Speed Comparison Reached 
1 = Speed greater than or equal to max speed 
0 = Speed less than max speed 
Bool r2199.1 
11 
Torque Limit Reached 
1 = Torque limit reached 
0 = Torque limit not reached 
Bool r0052.11 
12 
Holding Brake Open 
1 = Holding brake open 
0 = Holding brake closed 
Bool r0899.12 
13 
Motor Overload 
0 = No overtemperature alarm 
1 = Overtemperature alarm present 
Bool r2135.14 
14 
Reverse Direction 
1 = Motor rotates clockwise 
0 = Motor rotates counterclockwise 
Bool r2197.3 
15 
Drive Overload 
0 = No converter thermal overload alarm 
1 = Thermal overload alarm present 
Bool r2135.15 
 
Table 2-16 Status Word 2 (ZSW2) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
0 Drive data set selection (DDS) Bit 0 
Bits 0-4 display the selected drive data set. 
 
 
 
 
Bool 
Bool 
r0051.0 
1 Drive data set selection (DDS) Bit 1 r0051.1 
2 Drive data set selection (DDS) Bit 2 
3 Drive data set selection (DDS) Bit 3 
4 Drive data set selection (DDS) Bit 4 
5 
Alarm Class Bit 0 
Bits 5-6 are used for the classification of 
internal alarm classes and are intended for 
diagnostic purposes only. 
Bool r2139.11 
6 Alarm Class Bit 1 1 = On; 0 = Off Bool r2139.12 
7 
Parking Axis Function Status 
1 = Parking axis function active 
0 = Parking axis function inactive 
Bool 
 
8 
Travel to Fixed Stop Status 
1 = Travel to fixed end stop function active 
0 = Travel to fixed end stop inactive 
Bool 
r1406.8 
9 Reserved 
10 Pulse Status 1 = Pulses enabled; 0 = Pulses inhibited Bool r0899.11 
11 
Motor Data Set Changeover Status 
1 = Motor data set changeover active 
0 = Motor data set changeover inactive 
Bool 
r0835.0 
12 Slave sign-of-life Bit 0 Bool 
13 Slave sign-of-life Bit 1 Bool 
14 Slave sign-of-life Bit 2 Bool15 Slave sign-of-life Bit 3 Bool 
 
2 Telegrams 
 
 
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Table 2-17 Status Word 3 (ZSW3) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
0 
DC Brake Status 
1 = DC braking active 
0 = DC braking inactive 
Bool 
r0053.0 
1 
Speed Above Stationary Speed 
1 = Absolute speed is greater than "stationary" 
speed (p1226) 
0 = Speed less than stationary speed 
Bool 
r0053.1 
2 
Speed Above Minimum Speed 
1 = Absolute speed is greater than minimum 
speed (p1080) 
0 = Speed less than minimum speed 
Bool 
r0053.2 
3 
Current Above Threshold Value 
1 = Current greater than or equal to threshold 
value (p2170) 
0 = Current less than threshold value 
Bool 
r0053.4 
4 
Speed Above Threshold 2 
1 = Absolute speed greater than speed threshold 
value 2 (p2155) 
0 = Speed less than threshold 2 
Bool 
r0053.4 
5 
Speed Below Threshold 2 
1 = Absolute speed less than or equal to speed 
threshold value 2 
0 = Speed greater than threshold 2 
Bool 
r0053.5 
6 
Speed Setpoint Reached 
1 = Absolute speed greater than or equal to 
setpoint (r1119) 
0 = Speed less than setpoint 
Bool 
r0053.6 
7 
DC Link Voltage Below Threshold 
1 = DC link voltage at or below threshold value 
(p2172) 
0 = DC link voltage below threshold value 
Bool 
r0053.7 
8 
DC Link Voltage Above Threshold 
1 = DC link voltage above threshold value 
0 = DC link voltage below threshold value 
Bool 
r0053.8 
9 
Ramp Function Generator Status 
1 = Ramp up or ramp down completed (RFG 
inactive) 
0 = Ramp up or ramp down incomplete 
Bool 
r0053.9 
10 
Technology Controller Lower Limit 
1 = Tech controller output at or below lower limit 
(p2292) 
0 = Output above lower limit 
Bool 
r0053.10 
11 
Technology Controller Upper Limit 
1 = Tech controller output above upper limit 
(p2291) 
0 = Output below or at upper limit 
Bool 
r0053.11 
12 Reserved 
13 Reserved 
14 Reserved 
15 Reserved 
 
Table 2-18 Encoder 1 Status Word (G1_ZSW) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
 Encoder 
Control Word 
Bit 7 = 0 
Encoder 
Control Word 
Bit 7 = 1 
 
0 
Function 1 Status 
Search for reference cam 1 
active 
Flying referencing to 
rising edge of 
reference cam 1 
active 
Bool 
r2051[4] 
1 
Function 2 Status 
Search for reference cam 1 
active 
Flying referencing to 
falling edge of 
Bool 
r2051[4] 
2 Telegrams 
 
