Introduction. The field of industrial communications

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2 Introduction The field of industrial communications is continuing to develop at an astonishing pace with the result being constant changes in the field of automation. Initially, automation focused exclusively on production but now it encompasses service and maintenance, warehousing, resource optimization and the provision of data for MES and ERP systems in addition. Fieldbus technology, which has facilitated migration from centralized to decentralized automation systems and supports the use of distributed intelligence, has been, and indeed still remains, the driving force behind this development. Ethernetbased communication systems provide a link between automation technology and information technology, thereby enabling consistent communication to be implemented from the field level right through to the corporate management level. Industrial communication systems, in particular, must be capable of meeting the requirements for an integrated approach. Solutions can be found in the form of PROFIBUS and PROFINET, both of which provide absolute consistency and are highly application-oriented. With its standard protocol, PROFIBUS communication takes in all system components from machine, manufacturing and process automation right through to safety-related communication and drive/motion control applications, and provides the ideal basis for ensuring horizontal automation system integration. PROFINET also features a standard protocol which, in addition to horizontal communication, also supports vertical communication from the field level through to the corporate management level. Both communication systems facilitate multi-sector, networked, integrated solutions that are optimized for the automation tasks concerned. The main reason that PROFIBUS and PROFINET stand out from other industrial communication systems is because they span such an extraordinary breadth of applications. The reason is not only due to the fact that applicationspecific requirements have been integrated into application profiles but also that these application profiles have been combined as a whole to create a standardized and open communication system. This provides the basis for ensuring extensive protection for the investments of both end users and manufacturers. The PROFIdrive application profile plays a key role in numerous applications by providing a foundation for pending drive features. It defines PROFIBUS and PROFINET device behaviors and how drive data are accessed, for example, in the case of electrical drives from straightforward frequency converters through highly dynamic servo-controls.

3 Contents Introduction...1 Contents...2 Content PROFIdrive profile Standardization Structure Safety PROFIdrive base model Devices Communication services PROFIdrive parameter model Profile parameters Manufacturer-specific parameters Parameter access PROFIdrive application model Application classes Diagnosis Warnings (warning mechanism) Fault buffer (Fault buffer mechanism) Standard fault classes (Fault classes mechanism) Mapping to PROFIBUS and PROFINET Mapping to PROFIBUS Mapping to PROFINET Conformity and certification Quality control through certification PROFIdrive certification Engineering PROFIdrive profile server Higher-level engineering with FDT User benefits PI PROFIBUS & PROFINET International Responsibilities of PI Technological development Technical support Certification Training Index Content This document describes the essential aspects of PROFIdrive technology and takes into account the level of technology at the beginning of Its objective is to provide a description of the PROFIBUS and PROFINET communication systems without entering into specific details. This system description not only offers sufficient information to readers with only a basic knowledge who are interested in obtaining an overview but it also introduces experts to more extensive specialized literature. We would like to point out that, in spite of the care that has been taken in the preparation of this document, only the official PI (PROFIBUS & PROFINET International) documents are to be considered definitive and binding. Chapter 1 provides an introduction to how the PROFIdrive profile came about and the principles according to which it is structured. Chapters 2 to 5 deal with the core aspects of PROFIdrive and any repetition of the subject matter that appears in Chapter 1 is intentional for reasons of completeness Chapter 6 deals with how the PROFIdrive profile is mapped onto PROFIBUS and PROFINET. Chapter 7 outlines the certification test procedure. Chapter 8 offers a brief outline of engineering. Chapter 9 describes some of the advantages of using PROFIdrive. Chapter 10 rounds out the document with details of how PI works and how it is structured internally; it also contains an index. 2 PROFIdrive technology and application, August 2007

