D01 PROFIdrive-system-Descr e Aug07

Introduction
The field of industrial com-

munications is continuing to
develop at an astonishing pace
with the result being constant
changes in the field of automation.
Initially, automation focused
exclusively on production but now it
encompasses service and
maintenance, warehousing,
resource optimization and the
provision of data for MES and ERP
systems in addition. Fieldbus
technology, which has facilitated
migration from centralized to
decentralized automation systems
and supports the use of distributed
intelligence, has been, and indeed
still remains, the driving force
behind this development. Ethernet-
based communication systems
provide a link between automation
technology and information
technology, thereby enabling
consistent communication to be
implemented from the field level
right through to the corporate
management level.
Industrial communication systems,
in particular, must be capable of
meeting the requirements for an
integrated approach. Solutions can
be found in the form of PROFIBUS
and PROFINET, both of which
provide absolute consistency and
are highly application-oriented.
With its standard protocol,
PROFIBUS communication takes
in all system components from
machine, manufacturing and
process automation right through to
safety-related communication and
drive/motion control applications,
and provides the ideal basis for
ensuring horizontal automation
system integration. PROFINET
also features a standard protocol
which, in addition to horizontal
communication, also supports
vertical communication from the
field level through to the corporate
management level.
Both communication systems
facilitate multi-sector, networked,
integrated solutions that are
optimized for the automation tasks
concerned.
The main reason that PROFIBUS
and PROFINET stand out from
other industrial communication
systems is because they span such
an extraordinary breadth of
applications. The reason is not only
due to the fact that application-
specific requirements have been
integrated into application profiles
but also that these application
profiles have been combined as a
whole to create a standardized and
open communication system. This
provides the basis for ensuring
extensive protection for the
investments of both end users and
manufacturers.
The PROFIdrive application profile
plays a key role in numerous
applications by providing a
foundation for pending drive
features. It defines PROFIBUS and
PROFINET device behaviors and
how drive data are accessed, for
example, in the case of electrical
drives from straightforward
frequency converters through
highly dynamic servo-controls.

PROFIdrive technology and application, August 2007 2
Contents

Introduction..........................................................1
Contents ..............................................................2
Content ................................................................2
1. PROFIdrive profile.........................................3
1.1 Standardization.......................................3
1.2 Structure.................................................3
1.3 Safety......................................................4
2. PROFIdrive base model................................4
2.1 Devices...................................................4
2.2 Communication services ........................4
3. PROFIdrive parameter model .......................7
3.1 Profile parameters ..................................7
3.2 Manufacturer-specific parameters..........7
3.3 Parameter access...................................7
4. PROFIdrive application model ......................8
4.1 Application classes.................................8
5. Diagnosis ....................................................10
5.1 Warnings (warning mechanism)...........10
5.2 Fault buffer (Fault buffer mechanism) ..10

5.3 Standard fault classes
(Fault classes mechanism) .................. 10
6. Mapping to PROFIBUS and PROFINET.... 11
6.1 Mapping to PROFIBUS........................ 11
6.2 Mapping to PROFINET........................ 11
7. Conformity and certification........................ 12
7.1 Quality control through certification ..... 12
7.2 PROFIdrive certification....................... 12
8. Engineering ................................................ 13
8.1 PROFIdrive profile server .................... 13
8.2 Higher-level engineering with FDT ...... 13
9. User benefits .............................................. 14
10. PI PROFIBUS & PROFINET
International........................................ 15
10.1 Responsibilities of PI ........................... 15
10.2 Technological development ................. 15
10.3 Technical support ................................ 15
10.4 Certification.......................................... 15
10.5 Training................................................ 15
Index ............................................................. 16

Content

This document describes the
essential aspects of PROFIdrive
technology and takes into account
the level of technology at the
beginning of 2007. Its objective is
to provide a description of the
PROFIBUS and PROFINET
communication systems without
entering into specific details.
This system description not only
offers sufficient information to
readers with only a basic
knowledge who are interested in
obtaining an overview but it also
introduces experts to more
extensive specialized literature. We
would like to point out that, in spite
of the care that has been taken in
the preparation of this document,
only the official PI (PROFIBUS

& PROFINET International) docu-
ments are to be considered
definitive and binding.

Chapter 1 provides an introduction
to how the PROFIdrive profile
came about and the principles
according to which it is structured.
Chapters 2 to 5 deal with the core
aspects of PROFIdrive and any
repetition of the subject matter that
appears in Chapter 1 is intentional
for reasons of completeness
Chapter 6 deals with how the
PROFIdrive profile is mapped onto
PROFIBUS and PROFINET.
Chapter 7 outlines the certifica-
tion test procedure.

Chapter 8 offers a brief outline of
engineering.
Chapter 9 describes some of the
advantages of using PROFIdrive.
Chapter 10 rounds out the
document with details of how PI
works and how it is structured
internally; it also contains an index.

1. PROFIdrive profile

PROFIdrive is the standard profile
for drive technology that relies on
the PROFIBUS and PROFINET
communication systems. Using an
open application profile such as
this is a tried-and-tested way of
utilizing communication systems to
connect drives and controllers from
different manufacturers in an
integrated and straightforward way.
The PROFIdrive profile was
defined by numerous device
manufacturers under the PI
(PROFIBUS & PROFINET
International) banner within the
context of a working group which
remains responsible for continuing
to extend it as necessary.
Work on the profile can be traced
back to 1991 when the focus was
exclusively on PROFIBUS. The
year 2002 marked the launch of the
PROFIBUS DPV1 extended
functions with the introduction of
version 3.1 of the profile. In 2005,
the PROFIdrive profile (version 4)
was extended to cover PROFINET
as the underlying communication
system. Version 4.1, which is the
version covered by this system
description, has been available
since 2006.
The PROFIdrive automation
technology solution is essentially
based on the concept of integrating
motion control functionality with
PLC sequencing logic. Application
processes are optimized by
distribution across the drives, e.g.,
motor-current or speed control, and
the controller, e.g., position control
or path interpolation. The
communication system provides
the link between the distributed
processes, making use of
dedicated services such as clock
synchronization and profile-based
slave-to-slave communication.
The profile has been standardized
by PI and IEC and
comprehensively documented in
the specification PI Order No.
3.172.
1.1 Standardization
At the request of the ZVEI working
group PG Antriebsschnittstelle,
(PG Drive Interface), a project was
initiated within the IEC for the pur-

