Good morning,

I am trying to connect to the drive via Data Block and so far I am unable to control the axis using MC motion commands or via Axis Control Panel inside the TO Commissioning. 

Project Info:

• S71515TF CPU - 6ES7 515-2UM01-0AB0 (FW V2.8)
• S210 SINAMICS Drive - 6SL3210-5HB10-1UF0 (FW V5.2) 
• TIA Portal V17
• using TEL3 and TEL105 (both options failed)

There are no errors or alarms in my PLC or Drive currently and, I am at a lost of what are the next steps:

What have I done so far:

• created an Interface DB for data connection (disabled the block optimization)
• created 2 PLC Tags of PD_TEL3 datatype and mapped to the Drive Telegram Tags for Input and Output (tried similarly for TEL105)
• assigned the DB values to the PLC Tags in MC_PreServo and MC_Post Servo
• the axis is not powered when I enable MC_Power (I get no error when doing so) 
• if I enable a MC_MoveRel or MC_MoveVel i will get the error Id on the block 16#800F (i have have no stop activated)
• I checked the StatusWord bits and I have no error 
• There are no safety Integrated Function configured

In the PLC diagnostics buffer I get the following description:

Outgoing event: No user action required

In the Drive I see this message at the operating display: 

Switching on inhibited - set "OC/OFF2" = "1"

It looks to me that there is some mapping issue but cannot find why as the IO addresses in the drive config are used for the PLC Tags.

There is little information regarding this topic, so far I have read the manuals: 109741575 and A5E03879256-AE but found very little info on programming inside the MC PreServo and MC PostServo OBs.

Any help would be greatly appreciated

Thank you,

Mr_Motion

Hi Jacek, 

I know this application example and I used it for the simple setup. Works well if the data connection is directly to the drive but wanted to experiment with the DB connection instead

Regards,

Mr_Motion

Hi Tech Team,

When you mean I need to set the reference manually, what do you mean by that? could you elaborate? Set home position, homing mode and hardware/software limits? 

Also, if I use MC_MoveVelocity or MC_MoveRelative I should be able to move the axis anyway right? without homing my axis

In my project I copied the data from the TEL 105 inside the MC_PreServo and inside MC_PostServo but still cannot take control of my axis using the TO and MC commands

Thank you :)

Thank you for the previous support. Now I am able to jog the axis in the Axis control panel. 

It seems that I am unable to write the reference values inside the MC PostServo.

My code in the MC Post Servo is as follow (based on the A5E03879256-AE manual):

I will get the following error when attempting to set the speed reference:

Event ID: 16# 02:25A1

Thank you

Hi there,

you cannot write these parameters from the user program.

See here, column W: https://support.industry.siemens.com/cs/de/en/view/109781849/132833072523

And for the meaning of the values in column W see here: https://support.industry.siemens.com/cs/de/en/view/109781849/118974587915

But anyway, what's the sense in writing some of the most basic configuration parameters of the TO during runtime? Why?

Regards,
daviso