SIEMENS

SIMODRIVE 611 universal

Description Edition 02.2001

Function Block FB 83
for SIMODRIVE 611 universal ↔ S7-CPU
 General Information 1

User Interface Structure 2

Calling the Function 3

Block
SIMODRIVE 611 universal
User Interface 4
Assignment
Description Edition 02.2001

Traversing Task 5
Function Block FB 83 Processing
SIMODRIVE 611 universal
↔ S7-CPU Configuring the 6
SIMODRIVE 611 universal
in the S7 Station

Errors 7

Valid for

Function block FB 83, Version 03 and Step 7, SW 5.0

 Edition 02.2001

Contents

1. General Information .......................................................................................................................... 5

2. User Interface Structure ................................................................................................................... 6
3. Calling the Function Block ................................................................................................................ 8
3.1. General information..................................................................................................................... 8
3.2. Configuration instructions ......................................................................................................... 10
4. User Interface Assignment ............................................................................................................. 13
4.1. List (axis DB)............................................................................................................................. 13
4.2. Description ................................................................................................................................ 15
5. Traversing Task Processing ........................................................................................................... 16
6. Configuring the SIMODRIVE 611 universal in the S7 Station........................................................ 19
7. Error when Executing a Task ......................................................................................................... 21

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Function Block FB 83 Version 03 Description Page 3 of 22
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Page 4 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

1. General Information
This block supports data transfer between a SIMODRIVE 611 universal and an S7-CPU via Profibus.
The data interfaces are individually defined in a data block by having a structure with pre-configured
UDTs.

The principal communications structure of a SIMODRIVE 611 universal with a Class 1 DP master is
illustrated in Fig. 1. In this case, the process data (PZD) and the task data (PKW) are consistently
transferred over the complete length of the PZD or PKW area. The control and return signals are
defined in more detail in the User Interface Assignment.

Data transfer SIMO DRIVE 611U - S7-CPU

Process data (P ZD)

PP O SFC 15 20 Byte
DB T yp 5

SFC 14 20 B yte

S7-CPU 611U
Task data (PKW)
PP O SFC 15 8 Byte
DB T yp 5

S FC 14 8 Byte

Fig. 1 Example: Consistent data transfer

PKW interface

The telegram structure of the PKW interface is illustrated in Fig. 2 (also refer to the description of
functions, SIMODRIVE 611 universal).

PKW interface

Byte 0 Task ID . res. Parameter number

1 Parameter number
2 Reserved SFC15
3 Sub-parameter number 8Byte
4 PKW data to be written
5 PKW data to be written SIMODRIVE
6 PKW data to be written 611
7 PKW data to be written universal
0 Response ID. res. Parameter number
1 Parameter number
2 Reserved SFC14
3 Sub-parameter number
8Byte
4 PKW data to be read
5 PKW data to be read
6 PKW data to be read
7 PKW data to be read / error number

Fig. 2 Telegram structure

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Function Block FB 83 Version 03 Description Page 5 of 22
Edition 02.2001

2. User Interface Structure

The principle structure of the user interface is illustrated in Fig. 3. In this case, an axis-specific data
block with pre-configured UDTs must be generated for each axis. The process data area (UDT
positioning operation or UDT nset) by which the SIMODRIVE 611universal is controlled or which
mirrors its feedback (return) signal is mandatory. Optional data, for example, traversing blocks and
fault messages can be individually integrated into the axis-specific data block depending on the
particular requirement. FB83 must be cyclically called for each axis.

Interface 611 universal - PLC

DB axis 1

UDT Obligatory
task data
UDT positioning
UDT positioning operation or
operation UDT nset must be available

UDT nset

UDT 64 Vf blocks Optional

UDT fault messages

Fig. 3 Principle structure of the user interface

In the first S7-CPU cycle, the FB83 checks which data areas the user defined (Fig. 4). This is
specified in the internal data. The S7-CPU must be re-started if the structure of an axis-specific DB is
changed.
Important! The FB_611 universal block must be called during the first PLC cycle. It this is not done,
the UDT autoscan is not run, as this scan was realized with SFC6.

In itia liz a tio n p h a s e s e q u e n c e

S ta rt ro u tin e D B a x is 1
Reads
OB 1 FB83 U DT No.
U D T le n g t h
U D T d a ta
O p tio n a l U D T
W r it e s Reads
UDT No.
U D T le n g t h

I n st a n c e D B
In te r n a l d a ta U D T d a ta

Fig. 4 Checking the data areas using FB 83

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Page 6 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

The structure of the obligatory UDT is illustrated in Fig. 5. The precise assignment of the UDT is
provided in the User Interface Assignment.

