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STOBER

11 | Appendix

11/2019 | ID 442710.03

51

11.2.2

RECORD response: Header structure

Parameter values are generally transferred using the RECORD header. For a record response, it consists of the following
elements in the specified sequence.

Element

Data type

Value, value range

Response_reference

BYTE

0 hex – FF hex

Value = Request number of RECORD
request

Response_ID

BYTE

1 hex

Positive answer to a read request

2 hex

Positive answer to a write request

81 hex

Negative answer to a read request

82 hex

Negative answer to a write request

Axis_number

BYTE

0 – 3

Addressing the axis

Number_of_parameters

BYTE

1

Number of parameters to be processed

Format

BYTE

8 hex

Transfer format: FLOAT

41 hex

Transfer format: BYTE

42 hex

Transfer format: WORD

43 hex

Transfer format: DWORD

1C hex, 1D hex, 1E hex

Transfer format: STRING with 8, 16 or 80
characters

44 hex

Error in case of error

Number_of_values

BYTE

1

Number of values to be processed

1st value or 
error code

DINT

1st parameter value

Value in a simple parameter

WORD

Error code in case of error (see table

Error codes [

}

 52]

)

2nd value – 50th value

DINT

1 – 32 hex

Value = Value of Number_of_elements

Tab. 13: RECORD response: Header structure

Содержание PROFINET SD6

Страница 1: ...PROFINET SD6 Operating manual en US 11 2019 ID 442710 03 ...

Страница 2: ...rsonnel 10 3 3 Intended use 10 3 4 Operational environment and operation 10 3 5 Disposal 11 4 Network structure 12 5 PN6 communication module 13 5 1 Installation 13 6 Connection 14 6 1 Selecting suitable lines 14 6 2 X200 X201 Fieldbus connection 14 7 What you should know before commissioning 15 7 1 Program interfaces 15 7 1 1 DS6 Structure of the program interface 15 7 1 2 TIA Portal Structure of...

Страница 3: ...acyclical communication services 35 9 Monitoring and diagnostics 36 9 1 Connection monitoring 36 9 2 LED display 37 9 2 1 PROFINET state 37 9 2 2 PROFINET network connection 38 9 3 Events 39 9 3 1 Event 52 Communication 39 9 4 Parameters 40 9 4 1 A270 X20x state V0 40 9 4 2 A271 PN state V0 40 9 4 3 A272 PN module submodule V1 40 9 4 4 A273 PN device name V0 40 9 4 5 A274 PN IP address V0 41 9 4 6...

Страница 4: ...rmining the subindex 50 11 2 RDREC WRREC RECORD 50 11 2 1 RECORD request Header structure 50 11 2 2 RECORD response Header structure 51 11 2 3 Error codes 52 11 2 4 Attribute and format elements Possible combinations 53 11 3 Process data modules 54 11 4 Detailed information 55 11 5 Abbreviations 56 12 Contact 57 12 1 Consultation service and address 57 12 2 Your opinion is important to us 57 12 3 ...

Страница 5: ...andards like TCP IP while also allowing the integration of fieldbus systems The 6th generation of STOBER drive controllers support PROFINET IO a development of the successful PROFIBUS DP standard The drive controllers are tailored for real time communication of I O data and offer the ability to transfer all required data parameters and IT functions at the same time For drive controllers of the SD6...

Страница 6: ...d to a third party 2 2 Described product Drive controllers of the SD6 series in combination with the DriveControlSuite software DS6 in V 6 4 D or later and associated firmware in V 6 4 D or later 2 3 Timeliness Check whether this document is the latest version of the documentation We make the latest document versions for our products available for download on our website http www stoeber de en dow...

Страница 7: ...ry measures are not taken CAUTION Caution This word with a warning triangle indicates that minor personal injury may occur if the stated precautionary measures are not taken WARNING Warning This word with a warning triangle means there may be a considerable risk of fatal injury if the stated precautionary measures are not taken DANGER Danger This word with a warning triangle indicates that there i...

