introduction into profibus technology · drives, valves, operator panels, etc. ... fcs frame check...

2

Introduction

Masters and slavesTopologyToken passingMaster slave communicationFDL-layerBusparameter

Introduction into PROFIBUS technology

PROFIBUS DPV0

PROFIBUS DPV1

PROFIBUS DPV2

State machineDiagnosticParameterConfiguration

ServicesDiagnostics

Isochronous ModeDataExchange Broadcast (DxB)

3

Introduction

VPCLS2VPC3+CMPI12x

PROFICHIP asics

RS 485SchematicD-Sub connectorM12 connector

VPC3 applicationSchematic 8032Schematic 80C165

GSD

4

Introduction

Profichip evaluation boardPROFITRACE/PROFICORE

Development tools

Certification

Questions & discussion

VPC3+C

Buffer structureService Set Slave AddressService DiagnosticsService ConfigurationService Global ControlService DataExchange

5

PROFIBUS

What to do when developing a PROFIBUS product?

Apply for memberchip to your regional PROFIBUS organization (freedocumentation and low cost Ident Number).Requesting/purchasing an Ident Number

Investment in test and development toolsDeveloping the product (hardware and software)Developing the GSD-fileDeveloping configuration software (optional)

Writing a manualDeveloping application examples for controllers (popular PLCs)Product certification (EMC, PROFIBUS)

6

PROFIBUS

PROFIBUS is used in a wide range of applications

More than 300,000 applications are already operational

Manufacturing AutomationCar manufacturingBottling systemsStorage systems

Building AutomationTraffic automationHeating, air-conditioning

Process Automation Purification plantsChemical and petrochemical plantsPaper and textile plants

Power Generation and Power DistributionPower plantsSwitch Gear

Case studies are listed in the Electronic Product Guide

Lime Production

Polymer Storage

Glue Production

Breweries

Car manufacturing, at General Motors, BMW, Ford, FIAT....

Waste Water Purification

Bottling Plants

Food ProductionBuilding Automation

7

5 Mio

10 Mio

15 Mio

PROFIBUS, overall

DeviceNet,Rockwell Automation only

DeviceNet, overallCC-Link, overallInterbus, overall

Fieldbus Foundation H1PROFIBUS PA

1990 2000 200419991994

15,4 Mio

2005

PROFIBUS

Installed nodes:

8

PROTOCOL ARCHITECTURE

Application ProfilesApplication Profiles

IEC Interface

IEC 1158-2

User

Laye

r

(3)-(6)

Application(7)

Data Link(2)

Physical(1)

EN 50 170 and PROFIBUS Guidelines PROFIBUS Profiles

Fieldbus Data Link (FDL)

FMS

RS-485 / Fiber Optic

DP-GrundfunktionenDP-Functions

Building Manufacturing Process

ISO/O

SI model

Open communication based on international standardsOpen communication based on international standards

9

PROFIBUS

Data Exchange BroadcastIsochronous Mode (Equidistance),Clock Synchronisation,Time Stamps,HART on DP,Upload/Download (Segmentation),Redundancy

Acyclic Data ExchangeEngineering (EDD, FDT),Fail-Safe Communication (PROFIsafe)Alarms

Cyclic Data ExchangeGSD,Configuration,Parameter and Diagnosis

Functionality with PROFIBUS DP

PROFIBUS DP

DP-V0

DP-V2

DP-V1

10

PROFIBUS-DP defines three device types

DP-Master Class 1 (DPM1)Central Controller which exchanges datawith the distributed I/O devices (DP-Slaves)Several DPM1 are permitted. Typicaldevices are PLC, PC, VME

DP-Master Class 2 (DPM2)Configuration, Monitoring or Engineering tool which is used to set up the network orparameterize / monitor the DP-Slaves

DP-SlavePeripherial device directly interfacing the I/O signalsTypical devices are Inputs, Outputs, Drives, Valves, Operator Panels, etc.

PROFIBUS DP

11

PROFIBUS DP

PROFIBUS-DP Monomaster SystemDP-Master (Class 1) Monomaster Systems achieve the

shortest bus cycle timeThey consist of:

1 DP-Master (Class 1)1 to max. 125 DP-SlavesDP-Master (Class 2) - optional

Distributed Inputs and Outputs

DP - Slaves

PROFIBUS-DP

PLC

12

PROFIBUS DP

PROFIBUS-DP Multimaster SystemPROFIBUS-DP Multimaster systems consist of:

- multiple Masters (Class 1 or 2)- 1 to max. 124 DP-Slaves- max. 126 devices on the same bus

DP-Master(Class 2)

DP-Master(Class 1)

DP-Master(Class 1)

distributed inputs and outputs distributed inputs and outputs

PROFIBUS-P

PLC

PROFIBUS - DP

PC

CNC

DP - Slaves

13

PROFIBUS DP

PROFIBUS

Passive stations (Slave Devices) are polled

Active stations, Master Devices

PLCPLC PC

14

PROFIBUS DP

Token passing

Pass token to master with address 0

master with address 0 sends data

15

PROFIBUS DP

DP

slav

e 1

DP

mas

ter

imm

edia

tere

spon

se

Request Frame

trailer Output data header

Response Frame

trailerInput dataheader

Per slave:Max. 244 bytes output dataMax. 244 bytes input data

Per slave:Max. 244 bytes output dataMax. 244 bytes input data

imm

edia

tere

spon

se

Request Frame


Response Frame


DP

slav

e 2

imm

edia

tere

spon

se

Request Frame


Response Frame


DP

slav

e 3

imm

edia

tere

spon

se

Request Frame


Response Frame

trailerInput dataheader DP

slav

e nr

. x

The handling of all the slaves is called a cycle. The required time is dependent of:

the baudrate;the number of slaves; the netto data;

The handling of all the slaves is called a cycle. The required time is dependent of:

the baudrate;the number of slaves; the netto data;

Principle of Master Slave communication

16

PROFIBUS DP

Master Slave communication

Master send Diag.request

Slave send Diag.response

17

PROFIBUS DP

Conditions: Each DP-Slave has 2 byte input and 2 byte output dataThe minimum Slave_Interval time is 200 micro secondsTID1= 75 Bit times, Tsdr = 11 Bit times

Typical Bus Cycle Time of a PROFIBUS-DP Monomaster System

Bus cycle time[ms]

DP-Slaves

12 MBit/s

1.5 MBit/s

500 kBit/s

18

PROFIBUS FDL

19

PROFIBUS FDL

PROFIBUS messages

Multiple frame (message) types in order to communicate efficiently ( SD1, SD2, SD4 and SC.

