Hi,

first of all: It is not possible and not allowed to mix Vector and Servo axis within one Drive Unit. So at one CU320-2 you can either have several Vector or Servo drives. 

The communication to Servo and Vector drives is completely the same. If it works for Vector it also has to work with Servo. 

Please ensure to have the correct HW ID and axis number. For the hardware ID I always recommend to use the HW ID of the cyclic telegram for that specific axis (e.g. the HW ID of the standard telegram 105 of the axis). Maybe you have the wrong axis number. Please find the axis number in the property of the axis - therefore go to the device view of the drive unit, there you select the light grey box/shade of your axis (the outer bos, not the Motor Module) and then open the properties at the bottom, there you will find the so called Drive Object Number. See my attached screenshot. Use this number for SINA_PARA. And if your axis is OK (so you can run it) then the communication should also work. 

Hi,

I have the correct HW id and Axis number. I am sure of it.

Here is the strange thing:

I just managed to read a parameter from the motor module ONCE, then after that SINA_PARA keeps being busy and going into error. I put a 1 second pulse on the start input to keep requesting data. I also did this with a 10 sec. pulse and the results is the same.
95% of the time I can not read data and if I am lucky (5% of the time) I get a value back.

See attached image, as you can see I fetched 1 parameter data (r26) from M07 motor module, which is axisNO 4. and I used HW ID of the control unit Siemens telegram.
If I use HW ID M07 Standard telegram I get the same result. So, what does this mean!??

Hmm...so you have 1 infeed plus 6 drives. From your explanation that it works in  few cases this makes me believe that the drive load / communication load is very high and therefore some requests are declined by the drive.

I think there are two options for improvement for you:

1. Using cyclic data transfer: Which parameters do you want to read / write from the drive? Maybe those parameters can all be read in a cyclic telegram extension. You can check the parameters. So if you want to see actual values like the voltage and so on I recommend anyway to use cyclic communication for monitoring instead of acyclic reading commands. Of course some parameters are only accessible via acyclic communication but from what I have seen so far you want to see some actual values and most of them can be read in a cyclic telegram. This brings the advantage that you will get the latest values in each communication cycle. Acyclic communication can be very slow especially with high load and this does not make sense for actual drive values like speed, current, voltage,...

2. Using LAcycCom library: If you really have parameters which cannot be read in a cyclic telegram and you really need to use acyclic communication I recommend to use the LAcycCom library when you have such a high load. This SIMATIC library contains blocks for reading and writing multiple parameters. And there is also a special FB called Resource Manager which handles all the read/write requests with the drive. This block collects all requests and then communicates to the drive in a way that it will also check whether the drive is accesible at the moment or not. So you do not need to take care of that by yourself. This is the big difference between SINA_PARA (I would say for simple one time requests with less load) and the LAcycCom (for more complex requests and loads). Here you find that lib:

https://support.industry.siemens.com/cs/de/en/view/109479553

BUT: I would recommend always solution 1. Try that first - it is more easy and just the better way of communication. 

Good news!

It's working with the LAcycCom function block !!!!
I will report more about it soon!

Also thank you!

Ok, so following this guide is a good advice:

SIMATIC Manual DriveBasedFunctionalities 03/2019 (2,8 MB)

I think for all function blocks to work you have to employ the LacycCom_ResourceManager and use the requestBuffer DB in the library (or create one yourself).

I only used ReadDriveParams FB (with which you can read up to 39 parameters I think).
At the hardwareid input you just connect the id of the motor module, but specifically the ModuleAccesPoint Hardware ID. Connect at the requestBuffer the same requestBuffer DB in the LacycCom_ResourceManager FB. Finally, at the dataset inOut you connect the array of the dataset you have created (see page 82 of manual).Mind though that this dataset needs to be in a global DB.

You can request an execute every second, for me it works like a charm.