82843076_Application_Manual_Studio_5000_Position_Control_V2 0 1

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Integrating Siemens 
Drive into Rockwell 
Automations Studio 
5000 by using 
Position Control 
Telegrams 
 
Application Manual Studio 5000 Telegrams 7, 9, 110, 
111 Position 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 
Position 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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https://www.siemens.com/industrialsecurity
List of contents 
 
Integrating Siemens Drive into Rockwell Automations Studio 5000 
Position 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 ..................................................................................... 36 
6 Motor Identification ......................................................................................... 38 
7 Create New Project with Rockwell Software Studio 5000 ........................... 44 
8 Rockwell Automation EDS Wizard ................................................................. 49 
9 Add a Siemens Drive to the Ethernet Network ............................................. 57 
10 Import Add-On Instruction .............................................................................. 61 
11 Configure IP Address for a Rockwell Controller .......................................... 63 
12 Configure RSLinx Communications for a Rockwell Controller .................. 69 
13 Insert a Rung for the Add-On Instruction ...................................................... 73 
14 Download Project to the Rockwell Controller .............................................. 77 
15 Create a Rockwell’s FactoryTalk View Application ...................................... 79 
16 Import Siemens Global Objects ..................................................................... 83 
17 Import Siemens Display .................................................................................. 88 
18 Add GOTO Button to a Display ...................................................................... 93 
19 Alarms and Warnings ...................................................................................... 98 
20 Edit Tags for Alarm Setup............................................................................. 102 
21 Transfer Utility ...............................................................................................104 
22 Configure Siemens Drive for Telegram 111 ................................................ 108 
23 Manually Control the Siemens Drive with Telegram 111 by Using 
Rockwell’s PanelView Plus Terminal ........................................................... 113 
24 Automatically Control the Siemens Drive with Telegram 111................... 134 
25 Firmware Upgrade Wizard ............................................................................ 140 
26 Appendix ........................................................................................................ 146 
26.1 Application Support .......................................................................... 146 
26.2 Links and Literature .......................................................................... 146 
26.3 History .............................................................................................. 146 
 
 
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 is intended for individuals with Rockwell Automation Studio 
5000, FactoryTalk View Machine Edition, and commissioning a Siemens drive. 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 the commonly used Siemens telegram along with additional position 
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 
 
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 Telegram: Telegram 111 is for Basic Positioning with 
Direct Setpoint Input (MDI), Override, Position Feedback, and Speed 
Feedback: 
 
Telegram 111 is the most commonly used telegram for position control applications. If 
applicable, it is recommended that you use telegram 111 for position control. 
Telegram 111 is a standard Siemens Telegram for a positioning drive. It allows sequence and 
control of the drive functions in addition to control of the positioning function EPOS. It is a 12-
word telegram with the last word being a freely assignable interconnection. Position and speed 
feedback are available in the output image. 
 
Table 2-1 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) INT r2089[0] 
DriveStatus1 Positioning Status Word 1 (POS_ZSW1) INT r2089[3] 
2 Telegrams 
 
 
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PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus2 Positioning Status Word 2 (POS_ZSW2) INT r2089[4] 
DriveStatus3 Status Word 2 (ZSW2) INT r2089[1] 
DriveStatus4 Message Word (MELDW) INT r2089[2] 
DriveStatus5 Actual Position Value (XIST_A) INT r2521[0] 
DriveStatus6 Actual Position Value (XIST_A) INT r2521[0] 
DriveStatus7 Actual Speed Value (NIST_B) INT r63[0] 
DriveStatus8 Actual Speed Value (NIST_B) INT r63[0] 
DriveStatus9 Fault Code (FAULT_CODE) INT r2131 
DriveStatus10 Alarm Code (WARN_CODE) INT r2132 
DriveStatus11 User Definable INT 
 
Table 2-2 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) INT 
DriveControl1 Positioning Control Word 1 (POS_STW1) INT 
DriveControl2 Positioning Control Word 2 (POS_STW2) INT 
DriveControl3 Control Word 2 (STW2) INT p2045 
DriveControl4 EPOS Velocity Override (OVERRIDE) INT p2646 
DriveControl5 Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) INT p2642 
DriveControl6 Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) INT p2642 
DriveControl7 Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) INT p2643 
DriveControl8 Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) INT p2643 
DriveControl9 Manual Data Input (MDI) Acceleration Override (MDI_ACC) INT p2644 
DriveControl10 Manual Data Input (MDI) Deceleration Override (MDI_DEC) INT p2645 
DriveControl11 User Definable INT 
 
Additional Position Control Telegrams: 
This section has additional telegrams that can be used for position control applications. If 
telegram 111 is not suitable for your application, the telegrams in this section can be used. 
 
