Profibus Chapter 8
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Transcript of Profibus Chapter 8
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PROFIBUS in Motion Control Applications
PROFIBUS used for
Read status and parameter information from the drives
Write parameters and download general commands (for
example Enable Application)
Handling of diagnostic messages
Real MC communication is handled via an
additional bus system
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Motion Control - Solution Today (continued)
P R O C E S S F I E L D B U S
SIEMENS
6SE7016-1EA30
WR2,2kW
Nr.467321
SIMOVERTSC
SIEMENS
6SE7016-1EA30
WR2,2kW
Nr. 467321
SIMOVERTSC
SIEMENS
6SE7016-1EA30
WR2,2kW
Nr.467321
SIMOVERTSC
SIEMENS
6SE7016-1EA30
WR2,2kW
Nr. 467321
SIMOVERTSC
MC Bus
DP Master
Additional
Hardware
2x Wiring
2x Configuration
What can beimproved?
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Requirements to use DP in MC Applications
Constant (equidistant) DP cycle time
including master class2
including DPV1 communication
including a reserve for telegram repetition
Clock synchronization between application and DP
cycle
jitter < 1 s
compensation of temporary clock failure
Data exchange between slave devices
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Constant Cycle Time & Synchronization
GC S1 S2 S3 Other Reserve GC S1 S2 S3 Reserve
PROFIBUS Cycle
Other
Application
Cycle
(3 Drives)
P R O C E S S F I E L D B U S
SIEMENS
6SE7016-1EA30
WR2,2kW
Nr.467321
SIMOVERTSC
SIEMENS
6SE7016-1EA30
WR2,2kW
Nr.467321
SIMOVERTSC
SIEMENS
6SE7016-1EA30
WR2,2kW
Nr.467321
SIMOVERTSC
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Monitoring cycle 0
Monitoring scores
Constant Cycle Time & Synchronization
(continued)
PLLPROFIBUSASIC
f = n / TDP
Jitter
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Data Exchange between Slaves
Controlling
Device
SIEMENS
6SE7016-1EA30
WR 2,2kW
Nr. 467321
SIMOVERTSC
P R O C E S S F I E L D B U S
Data Exchange
Telegrams
Publisher
Subscriber
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Requirements fulfilled with V3 of thePROFIDrive Profile
Up to 31 nodes (12 drives and additional I/O)
1x controlling master and max. 1x class 2 master
Transmission rate = 12Mbaud
Up to 100m/328ft - no FO or repeaters
Proper installation is CRITICAL
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Requirements fulfilled with V3 of thePROFIDrive Profile (continued)
Compatibility is ensured
No new communication method necessary
Additional FC in telegram header for Publisher
Information needs to be included into the GSD file
Configuration tool handles set-up of the constant bus
cycle and also the filter tables for Subscriber
MC supported by ASPC2 Step E2 & DPC31
Publisher/Subscriber also by SPC3 & LSPM2
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Performance Data
Basic amount 300s
Add 20s per Field Device
Add 1.5s per byte of I/O data
(Additional 500s for Class 2 device)
Example 1: 1x1 axis + 2x 2 axis + 3x I/O + 208 byte data
total
300s + 6x 20s + 208x 1.5s = 0.73ms (0.65 measured)
Example 2: 2x1 axis + 9x 2 axis + 3x I/O + 688 byte data
total
300s + 14x 20s + 688x 1.5s = 1.61ms (1.34 measured)
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Performance Data (continued)
0
1
2
3
4 8 16 32
Number of Field Devices
CycleTime[m
s]
8 Byte
16 Byte
32 Byte
Amount of Data
per Device
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Safety - Situation today
Proprietary
Safety Bus
2nd Layer2nd Layer
with Safetywith Safety
I/OI/O
DP Master
P R O C E S S F I E L D B U S
Standard I/O
(DP Slave)
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Safety - Situation today (continued)
M~
DS
F-Kit
M~
DS
F-Kit
M~
DS
F-Kit
M~
DS
F-Kit
Circuitcontactor
InputcontactorKO
Endmodule
Connection-modul
M~
ON
E-STOP
L+M
A1+A2-
PROFIBUS-DP
PM-DF1
DS
F-Kit
PLC
Master
IM151
Device for
Emergency Control
-E - STOP
U1
U2
ON
circuit
contacto
Device for
Emergency Control
PLC
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Safety - Situation today (continued)
Parallel wiring
P R O C E S S F I E L D B U S
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Safety - How it should be!
Monitoring
Device
PROFIBUS
Master
PROFIBUS-I/O PROFIBUS-I/O
PROFIBUS-I/O PROFIBUS-PA-Device
DP/PA
Repeater
PROFIBUS-I/O
PROFIBUS
Master
P R O C E S S F I E L D B U S
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Safety - Step 1
P R O C E S S F I E L D B U S
5
3
2 1
6
4
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Safety - How does it work?
Up to 244 Bytes
Standard
I/O Data
Failsafe I/O Data (up
to 122 Bytes)
Control/
Status Byte
Sequence #
(1 Byte)
CRC (2/4
Bytes)
Standard
I/O Data
Standard PROFIBUS Telegram for Data Exchange
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Safety - How does it work? (continued)
Standard-I /O
Standard
Control
1
2
7
1
2
7
1
2
7
1
2
7
1
2
7
= ASICs, Links, Cables, etc.(NOT safety relevant)
= PROFIsafe": Parts of the safety critical communications systems, e.g. Watchdog timers
= Safety relevant, but not part of the profile, e.g. Safety I/O
SafetyInput
SafetyControl
SafetyOutput
Safety-LayerSafety-LayerSafety-Layer
= Non safety critical functions, like e.g. diagnostic
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Safety - What is necessary?
Safety ControllerSafety Controller Special Hardware &
Firmware in Field Devices
Special Hardware &
Firmware in Field Devices
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Safety - Step 2: Data Exchange Broadcast
Publisher
P R O C E S S F I E L D B U S
5
2 1
4
3
Subscriber