Supported Features

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2024-05-17

1 min read

The following table lists all supported PROFIdrive features, including a classification of whether the functionality is mandatory or optional according to the https://www.profibus.com/download/profidrive-profile-drive-technology specification.

<style></style><div class="cells-worksheet" data-sheet-number="0" data-sheet-name="PROFINET"><table border="0" cellpadding="0" cellspacing="0" style="border-collapse:collapse;table-layout:fixed;width:1664pt"> <colgroup> <col style="width:90px"></col> <col style="mso-width-source:userset;width:202px"></col> <col style="mso-width-source:userset;width:234px"></col> <col style="mso-width-source:userset;width:108px"></col> <col span="4" style="width:90px"></col> <col style="mso-width-source:userset;width:346px"></col> <col style="mso-width-source:userset;width:198px"></col> <col style="mso-width-source:userset;width:117px"></col> <col style="mso-width-source:userset;width:116px"></col> <col style="mso-width-source:userset;width:110px"></col> <col style="mso-width-source:userset;width:158px"></col> <col span="2" style="width:90px"></col> </colgroup> <tbody> <tr style="mso-height-source:userset;height:27.6pt;mso-xlrowspan:2" id="r0"> <td style="height:27.6pt"></td> <td></td> <td></td> <td></td> <td colspan="4" style="mso-ignore:colspan"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td colspan="2" style="mso-ignore:colspan"></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r1"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r2"> <td class="x21" style="height:11.4pt">Topic</td> <td class="x22">Funct. Block</td> <td class="x22">Function</td> <td class="x22">opt./mand.</td> <td class="x22">recomm.</td> <td class="x22">V4.2 chapt.</td> <td class="x22">V4.2 page</td> <td class="x22">V4.2 ref.</td> <td class="x22">Task</td> <td class="x22">Note</td> <td class="x22">GSDML</td> <td class="x22">Implementation</td> <td class="x22">impl. Schedule</td> <td class="x73">Impl. status V4.1.0.0</td> <td class="x22">Test Status</td> <td class="x23">Test Scripts</td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r3"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r4"> <td class="x24" style="height:11.4pt">1.0</td> <td class="x25">Parameter Channel (BMP)</td> <td class="x25">Block-No. 1</td> <td class="x26">mandatory</td> <td></td> <td></td> <td></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:97.2pt" id="r5"> <td class="x28" style="height:94.95pt">1.1</td> <td class="x29"></td> <td class="x29">BMP transport protocol</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x30">6.2.3.8 and 8.6.2</td> <td class="x30">71 to 73 and 271 to 273</td> <td class="x30">fig. 24<br />fig. 131</td> <td class="x30">Implementation of the BMP transport protocol for the transport of the BMP request and response blocks.</td> <td class="x30">check most recent errata list, use "fault_code_definition.pdf".</td> <td class="x30">Define MAP submodule for parameter access according to the selected device model.</td> <td class="x38">yes</td> <td class="x38">step 1a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r6"> <td class="x32" style="height:40.5pt">1.2</td> <td class="x20"></td> <td class="x27">BMP request/response prot.</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x27">6.2.3.4</td> <td class="x27">63 to 71</td> <td class="x27">tab. 28, tab. 29</td> <td class="x27">Implementation of the interpretation of the BMP request blocks and generation of the BMP response blocks.</td> <td class="x27">check most recent errata list.</td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step 1b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:96.6pt" id="r7"> <td class="x32" style="height:95.1pt">1.3</td> <td class="x20"></td> <td class="x27">BMP-Local access at 0xB02E IOAR</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x27"></td> <td class="x58"></td> <td class="x27"></td> <td class="x27">Mapping of the BMP service to data record 0xB02E of the dedicated MAP and other submodules for the IOAR.</td> <td class="x27">BMP access point at the MAP submodule ist mandatory. BMP access point at telegram submodules is optional. BMP access point at Profisafe submodule is recommended.</td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step 1d</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r8"> <td class="x32" style="height:40.5pt">1.4</td> <td class="x20"></td> <td class="x27">BMP-Global access at 0xB02F IOAR</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x27"></td> <td class="x58"></td> <td class="x27"></td> <td class="x27">Mapping of the BMP service to data record 0xB02F of the dedicated MAP and other submodules for the IOAR.</td> <td class="x27">for compatibility to older version, not recommended for new development.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step d</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:96.6pt" id="r9"> <td class="x32" style="height:95.1pt">1.5</td> <td class="x20"></td> <td class="x27">BMP-Local access at 0xB02E device access</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">8.4.3</td> <td class="x58">266</td> <td class="x27"></td> <td class="x27">Mapping of the BMP service to data record 0xB02E of the dedicated MAP and other submodules for the Device Access.</td> <td class="x27">BMP access point at the MAP submodule ist mandatory. BMP access point at telegram submodules is optional. BMP access point at Profisafe submodule is recommended.</td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step 1c</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r10"> <td class="x32" style="height:40.5pt">1.6</td> <td class="x20"></td> <td class="x27">BMP-Global access at 0xB02F device access</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x27"></td> <td class="x58"></td> <td class="x27"></td> <td class="x27">Mapping of the BMP service to data record 0xB02F of the dedicated MAP and other submodules for Device Access.</td> <td class="x27">for compatibility to older version, not recommended for new development.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step1c</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:96.6pt" id="r11"> <td class="x32" style="height:95.1pt">1.7</td> <td class="x20"></td> <td class="x20">parameter description</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x27">6.2.1.3</td> <td class="x58">49 to 60</td> <td class="x27">tab. 17</td> <td class="x27">Implementation of parameter description for all parameters.</td> <td class="x71">parameter text element is optional. Note that it is not intended that the parameter description is changeable via BMP access. Implement the parameter description fixed and as read only</td> <td class="x27"></td> <td class="x39">yes</td> <td class="x39">step 1e</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r12"> <td class="x32" style="height:26.7pt">1.8</td> <td class="x20"></td> <td class="x20">multi parameter access</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x27">6.2.3.7</td> <td class="x58">71</td> <td class="x27"></td> <td class="x27">support of more than one parameter access per response block.</td> <td class="x27">check most recent errata list.</td> <td class="x27"></td> <td class="x39">yes</td> <td class="x39">step 2</td> <td class="x76"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.2pt" id="r13"> <td class="x32" style="height:53.7pt">1.9</td> <td class="x20"></td> <td class="x20">parameter 974</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.3.9.4</td> <td class="x58">164</td> <td class="x27">Tab. 124</td> <td class="x27">post capability and ressources of the implemented BMP service.</td> <td class="x27">recommended especially if the BMP properties differ from the standard setting (244 Byte, multi parameter).</td> <td class="x20"></td> <td class="x39">yes </td> <td class="x39">step 2</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x74"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.8pt" id="r14"> <td class="x32" style="height:54.3pt">1.10</td> <td class="x20"></td> <td class="x20">parameter 927</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">6.3.11</td> <td class="x58">167</td> <td class="x27">Tab. 139</td> <td class="x27">post and control write priority for parameter in a vendor specific way.</td> <td class="x27">may be used if vendor specific mechanism for write priority is already available and can be mapped.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 2b</td> <td class="x43"></td> <td class="x74"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69pt" id="r15"> <td class="x32" style="height:67.5pt">1.11</td> <td class="x20"></td> <td class="x20">parameter 980 to 989</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x59">6.4.2</td> <td class="x58">186</td> <td class="x27">Tab. 144</td> <td class="x27">post all implemented parameters. Profile specific and vendor specific parameters.</td> <td class="x27">You may use only parameter 980 and implement a long list, or you split the parameter list among several list parts using multiple parameters.</td> <td class="x20"></td> <td class="x40">yes</td> <td class="x40">step2</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x74"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:65.4pt" id="r16"> <td class="x32" style="height:63.900000000000006pt">1.12</td> <td class="x20"></td> <td class="x20">parameter 990 to 999</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">6.4.2</td> <td class="x58">186</td> <td class="x27">Tab. 144</td> <td class="x27">post all differences from factory setting.