4 1. PROFIdrive profile PROFIdrive is the standard profile for drive technology that relies on the PROFIBUS and PROFINET communication systems. Using an open application profile such as this is a tried-and-tested way of utilizing communication systems to connect drives and controllers from different manufacturers in an integrated and straightforward way. The PROFIdrive profile was defined by numerous device manufacturers under the PI (PROFIBUS & PROFINET International) banner within the context of a working group which remains responsible for continuing to extend it as necessary. Work on the profile can be traced back to 1991 when the focus was exclusively on PROFIBUS. The year 2002 marked the launch of the PROFIBUS DPV1 extended functions with the introduction of version 3.1 of the profile. In 2005, the PROFIdrive profile (version 4) was extended to cover PROFINET as the underlying communication system. Version 4.1, which is the version covered by this system description, has been available since The PROFIdrive automation technology solution is essentially based on the concept of integrating motion control functionality with PLC sequencing logic. Application processes are optimized by distribution across the drives, e.g., motor-current or speed control, and the controller, e.g., position control or path interpolation. The communication system provides the link between the distributed processes, making use of dedicated services such as clock synchronization and profile-based slave-to-slave communication. The profile has been standardized by PI and IEC and comprehensively documented in the specification PI Order No Standardization At the request of the ZVEI working group PG Antriebsschnittstelle, (PG Interface), a project was initiated within the IEC for the pur- IEC Generic interface and use of profiles for power drive systems IEC Interface definition Annex A: Mapping to CiA 402 IEC Profile specification Annex A : Annex B : Profile Profile CiA 402 CIP CANopen EtherCAT Powerlink Figure 1: Standardization of PROFIdrive in IEC pose of specifying a standardized drive interface that could ultimately be incorporated into an international standard. This resulted in the three-part IEC standard Generic interface and use of profiles for power drive systems (Figure 1). The generic interface shown in Figure 1 (green) describes a functional drive interface from the perspective of the application as well as how functions are mapped onto various drive profiles. Part 2 (blue) specifies the applicationrelated parts of the drive profiles such as the PROFIdrive base model and PROFIdrive application classes. Part 3 (orange) deals with mapping onto various standardized communication systems, e.g., how PROFIdrive is mapped to PROFINET. The fact that PROFIdrive has been standardized in IEC and is recommended by various international institutions such as OMAC means that its future as an internationally accepted standard is guaranteed. 1.2 Structure Annex B: : Mapping to CIP DeviceNet ControlNet The following sections of the specification are particularly important for understanding its basic structure (Figure 2): 1. Base model definition 2. Parameter model definition 3. Application model definition EtherNet/IP Annex C: Mapping to PROFIdrive Annex C: Profile PROFIdrive PROFIBUS PROFINET Annex D: : Mapping to SERCOS SERCOS I+II Annex D : Profile SERCOS IEC Mapping of profiles to network technologies Annex A Annex B Annex C Annex D Mapping to: Mapping to: : Mapping to: Mapping to: SERCOS III 4. Mapping to PROFIBUS DP 5. Mapping to PROFINET IO The main part of the profile (yellow area of Figure 2) describes those functions that are separate from the communication system and which ensures continuing operation with PROFIBUS DP and PROFINET IO with no changes to the application required. This means that the drive technology can be connected with scalable communication performance, ranging from a basic fieldbus to a system-wide Ethernet network with the entire system sharing the same application view and without any changes needing to be made to the automation system. : EtherCAT PROFIdrive PROFIdrive Base Model PROFIdrive Parameter Model PROFIdrive Application Model PROFIBUS PROFIdrive mapping on on PROFIBUS DP DP PROFINET PROFIdrive mapping on on PROFINET IO IO Figure 2: The PROFIdrive architecture PROFIdrive technology and application, August

5 1.3 Safety The market is showing an Increasing trend towards the use of drives that offer integrated safety technology. This offers an advantage in the sense that there is no longer any need for external monitoring devices, thus reducing wiring and saving space. From this point of view, PROFIdrive and PROFIsafe are the perfect complements to one another. The two profiles together create a unified technology that can be used for controlling safety functions and standard drive functions via the same bus. Interfaces, defined by Application Classes Parameter Access Controller Device Controller Application Process Setpoint Values Actual Values Application Process Application Process Supervisor Device Parameter Access Actual Values Communication System 2. PROFIdrive base model Device Figure 3: The general automation concept of PROFIdrive Device 2.1 Devices The PROFIdrive base model defines a motion control automation system (Figure 3) in terms of a number of Devices and their relationships to one another (application interfaces, parameter access, etc.) regardless of the communication system used. A distinction is made between the following device classes (Figure 4): Controller: automation system control unit or host Peripheral device (P device): drive equipment Supervisor: engineering station 2.2 Communication services Cyclic data exchange The open-loop and closed-loop control processes must be activated cyclically while the motion control system is in operation (Figure 5, center). From the point of view of the communication system, this means that new setpoint values must be transferred cyclically from the control application processes to the drive application process and conversely that the current actual values are sent in the opposite direction. This cyclic transfer is typically timecritical. Acyclic data exchange In addition to the cyclic transfer of setpoint values and actual values, parameters can be transferred for the purpose of controlling drive application processes. Access to these parameters by the controller Controller Controller - P-Device P-Device Communication Relationship Communication Partners Supervisor - P-Device Controller - P-Device P-Device - P-Device is not time-critical and is performed acyclically (Figure 5, left). As well as the controller s being able to access the parameters, they can also be accessed by a supervisor (commissioning tool, operator interface). Controller Supervisor Controller - P-Device Figure 4: Device classes and communication relationships Supervisor - P-Device P-Device 4 PROFIdrive technology and application, August 2007