 
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Bit Name Functionality Data 
Type 
Drive 
Parameter 
reference cam 1 
active 
2 
Function 3 Status 
Search for reference cam 2 
active 
Flying referencing to 
rising edge of 
reference cam 2 
active 
Bool 
r2051[4] 
3 
Function 4 Status 
Search for reference cam 2 
active 
Flying referencing to 
falling edge of 
reference cam 2 
active 
Bool 
r2051[4] 
4 
Status Value 1 
Actual position at reference 
cam 1 
Flying referencing to 
rising edge of 
reference cam 1 
complete 
Bool 
r2051[4] 
5 
Status Value 2 
Actual position at reference 
cam 1 
Flying referencing to 
falling edge of 
reference cam 1 
complete 
Bool 
r2051[4] 
6 
Status Value 3 
Actual position at reference 
cam 2 
Flying referencing to 
rising edge of 
reference cam 2 
complete 
Bool 
r2051[4] 
7 
Status Value 4 
Actual position at reference 
cam 2 
Flying referencing to 
falling edge of 
reference cam 2 
complete 
Bool 
r2051[4] 
8 Measuring Probe 1 
Deflection Status 
1 = Measuring probe 1 deflected 
0 = Measuring probe 1 not deflected 
Bool 
r2051[4] 
9 Measuring Probe 2 
Deflection Status 
1 = Measuring probe 2 deflected 
0 = Measuring probe 2 not deflected 
Bool 
r2051[4] 
10 
Encoder 1 Status 
1 = Encoder 1 on 
0 = Encoder 1 off 
Bool 
r2051[4] 
11 Acknowledge 1 = Acknowledge encoder fault is active Bool r2051[4] 
12 
Encoder 1 Status 
1 = Encoder 1 on 
0 = Encoder 1 off 
Bool 
r2051[4] 
13 
Cyclic Absolute Value 
Status 
1 = Actual position displayed in r0483 
0 = No value displayed 
r0483[0] displays the encoder position value 
r0483[1] displays the encoder fault number if a fault is 
present. 
Bool 
r2051[4] 
14 
Parking Status 
1 = Encoder is parked 
0 = Encoder is not parked 
Bool 
r2051[4] 
15 
Fault Status 
1 = Encoder indicates its fault type in r0483 
0 = No fault 
Bool 
r2051[4] 
 
Table 2-19 Encoder 2 Status Word (G2_ZSW) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
 Encoder 
Control Word 
Bit 7 = 0 
Encoder 
Control Word 
Bit 7 = 1 
 
0 
Function 1 Status 
Search for reference cam 1 
active 
Flying referencing to 
rising edge of 
reference cam 1 
active 
Bool 
r2051[4] 
2 Telegrams 
 
 
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Bit Name Functionality Data 
Type 
Drive 
Parameter 
1 
Function 2 Status 
Search for reference cam 1 
active 
Flying referencing to 
falling edge of 
reference cam 1 
active 
Bool 
r2051[4] 
2 
Function 3 Status 
Search for reference cam 2 
active 
Flying referencing to 
rising edge of 
reference cam 2 
active 
Bool 
r2051[4] 
3 
Function 4 Status 
Search for reference cam 2 
active 
Flying referencing to 
falling edge of 
reference cam 2 
active 
Bool 
r2051[4] 
4 
Status Value 1 
Actual position at reference 
cam 1 
Flying referencing to 
rising edge of 
reference cam 1 
complete 
Bool 
r2051[4] 
5 
Status Value 2 
Actual position at reference 
cam 1 
Flying referencing to 
falling edge of 
reference cam 1 
complete 
Bool 
r2051[4] 
6 
Status Value 3 
Actual position at reference 
cam 2 
Flying referencing to 
rising edge of 
reference cam 2 
complete 
Bool 
r2051[4] 
7 
Status Value 4 
Actual position at reference 
cam 2 
Flying referencing to 
falling edge of 
reference cam 2 
complete 
Bool 
r2051[4] 
8 Measuring Probe 1 
Deflection Status 
1 = Measuring probe 1 deflected 
0 = Measuring probe 1 not deflected 
Bool 
r2051[4] 
9 Measuring Probe 2 
Deflection Status 
1 = Measuring probe 2 deflected 
0 = Measuring probe 2 not deflected 
Bool 
r2051[4] 
10 
Encoder 1 Status 
1 = Encoder 1 on 
0 = Encoder 1 off 
Bool 
r2051[4] 
11 Acknowledge 1 = Acknowledge encoder fault is active Bool r2051[4] 
12 
Encoder 1 Status 
1 = Encoder 1 on 
0 = Encoder 1 off 
Bool 
r2051[4] 
13 
Cyclic Absolute Value 
Status 
1 = Actual position displayed in r0483 
0 = No value displayed 
r0483[0] displays the encoder position value 
r0483[1] displays the encoder fault number if a fault is 
present. 
Bool 
r2051[4] 
14 
Parking Status 
1 = Encoder is parked 
0 = Encoder is not parked 
Bool 
r2051[4] 
15 
Fault Status 
1 = Encoder indicates its fault type in r0483 
0 = No fault 
Bool 
r2051[4] 
 
Data from the PLC to the Drive – Drive Control Word Individual Bits: 
 
