Спецификация протокола Profibus

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WAIT-RES RES2 WAIT-REQ

FDL_DATA_REPLY.con(SSAP=54)

\L_status=DL AND L_sdu[1]#FE/NE/AD/EA/LE/RE/IP/NI/SE/SC

AND Service_Header[1]=42H AND (L_sdu.len=5

AND L_sdu[1-4]=Service_Header)

=> DDLM_Start_Seq.con(Status =OK,

Max_Length_Data_Unit=L_sdu[5])

Stop T1

WAIT-RES RES3 WAIT-REQ

FDL_DATA_REPLY.con(SSAP=54)

\L_status=DL AND L_sdu[1]#FE/NE/AD/EA/LE/RE/NC/SC/NI

AND Service_Header[1]=43H AND L_sdu=Service_Header

=> DDLM_Download.con(Status=OK)

Stop T1

WAIT-RES RES4 WAIT-REQ

FDL_DATA_REPLY.con(SSAP=54)

\L_status=DL AND L_sdu[1]#FE/NE/AD/EA/LE/RE/NI/SC

AND Service_Header[1]=44H AND (L_sdu.len>=5

AND L_sdu[1-4]=Service_Header[1-4]

AND L_sdu.len<=Service_Header[5]+4)

=> DDLM_Upload.con(Status=OK,Data=L_sdu[5-L_sdu.len])

Stop T1

WAIT-RES RES5 WAIT-REQ

FDL_DATA_REPLY.con(SSAP=54)

\L_status=DL AND L_sdu[1]#FE/NE/AD/EA/LE/RE/NI/SE

AND Service_Header[1]=45H AND L_sdu=Service_Header

=> DDLM_End_Seq.con(Status=OK)

Stop T1

WAIT-RES RES6 WAIT-REQ

FDL_DATA_REPLY.con(SSAP=54)

\L_status=DL AND L_sdu[1]#FE/NE/AD/EA/LE/RE/IP/SC/NI/DI

AND Service_Header[1]=47H AND L_sdu=Service_Header

=> DDLM_Act_Param.con(Status=OK)

Stop T1

TIMO TOCON1 WAIT-REQ

FDL_DATA_REPLY.con(SSAP=54)

=> Stop T1

TIMO FATAL4 POWER-ON

T1 expired

=> DDLM_Fault.ind

13.6 Communication Model of the DP-Slave

13.6.1 General

The DP-Slave is subdivided in four instances:

1. Layer 1/2, Subset of PROFIBUS (FDL and FMA1/2)

2. Direct-Data-Link-Mapper (DDLM)

3. User-Interface

4. User

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A summary of the interactions between the individual instances is shown in

Figure 39.

13.6.2 FDL and FMA1/2

At minimum, layer 2 shall realize the FDL-services SRD and SDN as responder. In

addition to the mandatory services Reset FMA1/2 and Event FMA1/2 the service

RSAP Activate FMA1/2 is required as mandatory. Layer 2 shall be able to realize

the SAP-access-protection and to perform the Reply-Update-Mode as Multiple.

More hints can be taken from the sections "Transmission Technology" and "Medium

Access and Transmission Protocol".

13.6.3 Direct Data Link Mapper

The DDLM includes the mapping of the DDLM-functions onto the layer 2 services.

The DDLM of the DP-Slave shall realize the following local functions as

mandatory.

-DDLM_Slave_Init

-DDLM_Fault

-DDLM_Enter

-DDLM_Leave

Additionally the following data transmission services are prescribed:

-DDLM_Slave_Diag

-DDLM_Set_Prm

-DDLM_Chk_Cfg

-DDLM_Data_Exchange

-DDLM_Global_Control

-DDLM_RD_Inp

-DDLM_RD_Outp

-DDLM_Get_Cfg

The following data transmission function can additionally offered from the DDLM:

-DDLM_Set_Slave_Add

The User-Interface uses these functions to handle the data exchange with the DP-

Master.

13.6.4 User-Interface

The User-Interface communicates with the DDLM via the functions described in the

preceding section.

The interface to the user is realized as a data interface.

The state machine for the slave operations performs the monitoring of the data

transfer of this DP-Slave.

The DP-Master shall guarantee that the elapsed time between two passes through

the slave-list is not shorter than a projected time interval. This time interval

(Min_Slave_Interval) is projected in the master parameter set. This time

interval shall be chosen in dependency of the performance of the real DP-Slaves

that are included in the DP-System.

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The errors of FDL and DDLM which occur locally are analyzed and result in a

DDLM_Fault.ind.

