Спецификация протокола Profibus
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Page 731
PROFIBUS-Specification-Normative-Parts-8:1997
Copyright by PNO 1997 - all rights reserved
9.3.3 Read Input and Output Data of a DP-Slave
By means of these functions a DP-Master (class 2) can read a picture of inputs
and outputs of a DP-Slave. The condition for this is that the DP-Slave is
already in the user data exchange mode.
Table 10. DDLM_RD_Inp
+------------------------------+-----+-----+-----+
! Parameter Name !.req !_Upd !.con !
! ! !.req ! !
+------------------------------+-----+-----+-----+
! Rem_Add ! M ! ! M !
! ! ! ! !
! Status ! ! ! M !
! Inp_Data ! ! M ! C !
+------------------------------+-----+-----+-----+
Table 11. DDLM_RD_Outp
+------------------------------+-----+-----+-----+
! Parameter Name !.req !_Upd !.con !
! ! !.req ! !
+------------------------------+-----+-----+-----+
! Rem_Add ! M ! ! M !
! ! ! ! !
! Status ! ! ! M !
! Outp_Data ! ! M ! C !
+------------------------------+-----+-----+-----+
Rem_Add:
The parameter Rem_Add (Remote_Address) specifies the FDL address of the remote
station.
Type: Unsigned8
Range: 0 to 126
Inp_Data:
This parameter contains the input data of the DP-Slave.
Type: Octet String
Length: Preferably 0 to 32 (extendible to 244, see section "Restrictions")
Outp_Data:
This parameter contains the output data.
Type: Octet String
Length: Preferably 0 to 32 (extendible to 244, see section "Restrictions")
Status:
The parameter Status indicates success or failure of the function.
Possible values: OK,DS,NA,RS,UE,NR,RE
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Copyright by PNO 1997 - all rights reserved
9.3.4 Send Parameter Data
By means of this function parameter data are delivered to the DP-Slaves. The
parameterization of the passive stations is first done in the start-up phase of
the DP system and is also possible in the user data exchange mode.
In addition to the bus wide parameter data, DP-Slave specific parameters (e. g.
upper and lower limit value) can be transferred to each DP-Slave. These data are
delivered from the user in the master parameter set which is buffered in the
master.
Tabele 12. DDLM_Set_Prm
+------------------------------+-----+-----+-----+
! Parameter Name !.req !.ind !.con !
! ! ! ! !
+------------------------------+-----+-----+-----+
! Rem_Add ! M ! ! !
! Req_Add ! ! M ! !
! Prm_Data ! M ! M ! !
! ! ! ! !
! Status ! ! ! M !
! ! ! ! !
+------------------------------+-----+-----+-----+
Rem_Add:
The parameter Rem_Add (Remote_Address) specifies the FDL address of the remote
station.
Type: Unsigned8
Range: 0 to 126
Req_Add:
This parameter contains the station address of the requester. With the help of
this address the access protection in the DP-Slave is secured.
Type: Unsigned8
Range: 0 to 125
Prm_Data:
The parameter data consist of bus specific data and DP-Slave specific data.
Type: Octet String
Length: Preferably 7 to 32 (extendible to 244, see section "Restrictions")
The parameter data have the following format:
Octet 1: Station_status
MSB LSB
+--+--+--+--+--+--+--+--+
Bit-No !7 !6 !5 !4 !3 !2 !1 !0 !
+--+--+--+--+--+--+--+--+
The individual bits have the following meaning:
Bit 7: Lock_Req
Function see table 13
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Copyright by PNO 1997 - all rights reserved
Bit 6: Unlock_Req
Function see table 13
Bit 5: Sync_Req
With this bit it is indicated to the DP-Slave to operate in the Sync
mode as soon as the control command is delivered by means of the
DDLM_Global_Control function. If a DP-Slave does not support the Sync
control command, it sets the bit Diag.Not_Supported within the
diagnostic information. As a check is done during parameterization
phase, errors are avoided during the user data exchange mode.
Bit 4: Freeze_Req
With this bit it is indicated to the DP-Slave to operate in the Freeze
mode as soon as the control command is delivered by means of the
DDLM_Global_Control function. If a DP-Slave does not support the
Freeze control command, it sets the bit Diag.Not_Supported within the
diagnostic information. As a check is done during parameterization
phase, errors are avoided during the user data exchange mode.