</td> <td class="x27">implementation only if there is a dedicated factory setting. Not used very often.</td> <td class="x20"></td> <td class="x40">no</td> <td class="x40">step2b</td> <td class="x43"></td> <td class="x74"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:83.4pt" id="r17"> <td class="x34" style="height:81.15pt">1.13</td> <td class="x35"></td> <td class="x35">vendor specific parameter</td> <td class="x35">optional</td> <td class="x35">yes</td> <td class="x60">6.2.2</td> <td class="x61">61</td> <td class="x36"></td> <td class="x36">As required map already existing internal parameters, which are not covered by standard Profidrive parameters,<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>to profidrive vendor specific parameters. For vendor specific parameters the number ranges from 1 to 899 and 1000 to 60000 shall be used.</td> <td class="x36">useful to access all drive parameters via the Profidrive parameter channel, e.g. from the vendor drive setup tool.</td> <td class="x35"></td> <td class="x41">yes</td> <td class="x41">step2c</td> <td class="x44"></td> <td class="x75"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r18"> <td class="x54" style="height:12.3pt"></td> <td class="x55"></td> <td class="x55"></td> <td class="x56"></td> <td></td> <td class="x19"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r19"> <td class="x54" style="height:12.9pt"></td> <td class="x55"></td> <td class="x55"></td> <td class="x56"></td> <td></td> <td class="x19"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r20"> <td class="x24" style="height:11.4pt">2.0</td> <td class="x25">General State Machine</td> <td class="x25">Block-No. 2</td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:41.4pt" id="r21"> <td class="x45" style="height:39.15pt">2.1</td> <td class="x29"></td> <td class="x29">General state machine</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x30">6.3.3.2 and<br />6.3.2</td> <td class="x62">98, 99 and<br />89 to 96</td> <td class="x30">fig. 27</td> <td class="x30">Mapping of drive internal states to PROFIdrive General state machine.</td> <td class="x30">Use grafic state diagram Fig. 27 and comments in Tab. 70 to 82 for mapping.</td> <td class="x30"></td> <td class="x38">yes</td> <td class="x38">step 3a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:55.8pt" id="r22"> <td class="x32" style="height:54.3pt">2.2</td> <td class="x20"></td> <td class="x27">Bit "pulses enabled" <br />and parameter 924</td> <td class="x27">optional</td> <td class="x20">yes</td> <td class="x27">6.3.2.8</td> <td class="x58">96</td> <td class="x27">Tab. 82</td> <td class="x27">Mapping of internal drive status "pulses enabled" to vendor specific bit in ZSW1 or ZSW2. Implementation of parameter 924 to post the position of the "pulses enabled" bit.</td> <td class="x27">Recommended to implement "pulses enabled" status bit on bit 11 of ZSW2.<br />Also implement p924.</td> <td class="x27"></td> <td class="x40">yes</td> <td class="x40">step 3a</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r23"> <td class="x32" style="height:26.7pt">2.3</td> <td class="x20"></td> <td class="x20">STW1 state machine</td> <td class="x27">mandatory</td> <td class="x20">yes</td> <td class="x27">6.3.2.2</td> <td class="x58">89 to 91</td> <td class="x27">Tab. 70 ff.</td> <td class="x27">Implementation of STW1 bits 0 to 3 and 10</td> <td class="x27">be aware of importance of bit 10</td> <td class="x20"></td> <td class="x40">yes</td> <td class="x40">step 3a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r24"> <td class="x32" style="height:26.7pt">2.4</td> <td class="x20"></td> <td class="x20">ZSW1 state machine</td> <td class="x27">mandatory</td> <td class="x20">yes</td> <td class="x27">6.3.2.5</td> <td class="x58">93 to 95</td> <td class="x27">Tab. 76 ff.</td> <td class="x27">Implementation of ZSW1 bits 0 to 2 and 4 to 6 and 9</td> <td class="x27">be aware of importance of bit 9</td> <td class="x20"></td> <td class="x40">yes</td> <td class="x40">step 3a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:54.6pt" id="r25"> <td class="x32" style="height:53.1pt">2.5</td> <td class="x20"></td> <td class="x20">STW2 state machine</td> <td class="x27">dependent on AC</td> <td class="x20">d.o.AC</td> <td class="x27">6.3.2.3</td> <td class="x58">92</td> <td class="x27">Tab. 74</td> <td class="x27">nothing to do (STW2 only contains vendor specific bits and the life sign)</td> <td class="x27">only if the drive supports a telegramm containing STW2</td> <td class="x20"></td> <td class="x40">Yes for IRT Devices</td> <td class="x39">step 3b</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r26"> <td class="x34" style="height:25.95pt">2.6</td> <td class="x35"></td> <td class="x35">ZSW2 state machine</td> <td class="x36">dependent on AC</td> <td class="x35">d.o.AC</td> <td class="x36">6.3.2.6</td> <td class="x61">96</td> <td class="x36">Tab. 80</td> <td class="x36">Implementation of ZSW2 bit 11 "pulses enabled"</td> <td class="x36">only if the drive supports a telegramm containing ZSW2</td> <td class="x35"></td> <td class="x41">Yes for IRT Devices</td> <td class="x46">step 3b</td> <td class="x77">Done (AC4).</td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r27"> <td class="x17" style="height:12.3pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r28"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r29"> <td class="x24" style="height:25.2pt">3.0</td> <td class="x25">Speed Setpoint Channel</td> <td class="x25">Block-No. 3</td> <td class="x47">mandatory AC1, AC4</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r30"> <td class="x45" style="height:39.75pt">3.1</td> <td class="x29"></td> <td class="x29">full speed setpoint channel</td> <td class="x29">mandatory AC1</td> <td class="x29">AC1 yes</td> <td class="x30">6.3.3.3.2</td> <td class="x30">100 to 101</td> <td class="x30">Fig. 28, <br />Fig. 29</td> <td class="x30">Implementation of functionality controlled by STW1 bits 4, 5, 6. Also implement corresponding status signal ZSW1 bit 8, 10 and 2.</td> <td class="x30">Implementation mandatory if drive is a frequency converter AC1.</td> <td class="x29"></td> <td class="x38">yes AC1</td> <td class="x38">step 4a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:83.4pt" id="r31"> <td class="x32" style="height:81.9pt">3.2</td> <td class="x20"></td> <td class="x20">reduced speed setpoint channel</td> <td class="x20">optional AC4</td> <td class="x20">AC4 yes</td> <td class="x27">6.3.3.3.3</td> <td class="x27">101 to 103</td> <td class="x27">Fig. 30,<br />Fig. 31</td> <td class="x27">Implementation of functionality controlled by STW1 bits 4 and 6. Also implement corresponding status signal ZSW1 bit 8, 10 and 2.</td> <td class="x27">If drive only supports AC4 but not AC1, the implementation of the reduced speed setpoint channel is recommended instead of the full speed setpoint channel.</td> <td class="x20"></td> <td class="x40">yes AC4</td> <td class="x40">step 4a</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.2pt" id="r32"> <td class="x32" style="height:53.7pt">3.3</td> <td class="x20"></td> <td class="x20">parameter 930</td> <td class="x20">optional AC1</td> <td class="x20">yes</td> <td class="x63">6.4.2<br />6.3.3<br />6.3.3.3</td> <td class="x27">181<br />97<br />99</td> <td class="x27">Tab. 144</td> <td class="x27">post currently active setpoint interface.</td> <td class="x27">Implementation mandatory if reduced speed setpoint is implemented or drive supports AC3 functionality.</td> <td class="x20"></td> <td class="x40">yes</td> <td class="x40">step 4a</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r33"> <td class="x32" style="height:26.7pt">3.4</td> <td class="x20"></td> <td class="x20">Jog mode</td> <td class="x20">optional AC1</td> <td class="x20">no</td> <td class="x27">6.3.3.3.4</td> <td class="x58">103</td> <td class="x27">Fig. 29</td> <td class="x27">Implementation of the Jog functionality controlled by STW1 bits 8 and 9.</td> <td class="x27">Marketing decision if Jog functionalty is necessary.</td> <td class="x20"></td> <td class="x40">no</td> <td class="x40">step 4b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:111pt" id="r34"> <td class="x34" style="height:108.75pt">3.5</td> <td class="x35"></td> <td class="x35">speed IO Data normalization</td> <td class="x35">mandatory</td> <td class="x35">yes</td> <td class="x36">6.3.4.5</td> <td class="x36">120 to 123</td> <td class="x36"></td> <td class="x36">Implementation of signals NSOLL_A, NIST_A, NSOLL_B, NIST_B as N2 or N4 data types, as necessary for planned telegrams.</td> <td class="x36">Implement vendor specific parameters for content of NSOLL_A, NSOLL_B, NIST_A, NIST_B. Implement one vendor specific parameter (e.g. 2000) which contains the 100% value for speed data normalization.</td> <td class="x35"></td> <td class="x41">yes</td> <td class="x41">step 4a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r35"> <td style="height:13.8pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r36"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r37"> <td class="x24" style="height:11.4pt">4.0</td> <td class="x25">Telegram Selection</td> <td class="x25">Block-No. 4</td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:82.8pt" id="r38"> <td class="x45" style="height:80.55pt">4.1</td> <td class="x29"></td> <td class="x29">parameter 922</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x64">6.3.4.4</td> <td class="x30" style="text-align:right">118</td> <td class="x30">Tab. 96</td> <td class="x30">Implement telegram selection and post selected telegram via param. 