2 Telegrams 
 
 
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Table 2-20 Control Word 1 (STW1) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
0 
Run Command 
1 = Enable drive 
0 = Ramp down and disable drive 
Bool p0840[0] 
1 
Coast Stop 
0 = No stop command issued 
1 = Immediate disable and coast to stop 
Bool p0844[0] 
2 
Quick Stop 
0 = No stop command issued 
1 = Immediate disable and quick stop 
Bool p0848[0] 
3 
Enable Operation 
1 = Enable drive (pulses enabled) 
0= Inverter prohibited from generating pulses 
Bool p0852[0] 
4 
RFG Enable 
1 = Ramp function generator output enabled 
0 = Ramp function generator output set to 0 
Bool p1140[0] 
5 
RFG Freeze 
1 = Ramp function generator follows setpoint input 
0 = Ramp function generator freezes at current value 
Bool p1141[0] 
6 
Setpoint Enable 
1 = Ramp function generator setpoint input enabled 
0 = Ramp function generator input set to 0 
Bool p1142[0] 
7 Fault Acknowledge 1 = Acknowledge faults (on rising edge) Bool p2103[0] 
8 Reserved 
9 Reserved 
10 
PLC Control 
1 = Control is by PLC 
0 = No control by PLC 
Bool p0854[0] 
11 
Reverse Direction 
1 = Reverse Rotation 
0 = Forward Rotation 
Bool p1113[0] 
12 Reserved 
13 
MOP Raise Setpoint 
1 = Raise Motorized potentiometer setpoint 
0 = No action 
Bool p1035[0] 
14 
MOP Lower Setpoint 
1 = Lower Motorized potentiometer setpoint 
0 = No action 
Bool p1036[0] 
15 Reserved 
 
Table 2-21 Control Word 2 (STW2) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
0 Drive data set selection (DDS) Bit 0 1 = On; 0 = Off Bool p0820[0] 
1 Drive data set selection (DDS) Bit 1 1 = On; 0 = Off Bool p0821[0] 
2 Drive data set selection (DDS) Bit 2 
3 Drive data set selection (DDS) Bit 3 
4 Drive data set selection (DDS) Bit 4 
5 Reserved 
6 Reserved 
7 
Parking Axis Selection 
1 = Parking axis function active 
0 = Parking axis function inactive 
Bool p0897 
8 
Traverse to Fixed End Stop 
1 = Travel to fixed end stop function active 
0 = Travel to fixed end stop inactive 
This bit is only available for the S120 and 
is not available for vector U/f control 
Bool p1545[0] 
9 Reserved 
10 Reserved 
2 Telegrams 
 
 
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11 Motor Changeover Feedback Signal 
12 Master sign-of-life Bit 0 
13 Master sign-of-life Bit 1 
14 Master sign-of-life Bit 2 
15 Master sign-of-life Bit 3 
 
Table 2-22 Control Word 3 (STW3) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
0 Fixed Setpoint Selector Bit 0 Bits 0-3 are used to select between 16 different 
fixed setpoints. 
 
 
 
Bool p1020[0] 
1 Fixed Setpoint Selector Bit 1 Bool p1021[0] 
2 Fixed Setpoint Selector Bit 2 Bool p1022[0] 
3 Fixed Setpoint Selector Bit 3 Bool p1023[0] 
4 Drive data set selection (DDS) Bit 0 Bits 4-5 are used to select a drive data set. 
 
Bool p0820 
5 Drive data set selection (DDS) Bit 1 Bool p0821 
6 Reserved 
7 Reserved 
8 
Technology Controller Enable 
1 = Technology Controller Enabled 
0 = Technology Controller Disable 
Bool 
p2200[0] 
9 
DC Braking Enable 
1 = Enable DC braking 
0 = DC braking disabled 
Bool 
p1230[0] 
10 Reserved 
11 
Droop Feedback Enable 
1 = Speed controller droop enable 
0 = Speed controller droop disable 
Bool 
p1492[0] 
12 
Vector Control Mode 
1 = Torque control active 
0 = Speed control active 
Bool 
p1501[0] 
13 
External Fault Status 
1 = No external fault 
0 = External fault present 
Bool 
p2106[0] 
14 Reserved 
15 Command Data Set Selection Bit 0 Bool p0811[0] 
 
Table 2-23 Encoder 1 Control Word (G1_STW) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
 If bit 7 = 0 If bit 7 = 1 
0 
Request Function 1 
Search for reference 
cam 1 with 
positive start direction 
Request flying referencing to 
the rising edge of reference 
cam 1 
Bool 
r2050[4] 
1 
Request Function 2 
Search for reference 
cam 1 with 
negative start direction 
Request flying referencing to 
the falling edge of reference 
cam 1 
Bool 
r2050[4] 
2 
Request Function 3 
Search for reference 
cam 2 with 
positive start direction 
Request flying referencing to 
the rising edge of reference 
cam 2 
Bool 
r2050[4] 
3 
Request Function 4 
Search for reference 
cam 2 with 
negative start direction 
Request flying referencing to 
the falling edge of reference 
cam 2 
Bool 
r2050[4] 
4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 Bool r2050[4] 
5 Request Command Bit 1 1 = Read the value requested using bits 0…3 Bool r2050[4] 
2 Telegrams 
 