Error checking: parity, checksum, start/end delimiter.

The messages comply to Hamming Distance 4 ( HD4 ).

Quiescent state of 33 bit times before sending ( master side ).

In a quiescent state the bus signal is a logical `1` ( positive voltage ).

20

PROFIBUS Character

PROFIBUS FDL

1 Tbit at 1.5Mbit/s = 0.6667µs 1 character = 7.33µs

1 Tbit at 12Mbit/s = 83ns 1 character = 0,917µs

A PROFIBUS character has a size of 11 bits and complies to ISO 1177 and ISO 2022.

B1 B2 B3 B4 B5 B8B7B6 P 10

octet

startbit (ST) stopbit (SP)parity bit (even)

LSB MSB

bit sequence: 1 2 3 4 5 6 7 8 9 10 11

21

SD1 message (status request or acknowledgement)

EDSD1 FCSADA FCS

SD1 Start Delimiter (10H)

DA Destination Address

SA Source Address

FC Frame Control

FCS Frame Check Sequence

ED End Delimiter (16H)

L Information length (L = 3)

L

PROFIBUS FDL

22

SD2 message (data transfer)

EDSD2 FCSADA

SD2 Start Delimiter (68H)

LE Information length (4 to 249)

LEr Information length repeated


SA Source Address

FC Frame Control

DATA_UNIT Data field (maximum length 246)

FCS Frame Check Sequence

ED End Delimiter (16H)

L Information length (L = 4 to 249)

L

PROFIBUS FDL

FCSLE LErSD2 DATA_UNIT

23

SD4 message (token transfer)

SD4 SADA

SD4 Start Delimiter (DCH)


SA Source Address

PROFIBUS FDL

SC message (short acknowledgement)

SD4

SC Short acknowledgement (E5H)

24

PROFIBUS FDL

PLCPLC

ED SD2FC SA DAFCS LELEr SD2DATA_UNIT

SC

PLCPLC

ED SD2FC SA DAFCS LELEr SD2DATA_UNIT

EDSD2 FCSADA FCSLE LErSD2 DATA_UNIT

Example of message transaction

25

PROFIBUS FDL

Example of message transaction

26

PROFIBUS FDL

DA/SA (Destination Address and Source Addres

EDSD2 FCSADA FCSLE LErSD2 DATA_UNIT

DA = 0 to 127 (0 to 7F hex )SA = 0 to 126 (0 to 7E hex )

127 = Broadcast address

EXT = Source and destination SAP are present in the data field.

EXT 26 20

bit 7 bit 6 bit 5 bit 4 bit3 bit2 bit 1 bit 0

27

PROFIBUS FDL

SAP (Service Access Point )

THE SAP TECHNOLOGY IS THE BASIS OF THE PROFIBUS SUCCESS!

The function of the sap structureis to couple processes to 1communication channel.

With PROFIBUS FMS/DP-V1 the SAPs are connections between processes.With PROFIBUS DP/PA the SAPs are command codes.

PROCESS 1SAP5

PROCESS 1SAP10

PROCESS 1SAP13

PROFIBUS

Interface

28

PROFIBUS FDL

Locations of the SAPs in the data unit

The SAPs are placed on the first 2 character places of the data unit.

244 characters remain.

DA SA FC DSAP, SSAPDATA_UNIT

EXT = 1 EXT = 1

29

PROFIBUS FDL

PROFIBUS DP functions with appropriate SAPs

Functions SSAP DSAP

Data exchange - -

Check Config 62 ( 3E ) 62 ( 3E )

Set Parameters 62 ( 3E ) 61 ( 3D )

Get Diagnostics 62 ( 3E ) 60 ( 3C )

Get Config 62 ( 3E ) 59 ( 3B )

Set Global Control 62 ( 3E ) 58( 3A )

Read Outputs 62 ( 3E ) 57 ( 39 )

Read Inputs 62 ( 3E ) 56 ( 38 )

Set Slave Address 62 ( 3E ) 55 ( 37 )

30

PROFIBUS FDL

Trace: Network with 1 master and 3 slaves

31

PROFIBUS FDL

Trace: Network with 1 master and 1 slave

32

PROFIBUS FDL

( FC ) Frame Control

The Frame Control byte in the message header, determines the function of the completemessage.

1Frame

0 Stn-TypeRes

FCB FCV 23 20

Function

b8 b7 b6 b5 b4 b1

Res: Reserved

Frame type: 1 Send/Request frame0 Acknowledgement / Response frame

Function: See next sheets

b7 = 1

FCB Frame Count Bitinverted inition bit

FCV Frame Count Bit valid0 other FCB not valid1 other FCB valid

b7 = 0

Stn-type: Station Type and FDL-Status

b6 b50 00 11 01 1

passive stationactive station not readyactive station ready for token ringactive station in token ring

33

PROFIBUS FDL

Code Function

Frame Type b7 = 1

Reserved

Send Data With Acknowledge low

Send Data With No Acknowledge low

Send Data With Acknowledge high

Send Data With No Acknowledge low

Reserved

Reserved

Request FDL-Status with Reply

Reserved

Send and Request Data low

Send and Request Data high

Request Ident with Reply

Request LSAP-Status with Reply

0,1,2

3 ( SDA )

4 ( SDN )

5 ( SDA )

6 ( SDN )

7

8

9

10,11

12 ( SRD )

13 ( SRD )

14

15

Send/Request frame

34

PROFIBUS FDL

Code Function

Frame Type b7 = 0

ACK positive

ACK negative, FDL/FMA ½-User Error

ACK negative, no resource for send data

ACK negative, no service activated

Reserved

Response FDL/FMA1/2-Data low send data ok

ACK negative, no response FDL/FMA1/2-data, send data ok

Response FDL-data high, send data ok

Reserved

Response FDL-data low, no resource for send data

Response FDL-data high, no resource for send data

Reserved

0 ( OK )

1 ( UE )

