SIMOTION D

Configuration of drive-related I/Os

(Onboard I/Os, TMs and TB30)
with SIMOTION V4.1 SP4
 Basic Principles
© Siemens AG, 2008 All Rights Reserved

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I/O Configuration Page 2/53

 Basic Principles

General Information

Note The application examples are not binding and do not claim to be
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I/O Configuration Page 3/53

 Basic Principles

Qualified personnel
In the sense of this documentation, qualified personnel are those who are
knowledgeable and qualified to install, commission, operate and service the
products which are being used. He or she must have the appropriate
qualifications to carry out these activities
e.g.:
• Trained and authorized to energize and de-energize, ground and tag
circuits and equipment according to applicable safety standards.
• Trained or instructed according to the latest safety standards in the care
and use of the appropriate safety equipment.
• Trained in rendering first aid.
There is no explicit warning information in this documentation. However,
reference is made to warning information and instructions in the Operating
Instructions for the particular product.
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Information regarding export codes

AL: N
ECCN: N

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 Basic Principles

Contents

GENERAL INFORMATION....................................................................................................................3
1 BASIC PRINCIPLES .......................................................................................................................7
1.1 CONFIGURATION OF SIMOTION I/OS .....................................................................................11
1.2 CONFIGURATION OF SINAMICS I/OS......................................................................................11
1.3 CONFIGURATION OF SINAMICS I/OS FOR USE WITH SIMOTION...........................................12
2 USE OF SINAMICS I/OS BY SIMOTION ..................................................................................13
2.1 FREE FRAME CONFIGURATION WITH P915/P916.......................................................................15
2.2 FREE FRAME CONFIGURATION VIA BICO .................................................................................16
2.2.1 Example: TM31 with SIMOTION D410 .............................................................................17
2.3 FRAME EXTENSION ...................................................................................................................22
2.4 FRAME 39X ..............................................................................................................................24
2.4.1 Functionality of Frames 390, 391 and 392.........................................................................24
2.4.2 Configuration of Frame 39x ...............................................................................................26
2.4.3 Use of onboard I/Os by SIMOTION (as DI/DO) ................................................................27
© Siemens AG, 2008 All Rights Reserved

2.4.4 Use of fast output cam outputs / fast DOs ..........................................................................29

2.4.5 Use of global measuring inputs ..........................................................................................30
2.4.6 Use of the control and status word of the Control Unit......................................................30
2.4.7 Particularities of the use of Frame 39x ..............................................................................32
2.4.8 Notes on the use/reparameterization of Frame 39x............................................................33
2.4.9 Fault diagnosis ...................................................................................................................36
3 CONFIGURATION OF OUTPUT CAM OUTPUTS .................................................................39
3.1 OUTPUT CAM OUTPUTS (STANDARD I/OS) ................................................................................39
3.2 FAST OUTPUT CAM OUTPUTS ....................................................................................................39
3.2.1 Fast output cam outputs with SIMOTION D4xx.................................................................40
3.2.2 Fast output cam outputs with TM15 / TM17 High Feature ................................................42
4 CONFIGURATION OF MEASURING INPUTS........................................................................43
4.1 LOCAL AND GLOBAL MEASURING INPUTS .................................................................................43
4.2 CONFIGURATION OF LOCAL MEASURING INPUTS ON A CONTROL UNIT.....................................45
4.3 CONFIGURATION OF GLOBAL MEASURING INPUTS ON A CONTROL UNIT ..................................47
4.4 CONFIGURATION OF GLOBAL MEASURING INPUTS WITH TM15 / TM17....................................49
5 COMBINATION OF DIFFERENT FUNCTIONALITIES........................................................49
6 INTEGRATION IN THE SIMOTION RUNTIME SYSTEM / TIMING .................................49
7 TIPS & TRICKS.............................................................................................................................50
7.1 PROGRAMMING EXAMPLES.......................................................................................................50
7.2 PERFORMANT ACCESS TO THE I/O AREA .................................................................................51
8 MODIFICATIONS.........................................................................................................................52
9 REFERENCE LIST........................................................................................................................52
10 CONTACT PERSONS ...................................................................................................................53

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 Basic Principles

List of Tables

Table 1-1: Assignment of I/Os to SIMOTION or SINAMICS .........................................................................8

Table 2-1: Overview of the Use of SINAMICS I/Os by SIMOTION ............................................................. 14
Table 2-2: Drive object: Maximum number of process status data (PZD)................................................... 16
Table 2-3: Assignment of the byte representation versus the process status data (PZD) representation... 21
Table 2-4: Overview of the functionalities of frames 390, 391 and 392....................................................... 24
Table 2-5: Address assignment: Control/status word and onboard I/Os ..................................................... 27
Table 2-6: Description of CU_CW (control word for Control Unit) ............................................................... 31
Table 2-7: Description of CU_SW (status word of the Control Unit)............................................................ 31
Table 2-8: Overview: Particularities to be considered when using onboard DOs with Frame 39x .............. 32
Table 2-9: Overview: Particularities to be considered when using onboard DIs with Frame 39x ............... 32
Table 3-1: Comparison of components for fast output cam output ............................................................. 39
Table 3-2: Necessary settings in the expert list........................................................................................... 40
Table 3-3: Configuration of TO Output Cam / TO Cam Track..................................................................... 41
Table 4-1: Comparison of local and global measuring inputs ..................................................................... 43
Table 4-2: Overview of the quantity frameworks and functionality of measuring inputs .............................. 44
Table 4-3: Local measuring inputs, required settings in the expert list........................................................ 45
Table 4-4: Local measuring inputs, configuration of TO Measuring Input ................................................... 46
Table 4-5: Global measuring inputs, required settings in the expert list...................................................... 47
© Siemens AG, 2008 All Rights Reserved

Table 4-6: Global measuring inputs, configuration of TO Measuring Input ................................................. 48

Table 8-1: Modifications/Author .................................................................................................................. 52
Table 9-1: List of documents....................................................................................................................... 52

List of Figures
Figure 1-1: Insert input/output components ..................................................................................................9
Figure 1-2: Integration of I/Os ..................................................................................................................... 10
Figure 1-3: Configuration in interconnection screen forms.......................................................................... 11
Figure 2-1: Entering the number of process status data for input and output data ..................................... 17
Figure 2-2: Reading in the address range of the input and output data ...................................................... 18
Figure 2-3: Selecting process status data................................................................................................... 19
Figure 2-4: Interconnection of the TM31 digital inputs and analog inputs ................................................... 19
Figure 2-5: Interconnection of the TM31 digital outputs and analog outputs............................................... 20
Figure 2-6: PROFIdrive message frame ..................................................................................................... 22
Figure 2-7: Example: Interconnection of the onboard DIs in PROFIBUS transmit direction........................ 23
Figure 2-8: Configuration of Frame 39x ...................................................................................................... 26
Figure 2-9: Configuring DI/DO as an input or output................................................................................... 28

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 Basic Principles

Configuration of Onboard I/Os, TMs and TB30

Note
SINAMICS is used as a general term for the following versions:
ƒ for SINAMICS Integrated with SIMOTION D410 and D4x5
ƒ for the CX32 SIMOTION Controller Extension
(scaling of the processing power on the drive end of a SIMOTION D4x5)
ƒ for SINAMICS S110/S120 Control Units (CU305, CU310 and CU320)

This is particularly important for references to the project tree in the SCOUT engineering
system, as the names of the entries in the project tree vary accordingly.

In this document, Control Unit (CU) is used as a general term for SIMOTON D, CX32 and
CU305/CU310/CU320.
© Siemens AG, 2008 All Rights Reserved

1 Basic Principles

Assignment of the I/Os

The following principle distinctions have to be made for the configuration of I/Os:
ƒ I/Os assigned to SIMOTION (in the following also referred to as "SIMOTION I/Os")
Î i.e. the I/Os are functionally assigned to SIMOTION and controlled from the SIMOTION
user program
ƒ I/Os assigned to SINAMICS (in the following also referred to as "SINAMICS I/Os")
Î i.e. the I/Os are functionally assigned to SINAMICS
Î The user can configure that SINAMICS I/Os can also be used by SIMOTION.

The approach to be pursued for configuration and possible fields of application depend on
whether I/Os assigned to SIMOTION or SINAMICS are used.

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 Basic Principles

Table 1-1: Assignment of I/Os to SIMOTION or SINAMICS

SIMOTION I/Os SINAMICS I/Os
Available I/O terminals ƒ I/Os connected via PROFIBUS or ƒ Onboard I/Os SIMOTION D4xx
PROFINET (e.g. SIMATIC ET 200) ƒ Onboard I/Os SIMOTION CX32
ƒ Onboard I/Os with SIMOTION C2xx ƒ Onboard I/Os SINAMICS S120
CU310 / CU320
ƒ Onboard I/Os SINAMICS S110 CU305
ƒ TM15 DI/DO
ƒ TM15 (SIMOTION)
ƒ TM17 (SIMOTION)
ƒ TM31
ƒ TM41
ƒ TB30

Depending on the configuration, all or

some I/Os can also be used by SIMOTION.
TM15 and TM17 High Feature are always
assigned automatically and individually to
SIMOTION.
Configuration Access to the I/Os via SIMOTION I/O-variable Access to the I/Os via the interconnection
(process image, direct accesses to the of drive parameters (BICO interconnection)
peripherals) or SIMOTION technology objects or via SINAMICS DCC (Drive Control
(TO Output Cam, TO Cam Track, ...) Chart)
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Example for use Controlling of I/Os by means of a gating logic, Use of a DI on the Control Unit for the
e.g. programmed in LAD/FBD control of Safe Stop 1;
Use of a DO for the output of the "Infeed
ready signal"

Note
The module hardware of TM15 (SIMOTION) and TM15 DI/DO is identical, and a difference is
only made when inserting the component. In the project navigator under the corresponding
SINAMICS CU, double click on "Insert input/output component". In the dialog which pops up,
select the "TM15 (SIMOTION)" or "TM15 DI/DO" terminal module in the "Drive objects type"
field.
Î For more detailed information, refer to the “TM15/TM17 High Feature Terminal Modules”
Commissioning Manual.
The designation "(SIMOTION)" with TM15 and TM17 High Feature in the dialog "insert
input/output components" is only made from V4.1 SP2 on.