Страница 8: ...ned proper nouns functions referenced by the interface Select Referencing method A Predefined entry Save your own IP address User defined entry EVENT 52 COMMUNICATION Display indicators status messages warnings faults for status information referenced by the interface Keyboard shortcuts and command sequences or paths are represented as follows CTRL CTRL S Key shortcut Table Insert table Navigation...

Страница 9: ...osoft Corporation in the United States and or other countries PROFIBUS PROFINET The PROFIBUS and the PROFINET logo are registered trademarks of PROFIBUS Nutzerorganisation e V Karlsruhe Germany SIMATIC TIA Portal SIMATIC and TIA Portal are registered trademarks of Siemens AG Munich Germany All other trademarks not listed here are the property of their respective owners Products that are registered...

Страница 10: ...and observed 3 3 Intended use As defined by DIN EN 50178 SD6 drive controllers are electrical devices operating as power electronics to control the flow of energy in high voltage systems They are intended solely for the operation of synchronous servo motors asynchronous motors linear motors or torque motors The connection of other electronic loads or operation outside applicable technical specific...

Страница 11: ... 03 11 3 5 Disposal Observe the current national and regional regulations when disposing of the product Dispose of the individual product parts depending on their properties e g as Electronic waste circuit boards Plastic Sheet metal Copper Aluminum Battery ...

Страница 12: ...r tree topology All IO standard devices are integrated into the PROFINET network using internal or external switches 100 Mbps You can configure and parameterize the drive controllers using the DS6 DriveControlSuite software from STOBER Siemens TIA Portal lets you do this for the entire PROFINET network for instance The following graphic presents an abstract of a PROFINET network the devices displa...

Страница 13: ...sioning so that the drive controller does not overheat DANGER Electrical voltage Risk of fatal injury due to electric shock Always switch off all power supply voltage before working on the devices Note the discharge time of the DC link capacitors in the general technical data You can only determine the absence of voltage after this time period ATTENTION Damage to property due to electrostatic disc...

Страница 14: ...o different application scenarios and ambient conditions We recommend using the cables specified in the PROFINET installation guidelines They are adjusted for use in automation technology with regard to usage resistance EMC properties and color coding There are type A B and C cables differentiated by installation type Type A 4 wire shielded copper cable for fixed installation Type B 4 wire shielde...

Страница 15: ...riveControlSuite commissioning software DS6 offers a graphic interface that you can use to project parameterize and start up your drive controller quickly and efficiently 1 2 3 4 5 6 Fig 2 DS6 Program interface 1 Project tree 2 Project menu 3 Workspace 4 Parameter description 5 Parameter check 6 Messages 7 1 1 1 Individualized workspace The project tree 1 and project menu 2 are connected and like ...

Страница 16: ...ence of actual and set values the use of signals or certain drive component arrangements and to make configuring the accompanying parameters easier they are displayed on the respective wizard pages of the workspace in the form of circuit diagrams Blue text links or clickable icons indicate links within the program These refer to the corresponding wizard pages and as a result allow you to reach add...

Страница 17: ...ET system The TIA Portal is broken down into the portal view and the project view TIA portal view The TIA overall functionality is broken down into different task areas that you can reach using portals The following graphic shows the interface elements of the TIA portal view relevant to this documentation 2 1 3 Fig 4 TIA Portal Program interface of the portal view 1 Portal selection 2 Functions of...

Страница 18: ...The following graphic shows the interface elements of the TIA portal view relevant to this documentation 2 3 1 4 5 6 Fig 5 TIA Portal Program interface of the project view 1 Project navigation 2 Detail view 3 Work area topology view network view device view 4 Inspector window 5 Task cards hardware catalog online tools tasks libraries 6 Switch to the portal view ...

Страница 19: ...en the following parameter groups Group Topic A Drive controllers communication cycle times B Motor C Machine velocity torque force comparators D Set value E Display F Terminals analog and digital inputs and outputs brake G Technology Part 1 depending on the respective application H Encoders I Motion all motion settings J Motion blocks K Control panel L Technology Part 2 depending on the respectiv...