2 ( RR )

3 ( RS )

4,5,6,7

8 ( DL )

9 ( NR )

10 ( DH )

11

12 ( RDL )

13 ( RDH )

14,15

Acknowledgement / Response frame

35

PROFIBUS FDL

36

Busparameter

TS This station address ( 1 to 126 )

Baudrate Baudrate ( see next page )

TSL Slot Time 52 to 216-1 ( bit times )

min TSDR Smallest Station Delay Responder 20 to 216-1 ( bit times )

max TSDR Largest Station Delay Responder 20 to 216-1 ( bit times )

TQUI Quiet Time 0 to 28-1 ( bit times )

TSET Setup Time 20 to 28-1 ( bit times )

TTR Target Rotation Time 20 to 224-1 ( bit times )

G Gap Update Factor 1 to 100

HSA Highest Station Address 2 to 126

Max retry Limit Maximum Retries 0 to 8

37

PROFIBUS DP

Baudrate (kBit/s) 9.6 19.2 45.45 93.75 187.5 500 1500 3000 6000 12000

Segment length( m ) 1200 1200 1200 1200 1000 400 200 100 100 100

Segment length( feet ) 3940 3940 3940 3940 3280 1310 656 328 328 328

10 baudrates to choose from …

Remarks:Almost all the slaves in the market detect the baudrates automatically

Some slaves do not support all baudrates. This is because of economic reasons ortechnology limits.

38

Busparameter

max TSDR ( Largest Station Delay Reponder )

This is the maximum time the slave could need to send the first bit of a response back.

minTSDR < Response < maxTSDR

maxTSDR > TSL

PLCPLC

12

6

39

1

2

4

57

8

10

11

n 3 2 1

n321

39

Busparameter

PLCPLC

12

6

39

1

2

4

57

8

10

11

min TSDR ( Smallest Station Delay Reponder )

This is a time the slave has to wait before it can send a response back.

Standard value: 11 bit times

n 3 2 1

n321

40

Busparameter

41

Busparameter

Calculation of a DP- Message Cycle (1)

One Octet is transmitted as 11 Bits

The telegram header and trailer (Overhead) consists of 11 Bytes or 9 Bytes

1 TBit at 1.5 MBaud = 0.6667 µs (1 Octect = 1.33 µs)

1 TBit at 12 MBaud = 83 ns (1 Octect = 0.913ns)

In practice, additional time (approx 10 - 20%) for message retries and Diagnosticdata should be taken into account.The rules for exact calculations may be taken from EN 50170 Volume 2.

42

PROFIBUS DP

Calculation of a DP- Message Cycle (2)

Tsyn = 33 TBit

min TSDR = 11 TBit

max TSDR = 60 ... 800 TBit

TSDR

Response Frame =Header + Input - Data

Tid1 = 75 TBit

Request Frame =Header + Output - Data

43

Busparameter

Calculation of the Message Cycle Times (3)TMC = ( TSYN + TID1 + TSDR + Header + I x 11TBit + 0 x 11TBit ) x Slaves

TMC = Message Cycle Time in Bit TimesTID1 = Idle Time at the Master = typically 75 TBitTSDR = Station Delay Time at the Slave = typically 11TBitHeader = Telegram Overhead in Request and Response Frame = 198 TBitI = Number of Input Data Bytes per SlaveO = Number of Output Data Bytes per SlaveSlaves = Number of Slaves

PROFIBUS-DP System consisting of 1 Master and 20 Slaves eachwith 2 Byte Input and 2 Byte Output Data.TMC = ( 33 + 75 + 11 + 198 + 22 + 22 ) x 20 = 7220 TBit7220 TBit (1.5 MBaud) = (TBit = 0.66 µs) = 4.8 ms7220 TBit (12 MBaud) = (TBit = 0.83 ns) = 0.6 ms

In practice, a safety margin of approx 10 to 20% should be added for busadministration,diagnostic messages and retries.

Example:

44

PROFIBUS DPV0

45

PROFIBUS DP

PROFIBUS-DP Basic Functions

Master (Class 1) Master (Class 2)

Get_Master_Diag

Start_SeqDownloadUploadEnd_SeqAct_Para_BrctAct_Param

Data_ExchangeRD_IndRD_OutpSlave_DiagSet_PrmChk_CfgGet_CfgGlobal_ControlSet_Slave_Add (opt)

Data_ExchangeRD_InpRD_OutpSlave_DiagSet_PrmChk_CfgGet_CfgGlobal_ControlSet_Slave_Add

PC/VME

PLC

Slave

46

PROFIBUS DP

Data Transfer between DP-Master and DP-Slaves

Parameterization PhaseThe Slave is parametrized with the present bus-parameters, the monitoring timesand Slave specific parameters by the DP-Master.

Configuration PhaseThe DP-Master compares the desired and the present configuration of the DP-Slave.

User Data Transmission PhaseAfter a successful parameterization and configuration, the DP-Slavechanges its state into the user data transmission phase.In this phase the parameterization of the Slave can be changed without interruptingthe data transmission.

In all 3 Phases additional diagnostic data and controlcommands may be transmitted.

47

PROFIBUS DPV0

State Machine of a DP-Slave

Set_Slave_AddSlave_Diag

Power_on

WAIT_PRM

WAIT_CFG

DATA_EXCH

Chk_Cfg, not okSet_Prm, not ok

Slave_DiagGet_Cfg

Slave_DiagSet_PrmGet_Cfg

48

PROFIBUS DPV0

1. Diagnostics2. Parameters

3. Configuration4. Diagnostics

5. DataExchange

Trace: PROFIBUS statemachine

49

PROFIBUS DPV0

50

PROFIBUS DPV0

Diagnostic analysis – Extended Diagnostics

Diagnostic message( 6 up to 244 bytes )

DATADATA

6 bytesMandatory

Device Related(Optional)

Some devices only have the Mandatory part.Some devices only have the Mandatory part.