The necessary synchronization between the User-Interface and the real

application process is realized locally and implementation dependent. It is

represented by the local events

- new input data

- change in Diag_Data

- configuration change.

13.6.5 User

The user represents the real application process in the respective device and

shall be defined application dependent.

User

DDLM

Local functions and Datatransfer-functions

FMA1/2

FDL

SDN

SRD

Slave_Init

Enter

Leave

Fault

Slave_Diag

Set_Prm

Chk_Cfg

Data_Exchange

Global_Control

Slave-User-Interface-Handlin

User-Interface

RESET

SET VALUE

RSAP ACTIVATE

EVENT

I/O-Data

Real_No_Add_Ch

Station_Address

Set_Slave_Add

Dia

nostics-Data

Prm-Data

Real-Cf

-Data

Figure 39. Structure of a DP-Slave

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13.7 State Machines in the DP-Slave

13.7.1 State Machine of User-Interface

13.7.1.1 State Diagram of User-Interface

CHECK-CLEAR

Reset

CHECK-FREEZE

NMAS1,2

XMAS3,4

GCTR2-6

INIT

LEAVE2

FREEZE1-5

CLEAR1,2

WAIT-CFG

DATA-EXCH

WAIT-PRM

POWER-ON

ABORT4-10

INVPRM2

DXCH1-17

GCTR1

VPRM2

FATAL4,5

LEAVE1

ABORT1-3

INVPRM1

FATAL2,3

SADR3

PRM1-6

CFG1-7

XMAS1,2

VPRM1

ENTER1

SADR1,2

FATAL1

ABORT11

Figure 40. State Diagram for the User-Interface at the DP-Slave

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13.7.1.2 State Machine Description

The User-Interface of the DP-Slave has no pronounced interface to the user. The

communication takes places via local variables which are described in section

a). Furthermore the machine uses functions and macros which are listed in

section b) and section c).

The user has the possibility to interact via "local events"

- configuration change

- new input data

- change in Diag_Data

and the capability to initiate a reset.

a) Local variables of the DP-Slave

In order to synchronize the data capturing on the bus, an intermediate storage

of the actual data is necessary. To describe the effects of the individual

actions in a meaningful way, the buffers are named as follows:

PROFIBUS-DP ->Output-L ->Output-D -> to periphery

PROFIBUS-DP <-Input-D <- periphery-I

Devices which do not support the Sync- respective the Freeze-Mode, are not

required to implement the described buffer-model completely.

Output-L:

(Octet-String)

Intermediate storage for outputs.

Output-D:

(Octet-String)

Real output data of the DP-Slave. The requirements for the consistency as

described in the Cfg_Data shall be taken into consideration.

Input-D:

(Octet-String)

Intermediate storage for input data. They are stored either by "Freeze" (-

DDLM_

Global_Control), or by change of the local input data.

Periphery-I:

(Octet-String)

Depending on the type (see description of Cfg_Data), the data shall be

consistently loaded (in Input-D), or may be captured freely.

Station_Address:

(Unsigned8)

Own station address which may be set by ->DDLM_Set_Slave_Address or which is

locally stored.

Real_Cfg_Data:

(Octet-String)

The configuration which was previously defined for the device, or the

configuration which is determined in the start-up by the device, respectively.

The structure of the individual octets corresponds to the structure of Cfg_Data

(-> DDLM_Chk_Cfg).

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Real_Output_len:

(Unsigned8)

Indicates the number of output bytes that are actually present in the device.

Real_No_Add_Chg:

(Boolean)

Indicates if an address change is possible (False) or not. Can be statically

defined or stored.

Real_Ident:

(Unsigned16)

Corresponds to the Ident_Number of parametrization (-> DDLM_Set_Prm).

Active_Groups:

(Unsigned8)

Contains the Group_Ident as set via DDLM_Set_Prm. This is used at

DDLM_Global_Control for the decision if the station is addressed.

Diag_Flag:

(Boolean)

This flag indicates that the master shall be informed by an high prior Reply-

Update that a change in the diagnostic information occurred.

Sync_Not_Supported:

(Boolean)

Indicates that the DP-Slave does not support the Sync-Mode.

Sync_Supported:

(Boolean)

Indicates that the DP-Slave does support the Sync-Mode.

Freeze_Not_Supported:

(Boolean)

Indicates that the DP-Slave does not support the Freeze-Mode.

Freeze_Supported:

(Boolean)

Indicates that the DP-Slave does support the Freeze-Mode.

b) Functions:

Load WD: (watchdog control)

Loading of the WD-timer with the values (WD_Fact_1, WD_Fact_2).