922. Telegramm configuration may be set via write of param. 922 or by dynamic configuration in the communication startup phase (expected configuration).</td> <td class="x30">parameter 922 readable is mandatory.</td> <td class="x30">define selectable profidrive telegrams as separate submodules in the GSDML.</td> <td class="x38">yes</td> <td class="x38">step5a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:69pt" id="r39"> <td class="x32" style="height:67.5pt">4.2</td> <td class="x20"></td> <td class="x20">parameter 915</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">6.3.4.4</td> <td class="x27" style="text-align:right">120</td> <td class="x27">Fig. 40</td> <td class="x27">Post selected telegram setup by the list of transfered parameters of the output DO IO Data in param. 915. Flexible telegramm configuration may implemented by writing of param. 915 (if p922 is set to zero). Implementation together with p916.</td> <td class="x27">usefull if flexible telegramm configuration shall be used. Precondition is, that all possible telegram signals are mapped to parameters.</td> <td class="x20"></td> <td class="x40">no</td> <td class="x40">step5b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69pt" id="r40"> <td class="x32" style="height:67.5pt">4.3</td> <td class="x20"></td> <td class="x20">parameter 916</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">6.3.4.4</td> <td class="x27" style="text-align:right">120</td> <td class="x27">Fig. 40</td> <td class="x27">Post selected telegram setup by the list of transfered parameters of the input DO IO Data in param. 916. Flexible telegramm configuration may implemented by writing of param. 916 (if p922 is set to zero). Implementation together with p915.</td> <td class="x27">usefull if flexible telegramm configuration shall be used. Precondition is, that all possible telegram signals are mapped to parameters.</td> <td class="x20"></td> <td class="x40">no</td> <td class="x40">step5b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69.6pt" id="r41"> <td class="x32" style="height:68.1pt">4.4</td> <td class="x20"></td> <td class="x20">parameter 923</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">6.3.4.4</td> <td class="x27" style="text-align:right">120</td> <td class="x27">Fig. 40</td> <td class="x27">Post mapping of available Signals (signal number) to Profidrive parameters (vendor specific).</td> <td class="x27">usefull if flexible telegramm configuration shall be used. Precondition is, that all possible telegram signals are mapped to parameters.</td> <td class="x20"></td> <td class="x40">no</td> <td class="x40">step5b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.8pt" id="r42"> <td class="x32" style="height:54.3pt">4.5</td> <td class="x20"></td> <td class="x20">parameter 930</td> <td class="x27">mandatory AC3<br />optional AC4<br />optional AC1</td> <td class="x20">yes</td> <td class="x63">6.4.2<br />6.3.3<br />6.3.3.3</td> <td class="x27">181<br />97<br />99</td> <td class="x27">Tab. 144</td> <td class="x27">post currently active setpoint interface.</td> <td class="x27">Implementation mandatory if reduced speed setpoint is implemented or drive supports AC3 functionality.</td> <td class="x20"></td> <td class="x40">yes</td> <td class="x40">step 5a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.8pt" id="r43"> <td class="x32" style="height:54.3pt">4.6</td> <td class="x20"></td> <td class="x20">parameter 900</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.4.2</td> <td class="x27" style="text-align:right">179</td> <td class="x27">Tab. 144</td> <td class="x27">post and/or set DO IO Data output part of the selected profidrive telegram.</td> <td class="x27">may be used for diagnostic purpose or to control the drive via acyclic channel (parameter access).</td> <td class="x20"></td> <td class="x40">no</td> <td class="x40">step5b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.2pt" id="r44"> <td class="x32" style="height:53.7pt">4.7</td> <td class="x20"></td> <td class="x20">parameter 907</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.4.2</td> <td class="x27" style="text-align:right">179</td> <td class="x27">Tab. 144</td> <td class="x27">post DO IO Data input part of the selected profidrive telegram.</td> <td class="x27">may be used for diagnostic purpose or to control the drive via acyclic channel (parameter access).</td> <td class="x20"></td> <td class="x40">no</td> <td class="x40">step5b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69.6pt" id="r45"> <td class="x34" style="height:67.35pt">4.8</td> <td class="x35"></td> <td class="x35">parameter 928</td> <td class="x35">optional</td> <td class="x35">no</td> <td class="x60">6.3.11</td> <td class="x36" style="text-align:right">167</td> <td class="x27">Tab. 144</td> <td class="x36">Implement control priority for setpoint values if control by supervisor is a feature. Implementation of control by supervisor is vendor specific.</td> <td class="x36">usefull if vendor specific movement of drive from supervisor (drive configuration tool) is already available and shall be used.</td> <td class="x35"></td> <td class="x41">no</td> <td class="x41">step5c</td> <td class="x44"></td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r46"> <td style="height:13.8pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r47"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r48"> <td class="x24" style="height:11.4pt">5.0</td> <td class="x25">Device Identification</td> <td class="x25">Block-No. 5</td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r49"> <td class="x45" style="height:39.75pt">5.1</td> <td class="x29"></td> <td class="x29">parameter 964</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x64">6.3.9.1</td> <td class="x30" style="text-align:right">161</td> <td class="x30">Tab. 118</td> <td class="x30">Post general information about Drive Unit (vendor, drive type, hardware version, software version).</td> <td class="x30">if helpful vendor specific device information may be added.</td> <td class="x29"></td> <td class="x48">yes</td> <td class="x48">step 6a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r50"> <td class="x32" style="height:12.9pt">5.2</td> <td class="x20"></td> <td class="x20">parameter 965</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">6.3.9.2</td> <td class="x27" style="text-align:right">162</td> <td class="x27">Tab. 119</td> <td class="x27">Post the supported Profidrive profile version.</td> <td class="x27"></td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step 6a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:41.4pt" id="r51"> <td class="x32" style="height:39.9pt">5.3</td> <td class="x20"></td> <td class="x20">parameter 975</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">6.3.9.3</td> <td class="x27">162 to 163</td> <td class="x27">Tab. 120 to Tab. 123</td> <td class="x27">Post general information about the DO (DO-ID, vendor, DO type, hardware version, software version, supported AC).</td> <td class="x27"></td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step 6a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.2pt" id="r52"> <td class="x32" style="height:53.7pt">5.4</td> <td class="x20"></td> <td class="x20">parameter 962</td> <td class="x27">mandatory if data types D2, T2, T4 or R2 are used</td> <td class="x20">yes</td> <td class="x59">6.4.2</td> <td class="x27" style="text-align:right">183</td> <td class="x27">Tab. 144</td> <td class="x27">Post the active sampling time of the device.</td> <td class="x27"></td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 6b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:41.4pt" id="r53"> <td class="x32" style="height:39.9pt">5.5</td> <td class="x20"></td> <td class="x20">parameter 969</td> <td class="x27">optional</td> <td class="x20">no</td> <td class="x59">6.4.2</td> <td class="x27" style="text-align:right">184</td> <td class="x27">Tab. 144</td> <td class="x27">Post the operation time since last startup .</td> <td class="x27">may be implemented if this service is already available on the device.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 6b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r54"> <td class="x32" style="height:40.5pt">5.6</td> <td class="x20"></td> <td class="x20">parameter 978</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">8.7.3</td> <td class="x27" style="text-align:right">274</td> <td class="x27">Fig. 133</td> <td class="x27">Implement the List of all DO-Ids if the device supports BMP-Global parameter access service.</td> <td class="x27">parameter is mandatory if BMP-Global service is supported.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 6b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r55"> <td class="x32" style="height:26.7pt">5.7</td> <td class="x20"></td> <td class="x20">parameter 61000</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">8.10</td> <td class="x27">281 to 282</td> <td class="x27">Tab. 183,<br />Tab. 184</td> <td class="x27">Implement the parameter NameOfStation for Profinet interface identification.</td> <td class="x27">read only.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 6b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r56"> <td class="x32" style="height:26.7pt">5.8</td> <td class="x20"></td> <td class="x20">parameter 61001</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">8.10</td> <td class="x27">281 to 282</td> <td class="x27">Tab. 183,<br />Tab. 184</td> <td class="x27">Implement the parameter IpOfStation for Profinet interface identification.