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 Basic Principles

Overview of the use of I/Os

PROFIBUS / PROFINET I/Os (e.g. SIMATIC ET 200) are exclusively assigned to SIMOTION.
The access to the I/O area is performed via technology objects (e.g. TO Cam Track) or from the
SIMOTION user program via I/O variables.

Onboard I/Os of a Control Unit (D4xx, CU3xx, CX32), and also TB30, TM15, TM15 DI/DO,
TM17 High Feature, TM31 and TM41, are SINAMICS I/Os, and the related inputs and outputs
are available to SINAMICS functions (example: DO for the output of the Ready signal of the
infeed).
In order to use SINAMICS I/Os with SIMOTION, these I/Os must be connected to frames via a
BICO interconnection on the SINAMICS end in order to ensure that the inputs and outputs can
be accessed from this end. For more detailed information on the various connection options,
refer to Chapter 2, Use of SINAMICS I/Os by SIMOTION.

The TM15 and TM17 High Feature terminal modules are an exception, as an interconnection
to a “free frame” is performed automatically already upon the creation of the modules. This
ensures that the data of the frame is mapped to the I/O area of SIMOTION.
© Siemens AG, 2008 All Rights Reserved

TM15 and TM17 High Feature are therefore exclusively available for SIMOTION.

Drive objects type

Concerning the modules TM15 and TM17 High Feature, from V4.1 SP2 on, the following names
are used for the drive objects types in the dialog "insert input/output components":

o Module TM15
Æ Drive objects type TM15 DI/DO Æ BICO-interconnectable
(utilization by SIMOTION and/or SINAMICS)
Æ Drive objects type TM15 (SIMOTION) Æ exclusive utilization by SIMOTION
o Module TM17 High Feature
Æ Drive objects type TM17 (SIMOTION) Æ exclusive utilization by SIMOTION

Figure 1-1: Insert input/output components

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 Basic Principles

The drive in the Topology view of SIMOTION

In the Topology view, drives are stations on the SIMOTION I/O bus.

The SINAMICS S110/S120 CU305, CU310 and CU320 drives are connected as stations to a
real bus segment of the PROFIBUS or PROFINET type.
The SINAMICS Integrated of a D4xx and the CX32 Controller Extension are represented as a
station on the "virtual" PROFIBUS Integrated. The "virtual" bus is extended by SINAMICS
Integrated to the CX32 Controller Extension via the "real" DRIVE-CLiQ.

Due to the consistent representation of SINAMICS Integrated, the CX32 Controller Extension
and the CU305/CU310/320 SINAMICS Control Units, the configuration is to a large degree
independent of the topology.

SIMOTION D4xx
SIMOTION Runtime PROFIBUS/PROFINET

TOs SINAMIC S120, CU320

I/O
User area ET200 SINAMICS DRIVE-CLiQ
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TM15 TM17
program I O (SIMOTION) (SIMOTION)
(ST, LAD, FBD, MCC) PROFIBUS I O I O
Integrated
Frames Onboard TB30 TM15
- Free frame999 DRIVE- E/A (Option) DI/DO TM31 TM41
- Frame 39x I O I O I O I O I O
- Axis frames CLiQ
- ...

Automatic
SINAMICS interconnection
CX
Integrated on configuration 32
of TM15/TM17
TM15 TM17
BICO interconnection (SIMOTION) (SIMOTION)
by user
I O I O
DRIVE-CLiQ

Onboard TB30 TM15

TM31 TM41
I/O (Option) DI/DO
I O I O I O I O I O

Figure 1-2: Integration of I/Os

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 Basic Principles

1.1 Configuration of SIMOTION I/Os

I/Os on PROFIBUS / PROFINET

Via the PROFIBUS or PROFINET interface, standard I/O systems can be connected to
SIMOTION D, e.g. the distributed SIMATIC ET 200 I/O systems.

These I/Os can be accessed from SIMOTION D:

ƒ via direct access with I/O variables
ƒ via the process image of the cyclic tasks with I/O variables
ƒ with the fixed process image of the BackgroundTask
ƒ via TO Output Cam or TO Cam Track

Note
Access via the process image is more performant than direct access.

For more detailed information

ƒ on I/O access options, refer to the SIMOTION ST Structured Text Programming and
© Siemens AG, 2008 All Rights Reserved

Operation Manual.
ƒ on I/O processing on field bus systems (timing, classification within the task system), refer to
the Basic Functions Function Manual.

1.2 Configuration of SINAMICS I/Os

I/Os assigned to SINAMICS are interconnected using the engineering tools of the drive. These
include:
ƒ BICO interconnection
ƒ via parameters in the expert list
ƒ via interconnection screen forms
ƒ configuration via SINAMICS Drive Control Charts (DCC)

Figure 1-3: Configuration in interconnection screen forms

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 Basic Principles

For more detailed information on the drive configuration, BICO interconnection and DCC, refer
to the manuals of the SINAMICS S110/S120 drive system.

Note
The TM15 and TM17 High Feature terminal modules are an exception. When creating the
modules, an automatic interconnection to a "free frame" is performed.
TM15 and TM17 High Feature therefore are exclusively available for SIMOTION.

1.3 Configuration of SINAMICS I/Os for use with SIMOTION

By means of the frame configuration, all or some I/Os assigned to SINAMICS can be used by
SIMOTION.

Depending on the frame configuration, I/O data is exchanged with SIMOTION as follows:
ƒ With SINAMICS Integrated D4xx and CX32:
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via PROFIBUS Integrated

ƒ With SINAMICS (CU305, CU310 and CU320): via PROFIBUS / PROFINET

For more detailed information on configuration options, refer to Chapter 2, Use of SINAMICS
I/Os by SIMOTION.

For more detailed information

ƒ on I/O processing with drive I/Os (timing, classification within the task system), refer to the
Basic Functions Function Manual.

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 Use of SINAMICS I/Os by SIMOTION

2 Use of SINAMICS I/Os by SIMOTION

Depending on the frame configuration, some or all I/Os assigned to SINAMICS can be used by
SIMOTION.

Examples:
ƒ Use of the SINAMICS I/Os for the input and output of digital or analog signals from the
SIMOTION user program (example: use of the onboard I/Os of a D4x5 assigned to
SINAMICS by the SIMOTION user program)
ƒ Use of SINAMICS I/Os in order to use drive-related functions (output cam output,
measuring input, external zero mark, etc.)

In order to use SINAMICS I/Os with SIMOTION, input and output data must be exchanged by
frames.
By means of the frame configuration, the SINAMICS I/Os are mapped in the logic address area
of SIMOTION and can thus be used by a SIMOTION application.
© Siemens AG, 2008 All Rights Reserved

By means of BICO interconnections on the drive end, it is determined which SINAMICS I/Os are
mapped to the frame.

These BICO interconnections can:

ƒ be freely definable (free frame configuration; frame extension)
ƒ specifically defined (standard frames, e.g. Frame 39x; axis frames, etc.)
ƒ depend on the configuration (TM15 / TM17 High Feature)

From the SIMOTION D, frame contents are accessed via I/O variables or input/output
addresses.

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 Use of SINAMICS I/Os by SIMOTION

Depending on how the I/Os are to be used, different configuration options can be defined.

Table 2-1: Overview of the Use of SINAMICS I/Os by SIMOTION

Configuration Explanation Applications Supported I/Os
option (drive objects)
Free frame With TM15 and TM17 High Feature Use of TM15 and TM17 High Feature ƒ TM15 (SIMOTION)
configuration with terminal modules, an automatic for fast DI/DO, output cam outputs and ƒ TM17 (SIMOTION)
P915/P916 connection to a “free frame with measuring inputs
(exception: TM15 / P915/P916" is performed upon the
TM17 High Feature) creation of modules.
TM15 and TM17 High Feature thus
Î see Chapter 2.1 are exclusively available to
SIMOTION.
Free frame The corresponding drive objects are Preferred solution if I/Os are to be ƒ Onboard I/Os on
configuration via assigned specific frames for data distributed among SIMOTION and CU305, CU310,
BICO transmission. SINAMICS and a module view is CU320, D410,
The "free frame configuration via preferred (e.g. frame created on a D4x5, CX32
Î see Chapter 2.2 BICO", Frame 999, is used for data drive object, such as a TM or a CU) ƒ TM15 DI/DO
transmission. ƒ TM31
Frame extension For the transmission of I/O data, Preferred solution if I/Os are to be ƒ TM41
existing frames are extended by distributed among SIMOTION and ƒ TB30
Î see Chapter 2.3 process status data (PZD), and the SINAMICS and e.g. an axis view is
additional process status data is then preferred (drive-related I/Os are
connected via BICO. attached to each axis frame)
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Use of Frame 39x In order to access the onboard I/Os of Only possible for onboard I/Os of CUs; ƒ Onboard I/Os on
a Control Unit (D4xx, preferred solution if all onboard I/Os D410, D4x5,
Î see Chapter 2.4 CU305/CU310/CU320, CX32) from are to be used by SIMOTION (inputs CU305, CU310,
SIMOTION, 39x frames are can be additionally connected on the CU320, CX32
alternatively available for free frame SINAMICS end); use of fast output
configuration or frame extension. cam outputs or fast DO with D4xx; use Note:
of "global" measuring inputs CU305, CU310,
CU320, CX32 do not
provide
fast output cam
outputs

The configuration options are described in detail in the following subsections.

Note
With the "frame extension" and the "free frame configuration via BICO" options, the inputs and
outputs can be used for selective channels via SIMOTION or SINAMICS.