Start WD: (watchdog control)

Start of the WD-timer (first start).

Stop WD: (watchdog control)

Stop of the WD-timer. After this, the timer is inactive until the next start.

Trigger WD: (watchdog control)

Depending on the state, the WD-timer is started anew (all calls after Start WD),

or resumes inactive (all calls after Stop WD). The watchdog is triggered by a

valid DDLM_Data_Exchange.ind, DDLM_Slave_Diag.ind and DDLM_Chk_Cfg.ind from the

controlling master (see section "Control Intervals").

Valid User_Prm_Data:

User dependent function that tests the User_Prm_Data and returns true if the

data is valid.

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Invalid User_Prm_Data:

User dependent function that tests the User_Prm_Data and returns true if the

data is invalid.

c) Macros:

LEAVE-MASTER

=> Diag.Master_Add = invalid

Diag.Sync_Mode = False

Diag.Freeze_Mode = False

Diag.Prm_Req = True

Diag.Station_Not_Ready = True

Stop WD, Diag.WD_On = False

Output-D = 0

Output-L = 0

DDLM_Leave.Req

DDLM_Slave_Diag_Upd.req(Diag_Data)

13.7.1.3 State Transitions

POWER-ON INI1 WAIT-PRM

\Station_Address setzen

=> DDLM_Slave_Init.req(Station_Address)

Diag.Prm_Req = True

Diag.Cfg_Fault = False

Diag.Prm_Fault = False

Diag.Not_Supported = False

Diag.Master_Add = Invalid

Diag.WD_On = False

Diag.Station_Not_Ready = True

Diag.Sync_Mode = False

Diag.Freeze_Mode = False

Output_D = 0

Output_L = 0

Real_Cfg_Data setzen

Real_Output_len setzen

Real_No_Add_Chg setzen

Real_Ident setzen

Diag_Flag = False

DDLM_Slave_Diag_Upd.req(Diag_Data)

DDLM_Get_Cfg_Upd.req(Real_Cfg_Data)

WAIT-PRM SADR1 POWER-ON

DDLM_Set_Slave_Add.ind

\Real_No_Add_Chg = False

AND Real_Ident = Ident_Number

AND New_Slave_Address <= 125

=> Station_Address = New_Slave_Add

Real_No_Add_Chg = No_Add_Chg

Store Station_Address, No_Add_Chg and Rem_Slave_Data

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WAIT-PRM SADR2 WAIT-PRM

DDLM_Set_Slave_Add.ind

\Real_No_Add_Chg = True

OR Real_Ident # Ident_Number

OR New_Slave_Add > 125

=> ignore

WAIT-PRM PRM1 WAIT-PRM

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Lock_Req = False AND Unlock_Req = False

=> DDLM_Set_minTsdr.req(min_Tsdr)

WAIT-PRM PRM2 WAIT-PRM

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Unlock_Req = True

=> ignore

WAIT-PRM PRM3 WAIT-PRM

DDLM_Chk_Cfg.ind

=> ignore

WAIT-PRM PRM4 WAIT-PRM

DDLM_Slave_Diag.ind

=> ignore

WAIT-PRM PRM5 WAIT-PRM

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Lock_Req = True

AND Unlock_Req = False AND (Ident_Number # Real_Ident

OR WD_On = True AND (WD_Fact_1=0 OR WD_Fact_2=0))

=> Diag.Prm_Fault = True

DDLM_Slave_Diag_Upd.req(Diag_Data)

WAIT-PRM PRM6 WAIT-PRM

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Lock_Req = True AND Unlock_Req = False

AND Ident_Number = Real_Ident

AND (WD_On = False OR (WD_Fact_1 > 0 AND WD_Fact_2 > 0))

AND (Freeze_Req = True AND Freeze_Not_Supported

OR Sync_Req = True AND Sync_Not_Supported

OR Prm_Data[1].0, .1, .2 = True)

=> Diag.Not_Supported = True

DDLM_Slave_Diag_Upd.req(Diag_Data)

WAIT-PRM FATAL1 POWER-ON

DDLM_Fault.ind

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WAIT-PRM NMAS1 WAIT-CFG

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Lock_Req = True AND Unlock_Req = False

AND Ident_Number = Real_Ident

AND WD_On = True AND WD_Fact_1 > 0 AND WD_Fact_2 > 0

AND (Freeze_Req = False OR Freeze_Supported)