</td> <td class="x27">read only.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 6b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r57"> <td class="x32" style="height:26.7pt">5.9</td> <td class="x20"></td> <td class="x20">parameter 61002</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">8.10</td> <td class="x27">281 to 282</td> <td class="x27">Tab. 183,<br />Tab. 184</td> <td class="x27">Implement the parameter MacOfStation for Profinet interface identification.</td> <td class="x27">read only.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 6b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r58"> <td class="x32" style="height:40.5pt">5.10</td> <td class="x20"></td> <td class="x20">parameter 61003</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">8.10</td> <td class="x27">281 to 282</td> <td class="x27">Tab. 183,<br />Tab. 184</td> <td class="x27">Implement the parameter StandardGatewayOfStation for Profinet interface identification.</td> <td class="x27">read only.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 6b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r59"> <td class="x34" style="height:25.95pt">5.11</td> <td class="x35"></td> <td class="x35">parameter 61004</td> <td class="x35">optional</td> <td class="x35">no</td> <td class="x60">8.10</td> <td class="x27">281 to 282</td> <td class="x27">Tab. 183,<br />Tab. 184</td> <td class="x36">Implement the parameter SubnetMaskOfStation for Profinet interface identification.</td> <td class="x36">read only.</td> <td class="x35"></td> <td class="x46">no</td> <td class="x46">step 6b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r60"> <td class="x17" style="height:12.3pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x19"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r61"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r62"> <td class="x24" style="height:11.4pt">6.0</td> <td class="x25">Device Management</td> <td class="x25">Block-No. 6</td> <td class="x47">mandatory</td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:85.8pt" id="r63"> <td class="x45" style="height:83.55pt">6.1</td> <td class="x29"></td> <td class="x29">parameter 970</td> <td class="x30">optional</td> <td class="x30">yes</td> <td class="x57">6.4.2</td> <td class="x27" style="text-align:right">184</td> <td class="x27">Tab. 144</td> <td class="x30">Implementation of the loading of the DO (local) parameters from non volatile memory or reset to factory setting (or mapping of this already existing mechanism).</td> <td class="x30">should be implemented if the drive/encoder is a complex device. For simple devices (less than 20 parameters) parameter storage should be done via GSD/controller.</td> <td class="x29"></td> <td class="x48">no</td> <td class="x48">step 7a</td> <td class="x42"></td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:82.8pt" id="r64"> <td class="x32" style="height:81.3pt">6.2</td> <td class="x20"></td> <td class="x20">parameter 971</td> <td class="x27">optional</td> <td class="x27">yes</td> <td class="x57">6.4.2</td> <td class="x27" style="text-align:right">184</td> <td class="x27">Tab. 144</td> <td class="x27">Implementation of the storage of the DO (local) plus global parameters to non volatile device internal memory (or mapping of this already existing mechanism).</td> <td class="x27">should be implemented if the drive/encoder is a complex device. For simple devices (less than 20 parameters) parameter storage should be done via GSD/controller.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 7a</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:82.8pt" id="r65"> <td class="x32" style="height:81.3pt">6.3</td> <td class="x20"></td> <td class="x20">parameter 977</td> <td class="x27">optional</td> <td class="x27">yes</td> <td class="x57">6.4.2</td> <td class="x27" style="text-align:right">185</td> <td class="x27">Tab. 144</td> <td class="x27">Implementation of the storage of all parameter (global, all local of all DO) to non volatile device internal memory (or mapping of this already existing mechanism).</td> <td class="x27">should be implemented if the drive/encoder is a complex device. For simple devices (less than 20 parameters) parameter storage should be done via GSD/controller.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 7a</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:82.8pt" id="r66"> <td class="x32" style="height:81.3pt">6.4</td> <td class="x20"></td> <td class="x20">parameter 976</td> <td class="x27">optional</td> <td class="x27">yes</td> <td class="x57">6.4.2</td> <td class="x27" style="text-align:right">185</td> <td class="x27">Tab. 144</td> <td class="x27">Implementation of the loading of all parameter (global, all local of all DO) from non volatile memory or reset to factory setting (or mapping of this already existing mechanism).</td> <td class="x27">should be implemented if the drive/encoder is a complex device. For simple devices (less than 20 parameters) parameter storage should be done via GSD/controller.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step 7a</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r67"> <td class="x34" style="height:39.75pt">6.5</td> <td class="x35"></td> <td class="x35">parameter 972</td> <td class="x36">optional</td> <td class="x36">yes</td> <td class="x65">6.3.10</td> <td class="x36">165 to 167</td> <td class="x36">Tab. 127,<br />Tab. 128</td> <td class="x36">Implementation of the reset mechanism for the device (DU), or mapping of this already existing mechanism.</td> <td class="x36">check most recent errata list.</td> <td class="x35"></td> <td class="x46">no</td> <td class="x46">step 7a</td> <td class="x44"></td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r68"> <td class="x17" style="height:12.3pt"></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x18"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r69"> <td class="x17" style="height:12.9pt"></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x18"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r70"> <td class="x24" style="height:11.4pt">7.0</td> <td class="x25">Device Model PROFINET</td> <td class="x25">Block-No. 7</td> <td class="x26">mandatory</td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:111pt" id="r71"> <td class="x45" style="height:108.75pt">7.1</td> <td class="x29"></td> <td class="x29">define slot/subslot model</td> <td class="x30">mandatory</td> <td class="x30">yes</td> <td class="x66">8.4</td> <td class="x30">265 to 270</td> <td class="x30">Fig. 127</td> <td class="x30">According to your drive type select and draw the appropriate Slot and Subslot structure of your drive device according to the definitions in chapter 8.4.3. For homogeneous single or multi axis devices the device structure is quite easy and similar to Fig. 127</td> <td class="x30">for homogeneous Profidrive devices (general use case) the device model is quite easy.</td> <td class="x30">Get your Vendor-ID from PI. Define Vendor specific Device-ID.</td> <td class="x48">yes</td> <td class="x48">step 8a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:136.2pt" id="r72"> <td class="x32" style="height:134.7pt">7.2</td> <td class="x20"></td> <td class="x20">define DAP module</td> <td class="x27">mandatory</td> <td class="x20">yes</td> <td class="x70">8.4.3</td> <td class="x20" style="text-align:right">266</td> <td class="x20">Fig. 128</td> <td class="x27">The DAP module is slot 0 and represents the device itself. Therefore the module 0 always contains interface submodule and as much port submodules than the device supports physical Profinet ports. Define a Module-ID for your DAP (module). The DAP-Module-ID is vendor specific. Typically the DAP-Module-ID identifies hardware- and software version of the device.</td> <td class="x27">define a method to distinguish hardware and software versions of the device by different DAP-Module-Ids. Implement a compatibility check in the Profinet startup to confirm or reject an unequal Module-ID (compatible typically means, that "newer" devices accept "older" module-IDs in the expected configuration but not vice versa.</td> <td class="x27">Define Device and DAP Module with all Submodules in the GSDML. The DAP Module and all Submodules in the DAP get the API=0.</td> <td class="x40">yes</td> <td class="x40">step 8a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:141pt" id="r73"> <td class="x32" style="height:139.5pt">7.3</td> <td class="x20"></td> <td class="x20">define DO modules</td> <td class="x27">mandatory</td> <td class="x20">yes</td> <td class="x67">8.4.3</td> <td class="x20" style="text-align:right">268</td> <td class="x27">Fig. 129</td> <td class="x27">Define as much DO-Modules than Axis types required for the drive. The Module-ID of the DO-Modules is vendor specific.</td> <td class="x27">the Module-ID of the DO-Modules typically represents the axis type and variants of the DO.</td> <td class="x27">define Modules for all DO-Types used for this drive. The DO Modules and all Submodules in the DO-Module get the API=0x3A00.</td> <td class="x40">yes</td> <td class="x40">step 8a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:115.8pt" id="r74"> <td class="x32" style="height:114.3pt">7.4</td> <td class="x20"></td> <td class="x20">define Submodules</td> <td class="x27">mandatory</td> <td class="x20">yes</td> <td class="x67">8.4.5</td> <td class="x20" style="text-align:right">268</td> <td class="x27">Tab. 184<br />Tab. 185</td> <td class="x27">Define one MAP Submodule (Submodule-ID = 0xFFFF). Also define as much telegram Submodules than Profidrive telegrams required for the drive. The lower word of the Submodule-ID is defined by Profidrive Tab. 177. The higher word of the Submodule-ID is vendor specific.