pose of specifying a standardized
drive interface that could ultimately
be incorporated into an
international standard. This
resulted in the three-part IEC
standard 61800-7 Generic
interface and use of profiles for
power drive systems (Figure 1).
The generic interface shown in
Figure 1 (green) describes a
functional drive interface from the
perspective of the application as
well as how functions are mapped
onto various drive profiles. Part 2
(blue) specifies the application-
related parts of the drive profiles
such as the PROFIdrive base
model and PROFIdrive application
classes. Part 3 (orange) deals with
mapping onto various standardized
communication systems, e.g., how
PROFIdrive is mapped to
PROFINET.
The fact that PROFIdrive has been
standardized in IEC 61800-7 and is
recommended by various
international institutions such as
OMAC means that its future as an
internationally accepted standard is
guaranteed.
1.2 Structure
The following sections of the
specification are particularly
important for understanding its
basic structure (Figure 2):
1. Base model definition
2. Parameter model definition
3. Application model definition

4. Mapping to PROFIBUS DP
5. Mapping to PROFINET IO

The main part of the profile (yellow
area of Figure 2) describes those
functions that are separate from
the communication system and
which ensures continuing operation
with PROFIBUS DP and
PROFINET IO with no changes to
the application required. This
means that the drive technology
can be connected with scalable
communication performance,
ranging from a basic fieldbus to a
system-wide Ethernet network with
the entire system sharing the same
application view and without any
changes needing to be made to the
automation system.
Figure 1: Standardization of PROFIdrive in IEC61800-7
IEC 61800-7 Generic interface and use of profiles for power drive systems
IEC 61800-7-1 Interface definition
IEC 61800-7-2 Profile specification
IEC 61800-7-3 Mapping of profiles to network technologies
Annex A:
Mapping to
CiA 402
:
CIP
Annex C:
Mapping to
PROFIdrive
:
SERCOS
Annex A :
Profile
CiA 402
:
CIP
Annex C:
Profile
PROFIdrive
:
SERCOS
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Annex B:
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IEC 61800-7 Generic interface and use of profiles for power drive systems
IEC 61800-7-1 Interface definition
IEC 61800-7-2 Profile specification
IEC 61800-7-3 Mapping of profiles to network technologies
Annex A:
Mapping to
CiA 402
:
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Annex C:
Mapping to
PROFIdrive
:
SERCOS
Annex A :
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Annex B:
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PROFIdrive
PROFIdrive Base Model
PROFIdrive Parameter Model
PROFIdrive Application Model
PROFIdrive
PROFIBUS
PROFIdrive
mapping on
PROFIBUS DP
PROFIBUS
PROFIdrive
mapping on
PROFIBUS DP
PROFINET
PROFIdrive
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PROFINET IO
PROFINET
PROFIdrive
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PROFINET IO
PROFIdrive
PROFIdrive
PROFIBUS
PROFIdrive
mapping on
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PROFIBUS
PROFIdrive
mapping on
PROFIBUS DP
PROFINET
PROFIdrive
mapping on
PROFINET IO
PROFINET
PROFIdrive
mapping on
PROFINET IO
Figure 2: The PROFIdrive architecture

1.3 Safety
The market is showing an
Increasing trend towards the use of
drives that offer integrated safety
technology.
This offers an advantage in the
sense that there is no longer any
need for external monitoring
devices, thus reducing wiring and
saving space. From this point of
view, PROFIdrive and PROFIsafe
are the perfect complements to one
another. The two profiles together
create a unified technology that
can be used for controlling safety
functions and standard drive
functions via the same bus.

2. PROFIdrive
base model
2.1 Devices
The PROFIdrive base model
defines a motion control
automation system (Figure 3) in
terms of a number of Devices and
their relationships to one another
(application interfaces, parameter
access, etc.) regardless of the
communication system used. A
distinction is made between the
following device classes (Figure 4):
Controller: automation system
control unit or host
Peripheral device (P device):
drive equipment
Supervisor: engineering
station
2.2 Communication services
Cyclic data exchange
The open-loop and closed-loop
control processes must be
activated cyclically while the motion
control system is in operation
(Figure 5, center). From the point
of view of the communication
system, this means that new
setpoint values must be transferred
cyclically from the control
application processes to the drive
application process and
conversely that the current actual
values are sent in the opposite
direction.
This cyclic transfer is typically time-
critical.

Acyclic data exchange
In addition to the cyclic transfer of
setpoint values and actual values,
parameters can be transferred for
the purpose of controlling drive
application processes. Access to
these parameters by the controller

is not time-critical and is per-
formed acyclically (Figure 5, left).
As well as the controllers being
able to access the parameters,
they can also be accessed by a
supervisor (commissioning tool,
operator interface).
Figure 3: The general automation concept of PROFIdrive
Communication System
Controller
Application
Process
Controller Device
Supervisor Device
Interfaces,
defined by
Application Classes
Actual Values
Drive
Device
Drive
Application
Process
Drive
Application
Process
Drive
Device
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Interfaces,
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Actual Values
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Figure 4: Device classes and communication relationships


Alarm mechanisms
The alarm mechanism (Figure 5,
right) is event-controlled and used
to signal the setting and clearing of
drive/application process fault
conditions.
Clock-synchronous operation
Any modern drive profile must be
able to support the clock-
synchronous operation of
distributed processes in a motion
control application, because this is
the only way of accurately
coordinating the movements of
several drives (such as within the
context of motion-control-system
path traversal or of synchronizing
movements associated with
electronic gears). This means that
a drive profile must fulfill two basic
requirements:
It must be able to synchronize
several application processes
from the same master clock.
It must ensure that cyclic data
exchange between processes
is completed reliably by a set
point in time so that all
relevant input and output data
can be made available at the
correct time.