AND (Sync_Req = False OR Sync_Supported)

AND (Prm_Data[1].0, .1, .2 = False)

=> Diag.Master_Add = Req_Add

Load WD, Start WD, Diag.WD_On = True

DDLM_Set_minTsdr.req(minTsdr)

Active_Groups = Group_Ident

Diag.Prm_Fault = False

Diag.Prm_Req = False

Diag.Not_Supported = False

DDLM_Slave_Diag_Upd.req(Diag_Data)

check User_Prm_Data

WAIT-PRM NMAS2 WAIT-CFG

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Lock_Req = True AND Unlock_Req = False

AND (Ident_Number = Real_Ident)

AND WD_On = False

AND (Freeze_Req = False OR Freeze_Supported)

AND (Sync_Req = False OR Sync_Supported)

AND (Prm_Data[1].0, .1, .2 = False)

=> Diag.Master_Add = Req_Add

DDLM_Set_minTsdr.req(minTsdr)

Active_Groups = Group_Ident

Diag.Prm_Fault = False

Diag.Prm_Req = False

Diag.Not_Supported = False

DDLM_Slave_Diag_Upd.req(Diag_Data)

check User_Prm_Data

WAIT-CFG INVPRM1 WAIT-PRM

\invalid User_Prm_Data

=> Diag.Prm_Fault = True

Diag.Master_Add = Invalid

Diag.Prm_Req = True

Stop WD, Diag.WD_On = False

DDLM_Slave_Diag_Upd.req(Diag_Data)

WAIT-CFG VPRM1 WAIT-CFG

\valid User_Prm_Data

=> ignore

WAIT-CFG LEAVE1 WAIT-PRM

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Unlock_Req = True

AND Diag.Master_Add = Req_Add

=> Diag.Master_Add = Invalid

Diag.Prm_Req = True

Stop WD, Diag.WD_On = False

DDLM_Slave_Diag_Upd.req(Diag_Data)

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WAIT-CFG CFG1 WAIT-CFG

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Unlock_Req = True

AND Diag.Master_Add # Req_Add

=> ignore

WAIT-CFG ABORT1 WAIT-PRM

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Unlock_Req = False AND Lock_Req = True

AND Diag.Master_Add = Req_Add

AND (Ident_Number # Real_Ident

OR WD_On = True AND (WD_Fact_1=0 OR WD_Fact_2=0))

=> Diag.Prm_Fault = True

Diag.Master_Add = Invalid

Diag.Prm_Req = True

Stop WD, Diag.WD_On = False

DDLM_Slave_Diag_Upd.req(Diag_Data)

WAIT-CFG ABORT2 WAIT-PRM

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Unlock_Req = False AND Lock_Req = True

AND Diag.Master_Add = Req_Add

AND Ident_Number = Real_Ident

AND (WD_On = False OR WD_Fact_1>0 AND WD_Fact_2>0)

AND (Freeze_Req = True AND Freeze_Not_Supported

OR Sync_Req = True AND Sync_Not_Supported

OR Prm_Data[1].0, .1, .2 = True)

=> Diag.Not_Supported = True

Diag.Master_Add = Invalid

Diag.Prm_Req = True

Stop WD, Diag.WD_On = False

DDLM_Slave_Diag_Upd.req(Diag_Data)

WAIT-CFG CFG2 WAIT-CFG

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Unlock_Req = False AND Lock_Req = True

AND Diag.Master_Add # Req_Add

AND (Ident_Number # Real_Ident

OR WD_On = True AND (WD_Fact_1=0 OR WD_Fact_2=0)

OR Freeze_Req = True AND Freeze_Not_Supported

OR Sync_Req = True AND Sync_Not_Supported

OR Prm_Data[1].0, .1, .2 = True)

=> ignore

WAIT-CFG XMAS1 WAIT-CFG

DDLM_Set_Prm.ind

\Prm_Data.len ≥ 7 AND Unlock_Req = False AND Lock_Req = True

AND Ident_Number = Real_Ident

AND WD_On = True AND WD_Fact_1 > 0 AND WD_Fact_2 > 0

AND (Freeze_Req = False OR Freeze_Supported)

AND (Sync_Req = False OR Sync_Supported)

AND (Prm_Data[1].0, .1, .2 = False)

=> Diag.Master_Add = Req_Add

Load WD, Start WD, Diag.WD_On = True

Active_Groups = Group_Ident

DDLM_Set_minTsdr.req(minTsdr)

DDLM_Slave_Diag_Upd.req(Diag_Data)

check User_Prm_Data