Preface

SIMOTION Reading and Writing Drive Data

1
______________
Description

2
SIMOTION ______________
Function block

3
______________
Example of an application

Reading and Writing Drive Data A

______________
Appendix

Function Manual

08/2008 Edition
Safety Guidelines
Safety Guidelines
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damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
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graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
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NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
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If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
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Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
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Prescribed Usage
Note the following:

WARNING
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Industry Sector Ⓟ 08/2008 Technical data subject to change
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Preface

Contents of Function Manual

This document is part of the SIMOTION Programming - References documentation package.
The manual describes how you can use a function block to read and write drive parameters
using the PIV (Parameter Identification Value) interface.

Function block
The function block for the "Reading and Writing of Drive Data" for SIMOTION is part of the
command library of the "SIMOTION SCOUT" engineering system.

Information in this manual

The following describes the purpose and objectives of the manual:
● General
This chapter presents information on commissioning the drives, assigning parameters to
the PROFIBUS DP interface, and integrating the function block into the SIMOTION
system.
● Function blocks
This chapter describes the function block for reading and writing drive data in connection
with the SIMOTION system.
● Index to locate information

SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation with the supplied SIMOTION
SCOUT.
The SIMOTION documentation consists of 9 documentation packages containing
approximately 80 SIMOTION documents and documents on related systems (e.g.
SINAMICS).

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 3
Preface

The following documentation packages are available for SIMOTION V4.1 SP2:
● SIMOTION Engineering System
● SIMOTION System and Function Descriptions
● SIMOTION Diagnostics
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P350
● SIMOTION D4xx
● SIMOTION Supplementary Documentation

Hotline and Internet addresses

Technical support
If you have any technical questions, please contact our hotline:

Europe / Africa
Phone +49 180 5050 222 (subject to charge)
Fax +49 180 5050 223
Internet http://www.siemens.com/automation/support-request

Americas
Phone +1 423 262 2522
Fax +1 423 262 2200
E-mail mailto:[email protected]

Asia / Pacific
Phone +86 1064 719 990
Fax +86 1064 747 474
E-mail mailto:[email protected]

Note
Country-specific telephone numbers for technical support are provided under the following
Internet address:
http://www.siemens.com/automation/service&support
Calls are subject to charge, e.g. 0.14 €/min. on the German landline network. Tariffs of other
phone companies may differ.

Reading and Writing Drive Data

4 Function Manual, 08/2008 Edition
 Preface

Questions about this documentation

If you have any questions (suggestions, corrections) regarding this documentation, please
fax or e-mail us at:

Fax +49 9131- 98 63315

E-mail mailto:[email protected]

Siemens Internet address

The latest information about SIMOTION products, product support, and FAQs can be found
on the Internet at:
● General information:
– http://www.siemens.de/simotion (German)
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● Product support:
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Additional support
We also offer introductory courses to help you familiarize yourself with SIMOTION.
Please contact your regional training center or our main training center at D-90027
Nuremberg, phone +49 (911) 895 3202.
Information about training courses on offer can be found at:
www.sitrain.com

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 5
Table of contents
Preface ...................................................................................................................................................... 3
1 Description................................................................................................................................................. 9
1.1 General ..........................................................................................................................................9
1.2 Start-up and Parameterization of PROFIBUS DP Interface ........................................................11
1.3 Integrating the function block in the user project .........................................................................12
1.4 Creating I/O Variables..................................................................................................................13
2 Function block ......................................................................................................................................... 15
2.1 Overview ......................................................................................................................................15
2.2 _RWPAR_cyclic function block ....................................................................................................16
2.3 Calling the function block .............................................................................................................19
3 Example of an application........................................................................................................................ 21
3.1 General ........................................................................................................................................21
3.2 Sequence of the application example..........................................................................................23
3.3 Error messages............................................................................................................................24
A Appendix.................................................................................................................................................. 25
A.1 List of parameters ........................................................................................................................25
Index........................................................................................................................................................ 27

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 7
Description 1
1.1 1.1 General

Overview
Siemens offers a wide spectrum of drives with a graduated range of power ratings.
Of this extensive selection of drives, the SIMOTION Motion Control System supports the
SIMODRIVE 611 universal, SIMOVERT MASTERDRIVES MC and POSMO CA/CD/SI
drives, as well as other drives.
Coupling via PROFIBUS DP enables the drive system and the SIMOTION system to
exchange all of their data over this link.

