SICK HIPERFACE-PROFIBUS-Adapter Operating instructions

SICK-STEGMANN GmbH

Dürrheimer Str. 36

78166 Donaueschingen

Telefon 0771 / 807-0

Telefax 0771 / 807-100

Commi

ssioning Instructions 9149675

March 07

Commissioning Instructions

Hiperface-Profibus-Adapter

with Profibus DP-V2 Interface to EN 50170 Vol. 1-3

Hiperface-Profibus-Adapter March 07

The SICK-STEGMANN GmbH claims the copyright of this documentation.

This d

ocumentation must not be modified, extended, duplicated or passed to third parties

without the agreement of SICK-STEGMANN GmbH.

The data in this documentation describes the product. The properties, however,

are

not guaranteed.

SICK-STEGMANN GmbH

Dürr

heimer Straße 36

D-78166 Donaueschingen

Tel.: (49) 771 / 807 – 0

Fax:

(49) 771 / 807 – 100

Web: http://www.sick.com

e-mail [email protected]

Version: March

07

We reserve the right to make technical changes to the documentation and the products,

at any time.

Contents

March 07 Hiperface-Profibus-Adapter

1

Contents

Contents ....................................................................................................................................1

Schedule of Revisions ................................................................................................................5

1 Introduction...............................................................................................................6

1.1 Using these Commissioning Instructions....................................................................6

1.2 Documentation............................................................................................................6

1.3 Definition of the Symbols Used in the Document .......................................................6

1.4 Conformity ..................................................................................................................6

1.4.1 Profibus.......................................................................................................................6

1.4.2 European Union Directive Compliance .......................................................................6

1.4.3 United States Standards - Listed ................................................................................7

1.4.4 Hiperface ....................................................................................................................7

2 Designations and Abbreviations.............................................................................8

2.1 Profibus DP-spezific ...................................................................................................8

2.2 Data Type Specifications ............................................................................................9

2.3 Hiperface-Profibus-Adapter – or Encoder - Specific...................................................9

3 Safety Precautions .................................................................................................10

3.1 Responsibilities of the Commissioning Staff.............................................................10

3.2 Validity and Application.............................................................................................10

3.3 Authorised Users ......................................................................................................10

3.4 Safety Guidelines and Personal Protection ..............................................................11

3.5 Encoder Safety Precautions for Installation, Operation and Maintenance ...............11

4 Introduction.............................................................................................................12

4.1 Profibus Standardisation...........................................................................................12

4.2 Profibus DP...............................................................................................................12

4.2.1 DP-V0 Communication Protocol ...............................................................................13

4.2.2 DP-V2 Communication Protocol ...............................................................................14

4.3 Physical Profibus Network Link ................................................................................15

4.3.1 Network Topology.....................................................................................................15

4.3.2 RS 485 Transmission Technology............................................................................15

4.3.3 Installation Notes re: RS 485 ....................................................................................15

4.3.4 Profibus Cabling for RS 485 .....................................................................................16

4.3.5 Cable Screening .......................................................................................................17

4.4 Device Profiles..........................................................................................................17

4.5 Further Information ...................................................................................................18

5 System Overview ....................................................................................................19

6 Hi.face Profibus Adapter Modes............................................................................20

6.1 Cyclical Data Transmission According to DP-V0......................................................20

6.1.1 Parametrisation.........................................................................................................20

6.1.2 Configuration ............................................................................................................20

6.1.3 I/O-Data Transmission..............................................................................................20

6.2 Specification of the Hiperface-Profibus-Adapter Data ..............................................20

7 Hi.face-Profibus-Adapter Parameter/Attributes ...................................................21

7.1 General Conditions for Using the Scaling Function ..................................................21

7.1.1 Specification for Using the Hiperface-Profibus-Adapter in "Continuous-Mode"........21

7.1.2 Adapted Scaling Functions (without offset) ..............................................................22

Contents

2 Hiperface-Profibus-Adapter March 07

7.2

Data storage .............................................................................................................24

7.3 Encoder-Attributes / -Parameter ...............................................................................25

7.3.1 Fundamental Explanations .......................................................................................25

7.3.2 Counting Direction / Code sequence ........................................................................25

7.3.3 Scaling Function Control -- [SFC] .............................................................................25

7.3.4 Measuring Units (/Steps) per Revolution -- [CPR] ....................................................25

7.3.5 Total Measuring Range in Measuring Units -- [CMR] ...............................................26

7.3.6 Preset value..............................................................................................................26