Operation with one axis

DB axis 1
Cyclic operation
UDT task data
Cyclic Data
operation FB83 Internal UDT data
OB 1
Task compartment,
single
Data Task compartment,
permanent
Recorded tasks
Instance DB Traversing block
Process data
Internal data
(S7-CPU signals ⇔ 611
universal)

Fig. 5 Structure of the obligatory UDTs

For operation with n axes, only n+1 DBs are required if the internal data is saved in a multi-instance
DB; refer to Fig. 6.

FB 100 Multi-instance DB100

DB axis 1

Cyclic oper- UDT task data

FB83
ation OB 1 Internal UDT data
Task compartment, DB axis 2
single
Task compartment,
UDT task data
permanent
Recorded tasks Internal UDT data

Traversing block Task compartment,

single
Process data Task compartment,
= Signals S7-CPU ⇔ permanent
FB83 SIMODRIVE 611 Recorded tasks
universal
Traversing block
Process data
= Signals S7-CPU ⇔
SIMODRIVE 611
universal

Fig. 6 Operation with n axes

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Function Block FB 83 Version 03 Description Page 7 of 22
Edition 02.2001

3. Calling the Function Block

3.1. General information

The function block FB83 must be cyclically called for each axis. Communications is realized via the I/O
address set in the hardware configuration.
In the configuration example (Section 7) when the FB is called the first time, it must transfer address
256 for axis A to the input variable LADDR and when called the second time, it must transfer address
284 for axis B. The number of the particular axis data block (axis DB No.) must be transferred to the
FB.

Two Any Pointers must be transferred for each axis in order to transfer process data. The process
data should be preferably in a DB (Any Pointer, for example: p#db71.dbx 166.0 byte 20). If the
process data are to be saved in a DB, UDTs 30010 for positioning or UDT 30009 for closed-loop
speed controlled operation can be used (this is recommended as the individual bits of the process
data are symbolized in the UDT).

FB_611 universal
NR_ACHS_DB INT
LADDR INT
WR_PZD ANY
RD_PZD ANY
enable _SFC_PZD BOOL

Fig. 7 Input parameters, SIMODRIVE 611 universal

Example of a call in STL

FUNCTION_BLOCK FB 100
TITLE =
VERSION : 0.1

VAR
a1 : FB 83;
END_VAR
BEGIN
NETWORK
TITLE =
CALL #a1 (
NR_ACHS_DB := 71,
LADDR := 256,
WR_PZD := P#DB71.DBX 166.0 BYTE 20,
RD_PZD := P#DB71.DBX 206.0 BYTE 20,
enable_SFC_PZD := TRUE);

END_FUNCTION_BLOCK

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Page 8 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

Conditions for setting the data consistency

The data consistency over the complete length is defined in parameter enable_SFC_PZD. For a
consistent data transfer over the word, the parameter set should be set to false. If consistent data
transfer over the complete length is present, the parameter should be set to true. The PKW data are
always consistently transferred over the complete length independent of enable_SFC_PZD. Only the
PZD area can be changed over. Refer to Configuring SIMODRIVE 611 universal in the S7 station
when checking the data consistency.

Explanation of the formal parameters of FB_611 universal:

Signal Type Char. Value range Comment

NR_ACHS_DB I Int Dependent on the CPU Number of the data block for an axis DB
LADDR I Int Start of the I/O address
WR_PZD I Any P#Mm.n Byte x.. Target area for process data Master –> Slave
P#DBnr.dbxm.n Byte x (control words/setpoints)

Valid for WR_PZD and RD_PZD:

The point length depends on the PPO type.

PPO No. of PZD bytes

1 4
2 12
5 20

If not changed, then PPO type 5 is set.

RD_PZD I Any P#Mm.n Byte x.. Target area of process data, Master <– Slave
P#DBnr.dbxm.n Byte x (status words/actual values)
enable_SFC_PZD I Bool True:
The PZD area is "constant over the complete
length" - process data is transferred in the area
specified under WR_PZD/RD_PZD with SFC
14/15.

False:
The PZD area is consistent over the unit. Process
data is transferred via load/transfer commands.

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Function Block FB 83 Version 03 Description Page 9 of 22
Edition 02.2001

3.2. Configuration instructions

Initial situation: A new S7 project has been created. The hardware has been configured.

There are two procedures: Either you open project 611U_39 and change the project for the
application, or you already have a functioning project and you only insert the interface.