Requirement
The following software versions are required for the standard functions described in this
documentation:
● SIMOTION SCOUT V4.0 or higher
● SIMOTION Kernel V4.0 or higher
● SIMOTION technology packages V4.0 or higher

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 9
Description
1.1 General

Communication
The PROFIBUS DP field bus allows rapid cyclical data exchange between the DP slave
(drive) and the higher-level DP master (SIMOTION hardware platform, such as SIMOTION
C2xx).

Note
The _RWPAR_cyclic function block described in this documentation enables you to read or
write the individual parameters of a drive. In so doing, the parameter channel is transferred
in the cyclic message frame. This requires that the relevant drive supports data exchange via
the parameter identifier value (PIV) interface, as defined in the PROFIdrive V2 Drive Profile
(1997).
For drives that support the parameter channel according to the PROFIdrive V3.1 Drive
Profile (parameter requests are transferred with acyclic DP-V1 message frames), the
corresponding system functions are available in SIMOTION:
• _readDriveParameterDescription: This function enables the descriptive data of a drive
parameter to be read out.
• _readDriveParameter: This function enables a drive parameter to be read.
• _writeDriveParameter: This function enables a drive parameter to be written.
• _readDriveFaults: This function enables the current fault buffer entry in the drive to be
read.
• _readDriveMultiParameterDescription: This function enables multiple parameter
descriptions to be read.
• _readDriveMultiParameter: This function enables multiple parameters to be read.
• _writeDriveMultiParameter: This function enables multiple parameters to be written.
Further information is contained in the SIMOTION C2xx / P350 / D4xx System
Function/Variables lists manual. These documents are shipped with SIMOTION SCOUT in
electronic form!
The SIMODRIVE 611 universal, SIMOVERT MASTERDRIVES, MICROMASTER MM4, and
POSMO CA/CD/SI drives support both the PIV interface as well as the acyclic parameter
channel. SINAMICS devices support only the acyclic PROFIdrive parameter channel.

Reading and Writing Drive Data

10 Function Manual, 08/2008 Edition
 Description
1.2 Start-up and Parameterization of PROFIBUS DP Interface

1.2 1.2 Start-up and Parameterization of PROFIBUS DP Interface

Requirement
The following requirements must be met:
1. You have created a project in SIMOTION SCOUT and have inserted a rack with a
SIMOTION hardware platform in the hardware configuration.
2. You have configured a PROFIBUS subnet.
3. You have commissioned the drive(s) and inserted them in your SIMOTION project.
4. You have configured the drive(s) as a PROFIBUS slave and have assigned parameters
for the PROFIBUS DP interface.
5. PIV slot
If the message frame set during configuration of the drive as a PROFIBUS slave (HW
Config > DP slave properties > Configuration tab) does not contain a PIV component,
then one PIV slot must be configured for each axis (slot 4 for single-axis drives; slots 4
and 8 for double-axis drives).
Refer to the figure: "Addresses (PIV slot) in SIMOTION SCOUT"
Note:
For SIMOVERT MASTERDRIVES MC, a message frame with a PIV component must be
set.

Note
For instructions on creating a project, configuring a PROFIBUS subnet, and inserting a
drive in the project, refer to the online help for SIMOTION SCOUT.
For additional information, e.g. about commissioning, refer to the user manuals of the
installed drives.