 
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Bit Name Functionality Data 
Type 
Drive 
Parameter 
6 Request Command Bit 2 Reserved Bool r2050[4] 
7 
Function Mode Selection 
1 = Flying measurement function set 
0 = Reference cam search function set 
Bool 
r2050[4] 
8 Reserved 
9 Reserved 
10 Reserved 
11 Reserved 
12 Reserved 
13 Request Absolute Value 
Cyclic 
1 = Request for cyclic transfer of actual position value of 
encoder 1 
Bool 
r2050[4] 
14 Request Parking Encoder 1 = Request to park the encoder Bool r2050[4] 
15 Request Acknowledge 
Encoder Fault 1 = Acknowledge encoder fault (on rising edge) 
Bool 
r2050[4] 
 
Table 2-24 Encoder 2 Control Word (G2_STW) 
Bit Name Functionality Data 
Type 
Drive 
Parameter 
 If bit 7 = 0 If bit 7 = 1 
0 
Request Function 1 
Search for reference 
cam 1 with 
positive start direction 
Request flying referencing to 
the rising edge of reference 
cam 1 
Bool 
r2050[4] 
1 
Request Function 2 
Search for reference 
cam 1 with 
negative start direction 
Request flying referencing to 
the falling edge of reference 
cam 1 
Bool 
r2050[4] 
2 
Request Function 3 
Search for reference 
cam 2 with 
positive start direction 
Request flying referencing to 
the rising edge of reference 
cam 2 
Bool 
r2050[4] 
3 
Request Function 4 
Search for reference 
cam 2 with 
negative start direction 
Request flying referencing to 
the falling edge of reference 
cam 2 
Bool 
r2050[4] 
4 Request Command Bit 0 1 = Activate the function requested using bits 0…3 Bool r2050[4] 
5 Request Command Bit 1 1 = Read the value requested using bits 0…3 Bool r2050[4] 
6 Request Command Bit 2 Reserved Bool r2050[4] 
7 
Function Mode Selection 
1 = Flying measurement function set 
0 = Reference cam search function set 
Bool 
r2050[4] 
8 Reserved 
9 Reserved 
10 Reserved 
11 Reserved 
12 Reserved 
13 Request Absolute Value 
Cyclic 
1 = Request for cyclic transfer of actual position value of 
encoder 1 
Bool 
r2050[4] 
14 Request Parking Encoder 1 = Request to park the encoder Bool r2050[4] 
15 Request Acknowledge 
Encoder Fault 1 = Acknowledge encoder fault (on rising edge) 
Bool 
r2050[4] 
 
 
3 Reference Scaling Parameters 
 
 
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3 Reference Scaling Parameters 
 
Certain data words are normalized internally by the drive using the following parameters. 
Commanded values use the scale that is set by these parameters. For example, if the desired 
100% command to motor speed is 2000 rpm, then p2000 should be set to 2000. A command of 
1500 rpm would be treated as 75%. 
 
Table 3-1 Reference Scaling Parameters 
Parameter Name [Data Type] Functionality 
p2000 Reference Speed, 
Velocity, or Frequency 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000 hex (16b) or 
4000000 hex (32b) of speed, velocity, or frequency. Factory default values: 
120.00 m/min (velocity), 3000.00 rpm (speed), 50.00 Hz (frequency) 
p2001 Reference Voltage 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000 hex (16b) or 
4000000 hex (32b) of voltage. Factory default value: 1000 V 
p2002 Reference Current or 
Pressure 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000hex (16b) or 
4000000 hex (32b) of current or pressure. Factory default values: 100.00 
Arms (current), 100.00 bar (pressure) 
p2003 Reference Force or 
Torque 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000 hex (16b) or 
4000000 hex (32b) of force or torque. Factory default values: 100.00 N 
(force), 1.00 Nm (torque) 
p2004 Reference Power 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000 hex (16b) or 
4000000 hex (32b) of power. Its factory default is calculated from p2003 * 
p2000 (torque * speed) or p2003 * p2000 (force * linear speed). 
p2005 Reference Angle 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000 hex (16b) or 
4000000 hex (32b) of ref. angle. Factory default values: 90.00 degrees 
p2006 Reference 
Temperature 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000 hex (16b) or 
4000000 hex (32b) of temperature. Factory default values: 100.00 degrees C 
p2007 Reference 
Acceleration 
[FloatingPoint32] 
The value of this parameter corresponds to 100% or 4000 hex (16b) or 
4000000 hex (32b) of rotational acceleration. Factory default values: 0.01 
revolutions/sec^2 
4 Startdrive Configuration 
 
 
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4 Startdrive Configuration 
 
Create a New Project: Launch TIA Portal or Startdrive. For this example, TIA Portal is being 
used. Create New Project. Assign Project Name. Select Path. Click Create. 
 
 
 
Click Open the project view. 
 
 
 
Online Access: Click the Accessible devices from the toolbar. 
 
 
 
Type of the PG/PC interface: Select the appropriate interface for your application from the 
pulldown. For this example, PN/IE will be used. 
PG/PC interface: Select the appropriate interface for the application from the pulldown. For this 
example, Intel® I210 Gigabit Network Connection will be used. 
Select the appropriate drive. Click Start search. Click Show. 
4 Startdrive Configuration 
 
 
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The result will be displayed. 
 