Страница 20: ...Floating point number Floating point 1 word unsigned In accordance with ANSI IEEE 754 STR8 Text Text 8 characters STR16 Text Text 16 characters STR80 Text Text 80 characters Tab 3 Parameters Data types styles possible values Parameter types Use Integer floating point number For general computing processes Example Set and actual values Selection Numeric value to which a direct meaning is assigned E...

Страница 21: ... and EtherCAT A10 4 access level Value Access level via PROFINET Structure parameters Consist of a group a line and multiple sequential listed elements which can have different properties and different values Example A00 Save values A00 0 Start Value Start action A00 1 Progress Value Display action progress A00 2 Result Value Display action result 7 2 4 Parameter structure Every parameter has spec...

Страница 22: ...r logical relationships to other option modules or parameters For example a drive controller can evaluate an encoder using terminal X120 provided that terminal module XI6 has been installed The accompanying evaluation is activated using parameter H120 However this parameter is visible only if terminal module XI6 was initially selected during the drive project configuration Applications Application...

Страница 23: ...rsion 6 4 D or later DS6 commissioning software in version 6 4 D or later in combination with Siemens SIMATIC S7 1500 controller Siemens Totally Integrated Automation Portal TIA Portal V14 automation software Commissioning is divided into the following steps 1 DriveControlSuite Configure all drive controllers i e application type device control process data for fieldbus communication mechanical dr...

Страница 24: ...n the specified sequence so that you can finish the parameterization completely 8 1 1 Initiating the project In order to be able to configure all drive controllers and axes of your drive system using DriveControlSuite you must record them as part of a project 8 1 1 1 Projecting the drive controller and axis Create a new project and project the first drive controller along with the accompanying axi...

Страница 25: ...ablish the connection between your circuit diagram and the axis to be projected in DriveControlSuite Reference Specify the reference code equipment code of the axis Designation Give the axis a unique name Version Version your project configuration Description If necessary specify additional supporting information such as the change history of the project configuration 3 Application tab Select Driv...

Страница 26: ... To activate the timeout the value must be within the permitted value range the values 0 ms and 65535 ms deactivate this function 8 1 3 Configuring PZD transmission The PZD channel serves to transfer control and status information as well as actual and set values from an IO controller to an IO device and vice versa in real time The direction of data flow is important in this data transfer From the...

Страница 27: ...the selection of corresponding process data modules in the controller hardware configuration ü You have projected the Drive Based application 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select the PROFINET wizard Transmitted process data TxPZD 3 Check the default settings and adapt the process data to be tran...

Страница 28: ...lection with OK ð The Assignment and live firmware update window opens All drive controllers connected through the previously selected IP addresses are displayed 3 Select the drive controller to which you would like to transfer the configuration Change the selection of transfer type from Read to Send 4 Change the selection Create new drive controller Select the configuration that you would like to...

Страница 29: ...w opens 2 Click on Start action ð The configuration is saved 3 Close the Save values A00 window 4 Assignment and live firmware update window Click on Restart A09 ð The Restart A09 window opens 5 Click on Start action ð A message opens 6 Confirm the message by clicking on OK ð The Restart A09 window closes ð The fieldbus communication and connection to DriveControlSuite are interrupted ð The drive ...

Страница 30: ...addresses of the IO controller and IO supervisor are compatible before starting your project configuration To be able to set up a connection both nodes must belong to the same subnet Reading out the IP address and subnet mask of the IO controller 1 Start TIA Portal and select Online diagnostics Accessible devices ð The Accessible devices window opens 2 Type of the PG PC interface Select PN IE 3 PG...

Страница 31: ...s and incorporating them into the project Information Be aware that you can only connect the IO controller and IO device logically in the TIA network view Incorporating the IO controller ü You have created a new project in TIA and installed the STOBER specific GSD You are in the TIA network view the hardware catalog is open 1 Hardware catalog Select Controller SIMATIC S7 1500 CPU and open the fold...