6 Bus Level Frame Services Communication Acyclic data channel Cyclyc data channel Alarm channel Clock synchronization Services Profile Parameter Manager PROFIdrive Cyclic Data Mapping PROFIdrive (Telegrams) Fault Codes PROFIdrive write read write read Parameter Level Pxx Pxx Pxx Pxx Pxx Pxx Setpoint Process Actual values data values Process Process Level ( Level) M Event / Axis Figure 5: Data model and data flow in a P device Alarm mechanisms The alarm mechanism (Figure 5, right) is event-controlled and used to signal the setting and clearing of drive/application process fault conditions. Clock-synchronous operation Any modern drive profile must be able to support the clocksynchronous operation of distributed processes in a motion control application, because this is the only way of accurately coordinating the movements of several drives (such as within the context of motion-control-system path traversal or of synchronizing movements associated with electronic gears). This means that a drive profile must fulfill two basic requirements: It must be able to synchronize several application processes from the same master clock. It must ensure that cyclic data exchange between processes is completed reliably by a set point in time so that all relevant input and output data can be made available at the correct time. To ensure process synchronization, PROFIdrive utilizes slave clocks that must be located in every device and are precisely synchronized with the system s master clock (Figure 6). For the purpose of synchronizing the slave clocks, PROFIdrive utilizes the relevant services of the communication system being used. For PROFIBUS, these services are part of the DP-V2 extensions Slave clock Task 1... Task n /Axis Synchronization (Trigger) Device = Clock Master Master clock... and in the case of PROFINET IO, are part of the isochronous realtime functionality. As far as the drive technology is concerned, clock-synchronous operation provides the basis for drive synchronization. Within this context, it is not just message interchange that is performed on the bus system using an equidistant time frame Slave clock Synchronization (Trigger) Task 1... Task n Controller e.g. Position Control e.g. Speed Control e.g. Interpolator Figure 6: Process synchronization in clock-synchronous operation PROFIdrive technology and application, August

7 the internal control algorithms such as speed and current control inside the drive/controller are also timesynchronized in the overall automation system (Figure 6). For typical drive applications, the cycle time, i.e., clock-signal, repeatability must have a jitter of less than 1 µs. If this value is exceeded, it will be interpreted as a clock failure and processing will be inhibited. Slave-to-slave communication Slave-to-slave communication refers to direct communication between devices without requiring data to pass through the master/controller. This means, for example, that drives can acquire actual values from other drives or peripheral devices and use these as setpoints. Consequently, more possibilities are now opening up in terms of how the technology can be used, particularly as far as decentralized applications within the field of drive technology are concerned. Slave-to-slave communication enables signals to be transferred from one drive to another without any additional delays from the controller application. Modes and telegrams PROFIdrive defines a general basic state machine for all drives. This is used to put the drive into a particular operating state or to shut it down in a controlled way. Separate, supplementary state machines are defined for the speed control and positioning drive modes. In cyclic data exchange messages, the control and status words form the interface between the controller and the drive. Individual bits are assigned on a mode-specific basis. Process data (PZD) are transferred via the cyclic interface. Signal numbers are defined for the most frequently used process data and these facilitate writing to the process data interface and its configuration. Standard telegrams have been defined for the most frequently used applications on the basis of these standard signals. The same standard telegrams are used in both PROFIBUS and PROFINET. S1 Switching On inhibited State machine A state machine is a detailed model of system behavior, consisting of states, state transitions and actions. It defines which specific state should be entered following a particular command as well as how and under what conditions the transition should be made from one state to another. The sequence and time restrictions that apply are determined and controlled by a sequence control system. Figure 7 shows the general state machine for a PROFIdrive drive, which is applicable to all modes, including speed and positioning modes. The blue blocks represent system states S1 to S5 and the arrows indicate the transitions that are possible between them. The priorities of the various transitions are indicated by the number of red dots. A good example of this is the transfer of speed setpoint values for the purpose of creating a setpoint cascade for paper, foil and wire-drawing machines as well as fiber-stretching systems. Slave-to-slave communication is available with both PROFIBUS and PROFINET. Coast Stop or Quick Stop Coast Stop Coast Stop Standstill detected Off Coast Stop or Disabled Operation and No Coast Stop or Quick Stop and No Quick Stop S2 Ready for Switching On S5 Switching Off quick stop S3 Standstill detected On Off or Disabled Operation Quick Stop ramp stop Switched On Enable Operation Disable Operation On Off Quick Stop S4 Operation Increasing priority Figure 7: General state machine of a PROFIdrive drive 6 PROFIdrive technology and application, August 2007