7.4 Data-Assemblies / Data components .......................................................................26

7.4.1 Postion Value............................................................................................................27

7.4.2 Speed value..............................................................................................................27

7.4.3 Time Stamp ..............................................................................................................28

7.4.4 Preset value..............................................................................................................28

8 Device Integration / Projecting ..............................................................................30

8.1 System Reqirements ................................................................................................30

8.2 Description................................................................................................................30

8.3 Practical Examples for Device Integration with the Configuration Tool: Simatic

Man

ager....................................................................................................................31

8.3.1 Initial Situation ..........................................................................................................31

8.3.2 Reading in the Device Master File............................................................................32

8.3.3 Integrating Hiperface-Profibus-Adapter into the Network .........................................33

9 System Configuration.............................................................................................34

9.1 Master-Slave Communication...................................................................................34

9.2 Stipulations / Definitions ...........................................................................................35

9.3 Parametrisation and Operating Mode .......................................................................35

9.3.1 DP-Specific Standard Data.......................................................................................35

9.3.2 Upgrades for the Parametrisation DP-V1 .................................................................36

9.3.3 Blockheader User-Parameter ...................................................................................36

9.3.4 Device-/Encoder-Specific Parameter Data ...............................................................36

9.4 Telegram Configuration ............................................................................................38

9.4.1 Module–Composition from Data Components..........................................................38

9.4.2 Module Telegrams in Cyclical Data Traffic (Data Exchange Mode) .........................39

9.4.2.1 DDLM_Data_Exchange - Modul IN_04.....................................................................39

9.4.2.2 DDLM_Data_Exchange - Modul IO_04 ....................................................................39

9.4.2.3 DDLM_Data_Exchange - Modul IN_08.....................................................................40

9.4.2.4 DDLM_Data_Exchange - Module IO_08 ..................................................................40

9.5 Practical Examples for Configuration and Parametrisation with the Configuration

T

oo

l: Simatic Manager..............................................................................................41

9.5.1 Module Configuration................................................................................................41

9.5.2 Parameter Settings – Rotary Encoders ....................................................................41

9.5.3 Parameter Settings – Linear Encoders.....................................................................43

10 Isochronous Mode..................................................................................................44

10.1 General .....................................................................................................................44

10.2 Clock-Synchronous Communication.........................................................................44

10.2.1 Synchronisation to the Clock Signal of the Global Control Command......................44

10.3 IsoM Parametrisation................................................................................................44

10.3.1 Block Header IsoM Parameter..................................................................................45

10.3.2 IsoM-Specific Parameter Data..................................................................................45

Contents

March 07 Hiperface-Profibus-Adapter

3

10.4

Practical Examples for IsoM Parametrisation with the Configuration Tool: Simatic

Manager....................................................................................................................46

10.4.1 Slave IsoM Parameter Setting ..................................................................................46

10.4.2 Master IsoM Parameter Setting ................................................................................48

11 Diagnostic Information...........................................................................................49

11.1 Evaluation at Control Level.......................................................................................49

11.2 Length of Diagnostic Data ........................................................................................49

11.3 Diagnostic Data Overview ........................................................................................50

11.3.1 DP-Specific Standard Data Diagnosis ......................................................................51

11.3.1.1 Octet 1: Status-1 Diagnostics ...................................................................................51

11.3.1.2 Octet 2: Status-2 Diagnostics ...................................................................................51

11.3.1.3 Octet 3: Status-3 Diagnostics ...................................................................................51

11.3.2 Structure of the Extended Diagnostics of Type "Status Model" ................................52

11.3.2.1 Octet 7: Diagnose Header ........................................................................................52

11.3.2.2 Octet 8: Identifier ......................................................................................................52

11.3.2.3 Octet 9: Slot Number ................................................................................................52

11.3.2.4 Octet 10: Status Specifier .........................................................................................52

11.3.3 Application-Specific Diagnostics Data ......................................................................52

11.3.3.1 Octet 11: Alarm Messages .......................................................................................53

11.3.3.2 Octet 12: Operating State .........................................................................................53

11.3.3.3 Octet 13: Encoder Type............................................................................................54