 
 
Assign IP address: Double click Online & Diagnostics. Expand Functions. Click Assign IP 
address. Enter IP address. Enter Subnet mask. Click Assign IP address. 
 
4 Startdrive Configuration 
 
 
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Upload device as new station: Right click the desired drive. Click Upload device as new 
station. 
 
 
 
An image of the result is below. 
 
4 Startdrive Configuration 
 
 
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Commission the Drive: Expand the desired drive from the Project tree. Double click 
Commissioning. Click Commissioning Wizard. 
 
 
 
Application class: 
You can set the application class in the wizard function in the configuration. Select one of the 
following classes: 
 
Standard Drive Control: The same performance such as U/f with FCC and slip compensation 
/ speed accuracy is only restricted. There is therefore no speed controller and no torque 
4 Startdrive Configuration 
 
 
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accuracy. Two rating plate parameters are required for the motor commissioning: Rated current 
and rated speed. The synchronous rated speed is accepted. The motor data identification is 
preset. A short measurement is performed once (only stator resistance, dead time 
compensation) to improve the start-up. This is followed by a direct switchover to operation. The 
optimization of the speed controller is not relevant. 
 
Dynamic Drive Control: Compared to Standard Drive Control, the performance such as 
sensorless vector control / speed accuracy is significantly improved. The robustness is 
improved with higher model change limits but takes effect at slow reversing. Three rating plate 
parameters are required for the motor commissioning: Rated current, rated power and rated 
speed. The motor data identification is preset and serves to simplify and shorten the 
measurement compared with the existing standstill measurement. This is followed by a direct 
switchover to operation. In the speed controller optimization, there is a shorter measurement of 
the moment of inertia / magnetizing current with direct transition to operation and the setpoint 
speed defined by the user. 
 
Expert: The Expert functions include the Standard Drive Control and Dynamic Drive Control 
functions. 
 
Select the appropriate application class for the drive from the pulldown. For this example, [1] 
Standard Drive Control (SDC) is selected. Click Next. 
 
 
 
4 Startdrive Configuration 
 
 
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Setpoint specification: Selection if the drive is connected to a PLC and where the 
setpoint is to be created. 
Select the appropriate controller connection and the setpoint specification. For this example, 
data exchange from the PLC to the drive (Ramp function in the drive) will be used. Click Next. 
 
 
 
 
Further functions: Select the appropriate function modules for the drive. For this example; 
Telegram 352 will be used. Click Next. 
4 Startdrive Configuration 
 
 
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Defaults of the setpoints/command sources: Selection of a predefined interconnection 
of the inputs/outputs and, if required, the fieldbus telegram. Can be changed later user-
specifically. 
Select the appropriate IO configuration from the pulldown. For this example, [4] Conveyor 
technology with fieldbus will be selected. Select the appropriate Telegram configuration from 
the pulldown. For this example, [352] SIEMENS telegram 352, PZD-6/6 will be selected to 
control a Siemens drive with a Rockwell processor. PZD-6/6 represents the number of Integers 
that will be received from the drive and sent to the drive. Click Next. 
4 Startdrive Configuration 
 
 
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Drive setting: Selection of motor standard and load cycle. 
Select appropriate setting from the pull down. Enter Drive unit line supply voltage. For this 
example, the motor being used is [0] IEC-Motor (50 Hz, SI unitts) at 230V line supply voltage. 
Click Next. 
4 Startdrive Configuration 
 
 
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Drive options: Configuration of optional braking resistor and drive filter. 
If applicable, select Braking resistor. Select Drive filtertype motor side from pull down. For this 
example, braking resistor will be deselected with [0] No filter. Click Next. 
 
4 Startdrive Configuration 
 
 
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Motor: Specification of motor type and motor data. 
Select appropriate motor configuration from the pull down. For this example, Enter motor data 
is selected. Select motor type from the pulldown. For this example, [1] Induction motor is 
selected. Select the connection type for the motor from the pulldown. For this example, Star is 
selected. Enter the rated motor current, rated motor power, rated motor speed, rated motor 
voltage, and rated motor frequency from the motor nameplate. Select motor cooling type from 
the pulldown. For this example, [0] Natural ventilization is selected. Select Temperature sensor 
from the pulldown. For this example, [0] No sensor is selected. Click Next. 
4 Startdrive Configuration 
 
 
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Motor holding brake: Select Motor holding brake configuration from pull down. For this 
example, [0] No motor holding brake available. Click Next. 
 
4 Startdrive Configuration 
 
 
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Important parameters: Specification of the most important dynamic response data. 
 
Synchronization of the speed of the drive with the speed of the PLC: 
Enter Reference speed: p2000. Sets reference quantity for speed and frequency. 
Enter Maximum speed: p1082[0]. Sets the highest possible speed. 
Configuration of ramp up and ramp down time: 
Enter Ramp up time: p1120[0]. The ramp-function generator ramps-up the speed setpoint from 
standstill (setpoint = 0) up to the maximum speed (p1082) in this time. 
Enter OFF1 ramp down time: p1121[0]. The ramp-function generator ramps-down the speed 
setpoint from the maximum speed (p1082) down to standstill (setpoint = 0) in this time. 
Enter OFF3 (quick stop) ramp down time: Sets the ramp-down time from the maximum speed 
down to zero speed for the OFF3 command. 
Configuration of the current limit: 
Enter current limit: p640[0]. Sets the current limit. 
 