Telegram 7 for Single Axis Positioner with Traversing Block Selection: 
This telegram is a Siemens telegram of 2 words in length. It contains single control and status 
words. An additional control word is included to select a traversing block, and the selected block 
value is available in the output image. 
 
Table 2-3 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) INT r2089[0] 
DriveStatus1 Position Selected Block (AKTSATZ) INT r2670 
2 Telegrams 
 
 
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Table 2-4 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) INT 
DriveControl1 Position Block Selection (SATZANW) INT 
 
Telegram 9 for Basic Positioning with Direct Setpoint Input (MDI): 
This telegram is a Siemens telegram of 10 words in length. It contains two control and status 
words. An additional control word is included to select a traversing block. Through Manual Data 
Input (MDI), position and velocity setpoints are also received by the drive. Position feedback is 
available in the output words. 
 
Table 2-5 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) INT r2089[0] 
DriveStatus1 Position Selected Block (AKTSATZ) INT r2670 
DriveStatus2 Status Word 2 (ZSW2) INT r2089[1] 
DriveStatus3 Actual Position Value (XIST_A) INT r2521[0] 
 
Table 2-6 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) INT r54 
DriveControl1 Positioning Control Word 1 (POS_STW1) INT r2091 
DriveControl2 Control Word 2 (STW2) INT r2093 
DriveControl3 Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) INT p2642 
DriveControl4 Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) INT p2642 
DriveControl5 Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) INT p2643 
DriveControl6 ManualData Input (MDI) Velocity Setpoint (MDI_VELOCITY) INT p2643 
DriveControl7 Manual Data Input (MDI) Acceleration Override (MDI_ACC) INT p2644 
DriveControl8 Manual Data Input (MDI) Deceleration Override (MDI_DEC) INT p2645 
DriveControl9 Manual Data Input (MDI) Mode (MDI_MOD) INT r2094 
 
Telegram 110 for Basic Positioning with Direct Setpoint Input (MDI), Override, and 
Position Feedback: 
This telegram is a Siemens telegram of 12 words in length. It contains two standard control 
words and a positioning control word. An additional control word is included to select a 
traversing block. Through Manual Data Input (MDI), position and velocity setpoints are also 
received by the drive. The output image contains two standard status words, a positioning 
status word, position feedback, and a message word containing additional status information. 
 
Table 2-7 From Drive to PLC 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus0 Status Word 1 (ZSW1) INT r2089[0] 
DriveStatus1 Position Selected Block (AKTSATZ) INT r2670 
2 Telegrams 
 
 
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PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveStatus2 Position Status Word (POS_ZSW) INT r2683 
DriveStatus3 Status Word 2 (ZSW2) INT p2081 
DriveStatus4 Message Word (MELDW) INT p2082 
DriveStatus5 Actual Position Value A (XIST_A) INT r2521[0] 
 
Table 2-8 From PLC to Drive 
PLC 
Tagname 
Description Data 
Type 
Drive 
Parameter 
DriveControl0 Control Word 1 (STW1) INT r0054 
DriveControl1 Positioning Control Word 1 (POS_STW1) INT r2091 
DriveControl2 Positioning Control Word 2 (POS_STW2) INT r2092 
DriveControl3 Control Word 2 (STW2) INT r2093 
DriveControl4 EPOS Velocity Override (OVERRIDE) INT p2646 
DriveControl5 Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) INT p2642 
DriveControl6 Manual Data Input (MDI) Position Setpoint (MDI_TARPOS) INT p2642 
DriveControl7 Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) INT p2643 
DriveControl8 Manual Data Input (MDI) Velocity Setpoint (MDI_VELOCITY) INT p2643 
DriveControl9 Manual Data Input (MDI) Acceleration Override (MDI_ACC) INT p2644 
DriveControl10 Manual Data Input (MDI) Deceleration Override (MDI_DEC) INT p2645 
DriveControl11 Manual Data Input (MDI) Mode (MDI_MOD) INT r2094 
 
