PROFIBUS Profile - Order-No

Transcription

1 PROCESS FIELD BUS Draft PROFIBUS Profile PROFIdrive Profile Drive Technology Version 3, September 2000 PROFIBUS Profile - Order-No

2 PROFIDrive Profile Drive Technology Version 3 Page: 1 Draft PROFIBUS Profile, Order No.: PROFIdrive Profile Drive Technology Profile Ident Number: 3 Version: 3 Date: September 2000 This draft is published for testing and comments. Comments have to be submitted to PROFIBUS Nutzerorganisation e.v. (PNO) until Developed by the PROFIBUS Working Group PROFIdrive (WG6) in the Technical Committee for Application Profiles (TC3). Publisher: PROFIBUS Nutzerorganisation e.v. Haid-und-Neu-Str. 7 D Karlsruhe Phone: / Fax: / PI@compuserve.com No part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from the publisher.

3 PROFIDrive Profile Drive Technology Version 3 Page: 2 Table of Contents 1. INTRODUCTION BACKGROUND Requirements Goals of the extended profile New functions of version DEFINITIONS INTEGRATION OF DRIVES IN AUTOMATION SYSTEMS APPLICATION CLASSES Application Class 1: Standard Drive Application Class 2: Standard drive with distributed technology controller Application Class 3: Positioning drive, single axis with distributed position control and interpolation Application Class 4: Positioning with central interpolation and position control Application Class 5: Positioning with central interpolation and distributed closed-loop position control Application Class 6: Motion control for clocked processes, or distributed angular synchronism BUS TOPOLOGIES DP basic functions Synchronous Monomaster Operation Synchronous Multimaster Operation DRIVE MODEL COMMUNICATION MODEL Cyclic communication Acyclic communication Slave-to-slave communication Clock cycle synchronous communication PARAMETER MODEL PARAMETER DEFINITION Parameter value Parameter description Text DATA TYPES MULTI-AXIS DRIVES PARAMETER ACCESS WITH DPV General characteristics Parameter requests and parameter responses Coding DPV1 telegram sequences DPV1 telegram frame Data block lengths { Data block length } Scalability of the functionality GSD parameters for DPV DRIVE CONTROL COMMANDS (CONTROL WORDS) Control word Control word CHECKBACK SIGNALS (STATUS WORDS) Status word Status word OPERATING MODES, STATE DIAGRAMS General state diagram State diagram, closed-loop speed control mode State diagram, positioning mode...48

4 PROFIDrive Profile Drive Technology Version 3 Page: SETPOINTS / ACTUAL VALUES Standard signals Standard telegrams General information on the configuration (Chk_Cfg) Configuring the process data Process data normalization DYNAMIC SERVO CONTROL (DSC) POSITION FEEDBACK INTERFACE Overview Actual positions Position feedback control word Position feedback status word State diagram, states and transitions of the position feedback interface Assigning the actual values in the telegram Device-specific expansions PERIPHERY WARNINGS, MESSAGES, FAULTS, DIAGNOSTICS Warnings Faults Spontaneous messages DEVICE IDENTIFICATION DRIVE RESET (POWER-ON RESET,) COMMUNICATION INTERFACE NODE ADDRESS ACTUAL BAUD RATE OPERATION AND CONTROL PRIORITY INITIALIZATION CLOCK CYCLIC SYNCHRONOUS APPLICATION SEQUENCE OF AN ISOCHRONOUS DP CYCLE TIME SETTINGS...87 Example (simplest DP cycle) ) Example (optimized DP cycle) Example (optimized DP cycle, T MAPC = 2 * T DP ) USER DATA RELIABILITY Master's sign-of-life (M-LS) Slave s sign-of-life (S-LS) Counting strategy for the sign-of-life failure counter: RUNNING-UP, CYCLIC OPERATION PARAMETERIZATION, CONFIGURING (SET_PRM, GSD) CLOCK CYCLE GENERATION (GLOBAL_CONTROL) AND CLOCK CYCLE SAVE Definition of the Global_Control service (current functionality) Clock jitter PLL for clock save in the slave MONITORING MECHANISMS Standard DP monitoring Violation of the DP cycle T DP Clock failure User data failure APPLICATION WITH SLAVE-TO-SLAVE COMMUNICATION (DATA-EXCHANGE-BROADCAST) OVERVIEW APPLICATION EXAMPLE USER MODEL AND CONFIGURATION FILTER TABLE TIME CHARACTERISTICS...116

5 PROFIDrive Profile Drive Technology Version 3 Page: MONITORING AND DIAGNOSTICS CONFIGURING, GSD EXTENSIONS A. PROFILE-SPECIFIC APPENDIX A.1. LIST OF PARAMETERS SPECIFIED IN THE PROFILE A.2. SPECIFIED FUNCTIONS FOR THE APPLICATION CLASSES A.3. GSD ENTRIES AND PARAMETERIZING TELEGRAMS A.3.1. List of GSD entries and Set_Prm parameters which are relevant for the profile A.3.2. Structure of the parameters in the parameterization telegram (Set_Prm and Set_Ext_Prm) A.4. DATA TYPES A.4.1. Standard data types A.4.2. Profile specific data types A.5. VARIABLE INDEX AND CONVERSION INDEX A.6. MANUFACTURER IDS A.7. DETAILED REPRESENTATION CONTROL WORD/STATUS WORD A.7.1. Control word A.7.2. Status word A.8. DPV1 PARAMETER CHANNEL A.8.1. Examples for telegram sequences A.8.2. Parameter access with DPV A.9. DATA BLOCKS USED A.10. ABBREVIATIONS B. DOCUMENT-SPECIFIC APPENDIX B.1. BIBLIOGRAPHY B.2. LISTING OF DIAGRAMS B.3. LIST OF TABLES B.4. INDEX...184