Bit 3: WD_On (Watchdog on)
If this bit is set to 0 then the watchdog control is deactivated.
If the bit is set to 1 then the watchdog control is activated.
Bit 2: reserved
Bit 1: reserved
Bit 0: reserved
The term "reserved" specifies that these bits are reserved for future function
extensions. If a "reserved" bit is set in a device without such function
extensions the bit Diag.Not_Supported will be set.
Table 13. Specification of the bits Lock_Req and Unlock_Req
+-------+-------+-----------------------------------------+
! bit 7 ! bit 6 ! meaning !
+-------+-------+-----------------------------------------+
! 0 ! 0 ! The paramter min T
SDR
can be changed.
!
! ! ! All other parameters remain unchanged. !
+-------+-------+-----------------------------------------+
! 0 ! 1 ! The DP-Slave will be unlocked for other !
! ! ! masters !
+-------+-------+-----------------------------------------+
! 1 ! 0 ! The DP-Slave is locked for other !
! ! ! masters, all parameters are accepted !
! ! ! (exception: min T
SDR
= 0) !
+-------+-------+-----------------------------------------+
! 1 ! 1 ! The DP-Slave is unlocked for other !
! ! ! masters !
+-------+-------+-----------------------------------------+
Octet 2: WD_Fact_1
Range: 1 to 255
Octet 3: WD_Fact_2
Range: 1 to 255
The values entered in these two bytes represent factors for setting
the watchdog control (T
WD
). The watchdog control in a DP-Slave takes
care that, if the master fails, the outputs fall in the safe state
after the expiration of this time.
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PROFIBUS-Specification-Normative-Parts-8:1997
Copyright by PNO 1997 - all rights reserved
The time is calculated according to equation (8):
T
WD
in s = 10ms ⋅ WD_Fact_1 ⋅ WD_Fact_2 (8)
Times can be realized between 10ms and 650s independent of the baud
rate. The watchdog control is switched on or off by the bit WD_On.
Octet 4: Min. Station Delay Responder (min T
SDR
)
DP operation: Range: 0 to max T
SDR
(see table 7)
Mixed operation: Range: 0 to 255 t
Bit
This is the minimum waiting time for a DP-Slave until it is allowed to
send the response frames to the DP-Master. If in this octet 00H is
entered, the previous value remains unchanged.
Octet 5 to 6 (unsigned16): Ident_Number
The DP-Slave accepts only parameter frames if the transmitted
Ident_Number is identical with the own Ident_number. Exception: The
min T
SDR
is also allowed to be set if both bits Lock_Req and
Unlock_Req are zero and the Ident_Number is not identical.
Octet 7: Group_Ident
With this octet it is possible to build groups for the function
DDLM_Global_Control.
Each bit represents a group. The Group_Ident is only accepted if the
Lock_Req bit is set.
Octet 8 to 32: User_Prm_Data (extendible to 244, see section "Restrictions")
The following bytes are freely allocatable for DP-Slave specific
parameters, for Example diagnostic filter or regulator parameters. The
meaning and the ranges of values for the User_Prm_Data are defined
application specific.
Status:
The parameter Status indicates success or failure of the transfer.
Possible values: OK,DS,NA,RS,RR,UE,RE
9.3.5 Check Configuration Data
This function allows the DP-Master to deliver the configuration data to the DP-
Slave for checking. They contain the range of input and output areas as well as
the information about the data consistency as e. g. required for way setpoints
for positioning axis.
This consistency also affects DP-Slave and DP-Master (class 1). If a DP-Master
expects consistency of a DP-Slave data area, it reports this using the function
DDLM_Chk_Cfg with a set consistency bit. If the DP-Slave needs consistency for a
data area, it reports this using the function DDLM_Get_Cfg with a set
consistency bit. In this case the consistency bit for this data area of the DP-
Master shall also be set at the function DDLM_Chk_Cfg.
The DP-Slave compares its real configuration (Real_Cfg_Data) with the
configuration received from the DP-Master (Cfg_Data). When verifying the
configuration, the format and the length information as well the input/output
areas shall be identical. The verification of the consistency bit causes only in
the following cases a configuration fault (Diag.Cfg_Fault):
- The DP-Slave needs consistency for a data area and the DP-Master indicates no
consistency.
- The DP-Slave can not provide consistency for a data area and the DP-Master
requires consistency for this data area.