Click Next. 
 
4 Startdrive Configuration 
 
 
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Drive functions: Specification of the method to measure the motor data. 
Select technological application (Standard Drive Control) from the pulldown. For this example, 
[0] Constant load (linear characteristic) is selected. Select motor identification from the 
pulldown. For this example, [2] Identifying motor data (at standstill) is selected. Click Next. 
 
4 Startdrive Configuration 
 
 
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Summary: Click Finish. 
 
4 Startdrive Configuration 
 
 
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5 Download to the drive 
 
 
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5 Download to the drive 
 
Expand the desired drive from the Project tree. Select the appropriate drive. Click download 
from the toolbar. 
 
 
 
Click Load. 
 
5 Download to the drive 
 
 
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6 Motor Identification 
 
 
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6 Motor Identification 
 
Expand the desired drive from the Project tree. Select the appropriate drive. Double click 
Commissioning. Click Control panel. 
 
 
 
Click Go online from the toolbar. 
 
 
 
Notice the motor measurement drive status is visible. Click Activate. 
 
 
 
6 Motor Identification 
 
 
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Click Accept. 
 
 
 
If required, set Drive enables. Click Forward. Repeat until motor measurement drive status is 
invisible. 
 
 
 
Notice the motor measurement drive status is invisible. Click Deactivate. 
6 Motor Identification 
 
 
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Click Accept. 
 
 
 
Field bus interface protocol selection: 
Double click Parameter. 
 
6 Motor Identification 
 
 
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Click Parameter View. Scroll down to p2030. Select [10] Ethernet/IP from the pulldown. 
 
 
 
User Defined Parameter List: Click create new user defined parameter list. 
 
 
 
Type the following parameters: 922, 2030, 8980, 2000, 2001, 2002, 2003, 2004, 1820. These 
are a few useful parameters. Click Save. 
 
6 Motor Identification 
 
 
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Click Yes. 
 
 
 
Assign a file name and location. Click Save. 
 
 
 
Save RAM to ROM: 
Double click Commissioning. Click Backup/Restore. Save RAM data to EEPROM: Click Save. 
6 Motor Identification 
 
 
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Save project: Click Save project. 
 
 
Click Go offline: 
 
 
 
Reboot drive. 
 
 
 
 
 
 
 
 
7 Create New Project with Rockwell Software Studio 5000 
 
 
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7 Create New Project with Rockwell 
Software Studio 5000 
 
Under Create, Click New Project. 
 
 
 
Expand appropriate controller. Select controller. Assign name. Click Browse. 
 
7 Create New Project with Rockwell Software Studio 5000 
 
 
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Select appropriate folder. Click OK. 
 
7 Create New Project with Rockwell Software Studio 5000 
 
 
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Click Next. 
 
7 Create New Project with Rockwell Software Studio 5000 
 
 
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Select revision from pulldown. If applicable, select expansion IO from pulldown. Click Finish. 
 
7 Create New Project with Rockwell Software Studio 5000 
 
 
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8 Rockwell Automation EDS Wizard 
 
 
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8 Rockwell Automation EDS Wizard 
 
A Siemens drive is not firmware dependent to operate. These EDS files were created without a 
specific firmware version. From the Toolbar, Click Tools. Click EDS Hardware Installation Tool. 
 
 
 
Welcome to Rockwell Automation’s EDS Wizard. To continue, Click Next. 
 
 
8 Rockwell Automation EDS Wizard 
 
 
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Options - What task do you want to complete? Select Register an EDS file(s). This option will 
add a device(s) to our database. To continue, Click Next. 
 
 
 
Registration – Electronic Data Sheet file(s) will be added to your system for use in Rockwell 
Automation applications. Select Register a directory of EDS files and check Look in subfolders. 
Click Browse. 
 
8 Rockwell Automation EDS Wizard 
 
 
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Browse to the folder where the EDS files are located. Select All EDS Files (this is the folder 
where all EDS files for a Siemens G drive resides) folder. Click OK. 
 
8 Rockwell Automation EDS Wizard 
 
 
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Click Next. 
 
8 Rockwell Automation EDS Wizard 
 
 
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EDS File Installation Test Results – This test evaluates each EDS file for errors in the EDS file. 
This test does not guarantee EDS file validity. If the installation test results have a green check 
mark, click Next. 
 
8 Rockwell Automation EDS Wizard 
 
 
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Change Graphic Image – You can change the graphic image that is associated with a device. 
To continue, click Next. 
 
 
8 Rockwell Automation EDS Wizard 
 
 
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Final Task Summary – This is a review of the task you want to complete. You would like to 
register the following device. To continue, click Next. 
 