11.3.3.4 Octet 21 and 22: Alarm Messages Supported..........................................................54

11.3.3.5 Octet 23 and 24: Warning Messages .......................................................................54

11.3.3.6 Octet 25 and 26: Warning Messages Supported......................................................55

11.3.3.7 Octet 27 and 28: Hiperface-Profibus-Adapter Profile Version ..................................55

11.3.3.8 Octet 29 and 30: Software Version...........................................................................55

11.3.3.9 Octet 35 – 38: Offset Value ......................................................................................55

11.3.3.10 Octet 61: Station Address.........................................................................................55

12 Hiperface-Profibus-Adapter – Mounting and Connection..................................56

12.1 General .....................................................................................................................56

12.2 Safety Notes .............................................................................................................56

12.3 Mounting ...................................................................................................................56

12.4 Screening..................................................................................................................57

12.5 Voltage Supply via Screw-in System M12 ................................................................57

12.6 Pin and Core Allocations of the Hiperface-Profibus-Adapter....................................58

12.7 Encoder Recognition and Profibus Resolution .........................................................59

12.8 Device Handling in the Network................................................................................59

12.8.1 Address Setting ........................................................................................................60

12.8.1.1 EEPROM Software Addressing via Bus Protocol .....................................................61

12.8.1.2 Address Table...........................................................................................................62

12.8.2 Counting Direction ....................................................................................................63

12.8.3 Preset Function.........................................................................................................63

12.8.4 Bus Termination........................................................................................................63

12.9 Status-/Display-Information ......................................................................................63

13 Brief Technical Description ...................................................................................64

13.1 Description of the Rotary Encoders ..........................................................................64

13.2 Description of the Linear Encoders...........................................................................64

13.3 Profibus Interface – Brief Overview of Specific Features .........................................64

13.4 Profibus Interface – Specification .............................................................................65

Contents

4 Hiperface-Profibus-Adapter March 07

Abbildungsverzeichnis .............................................................................................................66

Notes ..................................................................................................................................67

Introduction

March 07 Hiperface-Profibus-Adapter

5

Schedule of Revisions

The following information lists the revisions made by the company since the first edition.

New Information (N)

New p

roperties and additional information on existing properties.

Revised information (R)

Revisions to the previous edition, which require a different procedure during commissioning.

Inf.

Revisions Chapter

Rev

Date

First edition of the document 1.00

March 07

Introduction

6 Hiperface-Profibus-Adapter March 07

1 Introduction

1.1 Using these Commissioning Instructions

These instructions give an overview of the Hiperface-Profibus-Adapter with Profibus interface and de-

scr

ibe configuration, installation, operation and maintenance of the devices in the Profibus network.

These instructions have been written for trained persons who are responsible for installation, assembly

and operation of the Hiperface-Profibus-Adapter in industrial environments.

The commissioning staff should understand Profibus network operations and know how slave devices

function in a network and communicate with a Bus Master. There should be basic understanding of and

experience in electrical terminology, programming procedures, networks and software required as well as

knowledge of applicable safety regulations.

1.2 Documentation

The complete documentation comprises of:

• Com

missioning Instructions Hiperface-Profibus-Adapter with Profibus DP-V2 Interface (*)

• Device master file (GSD resp. GSE), Hiperface-Profibus-Adapter bitmap

• Mounting Instruction Hiperface-Profibus-Adapter

• Data sheet from the Hiperface-Profibus-Adapter

• Assembly instructions for the particular encoder

• Data sheet from the particular encoder

• Hiperface® - interface description

(*)

This documentation

1.3 Definition of the Symbols Used in the Document

This symbol identifies text which must be given special attention, to ensure correct use of

dev

ices and prevent dangers resulting from this. Non-compliance may lead to bodily

harm and/or damage or destruction of the system.

This symbol identifies text with important information on the correct use of the Hiperface-

Pro

fibus-Adapter. Non-compliance may lead to encoder malfunctions.

This symbol identifies text with useful details or explanations for the better understanding

of

this documentation.