To ensure process synchroni-
zation, PROFIdrive utilizes slave
clocks that must be located in
every device and are precisely
synchronized with the systems
master clock (Figure 6). For the
purpose of synchronizing the slave
clocks, PROFIdrive utilizes the
relevant services of the com-
munication system being used. For
PROFIBUS, these services are
part of the DP-V2 extensions

and in the case of PROFINET IO,
are part of the isochronous real-
time functionality.
As far as the drive technology is
concerned, clock-synchronous
operation provides the basis for
drive synchronization. Within this
context, it is not just message
interchange that is performed on
the bus system using an
equidistant time frame
Figure 5: Data model and data flow in a P device
Process
Process
Level
(Drive Level)
Pxx Pxx Pxx Pxx Pxx Pxx

Parameter
Level
read write read write
Setpoint
values
Actual
values
Process
data
Event
Frame
Parameter Manager
PROFIdrive
Cyclic Data Mapping
PROFIdrive (Telegrams)
Fault Codes
PROFIdrive
Services
Profile
Acyclic
data channel
Cyclyc
data channel
Alarm
channel
Services
Communication
Bus
Level
Clock
synchronization
M
Drive / Axis
Process
Process
Level
(Drive Level)
Pxx Pxx Pxx Pxx Pxx Pxx Pxx Pxx Pxx Pxx Pxx Pxx

Parameter
Level
read write read write
Setpoint
values
Actual
values
Process
data
Event
Frame
Parameter Manager
PROFIdrive
Cyclic Data Mapping
PROFIdrive (Telegrams)
Fault Codes
PROFIdrive
Services
Profile
Acyclic
data channel
Cyclyc
data channel
Alarm
channel
Services
Communication
Bus
Level
Clock
synchronization
MM
Drive / Axis
Slave
clock
Slave
clock
Master clock
Drive/Axis
Synchronization
(Trigger)
... Task n Task 1 ... Task n Task 1
Synchronization
(Trigger)
Controller
Device = Clock Master
. . .
e.g. Position Control e.g. Speed Control e.g. Interpolator
Slave
clock
Slave
clock
Master clock
Drive/Axis
Synchronization
(Trigger)
... Task n Task 1 ... Task n Task 1
Synchronization
(Trigger)
Controller
Device = Clock Master
. . .
e.g. Position Control e.g. Speed Control e.g. Interpolator
Figure 6: Process synchronization in clock-synchronous operation

the internal control algorithms such
as speed and current control inside
the drive/controller are also time-
synchronized in the overall
automation system (Figure 6). For
typical drive applications, the cycle
time, i.e., clock-signal, repeatability
must have a jitter of less than 1 s.
If this value is exceeded, it will be
interpreted as a clock failure and
processing will be inhibited.
Slave-to-slave
communication
Slave-to-slave communication
refers to direct communication
between devices without requiring
data to pass through the
master/controller. This means, for
example, that drives can acquire
actual values from other drives or
peripheral devices and use these
as setpoints. Consequently, more
possibilities are now opening up in
terms of how the technology can
be used, particularly as far as
decentralized applications within
the field of drive technology are
concerned.
Slave-to-slave communication
enables signals to be transferred
from one drive to another without
any additional delays from the
controller application.

A good example of this is the
transfer of speed setpoint values
for the purpose of creating a
setpoint cascade for paper, foil and
wire-drawing machines as well as
fiber-stretching systems.
Slave-to-slave communication is
available with both PROFIBUS and
PROFINET.
Modes and telegrams
PROFIdrive defines a general
basic state machine for all drives.
This is used to put the drive into a
particular operating state or to shut
it down in a controlled way.
Separate, supplementary state
machines are defined for the
speed control and positioning
drive modes.
In cyclic data exchange messages,
the control and status words form
the interface between the controller
and the drive.
Individual bits are assigned on a
mode-specific basis. Process data
(PZD) are transferred via the cyclic
interface. Signal numbers are
defined for the most frequently
used process data and these
facilitate writing to the process data
interface and its configuration.
Standard telegrams have been
defined for the most frequently
used applications on the basis of
these standard signals.
The same standard telegrams are
used in both PROFIBUS and
PROFINET.
State machine
A state machine is a detailed
model of system behavior,
consisting of states, state
transitions and actions. It defines
which specific state should be
entered following a particular
command as well as how and
under what conditions the transition
should be made from one state to
another. The sequence and time
restrictions that apply are
determined and controlled by a
sequence control system.
Figure 7 shows the general state
machine for a PROFIdrive drive,
which is applicable to all modes,
including speed and positioning
modes.
The blue blocks represent system
states S1 to S5 and the arrows
indicate the transitions that are
possible between them. The
priorities of the various transitions
are indicated by the number of red
dots.

Figure 7: General state machine of a PROFIdrive drive
S1 Switching On inhibited
S2 Ready for Switching On
S3 Switched On
S4 Operation
S5 Switching Off
Coast Stop
or Quick Stop
Coast Stop
Off
and No Coast Stop
and No Quick Stop
Coast Stop
or Quick Stop
On Off
Enable
Operation
Disable
Operation On Off Quick Stop
ramp stop
quick stop
Quick Stop
Standstill detected
or Disabled Operation
Standstill detected
Coast Stop
Increasing priority
S1 Switching On inhibited
S2 Ready for Switching On
S3 Switched On
S4 Operation
S5 Switching Off
Coast Stop
or Quick Stop
Coast Stop
Off
and No Coast Stop
and No Quick Stop
Coast Stop
or Quick Stop
On Off
Enable
Operation
Disable
Operation On Off Quick Stop
ramp stop
quick stop
Quick Stop
Standstill detected
Standstill detected
Coast Stop
Increasing priority

3. PROFIdrive
parameter model
3.1 Profile parameters
PROFIdrive defines a device
model, which applies, at least
partially, to every drive system. The
device consists of numerous
function modules, which work
together internally to provide the
drive system with its intelligence.
Objects are assigned to these
function modules and constitute the
interface with the automation
process. These objects and their
functions are described in the
profile .
Object parameters are specified in
the profile. These include, for
example, drive identification, fault
buffer, drive control, device
identification, and process data
configuration as well as the
complete list of parameters. These
parameters are the same for all
drives.