SD LE LEr SD DA SA FC DSAP SSAP Data-Unit FCS ED

68H x x 68H 8x 8x x 62/3E 60/3C x … x 16H

H DATAH DATAH

Identifier Related(Optional)

Channel Related(Optional)

H = Header- Identification of the block +- Length (including header)

H = Header- Identification of the block +- Length (including header)

51

PROFIBUS DPV0

PROFIBUS DP diagnostics featuresDiagnostic messages allow a quick localisation of faults and are divided in 4 levels:

Standard Diagnostic:Consist of 6 bytes (status bytes, master address, ident number …)

Device related diagnostics:Messages about general operational readiness of a station.e.g.: over temperature, low-voltage, …

Module related diagnostics:Messages that relate to a module in the device.e.g.: output module 8 is defective …

Channel related diagnostics:Messages that relate to a single input or output bite.g.: wire break at input one of module 3

52

PROFIBUS DPV0

Standard diagnosis (Octet 1)

53

PROFIBUS DPV0

Standard diagnosis (Octet 2)

54

PROFIBUS DPV0

Standard diagnosis (Octet 3..6)

55

PROFIBUS DPV0

Diagnostic analysis

Station Status 102H: 0000 0010

Station Not Ready


Parameter Request

Master addressFFH: 255decimal255 means no master has parameterized this DP-slave

Ident Number0A26H

56

VPC3+C

57

PROFIBUS DPV0

Set Slave Address telegram

SSA message( 4 up to 244 bytes )

DATADATA

4 bytesmandatory

Device specific ( optional )


68H x x 68H 8x 8x x 55/37 62/3E x … x 16H

Mandatory Bytes:

New Slave Address

Ident Number (High,Low)

NoAddChg (No additional address changed allowed)

58

PROFIBUS DPV0

59

PROFIBUS DPV0

Interaction with the configuration tool and the gsd-file

60

PROFIBUS DPV0

Parameter telegram

Parameter message( 7 up to 244 bytes )

DATA DATADATA

7 bytesmandatory

3 bytesReserved for DPV1

Device specific ( optional )

The first 7 bytes are mandatory for every slave. The purpose is to set the PROFIBUS behavior. Byte 8 to 10 reserved for PROFIBUS DPV1. The rest areProduct specific ( 11 up to 244 bytes ).The first 7 bytes are mandatory for every slave. The purpose is to set the PROFIBUS behavior. Byte 8 to 10 reserved for PROFIBUS DPV1. The rest areProduct specific ( 11 up to 244 bytes ).


68H x x 68H 8x 8x x 61/3D 62/3E x … x 16H

61

PROFIBUS DPV0

Mandatory Parameter Data:

Byte Description

1 Station status

2 WD-Factor 1

3 WD-Factor 2

4 minTSDR

5 Ident-Number (High-Byte)

6 Ident-Number (Low-Byte)

7 Group Ident

62

PROFIBUS DPV0

7 6 5 4 3 2 1 0

WATCHDOG0: off 1: on

Freeze0: Not supported1: supported

Unlock

Station status:

Sync0: Not supported1: supported

Lock

Lock Unlock Description

0 0 The parameter minTSDR can be changed. All otherparameters remain changed.

0 1 The DP-Slave will be unlocked for other masters.

1 0 The DP-Slave is locked for other masters.

1 1 The DP-Slave is unlocked for other masters. = reserved ( set to zero )

63

PROFIBUS DPV0

Watchdog Control ( WD-Factor 1, WD-Factor 2 )

Range: 1 to 255

The values entered in these two bytes represent factors for setting thewatchdog control (TWD). The watchdog control in a DP-Slave takes care that, if the master fails, the outputs fall in the safe state after the expiration of this time.

WD-Timeout-value = WD-Factor1 * WD-Factor2 * 10ms

64

PROFIBUS DPV0

min TSDR ( Smallest Station Delay Reponder )

This is a time the slave has to wait before it can send a response back.

Standard value: 11 bit times

PLCPLC

12

6

39

1

2

4

57

8

10

11

n 3 2 1

n321

65

PROFIBUS DPV0

Ident Number

Each Type of DP-Slave and each DP-Master (class 1) must havean individual Ident Number.

By means of an Ident Number a DP-Master can identifythe type of connected DP-Slaves without a significant protocoloverhead.

The DP-Master will only start with user data transfer ifthe correct device types with the correct addresses areready for operation on the bus.

Ident numbers are in the range from 0 ... FFFF Hex.

Ident Numbers are issued by the PROFIBUS User Organisationin Germany (PNO) or in the US (PTO).

66

PROFIBUS DPV0

Structure of Set Parameter Telegram (DPV1)

67

PROFIBUS DPV0

68

PROFIBUS DPV0

Configuration data is stated in the GSD-File

69

PROFIBUS DPV0

Configuration analysis – Simple format


68H x x 68H 8x 8x x 62/3E 62/3E x … x 16H

7 6 5 4 3 2 1 0

No. of Data Units00: 1 unit of data15: 16 units of data

Input/Output or Special Format00: Special Format01: Input10: Output11: Input/Output

Data Unit Size0: Byte1: Word

Consistency Over0: Byte/Word1: Whole length of Identifier Definition

Simple Identifier Byte

Example:14h = 5byte input27h = 8byte output

Example:14h = 5byte input27h = 8byte output

70

PROFIBUS DPV0

Configuration analysis – Special format


68H x x 68H 8x 8x x 62/3E 62/3E x … x 16H

7 6 5 4 3 2 1 0

No. of Data Units00: No data1-14: Number of bytes

of vendor specific data15: No data

Fixed00: Special Format

Input/Output00: no I/O01: one length byte for inputs follows10: one length byte for outputs follows11: one length byte for outputs followed

by one length byte for inputs

Simple Identifier Byte

7 6 5 4 3 2 1 0

No. of Data Units00: 1 unit of data63: 64 units of data

Data Unit Size0: Byte1: Word

Consistency Over0: Byte/Word1: Whole length of Identifier Definition

Input/Output length byte format

Example:C0h, 87h, 84h = 8byte out, 5byte inExample:C0h, 87h, 84h = 8byte out, 5byte in

71

PROFIBUS DPV0

C3h, 00h, 00h, 00h, BFh, C9H = 1byte out, 1byte inC3h, 41h, 41h, 00h, 45h, DBh = 2 word out, 2 word inC3h, 00h, 00h, 00h, BFh, C9H = 1byte out, 1byte inC3h, 41h, 41h, 00h, 45h, DBh = 2 word out, 2 word in

How many bytes will be transferred between master and slave?