With Frame 39x, however, all onboard inputs and outputs are automatically connected to the
39x frame via BICO interconnections and thus are available to all SIMOTION applications. The
following rules apply:
ƒ All onboard terminals configured as a digital output on the drive end are exclusively
available for SIMOTION (i.e. they are no longer available for use by SINAMICS).
Exception: CU3xx/CX32 from V4.1 SP4 on
ƒ Digital inputs can be used by both SIMOTION and SINAMICS.
Details see Chapter 2.4.8, Notes on the use/reparameterization of Frame 39x

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 Use of SINAMICS I/Os by SIMOTION

2.1 Free frame configuration with P915/P916

The TM15 and TM17 High Feature terminal modules are an exception (this, however, does not
apply to TM15 DI/DO).
TM15 and TM17 High Feature are connected to the Control Unit via the DRIVE-CLiQ interface.
Thus, they are assigned to SINAMICS.
When inserting a TM15 or TM17 High Feature, however, a connection to a "Free frame with
P915/P916" is performed automatically.

The frame structure and length depend on the configured properties of the inputs and outputs.
For example, the I/O channels can be specified as DIs, DOs, measuring inputs or output cam
outputs.
The automatic connection of the frame ensures that the functions of the modules can be used
exclusively by SIMOTION. The functions are controlled from the SIMOTION user program via
input and output addresses or I/O variables.
Configuration on the drive end via BICO / DCC SINAMICS is not possible.

For more detailed information

ƒ on the configuration of TM15 and TM17 High Feature, refer to the
© Siemens AG, 2008 All Rights Reserved

SIMOTION TM15 and TM17 High Feature Commissioning Manual.

ƒ on the configuration of output cam outputs and measuring inputs, refer to the
SIMOTION Output Cams and Measuring Inputs Manual.
ƒ on I/O processing with TM15 and TM17 High Feature (timing, classification within a task
system), refer to the Basic Functions Function Manual.

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 Use of SINAMICS I/Os by SIMOTION

2.2 Free frame configuration via BICO

With the "Free frame configuration via BICO", the corresponding drive objects (e.g. terminal
modules) are assigned specific frames for data transmission.

Frame type: Free frame configuration via BICO (Frame 999)

In order to ensure that the SINAMICS drive signals (e.g. I/Os) can be accessed from the
SIMOTION, these signals must be connected to the frame on the SINAMICS end via BICO.
For example, the "Free frame configuration via BICO" is the preferred solution for the
distribution of I/Os between SIMOTION and SINAMICS for selective channels and if a module
view is preferred (for example, the frame is applied to a drive object, such as a TM or a CU).

Possible drive objects:

CU305, CU310, CU320, D410, D4x5, CX32, TM15 DI/DO, TM31, TM41, TB30
© Siemens AG, 2008 All Rights Reserved

Table 2-2: Drive object: Maximum number of process status data (PZD)
Drive object Maximum number of process status data
for the configuration of PROFIdrive
message frames
Input data Output data
(from the (from the
SIMOTION D end) SIMOTION D end)
TM15 DI/DO 5 5
TM31 5 5
TM41 19 16
TB30 5 5
CU 15 5

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 Use of SINAMICS I/Os by SIMOTION

2.2.1 Example: TM31 with SIMOTION D410

This subsection describes the interconnection of a signal of a TM31 connected to a SIMOTION

D410 as an example.

The free frame configuration via BICO includes the following steps:
ƒ Freely configure the frame
ƒ Connect frame for TM31
ƒ Create I/O variables in SIMOTION

Prerequisite
You have already created a project and configured a drive.

Freely configuring the frame (example: SIMOTION D410)

1. In the project navigator under "SINAMICS_Integrated", double click on "Insert
© Siemens AG, 2008 All Rights Reserved

input/output component". In the dialog which pops up, select the "TM31" terminal module
in the "Drive objects type" field.
2. Enter the name of the module to be inserted and then click on OK to confirm.
3. In the project navigator under "SINAMICS_Integrated", double click on "Communication"
> "Message frame configuration" in order to open the "PROFIdrive message frame"
screen form.
The "Free message frame configuration with BICO" (Frame 999) has been selected for
the inserted TM31. Next, enter the number of process status data for the input and output
data. Be aware of the maximum number of process status data for the drive objects in
transmit and receive direction (see Table 2-2: Drive object: Maximum number of process
status data, on page 16). For example, a TM31 can have max. 5 process status data.
4. Enter a 3 under "Input data" and "Output data" in the "Length" column.

Figure 2-1: Entering the number of process status data for input and output data

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 Use of SINAMICS I/Os by SIMOTION

5. Click the "Transfer to HW Config" button in order to transmit the data to HW Config and to
read in the address area of the input and output data.

Note
Prior to the adjustment, all drive objects without I/O addresses ("---..---") must be moved
behind the objects with I/O addresses which still have to be adjusted ("???..???") or valid
I/O addresses.
© Siemens AG, 2008 All Rights Reserved

Figure 2-2: Reading in the address range of the input and output data

You can now transmit data from TM31 to SIMOTION (transmit direction) or receive data from
SIMOTION (receive direction).

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 Use of SINAMICS I/Os by SIMOTION

Connecting a frame for TM31

The following paragraphs describe how to transmit a signal from TM31 to SIMOTION
(transmit direction).
1. In the created TM31 double-click on "Communication". The related screen form pops up.
2. Change to the tab "transmit direction"
3. Select the source (blue symbol) for the process state data word 1 (PZD1). Select "further
interconnections" under TM31 and choose "r4022 – CO/BO: TM31 digital inputs, status".
© Siemens AG, 2008 All Rights Reserved

Figure 2-3: Selecting process status data

4. Now interconnect the analog inputs AI 0 and AI 1 in the same way (r4055[0] and r4055[1],
current value in percent; 100% = 4000 Hex).

Figure 2-4: Interconnection of the TM31 digital inputs and analog inputs

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 Use of SINAMICS I/Os by SIMOTION

Proceed as follows to transmit a signal from SIMOTION to TM31 (receive direction):

1. In the created TM31 double-click on "Communication". The related screen form pops up.
2. Change to the tab "Receive directions"
3. For PZD1, please click on the symbol for the bitwise representation and interconnect the
single bits to p4038 (DO 8) up to p4041 (DO 11) as well as p4030 (DO 0) and p4031 (DO
1). On PZD2 and PZD3 you connect the analog outputs AO 0 and AO 1 (p4071[0] and
p4071[1])
© Siemens AG, 2008 All Rights Reserved

Figure 2-5: Interconnection of the TM31 digital outputs and analog outputs

Note
If you perform the above-mentioned interconnections "online", you must:
ƒ prior to the interconnection: load the frame configuration into the Control Unit.
ƒ after the interconnection: upload your settings into the PG. To do this, select
"SINAMICS_Integrated" using the context button in the project navigator and then select
Destination device > Load into PG.

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 Use of SINAMICS I/Os by SIMOTION

Creating I/O variables in SIMOTION

To access the signals of TM31, you have to create I/O variables in SIMOTION. The input or
output addresses for the TM31 frame in the "PROFIdrive message frame" screen form are
required for this purpose. In this way, you can assign the variable either a complete word, a byte
or an individual bit.

1. In the project navigator under the created SIMOTION D4xx, double click on "I/O".
The symbol browser pops up.
2. Enter a name for the I/O variable.
3. Enter an I/O address, e.g.:
o "PI277.0" Î for accessing PZD1 Bit 0 of the configured frame
o "PI276.0" Î for accessing PZD1 Bit 8 of the configured frame
You can now access the signal from SIMOTION.

Process status data (PZD) are defined as 16-bit values based on the PROFIdrive profile. When
determining the I/O address, it must be considered that the less significant byte of the
SIMOTION I/O variable is assigned to (and inverts) the more significant PZD bits of frame:
© Siemens AG, 2008 All Rights Reserved

Table 2-3: Assignment of the byte representation versus the process status data (PZD)
representation
I/O address Byte 276 Byte 277
Byte in bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
representation
PZD in bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
representation

In the example, the addresses of the I/Os are as follows:

DI 0...7 the address PI 277.0 to PI 277.7
DI/DO 8...11 the address PI 276.0 to PI 276.3 (if DI/DO is parameterized as DI)
AI 0 the address PIW 278
AI 1 the address PIW 280

DI/DO 8...11 the address PQ 276.0 to PQ 276.3 (if DI/DO is parameterized as DO)
AO 0 the address PQW 278
AO 1 the address PQW 280

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 Use of SINAMICS I/Os by SIMOTION

2.3 Frame extension

With the "frame extension", existing standard frames (e.g. axis frames) are extended by
additional process status data (PZD) and the additional process status data is then
interconnected via BICO (e.g. to an actual speed value or the status of a digital input).

The "frame extension" is the preferred solution if I/Os are to be distributed among SIMOTION
and SINAMICS and e.g. an axis view is preferred (drive-related I/Os should be attached to each
axis frame).

Possible drive objects:

CU305, CU310, CU320, D410, D4x5, CX32, TM15 DI/DO, TM31, TM41, TB30

To do this, proceed as follows:

1. Insert a drive using the drive wizard and select e.g. "Standard frame 103" for the process
data exchange.
2. In the project navigator under "SINAMICS_Integrated", double click on "Communication"
© Siemens AG, 2008 All Rights Reserved

> "Message frame configuration" in order to open the "PROFIdrive message frame" tab
card.
In this tab card, the lengths of the input and output data are pre-assigned for the inserted
drive. The addresses of the input and output data have not yet been transmitted to
HW Config and are therefore pre-assigned with "???".
3. Highlight the line of the object the frame of which you want to extend.

Figure 2-6: PROFIdrive message frame

4. Click the "Insert line" button and select the "Message frame extension" option from the
menu which pops up.
The new line with the frame extension is inserted below the highlighted line.
5. In the "Length" field of the input and output data, specify by how many process status
data the frame has to be extended.
6. Click the "Transfer to HW Config" button in order to transmit the changes to HW Config.

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 Use of SINAMICS I/Os by SIMOTION

The red check mark in the line shows that a changed standard protocol is used. Following
the transmission to HW Config, the input and output addresses are entered.