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 11
Description
1.3 Integrating the function block in the user project

1.3 1.3 Integrating the function block in the user project

Creating the instance of the FBs in the user project

The function block is part of the command library of the “SIMOTION SCOUT” engineering
system. To work with the block, an instance must first be created in the user project.
Example:

VAR_GLOBAL
...
myInstRWParCyclicAxis1: _RWPAR_cyclic ; // create "_RWPAR_cyclic"
// instance
...
END_VAR

Call (LAD representation)

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%22/ H[HFXWH UHFHLYH3DUD9DOXH ':25'
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86,17 LQGH[ GRQH %22/
':25' VHQG3DUD9DOXH HUURU %22/
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Application example
The application example is included on the "SIMOTION Utilities & Applications" CD-ROM
and is available for various SIMOTION hardware platforms.
The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the
SIMOTION SCOUT scope of delivery.

Reading and Writing Drive Data

12 Function Manual, 08/2008 Edition
 Description
1.4 Creating I/O Variables

1.4 1.4 Creating I/O Variables

Overview
To read and write drive parameters by means of the PIV interface, you must define I/O
variables in SIMOTION SCOUT.
Communication between the SIMOTION device and the drive takes place by means of direct
I/O access when data are exchanged over the PIV interface. I/O variables are used to
address the direct read/write access to the I/O.
You can freely assign the names of I/O variables in SIMOTION SCOUT. I/O variables must
be specified as ARRAY [0..7] of BYTE. You assign addresses set in the hardware
configuration (PIV slot) to these I/O variables.

Figure 1-1 Addresses (PIV slot) in SIMOTION SCOUT

The names of the I/O inputs must be transferred to the function block as a call parameter
(inputInterface). The data prepared for the I/O outputs are made available as output
parameters by the FB and must be assigned to the corresponding I/O variables (see call
example in the "Calling the Function Block" section).
The following example shows how to assign the module addresses to the I/O variables in
SIMOTION SCOUT.

Figure 1-2 Address assignment in SIMOTION SCOUT

Input addresses and output addresses have a range of 8 bytes each (corresponding to the
PIV range of the drive).

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 13
Description
1.4 Creating I/O Variables

Note
For additional information, refer to:
• SIMOTION SCOUT online help
• Programming manual of the corresponding programming language, e.g.:
– SIMOTION ST, Structured Text programming manual
– SIMOTION MCC, Motion Control Chart programming manual
– SIMOTION LAD/FBD, Ladder Diagram and Function Block Diagram programming
manual
These documents are shipped with SIMOTION SCOUT in electronic form!

Reading and Writing Drive Data

14 Function Manual, 08/2008 Edition
Function block 2
2.1 2.1 Overview
This section contains a description of the function block (FB) required to read and write drive
data between a SIMOTION device and the drive.
This function block makes it easier to read and write drive parameters from a SIMOTION
program over the PIV interface of a drive.
The _RWPAR_cyclic function block must be called repeatedly (cyclically) from the user
program.

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 15
Function block
2.2 _RWPAR_cyclic function block

2.2 2.2 _RWPAR_cyclic function block

Task
The _RWPAR_cyclic function block enables you to read or write the individual parameters of
a drive.
For this purpose, the relevant drive must support the mechanism of data exchange via the
PIV interface.

Call (LAD representation)

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(1 (12
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%22/ H[HFXWH UHFHLYH3DUD9DOXH ':25'
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_RWPAR_cyclic FB parameters

Note
The SIMOTION identifiers have changed as of V4.0. A comparison of the designations up to
V3.2 / from V4.0 is contained in the "List of parameters" table in Appendix A.

Table 2-1 _RWPAR_cyclic FB parameters

Name P type 1) Data type Meaning Actions performed by Actions performed

user by block
periIn IN ARRAY [0 to 7] Transfers I/O inputs of drive to I/O variable of the I/O Checked
of BYTE FB inputs of the drive
transferred to the FB
execute IN BOOL FALSE → TRUE edge Entered Checked
Start request
paraNumber IN UINT Parameter to be read or Entered Checked
written 2)
index IN USINT Subindex for parameter to be Entered Checked
read or written

