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FC310x as master

FC3101 and FC3102

Version: 3.0

3.6.4

PKW Interface of PROFIDRIVE Slaves

The PKW interface is integrated into the FC310x; it can then be accessed via

program. PKW Read is then mapped in ADS Read, PKW Write in ADS Write and PKW-Read No Of Array
Elements in ADS Read:

PKW Read

ADS-Read parameters

Meaning

Net-ID

Net-ID of the master (see the device's

ADS [

}

44]

tab)

Port

station address of the slave

IndexGroup

Bits 0-11: parameter number (PNU)

Bits 12-25: 0

Bit 26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)

Bit 27: 1 = ARRAY codes are not supported by PROFIDRIVE slave

Bits 28-31: axis number (for single axis modules always 1)

IndexOffset

Subindex (for ARRAY access)

Length

Parameter length: 2 or 4

Data

In response: Parameter value

PKW Write

ADS-Write parameters

Meaning

Net-ID

Net-ID of the master (see the device's

ADS [

}

44]

tab)

Port

station address of the slave

IndexGroup

Bits 0-11: parameter number (PNU)

Bits 12-25: 0

Bit 26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)

Bit 27: 1 = ARRAY codes are not supported by PROFIDRIVE slave

Bits 28-31: axis number (for single axis modules always 1)

IndexOffset

Subindex (for ARRAY access)

Length

Parameter length: 2 or 4

Data

In request: Parameter value

PKW ReadNoOfArrayElements

ADS-Read parameters

Meaning

Net-ID

Net-ID of the master (see the device's

ADS [

}

44]

tab)

Port

station address of the slave

IndexGroup

Bits 0-11: parameter number (PNU)

Bits 12-15: 0

Bit 16: 1

Bits 17-25: 0

Bit 26: 1 = Subindex in octet 3 (standard), 0 = subindex in octet 4 (Simodrive
611U)

Bit 27: 1 = ARRAY codes are not supported by PROFIDRIVE slave

Bits 28-31: axis number (for single axis modules always 1)

IndexOffset

Length

Parameter length: 1

Data

In response: Number of the parameter 's array elements

Содержание FC3101

Страница 1: ...Documentation FC3101 and FC3102 PCI Cards for PROFIBUS 3 0 2017 11 17 Version Date...

Страница 2: ......

Страница 3: ...er Diagnostics 20 3 4 4 Slave diagnostics 23 3 4 5 DP State of the Slaves 25 3 5 PROFIBUS MC 25 3 6 ADS acyclic communication 28 3 6 1 ADS Interface 28 3 6 2 PROFIBUS DPV1 31 3 6 3 Uploading the Confi...

Страница 4: ...Table of Contents FC3101 and FC3102 4 Version 3 0...

Страница 5: ...of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automat...

Страница 6: ...e familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions mu...

Страница 7: ...d FC3102 7 Version 3 0 1 3 Documentation Issue Status Version Comment 3 0 Migration 2 2 Layout and foreword updated 2 1 Technical data and safety instructions amended 2 0 Technical description amended...

Страница 8: ...C Plug and play PCI interface 32 bit with 4 kbytes DPRAM per channel Bus interface 1 x D Sub socket 9 pin galvanically isolated 2 x D Sub socket 9 pin galvanically isolated Communication Master and sl...

Страница 9: ...ree the red LED will be off otherwise it will flash with 1 Hz States of the FC310x RESET OFFLINE After power on the FC310x is in the RESET state It exits the RESET state when TwinCAT is started and wi...

Страница 10: ...acilities are described in this chapter Error Reactions It is possible for different error reactions 16 to be set in the event of a fault a slave fails or the task is stopped Sync Freeze Activation of...

Страница 11: ...I O devices with right click and then selecting Append Device Find the corresponding channel on the FC310x tab see FC310x tab under TwinCAT 2 8 40 or TwinCAT 2 9 48 Search button and adjust the baud...

Страница 12: ...e modified by experienced users TwinCAT 2 9 The PROFIBUS DP bus parameters can be found in the Bus Parameters 49 dialog which can be selected via the FC310x 48 tab Bus Parameter DP button They should...

Страница 13: ...Fig 4 I O not at task start and real time resources not exceeded In the event of I O not at task start the task and the PROFIBUS have to share the bandwidth Exceeding of the real time resources theref...

Страница 14: ...y second cycle It is possible to make settings so that two slaves will be polled in one cycle and the other two slaves in the other cycle so that the overall DP cycle time is kept as constant as possi...