Страница 32: ...t addresses You also have the option to configure the monitoring of the IO data exchange Defining transmission volumes ü You are in the TIA network view The hardware catalog is open 1 Double click on an IO device in your IO system ð This switches you to the respective device view 2 Hardware catalog Select Catalog Module ð There are two categories available that determine the data volumes generally...

Страница 33: ...matic Activate this option if the period during which the controller and device exchange IO data is to be calculated automatically Can be set If you would like to calculate the update time yourself activate this option and enter the desired time unit milliseconds Adapt update time when send clock changes Activate this option if the ratio between the update time and transmission cycle is to remain ...

Страница 34: ...y verifying the selected controller using Flash LED ð The project configuration is transferred to the selected IO controller 8 2 7 Testing communication Check for error free communication between the IO controller and IO devices ü You have transferred the project configuration to the IO controller 1 Project tree Devices tab Open the folder of the controller in question Online diagnostics Online ac...

Страница 35: ...ains two ZAP14 files SAT_DriveBased_V14_1200 and SAT_DriveBased_V14_1500 for Siemens controllers SIMATIC S7 1200 and SIMATIC S7 1500 4 TIA Portal Select Project Retrieve and navigate to the directory where you saved the example projects 5 Open the ZAP14 file SAT_DriveBased_V14_1500 ð The example project is loaded in the TIA project view 6 Project tree Devices tab Open the folder of the IO controll...

Страница 36: ... It depends on various factors including the data volume to be transferred and is generally calculated in TIA Portal automatically for each IO device The watchdog time corresponds to the number of permitted cycles without a data transfer see the chapter Configuring IO devices 32 In addition to the watchdog time the parameter A109 PZD Timeout can be activated in DriveControlSuite At the end of the ...

Страница 37: ... exchange This information can also be read out in parameter A271 PN state X200 BF Run 2 1 Fig 7 LEDs for the PROFINET state 1 Red BF bus error 2 Green Run Red LED Conduct Description Off No error Rapid flashing Data exchange with IO controller not active On No network connection Tab 4 Meaning of the red LED BF Green LED Conduct Description Off No connection Flash Connection is set up to IO contro...

Страница 38: ...un Link Act Link Act Fig 8 LEDs for the state of the PROFINET network connection 1 Green Link at X201 2 Yellow Activity at X201 3 Green Link at X200 4 Yellow Activity at X200 Green LED Behavior Description Off No network connection On Network connection exists Tab 6 Meaning of the green LEDs Link Yellow LED Behavior Description Off No data exchange Flashing Active data exchange with IO controller ...

Страница 39: ... is interrupted In this case the machine can be damaged by the uncontrolled axis movement Events their causes and suitable measures are listed below If the cause of the error is corrected you can usually acknowledge the error immediately If the drive controller has to be restarted instead a corresponding note can be found in the measures 9 3 1 Event 52 Communication The drive controller has a faul...

Страница 40: ...0 offline Hardware not ready for use 1 step 1 Hardware ready for use no connection to the IO controller 2 step 2 IP address received connection to the IO controller is set up 3 phase 1 drive controller is configured by the IO controller 4 phase 2 Device start up of IO controller and drive controller completed process data communication is started 5 cyclic data exchange Process data communication a...

Страница 41: ...V0 Subnet mask of the drive controller in the PROFINET network source IO controller 0 Current subnet mask 1 Subnet mask after the next fieldbus restart 9 4 7 A276 PN gateway V0 Gateway address of the drive controller in the PROFINET network source IO controller 0 Current gateway address 1 Gateway address after the next fieldbus restart 9 4 8 A279 PN MAC addresses V0 MAC addresses of the drive cont...

Страница 42: ...or unsynchronized communication and PROFINET IO IRT for cycle synchronized real time communication STOBER drive controllers of the 6th generation support PROFINET IO RT PROFINET follows the provider consumer model where communication partners are on equal footing Data can be sent without a request from another network node Normally in the case of a data exchange a controller IO controller reads in...