8 3. PROFIdrive parameter model 3.1 Profile parameters PROFIdrive defines a device model, which applies, at least partially, to every drive system. The device consists of numerous function modules, which work together internally to provide the drive system with its intelligence. Objects are assigned to these function modules and constitute the interface with the automation process. These objects and their functions are described in the profile. Object parameters are specified in the profile. These include, for example, drive identification, fault buffer, drive control, device identification, and process data configuration as well as the complete list of parameters. These parameters are the same for all drives. 3.2 Manufacturer-specific parameters All the other parameters, which in the case of complex devices can add up to well over 1000, are manufacturer-specific. These additional parameters provide drive manufacturers with maximum flexibility for implementing such functions such as manufacturerspecific control and monitoring. Although the parameters associated with these functions are not specified by the profile, it does define the application process interface. As a result, the application process remains identical even if a user switches drive manufacturers. Because the operating and parameterization tools are always manufacturerspecific, they can read and display all the parameter information either directly from the drive or by means of a device description file. PROFIdrive is particularly suitable for modeling multi-axis drive controllers. 3.3 Parameter access Parameters are always accessed acyclically, i.e., separate from and in between time-critical cycles of process communication. A request/response data structure, which is completely separate from the transport channel, is defined for the purpose of transferring data. This enables 256 axes per drive to be accessed, whereby each axis can have up to 65,535 parameters and each of these can in turn have up to 65,535 array elements. This means that not only can the parameter values themselves be accessed, but also the related parameter descriptions and associated text elements. PROFIdrive technology and application, August

9 4. PROFIdrive application model As shown in Figure 3, the model basically consists of the following: Application processes in the drive, typically motor current and speed control (see bottom of figure) Application processes in the controller, including position control and path interpolation (see top of figure) A communication system (see center of figure) that provides the necessary data-exchange and application-processsynchronization services Control (PLC/NC) Technology Speed setpoint Speed actual value Open Loop Speed Ctrl, or Closed Loop Speed Ctrl. Open Loop Speed Ctrl, or Closed Loop Speed Ctrl. Open Loop Speed Ctrl, or Closed Loop Speed Ctrl. M Encoder (optional) M Encoder (optional) M Encoder (optional) Figure 8: Application class Application classes The application processes can be distributed across various devices in different locations. The way drives are integrated into automation solutions is heavily dependent on the nature of the drive task concerned. In the interests of simplicity, PROFIdrive defines 6 application classes that cover the entire range of potential drive applications. Standard drive (Class 1) In the most straightforward scenario, the drive is controlled via a main setpoint, e.g., speed, over PROFIBUS or PROFINET (Figure 8). Speed control is handled entirely within the drive controller. This application scenario is primarily found within the context of conventional drive technology, e.g., materials handling, frequency converters, etc. For this class, PROFIBUS or PROFINET serves as a high-level technology interface. It is, of course, a prerequisite for this kind of distributed control that communication is possible in all directions, i.e., that node-node communication is supported between the individual drive controller technological functions. Specific examples of applications include setpoint cascading, winders and speed synchronization of continuous processes involved in the throughput of a web press. Control (PLC/NC) Technology Positioning drive (Class 3) In this case, the drive is equipped with positioning control in addition to drive control. This means that the drive is free to function as an autonomous single-axis positioning drive while the controller takes care of all the higher-level technological processes (Figure 9). The positioning tasks are passed to the drive controller and started over PROFIBUS or PROFINET. Positioning drives cover an extremely broad spectrum of applications, e.g., twisting bottle tops on and off in the context of a bottle filling operation or the positioning of knives on a foil cutting machine. Standard drive with technological function (Class 2) The standard drive with technological function application class offers a high degree of flexibility for implementing automation applications. With this class, the entire automation process is broken down into several smaller subprocesses and distributed across the drives. Consequently, the automation functions are no longer simply located in the central automation unit but are also distributed across the drive controllers. Positioning Control Word Interpolation + Position Control + Speed Control M Figure 9: Application class 3 Encoder Positioning Status Word Interpolation + Position Control + Speed Control M Encoder 8 PROFIdrive technology and application, August 2007