Data from the PLC to the Drive – Drive Control Word Individual Bits: 
 
Table 2-9 Status Word 1 (ZSW1) 
Bit Name Description 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 (motor is on) 
0 = Not ready to run (motor is off or fault active) 
BOOL 
r0899.1 
2 
Operation Enabled 
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 
1 = Coast down (OFF2) inactive 
0 = Coast down active 
BOOL 
r0899.4 
5 
Quick Stop 
1 = Quick stop (OFF3) inactive 
0 = Quick stop active 
BOOL 
r0899.5 
6 
Switching On Inhibited 
1 = Motor inhibited from switching on 
0 = Motor can be switched on 
BOOL 
r0899.6 
7 
Warning Present 
1 = Alarm active 
0 = No alarm active 
BOOL 
r2139.7 
8 
Following Error 
1 = Following error within tolerance 
0 = Following error outside of tolerance 
BOOL 
r2684.8 
9 
PLC Has Request 
1 = Master control requested 
0 = No action 
BOOL 
r0899.9 
2 Telegrams 
 
 
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Bit Name Description Data 
Type 
Drive 
Parameter 
10 
Target Position Reached 
1 = Target position reached 
0 = Target position not reached 
BOOL 
r2684.10 
11 
Reference Point Set 
1 = Reference point set 
0 = Reference point not set 
BOOL 
r2684.11 
12 Traversing Block Active 1 = Yes; 0 = No BOOL r2684.12 
13 
Speed Below Threshold 3 
1 = Absolute actual speed below threshold value 3 
(p2161[0]) 
0 = Speed above or greater than threshold value 3 
BOOL 
r2199.0 
14 Axis Accelerating 1 = Yes; 0 = No BOOL r2684.4 
15 Axis Decelerating 1 = Yes; 0 = No BOOL r2684.5 
 
Table 2-10 Positioning Status Word 1 (POS_ZSW1) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 Active Traversing Block Bit 0 
Bits 0 to 3 display one of 16 traversing 
blocks 
BOOL r2670[0] 
1 Active Traversing Block Bit 1 r2670[1] 
2 Active Traversing Block Bit 2 r2670[2] 
3 Active Traversing Block Bit 3 r2670[3] 
4 Reserved 
5 Reserved 
6 Reserved 
7 Reserved 
8 
STOP Cam Minus 
1 = STOP cam minus active 
0 = STOP cam minus inactive 
 
BOOL 
r2684[13] 
9 
STOP Cam Plus 
1 = STOP cam plus active 
0 = STOP cam plus inactive 
BOOL 
r2684[14] 
10 
Jogging Status 
1 = Jogging active 
0 = Jogging inactive 
BOOL 
r2094[0] 
11 
Reference Point Approach 
1= Reference point approach active 
0= Reference point approach inactive 
BOOL 
r2094[1] 
12 
Flying Referencing Status 
1 = Flying referencing active 
0 = Flying referencing inactive 
BOOL 
r2684[1] 
13 
Traversing Block Status 
1 = Traversing block active 
0 = Traversing block inactive 
BOOL 
r2094[2] 
14 
Setting-up Status 
1 = Drive setting-up active 
0 = Drive setting-up inactive 
BOOL 
r2094[4] 
15 
EPOS Manual Data Input (MDI) Status 
1 = MDI Active 
0 = MDI Inactive 
BOOL 
r2670[15] 
 
Table 2-11 Positioning Status Word 2 (POS_ZSW2) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 
Tracking Mode Status 
1 = Tracking mode active 
0 = Tracking mode inactive 
BOOL 
r2683.0 
1 
Velocity Limiting Status 
1 = Velocity limiting Active 
0 = Velocity limiting inactive 
BOOL 
r2683.1 
2 Setpoint Availability Status 1 = Setpoint available BOOL r2683.2 
2 Telegrams 
 