Changing the 611U_39 project

1. Open the block folder and edit data blocks 71 and 72. Remove the UDTs which are not required.
Remove axis data blocks which are not required (if only one axis is required).

2. Changes and expanded functionality can now be incorporated.

Inserting an interface in the project

1. Insert the FB 83 and the required UDTs into the existing S7 project.
UDT30000 = basis UDT
UDT30001 = edit 64 traversing blocks
UDT30002 = read-out faults
UDT30009 = closed-loop speed controlled operation
UDT30010 = positioning operation

2. Create a data block for each axis which contains the required UDTs.
The UDT 30000 must always be included in the axis data block and be called at the first position.
Refer to the examples for positioning and closed-loop speed controlled operation.

Examples for the data block declaration:

Positioning operation
Address Name Type Initial value Comments
0.0 STRUCT
+0.0 al UDT30000 Basis UDT
+156.0 p UDT30010 Positioning operation UDT
+246.0 v UDT30001 Traversing block UDT
+1538.0 s UDT30002 Fault UDT
=2318.0 END_STRUCT

Closed-loop speed controlled operation

Address Name Type Initial value Comments
0.0 STRUCT
+0.0 a2 UDT30000 Basis UDT
+156.0 d UDT30009 Speed operation UDT
+246.0 s UDT30002 Fault UDT
=1026.0 END_STRUCT

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Page 10 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

You now have 2 possibilities:

A) Manage internal data using a multi-instance data block.
B) Assign each axis a dedicated data block.

A) Managing internal data with a multi-instance data block

Create a function block (call block).

For each axis, declare a call variable in the call block.
Declaration = stat, Name = freely selectable , type = FB 83

Example:

Call the interface FBs (FB 83) in this function block (call block).
FB 83 must be called once for each axis.
Set the call for the call block at the position it will be used.
Example: call FB 40, DB40 è whereby DB40 is the new multi-instance DB of the interface

Set-up error OBs if required (OB 81, 82, 86, 87, 121, 122).

B) Assign each axis a dedicated data block

Call FB 83 in the program or in a new FC or FB.

Call command: call FB83 , DB XY à DB XY is the instance DB

Open the new data block and assign the FB83 as instance data block.

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Function Block FB 83 Version 03 Description Page 11 of 22
Edition 02.2001

If changes are made at the data block with reference to the UDT arrangement, then a new start must
be made, otherwise autoscan does not register the changes.
Never change UDT headers.

Important! Do not change UDTs. If UDTs are changed, then read and write length errors can occur.

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Page 12 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

4. User Interface Assignment

4.1. List (axis DB)

Internal data
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DBW 0 UDT number
DBW 2 UDT length
DBW 4 Check number
DBW 6 Reserve
DBW 8 Reserve
DBW 10 Reserve

Error
DBW 12 ErrorNumbr611U

Task-single PLC ó 611U

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DBB 14 Error Busy Done WR RD
DBW 16 tasksi
DBW 18 ind
DBD 20 Data
DBW 24 ErrorNumbr
DBW 26 Reserve
DBW 28 Reserve
DBW 30 Reserve
DBW 32 Reserve

Tasks, permanent PLC ó SIMODRIVE 611 universal

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DBB 34 Error Busy Done RD
DBW 36 taskpe
DBW 38 ind
DBD 40 Data
DBW 44 ErrorNumbr
DBW 46 Reserve
DBW 48 Reserve
DBW 50 Reserve
DBW 52 Reserve

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Function Block FB 83 Version 03 Description Page 13 of 22
Edition 02.2001

chain_task
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DBW 54 chain_PNU_1
DBW 56 chain_IND_1
DBD 58 chain_Data_1
DBW 62 chain_PNU_2
DBW 64 chain_IND_2
DBD 66 chain_Data_2
DBW 70 chain_PNU_3
DBW 72 chain_IND_3
DBD 74 chain_Data_3
DBW 78 chain_PNU_4
DBW 80 chain_IND_4
DBD 82 chain_Data_4
DBW 86 chain_PNU_5
DBW 88 chain_IND_5
DBD 90 chain_Data_5
DBW 94 chain_PNU_6
DBW 96 chain_IND_6
DBD 98 chain_Data_6
DBW 102 chain_PNU_7
DBW 104 chain_IND_7
DBD 106 chain_Data_7
DBW 110 chain_PNU_8
DBW 112 chain_IND_8
DBD 114 chain_Data_8
DBW 118 chain_PNU_9
DBW 120 chain_IND_9
DBD 122 chain_Data_9
DBW 126 chain_PNU_10
DBW 128 chain_IND_10
DBD 130 chain_Data_10