Страница 15: ...n the System Manager the Multiplier under Additional Data_Exchange Samples is also set to 2 Modulo under Additional Data_Exchange Samples can now be used to distribute these slaves over the two cycles...

Страница 16: ...a PLC stop or at start up The Slave Diagnostics 23 chapter explains how diagnostic data provided by the slave and slave statistics can be read while the Master Diagnostics 20 chapter describes general...

Страница 17: ...atchdog time has elapsed see the slave s PROFIBUS 58 tab 1 If the DP connection is to be removed immediately Leave Data Exch default setting the slave is re moved from the polling list and is no longe...

Страница 18: ...f the DP connection to the slave is removed This specifies whether removing the DP connection to a slave has no other effects No Reaction the default setting or whether the master should enter the STO...

Страница 19: ...tion 12 chapter It should therefore only be set during the commissioning phase Failure of the host To monitor a host crash e g blue screen on a PC a watchdog time can be set TwinCAT 2 8 see FC310x 40...

Страница 20: ...alCycleTime Shows the current cycle time in 4 25 s This variable is updated only when all slaves are involved in the data exchange also when CdlInfo error is 0 CdlInfo actualModulo Indicates the curre...

Страница 21: ...yte per station address 0 125 which contains the station status see BoxState for PROFIBUS boxes additional for stations that are not configured 0x80 not available 0x81 slave 0x82 master not ready for...

Страница 22: ...on and resetting the TcIo diagnostic data ADS Write parameters Meaning Net ID PC Net ID Port 300 IndexGroup 0x00005000 Device Id device s General tab IndexOffset 0xFFFFF100 Length 2 Data 0 Deactivatio...

Страница 23: ...or DP Diag 44 TwinCAT 2 9 36 39 Max cycle time in 4 25 s see tab GeneralDiag 44 TwinCAT 2 8 or DP Diag 44 TwinCAT 2 9 40 43 RealFailedCycle counter see tab GeneralDiag 44 TwinCAT 2 8 or DP Diag 44 Twi...

Страница 24: ...data contains the slave statistics 32 bytes and the DP diagnostic data sent by the slave up to 244 bytes and is constructed as follows Offset Meaning Slave statistics 0 Receive Error Counter WORD The...

Страница 25: ...no resources slave has insufficient resources for the telegram check that GSD file is correct 16 Service not activated temporary fault when slave ceases data exchange due to a local event otherwise c...

Страница 26: ...w 3 4 3 611U synchronization errors error 597 or 598 can only be rectified via a hardware reset of the 611Us otherwise look up the error code in the Siemens manual If several 611Us are configured the...

Страница 27: ...evices has the effect that it may nevertheless be necessary to change the NC Access Time for an unchanged device If I O not at task start is selected see the Synchronization 12 chapter then the NC Acc...

Страница 28: ...er Diagnostics 20 chapter The FC310x will reset the FC310x DiagFlag It will be set again if the FC310x diagnostic data change again 0xF181 0x00 0x7E BYTE offset within the data This will read the diag...

Страница 29: ...ead DPV1 data see chapter DPV1 31 0x0000 0xFFF 0x10000000 0xF0000000 0x00 0xFF This will transmit a PKW Read to the appropriate configured PROFIDRIVE slave the parameter number PNU is contained in the...

Страница 30: ...slaves are compatible see chapter PKW Interface 35 0 0x01000000 0 This will send FDL Write for Siemens AG interfacing to the appropriate configured FDL station see chapter S5 FDL 36 0 0x02000000 0 Thi...

Страница 31: ...ode High Word chapter FC310x ADS error codes 37 The appropriate text message will also be displayed in the TwinCAT System Manager Logger 3 6 2 PROFIBUS DPV1 On a C1 connection the master supports the...

Страница 32: ...ption this is initialized in accordance with the value set in the System Manager Watchdog under DPV1 Class 2 on the slave s PROFIBUS 58 tab It is also necessary for the C2 functionality to be activate...

Страница 33: ...ID Net ID of the master see the device s ADS 44 tab Port 0x1000 station address of the slave IndexGroup 0x200 slot number DPV1 parameter IndexOffset 0 Read Length Length of the Initiate Response param...

Страница 34: ...arty devices IndexOffset 0 Length 1538 Data Configuration data of the slave If the IndexGroup indicates that for Beckhoff devices tables 0 1 and 9 are to be read then the following data is supplied pr...