 
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Bit Name Description Data 
Type 
Drive 
Parameter 
0 = Setpoint unavailable 
3 
Printing Mark Placement Status 
1= Printing mark outside outer window 
0= Printing mark inside outer window 
BOOL 
r2683.3 
4 
Axis Movement Forward Status 
1 = Axis moving forward 
0 = Axis not moving forward 
BOOL 
r2683.4 
5 
Axis Movement Backward Status 
1 = Axis moving backward 
0 = Axis not moving backward 
BOOL 
r2683.5 
6 
Software Limit Switch Minus Status 
1 = Software limit switch minus reached 
0 = Limit switch minus not reached 
BOOL 
r2683.6 
7 
Software Limit Switch Plus Status 
1 = Software limit switch plus reached 
0 = Limit switch plus not reached 
BOOL 
r2683.7 
8 
Cam Switching Position 1 Status 
1 = Position less than or equal to cam 
switching position 1 
BOOL 
r2683.8 
9 
Cam Switching Position 2 Status 
1 = Position less than or equal to cam 
switching position 2 
BOOL 
r2683.9 
10 Direct Output 1 Via Traversing Block 1 = Yes; 0 = No BOOL r2683.10 
11 Direct Output 2 Via Traversing Block 1 = Yes; 0 = No BOOL r2683.11 
12 
Fixed Stop Status 
1 = Fixed stop reached 
0 = Fixed stop not reached 
BOOL 
r2683.12 
13 
Fixed Stop Clamping Torque Status 
1 = Fixed stop clamping torque reached 
0 = Clamping torque not reached 
BOOL 
r2683.13 
14 
Travel to Fixed Stop Status 
1 = Traveling to fixed stop active 
0 = Traveling to fixed stop inactive 
BOOL 
r2683.14 
15 
Traversing Command Status 
1 = Traversing command active 
0 = Traversing command inactive 
BOOL 
r2683.15 
 
Table 2-12 Status Word 2 (ZSW2) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 Drive data set selection (DDS) Bit 0 
Bits 0-1 display the selecteddrive data set 
BOOL 
BOOL 
r0051.0 
1 Drive data set selection (DDS) Bit 1 r0051.1 
2 Reserved 
3 Reserved 
4 Reserved 
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 
BOOL 
r2139.12 
7 Reserved 
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 BOOL 
15 Slave sign-of-life Bit 3 BOOL 
2 Telegrams 
 
 
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Table 2-13 Message Word (MELDW) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 
Ramp Up or Down Completed 
1 = Ramp up or down completed 
0 = Ramp up or down incomplete 
BOOL 
r2199.5 
1 
Torque Utilization Below Threshold 
1 = Torque utilization below threshold value 2 
0 = Utilization above or equal 
Torque threshold value 2 is found in p2194 
BOOL 
r2199.11 
2 
Speed Below Threshold 3 
1 = Absolute speed below threshold 3 
0 = Speed at or above threshold 3 
Speed threshold value 3 is in p2161 
BOOL 
r2199.0 
3 
Speed Below or At Threshold 2 
1 = Absolute speed below or at threshold 2 
0 = Speed above threshold 2 
Speed threshold value 2 is in p2155 
BOOL 
r2197.1 
4 
Vdc_min Controller Status 
1 = Vdc_min controller active 
0 = Vdc_min controller inactive 
The controller activates when the DC link 
voltage is less than p1248 (DC link voltage 
lower threshold) 
BOOL 
r0056.15 
5 Reserved 
6 No Motor Overtemperature Alarm 1 = No alarm; 0 = Alarm present BOOL r2135.14 
7 No Power Unit Thermal Overload 
Alarm 1 = No alarm; 0 = Alarm present 
BOOL 
r2135.15 
8 
Speed Within Setpoint Tolerance 
1 = Speed within setpoint tolerance 
0 = Speed outside of setpoint tolerance 
BOOL 
r2199.4 
9 Reserved 
10 Reserved 
11 Controller Enabled 1 = Controller enabled; 0 = Controller disabled BOOL r0899.8 
12 Drive Ready Status 1 = Yes; 0 = No BOOL r0899.7 
13 Pulses Enabled Status 1 = Yes; 0 = No BOOL r0899.11 
14 2nd Variable Signaling Function 
Status 1 = On; 0 = Off 
BOOL 
r3294.1 
15 3rd Variable Signaling Function 
Status 1 = On; 0 = Off 
BOOL 
r3294.2 
 