 
 
You have successfully completed the EDS Wizard. To continue, click Finish. 
8 Rockwell Automation EDS Wizard 
 
 
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9 Add a Siemens Drive to the Ethernet Network 
 
 
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9 Add a Siemens Drive to the Ethernet 
Network 
 
As an example, the following information will be using Telegram 352. In the Controller 
Organizer, expand I/O Configuration, right click on Ethernet and click New Module. 
 
 
 
In the “Select Module Type” window, type T352 into the search bar. The results should show 
Siemens G Drive – T352. Another option would be to deselect Module Type Vendor Filters and 
scroll down to Siemens AG, select Siemens AG. Select Siemens G Drive – T352. Select Close 
on Create. To continue, click Create. 
 
 
 
9 Add a Siemens Drive to the Ethernet Network 
 
 
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Assign a Name for the New Module. Assign the IP Address. Click Change. 
 
 
 
Select Disable Keying in the Electronic Keying Dropdown. Select the connections size data 
type as INT. Click OK. 
 
9 Add a Siemens Drive to the Ethernet Network 
 
 
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Change module definition? Click Yes. 
 
 
 
Click OK. 
 
9 Add a Siemens Drive to the Ethernet Network 
 
 
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You have completed adding an Ethernet module to control a Siemens drive by using Telegram 
352. 
 
 
 
 
10 Import Add-On Instruction 
 
 
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10 Import Add-On Instruction 
 
As an example, the following information will be using Telegram 352 to manually control a 
Siemens drive with a PanelView Plus terminal. Right click on Add-On Instruction and click 
Import Add-On Instruction. 
 
 
 
Browse to the folder where the Add-On Instruction resides. Select 
AOI_Telegram_352_HMI.L5X for use with an HMI. Click Open. 
 
 
 
Click OK. 
10 Import Add-On Instruction 
 
 
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You have completed importing the Add-On Instruction. 
 
 
 
11 Configure IP Address for a Rockwell Controller 
 
 
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11 Configure IP Address for aRockwell 
Controller 
 
Connect the Ethernet cable directly to the controller. If the process is not connected to the plant 
Ethernet communications, connect the PC and the controller Ethernet cable to an ethernet 
switch. 
Record the MAC address of the controller. 
Launch BootP DHCP Tool. 
 
 
 
Select the proper Ethernet adapter through which the PC is connected to the PLC. Click OK. 
 
11 Configure IP Address for a Rockwell Controller 
 
 
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Click OK. 
 
 
 
Click OK. 
 
11 Configure IP Address for a Rockwell Controller 
 
 
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Click Add Relation. 
 
 
 
The software will begin pinging the controller. 
 
11 Configure IP Address for a Rockwell Controller 
 
 
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Double click the MAC address. Assign the Client IP Address. Click OK. 
 
 
 
Select the device. Click Enable BOOTP/DHCP. 
 
11 Configure IP Address for a Rockwell Controller 
 
 
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The device appears in the upper section. 
 
 
 
Select the device in the lower section. Click Disable BOOTP/DHCP. The IP address has been 
successfully assigned to the controller. Close software. 
 
11 Configure IP Address for a Rockwell Controller 
 
 
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12 Configure RSLinx Communications for a Rockwell Controller 
 
 
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12 Configure RSLinx Communications for a 
Rockwell Controller 
 
Launch RSLinx Classic. 
 
 
 
Click Communications. Click Configure Drivers. 
 
 
 
Select Ethernet/IP Driver from the pulldown. Click Add New. 
 
12 Configure RSLinx Communications for a Rockwell Controller 
 
 
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Assign a name for the driver. 
 
 
 
Select the appropriate IP address. Click Apply. Click OK. 
 
12 Configure RSLinx Communications for a Rockwell Controller 
 
 
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Click Close. 
 
 
 
Click Communications. Click RSWho. 
 
12 Configure RSLinx Communications for a Rockwell Controller 
 
 
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 Expand the newly created driver. The PC is communicating with the processor. 
 
 
13 Insert a Rung for the Add-On Instruction 
 
 
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13 Insert a Rung for the Add-On Instruction 
 
As an example, the following information will be using Telegram 352. Click Add-On. Click 
AOI_Telegram_352_HMI. 
 
 
 
Right click AOI_ Telegram_352_HMI. 
 
 
 
Click New Tag. 
 
13 Insert a Rung for the Add-On Instruction 
 
 
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Assign Name. Click Create. 
 
13 Insert a Rung for the Add-On Instruction 
 
 
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Double click DriveStatus (data from the drive to the PLC). Click pulldown. Expand Drive_01:I 
(Drive_01 was the name assigned to the drive when it was added to the IO Configuration). 
Double click Drive_01:I.Data. Press Enter. 
 
13 Insert a Rung for the Add-On Instruction 
 
 
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Click pulldown for DriveControl (data from the PLC to the drive). Expand Drive_01:O (Drive_01 
was the name assigned to the drive when it was added to the IO Configuration). Double click 
Drive_01:O.Data. Press Enter. 
 
 
 
The next fields in the AOI can be assigned with an Integer value. 
Reference_Speed_P2000 = p2000 (Reference speed reference frequency) 
Reference_Current_P2002 = p2002 (Reference current) 
Reference_Torque_P2003 = p2003 (Reference torque) 
The units for actual speed is RPM. A conversion would be required to display the actual speed 
in a different unit. 
 