6 PROFIDrive Profile Drive Technology Version 3 Page: 5 1. Introduction 1.1. Background The PROFIBUS profile for drive technology, PROFIDrive, Version 3, is a compatible further development of the proven PROFIBUS profile for variable-speed drives, PROFIDrive, Version 2 [7]. Today, this is the standard for all manufacturers to implement PROFIBUS interfaces for drives. It was generated by the PNO, and involved many renowned drive manufacturers. The Edition, based on PROFIBUS-FMS, was published in 1991 and included the definitions for the closed-loop speed control function. In 1997, the profile was extended by the positioning function and the faster PROFIBUS-DP protocol was added. The PROFIDrive profile defines, as a supplement to the PROFIBUS standard, a unified device behavior and access technique to the drive data. For the user, this means that engineering costs are reduced when planning and implementing plants and systems, as the various drives respond the same way to control instructions. The programming costs are significantly reduced by using standardized program blocks in the open-loop and closed-loop control systems for controlling the drive units via PROFIBUS. For drive manufacturers, as a result of the profile definition, development costs are reduced and the implementation of non-proprietary standardized interface improves the chances of being successful in the market Requirements Today, variable-speed electric drives from basic AC drive converters up to high-dynamic performance servo controllers are being increasingly connected to higher-level open-loop and closed-loop control systems in automated plants and systems via digital interfaces. In today's systems, the speed interface is standard. The speed setpoint is entered from a higher-level automation system which controls the drive. Generally, the speed actual value is signalled back to the automation system to monitor the drive. In order that the digital field bus interface in distributed automation concepts can also be used in the area of motion control with several axes, today's standard field busses must be expanded by specific features. This involves fulfilling the following requirements: Clock cycle synchronism: If a central motion controller is being used which handles the interpolation and closed-loop position control, the control loop must be closed via the bus. The speed setpoint is transferred to the drive in the setpoint direction. In the actual value direction, the drive provides a position actual value. In order to implement sufficiently high loop gains to fulfill the required dynamic performance, the delays must be minimal and it is especially important that they are absolutely constant. If the motion control task requires the coordination of several axes, the position actual values must be acquired precisely at the same time and evaluated in synchronism in the motion controller. Furthermore, the setpoints must take effect precisely at the same time in the axes. The actual value acquisition, transfer and setpoint activation are in clock cycle synchronism with the closed-loop position controller. Slave-to-slave communication: State-of-the-art automation solutions with digital drive units use also distributed concepts where the open-loop and closed-loop control tasks, which were previously implemented centrally, are shifted into intelligent drives. Examples are single-axis-positioning drives or drives with integrated software for winding functions or synchronous operating applications. If automation functions are to be decentralized and distributed, then data must be directly transferred between the drives which, for example for an electronic shaft, must be realized with precise angular synchronism and also with clock cycle synchronism. Acyclic communication: The acyclic services of PROFIBUS-DP are used to transfer parameter requests for operator control and monitoring of drives in parallel to the cyclic data exchange.

7 PROFIDrive Profile Drive Technology Version 3 Page: Goals of the extended profile Until PROFIBUS Specification DP-V2, it was not possible to realize all of the requirements using just one system. In drive applications several different field bus systems often had to be used in parallel. For instance, if in addition to drive control, distributed I/O and operator control functions were to be implemented via different buses. In addition to PROFIBUS, which is used to control the drive, a proprietary system had to be used to synchronize the drives or to implement a setpoint cascade. The functionality of PROFIBUS is extended in order to be able to cover all of the above requirements of electric drives using a single field bus system - PROFIBUS-DP. As a result of the expanded PROFIBUS functionality, in many drive applications the engineering costs will be able to be further reduced and also significant cost savings will be able to be achieved for service/maintenance, training and spare parts inventory New functions of version 3 The use of clock-synchronous data transfer, slave-to-slave communication, a position feedback interface, and normalization and configuration of setpoints and actual values for the drives is standardized in this profile document in an open, non-proprietary fashion. For acyclic communication, the technique to access drive objects is defined using the DPV1 services Definitions General information Output data: Input data: Process data: Technological functions: Data, which a slave cyclically receives from the master and which it outputs to the slave application or the peripherals. Data, which a slave cyclically sends to the master. For drives, all input and output data Closed-loop controls and sequence control to automate applicationspecific processes. Slave-to-slave communication Slave-to-slave communication: Slave-to-slave communication refers to the communication between Profibus-DP slaves from the user's perspective. Data-eXchange-Broadcast (DXB): Profibus DP service (from DP-V2) for slave-to-slave communication. Publisher: Subscriber: DXB link: Filter table: A publisher sends its input data to the master as broadcast. The master initiates the slave-to-slave communication in the telegram with the output data. A subscriber receives input data from publishers. A DXB link designates a slave-to-slave communication relationship between a publisher and a subscriber. Every subscriber requires a filter table, in order to filter-out the telegrams configured for itself from the broadcast telegrams. Clock cycle synchronization Synchronization: Clock cycle synchronization, Clock cycle synchronous application: Equidistance: Isochronous mode: Establish synchronism Clock cycle synchronization designates the synchronization of sampling times in the closed-loop control software in digital drives and control systems. The starting instance and the length of the sampling times in the various devices are precisely synchronized with one another. Equal distance. This is used as a synonym for clock cycle synchronization Profibus service for clock cycle synchronism which generates a constant (timing) bus cycle with a clock cycle signal at the start of the cycle.