</td> <td class="x27">the vendor specific part of the submodule ID is used to distinguish submodules having the same telegram type but different isochroneous attributes.</td> <td class="x27">define Submodules for all Profidrive telegramms used for this drive dispatch them to the modules defined. All Submodules in the DO-Module get the API=0x3A00.</td> <td class="x40">yes</td> <td class="x40">step 8a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69.6pt" id="r75"> <td class="x49" style="height:67.35pt">7.5</td> <td class="x35"></td> <td class="x35">Prm parameterization</td> <td class="x36">optional</td> <td class="x35">no</td> <td colspan="3" class="x78" style="border-right:1px solid windowtext;border-bottom:2px solid windowtext"></td> <td class="x36">Define and implement a device specific parameterization data record.</td> <td class="x36">Only usefull for small devices with little number of parameters which typically do not have a special drive configuration tool.</td> <td class="x36">define PRM data record and available device parameter in the GSDML.</td> <td class="x41">no</td> <td class="x41">step8b</td> <td class="x44"></td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r76"> <td style="height:13.8pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r77"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r78"> <td class="x24" style="height:11.4pt">8.0</td> <td class="x25">Fault Buffer</td> <td class="x25">Block-No. 8</td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:55.8pt" id="r79"> <td class="x45" style="height:53.55pt">8.1</td> <td class="x29"></td> <td class="x29">decide fault buffer model</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x64">6.3.8.3</td> <td class="x30">153 ff.</td> <td class="x30">Tab. 114</td> <td class="x30">decide if the complete or reduce fault buffer is necessary and decide the fault buffer size. Default is an 8x8 fault buffer size according to fig. 64.</td> <td class="x30">for easy devices it may be helpful to reduce the fault buffer size and limit to the reduced fault buffer.</td> <td class="x29"></td> <td class="x48">yes</td> <td class="x48">step9a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:97.2pt" id="r80"> <td class="x32" style="height:95.7pt">8.2</td> <td class="x20"></td> <td class="x27">fault number block (p944, p947)</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">6.3.8.3</td> <td class="x30">153 ff.</td> <td class="x30">Tab. 114,<br />Fig. 61</td> <td class="x27">implementation of parameters 944 and 947 and the related fault buffer logic according to the definition in fig. 62 and fig. 63 together with the handling of the bits ZSW1 bit3 and STW1 bit 7 (alarm handling logic).</td> <td class="x27">mandatory minimum implementation of the fault buffer. According to the definition a fault always causes the drive to a stop reaction. All other exceptions are warnings.</td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step9a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.8pt" id="r81"> <td class="x32" style="height:54.3pt">8.3</td> <td class="x20"></td> <td class="x27">fault situation counter (p952)</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.3.8.3</td> <td class="x30">153 ff.</td> <td class="x30">Tab. 114,<br />Fig. 61</td> <td class="x27">implementation of parameter 952 and the related fault buffer logic (incrementing and general reset of the fault buffer).</td> <td class="x27">optional function. Useful to process a general reset of the whole fault buffer by the user.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step9b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r82"> <td class="x32" style="height:40.5pt">8.4</td> <td class="x20"></td> <td class="x27">scaling of the fault buffer (p950)</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.3.8.3<br />'6.4.2</td> <td class="x27">153 ff.<br />and 182</td> <td class="x27">Tab. 144</td> <td class="x27">implementation of parameter 950 to post the real size of the fault buffer.</td> <td class="x27">shall be implemented if the size of the fault buffer differs from the default size (8x8).</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step9b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r83"> <td class="x32" style="height:40.5pt">8.5</td> <td class="x20"></td> <td class="x27">fault time (p948)</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.3.8.3<br />'6.4.2</td> <td class="x27">153 ff.<br />and 182</td> <td class="x27">Tab. 144</td> <td class="x27">implementation of parameter 948 to post time stamp of the fault (vendor specific).</td> <td class="x27">usefull to implemented if fault time stamp is already available in the device.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step9b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r84"> <td class="x32" style="height:26.7pt">8.6</td> <td class="x20"></td> <td class="x27">fault number list with text (p951)</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.3.8.3<br />'6.4.2</td> <td class="x27">153 ff.<br />and 183</td> <td class="x27">Tab. 144</td> <td class="x27">implementation of parameter 951 to post fault related parameter and fault text.</td> <td class="x27"></td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step9b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r85"> <td class="x32" style="height:26.7pt">8.7</td> <td class="x20"></td> <td class="x27">fault value (p949)</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.3.8.3<br />'6.4.2</td> <td class="x27">153 ff.<br />and 182</td> <td class="x27">Tab. 144</td> <td class="x27">implementation of parameter 949 to post fault related fault vaule.</td> <td class="x27"></td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step9b</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69.6pt" id="r86"> <td class="x32" style="height:68.1pt">8.8</td> <td class="x20"></td> <td class="x27">fault code block (p945, p946)</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">6.3.8.3<br />'6.4.2</td> <td class="x27">153 ff.<br />and 181</td> <td class="x27">Tab. 114</td> <td class="x27">implementation of parameters 944 and 947 and the related fault coding logic according to the definition in fig. 61.</td> <td class="x27">useful only if recoding from drive internal (vendor specific) fault codes to free user fault coding is a requirement.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step9c</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:28.2pt" id="r87"> <td class="x34" style="height:25.95pt">8.9</td> <td class="x35"></td> <td class="x36">fault reaction</td> <td class="x35">mandatory</td> <td class="x35">yes</td> <td class="x36">Annex</td> <td class="x36">286 to 288</td> <td class="x36">Fig. 137,<br />Fig. 138</td> <td class="x36">implementation of the alarm handling logic according to the definition in fig. 137 and fig. 138.</td> <td class="x36"></td> <td class="x35"></td> <td class="x46">yes</td> <td class="x46">step9a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r88"> <td style="height:13.8pt"></td> <td></td> <td></td> <td></td> <td colspan="4" style="mso-ignore:colspan"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td colspan="2" style="mso-ignore:colspan"></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r89"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r90"> <td class="x24" style="height:11.4pt">9.0</td> <td class="x25">Warning Mechanism</td> <td class="x25">Block-No. 9</td> <td class="x26">optional</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:55.8pt" id="r91"> <td class="x50" style="height:52.8pt">9.1</td> <td class="x22"></td> <td class="x22">warning parameters (p953ff)</td> <td class="x22">optional</td> <td class="x22">yes</td> <td class="x51">6.3.8.2</td> <td class="x51">152 to 153</td> <td class="x51">Fig. 59</td> <td class="x51">map warnings from your drive application to bits in the dedicated warning parameters p953 to p960 in a vendor specific way. Also implement the signalling of present warnings via ZSW1 bit 7.</td> <td class="x51"></td> <td class="x22"></td> <td class="x52">yes</td> <td class="x52">step10</td> <td class="x72">V4.1.0.0 - example warnings are implemented.</td> <td class="x53"></td> <td class="x23"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r92"> <td style="height:13.8pt"></td> <td></td> <td></td> <td></td> <td colspan="4" style="mso-ignore:colspan"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td colspan="2" style="mso-ignore:colspan"></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r93"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r94"> <td class="x24" style="height:11.4pt">10.0</td> <td class="x25">Alarm Mechanism</td> <td class="x25">Block-No. 10</td> <td class="x26">optional</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:152.4pt" id="r95"> <td class="x45" style="height:150.15pt">10.1</td> <td class="x29"></td> <td class="x29">fault mapping</td> <td class="x29">optional</td> <td class="x29">yes</td> <td class="x30">6.3.8.4</td> <td class="x30">159 to 160</td> <td class="x30">Tab. 116<br />Tab. 117</td> <td class="x30">Implement a mapping of present faults (out of the fault buffer) and present warnings (out of the warning parameters) on to the Profidrive fault classes defined in table 117.