Table 2-14 Position Selected Block (AKTSATZ) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 Active Traversing Block Bit 0 BOOL r2670.0 
1 Active Traversing Block Bit 1 BOOL r2670.1 
2 Active Traversing Block Bit 2 BOOL r2670.2 
3 Active Traversing Block Bit 3 BOOL r2670.3 
4 Reserved 
5 Reserved 
6 Reserved 
7 Reserved 
8 Reserved 
9 Reserved 
10 Reserved 
11 Reserved 
12 Reserved 
2 Telegrams 
 
 
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Bit Name Description Data 
Type 
Drive 
Parameter 
13 Reserved 
14 Reserved 
15 EPOS Manual Data Input (MDI) 
Status 1 = MDI Active; 0 = MDI Inactive 
BOOL 
r2670.15 
 
Table 2-15 Position Status Word (POS_ZSW) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 
Tracking Mode Status 
1 = Tracking mode active 
0 = Tracking mode inactive 
BOOL 
r2683.0 
1 
Velocity Limiting Status 
1 = Velocity limiting Active 
0 = Velocity limiting inactive 
BOOL 
r2683.1 
2 
Setpoint Availability Status 
1 = Setpoint available 
0 = Setpoint unavailable 
BOOL 
r2683.2 
3 
Set Position Reached Status 
Set Positioned Reached Status 
1 = Set position reached 
0 = Set position not reached 
BOOL 
r2683.3 
4 
Axis Movement Forward Status 
1 = Axis moving forward 
0 = Axis not moving forward 
BOOL 
r2683.4 
5 
Axis Movement Backward Status 
1 = Axis moving backward 
0 = Axis not moving backward 
BOOL 
r2683.5 
6 
Software Limit Switch Minus Status 
1 = Software limit switch minus reached 
0 = Limit switch minus not reached 
BOOL 
r2683.6 
7 
Software Limit Switch Plus Status 
1 = Software limit switch plus reached 
0 = Limit switch plus not reached 
BOOL 
r2683.7 
8 
Cam Switching Position 1 Status 
1 = Position less than or equal to cam 
switching position 1 
BOOL 
r2683.8 
9 
Cam Switching Position 2 Status 
1 = Position less than or equal to cam 
switching position 2 
BOOL 
r2683.9 
10 Direct Output 1 Via Traversing Block 1 = Yes; 0 = No BOOL r2683.10 
11 Direct Output 2 Via Traversing Block 1 = Yes; 0 = No BOOL r2683.11 
12 
Fixed Stop Status 
1 = Fixed stop reached 
0 = Fixed stop not reached 
BOOL 
r2683.12 
13 
Fixed Stop Clamping Torque Status 
1 = Fixed stop clamping torque reached 
0 = Clamping torque not reached 
BOOL 
r2683.13 
14 
Travel to Fixed Stop Status 
1 = Traveling to fixed stop active 
0 = Traveling to fixed stop inactive 
BOOL 
r2683.14 
15 
EPOS Status Word 1 Status 
EPOS Status Word 1 Status 
1 = On; 0 = Off 
BOOL 
r2683 
 
Data from the PLC to the Drive – Drive Control Word Individual Bits: 
 