Reading and Writing Drive Data

16 Function Manual, 08/2008 Edition
 Function block
2.2 _RWPAR_cyclic function block

Name P type 1) Data type Meaning Actions performed by Actions performed

user by block
sendParaValue IN DWORD Value of parameter to be Entered Checked
written
jobIdentification IN SINT Request identifier 2) Entered Checked
slotNumber IN UINT PIV slot number 2) Entered Checked
periOut OUT ARRAY [0 to 7] Prepared FB data for I/O Checked and entered Entered
of BYTE outputs of drive on the I/O variable for
the I/O outputs
receiveParaValue OUT DWORD Value of read parameter Checked Entered
busy OUT BOOL = TRUE: A request is being Checked Entered
processed
= FALSE: No request has
been received
done OUT BOOL = TRUE: If current request is Checked Entered
done, only one cycle is active
= FALSE: There is no request
pending, or a request is being
executed.
error OUT BOOL = TRUE: Request terminated Checked Entered
with error (see errorID
parameter) - only one cycle is
active
errorID OUT INT Error specification 2) Checked Entered
only one cycle is active
1) Parameter types: IN = input parameter, OUT = output parameter
2) See user manuals for relevant drives (PIV range)

Note
If errorID = 201, an incorrect slot was configured
Remedy: Check and modify slot configuration!
If errorID = 301, transfer of the request was aborted because no correct response data has
been received from the drive after 1000 function block call cycles.
Remedy: Repeat request, check communication link if necessary!
If errorID = 302, parameter change rights do not exist for the relevant drive
Remedy: Set the parameter change rights and repeat the request.
If you want to read and write indexed parameters for SIMODRIVE 611 universal and
SIMODRIVE POSMO CD, CA and SI, you must set bit 11 in the P879 parameter to "1".
For information about drive parameters and their formats and data types, refer to the user
manuals for the installed drives.

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 17
Function block
2.2 _RWPAR_cyclic function block

Function description
This function block processes the PIV interface (4 words wide) in a cyclic message frame.
A complete request (paraNumber, index, sendParaValue, jobIdentification) is processed.
Consistent data transfer is ensured by the byte ARRAY mechanism for I/O inputs and
outputs. A new request is accepted through a positive edge at the execute parameter of the
block. A busy parameter at the block indicates that request processing is in progress. A new
request cannot be started until processing of the previous request is finished (done = TRUE).
Any errors are indicated in the error and errorID parameters.

Signal sequence diagram

The following figure shows the behavior of the parameters of the _RWPAR_cyclic function
block


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GRQH



HUURU


Figure 2-1 _RWPAR_cyclic FB signal sequence diagram

Task integration (call)

The _RWPAR_cyclic function block must be called cyclically in the BackgroundTask or in the
TimerInterruptTask. Calling in the SystemInterruptTask is not permitted. Calling the function
block in the IPOSynchronousTask is not recommended for runtime reasons.

Reading and Writing Drive Data

18 Function Manual, 08/2008 Edition
 Function block
2.3 Calling the function block

2.3 2.3 Calling the function block

In order to work with the function block in your user program, proceed as follows (the
numbers shown in the following program snippet correspond to the steps below):
1. Create an instance of the function block.
2. Call instance of the function block.
3. Transfer input parameters.
4. The output parameters of the function block are accessed with <instance name of
FB>.<name of output parameter>.
5. The data for the I/O outputs prepared by the FB are assigned to the I/O variables.

Note
If you want to read or write parameters from multiple drives, you must create an FB
instance with a new name for each drive.

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 19
Function block
2.3 Calling the function block

Call example

UNIT E_rwPar;

INTERFACE (1)
VAR_GLOBAL
myInstRWParCyclicAxis1 : _RWPAR_cyclic; // create "_RWPAR_cyclic" instance
myTransferError : WORD :=16#0000; // displays error number of
// data transfer
myWrOneParaToAxis1 : BOOL :=FALSE; // starts the transmission of
// proportional gain
// (non indexed parameter) to Axis1
END_VAR

PROGRAM ExampleRWParameter;