Note
Prior to the adjustment, all drive objects without I/O addresses ("---..---") must be moved
behind the objects with I/O addresses which still have to be adjusted ("???..???") or valid
I/O addresses.

7. Now switch over to the configured drive. Double click on "Communication".

8. De-select the "Suppress inactive interconnections" option in order to show all process
status data of the frame.
The transmit and receive data (at least 16) is displayed. The first process status data is
already pre-assigned with the standard frame and cannot be changed.
© Siemens AG, 2008 All Rights Reserved

9. Via BICO, interconnect the added process status data (at the end of the PZD list) with the
desired signals.

Figure 2-7: Example: Interconnection of the onboard DIs in PROFIBUS transmit

direction

Note
The program does not show a warning message if you interconnect more process status data
than indicated in the additional process status data. Be aware that a SERVO drive object
supports up to 16 process status setpoint values and 19 process status actual values. The
VEKTOR drive object supports up to 32 process status setpoint and actual values.

Note
If you perform the above-mentioned interconnections "online", you must:
ƒ prior to the interconnection: load the frame connection into the Control Unit.
ƒ after the interconnection: upload your settings into the PG. To do this, select
"SINAMICS_Integrated" using the context button in the project navigator and then select
Targes device > Load to PG.

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 Use of SINAMICS I/Os by SIMOTION

2.4 Frame 39x

2.4.1 Functionality of Frames 390, 391 and 392

Basic Principles
By means of Frame 39x, SIMOTION can use the onboard I/Os of a Control Unit assigned to
SINAMICS in a particularly convenient manner. The functionality is supported by SIMOTION
V4.1, SP1 (or higher).

Possible drive objects: D410, D4x5, CU305, CU310, CU320, CX32

When setting a 39x frame, the SINAMICS I/Os are automatically connected to the 39x frame via
BICO interconnections and thus are available for SIMOTION. All onboard I/Os of a Control Unit
specified as digital outputs are exclusively available to SIMOTION; digital inputs can be used by
both SIMOTION and SINAMICS.
© Siemens AG, 2008 All Rights Reserved

Besides the use of the onboard I/Os, the 39x frame allows for the use of
ƒ fast output cam outputs and fast digital outputs (DO) with SIMOTION D4xx
ƒ "global" measuring inputs
ƒ the control and status word of the Control Unit (CU_CW; CU_SW)

Frames 390, 391 and 392

Depending on the selected 39x frame type, different functionalities can be used with SIMOTION D.

Table 2-4: Overview of the functionalities of frames 390, 391 and 392
Frame Functionality available on the DI/DO
D410 D4x5 CX32, CU310, CU320,
CU3052)
390 o CU_CW; CU_SW o CU_CW; CU_SW o CU_CW; CU_SW
o I/O access to the DIs and DOs o I/O access to the DIs and DOs o I/O access to the DIs and DOs
o up to 4 fast output cam outputs / o up to 8 fast output cam outputs /
DOs DOs
391 o CU_CW; CU_SW o CU_CW; CU_SW o CU_CW; CU_SW
o I/O access to the DIs and DOs o I/O access to the DIs and DOs o I/O access to the DIs and DOs
o up to 4 fast output cam outputs / o up to 8 fast output cam outputs / o up to 2 measuring inputs
1)
DOs DOs (global measuring inputs)
o up to 2 measuring inputs o up to 2 measuring inputs
(global measuring inputs) (global measuring inputs)
392 o CU_CW; CU_SW o CU_CW; CU_SW o CU_CW; CU_SW
o I/O access to the DIs and DOs o I/O access to the DIs and DOs o I/O access to the DIs and DOs
o up to 4 fast output cam outputs / o up to 8 fast output cam outputs / o CU320: max. of 6 measuring
1)
DOs DOs inputs (global measuring inputs)
o up to 3 measuring inputs o up to 6 measuring inputs o CU310/CX32: max. of 3
(global measuring inputs) (global measuring inputs) measuring inputs (global
1)
measuring inputs)
1)
in connection with CX32, CU310 and CU320, released from V4.1 SP2 on
2)
Utilizing CU305 with global measuring inputs: please ask hotline for current status

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 Use of SINAMICS I/Os by SIMOTION

For the configuration of local measuring inputs, the 39x frame does not need to be configured.
The maximum quantity framework of "Fast output cam outputs / DOs" is reduced by the number
of measuring inputs used, as the same terminals are used.
© Siemens AG, 2008 All Rights Reserved

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 Use of SINAMICS I/Os by SIMOTION

2.4.2 Configuration of Frame 39x

Prerequisites
The following prerequisites are met:
ƒ A project has been created.
ƒ The Control Unit (e.g. SIMOTION D410 DP) has been inserted.
ƒ A drive has been configured.

1. In the project navigator under "SINAMICS_Integrated", double click on "Communication" >

"Message frame configuration".
The "SINAMICS_Integrated – Message frame configuration" dialog pops up.
2. In the "PROFIdrive message frame" tab card, select the frame type (frames 390, 391 or 392)
for the Control Unit.
3. Click the "Transfer to HW Config" button in order to transmit the frame data to HW Config.

A frame has been configured for the Control Unit. The address range of the frame is shown in
© Siemens AG, 2008 All Rights Reserved

the "SINAMICS - Configuration" dialog.

With the frame configuration of Frame 39x, BICO interconnections are performed automatically
for the DI and DI/DO and thus are available for SIMOTION.

After the message frame configuration with automatic BICO interconnection, digital outputs can
be connected to SINAMICS sources via manual BICO reconnections (as from SIMOTION V4.1
SP4, only for CU3xx/CX32; see Chapter 2.4.8, Notes on the use/reparameterization of Frame
39x)

Figure 2-8: Configuration of Frame 39x

Note to version V4.1 SP1

In V4.1, SP1, the wirings for DI4 to 7 and DI/DO12 to 15 are not shown "offline" although they
exist. This, however, does not affect the functionality. All data is displayed correctly when
uploading the drive unit to the programming device (PG) after the project download.

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 Use of SINAMICS I/Os by SIMOTION

2.4.3 Use of onboard I/Os by SIMOTION (as DI/DO)

When defining a 39x frame, the onboard I/Os are automatically connected to the 39x frame via
BICO interconnections and thus are available to all SIMOTION applications. The following rules
apply:
ƒ All onboard terminals configured as digital outputs on the drive end are exclusively
available for SIMOTION (i.e. they are no longer available for use by SINAMICS).
Exception: CU3xx/CX32 from V4.1 SP4 on
ƒ Digital inputs can be used by both SIMOTION and SINAMICS.
Details see Chapter 2.4.8, Notes on the use/reparameterization of Frame 39x

Address assignment
Frame 390 transmits the control and status word of the Control Unit in PZD 1 and the status of
the onboard inputs and outputs in PZD2.

With frames 391 and 392, control and status information is additionally transmitted for the global
© Siemens AG, 2008 All Rights Reserved

measuring inputs. The contents of PZD3 to PZD15 are exclusively used by the Measuring Input
technology object and are not relevant for the user.

Table 2-5: Address assignment: Control/status word and onboard I/Os

Logic hardware address and bit D4x5, CU320 D410, CX32, CU310,
number CU305
Input Output Input Output
PZD 1 Start address Frame 39x + 0 CU_SW CU_CW CU_SW CU_CW
PZD 2 Start address Frame 39x + 2, Bit 0 DI 0 --- DI 0 ---
Start address Frame 39x + 2, Bit 1 DI 1 --- DI 1 ---
Start address Frame 39x + 2, Bit 2 DI 2 --- DI 2 ---
Start address Frame 39x + 2, Bit 3 DI 3 --- DI 3 ---
Start address Frame 39x + 2, Bit 4 DI 4 --- --- ---
Start address Frame 39x + 2, Bit 5 DI 5 --- --- ---
Start address Frame 39x + 2, Bit 6 DI 6 --- --- ---
Start address Frame 39x + 2, Bit 7 DI 7 --- --- ---
Start address Frame 39x + 3, Bit 0 DI 8 DO 8 DI 8 DO 8
Start address Frame 39x + 3, Bit 1 DI 9 DO 9 DI 9 DO 9
Start address Frame 39x + 3, Bit 2 DI 10 DO 10 DI 10 DO 10
Start address Frame 39x + 3, Bit 3 DI 11 DO 11 DI 11 DO 11
Start address Frame 39x + 3, Bit 4 DI 12 DO 12 --- ---
Start address Frame 39x + 3, Bit 5 DI 13 DO 13 --- ---
Start address Frame 39x + 3, Bit 6 DI 14 DO 14 --- ---
Start address Frame 39x + 3, Bit 7 DI 15 DO 15 --- ---
PZD 3 Start address Frame 39x + 4 Used internally for --- Used internally for ---
global measuring global measuring
inputs (only for frames inputs (only for frames
391, 392) 391, 392)
PZD 4-7 Start address Frame 39x + 6 Used internally for --- Used internally for ---
global measuring global measuring
inputs 1 to 2 (only for inputs 1 to 2 (only for
frames 391, 392) frames 391, 392)
PZD 8-15 Start address Frame 39x + 10 Used internally for --- Used internally for ---
global measuring global measuring
inputs 3 to 6 inputs 3 to 6
(only for frame 392) (only for frame 392)

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 Use of SINAMICS I/Os by SIMOTION

Note
Write access to the CU_CW can only be performed by means of the _setDriveObjectSTW
system function.
Only a read access to the CU_CW is possible with I/O variables ("Read only" checkbox in the
I/O symbol browser).

To access the individual process status data for accessing the I/Os, I/O variables have to be
created in SIMOTION. To do this, the input or output address of Frame 39x in the "PROFIdrive
message frame" screen form is required.

Example: Frame 390 (address of the input data = 276; address of the output data = 276)
© Siemens AG, 2008 All Rights Reserved

Configuring DI/DO as an input or output

In the interconnection screen forms, the user can define whether a DI/DO is used as a digital
input or digital output.