</td> <td class="x30">check most recent errata list for extensions to the Profidrive fault classes. Typical use case for use of the Alarm Channel is when the drive is attached to a standard PLC controller. More sophisticated motion control systems often use the more detailed information out ouf the Profidrive fault buffer.</td> <td class="x29"></td> <td class="x48">no</td> <td class="x48">step11a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:124.2pt" id="r96"> <td class="x32" style="height:122.7pt">10.2</td> <td class="x20"></td> <td class="x20">alarm management</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x69">8.8.2 to 8.8.4</td> <td class="x27">276 to 279</td> <td class="x27">Tab. 187</td> <td class="x27">Implement signalling of comming and vanishing Profidrive Diagnosis Objects via the Profinet alarm channel by use of profile specific alarms according to the definition in fig. 134 and table 187.</td> <td class="x27">Attach the Profidrive Alarm Channel to the MAP submodule of the DO Module. Add functionality to switch on and of the posting of drive alarms via the alarm channel in a vendor specific way (e.g. vendor specific Profidrive parameter).</td> <td class="x27">Define Profidrive alams in the GSDML (Type, Text, …).</td> <td class="x39">no</td> <td class="x39">step11a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:42pt" id="r97"> <td class="x34" style="height:39.75pt">10.3</td> <td class="x35"></td> <td class="x35">Diagnosis data record</td> <td class="x35">optional</td> <td class="x35">yes</td> <td class="x68">8.8.5</td> <td class="x36" style="text-align:right">279</td> <td class="x36">Tab. 190</td> <td class="x36">Implementation of the DiagnosisData Record where controller or supervisor can read a list of all currently active alarm objects.</td> <td class="x36"></td> <td class="x35"></td> <td class="x46">no</td> <td class="x46">step11b</td> <td class="x44"></td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r98"> <td style="height:13.8pt"></td> <td></td> <td></td> <td></td> <td colspan="4" style="mso-ignore:colspan"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td colspan="2" style="mso-ignore:colspan"></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r99"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r100"> <td class="x24" style="height:11.4pt">11.0</td> <td class="x25">Isochron Mode (IRT)</td> <td class="x25">Block-No. 11</td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:212.4pt" id="r101"> <td class="x45" style="height:210.15pt">11.1</td> <td class="x29"></td> <td class="x30">application clock regeneration</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x64">7.9.5.3 and IEC 61158<br /></td> <td class="x30">250 to 252</td> <td class="x30">Fig. 111</td> <td class="x30">implementation of a PLL like functionality to provide a synchonizable continuous application clock cycle for operation of the drive application processes, which can be synchonized to the PTCP or T_DC clock cycle of the PN interface. Also implement a hardware signal (Clock Out) which can be monitored in the development process and also in the PI certification, in order to measure the continuity and phase shift between the Clock signal of the IO Device and the Profinet clock master.</td> <td class="x30">this functionality may be realized by a special hardware PLL function block or this functionality is already integrated in the Profinet ASIC. In any case, in order to control the Sync signal accurate, it is necessary to track the phase shift between the Clock Cycle (Global Control) and the SYNC signal precisely (by use of hardware support).</td> <td class="x29"></td> <td class="x48">yes</td> <td class="x48">step12a</td> <td class="x77">Done (AC4).<br />Synchronization to the bus cycle trhough the PN Interface.<br />Hardware "Clock Out" signal is not implemented.</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:207.6pt" id="r102"> <td class="x32" style="height:206.1pt">11.2</td> <td class="x20"></td> <td class="x20">clock monitoring</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x27">IEC 61151</td> <td class="x27"></td> <td class="x27"></td> <td class="x27">implementation of the Clock Cycle monitoring functions specified for Profinet IRT in order to generate a fault if the IO Device lost synchronisation while operating. This results in a fault, also entered in the Profidrive Fault buffer, typically causing a stop of the drive.</td> <td class="x27">Behaviour is defined in the Profinet standard for IRT IOAR and typically part of the Profinet IRT communication stack delivered with the Profinet ASIC. Never the less, after lost of synchronization and resynchronization, the drive still remains off/stopped until the controller/user acknowledges this fault and restarts the drive explicite (Profidrive control word STW1).</td> <td class="x27"></td> <td class="x39">yes</td> <td class="x39">step12a</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:334.8pt" id="r103"> <td class="x32" style="height:333.3pt">11.3</td> <td class="x20"></td> <td class="x27">synchonize input values</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">8.9</td> <td class="x27">279 to 281</td> <td class="x27">Fig. 135</td> <td class="x27">synchronize the input sampling processes of the drive to the T_DC minus T_IO_Input signal, comming from the Clock PLL. The phase shift T_IO_Input is send from the Controller inside the IsoM parameter block and shall be used to control the trigger signals. Realize transfert of input values from the input sampling to the communication ASIC in realtime. Worst case time for this transfer is T_IO_InputMin and posted in the GSDML.</td> <td class="x27">typically the Ti and To signals are used inside the speed closed loop control or the current closed loop control. Therefore often these processes are synchronized to the SYNC signal. Also this means, that the granularity for Ti and To (T_IO_Base) is equal to the clock rate of these tasks. Be sure that your sampling of measurement values (SSI-clock, sampling rate for sinus value encoders) is synchronized to the SYNC signal by a negative phase shift of Ti. Calculate how much time is needed to copy and process the input data from the K-RAM to the drive application task.</td> <td class="x27">Define T_IO_Base and T_IO_InputMin in the GSDML for every telegram submodule.</td> <td class="x39">yes</td> <td class="x39">step12b</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:221.4pt" id="r104"> <td class="x32" style="height:219.9pt">11.4</td> <td class="x20"></td> <td class="x27">synchonize output values</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">8.9</td> <td class="x27">279 to 281</td> <td class="x27">Fig. 135</td> <td class="x27">synchronize the output processes of the drive to the T_DC + T_IO_Output signal, comming from the Clock PLL. The phase shift T_IO_Output is send from the Controller inside the IsoM parameter block and shall be used to control the trigger signal. Implement transfert of output values from the communcication ASIC to the speed closed loop control in realtime. Worst case time for this transfer is T_IO_OutputMin and posted in the GSDML. Synchronize the transfer of output values also with the Controller Life Sign Counter to be prepared if the CACF is greater than 1.</td> <td class="x27">typically the Ti and To signals are used inside the speed closed loop control or the current closed loop control. Therefore often these processes are synchronized to the SYNC signal. Also this means, that the granularity for Ti and To (T_IO_Base) is equal to the clock rate of these tasks. Calculate how much time is needed to copy and process the output data from the K-RAM to the drive application task.</td> <td class="x27">Define T_IO_OutputMin in the GSDML for every telegram submodule.</td> <td class="x39">yes</td> <td class="x39">step12c</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:152.4pt" id="r105"> <td class="x32" style="height:150.9pt">11.5</td> <td class="x20"></td> <td class="x27">IRT startup part 1</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">8.3.6</td> <td class="x27">264 to 265</td> <td class="x27">Fig. 126</td> <td class="x27">implementation of IRT parameterization and startup management (phase 1, phase 2).</td> <td class="x27">typically the Ti and To signals are used inside the speed closed loop control or the current closed loop control. Therefore often these processes are synchronized to the SYNC signal. Also this means, that the granularity for Ti and To (Tbase_io) is equal to the clock rate of these tasks.</td> <td class="x27"></td> <td class="x39">yes</td> <td class="x39">step12d</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:111pt" id="r106"> <td class="x34" style="height:108.75pt">11.6</td> <td class="x35"></td> <td class="x36">add IRT to GSDML</td> <td class="x35">mandatory</td> <td class="x35">yes</td> <td class="x36">IEC 61151</td> <td class="x36"></td> <td class="x36">Tab. 130</td> <td class="x36">add IRT relevant key word definitions and parameters to every isochroneous telegram submodule defined in the GSD. For details use GSDML specification of PI.</td> <td class="x36">if it is necessary<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>to define several submodules with different IRT attributes, but the same Profidrive telegram in the same GSDML, use the most significant word of the Submodule-ID to distinguish these submodules.</td> <td class="x36">Define all IRT relevant attributes in the GSDML.</td> <td class="x46">yes</td> <td class="x46">step12e</td> <td class="x77">Done (AC4).