8 PROFIDrive Profile Drive Technology Version 3 Page: 7 2. Integration of drives in automation systems This chapter shows the different variants for integrating drives in automation systems Application classes Today, drive applications are realized in a multiple of ways. The table below defines the different application classes where the drives are used. The application classes are typical examples from the entire spectrum of electrical drive engineering, and are not obligatorily covered by a certain device type. Table 1 Application classes Application Class Interface Functions 2) 1 Standard Drive n-setpoint, Cyclic interface 1) i-setpoint 2 Standard drive with distributed technology controller (continuous process) 3 Positioning drive, single axis with distributed position control and interpolation 4 Positioning with central interpolation and position control Optional: DSC (Dynamic Servo Control) 5 Positioning with central interpolation and distributed position control 6 Motion control for clocked processes, or distributed angular synchronism Technological setpoint-actual values (command variables) pos-setpoint, run requests n-setpoint x-actual additionally, for DSC: x (x err ), K V (k PC ) Cyclic interface with slave-to-slave communication 1) Cyclic interface 1) Cyclic interface, clock-synchronous position feedback interface, DSC (refer to Chapter 4.5) x-setpoint Cyclic interface, clock-synchronous 3) command variables, motion instructions Cyclic interface, clock-synchronous And with slave-slave communication 1) The cyclic interface can also be operated clock-synchronously if, for example, it is a question of synchrony of the actions in the case of several drives. 2) For all application classes: acyclic interface for parameters, diagnostics, identification 3) This application class is not described in this edition of the Profile. The dynamic characteristics of Application Class 5 are reached with Application Class 4 with DSC. Note: The application classes described here are assigned Profile functions in Appendix A.2 which a drive manufacturer must implement if he wishes to be compliant with the particular application class Application Class 1: Standard Drive In the simplest case, the drive is controlled via a primary setpoint (for example, speed setpoint) via PROFIBUS (Fig. 1). The closed-loop speed control is governed completely in the drive controller. The PLC includes all technological functions for the automation process. The PROFIBUS is merely the transmission medium between the automation system and the drive controller. Standard cyclic data communication of PROFIBUS DP is used (Data_Exchange). This type of application is used primarily in the field of classical drive engineering (for example, conveyor systems). A PLC is usually used as the automation system. Clock synchrony and slave-to-slave communication are not necessary for this Application Class.

9 PROFIDrive Profile Drive Technology Version 3 Page: 8 Application Class 1 Automation Technology Control Word + Speed Setpoint +... Status Word + Speed Act. Val Drive Drive Drive Open Loop Speed Control/ Closed Loop Speed Control Open Loop Speed Control/ Closed Loop Speed Control Open Loop Speed Control/ Closed Loop Speed Control M Encoder (optional) M Encoder (optional) M Encoder (optional) Fig. 1 Application Class Application Class 2: Standard drive with distributed technology controller Application Class 2 represents a very flexible version for implementing drive applications (Fig. 2). In this version, the automation process is broken down into many small sub-processes. The technology functions are no longer exclusively in the central PLC, but are also distributed in the drive controllers. PROFIBUS DP serves as the technology interface. The data that is exchanged via the bus system between the individual automation components and drive controllers can be individually defined. This variant assumes, however, that communication is guaranteed in all directions; that is, slave-to-slave communication is possible also between the technology functions of the individual drive controllers. To realize applications like setpoint cascades, winders, and speed synchronism slave-to-slave communication is additionally used. The technology functions are realized in the drive. Application Class 2 Automation Technology Technological Requests, Setpoints... Technological Actual Values, Process States Drive Drive Drive Technology Technology Technology Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. M Encoder (optional) Peripherals (I/O) M Encoder (optional) Peripherals (I/O) M Encoder (optional) Peripherals (I/O) Fig. 2 Application Class 2