10 Central motion control (Class 4) This application class defines a speed setpoint/actual position interface for applications for which speed control needs to be handled by the drive and position control by the controller, such as in the case of robotics and machine-tool applications that involve coordinated motion sequences across several drives (Figure 10). The motion is primarily controlled by means of computerized numerical control (CNC). The bus is used to close the position control loop. Clock synchronization as supported by PROFIBUS DP and PROFINET IO is required for the purpose of synchronizing the position-control clock pulses on the higher-level controller and the clock pulses in the drive controllers. Class 5 is identical except for the fact that a position setpoint interface takes the place of the speed setpoint interface. Decentralized automation with clocked processes and electronic shafts (Class 6) In order to realize applications such as electrical gears, cam discs, angular synchronism, and flying saws both slave-to-slave communication and clock-synchronized communication are needed. Encoder interface Modern digital servo drives are capable of analyzing the motor encoder feedback and, where applicable, a second direct measuring system without any external assistance. Consequently, the interface is now located in the drive rather than on the controller. This means that the encoder information must be transferred to the controller via the bus. For this purpose, an encoder interface is defined in the PROFIdrive standard, which enables up to three encoder values to be transferred via the process data. Dynamic servo control The profile also defines an innovative control concept called dynamic servo control which offers an easy way of making the static position control loop of appli- Control (PLC/NC) Technology Interpolation, Position Control Clock Speed Setpoint +... Actual Position +... Closed Loop Closed Loop Closed Loop Speed Control* Speed Control* Speed Control* Encoder M M M cation class 4 considerably more dynamic. This is achieved by implementing an additional measure that minimizes the delays normally associated with a speed setpoint interface. The implementation includes (a) an additional feedback network (shown in blue in Figure 11) activated in the drive and b) two new correction setpoint values in the setpoint telegram. The system deviation, calculated in the master controller, is transmitted to the drive along with the speed setpoint. The additional network in Encoder Encoder *) Closed Loop Speed Control operates clock synchronous to PLC application Figure 10: Application class 4 Path Interpolation n cmd x cmd x act,nc Zero Offset and Master Controller (NC) Compensation Transmission Interpolation delay (T PC ) x err X T act,nc pc T pc T sc the drive uses the drive data format to describe the position and this means that the position description is achieved completely independent of the master controller. The system has three return lines (1-3 in Figure 11) for the current position value. Line 2 fully compensates the position value of line 1 and line 3 closes the loop again, although with a significantly shorter time delay which, in turn, increases controller gain. Return line 4, which is for the actual speed value, always uses the motor encoder as the signal source. Position control x act, Speed filter x act n Controller n cmd: : Speed command T sc : Speed controller sampling time x cmd : Position command T pc : Position controller sampling time (= T MAPC ) x err : Position error command k pc : Position controller gain x act : Actual position Figure 11: Dynamic Servo Control (DSC) Speed control Speed calculation PROFIdrive technology and application, August

11 5. Diagnosis Figure 12 shows the basic structure of the PROFIdrive diagnostic functions, which are broken down into warning-related and fault-related categories. The advantage of this two-stage concept is that it enables impending faults to be addressed by appropriate means in a timely manner. 5.1 Warnings (warning mechanism) Warnings are a form of message that is acknowledged automatically as soon as the cause has been addressed. They provide advance warning so that appropriate measures can be taken in time to prevent a fault condition. 5.2 Fault buffer (Fault buffer mechanism) A fault condition in the drive always triggers a device-specific response, i.e., the drive will generally be shut down. At the same time, one or more fault messages describing the fault condition will be written to the fault buffer. A complete fault entry will consist of the fault number (PNU947), the user-defined fault code (PNU945), the fault time (PNU948), and a fault value (PNU949) that provides more detailed information about the cause of the fault. Whenever the cause of a fault is removed, the user must always acknowledge the fault by means of a reset command. Once acknowledged, the fault will not actually be deleted but will remain in the fault buffer. It will be pushed down by one position to facilitate future traceability. 5.3 Standard fault classes (Fault classes mechanism) The standard fault classes are collections of manufacturer-specific fault conditions organized into specific PROFIdrive-defined groups and which are used for permanently storing approximately 20 standard fault causes, e.g., prime power, overtemperature, etc. By mapping the individual warning and fault messages onto these standard fault classes, a preconstructed and manufacturerindependent diagnostic display can be achieved. Parameters (warning words) are reserved for the warning mechanism. Each warning that occurs within a drive/drive axis is mapped onto independent bits within the warning words. This bit mapping process means that several simultaneously occurring warnings can be mapped at once. exception state Transitions Warning mechanism Provides specific actual state Fault buffer mechanism Records state transitions Optional Shows actual state Shows history of state transitions and does fault acknowledge For visualization purposes, 32 warning texts are assigned to each warning word. These indicate the cause of the warning in plain text. Mapping of warnings onto fault classes Mapping of actual fault situation onto fault classes Fault classes mechanism PROFIdrive fault classes Standard diagnosis mechanism Standard alarm mechanism Figure 12 : PROFIdrive diagnostic functions 10 PROFIdrive technology and application, August 2007