<br />Added in the GSDML for Standard Telegram 3.</td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r107"> <td class="x17" style="height:12.3pt"></td> <td></td> <td class="x16"></td> <td></td> <td></td> <td class="x19"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r108"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r109"> <td class="x24" style="height:11.4pt">12.0</td> <td class="x25">Life Sign Handling (10)</td> <td class="x25">Block-No. 12</td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:204.6pt" id="r110"> <td class="x45" style="height:202.35pt">12.1</td> <td class="x29"></td> <td class="x30">controller sign of life monitoring</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x64">6.3.12.2</td> <td class="x30">169 to 170</td> <td class="x30">Fig. 107 as an example<br /></td> <td class="x30">Profidrive always uses STW2 for the transfer of the Controller Sign of Life. Controller sign of life supervision is started immediately after PLL synchonization. Input for the supervision is the CACF parameter transferred within isochron parameter block and the Profidrive parameter 925.</td> <td class="x30">It is strongly recommended to implement the sign of life monitoring at the DO in the same task who processes the output values of the Profidrive telegram. This is because also faults within data transfer between different tasks and faults in the realtime setup of the drive shall be detected by sign of life monitoring.</td> <td class="x30"></td> <td class="x48">yes</td> <td class="x48">step13a</td> <td class="x77">Done (AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:235.2pt" id="r111"> <td class="x32" style="height:233.7pt">12.2</td> <td class="x20"></td> <td class="x27">DO sign of life generation</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">6.3.12.3</td> <td class="x27">171 to 172</td> <td class="x27">Fig. 109 as an example<br /></td> <td class="x27">Profidrive always uses ZSW2 for the transfer of the DO Sign of Life. DO sign of life generation is started after successful synchronization of the DO to the Controller sign of life. The DO sign of life value is counted with every T_DC cycle independant form the CACF value. Also with every T_DC cycle there shall be a new input value transferred to the controller, even if the CACF is greater than one.</td> <td class="x27">If the DO is not synchroneous to the Controller Sign of Life (not synchonized or synchronisation lost), the DO Sign of Life is set to zero (static). It is strongly recommended to implement the sign of life generation at the DO in the same task who processes the input values of the Profidrive telegram. This is because also faults within data transfer between different tasks and faults in the realtime setup of the drive shall be detected by sign of life monitoring.</td> <td class="x27"></td> <td class="x39">yes</td> <td class="x39">step13b</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:111pt" id="r112"> <td class="x32" style="height:109.5pt">12.3</td> <td class="x20"></td> <td class="x27">Base Model State Machine</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">8.3.6<br />6.3.12.1</td> <td class="x27">264 to 265<br />169 to 170</td> <td class="x27">Fig. 126</td> <td class="x27">Implementation of synchronization startup management (phase 3, phase 4).</td> <td class="x27">Sign of Life counting and evaluation is also part of IEC 61158. But Profidrive defines where the sign of life shall be transmitted and how to control the sign of life supervision on the drive device.</td> <td class="x27"></td> <td class="x39">yes</td> <td class="x39">step13c</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:111pt" id="r113"> <td class="x34" style="height:108.75pt">12.4</td> <td class="x35"></td> <td class="x35">parameter 925</td> <td class="x36">optional</td> <td class="x36">yes</td> <td class="x65">6.4.2</td> <td class="x36" style="text-align:right">180</td> <td class="x36">Tab. 144</td> <td class="x36">Implementation of<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>parameter 925 according to the definition in table 136 in order to control the controller sign of life supervision. </td> <td class="x36">implementation of p925 is still recommended, at least to turn off the sign of life monitoring to be not fault tolerant (p925=0) in order to test the quality of isochroneous communication and for certification process.</td> <td class="x35"></td> <td class="x46">yes</td> <td class="x46">step13e</td> <td class="x77">Done (AC4).</td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r114"> <td class="x17" style="height:12.3pt"></td> <td></td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x18"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r115"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r116"> <td class="x24" style="height:11.4pt">13.0</td> <td class="x25">Encoder Channel</td> <td class="x25">Block-No. 13</td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:124.8pt" id="r117"> <td class="x45" style="height:122.55pt">13.1</td> <td class="x29"></td> <td class="x29">encoder state machine (min)</td> <td class="x29">mandatory</td> <td class="x29">yes</td> <td class="x64">6.3.6.7 and<br />6.3.6.5 and<br />6.3.6.6</td> <td class="x30">137 to 144</td> <td class="x30">Fig. 52</td> <td class="x30">Implementation of the minimum version of the position feedback state machine. The minimum version of the encoder state machine consists out of the states SD1, SD12, SD2, SD3. To control and monitor the encoder state machine also implement Gx_STW and Gx_ZSW. Start with G1 encoder channel which is<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>related to the motor encoder.</td> <td class="x30">If with your encoder interface, there is the possibility that the position values in XIST1 can get temporarily invalid and valid in operation (e.g. exceeding of pulse counting frequency), it is recommended to implement SD13 and SD14 also.</td> <td class="x29"></td> <td class="x48">yes</td> <td class="x48">step14a</td> <td class="x77">Done (AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:124.8pt" id="r118"> <td class="x32" style="height:123.3pt">13.2</td> <td class="x20"></td> <td class="x27">Gx_XIST1</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">6.3.6.1 and<br />6.3.6.2.3</td> <td class="x27">128 and<br />132 to 134</td> <td class="x27"></td> <td class="x27">Implementation of the XIST1 signal according to the capabilities of the encoder interface of the drive. Counting of XIST1 covers all bits in XIST1 up to bit 31.</td> <td class="x27">the shift factor for XIST1 may be fixed or configurable. Typical implementation is to use a right aligned XIST1 format and a fixed shift factor. The shift factor typically is related to the resolution capability of the encoder interface.</td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step14a</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:138.6pt" id="r119"> <td class="x32" style="height:137.1pt">13.3</td> <td class="x20"></td> <td class="x27">Gx_XIST2</td> <td class="x20">mandatory</td> <td class="x20">yes</td> <td class="x57">6.3.6.2.3 and<br />6.3.6.3 and 6.3.6.4</td> <td class="x27">132 to 136</td> <td class="x27">Tab. 106<br />Tab. 107</td> <td class="x27">Implementation of the XIST2 signal and XIST2 shift factor which is dependant on the resolution of the absolute value information, the connected encoder is able to deliver.<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>Also implement the error codes posted in BD2 via XIST2. </td> <td class="x27">Value range for XIST2 position information only covers the bits who contain real absolute infomation. All other bits are set to 0. Only implement the error codes your encoder interface is able to detect. For drives do not use error codes 0xF02 to 0xF05.</td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step14a</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:193.2pt" id="r120"> <td class="x32" style="height:191.7pt">13.4</td> <td class="x20"></td> <td class="x20">parameter 979</td> <td class="x27">mandatory</td> <td class="x27">yes</td> <td class="x63">6.3.6.2.2</td> <td class="x27">129 to 134</td> <td class="x27">Tab. 102</td> <td class="x27">Implement all subindexes of p979 according to the definition given in table 102 to 105 and sized to the number of encoder interfaces your drive is able to support.</td> <td class="x27">Correlate 1.sensor, 2.sensor and 3.sensor to your physical encoder interfaces on the drive. Use 1.sensor for the motor encoder. Only use as much x.sensor entries in p979 as physical sensor interfaces are available. If there is a sensor interface present, but no encoder connected or configured, post the interface substructure Gx invalid by use of subindex 1 bit 31.</td> <td class="x20"></td> <td class="x39">yes</td> <td class="x39">step14b</td> <td class="x77">Done (AC4).</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:96.6pt" id="r121"> <td class="x32" style="height:95.1pt">13.5</td> <td class="x20"></td> <td class="x20">reference mark function</td> <td class="x20">optional</td> <td class="x20">yes</td> <td class="x57">6.3.6.5 and<br />6.3.6.6 and<br />6.3.6.7 and 6.3.6.10</td> <td class="x27">137 to 144 and 149</td> <td class="x27">Fig. 57</td> <td class="x27">If reference mark latch/function is available for the encoder interface, implement the states SD4 and SD5 in the encoder state machine and add related control and status bits into Gx_STW and Gx_ZSW.