3.2 Manufacturer-specific
parameters
All the other parameters, which in
the case of complex devices can
add up to well over 1000, are
manufacturer-specific. These
additional parameters provide drive
manufacturers with maximum
flexibility for implementing such
functions such as manufacturer-
specific control and monitoring.
Although the parameters
associated with these functions are
not specified by the profile, it does
define the application process
interface. As a result, the
application process remains
identical even if a user switches
drive manufacturers. Because the
operating and parameterization
tools are always manufacturer-
specific, they can read and display
all the parameter information either
directly from the drive or by means
of a device description file.
PROFIdrive is particularly suitable
for modeling multi-axis drive
controllers.

3.3 Parameter access
Parameters are always accessed
acyclically, i.e., separate from and
in between time-critical cycles of
process communication.
A request/response data structure,
which is completely separate from
the transport channel, is defined for
the purpose of transferring data.
This enables 256 axes per drive to
be accessed, whereby each axis
can have up to 65,535 parameters
and each of these can in turn have
up to 65,535 array elements. This
means that not only can the
parameter values themselves be
accessed, but also the related
parameter descriptions and
associated text elements.

4. PROFIdrive
application model

As shown in Figure 3, the model
basically consists of the following:
Application processes in the
drive, typically motor current
and speed control (see bottom
of figure)
Application processes in the
controller, including position
control and path interpolation
(see top of figure)
A communication system (see
center of figure) that provides
the necessary data-exchange
and application-process-
synchronization services
4.1 Application classes
The application processes can be
distributed across various devices
in different locations.
The way drives are integrated into
automation solutions is heavily
dependent on the nature of the
drive task concerned. In the
interests of simplicity, PROFIdrive
defines 6 application classes that
cover the entire range of potential
drive applications.

Standard drive (Class 1)
In the most straightforward
scenario, the drive is controlled via
a main setpoint, e.g., speed, over
PROFIBUS or PROFINET (Figure
8). Speed control is handled
entirely within the drive controller.
This application scenario is
primarily found within the context of
conventional drive technology, e.g.,
materials handling, frequency
converters, etc.

Standard drive with tech-
nological function (Class 2)
The standard drive with
technological function application
class offers a high degree of
flexibility for implementing
automation applications. With this
class, the entire automation
process is broken down into
several smaller subprocesses and
distributed across the drives.
Consequently, the automation
functions are no longer simply
located in the central automation
unit but are also distributed across
the drive controllers.

For this class, PROFIBUS or
PROFINET serves as a high-level
technology interface. It is, of
course, a prerequisite for this kind
of distributed control that
communication is possible in all
directions, i.e., that node-node
communication is supported
between the individual drive
controller technological functions.
Specific examples of applications
include setpoint cascading, winders
and speed synchronization of
continuous processes involved in
the throughput of a web press.

Positioning drive (Class 3)
In this case, the drive is equipped
with positioning control in addition
to drive control. This means that
the drive is free to function as an
autonomous single-axis positioning
drive while the controller takes care
of all the higher-level technological
processes (Figure 9). The
positioning tasks are passed to the
drive controller and started over
PROFIBUS or PROFINET.
Positioning drives cover an
extremely broad spectrum of
applications, e.g., twisting bottle
tops on and off in the context of a
bottle filling operation or the
positioning of knives on a foil
cutting machine.
Figure 8: Application class 1
Control (PLC/NC)
Technology
Drive
Speed setpoint Speed actual value
Drive
Open Loop Speed Ctrl,
or
Closed Loop Speed Ctrl.
M
Encoder
(optional)
Drive
M M
or
or
Encoder
(optional)
Encoder
(optional)
Control (PLC/NC)
Technology
Drive
Speed setpoint Speed actual value
Drive
or
M
Encoder
(optional)
Drive
M M
or
or
Encoder
(optional)
Encoder
(optional)
Control (PLC/NC)
Technology
Drive Drive
Positioning
Status Word
M M
Encoder Encoder
Interpolation
+ Position Control
+ Speed Control
Interpolation
+ Position Control
+ Speed Control
Positioning
Control Word
Control (PLC/NC)
Technology
Drive Drive
Positioning
Status Word
MM MM
Encoder Encoder
Interpolation
+ Position Control
+ Speed Control
Interpolation
+ Position Control
+ Speed Control
Positioning
Control Word


Central motion control
(Class 4)
This application class defines a
speed setpoint/actual position
interface for applications for which
speed control needs to be handled
by the drive and position control by
the controller, such as in the case
of robotics and machine-tool
applications that involve
coordinated motion sequences
across several drives (Figure 10).
The motion is primarily controlled
by means of computerized
numerical control (CNC). The bus
is used to close the position control
loop. Clock synchronization as
supported by PROFIBUS DP and
PROFINET IO is required for the
purpose of synchronizing the
position-control clock pulses on the
higher-level controller and the clock
pulses in the drive controllers.

Class 5 is identical except for the
fact that a position setpoint
interface takes the place of the
speed setpoint interface.

Decentralized automation
with clocked processes and
electronic shafts (Class 6)
In order to realize applications such
as electrical gears, cam discs,
angular synchronism, and flying
saws both slave-to-slave
communication and clock-syn-
chronized communication are
needed.