13 Insert a Rung for the Add-On Instruction 
 
 
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14 Controlling the Siemens Drive 
 
 
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14 Controlling the Siemens Drive 
 
As an example, a Siemens drive will be replacing a Rockwell’s PowerFlex 525 drive. 
 
Output structure for Rockwell’s PowerFlex 525 drive. 
 
 
 
Output structure for a Siemens drive using Telegram 352. 
 
 
 
To Run or Jog the Drive in the Forward direction: 
DriveControl1_MainSetpoint (RPM): Enter a value from (–) Maximum speed to (+) Maximum 
speed 
DriveControl0_DriveEnable = 1 
DriveControl0_ReverseDirection = 0 
DriveControl0_RunCommand = 1 
 
14 Controlling the Siemens Drive 
 
 
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To Run or Jog the Drive in the Reverse Direction: 
DriveControl1_MainSetpoint (RPM): Enter a value from (–) Maximum speed to (+) Maximum 
speed 
DriveControl0_DriveEnable = 1 
DriveControl0_ReverseDirection = 1 
DriveControl0_ RunCommand = 1 
 
 
 
To perform a Coast to Stop: 
DriveControl0_CoastStop = 1 
 
To perform a Quick Stop: 
DriveControl0_QuickStop = 1 
 
Acknowledge Fault: 
DriveControl0_FaultAcknowledge = 1 
14 Controlling the Siemens Drive 
 
 
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15 Download Project to the Rockwell Controller 
 
 
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15 Download Project to the Rockwell 
Controller 
 
Click Communications. Click Who Active. 
 
 
 
Click Set Project Path. Click Download. 
 
 
 
Follow instructions before downloading. Click download. 
 
15 Download Project to the Rockwell Controller 
 
 
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Click Yes. 
 
 
16 Create a Rockwell’s FactoryTalk View Application 
 
 
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16 Create a Rockwell’s FactoryTalk View 
Application 
 
Click New. Assign Application name. Select Language from the pulldown. Select Resolution 
from the pulldown. Click Create. 
 
 
 
 
 
17 Establish Communications Between the Rockwell Controller and the Rockwell PanelView 
Plus Terminal 
 
 
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17 Establish Communications Between the 
Rockwell Controller and the Rockwell 
PanelView Plus Terminal 
 
Expand FactoryTalk Linx. Double click Communication Setup. 
 
 
 
FactoryTalk Linx Runtime Configuration Wizard: Select an operation about runtime 
configuration. Select create a new configuration. Click Finish. 
 
 
 
Click Add. Assign shortcut name. Press Enter. Select the appropriate controller. Click Apply. 
 
17 Establish Communications Between the Rockwell Controller and the Rockwell PanelView 
Plus Terminal 
 
 
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Click Yes. 
 
 
 
Click Copy from Design to Runtime. 
 
 
17 Establish Communications Between the Rockwell Controller and the Rockwell PanelView 
Plus Terminal 
 
 
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Click Yes. 
 
 
 
Click OK. 
 
 
 
 
18 Import Siemens Global Objects 
 
 
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18 Import Siemens Global Objects 
 
These steps only apply to Telegram 1, 20, and 352. Expand Graphics. Right click on Global 
Objects. Click Import and Export. 
 
 
 
Select Import graphic information into displays. Click Next. 
 
18 Import Siemens Global Objects 
 
 
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Select No. Click Next. 
 
 
 
Select Multiple displays batch import file. Click Next. 
18 Import Siemens Global Objects 
 
 
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Browse to the folder where the global object resides. 
 
 
 
Select BatchImport_Global_Telegram 352. Click Open. 
18 Import Siemens Global Objects 
 
 
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Click Finish. 
 
 
 
Exit Notepad. 
 
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19 Import Siemens Display 
 
 
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19 Import Siemens Display 
 
These steps only apply to Telegram 1, 20, and 352. Expand Graphics. Right click on Displays. 
Click Import and Export. 
 
 
 
Select Import graphic information into displays. Click Next. 
 
19 Import Siemens Display 
 
 
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Select No. Click Next. 
 
 
 
Select Multiple displays batch import file. Click Next. 
19 Import Siemens Display 
 
 
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Browse to the folder where the display resides. 
 
 
 
Select BatchImport_Display_Telegram 352. Click Open. 
19 Import Siemens Display 
 
 
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Click Finish. 
 
 
 
 
Exit Notepad. 
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20 Add GOTO Button to a Display 
 
 
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20 Add GOTO Button to a Display 
 
When the operator presses the Goto Display button at run time, the graphic display assigned to 
the button opens. Expand Graphics. Expand Global Objects. Double click Telegram 352. 
 
 
 
Right click on the motor icon. Click Copy. 
 
20 Add GOTO Button to a Display 
 
 
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Expand Graphics. Expand Displays. Select desired display. Right click on the display. Click 
Paste. 
 
 
 
Right click on the icon. Click Global Object Parameter Values. 
 
20 Add GOTO Button to a Display 
 
 
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Click Tag. 
 
20 Add GOTO Button to a Display 
 
 
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