1.4 Conformity

1.4.1 Profibus

• DP-V2

Protocol to EN 50170

• Encoder profil (Profile for DP-V2 Encoders - Version 3.2)

1.4.2 European Union Directive Compliance

Declaration of Conformity

Introduction

March 07 Hiperface-Profibus-Adapter

7

1.4.3 United States Standards - Listed

UL - Autorisation

1.4.4 Hiperface

• Sic

k-Stegmann Hiperface

®

Interface

Designations and Abbreviations

8 Hiperface-Profibus-Adapter March 07

2 Designations and Abbreviations

2.1 Profibus DP-spezific

PNO Profibus- user organisation

DP Profibus decentralised periphery

ID Identifier

GSD/GSE

Device master file – An electronic data sheet is a template provided by the

manufacturer, which stipulates how to present information and which matching

entries can be made.

GSD = German commentary texts, GSE = English commentary texts

DPM1

DP-Master Class 1 – Central control which, in a set message cycle, exchanges

information with the decentralised stations (DP slaves). Typical devices are e.g.

programmable logic controllers (PLCs), PC systems or VME systems.

DPM2

DP-Master Class 2 – Programming, projection or operating devices. They are

used during commissioning, to produce the configuration of the DP system or to

operate the running system.

Node

A node is a hardware unit with a unique address in the network (also known as

device).

MAC ID Address of a Profibus node.

SAP Service Access Point – in Profibus layer 2

FDL Fieldbus Data Link - Profibus data link layer-2.

DDLM

Direct Data Link Mapper – the interface between basic DP functions and the

user interface (also known as profiles).

IO (I/O) Input and Output Data.

Input Data

This data is produced by a Profibus slave device and collected by a master de-

vic

e and made available for reading by the processor of the PLC.

Output Data

This data is produced by a PLC processor and written to the memory of the

master device. The master device sends this data to other Profibus devices

(slave devices).

IsoM Isochroner mode - clock synchronicity

T

Base DP

Time basis for the Profibus DP cycle time

T

DP

Profibus-DP- cycle time

T

MAPC

Cycle time of the master application

T

Base IO

Time basis of T

I

, T

O

T

I

Time point of capturing the actual value from the slave

T

O

Time point of actual value acceptance in the slave

T

DX

Data-exchange-time

T

PLL_W

Half tolerance window width for the synchronisation time window

T

PLL_D

Delay time from the clock signal (is added internally to T

DP

)

Designations and Abbreviations

March 07 Hiperface-Profibus-Adapter

9

2.2 Data Type Specifications

BOOL Boolean 1 Bit

BYTE Bit String 1 Byte (8 Bit)

WORD Bit String 2 Byte (16 Bit)

USINT Unsigned Short Integer Int (1 Byte) - (0...255)

UINT Unsigned Integer Int (2 Byte) - (0...65.535)

UDINT Unsigned Double Integer Int (4 Byte) - (0...+2

32

.-1)

SINT Signed Short Integer Int (1 Byte) - (-128...+127)

INT Signed Integer Int (2 Byte) - (-32.768...+32.767)

DINT Signed Double Integer Int (4 Byte) - (-2

31

...+2

31

- 1)

LSB Least Significant Bit / Byte [00.01.40.12]

hex

MSB Most Significant Bit / Byte

Exp: 81.938

D

==

[00.01.40.12]

hex

Big Endian In a sequence of data packets requested/sent the MSB is transmitted first. –

also see MSB above: { 00.01.40.12 }

2.3 Hiperface-Profibus-Adapter – or Encoder - Specific

CPR C

ounts (steps) per Revolution (resp. span for linear devices).

-- Customer specified --

CMR Counts (steps) over the total Measuring Range. -- Customer specified --

R Ratio (R) = [CMR] / [CPR]

Scaling Pa-

rameters

Scaling parameters: [CMR], [CPR]

PRS Physical Resolution Span: max. number of steps per revolution/span supported

by the encoder – specified by manufacturer. --

PnumRev Physical Number of Revolutions: Max. number of revolutions supported by the

encoder -- specified by manufacturer. --

PMR Physical Measuring Range (PRS x PnumRev): Total number of Stepps across

all revolutions or across the entire span -- specified by manufacturer --

PM_Bit According to 'PMR', as bit mapping with basic (2**

PM_Bit

). Corresponds to (26),

for rotary encoders, to (24) for linear ones.

PmaxVal Maximum position value corresponds with 'PMR' minus one (1).

ScF Scaling factor) = [CPR] / [PRS]

Pos_Scal Scaled position value after conversion by the scaling parameters, offset and

preset values.