10 PROFIDrive Profile Drive Technology Version 3 Page: Application Class 3: Positioning drive, single axis with distributed position control and interpolation In Application Class 3 (Fig. 3), only the technology functions for the automation process are still in the PLC. Positioning requests are stored in the drive controller. A single positioning request is started via PROFIBUS. Interpolation and position control as well as speed control are implemented directly in the drive. Since in this variant all time-critical control algorithms are hidden in the drive controller. Application Class 3 Automation Technology Drive Request Drive Response Positioning Ctrl.Word +... Positioning Status Word +... Drive Interpolation Position Control Drive Interpolation Position Control Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. M Encoder M Encoder Fig. 3 Application Class Application Class 4: Positioning with central interpolation and position control Application Class 4 (Fig. 4) shows the position control via PROFIBUS DP. Drives for manipulator and robotic applications often require a coordinated motion sequence of several drive systems. Motion control is primarily implemented via a central automation unit (NC). For each drive, these controllers calculate special setpoint profiles. By coordinating several drives (for example, for the XYZ axis), certain trajectories can be implemented. In addition to the required technology functions for the automation process, the automation system also includes the functions for interpolation and position control of the drive. Speed setpoint values and actual values as well as the position actual value are transferred via PROFIBUS. The drive controller essentially only includes the algorithms for closed loop speed control and actual position acquisition. Since the position is controlled via the bus system, bus synchronization must be very precise. Additionally, the DSC-functionality can be used to increase the rigidity and dynamic response of the control loop.

11 PROFIDrive Profile Drive Technology Version 3 Page: 10 Application Class 4 Automation Technology Interpolation Position Control Clock Control Word + Speed Setpoint +... Status Word + Actual Position... Clock synchronism Drive Drive Drive Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. M Encoder M Encoder M Encoder Fig. 4 Application Class Application Class 5: Positioning with central interpolation and distributed closed-loop position control This Application Class is not dealt with in the PROFIDrive Profile Version 3. The dynamic features can be realized with Application Class 4 and DSC. Application Class 5 Automation Technology Interpolation Clock Clock synchronism Contr. Word + Position Setpoint +... Status Word + Actual Position... Drive Drive Drive Position Control Position Control Position Control Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. M Encoder M Encoder M Encoder Fig. 5 Application Class 5

12 PROFIDrive Profile Drive Technology Version 3 Page: Application Class 6: Motion control for clocked processes, or distributed angular synchronism To realize applications like electric gearing, cam disc, angular synchronous operation, flying saw, slave-toslave communication as well as clock cycle synchronous communication are used. These applications are normally realized with one control drive and several slave drives. The term control drive means in this context that one drive axis provides process information (for example position actual value) to the other drives. Thereupon, the slave drives coordinate their own motion process with the process information of the control drive. Application Class 6 Automation Technology Clock * Technological Requests, Setpoints... Technological Actual Values, Process States Clock synchronism Drive Technology Drive Technology Drive Technology Interpolation Position Control Interpolation Position Control Interpolation Position Control Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. Closed Loop Speed Ctrl. M Encoder Peripherals (I/O) M Encoder Peripherals (I/O) M Encoder Peripherals (I/O) Fig. 6 Application Class Bus topologies In addition to the Application Classes mentioned above for integrating drives into automation systems, there are different bus topologies for drives on PROFIBUS. The basis for all of the topologies are the classical fundamental functions of PROFIBUS DP DP basic functions With PROFIBUS DP, a maximum of 126 devices - that is, masters or slaves - can be connected to one bus in single- or multi-master operation. Thus, PROFIDrive drives with different operating modes (closed loop speed control and positioning) as well as other peripherals (such as I/O) can be operated on one bus.

13 PROFIDrive Profile Drive Technology Version 3 Page: 12 DPM1 PLC, NC, PC DPM1 PLC, NC, PC DPM2 PG, OP PROFIBUS-DP I/O I/O other peripherals Slave Slave D R I V E Slave D R I V E Slave other peripherals M M E E Application Class 1 PROFIdrive Application Class 3 Fig. 7 DP basic functions A differentiation is made between the following device types: - DP Master Class 1 (DPM1) Central PLC - DP Master Class 2 (DPM2) Programming device, configuring device, operator interface - DP Slave Peripheral device (I/O, drive, actuator/sensor) In the case of multi-master operation, several DPM1s can constitute subsystems that are independent of each other (one DPM1 each, and the slaves assigned to it). Moreover, there may be additional DPM2s on the bus. The token passing process ensures the assignment of access authorization within a defined time frame. Through the global control mechanism, a group of slaves or all slaves can be synchronously eventcontrolled (SYNC = simultaneous activation of setpoint values; FREEZE = simultaneous freezing of actual values). Because of telegram repetitions caused by interference as well as through diagnostic mechanisms interspersed in cyclic data exchange, exact isochronous data exchange between master and slave is not possible Synchronous Monomaster Operation In the case of this operation, the drives are running on the bus with high demands on synchrony. With a global control telegram transmitted in isochronous mode, the Class 1 master passes the clock cycle information to the slaves that synchronize themselves to this clock pulse.

14 PROFIDrive Profile Drive Technology Version 3 Page: 13 DPM1 PLC, NC, PC (DPM2) PG, OP Clock Clock PROFIBUS-DP I/O Slave D R I V E Slave D R I V E Slave D R I V E M E Slave D R I V E M E Slave other peripherals M E Application Class 4 PROFIdrive M E E Application Class 4 Application Class 1 PROFIdrive Application Class 3 Fig. 8 Synchronous Monomaster operation (DPM1) The timing for the setpoint transfer and actual value acquisition of the slaves as well as the timing of the control by the higher level master can be parameterized. The timing parameters refer to the clock pulse. In the DP cycle, there must be sufficient time for the following communication elements: - cyclic data exchange (Data_Exchange) with all slaves present on the bus - an acyclic data channel (DPV1) - telegram repetitions - diagnostic request A local operator device (PG, OP) on the DPM1 has to communicate with the slaves via the DPM1 master Synchronous Multimaster Operation The type of clock pulse generation (refer to Chapter 6.6) permits only one synchronous DP-Master Class 1 (DPM1) on the bus. Additional masters on this bus can only be DP-Master Class 2 (DPM2) which are subordinate to the DPM1 with respect to the distribution of the cycle time, and thus increase the minimal DP cycle time T DP (refer to Chapter 6).