In the project navigator under "SINAMICS" > "Control_Unit", double-click on "Inputs/Outputs"

and then modify the assignment as required in the "Bidirectional digital inputs/outputs" tab card.

Figure 2-9: Configuring DI/DO as an input or output

Alternatively, the setting can be performed via the p728 parameter in the expert list of the
Control Unit, for selective channels (context menu of the Control Unit: "Expert" > "Expert list").

Note:
When configuring telegram 39x and onboard I/Os, it is absolutely necessary to consider Chapter
2.4.8, Notes on the use/reparameterization of Frame 39x.

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 Use of SINAMICS I/Os by SIMOTION

2.4.4 Use of fast output cam outputs / fast DOs

If a 390, 391 or 392 frame has been configured, the onboard outputs of the SIMOTION D can
be used
ƒ as an output cam output or
ƒ as a fast output with write access from the user program

Note:
If I/O data is transmitted via bus frames, the update of the I/O data depends on the defined bus
cycle.
Therefore, an I/O via Frame 39x can change its state only once in each bus cycle of PROFIBUS
Integrated.
SIMOTION D onboard outputs are controlled via direct write access to the hardware (i.e.
without considering the frame):
ƒ Write access to digital outputs therefore becomes effective with a particularly short delay
time (as the write access is independent of the bus cycle)
ƒ Furthermore, a more precise output cam output is possible (see Table 3-1: Comparison of
© Siemens AG, 2008 All Rights Reserved

components for fast output cam output on page 39)

Direct write access is not possible on CX32, CU305, CU310 and CU320.

The delay time resulting from fast write accesses from the user program includes the following
individual delays:
ƒ Delay time of the user program Î Terminal register: up to 75 µs
ƒ Load-dependent output delay time of the hardware
with D410/D4x5: L Î H: up to 400 µs
H Î L: up to 100 µs

For fast output cam outputs / digital outputs, the same addresses have to be used as for the
"normal" use of the digital outputs.

For more detailed information

ƒ on the addresses, refer to Table 2-5: Address assignment: Control/Status Word and
Onboard I/Os on page 27
ƒ on output cam outputs, see Chapter 3, Configuration of output cam outputs

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 Use of SINAMICS I/Os by SIMOTION

2.4.5 Use of global measuring inputs

Global measuring inputs with 391 and 392 frames

The control and status data of the global measuring inputs are additionally transmitted with the
391 and 392 frames.

For more detailed information

ƒ on global measuring inputs, see Chapter 4.3, Configuration of global measuring inputs on a
Control Unit)

2.4.6 Use of the control and status word of the Control Unit
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Configuration of the control and status word of the Control Unit

The tables on the following page show the structure of the control and status word of the Control
Unit. Advanced drive expertise is required for the use of the control and status word.

Note
Write access to the CU_CW is only permissible via the _setDriveObjectCW system function.
Only read access to the CU_CW is possible with I/O variables ("Read only" checkbox in the I/O
symbol browser).
A fault can only be acknowledged with the _resetDriveObjectFault system function.
Faults and warnings are notified with the PeripheralFaultTask of SIMOTION.

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 Use of SINAMICS I/Os by SIMOTION

Table 2-6: Description of CU_CW (control word for Control Unit)

Bit Significance Remarks BICO
0 Synchronization flag - This signal synchronizes the BI:
common system time of the p0681[0]
controller and the drive unit.
1 RTC PING - This signal sets the UTC time via BI: p3104
the PING event.
2…6 reserved - - -
7 Acknowledge faults 0/1 Acknowledge faults BI: p2103
8…11 reserved - - -
12 Controller life sign Bit 0 - Controller life sign CI:p2045
13 Controller life sign Bit 1 -
14 Controller life sign Bit 2 -
15 Controller life sign Bit 3 -

Table 2-7: Description of CU_SW (status word of the Control Unit)

© Siemens AG, 2008 All Rights Reserved

Bit Significance Remarks BICO

0…2 reserved - - -
3 Fault effective 1 Fault effective BO:
0 No fault effective r2139.3
4…6 reserved - - -
7 Warning effective 1 Warning effective BO:
0 No warning effective 2139.7
8 SYNC - - BO:
r0899.8
9…11 reserved - - -
12 Drive unit life sign - Slave life sign Implicitly
Bit 0 connected
13 Drive unit life sign -
Bit 1
14 Drive unit life sign -
Bit 2
15 Drive unit life sign -
Bit 3

For more detailed information on the control and status word, refer to the manuals of the
SINAMICS S110/S120 drive system.

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 Use of SINAMICS I/Os by SIMOTION

2.4.7 Particularities of the use of Frame 39x

The following particularities have to be considered when the inputs and outputs are used by
SIMOTION based on the configuration of Frame 39x:

Table 2-8: Overview: Particularities to be considered when using onboard DOs with
Frame 39x
Frame 39x No Frame 39x configured
configured
Access options to digital output (DO) see Chapter 4.3, Configuration of Depending on the BICO
global measuring inputs on a Control interconnection, the output can be
Unit used by SIMOTION or SINAMICS
DO is BICO-interconnectable Yes
Inversion settings Not effective effective
(= cu.p748)
Behavior in STOP state of LOW level After the first transition of the
SIMOTION controller to RUN state, the outputs
are set according to the BICO
© Siemens AG, 2008 All Rights Reserved

connection also in STOP state of the

controller.
The outputs therefore function drive-
independently in this case.
Status display in the interconnection The status is displayed correctly if no The status display only shows the
screen forms of SIMOTION SCOUT inversion via p748 has been defined. current status of the output when the
SINAMICS_Integrated has received
the internal “NCReady“ bus signal
from the controller for the first time
after the start-up.
This is achieved during the first
transition of the controller to RUN
state. Afterwards, the outputs are set
according to the status display also in
the STOP state of the controller!

Table 2-9: Overview: Particularities to be considered when using onboard DIs with
Frame 39x
DI assigned to SIMOTION DI assigned to SINAMICS
via Frame 39x
DI is BICO-interconnectable Yes Yes
(r721, r722, r723) The state of the DI can be further
connected on the SINAMICS end
Settings for simulation effective effective
(= cu.p795 / cu.p796)
Behavior in the STOP state of The signal state of the DI is still The inputs function independently of
SIMOTION available on the SIMOTION end the drive, and the STOP state has no
influence.
Status display in the interconnection The status is displayed (even if the The status is displayed (also in STOP
screen forms of SIMOTION SCOUT SIMOTION CPU is in STOP state) mode of the SIMOTION CPU)

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 Use of SINAMICS I/Os by SIMOTION

2.4.8 Notes on the use/reparameterization of Frame 39x

Rules for Frame 39x

The onboard I/Os of a Control Unit assigned to SINAMICS can be used with message frames
39x by SIMOTION. If a frame 39x has been set for the Control Unit, the onboard I/Os are
automatically connected via BICO interconnections with this frame 39x and are thus available to
SIMOTION.
• For SINAMICS V2.5 the following applies:
All onboard I/Os of a Control Unit parameterized as digital outputs are available
exclusively only for SIMOTION with frame 39x (BICO interconnectability is inactive).

Digital inputs can be used by both SIMOTION and SINAMICS.

• For SINAMICS V2.6 the following applies:

• Onboard I/Os of CX32 or CU3xx:
The digital outputs are assigned to SIMOTION D by creating frame 39x --- can,
© Siemens AG, 2008 All Rights Reserved

however, be reconnected to SINAMICS via BICO interconnection (BICO

interconnectability is active)

Access rights for diagnostic purposes are displayed via CU parameter r0729.
Bit = 1: SIMOTION has access rights to the digital output
Bit = 0: SINAMICS has access rights to the digital output

• Onboard I/Os of SIMOTION D:

Even if the digital output can be connected (BICO interconnectability is active),
interconnection is not possible!
All onboard I/Os parameterized as digital outputs are still exclusively assigned to
SIMOTION D. (Direct access for fast DO / output cam outputs)

In addition, the following has to be considered

ƒ After selecting a frame 39x, the parameters on the CU have to be adjusted if required (p728
for the parameterization of a DI/DO as an input or output; p680 for global measuring inputs).
ƒ You can use DI/DO for global measuring inputs or fast output cam outputs. A combination is
also possible (e.g. 3 measuring inputs and 1 output cam output with D410)

To avoid consistence problems, please proceed as follows when using frame 39x.

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 Use of SINAMICS I/Os by SIMOTION

Recommended method of proceeding for the configuration of telegram 39x

When using telegram 39x, please proceed as follows in case of telegram changes or after
changing I/O-related parameters.

Note
The described method of proceeding has to be applied
ƒ When you have changed the telegram in connection with telegram 39x, e.g.
reparameterization from:
ƒ telegram 39x Æ telegram 39y
ƒ "free telegram configuration with BICO (teleg. 999)" Æ telegram 39x
ƒ telegram 39x Æ "free telegram configuration with BICO (teleg. 999)"
ƒ when you have changed parameters that are relevant to the onboard I/Os (e.g. settings of
the CU parameters cu.p728/cu.p680)

Proceeding:
1. Go offline to change telegrams (e.g. settings/reparameterization of telegram 39x) or to
make I/O-interconnections (e.g. parameterization of an onboard DI/DO as DO,
parameterization of a global measuring inputs via cu.p728/cu.p680, ...).
2. Realize a HW Config adjustment after the changes have been made.
© Siemens AG, 2008 All Rights Reserved

The HW Config adjustment is always made only for the corresponding selected control unit
in the configuration tree and not project-globally!
3. Execute "save project and compile all"
4. Go "online"
5. Load the configuration to the D4xx and the SINAMICS Integrated with "load project to target
system". Activate the option "copy RAM to ROM after loading".
6. Please execute a power OFF/ON in the following cases. As an alternative, you can also
make a RESET via the RESET key of the D4xx:
ƒ V4.1 SP1: Power OFF/ON is necessary after every reparameterization
ƒ V4.1 SP2/4: Power OFF/ON is only necessary if you reset the telegram 39x to "free
telegram configuration with BICO (teleg. 999)"

We generally recommend applying this method of proceeding even if this is not always
necessary for some scenarios.