Pos_Phy Physical (numerical) position value prior to conversion.

CPS Encoder speed: steps per second

("Counts (steps) per Sec." -- also (cps, CpS))

RPS Encoder speed: rev. per second

("Revolutions per Sec." -- also (rps, RpS))

RPM Encoder speed: rev. per minute:

("Revolutions per Min." -- also (rpm,RpM))

mm/sec Encoder speed: millimetres per minute

Safety Precautions

10 Hiperface-Profibus-Adapter March 07

3 Safety Precautions

3.1 Responsibilities of the Commissioning Staff

Due to the various possible applications of the products described in this documentation, those

resp

onsible for the application and use of the devices must personally ensure that all necessary

measures are taken so that the application and use of devices meet the performance and safety

requirements. The applicable laws, regulations, guidelines and standards shall be taken into ac-

count.

The Hiperface-Profibus-Adapter is intended for use under industrial conditions. Non-compliance with ap-

plica

ble safety regulations, process-related and other instructions can lead to bodily harm and/or damage

to the devices or the system. Qualified users of and commissioning staff for these devices are personally

responsible for the selection of suitable products for the intended application. SICK-STEGMANN GmbH

accepts no liability and no responsibility for direct or indirect damage and consequential damage due to

improper handling or incorrect selection of products. Proper handling assumes that the instructions in this

documentation are followed.

Qualified users or commissioning staff are those familiar with the safety requirements and their applica-

tion to installation, operation and maintenance of the devices.

It is advisable for persons operating or maintaining electrical or mechanical devices to have basic knowl-

edge of First Aid.

3.2 Validity and Application

Hiperface-Profibus-Adapter are complex interface converters for Hiperface encoders manufac-

ture

d according to the known industrial regulations and meet the ISO 9001 quality requirements.

A Hiperface-Profibus-Adapter is a device to be fitted and cannot be independently operated ac-

cording to its intended function. Consequently, a Hiperface-Profibus-Adapter is not equipped

with direct safety features. The system designer must provide measures for the safety of per-

sons and systems in accordance with statutory requirements.

The Hiperface-Profibus-Adapter must only be operated according to their type-specific purposes

and only within a Profibus DP network.

The Profibus DP specifications and guidelines for the construction of a Profibus DP network

must be complied with.

Mechanical or electrical modifications of the devices are not permitted.

The safety precautions and instructions for installation and op-

eration in this document, are binding.

3.3 Authorised Users

The Installation and maintenance of the encoders must be performed

by

trained and qualified staff with knowledge of electronics, precision

engineering and controller programming (see 1.1). The appropriate

standards of technical safety requirements must be met.

Safety Precautions

March 07 Hiperface-Profibus-Adapter

11

3.4 Safety Guidelines and Personal Protection

The safety guidelines must be observed by all persons charged with

ins

tallation, operation or maintenance of the devices:

• The system and safety documentation must always be available

and observed.

• During installation and maintenance, non-qualified staff must not

be near the system.

• The system must be installed in accordance with applicable safety

requirements and instructions.

• The installation must meet the accident prevention regulations of

the professional/trade associations in the country/countries con-

cerned.

• Non-compliance with the relevant safety and accident prevention

regulations can lead to bodily harm or system damage.

3.5 Encoder Safety Precautions for Installation, Operation and Maintenance

• The Hiperface-Profibus-Adapter must only be fitted or maintained

whe

n free from voltage. Consequently, for any electrical or elec-

tronic devices, machine and system parts linked to installation,

operation or maintenance, the voltage must previously have been

switched off. Also check that they are voltage-free.

• Cabling, earthing, screening and overvoltage protection are of

particular importance.

• Check whether switching off devices, machines or system parts

causes dangers.

• If necessary, place warning signs to prevent unauthorised per-

sons from entering the danger area.

• The correct functioning of safety features shall be checked (e.g.

emergency stop).

• EMC-compliant earthing and screening must be performed with

particular care, to ensure satisfactory operation of the devices.

• The safe assembly of all components must be checked prior to

switching back on.

• During commissioning of the combination of Hiperface-Profibus-

Ada

pter and Encoder via a configuration tool, there must be no

connection to a running network.

• Hiperface-Profibus-Adapters must not be exposed to direct UV

rad

iation, over long periods. Resistance to other environmental ef-

fects may be found in the data sheet.