15 PROFIDrive Profile Drive Technology Version 3 Page: Drive model This profile of drive engineering defines a drive model as it can be found - at least in part - in every drive control system. Fig. 9 shows the model on which it is based. The drive system consists of numerous function modules that work together internally, and therefore portray the intelligence of the drive system. Objects are assigned to these function modules which represent the interface to the automation process (arrows). Identification Parameter Communication Interface Drive Ctrl. Word Status Word Open Loop Control HMI, Communication Diagnostics Messages Setp/Act.Vals. Closed Loop Control Monitoring Alarms Interferences Encoder Control Set I/O Encoder Interface M Peripherals Fig. 9 Drive model (one axis) The following objects are included in this Drive Model: Objects for device identification Parameters for accessing information and settings of the individual function modules Objects for setting the communication interface (for example, PROFIBUS DP interface) Objects for drive control (for example, control words and status words) Objects for setpoint processing (for example, setpoint values and actual values) Objects for diagnostics and monitoring (for example, messages, alarms, faults) Objects for integrated sensor interface(s) Objects for integrated peripheral functions (integrated I/O)

16 PROFIDrive Profile Drive Technology Version 3 Page: Communication model The basic terms of the communication model, on which this drive profile is based, are described below. DP-Master Class 1 (e.g. PLC/NC for Drive Control) Master-Master- Communication DP-Master Class 2 (e.g. PC for Start-up, Maintenance and Diagnosis) DPV1-Parameter-Channel Process Data Clock cycle synchronous communication Slave-to-Slave Communication DPV1-Parameter-Channel Cyclic communication Acyclic communication DP-Slave (e.g. Drive) Fig. 10 Overview of the communication relationships on Profibus Cyclic communication Cyclic communication means a simple transfer of user data via the Data_Exchange telegram. With cyclic communication, the process data that is critical with respect to time is exchanged between the DP master and drive controller such as setpoint values and actual values, control- and status information Acyclic communication Compared to cyclic communication, data is exchanged acyclically only if necessary. Via acyclic communication, parameter data is transferred for example to the drive controllers. Acyclic communication is transferred via the DPV1 mechanisms READ and WRITE (DPV1-Parameter-Channel). This allows start-up tools to be connected as Class 2 master on PROFIBUS and a series of functions, e.g. reading out the process data normalization through the control Slave-to-slave communication Slave-to-slave communication used by Profibus DP is the data exchange of the slaves among each other. The so-called Publisher-Subscriber-Model is based on a publisher (passive station) which provides its actual values not only to the DP master but also to all other stations (subscribers), so that the other slaves can access and process this data. Therefore, by the configuration of the Profibus-DP system, the slave-to-slave relationships between the DP slaves are configured and contains the information which publisher accesses which data. The slave-to-slave communication is coupled to the cyclic user data exchange of DP. Fig. 11 shows the mechanism of the slave-to-slave communication.

17 PROFIDrive Profile Drive Technology Version 3 Page: 16 DP Master (Cl. 1) Parameterization Master, Active Station Output Data Input Data Response DP Slave (Drive) Publisher DP Slave (Drive) Subscriber DP Slave (Drive) Subscriber Fig. 11 Slave-to-slave communication designations Slave-to-Slave-Communications (Links) Clock cycle synchronous communication Clock cycle synchronous communication is implemented on the bus by using an isochronous clock signal. This cyclic, isochronous clock pulse is transmitted as a global control signal by the master to all bus stations. Thus, master and slave can synchronize their applications with this signal. Special error mechanisms in each station make stable communication possible, even if there is a sporadic failure of the system clock. For drive technology, clock cycle synchronous communication is the basis for drive synchronization. Not only message interchange on the bus system is implemented in an isochronous time base, but also the internal control algorithms - such as closed loop speed and current controllers in the drive, or the controller in the higher level automation system - are synchronized. Master Application Pos. Contr. R1 R2 R3 DX = Data Exchange Telegram Rx = Controller of Slave x Master Actual Value Transfer Setpoint Transfer DP Cycle Slave Actual Value Transfer Clock DX Slave 1 DX Slave 2 DX Slave 3 Acycl. Communic. + Reserve Clock DX Slave 1 DX Slave 2 DX Slave 3 Setpoint Transfer Slave Application R1 R1 R1 R1 R1 R1 R1 R1 Actual Value Acquisition Setpoint Activation Fig.12 Clock cycle synchronous communication