In case of consistence problems, please proceed as described in Chapter 2.4.9, Fault

diagnosis.

Note
In principle, the described method of proceeding is also valid for the configuration of TM15 /
TM17 high feature with telegram P915/P916.

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 Use of SINAMICS I/Os by SIMOTION

Free BICO wiring using Frame 390

Frame 390 can also be used in order to define a pre-assignment for the wiring of the inputs and
outputs to SIMOTION and to modify this pre-assignment via BICO interconnection (e.g. in order
to assign individual outputs to SINAMICS).
Regarding CU3xx and CX32 as from V4.1 SP4, we recommend the procedure described in
Chapter 2.4.8, Notes on the use/reparameterization of Frame 39x.

Proceed as follows:
1. Set Frame 390 for the Control Unit.
2. Immediately afterwards (without adjustment to HW Config), return to "Free frame
configuration with BICO".
This procedure automatically generates preassignments for the wiring of the inputs and
outputs to SIMOTION.
3. Next, perform an adjustment to HW Config.
4. Modify the connections a desired.

This procedure does not generate any configuration information for fast output cam
© Siemens AG, 2008 All Rights Reserved

outputs/digital outputs, as you have not performed a HW Config adjustment with defined Frame
39x.

Note:
We urgently recommend NOT to proceed as follows: Set a Frame 39x, perform an adjustment
to HW Config and then return to "Free frame configuration with BICO".
In this case, configuration information is generated for fast output cam outputs/digital outputs
and global measuring inputs. By returning to "Free frame configuration with BICO", this
configuration information is maintained and can now cause inconsistencies due to the BICO
interconnections which now follow.

In order to return from 39x to the free BICO configuration, proceed as described under
Recommended method of proceeding for the configuration of telegram 39x on page 34.

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 Use of SINAMICS I/Os by SIMOTION

2.4.9 Fault diagnosis

Error identification

In case of incorrect configurations (e.g. incorrect BICO wiring), inconsistencies can occur with
the standard Frame 39x.

Consistence problems can show as follows:

ƒ An onboard I/O does not function as desired (e.g. a DO is still controlled by SIMOTION
instead of SINAMICS)
ƒ Error messages during the consistence check
ƒ Entry in the diagnosis buffer of SIMOTION. You can read the diagnosis buffer from
SIMOTION SCOUT as follows: "target system" > "device diagnosis".

Examples of entries in the diagnosis buffer

Diagnosis buffers with base 3xx contains the onboard-I/O-configuration of the control unit with
© Siemens AG, 2008 All Rights Reserved

telegram 39x inconsistent entries.

Cause 310: P2079 - incompatible frame type
Cause 311: Pxxx - Double configuration of an onboard I/O channel of the CU for SINAMICS
and SIMOTION, indicated by the bit number
Cause 312: P728 - The direction configuration of an onboard I/O channel of the CU is not clear,
indicated by the bit number
Cause 320: P680 - onboard I/O channel of the CU not configured as measuring input or
configured in the incorrect measuring input channel, indicated by the bit number
Cause 321: P680 - measuring input channel not configured, indicated by the channel number
(index of the P680)

Examples of error messages during the consistence check

ƒ Error --- technology: I/O telegram '(1F038FC4-F97F-4C68-9B3D-16AE24CDDEEF)':
address area (PQB312[20]) is not configured in HWCFG
ƒ Error --- technology: I/O address overlapping between the free telegrams: '(1F038FC.....)'
(address PQB312[20]) and '(FA212.....)' (address PQB306[8])
ƒ Error --- technology: I/O address overlapping between the I/O points: '(1F038FC.....)'
(address PIW306) and '(FA212.....)' (address PIW306)
ƒ Error --- There is no configuration of a free telegram for the I/O: 'measuring_input_1:
LogAddress' (address: PI299.1).

I/O Configuration Page 36/53

 Use of SINAMICS I/Os by SIMOTION

Error elimination

To eliminate inconsistencies, please proceed as follows:

1. Check the used addresses; please consider that it is not possible to access to a digital
output of "a technology object" and "an I/O-variable" at the same time
2. Execute in the offline configuration the transmission of the concerned control unit to the
HW-Config
3. Execute "save project and compile all"
4. Go "online"
5. Load the configuration to the D4xx and the SINAMICS Integrated with "load project to target
system". Activate the option "copy RAM to ROM after loading".
6. Please execute a power OFF/ON in the following cases. As an alternative, you can also
make a RESET via the RESET key of the D4xx

If this action is not successful, please proceed as follows:

1. Go "offline"
2. Generate new configuration information:
Procedure < V4.1 SP4 Procedure ≥ V4.1 SP4
Several steps are necessary: Context menu of the CPU: "FastIO" >
• Delete FastIO configuration (context menu of the "Generate new configuration"
© Siemens AG, 2008 All Rights Reserved

CPU: "FastIO" > "Delete configuration")

This will delete the FastIO
• HW Config adjustment of the configured frames via
configuration of the CPU and
the button "Transfer to HW Config" and thus new generate a new one.
generation of the FastIO configuration
Note:
If the FastIO configuration has been deleted, the
HW Config adjustment must be executed for all
drive units of a SIMOTION CPU which contain a
FastIO component (onboard I/O of a CU with frame
39x, TM15 or TM17 High Feature).
3. Execute "save project and compile all"
4. Go "online"
5. Load the configuration to the D4xx and the SINAMICS Integrated with "load project to target
system". Activate the option "copy RAM to ROM after loading ".
6. Please execute a power OFF/ON in the following cases. As an alternative, you can also
make a RESET via the RESET key of the D4xx

I/O Configuration Page 37/53

 Use of SINAMICS I/Os by SIMOTION

Note
An output via I/O-variables to a digital output, which is simultaneously used by a TO Output
Cam or TO Cam Track, is not possible.
When loading the configuration to the target system, an error message is indicated.

Please, also consider that SINAMICS or the terminal module must be ramped-up before any
access to an I/O is possible.
One possibility to check if the ramp-up has been realized, is to use the system function
_getSafeValue and _setSafeValue. These functions permit to eliminate errors when having
access to the I/O-variables.
With the aid of the return value you can see if the access was successful.

Note
In principle, the described method of proceeding is also valid for the configuration of TM15 /
TM17 High Feature with telegram P915/P916.
© Siemens AG, 2008 All Rights Reserved

I/O Configuration Page 38/53

 Configuration of output cam outputs

3 Configuration of output cam outputs

Output cams involve the position-dependent output of switching signals. For SIMOTION, the
output cam output is controlled by the Output Cam and Cam Track technology objects (TO).

3.1 Output cam outputs (standard I/Os)

The switching signals for the output cam output can be output on each standard output (e.g. ET
200S distributed I/O system). In these cases, the switching accuracy is limited by the bus cycle
and the processing cycle of the technology object. Furthermore, up to one edge can be output
per bus cycle.
Besides the ET 200 I/O systems, digital outputs can also be used on the Control Units (D4xx,
CU, CX32), terminal modules (TM) or the TB30 terminal board.
In these cases, the outputs must be assigned to SIMOTION.
Î see Chapter 2, Use of SINAMICS I/Os by SIMOTION

To configure the output cam output via standard I/Os, the logic hardware address and the bit
number of the output is indicated with TO Output Cam or TO Cam Track.
© Siemens AG, 2008 All Rights Reserved

For more detailed information,

ƒ refer to the SIMOTION Output Cams and Measuring Inputs Manual

3.2 Fast output cam outputs

Due to a special hardware support, fast output cam outputs provide for improved output
precision of the output signals and more edges per time unit.

To configure the output cam output, the logic hardware address and the bit number of the
output are indicated for the TO Output Cam or TO Cam Track technology object.

Table 3-1: Comparison of components for fast output cam output

Component Output accuracy Max. number of Minimum edge spacing
output cam outputs
per component
D4x5 onboard digital 125 µs 8 Up to two edges per
outputs processing cycle of TO Output
D410 onboard digital 200 µs 4 Cam / TO Cam Track
outputs
TM15 125 µs 24 Up to two edges per
(or DRIVE-CLiQ cycle) processing cycle of TO Output
TM17 High Feature 10 µs 16 Cam / Cam Track
CX32, CU305, Components do not support fast output cam outputs
CU310, CU320, Î up to 1 edge per servo or interpolation cycle
TM31, TM41, TM54, (depending on the processing cycle of TO Output Cam / Cam Track)
TB30

I/O Configuration Page 39/53

 Configuration of output cam outputs

3.2.1 Fast output cam outputs with SIMOTION D4xx

The onboard digital outputs of the SIMOTION D can be used as output cam output or as fast
output with write access from the user program.

In order to be able to use the fast outputs, a 390, 391 or 392 frame must be created.

Note:
If I/O data is transmitted via bus frames, the update of the I/O data depends on the defined bus
cycle.
Therefore, an I/O via Frame 39x can change its state only once during each PROFIBUS
Integrated bus cycle.
SIMOTION D onboard outputs are controlled via direct write access to the hardware (i.e.
without considering the frame). Consequently:
ƒ a write access to digital outputs becomes effective after a particularly short delay time (as
the write access is independent of the bus cycle).
ƒ the output cam output is more precise (see Table 3-1: Comparison of components for fast
output cam output on page 39).
© Siemens AG, 2008 All Rights Reserved

CX32, CU305, CU310 and CU320 cannot be directly accessed.

The delay time resulting from fast write access from the user program includes the following
individual delays:
ƒ Delay time of the user program Î Terminal register: up to 75 µs
ƒ Load-dependent output delay time of the hardware
with D410/D4x5: L Î H: up to 400 µs
H Î L: up to 100 µs

Bei der Konfiguration des TO Nocken / TO Nockenspur müssen Sie den DO/DO als Ausgangs
parametrieren and die logische HW-address and Bitnummer des verwendeten Ausgangs in die
eintragen.