Страница 35: ...ite ADS Write parameters Meaning Net ID Net ID of the master see the device s ADS 44 tab Port 0x1000 station address of the slave IndexGroup Bits 0 11 parameter number PNU Bits 12 25 0 Bit 26 1 Subind...

Страница 36: ...hat is to be written Other FDL device sends SDA request with DSAP station address 1 of the other FDL device and SSAP station address 1 of the FC310X Data corresponds to the data length set at the othe...

Страница 37: ...C1 Read FDL fault no response etc 0x210A DPV1 C1 Read syntax error DPV1 syntax not correct 0x210B DPV1 C1 Read DPV1 fault 4 bytes error code in the diagnostic data of the slave 0x210C PKW Read syntax...

Страница 38: ...he slave 0x2154 PKW ReadNoOfElements length must equal 1 0x2155 PKW ReadNoOfElements PKW is not activated 0x2156 PKW ReadNoOfElements axis number is too great 0x2157 PKW ReadNoOfElements slave not in...

Страница 39: ...s when the primary master starts or stops outputs remain unchanged There are also three counters and a StartRedundancyMasterFlag as interfaces to the PC Fig 19 Counter and StartRedundancyMasterFlag Co...

Страница 40: ...hdog see the box s PROFIBUS 58 tab it is important to ensure that the DP watchdog time is longer than the application s monitoring time for the primary master plus the start up time of the redundancy...

Страница 41: ...6 chapter All other tasks are served asynchronously via corresponding buffers If one of these tasks is stopped or reaches a breakpoint the System Manager will generally display a message saying that t...

Страница 42: ...epeated cyclically a value of 0 could be used for the repetition of the Data_Exchange telegram here in order to keep the cycle relatively constant in equidistant mode even if there is no response from...

Страница 43: ...ot support Fail_Safe values or to the Fail_Safe value if the DP slave supports Fail_Safe whereas in the Operate state the outputs have the values specified by the task Reaction on PLC STOP It is possi...

Страница 44: ...ce with its own Net ID which can be changed here All ADS services diagnostics acyclic communication going to the FC310x must address this Net ID Fig 22 TwinCAT 2 8 ADS tab 3 8 1 4 General Diag tab Fig...

Страница 45: ...ions within a cycle is displayed min max actual Cycle Time Here the minimum maximum and current DP cycle time is displayed Only those cycles are considered during which all slaves participated in the...

Страница 46: ...powerful PC should be used If the associated NC task does not have the highest priority the maximum FCxxxx jitter can also be larger This should be avoided FC310x Statistics Since the PROFIBUS MC slav...

Страница 47: ...cycle is not synchronized with the highest priority task If the associated NC task does not have the highest priority this counter can also increment This should be avoided To Statistics For each MC s...

Страница 48: ...nt the FC310x switches to CLEAR mode slave outputs will assume 0 or safe values see the Error Reactions 16 chapter All other tasks are served asynchronously via corresponding buffers If one of these t...

Страница 49: ...the corresponding GSD file will be searched Verify Configuration This causes the PROFIBUS to be scanned and compared with the currently inserted boxes Changes are displayed from TwinCAT 2 9 3 8 2 2 Bu...

Страница 50: ...r one cycle see the Error Reactions 16 chapter HSA The HSA specifies the highest active address up to which the GAP update is carried out assuming it is active Min Slave Int The MinSlaveInterval indic...

Страница 51: ...DP slave see the Master Redundancy 38 chapter Operate Delay The DP master changes automatically observing the Auto Clear Mode into the operate state when the task is started The transition from Clear...

Страница 52: ...ot ticked the DP watchdog can be set here to a uniform value for all slaves Calculate DP Slave Watchdog Time This is used to set the DP watchdog time for all DP slaves to a sensible value 3 8 2 4 MC t...

Страница 53: ...of the expected PROFIBUS cycle time Calculate MC Times This button can be used to calculate all DPV2 times automatically Sync Mode The Sync Mode decides whether the FC follows the PC disabled or whet...

Страница 54: ...hich a telegram was repeated at least once Repetitions are also an indication that the physical bus characteristics are not 100 OK max Repeat Cycle Here the maximum number of repetitions within a cycl...

Страница 55: ...8 2 7 Box States tab Fig 32 TwinCAT 2 9 Box States tab Here an overview of all current box states the Repeat counter increments for each telegram repeat to the slave and the NoAnswer counter increment...