18 PROFIDrive Profile Drive Technology Version 3 Page: Parameter model 3.1. Parameter definition A parameter represents an information memory that consists of the following elements: Table 2 Parameter definition Parameter value (PWE) (refer to 3.1.1) Parameter description (PBE) (refer to 3.1.2) Text (refer to 3.1.3) Includes the information variable(s) Specifies a parameter Is used to support visualization and contains a general description on the parameter function or on the parameter value The total of all parameters of a drive uniquely describes its behavior or characteristics. A parameter number is assigned to each parameter. The number range of the parameters is specified for decimal The parameter 0 is not permitted. Profile-specific parameters are specified or reserved for the ranges decimal and decimal (refer to Appendix A.1). Access to the parameters (parameter value, parameter description or text) is explained in Chapter 3.4 and Appendix A Parameter value The parameter value contains a single (simple variable) or several similar (array) information variables. An array consists of n elements of the same data type which can be individually addressed with sub-indices from 0 to n Parameter description The parameter description contains relevant information about the respective parameter. The table below shows the structure of the parameter description which will be discussed in the course of this chapter. Table 3 Parameter description elements Subindex Meaning Data type 1 Identifier (ID) V2 2 Number of array elements or length of string Unsigned 16 3 Standardization factor Floating Point 4 Variable attribute OctetString 2 5 Reserved OctetString 4 6 Name VisibleString 16 7 Low limit OctetString 4 8 High limit OctetString 4 9 Reserved OctetString 2 10 ID extension V2 11 PZD reference parameter Unsigned PZD normalization V2 0 Complete description OctetString 46

19 PROFIDrive Profile Drive Technology Version 3 Page: 18 Identifier (ID) (subindex 1) Additional characteristics of the parameter are stored in the ID. Bit value = 0 means: parameter does not possess this attribute. Bit value = 1 means: parameter possesses this attribute ". Table 4 Parameter description element "ID" Bit Meaning 15 Reserved 14 Array 13 Parameter value can be reset only 12 Parameter was changed with respect to the factory setting 11 Reserved 10 Additional text array available 9 Parameter not writeable 8 Standardization factor and variable attribute not relevant 0-7 Data type of the parameter value (index from Table 9) Explanation of Bit 13: Parameter value can be reset only : If this bit is set, the associated parameter value is increased exclusively by internal processing while externally it can only be set to 0 (for example, time differences ). Number of array elements resp. string length (subindex 2){XE Number of array elements } {XE String length } In the case of array parameters, the number of elements is entered here. In the case of parameters of the data type String, the length of the string is entered here. Standardization factor (subindex 3){XE Standardization factor } Factor that converts the (internal) value into an (external) standardized variable which, together with the unit, corresponds to the physical representation of the parameter. The standardization factor is of the data type Floating Point. Variable attribute (subindex 4){XE Variable attribute } A variable index and a conversion index is stored in the variable attribute (Table36 and Table 37, refer to Appendix A.5): Table 5 Parameter description element "variable attribute Octet 1 Octet 2 variable index Conversion index (Factor A, Offset B) The variable index represents the fixed coding of the physical variable (and therefore the base unit) of the parameter value. The variable index is of the data type Unsigned 8. The conversion index represents the fixed coding of the conversion factor (A) and the offset (B) for a parameter value. With the conversion index, the unit can be converted into the base unit. The conversion index is of the data type Integer 8. Example: variable attribute = 13 / -3 (0x0DFD) - Variable index = 13 -> physical variable speed, basic unit meter/second - Conversion Index = -3 -> unit millimeter/second (factor A=0.001, offset B=0)

20 PROFIDrive Profile Drive Technology Version 3 Page: 19 Examples: External representation (by means of standardization factor, Variable attribute) The following applies: Physical value (in the unit) or Physical value (in the base unit) = transmitted value * standardization factor * unit = (transmitted value * standardization factor * A + B) * base unit Coding for the variable index and the conversion index (Factor A, Offset B): refer to Appendix A.5. Example 1: - Data Type Integer16 - Transm. Value: Standardiz. Factor: Variable Index: 21 -> physical variable "Electrical Voltage", base unit Volt - Conversion Index: -3 -> unit "Millivolt" (Factor A=0.001, Offset B=0) -> Physical Value (in the unit) = 500 * 1.0 mv = 500 mv -> Physical Value (in the base unit) = (500 * 1.0 * ) V = 0.5 V Example 2: - Data Type Unsigned16 - Transm. Value: Standardiz. Factor: Variable Index: 13 -> physical variable "Speed, base unit Meter/Second - Conversion Index: 73 -> unit "Kilometer/Hour" (Factor A=1000/3600, Offset B=0) -> Physical Value (in the unit) = 1234 * 0.01 km/h = km/h -> Physical Value (in the base unit) = (1234 * 0.01 * 1000/ ) m/s = m/s Example 3: - Data Type N2 -> 100 % corresponds to 2 14 (refer to Appendix A.4.2) - Transm. Value: Standardiz. Factor: (100 / 2 14 ) - Variable Index: 24 -> physical variable "Ratio", base unit Percent - Conversion Index: 0 -> unit = base unit "Percent" (Factor A=1, Offset B=0) -> Physical Value = 8043 * % = 49.1 % Note: In the case of the data types N2, N4 / X2, X4 (standardized variables), the unit % can be converted to another physical unit by assigning a physical reference parameter (see below, Description Element PZD Reference Parameter). Name (subindex 6) Symbolic name of the parameter. The name is of the data type Visible String with a length of 16. Low/high limit (subindices 7 and 8) Defines the valid value range of the parameter value. The drive rejects an attempt to assign a value outside of the parameter s value range. The low and the high limit are of the same data type as the parameter value, but the length of the description elements is always 4 bytes (file format: right justified, big endian). For parameters whose data types permit no value range (for example, VisibleString), the contents of these description elements are of no importance.

