1. PROFIDrive
PROFISafe

2. 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

3. Motion Control - Solution Today (continued)
What can be improved?
DP Master
2x Wiring
SIEMENS
6SE7016-1EA30
WR 2,2 kW Nr
SIMOVERT SC
Additional Hardware
MC Bus
2x Configuration

4. Requirements to use DP in MC Applications
Constant (equidistant) DP cycle time
including master class2
including DPV1 communication
including a reserve for telegram repetition
Requirements to use DP in MC Applications
Clock synchronization between application and DP cycle
jitter < 1 µs
compensation of temporary clock failure
Data exchange between slave devices

5. Constant Cycle Time & Synchronization
PROFIBUS Cycle GC S1 S2 S3
Other
Reserve GC S1 S2 S3
Other
Reserve
SIEMENS
6SE7016-1EA30
WR 2,2 kW Nr
SIMOVERT SC
SIEMENS
6SE7016-1EA30
WR 2,2 kW Nr
SIMOVERT SC
SIEMENS
6SE7016-1EA30
WR 2,2 kW Nr
SIMOVERT SC
Application
Cycle
(3 Drives)

6. PLL Constant Cycle Time & Synchronization (continued) Bus-clock
System clock
f = 1 / TDP
Jitter <=1µs
Failure
f = n / TDP
Jitter <=100ns
Without failure
PLL
PROFIBUS ASIC
Smoothing
Clock jitter
Monitoring scores
Monitoring cycle 0
TDP
Compensation clock failure
Number of cycles per DP-cycle
Compensation
transmission
delays
Transmission delay

7. Data Exchange between Slaves
Controlling Device
“Data Exchange”
Telegrams
Publisher
Subscriber
SIEMENS
6SE7016-1EA30
WR 2,2 kW Nr
SIMOVERT SC

8. 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

9. 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

10. Performance Data Basic amount 300µs Add 20µs per Field Device
Add 1.5µs per byte of I/O data
(Additional 500µs for Class 2 device)
Example 1: 1x1 axis + 2x 2 axis + 3x I/O byte data total
300µs + 6x 20µs + 208x 1.5µs = 0.73ms (0.65 measured)
Example 2: 2x1 axis + 9x 2 axis + 3x I/O byte data total
300µs + 14x 20µs + 688x 1.5µs = 1.61ms (1.34 measured)

11. Amount of Data per Device
Performance Data (continued)
Amount of Data per Device

12. Safety - Situation today
DP Master
Standard I/O
(DP Slave)
Proprietary
Safety Bus
2nd Layer
with Safety
I/O

13. Safety - Situation today (continued)
-E - STOP U1 U2 ON
circuit
contacto
Device for
Emergency Control
PLC M ~ DS
F-Kit
Circuit
contactor
Input KO
End module
Connection- modul ON
E-STOP L+
A1+
A2-
PROFIBUS-DP
PM-D F1
PLC
Master
IM 151
Device for
Emergency Control

14. Safety - Situation today (continued)
Parallel wiring

15. Safety - How it should be!
PROFIBUS
Master
PROFIBUS-I/O
PROFIBUS-I/O
PROFIBUS
Master
Repeater
DP/PA
Monitoring
Device
PROFIBUS-I/O
PROFIBUS-PA-Device
PROFIBUS-I/O

16. Safety - Step 1 2 1 4 3 5 6

17. Standard PROFIBUS Telegram for Data Exchange
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)

18. Safety - How does it work? (continued)
Input
Safety
Control
Safety
Output
Standard-
I /O
Standard
Control
Safety-Layer
Safety-Layer
Safety-Layer 7 7 7 7 7 2 2 2 2 2 1 1 1 1 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

19. Special Hardware & Firmware in Field Devices
Safety - What is necessary?
Special Hardware & Firmware in Field Devices
Safety Controller

20. Safety - Step 2: Data Exchange Broadcast
Publisher 2 1 3 4
Subscriber 5