Encoder interface
Modern digital servo drives are
capable of analyzing the motor
encoder feedback and, where
applicable, a second direct
measuring system without any
external assistance. Consequently,
the interface is now located in the
drive rather than on the controller.
This means that the encoder
information must be transferred to
the controller via the bus. For this
purpose, an encoder interface is
defined in the PROFIdrive
standard, which enables up to
three encoder values to be
transferred via the process data.

Dynamic servo control
The profile also defines an
innovative control concept called
dynamic servo control which
offers an easy way of making the
static position control loop of appli-

cation class 4 considerably more
dynamic. This is achieved by
implementing an additional
measure that minimizes the delays
normally associated with a speed
setpoint interface. The
implementation includes (a) an
additional feedback network
(shown in blue in Figure 11)
activated in the drive and b) two
new correction setpoint values in
the setpoint telegram.

The system deviation, calculated in
the master controller, is transmitted
to the drive along with the speed
setpoint. The additional network in

the drive uses the drive data format
to describe the position and this
means that the position description
is achieved completely indepen-
dent of the master controller.

The system has three return lines
(1 - 3 in Figure 11) for the current
position value. Line 2 fully
compensates the position value of
line 1 and line 3 closes the loop
again, although with a significantly
shorter time delay which, in turn,
increases controller gain. Return
line 4, which is for the actual speed
value, always uses the motor
encoder as the signal source.

Control (PLC/NC)
Technology
Interpolation, Position Control
Drive Drive Drive
Closed Loop
Speed Control*
Speed Setpoint + ... Actual Position + ...
Clock
M M M
Encoder Encoder Encoder
*) Closed Loop Speed Control operates clock synchronous to PLC application
Closed Loop
Speed Control*
Closed Loop
Speed Control*
Control (PLC/NC)
Technology
Interpolation, Position Control
Drive Drive Drive Drive Drive Drive
Closed Loop
Speed Control*
Speed Setpoint + ... Actual Position + ...
Clock
MM MM MM
Encoder Encoder Encoder
*) Closed Loop Speed Control operates clock synchronous to PLC application
Closed Loop
Speed Control*
Closed Loop
Speed Control*
x
cmd
x
act,NC
X
act,NC
x
act, Drive
T
pc
T
pc
T
sc
Position
control
Transmission
delay
Interpolation
(T
PC
)
Zero Offset and
Compensation
x
act
x
err
Master Controller (NC) Drive Controller
Speed filter
n
Drive
Path
Interpolation
n
cmd
Speed control
Speed
calculation
n
cmd:
: Speed command T
sc
: Speed controller sampling time
x
cmd
: Position command T
pc
: Position controller sampling time (= T
MAPC
)
x
err
: Position error command k
pc
: Position controller gain
x
act
: Actual position
1 2 3 4
x
cmd
x
act,NC
X
act,NC
x
act, Drive
T
pc
T
pc
T
sc
Position
control
Transmission
delay
Interpolation
(T
PC
)
Zero Offset and
Compensation
x
act
x
err
Master Controller (NC) Drive Controller
Speed filter
n
Drive
Path
Interpolation
n
cmd
Speed control
Speed
calculation
n
cmd:
: Speed command T
sc
: Speed controller sampling time
x
cmd
: Position command T
pc
: Position controller sampling time (= T
MAPC
)
x
err
: Position error command k
pc
: Position controller gain
x
act
: Actual position
1 2 3 4
Figure 11: Dynamic Servo Control (DSC)

5. Diagnosis

Figure 12 shows the basic
structure of the PROFIdrive
diagnostic functions, which are
broken down into warning-related
and fault-related categories. The
advantage of this two-stage
concept is that it enables
impending faults to be addressed
by appropriate means in a timely
manner.
5.1 Warnings
(warning mechanism)
Warnings are a form of message
that is acknowledged automatically
as soon as the cause has been
addressed. They provide advance
warning so that appropriate
measures can be taken in time to
prevent a fault condition.

Parameters 953 - 960 (warning
words) are reserved for the
warning mechanism. Each warning
that occurs within a drive/drive axis
is mapped onto independent bits
within the warning words.
This bit mapping process means
that several simultaneously
occurring warnings can be mapped
at once.

For visualization purposes, 32
warning texts are assigned to each
warning word. These indicate the
cause of the warning in plain text.

5.2 Fault buffer
(Fault buffer mechanism)
A fault condition in the drive always
triggers a device-specific response,
i.e., the drive will generally be shut
down. At the same time, one or
more fault messages describing
the fault condition will be written to
the fault buffer.

A complete fault entry will consist
of the fault number (PNU947), the
user-defined fault code (PNU945),
the fault time (PNU948), and a fault
value (PNU949) that provides more
detailed information about the
cause of the fault.
Whenever the cause of a fault is
removed, the user must always
acknowledge the fault by means of
a reset command.

Once acknowledged, the fault will

not actually be deleted but will
remain in the fault buffer. It will be
pushed down by one position to
facilitate future traceability.
5.3 Standard fault classes
(Fault classes
mechanism)
The standard fault classes are
collections of manufacturer-specific
fault conditions organized into
specific PROFIdrive-defined
groups and which are used for
permanently storing approximately
20 standard fault causes, e.g.,
prime power, overtemperature, etc.
By mapping the individual warning
and fault messages onto these
standard fault classes, a pre-
constructed and manufacturer-
independent diagnostic display can
be achieved.
Figure 12 : PROFIdrive diagnostic functions
Warning mechanism
Fault buffer mechanism
Fault classes mechanism
Provides specific
actual state
Records state
transitions
PROFIdrive fault
classes
Drive
Shows actual state
Shows history of state
transitions and does
fault acknowledge
Standard diagnosis
mechanism
Standard alarm
mechanism
Optional
Drive exception state
Transitions
Mapping of
warnings onto
fault classes
Mapping of actual
fault situation onto
fault classes
Warning mechanism
Fault buffer mechanism
Fault classes mechanism
Provides specific
actual state
Records state
transitions
PROFIdrive fault
classes
Drive
Shows actual state
Shows history of state
transitions and does
fault acknowledge
Standard diagnosis
mechanism
Standard alarm
mechanism
Optional
Drive exception state
Transitions
Mapping of
warnings onto
fault classes
Mapping of actual
fault situation onto
fault classes

6. Mapping to
PROFIBUS and
PROFINET
6.1 Mapping to PROFIBUS
If PROFIdrive is being used in
conjunction with PROFIBUS, then
the PROFIdrive base model must
be mapped to this communication
system in accordance with Figure
13. This involves using com-
munication protocol version
PROFIBUS DPV2 with its cyclic
and acyclic data transfer, clock
synchronization and slave-to-slave
communication functions.

devices are mapped as follows:
PROFIdrive controller
as PROFIBUS DP master
class 1
PROFIdrive peripheral devices
(PD) as PROFIBUS DP slaves
and
PROFIdrive supervisor
as PROFIBUS DP master
class 2.