21 PROFIDrive Profile Drive Technology Version 3 Page: 20 ID extension (subindex 10) The ID extension is reserved. PZD reference parameter / PZD normalization (subindices 11 and 12) Parameter values can also be transmitted as process data (refer to Chapter 4.4.4). If standardized variables (data types N2, N4 / X2, X4) are transmitted, the following is necessary for calculating the physical value: the physical reference value (process data reference value), and the bit (refer to Process Data Normalization) to which the physical reference value refers. For a calculation example, refer to Chapter For parameters of the data type X2, X4, the description elements PZD reference parameter and PZD normalization must be available. For parameters of the data type N2, N4, the description elements PZD reference parameter must be available, and the description element PZD normalization is optional as it is defined by the data type. In the case of all other data types these description elements are not relevant. Table 6 Parameter Description Elements Process Data Reference Value/Process Data Standardization Description Element Content PZD reference parameter PZD normalization Bit 0-5 Bit 6-14 Bit 15 No reference value available Parameter number of the reference value Standardization bit 0-31 (32-63 is reserved) reserved Standardization valid Notes: - For the parameters with data type N2, N4, the coding of the standardization bit is fixed (14 and 30) - The combination no reference value exists / standardization valid is permissible. - Parameters that are used for reference values are not to be of the data type N2, N4 / X2, X4. - If the complete parameter description is read out with an access, the description elements must be included (see below). Complete description (subindex 0) The complete description includes a total field of 46 bytes (corresponding to the complete parameter description structure). This length is the constant for each parameter (regardless of the data type, etc.) Text Text from a text array may be assigned to a parameter as an additional explanation or description. An indexed text line has a length of 16 bytes. Subindex text array Text 0 Text 0 (16 bytes) 1 Text 1 (16 bytes) 2...n Text 2...n (16 bytes each) The existence of a text array is marked within the parameter description (ID: additional text array available). The text is stored in the object type array of the data type Visible String 16 assigned to the parameter. Text arrays may be assigned to parameters of the object type array (with any data type), or to parameters of the object type simple variable (with data type Unsigned8/16/32, Boolean, or V2 ). The individual texts of a text array are assigned to the array elements for parameters of the type array, and assigned to the values for parameters of the type simple variable. Array parameter - text array Subindex text array == Subindex array parameter Unsigned8/16/32 text array

22 PROFIDrive Profile Drive Technology Version 3 Page: 21 Subindex text array == parameter value 0 Parameter value Boolean - text array Number of texts = 2 Table 7 Text array for the data type Boolean Subindex text array Parameter value 1 "false" 2 "true" V2 - text array Number of texts = 32 To each bit of the bit sequence two texts are assigned, one each to the bit value 0 and 1. Subindex Text Array == Bit Position * 2 + Bit Value 0 (LSB) Bit Position 15 (MSB), 0 Bit Value 1; Table 8 Text array for data type V2 (bit sequence) Subindex text array Parameter value : :

23 PROFIDrive Profile Drive Technology Version 3 Page: Data types Profile-specific data types are defined corresponding to the particular drive requirements. The profile-specific data types are individually defined in Appendix A.4.2. The standard types are defined in Appendix A.4.1. An overview of all of the permissible data types (standard data types and profile-specific data types) and their coding is given in Table 9. Table 9 Data types Coding Data type Comment (decimal) 1 Boolean Standard data type 2 Integer8 Standard data type 3 Integer16 Standard data type 4 Integer32 Standard data type 5 Unsigned8 Standard data type 6 Unsigned16 Standard data type 7 Unsigned32 Standard data type 8 FloatingPoint Standard data type 9 VisibleString Standard data type 10 OctetString Standard data type 12 TimeOfDay Standard data type 12 TimeOfDay with date indication Standard data type 13 TimeDifference Standard data type N2 Normalized value (16 bit) Profile-specific data type 34 N4 Normalized value (32 bit) Profile-specific data type 35 V2 Bit sequence Profile-specific data type 36 L2 Nibble Profile-specific data type 37 R2 Reciprocal time constant Profile-specific data type 38 T2 Time constant (16 bit) Profile-specific data type 39 T4 Time constant (32 bit) Profile-specific data type 40 D2 Time constant Profile-specific data type 41 E2 Fixed point value (16 bit) Profile-specific data type 42 C4 Fixed point value (32 bit) Profile-specific data type 43 X2 Normalized value, variable (16 bit) Profile-specific data type 44 X4 Normalized value, variable (32 bit) Profile-specific data type Date Standard data type 52 TimeOfDay without date indication Standard data type 53 TimeDifference with date indication Standard data type 54 TimeDifference without date indication Standard data type... Note: The standard data types specified in Appendix A.4.1 and their coding are up-to-date according to this profile edition. However, they will still be revised. The latest version of [4] should be consulted to get the most up-to-date status.