Complete traversing block

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DBB134 Mode Command Com Deceleratio Acceleratio Velocity Position Block
parameter mand n override n override number
DBW 136 Block number
DBD 138 Position
DBD 142 Velocity
DBW 146 Acceleration override
DBW 148 Deceleration override
DBW 150 Command
DBW 152 Command parameter
DBW 154 Mode

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Page 14 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

4.2. Description
Address Symbol. Name Description
DBW 0 UDT Nummer Number of the UDTs from here. Initial value:
30000
DBW 2 UDT Länge Length of the UDTs from here in bytes.
Initial value: 156
DBW 4 Kontrollnummer Initial value: 30000
DBW 12 ErrorNumbr611U Error number of 611 univ. is saved here.
DBX 14.0 RD Reading data
DBX 14.1 WR Writing data
DBX 14.2 Done Feedback, task completed
DBX14.3 Busy Task is being processed.
DBX 14.7 Error Task cancelled with error.
DBW 16 tasksi Task number, this can be a parameter number
or special task number.
DBW 18 ind Sub-parameter number. Refer to the description
of functions, SIMODRIVE 611 universal,
Section, Parameter lists.
DBD 20 Data Value which is to be written or value read-out
after a read task.
DBW 24 ErrorNumbr Error number of an error which occurred when
executing the task. -1 means no error. Refer to
Section 8
DBX 34.0 RD Reading parameter.
DBX 34.2 Done Feedback, task completed
DBX 34.3 Busy Task is being processed.
DBX 34.7 Error Task cancelled with error.
DBW 36 taskpe Special task number
DBW 38 Ind Sub-parameter number. Refer to the description
of functions, SIMODRIVE 611 universal, Section
Parameter lists.
DBD 40 Data Reserved
DBW 44 ErrorNumbr Error number for task execution. –1 means no
error.
DBW 54, 62 ..., 126 chain_PNU_1-10 Parameter number for permanently reading-out
a piece of data
DBW 56, 64 ..., 128 chain_IND_1-10 Sub-parameter number associated to the
parameter number.
DBD 58, 66, ..., 130 chain_Data_1-10 Parameter value transferred from the 611 univ.
DBX 134.0 Satznum Preselection, which parameters are to be
transferred (134.1 to 134.7)
DBX 134.1 pos Select, position
DBX 134.2 gesch Select, velocity
DBX 134.3 beschover Select, acceleration
DBX 134.4 verzover Select, deceleration
DBX 134.5 bef Select, command
DBX 134.6 befpara Select, command parameter
DBX 134.7 mod Select, mode
DBW 136 Satznummer Value, block number
DBW 138 Position Value, position
DBW 140 Geschw Value, velocity
DBW 142 Beschl_over Value, acceleration override
DBW 144 Verzoeg_over Value, deceleration override
DBW 146 Befehl Value, command
DBW 148 Befehlsparameter Value, command parameter
DBW 150 Modus Value, mode
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Function Block FB 83 Version 03 Description Page 15 of 22
Edition 02.2001

5. Traversing Task Processing

General

Various tasks can be started using the interface block:

• Individually read/write into parameters
• Read-out fault memory
• Read/write individual traversing blocks
• Read/write traversing blocks
• Pre-assign traversing blocks 0..63
• Permanently read-out data

Important: The task may only be initiated if all of the task data are available.

Single task interface

Using the single task interface, tasks can be initiated which are only executed once. The status bit is
set to busy while the task is running. If the task has been completed, busy is reset and the Done bit is
set. If an incorrect parameter number (tasksi), an incorrect sub-parameter number (IND) or an
incorrect piece of data was entered, the error bit is set and in the error compartment, an error number
is specified which is described in the description of functions SIMODRIVE 611 universal in Section 5,
Error evaluation (also refer to Section 8).

1 2 1 3 1 1 2
WR/RD

Busy

Done

Error

4 5

 Read or write tasks started by the user

‚ WR/RD request from FB611 universal automatically reset
ƒ A task is completed even if the request is withdrawn
„ The request is reset for a data transfer error
… A new task resets the error message

Permanent task interface

Using the permanent task interface, tasks are initiated which are continually read-out (e.g. position
actual value during axis motion). If an incorrect parameter number (taskpe), or an incorrect sub-
parameter number (IND) was entered, the error bit is set and in the error compartment, an error
number is specified which is described in the Description of Functions SIMODRIVE 611 universal in
Section 5, Error evaluation (also refer to Section 8).