END_INTERFACE

IMPLEMENTATION

PROGRAM ExampleRWParameter // program of BackgroundTask

VAR
mySlotNumberAxis1 : UINT ;
myStartParamAxis1 : BOOL :=FALSE; // start flag for data transmission
//of axis 1
myParaNumAxis1 : UINT :=0;
myIndexAxis1 : USINT := 0;
mySendParaValueAxis1 : DWORD :=16#0000;
myJobIdentificationAxis1 : SINT := 0;
END_VAR

// call instance from standard FB "_RWPAR_cyclic" to proceed data transfer (2)

myInstRWParCyclicAxis1( periIn := myPeripheralInputAxis1,
slotNumber := mySlotNumberAxis1, (3)
execute := myStartParamAxis1,
paraNumber := myParaNumAxis1,
index := myIndexAxis1,
sendParaValue := mySendParaValueAxis1,
jobIdentification := myJobIdentificationAxis1 );
// copy error code (4)
myTransferError:= myInstRWParCyclicAxis1.errorID;

// write peripheral outputs (5)

myPeripheralOutputAxis1 := myInstRWParCyclicAxis1.periOut;

END_PROGRAM

END_IMPLEMENTATION

Note
The ExampleRWParameter program must be assigned in the execution system.

Reading and Writing Drive Data

20 Function Manual, 08/2008 Edition
Example of an application 3
3.1 3.1 General
The call example above shows how to read and write a variety of drive parameters from a
SIMOTION program in a system with a SIMODRIVE 611 universal double-axis module. The
parameters are written either individually or as a group to the 1st and 2nd axis on the
double-axis module. Drive parameters are read:
● once from the 1st axis of the double-axis module
● cyclically from the 2nd axis of the double-axis module

Hardware platform
The application example is available for various SIMOTION hardware platforms.

Note
If the application example is not available for your hardware platform, you have to adapt the
hardware configuration.

Adapting the application example

The configuration in the example and its available hardware must be adapted.
The following options are available:
1. The configuration in the example can be adapted to the available hardware (commission
drive, PROFIBUS DP address).
2. The hardware configuration can be adapted to the example (commission drive,
PROFIBUS DP address).

Note
For commissioning the drive, please observe the drive documentation!
This documentation is included in the SIMOTION SCOUT scope of supply as electronic
documentation!

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 21
Example of an application
3.1 General

Calling the application example

The application example can be found on the "SIMOTION Utilities & Applications" CD-ROM.
The "SIMOTION Utilities & Applications" CD-ROM is provided free of charge and part of the
SIMOTION SCOUT scope of delivery.
1. Dearchive and open the project containing the application example.
2. Check the axis configuration: PROFIBUS DP addresses.
3. Save and compile the example project. Then, you can download the example to the
SIMOTION device and switch to RUN mode.

Variables used in application example

Symbol Data type Meaning Actions performed Actions performed

by user by example
myWrOneParaToAxis1 BOOL Transfers the P-gain of the speed Set Reset
controller to Axis 1 Reset (on error)
(edge-triggered)
myWrIndexedParaToAxis1 BOOL Transfers the ramp-up time of Set Reset
parameter block 1 of Axis 2 - Reset (on error)
indexed parameter
(edge-triggered)
myWrThreeParaToAxis1 BOOL Transfers a set of 3 parameters to Set Reset
Axis 1 Reset (on error)
(edge-triggered)
myWrOneParaToAxis2 BOOL Transfers the P-gain of the speed Set Reset
controller to Axis 2 Reset (on error)
(edge-triggered)
myRdThreeParaAxis1 BOOL Reads 3 parameters from axis 1 once Set Reset
Reset (on error)
myRdIndexedParaAxis1 BOOL Reads the ramp-up time of parameter Set Reset
block 1 of Axis 1 - Reset (on error)
indexed parameter (edge-triggered)
myRdThreeParaCyclicAxis2 BOOL Reads 3 parameters from axis 2 Set Read
cyclically Reset Reset (on error)
myTransferError INT Contains the error identifier (errorID) Read Written
of the _RWPAR_cyclic FB
myReadCyclicActive BOOL = TRUE: cyclical reading of Read Written
parameters is active