24 PROFIDrive Profile Drive Technology Version 3 Page: Multi-axis drives A differentiation is made between single-axis and multi-axis drives. For multi-axis drives, each axis has a dedicated parameter number space. Global parameters are effective for the complete device independent of the axis (For example parameter 918). When addressing different axes of a device, a global parameter will always supply the same value. The following figure shows an example with global parameter 918 and the axis-specific parameter 967. Multi-axis drive Axis 1 Axis 2 Axis 3 Axis n PNU Value PNU Value PNU Value... PNU Value Fig.13 Example overview of global and local parameters of a multi-axis drive The value range of the axis numbers range from The assignment of the axis numbers to the axis is device-specific. The addressing is described in Chapter 3.4. The subdivision of the parameters into global and axis-specific parameters is in Appendix A Parameter access with DPV1 Definition of the access to drive parameters via DPV1. A request language will be defined for the access. The requests and the replies are transmitted acyclically with DPV1 data blocks General characteristics Compatibility with PKW (parameter ID/parameter value) requests according to Profile Version 2 (refer to Appendix A.8.2) 16-bit wide address each for parameter number and subindex. Transmission of complete arrays or parts of them, or the entire parameter description. Transmission of different parameters in one access (multi-parameter requests). Always just one parameter request is being processed at a time (no pipelining). A parameter request/parameter response has to fit in a data block (240 bytes max.) The requests/replies are not split-up over several data blocks. The maximum length of the data blocks may be less than 240 bytes depending on slave characteristics or bus configuration. No spontaneous messages will be transmitted.

25 PROFIDrive Profile Drive Technology Version 3 Page: 24 For optimized simultaneous access to different parameters (for example, operator interface screen contents), multi-parameter requests will be defined. There are no cyclic parameter requests Parameter requests and parameter responses A parameter request consists of three segments: Request header: ID for the request and number of parameters which are accessed. Multi-axis drives, Addressing of one axis. Parameter address: Addressing of a parameter. If several parameters are accessed, there are correspondingly many parameter addresses. The parameter address appears only in the request, not in the response. Parameter value: Per addressed parameter, there is a segment for the parameter values. Depending on the request ID, parameter values appear only either in the request or in the reply. Words and double words: The following telegram contents are displayed in words (a word or 2 bytes per line). Words or double words will have the more significant bit being transmitted first (big endian). Word: Byte 1 Byte 2 Double word: Byte 1 Byte 2 Byte 3 Byte 4 DPV1 parameter request: Request Header Request Reference Request ID 0 Axis No. of Parameters = n 2 1 st Parameter Address Attribute No. of Elements 4 Parameter Number Subindex n th Parameter Address * (n-1) 1 st Parameter Value(s) (only for request "Modify") Format No. of Values * n Values... n th Parameter Values * n (Format_n * Qty_n) DPV1 parameter response: Response Header Request Ref. mirrored Response ID 0 1 st Parameter Value(s) (only after request "Request") Axis mirrored No. of Parameters = n 2 Format No. of Values 4 Values or Error Values... n th Parameter Values (Format_n * Qty_n)

26 PROFIDrive Profile Drive Technology Version 3 Page: 25 Meaning of the fields: Request Header: Request Reference: Unique identification of the request/response pair for the master. The master changes the request reference with each new request (for example, modulo 255). The slave mirrors the request reference in the response. Request ID: Two IDs are defined: - Request parameter - Change parameter The differentiation Value/Description/Text known from PKW requests is added to the address as attribute. The differentiation Word/Double Word is added to the parameter values as format. For the differentiation Single/ Array Parameter, refer to No. Of Elements in the parameter address. Response ID: Mirroring of the request ID with supplement information whether the request was executed positively or negatively. - Request parameter positive - Request parameter negative (it was not possible to execute the request, entirely or partially) - Change parameter positive - Change parameter negative (it was not possible to execute the request, entirely or partially) If the response is negative, error numbers are entered per partial response instead of values. Axis: Axis addressing for multi-axis drives. This enables various axes to be able to be accessed each with a dedicated parameter number space in the drive via the same DPV1 connection. No. of Parameters: In the case of multi-parameter requests, specifying the number of the following Parameter Address and/or Parameter Value areas. For single requests the No. of parameters = 1. Value range (limitation because of DPV1 telegram length) Parameter Address: Attribute: Type of object which is being accessed. Value range: - Value - Description - Text Number of Elements: Number of array elements that are accessed. Value range: 0, Limitation because of DPV1 telegram length. Special Case Number of Elements = 0: If values are accessed: recommended for non-indexed parameters in achieving a compatible conversionof the parameter request into a PKW request according to the PROFIDrive Profile, Version 2 (differentiation request/change parameter value and request/change parameter value (array) ). Parameter Number: Addresses the parameter that is being accessed. Value range: Subindex: Addresses the first array element of the parameter or the text array, or the description element that is being accessed. Value range: Parameter Value: Format: Format and number specify the location in the telegram to which subsequent values are assigned. Value range: - Zero (without values as positive partial response to a change request) - Data type (refer to Appendix 0) - Error (as negative partial response)