</td> <td class="x27">This functionality is not necessary if your interface always hosts absolute encoders. Implement encoder error code 0x04 and 0x05 for not supported reference mark channels.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step14a</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:55.2pt" id="r122"> <td class="x32" style="height:53.7pt">13.6</td> <td class="x20"></td> <td class="x20">probe function</td> <td class="x20">optional</td> <td class="x20">no</td> <td class="x57">6.3.6.5 and<br />6.3.6.6 and<br />6.3.6.7 and 6.3.6.9</td> <td class="x27">137 to 144 and 146 to 148</td> <td class="x27">Fig. 55</td> <td class="x27">If probe latches/function is available for the encoder interface implement the states SD10 and SD11 in the encoder state machine and add related control and status bits into Gx_STW and Gx_ZSW.</td> <td class="x27">Implement encoder error code 0x06 and 0x07 for not supported probe channels.</td> <td class="x20"></td> <td class="x39">no</td> <td class="x39">step14a</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:124.8pt" id="r123"> <td class="x34" style="height:122.55pt">13.7</td> <td class="x35"></td> <td class="x35">set/shift home position</td> <td class="x35">optional</td> <td class="x35">no</td> <td class="x60">6.3.6.5 and<br />6.3.6.6 and<br />6.3.6.7</td> <td class="x36">137 to 140 and 146 to 148</td> <td class="x36">Fig. 52</td> <td class="x36">If set shift home position function is available for the encoder interface, implement the state SD7 in the encoder state machine and add related control and status bits into Gx_STW and Gx_ZSW.</td> <td class="x36">This function is helpful for teaching of absolute axis position for absolute encoders. This fuction is often used for stand alone encoder. If this function is not supported, implement encoder error "command not supported" instead.</td> <td class="x35"></td> <td class="x46">no</td> <td class="x46">step14a</td> <td class="x44"></td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="mso-height-source:userset;height:13.8pt" id="r124"> <td class="x17" style="height:12.3pt"></td> <td></td> <td></td> <td></td> <td></td> <td class="x19"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r125"> <td style="height:14.4pt"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:14.4pt" id="r126"> <td class="x24" style="height:11.4pt">14.0</td> <td class="x25">Telegram Implementation</td> <td class="x25"></td> <td class="x26">mandatory</td> <td></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td class="x16"></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> <td></td> </tr> <tr style="mso-height-source:userset;height:69pt" id="r127"> <td class="x45" style="height:66.75pt">14.1</td> <td class="x29"></td> <td class="x29">Telegramms AC 1 basic</td> <td class="x29">mandatory AC1</td> <td class="x29">yes</td> <td class="x64">6.3.4.3</td> <td class="x30" style="text-align:right">114</td> <td class="x30">Tab. 87</td> <td class="x30">Implement basic AC1 standard telegram 1 according to definition in table 87. Necessary signals are all available by predecessor steps.</td> <td class="x30">Implementation of standard telegram 1 is still helpfull<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>as an intermediate step even if your drive is dedicated for AC4.</td> <td class="x30">define Profidrive telegram 1 as separate Submodule in the GSDML.</td> <td class="x38">yes</td> <td class="x38">step15a</td> <td class="x77">Done (AC1 and AC4).</td> <td class="x42"></td> <td class="x31"></td> </tr> <tr style="mso-height-source:userset;height:96.6pt" id="r128"> <td class="x32" style="height:95.1pt">14.2</td> <td class="x20"></td> <td class="x20">Telegramms AC 1 advanced</td> <td class="x20">optional AC1</td> <td class="x20">no</td> <td class="x57">6.3.4.3</td> <td class="x27" style="text-align:right">114</td> <td class="x27">Tab. 88</td> <td class="x27">Implement advanced AC1 standard telegram 2 according to definition in table 88. Necessary signals are allready available by predecessor steps.</td> <td class="x27">Implementation of standard telegram 2 may be useful if the drive is a high precision servo drive or shall be controlled in isochroneous mode or with life sign supervision.</td> <td class="x27">define Profidrive telegram 2 as separate Submodule in the GSDML.</td> <td class="x40">no</td> <td class="x40">step15b</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:138pt" id="r129"> <td class="x32" style="height:136.5pt">14.3</td> <td class="x20"></td> <td class="x20">Telegramms AC 1 VIK-Namur</td> <td class="x20">optional AC1</td> <td class="x20">no</td> <td class="x69">6.5.7.2</td> <td class="x27" style="text-align:right">195</td> <td class="x27"></td> <td class="x27">Implement special<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>AC1 VIK-Namur telegram 20 according to definition in table 148. This may be usefull if your drive is intended to be used in the process industry and/or your customer requires for a VIK-Namur interface.</td> <td class="x27">For the implementation of telegram 20 you have to implement also some new signals according to the definition in chapter 6.5. Note that for a real VIK-Namur interface you have to fullfill all requirements stated in 6.5. Also your drive has to match with the VIK-Namur GSD.</td> <td class="x27">define Profidrive telegram 20 as separate Submodule in the GSDML.</td> <td class="x40">no</td> <td class="x40">step15g</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69.6pt" id="r130"> <td class="x32" style="height:68.1pt">14.4</td> <td class="x20"></td> <td class="x20">Telegramms AC 1 vendor specific</td> <td class="x20">optional AC1</td> <td class="x20">no</td> <td class="x57">6.3.4.3</td> <td class="x27">114 to 116</td> <td class="x27"></td> <td class="x27">Implement special<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>AC1 vendor specific telegrams according to your own definition. This may be usefull if your drive already has vendor specific additional functionality which should be controlled via telegram.</td> <td class="x27">Typical solution is to compose a new telegram by adding additional signals to standard telegram 1 or 2.</td> <td class="x27">define Profidrive telegram x as separate Submodule in the GSDML.</td> <td class="x40">no</td> <td class="x40">step15c</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:69pt" id="r131"> <td class="x32" style="height:67.5pt">14.5</td> <td class="x20"></td> <td class="x20">Telegramms AC 4 standard</td> <td class="x20">mandatory AC4</td> <td class="x20">yes</td> <td class="x57">6.3.4.3</td> <td class="x27">114 to 116</td> <td class="x27">Tab. 89, 90</td> <td class="x27">Implement basic AC4 standard telegram 3 (mandatory) and telegram 4 (optional). Necessary signals are all available by predecessor steps.</td> <td class="x27">Even if you only want to operate the drive with DSC option, implementation of standard telegram 3 is mandatory.</td> <td class="x27">define Profidrive telegram 3 (and 4) as separate Submodules in the GSDML.</td> <td class="x40">yes</td> <td class="x40">step15d</td> <td class="x77">Done (AC4).<br />Implemented Telegram 3</td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:96.6pt" id="r132"> <td class="x32" style="height:95.1pt">14.6</td> <td class="x20"></td> <td class="x20">Telegramms AC 4 plus DSC</td> <td class="x20">optional AC4</td> <td class="x20">yes</td> <td class="x57">6.3.4.3</td> <td class="x27">114 to 116</td> <td class="x27">Tab. 91, 92</td> <td class="x27">Implement advanced (DSC) AC4 standard telegrams 5 (mandatory with DSC) and telegram 6 (optional). Implementation of DSC related signals is needed as predecessor step.</td> <td class="x27">Implementation of DSC may be helpful if your drive already includes a position closed loop control or your drive is designed to control very stiff mechanical systems.</td> <td class="x27">define Profidrive telegram 5 (and 6) as separate Submodules in the GSDML.</td> <td class="x40">yes</td> <td class="x40">step15e</td> <td class="x43"></td> <td class="x43"></td> <td class="x33"></td> </tr> <tr style="mso-height-source:userset;height:111pt" id="r133"> <td class="x34" style="height:108.75pt">14.7</td> <td class="x35"></td> <td class="x35">Telegramms AC 4 vendor specific</td> <td class="x35">optional AC4</td> <td class="x35">yes</td> <td class="x60">6.3.4.3</td> <td class="x36" style="text-align:right">114</td> <td class="x36"></td> <td class="x36">Implement special<span style="mso-spacerun:yes;font-family:"Times New Roman""> </span>AC4 vendor specific telegrams according to your own definition or to Siemens vendor specific definition.</td> <td class="x36">For interfacing to Siemens controllers (Sinumerik, Simotion) it may be helpful to implement Siemens telegrams 105 and 106 to also make use of advanced drive features (like move until stall).</td> <td class="x36">define Profidrive telegram x as separate Submodule in the GSDML.</td> <td class="x41">no</td> <td class="x41">step15f</td> <td class="x44"></td> <td class="x44"></td> <td class="x37"></td> </tr> <tr style="display:none"> <td style="width:67.5pt"></td> <td style="width:151.5pt"></td> <td style="width:175.5pt"></td> <td style="width:81pt"></td> <td style="width:67.5pt"></td> <td style="width:67.5pt"></td> <td style="width:67.5pt"></td> <td style="width:67.5pt"></td> <td style="width:259.5pt"></td> <td style="width:148.5pt"></td> <td style="width:87.75pt"></td> <td style="width:87pt"></td> <td style="width:82.5pt"></td> <td style="width:118.5pt"></td> <td style="width:67.5pt"></td> <td style="width:67.5pt"></td> </tr> </tbody></table></div>