72

PROFIBUS DPV0

73

PROFIBUS DPV0

Global Control Command - Telegram

Sent as broadcast (= message to all stations).Used to inform field devices of the current operation mode of themaster (CLEAR and OPERATE).Used to select groups of field devices for operation in SYNC and/orFREEZE mode.

Command Group definition

7 6 5 4 3 2 1 0

Not Used

CLEAR

UNFREEZE

FREEZE

UNSYNC

SYNC

Not Used

Not Used

0 = all field devices addressed

Each bit = 1 addresses ONE group(8 different groups are possible)


68H x x 68H 8x 8x x 58/3A 62/3E x … x 16H

74

PROFIBUS DPV1

75

PROFIBUS DPV1

DP

-MA

STER

Request Telegram

Response Telegram

Sequence of a Read Service

FunctionNumber

SlotNumber Index Length

Function

NumberSlot

NumberIndex Length Data D

P -S

LAVE

Poll until Data is available

Extended DP Functions ( DPV1 )

76

PROFIBUS DPV1

Trace: DPV1 Read.req

1. Read.req

2. Poll Read.res

3. Read.res

77

PROFIBUS DPV1

Addressing the I/O with acyclic Read and Write Services

Base Module Module 1

8 DO

Module 2

16 DO

Module 3

8 DI

Module 4

1 AI

Inde

x

Slot Number

1 Byte Output 2 Byte OutputModule 1 Module 2

1 Byte Output 2 Byte OutputModule 1 Module 2

1 Byte Input 4 Byte InputModule 3 Module 4

1 Byte Input 4 Byte InputModule 3 Module 4

Request:

Response:

78

PROFIBUS DPV1

Acyclical DP-V1 functions ( class 1, class 2 and alarms )

Class 1 Functions

MSAC1_READMSAC1_WRITE

Class 2 Functions

MSAC2_InitiateMSAC2_AbortMSAC2_ReadMSAC2_WriteMSAC2_DataTransport ( combined read & write )

Class 1 alarm functions

MSAC1_AlarmMSAC1_Alarm_Ack

Note: Class 2 functionality is presently the most commonly used technology. It is used by PROFIBUS PA and remoteI/O devices.

79

PROFIBUS DPV1

Trace: DPV1 CLass 2 master service1. Initiate.req

2. Initiate.resp

3. Read.req

4. Read.rsp

n. Abort

80

PROFIBUS DPV1

Basis Diagnosis Mechanism

81

PROFIBUS DPV1

DPV1 Alarm Communication

82

PROFIBUS DPV1

Diagnostic overview

83

PROFIBUS DPV2

84

PROFIBUS DPV2

Isochronous Mode

85

PROFIBUS DPV2

Slave to Slave communication (DxB)

DxB = Data exchange broadcast

Publisher: sends input data via broadcast message to master and subscriber.

Publisher: sends input data via broadcast message to master and subscriber.

Subscriber: receives publisher data.Subscriber: receives publisher data.

86

GSD

„The slave description for configuration tools“

87

GSD

PROFIBUS configuration tool

System configuration

Electronic Device Data Sheets (GSD-files)

PLC

PROFIBUS

GSD GSD GSD GSD GSD GSD

PLC

88

GSD

GSD

- File name is 8 characters + extension

- File extension defines the language

- For support of more languages

Maximum 4 characters identify the manufacturer (VIPA, SIEM, EH__)4 characters the IDENT-NUMBER (081DH, 806AH, 1501H)Total: VIPA081D, SIEM806A, EH__1501

„.GSD“ is standard (must be in English if this is the only one GSD)

English = „.gse“French = „.gsf“German = „.gsg“Italian = „.gsi“Portuguese = „.gsp“Spanish = „.gss“

89

GSD

GSD

Structure of GSD-File

Text Description FOR Parameters (O)

(M) = Mandatory (O) = Optional

Extended Parameter Definition (O)

General Data (M)

Field Device Related Data (M&O)

Module (I/O) Definition (M)

#PROFIBUS DP

;<Prm-Text-Def-List>PrmText= …

EndPrmText

;<Ext-User-Prm-Data-Def-List>ExtUserPrmData= …

EndExtUserPrmData

;<Unit-Definition-ListGSD_Revision = …

;Slave-specificationFreeze_Mode_Supp = …

;Module-Definition-ListModule = ……EndModule

90

GSD

GSD

Keywords – „Slave Family“

This keyword describes the „device group“ in which the GSD file is placed.

Defined codes:0 = General1 = Drives2 = Switching Devices3 = I/O4 = Valves5 = Controller6 = HMI

7 = Encoders

8 = NC/RC9 = Gateway10 = PLC11 = Ident Systems12 = PA

13-255 = reserved

Example: Slave_Family = 3 Group „I/O“

91

GSD

GSD

Keywords – „Set_Slave_Add_Supp“ & „Auto_Baud_Supp“

Set_Slave_Add_SuppThis keyword indicates if the slave supports the Set Slave Address function.

Possible codes:0 = No1 = Yes

Auto_Baud_SuppThis keyword indicates if the slave automatically detects the baudrate (also after change).


92

GSD

GSD

Keywords – „Modular Station“ & „Module“

This keyword indicates if the slave supports more than 1 module.


Simple configurationModule = „1 Byte DI“ 0x10EndModuleModule = „2 Byte DO“ 0x21EndModuleModule = „3 Byte DX“ 0x32EndModule

Extended configurationModule = „profichip module 1 Byte DO “ 0x83, 0x00, 0x00, 0x2F, 0x33EndModule

Module = „special module“ 0x04, 0x12, 0x13, 0x14, 0x00EndModule

93

GSD

GSD

Keywords – „Min_Slave_Interval“

This keyword indicates the time in which it can receive a new message without havinginternal timing problems. The value has to be multiplied with 100µs.

The minimal and most effective value is 1 (100µs).

Maximum allowed values:12Mbit/s maximum 6 (0.6ms)6Mbit/s maximum 10 (1ms)3Mbit/s maximum 15 (1.5ms)1.5Mbit/s maximum 20 (2ms)500kbit/s maximum 60 (6ms)187kbit/s maximum 200 (20ms)

94

GSD

GSD

Keywords – „Max_Diag_Data_Len“ & diagnosis definitions

This keyword indicates how much diagnosis the slave supports.