6.2 Mapping to PROFINET
Version 4 of the PROFIdrive profile
supports its use with the
PROFINET IO communication
system, an expanded version of
Ethernet with communication
services to support rapid and
isochronous data exchange.

If PROFIdrive is being used in
conjunction with PROFINET, then
the PROFIdrive base model must
be mapped to PROFINET IO in
accordance with Figure 14. Either
PROFINET with RT or IRT can be
used depending on the particular
application.

devices are mapped as follows:
PROFIdrive controller as
PROFINET IO controller
PROFIdrive peripheral devices
(PD) as PROFINET IO
devices and
PROFIdrive supervisor as
PROFINET IO supervisor

The control application processes
run on the PROFNET IO controller.
A drive with one or more drive
application processes (drive axes)
is referred to as a drive unit and is
mapped to PROFINET IO as an IO
device. A PROFINET IO
application relationship (AR) is
established between the IO
controller and the drive unit. This is
used to implement cyclic data
exchange, parameter access and
alarm handling.
Figure 13: Mapping the base model to PROFIBUS DP
Fi 14 M i th b d l t PROFINET IO
Figure 14: Mapping the base model to PROFINET IO
DP-Master Class 1
(Controller)
DP-Master Class 2
(Supervisor)
DP-Slave
(P-Device)
DP-Slave
(P-Device)
C
2
DxB Communication
C
0

+

C
1 C
0

+

C
1
C
2
PROFIBUS DP
Communication
PROFIBUS DP
Device
Communication
Channel
Data Exchange
Broadcast
C0, C1, C2
DxB
DP-Master Class 1
(Controller)
DP-Master Class 1
(Controller)
DP-Master Class 2
(Supervisor)
DP-Master Class 2
(Supervisor)
DP-Slave
(P-Device)
DP-Slave
(P-Device)
DP-Slave
(P-Device)
DP-Slave
(P-Device)
C
2
DxB Communication
C
0

+

C
1 C
0

+

C
1
C
2
PROFIBUS DP
Communication
PROFIBUS DP
Device
Communication
Channel
Data Exchange
Broadcast
C0, C1, C2
DxB
PROFIBUS DP
Communication
PROFIBUS DP
Device
Communication
Channel
Data Exchange
Broadcast
C0, C1, C2
DxB
IO Controller
IO Supervisor
IO Device
(Drive)
IO Device
(Drive)
S
u
p
e
r
v
i
s
o
r
A
R
M CR Communication
I
O

A
R
I
O

A
R
S
u
p
e
r
v
i
s
o
r
A
R
PROFINET IO
Relationship
PROFINET
Device
Application
Relationship
Multicast
Communication
Relationship
AR
MCR
IO Controller
IO Supervisor
IO Device
(Drive)
IO Device
(Drive)
IO Device
(Drive)
S
u
p
e
r
v
i
s
o
r
A
R
M CR Communication
I
O

A
R
I
O

A
R
S
u
p
e
r
v
i
s
o
r
A
R
PROFINET IO
Relationship
PROFINET
Device
Application
Relationship
Multicast
Communication
Relationship
AR
MCR
PROFINET IO
Relationship
PROFINET
Device
Application
Relationship
Multicast
Communication
Relationship
AR
MCR

7. Conformity and
certification

For products of different types and
from different manufacturers to be
able to perform various tasks in the
automation process correctly, they
must exchange information over
the bus without errors. A
prerequisite for this is a standards-
compliant implementation of the
communication protocols and
application profiles by the device
manufacturers.

Certificates are issued to prove that
devices (which vary considerably
from manufacturer to manufacturer
in terms of their functionality)
conform to the communication and
profile specifications. Certificates
are issued by the PI certification
body on the basis of a test report
from an accredited PITL. This
provides the user with added
peace of mind with respect to the
interoperability and interchange-
ability of products.
7.1 Quality control through
certification
To ensure that products are
implemented in accordance with
the relevant standards, PI has
established a quality assurance
system whereby certificates are
issued for products that meet the
necessary requirements as
indicated in a test report from a
PITL.

The aim of certification is to provide
users with an assurance that
devices from different
manufacturers are capable of fault-
free operation when used together.
For this purpose, the devices are
tested by independent test
laboratories under lifelike
conditions in accordance with the
appropriate test level. This makes it
possible to identify any
misinterpretation of the standards
by developers at an early stage so
that manufacturers can take the
necessary remedial action before
devices are introduced into the
field. The test also examines the
devices compatibility with other
certified devices. Upon successful
completion of the test and receipt
of a positive test report, the
manufacturer can apply for a
device certificate.
The certification procedure (Figure
15) is based on standard EN
45000. In accordance with the
requirements of this standard, the
test laboratories accredited by PI
are not aligned with any specific
manufacturer. Only these test
laboratories are authorized to carry
out the device tests that form the
basis for certification.

The test procedures and sequence
for certification are described in the
guidelines.
7.2 PROFIdrive certification
Figure 16 shows the basic
structure of the certification system
used for PROFIdrive products. The
products (test samples) undergo
automated testing based on script
descriptions. All the results from
the individual test steps are
recorded automatically in the
product test log. Together, the
quality system and accreditation
procedures ensure a consistent
level of test quality at the PITLs.