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Table 2-16 Control Word 1 (STW1) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 
Run Command 
1 = Enable drive 
0 = Ramp down and disable drive 
BOOL 
p0840[0] 
1 
Coast Stop 
1 = No stop command issued 
0 = Immediate disable and coast to stop 
BOOL 
p0844[0] 
2 
Quick Stop 
1 = No stop command issued 
0 = 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 
Reject Traversing Task 
1 = Do not reject traversing task 
0 = Reject traversing task 
BOOL 
p2641 
5 
Intermediate Stop 
1 = Intermediate stop off 
0 = Intermediate stop on 
BOOL 
p2640 
6 
Activate Traversing Task 
1 = Activate traversing task (on rising edge) 
0 = Traversing task off 
BOOL 
p2631 
7 Fault Acknowledge 1 = Acknowledge faults (on rising edge) BOOL p2103[0] 
8 Jog 1 Signal Source 1 = On, 0 = Off BOOL p2589 
9 Jog 2 Signal Source 1 = On, 0 = Off BOOL p2590 
10 
PLC Control 
1 = Control is by PLC 
0 = No control by PLC 
BOOL 
p0854[0] 
11 
Referencing Start 
1 = Referencing start on 
0 = Referencing start off 
BOOL 
p2595 
12 Reserved 
13 
External Block Change 
1 = External block change on (on rising edge) 
0 = External block change off 
BOOL 
p2633 
14 Reserved 
15 Reserved 
 
Table 2-17 Positioning Control Word 1 (POS_STW1) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 Traversing Block Selection Bit 0 
Bits 0 to 3 are used to select one of 16 
traversing blocks 
BOOL 
 
p2625 
1 Traversing Block Selection Bit 1 p2626 
2 Traversing Block Selection Bit 2 p2627 
3 Traversing Block Selection Bit 3 p2628 
4 Reserved 
5 Reserved 
6 Reserved 
7 Reserved 
8 
Positioning Type Selection 
1 = Absolute positioning is selected 
0 = Relative positioning is selected 
BOOL 
p2648 
9 
Absolute Positioning Method Bit 0 
Absolute positioning method by: 
0 = shortest distance 
1 = Positive direction 
2 = Negative direction 
3 = Shortest distance 
BOOL 
 p2651 
10 
Absolute Positioning Method Bit 1 
 
 
11 Reserved 
12 Value Transfer Method 1 = Continuous Transfer BOOL p2649 
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Bit Name Description Data 
Type 
Drive 
Parameter 
0 = Transfer on rising edge of p2650 
p2650 sets signal source to accept values for 
edge-triggered selection in operating mode - 
direct setpoint input/MDI 
13 Reserved 
14 
Setting-up Selection 
1= Drive in setting-up mode selected 
0= Drive in positioning mode selected 
BOOL 
p2653 
15 
EPOS Manual Data Input (MDI) 
Activation 
For direct setpoint entry 
1 = Activate MDI 
0 = Deactivate MDI 
BOOL 
p2647 
 
Table 2-18 Positioning Control Word 2 (POS_STW2) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 
Tracking Mode Activation 
1 = Tracking mode active 
0 = Tracking mode inactive 
BOOL 
p2655[0] 
1 
Set Reference Point 
1 = Set reference point 
0 = No action 
BOOL 
p2596 
2 
Reference Cam Active 
1 = Reference cam active 
0 = No action 
BOOL 
p2612 
3 Reserved 
4 Reserved 
5 
Jog Method 
1 = Incremental jogging active 
0 = Velocity jogging active 
BOOL 
p2591 
6 Reserved 
7 Reserved 
8 
Reference Type Selection 
1 = Flying referencing 
0 = Search for reference 
BOOL 
p2597 
9 
Reference Search Direction 
1 = Start search in negative direction 
0 = Start search in positive direction 
BOOL 
p2604 
10 
LR Measuring Probe Selection 
1 = Measuring probe 2 activated 
0 = Measuring probe 1 activated 
BOOL 
p2510[0] 
11 
Measurement Probe Edge Activation 
1 = Falling edge of probe activated 
0 = Rising edge of probe activated 
BOOL 
p2511[0] 
12 Reserved 
13 Reserved 
14 
Software Limit Switch Activation 
1 = SW limit switch active 
0 = SW limit switch inactive 
BOOL 
p2582 
15 
STOP Cam 
1 = Function "STOP cam" active 
0 = Function "STOP cam" inactive 
BOOL 
p2568 
 
Table 2-19 Control Word 2 (STW2) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 Drive data set selection (DDS) Bit 0 Bits 0-1 are used to select a drive data set 
 