• The rating label of the Hiperface-Profibus-Adapters has a sealing

function and must not be damaged in the area of the viewing win-

dow (e.g. through the effect[s] of pointed objects).

• Knocks on shaft an collet of encoders must be avoided.

• Programs which frequently use Explicit Messages, in order to

write parameters to the EEPROM (non-volatile memory) of the

encoders, should be avoided. This could significantly reduce the

lifetime of the product.

Introduction

12 Hiperface-Profibus-Adapter March 07

4 Introduction

4.1 Profibus Standardisation

Profibus is based on known international standards. The protocol architecture follows the ISO/OSI layer

mode

l. Since 2000, Profibus is specified in IEC 61158 Type 3 and IEC 61784. IEC 61158 Type 3 includes

the whole range of Profibus consisting of the DP-V0, DP-V1 and DP-V2 versions. IEC 61784 specifies the

properties of the CPF 3 communication series, in which the profiles used under Profibus are summarised.

Profibus achieved national standardisation in 1993 through DIN 19245, Part 1-3 and pan-European stan-

dardisation in 1996 through EN 50170.

The Profibus range consists of three compatible versions (DP, PA, FMS). All three versions use the same

type of protocol for bus access. This protocol is integrated via layer 2 in the OSI reference model. It also

includes data integrity and handling of the transmission protocols and telegrams. The 'DP' and 'FMS' ver-

sions also use the same transmission technology, which is integrated via layer 1.

Application

Data Link

Physical

Application Profiles

IEC Interface

IEC 1158-2

User

Layer

(3)-(6)

(7)

(2)

(1)

EN 50 170 und PROFIBUS Richtlinien

PROFIBUS Profile

Fieldbus Data Link (FDL)

FMS

RS-485 / Fiber Optic

DP-Grundfunktionen

DP-Funktionen

ISO/OSI Schichtenmodell

Figure 4–1: Protocol Architecture

4.2 Profibus DP

This version is intended for high-speed data communication at device level. Central controllers (e.g.

PLC

s/PCs) thus communicate with their distributed field devices (input/output units, drives, encoders etc.)

via a special serial high-speed link.

Profibus DP uses layer 1, layer 2 and the user interface. The DDLM offers the user interface easy access

to layer 2. The functions of the application are defined in this part of the interface.

Profibus DP only uses a part of the services of layer 2. These services are called via Service Access

Points (SAPs) of layer 2 through higher layers (user interface). For Profibus DP, each SAP is allocated a

precisely defined function.

The following services are used by the DP version:

• SRD Send and Request Data with reply.

• SDN

Send Data with No Acknowledge -- Broadcast, Multicast telegrams).

Introduction

March 07 Hiperface-Profibus-Adapter

13

Figure 4–2: Master / Slave principle of the SRD service

Three types of communication protocols are currently available:

• DP-V0

Protocol: Cyclical data exchange between master and slave (most common type of

communication, to date).

• DP-V1 Protocol: acyclical data exchange between master and slave.

• DP-V2 Protocol: Deterministic data exchange via cross-traffic between different slaves

(DXB) and isochronous slave mode (clock synchronicity between master and slave).

4.2.1 DP-V0 Communication Protocol

T

h

i

s version provides the basic functionality of DP including the cyclical data exchange, as well

as different types of diagnostics.

Comprehensive overview of the basic functions:

Technology

• Det

ailed description

Bus access

• Token Passing method between masters and master-slave

method for slaves.

• Mono-master or multi-master systems are possible.

• Master and slave devices, max. 126 stations on a bus.

Communication

• Peer-to-peer (user data traffic) or multicast through Global Con-

trol Commands (GCC).

• Cyclical master-slave user data transmission

Operations conditions

• Operate. – Cyclical transmission of input/output data.

• Clear. – Inputs are read, outputs remain in a failsafe status.

• Stop. – No transmission of user data.

Synchronisation

• GCC enables the synchronisation of inputs and outputs.

• Sync Mode. – Outputs are synchronised.

• Freeze Mode. – Inputs are synchronised.

The Hiperface-Profibus-Adapter support the following modes of operation/communication protocols:

- DP-V0 – with the cyclical exchange of process data and handling the device-related diag-

nostics

- from DP-V1 – services of the acyclical communication according to MS1 and MS2 are not

supported. As a DP-V2 device, the DV-V1 specification must be specified in the GSD file.