Test campaign in
test laboratory
No
Yes
Certification
through PI
OK ?
Device
under Test
Test campaign in
test laboratory
No
Yes
Certification
through PI
OK ?
Device
under Test
Script
Interpreter
Drive (Test sample) Additional Drives (optional)
Interpolator Data
Communication Services
Standard PC with W2000/XP
Graphical
User Interface
PROFIBUS / PROFINET
RTX-Realtime Driver
with Test-Interpolator
and closed loop control
Active Master/Controller
Board
Script File for
Test Automation
Protocol with
Test Results
Script
Interpreter
Drive (Test sample) Additional Drives (optional)
Interpolator Data
Communication Services
Standard PC with W2000/XP
Graphical
User Interface
PROFIBUS / PROFINET
RTX-Realtime Driver
with Test-Interpolator
and closed loop control
Active Master/Controller
Board
Script File for
Test Automation
Protocol with
Test Results
Figure 16: PROFIdrive Conformity test
Figure 15: The device certification
process

8. Engineering
8.1 PROFIdrive profile server
As part of another joint project, a
common driver has been
developed for integrating drive
equipment into engineering
systems. This driver, which is
called the PROFIdrive profile
server, is based on the OPC
standard and provides users with
universal and convenient access to
the drives using familiar plug & play
methods like those found in the
Windows environment.

PROFIBUS DPV1 provides the
underlying technololgy for this. The
drives are accessed via a PC
running Windows which is
connected as a PROFIBUS class 2
master (operator control and
monitoring device). The advantage
of this kind of connection is that
service personnel can
communicate directly with the
drives without having to access or
interfere with the central controller.
The prerequisite for this is a PC
with a PROFIBUS card (available
as standard products from several
vendors) and an OPC-compatible
bus server.

The PROFldrive profile server
works above this bus server. It
translates the DPV1 services into
user-friendly device and parameter
names. Any products that support
OPC clients can be employed as
application programs.
These can be manufacturer-
specific engineering systems for
drive parameterization, diagnosis
and programming, as well as
commercially available visualiza-
tion systems or even web servers
that permit worldwide access to the
PROFIBUS drive.
8.2 Higher-level engineering
with FDT
In addition to the actual process of
data exchange on the
PROFIBUS/PROFINET systems,
interfaces with manufacturer-
specific application software are
also undergoing an increasing level
of standardization.

This applies in the case of the
FDT/DTM interface, for example. In
the future, this interface will enable
software modules (known as
DTMs) from different
manufacturers to be integrated into
higher-level application software
and enable the acyclic PROFIdrive
parameter channel to be utilized.
This offers users significant
advantages in terms of com-
missioning and operating machines
and systems:

Uniform configuration and data
management
Optimized use of the existing
interfaces (with the fieldbus,
database, printer)
Similar function calls, e.g., for
sending/receiving parameters,
storing data
Only one software
environment required for
configuration, commissioning,
diagnosis and service
Application
e.g. Webserver
PROFIdrive
profile server
Bus server
PROFIBUS
OPC-Interface
OPC-Interface
PC
PROFIdrive
conform
device
PROFIBUS
Board
Application
e.g. Webserver
PROFIdrive
profile server
Bus server
PROFIBUS
OPC-Interface
OPC-Interface
PC
PROFIdrive
conform
device
PROFIBUS
Board
Figure 17: Profile server

9. User benefits

More than 20 million PROFIBUS
devices have now been installed.
The top priority for development
has always been and will continue
to be that of ensuring that the
system remains fully compatible
with the devices that are already on
the market.
Thanks to the identical application
view and common base and
application models, it is even
possible to switch over from
PROFIBUS to PROFINET without
any major difficulties.
The following statements sum up
the user benefits perfectly:
Integration instead of interfaces
and One technology instead of
multiple technologies.
It is on this basis that PROFIdrive
is able to achieve significant cost
reductions over the course of a
machine or systems life cycle with
respect to: planning, installation,
operation and maintenance as well
as expansions or upgrades. The
PROFIdrive integrated approach is
achieved through the use of
standard communication protocols
such as PROFIBUS DP or
PROFINET IO which are both
equally capable of meeting the
diverse requirements of factory and
process automation, motion control
and safety applications.
The PROFIdrive application profile
is ideal for meeting the special
requirements of drive technology in
conjunction with the PROFIBUS
and PROFINET communication
systems and offers unbeatable
scalability in terms of commu-
nication performance. It creates
multiple benefits not only for the
device and system manufacturers
but also for integrators and end
users.
There are considerable cost
advantages to be achieved by
using a single, integrated
communication solution for the
drives, the controller, the I/O and
operator control and monitoring.
The integrated approach pays off
not only with respect to planning
and installation but also in terms of
training, documentation and
maintenance because there is only
a single technology involved.
Drive tasks of every conceivable
type, each having its own specific
requirements, can be addressed in
a standard yet flexible way thanks
to the integrated technology, the
integrated application programs
and the scalable communication
performance.
The need for user-friendliness is
fully met by ensuring the
interoperability and interchange-
ability of devices from different
manufacturers and the availability
of program libraries from well-
known controller manufacturers.
The safe operation of the devices
is guaranteed thanks to
independent certification by ac-
credited test laboratories.
Because PROFIdrive is
standardized in IEC61800-7,
international acceptance is
guaranteed and investments will
enjoy extensive long-term
protection. This protection is further
reinforced by the fact that
PROFIBUS and PROFINET are
the leading global base
technologies. The fact that the
profile is also recommended by
user organizations such as OMAC
provides additional investment
protection.

