New Features

New Features Date 06/10/00, Page 1

New Features
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

New Features Date 06/10/00, Page 2

New Features
Motion Control - Solution Today (continued)
DP Master
P R O C E S S F IE L D B U S

What can be improved?

2x Wiring
SIEMENS SIEMENS SIEMENS SIEMENS

MC Bus
SIMOVERT SC 6SE7016-1EA30 WR 2,2 kW Nr. 467321 SIMOVERT SC 6SE7016-1EA30 WR 2,2 kW Nr. 467321 SIMOVERT SC 6SE7016-1EA30 WR 2,2 kW Nr. 467321 SIMOVERT SC 6SE7016-1EA30 WR 2,2 kW Nr. 467321

Additional Hardware

2x Configuration

New Features Date 06/10/00, Page 3

New Features
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

New Features Date 06/10/00, Page 4

New Features
Constant Cycle Time & Synchronization

PROFIBUS Cycle
P R O C E S S F IE L D B U S

GC

S1

S2

S3

Other

Reserve

GC

S1

S2

S3

Other

Reserve

SIEMENS

SIEMENS

SIEMENS

Application Cycle (3 Drives)

SIMOVERT SC 6SE7016-1EA30 WR 2,2 k W Nr. 467321 SIMOVERT SC 6SE7016-1EA30 WR 2,2 kW Nr. 467321 SIMOVERT SC 6SE7016-1EA30 WR 2,2 k W Nr. 467321

New Features Date 06/10/00, Page 5

New Features
Constant Cycle Time & Synchronization (continued)
Bus-clock f = 1 / TDP Jitter <=1s Failure PROFIBUS ASIC TDP Number of cycles per DP-cycle Transmission delay System clock f = n / TDP Jitter <=100ns Without failure Monitoring scores Monitoring cycle 0

PLL

Smoothing Clock jitter Compensation clock failure Compensation transmission delays

New Features Date 06/10/00, Page 6

New Features
Data Exchange between Slaves
Controlling Device Data Exchange Telegrams
P R O C E S S F IE L D B U S

Subscriber

SIEMENS

SIMOVERT SC 6SE7016-1EA30 WR 2,2 kW Nr. 467321

Publisher

New Features Date 06/10/00, Page 7

New Features
Requirements fulfilled with V3 of the PROFIDrive 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 s
New Features Date 06/10/00, Page 8

New Features
Requirements fulfilled with V3 of the PROFIDrive 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 s
New Features Date 06/10/00, Page 9

New Features
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) s
New Features Date 06/10/00, Page 10

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Performance Data (continued)
3 Cycle Time [ms] 2 1 0 4 8 16 32 Number of Field Devices

8 Byte 16 Byte 32 Byte

Amount of Data per Device

New Features Date 06/10/00, Page 11

New Features
Safety - Situation today

DP Master

Standard I/O (DP Slave)

P R O C E S S F IE L D B U S

Proprietary Safety Bus

2nd Layer with Safety I/O

New Features Date 06/10/00, Page 12

New Features
Safety - Situation today (continued)
Device for Emergency Control ON PLC
U1
Master

U2

Device for Emergency Control

Connectionmodul PM-D F1 DS DS DS DS DS End module F-Kit F-Kit F-Kit F-Kit F-Kit
Input contactor KO Circuit contactor

circuit contacto

PROFIBUS-DP IM 151 ON

-E - STOP

PLC

L+ M A1+ A2-

E-STOP

M ~

M ~

M ~

M ~

M ~

New Features Date 06/10/00, Page 13

New Features
Safety - Situation today (continued)

P R O C E S S

F IE L D B U S

Parallel wiring

New Features Date 06/10/00, Page 14

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Safety - How it should be!
PROFIBUS Master PROFIBUS-I/O PROFIBUS-I/O PROFIBUS Master

P R O C E S S F IE L D B U S

Repeater

DP/PA

Monitoring Device

PROFIBUS-I/O

PROFIBUS-PA-Device

PROFIBUS-I/O

New Features Date 06/10/00, Page 15

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Safety - Step 1
2 4 1

P R O C E S S F IE L D B U S

New Features Date 06/10/00, Page 16

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Safety - How does it work?

Standard PROFIBUS Telegram for Data Exchange

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

New Features Date 06/10/00, Page 17

New Features
Safety - How does it work? (continued)

StandardI /O 7 2 1

Safety Input Safety-Layer 7 2 1

Safety Control Safety-Layer 7 2 1

Safety Output Safety-Layer 7 2 1

Standard Control 7 2 1

= ASICs, Links, Cables, etc.(NOT safety relevant) = Non safety critical functions, like e.g. diagnostic = 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

New Features Date 06/10/00, Page 18

New Features
Safety - What is necessary?

Safety Controller Safety Controller

Special Hardware & Special Hardware & Firmware in Field Devices Firmware in Field Devices
New Features Date 06/10/00, Page 19

New Features
Safety - Step 2: Data Exchange Broadcast
Publisher 2 3 1

P R O C E S S F IE L D B U S

Subscriber

New Features Date 06/10/00, Page 20