BOOL 
 
p0820[0] 
1 Drive data set selection (DDS) Bit 1 p0821[0] 
2 Reserved 
3 Reserved 
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Bit Name Description Data 
Type 
Drive 
Parameter 
4 Reserved 
5 Reserved 
6 Reserved 
7 
Parking Axis Selection 
1 = Activate parking axis function 
0 = Deactivate parking axis function 
BOOL 
p0897 
8 Reserved 
9 Reserved 
10 Reserved 
11 Reserved 
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 2-20 Position Block Selection (SATZANW) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 Traversing Block Selection Bit 0 Bits 0 to 5 are used to select one of the 
64 traversing blocks 
 
 
 
 
 
BOOL 
BOOL 
BOOL 
p2625 
1 Traversing Block Selection Bit 1 p2626 
2 Traversing Block Selection Bit 2 p2627 
3 Traversing Block Selection Bit 3 p2628 
4 Traversing Block Selection Bit 4 p2629 
5 Traversing Block Selection Bit 5 p2630 
6 Reserved 
7 Reserved 
8 Reserved 
9 Reserved 
10 Reserved 
11 Reserved 
12 Reserved 
13 Reserved 
14 Reserved 
15 
EPOS Manual Data Input (MDI) Activation 
For direct setpoint entry 
1 = Activate MDI 
0 = Deactivate MDI 
BOOL 
p2647 
 
Table 2-21 Positioning Control Word (POS_STW) 
Bit Name Description Data 
Type 
Drive 
Parameter 
0 
Tracking Mode Activation 
1 = Tracking mode active 
0 = Tracking mode inactive 
BOOL 
p2655[0] 
1 
Set Reference Point 
1 = Set reference point 
0 = No action 
BOOL 
p2596 
2 
Reference Cam Active 
1 = Reference cam active 
0 = No action 
BOOL 
p2612 
3 Reserved 
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Bit Name Description Data 
Type 
Drive 
Parameter 
4 Reserved 
5 
Jog Method 
1 = Incremental jogging active 
0 = Velocity jogging active 
BOOL 
p2591 
6 Reserved 
7 Reserved 
8 Reserved 
9 Reserved 
10 Reserved 
11 Reserved 
12 Reserved 
13 Reserved 
14 Reserved 
15 Reserved 
 
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 
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 4000 hex (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 Basic positioner. 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, [111] SIEMENS telegram 111, PZD-12/12 will be selected to 
control a Siemens drive with a Rockwell processor. PZD-12/12 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. 
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Drive options: Configuration of optional braking resistor and drive filter. 
If applicable, select Braking resistor. Select Drive filter type 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. 
Configurationof 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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Encoders: Select the appropriate encoder. Select the appropriate encoder interface from the 
pulldown. Select the appropriate encoder configuration from the pulldown. Select the 
appropriate encoder type. Click Next. 
 
4 Startdrive Configuration 
 
 
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Measuring system: Selection of the paramerized encoder that is to be used for the 
position control. Select the appropriate encoder system for the position control from the 
pulldown. Click Next. 
 
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Mechanical system: Enter the appropriate values. 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. 
 
 
8 Rockwell Automation EDS Wizard 
 
 
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You have successfully completed the EDS Wizard. To continue, click Finish. 
 
 
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 111. In the Controller 
Organizer, expand I/O Configuration, right click on Ethernet and click New Module. 
 
 
 
In the “Select Module Type” window, type T111 into the search bar. The results should show 
Siemens G Drive – T111. Another option would be to deselect Module Type Vendor Filters and 
scroll down to Siemens AG, select Siemens AG. Select Siemens G Drive – T111. 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 
111. 
 
 
 
 
10 Import Add-On Instruction 
 
 
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10 Import Add-On Instruction 
 
As an example, the following information will be using Telegram 111 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_111_HMI.L5X for use with an HMI. Click Open. 
 
 
 
 
 
10 Import Add-On Instruction 
 
 
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Click OK. 
 
 
 
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 a Rockwell 
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) 
The units for actual speed is RPM. A conversion would be required to display the actual speed 
in a different unit. 
 
 
 
 
 
 
14 Download Project to the Rockwell Controller 
 
 
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14 Download Project to the Rockwell 
Controller 
 
Click Communications. Click Who Active. 
 
 
 
Click Set Project Path. Click Download. 
 
 
 
Follow instructions before downloading. Click download. 
 