10. PI PROFIBUS &
PROFINET
International

As far as maintenance, ongoing
development, and market
penetration are concerned, open
technologies need a company-
independent institution that can
serve as a working entity. For the
PROFIBUS and PROFINET
technologies, this role is filled by
the PROFIBUS Nutzerorganisation
e.V. (PNO), founded in 1989 as a
non-profit interest group for
manufacturers, users, and
institutions. The PNO is a member
of PI (PROFIBUS & PROFINET
International), an umbrella group
which was founded in 1995. PI now
has 25 regional user organizations
(RPAs: regional PI associations)
totaling approximately 1,400
members, PI is represented on
every continent and is the worlds
largest interest group for the
industrial communications field.
10.1 Responsibilities of PI
The key tasks performed by PI are:
Maintenance and ongoing
development of PROFIBUS
and PROFINET.
Promoting the worldwide
adopition of PROFIBUS and
PROFINET.
Protection of investment for
users and manufacturers
through influencing
standardization efforts.
Representation of the interests
of members to standards
bodies and unions.
Providing companies with
worldwide technical support
through PI Competence
Centers (PICC).
Quality control through a
system for product certification
that is based on PI-approved
conformity tests used at PI test
laboratories (PITL).
Establishment of a worldwide
training standard through PI
Training Centers (PITC).

10.2 Technological
development
PI has assigned the tasks of
technological development to PNO
Germany. The Advisory Board of
PNO Germany oversees the
development activities. Techno-
logical development takes place in
the context of more than 50
working groups with input from
more than 500 experts from a wide
array of member companies.

10.3 Technical support
PI supports more than 35
accredited PICCs worldwide.
These facilities provide users and
manufacturers with a wide variety
of advice and support. As
institutions of PI, they are
independent service providers and
adhere to the mutually agreed
upon regulations. The listed areas
of expertise of PICCs are regularly
checked as part of periodic
accreditation and ongoing quality-
assurance processes. An up-to-
date list of addresses can be found
on the PI Web site.

10.4 Certification
PI supports 8 accredited PITLs
worldwide The PITLs perform
certification testing of products with
PROFIBUS and/or PROFINET
interfaces. As institutions of PI,
they are independent service
providers and adhere to the
mutually agreed upon regulations.
The test procedures followed by
the PITLs are regularly audited in
accordance with a strict
accreditation process to ensure
that they meet the necessary
quality requirements. An up-to-date
list of addresses can be found on
the PI Web site.
10.5 Training
The PI Training Centers have been
set up with the specific aim of
establishing a global training
standard for engineers and
installation technicians. The fact
that the Training Centers and
associated experts are required to
be officially accredited means that
quality is assured, not only with
respect to the PROFIBUS and
PROFINET training offered but
also of the associated engineering
and installation services. An up-to-
date list of addresses can be found
on the PI Web site.
Regional
PI
Associations
PI
Competence
Centers
PI
Test
Laboratories
PI
Training
Centers
PI (PROFIBUS & PROFINET International)
Regional
PI
Associations
PI
Competence
Centers
PI
Test
Laboratories
PI
Training
Centers
PI (PROFIBUS & PROFINET International)
Figure 18: Organizational structure of PI

Index

A
Acyclic data exchange.....................................4
Alarm mechanisms..........................................5
Application classes..........................................8
Application model ............................................8
C
Central motion control .....................................9
Certification....................................................12
Clock-synchronous operation..........................5
Conformity test ..............................................12
Control algorithms ...........................................6
Cyclic data exchange ......................................4
D
Decentralized automation................................9
Device classes.................................................4
Diagnosis.......................................................10
Drive synchronization ......................................5
DTM...............................................................13
Dynamic servo control .....................................9
E
Encoder interface ............................................9
F
Fault buffer ....................................................10
Fault classes..................................................10
FDT................................................................13
I
IEC...................................................................3
IEC 61800-7 ....................................................3
Interoperability...............................................12
J
Jitter .................................................................6
M
Manufacturer-specific parameters...................7
Mapping onto PROFIBUS .............................12
Mapping to PROFIBUS................................. 11
Mapping to PROFINET................................. 11
Modes ............................................................. 6
O
OMAC ....................................................... 3, 14
OPC standard ............................................... 13
P
Parameter access........................................... 7
PI ..................................................................15
PICC.............................................................. 15
PITC.............................................................. 15
PITL............................................................... 15
PNO.............................................................. 15
Positioning drive.............................................. 8
Process synchronization................................. 5
PROFIBUS DP................................................ 3
PROFIdrive base model.................................. 4
PROFIdrive profile server ............................. 13
Profile.............................................................. 3
Profile parameters........................................... 7
PROFIsafe ...................................................... 4
R
RPA............................................................... 15
S
Safety technology ........................................... 4
Scalable communication performance............ 3
Slave-to-slave communication........................ 6
Standard drive................................................. 8
Standard drive with technological function ..... 8
Standard telegrams......................................... 6
Standardization............................................... 3
State machine................................................. 6
T
Telegrams....................................................... 6
W
Warning......................................................... 10

PROFIdrive technology and application
System description
August 2007

Order number 4.322

Publisher
PROFIBUS Nutzerorganisation e.V.
Haid-und-Neu-Strae 7
76131 Karlsruhe
Germany
Phone : +49 721 96 58 590
Fax : +49 721 96 58 589
info@profibus.com
www.profibus.com

Exclusion of liability
Although the PROFIBUS Nutzerorganisation has taken the utmost care in compiling the information contained in
this brochure, it cannot guarantee that the content is completely error-free and the PROFIBUS Nutzerorganisation
can assume no liability, regardless of the legal basis for any potential claims. The information in this brochure is
reviewed on a regular basis. Any necessary corrections will be made in subsequent editions. We would be
grateful for any suggestions as to how the content could be improved.
Any designations that appear in this brochure could potentially constitute trademarks. Any use of such trademarks
by third parties for their own ends risks infringing the rights of the proprietors concerned.
This brochure is not intended as a substitute for the applicable IEC standard or for the PI specifications and
profiles; in cases of doubt, reference must always be made to these official sources of information.
Copyright by PROFIBUS Nutzerorganisation e.V. 2007. All rights reserved.

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Introduction

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