12 6. Mapping to PROFIBUS and PROFINET 6.1 Mapping to PROFIBUS If PROFIdrive is being used in conjunction with PROFIBUS, then the PROFIdrive base model must be mapped to this communication system in accordance with Figure 13. This involves using communication protocol version PROFIBUS DPV2 with its cyclic and acyclic data transfer, clock synchronization and slave-to-slave communication functions. The PROFIdrive base model devices are mapped as follows: PROFIdrive controller as PROFIBUS DP master class 1 PROFIdrive peripheral devices (PD) as PROFIBUS DP slaves and PROFIdrive supervisor as PROFIBUS DP master class Mapping to PROFINET Version 4 of the PROFIdrive profile supports its use with the PROFINET IO communication system, an expanded version of Ethernet with communication services to support rapid and isochronous data exchange. If PROFIdrive is being used in conjunction with PROFINET, then the PROFIdrive base model must be mapped to PROFINET IO in accordance with Figure 14. Either PROFINET with RT or IRT can be used depending on the particular application. The PROFIdrive base model devices are mapped as follows: PROFIdrive controller as PROFINET IO controller PROFIdrive peripheral devices (PD) as PROFINET IO devices and PROFIdrive supervisor as PROFINET IO supervisor The control application processes run on the PROFNET IO controller. A drive with one or more drive application processes (drive axes) is referred to as a drive unit and is mapped to PROFINET IO as an IO device. A PROFINET IO application relationship (AR) is established between the IO controller and the drive unit. This is used to implement cyclic data exchange, parameter access and alarm handling. PROFIBUS DP Communication PROFIBUS DP Device DP-Master Class 2 (Supervisor) AR PROFINET IO Relationship PROFINET Device Application Relationship IO Supervisor C0, C1, C2 Communication Channel DxB Data Exchange Broadcast C2 DP-Master Class 1 (Controller) C2 MCR Multicast Communication Relationship Supervisor AR IO Controller Supervisor AR C0 + C1 C0 + C1 IO AR IO AR DP-Slave (P-Device) DxB Communication DP-Slave (P-Device) IO Device () M CR Communication IO Device () Figure 13: Mapping the base model to PROFIBUS DP Figure 14: Mapping the base model to PROFINET IO PROFIdrive technology and application, August

13 7. Conformity and certification For products of different types and from different manufacturers to be able to perform various tasks in the automation process correctly, they must exchange information over the bus without errors. A prerequisite for this is a standardscompliant implementation of the communication protocols and application profiles by the device manufacturers. Certificates are issued to prove that devices (which vary considerably from manufacturer to manufacturer in terms of their functionality) conform to the communication and profile specifications. Certificates are issued by the PI certification body on the basis of a test report from an accredited PITL. This provides the user with added peace of mind with respect to the interoperability and interchangeability of products. The certification procedure (Figure 15) is based on standard EN In accordance with the requirements of this standard, the test laboratories accredited by PI are not aligned with any specific manufacturer. Only these test laboratories are authorized to carry out the device tests that form the basis for certification. The test procedures and sequence for certification are described in the guidelines. 7.2 PROFIdrive certification Figure 16 shows the basic structure of the certification system used for PROFIdrive products. The products (test samples) undergo automated testing based on script descriptions. All the results from the individual test steps are recorded automatically in the product test log. Together, the quality system and accreditation procedures ensure a consistent level of test quality at the PITLs. Test campaign in test laboratory No Device under Test OK? Yes Certification through PI Figure 15: The device certification process 7.1 Quality control through certification To ensure that products are implemented in accordance with the relevant standards, PI has established a quality assurance system whereby certificates are issued for products that meet the necessary requirements as indicated in a test report from a PITL. Script File for Test Automation Graphical Script User Interface Interpreter Protocol with Test Results The aim of certification is to provide users with an assurance that devices from different manufacturers are capable of faultfree operation when used together. For this purpose, the devices are tested by independent test laboratories under lifelike conditions in accordance with the appropriate test level. This makes it possible to identify any misinterpretation of the standards by developers at an early stage so that manufacturers can take the necessary remedial action before devices are introduced into the field. The test also examines the device s compatibility with other certified devices. Upon successful completion of the test and receipt of a positive test report, the manufacturer can apply for a device certificate. Interpolator Data Communication Services RTX-Realtime r with Test-Interpolator and closed loop control Active Master/Controller Board Standard PC with W2000/XP PROFIBUS / PROFINET Additional s (optional) (Test sample) Figure 16: PROFIdrive Conformity test 12 PROFIdrive technology and application, August 2007

14 8. Engineering 8.1 PROFIdrive profile server As part of another joint project, a common driver has been developed for integrating drive equipment into engineering systems. This driver, which is called the PROFIdrive profile server, is based on the OPC standard and provides users with universal and convenient access to the drives using familiar plug & play methods like those found in the Windows environment. PROFIBUS DPV1 provides the underlying technololgy for this. The drives are accessed via a PC running Windows which is connected as a PROFIBUS class 2 PROFIdrive conform device PROFIBUS Figure 17: Profile server PROFIBUS Board master (operator control and monitoring device). The advantage of this kind of connection is that service personnel can communicate directly with the drives without having to access or interfere with the central controller. The prerequisite for this is a PC with a PROFIBUS card (available as standard products from several vendors) and an OPC-compatible bus server. The PROFldrive profile server works above this bus server. It translates the DPV1 services into user-friendly device and parameter names. Any products that support OPC clients can be employed as application programs. These can be manufacturerspecific engineering systems for drive parameterization, diagnosis Application e.g. Webserver OPC-Interface OPC-Interface PROFIdrive profile server Bus server PC and programming, as well as commercially available visualization systems or even web servers that permit worldwide access to the PROFIBUS drive. 8.2 Higher-level engineering with FDT In addition to the actual process of data exchange on the PROFIBUS/PROFINET systems, interfaces with manufacturerspecific application software are also undergoing an increasing level of standardization. This applies in the case of the FDT/DTM interface, for example. In the future, this interface will enable software modules (known as DTMs) from different manufacturers to be integrated into higher-level application software and enable the acyclic PROFIdrive parameter channel to be utilized. This offers users significant advantages in terms of commissioning and operating machines and systems: Uniform configuration and data management Optimized use of the existing interfaces (with the fieldbus, database, printer) Similar function calls, e.g., for sending/receiving parameters, storing data Only one software environment required for configuration, commissioning, diagnosis and service PROFIdrive technology and application, August

15 9. User benefits More than 20 million PROFIBUS devices have now been installed. The top priority for development has always been and will continue to be that of ensuring that the system remains fully compatible with the devices that are already on the market. Thanks to the identical application view and common base and application models, it is even possible to switch over from PROFIBUS to PROFINET without any major difficulties. The following statements sum up the user benefits perfectly: Integration instead of interfaces and One technology instead of multiple technologies. It is on this basis that PROFIdrive is able to achieve significant cost reductions over the course of a machine or system s life cycle with respect to: planning, installation, operation and maintenance as well as expansions or upgrades. The PROFIdrive integrated approach is achieved through the use of standard communication protocols such as PROFIBUS DP or PROFINET IO which are both equally capable of meeting the diverse requirements of factory and process automation, motion control and safety applications. The PROFIdrive application profile is ideal for meeting the special requirements of drive technology in conjunction with the PROFIBUS and PROFINET communication systems and offers unbeatable scalability in terms of communication performance. It creates multiple benefits not only for the device and system manufacturers but also for integrators and end users. There are considerable cost advantages to be achieved by using a single, integrated communication solution for the drives, the controller, the I/O and operator control and monitoring. The integrated approach pays off not only with respect to planning and installation but also in terms of training, documentation and maintenance because there is only a single technology involved. tasks of every conceivable type, each having its own specific requirements, can be addressed in a standard yet flexible way thanks to the integrated technology, the integrated application programs and the scalable communication performance. The need for user-friendliness is fully met by ensuring the interoperability and interchangeability of devices from different manufacturers and the availability of program libraries from wellknown controller manufacturers. The safe operation of the devices is guaranteed thanks to independent certification by accredited test laboratories. Because PROFIdrive is standardized in IEC , international acceptance is guaranteed and investments will enjoy extensive long-term protection. This protection is further reinforced by the fact that PROFIBUS and PROFINET are the leading global base technologies. The fact that the profile is also recommended by user organizations such as OMAC provides additional investment protection. 14 PROFIdrive technology and application, August 2007

16 10. PI PROFIBUS & PROFINET International As far as maintenance, ongoing development, and market penetration are concerned, open technologies need a companyindependent institution that can serve as a working entity. For the PROFIBUS and PROFINET technologies, this role is filled by the PROFIBUS Nutzerorganisation e.v. (PNO), founded in 1989 as a non-profit interest group for manufacturers, users, and institutions. The PNO is a member of PI (PROFIBUS & PROFINET International), an umbrella group which was founded in PI now has 25 regional user organizations (RPAs: regional PI associations) totaling approximately 1,400 members, PI is represented on every continent and is the world s largest interest group for the industrial communications field Responsibilities of PI The key tasks performed by PI are: Maintenance and ongoing development of PROFIBUS and PROFINET. Promoting the worldwide adopition of PROFIBUS and PROFINET. Protection of investment for users and manufacturers through influencing standardization efforts. Representation of the interests of members to standards bodies and unions. Providing companies with worldwide technical support through PI Competence Centers (PICC). Quality control through a system for product certification that is based on PI-approved conformity tests used at PI test laboratories (PITL). Establishment of a worldwide training standard through PI Training Centers (PITC) Technological development PI has assigned the tasks of technological development to PNO Germany. The Advisory Board of PNO Germany oversees the development activities. Technological development takes place in the context of more than 50 working groups with input from more than 500 experts from a wide array of member companies Technical support PI supports more than 35 accredited PICCs worldwide. These facilities provide users and manufacturers with a wide variety of advice and support. As institutions of PI, they are independent service providers and adhere to the mutually agreed upon regulations. The listed areas of expertise of PICCs are regularly checked as part of periodic accreditation and ongoing qualityassurance processes. An up-todate list of addresses can be found on the PI Web site. Regional PI Associations PI Competence Centers 10.4 Certification PI supports 8 accredited PITLs worldwide The PITLs perform certification testing of products with PROFIBUS and/or PROFINET interfaces. As institutions of PI, they are independent service providers and adhere to the mutually agreed upon regulations. The test procedures followed by the PITLs are regularly audited in accordance with a strict accreditation process to ensure that they meet the necessary quality requirements. An up-to-date list of addresses can be found on the PI Web site Training The PI Training Centers have been set up with the specific aim of establishing a global training standard for engineers and installation technicians. The fact that the Training Centers and associated experts are required to be officially accredited means that quality is assured, not only with respect to the PROFIBUS and PROFINET training offered but also of the associated engineering and installation services. An up-todate list of addresses can be found on the PI Web site. PI (PROFIBUS & PROFINET International) PI Test Laboratories PI Training Centers Figure 18: Organizational structure of PI PROFIdrive technology and application, August

17 Index A Acyclic data exchange...4 Alarm mechanisms...5 Application classes...8 Application model...8 C Central motion control...9 Certification...12 Clock-synchronous operation...5 Conformity test...12 Control algorithms...6 Cyclic data exchange...4 D Decentralized automation...9 Device classes...4 Diagnosis...10 synchronization...5 DTM...13 Dynamic servo control...9 E Encoder interface...9 F Fault buffer...10 Fault classes...10 FDT...13 I IEC...3 IEC Interoperability...12 J Jitter...6 M Manufacturer-specific parameters...7 Mapping onto PROFIBUS...12 Mapping to PROFIBUS Mapping to PROFINET Modes... 6 O OMAC... 3, 14 OPC standard P Parameter access... 7 PI...15 PICC PITC PITL PNO Positioning drive... 8 Process synchronization... 5 PROFIBUS DP... 3 PROFIdrive base model... 4 PROFIdrive profile server Profile... 3 Profile parameters... 7 PROFIsafe... 4 R RPA S Safety technology... 4 Scalable communication performance... 3 Slave-to-slave communication... 6 Standard drive... 8 Standard drive with technological function... 8 Standard telegrams... 6 Standardization... 3 State machine... 6 T Telegrams... 6 W Warning PROFIdrive technology and application, August 2007

18 PROFIdrive technology and application System description August 2007 Order number Publisher PROFIBUS Nutzerorganisation e.v. Haid-und-Neu-Straße Karlsruhe Germany Phone : Fax : info@profibus.com Exclusion of liability Although the PROFIBUS Nutzerorganisation has taken the utmost care in compiling the information contained in this brochure, it cannot guarantee that the content is completely error-free and the PROFIBUS Nutzerorganisation can assume no liability, regardless of the legal basis for any potential claims. The information in this brochure is reviewed on a regular basis. Any necessary corrections will be made in subsequent editions. We would be grateful for any suggestions as to how the content could be improved. Any designations that appear in this brochure could potentially constitute trademarks. Any use of such trademarks by third parties for their own ends risks infringing the rights of the proprietors concerned. This brochure is not intended as a substitute for the applicable IEC standard or for the PI specifications and profiles; in cases of doubt, reference must always be made to these official sources of information. Copyright by PROFIBUS Nutzerorganisation e.v All rights reserved.

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