Страница 56: ...owerful PC should be used If the associated NC task does not have the highest priority the maximum FCxxxx jitter can also be larger This should be avoided FC310x Statistics Since the PROFIBUS MC slave...

Страница 57: ...cycle is not synchronized with the highest priority task If the associated NC task does not have the highest priority this counter can also increment This should be avoided To Statistics For each MC s...

Страница 58: ...by the following formula Estimated Cycle Time 10 For particularly critical outputs it is possible to set a DP watchdog time down to as little as 2 ms for DP slaves that support a watchdog base time of...

Страница 59: ...ware version 3 00 ResetSlave With this button provided TwinCAT has been started cyclic data exchange with the DP slave can be disabled and re established immediately corresponds to a IO reset but only...

Страница 60: ...m restart see chapter Error Reactions 16 Changes of the Input Data For each slave it can be specified whether on exiting of Data Exch DpState not equal 0 its input data should be set to 0 or remain un...

Страница 61: ...standard telegram 3 For other PROFIBUS MC slaves the ID number on the Profibus 58 tab of the slave has to be changed accordingly The required telegram type can be set on the ProcessData tab and must...

Страница 62: ...text tab Fig 38 PrmData text tab Click on a line to change the current value The description of the respective settings can be found in the documentation of the relevant manufacturer 3 9 6 Diag tab F...

Страница 63: ...lave Repeat Counter Number of required repetitions due to missing or disturbed response from the slave NoAnswer Counter Number of telegrams that remained unanswered by the slave Last DPV1 error Error...

Страница 64: ...hen selecting Append Device The device and a box are appended to this end the GSD file TCDPSLAV GSD must be in directory TwinCAT Io PROFIBUS Fig 40 FC310x appended as slave Find the corresponding chan...

Страница 65: ...es must be inserted in the master configuration in the same sequence as they are in the configuration of the slave in the System Manager Error Reactions In the default setting the inputs of the DP sla...

Страница 66: ...et ID of the slave see the device s ADS 44 tab Destination Port PORT 0x200 Invoke ID INVOKEID A unique number as under indication Result RESULT Result of the read 0 no error otherwise bits 0 15 standa...

Страница 67: ...s place over PROFIBUS with the exception that the requester that initiates the ADS job is always the DP master PC An FC310x DP master is then linked to an FC310x DP slave In the DP master the ADS Inte...

Страница 68: ...FC310x as slave FC3101 and FC3102 68 Version 3 0 Fig 44 ADS tab on the DP slave...

Страница 69: ...WdOn DP watchdog switched on 0x01 4 FreezeMode DP slave in freeze mode 0x01 5 SyncMode DP slave in sync mode 0x01 6 reserved 0x01 7 Deactivated DP slave has been deactivated 0x02 0 reserved 0x02 1 res...

Страница 70: ...e Value Meaning 0 reserved 1 Diagnostic alarm 2 Process alarm 3 Withdrawal alarm 4 Insertion alarm 5 Status alarm 6 Update alarm 7 31 reserved 20 126 Manufacturer specific see the documentation for th...

Страница 71: ...er limit 9 Error 10 15 reserved 16 31 Manufacturer specific see the documentation for the DP slave Channel type Value Meaning 0 Any type 1 Bit 2 2 bit 3 4 bit 4 Byte 5 Word 6 2 words 7 reserved Revisi...

Страница 72: ...n Conflict 0x09 Application Feature Not Supported 0x0B 0x00 Access Invalid Index 0x01 Access Write Length Error 0x02 Access Invalid Slot 0x03 Access Type Conflict 0x04 Access Invalid Area 0x05 Access...

Страница 73: ...i e bits 0 3 0000B corresponds to a length of 1 word while bits 0 3 1111B corresponds to a length of 16 words 1000B A special identification format for outputs A byte follows that describes the assoc...

Страница 74: ...f the data minus 1 i e bits 0 5 000000B corresponds to a length of 1 word while bits 0 5 111111B corresponds to a length of 64 words 10B Type byte with consistency Bits 0 5 contain the length of the d...

Страница 75: ...components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support...

Страница 76: ...15 Diagnostic variables of the PROFIBUS master 20 Fig 16 Slave diagnostics DP state 23 Fig 17 PC is Sync Master 26 Fig 18 FC310x is Sync Master 27 Fig 19 Counter and StartRedundancyMasterFlag 39 Fig...

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