Reading and Writing Drive Data

22 Function Manual, 08/2008 Edition
 Example of an application
3.2 Sequence of the application example

3.2 3.2 Sequence of the application example

This application example illustrates how to read and write the drive parameters for a
SIMODRIVE 611 universal double-axis module using the _RWPAR_cyclicfunction block. On
the basis of five different parameterized calls of the _RWPAR_cyclic FB, drive parameters
will be written to the 2 axes of the double-axis module or will be read discretely or cyclically.
Start the transfer operation by setting the global variables (e.g., "myWrOneParaToAxis1" to
transfer the P-gain of the speed controller to Axis 1) in the symbol browser and pressing the
"Immediate control" button. Once the parameters have been transferred successfully, the
variables will be reset by the application example. However, if any transfer errors have
occurred, the global variables will not be reset automatically by the application example. In
this case, you must reset the global variables (to "FALSE") in the symbol browser yourself.
The error ID is saved in the "myTransferError" global variable and displayed in the symbol
browser of SIMOTION SCOUT.
The drive parameters are stored in the following structures:

Table 3-1 Overview of the data structures for the drive parameters

Data structure Meaning

structParameterAxis1 Drive parameters for axis 1
writeParameter Substructure for the drive parameters to be written for axis 1
readParameter Substructure for the drive parameters of axis 1 to be read
structParameterAxis2 Drive parameters for axis 2
writeParameter Substructure for the drive parameters to be written for axis 2
readParameter Substructure for the drive parameters of axis 2 to be read

Before initiating the transfer, you can modify the values of the drive parameters to be written
in the symbol browser and activate them using the "Immediate control" button.

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 23
Example of an application
3.3 Error messages

3.3 3.3 Error messages

Any transfer errors that occur are stored in the "myTransferError" global variable and
displayed in the symbol browser of SIMOTION SCOUT.

Note
If myTransferError = 201, an incorrect slot was configured
Remedy: Check and modify slot configuration!
If myTransferError = 301, transfer of the request was aborted because no correct response
data have been received from the drive after 1,000 function block call cycles.
Remedy: Repeat request, check communication link if necessary!
If myTransferError = 302, parameter change rights do not exist for the relevant drive
Remedy: Set the parameter change rights and repeat the request.
If you want to read and write indexed parameters for SIMODRIVE 611 universal and
SIMODRIVE POSMO CD, CA and SI, you must set bit 11 in the P879 parameter to "1".
For information about drive parameters and their formats and data types, as well as a
detailed description of the error ID, refer the the SIMODRIVE 611 universal (PIV range)
function description.
This documentation is included as electronic documentation with the supplied SIMOTION
SCOUT!

Reading and Writing Drive Data

24 Function Manual, 08/2008 Edition
A Appendix A
A.1 A.1 List of parameters
A comparison of the SIMOTION identifiers up to V3.2/as of V4.0 is shown in the table below.

Table A-1 List of parameters

Name in the SIMOTION system as of V4.0 Name in the SIMOTION system up to V3.2
(program library in SCOUT) (SIMOTION function library)
Function block parameters

_RWPAR_cyclic _FB_rwPar_cyclic
periIn inputInterface
execute execute
paraNumber parameterNumber
index index
sendParaValue sendParameterValue
jobIdentification jobIdentification
slotNumber slotNumber
periOut outputInterface
receiveParaValue receiveParameterValue
busy busy
done done
error error
errorID errorID

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 25
Index

_ S
_RWPAR_cyclic function block, 16 Start-up and Parameterization of PROFIBUS DP
Interface, 11

C
Call example for reading and writing, 20
Calling the function block, 19
Creating I/O variables, 13

E
Example of an application, 21

F
FB _RWPAR_cyclic parameters, 16
Function block
Call, 19
Parameter, 16
Task integration, 18
Function blocks, 15

G
General, 9

I
Integrating the function block, 12

L
List of parameters, 25

R
References, 3

Reading and Writing Drive Data

Function Manual, 08/2008 Edition 27