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Page 16 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

Task management

Using the 611 universal task interface single, two types of tasks can be started:
• All of the parameters from SIMODRIVE 611 universal
(refer to the parameter list in the attachment to the Description of Functions
SIMODRIVE 611 universal)
• Special tasks

Reading individual parameters

Pre-conditions: singl.tasksi = parameter number

singl.Ind = sub-parameter number

Initiate: single.RD = with 1

End: singl.Done = with rising edge

Output: singl.Data = parameter value which is read-out

Write individual parameters

Pre-conditions: singl.tasksi = parameter number

singl.Ind = sub-parameter number
singl.Data = value to be written

Initiate: singl.WR = with 1

End: singl.Done = with rising edge

Read-out fault memory

Pre-conditions: tasksi = 30002

singl.Ind = is ignored

Initiate: singl.RD = start reading-out with 1

End: singl.Done = rising edge

Values: Fault cases and the number of faults are saved in the
associated data block in UDT 30002.

Read/write individual traversing blocks

Pre-conditions: tasksi = 30000

singl.Ind = select traversing block number (0 to 63)
Bitleiste 134.0 to 134.7 = pre-selection as to which parameters are to be
transferred

Initiate: singl.RD = read with 1

singl.WR = write with 1

End: singl.Done = with rising edge

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Function Block FB 83 Version 03 Description Page 17 of 22
Edition 02.2001

Read/write traversing blocks

Pre-conditions: tasksi = 30001

singl.Ind = first traversing block number
singl.Data = last traversing block number

Initiate: singl.RD = read with 1

singl.WR = write with 1

End: singl.Done = rising edge

Values: Read = values are saved in the assoc. data block UDT 30001
Write = values are transferred from the data block to the
SIMODRIVE 611universal

Pre-assign traversing blocks 0...63

Pre-conditions: tasksi = 30011

singl.Ind = is ignored
The block numbers are pre-assigned 0 to 63
Initiate: singl.WR = write with 1

End: singl.Done = rising edge

Permanently read-out data

Pre-conditions: perm.taskpe = 31000

perm.Ind = is ignored
chain_PNU_xy = parameter number of the value to be read-out
chain_Ind_xy = sub-parameter number

Initiate: perm.RD = with 1, permanently read the data as long as a 1 is

present.

End: Not relevant as the data are permanently read-out.

Values: chain_Data_xy
Values are in the particular data compartments of the
parameter numbers.

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Page 18 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

6. Configuring the SIMODRIVE 611 universal in the S7 Station

After configuring the S7 (for example a 315-2DP) the following is displayed in the hardware
configuration:

Insert the SIMODRIVE 611 universal module at PROFIBUS-DP.

Then select the number of axes and the required PPO type.

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Function Block FB 83 Version 03 Description Page 19 of 22
Edition 02.2001

When selecting a second 2-axis module with PPO type 5, your hardware configuration looks like this.
The I/O addresses 256 to 283 are assigned to drive A. I/O addresses 284 to 311 are associated with
drive B. Addresses 256 to 263 and 284 to 291 are the PKW (parameter ID value) data (task data
telegram, 4-words long). The PZD (process data, 10-words long) are transferred to Profibus at I/O
addresses 264 to 283 and 292 to 311.

CAUTION!
The address areas may not be separated. PKW and PZD must merge seamlessly with one another
without any gaps.

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Page 20 of 22 Function Block FB 83 Version 03 Description
 Edition 02.2001

7. Error when Executing a Task

If an error is specified when executing a task (singl.Error = true), then an evaluation can be made
using the singl.ErrorNumbr parameter. The significance of the error codes are listed in the
Description of Functions, SIMODRIVE 611 universal, Section 5.

Error ID Error cause

0 Illegal parameter number (the parameter does not
exist)
1 Parameter value cannot be changed
(parameters can only be read or are write protected)
2 Lower or upper value limit violated
3 Erroneous sub-index
4 No array (parameter does not have a sub-parameter)
5 Incorrect data type (this is not required for type
conversion)
6 to 19 Not required
20 to 100 Reserved

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Function Block FB 83 Version 03 Description Page 21 of 22
To Suggestions

SIEMENS AG Corrections
for document:
A&D MC BMS SIMODRIVE 611 universal
Postfach 3180
Function Block FB 83
D-91050 Erlangen for SIMODRIVE 611 universal
↔ S7-CPU

Description
From

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Edition: 02.2001
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