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PROFIBUS-Specification-Normative-Parts-8:1997
Copyright by PNO 1997 - all rights reserved
Table 14. DDLM_Chk_Cfg
+------------------------------+-----+-----+-----+
! Parameter Name !.req !.ind !.con !
! ! ! ! !
+------------------------------+-----+-----+-----+
! Rem_Add ! M ! ! !
! Req_Add ! ! M ! !
! Cfg_Data ! M ! M ! !
! ! ! ! !
! Status ! ! ! M !
! ! ! ! !
+------------------------------+-----+-----+-----+
Rem_Add:
The parameter Rem_Add (Remote_Address) specifies the FDL address of the remote
station.
Type: Unsigned8
Range: 0 to 126
Req_Add:
This parameter contains the station address of the requester. With the help of
this address the access protection in the DP-Slave is secured.
Type: Unsigned8
Range: 0 to 125
Cfg_Data:
This parameter contains the configuration data.
Type: Octet String
Length: Preferably 1 to 32 (extendible to 244, see section "Restrictions")
In case of a modular DP-Slave one identifier byte per module should be used.
Only that way provides a means for an assignment of the diagnostic information
(Ext_Diag_Data) to the modules.
Input and output areas can be combined in groups and are described each by one
identifier byte.
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Copyright by PNO 1997 - all rights reserved
The identifier byte has the following format:
MSB LSB
+--+--+--+--+--+--+--+--+
Bit-No !7 !6 !5 !4 !3 !2 !1 !0 !
+--+--+--+--+--+--+--+--+
! ! ! ! ! ! ! ! meaning:
! ! ! ! ! ! ! !
! ! ! ! +--+--+--+---- length of data
! ! ! ! 00 1 byte resp. 1 word
! ! ! ! .
! ! ! ! .
! ! ! ! 15 16 byte resp. 16 words
! ! ! !
! ! ! !
! ! +--+---------------- input/output
! ! 00 specific identifier formats
! ! 01 input
! ! 10 output
! ! 11 input-output
! !
! +---------------------- length format
1
)
! 0 byte byte structure
! 1 word word structure
!
+------------------------- consistency over
0 byte or word
1 whole length
To include also extended configurations PROFIBUS-DP offers a special extension
of the real identifier system to increase flexibility.
This specific identifier format makes it additionally possible to determine the
number of input and output bytes associated with this identifier. In addition to
this it is possible to add user specific data.
1
)
When transferring words, PROFIBUS-DP transfers the high byte first, followed
by the low byte. If word structure is entered in the column format, the DP-
Master has the possibility to swap the bytes within the word, if required by the
target system.
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PROFIBUS-Specification-Normative-Parts-8:1997
Copyright by PNO 1997 - all rights reserved
Special identifier formats (replaces identifier byte):
MSB LSB
+--+--+--+--+--+--+--+--+
Bit-No !7 !6 !5 !4 !3 !2 !1 !0 !
+--+--+--+--+--+--+--+--+
! ! ! ! ! ! ! ! meaning:
! ! ! ! ! ! ! !
! ! ! ! +--+--+--+---- length of manufacturer
! ! ! ! specific data
2
)
! ! ! !
! ! +--+---------------- fixed to 00
! !
+--+--- input/output
00 free place
01 it follows 1 length byte for inputs
10 it follows 1 length byte for outputs
11 it follows - 1 length byte for outputs
- 1 length byte for inputs
2
)
The length information of the manufacturer specific data shall be interpreted
as follows:
In case of DDLM_Chk_Cfg:
0 No manufacturer specific data follow; no data in
Real_Cfg_Data.
1 to 14 Manufacturer specific data of specified length follow;
these shall be identical with the data in Real_Cfg_Data.
15 No manufacturer specific data follow;
the verification can be omitted
In case of DDLM_Get_Cfg :
0 No manufacturer specific data follow
1 to 14 Manufacturer specific data with specified
length follow
15 Not allowed
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Copyright by PNO 1997 - all rights reserved
The structure of the length bytes is as follows:
MSB LSB
+--+--+--+--+--+--+--+--+
Bit-No !7 !6 !5 !4 !3 !2 !1 !0 !
+--+--+--+--+--+--+--+--+
! ! ! ! ! ! ! ! meaning:
! ! ! ! ! ! ! !