For this reason, the 'Device Related Diagnosis' in its 'Module Status' version was imple

mented as a minimum requirement.

- from DP-V2 -- the isochronous slave mode

Introduction

14 Hiperface-Profibus-Adapter March 07

Functionality

• Cyclical user data traffic between master(s) and slave(s).

• Dynamic activation/deactivation of individual slaves, testing the

slave configuration.

• Diagnostic functions (3 message levels).

• Synchronisation of inputs and/or outputs.

• Operative address allocation for slaves over the bus.

• Maximum possible 246 bytes of input/output per slave.

Safety functions

• Message transmission with hamming distance HD = 4.

• Watchdog monitoring of the DP slave detects errors of the mas-

ter allocated.

• Access protection for the inputs/outputs of the slaves.

• Monitoring of user data traffic using an adjustable monitoring

timer for the master.

Device types

• Class 1 DP Master (DPM1). – Central programmable controllers

such as PLCs or PCs.

• Class 2 DP Master (DPM2). – Developmental or diagnostic

tools.

• DP Slave. – Device with binary or analogue inputs/outputs.

4.2.2 DP-V2 Communication Protocol

The isochronous mode supported by the Hiperface-Profibus-Adapter enables clock-

synchronous control in master and slaves, irrespective of the loading of the bus. With clock

skews of less than a microsecond, highly accurate positioning operations can thus be achieved,

with all device cycles involved being synchronised to the bus master cycle by a "Global Control

Command" broadcast telegram. A special life sign (consecutive number) allows the synchroni-

sation to be monitored.

Figure 4–3: Clock Synchronicity

The available times for the DX (S1, S2, S3) data exchange, the access of the Master Class 2

(MSG)

and reserve are shown in the graph. The red arrows identify a path from the actual data

capture (T

I

), and the control (R

x

), to the nominal data output (T

O

). This usually extends across

two

bus cycles.

Introduction

March 07 Hiperface-Profibus-Adapter

15

4.3 Physical Profibus Network Link

4.3.1 Network Topology

The cabling and some specific features such as bus termination, are shown.

Figure 4–4: Topology of Profibus DP

4.3.2 RS 485 Transmission Technology

Hiperface-Profibus-Adapter use RS 485 transmission technology. This is the most frequently used tech-

nolo

gy for Profibus DP and very easy to handle. The installation of the twisted pair cable does not require

advanced expert knowledge. The bus structure permits the addition and removal of stations as well as

step-by-step commissioning of the system, without affecting the other stations concerned.

The transmission speed is between 9.6 kBit/s and 12 MBit/s (selectable). During commissioning, the

same transmission speed is selected for all devices on the bus (the Hiperface-Profibus-Adapter auto-

matically adjust).

Basic functions when using RS 485 technology:

Network topology

• Li

near bus, active bus termination at both ends.

• Spurs are only permitted for baud rates ≤ 1.5 MBit/s.

Signal transmission

• NRZ (non return to zero) format.

• 11 Bits/character with: start, 8 x data, parity[even], stop.

Station number

• 32 stations in each segment without repeater[s].

• With repeaters: expandable to 127.

Connectivity

• 9- pin D-Sub connection plug (preferred).

• M12 round connector -

(Connection system for Hiperface-Profibus-Adapter ).

• Han-Brid plug acc. to DESINA recommendation.

4.3.3 Installation Notes re: RS 485

All devices are connected in a line bus structure. Up to 32 stations (masters or slaves) can be intercon-

nec

ted in a segment. At the beginning and end of each segment, the bus is terminated using a terminat-

ing resistor. Trouble-free operation requires that the two bus terminations always be supplied with volt-

age.

For more than 32 subscribers, repeaters (line amplifiers) must be used to connect the individual bus seg-

ments.

For Hiperface-Profibus-Adapter the bus termination is made via external termination resistors (termina-

tors). A 5 V supply voltage is available on the bus connector for the termination resistors. – See also Fig-

ure 4–5 (VP, DGND).

Introduction

16 Hiperface-Profibus-Adapter March 07

The maximum cable length depends on the transmission speed. The specified length can be extended

using repeaters. The use of more than 3 successive repeaters is not recommended.