Страница 43: ...flow is of critical importance in this data transfer From the perspective of the respective nodes a distinction is made between receive PZD RxPZD and transmit PZD TxPZD The specific communication elements that are sent and received in specific PZD can be freely selected The length and structure of process data are defined as part of project configuration by means of the process data modules see th...

Страница 44: ...E hex RECORD EN ENO RDREC Data Header Response Fig 9 RDREC system function block Input and output parameters Parameters Data type Declaration EN BOOL IN Release input REQ BOOL IN Transfer record REQ 1 Start transfer ID HW_IO IN Hardware ID for an IO device is issued automatically and can be read out using TIA Hardware Manager Device Properties for example INDEX DINT IN Record number the associated...

Страница 45: ...transfer ID HW_IO IN Hardware ID for an IO device is issued automatically and can be read out using TIA Hardware Manager Device Properties for example INDEX DINT IN Record number the associated value must always be B02E hex ENO BOOL OUT Release output DONE BOOL OUT Status of the communication Record was transferred BUSY BOOL OUT Status of the writing BUSY 1 still not finished ERROR BOOL OUT Status...

Страница 46: ... 3 RDREC Header Response Response_ID 0x81 Data Either parameter value or error Preparation of parameter value IO controller IO device Fig 11 RDREC flow During RDREC be aware that each parameter service begins with a read record request and ends with a read record response Write record flow 1 WRREC Header Request Request_ID 0x02 Data 2 RDREC 3 RDREC Header Response Response_ID 0x02 Data 3 RDREC Hea...

Страница 47: ... PROFINET IO nodes are based on the Industrial Ethernet Standard meaning that the assignment of the following addresses and names is important to be able to communicate with IO devices in the PROFINET IO system 10 5 1 MAC address Each network interface of a device in an Ethernet network requires its own address a MAC address The MAC address is used as a source and destination address for cyclical ...

Страница 48: ... PROFINET IO nodes connected by switches are in a subnet meaning that they communicate over a direct path All nodes of a subnet have the same subnet mask Gateways are components of a subnet and are responsible for forwarding subnet specific network queries to other subnets Information Be aware that real time communication is only possible within a subnet due to addressing with MAC addresses It is ...

Страница 49: ...om the group and line of the parameter according to the following formula Parameter_number decimal 8192 number of the group 512 number of the line Calculation example for parameter E200 number of the group 4 number of the line 200 Parameter_number E200 8192 4 512 200 10440 28C8 hex Group Number Addressable parameters A Drive controller 0 A00 A511 B Motor 1 B00 B511 C Machine 2 C00 C511 D Target va...

Страница 50: ...hex Access type Floating point Number_of_elements BYTE 1 32 hex 1 50 Parameters are to be written or read Parameter_number WORD 2000 hex 5FFF hex Group and line of a parameter Subindex WORD 0 3E80 hex Element of a list and structure parameter in single parameters the value 0 Format Condition Request_ID 2 hex BYTE 8 hex Transfer format FLOAT 41 hex Transfer format BYTE 42 hex Transfer format WORD 4...

Страница 51: ...equest 82 hex Negative answer to a write request Axis_number BYTE 0 3 Addressing the axis Number_of_parameters BYTE 1 Number of parameters to be processed Format BYTE 8 hex Transfer format FLOAT 41 hex Transfer format BYTE 42 hex Transfer format WORD 43 hex Transfer format DWORD 1C hex 1D hex 1E hex Transfer format STRING with 8 16 or 80 characters 44 hex Error in case of error Number_of_values BY...

Страница 52: ...bute Number_of_elements Parameter_number and subindex elements 17 hex Invalid format specification 18 hex Contrary value in the Number_of_elements and Number_of_values elements 21 hex Invalid Request_ID Service not supported applies to errors in the header of the request block A5 hex Error cannot be specified in more detail B0 hex Parameter service currently not possible or valid parameter descrip...

Страница 53: ...ue for all parameters represented as integer 4 bytes 8 16 or 80 characters Raw value 80 hex Unscaled raw value specifically for FLOAT data type 4 bytes Unscaled raw value specifically for BOOL WORD I8 data types 1 byte Unscaled raw value specifically for WORD I16 data types 2 bytes Unscaled raw value specifically for DWORD I32 data types 4 bytes Not permitted Integer 81 hex Not permitted Not permi...