Table 3-2: Necessary settings in the expert list

Parameterization of Via the parameters p728[8....15] of the parameterization as
DI/DO as output control unit, you have to define as output all D4x5 D410
DI/DOs being used as output cam output.
Parameter p728[8] (DI/DO 8) output output
Parameter p728[9] (DI/DO 9) output output
Parameter p728[10] (DI/DO 10) output output
Parameter p728[11] (DI/DO 11) output output
Parameter p728[12] (DI/DO 12) output ---
Parameter p728[13] (DI/DO 13) output ---
Parameter p728[14] (DI/DO 14) output ---
Parameter p728[15] (DI/DO 15) output ---

I/O Configuration Page 40/53

 Configuration of output cam outputs

Table 3-3: Configuration of TO Output Cam / TO Cam Track

Logic hardware address D4x5 output D410 output
and bit number
Start address Frame 39x + 3, Bit 0 DO 8 DO 8
Start address Frame 39x + 3, Bit 1 DO 9 DO 9
Start address Frame 39x + 3, Bit 2 DO 10 DO 10
Start address Frame 39x + 3, Bit 3 DO 11 DO 11
Start address Frame 39x + 3, Bit 4 DO 12 ---
Start address Frame 39x + 3, Bit 5 DO 13 ---
Start address Frame 39x + 3, Bit 6 DO 14 ---
Start address Frame 39x + 3, Bit 7 DO 15 ---

Note
When configuring telegram 39x and onboard I/Os, it is absolutely necessary to consider Chapter
2.4.8, Notes on the use/reparameterization of Frame 39x.
© Siemens AG, 2008 All Rights Reserved

For more detailed information, refer to the following documents:

ƒ Chapter 2.4, Frame 39x
ƒ SIMOTION Output Cams and Measuring Inputs Manual

I/O Configuration Page 41/53

 Configuration of output cam outputs

3.2.2 Fast output cam outputs with TM15 / TM17 High Feature

The quantity framework on the output cam outputs can be extended by means of the TM15 and
TM17 High Feature terminal modules:
ƒ TM15: up to 24 output cam outputs
ƒ TM17 High Feature: up to 16 output cam outputs

For a detailed description of the configuration, refer to the following manuals:

ƒ SIMOTION Output Cams and Measuring Inputs Manual
ƒ TM15/TM17 High Feature Terminal Modules Commissioning Manual
© Siemens AG, 2008 All Rights Reserved

I/O Configuration Page 42/53

 Configuration of Measuring Inputs

4 Configuration of Measuring Inputs

Measuring inputs provide for fast and precise actual position detection by means of hardware
support (e.g. measuring input on the corresponding drive unit).
Digital inputs of standard I/Os (e.g. SIMATIC ET 200 distributed I/O system) can principally not
be used as measuring inputs.
For SIMOTION, the measuring input functionality is controlled by the Measuring Input
technology object (TO).
Two different classes of measuring inputs are distinguished for SIMOTION. The measuring
inputs of these classes have different properties and are configured differently.

4.1 Local and global measuring inputs

Depending on the hardware, local and global measuring inputs are available for measuring
tasks.
Local measuring inputs are axis-related and realized in the SINAMICS drive. The actual
© Siemens AG, 2008 All Rights Reserved

position value is measured in this case.

Global measuring inputs can be freely assigned to the axes. The measuring result is assigned
an internal time stamp for high-precision determination of the axis positions.
In the drive context, the term "central measuring input" is also used.
Table 4-1: Comparison of local and global measuring inputs
Local measuring input Global measuring input
Supported hardware D410, D4x5, CX32, CU305, TM15, TM17 High Feature
CU310, CU320 V4.1, SP1 (or higher): D410, D4x5
V4.1, SP2 (or higher): CX32, CU310, CU320
1)
CU305
Measuring method With a signal edge on the With a signal edge on the corresponding input, the
corresponding input, the current actual values of one or several encoders are
current actual values of an detected with the precise position by means of the
encoder connected to the time stamp functionality in order to determine the
Control Unit are detected with lengths or distances (possible with any encoders
the precise position in order to existing in the project).
determine the lengths or
distances.
Configuration of TO Measuring Input in The inputs are specifically The inputs are not specifically assigned to the
the SCOUT engineering system assigned to the hardware of the corresponding hardware, i.e. the assignment is
Control Unit, i.e. the performed during the configuration of TO Measuring
assignment is performed via Input via the hardware address.
the measuring input number
during the configuration of TO
Measuring Input.
Setting of TO Measuring Input: yes yes
One-time measurement
(Measuring tasks must be triggered individually
for each measurement. Several interpolation
cycles run between two measuring events.)

I/O Configuration Page 43/53

 Configuration of Measuring Inputs

Setting of TO Measuring Input: no D410, D4x5

Cyclic measurement V4.1, SP2 (or higher): CX32, CU310, CU320
(The measurement is activated only once and Minimum distance between two measurements:
then continues at cyclical intervals until it is 3 servo cycles (up to 2 edges per measurement)
deactivated.)
TM17 High Feature:
Minimum distance between two measurements:
1 servo cycle (up to 2 edges per measurement)
TM15:
No cyclic measuring
Use of several TO Measuring Input on no yes
one axis/encoder, which can be
simultaneously active.
Listening TO Measuring Input no yes
This functionality ensures that a
measuring input can include several
Measuring Input technology objects and
thus several axes/external encoders.
Measuring on virtual axes no yes
Measuring on axes connected to another no yes
drive unit
1)
Utilizing CU305 with global measuring inputs: please ask hotline about current status
© Siemens AG, 2008 All Rights Reserved

Table 4-2: Overview of the quantity frameworks and functionality of measuring inputs
Max. quantity framework available
D410 CU305 CU310 D4x5 CX32 CU320 TM15 TM17
High
Feature
Max. number of 3 2 3 6 3 6 24 16
measuring inputs
Configurable as x x x x x x --- ---
local measuring
inputs 1)
Configurable as x ---2) x x x x x x
global measuring (released (released (released
from V4.1, from V4.1, from V4.1,
inputs SP2 on) SP2 on) SP2 on)
1)
A maximum of two measuring inputs per axis
2)
Utilizing CU305 with global measuring inputs: please ask hotline about current status

I/O Configuration Page 44/53

 Configuration of Measuring Inputs

4.2 Configuration of local measuring inputs on a Control Unit

Local measuring inputs are always assigned to an axis (drive). They are specifically configured
for each individual drive. The drive and the measuring input must always be located on the
same Control Unit. The measuring results are transmitted via the axis frame as specified by the
PROFIdrive profile.
The configuration of Frame 39x is not required for local measuring inputs.

The following Control Units support local measuring inputs: D410, D4x5, CX32, CU305, CU310,
CU320

Table 4-3: Local measuring inputs, required settings in the expert list
Parameterization of Via the p728[8....15] parameters of the Control Parameterization as
DI/DO as an input Unit, all DI/DO used as measuring inputs must D4x5, D410,
be defined as inputs. CU320 CX32,
CU305,
© Siemens AG, 2008 All Rights Reserved

CU310
p728[8] parameter (DI/DO 8) DI/DO 8 (apart from the
CU305) cannot be used as
measuring input
p728[9] parameter (DI/DO 9) Input Input
p728[10] parameter (DI/DO 10) Input Input
p728[11] parameter (DI/DO 11) Input Input
p728[12] parameter (DI/DO 12) DI/DO 12 cannot be used as
measuring input
p728[13] parameter (DI/DO 13) Input ---
p728[14] parameter (DI/DO 14) Input ---
p728[15] parameter (DI/DO 15) Input ---
Definition of the The terminals for the local measuring inputs Parameterization (selection)
measuring input (probe inputs) must be assigned via the D4x5, D410,
terminal p488[0..2] and p489[0..2] parameters of the CU320 CX32,
drive. CU305,
CU310
p488[0] parameter DI/DO 8 (*)
Probe 1 input terminal, Encoder 1 DI/DO 9 DI/DO 9
p488[1] parameter DI/DO 10 DI/DO 10
Probe 1 input terminal, Encoder 2 DI/DO 11 DI/DO 11
p488[2] parameter DI/DO 13
Probe 1 input terminal, Encoder 3 DI/DO 14 (*) only
p489[0] parameter DI/DO 15 CU305
Probe 2 input terminal, Encoder 1
p489[1] parameter
Probe 2 input terminal, Encoder 2
p489[2] parameter
Probe 2 input terminal, Encoder 3

I/O Configuration Page 45/53

 Configuration of Measuring Inputs

A maximum of 3 encoders can be assigned to a drive, and the index [0..2] specifies whether the
measurement refers to Encoder 1, 2 or 3.

The following rules have to be considered:

ƒ Two TO Measuring Inputs can be configured per TO Axis or TO External Encoder.
ƒ Only one TO Measuring Input can be active on a TO Axis or TO External Encoder.

Table 4-4: Local measuring inputs, configuration of TO Measuring Input

Axis measuring system No. Under Axis Measuring System No., enter the number of the encoder
system used (i.e. Encoders 1...3).
Encoder system 1 is used by default.
Local measuring Tick this checkbox if a local measuring input is to be used.
Measuring input number Define in this field which measuring input is to be used (i.e. 1 or 2).
Input 1 is used by default.