14 Download Project to the Rockwell Controller 
 
 
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Click Yes. 
 
 
15 Create a Rockwell’s FactoryTalk View Application 
 
 
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15 Create a Rockwell’s FactoryTalk View 
Application 
 
Click New. Assign Application name. Select Language from the pulldown. Select Resolution 
from the pulldown. Click Create. 
 
 
 
Establish Communications Between the Rockwell Controller and the Rockwell PanelView Plus 
Terminal 
 
Expand FactoryTalk Linx. Double click Communication Setup. 
15 Create a Rockwell’s FactoryTalk View Application 
 
 
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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. 
 
 
15 Create a Rockwell’s FactoryTalk View Application 
 
 
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Click Yes. 
 
 
 
Click Copy from Design to Runtime. 
 
 
 
Click Yes. 
 
15 Create a Rockwell’s FactoryTalk View Application 
 
 
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ClickOK. 
 
 
16 Import Siemens Global Objects 
 
 
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16 Import Siemens Global Objects 
 
These steps only apply to Telegram 111. Expand Graphics. Right click on Global Objects. 
Click Import and Export. 
 
 
 
Select Import graphic information into displays. Click Next. 
 
16 Import Siemens Global Objects 
 
 
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Select No. Click Next. 
 
 
 
Select Multiple displays batch import file. Click Next. 
16 Import Siemens Global Objects 
 
 
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Browse to the folder where the global object resides. 
 
 
 
Select BatchImport_Global_Telegram 111. Click Open. 
16 Import Siemens Global Objects 
 
 
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Click Finish. 
 
 
 
Exit Notepad. 
 
16 Import Siemens Global Objects 
 
 
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17 Import Siemens Display 
 
 
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17 Import Siemens Display 
 
These steps only apply to Telegram 111. Expand Graphics. Right click on Displays. Click 
Import and Export. 
 
 
 
Select Import graphic information into displays. Click Next. 
 
17 Import Siemens Display 
 
 
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Select No. Click Next. 
 
 
 
Select Multiple displays batch import file. Click Next. 
17 Import Siemens Display 
 
 
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Browse to the folder where the display resides. 
 
 
 
Select BatchImport_Display_Telegram 111. Click Open. 
17 Import Siemens Display 
 
 
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Click Finish. 
 
 
 
Exit Notepad. 
 
17 Import Siemens Display 
 
 
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18 Add GOTO Button to a Display 
 
 
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18 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 111. 
 
 
 
Right click on the motor icon. Click Copy. 
 
18 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. 
 
18 Add GOTO Button to a Display 
 
 
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Click Tag. 
 
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Select Refresh All Folders. Expand device shortcut. Expand Online. Select the appropriate 
controller tag. Click OK. 
 
 
 
Click OK. 
18 Add GOTO Button to a Display 
 
 
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You have completed adding a GOTO button for Siemens Telegram 111. 
 
 
19 Alarms and Warnings 
 
 
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19 Alarms and Warnings 
 
Expand Alarms. Right click on Alarm Setup. Click Import and Export. 
 
 
 
Select Import alarm configuration into application. Click Next. 
 
 
19 Alarms and Warnings 
 
 
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Select No. Click Next. 
 
 
 
Click Browse. 
 
19 Alarms and Warnings 
 
 
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Browse to the appropriate folder. Select Alarm Setup. Click Open. 
 
 
19 Alarms and Warnings 
 
 
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Click Finish. 
 
 
 
Exit Notepad. 
 
 
 
 
 
 
 
 
 
20 Edit Tags for Alarm Setup 
 
 
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20 Edit Tags for Alarm Setup 
 
Double click Alarm Setup 
 
 
 
Based on the controller tag name for the Add-On instruction, the triggers for the alarms may 
need to be Edited. Select the appropriate tag. Click Edit. 
 
 
 
Click Tag. 
 
 
 
20 Edit Tags for Alarm Setup 
 
 
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Select the appropriate tag. Click OK. 
 
 
 
Click OK. 
 
 
 
Repeat these steps for WarnCode. 
 
 
 
 
21 Transfer Utility 
 
 
Integrating Siemens Drive into Rockwell Automations Studio