Страница 54: ... 36 18 words inputs outputs all consistent M106 24W PZD all cons 48 48 24 words inputs outputs all consistent M107 36W PZD all cons 72 72 36 words inputs outputs all consistent M111 02W PZD Item cons 4 4 2 words inputs outputs Items consistent M112 04W PZD Item cons 8 8 4 words inputs outputs Items consistent M113 06W PZD Item cons 12 12 6 words inputs outputs Items consistent M114 12W PZD Item co...

Страница 55: ...can find general information on PROFINET on the PROFIBUS PROFINET International PI website at http www profibus com PROFINET specific guidelines profiles presentations brochures and software are available in the corresponding download area Information concerning the Siemens TIA Portal The most important information about the Siemens TIA Portal and additional documents links and training courses ca...

Страница 56: ...ypertext Transfer Protocol IEC International Electrotechnical Commission IEEE Institute of Electrical and Electronics Engineers I O Input Output IP Internet Protocol IRT Isochronous Real Time LAN Local Area Network LSB Least Significant Bit MAC Media Access Control PG Programmiergerät en Programming device PROFIBUS Process Field Bus PROFINET Process Field Network PZD Process Data RDREC Read Record...

Страница 57: ...hour service hotline Phone 49 7231 582 3000 Our address STÖBER Antriebstechnik GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 12 2 Your opinion is important to us We created this documentation to the best of our knowledge with the goal of helping you build and expand your expertise productively and efficiently with our products Your suggestions opinions wishes and constructive critici...

Страница 58: ...BER SWITZERLAND www stoeber ch Phone 41 56 496 96 50 sales stoeber ch STOBER FRANCE www stober fr Phone 33 4 78 98 91 80 sales stober fr STOBER TAIWAN www stober tw Phone 886 4 2358 6089 sales stober tw STOBER ITALY www stober it Phone 39 02 93909570 sales stober it STOBER TURKEY www stober com Phone 90 212 338 8014 sales turkey stober com STOBER JAPAN www stober co jp Phone 81 3 5395 678 8 sales ...

Страница 59: ...ically to a PROFINET IO controller that manages and controls it An IO device consists of multiple modules and submodules IO supervisor Generally engineering software that can access all process and configuration data An IO supervisor is only engaged temporarily for parameterizing the IO devices commissioning the IO system and for diagnostic purposes IPv4 limited broadcast Type of broadcast in a ne...

Страница 60: ...r networks such as LAN that only provides the essential functions for data transport UDP IP is a simple service that functions without a continuous connection on both sides There is no connection or disconnection and no acknowledgment of the received data packets There is the option to control data traffic using a checksum As with TCP IP there are no troubleshooting mechanisms Therefore it is enti...

Страница 61: ...f the portal view 17 Fig 5 TIA Portal Program interface of the project view 18 Fig 6 PROFINET Connection monitoring 36 Fig 7 LEDs for the PROFINET state 37 Fig 8 LEDs for the state of the PROFINET network connection 38 Fig 9 RDREC system function block Input and output parameters 44 Fig 10 WRREC system function block Input and output parameters 45 Fig 11 RDREC flow 46 Fig 12 WRREC flow 46 Fig 13 P...

Страница 62: ...7 Tab 6 Meaning of the green LEDs Link 38 Tab 7 Meaning of the yellow LEDs Act 38 Tab 8 Event 52 Causes and actions 39 Tab 9 Parameters of the RDREC system function block 44 Tab 10 Parameters of the WRREC system function block 45 Tab 11 Groups and parameters 49 Tab 12 RECORD request Header structure 50 Tab 13 RECORD response Header structure 51 Tab 14 RDREC WRREC Error codes 52 Tab 15 Attribute fo...

Страница 63: ...STÖBER Antriebstechnik GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com 442710 03 11 2019 24 h Service Hotline 49 7231 582 3000 www stober com ...

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