For more detailed information, refer to the following document:

ƒ SIMOTION Output Cams and Measuring Inputs Manual
© Siemens AG, 2008 All Rights Reserved

I/O Configuration Page 46/53

 Configuration of Measuring Inputs

4.3 Configuration of global measuring inputs on a Control Unit

Global measuring inputs can be freely assigned to the axes (drives). They assign the measuring
result an internal time stamp for the highly accurate determination of the axis positions.
The drive and the measuring input do not need to be located on the same Control Unit. The
measuring results are not transmitted via the axis frame, but via Frame 391 / 392.
The following Control Units support global measuring inputs:
ƒ from V4.1, SP1 on: D410, D4x5
ƒ from V4.1, SP2 on: CX32, CU310 and CU320
ƒ CU305: please ask hotline about current status for CU305

Table 4-5: Global measuring inputs, required settings in the expert list
Parameterization of Via the p728[8....15] parameters of the Control Unit, all Parameterization as
DI/DO as an input DI/DO used as measuring inputs must be defined as inputs.
D4x5, D410,
CU320 CX32,
CU310
© Siemens AG, 2008 All Rights Reserved

p728[8] parameter (DI/DO 8) DI/DO 8 cannot be used

as measuring input
p728[9] parameter (DI/DO 9) Input Input
p728[10] parameter (DI/DO 10) Input Input
p728[11] parameter (DI/DO 11) Input Input
p728[12] parameter (DI/DO 12) DI/DO 12 cannot be used
as measuring input
p728[13] parameter (DI/DO 13) Input ---
p728[14] parameter (DI/DO 14) Input ---
p728[15] parameter (DI/DO 15) Input ---
Definition of the The terminals for the global measuring inputs (probe inputs) Parameterization
measuring input are defined via the p680[0....5] parameters of the Control (selection)
terminal Unit. Depending on the Control Unit and Frame 39x, up to 6 D4x5, D410,
global measuring inputs can be defined. CU320 CX32,
CU310
p680[0] parameter probe input terminal DI/DO 9 DI/DO 9
p680[1] parameter probe input terminal DI/DO 10 DI/DO 10
p680[2] parameter probe input terminal DI/DO 11 DI/DO 11
p680[3] parameter probe input terminal DI/DO 13
p680[4] parameter probe input terminal DI/DO 14
p680[5] parameter probe input terminal DI/DO 15

Besides the parameter settings, Frame 391 (up to 2 measuring inputs) or 392 (up to 6
measuring inputs) must be defined for the Control Unit.
The p680 parameter is used to define a terminal as global measuring input.
ƒ With frame 391, p680[0..1] can be assigned
ƒ With frame 392, p680[0..5] can be assigned (D410/CX32/CU310 only p680 [0..2])
It is not relevant on which parameter the desired terminal is defined. The measuring inputs are
assigned to an axis via the logic hardware address and the bit number of the digital input to be
used as the measuring input.
--> see Table 2-5: Address assignment: Control/status word and onboard I/Os

I/O Configuration Page 47/53

 Configuration of Measuring Inputs

Furthermore, the measuring input can be inverted via the p490 / p2088[2] parameter of the
Control Unit. Please note that both parameters need changing.

Examples:
Inversion DI/DO9: p490.9 = INVERTED; p2088[2].1 = INVERTED
Inversion DI/DO10: p490.10 = INVERTED; p2088[2].2 = INVERTED
Inversion DI/DO11: p490.11 = INVERTED; p2088[2].3 = INVERTED
Inversion DI/DO13: p490.13 = INVERTED; p2088[2].5 = INVERTED
Inversion DI/DO14: p490.14 = INVERTED; p2088[2].6 = INVERTED
Inversion DI/DO15: p490.15 = INVERTED; p2088[2].7 = INVERTED

Note:
The p684 and r685 to r688 Control Unit parameters are not relevant for SIMOTION.
Don't change any parameters which have an influence of the interconnection of global
measuring inputs to telegram 39x (e.g. cu.p2082)
© Siemens AG, 2008 All Rights Reserved

Note
When configuring telegram 39x and onboard I/Os, it is absolutely necessary to consider Chapter
2.4.8, Notes on the use/reparameterization of Frame 39x.

Table 4-6: Global measuring inputs, configuration of TO Measuring Input

Axis measuring system No. In the “Axis measuring system No.” field, enter the number of the encoder
system used (i.e. Encoders 1...3).
Encoder system 1 is used by default.
Global measuring Tick this checkbox if a global measuring input is to be used.

Logic hardware address and Enter the logic hardware address and the bit number of the input used.
bit number Logic hardware address and bit number Input D4x5, Input D410,
CU320 CX32,
CU310
Start address Frame 39x + 3, Bit 0 DI/DO 8 cannot be used as
measuring input
Start address Frame 39x + 3, Bit 1 DI/DO 9 DI/DO 9
Start address Frame 39x + 3, Bit 2 DI/DO 10 DI/DO 10
Start address Frame 39x + 3, Bit 3 DI/DO 11 DI/DO 11
Start address Frame 39x + 3, Bit 4 DI/DO 12 cannot be used as
measuring input
Start address Frame 39x + 3, Bit 5 DI/DO 13 ---
Start address Frame 39x + 3, Bit 6 DI/DO 14 ---
Start address Frame 39x + 3, Bit 7 DI/DO 15 ---

For more detailed information, refer to:

ƒ SIMOTION Output Cams and Measuring Inputs Manual
ƒ Chapter 2.4, Frame 39x

I/O Configuration Page 48/53

 Combination of Different Functionalities

4.4 Configuration of global measuring inputs with TM15 / TM17

The quantity framework on global measuring inputs can be extended by means of the TM15 and
TM17 High Feature terminal modules:
ƒ TM15: up to 24 global measuring inputs
ƒ TM17 High Feature: up to 16 global measuring inputs

The configuration is described in detail in the corresponding manuals.

For more detailed information, refer to the following documents:

ƒ SIMOTION Output Cams and Measuring Inputs Manual
ƒ TM15/TM17 High Feature Terminal Modules Commissioning Manual

5 Combination of Different Functionalities

© Siemens AG, 2008 All Rights Reserved

Provided that the Control Unit supports the individual functionality, the following combinations
are possible:
ƒ Global and local measuring inputs can be combined on the same Control Unit.
ƒ A local measuring input can also be used as an input for external zero marks.
ƒ A global measuring input cannot be used as an input for external zero marks (download
message: p495[0..2] parameter: inadmissible value)
ƒ Global measuring inputs and fast output cam outputs can be combined on a SIMOTION D
(e.g. for D4x5: 2 measuring inputs; 6 output cam outputs)
ƒ For measuring inputs, the static state of the input can be read via the same digital input.

6 Integration in the SIMOTION Runtime System / Timing

For more detailed information on the integration in the runtime system, refer to the following
document:
ƒ Basic Functions Function Manual, Chapter Runtime System/Tasks/System Cycles –
Integration of Drive I/Os

I/O Configuration Page 49/53

 Tips & Tricks

7 Tips & Tricks

7.1 Programming examples

The following FAQ programming examples are available for the integration of the onboard I/Os,
TM15 DI/DI, TM31 and TB30.

The examples are written in Structured Text. The supported functionality includes the following
functions:
ƒ Reading out data words from the frame and writing the values in the individual global
variables (for BOOL binary words, e.g. the status of the inputs)
ƒ Reading out the individual variables and writing the data words in the frame

Depending on the required response times, the program can be executed in the background or
also in an IPO task.
For analog inputs and outputs (TB30, etc.), respectively one additional FC is available for the
© Siemens AG, 2008 All Rights Reserved

conversion of the normalized percent value (-200% ... +200%) into a floating point number and
vice versa.

Download Sources

D4x5_CU320_TB30.t D410_CU310.txt TM15.txt TM31.txt

xt

More detailed information on these documents is available under the following FAQ:
http://support.automation.siemens.com/WW/view/en/29063656

Besides more detailed information, the link also provides access to the sources of the
programming examples.

I/O Configuration Page 50/53

 Tips & Tricks

7.2 Performant Access to the I/O Area

For performance reasons, it is more advisable to access the I/O area word by word instead of
creating individual BOOL variables for I/O access.

// Reading in inputs of TM15

//--------------------------------------------------------------------
boFault := _getBit( wInData[0], 7 );

boState_DI00 := _getBit( wInData[1], 0 );

boState_DI01 := _getBit( wInData[1], 1 );
boState_DI02 := _getBit( wInData[1], 2 );
boState_DI03 := _getBit( wInData[1], 3 );

boState_DI20 := _getBit( wInData[2], 4 );

boState_DI21 := _getBit( wInData[2], 5 );
boState_DI22 := _getBit( wInData[2], 6 );
boState_DI23 := _getBit( wInData[2], 7 );
© Siemens AG, 2008 All Rights Reserved

// Defining outputs of TM15

//-------------------------------------------------------------------
wOutData[1] := _setbit(wOutData[1], 0, boState_DO00);
wOutData[1] := _setbit(wOutData[1], 1, boState_DO01);
wOutData[1] := _setbit(wOutData[1], 2, boState_DO02);
wOutData[1] := _setbit(wOutData[1], 3, boState_DO03);

wOutData[3] := _setbit(wOutData[3], 4, boState_DO20);

wOutData[3] := _setbit(wOutData[3], 5, boState_DO21);
wOutData[3] := _setbit(wOutData[3], 6, boState_DO22);
wOutData[3] := _setbit(wOutData[3], 7, boState_DO23);

I/O Configuration Page 51/53

 Modifications

Annex

8 Modifications
Table 8-1: Modifications/Author
Version Date/Modification
V1.0 April 18, 2008 / creation of the initial document
V1.1 August 19, 2008 / supplements to V4.1, SP2
V1.2 August 29, 2009 / supplements to V4.1, SP4

9 Reference List
© Siemens AG, 2008 All Rights Reserved

References
This list is not complete. It only provides a selection of reference literature.
Table 9-1: List of documents
Subject Title
/1/ High Speed I/Os with TM15/TM17 High Feature Terminal Modules
terminal modules Commissioning Manual
/2/ Configuration of the SIMOTION Output Cams and Measuring Inputs
technology objects Manual
/3/ Runtime and task Basic Functions Function Manual
system
/4/ Programming SIMOTION ST Structured Text Programming and
Operation Manual
/5/ Drive technology Manuals of the SINAMICS S120 drive system

I/O Configuration Page 52/53

 Contact Persons

10 Contact Persons
Application Center

SIEMENS
Siemens AG
Automation & Drives
I DT MC PM APC
Frauenauracher Str. 80
D-Erlangen
Fax: +49 9131-98-1297
mailto: applications.erlf.aud@siemens.de
© Siemens AG, 2008 All Rights Reserved

I/O Configuration Page 53/53