Configuring fieldbus devices
Append box
In the context menu of the Profibus master card Device1 select "Append Box". Select from folder PROFIdrive MC (DPV2) (with the respective multiple). Please note that numbers 1-8 are available for selection, representing up to 6 drive controllers, a CU and an Active Line Module. In the example (sevenfold) communication via the Profibus takes place in a system of 6 axes and a CU.
GSG file
Please select "Sinamics S" from the "Select Box" dialog:
Ensure that the file Profidrive2.dat and the GSG file (editor) referred to in this file are in directory \TwinCAT\IO\Profibus\
Example Profidrive2.dat:
Simodrive 611U=
Sinamics S=si0480e5.gsg
FC310x-MC-Slave=FC310xMC.gsd
The corresponding GSG file is read, and the data structures are preset. To use a new, modified GSG file, create a new box (axis combination) and links to the software structures (see section NC configuration).
Profibus slave configuration
The fieldbus configuration for the axis system is set in the Profibus tab:
Set the Profibus address (station no. 2 in the screenshot below) according to the CU address specified in the drive configuration (STARTER program).
Configuration of the PROFIdrive axis system in TwinCAT
The object number (object ID) 1-8 set in the STARTER software matches the channel A-H. Each channel must be assigned a suitable telegram. In the Process Data tab the individual drives of the axis (the axis system) are set to telegram 3 by default. Tests indicated that DSC mode (telegram 5) is not necessary in conjunction with TwinCAT. Telegram 390 is assigned to the CU.
Up to TwinCAT 2.10, B1319, this telegram 370 is not predefined for the Active Line Module ALM, but it can be configured via the Configurable Telegram 0.
In the sample the parameter "PKW Interface" has to remain disabled, since Sinamics S (unlike Simodrive 611U) no longer supports the PKW interface.
Determining the Profibus DP cycle
Once the complete fieldbus has been configured, press the button "Calculate MC Times" in the MC tab of the FC31xx.
The "Estimated DP Cycle Time" (in this case 374 µs) for all axes must be smaller than the NC task time referred to in section NC Configuration (e.g. 2 ms). The actual value should be checked later online.