! ! +--+--+--+--+--+---- length of inputs/outputs
! ! 00 1 byte resp. 1 word
! ! .
! ! .
! ! 63 64 byte resp. 64 words
! !
! +---------------------- Length format
3
)
! 0 byte byte structure
! 1 word word structure
!
+------------------------- consistency over
0 byte or word
1 whole length
The following gives an Example for a special identifier format:
+--+--+--+--+--+--+--+--+ input/output, 3 bytes
Octet 1 !1 !1 !0 !0 !0 !0 !1 !1 ! manufacturer specific data
+--+--+--+--+--+--+--+--+
Octet 2 !1 !1 !0 !0 !1 !1 !1 !1 ! consistency, output, 16 words
+--+--+--+--+--+--+--+--+
Octet 3 !1 !1 !0 !0 !0 !1 !1 !1 ! consistency, input, 8 words
+--+--+--+--+--+--+--+--+
Octet 4 ! manufacturer !
+--+--+--+--+--+--+--+--+
Octet 5 ! specific !
+--+--+--+--+--+--+--+--+
Octet 6 ! data !
+--+--+--+--+--+--+--+--+
Figure 16. Example of a special identifier format
Status:
The parameter Status indicates success or failure of the transmission.
Possible values: OK,DS,NA,RS,RR,UE,RE
3
)
see page 736
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PROFIBUS-Specification-Normative-Parts-8:1997
Copyright by PNO 1997 - all rights reserved
9.3.6 Read Configuration Data
This function permits the user to read the configuration data of the DP-Slave
over the communication medium. The requester gets the actual configuration
(Real_Cfg_Data) which the DP-Slave has determined.
Table 15. DDLM_Get_Cfg
+------------------------------+-----+-----+-----+
! Parameter Name !.req !.con !_Upd !
! ! ! !.req !
+------------------------------+-----+-----+-----+
! Rem_Add ! M ! M ! !
! ! ! ! !
! Status ! ! M ! !
! Real_Cfg_Data ! ! C ! M !
+------------------------------+-----+-----+-----+
Rem_Add:
The parameter Rem_Add (Remote_Address) specifies the FDL address of the remote
station.
Type: Unsigned8
Range: 0 to 126
Real_Cfg_Data:
This parameter contains the configuration data. For a description of the
identifiers see section "Check Configuration Data".
Type: Octet String
Length: Preferably 1 to 32 (extendible to 244, see section "Restrictions")
Status:
The parameter Status indicates success or failure of the function.
Possible values: OK,DS,NA,RS,UE,NR,RE
9.3.7 Control Commands to DP-Slave
This function permits to send special control commands to one (single) DP-Slave
or to several (multicast) DP-Slaves.
For Example, this can be necessary for synchronization of the DP-Slaves. The DP-
Slave accepts these control commands only from the DP-Master which has delivered
parameter and configuration data. The DP-Master (class 1) uses this control
commands to inform the DP-Slaves about his operation mode.
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Table 16. DDLM_Global_Control
+------------------------------+-----+-----+-----+
! Parameter Name !.req !.ind !.con !
! ! ! ! !
+------------------------------+-----+-----+-----+
! Rem_Add ! M ! ! M !
! Req_Add ! ! M ! !
! Control_Command ! M ! M ! !
! Group_Select ! M ! M ! !
! ! ! ! !
! Status ! ! ! M !
+------------------------------+-----+-----+-----+
Rem_Add:
The parameter Rem_Add (Remote_Address) specifies the FDL address of the remote
station.
Type: Unsigned8
Range: 0 to 126,127 (global address)
Req_Add:
This parameter contains the station address of the requester. With the help of
this address access protection in the responder is secured.
Type: Unsigned8
Range: 0 to 125
Control_Command:
This parameter defines the command which shall be executed.
Type: Unsigned8
Format:
MSB LSB
+--+--+--+--+--+--+--+--+
Bit-No !7 !6 !5 !4 !3 !2 !1 !0 !
+--+--+--+--+--+--+--+--+
The individual bits have the following meaning:
Bit 7: reserved
Bit 6: reserved
Bit 5: Sync
The output states which are transferred using the function
DDLM_Data_Exchange are given out and frozen. The output data which
follow are not given out as long as the next Sync control command is
received.
Bit 4: Unsync
The Unsync control command cancels the Sync command.