Figure 4–6: Cabling (9-Pin D Sub connector) and Bus Termination.

The cores of the data cables are identified by 'A' and 'B' (pin (2) and (4)). The following alloca-

tions are generally used:

• Data line 'A' green

• Data line 'B' red

4.3.4 Profibus Cabling for RS 485

Two basic cable types are available for copper-based Profibus DP networks. According to the electrical

pro

perties, they are called 'cable type A' and 'cable type B' (not to be confused with the cores 'A' and 'B'

in 4.3.3).

Cables of type A are the only permitted cables for new installations.

The following specifications relate to a cable of type A:

Parameter Cable properties type A

Wave impedance 135...165 Ω

Distributed capaci-

tance

< 30 pF / m

Loop resistance < 110 Ω / km

Core diameter 0.64 mm

Core cross-section > 0.34 mm²

• The cumulative length of all spurs is limited to 6 m

limitiert (depending on how the stations

are arranged).

• Spurs must have no bus termination.

Baud rate (kBit/s) 9.6 19.2 93.75 187.5 500 1,500 12,000

Distance/Segment (m) 1200

1200 1000 1000 400 200 100

The length of a spur also includes the distance between the plug socket and the RS 485

line

driver within a device.

Introduction

March 07 Hiperface-Profibus-Adapter

17

I/O bus cables should be laid in their own cable ducts or in metallic, electrically conductive con-

duits. This improves the EMC properties. The following conditions must be met:

• The cables must not be twisted, stretched or crushed.

• The temperature range for the laying and operation.

• The max. permitted stretching and bending stresses.

4.3.5 Cable Screening

Screening serves to weaken (reduce) magnetic, electrical or electromagnetic interference fields.

Int

erference currents on the cable screening are dissipated to the functional earth via a screen rail con-

ductively linked to the housing. It is particularly important to ensure a low-resistance link to the functional

earth. Otherwise interference currents themselves become a possible source of interference.

The following points shall be observed:

• Only use bus cables with braided screen, and connect the braided screen at both cable

en

ds.

• To ensure optimum protection, the outer braided screen and the inner screen foil must be

placed, over a large area, via a cable clamp on the functional earth.

• It is recommended that the data cable be laid separate from the power cables.

• Also use screened cables for the connection of external power supplies.

In case of potential differences between the screen connection points, an equalising cur-

ren

t can flow via the braided screen connected on both sides. An additional potential

equalising conductor must then be installed.

4.4 Device Profiles

Applications using Profibus combine standard objects and application-specific objects together in device

pro

files. The device profile fully defines the device from the network perspective.

The PNO co-ordinates the work of industrial experts on developing both new object specifications and

device profile specifications. Hence there are Special Interest Groups (SIGs). Profiles provide a summary

specification of how Profibus DP is used in individual areas of application. When using the profiles, sys-

tem operators and end users have the benefit of being able to interchange different manufacturers’ de-

vices. The profiles thus lead to a significant reduction in development costs.

The Encoder SIG has, in agreement with the PNO, produced two device profiles

Profile for Encoders no. 3062 (Class 1 and 2)

Profile for DP-V2 Encoders no. 3162 (Class 3 and 4)

to ensure the interoperability of their devices.

Introduction

18 Hiperface-Profibus-Adapter March 07

Figure 4–7: Overview of Device Profiles.

4.5 Further Information

Profibus Nutzerorganisation e.V. (PNO)

Haid

-und-Neu-Str. 7

D-76131 Karlsruhe

Tel.: (49) 721 - 96 58 590

Fax: (49) 721 - 96 58 589

Web: http://www.profibus.com

http://www.profibus.de

Further literature and guidelines (partly available in English only, but partly also in German):

• Profibus DP Specification

• G

uideline for Profibus DP/FMS (V1.0), Order No. 2.112

• Profibus RS 485 User & Installation Guideline (V1.1), Order No. 2.262

• Profibus Profile for Encoders (V1.1), Order No. 3.062

• Profibus Profile for DP-V2 Encoders (V3.2), Order No. 3.162

• M. Popp, Profibus DP/DPV1, (Huethig, 2000), ISBN 3-7785-2781-9

• New Rapid Way to Profibus DP (2002), Order No. 4.072

• Profibus System Description (Vers. 10/ 2002), Order No. 4.002

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