The minimum value is 6 (standard PROFIBUS diagnostic).The maximum value is 244.

Textual definitions of the Device Specific Diagnostics:

Unit_Diag_Bit(090)=„Channel1 – Short circuit to P“Unit_Diag_Bit(090)=„Channel1 – Short circuit to M“Unit_Diag_Bit(090)=„Channel1 – Broken wire“

Unit_Diag_Area = 26-27Value(1)=„Slot 2: Failure“Value(2)=„Slot 2: Wrong Module“Value(3)=„Slot 2: No Module“Unit_Diag_Area_End

95

GSD

GSD-File Example ( 1 )

96

GSD

GSD-File Example ( 2 )

97

Configuration

Example of a DP-Master configuration tool

98

Operation principle

Operation principle of a DP master card in a control system

99

PROFIBUS FDL

100

profichip - VPCLS2

PROFIBUS-DP Protocolasync. interface acc. to PROFIBUS-DP40 bit I/O, configurable as diagn.-inputs5V supply voltagePQFP80 Package RoHS compliant

101

VPCLS 2

102

profichip - VPC3+CLF

PROFIBUS DP-V1 & DP-V2 Protocol ASIC4kB internal communication RAM 5V or 3.3V supply voltage with 5V tolerant inputsLow current consumptionPNO certified customer productsPQFP44 Package RoHS compliant

103

VPC3+C

104

profichip - MPI12x

Multi-Point-Interface controller ASICMPI communication up to 12Mbit/sPROFIBUS DP Slave Core (VPC3+C)4kB internal communication SRAMconfigurable 8 Bit µController Interface3.3V supply voltage with 5V tolerant inputsPQFP44 Package RoHS compliant

105

MPI12x

106

PROFIBUS FDL

107

RS 485 Interface

108

RS 485 Interface

: This signal is mandatory.

DB9 connector – Pin layout

The pin-layout of the DB9 connector is defined as follows:

Pin nr. Signal Description

1 Shield Shield/functional ground

2 M24 Ground for +24V output voltage

3 B-Line RxD/TxD-P Receive Transmit data - plus

4 CNTR-P Repeater control signal (direction control), RTS signal

5 DGND Digital ground

6 VP Supply voltage (+5V)

7 P24 Output voltage +24V

8 A-Line RxD/TxD-N Receive Transmit data – minus

9 CNTR-N Repeater Control signal (direction control)

the preferred connector type for PROFIBUS-DP/FMS is a 9 PIN D-Sub Connectorthe female part is located at the deviceother connectors are allowed, if they supply at least the mandatory signals

109

RS 485 Interface

M12 connector structure

With IP65 applications, the M12 system is often used.

110

RS 485 Interface

M12 connector – Pin layout

The pin layout of the M12 connector has been defined as follows:

Pin nr. Signal Description

1 VP Supply voltage (+5V)

2 A-Line RxD/TxD-N Receive Transmit data – minus

3 DGND Digital ground

4 B-Line RxD/TxD-P Receive Transmit data - plus

5 Shield Ground connection

Thread Shield Ground connection

111

PROFIBUS DP Slave

Implementation of an intelligent PROFIBUS-DP Slave

User SoftwareApplication

ApplicationInterface and

PROFIBUS-DP Software

User ApplicationHardware

MICROCONTROLLER:

Protocol Asice.g. VPC3+/C,

MPI12x

Bus InterfaceRS 485/Fibre Optic

Address

Data

PROFIBUS

112

VPC3+C

PinoutConfiguration of Processor interface

Synchronous Motorola Mode11

Asynchronous Motorola Mode01

Synchronous Intel Mode10

Asynchronous Intel Mode00

Processor Interface ModeMODEXINT/MOT

XINT/MOT

Mode

4kByte RAM extension (Pin assignment for A11)

ALE/AS24Synchronous Motorola Mode

XWR/E_CLOCK2Asynchronous Motorola Mode

ALE/AS24Asynchronous Intel Mode

XCS1Synchronous Intel Mode

Signal NamePinProcessor Interface Mode

A11

A11

113

VPC3+C

Application with 80C32 ( 4kByte-RAM-Mode )

VPC3+/C

114

VPC3+C

Application with 80C165VPC3+/C

115

PROFIBUS FDL

116

VPC3+C

VPC3+/C

2/4 kByte RAM

Housing : 44 PIN PQFP

Layer 1

Layer 2

DP/DPV1/DPV2

8 Bit Data Bus

Soft-ware

Address Function

000H…

015H

Control Parameters(latches, register)

016H…

03FH

Organizational Parameter

040H…

7FFH (FFFH)

DP-buffers

117

VPC3+C

Control parameters 1 ( read )

AddressIntel

Mot. Name Bit No. Significance (Read Access!)

00H 01H Int-Req-Reg 7..0


02H 03H Int−Reg 7..0

03H 02H Int−Reg 15..8

04H 05H Status-Reg 7..0

05H 04H Status-Reg 15..8

06H 07H Mode-Reg 0 7..0

07H 06H Mode-Reg 0 15..8Mode Register 0

Status Register

Interrupt Controller Register

118

VPC3+C

Status register:

After reset theVPC3+C must be in offline state!

After reset and during baud rate search you must read here CFhex!

119

VPC3+C

AddressIntel

Mot. Name Bit No. Significance (Read Access!)

08H Din_Buffer_SM 7..0 Buffer assignment of the DP_Din_Buffer_State_Machine

09H New_Din_Buffer_Cmd 1..0 The user makes a new DP Din buffer available in the N state.

0AH Dout_Buffer_SM 7..0 Buffer assignment of the DP_Dout_Buffer_State_Machine

0BH Next_Dout_Buffer_Cmd 3..0 The user fetches the last DP Dout-Buffer from the N state

0CH Diag_Buffer_SM 3..0 Buffer assignment for the DP_Diag_Buffer_State_Machine

0DH New_Diag_Buffer_Cmd 1..0 The user makes a new DP Diag Buffer available to the VPC 3+.

0EH User_Prm_Data_Okay 1..0 The user positively acknowledges the user parameter setting data of a Set_Param_Telegram.

0FH User_Prm_Data_Not_Okay 1..0 The user negatively acknowledges the user parameter setting data of a Set_Param_Telegram.

10H User_Cfg_Data_Okay 1..0 The user positively acknowledges the configuration data of a Check_Config_Telegram.

11H User_Cfg_Data_Not_Okay 1..0 The user negatively acknowledges the configuration data of a Check_Config_Telegram.

12H DXBout_Buffer_SM 7..0 Buffer assignment of the DXBout_Buffer_State_Machine

13H Next_DXBout_Buffer_Cmd 2..0 The user fetches the last DXBout-Buffer from the N state

14H SSA_Buffer_Free_Cmd The user has fetched the data from the SSA buffer and enables the buffer again.

15H Mode-Reg 1 7..0

Control parameters 2 ( read )

120

VPC3+C

Control parameters 1 ( write )

AddressIntel

Mot. Name Bit No. Significance (Write Access!)


01H 00H Int-Req_Reg 15..8

02H 03H Int-Ack-Reg 7..0

03H 02H Int-Ack-Reg 15..8

04H 05H Int−Mask-Reg 7..0

05H 04H Int−Mask-Reg 15..8

06H 07H Mode-Reg0 7..0

07H 06H Mode-Reg0 15..8Setting parameters for individual bits

Interrupt-Controller-Register

121

VPC3+C

Control parameters 2 ( write )

AddressIntel

Mot. Name Bit No. Significance (Write Access!)

08H Mode-Reg1-S 7..0

09H Mode-Reg1-R 7..0

0AH WD_Baud_Ctrl_Val 7..0 Root value for baud rate monitoring

0BH Min_Tsdr_Val 7..0 MinTsdr time

0CH Mode-Reg2 7..0 Mode Register 2

0DH Sync_PW_Reg 7..0 Sync Pulse Width Register

0EH

0FH

10H

11H

12H

13H

14H

15H

Reserved

122

VPC3+C

Buffer structure:

Aux1

Aux2

D UDiagnosis-Buffer

ND UDin-Buffer

ND UDout-Buffer

Read-Config-Buffer

Set-Slave-Address-Buffer

Config-Buffer

Parameter-Buffer

changed by user

UART

Notice:All buffers or lists mustbegin at segment addresses(8 bytes segmentation for 2K Byte mode, 16 bytessegmentation for 4K Byte mode).

Notice:All buffers or lists mustbegin at segment addresses(8 bytes segmentation for 2K Byte mode, 16 bytessegmentation for 4K Byte mode).

123

VPC3+C

Organizational parameters 1

AddressIntel Mot. Name Bit No. Significance

16H R_TS_Adr Setup station address of the VPC 3+

17H SAP_List_Ptr Pointer to a RAM address which is preset with FFh or to SAP-List

18H 19H R_User_Wd_Value 7..0

19H 18H R_User_Wd_Value 15..8

1AH R_Len_Dout_Buf Length of the 3 Dout buffers

1BH R_Dout_Buf_Ptr1 Segment base address of Dout buffer 1

1CH R_Dout_Buf_Ptr2 Segment base address of Dout buffer 2

1DH R_Dout_Buf_Ptr3 Segment base address of Dout buffer 3

1EH R_Len_Din_Buf Length of the 3 Din buffers

1FH R_Din_Buf_Ptr1 Segment base address of Din buffer 1

20H R_Din_Buf_Ptr2 Segment base address of Din buffer 2

21H R_Din_Buf_Ptr3 Segment base address of Din buffer 3

22H R_Len_DXBout_Buf Length of the 3 DXBout buffers

23H R_DXBout_Buf_Ptr1 Segment base address of DXBout buffer 1

24H R_Len Diag_Buf1 Length of Diag buffer 1

25H R_Len Diag_Buf2 Length of Diag buffer 2

26H R_Diag_Buf_Ptr1 Segment base address of Diag buffer 1

27H R_Diag_Buf_Ptr2 Segment base address of Diag buffer 2

In DP mode an internal 16-bit watchdog timer monitors the user.

124

VPC3+C


28H R_Len_Cntrl_Buf1 Length of Aux buffer 1 and the corre-sponding control buffer, for example SSA-Buf, Prm-Buf, Cfg-Buf, Read-Cfg-Buf

29H R_Len_Cntrl_Buf2 Length of Aux buffer 2 and the corre-sponding control buffer, for example SSA-Buf, Prm-Buf, Cfg-Buf, Read-Cfg-Buf

2AH R_Aux_Buf_Sel Bit array; defines the assignment of the Aux-buffer 1 and 2 to the control buffers SSA-Buf, Prm-Buf, Cfg-Buf

2BH R_Aux_Buf_Ptr1 Segment base address of auxiliary buffer 1

2CH R_Aux_Buf_Ptr2 Segment base address of auxiliary buffer 2

2DH R_Len_SSA_Data Length of the input data in the Set_Slave_Address-buffer

2EH R_SSA_Buf_Ptr Segment base address of the Set_Slave_Address-buffer

2FH R_Len_Prm_Data Length of the input data in the Set_Param-buffer

30H R_Prm_Buf_Ptr Segment base address of the Set_Param-buffer

31H R_Len_Cfg_Data Length of the input data in the Check_Config-buffer

32H R_Cfg_Buf_Ptr Segment base address of the Check_Config-buffer

33H R_Len_Read_Cfg_Data Length of the input data in the Get_Config-buffer

34H R_Read_Cfg_Buf_Ptr Segment base address of the Get_Config-buffer


125

VPC3+C



35H R_Len_DXB_Link_Buf Length of the DXB_Linktable

36H R_DXB_Link_Buf_Ptr Segment base address of the DXB_Link-buffer

37H R_Len_DXB_Status_Buf Length of the DXB_Status

38H R_DXB_Status_Buf_Ptr Segment base address of the DXB_Status-buffer

39H R_Real_No_Add_Change This parameter specifies whether the DP slave address may be changed again later.

3AH R_Ident_Low The user sets the parameters for the Identnumber_Low value.

3BH R_Ident_High The user sets the parameters for the Identnumber_High value.

3CH R_GC_Command The Global_Control_Command last received

3DH R_Len_Spec_Prm_Buf If parameters are set for the Spec_Prm_Buffer_Mode (see mode register 0), this cell defines the length of the parameter buffer.

3EH R_DXBout_Buf_Ptr2 Segment base address of DXBout buffer 2

3FH R_DXBout_Buf_Ptr3 Segment base address of DXBout buffer 3

126

VPC3+C

D-Puffer: VPC 3 writes dataN-Puffer: VPC 3 swap D and N bufferU-Puffer: user can read data

buffer buffer bufferN UD

USER

buffer buffer bufferN UD

PROFI-BUS

Intelligent 3 buffer solution

exchangeby VPC3

exchangeby VPC3

exchangeby SW

exchangeby SW

127

VPC3+C

Interrupt Controller

AddressIntel/Mot.

Name Bit No.

00H 01H Interrupt-Request-Register 7..0


02H 03H Interrupt-Register 7..0

03H 02H Interrupt-Register 15..8

Read: Write:AddressIntel/Mot. Name Bit No.



02H 03H Interrupt-Acknowledge-Register 7..0

03H 02H Interrupt-Acknowledge-Register 15..8

04H 05H Interrupt−Mask-Register 7..0

05H 04H Interrupt−Mask-Register 15..8

128

PROFIBUS DP

State Machine of a DP-Slave

Set_Slave_AddSlave_Diag

Power_on

WAIT_PRM

WAIT_CFG

DATA_EXCH

Chk_Cfg, not okSet_Prm, not ok

Slave_DiagGet_Cfg

Slave_DiagSet_PrmGet_Cfg

129

PROFIBUS DPV0

1. Diagnostics2. Parameters

3. Configuration4. Diagnostics

5. DataExchange

Trace: PROFIBUS statemachine

130

Software

Software structure

dp_if.hdp_if.cdp_isr.cdp_dpl.h

dp_fdl.cdp_msac1.cdp_msac2.c

main.c

dp_user.cdp_debug.c

dp_cfg.hdp_inc.hplatform.h

EASY4711.gsd

131

DP_CFG.H

Configuration header file

132

Initialization

Initialization

DP_ERROR_CODE vpc3_initialization( UBYTE slave_address, CFG_STRUCT cfg )

Function Initialization of VPC3+

slave_address Address of the slave

cfg Default configuration of the slave

ReturnValue

DP_OKDP_NOT_OFFLINE_ERRORDP_ADDRESS_ERRORDP_CALCULATE_IO_ERRORDP_DOUT_LEN_ERRORDP_DIN_LEN_ERRORDP_DIAG_LEN_ERRORDP_PRM_LEN_ERRORDP_SSA_LEN_ERRORDP_CFG_LEN_ERRORDP_LESS_MEM_ERRORDP_LESS_MEM_FDL_ERROR

Initialization OKError VPC3 is not in OFFLINE stateError, DP Slave addressError with configuration bytesError with Dout lengthError with Din lengthError with diagnostics lengthError with parameter assignment data lengthError with address data lengthError with configuration data lengthError Overall, too much memory usedError Overall, too much memory used

Parameter

NoneReturn Value

NoneParameter

Starts the VPC3+Function

START_VPC3()

133

VPC3+C

134

VPC3+C

Slave Diagnosis (SAP 60)VPC3 support 2 diagnostic bufferswith command NEW_DIAG_CMD the user can send new diagnostic data to masterwith „Diag_buffer_changed" interrupt the VPC3 confirmed to the user thebuffers are changed

Service: Slave Diagnosis

135

PROFIBUS DPV0

Diagnostic analysis


Station Not Ready


Parameter Request

Master addressFFH: 255decimal255 means no master has parameterized this DP-slave

Ident Number0A26H

136

VPC3+C

137

VPC3+C

Set_Parameter (SAP 61)VPC3 writes data into AUX_Puffer 1/2,VPC3 checks the data (bytes 0 .. 6)VPC3 change AUX_buffer 1/2 to SSA-bufferVPC3 writes actual data length into R_LEN_PRM_Data registerVPC3 generates New_Prm_Data interruptuser has to check the data and to acknowledge the data via

User_Prm_Data_Okay_Cmd or ...._Not_Okay_Cmd.

Service: Set Parameter

The user has to check the service Set Parameter before Check-Config!

138

VPC3+C

Software: Check Parameter Data

139

VPC3+C

140

VPC3+C

Check_Config (SAP 62)VPC3 writes CheckCfg-data into AUX-buffer 1/2,VPC3 swap AUX-buffer 1/2 to Cfg-buffer,VPC3 writes actual data length in R_Len_Cfg_Data registerVPC3+ generates New_Cfg_Data interruptuser must check the configuration data and has to acknowledge via

User_Cfg_Data_Okay_Cmd or ...._Not_Okay_Cmd.with User_Cfg_Data_Okay_Cmd the VPC3 goes into state DataExchange

Service: Check_Config

141

VPC3+C

Service: Check_Config

142

VPC3+C

143

VPC3+C

Global_Control (SAP 58)After receiving new GC-command, the VPC3 generates GC-interruptThe user can read GC-command from address 3CH.

Service: Global Control

144

VPC3+C

145

VPC3+C

• Data_Exchange (Default_SAP)VPC3 writes data into D-bufferVPC3 changes D- and N-buffer.VPC3 generates DX-Out interrupt.The user can read the data from U-buffer

Service: Data Exchange

146

VPC3+C


147

VPC3+C


148

VPC3+C


149

VPC3+C

150

profichip - VPC3+C Evaluation Kit

151

FPGAG

alva

nic

isol

ated

PR

OFI

BU

S In

terfa

ce

USB

Technology

RAM/CacheExpansion

Technology

PROFIBUSConnector

USBConnector

ExpansionConnector

profichip - ProfiCore Busanalyzer (1)

152

profichip – EasyConn Profibus Connector

153

VPC3+C

154

Certification

Certified Products Ensure Interoperability

PROFIBUS International has established a qualified certification system whichincludes conformance and interoperabilitytesting

Several hundred products have alreadybeen certified

Test laboratories have been established in Europe and the US

Certified products are listed with theircertificate number in the PROFIBUS Electronic Product Guide

Device

Certified byPROFIBUS

International

OK ?No

Yes

Test at test

laboratory

155

VPC3+C

introduction into profibus technology · drives, valves, operator panels, etc. ... fcs frame check...

Documents