PROFINET IRT (MRPD) SIMOTION & SINAMICS

Transcription

1 Bumpless Media Redundancy with PROFINET IRT () SIMOTION & SINAMICS Application description March 2013 Applications & Tools Answers for industry.

2 Siemens Industry Online Support This article originates from the Siemens Industry Online Support. The following link takes you directly to the download page for this document: Caution: The functions and solutions described in this article are limited primarily to the implementation of the automation task. Please also observe that in case of networking your plant with other parts of the plant, the company network or the Internet, appropriate protective measures within the framework of industrial security must be adopted. For more information, see the article ID You should also actively use our Technical Forum in the Siemens Industry Online Support for this topic. Discuss your questions, suggestions or problems together with our active forum community: 2 Version 1.1, Article ID:

3 SIEMENS Problem 1 Solution 2 Basics 3 SIMOTION & SINAMICS Application description Configuration 4 Commissioning the application 5 Operating the application 6 Contact 7 History 8 Version 1.1, Article ID:

4 Table of contents Warranty and liability Note The application descriptions in this document are not binding and do not claim to be complete regarding configuration, equipment, and any eventuality. Die Applikationsbeispiele stellen keine kundenspezifischen Lösungen dar, sondern sollen lediglich Hilfestellung bieten bei typischen Aufgabenstellungen. You are responsible for the proper operation of the described products. These application examples do not relieve you of your responsibility regarding the safe handling when using, installing, operating, and maintaining the equipment. By using these application examples, you agree that Siemens cannot be made liable for possible damage beyond the mentioned liability clause. We reserve the right to make changes and revisions to these application examples at any time without prior notice. If there are any differences between the suggestions made in these application examples and other Siemens publications, such as catalogs, the contents of the other document(s) take priority. We do not provide a warranty for any of the information contained in this document. We accept no liability for any damage or loss caused by the examples, information, programs, planning data, or performance data described in this application example, irrespective of the legal basis for claims arising from such damage or loss, unless liability is mandatory. For example, according to the product liability law, in cases of malfeasance, gross negligence, due to endangerment of life, body or health, due to assumption of a guarantee for a product's characteristics of state, due to malicious concealment of a defect or due to violation of basic contractual obligations. Any compensation for violation of basic contractual obligations, however, shall be limited to the foreseeable damage or loss which is typically envisaged in contracts unless there has been gross negligence or unless liability is mandatory due to endangerment of life, body, or health. This does not entail a change in the burden of proof to your disadvantage. Any form of duplication of these application examples or excerpts hereof is not permitted without the express consent of Siemens Industry Sector. 4 Version 1.1, Article ID:

5 Table of contents Table of contents Warranty and liability Problem Overview Solution Overview of the overall solution Hardware and software components used Basics PROFINET Communication Device name Assign device name via HW Config Topology-based initialization Device name assignment rules IP addresses Send clock for IRT communication Isochronous mode Configuration HW Config of the SIMOTION controller HW Config of the distributed SINAMICS drive HW Config of the distributed SCALANCE switch Configuring the PROFINET IRT Configuring the media redundancy () Configuring the distributed SINAMICS drive Configuring the SIMOTION controller Commissioning the application Startup Operating the application Overview Testing the bumpless media redundancy () Diagnostic of the bumpless media redundancy () using HW Config using user application Contact History Version 1.1, Article ID:

6 1 Problem 1.1 Overview 1 Problem 1.1 Overview Introduction To prevent failures (cable or device defect) in an automation system, the (Media Redundancy for Planned Duplication) functionality is available as of SIMOTION V4.3. is a procedure for the bumpless media redundancy with PROFINET IRT. This functionality assumes that the part of the system to be protected against failures should be arranged in a ring topology. The bumplessness is ensured by the provider (IO controller) sending the cyclic data in both directions in the ring with the consumers (IO devices) then receiving the data twice. The first received message frame is evaluated by the consumer; the second message frame is discarded. If the ring is now interrupted at one location (e.g. through the failure of a ring node), the receiving of the cyclic data via the uninterrupted side of the ring is still guaranteed. Overview of the automation task The following figure provides an overview of the automation task. Fig. 1-1 SIMOTION Drive Switch PROFINET 6 Version 1.1, Article ID:

7 1 Problem 1.1 Overview Description of the automation task A plant is automated with a SIMOTION controller, a drive and a switch via PROFINET IRT. The SIMOTION controller specifies the setpoint speed for the drive. The drive, controller and switch are connected with each other using a ring topology. The SIMOTION controller continually sends the cyclical data over both directions of the ring to the drive. If a connection to the drive is now interrupted (e.g. because of a cable defect), it can still be reached via the second connection. The plant can so further produce bumplessly provided the node required for the production does not fail itself (controller or drive). Version 1.1, Article ID:

8 2 Solution 2.1 Overview of the overall solution 2 Solution 2.1 Overview of the overall solution Schematic diagram The following schematic figure shows the most important components of the solution: SIMOTION D4x5-2 DP/PN SINAMICS CU320-2 PN DMM SLM SCALANCE X204 IRT PROFINET M M In this application example, the (Media Redundancy for Planned Duplication) functionality is displayed via PROFINET IRT. The SIMOTION controller, the SCALANCE switch and the SINAMICS drive are arranged in a ring and connected with each other. The SCALANCE switch acts as redundancy manager; the SIMOTION controller and the SINAMICS drive act as redundancy clients. The SIMOTION controller sends its cyclical data (at setpoint speed) over both directions of the ring to the SINAMICS drive. It evaluates the first received message frame; the second received message frame is discarded. If the ring is now interrupted somewhere, the drive continues to receive at the setpoint speed of the SIMOTION controller over the second connection that is still intact. If the connection is restored, message frames are sent again to the drive over both directions of the ring. This mechanism ensures a bumpless media redundancy, i.e. no reconfiguration time is required after opening or closing the ring. 8 Version 1.1, Article ID:

9 Differentiation Required knowledge This application does not contain a description of: The general drive functions of the SINAMICS S120 The SIMOTION controller It is assumed that readers have basic knowledge of these topics. 2 Solution 2.1 Overview of the overall solution It is assumed that readers have basic knowledge of SIMOTION controllers and SINAMICS drives with SIMOTION SCOUT. Boundary conditions Note 1. Safety and By default, safety data is transferred via PROFINET RT., however, does not offer any bumpless redundancy for RT data, but only for IRT data. In order to guarantee bumpless media redundancy with Safety, the safety data within the ring must be transferred as IRT data. The SIMOTION I-Device-F-Proxy functionality can be used for this purpose. When the F-Proxy is used, the safety data of the F-CPU is copied from the SIMOTION controller to the IRT data of the ring and is also sent redundantly. The F-CPU can be connected either to a free port of the PROFINET interface of the SIMOTION configured as I-Device-F-Proxy and is also a node of the ring, or the second PROFINET interface is used as F-Proxy. The following link shows how you can configure the I-Device-F-Proxy functionality on a SIMOTION: 2. and redundant sync master There can be a maximum of two Ethernet nodes between one sync master and one redundant sync master in a ring. If the redundant sync master is used, we recommend that it is connected directly with the sync master. In case of an interruption in the route between the sync master and the redundant sync master, the plant initially continues to run smoothly, however faults may occur when you switch off and then restart the plant if the devices between the sync master and the redundant sync master differ too much in the ramp-up time. Version 1.1, Article ID:

10 2 Solution 2.1 Overview of the overall solution 3. : Devices operated on a branch Devices that should be operated on a branch in the ring must also support the functionality. If this functionality is not supported, the affected devices, such as those on the second PROFINET interface of the SIMOTION controller, must be operated. Note The following link shows an overview of all devices that are supporting the functionality Media Redundancy (MRP / ): 4. Bumplessness of Delayed or incomplete switchovers of caused, for example, by a network load that is too high or faults coming/going too rapidly, under unfavorable conditions, can lead to the PROFINET connection failing even with activated media redundancy. For example, with two consecutive faults at different locations in the ring, smooth operation is ensured only when approx. three seconds lie in between the two faults. 5. Configuration with a GSD file Ensure that GSD version V2.3 is used for the configuration of the SINAMICS drive with GSD file. This version also supports the media redundancy procedure () in addition to PROFIsafe and shared device. The GSD file can be installed as of STEP7 V5.5 SP2 and is contained on the CF card for the associated CU variant. Note Further information as well as the appropriate PROFINET GSD files can be obtained at the following link: 6. MRP- and compatible devices in one ring configuration Merging of MRP- and compatible devices in one ring configuration is not allowed! All devices in one ring configuration have to support the functionality. 10 Version 1.1, Article ID:

11 2 Solution 2.2 Hardware and software components used 2.2 Hardware and software components used The application has been created with the following components: Hardware components Tabelle 2-1 Component Qty. MLFB / order number Note SIMOTION D455-2 DP/PN 1 6AU1455-2AD00-0AA0 V4.3.1 SINAMICS S120 CU320-2 PN 1 6SL3040-1MA01-0AA0 V SCALANCE X204 IRT 1 6GK5204-0BA00-2BA3 V5.0 SIMOTION training case 1 6ZB2470-0AE00 Standard software components Tabelle 2-2 Component Qty. MLFB / order number Note STEP 7 1 6ES7810-4CC10-0YA5 V5.5 + SP2 + HF1 SIMOTION SCOUT 1 6AU1810-1BA42-1XE0 V Sample files and projects The list below contains all the files and projects used in this example. Tabelle 2-3 Component Note _PROFINET_IRT V1_1.zip Sample project + sources _PROFINET_IRT V1_1_en.pdf This document Supplementary conditions To configure, the following software and hardware versions are required. Table 2-4 Component Version Windows STEP 7 SIMOTION SCOUT STARTER S7 F ConfigurationPack S7 Distributed Safety Programming XP or 7 Enterprise Professional (32-bit and 64-bit) V5.5 + SP2 V4.3.1 Firmware for SIMOTION V4.3 Firmware for SINAMICS V4.5 Firmware for SCALANCE V5.0 V4.3.1 (alternative) V5.5 + SP8 (for Safety) V5.4 + SP4 (for Safety) Version 1.1, Article ID:

12 3 Basics 3.1 PROFINET Communication 3 Basics 3.1 PROFINET Communication In addition to the MAC address and IP address, PROFINET uses additionally a device name to identify the PROFINET devices. This device name must be unique within the PROFINET network Device name During the commissioning phase a device name is assigned to each PROFINET device by the engineering system (HW Config, NetPro, STARTER, SCOUT, Primary Setup Tool). The device name can be assigned by different ways: IO-Controller Engineering Software (HW Config, NetPro, STARTER, SCOUT, Primary Setup Tool) By downloading the HW Config By user program (system function _setnameofstation() for SIMOTION) IO-Device Engineering Software (HW Config, NetPro, STARTER, SCOUT, Primary Setup Tool) From IO-Controller via topology-based initialization The device name will be stored in the device (on MMC or CF card). When replacing this device (e.g. in case of malfunction), this device must be initiated using the device name of the replaced device. For this step more possibilities are available: By plugging the MMC or CF card (if available) Engineering software (HW Config, NetPro, STARTER, SCOUT, Primary Setup Tool) Topology-based initialization by the IO-Controller itself. For this the PROFINET interface must be in factory settings. It means the new device can assume the function of the replaced device without changing the configuration Assign device name via HW Config Open HW Config and select the PROFINET IO-System. Click in menu under PLC > Ethernet onto Assign Device Name. The dialog assign device name will appear. All configured device names are in dropdown box listed. All recognized PROFINET devices via Network interface are shown under available devices. IO-Controllers are not shown here, because they will get the device name by downloading the HW Config explicit. 12 Version 1.1, Article ID:

13 3 Basics 3.1 PROFINET Communication Figure Mark PN IOsystem 2 Figure 3-2 (B) (A) (C) Select the configured device name (A) and select the corresponding device (B) and click on Assign name (C). The device name will be transferred to the device. If the device identification is not clear you can activate the flashing of a specified LED. Select the device and click on Flashing on to activate the function. Depending on the device type following LED will start flashing: Table 3-1 Device LED SIMOTION SINAMICS S120 SF-LED RDY-LED Version 1.1, Article ID:

14 3 Basics 3.1 PROFINET Communication Topology-based initialization The device name can be assigned by the PROFINET IO-Controller itself. With the checkbox Support device replacement without exchangeable medium the PROFINET feature topology-based initialization is activated. This feature is activated by default. Figure 3-3 This properties window will open by double clicking on the PN interface of the IO-Controller in HW Config. Please observe that the PN interface of IO-Device must be in factory settings to support this function (in this state the interface has the IP address = and an empty device name = ). To reset the PROFINET interface to factory settings open HW Config and click on PLC > Ethernet > Edit Ethernet Node > Reset (see following figure). Figure Version 1.1, Article ID:

15 3 Basics 3.1 PROFINET Communication Device name assignment rules The device name has to follow the rules of DNS (Domain Name System). Following possibilities for DNS names are given: Letters (a..z), Numbers (0..9) and the signs Minus (-) and Dot (.) are allowed. The dot divides the device name into labels. The device name can include more labels, for example: <CPU name>.<interface number >.<Name of IO-System> <Interface number>, if the device has more than one PN interfaces available (e.g. X150 ) <Name of IO-System>, optional and configured by HW Config (see Figure 3-5). Each label must start with a letter and doesn t end with minus or a dot. The maximum length of one label is 63 characters. Figure 3-5 Version 1.1, Article ID:

16 3 Basics 3.1 PROFINET Communication Observe also following additional rules: The maximum total length is 127 characters (incl. minus and dot) The device name may only include lower case. On the device upper case are replaced through lower case. Do not use umlauts (ä, ö, ü) Do not use special characters! " $ % & / ( ) =? * ' _ : ; > <, # + ~ \ } ] [ { Do not use blanks The device name does not start with "port-xyz" (x, y, z = 0..9). Do not use the minus sign on SIMOTION controllers. Up from SIMOTION SCOUT Version 4.3 this limitation is raised IP addresses PROFINET uses IP addresses for establishing the PROFINET IO communication and for NRT (Non Real Time Communication e. g. TCP, UDP, S7 communication). The IP address is also needed to go online to the device. It is recommenced to assign an IP address to each PROFINET IO-Device during startup of a project commissions. To do this you have more possibilities: IO-Controller Engineering software (HW Config, NetPro, STARTER, SCOUT, Primary Setup Tool) Download of HW Config, please observe the current active IP address of the device! IO-Device Engineering software (HW Config, NetPro, STARTER, SCOUT, Primary Setup Tool) In a PROFINET IO-System it is possible to receive the IP address from the IO-Controller. This feature is activated by default. For this a correct working PROFINET connection between IO-Controller and IO-Device is required and the active device name must be the same as in the HW Config. Figure 3-6 shows the configuration of a SINAMICS S120. The device with device name SINAMICS will get the IP address and the same subnet mask as the IO-Controller. If the device doesn t receive the IP information from IO-Controller it is maybe not possible to go online with the engineering software (e. g. Starter or SCOUT). In this case assign a fixed IP to the device. 16 Version 1.1, Article ID:

17 3 Basics 3.1 PROFINET Communication Figure 3-6 The received IP address from IO-Controller is just a temporary address (till next power OFF/ON of the device). The received address is higher prior as a fixed set IP address via engineering software. After power ON the IP address must be received from IO-Controller first. If the address will not receive, the IP address set by the engineering system or the default IP address (default setting of the PN interface) will be active. An IP address assigned by any engineering software is permanently saved. If you disable the function Assign IP address via IO-Controller the fixed IP address will be used. The IO-Controller will not assign the configured IP address. The IP address in the device must be unique. Please observe that the IP addresses used by PN interfaces (e.g. X150) and the IP addresses of the standard Ethernet interfaces (e.g. X127) must be in different IP subnets. For example: If you assign an IP address to the PN interface X150 so the device will report an error if the standard Ethernet interface X127 is still assigned to (default IP address of X127). Version 1.1, Article ID:

18 3 Basics 3.1 PROFINET Communication Figure Send clock for IRT communication The send clock for the IRT communication can be configured to a value ranging between 250 sec and 4.0 msec. Up from firmware V4.5 of SINAMICS S120 the minimum send clock time of the onboard PN interface is 250 sec. By using the CBE20 the minimum send clock time is 500 sec. Please refer also to the SIMOTION documentation Communication.pdf (Chapter ): Overview of the possible bus cycle clocks. Up from SIMOTION V4.1 SP1 the send clock of the isochronous PROFIBUS interfaces must be equal to the servo cycle clock. This also applies to PROFIBUS Integrated (SINAMICS Intergrated). Maybe the servo cycle clock or PROFIBUS send clock must be a multiple of the PROFINET IO send clock. Isochronous applications (e.g. ServoTask) are synchronized to the send clock or a multiple of the send clock. The cycle reduction is configured in the SIMOTION SCOUT under Set system cycle clocks Isochronous mode Isochronous mode means that the application (e.g. ServoTask of SIMOTION or OB6X of SIMATIC) is synchronized with the PROFINET IRT send clock. For this PROFINET IRT (High Performance = RTC3) is absolutely needed. 18 Version 1.1, Article ID:

19 3 Basics 3.1 PROFINET Communication With a SIMOTION controller the synchronization of the application with the communication send clock will be handled as follow: As Sync-Master the synchronization will be handled automatically, but if the Sync-Master is configured as IRT I-Device the synchronization must be done manually like an Sync-Slave A Sync-Slave must always be synchronized with the send clock. This has to be done in the StartupTask with following system function: i32retvalue := _enabledpinterfacesynchronizationmode( dpinterfacesyncmode := AUTOMATIC_INTERFACE_SYNCHRONIZATION ); If a SIMOTION controller is synchronized it can be checked by the LED SY (X150) respectively by the green LED on the CBE30 or CBE30-2. Green flashing = not synchronized Green continuous = synchronized A check of the system variable stateofdpinterfacesynchronization = DP_INTERFACES_SYNCHRONIZED is also possible. NOTE If a SINAMCIS device is synchronized you can check the LED PN (X150) respectively by the green LED on the CBE20. Green flashing = not synchronized Green continuous = synchronized Further information and notes regarding communication via PROFINET IRT can be also found in the article SIMOTION & SINAMICS: Distributed synchronous operation and isochronous mode via PROFINET IRT. Version 1.1, Article ID:

20 4 Configuration 4.1 HW Config of the SIMOTION controller 4 Configuration 4.1 HW Config of the SIMOTION controller Table 4-1 In the application example, a SIMOTION D455-2 DP/PN with the following configuration is deployed. 1. To create a new project, open the SIMOTION SCOUT engineering system. Insert a new SIMOTION device. 2. Select the appropriate SIMOTION hardware platform and version. 20 Version 1.1, Article ID:

21 4 Configuration 4.1 HW Config of the SIMOTION controller 3. Create a new Ethernet subnet and assign an IP address. 4. Configure the connection between the SIMOTION controller and the engineering system. Version 1.1, Article ID:

22 4 Configuration 4.1 HW Config of the SIMOTION controller 5. The device name can be adapted by double-clicking the PROFINET interface (X150). Pressing the F4 key automatically arranges the available modules in HW Config. 6. The device name of the PROFINET interface (PNxIO) is D455x2xDPxPN. 22 Version 1.1, Article ID:

23 4 Configuration 4.1 HW Config of the SIMOTION controller 7. Open NetPro in order to set the interface of the engineering system. The yellow connection at the PG/PC station indicates that the engineering system can access SINAMICS Integrated via S7 routing. Routing tables are automatically generated when saving and compiling; these must then be saved in the device with a HW Config download. Double-click the PG/PC interface to open its properties. 8. Deactivate the Set MAC address / use ISO protocol checkbox because the SIMOTION controller does not support any ISO protocol. Assign a free IP address for the engineering system, e.g.: IP address: Subnet mask: Save and compile the HW Config. Version 1.1, Article ID:

24 4 Configuration 4.2 HW Config of the distributed SINAMICS drive 4.2 HW Config of the distributed SINAMICS drive Table 4-2 The SIMOTION controller communicates with a SINAMICS drive CU320-2 PN configured as follows. 1. Drag the SINAMICS CU320-2 PN V4.5 drive to the PROFINET IO system (100). 2. Assign an IP address and select the existing Ethernet subnet. 24 Version 1.1, Article ID:

25 4 Configuration 4.2 HW Config of the distributed SINAMICS drive 3. Double-click the added SINAMICS drive to adapt its device name. The device name of the SINAMICS drive is S120xCU320x2xPN. 4. The device name must then be assigned to the SINAMICS drive. To do this, select the corresponding PROFINET IO system (100). Open the window for the name assignment via PLC > Ethernet > Assign Device Name. Version 1.1, Article ID:

26 4 Configuration 4.2 HW Config of the distributed SINAMICS drive 5. Select the SINAMICS drive and click the Assign name button to assign the name configured in the HW Config. 6. Save and compile the HW Config. 26 Version 1.1, Article ID:

27 4 Configuration 4.3 HW Config of the distributed SCALANCE switch 4.3 HW Config of the distributed SCALANCE switch Table 4-3 A SCALANCE X204IRT switch configured as follows is deployed as redundancy manager. 1. Drag the SCALANCE X204IRT V5.0 switch to the PROFINET IO system (100). 2. Double-click the added SCALANCE switch to adapt its device name. The device name of the SCALANCE switch is SCALANCE-X204IRT. Version 1.1, Article ID:

28 4 Configuration 4.3 HW Config of the distributed SCALANCE switch 3. The device name must then be assigned to the SCALANCE switch. To do this, select the corresponding PROFINET IO system (100). Open the window for the name assignment via PLC > Ethernet > Assign Device Name. 4. Select the SCALANCE switch and click the Assign name button to assign the name configured in the HW Config. 5. Save and compile the HW Config. 28 Version 1.1, Article ID:

29 4 Configuration 4.4 Configuring the PROFINET IRT 4.4 Configuring the PROFINET IRT Table 4-4 PROFINET IRT must be activated for. To do this, the PN interfaces must be synchronized and the PROFINET topology configured. can then be configured. 1. Open the PROFINET IO Domain Management in the context menu of the PROFINET interface (X150) of the SIMOTION controller. 2. Select the SIMOTION controller, respectively the SINAMICS drive and the SCALANCE switch and open their properties. Version 1.1, Article ID:

30 4 Configuration 4.4 Configuring the PROFINET IRT 3. Set the Sync master option as synchronization role for the SIMOTION controller. Only one sync master is permitted in each PROFINET network. 4. The SINAMICS drive is parameterized as Sync slave. A sync slave synchronizes itself to the associated sync master in the PROFINET network. Ensure that high performance is selected for the IRT options! 5. The SCALANCE switch is also parameterized as Sync slave. Also ensure here that high performance is selected for the IRT options! Note IRT "high flexibility" cannot be used for isochronous applications. Further information can be found at the following link: RT classes for PROFINET IO 30 Version 1.1, Article ID:

31 4 Configuration 4.4 Configuring the PROFINET IRT 6. The topology must be configured for PROFINET IRT. Open the PROFINET IO Topology in the context menu of the PROFINET interface of the SIMOTION controller. 7. For example, the following ports of the devices are connected with each other in order to receive a ring topology: SIMOTION port 1 SCALANCE port 2 SIMOTION port 2 SINAMICS port 1 SCALANCE port 1 SINAMICS port 2 Create the connections in the Graphic view of the Topology Editor. Version 1.1, Article ID:

32 4 Configuration 4.4 Configuring the PROFINET IRT Note A SIMOTION controller or SINAMICS drive may only be inserted in an ring as a node with -capable ports. For SIMOTION D (drive-based), the first two ports of the PROFINET interface are marked as ring ports. For SINAMICS S120 drives, these are ports P1 and P2. For SCALANCE X200 IRT switches, all ports can be configured as ring ports. The -capable ports for SIMOTION controllers and SINAMICS drives are identified with an "R" in the HW Config. 8. To operate the SINAMICS drive isochronously, mark it and open the properties of the PROFINET interface (PN IO). 32 Version 1.1, Article ID:

33 4 Configuration 4.4 Configuring the PROFINET IRT 9. Switch to the IO Cycle tab and select Servo as isochronous execution level for the SINAMICS drive. 10. When using PROFINET IRT, the PROFIBUS send cycle clock of the SINAMICS_Integrated of the SIMOTION controller must be the same as the servo send cycle clock. Double-click the SINAMICS_Integrated to open its properties and switch to the Isochronous Operation tab. The servo send cycle clock is, for example, 1,000 ms. Adjust the PROFIBUS send cycle clock accordingly. Version 1.1, Article ID:

34 4 Configuration 4.5 Configuring the media redundancy () 4.5 Configuring the media redundancy () Table 4-5 After activation of PROFINET IRT and the configuration of the PROFINET ring topology, can now be configured. 1. Open the PROFINET IO Domain Management in the context menu of the PROFINET interface (X150) of the SIMOTION controller. 2. Change to the MRP Domain tab and mark the SIMOTION controller, respectively the SCALANCE switch and the SINAMICS drive. Click the Edit button to specify the associated functions of the nodes in the ring. 34 Version 1.1, Article ID:

35 4 Configuration 4.5 Configuring the media redundancy () 3. Select the Client function for the SIMOTION controller. The ring ports are preassigned and cannot be changed subsequently. The Diagnostic interrupts checkbox can be used to activate specific diagnostic messages. 4. The Client function is also selected for the SINAMICS drive. The ring ports are also predefined here. 5. The SCALANCE switch can be configured both as redundancy manager and as client of the ring. The ring ports can be freely selected from the four available ports. Select the Manager (Auto) function. Note SIMOTION controllers and SINAMICS drives support only the Client function. The redundancy-manager function required for an ring can only accept SCALANCE X200IRT switches. Version 1.1, Article ID:

36 4 Configuration 4.5 Configuring the media redundancy () 6. Save and compile the HW Config. 7. Download the SIMOTION controller configuration to the respective device. 36 Version 1.1, Article ID:

37 4 Configuration 4.6 Configuring the distributed SINAMICS drive 4.6 Configuring the distributed SINAMICS drive Table 4-6 The standard configuration of the distributed SINAMICS drive with the SIMOTION SCOUT engineering system is shown below. 1. Go online in the SCOUT project. 2. Select the following target systems with which an online connection is to be established. 3. Restore the factory settings on the distributed SINAMICS drive. Version 1.1, Article ID:

38 4 Configuration 4.6 Configuring the distributed SINAMICS drive 4. Perform the automatic configuration of the drive. 5. The two motors of the SIMOTION training case are created as servo motors. 38 Version 1.1, Article ID:

39 4 Configuration 4.6 Configuring the distributed SINAMICS drive 6. Because the blue drive (SERVO_03) does not have any DRIVE-CLiQ interface, after the automatic configuration, the blue drive must be reconfigured at the SIMOTION training case. a) Go offline b) Open the configuration of the SERVO_03 drive. For the configuration of the SIMOTION training case, all windows not shown can be bypassed. Version 1.1, Article ID:

40 4 Configuration 4.6 Configuring the distributed SINAMICS drive 7. c) Wire the release for the infeed (p0864) with the permanent binector 1. d) Select the correct motor type. 40 Version 1.1, Article ID:

41 4 Configuration 4.6 Configuring the distributed SINAMICS drive 8. e) The correct encoder type must also be selected. f) Close the configuration and save the settings. g) Go online. h) Download to the SINAMICS drive. i) Copy RAM to ROM. j) Go offline to make the following settings. 9. The following parameters of both drives (SERVO_02 + SERVO_03) must be checked after the automatic configuration. To do this, open the expert list. Parameters Description Value p0340 Automatic calculation 0 p0210 Power supply 345 V p0864 Infeed in operation 1 p1244[0] Upper voltage limit for the DC link 401 V p1248[0] Lower voltage limit for the DC link 240 V p1460[0] p1462[0] P-component for the speed controller (in the sample project) Integrator time for the speed controller (in the sample project) 0.01 Nms/rad 20 ms These settings apply only when you are working with a SIMOTION training case! Version 1.1, Article ID:

42 4 Configuration 4.6 Configuring the distributed SINAMICS drive 10. Open the message-frame settings in the SINAMICS drive. Change the message-frame selection for the two servos from Standard/automatic to User-defined. 11. The correct message frames must be selected for the cyclic communication to the CU and to the two servo motors. Because the Standard telegram 1 does not support any IRT communication, at least Standard telegram 2 must be selected for SERVO_02 and SERVO_03! Then match the selection of the message frames with the hardware configuration. 42 Version 1.1, Article ID:

43 4 Configuration 4.6 Configuring the distributed SINAMICS drive 12. A blue tick after the message frames indicates the correct matching with HW Config. 13. Save and compile the HW configuration. 14. Go online. 15. Download to the SINAMICS drive and the SIMOTION controller. 16. Copy RAM to ROM. Version 1.1, Article ID:

44 4 Configuration 4.7 Configuring the SIMOTION controller 4.7 Configuring the SIMOTION controller The standard configuring of the SIMOTION controller using the SIMOTION SCOUT engineering system is shown below. Table Go offline. Create the following IO variables in order to exchange data with the SINAMICS drive. In the application example, releases in control word 1 (STW1_BlueDrive, STW1_RedDrive) as well as speed setpoints (NSOLL_BlueDrive, NSOLL_RedDrive) are sent from the SIMOTION controller to the SINAMICS drive. The current states in status word 1 (ZSW1_BlueDrive, ZSW1_RedDrive) are sent back from the SINAMICS drive to the SIMOTION controller where they are evaluated. 44 Version 1.1, Article ID:

45 4 Configuration 4.7 Configuring the SIMOTION controller 2. In the sample project, the IO_Variables.csv file located in the folder can be imported by rightclicking > Load. right mouse click 3. The "fault" source is contained in the sample project. This source contains three programs that are called in the particular FaultTask. The "motioncontrol" source contains the "pbackgroundtask" program used to control the servos (releases + speed specification). As the name implies, this program is called in the BackgroundTask. These sources can be imported from the "ST_Units" folder of the " _PROFINET_IRT V1_0.zip" ZIP archive. Version 1.1, Article ID:

46 4 Configuration 4.7 Configuring the SIMOTION controller 4. Several ST-sources can be imported simultaneously. After the import, the SIMOTION project must be saved and compiled so that the programs are visible in the execution system. 5. Open the execution system and add the sample programs to the intended task. 6. Save and compile the SIMOTION project. 7. Now go online and download the complete SIMOTION project to the controller. 8. Copy RAM to ROM. 46 Version 1.1, Article ID:

47 5 Commissioning the application 5 Commissioning the application 5.1 Startup 5.1 Startup Table 5-1 The following steps must be performed to commission the project example. 1. All hardware components specified in Table 2-1 (page 11) are present and have been upgraded to the required firmware version. 2. If you want to operate the sample project via a Web browser, you must copy the HTML pages (*.mbs files) to the CF card. Three options are available for this: 1. Files website for SIMOTION IT DIAG, in which case the following folder structure must be created. user/simotion/hmi/files (all files of the Files website are stored in this folder) as folder for Subcode as folder for the files Control.mbs, State.mbs and javascript.js.mbs 2. FTP ftp://simotion:simotion@ /user/simotion/hmi/files/ 3. CF card reader, copy the "" folder and the ".mbs" file on the CF card to the "user\simotion\hmi\files" folder The *.mbs files are located in the ZIP archive "HTML/MBS" folder. 4. Alternatively, you can operate the application example from the symbol browser in SIMOTION SCOUT. Version 1.1, Article ID:

48 5 Commissioning the application 5.1 Startup 3. All PROFINET components are networked and accessible from the engineering system. 4. The Ethernet interface of the engineering system is configured correctly. IP address: Subnet mask: Start the SIMOTION SCOUT engineering system. 6. Unzip the " _PROFINET_IRT V1_0.zip" sample project. 7. Open the SCOUT project "PN_IRT V1_0". 8. Open HW Config in order to perform the node initiation. Mark the PROFINET line and open the window for the name assignment via PLC > Ethernet > Assign Device Name. 9. You can select the configured device names and assign them to the associated device (IO device). Note Only IO devices are listed. The IO controllers receive the device name when the HW Config is downloaded. 48 Version 1.1, Article ID:

49 5 Commissioning the application 5.1 Startup 10. As an alternative, the Primary Setup Tool (PST) can also be used to perform the node initiation. The PST can be downloaded from the following link In the SIMOTION SCOUT, go online to the target systems. 12. Load the SIMOTION project, including the configuration of the SINAMICS drive, into the target system. If you cannot go online with the SIMOTION controller, then first load the HW Config into the SIMOTION device so that it has the correct IP address and device name. 13. Copy RAM to ROM. 14. The sample project can now be operated. Version 1.1, Article ID:

50 6 Operating the application 6.1 Overview 6 Operating the application 6.1 Overview The sample project is operated either from a website or alternatively from the symbol browser in SIMOTION SCOUT. 6.2 Testing the bumpless media redundancy () Table 6-1 The setpoint speed of the servo is specified by the SIMOTION controller. By dragging a PROFINET cable, e.g. between the SIMOTION controller and a SINAMICS drive, the servos do not stop but continue to turn with the specified setpoint speed. The functionality makes this possible. 1. Open any Web browser (preferably Mozilla Firefox). Alternatively, you can also operate the sample project from the SIMOTION SCOUT engineering system (mark source motioncontrol > symbol browser). 2. Enter the IP address of the SIMOTION controller in the address line of the Web browser. The following IP address is configured in the sample project. IP address: Subnet mask: Change to the tab on the User s Area page. Control The START/STOP buttons are used to control the gbomove global variable and so start or stop the two servos. Velocity The setpoint speeds of the two servos are displayed here. 50 Version 1.1, Article ID:

51 6 Operating the application 6.3 Diagnostic of the bumpless media redundancy () 3. If the two servos turn with the specified setpoint speed of 60 RPM, one connection between the nodes of the ring can now be opened. The servos do not stop because they are now sent the setpoint speeds via the connection of the ring that is still operational. 4. If the ring is opened at two locations, the two communications paths from the SIMOTION controller to the SINAMICS drive are interrupted and the servos stop. If the ring is closed again at one location, the application acknowledges the errors pending on the SINAMICS drive and the servos continue to turn with the setpoint speed. Note The application acknowledgement of the drive errors is permitted only in the sample project! Also ensure that approx. three seconds must lie in between two successive "errors" (e.g. the ring is open the ring will be closed the ring will be opened at another location) so that the two servos do not stop. 6.3 Diagnostic of the bumpless media redundancy () After finishing the configuration and commissioning the bumpless media redundancy (i.e. the ring configuration) can be diagnosed for errors and changes of status. Two different possibilities are available to get the relevant information that are described in the following using HW Config Table 6-2 Nr. 5. Open HW Config and switch to the online view. In the online view you will get a summary of the current states of all configured stations. Version 1.1, Article ID:

52 6 Operating the application 6.3 Diagnostic of the bumpless media redundancy () Nr. Aktion 6. In case of fault the following described symbols report the current states of the stations port by port. 52 Version 1.1, Article ID:

53 6 Operating the application 6.3 Diagnostic of the bumpless media redundancy () Nr. Aktion 7. By double click on the redundancy manager (SCALANCE switch) you will get more details about the current state of the ring configuration ( Ring opened ). Note Please observe that the information about the state of the ring configuration ( Ring opened ) is only available at the redundancy manager. 8. At the concerning interfaces, where the ring configuration is physically opened, you will get more detailed information about the reason of the error message. (in the sample Port 1 of the onboard PROFINET interface X150 of the SIMOTION D455-2DP/PN ) Version 1.1, Article ID:

54 6 Operating the application 6.3 Diagnostic of the bumpless media redundancy () using user application To analyze the bumpless media redundancy (i.e. the ring configuration) using a user application you have following possibilities: Analyze the TaskStartInformation (TSI) within the PeripherialFaultTask Reading the corresponding data record using the SIMOTION system function _readrecord() In the following the possibilities for analyzing are shown exemplary. Please observe following dependencies: The data record 16#8011 will be read from redundancy manager (SCALANCE switch). This record is only available if maintenance is demanded. The diagnostic address of the PROFINET interface for the redundancy manager must be known (parameter within HW Config). This diagnostic address will be returned also by the TaskStartInformation TSI#LogDiagAdr within the PeripheralFaultTask, if the status of the ring configuration has changed ( Ring opened ). Table 6-3 Nr. Aktion 1. To determine the diagnostic address of the redundancy manager open the HW Config and select the SCALANCE switch. 2. If required the diagnostic address can be changed under the properties of the PROFINET interface. 54 Version 1.1, Article ID:

55 6 Operating the application 6.3 Diagnostic of the bumpless media redundancy () Nr. Aktion 3. The determined address can be used in PeripheralFaultTask of the SIMOTION PLC. In this sample the diagnostic address is used to filter the received messages. The data record 16#8011 will be read from the redundancy manager to analyze the message in detail ( Ring opened ). Up to 100 messages are saved into a ring buffer. In case of an upcoming event of the redundancy manager you will find the diagnostic data in the structure sdiagnostic[gi16counter].au8data. The information is located within a byte-array and can be analyzed by using the structure of the data record. Version 1.1, Article ID:

56 6 Operating the application 6.3 Diagnostic of the bumpless media redundancy () Note Please observe that a message will be created in case of an upcoming event as well as in case of a leaving event. Only in case of an upcoming events (i.e. Ring opened ) detailed data are located in the structure sdiagnostic[gi16counter].au8data. You will get more detailed information and description about the available data records in chapter 5 ( Records with PROFINET IO ) of the manual From PROFIBUS DP to PROFINET IO Version 1.1, Article ID:

57 7 Contact Siemens AG 7 Contact 6.3 Diagnostic of the bumpless media redundancy () Industry Sector I DT MC PMA APC Frauenauracher Strasse Erlangen, Germany profinet.team.motioncontrol.i-dt@siemens.com 8 History Tabelle 8-1 Version Date Change V1.0 07/2012 First edition V1.1 03/2013 Revision, Chapter 3 Basics revised, Chapter 6.3 Diagnostic of the bumpless media redundancy ( added Version 1.1, Article ID: